Appendix D – Process to Setup Non-Danaher Motors
05/2008
Danaher Motion
124
S200-VTS Product Manual
Set the MEI filter gains to zero. In S200 Tools, set the drive to "stepper motor mode" (no
commutation) by setting DPoles = 0. Set the S200 parameter CommOff to 0. Command a
positive current in the coil via MoCon by setting a low but nonzero positive and negative current
limit (say, +2500 counts each). The rms current in the motor will be this value times the drive
Ipeak divided by the scaling number 19336 counts. For example, in an S20660 18 Arms peak
drive 2500 corresponds to 18*2500/19336 = 2.3 Arms. Make sure the current selected is low
enough not to overheat the motor coils but high enough to get the motor to move.
Enable the drive and the motor should move to a magnetic pole alignment position. That is, the
motor will swing to its pole position, oscillate around that position, and stop. Note the encoder
position. Now command a small (try 10) positive CommOff. The resulting motion should be in
the positive encoder direction. That is the encoder counts should have increased. If there is
enough friction in the system you may need to adjust the current higher, just make sure the
current is within the motor coil rating. You can also try going further by setting CommOff to
higher angles up to 180 degrees. If the resulting motion was in the negative encoder direction,
you will need to swap any pair of motor power leads.
The setup now has the motor coils, the Hall commutation sensor, and the encoder all agreeing
on the same positive direction.
Disable the drive.
Set Commutation Offset Angle:
Zero the current command in the MEI MoCon utility as done in the Positive #3 step.
Restore DPoles to its proper non-zero value. For linear motors this is usually 2 and for rotary
motors must be the actual number of magnetic poles per revolution. For linear motors make
sure AuxFBDivsor is set correctly to get commutation to work. See Chapter 8
Advanced
Configuration
for help with these NV parameters.
Enable the drive while holding the motor. There should be 0 current command and there
should be no force yet. Now apply a small (for e1000 counts) current command in the
MEI MoCon utility as described above. The motor should show a uniform force that doesn't
vary as a function of magnetic cycle. Don't worry about the force direction.
Now, try setting CommOff in S200 Tools to -120, 0, +120. Two of these settings will produce
force in the wrong (negative) direction at one-half the expected force level. Use the value that
produces positive direction force with the higher force level.
NOTE:
The above last step assumes that the motor was built conventionally and the Hall
Commutation logic edges mechanically lined up with the motor line-line back EMF zero
crossings. If the Hall commutation sensor has random alignment then you may need to make
more careful measures to set CommOff to the optimal value which will give you the most force
per amp of drive current.
Summary:
The S200 drive is now properly configured to run the non-catalog motor. Do an NVSave in the
S200 Tools to save the settings, do a file save to save the settings for future reference, and
document the working motor to drive wiring. If you would like to help others who might
someday run the same motor email the setup file and wiring connections to your Danaher
Motion products application engineer so they can share it with others.