Differences between STEP400 and STEP800
Commands only available in STEP400
Current mode commands
STEP800 doesn't have a current driving mode so following commands related with a current mode are only available in STEP400.
/setVoltageMode (int)motorID/setCurrentMode (int)motorID/setTval (int)motorID (int)holdTVAL (int)runTVAL (int)accTVAL (int)setDecTVAL/getTval (int)motorID/getTval_mA (int)motorID/setDecayModeParam (int)motorID (int)T_FAST (int)TON_MIN (int)TOFF_MIN/getDecayModeParam (int)motorID
LIMIT input commands
There are no LIMIT inputs in STEP800 (only HOME inputs), so following commands relate with LIMIT inputs are only available in STEP400.
/enableLimitSwReport (int)motorID (bool)enable/getLimitSw (int)motorID/setLimitSwMode (int)motorID (bool)SW_MODE/getLimitSwMode (int)motorID
Other
/getAdcVal (int)motorIDADC inputs of STEP800 are tied with GND so this command is not available in STEP800.
Commands which have different setting value
/setOverCurrentThreshold (int)motorID (int)OCD_TH
This command specifies the OCD_TH register value directly but possible value ranges and corresponding currents are different between STEP400(PowerSTEP01) and STEP800(L6470) as following;
| Model | OCD_TH range | Corresponding current | Initial value |
|---|---|---|---|
| STEP400 | 0-31 | 312.5mA - 10A | 15 (5A) |
| STEP800 | 0-15 | 375mA - 6A | 7 (3A) |
/setStallThreshold (int)motorID (int)STALL_TH
This command specifies the STALL_TH register value directly but possible value ranges and corresponding currents are different between STEP400(PowerSTEP01) and STEP800(L6470) as following;
| Model | STALL_TH range | Corresponding current | Initial value |
|---|---|---|---|
| STEP400 | 0-31 | 312.5mA - 10A | 31 (10A) |
| STEP800 | 0-127 | 31.25mA - 4A | 127 (4A) |
Commands which have different response
/getStatus (int)motorID
This command returns STATUS register of the motor driver. Information contained in the register is different between STEP400(PowerSTEP01) and STEP800(L6470). Please see the command reference for details.
/getConfigRegister (int)motorID
This command returns CONFIG register of the motor driver. Information contained in the register is different between STEP400(PowerSTEP01) and STEP800(L6470). Please see the data sheets for details.