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®
sercos
IDN Set
3.146
IDN296 Velocity Feed-Forward Gain
Defines a multiplier for the velocity feedforward value that is generated from the position
profile. Velocity feed-forward helps to reduce the velocity-dependent following error.
Velocity feed-forward is added to the velocity setpoint when the active operational mode
defined by IDN32 and/or IDN33 has bit 3 set and is in position control mode.
Data Length: 2 bytes
Data Type:
Minimum:
Maximum:
Default:
Units:
3.147
IDN298 Home Switch Distance
The distance of the home switch from the "optimal" location after homing. The "optimal"
location is defined as half the distance between successive marker pulses (encoder) or
null points (resolvers). The home switch distance may be used to ensure that the home
switch is located correctly to avoid inconsistent homing. The home switch distance is not
valid until homing has completed successfully (IDN403 is set).
Data Length: 4 bytes
Data Type:
Minimum:
Maximum:
Default:
Units:
3.148
IDN300 Real-time Control Bit 1
Assigns a control signal IDN to the real-time control bit 1 (RTC bit 1, MDT control word bit
6). Two RTC bits are defined within the MDT control word (bits 6 and 7) and may be
updated every communication cycle by the master.
Data Length: 2 bytes
Data Type:
Minimum:
Maximum:
Default:
Units:
74
04/2016
Unsigned decimal
0
2000
1000
0.1%
Signed decimal
0
IDN76, 77, 78, 79, 123
IDN
0
1
0
Non-Volatile:
Yes
Write Access:
CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
GPFFV
Version:
Non-Volatile:
No
Write Access:
Read-only
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
Non-Volatile:
No
Write Access:
CP2, CP3, CP4
Run-Up Check:
Cyclic Transfer:
ASCII Param.:
Version:
sercos
Kollmorgen
®
for S300/S700
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Troubleshooting
