User manual

Geo Brick Drive User Manual
Motor Setup 178
Hall Effect Phasing: Digital quadrature encoders
Digital hall sensors can be used for rough phasing on power-up without the need for a phasing search
operation such as the manual, 2-guess, or stepper phasing methods. It provides absolute information about
where the motor is positioned with respect to its commutation cycle. It is highly desirable due to the fact
that it allows phasing the motor without any movement.
Note
Inherently, digital hall sensors have an error of about ±30°, resulting
in a torque loss of about 15%. It needs to be corrected (fine phasing)
for top operation.
The Geo Brick Drive supports the conventional 120° spacing hall sensors’ type, each nominally with 50%
duty cycle, and nominally 1/3 cycle apart. The Geo Brick Drive has no automatic hardware or software
features to work with 60° spacing. The 120° spacing format provides six distinct states per cycle:
-60° 0° 60° 120° 180° -120° -60° 0° 60°
Channel W
Channel V
Channel U
Follow these steps to implement hall sensor phasing:
1. Start with Ixx81=0, and Ixx91=0, which eventually are the parameters to be configured
2. Phase the motor manually or using the 2-guess/stepper method.
3. Jog the motor slowly (with rough PID gains), or move in open loop/by hand in the positive direction
of the encoder while plotting Halls UVW (Mxx28) versus Phase Position (Mxx71).
4. Set up the detailed plot, scaling and processing for Halls UVW and Phase Position