Installation manual

Danaher Motion Kollmorgen Appendix C
SERVOSTAR
®
S and SERVOSTAR
®
CD Series 117
MENCTYPE 1 and MENCTYPE 2 (A/B/I without Halls) require the marker to
be aligned to the motor's BEMF waveform. Danaher Motion Kollmorgen has not
defined any particular alignment standard. Defining your own alignment
standard could be beneficial. MENCTYPE 3 and MENCTYPE 4 (A/B only)
require no alignment or adjustments. MENCTYPE 6 (A/B/I with Halls) requires
the same alignment as MENCTYPE 0 but does not require that MENCOFF be
set.
When it is not practical to perform mechanical alignments, the software
adjustment method can be used. The MPHASE variable holds an offset for the
Hall channels and can be used to effectively 'shift' the Hall channel position. It is
possible to invert the effective direction as established by the A and B channels
using the MFBDR variable. It is also possible to invert any one or all of the hall
channels. The MHINVA, MHINVB, MHINVC variables allow the drive to
receive the hall channels and act upon them from an inverted nature.
MECNOFF
The MENCOFF variable holds a marker offset and is used to align the
commutation in MENCTYPE 0, MENCTYPE 1, and MENCTYPE 2. To
determine the setting for MENCOFF perform the following steps using the
MOTIONLINK
®
terminal mode with power on the drive and C3 unplugged
(disabled):
1. Enter 'ENCINIT'.
2. Rotate the motor shaft two turns clockwise by hand.
3. Verify that the process is complete by entering 'ENCINITST'. The
SERVOSTAR should return '2' if the process has been successfully
completed.
4. If not, repeat steps 2 and 3.
5. Enter 'SAVE'.
6. Use caution to continue testing the system.
7. The MENCOFF variable may be manually trimmed for best performance.
When using MENCOFF with MENCTYPEs 1 and 2, the correct value must be
determined through trial and error. Pick a setting and trim it, watching for the
speed (V) to be equal in both directions when applying torque in OPMODE 2. It
is common for repeated tries of this procedure to return values that are
significantly different due to the software's reference point being different from
try-to-try. This is normal.
The motor shaft must be free to rotate uncontrolled without
damage to equipment or personnel.