Installation manual

Danaher Motion Kollmorgen Table of Contents
SERVOSTAR
®
S and SERVOSTAR
®
CD Series iv
Servo Loop Description...................................................................70
Current Loop................................................................................70
Commutation Loop ......................................................................71
Velocity Loop...............................................................................71
Position Loop...............................................................................72
Torque Loop Operation...................................................................73
Serial Torque................................................................................73
Analog Torque .............................................................................74
Current Sampling.............................................................................75
FOLDBACK...........................................................................................76
Drive FoldBack................................................................................76
Motor FoldBack...............................................................................76
SYSTEM DESCRIPTION ...................................................................77
PRODUCT FEATURES............................................................................77
Current/Torque Control...................................................................77
Velocity Control...............................................................................78
Position Control...............................................................................78
Profile Ramping Control .................................................................79
Motor Controllability.......................................................................80
Feedback Devices............................................................................80
Resolvers......................................................................................80
Encoders.......................................................................................81
Sine Encoders...............................................................................81
System Communications..................................................................81
MOTIONLINK Software Environment ............................................82
Monitoring and Troubleshooting Tools...........................................83
Fault and Safety Detection ..............................................................83
General ............................................................................................84
BUS MODULE......................................................................................85
Features...........................................................................................85
TROUBLESHOOTING ....................................................................... 87
TROUBLESHOOTING TOOLS .................................................................87
ERROR CODES......................................................................................88
FATAL FAULT ERROR CODES.....................................................89
NON-FATAL ERROR CODES.........................................................90
NO MESSAGE FAULTS..................................................................92
FAULT MONITORING SYSTEM .............................................................93