Galil user manual Getting Started DMC-2X00

The user must specify the value for V and T. For example, the command: BSA = 2,700

will test the A axis with a voltage of 2 volts, applying it for 700 millisecond for each phase. In response, this test indicates whether the DAC wiring is correct and will indicate an approximate value of BM. If the wiring is correct, the approximate value for BM will agree with the value used in the previous step.

NOTE: In order to properly conduct the brushless setup, the motor must be allowed to move a minimum of one magnetic cycle in both directions.

NOTE: When using Galil Windows software, the timeout must be set to a minimum of 10 seconds (time-out = 10000) when executing the BS command. This allows the software to retrieve all messages returned from the controller.

Step D - part 2 (Systems with Hall Sensors Only). Test the Hall Sensor Configuration.

Since the Hall sensors are connected randomly, it is very likely that they are wired in the incorrect order. The brushless setup command indicates the correct wiring of the Hall sensors. The Hall sensor wires should be re-configured to reflect the results of this test.

The setup command also reports the position offset of the Hall transition point and the zero phase of the motor commutation. The zero transition of the Hall sensors typically occur at

0°, 30° or 90° of the phase commutation. It is necessary to inform the controller about the offset of the Hall sensor and this is done with the instruction, BB.

Step E. Save Brushless Motor Configuration

It is very important to save the brushless motor configuration in non-volatile memory. After the motor wiring and setup parameters have been properly configured, the burn command, BN, should be given.

NOTE: Without Hall sensors, the controller will not be able to estimate the commutation phase of the brushless motor. In this case, the controller could become unstable until the commutation phase has been set using the BZ command (see next step). It is highly recommended that the motor off command be given before executing the BN command. In this case, the motor will be disabled upon power up or reset and the commutation phase can be set before enabling the motor.

Step F - part 1 (Systems with or without Hall Sensors). Set Zero Commutation Phase

When an axis has been defined as sinusoidally commutated, the controller must have an estimate for commutation phase. When Hall sensors are used, the controller automatically estimates this value upon reset of the controller. If no Hall sensors are used, the controller will not be able to make this estimate and the commutation phase must be set before enabling the motor.

To initialize the commutation without Hall effect sensor use the command, BZ. This function drives the motor to a position where the commutation phase is zero, and sets the phase to zero.

The BZ command is followed by real numbers in the fields corresponding to the driven axes. The number represents the voltage to be applied to the amplifier during the initialization. When the voltage is specified by a positive number, the initialization process ends up in the motor off (MO) state. A negative number causes the process to end in the Servo Here (SH) state.

28 • Chapter 2 Getting Started DMC-2X00