Allen-Bradley Kinetix 5700, User Manual, Page: 364 / 376

364 Rockwell Automation Publication 2198-UM002E-EN-P - February 2018
Appendix D 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 185 - Hookup Tests - Commutation Tab
To run the commutation test, see Test the Axes on page 204 .
Adaptive Tuning The adaptive tuning feature is an algorithm inside the Kinetix 5700 servo
drives. The algorithm continuously monitors and, if necessary, adjusts or
adapts various filter parameters and 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.
IMPORTANT When motors have an unknown commutation offset and are not listed in
the Motion Database by catalog number, you cannot enable the axis.