Installation manual

Danaher Motion Kollmorgen Appendix E
SERVOSTAR
®
S and SERVOSTAR
®
CD Series 128
Summary of New Features
Feature Description
Sine encoder Sine encoder feedback is supported on the main control board.
Interpolation level is set up to 4096 (MSININT).
Sine encoder
calibration
Sine encoder signals are calibrated in order to increase the
accuracy of the interpolation (SININIT).
Stegmann
Hiperface
Support Hiperface (Stegmann) interface. MENCTYPE=10.
SERCOS SERCOS interface level-A compliance is implemented.
All serial commands are supported by SERCOS IDNs.
Support for CD600 Added support for SERVOSTAR CD600 (Two power IDs
were added, 6/12 and 10/18). "SERVOSTAR CD600" appears
as the drive model in the response to VER command.
Encoder simulation Pulse up/pulse down mode for encoder simulation added with
ENCOUTMOD command.
Encoder
initialization
For feedback devices without an absolute position indication, a
zero motion encoder initialization process is supported (Wake-
no-Shake encoder initialization process).
Software Resolver The resolver-to-digital (RDC) conversion is accomplished in
the Series 5 products using software techniques.
Extended I/O Additional I/O.
Differences from Previous Models
§ TRUN, the drive run time counter is NOT reset by CLREEPROM. Use
TRUN 0 to reset this counter.
Encoder Simulation
The encoder simulation signal is generally generated in the A-quad-B format.
The addition of ENCOUTMOD enables you to change this format to a pulse
up/down signal.
Encoder Initialization
In brushless 3-phase motors, the torque generated by the motor depends on the
three-phase currents and motor position. In order to properly control the motor
and extract maximum torque out of the available motor and power stage, the
controller must be provided with the current motor position. In encoder-based
systems, the initial position for commutation initialization is found using hall
sensors switching, index finding, or an appropriate commutation-lock algorithm
(or a combination of the three methods). Encoder initialization without motion
uses a commutation-lock algorithm.