CONFIRM MOTOR ENCODER PARAMETERS:
Once you get online with the drive you will need to confirm that the ABS Encoder Configuration is set to "Config 2".
Click on the motor icon at the top of the page:
Verify that the ABS. Encoder Configuration is set to "Config 2":
VALIDATE THAT THE DRIVE IS SCALED FOR YOUR DESIRED UNITS
Click on the gear icon at the top of the page:
Reference the following picture:
Validate that the Motor Direction is the way that you want it to be for positive numbers
The above would be for 1 motor revolution (2^20 = 1,048,576 counts per rev) = 360,000 degrees x 10^-3 (thousandths of a degree).
Validate that the Shaft Revolutions is set to 360000. This allows you to program positions in User Units or Degrees. The resolution is 0.001 Degree. Example 181.500 Degrees = 181500 UU
If motor revs and shaft revs are 1, the setting the commanded distance to 1,048,576 would be 1 revolution.
VALIDATE INDEX CONFIGURATION
Click on the gear icon at the top of the page:
Validate that the INDEX CONFIGURATION section on this page looks like the following picture:
The Modulo factor sets the roll over point, so when 360,000 is reached (1rev), the position then rolls over back to 0.
CLEAR OUT ANY PREVIOUS HOME OFFSETS AND SET NEW MACHINE ZERO POSITION
Click on the "Cyclic Monitor" button:
You will be able to monitor the position from here:
Click on the "Homing" icon:
On the Right Hand Side of the screen you should see the following window:
Set the "Homing Method" to 35
Set the "Home Offset" to 0 and Press the Enter Key
Press the "Drive ON" button
Press the "Homing" button
You will see that the position of the motor will change to zero in the monitoring screen:
Press the "Drive OFF" button
Press the "Save to Memory" button to save these changes:
NOTE: IT IS IMPORTANT NOT TO WAIT FOR THE FOLLOWING MESSAGE BOX TO DISAPPEAR AUTOMATICALLY:
Once the box has disappeared, press the "Software Reset" button or cycle Power on the drive:
Once the drive has reset or cycled power you can see that the position will change:
This is the motor shaft's current position with respect to the Index Pulse of the motor's encoder.
At this point you will want to manually position the motor/load to the Machine Zero Reference point that you desire.
Once you have done this you will look at the "Position Actual Value" under "Cyclic Monitor":
This position is the what we want to use for the Home Offset. We actually want to use the negative value for this number.
You will plug this into the "Home Offset" value:
Press the "Save to Memory" button to save these changes:
NOTE: IT IS IMPORTANT NOT TO WAIT FOR THE FOLLOWING MESSAGE BOX TO DISAPPEAR AUTOMATICALLY:
Once the box has disappeared, press the "Software Reset" button or cycle Power on the drive:
Once you have done this you will look at the "Position Actual Value" under "Cyclic Monitor" and you will notice that the position now reads 0 or close to 0 (if Modulo is 360,000 for example it may read 359999.
This is your new Machine Zero Reference. All absolute moves will be be referenced to this zero position:
