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• Start the Modify function of the module ENCODER RESOLUTION and select the encoder signal
specifications on the channels A, B and Z of the connector X2 according to the position resolution of
the NC.
• The Programmation function will save the encoder output of the amplifier.
• Couple the motor to its load and connect the amplifier with the NC. If possible, make an open loop
control by means of the NC, otherwise close the position loop with a stable gain.
• Move the shaft by means of the NC until it maintain position where one motor revolution is not
dangerous for operator and machine (far enough from the mechanical stops).
• Start the Autotuning function of the CONTROLLER module with the motor at standstill. If the shaft
is moving, then the Autotuning function has not been accepted by the amplifier.
In case of loud noise in the motor at standstill and when running, check the rigidity of the transmission
between motor and load (backlashes and elasticities in gears and couplings).
If necessary, redue the AUTO-TUNING procedure by selecting a lower bandwidth (Bandwidth =
Medium or Low). If the problem remains, redue the AUTO-TUNING procedure by activating the
antiresonance filter (Filter = Antiresonance). The antiresonance filter is accessible from the BPCW
version 2.6 and amplifier EPROM version 5.7.
• Adjust the position loop gains in the NC in order to get the necessary response.
• If necessary, accurately adjust the response stability of the speed loop by means of the Stability gain
buttons of the CONTROLLER module.
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