Data Sheet

Commands Reference
258 Advanced Digital Motor Controller User Manual V1.8, August 28, 2017
M - Read Motor Command Applied
Alias: MOTCMD HexCode: 01 CANOpen id: 0x2101
Description:
Reports the command value that is being used by the controller. The number that is
reported will be depending on which mode is selected at the time. The choice of one
command mode vs. another is based on the command priority mechanism. In the RS232
mode, the reported value will be the command that is entered in via the RS232 or USB
port and to which an optional exponential correction is applied. In the Analog and Pulse
modes, this query will report the Analog or Pulse input after it is being converted using
the min, max, center, deadband, and linearity corrections. This query is useful for viewing
which command is actually being used and the effect of the correction that is being ap-
plied to the raw input.
Syntax Serial: ?M [cc]
Argument: Channel
Min: 1 Max: Total Number of Motors
Syntax Scripting: result = getvalue(_M, cc)
result = getvalue(_MOTCMD, cc)
Reply:
M=nn Type: Signed-16-bit Min: -1000 Max: 1000
Where:
cc = Motor channel
nn = Command value used for each motor. 0 to +/-1000 range
Example:
Q: ?M
R: M=800:-1000
Q: ?M 1 R:
M=800
MA - Read Field Oriented Control Motor Amps
Alias: MEMS HexCode: 25 CANOpen id: 0x211C
Description:
On brushless motor controllers operating in sinusoidal mode, this query returns the
Torque (also known as Quadrature or Iq) current, and the Flux (also known as Direct, or Id)
current. Current is reported in Amps x 10.
Syntax Serial: ?MA nn
Argument: AmpsChannel
Min: 1 Max: 2 * Total Number of Motors