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Communications protocol

A simple text-based protocol is used. Commands are sent to the SMD4, checked and executed, and a response returned. Data are buffered on receipt and commands are evaluated and executed on a first in first out basis. Although not a requirement, it is usually easiest to send a command and evaluate the response before sending the next command.

Commands are in the form (Note that angle brackets are shown for clarity only, they are not part of the protocol):

<address prefix><mnemonic>,<argument 1>,<argument 2>,<argument n>…<CR><LF>

And responses are in the form:

<address prefix>,<SFLAGS>,<EFLAGS>,<data 1>,<data 2>,<data n>…<CR><LF>

If the command executed successfully, or:

<address prefix>,<SFLAGS>,<EFLAGS>,<error code><CR><LF>

If the command failed to execute correctly.

Where:

Item

Description

<address prefix>

Optional prefix included when multiple SMD4s exist on the same bus. If not using addressing can be omitted.

<mnemonic>

Short sequence of characters representing a command, case insensitive

<argument n>

Zero or more command arguments

<data n>

Zero or more response data items

<error code>

An error code, see section Error Codes. This includes both a number and text description of the error to aid when using the SMD4 via a terminal program.

<SFLAGS>

Set of flags representing the status of the SMD4, such as the state of the limit inputs or whether the joystick is connected. See section Status Flags

<EFLAGS>

Set of flags representing the error state of the SMD4, such as invalid mnemonic, or motor over-temperature fault.

<CR><LF>

Message terminator; carriage return followed by line-feed (0x0D,0x0A)

Addressing

This section is only applicable where multiple SMD4s are connected together on the same bus, using the serial interface in either RS232 or RS485 mode. The addressing logic described in this section works for all interfaces, but is redundant for USB and the network interface since those inherently implement addressing.

When multiple SMD4s exist on the same bus, a mechanism is required to allow them to be addressed uniquely or as a group. Likewise, only one device must use the bus at a time otherwise bus contention results when more than one device tries to drive the bus at a time.

This is accomplished via the address prefix, which is the at '@' symbol followed by a numeric address:

  • 0 = Broadcast address, all SMD4s execute the command, but no response is sent
  • 1 to 247 = Valid secondary address range. The addressed SMD4 executes the command and returns a response
  • Any address outside this range is invalid, and the packet is silently ignored

Upon receipt of the first complete packet with an address prefix, the SMD4 enters addressing mode, and behaviour then changes as follows, until restart.

  • Malformed packets are silently ignored. This includes any packet that does not include the addressing prefix but that is otherwise valid.
  • Broadcast packets are silently parsed and executed. A response is not sent, and as such it cannot be determined whether the command executed successfully without submitting a further query addressed directly to the target SMD4.
  • Packets that are otherwise correctly formed but having a target address that does not match that of the SMD4 are silently ignored. 

Comma separation

All elements are comma-separated, except for the message terminator which immediately follows the last item. A response is always sent on receipt of a message terminator except where addressing criteria are not met. If an argument was supplied with a command, for example, to set a value, the value set will be returned in the response and serves as an additional confirmation of the command having executed as expected.

Many commands accept a real number argument when the underlying quantity is an integer, or finite set of real numbers. In this case, the supplied value being otherwise acceptable is rounded to the closest integer or real number from the allowed set, and it is this value that is returned in the response.

No data items to return
If there are no data items as part of a response, only the SFLAGS and EFLAGS are returned. If an error occurred, then this will be reflected in the EFLAGS.

Argument types

Arguments may be one or a mix of the following types, depending on the command. Data returned by the SMD4 uses the same types, which are always presented as indicated in the “SMD4 response” column.

Type Name Description Example argument values SMD4 response
INT Integer Integer value, with or without sign 100, -10, +7 Sign included for negative values only. E.g. 100, -10
UINT Unsigned integer Unsigned integer value, no sign. Hexadecimal representation may also be used, case insensitive 99, 1000, 0xA74F, 0xd7 Numeric format. E.g. 100, 200 Except for status and error flags which are returned in upper case 2-byte hexadecimal format, E.g. 0x1234, 0xA4DE
FLOAT Real number Real number, with or without sign. Scientific format may also be used, case insensitive 10.23, 100e-3, 100E4, 10 Scientific format, with 5 places after the decimal point and a 2-digit exponent E.g. 1.23000E+04, 5.76159E-10
STRING ASCII string ASCII string, consisting of characters 0x20 to 0x7E inclusive Abc123, 78-%^A ASCII string, E.g. "1234 abc", "10%"
BOOL Boolean Binary, true/false value 0, 1 E.g. 0, 1
DOTTED DECIMAL Dotted decimal IPV4 address or mask, four numbers separated by dots. 192.168.0.1 E.g. an IP address 192.168.0.1 or a net mask 255.255.255.100

Flags

Error flags are reported by the device in hexadecimal format as explained above. E.g. a value of 0x0002 means bit 1 is set (TOPEN), indicating that the device has been disabled due to an open circuit temperature sensor.

Error flags (EFLAGS)

These indicate error conditions and are latching (i.e. remain set even after the error condition that caused them no longer persists). Reset the fault using the clear command, or the reset fault input. The motor is disabled if one or more error flags are set.

Bit

Name

Description

0 Temp Short Selected temperature sensor is short-circuited (Not applicable to Thermocouple)
1 Temp Open Selected temperature sensor is open circuit
2 Temp Over Selected temperature sensor is reporting temperature > 190 °C and power has been removed from the motor to protect the windings
3 Motor Short Motor phase to phase or phase to ground short has been detected
4 External Disable Motor disabled via external input
5 Emergency Stop Motor disabled via software
6 Configuration Error Motor configuration is corrupted
7 Encoder error Encoder fault (applicable only when optional encoder module installed)
8 Boost UVLO The internal 48 V to 67 V boost circuit is disabled because input voltage has fallen too low.
9 SDRAM Memory self-test failed.
10-15 Reserved Reserved, read as '0'

Status flags (SFLAGS)

Bit

Name

Description

0

Joystick Connected Joystick is connected (determined via state of the 

1

Limit Negative Limit input is active (Note that the polarity is configurable, so active can mean high or low signal level)

2

Limit Positive Limit input is active (Note that the polarity is configurable, so active can mean high or low signal level)

3

External Enable External enable input state

4

Ident Ident mode is active, green status indicator is flashing to aid in identifying device

5-6

Reserved Reserved, read as '0'

7

Standby Motor stationary. Check this bit before performing a function that requires the motor to be stopped first, such as changing mode

8

Baking Bake mode running

9

Target Velocity Reached Set when the motor is at target velocity

10

Encoder Present Encoder module fitted

11

Boost Operational Internal 48 V to 67 V boost supply is operational

12-15

Reserved Reserved, read as '0'

Error codes

Error

Description

-1 (Stop motor first)

Several actions, such as changing resolution or operating mode require that the motor is stopped first. Trying to run such a command before the motor has come to a stop and the standby flag in the status register is set will result in this error.

-2 (Argument validation)

An argument supplied to the command is invalid, for example, it is outside the allowable range.

-3 (Unable to get)

The command is write-only, read is not valid. This applies to commands such as RUNV where a read would have no meaning.

-5 (Action failed)

The command failed to execute due to an internal error, for example, the internal flash in which settings are stored has reached the end of life and data cannot be reliably written to it.

-6 (Not possible in mode)

The command is not applicable to this mode, for example, trying to start bake using RUNB when not in bake mode.

-7 (Not possible when motor disabled)

The motor is disabled (due to a fault, or external enable) and the command is one that starts motion, for example RUNV.

-101 (Argument type)

The argument is of the wrong type, for example a non-integer value was given where an integer value was required.

-102 (Argument count)

The argument count is incorrect, either too few or too many arguments have been supplied.

-103 (Invalid Mnemonic)

Command mnemonic is not valid

-104 (Packet error)

Packet is malformed

Quick reference

General

Mnemonic

Description

R

W

Arguments

SYS:IDENT

Rapidly blinks status indicator

BOOL

SYS:MODE

Mode of operation

UINT

SYS:JSMODE

Joystick mode

UINT

SYS:AUTOJS

Auto switch to Joystick mode on JS connect

BOOL

SYS:EXTEN

External enable used

BOOL

SYS:CLR

Clear error flags

 


SYS:FLAGS

Get status and error flags



SYS:FLAGSV

Get human readable summary of status and error flags



SYS:FW

Read the firmware version number


STRING

SYS:LOAD

Load saved configuration

 


SYS:LOADFD

Load factory default settings

 

 

SYS:PROG

Enter programming mode



SYS:RESET

Restart the SMD4



SYS:BSN

Get motherboard serial number


STRING

SYS:PSN

Get product serial number


STRING

SYS:UPTIME

Get uptime


UINT

SYS:UUID

Get UUID



Command movement

Mnemonic

Description

R

W

Arguments

MOTOR:RUNV

Move motor velocity mode

 

STRING

MOTOR:RUNA

Move motor absolute positioning mode

 

INT

MOTOR:RUNR

Move motor relative positioning mode

 

INT

MOTOR:RUNH

Start home mode procedure

 

STRING

MOTOR:STOP

Bring motor to a stop according to the current profile

 

 

MOTOR:SSTOP

Stop motor in 1 second on full step position independently of the current motion profile

 

 

MOTOR:ESTOP

Emergency stop. Stops the motor immediately

 

 

Motor

Mnemonic

Description

R

W

Arguments

MOTOR:TSEL

Temperature sensor selection, T/C or RTD

UINT

MOTOR:T

Temperature in °C

 

 

MOTOR:IR

Run current in amps

FLOAT

MOTOR:IA

Acceleration current in amps

FLOAT

MOTOR:IH

Hold current in amps

FLOAT

MOTOR:PDDEL

Power down delay in milliseconds

FLOAT

MOTOR:IHD

Delay per current reduction step

FLOAT

MOTOR:F

Freewheel mode

UINT

MOTOR:RES

Resolution

UINT

MOTOR:SDMODE

Step/direction mode


Limit inputs

Mnemonic

Description

R

W

Arguments

LIMIT:EN

Global enable

BOOL

LIMIT:EN+

Limit positive (Limit 1) enable

BOOL

LIMIT:EN-

Limit negative (Limit 2) enable

BOOL

LIMIT:POL-

Limit n polarity (0 for active high, 1 for active low)

BOOL

LIMIT:POL+

Limit n polarity (0 for active high, 1 for active low)

BOOL

LIMIT:POL

Limit polarity for both Limit positive (Limit 1) and negative (Limit 2), (0 for active high, 1 for active low)

 

BOOL

LIMIT:STOPMODE

How to stop on limit being triggered

BOOL

Profile

Mnemonic

Description

R

W

Arguments

MOTOR:AMAX

Acceleration in Hz/s

FLOAT

MOTOR:DMAX

Deceleration in Hz/s

FLOAT

MOTOR:VSTART

Start frequency in Hz

FLOAT

MOTOR:VSTOP

Stop frequency in Hz

FLOAT

MOTOR:VMAX

Target step frequency in Hz

FLOAT

MOTOR:VACT

Actual frequency in Hz

 

 

MOTOR:PACT

Actual position in steps

FLOAT

MOTOR:PREL

Relative position in steps

FLOAT

TZW

Time to stop before moving again in seconds

FLOAT

MOTOR:THIGH

Full step – micro stepping transition

FLOAT

Step/Direction

Mnemonic

Description

R

W

Arguments

MOTOR:EDGE

Which edges of step input to generate a step on

UINT

MOTOR:INTERP

Interpolate step input to 256 micro steps

BOOL

Bake

Mnemonic

Description

R

W

Arguments

BAKE:T

Bake temperature setpoint

UINT

BAKE:RUN

Start bake



BAKE:ELAPSED

Get the elapsed bake time



Boost

Mnemonic

Description

R

W

Arguments

BOOST:EN

Boost enable BOOL

Coms

Mnemonic

Description

R

W

Arguments

COMS:NET:DHCP

Gets or sets a value indicating whether DHCP is enabled BOOL

COMS:NET:GATEWAY

Gets or sets the gateway address DOTTED DECIMAL

COMS:NET:NETMASK

Gets or sets the subnet mask DOTTED DECIMAL

COMS:NET:IP

Gets or sets the IP address DOTTED DECIMAL

COMS:NET:IPCONF

Outputs a summary of network configuration in human readable form

COMS:NET:LINK

Gets a value indicating whether the ethernet interface link is up
BOOL

COMS:NET:MAC

Gets the Ethernet interface MAC address

COMS:SERIAL:BAUD

Gets or sets the baud rate UINT

COMS:SERIAL:MODE

Gets or sets the serial coms mode, either RS232 or RS485

COMS:SERIAL:RS485DEL

Gets or sets a value in milliseconds specifying the delay to execute between receipt of a command from the host and the client (SMD4) sending the response UINT

COMS:SERIAL:TERM

Gets or sets a value indicating whether RS485 line termination should be used BOOL

COMS:SERIAL:SLAVEADDR

Gets or sets the slave address UINT

Command reference

General


Gets or sets a value indicating whether the identify function is enabled. When set to true, the green status light on the front of the product flashes. This can be used to help identify one device amongst several.

Command:

SYS:IDENT, Enable<CR><LF>

Query:

SYS:IDENT<CR><LF>

Arguments

Enable  

BOOL

The enable state.

[0:

Disable]

1:

Enable

Returns

The enable state, as above.

Examples

Tx: SYS:IDENT,1<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

Tx: SYS:IDENT<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

// Set ident function on

 

// Query state of ident function

 

SYS:MODE - Choose mode of operation 

Gets or sets the operating mode. See section Operating Modes for an explanation of each mode.

Command:

SYS:MODE, Value<CR><LF>

Query:

SYS:MODE<CR><LF>

Arguments

Value

UINT

The operating mode.

0:

Step/direction

[1:

Remote]

2:

Joystick

3:

Bake

4:

Home

Returns

The mode, as above, followed by a space and the name of the mode in brackets.

Remarks

If the motor is moving when attempting to change the mode, a stop motor first error is returned and the mode is unchanged.

Examples

Tx: SYS:MODE,2<CR><LF>

Rx: 0x0000,0x0000,2 (Remote)<CR><LF>

Tx: SYS:MODE<CR><LF>

Rx: 0x0000,0x0000,1 (Remote)<CR><LF>

// Set mode to remote

 

// Query state of mode

 

SYS:JSMODE – Joystick mode

Gets or sets the joystick mode. Choose between single step, which allows precise single steps or continuous rotation, or continuous which requires only a single button press to make the motor move.

Command:

SYS:JSMODE, Mode<CR><LF>

Query:

SYS:JSMODE<CR><LF>

Arguments

Mode

UINT

The joystick mode.

[0:

Single step]

1:

Continuous

Returns

The mode, as above.

Remarks

Set requires the motor to be in standby, otherwise, a stop motor first error will be returned.

In single step mode, a brief button press (< 0.5 s) will execute one step in that direction, while pressing the button for > 0.5 s will cause the motor to accelerate up to slewing speed and continue to rotate in that direction until the button is released, at which point the motor will decelerate to a stop.

In continuous mode, a brief button press will trigger the motor to accelerate up to slewing speed. A subsequent press of the same button causes it to decelerate to a stop. If, for example, the clockwise button is pressed while the motor is rotating anti-clockwise, the motor will first decelerate to a stop before changing direction.

Examples

Tx: SYS:JSMODE,1<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

Tx: SYS:JSMODE<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

// Set to continuous

 

// Query state

 

SYS:AUTOJS – Auto switch to joystick mode

Gets or sets the joystick auto select function. When set to true, the product switches to joystick mode automatically when connecting a joystick.

Command:

SYS:AUTOJS, Enable<CR><LF>

Query:

SYS:AUTOJS<CR><LF>

Arguments

Enable

BOOL

The enable state.

0:

Disable

[1:

Enable]

Returns

The enable state, as above.

Examples

Tx: SYS:AUTOJS,1<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

Tx: SYS:AUTOJS<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

// Enable

 

// Query state

 

SYS:EXTEN – External enable used

Gets or sets a value indicating whether the external enable signal should be respected. If not using the external enable and it remains disconnected, set to false.

Command:

SYS:EXTEN, Used<CR><LF>

Query:

SYS:EXTEN<CR><LF>

Arguments

Used

BOOL

External enable signal.

[0:

False]

1:

True

Returns

True if the external enable signal is used.

Remarks

The external enable input requires a voltage to be applied between SDE COM and EN on the I/O connector which may be inconvenient if you do not wish to use the enable input. In that case, disable the enable input by sending this command with the argument set to false.

Examples

Tx: SYS:EXTEN,1<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

Tx: SYS:EXTEN<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

// Enable

 

// Query state

 

SYS:CLR – Clear faults

Clear all error flags.

Command:

SYS:CLR<CR><LF>

Examples

Tx: SYS:CLR<CR><LF>

Rx: 0x0000,0x0000<CR><LF>

// Clear errors

 

SYS:FLAGS – Get status and error flags

Gets status and error flags.

Query:

SYS:FLAGS<CR><LF>

Remarks

None.

Examples

Tx: SYS:FLAGS<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

// Get flags

 

SYS:FLAGSV – Get status and error flags summary

Gets a human readable summary of status and error flags.

Query:

SYS:FLAGSV<CR><LF>

Remarks

None.

Examples

Tx: SYS:FLAGSV<CR><LF>

Rx: 0x088e,0x0000,<CR><LF>

 

-------Status flags------

[ ]JsCon

[X]LimitNeg

[X]LimitPos

[X]Exten

[ ]Ident

[ ]reserved1

[ ]reserved2

[X]Standby

[ ]Baking

[ ]TargetVelocityReached

[ ]EncoderPresent

[X]BoostOperational

[ ]BoostDisableJumper

[ ]reserved3

[ ]reserved4

[ ]reserved5

 

-------Error flags-------

[ ]TempShort

[ ]TempOpen

[ ]TempOver

[ ]MotorShort

[ ]ExternalInhibit

[ ]EmergencyStop

[ ]ConfigError

[ ]EncoderError

[ ]BoostUVLO

[ ]reserved1

[ ]reserved2

[ ]reserved3

[ ]reserved4

[ ]reserved5

[ ]reserved6

[ ]reserved7

SYS:FW – Get firmware version

Gets firmware version string.

Query:

SYS:FW<CR><LF>

Returns

Firmware version STRING

Remarks

None.

Examples

Tx: SYS:FW<CR><LF>

Rx: 0x088e,0x0000,24044.12<CR><LF>

// Query

 

SYS:LOAD – Load last stored settings

Load the last saves configuration.

Command:

SYS:LOAD<CR><LF>

Remarks

None.

Examples

Tx: SYS:LOAD<CR><LF>

Rx: 0x088e,0x0000<CR><LF>

SYS:LOADFD – Load factory default settings

Load the factory default configuration.

Command:

SYS:LOADFD<CR><LF>

Remarks

Use the store command if you want to persist the changes.

Examples

Tx: SYS:LOADFD<CR><LF>

Rx: 0x088e,0x0000<CR><LF>

SYS:PROG – Enter programming mode

Reboot the SMD4 into programming mode. Used by AML device control software to initiate a firmware update. Power cycle to cancel this mode.

Command:

SYS:PROG<CR><LF>

Remarks

There is no response to this command.

Examples

Tx: SYS:PROG<CR><LF>

SYS:RESET– Restart the SMD4

Reboot the SMD4.

Command:

SYS:RESET<CR><LF>

Remarks

There is no response to this command.

Examples

Tx: SYS:RESET<CR><LF>

SYS:BSN – Get motherboard serial number

Gets the serial number of the motherboard.

Query:

SYS:BSN<CR><LF>

Returns

Motherboard serial number STRING

Remarks

None.

Examples

Tx: SYS:BSN<CR><LF>

Rx: 0x088e,0x0000,1234ABCD<CR><LF>

// Query

 

SYS:PSN – Get product serial number

Gets the serial number of the product. This matches the serial number label installed on the product.

Query:

SYS:PSN<CR><LF>

Returns

Product serial number STRING

Remarks

None.

Examples

Tx: SYS:PSN<CR><LF>

Rx: 0x088e,0x0000,00000-000<CR><LF>

// Query

 

SYS:UPTIME – Get uptime

Gets the elapsed time since start up in milliseconds.

Query:

SYS:UPTIME<CR><LF>

Returns

Uptime UINT

Remarks

None.

Examples

Tx: SYS:UPTIME<CR><LF>

Rx: 0x088e,0x0000,10000<CR><LF>

// Query

// Uptime is 10 seconds

SYS:UUID – Get UUID

Gets a unique ID number which is included in the data reported when using SSDP. See SSDP. Not the same as the MAC address.

Query:

SYS:UUID<CR><LF>

Returns

UUID UUID

Remarks

None.

Examples

Tx: SYS:UUID<CR><LF>

Rx: 0x088e,0x0000,f4562fb1-d002-11ee-b3e5-44b7d0c71675<CR><LF>

// Query

 

Command movement

MOTOR:RUNV – Run, velocity

Start continuous rotation in specified direction.

Command:

MOTOR:RUNV, Direction <CR><LF>

Arguments

Direction

String

Direction:

‘+’:

Positive, step count increases

‘-’:

Negative, step count decreases

Remarks

None.

Examples

Tx: MOTOR:RUNV,+<CR><LF>

Rx: 0x0000,0x0000<CR><LF>

Tx: MOTOR:RUNV,-<CR><LF>

Rx: 0x0000,0x0000<CR><LF>

// Spin motor in positive direction

 

// Spin motor in negative direction

MOTOR:RUNA – Run, absolute position

Move the motor to a specified absolute position.

Command:

MOTOR:RUNA, Absolute <CR><LF>

 Arguments

Absolute

INT

Minimum: 

-8388608

Maximum:

8388607

Remarks

None.

Examples

Tx: MOTOR:RUNA,1000<CR><LF>

Rx: 0x0000,0x0000<CR><LF>

Tx: MOTOR:RUNA,-1000<CR><LF>

Rx: 0x0000,0x0000<CR><LF>

// Drive motor to step position 1000

 

// Drive motor to step position -1000

MOTOR:RUNR - Run, relative position

Move the motor a specified number of steps, relative to the current position.

Command:

MOTOR:RUNR, Relative <CR><LF>

 Arguments

Relative

INT

Minimum: 

-8388608

Maximum:

8388607

Remarks

None.

Examples

Tx: MOTOR:RUNR,2000<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

Tx: MOTOR:RUNR,-2000<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

// Move motor in positive direction by 2000 steps

 

// Move motor in negative direction by 2000 steps

MOTOR:RUNH - Run, home

Initiate a homing sequence to the specified limit.

Command:

MOTOR:RUNH, Direction<CR><LF>

Arguments

Direction

String

Direction:

‘+’:

Home towards positive limit, step count increases

‘-’:

Home towards negative, step count decreases

Remarks

None.

Examples

 

Tx: MOTOR:RUNH,+<CR><LF>

Rx: 0x0000,0x0000<CR><LF>

Tx: MOTOR:RUNH,-<CR><LF>

Rx: 0x0000,0x0000<CR><LF>

 

// Home motor in positive direction

 

// Home motor in negative direction

MOTOR:STOP – Stop motor

Stop the motor, decelerating according to the current profile

Command:

MOTOR:STOP<CR><LF>

Remarks

During the deceleration phase that stops the motor, any modifications to the acceleration or deceleration interrupt the stopping phase. Re-send the command to restart the motor stopping phase.

Examples

Tx: MOTOR:STOP<CR><LF>

Rx: 0x0000,0x0000<CR><LF>

// Stop the motor

 

MOTOR:SSTOP – Stop motor in <=1 s

Decelerates the motor to a stop within 1 second, disregarding the current profile to do so.

Command:

MOTOR:SSTOP<CR><LF>

Remarks

This command does not consider the deceleration set in the profile. Instead, it calculates the deceleration required to stop in 1 second, according to the actual velocity. The motor will stop in a full step position. Steps may be lost if the load requires greater than this duration to stop.

Examples

Tx: MOTOR:SSTOP<CR><LF>

Rx: 0x0000,0x0000<CR><LF>

// Stop the motor in 1 seconds

 

MOTOR:ESTOP – Emergency stop

Stop motor immediately disregarding deceleration profile and disable the motor. This should not be relied on as a safety interlock.

Command:

MOTOR:ESTOP<CR><LF>

Remarks

The motor may stop on a fractional step position, but this is irrelevant as motor power is removed and the motor will snap to a full step position. Steps may be lost.

Examples

Tx: MOTOR:ESTOP<CR><LF>

Rx: 0x0000,0x0000<CR><LF>

// Stop the motor immediately

 

Motor

MOTOR:TSEL – Temperature sensor selection

Gets or sets the motor temperature sensor type.

Command:

MOTOR:TSEL, SensorType<CR><LF>

Query:

TSEL<CR><LF>

Arguments

SensorType

UINT

Motor temperature sensor type.

[0:

Thermocouple]

1:

RTD

Returns

Selected temperature sensor type, as above.

Remarks

To protect the motor from possible damage, the motor is disabled if the temperature sensor is faulty or missing. The response is not immediate, and several seconds may elapse between emergence of a fault and the motor being disabled.

Examples

Tx: MOTOR:TSEL,0<CR><LF>

Rx: 0x0000,0x0000,0<CR><LF>

Tx: MOTOR:TSEL<CR><LF>

Rx: 0x0000,0x0000,0<CR><LF>

// Select thermocouple sensor

 

// Get selected sensor, returning 0 for thermocouple

MOTOR:T – Motor temperature

Get the motor temperature in °C.

Query:

MOTOR:T<CR><LF>

Returns

Motor temperature as integer in °C.

Remarks

The reported temperature is intended only for the purposes of monitoring motor temperature and should not be relied upon for any other purpose within the vacuum system.

Examples

Tx: MOTOR:T<CR><LF>

Rx: 0x0000,0x0000,25<CR><LF>

// Get motor temperature

// Response is 25 degrees Celsius

MOTOR:IR – Run current

Gets or sets the motor run current.

Command:

MOTOR:IRCurrent<CR><LF>

Query:

MOTOR:IR<CR><LF>

Arguments

Current

FLOAT

The motor run current in amps rms.

[Default:

1.044]

Minimum:

0

Maximum:

1.044

Returns

The motor run current in amps rms, rounded to the closest multiple of 1.044 A / 31 (approx. 33 mA).

Remarks

Run current must be set equal to or smaller than acceleration current. Acceleration current is automatically adjusted to be equal to run current, if a change to run current makes it greater than acceleration current.

Examples

Tx: MOTOR:IR,1<CR><LF>

Rx: 0x0000,0x0000,1.0000E+00<CR><LF>

Tx: MOTOR:IR<CR><LF>

Rx: 0x0000,0x0000,1.0000E+00<CR><LF>

// Set run current to 1 A

 

// Query run current

 

MOTOR:IA – Acceleration current

Gets or sets the motor current applied during acceleration or deceleration.

Command:

MOTOR:IACurrent<CR><LF>

Query:

MOTOR:IA<CR><LF>

Arguments

Current

FLOAT

The motor acceleration current in amps rms.

[Default:

1.044]

Minimum:

0

Maximum:

1.044

Returns

The motor acceleration current in amps rms, rounded to the closest multiple of 1.044 A / 31 (approx. 33 mA).

Remarks

Acceleration current must be set equal to or greater than run current. Acceleration current is not adjusted to match run current if acceleration current is smaller than run current.

Examples

Tx: MOTOR:IA,1.044<CR><LF>

Rx: 0x0000,0x0000,1.0440E+00<CR><LF>

Tx: MOTOR:IA<CR><LF>

Rx: 0x0000,0x0000,1.0440E+00<CR><LF>

// Set acceleration current to 1.044 A

 

// Query acceleration current

 

MOTOR:IH – Hold current

Set or query the motor hold current. If your application allows it, set MOTOR:PDDEL, MOTOR:IHD and MOTOR:IH to zero in order to reduce run current to zero as quickly as possible after stopping which minimises motor temperature rise.

Command:

MOTOR:IHCurrent<CR><LF>

Query:

MOTOR:IH<CR><LF>

Arguments

Current

FLOAT

The motor hold current in amps rms.

[Default:

0.1]

Minimum:

0

Maximum:

1.044

Returns

The motor hold current in amps rms, rounded to the closest multiple of 1.044 A / 31 (approx. 33 mA).

Examples

Tx: MOTOR:IH,0.5<CR><LF>

Rx: 0x0000,0x0000,5.0000E-01<CR><LF>

Tx: MOTOR:IH<CR><LF>

Rx: 0x0000,0x0000,5.0000E-01<CR><LF>

// Set hold current to 0.5 A

 

// Query hold current

 

MOTOR:PDDEL – Power down delay

Gets or sets the delay time in seconds between stand still occurring and the motor current being reduced from the acceleration current to the hold current. The range is 0 to 5.5 seconds, with approximately 8 bit / 20 ms resolution. See also DelayPerCurrentReductionStep.      

Refer to Figure 1. If your application allows it, set MOTOR:PDDEL, MOTOR:IHD and MOTOR:IH to zero in order to reduce run current to zero as quickly as possible after stopping which minimises motor temperature rise.

Command:

MOTOR:PDDEL, Duration<CR><LF>

Query:

MOTOR:PDDEL<CR><LF>

Arguments

Duration

FLOAT

The power-down delay in seconds.

[Default:

0]

Minimum:

0

Maximum:

5.5

Returns

The power-down delay rounded to the closest settable value.

Examples

Tx: MOTOR:PDDEL,100E-3<CR><LF>

Rx: 0x0000,0x0000,1.0000E-01<CR><LF>

Tx: MOTOR:PDDEL<CR><LF>

Rx: 0x0000,0x0000,1.0000E-01<CR><LF>

// Set to 100 ms

 

// Query

 

MOTOR:IHD – Delay per current reduction step

Gets or sets the delay in seconds per current reduction step that occurs when run current is reduced to hold current. Non-zero values result in a smooth reduction in current which reduces the chance of a jerk upon power down. The range is 0 to 328 ms, with a resolution of 4 bits or approx. 20 ms. Current setting has a resolution of 5 bits, or 32 steps, and consequently the current reduction process will only have as many steps as exist between the configured run and hold current. See also MOTOR:PDDEL.

See Figure 1. If your application allows it, set MOTOR:PDDEL, MOTOR:IHD and MOTOR:IH to zero in order to reduce run current to zero as quickly as possible after stopping which minimises motor temperature rise.

Command:

MOTOR:IHD, Duration<CR><LF>

Query:

MOTOR:IHD<CR><LF>

Arguments

Duration

FLOAT

The delay per current reduction step in seconds.

[Default:

0]

Minimum:

0

Maximum:

328 ms

Returns

The delay per current reduction step in seconds.

Remarks

See also section Going to standby

Examples

Tx: MOTOR:IHD,328E-3<CR><LF>

Rx: 0x0000,0x0000,3.2800E-01<CR><LF>

Tx: MOTOR:IHD<CR><LF>

Rx: 0x0000,0x0000,3.2800E-01<CR><LF>

// Set IHD to 328 ms

 

// Query IHD

 

MOTOR:F – Freewheel mode

Gets or sets the freewheel mode. For maximum passive braking use phases shorted. Use freewheel to electrically disconnect the motor and allow it to freewheel. Hold current must be set to zero for this option to work.

The chosen mode becomes active after a time period specified by ‘PDDEL’ and ‘IHD’

Command:

MOTOR:F, Mode<CR><LF>

Query:

MOTOR:F<CR><LF>

Arguments

Mode

UINT

The freewheel mode:

0:

Normal

1:

Freewheel

[2:

Phases shorted to GND]

Returns

The freewheel mode selection, as above.

Remarks

Use the freewheel mode to allow the motor shaft to spin freely when the motor current is zero. The phases shorted to GND option supplies no power to the motor, but by shorting the phases together a holding torque is produced, and the motor shaft offers considerable resistance to movement. This is enough in many applications to remove the need for any holding current, with the benefit that no heat is generated because the motor phases are not energised.

Examples

Tx: MOTOR:F,1<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

Tx: MOTOR:F<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

// Set to freewheel mode

// motor shaft can be turned easily

 

// Query

 

MOTOR:RES - Resolution

Gets or sets the microstep resolution.

Command:

MOTOR:RES, Resolution<CR><LF>

Query:

MOTOR:RES<CR><LF>

 Arguments

Resolution

UINT

The microstep resolution as an integer.

[Default:

256]

Possible values:

8, 16, 32, 64, 128, 256

 Returns

The microstep resolution, as above.

Remarks

Motor must be in standby to set the resolution.

The resolution applies globally, including for the step/direction interface. Each step on the step/direction interface generates a 1/8, 1/16, 1/32 etc step according to the resolution set here.

Above a configurable step frequency, the drive switches from the microstepping resolution specified here to full step mode in any case. See section THIGH

Examples

Tx: MOTOR:RES,256<CR><LF>

Rx: 0x0000,0x0000,256<CR><LF>

Tx: MOTOR:RES<CR><LF>

Rx: 0x0000,0x0000,256<CR><LF>

// Set resolution to 256

 

// Query

 

MOTOR:SDMODE - Step/direction mode

Gets of sets the step/direction mode. In normal mode, edges on the step input generate steps according to the edge setting, see edge. In triggered mode, continuous motion is triggered by an edge on the step input; this is akin to how continuous mode works for the joystick, see joystick continuous mode.

Command:

MOTOR:SDMODE, Mode<CR><LF>

Query:

MOTOR:SDMODE<CR><LF>

 Arguments

Mode

ENUM

Mode

[0:

Normal]

1:

Triggered

 Returns

Mode ENUM

Remarks

None.

Examples

Tx: MOTOR:SDMODE,0<CR><LF>

Rx: 0x0000,0x0000,0<CR><LF>

// Set mode 0, normal

 

Limit inputs

LIMIT:EN – Limits global enable

Gets or sets global limit enable state. If this setting is false, limits are disabled regardless of the state of any other limits configuration item

This does not affect other limits configuration settings, allowing limits to be configured as desired, then globally enabled or disabled if required.

Command:

LIMIT:EN, Enabled<CR><LF>

Query:

LIMIT:EN<CR><LF>

 Arguments

Enabled

BOOL

Enable state of limits.

[0:

Disable]

1:

Enable

 Returns

True if limits are globally enabled.

Remarks

This option globally enables or disabled limits; remaining limits settings remain unchanged.

Examples

Tx: LIMIT:EN,0<CR><LF>

Rx: 0x0000,0x0000,0<CR><LF>

Tx: LIMIT:EN<CR><LF>

Rx: 0x0000,0x0000,0<CR><LF>

// Disable limits globally

 

// Query

 

LIMIT:EN-, LIMIT:EN+ Negative limit enable, positive limit enable

Gets or sets the negative limit (corresponding to decrementing step counter), or positive limit (corresponding to incrementing step counter) enable.

Command:

LIMIT:ENx,Enabled<CR><LF>

Query:

LIMIT:ENx<CR><LF>

Where 'x' is '-' for negative or '+' for positive limit.

Arguments

Enabled

BOOL

Enable state of limit n.

0:

Disable

[1:

Enable]

Returns

True if limit is enabled.

Remarks

None.

Examples

Tx: LIMIT:EN+,1<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

Tx: LIMIT:EN-<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

// Set positive limit enable

 

// Query negative limit enable state

 

LIMIT:POL-, LIMIT:POL+ Negative limit polarity, positive limit polarity

Gets or sets the negative or positive limit polarity. 

Command:

LIMIT:POLx,Polarity<CR><LF>

Query:

LIMIT:POLx<CR><LF>

Where 'x' is '-' for negative or '+' for positive limit.

Arguments

Polarity

UINT

Polarity of limit.

[0:

Active high]

1:

Active low

Returns

Polarity setting for the limit.

Remarks

None.

Examples

Tx: LIMIT:POL-,1<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

Tx: LIMIT:POL+<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

// Set negative limit polarity to active low

 

// Query positive limit polarity

 

LIMIT:POL – Global limit polarity

Set the polarity for both limits at once. 

Command:

LIMIT:POL,Polarity<CR><LF>

Arguments

Polarity

UINT

Polarity of LP.

[0:

Active high]

1:

Active low

Remarks

None.

Examples

Tx: LIMIT:POL,1<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

// Set polarity of both limits to active low

 

LIMIT:STOPMODE – Limit stop mode

Gets or sets the limits stop mode, which determines behaviour on limit being triggered.

Command:

LIMIT:STOPMODE, Mode<CR><LF>

Query:

LSM<CR><LF>

Arguments

Mode

UINT

The stop mode.

[0:

Hard stop; the motor will stop immediately on a limit being triggered]

1:

Soft stop; the motor decelerates according to the profile

Returns

The stop mode, as above.

Remarks

When using hard stop, keep in mind that steps may be lost depending on the slewing speed and load on the motor. Treat position counters with caution until the true position has been established. Conversely, when using soft stop, ensure that the motor can decelerate to a stop before the physical end of travel is reached and steps are lost.

Examples

Tx: LIMIT:STOPMODE,1<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

Tx: LIMIT:STOPMODE<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

// Set soft stop mode

 

// Query

 

Profile

MOTOR:AMAX - Acceleration

Gets or sets the acceleration, in Hz/s (steps per second per second).

Command:

MOTOR:AMAX, Acceleration<CR><LF>

Query:

MOTOR:AMAX<CR><LF>

 Arguments

Acceleration

FLOAT

The acceleration in Hz/s.

[Default:

5000]

Minimum:

10

Maximum:

15000

 Returns

User value (data 1) and real value (data 2). See user/real values

Remarks

None.

Examples

Tx: MOTOR:AMAX,150<CR><LF>

Rx: 0x0000,0x0000,1.5000E+02,1.4988E+02<CR><LF>

Tx: AMAX<CR><LF>

Rx: 0x0000,0x0000,1.5000E+02,1.4988E+02<CR><LF>

// Set acceleration to 150Hz/s

// Note that the target value of 150 has been adjusted to the closest real value, which deviates from the requested value by 0.12 Hz/s

MOTOR:DMAX - Deceleration

Gets or sets the deceleration, in Hz/s (steps per second per second).

Command:

MOTOR:DMAX, Deceleration<CR><LF>

Query:

MOTOR:DMAX<CR><LF>

 Arguments

Deceleration

FLOAT

The deceleration in Hz/s.

[Default:

5000]

Minimum:

10

Maximum:

15000

Returns

User value (data 1) and real value (data 2). See user/real values.

Remarks

None.

Examples

Tx: MOTOR:DMAX,150<CR><LF>

Rx: 0x0000,0x0000,1.5000E+02,1.4988E+02<CR><LF>

Tx: MOTOR:DMAX<CR><LF>

Rx: 0x0000,0x0000,1.5000E+02,1.4988E+02<CR><LF>

// Set deceleration to 150Hz/s

 

// Query deceleration

 

MOTOR:VSTART – Start frequency

Get or set the start frequency in Hz. Must be set less than or equal to MOTOR:VSTOP. The acceleration ramp starts from this frequency.

The start frequency is the initial step rate, and helps to allow the motor to overcome inertia and start moving smoothly; if start frequency were zero, the duration of the initial few steps might be long enough that the motor would overcome inertia on the first step, then effectively stop for a time, then have to overcome inertia once more for the second step, and so on, until the steps were frequent enough that the motor remains moving.

Command:

MOTOR:VSTART, StartFrequency<CR><LF>

Query:

MOTOR:VSTART<CR><LF>

 Arguments

StartFrequency

FLOAT

The start frequency in Hz.

[Default:

100]

Minimum:

1

Maximum:

700

 Returns

User value (data 1) and real value (data 2). See user/real values.

Remarks

Start frequency must be set equal to or less than stop frequency. If a change to start frequency makes it bigger than stop frequency, stop frequency is automatically adjusted to be equal to start frequency.

Start frequency must be set equal to or less than step frequency. Start frequency is not adjusted to match step frequency if start frequency is greater than step frequency.

Examples

Tx: MOTOR:VSTART,0<CR><LF>

Rx: 0x0000,0x0000,0.0000+00,0.0000+00<CR><LF>

Tx: MOTOR:VSTART<CR><LF>

Rx: 0x0000,0x0000,0.0000+00,0.0000+00<CR><LF>

// Set start frequency to 0 Hz

 

// Query

MOTOR:VSTOP – Stop frequency

Get or set the stop frequency in Hz. Must be greater than or equal to MOTOR:VSTART. The deceleration ramp ends at this frequency. The final step before stop will occur at this frequency.

The stop frequency is the frequency at which the deceleration ramp ends; i.e. the deceleration ramp does not go from the target frequency linearly down to 0, but from the target frequency linearly down to the stop frequency.

Command:

MOTOR:VSTOP, StopFrequency<CR><LF>

Query:

MOTOR:VSTOP<CR><LF>

Arguments

StopFrequency

FLOAT

The stop frequency in Hz.

[Default:

100]

Minimum:

1

Maximum:

700

 Returns

User value (data 1) and real value (data 2). See user/real values.

Remarks

Stop frequency must be set equal to or greater than start frequency. If a change to stop frequency makes it smaller than start frequency, start frequency is automatically adjusted to be equal to stop frequency.

Stop frequency must be set equal to or less than step frequency. Stop frequency is not adjusted to match step frequency if stop frequency is greater than step frequency.

Examples

Tx: MOTOR:VSTOP,10<CR><LF>

Rx: 0x0000,0x0000,1.0000+01,9.9996+00<CR><LF>

Tx: MOTOR:VSTOP<CR><LF>

Rx: 0x0000,0x0000,1.0000+01,9.9996+00<CR><LF>

// Set stop frequency to 10 Hz

// Notice the closest real value of 9.9996 Hz set

// Query

MOTOR:VMAX – Step frequency

Gets or sets the target step frequency in Hz, or steps per second. This is the maximum speed the motor will be run at. The target frequency will only be reached if there is enough time or distance to do so; if moving for a short time, for example, the motor may only accelerate to some fraction of the target frequency before it is time to decelerate to a stop.

Command:

MOTOR:VMAX, TargetFrequency<CR><LF>

Query:

MOTOR:VMAX<CR><LF>

Arguments

TargetFrequency

FLOAT

The target frequency in Hz.

[Default:

1 kHz]

Minimum:

1 Hz

Maximum:

15 kHz

Returns

User value (data 1) and real value (data 2). See user/real values.

Remarks

Motor torque decreases with speed, and each motor will have a different maximum frequency that it can achieve while reliably maintaining synchronicity (when synchronicity is lost, the motor fails to complete the steps that it is commanded to, leading to a difference between the true and actual positions), depending on the load it is driving.

Step frequency must be set equal to or greater than start frequency and stop frequency. Step frequency is not adjusted to match start frequency and stop frequency if step frequency is smaller than start frequency and stop frequency.

Examples

Tx: MOTOR:VMAX,1000<CR><LF>

Rx: 0x0000,0x0000,1.0000E+03,1.0000E+03<CR><LF>

Tx: MOTOR:VMAX<CR><LF>

Rx: 0x0000,0x0000,1.0000E+03,1.0000E+03<CR><LF>

// Set step frequency to 1 kHz

 

// Query

MOTOR:VACT – Actual frequency

Get the live step frequency of the motor in Hz (steps per second).

Query:

MOTOR:VACT<CR><LF>

Returns

The frequency at which the motor is spinning in Hz.

Remarks

This value is derived from the stepper motor control logic; there is no feedback from the motor itself. Hence, the motor could be stalled while which continues to indicate the expected.

Examples

Tx: MOTOR:VACT<CR><LF>

Rx: 0x0000,0x0000,1.0000E+03<CR><LF>

// Query state of blink

MOTOR:PACT – Actual position

Gets or sets the actual position in steps.   

The usual way to position the motor is to initialise the actual position to some reference value, usually 0, then adjust the target position to move the motor. In this way, by setting MOTOR:RUNA to 0 the motor can be homed to the initial 0 position. If you wish to perform relative movements, while still retaining an absolute reference, see MOTOR:PREL command.

Command:

MOTOR:PACT,Position<CR><LF>

Query:

MOTOR:PACT<CR><LF>

Arguments

Position

INT

The target position in steps.

Minimum: 

-8388608

Maximum:

8388607

Returns

The absolute position, as above.

Remarks

Query is applicable any time, Set requires the motor in standby condition.

Examples

Tx: MOTOR:PACT<CR><LF>

Rx: 0x0000,0x0000,1000.00<CR><LF>

Tx: MOTOR:PACT,0<CR><LF>

Rx: 0x0000,0x0000,0.00<CR><LF>

// Query

 

// Set actual position 0

MOTOR:PREL – Relative position

Gets or sets the relative position counter in steps.

Use this function to perform relative movement, while still retaining reference to absolute position via MOTOR:PACT. Set the desired value then use the MOTOR:RUNR command to initiate movement.

Command:

MOTOR:PREL,Position<CR><LF>

Query:

MOTOR:PREL <CR><LF>

 Arguments

Position

INT

The target position in steps.

Minimum: 

-8388608

Maximum:

8388607

 Returns

The relative position, as above.

Remarks

Set requires the motor be in standby condition.

Examples

Tx: MOTOR:PREL<CR><LF>

Rx: 0x0000,0x0000,1000.00<CR><LF>

Tx: MOTOR:PREL,0<CR><LF>

Rx: 0x0000,0x0000,0.00<CR><LF>

// Query

 

// Set relative position 0

TZW – Zero wait time

Gets or sets the waiting time after ramping down to a stop before the next movement or direction inversion can start. Can be used to avoid excess acceleration, e.g. from MOTOR:VSTOP to MOTOR:VSTART

When using higher values for the start and stop frequency, a subsequent move in the opposite direction would result in a jerk equal to start frequency + stop frequency. The motor may not be able to follow this. Zero wait time can be used to introduce a short delay between the two and eliminate the jerk.

Command:

MOTOR:TZW,Duration<CR><LF>

Query:

MOTOR:TZW <CR><LF>

Arguments

Duration

FLOAT

The waiting time in seconds.

[Default:

0]

Minimum:

0

Maximum:

2.7 s

Returns

The zero wait time, as above.

Examples

Tx: MOTOR:TZW,0.1<CR><LF>

Rx: 0x0000,0x0000,1.0000E+02<CR><LF>

Tx: MOTOR:TZW<CR><LF>

Rx: 0x0000,0x0000,1.0000E+02<CR><LF>

// Set TZW to 100 ms

 

// Query

MOTOR:THIGH – Microstep transition

Gets or sets the full step / microstepping transition. When frequency falls below this threshold (approximately), the motor switches from full step to the selected microstep resolution. The product determines the upper threshold automatically and applies hysteresis to avoid possible jitter between the two stepping modes. The upper threshold cannot be adjusted.

Command:

MOTOR:THIGH, Threshold<CR><LF>

Query:

MOTOR:THIGH <CR><LF>

Arguments

Threshold

FLOAT

Threshold in frequency Hz.

[Default:

10000 Hz]

Minimum:

1 Hz

Maximum:

15000 Hz

Returns

User value (data 1) and real value (data 2). See user/real values.

Remarks

AML Device control software calculates and displays the upper threshold value for reference, although as noted above it cannot be adjusted.

Examples

Tx: MOTOR:THIGH,500<CR><LF>

Rx: 0x0000,0x0000,5.0000E+02,5.0400E+02<CR><LF>

Tx: MOTOR:THIGH<CR><LF>

Rx: 0x0000,0x0000,5.0000E+02,5.0400E+02<CR><LF>

// Set threshold to 500 Hz

 

// Query

Step/Direction

MOTOR:EDGE – Edge to step on

Gets or sets which edge(s) a step occurs on when in step direction mode.

Command:

MOTOR:EDGE, Edge<CR><LF>

Query:

MOTOR:EDGE <CR><LF>

 Arguments

Edge

UINT

Edge(s) to step on.

[0:

Rising edge only]

1:

Both rising and falling edges

Returns

Edge(s) to step on.

Remarks

Use option for both edges to halve the frequency on the step input required to obtain a given step rate. 

Examples

Tx: MOTOR:EDGE,1<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

Tx: MOTOR:EDGE<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

// Set step on both edges

 

// Query

MOTOR:INTERP – Step interpolation

Gets or sets a value indicating whether the step input should be interpolated to 256 microsteps. Applicable in Mode.StepDir mode only.

Command:

INTERP, Interpolate<CR><LF>

Query:

INTERP<CR><LF>

Arguments

Interpolate

BOOL

Enable interpolation of step input to 256 microsteps.

[0:

Normal; each step input will cause one step at the current resolution]

1:

Interpolate; each step input will be interpolated to 256 microsteps.

Returns

True if interpolation mode is active, as above.

Remarks

Enabling this feature affords the benefits of high-resolution microstepping, without the drawback of very high step clock rates. Internal logic tracks the rate at which steps are supplied and smooths them out into 256 microsteps; e.g. if resolution is set to full-step and see edge to step on is set to rising, then each rising edge on the step input generates a series of 256 microsteps at the motor.

Examples

Tx: MOTOR:INTERP,1<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

Tx: MOTOR:INTERP<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

// Enable interpolation

 

// Query

Bake

BAKE:T – Bake temperature setpoint

Gets or sets the bake temperature setpoint. To run bake, select bake mode using the MODE, then start bake using the run bake command. Use stop command to end bake.

Command:

BAKE:T,Setpoint<CR><LF>

Query:

BAKE:T <CR><LF>

Arguments

Setpoint

UINT

Bake temperature setpoint.

[Default:

150 °C]

Minimum:

0 °C

Maximum:

200 °C

Returns

Bake temperature setpoint in °C, as above.

Examples

Tx: BAKE:T,100<CR><LF>

Rx: 0x0000,0x0000,100<CR><LF>

Tx: BAKE:T<CR><LF>

Rx: 0x0000,0x0000,100<CR><LF>

// Set bake setpoint to 100 °C

 

// Query

BAKE:RUN – Start bake

Start bake. Configure the bake temperature setpoint using BakeTemperature.

Command:

BAKE:RUN<CR><LF>

Examples

Tx: BAKE:RUN<CR><LF>

Rx: 0x0000,0x0000<CR><LF>

// Run bake

 

BAKE:ELAPSED – Elapsed bake time

Gets the elapsed bake time.

Command:

BAKE:ELAPSED<CR><LF>

Returns

Elapsed time in format h:m:s where h is hours, m is minutes and s seconds.

Examples

Tx: BAKE:ELAPSED<CR><LF>

Rx: 0x0000,0x0000,2:34:12<CR><LF>

 

// Bake has run for 2 hours 34 minutes and 12 seconds

Boost

BOOST:EN – Boost enable

Gets or sets a value indicating whether the boost supply should be enabled. The boost supply steps up the input voltage from 48 V to 67 V to maximise motor dynamic performance. Enable for best performance. Regardless of this setting, the boost supply is disabled when input voltage falls below 48 V, or the boost enable jumper is not fitted.  

Command:

BOOST:EN,State<CR><LF>

Query:

BOOST:EN <CR><LF>

Arguments

State

BOOL

Enable the boost circuit.

0:

Disable boost

[1:

Enable boost]

Returns

Enable state.

Examples

Tx: BOOST:EN,1<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

Tx: BOOST:EN<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

// Enable boost

 

// Query

Coms: Ethernet

COMS:NET:DHCP – DHCP

Gets or sets a value indicating whether DHCP is enabled. If enabled, DHCP (Dynamic Host Configuration Protocol) will be used to automatically assign network configuration, such as IP address and gateway, to the device.

Command:

COMS:NET:DHCP,State<CR><LF>

Query:

COMS:NET:DHCP<CR><LF>

Arguments

State

BOOL

DHCP enable state

0:

Disable DHCP

[1:

Enable DHCP]

Returns


Enable state

BOOL

Examples

Tx: COMS:NET:DHCP,1<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

Tx: COMS:NET:DHCP<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

// Enable DHCP

 

// Query

COMS:NET:GATEWAY – Gateway

Gets or sets the gateway address. When DHCP is enabled, the value read back will be the value assigned by DHCP rather than any value you might have set. Any value set however is retained, and will apply if DHCP is disabled at a later time.

Command:

COMS:NET:GATEWAY,Address<CR><LF>

Query:

COMS:NET:GATEWAY<CR><LF>

Arguments


Address

DOTTED DECIMAL

Returns


Address

DOTTED DECIMAL

Examples

Tx: COMS:NET:DHCP<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

Tx: COMS:NET:GATEWAY,192.168.1.1<CR><LF>

Rx: 0x0000,0x0000,10.0.96.1<CR><LF>

  

// Query DHCP state

// DHCP is on

// Set the gateway

// DHCP is on, and has assigned the gateway so the returned value does not match what we set

COMS:NET:NETMASK – Subnet mask

Gets or sets the subnet mask. When DHCP is enabled, the value read back will be the value assigned by DHCP rather than any value you might have set. Any value set however is retained, and will apply if DHCP is disabled at a later time.

Command:

COMS:NET:NETMASK,Mask<CR><LF>

Query:

COMS:NET:NETMASK<CR><LF>

Arguments


Mask

DOTTED DECIMAL

Returns


Mask

DOTTED DECIMAL

Examples

Tx: COMS:NET:NETMASK<CR><LF>

Rx: 0x0000,0x0000,255.255.248.0<CR><LF>

  

// Query

 

 

COMS:NET:IP – IP Address

Gets or sets the IP address. When DHCP is enabled, the value read back will be the value assigned by DHCP rather than any value you might have set. Any value set however is retained, and will apply if DHCP is disabled at a later time.

Command:

COMS:NET:IP,Address<CR><LF>

Query:

COMS:NET:IP<CR><LF>

Arguments


Address

DOTTED DECIMAL

Returns


Address

DOTTED DECIMAL

Examples

Tx: COMS:NET:IP<CR><LF>

Rx: 0x0000,0x0000,10.0.97.70<CR><LF>

// Query the IP address

 

COMS:NET:IPCONF – Get network config summary

Outputs a summary of network configuration in human readable form.

Query:

COMS:NET:IPCONF<CR><LF>

Returns


Network config summary

    See example below.

Examples

Tx: COMS:NET:IPCONF<CR><LF>

Rx: 0x0000,0x0000,<CR><LF>

Ethernet interface:<CR><LF>

    IPv4 Address. . . . . . . . . . . :10.0.97.70<CR><LF>

    Subnet Mask . . . . . . . . . . .:255.255.248.0<CR><LF>

    Default Gateway . . . . . . . :10.0.96.1<CR><LF>

    DHCP State. . . . . . . . . . . . :Enabled<CR><LF>

 

 

Gets a value indicating whether the ethernet interface link is up. This will read back as false when the LAN connector is unplugged for example.

Returns

Examples

Tx: COMS:NET:LINK<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

// Query

// Link is up

COMS:NET:MAC – Get MAC address

Gets the Ethernet interface MAC address.

Query:

COMS:NET:MAC<CR><LF>

Returns


MAC address

MAC

Examples

Tx: COMS:NET:MAC<CR><LF>

Rx: 0x0000,0x0000,44:b7:d0:c7:16:75<CR><LF>

// Query

 

Coms: Serial

COMS:SERIAL:BAUD – Baud rate

Gets or sets the baud rate.

Command:

COMS:SERIAL:BAUD,Baud<CR><LF>

Query:

COMS:SERIAL:BAUD<CR><LF>

Arguments

Baud

UINT

Baud rate

4800
9600
14400
19200
38400
57600
[115200]
230400
460800
921600

Returns


Baud rate

UINT

Examples

Tx: COMS:SERIAL:BAUD,9600<CR><LF>

Rx: 0x0000,0x0000,9600<CR><LF>

Tx: COMS:SERIAL:BAUD<CR><LF>

Rx: 0x0000,0x0000,9600<CR><LF>

// Set 9600 baud

 

// Query

COMS:SERIAL:MODE – RS232/RS485 mode selection

Gets or sets the serial coms mode, either RS232 or RS485. Unplug from the host device before changing the mode. 

Command:

COMS:SERIAL:MODE,Mode<CR><LF>

Query:

COMS:SERIAL:MODE<CR><LF>

Arguments

Mode

ENUM

Serial interface mode

0:

RS232

[1:

RS485]

Returns


Mode

ENUM

Examples

Tx: COMS:SERIAL:MODE,1<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

Tx: COMS:SERIAL:MODE<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

// Set RS485 mode

 

// Query

COMS:SERIAL:RS485DEL – Turnaround delay

Gets or sets a value in milliseconds specifying the delay to execute between receipt of a command from the host and the client (SMD4) sending the response. Applicable to RS485 mode only. 

The RS485 interface is half duplex (it can send or receive data, but cannot do both at once) and so by default is in the receive state. The interface switches to transmit mode when a command has been received, executed and a response is ready to send. The turnaround delay is used to insert an additional delay following execution of the command but preceding switching to transmit, to allow the host more time to switch into receive mode. 

Experiment with increasing this setting if you find that host receives a response with a portion missing from the start of the response, for example missing some or all of the status an error flags.

Command:

COMS:SERIAL:RS485DEL,Delay<CR><LF>

Query:

COMS:SERIAL:RS485DEL<CR><LF>

Arguments

Delay

UINT

Delay in ms.

Default:

0

Minimum:

0

Maximum:

1000

Returns


Delay in ms

UINT

Examples

Tx: COMS:SERIAL:RS485DEL,10<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

Tx: COMS:SERIAL:RS485DEL<CR><LF>

Rx: 0x0000,0x0000,10<CR><LF>

// Set delay of 10 ms

 

// Query

COMS:SERIAL:TERM – Termination

Gets or sets a value indicating whether RS485 line termination should be used. If enabled, a 120 termination resistance is placed between the RS485 A and B pins. See section on termination.

Command:

COMS:SERIAL:TERM,State<CR><LF>

Query:

COMS:SERIAL:TERM<CR><LF>

Arguments

State

BOOL

Termination enable state

[0:

Disabled]

1:

Enabled

Returns


Enable state

BOOL

Examples

Tx: COMS:SERIAL:TERM,0<CR><LF>

Rx: 0x0000,0x0000,0<CR><LF>

Tx: COMS:SERIAL:TERM<CR><LF>

Rx: 0x0000,0x0000,0<CR><LF>

// Disable termination

 

// Query

COMS:SERIAL:SLAVEADDR – Slave address

Gets or sets the slave address. Only applicable when addressing mode is used, see addressing section.

Command:

COMS:SERIAL:SLAVEADDR,Address<CR><LF>

Query:

COMS:SERIAL:SLAVEADDR<CR><LF>

Arguments

Address

UINT

Termination enable state

Default: 1

Minimum:

1

Maximum:

247

Returns


Address

UINT

Examples

Tx: COMS:SERIAL:SLAVEADDR,1<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

Tx: COMS:SERIAL:SLAVEADDR<CR><LF>

Rx: 0x0000,0x0000,1<CR><LF>

// Disable termination

 

// Query