Setup and Reference Guide - Kollmorgen
Setup and Reference Guide - Kollmorgen
Setup and Reference Guide - Kollmorgen
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VR<br />
A vector variable that defines the R (feed-forward path) polynomial of the Advanced Pole-Placement velocity<br />
controller (COMPMODE = 3). This vector includes three integers that represent the polynomial coefficients<br />
<strong>and</strong> three shift parameters, one that scales each polynomial. If this variable is changed, a REFRESH comm<strong>and</strong><br />
is required.<br />
Prior to firmware version 2.1.0, this comm<strong>and</strong> mnemonic was “R”.<br />
Firmware Versions: 2.1.0 <strong>and</strong> later (previously R) Syntax: VR [r0] [r0shift] [r1] [r1shift] [r2] [r2shift]<br />
Opmodes: 0,1,4,8 Range: [rNvector] = -2,147,483,647 to 2,147,483,647<br />
[rNshift]= 0 to 32767<br />
Type: vector variable (R/W) Units: N/A<br />
Default: 0 (all parameters) Drive Status: EN/DIS<br />
EEPROM: Yes Example: VR 10000 2 30000 4 50000 6<br />
VSCALE<br />
An analog velocity scale factor that scales (1) the analog input ANIN for OPMODE 1 (analog torque mode), <strong>and</strong><br />
(2) the analog output for ANOUT=0 or 2. The value entered is the motor velocity per 10 volts of analog input<br />
or output. This variable may be either higher or lower than the application velocity limit (VLIM), but the actual<br />
analog I/O will be limited by VLIM.<br />
Firmware Versions: All Type: variable (R/W) Units: rotary: RPM / 10V<br />
Range: 10 to (1.2 * VMAX) Default: VLIM / 0.8 linear: mm/sec / 10V<br />
Opmodes: 1 Drive Status: EN/DIS EEPROM: Yes<br />
XENCDIR<br />
Sets the direction defined as positive rotation for the external encoder input.<br />
0 = normal<br />
1 = inverted<br />
Firmware Versions: 2.1.0 <strong>and</strong> later Type: variable (R/W) Units: N/A<br />
Range: 0, 1 Default: 0 EEPROM: Yes<br />
Opmodes: All Drive Status: DIS<br />
XENCRES<br />
Sets the resolution of the external encoder input channel <strong>and</strong> is used to calculate VEXT.<br />
Firmware Versions: 2.1.0 <strong>and</strong> later Type: variable (R/W) Units: Lines per revolution<br />
Range: 100 to 10,000,000 Default: 1024 EEPROM: Yes<br />
Opmodes: All Drive Status: DIS<br />
ZERO<br />
Enables <strong>and</strong> disables Resolver/Encoder Zeroing Mode. If Zeroing Mode is enabled, the drive rotates the motor<br />
to an electrical null by placing IZERO current from the motor C terminal to the B terminal.<br />
0 = zeroing mode disabled<br />
1 = zeroing mode enabled (puts the drive in OPMODE 2)<br />
Firmware Versions: All Type: switch (R/W) Units: N/A<br />
Range: 0,1 Default: 0 EEPROM: No<br />
Opmodes: All Drive Status: EN/DIS<br />
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