AKD User Guide | WS Parameters
WS.MODE
General Information
Type R/W Parameter
Description Sets the method used for wake and shake.
Units N/A
Range 0 to 1
Default Value 0
Data Type U8
See Also N/A
Start Version M_01-01-00-101, M_01-02-00-000
Fieldbus Index/Subindex Object Start Version
Modbus 902 M_01-03-00-000
Description
This parameter sets the method used for finding commutation.
0 = Standard wake and shake
Two iterations are used to find the correct angle in this mode. Coarse (current mode) and fine (velocity mode) iter-
ations are done in a loop (WS.NUMLOOPS times). The average angle of all loops is calculated and used.
1 = Commutation alignment by fixed commutation vector (Zero Method)
The motor poles are set to 0, current mode is activated, and WS.IMAX is applied. The angle in which the motor
settles is used for commutation. Other settings are restored (such as motor poles and operation mode).
Related Topics
8.3.9 Using Wake and Shake (WS)
652 Kollmorgen | December 2010
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