ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 35)

Command Description
CA[10] Resolver or Analog Halls offset – the value of the analog sensor readout
at the electrical zero of the motor
CA[11] Offset for the A (sine) channel of the Analog Encoder, Resolver, Analog
Halls or Absolute Coarse/Fine Encoder(fine mode). The offset is given in
ADC units in the range of [-4500…4500].
CA[12] Offset for the B (cosine) channel of the Analog Encoder, Resolver, Analog
Halls or Absolute Coarse/Fine Encoder(fine mode). The offset is given in
ADC units in the range of [-4500…4500].
CA[13] Relative gain of the A (sine) channel of the Analog Encoder, Resolver,
Analog Halls or Absolute Coarse/Fine Encoder(fine mode) with respect to
the B (cosine) channel in the range of [20000…40000].
Table 3-4: CA - Analog Feedback Scaling
Command Description
CA[16] Feedback direction:
0: Use feedback reading as is
1: Invert the direction of the feedback reading
Changing CA[16] does not affect the present position count.
Direction changes only when counting future feedback pulses.
CA[17] Commutation method.
0: Use only Hall sensors. The electrical angle resolution will be 60
electrical degrees.
1: Hall sensors are used together with a high resolution sensor. On the
first Hall sensor transition, the exact electrical angle is locked and
commutation continues by position sensor increments. The Hall
sensors continue to monitor commutation correctness – refer to
PN[1] .
2: Halls are sole commutation source. On high speeds, use time-based
interpolation for smoothing the electrical angle estimate.
3: Commutation initializes by auto phasing, in the oscillation method
(see CA[15],CA[24],CA[26],CA[27]). After initialization,
commutation continues by position sensor increments.
4: Commutation initializes by auto phasing, in the magnetic saturation
method (see CA[15],CA[24],CA[26],CA[27]). After initialization,
commutation continues by position sensor increments.
5..7: Reserved
SimplIQ for Steppers Command Reference Manual Alphabetical Listing
MAN-STECR (Ver. 1.1)
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