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

Name	ID	Hex	Data Type	Access	Units
AXIS1.WS.CHECKMODE	6719	1A3F	Unsigned8	Read/Write	-
AXIS2.WS.CHECKMODE	72255	11A3	Unsigned8	Read/Write	-

PROFINET

Parameter	PNU	Data Type	Access	Units
AXIS#.WS.CHECKMODE	6719	Unsigned8	Read/Write	-