User Manual

Brushless Motor Connections and Operation
110 Advanced Digital Motor Controller User Manual V2.0, July 8, 2019
Fixed Primary
Primary
Rotating
Secondary 1
Sec 1
Sec 2
Rotatiion
Rotating
Secondary 2
FIGURE 8-11. Resolver equivalent diagram and signals
Controllers models supporting resolvers use one output to generate the excitation. The
secondaries are then fed to two analog inputs. Exact wiring depends on the controller
model. Please consult the controller data sheet for pinout location. Resolvers require one
time calibrations similar to these for the sin/cos sensors and can be tested the same way.
Important Warning
The Tuning Fault LED will be On in the Roborun Screen and the motor will NOT start
if the Resolver has not been setup/calibrated.
Digital Absolute Encoder (SSI) Feedback
Some advanced motors, incorporate an absolute position sensor with a high speed serial
interface based on the SSI protocol.
Controllers support SSI encoders with resolution from 12 to 15bits. SSI encoders give the
angle’s absolute position. Nevertheless, a calibration of the zero-angle reference must be
done once in order to capture the mechanical offset of the sensor vs the actual 0 degrees
position.
The SSI’s sensor resolution is set by entering 2 to the power of the number of bits (i.e.
4096, 8192, ...) in the SPI/SSI Sensor Resolution field in the PC utility..
Or by sending the configuration command:
^SCPR channel nn
After enabling the Sinusoidal Mode and SSI Angle Feedback, verify first that the SSI
Counter displays a stable number that is different from zero. This will indicate that data is