Setup and Reference Guide - Kollmorgen

Notes:
• IN2MODE = 7 operation: If the drive is in OPMODE 8 (positioning), an input with
IN2MODE=7 can be used to trigger an incremental move (MI), using the variables
MIDIST0-3, MISPEED0-3. Refer to the descriptions for those variables, as well as
the description of MH, for more information. If the drive is in OPMODE 1 (analog
velocity), an input with IN2MODE =7 can be used to trigger a jog at a speed entered
in MISPEED0-3. See the description of MISPEED0 for more details.IN2MODE 7
can be activated while the motor is in motion. This causes the motor to begin the next
index immediately after completing the previous index (called "look-aheadbuffering").
• IN2MODE = 9 operation: If the drive is in OPMODE 1 (analog velocity) and IN2MODE is 9,
then witching the related IN2 input to '1' causes the drive to switch to OPMODE 3 (analog current).
Switching the IN2 input back to '0' will cause the drive to switch back to OPMODE 1 (analog
velocity). The LED display of OPMODE will change according to the user input, but the serial
response to a prompt for OPMODE will return 1. The OPMODE change can happen when the
drive is enabled, therefore the user must make the switch with zero command.
• IN2MODE = 12 operation: Execute HOMETYPE (see note in HOMETYPE). Moves are
performed at velocity equal to HOMESPD.
• IN2MODE = 18: if input = 0, the fault relay will open. If input = 1, the fault relay operates as
normal.
• IN2MODE=21: The same function as IN2MODE=7 except that IN2MODE=21 ignores input
signals until the motor has completed in prior index (comes to rest). There is no "look-aheadbuffering."
• IN2MODE=22: The motion velocity is MISPEED0. There is no movement unless in rotary mode
(MODMODE=1). The direction depends on the sign of DIVISIONS and on the value of DIR.
• IN2MODE=23: The motion velocity is MISPEED0. There is no movement unless in rotary mode
(MODMODE=1). The direction depends on the sign of DIVISIONS and on the value of DIR.
• IN1MODE=24: With the drive starting in the position-mode (OPMODE=8) with the INPUT =
Low; a Low --> High transition of the INPUT changes the drive to the gearing-mode
(OPMODE=4); with a High --> Low transition, the drive is changed back to the position-mode
(OPMODE=8). These OPMODE changes occur when the drive is enabled or disabled.
Firmware Versions: see above Type: switch mode (R/W) Units: N/A
Range: 0 to 24 Default: 2 EEPROM: N/A
Opmodes: dependent Drive Status: EN/DIS
IN3
This is used to read the state of the hardware input on user connector C3 Pin 11.
Firmware Versions: 2.1.0 and later Type: switch (R) Units: N/A
Range: 0 (OFF), 1=(ON) Default: N/A EEPROM: N/A
Opmodes: All Drive Status: EN/DIS
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