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Power Brick - How to Reverse Motor Direction Sense


Unit101
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How to reverse the direction sense of a PWM controlled motor on Power Brick.

 

Here we assume the motor is typical 3 phase brushless with Quadrature encoder and using Halls for phasing.

 

After successfully running setup:

- you can power up - phase - home - jog motor ok

- be sure you have the phasing setup ok first

 

Now we want the motor direction sense to be opposite of what it is now:

- E.G. now the motor turns CW with a Jog+ command we want it to go CCW

 

Below the needed parameters to change:

Gate3.Chan[j].EncCtrl: invert sense, so if now 7 make this 3

Motor[x].PhaseOffset: negate, so if now 683 make this -683

Motor[x].PwmSf: negate, so if now 15237 make this -15237

Motor[x].AbsPhasePosOffset: 2048 - Current value, so if now 613, make this 1435

Motor[x].AbsPhasePosSf: negate, so if now 170.6667 make this -170.6667

 

Now save, reset - phase the motor ($) and it the direction sense will reversed.

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Swapping Direction when Feedback is a Serial Encoder ?

 

-I don't know how to do this with ALL the different types of serial encoders.

-I have not yet tested the below ideas but based on Turbo Brick testing it should

work fine as setup below.

 

What I have found is that some allow you to swap the direction sense with wiring.

For example the Sick-Stegmann SSI encoder has a wire to Pin which can be connected to GND to reverse the counting sense of the feedback.

 

-If the Serial encoder does not allow you to invert its direction sense then I believe the best way to handle this is simply by swapping 2 motor leads UVW then

doing the PWM setup based on this new direction.

 

-If the Serial Encoder allows you to invert its counting sense then the parameters can be used to change this.

Disregard the Gate3.Chan[j].EncCtrl parameter since it does not apply to a serial encoder and instead swap the direction sense at the encoder itself (such as with SSI type encoder).

 

-Next you would adjust these parameters to reverse the command sense to motor.

Motor[x].PhaseOffset: negate, so if now 683 make this -683

Motor[x].PwmSf: negate, so if now 15237 make this -15237

 

-For power on phasing use same parameters:

-this may not apply to all serial encoder power on phasing

Motor[x].AbsPhasePosOffset: 2048 - Current value, so if now 613, make this 1435

Motor[x].AbsPhasePosSf: negate, so if now 170.6667 make this -170.6667

 

If you do some testing and find different results or a better way, please post it here.

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