Installation manual

Danaher Motion Kollmorgen Appendix C
SERVOSTAR
®
S and SERVOSTAR
®
CD Series 113
MENCTYPE 0
Incremental with A/B/I and Hall Channels MENCTYPE 0 is the most robust
encoder system. The drive expects the signals as feedback from the motor. The
hall channels is synthesized either in the encoder or discrete devices (Hall
sensors) integrated in the motor windings. On power-up, the hall effect channels
are read and a code is sent to the microprocessor to give it a coarse position for
the motor. This position is accurate to within ±30 electrical degrees of the
optimal commutation angle. The SERVOSTAR assumes the actual motor
position is half-way between the hall code settings for a maximum commutation
error of ±30 electrical degrees. Even with this amount of error, the motor is
capable of producing torque with 86% efficiency. As the motor rotates, the first
hall boundaries quickly traverse, providing the SERVOSTAR with information
to better establish commutation angle. The SERVOSTAR corrects the
commutation angle after it sees the marker pulse, according to the MECNOFF
value.
MENCTYPE 1
Encoders with A/B/I channels Some systems do not have hall channels, so this
mode tells the SERVOSTAR not to expect them. The initialization process
occurs in two steps. The first step is the 'wake-and-shake initialization process
(see MENCTYPE 3 and MENCTYPE 4 for "wake and shake" details) which
gets the commutation alignment initialized after power up. The second step
occurs when the index pulse is seen. Then, the SERVOSTAR aligns the
commutation angle according to the setting of MECNOFF. MENCTYPE 1
initialization begins only when commanded through the serial port by using the
ENCSTART command.
The 'wake and shake' initialization process is not required if the
marker location can be traversed without requiring the
SERVOSTAR to move the motor to traverse the marker.