To determine a number of parameters related to the motor and the connected sensors (encoders/Hall sensors), you must perform an auto setup. Closed Loop operation requires a successfully completed auto setup.
Auto setup determines various parameters of the connected motor and of the present sensors by means of multiple test runs and measurement runs. To a certain extent, the type and number of parameters are dependent on the respective motor configuration.
|Parameter||All motors independent of the configuration|
|Motor type (stepper motor or BLDC motor)||X|
|Parameter||Motor without encoder||Motor with encoder and index||Motor with encoder without index|
|Alignment (shifting of the electrical zero to the index.)||-||X||---|
|Parameter||Motor without Hall sensor||Motor with Hall sensor|
To preselect the auto setup operating mode, enter the value "-2" (="FEh") in object 6060h:00h.
The power state machine must now switch to the Operation enabled state, see CiA 402 Power State Machine.
Start auto setup by setting bit 4 OMS in object 6040h:00h (controlword).
While the auto setup is running, the following tests and measurements are performed in succession:
1) To determine the values, the direction of the measurement method is reversed and edge detection re-evaluated.
Value 1 in bit 12 OMS in object 6041h:00h (statusword) indicates that the auto setup was completely executed and ended. In addition, bit 10 TARG in object 6041h:00h can be used to query whether (= "1") or not (= "0") an encoder index was found.