Data Sheet

Commands Reference
254 Advanced Digital Motor Controller User Manual V1.8, August 28, 2017
Reply:
FID=ss Type: String
Where:
ss = Firmware ID string
Example:
Q: ?FID
R: FID=Roboteq v1.6 RCB500 05/01/2016
FM - Read Runtime Status Flag
Alias: MOTFLAG HexCode: 30 CANOpen id: 0x2122
Description:
Report the runtime status of each motor. The response to that query is a single number
which must be converted into binary in order to evaluate each of the individual status bits
that compose it.
Syntax Serial: ?FM [cc]
Argument: Channel
Min: 1 Max: Total Number of Motors
Syntax Scripting: result = getvalue(_FM, cc)
result = getvalue(_MOTFLAG, cc)
Reply:
FM = f1 + f2*2 + f3*4 + ... + fn*2n-1
Type: Unsigned 16-bit Min: 0 Max: 255
Where:
cc = Motor channel
f1 = Amps Limit currently active
f2 = Motor stalled
f3 = Loop Error detected
f4 = Safety Stop active
f5 = Forward Limit triggered
f6 = Reverse Limit triggered
f7 = Amps Trigger activated
Example:
Q: ?FM 1
R: FM=6 : Motor 1 is stalled and loop error detected
Note:
f2, f3 and f4 are cleared when the motor command is returned to 0. When f5or f6 are on,
the motor can only be commanded to go in the reverse direction.