Applicable to MKS-SERVO42C-V1.0

Note: Please set the serial port ID first.(default:e0) The default ID for the following chapters is e0.

Read parameter coommand

1. command 1 : e0 30

   read the encoder value (the motor should be calibrated)

   Return e0, encoder value(uint16_t). The returned value ranges from 0 to FFFF.

   Example:

   Send e0 30

   return e0 40 00

2. command 2 : e0 33

   Read the number of pulses received

   Return e0, pulses number(int16_t).

   Example:

   Send e0 33

   return e0 00 00 01 00 (256 pulses)

3. command 3 : e0 36

   read the angle of the motor shaft.

   Return e0 , angle(int32_t), tCHK.

   The motor rotates one circle, the corresponding angle value range is 0~65535.

   Example:

   Send e0 36 16

   return e0 00 00 40 00 20 (angle 90 °)

4. command 4: e0 39

   read the error of the motor shaft angle.

   Return e0, error(int16_t).

   The error is the difference between the angle you want to control minus the real-time angle of the motor, 0-FFFF corresponds to 0~360°, for example, when the angle error is 1°, the return error is 65536/360= 182.444, and so on.

   Example:

   Send e0 39

   return e0 00 B7 (error 1 °)

5. command 5: e0 3a

   read the En pins status.

   Return e0, status (uint8_t).

   Status: 01-enable;02-disable;00-error

   Example:

   Send e0 3a

   return e0 01 (enable)

6. command 6: e0 3e

   read the motor shaft status.

   Return e0, status (uint8_t).

   Status: 01-blocked; 02- unblocked; 00-error

   Example:

   Send e0 3e

   return e0 02 (unblocked)

Set subdivision command

1. command 7: e0 84 xx

   Set subdivision from 1 to 256, the value will show in the screen of MStep option.

   For example:

   Send “e0 84 07”，set 7 subdivision

   Send “e0 84 4e”，set 78 subdivision

   Send “e0 84 00”，set 256 subdivision

   And so on...

   Return e0 , result (uint8_t).

   result: 01- successful; 00- Failure

   Example:

   Send e0 84 1a (26 subdivision)

   return e0 01 (successful)

Serial control command

1. command 8: e0 f3 xx

   Set the En pin status in CR_UART mode.

   status: 01-enable; 00-disable

   Return e0, result (uint8_t).

   result: 01- successful; 00- Failure

   Example:

   Send e0 f3 01 (enable)

   return e0 01 nn (successful)

2. command 9: e0 f6 xx

   run the motor forward / reverse in a Constant speed.

   Such as:

   The XX highest bit indicates direction, and the XX lowest 7 bits indicate 128 speed gears, for example：

   

   Send “e0 f6 01”，The motor rotates forward at the speed of 1 gear；

   Send “e0 f6 81”，The motor reverses at the speed of 1 gear；

   Send “e0 f6 5a”，The motor rotates forward at the speed of 90 gear；

   Send “e0 f6 da”，The motor reverses at the speed of 90 gear；

   Return e0 ,result (uint8_t).

   result: 01- successful; 00- Failure

   Example:

   Send e0 f6 10 (speed of 16 gear)

   return e0 01 (successful)

   

3. command 10: e0 f7 d7

   stop the motor.

   Return e0 and the result (uint8_t).

   result: 01- successful; 00- Failure

   Example:

   Send e0 f7 d7 (stop)

   return e0 01 (successful)

4. command 11: e0 ff xx

   Save/Clear the status set in command9.

   xx: c8-save; ca-clean

   Return e0, result (uint8_t).

   result: 01- successful; 00- Failure

   Example: Send e0 ff c8 (save the status)

   return e0 01 (successful)

   Attention：The motor can rotates clockwise or counterclockwise at a constant speed when powered on.

   For example:

   Send e0 f6 10

   return e0 01

   Send e0 ff c8

   return e0 01

   the motor will always rotates clockwise in speed(16) when power on.

5. command 12: e0 fd xx xx xx

   The motor run to an angle in a speed.

   The third byte(xx) defines the direction and speed, such as command 9.

   The last two bytes(xx xx) define the number of pulses.

   If(xx xx = 0C 80),the motor(1.8 °, subdivision 16) will rotates one circle.

   

   Return e0, result (uint8_t).

   result: 01- successful; 00- Failure

   For example: (the motor(1.8 °, subdivision 16))

   send “e0 fd 01 0c 80”, the motor rotates forward 360 °in speed 1.

   send “e0 fd 86 0c 80”, the motor rotates reverses 360 °in speed 6.

   Example:

   Send e0 fd 32 0c 80

   return e0 01 (successful)