6.2. Communication protocol specification

Communication protocol v18.3

6.2.1. Protocol description

Controller can be controlled from the PC using serial connection (COM-port). COM-port parameters are fixed controller-side:

• Speed: 115200 baud
• Frame size: 8 bits
• Stop-bits: 2 bits
• Parity: none
• Flow control: none
• Byte receive timeout: 400 ms
• Bit order: little endian
• Byte order: little endian

6.2.2. Command execution

All data transfers are initiated by the PC, meaning that the controller waits for incoming commands and replies accordingly. Each command is followed by the controller response, with rare exceptions of some service commands. One should not send another command without waiting for the previous command answer.

Commands are split into service, general control and general information types. Commands are executed immediately. Parameters which are set by Sxxx commands are applied no later than 1ms after acknowledgement. Command processing does not affect real-time engine control (PWM, encoder readout, etc).

Both controller and PC have an IO buffer. Received commands and command data are processed once and then removed from buffer. Each command consists of 4-byte identifier and optionally a data section followed by its 2-byte CRC. Data can be transmitted in both directions, from PC to the controller and vice versa. Command is scheduled for execution if it is a legitimate command and (in case of data) if its CRC matches. After processing a correct command controller replies with 4 bytes - the name of processed command, followed by data and its 2-byte CRC, if the command is supposed to return data.

6.2.3. Controller-side error processing

6.2.3.1. Wrong command or data

If the controller receives a command that cannot be interpreted as a legitimate command, then controller ignores this command, replies with an “errc” string and sets “command error” flag in the current status data structure. If the unreconized command contained additional data, then it can be interpreted as new command(s). In this case resynchronization is required.

If the controller receives a valid command with data and its CRC doesn’t match the CRC computed by the controller, then controller ignores this command, replies with an “errd” string and sets “data error” flag in the current status data structure. In this case synchronization is not needed.

6.2.3.2. CRC calculation

CRC-16/MODBUS is calculated for data only, 4-byte command identifier is not included. CRC algorithm in C is as follows:

unsigned short CRC16(INT8U *pbuf, unsigned short n)
{
  unsigned short crc, i, j, carry_flag, a;
  crc = 0xffff;
  for(i = 0; i < n; i++)
  {
    crc = crc ^ pbuf[i];
    for(j = 0; j < 8; j++)
    {
      a = crc;
      carry_flag = a & 0x0001;
      crc = crc >> 1;
      if ( carry_flag == 1 ) crc = crc ^ 0xa001;
    }
  }
  return crc;
}

This function receives a pointer to the data array, pbuf, and data length in bytes, n. It returns a two byte CRC code.

The example of CRC calculation:

Command code (CMD): “home” or 0x656D6F68

0x68 0x6F 0x6D 0x65
CMD

Command code (CMD): “gpos” or 0x736F7067

0x67 0x70 0x6F 0x73
CMD

Command code (CMD): “movr” or 0x72766F6D

0x6D 0x6F 0x76 0x72  0x00 0x00 0x00 0xC8  0x00 0x00  0x00 0x00 0x00 0x00 0x00 0x00  0x53 0xc7
CMD                  DeltaPosition        uDPos      Reserved                       CRC

6.2.3.3. Transmission errors

Most probable transmission errors are missing, extra or altered byte. In usual settings transmission errors happen rarely, if at all.

Frequent errors are possible when using low-quality or broken USB-cable or board interconnection cable. Protocol is not designed for use in noisy environments and in rare cases an error may match a valid command code and get executed.

6.2.3.3.1. Missing byte, controller side

A missing byte on the controller side leads to a timeout on the PC side. Command is considered to be sent unsuccessfully by the PC. Synchronization is momentarily disrupted and restored after a timeout.

6.2.3.3.2. Missing byte, PC side

A missing byte on the PC side leads to a timeout on PC side. Synchronization is maintained.

6.2.3.3.3. Extra byte, controller side

An extra byte received by the controller leads to one or several “errc” or “errd” responses. Command is considered to be sent unsuccessfully by the PC. Receive buffer may also contain one or several “errc” or “errd” responses. Synchronization is disrupted.

6.2.3.3.4. Extra byte, PC side

An extra byte received by the PC leads to an incorrectly interpreted command or CRC and an extra byte in the receive buffer. Synchronization is disrupted.

6.2.3.3.5. Altered byte, controller side

An altered byte received by the controller leads to one or several “errc” or “errd” responses. Command is considered to be sent unsuccessfully by the PC. Receive buffer may also contain one or several “errc” or “errd” responses. Synchronization can rarely be disrupted, but is generally maintained.

6.2.3.3.6. Altered byte, PC side

An altered byte received by the PC leads to an incorrectly interpreted command or CRC. Synchronization is maintained.

6.2.3.4. Timeout resynchronization

If during packet reception next byte wait time exceeds timeout value, then partially received command is ignored and receive buffer is cleared. Controller timeout should be less than PC timeout, taking into account time it takes to transmit the data.

6.2.3.5. Zero byte resynchronization

There are no command codes that start with a zero byte (‘\0’). This allows for a following synchronization procedure: controller always answers with a zero byte if the first command byte is zero, PC ignores first response byte if it is a zero byte. Then, if synchronization is disrupted on either side the following algorithm is used:

In case PC receives “errc”, “errd” or a wrong command answer code, then PC sends 4 to 250 zeroes to the controller (250 byte limit is caused by input buffer length and usage of I2C protocol, less than 4 zeroes do not guarantee successful resynchronization). During this time PC continuously reads incoming bytes from the controller until the first zero is received and stops sending and receiving right after that.

Received zero byte is likely not a part of a response to a previous command because on error PC receives “errc”/”errd” response. It is possible in rare cases, then synchronization procedure will start again. Therefore first zero byte received by the PC means that controller input buffer is already empty and will remain so until any command is sent. Right after receiving first zero byte from the controller PC is ready to transmit next command code. The rest of zero bytes in transit will be ignored because they will be received before controller response.

This completes the zero byte synchronization procedure.

6.2.4. Library-side error processing

Nearly every library function has a return status of type result_t.

After sending command to the controller library reads incoming bytes until a non-zero byte is received. All zero bytes are ignored. Library reads first 4 bytes and compares them to the command code. It then waits for data section and CRC, if needed. If first 4 received bytes do not match the sent command identifier, then zero byte synchronization procedure is launched, command is considered to be sent unsuccessfully. If first 4 received bytes match the sent command identifier and command has data section, but the received CRC doesn’t match CRC calculated from the received data, then zero byte synchronization procedure is launched, command is considered to be sent unsuccessfully. If a timeout is reached while the library is waiting for the controller response, then zero byte synchronization procedure is launched, command is considered to be sent unsuccessfully.

If no errors were detected, then command is considered to be successfully completed and result_ok is returned.

6.2.4.1. Library return codes

• result_ok. No errors detected.
• result_error. Generic error. Can happen because of hardware problems, empty port buffer, timeout or successfull synchronization after an error. Another common reason for this error is protocol version mismatch between controller firmware and PC library.
• result_nodevice. Error opening device, lost connection or failed synchronization. Device reopen and/or user action is required.

If a function returns an error values of all parameters it writes to are undefined. Error code may be accompanied by detailed error description output to system log (Unix-like OS) or standard error (Windows-like OS).

6.2.4.2. Zero byte synchronization procedure

Synchronization is performed by means of sending zero (‘\0’) bytes and reading bytes until a zero byte is received. Optionally one may clear port buffer at the end of synchronization procedure. Initially 64 zero bytes are sent. If there were no zero bytes received during the timeout, then a string of 64 bytes is sent 3 more times. After 4 unsuccessful attempts and no zero bytes received device is considered lost. In this case library should return result_nodevice error code. In case of successful syncronization library returns result_error.

6.2.5. Controller error response types

6.2.5.1. ERRC

Answer: (4 bytes)

Code: “errc” or 0x63727265

uint32_t

errc

Command error

Description:

Controller answers with “errc” if the command is either not recognized or cannot be processed and sets the correspoding bit in status data structure.

6.2.5.2. ERRD

Answer: (4 bytes)

Code: “errd” or 0x64727265

uint32_t

errd

Data error

Description:

Controller answers with “errd” if the CRC of the data section computed by the controller doesn’t match the received CRC field and sets the correspoding bit in status data structure.

6.2.5.3. ERRV

Answer: (4 bytes)

Code: “errv” or 0x76727265

uint32_t

errv

Value error

Description:

Controller answers with “errv” if any of the values in the command are out of acceptable range and can not be applied. Inacceptable value is replaced by a rounded, truncated or default value. Controller also sets the correspoding bit in status data structure.

6.2.6. All controller commands

6.2.6.1. Command GACC

Command code (CMD): “gacc” or 0x63636167.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (114 bytes)

uint32_t	CMD	Command
int8_t	MagneticBrakeInfo	The manufacturer and the part number of magnetic brake, the maximum string length is 24 characters.
float	MBRatedVoltage	Rated voltage for controlling the magnetic brake (B). Data type: float.
float	MBRatedCurrent	Rated current for controlling the magnetic brake (A). Data type: float.
float	MBTorque	Retention moment (mN m). Data type: float.
uint32_t	MBSettings	Flags of magnetic brake settings
	0x1 - MB_AVAILABLE	If flag is set the magnetic brake is available
	0x2 - MB_POWERED_HOLD	If this flag is set the magnetic brake is on when powered
int8_t	TemperatureSensorInfo	The manufacturer and the part number of the temperature sensor, the maximum string length: 24 characters.
float	TSMin	The minimum measured temperature (degrees Celsius) Data type: float.
float	TSMax	The maximum measured temperature (degrees Celsius) Data type: float.
float	TSGrad	The temperature gradient (V/degrees Celsius). Data type: float.
uint32_t	TSSettings	Flags of temperature sensor settings.
	0x7 - TS_TYPE_BITS	Bits of the temperature sensor type
	0x0 - TS_TYPE_UNKNOWN	Unknow type of sensor
	0x1 - TS_TYPE_THERMOCOUPLE	Thermocouple
	0x2 - TS_TYPE_SEMICONDUCTOR	The semiconductor temperature sensor
	0x8 - TS_AVAILABLE	If flag is set the temperature sensor is available
uint32_t	LimitSwitchesSettings	Flags of limit switches settings.
	0x1 - LS_ON_SW1_AVAILABLE	If flag is set the limit switch connnected to pin SW1 is available
	0x2 - LS_ON_SW2_AVAILABLE	If flag is set the limit switch connnected to pin SW2 is available
	0x4 - LS_SW1_ACTIVE_LOW	If flag is set the limit switch connnected to pin SW1 is triggered by a low level on pin
	0x8 - LS_SW2_ACTIVE_LOW	If flag is set the limit switch connnected to pin SW2 is triggered by a low level on pin
	0x10 - LS_SHORTED	If flag is set the Limit switches is shorted
uint8_t	Reserved [24]	Reserved (24 bytes)
uint16_t	CRC	Checksum

Description: Read additional accessories information from EEPROM.

6.2.6.2. Command GBRK

Command code (CMD): “gbrk” or 0x6B726267.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (25 bytes)

uint32_t	CMD	Command
uint16_t	t1	Time in ms between turn on motor power and turn off brake.
uint16_t	t2	Time in ms between turn off brake and moving readiness. All moving commands will execute after this interval.
uint16_t	t3	Time in ms between motor stop and turn on brake.
uint16_t	t4	Time in ms between turn on brake and turn off motor power.
uint8_t	BrakeFlags	Flags.
	0x1 - BRAKE_ENABLED	Brake control is enabled, if this flag is set.
	0x2 - BRAKE_ENG_PWROFF	Brake turns off power of step motor, if this flag is set.
uint8_t	Reserved [10]	Reserved (10 bytes)
uint16_t	CRC	Checksum

Description: Read settings of brake control.

6.2.6.3. Command GCAL

Command code (CMD): “gcal” or 0x6C616367.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (118 bytes)

uint32_t	CMD	Command
float	CSS1_A	Scaling factor for the analogue measurements of the winding A current.
float	CSS1_B	Shift factor for the analogue measurements of the winding A current.
float	CSS2_A	Scaling factor for the analogue measurements of the winding B current.
float	CSS2_B	Shift factor for the analogue measurements of the winding B current.
float	FullCurrent_A	Scaling factor for the analogue measurements of the full current.
float	FullCurrent_B	Shift factor for the analogue measurements of the full current.
uint8_t	Reserved [88]	Reserved (88 bytes)
uint16_t	CRC	Checksum

Description: Read calibration settings. This function fill structure with calibration settings.

6.2.6.4. Command GCTL

Command code (CMD): “gctl” or 0x6C746367.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (93 bytes)

uint32_t	CMD	Command
uint32_t	MaxSpeed	Array of speeds (full step) using with joystick and button control. Range: 0..100000.
uint8_t	uMaxSpeed	Array of speeds (1/256 microstep) using with joystick and button control.
uint16_t	Timeout	timeout[i] is time in ms, after that max_speed[i+1] is applying. It is using with buttons control only.
uint16_t	MaxClickTime	Maximum click time. Prior to the expiration of this time the first speed isn’t enabled.
uint16_t	Flags	Flags.
	0x3 - CONTROL_MODE_BITS	Bits to control engine by joystick or buttons.
	0x0 - CONTROL_MODE_OFF	Control is disabled.
	0x1 - CONTROL_MODE_JOY	Control by joystick.
	0x2 - CONTROL_MODE_LR	Control by left/right buttons.
	0x4 - CONTROL_BTN_LEFT_PUSHED_OPEN	Pushed left button corresponds to open contact, if this flag is set.
	0x8 - CONTROL_BTN_RIGHT_PUSHED_OPEN	Pushed right button corresponds to open contact, if this flag is set.
int32_t	DeltaPosition	Shift (delta) of position
int16_t	uDeltaPosition	Fractional part of the shift in micro steps. Is only used with stepper motor. Range: -255..255.
uint8_t	Reserved [9]	Reserved (9 bytes)
uint16_t	CRC	Checksum

Description: Read settings of motor control. When choosing CTL_MODE = 1 switches motor control with the joystick. In this mode, the joystick to the maximum engine tends Move at MaxSpeed [i], where i = 0 if the previous use This mode is not selected another i. Buttons switch the room rate i. When CTL_MODE = 2 is switched on motor control using the Left / right. When you click on the button motor starts to move in the appropriate direction at a speed MaxSpeed [0], at the end of time Timeout [i] motor move at a speed MaxSpeed [i+1]. at Transition from MaxSpeed [i] on MaxSpeed [i +1] to acceleration, as usual.

6.2.6.5. Command GCTP

Command code (CMD): “gctp” or 0x70746367.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (18 bytes)

uint32_t	CMD	Command
uint8_t	CTPMinError	Minimum contrast steps from step motor encoder position, wich set STATE_CTP_ERROR flag. Measured in steps step motor.
uint8_t	CTPFlags	Flags.
	0x1 - CTP_ENABLED	Position control is enabled, if flag set.
	0x2 - CTP_BASE	Position control is based on revolution sensor, if this flag is set; otherwise it is based on encoder.
	0x4 - CTP_ALARM_ON_ERROR	Set ALARM on mismatch, if flag set.
	0x8 - REV_SENS_INV	Sensor is active when it 0 and invert makes active level 1. That is, if you do not invert, it is normal logic - 0 is the activation.
	0x10 - CTP_ERROR_CORRECTION	Correct errors which appear when slippage if the flag is set. It works only with the encoder. Incompatible with flag CTP_ALARM_ON_ERROR.
uint8_t	Reserved [10]	Reserved (10 bytes)
uint16_t	CRC	Checksum

Description: Read settings of control position(is only used with stepper motor). When controlling the step motor with encoder (CTP_BASE 0) it is possible to detect the loss of steps. The controller knows the number of steps per revolution (GENG :: StepsPerRev) and the encoder resolution (GFBS :: IPT). When the control (flag CTP_ENABLED), the controller stores the current position in the footsteps of SM and the current position of the encoder. Further, at each step of the position encoder is converted into steps and if the difference is greater CTPMinError, a flag STATE_CTP_ERROR. When controlling the step motor with speed sensor (CTP_BASE 1), the position is controlled by him. The active edge of input clock controller stores the current value of steps. Further, at each turn checks how many steps shifted. When a mismatch CTPMinError a flag STATE_CTP_ERROR.

6.2.6.6. Command GEDS

Command code (CMD): “geds” or 0x73646567.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (26 bytes)

uint32_t	CMD	Command
uint8_t	BorderFlags	Border flags, specify types of borders and motor behaviour on borders.
	0x1 - BORDER_IS_ENCODER	Borders are fixed by predetermined encoder values, if set; borders position on limit switches, if not set.
	0x2 - BORDER_STOP_LEFT	Motor should stop on left border.
	0x4 - BORDER_STOP_RIGHT	Motor should stop on right border.
	0x8 - BORDERS_SWAP_MISSET_DETECTION	Motor should stop on both borders. Need to save motor then wrong border settings is set
uint8_t	EnderFlags	Ender flags, specify electrical behaviour of limit switches like order and pulled positions.
	0x1 - ENDER_SWAP	First limit switch on the right side, if set; otherwise on the left side.
	0x2 - ENDER_SW1_ACTIVE_LOW	1 - Limit switch connnected to pin SW1 is triggered by a low level on pin.
	0x4 - ENDER_SW2_ACTIVE_LOW	1 - Limit switch connnected to pin SW2 is triggered by a low level on pin.
int32_t	LeftBorder	Left border position, used if BORDER_IS_ENCODER flag is set.
int16_t	uLeftBorder	Left border position in 1/256 microsteps(used with stepper motor only). Range: -255..255.
int32_t	RightBorder	Right border position, used if BORDER_IS_ENCODER flag is set.
int16_t	uRightBorder	Right border position in 1/256 microsteps. Used with stepper motor only. Range: -255..255.
uint8_t	Reserved [6]	Reserved (6 bytes)
uint16_t	CRC	Checksum

Description: Read border and limit switches settings.

6.2.6.7. Command GEIO

Command code (CMD): “geio” or 0x6F696567.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (18 bytes)

uint32_t	CMD	Command
uint8_t	EXTIOSetupFlags	Configuration flags of the external I-O
	0x1 - EXTIO_SETUP_OUTPUT	EXTIO works as output if flag is set, works as input otherwise.
	0x2 - EXTIO_SETUP_INVERT	Interpret EXTIO states and fronts inverted if flag is set. Falling front as input event and low logic level as active state.
uint8_t	EXTIOModeFlags	Flags mode settings external I-O
	0xf - EXTIO_SETUP_MODE_IN_BITS	Bits of the behaviour selector when the signal on input goes to the active state.
	0x0 - EXTIO_SETUP_MODE_IN_NOP	Do nothing.
	0x1 - EXTIO_SETUP_MODE_IN_STOP	Issue STOP command, ceasing the engine movement.
	0x2 - EXTIO_SETUP_MODE_IN_PWOF	Issue PWOF command, powering off all engine windings.
	0x3 - EXTIO_SETUP_MODE_IN_MOVR	Issue MOVR command with last used settings.
	0x4 - EXTIO_SETUP_MODE_IN_HOME	Issue HOME command.
	0x5 - EXTIO_SETUP_MODE_IN_ALARM	Set Alarm when the signal goes to the active state.
	0xf0 - EXTIO_SETUP_MODE_OUT_BITS	Bits of the output behaviour selection.
	0x0 - EXTIO_SETUP_MODE_OUT_OFF	EXTIO pin always set in inactive state.
	0x10 - EXTIO_SETUP_MODE_OUT_ON	EXTIO pin always set in active state.
	0x20 - EXTIO_SETUP_MODE_OUT_MOVING	EXTIO pin stays active during moving state.
	0x30 - EXTIO_SETUP_MODE_OUT_ALARM	EXTIO pin stays active during Alarm state.
	0x40 - EXTIO_SETUP_MODE_OUT_MOTOR_ON	EXTIO pin stays active when windings are powered.
	0x50 - EXTIO_SETUP_MODE_OUT_MOTOR_FOUND	EXTIO pin stays active when motor is connected (first winding).
uint8_t	Reserved [10]	Reserved (10 bytes)
uint16_t	CRC	Checksum

Description: Read EXTIO settings. This function reads a structure with a set of EXTIO settings from controller’s memory.

6.2.6.8. Command GENG

Command code (CMD): “geng” or 0x676E6567.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (34 bytes)

uint32_t	CMD	Command
uint16_t	NomVoltage	Rated voltage in tens of mV. Controller will keep the voltage drop on motor below this value if ENGINE_LIMIT_VOLT flag is set (used with DC only).
uint16_t	NomCurrent	Rated current. Controller will keep current consumed by motor below this value if ENGINE_LIMIT_CURR flag is set. Range: 15..8000
uint32_t	NomSpeed	Nominal (maximum) speed (in whole steps/s or rpm for DC and stepper motor as a master encoder). Controller will keep motor shaft RPM below this value if ENGINE_LIMIT_RPM flag is set. Range: 1..100000.
uint8_t	uNomSpeed	The fractional part of a nominal speed in microsteps (is only used with stepper motor).
uint16_t	EngineFlags	Set of flags specify motor shaft movement algorithm and list of limitations
	0x1 - ENGINE_REVERSE	Reverse flag. It determines motor shaft rotation direction that corresponds to feedback counts increasing. If not set (default), motor shaft rotation direction under positive voltage corresponds to feedback counts increasing and vice versa. Change it if you see that positive directions on motor and feedback are opposite.
	0x2 - ENGINE_CURRENT_AS_RMS	Engine current meaning flag. If the flag is unset, then engine current value is interpreted as maximum amplitude value. If the flag is set, then engine current value is interpreted as root mean square current value (for stepper) or as the current value calculated from the maximum heat dissipation (bldc).
	0x4 - ENGINE_MAX_SPEED	Max speed flag. If it is set, engine uses maximum speed achievable with the present engine settings as nominal speed.
	0x8 - ENGINE_ANTIPLAY	Play compensation flag. If it set, engine makes backlash (play) compensation procedure and reach the predetermined position accurately on low speed.
	0x10 - ENGINE_ACCEL_ON	Acceleration enable flag. If it set, motion begins with acceleration and ends with deceleration.
	0x20 - ENGINE_LIMIT_VOLT	Maximum motor voltage limit enable flag(is only used with DC motor).
	0x40 - ENGINE_LIMIT_CURR	Maximum motor current limit enable flag(is only used with DC motor).
	0x80 - ENGINE_LIMIT_RPM	Maximum motor speed limit enable flag.
int16_t	Antiplay	Number of pulses or steps for backlash (play) compensation procedure. Used if ENGINE_ANTIPLAY flag is set.
uint8_t	MicrostepMode	Settings of microstep mode(Used with stepper motor only).
	0x1 - MICROSTEP_MODE_FULL	Full step mode.
	0x2 - MICROSTEP_MODE_FRAC_2	1/2 step mode.
	0x3 - MICROSTEP_MODE_FRAC_4	1/4 step mode.
	0x4 - MICROSTEP_MODE_FRAC_8	1/8 step mode.
	0x5 - MICROSTEP_MODE_FRAC_16	1/16 step mode.
	0x6 - MICROSTEP_MODE_FRAC_32	1/32 step mode.
	0x7 - MICROSTEP_MODE_FRAC_64	1/64 step mode.
	0x8 - MICROSTEP_MODE_FRAC_128	1/128 step mode.
	0x9 - MICROSTEP_MODE_FRAC_256	1/256 step mode.
uint16_t	StepsPerRev	Number of full steps per revolution(Used with stepper motor only). Range: 1..65535.
uint8_t	Reserved [12]	Reserved (12 bytes)
uint16_t	CRC	Checksum

Description: Read engine settings. This function fill structure with set of useful motor settings stored in controller’s memory. These settings specify motor shaft movement algorithm, list of limitations and rated characteristics.

6.2.6.9. Command GENI

Command code (CMD): “geni” or 0x696E6567.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (70 bytes)

uint32_t	CMD	Command
int8_t	Manufacturer	Manufacturer. Max string length: 16 chars.
int8_t	PartNumber	Series and PartNumber. Max string length: 24 chars.
uint8_t	Reserved [24]	Reserved (24 bytes)
uint16_t	CRC	Checksum

Description: Read encoder information from EEPROM.

6.2.6.10. Command GENS

Command code (CMD): “gens” or 0x736E6567.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (54 bytes)

uint32_t	CMD	Command
float	MaxOperatingFrequency	Max operation frequency (kHz). Data type: float.
float	SupplyVoltageMin	Minimum supply voltage (V). Data type: float.
float	SupplyVoltageMax	Maximum supply voltage (V). Data type: float.
float	MaxCurrentConsumption	Max current consumption (mA). Data type: float.
uint32_t	PPR	The number of counts per revolution
uint32_t	EncoderSettings	Encoder settings flags
	0x1 - ENCSET_DIFFERENTIAL_OUTPUT	If flag is set the encoder has differential output, else single ended output
	0x4 - ENCSET_PUSHPULL_OUTPUT	If flag is set the encoder has push-pull output, else open drain output
	0x10 - ENCSET_INDEXCHANNEL_PRESENT	If flag is set the encoder has index channel, else encoder hasn’t it
	0x40 - ENCSET_REVOLUTIONSENSOR_PRESENT	If flag is set the encoder has revolution sensor, else encoder hasn’t it
	0x100 - ENCSET_REVOLUTIONSENSOR_ACTIVE_HIGH	If flag is set the revolution sensor active state is high logic state, else active state is low logic state
uint8_t	Reserved [24]	Reserved (24 bytes)
uint16_t	CRC	Checksum

Description: Read encoder settings from EEPROM.

6.2.6.11. Command GENT

Command code (CMD): “gent” or 0x746E6567.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (14 bytes)

uint32_t	CMD	Command
uint8_t	EngineType	Engine type
	0x0 - ENGINE_TYPE_NONE	A value that shouldn’t be used.
	0x1 - ENGINE_TYPE_DC	DC motor.
	0x2 - ENGINE_TYPE_2DC	2 DC motors.
	0x3 - ENGINE_TYPE_STEP	Step motor.
	0x4 - ENGINE_TYPE_TEST	Duty cycle are fixed. Used only manufacturer.
	0x5 - ENGINE_TYPE_BRUSHLESS	Brushless motor.
uint8_t	DriverType	Driver type
	0x1 - DRIVER_TYPE_DISCRETE_FET	Driver with discrete FET keys. Default option.
	0x2 - DRIVER_TYPE_INTEGRATE	Driver with integrated IC.
	0x3 - DRIVER_TYPE_EXTERNAL	External driver.
uint8_t	Reserved [6]	Reserved (6 bytes)
uint16_t	CRC	Checksum

Description: Return engine type and driver type.

6.2.6.12. Command GFBS

Command code (CMD): “gfbs” or 0x73626667.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (18 bytes)

uint32_t	CMD	Command
uint16_t	IPS	The number of encoder counts per shaft revolution. Range: 1..655535. The field is obsolete, it is recommended to write 0 to IPS and use the extended CountsPerTurn field. You may need to update the controller firmware to the latest version.
uint8_t	FeedbackType	Type of feedback
	0x1 - FEEDBACK_ENCODER	Feedback by encoder.
	0x4 - FEEDBACK_EMF	Feedback by EMF.
	0x5 - FEEDBACK_NONE	Feedback is absent.
uint8_t	FeedbackFlags	Flags
	0x1 - FEEDBACK_ENC_REVERSE	Reverse count of encoder.
	0xc0 - FEEDBACK_ENC_TYPE_BITS	Bits of the encoder type.
	0x0 - FEEDBACK_ENC_TYPE_AUTO	Auto detect encoder type.
	0x40 - FEEDBACK_ENC_TYPE_SINGLE_ENDED	Single ended encoder.
	0x80 - FEEDBACK_ENC_TYPE_DIFFERENTIAL	Differential encoder.
uint32_t	CountsPerTurn	The number of encoder counts per shaft revolution. Range: 1..4294967295. To use the CountsPerTurn field, write 0 in the IPS field, otherwise the value from the IPS field will be used.
uint8_t	Reserved [4]	Reserved (4 bytes)
uint16_t	CRC	Checksum

Description: Feedback settings.

6.2.6.13. Command GGRI

Command code (CMD): “ggri” or 0x69726767.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (70 bytes)

uint32_t	CMD	Command
int8_t	Manufacturer	Manufacturer. Max string length: 16 chars.
int8_t	PartNumber	Series and PartNumber. Max string length: 24 chars.
uint8_t	Reserved [24]	Reserved (24 bytes)
uint16_t	CRC	Checksum

Description: Read gear information from EEPROM.

6.2.6.14. Command GGRS

Command code (CMD): “ggrs” or 0x73726767.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (58 bytes)

uint32_t	CMD	Command
float	ReductionIn	Input reduction coefficient. (Output = (ReductionOut / ReductionIn) Input) Data type: float.
float	ReductionOut	Output reduction coefficient. (Output = (ReductionOut / ReductionIn) Input) Data type: float.
float	RatedInputTorque	Max continuous torque (N m). Data type: float.
float	RatedInputSpeed	Max speed on the input shaft (rpm). Data type: float.
float	MaxOutputBacklash	Output backlash of the reduction gear(degree). Data type: float.
float	InputInertia	Equivalent input gear inertia (g cm2). Data type: float.
float	Efficiency	Reduction gear efficiency (%). Data type: float.
uint8_t	Reserved [24]	Reserved (24 bytes)
uint16_t	CRC	Checksum

Description: Read gear settings from EEPROM.

6.2.6.15. Command GHOM

Command code (CMD): “ghom” or 0x6D6F6867.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (33 bytes)

uint32_t	CMD	Command
uint32_t	FastHome	Speed used for first motion. Range: 0..100000.
uint8_t	uFastHome	Part of the speed for first motion, microsteps.
uint32_t	SlowHome	Speed used for second motion. Range: 0..100000.
uint8_t	uSlowHome	Part of the speed for second motion, microsteps.
int32_t	HomeDelta	Distance from break point.
int16_t	uHomeDelta	Part of the delta distance, microsteps. Range: -255..255.
uint16_t	HomeFlags	Set of flags specify direction and stopping conditions.
	0x1 - HOME_DIR_FIRST	Flag defines direction of 1st motion after execution of home command. Direction is right, if set; otherwise left.
	0x2 - HOME_DIR_SECOND	Flag defines direction of 2nd motion. Direction is right, if set; otherwise left.
	0x4 - HOME_MV_SEC_EN	Use the second phase of calibration to the home position, if set; otherwise the second phase is skipped.
	0x8 - HOME_HALF_MV	If the flag is set, the stop signals are ignored in start of second movement the first half-turn.
	0x30 - HOME_STOP_FIRST_BITS	Bits of the first stop selector.
	0x10 - HOME_STOP_FIRST_REV	First motion stops by revolution sensor.
	0x20 - HOME_STOP_FIRST_SYN	First motion stops by synchronization input.
	0x30 - HOME_STOP_FIRST_LIM	First motion stops by limit switch.
	0xc0 - HOME_STOP_SECOND_BITS	Bits of the second stop selector.
	0x40 - HOME_STOP_SECOND_REV	Second motion stops by revolution sensor.
	0x80 - HOME_STOP_SECOND_SYN	Second motion stops by synchronization input.
	0xc0 - HOME_STOP_SECOND_LIM	Second motion stops by limit switch.
	0x100 - HOME_USE_FAST	Use the fast algorithm of calibration to the home position, if set; otherwise the traditional algorithm.
uint8_t	Reserved [9]	Reserved (9 bytes)
uint16_t	CRC	Checksum

Description: Read home settings. This function fill structure with settings of calibrating position.

6.2.6.16. Command GHSI

Command code (CMD): “ghsi” or 0x69736867.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (70 bytes)

uint32_t	CMD	Command
int8_t	Manufacturer	Manufacturer. Max string length: 16 chars.
int8_t	PartNumber	Series and PartNumber. Max string length: 24 chars.
uint8_t	Reserved [24]	Reserved (24 bytes)
uint16_t	CRC	Checksum

Description: Read hall sensor information from EEPROM.

6.2.6.17. Command GHSS

Command code (CMD): “ghss” or 0x73736867.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (50 bytes)

uint32_t	CMD	Command
float	MaxOperatingFrequency	Max operation frequency (kHz). Data type: float.
float	SupplyVoltageMin	Minimum supply voltage (V). Data type: float.
float	SupplyVoltageMax	Maximum supply voltage (V). Data type: float.
float	MaxCurrentConsumption	Max current consumption (mA). Data type: float.
uint32_t	PPR	The number of counts per revolution
uint8_t	Reserved [24]	Reserved (24 bytes)
uint16_t	CRC	Checksum

Description: Read hall sensor settings from EEPROM.

6.2.6.18. Command GJOY

Command code (CMD): “gjoy” or 0x796F6A67.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (22 bytes)

uint32_t	CMD	Command
uint16_t	JoyLowEnd	Joystick lower end position. Range: 0..10000.
uint16_t	JoyCenter	Joystick center position. Range: 0..10000.
uint16_t	JoyHighEnd	Joystick higher end position. Range: 0..10000.
uint8_t	ExpFactor	Exponential nonlinearity factor.
uint8_t	DeadZone	Joystick dead zone.
uint8_t	JoyFlags	Joystick control flags.
	0x1 - JOY_REVERSE	Joystick action is reversed. Joystick deviation to the upper values correspond to negative speeds and vice versa.
uint8_t	Reserved [7]	Reserved (7 bytes)
uint16_t	CRC	Checksum

Description: Read settings of joystick. If joystick position is outside DeadZone limits from the central position a movement with speed, defined by the joystick DeadZone edge to 100% deviation, begins. Joystick positions inside DeadZone limits correspond to zero speed (soft stop of motion) and positions beyond Low and High limits correspond MaxSpeed [i] or -MaxSpeed [i] (see command SCTL), where i = 0 by default and can be changed with left/right buttons (see command SCTL). If next speed in list is zero (both integer and microstep parts), the button press is ignored. First speed in list shouldn’t be zero. The DeadZone ranges are illustrated on the following picture:

The relationship between the deviation and the rate is exponential, allowing no switching speed combine high mobility and accuracy. The following picture illustrates this:

The nonlinearity parameter is adjustable. Setting it to zero makes deviation/speed relation linear.

6.2.6.19. Command GMOV

Command code (CMD): “gmov” or 0x766F6D67.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (30 bytes)

uint32_t	CMD	Command
uint32_t	Speed	Target speed (for stepper motor: steps/s, for DC: rpm). Range: 0..100000.
uint8_t	uSpeed	Target speed in microstep fractions/s. Using with stepper motor only.
uint16_t	Accel	Motor shaft acceleration, steps/s^2(stepper motor) or RPM/s(DC). Range: 1..65535.
uint16_t	Decel	Motor shaft deceleration, steps/s^2(stepper motor) or RPM/s(DC). Range: 1..65535.
uint32_t	AntiplaySpeed	Speed in antiplay mode, full steps/s(stepper motor) or RPM(DC). Range: 0..100000.
uint8_t	uAntiplaySpeed	Speed in antiplay mode, 1/256 microsteps/s. Used with stepper motor only.
uint8_t	Reserved [10]	Reserved (10 bytes)
uint16_t	CRC	Checksum

Description: Read command setup movement (speed, acceleration, threshold and etc).

6.2.6.20. Command GMTI

Command code (CMD): “gmti” or 0x69746D67.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (70 bytes)

uint32_t	CMD	Command
int8_t	Manufacturer	Manufacturer. Max string length: 16 chars.
int8_t	PartNumber	Series and PartNumber. Max string length: 24 chars.
uint8_t	Reserved [24]	Reserved (24 bytes)
uint16_t	CRC	Checksum

Description: Read motor information from EEPROM.

6.2.6.21. Command GMTS

Command code (CMD): “gmts” or 0x73746D67.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (112 bytes)

uint32_t	CMD	Command
uint8_t	MotorType	Motor type
	0x0 - MOTOR_TYPE_UNKNOWN	Unknown type of engine
	0x1 - MOTOR_TYPE_STEP	Step engine
	0x2 - MOTOR_TYPE_DC	DC engine
	0x3 - MOTOR_TYPE_BLDC	BLDC engine
uint8_t	ReservedField	Reserved
uint16_t	Poles	Number of pole pairs for DC or BLDC motors or number of steps per rotation for stepper motor.
uint16_t	Phases	Number of phases for BLDC motors.
float	NominalVoltage	Nominal voltage on winding (B). Data type: float
float	NominalCurrent	Maximum direct current in winding for DC and BLDC engines, nominal current in windings for stepper motor (A). Data type: float.
float	NominalSpeed	Not used. Nominal speed(rpm). Used for DC and BLDC engine. Data type: float.
float	NominalTorque	Nominal torque(mN m). Used for DC and BLDC engine. Data type: float.
float	NominalPower	Nominal power(W). Used for DC and BLDC engine. Data type: float.
float	WindingResistance	Resistance of windings for DC engine, each of two windings for stepper motor or each of there windings for BLDC engine(Ohm). Data type: float.
float	WindingInductance	Inductance of windings for DC engine, each of two windings for stepper motor or each of there windings for BLDC engine(mH). Data type: float.
float	RotorInertia	Rotor inertia(g cm2). Data type: float.
float	StallTorque	Torque hold position for a stepper motor or torque at a motionless rotor for other types of engines (mN m). Data type: float.
float	DetentTorque	Holding torque position with un-powered coils (mN m). Data type: float.
float	TorqueConstant	Torque constant, which determines the aspect ratio of maximum moment of force from the rotor current flowing in the coil (mN m / A). Used mainly for DC motors. Data type: float.
float	SpeedConstant	Velocity constant, which determines the value or amplitude of the induced voltage on the motion of DC or BLDC motor (rpm / V) or stepper motor (steps/s / V). Data type: float.
float	SpeedTorqueGradient	Speed torque gradient (rpm / mN m). Data type: float.
float	MechanicalTimeConstant	Mechanical time constant (ms). Data type: float.
float	MaxSpeed	The maximum speed for stepper motors (steps/s) or DC and BLDC motors (rmp). Data type: float.
float	MaxCurrent	The maximum current in the winding (A). Data type: float.
float	MaxCurrentTime	Safe duration of overcurrent in the winding (ms). Data type: float.
float	NoLoadCurrent	The current consumption in idle mode (A). Used for DC and BLDC motors. Data type: float.
float	NoLoadSpeed	Idle speed (rpm). Used for DC and BLDC motors. Data type: float.
uint8_t	Reserved [24]	Reserved (24 bytes)
uint16_t	CRC	Checksum

Description: Read motor settings from EEPROM.

6.2.6.22. Command GNME

Command code (CMD): “gnme” or 0x656D6E67.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (30 bytes)

uint32_t	CMD	Command
int8_t	PositionerName	User positioner name. Can be set by user for his/her convinience. Max string length: 16 chars.
uint8_t	Reserved [8]	Reserved (8 bytes)
uint16_t	CRC	Checksum

Description: Read user stage name from EEPROM.

6.2.6.23. Command GNMF

Command code (CMD): “gnmf” or 0x666D6E67.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (30 bytes)

uint32_t	CMD	Command
int8_t	ControllerName	User conroller name. Can be set by user for his/her convinience. Max string length: 16 chars.
uint8_t	CtrlFlags	Internal controller settings.
	0x1 - EEPROM_PRECEDENCE	If the flag is set settings from external EEPROM override controller settings.
uint8_t	Reserved [7]	Reserved (7 bytes)
uint16_t	CRC	Checksum

Description: Read user controller name and flags of setting from FRAM.

6.2.6.24. Command GNVM

Command code (CMD): “gnvm” or 0x6D766E67.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (36 bytes)

uint32_t	CMD	Command
uint32_t	UserData	User data. Can be set by user for his/her convinience. Each element of the array stores only 32 bits of user data. This is important on systems where an int type contains more than 4 bytes. For example that all amd64 systems.
uint8_t	Reserved [2]	Reserved (2 bytes)
uint16_t	CRC	Checksum

Description: Read userdata from FRAM.

6.2.6.25. Command GPID

Command code (CMD): “gpid” or 0x64697067.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (48 bytes)

uint32_t	CMD	Command
uint16_t	KpU	Proportional gain for voltage PID routine
uint16_t	KiU	Integral gain for voltage PID routine
uint16_t	KdU	Differential gain for voltage PID routine
float	Kpf	Proportional gain for BLDC position PID routine
float	Kif	Integral gain for BLDC position PID routine
float	Kdf	Differential gain for BLDC position PID routine
uint8_t	Reserved [24]	Reserved (24 bytes)
uint16_t	CRC	Checksum

Description: Read PID settings. This function fill structure with set of motor PID settings stored in controller’s memory. These settings specify behaviour of PID routine for positioner. These factors are slightly different for different positioners. All boards are supplied with standard set of PID setting on controller’s flash memory.

6.2.6.26. Command GPWR

Command code (CMD): “gpwr” or 0x72777067.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (20 bytes)

uint32_t	CMD	Command
uint8_t	HoldCurrent	Current in holding regime, percent of nominal. Range: 0..100.
uint16_t	CurrReductDelay	Time in ms from going to STOP state to reducting current.
uint16_t	PowerOffDelay	Time in s from going to STOP state to turning power off.
uint16_t	CurrentSetTime	Time in ms to reach nominal current.
uint8_t	PowerFlags	Flags with parameters of power control.
	0x1 - POWER_REDUCT_ENABLED	Current reduction enabled after CurrReductDelay, if this flag is set.
	0x2 - POWER_OFF_ENABLED	Power off enabled after PowerOffDelay, if this flag is set.
	0x4 - POWER_SMOOTH_CURRENT	Current ramp-up/down is performed smoothly during current_set_time, if this flag is set.
uint8_t	Reserved [6]	Reserved (6 bytes)
uint16_t	CRC	Checksum

Description: Read settings of step motor power control. Used with stepper motor only.

6.2.6.27. Command GSEC

Command code (CMD): “gsec” or 0x63657367.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (28 bytes)

uint32_t	CMD	Command
uint16_t	LowUpwrOff	Lower voltage limit to turn off the motor, tens of mV.
uint16_t	CriticalIpwr	Maximum motor current which triggers ALARM state, in mA.
uint16_t	CriticalUpwr	Maximum motor voltage which triggers ALARM state, tens of mV.
uint16_t	CriticalT	Maximum temperature, which triggers ALARM state, in tenths of degrees Celcius.
uint16_t	CriticalIusb	Maximum USB current which triggers ALARM state, in mA.
uint16_t	CriticalUusb	Maximum USB voltage which triggers ALARM state, tens of mV.
uint16_t	MinimumUusb	Minimum USB voltage which triggers ALARM state, tens of mV.
uint8_t	Flags	Critical parameter flags.
	0x1 - ALARM_ON_DRIVER_OVERHEATING	If this flag is set enter Alarm state on driver overheat signal.
	0x2 - LOW_UPWR_PROTECTION	If this flag is set turn off motor when voltage is lower than LowUpwrOff.
	0x4 - H_BRIDGE_ALERT	If this flag is set then turn off the power unit with a signal problem in one of the transistor bridge.
	0x8 - ALARM_ON_BORDERS_SWAP_MISSET	If this flag is set enter Alarm state on borders swap misset
	0x10 - ALARM_FLAGS_STICKING	If this flag is set only a STOP command can turn all alarms to 0
	0x20 - USB_BREAK_RECONNECT	If this flag is set USB brake reconnect module will be enable
uint8_t	Reserved [7]	Reserved (7 bytes)
uint16_t	CRC	Checksum

Description: Read protection settings.

6.2.6.28. Command GSNI

Command code (CMD): “gsni” or 0x696E7367.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (28 bytes)

uint32_t	CMD	Command
uint8_t	SyncInFlags	Input synchronization flags
	0x1 - SYNCIN_ENABLED	Synchronization in mode is enabled, if this flag is set.
	0x2 - SYNCIN_INVERT	Trigger on falling edge if flag is set, on rising edge otherwise.
	0x4 - SYNCIN_GOTOPOSITION	The engine is go to position specified in Position and uPosition, if this flag is set. And it is shift on the Position and uPosition, if this flag is unset
uint16_t	ClutterTime	Input synchronization pulse dead time (mks).
int32_t	Position	Desired position or shift (whole steps)
int16_t	uPosition	The fractional part of a position or shift in microsteps. Is used with stepper motor. Range: -255..255.
uint32_t	Speed	Target speed (for stepper motor: steps/s, for DC: rpm). Range: 0..100000.
uint8_t	uSpeed	Target speed in microsteps/s. Using with stepper motor only.
uint8_t	Reserved [8]	Reserved (8 bytes)
uint16_t	CRC	Checksum

Description: Read input synchronization settings. This function fill structure with set of input synchronization settings, modes, periods and flags, that specify behaviour of input synchronization. All boards are supplied with standard set of these settings.

6.2.6.29. Command GSNO

Command code (CMD): “gsno” or 0x6F6E7367.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (16 bytes)

uint32_t	CMD	Command
uint8_t	SyncOutFlags	Output synchronization flags
	0x1 - SYNCOUT_ENABLED	Synchronization out pin follows the synchronization logic, if set. It governed by SYNCOUT_STATE flag otherwise.
	0x2 - SYNCOUT_STATE	When output state is fixed by negative SYNCOUT_ENABLED flag, the pin state is in accordance with this flag state.
	0x4 - SYNCOUT_INVERT	Low level is active, if set, and high level is active otherwise.
	0x8 - SYNCOUT_IN_STEPS	Use motor steps/encoder pulses instead of milliseconds for output pulse generation if the flag is set.
	0x10 - SYNCOUT_ONSTART	Generate synchronization pulse when movement starts.
	0x20 - SYNCOUT_ONSTOP	Generate synchronization pulse when movement stops.
	0x40 - SYNCOUT_ONPERIOD	Generate synchronization pulse every SyncOutPeriod encoder pulses.
uint16_t	SyncOutPulseSteps	This value specifies duration of output pulse. It is measured microseconds when SYNCOUT_IN_STEPS flag is cleared or in encoder pulses or motor steps when SYNCOUT_IN_STEPS is set.
uint16_t	SyncOutPeriod	This value specifies number of encoder pulses or steps between two output synchronization pulses when SYNCOUT_ONPERIOD is set.
uint32_t	Accuracy	This is the neighborhood around the target coordinates, which is getting hit in the target position and the momentum generated by the stop.
uint8_t	uAccuracy	This is the neighborhood around the target coordinates in micro steps (only used with stepper motor).
uint16_t	CRC	Checksum

Description: Read output synchronization settings. This function fill structure with set of output synchronization settings, modes, periods and flags, that specify behaviour of output synchronization. All boards are supplied with standard set of these settings.

6.2.6.30. Command GSTI

Command code (CMD): “gsti” or 0x69747367.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (70 bytes)

uint32_t	CMD	Command
int8_t	Manufacturer	Manufacturer. Max string length: 16 chars.
int8_t	PartNumber	Series and PartNumber. Max string length: 24 chars.
uint8_t	Reserved [24]	Reserved (24 bytes)
uint16_t	CRC	Checksum

Description: Read stage information from EEPROM.

6.2.6.31. Command GSTS

Command code (CMD): “gsts” or 0x73747367.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (70 bytes)

uint32_t	CMD	Command
float	LeadScrewPitch	Lead screw pitch (mm). Data type: float.
int8_t	Units	Units for MaxSpeed and TravelRange fields of the structure (steps, degrees, mm, …). Max string length: 8 chars.
float	MaxSpeed	Max speed (Units/c). Data type: float.
float	TravelRange	Travel range (Units). Data type: float.
float	SupplyVoltageMin	Supply voltage minimum (V). Data type: float.
float	SupplyVoltageMax	Supply voltage maximum (V). Data type: float.
float	MaxCurrentConsumption	Max current consumption (A). Data type: float.
float	HorizontalLoadCapacity	Horizontal load capacity (kg). Data type: float.
float	VerticalLoadCapacity	Vertical load capacity (kg). Data type: float.
uint8_t	Reserved [24]	Reserved (24 bytes)
uint16_t	CRC	Checksum

Description: Read stage settings from EEPROM.

6.2.6.32. Command GURT

Command code (CMD): “gurt” or 0x74727567.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (16 bytes)

uint32_t	CMD	Command
uint32_t	Speed	UART speed
uint16_t	UARTSetupFlags	UART setup flags
	0x3 - UART_PARITY_BITS	Bits of the parity.
	0x0 - UART_PARITY_BIT_EVEN	Parity bit 1, if even
	0x1 - UART_PARITY_BIT_ODD	Parity bit 1, if odd
	0x2 - UART_PARITY_BIT_SPACE	Parity bit always 0
	0x3 - UART_PARITY_BIT_MARK	Parity bit always 1
	0x4 - UART_PARITY_BIT_USE	None parity
	0x8 - UART_STOP_BIT	If set - one stop bit, else two stop bit
uint8_t	Reserved [4]	Reserved (4 bytes)
uint16_t	CRC	Checksum

Description: Read UART settings. This function fill structure with UART settings.

6.2.6.33. Command SACC

Command code (CMD): “sacc” or 0x63636173.

Request: (114 bytes)

uint32_t	CMD	Command
int8_t	MagneticBrakeInfo	The manufacturer and the part number of magnetic brake, the maximum string length is 24 characters.
float	MBRatedVoltage	Rated voltage for controlling the magnetic brake (B). Data type: float.
float	MBRatedCurrent	Rated current for controlling the magnetic brake (A). Data type: float.
float	MBTorque	Retention moment (mN m). Data type: float.
uint32_t	MBSettings	Flags of magnetic brake settings
	0x1 - MB_AVAILABLE	If flag is set the magnetic brake is available
	0x2 - MB_POWERED_HOLD	If this flag is set the magnetic brake is on when powered
int8_t	TemperatureSensorInfo	The manufacturer and the part number of the temperature sensor, the maximum string length: 24 characters.
float	TSMin	The minimum measured temperature (degrees Celsius) Data type: float.
float	TSMax	The maximum measured temperature (degrees Celsius) Data type: float.
float	TSGrad	The temperature gradient (V/degrees Celsius). Data type: float.
uint32_t	TSSettings	Flags of temperature sensor settings.
	0x7 - TS_TYPE_BITS	Bits of the temperature sensor type
	0x0 - TS_TYPE_UNKNOWN	Unknow type of sensor
	0x1 - TS_TYPE_THERMOCOUPLE	Thermocouple
	0x2 - TS_TYPE_SEMICONDUCTOR	The semiconductor temperature sensor
	0x8 - TS_AVAILABLE	If flag is set the temperature sensor is available
uint32_t	LimitSwitchesSettings	Flags of limit switches settings.
	0x1 - LS_ON_SW1_AVAILABLE	If flag is set the limit switch connnected to pin SW1 is available
	0x2 - LS_ON_SW2_AVAILABLE	If flag is set the limit switch connnected to pin SW2 is available
	0x4 - LS_SW1_ACTIVE_LOW	If flag is set the limit switch connnected to pin SW1 is triggered by a low level on pin
	0x8 - LS_SW2_ACTIVE_LOW	If flag is set the limit switch connnected to pin SW2 is triggered by a low level on pin
	0x10 - LS_SHORTED	If flag is set the Limit switches is shorted
uint8_t	Reserved [24]	Reserved (24 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set additional accessories information to EEPROM. Can be used by manufacturer only.

6.2.6.34. Command SBRK

Command code (CMD): “sbrk” or 0x6B726273.

Request: (25 bytes)

uint32_t	CMD	Command
uint16_t	t1	Time in ms between turn on motor power and turn off brake.
uint16_t	t2	Time in ms between turn off brake and moving readiness. All moving commands will execute after this interval.
uint16_t	t3	Time in ms between motor stop and turn on brake.
uint16_t	t4	Time in ms between turn on brake and turn off motor power.
uint8_t	BrakeFlags	Flags.
	0x1 - BRAKE_ENABLED	Brake control is enabled, if this flag is set.
	0x2 - BRAKE_ENG_PWROFF	Brake turns off power of step motor, if this flag is set.
uint8_t	Reserved [10]	Reserved (10 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set settings of brake control.

6.2.6.35. Command SCAL

Command code (CMD): “scal” or 0x6C616373.

Request: (118 bytes)

uint32_t	CMD	Command
float	CSS1_A	Scaling factor for the analogue measurements of the winding A current.
float	CSS1_B	Shift factor for the analogue measurements of the winding A current.
float	CSS2_A	Scaling factor for the analogue measurements of the winding B current.
float	CSS2_B	Shift factor for the analogue measurements of the winding B current.
float	FullCurrent_A	Scaling factor for the analogue measurements of the full current.
float	FullCurrent_B	Shift factor for the analogue measurements of the full current.
uint8_t	Reserved [88]	Reserved (88 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set calibration settings. This function send structure with calibration settings to controller’s memory.

6.2.6.36. Command SCTL

Command code (CMD): “sctl” or 0x6C746373.

Request: (93 bytes)

uint32_t	CMD	Command
uint32_t	MaxSpeed	Array of speeds (full step) using with joystick and button control. Range: 0..100000.
uint8_t	uMaxSpeed	Array of speeds (1/256 microstep) using with joystick and button control.
uint16_t	Timeout	timeout[i] is time in ms, after that max_speed[i+1] is applying. It is using with buttons control only.
uint16_t	MaxClickTime	Maximum click time. Prior to the expiration of this time the first speed isn’t enabled.
uint16_t	Flags	Flags.
	0x3 - CONTROL_MODE_BITS	Bits to control engine by joystick or buttons.
	0x0 - CONTROL_MODE_OFF	Control is disabled.
	0x1 - CONTROL_MODE_JOY	Control by joystick.
	0x2 - CONTROL_MODE_LR	Control by left/right buttons.
	0x4 - CONTROL_BTN_LEFT_PUSHED_OPEN	Pushed left button corresponds to open contact, if this flag is set.
	0x8 - CONTROL_BTN_RIGHT_PUSHED_OPEN	Pushed right button corresponds to open contact, if this flag is set.
int32_t	DeltaPosition	Shift (delta) of position
int16_t	uDeltaPosition	Fractional part of the shift in micro steps. Is only used with stepper motor. Range: -255..255.
uint8_t	Reserved [9]	Reserved (9 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set settings of motor control. When choosing CTL_MODE = 1 switches motor control with the joystick. In this mode, the joystick to the maximum engine tends Move at MaxSpeed [i], where i = 0 if the previous use This mode is not selected another i. Buttons switch the room rate i. When CTL_MODE = 2 is switched on motor control using the Left / right. When you click on the button motor starts to move in the appropriate direction at a speed MaxSpeed [0], at the end of time Timeout [i] motor move at a speed MaxSpeed [i+1]. at Transition from MaxSpeed [i] on MaxSpeed [i +1] to acceleration, as usual.

6.2.6.37. Command SCTP

Command code (CMD): “sctp” or 0x70746373.

Request: (18 bytes)

uint32_t	CMD	Command
uint8_t	CTPMinError	Minimum contrast steps from step motor encoder position, wich set STATE_CTP_ERROR flag. Measured in steps step motor.
uint8_t	CTPFlags	Flags.
	0x1 - CTP_ENABLED	Position control is enabled, if flag set.
	0x2 - CTP_BASE	Position control is based on revolution sensor, if this flag is set; otherwise it is based on encoder.
	0x4 - CTP_ALARM_ON_ERROR	Set ALARM on mismatch, if flag set.
	0x8 - REV_SENS_INV	Sensor is active when it 0 and invert makes active level 1. That is, if you do not invert, it is normal logic - 0 is the activation.
	0x10 - CTP_ERROR_CORRECTION	Correct errors which appear when slippage if the flag is set. It works only with the encoder. Incompatible with flag CTP_ALARM_ON_ERROR.
uint8_t	Reserved [10]	Reserved (10 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set settings of control position(is only used with stepper motor). When controlling the step motor with encoder (CTP_BASE 0) it is possible to detect the loss of steps. The controller knows the number of steps per revolution (GENG :: StepsPerRev) and the encoder resolution (GFBS :: IPT). When the control (flag CTP_ENABLED), the controller stores the current position in the footsteps of SM and the current position of the encoder. Further, at each step of the position encoder is converted into steps and if the difference is greater CTPMinError, a flag STATE_CTP_ERROR. When controlling the step motor with speed sensor (CTP_BASE 1), the position is controlled by him. The active edge of input clock controller stores the current value of steps. Further, at each turn checks how many steps shifted. When a mismatch CTPMinError a flag STATE_CTP_ERROR.

6.2.6.38. Command SEDS

Command code (CMD): “seds” or 0x73646573.

Request: (26 bytes)

uint32_t	CMD	Command
uint8_t	BorderFlags	Border flags, specify types of borders and motor behaviour on borders.
	0x1 - BORDER_IS_ENCODER	Borders are fixed by predetermined encoder values, if set; borders position on limit switches, if not set.
	0x2 - BORDER_STOP_LEFT	Motor should stop on left border.
	0x4 - BORDER_STOP_RIGHT	Motor should stop on right border.
	0x8 - BORDERS_SWAP_MISSET_DETECTION	Motor should stop on both borders. Need to save motor then wrong border settings is set
uint8_t	EnderFlags	Ender flags, specify electrical behaviour of limit switches like order and pulled positions.
	0x1 - ENDER_SWAP	First limit switch on the right side, if set; otherwise on the left side.
	0x2 - ENDER_SW1_ACTIVE_LOW	1 - Limit switch connnected to pin SW1 is triggered by a low level on pin.
	0x4 - ENDER_SW2_ACTIVE_LOW	1 - Limit switch connnected to pin SW2 is triggered by a low level on pin.
int32_t	LeftBorder	Left border position, used if BORDER_IS_ENCODER flag is set.
int16_t	uLeftBorder	Left border position in 1/256 microsteps(used with stepper motor only). Range: -255..255.
int32_t	RightBorder	Right border position, used if BORDER_IS_ENCODER flag is set.
int16_t	uRightBorder	Right border position in 1/256 microsteps. Used with stepper motor only. Range: -255..255.
uint8_t	Reserved [6]	Reserved (6 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set border and limit switches settings.

6.2.6.39. Command SEIO

Command code (CMD): “seio” or 0x6F696573.

Request: (18 bytes)

uint32_t	CMD	Command
uint8_t	EXTIOSetupFlags	Configuration flags of the external I-O
	0x1 - EXTIO_SETUP_OUTPUT	EXTIO works as output if flag is set, works as input otherwise.
	0x2 - EXTIO_SETUP_INVERT	Interpret EXTIO states and fronts inverted if flag is set. Falling front as input event and low logic level as active state.
uint8_t	EXTIOModeFlags	Flags mode settings external I-O
	0xf - EXTIO_SETUP_MODE_IN_BITS	Bits of the behaviour selector when the signal on input goes to the active state.
	0x0 - EXTIO_SETUP_MODE_IN_NOP	Do nothing.
	0x1 - EXTIO_SETUP_MODE_IN_STOP	Issue STOP command, ceasing the engine movement.
	0x2 - EXTIO_SETUP_MODE_IN_PWOF	Issue PWOF command, powering off all engine windings.
	0x3 - EXTIO_SETUP_MODE_IN_MOVR	Issue MOVR command with last used settings.
	0x4 - EXTIO_SETUP_MODE_IN_HOME	Issue HOME command.
	0x5 - EXTIO_SETUP_MODE_IN_ALARM	Set Alarm when the signal goes to the active state.
	0xf0 - EXTIO_SETUP_MODE_OUT_BITS	Bits of the output behaviour selection.
	0x0 - EXTIO_SETUP_MODE_OUT_OFF	EXTIO pin always set in inactive state.
	0x10 - EXTIO_SETUP_MODE_OUT_ON	EXTIO pin always set in active state.
	0x20 - EXTIO_SETUP_MODE_OUT_MOVING	EXTIO pin stays active during moving state.
	0x30 - EXTIO_SETUP_MODE_OUT_ALARM	EXTIO pin stays active during Alarm state.
	0x40 - EXTIO_SETUP_MODE_OUT_MOTOR_ON	EXTIO pin stays active when windings are powered.
uint8_t	Reserved [10]	Reserved (10 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set EXTIO settings. This function writes a structure with a set of EXTIO settings to controller’s memory. By default input event are signalled through rising front and output states are signalled by high logic state.

6.2.6.40. Command SENG

Command code (CMD): “seng” or 0x676E6573.

Request: (34 bytes)

uint32_t	CMD	Command
uint16_t	NomVoltage	Rated voltage in tens of mV. Controller will keep the voltage drop on motor below this value if ENGINE_LIMIT_VOLT flag is set (used with DC only).
uint16_t	NomCurrent	Rated current. Controller will keep current consumed by motor below this value if ENGINE_LIMIT_CURR flag is set. Range: 15..8000
uint32_t	NomSpeed	Nominal (maximum) speed (in whole steps/s or rpm for DC and stepper motor as a master encoder). Controller will keep motor shaft RPM below this value if ENGINE_LIMIT_RPM flag is set. Range: 1..100000.
uint8_t	uNomSpeed	The fractional part of a nominal speed in microsteps (is only used with stepper motor).
uint16_t	EngineFlags	Set of flags specify motor shaft movement algorithm and list of limitations
	0x1 - ENGINE_REVERSE	Reverse flag. It determines motor shaft rotation direction that corresponds to feedback counts increasing. If not set (default), motor shaft rotation direction under positive voltage corresponds to feedback counts increasing and vice versa. Change it if you see that positive directions on motor and feedback are opposite.
	0x2 - ENGINE_CURRENT_AS_RMS	Engine current meaning flag. If the flag is unset, then engine current value is interpreted as maximum amplitude value. If the flag is set, then engine current value is interpreted as root mean square current value (for stepper) or as the current value calculated from the maximum heat dissipation (bldc).
	0x4 - ENGINE_MAX_SPEED	Max speed flag. If it is set, engine uses maximum speed achievable with the present engine settings as nominal speed.
	0x8 - ENGINE_ANTIPLAY	Play compensation flag. If it set, engine makes backlash (play) compensation procedure and reach the predetermined position accurately on low speed.
	0x10 - ENGINE_ACCEL_ON	Acceleration enable flag. If it set, motion begins with acceleration and ends with deceleration.
	0x20 - ENGINE_LIMIT_VOLT	Maximum motor voltage limit enable flag(is only used with DC motor).
	0x40 - ENGINE_LIMIT_CURR	Maximum motor current limit enable flag(is only used with DC motor).
	0x80 - ENGINE_LIMIT_RPM	Maximum motor speed limit enable flag.
int16_t	Antiplay	Number of pulses or steps for backlash (play) compensation procedure. Used if ENGINE_ANTIPLAY flag is set.
uint8_t	MicrostepMode	Settings of microstep mode(Used with stepper motor only).
	0x1 - MICROSTEP_MODE_FULL	Full step mode.
	0x2 - MICROSTEP_MODE_FRAC_2	1/2 step mode.
	0x3 - MICROSTEP_MODE_FRAC_4	1/4 step mode.
	0x4 - MICROSTEP_MODE_FRAC_8	1/8 step mode.
	0x5 - MICROSTEP_MODE_FRAC_16	1/16 step mode.
	0x6 - MICROSTEP_MODE_FRAC_32	1/32 step mode.
	0x7 - MICROSTEP_MODE_FRAC_64	1/64 step mode.
	0x8 - MICROSTEP_MODE_FRAC_128	1/128 step mode.
	0x9 - MICROSTEP_MODE_FRAC_256	1/256 step mode.
uint16_t	StepsPerRev	Number of full steps per revolution(Used with stepper motor only). Range: 1..65535.
uint8_t	Reserved [12]	Reserved (12 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set engine settings. This function send structure with set of engine settings to controller’s memory. These settings specify motor shaft movement algorithm, list of limitations and rated characteristics. Use it when you change motor, encoder, positioner etc. Please note that wrong engine settings lead to device malfunction, can lead to irreversible damage of board.

6.2.6.41. Command SENI

Command code (CMD): “seni” or 0x696E6573.

Request: (70 bytes)

uint32_t	CMD	Command
int8_t	Manufacturer	Manufacturer. Max string length: 16 chars.
int8_t	PartNumber	Series and PartNumber. Max string length: 24 chars.
uint8_t	Reserved [24]	Reserved (24 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set encoder information to EEPROM. Can be used by manufacturer only.

6.2.6.42. Command SENS

Command code (CMD): “sens” or 0x736E6573.

Request: (54 bytes)

uint32_t	CMD	Command
float	MaxOperatingFrequency	Max operation frequency (kHz). Data type: float.
float	SupplyVoltageMin	Minimum supply voltage (V). Data type: float.
float	SupplyVoltageMax	Maximum supply voltage (V). Data type: float.
float	MaxCurrentConsumption	Max current consumption (mA). Data type: float.
uint32_t	PPR	The number of counts per revolution
uint32_t	EncoderSettings	Encoder settings flags
	0x1 - ENCSET_DIFFERENTIAL_OUTPUT	If flag is set the encoder has differential output, else single ended output
	0x4 - ENCSET_PUSHPULL_OUTPUT	If flag is set the encoder has push-pull output, else open drain output
	0x10 - ENCSET_INDEXCHANNEL_PRESENT	If flag is set the encoder has index channel, else encoder hasn’t it
	0x40 - ENCSET_REVOLUTIONSENSOR_PRESENT	If flag is set the encoder has revolution sensor, else encoder hasn’t it
	0x100 - ENCSET_REVOLUTIONSENSOR_ACTIVE_HIGH	If flag is set the revolution sensor active state is high logic state, else active state is low logic state
uint8_t	Reserved [24]	Reserved (24 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set encoder settings to EEPROM. Can be used by manufacturer only.

6.2.6.43. Command SENT

Command code (CMD): “sent” or 0x746E6573.

Request: (14 bytes)

uint32_t	CMD	Command
uint8_t	EngineType	Engine type
	0x0 - ENGINE_TYPE_NONE	A value that shouldn’t be used.
	0x1 - ENGINE_TYPE_DC	DC motor.
	0x2 - ENGINE_TYPE_2DC	2 DC motors.
	0x3 - ENGINE_TYPE_STEP	Step motor.
	0x4 - ENGINE_TYPE_TEST	Duty cycle are fixed. Used only manufacturer.
	0x5 - ENGINE_TYPE_BRUSHLESS	Brushless motor.
uint8_t	DriverType	Driver type
	0x1 - DRIVER_TYPE_DISCRETE_FET	Driver with discrete FET keys. Default option.
	0x2 - DRIVER_TYPE_INTEGRATE	Driver with integrated IC.
	0x3 - DRIVER_TYPE_EXTERNAL	External driver.
uint8_t	Reserved [6]	Reserved (6 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set engine type and driver type.

6.2.6.44. Command SFBS

Command code (CMD): “sfbs” or 0x73626673.

Request: (18 bytes)

uint32_t	CMD	Command
uint16_t	IPS	The number of encoder counts per shaft revolution. Range: 1..655535. The field is obsolete, it is recommended to write 0 to IPS and use the extended CountsPerTurn field. You may need to update the controller firmware to the latest version.
uint8_t	FeedbackType	Type of feedback
	0x1 - FEEDBACK_ENCODER	Feedback by encoder.
	0x4 - FEEDBACK_EMF	Feedback by EMF.
	0x5 - FEEDBACK_NONE	Feedback is absent.
uint8_t	FeedbackFlags	Flags
	0x1 - FEEDBACK_ENC_REVERSE	Reverse count of encoder.
	0xc0 - FEEDBACK_ENC_TYPE_BITS	Bits of the encoder type.
	0x0 - FEEDBACK_ENC_TYPE_AUTO	Auto detect encoder type.
	0x40 - FEEDBACK_ENC_TYPE_SINGLE_ENDED	Single ended encoder.
	0x80 - FEEDBACK_ENC_TYPE_DIFFERENTIAL	Differential encoder.
uint32_t	CountsPerTurn	The number of encoder counts per shaft revolution. Range: 1..4294967295. To use the CountsPerTurn field, write 0 in the IPS field, otherwise the value from the IPS field will be used.
uint8_t	Reserved [4]	Reserved (4 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Feedback settings.

6.2.6.45. Command SGRI

Command code (CMD): “sgri” or 0x69726773.

Request: (70 bytes)

uint32_t	CMD	Command
int8_t	Manufacturer	Manufacturer. Max string length: 16 chars.
int8_t	PartNumber	Series and PartNumber. Max string length: 24 chars.
uint8_t	Reserved [24]	Reserved (24 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set gear information to EEPROM. Can be used by manufacturer only.

6.2.6.46. Command SGRS

Command code (CMD): “sgrs” or 0x73726773.

Request: (58 bytes)

uint32_t	CMD	Command
float	ReductionIn	Input reduction coefficient. (Output = (ReductionOut / ReductionIn) Input) Data type: float.
float	ReductionOut	Output reduction coefficient. (Output = (ReductionOut / ReductionIn) Input) Data type: float.
float	RatedInputTorque	Max continuous torque (N m). Data type: float.
float	RatedInputSpeed	Max speed on the input shaft (rpm). Data type: float.
float	MaxOutputBacklash	Output backlash of the reduction gear(degree). Data type: float.
float	InputInertia	Equivalent input gear inertia (g cm2). Data type: float.
float	Efficiency	Reduction gear efficiency (%). Data type: float.
uint8_t	Reserved [24]	Reserved (24 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set gear settings to EEPROM. Can be used by manufacturer only.

6.2.6.47. Command SHOM

Command code (CMD): “shom” or 0x6D6F6873.

Request: (33 bytes)

uint32_t	CMD	Command
uint32_t	FastHome	Speed used for first motion. Range: 0..100000.
uint8_t	uFastHome	Part of the speed for first motion, microsteps.
uint32_t	SlowHome	Speed used for second motion. Range: 0..100000.
uint8_t	uSlowHome	Part of the speed for second motion, microsteps.
int32_t	HomeDelta	Distance from break point.
int16_t	uHomeDelta	Part of the delta distance, microsteps. Range: -255..255.
uint16_t	HomeFlags	Set of flags specify direction and stopping conditions.
	0x1 - HOME_DIR_FIRST	Flag defines direction of 1st motion after execution of home command. Direction is right, if set; otherwise left.
	0x2 - HOME_DIR_SECOND	Flag defines direction of 2nd motion. Direction is right, if set; otherwise left.
	0x4 - HOME_MV_SEC_EN	Use the second phase of calibration to the home position, if set; otherwise the second phase is skipped.
	0x8 - HOME_HALF_MV	If the flag is set, the stop signals are ignored in start of second movement the first half-turn.
	0x30 - HOME_STOP_FIRST_BITS	Bits of the first stop selector.
	0x10 - HOME_STOP_FIRST_REV	First motion stops by revolution sensor.
	0x20 - HOME_STOP_FIRST_SYN	First motion stops by synchronization input.
	0x30 - HOME_STOP_FIRST_LIM	First motion stops by limit switch.
	0xc0 - HOME_STOP_SECOND_BITS	Bits of the second stop selector.
	0x40 - HOME_STOP_SECOND_REV	Second motion stops by revolution sensor.
	0x80 - HOME_STOP_SECOND_SYN	Second motion stops by synchronization input.
	0xc0 - HOME_STOP_SECOND_LIM	Second motion stops by limit switch.
	0x100 - HOME_USE_FAST	Use the fast algorithm of calibration to the home position, if set; otherwise the traditional algorithm.
uint8_t	Reserved [9]	Reserved (9 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set home settings. This function send structure with calibrating position settings to controller’s memory.

6.2.6.48. Command SHSI

Command code (CMD): “shsi” or 0x69736873.

Request: (70 bytes)

uint32_t	CMD	Command
int8_t	Manufacturer	Manufacturer. Max string length: 16 chars.
int8_t	PartNumber	Series and PartNumber. Max string length: 24 chars.
uint8_t	Reserved [24]	Reserved (24 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set hall sensor information to EEPROM. Can be used by manufacturer only.

6.2.6.49. Command SHSS

Command code (CMD): “shss” or 0x73736873.

Request: (50 bytes)

uint32_t	CMD	Command
float	MaxOperatingFrequency	Max operation frequency (kHz). Data type: float.
float	SupplyVoltageMin	Minimum supply voltage (V). Data type: float.
float	SupplyVoltageMax	Maximum supply voltage (V). Data type: float.
float	MaxCurrentConsumption	Max current consumption (mA). Data type: float.
uint32_t	PPR	The number of counts per revolution
uint8_t	Reserved [24]	Reserved (24 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set hall sensor settings to EEPROM. Can be used by manufacturer only.

6.2.6.50. Command SJOY

Command code (CMD): “sjoy” or 0x796F6A73.

Request: (22 bytes)

uint32_t	CMD	Command
uint16_t	JoyLowEnd	Joystick lower end position. Range: 0..10000.
uint16_t	JoyCenter	Joystick center position. Range: 0..10000.
uint16_t	JoyHighEnd	Joystick higher end position. Range: 0..10000.
uint8_t	ExpFactor	Exponential nonlinearity factor.
uint8_t	DeadZone	Joystick dead zone.
uint8_t	JoyFlags	Joystick control flags.
	0x1 - JOY_REVERSE	Joystick action is reversed. Joystick deviation to the upper values correspond to negative speeds and vice versa.
uint8_t	Reserved [7]	Reserved (7 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set settings of joystick. If joystick position is outside DeadZone limits from the central position a movement with speed, defined by the joystick DeadZone edge to 100% deviation, begins. Joystick positions inside DeadZone limits correspond to zero speed (soft stop of motion) and positions beyond Low and High limits correspond MaxSpeed [i] or -MaxSpeed [i] (see command SCTL), where i = 0 by default and can be changed with left/right buttons (see command SCTL). If next speed in list is zero (both integer and microstep parts), the button press is ignored. First speed in list shouldn’t be zero. The DeadZone ranges are illustrated on the following picture. !/attachments/download/5563/range25p.png! The relationship between the deviation and the rate is exponential, allowing no switching speed combine high mobility and accuracy. The following picture illustrates this: !/attachments/download/3092/ExpJoystick.png! The nonlinearity parameter is adjustable. Setting it to zero makes deviation/speed relation linear.

6.2.6.51. Command SMOV

Command code (CMD): “smov” or 0x766F6D73.

Request: (30 bytes)

uint32_t	CMD	Command
uint32_t	Speed	Target speed (for stepper motor: steps/s, for DC: rpm). Range: 0..100000.
uint8_t	uSpeed	Target speed in microstep fractions/s. Using with stepper motor only.
uint16_t	Accel	Motor shaft acceleration, steps/s^2(stepper motor) or RPM/s(DC). Range: 1..65535.
uint16_t	Decel	Motor shaft deceleration, steps/s^2(stepper motor) or RPM/s(DC). Range: 1..65535.
uint32_t	AntiplaySpeed	Speed in antiplay mode, full steps/s(stepper motor) or RPM(DC). Range: 0..100000.
uint8_t	uAntiplaySpeed	Speed in antiplay mode, 1/256 microsteps/s. Used with stepper motor only.
uint8_t	Reserved [10]	Reserved (10 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set command setup movement (speed, acceleration, threshold and etc).

6.2.6.52. Command SMTI

Command code (CMD): “smti” or 0x69746D73.

Request: (70 bytes)

uint32_t	CMD	Command
int8_t	Manufacturer	Manufacturer. Max string length: 16 chars.
int8_t	PartNumber	Series and PartNumber. Max string length: 24 chars.
uint8_t	Reserved [24]	Reserved (24 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set motor information to EEPROM. Can be used by manufacturer only.

6.2.6.53. Command SMTS

Command code (CMD): “smts” or 0x73746D73.

Request: (112 bytes)

uint32_t	CMD	Command
uint8_t	MotorType	Motor type
	0x0 - MOTOR_TYPE_UNKNOWN	Unknown type of engine
	0x1 - MOTOR_TYPE_STEP	Step engine
	0x2 - MOTOR_TYPE_DC	DC engine
	0x3 - MOTOR_TYPE_BLDC	BLDC engine
uint8_t	ReservedField	Reserved
uint16_t	Poles	Number of pole pairs for DC or BLDC motors or number of steps per rotation for stepper motor.
uint16_t	Phases	Number of phases for BLDC motors.
float	NominalVoltage	Nominal voltage on winding (B). Data type: float
float	NominalCurrent	Maximum direct current in winding for DC and BLDC engines, nominal current in windings for stepper motor (A). Data type: float.
float	NominalSpeed	Not used. Nominal speed(rpm). Used for DC and BLDC engine. Data type: float.
float	NominalTorque	Nominal torque(mN m). Used for DC and BLDC engine. Data type: float.
float	NominalPower	Nominal power(W). Used for DC and BLDC engine. Data type: float.
float	WindingResistance	Resistance of windings for DC engine, each of two windings for stepper motor or each of there windings for BLDC engine(Ohm). Data type: float.
float	WindingInductance	Inductance of windings for DC engine, each of two windings for stepper motor or each of there windings for BLDC engine(mH). Data type: float.
float	RotorInertia	Rotor inertia(g cm2). Data type: float.
float	StallTorque	Torque hold position for a stepper motor or torque at a motionless rotor for other types of engines (mN m). Data type: float.
float	DetentTorque	Holding torque position with un-powered coils (mN m). Data type: float.
float	TorqueConstant	Torque constant, which determines the aspect ratio of maximum moment of force from the rotor current flowing in the coil (mN m / A). Used mainly for DC motors. Data type: float.
float	SpeedConstant	Velocity constant, which determines the value or amplitude of the induced voltage on the motion of DC or BLDC motor (rpm / V) or stepper motor (steps/s / V). Data type: float.
float	SpeedTorqueGradient	Speed torque gradient (rpm / mN m). Data type: float.
float	MechanicalTimeConstant	Mechanical time constant (ms). Data type: float.
float	MaxSpeed	The maximum speed for stepper motors (steps/s) or DC and BLDC motors (rmp). Data type: float.
float	MaxCurrent	The maximum current in the winding (A). Data type: float.
float	MaxCurrentTime	Safe duration of overcurrent in the winding (ms). Data type: float.
float	NoLoadCurrent	The current consumption in idle mode (A). Used for DC and BLDC motors. Data type: float.
float	NoLoadSpeed	Idle speed (rpm). Used for DC and BLDC motors. Data type: float.
uint8_t	Reserved [24]	Reserved (24 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set motor settings to EEPROM. Can be used by manufacturer only.

6.2.6.54. Command SNME

Command code (CMD): “snme” or 0x656D6E73.

Request: (30 bytes)

uint32_t	CMD	Command
int8_t	PositionerName	User positioner name. Can be set by user for his/her convinience. Max string length: 16 chars.
uint8_t	Reserved [8]	Reserved (8 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Write user stage name from EEPROM.

6.2.6.55. Command SNMF

Command code (CMD): “snmf” or 0x666D6E73.

Request: (30 bytes)

uint32_t	CMD	Command
int8_t	ControllerName	User conroller name. Can be set by user for his/her convinience. Max string length: 16 chars.
uint8_t	CtrlFlags	Internal controller settings.
	0x1 - EEPROM_PRECEDENCE	If the flag is set settings from external EEPROM override controller settings.
uint8_t	Reserved [7]	Reserved (7 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Write user controller name and flags of setting from FRAM.

6.2.6.56. Command SNVM

Command code (CMD): “snvm” or 0x6D766E73.

Request: (36 bytes)

uint32_t	CMD	Command
uint32_t	UserData	User data. Can be set by user for his/her convinience. Each element of the array stores only 32 bits of user data. This is important on systems where an int type contains more than 4 bytes. For example that all amd64 systems.
uint8_t	Reserved [2]	Reserved (2 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Write userdata into FRAM.

6.2.6.57. Command SPID

Command code (CMD): “spid” or 0x64697073.

Request: (48 bytes)

uint32_t	CMD	Command
uint16_t	KpU	Proportional gain for voltage PID routine
uint16_t	KiU	Integral gain for voltage PID routine
uint16_t	KdU	Differential gain for voltage PID routine
float	Kpf	Proportional gain for BLDC position PID routine
float	Kif	Integral gain for BLDC position PID routine
float	Kdf	Differential gain for BLDC position PID routine
uint8_t	Reserved [24]	Reserved (24 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set PID settings. This function send structure with set of PID factors to controller’s memory. These settings specify behaviour of PID routine for positioner. These factors are slightly different for different positioners. All boards are supplied with standard set of PID setting on controller’s flash memory. Please use it for loading new PID settings when you change positioner. Please note that wrong PID settings lead to device malfunction.

6.2.6.58. Command SPWR

Command code (CMD): “spwr” or 0x72777073.

Request: (20 bytes)

uint32_t	CMD	Command
uint8_t	HoldCurrent	Current in holding regime, percent of nominal. Range: 0..100.
uint16_t	CurrReductDelay	Time in ms from going to STOP state to reducting current.
uint16_t	PowerOffDelay	Time in s from going to STOP state to turning power off.
uint16_t	CurrentSetTime	Time in ms to reach nominal current.
uint8_t	PowerFlags	Flags with parameters of power control.
	0x1 - POWER_REDUCT_ENABLED	Current reduction enabled after CurrReductDelay, if this flag is set.
	0x2 - POWER_OFF_ENABLED	Power off enabled after PowerOffDelay, if this flag is set.
	0x4 - POWER_SMOOTH_CURRENT	Current ramp-up/down is performed smoothly during current_set_time, if this flag is set.
uint8_t	Reserved [6]	Reserved (6 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set settings of step motor power control. Used with stepper motor only.

6.2.6.59. Command SSEC

Command code (CMD): “ssec” or 0x63657373.

Request: (28 bytes)

uint32_t	CMD	Command
uint16_t	LowUpwrOff	Lower voltage limit to turn off the motor, tens of mV.
uint16_t	CriticalIpwr	Maximum motor current which triggers ALARM state, in mA.
uint16_t	CriticalUpwr	Maximum motor voltage which triggers ALARM state, tens of mV.
uint16_t	CriticalT	Maximum temperature, which triggers ALARM state, in tenths of degrees Celcius.
uint16_t	CriticalIusb	Maximum USB current which triggers ALARM state, in mA.
uint16_t	CriticalUusb	Maximum USB voltage which triggers ALARM state, tens of mV.
uint16_t	MinimumUusb	Minimum USB voltage which triggers ALARM state, tens of mV.
uint8_t	Flags	Critical parameter flags.
	0x1 - ALARM_ON_DRIVER_OVERHEATING	If this flag is set enter Alarm state on driver overheat signal.
	0x2 - LOW_UPWR_PROTECTION	If this flag is set turn off motor when voltage is lower than LowUpwrOff.
	0x4 - H_BRIDGE_ALERT	If this flag is set then turn off the power unit with a signal problem in one of the transistor bridge.
	0x8 - ALARM_ON_BORDERS_SWAP_MISSET	If this flag is set enter Alarm state on borders swap misset
	0x10 - ALARM_FLAGS_STICKING	If this flag is set only a STOP command can turn all alarms to 0
	0x20 - USB_BREAK_RECONNECT	If this flag is set USB brake reconnect module will be enable
uint8_t	Reserved [7]	Reserved (7 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set protection settings.

6.2.6.60. Command SSNI

Command code (CMD): “ssni” or 0x696E7373.

Request: (28 bytes)

uint32_t	CMD	Command
uint8_t	SyncInFlags	Input synchronization flags
	0x1 - SYNCIN_ENABLED	Synchronization in mode is enabled, if this flag is set.
	0x2 - SYNCIN_INVERT	Trigger on falling edge if flag is set, on rising edge otherwise.
	0x4 - SYNCIN_GOTOPOSITION	The engine is go to position specified in Position and uPosition, if this flag is set. And it is shift on the Position and uPosition, if this flag is unset
uint16_t	ClutterTime	Input synchronization pulse dead time (mks).
int32_t	Position	Desired position or shift (whole steps)
int16_t	uPosition	The fractional part of a position or shift in microsteps. Is used with stepper motor. Range: -255..255.
uint32_t	Speed	Target speed (for stepper motor: steps/s, for DC: rpm). Range: 0..100000.
uint8_t	uSpeed	Target speed in microsteps/s. Using with stepper motor only.
uint8_t	Reserved [8]	Reserved (8 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set input synchronization settings. This function send structure with set of input synchronization settings, that specify behaviour of input synchronization, to controller’s memory. All boards are supplied with standard set of these settings.

6.2.6.61. Command SSNO

Command code (CMD): “ssno” or 0x6F6E7373.

Request: (16 bytes)

uint32_t	CMD	Command
uint8_t	SyncOutFlags	Output synchronization flags
	0x1 - SYNCOUT_ENABLED	Synchronization out pin follows the synchronization logic, if set. It governed by SYNCOUT_STATE flag otherwise.
	0x2 - SYNCOUT_STATE	When output state is fixed by negative SYNCOUT_ENABLED flag, the pin state is in accordance with this flag state.
	0x4 - SYNCOUT_INVERT	Low level is active, if set, and high level is active otherwise.
	0x8 - SYNCOUT_IN_STEPS	Use motor steps/encoder pulses instead of milliseconds for output pulse generation if the flag is set.
	0x10 - SYNCOUT_ONSTART	Generate synchronization pulse when movement starts.
	0x20 - SYNCOUT_ONSTOP	Generate synchronization pulse when movement stops.
	0x40 - SYNCOUT_ONPERIOD	Generate synchronization pulse every SyncOutPeriod encoder pulses.
uint16_t	SyncOutPulseSteps	This value specifies duration of output pulse. It is measured microseconds when SYNCOUT_IN_STEPS flag is cleared or in encoder pulses or motor steps when SYNCOUT_IN_STEPS is set.
uint16_t	SyncOutPeriod	This value specifies number of encoder pulses or steps between two output synchronization pulses when SYNCOUT_ONPERIOD is set.
uint32_t	Accuracy	This is the neighborhood around the target coordinates, which is getting hit in the target position and the momentum generated by the stop.
uint8_t	uAccuracy	This is the neighborhood around the target coordinates in micro steps (only used with stepper motor).
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set output synchronization settings. This function send structure with set of output synchronization settings, that specify behaviour of output synchronization, to controller’s memory. All boards are supplied with standard set of these settings.

6.2.6.62. Command SSTI

Command code (CMD): “ssti” or 0x69747373.

Request: (70 bytes)

uint32_t	CMD	Command
int8_t	Manufacturer	Manufacturer. Max string length: 16 chars.
int8_t	PartNumber	Series and PartNumber. Max string length: 24 chars.
uint8_t	Reserved [24]	Reserved (24 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set stage information to EEPROM. Can be used by manufacturer only.

6.2.6.63. Command SSTS

Command code (CMD): “ssts” or 0x73747373.

Request: (70 bytes)

uint32_t	CMD	Command
float	LeadScrewPitch	Lead screw pitch (mm). Data type: float.
int8_t	Units	Units for MaxSpeed and TravelRange fields of the structure (steps, degrees, mm, …). Max string length: 8 chars.
float	MaxSpeed	Max speed (Units/c). Data type: float.
float	TravelRange	Travel range (Units). Data type: float.
float	SupplyVoltageMin	Supply voltage minimum (V). Data type: float.
float	SupplyVoltageMax	Supply voltage maximum (V). Data type: float.
float	MaxCurrentConsumption	Max current consumption (A). Data type: float.
float	HorizontalLoadCapacity	Horizontal load capacity (kg). Data type: float.
float	VerticalLoadCapacity	Vertical load capacity (kg). Data type: float.
uint8_t	Reserved [24]	Reserved (24 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set stage settings to EEPROM. Can be used by manufacturer only

6.2.6.64. Command SURT

Command code (CMD): “surt” or 0x74727573.

Request: (16 bytes)

uint32_t	CMD	Command
uint32_t	Speed	UART speed
uint16_t	UARTSetupFlags	UART setup flags
	0x3 - UART_PARITY_BITS	Bits of the parity.
	0x0 - UART_PARITY_BIT_EVEN	Parity bit 1, if even
	0x1 - UART_PARITY_BIT_ODD	Parity bit 1, if odd
	0x2 - UART_PARITY_BIT_SPACE	Parity bit always 0
	0x3 - UART_PARITY_BIT_MARK	Parity bit always 1
	0x4 - UART_PARITY_BIT_USE	None parity
	0x8 - UART_STOP_BIT	If set - one stop bit, else two stop bit
uint8_t	Reserved [4]	Reserved (4 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set UART settings. This function send structure with UART settings to controller’s memory.

6.2.6.65. Command ASIA

Command code (CMD): “asia” or 0x61697361.

Request: (22 bytes)

uint32_t	CMD	Command
int32_t	Position	Desired position or shift (whole steps)
int16_t	uPosition	The fractional part of a position or shift in microsteps. Is only used with stepper motor. Range: -255..255.
uint32_t	Time	Time for which you want to achieve the desired position in microseconds.
uint8_t	Reserved [6]	Reserved (6 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: This command adds one element of the FIFO commands that are executed when input clock pulse. Each pulse synchronization or perform that action, which is described in SSNI, if the buffer is empty, or the oldest loaded into the buffer action to temporarily replace the speed and coordinate in SSNI. In the latter case this action is erased from the buffer. The number of remaining empty buffer elements can be found in the structure of GETS.

6.2.6.66. Command CLFR

Command code (CMD): “clfr” or 0x72666C63.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (4 bytes)

uint32_t

CMD

Command

Description: The command for clear controller FRAM. The memory is cleared by filling the whole memory byte 0x00. After cleaning, the controller restarts. No response to this command.

6.2.6.67. Command CONN

Command code (CMD): “conn” or 0x6E6E6F63.

Request: (14 bytes)

uint32_t	CMD	Command
uint8_t	Reserved [8]	Reserved (8 bytes)
uint16_t	CRC	Checksum

Answer: (15 bytes)

uint32_t	CMD	Command
uint8_t	sresult	Result of command.
uint8_t	Reserved [8]	Reserved (8 bytes)
uint16_t	CRC	Checksum

Description: Command to open a session ISP (in-system programming) when downloading the firmware. Result = RESULT_OK, if the command loader. Result = RESULT_SOFT_ERROR, if at the time of the command error occurred. Result not available using the library command_update_firmware, the field value is processed by the function.

6.2.6.68. Command DBGR

Command code (CMD): “dbgr” or 0x72676264.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (142 bytes)

uint32_t	CMD	Command
uint8_t	DebugData	Arbitrary debug data.
uint8_t	Reserved [8]	Reserved (8 bytes)
uint16_t	CRC	Checksum

Description: Read data from firmware for debug purpose. Its use depends on context, firmware version and previous history.

6.2.6.69. Command DBGW

Command code (CMD): “dbgw” or 0x77676264.

Request: (142 bytes)

uint32_t	CMD	Command
uint8_t	DebugData	Arbitrary debug data.
uint8_t	Reserved [8]	Reserved (8 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Write data to firmware for debug purpose.

6.2.6.70. Command DISC

Command code (CMD): “disc” or 0x63736964.

Request: (14 bytes)

uint32_t	CMD	Command
uint8_t	Reserved [8]	Reserved (8 bytes)
uint16_t	CRC	Checksum

Answer: (15 bytes)

uint32_t	CMD	Command
uint8_t	sresult	Result of command.
uint8_t	Reserved [8]	Reserved (8 bytes)
uint16_t	CRC	Checksum

Description: Command to close the session ISP (in-system programming) when loading firmware. Result = RESULT_OK, if the command loader. Result = RESULT_HARD_ERROR, if at the time of the command hardware error occurred. Result = RESULT_SOFT_ERROR, if at the time of the command software error occurred. Result not available using the library command_update_firmware, the field value is processed by the function.

6.2.6.71. Command EERD

Command code (CMD): “eerd” or 0x64726565.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Read settings from controller’s RAM to stage’s EEPROM memory, which spontaneity connected to stage and it isn’t change without it mechanical reconstruction.

6.2.6.72. Command EESV

Command code (CMD): “eesv” or 0x76736565.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Save settings from controller’s RAM to stage’s EEPROM memory, which spontaneity connected to stage and it isn’t change without it mechanical reconstruction. Can be used by manufacturer only.

6.2.6.73. Command GBLV

Command code (CMD): “gblv” or 0x766C6267.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (10 bytes)

uint32_t	CMD	Command
uint8_t	Major	Bootloader major version number
uint8_t	Minor	Bootloader minor version number
uint16_t	Release	Bootloader release version number
uint16_t	CRC	Checksum

Description: Read controller’s firmware version.

6.2.6.74. Command GETC

Command code (CMD): “getc” or 0x63746567.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (38 bytes)

uint32_t	CMD	Command
int16_t	WindingVoltageA	In the case step motor, the voltage across the winding A; in the case of a brushless, the voltage on the first coil, in the case of the only DC.
int16_t	WindingVoltageB	In the case step motor, the voltage across the winding B; in case of a brushless, the voltage on the second winding, and in the case of DC is not used.
int16_t	WindingVoltageC	In the case of a brushless, the voltage on the third winding, in the case step motor and DC is not used.
int16_t	WindingCurrentA	In the case step motor, the current in the coil A; brushless if the current in the first coil, and in the case of a single DC.
int16_t	WindingCurrentB	In the case step motor, the current in the coil B; brushless if the current in the second coil, and in the case of DC is not used.
int16_t	WindingCurrentC	In the case of a brushless, the current in the third winding, in the case step motor and DC is not used.
uint16_t	Pot	Analog input value in ten-thousandths. Range: 0..10000
uint16_t	Joy	The joystick position in the ten-thousandths. Range: 0..10000
int16_t	DutyCycle	Duty cycle of PWM.
uint8_t	Reserved [14]	Reserved (14 bytes)
uint16_t	CRC	Checksum

Description: Return device electrical parameters, useful for charts. Useful function that fill structure with snapshot of controller voltages and currents.

6.2.6.75. Command GETI

Command code (CMD): “geti” or 0x69746567.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (36 bytes)

uint32_t	CMD	Command
int8_t	Manufacturer	Manufacturer
int8_t	ManufacturerId	Manufacturer id
int8_t	ProductDescription	Product description
uint8_t	Major	The major number of the hardware version.
uint8_t	Minor	Minor number of the hardware version.
uint16_t	Release	Number of edits this release of hardware.
uint8_t	Reserved [12]	Reserved (12 bytes)
uint16_t	CRC	Checksum

Description: Return device information. It’s available from the firmware and bootloader.

6.2.6.76. Command GETM

Command code (CMD): “getm” or 0x6D746567.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (216 bytes)

uint32_t	CMD	Command
int32_t	Speed	Current speed.
int32_t	Error	Current error.
uint32_t	Length	Length of actual data in buffer.
uint8_t	Reserved [6]	Reserved (6 bytes)
uint16_t	CRC	Checksum

Description: A command to read the data buffer to build a speed graph and a sequence error. Filling the buffer starts with the command ‘start_measurements’. The buffer holds 25 points, the points are taken with a period of 1 ms. To create a robust system, read data every 20 ms, if the buffer is completely full, then it is recommended to repeat the readings every 5 ms until the buffer again becomes filled with 20 points.

6.2.6.77. Command GETS

Command code (CMD): “gets” or 0x73746567.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (54 bytes)

uint32_t	CMD	Command
uint8_t	MoveSts	Move state.
	0x1 - MOVE_STATE_MOVING	This flag indicates that controller is trying to move the motor. Don’t use this flag for waiting of completion of the movement command. Use MVCMD_RUNNING flag from the MvCmdSts field instead.
	0x2 - MOVE_STATE_TARGET_SPEED	Target speed is reached, if flag set.
	0x4 - MOVE_STATE_ANTIPLAY	Motor is playing compensation, if flag set.
uint8_t	MvCmdSts	Move command state.
	0x3f - MVCMD_NAME_BITS	Move command bit mask.
	0x0 - MVCMD_UKNWN	Unknown command.
	0x1 - MVCMD_MOVE	Command move.
	0x2 - MVCMD_MOVR	Command movr.
	0x3 - MVCMD_LEFT	Command left.
	0x4 - MVCMD_RIGHT	Command rigt.
	0x5 - MVCMD_STOP	Command stop.
	0x6 - MVCMD_HOME	Command home.
	0x7 - MVCMD_LOFT	Command loft.
	0x8 - MVCMD_SSTP	Command soft stop.
	0x40 - MVCMD_ERROR	Finish state (1 - move command have finished with an error, 0 - move command have finished correctly). This flags is actual when MVCMD_RUNNING signals movement finish.
	0x80 - MVCMD_RUNNING	Move command state (0 - move command have finished, 1 - move command is being executed).
uint8_t	PWRSts	Power state of the stepper motor (used only with stepper motor).
	0x0 - PWR_STATE_UNKNOWN	Unknown state, should never happen.
	0x1 - PWR_STATE_OFF	Motor windings are disconnected from the driver.
	0x3 - PWR_STATE_NORM	Motor windings are powered by nominal current.
	0x4 - PWR_STATE_REDUCT	Motor windings are powered by reduced current to lower power consumption.
	0x5 - PWR_STATE_MAX	Motor windings are powered by maximum current driver can provide at this voltage.
uint8_t	EncSts	Encoder state.
	0x0 - ENC_STATE_ABSENT	Encoder is absent.
	0x1 - ENC_STATE_UNKNOWN	Encoder state is unknown.
	0x2 - ENC_STATE_MALFUNC	Encoder is connected and malfunctioning.
	0x3 - ENC_STATE_REVERS	Encoder is connected and operational but counts in other direction.
	0x4 - ENC_STATE_OK	Encoder is connected and working properly.

_____________________________________________________________________________________________

Important

The “WindSts” structure (windings state) is not implemented and is not used

uint8_t	WindSts	Windings state.
	0x0 - WIND_A_STATE_ABSENT	Winding A is disconnected.
	0x1 - WIND_A_STATE_UNKNOWN	Winding A state is unknown.
	0x2 - WIND_A_STATE_MALFUNC	Winding A is short-circuited.
	0x3 - WIND_A_STATE_OK	Winding A is connected and working properly.
	0x0 - WIND_B_STATE_ABSENT	Winding B is disconnected.
	0x10 - WIND_B_STATE_UNKNOWN	Winding B state is unknown.
	0x20 - WIND_B_STATE_MALFUNC	Winding B is short-circuited.
	0x30 - WIND_B_STATE_OK	Winding B is connected and working properly.

_____________________________________________________________________________________________

int32_t	CurPosition	Current position.
int16_t	uCurPosition	Step motor shaft position in 1/256 microsteps. Used only with stepper motor.
int64_t	EncPosition	Current encoder position.
int32_t	CurSpeed	Motor shaft speed.
int16_t	uCurSpeed	Part of motor shaft speed in 1/256 microsteps. Used only with stepper motor.
int16_t	Ipwr	Engine current.
int16_t	Upwr	Power supply voltage, tens of mV.
int16_t	Iusb	USB current consumption.
int16_t	Uusb	USB voltage, tens of mV.
int16_t	CurT	Temperature in tenths of degrees C.
uint32_t	Flags	Set of flags specify motor shaft movement algorithm and list of limitations.
	0x3f - STATE_CONTR	Flags of controller states.
	0x1 - STATE_ERRC	Command error encountered.
	0x2 - STATE_ERRD	Data integrity error encountered.
	0x4 - STATE_ERRV	Value error encountered.
	0x10 - STATE_EEPROM_CONNECTED	EEPROM with settings is connected.
	0x20 - STATE_IS_HOMED	Calibration performed
	0x73ffc0 - STATE_SECUR	Flags of security.
	0x40 - STATE_ALARM	Controller is in alarm state indicating that something dangerous had happened. Most commands are ignored in this state. To reset the flag a STOP command must be issued.
	0x80 - STATE_CTP_ERROR	Control position error(is only used with stepper motor).
	0x100 - STATE_POWER_OVERHEAT	Power driver overheat.
	0x200 - STATE_CONTROLLER_OVERHEAT	Controller overheat.
	0x400 - STATE_OVERLOAD_POWER_VOLTAGE	Power voltage exceeds safe limit.
	0x800 - STATE_OVERLOAD_POWER_CURRENT	Power current exceeds safe limit.
	0x1000 - STATE_OVERLOAD_USB_VOLTAGE	USB voltage exceeds safe limit.
	0x2000 - STATE_LOW_USB_VOLTAGE	USB voltage is insufficient for normal operation.
	0x4000 - STATE_OVERLOAD_USB_CURRENT	USB current exceeds safe limit.
	0x8000 - STATE_BORDERS_SWAP_MISSET	Engine stuck at the wrong edge.
	0x10000 - STATE_LOW_POWER_VOLTAGE	Power voltage is lower than Low Voltage Protection limit
	0x20000 - STATE_H_BRIDGE_FAULT	Signal from the driver that fault happened
	0xc0000 - STATE_CURRENT_MOTOR_BITS	Bits indicating the current operating motor on boards with multiple outputs for engine mounting.
	0x0 - STATE_CURRENT_MOTOR0	Motor 0.
	0x40000 - STATE_CURRENT_MOTOR1	Motor 1.
	0x80000 - STATE_CURRENT_MOTOR2	Motor 2.
	0xc0000 - STATE_CURRENT_MOTOR3	Motor 3.
	0x100000 - STATE_WINDING_RES_MISMATCH	The difference between winding resistances is too large
	0x200000 - STATE_ENCODER_FAULT	Signal from the encoder that fault happened
	0x400000 - STATE_MOTOR_CURRENT_LIMIT	Current limit exceeded
uint32_t	GPIOFlags	Set of flags of gpio states
	0xffff - STATE_DIG_SIGNAL	Flags of digital signals.
	0x1 - STATE_RIGHT_EDGE	Engine stuck at the right edge.
	0x2 - STATE_LEFT_EDGE	Engine stuck at the left edge.
	0x4 - STATE_BUTTON_RIGHT	Button ‘right’ state (1 if pressed).
	0x8 - STATE_BUTTON_LEFT	Button ‘left’ state (1 if pressed).
	0x10 - STATE_GPIO_PINOUT	External GPIO works as Out, if flag set; otherwise works as In.
	0x20 - STATE_GPIO_LEVEL	State of external GPIO pin.
	0x200 - STATE_BRAKE	State of Brake pin.
	0x400 - STATE_REV_SENSOR	State of Revolution sensor pin.
	0x800 - STATE_SYNC_INPUT	State of Sync input pin.
	0x1000 - STATE_SYNC_OUTPUT	State of Sync output pin.
	0x2000 - STATE_ENC_A	State of encoder A pin.
	0x4000 - STATE_ENC_B	State of encoder B pin.
uint8_t	CmdBufFreeSpace	This field shows the amount of free cells buffer synchronization chain.
uint8_t	Reserved [4]	Reserved (4 bytes)
uint16_t	CRC	Checksum

Description: Return device state. Useful function that fills structure with snapshot of controller state, including speed, position and boolean flags.

6.2.6.78. Command GFWV

Command code (CMD): “gfwv” or 0x76776667.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (10 bytes)

uint32_t	CMD	Command
uint8_t	Major	Firmware major version number
uint8_t	Minor	Firmware minor version number
uint16_t	Release	Firmware release version number
uint16_t	CRC	Checksum

Description: Read controller’s firmware version.

6.2.6.79. Command GOFW

Command code (CMD): “gofw” or 0x77666F67.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (15 bytes)

uint32_t	CMD	Command
uint8_t	sresult	Result of command.
uint8_t	Reserved [8]	Reserved (8 bytes)
uint16_t	CRC	Checksum

Description: Command initiates the transfer of control to firmware. This command is also available from the firmware for compatibility. Result = RESULT_OK, if the transition from the loader in the firmware is possible. After the response to this command is executed transition. Result = RESULT_NO_FIRMWARE, if the firmware is not found. Result = RESULT_ALREADY_IN_FIRMWARE, if this command is called from the firmware.

6.2.6.80. Command GPOS

Command code (CMD): “gpos” or 0x736F7067.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (26 bytes)

uint32_t	CMD	Command
int32_t	Position	The position of the whole steps in the engine
int16_t	uPosition	Microstep position is only used with stepper motors
int64_t	EncPosition	Encoder position.
uint8_t	Reserved [6]	Reserved (6 bytes)
uint16_t	CRC	Checksum

Description: Reads the value position in steps and micro for stepper motor and encoder steps all engines.

6.2.6.81. Command GSER

Command code (CMD): “gser” or 0x72657367.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (10 bytes)

uint32_t	CMD	Command
uint32_t	SerialNumber	Board serial number.
uint16_t	CRC	Checksum

Description: Read device serial number.

6.2.6.82. Command GUID

Command code (CMD): “guid” or 0x64697567.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (40 bytes)

uint32_t	CMD	Command
uint32_t	UniqueID0	Unique ID 0.
uint32_t	UniqueID1	Unique ID 1.
uint32_t	UniqueID2	Unique ID 2.
uint32_t	UniqueID3	Unique ID 3.
uint8_t	Reserved [18]	Reserved (18 bytes)
uint16_t	CRC	Checksum

Description: This value is unique to each individual die but is not a random value. This unique device identifier can be used to initiate secure boot processes or as a serial number for USB or other end applications.

6.2.6.83. Command HASF

Command code (CMD): “hasf” or 0x66736168.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (15 bytes)

uint32_t	CMD	Command
uint8_t	sresult	Result of command.
uint8_t	Reserved [8]	Reserved (8 bytes)
uint16_t	CRC	Checksum

Description: Check for firmware on device. Result = RESULT_NO_FIRMWARE, if the firmware is not found. Result = RESULT_HAS_FIRMWARE, if the firmware found.

6.2.6.84. Command HOME

Command code (CMD): “home” or 0x656D6F68.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (4 bytes)

uint32_t

CMD

Command

Description: The positive direction is to the right. A value of zero reverses the direction of the direction of the flag, the set speed. Restriction imposed by the trailer, act the same, except that the limit switch contact does not stop. Limit the maximum speed, acceleration and deceleration function. 1) moves the motor according to the speed FastHome, uFastHome and flag HOME_DIR_FAST until limit switch, if the flag is set HOME_STOP_ENDS, until the signal from the input synchronization if the flag HOME_STOP_SYNC (as accurately as possible is important to catch the moment of operation limit switch) or until the signal is received from the speed sensor, if the flag HOME_STOP_REV_SN 2) then moves according to the speed SlowHome, uSlowHome and flag HOME_DIR_SLOW until signal from the clock input, if the flag HOME_MV_SEC. If the flag HOME_MV_SEC reset skip this paragraph. 3) then move the motor according to the speed FastHome, uFastHome and flag HOME_DIR_SLOW a distance HomeDelta, uHomeDelta. description of flags and variable see in description for commands GHOM/SHOM

6.2.6.85. Command IRND

Command code (CMD): “irnd” or 0x646E7269.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (24 bytes)

uint32_t	CMD	Command
uint8_t	key	Random key.
uint8_t	Reserved [2]	Reserved (2 bytes)
uint16_t	CRC	Checksum

Description: Read random number from controller.

6.2.6.86. Command LEFT

Command code (CMD): “left” or 0x7466656C.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Start continous moving to the left.

6.2.6.87. Command LOFT

Command code (CMD): “loft” or 0x74666F6C.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Upon receiving the command ‘loft’ the engine is shifted from the current point to a distance GENG :: Antiplay, then move to the same point.

6.2.6.88. Command MOVE

Command code (CMD): “move” or 0x65766F6D.

Request: (18 bytes)

uint32_t	CMD	Command
int32_t	Position	Desired position (whole steps).
int16_t	uPosition	The fractional part of a position in microsteps. Is only used with stepper motor. Range: -255..255.
uint8_t	Reserved [6]	Reserved (6 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Upon receiving the command ‘move’ the engine starts to move with pre-set parameters (speed, acceleration, retention), to the point specified to the Position, uPosition. For stepper motor uPosition sets the microstep, for DC motor this field is not used.

6.2.6.89. Command MOVR

Command code (CMD): “movr” or 0x72766F6D.

Request: (18 bytes)

uint32_t	CMD	Command
int32_t	DeltaPosition	Shift (delta) of position
int16_t	uDeltaPosition	Fractional part of the shift in micro steps is only used with stepper motor. Range: -255..255.
uint8_t	Reserved [6]	Reserved (6 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Upon receiving the command ‘movr’ engine starts to move with pre-set parameters (speed, acceleration, hold), left or right (depending on the sign of DeltaPosition) by the number of pulses specified in the fields DeltaPosition, uDeltaPosition. For stepper motor uDeltaPosition sets the microstep, for DC motor this field is not used.

6.2.6.90. Command PWOF

Command code (CMD): “pwof” or 0x666F7770.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Immediately power off motor regardless its state. Shouldn’t be used during motion as the motor could be power on again automatically to continue movement. The command is designed for manual motor power off. When automatic power off after stop is required, use power management system.

6.2.6.91. Command RDAN

Command code (CMD): “rdan” or 0x6E616472.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (76 bytes)

uint32_t	CMD	Command
uint16_t	A1Voltage_ADC	‘Voltage on pin 1 winding A’ raw data from ADC.
uint16_t	A2Voltage_ADC	‘Voltage on pin 2 winding A’ raw data from ADC.
uint16_t	B1Voltage_ADC	‘Voltage on pin 1 winding B’ raw data from ADC.
uint16_t	B2Voltage_ADC	‘Voltage on pin 2 winding B’ raw data from ADC.
uint16_t	SupVoltage_ADC	‘Voltage on the top of MOSFET full bridge’ raw data from ADC.
uint16_t	ACurrent_ADC	‘Winding A current’ raw data from ADC.
uint16_t	BCurrent_ADC	‘Winding B current’ raw data from ADC.
uint16_t	FullCurrent_ADC	‘Full current’ raw data from ADC.
uint16_t	Temp_ADC	Voltage from temperature sensor, raw data from ADC.
uint16_t	Joy_ADC	Joystick raw data from ADC.
uint16_t	Pot_ADC	Voltage on analog input, raw data from ADC
uint16_t	L5_ADC	USB supply voltage after the current sense resistor, from ADC.
uint16_t	H5_ADC	Power supply USB from ADC
int16_t	A1Voltage	‘Voltage on pin 1 winding A’ calibrated data.
int16_t	A2Voltage	‘Voltage on pin 2 winding A’ calibrated data.
int16_t	B1Voltage	‘Voltage on pin 1 winding B’ calibrated data.
int16_t	B2Voltage	‘Voltage on pin 2 winding B’ calibrated data.
int16_t	SupVoltage	‘Voltage on the top of MOSFET full bridge’ calibrated data.
int16_t	ACurrent	‘Winding A current’ calibrated data.
int16_t	BCurrent	‘Winding B current’ calibrated data.
int16_t	FullCurrent	‘Full current’ calibrated data.
int16_t	Temp	Temperature, calibrated data.
int16_t	Joy	Joystick, calibrated data. Range: 0..10000
int16_t	Pot	Analog input, calibrated data. Range: 0..10000
int16_t	L5	USB supply voltage after the current sense resistor.
int16_t	H5	Power supply USB
uint16_t	deprecated
int32_t	R	Motor winding resistance in mOhms(is only used with stepper motor).
int32_t	L	Motor winding pseudo inductance in uHn(is only used with stepper motor).
uint8_t	Reserved [8]	Reserved (8 bytes)
uint16_t	CRC	Checksum

Description: Read analog data structure that contains raw analog data from ADC embedded on board. This function used for device testing and deep recalibraton by manufacturer only.

6.2.6.92. Command READ

Command code (CMD): “read” or 0x64616572.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Read all settings from controller’s flash memory to controller’s RAM, replacing previous data in controller’s RAM.

6.2.6.93. Command RERS

Command code (CMD): “rers” or 0x73726572.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Read important settings (calibration coefficients and etc.) from controller’s flash memory to controller’s RAM, replacing previous data in controller’s RAM.

6.2.6.94. Command REST

Command code (CMD): “rest” or 0x74736572.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (4 bytes)

uint32_t

CMD

Command

Description: The reset command controller and go into bootloader mode, for compatibility with the exchange protocol to the loader. No response to this command.

6.2.6.95. Command RIGT

Command code (CMD): “rigt” or 0x74676972.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Start continous moving to the right.

6.2.6.96. Command SARS

Command code (CMD): “sars” or 0x73726173.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Save important settings (calibration coefficients and etc.) from controller’s RAM to controller’s flash memory, replacing previous data in controller’s flash memory.

6.2.6.97. Command SAVE

Command code (CMD): “save” or 0x65766173.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Save all settings from controller’s RAM to controller’s flash memory, replacing previous data in controller’s flash memory.

6.2.6.98. Command SPOS

Command code (CMD): “spos” or 0x736F7073.

Request: (26 bytes)

uint32_t	CMD	Command
int32_t	Position	The position of the whole steps in the engine
int16_t	uPosition	Microstep position is only used with stepper motors
int64_t	EncPosition	Encoder position.
uint8_t	PosFlags	Flags
	0x1 - SETPOS_IGNORE_POSITION	Will not reload position in steps/microsteps if this flag is set.
	0x2 - SETPOS_IGNORE_ENCODER	Will not reload encoder state if this flag is set.
uint8_t	Reserved [5]	Reserved (5 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Sets any position value in steps and micro for stepper motor and encoder steps of all engines. It means, that changing main indicator of position.

6.2.6.99. Command SSER

Command code (CMD): “sser” or 0x72657373.

Request: (50 bytes)

uint32_t	CMD	Command
uint32_t	SN	New board serial number.
uint8_t	Key	Protection key (256 bit).
uint8_t	Major	The major number of the hardware version.
uint8_t	Minor	Minor number of the hardware version.
uint16_t	Release	Number of edits this release of hardware.
uint8_t	Reserved [4]	Reserved (4 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Write device serial number and hardware version to controller’s flash memory. Along with the new serial number and hardware version a ‘Key’ is transmitted. The SN and hardware version are changed and saved when keys match. Can be used by manufacturer only.

6.2.6.100. Command SSTP

Command code (CMD): “sstp” or 0x70747373.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Soft stop engine. The motor stops with deceleration speed.

6.2.6.101. Command STMS

Command code (CMD): “stms” or 0x736D7473.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Start measurements and buffering of speed, following error.

6.2.6.102. Command STOP

Command code (CMD): “stop” or 0x706F7473.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Immediately stop the engine, the transition to the STOP, mode key BREAK (winding short-circuited), the regime ‘retention’ is deactivated for DC motors, keeping current in the windings for stepper motors (with Power management settings).

6.2.6.103. Command UPDF

Command code (CMD): “updf” or 0x66647075.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Command puts the controller to update the firmware. After receiving this command, the firmware board sets a flag (for loader), sends echo reply and restarts the controller.

6.2.6.104. Command WDAT

Command code (CMD): “wdat” or 0x74616477.

Request: (142 bytes)

uint32_t	CMD	Command
uint8_t	Data	Encoded firmware.
uint8_t	Reserved [8]	Reserved (8 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Writes encoded firmware in the controller flash memory. Result of each packet write is not available. Overall result is available when firmware upload is finished.

6.2.6.105. Command WKEY

Command code (CMD): “wkey” or 0x79656B77.

Request: (46 bytes)

uint32_t	CMD	Command
uint8_t	Key	Protection key (256 bit).
uint8_t	Reserved [8]	Reserved (8 bytes)
uint16_t	CRC	Checksum

Answer: (15 bytes)

uint32_t	CMD	Command
uint8_t	sresult	Result of command.
uint8_t	Reserved [8]	Reserved (8 bytes)
uint16_t	CRC	Checksum

Description: Write command key to decrypt the firmware. Result = RESULT_OK, if the command loader. Result = RESULT_HARD_ERROR, if at the time of the command there was mistake. Result not available using the library write_key, the field value is processed by the function. Can be used by manufacturer only.

6.2.6.106. Command ZERO

Command code (CMD): “zero” or 0x6F72657A.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (4 bytes)

uint32_t

CMD

Command

Description: