Installation manual

Danaher Motion Kollmorgen Appendix C
SERVOSTAR
®
S and SERVOSTAR
®
CD Series 109
The hall channels can be synthesized in the encoder or can be discrete devices
integrated in the motor windings. Commutation tracks (hall channels) provide
three digital channels that represent alignment to the A-phase, B-phase, and C-
phase back EMF of the motor. An encoder with Hall channels must have the
correct output for the given pole count of the motor as the Hall signals are
referencing the motor's BEMF waveform.
Some systems use only hall channels for motor feedback data.
The channels provide enough information to commutate a motor
in an ON and OFF (trapezoidal) format but do not provide
enough information to properly commutate a motor using
sinusoidal control. Further, the coarse data is insufficient to
control velocity below a few hundred RPM. The SERVOSTAR
product is a high-performance controller and does not support
hall-only operation.