Drive Configuration
Verification of the Setup
Figure 62: Verification of motor direction and magnetic pitch: The motor direction is
correct as the signal of Angle and Position show the same direction. The magnetic pitch
is 20 mm according to the measurement.
5.5.2 Commutation
To verify the commutation of the axis, the axis should be enabled at different positions and it should be
verified if a move can be executed:
1. Check if
Parameters.Commutation.PhasingMethod
is set as desired and if
Parameters.Commuta-
tion.EnablingMethod
is
not
set to
Automatic
!
2. Prepare the scope by loading the
Scope Configuration
named
Phasing Analysis
.
3. Start the scope and enable the axis.
4. Check the scope if the characteristic of the signals is as expected.
If
Commutation.Commutation.PhasingMethod
is
RotorAlignment
:
Check if the current ramp of
ActualCurrentD
is applied as expected.
Check if the position signal shows an alignment move.
Axes with low friction (e.g. with air-bearings) could show a slow oscillation during the phasing
which could lead to an invalid commutation. In this case the
PhasingMethod
should be
changed to
AngleSearch
and the commutation parameters should be adjusted accordingly
(see section 5.2.7).
If
Commutation.PhasingMethod
is
AngleSearch
:
Check if the current ramp of
ActualCurrentQ
and
ActualCurrentD
is applied as expected.
Check if the position signal shows only a minor motion.
Check if the position shows no instability and the position error is zero at the end of the phas-
ing. If the error is not zero, try to reduce
Parameters.Commutation.RampRiseTime
and verify
the stability of the position controller. Consider switching the
PhasingMethod
back to
Ro-
torAlignment
to verify the position controller with a new
Bode
measurement.
No loud noises should be heard during phasing.
5. Check if the axis is stable by manually applying torque to the axis if possible.
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