| ASCII - Command | CALCCOG | |||
| Syntax Transmit | CALCCOG [Data] | |||
| Syntax Receive | CALCCOG <Data> | Available in | ||
| Type | Command | MMI | No | |
| ASCII Format | Command | CANBus Object Number | - | |
| DIM | - | PROFIBUS PNU | - | |
| Range | - | DPR | No | |
| Default | - | |||
| Opmode | 8 | Data Type Bus/DPR | - | |
| Drive State | Enable | Weighting | ||
| Start Firmware | 2.21 | |||
| Configuration | No | Last Change of this Object | 2.0 | |
| Function Group | drive configuration | EEPROM | No | |
| Short Description | Generate lookup table for cogging compensation | |||
Description
| Syntax: CALCCOG [velocity] (Rotary Motors) CALCCOG [velocity] [distance] [start position] (Linear Motors) The CALCCOG command is used to generate a current feed-forward lookup table for the cogging compensation. The pre-requisites for rhe CALCCOG command are: Since a motion task is used to generate motion, the drive must be in OPMODE 8 The reference point must be set. The drive must be enabled. No homing procedure, motion task or jog mode may be active. For rotary motors (MTYPE ? 2), only one optional parameter is accepted. This parameter specifies the velocity at which the motor turns when the lookup-table entries are recorded. Only positive values are allowed for this parameter. The default velocity is 5 rpm. The recording always starts at the current position, and the traversing range is always a single revolution. For linear motors (MTYPE = 2), three optional parameters are accepted. The first parameter specifies the velocity at which the motor moves when the lookup-table entries are recorded. Only positive values are allowed for this parameter. The default velocity corresponds to 5 pole-pair pitches per minute. The second parameter specifies the distance the motor moves along while the lookup-table entries are recorded. This is exactly therange that will be compensated when the cogging compensation is activated. The distance must be set to either of 1/4, 1/2, 1, 2, 4, .., 2^m pole-pair pitches, where m is any positive integer number. The default value is one pole-pair pitch.The optional parameter start position specifies the position from which the recording of the current feed-forward table is started. The default start position is the current position. If this parameter is given and differs from the current position, a motion task is generated to move to the designated start position at velocity VREF. Note: Parameters can only be omitted in right-to-left order, i.e. valid command lines are: CALCCOG [velocity] [distance] [start position] CALCCOG [velocity] [distance] CALCCOG [velocity] CALCCOG |