User Manual

Commands Reference
294 Advanced Digital Motor Controller User Manual V2.1, December 3, 2020
UK - Unlock Configuration Access
Argument: Key
Description:
This command will release the lock and make the configuration readable again. The
command must be followed by the secret key which will be matched by the controller in-
ternally against the key that was entered with the LK command to lock the control-
ler. If the keys match, the configuration is unlocked and can be read.
Syntax:
%UK secretkey
Where:
secretkey = 32-bit number (1 to 4294967296)
Set/Read Configuration Commands
These commands are used to set or read all the operating parameters needed by the con-
troller for its operation. Parameters are loaded from EEPROM into RAM, from where they
are and then used every time the controller is powered up or restarted.
Important Notices
The total number of configuration parameters is very large. To simplify the config-
uration process and avoid errors, it is highly recommended to use the RoborunPlus
PC utility to read and set configuration.
Some configuration parameters may be absent depending on the presence or ab-
sence of the related feature on a particular controller model.
Setting Configurations
The general format for setting a parameter is the “^” character followed by the command
name followed by parameter(s) for that command. These will set the parameter in the con-
troller’s RAM and this parameter becomes immediately active for use. The parameter can
also be permanently saved in EEPROM by sending the %EESAV maintenance command.
Some parameters have a unique value that applies to the controller in general. For exam-
ple, overvoltage or undervoltage. These configuration commands are therefore followed
by a single parameter:
^UVL 100 : Sets Undervoltage limit to 10.0V
^OVL 400 : Sets Overvoltage limit to 40.0V
Other parameters have multiple value, with typically one value applying to a different chan-
nel. Multiple value parameters are numbered from 1 to n. For example, Amps limit for a
motor channel or the configuration of an analog input channel.
^ALIM 1 250 : Sets Amps limit for channel 1 to 25.0A
^AMIN 4 2000 : Sets low range of analog input 4 to 2000