Running Kollmorgen ServostarCD Sercos Drive

This article refers to G&L PiC application note document AN000038 and describes how to run Kollmorgen ServostarCD Sercos drive.

This application note shows the necessary steps to get the Kollmorgen 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 Kmorserc is available for demonstration.

Start up Sercos drive:

The control unit synchronization bit monitoring IDN P0152 needs to be turned off in the drive in order for the ServostarCD to communicate properly with the PiC control.

Drive-controlled homing procedure:

IDN P0123, value of 10 (IDN S400), needs to be sent to the drive to select the home switch for 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 Input 1 Mode.  The option input defines whether to home to the encoder marker, or switch.

Probe cycle procedure:

IDN P0123, value of 16 (IDN S401), needs to be sent to the drive to select the probe input for drive controlled probing procedure.

During the probe cycle procedure, Probe 1 is used to capture the motor encoder position.  The encoder marker inputs can also be used to capture the position of their respective encoders. 

The probe control parameters are set up in IDN S0169.

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).  IDN S179, S0409-S0410 are used to monitor when position captures have occurred.  When a position capture occurs, the associated IDN S0130-S0131are updated with the new position.   

There’s an example task named KOLLPROB 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.

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 “ServoStarCD SERCOS Kmorserc.zip”.

The ServostarCD SERCOS Kmorserc.zip file contains:

            KOLL_1AX - Centurion version of oneaxis.ldo

            KOLLPROB - Probing task example

            M_KOLLGN - Centurion version of M_GENAX

            M_SRCREF - Centurion version of M_SRCREF.

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

            SRC_PROB - Centurion sercos setup with telegram 7 setup for probing

            KOLL_SRV - Centurion version of Servo setup.