User Manual

Brushless Specific Commands
Advanced Digital Motor Controller User Manual 337
HSM - Hall Sensor Map
HexCode: A3
Description:
Configure this parameter to match the ABC hall sensor cable pattern with the UVW mo-
tor windings wire pattern connected to the controller. For each hall sensor cable order
and motor wire order, there are 6 combinations, one of which will make the motor spin
smoothly and efficiently in both directions. Try each of the 6 available values of HSM (0-
5) and retain the one that will make the motor spin in both directions while drawing the
same low current. Applicable only in Hall Trapezoidal mode.
Syntax Serial: ^HSM cc nn
~ HSM [cc]
Syntax Scripting: setconfig(_HSM, cc, nn)
Number of Arguments: 2
Argument 1: Channel
Min: 1 Max: Total Number of Motors
Argument 2: Hall Sensor Map
Type: Unsigned 8-bit
Min: 0 Max: 5
Default: 0
Where:
cc = Motor channel
nn = Motor’s Hall Sensor Map
Example:
^HSM 1 1: Set Hall Sensor Map for motor 1 to value 1.
KIF - FOC PID Integral Gain
HexCode: 8E
Description:
On brushless motor controller operating in sinusoidal mode, this parameter sets the In-
tegral gain in the PI that is used for Field Oriented Control. Two gains can be set for each
motor channel, in order to control the Flux and Torque current. When operating in trapezoi-
dal mode the gains for the Torque current are used for closed loop torque mode.
Syntax Serial: ^KIF cc nn
~KIF [cc]