1.2.3.3.2 Calibration Procedure
1.2.3.3.2.1 Prerequisite
Set up OBLAC Drives
Check the current version of OBLAC Drives (requires 20.2.0 or higher)
Install the latest firmware before commissioning
Configure your setup
Run Offset Detection
Perform System Identification
Perform Velocity Tuning
1.2.3.3.2.2 Performing the procedure
Attention
If two encoders are used, please calibrate encoder 2 (typically the motor shaft) first and then repeat the
procedure for encoder 1 (typically the output shaft).
Download and install a special calibration version of the firmware
In order to reliably execute the calibration procedure, the velocity should be tuned softly. Go to the velocity
tuning section and set the Bandwidth slider up to 20 Hz (the changed parameters will not be saved to the
Drive memory). Make sure the velocity control mode is functional by running some slow motion profile.
Use the CHECK ENCODER SYSTEM button to verify the current state of the encoder system.
The calibration requires mechanical rotation of the motor with an attached encoder.
The encoder will perform several revolutions in the positive direction and then will return to the original
position. This will be repeated several times.
Motion during calibration:
Encoder Revolutions, speed
Circluo 7, Encoder 1 (Inner ring) 2 revolutions, 20 RPM
Circluo 7, Encoder 2 (Outer ring) 18 revolutions, 180 RPM
Circluo 9, Encoder 1 (Inner ring) 2 revolutions, 20 RPM
Circluo 9, Encoder 2 (Outer ring) 9 revolutions, 90 RPM
Each iteration requires approximately 10 seconds.
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