Installation manual

Danaher Motion Kollmorgen System Operation
SERVOSTAR
®
S and SERVOSTAR
®
CD Series 70
Core Processors
A 40 MHz embedded controller and a 40 MHz DSP controller are the heart of
the SERVOSTAR. They use its internal operating system to monitor inputs,
adjust outputs, communicate serially, maintain servo control, and monitor faults.
The flash memory firmware controls the core processor and gives the
SERVOSTAR its operating characteristics saved in EPROM. The version
number of the firmware is read using the VER command. When calling Danaher
Motion for technical support, have the firmware version number readily
available. The most recent version of firmware is available for purchase and is
easily field-upgradable through a PC. It is obtained by contacting a sales
representative or Danaher Motion Customer Support.
Servo Loop Description
The SERVOSTAR provides high performance motor control by controlling up
to four distinct closed loop systems within the DSP: the current, commutation,
velocity, and position loops. The next figure depicts the control loops
graphically.
R
M
CURRENT LOOP
COMMUTATION LOOP
VELOCITY LOOP
POSITION LOOP
PCMD
330VDC
I
S
O
L
A
T
I
O
N
ISTORS
TRANS-
POWER
dp
dt
CURRENT LOOP
Since current and torque are proportional in a Permanent Magnet (PM) motor,
the current loop is often referred to as the torque loop. The function of the
current loop is to regulate motor current as directed by a current command
signal. The current command signal from the microprocessor can either come
from a direct user input (OPMODE 2 & 3) or from the output of the velocity
loop. There are actually three current loops, one for each motor phase. Each
current loop receives its own command input from the commutation loop.