Chapter 6 – Commissioning
3.8 - APPLICATION OF THE STEPPER MOTOR EMULATION
The stepper motor emulation is only possible on motors equipped with a resolver. The Pulse and Direction
signals are received via the input of the second drive position sensor, on the TTL encoder input pins.
- Select Stepper emulation in the Position sensor configuration window.
- Launch the Autotuning procedure by selecting the Position mode.
Note: The position loop stability can be tested with the PI
2
speed mode because the Feedback gains are identical
to the Position mode.
- Enter the value of the Position resolution parameter in the Scaling window as shown below:
Position resolution = 2 x number of pulses issued by the controller for one motor revolution
- Set at 0 the value of the Position deadband parameter. This parameter is only useful for applications with high
transmission backlashes or with high axis frictions. In those cases, when the position error value at standstill is
lower than the Position deadband parameter value, the proportional gain of the position loop is set at 0.
- Enable the drive and check the axis displacement during the execution of the controller program.
- If the axis does not move, check that the CV0 input is disabled.
- If there is a loud noise in the motor during the axis displacement, the Feedforward acceleration gain must be
set at 0.
- If the motor is moving in the wrong direction, select the Reverse movement command in the Speed limit
window.
3.9 - SOFTWARE GEARING APPLICATION
The software gearing application requires the use of the drive second position sensor for measuring the
displacements of the master axis.
- If the motor is equipped with a resolver, select the encoder type for the input of the second sensor in the
Encoder input configuration part of the Position sensor configuration window.
- When using a master SinCos encoder, adjust the Position scaling factor parameter in the Second sensor
window for increasing the resolution of the position measurement. Otherwise, set at 1 the value of the Position
scaling factor parameter.
- Execute the Autotuning command by selecting the Position mode.
Note: The position loop stability can be tested in PI² speed mode because the Feedback gains are identical to the
Position mode.
- When using a master encoder, enter the value of the Position resolution parameter in the Scaling window, as
described below:
Position resolution = (4 x number of encoder pulses/channel for one axis revolution of the master encoder x
Position scaling factor) / reduction ratio.
Reduction ratio = Motor speed / Master encoder speed
- When using a master resolver, enter the value of the Position resolution parameter in the Scaling window, as
described below:
Position resolution = (65536 x Position scaling factor) / Reduction ratio
Reduction ratio = Motor speed / Master resolver speed
- Set at 0 the value of the Position deadband parameter. This parameter is only useful in applications with high
transmission backlashes or applications with hig axis frictions. In those cases, when the position error value at
standstill is lower than the value of the Position deadband parameter, the proportional gain of the position loop
is set at 0.
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