DMC-18x6 Command Reference
48
BZ
FUNCTION: Brushless Zero
DESCRIPTION:
The BZ command is used for axes which are configured for sinusoidal commutation. This
command drives the motor to zero magnetic phase and then sets the commutation phase to
zero.
This command may be given when the motor is off.
ARGUMENTS: BZ n,n,n,n,n,n,n or
BZA =n
or
BZ <t where
n is a real number between -9.998 and 9.998. The parameter n will set the voltage to be applied to
the amplifier during the initialization. In order to be accurate, the BZ command voltage must
be large enough to move the motor. If the argument is positive, when the BZ operation is
complete, the motor will be left in the off state, MO. A negative value causes the motor to
end up in the on state, SH.
<t is an integer between 1 and 32767 and represents the settling time of the BZ function. The
controller will wait `t'
sec to update sufficient samples (sampling rate = 1000 sec by
default) to settle the motor at the zero magnetic phase. The t parameter should be specified
prior to issuing the BZ command.
Note: The BZ command causes instantaneous movement of the motor. It is recommended to start
with small voltages and increase as needed
Note: Always use the Off On Error function (OE command) to avoid motor runaway whenever
testing sinusoidal commutation.
USAGE: DEFAULTS:
While Moving
No
Default Value
n = 0, t= 1000
In a Program
Yes
Default Format
0
Command Line
Yes
Controller Usage
ALL CONTROLLERS
OPERAND USAGE:
_BZn contains the distance in encoder counts from the motor's current position and the position of
commutation zero for the specified axis. This can useful to command a motor to move to the
commutation zero position for phase initialization.
EXAMPLES:
BZ, -3
Drive C axis to zero phase with 3 volt signal, and end with motor enabled.
RELATED COMMANDS:
Brushless Axis
Brushless Phase Begins
Brushless Commutation
Brushless Degrees
Brushless Inputs
Brushless Modulo
Brushless Offset
Brushless Setup
