Sinus commutation blocks the motor

[ralf.keding]

Moin, Moin!

I connected an Aerotech BMS60 to an TMCM 171. It covers U,V,W the hall sensors and from the encoder I, A, B
I measure: The I-sensor gives a positive pulse.
The encoder and the Hall Sensors work if the commutation mode is block. If i change the parameter 159 from 0 to 1 (from block to sin commutation) and give the command to rotate the motor is supplied with an increasing current without moving at all. If i switch back the commutation it moves.
I tried to change the 249 to 0,1,2,3,4 and power cycle the controller after the change. Same problem. If i switch back the commutation it works.
Is there any trick or hint to make the sin commutation work?

Greetings

Ralf Keding

[Olav Kahlbaum (TRINAMIC)]

Did you also intialize the sine communtation by writing to axis parameter 160 (any value will do - e.g. SAP 160, 0, 0)? This has to be done prior to any rotation commands (ROL/ROR/MVP) after switching to sine commutation, as this kind of commutation needs to be initialized.
Did you set up the encoder resolution correctly?

[ralf.keding]

Moin, Moin!

The trick was:
1. The 2500 is the number of lines in the encoder, the parameter is 2500*4=10000 i.e. i set encoder resolution wrong. If sombody have an Aerotech motor/axis this information may be helpful
2. The initialisation using parameter 160 make it possible.

Now it works.
Thaks for the hint.

Ralf Keding

[Olav Kahlbaum (TRINAMIC)]

That's great news, thank you.