User Manual

Brushless Specific Commands
Advanced Digital Motor Controller User Manual 375
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 - Current PID Integral Gain
HexCode: 8E
Description:
Sets the Current PID’s Integral Gain. The value is set as the gain multiplied by 10^6. On
brushless motor controller operating in sinusoidal mode or ACIM motor controllers, two
gains can be set for each motor channel, in order to control the Flux and Torque current.
On DC brushed controllers or in brushless motor controllers when operating in trapezoidal
mode the gains for the Torque current are used only.
Syntax Serial: ^KIF cc nn
~KIF [cc]
Syntax Scripting: setconfig(_KIF, cc)
Number of Arguments:
Argument 1: AmpsChannel
Min: 1 Max: 2 * Total Number of Motors
Argument 2: Gain Type: Unsigned 32-bit
Min: 0 Max: 2,000,000,000 Default: 0
Where:
cc (single channel) =
1: Flux Integral Gain
2: Torque Integral Gain
cc (dual channel) =
1: Flux Integral Gain for motor 1