First power-up

Bench bring-up. Shaft clear. Limits set. Then a small duty every loop.

Finish Wiring first. Set current limits before enable. A setpoint older than 100 ms coasts.

Before power

1. Clamp the motor with the shaft free, or mount it so nothing can grab. Mounting
2. Red to +, black to −. This motor on a 40 A breaker.
3. Decide how you will talk to it. One commander at a time:
   • USB-C. Laptop to the USB pocket. SWYFT Link in a browser. Power leads 7–20 V. One commander.
   • CAN. CAN H and L match the bus. 120 Ω at both ends of the trunk, not on the motor. Unique ID 1–62 once you configure it. SWYFT Link on SystemCore sees motors that are actually on the hub.

Apply power

The small red LED next to the DFU hole is on when bus power is present. That is power, not a status code.

• That LED off, both end lights in the window off: no power. Breaker, PDH channel, red-to-+ / black-to-−. Wiring
• Power on, end lights red alternating: the controller is up, nothing is talking to it yet. Plug USB-C or fix CAN.

Configure before the first enable

Open SWYFT Link. Do this before you enable:

1. CAN ID 1–62, unique on that bus. Duplicate IDs go blue together and will not run.
2. Invert: SWYFT Link → Config → Motor Output → Inverted. Viewed from the output-shaft face. Motor orientation
3. Stator and supply current limits for this mechanism — not 160 A stator, not the 253 A stall number.

The vendor library has no invert call. Code

First enable

1. Shaft still clear. Hands off the spline.
2. Enable.
3. Command duty every loop: setDutyCycle / set in teleopPeriodic / execute. A stale setpoint coasts. Do not send it once from initialize.

What good looks like

The two end lights go orange or green, and the shaft turns the way you expect from the output face. Wrong way: invert in SWYFT Link. Status lights

Orange solid with no motion: enabled, output neutral — you are not commanding, or the command is stale. Green is forward. Red on both ends is reverse.

If it does not

NEXT Mounting