User Manual

Commands Reference
312 Advanced Digital Motor Controller User Manual V2.0, July 8, 2019
Syntax Serial: ^MAC cc nn
~MAC [cc]
Syntax Scripting: setconfig(_MAC, cc, nn)
Number of Arguments: 2
Argument 1: Channel
Min: 1 Max: Total Number of Motors
Argument 2: Acceleration
Type: Signed 32-bit
Min: 0 Max: 500000
Default: 10000 = 1000.0 RPM/s
Where:
cc = Motor channel
nn = Acceleration time in 0.1 RPM per seconds
Note: In Closed Loop Torque Mode the value is translated in miliAmps/sec
MDEC - Motor Deceleration Rate
HexCode: 34
Description:
Set the rate of speed change during deceleration for a motor channel. This command
is identical to the DC realtime command. Acceleration value is in 0.1*RPM per second.
When using controllers fitted with encoder, the speed and deceleration value are actual
RPMs. Brushless motor controllers use the internal sensor (Hall, Sin/Cos or Resolver) for
measuring actual speed and acceleration will also be in actual RPM/s. When using the
controller without speed sensor, the deceleration value is relative to the Max RPM config-
uration parameter, which itself is a user-provide number for the speed normally expected
speed at full power. Assuming that the Max RPM parameter is set to 1000, and deceler-
ation value of 10000 means that the motor will go from full speed to 0 1 second, regard-
less of the actual motor speed. If value is set to 0 then the command ramp is by-passed.
Syntax Serial: ^MDEC cc nn
~MDEC [cc]
Syntax Scripting: setconfig(_MDEC, 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