Data Sheet

Runtime Queries
Advanced Digital Motor Controller User Manual 241
Where:
cc =
1 : Sin input 1
2 : Cos input 1
3 : Sin input 2
4 : Cos input 2
nn = ADC value
B - Read User Boolean Variable
Alias: BOOL HexCode: 16 CANOpen id: 0x6407
Description:
Read the value of boolean internal variables that can be read and written to/from within
a user MicroBasic script. It is used to pass boolean states between user scripts and a
microcomputer connected to the controller. The total number of user boolean variables
varies from one controller model to another and can be found in the product datasheet.
Syntax Serial: ?B [nn]
Argument: VarNbr
Min: 1 Max: Total Number of Bool Variables
Syntax Scripting: result = getvalue(_B, nn)
result = getvalue(_BOOL, nn)
Reply:
B=bb Type: Boolean Min: 0 Max: 1
Where:
nn = Boolean variable number
bb = 0 or 1 state of the variable
BA - Read Battery Amps
Alias: BATAMPS HexCode: 0C CANOpen id: 0x210C
Description:
Measures and reports the Amps flowing from the battery in Amps * 10. Battery Amps are
often lower than motor Amps.
Syntax Serial: ?BA [cc]
Argument: Channel:
Min: 1 Max: Total Number of Motors