User Manual

Brushless Motor Connections and Operation
78 Advanced Digital Motor Controller User Manual V2.0, July 8, 2019
Set
R
eset
Serial/USB
Pulse
Analog
FIGURE 6-1. Controller’s possible command modes
In the Serial mode, the mode is considered as active if commands
• !G - Go to Speed or to Relative Position
• !MS - Stop in all modes
• !S - Set Motor Speed
• !TC - Target Torque
• !GIQ - Set Torque Amps
• !GID - Set Flux Amps
arrive within the watchdog timeout period via the RS232, RS485, TCP or USB ports. The
mode will be considered inactive, and the next lower priority level will be selected as soon
as the watchdog timer expires. Note that disabling the watchdog will cause the serial
mode to be always active after the first command is received, and the controller will never
switch to a lower priority mode.
If the abovementioned commands are called from a script then the Script mode is en-
abled and if they are called from CAN network the CAN mode is enabled.
In the pulse mode, the mode is considered active if a valid pulse train is found and re-
mains present.
In analog mode, the mode is considered active at all time, unless the Center at Start safety
is enabled. In this case, the Analog mode will activate only after the joystick has been cen-
tered. The Keep within Min/Max safety mode will also cause the analog mode to become
inactive, and thus enable the next lower priority mode, if the input is outside of a safe range.
The example in Figure 6-1 shows the controller connected to a microcomputer, a RC ra-
dio, and an analog joystick. If the priority registers are set as in the configuration below:
1- Serial
2- Pulse
3- Analog
then the active command at any given time is given in the table below.