Data Sheet

Sinusoidal Commutation
Advanced Digital Motor Controller User Manual 105
The amount of current (ie torque) that the controller will apply to the motor for the search is
set in the Reference Seek Power menu of the configuration utility, or the serial command:
^BZPW ch Amps*10
After each !BND command, if the process was successful, the response will be:
BND +
BADJ = nn *Will only return BADJ when using SPI, SSI, SinCos or resolver
The number in BADJ represents the angle adjustment that has been detected and that
must be saved in Flash for future operation
If the process was not successful, the response will be:
BND –
Followed or not by
BADJ=nn
If no BADJ value is displayed, this means that the sensor inputs are very noisy and no val-
ue could be captured.
If a BADJ value is displayed, it should not be accepted as entirely correct. You should try
the !BND command again and/or adjust play manually with the BADJ value in order to
have the optimal performance.
When the !BND fails and BND- is replied, the Bind Error LED will appear in red in the Run
screen of the PC utility. The motor will then not be energized if a command is sent.
The BND fault flag is cleared when setting the BADJ manually or reading the BADJ value
with the following commands, respectively:
^BADJ mm nn
~BADJ
Verify then that in open loop, the motor spins at the same speed in the forward or reverse
direction when the same command is given with different signs. If the motor rotates at
different speeds and/or draws a significantly different amount of current in each direction,
the zero degree reference was not captured correctly.
Multi-poles Motor Considerations
On multi-poles motor there will be several locations around the full mechanical revolution
where the rotor will settle during the reference search. Figure 8-10 below shows an exam-
ple of a 2 poles pairs motor.