User Manual

Brushless Motor Connections and Operation
108 Advanced Digital Motor Controller User Manual V2.0, July 8, 2019
relatively slow. It also requires that the magnets and sensors are positioned with precision
inside the motor, which is not always the case in low cost motors. Compared to Trape-
zoidal mode, this mode will result is quieter motor operation because of the sinusoidal
commutation.
Proper operation of the Hall sensors can be verified by checking that the hall counter
changes by 6 * the number of poles over a full mechanical turn in the PC Utility or by us-
ing the query:
?CB [channel]
Alternatively, the following query can be run to view the state of the logic level of each
Hall inputs.
?HS [channel]
The Hall-only mode requires only a one time tuning during which their actual angular po-
sition of each Hall sensor will be detected and stored. See “Automatic Sensor Setup” on
page 1 0 7.
Hall + Encoder
If the motor is fitted with Hall sensors and an Incremental Encoder, the controller can
be configured to use both sensors together. The Encoder’s PPR must be configured as
described above. In this mode, the controller’s operation is identical to when an Encoder
alone is used for feedback, except that there is no need for the reference search se-
quence described above. When first energized, the motor will operate using the Hall sen-
sor until the first change to the Hall pattern is detected. This will set the angle reference
for the encoder. For this mode, it is critical that both the number of Encoder PPRs and the
motor number of pole pairs be entered correctly. Both counters must count in the same
direction.
The Hall Encoder mode requires only a one time tuning during which their actual angular
position of each Hall sensor will be detected and stored. See “Automatic Sensor Setup”
on page 1 0 7.
See above and below how to verify that the Encoder and Hall sensors are operating cor-
rectly.
Sin/Cos Analog
Some controller models can be interfaced to absolute position sensors with Sine/Cosine
output. These sensors are usually made using Hall technology and are built into the motor.
They provide two analog voltage output that are usually 90 degrees apart. The rotor angle
is determined by measuring the voltage ratio between the two signals. The controller can
compensate for differences in amplitudes between the two signals.
There are sensors whose signals are not 90 degrees apart. The controller can be con-
figured for use with sensors that have practically any phase shift. This is done using the
PSA - Phase Shift Angle configuration parameter. Note that angles are in 0-511 degrees
notation.