Configuration of the Wake&Shake routine
| A configuration requirement is that the count direction of the feedback system matches the sequence of the motor phases. Details of the process for finding the commutation with “Wake&Shake” can be found in the Beckhoff Information System under the keyword: "Electronic commutation". This section only contains a brief overview. The command P-0-0160 executes the routine. The type of execution can be set in parameter P-0-0165. |
For “Command mode” you can select between: Static current vector and Wake and Shake.
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The “Static current vector” procedure results in a larger motor movement. It can be used for testing.
The “Wake and Shake” procedure minimizes the axis movement. This procedure is the one that tends to be used in practice.
Both procedures determine a commutation offset, although this is not shown in parameter P-0-0058. This is due to the fact that a new value has to be determined at each restart. This value depends on the axis position. The numerical value is therefore meaningless for the user.
The result can then be checked with the command P-0-0166. Both procedures should initially be performed with the default values.
| The setting “Activation 1: On enable request” has the effect that the AX5000 automatically executes a commutation search with the first enable after a restart. With "Wake and Shake" it often makes sense to set "Commutation pos control: Kp 0", in order to avoid execution errors.
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