January 2012 6.19 Configuring the Controller Unit and Drive Motors 1067
Determining the
field angle with
motor motion
With this field angle determination method (MP_motFieldAdjustMove =
mode 2 or mode 3), the motor moves in a certain direction. It should be
approximately halfway in the distance traversed before the field angle is
determined.
Axes with linear/torque motors can be slid "by hand" if the brakes are not
applied.
While the field angle is being found, the speed controller and position
controller are open and the drive controller is active. This means that the motor
is moved (approx. 2 pole pairs) and the brake must be open until the field angle
is determined.
MP_motFieldAdjustMove = mode 2:
The PLC commissioning program, whose name and path are entered in the
parameter MP_pwmPgm, must ensure that the inverters are ready after
"Switch on external dc voltage," but that the motor brakes are opened only
while the field angle is being determined. Alternately, the motor brakes can be
opened manually for the duration of the field angle determination.
MP_motFieldAdjustMove = mode 3:
Under certain conditions, determination of a field angle with the help of the
PLC is not necessary or desired. Here the motor is moved immediately after
the FIELD ORIENT. key is pressed, and the field angle is determined. This
mode can be used if
there are no brakes,
in the Current Controller and Field Angle Adjustment special mode of
operation (code number 94655), the brakes are always open,
the user ensures that the brakes can be opened manually or with the PLC.
Hanging axes need 100 % weight compensation.
Please contact HEIDENHAIN if this is not the case.
Limit switches are ignored!
If axes move into an illegal area, press the emergency stop button!
When using incremental encoders with distance-coded reference marks,
MP_posEncoderRefDist (nominal increment between two fixed reference
marks) must be set correctly.
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