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Summary of Contents for Danaher Motion SERVOSTAR CD-LITE
- Page 1 (217) 352-9330 | Click HERE Find the Danaher Motion / Kollmorgen LE10250 at our website:...
- Page 2 Danaher Motion Kollmorgen Speciality Electronics ® SERVOSTAR CD-LITE User Manual ® SERVOSTAR Product Series M-SS-008-0302 Firmware version 1.1.0 MOTIONLINK version 4.4.3 Ignite CD-Lite version 1.0.5 Caution – MOTIONLINK version 4.4.3 only works with Firmware version 1.1.0 and vice versa! Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com...
- Page 3 Copyright 2001 - 2003 Danaher Motion Kollmorgen Speciality Electronics - All rights reserved. NOTICE: Not for use or disclosure outside of Danaher Motion Kollmorgen Speciality Electronics except under written agreement. All rights are reserved. No part of this book shall be reproduced, stored in retrieval form, or transmitted by any means, electronic, mechanical, photocopying, recording, or otherwise without the written permission from the publisher.
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Page 4: Table Of Contents
Danaher Motion Kollmorgen Speciality Electronics Table of Contents Table of Contents PRODUCT DESCRIPTION .........................1 ............................1 RODUCT EATURES Main Features ............................1 Robust Design............................1 FeedBack Devices............................2 Amplifier Configuration ..........................2 MOTIONLINK Software Environment ....................2 Monitoring and Troubleshooting Tools....................2 Fault and Safety Detection ........................3 ..............................3... - Page 5 Table of Contents Danaher Motion Kollmorgen Speciality Electronics Servo Loop Description .........................16 Current Loop ............................16 Commutation Loop ..........................16 Velocity Loop............................16 Torque Loop ............................17 Analog Torque..............................17 Current Sampling ..........................17 ..............................18 OLDBACK Drive Foldback............................18 TROUBLESHOOTING ..........................19 ............................19 RROR ODES FATAL FAULTS ERROR CODES......................20 NON-FATAL ERROR CODES.......................21...
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Page 6: Product Description
CD-Lite Quick Start manual, and the SERVOSTAR CD-Lite Variable and Command Reference. These are provided to assist you in installation and use of the SERVOSTAR CD-Lite product. Product Features The SERVOSTAR CD-Lite includes a vast array of features. Its various control techniques, interfaces, and user tools give the customer a fully compatible amplifier to meet most motion control applications. -
Page 7: Feedback Devices
Product Description Danaher Motion Kollmorgen Speciality Electronics FeedBack Devices ♦ Incremental Encoder A/B/Z with HED (Hall Effect Device) ♦ Incremental Encoder A/B with HED (Hall Effect Device) ♦ HED (Hall Effect Device) sine wave or six step ♦ Resolver (only w/ Logic power supplied from external 24 VDC) Amplifier Configuration ♦... -
Page 8: Fault And Safety Detection
♦ Many enabling and disabling features (K, REMOTE, EN, DIS) ♦ Flash firmware memory for easy field upgrade installation ♦ Danaher Motion Kollmorgen’s patented “Torque Angle Control” for buried magnet motor designs (MTANGLC, MTANGLP, MVANGLF, MVANGLH - defined as speed and torque optimization through commutation angle advancing of the drive’s output current waveform with respect to the... -
Page 9: Part Number Description
Product Description Danaher Motion Kollmorgen Speciality Electronics Part Number Description The SERVOSTAR CD-Lite serial and model numbers are: Resolver configuration could be ordered only with Logic power supplied from external 24 VDC. SERVOSTAR CD-LITE User Manual Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com... -
Page 10: System Startup
♦ CD-ROM player. ♦ Standard Video Adapter (CGA, MDA, EGA, MCGA, VGA, or SVGA). ♦ Serial Port (for communication link with SERVOSTAR CD-Lite). The serial communications port may be COM1, COM2, COM3, or COM4. COM1 is the normal configuration: COM1:... -
Page 11: Rs-232A Protocol Settings
*DIP switch 6 determines the serial communication baud rate for either 9600 BPS or 19200 BPS. Communication The following chart shows the flow of data between the PC and the SERVOSTAR CD-Lite. When logic power is applied to the drive, it loads the variable parameters stored in EEPROM into the dynamic RAM for fast and easy access. -
Page 12: Installing Motionlink
Danaher Motion Kollmorgen Speciality Electronics System Startup Installing MOTIONLINK ♦ Insert the CD-ROM to load MOTIONLINK for Windows. ♦ The CD-ROM should AUTORUN. If not, select Start | Run (or browse your CD-ROM drive). ♦ Type “D:AUTORUN.EXE” and press the Enter key (this assumes your CD player has a D: letter designation). -
Page 13: Main Motionlink Screen
System Startup Danaher Motion Kollmorgen Speciality Electronics If the motor cannot be found in the database, click on you Define tab. Contact Danaher Motion Customer Support for detailed instructions. Customizing to Application: Click the “Opmode” button in the Startup Wizard screen to select the mode of loop control desired;... -
Page 14: Terminal Mode
Danaher Motion Kollmorgen Speciality Electronics System Startup Restoring Factory Variable Parameters: To restore the original factory variable parameters, pull down the Configure menu, select Motor, and select the motor family and motor model. Click the “To Drive” button to send the variable parameters to RAM and the “RAM/E SAVE”... -
Page 15: Enabling The System
System Startup Danaher Motion Kollmorgen Speciality Electronics Enabling the System 24 volts must be present at the C3 enable input to get power to the motor. The drive enable logic is based on the following variable switches and flags: ACTIVE: This is the overall readiness flag indicating the enable/disable state of the drive. -
Page 16: Feedback
Danaher Motion Kollmorgen Speciality Electronics System Startup Feedback The SERVOSTAR provides a motor position output to you in the form of quadrature encoder signals eliminating the need for an additional position feedback device. The outputs are differential line drivers. There is an associated DC common output (C4: pin 3) which can connect to your port to keep common mode noise and voltage spikes minimized for device protection. -
Page 17: Specifications
System Startup Danaher Motion Kollmorgen Speciality Electronics Specifications Encoder Requirements Required Signals Types: A, B with or without Index pulse A, B, Index with or without Hall Channels * Halls may be integral or discrete Signal Type: A-quad-B and Marker... -
Page 18: Resolver
Danaher Motion Kollmorgen Speciality Electronics System Startup One mechanical Rev PFB = 4 X MENCRES 65536 Electrical degree Halls MPHASE MENCOFF Z index pulse Number of electrical degree = MPOLES / 2 MENCRES - resolution of the motor encoder (PPR) -
Page 19: Specifications
It is not recommended to run the feedback and motor cables in the same conduit. Danaher Motion Kollmorgen has tested cable lengths up to 75 ft. (22.9 m). without degradation of performance. However, performance may vary, depending on motor and resolver type. -
Page 20: Resolution And Accuracy
Danaher Motion Kollmorgen Speciality Electronics System Startup Resolution and Accuracy The SERVOSTAR calculates motor velocity as the derivative of position (change in position over time). With its patented technique, all readings are extended to a resolution of 16-bit. For velocity feedback calculations, the drive converts the resolver input to 18-bits of resolution, giving smooth motor velocity control. -
Page 21: Resolver Systems
System Startup Danaher Motion Kollmorgen Speciality Electronics Resolver Systems The output signal is developed through the R/D hardware circuitry for minimal phase lag and has a maximum frequency determined by the motor speed and R/D limits. It provides a configurable (ENCOUT) resolution of up to 16384 lines (65536 quad counts) per revolution of the motor shaft. -
Page 22: System Operation
Danaher Motion Kollmorgen Speciality Electronics System Operation System Operation The SERVOSTAR CD-Lite has a seven-segment indicator (Status Display) that indicates four types of states: Power-up Steady State Flashing State Momentary State The decimal point directly relates to the global drive enable. -
Page 23: Operational Modes
Danaher Motion Kollmorgen Speciality Electronics Operational Modes The SERVOSTAR CD-Lite has the ability to assume different modes of operation. It is factory configured in OPMODE=1 (Analog Velocity Controller) but may be reconfigured by the user. Not all commands and variables are active or meaningful in every OPMODE. -
Page 24: Remote Enable Input (Remote)
Fault Output Relay (RELAY, RELAYMODE) The SERVOSTAR CD-Lite provides a drive ready/drive up output in the form of a relay (RELAY) output. The relay (RELAY) output is controlled by the SERVOSTAR CD-Lite’s microprocessor. There is a software switch (RELAYMODE) that configures the relay (RELAY) output to act as a ‘Drive Ready’... -
Page 25: Configurable Analog Output (Anout)
System Operation Danaher Motion Kollmorgen Speciality Electronics Configurable Analog output (ANOUT) The ±10 V, 8-bit analog output (ANOUT) is used as a monitoring tool only. The setting of this variable allows you to measure the Velocity, velocity error, current command and current feedback. This enables you to tune the CD-LITE. -
Page 26: Digital Output
When calling Danaher Motion Customer Support, be sure to have the firmware version number readily available. The most recent version of firmware is available for purchase and is easily field-upgradable through a PC. It can be obtained by contacting a Danaher Motion sales representative or by contacting the Danaher Motion Customer Support. -
Page 27: Servo Loop Description
Each current loop receives its own command input from the commutation loop. The SERVOSTAR CD-Lite uses a fully digital, pole placement current loop with high bandwidth and a current loop sampling rate of 16 kHz (62.5 µs). All coefficients of the current loop are digitally calculated inside the drive for a given set of motor and drive characteristics. -
Page 28: Torque Loop
Analog Torque The SERVOSTAR CD-Lite is most often configured to operate as an analog torque loop controller (OPMODE=3). In this case, the current loop receives its input from the analog-to-digital (A/D) conversion system. After conversion, the input command signal is processed through an algorithm that adjusts the signal (ANOFF1, ANDB, ANZERO), filters it (ANLPFHZ) and scales it (ISCALE), before developing the current command. -
Page 29: Foldback
Danaher Motion Kollmorgen Speciality Electronics Foldback The SERVOSTAR CD-Lite offers two types of FoldBack protection for both the motor and the drive. The drive’s microprocessor monitors the current feedback signal and develops a RMS value of this signal for the purpose of providing a value that represents the current in the motor. The system is similar to an "I-squared-T"... -
Page 30: Troubleshooting
Not all errors reflect a message back to the host. In these cases, the no-message errors communicate only to the status display. The response of the SERVOSTAR CD-Lite to an error depends on the error's severity. There are three levels of severity: 1. -
Page 31: Fatal Faults Error Codes
Troubleshooting Danaher Motion Kollmorgen Speciality Electronics FATAL FAULTS ERROR CODES Status Error Message Possible Cause Fatal Non-Fatal Error # Display No fault Power stage over temperature Overload, fan malfunction, power stage failure Over voltage Excessive _omm. rate Over current **... -
Page 32: Non-Fatal Error Codes
Danaher Motion Kollmorgen Speciality Electronics Troubleshooting NON-FATAL ERROR CODES Status Error Message Possible Cause Fatal Non-Fatal Error # Display NO_ERROR No error was recorded UNKNOWN_COMMAND Undefined command CHECKSUM_ERROR Error on _omm.. Message checksum (ackmode 2) DRIVE_ACTIVE Drive needs to be inactive... -
Page 33: No Message Faults
Test LED Fault Monitoring System The SERVOSTAR CD-Lite’s microprocessor is constantly monitoring the status of many different components. In general, all fault conditions are latched so you can readily determine the source of the problem. When a fault is detected, it is logged in the internal error log, indicated in the status display, enunciated over the serial port, and in most conditions causes a drive disable. - Page 34 WatchDogs: The SERVOSTAR incorporates a watchdog system to maintain software operation integrity. Failure of the watchdog mechanism displays three bars on the status display and causes the drive to halt. This normally indicates serious problems. Please contact Danaher Motion Customer Support.
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Page 35: Firmware Upgrades
From time to time, Danaher Motion adds features to its products that expand their overall capabilities. Features added to the SERVOSTAR CD-Lite can be easily implemented at the customer’s site. This is accomplished by downloading new firmware via the drive’s serial port directly from a host computer. - Page 36 Danaher Motion Kollmorgen Speciality Electronics Troubleshooting 8. Select Lccd_xxx.emb and select OK From the window “Ignite CD-Lite” Select the Start Button to start download the new firmware from PC to the CD-LITE, wait until you get the message download successful.
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Page 37: Customer Support
Ignite Application. Customer Support Danaher Motion is committed to quality customer service. Our goal is to provide the customer with information and resources as soon as they are needed. In order to serve in the most effective way, please contact your local sales representative to answer all your product needs. If you are unaware of your local sales representative, please contact Danaher Motion Customer Support. -
Page 38: Personality Module For Cd-Lite
Danaher Motion Kollmorgen Speciality Electronics Personality Module for CD-LITE Personality Module for CD-LITE The Personality Module is used to easily configure multiple CD-Lite servo drives. After one servo drive has been configured and tuned, the parameters of that drive are uploaded into the module. In order to configure additonal servo drives with the same parameters, the module is plugged into those drives and the parameters downloaded into the drives. -
Page 39: Schematic
Personality Module for CD-LITE Danaher Motion Kollmorgen Speciality Electronics Schematic The following diagram describes the PRMDL schematically Hidden switch upload easy switch download Download CDLite D-9 plugs into Upload Drive C1 Port Label How To Order The Personality Module may be ordered by specifying its part number, LE-PRMDL SERVOSTAR CD-LITE User Manual Artisan Technology Group - Quality Instrumentation ... -
Page 40: Motor Power Connections
Danaher Motion Kollmorgen Speciality Electronics Appendix A Appendix A The SERVOSTAR product family can be mated with a variety of motors. Cable sets (motor and feedback) can be purchased directly from Kollmorgen; which gives you a complete plug-n-play system. However, some users may find it necessary to manufacture their own cable sets. This Appendix provides pinout information between the drive’s power and feedback connections and the motor receptacles for... -
Page 41: Le Encoder Connection
Appendix A Danaher Motion Kollmorgen Speciality Electronics LE Encoder Connection SERVOSTAR RBE(H) GOLDLINE B, M, EB & XT SILVERLINE Wire Color 0802 Encoder 0802 Encoder (at Motor Receptacle) Encoder Receptacle Receptacle Wire Color Receptacle B, M, EB Series XT Series... -
Page 42: Setup Example
Danaher Motion Kollmorgen Speciality Electronics Appendix B Appendix B Setup Example The following example shows how to configure the CD-LITE 3 AMP with GOLDLINE XT MTX 502A1. Once configured, we will run it from MOTIONLINK in Torque Mode. Remember Torque Mode doesn’t need tuning, Where in velocity mode you have to tune the PDFF VF VD and COMPFILTparameters (not cover in this example). - Page 43 Appendix B Danaher Motion Kollmorgen Speciality Electronics 7. Select GOLDLINE XT MTX502A1. 8. Select the "TO Drive" button to download the motor parameter to the Drive. 9. Select Yes. 10. Select Close to close the motor configuration window 11. From the new amplifier Startup window, select Next, for feedback configuration.
- Page 44 Danaher Motion Kollmorgen Speciality Electronics Appendix B 15. For Operation mode, select Analog Torque. 16. Select Close. 17. From the new amplifier Startup window, select Next for backup motor parameter to a file. 18. When the Next button changes to Finish, select Go.
- Page 45 Appendix B Danaher Motion Kollmorgen Speciality Electronics 21. Select Zero Input. 22. Select OK for ANZERO procedure. 23. Change the Hardware enable input so pin 8 in C3 connector is 24 Return where pin 7 is the +24 source. If you are not sure, go to the terminal window and type "REMOTE." REMOTE should be 1.
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Page 46: Linear Motor With Cd-Lite
Danaher Motion Kollmorgen Speciality Electronics Appendix C Appendix C Linear Motor with CD-LITE The CD-LITE maintains only rotary variables. To use a linear motor, you should convert the linear parameters to rotary values from the motor data sheet: PolePitch [mm]... - Page 47 Appendix C Danaher Motion Kollmorgen Speciality Electronics 0 to 60 Degree HA=1 HB=0 and HC=0 MPITCH = 2 x Pole = one electrical cycle [mm] Temp Sensor Feedback Motors phases To Lx C2 Resolution micron PFB (MPITCH)= MENCRES x 4=MPITCH/Resolution SERVOSTAR CD-LITE User Manual Artisan Technology Group - Quality Instrumentation ...
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Page 48: Motor Thermostat With Cd-Lite
Danaher Motion Kollmorgen Speciality Electronics Appendix D Appendix D Motor Thermostat with CD-LITE From version 0.1.8, CD-Lite supports motor thermostat types PTC and NTC. C2 Feedback Connector Electrical drawing Thermostat High MOT_TMP+ Thermostat Low MOT_TMP- THERMTYPE = 0 for PTC. When the PTC is more then 12.4 kΩ, the drive is in motor overtemperature fault state (you will see “H”...
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