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PC104

Navigator®-PC/104 User’s Guide

PMD 

1

Installation

1.10.3 Step #3: Check Commutation

NOTE: THIS SECTION APPLIES TO BRUSHLESS MOTOR CARDS AND MIXED MOTOR

CARDS.

After phase initialization has been completed it is useful to check the smoothness of the motor

rotation in open loop mode to verify that the motor phasing initialization and commutation is

correct. To do this use the following command sequence:

SetMotorMode 0

SetMotorCommand xxxx

Update

// set axis for open loop operation

// xxxx is the motor command from 0 to 32,767 to output

The xxxx value represents the fraction of the value 32,768 of total power that will be applied to the

motor. For example a value of 1000 sends roughly 3% (1000/32,768) of the total power to the motor.

When the motor mode is set to off (SetMotorMode 0) the motor is not under servo control. Be

aware that the motor may spin rapidly after a motor command value is applied. Use small values

and increase slowly.

After this command sequence the motor should smoothly spin in one direction or the other. The

motor command is a signed number and the sign controls the rotation direction. When a positive

motor command is given the motor should rotate in the positive (increasing encoder counts)

direction. If the motor spins roughly, in the wrong direction, or if it moves a short distance and then

abruptly stops there may be a problem with the commutation. Check your wiring and re-test. Once

the motor is spinning smoothly in both directions under open loop control, re-enable closed-loop

servo control by executing the following command:

SetMotorMode 1

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Navigator-PC/104 User’s Guide

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