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Valid for S400, S600

From firmware 4.91, it is possible to have an additional fast torque/current loop in the servo amplifier with ANCNFG = 10. The amplifier will read the analog input 1 and use it as a torque/current feedback to adjust the digital current set point given e.g. by the fieldbus. The following picture shows the additional loop structure.

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The following ASCII settings of the amplifier are necessary:

Valid for S400, S600

Valid for S300, S400, S600, S700

Using the setup software you can define series of motion tasks. The specials that should be known with the signal Folge_In_Pos and with the used acceleration and brake ramps are shown in these diagrams:
 
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Valid for S300, S400, S600, S700

The Profibus protocol does not give any support for synchronizing the start of motion tasks. To start several drives synchronized, it can be useful to define the motion  tasks by fieldbus but start them via a digital input.

Valid for S400, S600

Depending on the current trouble, faults are managed differently (different error levels):

Valid for S400, S600 with FW 6.21...6.99

With operation mode 4 (OPMODE 4, electronic gearing) the axis follows synchronously to a master position. The gearing ratio can be adjusted with GEARI and GEARO.

Valid for S400, S600 mit FW 5.76-5.99, 7.xx

Valid for S300, S400, S600, S700

Resolution in the position loop must be set precisely for linear applications or gearing with rotary appliaction to get a simple positioning with SI units.

You can setup the resolution with the setup software

  • S300/700 screen page Units/Mechanical
  • S400/600 screen page Position/ Position Data

Examples for unit selection and resolution related to the application:

Valid for S300, S400, S600, S700

Three ASCII commands serve for the password protection. These parameters can be set in the terminal screen of the setup software.

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