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The Auto-MSET and Commutation Search modes ONLY apply to AC Brushless motors. The following instructions apply to versions 3.xx, 4.xx, 5.xx, & 6.xx of the A3200 software; versions 3.xx, 4.xx, and 5.xx of the Ensemble software; and versions 3.xx, 4.xx, and 5.xx of the Soloist software; and all versions of Automation1. |
A little background....
There are two ways you can set up a motor to commutate without the use of Halls. 1) Auto-MSET, or 2) Commutation Search. Both require an AC brushless motor.
I will provide a quick rundown and directions of the two types, however, I would highly encourage you to look up the methods in the Help File as well. The Help File does a very good job at explaining the two different methods.
A3200:
For Auto-MSET: Contents tab -> Controller Configuration -> Automatic Motor Set (auto-MSET).
For Commutation Search: Contents tab -> Controller Configuration -> Commutation Search.
Automation1:
Automatic Motor Set (Auto-MSET)
Auto-MSET will use an open-loop current command to cause the motor to move and lock onto a fixed electrical vector on the first enable after a system reset to initially commutate the motor. This could cause the motor to move by as much as 1/2 of an electrical cycle. After this, the stage works like normal. You can home, and move without any trouble.
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Important parameters:
-MotorType (in A3200,Ensemble,Soloist)
-CommutationInitializationSetup (in Automation1)
-AutoMsetAngle (this parameter does not exist in Soloist & Ensemble software)
-AutoMsetCurrent
-AutoMsetTime
-FaultMask
MotorType = Specify the type of motor to use.
CommutationInitializationSetup = Specify how the controller will initialize commutation.
AutoMsetAngle = Specify the electrical vector that the drive outputs at during the Auto-MSET method.
(In Commutation Search this is the starting electrical vector value it uses)
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These instructions assume that the user has already configured the rest of the parameters. Specifically, the AverageCurrentThreshold must be set up correctly for your motor before continuing. Doing so otherwise could damage the motor. Before changing the following parameters, ensure you are following all warnings listed in the Help File pages for each of these parameters. |
Auto-MSET
-A3200: Set MotorType to AC Brushless (Auto-MSET)
-Automation1: Set the Initialization Method of CommutationInitializationSetup to Auto-MSET
-Set AutoMsetCurrent to ~40% of the AverageCurrentThreshold parameter. I find this percent value to work best.
-Keep AutoMsetAngle at the default value of 90. There is usually no reason to change this. (this parameter does not exist in Soloist & Ensemble software)
-Set AutoMsetTime to 1000 ms (default value). This value normally always works, so there is usually no reason to change this.
*-Remove "Hall Sensor Fault" from the list of axis faults under the FaultMask parameter. Depending on your software version this may not be necessary.
**When you configure for Auto-MSET, the first time you Enable after a system reset could cause the stage to move up to 1/2 of the motor's electrical cycle.
Commutation Search
-A3200: Set MotorType to AC Brushless (Commutation Search)
-Automation1: Set the Initialization Method of CommutationInitializationSetup to Commutation Search
-Set AutoMsetCurrent to ~70% of the AverageCurrentThreshold parameter.
-Keep AutoMsetAngle at the default value of 90. There is usually no reason to change this. (this parameter does not exist in Soloist & Ensemble software)
-Set AutoMsetTime to 2-3 ms. This lower value is required because the AutoMsetCurrent value is higher.
*-Remove "Hall Sensor Fault" from the list of axis faults under the FaultMask parameter. Depending on your software version this may not be necessary.
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