Driver Integration
Danaher Motion Kollmorgen
5.4.2.
INTEGRATING THE POSITIONER
NOTE
The positioner must be set up to work with the SERVOSTAR in order
for both devices to operate effectively.
1.
Connect the encoder, control signal, command signal, and
the enable line using the wiring diagrams. The encoder
signals for the positioner are available on the
SERVO
STAR
's C4 connector.
2.
If the command signal from the positioner is single-ended,
connect the return to C3, pin 3 and install a jumper from C3
pin 3 to C3, pin4.
3.
The enable from the positioner must go to pin 8 on
connector C3 and must be active low (a low enables the
drive).
4.
It is preferred that the enable signal from the positioner be
an open collector output.
5.
Go to a Terminal screen and type
K
to kill any existing
motion command.
6. Type
opmode 3
and press Enter. Save the parameter. This
puts the amplifier in the current mode.
7.
With the drive disabled, boot up the positioner software and
establish communication with the positioner (see the
appropriate positioner documentation). Verify that the
encoder is counting in the plus (+) or minus (-) direction. The
encoder count direction is important because it has to be
phased with the command signal to the drive. Limit the
current on the positioner to 10% of maximum. Set the error
limit to 1 inch and put the 2 x 4s back on the stage.
8.
Enable the positioner and verify that the table holds position.
9.
Manually move the table and see if the stage holds position.
If the positioner is properly phased, it should hold position.
Go to step 10. If the slide runs away and strikes the 2 x 4s, it
is not properly phased. Disable the drive and swap A and A/
(pins 1 and 2) on the C4 Encoder connector.
10. It is recommended that the 2 x 4s remain in place while fine-
tuning the positioner until you are confident that the tuning
parameters created a stable condition for the stage. Set the
current limit parameter to the maximum and use the
positioner tuning parameters to fine-tune the positioner to
the stage. Remove the 2 x 4s.
11. Write a program that will run the slide back and forth
between two points at a slow speed and acceleration with a
one-second dwell between moves.
12. Slowly increase the speed and acceleration parameters
while fine-tuning the positioner's parameters. When all of the
positioner's parameters have been optimized, proceed to
5.4.3 Setting SERVO
STAR
Velocity & Torque Angle
26 05/07
M-LN-016-0702
Rev
D
Содержание Kollmorgen SERVOSTAR C Series
Страница 1: ...www DanaherMotion com PLATINUM DDL and SERVOSTAR Setup Guide Part M LN 016 0702 Rev D...
Страница 12: ...Installation Danaher Motion Kollmorgen Figure 1 Multiple Magnet Diagram 6 05 07 M LN 016 0702 Rev D...
Страница 24: ...Wiring Danaher Motion Kollmorgen 4 1 1 IRONCORE COMMUNICATION DIAGRAM 18 05 07 M LN 016 0702 Rev D...
Страница 25: ...Danaher Motion Kollmorgen Wiring 4 1 2 IRONLESS COMMUNICATION DIAGRAM M LN 016 0702 Rev D 05 07 19...
Страница 33: ...Danaher Motion Kollmorgen Driver Integration M LN 016 0702 Rev D 05 07 27 Advance...
