Hi,
For Kollmorgen AKD servo drives:
- the limit switches are available in Digital Inputs (0x60FD), which can be PDO
mapped.
- velocity scaling:
As defined in the Kollmorgen CANopen documentation you have to send velocity
setpoint as INTEGER32.
The scaling can be defined with object PV Scaling Factor object 0x204C
by default the scaling is 1/1000 rpm
7.5.2.1 Object 204Ch: PV Scaling Factor
This object shall indicate the configured numerator and denominator of the pv
scaling factor. The pv scaling factor serves to modify the resolution or
directing range of the specified set-point. It is aso included in calculation of
the vl velocity demand, and vl velocity actual value. It does not influence the
velocity limit function and the ramp function. The value shall have no
physical unit and shall be given in the range from -32 768 to +32 767, but the
value of 0 shall not be used. The velocity scaling factor is only active, when
bit 4 of FBUS.PARAM05 is set to 1. Other-wise velocities are scaled as 1/1000 rpm.
regards
--
sebastien
On 01/07/2014 04:53 AM, Dusty Clark wrote:
Many thanks, Jun, that was indeed the issue!
I'm now moving on to *other* issues I have with this drive, some other experts
on the list may know:
a) is there a PDO mapping for the limit switches?
b) and what is the REAL scaling for the velocity command value? I tried a union
with a float and a long int to use rpm in natural values, e.g. 1.0 rpm, 2.0 rpm,
but anything other than 0.0 as a float and writing the EC32 value didn't work (I
got an overspeed error). Hopefully someone here will know; I'll be calling
Kollmorgen myself as well to straighten this out...
Thanks again!
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