User Manual

Commands Reference
342 Advanced Digital Motor Controller User Manual V2.0, July 8, 2019
SWD
Value BIT 1 BIT 0
Swap for Hall
(Bit 1)
Swap for
Encoder (Bit 0) Meaning
0 0 0 NO NO None
1 0 1 NO YES Swapped
2 1 0 YES NO Hall only Swapped
3 1 1 YES YES Hall+Encoder Swapped
Syntax Serial: ^SWD cc nn
~ SWD [cc]
Syntax Scripting: setconfig(_SWD, cc, nn)
Number of Arguments: 2
Argument 1: Channel
Min: 1 Max: Total Number of Motors
Argument 2: Swap Windings
Type: Unsigned 8-bit
Min: 0 Max: 3
Default: 0
Where:
cc = Motor channel
nn = Motor’s Swap Windings
0: None, Angle up-counting for clockwise direction
1: Swapped, Angle down-counting for clockwise direction
2:Hall only Swapped, Angle up-counting for clockwise direction for encoder and Angle
down-counting for clockwise direction for Hall sensor.
3:Hall+Encoder Swapped, Angle down-counting for clockwise direction for encoder and
Angle down-counting for clockwise direction for Hall sensor.
Example:
^SWD 1 1: Set angle down-counting for clockwise direction for motor 1.