Auto Tuning and Encoder Data Loading
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Motion 4000
Loading Data from PM AC Encoder to the F5 Drive
EnDat, Sin/Cos, and Hiperface encoders are capable of storing critical operating information,
including motor pole position/encoder absolute position data. If the encoder was installed on
the machine/motor by the machine supplier, they may have pre-loaded this data into the
encoder. If so, you can download it to the drive.
Typically, a drive can be used with many different encoders. This is accomplished by using an
interface card in the drive that is specific to the encoder. It is very important that the card
installed in your drive is correct for the encoder you are using. Check your drive manual for
information about displaying the installed card type. (For Torqmax/Keb F5 drives, parameter
0.LF.26 displays the encoder card type.)
1. Check 0.LF.26 to verify that the encoder card matches the encoder you are using.
2. Check drive parameter 2.LF.26 to verify serial communication (“conn” displayed).
3. Go to parameter 3.LF.26 and press Function. The display will change to IdLE.
4. Press the drive UP arrow. The display will change to rdEnc.
5. Press Enter. The display will change to “no”.
6. Press the UP arrow. The display will change to YES.
7. Press Enter. The display will change to rEAd. The drive will read the encoder data and
update motor and drive parameters.
This process loads motor parameters LF.10 through LF.19, LF.27, LF.34, LF.35, and LF.77.
Refer to the drive manual for more information if necessary.
Learning Encoder Data From PM Machines
If the motor data was not pre-loaded into the encoder by the supplier, you will need to learn the
information by running the motor. Refer to the procedure for aligning an absolute encoder for
use with a permanent magnet motor in the drive manufacturer manual.
As stated earlier, the drive manual provides a step-by-step start up procedure for preparing the
drive to run with your machine. Read and follow the drive manufacturer instructions.
Setting the Drive to Run Mode
Parameter LF.3 allows the drive to be configured, to learn, or to be placed in run mode. To set
the drive to run mode:
1. Set LF.3 to run.
2. Press ENTER.
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