Installation manual

Danaher Motion Kollmorgen 08/04 System Operation
SERVOSTAR S Installation M-SS-001-01 Rev. T 73
7.6.1 THE PROCESS
1. Disable the drive.
2. Select the encoder initialization process by entering the
instruction, INITMODE 2.
3. Set the encoder initialization current using IENCSTART. Set
this to the maximum allowed application current.
4. Set the gain for the process using INITGAIN (typically 1000).
5. Initialize the process by using ENCSTART.
6. Enable the drive.
7. Monitor the process by reading the status word, STATUS2,
and the status of ACTIVE.
If the process completes successfully, the drive is enabled, and
ACTIVE = 1. If the process is not successful, bit 2 in the first word
of STATUS2 is set.
7.7 Sine/Cosine Calibration
The software sine encoder and software resolver algorithms are
based on sampling the incoming sine and cosine signals. The
accuracy of the process depends on the sampling accuracy of the
sine and cosine values. In order to prevent accuracy degradation
due to electronic component tolerances, the sine and cosine values
must be gain and offset compensated.
The process of finding the gain and offset compensation
parameters is called Sine Zero. The process matches an amplifier
to an encoder or resolver after replacing a motor or an amplifier.
After the process terminates the gain and offset values are stored
in the non-volatile memory, they are loaded each time the amplifier
is powered on.
The process includes finding 128 maximum and minimum sine and
cosine peaks and calculating the average gain and offset values.
Due to accuracy restrictions, the motor must be rotated at a slow
speed so the sine/cosine waves generated are at a frequency low
enough for a valid result. The speed must be such that the
frequency of the sine/cosine signals does not exceed 250 Hz. For a
rotary motor, the maximum motor speed in rpm is calculated as:
60 x 250 / (MENCRES x MSININT)
For a linear motor, the maximum motor speed in mm/sec is
calculated as:
250 x MPITCH / (MSININT x MENCRES)