Chapter 6 – Commissioning
Select the Encoder output resolution to close the position loop with the NC.
Couple the motor to its load and select the speed regulator (P, PI or PI
2
). In the case of an axis with
vertical load, see section 3.3.
Start the Auto-tuning procedure while checking that the motor shaft rotation over one revolution is not
dangerous for the operator.
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, start the Auto-
tuning procedure while selecting a lower bandwidth. If the problem remains, renew the Auto-tuning while
activating the antiresonance filter.
Start the Offset compensation function or start the offset compensation by means of the Offset push- button
on the drive front panel.
Check that the motor is correctly running in both directions in Digital speed input command mode. If
necessary, readjust the speed regulator parameters by means of the Stability button.
3.4 - PARAMETERS ADJUSTMENT TO A LINEAR MOTOR
The Motor encoder resolution parameter is calculated as described below:
The motor Maximum speed parameter value in rpm is calculated according to following formula:
The linear speed value in m/s is calculated according to following formula:
WARNING
The auto-tuning procedure should be executed by the PC in control mode and at standstill. If
the auto-tuning procedure must be executed with the drive controlled by the analog command
input CV, the value of the input command MUST be 0 Volt. It is the user's responsibility to take
all necessary steps in order to reduce the risk due to uncontrolled axis movements during the
auto-tuning procedure.
Encoder signal pitch (μm)
Motor encoder resolution = 1000 x
1 encoder signal pitch = 4 counting increments
Maximum speed (rpm) = 60 x
x Maximum motor speed (m/s)
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