Script Commands

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Script commands are a useful way to configure a vanilla SFDQ to behave in a particular way. This is useful for setting up a quick experiment and to figure out settings, such as feedback parameters. These can later hard-coded in firmware for a specific application.
Note that the intent of scripting is not for programming as such. For this reason, there are no branching or looping capabilities. it is expected that to achieve that sort of functionality, a custom, derivative firmware codebase will be developed.

ADC

Sets up a low res ADC channel.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• ADC Channel Index. Legal values are integers from 0.0 to 15.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Time Constant. If zero then channel disabled. Legal values are real numbers from 0.0 to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• Gain Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• Offset Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

ALIAS

Set the alias for particular SFDQ ID, SFDQ ID

Parameters

• Alphanumeric identifier of the desired SFDQ.
• SFDQ ID. Legal values are integers from 0.0 to -1.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)

ALIASFIRST

Set the alias for the first SFDQ detected

Parameters

• Alphanumeric identifier of the desired SFDQ.

APPDATA

Set the application specific data for this SFDQ

Parameters

• Alphanumeric identifier of the desired SFDQ.
• App data index. Legal values are integers from 0.0 to 255.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Data Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

BOOKMARK

indicates a line of code that could be executed from.

Parameters

• Alphanumeric identifier for the current line, etc.

BREAK

causes script execution to stop at this line

Parameters

• None.

BRUSHLESS

Setup outputs to drive a 3 phase brushless motor.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Hall sensor phase A GPIO pin number. - Alphanumeric identifier of the desired port pin, e.g. A1, B12
• Hall sensor phase B GPIO pin number. - Alphanumeric identifier of the desired port pin, e.g. A1, B12
• Hall sensor phase C GPIO pin number. - Alphanumeric identifier of the desired port pin, e.g. A1, B12
• Number of winding phase cycles per motor revolution. Zero disables brushless motor control. This value can be negative to reverse the relationship between drive and direction. Legal values are real numbers from 0.0 to 10.0 specified in decimal or in scientific notation (e.g. 1.2E-3)
• Phase offset in degrees. Legal values are real numbers from -180.0 to 180.0 specified in decimal or in scientific notation (e.g. 1.2E-3)
• Phase advance in degrees/Hz. This helps compensate for phase lag due to motor inductance, etc. Legal values are real numbers from -60.0 to 60.0 specified in decimal or in scientific notation (e.g. 1.2E-3)

DAC

Set the analog DAC outputs

Parameters

• Alphanumeric identifier of the desired SFDQ.
• DAC Channel. Legal values are integers from 0.0 to 1.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• output value (ratio). NAN will disable the specified channel. Legal values are real numbers from 0.0 to 1.0 specified in decimal or in scientific notation (e.g. 1.2E-3)

DELTA

Causes stepper to move to an relative position using a pseudo-trapezoidal trajectory.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies the feedback channel. Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Relative target position. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• time to execute move over, in seconds. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• the acceleration magnitude to use at start and end of trajectory. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

ENCODER

Set up two IO channels as a quadrature encoder

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Encoder Channel to setup. Legal values are integers from 0.0 to 3.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• GPIO Channel A. - Alphanumeric identifier of the desired port pin, e.g. A1, B12
• GPIO Channel B. - Alphanumeric identifier of the desired port pin, e.g. A1, B12
• Distance per step. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

ERROR

this is a placeholder for a script line with incorrectly specified parameters

Parameters

• None.

FB_BIQUAD

Sets the controller strategy for the closed loop feedback system. Implements controller of the form y(z) = c0x(z) + c1x(z - 1) + c2x(z - 2) - d1y(z - 1) - d2*y(z - 2)

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which channel to setup. Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• c0: The numerator zero shift term coefficient. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• c1: The numerator one shift term coefficient. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• c2: The numerator two shift coefficient. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• d1: The denominator one shift term coefficient. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• d2: The denominator two shift coefficient. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

FB_IN_LIMITS

Sets the input sensor limits for the closed loop feedback system. If these limits are exceeded then the output will be cut.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which channel to setup. Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• The minimum allowable input value. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• The maximum allowable input value. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

FB_LIMIT_PINS

Sets pins that will stop any trajectory if asserted.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which channel to setup. Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Specified the minimum input limit pin. - Alphanumeric identifier of the desired port pin, e.g. A1, B12
• Specified the maximum input limit pin. - Alphanumeric identifier of the desired port pin, e.g. A1, B12
• 0 both normal, 1 invert min, 2 invert max, 3 invert both. Legal values are integers from 0.0 to 3.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)

FB_OUT_LIMITS

Sets the output drive limits for the closed loop feedback system.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which channel to setup. Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• The minimum drive value for the output. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• The maximum drive value for the output. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

FB_PID

Sets the controller strategy for the closed loop feedback system as PID. Implements controller of the form Y(s) = Kp + Ki/s + Kd*s

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which channel to setup. Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Kp: The proportional term coefficient. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• Ki: The integral term coefficient. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• Kd: The derivative term coefficient. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

FB_PROP

Sets the controller strategy for the closed loop feedback system as a simple proportional gain. Implements controller of the form Y(s) = Kp

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which channel to setup. Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Kp: The proportional term coefficient. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

FB_UNITS

Sets the units to linear or circular. Circular units wrap around.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which channel to setup. Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• 0: linear, 1: degrees (+/-180), 2: radians (+/-3.14...). Legal values are integers from 0.0 to 2.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)

FEEDBACK

Configures basic feedback system parameters.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which channel to setup. Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Input types:
  • 00 Null - This means unconfigured.
  • 01 Low Res ADC - Selects the index of a low res ADC for input to the feedback system
  • 02 Temperature - Selects a temperature channel as an input. See the Temperature payload
  • 03 Encoder Position - Selects an encoder channel as an input. See the Encoder payload
  • 04 Encoder Velocity - ditto
  • 05 Hi Res ADC - ditto
  • 06 Open Loop - No input defined. The setpoint is used without negative feedback.
  • 07 Brushless Motora - Use the brushless motor as the input (index 0 = position, 1 = velocity).
  • 08 Application Data - Use the RX (host) app data array as the input.
  • 09 Application Data - Use the TX app data array as the input. TX app data is data generated in the SFDQ and sent to the host.
• Legal values are integers from 0.0 to 9.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Index of the input type. This value depends on the type specified. Legal values are integers from 0.0 to 100.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Output types:
  • 00 NULL - Unconfigured
  • 01 Unipolar PWM - Uses a high power output as an output for this feedback loop
  • 02 DAC - Use a DAC channel for an output. This is not implemented yet.
  • 03 3 Phase Motor - The output of this loop is the drive to a 3 phase motor.
  • 04 Bipolar PWM - Uses a high power output as an output for this feedback loop
  • 05 Stepper - Uses the stepper motor position as an output. This is intended for use when direct trajectory control of stepper position is desired and the input type as Open Loop. If stepper is to be used as a closed loop feedback output then STEPPER_VELOCITY is likely the better choice.
  • 06 Feedback - Uses another feedback channel input as the output of this channel. The output index specifies channel. If the output channel is a higher number channel than this one then there will be no delay in computation.
  • 07 Feedback Max - The output of this loop is the max output parameter of another channel. This causes that channel to work as normal except when it causes this channels feedback to be exceeded.
  • 08 Port Expander - The output of this loop is a pin on a port expander. The output index is top nibble: Port Expander Index; bottom nibble: pin number.
  • 09 Application Data - Use the TX app data as the output
  • 10 Soft PWM - Use a software PWM as the output
  • 11 Stepper Velocity - The feedback output controls the velocity of the stepper motor module. This is a good choice if the stepper is to be used in a closed loop control system.
• Legal values are integers from 0.0 to 11.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Index of the output type. This value depends on the specified output type. Legal values are integers from 0.0 to 255.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Pass-through mode. If true, the output will computed as the filtered input value. If false, the output will be computed as the filtered (-error) = setpoint - actual. Legal values are specified as 1, 0, true or false.

GPIOPIN

Set up a pin or port A.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• The port pin to configure. - Alphanumeric identifier of the desired port pin, e.g. A1, B12
• Specifies the pin mode: 0, 1 = input, 2 = Output low, 3 = Output high, 4 = Analog, 5 = Alternate function 1, 6 = Alternate Function 2, 7 = diagnostic output, 8 = leave alone, 9, 10 = Input with Pull up Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)

GRAPHACCEL

Graph accelerometer channel.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which channel to setup (X, Y, Z). Legal values are integers from 0.0 to 3.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Series Name. Text is specified enclosed with double quotation marks.
• Scale. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

GRAPHADC

Graph normal adc channel.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which ADC channel to use. Legal values are integers from 0.0 to 15.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Series Name. Text is specified enclosed with double quotation marks.
• Scale. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• Offset. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

GRAPHAPPDATA

Graph Application specific data.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which index of app data to plot. Legal values are integers from 0.0 to 16.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Series Name. Text is specified enclosed with double quotation marks.
• Scale. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• Offset. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

GRAPHBRUSHLESS

Graph brushless motor information

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Series Name. Text is specified enclosed with double quotation marks.
• Specifies which parameter to plot: 0 = speed (rps), 1 = position (revs), 2 = drive. Legal values are integers from 0.0 to 3.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Scale. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• Offset. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

GRAPHFEEDBACK

Graph feedback parameter.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which Feedback channel to use. Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Series Name. Text is specified enclosed with double quotation marks.
• Specifies which parameter to plot: 0 = setpoint, 1 = position, 2 = output, 3 = error. Legal values are integers from 0.0 to 3.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Scale. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

GRAPHHADC

Graph high res adc channel.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which HADC channel to use. Legal values are integers from 0.0 to 3.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Series Name. Text is specified enclosed with double quotation marks.
• Scale. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• Offset. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

GRAPHPORTEXPANDER

Graph Port Expander

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which I2C bus the expander is on. Legal values are integers from 1.0 to 3.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Specifies the bus address of the expander. Legal values are integers from 0.0 to 255.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Specifies the pin of the port. Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Series Name. Text is specified enclosed with double quotation marks.
• High Value Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• Low Value Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

GRAPHPWM

Graph PWM output channel.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which PWM channel to use. Legal values are integers from 0.0 to 3.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Series Name. Text is specified enclosed with double quotation marks.
• Scale. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

GRAPHREMOVE

Remove Graph Series

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Series Name. Text is specified enclosed with double quotation marks.

GRAPHREMOVEALL

Remove all traces on the graph.

Parameters

• None.

GRAPHSTEPPER

Graph the output of a stepper channel.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which stepper channel to use. Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Series Name. Text is specified enclosed with double quotation marks.
• 0 = position; 1 = velocity. Legal values are integers from 0.0 to 1.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Scale. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

GRAPHTEMP

Graph temperature of one temperature control channel.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which temperature channel to use. Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Series Name. Text is specified enclosed with double quotation marks.
• Scale to apply, although I don't know why you'd want to. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

GRAPHTIMEERROR

Graph time error.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Series Name. Text is specified enclosed with double quotation marks.

GRAPHTRAJ

Graph a trajectory

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which feedback channel. Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• series Name. Text is specified enclosed with double quotation marks.
• Scale. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

HADC

Configures SFDQ Hi Res ADC Input indexes can be of the following values: 0 - AIN0, 1 - AIN1, 2 - AIN2, 3 - AIN3, 4 - AIN4, 5 - Temperature+, 6 - Temperature-, 7 - Ref+, 8 - Ref- Final ADC value is computed as ADCfinal = (ADCraw - offset)*gain

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which HADC channel to setup. Legal values are integers from 0.0 to 3.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Positive input index. Legal values are integers from 0.0 to 8.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Negative input index. Legal values are integers from 0.0 to 8.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Gain. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• Offset. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

HOME

Stepper will traverse its range until it finds the location where the home sensor trips.This commmand is temporarily BROKEN. Try again in a later app version.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies the stepper/feedback channel. Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Speed in units/second. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

INVALID

Specified command is not valid

Parameters

• None.

LOGACCEL

Log to file accelerometer channel.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which channel to setup (X, Y, Z). Legal values are integers from 0.0 to 3.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Series Name. Text is specified enclosed with double quotation marks.
• Scale. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

LOGADC

Log to file normal adc channel.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which ADC channel to use. Legal values are integers from 0.0 to 15.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Series Name. Text is specified enclosed with double quotation marks.
• Scale. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• Offset. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

LOGAPPDATA

Log to file Application specific data.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which index of app data to plot. Legal values are integers from 0.0 to 16.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Series Name. Text is specified enclosed with double quotation marks.
• Scale. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• Offset. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

LOGBRUSHLESS

Log to file brushless motor information

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Series Name. Text is specified enclosed with double quotation marks.
• Specifies which parameter to plot: 0 = speed (rps), 1 = position (revs), 2 = drive. Legal values are integers from 0.0 to 3.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Scale. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

LOGFEEDBACK

Log to file feedback parameter.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which Feedback channel to use. Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Series Name. Text is specified enclosed with double quotation marks.
• Specifies which parameter to plot: 0 = setpoint, 1 = position, 2 = output, 3 = error. Legal values are integers from 0.0 to 3.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Scale. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

LOGHADC

Log to file high res adc channel.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which HADC channel to use. Legal values are integers from 0.0 to 3.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Series Name. Text is specified enclosed with double quotation marks.
• Scale. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• Offset. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

LOGPORTEXPANDER

Log to file Port Expander

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which I2C bus the expander is on. Legal values are integers from 1.0 to 3.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Specifies the bus address of the expander. Legal values are integers from 0.0 to 255.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Specifies the pin of the port. Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Series Name. Text is specified enclosed with double quotation marks.
• High Value Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• Low Value Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

LOGPWM

Log to file PWM output channel.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which PWM channel to use. Legal values are integers from 0.0 to 3.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Series Name. Text is specified enclosed with double quotation marks.
• Scale. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

LOGREMOVEALL

Remove all configured traces from logging to file.

Parameters

• None.

LOGSTEPPER

log to file the output of a stepper channel.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which stepper channel to use. Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Series Name. Text is specified enclosed with double quotation marks.
• 0 = position; 1 = velocity. Legal values are integers from 0.0 to 1.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Scale. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

LOGTEMP

Log to file temperature of one temperature control channel.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which temperature channel to use. Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Series Name. Text is specified enclosed with double quotation marks.
• Scale to apply, although I don't know why you'd want to. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

LOGTIMEERROR

Log to file time error.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Series Name. Text is specified enclosed with double quotation marks.

LOGTRAJ

Log to file a trajectory

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which feedback channel. Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• series Name. Text is specified enclosed with double quotation marks.
• Scale. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

MOVETO

Causes stepper to move to an absolute position using a pseudo-trapezoidal trajectory.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies the feedback channel. Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Absolute target position. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• time to execute move over, in seconds. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• the acceleration magnitude to use at start and end of trajectory. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• NULL
• this is a null entry.
• Parameters
• None.

OUTPUTDC

Set an SFDQ high-power output.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which high power output channel to use. Legal values are integers from 0.0 to 3.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Normalized amplitude to set channel to. Legal values are real numbers from 0.0 to 1.0 specified in decimal or in scientific notation (e.g. 1.2E-3)

OUTPUTNEG

sets the specified high power output to be the complement of the other channel on the same port

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which high power output channel to use. Legal values are integers from 0.0 to 3.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)

OUTPUTSINE

set an SFDQ high-power output to a sine wave

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which high power output channel to use. Legal values are integers from 0.0 to 3.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Normalized amplitude to set channel to. Legal values are real numbers from 0.0 to 1.0 specified in decimal or in scientific notation (e.g. 1.2E-3)
• Frequency in Hz of sine wave. Legal values are real numbers from 0.0 to 1000.0 specified in decimal or in scientific notation (e.g. 1.2E-3)

OUTPUTSQUARE

set an SFDQ high-power output to a square wave

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which high power output channel to use. Legal values are integers from 0.0 to 3.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Normalized amplitude to set channel to. Legal values are real numbers from 0.0 to 1.0 specified in decimal or in scientific notation (e.g. 1.2E-3)
• Frequency in Hz of square wave. Legal values are real numbers from 0.0 to 1000.0 specified in decimal or in scientific notation (e.g. 1.2E-3)

OUTPUTTRIANGLE

set an SFDQ high-power output to a triangle wave

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which high power output channel to use. Legal values are integers from 0.0 to 3.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Normalized amplitude to set channel to. Legal values are real numbers from 0.0 to 1.0 specified in decimal or in scientific notation (e.g. 1.2E-3)
• Frequency in Hz of triangle wave. Legal values are real numbers from 0.0 to 1000.0 specified in decimal or in scientific notation (e.g. 1.2E-3)

PAUSE

causes script execution to pause at this line

Parameters

• None.

PORTEXPANDER

Configures a pin of a port expander on an I2C bus.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which I2C bus the expander is on. Legal values are integers from 1.0 to 3.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Specifies the bus address of the expander. Legal values are integers from 0.0 to 255.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Specifies the pin of the port. Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Specifies the state: 0 = input, 1 = input, 2 = output clear, 3 = output set, 4 = output no change. Legal values are integers from 0.0 to 4.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)

SOFT_FOLLOWER

Configures a software generated PWM that follows another channel.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which channel to configure. Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• The channel to follow. Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• The output pin of the PWM. - Alphanumeric identifier of the desired port pin, e.g. A1, B12
• The gain to apply to the channel being followed. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

SOFT_ONE_SHOT

Configures a software generated, triggered, one shot timer using a soft PWM module.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which channel to configure. Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• The time setting of the timer Legal values are real numbers from 0.0 to 1000.0 specified in decimal or in scientific notation (e.g. 1.2E-3)
• The output pin of the timer. - Alphanumeric identifier of the desired port pin, e.g. A1, B12
• The trigger pin of the timer. - Alphanumeric identifier of the desired port pin, e.g. A1, B12
• 0 = rising edge, 1 = falling edge. Legal values are integers from 0.0 to 1.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)

SOFT_PWM

Configures a software generated PWM.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which channel to configure. Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• The frequency of the PWM Legal values are real numbers from 0.0 to 1000.0 specified in decimal or in scientific notation (e.g. 1.2E-3)
• The output pin of the PWM. - Alphanumeric identifier of the desired port pin, e.g. A1, B12

STEPPER_AB

configures IO pins as output controls of SFDQ in stepper configuration.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• specifies the stepper channel. Only one channel can be used as a PWM stepper. Legal values are integers from 1.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Distance per step. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• A phase output pin. - Alphanumeric identifier of the desired port pin, e.g. A1, B12
• B phase output pin. - Alphanumeric identifier of the desired port pin, e.g. A1, B12

STEPPER_PWM

configures high-power outputs of SFDQ in stepper configuration.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• specifies the stepper channel. Only one channel can be used as a PWM stepper. Legal values are integers from 1.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Distance per step. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• PWM ratio for stepper drive. Legal values are real numbers from 0.0 to 1.0 specified in decimal or in scientific notation (e.g. 1.2E-3)
• Sets behaviour on Idle: 0 = full drive, 1 = half drive, 2 = quarter drive, 3 = no drive. Legal values are integers from 0.0 to 3.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)

STEPPER_STEPDIR

configures IO pins as output controls of SFDQ in stepper configuration.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• specifies the stepper channel. Only one channel can be used as a PWM stepper. Legal values are integers from 1.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Distance per step. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• Step increment output pin. - Alphanumeric identifier of the desired port pin, e.g. A1, B12
• Direction output pin. - Alphanumeric identifier of the desired port pin, e.g. A1, B12

THERMISTOR

Configure an ADC channel to be interpreted as a thermistorBased on modified Steinhart-Hart equation1/T = c0 + c1ln(Rt/R0) + c2ln(Rt/R0)^2 + c3*ln(Rt/R0)^3

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which temperature channel to use. Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Specifies which ADC channel to use. Legal values are integers from 0.0 to 22.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• c0. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• c1. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• c2. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• c3. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

THERMISTORBETA

Configure an ADC channel to be interpreted as a thermistor Parameters: SFDQ Alias, Thermistor index, ADC channel (0 - 14),

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which temperature channel to use. Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Specifies which ADC channel to use. Legal values are integers from 0.0 to 22.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Thermistor beta. Legal values are real numbers from 0.0 to 10000.0 specified in decimal or in scientific notation (e.g. 1.2E-3)
• Thermistor Reference Temperature in Celsius. Legal values are real numbers from 0.0 to 200.0 specified in decimal or in scientific notation (e.g. 1.2E-3)

TRAJECTORY

Configure a trajectory for one of the feedback channels. The trajectory won't start until a TRAJECTORYGO command is issued.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which feedback channel the trajectory is for. Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Setpoint position (absolute). Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• Setpoint speed. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• Delta time. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

TRAJECTORYEQUALIZE

Sets the current trajectory to the present input value.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which feedback channel the trajectory is for. Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)

TRAJECTORYGO

Start any trajectories that have been setup since the last TRAJECTORYGO

Parameters

• None.

TRAJECTORYNOW

Goes to a trajectory location immediatly (within 0.5 seconds)

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which feedback channel the trajectory is for. Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Setpoint position (absolute). Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

TRAJLIN

Configure a linear segement of trajectory for one of the feedback channels. The trajectory won't start until a TRAJECTORYGO command is issued.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies which feedback channel the trajectory is for. Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• Setpoint position (absolute). Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)
• Delta time. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

WAIT

pause execution for the specified time

Parameters

• Time in seconds Legal values are real numbers from 0.0 to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)

WAITFOR

Wait at this line until the specified SFDQ has completed its stepper motion.

Parameters

• Alphanumeric identifier of the desired SFDQ.

ZERO

The current stepper position is set to zero or a specified value.This commmand is temporarily BROKEN. Try again in a later app version.

Parameters

• Alphanumeric identifier of the desired SFDQ.
• Specifies the stepper/feedback channel. Legal values are integers from 0.0 to 7.0 specified in decimal, binary or in hex (e.g. 1234, 0b11001010, 0x7f1e)
• The value to set as the current position. Legal values are real numbers from -Infinity to Infinity specified in decimal or in scientific notation (e.g. 1.2E-3)