User manual
Rockwell Automation Publication MOTION-UM003F-EN-P - March 2015 43
Configure Integrated Motion Control Using Kinetix Drives Chapter 1
Assign Motor Feedback
What appears on the Motor Feedback dialog box is dependent on what you select
on the General dialog box for Feedback Configuration.
The Motor Feedback dialog box represents the information for the feedback
device that is directly coupled to the motor. This dialog box is available if the
feedback configuration specified on the General dialog box is anything other
than Master Feedback.
If the motor that you select has Catalog Number as the data source, all
information on this dialog box with be entered automatically. Otherwise you
have to enter the information yourself.
Attributes that are associated with the Motor Feedback dialog box are designated
as Feedback 1.
If a permanent magnet motor is selected from the Motion Database, the
Commutation Alignment is set to Controller Offset. However, if a permanent
magnet motor is specified from Nameplate Datasheet, you must specify the
Commutation Alignment method. The default is set to Not Aligned.
In most cases, the Commutation Alignment is set to Controller Offset and the
Commutation test is run during commissioning to determine the Commutation
Offset and Polarity.
See the Integrated Motion Reference Manual, publication MOTION-RM003
,
for complete descriptions of the axis attributes.
Table 10 - Commutation Alignment Settings
Type Description
Not Aligned Not Aligned indicates that the motor is not aligned, and that the
Commutation Offset value is not valid. If the Commutation Offset is not
valid, the drive cannot use it to determine the commutation angle. Any
attempt to enable the drive with an invalid commutation angle results in a
Start Inhibit condition.
Controller Offset Controller Offset applies the Commutation Offset value from the controller
to determine the electrical angle of the motor.
Motor Offset The drive derives the commutation that is offset directly from the motor.
Self-Sense The drive automatically measures the commutation that is offset when it
transitions to the Starting state for the first time after a power cycle. This
generally applies to a PM motor equipped with a simple incremental
feedback device.