Wake and Shake

One of the basic functions in the drive of a brushless servomotor is the commutation. The commutation is the current transition of one winding of the motor to the next winding. Only in case of a correct commutation time respectively a correct commutation angle there is correct synchronism of the motor with perfect efficiency and minimum thermal load.
There are different possibilities to evaluate and adjust the commutation angle (parameter MPHASE).

1. If the encoder system built into the motor delivers an absolute position value within one turn, you can
   • adjust the encoder mechanically. With the preset MPHASE 0 the motor works. This procedure is used with AKM motors with Resolver or Encoder.
   • evaluate the commutation angle once with the function ZERO. The angle must be stored in the servo amplifier and will be used with every start.
   • adjust the commutation angle electronically. The correction angle is stored in the encoder. The servo amplifier works with MPHASE 0.
2. The motor makes a small movement to evaluate the commutation angle (Wake and shake, W & S). Can be used with all encoders (see multifeedback ).
3. If the motor position is always the same at the restart, (linear vertical axis) you can the commutation angle to start the motor without movement.
4. With a special control system.

Functional Description

Servo amplifiers S400/S600 and S300/S700 use the W&S function WSCNFG 0.

Servo amplifiers S300/S700 from firmware 2.53 additionally use the function WSCNFG 1.