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UART commands

Every command the firmware release this site describes understands over the serial port. The kind, the argument type, the mode a command enters and what it prints are read from the firmware; the descriptions are written by hand. Over UART explains the protocol.

Syntax

#<Name> [number]
  • A Set/Get command sets the value when a number follows and prints the current value either way.
  • A Get command only prints.
  • An Action command does something; a number after it is ignored. The exceptions are #Idle and #PWM: with a number they are answered Unknown command.
  • Names are case-sensitive, at most 19 characters; the number at most 19; the line ends with LF (CR before it is fine). 256000 baud, 8N1, 3.3 V.
  • A name the parser does not know is answered Unknown command.

Every command

Command Kind Argument Group
#Activate Action Status and utility
#Brake Action Motion
#Cal Action Calibration and motor parameters
#Calangle Action Calibration and motor parameters
#Calibrated Set/Get int Calibration and motor parameters
#Calpwr Set/Get float Calibration and motor parameters
#CANID Set/Get int Status and utility
#Cbw Set/Get float Gains and limits
#Clear Action Status and utility
#Close Action Motion
#Coast Action Motion
#Cyc Set/Get int Status and utility
#Cyca Set/Get int Status and utility
#Default Action Status and utility
#Dir Set/Get int Calibration and motor parameters
#Error Get Status and utility
#Flux Set/Get float Calibration and motor parameters
#gosteps Set/Get int Motion
#Gripact Set/Get int Gripper
#Gripcal Action Gripper
#Gripcur Set/Get int Gripper
#Gripinfo Get Gripper
#Gripper Set/Get int Gripper
#Grippos Set/Get int Gripper
#Gripstop Set/Get int Gripper
#Gripvel Set/Get int Gripper
#HALL Action Motion
#Help Action Status and utility
#Iabc Get Status and utility
#Id Set/Get float Motion
#Idle Action Motion
#Ilim Set/Get int Gains and limits
#Info Get Status and utility
#Iq Set/Get float Motion
#Iqoffset Set/Get int Calibration and motor parameters
#KD Set/Get float Gains and limits
#Kiid Set/Get float Gains and limits
#Kiiq Set/Get float Gains and limits
#Kiv Set/Get float Gains and limits
#KP Set/Get float Gains and limits
#Kpid Set/Get float Gains and limits
#Kpiq Set/Get float Gains and limits
#Kpp Set/Get float Gains and limits
#Kpv Set/Get float Gains and limits
#Kt Set/Get float Calibration and motor parameters
#KV Set/Get float Calibration and motor parameters
#L Set/Get float Calibration and motor parameters
#LED Set/Get int Status and utility
#Magnet Get Calibration and motor parameters
#microstep Set/Get int Motion
#Mode Get Status and utility
#Offset Set/Get float Calibration and motor parameters
#Openloop Set/Get float Motion
#Opens Set/Get float Calibration and motor parameters
#Openv Set/Get int Calibration and motor parameters
#P Set/Get int Motion
#Param Get Status and utility
#PD Set/Get int Motion
#PDI Set/Get int Motion
#PDV Set/Get int Motion
#Phase Get Calibration and motor parameters
#PP Set/Get int Calibration and motor parameters
#Pullconfig Get Status and utility
#PWM Get Status and utility
#R Set/Get float Calibration and motor parameters
#Reset Action Status and utility
#Resv Set/Get int Calibration and motor parameters
#Rstint Set/Get int Gains and limits
#Save Action Status and utility
#SERNUM Set/Get int Status and utility
#stepinterval Set/Get int Motion
#Temp Get Status and utility
#Term Set/Get int Status and utility
#Tlim Set/Get int Status and utility
#Ud Set/Get int Motion
#Uq Set/Get int Motion
#V Set/Get int Motion
#Vbus Get Status and utility
#Vlim Set/Get int Gains and limits
#Vlimit Set/Get int Gains and limits
#Vmax Set/Get int Status and utility
#Vp Set/Get int Calibration and motor parameters

The parser also accepts #EN, #SIN, #SPWM, #Vmin, #flux, #zz, which have no handler: the driver answers nothing to them.

By group

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