ABB +N5600 Firmware Instructions page 98

98 Program features
Bit 4 of 06.21 Drive status word 3
determined.
Autophasing modes
Several autophasing modes are available (see parameter
The turning mode (Turning) is recommended especially with case 1 (see the list
above) as it is the most robust and accurate method. In turning mode, the motor shaft
is turned back and forward (±360/polepairs)° in order to determine the rotor position.
In case 3 (open-loop control), the shaft is turned only in one direction and the angle is
smaller.
Another turning mode,
normal turning mode, for example, because of significant friction. With this mode, the
rotor is turned slowly until a zero pulse is detected from the encoder. When the zero
pulse is detected for the first time, its position is stored into parameter
offset user, which can be edited for fine-tuning. Note that it is not mandatory to use
this mode with a zero pulse encoder. In open-loop control, the two turning modes are
identical.
The standstill modes
turned (for example, when the load is connected). As the characteristics of motors
and loads differ, testing must be done to find out the most suitable standstill mode.
The drive is capable of determining the rotor position when started into a running
motor in open-loop or closed-loop control. In this situation, the setting of
Autophasing mode
The autophasing routine can fail and therefore it is recommended to perform the
routine several times and check the value of parameter
An autophasing fault
estimated angle of the motor differs too much from the measured angle. This could
be caused by, for example, the following:
• The encoder is slipping on the motor shaft
• An incorrect value has been entered into
• The motor is already turning before the autophasing routine is started
• Turning mode is selected in
locked
• Turning with Z-pulse
pulse is detected within a revolution of the motor
• The wrong motor type is selected in
• Motor ID run has failed.
Settings and diagnostics
Parameters 06.21 Drive status word 3
247), 98.15 Position offset user
indicates if the rotor position has already been
Turning with Z-pulse, can be used if there is difficulty using the
(Standstill 1, Standstill
has no effect.
(3385 Autophasing) can occur with a running motor if the
21.13 Autophasing mode
mode is selected in
(page 495) and
2) can be used if the motor cannot be
98.15 Position offset
98.15 Position offset user
21.13 Autophasing mode
99.03 Motor type
(page 171), 21.13 Autophasing mode
99.13 ID run requested
21.13 Autophasing
98.15 Position
21.13
but the motor shaft is
but no zero
(page 497).
mode).
user.
(page