232 Rockwell Automation Publication MOTION-UM003K-EN-P - January 2019
Chapter 11 Commission an Axis
Applying the Commutation
Hookup Test
The Commutation Test determines an unknown Commutation Offset and
potentially the unknown polarity of the startup commutation wiring. The
Commutation Test can be used also to verify both a known Commutation
Offset and the polarity startup commutation wiring. This test is applied to
third-party or custom Permanent Magnet motors that are not available as a
Catalog Number in the Motion Database.
When a motor needs a Commutation Offset and you are not using Catalog
number as the Motor Data Source, you cannot enable the axis.
There are several different cases where the Commutation Hookup Test can be
applied to a PM motor:
• Unknown Commutation Offset
• Verification of Known Commutation Offset
• Non-standard or Incorrect Wiring
Unknown Commutation Offset
The primary use for the Commutation Hookup Test is the case where the
machine is equipped with a PM motor that has an unknown Commutation
Offset.
The Commutation Offset, and potentially Commutation Polarity, can be
unknown for different reasons, including an unprogrammed ‘smart encoder’ or
any generic third-party encoder where Commutation Offset is unknown.
TIP For linear stages, make sure that there is enough available travel, otherwise
the commutation test produces a fault.
TIPThe Kinetix 350 and the Kinetix 5500 drives do not support the
Commutation Polarity attribute.
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