Installation manual

Appendix B 08/04 Danaher Motion Kollmorgen
104 M-SS-001-01 Rev. T SERVOSTAR S Installation
B.1.2.2 MENCTYPE 1 and B.1.2.3 MENCTYPE 2 (A/B/I
without Halls) require the marker to be aligned to the motor's BEMF
waveform. Danaher Motion has not defined any particular
alignment standard. Defining your own alignment standard could be
beneficial. B.1.2.4 MENCTYPE 3 and B.1.2.5 MENCTYPE 4
(A/B only) require no alignment or adjustments. B.1.2.7
MENCTYPE 6 (A/B/I with Halls) requires the same alignment
as B.1.2.1 MENCTYPE 0 but does not require that MENCOFF
be set.
When it is not practical to perform mechanical alignments, the
software adjustment method can be used. The MPHASE variable
holds an offset for the Hall channels and can be used to effectively
'shift' the Hall channel position. It is possible to invert the effective
direction as established by the A and B channels using the MFBDR
variable. It is also possible to invert any one or all of the hall
channels. The MHINVA, MHINVB, MHINVC variables allow the
drive to receive the hall channels and act upon them from an
inverted nature.
B.1.5 MECNOFF
The MENCOFF variable holds a marker offset and is used to align
the commutation in B.1.2.1 MENCTYPE 0, B.1.2.2
MENCTYPE 1, and B.1.2.3 MENCTYPE 2. To
determine the setting for MENCOFF perform the following steps
using the
MOTIONLINK
®
terminal mode with power on the drive
and C3 unplugged (disabled):
1. Enter 'ENCINIT'.
2. Rotate the motor shaft two turns clockwise by hand.
3. Verify that the process is complete by entering 'ENCINITST'.
The SERVO
STAR should return '2' if the process has been
successfully completed.
4. If not, repeat steps 2 and 3.
5. Enter 'SAVE'.
6. Use caution to continue testing the system.
7. The MENCOFF variable may be manually trimmed for best
performance.
8. When using MENCOFF with MENCTYPEs 1 and 2, the correct
value must be determined through trial and error. Pick a setting
and trim it, watching for the speed (V) to be equal in both
directions when applying torque in OPMODE 2. It is common
for repeated tries of this procedure to return values that are
significantly different due to the software's reference point
being different from try-to-try. This is normal.
The motor shaft must be free to rotate uncontrolled without
damage to equipment or personnel.