Answer: (34 bytes)
INT32U CMD Command (answer)
INT16U NomVoltage
Rated voltage in tens of mV. Controller will keep the voltage drop on motor below this value if
ENGINE_LIMIT_VOLT flag is set (used with DC only).
INT16U NomCurrent
Rated current. Controller will keep current consumed by motor below this value if ENGINE_LIMIT_CURR flag
is set. Range: 15..8000
INT32U NomSpeed
Nominal speed (in whole steps/s or rpm for DC and stepper motor as a master encoder). Controller will keep
motor shaft RPM below this value if ENGINE_LIMIT_RPM flag is set. Range: 1..100000.
INT8U uNomSpeed The fractional part of a nominal speed in microsteps (is only used with stepper motor).
INT16U EngineFlags Set of flags specify motor shaft movement algorithm and list of limitations
0x01 - ENGINE_REVERSE (Reverse flag. It determines motor shaft rotation direction that corresponds to
feedback counts increasing. If not set (default), motor shaft rotation direction under positive voltage
corresponds to feedback counts increasing and vice versa. Change it if you see that positive directions on
motor and feedback are opposite.)
0x02 - ENGINE_CURRENT_AS_RMS (Engine current meaning flag. If the flag is set, then engine current
value is interpreted as root mean square current value. If the flag is unset, then engine current value is
interpreted as maximum amplitude value.)
0x04 - ENGINE_MAX_SPEED (Max speed flag. If it is set, engine uses maximum speed achievable with the
present engine settings as nominal speed.)
0x08 - ENGINE_ANTIPLAY (Play compensation flag. If it set, engine makes backlash (play) compensation
procedure and reach the predetermined position accurately on low speed.)
0x10 - ENGINE_ACCEL_ON (Acceleration enable flag. If it set, motion begins with acceleration and ends with
deceleration.)
0x20 - ENGINE_LIMIT_VOLT (Maximum motor voltage limit enable flag(is only used with DC motor).)
0x40 - ENGINE_LIMIT_CURR (Maximum motor current limit enable flag(is only used with DC motor).)
0x80 - ENGINE_LIMIT_RPM (Maximum motor speed limit enable flag.)
INT16S Antiplay
Number of pulses or steps for backlash (play) compensation procedure. Used if ENGINE_ANTIPLAY flag is
set.
INT8U MicrostepMode Settings of microstep mode(Used with stepper motor only).
0x01 - MICROSTEP_MODE_FULL (Full step mode.)
0x02 - MICROSTEP_MODE_FRAC_2 (1/2 step mode.)
0x03 - MICROSTEP_MODE_FRAC_4 (1/4 step mode.)
0x04 - MICROSTEP_MODE_FRAC_8 (1/8 step mode.)
0x05 - MICROSTEP_MODE_FRAC_16 (1/16 step mode.)
0x06 - MICROSTEP_MODE_FRAC_32 (1/32 step mode.)
0x07 - MICROSTEP_MODE_FRAC_64 (1/64 step mode.)
0x08 - MICROSTEP_MODE_FRAC_128 (1/128 step mode.)
0x09 - MICROSTEP_MODE_FRAC_256 (1/256 step mode.)
INT16U StepsPerRev Number of full steps per revolution(Used with stepper motor only). Range: 1..65535.
INT8U Reserved [12] Reserved (12 bytes)
INT16U CRC Checksum
Description:
Read engine settings. This function fill structure with set of useful motor settings stored in controller's memory. These settings specify
motor shaft movement algorithm, list of limitations and rated characteristics.
Command SENT
result_t set_entype_settings (device_t id, const entype_settings_t* entype_settings)
Command code (CMD): "sent" or 0x746E6573.
Request: (14 bytes)
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