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4.2.2.1.6.8. Stepper 2
Configuration of an 8-byte CAN package:
CAN-Data-Byte Content
1
2
3
4
5
6
7
8
Command
DAPI_STEPPER_CMD_
SET_MOTORCHARACTERISTIC
GET_MOTORCHARACTERISTIC
SET_POSITION
GO_POSITION
GET_POSITION
SET_FREQUENCY
SET_FREQUENCY_DIRECTLY
GET_FREQUENCY
FULLSTOP
STOP
GO_REFSWITCH
COMMAND
PAR1 (Bit 0-7)
PAR1 (Bit 8-15)
PAR1 (Bit 16-23)
PAR1 (Bit 24-31)
PAR2 (Bit 0-7)
PAR2 (Bit 8-15)
PAR3 (Bit 0-7)
with
Valu
e
(hex)
1 (hex)
2 (hex)
3 (hex)
4 (hex)
5 (hex)
6 (hex)
7 (hex)
8 (hex)
9 (hex)
10 (hex)
11 (hex)
Importance
Set the motor configuration
Query the motor configuration
Set the motor position
Drive to a specific position
Query a specific position
Setting the motor frequency
Setting the motor frequency
Query the motor sequence
Immediately stop the motor
Stopping
the
motor
(braking
maintained)
Drive to a reference position
Software | Seite
ramp
is
96
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