Installation manual

Wiring 08/04 Danaher Motion Kollmorgen
38 M-SS-001-01 Rev. T SERVOSTAR S Installation
− No Hall signals exist if no power-up commutation signals
are available. The SERVO
STAR can excite two phases
and lock the shaft in place. It then approximates position
of the locked shaft and uses only the incremental signals
to commutate forward until the index is found.
− Hall signals provide information representing the
approximate location of the motor shaft (6 transitions per
electrical cycle of the motor). From this information, the
motor can six-step commutate forward until the index
signal is detected at which time true position is known and
sinusoidal commutation begins. These signals are isolated
by an opto-coupler and can be differential or open-
collector type signals.
− C/D lines are an alternative to Hall signals. These lines
provide a SIN/COS sinusoidal signal where one electrical
cycle equals one mechanical revolution (identical to
single-speed resolver feedback). Interpolation is
performed on these signals: thus, absolute position is
known within 256 parts of a mechanical revolution. The
motor can commutate forward until the index signal is
detected.
− Sine encoders with Endat capability add another approach
to communicating commutation position. Here, absolute
position information is stored in the encoder and is serially
communicated to the drive upon power up. The data is
received synchronously by a clock signal provided by the
drive. Absolute position is known immediately; therefore,
an index signal is not needed.