Data Sheet

Brushless Motor Connections and Operation
102 Advanced Digital Motor Controller User Manual V1.8, August 28, 2017
2: Hall+Encoder
3: SPI Sensor
4: Sin/Cos Sensor
5: Resolver
Each mode requires a various amount of additional setup and/or calibration as described in
the following sections.
In sinusoidal mode, on some models the controller automatically operates in Field Oriented
Control mode (see “Field Oriented Control (FOC)” on page 108) and requires additional
settings for this.
Setup and Test Encoder Feedback Mode
Since Incremental Encoders do not give and absolute position, a reference search must
be done every time the controller is powered up. This search is done by the controller un-
der these conditions:
• Automatically, every time after power up
• When the controller switched from a different mode to sinusoidal mode with
encoder feedback
• By sending the !BND ch command from the serial port or from a script
To do the reference search, the controller will energize the motor phases in a predeter-
mined sequence in order to force the rotor to known positions. The details of this process
is described in “Sinusoidal Zero-Angle Reference Search Process” on page 104.
Important Notice
The number of motor poles and encoder PPR are critical parameter for the encoder
feedback mode to work. Make sure that these are correctly loaded in the configuration.
Before trusting that reference search will be successful at every power up, try repeat-
edly to send the manual bind (!BND) command from different starting position of the
motor, under real-life load conditions. After reference search is completed, verify that
the motor turns with the same efficiency in the forward and reverse direction.
Setup and Test Hall Encoder Feedback Mode
The Hall Encoder mode requires no calibration or special setup. Verify only that the correct
number of poles and encoder PPR are loaded in the configuration.
The hall sensors and encoder must be wired so that their respective counter count in the
same direction. To verify this, turn the motor by hand or run it in Trapezoidal mode with
Hall sensor feedback. Observe the count directions in the PC utility.
Important Notice
The number of motor poles and encoder PPR are critical parameter for the Hall-Encoder
feedback mode to work. Make sure that these are correctly loaded in the configuration.