Schematic

Commands Types

Advanced Digital Motor Controller User Manual 217

SECTION 19

Commands

Reference

This section lists all the commands accepted by the controller. Commands are typically

sent via the serial (RS232 or USB) ports (See “Serial (RS232/USB) Operation” on page

141). Except for a few maintenance commands, they can also be issued from within a user

script written using the MicroBasic language (See “MicroBasic Scripting” on page 179).

Commands Types

The controller will accept and recognize four types of commands:

Runtime commands

These start with “!” when called via the serial communication (RS232 or USB), or using

the setcommand() MicroBasic function. These are usually motor or operation commands

that will have immediate effect (e.g. to turn on the motor, set a speed or activate digital

output). Most of Runtime commands are mapped inside a CANopen Object Directory,

allowing the controller to be remotely operated on a CANopen standard network (See

“CANopen Interface” on page 172). See “Runtime Commands” on page 164 for the full

list and description of these commands.

Runtime queries

These start with “?” when called via the serial communication (RS232 or USB), or using

the getvalue() Microbasic function. These are used to read operating values at runtime

(e.g. read Amps, Volts, power level, counter values). All runtime queries are mapped in-

side a CANopen Object Directory, allowing the controller to be remotely interrogated on a

CANopen standard network (See “CANopen Interface” on page 172). See Runtime com-

mands are commands that can be sent at any time during controller operation and are tak-

en into consideration immediately. Runtime commands start with “!” and are followed by

one to three letters. Runtime commands are also used to refresh the watchdog timer to

ensure safe communication. Runtime commands can be called from a MicroBasic script

using the setcommand() function..

Maintenance commands

These are only available trough serial (RS232 or USB) and start with “%”. They are used

for all of the maintenance commands such as (e.g. set the time, save conﬁguration to EE-

PROM, reset, load default, etc.).