Installation manual

Danaher Motion Kollmorgen 08/04 Table of Contents
SERVOSTAR S Installation M-SS-001-01 Rev. T iii
6.4.2.1. CP2 Initialization.............................................................................. 59
6.4.2.2. CP3 Initialization.............................................................................. 59
6.4.2.3. Operational Notes ............................................................................. 59
6.4.2.4. Equation Notes.................................................................................. 60
7 SYSTEM OPERATION ................................................................... 61
7.1 OPERATIONAL MODES.........................................................................62
7.2 SYSTEM I/O .........................................................................................62
7.2.1 Analog Input (ANIN)...................................................................63
7.2.2 Remote Enable Input (REMOTE)................................................64
7.2.3 Configurable Inputs (IN1, IN2, IN3)...........................................64
7.2.4 Configurable Outputs (ANOUT, O1)..........................................64
7.2.5 Fault Output Relay (RELAY, RELAYMODE) .............................65
7.2.6 Motor Thermostat Input (THERM, THERMODE)......................65
7.3 CONTROL LOOPS..................................................................................66
7.3.1 Core Processors..........................................................................66
7.3.2 Servo Loop Description ..............................................................66
7.3.2.1. Current Loop..................................................................................... 67
7.3.2.2. Commutation Loop........................................................................... 67
7.3.2.3. Velocity Loop ................................................................................... 67
7.3.2.4. Position Loop.................................................................................... 68
7.3.3 Torque Loop Operation ..............................................................69
7.3.3.1. Serial Torque..................................................................................... 69
7.3.3.2. Analog Torque.................................................................................. 70
7.3.4 Current Sampling........................................................................71
7.4 FOLDBACK...........................................................................................71
7.4.1 Drive FoldBack...........................................................................71
7.4.2 Motor FoldBack..........................................................................72
7.5 ENCODER SIMULATION........................................................................72
7.6 ENCODER INITIALIZATION ...................................................................72
7.6.1 The Process.................................................................................73
7.7 SINE/COSINE CALIBRATION.................................................................73
7.7.1 The Process.................................................................................74
7.8 SOFTWARE RESOLVER INTERFACE ......................................................74
7.8.1 The Process.................................................................................74
8 SYSTEM DESCRIPTION................................................................ 75
8.1 PRODUCT FEATURES............................................................................75
8.1.1 Current/Torque Control..............................................................75
8.1.2 Velocity Control..........................................................................75
8.1.3 Position Control..........................................................................76
8.1.4 Profile Ramping Control.............................................................77
8.1.5 Motor Controllability..................................................................77
8.1.6 Feedback Devices .......................................................................78
8.1.6.1. Resolvers........................................................................................... 78
8.1.7 Encoders .....................................................................................78
8.1.7.1. Sine Encoders ................................................................................... 78
8.1.8 System Communication...............................................................78
8.1.9 MOTIONLINK Software Environment........................................79