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MSD Servo Drive User Manual SERCOS II
60
IDN Description Unit
Write protection
CP2 CP3 CP4
P-0-0290 Unit for acceleration and deceleration values x x
P-0-0293 Unit for torque values x x
P-0-0300 Select control mode
P-0-0301 Mode selection of setpoint profiling
P-0-0302 Switching frequency x x
P-0-0303 current control sampling time ms x x x
P-0-0304 Speed control sampling time ms x x x
P-0-0305 Position control sampling time ms x x x
P-0-0306 Sampling time for interpolation ms x x x
P-0-0307 Voltage supply mode (must be set correctly!) x x
P-0-0310 current control gain V/A
P-0-0311 current control integration time constant ms
P-0-0312 actual motor voltage (rms, phase to phase) V x x x
P-0-0313 VF control, boost voltage at zero frequency V
P-0-0314 VF control, nominal frequency Hz
P-0-0315 VF control, voltage at nominal frequency V
P-0-0320 Speed control gain Nm/rpm
P-0-0321 Speed control integration time constant ms
P-0-0322 Speed control gain scaling factor %
P-0-0323 Advanced control structure gains
P-0-0324 Advanced control structure filtering
P-0-0325 Filter frequencies of digital filter Hz x x
P-0-0326 Digital filter design assistant
P-0-0327 Coefficients of digital filter
P-0-0328 Speed control maximum speed %
P-0-0329 Motor torque scaling of limits %
P-0-0330 Motor torque scaling of negative limit %
P-0-0331 Motor torque scaling of positive limit %
P-0-0332 Motor torque scaling (online factor) %
P-0-0333 Motor speed scaling of negative limit %
Table 10.1 List of supported SERCOS parameters
IDN Description Unit
Write protection
CP2 CP3 CP4
P-0-0334 Motor speed scaling of positive limit %
P-0-0335 Direction lock for speed reference value
P-0-0336 Adaptation of speed control gain @ zero speed x x
P-0-0337 Motor speed scaling %
P-0-0340 magnetization current (r.m.s) A
P-0-0341 speed where field-weakening starts; forces 1/n-character %
P-0-0342 speed values for mag. current scaling %
P-0-0343 mag. current scaling vs. speed %
P-0-0344 voltage control filter time constant ms
P-0-0345 voltage control gain A/V
P-0-0346 voltage control integration time constant ms
P-0-0347 voltage control reference (scaling of max. voltage) %
P-0-0348 slip control gain for field weakening
P-0-0349 comutation offset of resp. encoder deg
P-0-0350 Selection of speed calculation method
P-0-0351 actual speed calculation filter time ms
P-0-0352 observer parameter (meaning depends on CON_SCALC)
P-0-0353 Observer design parameters ms
P-0-0354 observer design assistant
P-0-0360 position control gain 1/min
P-0-0370 Interpolation type control word
P-0-0371 Speed reference filter time for speed control mode ms
P-0-0372 Speed feedforward filter time for position control ms
P-0-0374 Position delay in position control cycles (CON_PConTS) ms
P-0-0375 Speed feedforward scaling factor %
P-0-0376 Torque/Force feedforward scaling factor %
P-0-0377 Feedforward signals enabled x x x
P-0-0379 Feedforward calculation mode
P-0-0386 Friction compensation scaling factor %
P-0-0400 additional d-current reference value A
Table 10.1 List of supported SERCOS parameters
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