User Manual

Runtime Queries
Advanced Digital Motor Controller User Manual 201
TSL – Torque Slope (DS402)
Alias: TSL HexCode: 60 CANOpen id: 0x6087
Description:
This command is used to set the rate of change of torque, in 10×miliNm/second as long
as the Torque Constant (TNM) is 1000 miliNm/A.
Syntax Serial: !TSL cc nn
Syntax Scripting: SetCommand(_TSL, cc, nn)
Arguments: 2
Argument 1: Channel Type: Unsigned 8-bit
Min: 1 Max: otal number of motors
Argument 2: Value Type: Unsigned 32-bit
Where:
cc = Motor channel
nn = Torque slope
Runtime Queries
Runtime queries can be used to read the value of real-time measurements at any time
during the controller operation. Real-time queries are very short commands that start with
“?” followed by one to three letters. In some instances, queries can be sent with or with-
out a numerical parameter.
Without parameter, the controller will reply with the values of all channels. When a nu-
merical parameter is sent, the controller will respond with the value of the channel select-
ed by that parameter.
Example:
Q:?T
R: T=20:30:40
Q: ?T2
R: T=30
All queries are stored in a history buffer that can be made to automatically recall the
past 16 queries at a user-selectable time interval. See “Query History Commands” on
page 197.
Routine queries can be sent from within a MicroBasic Script using the getvalue() function.