User Manual

Set/Read Configuration Commands
Advanced Digital Motor Controller User Manual 263
Syntax:
%UK secretkey
Where:
secretkey = 32-bit number (1 to 4294967296)
Set/Read Configuration Commands
These commands are used to set or read all the operating parameters needed by the con-
troller for its operation. Parameters are loaded from EEPROM into RAM, from where they
are and then used every time the controller is powered up or restarted.
Important Notices
The total number of configuration parameters is very large. To simplify the config-
uration process and avoid errors, it is highly recommended to use the RoborunPlus
PC utility to read and set configuration.
Some configuration parameters may be absent depending on the presence or ab-
sence of the related feature on a particular controller model.
Setting Configurations
The general format for setting a parameter is the “^” character followed by the command
name followed by parameter(s) for that command. These will set the parameter in the con-
troller’s RAM and this parameter becomes immediately active for use. The parameter can
also be permanently saved in EEPROM by sending the %EESAV maintenance command.
Some parameters have a unique value that applies to the controller in general. For ex-
ample, overvoltage or PWM frequency. These configuration commands are therefore fol-
lowed by a single parameter:
^PWM 180 : Sets PWM frequency to 18.0 kHz
^OVL 400 : Sets Overvoltage limit to 40.0V
Other parameters have multiple value, with typically one value applying to a different
channel. Multiple value parameters are numbered from 1 to n. For example, Amps limit
for a motor channel or the configuration of an analog input channel.
^ALIM 1 250 : Sets Amps limit for channel 1 to 25.0A
^AMIN 4 2000 : Sets low range of analog input 4 to 2000
Using 0 as the first parameter value will cause all elements to be loaded with the same
content.
^ADB 0 10 : Sets the deadband of all analog inputs to 10%
Important Notice
Saving configuration into EEPROM can take up to 20ms per parameter. The control-
ler will suspend the loop processing during this time, potentially affecting the con-
troller operation. Avoid saving configuration to EEPROM during motor operation.