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 command 0x8007 to parameter FB00:01 Request.
For Channel 2: Write command 0x8017 to parameter 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 |
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100dec…200dec | Progress of the scan
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0 | The scan was successful |
1 | The scan was successful 0xFB00:03 Response contains additional information |
2 | Error |
3 | Error 0xFB00:03 Response contains additional information |
If the scan was successful, the values determined are saved in the following CoE parameters (Channel 1/2):
- 0x2003:16/0x2803:16 Torque constant
- 0x2003:18/0x2803:18 Rotor moment of inertia
- 0x2003:19/0x2803:19 Winding inductance
- 0x2003:2D/0x2803:2D Motor thermal time constant
- 0x2003:30/0x2803:30 Winding resistance
- 0x2003:31/0x2803:31 Voltage constant
- 0x2002:12/0x2802:12 Current loop integral time
- 0x2002:13/0x2802:13 Current loop proportional gain
- 0x2002:14/0x2802:14 Velocity loop integral time
- 0x2002:15/0x2802:15 Velocity loop proportional gain