Data Sheet

Runtime Queries
Advanced Digital Motor Controller User Manual 263
Description:
Reports the actual PWM level that is being applied to the motor at the power output
stage. This value takes into account all the internal corrections and any limiting resulting
from temperature or over current. A value of 1000 equals 100% PWM. The equivalent
voltage at the motor wire is the battery voltage * PWM level.
Syntax Serial: ?P [cc]
Argument: Channel
Min: 1 Max: Total Number of Motors
Syntax Scripting: result = getvalue(_P, cc)
result = getvalue(_MOTPWR, cc)
Reply:
P=nn Type: Signed 16-bit Min: -1000 Max: 1000
Where:
cc = Motor channel
nn = 0 to +/-1000 power level
Example:
Q: ?P 1
R: P=800
PI - Read Pulse Inputs
Alias: PLSIN HexCode: 11 CANOpen id: 0x6402
Description:
Reports the value of each of the enabled pulse input captures. The value is the raw num-
ber in microseconds when configured in Pulse Width mode. In Frequency mode, the
returned value is in Hertz. In Duty Cycle mode, the reported value ranges between 0 and
4095 when the pulse duty cycle is 0% and 100% respectively.
Syntax Serial: ?PI [cc]
Argument: InputNbr
Min: 1 Max: Total Number of Pulse Input