Installation manual

System Operation 08/04 Danaher Motion Kollmorgen
68 M-SS-001-01 Rev. T SERVOSTAR S Installation
The difference between actual and desired velocity is filtered
through a compensator algorithm and fed to the commutation loop.
The SERVO
STAR offers four velocity compensators (methods of
regulating velocity) and are selectable through the COMPMODE
variable. The four are: Proportional-Integral (PI), Pseudo-
Derivative-Feedback with Feed-Forward (PDFF), Standard Pole
Placement, and Extended Standard Pole Placement.
7.3.2.4. Position Loop
The final control configuration is the position loop. The purpose of
this loop is to maintain motor shaft position. Like the previous loops,
the position loop is digital and uses resolver, encoder, and sine
encoder feedback signals to determine actual motor position. The
drive can also accept a position signal from an external feedback
device (e.g., load encoder). It samples at a rate of 2 kHz and can
be configured for three different modes of operation:
OPMODE 4: This mode of operation sets the SERVOSTAR up to
run as a pulse (or master encoder) follower by using
the Electronic Gearing feature. The pulse input can
either be applied through the Configurable Inputs on
the C3 connector (up to 2.5 kHz max. - opto-isolated)
or through the Remote Encoder Input on the C8
connector (up to 3 MHz) on top of the drive.
OPMODE 8: This mode of operation configures the SERVOSTAR
as a simple positioning controller. Once in this mode,
position commands can be given through the serial
port, through the Configurable I/O, or through the
analog input (determined by the PCMDMODE
variable). The position loop has been enhanced to a
full PID controller with acceleration and velocity feed-
forward gains. Two integral gain variables have been
added to limit the action of the integral term during
selected parts of the profile. This helps to minimize
overshoot and settling problems.
Using a serial command (PCMDMODE=0), the SERVO
STAR
executes simple absolute, incremental (or indexing), and homing
motion profiles. This is done either by direct commands through the
serial port (MI, MA, MH) or by pre-configuring a profile in memory to
be used in conjunction with the Configurable I/O (MASPEED,
MISPEED0-3, MAPOS, O1, O1MODE, INx, INxMODE).
Using an analog command (PCMDMODE=1), the SERVO
STAR
scales the analog input (GEARI, GEARO) to establish a wide range
of relationships between an analog input adjustment and a
corresponding shaft movement. Homing types (HOMETYPE) are
available that home to a particular analog input level (and position
count), triggering either through the Configurable Inputs or the
Remote Enable.