Installation manual

Danaher Motion Kollmorgen Wiring
SERVOSTAR
®
S and SERVOSTAR
®
CD Series 44
RESOLUTION AND ACCURACY
Internal resolution of the system can be derived through the following
calculation:
Encoder line resolution x 256 x 4 (quadrature).
System accuracy is largely dependent upon the accuracy of the encoder itself.
To get an approximate total value, the customer need only look to the
specifications listed for the encoder being used.
Encoder Equivalent Output
The SERVOSTAR provides a motor position output to you in the form of
quadrature encoder signals eliminating the need for an additional position
feedback device. The outputs are differential line drivers. There is an associated
DC common output (C4: pin 3) which can connect to your port to keep common
mode noise and voltage spikes minimized for device protection. Because there
are normally differences of potential between your controller and the drive,
connection is recommended (if ground loops occur, disconnect and retest).
The source of the Encoder Equivalent Output (EEO) signals depends on the type
of motor feedback device:
Resolver Systems
The output signal is developed through the R/D hardware circuitry for minimal
phase lag and has a maximum frequency determined by the motor speed and
R/D limits. It provides a configurable (ENCOUT) resolution of up to 16384
lines (65536 quad counts) per revolution of the motor shaft. The placement of
the index pulse (INDEXPOS) can be varied on resolver systems within 360
electrical degrees of the feedback signal. For single-speed resolvers, this means
you can vary the position of this signal over one mechanical revolution. For
multi-speed resolvers, the mechanical position variation is determined by the
pole-pair count of the resolver (e.g. three-speed resolver gives mechanical
variation of the pulse within 1/3 of a revolution).
Encoder Systems
The output signal is the actual encoder feedback signal that is pre-configured
(MENCRES) in the drive’s motor parameters. It can be scaled down by
multiples of two (ENCOUTO: 1, 2, 4, 8, 16) and has a maximum frequency
limit of 3 MHz.