Configuring with SFD Feedback

Motor Parameters

When the drive is powered up and connected to a motor with SFD feedback, the drive will automatically configure itself for the attached motor by loading the default motor parameters. The default motor parameters provide robust performance of current and velocity loops with optimized settings to protect the motor from thermal overload. For most applications, these default motor parameter settings are recommended because they provide excellent performance and require no additional tuning. To use the default motor parameters verify that SelSFDParam is set to SFD, which is the factory default setting. (See the Control Mode tab in S200 Tools.)

If the response time and/or stability of the system needs to be further optimized for the specific application, the motor parameters will need to be modified. To modify the motor parameters, set SelSFDParam to Drive. (See the Control Mode tab in S200 Tools.) This setting unlocks the motor parameters and allows the parameters to be individually set with the S200 Tools utility. The modified motor parameters will need to be saved to the drive’s non-volatile memory (click the NV Save button) to ensure that the changed settings are loaded when the drive is powered up.

Warnings

	Incorrect motor parameter settings can cause damage to the motor and/or drive. The motor parameters need to be set correctly to match the drive to the motor. The correct parameter settings ensure:
	The drive is matched to the motor inductance and pole count. The current and velocity loops are stable with good bandwidth. The motor is protected from thermal overload.

	A good starting point to setting the motor parameters is to obtain the default motor parameters and then edit only the parameters that need to be changed.
	Using the S200 Tools, set SelSFDParam to SFD, this loads the default motor parameters. (See the Control Mode tab in S200 Tools.) Next, set SelSFDParam to DRIVE. This will allow the motor parameters to be edited. Remember, only change the parameters you are looking to optimize. When finished setting the motor parameters (and any other parameters), save the parameters to NV Memory by clicking the NV Save button.

The following drive setup parameters controlled by SelSFDParam:

Parameter	Value
KVP (view)	Velocity loop proportional gain.
KIP (view)	Current loop proportional gain.
DPoles (view)	Drive pole pairs.
I2TF0 (view)	Speed of response for motor transient thermal protection.
I2TTrip (view)	Fault trip level for motor transient thermal protection.
ILmtPlus ILmtMinus (view)	Clamps drive maximum Iout based on motor Ipeak.

Torque/Current Mode

The S200 can drive a brushless motor in Torque/Current Mode using SFD Feedback. The drive can be configured either with the S200 Tools over the serial port or configured using the S1 and S2 switches. Configuring the drive with the S200 Tools utility provides increased flexibility in setting parameters that are not available through the setup switches. When using the S200 Tools utility, the configuration parameters should be saved to non-volatile memory (click the NV Save button) to allow the configuration to be recalled on power up.

To configure the drive for Current Mode with SFD feedback, set the following parameters:

Parameter	Value
CommMode (view)	SetupS2-2 (Default value) with switch S2-2 set to the down position labeled, S on the drive. or SFD
CommOff (view)	0 Degrees – for AKM motor series. Check with your sales representative for the correct commutation offset angle for other motor series.
OpMode (view)	SetupS2-1 with switch S2-1 set to the down position labeled, I on the drive or Current
SelSFDParam (view)	SFD (Default value) – recommended setting. This setting will automatically set the motor parameters. To change motor parameters refer to Configuring with SFD Feedback Motor Parameters.
CmdSrc (view)	Sets the source of the command.
CmdGain (view)	Sets the command gain for the command input.
CmdOffset (view)	Sets the command offset for the command input.
CmdF0 (view)	Sets the filtering on analog input commands.

The following are optional parameters that can be set.

Parameter	Function
EncOut (view)	Sets the line count of the emulated encoder output.
EnInhibitCW EnInhibitCCW (view)	Enables the hardware over travel limits.

Velocity Mode

The S200 can drive a brushless motor in Velocity Mode using SFD Feedback. The drive can be configured either with the S200 tools over the serial port or configured using the S1 and S2 switches. Configuring the drive with the S200 Tools utility provides increased flexibility in setting parameters that are not available through the setup switches. When using the S200 Tools utility, the configuration parameters should be saved to non-volatile memory (click the NV Save button) to allow the configuration to be recalled on power up.

To configure the drive for SFD feedback set the following parameters:

Parameter	Value
CommMode (view)	SetupS2-2 (Default value) with switch S2-2 set to the down position labeled, S on the drive. or SFD
CommOff (view)	0 Degrees – for AKM motor series. Check with your sales representative for the correct commutation offset angle for other motor series.
OpMode (view)	Velocity or SetupS2-1 with switch S2-1 set to the UP position labeled, V as shown on the drive.
SelSFDParam (view)	SFD (Default value) – recommended setting. This setting automatically sets the motor parameters. KVP is set for 75 Hz nominal velocity loop bandwidth with an unloaded motor. To change KVP or other motor parameters, refer to Configuring with SFD Feedback Motor Parameters.
ARF0 ARF1 (view)	Single pole filters in the velocity loop forward path. Set to accommodate the effects of mechanical resonance.
KVI (view)	Sets the velocity loop break out frequency from integral to proportional compensation.
CmdSrc (view)	Selects Analog, PWM, or Command variable for command.
CmdGain (view)	Sets the command gain for the command input.
CmdOffset (view)	Sets the command offset for the command input.
CmdF0 (view)	Sets the filtering on analog input command.

The following are optional parameters that can be set.

Parameter	Function
EncOut (view)	Sets the line count of the emulated encoder output.
EnInhibitCW EnInhibitCCW (view)	Enables the hardware over travel limits.

Position Mode

The base S200 can drive a motor in Position Mode using SFD Feedback. The source of the command can either be Step and Direction, or A,B differential quadrature signals. The drive needs to be configured using the S200 Tools utility. The configuration parameters should be saved to non-volatile memory (click the NV Save button) to allow the configuration to be recalled on power up.

To configure the drive for SFD feedback set the following parameters:

Parameter	Value
CommMode (view)	SetupS2-2 (Default value) with switch S2-2 set to the down position labeled, S on the drive. or SFD
CommOff (view)	0 Degrees – for AKM motor series. Check with your sales representative for the correct commutation offset angle for other motor series.
OpMode (view)	Position
PosCmdSrc (view)	Selects the source of the command, either Step-Dir or AQuadB.
GearIn GearOut (view)	Sets the distance the shaft moves for each input position command pulse/count.
KPP (view)	Sets the proportional gain of the position loop.
KVFF (view)	Sets the feed forward gain of the derivative or the position command to the internal velocity command.
SelSFDParam (view)	SFD (Default value) – recommended setting. This setting automatically sets the motor parameters. KVP is set for 75 Hz nominal velocity loop bandwidth with an unloaded motor. To change KVP or other motor parameters, refer to Configuring with SFD Feedback Motor Parameters.
KVI (view)	Sets the velocity loop break out frequency from integral to proportional compensation.
ARF0 ARF1 (view)	Single pole filters in the velocity loop forward path. Set to accommodate the effects of mechanical resonance.

The following are optional parameters that can be set.

Parameter	Function
EncOut (view)	Sets the line count of the emulated encoder output. NOTE: Emulated Encoder Outputs are not available when the PosSrcCmd is set to AQuadB.
EnInhibitCW EnInhibitCCW (view)	Enables the hardware over travel limits.

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