Installation manual

Danaher Motion Kollmorgen Appendix E
SERVOSTAR
®
S and SERVOSTAR
®
CD Series 130
Sine/Cosine Calibration
The software Sine Encoder and software resolver algorithms are based on
sampling the incoming sine and cosine signals. The accuracy of the process
depends on the sampling accuracy of the sine and cosine values. In order to
prevent accuracy degradation due to electronic component tolerances, the sine
and cosine values must be gain- and offset-compensated.
The process of finding the gain and offset compensation parameters is called
“Sine Zero”. The process matches an amplifier to an encoder or resolver after
replacing a motor or an amplifier. After the process terminates the gain and
offset values are stored in the non-volatile memory, they are loaded each time
the amplifier is powered on.
The process includes finding 128 maximum and minimum, Sine and Cosine
peaks and calculating the average gain and offset values. Due to accuracy
restrictions, the motor must be rotated at a slow speed so the Sine/Cosine waves
generated are at a frequency low enough for a valid result. The speed must be
such that the frequency of the Sine/Cosine signals does not exceed 250Hz. For a
rotary motor, the maximum motor speed in rpm is calculated as:
60 x 250 / (MENCRES x MSININT)
For a linear motor, the maximum motor speed in mm/sec is calculated as:
250 x MPITCH / (MSININT x MENCRES)
The Process
During calibration, the motor is either moved manually or under servo control
(preferably under velocity control). Take the following steps:
1. Initialize the process by entering the instruction, SININIT (without
parameters)
2. Move the motor in either direction. While moving the motor, query the
status using SININIST.
3. The process is complete when SININIST returns a value of 3 (done) or 5
(fault).