Idnp3027 (35 795) Manufacturer Homing Modes; Idnp3028 (35 796) Output Stage Enable Order - Kollmorgen Sercos II Translation Of The Original Manual

Kollmorgen
3.198

IDNP3027 (35 795) Manufacturer Homing Modes

Selection of manufacturer-defined homing modes.
If command IDN148 is active, then IDN147 is write protected (from firmware 2.26).
This IDN contains the saved serial command NREF after reset. Write this P IDN or write
IDN147 through the service channel to change the homing mode used for the ampli-
fier-controlled homing (IDN148). After or while homing with sercos
contains the value of this IDN. A following SAVE command can save this value perma-
nently.
IDNP 3027 is set using ASCII command NREF.
Mode Function
0
1
2
3
4
5
6
7
8
9
Hardware limit switches must be present and connected. The appropriate limit switch
functions must be switched on, i.e. digital input 3 must be PSTOP (IDNP3002, mode2)
and/or digital input 4 must be NSTOP (IDNP3003, mode 3).
Mechanical Stop Homing (mode 7) without hardware limit switch
This homing mode uses the mechanical stop instead of a separate homing switch or a
hardware limit switch. Set the maximum current (torque) limit through IDN92, to limit the
torque applied against the mechanical stop. When motion toward the stop is no longer
possible, the following error increases up to 150% of the defined following error and then
triggers a movement back to the first zero mark.
Data Length: 2 bytes
Data Type:
Minimum:
Maximum:
Default:
Additional IDNs, which are used for homing, are:
IDN 41 Homing Velocity, IDN 42 Homing Acceleration
IDN147 Homing Direction
3.199

IDNP3028 (35 796) Output stage enable order

With this IDN you can select the order of SW- and HW-Enable. The default is that the
HW-Enable for sercos
otherwise an F29 error (bit 11 in IDN129) will be set.
To allow SW- before HW-Enable, set this IDN to 1 (HW-Enable order =1).
Data Length: 2 bytes
Data Type:
Minimum:
Maximum:
Default:
®
sercos for S300/S700
Set reference point to the actual position
Traverse to the reference switch with zero-mark recognition
Move to hardware limit-switch, with zero-mark recognition
Move to reference switch, without zero-mark recognition
Move to hardware limit-switch, without zero-mark recognition
Move to the next zero-mark of the feedback unit
Set reference at actual position, without loosing target position
Move to mechanical stop with zero-mark recognition
Move to absolute SSI-position
Move to mechanical stop without zero-mark recognition
Unsigned decimal
0
9
1
®
has to be set before SW enable will set (HW-Enable order =0)
Unsigned decimal
0
1
0
04/2016
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
®
the parameter NREF
No
CP2, CP3, CP4
NREF
Yes
CP2, CP3, CP4
SERCSET Bit 2
91