Servo Dynamics DigiDrive 2000 Series Information Manual

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DigiDrive

NFORMATION

ANUAL

2000 / 4000

Servo Dynamics Corp.

28231 Avenue Crocker, Ste 10

Valencia, CA. 91355

PH: (818) 700-8600

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Summary of Contents for Servo Dynamics DigiDrive 2000 Series

Page 1 DigiDrive NFORMATION ANUAL 2000 / 4000 Servo Dynamics Corp. 28231 Avenue Crocker, Ste 10 Valencia, CA. 91355 PH: (818) 700-8600...
Page 2 www.servodynamics.com...
Page 3: Table Of Contents
EDIUM WITH SPECIAL CLAMP TYPE HOENIX OPTION 3.7 M OTORS 3.8 P OSITION FEEDBACK 4. F USES 5. O PTION LIST 6. A ON BOARDS 7. E XTERNAL MODULES Pg 2 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 4 ABLE LENGTHS AND CROSS SECTIONS 1.2 G LOBAL WIRING PLAN 1.3 C ONTROL UNIT WIRING 1.3.1 XRESOLVER 1.3.2 XCOMMAND 1.3.3 XENCODER 1.3.4 XSERIAL 232 XSERIAL 485 1.3.5 A XIS SELECTOR Pg 3 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 5 OW TO SET THE SPEED LOOP PARAMETERS 5. T ROUBLE SHOOTING HAPTER SYNCHRONOUS MOTOR 1. C HANGE OF MOTOR AND FEEDBACK TYPE 2. S PECIAL PARAMETERS FOR ASYNCHRONOUS MOTORS Pg 4 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 6 DigiDrive Manual Series 2000 / 4000 Rev. A 10-99 2.1 F IELD WEAKENING 2.2 A SYNCHRONOUS ALARM 2.3 F EEDBACK TYPE 2.3.1 R ESOLVER FEEDBACK 2.3.2 E NCODER FEEDBACK Pg 5 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 7: Introduction
The particular features of the servo-amplifiers series 2000 and 4000 are described there under: Power supply  Single-Axis unit incorporating a braking module for connection to 3 phase power. The drive also can be run from a common DC-bus voltage. Pg 6 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 8: Technical Data
 Motor protection by I 2 t limitation.  Detection of resolver fault, motor wiring failure, motor overheating. 3. Technical data 3.1 General data for all types Description Unit Series 2000 Series 4000 Pg 7 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 9: Electrical Data
Rated rms Rated pk. Max. rms Max. peak Rated Max. Driv Drive Current Current Current Current power Power Model peak rated rms max peak max rated Size Number Pg 8 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 10 : thus about 20 seconds interval must be allowed between full energy stops. Pg 9 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 11: Small Drive Outlines
DigiDrive Manual Series 2000 / 4000 Rev. A 10-99 3.3 Small drive outlines Rear mounting Enclosure mounting Installation, drill and cut out plan : Rear mounting Enclosure mounting Disposition Air flow Pg 10 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 12: Medium Drive Outlines
DigiDrive Manual Series 2000 / 4000 Rev. A 10-99 3.4 MEDIUM DRIVE OUTLINE Rear mounting Enclosure mounting Installation, drill and cutout plan : Rear mounting Enclosure mounting Disposition Air flow Pg 11 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 13: Large Drive Outlines
DigiDrive Manual Series 2000 / 4000 Rev. A 10-99 3.5 LARGE DRIVE OUTLINE Rear mounting Enclosure mounting Installation, drill and cutout plan : Rear mounting Enclosure mounting Disposition Air flow Pg 12 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 14: Small Andm
DigiDrive Manual Series 2000 / 4000 Rev. A 10-99 3.6 Small and Medium with special clamp type Phoenix (option) Phoenix clamp Drill and cutout plan for enclosure mounting : type SK8 Pg 13 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 15: Motors
 Ratio 0.5  Reference frequency : 5..10 kHz D Incremental encoder for asynchronous motor only. D Absolute encoder Stegmann SinCos (HIPERFACE compatible). D Absolute encoder Stegmann SinCoder (HIPERFACE compatible). Pg 14 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 16: Fuses
14 x 51 6.3 x 32 (Rbrak.=8) Notes: No replacement of any fuse should be carried out until the reason for it’s blowing has been rectified. 5. Option list Pg 15 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 17: Add-On Boards
 14 Outputs potential free (24V 100 mA).  16 Inputs 24V potential free.  Windows Profile User software for easy setting. To obtain more information about Profile board, contact your SDC distributor. Pg 16 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 18: External Modules
Positioning control and SERVOnet (CAN-BUS type) interfacing module for Servo Dynamics series 2000 and 4000 drives. D Future product :  Chip card module for parameters saving. 7. External modules Pg 17 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 19  RS485 header pinout same as drive XSERIAL485 header.  Mounting on current DIN EN Profiles (Phoenix type UMK-FE). To obtain more informations about RS485-RS232 converter, contact your SDC distributor. Distributed by : Official SDC distributors. Pg 18 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 20 Call Monitor function of the drive Transfer IRTxxxx.HEX <ENTER> Name of the file to transmit Wait end of operation Initialise (Reset command) The drive is ready to work with new firmware Pg 19 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 21 Run 2000U with argument /COM2, /COM3 or /COM4 in order to change the serial port number. Warning : A mouse driver on the same port, may cause conflict with the software. Pg 20 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 22 F1 KEY anywhere in the software, to obtain help on the current opened window. Main functions of 2000 Windows user : Monitor utility to update the firmware Parameters viewing and setting Pg 21 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 23 TRANSFER PROGRAM INTO DRIVE button start the update of the firmware or a click on the COMPARE WITH DRIVE CONTENTS button enable the check of the FLASH memory contents. Pg 22 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 24 (max. 15, RS485, 5 wires in parallel). In RS485, all axes are listening, while answer is given only by concerned axis, other transmitters being in tristate Orders format : <STX><ADDRESS><COMMAND><PARAM1><PARAM2><PARAMn><ETX><BCC> Explications : Pg 23 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 25 NAK if BCC wrong and No Axis OK Read parameter : Command : No Axis Read Address Answer : No Axis Read Address Data NAK if BCC wrong and No Axis OK Pg 24 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 26 Parameter no 11 = 27 = (1B)h {02}{50}{82}{59}{03}{90} {02}{50}{82}{59}{48}{48}{49}{66}{03}{41} Write 127 the parameter no 28 of axis no 13 {02}{61}{87}{76}{48}{48}{55}{70}{03}{86} {06} Store parameters in FLASH of axis no 2 Nothing {02}{50}{83}{84}{03}{52} Pg 25 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 27  n.i : parameter not included at this time. Important : When VXXX(i.e. V2005) is indicated in the table, the function is only avaible with specified firmware version (i.e. version 2005) or higher version. Pg 26 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 28 235 1 zero pulse each 0..1023 Encoder marker pulse period pg 53 0 : each period 1 zero pulse 236 period 1..1023 : 1 zero pulse each 2..1024 period Pg 27 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 29 V 22 2 RPM 7FFF speedloop control Analogue command offset with With I = 10 A MAX DRIVE I 33 0.01 A currentloop control MAX _ DRIVE 7FFF Pg 28 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 30 Sleep mode 1504 200 ms period Compute period 0..32000 SSI cyclic transmit period pg 54 (~132 us) Scope parameter pg 34 Scope parameter Scope parameter Scope parameter Scope parameter Pg 29 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 31 Fault Int : Over or under voltage of DC Bus FO N FO UP Powermodule fault FO VP (over I, over Temp) FO WP DT U Earth fault Pg 30 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 32 7241 12.5 Apeak MAX _ DRIVE 7FFF 2667 2467 RPM 0.925 RPM 8000h..7FFFh Instantaneous motor speed 4096 1/16 turn turns 0..FFFFh Resolver position within a revolution 1..15 Axis address Pg 31 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 33 Options Hardware version 1497 week 14 in 1997 Delivery date Customer Serial Number Firmware abilities 10 8000..7FFFh External analogue command 10V 7FFF 8000..7FFFh External analogue command 2.5V 7FFF Pg 32 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 34 I MAX _DRIVE 7FFF 8000..7FFFh Phase V current I MAX _DRIVE 7FFF 8000..7FFFh Phase W current I MAX _DRIVE 7FFF t threshold pg 49 Instant I pg 49 Pg 33 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 35 Value 1 of parameter 1 Measured value Value 1 of parameter 2 Measured value 179 HB Value 80 of parameter 1 Measured value Value 80 of parameter 2 Measured value Pg 34 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 36 (1) Note : The PE terminal of the drive must be permanently connected to the earth. The cross-section of the protective conductor must be at least 10 mm Pg 35 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 37 Figure 1 - Global wiring plan (1) Note: DC BUS +/- and DC BUS CTRL terminals are not present when drive is equipped with « EMC filter » option. Pg 36 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 38 Chapter D - Setting to work DigiDrive Manual Series 2000 / 4000 Rev. A 10-99 1.3 Control unit wiring Pg 37 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 39 It should have the following characteristics : contact closed : 1 k ohm contact opened : 10 k ohm Figure 2 - Resolver and motor thermal switch wiring Pg 38 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 40 (1) Common mode voltage range (CMVR) +/-10V if common on SPEED IN- (2) Close this input to GND to inhibit or to free the movement (depend of parameter 24 configuration). Pg 39 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 41 Inverted impulse A output Differential output Non-inverted impulse A output Differential output Inverted impulse B input Differential input Non-inverted zero impulse input Differential input Inverted zero impulse input Differential input Pg 40 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 42 The serial link is used to set or monitor drive parameters stored in non-volatile memory using the configuration program. The serial links could be also used to down-load an up-dated firmware or an other firmware version. Pg 41 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 43 Pin name Function TX485 Non-inverted Transmit Data output TX485\ Inverted Transmit Data output RX485 Non-inverted Receive Data input RX485\ Inverted Receive Data input Common ground 5 & 6 Pg 42 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 44 Exception : when drive is programmed with a monitor version 300 (or higher), the firmware update is also possible by RS485 (the parameter 72 indicates the monitor version). 1.4 XMOTOR Connector Pg 43 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 45 Note : See Motor brake delay parameter description, page 56, for more information about Motor brake. 1.4.1 Determining the motor phases (without drive) Important : Pg 44 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 46 When this operation is done, it is important to define the resolver shift angle parameter (P1), see section 4.1 of chapter D. 2. Display indications The display shows the state of the drive and of the motor. Pg 45 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 47 The alarm H has the most priority (following F, E, d, C, b, A, 9, ... etc.). If some alarms takes place simultaneously, only the one with the higher priority will be displayed. (only if latched) Pg 46 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 48 Warnings t reached. Over current, appears during 1 sec when 125% of maximum drive (if not latched) current is reached (bad regulation parameters). Pg 47 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 49  7 FFFh NOMINAL _MOTOR MAX _DRIVE With I AND I in A MAX_DRIVE NOMINAL_MOTOR This value must be between 0 and 3FFFh, that mean between 0 and I NOMINAL_DRIVE Pg 48 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 50 Scope of the user software. This method is useful to determine and to check the I t value and the motor load. Pg 49 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 51 Example with DRIVE type 2010 OTOR FEATURES EXAMPLE Poles pairs 6.68 Nominal Current 1.320 Nominal Power 3000 Max. Speed 2010 RIVE TYPE FEATURES = 10 A NOM_DRIVE = 20 A MAX_DRIVE Pg 50 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 52 NOMINAL _MOTOR MAX _DRIVE { I2 T MOTOR DDRESS 23 } 3243 ), A AXIMUM SPEED INPUT DDRESS / 0.925 = 3000 / 0.925 = 3243.2 3.2 Installation parameters Pg 51 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 53 This function is useful to reduce vibrations and noises in a system, but be careful that the position precision is also reduced. The position error is not cumulative. Pg 52 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 54 Options for the encoder input, bit 0 and 1 must be set to change the encoder input configuration bit 0 Encoder Encoder output simulation Counter Encoder input (P.53) Reset bit 1 North pole marker Pg 53 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 55 Positive speed command stopped No effect Negative speed command stopped bit 1 3.2.3 SSI configuration (option) 40 ( CYCLIC TRANSMIT PERIOD DDRESS OPTION Period for SSI data transmission. Pg 54 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 56 Firmware version 2005 or higher : When P.10 = -1 : EXTLIMI\ input select the speed or current regulation loop : EXTLIMI\ = 1 -+ Speed loop. EXTLIMI\ = 0 -+ Current loop. Pg 55 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 57 (RS232, RS485 or SSI). 13 ( OWER DOWN BACK DDRESS OPTION Defines if the drive must save the position at power down (1 for enable this function and 0 for disable). Pg 56 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 58 When digital command mode is set, this parameter defines the command value. NALOGUE COMMAND OFFSET DDRESS When analogue command mode is chosen, the input offset voltage can be adjusted with this parameter. Pg 57 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 59 (see second speed cycle of the example). 3.3.2 Current Loop See also section 4.2 of chapter D (How to set the current loop parameters, page 65). CURRENT LOOP CONTROLLER Pg 58 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 60 NTEGRAL GAIN DDRESS 7500 I  CURRENT 2000 series : [V/As] I  7500   I  CURRENT 4000 series : [V/As] I  = Parameter 7 CURRENT Pg 59 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 61   Kp  Ki  T)  Kd T e[ N] e[ i ] i  0  : Last sample e[ N] T : Sampling time Pg 60 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 62 PEED LOOP IFFERENTIAL GAIN DDRESS 10 Kd 6,5  1 0   D SPEED [Â/(rad•s)]  I = Parameter 22 SPEED 4. How to set the parameters Pg 61 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 63 Scope icon : Automatic command icon : Automatic command mode window : Single Pulse mode button : Single-polarity periodical mode button : Square edge wave form button : Pg 62 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 64 And click on the « Run » button. D D) Click on the « Resolver » button in the « Regulation loop » window and Enable the drive. Pg 63 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 65 The optimal value of « Resolver shift angle » is given by :     Optimal resolver shift angle    D F) Disable drive, store the optimal « Resolver shift angle » by striking F2. Pg 64 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 66  Vertical scale channel 1 and 2 : I / div DRIVE NOM D F) Enable the drive and click on the « Run » button in the « Automatic command mode » window. Pg 65 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 67 The « Current loop Differential Gain » (Kd) remains in most applications at 0. D J) Set the « Resolver Shift angle » again to its optimal value and store by striking F2. Pg 66 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 68  Vertical scale channel 1 and 2 : 1/10 appl. speed / div D E) Enable the drive and click on the « Run » button in the « Automatic command mode » window. Pg 67 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 69 Store the optimal gain by striking F2. D G) Optimize the « speed loop Integral Gain ». The typical value is 50. Two methods allow the setting of this gain. Pg 68 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 70 The respond at a single speed step command looks as follows : Store the optimal gain by striking F2. D H) The « speed loop Differential Gain » remains in most applications at 0. 5. Trouble shooting Pg 69 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 71  Check Maximum speed (for 10V input) parameter (P23) value. Motor link fault.  Motor connection failure. Earth fault.  Look for a possible short circuit between earth and motor phases. Pg 70 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 72  Check link cable.  Check Serial Port number in User software.  The firmware upgrade is possible only with Firmware upgrade cannot be performed. RS232 link.  Check RS232 link Pg 71 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 73 Rev. A 10-99 These instructions have been written and checked to the best of our knowledge and belief. However, Servo Dynamics, Corp. will not be liable for errors and reserves the right for changes at any time without notice. Pg 72...
Page 74 When the motor or the feedback type is changed, the parameter list is also updated in accordance with selected motor and feedback . 2. Special parameters for asynchronous motors Pg 73 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 75 If field weakening is needed, this parameter must be set to the speed value the field weakening must begin. Asynchronous alarm Asynchronous overspeed, set when the motor speed is higher than 133% of synchronous speed (only if field weakening is disabled). Pg 74 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 76 All parameters for the configuration of encoder simulation are not used. NCODER INPUT RESOLUTION DDRESS The encoder resolution (number of pulse for one revolution) must be set in this parameter. Pg 75 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...
Page 77 Direction stop ............27; 54 Display Thermostat..........26; 38; 48 Alarms ..............47 XMOTOR wiring ............ 44 Indications ............46 Segment value ..........29; 57 Warnings .............. 47 Pg 76 Servo Dynamics www.servodynamics.com 28231 Avenue Crocker, Ste 10.Valencia, CA. 91355...
Page 78 Control unit ............37 Global plan ............36 XCOMMAND ............39 XENCODER ............40 XMOTOR .............. 44 XRESOLVER ............38 XSERIAL 232 ............41 XSERIAL 485 ............41 Pg 77 Servo Dynamics www.servodynamics.com 28231 Avenue Crocker, Ste 10.Valencia, CA. 91355...
Page 79 X Detail added : « When P.32 = 0 : Software watchdog disabled » 3.3.2 X Current loop equation and gain PID corrections 3.3.3 X Speed loop equation correction : 10-99. AST MODIFICATION Pg 78 Servo Dynamics Corp. 21541-D Nordhoff St. Chatsworth, CA 91311 www.servodynamics.com...

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