User manual

PoStep60 user manual
4
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8.1 I2C address ............................................................................................................................ 25
8.2 PoStep60 I2C protocol ........................................................................................................... 25
8.2.1 Master write .................................................................................................................. 25
8.2.2 Master read ................................................................................................................... 26
8.3 PoStep60 I2C commands ....................................................................................................... 26
8.3.1 0x01 - Loopback read .................................................................................................... 26
8.3.2 0x03 – Set Run/Sleep mode .......................................................................................... 26
8.3.3 0x0A – Read HW/FW info .............................................................................................. 27
8.3.4 0x10 – Read voltage ...................................................................................................... 27
8.3.5 0x11 – Read temperature .............................................................................................. 27
8.3.6 0x12 – Read pin statuses ............................................................................................... 27
8.3.7 0x13 – Read driver status .............................................................................................. 27
8.3.8 0x14 – Read driver mode .............................................................................................. 28
8.3.9 0x20 – Read full scale current ....................................................................................... 28
8.3.10 0x21 – Read idle current ................................................................................................ 28
8.3.11 0x22 – Read overheat current ....................................................................................... 28
8.3.12 0x23 – Read step mode ................................................................................................. 28
8.3.13 0x24 – Read temperature limit ..................................................................................... 29
8.3.14 0x25 – Read faults ......................................................................................................... 29
8.3.15 0x30 – Set full scale current .......................................................................................... 29
8.3.16 0x31 – Set idle current ................................................................................................... 29
8.3.17 0x32 – Set overheat current .......................................................................................... 30
8.3.18 0x33 – Set step mode .................................................................................................... 30
8.3.19 0x34 – Set temperature limit ........................................................................................ 30
8.3.20 0x35 – Reset faults ........................................................................................................ 30
8.3.21 0x3F – Write settings to EEPROM ................................................................................. 30
8.3.22 0x40 – Read position ..................................................................................................... 30
8.3.23 0x41 – Read maximal speed .......................................................................................... 30
8.3.24 0x42 – Read acceleration .............................................................................................. 30
8.3.25 0x43 – Read deceleration .............................................................................................. 31
8.3.26 0x50 – Set position ........................................................................................................ 31
8.3.27 0x51 – Set maximal speed ............................................................................................. 31
8.3.28 0x52 – Set acceleration ................................................................................................. 31
8.3.29 0x53 – Set deceleration ................................................................................................. 31
8.3.30 0x5E – Set zero .............................................................................................................. 32
8.3.31 0x5F – Stop .................................................................................................................... 32
9 Errata information ......................................................................................................................... 33
10 User manual changes ................................................................................................................ 33
11 Grant of license ......................................................................................................................... 34
11.1.1 Access ............................................................................................................................ 34
11.1.2 Usage ............................................................................................................................. 34
11.1.3 Copyright ....................................................................................................................... 34