Wheel System, Traction 412Service Manual – CS7000
The drive motor has an internal “encoder” that provides feedback to the drive controller regarding rotation
direction and speed. The drive controller provides a 5v power supply out of pin J4-26 to the encoder
connector pin 2. The drive controller provides an internal ground for the encoder at pin J4-7. The encoder
has 2 “speed sensors”, Phase A and Phase B, that monitor the rotation of the motor shaft. Each sensor
creates a 4v square wave pattern that increases in frequency as the motor rotation speed increases.
Below are oscilloscope waveforms, which show the Phase B speed sensor input when the motor is rotating
slowly and when it is rotating fast.
The signals that the speed sensors produce are slightly offset from one another. This allows the controller to
verify the rotation direction of the motor. When both signals are low, the next signal that switches high (5v)
indicates the rotation direction.
The drive motor also has an internal temperature sensor that is monitored by the drive motor controller.
The drive controller sends a 12v supply through an internal resistor and out pin J4-8 to the motor 2 wire
connector pin 1. This is connected to the temperature sensor. The other side of the sensor is connected to
the two wire connector pin 2. This is connected to the controller pin J4-7 where it is grounded inside the
controller.
WaveStar : NotesSheet(2) Page: 1
WaveStar : NotesSheet(2) Page: 1
Phase B slow rotation
Phase B fast rotation
WaveStar : NotesSheet(3) Page: 1
WaveStar : NotesSheet(4) Page: 1
Phase B
Phase B
Phase A
Phase A
Forward Motion Reverse Motion
Both Low
A is next High
Both Low
B is next High
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