AXIS#.IL.COMMANGLE
Description
AXIS#.IL.COMMANGLE reports the commutation angle in degrees when the axis is enabled and generating current. The angle is determined based on the axis configuration:
-
If AXIS#.OPMODE = 0 (torque mode) and AXISx.IL.CMDMODE = 1 (UVW current command mode), the angle is calculated from the phase current commands when AXISx.IL.SETCMD runs.
-
If AXIS#.MOTOR.TYPE = 10 (surface permanent magnet with sensorless control) and AXIS#.OPMODE = 1 (velocity mode), the angle is calculated by the sensorless estimation algorithm.
-
Otherwise, the angle is calculated by the feedback based commutation algorithm.
The commutation angle ranges from 0 to 360 deg over each motor electrical cycle. It reflects the commutation phase after AXIS#.MOTOR.PHASE has been accounted for. For any of the cases above, AXIS#.IL.COMMANGLE can be referenced to the U,V,W phases as follows:
-
AXIS#.IL.COMMANGLE = 0 deg when the current commands align with the U phase.
-
AXIS#.IL.COMMANGLE = 120 deg when the current commands align with the V phase.
-
AXIS#.IL.COMMANGLE = 240 deg when the current commands align with the W phase.
AXIS#.IL.COMMANGLE is set to 0 when the axis is disabled or when no current is being commanded.
Example
The following commands apply to case 1 above with the current command aligned between the U and V phases.
--> AXIS1.OPMODE 0 --> AXIS1.IL.CMDMODE 1 --> AXIS1.EN --> AXIS1.IL.IUCMDU 1.0 --> AXIS1.IL.IVCMDU 1.0 --> AXIS1.IL.SETCMD --> AXIS1.IL.COMMANGLE 60.000 [deg]
As a different example for case 3 above, the following WorkBench scope trace shows AXIS#.IL.COMMANGLE and FB#.MECHPOS
while the motor is spinning at 300 rpm. For this setup, AXIS#.MOTOR.POLES
= 6, so there are three commutation cycles for each mechanical revolution. Furthermore, AXIS#.IL.COMMANGLE leads FB#.MECHPOS by AXIS#.MOTOR.PHASE.
Versions
| Action | Version | Notes |
|---|---|---|
| Implemented | 02-07-04-000 |
General Information
|
Type |
Read Only |
|
Units |
Degrees |
|
Range |
0 to 359.999 |
|
Default Value |
N/A |
|
Data Type |
Float |
| See Also | AXIS#.IL.CMD, AXIS#.IL.DCMD,AXISx.IL.IUCMD, AXISx.IL.IVCMD, AXISx.IL.IWCMD |
|
Stored in Non-Volatile Memory |
No |
Variants Supported
All variants are supported.
Industrial Ethernet Information
|
Command |
Index |
SubIndex |
Data Type |
Units |
Float Scale |
Access |
PDO Mappable |
|---|---|---|---|---|---|---|---|
|
AXIS1.IL.COMMANGLE |
500ah |
24h |
Unsigned32 |
- |
1000:1 |
Read only |
No |
|
AXIS2.IL.COMMANGLE |
510ah |
24h |
Unsigned32 |
- |
1000:1 |
Read only |
No |
|
ID |
Instance |
Attribute |
Name |
Data Type |
Access |
User Mappable |
|---|---|---|---|---|---|---|
|
5844 |
1 |
5844 (0x16d4) |
AXIS1.IL.COMMANGLE |
Unsigned32 |
Read Only |
Yes |
|
71380 |
2 |
5844 (0x16d4) |
AXIS2.IL.COMMANGLE |
Unsigned32 |
Read Only |
Yes |
|
Parameter |
PNU |
Data Type |
Access |
Units |
|---|---|---|---|---|
|
AXIS#.IL.COMMANGLE |
5844 |
Float |
Read Only |
- |
