Motor with encoder zero phase compensation method and deviceⅣ！

Method step

• Power-on initialization:
  According to the motor model and absolute encoder model set by the dedicated servo drive, each part of the function of the dedicated servo drive is initialized using the motor parameters and absolute encoder parameters stored in the dedicated servo motor.
  
• Lock the motor to the motor phase a, phase b and phase c in sequence.
  
• Calculate the compensation angle ρ.
• Motor pilot run:
  Use the obtained compensation angle to pilot run the motor in the set mode.
  
• Parameter programming:
  Enter this step when there is no error alarm during motor test run.In this step, the motor parameters, the absolute encoder parameters and the final compensation angle are programmed into the EEPROM of the absolute encoder. When the parameter is programmed, the readback comparison operation is performed. Set alarms such as communication errors and programming errors.
  

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