Danaher Motion 05/2008 Basic ConfigurationS200-VTS Product Manual 757.4.3 SFD Velocity ModeThe S200 can drive a brushless motor in Velocity Mode using SFD Feedback. The drive can beconfigured either with the S200 tools over the serial port or configured using the S1 and S2switches. Configuring the drive with the S200Tools utility provides increased flexibility in settingparameters that are not available through the setup switches. When using the S200Tools utility,the configuration parameters should be saved to non-volatile memory (click the NV Savebutton) to allow the configuration to be recalled on power up.To configure the drive for SFD feedback set the following parameters:Parameter ValueCommMode SetupS2-2 (Default value) with switch S2-2 set to thedown position labeled, S on the drive.orSFDCommOff 0 Degrees – for AKM motor series. Check with your salesrepresentative for the correct commutation offset angle forother motor series.OpMode VelocityorSetupS2-1 with switch S2-1 set to the up position labeled,V as shown on the drive.SelSFDParam SFD (Default value) – recommended settingThis setting automatically sets the motor parameters.KVP is set for 75 Hz nominal velocity loop bandwidth withan unloaded motor.To change KVP or other motor parameters, refer toConfiguring with SFD Feedback Motor Parameters.ARF0ARF1Single pole filters in the velocity loop forward path. Set toaccommodate the effects of mechanical resonanceKVI Sets the velocity loop break out frequency from integral toproportional compensation.CmdSrc Selects Analog, PWM, or Command variable forcommand.CmdGain Sets the command gain for the command input.CmdOffset Sets the command offset for the command input.CmdF0 Sets the filtering on analog input command.The following are optional parameters that can be set.Parameter FunctionEncOut Sets the line count of the emulated encoder output.EnInhibitCWEnInhibitCCW Enables the hardware over travel limits.
