4 îîQuick-start guide
4.4.10 Automatic identification of the current controller
Damage to property caused by incorrect data
Incorrect data of the current controller gain and time constant may cause oscillations.
This, in turn, may destroy the motor and the servo drive.
The current controller is automatically identified during the commissioning process. The
following parameters are determined during the identification:
l Current controller gain
l Current controller time constant
Outside the commissioning process, the function can also be accessed as follows:
Parameters/Controller parameters/Current controller
Button Auto detect
4.4.11 Configuring the polarity of the limit switches
This menu can also be accessed via Parameters/Device parameters/Limit switches.
Adjust your drive such that no limit switch is active. Ensure that no LED is active in the
menu shown below. You can configure this by clicking Normally closed or Normally open.
The switch symbols indicate the recognised state of the inputs.
Figure 17: "Limit switches" window
The checkbox Change limit switch can be used to swap the assignment of the two digital
inputs DIN6 and DIN7 to the limit switches E0 and E1. The physical limit switch that is
connected to DIN6 adopts the mode of operation of the limit switch that is connected to
DIN7 and vice versa. As a result, the functional assignment can be changed flexibly
without having to change the wiring of the servo drive.
The little illustration in the middle shows a blue arrow when the drive moves towards one
of the limit switches.
Product manual BL 4000-C Page 56 of 298
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