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I/O Commands
Analog Continuous Read (ACR)
Description:
The Analog Continuous Read does continuous read of a selected analog channel into a
User Data Register. Readings are taken every servo cycle (120 usec.) and transferred into
the selected Data Register. A number of different analog channels are available with this
command.
Reading and filtering of all channels into dedicated registers occur continuously in the
background (see Data Register Appendix in User Manual for register numbers). This
command only copies the current filtered register to the given register.
The internal Analog to Digital Converter (ADC) is a 10-bit version, which yields
approximately 0.005 volts per ADC count. SilverMax filters (5 millisecond) the inputs and
scales them up to a 15-bit value (32 counts = 0.005 volts), but the resolution remains the
same. Note that the maximum reading corresponds to 32*1023 = 32736.
Other types of data can be collected using the Analog Continuous Read. The Input Power
Supply voltage and Internal Temperature can both be read into a Data Register. This
information can be used for program conditional control or for direct read out to a Host
controller.
Selecting Analog Channel “0” disables the Analog Continuous Read.
Only one ACR is active. As soon as another ACR is issued, any previous ACR is cancelled.
To read multiple analog inputs, the Analog Read Input (ARI) Command must be issued
repeatedly.
See Using Analog Inputs in the SilverMax User Manual for more information.
Command Info:
Command
Name
Command
Type/Num
Parameters
Analog
Continuous
Read (ACR)
Program
Class D
Code (Hex):
207 (0xCF)
3 words
Analog Channel
#
S16
0 = (Disable)
1 = Analog #1
2 = Analog #2
3 = Analog #3
4 = Analog #4
5 = Analog #1 and
Analog #2
6 = Analog #3 and
Analog #4
7 = V+ (non-calibrated)
8 = Temperature (ADC
counts)
Data Register
S16
Standard Register Range
SilverMax Command Reference
142
Param Type
Parameter Range
Revision 4.01