Schematic

Runtime Queries
Advanced Digital Motor Controller User Manual 251
buffer have become active. The Destination Reached bit is latched and is cleared once it
has been read.
Syntax Serial: ?DR [cc]
Argument: Channel
Min: 1 Max: Total Number of Motors
Syntax Scripting: result = getvalue(_DR, cc)
result = getvalue(_DREACHED, cc)
Reply:
DR=nn Type: Unsigned 8-bit Min: 0 Max: 1
Where:
cc = Motor channel
nn =
0 : Not yet reached
1 : Reached
E - Read Closed Loop Error
Alias: LPERR HexCode: 18 CANOpen id: 0x6409
Description:
In closed-loop modes, returns the difference between the desired speed or position and
the measured feedback. This query can be used to detect when the motor has reached
the desired speed or position. In open loop mode, this query returns 0.
Syntax Serial: ?E [cc]
Argument: Channel
Min: 1 Max: Total Number of Motors
Syntax Scripting: result = getvalue(_E, cc)
result = getvalue(_LPERR, cc)
Reply:
E=nn Type: Signed 32-bit Min: -2147M Max: 2147M
Where:
cc = Motor channel
nn = Error value
F - Read Feedback
Alias: FEEDBK HexCode: 13 CANOpen id: 0x6404