8
CD1-k – User Guide
Chapter 2 - Commissioning
4.1.2 - SELECTION OF THE MOTOR TYPE
THE MOTOR USED IN THE APPLICATION IS CONTAINED IN THE MOTOR LIST OF THE PARAMETER
SETTING SOFTWARE
Select, in the motor list, the motor used in the application.
The motor selection will start the automatic calculation of the current loop parameters.
Check that the values of the parameters
Max. current
and
Rated current
are compliant with motor and amplifier.
If necessary, modify them according to the motor and amplifier specifications.
The parameter
Max current
defines the maximum output current value of the amplifier. It may vary between 20 %
and 100 % of the amplifier current rating.
The parameter
Rated current
defines the limitation threshold of the amplifier output RMS current (I
2
t).
It can vary between 20 % and 50 % of the amplifier current rating.
If the
Incremental encoder without HES
sensor
configuration is selected, start a motor phasing (
Phasing
)
procedure.
The motor phasing can be launched either in the control window of the
VISUAL DRIVE SETUP
software or via the
CANopen bus.
THE MOTOR USED IN THE APPLICATION IS NOT CONTAINED IN THE MOTOR LIST OF THE PARAMETER
SETTING SOFTWARE
Select the
New Motor
function and follow the instructions.
4.1.3 - ENCODER COUNTING PROTECTION
When servo motors are equipped with an encoder, any error in the encoder pulse counting generates an error in
the position measurement of the rotor and may involve uncontrolled motor movements that can be dangerous for
both operator and machine. The encoder counting protection of the CD1-k amplifier range allows the detection of
pulse counting errors and immediately disables the amplifier for reasons of security.
The encoder counting protection checks that the number of encoder pulses between to successive Z marker
pulses (or R reference signals) is equal to the value of the
Motor encoder resolution
parameter multiplied by the
one of the
Zero mark pitch
parameter. The encoder counting protection also checks that the encoder pulse
frequency is lower than 1,5 times the maximum encoder frequency. The maximum encoder frequency is
calculated in the amplifier according to the value of the
Motor encoder resolution
and
Maximum speed
parameters.
The value of the
Motor encoder resolution
parameter defines the number of encoder pulses (or encoder signal
periods) per motor revolution (for a rotary motor) or per motor pole pairs (for a linear motor).
The value of the
Zero mark pitch
parameter defines the number of motor revolutions (for a rotary motor) or of
motor pole pairs (for a linear motor) between two successive Z marker pulses (or R reference signals).
With a rotary motor, the
Zero mark pitch
parameter is generally equal to 1 because the encoder has got one Z
marker pulse (or one R reference signal) per motor revolution.
On a linear motor with only one marker pulse over the whole motor travel, the
Zero mark pitch
parameter
must
be defined at 15. In this case, the encoder counting protection checks that the measured encoder position has still
got the same value when the marker pulse is activated (no drift in the position measurement).
Note: In the
Incremental encoder
without HES
configuration, the motor phasing procedure (
Phasing
)
must be
renewed after the release of a
Counting
error because the current rotor position reference for the motor
commutation is not correct.
