|ASCII - Command||CALCHP|
|Syntax Transmit||CALCHP [Data] , [Data]|
|Syntax Receive||CALCHP||Available in|
|ASCII Format||Command||CANBus Object Number||3512 (hex)|
|DIM||rpm||PROFIBUS PNU||1618 (dec) IND = 1 (dec)|
|Range||0 .. 200||DPR||18 (dec)|
|Opmode||All||Data Type Bus/DPR||-|
|Configuration||No||Last Change of this Object||2.10|
|Short Description||Determining the Hiperface/ENDAT parameters|
|This command can be used to start the automatic determination of the sine cosine parameters. To do this, the output stage must be enabled and the drive must be able to move freely. While this command is being carried out, the motor makes a full turn at the predefined velocity. During this phase, the offset parameters (HISOFFS/HICOFFS) and the sine/cosine gain factor (HIFACT1) are calculated. After this function has been completed, the newly determined parameters can be stored in the encoder, using the HSAVE command for EnDAT-, BiSS- or Hiperface feedback and also using the command SAVE for sine/cosine feedback.
The CALCHP function is only available when a Hiperface (FBTYPE=2), an EnDAT (FBTYPE=5 bis 8), a BiSS-(FBTYPE=23, 24) or a sine/cosine-feedback (FBTYPE=1, 3, 5 6, 7, 8, 26) is selected.
The first is to select a certain speed in rpm and the second the angle of the motor that should be moved.
E.g.: CALCHP 5 10, start CALCHP with 5 rpm and move the motor 10 degrees.