AXIS#.SENSORLESS​.RPMSTART

Description

Sets the maximum velocity limit Sensorless Field-Oriented Control (SFOC) can run in open-loop. If the velocity goes above this limit, SFOC will switch to closed-loop control. A hysteresis band is implemented so that SFOC switches back to open-loop control if the velocity falls 20% below this parameter while in closed-loop control.

It is recommended that the user sets this parameter to a velocity for the motor to produce a back-EMF voltage of at least 2% of the drive’s maximum rated supply voltage (see Electrical data to find the voltage rating of your drive).


  • Use the following equation to find the minimum recommended start velocity in RPM units:
    AXIS#.SENSORLESS.RPMSTART [RPM] >= 1000 * 0.02 * VRated / AXIS#.MOTOR.KE

Example

Given a system using an AKD2G-SPE-6V06D drive with an AKM31E motor:

AXIS#.SENSORLESS.RPMSTART [RPM] ≥ 1000 x 0.02 x 240 / 26.077

AXIS#.SENSORLESS.RPMSTART [RPM] ≥ 184.07 rpm

Versions

Action Version Notes
Implemented 02-03-03-000

 

General Information

Type

Read/Write
Description Sets the starting velocity for SFOC

Units

rpm

Range

0 to Maximum Motor Velocity

Default Value

300

Data Type

Float

Stored in Non-Volatile Memory

Yes

Variants Supported

All variants are supported.

Industrial Ethernet Information

EtherCAT CoE and CANopen

Command

Index

SubIndex

Data Type

Units

Float Scale

Access

PDO Mappable

AXIS1.SENSORLESS.RPMSTART

5018h

06h

Signed32

-

1000:1

Read/Write

No

AXIS2.SENSORLESS.RPMSTART

5118h

06h

Signed32

-

1000:1

Read/Write

No
EtherNet/IP

ID

Instance

Attribute

Name

Data Type

Access

User Mappable

7404

1

7404 (0x1cec)

AXIS1.SENSORLESS.RPMSTART

Signed32

Read/Write

Yes

72940

2

7404 (0x1cec)

AXIS2.SENSORLESS.RPMSTART

Signed32

Read/Write

Yes
PROFINET

Parameter

PNU

Data Type

Access

Units

AXIS#.SENSORLESS.RPMSTART

7404

Float

Read/Write

-