User guide

Motor Phasing CME 2 User Guide
106 Copley Controls
Phase Initialization Steps for Motor without Halls
The Phase Initialization function is designed to phase a motor with no Halls.
!
DANGER
Halls are strongly recommended for safe, redundant system.
Copley strongly recommends the use of Halls or a commutating encoder for
commutation to provide a safe, redundant system. If the application requires
otherwise, the customer accepts responsibility for verifying system performance and
reliability.
Failure to heed these warnings can cause equipment damage, injury, or death.
The Phase Initialization function uses as little motion as possible (less than 1/3 of one
electrical cycle) to determine phasing. Phase Initialization drives the motor in open loop
current mode, using microstepping of a current vector.
1
This procedure is a continuation of Manual Phase Example: Motor with Encoder (p. 104).
Before proceeding, verify you have completed that procedure through Step 8 (p. 105).
2
Ensure that the motor is free to move (for instance, make sure the brake is OFF).
3
Ensure that no external force, such as gravity, will cause the motor to move. If it is not
practical to eliminate such forces, it may be necessary to use the Forced Phase feature
later in this procedure.
4
To phase a motor with an encoder and no Halls, click Initialize Phase.
Observe the status messages under Monitor.
5
If the message “Phase Initialized” appears, the phasing of a motor with encoder and no
Halls is complete. Click OK to close the Manual Phase window.
6
If the phasing function fails (for instance, message
“Phase Initialized” is not displayed, or if a phasing fault is
indicated) adjust the phase initialization settings described
below and try Step 4 (Initialize Phase) again.
Setting
Description
Time
Used first as a delay, allowing amplifier to ramp up current to drive a small move.
Then used as a settling time. If the value is too low, the settling may not occur in
time, possibly resulting in jerky motion. Default: 400 ms.
Current
Use to overcome stiction when rotating current vector. If the current is too large,
motion may not settle; a low value may not provide enough current to drive a move.
Forced Phase
When selected, Forced Phase causes the Phase Initialization function to apply
Phase Init Current to alternate pairs of motor wires using the Phase Init Time.
Forced Phasing has been used to overcome various phasing problems, including
situations where gravity introduces unwanted motion. Forced Phasing tends to
produce more jerk and apparent motion.
Increment Phase 90
deg
If set, the amplifier will increase the starting phase angle by 90 degrees after every
failed initialization attempt.
Use Offset
If set, the amplifier uses the Hall Offset value as the initialization starting angle.