Galil Motion Control optcom Page 42
Optima DMC-1xxx and DMC-18x2 Command Reference
BA
i
31
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:
"BB"
Brushless Phase Begins
"BC"
Brushless Commutation
"BD"
Brushless Degrees
"BI"
Brushless Inputs
"BM"
Brushless Modulo
"BO"
Brushless Offset
"BS"
Brushless Setup
"BZ"
Brushless Zero
