Manual

ival = GetMotorCurrent4 (); // Current sensor #4

ival = GetMotorCurrent5 (); // Current sensor #5

ival = GetMotorCurrent6 (); // Current sensor #6

ival = GetMotorCurrent (short channel); // Current sensor #1,2,3,4,5,or 6

Parameter: void // for GetMotorCurrentX

short channel; // 0,1,2,3,4,5 for current sensor #1,2,3,4,5,or 6

Return value: short ival;

Return data interpretation:

The return data is the raw value of the analog to digital converter indicating the motor

current. The data range is between 0 and 4095. The real current can be calculated with the

following formula:

Motor Current (A) = (ival * 3 *375 / 200 /4095) = ival / 728

III.1.10. Encoder

58 short GetEncoderDir1();

59 short GetEncoderDir2();

60 short GetEncoderPulse1();

61 short GetEncoderPulse2();

62 short GetEncoderSpeed1();

63 short GetEncoderSpeed2();

Description:

GetEncoderDirX returns +1, 0 or -1 to indicate the direction of rotation.

GetEncoderPulseX returns the current pulse counter to indicate the position of rotation.

GetEncoderSpeedX returns the current speed of rotation.

Syntax: ival = GetEncoderDir1(); // direction of channel #1

ival = GetEncoderDir2(); // direction of channel #2

ival = GetEncoderPulse1(); // pulse counter of channel #1

ival = GetEncoderPulse2(); // pulse counter of channel #2

ival = GetEncoderSpeed1(); // speed of channel #1

ival = GetEncoderSpeed2(); // speed of channel #2

Parameter: void

Return value: short ival;

Return data interpretation:

(1) GetEncoderDirX returns -1, 0 or 1. 1 stands for positive direction, -1 stands for negative

direction, and 0 stands for no movement.

(2) GetEncoderPulseX returns pulse counter. It is an integral value to rotation with range

of 0 ~ 32767 in cycles.