Feature Configuration
ANCA Motion
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10
10.
Feature Configuration
10.1
What this Chapter Contains
The following sections illustrate the use of the AMD2000 series drives in standalone mode for configuration or
execution of a variety of common tasks.
10.1.11
Analogue Encoder Compensation
Description
Analogue encoder compensation provides the user with the ability to adjust the raw SINCOS encoder signals
from the motor in order to compensate for static zero level offsets, or linear scaling imperfections in the encoder
feedback. Consider using encoder compensation when a plot of the raw SINCOS encoder feedback signals is
not centred on zero, or is not a perfect circle. Such a plot can be generated using the ANCA MotionBench
software supplied with the AMD2000. A detailed procedure is described below.
Software/Hardware Requirements
AMD firmware v02.036 or above
Procedure for Testing and Setting Up Encoder Compensation
Step 1: Using the ANCA MotionBench to capture and plot SINCOS encoder signals
Make sure that the SINCOS encoder is connected (see Section
3.6 Connector Overview
), configured (see
Section
10.1.18 Field Orientation Initialisation),
and your personal computer is linked to the drive (see Section
9.5
Connecting the AMD2000 to a PC
). Start-up ANCA MotionBench (see
Section 9.8 Configuring the AMD2000
Series Servo Drive
), and navigate to the Circle Graph interface. Start the measurements. If possible, rotate the
motor shaft by hand, or alternatively, use the
Start Motor
button on the page. You should then see data points
begin to appear on the page in an approximately circular shape.
Figure 9-1
shows a screenshot of the ANCA MotionBench when running the associated Circle Graph for a
typical SINCOS encoder setup. The topmost left corner of the Circle Graph Tab s
hows five buttons; “Start
Measurement”, “Clear”, “Motor Encoder”, “ZX”, and “ZY.”
Start Measurement must be pressed in order to start recording data and update the graph on display.
Once pressed, the button will toggle to “Stop Measurement” so the user may select when to cease
gathering data. The graph will automatically update while measuring.
Clear can be selected to erase the data and start again from the default settings. It is possible to clear
the plot while taking measurements.
Motor Encoder is a drop down box that allows the user to choose from the available list of SINCOS
encoders connected to the drive.
ZX stands for Zoom X. It allows the user to zoom in on the X axis (Encoder cosine data) by selecting a
region using the mouse. The first click and hold selects the starting point while the subsequent drag and
release of the mouse button selects the end point of the region to be zoomed.
ZY is similar for zooming as ZX, above, but for the Y axis.
The horizontal axis, or abscissa, represents the scale for the cosine signal from the encoder, whereas the vertical
axis, or ordinate, is the sine signal scale. Units for the two axes are ADC (analogue to digital conversion), and
both the maximum and minimum allowable levels of ADC are plotted as circles on the graph. The raw encoder
signals should fall within these two bounds. Both the raw encoder output and the user adjusted (“Adj.”) outputs
will be shown plotted on the same Circle Graph. The user determines the shape of the adjusted output by
Figure
10-1
). The user receives immediate visual confirmation of the effect of their changes by inspecting the Circle
Graph “Adj.” outputs.
If the user positions the mouse cursor to ‘hover’ above each of the Adjustment Parameter titles, then a tool tip will
appear displaying the IDN of the particular parameter and its title in the data dictionary (as shown in
Figure 10-1
Circle Graph Tab
for IDN 33804).
