Data Sheet

Advanced Digital Motor Controllers User Manual 13
D0 - Reset Individual Digital Out bits ..................................................... 224
D1 - Set Individual Digital Out bits ......................................................... 224
DC - Set Deceleration ............................................................................ 225
DS - Set all Digital Out bits .................................................................... 226
DX - Next Decceleration ......................................................................... 226
EES - Save Configuration in EEPROM ................................................... 227
EX - Emergency Stop ............................................................................. 228
G - Go to Speed or to Relative Position .................................................. 228
H - Load Home counter.......................................................................... 229
MG - Emergency Stop Release .............................................................. 230
MS - Stop in all modes ........................................................................... 230
P - Go to Absolute Desired Position ....................................................... 230
PR - Go to Relative Desired Position ...................................................... 231
PRX - Next Go to Relative Desired Position ........................................... 232
PX - Next Go to Absolute Desired Position ............................................ 232
R - MicroBasic Run ................................................................................ 233
RC - Set Pulse Out ................................................................................. 234
S - Set Motor Speed .............................................................................. 234
SX - Next Velocity ................................................................................... 235
VAR - Set User Variable .......................................................................... 235
Runtime Queries .................................................................................... 236
A - Read Motor Amps ............................................................................ 238
AI - Read Analog Inputs ......................................................................... 239
AIC - Read Analog Input after Conversion .............................................. 239
ANG - Read Rotor Angle ........................................................................ 240
ASI - Read Raw Sin/Cos sensor ............................................................. 240
B - Read User Boolean Variable .............................................................. 241
BA - Read Battery Amps ........................................................................ 241
BCR - Read Brushless Count Relative .................................................... 242
BS - Read BL Motor Speed in RPM ....................................................... 242
BSR - Read BL Motor Speed as 1/1000 of Max RPM ............................ 243
C - Read Encoder Counter Absolute ...................................................... 243
CAN - Read Raw CAN frame ................................................................. 244
CB - Read Absolute Brushless Counter ................................................. 245
CF - Read Raw CAN Received Frames Count ........................................ 245
CIA - Read Converted Analog Command ............................................... 246
CIP - Read Internal Pulse Command ...................................................... 246
CIS - Read Internal Serial Command ...................................................... 247
CL - Read RoboCAN Alive Nodes Map .................................................. 247
CR - Read Encoder Count Relative ........................................................ 248
D - Read Digital Inputs ........................................................................... 249
DI - Read Individual Digital Inputs .......................................................... 249
DO - Read Digital Output Status ............................................................ 250
DR - Read Destination Reached ............................................................. 250
E - Read Closed Loop Error .................................................................... 251
F - Read Feedback .................................................................................. 251