After programming the motor data, the commutation offset has to be determined before the motor is ready for operation.
For HIPERFACE encoders it is possible to save the commutation offset in the motor nameplate: Set the MotorCommutationControl object parameter to Test and write/1.
For 1Vpp encoders, the commutation offset has to be determined every time after switching on (Power on) the drive. Since these encoders are no multiturn encoders, the commutation offset depends on the position when being switched on and is therefore not saved: For this set, the MotorCommutationControl object parameter to Test/2
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UNCONTROLLED BEHAVIOR OF THE MOTOR |
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Damaging the magnetic tape of the encoder may lead to an incorrect commutation. oCheck the MotorCommutationState object parameter before the initial start-up and repeat the commutation process several times. |
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Failure to follow these instructions can result in death, serious injury, or equipment damage. |
NOTE:
The commutation was successful for the following values:
oMotor is tested successfully with similar commutation / 8, or
oMotor commutation is written successfully with similar value / 12
NOTE: During the commutation, it is tested whether the direction of motion of the motor corresponds to the counting direction of the encoder. This depends on the assembly arrangement of the encoder: If the direction of motion of the motor and the counting direction of the encoder are opposite-directed, the commutation is canceled with the error state (MotorCommutationState) Wrong direction detected / 24. In this case, the uiRotatingFieldDirection parameter must be changed in the motor nameplate to reverse the direction of motion of the motor. Refer also to Example for programming the motor data.
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UNCONTROLLED BEHAVIOR OF THE MOTOR |
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To determine the commutation, it is required to move the motor. oMake certain that the distance between the motor and the limit stop is great enough to perform the motion without a collision |
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Failure to follow these instructions can result in death, serious injury, or equipment damage. |
