AXIS#.WS.CHECKMODE

Description

AKD2G supports several options to confirm a valid commutation after Wake and Shake has determined a new commutation angle. In some mechanical situations, such as if motion is inhibited, it is possible for Wake and Shake to select an incorrect angle. Commutation checks are designed to prevent unexpected motion if this occurs.

0 = No Commutation Check

If No Commutation Check is selected, neither passive nor active commutations checks will be executed.

1 = Active Commutation Check (default)

In the default Active Commutation Check mode, AKD2G will make a short torque move after an angle has been selected. If the motor fails to move in the expected direction, a fault will be generated.

2 = Passive Commutation Check

In the Passive Commutation Check mode, AKD2G will monitor torque commands and acceleration values for 10 revolutions after Wake and Shake has completed. During this time, a fault will be generated if unexpected motion is detected, such as if commanded torque and acceleration are in opposition directions. Note that this fault may also be reported if the motor experiences a large torque disturbance lasting longer than AXIS#.WS.CHECKT.

Versions

Action Version Notes
Implemented 02-00-00-000

General Information

Type

Read/Write

Units

 N/A

Range

 0 to 2

Default Value

 1

Data Type

 Integer

Stored in Non-Volatile Memory

Yes

Variants Supported

All variants are supported.

Fieldbus Information

EtherCAT CoE and CANopen

Command

Index

SubIndex

Data Type

Units

Float Scale

Access

PDO Mappable

AXIS1.WS.CHECKMODE

5013h

0ah

Unsigned8

-

-

Read/Write

No

AXIS2.WS.CHECKMODE

5113h

0ah

Unsigned8

-

-

Read/Write

No
EtherNet/IP

ID

Instance

Attribute

Name

Data Type

Access

User Mappable

6719

1

6719 (0x1a3f)

AXIS1.WS.CHECKMODE

Unsigned8

Read/Write

Yes

72255

2

6719 (0x1a3f)

AXIS2.WS.CHECKMODE

Unsigned8

Read/Write

Yes
PROFINET

Parameter

PNU

Data Type

Access

Units

AXIS#.WS.CHECKMODE

6719

Unsigned8

Read/Write

-