User Manual

Motor Configurations
Advanced Digital Motor Controller User Manual 297
Argument 1: InputNbr
Min: 1 Max: Total Number of Pulse Inputs
Argument 2: Polarity
Type: Unsigned 8-bit
Min: 0 Max: 1
Default: 0 = Non inverted
Where:
cc = Pulse input number
nn =
0: Not inverted
1: Inverted
Motor Configurations
This section covers the various configuration parameter applying to motor operations.
TABLE 15-22. Motor Configurations
Command Arguments Description
ALIM Channel Limit Amp Limit
ATGA Channel Action Amps Trigger Action
ATGD Channel Delay Amps Trigger Delay
ATRIG Channel Level Amps Trigger Level
BKD Delay Brake activation delay in ms
BLFB Channel Sensor Encoder or Hall Sensor Feedback for closed loop
BLSTD Channel Mode Stall Detection
CLERD Channel Mode Close Loop Error Detection
EDEC Channel Decelearion Fault Motor Deceleration Rate
EHL Channel Value Encoder High Count Limit
EHLA Channel Action Encoder High Limit Action
EHOME Channel Value Encoder Counter Load at Home Position
ELL Channel Value Encoder Low Count Limit
ELLA Channel Action Encoder Low Limit Action
EMOD Channel Use Encoder Usage
EPPR Channel Value Encoder PPR Value
ICAP Channel Cap PID Integral Cap
KD Channel Gain PID Differential Gain
KI Channel Gain PID Integral Gain
KP Channel Gain PID Proportional Gain
MAC Channel Acceleration Motor Acceleration Rate
MDEC Channel Deceleration Motor Deceleration Rate
MLX InputNbr Value Molex Input
MMOD Channel Mode Operating Mode