User Manual

Commands Reference
182 Advanced Digital Motor Controller User Manual V2.0, July 8, 2019
Syntax Serial: !DC cc nn
Syntax Scripting: setcommand(_DC, cc, nn)
setcommand(_DECEL, cc, nn)
Number of Arguments: 2
Argument 1: Channel
Min: 1 Max: Total Number of Motors
Argument 2: Deceleration Type: Signed 32-bit
Min: 0 Max: 500000
Where:
cc = Motor channel
nn = Deceleration value in 0.1 * RPM/s
Example:
!DC 1 2000 : Reduce Motor 1 speed by 200 RPM every second if speed is mea-
sured by encoder
!DC 2 20000 : Time from full power to stop is 0.5s if no speed sensors are present and
Max RPM is set to 1000
DS - Set all Digital Out bits
Alias: DOUT HexCode: 09 CANOpen id: 0x2008
Description:
The D command will turn ON or OFF one or many digital outputs at the same time. The
number can be a value from 0 to 255 and binary representation of that number has 1bit
affected to its respective output pin.
Syntax Serial: !DS nn
Syntax Scripting: setcommand(_DS, nn)
setcommand(_DOUT, nn)
Number of Arguments: 1
Argument 1: Value Type: Unsigned 8-bit
Min: 0 Max: 255
Where:
nn = Bit pattern to be applied to all output lines at once
Example:
!DS 03 : will activate outputs 1 and 2. All others are off
Note:
Digital Outputs are Open Collector. Activating an outputs will force it to ground. Deactivat-
ing an output will cause it to float.