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Navigator®-PC/104 User’s Guide

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Installation

1

1.10.2 Step #2: Initialize the Commutation

NOTE: THIS SECTION APPLIES TO BRUSHLESS OR MIXED MOTOR CARDS ONLY

For the motor to be controlled properly, the motion processor must select and possibly initialize the

commutation phasing. If you will be using Hall-based commutation then no initialization is

necessary. Simply specify this to the motion processor using the command:

SetCommutationMode 1

No other commands are necessary and you may proceed to step #3.

If you are controlling a brushed type motor, set the number of phases to 1 as follows:

SetNumberPhases 1

No other commands are necessary and you may proceed to step #3.

If you will be commutating using a sinusoidal technique you must initialize the commutation

phasing. There are two ways this can be done. You will need to decide whether to initialize using

Hall-based or algorithmic methods. See the Navigator Motion Processor User’s Guide for more

information on this.

Each of these two-phase initialization methods requires a separate sequence, as follows (note that //

indicates a comment and should not be typed in):

Hall-based initialization command sequence:

SetNumberPhases x

SetPhaseCounts yyyy

SetPhaseInitializeMode 1

InitializePhase

// where x is 2 or 3 depending on type of motor

// yyyy is # of encoder counts per electrical cycle

// set phase initialize mode to ‘Hall-based’

Algorithmic-based initialization command sequence:

SetNumberPhases x

// x is 2 or 3 depending on type of motor

SetPhaseCounts yyyy

// yyyy is # of encoder counts per electrical cycle

SetPhaseInitializeMode 0 // set phase initialize mode to ‘algorithmic’

SetMotorMode 0

// places axis in open loop mode, required for algorithmic initialization.

SetPhaseInitializeTime zzzz // zzzz is # of motion processor cycles to initialize for

SetMotorCommand wwww // wwww is motor command.

InitializePhase

To determine the values of x, yyyy, zzzz, and wwww you should refer to the Navigator Motion Processor

User’s Guide - Commutation Section.

For more information on Pro-Motion, refer to section 3, Using Pro-Motion, page 35.

If your system has one or more of the following conditions present then the above sequence will need

to be expanded. To handle such systems you will need to use the SetSignalSense command as well as

the SetPhasePrescale command. Refer to the commutation section of the Navigator Motion Processor

User’s Guide for more information.

1 One or more Hall signals must be inverted to commutate or initialize

the commutation correctly

2 Number of encoder counts per electrical cycle exceeds 32,767

Navigator-PC/104 User’s Guide

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