Etel DSC Series User Manual

ETEL Doc. - Operation & Software Manual # DSC2P 903 / Ver. F / 3/6/05 Chapter C: System functions
Operation & Software Manual
Direct Drives & Systems 111
12.8 Autosetting
12.8.1 AUT command
The AUT command (AUTomatic setting) calculates automatically parameters K80 and K81 (current loop
proportional & integral gain). Parameters K56 (motor phases connection), K53 (motor phase shift adjustment)
and K98 (DC bus voltage) are also set. This command initializes the motor. Therefore the adequate values
must be conveniently stored in parameters K91 to K97.
Remarks: The AUT command is only possible when the controller is in ’Power Off’ mode (no current in the
motor phases).
As the AUT command is a bits field, it is possible to execute, for example, AUT.1=10 (bits 1 & 3).
During the autosetting process, the message ’AUT CMD IN PROG’ is displayed.
(*): parameter K98 does not exist on the DSCDL.
(**): The initialization launched when the AUT.x=8 command is sent, is defined by depth 1 of parameter K90.
• If K90:1 ≠ 6, the phasing is executed by constant current
• If K90:1 = 6, the phasing is executed by short movement with parameters K91 and K101.
Remark: Parameter K80 can only be calculated with the AUT command for ironcore motors. With an
ironless motor, parameter K80 value calculated with the AUT command can be completely false.
Refer to §12.7.2.2
for more information about the phasing with constant current.
Parameter K56 is first calculated when executing a phasing by constant current. Then, the motor moves of a
distance equal to 45° of the electric period.
Remark: During the AUT command, the TIMEOUT AUT CMD error (M64=156) will appear if the motor did
not move after the time defined by parameter K94 or if no value has been found for parameter
K56.
Parameter K53 (phase shift adjustment) is first calculated executing a phasing defined by the depth 1 of
parameter K90, then a homing. When the index is found, the controller calculates the phase shift adjustment
with respect to the index and this value is stored in the parameter K53. To perform all this, phasing parameters
by constant current and homing parameters need to be correctly programmed.
Remark: With EnDat 2.1 encoder, there is no homing. Thus, there is the phasing and then the reading of
the absolute position
Available on DSC2P DSC2V DSCDP DSCDL DSCDM
Command format <p1> Bit # Comments
AUT.<axis>=<p1>
1
2
8
0
1
3
Calculates the current loop parameters (K80, K81, K98), performs fine phase
adjustment (parameter K53 if K52=1)and finds motor connection (parameter K56).
Tunes the proportional and integrator gain of the current loop parameters K80, K81,
and DC power voltage rate parameter K98.
Searches motor phases and sets parameter K56.
Sets parameter K53 (fine phase adjustment) if K52 = 1.
Command format
AUT.<axis>=<p1>
Calculated parameters Read parameters
<p1> Bit # K53 K56 K80 K81
K98
(*)
Short movement
phasing (K91 and
K101 with K90:1)
Constant current
phasing (K92, K93,
K94 and K97)
Homing (K32,
K40 to K47)
Encoder reading
way inversion (K68)
10
OK OK OK
21 OK XX
8
(**)
3 OK XXXX

Etel DSC Series Specifications

General

Brand	Etel
Model	DSC Series
Category	Controller
Language	English