Data Sheet

Advanced Digital Motor Controllers User Manual 17
BLLA - Brushless Counter Low Limit Action .......................................... 342
BMOD - Brushless operating mode ....................................................... 343
BPOL - Number of Pole Pairs and Speed Polarity of Brushless Motor .. 344
BZPW - Brushless zero seek power level .............................................. 345
HPO - Hall Sensor Position .................................................................... 345
HSM - Hall Sensor Map ......................................................................... 346
KIF - FOC PID Integral Gain ................................................................... 347
KPF - FOC PID Proportional Gain ........................................................... 348
SPOL - Sin/Cos or Resolver number of poles ........................................ 348
SSP - Sensorless Start-Up Power ......................................................... 349
SST - Sensorless Start-Up Time ............................................................. 350
SWD - Swap Windings ........................................................................... 350
TID - FOC Target Id ................................................................................. 351
ZSMC - SinCos Calibration ..................................................................... 352
AC Induction Specific Command ........................................................... 353
VPH - AC Induction Volts per Hertz ........................................................ 353
ILM - Mutual Inductance ........................................................................ 353
ILLR - Rotor Leakage Inductance ........................................................... 354
IRR - Rotor Resistance ........................................................................... 355
MPW - Minimum Power ........................................................................ 356
MXS - Optimal Slip Frequency ............................................................... 357
RFC - Rotor Flux Current ........................................................................ 357
CAN Communication Commands .......................................................... 358
CAS - CANOpen Auto start .................................................................... 358
CBR - CAN Bit Rate ............................................................................... 359
CEN - CAN Enable ................................................................................. 359
CHB - CAN Heartbeat ............................................................................ 360
CLSN - CAN Listening Node .................................................................. 360
CNOD - CAN Node Address .................................................................. 361
CSRT - MiniCAN SendRate .................................................................... 361
CTPS - CANOpen TPDO SendRate ........................................................ 362
SECTION 20 Using the Roborun Configuration Utility ................................................ 363
System Requirements ........................................................................... 363
Downloading and Installing the Utility ................................................... 363
The Roborun+ Interface ......................................................................... 364
Header Content ..................................................................................... 365
Status Bar Content ................................................................................. 365
Program Launch and Controller Discovery ............................................. 366
Configuration Tab ................................................................................... 366
Entering Parameter Values ..................................................................... 367
Automatic Analog and Pulse input Calibration ....................................... 368
Input/Output Labeling ............................................................................ 369
Loading, Saving Controller Parameters .................................................. 370
Locking & Unlocking Configuration Access ............................................ 370
Configuration Parameters Grouping & Organization .............................. 371
Startup Parameters ................................................................................ 371