ANCA Motion AMD2000 3A, Руководство пользователя

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Feature Configuration
ANCA Motion
DS619-0-00-0019 - Rev 0
107
10
Warning: Care should be taken to ensure that the resulting test move will not result in a mechanical collision.
Table 10-2 below lists the DQ Alignment configuration parameters.
Table 10-2 Configuration parameters for DQA algorithm considering alignment off index pulse
IDN Name
Default
Value
Unit Note
33060 FOI Control 1 or 2
1: FOI once, 2: FOI on
every re-enable
33065 FOI Type 1 1: DQ Alignment
33069 Alignment Current 3000 [mA]
axis/motor specific, may
need to be adjusted
Note that:

IDN 33060 can be set to 1 or 2 for activating DQ Alignment when the drive is first enabled after power-
on, or every time the drive is re-enabled, respectively.

IDN 33065 is set to 1 for choosing DQ Alignment technique.

IDN 33069 set to 3000 [mA] is typically a good starting point for servo motors sized for most machining
applications. It might need to be adjusted for other applications.
Error messages
The following errors might occur during DQ Alignment FOI.
E403: DQ Alignment Invalid Movement Detected
Motor movement error (the difference between the commutation angle and the measured electrical
angle) exceeded specified tolerance (0.15 elec rev or 54 elec deg). This error is usually triggered by the
motor not moving, moving too far or not enough, or moving in the wrong direction.
E405: DQ Alignment Current Control Error
Alignment current error (the difference between the command and measured motor current) exceeded
specified tolerance (IDN 33071). This error may be caused by sensor failure, current loop poorly tuned,
Safe Torque Off (STO) or motor/cable fault.
Procedure for testing / diagnosing faults with DQ Alignment FOI
Ensure configuration parameters are correct before starting the tests.
Note that:

For the convenience of discussion, x-axis is used in this section as an example.
Step 1: Activate log_DQA1.cmd and enable the x-axis.
Step 2: If DQ Alignment fails due to Error 402 (DQ Alignment Invalid Movement Detected), check the
logged data ThetaCmd_1.dat and ThetaFb_1.dat. Otherwise go to Step 3 .
Note that:

ThetaCmd_1.dat (IDN 33053) is the electrical angle command in [10
-4
elec rev], and

ThetaFb_1.dat (IDN 33807) is the electrical angle feedback in [10
-4
elec rev]
Normally ThetaFb_1.dat follows ThetaCmd_1.dat as illustrated in
Figure 10-7 . When DQ Alignment
fails and the axis trips out with Error 402, ThetaFb_1.dat does not follow ThetaCmd_1.dat anymore. This
is likely due to:

Incorrect motor poles IDN 32774 or/and incorrect encoder resolution IDN 116 ( Figure 10-8 ),
or/and

Incorrect phase sequence (see Figure 10-9 )