Kollmorgen S300 Original Manual

4.2.5.7 PNU 1787: deceleration jolt limiting................................................. 30
4.2.5.8 PNU 1788: next motion task ...................................................... 30
4.2.5.9 PNU 1789: start delay ........................................................... 30
4.2.5.10 PNU 1310: copy motion task...................................................... 30
4.2.5.11 PNU 1311: position, 32 bit floating decimal point format................................. 30
4.2.5.12 PNU 1312: velocity, 32 bit floating decimal point format ................................. 30
4.2.6 Setup mode: position ............................................................... 31
4.2.6.1 PNU 1773: homing type ......................................................... 31
4.2.6.2 PNU 1644: homing direction ...................................................... 31
4.2.7 Actual values ..................................................................... 31
4.2.7.1 PNU 1401: speed .............................................................. 31
4.2.7.2 PNU 1402: incremental position, actual value......................................... 31
4.2.7.3 PNU 1800: actual position value in SI (User) units ..................................... 31
4.2.7.4 PNU 1414: actual position, 32 bit floating decimal point format............................31
4.2.7.5 PNU 1415: actual velocity, 32 bit floating decimal point format............................ 32
4.2.8 Digital I/O configuration ............................................................. 32
4.2.8.1 PNUs 1698/1701/1704/1707: digital input configuration ................................. 32
4.2.8.2 PNUs 1775/1778: digital output configuration ......................................... 32
4.2.9 Analog configuration ............................................................... 32
4.2.9.1 PNU 1607: analog input configuration............................................... 32
4.2.9.2 PNU 1613/1614: analog output configuration ......................................... 32
4.2.10 Manufacturer specific object channel (from PNU 1600)..................................... 33
5 Process data channel
5.1 Instrument control ...................................................................... 36
5.1.1 Control word (STW) ................................................................ 38
5.1.2 Status word (ZSW)................................................................. 39
5.2 Operating modes ....................................................................... 39
5.2.1 Positioning (operating mode 2) ....................................................... 40
5.2.2 Digital speed (operating mode 1) ...................................................... 41
5.2.3 Analog speed (operating mode -1)..................................................... 41
5.2.4 Digital torque (operating mode -2) ..................................................... 42
5.2.5 Analog torque (operating mode -3) .................................................... 42
5.2.6 Electronic gearing (operating mode -4) ................................................. 42
5.2.7 Trajectory (operating mode -5) ....................................................... 42
5.2.8 Digital setpoint & Servo Pump (operating mode -7) ........................................ 43
5.2.9 ASCII channel (operating mode -16) ................................................... 43
5.2.10 Operating mode after switch-on (operating mode -126)..................................... 44
6 Appendix
6.1 Example telegrams ..................................................................... 45
6.1.1 Zero telegram (for initialization) ....................................................... 45
6.1.2 Setting the Opmode ................................................................ 45
6.1.3 Enable the servo amplifier ........................................................... 46
6.1.4 Start jog mode (on positioning opmode) ................................................ 46
6.1.5 Set reference point................................................................. 46
6.1.6 Start homing run .................................................................. 47
6.1.7 Start a motion task ................................................................. 49
6.1.8 Start a direct motion task ............................................................ 49
6.1.9 Polling a warning or error message .................................................... 49
6.1.10 Writing a parameter (via parameter channel PKW) ........................................ 50
6.1.11 Reading actual values .............................................................. 50
6.1.12 Write a parameter via the ASCII channel................................................ 51
6.2 Index ................................................................................ 52
4 PROFIBUS for S300/S400/S600/S700
Contents 04/2017 Kollmorgen
page

Kollmorgen S300 Specifications

General

Brand	Kollmorgen
Model	S300
Category	Amplifier
Language	English