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. (In firmware 108 and older #Idle and #PWM with a number were answered Unknown command.)
Names are case-sensitive, at most 19 characters; the argument is one word of at most 19 characters, without spaces, so a list is written with commas (#WdFb 2000,0,1000,2, #Par 56,0); the line ends with LF (CR before it is fine). Firmware 108 and older allowed 20 characters for name and number together. 256000 baud, 8N1, 3.3 V.
A name the firmware 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
`#Calonly`	Action		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
`#Cogcal`	Set/Get		Calibration and motor parameters
`#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
`#Encal`	Set/Get		Calibration and motor parameters
`#Error`	Get		Status and utility
`#Estop`	Action		Motion
`#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`	Action		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
`#Par`	Set/Get	int	Status and utility
`#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
`#Product`	Action		Status and utility
`#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
`#Tone`	Set/Get		Status and utility
`#Tool`	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
`#WdFb`	Set/Get	int list	Status and utility

By group¶

Motion: setpoints and modes, idle and the E-stop (Estop, from firmware 110)
Gains and limits: the loop gains, the limits, the integrator reset, the current loop bandwidth
Calibration and motor parameters: Cal and Calonly, the motor's R, L and pole pairs, the constants calibration finds, the calibration settings, the encoder table (Encal) and the anti-cogging (Cogcal)
Status and utility: save, reset, defaults, identity, errors, temperature, the cyclic output, any parameter (Par), the tool id, the watchdog fallback, the product lock
Gripper: gripper mode

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