Scan Feedback
The following parameters are determined during the "Scan Feedback" procedure:
- The counting direction of the encoder: parameter 8008:01 "Invert feedback direction".
- The arrangement of the Hall sensors in the motor: parameter 800A:12 "Phasing".
- The commutation offset of the Hall sensors: parameter 800A:13 "Hall commutation adjust".
The following parameters are checked for plausibility during the scan procedure:
- 8008:13 "Encoder increments per Revolution"
- 8011:13 "Motor pole pairs"
Executing the scan
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The motor shaft moves during the scan procedure Injuries and damage to property are possible.
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- 1. Ensure that all other feedback parameters are set correctly.
See chapter Configuration of the feedback. - 2. Ensure that all motor parameters and amplifier parameters are set correctly.
See chapter Configuration of the motor and amplifier. - 3. Write the command 0x8008 to the register FB00:01 "Request".
- The scan runs.
- The value of the register FB00:02 "Status" shows the progress of the scan.
The values 100dec…199dec correspond to 0... 99 %. - 4. Wait until the register FB00:02 "Status" has one of the following values: 0, 1, 2, 3.
- Value 0: The scan has been successfully completed.
- Value 3: Error. See chapter Error diagnosis.