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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3.154 IDN306 Real-Time Status Bit 2 ....................................................76
3.155 IDN307 Allocation of Real-time Status Bit 2...........................................77
3.156 IDN311 Temperature Warning Amplifier Status ........................................77
3.157 IDN312 Temperature Warning Motor Status ..........................................77
3.158 IDN323 Status “Target position outside of travel range” .................................77
3.159 IDN333 Status "Torque overrides Tx" ...............................................78
3.160 IDN334 Status "Torque limit override" ...............................................78
3.161 IDN335 Status "Velocity limit override"...............................................78
3.162 IDN336 Status “In Position” .......................................................78
3.163 IDN347 Velocity Control Deviation ..................................................79
3.164 IDN348 Gain for Acceleration Feed Forward ..........................................79
3.165 IDN376 Supported Baud Rate .....................................................79
3.166 IDN380 DC Bus Link Voltage ......................................................79
3.167 IDN383 Motor Temperature .......................................................79
3.168 IDN384 Amplifier Temperature.....................................................80
3.169 IDN386 Active Feedback System for Position Control...................................80
3.170 IDN390 Diagnostic Number .......................................................80
3.171 IDN400 Home Switch Status ......................................................81
3.172 IDN401 Probe 1 Status ..........................................................81
3.173 IDN402 Probe 2 Status...........................................................81
3.174 IDN403 Position Feedback Value Status .............................................81
3.175 IDN405 Probe 1 Enable ..........................................................82
3.176 IDN406 Probe 2 Enable ..........................................................82
3.177 IDN409 Probe 1 Positive Edge Latched Status ........................................82
3.178 IDN410 Probe 1 Negative Edge Latched Status .......................................83
3.179 IDN411 Probe 2 Positive Edge Latched Status ........................................83
3.180 IDN412 Probe 2 Negative Edge Latched Status .......................................84
3.181 IDN447 Command: Set absolute position ............................................84
3.182 IDNP3000..3003 (35 768..35 771) Digital Input 1..4 Configuration .........................84
3.183 IDNP3004 (35 772) Position Switch Configuration .....................................85
3.184 IDNP3005/3006 (35 773 / 35 774) Digital Output 1..2 Configuration........................85
3.185 IDNP3007/3008 (35 775 / 35 776) Digital Output Trigger ................................85
3.186 IDNP3009 (35 777) Release Motor Brake ............................................85
3.187 IDNP3010 (35 778) Feedback Type.................................................86
3.188 IDNP3011 (35 779) Encoder Emulation Configuration ..................................87
3.189 IDNP3015 (35 783) Hardware Limit Switch Consequence ...............................87
3.190 IDNP3016 (35 784) Reset Command Consequence: prevent cold start .....................88
3.191 IDNP3017 (35 785) Position Feedback Type..........................................88
3.192 IDNP3018 (35 786) Configuration of the Position latch ..................................89
3.193 IDNP3021 (35 789) Over Speed ...................................................89
3.194 IDNP3022 (35 790) Emergency Stop Rate ...........................................89
3.195 IDNP3023 (35 791) 2nd Filter Time Constant Velocity Control ............................90
3.196 IDNP3025 (35 793) Command DIR .................................................90
3.197 IDNP3026 (35 794) Non-Volatile Memory Data Checksum ...............................90
3.198 IDNP3027 (35 795) Manufacturer Homing Modes ......................................91
3.199 IDNP3028 (35 796) Output stage enable order ........................................91
3.200 IDNP3030..3033 (35 798..35 801) Digital Input 1...4 ....................................92
3.201 IDNP3034/3035 (35 802/35 803) Analog Input Value 1...2 ...............................92
3.202 IDNP3036/3037 (35 804/35 805) Digital Output 1...2 ...................................92
3.203 IDNP3038 (35 806) Probe 1 and 2 Enable............................................92
3.204 IDNP3039 (35 807) Probe 1 and 2 Control Parameter ..................................93
3.205 IDNP3040 (35 808) Spline Interpolation Method .......................................93
3.206 IDNP3041 (35 809) Position Switch On/Off Parameter ..................................93
3.207 IDNP3042 (35 810) Position Switch Enable/Disable Parameter ...........................94
3.208 IDNP3043 (35 811) Position Switch Polarity Parameter .................................95
3.209 IDNP3044 (35 812) Type of Position Switch Parameter .................................96
3.210 IDNP3045 (35813) Integral Current Component .......................................96
3.211 IDNP3046 (35814) Motor Number ..................................................96
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3.212 IDNP3047 (35 815) Configuration of Digital Cams .....................................97
3.213 IDNP3048/3049 (35 816/35 817) Correction Values for Digital Cams 1..2 and 3..4 ............97
3.214 IDNP3050/3051 (35 818/35 819) Analog Output 1..2 Value ..............................97
3.215 IDNP3052 (35 820) Switch for Acceleration Feed Forward ..............................97
3.216 IDNP3053 (35 821) Cyclic Setpoint .................................................98
3.217 IDNP3054 (35 822) Cyclic Actual Value..............................................98
3.218 IDNP3055 (35 823) Cyclic Value for External Velocity Feed Forward.......................98
3.219 IDNP3056 (35 824) Cyclic Value for External Acceleration Feed Forward ...................98
3.220 IDNP3057 (35 825) Off Switch for Digital Cams 1..2 ....................................98
3.221 IDNP3058 (35 826) Off Switch for Digital Cams 3..4 ....................................99
3.222 IDNP3059 (35 827) Switches for External Feed Forward ................................99
3.223 IDNP3060 (35 828) Counter for RDIST - Receive Noise .................................99
3.224 IDNP3061 (35 829) Unscaled Internal Position ........................................99
3.225 IDNP3070 (35 838) High-pass damping of the velocity-loop filter ..........................99
3.226 IDNP3071 (35 839) High-pass frequency of the velocity-loop filter .......................100
3.227 IDNP3072 (35 840) Low-pass damping of the velocity-loop filter .........................100
3.228 IDNP3073 (35 841) Low-pass frequency of the velocity-loop filter ........................100
3.229 IDNP3074 (35 842) Virtual Inputs .................................................100
3.230 IDNP3075 (35 843) I/O Summary variable...........................................100
3.231 IDNP3076 (35 844) Reactivate Latch...............................................101
4 Appendix
4.1 ASCII Reference List ...........................................................102
4.2 Special parameters: SERCSET and BUSPx .........................................104
4.3 Cyclically addressable data – IDN 187 (AT) + IDN 188 (MDT)...........................105
4.4 Limit Switch Hardware and Software ...............................................106
4.5 Scalings .....................................................................107
4.5.1 Position .................................................................107
4.5.2 Speed ..................................................................107
4.5.3 Power / Torque ...........................................................108
4.5.4 Unit conversion, example ...................................................108
4.6 Simple basic configuration, example ...............................................108
4.6.1 Position control ...........................................................108
4.6.2 Speed control ............................................................109
4.6.3 Torque control ............................................................109
4.7 Real-time bits .................................................................110
4.8 Homing ......................................................................111
4.8.1 Drive-controlled ...........................................................111
4.8.2 Control system-controlled ...................................................113
4.9 Latch and Extended Measurement Functions ........................................115
4.10 Cam-Switch ..................................................................118
4.11 Linearaxes ...................................................................119
4.12 Directions of rotation............................................................119
4.13 External position control .........................................................121
4.14 Quadratic interpolation ..........................................................122
4.15 Gearing and transmission ratios for linear and rotational axes ...........................123
4.16 Macro variables for debugging ....................................................124
4.17 Troubleshooting ...............................................................125
4.17.1 When does F29 occur? .....................................................125
4.17.2 Phase 0 or phase 1 is not possible ............................................125
4.17.3 It is not possible to switch up from phase 2 to phase 3 ............................125
4.17.4 It is not possible to switch up from phase 3 to phase 4 ............................126
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4.18 IDN type-sorted ...............................................................127
4.18.1 General .................................................................127
4.18.2 Acceleration / Deceleration Control............................................128
4.18.3 Torque Control ...........................................................128
4.18.4 Fault & Safety Detection ....................................................129
4.18.5 Feedback Devices.........................................................129
4.18.6 Velocity Control ...........................................................130
4.18.7 Monitoring & Troubleshooting ................................................130
4.18.8 Configurable I/O ..........................................................131
4.18.9 Position Control ...........................................................132
4.18.10 Motor Compatibility ........................................................133
4.18.11 System Communication ....................................................133
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1 General Information
1.1 About this manual
This manual describes the installation, setup, range of functions and software protocol of
the sercos®interface for SERVOSTAR 300 (short: S300) and S700 servo amplifiers and
a reference for all IDN which are used by these servo amplifiers.
The expansion card -SERCOS- offers sercos®II compatible Fiber Optic Cable (FOC)
connectivity to these servo amplifiers.
This manual forms part of the complete documentation for the S300 and S700 families of
servo amplifiers.
The installation and setup of the servo amplifiers, as well as all standard functions, are
described in the corresponding instructions manuals.
Other parts of the complete documentation for the digital servo amplifier series:
Title Publisher
Instructions manual for the servo amplifier Kollmorgen
Online Help in the setup software with ASCII Object Reference Kollmorgen
1.2 Target group
This manual addresses personnel with the following qualifications:
Transport : only by personnel with knowledge of handling electrostatically
sensitive components.
Unpacking: only by electrically qualified personnel.
Installation : only by electrically qualified personnel.
Setup : only by qualified personnel with extensive knowledge of electrical
engineering and drive technology
Programming: Software engineers, sercos®projecting engineers
The qualified personnel must know and observe IEC 60364 / IEC 60664 and national
accident prevention regulations.
Qualified Personnel only!
During operation there are deadly hazards, with the possibility of death,
severe injury or material damage.
lThe user must ensure that the safety instructions in this manual are
followed.
lThe user must ensure that all personnel responsible for working with
the servo amplifier have read and understood the instructions manual.
1.3 Hints for the online edition (PDF format)
Bookmarks:
Table of contents and index are active bookmarks.
Table of contents and index in the text:
The lines are active cross references. Click on the desired line and the appropriate page
is accessed.
Page/chapter numbers in the text:
Page/chapter numbers with cross references are active. Click at the page/chapter num-
ber to reach the indicated target.
sercos®for S300/S700 9
Kollmorgen 04/2016 General Information

1.4 Use as directed
Please observe the chapter "Use as directed” in the instructions manual for the servo
amplifier. The sercos®interface serves only for the connection of the servo amplifier to a
master with sercos®Fiber Optic Cable (FOC) connectivity.
The servo amplifiers are components that are built into electrical apparatus or machinery,
and can only be setup and operated as integral components of such apparatus or machi-
nery.
We can only guarantee the conformity of the servo amplifier with the following standards
for industrial areas when the components that we specify are used, and the installation
regulations are followed:
EC EMC Directive 2004/108/EEC
EC Low-Voltage Directive 2006/95/EEC
1.5 Symbols used
Symbol Indication
DANGER
Indicates a hazardous situation which, if not avoided, will result
in death or serious injury.
WARNING
Indicates a hazardous situation which, if not avoided, could re-
sult in death or serious injury.
CAUTION
Indicates a hazardous situation which, if not avoided, could re-
sult in minor or moderate injury.
This is not a safety symbol.
Indicates situations which, if not avoided, could result in pro-
perty damage.
This is not a safety symbol.
This symbol indicates important notes.
Warning of a danger (general). The type of danger is specified
by the warning text next to it.
Warning of danger from electricity and its effects.
Warning of danger from automatic start.
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