User Manual

6 Advanced Digital Motor Controllers User Manual V2.0, July 8, 2019
Protecting against Loss of Command Device .......................................... 83
Safety Switches ....................................................................................... 84
Monitoring and Telemetry in RC or Analog Modes .................................. 84
Using the Controller with a Spektrum Satellite Receiver ......................... 84
Using the Controller in Serial (USB/RS232/RS485/TCP) Mode ................ 84
SECTION 7
Motor Operating Features and Options..................................................................85
Power Output Circuit Operation ............................................................... 85
Global Power Configuration Parameters .................................................. 86
PWM Frequency ...................................................................................... 86
Overvoltage Protection ............................................................................ 86
Undervoltage Protection .......................................................................... 86
Temperature-Based Protection................................................................. 86
Short Circuit Protection ............................................................................ 87
Mixed Mode Select .................................................................................. 87
Motor Channel Parameters ...................................................................... 88
User Selected Current Limit Settings ...................................................... 88
Selectable Amps Threshold Triggering ..................................................... 89
Programmable Acceleration & Deceleration ............................................ 89
Forward and Reverse Power Adjustment Gain ........................................ 90
Selecting the Motor Control Modes ........................................................ 90
Open Loop Speed Control ....................................................................... 90
Closed Loop Speed Control ..................................................................... 90
Closed Loop Speed Position Control ........................................................ 91
Closed Loop Position Relative Control ..................................................... 91
Closed Loop Count Position ..................................................................... 92
Closed Loop Position Tracking .................................................................. 92
Torque Mode ............................................................................................ 92
SECTION 8
Brushless Motor Connections and Operation .......................................... 95
Introduction to Brushless Motors ............................................................ 95
Number of Poles ...................................................................................... 96
Trapezoidal Switching ............................................................................... 97
Hall Sensor Wiring ................................................................................... 98
Hall Sensor Verification ............................................................................ 99
Hall Sensor Wiring Order ......................................................................... 99
Determining the Wiring Order Empirically ............................................. 100
Hall Sensor Alignment ............................................................................101
Sinusoidal Commutation ........................................................................ 102
Configuring the Controller for Sinusoidal Commutation ........................ 104
Selecting and Configuring Supported Angle Sensors ............................ 106
Preparation for Automatic Sensor Setup .................................................111
Running the Automatic Sensor Setup .....................................................114
Field Oriented Control (FOC) ..................................................................118
Sensorless Trapezoidal Commutation .................................................... 121