S400 / S600 ASCII Object Reference (selected entries)

This article contains selections from the DRIVE.EXE Online Help for S400 and S600 drives. This content is taken from the CHM file that is distributed with the drive and available from the Downloads page. This content is made available here as easy links from other Support topics.  

DIPEAK

The peak rated current of the drive. DIPEAK is depending on VBUSBAL for drive 403, 406, 614 and 670.

ENCLINES

ENCLINES sets the resolution (number of lines) of the sine encoder input channel ( connector X1 S600 / X2 S400 ). In case of rotary Motors it is the number of lines per revolution, in case of linear motors it is the number of lines per pole pitch. With an ENDAT or Hiperface Encoder ENCLINES is read automatically during the initialization process.

Starting with firmware 5.41, the range of ENCLINES is extended to 32767.

Starting with firmware 6.00, the range of ENCLINES is extended to 65535.

In general the input frequency is limited with 250KHz electrical frequency. So e.g for a linear encoder with 4mm per sinwave the speed is limited by 250KHz · 4mm = 1m/s.

Starting with FW 5.80 the internal position resolution is increased. For older FW versions the resolution was limited to 20 Bits, if ENCLINES is unequal to 2x. Now since FW 5.80, if ENCLINES could be divide by 2 (4,8 and 16) without rest and the division is greater then 512 the internal resolution in the position loop increase to 21 (22, 23 and 24) Bit. Therefore it could make sense to use a higher resolution in the position loop with e.g. PRBASE 24.

ICONT

This variable sets the required rated output continuous current. The adjustment is usually made to the standstill current for the connected motor. The value entered is limited to the lower of the rated current of the motor (MICONT) or the rated current of the amplifier (DICONT). This variable is used in the monitoring of the actual RMS current that is drawn. If the ICONT value is too low, the drive shows following errors and the torque is too low. If the ICONT value is too high, the motor can be thermally overloaded. 
 

IPEAK

IPEAK sets the peak rated current of the application (RMS value). The value to be entered is limited to the lower of the peak rated current of the motor (MIPEAK) or amplifier (DIPEAK). If the IPEAK value is too low, the drive shows following errors and the peak torque is too low. If the IPEAK value is too high, the motor is endangered. 
 

MPHASE

The MOTOR PHASE parameter is handled in different ways, depending on the type of feedback (FBTYPE) that is used.
FBTYPE=0 resolver
MPHASE is saved in the serial EEPROM of the amplifier (SAVE command) and is transferred after every power-on of the amplifier.

FBTYPE=2, 4 Hiperface/Endat
MPHASE is saved in the serial EEPROM of the encoder (HSAVE command) and is read out from the encoder after every power-on of the amplifier. So if an encoder is exchanged, the MPHASE setting goes with the encoder. When a new encoder is fitted, the MPHASE value must be re-established and stored in the encoder (HSAVE command).

FBTYPE=7 sin/cos encoder without an internal EEPROM
MPHASE will be determined automatically at the first enable of the output stage (Wake & Shake)
It is not necessary to make a separate determination of the MPHASE value, or to save it.

REFIP

The REFIP parameter is used to set the peak current for homing to a mechanical stop. If home type NREF = 7 or 9 is used (homing to a mechanical stop ), the drives peak current will be determined by REFIP . When the homing movement is finished, the drive's peak current is reset to IPEAK.

>> For detailed information see NREF also.

For FW version < 5.82, REFIP is also used to reduce the current for Wake&Shake mode (FBTYPE=7). If the wake&shake mode is started, drive's peak current is set to REFIP. After the Wake and Shake is complete, drive current is changed back to IPEAK .
FW 5.80 and higher versions use the parameter REFIP2 for Wake & Shake - Modus

REFIP2

REFIP2 limits the peak current during the wake & shake procedure.
After wake & shake is finished the current is reset to the IPEAK value. 
 

VCOMM

The command VCOMM defines the threshold for the commutation error function.
The definition of an commutation error is that the sign of the actual current has the right relationship to the sign of the change of the velocity of the motor. This indicates a run-away of the motor and causes a disable of the output stage.

This commutation error is supervised, if the actual velocity is above the VCOMM threshold. To disable the function, VCOMM has to be set to VLIM.

WSAMPL

WSAMPL sets the minimum movement for W&S - function in FBTYPE = 7 and 8. The units are internal counts.
If WSAMPL = 0, the calculation is automatically done with ENCLINES.