Drive Configuration
Initial Setup of the Register Tree
torque constant of the motor are known, the parameter could be set to:
FeedForwardAcceleration
=
Inertia
TorqueConstant
But in general it is recommended to set this parameter to zero for the initial setup. The parameter
can then be set and optimized later based on measurements as described in section 5.4.6.
FeedForwardCoulombCurrent
: This parameter compensates Coulomb friction. Initially this parame-
ter should be set to zero. If required, the parameter can then be set later based on measurements.
FeedForwardCoulombVelocity
: With this parameter the transition range of the coulomb feed for-
ward can be set. This allows to smooth the transition of the current when the direction of the
movement is changed.
FeedForwardFilter
: By default the
Type
of the filter should be set to
bypassed
.
OutputLimit
: This parameter restricts the output of the position controller. Typically this parameter
ist about 5-10% below the peak current of the motor or the drive, depending on which is smaller.
5.2.5 Axis[].Parameters.PositionController.Encoders
The encoder node contains registers to configure
Encoder[0]
and
Encoder[1]
. For an axis with only a sin-
gle encoder only
Encoder[0]
has to be configured. Encoder[1] is used if an axis provides a second en-
coder signal, e.g. for dual loop-control.
Type
: This parameter is set to the encoder type connected to the related connector. By default this
is connector X20 for
Axis[0]
and X21 for
Axis[1]
. Set
Type
to
Analog
if the position information is pro-
vided by a pair of analog sine and cosine signals with an amplitude of 1Vpp. See [8] for information
about other supported encoder types. If no encoder is attached to the connector, the parameter
has to be set to
None
to avoid an
EncoderError
.
InvertDirection
: This parameter is used to define the positive direction of the position. Set this pa-
rameter to
True
, if the positive direction of the encoder position is opposite to the positive direction
of the physical axis. In case this parameter is changed on an already commissioned axis, change the
parameter
Motor.InvertDirection
too.
Pitch
: This parameter defines the scale of the position. If
Type
is
Analog
or
Incremental
, the value of
Pitch
is the distance between two encoder lines. Examples:
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Figure 38: Coulomb feed forward.
