Usage as a Motor Encoder

General

If third-party motors are used, incorrect parameterization or wiring may cause unexpected movements or destruction.

WARNING

UNINTENDED MOVEMENT

oVerify that the motor encoder is compatible for the encoder module.

oVerify correct connection of the motor.

oSet the correct values for the appropriate parameters.

oEnsure that the third party motor parameters are also configured correctly as the type plate cannot be read from the encoder.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

If the interface SinCos 1Vpp (without Hall) is used, a static load on the motor (for example, vertical axis) causes an incorrect point of reference for commutation. Incorrect commutation can trigger unexpected movements.

WARNING

UNINTENDED MOVEMENT

Verify that no static load (for example, a load hanging on a vertical axis) greater than 10% of the nominal value (torque or force specified for the motor) can act on the motor when the power stage is enabled.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

The motor needs to move freely while you set the commutation. If the motor cannot move freely, it results in an incorrect point of reference for commutation. Incorrect commutation can cause unexpected movements and leads to poor efficiency.

WARNING

UNINTENDED OPERATION

oPerform the test movement without coupled loads.

oInstall linear motors in a horizontal position.

oVerify that the holding brake is released before performing the test movement.

oTake into account that the limit switch signals are not evaluated during the test movement.

oVerify that a functioning button for emergency stop is within reach.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

Third-party Motors / Encoders

The commissioning software allows you to parameterize, store and manage various motor types. For this use the tab [3rd party motor] to do so.

oEnter the motor data in the appropriate fields. The values can be found on the nameplate or in the data sheet of your motor. See also Notes on the Motor Data.

oVerify the values entered before saving them. The motor may move even if the values are incorrect, i.e. the fact that the motor moves is not an indication of the fact that the values are correct.

oGo through the 5 steps of the wizard (bottom of the screen).

oSave the motor data.

Notes on the Motor Data

The table below explains a variety of values:

Designation	Unit	Meaning and notes
M_n_nom	Rotary: RPM Linear: mm/s	Rotary: Nominal speed of rotation. Linear: Nominal velocity.
M_I_max	Arms	Maximum current.
M_I_nom	Arms	Nominal current.
M_I_0	Arms	Continuous stall current.
M_U_max	V	Maximum permissible winding voltage.
M_Polepair	-	Number of pole pairs.
M_M_0	Rotary: Ncm Linear: N	Rotary: Continuous stall torque. Linear: Continuous stall force.
M_R_UV	Ω	Winding resistance.
M_L_q	mH	Winding inductance of the stator, measured vertically with reference to the direction of the magnetic field of the rotor between 2 connections.
M_L_d	mH	Winding inductance of the stator, measured in the direction of the magnetic field of the rotor between 2 connections.
M_Fieldrotation	-	This value is used to adjust the direction of movement. If the test movement yields an incorrect counting direction despite correct wiring, this value must be changed from 1 (0) to 0 (1) in order to correct the counting direction.
M_kE	Rotary: Vrms/1000 RPM Linear: Vrms/(m/s)	The voltage constant kE is the voltage induced between 2 connections (line to line) at 1000 RPM. To convert Vs to Vrms/1000 RPM, multiply Vs by 1000 x 2 π/60 s. (Example: 0.28648 Vs x 104.7198/s = ~30 V).
M_I2T	ms	Maximum permissible time for maximum current.
M_n_max	Rotary: RPM Linear: mm/s	Rotary: Maximum permissible speed of rotation. Linear: Maximum permissible velocity.
M_Jrot	Rotary: Ncm Linear: N	Moment of inertia.

NOTE: The information differs from vendor to vendor and the values may have to be converted.