Efficient Networks S120 manual Automatic encoder adjustment, Encoder adjustment using a zero mark

Vector control

4.15 Instructions for commissioning permanent-magnet synchronous motors

4.15.1Automatic encoder adjustment

Description

The pole wheel-oriented closed-loop control of the synchronous motor requires information about the pole wheel position angle. Automatic encoder adjustment must be used if the pole wheel position encoders are not mechanically adjusted and after a motor encoder has been replaced.

Automatic encoder adjustment only makes sense for encoders with absolute position information and/or zero mark. The following encoders are supported:

●Sin/Cos encoder with A/B-, R-track as well as with A/B-, C/D-, R-track

●Resolver

●Absolute encoder (e.g. EnDat, SSI)

●Incremental encoder with zero mark

Encoder adjustment using a zero mark

If an incremental encoder with zero mark is being used, after the zero mark has been passed, the position of the zero mark can be calibrated. Commutation with the zero mark is activated via p0404.15.

Commissioning

Automatic encoder adjustment is activated with p1990 = 1. When the pulses are enabled the next time, the measurement is carried-out and the angular difference determined (p1984) is entered into p0431. For p1990 = 2 the determined angular difference (p1984) is not entered into p0431 and has not effect on the closed-loop motor control. Using this function, the angular difference - entered into p0431 - can be checked. For extremely high moments of inertia, the run time can be scaled higher using p1999.

WARNING

The measurement causes the motor to rotate. The motor turns through a minimum of one complete revolution.

Integration

Automatic encoder adjustment is integrated into the system in the following way:

Overview of key parameters (see SINAMICS S List Manual)

●p0404.15 Commutation with zero mark

●p0431 Angular commutation offset

●p1990 Encoder adjustment selection

●p1999 Angular commutation offset calibration, scaling

152	Drive Functions
	Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4