7.2.4 Bn-1 byte
The Bn-1 byte is used for representing the packet function and packet length.
Bn-1 = 1 b6 b5 b4 b3 b2 b1 b0
The bit b6 and b5 are for the length of packet, expressed as:
The bit b4~b0 are used for the packet function, expressed as:
7.2 Packet Denition
Function (Sent by host) b[4:0] Data (Bytes) Remarks
Set_Origin 0x00 1(dummy) Set current position as zero ; See section 7.4.2
Go_Absolute_Pos 0x01 1~4 See section 7.4.1
Make_LinearLine 0x02 1~4
Go_Relative_Pos 0x03 1~4 See section 7.4.1
Make_CircularArc 0x04 1~4
Assign_Drive_ID 0x05 1 Assign ID to Drive; See Section 7.6
Read_Drive_ID 0x06 1(dummy)
Set_Drive_Cong 0x07 1 One byte Conguration. See Section 7.3
Read_Drive_Cong 0x08 1(dummy) Read Drive conguration. See Section 7.3
RegisterRead_Drive_Status 0x09 1(dummy) Ask for Drive status. See Section 7.3
Turn_ConstSpeed 0x0a 1~3 See section 7.4.2
Square_Wave 0x0b 1~3 See section 7.4.2
Sin_Wave 0x0c 1~3 See section 7.4.2
SS_Frequency 0x0d 1~3 See section 7.4.2
General_Read 0x0e 1~4 Read Drive position set
ForMotorDene 0x0f 1 Internal Function - Not customer accessible
Set_MainGain 0x10 1
Set_SpeedGain 0x11 1
Set_IntGain 0x12 1
Set_TrqCons 0x13 1
Set_HighSpeed 0x14 1 Set MaxSpd,1~127 ; See section 7.4, 7.5
Set_HighAccel 0x15 1 Set MaxAcl,1~127 ; See section 7.4, 7.5
Set_Pos_OnRange 0x16 1
If |Pset-Pmotor|<= OnRange, then motor on Pos
OnRange ;1~127
Set_GearNumber 0x17 2 Gear_Number [500~16,384] ; ; See section 7.4, 7.5
Read_MainGain 0x18 1(dummy) See section 7.5 Example 11
Read_SpeedGain 0x19 1(dummy) See section 7.5 Example 11
Read_IntGain 0x1a 1(dummy) See section 7.5 Example 11
Read_TrqCons 0x1b 1(dummy) See section 7.5 Example 11
Read_HighSpeed 0x1c 1(dummy) See section 7.5 Example 11 ; See section 7.4
Read_HighAccel 0x1d 1(dummy) See section 7.5 Example 11 ; See section 7.4
Read_Pos_OnRange 0x1e 1(dummy) See section 7.5 Example 11
Read_GearNumber 0x1f 1(dummy) See section 7.5 Example 11 ; See section 7.4
b6 b5 Total packet length(=n+1)
0 0 4
0 1 5
1 0 6
1 1 7
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