Rockwell Automation Publication 2198-UM004A-EN-P - October 2019 131
Configure the Drive with KNX5100C Software Chapter 7
3. Under Commutation, choose one of the following from the Alignment
pull-down menu.
• Motor Offset: This setting is the default if the selected catalog number
and the attached motor has a smart encoder. The drive reads the
internal commutation offset saved in the smart encoder.
• Self-sense: This setting enables automatic magnetic field detection,
where the communication offset is detected automatically from the
drive servo whenever the drive is powered up.
• Drive offset: You must input the communication offset and encoder
polarity manually.
Considerations for Drive Offset Alignment
If you select Drive Offset as the Commutation Alignment type, the valid range of
the Commutation Offset is calculated based on the Commutation Offset from
the encoder’s internal value (x):
x-85 < Commutation Offset setting < x+85 (unit: degree)
TIP The chosen startup method determines how the device applies the
feedback count value during drive startup.
For Incremental, the device zeros the feedback count accumulator at
drive startup.
For Absolute, the device initializes the feedback count accumulator to
the absolute feedback position value from the feedback device at drive
startup.
TIP Any communication offset that is detected by self-sense alignment is
not shown in the Offset field on Motor Feedback Device Specification.
Self-sense alignment cannot read communication offset from
parameter ID602 (PM.007) CommutationOffset.
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