Installation manual
Danaher Motion Kollmorgen Appendix C
SERVOSTAR
®
S and SERVOSTAR
®
CD Series 120
Design Considerations
The SERVOSTAR has a maximum frequency input for incremental encoders of
2.5 MHz. This cannot be exceeded under any circumstance.
Encoders consume 5 V. The 5 V is typically regulated inside the drive through a
cable to the encoder. Tolerances on the 5 V must be considered for IR loss
within the cable. An 18 AWG conductor pair providing the 5 V at a 250 mA
drive result in approximately ¼ V drop and become the limits from the encoder's
5 V rating perspective. Consideration of cable length 5 V current draw is
extremely important for good system design. The SERVOSTAR's encoder
supply is 5 V ± 2% with 250 mA maximum draw.
When using incremental encoders, the SERVOSTAR receives the encoder
pulses, buffers them electrically and then outputs them to the encoder equivalent
output port. The phase delay in the transport of these signals is extremely small.
Be sure to run all encoder cables in conduit or wire tray that is free from wires
carrying or emitting electrical noises such as solenoid wires and armature cables.
Reference Variables
For additional information on any of these commands, refer to the
SERVOSTAR
®
S and SERVOSTAR
®
CD VarCom Manual.
ENCINIT - This command triggers the encoder initialization process.
ENCINITST - This variable may be queried and returns status of the
initialization process. This variable assumes one of three
values:
0 = The initialization process has not started.
1 = The initialization process is in progress.
2 = The index position has been determined and the
initialization process is complete. The flag is reset to zero
when you manually set the index position.
ENCSTART – Selects automatic or manual "wake and shake" initialization.
HALLS - Read the states on the Hall channels.
IENCSTART - Set the "wake and shake" initialize current level.
MENCOFF - Tell the SERVOSTAR where the marker is relative to
commutation angle 0.
MENCRES - Tell the SERVOSTAR how many lines there are on the encoder.
MENCTYPE - Tell the SERVOSTAR what encoder signals are present.
MHINVA - Invert the active level of Hall channel A.