In the present article we are going to find out, how to connect these two sensor types concurrently on a Roboteq controller. In the article we are assuming that the sensors are already tested and working with our controllers.
How to connect the two sensors
In our example we want to connect to channel 1, a Hall sensor for the commutation of the motor and a post gearbox SSI sensor for the positioning. We will perform this example on an SBL2360T.
A problem that we are immediately facing while trying to implement such a setup, is that both sensors use the same 6-pin Molex connectors.
Because of that, we will place the SSI sensor as shown above to the 6-Pin Molex connector and move the connection of the Hall sensors to the 25-Pin D-Sub as shown below to Din1, Din2 and Din3.
Hall sensors require power, a common ground with the controller and we are also now missing the pull-up resistors. Because of that, additional connections as shown below are required:
- Hall1 A -> Din 1/Pin 15
- Hall1 B -> Din 2/Pin 16
- Hall1 C -> Din 3/Pin 4
- Hall 5V -> Controller 5Vout/Pin 14 or 25
- Hall Ground -> Controller GND/Pin 1 or 5 or 13
- Three 1K Pull up resistors from 5Vout/Pin 14 or 25 -> Hall1 A,B,C. Pins 15,16,4.
Configuration Parameters
In addition to the connections above, we have to set some parameters specifically in order to trigger the Hall sensor reading from the D-Sub connector and the SSI sensor reading from the 6-Pin Molex connector.
In Roborun, we have to change the following parameters to match this value.
- Molex Input: SSI sensors
- Sinusoidal Angle sensor: Hall
- Closed Loop Feedback Sensor: Other
With this configuration, we will be able to read the SSI sensors, the Hall sensors, use the Hall sensors for the commutation of the motor and the SSI sensors for the Closed Loop Feedback.