Installation manual

Danaher Motion Kollmorgen Appendix C
SERVOSTAR
®
S and SERVOSTAR
®
CD Series 122
4) Determine the Correct Hall Phase Sequence
Connect the Halls to the CD, leaving other inputs/outputs disconnected
or disabled. Push the motor by hand in the positive motor direction.
Use the HALLS command to verify that the sequence is 001, 011, 010,
110, 100, 101. Re-arrange the Hall sensor leads until you find the
combination that yields the proper binary counting sequence while
moving the motor in the positive motor direction.
5) Determine the Proper Motor Phase Sequence
Connect motor phases to the CD. Send ZERO 1 to force the motor to
move to a known "zero" state. Enable the drive. This causes motion to
the zero position. Read the HALL state, it should be 001. If this is not
the Hall state, re-arrange the motor leads and repeat until ZERO yields
the proper HALL state.
6) Save Settings
At this point, everything should be working properly. Save the settings
to the CD's EERAM and to disk.
7) Confirm Proper Commutation at All Initialization Conditions
Disable the drive. Push the drive by hand until the HALL state is 001.
Turn off power to the drive and wait for the LED display to go blank,
then wait 5 seconds more. Turn on power to the drive. Slowly increase
positive DAC input to the drive until motion just begins in the positive
direction. Slowly decrease negative DAC input to the drive until
motion just begins in the negative direction. The positive and negative
DAC values should be approximately the same (assuming the linear
motor is level). Repeat this process by starting from each of the six
Hall states.
8) Confirm Proper Operation in the Application Conditions
Tune the servo loop. Command agressive moves and the highest
acceleration used by the application. Observe the peak value of DAC
input required for forward and reverse motion. These values should be
approximately the same (within about 10%). If desired/required, adjust
MPHASE up or down to give equal peak DAC output in both
directions.