Servo Motor Operation
3-Phase Brushless Motor Operation
For 3-phase brushless motor operation, MT must be set to 1 for the axis. The 6 commands used for setup are the
BA, BM, BX, BZ, BC and BI. Please see the Command Reference for details. Below is the setup procedure for
configuring an axis to operate a 3-phase brushless motor.
1. Issue the BA command to specify on which axis to configure sinusoidal commutation.
2. The brushless modulus is the number of encoder counts per magnetic cycle and is set with the BM command.
For example, in a rotary motor that has 2 pole pairs and 10,000 counts per revolution, the number of encoder
counts per magnetic cycle would be 10,000/2. BM should be assigned to a value of 5,000.
3. Issue either the BI and BC, BZ, or BX command to initialize the motor for sinusoidal commutation. The
command must be executed on every reset or power-up of the controller.
• BI/BC Commands:
If the motor includes hall sensors, Galil recommends using the BI and BC commands. The BI command
uses the hall sensors to set the approximate location of the motor in the magnetic cycle. The BC
command will precisely set the commutation angle upon detecting a hall state transition.
• BZ Command:
If the motor does not include hall sensors, Galil recommends using the BZ command. The BZ command
forces the motor to a known location in the magnetic cycle. Note that this can cause up to ½ a magnetic
cycle of motion.
• BX Command:
If the motor does not have hall sensors and the BZ command generates too much motion for the
application, Galil recommends using the BX command. This command utilizes a minimal movement
algorithm in order to determine the correct commutation of the motor.
Brushed Motor Operation
For brushed motor operation, set MT and BR to 1 for the axis.
A4 – AMP-43540 (-D3540, -D3520) ▫ 204 DMC-41x3 User Manual
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