Installation manual

Danaher Motion Kollmorgen System Description
SERVOSTAR
®
S and SERVOSTAR
®
CD Series 78
Velocity Control
• Digital velocity loop control (Velocity Mode - OPMODE 0 or 1) receiving
serial (J), analog (ANIN), or I/O triggered commands (MISPEED1,
MISPEED2, MISPEED3, IN1, IN2, IN3, IN1MODE, IN2MODE,
IN3MODE).
• Velocity stepping and jogging capability (STEP, J).
• Serial control through stored commands triggered through the Configurable
I/O (IN1, IN2, IN3, IN1MODE, IN2MODE, IN3MODE).
• Automatic control loop tuning through the auto-tune feature (TUNE).
• Configurable application and system speed limits (VLIM, VOSPD,
VMAX).
• Advanced control algorithms (COMPMODE):
1. Proportional-Integral (GV, GVI).
2. Pseudo-Derivative with feed forward (KV, KVI, KVFR).
3. Standard Pole Placement (BW, MJ, LMJR, TF).
4. Extended Standard Pole Placement (BW, MJ, LMJR, TF).
• First- and second-order low pass filtering capability (FILTMODE,
LPFHZ1, LPFHZ2, COMPFILT).
• Notch filtering capability (FILTMODE, NOTCHHZ, NOTCHBW).
• Bandwidths up to 400Hz.
• “On-the-fly” homing capability (HOMETYPE) in analog velocity mode
(OPMODE 1) through either the Configurable Inputs or terminal.
• “On-the-fly” switching between velocity and current/torque control (IN1,
IN2, IN3, IN1MODE, IN2MODE, IN3MODE).
Position Control
• Serial positioning loop control (Position Mode - OPMODE 8 &
PCMDMODE) receiving serial or I/O-controlled command (IN1, IN2, IN3,
IN1MODE, IN2MODE, IN3MODE).
• Analog positioning loop control (Position Mode - OPMODE 8 &
PCMDMODE) over a ±10 V range with scaling capability (PSCALE,
GEAR, GEARI, GEARO) and I/O triggering.
• Incremental and absolute positioning with an “in position” indicator (MI,
MA, INPOS, PEINPOS).