User Manual

Commands Reference
228 Advanced Digital Motor Controller User Manual V2.0, July 8, 2019
LK - Read Lock status
Alias: LOCKED HexCode: 1D CANOpen id:
Description:
Returns the status of the lock flag. If the configuration is locked, then it will not be possi-
ble to read any configuration parameters until the lock is removed or until the parameters
are reset to factory default. This feature is useful to protect the controller configuration
from being copied by unauthorized people.
Syntax Serial: ?LK
Argument: None
Syntax Scripting: result = getvalue(_LK, 1)
result = getvalue(_LOCKED, 1)
Reply:
LK=ff Type: Unsigned 8-bit Min: 0 Max: 1
Where:
ff =
0 : unlocked
1 : locked
M - Read Motor Command Applied
Alias: MOTCMD HexCode: 01 CANOpen id: 0x2101
Description:
Reports the command value that is being used by the controller. The number that is
reported will be depending on which mode is selected at the time. The choice of one
command mode vs. another is based on the command priority mechanism. In the Serial
mode, the reported value will be the command that is entered in via the RS232, RS485,
TCP or USB port and to which an optional exponential correction is applied. In the Analog
and Pulse modes, this query will report the Analog or Pulse input after it is being convert-
ed using the min, max, center, deadband, and linearity corrections. This query is useful
for viewing which command is actually being used and the effect of the correction that is
being applied to the raw input.
Syntax Serial: ?M [cc]
Argument: Channel
Min: 1 Max: Total Number of Motors
Syntax Scripting: result = getvalue(_M, cc)
result = getvalue(_MOTCMD, cc)
Reply:
M=nn Type: Signed 32-bit Min: -2147M Max: 2147M
Where:
cc = Motor channel
nn = Command value used for each motor. 0 to +/-1000 range