6 Operating modes
clock
input
direction
input
t
t
min.
35µs
6.11 Auto setup
6.11.1 Description
To determine a number of parameters related to the motor and the connected sensors (encoders/Hall
sensors), an auto setup is performed. Closed Loop operation requires a successfully completed auto setup.
With the Plug & Drive motors, it is not necessary to perform an auto setup, as this was already performed at
the factory. For details, see the corresponding section in chapter Commissioning.
Note
The limit switches and, thus, the tolerance bands are active in this mode. For further information on
the limit switches, see Limitation of the range of motion.
6.11.2 Activation
To activate the mode, the value "-2" (="FE
h
") must be set in object 6060
h
(Modes Of Operation) (see CiA 402
Power State Machine).
6.11.3 Controlword
The following bits in object 6040
h
(controlword) have a special function:
●
Bit 4 starts a travel command. This is carried out on a transition from "0" to "1".
6.11.4 Statusword
The following bits in object 6041
h
(statusword) have a special function:
●
Bit 10: Indexed: indicates whether (= "1") or not (= "0") an encoder index was found.
●
Bit 12: Aligned: this bit is set to "1" after auto setup has concluded
Version: 2.0.1 / FIR-v1650 78
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