Commutation Test; Adaptive Tuning - Allen-Bradley Kinetix 5700 User Manual

Commutation Test

Adaptive Tuning

The commutation test determines an unknown commutation offset and can
also be used to determine the unknown polarity of the start-up commutation
wiring. You can also use the commutation test to verify a known commutation
offset and the polarity start-up commutation wiring.
IMPORTANT This test applies to third-party or custom permanent-magnet motors
equipped with (TTL with Hall and Sine/Cosine with Hall) incremental
encoders that are not available as a catalog number in the Motion Database.
IMPORTANT When motors have an unknown commutation offset and are not listed in
the Motion Database by catalog number, you cannot enable the axis.
Figure 238 - Hookup Tests - Commutation Tab
To run the commutation test, see
The adaptive tuning feature is an algorithm inside the Kinetix 5700 servo
drives. The algorithm continuously monitors and, if necessary, adjusts or
adapts various filter parameters and, in some cases, control-loop gains to
compensate for unknown and changing load conditions while the drive is
running. Its primary function is to:
• Automatically adjust torque-loop notch and low-pass filter parameters
to suppress resonances
• Automatically adjust control-loop gains to avoid instability when
detected
See Motion System Tuning Application Techniques, publication
AT005, for more information on the AdaptiveTuningConfiguration attribute.
Rockwell Automation Publication 2198-UM002G-EN-P - February 2019
Motor Control Feature Support
Test the Axes on page 267.
Appendix E
MOTION-
445