Installation manual

System Description 08/04 Danaher Motion Kollmorgen
78 M-SS-001-01 Rev. T SERVOSTAR S Installation
8.1.6 FEEDBACK DEVICES
Device zeroing mode that rotates the motor to an electrical null
point (ZERO, IZERO).
8.1.6.1. Resolvers
− Variety of motor and resolver pole combinations (MPOLES,
MRESPOLES).
− Resolver-zero offsetting (MPHASE).
− System accuracy better than 20 arc minutes (reduced when
resolver pole count is increased).
− Inter-LSB interpolation between least significant bits
(ILSBMODE) allows 18-bit velocity control and 16-bit
positioning capability.
− Automatic resolution configuring based on application speed
requirements (RDRES, VMAX).
8.1.7 ENCODERS
− Maximum frequencies to 3 MHz before quad.
− Up to 10 million counts per motor electrical cycle (MENCRES).
− Configures automatically (ENCINIT, ENCINITST, ENCSTART,
IENCSTART).
− Index pulse offsetting capability (MENCOFF).
− Variety of encoder types (MENCTYPE):
1. Encoder with or without index.
2. Encoder-hall effects with or without index (MHINVA,
MHINVB, MHINVC, HALLS).
8.1.7.1. Sine Encoders
256x internal interpolation.
Up to 128x encoder equivalent output (SININTOUT).
Most standard encoder features mentioned above.
8.1.8 SYSTEM COMMUNICATION
Serial communications port (address setting through DIP switch on
top of drive).
− RS-232 single and up to 31-axis multi-drop addressing
(ADDR).
− RS-485 single and up to 31-axis multi-drop addressing
(ADDR).
− Data transmission (DUMP, GET, LIST, MLIST, GETMODE)
baud rates of 9600 or 19200.
− Configurable protocol (ECHO, PROMPT, ACKMODE,
GETMODE, MSG).