Servotronix CDHD2S User Manual page 139

Application Setup
When calibrating, the CDHD2S needs to read 128 sine signals in one direction or back and
forth.
Typically, the 128 sine signals required for resolver generation will require the motor to rotate
128 times. Therefore, it is necessary to make the motor move at a limited velocity through motion
commands.
The sine encoder is typically capable of generating 128 sine signals in one rotation of the motor.
Therefore, the motor can be operated manually for calibration.
Resolver and sine encoder parameters
The following parameters are used to configure and monitor resolver/sine encoder calibration.
VarCom
SININITMODE
SININIT
SININITST
SINPARAM
Number of motor revolutions required for calibration
If your application has limited stroke, you can run the motor back and forth 128 times. The
length of each of these 128 movements must be at least 1.5 sine cycles. If the motor is operated in
one direction, the number of revolutions required for calibration is calculated as follows:
MRESPOLES
128 
Resolver:
Where, MENRESPOLES refers to the number of individual electrodes in the resolver feedback
device.
For example, if MRESPOLES=4, the motor calibration requires 64 revolutions.
MENCRES
Sine encoder:
Where, MENCRES refers to the number of sine cycles per revolution or per motor pitch.
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Table 6-11
Enable/disable the automatic calibration of sine and cosine signals of sine
encoder or resolver when it is powered on.
Activate the program for calibrating sine and cosine signals of sine encoder or
resolver. This calibration is to reduce harmonic errors in sine encoder or
The program obtains the average value of sine encoder or resolver singal for
multi-turn motor rotation, and determines the gain and offset correction.
Report the status of the calibration program of the sine encoder or resolver.
Return to the parameters used to calibrate sine and cosine signals of a sine
encoder or resolver. Parameters are expressed in hexadecimal.
2
128
Description
resolver readings.