Scan motor
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The motor moves during scanning The motor rotates in both directions by approx. 1 revolution each during scanning. Injuries and property damage are possible.
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You can perform the scan with or without a connected load. If you perform the scan with a connected load, the joint moment of inertia of the motor shaft and the load is measured when the parameter 0x2003:18 "Rotor moment of inertia" is measured.
- Prerequisite: all previous steps in this quick start guide have been carried out correctly.
- 1. If you have already enabled the axis, cancel the axis enable
- 2. For channel 1: Write the command 0x8007 to the register FB00:01 "Request".
For channel 2: Write the command 0x8017 to the register FB00:01 "Request". - The scan will be executed. It takes about one minute.
- 3. Monitor the status of the scan in parameter 0xFB00:02:
Value of 0xFB00:02 "Status" | Meaning |
|---|---|
100dec…200dec | Progress of the scan
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0 | The scan was successful |
1…3 | Error. See error message in the "Diag History" |
If the scan was successful, the values determined are saved in the following CoE parameters:
- 0x2003:16 "Torque constant"
- 0x2003:18 "Rotor moment of inertia"
- 0x2003:19 "Winding inductance"
- 0x2003:2D "Motor thermal time constant"
- 0x2003:30 "Winding resistance"
- 0x2003:31 "Voltage constant"
- 0x2002:12 "Current loop integral time"
- 0x2002:13 "Current loop proportional gain"
- 0x2002:14 "Velocity loop integral time"
- 0x2002:15 "Velocity loop proportional gain"