Voltage and current mode settings
Voltage mode
/setVoltageMode (int)motorID
STEP400 only
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | motor ID |
Executable timing
HiZ State
Description
Switches the specified motor to the voltage drive mode.
Note: This command is only available in STEP400. STEP800 is always in this voltage mode and cannot change.
/setKval (int)motorID (int)holdKVAL (int)runKVAL (int)accKVAL (int)setDecKVAL
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8, 255 | motor ID |
| holdKVAL | 0-255 | KVAL when stopped |
| runKVAL | 0-255 | KVAL in constant speed operation |
| accKVAL | 0-255 | KVAL during acceleration |
| setDecKVAL | 0-255 | KVAL during deceleration |
Executable timing
Always
Description
Sets the four KVALs together.
Initial value
16
/getKval (int)motorID
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8, 255 | motor ID |
Executable timing
Always
Description
Get the four KVALs together.
Response
/kval (int)motorID (int)holdKVAL (int)runKVAL (int)accKVAL (int)setDecKVAL| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8, 255 | motor ID |
| holdKVAL | 0-255 | KVAL when stopped |
| runKVAL | 0-255 | KVAL in constant speed operation |
| accKVAL | 0-255 | KVAL during acceleration |
| setDecKVAL | 0-255 | KVAL during deceleration |
/setBemfParam (int)motorID (int)INT_SPEED (int)ST_SLP (int)FN_SLP_ACC (int)FN_SLP_DEC
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8, 255 | Motor ID |
| INT_SPEED | 0-16383(0x3FFF) | INT_SPEED register value |
| ST_SLP | 0-255(0xFF) | ST_SLP register value |
| FN_SLP_ACC | 0-255(0xFF) | FN_SLP_ACC register value |
| FN_SLP_DEC | 0-255(0xFF) | FN_SLP_DEC register value |
Executable timing
High Z state
Description
Sets BEMF compensation parameter register. For the values for each parameter, refer voltage mode and current mode.
Initial value
| Argument | Initial value |
|---|---|
| INT_SPEED | 1032 (0x0402) |
| ST_SLP | 25 (0x19) |
| FN_SLP_ACC | 41 (0x29) |
| FN_SLP_DEC | 41 (0x29) |
/getBemfParam (int)motorID
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8, 255 | Motor ID |
Executable timing
Always
Description
Get register values for the BEMF parameter.
Response
/bemfParam (int)motorID (int)INT_SPEED (int)ST_SLP (int)FN_SLP_ACC (int)FN_SLP_DEC| Argument | Range | Description |
|---|---|---|
| motorID | 1-4 | Motor ID |
| INT_SPEED | 0-16383(0x3FFF) | INT_SPEED register value |
| ST_SLP | 0-255(0xFF) | ST_SLP register value |
| FN_SLP_ACC | 0-255(0xFF) | FN_SLP_ACC register value |
| FN_SLP_DEC | 0-255(0xFF) | FN_SLP_DEC register value |
Current mode
/setCurrentMode (int)motorID
STEP400 only
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | motor ID |
Executable timing
High Z State
Description
Switches the specified motor to the current drive mode.
/setTval (int)motorID (int)holdTVAL (int)runTVAL (int)accTVAL (int)setDecTVAL
STEP400 only
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | motor ID |
| holdTVAL | 0-127 | TVAL when stopped |
| runTVAL | 0-127 | TVAL in constant speed operation |
| accTVAL | 0-127 | TVAL during acceleration |
| setDecTVAL | 0-127 | TVAL during deceleration |
Executable timing
Always
Description
Sets the four TVALs together. In STEP 400, the TVAL is as follows.
| TVAL | Setting value[mA] |
|---|---|
| 0 | 78mA |
| 1 | 156mA |
| ... | ... |
| 127 | 9,984mA |
Initial value
16 (1328.125mA)
/getTval (int)motorID
STEP400 only
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | motor ID |
Executable timing
Always
Description
Get the four TVAL types together.
Response
/tval (int)motorID (int)holdTVAL (int)runTVAL (int)accTVAL (int)decTVAL| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8 | motor ID |
| holdTVAL | 0-127 | TVAL when stopped |
| runTVAL | 0-127 | TVAL in constant speed operation |
| accTVAL | 0-127 | TVAL during acceleration |
| setDecTVAL | 0-127 | TVAL during deceleration |
/getTval_mA (int)motorID
STEP400 only
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | motor ID |
Executable timing
Always
Description
Get the four TVAL types together. Not in register values but in the actual current values in [mA].
Response
/tval_mA (int)motorID (float)holdTVAL_mA (float)runTVAL_mA (float)accTVAL_mA (float)decTVAL_mA| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8 | motor ID |
| holdTVAL_mA | 78.125 - 5000.0 | TVAL when stopped[mA] |
| runTVAL_mA | 78.125 - 5000.0 | TVAL in constant speed operation[mA] |
| accTVAL_mA | 78.125 - 5000.0 | TVAL during acceleration[mA] |
| DecTVAL_mA | 78.125 - 5000.0 | TVAL during deceleration[mA] |
/setDecayModeParam (int)motorID (int)T_FAST (int)TON_MIN (int)TOFF_MIN
STEP400 only
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | Motor ID |
| T_FAST | 0-255(0xFF) | T_FAST register value |
| TON_MIN | 0-255(0xFF) | TON_MIN register value |
| TOFF_MIN | 0-255(0xFF) | TOFF_MIN register value |
Executable timing
High Z state
Description
Sets registers for the current control algorithm parameters. For the each register values, refer the datasheet of the PowerSTEP01.
Initial value
| Argument | Initial value |
|---|---|
| T_FAST | 25 (0x19) |
| TON_MIN | 41 (0x29) |
| TOFF_MIN | 41 (0x29) |
/getDecayModeParam (int)motorID
STEP400 only
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | Motor ID |
Executable timing
Always
Description
Retrieves the register values for the current control algorithm parameters.
Response
/decayModeParam (int)motorID (int)T_FAST (int)TON_MIN (int)TOFF_MIN| Argument | Range | Description |
|---|---|---|
| motorID | 1-4 | Motor ID |
| T_FAST | 0-255(0xFF) | T_FAST register value |
| TON_MIN | 0-255(0xFF) | TON_MIN register value |
| TOFF_MIN | 0-255(0xFF) | TOFF_MIN register value |