Quick start
One Tercio S1, one Tercio FD and a motor. About fifteen minutes from unpacking to a motor that holds its position and moves where you tell it.
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Check the magnet. Look at the rear shaft of the motor: it needs a small diametric magnet, centred on the shaft. S1-ready motors have one fitted. No magnet? See Mounting.
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Mount the S1 on the motor, encoder side down. The encoder chip is at the centre of the four mounting holes; keep the magnet 0.5–3 mm below it. Mounting has the details.
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Connect the motor to the 4-pin Motor terminal (J8). One coil goes to A1 and A2, the other to B1 and B2. If you don’t know the pairs, find them with a multimeter: the two wires of one coil read a few ohms between them. Wiring the motor
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Connect the bus. Run the CAN cable from the Tercio FD’s JST connector to the S1’s CAN terminal (J4): CAN-H to CAN-H, CAN-L to CAN-L, GND to GND. Leave pin 1 empty.
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Fit the termination jumper on the S1’s two-pin 120 Ω header (J9). With one driver, it is the end of the bus. The adapter terminates the other end by itself.
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Connect power: 12–28 V to the Power terminal (J1). Pin 1 is GND, pin 2 is VIN: check the polarity twice, then switch on. The red power LED lights.
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Plug the Tercio FD into your computer and open Tercio Control in Chrome or Edge. Select Connect Tercio FD and choose tercioFD in the browser’s list. The green LED on the adapter is on; the red one flickers with bus traffic.
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Find the motor. It appears in the side bar as node 1. Open it, then on Settings → Motor & driver set:
- Run current: about 70 % of your motor’s rated current, 1770 mA at most.
- Full steps per revolution: 200 for a 1.8° motor, 400 for a 0.9° motor.
Then select Apply.
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Calibrate. On the Control tab, under Setup, select Calibrate. The shaft turns a quarter turn one way and back, then the motor holds in closed loop. The result is saved automatically.
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Move it. Enter a target and select Move, or click the jog area and use ← and →. Esc stops every motor. When you are happy with the settings, select Save to motor on the Settings tab so they survive a power cycle.
Prefer code?
Section titled “Prefer code?”With the adapter plugged in and the motor calibrated, the same moves from Python:
# pip install pyserial, then put TercioBridge.py next to your script.from TercioBridge import Bus, Stepper, Unit
with Bus("COM5") as bus: # your adapter's port: COM5, /dev/ttyACM0, /dev/cu.usbmodem… motor = Stepper(bus, 1, unit=Unit.DEGREES) motor.enable() motor.move_to(90, wait=True) # blocks until it settled motor.move_by(-45, velocity=180) # at most 180 °/s print(motor.position, motor.telemetry.state.name)Close Tercio Control first: only one program can hold the adapter’s port. More in Python library.