CommutationInitializationAngle Parameter
Default Value: 0
Minimum Value: 0
Maximum Value: 359
Units: degrees
Type: int
WARNING: If you set this parameter to an incorrect value, failure and damage to the motor can occur.
Before you use the CommutationInitializationAngle parameter, you must set the parameters that follow to the specified values:
- Enable the Override Angle On First Home setting of the CommutationInitializationSetup Parameter
- Set the HomeType Parameter to Past Limit to Marker, To Limit and Reserve to Marker, or To Marker Only.
- Set the Initialization Method of the CommutationInitializationSetup Parameter to Auto-MSET or to Commutation Search.
The CommutationInitializationAngle parameter specifies the commutation initialization angle that you want to use with the Override Angle On First Home setting of the CommutationInitializationSetup parameter. There are two methods to determine the correct value:
A Value Based on the Mechanics and Configuration of Your System
Set the CommutationInitializationAngle parameter to the value of the motor commutation angle when the motor is at the marker position. If you know the relationship between the motor, the motor commutation angle, and the marker, Aerotech recommends that you use this information to determine the value for this parameter.
The value that you specify must be a positive integer between 0° - 359°. Adjust negative values when necessary. For example if you have a -30° commutation initialization angle, set the value of the CommutationInitializationAngle parameter to 330°.
After you set this value, save the parameter file. Then reset the controller for these changes to have an effect.
A Measured Value
If you do not know the relationship between the motor, the motor commutation angle, and the marker, use the procedure that follows to measure a value for the CommutationInitializationAngle parameter.
The value that you specify must be a positive integer between 0° - 359°. Adjust negative values when necessary. For example if you have a -30° commutation initialization angle, set the value of the CommutationInitializationAngle parameter to 330°.
To Measure A Value for the CommutationInitializationAngle Parameter
- Open Studio.
- Select the Configure tab.
- Find the current value of the HomeOffset Parameter. Record this value. You will set the parameter back to this value at the end of the procedure.
- Change the value of the HomeOffset parameter to 0.
- Disable the Override Angle On First Home setting of the CommutationInitializationSetup Parameter.
- Save the parameters. Then reset the controller for these changes to have an effect.
- Select the Visualize tab.
- On the Data Visualizer menu, click the Configure Signals link. The Configure Signals dialog comes into view. Do the steps that follow:
- In the Axis section, specify the axes that you want to assign to one or more signals.
- In the Signal(s) to collect section, select the Motor Commutation Angle signal.
- Click the Add Signals to List button to add the signal to your list of configured signals.
- In the top-left part of the dialog, set Period (msec) and Points so that data collection measures one full home cycle.
- Click the Save Signal Collection Settings button. The application applies your changes and closes the dialog.
- Enable the axis.
- Start data collection.
- Home the axis while data collection is occurring.
- After the home cycle completes, find the value of the Motor Commutation Angle signal.
- In the Configure tab, set the CommutationInitializationAngle parameter to the integer nearest to the value of the Motor Commutation Angle signal.
- Enable the Override Angle On First Home setting of the CommutationInitializationSetup parameter.
- Set the HomeOffset parameter back to the value that you recorded in Step 3.
- Save the parameters. Then reset the controller for these changes to have an effect.
