Aries-EPL (AR-xxPE) Manual Alignment Procedure

Before attempting this manual alignment, ensure that the motor has sufficient
distance to move in either direction.
Enter Terminal Emulator Screen.
1) Type DMODE (and press enter) to display the current drive mode setting.
Note this value.
2) Ensure that the motor configuration data, especially DPOLE (Number of
Pole Pairs), is set correctly.
3) DRIVE0 (enter)
4) DMODE1 (enter)
5) DRIVE1 (enter)
The drive should now enable and the motor should begin moving in a positive
direction. If this is not the desired positive direction, power off the drive,
swap any two motor phases, power on and repeat from step 3.
6) DRIVE0 (enter)
7) DMODE3 (enter)
8) ENCOFF0 (enter)
9) ENCPOL0 (enter)
10) C83=0 (enter)
11) SHALL0 (enter)
12) CMDDIR0 (enter)
13) DRIVE1 (enter)
The drive should now enable, move to a position, and stop. If the motor is
squealing, enter DIBW500 (enter), or divide DIBW in half if its close to 500.
14) C81=-150 (enter).
This will move the motor to a predetermined location. Note the TPE value.
15) Check THALL (enter). We want THALL to return 6. If it does, skip to step
16.
If THALL reports 1,2 or 4, enter SHALL1, reset the drive, and go to step 13.
If THALL reports 3, turn power off and change the hall wires so that HALLS
321 are now wired 213. That is, rotate each one left.
If THALL reports 5, turn power off and change the hall wires so that HALLS
321 are now wired 132. That is, rotate each one right.

Power on and restart the process from step 7.

16) C81=-90 (enter)
The motor should move slightly in the +ve direction. Check the TPE value.
The TPE value should be roughly [(ERES/DPOLE)/6] counts greater than the
value noted in 14).
The difference should be +ve. If not, swap the encoder wires and restart from
step 1). (A+ with A-, or A+/A- with B+/B-)
Check THALL (enter). It should return 2. If THALL reports 4, then swap halls
2 and 3.
17) C81=-30 (enter)
The motor should move slightly in the +ve direction. TPE should count more
+ve, and THALL should read 3
18) C81=30 (enter)
The motor should move slightly in the +ve direction. TPE should count more
+ve, and THALL should read 1
19) C81=90 (enter)
The motor should move slightly in the +ve direction. TPE should count more
+ve, and THALL should read 5
20) C81=150 (enter)
The motor should move slightly in the +ve direction. TPE should count more
+ve, and THALL should read 4
21) ***Note the value of SHALL.*** This will be required for system
configuration. If you already have a configuration file (*.ast), find SHALL in
the file and change its value to the value you found here.
Manual tuning is now complete. Skip to step 25, or for fine-tuning, do
the following:
22) C81=175 (enter)
The motor is now just to the hall-state-4 side of the transition between halls 4
and 6. Check that THALL returns 4.

23) C81=-175 (enter)

If motor does not move, enter C81=0 and then retry step 23.
The motor is now just to the hall-state-6 side of the transition between halls 4
and 6. Check that THALL returns 6.
If both THALL reports are good, then fine-tuning is complete.
If not, increase ENCOFF by 0.03 until steps 22 and 23 are true.
If the ENCOFF value reaches 0.33, repeat with ENCOFF=0 but decrease
ENCOFF by 0.03 each time.
24) AXIS0 DRIVE OFF
25) Return the drive to its normal operating mode (which you made note of in
step 1).
26) Set EXC value to known good value, e.g. AXIS0 EXC1
27) IMPORTANT: Review your manual alignment settings (commands 8-12).
These will be required for system configuration. If you already have a
configuration file (*.ast), find these commands in your file and change their
values to the ones you found here.