Multiturn communication
error
The multiturn counter chip is in error state. Check the battery voltage and
replace it if needed.
I2C communication error: No
EEPROM or I2C
communication error
Communication with the EEPROM memory of the chip is distorted. Power
Cycle the drive. If this can’t be reset, there is a hardware problem.
1.5.2.2.6.4 Calibration 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).
1. Download and install a special calibration version of the firmware
2. In order to reliably execute the calibration procedure, velocity should be tuned soft. 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.
3. 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 positive direction and then will return to the original
position. This will repeat a few 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.
4. After the calibration procedure is done, check the estimated phase error plot. Note the resulting phase
error margin. A smaller margin results in more robust behavior of the encoder system: small mechanical
changes, vibration and temperature expansion are less likely to cause an error.
Synapticon Documentation
© 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01
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