5 Setting parameters
100 Festo – GDCP-CMMP-M3/-M0-C-CO-EN – 1510b – English
Object 6410
h
_10
h
: phase_order
In the phase sequence (phase_order), twisting between motor cable and angle encoder cable are taken
into account. It can be taken from the parameterisation software.
Sub-Index 10
h
Description phase_order
Data Type INT16
Access rw
PDO mapping yes
Units –
Value Range 0, 1
Default Value 0
Value Meaning
0 Right
1 Left-hand
Object 6410
h
_11
h
: encoder_offset_angle
The servo motors used have permanent magnets on the rotor. These generate a magnetic field, whose
orientation toward the stator depends on the rotor position. For electronic commutation, the motor
controller must always set the electromagnetic field of the stator in the correct angle to this permanent
magnet field. To do this, it constantly determines the rotor position with an angle encoder (resolver,
etc.).
The orientation of the angle encoder to the permanent magnetic field must be entered in the object
resolver_offset_angle. This angle can be determined with the parametrisation software. The angle de
termined with the parametrisation software lies in the range of ±180°. It must be calculated as follows:
encoder_offset_angle + Offset_angle_of_the_angle_encoder *
32767
180°
This object is not revised through restore_default_parameters.
Index 6410
h
Name motor_data
Object Code RECORD
No. of Elements 5
Sub-Index 11
h
Description encoder_offset_angle
Data Type INT16
Access rw
PDO mapping yes
Units …
Value Range -32767 … 32767
Default Value E000
h
(-45°) (according to factory setting)
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