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, 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

/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
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