AxN Automatic Encoder

Phasing Procedure
SUMMARY
Sommario
Introduction..............................................................................................................................................................7
Prerequisites.............................................................................................................................................................7
Phasing the encoder................................................................................................................................................7
Restore normal operativity......................................................................................................................................9
Y
 Introduction

To correctly set up the AxN drive it is necessary to calculate the electrical angle offset between the rotor shaft
and the motor encoder. AxN drive implements an automatic procedure that calculates the correct offset value.

Prerequisites

To execute automatic phasing procedure, it is necessary to satisfy the following points:

1. The AxN drive must be correctly connected to the three phases AC power line, respecting the R, S, T
phases notation.
2. The motor must be correctly connected to the AxN drive, also in this case, respecting the phases
notation. On AxN drive phases output are identified with the A, B, C letters, to avoid confusion with
input phases.
The correspondence with the motor phases are:

• AxN line A  Motor phase U (Blue)

• AxN line B  Motor phase V (Red)
• AxN line C  Motor phase W (Yellow)

3. The motor encoder must be correctly mounted and fixed on the motor shaft and the AxN drive must
be able to correctly read the encoder’s position values.
4. The motor shaft must be free to turn. During the procedure the shaft can slowly rotate, it is recomen-
ded to run the procedure in a safe way when no person is working near to the shaft.
5. Cockpit3 project must contain correct parameters for the motor in use and Cockpit3 must be able to
connect and to control AxN drive by using the serial line connection.
6. It is preferable, but non mandatory, to execute the phasing procedure with the lowest possible rotatio-
nal inertia on the shaft. Phase Motion Control recommends performing the procedure when the motor
shaft is detached from any load.

Phasing the encoder

1. The activity of a PLC program is not compatible with the phasing procedure so, as first thing, it is
necessary to check out if a PLC program is running and, in this case, to disable the PLC execution.
In Cockpit3 Tree menu select All parameters  Core and check the parPlcExeDisable (IPA 13800)
parameter.
If it is set to FALSE, set it to TRUE, then save parameters on drive and perform a drive reset.

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transmit and diffuse without explicit authorization.
 2. Set the value of electrical angle offset to zero by changing the parameter Encoder  Main parMotor-
Data.PhaseOffset (IPA27812).
3. Set up procedure values from Encoder Main  Electrical Field Orientation menu.
Parameters to set are:

• IPA26302: parEncEFS.ProcedureType : IDRAMP option.

• IPA26303: parEncEFS.Flags.Force : TRUE (Only for EnDAT absolute encoder).
• IPA26305: IdRampTime: Total time of the phasing procedure.
• IPA26306: IdRampCurrent: % of motor’s peak current.
• Default values for IdRampTime (0.5 sec) and IdRampCurrent (30%) are suitable for small motors with a
low rotational inertia shaft.

In order to reduce the number of iterations to find the correct angle it is suggested to set up the IdRampTime
to 2 seconds value.

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 4. Set up the AxN drive to operate in Torque Mode by changing the IPA29016 parDevCtrl.ModeOfOpera-
tion parameter under Device Control menu. If the current value for IPA29016 is not torque mode,
annotate the value that must be restored at the end of the procedure.

5. Set up the visualization of the IPA26307 varEncMainDeltaAngle parameter, by drag and drop the
variable from Encoder  Main  Monitor menu to the Oscilloscope graph window.

6. Save parameters to drive and then perform a reset.

7. Enable the drive by setting up IPA2900: wksControlWord, under Device Control menu to value
0x000F.
The motor shaft will rotate to a new position, when rotation ends, set up control word (IPA2900) to
0x0.

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transmit and diffuse without explicit authorization.
 a. If the shaft does not rotate, set up control word (IPA2900) to 0x0, increase the value IPA26306:
IdRampCurrent adding a 10% to the current value and repeat the procedure by setting IPA2900 to
0x000F.
b. If the shaft rotates but visualized trajectory seems to be trunked or if it shows oscillations set up
control word (IPA2900) to 0x0, increase IPA26305: IdRampTime by doubling its current value and
repeat the procedure by setting IPA2900 to 0x000F.

8. When the procedure terminates with a smooth result get the value from IPA26307 varEncMainDelta-
Angle and copy it in Encoder  Main parMotorData.PhaseOffset (IPA27812), then save parameters to
drive.

Restore normal operativity

Once the new angle offset has been set up it is possible to restore AxN drive normal operation restoring the
parameters modified during the procedure:

1. Set up IPA26302 parEncEFS.ProcedureType to Disable.

2. Set up IPA29016 parDevCtrl.ModeOfOperation to the original value before the change to Torque
Mode.
3. Set up IPA26303 parEncEFS.Flags.Force to FALSE.
4. If it has been changed in the beginning of the phasing procedure, restore IPA 13800 parPlcExeDisable
to FALSE.
5. Save all parameters and reset the drive.

This Document is property of Phase Motion Control S.p.A. - It is forbidden to modify, copy, replicate, distribute,
transmit and diffuse without explicit authorization.
7
 Phase Motion Control S.p.A.
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