9
6. Closed Loop Control Startup Steps (Continued)
9. Adjust as necessary
- CP21 Encoder phasing and direction.*** See table below for phasing information.
Setting: Description: NUM
Not Inverted No changes are made to A/B or direction of rotation 0
A-B Swapped Encoder channels A and B are swapped internally 1
Inverted Rotation The direction of motor rotation is reversed 16
A-B Swap &
Inverted Rotation
Encoder channels A and B are swapped internally and
the direction of motor rotation is reversed
17
Default = Not Inverted (0)
***If unsure of encoder phasing, run in Open Loop, V/Hz and monitor the Command Speed, CP27
and the Actual Motor Speed, CP28. They should have the same sign. If the motor runs in the wrong
direction, only the rotation needs to be reversed. If the motor does not run, jerks, draws high
current or vibrates excessivley, the encoder phasing may need to be changed.
- Speeds, CP13 - 15.
- Acceleration/Deceleration Times CP16 - 17.
- Speed Control Gains.
- CP22 = Proportional.
- CP23 = Integral.
- CP24 = Integral Offset.
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