User Manual

Runtime Commands
Advanced Digital Motor Controller User Manual 181
Example:
!D0 2 : will deactivate output 2
Note:
Digital Outputs are Open Collector. Activating an outputs will force it to ground. Deactivat-
ing an output will cause it to float.
D1 - Set Individual Digital Out bits
Alias: DSET HexCode: 0A CANOpen id: 0x2009
Description:
The D1 command will activate the single digital output that is selected by the parameter
that follows.
Syntax Serial: !D1 nn
Syntax Scripting: setcommand(_D1, nn)
setcommand(_DSET, nn)
Number of Arguments: 1
Argument 1: OutputNbr Type: Unsigned 8-bit
Min: 1 Max: Total number of Digital Outs
Where:
nn = Output number
Example:
!D1 1 : will activate output 1
Note:
Digital Outputs are Open Collector. Activating an outputs will force it to ground. Deactivat-
ing an output will cause it to float.
DC - Set Deceleration
Alias: DECEL HexCode: 08 CANOpen id: 0x2007
Description:
Set the rate of speed change during decceleration for a motor channel. This command is
identical to the MDEC configuration command but is provided so that it can be changed
rapidly during motor operation. Decceleration value is in 0.1 * RPM per second. When
using controllers fitted with encoder, the speed and decceleration value are actual RPMs.
Brushless motor controllers use the hall sensor for measuring actual speed and deccel-
eration will also be in actual RPM/s. When using the controller without speed sensor,
the decceleration value is relative to the Max RPM configuration parameter, which itself
is a user-provided number for the speed normally expected at full power. Assuming that
the Max RPM parameter is set to 1000, and decceleration value of 10000 means that
the motor will go from full speed to 0 in exactly 1 second, regardless of the actual motor
speed. In Closed Loop Torque mode deceleration value is in 0.1 * miliAmps per second.
This command is not applicable if either of the acceleration (MAC) or deceleration (MDEC)
configuration value is set to 0.