Drive Configuration
Initial Setup of the Register Tree
5.2.2 Axis[].Parameters.Motor
This node contains registers related to the motor.
Type
: Servo axes mostly use three-phase synchronous motors for both linear and rotational axes.
Set
Type
to
SynchronousAC
in this case.
In case of a DC-motor (e.g. brushed dc-motors, voice-coil motor...) set
Type
to
DC
.
BrakeReleaseAction:
This parameter allows to select a digital output which is set to release the
brake when the axis is enabled.
With 'SetOut1' the digital output O1 is set. Also the Brake output of the motor connector X40 is
set.
With 'SetOut2' the digital output O2 is set.
For more information of how to connect the brake see the corresponding hardware manual.
BrakeHoldTime:
If there is a significant delay between the instance when the brake output is reset
and the instance when brake is applied mechanically, the
BrakeHoldTime
can be used to compen-
sate this delay. The axis will remain enabled for the duration of
BrakeHoldTime
to avoid a move-
ment of the axis during this delay.
InvertDirection
: With this parameter it is possible to alter the electrical direction of the motor.
The position controller prerequisites, that the electrical direction of the motor has the same orien-
tation as the direction of the encoder. If the orientation is opposite, the parameter
InvertDirection
has to be altered to align the directions. If the encoder direction is changed, flip the motor
InvertDi-
rection
too.
An incorrect setting of this parameter is often the cause for problems when the motor is enabled
the first time. The following symptoms could indicate an incorrect setting which requires to alter
the parameter
InvertDirection
The
Bode
measurement shows a phase shift of about 0° or a multiple of 360°. A phase shift of -
5 Similar symptoms are caused by incorrect configuration of
InvertDirection
,
EncoderCountsPerMotorRevolution
and
PolePairs (see also
section 5.5.1).
ServoDrive-SetupGuide_EP018
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Figure 37: BrakeHoldTime: Timing diagram of the brake output with BrakeRe-
leaseAction = SetOut1 and BrakeHoldTime = 1s.
