Galil Motion Control manc 18x 6 Page 42
DMC-18x6 Command Reference
34
BA
FUNCTION: Brushless Axis
DESCRIPTION:
The BA command configures the controller axes for sinusoidal commutation and reconfigures the
controller to reflect the actual number of motors that can be controlled. Each sinusoidal
commutation axis requires 2 motor command signals. The second motor command signals
will always be associated with the highest axes on the controller. For example a 3 axis
controller with A and C configured for sinusoidal commutation will require 5 command
outputs (5 axes controller), where the second outputs for A and C will be the D and E axes
respectively.
ARGUMENTS: BA xxxxxxxxxx
where
n is A,B,C,D,E,F,G or any combination to specify the axis (axes) for sinusoidal commutation
brushless axes.
No argument removes all axes configured for sinusoidal commutation.
USAGE: DEFAULTS:
While Moving
No
Default Value
0
In a Program
Yes
Default Format
0
Command Line
Yes
Controller Usage
ALL CONTROLLERS
OPERAND USAGE:
_BAn indicates the axis number of the auxiliary DAC used for the second phase of the selected
sinusoidal axis. The axis numbers start with zero for the A axis DAC. If the motor is
configured as standard servo or stepper motor, _BAn contains 0.
RELATED COMMANDS:
Brushless Phase Begins
Brushless Commutation
Brushless Degrees
Brushless Inputs
Brushless Modulo
Brushless Offset
Brushless Setup
Brushless Zero
