Rockwell Automation Publication 2198-UM005C-EN-P - February 2022 235
Appendix C Motor Control Feature Support
To use the self-sense feature, select the Motor Feedback category and from the
Commutation Alignment pull-down menu, choose Self-Sense.
Table 106 - Self-sense Feature Attributes
IMPORTANT Self-sensing startup is not commutation diagnostics. You can perform
commutation diagnostics on Hall effect or self-sensing motors at any
time.
CIP Attribute
Number
CIP Attribute
Name
Data Type Description Semantics of Values
562
Commutation
Self-Sensing
Current
REAL
The percent of the motors rated peak
current to use for self-sensing startup.
This value can be adjusted when the
motor is moving a high inertia load.
% Motor Rated Peak Current
[default = 100]
3102
Self-Sense
Direction
USINT
• Forward – indicates the motor moves
in only the positive direction during
self-sensing startup.
• Negative – indicates the motor moves
in only the negative direction during
self-sensing startup.
Enumeration:
0 = Forward - CW (rotary) or
Positive (linear) [default]
1 = Reverse - CCW (rotary) or
Negative (linear)
3103
Self-Sense
Lock Time
REAL
The amount of time the drive uses to
build up current to the Self-Sensing
Current level specified above.
Seconds
[default = 1.0]
3104
Self-Sense
Lock Delay
REAL
The amount of time the motor must be in
the locked position after reaching the
full Self-Sensing Current.
Seconds
[default = 1.0]
3105
Self-Sense
Move Time
REAL
The amount of time the drive uses for
the verification move during self-
sensing startup. Applies only to motors
with self-sensing startup.
Seconds
[default = 1.0]
3106
Self-Sense
Move Delay
REAL
The amount of time the drive holds the
final position after the verification move
during self-sensing startup.
Seconds
[default = 1.0]
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