Data Sheet

Brushless Specific Commands
Advanced Digital Motor Controller User Manual 337
TABLE 19-8. Brushless Specific Commands
Command Arguments Description
BZPW Channel Amps Brushless zero seek power level
HPO InputNbr Value Hall Type
HSM InputNbr Value Hall Sensor Map
KIF AmpsChannel Gain FOC PID Integral Gain
KPF AmpsChannel Gain FOC PID Proportional Gain
SPOL Channel Poles Sin/Cos or Resolver number of poles
SSP MotorPower Sensorless Start-Up Power
SST Ticks Sensorless Start-Up Time
SWD InputNbr Value Swap Windings
TID Channel Amps FOC Target Id
ZSMC InputNbr Value SinCos Calibration
BADJ - Brushless zero angle
HexCode: 60
Description:
In sinusoidal mode and SIn/Cos and SPI feedback sensors are used, this configuration
command stores results of automatic zero degrees angle search after performing the
!BND command. The angle represents the mechanical offset between the sensor’s zero
position and the rotor’s zero position. The value is in electrical degrees ranging from 0 to
511 for a full electrical turn. The value can then be fine tuned manually. The BADJ values
are stored permanently in the calibration section of the controller’s flash memory so that
they are not lost when updating firmware.
Syntax Serial: ^BADJ cc nn
~BADJ [cc]
Syntax Scripting: setconfig(_BADJ, cc)
Number of Arguments:
Argument 1: Channel
Min: 1 Max: Total Number of Motors
Argument 2: Angle
Type: Signed 16-bit
Min: -511 Max: 511
Default: 0
Where:
cc = Motor channel
nn = Angle