HOME and LIMIT sensers
Status Report
/enableHomeSwReport (int)motorID (bool)enable
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8, 255 | motor ID |
| enable | 0-1 | 1:Enable, 0:Disable |
Executable timing
Always
Description
Sets the following message to be sent automatically when conditional change of the HOME switch of the specified motor is detected. The response message is same as /getHomeSw command.
Initial value
0 (Disabled)
/enableSwEventReport (int)motorID (bool)enable
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8, 255 | Motor ID |
| enable | 0-1 | 1: Enable, 0: Disable |
Executable timing
Always
Description
Sets the following message to be sent automatically when the specified motor's HOME switch terminal state drops from HIGH level to LOW (Falling Edge).
While the/enableHomeSwReportcommand observes the status by polling the STATUS register of motor driver IC from microcomputer's firmware, this/enableSwEventReportdetects the event by driver IC's hardware, able to pick up the sensor detection shorter than 1ms.
Following message will be sent.
/swEvent (int)motorID| Argument | Range | Description |
|---|---|---|
| motorID | 1-4 | Motor ID |
Initial value
0 (Disabled)
/homeSw (int)motorID (bool)swState (bool)direction| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8, 255 | motor ID |
| swState | 0-1 | State |
| swState | State |
|---|---|
| 0 | Open, Undetected state |
| 1 | Closed, Detected state |
| direction | Motor direction |
|---|---|
| 1 | Forward |
| 0 | Reverse |
Initial value
0 (Disabled)
/getHomeSw (int)motorID
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8, 255 | motor ID |
Executable timing
Always
Description
Gets the status of the HOME switch, closed or opened.
Response
/homeSw (int)motorID (bool)swState (bool)direction| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8, 255 | motor ID |
| swState | 0-1 | State |
| direction | 0-1 | direction |
| swState | State |
|---|---|
| 0 | Open, Undetected state |
| 1 | Closed, Detected state |
| direction | Motor direction |
|---|---|
| 1 | Forward |
| 0 | Reverse |
/enableLimitSwReport (int)motorID (bool)enable
STEP400 only
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | Motor ID |
| enable | 0-1 | 1:Enable, 0:Disable |
Executable timing
Always
Description
Sets automatic response when conditional change on the specified motor's LIMIT switch terminal is detected. The sent message is as same as the response from/getLimitSwcommand.
Initial value
0 (Disable)
/getLimitSw (int)motorID
STEP400 only
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | Motor ID |
Executable timing
Always
Description
Returns the status of LIMIT switch.
Response
/limitSw (int)motorID (bool)swState (bool)direction| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | Motor ID |
| swState | 0-1 | Status |
| direction | 0-1 | Direction |
| swState | Status |
|---|---|
| 0 | Open, Undetected state |
| 1 | Closed, Detected state |
| direction | Motor direction |
|---|---|
| 1 | Forward |
| 0 | Reverse |
Response settings
/setHomeSwMode (int)motorID (bool)SW_MODE
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8, 255 | motor ID |
| SW_MODE | 0-1 | Switch mode |
| SW_MODE | Switch mode |
|---|---|
| 0 | HardStop interrupt (stop immediately) |
| 1 | User disposal (not stop) |
Executable timing
HiZ state
Description
Sets switch mode whether to stop immediately when the HOME switch terminal state changes (falling edge).
Initial value
1 (User disposal)
/getHomeSwMode (int)motorID
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8, 255 | motor ID |
Executable timing
Always
Description
Get the Switch mode described above.
Response
/homeSwMode (int)motorID (bool)swMode| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8, 255 | motor ID |
| swMode | 0-1 |
/setLimitSwMode (int)motorID (bool)SW_MODE
STEP400 only
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | Motor ID |
| SW_MODE | 0-1 | Switch mode |
| SW_MODE | Switch mode |
|---|---|
| 0 | HardStop interrupt (Immediate stop) |
| 1 | User disposal (Does not stop) |
Executable timing
Always
Description
Sets the Switch mode whether to stop the motor immediately when the LIMIT switch terminal condition is changed.
Initial value
1 (User disposal)
/getLimitSwMode (int)motorID
STEP400 only
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | Motor ID |
Executable timing
Always
Description
Get the Switch mode described above.
Response
/limitSwMode (int)motorID (bool)swMode| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | Motor ID |
| swMode | 0-1 |