Galil DMC-3425 user manual If Hall Sensors are Not Available, If Hall Sensors are Available

If Hall Sensors are Not Available:

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. 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.

If Hall Sensors are Not Available:

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 argument is a real number that represents the voltage to be applied to the amplifier during the initialization. When the voltage is specified by a positive number, the initialization process will end up in the motor off (MO) state. A negative number causes the process to end in the Servo Here (SH) state.

Warning: This command must move the motor to find the zero commutation phase. This movement is instantaneous and will cause the system to jerk. Larger applied voltages will cause more severe motor jerk. The applied voltage will typically be sufficient for proper operation of the BZ command. For systems with significant friction, this voltage may need to be increased and for systems with very small motors, this value should be decreased.

For example, BZ -2 <CR>

will drive the axis to zero, using a 2V signal. The controller will then leave the motor enabled. For systems that have external forces working against the motor, such as gravity, the BZ argument must provide a torque 10x the external force. If the torque is not sufficient, the commutation zero may not be accurate.

If Hall Sensors are Available:

The estimated value of the commutation phase is good to within 30°. This estimate can be used to drive the motor but a more accurate estimate is needed for efficient motor operation. There are 3 possible methods for commutation phase initialization:

Method 1. Use the BZ command as described above.

Method 2. Drive the motor close to commutation phase of zero and then use BZ command. This method decreases the amount of system jerk by moving the motor close to zero commutation phase before executing the BZ command. The controller makes an estimate for the number of encoder counts between the current position and the position of zero commutation phase. This value is stored in the operand _BZx. Using this operand the controller can be commanded to move the motor. The BZ command is then issued as described above. For example, to initialize the A axis motor upon power or reset, the following commands may be given:

SH <CR> Enable A axis motor

DMC-3425 Chapter 2 Getting Started• 25