User Manual

Commands Reference
184 Advanced Digital Motor Controller User Manual V2.0, July 8, 2019
EX - Emergency Stop
Alias: ESTOP HexCode: 0E CANOpen id: 0x200C
Description:
The EX command will cause the controller to enter an emergency stop in the same
way as if hardware emergency stop was detected on an input pin. The emergency
stop condition will remain until controller is reset or until the MG release command is
received.
Syntax Serial: !EX
Syntax Scripting: setcommand(_EX, 1)
setcommand(_ESTOP, 1)
Number of Arguments: 0
G - Go to Speed or to Relative Position
Alias: GO HexCode: 00 CANOpen id: Use CG
Description:
G is the main command for activating the motors. The command is a number ranging
1000 to +1000 so that the controller respond the same way as when commanded using
Analog or Pulse, which are also -1000 to +1000 commands. The effect of the command
differs from one operating mode to another.
In Open Loop Speed mode the command value is the desired power output level to be
applied to the motor.
In Closed Loop Speed mode, the command value is relative to the maximum speed that is
stored in the MXRPM configuration parameter.
In Closed Loop Position Relative and in the Closed Loop Tracking mode, the command is
the desired relative destination position mode.
The G command has no effect in the Position Count mode.
In Torque mode, the command value is the desired Motor Amps relative to the Amps Limit
configuration parameters
Syntax Serial: !G [nn] mm
Syntax Scripting: setcommand(_G, nn, mm)
setcommand(_GO, nn, mm)
Number of Arguments: 2
Argument 1: Channel
Min: 1 Max: Total Number of Motors
Argument 2: Value Type: Signed 32-bit
Min: -1000 Max: 1000