P Series with incremental encoder - changing motion direction
- James Wiley
When using incremental encoders, 4 objects influence the rotation direction and commutation of the motor. All 4 objects must be set correctly to ensure proper commutation.
0x2001, Encoder Type
0 | Quadrature (incremental, A lead B) |
1 | Quadrature (incremental, B lead A) |
0x2004, Rotation Direction Select
Setting this value = 1 will invert both the encoder direction AND the motor phases direction. (Checking the “Reverse” checkbox in the Setup screen will set 0x2004=1)
0x2020, Motor and Hall Phase Correction
Bits within this Object are used to Invert/swap motor phase direction and to swap and invert halls as needed.
Bit | Description | Object Value |
0 | Invert Motor Phase direction | 1 |
8 | Hall U polarity reversal | 256 |
9 | Hall V polarity reversal | 512 |
10 | Hall W polarity reversal | 1024 |
11 | Reserved | 2048 |
12 | Hall U, Hall V replace | 4096 |
13 | Hall V, Hall W replace | 8192 |
14 | Hall W, Hall U replace | 16384 |
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Hall settings are referenced to the encoder direction after the Rotation Direction Select is applied.
Invert Motor Phase Direction is XOR’d with Rotation Direction Select
0x280C,0x0,[non-P Series Motor] Hall Offset
Value ranges from 0 to 360
Hall settings are referenced to the encoder direction after the Rotation Direction Select is applied.
Standard rotation direction for P Series drives is CCW. Parker standard convention is CW.
Valid combination for Parker rotary motors:
Actual Direction | CCW** | CCW | CW | CW |
0x2001 encoder type | 1 (B -A) | 0 (A-B) | 1 (B -A) | 0 (A-B) |
0x2004 rotation direction select | 0 | 1 | 1 | 0 |
0x280C] Hall Offset | 330 | 330 | 210 | 210 |
0x2020 Motor and Hall Phase Correction | 0 | 1 | 8192 | 8193 |
Swap Motor Phase | 0 | 1 | 0 | 1 |
Hall V, Hall W replace | 0 | 0 | 8192 | 8192 |
**Used in published motor files
Valid combinations for Parker Trilogy linear motors:
Actual Direction | TRI + | TRI - | TRI + | TRI - |
0x2001 encoder type | 0 (A-B) | 0 (A-B) | 1 (B -A) | 1 (B -A) |
0x2004 rotation direction select | 0 | 1 | 1 | 0 |
0x280C] Hall Offset | 30 | 150 | 30 | 150 |
0x2020 Motor and Hall Phase Correction | 8193 | 1 | 8192 | 0 |
Swap Motor Phase | 1 | 1 | 0 | 0 |
Hall V, Hall W replace | 8192 | 0 | 8192 | 0 |
Using the Trilogy +/- direction from the catalog
Code for Object dictionary motor files
Rotary CW
0x2001,0x0,Encoder Type,0
0x280C,0x0,[non-P Series Motor] Hall Offset,210
0x2004,0x0,Rotation Direction Select,0
0x2020,0x0,Motor and Hall Phase Correction,8193
Rotary CCW
0x2001,0x0,Encoder Type,1
0x280C,0x0,[non-P Series Motor] Hall Offset,330
0x2004,0x0,Rotation Direction Select,0
0x2020,0x0,Motor and Hall Phase Correction,0
Linear TRI+
0x2001,0x0,Encoder Type,0
0x280C,0x0,[non-P Series Motor] Hall Offset,30
0x2004,0x0,Rotation Direction Select,0
0x2020,0x0,Motor and Hall Phase Correction,8193
Linear TRI-
0x2001,0x0,Encoder Type,1
0x280C,0x0,[non-P Series Motor] Hall Offset,150
0x2004,0x0,Rotation Direction Select,0
0x2020,0x0,Motor and Hall Phase Correction,0
Linear LXR+
0x2001,0x0,Encoder Type,0
0x280C,0x0,[non-P Series Motor] Hall Offset,210
0x2004,0x0,Rotation Direction Select,0
0x2020,0x0,Motor and Hall Phase Correction,8193
Linear LXR-
0x2001,0x0,Encoder Type,0
0x280C,0x0,[non-P Series Motor] Hall Offset,330
0x2004,0x0,Rotation Direction Select,1
0x2020,0x0,Motor and Hall Phase Correction,1
Important to note: To change these, drive has to be disabled, click Save to Memory and either Soft Reset or Cycle Power. If the Soft Reset or Cycle Power isn't done, it won't take affect and motor can be unstable/risk damage.