Triamec TSD Series, Руководство по установке

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Advanced Topics
Commutation with Absolute Encoders
pecially the commutation settings, and restart the phasing-sequence.
4. To activate commutation based on the absolute encoder set Axes[].Parameters.Commutation.En-
ablingMethod to AbsoluteEncoder .
6.1.3 Save Commutation Offset to the Encoder
The following steps are required to save the commutation offset to the encoder:
1. The commutation sequence has to be configured correctly in Axes[].Parameters.Commutation
(see also section 5.2.7).
2. Execute the phasing-sequence by executing the command Axes[].Commands.Commutation.Com-
mand = StartPhasingAndSaveEncoder .
3. Check if Axes[].Signals.Commutation.State is Valid . If State is not Valid , check the configuration, es-
pecially the commutation settings, and restart the phasing-sequence.
4. To use the commutation offset from the encoder set Axes[].Parameters.Commutation.Enabling-
Method to AbsoluteEncoderOffsetEncoder .
6.1.4 Save Commutation Offset to the Drive
The following steps are required to save the commutation offset to the drive:
1. The commutation sequence has to be configured correctly in Axes[].Parameters.Commutation
(see also section 5.2.7).
2. Execute the phasing-sequence either

by enabling the axis with the axis module (see 4.1) or

by executing the command Axes[].Commands.Commutation.Command = StartPhasing .
3. Check if Axes[].Signals.Commutation.State is Valid . If not Valid , check the commutation settings
and restart the phasing-sequence.
4. To use the commutation offset from the drive set register Axes[].Parameters.Commutation.En-
ablingMethod to AbsoluteEncoderOffsetDrive .
5. If Axes[].Signals.Commutation.State is Valid save the configuration persistent on the drive (see sec-
tion 3.5.1) to store the commutation offset.
6.1.5 How the Commutation Offset is Derived
During startup of an encoder, the axis checks if the parameter axes[].Parameters.Commutation.En-
ablingMethod requires taking the commutation offset from any absolute encoder:

AbsoluteEncoderOffsetDrive: try getting the offset from the persisted drive data.

AbsoluteEncoderOffsetEncoder : try getting the offset from the encoder name plate.
If this is successful, the commutation state will be Valid and enabling will be performed without phas-
ing.
If this fails, the axis will issue the error
NoDigitalEncoderPersistency , which can be acknowledged. The
next enabling will then depend on the parameter axes[].Parameters.Commutation.PhasingMethod . If
this is NoPhasing , enabling will throw an error. Otherwise, the specified phasing method is executed
and enabling is possible.
With this concept, the user can specify, how the drive should behave in case of a missing absolute com-
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