Rockwell Automation 2098-IPD-xxx Ultra5000 Intelligent Positioning Drives Installation Manual - Manual (Page 55)

Publication 2098-IN001E-EN-P — April 2002
Ultra5000 Connector Information 2-29
Encoder Phasing
For proper motor commutation and control, it is important that the
motor feedback signals are phased properly. The drive has been
designed so that a positive current applied to a motor will produce a
positive velocity and increasing position readings, as interpreted by
the drive. Additionally, Hall signals are used to initialize the
commutation angle, so the Hall signals must sequence properly and
the phase relationship to the motor back-EMF signals must be
understood.
Figure 2.19 shows the proper sequencing of the Hall
signals when positive current is applied to the motor. If the Hall
signals are out of phase with the back-EMF signals, the drive can be
configured through software to compensate for the phase offset, as
long as the sequencing of the Hall signals is correct.
Figure 2.20 shows
an example where the Hall signals have an offset of 60 degrees.
Figure 2.19
Sequencing and Phasing of the Hall Signals
Figure 2.20
Sequencing and Phasing of the Hall Signals (60° Hall Offset Example)