Setup and Reference Guide - Kollmorgen

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SYSTEM FEEDBACK DIAGRAM DRIVE RESOLVER VERSION C1 1 2 13 12 6 7 MOTOR THERMOSTAT MUST BE CLOSED TO RUN 25 24 3 4 11 10 9 8 7 6 5 4 3 2 1 8 9 (SEE BELOW) 23 22 5 REF HI C2 21 20 REF LO 13 12 MOTOR OVERLOAD PROTECTION 25 24 COS LO 19 18 MOTORS MUST HAVE INTEGRAL THERMAL PROTECTION OR EXTERNAL MOTOR OVERLOAD MUST BE USED. RESOLVER FEEDBACK (D25P) THERMOST AT SWITCH MAY SEE +12 VOLTS AND 20 ma. 0.45 X RATIO 17 16 COS HI SINE LO 15 14 SINE HI 11 10 9 8 7 6 5 4 3 2 1 23 22 21 20 19 18 17 16 15 14 C3 TYPICAL HALL INPUT SCHEMATIC 150 ENCODER/SINE ENCODER VERSION 18 SERVOSTAR INTERNAL CIRCUITRY HALL n A 1K HALL n B ENCODER TYPES AND OPTIONS VARY GREATLY. PROVISIONS FOR OPERATING WITHOUT HALL CHANNELS USING SOFTWARE SWITCHES ARE AVAILABLE. 150 MOTOR THERMOSTAT MUST BE CLOSED TO RUN CONNECTING HALLS WITH LINE DRIVERS (SEE BELOW) 13 12 25 24 OPTIONAL HALL 1 2 3 4 5 6 7 8 9 10 11 12 13 HI (TRUE) HALL n B HALL 3 A HALL 3 B HALL 2 A (D)* HALL 2 B (D)* HALL 1 A (C)* HALL 1 B (C)* 11 10 9 8 7 6 5 4 3 2 1 23 22 CHANNEL INPUTS SERVOSTAR LO (COMPLEMENT) HALL n A ENCODER POWER SUPPLY COMMON +5V COMMON +5V 21 20 C4 ENCODER 5 4 (SEE NOTE 1) 9 8 19 18 3 2 CH B 7 6 CONNECTING HALLS WITH OPEN COLLECTOR CH B 17 16 1 HALL n A HALL n B DIFFERENTIAL CH A 15 14 LINE DRIVES SERVOSTAR CH A MARKER PIN 18 (+5V) COMMON MARKER COMMON NOTES: *INPUTS FOR SINE ENCODER THAT HAVE C & D CHANNELS MOTOR OVERLOAD PROTECTION MOTORS MUST HAVE INTEGRAL THERMAL PROTECTION OR EXTERNAL MOTOR OVERLOAD MUST BE USED. THERMOSTAT SWITCH MAY SEE +12 VOLTS AND 20 ma. -1 TWO ENCODER SUPPLY CONNECTIONS ARE PROVIDED TO MINIMIZE VOLTAGE DROP IN CABLE. ONLY ONE SET NEED BE USED IN LOW CURRENT ENCODERS USING SHORT CABLE LENGTH.
COMMANDS/VARIABLES BY FUNCTION ANALOG INPUT-RELATED ANDB ANDG ANIN ANOFF ANZERO GEARI GEARO ISCALE PMIN VSCALE COMMUNICATIONS ACKMODE ADDR ECHO MSG PROMPT CONFIGURABLE I/O ANOUT ENCOUT ENCOUTO IN IN1 IN1MODE IN2 IN2MODE IN3 IN3MODE MSINFRQ O1 O1MODE O1RST O1TRIG SININTOUT CURRENT VARIABLES AND COMMANDS CONFIG DICONT DIPEAK FOLD FOLDMODE FOLDTIME I IA IC ICMD ICONT IENCSTART IFRIC IGRAV ILIM ILIM2 IMAX ISCALE ISTOP IZERO MFOLD MFOLDD MFOLDDIS MFOLDR MFOLDT MICONT MIPEAK T DRIVE AND MOTOR STATUS ACTIVE CCWLIM CWLIM DIP DRIVEOK ERR FLTCLR FLTHIST READY RELAY SERIALNO STAT STATUS THERM TRUN VER DRIVE CONFIGURATION AND MODES ACTFAULT COMPMODE DIP DIR FILTMODE GEAR GEARI GEARMODE GEARO HOLD LIMDIS OPMODE PCMDMODE PROFMODE RELAYMODE STOPMODE THERMODE THERMTIME THERMTYPE UNITS UVMODE UVRECOVER UVTIME ZERO 19
Page 1 and 2: Danaher Motion SERVOSTAR ® S SERVO
Page 3 and 4: Safety Instructions Only qualified
Page 5 and 6: Contents INSTALLATION PROCEDURE....
Page 7 and 8: ERR................................
Page 9 and 10: MHINVC ............................
Page 11 and 12: TRUN ..............................
Page 13 and 14: INSTALLATION PROCEDURE This Setup a
Page 15 and 16: SERVOSTAR CX HARDWARE SPECIFICATION
Page 17 and 18: CX ELECTRICAL SPECIFICATIONS Main I
Page 19 and 20: Product Model PA-LM PA08 PA14 PA28
Page 21 and 22: PRODUCT FAMILY CONTROL SPECIFICATIO
Page 23 and 24: Notes for DIP switch: The 10 positi
Page 25 and 26: CX SYSTEM WIRING DIAGRAM 13
Page 27 and 28: SX WITH PA50, 75, OR 85 SYSTEM WIRI
Page 29: SX FILTER AND BONDING DIAGRAM 17
Page 33 and 34: POSITION VARIABLES AND COMMANDS DUA
Page 35 and 36: VARIABLE/COMMAND SET ACC Sets the d
Page 37 and 38: ANOUT Sets the source for the analo
Page 39 and 40: COMPMODE Sets the velocity controll
Page 41 and 42: DIR Sets the direction (inversion)
Page 43 and 44: DISTIME Sets the amount of time to
Page 45 and 46: ENCOUT Sets the resolution (number
Page 47 and 48: FOLDMODE Sets the mode for drive cu
Page 49 and 50: GET Causes all recorded variables t
Page 51 and 52: GV Sets the proportional gain for t
Page 53 and 54: HC3 Defines the properties of corre
Page 55 and 56: HOMETYPE Defines the type of homing
Page 57 and 58: ICMD Displays the Current (Torque)
Page 59 and 60: IN Returns the state of the three d
Page 61 and 62: IN2 This is used to read the state
Page 63 and 64: IN3MODE IN3MODE sets the functional
Page 65 and 66: ININV2 Invert user input #2 C3 pin
Page 67 and 68: KV KV is a tuning variable which se
Page 69 and 70: MA This command (Serial Move Absolu
Page 71 and 72: MENCTYPE Sets the motor encoder typ
Page 73 and 74: MFOLDDIS enables/disables the motor
Page 75 and 76: MHINVC MHINVC is a variable which a
Page 77 and 78: digital input to INxMODE=7 and tran
Page 79 and 80: Opmode 1 operation: You select a MI
Page 81 and 82:
MLGAINZ Sets the current loop adapt
Page 83 and 84:
MSG Enables and disables the sendin
Page 85 and 86:
O1 O1 is used to read or write the
Page 87 and 88:
OPMODE Sets the operational mode fo
Page 89 and 90:
PLIM A switch mode variable that co
Page 91 and 92:
PSCALE A position scale factor that
Page 93 and 94:
Command Syntax:RECORD [sample time]
Page 95 and 96:
RELAY Indicates the status of the F
Page 97 and 98:
STAT Outputs a drive status summary
Page 99 and 100:
STATUS Word 5: Hold Mode Status Wor
Page 101 and 102:
STEP Generates a step or square wav
Page 103 and 104:
THERM Indicates the state of the mo
Page 105 and 106:
UNITS Defines whether physical unit
Page 107 and 108:
VD A vector variable that sets the
Page 109 and 110:
VLIM Sets the application velocity
Page 111 and 112:
ZPOS Is applicable only if MENCTYPE
Page 113 and 114:
NON-FATAL ERROR CODES Error Message
Page 115 and 116:
Non-Fatal Error Codes Error Message
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Setup and Reference Guide - Kollmorgen

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