3. Issue either the BZ or BX command. Either the BX or BZ command must be executed on every reset or power-
up of the controller.
• BZ Command:
Issue the BZ command to lock the motor into a phase. Note that this will cause up to ½ a magnetic cycle of
motion. Be sure to use a high enough value with BZ to ensure the motor is locked into phase properly.
• BX Command:
Issue the BX command. The BX command utilizes a minimal movement algorithm in order to determine the
correct commutation of the motor.
Setting Peak and Continuous Current (TL and TK)
The peak and continuous torque limits can be set through TK and TL respectively. The TK and TL values are entered
in volts on an axis by axis basis. The peak limit will set the maximum voltage that will be output from the controller
to the amplifier. The continuous current will set what the maximum average current is over a one second interval.
Figure A5.3 is indicative of the operation of the continuous and peak operation. In this figure, the continuous limit
was configured for 2 volts, and the peak limit was configured for 10 volts.
The TL command is limited to 5V for the AMP-43640. This limits to continuous current output of the amplifier to
1A. The TK command can be set to 9.998V, which provides a peak current output of 2A.
To set TL and TK for a particular motor, find the continuous current and peak current ratings for that motor and
divide that number by the amplifier gain. For example, a particular motor has a continuous current rating of 0.5A
and peak current rating of 1.5A. The gain of the AMP-43640 is 0.2A/V
TL setting = (0.5A) / (0.2A/V) = 2.5V (TL n=2.5)
TK setting = (1.5A) / (0.2A/V) = 7.5V (TK n=7.5)
A5 – AMP-43640 (-D3640) ▫ 239 DMC-40x0 User Manual
Figure A5.3: Peak Current Operation
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