CN113452307A - Automatic correction method for pin connection and motor driving device - Google Patents
Automatic correction method for pin connection and motor driving device Download PDFInfo
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- CN113452307A CN113452307A CN202010230425.7A CN202010230425A CN113452307A CN 113452307 A CN113452307 A CN 113452307A CN 202010230425 A CN202010230425 A CN 202010230425A CN 113452307 A CN113452307 A CN 113452307A
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
- G01R31/343—Testing dynamo-electric machines in operation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
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- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention provides an automatic correction method for pin connection and a motor driving device. The automatic correction method comprises the following steps: sensing the driven motor to generate a plurality of sensing results corresponding to a plurality of pin connection modes of the Hall sensor and the motor controller, and counting the variation times of the plurality of sensing results to obtain a plurality of external interruption times corresponding to the plurality of pin connection modes; obtaining a correct pin connection mode in the plurality of pin connection modes according to the external interrupt times; and operating the Hall sensor to be electrically coupled with the motor controller in a correct pin connection mode.
Description
Technical Field
The present invention relates to an automatic correction method for pin connection and a motor drive apparatus, and more particularly, to an automatic correction method and a motor drive apparatus capable of automatically correcting a pin connection between a hall sensor and a motor controller.
Background
The global oil reserves are estimated to be only available for forty years, and the development of alternative fuels, sustainable energy sources and related power drive control is an irrevocable and essential direction for development, so the development of electric vehicles such as electric bicycles and electric motorcycles is one of the main development projects for future mobile vehicles. If the motor of the electric vehicle is operated under a high load condition, the position of the current rotor of the motor needs to be accurately known, so as to provide a high torque output condition of the motor. Therefore, most electric vehicles use Hall sensors (Hall sensors) to know the rotor position of the motor.
The Hall sensor has three connecting pins connected with the motor controller, so that the Hall sensor and the motor controller can have various pin connection modes. It should be noted that only a correct pin connection can allow the motor controller to correctly read the value of the hall sensor to control the rotation of the motor. The remaining connections may cause the motor to rotate unsmoothly, thereby causing damage to the motor. For users who generally do not have the related art background, there is considerable pressure on self-assembling hall sensors.
Disclosure of Invention
The invention provides an automatic correction method and a motor driving device, which can automatically correct pin connection between a Hall sensor and a motor controller.
The automatic correction method of the invention is suitable for correcting the pin connection between the Hall sensor and the motor controller for driving the motor. The automatic correction method comprises the following steps: obtaining a pin connection combination table of the Hall sensor and the motor controller, wherein the pin connection combination table has a plurality of pin connection modes between the Hall sensor and the motor controller; sensing the motor driven by the motor controller through the Hall sensor so as to generate a plurality of sensing results corresponding to a plurality of pin connection modes, and counting the variation times of the plurality of sensing results through the motor controller so as to obtain a plurality of external interruption times corresponding to the plurality of pin connection modes; obtaining a correct pin connection mode in the plurality of pin connection modes according to the external interrupt times; and operating the Hall sensor and the motor controller to be electrically coupled through the correct pin position connection mode.
The motor driving device is suitable for operating the motor. The motor driving apparatus includes a hall sensor, a path switcher, and a motor controller. The Hall sensor is configured to sense the driven motor so as to generate a plurality of sensing results corresponding to a plurality of pin connections. The path switcher is coupled to the Hall sensor. The path switcher is operated to provide one of a plurality of pin connection modes. The motor controller is electrically coupled to the Hall sensor. The motor controller is configured to obtain a pin connection combination table of the hall sensor and the motor controller, wherein the pin connection combination table has a plurality of pin connection modes between the hall sensor and the motor controller, receive a plurality of sensing results, count variation times of the plurality of sensing results to obtain a plurality of external interruption times corresponding to the plurality of pin connection modes, learn a correct pin connection mode among the plurality of pin connection modes according to the plurality of external interruption times, and operate the path switcher to electrically couple the hall sensor and the motor controller through the correct pin connection mode.
Based on the above, the auto-calibration method and the motor driving apparatus of the present invention count the number of times of variation of the sensing result corresponding to the plurality of pin connection modes to obtain a plurality of external interruption times corresponding to the plurality of pin connection modes, and accordingly obtain the correct pin connection mode among the plurality of pin connection modes. The automatic correction method and the motor driving device can operate the Hall sensor to be electrically coupled with the motor controller in the correct pin position connection mode. Therefore, the invention can automatically correct the pin connection between the Hall sensor and the motor controller.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification. The drawings illustrate embodiments of the invention and together with the description serve to explain the principles of the invention.
FIG. 1 is a schematic view of a motor driving apparatus according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a method of automatic correction according to an embodiment of the present invention;
FIGS. 3A, 3B and 3C are schematic views respectively illustrating an operation situation of the motor driving apparatus according to an embodiment of the present invention;
fig. 4 is a flowchart of an automatic correction method according to another embodiment of the present invention.
Description of the reference numerals
100 motor driving device;
110, a Hall sensor;
120, a path switcher;
130 motor controller;
MTR is a motor;
HP1, HP2 and HP3 are pins of the Hall sensor;
IP1, IP2, IP3 input pins of the path switcher;
CP1, CP2, CP3 are the feet of the motor controller;
AT, the pin position is connected with the combination table;
SR 1-SR 6 are sensing results;
IT 1-IT 6, external interrupt times;
DS is a driving signal;
s110 to S140, step;
S210-S260.
Detailed Description
Reference will now be made in detail to exemplary embodiments of the invention, examples of which are illustrated in the accompanying drawings. Wherever possible, the same reference numbers will be used throughout the drawings and the description to refer to the same or like parts.
Referring to fig. 1 and fig. 2, fig. 1 is a schematic diagram of a motor driving apparatus according to an embodiment of the invention. Fig. 2 is a flowchart illustrating a method of automatic correction according to an embodiment of the present invention. In the present embodiment, the motor driving apparatus 100 is adapted to operate the motor MTR. The motor driving device 100 includes a hall sensor 110, a path switcher 120, and a motor controller 130. The hall sensor 110 senses the driven motor MTR and provides corresponding sensing results SR1 to SR 6. The path switcher 120 is coupled to the hall sensor 110. The path switch 120 is operated to provide one of a plurality of pin connections. The motor controller 130 is coupled to the path switcher 120. The motor controller 130 receives the sensing results SR1 SR6 and drives the motor MTR according to the sensing results SR1 SR 6. In the present embodiment, the motor controller 130 provides a driving signal DS to drive the motor MTR.
In the present embodiment, the hall sensor 110 has the foot positions HP1, HP2, HP 3. The path switch 120 has pins IP1, IP2, and IP 3. The pins HP1, HP2, HP3 of the hall sensor 110 are coupled to the input pins IP1, IP2, IP3 of the path switch 120. The output pins of the path switch 120 are the pins CP1, CP2, CP3 of the motor controller 130, respectively. The path switch 120 is controlled by the motor controller 130 to provide one of a plurality of pin connections.
In the present embodiment, the motor drive apparatus 100 is adapted to the auto correction method. In step S110, the motor controller 130 obtains the pin connection combination table AT of the hall sensor 110 and the motor controller 130.
To explain further, the pin connection combination table AT is shown in table 1.
Table 1:
the pin connection combination table AT has a plurality of pin connection modes (e.g., pin connection modes Index1 through Index 6 in table 1) between the hall sensor 110 and the motor controller 130. The pin connection combination table AT has a switching sequence associated with 6 different pin connection modes between the hall sensor 110 and the motor controller. The hall sensor 110 has 3 pins, so there are 6 different pin connections between the hall sensor 110 and the motor controller 130. For example, the pin connection type Index1 is used, the pin HP1 of the hall sensor 110 is connected to the pin CP1 of the motor controller 130. The pin HP2 of the hall sensor 110 is connected to the pin CP2 of the motor controller 130. The pin HP3 of the hall sensor 110 is connected to the pin CP3 of the motor controller 130. Taking the pin connection type Index2 as an example, the pins HP1, HP2 and HP3 of the hall sensor 110 are respectively connected to the pins CP1, CP3 and CP2 of the motor controller 130.
In the present embodiment, the motor controller 130 knows the pin connection manner between the hall sensor 110 and the motor controller 130. The motor controller 130 may know the pin connection between the hall sensor 110 and the motor controller 130, for example, in a general purpose input/output (GPIO) manner. The motor controller 130 controls the path switch 120 according to the pin connection combination table AT to provide one of a plurality of pin connection modes (e.g., Index 1-Index 6 in Table 1).
In step S120, the hall sensor 110 senses the motor MTR driven by the motor controller 130, so as to generate sensing results SR 1-SR 6 corresponding to the 6 pin connections. For example, the hall sensor 110 corresponds to the sensing result SR1 of the first pin connection of the 6 pin connections. The hall sensor 110 will correspond to the sensing result SR2 of the second pin connection of the 6 pin connections, and so on. In addition, in step S120, the motor controller 130 receives the sensing results SR 1-SR 6 and counts the number of variations of the sensing results SR 1-SR 6, so as to obtain the external interrupt times IT 1-IT 6 corresponding to the 6 pin connections. For example, the external interrupt number IT1 is the number of changes of the sensing result SR1 of the first pin connection. The external interrupt count IT2 is the number of changes in the sensing result SR2 of the second pin connection type, and so on.
In step S130, the motor controller 130 knows the correct pin connection method among the 6 pin connection methods according to the external interrupt times IT 1-IT 6.
In the present embodiment, when the motor MTR is driven to rotate in a fixed rotation direction (for example, a clockwise rotation direction), the motor controller 130 can obtain a fixed sensing result as shown in table 2.
Table 2:
| motor state | Sensing the result |
| First state | 001 |
| Second state | 011 |
| Third state | 010 |
| |
110 |
| |
100 |
| Sixth state | 101 |
In the case where the hall sensor 110 and the motor controller 130 are connected in a correct pin connection manner, the motor state is periodically and sequentially changed from the first state to the sixth state. For example, based on the starting position of the rotor of the motor, the motor state will be entered into the fifth state from the fourth state, the sixth state from the fifth state, the first state from the sixth state, and so on. Therefore, the sensing result varies from "110" to "100", from "100" to "101", from "101" to "001", and so on. When the hall sensor 110 and the motor controller 130 are connected to each other in a correct pin connection manner, the motor MTR driven by the motor controller 130 operates smoothly. The number of variations of the sensing result of the correct pin connection method is large. That is, the number of external interrupts corresponding to the correct pin connection is large.
On the other hand, in the case where the hall sensor 110 and the motor controller 130 are connected in an incorrect pin connection manner, the motor MTR may be abnormal in at least one motor state. For example, in the case of an incorrect pin connection, the hall sensor 110 senses that the state of the motor jumps from the fourth state to the sixth state, and such a sensing result is obviously incorrect, and the motor MTR is erroneously driven in the wrong sixth state. The motor MTR may have an irregular operation from the wrong sixth state. The variation times of the sensing result of the incorrect pin connection mode are less. That is, the number of external interrupts corresponding to incorrect pin connections is small. Therefore, the motor controller 130 uses the pin connection method corresponding to the highest external interrupt frequency of the external interrupt frequencies as the correct pin connection method.
In step S140, the motor controller 130 operates the path switch 120 to electrically couple the hall sensor 110 and the motor controller 130 via the correct pin connection. In this way, the motor driving device 100 can automatically correct the pin connection between the hall sensor 110 and the motor controller 130.
For example, please refer to fig. 2, fig. 3A, fig. 3B, fig. 3C and table 1 together for details of the steps S120 to S140 of fig. 2. Fig. 3A, 3B and 3C are schematic views respectively illustrating an operation situation of the motor driving apparatus according to an embodiment of the present invention. In step S120 of the present embodiment, the pins HP1, HP2, HP3 of the hall sensor 110 are, for example, input pins IP1, IP2, IP3 respectively connected to the path switcher 120. As shown in fig. 3A, since the path switcher 120 is operated to connect the input pin IP1 to the pin CP1 of the motor controller 130, the input pin IP2 to the pin CP2 of the motor controller 130, and the input pin IP3 to the pin CP3 of the motor controller 130. Therefore, the pin HP1 of the hall sensor 110 is connected to the pin CP1 of the motor controller 130. The pin HP2 of the hall sensor 110 is connected to the pin CP2 of the motor controller 130. The pin HP3 of the hall sensor 110 is connected to the pin CP3 of the motor controller 130. That is, the hall sensor 110 and the motor controller 130 are connected in the first pin connection manner (e.g., the pin connection manner Index1 in table 1) of the 6 pin connection manners. The motor controller 130 can also know that the hall sensor 110 is connected to the motor controller 130 in the pin connection mode Index1 shown in table 1.
The hall sensor 110 senses the driven motor based on the driving time period to generate a first sensing result SR1 corresponding to the first pin connection manner. The motor controller 130 counts the variation times of the first sensing result SR1 to obtain the external interrupt times IT1 corresponding to the first pin connection mode. In the embodiment, the driving time length may be set to 5 seconds (although the invention is not limited thereto). That is, when the test is started, the motor driving apparatus 100 counts the time and generates the sensing result SR1 corresponding to the first pin connection type based on the driving time duration and counts the variation number of the variation of the sensing result SR 1. Once the counted time reaches the driving time length, the motor driving apparatus 100 stops generating the sensing result SR1 and stops counting the variation times of the variation of the sensing result SR 1. Therefore, the motor driving apparatus 100 obtains the number of times IT1 of external interruption of the driving time length.
It should be noted that the motor driving device 100 stops driving the motor once the timing time reaches the driving time length. Therefore, when the first pin connection mode is an incorrect pin connection mode, the motor can be prevented from being damaged due to long-time running irregularity.
After obtaining the number of external interrupts IT1, motor controller 130 operates path switch 120 based on the switching sequence. The path switch 120 is operated to connect the input pin IP1 to the pin CP1 of the motor controller 130, the input pin IP2 to the pin CP3 of the motor controller 130, and the input pin IP3 to the pin CP2 of the motor controller 130. Therefore, as shown in fig. 3B, the pin HP1 of the hall sensor 110 is connected to the pin CP1 of the motor controller 130. The pin HP2 of the hall sensor 110 is connected to the pin CP3 of the motor controller 130. The pin HP3 of the hall sensor 110 is connected to the pin CP2 of the motor controller 130. That is, the pin connection between the hall sensor 110 and the motor controller 130 is switched from the first pin connection to the second pin connection (e.g., pin connection Index2 in table 1). The hall sensor 110 senses the driven motor based on the driving time duration to generate a sensing result SR2 corresponding to the second pin connection type. The motor controller 130 counts the variation times of the variation of the sensing result SR2 to obtain the external interrupt times IT2 corresponding to the second pin connection mode.
Next, the motor controller 130 operates the path switch 120 based on the switching sequence. The path switch 120 is operated to connect the input pin IP1 to the pin CP2 of the motor controller 130, the input pin IP2 to the pin CP1 of the motor controller 130, and the input pin IP3 to the pin CP3 of the motor controller 130. Therefore, as shown in fig. 3C, the pin HP1 of the hall sensor 110 is connected to the pin CP2 of the motor controller 130. The pin HP2 of the hall sensor 110 is connected to the pin CP1 of the motor controller 130. The pin HP3 of the hall sensor 110 is connected to the pin CP3 of the motor controller 130. That is, the connection manner of the hall sensor 110 and the motor controller 130, and the hall sensor 110 and the motor controller 130 is switched from the second pin connection manner to the third pin connection manner (e.g., the pin connection manner Index3 in table 1). The hall sensor 110 senses the driven motor based on the same driving time period, thereby generating a sensing result SR3 corresponding to the third pin connection manner. The motor controller 130 counts the variation times of the third sensing result SR3 to obtain the external interrupt times IT3 corresponding to the third pin connection manner.
Similarly, the motor controller 130 operates the path switch 120 based on the switching sequence to sequentially obtain the external interrupt times IT 4-IT 6 corresponding to the fourth pin connection mode, the fifth pin connection mode and the sixth pin connection mode.
In step S130 of the present embodiment, for example, the motor controller 130 sets the external interrupt times IT3 of the external interrupt times IT 1-IT 6 as the highest external interrupt times. The motor controller 130 sets the pin connection corresponding to the external interrupt number IT3 as the correct pin connection. Therefore, the third pin connection scheme (such as the pin connection scheme Index3 in table 1) is used as the correct pin connection scheme. In step S140 of the present embodiment, the motor controller 130 operates the path switch 120 to connect the hall sensor 110 and the motor controller 130 in a third pin connection manner, as shown in fig. 3C.
In this embodiment, the driving time length can be adjusted to control the overall testing time length. That is, if the driving time length is set to 5 seconds, the entire test time length is about 30 seconds. If the driving time length is set to 3 seconds, the entire test time length is about 18 seconds.
Referring to fig. 1 and 4, fig. 4 is a flowchart illustrating a method of automatic correction according to another embodiment of the invention. In the present embodiment, the motor controller 130 determines whether a test command is received in step S210 when the motor driving apparatus 100 is started (i.e., started). If the motor controller 130 receives a test command. The auto-correction method proceeds to step S220 to obtain the pin connection combination table AT of the hall sensor 110 and the motor controller 130. In step S230, the auto-calibration method senses the driven motor MTR to generate sensing results SR 1-SR 6 corresponding to the pin connections, and counts the number of variations of the sensing results SR 1-SR 6 to obtain the external interrupt times IT 1-IT 6 corresponding to the pin connections. In step S240, the auto-correction method determines the correct pin connection method among the plurality of pin connection methods according to the external interrupt times IT 1-IT 6. In step S250, the hall sensor 110 and the motor controller 130 are electrically coupled by a correct pin connection. Next, in the case that the hall sensor 110 and the motor controller 130 are electrically coupled with a correct pin connection, the auto-correction method drives the motor MTR through the motor controller 130 in step S260. The implementation details of steps S220 to S250 of this embodiment can be sufficiently taught by the embodiments of fig. 1 to fig. 3C, and therefore cannot be reiterated here.
On the other hand, if the motor controller 130 does not receive the test instruction in step S210. The auto-correction method proceeds to step S260 to drive the motor MTR through the motor controller 130.
In summary, the automatic correction method and the motor driving apparatus of the present invention operate the hall sensor and the motor controller to be electrically coupled by the correct pin connection. Therefore, the invention can automatically correct the pin connection between the Hall sensor and the motor controller. In addition, the invention obtains the external interruption times corresponding to various pin connection modes based on the driving time length. Therefore, the invention can prevent the motor from being damaged due to long-time unsmooth running.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An automatic correction method for pin connection, which is suitable for correcting the pin connection between a Hall sensor and a motor controller for driving a motor, and is characterized in that the automatic correction method comprises the following steps:
obtaining a pin connection combination table of the Hall sensor and the motor controller, wherein the pin connection combination table has a plurality of pin connection modes between the Hall sensor and the motor controller;
sensing the motor driven by the motor controller through the Hall sensor so as to generate a plurality of sensing results corresponding to the pin connection modes, and counting the variation times of the sensing results through the motor controller so as to obtain a plurality of external interruption times corresponding to the pin connection modes;
acquiring a correct pin connection mode in the plurality of pin connection modes according to the external interrupt times; and
and operating the Hall sensor and the motor controller to be electrically coupled in the correct pin connection mode.
2. The automatic correction method according to claim 1, wherein the pin connection combination table further has a switching order associated with a plurality of pin connection modes between the hall sensor and the motor controller.
3. The auto-correction method according to claim 2, wherein the step of sensing the motor driven by the motor controller by the hall sensor to generate a plurality of sensing results corresponding to the pin connections and counting the number of variations of the sensing results to obtain a plurality of external interruption times corresponding to the pin connections comprises:
electrically coupling the hall sensor with the motor controller in a first pin connection manner of the plurality of pin connection manners;
sensing the driven motor based on the driving time length to generate a first sensing result corresponding to the first pin connection mode; and
counting the variation times of the first sensing result to obtain a first external interrupt time corresponding to the first pin connection mode.
4. The auto-correction method according to claim 3, wherein the step of sensing the motor driven by the motor controller by the Hall sensor to generate a plurality of sensing results corresponding to the pin connections and counting the number of variations of the sensing results to obtain a plurality of external interruption times corresponding to the pin connections further comprises:
operating the Hall sensor and the motor controller to be electrically coupled in a second pin connection mode of the plurality of pin connection modes based on the switching sequence;
sensing the driven motor based on the driving time length to generate a second sensing result corresponding to the second pin connection mode; and
and counting the variation times of the second sensing result to obtain a second external interrupt time corresponding to the second pin connection mode.
5. The auto-correction method according to claim 1, wherein the step of obtaining the correct pin connection type of the plurality of pin connection types according to the external interrupt times comprises:
and taking the pin connection mode corresponding to the highest external interrupt frequency in the plurality of external interrupt frequencies as the correct pin connection mode.
6. A motor drive adapted to operate a motor, the motor drive comprising:
a Hall sensor configured to sense the driven motor to generate a plurality of sensing results corresponding to a plurality of pin connections; and
a path switcher, coupled to the hall sensor, operated to provide one of the plurality of pin connection modes;
a motor controller coupled to the path switcher and configured to:
obtaining a pin connection combination table of the Hall sensor and the motor controller, wherein the pin connection combination table has a plurality of pin connection modes between the Hall sensor and the motor controller,
receiving the sensing results, counting the variation times of the sensing results to obtain a plurality of external interrupt times corresponding to the pin connection modes,
obtaining the correct pin connection mode of the pin connection modes according to the external interrupt times, and
and operating the path switcher to electrically couple the Hall sensor and the motor controller in the correct pin connection mode.
7. The motor drive of claim 6, wherein the pin connection combination table further has a switching order associated with a plurality of pin connection modes between the hall sensor and the motor controller.
8. The motor drive device according to claim 7, characterized in that:
the hall sensor is further configured to sense the driven motor based on a driving time length, generating a first sensing result corresponding to a first pin connection manner of the plurality of pin connection manners, when the hall sensor is electrically coupled with the motor controller in the first pin connection manner; and
the motor controller is also configured to count the number of changes of the first sensing result to obtain a first external interrupt number corresponding to the first pin connection mode.
9. The motor drive device according to claim 8, wherein:
the motor controller is further configured to operate the path switcher based on the switching sequence to electrically couple the hall sensor with the motor controller in a second pin connection of the plurality of pin connections;
the Hall sensor is also configured to sense the driven motor based on the driving time length, and generate a second sensing result corresponding to the second pin connection mode; and
the motor controller is also configured to count the number of times of variation of a second sensing result to obtain a second external interruption number corresponding to the second pin connection manner.
10. The motor driving device according to claim 6, wherein the motor controller is further configured to use the pin connection corresponding to the highest external interrupt count of the plurality of external interrupt counts as the correct pin connection.
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