Installation manual

Danaher Motion Kollmorgen 08/04 Appendix B
SERVOSTAR S Installation M-SS-001-01 Rev. T 109
3. Determine the Relationship Between Halls and Motor
Phases
Measure the motor phase voltages versus the Hall states on
an oscilloscope to determine which motor phase matches
which Hall sensor. If the zero crossings of the sine wave match
the edges of the Hall sensor, this is a match. If the the Hall
sensor is low during the positive peak of the sign wave, this
follows the default polarity definition of the CD amp and you
should set MHINVx=0. If the Hall sensor is high during the
positive peak of the sine wave, set MHINVx=1.
If desired, record the difference between the sine zero crossings
and the Hall edges as an estimate of the MPHASE value to use in
step 8.
4. Determine the Correct Hall Phase Sequence
Connect the Halls to the CD, leaving other inputs/outputs
disconnected or disabled. Push the motor by hand in the
positive motor direction. Use the HALLS command to
verify that the sequence is 001, 011, 010, 110, 100, 101.
Re-arrange the Hall sensor leads until you find the
combination that yields the proper binary counting
sequence while moving the motor in the positive motor
direction.
5. Determine the Proper Motor Phase Sequence
Connect motor phases to the CD. Send ZERO 1 to force
the motor to move to a known zero state. Enable the
drive. This causes motion to the zero position. Read the
HALL state, it should be 001. If this is not the Hall state,
re-arrange the motor leads and repeat until ZERO yields
the proper HALL state.
6. Save Settings
At this point, everything should be working properly.
Save the settings to the CD's EERAM and to disk.
7. Confirm Proper Commutation at All Initialization
Conditions
Disable the drive. Push the drive by hand until the HALL
state is 001. Turn off power to the drive and wait for the
LED display to go blank, then wait 5 seconds more. Turn
on power to the drive. Slowly increase positive DAC
input to the drive until motion just begins in the positive
direction. Slowly decrease negative DAC input to the
drive until motion just begins in the negative direction.
The positive and negative DAC values should be
approximately the same (assuming the linear motor is
level). Repeat this process by starting from each of the
six Hall states.