Status requests¶
Data the host asks for with a remote frame (RTR bit set, no data); the driver answers with a data frame with the same command ID. And the heartbeat, which the driver sends on its own.
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) carries no data.
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 | 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 | 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 and batch date from the EEPROM, the serial number, and the firmware release (from firmware 105 on this is the build's own version; before, a value from the EEPROM). This firmware does not read the serial number back from the EEPROM at power-up: it reports 1 until #SERNUM sets it.
The frame (7 bytes)
| Byte | 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. 108 |
| 3-6 | SERIAL_NUMBER | unsigned 32-bit | serial number as held in RAM: 1 after a power-up |
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, watchdog and product-lock 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 | the encoder reports no magnet (too weak a field) |
| 0 | 4 | vbus_error | bit | supply voltage outside the limits |
| 0 | 3 | driver_error | bit | reserved; never set by this firmware (STEPFOC does not read a fault output of its driver stage) |
| 0 | 2 | velocity_error | bit | speed above 30,000,000 ticks/s, a fixed threshold (not #Vlimit) |
| 0 | 1 | current_error | bit | reserved; never set by this firmware |
| 0 | 0 | estop_error | bit | Send_ESTOP was received (from firmware 110 also #Estop over UART) |
| 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 |
| 1 | 4 | wrong_product | bit | from firmware 109: this firmware is on the other product's board (the product lock) and drives nothing |
The driver answers with Send_Respond_State_of_Errors.
Send_Respond_Iq_data¶
ID 27host → driver as a remote frame, driver → host as a data frameremote frame, 0 bytesPython: Send_Respond_Iq_data()
Asks for the measured Iq current.
The frame (2 bytes)
| Byte | Field | Type | Meaning |
|---|---|---|---|
| 0-1 | current | signed 16-bit | mA |
The driver answers with Send_Respond_Iq_data.
Send_Respond_Encoder_data¶
ID 28host → driver as a remote frame, driver → host as a data frameremote frame, 0 bytesPython: Send_Respond_Encoder_data()
Asks for the position and the filtered speed, as 32-bit values. Python attributes position and speed.
The frame (8 bytes)
| Byte | Field | Type | Meaning |
|---|---|---|---|
| 0-3 | position | signed 32-bit | encoder ticks |
| 4-7 | speed | signed 32-bit | encoder ticks/s |
The driver answers with Send_Respond_Encoder_data.
Send_Respond_Kt¶
ID 33host → driver as a remote frame, driver → host as a data frameremote frame, 0 bytesPython: Send_Respond_Kt()
Asks for the torque constant Kt the driver uses. Added in firmware 105.
The frame (4 bytes)
| Byte | Field | Type | Meaning |
|---|---|---|---|
| 0-3 | Kt | float 32 | Nm/A |
The driver answers with Send_Respond_Kt.
Send_Respond_Identity¶
ID 39host → driver as a remote frame, driver → host as a data frameremote frame, 0 bytesPython: Send_Respond_Identity()
Asks what the drive is: the product, the tool it is built into, the firmware release, the hardware version, the pole pairs, whether it is calibrated, and eight flags. A host can check it before it commands or flashes a drive. Added in firmware 109. Python attributes product_id, product_name, tool_id, firmware_version, identity_hardware_version, pole_pairs, identity_calibrated, identity_flags.
The frame (8 bytes)
| Byte | Bit | Field | Type | Meaning |
|---|---|---|---|---|
| 0 | product | unsigned 8-bit | 1 STEPFOC, 2 Spectral Micro: the firmware that answers | |
| 1 | tool_id | unsigned 8-bit | parameter 1: 0 none, 1 SSG-48, 11-33 MSG, 200-254 your own | |
| 2-3 | firmware_version | unsigned 16-bit | the release, e.g. 109 | |
| 4 | hardware_version | unsigned 8-bit | PCB revision from the EEPROM | |
| 5 | pole_pairs | unsigned 8-bit | the motor's pole pairs; 0 if outside 0-255 | |
| 6 | calibrated | unsigned 8-bit | 1 calibrated, 0 not | |
| 7 | 0 | gripper | bit | the driver is set up as a gripper (#Gripper 1) |
| 7 | 1 | brake_on_idle | bit | idle brakes (1) or coasts (0) |
| 7 | 2 | commutation_reversed | bit | calibration found the coils wired the other way round |
| 7 | 3 | settings_block2 | bit | the EEPROM has the bank settings block 2 lives in, so parameters 1-5 can be saved |
| 7 | 4 | wrong_product | bit | this firmware is on the other product's board (the product lock) and drives nothing |
| 7 | 5 | sense_zero_measured | bit | the current-sense zero was measured at start-up and is plausible |
| 7 | 6 | cogging_saved | bit | the anti-cogging in use is the one saved in the EEPROM |
| 7 | 7 | switching_zero_in_use | bit | the current-sense zero measured with the bridge switching is in use (parameter 46) |
The driver answers with Send_Respond_Identity.
The flags in byte 7 are numbered the usual way, bit 0 the least significant (unlike the error bytes, which the firmware packs from bit 7 down).
Send_Respond_Telemetry¶
ID 40host → driver as a remote frame, driver → host as a data frameremote frame, 0 bytesPython: Send_Respond_Telemetry()
Asks for the temperature, the supply voltage, both error bytes and the current in one frame, all from the same moment: one request instead of four. Added in firmware 109. The Python library fills the same attributes as the four separate answers.
The frame (8 bytes)
| Byte | Field | Type | Meaning |
|---|---|---|---|
| 0-1 | temperature | signed 16-bit | °C (meaningful with the thermistor enabled) |
| 2-3 | voltage | signed 16-bit | supply voltage in mV |
| 4 | errors_1 | unsigned 8-bit | the error flags, as byte 0 of Send_Respond_State_of_Errors |
| 5 | errors_2 | unsigned 8-bit | calibrated, activated, watchdog, wrong product, as byte 1 of Send_Respond_State_of_Errors |
| 6-7 | current | signed 16-bit | Iq in mA |
The driver answers with Send_Respond_Telemetry.
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) carries no data.
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