Aerotech UNIDEX 600 Series, User Manual

Page: 78 / 354

U600 User’s Guide AerDebug
Version 1.4
Aerotech, Inc.
4-9
4.4.1.4. CONFIGHRESOLVER - Resolver and Hall effect sensor
feedback
To configure an AC brushless motor using Hall effect and resolver feedback for
commutation, the following syntax applies:
CONFIGHRESOLVER reschannel resolution hall_lines com_offset comm_ch
bounded
where
reschannel Resolver channel for position/velocity feedback. The
default is the current axis.
resolution 10, 12, 14 or 16 bits, which equals 1024, 4096, 16384 or
65535 counts per motor revolution.
hall_lines Encoder counts per electrical cycle. If set to zero (0),
commutation defaults to six step. The default is 1,500.
com_offset Commutation offset for CONFIGHALL is specified in
degrees (-360
° ≤
offset
≤
360
°
). The units are equal to 0
through 16,384 for 0 to 360
°
.
comm_ch Hall channel used to provide Hall effect and commutation
data. The default is the current axis.
bounded Enable (bounded=1), disable (bounded=0) software limits.
The default is zero (0).
4.4.1.5. ConfigD2A - Configure a DAC (D/A) Channel for Use
by This Axis
Each axis must have a D/A channel assigned to it for the command (torque/velocity) to be
delivered to the servo amplifier. This is done by specifying a D/A channel or omitting a
channel number and the default channel will be assigned for that axis, based upon the axis
number. The following syntax applies:
CONFIGD2A [ channel ]
where
channel Channel specifies the D/A channel to be assigned to this axis.