Commutation is the process by which the current in a short circuited coil is reversed as it crosses the MNA. During commutation, the coil is briefly short-circuited. If current reversal from positive to zero to negative is completed by the end of the short circuit period, commutation is ideal. If not completed, sparking can occur in the brushes, making commutation non-ideal. Commutation is illustrated through figures showing the current in a coil decreasing to zero and then reversing as it transitions from one side of the brush to the other during the short circuit period.