Feature Configuration
ANCA Motion
DS619-0-00-0019 - Rev 0
111
10
3. Set
Alignment Off Index Pulse
to
Enable
(IDN 33062 = 2).
4. Set
FOI Control
to
Once
(IDN 33060 = 1).
Once this procedure is complete, on subsequent power cycles of the drive the alignment angle will
automatically be corrected once the index pulse is located.
Error messages
E403: Alignment Off Index Pulse Error
The commissioned index pulse offset value (IDN 33064) is determined by a machine commissioner.
Upon machine power up the motor will execute Field Orientation Initialisation to achieve field alignment.
Subsequent to this, and once the index pulse has been located, a new estimate off the index pulse
offset (IDN 33063) is calculated. This error is produced when the difference between this estimate (IDN
33063) and the commissioned value (IDN 33064) exceeds the tolerance defined by IDN 33058, where
the default value is 0.17 [elec rev]. Possible cause of this error is:
incorrect encoder configuration by the commissioner (i.e. UVW hexant binary);
a change in the stored commissioned value; and/or
a change in the hardware configuration (relative movement between the motor and encoder).
Analogue Commutation Tracks
Analogue commutation tracks (sinCOM / cosCOM) of an incremental encoder are typically aligned with the index
pulse, namely the index pulse is located at zero degree of the commutation track. Hence rotor electrical angle
can be determined based on the commutation tracks, if the offset angle between index pulse and the stator
magnetic field is known. Typically this offset angle is zero, if this is not the case, then an offset can be added
using IDN 33066.
For illustrative purpose,
Table 10-4
below lists the key parameters for configuring Commutation Track FOI. It is
important to note that ID33066 is set to 0.
Table 10-4 Configuration parameters for Use analogue commutation tracks FOI algorithm
IDN
Name
Value
Unit
Note
33060
Field Orientation Initialisation
Control
1
0: none
1: once
2: always
33065
Field Orientation Initialisation
Type
3
1: DQ Alignment
2: Preset Offset
3: Absolute
4: Acceleration Observer
33066
MCFO_s32ThetaElec_Preset
Offset
0
[10
-4
elec rev]
Typically zero is the correct
value
33080
Absolute Feedback Type
1
0: None
1: Commutation track
2: Hall sensor
Error messages
E406: Absolute Encoder Alignment Error.
An error has occurred reading the absolute encoder data. Check the COM Track signal integrity.
E013: Commutation Track Amplitude Low
The amplitude of the encoder commutation track signals (cos² + sin²) is below the minimum limit, which
is 10000. That is, the following condition is true
(ID33364[0]
– 32768)
2
+ (ID33364[1]
– 32768)
2
< 10000
2
E014: Commutation Track Amplitude High
The amplitude of the encoder commutation track signals (cos² + sin²) is below the minimum limit, which
is 32700. That is, the following condition is true
(ID33364[0]
– 32768)
2
+ (ID33364[1]
– 32768)
2
> 32700
2
Acceleration Observer
The
Acceleration Observer
technique is a minimum displacement FOI, meaning that it is suited to applications
where excessive moment on the motor during initialisation is not acceptable.
