WS.CHECKMODE

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 torqueTorque 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, 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

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EtherCAT***EtherCAT 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	/8	M_01-00-00-000