User Manual

Runtime Queries
Advanced Digital Motor Controller User Manual 237
CIP - Read Internal Pulse Command
Alias: CMDPLS HexCode: 1B CANOpen id: 0x2118
Description:
Returns the motor command value that is computed from the Pulse inputs whether or
not the command is actually applied to the motor. The Pulse input must be configured
as Motor Command. This query can be used, for example, to read the command
joystick from within a MicroBasic script or from an external microcomputer, even
though the controller may be currently responding to Seria or Analog command because
of a higher priority setting. The returned value is the raw Pulse input value with all the ad-
justments performed to convert it to a command (Min/Max/Center/Deadband/Linearity).
Syntax Serial: ?CIP [cc]
Argument: Channel
Min: 1 Max: Total Number of Motors
Syntax Scripting: result = getvalue(_CIP, cc)
result = getvalue(_CMDPLS, cc)
Reply:
CIP=nn Type: Signed 32-bit Min: -1000 Max: 1000
Where:
cc = Motor channel
nn = Command value in +/-1000 range
CIS - Read Internal Serial Command
Alias: CMDSER HexCode: 19 CANOpen id: 0x2116
Description:
Returns the motor command value that is issued from the serial input or from a MicroBa-
sic script whether or not the command is actually applied to the motor. This query
can be used, for example, to read from an external microcomputer the command
generated inside MicroBasic script, even though the controller may be currently respond-
ing to a Pulse or Analog command because of a higher priority setting.
Syntax Serial: ?CIS [cc]
Argument: Channel
Min: 1 Max: Total Number of Motors
Syntax Scripting: result = getvalue(_CIS, cc)
result = getvalue(_CMDSER, cc)
Reply:
CIS=nn Type: Signed 32-bit Min: -1000 Max: 1000
Where:
cc = channel
nn = command value in +/-1000 range