INT32U CMD Command (answer)
INT8U BorderFlags Border flags, specify types of borders and motor behaviour on borders.
0x01 - BORDER_IS_ENCODER (Borders are fixed by predetermined encoder values, if set; borders position on
limit switches, if not set.)
0x02 - BORDER_STOP_LEFT (Motor should stop on left border.)
0x04 - BORDER_STOP_RIGHT (Motor should stop on right border.)
0x08 - BORDERS_SWAP_MISSET_DETECTION (Motor should stop on both borders. Need to save motor then
wrong border settings is se)
INT8U EnderFlags Ender flags, specify electrical behaviour of limit switches like order and pulled positions.
0x01 - ENDER_SWAP (First limit switch on the right side, if set; otherwise on the left side.)
0x02 - ENDER_SW1_ACTIVE_LOW (1 - Limit switch connnected to pin SW1 is triggered by a low level on pin.)
0x04 - ENDER_SW2_ACTIVE_LOW (1 - Limit switch connnected to pin SW2 is triggered by a low level on pin.)
INT32S LeftBorder Left border position, used if BORDER_IS_ENCODER flag is set.
INT16S uLeftBorder Left border position in 1/256 microsteps(used with stepper motor only). Range: -255..255.
INT32S RightBorder Right border position, used if BORDER_IS_ENCODER flag is set.
INT16S uRightBorder Right border position in 1/256 microsteps. Used with stepper motor only. Range: -255..255.
INT8U Reserved [6] Reserved (6 bytes)
INT16U CRC Checksum
Description:
Read border and limit switches settings.
Command SPID
result_t set_pid_settings (device_t id, const pid_settings_t* pid_settings)
Command code (CMD): "spid" or 0x64697073.
Request: (48 bytes)
INT32U CMD Command
INT16U KpU Proportional gain for voltage PID routine
INT16U KiU Integral gain for voltage PID routine
INT16U KdU Differential gain for voltage PID routine
FLT32 Kpf Proportional gain for BLDC position PID routine
FLT32 Kif Integral gain for BLDC position PID routine
FLT32 Kdf Differential gain for BLDC position PID routine
INT8U Reserved [24] Reserved (24 bytes)
INT16U CRC Checksum
Answer: (4 bytes)
INT32U CMD Command (answer)
Description:
Set PID settings. This function send structure with set of PID factors to controller's memory. These settings specify behaviour of PID
routine for positioner. These factors are slightly different for different positioners. All boards are supplied with standard set of PID
setting on controller's flash memory. Please use it for loading new PID settings when you change positioner. Please note that wrong
PID settings lead to device malfunction.
Command GPID
result_t get_pid_settings (device_t id, pid_settings_t* pid_settings)
Command code (CMD): "gpid" or 0x64697067.
Request: (4 bytes)
INT32U CMD Command
Answer: (48 bytes)
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