User Manual

Commands Reference
214 Advanced Digital Motor Controller User Manual V2.0, July 8, 2019
Syntax Serial: ?CF
Argument: None
Syntax Scripting: result = getvalue(_CF, 1)
Reply:
CF=nn Type: Unsigned 8-bit Min: 0 Max: 16
Where:
nn = Number of frames in receive queue
CIA - Read Converted Analog Command
Alias: CMDANA HexCode: 1A CANOpen id: 0x2117
Description:
Returns the motor command value that is computed from the Analog inputs whether or
not the command is actually applied to the motor. The Analog inputs must be con-
figured as Motor Command. This query can be used, for example, to read the com-
mand joystick from within a MicroBasic script or from an external microcomputer,
even though the controller may be currently responding to Serial or Pulse command
because of a higher priority setting. The returned value is the raw Analog input value with
all the adjustments performed to convert it to a command (Min/Max/Center/Deadband/
Linearity).
Syntax Serial: ?CIA [cc]
Argument: Channel
Min: 1 Max: Total Number of Motors
Syntax Scripting: result = getvalue(_CIA, cc)
result = getvalue(_CMDANA, cc)
Reply:
CIA=nn Type: Signed 32-bit Min: -1000 Max: 1000
Where:
cc = Motor channel
nn = Command value in +/-1000 range
CIP - Read Internal Pulse Command
Alias: CMDPLS HexCode: 1B CANOpen id: 0x2118
Description:
Returns the motor command value that is computed from the Pulse inputs whether or
not the command is actually applied to the motor. The Pulse input must be configured
as Motor Command. This query can be used, for example, to read the command
joystick from within a MicroBasic script or from an external microcomputer, even
though the controller may be currently responding to Seria or Analog command because of
a higher priority setting. The returned value is the raw Pulse input value with all the adjust-
ments performed to convert it to a command (Min/Max/Center/Deadband/Linearity).