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Digital Halls

This step explains how to configure the digital halls properly in the configuration Wizard. In order to do it, you need to properly fill the parameters associated with this sensor in the Control widget (green square below). After this, you can validate that the position readings are correct both by taking a look at the values in the Display widget (blue square below) and performing the digital halls test (orange square below) in order to make sure that the hall readings and pole pairs settings of the motor are correct. Finally, a phasing test (orange square below) can be performed if the digital halls are the reference sensor in your system in order to calibrate the initial commutation angle used as the reference to start to commutate the motor.

If you are interested in learning more about the parameters configured in this step, please refer to the firmware manual documentation: Digital halls.

Parameters to configure

  • Dig. hall pole pairs → Pole pairs of the hall sensors. Generally, the pole pairs of the hall sensors are equal to the motor pole pairs. Even if you input this value incorrectly, the digital halls test will calculate it during the test.
  • Dig. hall filter → Glitch filter levels of the digital halls module. There are 10 different glitch filter levels. Each level corresponds to a specific cut-off frequency. Setting this register parameter to 0 (100 MHz) will disable the glitch filter.
  • Dig. hall polarity→ the polarity of the feedback sensor is a parameter that relates how the position readings change when a positive voltage is applied to the phases of the motor. It can either be "Standard" or "Reversed".

Understanding how the polarity works

If with polarity set as "Standard, the position increases when a positive voltage is applied, then the polarity is correct as "Standard". On the other hand, if the position readings were to decrease, then the polarity setting would be wrong and you would need to change it to "Reversed" for this particular feedback sensor. Having a correct polarity setting is essential to having the sensor working properly and this is exactly what the digital halls test is meant to determine. On an additional note, the polarity of the digital halls does not relate to the polarity of any other feedback sensor in the system (they can be the same or opposite, it does not matter).

Digital halls test

This test has the following purposes:

  • Validate that the digital hall readings and pole pair parameters are correct → this is done by moving a certain predefined range of motion and counting the position readings so if they match with the expected ones then the test turns successful. If they do not match, then you get a failure and you need to recheck both parameters to see which one could be wrong. In this particular case, the algorithm already calculates the pole pairs so the only chance of this test failing is when either the current loops are not tuned properly, the hall sensors are not being read correctly or the motor is loaded.
  • Determine the polarity of the digital halls → this is done by applying always positive voltage first and then negative voltage and seeing how the position readings change. Please note that this polarity determination is not done if the previous validation does not turn out successfully.

Therefore, this test has only two possible outcomes:

  • Failed test

  • Success test

Digital halls quick verification

If you get a failure in this test, a quick check that you can do is verify that the hall position readings along a whole mechanical revolution are correct according to the pole pairs of the motor. You need to move the shaft manually one full revolution (motor is disabled) and checking that the raw values of the halls (blue square in the initial picture) change in an increment equal to 6*number of pole pairs. If they do not, then your pole pair parameter is wrong. In a system with a gearbox, this can be trickier but you could move the motor in voltage mode (using the Jogs) and check that a full revolution on the output equals an increment in position readings equal to 6* number of pole pairs * gear ratio of the gearbox.

Phasing test

This button will only appear if this sensor has been chosen as the reference sensor in the Feedbacks step of the Wizard.

The purpose of the phasing test is the calculation the commutation angle offset so that the digital halls can have the correct initial commutation angle in order to commutate in an efficient and stable way. This phasing test will only be performed once and then the motor will always be ready to move after enabling (even after power cycling the drive).

This test can only fail if you have not performed the previous test, the current loop is not properly tuned or if the motor is loaded and it does not move enough during the test. Otherwise, it should always turn successful.

Once you get a success message in the digital halls test and the phasing test (if you have it), you can proceed to the next step.

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