Installation manual

Danaher Motion Kollmorgen 08/04 System Description
SERVOSTAR S Installation M-SS-001-01 Rev. T 77
− Dual-loop mode (DUALFB) capable of positioning from a load
feedback (C8 input, PEXTOFF, PEXT, VEXT, XENDIR) device
while controlling velocity and torque from the motor feedback
(C2 input).
− PID position loop tuning (GP, GPD, GPI, ) with feed-forward
acceleration gain input to both the velocity and current loops
(GPAFR, GPAFR2), and feed-forward velocity gain input to the
velocity loop (GPVFR).
− Software position limits (PLIM, PMAX, PMIN, PEMAX).
− Configurable integrator dynamics through travel range
(GPISATOUT, GPISATIN).
− Cumulative, revolution, and error position counters (PFB,
HWPOS, PRD, PE).
− Position indicators (INPOS, PEINPOS, PE, PEMAX, PFB,
PFBOFF).
8.1.4 PROFILE RAMPING CONTROL
− Electronic Braking (STOPMODE, ISTOP).
− Separate ACCEL and DECEL linear ramping control in velocity
and position mode (ACC, DEC, PROFMODE).
− S-curve ACCEL and DECEL ramping control (PROFSCRV,
PROFMODE) in the position mode (OPMODE=8).
− Controlled decelerating (DECSTOP, DISSPEED, DISTIME)
with acceleration feed-forward when the drive is left enabled
(STOP, HOLD, CWLIM, CCWLIM, LIMDIS) or becomes
disabled (K, S, ACKFAULT, DIS). This feature can be used in
conjunction with the Electronic Braking feature.
− Torque compensator for coulomb friction and weight counter-
balancing (IFRIC, IGRAV).
8.1.5 MOTOR CONTROLLABILITY
− Provides linear and rotary motor control (MOTORTYPE,
MPITCH, MENCRES) with automatic unit conversion.
− Configurable back EMF characteristics for effective current
loop controller design and command (MBEMF,
MBEMFCOMP).
− Danaher Motion’s patented Torque Angle control to maximize
motor output power (MTANGLC, MTANGLP, MVANGLF,
MVANGLH).
− Motor speed and current limits (MSPEED, MICONT, MIPEAK).
− Thermal protection control (MFOLD, MFOLDD, MFOLDDIS,
MFOLDR, MFOLDT) adaptable to any motor.
− Auto-configuration feature (ACONFIG, ACONFIGST, MFBDIR)
automatically configures the motor’s power and feedback
cables. It checks, warns, and corrects for incorrect wiring of
these cables.
− Configurable positive motion direction (DIR).