User Manual

Sinusoidal Commutation
Advanced Digital Motor Controller User Manual 111
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.
The proper operation of the Sin/Cos sensor can be verified by plotting in real time the volt-
ages of the sin and cos signals inside the Diagnostic tab of the PC utility
FIGURE 8-18. Diagnostic Tab with Auto Setup