User Manual

Runtime Queries
Advanced Digital Motor Controller User Manual 229
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
Syntax Scripting: result = getvalue(_MA, nn)
result = getvalue(_MEMS, nn)
Reply:
MA=mm Type: Signed 16-bit
Where:
nn =
1 : Flux Amps 1 (Id)
2 : Torque Amps 1 (Iq)
3 : Flux Amps 2 (Id)
4 : Torque Amps 2 (Iq)
mm = Amps * 10
MGD - Read Magsensor Track Detect
Alias: MGDET HexCode: 29 CANOpen id: 0x211D
Description:
When one or more MGS1600 Magnetic Guide Sensors are connected to the controller,
this query reports whether a magnetic tape is within the detection range of the sensor. If
no tape is detected, the output will be 0. If only one sensor is connected to any pulse in-
put, no argument is needed for this query. If more than one sensor is connected to pulse
inputs and these inputs are enabled and configured in Magsensor MultiPWM mode, then
the argument following the query is used to select the sensor
Syntax Serial: ?MGD [cc]
Argument: SensorNumber
Min: None Max: Total Number of Pulse Inputs
Syntax Scripting: result = getvalue(_MGD, cc)
result = getvalue(_MGDET, cc)