5 Commissioning
BU 0210 en-3117 57
5 Commissioning
When commissioning POSICON applications, it is recommended that a specific sequence is adhered
to. The individual steps are described in the following.
Notes on special fault symptoms Section 7 "Operating status messages".
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Step 1: commissioning the axis without control
WARNING
Danger of injury due to unforeseen performance of
functions
Unforeseen performances of functions may occur during commissioning.
For lifting gear, prior to switching on for the first time measures must be taken to prevent the load from falling.
Ensure that the Emergency Stop and safety circuits are functional!
After the input of all parameters the axis should first be commissioned without control of the position or
speed.
• P300 "Servo Mode", setting 0 ("Off" or "VFC open-loop")
• P600 "Position control" setting 0 ("Off")
For lifting gear applications, when lifting loads with speed control, the parameter P107 "Brake
Application Time" and P114 "Brake Release Time" should be optimised after setting the speed control.
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Step 2: Commissioning the speed control
If no speed control is required or an incremental encoder is not available, this step can be skipped.
Otherwise the Servo Mode must be switched on. For operation in Servo Mode, the exact motor data
(parameter P200 and following) and the correct encoder resolution / pulse number of the incremental
encoder (parameter P301) must be parameterised.
If the motor only runs at a slow speed with a high current consumption after the Servo Mode is
switched on, there is usually an error in the wiring or the parameterisation of the incremental encoder
connection. The most frequent cause is an incorrect assignment of the direction of rotation of the
motor to the counting direction of the encoder. Optimisation of the speed control is only carried out
after commissioning of the position control, as the behaviour of the position control circuit can be
influenced by changes to the speed control parameters.
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Step 3: Commissioning the position control
After setting parameter P604 "Encoder Type" and P605 "Absolute Encoder" it must be checked
whether the actual position is correctly detected. The actual position is shown in parameter P601
"Actual Position". The value must be stable and become larger if the motor is switched on with rotation
to the right enabled. If the value does not change when the axis is moved, the parameterisation and
the encoder connection must be checked. The same applies if the displayed value for the actual
position jumps although the axis has not moved.
After this a set position in the vicinity of the actual position should be parameterised. If after being
enabled, the axis moves away form the position instead of towards it, the assignment between the
direction of rotation of the motor and the direction of rotation of the encoder is incorrect. The sign for
the speed ratio should then be changed.
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