Data Sheet

Advanced Digital Motor Controllers User Manual 7
Closed Loop Position Relative Control ..................................................... 87
Closed Loop Count Position ..................................................................... 88
Closed Loop Position Tracking .................................................................. 88
Torque Mode ............................................................................................ 89
SECTION 8
Brushless Motor Connections and Operation .......................................... 91
Introduction to Brushless Motors ............................................................ 91
Number of Poles ...................................................................................... 92
Trapezoidal Switching ............................................................................... 93
Hall Sensor Wiring ................................................................................... 93
Hall Sensor Verification ............................................................................ 94
Hall Sensor Alignment and Wiring Order ................................................. 95
Determining the Wiring Order Empirically ............................................... 96
Sensorless Trapezoidal Commutation ...................................................... 97
Setting and Operating Trapezoidal Modes ................................................ 97
Sensorless Configuration and Calibration ................................................ 98
Verifying Commutation Timing ................................................................. 98
Sinusoidal Commutation .......................................................................... 99
Angle Feedback Sensors .......................................................................... 99
Sinusoidal Configurations and Calibrations .............................................101
Setup and Test Encoder Feedback Mode ............................................... 102
Setup and Test Hall Encoder Feedback Mode ........................................ 102
Setup and Test the SPI Encoder Feedback Mode .................................. 103
Setup and Test the Sin/Cos Encoder Feedback Mode ............................ 103
Operating Brushless Motors .................................................................. 107
Stall Detection ....................................................................................... 107
Speed Measurement using the angle feedback Sensors ...................... 107
Distance Measurement using Hall, SPI or other Sensors ...................... 108
Field Oriented Control (FOC) ................................................................. 108
FOC Testing and Troubleshooting ............................................................110
Field Weakening ...................................................................................... 110
SECTION 9
AC Induction MotorOperation .................................................................113
Introduction to AC Induction Motors ....................................................... 113
Asynchronous Rotation and Slip .............................................................114
Connecting the Motor .............................................................................115
Selecting and Connecting the Encoder ...................................................115
Testing the Encoder ................................................................................115
Open Loop Variable Frequency Drive Operation .....................................116
Figuring the Motor’s Volts per Hertz .......................................................116
Maintaining Slip within Safe Range ........................................................117
Closed Loop Speed Mode with Constant Slip Control ...........................117
Field Oriented Control (FOC) mode Operation .......................................118
Configuring FOC Torque Mode................................................................119
Configuring FOC Speed Mode ............................................................... 120
SECTION 10
Closed Loop Speed and Speed-Position Modes ................................................ 121
Modes Description ................................................................................ 121