Data Sheet

Runtime Commands

Advanced Digital Motor Controller User Manual 225

Syntax Serial: !D1 nn

Syntax Scripting: setcommand(_D1, nn)

setcommand(_DSET, nn)

Number of Arguments: 1

Argument 1: OutputNbr Type: Unsigned 8-bit

Min: 1 Max: Total number of Digital Outs

Where:

nn = Output number

Example:

!D1 1 : will activate output 1

Note:

Digital Outputs are Open Collector. Activating an outputs will force it to ground. Deactivat-

ing an output will cause it to ﬂoat.

DC - Set Deceleration

Alias: DECEL HexCode: 08 CANOpen id: 0x2007

Description:

Set the rate of speed change during decceleration for a motor channel. This command is

identical to the MDEC conﬁguration command but is provided so that it can be changed

rapidly during motor operation. Decceleration value is in 0.1 * RPM per second. When

using controllers ﬁtted with encoder, the speed and decceleration value are actual RPMs.

Brushless motor controllers use the hall sensor for measuring actual speed and deccel-

eration will also be in actual RPM/s. When using the controller without speed sensor, the

decceleration value is relative to the Max RPM conﬁguration parameter, which itself is a

user-provided number for the speed normally expected at full power. Assuming that the

Max RPM parameter is set to 1000, and decceleration value of 10000 means that the mo-

tor will go from full speed to 0 in exactly 1 second, regardless of the actual motor speed.

Syntax Serial: !DC cc nn

Syntax Scripting: setcommand(_DC, cc, nn)

setcommand(_DECEL, cc, nn)

Number of Arguments: 2

Argument 1: Channel

Min: 1 Max: Total Number of Motors

Argument 2: Deceleration Type: Signed 32-bit

Min: 0 Max: 500000