User Manual

Commands Reference
236 Advanced Digital Motor Controller User Manual V2.0, July 8, 2019
S - Read Encoder Motor Speed in RPM
Alias: ABSPEED HexCode: 03 CANOpen id: 0x2103
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 32-bit Min: -65535 Max: 65535
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
SNA - Read Sensor Angle
Alias: - HexCode: 79 CANOpen id: -
Description:
On brushless controller operating in sinusoidal mode, this query returns the real time val-
ue of the rotor’s angle sensor of brushless motor. This query is useful for verifying trouble-
shooting sin/cos and SPI/SSI sensors. Angle are reported in 0-511 degrees..