Installation manual

Danaher Motion Kollmorgen SERCOS Interface Setup
SERVOSTAR
®
S and SERVOSTAR
®
CD Series 63
CP2 INITIALIZATION
IDN 18 c
ontains 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.
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.
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.
• SERCOS interface Torque Units:
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