10.4 Build Up the ABS Position System of M83

For the first time using, neither SDP nor TCPU has the proper setting to initialize the absolute position. Please follow the steps below to build it up.

Step 1~5 check the hardware and wiring. Step 6~10 set up the essential parameters properly. Step 11~18 is the flow to reset the ABS system.

1.	Switch on SDP drive. Do not connect the EtherCAT cable to TPCU in the beginning.
2.	Ensure the wiring and the parameter setting is as mentioned in previous sections. Set PA29 to initialize the ABS encoder.
3.	String together TCPU and SDP with EtherCAT cable. Restart the power of TPCU and SDP.
4.	After TPCU start up, check the "CN3 EtherCAT Port" on SDP. To see if the "IN" led is flashing and the "RUN" led is light.
5.	Turn the TCPU to "INFO→System Diagnosis" and check if the "Connect" of all axis is 1. If there is any problem on step 4 and 5, please check if some alarm or warning occur on SDP or if the EtherCAT cable is connected properly.
6.	Turn to "Setting→Advanced→X Axis→Motor". Velocity Unit of SDP is "PULSE/s". PosObj Resolution is the same as PA43. And set the Max RPM according to the specification of motor.
7.	Turn to "Setting→Advanced→X Axis→Mechanism". Set the Feed Pitch and GearRatio according to the transmission mechanism between motor and machine.
8.	Make sure the motor and mechanism setting of X axis is correct, and turn on "Setting→Advanced→X Axis→Operate".
9.	Turn to DRO or Manual page. Select X axis and move it by handwheel. Check if the changing way of the position display is the same as the defined mechanic direction of X axis. If not, turn on "Setting→Advanced→X Axis→Mechanism→Inverse Direction". If any error occurs during the manual moving, please check the setting from step 6 to step 8 again.
10.	Repeat from step 6 to step 9 to set up Y and Z axis.
11.	Go to "Setting→Advanced→X Axis→Soft Limit→Enable SoftLimit" and turn it off.
12.	Turn to DRO or Manual page. Select X axis and move it to the mechanical zero point defined by the machine producer.
13.	Execute "Setting→Advanced→X Axis→Reset Machine Position", and back to DRO or Manual page. The value of MX should be approximately 0 after reset.
14.	Move X axis by jog or handwheel. Press emergency switch and release it. M83 would retrieve the absolute position at this time. The before and after position values should be near.
15.	Move X axis to the positive/negative limit position defined by the machine producer and note the MX value of these two position.
16.	Write the two recorded positions to "Setting→Advanced→X Axis→Soft Limit→Positive SoftLimit" and "Setting→Advanced→X Axis→Soft Limit→Negative SoftLimit", unit is μm.
17.	Turn on "Setting→Advanced→X Axis→Soft Limit→Enable SoftLimit". If a drive overflow warning pop up after this, please check 10.3 to set the electronic gear ratio and lower the PosObj resolution.
18.	Repeat from step 11 to step 17 to set the absolute position of Y and Z axis.

Above mentioned is the setting procedure of first time using. Repeat only from step 11 to step 18 if it need to reset the absolute position afterwards.