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Step 8b. Connect Sinusoidal Commutation Motors
20 • Chapter 2 Getting Started
When using sinusoidal commutation, the parameters for the commutation must be
determined and saved in the controller's non-volatile memory. The servo can then
be tuned as described in Step 9.
Step A. Disable the motor amplifier
Use the command, MO, to disable the motor amplifiers. For example, MOX will
turn the X axis motor off.
Step B. Connect the motor amplifier to the controller.
The sinusoidal commutation amplifier requires 2 signals, usually denoted as Phase A
& Phase B. These inputs should be connected to the two sinusoidal signals
generated by the controller. The first signal is the axis specified with the command,
BA (Step 6). The second signal is associated with the highest analog command
signal available on the controller - note that this axis was made unavailable for
standard servo operation by the command BA.
When more than one axis is configured for sinusoidal commutation, the controller
will assign the second phase to the command output which has been made available
through the axes reconfiguration. The 2
commutation axis will be the highest command output and the 2
lowest sinusoidal commutation axis will be the lowest command output.
It is not necessary to be concerned with cross-wiring the 1
wiring is incorrect, the setup procedure will alert the user (Step D).
Example: Sinusoidal Commutation Configuration using a
DMC-1640
BAXY
This command causes the controller to be reconfigured as a DMC-1620 controller.
The X and Y axes are configured for sinusoidal commutation. The first phase of the
X axis will be the motor command X signal. The second phase of the X axis will be
the motor command Z signal. The first phase of the Y axis will be the motor
command Y signal. The second phase of the Y axis will be the motor command W
signal.
Step C. Specify the Size of the Magnetic Cycle.
Use the command, BM, to specify the size of the brushless motors magnetic cycle in
encoder counts. For example, if the X axis is a linear motor where the magnetic
cycle length is 62 mm, and the encoder resolution is 1 micron, the cycle equals
62,000 counts. This can be commanded with the command:
BM 62000
On the other hand, if the Z axis is a rotary motor with 4000 counts per revolution and
3 magnetic cycles per revolution (three pole pairs) the command is:
BM,, 1333.333
Step D. Test the Polarity of the DACs and Hall Sensor Configuration.
Use the brushless motor setup command, BS, to test the polarity of the output DACs.
This command applies a certain voltage, V, to each phase for some time T, and
checks to see if the motion is in the correct direction.
The user must specify the value for V and T. For example, the command
nd
phase of the highest sinusoidal
nd
st
nd
and 2
phase of the
signals. If this
DMC-1600
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