CL4-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/sensor connected to the controller is not changed. For details, see the corresponding section in chapter Commissioning.

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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