Kollmorgen S300 Translation Of The Original Manual

S300-S400-S600-S700 PROFIBUS | 6 Process data channel
6.2.1 Positioning(Opmode 2)
PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6
STW motion task no. or vcmd* - - - -
ZSW n
act
(16bit) actual position (32bit) manufacturerspecific status -
*: for jogging/homing
Abweichende Belegung der Prozessdatenfächer bei STW Bit 14=1
PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6
STW direct motion task: Vcmd
(32 bit)
position setpoint (32bit) motion block type
ZSW n
act
(16 bit) actual position (32bit) manufacturer specific status -
Motion task number
The motion task number of the motion task to be started can lie in the range 1 to 180 (motion tasks
in EEPROM) or 192 to 255 (motion tasks in RAM).
Speed Setpoint (vcmd)
This is just when jogging or homing is selected. PNU 1894 provide the scaling for this value. More
details (➜ # 30)
Actual speed (16-bit)
The representation of the 16-bit actual speed value is normalized to the parameter for overspeed
VOSPD: n
act16
= n
act
/VOSPD x 2
15
Actual position (32-bit)
The range for the incremental position covers values from -2
31
to (2
31
-1), whereby one turn cor-
responds to 2
PRBASE
increments.
Manufacturer specific status
In the process data, the upper 16 bits of the manufacturer specific status register (PNU 1002) are
made available. The numbering starts again from 0. Details of the status register bits (➜ # 29).
Speed setpoint for a direct motion task
The usable range for the speed is not limited by the available data area. It is limited by the max-
imum achievable speed nmax, which is given by the speed parameter VLIM as the final limit
speed for the motor. Maximum speed is derived from the following formula:
v
SI, max
= n
max
x PGEARI / PGEARO x 2
PRBASE
or, as an incremental value, from:
v
incr., max
= n
max
x 2
PRBASE
x 250ms/1s = n
max
/ 4000 x 2
PRBASE
, with n
max
in turns/sec
Position setpoint for a direct motion task
The servo amplifier calculates all position values internally on an incremental basis only, so there
are limitations on the usable range of values for distances that are given in SI (user) units.
The range for the incremental position covers the values from -2
31
to (2
31
-1).
The resolution that is determined by the PGEARO (PNU1803) and PGEARI (PNU1802) para-
meters and the variable PRBASE fix the usable range for position values.
The variable PRBASE determines, through the equation n = 2
PRBASE
, the number of increments
per motor turn. The value of PRBASE can only be 16 or 20.
PGEARO contains the number of increments that must be traversed when the distance to be
moved is PGEARI. The default values for PGEARO are 1048576 (PRBASE = 20) or 65536
(PRBASE = 16) and correspond to one turn. Number of turns that can be covered :
-2048..+2047 for PRBASE=20 and -32768..+32767 for PRBASE=16
The sensibly usable position range is derived as follows:
-2
31
x PGEARI / PGEARO ... (2
31
- 1) x PGEARI / PGEARO for PGEARI≤PGEARO or
-2
31
... (2
31
- 1) for PGEARI > PGEARO.
Motion block type
The various types of motion block (➜ # 31)
42 Kollmorgen | kdn.kollmorgen.com | December 2019

Kollmorgen S300 Specifications

General

Brand	Kollmorgen
Model	S300
Category	Amplifier
Language	English