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Alarm settings
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | motor ID |
| enable | 0-1 | 1:Enable, 0:Disable |
Always
The following messages are sent when UVLO (Undervoltage Lockout) occurs in the specified motor driver. UVLO occurs when the voltage supplied to the motor driver falls below 9.2 V, with or without notification. In this state, the motor cannot be operated. It will be reset when the supply voltage is above 10.4V.
/uvlo (int)motorID
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | motor ID |
1 (Enabled)
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | motor ID |
| enable | 0-1 | 1:Enable, 0:Disable |
Always
The following message is sent automatically when there is a change in the temperature status (thermalStatus) of the specified motor driver.
/thermalStatus (int)motorID (int)thermalStatus
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | motor ID |
| thermalStatus | 0-3 | See table below |
| TH_STATUS | Thermal status | Set condition | Release condition |
|---|---|---|---|
| 0 | Normal | - | - |
| 1 | Warning | 135℃ | 125℃ |
| 2 | Bridge shutdown | 155℃ | 145℃ |
| 3 | Device shutdown | 170℃ | 130℃ |
In the Bridge shutdown and Device shutdown states, the motor goes into the High Z state with or without notification.
1 (Enabled)
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | motor ID |
| enable | 0-1 | 1:Enable, 0:Disable |
Always
The following messages are sent when the specified motor driver goes into an overcurrent state (OCD, Over Current Detection).
When an overcurrent state is reached, the device automatically enters the High Z state regardless of whether notification is given. The threshold can be set with /setOverCurrentThreshold.
/overCurrent (int)motorID
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | motor ID |
1 (Enabled)
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | motor ID |
| OCH_TH | 0-31 | See table below |
| OCD_TH | Overcurrent detection threshold |
|---|---|
| 0 | 312.5mA |
| 1 | 625mA |
| ... | ... |
| 30 | 9.6875A |
| 31 | 10A |
Always
Sets the overcurrent threshold. The thresholds are as follows: 312.5 mA to 10 A in increments of 312.5 mA.
You will get the same response as the following /getOverCurrentThreshold to see the actual value.
15 (5A)
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | motor ID |
Always
Get the threshold of overcurrent.
/overCurrentThreshold (int)motorID (float)overCurrentThreshold
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | motor ID |
| overCurrentThreshold | 0-15 | thresholds in mA. |
15 (5A)
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | motor ID |
| enable | 0-1 | 1:Enable, 0:Disable |
Always
The threshold can be set by /setStallThreshold.
When a stall is detected by the specified motor driver, the following message is sent automatically.
/stall (int)motorID
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | motor ID |
0 (Disabled)
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | motor ID |
| STALL_TH | 0-31 | See table below |
| STALL_TH | Stall detection threshold |
|---|---|
| 0 | 312.5mA |
| 1 | 625mA |
| ... | ... |
| 30 | 9.6875A |
| 31 | 10A |
Always
Sets the threshold for stall detection. The thresholds are as follows: 312.5mA to 10A in increments of 312.5mA.
You will get the same response as the following /getStallThreshold to see the actual value.
31 (10A)
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | motor ID |
Always
Gets the stall detection threshold.
/stallThreshold (int)motorID (float)stallThreshold
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | motor ID |
| stallThreshold | 0-31 | thresholds in mA |
31 (10A)
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