Power Brick Controller User Manual
Manual Motor Setup
150
Hall Phasing Correction (Fine Phasing)
Inherently, digital hall sensors have an error of about ±30° resulting in a loss of torque of about 15%.
Correcting for hall sensors’ error can be achieved with a simple procedure. For better efficiency, this
correction is strongly recommended for all applications using hall sensors for "absolute" phasing.
The hall phasing correction requires homing the motor. If the motor’s position loop has not been tuned for
closed loop commands it may be more practical, after phasing with the stepper/manual technique, to carry
on to the open loop test and position loop tuning then come back for hall phasing correction.
Note
Hall phasing correction requires homing the motor.
The following are the necessary steps to implement the hall phasing correction:
1.
Phase the motor, as best as possible, using the stepper / manual technique.
2.
Home the motor to a reliable reference; encoder index or combination of flag and index.
Not to be changed after the initial installation.
3.
Record
Motor[].PhasePos
.
This value can be saved in
Motor[].AbsPhasePosForce
.
After saving
Motor[].AbsPhasePosForce
in the project and the PMAC, and on the next power cycle:
Phase the motor using halls by issuing
#n$
or
Motor[].PhaseFindingStep = 1
Home the motor to the same reference used in the phase correction routine.
Once homed and settled, set
Motor[].PhasePos = Motor[].AbsPhasePosForce
.
The hall phasing correction is now complete.
