Resolver
Summit drive implements a flexible strategy for reading resolvers that supports multiple transformation ratios without the modification of the electronics.
A basic set of parameters allows to adapt the signal generation to most the resolvers options
Name | Key / address | NVM | Access | Data type | Data range | Units |
|---|---|---|---|---|---|---|
Resolver pair poles | 0x368 | yes | Read-write | UINT16 | full data type range | pair poles |
| Resolver max. speed | 0x369 | yes | Read-write | FLOAT32 | from 0 to max. resolver speed | Hz |
| Resolver excitation amplitude | 0x36A | yes | Read-write | UINT32 | 0 to 100000 | % * 1000 |
| Resolver Polarity | 0x36E | yes | Read-write | UINT16 | Standard or reversed | - |
| See this link for accessing to this register through CANopen and EtherCAT | ||||||
These parameters are the minimum information need by the driver to obtain valid resolver readings:
Pair poles. Indicates the number of pair poles of the resolver.
If the resolver is composed of one pair pole, then it can be used as reference feedback, and forced alignment methods are not required. See Commutation section for further information.
Maximum speed. Indicates the maximum reachable speed of the resolver rotation in rev/s.
This parameter must be set as near as possible to the real maximum speed of the system. The smaller it is, the smother will be the resolver readings.
Excitation amplitude. Indicates the % of maximum voltage (product dependent) to be applied to the excitation signal sent to the resolver. Modifying this parameter different transformation ratios are supported.
Excitation frequency is fixed to 10 kHz
- Polarity. Allows to configure the positive and negative direction of the resolver readings. 0 value applies standard polarity (read directly from the feedback) and a value different than 0 reverses the polarity
In case that the resolver doesn't work properly with the parameter mentioned above, a deeper configuration might be done. Summit products implement an observer to keep tracking a proper read of the resolver signals. The parameters above belongs to this observer and might be modified if the resolver readings are too noisy or the dynamic response is not the expected one.
Name | Key / address | NVM | Access | Data type | Data range | Units |
|---|---|---|---|---|---|---|
Resolver error filter corner | 0x36B | yes | Read-write | FLOAT32 | From 0 to Max. resolver speed | Hz |
| Resolver PI zero frequency | 0x36C | yes | Read-write | FLOAT32 | full data type range | Hz |
| Resolver PI proportional | 0x36D | yes | Read-write | FLOAT32 | full data type range | - |
| See this link for accessing to this register through CANopen and EtherCAT | ||||||
Deeper details about how this observer works is available on this white paper.
In order to validate the resolver configuration, there are parameters for monitoring purpose
Name | Key / address | NVM | Access | Data type | Data range | Units |
|---|---|---|---|---|---|---|
Resolver angle | 0x044 | no | Read | FLOAT32 | 0.0 to 1.0 | degrees / 360 |
| Resolver velocity | 0x045 | no | Read | FLOAT32 | - max. resolver speed to max. resolver speed | Hz |
| Resolver status | 0x046 | no | Read | UINT16 | See below | - |
| Resolver sine | 0x047 | no | Read | FLOAT32 | -1.0 to 1.0 | 1.0 / Measuring range |
| Resolver cosine | 0x048 | no | Read | FLOAT32 | -1.0 to 1.0 | 1.0 / Measuring range |
| See this link for accessing to this register through CANopen and EtherCAT | ||||||
- Angle. Contains the angle measured from the resolver.
- Velocity. Measure the speed of the resolver in rev / s. Resolver pair poles are taking into account for the velocity measurement, so the result is mechanical speed.
- Status. It is a boolean mask that indicates the status of the resolver readings:
| Bit 15 .. 3 | Bit 2 | Bit 1 | Bit 0 |
|---|---|---|---|
| Reserved | Loss of Tracking (LOT) | Loss Of Signal (LOS) | Degradation Of Signal (DOS) |
Sine and cosine. Contains the value of the Sin and Cos signals from the resolver.