Request: (22 bytes)
INT32U CMD Command
INT32S Position Desired position or shift (whole steps)
INT16S uPosition The fractional part of a position or shift in microsteps. Is only used with stepper motor. Range: -255..255.
INT32U Time Time for which you want to achieve the desired position in microseconds.
INT8U Reserved [6] Reserved (6 bytes)
INT16U CRC Checksum
Answer: (4 bytes)
INT32U CMD Command (answer)
Description:
This command adds one element of the FIFO commands that are executed when input clock pulse. Each pulse synchronization or
perform that action, which is described in SSNI, if the buffer is empty, or the oldest loaded into the buffer action to temporarily replace
the speed and coordinate in SSNI. In the latter case this action is erased from the buffer. The number of remaining empty buffer
elements can be found in the structure of GETS.
Command PWOF
result_t command_power_off (device_t id)
Command code (CMD): "pwof" or 0x666F7770.
Request: (4 bytes)
INT32U CMD Command
Answer: (4 bytes)
INT32U CMD Command (answer)
Description:
Immediately power off motor regardless its state. Shouldn't be used during motion as the motor could be power on again automatically
to continue movement. The command is designed for manual motor power off. When automatic power off after stop is required, use
power management system.
Command MOVE
result_t command_move (device_t id, int Position, int uPosition)
Command code (CMD): "move" or 0x65766F6D.
Request: (18 bytes)
INT32U CMD Command
INT32S Position Desired position (whole steps).
INT16S uPosition The fractional part of a position in microsteps. Is only used with stepper motor. Range: -255..255.
INT8U Reserved [6] Reserved (6 bytes)
INT16U CRC Checksum
Answer: (4 bytes)
INT32U CMD Command (answer)
Description:
Upon receiving the command "move" the engine starts to move with pre-set parameters (speed, acceleration, retention), to the point
specified to the Position, uPosition. For stepper motor uPosition sets the microstep, for DC motor this field is not used.
Command MOVR
result_t command_movr (device_t id, int DeltaPosition, int uDeltaPosition)
Command code (CMD): "movr" or 0x72766F6D.
Request: (18 bytes)
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