INT32U CMD Command (answer)
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
Description:
Read PID settings. This function fill structure with set of motor PID settings stored in 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.
Command SSNI
result_t set_sync_in_settings (device_t id, const sync_in_settings_t* sync_in_settings)
Command code (CMD): "ssni" or 0x696E7373.
Request: (28 bytes)
INT32U CMD Command
INT8U SyncInFlags Input synchronization flags
0x01 - SYNCIN_ENABLED (Synchronization in mode is enabled, if this flag is set.)
0x02 - SYNCIN_INVERT (Trigger on falling edge if flag is set, on rising edge otherwise.)
0x04 - SYNCIN_GOTOPOSITION (The engine is go to position specified in Position and uPosition, if this flag is
set. And it is shift on the Position and uPosition, if this flag is unset)
INT16U ClutterTime Input synchronization pulse dead time (mks).
INT32S Position Desired position or shift (whole steps)
INT16S uPosition The fractional part of a position or shift in microsteps. Is used with stepper motor. Range: -255..255.
INT32U Speed Target speed (for stepper motor: steps/s, for DC: rpm). Range: 0..100000.
INT8U uSpeed Target speed in microsteps/s. Using with stepper motor only.
INT8U
Reserved
[8]
Reserved (8 bytes)
INT16U CRC Checksum
Answer: (4 bytes)
INT32U CMD Command (answer)
Description:
Set input synchronization settings. This function send structure with set of input synchronization settings, that specify behaviour of
input synchronization, to controller's memory. All boards are supplied with standard set of these settings.
Command GSNI
result_t get_sync_in_settings (device_t id, sync_in_settings_t* sync_in_settings)
Command code (CMD): "gsni" or 0x696E7367.
Request: (4 bytes)
INT32U CMD Command
Answer: (28 bytes)
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