Installation manual

Danaher Motion Kollmorgen 08/04 Appendix B
SERVOSTAR S Installation M-SS-001-01 Rev. T 99
MENCTYPES 1 & 2
Perform MENCTYPE 3 & 4
algorithm
Marker Channel
Occur?
End
No
Yes
MENCTYPES 3 & 4
Drive puts IENCSTART
current through 2 phases
and waits for motor to
stop
Position is read by drive
Drive puts current through
other phase. Wait for stop.
Drive establishes
commutation angle
End
Establish new
Commutation using
MENCOFF
B.1.2.1 MENCTYPE 0
Incremental with A/B/I and Hall Channels MENCTYPE 0 is
the most robust encoder system. The drive expects the signals
as feedback from the motor. The hall channels is synthesized
either in the encoder or discrete devices (Hall sensors)
integrated in the motor windings. On power-up, the hall effect
channels are read and a code is sent to the microprocessor to
give it a coarse position for the motor. This position is accurate
to within ±30 electrical degrees of the optimal commutation
angle. The SERVO
STAR assumes the actual motor position is
half-way between the hall code settings for a maximum
commutation error of ±30 electrical degrees. Even with this
amount of error, the motor is capable of producing torque with
86% efficiency. As the motor rotates, the first hall boundaries
quickly traverse, providing the SERVO
STAR with information
to better establish commutation angle. The SERVO
STAR
corrects the commutation angle after it sees the marker pulse,
according to the B.1.5
MECNOFF value.