Setup and Reference Guide - Kollmorgen
Setup and Reference Guide - Kollmorgen
Setup and Reference Guide - Kollmorgen
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digital input to INxMODE=7 <strong>and</strong> transitioning that input from low to high. When the INxMODE input goes<br />
high, the move will be initiated.<br />
Position is in counts, where 65536 counts represent one motor revolution for resolver systems, <strong>and</strong><br />
4*MENCRES counts represents on motor revolution for encoder systems. See MISPEED3.<br />
Firmware Versions: 3.1.0 <strong>and</strong> later Type: variable (R/W) Units: counts<br />
Range: -2,147,483,647 to +2,147,483,647 Default: 0 EEPROM: Yes<br />
Opmodes: 8 Drive Status: EN/DIS<br />
MIPEAK<br />
Sets the motor’s peak rated current. When this variable is changed, the drive entesr a no-comp state, requiring a<br />
CONFIG comm<strong>and</strong> (see CONFIG).<br />
Firmware Versions: All Type: variable (R/W) Units: amperes RMS*0.1<br />
Range: 3 to 3500 Default: motor data EEPROM: Yes<br />
Opmodes: All Drive Status: DIS<br />
MISPEED0<br />
MISPEED0, with MISPEED1, MISPEED2, <strong>and</strong> MISPEED3, set four possible index speeds for triggering via a<br />
digital input (IN1, IN2, or IN3) set to INxMODE 7. The other two inputs must be configured to INxMODE 14<br />
<strong>and</strong> 15.<br />
Opmode 8 operation: You select an MIDIST0 / MISPEED0 pair using two digital inputs that are<br />
configured to INxMODEs 14 <strong>and</strong> 15. An incremental move (MI) is then triggered for the selected<br />
distance <strong>and</strong> speed by configuring the third digital input to INxMODE=7 <strong>and</strong> setting that input high.<br />
When the INxMODE input goes high, the move is initiated.<br />
In firmware versions 3.3.0 <strong>and</strong> later, when homing is performed (see MH, HOMESPD,<br />
HOMESTATE, <strong>and</strong> HOMETYPE), MISPEED0 sets the velocity at which the drive<br />
returns to home after finding home.<br />
Opmode 1 operation: You select a MISPEED0 velocity using two digital inputs configured to<br />
INxMODEs 14 <strong>and</strong> 15. A JOG is then triggered for the selected speed by configuring the third digital<br />
input to INxMODE=7 <strong>and</strong> setting that input high. When the INxMODE input is high, the JOG<br />
comm<strong>and</strong> is issued, <strong>and</strong> when the INxMODE input is low, the JOG is not performed.<br />
PROFMODE affects the JOG comm<strong>and</strong> issued in this scenario. If you select<br />
MISPEED0 <strong>and</strong> then set MISPEED0=0, an analog input JOG comm<strong>and</strong> can be<br />
given, as is normal for OPMODE 1 operation.<br />
Firmware Versions: 3.1.0 <strong>and</strong> later Type: variable (R/W) Units: rotary: RPM<br />
Range: -VLIM to +VLIM Default: 100 linear: mm/sec<br />
Opmodes: 1,8 Drive Status: EN/DIS EEPROM: Yes<br />
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