Data Sheet

Brushless Motor Connections and Operation
110 Advanced Digital Motor Controller User Manual V1.8, August 28, 2017
For single Channel Controllers:
^KPF 1 nn = Proportional Gain for Channel 1 Flux
^KPF 2 nn = Proportional Gain for Channel 1 Torque
^KIF 1 nn = Integral Gain for Channel 1 Flux
^KIF 2 nn = Integral Gain for Channel 1 Torque
For dual Channel Controllers:
^KPF 1 nn = Proportional Gain for Channel 1 Flux
^KPF 2 nn = Proportional Gain for Channel 2 Flux
^KPF 3 nn = Proportional Gain for Channel 1 Torque
^KPF 4 nn = Proportional Gain for Channel 2 Torque
^KIF 1 nn = Integral Gain for Channel 1 Flux
^KIF 2 nn = Integral Gain for Channel 2 Flux
^KIF 3 nn = Integral Gain for Channel 1 Torque
^KIF 4 nn = Integral Gain for Channel 2 Torque
FOC Testing and Troubleshooting
In order to make sure that FOC is operating correctly, monitor values with the PC Utility:
• Motor Amps
• FOC Flux Amps
• FOC Torque Amps
• FOC Angle Correction
The indication of good performance are the following:
• FOC Quadrature Amps are close to 0.
• Motor Amps and FOC Torque Amps values are close.
• FOC Angle Correction is stable for stable motor Power.
Check also when changing motor power how fast FOC Flux Amps is corrected to zero.
Tune FOC PI as necessary.
Field Weakening
Field weakening is a technique that is used to achieve faster motor rotation speed. This
is done by having some Flux (Id) current, even though this also introduces some waste.
Field Weakening is therefore possible on Roboteq controller by loading a non-zero setpoint
for the Flux current. This can be done from the console, the serial port, or from a MicroBa-
sic script with the command:
^TID ch Amps*10