User Manual

Commands Reference
242 Advanced Digital Motor Controller User Manual V2.1, December 3, 2020
DO - Read Digital Output Status
Alias: DIGOUT HexCode: 17 CANOpen id: 0x2113
Description:
Reads the actual state of all digital outputs. The response to that query is a single number
which must be converted into binary in order to read the status of the individual output
bits. When querying an individual output, the reply is 0 or 1 depending on its status. The
total number of Digital output channels varies from one controller model to another and
can be found in the product datasheet.
Syntax Serial: ?DO
Argument: None
Syntax Scripting: result = getvalue(_DO, 1)
result = getvalue(_DIGOUT, 1)
Reply:
DO=nn Type: Unsigned 16-bit Min: 0 Max: 65536
Where:
nn = d1 + d2*2 + d3*4 + ... + dn * 2^n-1
Example:
Q: ?DO
R: DO=17 : Outputs 1 and 5 active, all others inactive
DPA - Read DC/Peak Amps
Alias: - HexCode: 6E CANOpen id: -
Description:
Applicable only for brushless controllers. Measures and reports the Peak Amps , in
Amps*10, for all operating channels.
Syntax Serial: ?DPA [cc]
Argument: Channel
Min: 1 Max: Total Number of Motors
Syntax Scripting: result = getvalue(_DPA, cc)
Reply:
DPA = aa Type: Signed 16-bit Min: 0
Where:
cc = Motor channel
aa = Amps *10 for each channel