Data Sheet

Runtime Commands

Advanced Digital Motor Controller User Manual 229

Number of Arguments: 2

Argument 1: Channel

Min: 1 Max: Total Number of Motors

Argument 2: Value Type: Signed 32-bit

Min: -1000 Max: 1000

Where:

cc = Motor channel

nn = Command value

Example:

!G 1 500 : In Open Loop Speed mode, applies 50% power to motor channel 1

!G 1 500 : In Closed Loop Speed mode, assuming that 3000 is contained in Max RPM pa-

rameter (MXRPM), motor will go to 1500 RPM

!G 1 500 : In Closed Loop Relative or Closed Loop Tracking modes, the motor will move to

75% position of the total -1000 to +1000 motion range

!G 1 500 : In Torque mode, assuming that Amps Limit is 60A, motor power will rise until

30A are measured.

H - Load Home counter

Alias: HOME HexCode: 0D CANOpen id: 0x200B

Description:

This command loads the Home count value into the Encoder or Brushless Counters. The

Home count can be any user value and is set using the EHOME and BHOME conﬁgura-

tion parameters. Beware that loading the counter with the home value while the controller

is operating in closed loop can have adverse effects.

Syntax Serial: !H [cc]

Syntax Scripting: setcommand(_H, cc)

setcommand(_HOME, cc)

Number of Arguments: 1

Argument 1: Channel Type: Unsigned 8-bit

Min: 1 Max: Total Number of Encoders

Where:

cc = Motor channel

Example:

!H 1: Loads encoder counter 1 and brushless counter 1 with their preset home values