236 Rockwell Automation Publication 2198-UM005C-EN-P - February 2022
Appendix C Motor Control Feature Support
Commutation Test The commutation test determines an unknown commutation offset and can
also be used to determine the unknown polarity of the start-up commutation
wiring. You can also use the commutation test to verify a known commutation
offset and the polarity start-up commutation wiring.
Figure 123 - Hookup Tests - Commutation Tab
To run the commutation test, see Test the Axes on page 138.
Adaptive Tuning The adaptive tuning feature is an algorithm inside the Kinetix 5300 servo
drives. The algorithm continuously monitors and, if necessary, adjusts or
adapts various filter parameters and, in some cases, control-loop gains to
compensate for unknown and changing load conditions while the drive is
running. Its primary function is to:
• Automatically adjust torque-loop notch and low-pass filter parameters to
suppress resonances
• Automatically adjust control-loop gains to avoid instability when
detected
See Motion System Tuning Application Techniques, publication
MOTION-AT005
, for more information on the AdaptiveTuningConfiguration
attribute.
IMPORTANT This test applies to third-party or custom permanent-magnet motors
equipped with (TTL with Hall and Sine/Cosine with Hall) incremental
encoders that are not available as a catalog number in the Motion Database
or motors that are compatible with the commutation self-sense startup
feature.
IMPORTANT When motors have an unknown commutation offset and are not listed in the
Motion Database by catalog number, you cannot enable the axis.
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