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, see stuff. 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. See 0
<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 slave 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.

White space

~~Additional white space (tabs and spaces) are ignored except where they are surrounded by characters comprising the data item, in which case they will be considered as part of the data item itself.~~

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	SMD3 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

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
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	Boost Disable Jumper	Set when the hardware boost disable jumper is fitted, preventing the boost supply from operating, see stuff.
13-15	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
SER	Read the serial number	●
FW	Read the firmware version number	●
CLR	Clear error flags		●
LOAD	Load saved configuration		●
STORE	Store configuration		●
LOADFD	Load factory defaults		●
IDENT	Identify SMD3 by blinking the status indicator		●	BOOL
MODE	Mode of operation	●	●	UINT
JSMODE	Joystick mode	●	●	UINT
AUTOJS	Auto switch to Joystick mode on JS connect	●	●	BOOL
EXTEN	External enable used	●	●	BOOL
FLAGS	Returns ascii table of status and error flag states	●

Command movement

Mnemonic	Description	R	W	Arguments
RUNV	Move motor velocity mode		●	STRING
RUNA	Move motor absolute positioning mode		●	INT
RUNR	Move motor relative positioning mode		●	INT
RUNB	Activate bake mode		●
RUNH	Start home mode procedure		●	STRING
STOP	Bring motor to a stop according to the current profile		●
SSTOP	Stop motor in 1 second on full step position independently of the current motion profile		●
ESTOP	Emergency stop. Stops the motor immediately		●

Motor

Mnemonic	Description	R	W	Arguments
TSEL	Temperature sensor selection, T/C or RTD	●	●	UINT
TMOT	Temperature in °C	●
IR	Run current in amps	●	●	FLOAT
IA	Acceleration current in amps	●	●	FLOAT
IH	Hold current in amps	●	●	FLOAT
PDDEL	Power down delay in milliseconds	●	●	FLOAT
IHD	Power down ramp delay in milliseconds	●	●	FLOAT
F	Freewheel mode	●	●	UINT
RES	Resolution	●	●	UINT

Limit inputs

Mnemonic	Description	R	W	Arguments
L	Global enable	●	●	BOOL
L+	Limit positive (Limit 1) enable	●	●	BOOL
L-	Limit negative (Limit 2) enable	●	●	BOOL
LP+	Limit n polarity (0 for active high, 1 for active low)	●	●	BOOL
LP-	Limit n polarity (0 for active high, 1 for active low)	●	●	BOOL
LP	Limit polarity for both Limit positive (Limit 1) and negative (Limit 2), (0 for active high, 1 for active low)		●	BOOL
LSM	How to stop on limit being triggered	●	●	BOOL

Profile

Mnemonic	Description	R	W	Arguments
AMAX	Acceleration in Hz/s	●	●	FLOAT
DMAX	Deceleration in Hz/s	●	●	FLOAT
VSTART	Start frequency in Hz	●	●	FLOAT
VSTOP	Stop frequency in Hz	●	●	FLOAT
VMAX	Target step frequency in Hz	●	●	FLOAT
VACT	Actual frequency in Hz	●
PACT	Actual position in steps	●	●	FLOAT
PREL	Relative position in steps	●	●	FLOAT
TZW	Time to stop before moving again in seconds	●	●	FLOAT
THIGH	Full step – micro stepping transition	●	●	FLOAT

Step/Direction

Mnemonic	Description	R	W	Arguments
EDGE	Which edges of step input to generate a step on	●	●	UINT
INTERP	Interpolate step input to 256 micro steps	●	●	UINT

Bake

Mnemonic	Description	R	W	Arguments
BAKET	Bake temperature setpoint	●	●	UINT

Command reference

General

SYS:IDENT - Rapidly blinks status indicator (R/W)

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

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~~INT24

Minimum:	-2²³-18388608
Maximum:	2²³-18388607

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>

// ~~Start~~Drive ~~absolute positioning mode, move~~motor to ~~the~~ step position 1000

// ~~Start~~Drive ~~absolute positioning mode~~motor to ~~the~~ step position -1000

MOTOR:RUNR - Run, relative position

~~Command to move~~Move the motor toa aspecified number of steps, relative ~~position using~~to the ~~positioning~~current ~~mode.~~position.

Command:

MOTOR:RUNR, Relative <CR><LF>

Arguments

Relative

~~INT~~INT24

Minimum:	-2²³-18388608
Maximum:	2²³-18388607

Remarks

~~Command requires the motor to be in standby, otherwise, a stop motor first error will be returned. Ensure the profile is set.~~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>

// ~~Start~~Move ~~relative~~motor ~~positioning~~in ~~mode,~~positive ~~move~~direction by 2000 steps

~~the positive direction~~

// ~~Start~~Move ~~relative~~motor ~~positioning~~in ~~mode,~~negative ~~move~~direction by 2000 steps ~~to the negative direction~~

RUNBMOTOR:STOP – RunStop bakemotor

~~Command~~Stop the motor, decelerating according to ~~start~~ the ~~bake~~current ~~mode.~~profile

Command:

~~RUNB~~~~<CR><LF>~~

~~Remarks~~

~~Set mode to bake first. To stop the bake mode send the STOP command.~~

~~Examples~~

~~Tx: RUNB<CR><LF>~~

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

~~Tx: STOP<CR><LF>~~

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

~~// Start bake mode~~

~~// Stop bake mode~~

RUNH – Home to a limit switch

~~Command to start the home procedure, in which the motor will move in the specified direction until the limit switch for that direction is triggered, at which point a homing procedure is initiated, see~~ ~~section~~ ~~Limits~~.

~~Command:~~

~~RUN,~~ ~~Direction~~ ~~<CR><LF>~~

~~Arguments~~

~~Direction~~

~~String~~

~~Direction velocity motion.~~

~~‘+’:~~	~~Positive~~
~~‘-’:~~	~~Negative~~

~~Remarks~~

~~Ensure the profile is set and the mode is Home mode.~~

~~Examples~~

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

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

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

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

~~// Start homing mode to the positive direction~~

~~// Start homing mode to the negative direction~~

STOP – Stop motor

~~Command motor to stop moving 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

~~Command~~Decelerates the motor to a stop within 1 second, disregarding the ~~motion~~current inprofile 1to ~~second.~~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

~~Command~~Stop ~~stops~~motor immediately disregarding deceleration profile and ~~disables~~disable the motor. ~~Note that this~~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

TSEL – Temperature sensor selection

~~AML motors can be ordered with a K-Type thermocouple~~Gets or ~~a PT100 RTD. Select~~sets the ~~correct~~motor ~~option~~temperature ~~for~~sensor ~~your motor.~~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

~~The~~To ~~drive will not allow~~protect the motor tofrom ~~run~~possible ~~unless~~damage, athe ~~functioning~~motor is disabled if the temperature sensor is ~~connected~~faulty toor missing. The response is not immediate, and several seconds may elapse between emergence of a fault and the ~~selected~~motor ~~sensor~~being ~~connection; be sure to select the correct type.~~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

// ~~Queue~~Get ~~the~~selected ~~state~~sensor, ofreturning ~~temperature~~0 ~~sensor~~for thermocouple

TMOTMOTOR:T – Motor temperature

~~Query~~Get the motor ~~temperature.~~temperature in °C.

Query:

~~TMOT~~MOTOR:T<CR><LF>

Returns

Motor temperature as integer in ~~°C, rounded to the nearest 1~~ °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: ~~TMOT~~MOTOR:T<CR><LF>

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

// ~~Query~~Get motor temperature

// Response is 25 ~~degree~~degrees Celsius

MOTOR:IR – Run current

~~Set~~Gets or ~~query~~sets the motor run current.

Command:	MOTOR:IR, ~~RunCurrent~~Current<CR><LF>
Query:	MOTOR:IR<CR><LF>

Arguments

~~RunCurrent~~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

IRRun current must be set equal to or smaller than IA.acceleration ~~This~~current. isAcceleration ~~enforced by the SMD3;~~ IAcurrent is automatically adjusted to be equal to ~~IR,~~run current, if a change to IRrun current makes it greater than IA.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 1A1 A

// Query run current

MOTOR:IA – Acceleration current

~~Set~~Gets or ~~query~~sets the motor ~~acceleration/deceleration~~current ~~current.~~applied during acceleration or deceleration.

Command:	MOTOR:IA, ~~AccCurrent~~Current<CR><LF>
Query:	MOTOR:IA<CR><LF>

Arguments

~~AccCurrent~~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

IAAcceleration current must be set equal to or greater than IR.run ~~The~~current. ~~SMD3~~Acceleration ~~will~~current is not ~~force IA~~adjusted to match IRrun current if IAacceleration current is smaller than IR.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 PDDEL, IHD and IH to zero in order to reduce run current to zero as quickly as possible after stopping which minimises motor temperature rise.

Command:	MOTOR:IH, ~~HoldCurrent~~Current<CR><LF>
Query:	MOTOR:IH<CR><LF>

Arguments

~~HoldCurrent~~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 0.5A5 A

// Query hold current

MOTOR:PDDEL – Power down delay

~~Set~~Gets or ~~query~~sets the delay time in seconds between ~~standstill~~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 <see cref="DelayPerCurrentReductionStep"/>.

Refer to Figure 1. If your application allows it, set PDDEL, IHD and 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 ~~milliseconds.~~seconds.

[Default:	0]
Minimum:	0
Maximum:	~~5570~~5.5

Returns

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

Examples

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

Rx: 0x0000,0x0000,1.~~0000E+02~~0000E-01<CR><LF>

Tx: MOTOR:PDDEL<CR><LF>

Rx: 0x0000,0x0000, 1.~~0000E+02~~0000E-01<CR><LF>

// Set ~~PDDEL~~ to 100 ms

// Query ~~PDDEL~~

MOTOR:IHD – CurrentDelay per current reduction delaystep

~~Set~~Gets or ~~query~~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 <see cref="PowerdownDelay"/>

See Figure 1. If your application allows it, set PDDEL, IHD and 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 ~~milliseconds.~~seconds.

[Default:	0]
Minimum:	0
Maximum:	~~327~~328 ms

Returns

The delay per current reduction ~~step.~~step in seconds.

Remarks

MOTOR:F – Freewheel mode

~~Set~~Gets or ~~query~~sets the freewheel mode. ~~Set~~For maximum passive braking use <see cref="Freewheel.CoilShortedLS" />. Use <see cref="Freewheel.Freewheel"/> to electrically disconnect the motor and allow it to freewheel. Hold current must be set to zero for this option to ~~use~~work. <see cref="Freewheel.Normal_Operation" provides an intermediate level of passive ~~braking~~braking/>.

~~or freewheeling when the motor is in standby. This feature can be enabled when 'IH' is 0.~~

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

Command:	FWMOTOR:F, Mode<CR><LF>
Query:	FWMOTOR: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 F to freewheel mode

// motor shaft can be turned easily

// Query ~~state of F~~

MOTOR:RES - Resolution

Set or query the microstep resolution. Although the drive may only stop on full step positions in all modes except step/direction, microstepping is still desirable as it reduces resonances for slow movements. Note that full step resolution is always used above a specified stepping rate, regardless of the resolution set here, see command [~~THIGH~~].

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

~~Query~~Motor ismust ~~applicable any time, Set requires the motor~~be in standby ~~condition.~~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 ~~resolution~~

Limit inputs

LLIMIT:EN – Limits global enable

~~Set~~Gets or ~~query~~sets global limit enable state. If this setting is false, limits are disabled regardless of the state of any other limits ~~inputs.~~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:	LLIMIT:EN, Enabled<CR><LF>
Query:	LLIMIT: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: L,LIMIT:EN,0<CR><LF>

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

Tx: LLIMIT:EN<CR><LF>

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

// ~~Set global enable of~~Disable limits ~~to disable~~globally

// Query ~~state of global enable of limits~~

L+LIMIT:EN-, L-LIMIT:EN+ IndividualNegative limit enable, positive limit enable

~~Set~~Gets or ~~query~~sets ~~enable~~the ofnegative ~~Lx,~~limit ~~where~~(corresponding ~~‘x’~~to isdecrementing ~~'+’~~step counter), or ~~‘-’.~~positive limit (corresponding to incrementing step counter) enable.

Command:	LxLIMIT:ENx, Enabled<CR><LF>
Query:	LxLIMIT: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 n is enabled.

Remarks

~~L+ refers to LIMIT 1, associated with movement resulting in incrementing of the position and L- to LIMIT 2, associated with movement decrementing the position counter.~~None.

Examples

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

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

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

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

// Set positive limit enable

// Query ~~state of positive~~negative limit enable state

LP+LIMIT:POL-, LP-LIMIT:POL+ IndividualNegative limit polarity, positive limit polarity

~~Set~~Gets or ~~query~~sets the ~~polarity of LPx, where ‘x’ is ‘+’~~negative or ~~‘-’. Limits are active low by default; use this option to make the~~positive limit ~~active~~polarity. ~~low.~~

Command:	~~LPx~~LIMIT:POLx, ~~ActiveLow~~Polarity<CR><LF>
Query:	~~LPx~~LIMIT:POLx<CR><LF>

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

Arguments

~~ActiveLow~~Polarity

~~BOOL~~UINT

Polarity of ~~LPx.~~limit.

[0:	Active high]
1:	Active low

Returns

~~The~~Polarity ~~polarity~~setting offor ~~LPx,~~the ~~as above.~~limit.

Remarks

~~LP+ refers to Polarity of LIMIT 1 and LP- to Polarity of LIMIT 2.~~None.

Examples

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

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

Tx: ~~LP-~~LIMIT:POL+<CR><LF>

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

// Set negative limit polarity to active low

// Query ~~state of negative~~positive limit polarity

LPLIMIT:POL – Global limit polarity

Set the polarity for both L+limits ~~and~~at ~~L-.~~once. ~~Limits are active high by default; use this option to make the limit active low.~~

Command:

LPLIMIT:POL,, ~~ActiveLow~~Polarity<CR><LF>

Arguments

~~ActiveLow~~Polarity

~~BOOL~~UINT

Polarity of LP.

[0:	Active high]
1:	Active low

~~Returns~~

~~The polarity of LP, as above.~~

Remarks

~~LP+ refers to Polarity of LIMIT 1 and LP- to Polarity of LIMIT 2.~~None.

Examples

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

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

~~Tx: LP-<CR><LF>~~

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

~~Tx: LP+~~<CR><LF>

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

// Set ~~negative~~polarity ~~and~~of ~~positive~~both ~~limit polarity~~limits to active low

~~// Query state of negative limit polarity~~

~~// Query state of positive limit polarity~~

LSMLIMIT:STOPMODE – Limit stop mode

~~Set~~Gets or ~~query~~sets the limits stop ~~mode;~~mode, which determines behaviour ~~when a~~on limit isbeing triggered.

Command:	~~LSM~~LIMIT:STOPMODE, Mode<CR><LF>
Query:	LSM<CR><LF>

Arguments

Mode

~~BOOL~~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: ~~LSM,~~LIMIT:STOPMODE,1<CR><LF>

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

Tx: ~~LSM~~LIMIT:STOPMODE<CR><LF>

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

// Set ~~limits~~soft stop mode ~~to soft stop~~

// Query ~~state of limits stop mode~~

Profile

MOTOR:AMAX - Acceleration

~~Set~~Gets or ~~query~~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:

~~Where resolution is the microstep resolution 8, 16, 32, 64, 128 or 256~~

Maximum:

~~Where resolution is the microstep resolution 8, 16, 32, 64, 128 or 256~~15000

Returns

~~The~~User ~~user-defined AMAX~~value (data 1) and ~~the~~ real value ~~after the conversion~~ (data 2). See user/real values.

Remarks

Notice that the maximum acceleration depends on the motor resolution. Therefore, when changing resolution, the SMD3 validates the acceleration value and may change it if necessary, to constrain it according to the above equation.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

~~Set~~Gets or ~~query~~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:

~~Where resolution is the microstep resolution 8, 16, 32, 64, 128 or 256~~

Maximum:

~~Where resolution is the microstep resolution 8, 16, 32, 64, 128 or 256~~15000

Returns

~~The~~User ~~user-defined DMAX~~value (data 1) and ~~the~~ real value ~~after the conversion~~ (data 2). See user/real values.

Remarks

Notice that the maximum deceleration depends on the motor resolution. Therefore, when changing resolution, the SMD3 validates the deceleration value and may change it if necessary, to constrain it according to the above equation.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

~~Set~~Get or ~~query~~set the start frequency in Hz. Must be set less than or equal to <see cref="StopFrequency"/>. 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:	~~10]~~100]
Minimum:	01
Maximum:	~~15 kHz, when resolution is 8.~~
	~~When resolution is 16, 32, 64, 128 or 256.~~700

Returns

~~The~~User ~~user-defined VSTART~~value (data 1) and ~~the~~ real value ~~after the conversion~~ (data 2). See user/real values.

Remarks

~~VSTART~~Start frequency must be set equal to or less than ~~VSTOP.~~stop ~~This~~frequency. ~~is enforced by the SMD3; if~~If a change to ~~VSTART~~start frequency makes it bigger than ~~VSTOP,~~stop ~~VSTOP~~frequency, stop frequency is automatically adjusted to be equal to ~~VSTART.~~start frequency.

~~VSTART~~Start frequency must be set equal to or less than ~~VMAX.~~step ~~The~~frequency. ~~SMD3~~Start ~~will~~frequency is not ~~force VSTART~~adjusted to match ~~VMAX~~step frequency if ~~VSTART~~start frequency is greater than ~~VMAX.~~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 ~~VSTART~~start frequency to 0 Hz

// Query ~~VSTART~~

MOTOR:VSTOP – Stop frequency

~~Set~~Get or ~~query~~set the stop frequency in Hz. Must be greater than or equal to <see cref="startFrequency"/>. 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:	~~10]~~100]
Minimum:	1
Maximum:	~~15 kHz, when resolution is 8.~~
	~~When resolution is 16, 32, 64, 128 or 256.~~700

Returns

~~The~~User ~~user-defined VSTOP~~value (data 1) and ~~the~~ real value ~~after the conversion~~ (data 2). See user/real values.

Remarks

~~VSTOP~~Stop frequency must be set equal to or greater than ~~VSTART.~~start ~~This~~frequency. ~~is enforced by the SMD3; if~~If a change to ~~VSTOP~~stop frequency makes it smaller than ~~VSTART,~~start ~~VSTART~~frequency, start frequency is automatically adjusted to be equal to ~~VSTOP.~~stop frequency.

~~VSTOP~~Stop frequency must be set equal to or less than ~~VMAX.~~step ~~The~~frequency. ~~SMD3~~Stop ~~will~~frequency is not ~~force VSTOP~~adjusted to match ~~VMAX~~step frequency if ~~VSTOP~~stop frequency is greater than ~~VMAX.~~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 ~~VSTOP~~stop frequency to 10 Hz

// Notice the closest real value of 9.9996 Hz set

// Query ~~VSTOP~~

MOTOR:VMAX – Step frequency

~~Set~~Gets or ~~query~~sets the target ~~frequency,~~step frequency in ~~Hz.~~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

~~The~~User ~~user-defined VMAX~~value (data 1) and ~~the~~ real value ~~after the conversion~~ (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.

~~VMAX~~Step frequency must be set equal to or greater than ~~VSTART~~start frequency and ~~VSTOP.~~stop ~~The~~frequency. ~~SMD3~~Step ~~will~~frequency is not ~~force VMAX~~adjusted to match ~~VSTART~~start frequency and ~~VSTOP~~stop frequency if ~~VMAX~~step frequency is smaller than ~~VSTART~~start frequency and ~~VSTOP.~~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 ~~VMAX~~step frequency to 1 kHz

// Query ~~VMAX~~

MOTOR:VACT – Actual frequency

~~Query~~Get the ~~actual~~live step frequency ~~(the frequency at which~~of the motor ~~is currently spinning)~~ in Hz (steps per second).

Query:

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,~~logic; there is no feedback from the motor itself. Hence, the motor could be stalled while ~~VACT~~which continues to indicate the expected.

Examples

Tx: VACT<CR><LF>

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

// Query state of blink

PACT – Actual position

Set or query 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 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 PREL command.

Command:	PACTUAL, ActualPosition<CR><LF>
Query:	PACTUAL <CR><LF>

Arguments

TargetPosition

INT

The target position in steps.

[Default:	0]
Minimum:	-2²³
Maximum:	2²³-1

Returns

The absolute position, as above.

Remarks

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

Examples

Tx: PACT<CR><LF>

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

Tx: PACT,0<CR><LF>

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

// Query actual position

// Set actual position 0

PREL – Relative position

Set or query the relative position in steps.

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

Command:	PREL, RelativeDisplacement<CR><LF>
Query:	PREL <CR><LF>

Arguments

RelativeDisplacement

INT

The target position in steps.

[Default:	0]
Minimum:	-2²³
Maximum:	2²³-1

Returns

The relative position, as above.

Remarks

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

Examples

Tx: PREL<CR><LF>

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

Tx: PREL,0<CR><LF>

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

// Query relative position

// Set relative position 0

TZW – Zero wait time

Set or query the waiting time after ramping down to a stop before the next movement can start.

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

Command:	TZW, Duration<CR><LF>
Query:	TZW <CR><LF>

Arguments

Duration

FLOAT

The waiting time in milliseconds.

[Default:	0]
Minimum:	0
Maximum:	2796

Returns

The zero wait time, as above.

Examples

Tx: TZW,100<CR><LF>

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

Tx: TZW<CR><LF>

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

// Set TZW to 100 ms

// Query TZW

THIGH – Microstep transition

Set or query the full step / microstepping transition. When frequency falls below this threshold (approximately), the motor switches from full step to the selected microstep resolution. The SMD3 determines the upper threshold automatically and applies hysteresis to avoid possible jitter between the two stepping modes. The upper threshold cannot be adjusted.

Command:	THIGH, Threshold<CR><LF>
Query:	THIGH <CR><LF>

Arguments

Threshold

FLOAT

Threshold in frequency Hz.

[Default:	10000 Hz]
Minimum:	1 Hz
Maximum:	15000 Hz

Returns

The user-defined THIGH (data 1) and the real value after the conversion (data 2)

Remarks

The SMD3 software calculates and displays the upper threshold value for reference, although as noted above it cannot be adjusted.

Examples

Tx: THIGH,500<CR><LF>

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

Tx: THIGH<CR><LF>

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

// Set THIGH threshold to 500 Hz

// Query THIGH

Step/Direction

EDGE – Edge to step on

Set or query a value indicating whether a step occurs on both the rising and falling edges of the step input, or just the rising edge.

Command:	EDGE, Both<CR><LF>
Query:	EDGE <CR><LF>

Arguments

Both

BOOL

Step on both edges.

[0: Rising edge only; a step occurs only on the rising edge]

1: Both; a step occurs on both rising and falling edges

Returns

True if step input is configured to step on both rising and falling edges, as above.

Remarks

Enabling this feature halves the clock rate required to achieve a chosen step rate. The EDGE command is disabled in any other modes than step/direction mode.

Examples

Tx: EDGE,1<CR><LF>

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

Tx: EDGE<CR><LF>

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

// Set EDGE to rising edge

// Query EDGE

INTERP – Step interpolation

Set or query a value indicating whether the step input should be interpolated to 256 microsteps.

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

The INTERP command is useful in step/direction mode. 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.

Examples

Tx: INTERP,1<CR><LF>

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

Tx: INTERP<CR><LF>

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

// Set interpolation to 256 microstep on

// Query INTERP

Bake

BAKET – Bake temperature setpoint

Set or query the bake temperature setpoint. To run bake, select bake mode using the MODE, then start bake using RUNB. Use STOP to end bake.

Command:	BAKET, Setpoint<CR><LF>
Query:	BAKET <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: BAKET,100<CR><LF>

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

Tx: BAKET<CR><LF>

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

// Set bake setpoint to 100 °C

// Query BAKET