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System settings and utilities
None
Always
Sets the destination IP address (destIp) to where should STEP400 send messages reply to query or report internal state changes, etc.
The IP address where this message was sent sets to destIp.
Also, until destIp is set, no OSC messages will be sent from STEP400, so send this command first.
/destIp (int)destIp[0] (int)destIp[1] (int)destIp[2] (int)destIp[3] (bool)isNewDestIp
| Argument | Range | Description |
|---|---|---|
| destIp[0-3] | 0-255 | Each byte of destIp |
| isNewDestIp | 0-1 | Indicates if destIp has been changed. 1 if it has been changed, or 0 if the same address has already been set. |
10.0.0.10
| 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 BUSY status of the specified motor.
/busy (int)motorID (bool)state
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | motor ID |
| state | 0-1 | 1 in case of a BUSY, 0 in case of no longer being a BUSY. |
0 (Disabled)
| 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 High Z (high impedance) state of the specified motor.
/HiZ (int)motorID (bool)state
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | motor ID |
| state | 0-1 | 1 in case of High Z state, 0 in case of not High Z state. |
0 (Disabled)
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | motor ID |
| enable | 0-1 | 1:Enable, 0:Disable |
Always
The following messages are sent automatically when there is a change in the operating status (MOT_STATUS) of the specified motor.
/motorStatus (int)motorID (int)MOT_STATUS
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | motor ID |
| MOT_STATUS | 0-3 | Refer to the table below |
| MOT_STATUS | Motor status |
|---|---|
| 0 | Stopped |
| 1 | Acceleration |
| 2 | Deceleration |
| 3 | Constant speed |
0 (Disabled)
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | motor ID |
| STEP_SEL | 0-7 | Micro stepping mode |
High Z state
Switches the micro stepping mode.
| STEP_SEL | Micro stepping mode |
|---|---|
| 0 | Full-step |
| 1 | Half-step |
| 2 | 1/4 microstep |
| 3 | 1/8 microstep |
| 4 | 1/16 microstep |
| 5 | 1/32 microstep |
| 6 | 1/64 microstep |
| 7 | 1/128 microstep |
Initially, it is set to 1/128 microstep mode.
In the constant-current control mode (current mode), only full-step to 1/16 microstep is available.
7 (1/128 microstep)
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | motor ID |
Always
Gets the mode of microstepping. See /setMicrostepMode for STEP_SEL.
/microstepMode (int)motorID (int)STEP_SEL
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | motor ID |
| lowSpeedOptimizationThreshold | 0.0 - 976.3 [step/s] | Low speed optimization threshold |
When the motor is stopped
Set the threshold for phase current distortion compensation at very low speed. For details, refer to "8.3 Low speed optimization" in the datasheet.
It has the same response as the following getLowSpeedOptimizeThreshold.
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | motor ID |
Always
Get the current value of the low speed optimization threshold.
/lowSpeedOptimizeThreshold (int)motorID (float)lowSpeedOptimizeThreshold
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | motor ID |
Always
Gets the STATUS of the motor driver (PowerSTEP01). The STATUS includes the status of the motor, alarms and switches.
/status (int)motorID (int)status
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4, 255 | motor ID |
| status | 0-65535(0xFFFF) | 16-bit STATUS register |
Refer to "11.1.28 STATUS" in the data sheet for the information contained in the registers. Of these, the values of UVLO, UVLO_ADC, OCD, STEP_LOSS_A, STEP_LOSS_B, CMD_ERROR, SW_EVN, and TH_STATUS are latched and reset when STATUS registers are read out. Because the STEP400 constantly obtains STATUS by firmware, these values are immediately reset. It is possible to set up these events to be reported separately, so please use those commands.
| Name of bits in STATUS | The corresponding configuration commands |
|---|---|
| UVLO | /enableUvloReport |
| UVLO_ADC | This feature is not available in STEP 400 and is always disabled. |
| OCD | /enableOverCurrentReport |
| STEP_LOSS_A, STEP_LOSS_B | /enableStallReport |
| CMD_ERROR | /enableCommandErrorReport |
| SW_EVN | /enableHomeSwReport |
| TH_STATUS | /enableThermalStatusReport |
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