ST10 firmware

UM0289

20/29

Table 8.

Send_Parameters contents

"Send latest error" (0x41) is a particular frame in which the payload is formed by a text string

indicating the last error occurred, typical values are shown below.

Table 9.

Error strings

A series of protocol frames, used for communication, are provided in Table 10.

Table 10.

Frame examples

Payload

byte order

Field

Description

1

Motor Connector

1 Byte indicating which powerSPIN board is connected to

a specific connector.

2-3

Encoder

2 Bytes indicating the number of pulses for revolution of

motor encoder.

4PWM %

Byte indicating the duty cycle value of PWM (range: 0-

100)

5

PWM Freq.

Byte indicating the frequency PWM (range: 17-30)

6

Time control loop

Byte indicating the control loop time (number of 200us

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

7

Status

Byte indicating if the control is enabled (0 or 1)

8-9

Speed

2 Bytes indicating the reference speed of motor (range 1-

3000 rpm)

10-11

P

2 Bytes indicating the proportional gain of the speed

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

12-13

I

2 Bytes indicating the integral gain of the speed control

(range 1-1000, with a firmware scaling)

14-15

D

2 Bytes indicating the derivative gain of the speed control

(range 1-1000, with a firmware scaling)

String Types

No error

CRC not valid

Command not valid

Command not executable

Motor error

Value out of range

Frame Description

Value (Hex)

Connect

00-00-00

Enable 6235 driver on powerSPIN connector 1

01-01-1A-1C

Brake 6205 driver on powerSPIN connector 3

03-01-3B-3F

ACK for a Forward command

80-01-05-86