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DHALL
Disable Hall Sensor Checking
Type
Drive Configuration
Syntax
<a_><!>DHALL<i>
Units
i = control option #
Range
0 (Enable Hall Error Checking)
1 (Disable Hall Error Checking)
Default
0
Response
DHALL:
*DHALL0
See Also
SHALL, THALL, TASX
NOTE: When issued, this command takes effect immediately.
Encoder Motors (with SFB1): The DHALL command controls whether or not the Hall error checking
routines are invoked once the Gemini drive determines a valid absolute position of the motor at
initialization.
These error routines include checks:
1. to see if all three Hall sensors are reporting valid states (000 and 111 are not valid).
2. to see if the Hall state signal order is correct for either positive (clockwise) or negative
(counter clockwise) motion. The Hall state order is 6, 2, 3, 1, 5, 4, 6, 2, 3, 1, 5, 4, 6 (and
so on) for a motor turning in the positive direction.
3. to see if the encoder reports a position that is within +/- 90 electrical degrees from the Hall
sensor reading.
If any or all of these three conditions are not met for more than 40 consecutive samples, the drive will fault
with BIT21 of TASX set.
NOTE: At start up, the Hall signals are used to determine the initial position of the rotor with an accuracy
of +/- 30 electrical degrees regardless of how DHALL is set. Once the motor begins to rotate and after it
passes through another valid Hall state, the motor commutation sequence switches over to using the
encoder only and therefore no longer requires the use of the Hall sensors. At this point a check is made to
see if DHALL is set to 0 (Hall checking on) or 1 (Hall checking off.)
For a complete description on how to troubleshoot Hall sensors, especially for non-Compumotor motors,
refer to the Hardware Installation Guide section on using non-Compumotor motors.
Resolver Motors (with SFB4): If you use a resolver motor, DHALL is not applicable.
DIBW
Current Loop Bandwidth
Type
Tuning
Syntax
<a_><!>DIBW<i>
Units
i = Hz
Range
0-5000 (motor dependent)
Default
0
(DIBW of 0 results in motor configuration error)
Response
DIBW:
*DIBW1000
See Also
DMTLIM, DMTSCL, DMVLIM, DNOTAF, DNOTAQ, DNOTLD, DNOTLG, DPBW,
SGIRAT, TASX, TCS, TGAIN, TSGSET
AUTO-SETUP:
This command is automatically set according to the Parker motor selected with the
configuration utility in Motion Planner (see page 6). If you did not use the configuration utility or are not using a
Parker Motor, this command is set to zero and you will have to manually set this parameter. (Refer to DMTR
for a list of auto-configured commands.) If the drive is powered up when this command is set to zero (for
instance, if RFS is executed), the drive reports a motor configuration error with TASX bit 7, writes –32259 to
TCS, and shuts down the drive (DRIVE0).
www.comoso.com
Product
Rev
GT6K
n/a
GV6K
6.0
(applicable only to
servo axes)
Product
Rev
GT6K
n/a
GV6K
6.0
(applicable only to
servo axes)
Command Descriptions
71
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