ElmoMC SimplIQ Command Reference - Manual (Page 28)

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 clearly defined in order to ensure
that the motor rotates at all, and so that the feedback direction is correct.
The CA[] array is typically programmed by the Elmo Composer during system configuration
(by the wizard). It is not recommended to modify these parameters manually.
Setting of any of the following parameters causes the commutation sequence to be
searched again in systems with no digital halls.
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. This parameter compensates for Hall sensor
location inaccuracies.
Table 3-3: CA Vector - Digital Hall Sensor Parameters
The parameters in the table that follow are required for Analog Encoder, Resolver or
Analog Halls signal scaling:
Command Description
CA[8] Absolute
Coarse/Fine Encoder (fine mode) or Absolute analog encoder
feedback offset – the value of the position sensor readout at the electrical
zero of the motor.
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].
CA[10] Resolver or Analog Halls offset – the value of the analog sensor readout at
the electrical zero of the motor
CA[11] Offset for the A (sine) channel of the Analog Encoder, Resolver, Analog Halls
or Absolute Coarse/Fine Encoder(fine mode). The offset is given in ADC units
in the range of [-4500…4500].
SimplIQ Command Reference Manual Alphabetical Listing
MAN-SIMCR (Ver. 4.5)
3-15