INT32U CMD Command (answer)
INT8U MotorType Motor type
0x00 - MOTOR_TYPE_UNKNOWN (Unknown type of engine)
0x01 - MOTOR_TYPE_STEP (Step engine)
0x02 - MOTOR_TYPE_DC (DC engine)
0x03 - MOTOR_TYPE_BLDC (BLDC engine)
INT8U ReservedField Reserved
INT16U Poles Number of pole pairs for DC or BLDC motors or number of steps per rotation for stepper motor.
INT16U Phases Number of phases for BLDC motors.
FLT32 NominalVoltage Nominal voltage on winding (B). Data type: float
FLT32 NominalCurrent
Maximum direct current in winding for DC and BLDC engines, nominal current in windings for
stepper motor (A). Data type: float.
FLT32 NominalSpeed Nominal speed(rpm). Used for DC and BLDC engine. Data type: float.
FLT32 NominalTorque Nominal torque(mN m). Used for DC and BLDC engine. Data type: float.
FLT32 NominalPower Nominal power(W). Used for DC and BLDC engine. Data type: float.
FLT32 WindingResistance
Resistance of windings for DC engine, each of two windings for stepper motor or each of there
windings for BLDC engine(Ohm). Data type: float
FLT32 WindingInductance
Inductance of windings for DC engine, each of two windings for stepper motor or each of there
windings for BLDC engine(mH). Data type: float
FLT32 RotorInertia Rotor inertia(g cm2). Data type: float
FLT32 StallTorque
Torque hold position for a stepper motor or torque at a motionless rotor for other types of engines
(mN m). Data type: float.
FLT32 DetentTorque Holding torque position with un-powered coils (mN m). Data type: float.
FLT32 TorqueConstant
Torque constant, which determines the aspect ratio of maximum moment of force from the rotor
current flowing in the coil (mN m / A). Used mainly for DC motors. Data type: float.
FLT32 SpeedConstant
Velocity constant, which determines the value or amplitude of the induced voltage on the motion of
DC or BLDC motor (rpm / V) or stepper motor (steps/s / V). Data type: float.
FLT32 SpeedTorqueGradient Speed torque gradient (rpm / mN m). Data type: float.
FLT32 MechanicalTimeConstant Mechanical time constant (ms). Data type: float.
FLT32 MaxSpeed The maximum speed for stepper motors (steps/s) or DC and BLDC motors (rmp). Data type: float.
FLT32 MaxCurrent The maximum current in the winding (A). Data type: float.
FLT32 MaxCurrentTime Safe duration of overcurrent in the winding (ms). Data type: float.
FLT32 NoLoadCurrent The current consumption in idle mode (A). Used for DC and BLDC motors. Data type: float.
FLT32 NoLoadSpeed Idle speed (rpm). Used for DC and BLDC motors. Data type: float.
INT8U Reserved [24] Reserved (24 bytes)
INT16U CRC Checksum
Description:
Read motor settings from EEPROM.
Command SENI
result_t set_encoder_information (device_t id, const encoder_information_t* encoder_information)
Command code (CMD): "seni" or 0x696E6573.
Request: (70 bytes)
INT32U CMD Command
CHAR Manufacturer [16] Manufacturer. Max string length: 16 chars.
CHAR PartNumber [24] Series and PartNumber. Max string length: 24 chars.
INT8U Reserved [24] Reserved (24 bytes)
INT16U CRC Checksum
Answer: (4 bytes)
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