Installation manual

System Operation 08/04 Danaher Motion Kollmorgen
74 M-SS-001-01 Rev. T SERVOSTAR S Installation
7.7.1 THE PROCESS
During calibration, the motor is either moved manually or under
servo control (preferably under velocity control). Take the following
steps:
1. Initialize the process by entering the instruction, SININIT
(without parameters)
2. Move the motor in either direction. While moving the motor,
query the status using SININIST.
3. The process is complete when SININIST returns a value of 3
(done) or 5 (fault).
7.8 Software Resolver Interface
The resolver-to-digital (RDC) conversion is accomplished in the
Series 5 products using software techniques, as opposed to using a
dedicated integrated circuit. The benefits of this mechanism
include:
− Enhanced system performance because the resolution is not a
function of the velocity.
− Increased accuracy due to the ability to calibrate and match
the sine and cosine signals.
− Increased reliability due to the use of fewer components.
7.8.1 THE PROCESS
The software resolver implements a second-order tracking filter that
uses feed-forward to zero (ideally) the tracking error for constant
speed. RESBW is the filter bandwidth and the tradeoff is the higher
the bandwidth, the faster the response and the more the system is
prone to noise.
The Sine and Cosine signals of the resolver are calibrated to
increase the accuracy of the measurement. The calibration process
is described above in Sine/Cosine Calibration. This process is
initialized automatically at each power up. Old parameters are used
until the calibration process generates new parameters so there is
no need to explicitly enter SININIT.