User Manual

Safety Recommendations
70 Advanced Digital Motor Controller User Manual V2.0, July 8, 2019
Hall and other Rotor Sensor Inputs
On brushless motor controllers, the Hall or other Rotor position sensor that is used to
switch power around the motor windings, are also used to measure speed and distance
traveled.
Speed is evaluated by measuring the time between transition of the Hall Sensors. A 32 bit
up/down counter is also updated at each Hall Sensor transition.
Speed information picked up from the Hall Sensors can be used for closed loop speed op-
eration without any additional hardware.
Sensor Min Max values
Each Encoder counter, SSI Sensor Counter or Internal Sensor Counter counter can be
compared to the respective user-defined Min and/or Max values and trigger an action if
these limits are reached. The type actions are the same as these selectable for Digital In-
puts and described in “Digital Inputs Configurations and Use” page 58.
Relative Speed
The speed information is also scaled to produce a number ranging from -1000 to +1000
relative to a user-configured arbitrary Max RPM value. For example, with the Max RPM
configured as 3000 and the motor rotating at 1500 RPM, the measured relative speed will
be 500. Relative speed is useful for closed loop speed mode that uses Analog or Pulse
inputs as speed commands.