You can also use the "Phase Find" command in the "Motor Feedback" screen of ServoStudio2
to determine the correct commutation.
The following parameters are used to configure phase find.
Table 6-6
6.5.2 Sine encoder
Sine encoders are very similar to incremental encoders. The difference is that sine encoder
sends A and B channels to the drive in the form of 1V peak-to-peak sine wave, and incremental
encoder generates digital pulses at the same time.
6.5.3 sensAR absolute magnetic encoder
The sensAR series absolute magnetic encoders are developed by Servotronix.
SensAR encoder has an electronic motor nameplate (MTP), which refers to a set of motor
parameters embedded in the encoder's non-volatile memory.
CDHD2S attempts to detect the electronic motor nameplate when powered on. If detected,
the motor and feedback parameters will be transmitted directly to the drive, and the user cannot
operate them.
ServotronixPRO2 and PRHD2 motors are often equipped with sensAR encoders.
There are two different types of sensAR encoders:
⚫ Single-turn absolute encoder (FEEDBACKTYPE=12): After restarting, the encoder
retains its absolute position within one mechanical rotation. The multi-turn absolute
position is 0.
⚫ Multi-turn absolute encoder (FEEDBACKTYPE=19): After restarting, the encoder
retains its absolute position within one mechanical revolution, as well as the total
number of motor revolutions since the last restart. The multi-turn encoder does not
need to return to the original point after each restart.
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