Basic system configuration guide
Basic information
How to enable the motor
To enable the motor, the state machine flow must be followed. To change state, the Control-Word parameter (0x010) is used and to view the current state of the drive, the status word parameter is used (0x011). For more information about the state machine click here. For instance, the normal enabling sequence is the following:
Only if the drive is in fault state, set Control-Word to 128 by writing the following parameter - 0x010
Set Control-Word to 6 by writing the following parameter - 0x010
Set Control-Word to 7 by writing the following parameter - 0x010
Set Control-Word to 15 by writing the following parameter - 0x010
How to disable motor
Set Control-Word to 7 by writing the following parameter - 0x010
Storing parameters
In case any of the procedures below causes side-effects such as an under-voltage that could lead to configuration loss, storing parameters can be useful
To do this, write 0x65766173 to following parameter 0x6DB
Note
It is recommended to store the parameters in the drive's memory whenever a valid configuration or tuning is achieved.
Configuration
Basic configuration parameters
Motor configuration
Set the motor pair poles by writing the following parameter - 0x106
Set the motor rated current by writing the following parameter - 0x100
Limits
Set Max. position by writing the following parameter - 0x1EB
Set Min. position by writing the following parameter- 0x1EA
Set Max. velocity by writing the following parameter- 0x1E8
Set current direct Umax to limit maximum voltage output of current loop by writing the following parameter - 0x507
Set current direct Umin to limit maximum voltage output of current loop by writing the following parameter - 0x508
Set current quadrature Umax to limit maximum voltage output of current loop by writing the following parameter - 0x502
Set current quadrature Umin to limit maximum voltage output of current loop by writing the following parameter - 0x503
Set velocity Umax to limit maximum current output of velocity loop by writing the following parameter - 0x50E
Set velocity Umin to limit maximum current output of velocity loop by writing the following parameter - 0x50F
Set position Umax to limit maximum velocity output of position loop by writing the following parameter - 0x515
Set position Umin to limit maximum velocity output of position loop by writing the following parameter - 0x516
Feedbacks
Feedbacks configuration
Properly configure specific feedback parameters for each feedbacks that will be used (for example, encoder resolution). If the polarity of the feedback is uncertain, check the next step.
Polarity determination
The polarity needs to be configured correctly in each feedback that is going to be used. The following procedure will help determining the polarity of the feedback:
Set the polarity register of the feedback to be configured to 0.
Set voltage direct set-point to 0 by writing the following parameter - 0x019
Set voltage quadrature set-point to 0 by writing the following parameter - 0x018
Set operation mode to voltage mode by writing the following parameter - 0x014
Set generator mode to saw tooth mode by writing 1 in the following parameter - 0x380
Set generator frequency to a low value, for example 0.2 Hz by writing the following parameter - 0x381
Set generator gain to 1.0 by writing the following parameter - 0x382
Set generator offset to 0.0 by writing the following parameter - 0x383
Configure internal generator as commutation feedback by writing 3 in the following parameter - 0x151
Configure as position feedback the feedback of which the polarity is going to be determined by writing the following parameter - 0x361
Enable motor using the Control-Word parameter - 0x010
Increase voltage direct set-point little by little until the motor starts spinning, by writing the following parameter - 0x019
Once the motor is spinning, check if the actual position is increasing or decreasing by reading the following parameter - 0x030.
If the position is decreasing, set the polarity of the sensor selected as position feedback to 1. Repeat this procedure for any other feedback that is going to be used by changing the sensor being used as position feedback.
Feedback selection
Select the desired commutation feedback by writing the following parameter - 0x151
Select the desired reference feedback by writing the following parameter - 0x153
Select the desired velocity feedback by writing the following parameter - 0x360
Select the desired position feedback by writing the following parameter - 0x361
Velocity feedback filter (recommended)
Configuring one of the velocity feedback filters is recommended since it provides a smoother reading when using certain sensors.