Status requests¶
Remote frames the host sends under a command ID, answered by the gripper with a data frame under the same ID, and the heartbeat the gripper sends on its own when it is set up.
Send_Respond_Ping¶
ID 10host → driver as a remote frame, driver → host as a data frameremote frame, 0 bytesPython: Send_Respond_Ping()
Asks the driver to answer with an empty frame, to see that it is on the bus.
The frame (0 bytes)
| Byte | Bit | Field | Type | Meaning |
|---|---|---|---|---|
The driver answers with Send_Respond_Ping.
Send_Respond_Temperature¶
ID 23host → driver as a remote frame, driver → host as a data frameremote frame, 0 bytesPython: Send_Respond_Temperature()
Asks for the thermistor temperature. Meaningful only with the thermistor enabled (#Term 1).
The frame (2 bytes)
| Byte | Bit | Field | Type | Meaning |
|---|---|---|---|---|
| 0-1 | temperature | signed 16-bit | °C |
The driver answers with Send_Respond_Temperature.
Send_Respond_Voltage¶
ID 24host → driver as a remote frame, driver → host as a data frameremote frame, 0 bytesPython: Send_Respond_Voltage()
Asks for the supply voltage.
The frame (2 bytes)
| Byte | Bit | Field | Type | Meaning |
|---|---|---|---|---|
| 0-1 | voltage | unsigned 16-bit | mV |
The driver answers with Send_Respond_Voltage.
Send_Respond_Device_Info¶
ID 25host → driver as a remote frame, driver → host as a data frameremote frame, 0 bytesPython: Send_Respond_Device_Info()
Asks for the driver's identity: hardware version, batch date and serial number from the EEPROM, and the firmware release (from firmware 105 on this is the build's own version; before, a value from the EEPROM).
The frame (7 bytes)
| Byte | Bit | Field | Type | Meaning |
|---|---|---|---|---|
| 0 | HARDWARE_VERSION | unsigned 8-bit | PCB revision | |
| 1 | BATCH_DATE | unsigned 8-bit | production batch | |
| 2 | SOFTWARE_VERSION | unsigned 8-bit | firmware release, e.g. 107 | |
| 3-6 | SERIAL_NUMBER | unsigned 32-bit | serial number |
The driver answers with Send_Respond_Device_Info.
Send_Respond_State_of_Errors¶
ID 26host → driver as a remote frame, driver → host as a data frameremote frame, 0 bytesPython: Send_Respond_State_of_Errors()
Asks for every error flag and the calibrated, activated and watchdog states.
The frame (2 bytes)
| Byte | Bit | Field | Type | Meaning |
|---|---|---|---|---|
| 0 | 7 | error | bit | any error is active |
| 0 | 6 | temperature_error | bit | motor over the temperature limit |
| 0 | 5 | encoder_error | bit | magnet not detected or misaligned |
| 0 | 4 | vbus_error | bit | supply voltage outside the limits |
| 0 | 3 | driver_error | bit | the MOSFET driver reports undervoltage, thermal shutdown or overcurrent |
| 0 | 2 | velocity_error | bit | speed over the limit |
| 0 | 1 | current_error | bit | reserved; never set by this firmware |
| 0 | 0 | estop_error | bit | Send_ESTOP was received |
| 1 | 7 | calibrated | bit | the motor is calibrated |
| 1 | 6 | activated | bit | the controller is activated |
| 1 | 5 | watchdog_error | bit | the watchdog ran out |
The driver answers with Send_Respond_State_of_Errors.
Respond_Heartbeat¶
ID 9driver → host0 bytes
The frame the driver sends on its own at the heartbeat interval (Send_Heartbeat_Setup); empty. Off by default. Any other frame the driver sends resets the heartbeat timer, so a driver that answers motion commands at a high rate never sends a heartbeat.
The frame (0 bytes)
| Byte | Bit | Field | Type | Meaning |
|---|---|---|---|---|
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