and C, and hall C aligns with the excitement of motor phases C and A. Setting up the motor for
BI
/
BC
initialization
may require wiring changes to both the motor leads and the hall inputs. The following steps will ensure that the
correct configuration is reached:
1. Put the motor in an
MO
state. Move the motor shaft manually in the direction desired for positive
movement.
a. If
TP
is decreasing, reverse encoder direction. See Step 6. Connecting Encoder Feedback, pg 19.
2. Continue to move the motor in the positive direction by hand, but now monitor the state of
QH
.
QH
should
change as the motor continues to rotate in the positive direction.
QH
should return the sequence: 1 3 2 6 4 5.
a. If the order is reversed, swap Hall A and Hall C.
b. If all 6 states are not seen, one of the hall inputs is miswired or not connected.
3. Select which axis will be using sinusoidal commutation by issuing the
BA
command.
4. Set brushless modulus, using the
BM
configuration command.
BM
is the distance, in counts, of a single
magnetic cycle of the motor. This can be calculated by dividing counts/revolution of the encoder by the
number of pole pairs of the motor. For a linear motor, the number of encoder counts per magnetic phase may
need to be calculated from motor and encoder manufacturers information.
5. Initialize the motor for hall commutation
BI -1
.
6. Test the motor for proper commutation by enabling the motor (
SH
) and jogging the motor slowly (
JG
1000;BG A
). If the motor rotates 360 degrees without cogging, running away, or stalling, skip to step 7.
a. If the motor stalls, cogs, or runs away, issue an
MO
and try initialization using
BZ
. If the motor stalls,
cogs, or runs away, after
BZ
, turn off the controller and amplifier and swap motor phases A and B and
retry steps 3-6.
b. If commutation is still not successful after 6. a., issue the appropriate
BA
,
BM
, and
BZ
commands—
but do not servo. Check the hall state with
QH
. If
QH
shows either of the two values shown below,
then turn off the controller and amplifier and rewire the motor based on the following, and then retry
step 3-6.
•
If
QH m
returns 5: Turn off the controller and amplifier and swap motor phases A and B, then B and C
•
If
QH m
returns 6: Turn off the controller and amplifier and swap motor phases A and C, then B and C
7. The motor should now be wired for sine commutation using the
BI
/
BC
method. Once
BI -1
is issued, the
motor is in a pseudo-trapezoidal state, you can enable sine commutation by issuing the
BC
command and
commanding a slow jog move. Once a hall transition is found, the commutation will be in sinusoidal mode.
Step 9. Connecting External Amplifiers and Motors
System connection procedures will depend on system components and motor types. Any combination of motor
types can be used with the DMC-40x0. There can also be a combination of axes running from Galil integrated
amplifiers and drivers and external amplifiers or drivers.
Table 2.15 below shows a brief synopsis of the connections required, the full step-by-step guide is provided below.
Chapter 2 Getting Started ▫ 29
DMC-40x0 User Manual