COGCOMP.TEACH

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COGCOMP.TEACH

This content is not applicable to KAS, using either a PAC"Programmable Automation Controller" PAC is a compact controller that combines the features and capabilities of a PC-based control system with that of a typical programmable logic controller (PLC). A PAC thus provides not only the reliability of a PLC, but also the task flexibility and computing power of a PC. Additionally, because they function and communicate over popular network interface protocols, PACs are able to transfer data from the machines they control to other machines and components in a networked control system or a PDMM.

General Information
Type	Command
Description	Starts automatic teaching of the cogging compensation table.
Units	N/A
Range	N/A
Default Value	N/A
Data Type	N/A
Start Version	M_01-14-07-000

FieldbusA Fieldbus is an industrial network system for real-time distributed control (e.g. CAN or Profibus). It is a way of connecting instruments in a plant design	Index/Subindex	Object Start Version
EtherCATEtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs COE and CANopen	540Fh/0	M_01-14-07-000

Description

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

For rotary applications:

The axis will move autonomously around one turn with the defined velocity in COGCOMP.V.

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 torqueTorque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist 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.