Setup of Unknown Motors

-->K 
-->DIR 
yy 
-->DIR 21 (1) 
--> SAVE 
--> COLDSTART 
-->K 
-->PROMPT 2 
-->PRD 
yyyyy 
--> 
yyyyy 
--> 
yyyyy 
--> 
yyyyy 
--> 

; software disable for the output stage 
; retrieve data about direction of rotation 
; old value for data about direction of rotation. please note! 
; DIR at S600/400 = 1; S300/S700 = 21 = set default value. 
; DIR must be secured and a restart of the controller 
; is necessary. 
; software disable for the output stage 
; extended input mode in the terminal 
; show position of feedback; 20-bit display 
; current position of feedback 0 - 1048576 
; now turn the motor shaft to the right (positive direction) 
; and hold down the ENTER key. 
; The last command entered will be repeated for as long as 
; the ENTER key is activated or until a new command 
; is entered and sent. 
; The display values will become more positive as the motor shaft 
; is turned towards the right. 

-->K 
-->OPMODE 2 
-->SAVE 
-->MPOLES 
yy 
 -->MPOLES 0 
-->MPHASE 0  
-->EN 
-->T 0.5

; software disable for the output stage 
; switch to Opmode 2, digital. Current controller 
; and save 
; retrieve and note number of motor pole-pairs entered 
; 
; set Mpoles to 0 
; set elect. phase angle to 0 
; approve output stage. (Motor should not have any torque) 
; current specification in A (30% * MIcont, e.g. 0.5 A) Attention: motor may move!!

..... 
--> T0.5 
-->SETREF 
-->PFB 
0 
-->MPHASE 30 
-->PFB 
-300 
 -->MPHASE 60 
-->PFB 
-600 
 -->MPHASE 90 
-->PFB 
-900 
-->MPHASE 120 
-->PFB 
-1200 
::: 
::: 
-->MPHASE 330 
-->PFB 
-3300 
-->MPHASE 359 
-->PFB 
-3590 
-->K 
-->MPHASE 0 
-->SAVE 
-->COLDSTART

; see Table 2 
; current specification in A (30% * MIcont, e.g. 0.5 A) Attention: motor may move!! 
; set position to 0, (caution with absolute encoder) 
; retrieve actual position, which should be 0 here. ( depending on ROFFS ) 
; 
; the phase angle (MPHASE) is now increased at 30° intervals, whereby the motor axis 
; must move each time by approximately 3.75° mech. to the left (negative). 
; PFB shows the current position in 1/10 electr. degrees. (288000 / 8 / 12=300) 
; The value needs to become more negative. 
; If it does not become negative, or if the motor does not move to the left (negative) 
; there is a faulty connection! In this case, switch off the controller and 
; swap 2 motor connections, e.g. U and V. After the restart, begin again at Table 2. 
; Possible combinations are: 

..... 
--> T0.5 
-->MPHASE 90 
-->MSG 2 
-->PFB 
165.449 
194596 
--> MPHASE 244 
--> SAVE 
-->K 
-->COLDSTART

; see Table 2 
; current specification in A (30% * MIcont, e.g. 0.5 A) 
; set phase angle to 90°. Attention: motor may move!! 
; provide extended messages 
; position of motor axis is displayed, the 1st value states the angle of rotation in °. 
; Multiply this angle by the number of pole-pairs, e.g. 165.5 * 8 = 1324. From 
; this result, deduct 360 until a value between 0 and 359 remains. 
; The rounded value is the value for MPHASE: 1324-360-360-360=244. 
: Save value and restart controller. 
; 
; you may need to set the operating mode.

-->K 
-->OPMODE 2 
-->MSG 2 
-->EN 
-->ZERO 5000
mphase = 244 
165.449 
-->ZERO 5000
mphase = 244 
210.449 
--> SAVE 
-->K 
-->COLDSTART 
-->OPMODE x

; Block controller approval 
; switch to current controller operating mode 
; approve extended messages. 
; Set controller approval 
; enter ASCII command ZERO 5000. Attention: motor may move!! 
; Controller performs its function and calculates the MPHASE 
; turn the motor axis approximately 45° and enter the command again. 
; The same MPHASE value should be calculated. 
; 
; 
; Save data and 
; restart controller 
; you may need to set the operating mode.