User Manual

Runtime Queries
Advanced Digital Motor Controller User Manual 215
Syntax Serial: ?CIP [cc]
Argument: Channel
Min: 1 Max: Total Number of Motors
Syntax Scripting: result = getvalue(_CIP, cc)
result = getvalue(_CMDPLS, cc)
Reply:
CIP=nn Type: Signed 32-bit Min: -1000 Max: 1000
Where:
cc = Motor channel
nn = Command value in +/-1000 range
CIS - Read Internal Serial Command
Alias: CMDSER HexCode: 19 CANOpen id: 0x2116
Description:
Returns the motor command value that is issued from the serial input or from a MicroBa-
sic script whether or not the command is actually applied to the motor. This query
can be used, for example, to read from an external microcomputer the command
generated inside MicroBasic script, even though the controller may be currently respond-
ing to a Pulse or Analog command because of a higher priority setting.
Syntax Serial: ?CIS [cc]
Argument: Channel
Min: 1 Max: Total Number of Motors
Syntax Scripting: result = getvalue(_CIS, cc)
result = getvalue(_CMDSER, cc)
Reply:
CIS=nn Type: Signed 32-bit Min: -1000 Max: 1000
Where:
cc = channel
nn = command value in +/-1000 range
CL - Read RoboCAN Alive Nodes Map
Alias: CALIVE HexCode: 26 CANOpen id:
Description:
With CL it is possible to see which nodes in a RoboCAN are alive and what type of device
is present at each node. A complete state of the network is represented in sixteen 32-
bit numbers. Within each 32-bit word are 8 groups of 4-bits. The 4-bits contain the node
information. E.g. bits 0-3 of first number is for node 0, bits 8-11 of first number is for node
2, bits 4-7 of second number is for node 5 and bits 12-15 of fourth number is for node 11,
etc.