Simple does not mean easy to use. It means that it uses a reduced(simplified) set of parameters.

On Closed Loop Models with the O(SERCOS) option, the SERCOS configuration screen now has a Simple SERCOS check box. When checked, any Die Accelerator or Feeder drive will only be interfaced using the Following parameters: Class, Ident, Name B S-0-0001 Tncyc A S-0-0002 Tscyc
A S-0-0003 T1min A S-0-0004 Tatmt B S-0-0005 T5 A S-0-0006 T1 A S-0-0009 Start address of master data telegr. A S-0-0010 Length master data telegr. A S-0-0011 Diagnostics Class 1 A S-0-0015 Telegram mode definition A S-0-0032 Main operation mode B-Vel S-0-0036 Velocity Command B-Pos S-0-0051 Position feedback 1 value
C S-0-0076 Position Data Scaling Type A S-0-0087 for slave more drives load Tatat A S-0-0088 Tmtsy A S-0-0089 T2 B S-0-0090 Tmgsg B-Vel S-0-0091 Bipolar velocity limit
A S-0-0095 Diagnostic Text A S-0-0096 Slave ident ? S-0-0103 Position Modulo Value

In addition the drive must support telegram type 3

S-0-0091 Bipolar Velocity Limit is still used to scale the maximum velocity.

The drive will be configured for ratational position units. It is up to the user to determine/calculate/convert the drives S-0-0051 Position Feedback Parameter to Die Resolution. S-0-0076 can be used to assist in this. Depending on how the drive is configured, the user will have to use drive documentation, gear box ratios, actuator pitch, belt gear tooth count...etc to calculate the Die Resolution. It MAY have an S-0-0079 Rotational Position Resolution parameter. Position feedback will be relative to the load. You configure how many counts per one revolution in S-0-0079. Once you have done this then you can calculate the die resolution as distance the die travels in one revolution divided by S-0-0079. For rotational style Dies, S-0-0079 and Max Die Count should be equal.

A new record chain for SERCOS parameters was added. This chain is provided for each velocity configured drive. Rockwell Drives don't remember their settings after a power cycle. Any settings that need to be changed from their default must be added to this new chain so that they can be configured in phase two as part of the drive run-up. This chain has the capability of being backed up by Eclipse. The chain can be found and edited in the diagnostic window as a sub-menu of the SERCOS menu.

Since Rockwell devices will be configured as Simple SERCOS drives and they lose their configuration/parameters on a power cycle we need to add a layer of protection. An unconfigured drive can damage equipment, mame or kill personel. Because of this concern, each Simple SERCOS drive will have an Configuration Status that defaults to "NOT Configured". It will default to this state after every memory clear. If the setup lockout key is OFF, the user may change the state to "Test Mode" or "Configured" for each Simple Axis. "Test Mode" prevents an Axis to be used in the RUN mode. It is expected that the user will have motor disconnected while in "Test Mode". SERCOS Parameters may only be edited, added or deleted from the Settings Chain when NOT in "Configured" state. Any attempt to enable the motor when not in "Configured" state will result in an error message indicating the motor is not configured. If the state is "NOT Configured" an additional popup will display, warning the user of the dangers, and will allow the user to place the state in "Test Mode".

While testing this change on Rockwell drives I found that I had to set/override the S-0-0079, S-0-0100, S-0-0-0101 and S-0-0091 parameters. S-0-100 is Velocity Proportional Gain. S-0-0101 is Velocity Integral Time. S-0-0091 is Bipolar Velocity Limit.

Modifying any SERCOS Setting or the Configuration State is prevented when the Setup Lockout is ON.

CRC Parameter Protection: A CRC is calculated when the user places a drive in the "Configured" state. Every time settings are sent to a drive, the CRC is tested to ensure a setting has not gotten lost or corrupted. If the CRC does not match, the Configuration Status for that drive is set to "NOT Configured". Eclipse backs up the Settings, CRC and Configured state on request from the user.

On a memory clear, Eclipse will send the backed up Settings, CRC and Configured State back to the controller. As long as the backed up Configuration State was "Configured" and the CRC matches the downloaded Settings, the drive Configuration state will be restored to "Configured".

When settings are downloaded from Eclipse, the settings will be sent down to the drive(s) the next time run mode is IDLE.

During testing with a Kinetix 6000 drive we discoved that it wants to do the phase runup twice or it gos nuts when it is enabled. When Simple SERCOS is enabled the controller will do phase runup twice after an XL power cycle or a break in the fiber is detected (power cycle of the drives).