Commissioning 9.1 Safety guidelines for commissioning
The following two methods can be used for all 1FW6 torque motor sizes:
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Motion-based technique
The
This technique can also be used as commissioning support when determining the angular commutation offset for the first time or checking the angular commutation offset, in conjunction with an absolute measuring system (e.g. RCN 727 from Heidenhain).
The procedure can be applied for vertical and horizontal axes whose load cannot be reduced in an uncontrolled manner when the machine is disconnected from the power supply. In this case, the axes must be able to be freely moved and not be braked. (static friction < 10% of the rated motor torque).
In the
WARNING
For inclined and horizontal axes, the load may be reduced in an uncontrolled manner if the center of gravity is outside the rotary axes when the system is disconnected from the power supply. At certain times the axes angle cannot be monitored.
Inductance-based technique
The
This technique does not require the rotor to move, which means that it can also be used for axes that are locked (e.g. using a brake). Axes that are not locked can rotate, however. Depending on the actual mechanical design, this technique can result in a higher noise level when the axes is powered up during the identification routine.
Note
The
1FW6 | 161 |
Configuration Manual, 05/2009, |
