Setup and Reference Guide - Kollmorgen

Required RECTRIG Parameters Based on MODE Parameter
MODE DESCRIPTION LEV LOC DIR
“IA Trigger on Phase A Current √ √ √
“IC Trigger on Phase C Current √ √ √
“ICMD Trigger on Current Cmd √ √ √
“PCMD* Trigger on Position Cmd √ √ √
“PFB* Trigger on Position Fdback √ √ √
“PRD Trigger on PRD √ √ √
“V Trigger on Velocity √ √ √
“VCMD Trigger on Velocity Cmd √ √ √
“CCW Trigger on CCWLIM Sw X √ √
“CW Trigger on CWLIM Sw X √ √
“IN1* Trigger on IN1 Input X √ √
“IN2* Trigger on IN1 Input X √ √
“IN3* Trigger on IN1 Input X √ √
“O1* Trigger on O1 Output X √ √
“RMT Trigger on REMOTE Input X √ √
“CMD Trigger on Next Command X √ X
“IMM Trigger Immediately X X X
* = firmware versions 3.2.0 and later
√ = Required Parameter
X = Don’t care. Something must be entered to make the command work, but it does not matter what is entered.
Syntax:RECTRIG [mode] [level] [location] [direction]
Firmware Versions: All Example: RECORD 10 100 “VCMD “V “PRD
(record 100 points for VCMD, V, and PRD every 5 milliseconds)
Range/Units: [mode]:see table above
[level]: depends upon the mode variable (range of PRD levels is 0-65535. All others are -32768 to 32767)
[location]: 0 - 1023
[direction]: 0 or 1
Type: variable (R/W)
Default: [level]: 0
[location]: 0
Opmodes: All
[direction]: 1
EEPROM: No Drive Status: EN/DIS
REFRESH
A command used when tuning the drive for COMPMODE 3. With the Advanced Pole Placement algorithm
utilized in the drive, the interaction of the variables is too dramatic to Allow variables to be changed one by one.
Therefore, as pole placement algorithm vector variables (VD, VF, VH, and VR) are entered, the new values are
buffered without changing the actual values used by the control loops.
Once all desired new values have been entered, you enter a REFRESH command, and all vector variables are
written to the control loops simultaneously.
Firmware Versions: All Command Syntax: REFRESH
Opmodes: 0, 1 Drive Status: EN/DIS
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