Description
AKD 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, AKD 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, AKD 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 WS.CHECKT.
General Information
|
Type |
R/W Parameter |
|
Units |
N/A |
|
Range |
0 to 2 |
|
Default Value |
1 |
|
Data Type |
Integer |
|
Start Version |
M_01-07-00-000 |
Variants Supported
| Variant | Supported |
|---|---|
| AKD Base | Yes |
| AKD with Position Indexer | Yes |
| AKD EtherCAT | Yes |
| AKD CANopen | Yes |
| AKD BASIC | Yes |
| AKD SynqNet | Yes* |
| AKD EtherNet/IP | Yes |
| AKD Profinet | Yes |
| AKD sercos® III | Yes |
| AKD-N | Yes |
| AKD-C | No |
*In SynqNet, a parameter may be available in the firmware but have no effect on the system. See SynqNet Supported Parameters.
Fieldbus Information
If your drive type is listed as supported but no index, address, or instance number is listed, then this parameter is accessible through WorkBench, but not over your fieldbus type.
|
Fieldbus |
Index/Subindex |
Object Start Version |
|---|---|---|
|
EtherCAT COE and CANopen |
3494h/8 |
M_01-00-00-000 |
|
Fieldbus |
Address |
Attributes | Signed? |
|---|---|---|---|
|
Profinet |
2867 |
Byte | No |
| sercos® III | 2 Octets |
| Fieldbus | Instance | Data Size | Data Type |
|---|---|---|---|
| EtherNet/IP | 868 | 1 Byte | Integer |
|
Fieldbus |
Index/Subindex |
Is 64 bit? | Attributes | Signed? |
|---|---|---|---|---|
|
Modbus |
1734 |
No | 8-bit | No |
Related Topics
