System¶
Identity, saving, resetting, errors, the watchdog, the heartbeat and the settings.
Send_CAN_ID¶
ID 11host → driver1 bytesPython: Send_CAN_ID()
Gives the driver a new node ID, 0 to 13 (the firmware accepts up to 15, but the bootloader reserves 14 and 15: a driver on one of those cannot be updated over CAN). Saving the configuration (Send_Save_config) also writes the ID into the bootloader's board ID. The driver answers to the new ID at once; the ID is kept over a power cycle only after Send_Save_config.
1 bytes
| Byte | Field | Type | Meaning |
|---|---|---|---|
| 0 | ID | unsigned 8-bit | 0 to 13; 14 and 15 are accepted but reserved by the bootloader |
The driver does not answer this command.
Send_ESTOP¶
ID 0host → driver0 bytesPython: Send_ESTOP()
Stops the motor and raises the E-stop error, which stays until Send_Clear_Error.
The driver does not answer this command.
Send_Idle¶
ID 12host → driver0 bytesPython: Send_Idle()
Puts the driver in idle mode (the motor coasts or brakes, see Send_Settings).
The driver does not answer this command.
Send_Save_config¶
ID 13host → driver0 bytesPython: Send_Save_config()
Writes the current configuration (gains, limits, calibration, CAN ID, heartbeat, watchdog, gripper flag) to the EEPROM, and the CAN ID into the bootloader's board ID. From firmware 109 it also writes the tool id and the watchdog fallback (settings block 2), the anti-cogging set with its mode and scale, and the encoder table with its on/off flag, parameter 56 and the current-sense zero trims, each block with its own checksum; of the two large blocks only the 16-byte pages that changed are written. From firmware 110 it also writes the idle behaviour of Send_Settings (parameter 18). Not kept: the current loop bandwidth, and every parameter the parameter table marks as not kept. It also writes the serial number held in RAM, which is 1 after a power-up unless #SERNUM set it, over the stored one. A drive stopped by the product lock writes nothing.
The driver does not answer this command.
Send_Reset¶
ID 14host → driver0 bytesPython: Send_Reset()
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; this is how a firmware update begins.
The driver does not answer this command.
Send_Clear_Error¶
ID 1host → driver0 bytesPython: Send_Clear_Error()
Clears the error flags and goes to idle; it also ends a watchdog hold or descend. An error whose cause is still present comes straight back. A calibration error is cleared only by calibrating. A gripper E-stop comes back until the E-stop bit of Send_gripper_data_pack is 0 again.
The driver does not answer this command.
Send_Watchdog¶
ID 15host → driver5 bytesPython: Send_Watchdog()
Sets the watchdog: when the time runs out the driver reports a watchdog error and does what the action byte says. Every valid motion frame (Send_data_pack_1, Send_data_pack_PD, Send_data_pack_HALL, Send_gripper_data_pack) and every request the driver answers (status requests, Send_Get_Parameter, Send_Buffer_Read) resets it. From firmware 109 so do Send_Save_config and Send_Watchdog itself, which starts a fresh window. The other setting frames (gains, limits, Idle, Clear, Settings, Send_Parameter) do not. 0 turns it off (the default). From firmware 109 the driver acts on the action byte, but only when the watchdog is the only active error: any other error gets the legacy response. Hold and descend run for the fallback time (parameter 2, 2 s by default), then the after-action (parameter 5); they start only if the driver was in position, velocity, current, PD or gripper mode, otherwise it stays as idle was. The watchdog explains each action. Send_Save_config keeps the watchdog, and a kept watchdog runs from power-up: a host that sends nothing within the time finds the driver in watchdog error, and clears it with Send_Clear_Error. The same values are parameters 6 and 7.
5 bytes
| Byte | Field | Type | Meaning |
|---|---|---|---|
| 0-3 | Time | unsigned 32-bit | ms; 0 = off |
| 4 | Action | unsigned 8-bit | 0 legacy (brake or coast as idle does), 1 hold the position, 2 brake, 3 coast, 4 descend at the fallback current and speed; other values act as 0 |
The driver does not answer this command.
Firmware 108 and older store the action byte without acting on it. The Python library sends all five actions from 1.21 ('Idle', 'Hold', 'Brake', 'Coast', 'Descend'); 1.20 and older send only 0, 1 or 2.
Send_Heartbeat_Setup¶
ID 30host → driver4 bytesPython: Send_Heartbeat_Setup()
Sets the heartbeat interval in ms; 0 turns the heartbeat off (the default). Kept by Send_Save_config.
4 bytes
| Byte | Field | Type | Meaning |
|---|---|---|---|
| 0-3 | Interval | unsigned 32-bit | ms; 0 = off |
Send_Settings¶
ID 35host → driver2 to 8 bytes
Sets boolean settings that have no command of their own: a mask byte says which settings the frame touches, a value byte gives their new values; settings outside the mask are left alone. Bit 0 is the idle behaviour: 1 brake (phases shorted), 0 coast. From firmware 110 Send_Save_config keeps it; on 109 the driver braked at every power-up, as a driver still does that never saved it. Added in firmware 107. The Python library has Send_Settings and Send_Brake_Coast from 1.21; 1.20 and older have no call for it.
2 bytes
| Byte | Field | Type | Meaning |
|---|---|---|---|
| 0 | Mask | unsigned 8-bit | bit 0 = write the idle behaviour |
| 1 | Value | unsigned 8-bit | bit 0: 1 brake, 0 coast |
The driver does not answer this command.
Send_Cyclic_command¶
ID 29host → drivernot implemented
Reserved. The firmware has no handler for this ID and the Python library's call does nothing.
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