Cytron SD02C, User Manual

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ROBOT . HEAD to TOE
Product User’s Manual – ​ SD02C
7.4 SD02C UART Protocol
If you are using the UART protocol to control SD02C, both computer and microcontroller are
actually sending serial command to SD02C. This section explains the protocol for
send/receive commands.
NO COMMAND DESCRIPTION
PROTOCOL
BYTE
SEND/
RECEIVE
DATA (8-BIT)
BINARY DECIMAL ASCII
1 F
Turn OFF the stepper motor.
Send: <’F’>
1 ​ st ​ Byte send 01000110 70 F
2 O
Turn ON the stepper motor.
Send: <’O’>
1 ​ st ​ Byte send 01001111 79 O
3 G
Run the stepper motor. Send:
<’G’>.
1 ​ st
​
Byte send 01000111 71 G
4 B
Brake the stepper motor.
Send: <’B’>.
1 ​ st ​ Byte send 01000010 66 B
5 >
Set stepper motor direction
to clockwise. Send: <’>’>.
1
​ st ​
Byte send 00111110 62 >
6 <
Set stepper motor direction
to counter-clocwise. Send:
<’<’>.
1 ​ st ​ Byte send 00111100 60 <
7 E
Request encoder value,
which is the number of steps
upon reset (max = 65535).
Send: <’E’>..
Received: <Higher
8-bit>,<Lower 8-bit>
1 ​ st ​ Byte send 01000101 69 E
2
​ nd ​
Byte receive Higher 8 bits
3
​ rd ​
Byte receive Lower 8 bits
8 R
Reset encoder value. Send:
<’R’>.
1 ​ st ​ Byte send 01010010 82 R
9 T
Track encoder value and
brake the motor at the value
given. Send
: <’T’>,<Higher
8-bit>,<Lower 8-bit>
1 ​ st ​ Byte send 01010100 84 T
2
​
nd
​
Byte send Higher 8 bits
3
​ rd ​
Byte send Lower 8 bits
10 S
Set stepper motor’s speed.
Send: <’S’>,<speed> 1 ​ st ​ Byte send 01010011 83 S
2
​
nd
​
Byte send Speed (1 Byte: 1-255)
11 A
Accelerate the stepper motor
from an initial speed to a
final speed at an acceleration
rate. Send <’A’>, <Initial
Speed>, <Final Speed>,
<Acceleration Rate> 1
​ st ​
Byte send 01000001 65 A
2 ​ nd ​ Byte send Initial Speed (1 Byte: 1-255)
3 ​ rd ​ Byte send Final Speed (1 Byte: 1-255)
4 ​ th ​ Byte send
Acceleration rate (1 Byte: 1-255)
Slowest = 1, fastest = 255
12 U
Set new baudrate for
communication with SD02C.
1
​ st ​
Byte send 1010101 85 U
2 ​ nd ​ Byte send
1 Byte: 1 = 9600bps, 2 = 19200, 4 = 38400,
6 = 57600
13 C
Request current status for
ON/OFF, GO/BRAKE,
CW/CCW, microstep?,
Accelerating? And
Acceleration/Deacceleration
?
1
​
st
​
Byte send 1000011 67 C
2
​
nd
​
Byte Status byte (lower 6 bits)
14 M
Set new Micro-step for
SD02C. Back to DIP
SWITCH setting if RESET.
1
​ st ​
Byte send 01001101 77 M
2
​
nd
​
Byte send
1 Byte: 1 = no micro-step, 2 = ½
micro-step, 4 = ¼ micro-step, 8 = ⅛
micro-step
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