UM0289

ST10 firmware

19/29

ACK timeout is fixed at 10 ms, both for the PC and ST10, and the payload of the "ACK"

frame is the command code to be acknowledged.

"Set_PID_Control" (0x09) is the frame used for setting the specific values of each control

loop, the contents of this frame is shown in the table below.

Table 6.

Table 6 - Set_PID_Control payload

"Set_Control_Loop time" (0x0A) is a frame used to set the control loop time of each motor

control, according to the table below.

Table 7.

Set_Control loop time payload

"Send_Parameters" (0x40) is a particular frame used to send the status of all system

parameters to the PC, the contents of this frame is shown in Table 8.

0x3A

Third connector with eval 6235

0x3B

Third connector with eval 6205

Payload

byte order

Field

Description

1

Motor Connector

Association connector-powerSPIN board

2Driver

Byte for reserved use, indicating the kind of driver

(0xCD for a6205,0xEB for a 6235)

3-4

Encoder

2 Bytes indicating number of pulse for revolution of

motor encoder.

5-6

Speed

2 Bytes indicating the reference speed of motor

(range 1-3000 rpm)

7-8

P

2 Bytes indicating the proportional gain of the

speed control (range 1-1000, with a firmware

scaling)

9-10

I

2 Bytes indicating the integral gain of the speed

control (range 1-1000, with a firmware scaling)

11-12

D

2 Bytes indicating the derivative gain of the speed

control (range 1-1000, with a firmware scaling)

Payload

byte order

Field

Description

1

Motor Connector

1 Byte indicating which powerSPIN board is connected

to a specific connector.

2Time

Byte indicating the control loop time (number of 200us

steps to be added to the basic control loop of 1ms).

Byte

Value