Installation manual

Danaher Motion Kollmorgen Appendix C
SERVOSTAR
®
S and SERVOSTAR
®
CD Series 121
MHINVB - Invert the active level of Hall channel B.
MHINVC - Invert the active level of Hall channel C.
MPHASE – Allows commutation offset.
Example
This procedure is for commutation only and assumes analog (OPMODE
3)operation.
1) Define a Positive Motor Direction
This is somewhat arbitrary, but must be consistent. To keep confusion
to a minimum, try to match the motor's definition of A+/A- and B+/B-
to the CD definitions for purposes of hardware connections. With these
encoder connections made, push the motor by hand and read the PFB
variable. The motor direction which causes PFB to become more
positive is the positive motor direction. When testing motor phase
voltages and Hall phases in subsequent steps, always push the motor in
this positive motor direction.
2) Determine the Desired Commutation Method
For this example, an encoder is used with A/B signals and Hall sensors
for commutation, but without encoder index pulse. This allows
reasonably accurate commutation without "wake and shake" motion
and without a specific index-based commutation offset. This is
equivalent to MENCTYPE=6.
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.