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Spindle Motors

22.3 Sensors
The motors are equipped with an internal sensor measuring the rotor speed.
Different types of sensors can be used:
1. 6-pole resolver Sensor code R
2. 2-pole resolver Sensor code U
3. High-resolution sensors Sensor code H

22.3.1 Resolver
Technology and Principle


ST TOR VS1 Transformer
RO D Active
FIEL part part

VS2 Primary
VS2 Primary Secondary

Input VS1 VS2

VS = U sin t Outputs 22
VS1 = KU sin sin t
VS2 = KU cos sin t

The resolver is mounted directly on the motor shaft (hollow shaft) to minimise space, and enhance integration.
It does not include any switches. It is therefore highly reliable and requires no maintenance.
It operates according to the principle of magnetic induction. It has two parts:
- Transformer T1 whose primary is wired to the stator and whose secondary is wired to the rotor, supplied by a 10 kHz
carrier frequency
- Transformer T2, whose primary, called field winding, integrated in the rotor, is supplied from the secondary of
transformer T1 (10 kHz carrier). This field winding, which rotates with the rotor, generates a rotating field which
induces a variable signal in the two secondaries, called armature windings, placed in the stator.
The two secondaries of T2 (armature) are situated 90 degrees apart such that the rotor angle can be determined by
combining their outputs. The accuracy is + 6 electrical arc minutes.
When processed, the position signal can be used by the servo-drive to perform the following functions:
- Static commutation (selsyn operation)
- Generation of the speed signal (speed loop)
- General of a digital position signal (position loop).

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Signals measured at the servo-drive input (the terminals vary according to the servo-drive used; see the
section on servo-drives).

Carrier (9750 Hz, 10 V peak)

Terminals A and B of the motor connector
Green and black wires

Cosinusoidal signal
Terminals C and D of the motor connector
White and black wires

Sinusoidal signal
Terminals E and F of the motor connector
Red and black wires

NUM DRIVE servo-drives monitor the presence of the resolver signals (open circuit, pole reversal, etc.).
Alarms (differing according to the servo-drive used) indicate the presence of a resolver connection fault.
If a resolver alarm is present, but the servo-drive input signals are correct, the presence of the internal sinusoidal and
cosinusoidal signals can be checked using the PC communication tool with the servo-drive (PC Set Link for UAC and
CPM for MDLS).
These tools can also be used to check that the reading on the e-gain (resolver gain) test point is between 0 and 255.
Readings close to 0 (input signals too high) or 255 (signals too low) generate a resolver alarm.
A faulty resolver can easily be replaced by an electromechanical technician.
Part number of 6-pole resolver: RESOLVER N303 410256303
Part number of 2-pole resolver: RESOLVER N301 410252301
Contrary to brushless axis motors, angular setting of the stator is not required when installing a new resolver.
However, it must be checked that connection of the sinusoidal and cosinusoidal signals complies with the diagram.
After replacement of the motor, the resolver or its wire, always repeat the automatic calibration procedure with PC Set
Link (SPM software packages) on software packages UAC S3.82 or S3.90.

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