Setting the motor data
Prior to commissioning, the motor controller requires a number of values from the motor data sheet.
- Number of pole pairs: Object 2030h:00h (pole pair count) The number of motor pole pairs is to be entered here. With a stepper motor, the number of pole pairs is calculated using the step angle, e.g., 1.8° = 50 pole pairs, 0.9° = 100 pole pairs (see step angle in motor data sheet). With BLDC motors, the number of pole pairs is specified directly in the motor data sheet.
- Object 2031h:00h: maximum permissible motor current (motor protection) in mA (see motor data sheet)
- Object 6075h:00h: rated current of the motor in mA (see motor data sheet), limited by 2031h
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Object 6073h:00h: maximum current (for a stepper motor, generally corresponds to the rated current, bipolar) in tenths of a percent of the set rated current (see motor data sheet). Factory settings: "1000", which corresponds to 100% of the value in 6075h. Is limited by 2031h.
- Object 203Bh:02h Maximum duration of the maximum current (6073h) in ms (for initial commissioning, Nanotec recommends a value of 100 ms; this value is to be adapted later to the specific application).
- Setting the motor type:
- Stepper motor:
- Object 3202h:00h (Motor Drive Submode Select): Defines motor type stepper motor, activates current reduction on motor standstill: 0000008h.See also chapter Commissioning open-loop.
- BLDC motor:
- Object 3202h:00h (Motor Drive Submode Select): Defines motor type BLDC: 00000040h
- Stepper motor:
- Motor with encoder without index: You must set the encoder parameters after the Auto setup, see chapter Configuring the sensors.
- Stepper motor, brake control (and current reduction) activated: 0000000Ch
- BLDC motor, brake control activated: 00000044h
Due to the sine commutation and the sinusoidal current flow, the current of a motor winding can achieve an alternating current value that is briefly greater (by max. √2 times) than the set current.
At especially slow speeds or while at a standstill with full load, one of the windings can therefore be supplied with overcurrent for a longer period of time. Take this into account when dimensioning the motor and select a motor with larger torque reserve if necessary if required by the application.