COGCOMP.TEACH

Description

To execute this command the drives operating mode needs to be velocity, and the command source needs to be service.

For rotary applications:

When COGCOMP.RANGELOW and COGCOMP.RANGEHIGH are set to 0, the axis will move autonomously around one turn with the defined velocity in COGCOMP.V.

When COGCOMP.RANGELOW and COGCOMP.RANGEHIGH are unequal to 0, see the behavior for linear applications.

For linear applications:

The axis will move autonomously in the range defined in COGCOMP.RANGELOW and COGCOMP.RANGEHIGH. The start position of the axis must be below COGCOMP.RANGELOW. The move will be done in velocity mode and the drive will ramp down the velocity when COGCOMP.RANGEHIGH is reached. This means the final end position is defined by the COGCOMP.RANGEHIGH position and deceleration ramp.

For both applications:

During this move, the torque distortion due to cogging of the motor will be measured. While the move is executed, the DRV.MOTIONSTAT bit 22 is set. After the move has been finished and the correction table has been calculated, bit 22 is cleared.


  • To achieve a good result, it’s recommended to use very stiff tuning for this move and have no load attached to the axis. Otherwise, the move might create implausible entries for the cogging correction table.

General Information

Type

Command

Units

N/A

Range

N/A

Default Value

N/A

Data Type

N/A

Start Version

M_01-14-07-000

Variants Supported

Variant Supported
AKD Base Yes
AKD with Position Indexer Yes
AKD EtherCAT Yes
AKD CANopen Yes
AKD BASIC No
AKD SynqNet Yes*
AKD EtherNet/IP Yes
AKD Profinet Yes
AKD sercos® III Yes
AKD-N Yes
AKD-C Yes

*In SynqNet, a parameter may be available in the firmware but have no effect on the system. See SynqNet Supported Parameters.

Fieldbus Information

If your drive type is listed as supported but no index, address, or instance number is listed, then this parameter is accessible through WorkBench, but not over your fieldbus type. For information on SynqNet parameters see Supported Parameters (➜ p. 1).

Fieldbus Index/Subindex Object Start Version

EtherCAT COE and CANopen

540Fh/0

M_01-14-07-000

Fieldbus

Address

Attributes Signed?

Profinet

3043

Word No
sercos® III 2 Octets
Fieldbus Instance Data Size Data Type
EtherNet/IP 1044 2 Byte None

Fieldbus

Index/Subindex

Is 64 bit? Attributes Signed? Object Start Version

Modbus

2902

No Command No M_01-14-07-000