Data Sheet

Brushless Specific Commands
Advanced Digital Motor Controller User Manual 347
Where:
cc = Motor channel
nn = Motor’s Hall Sensor Map
Example:
^HSM 1 1: Set Hall Sensor Map for motor 1 to value 1.
KIF - FOC PID Integral Gain
HexCode: 8E
Description:
On brushless motor controller operating in sinusoidal mode, this parameter sets the In-
tegral gain in the PI that is used for Field Oriented Control. Two gains can be set for each
motor channel, in order to control the Flux and Torque current.
Syntax Serial: ^KIF cc nn
~KIF [cc]
Syntax Scripting: setconfig(_KIF, cc)
Number of Arguments:
Argument 1: AmpsChannel
Min: 1 Max: 2 * Total Number of Motors
Argument 2: Gain
Type: Unsigned 8-bit
Min: 0 Max: 255
Where:
cc (single channel) =
1: Flux Gain
2: Torque Gain
cc (dual channel) =
1: Flux Gain for motor 1
2: Flux Gain for motor 2
3: Torque Gain for motor 1
4: Torque Gain for motor 2
nn = Gain * 10