Assembly and Commissioning Instructions Servo amplifier D1-N 15.10.2015
8.4 “Configuration center” without/with EtherCAT ................................................. 73
8.4.1 AC servo motor parameterisation ................................................................... 74
8.4.2 Linear motor parameterisation ....................................................................... 82
8.4.3 TM motor parameterisation ............................................................................. 91
8.4.4 Motor parameterisation with EnDat 2.2 encoder ......................................... 100
8.5 “Application center” .......................................................................................... 101
8.5.1 Homing ............................................................................................................ 101
8.5.2 Backlash ......................................................................................................... 109
8.5.3 Error map ........................................................................................................ 110
8.5.4 “Resolver” ....................................................................................................... 112
8.6 “Protection center” (limitations) ...................................................................... 113
8.6.1 Protection........................................................................................................ 113
8.6.2 HW limit protection ........................................................................................ 114
8.6.3 “Brake”............................................................................................................ 114
8.7 Digital inputs and outputs / “I/O center” .......................................................... 116
8.7.1 Inputs .............................................................................................................. 116
8.7.2 Outputs ............................................................................................................ 117
9 Commissioning........................................................................................119
9.1 Commissioning .................................................................................................. 119
9.2 “Auto phase center” .......................................................................................... 120
9.2.1 Servo motors .................................................................................................. 122
9.2.2 Linear and torque motors .............................................................................. 124
9.2.3 “Frequency analysis” – automatically adapting control parameters .......... 128
9.2.4 “Phase initialisation” – first commutation .................................................... 133
9.2.5 “SMCL tool” ................................................................................................... 133
9.2.6 LM and TM with EnDat 2.2 ............................................................................. 135
9.3 "Performance center", controller parameter optimisation ............................ 137
9.4 First travel subject to control ........................................................................... 139
9.4.1 “Debounce time” and “Target radius” in the “Performance center” .......... 140
9.5 Using the “scope” functions.............................................................................. 141
9.6 Controller tuning ............................................................................................... 148
9.7 “Advanced gains” – filter ................................................................................... 150
9.7.1 Setting filters .................................................................................................. 151
9.7.2 “Advanced gains” – “Acc feedforward” ......................................................... 152
9.7.3 “Advanced gains” – “Schedule Gains + vpg” ................................................. 154
9.7.4 “Advanced gains” – “Analog input” ............................................................... 155
9.7.5 “Advanced gains” – “current loop” ................................................................ 156
9.7.6 “Advanced gains” – “VSF” (velocity suppression function) .......................... 157
9.7.7 “Advanced gains” – “Friction Compens.” ...................................................... 158
9.8 Error history ...................................................................................................... 160
10 mega-ulink protocol ..............................................................................161
10.1 Features of the MPI library ............................................................................. 161
10.2 PDL (Process Description Language) programming .................................... 162
10.3 Features of PDL programming ....................................................................... 162
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