Sollae Systems PES-2403, Руководство пользователя

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PES-2403 User Manual > How to use > Commands
2017-07-28 Sollae Systems page 10 of 26
Commands
You can use spc_request_dev or spc_request_sys function when setting or using a smart expansion
board.
spc_request_dev($sid, $cmd)
spc_request_sys($sid, $cmd)
$sid: slave ID
$cmd: a command string for setting and controlling stepper motors
Common Commands of Smart Expansion Boards
Common commands can be used with spc_request_sys function and a list of the commands is as
follows:
Command Option Description
get did get a device ID
get uid get a unique ID
PES-2403 Commands
Dedicated commands for each smart expansion board can be used with spc_request_dev.
A list of dedicated commands for PES-2403 is as follows:
cmd arg1 arg2 arg3 arg4
set
mode
full - -
half - -
vref
stop (0~15) -
drive (0~15) -
lock (0~15) -
rsnc (low_pps) (high_pps)
speed (pps) - -
accel (accel) [decel] -
pos (-1000000000 ~ +1000000000) - -
get
state - - -
pos - - -
move step [speed] [accel] [decel]
goto
pos [spped] [accel] [decel]
sw(0~3) [speed] [accel] [decel]
stop [decel] - - -
eio
get (0~3) - -
set (0~3) mode
input
lock
※ (): mandatory, []: optional