User Manual

Runtime Commands
Advanced Digital Motor Controller User Manual 185
Where:
cc = Motor channel
nn = Command value
Example:
!G 1 500 : In Open Loop Speed mode, applies 50% power to motor channel 1
!G 1 500 : In Closed Loop Speed mode, assuming that 3000 is contained in Max RPM pa-
rameter (MXRPM), motor will go to 1500 RPM
!G 1 500 : In Closed Loop Relative or Closed Loop Tracking modes, the motor will move to
75% position of the total -1000 to +1000 motion range
!G 1 500 : In Torque mode, assuming that Amps Limit is 60A, motor power will rise until
30A are measured.
GIQ - Go to Torque Amps
Alias: - HexCode: 7A CANOpen id: -
Description:
GIQ is the command for the torque amps in closed loop torque mode only for brushless
controllers in sinusoidal mode. In other cases it is void. The value is set in Amps*10. After
the motor stops or at power up the target flux amps is set by the TID value.
Syntax Serial: !GIQ [nn] mm
Syntax Scripting: setcommand(_GIQ, nn, mm)
Number of Arguments: 2
Argument 1: Channel
Min: 1 Max: Total Number of Motors
Argument 2: Amps
Type: Signed 32
Min: 0 Max: Max Amps in datasheet
Where:
cc = Motor channel
nn = Amps*10
Example:
!GIQ 1 500 : In Closed Loop Torque mode, applies 50,0A torque amps command.
GID - Go to Torque Amps
Alias: - HexCode: 7B CANOpen id: -
Description:
GID is the command for the flux amps in closed loop torque mode only for brushless con-
trollers in sinusoidal mode. In other cases it is void. The value is set in Amps*10. A non-ze-
ro value creates field weakening and can be used to achieve higher rotation speed