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Fumi-Saito edited this page Sep 3, 2020 · 7 revisions

System settings

/setDestIp

Timing : Always

Set the destination IP address (destIp) to where should STEP400 send messages reply to query or report internal state changes, etc. The IP address where this message was sent sets to destIp.

Also, until destIp is set, no OSC messages will be sent from STEP400, so send this command first.

Response:

/destIp (int)destIp[0] (int)destIp[1] (int)destIp[2] (int)destIp[3] (bool)isNewDestIp
  • destIp[0-3] : Each byte of destIp
  • isNewDestIp : Indicates if destIp has been changed. 1 if it has been changed, or 0 if the same address has already been set.

/enableBusyReport (int)motorID (bool)enable

Timing : Always

The following message is sent automatically when there is a change in the BUSY status of the specified motor.

/busy (int)motorID (bool)state
  • motorID : Motor ID (1-4)
  • state : 1 in case of a BUSY, 0 in case of no longer being a BUSY.

/enableHizReport (int)motorID (bool)enable

Timing : Always

The following message is sent automatically when there is a change in the HiZ (high impedance) state of the specified motor.

/HiZ (int)motorID (bool)state
  • motorID : Motor ID (1-4)
  • state : 1 in case of HiZ state, 0 in case of not HiZ state.

/enableMotorStatusReport (int)motorID (bool)enable

Timing : Always

The following messages are sent automatically when there is a change in the operating status (motorStatus) of the specified motor.

/motorStatus (int)motorID (int)motorStatus
  • motorID : Motor ID (1-4)
  • motorStatus : 0-3
MOT_STATUS Motor status
0 Stopped
1 Acceleration
2 Deceleration
3 Constant speed

Motor Driver Settings

/setMicrostepMode (int)motorID (int)STEP_SEL

  • motorID : 1-4, 255
  • STEP_SEL : 0-7

タイミング：HiZ状態

マイクロステッピングのモードを切り替えます。

STEP_SEL Micro stepping mode
0 Full-step
1 Half-step
2 1/4 microstep
3 1/8 microstep
4 1/16 microstep
5 1/32 microstep
6 1/64 microstep
7 1/128 microstep

初期状態では1/128マイクロステップモードになっています。

定電流制御モード (current mode) では、Full-stepから1/16 microstepまでしか使えません。

/getMicrostepMode (int)motorID

  • motorID : 1-4, 255

タイミング：常時

マイクロステッピングのモードを取得します。STEP_SELについては/setMicrostepModeの項目を参照してください。

返答:

/microstepMode (int)motorID (int)STEP_SEL

/setLowSpeedOptimizeThreshold (int)motorID (float)lowSpeedOptimizationThreshold

  • motorID : 1-4, 255
  • lowSpeedOptimizationThreshold : 0.0 - 976.3 [step/s]

タイミング：モータ停止時

下記の/getLowSpeedOptimizeThresholdと同じ返答があります。

/getLowSpeedOptimizeThreshold (int)motorID

  • motorID : 1-4, 255

タイミング：常時

返答:

/lowSpeedOptimizeThreshold (int)motorID (float)lowSpeedOptimizeThreshold

/getStatus (int)motorID

  • motorID : 1-4, 255

タイミング：常時

モータドライバ(PowerSTEP01)のステータスを取得します。ステータスにはモータやアラーム、スイッチの状態などが含まれます。

返答:

/status (int)motorID (int)status
  • status : 16bitのSTATUSレジスタ

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