ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 34)

CA[N] - Commutation Array
Purpose:
Defines motor and commutation parameters. The CA[N] array includes the
parameters of the initial motor setup. The CA parameters need to be well defined in
order to ensure that the motor rotates efficiently, or even rotates at all. CA[N] also sets
the feedback direction.
Under most circumstances, this command is used by the tuning environment
only.
It is not recommended to modify these parameters manually.
Notes:
Normally, for brushless and stepper motors, a commutation search (identifying the
electrical rotor position with respect to the stator position) is made once at the first
Motor On. When any of CA[N] is set, the transformation angle resets and the next
Motor On will initiate a new commutation search.
The parameters in the following tables define the location and polarity of the Hall
sensors and encoder.
Command Description
CA[1] Digital Hall sensor A polarity (1 for active high, 0 for active low).
CA[2] Digital Hall sensor B polarity (1 for active high, 0 for active low).
CA[3] Digital Hall sensor C polarity (1 for active high, 0 for active low).
CA[4] Actual Hall sensor connector to Hall A connector pin:
1 for A, 2 for B and 3 for C.
CA[5] Actual Hall sensor connector to Hall B connector pin:
1 for A, 2 for B and 3 for C.
CA[6] Actual Hall sensor connector to Hall C connector pin:
1 for A, 2 for B and 3 for C.
CA[7] Offset of digital Hall sensors.
The units are 1024/electrical revolution.
Table 3-3: CA Vector - Digital Hall Sensor Parameters
The parameters in the table that follow are required for the Analog Encoder, Resolver
or Analog Halls signal scaling:
Command Description
CA[9] Relative phase of the Analog Encoder sinusoidal signals (or Analog Halls
or Absolute Coarse/Fine Encoder(fine mode)), in 65,536 units per cycle.
In most systems, CA[9] will fall in the range of [-2048…2048].
SimplIQ for Steppers Command Reference Manual Alphabetical Listing
MAN-STECR (Ver. 1.1)
26