NANOTEC PD4-C - Page 29

4 Commissioning
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 29