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CL3-E CANopen/USB Technical Manual

Operating modes Parent topic: Operating modes

Auto-setup mode

Overview

Notes

WARNING
After an auto-setup mode is performed, the internal electrical coordinate system doesn't match with the encoder based coordinate system. Therefore the controller must be restarted. Only executing a home mode isn't sufficient. If the controller is not restarted, the machine can run out of control or cause malfunctions.
CAUTION

Prerequisites for performing the auto setup are:

  • The motor must be load-free.
  • The motor must not be touched.
  • The motor must be able to rotate freely in any direction.

Complex computations are performed during auto setup. Often this results in a lack of sufficient computing power to operate the field buses in a timely manner. The buses may be impaired during auto setup.
Note
The limit switches - and therefore the tolerance bands - are active in this mode. See chapter "Tolerance bands of the limit switches" for further information about the limit switches.

Description

The auto-setup function ascertains the following data of the connected motor in the course of multiple testing and measuring cycles:

  • Encoder resolution
  • Index width
  • Alignment (shifting of the electrical zero point to the index)
  • Compensation of encoder running inaccuracies

Activation

The following settings need to get set before starting the auto setup:
  1. 2030h: Pole Pair Count
  2. In case the motor is a BLDC:
    1. 3202hto the value "64" (=40h).
    2. 2031h: Peak current

To activate the mode, the value "-2" (=FEh) must be set in object 6060h (Modes Of Operation). The "Power state machine" can be put in the state "Operational enabled" afterwards (see chapter DS402 Power State machine). Then the auto setup can get started with bit 4 in the object 6040h (see following chapter).

Control word

The following bits in object 6040h have a special function:

  • Bit 4: Starts the auto setup. The start is carried out on a transition of "0" to "1".
  • Bit 6: With "0", all values are determined; with "1", only the encoder for the closed loop mode is measured (alignment, smooth running). For this purpose, the pole pair count (2030h) and encoder resolution (2052h) values must be preassigned.

Status word

The following bits in object 6041h have a special function:

  • Bit 10: Indexed: This bis is set to "1" when the index is overrun the first time.
  • Bit 12: Aligned: This bit is set to "1" after the auto setuo has finished.

Two phases

The auto setup procedure is subdivided into two phases:

Measurement

Description

In this step, the motor parameters required for the open loop modes and closed loop modes are determined one after the other.

Error

During measurement, the following errors (1003h) can occur:

Error code Description Solution approach
09207305h A/B pulses were not detected while the motor was rotating.

Is an encoder connected?

Are the A and B tracks correctly connected?
07207305h Sensor fault. Occurs when a shift in the index position is detected. To correct the fault, the motor controller must be unplugged and plugged in again. Is the shield at the encoder line correctly connected?
08207305h The index pulse was not detected. Is the index correctly connected? Does the motor have a higher pole pair count than 200?

Completion

After measurement, the motor controller restarts automatically and performs the parameter test (see "Parameter test").

Parameter test

Test

In this step, the drive is automatically switched into the profile torque mode and the field-generating current Id is gradually increased until the maximum current (2031h) is reached or the motor begins to move.

The reached current level is used as a benchmark for the grade of the measured parameter. Ideally, the current Id can be increased without the motor moving.

Completion

If the current level is over 50% of the maximum current (2031h), the test is closed with a positive result.

After the end of the test, the motor controller restarts automatically and becomes operational again.

Test result and parameter file

Test result

The test result can be read out in bit 15 of object 6041h. If this bit is set, the test was successful and closed loop mode is possible.

If the bit is deleted, closed loop mode is possible but the parameters are not optimal.

Parameters

After a successful Auto-Setup objects will get stored with the saving mechanism (see chapter Save Objects). The used categories are "Drive" 1010h:05h and "Tuning" 1010h:06h,

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