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GEARMODE Parameter (S300-S700)

ASCII - Command GEARMODE    
Syntax Transmit GEARMODE [Data]    
Syntax Receive GEARMODE <Data>   Available in  
Type Variable rw   MMI Yes
ASCII Format Integer8   CANBus Object Number 353F (hex)
DIM -   PROFIBUS PNU 1663 (dec) IND = 1 (dec)
Range 0 .. 9   DPR 63 (dec)
Default 0    
Opmode 4   Data Type Bus/DPR Integer8
Drive State Disabled + Reset (Coldstart)   Weighting  
Start Firmware 1.0    
Configuration Yes   Last Change of this Object 2.7
Function Group position loop   EEPROM Yes
Short Description Position Input Electronic Gearing Mode

Description

The servo amplifier is controlled through different interfaces from various sources. The GEARMODE variable configures the source that provides the master setpoint (position). For the connector pin assignments, see the Installation Manual.

All devices resolver, SinCos and incremental signals can be used at the same time. Resolver for commutation and speed control, SinCos for position control and incremental encoder for electronic gearing.
Following settings have to be made:

EXTPOS=1 .. 3 (External actual position)
Status   Description
GEARMODE=0   No Feedback
GEARMODE=1 X3 (24V Pulse/Direction) Pulse And Direction Digital I/O 24V (X3)
With a stepper motor control (pulse/direction, 24V signal level) connected to the digital inputs DIGITAL-IN 1/2, terminals X3/11, 12, an additional function assignment for the inputs is not necessary and any assignments on the screen page, Digital I/O, are ignored.
INPUT1=direction (Low = positive, High = negative)
INPUT2=pulse
GEARMODE=2 X3 (24V ROD) digital encoder



Encoder Follower Digital I/O 24V (X3)
With an incremental encoder (track A/B, 24V signal level) connected to the digital inputs DIGITAL-IN 1/2, terminals X3/11, 12, an additional function assignment for the inputs is not necessary and any assignments on the screen page, Digital I/O, are ignored.
GEARMODE=3 X5 (5V ROD) digital encoder

Encoder Follower Digital I/O 5V X5
With an incremental encoder connected to connector X5 (Drive 400 X4), terminals 4, 5, 6, 7.
ENCMODE has to be set to "0".
GEARMODE=4 X5 (5V pulse and direction) pulse and direction Digital I/O

With a stepper motor control connected to connector X5, terminals 4, 5, 6, 7.
INPUT1=direction (Low = positive, High = negative)
INPUT2=pulse
ENCMODE has to be set to "0"
GEARMODE=5 X5 (SSI) SSI at X5
GEARMODE=6 X1 (5V) sine encoder

Only analog processing.
GEARMODE=7 X1 (12V) sine encoder

Only analog processing.
GEARMODE=8 X1 (EnDat) The difference to GEARMODE=6 is, that the parameter channel of the encoder is read and the absolute position is transfered to the position register. ENCLINES is calculated automatically to thie internal resolution of 20 Bit per rev of the encoder.
This setting can be used in position mode under EXTPOS=1.
The sine/cosine signals of the encoder are read analog. This increases the resolution significantly.
GEARMODE=9 X1 (HIPERFACE) The difference to GEARMODE=6 is, that the parameter channel of the encoder is read and the absolute position is transfered to the position register. ENCLINES is calculated automatically to the internal resolution of 20 Bit per rev of the encoder.
This setting can be used in position mode under EXTPOS=1.
The sine/cosine signals of the encoder are read analog. This increases the resolution significantly.
GEARMODE=10 X1 (5V ROD) ROD-encoder as master - slave input (OPMODE = 4)
GEARMODE=25 X1 (SSI) SSI at X1
GEARMODE=27 X1 (5V) pulse/direction

Only digital processing
GEARMODE=30 X1 (ROD) ROD (A Quad B)

Only digital processing