ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 201)

Contents
Chapter 1: Introduction.............................................................................................................. 6
Chapter 2: Device and Software Organization....................................................................... 7
2.1. The SimplIQ for Steppers Processor and the Motion Processor...................................7
2.2. Storing Non-volatile Application Data ...........................................................................8
Chapter 3: Unit Modes............................................................................................................... 9
3.1. Unit mode 0: Open loop voltage control.........................................................................9
3.2. Unit Mode 1: Torque Control...........................................................................................9
3.3. Unit Mode 2: Speed Control........................................................................................... 10
3.3.1 Software Speed Command.............................................................................. 12
3.3.2 Acceleration Limiting and Switch Logic........................................................ 14
3.4. Unit Mode 3: Open & Closed Loop Stepper Control................................................... 16
3.4.1 Open Loop Drives ............................................................................................ 16
3.4.2 Closed Loop Drives.......................................................................................... 16
3.4.3 The Stepper Mode Position and Current Command Generator.................. 18
3.5. Unit Mode 4: Dual Feedback Mode............................................................................... 20
3.6. Unit Mode 5: Single Feedback Mode............................................................................. 21
Chapter 4: Commutation and Pole Identification................................................................ 22
4.1. General Description ........................................................................................................ 22
4.1.1 Stepper Commutation...................................................................................... 23
4.1.2 Vector Commutation ....................................................................................... 23
4.2. Commutation Sensors..................................................................................................... 24
4.2.1 Hall Sensors ...................................................................................................... 24
4.2.2 Aiding Commutation with High Resolution Position Sensors.................... 26
4.2.3 Initializing the High Resolution Position Sensor Manually ........................ 28
4.3. Auto-phasing and Commutation Search ...................................................................... 28
4.3.1 Auto Phasing by Oscillation............................................................................ 28
4.3.1.1 Selecting Parameters.................................................................................... 29
4.3.1.2 Method Limitation....................................................................................... 30
SimplIQ for Steppers Application Note Contents
MAN-STECR (Ver. 1.1)
2