User Manual

MCP Series
Brushed DC Motor Controllers
MCP Series User Manual
111
VERSION
The version variable holds the rmware version loaded on the board. This allows a MCL script to
determine if the rmware version supports the functions being used by the script. The high byte
of the word value stores the major version number and the low byte of the word value stores the
minor verison number.
main
puts 0,[“Version “,hex2 VERSION.byte1\2,”.”, hex2 VERSION.byte0\2,13]
pause 100
goto main
SYSSTATUS
Variable holds the current controller warning and error states. It can be used in an MCL script to
determine if an error has occured.
Status Bits
Motor1 Overcurrent Protection 0x0001
Motor2 Overcurrent Protection 0x0002
ESTOP Triggered 0x0004
Temperature Error 0x0008
Temperature2 Error 0x0010
Main Battery High Error 0x0020
Main Battery Low Error 0x0040
Logic Battery High Error 0x0080
Logic Battery Low Error 0x0100
Main Battery High Warning 0x0800
Temperature Warning 0x4000
main
puts 0,[hex4 SYSSTATUS\4,13]
pause 100
goto main
SYSCLK
variable holds the current clock counter value. The clock counter starts counting from 0 on
power up in single clock increments((160mhz).
SYSUSTICK
variable holds the current tick counter value. The tick counter starts counting from 0 on power
up in 1us increments.
SYSTICK
variable holds the current tick counter value. The tick counter starts counting from 0 on power
up in 1ms increments.
SYSTEMP
variable holds the board temperature in 10ths of a degree Celcius increments.
main
puts 0,[real TOFLOAT SYSTEMP/10.0\2,13]
pause 100
goto main