Hardware manual

Fig. 3.5-2. Position of the motor and

reading from HAL sensor.

I think it is good idea to explain little bit how we can rotate the motor in desired direction using

table presented on the figure 3.5-2. Thus, if we know from hall sensors that we are in phase I

and we want to rotate the motor into one direction all we need is just to apply positive or

negative voltages according to values shown in the table. In other words for phase I we need to

keep some positive voltage difference between 1

and 2

windings, and the same time zero

voltage difference between 2

and 3

and between 3

and 1

windings (first column in the

table). If we would like to rotate the motor into opposite direction, then we need to keep

negative voltage difference between 1

and 2

windings, and as before zero voltage difference

between 2

and 3

and between 3

and 1

windings (fourth column in the table). According to

this we can say that the change in the direction of rotation corresponds to applying inverted

voltages or using voltages which should be applied after reading hall sensor and adding 180

. Of

course we should remember that after some time the value read from hall senor will change and

to continue of the rotation we will have to set new voltage differences between windings

according to table on the fig. 3.5-2.

3.6. Putting everything together.

In this subsection I will shortly describe how all presented above was taken and put together to

get right working motor in Eurobot project.