Data Sheet

Commands Reference
240 Advanced Digital Motor Controller User Manual V1.8, August 28, 2017
Where:
cc = Analog Input number
nn = Converted analog input value +/-1000 range
ANG - Read Rotor Angle
Alias: ANG HexCode: 42 CANOpen id: 0x2132
Description:
On brushless controller operating in sinusoidal mode, this query returns the real time val-
ue of the rotor’s angle sensor of brushless motor. This query is useful for verifying trouble-
shooting sin/cos and SPI/SSI sensors. Angle are reported in 0-511 degrees.
Syntax Serial: ?ANG [cc]
Argument: Channel
Min: 1 Max: Total Number of Motors
Syntax Scripting: result = getvalue(_ANG, cc)
Reply:
ANG=nn Type: Unsigned 16-bit Min: 0 Max: 511
Where:
cc = Motor channel
nn = Rotor electrical angle
ASI - Read Raw Sin/Cos sensor
Alias: ASI HexCode: 33 CANOpen id:
Description:
Returns real time values of ADC connected to sin/cos sensors of each motor . This query
is useful for verifying troubleshooting sin/cos sensors.
Syntax Serial: ?ASI [cc]
Argument: Channel
Min: 1 Max: 2 * Number of Motors
Syntax Scripting: result = getvalue(_ASI, cc)
Reply:
ASI=nn Type: Unsigned 16-bit Min: 0 Max: 4095