IC-MU_13 Datasheet, PDF (44/59 Pages) IC-Haus GmbH – OFF-AXIS NONIUS ENCODER WITH INTEGRATED HALL SENSORS

iC-MU OFF-AXIS NONIUS ENCODER
WITH INTEGRATED HALL SENSORS
preliminary
UVW COMMUTATION SIGNALS
Rev B1, Page 44/59
MODEB
Code
0x1
Description
UVW
Table 77: MODEB: UVW
PP60UVW
Code
0
1
Addr. 0x16; bit 3
Phase UVW Signale
120° phase shift
60° phase shift
Table 79: Commutation signal phase length
iC-MU can generate commutation signals for BLDC
motors from 1 up to 16 pole pairs. The hysteresis is
set fixed to 0.0879° referenced to a mechanical revo-
lution.
Register OFF_UVW is used to set the start angle and
compensate for the offset between the winding of the
BLDC and the Hall sensor signals. This angle can be
set with 12 bits.
Figure 42 shows the commutation sequence for a mo-
tor with 6 pole pairs. Here, a commutation sequence
spanning an angle of ϕ_360UVW repeats itself 6 times
within one mechanical revolution of the motor. The
phaseshift between the commutation signals is 120°.
N.B.:
After startup or the commands SOFT_RESET and
ABS_RESET the OFF_UVW values are amended
to include the nonius data, with a configured multi-
turn updated with the multiturn data, and stored as
OFF_COM in the internal RAM.
U
V
W
φ
φ
mech
0°
120uvw
φ
360uvw
60°
120°
300°
360°
Figure 42: commutation signals UVW
OFF_UVW(3:0) Addr. 0x28; bit 7:4
OFF_UVW(11:4) Addr. 0x29; bit 7:0
OFF_UVW(3:0) Addr. SER:0x4B; bit 7:4
OFF_UVW(11:4) Addr. SER:0x4C; bit 7:0
Code
Offset UVW signals
0x000
0.00° mech
0x001
...
0xFFF
0.09° mech
360.0° mech
4096
·
OFF _UVW
359.9° mech
Using parameter PPUVW the number of commutation
sequences per mechanical revolution can be set.
PPUVW(5:0)
Addr. 0x17; bit 5:0
Code
number of pole
pairs
Code
0x02
1 pole pair
0x1A
0x05
2 pole pairs
0x1D
0x08
3 pole pairs
0x20
0x0B
4 pole pairs
0x23
0x0E
5 pole pairs
0x26
0x11
6 pole pairs
0x29
0x14
7 pole pairs
0x2C
0x17
8 pole pairs
0x2F
number of pole
pairs
9 pole pairs
10 pole pairs
11 pole pairs
12 pole pairs
13 pole pairs
14 pole pairs
15 pole pairs
16 pole pairs
Table 78: Number of commutation signal pole pairs
The sequence of the commutation signals can be se-
lected by ϕ_120UVW as in Figure 42 or with a distance of
60° between two neighboring rising edges referenced
to one UVW cycle using parameter PP60UVW.
Table 80: Commutation signal start angle
OFF_COM(3:0) Addr. SER:0x23; bit 7:4
R
OFF_COM(11:4) Addr. SER:0x24; bit 7:0
R
Code
Description
0x000
...
start angle commation signal (automatically
computed)
0xFFF
Table 81: Commutation signal start angle amended by
the nonius/MT
The direction of rotation can be inverted with parame-
ter ROT. The parameter affects the output of the data
word through the serial interface in MODE_ST=0x0
and 0x1, the ABZ-interface and the UVW-interface.
ROT
Code
0
1
Addr. 0x15; bit 7
Description
no inversion of direction of rotation
inversion of rotation
Table 82: Inverted direction of rotation