User Manual

Commands Reference
228 Advanced Digital Motor Controller User Manual V2.1, December 3, 2020
Reply:
BA=aa Type: Signed 16-bit Min: 0
Where:
cc = Motor channel
aa = Amps *10 for each channel
Example:
Q: ?BA R:
BA=100:200
Note:
Some controller models measure the Motor Amps and Calculate the Battery Amps, while
other models measure the Battery Amps and calculate the Motor Amps. The measured
Amps is always more precise than the calculated Amps. See controller datasheet to find
which Amps is measured by your particular model.
BCR - Read Brushless Count Relative
Alias: BLRCNTR HexCode: 09 CANOpen id: 0x2109
Description:
Returns the amount of Internal sensor (Hall, SinCos, Resolver) counts that have been
measured from the last time this query was made. Relative counter read is sometimes
easier to work with, compared to full counter reading, as smaller numbers are usually
returned. If the query is used via RoboCAN, the query will be refreshed by default every
20ms, reseting the counter. Therefore a second argument has been introduced dictating
the refresh rate.
Syntax Serial: ?BCR [cc, nn]
Arguments: 2 or 1
Argument 1: Channel
Min: 1 Max: Total Number of Motors
Argument 2: Time in millisecond, refresh rate (only if used in RoboCAN).
BCR= nn,cc Type: Signed 32-bit Min: 2147M Max: 2147M
Where:
cc=Motor channel
nn=value
Example:
?BCR 1: Ask for BCR for channel 1
@01?BCR 1 0: Ask from node 1 for BCR for channel 1 only once, the rate value is zero.
@02?BCR 1 100: Ask from node 2 for BCR for channel 1 with rate of 100ms.