Technical Manual PD4-E-M (EtherCAT)
4 Commissioning
Note
The cycle time of the sync signal must always be set to 1 ms. You can set the bus cycle time (and,
consequently, the interpolation time in 60C2
) to integer multiples of 1 ms.
4.2 Auto setup
To determine a number of parameters related to the motor and the connected sensors (encoders/Hall
sensors), an auto setup is performed. Closed Loop operation requires a successfully completed auto
setup.
Note
•
Note the following prerequisites for performing the auto setup:
•
The motor must be load-free.
•
The motor must not be touched.
•
The motor must be able to turn freely in any direction.
•
No NanoJ programs may be running (object 2300
h
:00
h
bit 0 = "0", see 2300h NanoJ Control).
Tip
Execution of the auto setup requires a relatively large amount of processor computing power. During
the auto setup, this may result in fieldbuses not being operated in a timely manner.
Note
The limit switches and, thus, the tolerance bands are active in this mode. For further information on
the limit switches, see Limitation of the range of motion.
Tip
As long as the motor connected to the controller or the sensors for feedback (encoders/Hall sensors)
are not changed, auto setup is only to be performed once during initial commissioning.
Note
With the Plug & Drive motors, it is not necessary to perform an auto setup, as this was already
performed at the factory.
4.2.1 Parameter determination
Auto setup determines various parameters of the connected motor and of the present sensors by
means of multiple test runs and measurement runs. To a certain extent, the type and number of
parameters are dependent on the respective motor configuration.
Parameter
All motors independent of the configuration
Motor type (stepper motor or
BLDC motor)
X
Winding resistance
X
Version: 1.0.1 / FIR-v1748
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