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Kollmorgen
3.73
IDN98 Class 3 Diagnostic Mask
Warnings for masked bits are not indicated in C3D (AT status word, bit 11).
A mask for the C3D (IDN13). When a warning condition within IDN13 changes state, the
C3D change bit (AT status word, bit 11) is set.
The warning bits within IDN13 are not latched (i.e. they will automatically set or reset as
warning conditions change). The C3D change bit is reset when IDN13 is read through the
service channel.
IDN98 may be used to mask the effect of a particular warning condition on the C3D
change bit in the AT status word. When a masked warning changes state, the C3D
change bit in the AT status word will not be set. However, the warning bits in IDN13 will
continue to change state according to the warning conditions. When a bit in IDN98 is
clear, the corresponding bit in IDN13 is masked.
Data Length: 2 bytes
Data Type:
Minimum:
Maximum:
Default:
3.74
IDN99 Command: Reset Class 1 Diagnostic (clear fault)
The latched faults contained in IDN11, IDN14 and IDN129 are cleared, if the causes for
the faults have been repaired. If all the faults are cleared successfully, the C1D status bit
(AT bit 13) is also cleared. The fault reset procedure will fail if faults have been latched
and the master has not reset the amplifier enable control bits (MDT bits 13-15).
Some faults specified in IDN11 and IDN129 (e.g. faulty feedback, faulty commutation, for
details see ASCII – Command ERRCODE) require a coldstart, which IDN99 performs
automatically when required. The sercos
Other amplifiers respond to this according to the standard with error message F29 "SER-
COS fault" (see also IDNP3016).
The IDN99 procedure will not reset faults if MDT controlword bits 14 and 15 are set
during CP4.
Data Length: 2 bytes
Data Type:
Minimum:
Maximum:
Default:
3.75
IDN100 Velocity Loop Proportional Gain
Proportional Gain for the proportional-integral velocity loop controller. If the gain is too
low, then the amplifier may respond slowly or have poor damping. If the value is too high,
then the amplifier may whistle or oscillate.
Data Length: 2 bytes
Data Type:
Minimum:
Maximum:
Default:
®
sercos
for S300/S700
04/2016
Binary
0b1111 1111 xxxx xxxx
Binary
0
Unsigned decimal
0.01
3692
0.46
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
®
ring is thus automatically reset to phase 0.
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Non-Volatile:
Write Access:
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
®
sercos
IDN Set
No
CP2, CP3, CP4
BUSP0 (upper 16 bits)
No
CP2, CP3, CP4
Yes
CP2, CP3, CP4
GV * 100
49
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Troubleshooting
