|
Type |
ES |
|
Offline editable |
No |
|
Available as of |
1.34.x.x |
|
Devices supporting the parameter |
Lexium LXM52 Drive, Lexium LXM52 Linear Drive, Lexium LXM62 Drive, Lexium LXM62 Linear Drive |
|
Traceable |
– |
With this parameter, the motor commutation can be determined automatically without a coupled load.
As of version 1.35.xx the motor commutation can be determined with or without a coupled load dependent on the parameter MotorCommutationMode.
While the motor commutation is running, the axis is moving.
|
|
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UNINTENDED MOVEMENT OF THE AXIS |
|
Do not use this function if the axis starts moving on their own due to a coupled mechanic (for example, hanging load). |
|
Failure to follow these instructions can result in injury or equipment damage. |
NOTE: The torque that takes effect on the motor (for example, friction) should not be less than 10 % of the rated torque. If the torque goes below this value, the determination of the motor commutation is inaccurately. The function itself provides no statement about the deviation from the optimum value.
Basically, there are two modes:
oDetermining the commutation by writing onto the motor nameplate (detect and write / 1)
oDetermining the commutation without writing onto the motor nameplate (detect / 2)
In this case, after determining the commutation, you can decide whether it shall be used temporarily (write / 3) or whether it shall be rejected (Reject identified value / 4).
|
Value |
Description |
|---|---|
|
off / 0 |
Determining the motor commutation disabled (default). |
|
detect and write / 1 |
Motor commutation is determined and written into the motor nameplate. |
|
detect / 2 |
Motor commutation is determined and not written into the motor nameplate. The determined motor commutation is enabled. |
|
write / 3 |
Determined motor commutation is written into the motor nameplate. |
|
reject identified value / 4 |
Determined motor commutation is discarded. The commutation from the motor nameplate is activated. If no commutation has been saved there yet, the diagnostic message 8116 Motor commutation error is triggered. A commutation that has already been saved to the motor nameplate can no longer be discarded. |
One of the mentioned functionalities is started when a new value is written onto this parameter. This means, the parameter shows the functionality that was last started, even when the functionality has already been completed.
The state of the functionality is displayed in the parameter MotorCommutationState.
Starting the respective functionality is only possible if MotorCommutationState is in the Motor is not commutated, ready to commutate / 2 or Motor is commutated, ready to commutate / 5 state.
Exception:
While commutation is being determined with the values detect and write / 1 or detect / 2 (MotorCommutationState = Motor commutation is running / 6), a switchover to the value off / 0 is permitted to cancel the determination of the commutation. While the parameter is enabled with the values write / 3 or reject identified value / 4, no switchover is permitted. Usually the processing is completed before a possible switchover.
If the object parameters are
oEncoderGearIn unequal 1,
oEncoderGearOut unequal 1 or
oEncoderDirection equal inverted / 0
then the motor commutation cannot be written into the motor nameplate. Then the values detect and write / 1 and write / 3 cannot be used. The motor commutation has to be determined over again every time the drive is newly switched on or reset.
NOTE: The parameter value is transferred from the master to the slave via the parameter channel of the Sercos at every access. Typically, this takes about 10 ms. However, times up to 1 s can occur if there is a lot of data transferred on the parameter channel.
