User Manual

Runtime Queries
Advanced Digital Motor Controller User Manual 233
1 : sensor at pulse input 1
2 : sensor at pulse input 2
...
p : sensor at pulse input p
nn = Gyroscope value
MGX - Read MagSensor Tape Cross Detection
Alias: - HexCode: 52 CANOpen id: 0x2138
Description:
When one or more MGS1600 Magnetic Guide Sensors are connected to the controller,
this query reports the flag of the Tape Cross Detection of the sensor. If only one sensor is
connected to any pulse input, no argument is needed for this query. If more than one sen-
sor is connected to pulse inputs and these inputs are enabled and configured in Magsen-
sor MultiPWM mode, then the argument following the query is used to select the sensor.
Syntax Serial: ?MGY [cc]
Argument: Channel
Min: None Max: Total Number of Pulse Inputs
Syntax Scripting: result = getvalue(_MGY, cc)
Reply:
MGY = aa Type: 1-bit Min: 0 Max: 1
Where:
cc = (When only one sensor enabled)
None or 1 : Current sensor
cc = (When several sensors enabled)
1 : sensor at pulse input 1
2 : sensor at pulse input 2
...
p : sensor at pulse input p
nn = Tape Cross Flag
P - Read Motor Power Output Applied
Alias: MOTPWR HexCode: 02 CANOpen id: 0x2102
Description:
Reports the actual PWM level that is being applied to the motor at the power output
stage. This value takes into account all the internal corrections and any limiting resulting
from temperature or over current. A value of 1000 equals 100% PWM. The equivalent
voltage at the motor wire is the battery voltage * PWM level.