Phase Commutation Modes #
Expected sequence of hall sensor states when moving in positive direction
| PHASES POWER | FLUX VECTOR ANGLE | HALLS [DECIMAL] | HALLS [BINARY] | |
|---|---|---|---|---|
| ➖ ᮰ ➕ | 0 | 2 | 010 | |
| ᮰ ➖ ➕ | 60 | 6 | 110 | |
| ➕ ➖ ᮰ | 120 | 4 | 100 | |
| ➕ ᮰ ➖ | 180 | 5 | 101 | |
| ᮰ ➕ ➖ | 240 | 1 | 001 | |
| ➖ ➕ ᮰ | 300 | 3 | 011 |
Phase Mapping To Amplifier Outputs #
The mapping of the controller outputs to different phases is intended to simplify the connection to motors with unknown windings orientation.
| PMAP CODE | PHASE U | PHASE V | PHASE W |
|---|---|---|---|
| 0 | Output 0 | Output 1 | Output 2 |
| 1 | Output 0 | Output 2 | Output 1 |
| 2 | Output 1 | Output 0 | Output 2 |
| 3 | Output 1 | Output 2 | Output 0 |
| 4 | Output 2 | Output 0 | Output 1 |
| 5 | Output 2 | Output 1 | Output 0 |