2.2 I/O Commands
Command Description Page
AN[N] Read analog inputs 3-8
IB[N] Bit-wise digital input 3-65
IF[N] Digital input filter 3-67
IP Read all digital inputs 3-75
OB[N] Bit-wise digital output 3-98
OC[N] Output Compare 3-100
OL[N] Output Logic 3-103
OP Set all digital outputs 3-105
2.3 Status Commands
Command Description Page
BV Maximum motor DC voltage 3-14
DD CAN controller status 3-28
DV[N] Reference desired value 3-31
EC Error code: get code for last interpreter
error
3-32
LC Current limitation: report status of
current limitation algorithm
3-82
MF Motor fault: code for last motor-disable
cause
3-88
MS Motion status reporting 3-97
PK Peak memory 3-108
SN Serial number 3-133
SR Numerical, bit-coded Metronome status 3-135
TI[N] Temperature indications array 3-140
VR Software (firmware) version 3-152
2.4 Feedback Commands
Command Description Page
AB[N] Absolute encoder setting parameters 3-4
ID Read active current 3-66
IQ Read reactive current 3-66
PE Position error 3-107
PX Main encoder position, in counts 3-119
SimplIQ Command Reference Manual Functional Listing
MAN-SIMCR (Ver. 4.5)
2-2
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