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MSD Servo Drive User Manual SERCOS II
56
IDN Description Unit
Write protection
CP2 CP3 CP4
S-0-0047 Position command value POS
S-0-0049 Positive position limit value x x
S-0-0050 Negative position limit value x x
S-0-0051 Position feedback value 1 POS x x x
S-0-0052 Reference distance 1 POS
S-0-0053 Position feedback value 2 POS x x x
S-0-0054 Reference distance 2 POS
S-0-0055 Position polarity parameter x x
S-0-0057 position window, for „target reached“ status POS
S-0-0076 Position data scaling type x x
S-0-0077 Linear position data scaling factor x x
S-0-0078 Linear position data scaling exponent x x
S-0-0079 Rotational position resolution x x
S-0-0080 Torque command value TORQUE
S-0-0081 Additive torque command value TORQUE
S-0-0082 Positive torque limit value TORQUE
S-0-0083 Negative torque limit value TORQUE
S-0-0084 Torque feedback value TORQUE x x x
S-0-0085 Torque polarity parameter x x
S-0-0086 Torque/force data scaling type x x
S-0-0087 Transmit to transmit recovery time (TATAT) us x x x
S-0-0088 Receive to receive recovery time (tMTSY) us x x x
S-0-0089 MDT transmission starting time (t2) us x x
S-0-0090 Command value proceeding time (tMTSG) us x x x
S-0-0091 Bipolar speed limit value SPEED
S-0-0092 Bipolar torque limit value TORQUE
S-0-0093 Torque/force data scaling factor x x
S-0-0094 Torque/force data scaling exponent x x
S-0-0095 Diagnostic message x x x
S-0-0096 Slave arrangement (SLKN) x x x
Table 10.1 List of supported SERCOS parameters
IDN Description Unit
Write protection
CP2 CP3 CP4
S-0-0097 Mask class 2 diagnostic
S-0-0098 Mask class 3 diagnostic
S-0-0099 Reset class 1 diagnostic
S-0-0100 Velocity loop proportional gain Nm min
S-0-0101 Velocity loop integral action time ms
S-0-0103 Modulo value POS x x
S-0-0104 Position loop KV-factor 1000/min
S-0-0106 Current loop proportional gain 1 V/A
S-0-0107 Current loop integral action time 1 us
S-0-0108 Feedrate Override %
S-0-0112 Amplifier rated current A x x x
S-0-0113 Maximum motor speed rev/min
S-0-0114 Load limit of the motor %
S-0-0115 Position feedback 1 type x x
S-0-0116 Sercos encoder 1 resolution x x x
S-0-0117 Sercos encoder 2 resolution x x x
S-0-0118 Resolution of linear feedback mm x x
S-0-0121 Input revolutions of load gear x x
S-0-0122 Output revolutions of load gear x x
S-0-0123 Feed constant um/rev x x
S-0-0124 Standstill window SPEED
S-0-0125 Variable velocity threshold SPEED
S-0-0126 Variable torque threshold TORQUE
S-0-0127 CP3 transition check x x
S-0-0128 CP4 transition check x x
S-0-0130 Probe value 1 positive edge POS x x x
S-0-0131 Probe value 1 positive edge POS x x x
S-0-0132 Probe value 1 positive edge POS x x x
S-0-0133 Probe value 1 positive edge POS x x x
S-0-0134 Master control word
Table 10.1 List of supported SERCOS parameters