User Manual

Runtime Queries
Advanced Digital Motor Controller User Manual 243
Example:
Q: ?DPA
R: DPA=100:200
Q: ?DPA 2
R: DPA=200
DR - Read Destination Reached
Alias: DREACHED HexCode: 22 CANOpen id: 0x211B
Description:
This query is used when chaining commands in Position Count mode, to detect that a
destination has been reached and that the next destination values that were loaded in the
buffer have become active. The Destination Reached bit is latched and is cleared once it
has been read.
Syntax Serial: ?DR [cc]
Argument: Channel
Min: 1 Max: Total Number of Motors
Syntax Scripting: result = getvalue(_DR, cc)
result = getvalue(_DREACHED, cc)
Reply:
DR=nn Type: Unsigned 8-bit Min: 0 Max: 1
Where:
cc = Motor channel
nn =
0 : Not yet reached
1 : Reached
E - Read Closed Loop Error
Alias: LPERR HexCode: 18 CANOpen id: 0x2114
Description:
In closed-loop modes, returns the difference between the desired speed or position and
the measured feedback. This query can be used to detect when the motor has reached
the desired speed or position. In open loop mode, this query returns 0.
Syntax Serial: ?E [cc]
Argument: Channel
Min: 1 Max: Total Number of Motors
Syntax Scripting: result = getvalue(_E, cc)
result = getvalue(_LPERR, cc)