Setup and Reference Guide - Kollmorgen
Setup and Reference Guide - Kollmorgen
Setup and Reference Guide - Kollmorgen
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ANOUT<br />
Sets the source for the analog output feature at user connector C3 pin 13.<br />
0 - Tachometer (vel. feedback V) scaled identical to VSCALE with an update rate of 250 µSec.<br />
1 - I monitor (equivalent current) scaled identical to ISCALE with an update rate of –10 mSec (this variable<br />
is calculated in background loop).<br />
2 - Velocity Error, VE, scaled identical to VSCALE with an update rate of 250 µSec.<br />
3 - Torque Comm<strong>and</strong> Output Scaled to ISCALE with an update rate of 500 µSec.<br />
4 – Reserved – no update rate.<br />
5 - Position following error, PE, scaled to PSCALE with an update rate of 500 µSec.<br />
6 - not used – with a minimum update rate of 500 µSec.<br />
7 - not used with an update rate of 62.5 µSec.<br />
8 - Position feedback, PFB, scaled to PSCALE with an update rate of 500 µSec.<br />
9 - Velocity controller output (before injecting PRB/HC), scaled to VSCALE with an update rate of 250<br />
µSec.<br />
Firmware Versions: 2.1.0 <strong>and</strong> later Type: switch mode (R/W) Units: N/A<br />
Range: 0 to 5 Default: 0 EEPROM: Yes<br />
Opmodes: All Drive Status: EN/DIS<br />
ANZERO<br />
Causes the drive to zero the analog offset. A sample of the motor analog input comm<strong>and</strong> is averaged over 64<br />
samples, <strong>and</strong> the value of ANOFF is set to zero out the analog input comm<strong>and</strong>. This comm<strong>and</strong> may need to be<br />
executed more than once to achieve zero offset, <strong>and</strong> ANOFF will probably be modified.<br />
Firmware Versions: All Comm<strong>and</strong> Syntax: ANZERO<br />
Opmodes: All Drive Status: EN/DIS<br />
AUTOHOME<br />
Defines the homing behavior on power-up.<br />
0 = No homing on power-up (default).<br />
1 = Try to perform homing on power-up. Does not continue if the homing cannot be executed.<br />
2 = Try to perform homing on power-up. Continue trying until homing process is executed.<br />
Firmware Versions: 3.7.0 <strong>and</strong> later Opmodes: 8 EEPROM: Yes<br />
Range: 0 to 2 Default: 0<br />
AUTONULL<br />
Automatic calibration of the current loop at drive enable. To accomplish this it applies zero volts to the motor<br />
for 50mS - hence, the motor must be at or near rest or the results can be unpredictable. AUTONULL selects<br />
new current sensor zeroing method.<br />
Firmware Versions: 3.4.2 EEPROM: Yes<br />
Range: 0 (Old method), 1 (Zero on enable) Default: 0<br />
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