User Manual

Brushless Motor Connections and Operation
118 Advanced Digital Motor Controller User Manual V2.1, December 3, 2020
Perform the Setup a few times to verify that it produces the same values. If the Zero Ref-
erence in particular varies significantly, increase the Adjust the Reference Search Current
and try again. See “Reference Search Power” on page 108.
The reference search will settle on a given electrical angle location. On a two pole motor,
this electrical angle value exists in 2 mechanical locations for that motor. After performing
a first search, rotate the motor shaft and repeat the search. On a perfectly constructed
motor, the search will settle at the same electrical angle on any of the other poles. In
practice, it is expected that the values will be off by one or two degrees from one pole to
another.
If the value is consistent from one measurement to another, and difference is larger than
a few degrees, this means the poles are not placed with precision in the motor and the
motor will not run efficiently. If the difference is very large (20 degrees or more), it is likely
that the angle sensor is not working correctly or that the number of poles of the motor
and/or sensor are not configured correctly.
Real-Time Charting
The Diagnostic tab includes a Fast-Updating that can be used to monitor useful infor-
mation during the Setup phase. For instance for observing that the Sin and Cos inputs
see a Sinusoidal shaped signal as the motor turns, or that the captured angle is chang-
ing steadily without noise or glitches. The chart is also useful for testing the motor im-
mediately after Setup. The table below shows the parameters that can be monitored
in the chart.
TABLE 8-3. Diagnostics monitor values
Parameter Description
Sin Voltage at Sin input of Sin/Cos or resolver
Cos Voltage at Sin input of Sin/Cos or resolver
Electrical Angle Electrical Angle
Calibration Angle Angle of the forced field applied during auto-setup
Sensor Angle Angle measured by the sensor
Motor Power PWM Level applied to the motor
Motor Amps Motor Amps
FOC Flux Amps Flux Amp, Direct Current, Id (cause no torque)
FOC Torque Amps Torque Amps, Quadrature Current, Iq (cause torque)
Hall Status State of all 3 Hall into a single 0-7 value
Hall A State of Hall A input
Hall B State of Hall B input
Hall C State of Hall C input
FOC Angle Correction Correction determined and applied by FOC
Battery Volts Battery Volts
Power Per Phase U PWM on Phase U
Power Per Phase V PWM on Phase V
Power Per Phase W PWM on Phase W
Sense U Sensed voltage level at output U
Sense V Sensed voltage level at output V