sets the type of initialization for the ENCSTART encoder initialization process.
0 – soft exponential ramp (motor will rotate CW and CCW several times,
fault will occur if unsuccessful)
1 – hard step (motor will jerk into position, fault will occur if unsuccessful)
2 - Soft Wake no shake algorithm, see IENCSTART, INITGAIN, INITTIME.
3 - Wake no shake algorithm depends on XVAR3 parameter, see XVAR2 and XVAR3.
Firmware Versions: 3.4.0
Type: variable (R/W) Range: 0-3
Units: n/a Default: 0
Opmodes: all Drive Status: en/dis
EEPROM: yes
WARNING
When using either option (0, 1), it is advised to disconnect the load
from the
motor shaft. Option 0 will
rotate load in both directions and may be undesirable for the
application.
Option 1 will suddenly jerk the
motor into position and could cause d
In the initialization process, the drive rotates the motor to a
known
electrical position by placing IENCSTART current from the motor B
terminal to
the motor C terminal. If the encoder index is encountered (for type 1
and 2
encoders), the process terminates immediately.
The ENCSTART process is initiated by doing the following:
1 . With the drive disabled, type
the
command "ENCSTART".
2 . Enable the drive. The
current will be
placed on the motor terminals and the initialization process will be
completed
after the drive enable occurs.