Position management
Position
/setPosition (int)motorID (int)newPosition
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8, 255 | motor ID |
| newPosition | -2,097,152 - 2,097,151 | specified coordinates |
Executable timing
When the motor is stopped
Description
Rewrites ABS_POS register to the specified coordinates. The current motor position is set to the specified coordinates.
/getPosition (int)motorID
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8, 255 | motor ID |
Executable timing
Always
Description
Returns the contents of the ABS_POS register (current position).
/setPositionReportInterval can make the controller to send this message with a specified interval.
Response
/position (int)motorID (int)ABS_POS| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8 | motor ID |
| ABS_POS | -2,097,152 - 2,097,151 | current position |
/getPositionList
Argument
None
Executable timing
Always
Description
Returns the current position of all motors at once. /getPosition 255 returns individual messages for each motors but this command returns single message with a position list.
/setPositionListReportInterval can make the controller to send this list with a specified interval.
Response
/positionList (int)position#1 ... (int)position#n ... (int)position#4| Argument | Range | Description |
|---|---|---|
| position#n | -2,097,152 - 2,097,151 | current position of the motor #n |
The number of the arguments are 4 in STEP400, 8 in STEP800.
/resetPos (int)motorID
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8, 255 | motor ID |
Executable timing
Always
Description
Reset ABS_POS register to 0.
/setElPos (int)motorID (int)newFullstep (int)newMicrostep
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8, 255 | motor ID |
| newFullstep | 0-3 | Fullstep position |
| newMicrostep | 0-127 | Microstep position |
Executable timing
When the motor is stopped
Description
Set the electrical position of the motor. The microstep is expressed in step/128, and the value has to be matched with the current microstep mode.
/getElPos (int)motorID
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8, 255 | motor ID |
Executable timing
Always
Description
Returns the current electrical position of the motor.
Response
/elPos (int)motorID (int)fullstep (int)microstep| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8 | motor ID |
| fullstep | 0-3 | Fullstep position |
| microstep | 0-127 | Microstep position |
HOME/MARK
/setMark (int)motorID (int)MARK
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8, 255 | motor ID |
| MARK | Coordination to be set |
Executable timing
Always
Description
Set the MARK register to arbitrary position.
/getMark (int)motorID
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8, 255 | motor ID |
Executable timing
Always
Description
Get the MARK position.
Response
/mark (int)motorID (int)MARK| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8, 255 | motor ID |
| MARK | Position of the MARK |
/goHome (int)motorID
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8, 255 | motor ID |
Executable timing
In motion start condition
Description
Move the motor to the HOME position (zero position) according to the speed profile.
Response
None
/goMark (int)motorID
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8, 255 | motor ID |
Executable timing
In motion start condition
Description
Move the motor to the MARK position according to the speed profile.
Response
None