To determine a number of parameters related to the motor and the connected sensors (encoders/Hall sensors), an auto setup is performed. Closed Loop operation requires a successfully completed auto setup. With the Plug & Drive motors, it is not necessary to perform an auto setup, as this was already performed at the factory. For details, see the corresponding section in chapter Commissioning.
The following bits in object 6040h (controlword) have a special function:
- Bit 4 starts a travel command. This is carried out on a transition from "0" to "1".
The following bits in object 6041h (statusword) have a special function:
- Bit 10: Indexed: indicates whether (= "1") or not (= "0") an encoder index was found.
- Bit 12: Aligned: this bit is set to "1" after auto setup has concluded