Power voltage (in tens of mV)
USB current (in mA)
USB voltage (in tens of mV)
Microprocessor temperature (tenths of degrees Celsius)
Status flags
There are several types of flags: control command error flags, critical parameter flags, general error flags and state flags. Many flags
do not remove themselves and should be reset by the STOP command.
Protocol command errors:
errc – Unknown protocol command. This error should not appear if the used software corresponds to the used controller protocol
version. Flag can’t be removed by itself.
errd – Data integrity command check code is incorrect. This error appears in case of data transfer failure. The flag can’t be
removed by itself.
errv – One or more values sent in the command could not be applied. It appears when command was received and successfully
recognized but transferred data were incorrect or out of range. This error can also mean that necessary operation is impossible
because of hardware failure. For example, this error appears if you set microstep mode which is not in supported list or if you set
zero steps per motor revolution. The flag can’t be removed by itself.
Critical parameter exceeded errors:
Flag which means that controller is in Alarm state.
Flag which means that power driver gives overheat signal. The flag is removed by itself depending on critical parameters settings
Flag which means that microprocessor temperature is out of acceptable range. The flag is removed by itself depending on critical
parameters settings
Flag which means that power supply exceeded acceptable value. The flag is removed by itself depending on critical parameters
settings
Flag which means that power supply voltage is lower than acceptable value. The flag is removed by itself depending on critical
parameters settings
Flag which means that current drawn from the power unit exceeded acceptable value. The flag is removed by itself depending on
critical parameters settings
Flag which means that USB voltage exceeded acceptable value. The flag is removed by itlsef depending on critical parameters
settings
Flag which means that USB voltage is under acceptable value. The flag is removed by itself depending on critical parameters
settings
Flag which means that current drawn from the USB exceeded acceptable value. The flag is removed by itself depending on
critical parameters settings
Flag which means that limit switches are mixed up. The flag can’t be removed by itself.
General error flag:
Flag which means that position control system detected steps counter and position sensor desynchronization. The flag can’t be
removed by itself (except the case of using position correction ).
State flags:
Presence of connected stage equipped by EEPROM memory.
Presence of external power supply. Otherwise power supply is internal. Is always set.
Digital signals status.
Controller reflects input and output digital signal status as active state flags or as current logical level. Active state corresponds to one
or to zero depending on specific block settings, for example on inverting settings. Flags can be:
Right limit switch state (one if limit switch is active)
Left limit switch state (one if limit switch is active)
Right button state (one if button is pressed)
Left button state (one if button is pressed)
1 if EXTIO pin operates as output. Otherwise - as input.
EXTIO pin state (1 if state is active on input or on output)
Hall A sensor state (1 if logical one is on input)
Hall B sensor state (1 if logical one is on input)
Hall C sensor state (1 if logical one is on input)
Magnetic brake state (1 if power supply is applied to brake)
Complete revolution sensor state (1 if sensor is active)
Input synchronization pin state (1 if synchronization pin is in active state).
Output synchronization pin state (1 if synchronization pin is in active state).
Input encoder A channel state (1 if logical one is on input)
Input encoder B channel state (1 if logical one is on input)
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