436 Rockwell Automation Publication 2198-UM002L-EN-P - October 2021
Appendix F Motor Control Feature Support
Commutation Self-sensing
Startup
The commutation self-sensing feature is used to determine the initial
electrical angle for permanent magnet (PM) motors with an incremental
encoder that do not have Hall effect sensors. For PM motors that use encoders
with Hall sensors, the drive can still be configured to use this feature, however,
the Hall effect signals are ignored. When enabled, this feature is executed
automatically at powerup and when the system is enabled.
The self-sense feature takes approximately 5 seconds to execute. Five seconds
is the default amount time assuming no retries are required. The axis stays in
the Starting state while self-sense executes.
The sequencing of events is as follows.
1. One-second current ramp time
2. One second delay
3. One-second move time
4. One second delay
5. One-second current ramp time
To use the self-sense feature, select the Motor Feedback category and from the
Commutation Alignment pull-down menu, choose Self-Sense.
IMPORTANT
Following a connection loss to the controller after the initial power-up,
the commutation self-sense feature is run again when connection is
re-established and motion is commanded.
IMPORTANT
Self-sensing startup is not commutation diagnostics. You can perform
commutation diagnostics on Hall effect or self-sensing motors at any
time.
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