Load Commutation Parameter Sets a commutation parameter for a given axis. Details

Device Compatibility Device Compatibility 7330 N 7340 N 7344 N 7350 Y 7390 N NI SoftMotion Controller for CANopen—Accelnet N NI SoftMotion Controller for CANopen—Xenus N

	Attribute is one of the following commutation attributes to set: Initialization Type Find Zero Voltage Find Zero Time Direct Set Phase Electrical Cycle Counts Hall Sensor Type Commutation Mode
	Board ID is a unique number assigned by Measurement & Automation Explorer (MAX) used to send and receive commands and data to or from a specific NI motion controller.
	Axis is the axis to configure.
	error in (no error) describes error conditions that occur before this VI runs. The default input of this cluster is no error. If an error already occurred, this VI returns the value of error in in error out. The VI runs normally only if no incoming error exists. Otherwise, the VI passes the error in value to error out. The error in cluster contains the following parameters: status is TRUE if an error occurred before this VI was called, or FALSE if not. If status is TRUE, code is a nonzero error code. If status is FALSE, code is zero or a warning code. code is a number identifying an error or warning. If status is TRUE, code is a nonzero error code. If status is FALSE, code is zero or a warning code. Use the error handler VIs to look up the meaning of this code and display the corresponding error message. source is a string that indicates the origin of the error, if any. Typically, source is the name of the VI in which the error occurred.
	Value is the value to load for the specified parameter
	Bd ID Out is provided for flow control. You can string together NI-Motion VIs by wiring the Board ID Out terminal of one VI to the Board ID terminal of the next VI.
	Resource Out is the Axis, Vector Space, ADC, or Encoder you wired into the VI. Use Resource Out to pass the resource to another VI and/or to display information about the device.
	error out contains error information. If error in indicates an error, error out contains the same error information. Otherwise, it describes the error status that this VI produces. status is TRUE if an error occurred, or FALSE if not. If status is TRUE, code is a nonzero error code. If status is FALSE, code is zero or a warning code. code is a number identifying an error or warning. If status is TRUE, code is a nonzero error code. If status is FALSE, code is zero or a warning code. Use the error handler VIs to look up the meaning of this code and display the corresponding error message. source is a string that indicates the origin of the error, if any. Typically, source is the name of the VI in which the error occurred.

Using This VI

Use the Load Commutation Parameter VI to configure a commutation parameter for a given axis.

Note  Only 7350 controllers support the Load Commutation Parameter VI.

Initialization Type specifies how the controller initializes the commutation phase. Select one of the following values:

Value	Description
0	Hall Sensor—Initializes the phase based on the Hall sensor's input.
1	Shake and Wake—Initializes the phase by driving the system to the zero degree commutation phase.
2	Direct Set—Sets the commutation phase directly with the phase angle specified.

Caution  Phase initialization is performed when the axes are enabled. If you use Shake and Wake, the system can move during the initialization process.

Find Zero Voltage specifies the voltage to use with Shake and Wake initialization. The range is 0 to 10. Find Zero Time specifies the duration of Shake and Wake initialization in milliseconds. The range is 0 to 10,000 ms.

Direct Set Phase specifies phase angle to set with Direct Set initialization. For Direct Set, the controller sets the current position as the specified phase angle. National Instruments recommends this initialization method only for custom systems with a known initial phase angle. The range for the phase angle is 0 to 359°.

Electrical Cycle Counts specifies the encoder counts for the commutation cycle. This information is usually listed in the motor or stage documentation. Some motor manufacturers present this information as the number of poles. In such cases, convert number of poles to counts per electrical cycle with the following equation. The range is 2 to 268,435,000 counts.

Caution  Counts per electrical cycle must be set correctly to avoid overheating and damaging the motor.

Hall Sensor Type specifies the type of Hall Effect sensor to use. Select 0 for Type 1 or 1 for Type 2 Hall effect sensor. Refer to your motor documentation for information about the type of Hall effect sensor to use. Refer to the documentation for your 7350 device for information about configuring Hall effect sensors.

Commutation Mode configures the axis to use onboard commutation or to be commutated externally. Select one of the following values:

Value	Description
0	External Commutation
1	Onboard Commutation

Call the Load Commutation Parameter VI before enabling the axis. If the axis is enabled, the commutation parameters do not take effect until you call Enable Axes again.