Method KickAndSwing¶
Alignment method KickAndSwing applies a constant current on the actuator. The actuator is assumed to be aligned after HoldTime seconds, thus without any check if this is indeed the case. The two phases of this method are described below and visualized in Current and commutation angle (demand and actual) profile for method KickAndSwing.
Attention
This alignment method results in significant movement of the actuator and determines the AngleOffset without verification. Use the CatchAndMove method instead, which results in more controlled movement of the actuator and verifies the correctness of the AngleOffset. Alternatively use the WakeAndShake method, which results in minimum movement of the actuator.
Phase I:
Ramp: The current is ramped up to HighCurrent in RampTime seconds.
Phase II:
Hold: The current is held at HighCurrent during HoldTime seconds.
In below figure, point A denotes the point in time where the commutation offset (defined as the offset between the demand angle and the actual angle) is determined:
Current and commutation angle (demand and actual) profile for method KickAndSwing¶
Signals¶
The signals applicable for this method are given in Alignment signals for method KickAndSwing.
Name |
Data type |
R/W |
Description |
|---|---|---|---|
PositiveAngle |
Float |
RW |
Positive initial angle [rad], supported interval \([0,2\pi]\). |
HighCurrent |
Float |
RW |
High current. |
RampTime |
Float |
RW |
Ramp time [s]. |
HoldTime |
Float |
RW |
Hold time [s]. |
Run exceptions¶
The KickAndSwing alignment method can fail with the run exceptions given in Alignment run exceptions for method KickAndSwing.
Run exception |
Description |
|---|---|
TimeoutException |
The configured timeout was exceeded. |
AbortedException |
The alignment procedure was aborted due to one of the following reasons:
The exact abort reason is given by the exception message available via the RunException property on the Alignment interface. |