# 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](https://docs.source-robotics.com/Spectral-BLDC-docs/110/06-operation/uart/) explains the protocol. ## Syntax ``` # [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. - 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 1,200`); firmware 107 and older allowed 20 characters for name and number together. The line ends with LF (CR before it is fine). 256000 baud, 8N1, 3.3 V. - A name the firmware does not know is answered `Unknown command`. ## Every command
| Command | Kind | Argument | Group | |---|---|---|---| | [`#Activate`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/utility/#activate) | Action | | Status and utility | | [`#Brake`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/motion/#brake) | Set/Get | int | Motion | | [`#Cal`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/calibration/#cal) | Action | | Calibration and motor parameters | | [`#Calibrated`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/calibration/#calibrated) | Set/Get | int | Calibration and motor parameters | | [`#Calonly`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/calibration/#calonly) | Action | | Calibration and motor parameters | | [`#Calpwr`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/calibration/#calpwr) | Set/Get | float | Calibration and motor parameters | | [`#CANID`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/utility/#canid) | Set/Get | int | Status and utility | | [`#Cbw`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/gains/#cbw) | Set/Get | float | Gains and limits | | [`#Clear`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/utility/#clear) | Action | | Status and utility | | [`#Close`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/motion/#close) | Action | | Motion | | [`#Cogcal`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/calibration/#cogcal) | Set/Get | | Calibration and motor parameters | | [`#Cyc`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/utility/#cyc) | Set/Get | int | Status and utility | | [`#Cyca`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/utility/#cyca) | Set/Get | int | Status and utility | | [`#Default`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/utility/#default) | Action | | Status and utility | | [`#Dir`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/calibration/#dir) | Set/Get | int | Calibration and motor parameters | | [`#Encal`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/calibration/#encal) | Set/Get | | Calibration and motor parameters | | [`#Error`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/utility/#error) | Get | | Status and utility | | [`#Estop`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/motion/#estop) | Action | | Motion | | [`#Flux`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/calibration/#flux) | Set/Get | float | Calibration and motor parameters | | [`#Gripact`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/gripper/#gripact) | Set/Get | int | Gripper | | [`#Gripcal`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/gripper/#gripcal) | Action | | Gripper | | [`#Gripcur`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/gripper/#gripcur) | Set/Get | int | Gripper | | [`#Gripinfo`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/gripper/#gripinfo) | Get | | Gripper | | [`#Gripper`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/gripper/#gripper) | Set/Get | int | Gripper | | [`#Grippos`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/gripper/#grippos) | Set/Get | int | Gripper | | [`#Gripstop`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/gripper/#gripstop) | Set/Get | int | Gripper | | [`#Gripvel`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/gripper/#gripvel) | Set/Get | int | Gripper | | [`#Help`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/utility/#help) | Action | | Status and utility | | [`#Iabc`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/utility/#iabc) | Get | | Status and utility | | [`#Id`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/motion/#id) | Set/Get | float | Motion | | [`#Idle`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/motion/#idle) | Action | | Motion | | [`#Ilim`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/gains/#ilim) | Set/Get | int | Gains and limits | | [`#Info`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/utility/#info) | Action | | Status and utility | | [`#Iq`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/motion/#iq) | Set/Get | float | Motion | | [`#Iqoffset`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/calibration/#iqoffset) | Set/Get | int | Calibration and motor parameters | | [`#KD`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/gains/#kd) | Set/Get | float | Gains and limits | | [`#Kiid`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/gains/#kiid) | Set/Get | float | Gains and limits | | [`#Kiiq`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/gains/#kiiq) | Set/Get | float | Gains and limits | | [`#Kiv`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/gains/#kiv) | Set/Get | float | Gains and limits | | [`#KP`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/gains/#kp) | Set/Get | float | Gains and limits | | [`#Kpid`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/gains/#kpid) | Set/Get | float | Gains and limits | | [`#Kpiq`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/gains/#kpiq) | Set/Get | float | Gains and limits | | [`#Kpp`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/gains/#kpp) | Set/Get | float | Gains and limits | | [`#Kpv`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/gains/#kpv) | Set/Get | float | Gains and limits | | [`#Kt`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/calibration/#kt) | Set/Get | float | Calibration and motor parameters | | [`#KV`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/calibration/#kv) | Set/Get | float | Calibration and motor parameters | | [`#L`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/calibration/#l) | Set/Get | float | Calibration and motor parameters | | [`#LED`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/utility/#led) | Set/Get | int | Status and utility | | [`#Magnet`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/calibration/#magnet) | Get | | Calibration and motor parameters | | [`#Mode`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/utility/#mode) | Get | | Status and utility | | [`#Offset`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/calibration/#offset) | Set/Get | float | Calibration and motor parameters | | [`#Openloop`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/motion/#openloop) | Set/Get | float | Motion | | [`#Opens`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/calibration/#opens) | Set/Get | float | Calibration and motor parameters | | [`#Openv`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/calibration/#openv) | Set/Get | int | Calibration and motor parameters | | [`#P`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/motion/#p) | Set/Get | int | Motion | | [`#Par`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/utility/#par) | Set/Get | int | Status and utility | | [`#Param`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/utility/#param) | Get | | Status and utility | | [`#PD`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/motion/#pd) | Set/Get | int | Motion | | [`#PDI`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/motion/#pdi) | Set/Get | int | Motion | | [`#PDV`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/motion/#pdv) | Set/Get | int | Motion | | [`#Phase`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/calibration/#phase) | Get | | Calibration and motor parameters | | [`#PP`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/calibration/#pp) | Set/Get | int | Calibration and motor parameters | | [`#Product`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/utility/#product) | Action | | Status and utility | | [`#Pullconfig`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/utility/#pullconfig) | Get | | Status and utility | | [`#PWM`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/utility/#pwm) | Get | | Status and utility | | [`#R`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/calibration/#r) | Set/Get | float | Calibration and motor parameters | | [`#Reset`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/utility/#reset) | Action | | Status and utility | | [`#Resv`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/calibration/#resv) | Set/Get | int | Calibration and motor parameters | | [`#Rstint`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/gains/#rstint) | Set/Get | int | Gains and limits | | [`#Save`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/utility/#save) | Action | | Status and utility | | [`#SERNUM`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/utility/#sernum) | Set/Get | int | Status and utility | | [`#Temp`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/utility/#temp) | Get | | Status and utility | | [`#Term`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/utility/#term) | Set/Get | int | Status and utility | | [`#Tlim`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/utility/#tlim) | Set/Get | int | Status and utility | | [`#Tone`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/utility/#tone) | Set/Get | | Status and utility | | [`#Tool`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/utility/#tool) | Set/Get | int | Status and utility | | [`#Ud`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/motion/#ud) | Set/Get | int | Motion | | [`#Uq`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/motion/#uq) | Set/Get | int | Motion | | [`#V`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/motion/#v) | Set/Get | int | Motion | | [`#Vbus`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/utility/#vbus) | Get | | Status and utility | | [`#Vlim`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/gains/#vlim) | Set/Get | int | Gains and limits | | [`#Vlimit`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/gains/#vlimit) | Set/Get | int | Gains and limits | | [`#Vmax`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/utility/#vmax) | Set/Get | int | Status and utility | | [`#Vp`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/calibration/#vp) | Set/Get | int | Calibration and motor parameters | | [`#WdFb`](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/utility/#wdfb) | Set/Get | int list | Status and utility |
## By group - [Motion](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/motion/): setpoints and modes, idle and the E-stop (`Estop`, from firmware 110) - [Gains and limits](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/gains/): the loop gains, the limits, the integrator reset, the current loop bandwidth - [Calibration and motor parameters](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/calibration/): `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](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/utility/): save, reset, defaults, identity, errors, temperature, the cyclic output, any parameter (`Par`), the tool id, the watchdog fallback, the product lock - [Gripper](https://docs.source-robotics.com/Spectral-BLDC-docs/110/reference/uart/gripper/): gripper mode