User Manual

Brushless Specific Commands
Advanced Digital Motor Controller User Manual 339
cc (dual channel) =
1: Flux Gain for motor 1
2: Flux Gain for motor 2
3: Torque Gain for motor 1
4: Torque Gain for motor 2
nn = Gain * 1,000,000
Example:
^KPF 4 230000: Set motor channel 2 Torque Proportional Gain to 0.23.
PSA - Phase Shift Angle
HexCode: E1
Description:
When being in sinusoidal mode and Sin/Cos or Resolver feedback sensors are used,
this configuration command defines the Phase Shift Angle between the Sin and Cos sig-
nals. The value is in degrees ranging from 0 to 511. If the sensor is a regular Sin/Cos or
Resolver Sin/Cos sensor, the phase shift angle is 90
o
degrees, so we need to configure
90*512/360 = 128. If not then the sensor manufacturer should inform about the phase
shift angle.
Syntax Serial: ^PSA cc nn
~PSA [cc]
Syntax Scripting: setconfig(_PSA, cc, nn)
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: 128
Where:
cc = Motor channel
nn = Angle
Example:
^PSA 1 171 : Set the phase shift angle to 171*360/512 = 120
o
degrees.
SPOL - Sin/Cos, Resolver or SSI sensor number of poles
HexCode: 41
Description:
Number of poles of the Sin/Cos, Resolver or SSI angle sensor used in sinusoidal mode
with brushless motors