Schematic

Commands Reference
260 Advanced Digital Motor Controller User Manual V1.8, August 28, 2017
MGM - Read Magsensor Markers
Alias: MGMRKR HexCode: 2B CANOpen id: 0x211F
Description:
When one or more MGS1600 Magnetic Guide Sensors are connected to the controller,
this query reports whether left or right markers are present under sensor.If only one sen-
sor is connected to any pulse input this query will report the data of that sensor, regard-
less which pulse input it is connected to. If more than one sensor is connected to pulse
inputs and these inputs are enabled and configured in Magsensor MultiPWM mode, then
the argument following the query is used to select the sensor
Syntax Serial: ?MGM [cc]
Argument: SensorNumber
Min: 1 Max: 2 * Total Number of Pulse Inputs
Syntax Scripting: result = getvalue(_MGM, cc)
result = getvalue(_MGMRKR, cc)
Reply:
MGM=mm Type: Unsigned 8-bit Min: 0 Max: 1
Where:
cc = (When only one sensor enabled)
1 : Left Marker
2 : Right Marker
cc = (When several sensors enabled)
1 : Left Marker of sensor at pulse input 1
2 : Right Marker of sensor at pulse input 1
3 : Left Marker of sensor at pulse input 2
4 : Right Marker of sensor at pulse input 2
...
((p-1)* 2)+1 : Left Marker of sensor at pulse input p
((p-1)* 2)+2 : Right Marker of sensor at pulse input p
nn =
0 : No marker detected
1 : Marker detected
MGS - Read Magsensor Status
Alias: MGSTATUS HexCode: 2C CANOpen id: 0x2120
Description:
When one or more MGS1600 Magnetic Guide Sensors are connected to the controller,
this query reports the state of the sensor. If only one sensor is connected to any pulse in-
put, no argument is needed for this query. If more than one sensor is connected to pulse
inputs and these inputs are enabled and configured in Magsensor MultiPWM mode, then
the argument following the query is used to select the sensor.
Syntax Serial: ?MGS
Argument: SensorNumber
Min: None Max: Total Number of Pulse Inputs