System settings and utilities

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 High Z (high impedance) state of the specified motor.

/HiZ (int)motorID (bool)state

• motorID : Motor ID (1-4)
• state : 1 in case of High Z state, 0 in case of not High Z 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

Timing: High Z state

Switches the micro stepping mode.

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

Initially, it is set to 1/128 microstep mode.

In the constant-current control mode (current mode), only full-step to 1/16 microstep is available.

/getMicrostepMode (int)motorID

• motorID : 1-4, 255

Timing: Always

Get the mode of microstepping. See /setMicrostepMode for STEP_SEL.

Response:

/microstepMode (int)motorID (int)STEP_SEL

/setLowSpeedOptimizeThreshold (int)motorID (float)lowSpeedOptimizationThreshold

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

Timing: when the motor is stopped

It has the same response as the following getLowSpeedOptimizeThreshold.

/getLowSpeedOptimizeThreshold (int)motorID

• motorID : 1-4, 255

Timing: Always

Response:

/lowSpeedOptimizeThreshold (int)motorID (float)lowSpeedOptimizeThreshold

/getStatus (int)motorID

• motorID : 1-4, 255

Timing: Always

Get the STATUS of the motor driver (PowerSTEP01). The STATUS includes the status of the motor, alarms and switches.

Response:

/status (int)motorID (int)status

• status : 16-bit STATUS register