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
Torque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist 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
| FieldbusA Fieldbus is an industrial network system for real-time distributed control (e.g. CAN or Profibus). It is a way of connecting instruments in a plant design
|
Parameter | Index | Sub-Index | Data Type | Float Scale | Units | Access | PDO Mappable |
|---|---|---|---|---|---|---|---|---|
| EtherCATEtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs COE and CANopen |
AXIS1.WS.CHECKMODE | 0x5013 | 0xA | USINT | - | - | RW | False |
| AXIS2.WS.CHECKMODE | 0x5113 | 0xA | USINT | - | - | RW | False |
