03/12 EM-ABS-01 for ACU 41
6.6.1 Checking the settings
Upon completion of the setup, check the system for proper function.
Danger! Wrong setup of the linear encoder can result in incorrect movements or
direction of movement.
The following requirements must be met when it comes to testing the
linear encoder:
• Before the start of the test, make sure the hardware limit switch-
es work properly.
• Before the start of the test, make sure the emer
ency stop works
properly.
• Use
o slow speeds
o slow ramps
o Deactivate the position controller by setting 1118 = 0.
Note: To reduce the speeds, you can use the so-called "Speed Override" mode.
ia actual value parameter Abs. encoder raw data 1267, you can monitor the encod-
er value transmitted. Carry out a travel operation across a distance which can be
measured easily (e.g. 10 cm). Check if the actual value parameter
Abs. encoder raw
data
1267 changes and the Act. Position 1108 changes across the distance in accor-
dance with your settings.
ia the scope function of VPlus, you can check the commissioning of the linear encod-
er.
d
ust the followin
scope sources:
1003 Act. Position * 1000
1007 Ref. Position * 1000
1013 Contouring Error *10 or 1012 Contouring Error *1
442 Hz: Act. Speed
s the time base, choose the observation period for some seconds.
When startin
a motion block or a travel command via field bus, Ref. Position is set to
ct. Position. The two curves of sources 1003 and 1007 must be identical as from the
start time of the travel command. If the two curves are not identical, the paramete
factors have not been set correctly.
If the ramp Act. Position is steeper than the ramp of Ref. Position, the ratio 513/514
must be reduced.
If the ramp Act. Position is less steep than the ramp of Ref. Position, the ratio
513/514 must be increased.
ia the source of the contourin
error, the quality of the settin
s can be checked addi-
tionally. The contourin
error must not increase continuously. Due to the mechanical
characteristics, a small constant contourin
error is typical to the system, continuous
(si
nificant) increasin
of the contourin
error (also in ne
ative direction) indicates
that linear encoder parameters have be set up incorrectly.
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