Hall Angle HSAT table - how to interpret

4 months 3 weeks ago #29534994 by DanRR
I am wondering how to interpret the calibrated hall angles from Automatic Motor/Sensor Setup. 
For example, when calibrating a motor (in sinusoidal mode,) I get the following HSAT values:
366:193:282:26:449:110:321:148:232:488:403:64 
Which corresponds to angles in degrees (multiply by 360/512)
257.3:135.7:198.318.3:315.7:77.3:225.7:104.1:163.1:343.1:283.4:45.0
These values don’t change (much) if I re-calibrate from different starting positions.

What do these values mean, and what are their relationships?
I know the  the 12 numbers somehow correspond to angles of hall sensor transitions. I also see that the most of the angles are related by multiples of 60 degrees, as expected since hall transitions happen every 60deg. (indexing the values starting at 0, there seems to be two sets of numbers that increment in roughly 60-degrees: [3,5,1,2,0,4] and (in a corresponding order) [9,11,7,8,6,10])

What is the relationship between this table (HSAT) and the Hall Sensor Map (HSM)? If a valid HSAT table is calibrated, is the Hall Map HSM ignored? On page 111 of the Roboteq Controllers User Manual it says "Note 2: Hall position mapping is optional but recommended for best results." Does that mean it starts under the assumption that the halls are in positions according to the current hall map, calibrates from there, and then ignores the hall map number once the HSAT table is established?

I am also curious how these values relate to the Rotor Angle value when using halls as the "Internal Sensor". For example, when I turn the motor slowly by hand (clockwise, which is “forward”), the sequence of Hall states to Electrical Angles and Sensor Angles is as follows (using hall map 1):
Hall State        (HS)      1     5  4        6    2          3
Rotor Angle  (ANG) 320    402    487     64  147     231
Rotor Angle (degrees)     225.0 282.7  342.4 45   103.4 162.4
Sensor Angle (SNA) 321    403    488     65  148     232
Sensor Angle (Degrees)   225.7 283.4 343.1 45.7 104.1 163.1

The rotor Angle and Sensor Angle are supposed to be the same, (unless an the number of sensor poles is != 1), by the equation on page 105 of the Roboteq Controllers User Manual
Electrical Angle = (Sensor Angle * Number of Sensor Poles) % 360
Is there an off-by-one or rounding error in implementation?

Also, I would expect that these reported angles would be the same values as in the HSAT table, since the table was calibrated on the hall transitions, and the angles are updated on the same transitions. Why are they different?

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4 months 1 week ago #29535008 by george_f
Hello Dan, In Motor/Sensor Setup you get some values regarding HSAT, those values are all angle values entered or displayed by the controller are 0-511.
Where 0 = 0 degrees or radians and 511 is 360 degrees or 2ρ radians. 
By that procedure it does the mapping of the angular position of the Hall sensors and store the values in the HSAT. The HSAT (Hall Sensor Angle Table) in configuration tab shows the values that are store from the previous setup or default values. In order to see the actual values after Motor/Sensor setup you have to Load configuration from controller when yopu complete the sensor setup. That is suggested if you want to see the values after the setup again. If you do n ot do that in next power cycle the utility will gather that data from the motor.
HSM is applied only in trapezoidal and changes only the sequence of UVW that have to be followed but HSAT is doing mapping of the of the angular position of the Hall sensors. 

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4 months 1 week ago #29535016 by DanRR

george_f wrote: Hello Dan, In Motor/Sensor Setup you get some values regarding HSAT, those values are all angle values entered or displayed by the controller are 0-511.
Where 0 = 0 degrees or radians and 511 is 360 degrees or 2ρ radians. 
By that procedure it does the mapping of the angular position of the Hall sensors and store the values in the HSAT. The HSAT (Hall Sensor Angle Table) in configuration tab shows the values that are store from the previous setup or default values. In order to see the actual values after Motor/Sensor setup you have to Load configuration from controller when yopu complete the sensor setup. That is suggested if you want to see the values after the setup again. If you do n ot do that in next power cycle the utility will gather that data from the motor.
HSM is applied only in trapezoidal and changes only the sequence of UVW that have to be followed but HSAT is doing mapping of the of the angular position of the Hall sensors. 

If HSM changes the order but HSAT defines angular positions, what happens id the angles are not in the same order?
I was using the HSAT values that are printed to the Diagnostics Log output in Roborun+, so they should be the results of the setup that was just completed. Do the new HSAT values not take effect until the controller configuration is read+loaded? or rebooted?

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4 months 6 days ago #29535018 by george_f
DanRR the HSAT values take effect immediately byt you can not see them if you do not reboot or read from controller.
To explain those are in the controller saved but not showing in the utility till the next reboot where you read the controllers configuration.

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