User Manual

Commands Reference
308 Advanced Digital Motor Controller User Manual V2.0, July 8, 2019
Syntax Scripting: setconfig(_EMOD, cc, aa)
Number of Arguments: 2
Argument 1: Channel
Min: 1 Max: Total Number of Encoders
Argument 2: Use
Type: Unsigned 8-bit
Min: 0 Max: 255
Default: 0 = Unused
Where:
cc = Encoder channel
aa =
0: Unused
1: Command
2: Feedback
mm =
mot1*16 + mot2*32 + mot3*48
Example:
^EMOD 1 18 = Encoder used as feedback for channel 1
EPPR - Encoder PPR Value
HexCode: 4A
Description:
This parameter will set the pulse per revolution of the encoder that is attached to the con-
troller. The PPR is the number of pulses that is issued by the encoder when making a full
turn. For each pulse there will be 4 counts which means that the total number of a count-
er increments inside the controller will be 4x the PPR value. Make sure not to confuse the
Pulse Per Revolution and the Count Per Revolution when setting up this parameter. Enter-
ing a negative number will invert the counter and the measured speed polarity
Syntax Serial: ^EPPR cc nn
~EPPR [cc]
Syntax Scripting: setconfig(_EPPR, cc, nn)
Number of Arguments: 2
Argument 1: Channel
Min: 1 Max: Total Number of Encoders
Argument 2: Value
Type: Signed 16-bit
Min: -32768 Max: 32767
Default: 100