Installation manual

System Description 08/04 Danaher Motion Kollmorgen
76 M-SS-001-01 Rev. T SERVOSTAR S Installation
− Automatic control loop tuning through the auto-tune feature
(TUNE).
− Configurable application and system speed limits (VLIM,
VOSPD, VMAX).
− Advanced control algorithms (COMPMODE):
− Proportional-Integral (GV, GVI).
− Pseudo-Derivative with feed forward (KV, KVI, KVFR).
− Standard Pole Placement (BW, MJ, LMJR, TF).
− Extended Standard Pole Placement (BW, MJ, LMJR, TF).
− First- and second-order low pass filtering capability
(FILTMODE, LPFHZ1, LPFHZ2, COMPFILT).
− Notch filtering capability (FILTMODE, NOTCHHZ,
NOTCHBW).
− Bandwidths up to 400 Hz.
− On-the-fly homing capability (HOMETYPE) in analog velocity
mode (OPMODE 1) through either the configurable inputs or
terminal.
− On-the-fly switching between velocity and current/torque
control (IN1, IN2, IN3, IN1MODE, IN2MODE, IN3MODE).
8.1.3 POSITION CONTROL
− Serial positioning loop control (Position Mode - OPMODE 8 &
PCMDMODE) receiving serial or I/O-controlled command (IN1,
IN2, IN3, IN1MODE, IN2MODE, IN3MODE).
− Analog positioning loop control (Position Mode - OPMODE 8 &
PCMDMODE) over a ±10 V range with scaling capability
(PSCALE, GEAR, GEARI, GEARO) and I/O triggering.
− Incremental and absolute positioning with an in position
indicator (MI, MA, INPOS, PEINPOS).
− Simple absolute and incremental indexing with I/O triggering
capability (MAPOS, MASPEED, MIDIST0, MIDIST1, MIDIST2,
MIDIST3, MISPEED0, MISPEED1, MISPEED2, and
MISPEED3) through either the serial port or the hardware
configurable inputs (IN1, IN2, IN3, IN1MODE, IN2MODE,
IN3MODE).
− Position homing with I/O triggering capability (MH, HOMESPD,
HOMESTATE, HOMETYPE) through either the serial port or
the configurable inputs (IN1, IN2, IN3, IN1MODE, IN2MODE,
IN3MODE).
− Electronic Gearing (Position Mode - OPMODE 4) featuring
pulse following or master encoder capability with resolution up
to 3 MHz through C8 connector (2.5 kHz through opto-isolators
in C3) (GEAR, GEARMODE, GEARI, GEARO, PEXT,
PEXTOFF, VEXT, XENCRES, XENCDIR). Homing capability
is provided.