User Manual

Commands Reference
362 Advanced Digital Motor Controller User Manual V2.1, December 3, 2020
SMOD - SSI Sensor Usage
HexCode: D6
Description:
This parameter defines what use the SSI Sensor is for. The encoder can be used to set
command or to provide feedback (speed or position feedback). The use of SSI Sensor
as feedback devices is the most common. If absolute Feedback option is set then the
feedback will back the absolute value of the SSI Sensor, which is useful for Closed Loop
Position Modes. Embedded in the parameter is the motor to which the SSI Sensor is as-
sociated.
Syntax Serial: ^SMOD cc (aa + mm)
^SMOD [cc]
Syntax Scripting: setconfig(_SMOD, cc, aa)
Number of Arguments: 2
Argument 1: Channel
Min: 1 Max: Total Number of SSI Sensors
Argument 2: Use
Type: Unsigned 8-bit
Min: 0 Max: 255
Default: 0 = Unused
Where:
cc = SSI Sensor channel
aa =
0: Unused
1: Command
2: Feedback
3: Absolute Feedback
mm = mot1*16 + mot2*32 + mot3*48
Example:
^SMOD 1 19 = Encoder used as absolute feedback for channel 1
TNM - Motor Torque Constant
HexCode: DF
Description:
This configuration parameter sets the motor torque constant. It is a value with which we
can convert the peak motor current (A) to torque (NM) and vice versa. This value is in mil-
iNm/Amps and is usually referred in the motor datasheets. The conversion is used by the
TC and TSL commands and TRQ query.
Note: In the motor torque constant, the peak amplitude of motor current is considered,
not the RMS motor current value.
Syntax Serial: ^TNM cc nn