Delta Tau TURBO CLIPPER DRIVE Manuale Utente
Turbo Clipper Drive User Manual
Motor Setup Guidelines
72
Hall Effect Phasing (Digital Quadrature Encoders):
Digital hall sensors provide three digital signals that are a function of the position of the motor
shaft, each nominally with 50% duty cycle, and nominally 1/3 cycle apart (This format is often
called 120° spacing; the Turbo Clipper Drive Drive has no automatic hardware or software
features to work with 60° spacing.) The 120° spacing format provides six distinct states per
cycle of the signal. Typically, one cycle of the signal set corresponds to one electrical cycle, or
pole pair of the motor. These sensors can then provide absolute (if low resolution) information
about where the motor is in its commutation cycle, and eliminate the need to do a power-on
phasing search operation. The 3-phase digital Hall effects can be used with the Turbo Clipper
Drive as low-resolution position/velocity sensors but typically they are used to accomplish a
rough power-up phasing.
shaft, each nominally with 50% duty cycle, and nominally 1/3 cycle apart (This format is often
called 120° spacing; the Turbo Clipper Drive Drive has no automatic hardware or software
features to work with 60° spacing.) The 120° spacing format provides six distinct states per
cycle of the signal. Typically, one cycle of the signal set corresponds to one electrical cycle, or
pole pair of the motor. These sensors can then provide absolute (if low resolution) information
about where the motor is in its commutation cycle, and eliminate the need to do a power-on
phasing search operation. The 3-phase digital Hall effects can be used with the Turbo Clipper
Drive as low-resolution position/velocity sensors but typically they are used to accomplish a
rough power-up phasing.
Hall sensors have an error of about ±30° resulting a loss in torque of about 15%, it will need to
be corrected (fine phasing) for top operation.
Hall Effect phasing with the Brick can be setup following these steps:
be corrected (fine phasing) for top operation.
Hall Effect phasing with the Brick can be setup following these steps:
a. Set Ixx81=0, and Ixx91=0 (which effectively are the parameters to be configured for
hall effect phasing)
b. Phase the motor as best as possible using custom, 2-guess, or stepper method
c. Jog the motor slowly (with rough PID gains), or move in open loop in the positive
c. Jog the motor slowly (with rough PID gains), or move in open loop in the positive
direction of the encoder while plotting (Mxx28) Halls UVW versus Phase Position
(Mxx71).
(Mxx71).
d. Setting up the detailed plot, Scaling and Processing of Halls UVW, Phase Position