Data Sheet

User Manual Structure and Use

Advanced Digital Motor Controller User Manual 21

SECTION 13 Closed Loop Torque Mode

This section describes how to select, conﬁgure and operate the controller in Closed Loop

Torque mode.

SECTION 14 Serial (RS232/USB) Operation

This section describes how to communicate to the controller via the RS232 or USB inter-

face.

SECTION 15 CAN Networking on Roboteq Controllers

This section describes the RawCAN and MiniCAN operating modes available on CAN-en-

abled Roboteq controllers.

SECTION 16 RoboCAN Networking

This section describes the RoboCAN protocol: a simple and efﬁcient meshed network

scheme for Roboteq devices

SECTION 17 CANopen Interface

This section describes the conﬁguration of the CANopen communication protocol and the

commands accepted by the controller operating in the CANopen mode.

SECTION 18 MicroBasic Scripting

This section describes the MicroBasic scripting language that is built into the controller. It

describes the features and capabilities of the language and how to write custom scripts. A

Language Reference is provided.

SECTION 19 Commands Reference

This section lists and describes in detail all conﬁguration parameters, runtime commands,

operating queries, and maintenance commands available in the controller.

SECTION 20 Using the Roborun Conﬁguration Utility

This section describes the features and capabilities of the Roborun PC utility. The utility

can be used for setting/changing conﬁgurations, operate/monitor the motors and I/O, edit,

simulate and run Microbasic scripts, and perform various maintenance functions such as

ﬁrmware updates.