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Runtime Queries
Advanced Digital Motor Controller User Manual 265
Description:
Reports the actual speed measured by the encoders as the actual RPM value. To report
RPM accurately, the correct Pulses per Revolution (PPR) must be
stored in the encoder configuration
Syntax Serial: ?S [cc]
Argument: Channel
Min: 1 Max: Total Number of Encoders
Syntax Scripting: result = getvalue(_S, cc)
result = getvalue(_ABSPEED, cc)
Reply:
S = nn Type: Signed 16-bit Min: -32768 Max: 32767
Where:
cc =Motor channel
nn = Speed in RPM
SCC - Read Script Checksum
Alias: SCC HexCode: 45 CANOpen id: 0x2133
Description:
Scans the script storage memory and computes a checksum number that is unique to
each script. If not script is loaded the query outputs the value 0xFFFFFFFF. Since a stored
script cannot be read out, this query is useful for determining if the correct version of a
given script is loaded.
Syntax Serial: ?SCC
Argument: None
Syntax Scripting: result = getvalue(_SCC, 1)
Reply:
SCC = nn Type: Unsigned 32-bit
Where:
nn = Checksum number
SR - Read Encoder Speed Relative
Alias: RELSPEED HexCode: 07 CANOpen id: 0x2107