User Manual

Commands Reference
242 Advanced Digital Motor Controller User Manual V2.0, July 8, 2019
Where:
ee = Data element
1 : MCU type
2 : MCU Device Id
3-5 : MCU Unique ID
nn = value
V - Read Volts
Alias: VOLTS HexCode: 0D CANOpen id: 0x210D
Description:
Reports the voltages measured inside the controller at three locations: the main battery
voltage, the internal voltage at the motor driver stage, and the voltage that is available on
the 5V output on the DSUB 15 or 25 front connector. For safe operation, the driver stage
voltage must be above 12V. The 5V output will typically show the controller’s internal
regulated 5V minus the drop of a diode that is used for protection and will be in the 4.7V
range. The battery voltage is monitored for detecting the undervoltage or overvoltage con-
ditions.
Syntax Serial: ?V [ee]
Argument: SensorNumber
Min: 1 Max: 3
Syntax Scripting: result = getvalue(_V, ee)
result = getvalue(_VOLTS, ee)
Reply:
V = nn Type: Unsigned 16-bit
Where:
ee =
1 : Internal volts
2 : Battery volts
3 : 5V output
nn = Volts * 10 for internal and battery volts. Milivolts for 5V output
Example:
Q: ?V
R:V=135:246:4730
Q: ?V 3
R:V=4730
VAR - Read User Integer Variable
Alias: VAR HexCode: 06 CANOpen id: 0x2106
Description:
Read the value of dedicated 32-bit internal variables that can be read and written to/from
within a user MicroBasic script. It is used to pass 32-bit signed number between user
scripts and a microcomputer connected to the controller. The total number of user integer
variables varies from one controller model to another and can be found in the product
datasheet.