Kollmorgen Sercos II Repair manual

sercos®II
Fieldbus Interface for S300 / S700
Edition 04/2016
Translation of the original manual
Keep the manual as a product component
during the life span of the product.
Pass the manual to future users / owners
of the product.
File s300700sercos_e.***

Record of revisions :
Edition Remarks
09/2007 First edition
12/2008 IDNP 3009 new, some corrections
12/2009 Product brand, minor corrections, Symbols acc. to ANSI Z535
06/2010 Example Latch added
12/2010 Company name
07/2013 sercos®Logo, typo corrections
07/2014 Design cover page, warning notes updated
04/2016 Safe voltage changed to 50V, warning symbols updated, european directives updated
SERVOSTAR is a registered trademark of Kollmorgen Corporation
sercos®is a registered trademark of sercos®International e.V.
Technical changes which improve the performance of the equipment may be made without prior
notice !
All rights reserved. No part of this work may be reproduced in any form (by photocopying, microfilm or any
other method) or stored, processed, copied or distributed by electronic means without the written permission
of Kollmorgen Europe GmbH.

1 General Information
1.1 About this manual................................................................9
1.2 Target group ....................................................................9
1.3 Hints for the online edition (PDF format) ..............................................9
1.4 Use as directed.................................................................10
1.5 Symbols used ..................................................................10
1.6 Abbreviations used ..............................................................11
2 Installation / Setup
2.1 Assembly / Installation ...........................................................12
2.1.1 Installing the expansion card..................................................13
2.1.2 Front view ................................................................13
2.1.3 LEDs ....................................................................13
2.1.4 Connection technology ......................................................13
2.1.5 Connection diagram ........................................................14
2.1.6 Modifying the station address .................................................14
2.1.7 Modifying the baud rate and optical power .......................................15
2.2 Setup ........................................................................16
2.2.1 Guide to setup .............................................................16
2.2.2 Setup Software ............................................................17
3 sercos®IDN Set
3.1 MDT Control Word, Bits 13 - 15 ....................................................20
3.2 IDN Format ....................................................................21
3.3 IDN1 Control Unit Cycle Time (tNcyc).................................................23
3.4 IDN2 Communication Cycle Time (tScyc)..............................................23
3.5 IDN3 Shortest AT Transmission Starting Time (t1min)....................................23
3.6 IDN4 Transmit/Receive Transition Time (tATMT)........................................23
3.7 IDN5 Minimum Feedback Processing Time (t5)........................................24
3.8 IDN6 AT Transmission Starting Time (t1).............................................24
3.9 IDN7 Feedback Acquisition Capture Point (t4).........................................24
3.10 IDN8 Command Value Valid Time (t3)...............................................25
3.11 IDN9 Position of Data Record in MDT ...............................................25
3.12 IDN10 Length of MDT............................................................25
3.13 IDN11 Class 1 Diagnostic (C1D) ...................................................26
3.14 IDN12 Class 2 Diagnostic (C2D) ...................................................27
3.15 IDN13 Class 3 Diagnostic (C3D) ...................................................27
3.16 IDN14 Interface Status ...........................................................28
3.17 IDN15 Telegram Type Parameter ..................................................29
3.18 IDN16 Configuration List of AT Cyclic Data ...........................................29
3.19 IDN17 IDN List of All Operation Data ................................................30
3.20 IDN18 IDN List of Operation Data for CP2. ...........................................30
3.21 IDN19 IDN List of Operation Data for CP3............................................30
3.22 IDN21 IDN List of Invalid Operation Data for CP2 ......................................30
3.23 IDN22 IDN List of Invalid Operation Data for CP3 ......................................31
3.24 IDN24 Configuration List of MDT Cyclic Data .........................................31
3.25 IDN25 IDN List of All Procedure Commands ..........................................32
3.26 IDN28 MST Error Counter ........................................................32
3.27 IDN29 MDT Error Counter ........................................................32
3.28 IDN30 Manufacturer Version ......................................................33
3.29 IDN32 Primary Operation Mode ....................................................33
3.30 IDN33 Secondary Operation Mode 1 ................................................34
3.31 IDN36 Velocity Setpoint Value .....................................................34
3.32 IDN38 Positive Velocity Limit Value .................................................35
3.33 IDN39 Negative Velocity Limit Value ................................................35
3.34 IDN40 Velocity Feedback Value....................................................35
3.35 IDN41 Homing Velocity ..........................................................36
3.36 IDN42 Homing Acceleration .......................................................36
3.37 IDN43 Velocity Polarity Parameter..................................................37
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3.38 IDN44 Velocity Data Scaling Type ..................................................37
3.39 IDN45 Velocity Data Scaling Factor .................................................38
3.40 IDN46 Velocity Data Scaling Exponent ..............................................38
3.41 IDN47 Position Setpoint Value .....................................................38
3.42 IDN49 Positive Position Limit ......................................................39
3.43 IDN50 Negative Position Limit .....................................................39
3.44 IDN51 Position Feedback Value 1 (Motor Feedback) ...................................39
3.45 IDN52 Reference Distance 1 (Motor Feedback) .......................................39
3.46 IDN53 Position Feedback Value 2 (External Feedback) .................................40
3.47 IDN54 Reference Distance 2 (External Feedback) .....................................40
3.48 IDN55 Position Polarity Parameter..................................................40
3.49 IDN57 Position Window ..........................................................41
3.50 IDN59 Position Switch Flag Parameter ..............................................41
3.51 IDN60..67 Position Switch Point 1..8 ................................................42
3.52 IDN76 Position Data Scaling Type ..................................................43
3.53 IDN77 Linear Position Data Scaling Factor ...........................................44
3.54 IDN78 Linear Position Data Scaling Exponent.........................................44
3.55 IDN79 Rotational Position Resolution ...............................................44
3.56 IDN80 Torque Setpoint Value......................................................44
3.57 IDN81 Additive Torque Setpoint....................................................45
3.58 IDN82 Positive Torque Limit.......................................................45
3.59 IDN83 Negative Torque Limit ......................................................45
3.60 IDN84 Torque Feedback Value ....................................................45
3.61 IDN86 Torque/Force Data Scaling Type .............................................46
3.62 IDN87 Transmit to Transmit AT Recovery Time .......................................46
3.63 IDN88 Receive to Receive Recovery Time ...........................................46
3.64 IDN89 MDT Transmission Starting Time .............................................46
3.65 IDN90 Setpoint Value Processing Time ..............................................47
3.66 IDN91 Bipolar Velocity Limit .......................................................47
3.67 IDN92 Bipolar Torque Limit .......................................................47
3.68 IDN93 Scaling Factor Torque ......................................................47
3.69 IDN94 Scaling Exponent Torque ...................................................48
3.70 IDN95 Diagnostic Message .......................................................48
3.71 IDN96 Slave Arrangement ........................................................48
3.72 IDN97 Class 2 Diagnostic Mask....................................................48
3.73 IDN98 Class 3 Diagnostic Mask....................................................49
3.74 IDN99 Command: Reset Class 1 Diagnostic (clear fault) ................................49
3.75 IDN100 Velocity Loop Proportional Gain .............................................49
3.76 IDN101 Velocity Loop Integral Action Time ...........................................50
3.77 IDN103 Modulo Value ...........................................................50
3.78 IDN104 Position Loop Proportional Gain .............................................50
3.79 IDN106 Current Loop Proportional Gain 1 ............................................51
3.80 IDN107 Current Loop Integral Action Time 1 ..........................................51
3.81 IDN108 Feedrate Override ........................................................51
3.82 IDN109 Motor Peak Current .......................................................51
3.83 IDN110 Amplifier Peak Current ....................................................52
3.84 IDN111 Motor Continuous Stall Current..............................................52
3.85 IDN112 Amplifier Rated Current....................................................52
3.86 IDN113 Maximum Motor Speed ....................................................52
3.87 IDN114 System Load Limit........................................................53
3.88 IDN116 Resolution of Rotational Feedback 1 (Motor Feedback) ..........................53
3.89 IDN117 Resolution of Rotational Feedback 2 (External Feedback) ........................53
3.90 IDN119 Current Loop Proportional Gain 2 ............................................53
3.91 IDN120 Current Loop Integral Action Time 2 ..........................................54
3.92 IDN121 Input Revolutions of Load Gear .............................................54
3.93 IDN122 Output Revolutions of Load Gear ............................................54
3.94 IDN123 Feed Constant...........................................................55
3.95 IDN126 Torque treshold Tx .......................................................55
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3.96 IDN127 Command: Communication Phase 3 Transition Check ...........................55
3.97 IDN128 Command: Communication Phase 4 Transition Check ...........................55
3.98 IDN129 Manufacturer Class 1 Diagnostic (MC1D) .....................................56
3.99 IDN130 Probe 1 Positive Edge Value ...............................................56
3.100 IDN131 Probe 1 Negative Edge Value...............................................56
3.101 IDN132 Probe 2 Positive Edge Value ...............................................57
3.102 IDN133 Probe 2 Negative Edge Value...............................................57
3.103 IDN134 Master Control Word ......................................................58
3.104 IDN135 Amplifier Status Word .....................................................59
3.105 IDN136 Positive Acceleration Limit Value ............................................60
3.106 IDN137 Negative Acceleration Limit Value ...........................................60
3.107 IDN138 Bipolar Acceleration Limit Value .............................................60
3.108 IDN140 Controller Type ..........................................................60
3.109 IDN141 Motor Type .............................................................61
3.110 IDN142 Application Type .........................................................61
3.111 IDN143 System Interface Version ..................................................61
3.112 IDN146 Command: NC-Controlled Homing ...........................................61
3.113 IDN147 Homing Parameter .......................................................62
3.114 IDN148 Command: Amplifier-Controlled Homing ......................................63
3.115 IDN159 Monitoring Window .......................................................63
3.116 IDN160 Acceleration Data Scaling Type .............................................64
3.117 IDN161 Acceleration Data Scaling Factor ............................................64
3.118 IDN162 Acceleration Data Scaling Exponent..........................................65
3.119 IDN169 Probe Control Parameter ..................................................65
3.120 IDN170 Command: Probing .......................................................66
3.121 IDN179 Probe Position Latch Status ................................................67
3.122 IDN181 Manufacturer Class 2 Diagnostic (MC2D) .....................................67
3.123 IDN182 Manufacturer Class 3 Diagnostic (MC3D) .....................................67
3.124 IDN185 Maximum Length of AT Configurable Data .....................................68
3.125 IDN186 Maximum Length of MDT Configurable Data ...................................68
3.126 IDN187 List of AT Configurable Data IDNs ...........................................69
3.127 IDN188 List of MDT Configurable Data IDNs..........................................69
3.128 IDN189 Following Distance .......................................................70
3.129 IDN192 IDN List of Back-up Operation Data ..........................................70
3.130 IDN196 Motor Rated Current ......................................................70
3.131 IDN197 Command; Set coordinate system ...........................................70
3.132 IDN200 Amplifier Temperature Warning Threshold ....................................70
3.133 IDN201 Motor Temperature Warning Threshold .......................................71
3.134 IDN203 Amplifier Shutdown Temperature ............................................71
3.135 IDN205 Cooling Error Shutdown Temperature ........................................71
3.136 IDN208 Temperature Data Scaling Type .............................................71
3.137 IDN256 Multiplication Factor 1 .....................................................71
3.138 IDN257 Multiplication Factor 2 .....................................................72
3.139 IDN262 Command: Load Default Values .............................................72
3.140 IDN264 Command: Back-up Working Memory ........................................72
3.141 IDN265 Language Selection.......................................................72
3.142 IDN278 Maximum Traverse .......................................................73
3.143 IDN288 IDN List of Data Programmable in CP2 .......................................73
3.144 IDN289 IDN List of Data Programmable in CP3 .......................................73
3.145 IDN290 Device Type ............................................................73
3.146 IDN296 Velocity Feed-Forward Gain ................................................74
3.147 IDN298 Home Switch Distance ....................................................74
3.148 IDN300 Real-time Control Bit 1 ....................................................74
3.149 IDN301 Allocation of Real-time Control Bit 1 ..........................................75
3.150 IDN302 Real-time Control Bit 2 ....................................................75
3.151 IDN303 Allocation of Real-time Control Bit 2 ..........................................75
3.152 IDN304 Real-Time Status Bit 1 ....................................................76
3.153 IDN305 Allocation of Real-time Status Bit 1...........................................76
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