Aerotech SOLOIST, Hardware Manual

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Installation and Configuration Soloist Hardware Manual
2-14 www.aerotech.com
2.7.2.1 Brushless Motor Phasing
When configuring the Soloist to run a non-Aerotech brushless motor, the motor leads (A,
B, and C on TB102) must be correctly connected for proper operation.
An AC brushless motor is correctly phased if a positive motion command causes CW
motor rotation (as viewed when looking at the motor from the front mounting flange. See
illustration.). The PosScaleFactor parameter must be set to a positive value. Motor
phasing is unrelated to the direction of motion commanded from within a user task.
Instead, it is determined solely by which motor lead is connected to the
Ø
A,
Ø
B, and
Ø
C
motor terminals. After correctly phasing the motor, you can reverse the motor direction
when commanding a positive move from a user task by negating the sign of the
PosScaleFactor parameter.


Before running the Soloist\Programs\Samples\MsetDebug.Ab, configure the axis
parameters. For configuration information, see Getting Started in Soloist Help.

Motor phasing is determined by two methods. In the first method, the motor open loop is
actively driven under program control. The Soloist\Programs\Samples\MsetDebug.Ab can
be used for this purpose. The motor phasing is correct if the program causes the motor to
move in a positive direction, as shown in Figure 2-15. To correct a reversed motor
rotation, swap any two motor lead connections.
The second method is a non-powered method. The motor is disconnected from the
controller and connected in the test configuration (as shown in Figure 2-12); identifying
4motor leads A, B and C and Hall signals. These sequences and the generated output
motor phase voltages (motor output connections
Ø
A,
Ø
B, and
Ø
C) are shown in Figure 2-
12. Generate the voltages by moving the motor and forcer by hand in a positive (CW)
direction.
Motor Mounting
Flange (Front View)
Motor Shaft
Clockwise (CW)
(Positive Direction)
+ MOVE (Clockwise)
FORCER
MAGNET
TRACK
Forcer
FORCER WIRES