Chapter 2
Behavior models used in CIP Motion
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Rockwell Automation Publication MOTION-RM003I-EN-P - February 2018
Motor commutation is critical to closed loop motor control. The orientation of
the motor rotor can be determined from a feedback source mounted to the motor.
The actual commutation source is the motor feedback device assigned to Feedback
1 or, possibly, the redundant feedback channel assigned to Feedback 1. Once the
feedback device is calibrated to the absolute orientation of the rotor by using the
Commutation Offset attribute, the commutation block can then generate the true
Electrical Angle of the rotor. This signal is used to perform the vector transforms
between the rotary and stationary motor frames and can also be used for any other
algorithms that require knowledge of rotor position.
See also
Event capture behavior captures both the feedback position and time stamp
associated with specific state transitions of selected event input sources.
Motor Commutation
Event Capture Behavior