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National Instruments Corporation
15
Getting Started with the NI 9502 and AKM Motors
16. Look for the
hall wiring
value in Table 5 where the velocities in both directions were closest to the
setpoint. This is the setting to use for your system. If these steps did not provide a conclusive result,
repeat the test with a higher
Velocity Setpoint
.
17. Set
hall wiring
to the correct value, if necessary.
18. Connect a load to the system and tune the velocity gains using the
9502 Trapezoidal
Commutation
VI. Refer to the
section for tuning tips.
19. (Optional) Tune the current gains using the same principles in the
section
used to tune the velocity loop.
Table 5.
Hall Wiring Property Results
Hall Wiring Property Setting
Positive Velocity
Negative Velocity
1, 2, 3
1, 3, 2
2, 1, 3
2, 3, 1
3, 1, 2
3, 2, 1
