User Manual

Commands Reference
240 Advanced Digital Motor Controller User Manual V2.0, July 8, 2019
Note:
On some controller models, additional temperature values may reported. These are mea-
sured at different points and not documented. You may safely ignore this extra data. Other
controller models only have one heatsink temperature sensor and therefore only report
one value in addition to the Internal IC temperature.
TM - Read Time
Alias: TIME HexCode: 1C CANOpen id: 0x2119
Description:
Reports the value of the time counter in controller models equipped with Real-Time
clocks with internal or external battery backup. On older controller models, time is count-
ed in a 32-bit counter that keeps track the total number of seconds, and that can be
converted into a full day and time value using external calculation. On newer models, the
time is kept in multiple registers for seconds, minutes, hours (24h format), dayofmonth,
month, year in full
Syntax Serial: ?TM [ee]
Argument: Element
Min: None Max: 6
Syntax Scripting: result = getvalue(_TM, ee)
result = getvalue(_TIME, ee)
Reply:
TM = nn Type: Unsigned 32-bit Min: 0
Where:
ee = date element in new controller model
1 : Seconds
2 : Minutes
3 : Hours (24h format)
4 : Dayofmonth
5 : Month
6 : Year in full
nn = Value
TR - Read Position Relative Tracking
Alias: TRACK HexCode: 20 CANOpen id:
Description:
Reads the real-time value of the expected motor position in the position tracking closed
loop mode and in speed position
Syntax Serial: ?TR [cc]
Argument: Channel
Min: 1 Max: Total Number of Motors
Syntax Scripting: result = getvalue(_TR, cc)
result = getvalue(_TRACK, cc)