Setup and Reference Guide - Kollmorgen

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PEINPOS Sets the threshold position error for the INPOS flag. If PE is less than PEINPOS, the INPOS switch is set, indicating that the drive is in position (see INPOS). If PE is greater than PEINPOS, the INPOS switch is not set. Position is in counts. Firmware Versions: 2.1.0 and later Type: variable (R/W) Units: counts Range: 0 to 32767 Default: 100 EEPROM: Yes Opmodes: 4, 8 Drive Status: EN/DIS PEMAX Sets the maximum allowable following error (OPMODEs 4 and 8). If the error exceeds this value, the drive is disabled on fault. PEMAX = 0 disables this function. Position is in counts. Firmware Versions: 2.1.0 and later Type: variable (R/W) Units: counts Range: 0 to 2,147,483,647 Default: 0 EEPROM: Yes Opmodes: 4, 8 Drive Status: EN/DIS PEXT Displays the accumulated position feedback from the external encoder. This variable is similar to PFB for the resolver feedback. Firmware Versions: 2.1.0 and later Type: variable (R) Units: counts Range: -2,147,483,647 to +2,147,483,647 Default: N/A EEPROM: N/A Opmodes: All Drive Status: EN/DIS PEXTOFF An offset that is added to the internal accumulated position feedback from the external encoder to give the value of PEXT. Firmware Versions: 2.1.0 and later Type: variable (R/W) Units: counts Range: -2,147,483,647 to +2,147,483,647 Default: N/A EEPROM: No Opmodes: All Drive Status: EN/DIS PFB Displays the cumulative position feedback from the feedback device. Prior to firmware version 2.0.0, PFB had the same definition as HWPOS. For firmware versions 2.0.0 and later, PFB was extended into a cumulative counter. Firmware Versions: All Type: variable (R) Units: counts Range: -2,147,483,647 to +2,147,483,647 Default: N/A EEPROM: No Opmodes: All Drive Status: EN/DIS PFBOFF A feedback offset that is added to the internal cumulative position counter to give the value of PFB. This offset can be used to offset absolute machine zero. Firmware Versions: 2.0.0 and later Type: variable (R/W) Units: counts Range: -2,147,483,647 to +2,147,483,647 Default: N/A EEPROM: No Opmodes: All Drive Status: EN/DIS 76
PLIM A switch mode variable that controls operation of the software position limits PMAX and PMIN: 0 = Software position limits disabled 1 = Drive disables when a soft position limit is exceeded (Caution! Motor may coast) 2 = drive decelerates to a stop at DECSTOP deceleration when a soft position limit is exceeded. Drive remains enabled and only allows motion in opposite direction. Firmware Versions: 3.1.0 and later Type: switch (R/W) Units: N/A Range: 0 to 2 Default: 0 EEPROM: Yes Opmodes: All Drive Status: EN/DIS PMAX Sets the maximum allowable position for the motor shaft. Position is expressed in counts and is read using PFB. If position exceeds PMAX (PFB > PMAX), an overtravel fault is generated. A fault is generated only if PLIM is set to a nonzero value. Firmware Versions: 3.1.0 and later Type: variable (R/W) Units: counts Range: -2,000,000,000 to +2,000,000,000 Default: 2,000,000,000 EEPROM: Yes Opmodes: All Drive Status: EN/DIS PMIN Sets the minimum allowable position for the motor shaft. Position is expressed in counts and is read using PFB. If position goes below PMIN (PFB < PMIN), an overtravel fault is generated. A fault is generated only if PLIM is set to a nonzero value. Firmware Versions: 3.1.0 and later Type: variable (R/W) Units: counts Range: -2,000,000,000 to +2,000,000,000 Default: 2,000,000,000 EEPROM: Yes Opmodes: All Drive Status: EN/DIS PRD Displays the absolute position feedback of the hardware feedback device (for both resolver and encoder based systems). PRD increments from 0 to 65,535 throughout the course of one mechanical motor shaft revolution (360 degrees). The range of PRD does not change. Its resolution for resolver feedback systems is dependent upon the value of RDRES: RDRES = 12, resolution of PRD = 16. RDRES = 14, resolution of PRD = 4. RDRES = 16, resolution of PRD = 1. For encoder-based systems, until the encoder has been initialized, PRD is uninitialized and its value is not useful or meaningful. For information on encoder initialization requirements according to the type of encoder, see MENCTYPE, ENCINIT, and ENCINITST. Firmware Versions: All Type: variable (R) Units: counts Range: 0 to 65,535 Default: N/A EEPROM: No Opmodes: All Drive Status: EN/DIS 77
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Danaher Motion SERVOSTAR ® S SERVO
Page 3 and 4:
Safety Instructions Only qualified
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Contents INSTALLATION PROCEDURE....
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ERR................................
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MHINVC ............................
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TRUN ..............................
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INSTALLATION PROCEDURE This Setup a
Page 15 and 16:
SERVOSTAR CX HARDWARE SPECIFICATION
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CX ELECTRICAL SPECIFICATIONS Main I
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Product Model PA-LM PA08 PA14 PA28
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PRODUCT FAMILY CONTROL SPECIFICATIO
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Notes for DIP switch: The 10 positi
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CX SYSTEM WIRING DIAGRAM 13
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SX WITH PA50, 75, OR 85 SYSTEM WIRI
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SX FILTER AND BONDING DIAGRAM 17
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COMMANDS/VARIABLES BY FUNCTION ANAL
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POSITION VARIABLES AND COMMANDS DUA
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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 and 78: digital input to INxMODE=7 and tran
Page 79 and 80: Opmode 1 operation: You select a MI
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: OPMODE Sets the operational mode fo
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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