Installation manual

Appendix B 08/04 Danaher Motion Kollmorgen
108 M-SS-001-01 Rev. T SERVOSTAR S Installation
ENCSTART – Selects automatic or manual wake and shake
initialization.
HALLS - Read the states on the Hall channels.
IENCSTART - Set the wake and shake initialize current
level.
MENCOFF - Tell the SERVOSTAR where the marker is
relative to commutation angle 0.
MENCRES - Tell the SERVOSTAR how many lines there
are on the encoder.
MENCTYPE - Tell the SERVOSTAR what encoder signals
are present.
MHINVA - Invert the active level of Hall channel A.
MHINVB - Invert the active level of Hall channel B.
MHINVC - Invert the active level of Hall channel C.
MPHASE - Allows commutation offset.
B.1.10 EXAMPLE
This procedure is for commutation only and assumes analog
(OPMODE 3)operation.
1. Define a Positive Motor Direction
This is somewhat arbitrary, but must be consistent. To keep
confusion to a minimum, try to match the motor's definition of
A+/A- and B+/B- to the CD definitions for purposes of hardware
connections. With these encoder connections made, push the
motor by hand and read the PFB variable. The motor direction
which causes PFB to become more positive is the positive
motor direction. When testing motor phase voltages and Hall
phases in subsequent steps, always push the motor in this
positive motor direction.
2.
Determine the Desired Commutation Method
For this example, an encoder is used with A/B signals and Hall
sensors for commutation, but without encoder index pulse.
This allows reasonably accurate commutation without wake
and shake motion and without a specific index-based
commutation offset. This is equivalent to MENCTYPE=6.