Rockwell Automation Publication 2198-UM004D-EN-P - December 2022 149
Chapter 7 Configure the Drive with KNX5100C Software
To choose a motor feedback type, perform the following steps.
1. Under Motor, select Motor Feedback.
2. On Motor Feedback Device Specification, choose either Incremental or
Absolute as the startup method.
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
has an intelligent encoder. The drive reads the internal commutation
offset saved in the intelligent encoder.
• Self-sense: This setting enables automatic magnetic field detection,
where the commutation offset is detected automatically from the drive
whenever the drive is powered up.
• Drive Offset: You must input the commutation 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)
The chosen startup method determines how the device applies the feedback
count value during drive startup.
For Incremental, the drive uses zero for the feedback count accumulator at drive
startup.
For Absolute, the drive uses the absolute feedback position value from the
encoder at startup.
IMPORTANT Kinetix 5100 drives support only incremental feedback on Kinetix LDAT
motors.
Any commutation 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 commutation offset from CommutationOffset
parameter ID602 (PM.007).
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