Installation manual

Danaher Motion Kollmorgen Appendix E
SERVOSTAR
®
S and SERVOSTAR
®
CD Series 135
Software Resolver Interface
The resolver-to-digital (RDC) conversion is accomplished in the Series 5
products using software techniques, as opposed to using a dedicated integrated
circuit. The benefits of this mechanism include:
§ Enhanced system performance because the resolution is not a function of
the velocity.
§ Increased accuracy due to the ability to calibrate and match the Sine and
Cosine signals.
§ Increased reliability due to the use of fewer components.
The Process
The software resolver implements a second-order tracking filter that uses feed-
forward to zero (ideally) the tracking error for constant speed. RESBW is the
filter bandwidth and the tradeoff is: the higher the bandwidth, the faster the
response and the more the system is prone to noise.
The Sine and Cosine signals of the resolver are calibrated to increase the
accuracy of the measurement. The calibration process is described above in the
section Sine/Cosine Calibration. This process is initialized automatically at each
power up. Old parameters are used until the calibration process generates new
parameters so there is no need to explicitly enter SININIT.
Extended I/O
The SERVOSTAR CD Series 5 hardware has 3 additional digital inputs in
addition to the standard I/O. These inputs are accessible through the 20-pin
connector located on the top of the drive. The pins on this connector are
arranged in two rows (A & B) of 10.