Data Sheet

Commands Reference
238 Advanced Digital Motor Controller User Manual V1.8, August 28, 2017
TABLE 19-2. Runtime Queries
Command Argument Description
SCC None Read Script Checksum
SR Channel Read Encoder Speed Relative
T SensorNbr Read Temperature
TM [Element] Read Time
TR [Channel] Read Position Relative Tracking
TRN None Read Control Unit type and Controller Model
UID Element Read MCU Id
V SensorNumber Read Volts
VAR VarNumber Read User Integer Variable
A - Read Motor Amps
Alias: MOTAMPS HexCode: 00 CANOpen id: 0x2100
Description:
Measures and reports the motor Amps for all operating channels. Note that the current
flowing through the motors is often higher than this flowing through the battery.
Syntax Serial: ?A [cc]
Argument: Channel
Min: 1 Max: Total Number of Motors
Syntax Scripting: result = getvalue(_A, cc)
result = getvalue(_MOTAMPS, cc)
Reply:
A = aa Type: Signed 16-bit Min: 0
Where:
cc = Motor channel
aa = Amps *10 for each channel
Example:
Q: ?A
R: A=100:200
Q: ?A 2
R: A=200
Note:
Single channel controllers will report a single value. Some power board units measure the
Motor Amps and calculate the Battery Amps, while other models measure the Battery