Status and utility

Command	Kind	Argument	What it does	Response
#Magnet	Get		Reads the encoder's magnet status.	Magnet Good or Magnet Bad
#Reset	Action		Resets the driver. From firmware 105 the reset lands in the bootloader, which waits 2 s for a flashing host and then starts the firmware again.	nothing
#Temp	Get		Prints the thermistor temperature.	°C, or Temp Off while the thermistor is disabled
#Mode	Get		Prints the control mode. In gripper mode (mode 11) it prints nothing; #Gripinfo shows the gripper's state.	Idle mode, Position control, Speed control, Current control, PD control, Open loop, Gripper calib mode during the gripper calibration; Gripper mode is what it prints for mode 6, voltage torque
#Vbus	Get		Prints the supply voltage.	mV
#Error	Get		Prints which errors are active.	No errors! or In error state! followed by one line per active error
#Clear	Action		Clears the errors and goes to idle, and ends a running gripper calibration. An error whose cause is still present comes straight back, the gripper's E-stop too while #Gripstop is 1; a calibration error is cleared only by calibrating (or #Calibrated 1). Enters idle mode.	Clear errors
#Help	Action		Prints a short command reference. Added in firmware 106.	the reference
#Info	Get		Prints the driver's identity and state: hardware version, batch date and firmware version, the ISR time, the CAN ID, the motor calibration, the thermistor and temperature, the supply voltage and the motor parameters (phase direction and order, pole pairs, R, L, Kt, KV). The serial number is printed by #SERNUM, the errors by #Error, gripper mode by #Gripper.	the report
#Calibrated	Set/Get	int: 0 or 1	The calibrated flag. #Calibrated 1 clears a calibration error without calibrating; the motor may still be uncalibrated.	the flag
#LED	Set/Get	int: 0 or 1	Turns the status LED on or off.	the LED state

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