NANOTEC ELECTRONIC N5 - Page 38

Technical Manual N5 (CANopen)
4 Commissioning
Parameter Motor without encoder Motor with encoder
and index
Motor with encoder
without index
Alignment (shifting of
the electrical zero to the
index.)
- X ---
Parameter Motor without Hall
sensor
Motor with Hall sensor
Hall transitions - X
4.5.2 Execution
1. To preselect the auto setup operating mode, enter the value "-2" (="FE
h
") in object 6060
h
:00
h
.
The power state machine must now switch to the Operation enabled state, see CiA 402 Power
State Machine.
2. Start auto setup by setting bit 4 OMS in object 6040
h
:00
h
(controlword).
Identify motor type
Start Auto-Setup
Determine windings resistance
Determine windings inductivity
Determine magnetic flux
Encoder
and encoder-index
available?
End Auto-Setup
Save parameters
No
Yes
Measure Hall transitions
Determine pole pairs
Determine encoder resolution
Determine alignment
Hall sensor
available?
No
Yes
Encoder and/or
Hall sensor available?
Invert direction of measurement
1)
Yes
No
While the auto setup is running, the following tests and measurements are performed in succession:
1) To determine the values, the direction of the measurement method is reversed and edge
detection re-evaluated.
Value 1 in bit 12 OMS in object 6041
h
:00
h
(statusword) indicates that the auto setup was completely
executed and ended. In addition, bit 10 TARG in object 6041
h
:00
h
can be used to query whether (=
"1") or not (= "0") an encoder index was found.
Version: 2.0.1 / FIR-v1650 38