Setup and Reference Guide - Kollmorgen

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MISPEED1 MISPEED1, with MISPEED0, MISPEED2, and MISPEED3, set four possible index speeds for triggering via a digital input (IN1, IN2, or IN3) set to INxMODE 7. The other two inputs must be configured to INxMODE 14 and 15. Opmode 8 operation: You select an MIDIST0 / MISPEED0 pair using two digital inputs that are configured to INxMODEs 14 and 15. An incremental move (MI) is then triggered for the selected distance and speed by configuring the third digital input to INxMODE=7 and setting that input high. When the INxMODE input goes high, the move is initiated. In firmware versions 3.3.0 and later, when homing is performed (see MH, HOMESPD, HOMESTATE, and HOMETYPE), MISPEED0 sets the velocity at which the drive returns to home after finding home. Opmode 1 operation: You select a MISPEED0 velocity using two digital inputs configured to INxMODEs 14 and 15. A JOG is then triggered for the selected speed by configuring the third digital input to INxMODE=7 and setting that input high. When the INxMODE input is high, the JOG command is issued, and when the INxMODE input is low, the JOG is not performed. PROFMODE affects the JOG command issued in this scenario. If you select MISPEED0 and then set MISPEED0=0, an analog input JOG command can be given, as is normal for OPMODE 1 operation. Firmware Versions: 3.1.0 and later Type: variable (R/W) Units: rotary: RPM Range: -VLIM to +VLIM Default: 100 linear: mm/sec Opmodes: 1,8 Drive Status: EN/DIS EEPROM: Yes MISPEED2 MISPEED2, with MISPEED0, MISPEED1, and MISPEED3, set four possible index speeds for triggering via a digital input (IN1, IN2, or IN3) set to INxMODE 7. The other two inputs must be configured to INxMODE 14 and 15. Opmode 8 operation: You select an MIDIST0 / MISPEED0 pair using two digital inputs that are configured to INxMODEs 14 and 15. An incremental move (MI) is then triggered for the selected distance and speed by configuring the third digital input to INxMODE=7 and setting that input high. When the INxMODE input goes high, the move is initiated. In firmware versions 3.3.0 and later, when homing is performed (see MH, HOMESPD, HOMESTATE, and HOMETYPE), MISPEED0 sets the velocity at which the drive returns to home after finding home. 66
Opmode 1 operation: You select a MISPEED0 velocity using two digital inputs configured to INxMODEs 14 and 15. A JOG is then triggered for the selected speed by configuring the third digital input to INxMODE=7 and setting that input high. When the INxMODE input is high, the JOG command is issued, and when the INxMODE input is low, the JOG is not performed. PROFMODE affects the JOG command issued in this scenario. If you select MISPEED0 and then set MISPEED0=0, an analog input JOG command can be given, as is normal for OPMODE 1 operation. Firmware Versions: 3.1.0 and later Type: variable (R/W) Units: rotary: RPM Range: -VLIM to +VLIM Default: 100 linear: mm/sec Opmodes: 1,8 Drive Status: EN/DIS EEPROM: Yes MISPEED3 MISPEED3, with MISPEED0, MISPEED1, and MISPEED2, set four possible index speeds for triggering via a digital input (IN1, IN2, or IN3) set to INxMODE 7. The other two inputs must be configured to INxMODE 14 and 15. Opmode 8 operation: You select an MIDIST0 / MISPEED0 pair using two digital inputs that are configured to INxMODEs 14 and 15. An incremental move (MI) is then triggered for the selected distance and speed by configuring the third digital input to INxMODE=7 and setting that input high. When the INxMODE input goes high, the move is initiated. In firmware versions 3.3.0 and later, when homing is performed (see MH, HOMESPD, HOMESTATE, and HOMETYPE), MISPEED0 sets the velocity at which the drive returns to home after finding home. Opmode 1 operation: You select a MISPEED0 velocity using two digital inputs configured to INxMODEs 14 and 15. A JOG is then triggered for the selected speed by configuring the third digital input to INxMODE=7 and setting that input high. When the INxMODE input is high, the JOG command is issued, and when the INxMODE input is low, the JOG is not performed. PROFMODE affects the JOG command issued in this scenario. If you select MISPEED0 and then set MISPEED0=0, an analog input JOG command can be given, as is normal for OPMODE 1 operation. Firmware Versions: 3.1.0 and later Type: variable (R/W) Units: rotary: RPM Range: -VLIM to +VLIM Default: 100 linear: mm/sec Opmodes: 1,8 Drive Status: EN/DIS EEPROM: Yes MJ Sets the motor’s rotor inertia (rotary motors) or motor coil mass (linear motors, MOTORTYPE=2). The Motor rotor inertia (MJ) and the Load moment of inertia ratio (LMJR) define the total system moment of inertia. The variables LMJR and MJ and the required closed loop bandwidth (BW) are used for the Velocity Control Loop design in the Standard Pole-Placement controller (COMPMODE = 2 or 4). Firmware Versions: All Type: variable (R/W) Units: rotary: Kg *m 2 *10 -6 Range: 1 to 2,000,000,000 Default: motor data linear: grams Opmodes: All Drive Status: DIS EEPROM: Yes 67
Page 1 and 2:
Danaher Motion SERVOSTAR ® S SERVO
Page 3 and 4:
Safety Instructions Only qualified
Page 5 and 6:
Contents INSTALLATION PROCEDURE....
Page 7 and 8:
ERR................................
Page 9 and 10:
MHINVC ............................
Page 11 and 12:
TRUN ..............................
Page 13 and 14:
INSTALLATION PROCEDURE This Setup a
Page 15 and 16:
SERVOSTAR CX HARDWARE SPECIFICATION
Page 17 and 18:
CX ELECTRICAL SPECIFICATIONS Main I
Page 19 and 20:
Product Model PA-LM PA08 PA14 PA28
Page 21 and 22:
PRODUCT FAMILY CONTROL SPECIFICATIO
Page 23 and 24:
Notes for DIP switch: The 10 positi
Page 25 and 26:
CX SYSTEM WIRING DIAGRAM 13
Page 27 and 28: SX WITH PA50, 75, OR 85 SYSTEM WIRI
Page 29 and 30: SX FILTER AND BONDING DIAGRAM 17
Page 31 and 32: COMMANDS/VARIABLES BY FUNCTION ANAL
Page 33 and 34: POSITION VARIABLES AND COMMANDS DUA
Page 35 and 36: VARIABLE/COMMAND SET ACC Sets the d
Page 37 and 38: ANOUT Sets the source for the analo
Page 39 and 40: COMPMODE Sets the velocity controll
Page 41 and 42: DIR Sets the direction (inversion)
Page 43 and 44: DISTIME Sets the amount of time to
Page 45 and 46: ENCOUT Sets the resolution (number
Page 47 and 48: FOLDMODE Sets the mode for drive cu
Page 49 and 50: GET Causes all recorded variables t
Page 51 and 52: GV Sets the proportional gain for t
Page 53 and 54: HC3 Defines the properties of corre
Page 55 and 56: HOMETYPE Defines the type of homing
Page 57 and 58: ICMD Displays the Current (Torque)
Page 59 and 60: IN Returns the state of the three d
Page 61 and 62: IN2 This is used to read the state
Page 63 and 64: IN3MODE IN3MODE sets the functional
Page 65 and 66: ININV2 Invert user input #2 C3 pin
Page 67 and 68: KV KV is a tuning variable which se
Page 69 and 70: MA This command (Serial Move Absolu
Page 71 and 72: MENCTYPE Sets the motor encoder typ
Page 73 and 74: MFOLDDIS enables/disables the motor
Page 75 and 76: MHINVC MHINVC is a variable which a
Page 77: digital input to INxMODE=7 and tran
Page 81 and 82: MLGAINZ Sets the current loop adapt
Page 83 and 84: MSG Enables and disables the sendin
Page 85 and 86: O1 O1 is used to read or write the
Page 87 and 88: OPMODE Sets the operational mode fo
Page 89 and 90: PLIM A switch mode variable that co
Page 91 and 92: PSCALE A position scale factor that
Page 93 and 94: Command Syntax:RECORD [sample time]
Page 95 and 96: RELAY Indicates the status of the F
Page 97 and 98: STAT Outputs a drive status summary
Page 99 and 100: STATUS Word 5: Hold Mode Status Wor
Page 101 and 102: STEP Generates a step or square wav
Page 103 and 104: THERM Indicates the state of the mo
Page 105 and 106: UNITS Defines whether physical unit
Page 107 and 108: VD A vector variable that sets the
Page 109 and 110: VLIM Sets the application velocity
Page 111 and 112: ZPOS Is applicable only if MENCTYPE
Page 113 and 114: NON-FATAL ERROR CODES Error Message
Page 115 and 116: Non-Fatal Error Codes Error Message
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Setup and Reference Guide - Kollmorgen

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