INT32U CMD Command (answer)
Description:
Read settings from controller's RAM to stage's EEPROM memory, which spontaneity connected to stage and it isn`t change without it
mechanical reconstruction.
Group of commands get the status of the controller
Command GETS
result_t get_status (device_t id, status_t* status)
Command code (CMD): "gets" or 0x73746567.
Request: (4 bytes)
INT32U CMD Command
Answer: (54 bytes)
INT32U CMD Command (answer)
INT8U MoveSts Move state.
0x01 - MOVE_STATE_MOVING (This flag indicates that controller is trying to move the motor. Don't use
this flag for waiting of completion of the movement command. Use MVCMD_RUNNING flag from the
MvCmdSts field instead.)
0x02 - MOVE_STATE_TARGET_SPEED (Target speed is reached, if flag set.)
0x04 - MOVE_STATE_ANTIPLAY (Motor is playing compensation, if flag set.)
INT8U MvCmdSts Move command state.
0x3F - MVCMD_NAME_BITS (Move command bit mask.)
0x00 - MVCMD_UKNWN (Unknown command.)
0x01 - MVCMD_MOVE (Command move.)
0x02 - MVCMD_MOVR (Command movr.)
0x03 - MVCMD_LEFT (Command left.)
0x04 - MVCMD_RIGHT (Command rigt.)
0x05 - MVCMD_STOP (Command stop.)
0x06 - MVCMD_HOME (Command home.)
0x07 - MVCMD_LOFT (Command loft.)
0x08 - MVCMD_SSTP (Command soft stop.)
0x40 - MVCMD_ERROR (Finish state (1 - move command have finished with an error, 0 - move command
have finished correctly). This flags is actual when MVCMD_RUNNING signals movement finish.)
0x80 - MVCMD_RUNNING (Move command state (0 - move command have finished, 1 - move command
is being executed).)
INT8U PWRSts Power state of the stepper motor (used only with stepper motor).
0x00 - PWR_STATE_UNKNOWN (Unknown state, should never happen.)
0x01 - PWR_STATE_OFF (Motor windings are disconnected from the driver.)
0x03 - PWR_STATE_NORM (Motor windings are powered by nominal current.)
0x04 - PWR_STATE_REDUCT (Motor windings are powered by reduced current to lower power
consumption.)
0x05 - PWR_STATE_MAX (Motor windings are powered by maximum current driver can provide at this
voltage.)
INT8U EncSts Encoder state.
0x00 - ENC_STATE_ABSENT (Encoder is absent.)
0x01 - ENC_STATE_UNKNOWN (Encoder state is unknown.)
0x02 - ENC_STATE_MALFUNC (Encoder is connected and malfunctioning.)
0x03 - ENC_STATE_REVERS (Encoder is connected and operational but counts in other direction.)
0x04 - ENC_STATE_OK (Encoder is connected and working properly.)
INT8U WindSts Windings state.
To Next Page