User manual
IDX Manual (V1.16 / December 3
rd
, 2008) 18
Copyright © 2005-2008, TRINAMIC Motion Control GmbH & Co. KG
5.8.1 RS485 Commands
For RS485 commands write the address byte (default is A) first, followed by an command from the
following list. A small command letter provides the actual setting. All values are ASCII.
Command
Function
Description
Range
Factory
Default
A, a
Acceleration
Acceleration: v = 28.96 * a
0..2500000
0
C, c
Set Motor
Current
Motor current in percentage of maximum
current
(0..100% * IDX max. current). Refer 5.8.1.2
0..100
50
E
Failure
readout
Provides failure readout. Refer 5.8.1.3
8 Bit (SPI)
1 Bit (others)
G, g
StallGuard
In mode 0 (SPI) the StallGuard feature is
functional. ‘g’ provides the actual StallGuard
value, not the setting. Refer 5.8.1.4
-7..0..+7
0
L, l
Limit switch
Used to switch on and off reference run
values. Refer 5.8.1.5
byte
-
M, m
Select Mode
Select chopper mode: 0:SPI (default), 1:PWM,
2:PHASE, 3 & 4: Combinations, Refer 5.8.2
0, 1, 2, 3, 4
0
O, o
Set Output
Output adjustments, Refer 5.8.1.6
2 bit
0
P
Set Position
Set position without moving the motor
32 bit
Q
Read I/Os
Provides out of the I/O the values of the ports
GPI, REF_A, REF_B, GPO and ALARM. Refer
5.8.1.7
R
Read
Current
Position
Provides the current position of the motor
32 bit
S
Changes
address
byte
Capital letter followed by the command ‘S’
makes this letter the new address byte
Example: “BS” makes “B” the new address byte
A
T, t
RS485-
Timeout
Sets the RS485-Timeout
U, u
Set baud
rate
Sets baud rate for RS485 communication. Refer
to 5.8.1.8
0…7
0
V, v
Velocity for
Rotation
Velocity for rotation / reference run
v = n * 0.149157 usteps/s
Additional Parameter is 0 or missing: Carriage
Return (CR) comes after acceleration phase
Additional Parameter is 1: no delay of CR
+/- 2500000,
0 or 1
0
W
Store
parameters
to EEPROM
Stores different parameters to the EEPROM to
restart with the same performance. Refer
5.8.1.9
X
Version
number
Provides version number of implemented
Software
Y, y
Standby
current
Sets 0..100% of maximum current after 1
second motor inactivity. For no standby
current use the same value as for “Set motor
current”.
0..100
20
Z, z
Microstep
Resolution
Sets the maximum microstep resolution (0:
max; 6: min), Refer 5.8.1.11
0..6
0
Table 5.2: RS485 Commands