Setting
up Compax3
C3I20T11 / C3I32T11
216
192-120103 N13 C3I20T11 / C3I32T11 December 2010
Prerequisites for the automatic commutation
A movement of the motor must be permitted. The movement actually occurring
depends greatly on the motor (friction conditions) itself, as well as on the load
moved (inertia).
Applications requiring a motor brake, i.e. applications where active load torques
are applied at the motor (e.g. vertical actuator, slope) are not permitted.
Due to the function principle, high static friction or load torques will deteriorate the
result of automatic commutation.
When performing automatic commutation, a motion of at least ±180° must be
electrically possible (no mechanic limitation)! The implemented automatic
commutation function with motion cannot be used for applications with limit or
reversal switches.
With the exception of missing commutation information, the controller/motor
combination is configured and ready for operation (parameters correctly assigned
for the drive/linear motor). Feedback direction and effective direction of the field
of rotation must be identical (automatic commutation performed in the
MotorManager).
Course of the automatic commutation function
If "automatic commutation with movement" is selected as source of commutation,
the automatic commutation sequence runs once if the power stage is enabled. If
the power stage is enabled or disabled afterwards, the automatic commutation will
be left out. If an error occurs during the execution, the automatic commutation is
aborted. A new "attempt to enable" the power stage will trigger a new automatic
commutation.
Function principle of the automatic commutation with movement
The implemented method with movement is based on the sinusoidal dependence
of the provided motor currents and the resulting movement on the effective
commutation error. The acceleration performed by the motor (-> movement) in the
event of constantly maintained current is a measure for the actual change in the
commutation angle in the way that it disappears upon a change of exactly 0° and
is, for other angles, the acceleration and its direction in dependence of the sign and
value of the angular error (-180° .. 180°).
Acceleration torque depending on the commutation error.
∆ε
:
Commutation error
Μ/Μµαξ
normalized acceleration torque
