kopia lustrzana https://github.com/evil-mad/EggBot
Brian Schmalz
GitHub
commit
7dcc56ee6e
120
docs/ebb.html
120
docs/ebb.html
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@ -40,7 +40,7 @@
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</h1>
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<p>
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This document details the serial command protocol used by the <a href="http://www.schmalzhaus.com/EBB/">EBB</a> (EiBotBoard) with firmware v3.0.0 and higher. Legacy documentation for prior versions is <a href="ebb2.html">available here</a>.
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This document details the serial command protocol used by the <a href="http://www.schmalzhaus.com/EBB/">EBB</a> (EiBotBoard) with firmware v3.0 and higher. Legacy documentation for prior versions is <a href="ebb2.html">available here</a>.
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</p>
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<p>
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The EBB is an open source USB-based motor control board, designed to drive two stepper motors. The EBB may be used on its own, or found as the control board of such machines as <a href="http://egg-bot.com">The Original Egg-Bot</a>, <a href="http://watercolorbot.com">The WaterColorBot</a>, or <a href="http://axidraw.com">AxiDraw</a>.
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@ -116,7 +116,7 @@
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<h2><a name="introduction"></a>Introduction to the EBB firmware</h2>
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<p>
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The documentation on this page is for the to EiBotBoard Firmware v3.0.0 and above. If you are using an older version of the firmware (most likely in the 2.0 series), please refer to the <a href="ebb2.html">EBB 2.8.1 documentation</a> which documents prior syntax and prior changes to the syntax between versions (for versions prior to EBB 3.0). Individual command descriptions in this document may note changes between EBB 2.8.1 and 3.0, but generally do not describe version history prior to 2.8.1.
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The documentation on this page is for the to EiBotBoard Firmware v3.0 and above. If you are using an older version of the firmware (most likely in the 2.0 series), please refer to the <a href="ebb2.html">EBB 2.8.1 documentation</a> which documents prior syntax and prior changes to the syntax between versions (for versions prior to EBB 3.0). Individual command descriptions in this document may note changes between EBB 2.8.1 and 3.0, but generally do not describe version history prior to 2.8.1.
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</p>
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<p>
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The EBB firmware was originally based on the UBW firmware. Its <a href="http://www.schmalzhaus.com/UBW/Doc/FirmwareDDocumentation_v145.html">command documentation</a> has an introduction to the UBW command processing framework, but this stand-alone document does not refer to it further.
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@ -303,7 +303,7 @@
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<li><a href="#ST">ST</a> — Set EBB nickname Tag</li>
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<li><a href="#T">T</a> — Timed Digital/Analog Read</li>
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<li><a href="#T3">T3</a> — Low-level Move with Jerk, Time Limited</li>
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<li><a href="#TD">TD</a> — Low-level Move, Time Limited, for S-curves</li>
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<li><a href="#TD">TD</a> — Paired "Dual T3" Low-level Move With Jerk, Time-limited</li>
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<li><a href="#TP">TP</a> — Toggle Pen</li>
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<li><a href="#TR">TR</a> — Test Rate</li>
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<li><a href="#V">V</a> — Version Query</li>
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@ -358,7 +358,7 @@
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<span style="font-weight: bold;">Unchanged since firmware v2.2.3.
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</li>
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<li>
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<span style="font-weight: bold;">This command is depreciated in v3.0.0:</span>
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<span style="font-weight: bold;">This command is deprecated in v3.0:</span>
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It will continue to work up until a future firmware version, but it will be removed in that future firmware version.
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</li>
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</ul>
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@ -390,7 +390,7 @@
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</p>
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</li>
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<li>
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<span style="font-weight: bold;">This command is depreciated in v3.0.0:</span>
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<span style="font-weight: bold;">This command is deprecated in v3.0:</span>
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It will continue to work up until a future firmware version, but it will be removed in that future firmware version.
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</li>
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</ul>
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@ -590,7 +590,7 @@
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If there are any currently executing motion commands, or if there are any commands waiting in the FIFO, the execution of this command will block and wait for the FIFO to be completely empty and any executing motion commands to finish before allowing the change to FIFO size.
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</p>
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<p>
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This parameter is new for <code>CU</code> in EBB firmware v3.0.0.
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This parameter is new for <code>CU</code> in EBB firmware v3.0.
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</p>
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</li>
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<li>
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@ -615,7 +615,7 @@
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<li>If <i>Param_Value</i> = 1, Future syntax mode: consistent line endings and responses will be used for all commands and queries.</li>
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</ul>
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<p>
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This parameter is new for <code>CU</code> in EBB firmware v3.0.0.
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This parameter is new for <code>CU</code> in EBB firmware v3.0.
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</p>
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</li>
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<li>
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@ -632,7 +632,7 @@
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</li>
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</ul>
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<p>
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This parameter is new for <code>CU</code> in EBB firmware v3.0.0.
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This parameter is new for <code>CU</code> in EBB firmware v3.0.
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</p>
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</li>
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<li>
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@ -660,7 +660,7 @@
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</li>
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</ul>
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<p>
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This parameter is new for <code>CU</code> in EBB firmware v3.0.0.
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This parameter is new for <code>CU</code> in EBB firmware v3.0.
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</p>
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</li>
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<li>
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@ -674,7 +674,7 @@
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</li>
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</ul>
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<p>
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This parameter is new for <code>CU</code> in EBB firmware v3.0.0.
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This parameter is new for <code>CU</code> in EBB firmware v3.0.
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</p>
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</li>
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<li>
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@ -689,7 +689,7 @@
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</li>
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</ul>
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<p>
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This parameter is new for <code>CU</code> in EBB firmware v3.0.0.
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This parameter is new for <code>CU</code> in EBB firmware v3.0.
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</p>
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</li>
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<li>
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@ -722,7 +722,7 @@
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<span style="font-weight: bold;">Example 2:</span> If you want to send the command <code>CU,54,0</code> (to turn off checksums) with a checksum but you don't know what the checksum should be, you could send an invalid checksum like <code>CU,54,0,0</code>. This will result in the response <code>!8 Err: Checksum incorrect, expected 119</code>. So you would know that the proper checksum value for this command is 119 and could send <code>CU,4,0,119</code>.
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</p>
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<p>
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This parameter is new for <code>CU</code> in EBB firmware v3.0.0.
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This parameter is new for <code>CU</code> in EBB firmware v3.0.
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</p>
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</li>
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<li>
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This command will set a new <i>Power_Lost_Threshold</i>. The <i>Param_Value</i> needs to be a decimal number between 0 and 1023 and is in units of 0.295V. At boot the <i>Power_Lost_Threshold</i> will be zero. Every 2ms the EBB will compare the voltage at the barrel jack (V+) with <i>Power_Lost_Threshold</i>. If V+ is ever less than <i>Power_Lost_Threshold</i>, then bit 6 in the result of the <code>QG</code> command will be set. Setting <i>Power_Lost_Threshold</i> to zero (as it is at boot) effectively disables this feature. If bit 6 of the <code>QG</code> result is set, then after the execution of <code>QG</code> it will be cleared. The <code>QU,60</code> query can be used to read back the current value of <i>Power_Lost_Threshold</i> at any time. After setting a new value of <i>Power_Lost_Threshold</i> with <code>CU,60</code> make sure to execute a <code>QG</code> query to clear bit 6 in case it was set. For example to set the <i>Power_Lost_Threshold</i> to 12V you would use <code>CU,60,404</code>.
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</p>
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<p>
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This parameter is new for <code>CU</code> in EBB firmware v3.0.0.
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This parameter is new for <code>CU</code> in EBB firmware v3.0.
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</p>
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</li>
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<li>
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When enabled, this feature will count down <i>Stepper_Disable_Timeout</i> seconds after the last motion command. When the count reaches zero, it will disable the two stepper motor drivers. This makes the stepper motors freewheel as well as reduces the current draw of the EBB significantly. If a new <i>Stepper_Disable_Timeout</i> value is set while the countdown is already ongoing, the countdown will begin again using the new value. If a new motion command is executed while counting down, the countdown will be stopped and will start back at <i>Stepper_Disable_Timeout</i> when all motion commands are complete.
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</p>
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<p>
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This parameter is new for <code>CU</code> in EBB firmware v3.0.0.
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This parameter is new for <code>CU</code> in EBB firmware v3.0.
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</p>
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</li>
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<li>
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<i>Param_Number</i> = 250 : <b>Enable GPIO ISR Debug pins</b>
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<p>This is an internal software debugging and testing command.</p>
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<p>
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This parameter is new for <code>CU</code> in EBB firmware v3.0.0.
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This parameter is new for <code>CU</code> in EBB firmware v3.0.
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</p>
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</li>
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<li>
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<i>Param_Number</i> = 251 : <b>Enable debug USART end of move values printing</b>
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<p>This is an internal software debugging and testing command.</p>
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<p>
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This parameter is new for <code>CU</code> in EBB firmware v3.0.0.
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This parameter is new for <code>CU</code> in EBB firmware v3.0.
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</p>
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</li>
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<li>
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<i>Param_Number</i> = 252 : <b>Enable debug USART every ISR move values printing</b>
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<p>This is an internal software debugging and testing command.</p>
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<p>
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This parameter is new for <code>CU</code> in EBB firmware v3.0.0.
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This parameter is new for <code>CU</code> in EBB firmware v3.0.
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</p>
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</li>
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<li>
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<i>Param_Number</i> = 253 : <b>Enable debug UART command echo</b>
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<p>This is an internal software debugging and testing command.</p>
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<p>
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This parameter is new for <code>CU</code> in EBB firmware v3.0.0.
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This parameter is new for <code>CU</code> in EBB firmware v3.0.
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</p>
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</li>
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<li>
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<i>Param_Number</i> = 254 : <b>Enable Lock Up Mode</b>
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<p>This is an internal software debugging and testing command.</p>
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<p>
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This parameter is new for <code>CU</code> in EBB firmware v3.0.0.
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This parameter is new for <code>CU</code> in EBB firmware v3.0.
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</p>
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</li>
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<li>
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<i>Param_Number</i> = 255 : <b>Enable command parsing USB debug printing</b>
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<p>This is an internal software debugging and testing command.</p>
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<p>
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This parameter is new for <code>CU</code> in EBB firmware v3.0.0.
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This parameter is new for <code>CU</code> in EBB firmware v3.0.
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</p>
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</li>
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<li>
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<i>Param_Number</i> = 256 : <b>Disable parsed moves from entering FIFO</b>
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<p>This is an internal software debugging and testing command.</p>
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<p>
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This parameter is new for <code>CU</code> in EBB firmware v3.0.0.
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This parameter is new for <code>CU</code> in EBB firmware v3.0.
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</p>
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</li>
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<li>
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<i>Param_Number</i> = 257 : <b>Enable RC7 indicator of command parsing</b>
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<p>This is an internal software debugging and testing command.</p>
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<p>
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This parameter is new for <code>CU</code> in EBB firmware v3.0.0.
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This parameter is new for <code>CU</code> in EBB firmware v3.0.
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</p>
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</li>
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</ul>
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</li>
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<li>
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<span style="font-weight: bold;">Version History:</span>
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<p><code>CU,50</code>, <code>CU,51</code>, <code>CU,52</code>, <code>CU,53</code>, <code>CU,250</code> through <code>CU,257</code> were added in v3.0.0</p>
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<p><code>CU,50</code>, <code>CU,51</code>, <code>CU,52</code>, <code>CU,53</code>, <code>CU,250</code> through <code>CU,257</code> were added in v3.0.</p>
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</li>
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<li><span style="font-weight: bold;">Deprecation notice:</span> <code>CU,1</code> is deprecated as of EBB firmware v3.0 and will be removed in a future firmware version. <code>CU,10</code> will be allowed, but will have no effect in that future firmware version. (What is now "future" syntax will be the default syntax in future firmware version)</li>
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</p>
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</li>
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<li>
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<span style="font-weight: bold;">Version History:</span> Available since firmware 2.7.0. In v3.0.0, the command was updated to allow larger input paramters and slower minimum speeds and will now always travel in a straight line.
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<span style="font-weight: bold;">Version History:</span> Available since firmware 2.7.0. In v3.0, the command was updated to allow larger input paramters and slower minimum speeds and will now always travel in a straight line.
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</li>
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</ul>
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<code>I,128,255,130,000,007<CR><NL></code>
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</li>
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<li>
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<span style="font-weight: bold;">This command is depreciated in v3.0.0:</span>
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<span style="font-weight: bold;">This command is deprecated in v3.0:</span>
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It will continue to work up until a future firmware version, but it will be removed in that future firmware version.
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</li>
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</ul>
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<span style="font-weight: bold;">Version History:</span> Added in firmware v2.7.0.
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</li>
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<li>
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<span style="font-weight: bold;">Version History:</span> As of firmware v3.0.0, using a negative number for either <i>Rate</i> argument to control motion direction is depreciated. It will still work, but this functionality has been replaced by using a negative number to either <i>Step</i> argument. In a future firmware version the ability to use negative <i>Rate</i> arguments will be removed.
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<span style="font-weight: bold;">Version History:</span> As of firmware v3.0, using a negative number for either <i>Rate</i> argument to control motion direction is deprecated. It will still work, but this functionality has been replaced by using a negative number to either <i>Step</i> argument. In a future firmware version the ability to use negative <i>Rate</i> arguments will be removed.
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</li>
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</ul>
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<li><span style="font-weight: bold;">Command:</span><code>L3,<i>Rate1</i>,<i>Steps1</i>,<i>Accel1</i>,<i>Jerk1</i>,<i>Rate2</i>,<i>Steps2</i>,<i>Accel2</i>,<i>Jerk2</i>[,<i>Clear</i>]<CR></code></li>
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<li><span style="font-weight: bold;">Response (future mode):</span> <code>L3<NL></code></li>
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<li><span style="font-weight: bold;">Response (legacy mode; default):</span> <code>OK<CR><NL></code></li>
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<li><span style="font-weight: bold;">Firmware versions:</span> v3.0.0 and above</li>
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<li><span style="font-weight: bold;">Firmware versions:</span> v3.0 and above</li>
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<li><span style="font-weight: bold;">Execution:</span> Added to FIFO motion queue</li>
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<li><span style="font-weight: bold;">Arguments:</span>
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<ul>
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@ -1414,7 +1414,7 @@
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</p>
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</li>
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<li>
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<span style="font-weight: bold;">This command is depreciated in v3.0.0:</span>
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<span style="font-weight: bold;">This command is deprecated in v3.0:</span>
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It will continue to work up until a future firmware version, but it will be removed in that future firmware version.
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</li>
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</ul>
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@ -1475,7 +1475,7 @@
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<span style="font-weight: bold;">Version History:</span> Unchanged since firmware 2.6.6
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</li>
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<li>
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<span style="font-weight: bold;">This command is not included in v3.0.0:</span>
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<span style="font-weight: bold;">This command is not included in v3.0:</span>
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Commands PC, PG, T have been marked as "not in use" and tentatively removed in this firmware release. If your application does use one or more of these commands, please contact us and let us know. If we don't hear from at least a couple of users that these are important, we'll go ahead and remove them permanently in a future firmware version.
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</li>
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</ul>
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@ -1539,7 +1539,7 @@
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<span style="font-weight: bold;">Example:</span> <code>PG,0\r</code> This command would turn off pulse generation on any pins (RB0, RB1, RB2 or RB3) which have non-zero Length and Period values from the latest <code>PC</code> command.
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</li>
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<li>
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||||
<span style="font-weight: bold;">This command is not included in v3.0.0:</span>
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||||
<span style="font-weight: bold;">This command is not included in v3.0:</span>
|
||||
Commands PC, PG, T have been marked as "not in use" and tentatively removed in this firmware release. If your application does use one or more of these commands, please contact us and let us know. If we don't hear from at least a couple of users that these are important, we'll go ahead and remove them permanently in a future firmware version.
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</li>
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</ul>
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@ -1850,7 +1850,7 @@
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<span style="font-weight: bold;">Example Return Packet (legacy mode; default):</span> <code>3E<CR><NL></code>
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<p>This query returns value of <code>3E</code>, which corresponds to <code>0011 1110</code> in binary, indicates that the limit switch has not been triggered, the power has not gone below the set threshold, the PRG button has been pressed, the pen is down, a command is being executed, Motor 1 and Motor 2 are moving, and the FIFO motion queue is empty.</p>
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</li>
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<li><span style="font-weight: bold;">Version History:</span> V3.0.0: bit 7 now reports if the limit switch trigger has fired. Also with v3.0.0 bit 6 now reports the power lost flag. If you have PC code which is relying upon the old meanings of these bits (bit 7 was showing the state of the RB5 pin and bit 6 was showing the state of the RB2 pin) it will need to be updated to use v3.0.0.</li>
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<li><span style="font-weight: bold;">Version History:</span> V3.0: bit 7 now reports if the limit switch trigger has fired. Also with v3.0 bit 6 now reports the power lost flag. If you have PC code which is relying upon the old meanings of these bits (bit 7 was showing the state of the RB5 pin and bit 6 was showing the state of the RB2 pin) it will need to be updated to use v3.0.</li>
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</ul>
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<hr class="short" />
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@ -1860,7 +1860,7 @@
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<li><span style="font-weight: bold;">Command:</span> <code>QL[,<i>VariableIndex</i>]<CR></code></li>
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<li><span style="font-weight: bold;">Response (future mode):</span> <code>QL,<i>VariableValue</i><NL></code></li>
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<li><span style="font-weight: bold;">Response (legacy mode; default):</span> <code><i>VariableValue</i><CR><NL>OK<CR><NL></code></li>
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<li><span style="font-weight: bold;">Firmware versions:</span> v1.9.2 and newer, v3.0.0 has added <i>VariableIndex</i></li>
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<li><span style="font-weight: bold;">Firmware versions:</span> v1.9.2 and newer, v3.0 has added <i>VariableIndex</i></li>
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<li><span style="font-weight: bold;">Execution:</span> Immediate</li>
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<li><span style="font-weight: bold;">Arguments:</span>
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<ul>
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||||
|
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@ -1869,7 +1869,7 @@
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</li>
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<li><span style="font-weight: bold;">Description:</span>
|
||||
<p>
|
||||
This query allows retrieval of a temporary <i>VariableValue</i> stored in EBB RAM. Each variable value is an unsigned byte, and up to 32 of theses values can be stored in the 32 possible <i>VariableIndex</i> locations. Set the value of any of the variables with the <code><a href="#SL">SL</a></code> command. Because <i>VariableIndex</i> is optional and is assumed to be zero if not supplied, this new version of the <code>QL</code> command is backward compatible with the older version before v3.0.0. The <i>VariableValue</i> in the response is a decimal value from 0 to 255. All 32 values are set to 0 at reset.
|
||||
This query allows retrieval of a temporary <i>VariableValue</i> stored in EBB RAM. Each variable value is an unsigned byte, and up to 32 of theses values can be stored in the 32 possible <i>VariableIndex</i> locations. Set the value of any of the variables with the <code><a href="#SL">SL</a></code> command. Because <i>VariableIndex</i> is optional and is assumed to be zero if not supplied, this new version of the <code>QL</code> command is backward compatible with the older version before v3.0. The <i>VariableValue</i> in the response is a decimal value from 0 to 255. All 32 values are set to 0 at reset.
|
||||
</p>
|
||||
</li>
|
||||
<li><span style="font-weight: bold;">Example:</span> <code>QL<CR></code></li>
|
||||
|
|
@ -1887,7 +1887,7 @@
|
|||
<span style="font-weight: bold;">Example Return Packet (legacy mode; default):</span> <code>242<CR><NL>OK<CR><NL></code>
|
||||
</li>
|
||||
<li><span style="font-weight: bold;">Version History:</span> Added in v1.9.2</li>
|
||||
<li><span style="font-weight: bold;">Version History:</span> V3.0.0 adds the <i>VariableIndex</i> parameter.</li>
|
||||
<li><span style="font-weight: bold;">Version History:</span> V3.0 adds the <i>VariableIndex</i> parameter.</li>
|
||||
</ul>
|
||||
|
||||
<hr class="short" />
|
||||
|
|
@ -2064,7 +2064,7 @@
|
|||
<li><span style="font-weight: bold;">Command: </span><code>QU,<i>Param_Number</i><CR></code></li>
|
||||
<li><span style="font-weight: bold;">Response (future mode): </span><code>QU,<i>Param_Number</i>,<i>Return_Value</i><NL></code></li>
|
||||
<li><span style="font-weight: bold;">Response (legacy mode; default): </span><code>QU,<i>Param_Number</i>,<i>Return_Value</i><CR><NL>OK<CR><NL></code></li>
|
||||
<li><span style="font-weight: bold;">Firmware versions: </span>v3.0.0 and above</li>
|
||||
<li><span style="font-weight: bold;">Firmware versions: </span>v3.0 and above</li>
|
||||
<li><span style="font-weight: bold;">Execution: </span>Immediate</li>
|
||||
<li>
|
||||
<span style="font-weight: bold;">Arguments:</span>
|
||||
|
|
@ -2093,13 +2093,13 @@
|
|||
<li>
|
||||
<i>Param_Number</i> = 3 : <b>Read out current FIFO length</b>
|
||||
<p>
|
||||
<i>Return_Value</i> will be a one to three digit decimal number from 0 to 255. It represents the current size of the motion FIFO in commands. On boot it starts out at 1. All firmware versions prior to v3.0.0 had a fixed FIFO size of 1. Starting with v3.0.0 the FIFO size starts out at 1 but can be increased using the <code>CU,4,<i>New_FIFO_Size</i></code> command. Increasing the FIFO size will allow for shorter commands and less chance of FIFO underrun.
|
||||
<i>Return_Value</i> will be a one to three digit decimal number from 0 to 255. It represents the current size of the motion FIFO in commands. On boot it starts out at 1. All firmware versions prior to v3.0 had a fixed FIFO size of 1. Starting with v3.0 the FIFO size starts out at 1 but can be increased using the <code>CU,4,<i>New_FIFO_Size</i></code> command. Increasing the FIFO size will allow for shorter commands and less chance of FIFO underrun.
|
||||
</p>
|
||||
</li>
|
||||
<li>
|
||||
<i>Param_Number</i> = 4 : <b>Read out software stack high water value</b>
|
||||
<p>
|
||||
Every millisecond the EBB samples the software stack pointer. It keeps track of the highest value seen. This is called the stack high water value. This query will return that stack high water value in <i>Return_Value</i> as a three digit hexadecimal number. In v3.0.0 of the firmware the stack starts at 0xE00 and grows up, so if <i>Return_Value</i> is E71, then the maximum stack pointer value seen indicates that 0x71 bytes of stack were used at that point. The stack overflows if it goes over 0xEBF.
|
||||
Every millisecond the EBB samples the software stack pointer. It keeps track of the highest value seen. This is called the stack high water value. This query will return that stack high water value in <i>Return_Value</i> as a three digit hexadecimal number. In v3.0 of the firmware the stack starts at 0xE00 and grows up, so if <i>Return_Value</i> is E71, then the maximum stack pointer value seen indicates that 0x71 bytes of stack were used at that point. The stack overflows if it goes over 0xEBF.
|
||||
</p>
|
||||
</li>
|
||||
<li>
|
||||
|
|
@ -2337,7 +2337,7 @@
|
|||
<span style="font-weight: bold;">Version History:</span> Added in firmware v2.2.0
|
||||
</li>
|
||||
<li>
|
||||
<span style="font-weight: bold;">Version History:</span> Maximum RC servo channel count reduced from 24 to 8 in v3.0.0.
|
||||
<span style="font-weight: bold;">Version History:</span> Maximum RC servo channel count reduced from 24 to 8 in v3.0.
|
||||
</li>
|
||||
</ul>
|
||||
|
||||
|
|
@ -2432,7 +2432,7 @@
|
|||
<li><span style="font-weight: bold;">Example:</span> <code>SC,4,8000\r</code> Set the pen-up position to give a servo output of 8000, about 0.66 ms.</li>
|
||||
<li><span style="font-weight: bold;">Example:</span> <code>SC,1,1\r</code> Enable only the RC servo for pen lift; disable solenoid control output.</li>
|
||||
<li>
|
||||
<span style="font-weight: bold;">Version History:</span> Maximum_S2_Channels maximum value changed from 24 to 8 in version 3.0.0.
|
||||
<span style="font-weight: bold;">Version History:</span> Maximum_S2_Channels maximum value changed from 24 to 8 in version 3.0.
|
||||
</li>
|
||||
</ul>
|
||||
|
||||
|
|
@ -2478,7 +2478,7 @@
|
|||
<li><span style="font-weight: bold;">Command:</span> <code>SL,<i>VariableValue</i>[,<i>VariableIndex</i>]<CR></code></li>
|
||||
<li><span style="font-weight: bold;">Response (future mode):</span> <code>SL<NL></code></li>
|
||||
<li><span style="font-weight: bold;">Response (legacy mode; default):</span> <code>OK<CR><NL></code></li>
|
||||
<li><span style="font-weight: bold;">Firmware versions:</span> v1.9.2 and newer, v3.0.0 has added <i>VariableIndex</i></li>
|
||||
<li><span style="font-weight: bold;">Firmware versions:</span> v1.9.2 and newer, v3.0 has added <i>VariableIndex</i></li>
|
||||
<li><span style="font-weight: bold;">Execution:</span> Immediate</li>
|
||||
<li><span style="font-weight: bold;">Arguments:</span>
|
||||
<ul>
|
||||
|
|
@ -2489,13 +2489,13 @@
|
|||
<li>
|
||||
<span style="font-weight: bold;">Description:</span>
|
||||
<p>
|
||||
This command allows storage of temporary values in the EBB RAM. Each variable value is an unsigned byte, and up to 32 of theses values can be stored in the 32 possible <i>VariableIndex</i> locations. The values can be read out by using the <code><a href="#QL">QL[,<i>VariableIndex</i>]</a></code> query. Because <i>VariableIndex</i> is optional and is assumed to be zero if not supplied, this new version of the <code>SL</code> command is backward compatible with the older version before v3.0.0. The values are not retained across EBB reboots or resets; they are all cleared to 0 at reset.
|
||||
This command allows storage of temporary values in the EBB RAM. Each variable value is an unsigned byte, and up to 32 of theses values can be stored in the 32 possible <i>VariableIndex</i> locations. The values can be read out by using the <code><a href="#QL">QL[,<i>VariableIndex</i>]</a></code> query. Because <i>VariableIndex</i> is optional and is assumed to be zero if not supplied, this new version of the <code>SL</code> command is backward compatible with the older version before v3.0. The values are not retained across EBB reboots or resets; they are all cleared to 0 at reset.
|
||||
</p>
|
||||
</li>
|
||||
<li><span style="font-weight: bold;">Example:</span> <code>SL,4\r</code> Sets the value of variable zero to the value of 4.</li>
|
||||
<li><span style="font-weight: bold;">Example:</span> <code>SL,125,19\r</code> Sets the value of variable 19 to the value of 125.</li>
|
||||
<li><span style="font-weight: bold;">Version History:</span> Added in v1.9.2</li>
|
||||
<li><span style="font-weight: bold;">Version History:</span> In v3.0.0 the optional <i>VariableIndex</i> parameter was added.</li>
|
||||
<li><span style="font-weight: bold;">Version History:</span> In v3.0 the optional <i>VariableIndex</i> parameter was added.</li>
|
||||
</ul>
|
||||
|
||||
<hr class="short" />
|
||||
|
|
@ -2550,7 +2550,7 @@
|
|||
Move axis 1 by 250 steps and axis2 by -766 steps, in 1000 ms of duration.
|
||||
</li>
|
||||
<li>
|
||||
<span style="font-weight: bold;">Version History:</span> Parameter values expanded to 32 bits and minimum speed lowered in v3.0.0
|
||||
<span style="font-weight: bold;">Version History:</span> Parameter values expanded to 32 bits and minimum speed lowered in v3.0.
|
||||
</li>
|
||||
</ul>
|
||||
|
||||
|
|
@ -2743,7 +2743,7 @@
|
|||
If the <code>I</code> or <code>A</code> packet responses stop coming back after you've done a <code>T</code> query, and you didn't stop them yourself (with a <code>T,0,0</code> or <code>T,0,1</code>) then what's happened is that the internal buffer in the EBB for <code>I</code> or <code>A</code> packet data has been filled up. (There is room for 3 <code>I</code> packets and 3 <code>A</code> packets.) This means that the USB system is too busy to get the packet responses back to the PC fast enough. You need to have less USB traffic (from other devices) or increase the time between packet responses.
|
||||
</li>
|
||||
<li>
|
||||
<span style="font-weight: bold;">This command is not included in v3.0.0:</span>
|
||||
<span style="font-weight: bold;">This command is not included in v3.0:</span>
|
||||
Commands PC, PG, T have been marked as "not in use" and tentatively removed in this firmware release. If your application does use one or more of these commands, please contact us and let us know. If we don't hear from at least a couple of users that these are important, we'll go ahead and remove them permanently in a future firmware version.
|
||||
</li>
|
||||
</ul>
|
||||
|
|
@ -2755,7 +2755,7 @@
|
|||
<li><span style="font-weight: bold;">Command:</span> <code>T3,<i>Intervals</i>,<i>Rate1</i>,<i>Accel1</i>,<i>Jerk1</i>,<i>Rate2</i>,<i>Accel2</i>,<i>Jerk2</i>[,<i>Clear</i>]<CR></code></li>
|
||||
<li><span style="font-weight: bold;">Response (future mode):</span> <code>T3<NL></code></li>
|
||||
<li><span style="font-weight: bold;">Response (legacy mode; default):</span> <code>OK<CR><NL></code></li>
|
||||
<li><span style="font-weight: bold;">Firmware versions:</span> 3.0.0 and above</li>
|
||||
<li><span style="font-weight: bold;">Firmware versions:</span> 3.0 and above</li>
|
||||
<li><span style="font-weight: bold;">Execution:</span> Added to FIFO motion queue</li>
|
||||
<li><span style="font-weight: bold;">Arguments:</span>
|
||||
<ul>
|
||||
|
|
@ -2799,7 +2799,7 @@
|
|||
</ul>
|
||||
|
||||
<hr class="short" />
|
||||
<h4><a name="TD"></a>"TD" — Low-level Move With Jerk, Time-limited, for S-Curves</h4>
|
||||
<h4><a name="TD"></a>"TD" — Paired "Dual T3" Low-level Move With Jerk, Time-limited</h4>
|
||||
|
||||
<ul>
|
||||
<li><span style="font-weight: bold;">Command:</span> <code>TD,<i>Intervals</i>,<i>Rate1A</i>,<i>Rate1B</i>,<i>Accel1</i>,<i>Jerk1</i>,<i>Rate2A</i>,<i>Rate2B</i>,<i>Accel2</i>,<i>Jerk2</i>[,<i>Clear</i>]<CR></code></li>
|
||||
|
|
@ -2828,13 +2828,21 @@
|
|||
<li>
|
||||
<span style="font-weight: bold;">Description:</span>
|
||||
<p>
|
||||
This command is extremely similar to the <code><a href="#T3">T3</a></code> command. In fact, internally, the <code>TD</code> command simply takes its parameter values and creates
|
||||
two <code>T3</code> commands. It is a faster way to create S-curves than sending two <code>T3</code> commands back to back.
|
||||
This command is for creating specially-crafted back-to-back time-limited moves with jerk. Internally, the <code>TD</code> command takes its parameter values and creates
|
||||
two <code>T3</code> commands that are loaded into the FIFO. It is a faster way to create "S-curves" accelerations than sending two <code>T3</code> commands separately.
|
||||
</p>
|
||||
<p>
|
||||
[[ coming soon ]]
|
||||
</p>
|
||||
</li>
|
||||
<p>The <code>TD</code> command loads the two <code>T3</code> commands as follows:
|
||||
<OL>
|
||||
<LI>
|
||||
<code>T3,Intervals,Rate1A,0,Jerk1,Rate2A,0,Jerk2[,Clear]<CR></code>
|
||||
</LI>
|
||||
<LI>
|
||||
<code>T3,Intervals,Rate1B,Accel1,-Jerk1,Rate2B,Accel2,-Jerk2[,Clear]<CR></code>
|
||||
|
||||
</LI>
|
||||
</OL>
|
||||
</p>
|
||||
|
||||
<li>
|
||||
<span style="font-weight: bold;">Example 1:</span>
|
||||
<p>
|
||||
|
|
@ -2893,7 +2901,7 @@
|
|||
<li><span style="font-weight: bold;">Command:</span> <code>TR,<i>StepRate</i>,<i>AxisSteps1</i>[,<i>AxisSteps2</i>[,<i>Clear</i>]]<CR></code></li>
|
||||
<li><span style="font-weight: bold;">Response (future mode):</span> <code>TR<NL></code></li>
|
||||
<li><span style="font-weight: bold;">Response (legacy mode; default):</span> <code>OK<CR><TR></code></li>
|
||||
<li><span style="font-weight: bold;">Firmware versions:</span> Added in v3.0.0</li>
|
||||
<li><span style="font-weight: bold;">Firmware versions:</span> Added in v3.0</li>
|
||||
<li><span style="font-weight: bold;">Execution:</span> Added to FIFO motion queue</li>
|
||||
<li><span style="font-weight: bold;">Arguments:</span>
|
||||
<ul>
|
||||
|
|
@ -2910,10 +2918,10 @@
|
|||
<li>
|
||||
<span style="font-weight: bold;">Description:</span>
|
||||
<p>
|
||||
This command is used to test some of the refactored math in version 3.0.0.
|
||||
This command is used to test some of the refactored math in version 3.0.
|
||||
</p>
|
||||
<li>
|
||||
<span style="font-weight: bold;">Version History:</span> Added in v3.0.0.
|
||||
<span style="font-weight: bold;">Version History:</span> Added in v3.0.
|
||||
</li>
|
||||
</ul>
|
||||
|
||||
|
|
@ -2982,7 +2990,7 @@
|
|||
</li>
|
||||
<li>
|
||||
<span style="font-weight: bold;">Version History:</span> Added in v2.3.0
|
||||
<span style="font-weight: bold;">Version History:</span> Increased range of parameters and lowered slowest allowed step rate in v3.0.0
|
||||
<span style="font-weight: bold;">Version History:</span> Increased range of parameters and lowered slowest allowed step rate in v3.0.
|
||||
</li>
|
||||
</ul>
|
||||
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue