Servotronix CDHD2S - Page 6

Contents
4.12.1 Firmware update preparation ........................................ 99
4.12.2 Firmware update options ........................................... 100
4.12.3 Updating firmware via serial connection .............................. 101
4.12.4 Updating firmware on EtherCAT ..................................... 102
4.12.5 Restoration operation after firmware update .......................... 106
4.12.6 Ember mode ..................................................... 107
4.12.7 Download parameters via EtherCAT ................................. 107
5. Motor Setup ................................................................ 110
5.1 Motor Setup Wizard ..................................................... 110
5.2 Drive Identification ...................................................... 114
5.3 Motor Installation ....................................................... 115
5.4 Motor Initialization ...................................................... 115
5.5 Current limit ............................................................ 116
5.6 Velocity limit ........................................................... 116
5.7 Position limit ........................................................... 117
5.8 Motor Direction ......................................................... 117
5.9 New Motor Wizard ...................................................... 117
6. Application Setup ............................................................ 121
6.1 Parameters ............................................................. 121
6.1.1 Configuration of parameters ......................................... 121
6.1.2 Management of parameters - drive memory ........................... 121
6.2 Application Setup Wizard ................................................ 122
6.3 Communication ......................................................... 130
6.3.1 Serial baud rate .................................................... 131
6.3.2 CANopen baud rate ................................................ 132
6.4 Power Rating ........................................................... 132
6.5 Feedback ............................................................... 133
6.5.1 Incremental encoder ............................................... 133
6.5.2 Sine encoder ...................................................... 135
6.5.3 sensAR absolute magnetic encoder ................................... 135
6.5.4 BiSS-C interface .................................................... 136
6.5.5 EnDat2.x bidirectional interface ...................................... 137
6.5.6 Encoder analog output ............................................. 137
6.5.7 Resolver .......................................................... 138
6.5.8 Calibration of resolver and sine encoder ............................... 138
6.6 Secondary feedback ..................................................... 145
6.6.1 Overview of secondary feedback (dual loop control) .................... 145
6.6.2 Secondary feedback device .......................................... 146
6.6.3 Secondary feedback bus .......................................... 147
6.6.4 Secondary feedback unit ............................................ 147
6.6.5 Secondary feedback parameters ..................................... 149