Obtaining the on/off status of the Roboteq Controller programmatically

Hi,
I am using this roboteq controller and I have an Arduino Mega which sends the PWM values to the controller which sends it to the motors. I want to know if there is a way to find out the on/off status (if the roboteq is getting power or not) of the controller programmatically (or the emergency stop to which it is connected) so that I can use that information in the arduino?

Thanks in advance.
Naman

Thanks for the reply!
Just to be sure, If I send ?V serially to the roboteq controller what kind of information will I get back and can I just read that information serially?

Yes..Thanks! I am able to do that but I have one more problem. I am already sending the PWM values for the motors from the arduino to the Roboteq using the Serial connection. How can I send ?V and read battery status in parallel using the same serial setup? or How can I set up multiple serial communication between Arduino and Roboteq so that I can send PWM values for motors using one and send ?V and read battery status using the other?

Please let me know.
Thanks