CAUTION!
Damage to the device as a result of incorrect operation!
Failure to exercise caution or follow proper working
procedures may result in damage to the device.
l
The motor can move suddenly during the auto
commutation. The mechanism coupled must be
designed for this movement.
l
If the commutation position is not determined correctly,
the motor will accelerate in an uncontrolled manner,
This can lead to damage to the mechanical system.
l
Make sure to carefully test the auto commutation
function. Vary the start position. Even if
autocommutation has not been performed, the drive can
be “made to rotate” in up to 50 % of cases.
l
Enable speed tracking error monitoring (
P 744[0] -
SDiffMax
, Section "Speed- / velocity limits" on page
312). This monitoring function provides extensive
protection against uncontrolled movement.
ID
Index Name / Setting
Unit
Description
365
0
CON_ICOM_AutoOn
auto recommutation after selected event
366
0
CON_ICOM_RefSpeed
rpm
commutation detection: scaling of control gain
390
0
CON_ICOM
Auto commutation: Control word for selection
Off (0)
Function disabled
IENCC (1)
Current injection
LHMES (2)
Saturation of inductance evaluated
IECSC (3)
Not yet implemented
IECON (4)
Current injection, minimized movement
HALLS (5)
Not yet implemented
HALLSDIGITAL (6)
Digital Hall sensor
Table 7.36: “Auto commutation” parameters
MOOG
ID No.: CB40859-001 Date: 11/2020
MSD Servo Drive - Device Help
157
7 Control
ID
Index Name / Setting
Unit
Description
HALLSDIGITAL2 (7)
Digital Hall sensor (alternate process)
391
0
CON_ICOM_KpScale
%
commutation detection: scaling of control gain
392
CON_ICOM_Time
commutation detection: times
392
0
CON_ICOM_Time
ms
392
1
CON_ICOM_Time
ms
392
2
CON_ICOM_Time
ms
392
3
CON_ICOM_Time
ms
393
CON_ICOM_Current
commutation detection: currents
393
0
CON_ICOM_Current
A
393
1
CON_ICOM_Current
A
394
CON_ICOM_Check
Monitoring auto commutation
394
0
LIMIT
degree Auto commutation: Angle error limit
394
1
ActVal
degree Auto commutation: Angle error actual value
Table 7.36: “Auto commutation” parameters (continue)