Lenze EtherCAT Controller-based Automation - Manual (Page 58)

7 Commissioning of the system
7.3 Detailed description of the commissioning steps
58
Lenze · Controller-based Automation · EtherCAT® Communication Manual · DMS 6.4 EN · 04/2014 · TD17
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
Either of the functions Pole position identification for 360°, Pole position identification
with min. movement and Pole position identification without movement can be selected in
order to determine the pole position for the currently activated motor encoder:
The functions should deliver approximately the same result. Due to e.g. friction, bearing forces, and
a trapezoidal field curve, however, the results can differ from each other. Here the method with one
full revolution (360°) will provide the most precise results and the method without any movement
will provide the most inaccurate results. The precision of the results can be increased by increasing
the percentage of the current amplitude.
After successful completion of pole position identification ...
... the controller inhibit is set automatically and the Resolver pole position (0x2C03/2 / 0x3403/
2) or the Encoder pole position (0x2C03/4 / 0x3403/4) determined for the activated feedback
system is set.
• For permanent storage, the changed settings must be uploaded from the Servo-Inverter i700 to
the Lenze Controller.
The »EASY Starter« can be used to upload the parameters of the servo inverter and to save them
as a file. This file can then be imported to the »PLC Designer«.
• The controller inhibit automatically set by the procedure can be deactivated via the CiA402
control word (0x6040 / 0x6840).
If an error occurs
If an error occurs during pole position identification or if pulse inhibit becomes active (e.g. due to
short-term undervoltage), the procedure is ended with controller inhibit without the settings being
changed.
If the motor was braked or blocked during pole position identification, this is detected at the end of
a measurement and no changes are made.
If pole position identification is aborted, the reaction set in the object, namely 0x2C60/0x3460
(monitoring of pole position identification: reaction) is triggered (Lenze setting: Fault).