Schematic

Runtime Commands
Advanced Digital Motor Controller User Manual 221
BND - Mutli-purpose Bind
Alias: BIND HexCode: 1C CANOpen id:
Description:
This command is used to perform a, usually, one-time setup in several situations. When
the controller is configured in sinusoidal mode for brushless motor and encoder feedback,
!BND will energize the motor to a reference position and set the encoder counter to the
zero degree reference angle that will remain active until power down. When used with
Sin/Cos or SPI/SSI angle sensors the same reference search is performed but the cap-
tured zero-reference can then be stored into flash permanently. When used on controllers
with Spektrum RC radio interface the BND command is used to pair the receiver with its
transmitter.
Syntax Serial: !BND [cc]
Syntax Scripting: setcommand(_BND, cc)
setcommand(_BIND, cc)
Number of Arguments: 1
Argument 1: [Channel] Type: Unsigned 8-bit
Min: None Max: Total Number of Motors
Where:
cc = Motor channel
Example:
!BND 1 : Searches zero angle reference for motor 1 when in sinusoidal mode
!BND : Binds Spektrum receiver with its transmitter, on supporting controller models
C - Set Encoder Counters
Alias: SENCNTR HexCode: 04 CANOpen id: 0x2003
Description:
This command loads the encoder counter for the selected motor channel with the value
contained in the command argument. Beware that changing the controller value while op-
erating in closed-loop mode can have adverse effects.
Syntax Serial: !C [cc] nn
Syntax Scripting: setcommand(_C, cc, nn)
setcommand(_SENCNTR, cc, nn)
Number of Arguments: 2