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.
| Index/Subindex | Object Start Version |
|---|---|
|
540Fh/0 |
M_01-14-07-000 |
| Fieldbus | Address | Attributes | Signed? |
|---|---|---|---|
|
PROFINET |
3043 | Word | No |
| Sercos® III | 2 Octets |
| Instance | Data Size | Data Type |
|---|---|---|
| 1044 | 2 Byte | None |
| Register Address | Is 64 bit? | Attributes | Signed? | Object Start Version |
|---|---|---|---|---|
|
2902 |
No | Command | No | M_01-14-07-000 |
