Rockwell Automation Allen-Bradley Kinetix 5700 - Commutation Test

Rockwell Automation Publication 2198-UM002L-EN-P - October 2021 437
Appendix F 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 238 - Hookup Tests - Commutation Tab
To run the commutation test, see Test the Axes on page 255.
Table 211 - Self-sense Feature Attributes
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.
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]
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.
IMPORTANT
When motors have an unknown commutation offset and are not listed in
the Motion Database by catalog number, you cannot enable the axis,
unless you enable the communication self-sensing feature.