5 Commissioning
102 Festo – GDCP-CMMS/D-FW-EN – 1404NH – English
5.3.7 Commutation finding by motor controller CMMS-ST-C8-7-G2
The c ommutation finding process is only performed by motor c ontroller CMMS-ST-C8-7-G2 if the step-
per motor with motor encoder EMMS-ST-...-...E... (closed loop) has been configured in the Festo Config-
uration Tool (FCT). In the c ommutation finding process the stepper motor executes a brief rotation
(<3.6 °) the first time it is supplied with power after the controller enable (DIN5 = 24 V). The angle offset
between the motor and motor encoder is determined here and temporarily stored in the main memory
of the motor controller.
Note
Operation of vertical axes
A maximum of 50 % of the permissible total loa d may be used fo r operation of vertically
mounted axes.
Timing diagra m: Commutation finding with the firs t controller enable (DIN5) after Power ON
Commutation finding
Controller enable
(DIN5)[X1.9]
Holding brake released
(BR+)[X6.2]
Controller ready for operation
(DOUT0)[X1.24]
Drive ready for operation/
“drive” control active
t1
Power ON
t2 t3
t1 ≤ 10 ms (dependent on the operating mode and the status of the drive)
t2 = 0…6553 ms ( FCT: Dependent on the parameterised switch-on delay (brake c ontrol, brake
timing))
t3 < 1 s
Fig. 5.12 Timing diagram: Commutation finding with the first controller enable ( DIN5) after Power ON
To Next Page
Loading...
Need help?
General
