Installation and Configuration Ensemble Epaq Hardware Manual
2.2.1.1. Powered Motor Phasing
To test the initial set of motor connections, run the MotorVerification.ab test program.
The program will attempt to move the motor forward in a positive (CW) direction. Depending on the
information that the program gathers during the test, you may be prompted to rearrange motor lead
connections and run the test again. Refer to Section 2.2.1. for connector pin output information.
W A R N I N G : The MotorVerification.ab program moves the motor in “Open-Loop” mode,
bypassing many of the standard safety faults.
W A R N I N G : It is recommended that rotary motors be disconnected from the stage/load
before running this test. Linear motor systems must be free from obstruction to prevent damage
to other components. Operators must remain clear of all moving parts during the test.
Hall Signal Phasing
With the information gathered while the program is running, the Hall signal wires may have to be swapped.
After the Hall sequence is correct, the program will determine if a commutation offset is required (and
calculate a value for the CommutationOffset
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axis parameter that will have to be entered into the parameter
editor). Refer to Section 2.3.2. for more information and connector pin output assignments.
Encoder Phasing
The MotorVerification.ab program also determines if the feedback wiring is correct. Follow the program
prompts to establish the correct feedback wiring. Refer to Section 2.3. for connector pin output assignments
and Section 2.3.1.3. for phasing information.
Feedback Monitoring:
The state of the encoder and Hall-effect device signals can be observed in the Motion Composer.
A “0” for the given Hall input indicates zero voltage or logic low, where a “1" indicates 5V or logic high.
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CommutationOffset has replaced CfgMotOffsetAng in software version 3.00.000.
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