INT32U CMD Command (answer)
CHAR MagneticBrakeInfo [24]
The manufacturer and the part number of magnetic brake, the maximum string length is 24
characters.
FLT32 MBRatedVoltage Rated voltage for controlling the magnetic brake (B). Data type: float.
FLT32 MBRatedCurrent Rated current for controlling the magnetic brake (A). Data type: float.
FLT32 MBTorque Retention moment (mN m). Data type: float.
INT32U MBSettings Flags of magnetic brake settings
0x01 - MB_AVAILABLE (If flag is set the magnetic brake is available)
0x02 - MB_POWERED_HOLD (If this flag is set the magnetic brake is on when powered)
CHAR
TemperatureSensorInfo
[24]
The manufacturer and the part number of the temperature sensor, the maximum string length: 24
characters.
FLT32 TSMin The minimum measured temperature (degrees Celsius) Data type: float.
FLT32 TSMax The maximum measured temperature (degrees Celsius) Data type: float.
FLT32 TSGrad The temperature gradient (V/degrees Celsius). Data type: float.
INT32U TSSettings Flags of temperature sensor settings.
0x07 - TS_TYPE_BITS (Bits of the temperature sensor type)
0x00 - TS_TYPE_UNKNOWN (Unknow type of sensor)
0x01 - TS_TYPE_THERMOCOUPLE (Thermocouple)
0x02 - TS_TYPE_SEMICONDUCTOR (The semiconductor temperature sensor)
0x08 - TS_AVAILABLE (If flag is set the temperature sensor is available)
INT32U LimitSwitchesSettings Flags of limit switches settings.
0x01 - LS_ON_SW1_AVAILABLE (If flag is set the limit switch connnected to pin SW1 is available)
0x02 - LS_ON_SW2_AVAILABLE (If flag is set the limit switch connnected to pin SW2 is available)
0x04 - LS_SW1_ACTIVE_LOW (If flag is set the limit switch connnected to pin SW1 is triggered by a
low level on pin)
0x08 - LS_SW2_ACTIVE_LOW (If flag is set the limit switch connnected to pin SW2 is triggered by a
low level on pin)
0x10 - LS_SHORTED (If flag is set the Limit switches is shorted)
INT8U Reserved [24] Reserved (24 bytes)
INT16U CRC Checksum
Description:
Read additional accessories information from EEPROM.
Bootloader commands
Command GBLV
result_t get_bootloader_version (device_t id, unsigned int* Major, unsigned int* Minor, unsigned int* Relea
se)
Command code (CMD): "gblv" or 0x766C6267.
Request: (4 bytes)
INT32U CMD Command
Answer: (10 bytes)
INT32U CMD Command (answer)
INT8U Major Bootloader major version number
INT8U Minor Bootloader minor version number
INT16U Release Bootloader release version number
INT16U CRC Checksum
Description:
Read controller's firmware version.
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