User Manual

Commands Reference
368 Advanced Digital Motor Controller User Manual V2.1, December 3, 2020
BHLA - Brushless Internal Sensor Action at Max
HexCode: 40
Description:
This parameter lets you select what kind of action should be taken when the max limit
is reached on the Internal Sensor counter. The list of action is the same as in the DINA
digital input action list. Embedded in the parameter is the motor channel(s) to which the
action should apply.
Syntax Serial: ^BHLA cc nn
~BHLA [cc]
Syntax Scripting: setconfig(_BHLA, cc, nn)
Number of Arguments: 2
Argument 1: Channel
Min: 1 Max: Total Number of Motor
Argument 2: Action
Type: Unsigned 8-bit
Min: 0 Max: 255
Default: 0 = No action
Where:
cc = Motor channel
aa =
0 : No action
1: Safety stop
2: Emergency stop
3: Motor stop
4: Forward limit switch
5: Reverse limit switch
6: Invert direction
7: Run MicroBasic script
8: Load counter with home value
mm = mot1*16 + mot2*32 + mot3*48
Example:
^BHLA 1 36 : Forward limit switch for motor 2 (4 + 32)
BHOME - Brushless Internal Sensor Home Count
HexCode: 3C
Description:
This parameter contains a value that will be loaded in the internal sensor counter when a
home switch is detected, or when a Home command is received from the serial/ USB, or
issued from a MicroBasic script.