3.1.4.4.4 Detailed description
3.1.4.4.4.1 Startup
When the feature is started, the Hall sensor is sampled and it is checked if it’s in a valid state. If an invalid hall
state [0, 0, 0] or [1, 1, 1] is found, an error ‘HallSeq’ is raised, and the connections should be checked.
3.1.4.4.4.2 Error Detection
Cable errors can lead to problems: if only one Hall sensor is disconnected or damaged, or if the phase signals
are reversed, the problem will not be detected. Running the motor with Hall set as the only Commutation
sensor can be done to ensure the integrity and proper connection of the Hall signals before integrating the ABI
encoder.
3.1.4.4.4.3 Runtime
If no error is raised, the initial electrical angle is estimated based on the Hall sensors, and the Hall sensors are
not sampled again. As soon as the incremental encoder passes the index, the service realigns the electrical
angle to the formerly saved precise value.
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