Danaher Motion

SERVOSTAR® PD

SERCOS IDN
Reference Manual

KOLLMORGEN
giving our customers freedom of design

M-SS-011-0504
Firmware Version 6.3.3
Record of Manual Revisions
ISSUE NO. DATE BRIEF DESCRIPTION OF REVISION
1 05/01/1999 Initial release of SERCOS option 3.3.0
2 10/10/1999 Added new IDNs for firmware upgrade 3.4
3 05/31/2000 Corrected content and updated format 3.4.0
4 02/12/2003 Added new IDNs for firmware upgrade 6.3.3

Copyright Information
© Copyright 2000 - 2003 Danaher Motion Kollmorgen - All rights reserved.
Printed in the United States of America.

NOTICE:
Not for use or disclosure outside of Danaher Motion Kollmorgen except under written
agreement. All rights are reserved. No part of this book shall be reproduced, stored in retrieval
form, or transmitted by any means, electronic, mechanical, photocopying, recording, or otherwise
without the written permission from the publisher. While every precaution has been taken in the
preparation of the book, the publisher assumes no responsibility for errors or omissions. Neither
is any liability assumed for damages resulting from the use of the information contained herein.
This document is proprietary information of Danaher Motion Kollmorgen that is furnished for
customer use ONLY. No other uses are authorized without written permission of Danaher
Motion Kollmorgen. Information in this document is subject to change without notice and does
not represent a commitment on the part of Danaher Motion Kollmorgen. Therefore, information
contained in this manual may be updated periodically due to product improvements, etc., and
may not conform in every respect to former issues.
Danaher Motion Kollmorgen Contents

Contents
IDNs Grouped By Function ...........................................................................................................1
Acceleration / Deceleration Control .......................................................................................1
Configurable I/O .....................................................................................................................1
Current and Torque Control....................................................................................................1
Fault & Safety Detection ........................................................................................................1
Feedback Devices ...................................................................................................................2
General Features .....................................................................................................................2
Monitoring and Troubleshooting............................................................................................2
Motor Compatibility ...............................................................................................................3
Position Control ......................................................................................................................3
Systems Communication ........................................................................................................4
Velocity Control .....................................................................................................................4
SERCOS IDNs...............................................................................................................................5
IDN 2: Communication Cycle Time.......................................................................................5
IDN 3: Shortest AT Transmission Starting Time ...................................................................5
IDN 4: Transmit/Receive Transition Time.............................................................................5
IDN 5: Minimum Feedback Processing Time ........................................................................6
IDN 6: AT Transmission Starting Time .................................................................................6
IDN 9: Position of Data Record in MDT................................................................................6
IDN 10: MDT Length .............................................................................................................6
IDN 11: Class 1 Diagnostic (C1D) .........................................................................................7
IDN 12: Class 2 Diagnostic (C2D) .........................................................................................8
IDN 13:Class 3 Diagnostic (C3D) ..........................................................................................9
IDN 14: Interface Status .......................................................................................................10
IDN 15: Telegram Type Parameter.......................................................................................11
IDN 16: Configuration List of AT Cyclic Data ....................................................................11
IDN 17: IDN List of All Operation Data ..............................................................................12
IDN 18: IDN List of All Operation Data for CP2.................................................................12
IDN 19: IDN List of All Operation Data for CP3.................................................................12
IDN 21: IDN List of Invalid Operation Data for CP2 ..........................................................12
IDN 22: IDN List of Invalid Operation Data for CP3 ..........................................................12
IDN 24: Configuration List of MDT Cyclic Data.................................................................13
IDN 25: IDN List of All Procedure Commands ...................................................................13
IDN 30: Manufacturer Version.............................................................................................13
IDN 32: Primary Operation Mode ........................................................................................14
IDN 36: Velocity Command Value ......................................................................................15
IDN 37: Additive Velocity Command Value .......................................................................15
IDN 40: Velocity Feedback Value........................................................................................15
IDN 41: Homing Velocity ....................................................................................................15

SERVOSTAR PD SERCOS IDN Reference Manual i

Danaher Motion Kollmorgen Contents

IDN 42: Homing Acceleration..............................................................................................16

IDN 44: Velocity Data Scaling Type ....................................................................................16
IDN 47: Position Command Value.......................................................................................16
IDN 49: Positive Position Limit Value.................................................................................16
IDN 50: Negative Position Limit Value ...............................................................................17
IDN 51: Position Feedback Value 1 (Motor Feedback) .......................................................17
IDN 52: Reference Distance 1 ..............................................................................................17
IDN 53: Position Feedback Value 2 (External Feedback)....................................................17
IDN 55: Position Polarity Parameter ....................................................................................18
IDN 57: Position Window ....................................................................................................18
IDN 76: Position Data Scaling Type ....................................................................................19
IDN 81: Additive Torque Command ....................................................................................19
IDN 84: Torque Feedback Value..........................................................................................19
IDN 88: Receive to Receive Recovery Time........................................................................19
IDN 89: MDT Transmission Starting Time..........................................................................19
IDN 90: Command Value Processing Time .........................................................................20
IDN 91: Bipolar Velocity Limit............................................................................................20
IDN 92: Bipolar Torque Limit..............................................................................................20
IDN 95: Diagnostic Message ................................................................................................20
IDN 96: Slave Arrangement .................................................................................................21
IDN 97: Class 2 Diagnostic Mask ........................................................................................21
IDN 98: Class 3 Diagnostic Mask ........................................................................................21
IDN 99 Procedure: Reset Class 1 Diagnostic .......................................................................22
IDN 100: Velocity Loop Proportional Gain .........................................................................22
IDN 104: Position Loop Proportional Gain..........................................................................22
IDN 109: Motor Peak Current ..............................................................................................22
IDN 110: Amplifier Peak Current ........................................................................................23
IDN 111: Motor Continuous Stall Current ...........................................................................23
IDN 112: Amplifier Rated Current .......................................................................................23
IDN 113: Maximum Motor Speed........................................................................................23
IDN 114: System Load Limit................................................................................................24
IDN 115: External (Load) Position Feedback Type .............................................................24
IDN 116: Motor Feedback Resolution..................................................................................25
IDN 117: External Feedback Resolution ..............................................................................25
IDN 124: Standstill Window ................................................................................................25
IDN 127: Procedure: Communication Phase 3 Transition Check ........................................25
IDN 128: Procedure: Communication Phase 4 Transition Check ........................................26
IDN 129: Manufacturer Class 1 Diagnostic (MC1D)...........................................................26
IDN 130: Probe 1 Positive Edge Value ................................................................................27
IDN 131: Probe 1 Negative Edge Value...............................................................................27
IDN 134: Master Control Word............................................................................................27
IDN 136: Positive Acceleration Limit Value........................................................................27
IDN 137: Negative Acceleration Limit Value ......................................................................28
IDN 141: Motor Type ...........................................................................................................28
IDN 147: Homing Parameter ................................................................................................29

SERVOSTAR PD SERCOS IDN Reference Manual ii

Danaher Motion Kollmorgen Contents

IDN 148: Procedure: Drive Controlled Homing...................................................................30

IDN 150: Motor Reference Offset ........................................................................................30
IDN 155: Friction Torque Compensation .............................................................................30
IDN 159: Monitoring Window .............................................................................................31
IDN 160: Acceleration Data Scaling Type ...........................................................................31
IDN 163: Weight Counter Balance.......................................................................................31
IDN 169: Probe Control Parameter ......................................................................................32
IDN 170: Procedure: Probing ...............................................................................................33
IDN 179: Probe Position Latch Status ..................................................................................34
IDN 181: Manufacturer Class 2 Diagnostic (MC2D)...........................................................35
IDN 182: Manufacturer Class 3 Diagnostic (MC3D)...........................................................36
IDN 185: Maximum Length of AT Configurable Data ........................................................36
IDN 186: Maximum Length of MDT Configurable Data.....................................................37
IDN 187: List of AT Configurable Data IDNs .....................................................................37
IDN 188: List of MDT Configurable Data IDNs..................................................................38
IDN 189: Following Distance...............................................................................................38
IDN 191: Procedure: Cancel Reference Point ......................................................................38
IDN 192: IDN List of Back-up Operation Data....................................................................38
IDN 207: Drive Off Delay Time...........................................................................................39
IDN 263: Procedure: Load Working Memory......................................................................39
IDN 264: Procedure: Back-up Working Memory.................................................................39
IDN 296: Velocity Feed Forward Gain.................................................................................39
IDN 301: Realtime Control (RTC) Bit 1 Allocation ............................................................40
IDN 303: Realtime Control (RTC) Bit 2 Allocation ............................................................41
IDN 304: Realtime Status (RTS) Bit 1 .................................................................................41
IDN 305: Realtime Status (RTS) Bit 1 Allocation ...............................................................41
IDN 306: Realtime Status (RTS) Bit 2 .................................................................................41
IDN 307: Realtime Status (RTS) Bit 2 Allocation ...............................................................42
IDN 310: Overload Warning ................................................................................................42
IDN 312: Motor Over Temperature Warning.......................................................................42
IDN 331: Status: Velocity feedback = 0 ...............................................................................42
IDN 336: Status: In Position.................................................................................................43
IDN 348: Acceleration Feed-Forward Gain..........................................................................43
IDN 380: DC BUS Voltage ..................................................................................................43
IDN 400: Home Switch Status..............................................................................................43
IDN 401: Probe 1..................................................................................................................44
IDN 403: Position Feedback Value Status ...........................................................................44
IDN 405: Probe 1 Enable......................................................................................................45
IDN 409: Probe 1 Positive Edge Latched Status ..................................................................45
IDN 410: Probe 1 Negative Edge Latched Status.................................................................45
IDN P15: (32, 783) Drive Disable Status .............................................................................46
IDN P16: (32, 784) Active Disable Threshold Speed...........................................................46
IDN P17: (32, 785) Procedure: Clear Non-Volatile Memory...............................................46
IDN P22: (32, 790) Number of Motor Poles ........................................................................47
IDN P23: (32, 791) Rotor's Moment of Inertia.....................................................................47

SERVOSTAR PD SERCOS IDN Reference Manual iii

Danaher Motion Kollmorgen Contents

IDN P24: (32, 792) Linear Motor Pole Pitch........................................................................47

IDN P25: (32, 793) Minimum Motor Inductance.................................................................47
IDN P26: (32, 794) Motor Back EMF Constant...................................................................48
IDN P27: (32, 795) Motor Back EMF Compensation..........................................................48
IDN P28: (32, 796) Current Loop Adaptive Gain at Peak Current.......................................48
IDN P29: (32, 797) Current Loop Adaptive Gain at Continuous Current............................49
IDN P30: (32, 798) Current Loop Adaptive Gain at Zero Current.......................................49
IDN P31: (32, 799) Torque Angle Advance at Continuous Current ....................................49
IDN P32: (32, 800) Torque Angle Advance at Peak Current ...............................................50
IDN P33: (32, 801) Velocity Angle Advance at Maximum Speed ......................................50
IDN P34: (32, 802) Velocity Angle Advance at Half Speed ................................................50
IDN P35: (32, 803) Hall Sensor Inversion............................................................................51
IDN P36: (32, 804) Motor Encoder Offset ...........................................................................51
IDN P37: (32, 805) Motor Encoder Type ............................................................................52
IDN P38: (32, 806) Encoder/Resolver Relative Phase Offset ..............................................52
IDN P39: (32, 807) Number of Resolver Poles ....................................................................52
IDN P43: (32, 811) Motor Type ...........................................................................................53
IDN P56: (32, 824) Hall Sensor Status.................................................................................53
IDN P59: (32, 827) Encoder Initialization Current ..............................................................53
IDN P60: (32, 828) Procedure: Initialize Encoder................................................................54
IDN P62: (32, 830) Procedure: Find Marker Encoder Initialization ....................................54
IDN P63: (32, 831) Position Feedback Hardware Counter ..................................................55
IDN P64: (32, 832) Absolute Mechanical Position Relative to Marker ...............................55
IDN P65: (32, 833) Encoder Equivalent Output Resolution ................................................55
IDN P66: (32, 834) Resolver Inter-LSB Mode.....................................................................56
IDN P67: (32, 835) Feedback Status ....................................................................................56
IDN P72: (32, 840) Fold Back Fault Handling Mode ..........................................................57
IDN P73: (32, 841) Fold Back Warning Time .....................................................................57
IDN P77: (32, 845) Dynamic Braking Mode........................................................................57
IDN P78: (32, 846) Dynamic Braking Current.....................................................................58
IDN P84: (32, 852) Bipolar Torque Limit 2 .........................................................................58
IDN P85: (32, 853) Motor Over Speed Trip Set Point .........................................................58
IDN P87: (32, 855) Quick Deceleration Rate.......................................................................58
IDN P88: (32, 856) Acceleration/Deceleration Limit Enable...............................................59
IDN P89: (32, 857) Velocity Loop APP Input Filter ............................................................59
IDN P90: (32, 858) Velocity Notch Filter Center Frequency...............................................59
IDN P91: (32, 859) Velocity Notch Filter Band Width........................................................60
IDN P92: (32, 860) Velocity Feedback Compensation Filter...............................................60
IDN P93: (32, 861) Velocity Loop Filter Mode ...................................................................60
IDN P94: (32, 862) Velocity Low Pass Filter 1 Frequency..................................................61
IDN P95: (32, 863) Velocity Low Pass Filter 2 Frequency..................................................61
IDN P96: (32, 864) Velocity Loop Compensation Mode.....................................................62
IDN P97: (32, 865) Velocity Loop PDFF Proportional Gain ...............................................62
IDN P98: (32, 866) Velocity Loop PDFF Integral Gain.......................................................63
IDN P99: (32, 867) Velocity Loop PDFF to Feedback Gain Ratio ......................................63

SERVOSTAR PD SERCOS IDN Reference Manual iv

Danaher Motion Kollmorgen Contents

IDN P100: (32, 868) Velocity Loop SPP Bandwidth ...........................................................63

IDN P101: (32, 869) Velocity Loop SPP Load to Motor Inertia Ratio ................................63
IDN P102: (32, 870) Velocity Loop SPP Tracking Factor ...................................................64
IDN P103: (32, 871) Velocity Loop Integral Gain ...............................................................64
IDN P104: (32, 872) Velocity Loop Expanded Proportional Gain.......................................64
IDN P105: (32, 873) Procedure: Design APP Velocity Controller ......................................65
IDN P106: (32, 874) Velocity Loop APP Forward Path Polynomial ...................................65
IDN P107: (32, 875) Velocity Loop APP Feedback Path Polynomial .................................66
IDN P108: (32, 876) Velocity APP Feed-forward Path Polynomial ....................................66
IDN P109: (32, 877) Velocity Loop APP Output Filter .......................................................67
IDN P110: (32, 878) Micro-Interpolator Mode ....................................................................67
IDN P115: (32, 883) Acceleration Feed Forward Gain 2 .....................................................68
IDN P116: (32, 884) Position Loop Derivative Gain ...........................................................68
IDN P117: (32, 885) Position Loop Integral Gain................................................................68
IDN P118: (32, 886) Position Loop Integrator Input Saturation Limit.................................68
IDN P119: (32, 887) Position Loop Integrator Output Saturation Limit..............................69
IDN P120: (32, 888) Drive DIP Switch Status .....................................................................69
IDN P121: (32, 889) DIP Switch Enable Status ...................................................................70
IDN P122: (32, 890) Remote Enable Switch Status.............................................................70
IDN P123: (32, 891) Configurable I/O: Input 1 Mode .........................................................70
IDN P124: (32, 892) Configurable I/O: Input 1 Status.........................................................71
IDN P125: (32, 893) Configurable I/O: Input 2 Mode .........................................................71
IDN P126: (32, 894) Configurable I/O: Input 2 Status.........................................................71
IDN P127: (32, 895) Configurable I/O: Input 3 Mode .........................................................72
IDN P128: (32, 896) Configurable I/O: Input 3 Status.........................................................72
IDN P131: (32, 899) Configurable I/O: Output 1Mode .......................................................73
IDN P132: (32, 900) Configurable I/O: Output 1 Control/Status.........................................73
IDN P135: (32, 903) Hardware Limit Switch Enable/Disable .............................................73
IDN P136: (32, 904) CW Limit Switch Status .....................................................................74
IDN P137: (32, 905) CCW Limit Switch Status ..................................................................74
IDN P138: (32, 906) Drive Relay Closure Conditions .........................................................75
IDN P139: (32, 907) Drive Relay Status ..............................................................................75
IDN P140: (32, 908) Motor Over Temperature Mode..........................................................76
IDN P141: (32, 909) Motor Temperature Sensor Type ........................................................76
IDN P142: (32, 910) Motor Over Temperature Relay Delay Time ......................................76
IDN P144: (32, 912) Bus Under Voltage Fault Handling Mode ..........................................77
IDN P145: (32, 913) Bus Under Voltage Warning Time .....................................................77
IDN P146: (32, 914) Configurable I/O: Inputs Status ..........................................................78
IDN P147: (32, 915) Configurable I/O: Inputs Polarity .......................................................79
IDN P150: (32, 918) Manufacturer Class 2 Diagnostic Mask..............................................79
IDN P151: (32, 919) Manufacturer Class 3 Diagnostic Mask..............................................80
IDN P152: (32, 920) Control Unit Synchronization Bit Monitoring....................................80
IDN P153: (32, 921) Hold Mode Status ...............................................................................81
IDN P155: (32, 923) APP Velocity Controller Procedure Control ......................................82
IDN P156: (32, 924) APP Velocity Procedure Acknowledgement ......................................83

SERVOSTAR PD SERCOS IDN Reference Manual v

Danaher Motion Kollmorgen Contents

IDN P160: (32, 928) Scaled Analog Input Value .................................................................83

IDN P161: (32, 929) Analog Input Value.............................................................................84
IDN P164: (32, 932) Analog Input Offset Compensation ....................................................84
IDN P165: (32, 933) Analog Input Dead Band ....................................................................84
IDN P166: (32, 934) Analog Input Low Pass Filter Corner Frequency ...............................84
IDN P170: (32, 938) Source for Analog Output Feature......................................................85
IDN P171: (32, 939) Current Scale Factor for Analog Output.............................................85
IDN P172: (32, 940) Position Scale Factor for Analog Output............................................86
IDN P173: (32, 941) Velocity Scale Factor for Analog Output ...........................................86
IDN P180: (32, 948) Step Velocity 1....................................................................................86
IDN P181: (32, 949) Step Velocity 1 Duration ....................................................................86
IDN P182: (32, 950) Step Velocity 2....................................................................................87
IDN P183: (32, 951) Step Velocity 2 Duration ....................................................................87
IDN P184: (32, 952) Procedure: Velocity Step ....................................................................87
IDN P185: (32, 953) Tune Bandwidth..................................................................................88
IDN P186: (32, 954) Tune Rotation Direction .....................................................................88
IDN P187: (32, 955) Tune Velocity .....................................................................................88
IDN P188: (32, 956) Procedure: Tune..................................................................................89
IDN P189: (32, 957) Record Sample Time ..........................................................................89
IDN P190: (32, 958) Record Channel Buffer Size ...............................................................89
IDN P191: (32, 959) Record Channel 1 Signal ....................................................................90
IDN P192: (32, 960) Record Channel 2 Signal ....................................................................91
IDN P193: (32, 961) Record Channel 3 Signal ....................................................................92
IDN P194: (32, 962) Record Trigger Signal.........................................................................93
IDN P195: (32, 963) Record Trigger Level ..........................................................................93
IDN P196: (32, 964) Record Trigger Polarity ......................................................................94
IDN P197: (32, 965) Record Trigger Buffer Offset..............................................................94
IDN P198: (32, 966) Procedure: Record...............................................................................94
IDN P199: (32, 967) Record Data Status .............................................................................95
IDN P200: (32, 968) Record Data Pointer............................................................................96
IDN P201: (32,969) Record Data .........................................................................................96
Glossary of Terms & Acronyms ..................................................................................................97

SERVOSTAR PD SERCOS IDN Reference Manual vi

Danaher Motion Kollmorgen IDNs Grouped By Function

IDNs Grouped By Function

Acceleration / Deceleration Control
Homing Acceleration Positive Acceleration Limit Value
Negative Acceleration Limit Value Weight Counter Balance
Quick Deceleration Rate Acceleration/Deceleration Limit Enable

Configurable I/O
Home Switch Status Configurable I/O: Input 1 Mode
Configurable I/O: Input 1 Status Configurable I/O: Input 2 Mode
Configurable I/O: Input 2 Status Configurable I/O: Input 3 Mode
Configurable I/O: Input 3 Status Configurable I/O: Output 1Mode
Configurable I/O: Output 1 Control/Status Configurable I/O: Inputs Status
Configurable I/O: Inputs Polarity

Current and Torque Control

Primary Operation Mode Additive Torque Command
Torque Feedback Value Bipolar Torque Limit
Amplifier Peak Current Amplifier Rated Current
System Load Limit Friction Torque Compensation
Weight Counter Balance Overload Warning
Current Loop Adaptive Gain at Peak Current Fold Back Fault Handling Mode
Current Loop Adaptive Gain at Continuous Current Fold Back Warning Time
Current Loop Adaptive Gain at Zero Current Dynamic Braking Mode
Torque Angle Advance at Continuous Current Dynamic Braking Current
Torque Angle Advance at Peak Current Bipolar Torque Limit 2

Fault & Safety Detection

Positive Position Limit Value Negative Position Limit Value
Position Polarity Parameter Bipolar Velocity Limit
Bipolar Torque Limit Diagnostic Message
Class 2 Diagnostic Mask Class 3 Diagnostic Mask
Procedure: Reset Class 1 Diagnostic System Load Limit
Manufacturer Class 1 Diagnostic (MC1D) Monitoring Window
Overload Warning Motor Over Temperature Warning
Fold Back Fault Handling Mode Fold Back Warning Time
Dynamic Braking Mode Bipolar Torque Limit 2
Motor Over Speed Trip Set Point Quick Deceleration Rate
Hardware Limit Switch Enable/Disable CW Limit Switch Status
CCW Limit Switch Status Drive Relay Closure Conditions
Drive Relay Status Motor Over Temperature Mode
Motor Temperature Sensor Type Motor Over Temperature Relay Delay Time
Bus Under Voltage Fault Handling Mode Bus Under Voltage Warning Time

SERVOSTAR PD SERCOS IDN Reference Manual 1

Danaher Motion Kollmorgen IDNs Grouped By Function

Feedback Devices
External (Load) Position Feedback Type Motor Feedback Resolution
External Feedback Resolution Hall Sensor Inversion
Motor Encoder Offset Motor Encoder Type
Encoder/Resolver Relative Phase Offset Number of Resolver Poles
Hall Sensor Status Encoder Initialization Current
Procedure: Initialize Encoder Procedure: Find Marker Encoder Initialization
Resolver Inter-LSB Mode Feedback Status

General Features
Manufacturer Version Drive Off Delay Time
DC BUS Voltage Active Disable Threshold Speed
Remote Enable Switch Status Scaled Analog Input Value
Analog Input Value Analog Input Offset Compensation
Analog Input Dead Band Analog Input Low Pass Filter Corner Frequency
Source for Analog Output Feature Current Scale Factor for Analog Output
Position Scale Factor for Analog Output Velocity Scale Factor for Analog Output
Tune Bandwidth Tune Rotation Direction
Tune Velocity Procedure: Tune

Monitoring and Troubleshooting

Class 1 Diagnostic (C1D) Class 2 Diagnostic (C2D)
Class 3 Diagnostic (C3D) Interface Status
Reference Distance 1 Following Distance
Position Window Standstill Window
Manufacturer Class 1 Diagnostic (MC1D) Manufacturer Class 2 Diagnostic (MC2D)
Manufacturer Class 3 Diagnostic (MC3D) Status: In Position
Position Feedback Value 1 (Motor Feedback) Status: Velocity feedback = 0
Maximum Length of MDT Configurable Data Drive Disable Status
Hall Sensor Status Position Feedback Hardware Counter
Absolute Mechanical Position Relative to Marker Drive DIP Switch Status
DIP Switch Enable Status Hold Mode Status
Record Sample Time Record Channel Buffer Size
Record Channel 1 Signal Record Channel 2 Signal
Record Channel 3 Signal Record Trigger Signal
Record Trigger Level Record Trigger Polarity
Record Trigger Buffer Offset Procedure: Record
Record Data Status Record Data Pointer
Record Data

SERVOSTAR PD SERCOS IDN Reference Manual 2

Danaher Motion Kollmorgen IDNs Grouped By Function

Motor Compatibility
Motor Peak Current Motor Continuous Stall Current
Maximum Motor Speed Motor Type
Number of Motor Poles Rotor's Moment of Inertia
Linear Motor Pole Pitch Minimum Motor Inductance
Motor Back EMF Constant Motor Back EMF Compensation
Current Loop Adaptive Gain at Peak Current Hall Sensor Inversion
Current Loop Adaptive Gain at Continuous Current Motor Type
Current Loop Adaptive Gain at Zero Current Hall Sensor Status
Torque Angle Advance at Continuous Current Torque Angle Advance at Peak Current
Velocity Angle Advance at Maximum Speed Velocity Angle Advance at Half Speed

Position Control
Primary Operation Mode Homing Velocity
Homing Acceleration Position Command Value
Positive Position Limit Value Negative Position Limit Value
Position Feedback Value 1 (Motor Feedback) Reference Distance 1
Position Feedback Value 2 (External Feedback) Position Polarity Parameter
Position Window Position Data Scaling Type
Position Loop Proportional Gain External Feedback Resolution
Probe 1 Positive Edge Value Probe 1 Negative Edge Value
Homing Parameter Procedure: Drive Controlled Homing
Motor Reference Offset Monitoring Window
Probe Control Parameter Procedure: Probing
Probe Position Latch Status Following Distance
Procedure: Cancel Reference Point Status: In Position
Acceleration Feed-Forward Gain Home Switch Status
Probe 1 Position Feedback Value Status
Probe 1 Enable Probe 1 Positive Edge Latched Status
Absolute Mechanical Position Relative to Marker Probe 1 Negative Edge Latched Status
Micro-Interpolator Mode Acceleration Feed Forward Gain 2
Position Loop Derivative Gain Position Loop Integral Gain
Position Loop Integrator Output Saturation Limit Hardware Limit Switch Enable/Disable
Position Loop Integrator Input Saturation Limit CW Limit Switch Status
CCW Limit Switch Status

SERVOSTAR PD SERCOS IDN Reference Manual 3

Danaher Motion Kollmorgen IDNs Grouped By Function

Systems Communication
Communication Cycle Time Shortest AT Transmission Starting Time
Transmit/Receive Transition Time Minimum Feedback Processing Time
AT Transmission Starting Time Position of Data Record in MDT
MDT Length Procedure: Communication Phase 3 Transition Check
Telegram Type Parameter Procedure: Communication Phase 4 Transition Check
Configuration List of AT Cyclic Data IDN List of All Operation Data
IDN List of All Operation Data for CP2 IDN List of All Operation Data for CP3
Slave Arrangement IDN List of Invalid Operation Data for CP3
Configuration List of MDT Cyclic Data IDN List of Invalid Operation Data for CP3
Receive to Receive Recovery Time IDN List of All Procedure Commands
Command Value Processing Time MDT Transmission Starting Time
Class 2 Diagnostic Mask Class 3 Diagnostic Mask
Master Control Word Maximum Length of AT Configurable Data
List of AT Configurable Data IDNs List of MDT Configurable Data IDNs
IDN List of Back-up Operation Data Procedure: Load Working Memory
Procedure: Back-up Working Memory Overload Warning
Realtime Status (RTS) Bit 1 Realtime Control (RTC) Bit 2 Allocation
Realtime Status (RTS) Bit 1 Allocation Realtime Status (RTS) Bit 2
Realtime Status (RTS) Bit 2 Allocation Procedure: Clear Non-Volatile Memory
Encoder Equivalent Output Resolution Manufacturer Class 2 Diagnostic Mask
Manufacturer Class 3 Diagnostic Mask Control Unit Synchronization Bit Monitoring

Velocity Control
Primary Operation Mode Velocity Command Value
Additive Velocity Command Value Velocity Feedback Value
Homing Velocity Velocity Data Scaling Type
Bipolar Velocity Limit Velocity Loop Proportional Gain
Velocity Feed Forward Gain Velocity Angle Advance at Maximum Speed
Velocity Angle Advance at Half Speed Motor Over Speed Trip Set Point
Velocity Loop APP Input Filter Velocity Notch Filter Center Frequency
Velocity Notch Filter Band Width Velocity Feedback Compensation Filter
Velocity Loop Filter Mode Velocity Low Pass Filter 1 Frequency
Velocity Low Pass Filter 2 Frequency Velocity Loop Compensation Mode
Velocity Loop PDFF Proportional Gain Velocity Loop PDFF Integral Gain
Velocity Loop PDFF to Feedback Gain Ratio Velocity Loop SPP Bandwidth
Velocity Loop SPP Load to Motor Inertia Ratio Velocity Loop SPP Tracking Factor
Velocity Loop Integral Gain Velocity Loop Expanded Proportional Gain
Procedure: Design APP Velocity Controller Velocity Loop APP Forward Path Polynomial
Velocity Loop APP Feedback Path Polynomial Velocity APP Feed-forward Path Polynomial
Velocity Loop APP Output Filter APP Velocity Controller Procedure Control
APP Velocity Procedure Acknowledgement Step Velocity 1
Step Velocity 1 Duration Step Velocity 2
Step Velocity 2 Duration Procedure: Velocity Step

SERVOSTAR PD SERCOS IDN Reference Manual 4

Danaher Motion Kollmorgen SERCOS IDNs

SERCOS IDNs
Each SERCOS-interface SERVOSTAR®-supported IDN is described and listed in numerical order. Each
IDN description is displayed in the following format:
IDN # IDN Name
Description:
Data Length: Units:
Data Type: Non-Volatile:
Minimum: Write Access:
Maximum: Serial Equivalent:
Default: Availability:
NOTE: All fields are not applicable to every IDN description.

IDN 2: Communication Cycle Time

Description: The period at which MST, AT, and MDT telegrams are transmitted. The communication
cycle time (CCT) may be incremented in 1 mS steps. The micro-interpolator (µI), IDN
P110, must be disabled for CCTs greater than 6 mS.
Data Length: 2 bytes Units: uS
Data Type: Unsigned integer Non-Volatile: No
Minimum: 2,000 Write Access: CP 2
Maximum: 25,000 Serial Equivalent:
Default: None - master must download. Availability:

IDN 3: Shortest AT Transmission Starting Time

Description: The time required by the drive between the end of the MST and the start of the drive's
AT.
Data Length: 2 bytes Units: µS
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default:85 Availability:

IDN 4: Transmit/Receive Transition Time

Description: The time required by the drive between the end of the MST and the start of the drive's
AT.
Data Length: 2 bytes Units: µS
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: 10 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 5

Danaher Motion Kollmorgen SERCOS IDNs

IDN 5: Minimum Feedback Processing Time

Description: The time required by the drive for acquiring and processing cyclic feedback. This time
period is measured from the feedback processing point to the end of the next MST.
Data Length: 2 bytes Units: µS
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: 316 µS Availability:

IDN 6: AT Transmission Starting Time

Description: The time at which the drive should transmit its AT during CP3 and CP4.
Data Length: 2 bytes Units: µS
Data Type: Unsigned integer Non-Volatile: No
Minimum: IDN 3 Write Access: CP 2
Maximum: IDN 2 Serial Equivalent:
Default: None - the master must download Availability:

IDN 9: Position of Data Record in MDT

Description: The offset (in bytes) of the drive's data record within the MDT. The offset is measured
from the MDT's address field.
Data Length: 2 bytes Units: Bytes
Data Type: Unsigned integer Non-Volatile: No
Minimum: 1 Write Access: CP 2
Maximum: 65,531 Serial Equivalent:
Default: None - the master must download Availability:

IDN 10: MDT Length

Description: The length of the MDT's data field, expressed in bytes. This length does not include the
MDT delimiters, address field, or CRC.
Data Length: 2 bytes Units: Bytes
Data Type: Unsigned integer Non-Volatile: No
Minimum: 4 Write Access: CP 2
Maximum: 65,534 Serial Equivalent:
Default: None - the master must download Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 6

Danaher Motion Kollmorgen SERCOS IDNs

IDN 11: Class 1 Diagnostic (C1D)

Description: Lists the current fault status of the drive. When a fault occurs, the drive decelerates to a
stop and releases torque. The C1D status bit (AT bit 13) is set and the corresponding
fault bits are set within IDN 11. All faults are latched within IDN 11 and are reset
through the "Reset Class 1 Diagnostic (C1D)" procedure (IDN 99).
Bit Description
LSB 0 Overload fault (IDN 114)
1 Amplifier over temperature fault
2 Motor over temperature fault
3 Reserved: Cooling system fault (set to 0)
4 Control voltage fault (analog supply failure)
5 Feedback loss fault (IDN P67)
6 Commutation fault
7 Over current fault
8 Over voltage fault
9 Under voltage fault
10 Reserved: Power supply phase fault (set to 0)
11 Excessive position deviation (IDN 159)
12 Communication interface fault (IDN 14)
13 Software limit switch fault (IDN 49, 50, 55)
14 Reserved (set to 0)
MSB 15 Manufacturer-defined fault (IDN 129)

Data Length: 2 bytes Units:

Data Type: Binary Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 7

Danaher Motion Kollmorgen SERCOS IDNs

IDN 12: Class 2 Diagnostic (C2D)

Description: Lists warnings that may indicate an impending shutdown. When an unmasked warning
condition occurs, the corresponding warning bits are changed within IDN 12 and the
C2D change bit (AT status word, bit 12) is set. The warning bits within IDN 12 are not
latched and automatically reset when the warning condition is no longer valid. The C2D
change bit is reset when IDN 12 is read through the service channel. IDN 97 may be used
to mask warnings and their affect on the C2D change bit.
Bit Description
LSB 0 Overload warning (IDN 310)
1 Reserved: Amplifier over temperature warning
2 Motor over temperature warning (IDN 312)
3 Reserved: Cooling system warning (set to 0)
4 Reserved (set to 0)
5 Reserved (set to 0)
6 Reserved (set to 0)
7 Reserved (set to 0)
8 Reserved (set to 0)
9 Reserved (set to 0)
10 Reserved (set to 0)
11 Reserved (set to 0)
12 Reserved (set to 0)
13 Reserved (set to 0)
14 Reserved (set to 0)
MSB 15 Manufacturer-defined warning flags (IDN 181)

Data Length: 2 bytes Units:

Data Type: Binary Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 8

Danaher Motion Kollmorgen SERCOS IDNs

IDN 13:Class 3 Diagnostic (C3D)

Description: IDN 13 contains status flags. When an unmasked status condition changes, the
corresponding status bit changes within IDN 13 and the C3D change bit (AT status word,
bit 11) is set. The status bits within IDN 13 are not latched and automatically reset when
the status condition is no longer valid. The C3D change bit is reset when IDN 13 is read
through the service channel. IDN 98 may be used to mask particular status conditions
and their affect on the C3D change bit.
Bit Description
LSB 0 Reserved: Nfdbk = Ncmd
1 Reserved: Nfdbk = 0
2 Reserved: | Nfdbk | < | N threshold |
3 Reserved: | Torque | =| Torque threshold |
4 Reserved: | Torque | =| Torque limit |
5 Reserved: | Ncmd | > | N limit |
6 In Position (IDN 57)
7 Reserved: | Power | =| Power threshold |
8 Reserved
9 Reserved: | Nfdbk | =Min spindle speed
10 Reserved: | Nfdbk | =Max spindle speed
11 Reserved
12 Reserved
13 Reserved
14 Reserved
MSB 15 Manufacturer-defined status flags (IDN 182)

Data Length: 2 bytes Units:

Data Type: Binary Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 9

Danaher Motion Kollmorgen SERCOS IDNs

IDN 14: Interface Status

Description: IDN 14 contains the current communication phase (CP) and communication fault flags.
In the event of a communication fault the drive not only decelerates to a stop and
releases torque, but the drive's CP is returned to 0. The cause of the communication fault
is latched in IDN 14 along with the CP in which the fault occurred. The master may
retrieve this information from the drive by reading IDN 14 before issuing the fault reset
procedure (IDN 99). C1D (IDN 11) bit 12 is a summary fault bit for IDN 14.
Bit Description
0 CP
1 CP
2 CP
3 MST failure
4 MDT failure
5 Invalid phase (CP > 4)
6 Error during phase advance
7 Error during phase regression
8 Phase switch without proper acknowledgment
9 Switching to an uninitialized operation mode
10 Reserved: Duplicate drive addresses
11 Reserved
12 Reserved
13 Reserved
14 Reserved
15 Reserved

Data Length: 2 bytes Units:

Data Type: Binary Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 10

Danaher Motion Kollmorgen SERCOS IDNs

IDN 15: Telegram Type Parameter

Description: The master uses IDN 15 to select the contents of the AT and MDT cyclic data fields.
Selecting a pre-defined or standard telegram type completely defines the contents and
order of cyclic data within the AT and MDT. All standard telegram types are supported
except telegram type 1. Telegram type 7 or the application type telegram allows the
master to define the contents and order of the AT and MDT cyclic data.
The IDNs that may be transferred as cyclic data within the AT and MDT are listed in
IDN 187 and IDN 188 respectively. The maximum amount of AT and MDT cyclic data
that the drive can transfer is specified in IDN185 and IDN186 respectively.
When the application telegram is selected, the master writes the desired cyclic data IDNs
for the AT into IDN 16 and for the MDT into IDN 24.
IDN 15 Telegram Telegram Cyclic Data
Value Type MDT (Commands) AT (Feedback)
0 Standard telegram 0 None None
1 Standard telegram 1 Torque (IDN 80) None
2 Standard telegram 2 Velocity (IDN 36) Velocity (IDN 40)
3 Motor Position (IDN 51)
Standard telegram 3 Velocity (IDN 36)
11 External Position (IDN 53)
4 Motor Position (IDN 51)
Standard telegram 4 Position (IDN 47)
12 External Position (IDN 53)
5 Motor Pos/Vel (IDN 51/40)
Standard telegram 5 Pos/Vel (IDN 47/36)
13 External Pos/Vel (IDN 53/40)
6 Standard telegram 6 Velocity (IDN 36) None
7 Application telegram Contents defined within IDN 24 Contents defined within IDN 16

Data Length: 2 bytes Units:

Data Type: Binary Non-Volatile: No
Minimum: Write Access: CP 2
Maximum: Serial Equivalent:
Default: 0 Availability:

IDN 16: Configuration List of AT Cyclic Data

Description: An IDN list of the AT's cyclic data. The master fills this list with IDNs selected from a
list of configurable AT data (IDN 187) when an application telegram has been selected
through IDN 15. If a standard telegram has been selected through IDN 15, the drive fills
this list with the corresponding AT cyclic data IDNs.
Data Length: 2 byte elements. Units:
Variable length array.
Data Type: IDN Non-Volatile: No
Minimum: Write Access: CP 2
Maximum: Serial Equivalent:
Default: Empty list. Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 11

Danaher Motion Kollmorgen SERCOS IDNs

IDN 17: IDN List of All Operation Data

Description: An IDN list of all IDNs that are supported by the drive.
Data Length: 2 byte elements. Units:
Variable length array.
Data Type: IDN Non-Volatile: Yes
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: Availability:

IDN 18: IDN List of All Operation Data for CP2

Description: An IDN list of all data that must be written by the master during CP2. The drive's CP2 to
CP3 transition procedure (IDN 127) will fail if this data is not supplied by the master.
Data Length: 2 byte elements. Units:
Variable length array.
Data Type: IDN Non-Volatile: Yes
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: Availability:

IDN 19: IDN List of All Operation Data for CP3

Description: An IDN list of all data that must be written by the master during CP3. The drive's CP3 to
CP4 transition procedure (IDN 128) will fail if this data is not supplied by the master.
The contents of this list will vary depending upon whether the drive has already been
configured with motor data.
Data Length: 2 byte elements. Units:
Variable length array.
Data Type: IDN Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: Availability:

IDN 21: IDN List of Invalid Operation Data for CP2

Description: A list of all IDNs that the CP2 to CP3 transition procedure (IDN 127) considers invalid.
Data Length: 2 byte elements. Units:
Variable length array.
Data Type: IDN Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: Empty list. Availability:

IDN 22: IDN List of Invalid Operation Data for CP3

Description: A list of all IDNs that the CP3 to CP4 transition procedure (IDN 128) considers invalid.
Data Length: 2 byte elements. Units:
Variable length array.
Data Type: IDN Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: Empty list. Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 12

Danaher Motion Kollmorgen SERCOS IDNs

IDN 24: Configuration List of MDT Cyclic Data

Description: An IDN list of the MDT's cyclic data. The master fills this list with IDNs selected from a
list of configurable MDT data (IDN 188) when an application telegram has been selected
through IDN 15. If a standard telegram has been selected through IDN 15, the drive fills
this list with the corresponding MDT cyclic data IDNs.
Data Length: 2 byte elements. Units: Empty list.
Variable length array.
Data Type: IDN Non-Volatile: No
Minimum: Write Access: CP 2
Maximum: Serial Equivalent:
Default: Availability:

IDN 25: IDN List of All Procedure Commands

Description: An IDN list of all procedure IDNs that are supported by the drive.
Data Length: 2 byte elements. Units:
Variable length array.
Data Type: IDN Non-Volatile: Yes
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: Availability:

IDN 30: Manufacturer Version

Description: The master may retrieve a text string of the firmware version.
Data Length: 1 byte elements. Units:
Variable length array.
Data Type: Text Non-Volatile: Yes
Minimum: Write Access: Read-only
Maximum: Serial Equivalent: VER
Default: Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 13

Danaher Motion Kollmorgen SERCOS IDNs

IDN 32: Primary Operation Mode

Description: Defines the drive's operational mode when the AT status word bits 8 and 9 are both 0.
The master requests a particular operation mode by setting the MDT control word bits 8
and 9. The following table may be used to define the primary operation mode.
All reserved bits are not supported and must be zero. When the drive powers-up the
operational mode is undefined and the master must define a primary operational mode in
CP2.
Bit Value Description
0 000 No mode of operation
1 000 No mode of operation
2 000 No mode of operation
001 Reserved: Torque control
010 Velocity control
011 Position control using motor feedback
100 Reserved: Position control using external feedback
101 Position control using motor and external feedback (dual loop)
3 0 Position control with follow error (IDN 159)
1 Position control without following error
4 0 Reserved
5 0 Reserved
6 0 Reserved
7 0 Reserved
8 0 Reserved
9 0 Reserved
10 0 Reserved
11 0 Reserved
12 0 Reserved
13 0 Reserved
14 0 Command values are issued as cyclic data
1 Reserved: Command values are issued through the service channel
15 0 Bits 0-14 are as defined above
1 Reserved: Bits 0-14 are defined by the manufacturer

Data Length: 2 bytes Units:

Data Type: Binary Non-Volatile: No
Minimum: Write Access: CP 2
Maximum: Serial Equivalent: OpMode
Default: 0 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 14

Danaher Motion Kollmorgen SERCOS IDNs

IDN 36: Velocity Command Value

Description: The master issues the velocity command to the drive through IDN 36. IDN 36 may be
used as MDT cyclic data. The velocity units depend upon the control unit cycle time
(CUCT) which is presently equal to the CCT.
Data Length: 4 bytes. Units: Counts/CUCT * 256
Data Type: Integer Non-Volatile: No
Minimum: Write Access: CP 2-4, EN
Maximum: Serial Equivalent: JOG
Default: Availability:

IDN 37: Additive Velocity Command Value

Description: An additional velocity offset that is added to the velocity command (IDN 36). IDN 37
may be used as MDT cyclic data. The velocity units depend upon the CUCT, IDN 1
which is presently equal to the CCT (IDN 2).
Data Length: 4 bytes. Units: Counts/CUCT * 256
Data Type: Integer Non-Volatile: No
Minimum: Write Access: CP 2-4, EN
Maximum: Serial Equivalent:
Default: 0 Availability:

IDN 40: Velocity Feedback Value

Description: The master retrieves the velocity feedback from the drive through IDN 40. IDN 40 may
be used as AT cyclic data. The velocity units depend upon the CUCT which is presently
equal to the CCT.
Data Length: 4 bytes. Units: Counts/CUCT * 256
Data Type: Integer Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent: V
Default: Availability:

IDN 41: Homing Velocity

Description: Defines the drive's velocity during the drive controlled homing procedure (IDN 148).
The actual homing velocity may be limited by the bipolar velocity limit value (IDN 91).
Data Length: 4 bytes. Units: RPM
Data Type: Integer Non-Volatile: Yes
Minimum: Write Access: CP 2-4, EN
Maximum: Serial Equivalent: HOMESPD
Default: 100 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 15

Danaher Motion Kollmorgen SERCOS IDNs

IDN 42: Homing Acceleration

Description: Defines the drive's maximum acceleration and deceleration during the drive controlled
homing procedure (IDN 148). The homing acceleration may not be disabled through IDN
P88.
Data Length: 4 bytes. Units: RPM/s
Data Type: Unsigned Integer Non-Volatile: Yes
Minimum: 10 Write Access: CP 2-4, EN
Maximum: 400,000 Serial Equivalent:
Default: 10,000 Availability:

IDN 44: Velocity Data Scaling Type

Description: Defines the scaling options for all velocity data. The velocity units depend upon the
CUCT which is presently equal to the CCT. Only the "no scaling" option is supported.
Data Length: 2 bytes. Units:
Data Type: Binary Non-Volatile: Yes
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: 0 Availability:

IDN 47: Position Command Value

Description: The master issues position commands to the drive through IDN 47. IDN 47 may be used
as MDT cyclic data.
Data Length: 4 bytes. Units: Counts
Data Type: Integer Non-Volatile: No
Minimum: Write Access: CP 2-4, EN
Maximum: Serial Equivalent:
Default: Availability:

IDN 49: Positive Position Limit Value

Description: The maximum position in the positive direction. The drive generates a position limit
fault (IDN11, bit 13) when the drive reaches this limit and the software limit switches
have been enabled through the position polarity parameter (IDN 55,
bit 4).
Data Length: 4 bytes Units: Counts
Data Type: Integer Non-Volatile: Yes
Minimum: -2,000,000,000 Write Access: CP 2-4, EN
Maximum: 2,000,000,000 Serial Equivalent: PMAX
Default: 2,000,000,000 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 16

Danaher Motion Kollmorgen SERCOS IDNs

IDN 50: Negative Position Limit Value

Description: The maximum position in the negative direction. The drive generates a position limit
fault (IDN11, bit 13) when the drive reaches this limit and the software limit switches
have been enabled through the position polarity parameter (IDN 55,
bit 4).
Data Length: 4 bytes. Units: Counts
Data Type: Integer Non-Volatile: Yes
Minimum: -2,000,000,000 Write Access: CP 2-4, EN
Maximum: 2,000,000,000 Serial Equivalent: PMIN
Default: -2,000,000,000 Availability:

IDN 51: Position Feedback Value 1 (Motor Feedback)

Description: The master retrieves the motor's position feedback from the drive through IDN 51. IDN
51 may be used as AT cyclic data.
Data Length: 4 bytes. Units: Counts
Data Type: Integer Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent: PFB
Default: Availability:

IDN 52: Reference Distance 1

Description: The distance from the machine zero point to the home position referenced through the
motor feedback.
Data Length: 4 bytes. Units: Counts
Data Type: Integer Non-Volatile: Yes
Minimum: Write Access: CP 2-4, EN
Maximum: Serial Equivalent:
Default: 0 Availability:

IDN 53: Position Feedback Value 2 (External

Feedback)
Description: The master retrieves the external position feedback from the drive through IDN 53. IDN
53 may be used as AT cyclic data.
Data Length: 4 bytes. Units: Counts
Data Type: Integer Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent: PEXT
Default: Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 17

Danaher Motion Kollmorgen SERCOS IDNs

IDN 55: Position Polarity Parameter

Description: The polarity of position command and feedback data may be switched through IDN 55.
In addition, IDN 55 enables the use of software limit switches. Software limit switches
may only be enabled after homing. Only bit 4 is supported and all other bits must be set
to zero.
Bit Description Setting
LSB 0 Position command polarity: 0 = Not inverted
1 = Inverted
1 Reserved - Additive position command polarity: 0 = Not inverted
1 = Inverted
2 Motor feedback polarity: 0 = Not inverted
1 = Inverted
3 Reserved - External position feedback polarity: 0 = Not inverted
1 = Inverted
4 Position Limit values: 0 = Disabled
Refer to IDN 49 and 50 1 = Enabled
5 Reserved – Underflow / overflow threshold: 0 = Disabled
Refer to IDN 280 and 281 1 = Enabled
6 Reserved Set to 0
7 Reserved Set to 0
8 Reserved Set to 0
9 Reserved Set to 0
10 Reserved Set to 0
11 Reserved Set to 0
12 Reserved Set to 0
13 Reserved Set to 0
14 Reserved Set to 0
15 Reserved Set to 0

Data Length: 2 bytes Units:

Data Type: Binary Non-Volatile: Yes
Minimum: Write Access: CP 2-4.
Maximum: Serial Equivalent: DIR or (PLIM & 0x01) << 4
Default: 1 Availability:

IDN 57: Position Window

Description: Specifies a position error threshold between the accumulated position command and the
position feedback. The drive is considered "in position" if the position error is below this
threshold. C3D status bit 6 (IDN 13 and IDN 336) is set when the drive is within the
position window defined by IDN 57.
Data Length: 4 bytes. Units: Counts
Data Type: Integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, EN
Maximum: 32,767 Serial Equivalent: PEINPOS
Default: 100 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 18

Danaher Motion Kollmorgen SERCOS IDNs

IDN 76: Position Data Scaling Type

Description: Defines the scaling options for all position data. Only the "no scaling" option is
supported with all data referenced to the motor shaft in absolute format.
Data Length: 2 bytes. Units:
Data Type: Binary Non-Volatile: Yes
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: 0 Availability:

IDN 81: Additive Torque Command

Description: An additional torque offset that is added to the torque command (IDN 80). IDN 81 may
be used as MDT cyclic data.
Data Length: 2 bytes Units: 0.1 % of motor IC (IDN 111)
Data Type: Integer Non-Volatile: No
Minimum: Write Access: CP 4, EN
Maximum: Serial Equivalent:
Default: 0 Availability:

IDN 84: Torque Feedback Value

Description: The master retrieves the motor's torque feedback from the drive through IDN 84. IDN 84
may be assigned as AT cyclic data.
Data Length: 2 bytes Units: 0.1% of motor current (IDN 111)
Data Type: Integer Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent: I * DIPeak/MICont
Default: Availability:

IDN 88: Receive to Receive Recovery Time

Description: The time required by the drive between the end of the MDT and the beginning of the
MST.
Data Length: 2 bytes Units: µS
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: 739 Availability:

IDN 89: MDT Transmission Starting Time

Description: The time at which the master should transmit the MDT during CP3 and CP4.
Data Length: 2 bytes Units: µS
Data Type: Unsigned integer Non-Volatile: No
Minimum: IDN 3 Write Access: CP 2
Maximum: IDN 2 Serial Equivalent:
Default: None - the master must download Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 19

Danaher Motion Kollmorgen SERCOS IDNs

IDN 90: Command Value Processing Time

Description: The time required by the drive from the end of the MDT to the point at which the
received command values are used.
Data Length: 2 bytes Units: µS
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: 405 Availability:

IDN 91: Bipolar Velocity Limit

Description: Limits the motor's peak velocity, in both the clockwise (CW) and counter-clockwise
(CCW) directions, by setting a limit on the velocity loop command.
Data Length: 4 bytes. Units: RPM
Data Type: Unsigned Integer Non-Volatile: Yes
Minimum: 10 Write Access: CP 2-4
Maximum: Dependent upon motor speed Serial Equivalent: Element 7:
(IDN 113), bus voltage VLim Element 6: VMax
(IDN 380), motor back EMF
(IDN P26), and feedback
resolution (IDN 116)
Default: Dependent upon motor speed Availability:
(IDN 113), bus voltage (IDN 380),
motor back EMF (IDN P26), and
feedback resolution (IDN 116)

IDN 92: Bipolar Torque Limit

Description: Defines the maximum torque limit in both the CW and CCW direction. When a
configurable input mode (IDNP123, P125, or P127) is 8 and the corresponding
configurable input (IDN P124, P126, or P128) is set, then bipolar torque limit 2 (IDN
P84) defines the maximum torque limit in both directions.
Data Length: 2 bytes Units: 0.1 % of motor IC (IDN 111)
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, EN
Maximum: Minimum of IDN 109 and Serial Equivalent: ILIM * DIPEAK/MICONT
IDN 110
Default: Minimum of IDN 109 and Availability:
IDN 110

IDN 95: Diagnostic Message

Description: The master may read a text message from IDN 95 describing a latched fault.
Data Length: 1 byte elements. Units:
Variable length array.
Data Type: Text Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 20

Danaher Motion Kollmorgen SERCOS IDNs

IDN 96: Slave Arrangement

Description: The drive's SERCOS interface address is contained in both the upper and lower bytes of
this IDN. The drive's address may range from 0 to 31 and is selected through DIP
switches 5-1. A drive with an address of 0 is a repeater on the SERCOS ring. The drive
does not participate in the CP run-up but re-transmits all received data.
Data Length: 2 bytes Units:
Data Type: Unsigned integer Non-Volatile:
Minimum: Write Access: Read-only
Maximum: Serial Equivalent: (ADDR << 8) | ADDR
Default: Hardware defined. Availability:

IDN 97: Class 2 Diagnostic Mask

Description: When a warning condition occurs, the corresponding warning bits are set within IDN 12
and the C2D change bit (AT status word, bit 12) is set. The warning bits within IDN 12
are not latched and automatically reset when the warning condition is no longer valid.
The C2D change bit is reset when IDN 12 is read through the service channel. IDN 97
may be used to mask warnings and their affect on the C2D change bit. A masked warning
does not affect the contents of IDN 12, but the C2D change bit will not be affected when
the masked warning changes state. When a bit in IDN 97 is clear, then the corresponding
bit in IDN 12 is masked.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: CP 2-4, EN
Maximum: Serial Equivalent:
Default: 0xFFFF Availability:

IDN 98: Class 3 Diagnostic Mask

Description: IDN 13 contains status flags. When a status condition becomes true, the corresponding
status bit is set within IDN 13 and the C3D change bit (AT status word, bit 11) is set.
The status bits within IDN 13 are not latched and automatically reset when the status
condition is no longer valid. The C3D change bit is reset when IDN 13 is read through
the service channel. IDN 98 may be used to mask particular status conditions and their
affect on the C3D change bit. A masked status does not affect the contents of IDN 13,
but the C3D change bit will not be affected when the masked status changes state. When
a bit in IDN 98 is clear, then the corresponding bit in IDN 13 is masked.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: CP 2-4, EN
Maximum: Serial Equivalent:
Default: 0xFFFF Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 21

Danaher Motion Kollmorgen SERCOS IDNs

IDN 99 Procedure: Reset Class 1 Diagnostic

Description: Attempts to clear the latched faults contained in IDNs 11, 14, and 129. The reset will
only clear faults that are no longer active. If all the faults are reset, the C1D status bit
(AT bit 13) will reset. The fault reset procedure will fail if faults have been latched and
the master has not reset the drive enable control bits (MDT bits 13-15).
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: CP 2-4, EN
Maximum: Serial Equivalent:
Default: 0 Availability:

IDN 100: Velocity Loop Proportional Gain

Description: Defines the velocity loop proportional gain for the proportional-integral velocity loop
controller. The type of velocity loop controller is selected through the velocity loop
compensation mode (IDN P96). Larger gain values may be obtained through the velocity
loop expanded proportional gain (IDN P104).
Data Length: 2 bytes Units:
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, EN
Maximum: 65,535 Serial Equivalent: GV (lower 16 bits)
Default: 500 Availability:

IDN 104: Position Loop Proportional Gain

Description: Defines the proportional gain for the PID position loop controller.
Data Length: 2 bytes Units: 0.01 (m/min)/mm α
0.01 (in/min)/mil α
0.01 (kRPM/min)/rev
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0.01 Write Access: CP 2-4, EN
Maximum: 70.00 Serial Equivalent: GP
Default: Calculated Availability:

IDN 109: Motor Peak Current

Description: Defines the motor's peak rated current. When this IDN is modified, the drive enters an
uncompensated state.
Data Length: 4 bytes Units: milliamps RMS
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 1,000 Write Access: CP 2-4
Maximum: 350,000 Serial Equivalent: MIPEAK * 100
Default: Motor Data Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 22

Danaher Motion Kollmorgen SERCOS IDNs

IDN 110: Amplifier Peak Current

Description: Defines the drive amplifier's peak rated current. This hardware defined variable is set
equal to twice the continuous rated current of the drive.
Data Length: 4 bytes Units: milliamps RMS
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: Write Access: Read-only
Maximum: Serial Equivalent: DIPEAK * 100
Default: Hardware defined. Availability:

IDN 111: Motor Continuous Stall Current

Description: Defines the motor's continuous rated current and the 100% torque reference value. When
this IDN is modified, the drive enters an uncompensated state.
Data Length: 4 bytes Units: milliamps RMS
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 1,000 Write Access: CP 2-4
Maximum: 175,000 Serial Equivalent: MICONT * 100
Default: Motor Data Availability:

IDN 112: Amplifier Rated Current

Description: Defines the drive amplifier's continuous current rating. This hardware defined variable is
automatically determined by the drive.
Data Length: 4 bytes Units: milliamps RMS
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: Write Access: Read-only
Maximum: Serial Equivalent: DICONT * 100
Default: Hardware defined. Availability:

IDN 113: Maximum Motor Speed

Description: Defines the motor's maximum recommended speed. When IDN 113 is modified, the
drive enters an uncompensated state.
Data Length: 4 bytes Units: RPM
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 100,000 Write Access: CP 2-4
Maximum: 327,670,000 Serial Equivalent: MSPEED * 10,000
Default: Motor Data Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 23

Danaher Motion Kollmorgen SERCOS IDNs

IDN 114: System Load Limit

Description: Defines the system continuous current. When the system continuous current has been
exceeded for too long, the drive enters fold back. The action taken by the drive upon
entering fold back depends upon the fold back mode (IDN P72). IDN 114 is reset to its
default value when the motor continuous current (IDN 111) or drive continuous current
(IDN 112) is modified.
Data Length: 2 bytes Units: 0.1% of motor IC (IDN 111)
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4
Maximum: Minimum of IDN 111 and 112 Serial Equivalent: ICONT * DIPEAK/MICONT
Default: Minimum of IDN 109, 110, 111, Availability:
and 112

IDN 115: External (Load) Position Feedback Type

Description: The master defines the characteristics of the external feedback with IDN 115. Only bit 3
is supported and all reserved bits must be set to zero.
Bit Description Setting
LSB 0 Reserved - Feedback type: 0 = Rotational
1 = Linear
1 Reserved: Distance coded reference marks: 0 = None
1 = Present
2 Reserved: Feedback resolution: 0 = Metric
1 = Inches
3 Direction polarity: 0 = Non inverted
1 = Inverted
4 Reserved: Reference marker pulse quantity: 0 = 1 marker
1 = Multiple cyclic markers
5 Reserved: Distance coded feedback count in 0 = Positive
positive direction: 1 = Negative
6 Reserved: Measuring system type: 0 = Incremental
1 = Absolute
7 Reserved: Absolute measuring system usage: 0 = Absolute
1 = Incremental
8 Reserved Set to 0
9 Reserved Set to 0
10 Reserved Set to 0
11 Reserved Set to 0
12 Reserved Set to 0
13 Reserved Set to 0
14 Reserved Set to 0
15 Reserved Set to 0

Data Length: 2 bytes Units:

Data Type: Binary Non-Volatile: Yes
Minimum: Write Access: CP 2 - 3.
Maximum: Serial Equivalent: Bit 3 = XENCDIR
Default: 0 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 24

Danaher Motion Kollmorgen SERCOS IDNs

IDN 116: Motor Feedback Resolution

Description: Defines the motor's rotary or linear feedback resolution. When this IDN is modified on
encoder based systems, the drive enters an uncompensated state. IDN 116 cannot be
modified on resolver-based systems.
Data Length: 4 bytes Units: Counts/Rev
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 400 – Regular encoder Write Access: Encoder: CP 2-4,
4 - Sine encoder feedback Resolver: Read-only
Maximum: 40,000,000 Serial Equivalent: MENCRES * 4 or
2^RDRES
Default: Motor Data (encoder systems) Availability:
65536 (resolver systems)

IDN 117: External Feedback Resolution

Description: Defines the load's rotary or linear feedback resolution. IDN 115, bit 0 defines whether
the external feedback type is rotary or linear.
Data Length: 4 bytes Units: Counts/Rev
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 400 Write Access: CP 2-3
Maximum: 40,000,000 Serial Equivalent: XENCRES * 4
Default: 4096 Availability:

IDN 124: Standstill Window

Description: The standstill window defines a velocity below which the motor is not considered
moving. This velocity threshold is used to set the C3D status bit "velocity feedback = 0"
(IDN 13, bit 1). The "velocity feedback = 0" status bit is duplicated in IDN 331 for use as
a RTS.
Data Length: 4 bytes Units: RPM
Data Type: Unsigned integer Non-Volatile: No
Minimum: 0 Write Access: CP 2-4, En
Maximum: 32,767 Serial Equivalent:
Default: 32,767 Availability:

IDN 127: Procedure: Communication Phase 3

Transition Check
Description: Ensures that the drive is ready to switch from CP2 to CP3. The master must successfully
execute this procedure prior to switching the CP from 2 to 3. If the procedure fails, IDN
21 contains a list of IDNs that the drive considers invalid.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: CP 2
Maximum: Serial Equivalent:
Default: 0 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 25

Danaher Motion Kollmorgen SERCOS IDNs

IDN 128: Procedure: Communication Phase 4

Transition Check
Description: Ensures that the drive is ready to switch from CP3 to CP4. The master must successfully
execute this procedure prior to switching the CP from 3 to 4. If the procedure fails, IDN
22 contains a list of IDNs the drive considers invalid.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: CP 3
Maximum: Serial Equivalent:
Default: 0 Availability:

IDN 129: Manufacturer Class 1 Diagnostic (MC1D)

Description: Lists the status of the latched manufacturer-defined drive faults. When a manufacturer-
defined fault occurs, the drive decelerates to a stop and releases torque. The C1D status
bit (AT bit 13) is set, IDN 11 bit 15 is set, and the corresponding manufacturer-defined
fault bit is set within IDN 129. All manufacturer-defined faults are latched within IDN
129 and are reset through the "Reset Class 1 Diagnostic" procedure (IDN 99).
Bit Description
LSB 0 Non-volatile data memory fault
1 Non-volatile data memory checksum fault
2 Reserved
3 Reserved
4 Reserved
5 Reserved
6 Reserved
7 Reserved
8 Invalid drive/motor configuration. This fault may occur under the
following circumstances:
A) Invalid drive/motor compensation parameters
B) Invalid control loops (IDN 181, bit 4)
C) An encoder has not been initialized (IDN 181, bit 5)
9 Motor over speed fault (IDN P85)
10 Reserved
11 Reserved
12 Control unit synchronization bit did not toggle (IDN P152)
13 Control unit synchronization bit changed prematurely (IDN P152)
14 External communication fault
MSB 15 Internal firmware fault. Contact factory

Data Length: 2 bytes Units:

Data Type: Binary Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent: STATUS
Default: Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 26

Danaher Motion Kollmorgen SERCOS IDNs

IDN 130: Probe 1 Positive Edge Value

Description: The probing procedure (IDN 170) is used to capture the motor (or load) position when a
digital input changes. IDN 130 contains the captured position when the probing
procedure is configured, through the probe control parameter (IDN 169, bit 0), to capture
the position on the rising edge of the digital input. IDN 130 may be configured as AT
cyclic data.
Data Length: 4 bytes. Units: Counts
Data Type: Integer Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: Availability:

IDN 131: Probe 1 Negative Edge Value

Description: The probing procedure (IDN 170) is used to capture the motor (or load) position when a
digital input changes. IDN 131 contains the captured position when the probing
procedure is configured, through the probe control parameter (IDN 169, bit 1), to capture
the position on the falling edge of the digital input. IDN 131 may be configured as AT
cyclic data.
Data Length: 4 bytes. Units: Counts
Data Type: Integer Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: Availability:

IDN 134: Master Control Word

Description: The MDT telegram's control word is stored as IDN 134 as a diagnostic aid. IDN 134 is
only updated in CP 4.
Data Length: 2 bytes. Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: Availability:

IDN 136: Positive Acceleration Limit Value

Description: Defines the drive's maximum positive acceleration when the acceleration/deceleration
limit enable (IDN P88) is set.
Data Length: 4 bytes. Units: RPM/s
Data Type: Integer Non-Volatile: Yes
Minimum: 10 Write Access: CP 2-4, EN
Maximum: 400,000 Serial Equivalent: ACC
Default: 400,000 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 27

Danaher Motion Kollmorgen SERCOS IDNs

IDN 137: Negative Acceleration Limit Value

Description: Defines the drive's maximum deceleration (negative acceleration) when the
acceleration/deceleration limit enable (IDN P88) is set. The drive alternately uses the
quick deceleration limit (IDN P87) under the following conditions: position limits are
encountered, a fault has occurred, or the master has requested an active disable.
The quick deceleration limit (IDN P87) is always used by the drive when those
conditions occur and is independent of the deceleration limit enable (IDN P88).
Presently, the drive does not support MDT control bit 13 (halt/restart), so clearing MDT
control bit 13 causes an active disable at the quick deceleration rate followed by a torque
release.
Data Length: 4 bytes. Units: RPM/s
Data Type: Integer Non-Volatile: Yes
Minimum: -400000 Write Access: CP 2-4, EN
Maximum: -10 Serial Equivalent: DEC
Default: -400,000 Availability:

IDN 141: Motor Type

Description: The motor type IDN contains the name of the motor connected to the drive.
Data Length: 1 byte elements. Units:
Variable length array.
Data Type: Text Non-Volatile: Yes
Minimum: Write Access: CP 2-4, En
Maximum: Serial Equivalent: Motor
Default: Motor Data Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 28

Danaher Motion Kollmorgen SERCOS IDNs

IDN 147: Homing Parameter

Description: The drive controlled homing procedure (IDN 148) is configured through IDN 41, IDN
42, IDN 52, IDN 147, and IDN 150. Only bits 0-2, and 5-7 are supported and all other
bits must be set to zero.
Bit Description Setting
LSB 0 Homing direction: 0 = CW 1 = CCW
1 Home switch polarity: 0 = Active on rising edge
1 = Active on falling edge
2 Home switch location: 0 = Master 1 = Drive
3 Reserved - feedback source: 0 = Motor 1 = External
4 Reserved - Home enable evaluation: Set to 0
5 Home switch evaluation: 0 = Evaluate
1 = Not evaluated
6 Marker pulse evaluation: 0 = Evaluate
1 = Not evaluated
7 Stop criteria: 0 = After position capture
1 = On home position
8 Reserved Set to 0
9 Reserved Set to 0
10 Reserved Set to 0
11 Reserved Set to 0
12 Reserved Set to 0
13 Reserved Set to 0
14 Reserved Set to 0
15 Reserved Set to 0

Data Length: 2 bytes Units:

Data Type: Binary Non-Volatile: Yes
Minimum: Write Access: CP 2-4, EN.
Maximum: Serial Equivalent: [IDN 147] = [IDN
147] | (HOMETYPE << 5)
Default: 4 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 29

Danaher Motion Kollmorgen SERCOS IDNs

IDN 148: Procedure: Drive Controlled Homing

Description: The drive automatically enters an internal position mode and homes the drive. Homing is
configured through the homing velocity (IDN 41), homing acceleration (IDN 42),
reference distance 1 (IDN 52), homing parameter (IDN 147), and the reference offset
(IDN 150). The homing acceleration may not be disabled through IDN P88.
The homing procedure fails under the following conditions:
1. The probing procedure (IDN 170) is active.
2. The home switch is located on the drive (IDN 147, bit 2 is set) and is evaluated
during homing (IDN 147, bit 5 is clear) and a configurable input has not been
configured as a home switch input. Configurable inputs are configured through
IDNs P123, P125, and P127.
3. The home switch is located on the master (IDN 147, bit 2 is clear) and will be
evaluated during homing (IDN 147, bit 5 is clear) and the home enable signal
(IDN 407) has not been configured as a RTC.
4. A fault occurs during drive controlled homing.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: CP 4, EN
Maximum: Serial Equivalent:
Default: 0 Availability:

IDN 150: Motor Reference Offset

Description: Used during the homing to determine the motor's position feedback relative to the
machine zero point. The motor reference offset is the distance from the home marker to
the home position. The motor position (IDN 51) relative to the machine zero point at the
homing marker is equal to the reference distance 1 (IDN 52) minus the motor reference
offset (IDN 150).
Data Length: 4 bytes. Units: Counts
Data Type: Integer Non-Volatile: Yes
Minimum: Write Access: CP 2-4, EN
Maximum: Serial Equivalent:
Default: 0 Availability:

IDN 155: Friction Torque Compensation

Description: An additive torque value that is used when accelerating from a standstill in order to
compensate for the affects of coulomb friction.
Data Length: 2 bytes Units: 0.1 % of motor continuous current
(IDN 111)
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, EN
Maximum: Depends upon IDNs 110 Serial Equivalent: IFRIC * DIPEAK/MICONT
and 111.
Default: 0 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 30

Danaher Motion Kollmorgen SERCOS IDNs

IDN 159: Monitoring Window

Description: The monitoring window defines the maximum position error. When the absolute distance
between the active position command and active position feedback exceeds the
monitoring window, an "excessive position deviation" fault is generated (IDN 11, bit
11). Following error fault monitoring may be enabled or disabled through the operational
mode (IDN 32, bit 3).
Data Length: 4 bytes. Units: Counts
Data Type: Unsigned Integer Non-Volatile: Yes
Minimum: Write Access: CP 2-4, EN
Maximum: Serial Equivalent: PEMAX
Default: 2,147,483,647 Availability:

IDN 160: Acceleration Data Scaling Type

Description: Defines the scaling options for all acceleration data. Only the "no scaling" option is
supported.
Data Length: 2 bytes. Units:
Data Type: Binary Non-Volatile: Yes
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: 0 Availability:

IDN 163: Weight Counter Balance

Description: An additive torque value used when accelerating from a standstill to compensate for the
effects of coulomb friction.
Data Length: 2 bytes Units: 0.1 % of motor IC (IDN 111)
Data Type: Integer Non-Volatile: Yes
Minimum: Depends upon IDNs Write Access: CP 2-4, EN
110 and 111.
Maximum: Depends upon IDNs Serial Equivalent: IGRAV * DIPEAK/MICONT
110 and 111.
Default: 0 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 31

Danaher Motion Kollmorgen SERCOS IDNs

IDN 169: Probe Control Parameter

Description: The probe control parameter defines the input signal edge that will result in a position
capture during the probing procedure (IDN 170). Only probing level 1 is supported.
Therefore, only bits 0 and 1 are supported and only one active edge may be selected.
Bit Description Setting
LSB 0 Probe 1 - Capture on positive edge: 0 = Inactive
1 = Active
1 Probe 1 - Capture on negative edge: 0 = Inactive
1 = Active
2 Reserved - Probe 2 - Capture on positive edge: 0 = Inactive
1 = Active
3 Reserved - Probe 2 - Capture on negative edge: 0 = Inactive
1 = Active
4 Reserved Set to 0
5 Reserved Set to 0
6 Reserved Set to 0
7 Reserved Set to 0
8 Reserved Set to 0
9 Reserved Set to 0
10 Reserved Set to 0
11 Reserved Set to 0
12 Reserved Set to 0
13 Reserved Set to 0
14 Reserved Set to 0
15 Reserved Set to 0

Data Length: 2 bytes Units: No

Data Type: Binary Non-Volatile:
Minimum: 0 Write Access: CP 2-4, EN.
Maximum: 2 Serial Equivalent:
Default: 0 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 32

Danaher Motion Kollmorgen SERCOS IDNs

IDN 170: Procedure: Probing

Description: Probing is used to capture the motor (or external) position when a digital input changes.
Probing level 1 is supported. Therefore, only 1 probe input is supported that may trigger
a position capture using only one edge (rising or falling, but not both) of the digital input
signal. The probe control parameter (IDN 169) is used to configure the digital input edge
that causes a position capture. Once the probe procedure is started by the master, it
continues indefinitely until either the master cancels the probing procedure or an error
occurs. The probing procedure fails under the following conditions:
The homing procedure (IDN 148) is active.
A flexible input has not been configured as a position capture input.
Flexible inputs are configured through IDNs P123, P125, and P127.
During the probing procedure, the master arms the probe trigger by setting the probe 1
enable signal (IDN 405). After the probe trigger has been armed, the next rising or
falling edge (as specified in IDN 169) on the probe 1 input (IDN 401) latches the motor
or external position and causes a probe latch status (IDN 179) bit to set. Any further
changes in the probe 1 input are ignored until the master re-arms the probe trigger by
clearing and setting the probe 1 enable signal. The master may read the captured position
through either the probe 1 positive edge value (IDN 130) or the probe 1 negative edge
value (IDN 131).
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: CP 4, EN
Maximum: Serial Equivalent:
Default: 0 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 33

Danaher Motion Kollmorgen SERCOS IDNs

IDN 179: Probe Position Latch Status

Description: The probe status parameter indicates whether a position has been captured and latched
within IDN 130 or 131. Each supported status bit may be assigned to a RTS bit using
IDN 409 or 410.
Bit Description Setting
LSB 0 Probe 1 - Position latched on positive edge: 0 = No
1 = Latched
1 Probe 1 - Position latched on negative edge: 0 = No
1 = Latched
2 Reserved - Probe 2 - Position latched on positive edge: 0 = No
1 = Latched
3 Reserved - Probe 2 - Position latched on negative edge: 0 = No
1 = Latched
4 Reserved Set to 0
5 Reserved Set to 0
6 Reserved Set to 0
7 Reserved Set to 0
8 Reserved Set to 0
9 Reserved Set to 0
10 Reserved Set to 0
11 Reserved Set to 0
12 Reserved Set to 0
13 Reserved Set to 0
14 Reserved Set to 0
15 Reserved Set to 0

Data Length: 2 bytes Units:

Data Type: Binary Non-Volatile: No
Minimum: 0 Write Access: Read-only
Maximum: 2 Serial Equivalent:
Default: 0 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 34

Danaher Motion Kollmorgen SERCOS IDNs

IDN 181: Manufacturer Class 2 Diagnostic (MC2D)

Description: Lists the status of the manufacturer-defined drive warnings. When an unmasked
manufacturer-defined warning condition changes, the C2D change bit (AT status word,
bit 12) is set, the manufactured defined warning summary bit (IDN 12, bit 15) is set, and
the corresponding warning bits within MC2D are changed appropriately.
The warning bits within the MC2D are not latched and are automatically reset when the
warning condition is no longer valid. The manufactured defined warning summary bit
(IDN 12 , bit 15) is cleared when IDN 181 is read through the service channel. The C2D
change bit is reset when IDN 12 is read through the service channel. IDN P150 may be
used to mask manufacturer-defined warnings and their affect on the C2D change bit and
the manufacturer-defined warning summary bit.
Bit Warning Description
LSB 0 Hardware CW limit switch (IDN P136)
1 Hardware CCW limit switch (IDN P137)
2 Hardware CW limit switch disabled (IDN P135) or not routed (IDN P123, P125, P127)
3 Hardware CCW limit switch disabled (IDN P135) or not routed (IDN P123, P125, P127)
4 Invalid controller warning
5 Encoder not initialized warning
6 Reserved
7 Reserved
8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 PLL unlocked
14 AT telegram processing over-run
15 MDT telegram processing over-run

Data Length: 2 bytes Units:

Data Type: Binary Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent: Bit 0 = CW, bit 1 = CCW
Default: Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 35

Danaher Motion Kollmorgen SERCOS IDNs

IDN 182: Manufacturer Class 3 Diagnostic (MC3D)

Description: Lists the status of the manufacturer-defined drive statuses. When an unmasked
manufacturer-defined status condition changes, the C3D change bit (AT status word, bit
11) is set, the manufactured defined status summary bit (IDN 13, bit 15) is set, and the
corresponding status bits within MC3D are changed appropriately. The status bits within
the MC3D are not latched and are automatically reset when the status condition is no
longer valid. The manufactured defined status summary bit (IDN 13 , bit 15) is cleared
when IDN 182 is read through the service channel. The C3D change bit is reset when
IDN 13 is read through the service channel. IDN P151 may be used to mask
manufacturer-defined statuses and their affect on the C3D change bit and the
manufacturer-defined status summary bit.
Bit Description
0 Hold Mode Active (IDN P153)
1 Reserved
2 Reserved
3 Reserved
4 Reserved
5 Reserved
6 Reserved
7 Reserved
8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Reserved
14 Reserved
15 Reserved

Data Length: 2 bytes Units:

Data Type: Binary Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: Availability:

IDN 185: Maximum Length of AT Configurable Data

Description: Defines the maximum length, in bytes, of the AT's cyclic data field. The master may use
this IDN to determine how many IDNs may be placed within the application telegram
(refer to IDN 15).
Data Length: 2 bytes. Units: Bytes
Data Type: Unsigned Integer Non-Volatile: Yes
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: 8 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 36

Danaher Motion Kollmorgen SERCOS IDNs

IDN 186: Maximum Length of MDT Configurable Data

Description: Defines the maximum length, in bytes, of the MDT's cyclic data field. The master may
use this IDN to determine how many IDNs may be placed within an application telegram
(refer to IDN 15).
Data Length: 2 bytes Units: Bytes
Data Type: Unsigned Integer Non-Volatile: Yes
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: 8 Availability:

IDN 187: List of AT Configurable Data IDNs

Description: Lists all the IDNs that may be transferred as AT cyclic data. The master may use this
IDN to determine the IDNs that may be placed within an application telegram (refer to
IDN 15). The following IDNs may be assigned as AT cyclic data:
IDN Description
36 Velocity command value
37 Additive velocity command
40 Velocity feedback value
47 Position command value
51 Position feedback value 1 (motor)
53 Position feedback value 2 (external)
81 Additive torque command value
84 Torque feedback value
130 Probe 1 positive edge value
131 Probe 1 negative edge value
P146 Inputs status
P161 Analog input value

Data Length: 2 byte elements. Units:

Variable length array.
Data Type: IDN Non-Volatile: Yes
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 37

Danaher Motion Kollmorgen SERCOS IDNs

IDN 188: List of MDT Configurable Data IDNs

Description: Lists all the IDNs that may be transferred as MDT cyclic data. The master may use this
IDN to determine the IDNs that may be placed within an application telegram (refer to
IDN 15). The following IDNs may be assigned as MDT cyclic data:
IDN Description
36 Velocity command value
37 Additive velocity command value
47 Position command value
81 Additive torque command value

Data Length: 2 byte elements. Units:

Variable length array.
Data Type: IDN Non-Volatile: Yes
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: Availability:

IDN 189: Following Distance

Description: Defines the position error as the position command value minus the motor (or external)
feedback value.
Data Length: 4 bytes. Units: Counts
Data Type: Integer Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent: PE
Default: Availability:

IDN 191: Procedure: Cancel Reference Point

Description: The drive resets the "position feedback value status" (IDN 403). This procedure fails if
the homing procedure (IDN 148) is active.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: CP 2-4, EN
Maximum: Serial Equivalent:
Default: 0 Availability:

IDN 192: IDN List of Back-up Operation Data

Description: Contains a list of IDNs that the master may use to create a back-up data set for the drive.
Data Length: Variable length array Units:
of 2 byte elements.
Data Type: IDN Non-Volatile: Yes
Minimum: Write Access: Read-only.
Maximum: Serial Equivalent: Dump
Default: Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 38

Danaher Motion Kollmorgen SERCOS IDNs

IDN 207: Drive Off Delay Time

Description: Sets the amount of time that the drive remains enabled after the "drive off" control bit
(MDT control word, bit 15) has been reset (active disable) and the motor speed is below
the active disable threshold speed (IDN P16).
Data Length: 2 bytes Units: 0.1 mS
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0.0 mS Write Access: CP 2-4, En
Maximum: 6553.5 mS Serial Equivalent: DisTime
Default: 10.0 mS Availability:

IDN 263: Procedure: Load Working Memory

Description: Loads all data saved in non-volatile memory into "active" system memory.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: CP 2-4
Maximum: Serial Equivalent: LOAD
Default: 0 Availability:

IDN 264: Procedure: Back-up Working Memory

Description: Stores all data necessary for operation into non-volatile memory. Previously saved
operation data will be over written.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: CP 2-4, EN
Maximum: Serial Equivalent: SAVE
Default: 0 Availability:

IDN 296: Velocity Feed Forward Gain

Description: Defines a multiplier of the velocity command, which is generated by the position profile,
that is added to the velocity loop command in order to reduce the velocity dependent
following error.
Data Length: 2 bytes Units: 0.1%
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, EN
Maximum: 2000 Serial Equivalent: GPVFR
Default: 0 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 39

Danaher Motion Kollmorgen SERCOS IDNs

IDN 301: Realtime Control (RTC) Bit 1 Allocation

Description: Assigns a control signal IDN to RTC bit 1 (MDT control word bit 6). Two RTC bits are
defined within the MDT control word (bits 6 and 7) and may be updated every
communication cycle by the master. The following rules govern the assignment and use
of a RTC bit (i.e., writing IDN 301 or 303):
1. Only certain control signal IDNs of type binary may be assigned to the RTC
allocation IDNs. The exception is IDN 0, which indicates that the corresponding
RTC bit is undefined.
2. RTC bits 1 and 2 are not allocated to the same IDN. The exception is IDN 0.
3. A service channel writes to an IDN allocated as a RTC bit generates a write-protect
error (i.e., the RTC bit's IDN is write protected when the RTC bit assignment is
made).
4. The master adheres to the following timing rules when allocating and de-allocating
RTC bits. The rules depend upon whether the previous or next RTC bit assignment
uses IDN 0.
! Case: IDN 301/303 = 0 -> IDN 301/303 = RTC bit IDN (allocation)
! The master must define the RTC bit within the MDT control word prior to
writing IDN 301/303 element 7.
! Case: IDN 301/303 = RTC bit IDN -> IDN 301/303 = 0 (de-allocation)
! The previously assigned RTC bit remains valid in the MDT control word until
the drive's service channel busy bit is reset.
! Case: IDN 301/303 = RTC bit IDN -> IDN 301/303 = RTC bit IDN (re-
allocation)
5. The state of the current RTC bit remains valid in the MDT control word until the
master transmits the write request of the RTC allocation IDN element 7. When the
drive sets the busy bit, the master begins to transmit the new RTC bit within the
MDT.
WARNING: In the period between writing IDN 301/303 element 7 until the busy bit is reset, the master
must ensure that RTC bit value transmitted within the MDT control word does not lead to
invalid operation states. Generally, this is only possible when the RTC bit has not been
assigned (i.e., IDN 301/303 = 0 before the RTC bit IDN assignment). The transition from
an active RTC bit assignment to another RTC bit assignment is only safe when IDN 0 is
assigned to the RTC bit as an intermediate step.
The drive adheres to the following timing rules when a RTC bit being allocated and de-
allocated:
1. A new RTC bit assignment is evaluated by the drive prior to the service channel busy
bit being reset (i.e., a write to IDN 301 or 303 defines the new IDN signal level from
bits 7 or 6 of the MDT control word before the busy bit is reset).
2. The evaluation of the previous RTC bit within the drive ceases before the service
channel busy bit is reset.
Data Length: 2 bytes Units:
Data Type: IDN Non-Volatile: No
Minimum: Write Access: CP 4, EN
Maximum: Serial Equivalent:
Default: 0 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 40

Danaher Motion Kollmorgen SERCOS IDNs

IDN 303: Realtime Control (RTC) Bit 2 Allocation

Description: Assigns a control signal IDN to RTC bit 2 (MDT control word bit 7). Two RTC bits are
defined within the MDT control word (bits 6 and 7) and are updated every
communication cycle by the master. For further information refer to IDN 301.
Data Length: 2 bytes Units:
Data Type: IDN Non-Volatile: No
Minimum: Write Access: CP 4, EN
Maximum: Serial Equivalent:
Default: 0 Availability:

IDN 304: Realtime Status (RTS) Bit 1

Description: The value of the IDN assigned to RTS bit 1.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: 0 Availability:

IDN 305: Realtime Status (RTS) Bit 1 Allocation

Description: Assigns a status signal IDN to RTS bit 1 (AT status word bit 6). Two RTS bits are
defined within the AT status word (bits 6 and 7) and updated by the drive during CP 4.
The following rules govern the assignment and use of a RTS bit (i.e., writing IDN 305 or
307):
1. Only certain status signal IDNs of type binary are assigned to the RTS allocation
IDNs. The exception is IDN 0, which indicates that the RTS bit is undefined.
2. The master no longer evaluates a previous RTS assignment after transmitting a write
request for element 7 of a RTS bit allocation IDN.
3. The previously assigned RTS bit remains valid until the service channel busy bit is
set.
4. The master does not start evaluating a new RTS bit assignment until the service
channel busy bit is reset by the drive.
Data Length: 2 bytes Units:
Data Type: IDN Non-Volatile: No
Minimum: Write Access: CP 4, EN
Maximum: Serial Equivalent:
Default: 0 Availability:

IDN 306: Realtime Status (RTS) Bit 2

Description: The value of the IDN assigned to RTS bit 2.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: 0 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 41

Danaher Motion Kollmorgen SERCOS IDNs

IDN 307: Realtime Status (RTS) Bit 2 Allocation

Description: Assigns a status signal IDN to RTS bit 2 (AT status word bit 7). Two RTS bits are
defined within the AT status word (bits 6 and 7) and updated by the drive during CP 4.
For further information refer to IDN 305.
Data Length: 2 bytes Units:
Data Type: IDN Non-Volatile: No
Minimum: Write Access: CP 4, EN
Maximum: Serial Equivalent:
Default: 0 Availability:

IDN 310: Overload Warning

Description: The over load warning bit becomes set when the system load level (IDN 114) has been
exceeded for too long and the drive enters fold back. In fold back the drive current is
gradually limited (in an exponential fashion) to the value defined in IDN 114. The
amount of time that the drive may remain in fold back, without issuing a fault, is defined
by the fold back mode (IDN P72) and the fold back warning time (IDN P73). IDN 310
duplicates the C2D over load warning bit
(IDN 12, bit 0) and is useful for assigning the over load warning signal to a RTS bit.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent: FOLD
Default: 0 Availability:

IDN 312: Motor Over Temperature Warning

Description: The motor over temperature warning bit becomes set when the motor thermostat opens
indicating an over heated motor. The amount of time that may elapse, without issuing a
fault, is defined by the motor over temperature mode (IDN P140). IDN 312 duplicates
the C2D motor over temperature warning bit (IDN 12, bit 2) and is useful for assigning
the motor over temperature warning signal to a RTS bit.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent: THERM
Default: 0 Availability:

IDN 331: Status: Velocity Feedback = 0

Description: A status signal IDN that is set when the velocity feedback (IDN 40) is within the
standstill window (IDN 124). IDN 331 duplicates the C3D "Nfdbk = 0" status bit (IDN
13, bit 1) and may be assigned to a RTS.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 42

Danaher Motion Kollmorgen SERCOS IDNs

IDN 336: Status: In Position

Description: A status signal IDN that is set when the motor feedback is following the commanded
position within the range set by the position window (IDN 57). IDN 336 duplicates the
C3D "in position" status bit (IDN 13, bit 6) and may be assigned to a RTS.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent: INPOS the "in position"
status signal to a RTS bit.
Default: 0 Availability:

IDN 348: Acceleration Feed-Forward Gain

Description: Defines a multiplier of the acceleration command, which is generated by the position
profile, that is added to the current loop command in order to reduce the acceleration
dependent following error.
Data Length: 2 bytes Units: 0.1%
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, EN
Maximum: 2000 Serial Equivalent: GPAFR
Default: 0 Availability:

IDN 380: DC BUS Voltage

Description: Defines the drive's DC bus voltage and compensates the current controller. When this
IDN is modified, the drive enters a "no-compensation" state, requiring execution of the
reset procedure (IDN 99).
Data Length: 2 bytes Units: Volts
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 10 Write Access: CP 2-4
Maximum: 850 Serial Equivalent: VBUS
Default: Drive Data Availability:

IDN 400: Home Switch Status

Description: Contains the state of the home switch. The digital input used as home switch input is
assigned through the use of IDNs P123, P125, or P127. IDN 400 is useful for assigning
the home switch signal to a RTS bit.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent: IN1, IN2, or IN3
Default: 0 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 43

Danaher Motion Kollmorgen SERCOS IDNs

IDN 401: Probe 1

Description: Contains the state of the probe 1 input. The digital input used as a probe is assigned
through the use of IDN P123, P125, or P127. IDN 401 is useful for assigning the probe
signal to a RTS bit.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: 0 Availability:

IDN 403: Position Feedback Value Status

Description: When the drive switches the position feedback values to the coordinates referred to the
machine zero point, the drive sets bit 0 of this IDN in order to inform the control unit that
all actual position values are based on the zero point of the machine.
Bit 0 is reset when either the drive controlled homing procedure (IDN 148) or the
"Cancel reference point" procedure (IDN 191) is started or when the drive loses its
reference to the zero point of the machine. The Position feedback value status may be
assigned to a RTS. Structure of position feedback value status:
Bit Description
LSB 0 0 - Position feedback value not referenced to machine zero point
1 - Position feedback value referenced to machine zero point
1 Not used
2 Not used
3 Not used
4 Not used
5 Not used
6 Not used
7 Not used
8 Not used
9 Not used
10 Not used
11 Not used
12 Not used
13 Not used
14 Not used
15 Not used

Data Length: 2 bytes Units:

Data Type: Binary Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: 0 Availability: SERCOS 1.7.6

SERVOSTAR PD SERCOS IDN Reference Manual 44

Danaher Motion Kollmorgen SERCOS IDNs

IDN 405: Probe 1 Enable

Description: Used to arm the position capture mechanism so that the next valid probing signal edge
captures the current position into IDN 130 or 131. Refer to IDN 170 for more
information. The probe 1 enable signal may be assigned to a RTC.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: CP 2-4, EN
Maximum: Serial Equivalent:
Default: 0 Availability::

IDN 409: Probe 1 Positive Edge Latched Status

Description: Indicates whether captured position data has been latched within IDN 130 after the rising
edge of the probe 1 input signal (IDN 401). Position data is only latched on the positive
edge of probe 1 if the probing procedure (IDN 170) is active and the probe control
parameter (IDN 169) has been configured to use the positive edge of probe 1.
Additionally, probe 1 must be armed by setting the probe 1 enable (IDN 405). After
arming probe 1, the next probe 1 rising edge captures the current position and the "probe
1 positive edge latched status" is set when the captured data is available in IDN 130.
Once the latched status has been set, no more position captures occur on the rising edges
of the probe 1 input until the master re-arms probe 1 by clearing and setting the probe 1
enable. Clearing the probe 1 enable signal resets the latch status.
IDN 409 duplicates information found in the probe status (IDN 179, bit 0) and is useful
for assigning the "probe 1 positive edge latched status" to a RTS bit.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: 0 Availability:

IDN 410: Probe 1 Negative Edge Latched Status

Description: Indicates whether captured position data has been latched within IDN 131 after the
falling edge of the probe 1 input signal (IDN 401). Position data is only latched on the
negative edge of probe 1 if the probing procedure (IDN 170) is active and the probe
control parameter (IDN 169) has been configured to use the negative edge of probe 1.
Additionally, probe 1 must be armed by setting the probe 1 enable (IDN 405). After
arming probe 1, the next probe 1 falling edge captures the current position and the "probe
1 negative edge latched status" is set when the captured data is available in IDN 131.
Once the latched status has been set, no more position captures occur on the falling edges
of the probe 1 input until the master re-arms probe 1 by clearing and setting the probe 1
enable. Clearing the probe 1 enable signal resets the latch status.
IDN 410 duplicates information found in the probe status (IDN 179, bit 1) and is useful
for assigning the "probe 1 negative edge latched status" to a RTS bit.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: 0 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 45

Danaher Motion Kollmorgen SERCOS IDNs

IDN P15: (32, 783) Drive Disable Status

Description: Indicates drive conditions that prevent a drive from being enabled. A set bit indicates an
active condition that may prevent the drive from being enabled.
Bit Description
LSB 0 Remote Enable input
1 Master enable input (MDT enable bits)
2 DIP switch enable input (DIP switch 8)
3 Active faults (IDN 11)
4 Velocity loop design failure
5 Encoder not initialized.
6 Reserved (set to zero)
7 Reserved (set to zero)
8 Reserved (set to zero)
9 Reserved (set to zero)
10 Reserved (set to zero)
11 Reserved (set to zero)
12 Reserved (set to zero)
13 Reserved (set to zero)
14 Reserved (set to zero)
15 CP less than 4

Data Length: 2 bytes Units:

Data Type: Binary Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent: Status word 1 (bits 0 - 5)
Default: Availability:

IDN P16: (32, 784) Active Disable Threshold Speed

Description: When the motor speed drops below the active disable threshold speed during an active
disable process, the drive off delay time (IDN 207) begins to count down. After the drive
off delay time has expired, the drive is disabled.
Data Length: 4 bytes Units: RPM
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, En
Maximum: 14,999 Serial Equivalent: DisSpeed
Default: 50 Availability:

IDN P17: (32, 785) Procedure: Clear Non-Volatile

Memory
Description: When this procedure executes successfully the drive nulls it's non-volatile memory and
enters a "no-compensation" state. The "no-compensation" state may be cleared through
the fault reset procedure (IDN 99).
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: CP 2-4
Maximum: Serial Equivalent: CLREEPROM
Default: 0 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 46

Danaher Motion Kollmorgen SERCOS IDNs

IDN P22: (32, 790) Number of Motor Poles

Description: The number of motor poles is used for commutation control and represents the number of
individual magnetic poles of the motor (not pole pairs). When this IDN is modified, the
drive will enter a "no-compensation" state, which may be cleared through the fault reset
procedure (IDN 99).
Data Length: 2 bytes Units: Poles
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 2 Write Access: CP 2-4
Maximum: 80 Serial Equivalent: MPOLES
Default: Motor Data Availability:

IDN P23: (32, 791) Rotor's Moment of Inertia

Description: The motor rotor inertia (IDN P23) in conjunction with the load to motor moment of
inertia ratio (IDN P101) defines the system's moment of inertia. The load to motor
moment of inertia ratio (IDN P101), the motor inertia (IDN P23), and the closed loop
bandwidth (IDN P100) are used to define the standard pole placement (SPP) velocity
controller.
Data Length: 4 bytes Units: Kg ! m2 ! 10-6
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 1 Write Access: CP 2-4
Maximum: 2,000,000,000 Serial Equivalent: MJ
Default: Motor Data Availability:

IDN P24: (32, 792) Linear Motor Pole Pitch

Description: Defines the pole pitch for a linear motor. The pole pitch for a linear motor is the length
of one electrical cycle (360 electrical degrees).
Data Length: 2 bytes Units: mm per 360 electrical degrees
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 1 Write Access: CP 2-4
Maximum: 500 Serial Equivalent: MPitch
Default: 16 Availability:

IDN P25: (32, 793) Minimum Motor Inductance

Description: The minimum line-to-line motor inductance is used to design the current loop controller
and as an input to the torque angle control algorithms. When this IDN is modified, the
drive enters a "no-compensation" state, which may be cleared through the fault reset
procedure (IDN 99).
Data Length: 2 bytes Units: milli-Henries * 10 -2
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 1 Write Access: CP 2-4
Maximum: 32,767 Serial Equivalent: MLMIN
Default: Motor Data Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 47

Danaher Motion Kollmorgen SERCOS IDNs

IDN P26: (32, 794) Motor Back EMF Constant

Description: The back EMF constant is used to design the current loop controller. When this IDN is
modified, the drive enters a "no-compensation" state, which may be cleared through the
fault reset procedure (IDN 99).
Data Length: 2 bytes Units: Volts (RMS) / kRPM
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 1 Write Access: CP 2-4
Maximum: 3900 Serial Equivalent: MBEMF
Default: Motor Data Availability:

IDN P27: (32, 795) Motor Back EMF Compensation

Description: Defines the amount of back EMF compensation, as a percentage, that is applied to the
motor command.
Data Length: 2 bytes Units: Percent
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 1 Write Access: CP 2-4, EN
Maximum: 100 Serial Equivalent: MBEMFCOMP
Default: Motor Data Availability:

IDN P28: (32, 796) Current Loop Adaptive Gain at Peak

Current
Description: Defines the current loop adaptive gain value at peak motor current (IDN 109). The
current based adaptive gain algorithm increases current loop stability by reducing the
current loop gain as the motor current increases. The current loop adaptive gain is
configured by defining the gain values at peak motor current (IDN P28), continuous
motor current (IDN P29), and zero motor current (typically 100%). All other gains
between zero, continuous, and peak motor current are interpolated linearly. When this
IDN is modified, the drive enters a "no-compensation" state, which may be cleared
through the fault reset procedure (IDN 99).
Data Length: 2 bytes Units: Percent * 10.
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 1 to 10 percent Write Access: CP 2-4
Maximum: 100 to 1000 percent Serial Equivalent: MLGAINP
Default: 4 to 40 percent Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 48

Danaher Motion Kollmorgen SERCOS IDNs

IDN P29: (32, 797) Current Loop Adaptive Gain at

Continuous Current
Description: Defines the current loop adaptive gain value at continuous motor current
(IDN 111). The current based adaptive gain algorithm increases current loop stability by
reducing the current loop gain as the motor current increases. The current loop adaptive
gain is configured by defining the gain values at peak motor current (IDN P28),
continuous motor current (IDN P29), and zero motor current (typically 100%).
All other gains between zero, continuous, and peak motor current are interpolated
linearly. When this IDN is modified, the drive will enter a "no-compensation" state,
which may be cleared through the fault reset procedure (IDN 99).
Data Length: 2 bytes Units: Percent * 10.
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 1 to 10 percent Write Access: CP 2-4
Maximum: 100 to 1000 percent Serial Equivalent: MLGAINC
Default: 8 to 80 percent Availability:

IDN P30: (32, 798) Current Loop Adaptive Gain at Zero

Current
Description: Defines the current loop adaptive gain value at zero motor current. The current based
adaptive gain algorithm increases current loop stability by reducing the current loop gain
as the motor current increases. The current loop adaptive gain is configured by defining
the gain values at peak motor current (IDN P28), continuous motor current (IDN P29),
and zero motor current (IDN P30, typically 100%). All other gains between zero,
continuous, and peak motor current are interpolated linearly. When this IDN is modified,
the drive enters a "no-compensation" state, which may be cleared through the fault reset
procedure
(IDN 99).
Data Length: 2 bytes Units: Percent * 10.
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 1to 10 percent Write Access: CP 2-4
Maximum: 100 to 1000 percent Serial Equivalent: MLGainZ
Default: 10 to 100 percent Availability:

IDN P31: (32, 799) Torque Angle Advance at

Continuous Current
Description: Defines the torque related commutation angle advance at the motor's continuous current
rating (IDN 111). Torque angle advance helps to increase reluctance torque.
For surface magnet motors the typical advance value is 5 electrical degrees. For motors
with embedded magnets, the typical advance value ranges from 8 to 10 electrical
degrees.
Data Length: 2 bytes Units: Electrical degrees.
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, EN
Maximum: 45 Serial Equivalent: MTANGLC
Default: 10 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 49

Danaher Motion Kollmorgen SERCOS IDNs

IDN P32: (32, 800) Torque Angle Advance at Peak

Current
Description: Defines the torque related commutation angle advance at the motor's peak current rating
(IDN 109). Torque angle advance helps to increase reluctance torque. For surface magnet
motors the typical advance value is 10 electrical degrees. For motors with embedded
magnets, the typical advance value ranges from 23 to 25 electrical degrees.
Data Length: 2 bytes Units: Electrical degrees.
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, EN
Maximum: 45 Serial Equivalent: MTANGLP
Default: 23 Availability:

IDN P33: (32, 801) Velocity Angle Advance at Maximum

Speed
Description: Defines the velocity related commutation angle advance at the motor's maximum speed
(IDN 113). The velocity angle advance is configured by defining the angle advance at
maximum motor speed (IDN P33) and half motor speed (IDN P34). The angle advance
between full and half speed is linearly interpolated.
After non-volatile memory has been cleared, IDN P33 is set to 10. The drive's
configuration algorithm bases the default velocity angle advance values on the maximum
motor speed (IDN 113) and the number of motor poles (IDN P22). However, if the
master changes any of the velocity angle advance values, the changed values are not
modified during the drive's configuration process.
Data Length: 2 bytes Units: Electrical degrees.
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, EN
Maximum: 90 Serial Equivalent: MVANGLF
Default: Calculated from motor data. Availability:

IDN P34: (32, 802) Velocity Angle Advance at Half

Speed
Description: Defines the velocity related commutation angle advance at half the motor's maximum
speed (IDN 113). The velocity angle advance is configured by defining the angle
advance at maximum motor speed (IDN P33) and half motor speed (IDN P34). The angle
advance between full and half speed is linearly interpolated.
After non-volatile memory has been cleared, IDN P34 is set to 5. The drive's
configuration algorithm bases the default velocity angle advance values on the maximum
motor speed (IDN 113) and the number of motor poles (IDN P22). However, if the
master changes any of the velocity angle advance values, the changed values are not
modified during the drive's configuration process.
Data Length: 2 bytes Units: Electrical degrees.
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, EN
Maximum: 90 Serial Equivalent: MVANGLH
Default: Calculated from motor data. Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 50

Danaher Motion Kollmorgen SERCOS IDNs

IDN P35: (32, 803) Hall Sensor Inversion

Description: Allows the master to invert the polarity of the hall sensor feedback signals used by the
drive. A hall channel is inverted if the corresponding bit in IDN P35 is set.
Bit Description
LSB 0 Phase A inversion
1 Phase B inversion
2 Phase C inversion
3 Reserved (set to 0)
4 Reserved (set to 0)
5 Reserved (set to 0)
6 Reserved (set to 0)
7 Reserved (set to 0)
8 Reserved (set to 0)
9 Reserved (set to 0)
10 Reserved (set to 0)
11 Reserved (set to 0)
12 Reserved (set to 0)
13 Reserved (set to 0)
14 Reserved (set to 0)
15 Reserved (set to 0)

Data Length: 2 bytes Units:

Data Type: Binary Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4
Maximum: 7 Serial Equivalent: MHINVX
Default: 0 (no channels inverted) Availability:

IDN P36: (32, 804) Motor Encoder Offset

Description: Specifies the distance from electrical zero to the index marker. The process of
determining the encoder offset depends upon the motor's encoder type (IDN P37). If the
system has hall sensors and a marker pulse, the "find index marker" procedure (IDN P62)
is used to determine the motor encoder offset. If the system only has a marker pulse (no
hall sensors), the "encoder initialization" procedure (IDN P60) is executed first to find an
electrical zero and then the "find index marker" procedure (IDN P62) is used to
determine the motor encoder offset.
Data Length: 4 bytes Units: Encoder counts
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4
Maximum: Motor encoder resolution Serial Equivalent: MENCOff
(IDN 116) - 1
Default: Motor data Availability:
(120 degrees if undefined)

SERVOSTAR PD SERCOS IDN Reference Manual 51

Danaher Motion Kollmorgen SERCOS IDNs

IDN P37: (32, 805) Motor Encoder Type

Description: Specifies whether an encoder based system includes a marker pulse and/or hall sensors
and is used to determine the encoder initialization method.
Motor Encoder Definitions (IDN P37)
Encoder Type Marker Halls Encoder Initialization Method
0 Yes Yes IDN P62 Procedure
1 Yes No IDN P60 and IDN P62 Procedures
3 No No IDN P60 Procedure
6 No Yes IDN P60 Procedure

All unlisted encoder types are not supported. For encoder types 0 and 1, the "find index
marker" procedure is only required if the encoder offset (IDN P36) is unknown. When
this IDN is modified, the drive will enter a "no-compensation" state, which may be
cleared through the reset procedure (IDN 99).
Data Length: 2 bytes Units:
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4
Maximum: 6 Serial Equivalent: MENCTYPE
Default: Motor data (0 if undefined) Availability:

IDN P38: (32, 806) Encoder/Resolver Relative Phase

Offset
Description: Defines the encoder/resolver phase relative to the "standard" commutation table. This
IDN can be used to compensate for resolver offset and should be set to 0 when no
resolver offset is present. Modifying the phase offset will not change the value of the
absolute mechanical position relative to the marker (IDN P64) or the feedback hardware
counter (IDN P63), nor will a modification create a physical change in the position of the
motor shaft.
Data Length: 2 bytes Units: Electrical degrees.
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4
Maximum: 359 Serial Equivalent: MPHASE
Default: Motor data. Availability:

IDN P39: (32, 807) Number of Resolver Poles

Description: Defines the number of poles within the feedback device and is used for commutation and
velocity feedback scaling. When this IDN is modified, the drive will enter a "no-
compensation" state, which may be cleared through the reset procedure (IDN 99).
Data Length: 2 bytes Units: Individual poles (not pole pairs)
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 (encoder systems), Write Access: CP 2-4
2 (resolver systems)
Maximum: 60 Serial Equivalent: MRESPOLES
Default: Motor data. Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 52

Danaher Motion Kollmorgen SERCOS IDNs

IDN P43: (32, 811) Motor Type

Description: Specifies the type of motor the drive is controlling.
Motor Type Description
0 Permanent magnet rotary
motor
1 Reserved Do not use
2 Permanent magnet linear motor
Data Length: 2 bytes Units:
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4
Maximum: 2 Serial Equivalent: MOTORTYPE
Default: 0 Availability:

IDN P56: (32, 824) Hall Sensor Status

Description: Indicates the hall switch values on encoder feedback systems.
Bit Description
LSB 0 Phase A
1 Phase B
2 Phase C
3 Reserved (set to 0)
4 Reserved (set to 0)
5 Reserved (set to 0)
6 Reserved (set to 0)
7 Reserved (set to 0)
8 Reserved (set to 0)
9 Reserved (set to 0)
10 Reserved (set to 0)
11 Reserved (set to 0)
12 Reserved (set to 0)
13 Reserved (set to 0)
14 Reserved (set to 0)
15 Reserved (set to 0)

Data Length: 2 bytes Units:

Data Type: Binary Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent: HALLS
Default: Availability:

IDN P59: (32, 827) Encoder Initialization Current

Description: Defines the B-C phase current during the encoder initialization procedure (IDN P60).
Data Length: 2 bytes Units: Percent of motor IC (IDN 111)
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 1 Write Access: CP 2-4, EN
Maximum: 100 Serial Equivalent: IENCSTART
Default: 25 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 53

Danaher Motion Kollmorgen SERCOS IDNs

IDN P60: (32, 828) Procedure: Initialize Encoder

Description: The encoder initialization procedure is used to initialize encoder systems that do not
have hall sensors and/or a marker pulse (refer to IDN P37). The initialization process
rotates the motor to a known electrical position by placing current (IDN P59) from motor
terminal B to motor terminal C. For encoder systems with no halls (encoder types 1 and
3), the drive may not be enabled until this procedure has been started or the motor has
been previously rotated to a known electrical position. To initialize the encoder, the
master should:
1. Start the procedure with the drive disabled.
2. Wait for the "encoder not initialized" warning bit (IDN 181, bit 5) to go low.
3. Enable the drive. At this point the drive automatically rotates to find a known
electrical position.
4. Monitor the procedure change bit and/or the procedure status for
5. completion.
6. Set the position command by reading the drive's feedback (IDN 51).
7. Cancel the procedure.
8. The encoder initialization procedure may fail under the following conditions:
9. If the homing procedure (IDN 148), step procedure (IDN P184), or tune procedure
(IDN P188) are active.
The drive is enabled when the procedure starts.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: CP 4, En
Maximum: Serial Equivalent: ENCSTART
Default: 0 Availability:

IDN P62: (32, 830) Procedure: Find Marker Encoder

Initialization
Description: Determines the distance from electrical zero to the index marker (IDN P36)for encoder
based systems that have a marker (IDN P37). For systems that do not have halls, the
initialize encoder procedure (IDN P60) must be executed first to determine the electrical
zero position. The initialization process requires rotating the motor until the encoder
index is found.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: CP 4
Maximum: Serial Equivalent: ENCINIT
Default: 0 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 54

Danaher Motion Kollmorgen SERCOS IDNs

IDN P63: (32, 831) Position Feedback Hardware

Counter
Description: Returns the position feedback directly from the feedback hardware counter. For
resolver-based systems, the position ranges from 0 to 65,535 counts per electrical
revolution. The number of resolver electrical revolutions per mechanical revolution is
equal to the number of resolver poles (IDN P39) divided by 2. For encoder-based
systems, the position is based upon the quadrature pulse input and ranges from –2048 to
+2048 counts.
Data Length: 2 bytes Units: Counts.
Data Type: Integer Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent: HWPOS
Default: Availability:

IDN P64: (32, 832) Absolute Mechanical Position

Relative to Marker
Description: Returns the absolute position of the feedback device. The absolute position always
ranges from 0 to 65,535 counts per mechanical revolution and the resolution depends
upon the feedback resolution (IDN 116). On encoder-based systems, IDN P64 does not
return meaningful or useful data until the encoder has been initialized. Refer to the
encoder type (IDN P37), encoder initialization procedure (IDN P60), and the find marker
procedure (IDN P62) for more information on initializing encoder systems.
Data Length: 2 bytes Units: Counts.
Data Type: Unsigned integer Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent: PRD
Default: Availability:

IDN P65: (32, 833) Encoder Equivalent Output

Resolution
Description: Returns the resolution of the encoder Equivalent output channel. For encoder-based
systems, the encoder equivalent output resolution may not be modified and is equal to
the encoder resolution (IDN 116). For resolver-based systems, the encoder Equivalent
output resolution may be set to 2048, 4096, 8192, and 16384 counts per revolution.
Encoder equivalent output resolutions of 8192 and 16384 counts per revolution are only
available when the bipolar velocity limit (IDN 91) is less than 6100 RPM (resolver
resolution equal to 16384 or 65535) on resolver based systems.
Data Length: 4 bytes Units: Counts/revolution
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: Write Access: Resolver: CP 2-4,
Encoder: Read-only
Maximum: Serial Equivalent: ENCOUT * 4
Default: 4096 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 55

Danaher Motion Kollmorgen SERCOS IDNs

IDN P66: (32, 834) Resolver Inter-LSB Mode

Description: Specifies the operational mode of the inter-LSB algorithm. The inter-LSB algorithm
interpolates between the least significant bits (LSBs)of the resolver feedback, which
improves performance when the resolver resolution is low, the bandwidth is high, and
the command velocity is low.
ILSB Mode Description
0 Algorithm disabled
1 Algorithm enabled for velocity feedback
2 Reserved

Data Length: 2 bytes Units:

Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4
Maximum: 2 Serial Equivalent: ILSBMODE
Default: 0 Availability:

IDN P67: (32, 835) Feedback Status

Description: Contains the primary feedback type and the condition that caused a feedback loss fault
(IDN 11, bit 5) to occur.
Bit Description
LSB 0 Resolver line break
1 Resolver to digital converter error bit (following error)
2 Reserved (set to zero)
3 Encoder line break: A/B input
4 Encoder line break: Index input
5 Illegal hall sensor state
6 Sine encoder line break: C/D input
7 Sine encoder A/B lines out of range
8 Sine encoder burst overflow
9 Reserved (set to zero)
10 Reserved (set to zero)
11 Reserved (set to zero)
12 Reserved (set to zero)
13 Feedback type:
14 000 = Resolver
15 001 = Encoder
010 = Sine Encoder
011 = Tachometer

Data Length: 2 bytes Units:

Data Type: Binary Non-Volatile: No
Minimum: Write Access: Read-only.
Maximum: Serial Equivalent: Status2, word 1 (bits 0 - 12)
Default: Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 56

Danaher Motion Kollmorgen SERCOS IDNs

IDN P72: (32, 840) Fold Back Fault Handling Mode

Description: When the system continuous current or load limit (IDN 114) has been exceeded for too
long, the drive enters fold back and sets the overload warning bit (IDN 12, bit 0 and IDN
310). In fold back the drive current is gradually limited (in an exponential fashion) to the
system load limit (IDN 114). The amount of time that the drive remains in fold back
without issuing a fault, is defined by the fold back mode (IDN P72) and the fold back
time (IDN P73).
Mode Fold Back Fault Handling
0 No fault is issued
1 Issue a fault after the time limit set by IDN P73 has expired
2 Issue a fault immediately upon detection

Data Length: 2 bytes Units:

Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, EN
Maximum: 2 Serial Equivalent: FOLDMODE
Default: 0 Availability:

IDN P73: (32, 841) Fold Back Warning Time

Description: The fold back warning time specifies the amount of time to wait before issuing an over
load shut down fault (IDN 11, bit 0) after detecting a system overload (IDN 12, bit 0).
The fold back warning time is only valid when the fold back fault handling mode (IDN
P72) has been configured to use a programmable warning time (IDN P72 = 1).
Data Length: 2 bytes Units: Seconds
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 1 Write Access: CP 2-4, EN
Maximum: 300 Serial Equivalent: FOLDTIME
Default: 30 Availability:

IDN P77: (32, 845) Dynamic Braking Mode

Description: Sets the mode of dynamic braking operation. See also IDN P78.
Mode Description
0 No braking operation
1 Brake on fault only
2 Brake on fault and/or drive disable

Faults do not include Over Voltage or Power Stage Faults!

Data Length: 2 bytes Units:

Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, EN
Maximum: 2 Serial Equivalent: STOPMODE
Default: 0 Availability: SERCOS 2.0.0

SERVOSTAR PD SERCOS IDN Reference Manual 57

Danaher Motion Kollmorgen SERCOS IDNs

IDN P78: (32, 846) Dynamic Braking Current

Description: Sets the current command for the braking function. See also IDN P77.
Data Length: 2 bytes Units: 0.1 % of motor IC (IDN 111)
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, En
Maximum: Minimum of IDN 111 and 112 Serial Equivalent: ISTOP * DIPEAK/MICONT
Default: Depends upon IDN 112 Availability: SERCOS 2.0.0

IDN P84: (32, 852) Bipolar Torque Limit 2

Description: Defines the maximum torque limit in both the clockwise and counter-clockwise direction
when a configurable input mode (IDNP123, P125, or P127) is 8 and the corresponding
configurable input (IDN P124, P126, or P128) is set. Otherwise, the bipolar torque limit
(IDN 92) defines the maximum torque limit in both directions.
Data Length: 2 bytes Units: 0.1 % of motor IC (IDN 111)
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, EN
Maximum: Minimum of IDN 109 Serial Equivalent: ILim2 * DIPEAK/MICONT
and IDN 110.
Default: 0.1 * Minimum of IDN 109 Availability:
and IDN 110.

IDN P85: (32, 853) Motor Over Speed Trip Set Point
Description: Exceeding the motor over speed set point causes a motor over speed fault (IDN 129, bit
9). The default value is 20% above the maximum system velocity (IDN 91 maximum
value), but the set point may be reduced by the master for system protection.
Data Length: 4 bytes Units: RPM
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 10 Write Access: CP 2-4
Maximum: IDN 91 maximum value * 1.2 Serial Equivalent: VOSPD
Default: IDN 91 maximum value * 1.2 Availability:

IDN P87: (32, 855) Quick Deceleration Rate

Description: Defines the drive's deceleration (negative acceleration) limit under the following
conditions: position limits are encountered, a fault has occurred, or the master has
requested an active disable. The quick deceleration rate is always used by the drive when
those conditions occur and is independent of the acceleration or deceleration limit enable
(IDN P88). Presently, the drive does not support MDT control bit 13 (halt/restart), so
clearing MDT control bit 13 causes an active disable at the quick deceleration rate
followed by a torque release.
Data Length: 4 bytes Units: RPM/second
Data Type: Integer Non-Volatile: Yes
Minimum: -1000 Write Access: CP 2-4, EN
Maximum: -32,767,000 Serial Equivalent: DECSTOP * -1000
Default: -5,000,000 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 58

Danaher Motion Kollmorgen SERCOS IDNs

IDN P88: (32, 856) Acceleration/Deceleration Limit

Enable
Description: Enables or disables the use of acceleration (IDN 136) or deceleration (IDN137) ramp
limits. The ramp limit enable is associated with IDN 136 and IDN 137 and does not
affect motor deceleration under the following conditions: position limits are encountered,
a fault has occurred, or the master has requested an active disable.
Under these conditions, the quick deceleration rate (IDN P87) is always used as the ramp
limit, independent of the ramp limit enable setting. Presently, the drive does not support
MDT control bit 13 (halt/restart), so clearing MDT control bit 13 causes an active
disable at the quick deceleration rate followed by a torque release.
Data Length: 2 bytes Units:
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 (ramp limits disabled) Write Access: CP 2-4
Maximum: 1 (ramp limits enabled) Serial Equivalent: PROFMODE
Default: 0 Availability:

IDN P89: (32, 857) Velocity Loop APP Input Filter

Description: Defines the filter at the input of the advanced pole placement (APP) velocity controller.
The array represented by this IDN includes five integers that represent the polynomial
coefficients, and two shift parameters, one that scales each polynomial. The type of
velocity loop controller is selected through the velocity loop compensation mode (IDN
P96). The APP controller is not updated until the “design APP velocity controller”
procedure (IDN P105) is executed successfully.
The array contents have the following definition:
Array Element Description Element Range
1,2,3,5,6 Polynomial coefficients -32,768 to 32,767
4, 7 Polynomial coefficient shift factor 0 to 32,767

Data Length: 2 byte elements. Units:

Variable length array.
Data Type: Integer Non-Volatile: Yes
Minimum: Write Access: CP 2-4, EN
Maximum: Serial Equivalent: VFI
Default: 1 0 0 0 0 0 0 Availability: SERCOS 2.0.0

IDN P90: (32, 858) Velocity Notch Filter Center

Frequency
Description: Sets the center frequency of the notch filter used in the velocity loop. This IDN only
affects the system when the velocity loop filter mode (IDN P93) is 3 and the advance
pole placement velocity loop compensation mode (IDN P96) is inactive.
Data Length: 2 bytes Units: Hz
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 30 Write Access: CP 2-4, EN
Maximum: 1000 Serial Equivalent: NOTCHHZ
Default: 500 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 59

Danaher Motion Kollmorgen SERCOS IDNs

IDN P91: (32, 859) Velocity Notch Filter Band Width

Description: Sets the bandwidth, measured at the 3 dB points, of the notch filter used in the velocity
loop. This IDN only affects the system when the velocity loop filter mode (IDN P93) is 3
and the advance pole placement velocity loop compensation mode (IDN P96) is inactive.
Data Length: 2 bytes Units: Hz
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 1 Write Access: CP 2-4, EN
Maximum: 100 Serial Equivalent: NOTCHBW
Default: 1 Availability:

IDN P92: (32, 860) Velocity Feedback Compensation

Filter
Description: Enables or disables the use of a 400 Hz low pass filter in the velocity feedback loop. This
IDN only affects the system when the high frequency SPP velocity loop compensation
mode (IDN P96) is inactive.
Data Length: 2 bytes Units:
Data Type: Unsigned integer Non-Volatile: No
Minimum: 0 (LPF disabled) Write Access: CP 2-4
Maximum: 1 (LPF enabled) Serial Equivalent: COMPFILT
Default: Based upon hardware Availability:

IDN P93: (32, 861) Velocity Loop Filter Mode

Description: Specifies the type and number of filters that affect the PI, PDFF, and SPP velocity loop
controllers. The filters are not used when the APP velocity loop controller is active. The
velocity loop controller is selected through the velocity loop compensation mode (IDN
P96).
Mode Description
0 No filtering
1 A single first order low pass filter. The cutoff frequency is defined
though IDN P94
2 Two first order low pass filters. The cutoff frequencies are defined
through IDN P94 and IDN P95
3 Notch filter. The center frequency is selected through IDN P90. The
bandwidth is selected through IDN P91

Data Length: 2 bytes Units:

Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, EN
Maximum: 3 Serial Equivalent: FILTMODE
Default: 0 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 60

Danaher Motion Kollmorgen SERCOS IDNs

IDN P94: (32, 862) Velocity Low Pass Filter 1

Frequency
Description: Sets the cut-off frequency of the first low pass filter used in the velocity loop. This IDN
only affects the system when the velocity loop filter mode (IDN P93) is 1 or 2 and the
advance pole placement velocity loop compensation mode (IDN P96) is inactive.
Data Length: 2 bytes Units: Hz
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 20 Hz steps Write Access: CP 2-4, EN
Maximum: 800 in 20 Hz steps. Serial Equivalent: LPFHZ1
Default: 500 Availability:

IDN P95: (32, 863) Velocity Low Pass Filter 2

Frequency
Description: Sets the cut-off frequency of the second low pass filter used in the velocity loop. This
IDN only affects the system when the velocity loop filter mode (IDN P93) is 2 and the
advance pole placement velocity loop compensation mode (IDN P96) is inactive.
Data Length: 2 bytes Units: Hz
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 20 Hz steps Write Access: CP 2-4, EN
Maximum: 800 in 20 Hz steps. Serial Equivalent: LPFHZ2
Default: 500 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 61

Danaher Motion Kollmorgen SERCOS IDNs

IDN P96: (32, 864) Velocity Loop Compensation Mode

Description: Defines the type of velocity loop controller used by the drive.
Velocity Loop
Mode Controller Loop Variables
0 Proportional Integral (PI) IDN 100 Velocity loop PI proportional gain
IDN P103 Velocity loop PI integral gain
1 Pseudo Derivative Feedback IDN P97 Velocity loop PDFF proportional gain
with Feed Forward (PDFF) IDN P98 Velocity loop PDFF integral gain
IDN P99 Velocity loop PDFF to feedback gain ratio
2 Low Frequency Standard IDN P23 Motor rotor moment of inertia
Pole Placement (SPP) IDN P100 Velocity loop SPP bandwidth ( =200 Hz)
IDN P101 Velocity loop SPP load to motor inertia ratio
IDN P102 Velocity loop SPP tracking factor
3 Advanced Pole Placement IDN P89 Velocity loop APP input filter
(APP) IDN P105 Procedure: Design APP velocity controller
IDN P106 Velocity loop APP forward path polynomial
IDN P107 Velocity loop APP feedback path polynomial
IDN P108 Velocity loop APP feed forward path polynomial
IDN P109 Velocity loop APP output filter
4 High Frequency Standard IDN P23 Motor rotor moment of inertia
Pole Placement (SPP) IDN P100 Velocity loop SPP bandwidth ( =400 Hz)
IDN P101 Velocity loop SPP load to motor inertia ratio
IDN P102 Velocity loop SPP tracking factor

Successfully executing the tune procedure may modify the velocity loop variables.
Data Length: 2 bytes Units:
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4
Maximum: 4 Serial Equivalent: COMPMODE
Default: 2 Availability:

IDN P97: (32, 865) Velocity Loop PDFF Proportional

Gain
Description: Defines the velocity loop proportional gain for the "pseudo derivative feedback with feed
forward" velocity loop controller. The type of velocity loop controller is selected through
the velocity loop compensation mode (IDN P96).
Data Length: 4 bytes Units:
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, EN
Maximum: 1,000,000,000 Serial Equivalent: KV
Default: 1000 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 62

Danaher Motion Kollmorgen SERCOS IDNs

IDN P98: (32, 866) Velocity Loop PDFF Integral Gain

Description: Defines the velocity loop integral gain for the "pseudo derivative feedback with feed
forward" velocity loop controller. The type of velocity loop controller is selected through
the velocity loop compensation mode (IDN P96).
Data Length: 2 bytes Units:
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, EN
Maximum: 65,535 Serial Equivalent: KVI
Default: 1000 Availability:

IDN P99: (32, 867) Velocity Loop PDFF to Feedback

Gain Ratio
Description: Defines the velocity loop feed forward to feedback gain ratio for the "pseudo derivative
feedback with feed forward" velocity loop controller. The type of velocity loop
controller is selected through the velocity loop compensation mode (IDN P96).
Data Length: 2 bytes Units: Percent * 0.1
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, EN
Maximum: 1000 ?100 % Serial Equivalent: KVFR
Default: 0 Availability:

IDN P100: (32, 868) Velocity Loop SPP Bandwidth

Description: Defines the velocity control loop bandwidth for the SPP velocity loop controllers. The
type of velocity loop controller is selected through the velocity loop compensation mode
(IDN P96).
Data Length: 2 bytes Units: Hz
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 10 Write Access: CP 2-4, EN
Maximum: 200 (low freq SPP), Serial Equivalent: BW
400 (high freq SPP)
Default: 20 Availability:

IDN P101: (32, 869) Velocity Loop SPP Load to Motor

Inertia Ratio
Description: Defines the velocity loop's estimated load moment of inertia relative to the motor's
moment of inertia. This IDN is used to design the velocity SPP controllers. The type of
velocity loop controller is selected through the velocity loop compensation mode (IDN
P96).
Data Length: 2 bytes Units: % of the motor inertia (IDN P23)
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, EN
Maximum: 10,000 Serial Equivalent: LMJR
Default: 0 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 63

Danaher Motion Kollmorgen SERCOS IDNs

IDN P102: (32, 870) Velocity Loop SPP Tracking Factor

Description: Defines the velocity loop's damping factor for the SPP velocity loop controllers. The
type of velocity loop controller is selected through the velocity loop compensation mode
(IDN P96). As the damping factor approaches zero, the system's overshoot is diminished
while sacrificing some tracking ability. As the damping factor approaches 200, the
system may overshoot more but will have improved steady state tracking ability.
Data Length: 2 bytes Units:
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, EN
Maximum: 200 Serial Equivalent: TF
Default: 100 Availability:

IDN P103: (32, 871) Velocity Loop Integral Gain

Description: Defines the velocity loop integral gain for the proportional-integral velocity loop
controller. The type of velocity loop controller is selected through the velocity loop
compensation mode (IDN P96).
Data Length: 2 bytes Units:
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, EN
Maximum: 65,535 Serial Equivalent: GVI
Default: 20 Availability:

IDN P104: (32, 872) Velocity Loop Expanded

Proportional Gain
Description: Defines the velocity loop proportional gain for the proportional-integral velocity loop
controller. The type of velocity loop controller is selected through the velocity loop
compensation mode (IDN P96). The least significant 16 bits of IDN P104 are duplicated
within IDN 100.
Data Length: 4 bytes Units:
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, EN
Maximum: 1,000,000,000 Serial Equivalent: GV
Default: 500 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 64

Danaher Motion Kollmorgen SERCOS IDNs

IDN P105: (32, 873) Procedure: Design APP Velocity

Controller
Description: This procedure is used to tune the drive for the APP mode (IDN P96, mode 3). With the
APP algorithm utilized in the drive, the interaction of the variables is too dramatic to
allow variables to be changed one by one. Therefore, as pole placement algorithm IDNs
are written, the new values are buffered without changing the actual values used by the
control loops. Once all desired new values have been acquired, the operator runs “design
APP velocity controller” procedure, and all parameters of APP mode are written to the
control loops simultaneously.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: CP 2-4, EN
Maximum: Serial Equivalent: REFRESH
Default: 0 Availability: SERCOS 2.0.0

IDN P106: (32, 874) Velocity Loop APP Forward Path

Polynomial
Description: Defines the velocity loop APP controller’s forward path polynomial. The type of velocity
loop controller is selected through the velocity loop compensation mode (IDN P96). The
APP controller is not updated until the “design APP velocity controller” procedure (IDN
P105) is executed successfully. The array contents have the following definition:
Array Element Description Element Range
1 Polynomial coefficients. -32,768 to 32,767
2 Polynomial coefficients. -32,768 to 32,767
3 Polynomial coefficients. -32,768 to 32,767
4 Polynomial coefficients. -32,768 to 32,767
5 Polynomial coefficients. -32,768 to 32,767
6 Polynomial coefficient shift factor. 0 to 15

Data Length: 2 byte elements. Units:

Variable length array.
Data Type: Integer Non-Volatile: Yes
Minimum: Write Access: CP 2-4, EN
Maximum: Serial Equivalent: VD
Default: 0 0 0 0 0 0 Availability: SERCOS 2.0.0

SERVOSTAR PD SERCOS IDN Reference Manual 65

Danaher Motion Kollmorgen SERCOS IDNs

IDN P107: (32, 875) Velocity Loop APP Feedback Path

Polynomial
Description: Defines the velocity loop APP controller’s feedback path polynomial. The type of
velocity loop controller is selected through the velocity loop compensation mode (IDN
P96). The APP controller is not updated until the “design APP velocity controller”
procedure (IDN P105) is executed successfully. The array contents have the following
definition:
Array Element Description Element Range
1, 3, 5, 7 Polynomial coefficients. -2,147,483,647 to
2,147,483,647
2, 4, 6, 8 Polynomial coefficient shift factor. 0 to 32,767

Data Length: 4 byte elements. Units:

Variable length array.
Data Type: Integer Non-Volatile: Yes
Minimum: Write Access: CP 2-4, EN
Maximum: Serial Equivalent: VH
Default: 0 0 0 0 0 0 0 0 Availability: SERCOS 1.7.6

IDN P108: (32, 876) Velocity APP Feed-forward Path

Polynomial
Description: Defines the velocity loop APP controller’s feed-forward path polynomial. The type of
velocity loop controller is selected through the velocity loop compensation mode (IDN
P96). The APP controller is not updated until the “design APP velocity controller”
procedure (IDN P105) is executed successfully. The array contents have the following
definition:
Array Element Description Element Range
1, 3, 5 Polynomial coefficients. -2,147,483,647 to
2,147,483,647
2, 4, 6 Polynomial coefficient shift factor. 0 to 32,767

Data Length: 4 byte elements. Units:

Variable length array.
Data Type: Integer Non-Volatile: Yes
Minimum: Write Access: CP 2-4, EN
Maximum: Serial Equivalent: VR
Default: 0 0 0 0 0 0 Availability: SERCOS 1.7.6

SERVOSTAR PD SERCOS IDN Reference Manual 66

Danaher Motion Kollmorgen SERCOS IDNs

IDN P109: (32, 877) Velocity Loop APP Output Filter

Description: Defines the filter at the output of the APP velocity controller. The array represented by
this IDN includes five integers that represent the polynomial coefficients, and two shift
parameters, one that scales each polynomial. The type of velocity loop controller is
selected through the velocity loop compensation mode (IDN P96). The APP controller is
not updated until the “design APP velocity controller” procedure (IDN P105) is executed
successfully. The array contents have the following definition:
Array Element Description Element Range
1,2,3,5,6 Polynomial coefficients -32,768 to 32,767
4, 7 Polynomial coefficient shift factor 0 to 32,767

Data Length: 2 byte elements. Units:

Variable length array.
Data Type: Integer Non-Volatile: Yes
Minimum: Write Access: CP 2-4, EN
Maximum: Serial Equivalent: VF
Default: 1 0 0 0 0 0 0 Availability: SERCOS 2.0.0

IDN P110: (32, 878) Micro-Interpolator Mode

Description: The drive's fine µI generates intermediate commands at the position loop servo rate by
curve fitting a cubic spline between the commands sent by the master every CUCT (IDN
1). Therefore, when the µI is active, the drive expects the master to generate command
data one time step CUCT ahead of its actual use. The µI mode (IDN P110) specifies
whether the µI is enabled and the type of integration technique used by the µI to generate
intermediate position, velocity feed forward, and acceleration feed forward commands.
The master should match the µI algorithm with its own coordinate generation algorithm
to ensure that the resulting motion is smooth.
In order to have the µI active, position and velocity commands (IDNs 36 and 47) must be
assigned as cyclic data within the MDT telegram. The CUCT must be no greater than 6
mS. In addition, the control unit synchronization bit - MDT control word, bit 10 (CUSB)
monitoring must be enabled (IDN P152) if the CUCT
(IDN 1) differs from the CCT (IDN 2). If the µI mode is non-zero then these conditions
must be met in order to successfully execute the CP2 to CP3 transition procedure (IDN
127).
Mod Description
e
0 µI inactive.
1 Trapezoidal rule integration algorithm
2 Zero order hold (delay)
3 Forward difference integration algorithm

Data Length: 2 bytes Units:

Data Type: Unsigned integer Non-Volatile: No
Minimum: 0 Write Access: CP 2
Maximum: 3 Serial Equivalent:
Default: 0 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 67

Danaher Motion Kollmorgen SERCOS IDNs

IDN P115: (32, 883) Acceleration Feed Forward Gain 2

Description: Defines a multiplier of the acceleration command, which is generated by the position
profile, that is fed through the velocity loop in order to reduce the acceleration dependent
following error.
Data Length: 2 bytes Units: 0.1%
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: -10,000 to -1000.0 % Write Access: CP 2-4, EN
Maximum: 10,000 to 1000.0 % Serial Equivalent: GPAFR2
Default: 0 Availability:

IDN P116: (32, 884) Position Loop Derivative Gain

Description: Defines the position loop derivative gain for the proportional-integral-derivative position
loop controller. Setting the derivative gain to 1,000 results in unity gain on the derivative
term.
Data Length: 2 bytes Units:
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, EN
Maximum: 32,767 Serial Equivalent: GPD
Default: 0 Availability:

IDN P117: (32, 885) Position Loop Integral Gain

Description: Defines the position loop integral gain for the proportional-integral-derivative position
loop controller. When the integral gain is set to 10,000 then the integral gain equals the
proportional gain (integral term: GP * GPI/10000).
Data Length: 2 bytes Units:
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, EN
Maximum: 10,000 Serial Equivalent: GPI
Default: 0 Availability:

IDN P118: (32, 886) Position Loop Integrator Input

Saturation Limit
Description: Limits the input of the position loop integrator by setting the input saturation. When used
with the integrator output saturation limit (IDN P119), the master is able to make the
position loop integrator effective only near the target position and the integrator is not
dominant in the loop dynamics farther from the target position.
Data Length: 4 bytes Units: Counts
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, EN
Maximum: 1,000,000 Serial Equivalent: GPISATIN
Default: Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 68

Danaher Motion Kollmorgen SERCOS IDNs

IDN P119: (32, 887) Position Loop Integrator Output

Saturation Limit
Description: Limits the output of the position loop integrator by setting the output saturation. When
used with the integrator input saturation limit (IDN P118), the master is able to make the
position loop integrator effective only near the target position and the integrator is not
dominant in the loop dynamics farther from the target position.
Data Length: 4 bytes Units: Counts
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, EN
Maximum: 1,000,000 Serial Equivalent: GPISATOUT
Default: 0 Availability:

IDN P120: (32, 888) Drive DIP Switch Status

Description: Retrieves the settings of the DIP switches located on the top of the drive. Switch 10 is
closest to the 7 segment LED display. If a DIP switch is vertical, when facing the front of
the drive, then its logic level is 0 (low). If a DIP switch is leaning to the right, when
facing the front of the drive, then its logic level is 1 (high).
Bit Switch Description Setting
LSB 0 1 SERCOS address LSB of SERCOS address
1 2 Bit 1 of SERCOS address
2 3 Bit 2 of SERCOS address
3 4 Bit 3 of SERCOS address
4 5 MSB of SERCOS address
5 6 SERCOS/Serial 0 = 2 MBits/S (SERCOS) 9600 baud (Serial)
baud rate 1 = 4 MBits/S (SERCOS) 19200 baud (Serial)
6 7 Hold Mode 0 = Disabled
1 = Enabled
7 8 Drive Disable 0 = Enable
1 = Disable
8 9 SERCOS 0 = Low
transmitter power 1 = High
9 10 Firmware load. 0 = Normal operations1 = Ember
10 Reserved Set to 0
11 Reserved Set to 0
12 Reserved Set to 0
13 Reserved Set to 0
14 Reserved Set to 0
15 Reserved Set to 0

Data Length: 2 bytes Units:

Data Type: Binary Non-Volatile: Yes
Minimum: Write Access: Read-only
Maximum: Serial Equivalent: DIP
Default: Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 69

Danaher Motion Kollmorgen SERCOS IDNs

IDN P121: (32, 889) DIP Switch Enable Status

Description: Indicates the DIP switch enable status. This IDN must be 1 (DIP switch 8 off or low) in
order for the drive to be enabled by the master. IDN P121 may be assigned to a RTS bit.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: Yes
Minimum: Write Access: Read-only
Maximum: Serial Equivalent: DIPEN
Default: Availability:

IDN P122: (32, 890) Remote Enable Switch Status

Description: Indicates the state of the external hardware enable input signal. IDN P122 must be 1 in
order for the drive to be enabled by the master. IDN P122 may be assigned to a RTS bit.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: Yes
Minimum: Write Access: Read-only
Maximum: Serial Equivalent: REMOTE
Default: Availability::

IDN P123: (32, 891) Configurable I/O: Input 1 Mode

Description: Sets the functionality of digital input 1 which may be read through IDN P124. The
following functions are available:
Mode Description
0 No special function
1 CW limit switch (IDN P136)
2 CCW limit switch (IDN P137)
3 Reserved
4 Reserved
5 Reserved
6 Reserved
7 Reserved
8 Second bipolar torque limit (IDN P84)
9 Reserved
10 Home switch (IDN 400)
11 Reserved
12 Reserved
13 Reserved
14 Reserved
15 Reserved
16 Probe input (IDN 401)
17 Reserved
18 Open fault relay. Refer to IDN P138

Except for mode 0, each function may only be assigned to one digital input. Mode 18 adds an
external signal to the fault relay safety chain.
Data Length: 2 bytes Units:
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, EN
Maximum: 18 Serial Equivalent: IN1MODE
Default: 1 Availability::

SERVOSTAR PD SERCOS IDN Reference Manual 70

Danaher Motion Kollmorgen SERCOS IDNs

IDN P124: (32, 892) Configurable I/O: Input 1 Status

Description: Returns the state of digital input 1 located on user connector C3, pin 9. A '1' indicates
that the digital input is on or is conducting current. IDN P124 may be assigned as a RTS.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent: IN1
Default: Availability::

IDN P125: (32, 893) Configurable I/O: Input 2 Mode

Description: Sets the functionality of digital input 2 which may be read through IDN P126. The
following functions are available:
Mode Description
0 No special function
1 CW limit switch (IDN P136)
2 CCW limit switch (IDN P137)
3 Reserved
4 Reserved
5 Reserved
6 Reserved
7 Reserved
8 Second bipolar torque limit (IDN P84)
9 Reserved
10 Home switch (IDN 400)
11 Reserved
12 Reserved
13 Reserved
14 Reserved
15 Reserved
16 Probe input (IDN 401)
17 Reserved
18 Open fault relay. Refer to IDN P138

Except for mode 0, each function may only be assigned to one digital input. Mode 18
adds an external signal to the fault relay safety chain.
Data Length: 2 bytes Units:
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, EN
Maximum: 18 Serial Equivalent: IN2MODE
Default: 1 Availability::

IDN P126: (32, 894) Configurable I/O: Input 2 Status

Description: Returns the state of digital input 1 located on user connector C3, pin 10. A '1' indicates
that the digital input is on or is conducting current. IDN P126 may be assigned as a RTS.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent: IN2
Default: Availability::

SERVOSTAR PD SERCOS IDN Reference Manual 71

Danaher Motion Kollmorgen SERCOS IDNs

IDN P127: (32, 895) Configurable I/O: Input 3 Mode

Description: Sets the functionality of digital input 3 which may be read through IDN P128. The
following functions are available:
Mode Description
0 No special function
1 CW limit switch (IDN P136)
2 CCW limit switch (IDN P137)
3 Reserved
4 Reserved
5 Reserved
6 Reserved
7 Reserved
8 Second bipolar torque limit (IDN P84)
9 Reserved
10 Home switch (IDN 400)
11 Reserved
12 Reserved
13 Reserved
14 Reserved
15 Reserved
16 Probe input (IDN 401)
17 Reserved
18 Open fault relay. Refer to IDN P138

Except for mode 0, each function may only be assigned to one digital input. Mode 18
adds an external signal to the fault relay safety chain.
Data Length: 2 bytes Units:
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, EN
Maximum: 18 Serial Equivalent: IN3MODE
Default: 1 Availability::

IDN P128: (32, 896) Configurable I/O: Input 3 Status

Description: Returns the state of digital input 3 located on user connector C3, pin 11. A '1' indicates
that the digital input is on or is conducting current. IDN P128 may be assigned as a RTS.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent: IN3
Default: Availability::

SERVOSTAR PD SERCOS IDN Reference Manual 72

Danaher Motion Kollmorgen SERCOS IDNs

IDN P131: (32, 899) Configurable I/O: Output 1Mode

Description: Sets the functionality of digital output 1 which may be read through IDN P132. The
following functions are available:
Mode Description
0 No special function. The master may directly modify the output through
IDN P132
1 Reserved
2 Reserved
3 Output on when the drive is in fold back (IDN 12, bit 0)
4 Reserved
5 Reserved
6 Reserved
7 Reserved
8 Reserved
9 Reserved
10 Output on if the drive is enabled

Data Length: 2 bytes Units:

Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, EN
Maximum: 10 Serial Equivalent: O1MODE
Default: 6 Availability::

IDN P132: (32, 900) Configurable I/O: Output 1

Control/Status
Description: Allows the master to read the state of digital output 1 located on user connector C3, pin
12. A '1' indicates that the digital output is on or is conducting current. IDN P132 is write
protected whenever the digital output 1 mode (IDN P131) is non-zero.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile:
Minimum: No Write Access: CP 2-4, EN (when IDN P131 is 0)
Read-only (when IDN P131 is non-
zero)
Maximum: Serial Equivalent: O1
Default: Availability::

IDN P135: (32, 903) Hardware Limit Switch

Enable/Disable
Description: Enables or disables the use of the hardware limit switches. One or two digital inputs
must also be assigned as hardware limit switch inputs through the flexible input mode
IDNs P123, P125, or P127 in order for the hardware limit switches to function.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: Yes
Minimum: 0 (HW limit switches enabled) Write Access: CP 2-4, EN
Maximum: 1 (HW limit switches disabled) Serial Equivalent: LIMDIS
Default: 0 Availability::

SERVOSTAR PD SERCOS IDN Reference Manual 73

Danaher Motion Kollmorgen SERCOS IDNs

IDN P136: (32, 904) CW Limit Switch Status

Description: Returns the state of the CW (clockwise) limit switch input. A '1' indicates that the CW
limit has been reached and the switch is open. And conversely, a '0' indicates that the
CW limit has not been reached and the switch is closed. The data returned by IDN P136
is not meaningful unless one of the flexible input mode IDNs P123, P125, or P127 has
been assigned as the CW limit switch input (mode 1). IDN P136 may be assigned as a
RTS.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent: CWLIM
Default: Availability::

IDN P137: (32, 905) CCW Limit Switch Status

Description: Returns the state of the CCW (counter-clockwise) limit switch input. A '1' indicates that
the CCW limit has been reached and the switch is open. And conversely, a '0' indicates
that the CCW limit has not been reached and the switch is closed. The data returned by
IDN P137 is not meaningful unless one of the flexible input mode IDNs P123, P125, or
P127 has been assigned as the CCW limit switch input (mode 2). IDN P137 may be
assigned as a RTS.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent: CCWLIM
Default: Availability::

SERVOSTAR PD SERCOS IDN Reference Manual 74

Danaher Motion Kollmorgen SERCOS IDNs

IDN P138: (32, 906) Drive Relay Closure Conditions

Description: Specifies the conditions that will cause the "drive-up / drive ready" relay to open.
Mode Description
0 Relay closed when no faults exist
1 Relay closed when the drive is enabled
2 Relay closed when the drive is enabled or is above the disable speed
threshold while actively disabling

When the drive is actively disabling, mode 2 causes the relay to open when the motor
speed is below the disable threshold, whereas mode 1 does not open the relay until the
active disable timer has expired. In addition, a digital input is added to the fault relay
safety chain through flexible input mode 18 (IDN P123, P125, or P127).
The relay opens when one or more of the following conditions occurs:
! A fault exists.
! The drive is disabled (IDN P138 is 1).
! The drive is disabled or is actively disabling and is considered stopped (IDN P138 is
2).
! Flexible input mode 18 (IDNs P123, P125, or P127) is active and the corresponding
digital input signal goes low.
Data Length: 2 bytes Units:
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, EN
Maximum: 2 Serial Equivalent: RELAYMODE
Default: 0 Availability::

IDN P139: (32, 907) Drive Relay Status

Description: Returns the status of the fault / "drive up" relay. A '1' indicates that the relay is closed
and a '0' indicates that the relay is open. IDN P139 may be assigned as a RTS.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent: RELAY
Default: Hardware defined. Availability::

SERVOSTAR PD SERCOS IDN Reference Manual 75

Danaher Motion Kollmorgen SERCOS IDNs

IDN P140: (32, 908) Motor Over Temperature Mode

Description: Specifies the operation of the drive when a motor over temperature condition is detected
(IDN 312). The amount of time that may elapse, without issuing a C1D fault (IDN 11, bit
2), is defined by the motor over temperature mode (IDN P140).
Mode C1D Fault Disable Drive Open Fault Relay Notes
0 Immediately Immediately Immediately
1 After 2 minutes After 2 minutes Immediately
2 No No Immediately
3 No No No
4 No No No Warning also issued
over RS-232
5 No No After IDN P142 time Warning also issued
over RS-232

Data Length: 2 bytes Units:

Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, EN
Maximum: 5 Serial Equivalent: THERMODE
Default: 0 Availability::

IDN P141: (32, 909) Motor Temperature Sensor Type

Description: Defines the type of motor over temperature sensor.
Type Description
0 PTC (Positive Temperature Coefficient)
1 NTC (Negative Temperature Coefficient)

Data Length: 2 bytes Units:

Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, EN
Maximum: 1 Serial Equivalent: THERMTYPE
Default: 0 Availability::

IDN P142: (32, 910) Motor Over Temperature Relay

Delay Time
Description: Sets the number of seconds the drive will wait after a motor over temperature condition
(IDN 312) has occurred before opening the fault relay. The delay time is only used when
the motor over temperature mode (IDN P140) is set to 5.
Data Length: 2 bytes Units: Seconds
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 1 Write Access: CP 2-4, EN
Maximum: 300 Serial Equivalent: THERMTIME
Default: 30 Availability::

SERVOSTAR PD SERCOS IDN Reference Manual 76

Danaher Motion Kollmorgen SERCOS IDNs

IDN P144: (32, 912) Bus Under Voltage Fault Handling

Mode
Description: Specifies the operation of the drive when a bus under voltage condition is detected. The
amount of time that may elapse, without issuing a C1D fault (IDN 11, bit 9), is defined
by the motor over temperature mode (IDN P140) and the under voltage warning time
(IDN P145).
Mode Description
0 Issue an immediate under voltage fault
1 Never issue an under voltage fault
2 If the drive is enabled, issue an under voltage fault after the under voltage
warning time (IDN P145) has expired

Data Length: 2 bytes Units:

Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, EN
Maximum: 2 Serial Equivalent: UVMODE
Default: 0 Availability::

IDN P145: (32, 913) Bus Under Voltage Warning Time

Description: Sets the number of seconds a bus under voltage condition can be present while the drive
is enabled before issuing a fault (IDN 11, bit 9) and shutting down the drive. The delay
time is only used when the bus under voltage fault handling mode (IDN P144) is set to 2.
Data Length: 2 bytes Units: Seconds
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 1 Write Access: CP 2-4, EN
Maximum: 300 Serial Equivalent: UVTIME
Default: 30 Availability::

SERVOSTAR PD SERCOS IDN Reference Manual 77

Danaher Motion Kollmorgen SERCOS IDNs

IDN P146: (32, 914) Configurable I/O: Inputs Status

Description: Returns the state of the digital inputs located on user connector C3 (pins 9,10 and 11) as
well as the state of the external hardware enable input signal (pin 8). All the signals are
represented in inverted form, i.e. a '0' indicates that the digital input is on or is
conducting current. IDN P146 may be assigned as AT cyclic data.
Bit Description
LSB 0 Remote enable switch status (IDN P122)
1 Input 1 status (IDN P124)
2 Input 2 status (IDN P126)
3 Input 3 status (IDN P128)
4 Reserved
5 Not used
6 Not used
7 Not used
8 Not used
9 Not used
10 Not used
11 Not used
12 Not used
13 Not used
14 Not used
15 Not used

Data Length: 2 bytes Units:

Data Type: Binary Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent: (~REMOTE) | (~IN1<<1) |
(~IN2<<2) | (~IN3<<3)
Default: Availability:: SERCOS 2.0.1

SERVOSTAR PD SERCOS IDN Reference Manual 78

Danaher Motion Kollmorgen SERCOS IDNs

IDN P147: (32, 915) Configurable I/O: Inputs Polarity

Description: Allows the master to invert the polarity of the configurable inputs which are located on
connector C3 (pins 9,10, and 11). An input signal is inverted if the corresponding bit in
IDN P147 is set.
Bit Description
LSB 0 Input 1 inversion
1 Input 2 inversion
2 Input 3 inversion
3 Reserved (set to 0)
4 Reserved (set to 0)
5 Reserved (set to 0)
6 Reserved (set to 0)
7 Reserved (set to 0)
8 Reserved (set to 0)
9 Reserved (set to 0)
10 Reserved (set to 0)
11 Reserved (set to 0)
12 Reserved (set to 0)
13 Reserved (set to 0)
14 Reserved (set to 0)
15 Reserved (set to 0)

Data Length: 2 bytes Units:

Data Type: Binary Non-Volatile: Yes
Minimum: Write Access: CP 2-4, EN
Maximum: Serial Equivalent: ININV1, ININV2, ININV3
Default: Availability:: SERCOS 2.0.6

IDN P150: (32, 918) Manufacturer Class 2 Diagnostic

Mask
Description: IDN P150 is used to mask manufacturer-defined warnings (IDN 181) and their effect on
the C2D change bit (AT status word, bit 12) and the manufacturer-defined warning
summary bit (IDN 12, bit 15). A masked manufacturer warning does not affect the
contents of IDN 181, but the C2D change bit and the manufacturer-defined warning
summary bit is not effected when the masked warning changes state. When a bit in IDN
P150 is clear, then the corresponding bit in IDN 181 is masked.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: CP 2-4, EN
Maximum: Serial Equivalent:
Default: 0xFFFF Availability::

SERVOSTAR PD SERCOS IDN Reference Manual 79

Danaher Motion Kollmorgen SERCOS IDNs

IDN P151: (32, 919) Manufacturer Class 3 Diagnostic

Mask
Description: IDN P151 is used to mask manufacturer-defined status signals (IDN 182) and their effect
on the C3D change bit (AT status word, bit 11) and the manufacturer defined status
signal summary bit (IDN 13, bit 15). A masked manufacturer status signal does not affect
the contents of IDN 182, but the C3D change bit and the manufacturer-defined status
signal summary bit is not effected when the masked status signal changes state. When a
bit in IDN P151 is clear, then the corresponding bit in IDN 182 is masked.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: CP 2-4, EN
Maximum: Serial Equivalent:
Default: 0xFFFF Availability::

IDN P152: (32, 920) Control Unit Synchronization Bit

Monitoring
Description: The CUSB must be toggled by the master every CUCT according to SERCOS 7.3.2.3.
The CUSB is used to synchronize commands coming from the master with the drive's µI.
In addition, the CUSB provides a watchdog on the commands coming from the master.
The drive monitors the CUSB in CP4 and issues a manufacturer fault (IDN 129, bits 12
or 13) and returns to CP0 when the CUSB toggles incorrectly.
IDN P152 allows the monitoring of the CUSB to be disabled under certain conditions to
support masters that do not toggle the CUSB. CUSB monitoring may be disabled if the
drive's µI (IDN P110) is inactive or the CUCT (IDN 1) is equal to the CCT (IDN 2). If
the master has disabled CUSB monitoring, by setting P152 to 0 in CP2, and these
conditions are not true, then the CP2 to CP3 transition procedure (IDN 127) fails.
Data Length: 2 bytes Units:
Data Type:Binary Non-Volatile: No
Minimum: Write Access: CP 2
Maximum: Serial Equivalent:
Default: 1 (CUSB monitoring active) Availability::

SERVOSTAR PD SERCOS IDN Reference Manual 80

Danaher Motion Kollmorgen SERCOS IDNs

IDN P153: (32, 921) Hold Mode Status

Description: If the drive is in a hold mode (IDN 182, bit 1), the condition which caused the drive to
enter hold mode has its corresponding bit set to 1 in IDN P153.
Bit Description
LSB 0 Reserved: Halt/Restart bit low (MDT bit 13)
1 Hold DIP switch (DIP switch 7 = 1)
2 Drive is in an active disable process waiting for the drive off delay time
(IDN 207) to expire
3 Hardware limit switch active
4 Configurable input mode 19 active
5 Internal hold request during homing process
6 Reserved (set to zero)
7 Reserved (set to zero)
8 Reserved (set to zero)
9 Reserved (set to zero)
10 Reserved (set to zero)
11 Reserved (set to zero)
12 Reserved (set to zero)
13 Reserved (set to zero)
14 Reserved (set to zero)
15 Reserved (set to zero)

Data Length: 2 bytes Units:

Data Type: Binary Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent: Status word 5
Default: Availability::

SERVOSTAR PD SERCOS IDN Reference Manual 81

Danaher Motion Kollmorgen SERCOS IDNs

IDN P155: (32, 923) APP Velocity Controller Procedure

Control
Description: Allows the user to initiate or cancel execution of the “Design APP Velocity Controller”
procedure (IDN P105) using the realtime bits. This IDN may be employed to update the
APP velocity controller coefficient as fast as possible in realtime rather than using the
asynchronous service channel protocol. IDN P155 may be assigned to a RTC.
Structure of the IDN:
Bit Description
LSB 0 1 – Starts the procedure command execution in the drive
(equal to setting IDN P105 to 3)
0 – Cancels the procedure (equal to setting IDN P105 to 0)
1 Not used
2 Not used
3 Not used
4 Not used
5 Not used
6 Not used
7 Not used
8 Not used
9 Not used
10 Not used
11 Not used
12 Not used
13 Not used
14 Not used
15 Not used

Data Length: 2 bytes Units:

Data Type: Binary Non-Volatile: No
Minimum: Write Access: CP 2-4, EN
Maximum: Serial Equivalent: REFRESH
Default: 0 Availability:: SERCOS 2.0.8

SERVOSTAR PD SERCOS IDN Reference Manual 82

Danaher Motion Kollmorgen SERCOS IDNs

IDN P156: (32, 924) APP Velocity Procedure

Acknowledgement
Description: Bit 0 of the IDN P156 is used for monitoring completion status of the “Design APP
Velocity Controller” procedure (IDN P105). Bit 0 is always reset when canceling the
procedure command (IDN P105). IDN P156 may be assigned to a RTS.
Structure of the IDN:
Bit Description
LSB 0 1 – Indicates change in the status of the procedure command (IDN P105)
0 – The procedure command not completed or has not been started
1 Not used
2 Not used
3 Not used
4 Not used
5 Not used
6 Not used
7 Not used
8 Not used
9 Not used
10 Not used
11 Not used
12 Not used
13 Not used
14 Not used
15 Not used

Data Length: 2 bytes Units:

Data Type: Binary Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: 0 Availability:: SERCOS 2.0.8

IDN P160: (32, 928) Scaled Analog Input Value

Description: Contains the scaled analog input, in millivolts, after compensating for offset (IDN P164),
dead band (IDN P165), filtering (IDN P166), and analog input circuit attenuation.
Data Length: 2 bytes Units: Millivolts
Data Type: Integer Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent: ANIN
Default: Availability::

SERVOSTAR PD SERCOS IDN Reference Manual 83

Danaher Motion Kollmorgen SERCOS IDNs

IDN P161: (32, 929) Analog Input Value

Description: Returns the Equivalent analog to digital conversion of the analog input signal, as a two's
complement number, after compensating for offset (IDN P164), dead band (IDN P165),
and filtering (IDN P166).
When the analog offset is 0, the dead band is 0, and the analog input filter is set to 10
kHz, then the analog input voltage in millivolts: Vin = [IDN M161] * 0.75352
IDN P161 may be assigned as AT cyclic data.
Data Length: 2 bytes Units: ADC counts
Data Type: Integer Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent: AnIn / 0.75352
Default: Availability::

IDN P164: (32, 932) Analog Input Offset Compensation

Description: Defines an offset value that is added to the analog input value (IDN P160 and P161) to
compensate for offset or drift.
Data Length: 2 bytes Units: mV
Data Type: Integer Non-Volatile: Yes
Minimum: -10,000 Write Access: CP 2-4, En
Maximum: 10,000 Serial Equivalent: AnOff
Default: 0 Availability::

IDN P165: (32, 933) Analog Input Dead Band

Description: If the absolute value of analog input voltage (IDN P160 or P161) is less than the dead
band voltage, the analog input value is set to 0.
Data Length: 2 bytes Units: mV
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, En
Maximum: 10,000 Serial Equivalent: AnDB
Default: 0 Availability::

IDN P166: (32, 934) Analog Input Low Pass Filter

Corner Frequency
Description: Defines the 3 dB point of a single pole low pass filter for the analog input. The filter
gain, at a corner frequency of 10 kHz, is 1.
Data Length: 2 bytes Units: Hz
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 1 Write Access: CP 2-4, En
Maximum: 10,000 Serial Equivalent: AnLPFHz
Default: 10,000 (unity gain) Availability::

SERVOSTAR PD SERCOS IDN Reference Manual 84

Danaher Motion Kollmorgen SERCOS IDNs

IDN P170: (32, 938) Source for Analog Output Feature

Description: Sets the source for the analog output feature at user connector C3 pin 13.
Bit Description
LSB 0 Tachometer (velocity feedback IDN 40) scaled identical to IDN P173
1 I monitor (Equivalent current) scaled identical to IDN P171
2 Velocity Error scaled identical to IDN P173
3 Torque Command Output scaled to IDN P171
4 Reserved
5 Position following error scaled to IDN P172
6 Not used
7 Not used
8 Position feedback (IDN 51) scaled to IDN P172
9 Not used
10 Not used
11 Not used
12 Not used
13 Not used
14 Not used
15 Not used

Data Length: 2 bytes Units: N/A

Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 0 Write Access: CP 2-4, En
Maximum: 8 Serial Equivalent: ANOUT
Default: 0 Availability:: SERCOS 2.0.1

IDN P171: (32, 939) Current Scale Factor for Analog

Output
Description: Defines an analog current scale factor that scales the analog output (IDN P170) for
modes 1 or 3. The value written is the motor current per 10 volts of analog output. This
variable may be either higher or lower than the application current limit (IDN 92), but
the actual analog output will be limited by the IDN 92.
Data Length: 4 bytes Units: 0.1 % of motor IC (IDN 111) / 10V
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: Depends upon IDNs 110 Write Access: CP 2-4, En
and 111.
Maximum: Depends upon IDNs 110 Serial Equivalent: ISCALE * DIPEAK/MICONT
and 111.
Default: Depends upon IDNs 110 Availability:: SERCOS 2.0.1
and 111.

SERVOSTAR PD SERCOS IDN Reference Manual 85

Danaher Motion Kollmorgen SERCOS IDNs

IDN P172: (32, 940) Position Scale Factor for Analog

Output
Description: Defines a position scale factor that scales the analog output (IDN P170) for modes 5 or 8.
The value written is the motor position movement in counts per 10 volts of analog
output.
Data Length: 2 bytes. Units: Counts per 10 volts
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 10 Write Access: CP 2-4, EN
Maximum: 2,147,483,647 Serial Equivalent: PSCALE
Default: 2048 Availability:: SERCOS 2.0.1

IDN P173: (32, 941) Velocity Scale Factor for Analog

Output
Description: Defines an analog velocity scale factor that scales the analog output (IDN P170) for
modes 0 or 2. The value written is the motor velocity per 10 volts of analog output. This
variable may be either higher or lower than the velocity limit (IDN 91), but the actual
analog output will be limited by the IDN 91.
Data Length: 2 bytes Units: RPM / 10 volts
Data Type: Unsigned integer Non-Volatile: Yes
Minimum: 10 Write Access: CP 2-4, En
Maximum: 32767 Serial Equivalent: VSCALE
Default: Depends upon IDN 91. Availability:: SERCOS 2.0.1

IDN P180: (32, 948) Step Velocity 1

Description: Specifies one of two velocity commands used by the step procedure (IDN P184). The
step velocity 1 command is issued to the velocity controller for the time specified by the
step velocity duration 1 (IDN P181).
Data Length: 4 bytes Units: RPM
Data Type: Integer Non-Volatile: No
Minimum: Write Access: CP 2-4, En
Maximum: Serial Equivalent: Step argument 2
Default: 100 Availability::

IDN P181: (32, 949) Step Velocity 1 Duration

Description: Specifies the amount of time that the step procedure (IDN P184) issues the step velocity
1 (IDN P180) command to the velocity controller.
Data Length: 2 bytes Units: milliseconds
Data Type: Unsigned integer Non-Volatile: No
Minimum: 0 Write Access: CP 2-4, En
Maximum: 32,767 Serial Equivalent: Step argument 1
Default: 1000 Availability::

SERVOSTAR PD SERCOS IDN Reference Manual 86

Danaher Motion Kollmorgen SERCOS IDNs

IDN P182: (32, 950) Step Velocity 2

Description: Specifies the second velocity command issued by the step procedure (IDN P184) to the
velocity controller to create a square wave step command. The step velocity 2 command
is issued to the velocity controller for the time specified by the step velocity duration 2
(IDN P183).
Data Length: 4 bytes Units: RPM
Data Type: Integer Non-Volatile: No
Minimum: Write Access: CP 2-4, En
Maximum: Serial Equivalent: Step argument 4
Default: 0 Availability::

IDN P183: (32, 951) Step Velocity 2 Duration

Description: Specifies the amount of time that the step procedure (IDN P184) issues step velocity 2
(IDN P182) command to the velocity controller.
Data Length: 2 bytes Units: milliseconds
Data Type: Unsigned integer Non-Volatile: No
Minimum: 0 Write Access: CP 2-4, En
Maximum: 32,767 Serial Equivalent: Step argument 3
Default: 0 Availability::

IDN P184: (32, 952) Procedure: Velocity Step

Description: The drive enters an internal velocity mode and automatically performs velocity steps
using internally generated square wave velocity commands. This procedure is intended to
be used in conjunction with the record procedure (IDN P198) to capture the drive's
response while tuning. The step procedure is configured through step velocity 1 (IDN
P180), step velocity 1 duration (P181), step velocity 2 (P182), and step velocity 2
duration (IDN P183).
The step procedure fails under the following conditions:
! The drive is disabled or is enabled and moving when the procedure is started.
! The homing procedure (IDN 148), the encoder initialization procedure (IDN P60), or
the tune procedure (IDN P188) are active.
! A drive fault is active or is encountered during operation.
The velocity step procedure runs until the requested step has finished (velocity 2 and
velocity 2 duration are both zero), the drive is disabled, or the procedure is canceled.
When the drive is continuously stepping, the master pauses the procedure before issuing
the cancel command. When the step procedure is paused, the drive stops its present
motion and holds its position. The master then reads the drive's position feedback and
updates its position command appropriately prior to canceling the step procedure.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: CP 4, En
Maximum: Serial Equivalent: Step
Default: 0 Availability::

SERVOSTAR PD SERCOS IDN Reference Manual 87

Danaher Motion Kollmorgen SERCOS IDNs

IDN P185: (32, 953) Tune Bandwidth

Description: Sets the bandwidth used during the tune procedure (IDN P188).
Data Length: 2 bytes Units: Hz
Data Type: Unsigned Integer Non-Volatile: No
Minimum: 10 Write Access: CP 2-4, En
Maximum: 100 Serial Equivalent: Tune argument 1
Default: 10 Availability::

IDN P186: (32, 954) Tune Rotation Direction

Description: Specifies the motor's direction of rotation (as viewed from the output shaft) during a tune
procedure (IDN P188). Under low load inertia conditions, the motor shaft only moves in
one direction even with a bi-directional configuration.
Dir Description
0 Bi-directional
1 Clockwise
2 Counter-clockwise

Data Length: 2 bytes Units:

Data Type: Unsigned integer Non-Volatile: No
Minimum: 0 Write Access: CP 2-4, En
Maximum: 2 Serial Equivalent: Tune argument 2
Default: 0 Availability::

IDN P187: (32, 955) Tune Velocity

Description: Specifies the motor's maximum speed during the tune procedure (IDN P188). The
velocity is always limited to 0.7 of the bipolar velocity limit (IDN 91).
Data Length: 4 bytes Units: RPM
Data Type: Unsigned integer Non-Volatile: No
Minimum: 350 Write Access: CP 2-4, En
Maximum: Serial Equivalent: Tune argument 3
Default: 500 Availability::

SERVOSTAR PD SERCOS IDN Reference Manual 88

Danaher Motion Kollmorgen SERCOS IDNs

IDN P188: (32, 956) Procedure: Tune

Description: The drive enters an internal velocity mode and automatically performs velocity steps in
closed loop, while maintaining position and velocity constraints, in order to capture the
system dynamics and set tuning constants. The tune procedure is configured through the
tune bandwidth (IDN P185), tune rotation direction (IDN P186), and the tune velocity
(IDN P187).
The tune procedure fails under the following conditions:
! The drive is disabled or is enabled and moving.
! The homing procedure (IDN 148), encoder initialization procedure (IDN P60),
velocity step procedure (IDN P184), or the record procedure (IDN P198) is active.
! The tune algorithm was unable to finish, which may be due to current saturation, a
motor that cannot rotate, or unsuccessful controller design.
! A drive fault is active or is encountered during operation.
Recommendations on the use of tune:
! Start with a low bandwidth.
! Increase the bandwidth after each successful tuning iteration. (The tune algorithm is
more accurate at higher tune speeds.)
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: CP4, En
Maximum: Serial Equivalent: Tune
Default: 0 Availability::

IDN P189: (32, 957) Record Sample Time

Description: The record sample time defines the time period between consecutively recorded data
points. The actual sample time used by the record procedure (IDN P198) is rounded to
the nearest 0.5 ms.
Data Length: 4 bytes Units: Micro-seconds
Data Type: Unsigned integer Non-Volatile: No
Minimum: 500 Write Access: CP 2-4, En
Maximum: 5,000,000 Serial Equivalent: Record argument 1
Default: 500 Availability::

IDN P190: (32, 958) Record Channel Buffer Size

Description: The record channel buffer size defines the number of signal samples that are stored on
each channel.
Data Length: 2 bytes Units: Data points
Data Type: Unsigned integer Non-Volatile: No
Minimum: 1 Write Access: CP 2-4, En
Maximum: 1024 Serial Equivalent: Record argument 2
Default: 1024 Availability::

SERVOSTAR PD SERCOS IDN Reference Manual 89

Danaher Motion Kollmorgen SERCOS IDNs

IDN P191: (32, 959) Record Channel 1 Signal

Description: Specifies the variable that is recorded on channel 1. Up to four words of data may be
recorded among all three channels.
Signal Description Size (words)
0 Phase A current 1
1 Phase C current 1
2 Velocity feedback 1
3 Absolute position feedback 1
4 Current loop command 1
5 Velocity loop command 1
6 Motor current 2
7 Analog input 1
8 Configurable input 1 1
9 Configurable input 2 1
10 Configurable input 3 1
11 In position flag 1
12 Position error 2
13 External position feedback 2
14 External velocity feedback 1
15 Profile generator stop flag 1
16 Configurable output 1 1
17 Position command 2
18 Position feedback 2

Data Length: 2 bytes Units:

Data Type: Unsigned integer Non-Volatile: No
Minimum: 0 Write Access: CP 2-4, En
Maximum: 18 Serial Equivalent: Record argument 3
Default: 5 Availability::

SERVOSTAR PD SERCOS IDN Reference Manual 90

Danaher Motion Kollmorgen SERCOS IDNs

IDN P192: (32, 960) Record Channel 2 Signal

Description: Specifies the variable that is recorded on channel 2. Up to four words of data may be
recorded among all three channels.
Signal Description Size (words)
0 Phase A current 1
1 Phase C current 1
2 Velocity feedback 1
3 Absolute position feedback 1
4 Current loop command 1
5 Velocity loop command 1
6 Motor current 2
7 Analog input 1
8 Configurable input 1 1
9 Configurable input 2 1
10 Configurable input 3 1
11 In position flag 1
12 Position error 2
13 External position feedback 2
14 External velocity feedback 1
15 Profile generator stop flag 1
16 Configurable output 1 1
17 Position command 2
18 Position feedback 2

Data Length: 2 bytes Units:

Data Type: Unsigned integer Non-Volatile: No
Minimum: 0 Write Access: CP 2-4, En
Maximum: 18 Serial Equivalent: Record argument 4
Default: 2 Availability::

SERVOSTAR PD SERCOS IDN Reference Manual 91

Danaher Motion Kollmorgen SERCOS IDNs

IDN P193: (32, 961) Record Channel 3 Signal

Description: Specifies the variable that is recorded on channel 3. Up to four words of data may be
recorded among all three channels. If the word count of the signals assigned to channels
1 through 3 exceed four words, then channel 3 data is not recorded.
Signal Description Size (words)
0 Phase A current 1
1 Phase C current 1
2 Velocity feedback 1
3 Absolute position feedback 1
4 Current loop command 1
5 Velocity loop command 1
6 Motor current 2
7 Analog input 1
8 Configurable input 1 1
9 Configurable input 2 1
10 Configurable input 3 1
11 In position flag 1
12 Position error 2
13 External position feedback 2
14 External velocity feedback 1
15 Profile generator stop flag 1
16 Configurable output 1 1
17 Position command 2
18 Position feedback 2

Data Length: 2 bytes Units:

Data Type: Unsigned integer Non-Volatile: No
Minimum: 0 Write Access: CP 2-4, En
Maximum: 18 Serial Equivalent: Record argument 5
Default: 18 Availability::

SERVOSTAR PD SERCOS IDN Reference Manual 92

Danaher Motion Kollmorgen SERCOS IDNs

IDN P194: (32, 962) Record Trigger Signal

Description: Specifies the signal or condition that triggers the recording mechanism to capture data.
Signal Description Trigger Level (IDN P195)
0 Absolute position feedback 0 to 65535
1 Phase A current -32767 to 32767
2 Phase C current -32767 to 32767
3 Velocity feedback -32767 to 32767
4 Current loop command -32767 to 32767
5 Velocity loop command -32767 to 32767
6 Trigger immediately Not used
7 Trigger on next serial command Not used
8 Remote input Not used
9 CW limit switch Not used
10 CCW limit switch Not used
11 Configurable input 1 Not used
12 Configurable input 2 Not used
13 Configurable input 3 Not used
14 Configurable output 1 Not used
15 Position command -2^32 to +2^32 - 1
16 Position feedback -2^32 to +2^32 - 1

Data Length: 2 bytes Units:

Data Type: Unsigned integer Non-Volatile: No
Minimum: 0 Write Access: CP 2-4, En
Maximum: 16 Serial Equivalent: RecTrig argument 1
Default: 3 Availability::

IDN P195: (32, 963) Record Trigger Level

Description: Specifies the value that the trigger signal (IDN P194) must pass through in order for the
recording mechanism to capture data. The trigger level range depends upon the selected
trigger signal. Refer to the trigger signal IDN description for range information. The
record procedure clips trigger levels that exceed the maximum range to the range limit
for trigger signals 0 through 5.
Data Length: 4 bytes Units:
Data Type: Integer Non-Volatile: No
Minimum: Write Access: CP 2-4, En
Maximum: Serial Equivalent: RecTrig argument 2
Default: 50 Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 93

Danaher Motion Kollmorgen SERCOS IDNs

IDN P196: (32, 964) Record Trigger Polarity

Description: Specifies the direction the trigger signal (IDN P194) must be changing when it crosses
the record trigger level (IDN P195) in order for the recording mechanism to capture data.
When a binary signal has been assigned as a trigger signal (signals 8 -14), the trigger
polarity specifies the logic level the signal must achieve in order to capture data.
Data Length: 2 bytes Units:
Data Type: Unsigned integer Non-Volatile: No
Minimum: 0 (decreasing) Write Access: CP 2-4, En
Maximum: 1 (increasing) Serial Equivalent: RecTrig argument 4
Default: 1 Availability::

IDN P197: (32, 965) Record Trigger Buffer Offset

Description: The trigger buffer offset defines the number of data points stored before the data point
that satisfies the data capture conditions (trigger level and polarity).
Data Length: 2 bytes Units: Data points
Data Type: Unsigned integer Non-Volatile: No
Minimum: 0 Write Access: CP 2-4, En
Maximum: 1023 Serial Equivalent: RecTrig argument 3
Default: 0 Availability::

IDN P198: (32, 966) Procedure: Record

Description: Captures the data of up to three realtime signals. The following IDNs are used to
configure the capture process before the record procedure is started.
! IDN P189 Sample time-defines the time period between consecutive recorded data
points
! IDN P190 Channel buffer size - Defines the number of signal samples recorded
! IDN P191 Channel 1 signal
! IDN P192 Channel 2 signal
! IDN P193 Channel 3 signal
! IDN P194 Trigger signal
! IDN P195 Trigger level
! IDN P196 Trigger polarity
! IDN P197 Trigger Offset-determines the amount of data stored before the trigger
point
The record procedure runs until the requested data has been captured. After the record
procedure returns a successful procedure status, the record data status (IDN P199)
indicates which channels have available data. The recorded data must be read from IDN
P201 before the record procedure is canceled.
The record procedure fails if the tune procedure is active.
Data Length: 2 bytes Units:
Data Type: Binary Non-Volatile: No
Minimum: Write Access: CP 2-4, En
Maximum: Serial Equivalent:
Default: 0 Availability::

SERVOSTAR PD SERCOS IDN Reference Manual 94

Danaher Motion Kollmorgen SERCOS IDNs

IDN P199: (32, 967) Record Data Status

Description: Indicates the availability of recorded data.
Bit Field Description
0 1 = Channel 1 data available
1 1 = Channel 2 data available
2 1 = Channel 3 data available
3 Reserved
4 Reserved
5 Reserved
6 1 = Recording data
7 1 = Waiting for trigger
8 Reserved
9 Reserved
10 Reserved
11 Reserved
12 Reserved
13 Reserved
14 Reserved
15 Reserved

Data Length: 2 bytes Units:

Data Type: Binary Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: 0 Availability::

SERVOSTAR PD SERCOS IDN Reference Manual 95

Danaher Motion Kollmorgen SERCOS IDNs

IDN P200: (32, 968) Record Data Pointer

Description: Defines the record channel and the starting buffer position of the data contained within
the record data IDN (IDN P201).
Bit Field Description
0 Buffer offset
1 Buffer offset
2 Buffer offset
3 Buffer offset
4 Buffer offset
5 Buffer offset
6 Buffer offset
7 Buffer offset
8 Buffer offset
9 Buffer offset
10 Buffer offset
11 Reserved
12 00 - Channel 1
01 - Channel 2
10 - Channel 3
13 00 - Channel 1
01 - Channel 2
10 - Channel 3
14 Reserved
15 Auto-increment buffer offset after reading record data. (0/1 = off/on)

Data Length: 2 bytes Units:

Data Type: Binary Non-Volatile: No
Minimum: Write Access: CP 2-4, En
Maximum: Serial Equivalent:
Default: 0 Availability::

IDN P201: (32,969) Record Data

Description: Contains the record data specified by the record pointer (IDN P200). Record data is only
available while the record procedure (IDN P198) is active.
Data Length: 4 byte elements. Units:
Variable length array.
Data Type: Integer Non-Volatile: No
Minimum: Write Access: Read-only
Maximum: Serial Equivalent:
Default: Null Availability:

SERVOSTAR PD SERCOS IDN Reference Manual 96

Danaher Motion Kollmorgen Glossary of Terms & Acronyms

Glossary of Terms & Acronyms

Availability Denotes the SERVOSTAR drive version for which each IDN is applicable. If no
information is displayed, the IDN is considered valid for all versions.
APP Advanced Pole Placement
AT Amplifier Telegram
C1D Class 1 Diagnostic - Fault
C2D Class 2 Diagnostic - Warning
C3D Class 3 Diagnostic - Status
CCT Communication Cycle Time
CCW Counter-Clockwise - CW and CCW are viewed from the output end of the motor.
CP Communication Phase
CUCT Control Unit Cycle Time
CUSB Control Unit Synchronization Bit (MDT Control Word Bit 10)
CW Clockwise - CW And CCW are viewed from the output end of the motor.
Data Length Lists the IDN data element length in bytes. Possible entries for this field are 2, 4, 1 V,
2 V, and 4 V. A 'V' following the number of bytes indicates a variable length data
element. For example, "2 V" indicates that the IDN may contain a variable number of
2 byte words.
Data Type Indicates how the data should be interpreted and displayed. Possible entries for this
field are binary, integer, unsigned integer, text, and IDN.
Default The default value for element 7 of an IDN. IDNs may assume their default values due
to a reset procedure or after a firmware upgrade. A default entry of "motor data"
indicates that the default value is determined by a motor data sheet. If an IDN does not
have a default value, then the "default" field is not listed within the IDN description.
Description A short explanation of the IDN purpose.
IC Continuous Current
IDN The Identification Number. An IDN preceded by the prefix 'P', specifies a product-
specific (manufacturer) IDN in short-hand notation. The actual IDN number for a
product-specific IDN, may be obtained by adding 32768 to the short-hand numeric
value. For convenience, the actual IDN number is given in parenthesis following the
short hand notation. For example, P2 is a manufacturer specific IDN whose actual
IDN number is 32770.
IDN Name A descriptive title of the IDN.
IP Peak Current
LSB Least Significant Bit
Maximum This field, together with minimum, indicates the range of IDN element 7 data. In
general, IDN elements 5 and 6 are not supported if the range fields are not listed
within the IDN description. The ranges of some IDNs are dependent upon the value of
other IDNs.

SERVOSTAR PD SERCOS IDN Reference Manual 97

Danaher Motion Kollmorgen Glossary of Terms & Acronyms

MDT Master Data Telegram

Minimum This field, together with maximum, indicates the range of IDN element 7 data. In
general, IDN elements 5 and 6 are not supported if the range fields are not listed
within the IDN description. The ranges of some IDNs are dependent upon the value of
other IDNs.
MSB Most Significant Bit
MST Master Synchronization Telegram
Non-Volatile Indicates whether the IDN data may be saved to non-volatile memory. IDN data that
resides in non-volatile memory is restored to the IDN upon powering up the drive.
IDN data that does not reside in non-volatile memory is assigned default values when
the drive is powered-up.
PDFF Pseudo-Derivative Feed Forward
RTC Realtime Control Bit
RTS Realtime Status Bit
Serial Lists an equation of equivalent protocol commands that may be issued through the RS-
Equivalent 232/485 serial port to obtain the IDN data. Evaluating the equation results in the
contents of the IDN. If no serial equivalent commands are available, then field values
are not listed within the description.
SPP Standard Pole Placement
Units Specifies the units of IDN element 7 and of the minimum, maximum, and default
fields. To obtain the final value of the IDN, multiply the value read from the IDN by
the units of the IDN. IDNs with data types of binary, text, or IDNs without units have
no units listed with the IDN description.
Write Lists the CPs during which an IDN may be written. In general, an IDN may be read
Access through the service channel during all CPs above CP1. Writing to an IDN may be
restricted during some CPs or while the drive is enabled.
µI Micro-Interpolator

SERVOSTAR PD SERCOS IDN Reference Manual 98