Running Centurion DSM100 Sercos Drive

This article refers to G&L PiC application note AN000037 and describes running Centurion DSM100 Sercos drive.

This application note shows the necessary steps to get the Centurion DSM100 Sercos drive up and running using some basics motion function blocks.  It also shows the setup to do the drive homing and probing procedures.  An example ldo file named Centserc is available for demonstration.

Start up Sercos drive:

There is no special IDN’s required when using the Centurion amplifier with a PiC Controller.

If proper safety precautions are taken the drive enable input can be sent via IDN P32.  By using IDN P32 the hardware enable is not required.

Drive-controlled homing procedure:

The motion ASFB M_SRCREF can be used to reference the axis.  M_SRCREF function similarly to M_LHOME, and M_FHOME.  The main difference is the move acceleration is defined as an input to the function at the accel input.  The home switch must be attached to the drive at Digital Input 2.  The option input defines whether to home to the encoder marker, or switch.

Probe cycle procedure:

During the probe cycle procedure, Probe 1 (Digital input 2) and Probe 2 (Digital Input 1) are used to captured the motor or auxiliary encoder position respectively.  The encoder marker inputs can also be used to capture the position of their respective encoders.  Probe 1 and Probe 2 can be captured simultaneously.

The probe control parameters are set up in IDN S0169 or the extended probe control parameters in IDN P0004.

Once the probe control parameters are set up, the probe cycle procedure (IDN S0170) is activated.  The master starts the position captures by enabling the Probe 1 (IDN S0405) or Probe 2 (IDN S406).  IDN S0179, S0409-S0412, P005, P0008, and P0009 are used to monitor when position captures have occurred.  When a position capture occurs, the associated IDN S0130-S0133, P0006, or P0007 are updated with the new position.

There’s an example task named CENTPROB which can be used to run probe cycle procedure for a single axis.  This function sets up IDN S0169 to use probe 1 positive edge.  The captured position of the axis is stored in IDN S0130.  Both the old and new axis captured positions are displayed.

Torque limit in real time:

In the task SRC_TRQ, IDN S0092 is used to limit the maximum torque in both directions.  When the actual torque exceeds this limit value, bit 4 of IDN S0013 will be set.  IDN P0127 and P0128 are used to set the limit for current in both directions.

PiCPro Version 11.0 Enhancements:

Future enhancements to PiCPro for Windows eliminate the need for the user to initiate probing, or referencing in the manner described above.   PiCPro 11.0 will support using the standard REGIST, MEASURE, FAST_REF, and LAD_REF functions.

To Obtain Example Ladders:

Contact Kollmorgen technical support by calling 1-540-633-3545.

Ask for “Centurion SERCOS Centserc.zip”.

The Centurion SERCOS Centserc.zip file contains:

            CENT_1AX - Centurion version of oneaxis.ldo

            CENTPROB - probing task example

            M_CENTGN - Centurion version of M_GENAX

            M_SRCREF - Centurion version of M_SRCREF.

            CENT_SRC - Centurion version of general sercos setup - does NOT include P32.

            SRC_PROB - Centurion sercos setup with telegram 7 setup for probing

            SRC_TRQU - Centurion sercos setup with telegram 7 setup for torque limiting.

            CENT_SRV - Centurion version of Servo setup.

            CENT_TRQ - Task showing use of Torque limiting capability