User Manual

Runtime Queries
Advanced Digital Motor Controller User Manual 221
Syntax Serial: ?E [cc]
Argument: Channel
Min: 1 Max: Total Number of Motors
Syntax Scripting: result = getvalue(_E, cc)
result = getvalue(_LPERR, cc)
Reply:
E=nn Type: Signed 32-bit Min: -2147M Max: 2147M
Where:
cc = Motor channel
nn = Error value
F - Read Feedback
Alias: FEEDBK HexCode: 13 CANOpen id: 0x2110
Description:
Reports the value of the feedback sensors that are associated to each of the channels in
closed-loop modes. The feedback source can be Encoder, Analog or Pulse. Selecting the
feedback source is done using the encoder, pulse or analog configuration parameters. This
query is useful for verifying that the correct feedback source is used by the channel in the
closed-loop mode and that its value is in range with expectations.
Syntax Serial: ?F [cc]
Argument: Channel
Min: 1 Max: Total Number of Motors
Syntax Scripting: result = getvalue(_F, cc)
result = getvalue(_FEEDBK, cc)
Reply:
F=nn Type: Signed 32-bit Min: -2147M Max: 2147M
Where:
cc = Motor channel
nn = Feedback values
FC - Read FOC Angle Adjust
Alias: FC HexCode: 47 CANOpen id: 0x2135
Description:
Read in real time the angle correction that is currently applied by the Field Oriented algo-
rithm in order achieve optimal performance
Syntax Serial: ?FC [cc]
Argument: Channel
Min: 1 Max: Total Number of Motors