6.2. Communication protocol specification

Communication protocol v20.8

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 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.

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.

Missing byte, PC side

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

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.

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.

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.

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 (V). 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. This is a bit mask for bitwise operations.
	0x1 - MB_AVAILABLE	If the 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. This is a bit mask for bitwise operations.
	0x7 - TS_TYPE_BITS	Bits of the temperature sensor type
	0x0 - TS_TYPE_UNKNOWN	Unknown type of sensor
	0x1 - TS_TYPE_THERMOCOUPLE	Thermocouple
	0x2 - TS_TYPE_SEMICONDUCTOR	The semiconductor temperature sensor
	0x8 - TS_AVAILABLE	If the flag is set, the temperature sensor is available
uint32_t	LimitSwitchesSettings	Flags of limit switches settings. This is a bit mask for bitwise operations.
	0x1 - LS_ON_SW1_AVAILABLE	If the flag is set, the limit switch connected to pin SW1 is available
	0x2 - LS_ON_SW2_AVAILABLE	If the flag is set, the limit switch connected to pin SW2 is available
	0x4 - LS_SW1_ACTIVE_LOW	If the flag is set, the limit switch connected to pin SW1 is triggered by a low level on the pin
	0x8 - LS_SW2_ACTIVE_LOW	If the flag is set, the limit switch connected to pin SW2 is triggered by a low level on pin
	0x10 - LS_SHORTED	If the flag is set, the limit switches are shorted
uint8_t	Reserved [24]	Reserved (24 bytes)
uint16_t	CRC	Checksum

Description: Deprecated. Read additional accessory information from the 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 turning on motor power and turning off the brake.
uint16_t	t2	Time in ms between the brake turning off and moving readiness. All moving commands will execute after this interval.
uint16_t	t3	Time in ms between motor stop and the brake turning on.
uint16_t	t4	Time in ms between turning on the brake and turning off motor power.
uint8_t	BrakeFlags	Flags. This is a bit mask for bitwise operations.
	0x1 - BRAKE_ENABLED	Brake control is enabled if this flag is set.
	0x2 - BRAKE_ENG_PWROFF	Brake turns the stepper motor power off if this flag is set.
uint8_t	Reserved [10]	Reserved (10 bytes)
uint16_t	CRC	Checksum

Description: Read break control settings.

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 analog measurements of the A winding current.
float	CSS1_B	Offset for the analog measurements of the A winding current.
float	CSS2_A	Scaling factor for the analog measurements of the B winding current.
float	CSS2_B	Offset for the analog measurements of the B winding current.
float	FullCurrent_A	Scaling factor for the analog measurements of the full current.
float	FullCurrent_B	Offset for the analog measurements of the full current.
uint8_t	Reserved [88]	Reserved (88 bytes)
uint16_t	CRC	Checksum

Description: Read calibration settings. Manufacturer only. This function reads the structure with calibration settings. These settings are used to convert bare ADC values to winding currents in mA and the full current in mA. Parameters are grouped into pairs, XXX_A and XXX_B, representing linear equation coefficients. The first one is the slope, the second one is the constant term. Thus, XXX_Current[mA] = XXX_A[mA/ADC]XXX_ADC_CODE[ADC] + XXX_B[mA].

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) used with the joystick and the button control. Range: 0..100000.
uint8_t	uMaxSpeed	Array of speeds (in microsteps) used with the joystick and the button control. The microstep size and the range of valid values for this field depend on the selected step division mode (see the MicrostepMode field in engine_settings).
uint16_t	Timeout	Timeout[i] is timeout in ms. After that, max_speed[i+1] is applied. It’s used with the button control only.
uint16_t	MaxClickTime	Maximum click time (in ms). Until the expiration of this time, the first speed isn’t applied.
uint16_t	Flags	Control flags. This is a bit mask for bitwise operations.
	0x3 - CONTROL_MODE_BITS	Bits to control the 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 the 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	Position Shift (delta) (full step)
int16_t	uDeltaPosition	Fractional part of the shift in micro steps. It’s used with a stepper motor only. The microstep size and the range of valid values for this field depend on the selected step division mode (see the MicrostepMode field in engine_settings).
uint8_t	Reserved [9]	Reserved (9 bytes)
uint16_t	CRC	Checksum

Description: Read motor control settings. In case of CTL_MODE=1, joystick motor control is enabled. In this mode, while the joystick is maximally displaced, the engine tends to move at MaxSpeed[i]. i=0 if another value hasn’t been set at the previous usage. To change the speed index ‘i’, use the buttons. In case of CTL_MODE=2, the motor is controlled by the left/right buttons. When you click on the button, the motor starts moving in the appropriate direction at a speed MaxSpeed[0]. After Timeout[i], motor moves at speed MaxSpeed[i+1]. At the transition between MaxSpeed[i] and MaxSpeed[i+1] the motor just accelerates/decelerates 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	The minimum difference between the SM position in steps and the encoder position that causes the setting of the STATE_CTP_ERROR flag. Measured in steps.
uint8_t	CTPFlags	This is a bit mask for bitwise operations.
	0x1 - CTP_ENABLED	The position control is enabled if the flag is set.
	0x2 - CTP_BASE	The position control is based on the revolution sensor if this flag is set; otherwise, it is based on the encoder.
	0x4 - CTP_ALARM_ON_ERROR	Set ALARM on mismatch if the flag is set.
	0x8 - REV_SENS_INV	Typically, the sensor is active when it is at 0, and inversion makes active at 1. That is, if you do not invert, it is normal logic - 0 is the activation.
	0x10 - CTP_ERROR_CORRECTION	Correct errors that appear when slippage occurs if the flag is set. It works only with the encoder. Incompatible with the flag CTP_ALARM_ON_ERROR.
uint8_t	Reserved [10]	Reserved (10 bytes)
uint16_t	CRC	Checksum

Description: Read control position settings (used with stepper motor only). When controlling the step motor with an 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 is enabled (CTP_ENABLED is set), the controller stores the current position in the steps of SM and the current position of the encoder. Next, the encoder position is converted into steps at each step, and if the difference between the current position in steps and the encoder position is greater than CTPMinError, the flag STATE_CTP_ERROR is set. Alternatively, the stepper motor may be controlled with the speed sensor (CTP_BASE 1). In this mode, at the active edges of the input clock, the controller stores the current value of steps. Then, at each revolution, the controller checks how many steps have been passed. When the difference is over the CTPMinError, the STATE_CTP_ERROR flag is set.

6.2.6.6. Command GEAS

Command code (CMD): “geas” or 0x73616567.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (54 bytes)

uint32_t	CMD	Command
uint16_t	stepcloseloop_Kw	Mixing ratio of the actual and set speed, range [0, 100], default value 50.
uint16_t	stepcloseloop_Kp_low	Position feedback in the low-speed zone, range [0, 65535], default value 1000.
uint16_t	stepcloseloop_Kp_high	Position feedback in the high-speed zone, range [0, 65535], default value 33.
uint8_t	Reserved [42]	Reserved (42 bytes)
uint16_t	CRC	Checksum

Description: Read engine advanced settings.

6.2.6.7. 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 behavior at borders. This is a bit mask for bitwise operations.
	0x1 - BORDER_IS_ENCODER	Borders are fixed by predetermined encoder values, if set; borders are placed on limit switches, if not set.
	0x2 - BORDER_STOP_LEFT	The motor should stop on the 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	Flags specify electrical behavior of limit switches like order and pulled positions. This is a bit mask for bitwise operations.
	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 connected to pin SW1 is triggered by a low level on pin.
	0x4 - ENDER_SW2_ACTIVE_LOW	1 - Limit switch connected 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 microsteps (used with stepper motor only). The microstep size and the range of valid values for this field depend on the selected step division mode (see the MicrostepMode field in engine_settings).
int32_t	RightBorder	Right border position, used if BORDER_IS_ENCODER flag is set.
int16_t	uRightBorder	Right border position in microsteps. Used with a stepper motor only. The microstep size and the range of valid values for this field depend on the selected step division mode (see the MicrostepMode field in engine_settings).
uint8_t	Reserved [6]	Reserved (6 bytes)
uint16_t	CRC	Checksum

Description: Read border and limit switches settings.

6.2.6.8. 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. This is a bit mask for bitwise operations.
	0x1 - EXTIO_SETUP_OUTPUT	EXTIO works as output if the flag is set, works as input otherwise.
	0x2 - EXTIO_SETUP_INVERT	Interpret EXTIO state inverted if the flag is set. A falling front is treated as an input event and a low logic level as an active state.
uint8_t	EXTIOModeFlags	Flags mode settings external I-O. This is a bit mask for bitwise operations.
	0xf - EXTIO_SETUP_MODE_IN_BITS	Bits of the behavior 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 behavior 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 the 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

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

6.2.6.9. Command GEMF

Command code (CMD): “gemf” or 0x666D6567.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (48 bytes)

uint32_t	CMD	Command
float	L	Motor winding inductance.
float	R	Motor winding resistance.
float	Km	Electromechanical ratio of the motor.
uint8_t	BackEMFFlags	Auto-settings stepper motor flags. This is a bit mask for bitwise operations.
	0x1 - BACK_EMF_INDUCTANCE_AUTO	Flag of auto-detection of inductance of windings of the engine.
	0x2 - BACK_EMF_RESISTANCE_AUTO	Flag of auto-detection of resistance of windings of the engine.
	0x4 - BACK_EMF_KM_AUTO	Flag of auto-detection of electromechanical coefficient of the engine.
uint8_t	Reserved [29]	Reserved (29 bytes)
uint16_t	CRC	Checksum

Description: Read electromechanical settings. The settings are different for different stepper motors.

6.2.6.10. 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 (in mA). 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). Microstep size and the range of valid values for this field depend on selected step division mode (see MicrostepMode field in engine_settings).
uint16_t	EngineFlags	Set of flags specify motor shaft movement algorithm and a list of limitations. This is a bit mask for bitwise operations.
	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 the engine’s current value is interpreted as the maximum amplitude value. If the flag is set, then the engine current value is interpreted as the 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, the engine uses the maximum speed achievable with the present engine settings as its nominal speed.
	0x8 - ENGINE_ANTIPLAY	Play compensation flag. If it is set, the engine makes backlash (play) compensation and reaches the predetermined position accurately at 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). the microstep size and the range of valid values for this field depend on the selected step division mode (see MicrostepMode field in engine_settings). This is a bit mask for bitwise operations.
	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 reads the structure containing a set of useful motor settings stored in the controller’s memory. These settings specify motor shaft movement algorithm, list of limitations and rated characteristics.

6.2.6.11. 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: Deprecated. Read encoder information from the EEPROM.

6.2.6.12. Command GENS

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

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (54 bytes)

uint32_t	CMD	Command
float	MaxOperatingFrequency	Maximum 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. This is a bit mask for bitwise operations.
	0x1 - ENCSET_DIFFERENTIAL_OUTPUT	If the flag is set, the encoder has differential output, otherwise single-ended output
	0x4 - ENCSET_PUSHPULL_OUTPUT	If the flag is set the encoder has push-pull output, otherwise open drain output
	0x10 - ENCSET_INDEXCHANNEL_PRESENT	If the flag is set, the encoder has an extra indexed channel
	0x40 - ENCSET_REVOLUTIONSENSOR_PRESENT	If the flag is set, the encoder has the revolution sensor
	0x100 - ENCSET_REVOLUTIONSENSOR_ACTIVE_HIGH	If the flag is set, the revolution sensor’s active state is high logic state; otherwise, the active state is low logic state
uint8_t	Reserved [24]	Reserved (24 bytes)
uint16_t	CRC	Checksum

Description: Deprecated. Read encoder settings from the EEPROM.

6.2.6.13. 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. This is a bit mask for bitwise operations.
	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. This is a bit mask for bitwise operations.
	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.

6.2.6.14. Command GEST

Command code (CMD): “gest” or 0x74736567.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (46 bytes)

uint32_t	CMD	Command
uint16_t	Param1
uint8_t	Reserved [38]	Reserved (38 bytes)
uint16_t	CRC	Checksum

Description: Read extended settings. Currently, it is not in use.

6.2.6.15. 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. This is a bit mask for bitwise operations.
	0x1 - FEEDBACK_ENCODER	Feedback by encoder.
	0x4 - FEEDBACK_EMF	Feedback by EMF.
	0x5 - FEEDBACK_NONE	Feedback is absent.
	0x6 - FEEDBACK_ENCODER_MEDIATED	Feedback by encoder mediated by mechanical transmission (for example leadscrew).
uint8_t	FeedbackFlags	Flags. This is a bit mask for bitwise operations.
	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.

6.2.6.16. 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: Deprecated. Read gear information from the EEPROM.

6.2.6.17. 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	Maximum continuous torque (N m). Data type: float.
float	RatedInputSpeed	Maximum 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: Deprecated. Read gear settings from the EEPROM.

6.2.6.18. 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 (full steps). Range: 0..100000.
uint8_t	uFastHome	Fractional part of the speed for first motion, microsteps. The microstep size and the range of valid values for this field depend on the selected step division mode (see the MicrostepMode field in engine_settings).
uint32_t	SlowHome	Speed used for second motion (full steps). Range: 0..100000.
uint8_t	uSlowHome	Part of the speed for second motion, microsteps. The microstep size and the range of valid values for this field depend on the selected step division mode (see the MicrostepMode field in engine_settings).
int32_t	HomeDelta	Distance from break point (full steps).
int16_t	uHomeDelta	Fractional part of the delta distance, microsteps. The microstep size and the range of valid values for this field depend on the selected step division mode (see the MicrostepMode field in engine_settings).
uint16_t	HomeFlags	Set of flags specifies the direction and stopping conditions. This is a bit mask for bitwise operations.
	0x1 - HOME_DIR_FIRST	The flag defines the direction of the 1st motion after execution of the home command. The direction is to the right if the flag is set, and to the left otherwise.
	0x2 - HOME_DIR_SECOND	The flag defines the direction of the 2nd motion. The direction is to the right if the flag is set, and to the left otherwise.
	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 during the first half-turn of the second movement.
	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 reads the structure with home position settings.

6.2.6.19. 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: Deprecated. Read hall sensor information from the EEPROM.

6.2.6.20. Command GHSS

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

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (50 bytes)

uint32_t	CMD	Command
float	MaxOperatingFrequency	Maximum 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	Maximum 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: Deprecated. Read hall sensor settings from the EEPROM.

6.2.6.21. 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 upper end position. Range: 0..10000.
uint8_t	ExpFactor	Exponential nonlinearity factor.
uint8_t	DeadZone	Joystick dead zone.
uint8_t	JoyFlags	Joystick control flags. This is a bit mask for bitwise operations.
	0x1 - JOY_REVERSE	Joystick action is reversed. The joystick deviation to the upper values corresponds to negative speed and vice versa.
uint8_t	Reserved [7]	Reserved (7 bytes)
uint16_t	CRC	Checksum

Description: Read joystick settings. If joystick position falls outside DeadZone limits, a movement begins. The speed is defined by the joystick’s position in the range of the DeadZone limit to the maximum deviation. Joystick positions inside DeadZone limits correspond to zero speed (a soft stop of the motion), and positions beyond Low and High limits correspond to MaxSpeed[i] or -MaxSpeed[i] (see command SCTL), where i = 0 by default and can be changed with the left/right buttons (see command SCTL). If the next speed in the list is zero (both integer and microstep parts), the button press is ignored. The first speed in the 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.

6.2.6.22. 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. The microstep size and the range of valid values for this field depend on the selected step division mode (see the MicrostepMode field in engine_settings). Used with a 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, microsteps/s. The microstep size and the range of valid values for this field depend on the selected step division mode (see the MicrostepMode field in engine_settings). Used with a stepper motor only.
uint8_t	MoveFlags	Flags that control movement settings. This is a bit mask for bitwise operations.
	0x1 - RPM_DIV_1000	This flag indicates that the operating speed specified in the command is set in milliRPM. Applicable only for ENCODER feedback mode and only for BLDC motors.
uint8_t	Reserved [9]	Reserved (9 bytes)
uint16_t	CRC	Checksum

Description: Movement settings read command (speed, acceleration, threshold, etc.).

6.2.6.23. 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: Deprecated. Read motor information from the EEPROM.

6.2.6.24. 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. This is a bit mask for bitwise operations.
	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 motors.
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 motors (A). Data type: float.
float	NominalSpeed	Not used. Nominal speed (rpm). Used for DC and BLDC engines. Data type: float.
float	NominalTorque	Nominal torque (mN m). Used for DC and BLDC engines. Data type: float.
float	NominalPower	Nominal power (W). Used for DC and BLDC engines. Data type: float.
float	WindingResistance	Resistance of windings for DC engines, of each of two windings for stepper motors, or of each of three windings for BLDC engines (Ohm). Data type: float.
float	WindingInductance	Inductance of windings for DC engines, inductance of each of two windings for stepper motors, or inductance of each of three windings for BLDC engines (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 unpowered windings (mN m). Data type: float.
float	TorqueConstant	Torque constant that determines the proportionality constant between the maximum rotor torque and current flowing in the winding (mN m / A). Used mainly for DC motors. Data type: float.
float	SpeedConstant	Velocity constant, which determines the value or the amplitude of the induced voltage on the motion of DC or BLDC motors (rpm / V) or stepper motors (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: Deprecated. Read motor settings from the EEPROM.

6.2.6.25. Command GNET

Command code (CMD): “gnet” or 0x74656E67.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (38 bytes)

uint32_t	CMD	Command
uint8_t	DHCPEnabled	Indicates the method to get the IP-address. It can be either 0 (static) or 1 (DHCP).
uint8_t	IPv4Address	IP-address of the device in format x.x.x.x.
uint8_t	SubnetMask	The mask of the subnet in format x.x.x.x.
uint8_t	DefaultGateway	Default value of the gateway in format x.x.x.x.
uint8_t	Reserved [19]	Reserved (19 bytes)
uint16_t	CRC	Checksum

Description: Read network settings. Manufacturer only. This function returns the current network settings.

6.2.6.26. 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’s positioner name. It can be set by a user. Max string length: 16 characters.
uint8_t	Reserved [8]	Reserved (8 bytes)
uint16_t	CRC	Checksum

Description: Read the user’s stage name from the EEPROM.

6.2.6.27. 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 controller name. It may be set by the user. Max string length: 16 characters.
uint8_t	CtrlFlags	Internal controller settings. This is a bit mask for bitwise operations.
	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’s controller name and internal settings from the FRAM.

6.2.6.28. 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. It may be set by the user. 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, on all amd64 systems.
uint8_t	Reserved [2]	Reserved (2 bytes)
uint16_t	CRC	Checksum

Description: Read user data from FRAM.

6.2.6.29. 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 reads the structure containing a set of motor PID settings stored in the controller’s memory. These settings specify the behavior of the PID routine for the positioner. These factors are slightly different for different positioners. All boards are supplied with the standard set of PID settings in the controller’s flash memory.

6.2.6.30. Command GPWD

Command code (CMD): “gpwd” or 0x64777067.

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (36 bytes)

uint32_t	CMD	Command
int8_t	UserPassword	Password for the web-page that the user can change with a USB command or via web-page.
uint8_t	Reserved [10]	Reserved (10 bytes)
uint16_t	CRC	Checksum

Description: Read the password. Manufacturer only. This function reads the user password for the device’s web-page.

6.2.6.31. 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	Holding current, as percent of the nominal current. Range: 0..100.
uint16_t	CurrReductDelay	Time in ms from going to STOP state to the end of current reduction.
uint16_t	PowerOffDelay	Time in s from going to STOP state to turning power off.
uint16_t	CurrentSetTime	Time in ms to reach the nominal current.
uint8_t	PowerFlags	Flags with parameters of power control. This is a bit mask for bitwise operations.
	0x1 - POWER_REDUCT_ENABLED	Current reduction is enabled after CurrReductDelay if this flag is set.
	0x2 - POWER_OFF_ENABLED	Power off is enabled after PowerOffDelay if this flag is set.
	0x4 - POWER_SMOOTH_CURRENT	Current ramp-up/down are 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 a stepper motor only.

6.2.6.32. 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, in 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, in tens of mV.
uint16_t	CriticalT	Maximum temperature, which triggers ALARM state, in tenths of degrees Celsius.
uint16_t	CriticalIusb	Maximum USB current which triggers ALARM state, in mA.
uint16_t	CriticalUusb	Maximum USB voltage which triggers ALARM state, in tens of mV.
uint16_t	MinimumUusb	Minimum USB voltage which triggers ALARM state, in tens of mV.
uint8_t	Flags	Critical parameter flags. This is a bit mask for bitwise operations.
	0x1 - ALARM_ON_DRIVER_OVERHEATING	If this flag is set, enter the alarm state on the driver overheat signal.
	0x2 - LOW_UPWR_PROTECTION	If this flag is set, turn off the motor when the 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, the USB brake reconnect module will be enabled
	0x40 - ALARM_WINDING_MISMATCH	If this flag is set, enter Alarm state when windings mismatch
	0x80 - ALARM_ENGINE_RESPONSE	If this flag is set, enter the Alarm state on response of the engine control action
uint8_t	Reserved [7]	Reserved (7 bytes)
uint16_t	CRC	Checksum

Description: Read protection settings.

6.2.6.33. 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. This is a bit mask for bitwise operations.
	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 going to the position specified in Position and uPosition if this flag is set. And it is shifting on the Position and uPosition if this flag is unset
uint16_t	ClutterTime	Input synchronization pulse dead time (us).
int32_t	Position	Desired position or shift (full steps)
int16_t	uPosition	The fractional part of a position or shift in microsteps. It is used with a stepper motor. The microstep size and the range of valid values for this field depend on the selected step division mode (see the MicrostepMode field in engine_settings).
uint32_t	Speed	Target speed (for stepper motor: steps/s, for DC: rpm). Range: 0..100000.
uint8_t	uSpeed	Target speed in microsteps/s. Microstep size and the range of valid values for this field depend on the selected step division mode (see the MicrostepMode field in engine_settings). Used a stepper motor only.
uint8_t	Reserved [8]	Reserved (8 bytes)
uint16_t	CRC	Checksum

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

6.2.6.34. 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. This is a bit mask for bitwise operations.
	0x1 - SYNCOUT_ENABLED	The synchronization out pin follows the synchronization logic if the flag is set. Otherwise, it is governed by the SYNCOUT_STATE flag.
	0x2 - SYNCOUT_STATE	When the output state is fixed by the negative SYNCOUT_ENABLED flag, the pin state is in accordance with this flag state.
	0x4 - SYNCOUT_INVERT	The low level is active if the flag is set. Otherwise, the high level is active.
	0x8 - SYNCOUT_IN_STEPS	Use motor steps or encoder pulses instead of milliseconds for output pulse generation if the flag is set.
	0x10 - SYNCOUT_ONSTART	Generate a synchronization pulse when movement starts.
	0x20 - SYNCOUT_ONSTOP	Generate a synchronization pulse when movement stops.
	0x40 - SYNCOUT_ONPERIOD	Generate a synchronization pulse every SyncOutPeriod encoder pulses.
uint16_t	SyncOutPulseSteps	This value specifies the 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 the 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, every point in which is treated as the target position. Getting in these points cause the stop impulse.
uint8_t	uAccuracy	This is the neighborhood around the target coordinates in microsteps (used with a stepper motor only). The microstep size and the range of valid values for this field depend on the selected step division mode (see the MicrostepMode field in engine_settings).
uint16_t	CRC	Checksum

Description: Read output synchronization settings. This function reads the structure containing a set of output synchronization settings, modes, periods and flags that specify the behavior of output synchronization. All boards are supplied with the standard set of these settings.

6.2.6.35. 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: Deprecated. Read stage information from the EEPROM.

6.2.6.36. 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	Maximum speed (Units/c). Data type: float.
float	TravelRange	Travel range (Units). Data type: float.
float	SupplyVoltageMin	Minimum supply voltage (V). Data type: float.
float	SupplyVoltageMax	Maximum supply voltage (V). Data type: float.
float	MaxCurrentConsumption	Maximum 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: Deprecated. Read stage settings from the EEPROM.

6.2.6.37. 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 baudrate (in bauds)
uint16_t	UARTSetupFlags	UART setup flags. This is a bit mask for bitwise operations.
	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 reads the structure containing UART settings.

6.2.6.38. 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 (V). 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. This is a bit mask for bitwise operations.
	0x1 - MB_AVAILABLE	If the 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. This is a bit mask for bitwise operations.
	0x7 - TS_TYPE_BITS	Bits of the temperature sensor type
	0x0 - TS_TYPE_UNKNOWN	Unknown type of sensor
	0x1 - TS_TYPE_THERMOCOUPLE	Thermocouple
	0x2 - TS_TYPE_SEMICONDUCTOR	The semiconductor temperature sensor
	0x8 - TS_AVAILABLE	If the flag is set, the temperature sensor is available
uint32_t	LimitSwitchesSettings	Flags of limit switches settings. This is a bit mask for bitwise operations.
	0x1 - LS_ON_SW1_AVAILABLE	If the flag is set, the limit switch connected to pin SW1 is available
	0x2 - LS_ON_SW2_AVAILABLE	If the flag is set, the limit switch connected to pin SW2 is available
	0x4 - LS_SW1_ACTIVE_LOW	If the flag is set, the limit switch connected to pin SW1 is triggered by a low level on the pin
	0x8 - LS_SW2_ACTIVE_LOW	If the flag is set, the limit switch connected to pin SW2 is triggered by a low level on pin
	0x10 - LS_SHORTED	If the flag is set, the limit switches are shorted
uint8_t	Reserved [24]	Reserved (24 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

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

6.2.6.39. Command SBRK

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

Request: (25 bytes)

uint32_t	CMD	Command
uint16_t	t1	Time in ms between turning on motor power and turning off the brake.
uint16_t	t2	Time in ms between the brake turning off and moving readiness. All moving commands will execute after this interval.
uint16_t	t3	Time in ms between motor stop and the brake turning on.
uint16_t	t4	Time in ms between turning on the brake and turning off motor power.
uint8_t	BrakeFlags	Flags. This is a bit mask for bitwise operations.
	0x1 - BRAKE_ENABLED	Brake control is enabled if this flag is set.
	0x2 - BRAKE_ENG_PWROFF	Brake turns the stepper motor power off 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 brake control settings.

6.2.6.40. Command SCAL

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

Request: (118 bytes)

uint32_t	CMD	Command
float	CSS1_A	Scaling factor for the analog measurements of the A winding current.
float	CSS1_B	Offset for the analog measurements of the A winding current.
float	CSS2_A	Scaling factor for the analog measurements of the B winding current.
float	CSS2_B	Offset for the analog measurements of the B winding current.
float	FullCurrent_A	Scaling factor for the analog measurements of the full current.
float	FullCurrent_B	Offset for the analog 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. Manufacturer only. This function sends the structure with calibration settings to the controller’s memory. These settings are used to convert bare ADC values to winding currents in mA and the full current in mA. Parameters are grouped into pairs, XXX_A and XXX_B, representing linear equation coefficients. The first one is the slope, the second one is the constant term. Thus, XXX_Current[mA] = XXX_A[mA/ADC]XXX_ADC_CODE[ADC] + XXX_B[mA].

6.2.6.41. Command SCTL

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

Request: (93 bytes)

uint32_t	CMD	Command
uint32_t	MaxSpeed	Array of speeds (full step) used with the joystick and the button control. Range: 0..100000.
uint8_t	uMaxSpeed	Array of speeds (in microsteps) used with the joystick and the button control. The microstep size and the range of valid values for this field depend on the selected step division mode (see the MicrostepMode field in engine_settings).
uint16_t	Timeout	Timeout[i] is timeout in ms. After that, max_speed[i+1] is applied. It’s used with the button control only.
uint16_t	MaxClickTime	Maximum click time (in ms). Until the expiration of this time, the first speed isn’t applied.
uint16_t	Flags	Control flags. This is a bit mask for bitwise operations.
	0x3 - CONTROL_MODE_BITS	Bits to control the 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 the 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	Position Shift (delta) (full step)
int16_t	uDeltaPosition	Fractional part of the shift in micro steps. It’s used with a stepper motor only. The microstep size and the range of valid values for this field depend on the selected step division mode (see the MicrostepMode field in engine_settings).
uint8_t	Reserved [9]	Reserved (9 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Read motor control settings. In case of CTL_MODE=1, joystick motor control is enabled. In this mode, the joystick is maximally displaced, the engine tends to move at MaxSpeed[i]. i=0 if another value hasn’t been set at the previous usage. To change the speed index ‘i’, use the buttons. In case of CTL_MODE=2, the motor is controlled by the left/right buttons. When you click on the button, the motor starts moving in the appropriate direction at a speed MaxSpeed[0]. After Timeout[i], motor moves at speed MaxSpeed[i+1]. At the transition between MaxSpeed[i] and MaxSpeed[i+1] the motor just accelerates/decelerates as usual.

6.2.6.42. Command SCTP

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

Request: (18 bytes)

uint32_t	CMD	Command
uint8_t	CTPMinError	The minimum difference between the SM position in steps and the encoder position that causes the setting of the STATE_CTP_ERROR flag. Measured in steps.
uint8_t	CTPFlags	This is a bit mask for bitwise operations.
	0x1 - CTP_ENABLED	The position control is enabled if the flag is set.
	0x2 - CTP_BASE	The position control is based on the revolution sensor if this flag is set; otherwise, it is based on the encoder.
	0x4 - CTP_ALARM_ON_ERROR	Set ALARM on mismatch if the flag is set.
	0x8 - REV_SENS_INV	Typically, the sensor is active when it is at 0, and inversion makes active at 1. That is, if you do not invert, it is normal logic - 0 is the activation.
	0x10 - CTP_ERROR_CORRECTION	Correct errors that appear when slippage occurs if the flag is set. It works only with the encoder. Incompatible with the 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 control position settings (used with stepper motor only). When controlling the step motor with the 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 is enabled (CTP_ENABLED is set), the controller stores the current position in the steps of SM and the current position of the encoder. Next, the encoder position is converted into steps at each step, and if the difference between the current position in steps and the encoder position is greater than CTPMinError, the flag STATE_CTP_ERROR is set. Alternatively, the stepper motor may be controlled with the speed sensor (CTP_BASE 1). In this mode, at the active edges of the input clock, the controller stores the current value of steps. Then, at each revolution, the controller checks how many steps have been passed. When the difference is over the CTPMinError, the STATE_CTP_ERROR flag is set.

6.2.6.43. Command SEAS

Command code (CMD): “seas” or 0x73616573.

Request: (54 bytes)

uint32_t	CMD	Command
uint16_t	stepcloseloop_Kw	Mixing ratio of the actual and set speed, range [0, 100], default value 50.
uint16_t	stepcloseloop_Kp_low	Position feedback in the low-speed zone, range [0, 65535], default value 1000.
uint16_t	stepcloseloop_Kp_high	Position feedback in the high-speed zone, range [0, 65535], default value 33.
uint8_t	Reserved [42]	Reserved (42 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set engine advanced settings.

6.2.6.44. 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 behavior at borders. This is a bit mask for bitwise operations.
	0x1 - BORDER_IS_ENCODER	Borders are fixed by predetermined encoder values, if set; borders are placed on limit switches, if not set.
	0x2 - BORDER_STOP_LEFT	The motor should stop on the 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	Flags specify electrical behavior of limit switches like order and pulled positions. This is a bit mask for bitwise operations.
	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 connected to pin SW1 is triggered by a low level on pin.
	0x4 - ENDER_SW2_ACTIVE_LOW	1 - Limit switch connected 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 microsteps (used with stepper motor only). The microstep size and the range of valid values for this field depend on the selected step division mode (see the MicrostepMode field in engine_settings).
int32_t	RightBorder	Right border position, used if BORDER_IS_ENCODER flag is set.
int16_t	uRightBorder	Right border position in microsteps. Used with a stepper motor only. The microstep size and the range of valid values for this field depend on the selected step division mode (see the MicrostepMode field in engine_settings).
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.

6.2.6.45. 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. This is a bit mask for bitwise operations.
	0x1 - EXTIO_SETUP_OUTPUT	EXTIO works as output if the flag is set, works as input otherwise.
	0x2 - EXTIO_SETUP_INVERT	Interpret EXTIO state inverted if the flag is set. A falling front is treated as an input event and a low logic level as an active state.
uint8_t	EXTIOModeFlags	Flags mode settings external I-O. This is a bit mask for bitwise operations.
	0xf - EXTIO_SETUP_MODE_IN_BITS	Bits of the behavior 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 behavior 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 the 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 sends the structure with a set of EXTIO settings to the controller’s memory. By default, input events are signaled through a rising front, and output states are signaled by a high logic state.

6.2.6.46. Command SEMF

Command code (CMD): “semf” or 0x666D6573.

Request: (48 bytes)

uint32_t	CMD	Command
float	L	Motor winding inductance.
float	R	Motor winding resistance.
float	Km	Electromechanical ratio of the motor.
uint8_t	BackEMFFlags	Auto-settings stepper motor flags. This is a bit mask for bitwise operations.
	0x1 - BACK_EMF_INDUCTANCE_AUTO	Flag of auto-detection of inductance of windings of the engine.
	0x2 - BACK_EMF_RESISTANCE_AUTO	Flag of auto-detection of resistance of windings of the engine.
	0x4 - BACK_EMF_KM_AUTO	Flag of auto-detection of electromechanical coefficient of the engine.
uint8_t	Reserved [29]	Reserved (29 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set electromechanical coefficients. The settings are different for different stepper motors. Please set new settings when you change the motor.

6.2.6.47. 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 (in mA). 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). Microstep size and the range of valid values for this field depend on selected step division mode (see MicrostepMode field in engine_settings).
uint16_t	EngineFlags	Set of flags specify motor shaft movement algorithm and a list of limitations. This is a bit mask for bitwise operations.
	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 the engine’s current value is interpreted as the maximum amplitude value. If the flag is set, then the engine current value is interpreted as the 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, the engine uses the maximum speed achievable with the present engine settings as its nominal speed.
	0x8 - ENGINE_ANTIPLAY	Play compensation flag. If it is set, the engine makes backlash (play) compensation and reaches the predetermined position accurately at 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). the microstep size and the range of valid values for this field depend on the selected step division mode (see MicrostepMode field in engine_settings). This is a bit mask for bitwise operations.
	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 sends a structure with a set of engine settings to the controller’s memory. These settings specify the motor shaft movement algorithm, list of limitations and rated characteristics. Use it when you change the motor, encoder, positioner, etc. Please note that wrong engine settings may lead to device malfunction, which can cause irreversible damage to the board.

6.2.6.48. 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: Deprecated. Set encoder information to the EEPROM. Can be used by the manufacturer only.

6.2.6.49. Command SENS

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

Request: (54 bytes)

uint32_t	CMD	Command
float	MaxOperatingFrequency	Maximum 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. This is a bit mask for bitwise operations.
	0x1 - ENCSET_DIFFERENTIAL_OUTPUT	If the flag is set, the encoder has differential output, otherwise single-ended output
	0x4 - ENCSET_PUSHPULL_OUTPUT	If the flag is set the encoder has push-pull output, otherwise open drain output
	0x10 - ENCSET_INDEXCHANNEL_PRESENT	If the flag is set, the encoder has an extra indexed channel
	0x40 - ENCSET_REVOLUTIONSENSOR_PRESENT	If the flag is set, the encoder has the revolution sensor
	0x100 - ENCSET_REVOLUTIONSENSOR_ACTIVE_HIGH	If the flag is set, the revolution sensor’s active state is high logic state; otherwise, the 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: Deprecated. Set encoder settings to the EEPROM. Can be used by the manufacturer only.

6.2.6.50. Command SENT

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

Request: (14 bytes)

uint32_t	CMD	Command
uint8_t	EngineType	Engine type. This is a bit mask for bitwise operations.
	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. This is a bit mask for bitwise operations.
	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.

6.2.6.51. Command SEST

Command code (CMD): “sest” or 0x74736573.

Request: (46 bytes)

uint32_t	CMD	Command
uint16_t	Param1
uint8_t	Reserved [38]	Reserved (38 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set extended settings. Currently, it is not in use.

6.2.6.52. 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. This is a bit mask for bitwise operations.
	0x1 - FEEDBACK_ENCODER	Feedback by encoder.
	0x4 - FEEDBACK_EMF	Feedback by EMF.
	0x5 - FEEDBACK_NONE	Feedback is absent.
	0x6 - FEEDBACK_ENCODER_MEDIATED	Feedback by encoder mediated by mechanical transmission (for example leadscrew).
uint8_t	FeedbackFlags	Flags. This is a bit mask for bitwise operations.
	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.

6.2.6.53. 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: Deprecated. Set gear information to the EEPROM. Can be used by the manufacturer only.

6.2.6.54. 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	Maximum continuous torque (N m). Data type: float.
float	RatedInputSpeed	Maximum 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: Deprecated. Set gear settings to the EEPROM. Can be used by the manufacturer only.

6.2.6.55. Command SHOM

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

Request: (33 bytes)

uint32_t	CMD	Command
uint32_t	FastHome	Speed used for first motion (full steps). Range: 0..100000.
uint8_t	uFastHome	Fractional part of the speed for first motion, microsteps. The microstep size and the range of valid values for this field depend on the selected step division mode (see the MicrostepMode field in engine_settings).
uint32_t	SlowHome	Speed used for second motion (full steps). Range: 0..100000.
uint8_t	uSlowHome	Part of the speed for second motion, microsteps. The microstep size and the range of valid values for this field depend on the selected step division mode (see the MicrostepMode field in engine_settings).
int32_t	HomeDelta	Distance from break point (full steps).
int16_t	uHomeDelta	Fractional part of the delta distance, microsteps. The microstep size and the range of valid values for this field depend on the selected step division mode (see the MicrostepMode field in engine_settings).
uint16_t	HomeFlags	Set of flags specifies the direction and stopping conditions. This is a bit mask for bitwise operations.
	0x1 - HOME_DIR_FIRST	The flag defines the direction of the 1st motion after execution of the home command. The direction is to the right if the flag is set, and to the left otherwise.
	0x2 - HOME_DIR_SECOND	The flag defines the direction of the 2nd motion. The direction is to the right if the flag is set, and to the left otherwise.
	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 during the first half-turn of the second movement.
	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 sends home position structure to the controller’s memory.

6.2.6.56. 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: Deprecated. Set hall sensor information to the EEPROM. Can be used by the manufacturer only.

6.2.6.57. Command SHSS

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

Request: (50 bytes)

uint32_t	CMD	Command
float	MaxOperatingFrequency	Maximum 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	Maximum 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: Deprecated. Set hall sensor settings to the EEPROM. Can be used by the manufacturer only.

6.2.6.58. 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 upper end position. Range: 0..10000.
uint8_t	ExpFactor	Exponential nonlinearity factor.
uint8_t	DeadZone	Joystick dead zone.
uint8_t	JoyFlags	Joystick control flags. This is a bit mask for bitwise operations.
	0x1 - JOY_REVERSE	Joystick action is reversed. The joystick deviation to the upper values corresponds to negative speed and vice versa.
uint8_t	Reserved [7]	Reserved (7 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set joystick position. If joystick position falls outside DeadZone limits, a movement begins. The speed is defined by the joystick’s position in the range of the DeadZone limit to the maximum deviation. Joystick positions inside DeadZone limits correspond to zero speed (a soft stop of motion), and positions beyond Low and High limits correspond to MaxSpeed[i] or -MaxSpeed[i] (see command SCTL), where i = 0 by default and can be changed with the left/right buttons (see command SCTL). If the next speed in the list is zero (both integer and microstep parts), the button press is ignored. The first speed in the list shouldn’t be zero. See the Joystick control section on https://doc.xisupport.com for more information.

6.2.6.59. 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. The microstep size and the range of valid values for this field depend on the selected step division mode (see the MicrostepMode field in engine_settings). Used with a 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, microsteps/s. The microstep size and the range of valid values for this field depend on the selected step division mode (see the MicrostepMode field in engine_settings). Used with a stepper motor only.
uint8_t	MoveFlags	Flags that control movement settings. This is a bit mask for bitwise operations.
	0x1 - RPM_DIV_1000	This flag indicates that the operating speed specified in the command is set in milliRPM. Applicable only for ENCODER feedback mode and only for BLDC motors.
uint8_t	Reserved [9]	Reserved (9 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Movement settings set command (speed, acceleration, threshold, etc.).

6.2.6.60. 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: Deprecated. Set motor information to the EEPROM. Can be used by the manufacturer only.

6.2.6.61. Command SMTS

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

Request: (112 bytes)

uint32_t	CMD	Command
uint8_t	MotorType	Motor type. This is a bit mask for bitwise operations.
	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 motors.
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 motors (A). Data type: float.
float	NominalSpeed	Not used. Nominal speed (rpm). Used for DC and BLDC engines. Data type: float.
float	NominalTorque	Nominal torque (mN m). Used for DC and BLDC engines. Data type: float.
float	NominalPower	Nominal power (W). Used for DC and BLDC engines. Data type: float.
float	WindingResistance	Resistance of windings for DC engines, of each of two windings for stepper motors, or of each of three windings for BLDC engines (Ohm). Data type: float.
float	WindingInductance	Inductance of windings for DC engines, inductance of each of two windings for stepper motors, or inductance of each of three windings for BLDC engines (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 unpowered windings (mN m). Data type: float.
float	TorqueConstant	Torque constant that determines the proportionality constant between the maximum rotor torque and current flowing in the winding (mN m / A). Used mainly for DC motors. Data type: float.
float	SpeedConstant	Velocity constant, which determines the value or the amplitude of the induced voltage on the motion of DC or BLDC motors (rpm / V) or stepper motors (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: Deprecated. Set motor settings to the EEPROM. Can be used by the manufacturer only.

6.2.6.62. Command SNET

Command code (CMD): “snet” or 0x74656E73.

Request: (38 bytes)

uint32_t	CMD	Command
uint8_t	DHCPEnabled	Indicates the method to get the IP-address. It can be either 0 (static) or 1 (DHCP).
uint8_t	IPv4Address	IP-address of the device in format x.x.x.x.
uint8_t	SubnetMask	The mask of the subnet in format x.x.x.x.
uint8_t	DefaultGateway	Default value of the gateway in format x.x.x.x.
uint8_t	Reserved [19]	Reserved (19 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set network settings. Manufacturer only. This function sets the desired network settings.

6.2.6.63. Command SNME

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

Request: (30 bytes)

uint32_t	CMD	Command
int8_t	PositionerName	User’s positioner name. It can be set by a user. Max string length: 16 characters.
uint8_t	Reserved [8]	Reserved (8 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Write the user’s stage name to EEPROM.

6.2.6.64. Command SNMF

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

Request: (30 bytes)

uint32_t	CMD	Command
int8_t	ControllerName	User controller name. It may be set by the user. Max string length: 16 characters.
uint8_t	CtrlFlags	Internal controller settings. This is a bit mask for bitwise operations.
	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’s controller name and internal settings to the FRAM.

6.2.6.65. Command SNVM

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

Request: (36 bytes)

uint32_t	CMD	Command
uint32_t	UserData	User data. It may be set by the user. 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, on all amd64 systems.
uint8_t	Reserved [2]	Reserved (2 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Write user data into the FRAM.

6.2.6.66. 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 sends the structure with a set of PID factors to the controller’s memory. These settings specify the behavior of the PID routine for the positioner. These factors are slightly different for different positioners. All boards are supplied with the standard set of PID settings in the 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.

6.2.6.67. Command SPWD

Command code (CMD): “spwd” or 0x64777073.

Request: (36 bytes)

uint32_t	CMD	Command
int8_t	UserPassword	Password for the web-page that the user can change with a USB command or via web-page.
uint8_t	Reserved [10]	Reserved (10 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Sets the password. Manufacturer only. This function sets the user password for the device’s web-page.

6.2.6.68. Command SPWR

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

Request: (20 bytes)

uint32_t	CMD	Command
uint8_t	HoldCurrent	Holding current, as percent of the nominal current. Range: 0..100.
uint16_t	CurrReductDelay	Time in ms from going to STOP state to the end of current reduction.
uint16_t	PowerOffDelay	Time in s from going to STOP state to turning power off.
uint16_t	CurrentSetTime	Time in ms to reach the nominal current.
uint8_t	PowerFlags	Flags with parameters of power control. This is a bit mask for bitwise operations.
	0x1 - POWER_REDUCT_ENABLED	Current reduction is enabled after CurrReductDelay if this flag is set.
	0x2 - POWER_OFF_ENABLED	Power off is enabled after PowerOffDelay if this flag is set.
	0x4 - POWER_SMOOTH_CURRENT	Current ramp-up/down are 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 a stepper motor only.

6.2.6.69. 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, in 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, in tens of mV.
uint16_t	CriticalT	Maximum temperature, which triggers ALARM state, in tenths of degrees Celsius.
uint16_t	CriticalIusb	Maximum USB current which triggers ALARM state, in mA.
uint16_t	CriticalUusb	Maximum USB voltage which triggers ALARM state, in tens of mV.
uint16_t	MinimumUusb	Minimum USB voltage which triggers ALARM state, in tens of mV.
uint8_t	Flags	Critical parameter flags. This is a bit mask for bitwise operations.
	0x1 - ALARM_ON_DRIVER_OVERHEATING	If this flag is set, enter the alarm state on the driver overheat signal.
	0x2 - LOW_UPWR_PROTECTION	If this flag is set, turn off the motor when the 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, the USB brake reconnect module will be enabled
	0x40 - ALARM_WINDING_MISMATCH	If this flag is set, enter Alarm state when windings mismatch
	0x80 - ALARM_ENGINE_RESPONSE	If this flag is set, enter the Alarm state on response of the engine control action
uint8_t	Reserved [7]	Reserved (7 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set protection settings.

6.2.6.70. Command SSNI

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

Request: (28 bytes)

uint32_t	CMD	Command
uint8_t	SyncInFlags	Input synchronization flags. This is a bit mask for bitwise operations.
	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 going to the position specified in Position and uPosition if this flag is set. And it is shifting on the Position and uPosition if this flag is unset
uint16_t	ClutterTime	Input synchronization pulse dead time (us).
int32_t	Position	Desired position or shift (full steps)
int16_t	uPosition	The fractional part of a position or shift in microsteps. It is used with a stepper motor. The microstep size and the range of valid values for this field depend on the selected step division mode (see the MicrostepMode field in engine_settings).
uint32_t	Speed	Target speed (for stepper motor: steps/s, for DC: rpm). Range: 0..100000.
uint8_t	uSpeed	Target speed in microsteps/s. Microstep size and the range of valid values for this field depend on the selected step division mode (see the MicrostepMode field in engine_settings). Used a 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 sends the structure with a set of input synchronization settings that specify the behavior of input synchronization to the controller’s memory. All boards are supplied with the standard set of these settings.

6.2.6.71. Command SSNO

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

Request: (16 bytes)

uint32_t	CMD	Command
uint8_t	SyncOutFlags	Output synchronization flags. This is a bit mask for bitwise operations.
	0x1 - SYNCOUT_ENABLED	The synchronization out pin follows the synchronization logic if the flag is set. Otherwise, it is governed by the SYNCOUT_STATE flag.
	0x2 - SYNCOUT_STATE	When the output state is fixed by the negative SYNCOUT_ENABLED flag, the pin state is in accordance with this flag state.
	0x4 - SYNCOUT_INVERT	The low level is active if the flag is set. Otherwise, the high level is active.
	0x8 - SYNCOUT_IN_STEPS	Use motor steps or encoder pulses instead of milliseconds for output pulse generation if the flag is set.
	0x10 - SYNCOUT_ONSTART	Generate a synchronization pulse when movement starts.
	0x20 - SYNCOUT_ONSTOP	Generate a synchronization pulse when movement stops.
	0x40 - SYNCOUT_ONPERIOD	Generate a synchronization pulse every SyncOutPeriod encoder pulses.
uint16_t	SyncOutPulseSteps	This value specifies the 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 the 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, every point in which is treated as the target position. Getting in these points cause the stop impulse.
uint8_t	uAccuracy	This is the neighborhood around the target coordinates in microsteps (used with a stepper motor only). The microstep size and the range of valid values for this field depend on the selected step division mode (see the MicrostepMode field in engine_settings).
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Set output synchronization settings. This function sends the structure with a set of output synchronization settings that specify the behavior of output synchronization to the controller’s memory. All boards are supplied with the standard set of these settings.

6.2.6.72. 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: Deprecated. Set stage information to the EEPROM. Can be used by the manufacturer only.

6.2.6.73. 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	Maximum speed (Units/c). Data type: float.
float	TravelRange	Travel range (Units). Data type: float.
float	SupplyVoltageMin	Minimum supply voltage (V). Data type: float.
float	SupplyVoltageMax	Maximum supply voltage (V). Data type: float.
float	MaxCurrentConsumption	Maximum 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: Deprecated. Set stage settings to the EEPROM. Can be used by the manufacturer only

6.2.6.74. Command SURT

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

Request: (16 bytes)

uint32_t	CMD	Command
uint32_t	Speed	UART baudrate (in bauds)
uint16_t	UARTSetupFlags	UART setup flags. This is a bit mask for bitwise operations.
	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 sends the structure with UART settings to the controller’s memory.

6.2.6.75. Command ASIA

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

Request: (22 bytes)

uint32_t	CMD	Command
int32_t	Position	Desired position or shift (full steps)
int16_t	uPosition	The fractional part of a position or shift in microsteps. Used with stepper motor only. The microstep size and the range of valid values for this field depend on the selected step division mode (see the MicrostepMode field in engine_settings).
uint32_t	Time	Time period in 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 to the FIFO command buffer. Commands are executed at an input clock pulse. Each synchronization pulse launches the action described in SSNI if the buffer is empty. Otherwise, the pulse launches the first command from the FIFO. In the latter case, the command is erased from the buffer. The number of remaining empty buffer elements can be found in the GETS.

6.2.6.76. 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 to clear the controller’s FRAM. The memory is cleared by filling the whole memory bytes with 0x00. After cleaning, the controller restarts. There is no response to this command.

6.2.6.77. 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	Command result.
uint8_t	Reserved [8]	Reserved (8 bytes)
uint16_t	CRC	Checksum

Description: Command to open a ISP session (in-system programming) when downloading the firmware. Result = RESULT_OK if the command loader. Result = RESULT_SOFT_ERROR if an error occurred at the time of the command. The Result is not available through the library command_update_firmware(). The function processes it internally.

6.2.6.78. 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. Manufacturer only. Its use depends on context, firmware version and previous history.

6.2.6.79. 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. Manufacturer only.

6.2.6.80. 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	Command result.
uint8_t	Reserved [8]	Reserved (8 bytes)
uint16_t	CRC	Checksum

Description: Command to close the ISP session (in-system programming) when loading firmware. Result = RESULT_OK if the command loader. Result = RESULT_HARD_ERROR if a hardware error occurred at the time of the command. Result = RESULT_SOFT_ERROR if a software error occurred at the time of the command. The Result is not available through the library command_update_firmware(). The function processes it internally.

6.2.6.81. 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 the stage’s EEPROM to the controller’s RAM. This operation is performed automatically at the connection of the stage with an EEPROM to the controller. Can be used by the manufacturer only.

6.2.6.82. 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 the controller’s RAM to the stage’s EEPROM. Can be used by the manufacturer only.

6.2.6.83. 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 the controller’s bootloader version.

6.2.6.84. 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 case of a step motor, it contains the voltage across the winding A (in tens of mV); in case of a brushless motor, it contains the voltage on the first coil; in case of a DC motor, it contains the only winding current.
int16_t	WindingVoltageB	In case of a step motor, it contains the voltage across the winding B (in tens of mV); in case of a brushless motor, it contains the voltage on the second winding; and in case of a DC motor, this field is not used.
int16_t	WindingVoltageC	In case of a brushless motor, it contains the voltage on the third winding (in tens of mV); in the case of a step motor and a DC motor, the field is not used.
int16_t	WindingCurrentA	In case of a step motor, it contains the current in the winding A (in mA); in case of a brushless motor, it contains the current in the winding A; and in case of a DC motor, it contains the only winding current.
int16_t	WindingCurrentB	In case of a step motor, it contains the current in the winding B (in mA); in case of a brushless motor, it contains the current in the winding B; and in case of a DC motor, the field is not used.
int16_t	WindingCurrentC	In case of a brushless motor, it contains the current in the winding C (in mA); in case of a step motor and a DC motor, the field is not used.
uint16_t	Pot	Analog input value, dimensionless. Range: 0..10000
uint16_t	Joy	The joystick position, dimensionless. Range: 0..10000
int16_t	DutyCycle	PWM duty cycle.
uint8_t	Reserved [14]	Reserved (14 bytes)
uint16_t	CRC	Checksum

Description: Return device electrical parameters, useful for charts. A useful function that fills the structure with a snapshot of the controller voltages and currents.

6.2.6.85. 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	The minor number of the hardware version.
uint16_t	Release	Release version.
uint8_t	Reserved [12]	Reserved (12 bytes)
uint16_t	CRC	Checksum

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

6.2.6.86. 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 in microsteps per second (whole steps are recalculated considering the current step division mode) or encoder counts per second.
int32_t	Error	Current error in microsteps per second (whole steps are recalculated considering the current step division mode) or encoder counts per second.
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 speed error graph. 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 full, it is recommended to repeat the readings every 5 ms until the buffer again becomes filled with 20 points. To stop measurements just stop reading data. After buffer overflow measurements will stop automatically.

6.2.6.87. 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. This is a bit mask for bitwise operations.
	0x1 - MOVE_STATE_MOVING	This flag indicates that the controller is trying to move the motor. Don’t use this flag to wait for the completion of the movement command. Use the 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. This is a bit mask for bitwise operations.
	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 has finished with an error, 0 - move command has finished correctly). This flag makes sense when MVCMD_RUNNING signals movement completion.
	0x80 - MVCMD_RUNNING	Move command state (0 - move command has finished, 1 - move command is being executed).
uint8_t	PWRSts	Power state of the stepper motor (used with stepper motor only). This is a bit mask for bitwise operations.
	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 the maximum current driver can provide at this voltage.
uint8_t	EncSts	Encoder state. This is a bit mask for bitwise operations.
	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.
uint8_t	WindSts	Windings state. This is a bit mask for bitwise operations.
	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 microsteps. The microstep size and the range of valid values for this field depend on the selected step division mode (see the MicrostepMode field in engine_settings). Used with stepper motors only.
int64_t	EncPosition	Current encoder position.
int32_t	CurSpeed	Motor shaft speed in steps/s or rpm.
int16_t	uCurSpeed	Fractional part of motor shaft speed in microsteps. The microstep size and the range of valid values for this field depend on the selected step division mode (see the MicrostepMode field in engine_settings). Used with stepper motors only.
int16_t	Ipwr	Engine current, mA.
int16_t	Upwr	Power supply voltage, tens of mV.
int16_t	Iusb	USB current, mA.
int16_t	Uusb	USB voltage, tens of mV.
int16_t	CurT	Temperature, tenths of degrees Celsius.
uint32_t	Flags	A set of flags specifies the motor shaft movement algorithm and a list of limitations. This is a bit mask for bitwise operations.
	0x3f - STATE_CONTR	Flags of controller states.
	0x1 - STATE_ERRC	Command error encountered. The command received is not in the list of controller known commands. The most possible reason is the outdated firmware.
	0x2 - STATE_ERRD	Data integrity error encountered. The data inside the command and its CRC code do not correspond. Therefore, the data can’t be considered valid. This error may be caused by EMI in the UART/RS232 interface.
	0x4 - STATE_ERRV	Value error encountered. The values in the command can’t be applied without correction because they fall outside the valid range. Corrected values were used instead of the original ones.
	0x10 - STATE_EEPROM_CONNECTED	EEPROM with settings is connected. The built-in stage profile is uploaded from the EEPROM memory chip if the EEPROM_PRECEDENCE flag is set, allowing you to connect various stages to the controller with automatic setup.
	0x20 - STATE_IS_HOMED	Calibration performed. This means that the relative position scale is calibrated against a hardware absolute position sensor, like a limit switch. Drops after loss of calibration, like harsh stops and possibly skipped steps.
	0x1b3ffc0 - STATE_SECUR	Security flags.
	0x40 - STATE_ALARM	The controller is in an alarm state, indicating that something dangerous has 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). The flag is set when the encoder position and step position are too far apart.
	0x100 - STATE_POWER_OVERHEAT	Power driver overheat. Motor control is disabled until some cooldown occurs. This should not happen with boxed versions of the controller. This may happen with the bare-board version of the controller with a custom radiator. Redesign your radiator.
	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
	0x100000 - STATE_WINDING_RES_MISMATCH	The difference between winding resistances is too large. This usually happens with a damaged stepper motor with partially short-circuited windings.
	0x200000 - STATE_ENCODER_FAULT	Signal from the encoder that fault happened
	0x800000 - STATE_ENGINE_RESPONSE_ERROR	Error response of the engine control action. Motor control algorithm failure means that it can’t make the correct decisions with the feedback data it receives. A single failure may be caused by a mechanical problem. A repeating failure can be caused by incorrect motor settings.
	0x1000000 - STATE_EXTIO_ALARM	The error is caused by the external EXTIO input signal.
uint32_t	GPIOFlags	A set of flags of GPIO states. This is a bit mask for bitwise operations.
	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 the flag is set; otherwise, it works as in.
	0x20 - STATE_GPIO_LEVEL	State of external GPIO pin.
	0x200 - STATE_BRAKE	State of Brake pin. Flag ‘1’ - if the pin state brake is not powered (brake is clamped), ‘0’ - if the pin state brake is powered (brake is unclamped).
	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 is a service field. It shows the number of free synchronization chain buffer cells.
uint8_t	Reserved [4]	Reserved (4 bytes)
uint16_t	CRC	Checksum

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

6.2.6.88. 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 the controller’s firmware version.

6.2.6.89. 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 the 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 in the firmware for compatibility. Manufacturer only. Result = RESULT_OK, if the transition from the loader to the firmware is possible. After the response to this command, the transition is executed. Result = RESULT_NO_FIRMWARE if the firmware is not found. Result = RESULT_ALREADY_IN_FIRMWARE if this command is called from the firmware.

6.2.6.90. 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. Microstep size and the range of valid values for this field depend on the selected step division mode (see MicrostepMode field in engine_settings).
int64_t	EncPosition	Encoder position.
uint8_t	Reserved [6]	Reserved (6 bytes)
uint16_t	CRC	Checksum

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

6.2.6.91. 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.

6.2.6.92. 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 device, but is not a random value. Manufacturer only. This unique device identifier can be used to initiate secure boot processes or as a serial number for USB or other end applications.

6.2.6.93. 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. Manufacturer only. Result = RESULT_NO_FIRMWARE if the firmware is not found. Result = RESULT_HAS_FIRMWARE if the firmware has been found.

6.2.6.94. Command HOME

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

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Moving to home position. Moving algorithm: 1) Moves the motor according to the speed FastHome, uFastHome and flag HOME_DIR_FAST until the limit switch if the HOME_STOP_ENDS flag is set. Or moves the motor until the input synchronization signal occurs if the flag HOME_STOP_SYNC is set. Or moves until the revolution sensor signal occurs if the flag HOME_STOP_REV_SN is set. 2) Then moves according to the speed SlowHome, uSlowHome and flag HOME_DIR_SLOW until the input clock signal occurs if the flag HOME_MV_SEC is set. If the flag HOME_MV_SEC is reset, skip this step. 3) Then shifts the motor according to the speed FastHome, uFastHome and the flag HOME_DIR_SLOW by HomeDelta distance, uHomeDelta. See GHOM/SHOM commands’ description for details on home flags. Moving settings can be set by set_home_settings/set_home_settings_calb.

6.2.6.95. 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 a random number from the controller. Manufacturer only.

6.2.6.96. Command LEFT

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

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Start continuous moving to the left.

6.2.6.97. 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 position to a distance Antiplay defined in engine settings. Then moves to the initial position.

6.2.6.98. Command MOVE

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

Request: (18 bytes)

uint32_t	CMD	Command
int32_t	Position	Desired position (full steps or encoder counts).
int16_t	uPosition	The fractional part of a position in microsteps. The microstep size and the range of valid values for this field depend on the selected step division mode (see the MicrostepMode field in engine_settings). Used with stepper motor only.
uint8_t	Reserved [6]	Reserved (6 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Move to position. Upon receiving the command ‘move’ the engine starts to move with pre-set parameters (speed, acceleration, retention), to the point specified by Position and uPosition. uPosition sets the microstep position of a stepper motor. In the case of DC motor, this field is ignored.

6.2.6.99. Command MOVR

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

Request: (18 bytes)

uint32_t	CMD	Command
int32_t	DeltaPosition	Position shift (delta) (full steps or encoder counts)
int16_t	uDeltaPosition	Fractional part of the shift in microsteps. Used with stepper motor only. The microstep size and the range of valid values for this field depend on the selected step division mode (see the MicrostepMode field in engine_settings).
uint8_t	Reserved [6]	Reserved (6 bytes)
uint16_t	CRC	Checksum

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Shift by a set offset. Upon receiving the command ‘movr’, the engine starts to move with preset parameters (speed, acceleration, hold) left or right (depending on the sign of DeltaPosition). It moves by the number of steps specified in the fields DeltaPosition and uDeltaPosition. uDeltaPosition sets the microstep offset for a stepper motor. In the case of a DC motor, this field is ignored.

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

6.2.6.101. 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	‘Supply voltage of H-bridge’s MOSFETs’ 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, raw data from ADC.
uint16_t	H5_ADC	USB Power supply from ADC
int16_t	A1Voltage	‘Voltage on pin 1 winding A’ calibrated data (in tens of mV).
int16_t	A2Voltage	‘Voltage on pin 2 winding A’ calibrated data (in tens of mV).
int16_t	B1Voltage	‘Voltage on pin 1 winding B’ calibrated data (in tens of mV).
int16_t	B2Voltage	‘Voltage on pin 2 winding B’ calibrated data (in tens of mV).
int16_t	SupVoltage	‘Supply voltage on the top of H-bridge’s MOSFETs’ calibrated data (in tens of mV).
int16_t	ACurrent	‘Winding A current’ calibrated data (in mA).
int16_t	BCurrent	‘Winding B current’ calibrated data (in mA).
int16_t	FullCurrent	‘Full current’ calibrated data (in mA).
int16_t	Temp	Temperature, calibrated data (in tenths of degrees Celsius).
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 (in tens of mV).
int16_t	H5	USB power supply (in tens of mV).
uint16_t	deprecated
int32_t	R	Motor winding resistance in mOhms (is only used with stepper motors).
int32_t	L	Motor winding pseudo inductance in uH (is only used with stepper motors).
uint8_t	Reserved [8]	Reserved (8 bytes)
uint16_t	CRC	Checksum

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

6.2.6.102. 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 the controller’s flash memory to the controller’s RAM, replacing previous data in the RAM.

6.2.6.103. 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, etc.) from the controller’s flash memory to the controller’s RAM, replacing previous data in the RAM. Manufacturer only.

6.2.6.104. Command REST

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

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (4 bytes)

uint32_t

CMD

Command

Description: The controller reset command. After the reset, the controller goes into bootloader mode. The command is added for compatibility with the loader exchange protocol. There is no response to this command.

6.2.6.105. Command RIGT

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

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Start continuous moving to the right.

6.2.6.106. 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, etc.) from the controller’s RAM to the controller’s flash memory, replacing previous data in the flash memory. Manufacturer only.

6.2.6.107. 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 the controller’s RAM to the controller’s flash memory, replacing previous data in the flash memory.

6.2.6.108. 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. Microstep size and the range of valid values for this field depend on the selected step division mode (see the MicrostepMode field in engine_settings).
int64_t	EncPosition	Encoder position.
uint8_t	PosFlags	Position flags. This is a bit mask for bitwise operations.
	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 position in steps and microsteps for stepper motor. Sets encoder position for all engines.

6.2.6.109. 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	The 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 the 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 the manufacturer only.

6.2.6.110. 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 the engine. The motor is slowing down with the deceleration specified in move_settings.

6.2.6.111. 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 and the speed error (target speed minus real speed).

6.2.6.112. Command STOP

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

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Immediately stops the engine, moves it to the STOP state, and sets switches to BREAK mode (windings are short-circuited). The holding regime is deactivated for DC motors, keeping current in the windings for stepper motors (to control it, see Power management settings). When this command is called, the ALARM flag is reset.

6.2.6.113. Command UPDF

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

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (4 bytes)

uint32_t

CMD

Command

Description: The command switches the controller to update the firmware state. Manufacturer only. After receiving this command, the firmware board sets a flag (for loader), sends an echo reply, and restarts the controller.

6.2.6.114. 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 to the controller’s flash memory. The result of each packet write is not available. The overall result is available when the firmware upload is finished.

6.2.6.115. 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	Command result.
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 there was a mistake at the time of the command. The Result is not available through the library write_key(). The function processes it internally. Can be used by the manufacturer only.

6.2.6.116. Command ZERO

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

Request: (4 bytes)

uint32_t

CMD

Command

Answer: (4 bytes)

uint32_t

CMD

Command

Description: Sets the current position to 0. Sets the target position of the move command and the movr command to zero for all cases except for movement to the target position. In the latter case, the target position is calculated so that the absolute position of the destination stays the same. For example, if we were at 400 and moved to 500, then the command Zero makes the current position 0 and the position of the destination 100. It does not change the mode of movement. If the motion is carried, it continues, and if the engine is in the ‘hold’, the type of retention remains.

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