Parvalux PBL60 + maxon ESCON / EPOS4

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Topic:

• How has a Parvalux / PBL60 motor to be connected to a maxon ESCON or EPOS controller?
• What configuration is required to operate the PBL60?
  
  

Solution:

Parvalux / PBL60 brushless DC motors have a different direction of rotation and inverse Hall polarity than maxon brushless DC motors. Therefore some special settings have to be done.

The Parvalux catalog states on page 40/41 the following wire colors, assignment, and naming in use for the PBL60:

Connections:

Based on Parvalux' wire information above the following wiring connection with an ESCON or EPOS4 is required:

• You have to ensure that the wiring of the motor's winding phases, hall sensors signal lines, and hall sensor power is assigned like shown in the following table:
  
  

  Parvalux / PBL60 assignment	maxon assignment
  Phase U red (thick wire, AWG18)	Motor winding 1
  Phase V yellow (thick wire, AWG18)	Motor winding 2
  Phase W black (thick wire, AWG18)	Motor winding 3
  Hall sensor GND black (thin wire, AWG26)	Ground
  Hall sensor supply red (thin wire, AWG26)	Vcc Hall 5V (Supply output)
  Hall sensor A (*1) blue (thin wire, AWG26)	Hall sensor 1
  Hall sensor B (*1) green (thin wire, AWG26)	Hall sensor 2
  Hall sensor C (*1) white (thin wire, AWG26)	Hall sensor 3

(*1) Hall A,B,C:

Based on different definition of the Hall sensor polarity of some Parvalux's motors (and the PBL60 too), the Hall sensor signals have to be configured as "Inverted" (and not "maxon") for maxon motor controllers in most cases. This "Inverted" configuration can be easily done via the "Startup Wizard" of EPOS Studio resp. ESCON Studio.

Important: Check pin assignment!
Please still check the pin assignment and naming based on Parvalux's up-to-date data sheet of your motor. maxon cannot take any warranty that the provided information above is still valid. The cable, pin assignment (and technical data as well) might be subject to change by the motor manufacturer! maxon does not take any liability in case of a damage due to a wrong wiring based on the table above.

Specific controller parameter settings:

      ESCON Studio's and EPOS Studio's "Startup Wizard":

• Motor data / "Pole pair number" = typ. 2
  Remark:
  The value of 2 is typically valid for Parvalux / PBL60 motors. Anyway please check the correct pole pair number for your concrete motor by its data sheet or contact Parvalux if you are not sure about it.
  Number of poles <-> Pole Pair number?
  Please note that the pole pair number has to be configured. There might be the number of poles specified by the data sheet sometimes. The number of poles has to be divided by 2 to get the "Pole pair number" then.
  Hint:
  The "Pole pair number" can be evaluated by ESCON Studio's "Diagnostics" tool.
  
  
• Sensor / "Polarity of Hall sensors": Inverted
  The polarity of the hall sensors has to be configured as "Inverted" by the corresponding dialogue field of the Startup wizard.Digital hall sensor configuration:
  
  
• Please ensure that all other motor, encoder, and system parameters are configured properly based on the supplier's data sheets, system limits, and application requirements.
  
  

      Specific configuration by ESCON Studio's "Parameters" tool

• Motor data / "Motor polarity" be set to the value [1](!!!)
  Remarks:
  • The parameter "Motor data" can just be accessed in user level "Expert".
    (User Level configuration: see File / Options / Extended)
  • Right-click in the parameters after the value of [1] is set.
    Execute "Store Parameters" then.

    Specific configuration by EPOS Studio's "Object Dictionary" tool:

• EPOS2:
  • Change the axis polarity by setting bit 8 of object 0x2008/00:
    Bit 8 = 1 => xxxx xxx1 xxxx xxxx
    If none of the other bits are set by the object's existing configuration (i.e. object's content is currently), writing a value of 256 [dec.] resp. 0x0100 into object 0x2008/00 corresponds to setting bit 8.
  • Right click in the Object Dictionary afterwards.
    Select "Save all parameters" to save the configuration persistently.
    
    
• EPOS4:
  • Change the axis polarity by setting bit 0 of object 0x3000/04:
    Bit 0 = 1 => xxxx xxxx xxxx xxx1
    If none of the other bits are in use (= set) by the object's existing configuration (i.e. object's content is currently 0), writing a value of 1 [dec.] resp. 0x0001 into object 0x3000/04 corresponds to setting bit 0.
  • Right click in the Object Dictionary afterwards.
    Select "Save all parameters" to save the configuration persistently.
    
    

Final action after completed configuration

• Execute "Regulation Tuning"
  
  

Cross Reference:

• Please note the general remarks about "Initial commissioning" tasks in case of an EPOS4 motor controller described in this linked Support Center document:
  -> EPOS4 / IDX: Important steps during initial commissioning

Summary:

Parvalux's PBL60 brushless DC motor can be controlled by maxon's EPOS or ESCON controllers. It is just required to ...

• ... connect the windings and hall sensors properly.
• ... configure the pole pair number (typ. = 2) correctly.
• ... configure an inverted "Hall sensor polarity".
• ... configure an inverted "Axis polarity".