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3.1.4.4 Commutation with Hall and ABI
combined
3.1.4.4.1 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.
3.1.4.4.2 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.
3.1.4.4.3 Usage
This feature is automatically enabled when there is one Hall sensor and one ABI encoder present.
The Hall sensor must be configured as Commutation only.
The ABI encoder may be configured with any of the commutation functions:
Commutation & Motion Control Feedback
Commutation & Monitoring
Commutation only
Commutation & Velocity
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