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Comissioning of Hall only

Hall-ONLY as a Feedback:


Hall-ONLY as a Feedback has some specific characteristics. This document aims to enhance the comprehension of Hall-ONLY.



For any electrical revolution (2 motorpoles) the Hall-sensor gives out 6 electrical pulses. This means 60° (of an electrical revolution) per pulse.


For further information visit Hall Geber in our Wiki.




 Hall-ONLY feedback with low speed:


The drive receives a new position information by hall-sensor every 60°. If we assume that the motor has 6 poles, one mechanical revolution = 3 electrical revolutions. This means,  every 20° we receive a new Hall-Position: 0°, 20°, 40°, 60°,…, 340°.

This information is not enough for a reasonable controlling in the lower speed range.

For this reason there are two controlling-methods, which are applicable depending on the velocity-feedback.

In the lower speed range (velocity-feedback is lower than SLISWITCH) the motor is controlled sensor-less. Above the velocity in SLJSWITCH the drive uses the position information from the hall-segments (commutation, velocity, position)

The following concept of controlling are integrated in S300 / S700:

  1. Stepper mode, U/F operation:

The drive operates like a stepper drive, U/F curve.

This mode is activated by SLMODE 1.

  1. HF mode (High frequency injection)

This mode is activated by SLMODE 0. It just exists for compatibility reasons and will not be developed further.


ASCII parameters for Hall-ONLY:

  • SLMODE: With this parameter you can choose between Stepper Mode (U/F) or HF function. This function is used in the lower speed range only.

    • SLMODE 0: Enable HF mode. In this mode TEN must be zero. If not, no torque will be applied.
    • SLMODE 1: Enable stepper mode(U/F). This mode is recommended.
  • TEN: is set internally by firmware if SLMODE =1. Depends on velocity feedback and SLMODE:
    • TEN 0: just in SLMODE 0.
      • V < SLJSWITCH HF active.
      • V > SLJSWITCH Hall-information is used for controlling .
    • TEN 1: V < SLJSWITCH: U/F active.
    • TEN 2: V > SLJSWITCH: Hall-information is used for controlling.
  • SLJSWITCH: Threshold value for lower speed range. Default 500 RPM.
  • SLTSWITCH: Transition time from lower speed range to higher speed range in ms. Default value: 200ms. The motor continues using SLMODE, before hall-sensor based controlling is activated.
  • DRVCNFG4.Bit11: Improved calculation of the current speed in hall-only mode. This function is not active by default (for compatibility reasons), but should be used in new hall-only applications.


OPMODE 2/3 Torque mode

Torque mode cannot be used with Hall-only. Even without a torque-command, the motor  has a torque (if drive enabled), because the U/F or HF function is active in the low speed range.


Commutation finding ZERO, MPHASE:

MPHASE is calculated by the ZERO function in OPMODE 2, like all other feedbacks.

Because Hall-Only only has one impuls per 60° (electrical), MPHASE has an accuracy of ±30° (electrical). The drive commutates in the low speed range sensorless and uses MPHASE and sensor-signals for commutation in the normal speed range.



Fast comissioning:

  • DRVCNFG4.Bit11= 1
  • SLMODE 1                                                                           //in SLMODE 1 TEN is controlled automatically

In SLMODE 0 TEN has to be 0!

  • SLACCMAX 100 rpm/s                                                    //Can be increased when in use.
  • ACC=DEC=DECDIS=DECSTOP=500 rpm/s                               // Can be increased when in use.
  • MRESBW 50                                                                        //between 30 and 100
  • ….?