diff options
| -rw-r--r-- | simplemotion_defs.h | 11 |
1 files changed, 10 insertions, 1 deletions
diff --git a/simplemotion_defs.h b/simplemotion_defs.h index f171350..162c03f 100644 --- a/simplemotion_defs.h +++ b/simplemotion_defs.h @@ -20,7 +20,7 @@ /* SMV2 protocol change log:
* Version 20:
* -V20 was introduced with Argon FW 1.0.0 and present at least until 1.4.0
- * Version 21 (is backwards compatible in syntax but not in setpoint behavior, see details below):
+ * Version 25 (is backwards compatible in syntax but not in setpoint behavior, see details below):
* -V25 was introduced with IONI
* -setpoint calculation is different:
* now there is only one common setpoint and all ABS and INC commands (buffered & instant)
@@ -31,6 +31,10 @@ * this makes it possible to insert any parameter read/write commands in middle of buffered motion.
* -implemented watchdog functionality in new param SMP_FAULT_BEHAVIOR
* -added param SMP_ADDRESS_OFFSET
+ * Version 26:
+ * - fast SM command added (actually is also present in late V25 too, but as unofficial feature)
+ * - watchdog timout now resets bitrate to default and aborts buffered motion
+ *
*/
/* Important when using SMV2 protocol:
@@ -344,6 +348,11 @@ #define SMP_SYSTEM_CONTROL_MEASURE_MOTOR_RL 256
//resets position mode FB and setpoint values to 0, and also resets homing status. useful after using in vel or torq mode.
#define SMP_SYSTEM_CONTROL_RESET_FB_AND_SETPOINT 512
+ //writes various FW version specific values into debug parameters
+ #define SMP_SYSTEM_CONTROL_GET_SPECIAL_DATA 1024
+ //write SM bus SM_CRCINIT constant modifier. special purposes only, don't use if unsure because
+ //it is one time programmable variable (irreversible operation, can't be ever reset to default by provided methods)
+ #define SMP_SYSTEM_CONTROL_MODIFY_CRCINIT 262144
//follow error tolerance for position control:
#define SMP_POS_FERROR_TRIP 555
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