CurrentCommandCouplingLeaderAxis Parameter
Default Value: -1
Minimum Value: -1
Maximum Value: 31
Units: None
Type: int
The CurrentCommandCouplingLeaderAxis parameter enables the current command coupling mode and specifies the axis index of the leader axis. While the current command coupling mode is enabled, you can couple the current command from one axis, known as the leader, to one or more other axes, known as the followers.
After you configure the parameters for this mode, the drive ignores the output of the servo loop on the follower axes. The current command of each follower axis becomes the same as the current command of the leader axis.
IMPORTANT: Set the CurrentCommandCouplingLeaderAxis parameter only on the follower axes.
While the current command coupling mode is enabled, you can configure motor commutation for a brushless motor on each of the follower axes. To configure motor commutation, use one of the options that follow:
Independent Commutation
HARDWARE: Use this configuration only if the leader axis and each of its follower axes have a feedback device and Hall sensors.
In this configuration, the follower axes initialize the motor commutation from their connected Hall sensors. They update the motor commutation from their connected feedback device.
This configuration is the default for a brushless motor.
To Enable This Configuration
- On each of the follower axes, make sure that you set the CurrentCommandCouplingLeaderAxis parameter by specifying the axis index of the leader axis.
- On the leader axis and each of its follower axes, set the Update Method setting of the CommutationInitializationSetup Parameter to Feedback Device.
Synchronized Commutation
HARDWARE: Use this configuration only if the leader axis and each of its follower axes have the same motor type. The motor phases must be aligned. This configuration requires only the leader axis to have a feedback device or Hall sensors. It does not require the follower axes to have these items.
In this configuration, the follower axes initialize and update the motor commutation by using the commutation angle that they get from the leader axis.
To Enable This Configuration
IMPORTANT: Set the parameters, that are part of this procedure, on each of the follower axes. Do not set them on the leader axis.
- Make sure that you set the CurrentCommandCouplingLeaderAxis parameter by specifying the axis index of the leader axis.
- Set the Update Method setting of the CommutationInitializationSetup Parameter to Current Command Coupling Leader.
Offset Commutation
HARDWARE: Use this configuration only if the leader axis and each of its follower axes have the same motor type, but the motor phases are not aligned. This configuration requires only the leader axis to have a feedback device or Hall sensors. It does not require the follower axes to have these items.
In this configuration, the follower axes initialize the motor commutation by using the commutation angle that they get from the leader axis. Then they apply the value of the CommutationOffset parameter to that angle. After they apply the parameter value, the follower axes continue to update the motor commutation by using the commutation angles that they get from the leader axis.
To enable this configuration
IMPORTANT: Set the parameters, that are part of this procedure, on each of the follower axes. Do not set them on the leader axis.
- Make sure that you set the CurrentCommandCouplingLeaderAxis parameter by specifying the axis index of the leader axis.
- Set the Update Method setting of the CommutationInitializationSetup Parameter to Current Command Coupling Leader.
- Set the CommutationOffset Parameter to specify the difference in alignment between the leader and follower motors.
