User Manual

Commands Reference
238 Advanced Digital Motor Controller User Manual V2.1, December 3, 2020
CL - Read RoboCAN Alive Nodes Map
Alias: CALIVE HexCode: 26 CANOpen id:
Description:
With CL it is possible to see which nodes in a RoboCAN are alive and what type of device
is present at each node. A complete state of the network is represented in sixteen 32-
bit numbers. Within each 32-bit word are 8 groups of 4-bits. The 4-bits contain the node
information. E.g. bits 0-3 of first number is for node 0, bits 8-11 of first number is for node
2, bits 4-7 of second number is for node 5 and bits 12-15 of fourth number is for node 11,
etc.
Syntax Serial: ?CL nn
Argument: Group
Min: 1 Max: 16
Syntax Scripting: result = getvalue(_CL, nn)
result = getvalue(_CALIVE, nn)
Reply:
CL=mm Type: Unsigned 32-bit Min: 0 Max: 4194M
Where:
nn =
1 : nodes 0-3
2 : nodes 4-7
...
...
15 : nodes 120-123
16 : nodes 124-127
mm = 4 words of 4 bits. Each 4-bit word:
0b0000 : Inactive node
0b0001 : Active motor controller
0b0011 : Active magsensor
0b0101 : Active RIOX
0b0111 : Active BMS
0b1001 : Active OTS
0b1011 : Active FLW
CR - Read Encoder Count Relative
Alias: RELCNTR HexCode: 08 CANOpen id: 0x2108
Description:
Returns the amount of 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.
Syntax Serial: ?CR [cc]
Argument: Channel
Min: 1 Max: Total Number of Encoders