| ASCII - Command | GEARMODE | |||
| Syntax Transmit | GEARMODE [Data] | |||
| Syntax Receive | GEARMODE <Data> | Available in | ||
| Type | Variable rw | MMI | Yes | |
| ASCII Format | Integer8 | CANBus Object Number | 353F (hex) | |
| DIM | - | PROFIBUS PNU | 1663 (dec) IND = 1 (dec) | |
| Range | 0 .. 17 | DPR | 63 (dec) | |
| Default | 6 | |||
| Opmode | 4 | Data Type Bus/DPR | Integer8 | |
| Drive State | Disabled + Reset (Coldstart) | Weighting | ||
| Start Firmware | 1.20 | |||
| Configuration | Yes | Last Change of this Object | 2.0 | |
| Function Group | Gearing | EEPROM | Yes | |
| Short Description | secondary position source ( electr. Gearing or secondary feedback to position controller) | |||
Description
| Gearmode configures: In OPMODE =4 The master command source and the second position feedback source (if used ) In OPMODE = 5,6 or 8 The secondary position feedback source Other important settings: FPGA = 1 When setting GEARMODE 10 ... 17 EXTPOS = 1 When using a secondary feedback source into the position controller Starting with firmware 4.96, all devices (resolver (X2) (SERVOSTAR 400 X5), Sine Encoder (X1) (SERVOSTAR 400 X2) and incremental signals (X5 or X3) can be used at the same time. GEARMODE 1 to 9: - OPMODE = 4 Operation: GEARMODE selects the feedback type and connector used for the master signal - OPMODE = 5,6,8 Operation: GEARMODE selects the secondary feedback type and connector used to close the position loop. Also must set EXTPOS =1. GEARMODE 10 to 17 - OPMODE = 4 Operation with a secondary sine encoder feedback (X1 connector). GEARMODE selects what feedback type and connector is used for the master signal. Also must set FPGA = 1 and EXTPOS = 1 Notes: - For OPMODE = 4 applications with single feedback device to close the velocity and position loops . Choices for the master command signal are: o Digital Encoder (digital or digital encoder / SSI input) o Sine encoder (ENDAT or traditional 1 volt P-P) o Pulse and Direction (digital or digital encoder /SSI input) o or SSI format (digital encoder / SSI input) - For OPMODE = 4 applications with a secondary feedback device ( Sine encoder ENDAT or traditional 1 volt P-P) to close the servo position loop loops. Choices for the master command signal are: : o Digital Encoder (digital or digital encoder / SSI input) o Pulse and Direction (digital or digital encoder / SSI input) o or SSI format (digital encoder / SSI input) - There is no difference between GEARMODE 13 and 15 - There is no difference between GEARMODE 3 and 5 - Resolver and Sine Encoder (Hiperface format only) cannot be used as a master command input or secondary position loop feedback. For the connector pin assignments, see the Installation Manual. Following settings have to be made: |
||
| Status | Description | |
| GEARMODE=0 | Encoder Follower Digital I/O 24V (X3) With an incremental encoder (track A/B, 24V signal level) connected to the digital inputs DIGITAL-IN 1/2, terminals X3/11, 12, an additional function assignment for the inputs is not necessary and any assignments on the screen page, Digital I/O, are ignored. |
|
| GEARMODE=1 | Pulse And Direction Digital I/O 24V (X3) With a stepper motor control (pulse/direction, 24V signal level) connected to the digital inputs DIGITAL-IN 1/2, terminals X3/11, 12, an additional function assignment for the inputs is not necessary and any assignments on the screen page, Digital I/O, are ignored. INPUT1=direction (Low = positive, High = negative) INPUT2=pulse |
|
| GEARMODE=2 | Encoder Follower Digital I/O 24V (X3) With an incremental encoder (track A/B, 24V signal level) connected to the digital inputs DIGITAL-IN 1/2, terminals X3/11, 12, an additional function assignment for the inputs is not necessary and any assignments on the screen page, Digital I/O, are ignored. |
|
| GEARMODE=3 | Encoder Follower Digital I/O 5V X5 (Drive 400 X4) With an incremental encoder connected to connector X5 (Drive 400 X4), terminals 4, 5, 6, 7. ENCMODE has to be set to "0". |
|
| GEARMODE=4 | Pulse And Direction Digital I/O 5V X5 (Drive 400 X4) With a stepper motor control connected to connector X5 (Drive 400 X4), terminals 4, 5, 6, 7. INPUT1=direction (Low = positive, High = negative) INPUT2=pulse ENCMODE has to be set to "0" |
|
| GEARMODE=5 | Encoder Follower Digital I/O 5V X5 (SERVOSTAR 400 X4) With an incremental encoder connected to connector X5 (Drive 400 X4), terminals 4, 5, 6, 7. ENCMODE has to be set to "0". |
|
| GEARMODE=6 | Sine encoder to X1 (SERVOSTAR 400 X2). Only the zero crossing of the sine(cosine signals are used. No analog processing. |
|
| GEARMODE=7 | SSI input X5 (SERVOSTAR 400 X4). For the Master/Slave mode with two drives you need settings as follow: Master: (is sending the SSI position) ENCMODE 2 setting for encoder emulation (1=ROD, 2=SSI) SSIGRAY = 0 data format (0=binary/1=gray) SSIINV = 1 SSI-Clock (0=standard, 1=inverted) SSIMODE = 1 0=single turn / 1= multi turn SSIOUT = 0 baudrate 0=200 Kbaud / 1=1MBaud Slave: (is reading the SSI position) GEARMODE = 7 Setting for the master interface OPMODE = 4 Master/Slave mode ENCMODE = 2 always 2 when GEARMODE = 7 (SSI) SSIGRAY = 0 data format (0=binary/1=gray) SSIINV = 0 start transmission with MSB (=0) or LSB (=1) SSIMODE = 0 alarm bit at begin (=1) or at end (=2) or off (=0) SSIOUT = 25 data bits–1 (26) IN1MODE = 16 Start input for the motion task IN1TRIG = 0 0 means: motion task is a homing move NREF = 8 Number for homing move. The settings, GEARMODE = 7 and OPMODE =4, activate the read of the SSI-position about the encoder-input. The drive reads the SSI-position every 250 µs and calculates the difference to the previous position. This difference is multiplied by a scaling-factor and added to the last position command value. With PRBASE = 20: Scaling-factor = 2^(33-SSIOUT)* GEARO / GEARI With SSIOUT = 25: Scaling-factor = 256*GEARO / GEARI The absolute position from Master/Slave could move with ROFFS. To adjust the absolute position between Master and Slave, it is necessary to do a homing with the slave drive and NREF = 8 (start with digital input). At the beginning of the homing the Slave drive reads the absolute position from the Master, does the scaling and uses this position as the target position for the homing. The drive changes the operation mode to OPMODE = 8 and starts the homing move to the target position with VREF and ramps ACCR / DECR. When the drive reaches the target position, it sets the INPOSITION message. The PLC resets the start input to activate the Master/Slave-mode (OPMODE = 4). For testing (with the setting MSG = 2), it is possible to display the Master SSI-position at the Slave drive with the command, "M NEWSSI," in the terminal program of the drive. It is possible to get the Slave position with the command, "M PFB." |
|
| GEARMODE=8 | SINCOS-Encoder at input X1 (SERVOSTAR 400 X2). The difference to GEARMODE=6 is the sine/cosine signals of the encoder are read analog. This setting can be used in position mode under EXTPOS=1. This increases the resolution significantly. |
|
| GEARMODE=9 | EnDAT-Encoder at input X1 (Drive 400 X2). The difference to GEARMODE=6 is, that the parameter channel of the encoder is read and the absolute position is transfered to the position register. ENCLINES is calculated automatically to the internal resolution of 20 Bit per rev of the encoder. This setting can be used in position mode under EXTPOS=1. The sine/cosine signals of the encoder are read analog. This increases the resolution significantly. |
|
| GEARMODE=10 | Same as GEARMODE = 2, except sine encoder at X1 (SERVOSTAR 400 X2) for position control (EXTPOS = 1) | |
| GEARMODE=11 | Same as GEARMODE = 1, except sine encoder at X1 (Drive 400 X2) for position control (EXTPOS = 1) |
|
| GEARMODE=12 | Same as GEARMODE = 0, except sine encoder at X1 (Drive 400 X2) can be used for position control (EXTPOS = 1) |
|
| GEARMODE=13 | Same as GEARMODE = 3, except Sine encoder at X1 (Drive 400 X2) for position control (EXTPOS = 1) |
|
| GEARMODE=14 | Same as GEARMODE = 4, except Sine encoder at X1 (Drive 400 X2) for position control (EXTPOS = 1) |
|
| GEARMODE=15 | Same as GEARMODE = 3, except sine encoder at X1 (Drive 400 X2) for position control (EXTPOS = 1) | |
| GEARMODE=16 | see GEARMODE = 6 | |
| GEARMODE=17 | see GEARMODE 7 | |