Technical Manual PD4-E-M (EtherCAT)
4 Commissioning
While the auto setup is running, the following tests and measurements are performed in succession:
1) To determine the values, the direction of the measurement method is reversed and edge
detection re-evaluated.
Value 1 in bit 12 OMS in object 6041
h
:00
h
(statusword) indicates that the auto setup was completely
executed and ended. In addition, bit 10 TARG in object 6041
h
:00
h
can be used to query whether (=
"1") or not (= "0") an encoder index was found.
Master/Software
Motion Controller
write 6060
h
:00
h
= FE
h
read 6061
h
:00
h
(= FE
h
?)
write 6040
h
:00
h
= 0006
h
read 6040
h
:00
h
(Bit 9, 5 und 0 = 1?)
write 6040
h
:00
h
= 0007
h
read 6041
h
:00
h
(Bit 9, 5, 4, 1, 0 = 1?)
write 6040
h
:00
h
= 000F
h
read 6041
h
:00
h
(Bit 9, 5, 4, 2, 1, 0 = 1?)
write 6040
h
:00
h
= 001F
h
Wait for auto-setup
to finish.
read 6041
h
:00
h
(Bit 12, 9, 5, 4, 2, 1, 0 =
1?)
write 6040
h
:00
h
= 0000
h
4.2.3 Parameter memory
After a successful auto setup, the determined parameter values are automatically taken over into the
corresponding objects and stored with the storage mechanism, see Saving objects and 1010h Store
Parameters. Categories Drive 1010
h
:05
h
and Tuning 1010
h
:06
h
are used.
CAUTION
!
Uncontrolled motor movements!
After the auto setup, the internal coordinate system is no longer valid. Unforeseen reactions can
result.
►
Restart the device after an auto setup. Homing alone does not suffice.
4.3 Test run
After configuring and the auto setup, a test run can be performed. As an example, the Velocity
operating mode is used.
Version: 1.0.1 / FIR-v1748
27
