KVAL and TVAL

/setKval (int)motorID (int)holdKVAL (int)runKVAL (int)accKVAL (int)setDecKVAL

Argument

Argument	Range	Description
motorID	1-4, 255	motor ID
holdKVAL	0-255	KVAL when stopped
runKVAL	0-255	KVAL in constant speed operation
accKVAL	0-255	KVAL during acceleration
setDecKVAL	0-255	KVAL during deceleration

Executable timing

Always

Description

Sets the four KVALs together.

Initial value

16

/getKval (int)motorID

Argument

Argument	Range	Description
motorID	1-4, 255	motor ID

Executable timing

Always

Description

Get the four KVALs together.

Response

/kval (int)motorID (int)holdKVAL (int)runKVAL (int)accKVAL (int)setDecKVAL

Argument	Range	Description
motorID	1-4, 255	motor ID
holdKVAL	0-255	KVAL when stopped
runKVAL	0-255	KVAL in constant speed operation
accKVAL	0-255	KVAL during acceleration
setDecKVAL	0-255	KVAL during deceleration

/setHoldKval (int)motorID (int)holdKVAL

Argument

Argument	Range	Description
motorID	1-4, 255	motor ID
holdKVAL	0-255	KVAL when stopped

Executable timing

Always

Description

Sets only KVAL when stopped.

Initial value

16

/setRunKval (int)motorID (int)runKVAL

Argument

Argument	Range	Description
motorID	1-4, 255	motor ID
setRunKVAL	0-255	KVAL in constant speed operation

Executable timing

Always

Description

Sets only KVAL in constant speed operation.

Initial value

16

/setAccKval (int)motorID (int)accKVAL

• motorID : 1-4, 255
• accKVAL : 0-255

Timing: Always

Sets only KVAL during acceleration.

/setDecKval (int)motorID (int)decKVAL

Argument

Argument	Range	Description
motorID	1-4, 255	motor ID
decKVAL	0-255	KVAL during deceleration

Executable timing

Always

Description

Sets only KVAL during deceleration.

Initial value

16

/setTval (int)motorID (int)holdTVAL (int)runTVAL (int)accTVAL (int)setDecTVAL

Argument

Argument	Range	Description
motorID	1-4, 255	motor ID
holdTVAL	0-127	TVAL when stopped
runTVAL	0-127	TVAL in constant speed operation
accTVAL	0-127	TVAL during acceleration
setDecTVAL	0-127	TVAL during deceleration

Executable timing

Always

Description

Sets the four TVALs together.

In STEP 400, the TVAL is as follows.

TVAL	Setting value[mA]
0	78mA
1	156mA
...	...
127	9,984mA

Initial value

16 (1328.125mA)

/getTval (int)motorID

Argument

Argument	Range	Description
motorID	1-4, 255	motor ID

Executable timing

Always

Description

Get the four TVAL types together.

Response

/tval (int)motorID (int)holdTVAL (int)runTVAL (int)accTVAL (int)setDecTVAL

Argument	Range	Description
motorID	1-4, 255	motor ID
holdTVAL	0-127	TVAL when stopped
runTVAL	0-127	TVAL in constant speed operation
accTVAL	0-127	TVAL during acceleration
setDecTVAL	0-127	TVAL during deceleration

/setHoldTval (int)motorID (int)holdTVAL

Argument

Argument	Range	Description
motorID	1-4, 255	motor ID
holdTVAL	0-255	TVAL when stopped

Executable timing

Always

Description

Sets only TVAL when stopped.

Initial value

16 (1328.125mA)

/setRunTval (int)motorID (int)runTVAL

Argument

Argument	Range	Description
motorID	1-4, 255	motor ID
setRunTVAL	0-255	TVAL in constant speed operation

Executable timing

Always

Description

Sets only TVAL in constant speed operation.

Initial value

16 (1328.125mA)

/setAccTval (int)motorID (int)accTVAL

Argument

Argument	Range	Description
motorID	1-4, 255	motor ID
accTVAL	0-255	TVAL during acceleration

Executable timing

Always

Description

Sets only TVAL during acceleration.

Initial value

16 (1328.125mA)

/setDecTval (int)motorID (int)decTVAL

Argument

Argument	Range	Description
motorID	1-4, 255	motor ID
decTVAL	0-255	TVAL during deceleration

Executable timing

Always

Description

Sets only TVAL during deceleration.

Initial value

16 (1328.125mA)