User Manual

Commands Reference
304 Advanced Digital Motor Controller User Manual V2.0, July 8, 2019
EDEC - Fault Motor Deceleration Rate
HexCode: E9
Description:
Set the rate of speed change during deceleration for a motor channel, when a fault takes
place. The faults under which this rate will be used are, Safety Stop, Deadman Switch and
Closed Loop Error. Fault Decceleration value is in 0.1*RPM per second. When using con-
trollers fitted with encoder, the speed and deceleration value are actual RPMs. Brushless
motor controllers use the hall sensor for measuring actual speed and acceleration will also
be in actual RPM/s.
Syntax Serial: ^EDEC cc nn ~EDEC [cc]
Syntax Scripting: setconfig(_EDEC, cc, nn)
Number of Arguments: 2
Argument 1: Channel Type: Unsigned 8-bit Min: 1 Max: Total Number of Motor Channels
Argument 2: Deceleration Type: Signed 32-bit
Min: 0 Max: 500000 Default: 10000 = 1000.0 RPM/s
Where:
cc = Motor channel
nn = Deceleration time in 0.1 RPM per second
EHL - Encoder High Count Limit
HexCode: 4C
Description:
Defines a maximum count value at which the controller will trigger an action when the
counter goes above that number. This feature is useful for setting up virtual or soft limit
switches .This value, together with the Low Count Limit, are also used in the position
mode to determine the travel range when commanding the controller with a relative
position command. In this case, the High Limit Count is the desired position when a com-
mand of 1000 is received.
Syntax Serial: ^EHL cc nn
~EHL [cc]
Syntax Scripting: setconfig(_EHL, cc, nn)
Number of Arguments: 2
Argument 1: Channel
Min: 1 Max: Total Number of Encoders
Argument 2: Value
Type: Signed 32-bit
Min: -2147M Max: 2147M
Default: +20000