Schematic

Brushless Motor Connections and Operation
2 Advanced Digital Motor Controllers User Manual V1.8, August 28, 2017
Revision History
Date Version Changes
August 29, 2017 1. 8 Added AC Induction Sections
Extended command set
October 15, 2016 1. 7 Added Speed Position Mode
Major Additions to Brushless Motor Section
Added RoboCAN protocol
Miscellaneous updates
May 10, 2012 1. 2 Added CAN Networking
Added Closed Loop Count Position mode,
Closed Loop Torque mode
Extended command set
January 8, 2011 1. 2 Added Brushless Motor Connections and Operation
July 15, 2010 1. 2 Extended command set
Improved position mode
May 15, 2010 1. 1 Added Scripting
January 1, 2010 1. 0 Initial release
September 15, 2008 1.9d Created Brushless DC version
June 1, 2007 1.9b Added Output C active when Motors On
Fixed Encoder Limit Switches
Protection in case of Encoder failure in Closed Loop Speed
Added Short Circuit Protection (with supporting hardware)
Added Analog 3 and 4 Inputs (with supporting hardware)
Added Operating Mode Change on-the-fly
Changeable PWM frequency
Selectable polarity for Dead Man Switch
Modified Flashing Pattern
Separate PID Gains for Ch1 and C2, changeable on-the-fly
Miscellaneous additions and correction
Added Amps Calibration option
January 10, 2007 1. 9 Changed Amps Limit Algorithm
Miscellaneous additions and correction
Console Mode in Roborun
March 7, 2005 1.7b Updated Encoder section.
February 1, 2005 1. 7 Added Position mode support with Optical Encoder
Miscellaneous additions and corrections
April 17, 2004 1. 6 Added Optical Encoder support