6.4
Switching up and starting (MANUAL mode)
Once installation of the drive unit, control signals, motors and resolvers is completed, the
external axes can be started up. The start up procedure for internal axis 7 differs from that of
the external axes 7-12.
6.4.1
Internal axis 7
If internal axis 7 is the Servo-Driven Track Motion, see Installation Manual for resp. Track
Motion-type for system parameters. For different type of motor follow the instuction that
belongs to the motor in question.
1. Connect motor and external equipment as explained in the previous section.
2. Enter following system parameters (for detailed information, see section 5.2.4.13)
- Select axis 7
- Definition of axis 7
- Limiting work range
- Preliminary position gain, Kp
=
^
- Max. motor speed
- Control from internal drive
- Preliminary start-parameters for speed reg.:
P = approx. 5
I = approx. 2.5 sec
3. With the robot in MOTOR OFF mode, adjust the predefined reference position for the AC
commutation by turning the shaft by hand until the markings on the rotor (or brake if
there is one) and the motor shaft coincide. Bead, note and update the resolver position
= preliminary commutating offset (see section 5.3.4).For certain types of motors, with
built-in resolver, the commutation offset is predefined to the value 2048.1 these cases
there is no need of changing the commutation offset.
Check that right commutation offset is defined. Wrong value can result in an
uncontrolled motion. No warning is given if the predefined value is wrong.
4. Turn the motor shaft extremely slowly in the positive direction (clockwise as seen
from the front) and check with the SYNCOFF function on the programming unit that the
resolver value is increasing. At a value of 8192, the value changes to 0, and then
increases again (see section 5.3.2).
If the value decreases, change polarity on the stator winding of the fine resolver
(signals Y FINE and X FINE) and repeat from point 3 above.
5. Update the synchronization offset and the turn counter in the calibration position.
6. Press the enabeling device to get MOTOR ON mode. If the axis races, or remains
stationary at attempts to move with joystick, check the phase sequence to the motors and
the commutation position (paragraph 5 above).
INSTALLATION
S3
6:13
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