Installation manual

System Operation 08/04 Danaher Motion Kollmorgen
66 M-SS-001-01 Rev. T SERVOSTAR S Installation
7.3 Control loops
This section describes the servo control loops, their characteristics,
and how to configure them.
7.3.1 CORE PROCESSORS
A 40 MHz embedded controller and a 40 MHz DSP controller are
the heart of the SERVO
STAR. They use its internal operating
system to monitor inputs, adjust outputs, communicate serially,
maintain servo control, and monitor faults. The flash memory
firmware controls the core processor and gives the SERVO
STAR
its operating characteristics saved in EPROM. The version number
of the firmware is read using the VER command. When calling
Danaher Motion for technical support, have the firmware version
readily available. The most recent version of firmware is available
for purchase and is easily field-upgraded through a PC. It is
obtained by contacting a sales representative or Danaher Motion
C.2 Customer Support.
7.3.2 SERVO LOOP DESCRIPTION
The SERVOSTAR provides high performance motor control by
controlling up to four distinct closed loop systems within the DSP:
the current, commutation, velocity, and position loops. Control
Loops depicts the control loops graphically.
Control Loops
R
M
CURRENT LOOP
COMMUTATION LOOP
VELOCITY LO OP
POSITION LOOP
PCMD
330VDC
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S
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L
A
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IST O R S
TRANS-
POW ER
dp
dt