Connecting a Faulhaber 2610T B SC to Arduino

Hello,

I’m currently trying to connect a 2610T B SC brushless motor to an Arduino. I have mostly everything figured out but I’m still not sure if the way the connections are done is correct.

The motor have 6 wires, (http://www.shinkoh-faulhaber.jp/wp-content/uploads/2013/06/EN_7000_050262.pdf) and (https://www.faulhaber.com/fileadmin/Import/Media/EN_2610_B_SC_DFF.pdf), that will be connect as such:

Up: 12v supply
Umot: 12v supply
GND: ground of the supply
Unsoll: output from a L293d H bridge
DIR: arduino digital pin
FG: arduino digital pin

Up and Umot are the voltage input to the motor windings and electronics, DIR is a digital (high/low) input to define the direction and FG is a digital output to calculate the motor speed.

The Unsoll is used to define the motor speed by appling a variable voltage from 0v to 10v, and I would like to know if this can be achieved by connecting Unsoll to the H bridge output that can be driven by a PWM output from the Arduino.

By using this configuration the internal speed control of the motor will be used in such a way that 1v ~ 1000 rpm.

Other way of connecting the motor is:

Up: 12v supply
Umot: output from a L293d H bridge
GND: ground of the supply
Unsoll: 10v supply
DIR: arduino digital pin
FG: arduino digital pin

By using this connection, the speed will not be controled internally by the motor electronics but by a variable voltage input at the Umot pin.

Either of the connections are suitable for me, but I would like to know if it’s possible to use the output of a H bridge to achive the necessary variable voltage, and if one kind of connection would be better than the other in this case of using the H bridge.

In the first link provided it also says that the motor can be controled by a PWM signal if Unsoll is properly configured but I couldnt figure it out how to do it.

Thanks in advance and sorry if this question does not belong in here (first time using the forum).