
2.6Simple Servo Motor Phasing
Test
When connecting a
Begin by entering the motor peak current, continuous current, number of poles, encoder lines per rev., etc. Then follow the steps below.
Step 1: Verify wiring of encoder channels per the documentation. Define CW rotation of the motor shaft, from the flange side, with increasing counts.
To verify this, do the following
ADisable the drive
BNavigate the keypad to display parameter # 3.29
CTurn the shaft clockwise and verify that the encoder counts increase from 0 to 65535
DIf the counts decrease, the encoder A and B channels should be swapped
ERepeat A through C of Step 1
Step 6: Verify wiring of motor power cables. Define CW rotation of the motor with a positive drive command. The phasing test of the Unidrive will give a CW rotation during the test.
To verify this, complete the following steps:
AEnable the drive.
BVerify that the motor is free of any load.
CNavigate the keypad to display parameter #0.40.
DSet the parameter to 1. The phasing test will command the motor to move one rev CW. It will also reset the parameter to 0.
EIf the motor moves in the CCW direction, the motor power is wired incorrectly.
FSwap the U and V phases and repeat A through D of Step 2.
Note
Disregard any encoder phasing trip at this time
[tunEx trips]
Step 7: Verify wiring of commutation signals. The Unidrive SP Advanced User Guide section 3 (parameter 3.25) is helpful for this step.
If no trips were encountered during Step 2, this step can be skipped.
To verify correct commutation, follow the steps below:
AEnable the drive.
BNavigate the keypad to display parameter #0.40 and set the parameter to 1.
CIf an tunE3 or other tunEx trip results, rewiring is needed.
DSwap the U and V commutation signals at the drive end.
Repeat steps A through C to verify.
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