User Manual

Commands Reference
174 Advanced Digital Motor Controller User Manual V2.0, July 8, 2019
Configuration commands
These start with “~” for read and “^” for write when called via the serial communication
(RS232, RS485, TCP or USB), or using the getconfig() and setconfig() MicroBasic func-
tions. They are used to read or configure all the operating parameters of the controller
(e.g. set or read amps limit). See “Set/Read Configuration Commands” on page 259 for
the full list and description of these commands.
Runtime Commands
Runtime commands are commands that can be sent at any time during controller oper-
ation and are taken into consideration immediately. Runtime commands start with “!”
and are followed by one to three letters. Runtime commands are also used to refresh the
watchdog timer to ensure safe communication. Runtime commands can be called from a
MicroBasic script using the setcommand() function.
TABLE 15-1. Runtime Commands
Command Arguments Description
AC Channel Acceleration Set Acceleration
AX Channel Acceleration Next Acceleration
B VarNbr Value Set User Boolean Variable
BND None Spectrum Bind
C Channel Value Set Encoder Counters
CB Channel Value Set Brushless Counter
CG Channel Value Set Motor Command via CAN
CS Element Value CAN Send
CSS Channel Value Set SSI Sensor Counter
D0 OutputNbr Reset Individual Digital Out bits
D1 OutputNbr Set Individual Digital Out bits
DC Channel Deceleration Set Deceleration
DS Value Set all Digital Out bits
DX Channel Value Next Decceleration
EES None Save Configuration in EEPROM
EX None Emergency Shutdown
G Channel Value Go to Speed or to Relative Position
GIQ Channel Value Go to Torque Amps
GID Channel Value Go to Flux Amps
H Channel Load Home counter
MG None Emergency Stop Release
MS Channel Stop in all modes
P Channel Destination Go to Absolute Desired Position
PR Channel Delta Go to Relative Desired Position
PRX Channel Delta Next Go to Relative Desired Position
PX Channel Delta Next Go to Absolute Desired Position
R [Option] MicroBasic Run