Amplifier - Hall-Effect Sensor Parameters

ID	Label	Type	Description
10744	Hall sensor step 1 commutation pos, mcnt	Flt32	When a Hall-effect sensor is used to set the commutation reference angle via DataID's 10750 to 10755, it is important that the commutation angle be refined once the motor moves to reduce the maximum commutation error from +/- 30 electrical degrees. Ideally, this refinement should be performed using the index signal on the encoder by defining the "Commutation position at zero index" (DataID 16653). However, if there is no zero index or if the zero index may be too far from the axis' startup position, the commutation angle can be refined based upon when the Hall-effect sensor changes value. The first time a Hall-effect sensor changes value, the commutation reference angle will be automatically changed to the DataID 10744 to 10749 value that either corresponds to the old or new Hall-effect step number, whichever motor count is closer to the current encoder counter value. Because the transition of the Hall-effect value is captured in software and the encoder index signal is captured in hardware and firmware, the encoder index is always the more accurate signal. In order to enable this mode of operation, the Hall-effect sensor commutation method must be selected, DataID's 10744 to 10749 must be >= 0, and bits 4:6 of the "Commutation reference setup config" (DataID 10700) must be set to "1" or "2". If "1" is selected, the reference angle is refined using just the Hall sensor transition points. If "2" is selected, the reference angle is refined using both the Hall sensor transition and the encoder zero index signal. Since the zero index position is more accurate, its value will over-ride the Hall sensor transition angle. To define the Hall-effect transition reference angles, DataID's 10744 to 10749 but be 0 or greater. By default, their values are -1, which indicates this mode has not been initialized.
10745	Hall sensor step 2 commutation pos, mcnt	Flt32
10746	Hall sensor step 3 commutation pos, mcnt	Flt32
10747	Hall sensor step 4 commutation pos, mcnt	Flt32
10748	Hall sensor step 5 commutation pos, mcnt	Flt32
10749	Hall sensor step 6 commutation pos, mcnt	Flt32
10750	Hall-effect sensor step 1 nominal angle, degree	Flt32	Hall-effect sensors can be utilized to determine an approximate estimate of a motor's commutation reference angle without moving the motor. Hall-effect sensors return a unique number ranging from 1 to 6 during each 60 degree segment of the electrical cycle of a motor. During power up, the Hall-effect sensors can be read and the corresponding nominal angle that is specified by DataID's 10750 to 10755 (after adjusting by adding a constant offset of 90 degrees) can be asserted as the motor's commutation reference angle. However, since Hall sensors only identify 6 unique angular ranges per electrical cycle, this method can result in up to +/- 30 electrical degrees of error. To eliminate this error, it's highly advisable that the user sets up a commutation reference angle refinement using either the encoder index (see DataID 16653) or the first Hall-effect sensor value transition (see DataIDs 10744-10749). To enable either or both of these methods, a mode must be set in the "Commutation reference setup config" (DataID 10700). In order to use the Hall-effect sensor to setup the commutation reference angle, bits 0:3 of DataID 10700 must be set to "3". The Hall-effect sensor signals must be wired in through the single-ended digital inputs in the encoder connector and the dedicated DIN selection, DataID 10108, must be set to "2". The nominal angles at the 6 steps do not have to be monotonically increasing or decreasing. This flexibility can accommodate for how the three signals are wired or for different encoding methods, such as gray code where only a single bit is changed during any transition in the 3-bit value. For backwards compatibility, the angles set in these parameters are offset from the "Commutation electrical angle" (DataID 12653) value. For example, when an encoder is positioned exactly in the middle of a 60 degree Hall sensor reading, the value set in the corresponding parameter (DataID 10750-10755) should be set to the value of DataID 12653 minus 90. A valid nominal angle is between 0 and 360 degrees. If the value is set to "-1", which is the system default, this indicates that the Hall-effect sensor commutation angle has not been initialized.
10751	Hall-effect sensor step 2 nominal angle, degree	Flt32
10752	Hall-effect sensor step 3 nominal angle, degree	Flt32
10753	Hall-effect sensor step 4 nominal angle, degree	Flt32
10754	Hall-effect sensor step 5 nominal angle, degree	Flt32
10755	Hall-effect sensor step 6 nominal angle, degree	Flt32
10756	Analog hall commutation phase angle, degree	Flt32	For the special case of analog hall sensors, this value defines the commutation phase angle of the motor when the hall sensors are at the start of their cycle. The start of the hall cycle is by definition when the hall A (sine) channel is at 0 volts. This phase angle value is normally defined in the motor specification sheet.