First run

A new S1 starts with safe defaults for a typical NEMA 17. Five settings deserve a look before anything else, then one calibration, then Save.

Before you start

• MountedMagnet centred under the encoder. See Mounting.
• WiredPower, motor, CAN, and the termination jumper on the last node. See Wiring.
• ConnectedTercio FD plugged in, Tercio Control connected, the motor listed as node 1.
• Free shaftIt can turn a quarter turn each way.

In Tercio Control, settings are edited on the motor’s Settings tab: change a value, select Apply to send it, and Save to motor to keep it after a power cycle. Settings marked When stopped or When disabled can only change in that state.

1. Match the motor

Setting	Where	What to set
Full steps per revolution	Motor & driver	200 for a 1.8° motor, 400 for a 0.9° motor.
Run current	Motor & driver	About 70 % of the motor’s rated current per phase, 1770 mA at most. Raise it later if you need torque.
Hold current	Motor & driver	50 % is a good start. Lower runs cooler at standstill, higher holds harder.
Microsteps	Motor & driver	16 is smooth and leaves plenty of speed. See Tuning.
Gear ratio	Motor & driver	1 with the on-board encoder. For an encoder after a gearbox, see Encoders.

Tip

Too little current shows up as stalls under load; too much as heat. The S1 reports the board temperature on the Diagnostics tab, so you can watch it while you run.

2. Calibrate

Calibration teaches the S1 which way the encoder turns relative to the motor, and checks that the magnet, the steps per revolution and the gear ratio agree.

1. On the Control tab, under Setup, select Calibrate. The motor energises.
2. The shaft turns a quarter turn forward, back to where it started, and the S1 checks the encoder at each end. It takes about two seconds.
3. On success the S1 sets zero at the current position, switches to closed loop and holds. The result is saved automatically.

If it fails, the fault Calibration failed is raised and the motor stays open-loop:

Check	Why
Magnet present, diametric, centred	The encoder saw too little movement.
Full steps per revolution	400 on a 200-step motor makes the shaft move half as far as expected.
Gear ratio	Must be the motor turns per encoder turn.
Current	Too low, and the shaft does not follow the steps.
Nothing blocks the shaft	The shaft must come back to within a quarter of the sweep.

Calibrate again after changing the motor, the magnet, the encoder or the gearing.

3. Check the direction

Move by a small positive distance. If the axis goes the wrong way for your machine, turn on Reverse direction (Motor & driver). No recalibration is needed.

4. Set the limits

Setting	Where	Default
Max velocity	Motion	10 turns/s (600 rpm)
Max acceleration	Motion	100 turns/s²
Soft limit, min / max	Motion	Off (both 0)

Every move respects these. Find speed limits (Control → Setup) measures the fastest velocity and acceleration your motor and load can manage and sets them for you; see Auto-tune.

5. Save

Select Save to motor on the Settings tab. Until then, changes live in RAM and are lost at power-off. (Calibration and auto-tune results save themselves.)

More than one driver?

Give this driver its own node ID now, before the next one joins the bus: Node ID under Settings → Communication, then Save to motor. See Node IDs.

At every power-up

With Enable at power-up on (the default), the S1 starts, reads the encoder and holds its position. The position it reports is the angle from the saved zero, between −½ and +½ turn: whole turns made while the power was off are not known. If your axis may have moved, home it.