User Manual

Table Of Contents
Runtime Queries
Advanced Digital Motor Controller User Manual 217
CSR - Read Relative SSI Sensor Counter
Alias: - HexCode: 6D CANOpen id: 0x213F
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: ?CSR [cc]
Argument: Channel
Min: 1 Max: Total Number of SSI Encoders
Syntax Scripting: result = getvalue(_CSR, cc)
Reply:
CSR=nn Type: Signed 32-bit Min: -2147M Max: 2147
Where:
cc = SSI sensor channel
nn = Counts since last read using ?CSR
CSS - Read Absolute SSI Sensor Counter
Alias: - HexCode: 6E CANOpen id: 0x213E
Description:
Returns the SSI encoder value as an absolute number. The counter is 32-bit with a range
of +/- 2147483648 counts.
Syntax Serial: ?CSS [cc]
Argument: Channel
Min: 1 Max: Total Number of SSI Encoders
Syntax Scripting: result = getvalue(_CSS, cc)
Reply:
CSS=nn Type: Signed 32-bit Min: -2147M Max: 2147
Where:
cc = SSI sensor channel
nn = Absolute counter value