User Manual

Commands Reference
218 Advanced Digital Motor Controller User Manual V2.0, July 8, 2019
D - Read Digital Inputs
Alias: DIGIN HexCode: 0E CANOpen id: 0x210E
Description:
Reports the status of each of the available digital inputs. The query response is a single
digital number which must be converted to binary and gives the status of each of the in-
puts. The total number of Digital input channels varies from one controller model to anoth-
er and can be found in the product datasheet.
Syntax Serial: ?D
Argument: None
Syntax Scripting: result = getvalue(_D, 1)
result = getvalue(_DIGIN, 1)
Reply:
D=nn Type: Unsigned 32-bit
Where:
nn = b1 + b2*2 + b3*4 + ... +bn*2^n-1
Example:
Q: ?D
R: D=17 : Inputs 1 and 5 active, all others inactive
DI - Read Individual Digital Inputs
Alias: DIN HexCode: 0F CANOpen id: 0x2145
Description:
Reports the status of an individual Digital Input. The query response is a boolean value (0
or 1). The total number of Digital input channels varies from one controller model to anoth-
er and can be found in the product datasheet.
Syntax Serial: ?DI [cc]
Argument: InputNbr
Min: 1 Max: Total Number of Digital Inputs
Syntax Scripting: result = getvalue(_DI, cc)
result = getvalue(_DIN, cc)
Reply:
DI=nn Type: Boolean Min: 0 Max: 1
Where:
cc = Digital Input number
nn = 0 or 1 state for each input