User Manual

Runtime Commands
Advanced Digital Motor Controller User Manual 191
Where:
cc = Channel number
nn = Value
S - Set Motor Speed
Alias: MOTVEL HexCode: 03 CANOpen id: 0x2002
Description:
In the Closed-Loop Speed mode, this command will cause the motor to spin at the de-
sired RPM speed. In Closed-Loop Position modes, this commands determines the speed
at which the motor will move from one position to the next. It will not actually start the
motion.
Syntax Serial: !S [cc] nn
Syntax Scripting: setcommand(_S, cc, nn)
setcommand(_MOTVEL, cc, nn)
Number of Arguments: 2
Argument 1: Channel
Min: 1 Max: Total Number of Motors
Argument 2: Value Type: Signed 32-bit
Min:-65535 Max: 65535
Where:
cc = Motor channel
nn = Speed value in RPM
Example:
!S 2500 : set motor 1 position velocity to 2500 RPM
STT - STO Self-Test
Alias: - HexCode: 70 CANOpen id: -
Description:
With this command the STO Self-Test process is executed in order to check whether
there is a fault. This process is applicable only on motor controllers with STO circuit imple-
mented on their board. The result of the test is taken back using the STT query. In case of
fault the Respective STO Fault bit in the Fault Flags is set. The fault is triggered when:
• Any of the transistors or other component of the STO circuit is damaged.
• The respective jumper is placed on the board.
Syntax Serial: !STT
Syntax Scripting: setcommand(_STT. 1)
Number of Arguments: 0