Drive Configuration
Preparation
5.1.3 Units
The unit for the position can be set with register
Axes[].Parameters.PositionController.PositionUnit
. For
linear axes
m
or
mm
and for rotational axes
turns
,
degree
or
rad
can be set.
Note
Note
It is recommended to set the unit for the position prior to commissioning the drive.
All other dimensions are defined according the
International System of Units (SI)
.
5.2 Initial Setup of the Register Tree
This section describes the initial setup of the parameter registers. It is good practice to fill the registers
from top of the tree to bottom while leaving not yet known parameters (e.g. controller gains) out for
later configuration. This section follows this practice and explains how to set the relevant parameters
for a common application. Parameters not covered in this section keep their default value. See section
3.1.1 on how to write and commit parameters. For people with experience in Triamec drive configura-
tion, Figure 68 can lead you through the setup.
Remark
Remark
If the drive was used for a different application before, it is recommended to reset the
registers to default values (see section 3.5.1).
The register Tree contains three nodes:
General:
The
General
node contains registers which are relevant for the drive but not dedicated to
an axis.
Axis:
The
Axis
node contains registers which are related to the axis.
Application
: These registers are only relevant in conjunction with a
Tama program
and are not cov-
ered in this section.
The following parameters must be configured for an initial setup:
5.2.1 General.Parameters
DcBusVoltagelowerLimit, DcBusVoltageUpperLimit:
This values are used to monitor the DC bus volt-
age (
General.Signals.DcBusVoltage
). If the measured DC bus voltage is out of the specified range,
a
DcBus
VoltageOutOfRange
error is issued.
It is recommended to set the range plus minus 10 to 20 % of the nominal DC bus voltage. For appli-
cations with recuperation of energy (e.g. spindles) the upper limit has to be set slightly above the
setpoint voltage of the brake resistor. The setpoint of the brake resistor can be found in the hard-
ware manual of the TP device.
EncoderTopology:
The
EncoderTopology
is only different from
Standard
if the encoders are con-
nected to the drive in a nonstandard way e.g. if option modules are used (see also [8]).
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