User Manual

Brushless Specific Commands
Advanced Digital Motor Controller User Manual 381
tate. It is representation of maximum flux linkage of the rotor. This number is filled after
the automatic motor tuning.
Syntax Serial: ^SVT cc nn
~SVT [cc]
Syntax Scripting: setconfig(_SVT, cc, nn)
Number of Arguments:
Argument 1: Channel
Min: 1 Max: Total Number of Motors
Argument 2: Integrator Limit
Type: Unsigned 32-bit
Min: 0 Default: 1000
Where:
cc = Motor channel
nn = Flux Linkage (miliWebber)
Example:
^SVT 1 1500 : Set the BEMF Integrator Limit motor 1 at 1,500 miliWebber.
SWD - Swap Windings
HexCode: A4
Description:
The concept of swap windings (can also be termed as sensor polarity) is a relative rela-
tionship between sensor direction and stator magnetic field rotational direction. During
calibration if angle, reported by the sensor, is changing in same direction as angle com-
manded to the stator then Swap Windings should be “None”, else “Swapped”.
In case of Hall + Encoder, two different Swap Windings are needed, one for hall and one
for encoder. So, instead we use 2 bits of same variable Bit 1 for Hall and Bit 0 for Encoder.
The following table shows the truth table for swap windings
TABLE 15-34. SWD values
SWD
Value BIT 1 BIT 0
Swap for Hall
(Bit 1)
Swap for
Encoder (Bit 0) Meaning
0 0 0 NO NO None
1 0 1 NO YES Swapped
2 1 0 YES NO Hall only Swapped
3 1 1 YES YES Hall+Encoder Swapped