Drive Configuration
Initial Setup of the Register Tree
In case the phasing fails because of ongoing movements of the axis. Increasing the StartTime re-
duces the motion of the axis. This is a typical use case for axes with low friction e.g. axes with
air-bearingins.
RampRiseTime
: This parameter is used to configure the duration of the current ramp. The recom-
mended setting for this parameter depends on the
PhasingMethod
:
RotorAlignment
:
RampRiseTime
typically 1.0-2.0s
AngleSearch
:
RampRiseTime
typically 0.1-0.2s
RampConstTime
: This parameter should be set to a value which allows the axis to reach steady
state. Depending on the type of axis this is typically 0.5-2.0s. The value has to be increased, if the
axis is still in motion at the end of the phasing.
Current Amplitude
: This parameter defines the amplitude of the applied current. It is typically set to
50-100% of the nominal current.
It is possible that the initial position of the axis is exactly opposite to the applied current-angle. In this
case nearly no torque is applied to the motor and phasing may fail. To prevent this case, the angle of
the applied current is oscillated three times at the beginning of the phasing. This should get the axis out
of its equilibrium. The following parameters can be used to configure the oscillation:
SineAmplitude
: Amplitude of the angular oscillation of the commutation angle. Typical values are
0.1-0.5rad.
SineFrequency
: Frequency of the angular oscillation of the commutation angle. Typical value is
10Hz.
5.2.8 Axis[].Parameters.CurrentController
This section describes the initial setup of the current controller. The structure of the controller is de-
scribed in section 5.4.
PwmFrequency
: This parameter is used to define the frequency of the pulse width modulation. In
most cases this parameter should be set to
pwm50kHz,
as this allows higher drive currents. Only for
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Figure 42: Phasing sequence with Type = RotorAlignment.
