CommutationInitializationSetup Parameter

This table shows the value of the configuration for the parameter setting.

Table: Parameter Settings, Configurations, and Values

Setting	Configurations	Value
Initialization Method	Hall-Effect Switches	0x00000000
	Auto-MSET	0x00000002
	Commutation Search	0x00000004
	Absolute Encoder	0x00000008
	MX Encoder	0x00000100
Hall Commutation Direction	Normal	0x00000000
	Inverted	0x00000010
Override Angle On First Home	Disabled	0x00000000
	Enabled	0x00000001
Update Method	Feedback Device	0x00000000
	Hall-Effect Switches Only	0x00000040
	Current Command Coupling Leader	0x00000080

This setting specifies the method that the drive will use to initialize the commutation for a brushless motor. After the drive finishes initialization, it starts to update commutation based on the value you specify for the Update Method setting of this parameter.

Hall-Effect Switches is the default. Each time you enable the axis, the drive will use the state of the Hall-effect switches to initialize the motor commutation. When the drive detects a change in the state of the Hall-effect switches, initialization is complete.

When you select Auto-MSET, the drive uses the Automatic Motor Set (Auto-MSET) method to initialize the motor commutation.

When you select Commutation Search, the drive uses the Commutation Search method to initialize the motor commutation.

When you select Absolute Encoder, the drive uses the feedback from an absolute encoder to initialize the motor commutation. To use this method:

1. Set the FeedbackInput1 Parameter to Primary Feedback.
2. Set the PrimaryFeedbackType Parameter to Absolute Encoder EnDat or Absolute Encoder BiSS.
3. Set the CommutationOffset Parameter to the correct value for your mechanical device. Refer to the Determining the Commutation Offset for an EnDat Encoder or BiSS Encoder procedure.

When you select MX Encoder, the drive uses the feedback from a sine wave incremental encoder to initialize the motor commutation. Do not use this method unless Aerotech gives you instructions.

This setting specifies the sequence of Hall states that occur during motor operation.

Normal is the default. During a clockwise rotation of the motor, Hall state sequences are the same as the sequences that Table: Hall States That Occur at Different MSET Angles shows for the CommutationOffset Parameter.

When you select Inverted, the drive commutates in the order of the reversed Hall state sequences. To compensate for Hall state wiring errors without requiring changes to the wiring, use this setting with the CommutationOffset parameter to make sure the drive electrical commutation is correct.

This setting specifies how the drive initializes the motor commutation angle after the first time that you home the axis. You can use this setting to manually initialize the motor commutation angle to a specified value, which can help prevent performance problems. These problems are caused by differences in the results of the Automatic Motor Set (Auto-MSET) and Commutation Search methods.

Before you can use this setting, you must set the parameters that follow to the specified values:

• 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.

Disabled is the default. The drive does not change the value of the motor commutation angle.

When you select Enabled, the drive overrides the motor commutation angle with the value that you specified in the CommutationInitializationAngle Parameter after the first time that you home the axis.

This setting specifies the method that the drive will use to update the commutation for a brushless motor.

Feedback Device is the default. After the drive finishes initializing the motor commutation, it starts to update the commutation using data from the feedback device specified by the FeedbackInput1 parameter.

When you select Hall-Effect Switches Only, the drive will update commutation in six-step mode, which uses only the Hall-effect switches. You can use this mode to debug motor commutation problems, or when Hall-effect switches are the only feedback device available.

When you select Current Command Coupling Leader, the drive updates the motor commutation by using information that it gets from the leader axis in a current command coupling configuration. You must select Current Command Coupling Leader on the follower axes. This setting applies only when you set the CurrentCommandCouplingLeaderAxis Parameter to a value other than -1.