Installation manual

Danaher Motion Kollmorgen Wiring
SERVOSTAR
®
S and SERVOSTAR
®
CD Series 40
RESOLUTION AND ACCURACY
The SERVOSTAR calculates motor velocity as the derivative of position
(change in position over time). With its patented technique, all readings are
extended to a resolution of 16-bit. For velocity feedback calculations, the drive
converts the resolver input to 18-bits of resolution, giving smooth motor velocity
control. The digital resolution (RDRES) of the Resolver-to-Digital Converter
system is determined automatically according to the application velocity limit
(VLIM). The following is a summary of the SERVOSTAR’s resolution
capabilities:
R/D Converter Specifications
VLIM (RPM) RDRES Counts/Rev Encoder Eqv. Output (C4)
> 6100 12 4096 4096 quad counts
1500 to 6100 14 16384 16384 quad counts
< 1500 16 65536 65536 quad counts
System accuracy using resolver feedback is effected by several components. The
following table gives information on the inaccuracy that each of these
components contribute to the total accuracy of a standard SERVOSTAR system:
Resolver Accuracy Specifications
Components ArcMinutes
R/D Converter 4
Resolver mechanics (rotational) 8
Resolver mounting on motor shaft 2
Inter-LSB (digital dither over the least significant bit) 5
Total (Worse-case) 19
Digital Encoder
The SERVOSTAR can use encoder feedback to monitor the motor shaft
position. As opposed to a resolver, which is an absolute position feedback
device, the encoder is an incremental device that indicates changes in position.
The encoder resolution of the SERVOSTAR (and therefore the drive’s encoder
equivalent output) is fixed because it is a hardware characteristic of the encoder
device. The encoder interface includes three groups of wires:
1. A/B (and complements) lines make up the encoder quadrature signals. The
signals are received differentially through line receivers before being passed
through a wire-break detection circuit.
2. The narrow Index pulse normally appears once per revolution and indicates
a known physical position of the shaft. This pulse is received differentially
through a line receiver before being passed through a wire-break detection
circuit. This signal is hardware-capturable.