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:

  1. 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.

  2. 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.

  3. 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.

Fieldbus Information

EtherCAT CoE and CANopen

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

EtherNet/IP

Name

ID

Hex

Data Type

Access

Units

AXIS1.IL.COMMANGLE

5844

16D4

Unsigned32

Read Only

-

AXIS2.IL.COMMANGLE

71380

116D

Unsigned32

Read Only

-

PROFINET

Parameter

PNU

Data Type

Access

Units

AXIS#.IL.COMMANGLE

5844

Float

Read Only

-

Related Topics

Current Loop