DMX-CAN Manual
page 71
rev 1.6
LTS
Returns latch status.
0 – Latch off
1 – Latch on and waiting for
latch trigger
2 – Latch triggered
MM
Get move mode status
0 – Absolute move mode
1 – Incremental move mode
MST
Returns motor status
Bit 0 – constant speed
Bit 1 – accelerating
Bit 2 – decelerating
Bit 3 – home input status
Bit 4 – -limit input status
Bit 5 – +limit input status
Bit 6 – minus limit error
Bit 7 – plus limit error
Bit 8 – latch input status
Bit 9 – Z encoder channel
NID
Return node ID (CANopen)
1-127
NID=[Value]
Set node ID (CANopen)
Range:
1 – 127
OK
POL
Returns current polarity
Bit 0 – don’t care
Bit 1 – Dir
Bit 2 – don’t care
Bit 3 – don’t care
Bit 4 – Limit
Bit 5 – Home
Bit 6 – Latch
Bit 7 – In Position Output
Bit 8 – Alarm Output
POL=[value]
Sets polarity.
OK
PS
Returns current pulse speed
Value in PPS
PX
Returns current position value
Position value in 32 bit
PX=[value]
Sets the current position value
OK
RT
Get response type parameter
0 or 1
RT=[0 or 1]
Set response type parameter
0 – Do not append device
name to response string
1 – Append device name to
response string
SCV
Returns the s-curve accel/decal control
0 or 1
SCV=[0 or 1]
Enable or disable s-curve. If disabled, trapezoidal
acceleration/ deceleration will be used.
OK
SL
Returns StepNLoop control status
0 – StepNLoop Off
1 – StepNLoop On
SL=[0 or 1]
Enable or disable StepNLoop Control
OK
SLA
Returns maximum number of StepNLoop control attempt
32-bit
SLA=[value]
Sets maximum number of StepNLoop control attempt
OK
SLE
Returns StepNLoop correction value.
32-bit
SLE=[value]
Sets StepNLoop correction value.
OK
SLS
Returns current status of StepNLoop control
0 – Idle
1 – Moving
2 – Correcting
3 – Stopping
4 – Aborting
5 – Jogging
