Running AMK SERCOS Drive

*Note:  PiCPro11.0 programming software is required.

This application note shows the necessary steps to get the AMK SERCOS drive up and running.  It also shows the setup to do the drive homing procedure, probing procedure, and registration.

SERCOS Drive Start up Parameters

Edit Startup IDN List

            ID32941 (or P173) = 20 hex (Class C SERCOS)

ID32796 = 25 decimal for optional interface card

ID269 = 1 hex (Temporary parameters take effect without resetting the drive power)

ID32922 = 0 (Following error is set to zero)

 Drive-controlled Homing Procedure

In Servosetup, the option for non-centurion drive must be selected.  The function SCA_RFIT must be called to initialize homing parameters before initiating homing routine.  ASFBs M_LHOME, M_FHOME, M_AMKREF, functions LAD_REF, FAST_REF, and SCA_REF all can be used for homing routine.

There are two configurable fast inputs on the drive can be used for homing reference limit switch.

           ID32980 = 32905 Reference limit switch (BE3)

          ID32981 = 32905 Reference limit switch (BE4)

          ID32926 = 0000h AMK homing parameter

          ID147 configures according to the SERCOS specification (bit 7 must be set in order for reference distance ID52 to take effect)

Fast input BE3 is configured for LAD_REF, M_LHOME, SCA_REF, and M_AMKREF.  Fast input BE4 is configured for FAST_REF and M_FHOME.

Probing Procedure

The AMK drive only supports probe 1 either positive (ID130) or negative (ID131) edge, but not both edges at the same time.

In SERCOS Setup, select either positive or negative edge in Servo Axis Probe Edge section.  SCA_PBIT must be called to initialize probing parameters prior to initiating probing procedure.

The fast input BE4 is configured to latch the position of the axis.  The fast input distance (VAR 20) and fast input position (VAR 22) can be read using function READ_SV or READ_SVF.

*Note: the R-type resolver doesn’t have the capability to support probing procedure.

Registration

In Sercos Setup, the digitizing axis box and either probe 1 positive or negative edge must be selected.

The SCA_PBIT must be called to initialize registration parameters prior to initiating registration function.  M_RGSTAT UDFB can be used to monitor all variables that relate to registration such as fast input distance etc.

Fast input BE4 is configured for registration fast input or photo-eye.