Kollmorgen SILVERLINE S/O Series Manual page 6

Kollmorgen
4.9.4.4 Wiring Motor Leads for Brush Motors................................................................................................................. 4-8
4.9.5 Installing J2, 120 ° Commutation.............................................................................................................. 4-8
4.9.6 Installing R in J4..................................................................................................................................... 4-9
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4.9.7 Installing J5, Current-Loop Mode Select ............................................................................................... 4-10
4.9.8 Wiring J6, Amplifier Status and Control ................................................................................................ 4-10
4.9.8.1 AMP OK Output ................................................................................................................................................ 4-10
4.9.8.2 ANALOG-CMD Input (non-Velocity Loop Only)............................................................................................. 4-11
4.9.8.3 ENABLE Input................................................................................................................................................... 4-11
4.9.9 Wiring J7, Hall Sensors Input ................................................................................................................ 4-11
4.9.10 Wiring JB1, Bus Power Out.................................................................................................................. 4-12
4.9.11 Wiring JL1, Logic Out .......................................................................................................................... 4-12
4.9.12 Wiring J200, Power (Velocity Loop Only) ........................................................................................... 4-13
4.9.13 Wiring J201, Control (Velocity Loop Only) ......................................................................................... 4-13
4.9.14 Wiring J203 and 204, Feedback Encoder (Velocity Loop Only).......................................................... 4-13
4.9.15 Wiring J205, ± 15V Input (Velocity Loop Only).................................................................................... 4-14
SECTION 5
COMMISSIONING............................................................................................................... 5-1
5.1 START UP AND CHECK OUT ......................................................................................................................5-1
5.1.2 Start up the Current Controller ................................................................................................................ 5-1
5.1.2.1 Apply Power and Enable ...................................................................................................................................... 5-1
5.1.2.2 Running the Motor ............................................................................................................................................... 5-2
5.1.2.3 Offset Adjustment................................................................................................................................................. 5-2
5.1.2.4 Command Scaling Adjustment ............................................................................................................................. 5-2
5.1.2.5 Improving Current Loop Performance.................................................................................................................. 5-2
5.1.2.6 LEDs..................................................................................................................................................................... 5-3
5.1.2.7 Faults .................................................................................................................................................................... 5-3
5.1.3 Start up the Velocity Controller................................................................................................................ 5-3
5.1.3.1 Check-out the Encoder ......................................................................................................................................... 5-3
5.1.3.2 S1 DIP Switch Settings ........................................................................................................................................ 5-4
5.1.3.3 S2 DIP Switch Settings ........................................................................................................................................ 5-4
5.1.4 Velocity Loop Tuning................................................................................................................................ 5-5
5.1.4.1 Setting Velocity Loop Gain .................................................................................................................................. 5-5
5.1.4.2 Detuning the Velocity Loop ................................................................................................................................ 5-6
5.1.4.3 Checking the Velocity Loop Response................................................................................................................. 5-6
5.1.4.4 Setting Velocity Offset ......................................................................................................................................... 5-6
5.1.4.5 Check Velocity Command Scaling ....................................................................................................................... 5-6
5.2 STABILITY PERFORMANCE................................................................................................................5-6
AND
5.2.1 Critical Damping ...................................................................................................................................... 5-9
5.2.1 Underdamping .......................................................................................................................................... 5-9
5.2.2 Overdamping ............................................................................................................................................ 5-9
5.2.3 Ringing ................................................................................................................................................... 5-10
5.3 CURRENT LOOP TUNING ..........................................................................................................................5-10
5.3.1 Theory of Operation ............................................................................................................................... 5-10
5.3.1.1 The Frequency Domain ...................................................................................................................................... 5-11
5.3.2 Measurement and Control ...................................................................................................................... 5-11
5.3.3 Current-Loop Model............................................................................................................................... 5-11
5.4 PROBLEMS ...................................................................................................................................................5-12
5.4.1 Compliance............................................................................................................................................. 5-12
5.4.2 Non-Linearities....................................................................................................................................... 5-13
5.4.3 Resonance............................................................................................................................................... 5-13
5.5 :
EMPIRICAL METHOD PHASING
SECTION 6
MAINTENANCE................................................................................................................... 6-1
6.1 I ..................................................................................................................................................6-1
NTRODUCTION
6.2 S P .....................................................................................................................................................6-1
PARE ARTS
6.2.1 S/O Spare Parts List ................................................................................................................................. 6-1
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SILVERLINE Product Family
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Table of Contents
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