The P Drive supports incremental encoders with hall-less commutation as an option. To use hall-less commutation, go to the Motor/Encoder Setup page and select one of the hall-less options.
There are four hall-less commutation options available:
|Optimum search 1||Commutate the motor using a minimum motion algorithm the first time the drive is enabled following power-up.|
|Stepper open loop search 1||Commutate the motor by forcing the motor's electrical angle the first time the drive is enabled following power-up. The motor will move up to one electrical cycle.|
|Optimum search 2||Commutate the motor using a minimum motion algorithm every time the drive is enabled.|
|Stepper open loop search 2||Commutate the motor by forcing the motor's electrical angle every time the drive is enabled. The motor will move up to one electrical cycle.|
When using hall-less commutation, the P Drive will generate an AL-31 alarm if none of the hall inputs are connected. To prevent this from happening, place a jumper between pin 5 (hall phase U) and pin 7 (digital ground) on the drive's feedback port. The diagram below shows the recommended wiring configuration.
If the encoder does not a have Z channel (also known as an N or Index channel), pins 8 and 9 should be left unconnected. To prevent the drive from generating an AL-34 alarm (encoder Z phase open), go to the Fault Configuration page in Drive Support Tool and check the box to disable AL-34.
Fault Configuration page: