Installation manual

Appendix B 08/04 Danaher Motion Kollmorgen
102 M-SS-001-01 Rev. T SERVOSTAR S Installation
B.1.2.5 MENCTYPE 4
− Encoders with A and B channels only The simplest of
encoders provide only an A and B Channel. MENCTYPE 4
configures the SERVO
STAR for these signals. These
encoders provide no power-up information about where
the motor is positioned, so this information is obtained
through a special initialization process known as 'wake
and shake'. When using MENCTYPE 4, the process for
initialization is automatically triggered on power-up when
the drive is enabled or by using ENCSTART.
− During the initialization process, wake and shake, the
SERVO
STAR puts current through two phases of the
motor causing the motor shaft to rotate into a torque
detent. The magnets simply align the motor shaft to a
position the SERVO
STAR understands. The motor is then
rotated to the next pole position by energizing the
windings in a slightly different manner. The SERVO
STAR
then has enough information to establish an appropriate
commutation angle using the number of motor poles
(MPOLES) and the number of counts for the encoder
(MENCRES).
− This method of initialization has the advantage of allowing
an extremely cost-effective feedback device. However, the
requirement to pull the motor into these torque detents is
subject to outside influences (such as friction) and can
prevent the motor motion from occurring very effectively or
even at all! Additionally, large inertia loads can overshoot
and oscillate during this pull-in position, giving the
microprocessor false readings. These MENCTYPEs are
best for systems with specific criteria requirements such
as low friction, low cost, and low inertial loads. The
amount of electrical current used in this initialization mode
is adjustable using the IENCSTART variable and may
need to be adjusted to optimize performance for large
inertial loads.
B.1.2.6 MENCTYPE 5
Not supported
B.1.2.7 MENCTYPE 6
Incremental with A/B and Hall Channels MENCTYPE 6
supports encoders as described in B.1.2.1 MENCTYPE
0,
but lacking the marker or index channel. This device is
selected using MENCTYPE 6 and follows the same process
used in B.1.2.1 MENCTYPE
0 with the exception of the final
search for the marker pulse. The system establishes the
commutation angle based on the Hall effect edge. MENCTYPE
6 is most commonly used with linear motors.