Data Sheet

Commands Reference
262 Advanced Digital Motor Controller User Manual V1.8, August 28, 2017
1 : Left Track of sensor at pulse input 1
2 : Right Track of sensor at pulse input 1
3 : Active Track of sensor at pulse input 1
4 : Left Track of sensor at pulse input 2
5 : Right Track of sensor at pulse input 2
6 : Active Track of sensor at pulse input 2
...
((p-1)* 3)+1 : Left Track of sensor at pulse input p
((p-1)* 3)+2 : Right Track of sensor at pulse input p
((p-1)* 3)+3 : Active Track of sensor at pulse input p
nn = position in millimeters
MGY - Read Magsensor Gyroscope
Alias: MGYRO HexCode: 2D CANOpen id: 0x2121
Description:
When one or more MGS1600 Magnetic Guide Sensors are connected to the controller,
this query reports the state of the optional gyroscope inside the sensor. If only one sen-
sor is connected to any pulse input, no argument is needed for this query. If more than
one sensor is connected to pulse inputs and these inputs are enabled and configured in
Magsensor MultiPWM mode, then the argument following the query is used to select the
sensor
Syntax Serial: ?MGY [cc]
Argument: Channel]
Min: None Max: Total Number of Pulse Inputs
Syntax Scripting: result = getvalue(_MGY, cc)
result = getvalue(_MGYRO, cc)
Reply:
MGY=nn Type: Signed 16-bit Min: -32768 Max: 32767
Where:
cc = (When only one sensor enabled)
None or 1 : Current sensor
cc = (When several sensors enabled)
1 : sensor at pulse input 1
2 : sensor at pulse input 2
...
p : sensor at pulse input p
nn = Gyroscope value
P - Read Motor Power Output Applied
Alias: MOTPWR HexCode: 02 CANOpen id: 0x2102