Setup of an Endat or Hiperface or BISS encoder

Valid for S300, S400, S600, S700

Preparation

• Connect motor and feedback cables to the servo amplifier.
• Check phase position of the motor connectors (U2, V2, W2)!
• Start Setup Software and enable communication with the servo amplifier.
• Disable the amplifier (Enable = 0V).
• Disable the amplifier in the setup software
• Select "Complete Setup" and then the screen page "Feedback". Select your feedback type.
• Select screen page "Motor" and select your motor type.

S400/S600: If you cannot find default values for your motor encoder combination, proceed as described:
Set feedback type to 0 (Resolver). Save data to the EEPROM and reset the amplifier. Select the motor, save the data and reset the amplifier (COLDSTART). Now select the correct encoder type (feedback type). This makes sure, that all hidden parameters for current loop and motor are set optimal.

Further information for saving data to the encoder can be found in the application note Data storage in Endat or Hiperface or BISS encoders.

• Select the screen page "Terminal". Type
  'HSAVE' + Return and
  'COLDSTART' + Return.
  Now the motor number is saved in the encoder to avoid warning message "n12".

S300/S700: Possible reasons for Error Message F04

• no communication to the encoder
  Solution: connect the encoder, check the cable. Renishaw encoders might require resistor in the supply line to increase supply current. 
• Wrong data in the encoder
  This error occurs with new encoders, that have never been initialized
  Solution: Initialize the data with the command HSAVE (terminal screen)
• Hiperface encoder is not listed in the internal table and therefore can't be recognized.
  Solution: see WIKI page HSAVE Command (for internal use only, Customers: please contact customer support !).

Remark: The command is allowed only if the encoder has been recognized (that means the communication to the encoder works correctly). If communicatgion does not work, the command HSAVE will be answered with the error message „ERR CMD ERR (HSAVE)". In this case you have to check the physical connection to the encoder first.

MPHASE determination

When the communication works, open screen page Oscilloscope and click on Parameters. Set the current for constant speed to a value smaller than the motor standstill current Io. Set the angle to 180°. Leave the screen with OK.

Enable the amplifier (24VDC) and start the service function "constant speed" with function key F5

Attention: The motor axis may turn up to ±60° (mechanical) to reach the preferred position!  

• Check the rotation angle φ  on screen page Monitor. Stop the service funtion and disable the amplifier.
• Calculate MPHASE: 
  φ * n° of motor pole pairs
  subtract from the result 360° as often as necessary to get a positiv result between 0° and 360°
  Example: checked rotation angle φ =328° , 3 pole pairs (6 poles motor)
  328° * 3 = 984°-360°-360° => MPHASE = 264°
• Open the screen page Terminal and type the command "MPHASE zzz" with zzz=calculated angle.
  Example: MPHASE 264 + Return.
• Type command HSAVE to save the parameters to the encoder.
• Type command COLDSTART to reset the amplifier

When communication works again, check and change if required

• Angle on screen page "Feedback"
• Parameter MPOLES on screen page "Motor"
• Parameter OPMODEon the main screen page

These parameters could be changed by the service functions.

At last the drive is checked for consistant acceleration time and speed with the service fuction "Reverse Mode". If behaviour is different in cw or ccw rotation, then the encoder isn't setup correctly. In this case check the encoder setting again.

• Type "SAVE" to save all data in the EEPROM!

CALCHP Determination

Required with all encoders which send analog signals (sine/cosine), that means e.g. not with digital BISS encoders. Execute preparation as described, then proceed:

• Select screen page "Terminal". Quit all commands with the Return key!
• Type kommand „K“ to disable the amplifier
• Check the set feedback type
• Type command „FBTYPE“, set type is monitored (see FBTYPE) 
• Type command „OPMODE“ and memorize the monitored number (0 – 8)
• Type command „OPMODE 0“, (operation mode „Velocity control with digital set point“
• Enable the amplifier (input Enable = 24V)
• Type command „EN“
• Type command „CALCHP“

• Type command "K" when the motor stands still
• Type command „SAVE“ (the calculated data are saved in the EEPROM).
• Type command "HSAVE" (saves the parameters in the encoder)
• Type command "COLDSTART" to reset the servo amplifier.

When communication works again, check and change if required

• Angle on screen page "Feedback"
• Parameter MPOLES on screen page "Motor"
• Parameter OPMODEon the main screen page

These parameters could be changed by the service functions.

At last the drive is checked for consistent acceleration time and speed with the service fuction "Reverse Mode". If behaviour is different in cw or ccw rotation, then the encoder isn't setup correctly. In this case check the encoder setting again.

• Type "SAVE" to save all data in the EEPROM!