Setup and Reference Guide - Kollmorgen

STOPPED
A read-only switch that indicates the status of a move command (MA, MI, or MH) issued by the profile
generator in Opmode 8. This bit will read 1 when a move is complete and the next move command can be
issued. It will read 0 when a move is in progress.
0 = move in progress.
1 = move complete; next move command can be issued.
Firmware Versions: 3.1.0 and later Type: switch (R) Units: N/A
Range: 0, 1 Default: N/A EEPROM: N/A
Opmodes: 8 Drive Status: EN/DIS
SWEN
A software enable switch that defines the status of the serial port Enable (EN) request. If SWEN is set to 1, and
there are no faults (DRIVEOK = 1), then switch variable READY is set = 1.
0 = software disabled (DIS, K, or S command has been issued)
1 = software enabled (EN command has been issued)
Firmware Versions: 3.1.0 and later Type: switch (R) Units: N/A
Range: 0, 1 Default: 1 (analog drives), 0 (SERCOS) EEPROM: No
Opmodes: All Drive Status: EN/DIS
T
Used to set commanded current in OPMODE 2 (Serial Torque Mode). This command is subject to current
limits, clamps, and digital filtering, and it is set to zero whenever the drive is enabled or disabled. The range of
this value is -1000 to 1000, but the value entered by the user cannot exceed ILIM. An S, STOP, DIS, or K
command, or change of operating mode zeros the value of T.
Firmware Versions: All Command Syntax: T [current] (where -1000 ≤current ≤ 1000)
Range: -ILIM to +ILIM Units: % of DIPEAK*0.1
Opmodes: 2 Drive Status: EN
TESTLED
Used to put the drive into a Status LED test mode. In this test mode, all of the segments of the LED will
illuminate for approximately half a second and then return to normal.
Firmware Versions: All Command Syntax: TESTLED
Opmodes: All Drive Status: DIS
TF
Sets the damping factor for the velocity loop when using COMPMODE 2 or COMPMODE 4 (Standard Pole
Placement). A value of 100 is backward compatible to All previous firmware. As TF approaches zero, overshoot
is diminished while sacrificing some tracking ability. As TF approaches 200, the system may overshoot more
but will have excellent steady-state tracking ability. Successful execution of the TUNE command may result in
this parameter being changed.
Firmware Versions: 3.1.0 and later Type: switch (R) Units: N/A
Range: 0 to 200 Default: 100 EEPROM: Yes
Opmodes: 0,1,4,8 Drive Status: EN/DIS
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