Application Setup CDHD
138 User Manual
Phase Finding
The Phase Finding procedure is used to initialize commutation for incremental
encoder system s.
You can also use the com mand Find Ph a se in the ServoStudio M otor
Fe e dback screen t o det erm ine the correct comm utation.
The following param eters are used t o configure phase finding.
Va rCom Descript ion
PHASEFI NDMODE The m et hod t o be used for the comm ut ation phase finding.
PHASEFI ND
Starts the com m ut ation initialization procedure for
incremental encoder systems.
PHASEFI NDGAI N Adjusts the gain of the phase finding mechanism.
PHASEFI NDI Adjusts the current of the phase finding mechanism .
PHASEFI NDTI ME The duration of the phase finding mechanism in a soft start.
6 .5 .2 Sine En coder
Sine encoders are very sim ilar to incremental encoders. The difference is that
sine encoders send the A and B channels to the drive as 1V peak-to-peak sine-
waves, while increm ental encoders generate digital pulses.
6 .5 .3 sen sAR Absolut e Ma gn et ic En coder
The sensAR series of absolut e m agnetic encoders was developed by Servot ronix.
The sensAR encoder has an electronic m otor nam eplate ( MTP) , which m eans a
set of m ot or param eters is embedded in the encoder’s non-volat ile m em ory.
I n firmware version 1.40.0 and later, the CDHD attem pts to detect an electronic
motor nameplate at power-up. I f detected, motor and feedback param et ers are
transferred directly to the drive, and cannot be manipulated by the user.
The Servotronix PRO2 motor is typically equipped with a sensAR encoder.
The sensAR encoder has t wo different types:
Absolute Single Turn (FEEDBACKTYPE= 12): Aft er a power cycle t he encoder
retains its absolute position wit hin one m echanical revolution. The multi-turn
absolution position is 0.
Absolute M u lt i- t u rn ( FEEDBACKTYPE= 19): After a power cycle the encoder
retains its absolute position wit hin one m echanical revolution as well as the total
num ber of m otor revolutions since t he last power cycle. A m ulti-t urn encoder
elim inat es the need for homing after every power cycle.
The multi-turn encoder can store up to 65535 revolutions, provided it has an
ext ernal backup battery. The encoder batt ery sits in a battery com partm ent on
the cable between the m otor and the drive. I f the cable between the m ot or and
the batt ery com partm ent is disconnected, or if the encoder does not receive
voltage from the battery or the drive, the encoder loses the m ulti-turn num ber of
resolutions; however, t he single-turn absolut e position is ret ained.
The following commands are used for configuring and enabling the multi-t urn
absolute encoder.
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