CL3-E CANopen/USB/Modbus RTU Online Manual

Auto setup

Description

To determine a number of parameters related to the motor and the connected sensors (encoders/Hall sensors), an auto setup is performed. Closed Loop operation requires a successfully completed auto setup. Auto setup is only to be performed once during commissioning as long as the motor connected to the controller is not changed.

For details, see the corresponding section in chapter Commissioning.

Note: The limit switches and, thus, the tolerance bands are active in this mode. For further information on the limit switches, see Limitation of the range of motion.

Controlword

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

  • Bit 4 starts a travel command. This is carried out on a transition from "0" to "1".

Statusword

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

  • Bit 10: Indexed: indicates whether (= "1") or not (= "0") an encoder index was found.
  • Bit 12: Aligned: this bit is set to "1" after auto setup has concluded
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