3.1.4.6 Commutation with Hall and ABI
combined
3.1.4.6.1 Overview
An ABI encoder and a Hall sensor can be combined to function as a single encoder for commutation. This
combines the benefits of a high resolution angle from the ABI encoder, with the absolute electrical position
provided by the Hall sensor.
3.1.4.6.2 Requirements
The Drive needs a Hall sensor and an ABI encoder connected at two different connectors, both must be
properly configured.
The motor phases and the Hall pins have to be connected according to the Servo drive’s documentation.
The ABI commutation offset has to be found before this feature starts working.
3.1.4.6.3 Usage
To configure the HALL+ABI feature, the incremental encoder needs to be configured for at least
”commutation” then specify the encoder port that the HALL sensor is connected to in the object “Encoder1
configuration Hall sensor port ”0x2110:23”
The drive will automatically use it on startup to avoid the index detection routine. There is no need for
additional configuration of the hall sensor on encoder port 2.
Configuring the Hall additionally on port 2 will lead to a HwRsrcEr.
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