Installation manual

Table of Contents 08/04 Danaher Motion Kollmorgen
iv M-SS-001-01 Rev. T SERVOSTAR S Installation
8.1.10 Monitoring and Troubleshooting Tools ..................................... 80
8.1.11 Fault and Safety Detection......................................................... 81
8.1.12 General....................................................................................... 81
8.2 BUS MODULE .................................................................................... 82
8.2.1 Features ..................................................................................... 82
9 TROUBLESHOOTING.................................................................... 83
9.1 TROUBLESHOOTING TOOLS................................................................. 83
9.2 ERROR CODES..................................................................................... 84
9.2.1 FATAL FAULT ERROR CODES ............................................... 84
9.2.2 NON-FATAL ERROR CODES................................................... 85
9.2.3 NO MESSAGE FAULTS............................................................. 87
9.3 FAULT MONITORING SYSTEM ............................................................. 88
9.4 FIRMWARE UPGRADES........................................................................ 90
APPENDIX A.......................................................................................... 91
A.1 MOTOR PINOUTS................................................................................. 91
A.1.1 Motor Power Connections ......................................................... 91
A.1.2 SR RESOLVER Connection........................................................ 91
A.1.3 SE Encoder Connection ............................................................. 92
A.1.4 System Connection Diagram...................................................... 94
APPENDIX B.......................................................................................... 95
B.1 DIGITAL INCREMENTAL ENCODER TYPES ........................................... 95
B.1.1 Encoder Basics: A Review.......................................................... 95
B.1.2 SERVOSTAR Encoder Types...................................................... 98
B.1.2.1 MENCTYPE 0...................................................................................99
B.1.2.2 MENCTYPE 1.................................................................................100
B.1.2.3 MENCTYPE 2.................................................................................100
B.1.2.4 MENCTYPE 3.................................................................................101
B.1.2.5 MENCTYPE 4.................................................................................102
B.1.2.6 MENCTYPE 5.................................................................................102
B.1.2.7 MENCTYPE 6.................................................................................102
B.1.3 Commutation Accuracy............................................................ 103
B.1.4 Physical Encoder Alignment .................................................... 103
B.1.5 MECNOFF............................................................................... 104
B.1.5 System Phasing......................................................................... 105
B.1.6 Troubleshooting ....................................................................... 106
B.1.6.1 Line Drivers, Receivers, and Terminations......................................106
B.1.7 Design Considerations............................................................. 107
B.1.8 Reference Variables ................................................................. 107
B.1.9 Example.................................................................................... 108
APPENDIX C........................................................................................ 111
C.1 RESISTIVE REGENERATION ............................................................... 111
C.2 CUSTOMER SUPPORT ........................................................................ 112