Drive Configuration
Initial Setup of the Register Tree
is already initialized with the correct phasing angle (see section 6.1).
RotorAlignment
: The rotor is aligned by applying a current to a specific phase angle. This causes
the rotor to align with the magnetic field of the phases. If the rotor is not already aligned by
chance, this causes a movement of the rotor. This method must be used for the initial commis-
sioning of synchronous AC-motors as it does not require a tuned position controller.
AngleSearch
: With this method, the electrical direction of the current is controlled in such a way,
that the motor does not move during angle search. This method requires a stable setup of the
position controller. It is recommended to use this method for axes which must not move during
phasing and for axes with low damping (e.g. for axes with air bearings). As
AngleSearch
requires
a tuned position controller it is not suitable for the initial setup.
EnablingMethod
: This parameter specifies if phasing is executed when the motor is enabled. In case
of an absolute encoder the parameter is used to specify the source for the commutation offset. The
following options can be selected:
ForcePhasing
: Phasing is executed at every enabling of the motor.
Automatic
: Phasing is executed only if
Axis[].Signals.Commutation.State
is
Invalid
. This could for
example be the case after a power-cycle of the drive. The commutation state will change to
Valid
when phasing is executed successfully. This method should not be used before the commission-
ing of the current controller and the position controller is successfully done.
NoPhasing
: This option is used if
Axis[].Motor.Type
=
DC
.
AbsoluteEncoder
;
AbsoluteEncoderOffsetEncoder
;
AbsoluteEncoderOffsetDrive
: See section 6.1
for how to setup the commutation based on absolute encoders.
For an initial setup it is recommended to use
ForcePhasing
. Depending on the application the set-
ting can be changed for example to
Automatic
after the commissioning is successfully done. During
phasing, a current is applied. The shape of this current can be configured with the following param-
eters (see also Figure 42).
Angle
: This is the electrical angle of the phasing vector used in the
RotorAlignment
method. Default
value is zero.
StartTime
: This parameter delays the start of the phasing. During this period, the voltage controller
of the drive is already active and causes damping of the motor because of the back electromotive
force. A
StartTime
greater than zero might be useful in the following cases:
In case a brake with significant delay has to be released before the phasing starts.
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Figure 41: Phasing Method: a) Before phasing the commutation angle is unknown. b) RotorAlignement: The rotor is
aligned with a static electromagnetic field generated by the phase currents. c) AngleSearch: The angle of the elec-
tromagnetic field is adjusted to match with the magnetic field of the rotor without moving it.
