January 2012 6.19 Configuring the Controller Unit and Drive Motors 1059
General
information about
encoders for direct
drives
An absolute encoder with EnDat interface should be used, since the
absolute position value is available directly after switch-on, and the field
angle can be assigned immediately. This means that the motor can be
controlled immediately.
The encoder should have a high line count. This leads to better
controllability.
With incremental encoders the motor must first be moved a "minimum"
distance in order to determine a field angle with which the motor can be
moved until the reference mark. Only after the reference mark has been
traversed can the field angle determined during commissioning be
assigned.
If excessive clamping of the axis prevents the "minimum" motion for
determining the field angle, then no field angle can be determined and the
axis cannot be controlled. In this case the clamping must be undone for the
field angle to be determined. If this is not possible, because the axis would
fall down, then an absolute encoder with EnDat interface must be used.
Field orientation
with absolute
encoder (EnDat)
As soon as the absolute position of the encoder has been read, the absolute
position and determined field angle are assigned to each other.
The field angle is assigned to the zero position of the encoder.
Field orientation via
encoder with Z1
track
After switching on the MANUALplus 620, the motor orients itself (rough
orientation) via the Z1 track of the encoder. The drive is ready for operation
after this procedure. The field angle is determined and assigned as soon as the
reference mark is traversed during the first motor motion.
Field orientation via
the MANUALplus
620
There are various possibilities for determining the field angle:
The field angle is determined automatically when the drive is switched on,
without any motion of the motor. This method is set via
MP_motTypeOfFieldAdjust. The field angle is stored after it has been
determined. This field angle is used when the motor is switched on again.
An adjustment of the field angle via the special operating mode Current
Controller and Field Angle Adjustment (code number 94655) is not
necessary.
By adjusting the field angle once via the special operating mode Current
Controller and Field Angle Adjustment (code number 94655) during
commissioning of the motor. The motor moves during the adjustment, and
the field angle is determined and stored during this motion. This field angle
is used when the motor is switched on again. A plausibility test is run during
the field angle determination.
This method cannot be used for hanging axes (with 100 % weight
compensation), since the brakes are not applied and the monitoring
functions are deactivated!
The "field orientation" function can be performed only if the current
controller is already adjusted!
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