Program features 97
The autophasing routine is performed with permanent magnet synchronous motors
and synchronous reluctance motors in the following cases:
1. One-time measurement of the rotor and encoder position difference when an
absolute encoder, a resolver, or an encoder with commutation signals is used
2. At every power-up when an incremental encoder is used
3. With open-loop motor control, repetitive measurement of the rotor position at
every start
4. When the position of the zero pulse must be measured before the first start after
power-up.
Note: In closed-loop control, autophasing is performed automatically after the motor
identification run (ID run). Autophasing is also performed automatically before starting
when necessary.
In open-loop control, the zero angle of the rotor is determined before starting. In
closed-loop control, the actual angle of the rotor is determined with autophasing when
the sensor indicates zero angle. The offset of the angle must be determined because
the actual zero angles of the sensor and the rotor do not usually match. The
autophasing mode determines how this operation is done both in open-loop and
closed-loop control.
The rotor position offset used in motor control can also be given by the user – see
parameter 98.15 Position offset user. Note that the autophasing routine also writes its
result into this parameter. The results are updated even if user settings are not
enabled by 98.01 User motor model mode.
Note: In open-loop control, the motor always turns when it is started as the shaft is
turned towards the remanence flux.
Absolute encoder/resolver
Rotor
N
S
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