Installation manual

Danaher Motion Kollmorgen Appendix E
SERVOSTAR
®
S and SERVOSTAR
®
CD Series 129
On power up, since the absolute motor position is unknown, two methods may
be implemented:
•• Applying a forced commutation to move the motor to a predetermined
position where the torque generated is zero and updating controller
variables accordingly.
•• Using a motion control algorithm that brings the commutation angle of the
motor from the initial, unknown position to the current motor position
(instead of moving the motor).
The first method is currently implemented on the SERVOSTAR CD. The
disadvantage of this method is that it requires the motor to be moved. This
produces a jumpy motion that may not be tolerable in some cases (for example -
linear motors applications).
The second method is designed to solve this problem by implementing a closed
loop commutation-lock algorithm that adjusts the commutation angle to the
motor position rather than moving the motor to a predetermined place. The
motor moves very slightly. Motion of at least ±4 electrical degrees is expected.
The Process
1. Disable the drive.
2. Select the encoder initialization process by entering the instruction,
INITMODE 2.
3. Set the encoder initialization current using IENCSTART. Set this to the
maximum allowed application current.
4. Set the gain for the process using INITGAIN (typically 1000).
5. Initialize the process by using ENCSTART.
6. Enable the drive.
7. Monitor the process by reading the status word, STATUS2, and the status of
ACTIVE.
If the process completes successfully, the drive is enabled, and ACTIVE = 1. If
the process is not successful, bit 2 in the first word of STATUS2 is set.