Data Sheet

Runtime Commands

Advanced Digital Motor Controller User Manual 227

decceleration the controller will use and becomes active upon reaching a previous desired

position. If omitted, the command will be chained using the last used decceleration value.

Syntax Serial: !DX cc nn

Syntax Scripting: setcommand(_DX, cc, nn)

setcommand(_NXTDEC, cc, nn)

Number of Arguments: 2

Argument 1: Channel

Min: 1 Max: Total Number of Motors

Argument 2: Value Type: Signed 32-bit

Min: 0 Max: 500000

Where:

cc = Motor channel

nn = Acceleration value

EES - Save Conﬁguration in EEPROM

Alias: EESAV HexCode: 1B CANOpen id: 0x2017

Description:

This command causes any changes to the controller’s conﬁguration to be saved to Flash.

Saved conﬁgurations are then loaded again next time the controller is powered on. This

command is a duplication of the EESAV maintenance command. It is provided as a

Real-Time command as well in order to make it possible to save conﬁguration changes

from within MicroBasic scripts.

Syntax Serial: !EES

Syntax Scripting: setcommand(_EES, 1)

setcommand(_EESAV, 1)

Number of Arguments: 0

Note:

Do not save conﬁguration while motors are running. Saving to EEPROM takes several mil-

liseconds, during which the control loop is suspended.

Number of EEPROM write cycles are limited to around 10000. Saving to EEPROM must

be done scarcely.