Kollmorgen
Commissioning
SILVER
LINE
®
Product Family
5-2
5.1.2.2 Running the Motor
Apply 1 VDC to J6-3 and -4. If the S/O is in current mode, an unloaded motor should rotate at near full
speed. If the S/O is in open-loop mode, the motor will rotate slowly. In either case, rotation should be
smooth. Reverse polarity of the command. The motor should rotate in the opposite direction at
approximately the same speed.
If the motor does not turn, or does not turn smoothly, the hall sensors or motor leads may be connected
improperly. Verify motor wiring according to Figure 4-5 on page 4-20 (Figure 4-6, page 4-21 for VMG
Motors). If the motor has positions where there is no torque ("dead spots"), verify that J2 is properly
installed. (J2 is installed for
SILVER
LINE and RBE motors; it is removed for VMG motors.) If you are
using a non-Kollmorgen motor, refer to the "Non-Kollmorgen Motor Phasing" section at the end of this
chapter.
5.1.2.3 Offset Adjustment
To adjust offset, short the command (J6-3 and -4) and adjust trimpot R57 ("OFF") until motor torque is
minimized. An unloaded motor should not turn. Optionally, you can monitor current on TP-IFB (Figure 4-3
on page 4-18 shows the location) using a digital volt meter. Adjust for minimal voltage on TP-IFB.
When using the velocity loop
option, be aware that both
cards have an offset pot. This
section refers to the pot on the
bottom (main) board.
5.1.2.4 Command Scaling Adjustment
Command scaling is adjusted at the factory so that 10 volts generates peak current (or peak voltage if the
S/O is in open-loop mode). You can reduce the output by adjusting trimpot R71 (GAIN). You can monitor
current on TP-IFB; this signal is scaled so that 0.2V = continuous current.
When using the velocity loop
option, be aware that both
cards have a gain pot. This
section refers to the pot on the
bottom (main) board.
5.1.2.5 Improving Current Loop Performance
For current loop and velocity loop systems, Equations 4.1 through 4.4 (see Section 4) provide suitable
performance for most systems. The current loop is stable and should have a bandwidth well in excess of
1000 Hz. If you wish to modify the loop performance, please refer to discussions on tuning theory (page 5-
10).
NOTE
NOTE
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
