User manual
AMD2000 Series - Servo Drive - User Manual
6 DS619-0-00-0019 - Rev 0 ANCA Motion
7.6 Ethernet Interface .................................................................................................................................. 62
7.6.11 EtherCAT® .......................................................................................................................... 62
7.6.12 EtherCAT topology / Port assignment.................................................................................. 63
7.7 DIP Buttons ........................................................................................................................................... 65
7.8 Motor Feedback ..................................................................................................................................... 65
7.8.11 Analog Encoder Interface .................................................................................................... 66
7.8.12 Analog Encoder Cable ......................................................................................................... 66
7.8.13 Digital Encoder Interface ..................................................................................................... 67
7.8.14 Digital Encoder Cable .......................................................................................................... 67
8. Installation Checklist ...................................................................................................................................... 68
8.1 What this Chapter Contains ................................................................................................................... 68
8.2 Checklist ................................................................................................................................................ 68
9. Start-up ............................................................................................................................................................ 70
9.1 What this Chapter Contains ................................................................................................................... 70
9.2 Introduction ............................................................................................................................................ 70
9.3 PC minimum specifications .................................................................................................................... 70
9.4 Configuring the Network Adapter ........................................................................................................... 71
9.5 Connecting the AMD2000 to a PC ......................................................................................................... 71
9.6 Starting the AMD2000 ........................................................................................................................... 71
9.6.11 Preliminary Checks .............................................................................................................. 71
9.6.12 Power-On Checks ............................................................................................................... 72
9.7 Installing the ANCA MotionBench .......................................................................................................... 72
9.8 Configuring the AMD2000 Series Servo Drive ....................................................................................... 77
9.8.11 ANCA MotionBench ............................................................................................................. 77
10. Feature Configuration .................................................................................................................................... 87
10.1 What this Chapter Contains ................................................................................................................... 87
10.1.11 Analogue Encoder Compensation ....................................................................................... 87
10.1.12 Backlash Compensation ...................................................................................................... 90
10.1.13 Configuring Wire-Saving UVW Motors................................................................................. 92
10.1.14 Digital Output ....................................................................................................................... 92
10.1.15 Drive Bypass Mode.............................................................................................................. 97
10.1.16 Drive Data Logger ............................................................................................................... 98
10.1.17 Encoders ........................................................................................................................... 103
10.1.18 Field Orientation Initialisation ............................................................................................. 105
10.1.19 Higher Level Functions ...................................................................................................... 113
10.1.20 Modulo Operation .............................................................................................................. 121
10.1.21 Motion Constraints and Limits ........................................................................................... 121
10.1.22 Motor Control ..................................................................................................................... 129
10.1.23 Operating Modes ............................................................................................................... 139
10.1.24 Temperature Monitoring .................................................................................................... 141
10.1.25 Torque Command Filters ................................................................................................... 143
11. Fault Tracing ................................................................................................................................................. 144