Alarm settings
Motor driver
/enableUvloReport (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
Set the notification message when UVLO (Undervoltage Lockout) occurs in the specified motor driver. UVLO occurs when the supplied voltage to the motor driver falls below the UVLO turn-off threshold voltage, with or without notification. In this state, the motor cannot be operated. It will be reset when the supply voltage is above the UVLO turn-on threshold.
These thresholds are different between STEP400(PowerSTEP01) and STEP800(L6470). For details, please refer to the corresponding datasheets.
Response
When ULVO occurs same message as /getUlvo
will be sent.
Initial value
1 (Enabled)
/getUvlo (int)motorID
Argument
Argument | Range | Description |
---|---|---|
motorID | 1-4/1-8, 255 | Motor ID |
Executable timing
Always
Description
Gets the current state of UVLO
Response
/uvlo (int)motorID
Argument | Range | Description |
---|---|---|
motorID | 1-4/1-8, 255 | motor ID |
state | 0-1 | 1:UVLO detected 0:No UVLO condition |
/enableThermalStatusReport (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
Set to send the notification message on change in the temperature status (thermalStatus) of the specified motor driver is detected. On the Bridge shutdown or Device shutdown, the motor state will automatically enters High Z state with of without notification.
Response
When the the thermalStatus changes, the same notification as /getThermalStatus
will be sent.
Initial value
1 (Enabled)
/getThermalStatus (int)motorID
Argument
Argument | Range | Description |
---|---|---|
motorID | 1-4/1-8, 255 | Motor ID |
Executable timing
Always
Description
Gets the current condition of the ThermalStatus. Thermal status thresholds are different between STEP400(PowerSTEP01) and STEP800(L6470).
Response
/thermalStatus (int)motorID (int)thermalStatus
Argument | Range | Description |
---|---|---|
motorID | 1-4/1-8, 255 | motor ID |
thermalStatus | 0-3 | Thermal status |
Thermal status - STEP400
TH_STATUS | Thermal status | Set condition | Release condition |
---|---|---|---|
0 | Normal | - | - |
1 | Warning | 135℃ | 125℃ |
2 | Bridge shutdown | 155℃ | 145℃ |
3 | Device shutdown | 170℃ | 130℃ |
Thermal status - STEP800
thermalStatus | Thermal status | Set condition | Release condition |
---|---|---|---|
0 | Normal | - | - |
1 | Warning | 130℃ | 130℃ |
2 | Bridge shutdown | 160℃ | 130℃ |
In the Bridge shutdown and Device shutdown states, the motor goes into the High Z state with or without notification.
Initial value
1 (Enabled)
/enableOverCurrentReport (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
Set to send a notification when the specified motor driver goes into an overcurrent state (OCD, Over Current Detection).
When overcurrent is detected, the device automatically enters High Z state regardless of whether a notification being sent. The threshold can be set with /setOverCurrentThreshold
.
Response
On the OCD state, following message will be sent.
/overCurrent (int)motorID
Argument | Range | Description |
---|---|---|
motorID | 1-4/1-8, 255 | motor ID |
Initial value
1 (Enabled)
/setOverCurrentThreshold (int)motorID (int)OCD_TH
Argument
Argument | Range | Description |
---|---|---|
motorID | 1-4/1-8, 255 | motor ID |
OCD_TH | 0-31/0-15 | Overcurrent detection threshold |
Overcurrent detection threshold - STEP400
OCD_TH | Overcurrent detection threshold |
---|---|
0 | 312.5mA |
1 | 625mA |
... | ... |
30 | 9.6875A |
31 | 10A |
Overcurrent detection threshold - STEP800
OCD_TH | Overcurrent detection threshold |
---|---|
0 | 375mA |
1 | 750mA |
... | ... |
14 | 5.625A |
15 | 6A |
Executable timing
Always
Description
Sets the overcurrent threshold. The setting value range and corresponding currents are different between STEP400(PowerSTEP01) and STEP800(L6470).
Response
You will get the same response as the following /getOverCurrentThreshold
to see the actual value.
Initial value
Model | Initial value |
---|---|
STEP400 | 15 (5A) |
STEP800 | 7 (3A) |
/getOverCurrentThreshold (int)motorID
Argument
Argument | Range | Description |
---|---|---|
motorID | 1-4/1-8, 255 | motor ID |
Executable timing
Always
Description
Get the threshold of overcurrent.
Response
/overCurrentThreshold (int)motorID (float)overCurrentThreshold
Argument | Range | Description |
---|---|---|
motorID | 1-4/1-8, 255 | motor ID |
overCurrentThreshold | 312.5-10000.0/375.0-6000.0 | thresholds in [mA]. |
Initial value
Model | Initial value |
---|---|
STEP400 | 5000.0 (15) |
STEP800 | 3000.0 (7) |
/enableStallReport (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
The threshold can be set by /setStallThreshold
.
When the stall is detected by the specified motor driver, the following message is sent automatically.
Response
/stall (int)motorID
Argument | Range | Description |
---|---|---|
motorID | 1-4/1-8, 255 | motor ID |
Initial value
0 (Disabled)
/setStallThreshold (int)motorID (int)STALL_TH
Argument
Argument | Range | Description |
---|---|---|
motorID | 1-4/1-8, 255 | motor ID |
STALL_TH | 0-31/0-127 | Stall detection threshold |
Stall detection threshold - STEP400
STALL_TH | Stall detection threshold |
---|---|
0 | 312.5mA |
1 | 625mA |
... | ... |
30 | 9.6875A |
31 | 10A |
Stall detection threshold - STEP800
STALL_TH | Stall detection threshold |
---|---|
0 | 31.25mA |
1 | 62.5mA |
... | ... |
126 | 3.969A |
127 | 4A |
Executable timing
Always
Description
Sets the threshold for stall detection. The setting value range and corresponding currents are different between STEP400(PowerSTEP01) and STEP800(L6470).
Response
You will get the same response as the following /getStallThreshold
to see the actual value.
Initial value
Model | Initial value |
---|---|
STEP400 | 31 (10A) |
STEP800 | 127 (4A) |
/getStallThreshold (int)motorID
Argument
Argument | Range | Description |
---|---|---|
motorID | 1-4/1-8, 255 | motor ID |
Executable timing
Always
Description
Gets the stall detection threshold.
Response
/stallThreshold (int)motorID (float)stallThreshold
Argument | Range | Description |
---|---|---|
motorID | 1-4/1-8, 255 | motor ID |
stallThreshold | 312.5-10000.0/31.25-4000.0 | thresholds in [mA] |
Initial value
Model | Initial value |
---|---|
STEP400 | 10000.0 (31) |
STEP800 | 4000.0 (127) |
Sensor
/setProhibitMotionOnHomeSw (int)motorID (bool)enable
Argument
Argument | Range | Description |
---|---|---|
motorID | 1-4/1-8, 255 | Motor ID |
enable | 0-1 | 1: Prohibit, 0: Allow |
Executable timing
Always
Description
Prohibits any motion commands towards the origin point when Home sensor is detected. The direction to the origin point can be configured through the Config Tool or by the /setHomingDirection
command.
Initial value
0 (Disabled)
/getProhibitMotionOnHomeSw (int)motorID
Argument
Argument | Range | Description |
---|---|---|
motorID | 1-4/1-8, 255 | Motor ID |
Executable timing
Always
Description
Returns whether the motion command towards the origin point is prohibited when Home sensor is detected.
Response
/prohibitMotionOnHomeSw (int)motorID (bool)enable
Argument | Range | Description |
---|---|---|
motorID | 1-4/1-8 | Motor ID |
enable | 0-1 | 1:Prohibited, 0:Allowed |
/setProhibitMotionOnLimitSw (int)motorID (bool)enable
STEP400 only
Argument
Argument | Range | Description |
---|---|---|
motorID | 1-4, 255 | Motor ID |
enable | 0-1 | 1: Prohibit, 0: Allow |
Executable timing
Always
Description
Prohibits any motion commands towards the leaving direction from origin point, when the Limit sensor is detected. The direction to the origin point can be configured through the Config Tool or by the /setHomingDirection
command.
Initial value
0 (Disabled)
/getProhibitMotionOnLimitSw (int)motorID
STEP400 only
Argument
Argument | Range | Description |
---|---|---|
motorID | 1-4, 255 | Motor ID |
Executable timing
Always
Description
Returns whether the motion command towards reverse direction to the origin point is prohibited when Limit sensor is detected.
Response
/prohibitMotionOnLimitSw (int)motorID (bool)enable
Argument | Range | Description |
---|---|---|
motorID | 1-4 | Motor ID |
enable | 0-1 | 1:Prohibited, 0:Allowed |