Data Sheet

Commands Reference
248 Advanced Digital Motor Controller User Manual V1.8, August 28, 2017
done information. E.g. bits 0-3 of first number is for node 0, bits 8-11 of first number is
for node 2, bits 4-7 of second number is for node 5 and bits 12-15 of fourth number is
for node 11, etc.
Syntax Serial: ?CL nn
Argument: Group
Min: 1 Max: 16
Syntax Scripting: result = getvalue(_CL, nn)
result = getvalue(_CALIVE, nn)
Reply:
CL=mm Type: Unsigned 32-bit Min: 0 Max: 4194M
Where:
nn =
1 : nodes 0-3
2 : nodes 4-7
...
...
15 : nodes 120-123
16 : nodes 124-127
mm = 4 words of 4 bits. Each 4-bit word:
0b0000 : Inactive node
0b0001 : Active motor controller
0b0011 : Active magsensor
0b0101 : Active RIOX
CR - Read Encoder Count Relative
Alias: RELCNTR HexCode: 08 CANOpen id: 0x2108
Description:
Returns the amount of counts that have been measured from the last time this query was
made. Relative counter read is sometimes easier to work with, compared to full counter
reading, as smaller numbers are usually returned.
Syntax Serial: ?CR [cc]
Argument: Channel
Min: 1 Max: Total Number of Encoders
Syntax Scripting: result = getvalue(_CR, cc)
result = getvalue(_RELCNTR, cc)