Installation manual

Danaher Motion Kollmorgen 08/04 SERCOS Interface Setup
SERVOSTAR S Installation M-SS-001-01 Rev. T 59
6.4.2.1. CP2 Initialization
IDN 18 contains a list of IDNs that must be written to the drive in
CP2. The CP2 transition procedure (IDN 127) verifies the drive’s
readiness to transition from CP2 to CP3 and checks whether each
IDN listed within IDN 18 has been written by the master. If any IDN
has been written with illegal values, then the drive will not allow a
transition to CP3. If the drive fails to transition, then IDN 21 will
contain a list of IDNs that are not configured properly. The following
IDNs should be configured during CP2:
IDN Description Notes
2 Communication cycle time (tncyc).
6 AT transmission starting time (t1).
9 Position of data record in MDT.
10 MDT length.
89 MDT transmission starting time (t2).
Some masters do not support toggling the control unit
synchronization bit (MDT control word, bit 10) during CP3 and
CP4. In this case, initialize the control unit synchronization bit
monitoring IDN (P152) to 0 during CP2. Refer to the IDN
descriptions for more information.
6.4.2.2. CP3 Initialization
IDN 19 contains a list of IDNs that must be written to the drive
during CP3. If the drive was properly configured using
MOTIONLINK, IDN 19 should be empty and the master requires no
IDN initialization during this phase.
6.4.2.3. Operational Notes
− Remember that the hardware Enables, DIP switch 8 and the
Remote Enable line, must be enabled before the drive can be
system enabled through the MDT control word during CP4. If
system enabling fails, refer to IDN P15 for a list of conditions
that prevent this action.
− If a fault occurs, the drive will not allow the master to clear
faults while any of the MDT control bits (13-15) are set.
− Standard SERCOS interface torque units are based on 0.1% of
motor continuous current. However, when using
MOTIONLINK, the torque units are based on 0.1% of drive
peak current.
− SERCOS interface Velocity Units: counts/CUCT * 256
The following formulas may be used to convert to and from the
SERCOS interface units and rpm.
Vel {RPM} = Vel {cnts/CUCT * 256} * 1875 / (8 * Cnts * CUCT)
Vel {cnts/CUCT * 256} = Vel {RPM} * 8 * Cnts * CUCT / 1875