User Manual

Commands Reference
288 Advanced Digital Motor Controller User Manual V2.1, December 3, 2020
prefix = the prefix for the stream
delimiter = the delimiter for the stream
For example, if one wants a log of the Motor Power(P), Motor Amps(A) and Encoder Speed(S)
of channel 1, with refresh rate 50ms, prefix “d=” and delimiter ‘:’ they should type:
/”d=”,”:”?p 1_?a 1_?s 1_# 50
Two more stream examples are shown below:
/”f=”,”:”?t 1_?v 2_?v 3_# 100
/?p 1_?f 1_?e 1_# 200
The outcome of these three streams are shown in the image below:
FIGURE 15-2. Data streams
In order to clear the streams # c can be sent and then, the legacy history method can be
used. In order to stop the streams but not delete them send #. then using command # xx
nn one can restart the streams with nn refresh rate.
//? - Dump the streams’ prefixes and delimiters
Using this syntax one can see in each of the 3 streams which prefix and delimiter is set.
In that case one can know which stream respects to each stream number.