Data Sheet

Runtime Queries
Advanced Digital Motor Controller User Manual 237
TABLE 19-2. Runtime Queries
Command Argument Description
BS Channel Read BL Motor Speed in RPM
BSR Channel Read BL Motor Speed as 1/1000 of Max RPM
C Channel Read Encoder Counter Absolute
CAN Element Read Raw CAN frame
CB Channel Read Absolute Brushless Counter
CF None Read Raw CAN Received Frames Count
CIA Channel Read Converted Analog Command
CIP Channel Read Internal Pulse Command
CIS Channel Read Internal Serial Command
CL Group Read RoboCAN Alive Nodes Map
CR Channel Read Encoder Count Relative
D None Read Digital Inputs
DI InputNbr Read Individual Digital Inputs
DO None Read Digital Output Status
DR Channel Read Destination Reached
E Channel Read Closed Loop Error
F Channel Read Feedback
FC Channel Read FOC Angle Adjust
FF None Read Fault Flags
FID None Read Firmware ID
FM Channel Read Runtime Status Flag
FS None Read Status Flags
HS Channel Read Hall Sensor States
ICL NodeId Is RoboCAN Node Alive
K Channel Read Spektrum Receiver
LK None Read Lock status
M Channel Read Motor Command Applied
MA AmpsChannel Read Field Oriented Control Motor Amps
MGD [SensorNumber] Read Magsensor Track Detect
MGM [SensorNumber] Read Magsensor Markers
MGS [SensorNumber] Read Magsensor Status
MGT [Channel] Read Magsensor Track Position
MGY [Channel] Read Magsensor Gyroscope
P Channel Read Motor Power Output Applied
PI InputNbr Read Pulse Inputs
PIC InputNbr Read Pulse Input after Conversion
S Channel Read Encoder Motor Speed in RPM