User Manual

Commands Reference
314 Advanced Digital Motor Controller User Manual V2.0, July 8, 2019
Where:
cc = Motor Channel
nn = 0: Not inverted
1: Inverted
Syntax Scripting: setconfig(_MDIR, cc, nn)
MMOD - Operating Mode
HexCode: 27
Description:
This parameter lets you select the operating mode for that channel. See manual for de-
scription of each mode.
Syntax Serial: ^MMOD cc nn
~MMOD [cc]
Syntax Scripting: setconfig(_MMOD, cc, nn)
Number of Arguments: 2
Argument 1: Channel
Min: 1 Max: Total Number of Motors
Argument 2: Mode
Type: Unsigned 8-bit
Min: 0 Max: 6
Default: 0 = Open loop
Where:
cc = Motor channel
nn =
0: Open-loop
1: Closed-loop speed
2: Closed-loop position relative
3: Closed-loop count position
4: Closed-loop position tracking
5: Closed-loop torque
6: Closed-loop speed position
Example:
^MMOD 2 : Select Closed loop position relative
MVEL - Default Position Velocity
HexCode: 35
Description:
This parameter is the default speed at which the motor moves while in position mode.
Values are in RPMs. To change velocity while the controller is in operation, use the !S run-
time command.