User Manual

Brushless Motor Connections and Operation
116 Advanced Digital Motor Controller User Manual V2.1, December 3, 2020
360
0
0
360
Linear
Non-Linear
Actual Mechanical Position
Reported Position by Sensor
FIGURE 8-22. Sensor non-linearity correction
Windings and Sensor Order.
The wiring order of the U, V, W motor cable, the A, B, C Hall Sensors inputs, the A, B
Encoder inputs and/or the Sin, Cos signals are all related to each other. Swapping any of
the motor wires will make the motor turn in the opposite direction. Swapping any sensor
cables affects the angle and counting direction.
The Automatic Setup will detect the wiring order of the motor and sensors, and set the
corresponding bits in the SWD configuration register in order to virtually swap the connec-
tions so that all are moving/sensing in the same direction.
Running the Automatic Sensor Setup
The V2.x firmware has a new feature for Automatic Setup and Calibration of all the sup-
ported rotor sensor types. With a simple click, it performs the following:
a. Find the sensor polarity with respect to stator winding connection and set the
SWD Swap Windings configuration parameter.
b. Find angle offset from the stator zero degrees reference axis and store the value in
the “BADJ” Angle Zero Adjust configuration register.
c. Map the angular position of the Hall sensors and store the values in the HSAT Hall
Sensor Angle configuration table
d. Find the min, max and zero levels of the analog signals in case of sin-cos and
resolver for normalization of sine and cosine. The values are stored in the ZSMC
calibration register
After configuring the controller for sinusoidal mode (See page 100) and after selecting and
configuring the Angle Sensor (See page 102) , click on the Diagnostic tab of the Roborun+
PC Utility.
Important Notice
All angles values entered or displayed by the controller are in 0-511 value where 0 =
0 degrees or radians, and 511 is 360o or 2r radians.