User Manual

Brushless Specific Commands
Advanced Digital Motor Controller User Manual 367
Type: Unsigned 8-bit
Min: 0 Max: 4
Default: 0 = Encoder
Where:
cc = Motor channel
nn =
0: Encoder
1: Hall
2: Hall + Encoder
3: SPI/SSI sensor
4: Sin/Cos sensor
5: Resolver
BHL - Brushless Internal Sensor Max Limit
HexCode: 3E
Description:
This parameter allows you to define a minimum Internal Sensor count value at which the
controller will trigger an action when the counter rises above that number. This feature is
useful for setting up virtual or soft limit switches. This value, together with the respective
Min Limit, are also used in the position mode to determine the travel range when com-
manding the controller with a relative position command. In this case, the Max Limit is
the desired position when a command of 1000 is received
Syntax Serial: ^BHL cc nn
~BHL [cc]
Syntax Scripting: setconfig(_BHL, cc, nn)
Number of Arguments: 2
Argument 1: Channel
Min: 1 Max: Total Number of Motors
Argument 2: Value
Type: Signed 32-bit
Min: -2147M Max: +2147M
Default: 20000
Where:
cc = Motor channel
nn = Counter value
Example:
^BHL 10000 : Set brushless Internal Sensor Max Limit to 10000 counts
Note:
Counter is not an absolute position. A homing sequence is necessary to set a reference
position.