Kollmorgen S300 Translation Of The Original Manual

6.2.2 Digital speed (Opmode 1)
PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6
STW n
cmd
- - -
ZSW n
act
- incremental actual position 32 bit manuf. specific status
Alternative assignment of the process data sections with STW Bit 14=1:
PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6
STW n
cmd
(32 bit) - -
ZSW n
act
(32 bit) incremental actual position 32 bit manuf. specific status
Alternative assignment of the process data sections with STW Bit 15=1:
PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6
STW n
cmd
- - -
ZSW n
act
- position (20 bits/turn and 16 turns) manuf. specific status
Actual speed n
act
(16 Bit)
The representation of the 16-bit actual speed value is normalized to the parameter for the
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). Here one turn cor-
responds to 2
PRBASE
increments.
Manufacturer specific status
In the process data (PZD5), the upper 16 bits of the manufacturer specific status register (PNU
1002) are made available. The numbering starts again from 0.
The significance of the status register bits can be seen in the table in (➜ # 29) .
Speed setpoin n
cmd
(16 Bit)
The 16 bit speed setpoint is normalized to the parameter for the overspeed VOSPD.
VOSPD n
cmd16
= n
soll
/ VOSPD x 2
15
Position
The actual position value is an incremental value with a resolution of 24 bits. Her one turn cor-
responds to 2
PRBASE
increments.
So 2
24-PRBASE
turns can be represented.
Speed values n
act
(32 Bit)
The digital speed values are converted according to the formula.
n
cmd/act
[min
-1
] = (n
cmd/act, dig.
x 240,000) / (32 x 2
PRBASE
x 128)
with 2
PRBASE
= Increments per Motor turn, 240,000 = Number of position controller cycles / min
6.2.3 Analog speed (Opmode -1)
In this mode the control word (STW) can only be used to enable and disable the amplifier.
PZD 1 PZD 2 PZD 3 PZD 4 PZD 5 PZD 6
STW - - - - -
ZSW n
act
- incremental actual position 32bit manuf. specific status
S300-S400-S600-S700 PROFIBUS | 6 Process data channel
Kollmorgen | kdn.kollmorgen.com | December 2019 43

Kollmorgen S300 Specifications

General

Brand	Kollmorgen
Model	S300
Category	Amplifier
Language	English