Installation manual

Danaher Motion Kollmorgen System Description
SERVOSTAR
®
S and SERVOSTAR
®
CD Series 79
• Simple absolute and incremental indexing with I/O triggering capability
(MAPOS, MASPEED, MIDIST0, MIDIST1, MIDIST2, MIDIST3,
MISPEED0, MISPEED1, MISPEED2, and MISPEED3) through either the
serial port or the hardware configurable inputs (IN1, IN2, IN3, IN1MODE,
IN2MODE, IN3MODE).
• Position homing with I/O triggering capability (MH, HOMESPD,
HOMESTATE, HOMETYPE) through either the serial port or the
configurable inputs (IN1, IN2, IN3, IN1MODE, IN2MODE, IN3MODE).
• Electronic Gearing (Position Mode - OPMODE 4) featuring pulse
following or master encoder capability with resolution up to 3mhz through
C8 connector (2.5khz through opto-isolators in C3) (GEAR, GEARMODE,
GEARI, GEARO, PEXT, PEXTOFF, VEXT, XENCRES, XENCDIR).
Homing capability is provided.
• Dual-loop mode (DUALFB) capable of positioning from a load feedback
(C8 input, PEXTOFF, PEXT, VEXT, XENDIR) device while controlling
velocity and torque from the motor feedback (C2 input).
• PID position loop tuning (GP, GPD, GPI, ) with feed-forward acceleration
gain input to both the velocity and current loops (GPAFR, GPAFR2), and
feed-forward velocity gain input to the velocity loop (GPVFR).
• Software position limits (PLIM, PMAX, PMIN, PEMAX).
• Configurable integrator dynamics through travel range (GPISATOUT,
GPISATIN).
• Cumulative, revolution, and error position counters (PFB, HWPOS, PRD,
PE).
• Position indicators (INPOS, PEINPOS, PE, PEMAX, PFB, PFBOFF).
Profile Ramping Control
• Electronic Braking (STOPMODE, ISTOP).
• Separate ACCEL and DECEL linear ramping control in velocity and
position mode (ACC, DEC, PROFMODE).
• S-curve ACCEL and DECEL ramping control (PROFSCRV, PROFMODE)
in the position mode (OPMODE=8).
• Controlled decelerating (DECSTOP, DISSPEED, DISTIME) with
acceleration feed-forward when the drive is left enabled (STOP, HOLD,
CWLIM, CCWLIM, LIMDIS) or becomes disabled (K, S, ACKFAULT,
DIS). This feature can be used in conjunction with the Electronic Braking
feature.
• Torque compensator for coulomb friction and weight counter-balancing
(IFRIC, IGRAV).