Data Sheet

Runtime Queries
Advanced Digital Motor Controller User Manual 243
Syntax Serial: ?BS [cc]
Argument: Channel
Min: 1 Max: Total Number of Motors
Syntax Scripting: result = getvalue(_BS, cc)
result = getvalue(_BLSPEED, cc)
Reply:
BS=nn Type: Signed 16-bit Min: -32768 Max: 32767
Where:
cc = Motor channel
nn = Speed in RPM
BSR - Read BL Motor Speed as 1/1000 of Max RPM
Alias: BLRSPEED HexCode: 0B CANOpen id: 0x210B
Description:
On brushless motor controllers, returns the measured motor speed as a ratio of the Max
RPM configuration parameter. The result is a value of between 0 and +/-1000. Note that
if the motor spins faster than the Max RPM, the return value will exceed 1000. However,
a larger value is ignored by the controller for its internal operation. To report an accurate
result, the correct number of motor poles must be loaded in the BLPOL configuration pa-
rameter.
Syntax Serial: ?BSR
Argument: Channel
Min: 1 Max: Total Number of Motors
Syntax Scripting: result = getvalue(_BSR, )
result = getvalue(_BLRSPEED, )
Reply:
BSR=nn Type: Signed 16-bit Min: -1000 Max: 1000
Where:
nn = Speed relative to max
Example:
Q: ?BSR
R: BSR=500: speed is 50%of the RPM value stored in the Max RPM configuration
C - Read Encoder Counter Absolute
Alias: ABCNTR HexCode: 04 CANOpen id: 0x2104
Description:
Returns the encoder value as an absolute number. The counter is 32-bit with a range of
+/- 2147483648 counts.