Overview
Wake and Shake mode 1 uses a pole locking method (sets the motor pole count to 0) and applying current to determine the commutation angle.
Wake and shake is required for the following applications:
- Incremental encoders without Halls or commutation channels.
- Sine encoders without Halls or commutation channels.
- Motor with Halls which were not aligned to be at 0 degrees motor phase.
Configuring Wake and Shake
Wake and Shake mode 1 has two configurable parameters: AXIS#.WS.IMAX and AXIS#.WS.TSTANDSTILL.
AXIS#.WS.IMAX can be configured from the Wake and Shake view.
AXIS#.WS.IMAX is the value (in amps) of the current applied to the motor to lock the motor to a magnetic pole position. This value should be enough to force the motor to move. But if the motor oscillates strongly during Wake and Shake, this value should be lowered so that the motor does not oscillate more than a slight overshoot.
AXIS#.WS.TSTANDSTILL can be accessed from the terminal screen. This value determines how long AXIS#.WS.IMAX is applied to the AXIS#.MOTOR. If it is observed that current is not applied for a long enough duration for the motor to come to a complete rest while Mode 1 is executing, then AXIS#.WS.TSTANDSTILL should be increased so that the motor starts motion and comes to a complete rest at a magnetic pole position.
