User Manual

Sinusoidal Commutation
Advanced Digital Motor Controller User Manual 115
Select which motor channel to setup. Then click on the Motor/Sensor Setup button to
launch the Automatic process. The process can also be initiated using the serial com-
mands %CLMOD 2 for Channel 1 and %CLMOD 3 for Channel 2.
The motor will rotate at a RPM speed of 60/Number of Pole pairs. It will perform a full
turn in each direction and then stop. If the motor doesn’t turn, or turns with hesitations,
Click on the Cancel button (or send %CLMOD 0). Make sure that the motor is not loaded.
Adjust the Reference Search Current and try again. See “Reference Search Power” on
page 108.
After setup is finished, depending on the sensor type, the Utility will print the following
captured parameters on the console tab indicating that the process is complete:
Sensor Captured Values Description
All types BADJ
SWD
Zero Reference
Winding/Sensor Order
Hall, Hall+Encoder HSAT Hall Sensor Map
Sin/Cos, Resolver ZSMC Min/Max/Zero
Perform the Setup a few times to verify that it produces the same values. If the Zero Ref-
erence in particular varies significantly, increase the Adjust the Reference Search Current
and try again. See “Reference Search Power” on page 108.
The reference search will settle on a given electrical angle location. On a two pole motor,
this electrical angle value exists in 2 mechanical locations for that motor. After performing
a first search, rotate the motor shaft and repeat the search. On a perfectly constructed
motor, the search will settle at the same electrical angle on any of the other poles. In
practice, it is expected that the values will be off by one or two degrees from one pole to
another.
If the value is consistent from one measurement to another, and difference is larger than
a few degrees, this means the poles are not placed with precision in the motor and the
motor will not run efficiently. If the difference is very large (20 degrees or more), it is likely
that the angle sensor is not working correctly or that the number of poles of the motor
and/or sensor are not configured correctly.
Real-Time Charting
The Diagnostic tab includes a Fast-Updating that can be used to monitor useful infor-
mation during the Setup phase. For instance for observing that the Sin and Cos inputs
see a Sinusoidal shaped signal as the motor turns, or that the captured angle is chang-
ing steadily without noise or glitches. The chart is also useful for testing the motor im-
mediately after Setup. The table below shows the parameters that can be monitored
in the chart.