When the external encoder moves a fixed distance and feeds back the same gear pre-pulse data,
you can enter the next step, otherwise, please check the external encoder installation, hardware
wiring and pulse mode again.
Step 3：Set the main encoder cycle
The main encoder cycle needs to fill in the number of AB-phase pulses between two adjacent Z-
phase signals of the external encoder. If the rotary encoder has 1 Z-phase signal per revolution, the
main encoder period is equal to the resolution of the external encoder. Setting the main encoder
cycle to 0 means not to detect the number of pulses between adjacent Z signals.
Step 4：Sets the main encoder counting direction
When the counting direction of the main encoder and the motor encoder is inconsistent, the full
closed-loop fault alarm will appear when the full closed-loop control is turned on, which can be
adjusted by the counting direction of the main encoder (0x250A03).
Main encoder count the default value is 1, rotate the motor shaft and observe its absolute position
and the main direction of the change of the absolute position encoder, if change the position of the
two objects in the same direction you do not need to modify the master the direction of the encoder
count number, if two position changes direction is not consistent the direction should be the main
encoder count is set to 0.Note: All above operations are done with loose shafts.
Step 5: Set up full-closed-loop master check and full-closed-loop slave check
These two parameters are mainly used to prevent the external encoder from skidding during
the full closed-loop operation. When the running speed of the main encoder and the running
speed of the motor are not within the ratio range of the full closed-loop spindle inspection/the
full closed-loop slave-shaft inspection, the full closed-loop fault and internal error of the drive
will be reported.
The values could not be set too large
，otherwise it may cause the motor fly.
The calculation method of the master-slave axis ratio is as follows：Firstly, the full closed-loop
control is set to 0 and the mechanical connection between the motor and the main encoder is intact
and non-skid. Clear the gear front pulse data and remember the actual position value (such as
150231), manually rotate the motor to drive the main encoder to operate for a certain distance, then
observe the gear front pulse data and the actual position, and confirm the ratio according to the
difference between the two positions.As shown in the table below, according to the final results, the
full closed-loop spindle check =1586 and the full closed-loop slave shaft check =1000 are calculated.
Table 6-19 Calculation method of
master-slave shaft inspection
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