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Atlas® Digital Amplifier Complete Technical Reference
6
GetInstructionError
A5
h
Syntax
GetInstructionError
Motor Types
Arguments
None
Returned data
Type
Range
First Error
unsigned 8 bits
0
to
1Ch
Second Error
unsigned 8 bits
0 to 1Ch
Packet
Structure
Description
GetInstructionError
returns two 8 bit codes indicating command failures, and then resets both
error fields to zero. Generally, this command is issued only after the instruction error bit in the
Event Status register indicates that there was an instruction error.
If only one command failure has occurred then the second error field will be zero; if no command
failures have occurred then both fields will be zero. After powering up or receiving a reset command
Atlas will set the instruction error bit, and set the first error field in the instruction error register to
Processor Reset (1). Any error occurring during initialization from NVRAM will be recorded by the
second error field.
The error codes are encoded as defined below:
DC Brush
Brushless DC
Microstepping
GetInstructionError
checksum
A5
h
15
8 7
0
Data
read
Second Error
First Error
15
8 7
0
Error Code
Encoding
No error
0
Processor reset
1
Invalid instruction
2
— (Reserved)
3
Invalid parameter
4
Trace running
5
— (Reserved)
6
Block out of bounds
7
— (Reserved)
8–Eh
Invalid Operating Mode restore after event-triggered change
10h
Invalid Operating Mode for command
11h
Invalid register state
12h
— (Reserved)
13h, 14h
Bad SPI command checksum
15h
Incorrect SPI command protocol
16h
SPI command timing violation
17h
