User Manual

Commands Reference
250 Advanced Digital Motor Controller User Manual V2.1, December 3, 2020
ICL - Is RoboCAN Node Alive
Alias: ICL HexCode: 46 CANOpen id:
Description:
This query is used to determine if specific RoboCAN node is alive on CAN bus.
Syntax Serial: ?ICL cc
Argument: NodeId
Min: 1 Max: 127
Syntax Scripting: result = getvalue(_ICL, cc)
Reply:
ICL=nn Type: Unsigned 8-bit Min: 0 Max: 1
Where:
cc = Node Id
nn =
0 : Not present
1 : Alive
K - Read Spektrum Receiver
Alias: SPEKTRUM HexCode: 21 CANOpen id: 0x211A
Description:
On controller models with Spektrum radio support, this query is used to read the raw
values of each of up to 6 receive channels. When signal is received, this query returns the
value 0.
Syntax Serial: ?K [cc]
Argument: Channel
Min: 1 Max: 6
Syntax Scripting: result = getvalue(_K, cc)
result = getvalue(_SPEKTRUM, cc)
Reply:
K=nn Min: 0 Max: 1024
Where:
cc = Radio channel
nn = Raw joystick value, or 0 if transmitter is off or out of range
LK - Read Lock status
Alias: LOCKED HexCode: 1D CANOpen id:
Description:
Returns the status of the lock flag. If the configuration is locked, then it will not be possi-
ble to read any configuration parameters until the lock is removed or until the parameters