`stepseries.commands` – Device Commands

Messages to send to the device.

This module provides dataclass objects that act as templates for you to ‘fill in’ with data. This allows you to focus on WHAT to send, not how.

Some commands will have an extra response_cls attribute. This attribute is used internally in the library, but may be useful for you. It holds the response type, not the actual device response.

All commands that control automatic reporting of the device’s internal state changes have an extra callback attribute. This attribute is a shortcut to automatically register a callback to handle incoming responses from the device.

class stepseries.commands.Activate(motorID: int, state: bool)[source]

Enables or disables the electromagnetic brake.

stepseries.commands.EnableElectromagnetBrake must be enabled for this command to have an effect.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

state: bool

0	Motor engaged, brake released
1	Motor released, brake engaged

class stepseries.commands.EnableBusyReport(motorID: int, enable: bool, callback: Optional[Callable[[...], None]] = None)[source]

Enable or disable the automatic reporting of busy status changes.

Executable Timing

Always

enable: bool

If True, enable the reporting.

Default

False

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of Busy

class stepseries.commands.EnableDirReport(motorID: int, enable: bool, callback: Optional[Callable[[...], None]] = None)[source]

Enable or disable the automatic reporting of direction changes.

Executable Timing

Always

enable: bool

If True, enable the reporting.

Default

False

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of Dir

class stepseries.commands.EnableElectromagnetBrake(motorID: int, enable: bool)[source]

Enable or disable electromagnetic brake operation.

Not to be confused with stepseries.commands.Activate which activates or deactivates the brake.

While enabled, the controller will reply with ERROR_BRAKE_ENGAGED if a movement command is sent without releasing the brake.

Executable Timing

Always

enable: bool

If True, enable the brake.

Default

False

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

class stepseries.commands.EnableHiZReport(motorID: int, enable: bool, callback: Optional[Callable[[...], None]] = None)[source]

Enable or disable the automatic reporting of HiZ status changes.

Executable Timing

Always

enable: bool

If True, enable the reporting.

Default

False

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of HiZ

class stepseries.commands.EnableHomeSwReport(motorID: int, enable: bool, callback: Optional[Callable[[...], None]] = None)[source]

Enable or disable the automatic reporting of home switch changes.

Also see stepseries.commands.EnableSwEventReport.

Executable Timing

Always

enable: bool

If True, enable the reporting.

Default

False

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of HomeSw

class stepseries.commands.EnableLimitSwReport(motorID: int, enable: bool, callback: Optional[Callable[[...], None]] = None)[source]

Enable or disable automatic reporting of limit switch changes.

STEP400 Only

Executable Timing

Always

enable: bool

If True, enable the reporting.

Default

False

motorID: int

STEP400

1-4, 255

response_cls: alias of LimitSw

class stepseries.commands.EnableLowSpeedOptimize(motorID: int, enable: bool)[source]

Enable or disable low speed optimization.

At very low speeds with minimal drive voltage, motors tend to have difficulty maintaining smooth operation due to phase current distortion. This optimizer attempts to compensate for that. When enabled, the minimum speed of the speed profile is forced to zero.

See the datasheet for more details.

Executable Timing

Stopped

enable: bool

If True, enable the optimizer.

Default

False

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of LowSpeedOptimizeThreshold

class stepseries.commands.EnableMotorStatusReport(motorID: int, enable: bool, callback: Optional[Callable[[...], None]] = None)[source]

Enable or disable the automatic reporting of motor op changes.

The reports are sent when the motor changes its current op like acceleration, constant speed, deceleration or stopping.

Executable Timing

Always

enable: bool

If True, enable the reporting.

Default

False

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of MotorStatus

class stepseries.commands.EnableOverCurrentReport(motorID: int, enable: bool, callback: Optional[Callable[[...], None]] = None)[source]

Enable or disable the automatic reporting of overcurrent events.

Overcurrent events are sent whenever the motor driver exceeds the configured threshold. This threshold can be set using stepseries.commands.SetOverCurrentThreshold.

When overcurrent draw is detected, the device automatically enters a HiZ state with or without notification.

This report is enabled by default.

Executable Timing

Always

enable: bool

If True, enable the reporting.

Default

True

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of OverCurrent

class stepseries.commands.EnableServoMode(motorID: int, enable: bool)[source]

Enable or disable servo mode (position tracking mode).

It is not possible to send other control commands such as stepseries.commands.Run or stepseries.commands.GoTo when in this mode.

Executable Timing

Always

enable: bool

If True, enable servo mode.

Default

False

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

class stepseries.commands.EnableStallReport(motorID: int, enable: bool, callback: Optional[Callable[[...], None]] = None)[source]

Enable or disable the automatic reporting of stall events.

The threshold can be set with stepseries.commands.SetStallThreshold.

Executable Timing

Always

enable: bool

If True, enable the reporting.

Default

False

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of Stall

class stepseries.commands.EnableSwEventReport(motorID: int, enable: bool, callback: Optional[Callable[[...], None]] = None)[source]

Enable or disable the automatic reporting of home switch changes.

While very similar to stepseries.commands.EnableHomeSwReport which polls the motor driver for the status of the home switch, this report essentially “listens” for a notification from the motor driver chip. This report is able to detect the closure of the home switch in under 1ms.

Executable Timing

Always

enable: bool

If True, enable the reporting.

Default

False

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of SwEvent

class stepseries.commands.EnableThermalStatusReport(motorID: int, enable: bool, callback: Optional[Callable[[...], None]] = None)[source]

Enable or disable the automatic reporting of thermal statuses.

Thermal status events are sent whenever the motor driver exceeds certain temperature thresholds. Note that these thresholds are different between the STEP400 and STEP800.

Two thresholds will automatically shut down the driver or device when crossed and the corresponding motor(s) will be placed into a HiZ state with or without notification. It is HIGHLY recommended to put the included heatsinks on each motor driver chip to avoid hitting these thermal thresholds.

This report is enabled by default.

Executable Timing

Always

STEP400:

TH_STATUS	Description	Enable Threshold	Disable Threshold
0	Normal
1	Warning	135°C	125°C
2	Bridge shutdown	155°C	145°C
3	Device shutdown	170°C	130°C

STEP800:

TH_STATUS	Description	Enable Threshold	Disable Threshold
0	Normal
1	Warning	130°C	130°C
2	Bridge shutdown	160°C	130°C

enable: bool

If True, enable the reporting.

Default

True

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of ThermalStatus

class stepseries.commands.EnableUvloReport(motorID: int, enable: bool, callback: Optional[Callable[[...], None]] = None)[source]

Enable or disable the automatic reporting of undervoltage events.

Undervoltage lockouts (UVLO) occur when the voltage supply to the motor falls below the UVLO turn-off threshold. In this state, the motor cannot be operated. UVLO will be reset when the voltage supply again rises above that threshold.

This report is enabled by default.

Executable Timing

Always

enable: bool

If True, enable the reporting.

Default

True

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of Uvlo

class stepseries.commands.Free(motorID: int)[source]

Releases both the motor and brake.

Warning

If any load is attached to the motor, it will no longer be held when this command is sent.

stepseries.commands.EnableElectromagnetBrake must be enabled for this command to have an effect.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

class stepseries.commands.GetAdcVal(motorID: int)[source]

Retrieves ADC_OUT register values for a motor.

ADC_OUT stores the 5-bit AD-converted voltage reading from the ADC pin on the motor driver chip. In the STEP400, this pin is pulled up with a 10kΩ resistor wired directly to the LIMITSW connector. In the STEP800, this pin is tied to GND and will always be 0V.

Note

This command is only meant for debugging purposes. Most users should avoid this command.

Executable Timing

Always

motorID: int

STEP400

1-4, 255

response_cls: alias of AdcVal

class stepseries.commands.GetBemfParam(motorID: int)[source]

Retrieves the BEMF compensation register.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of BemfParam

class stepseries.commands.GetBrakeTransitionDuration(motorID: int)[source]

Retrieve the brake transition duration.

Due to the physical transition time of the brake, the motor needs to be engaged to cover this period which this command retrieves.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of BrakeTransitionDuration

class stepseries.commands.GetBusy(motorID: int)[source]

Retrieve the busy status of a motor.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of Busy

class stepseries.commands.GetConfigName[source]

Retrieve the name of the microSD config file on the controller.

Executable Timing

Always

response_cls: alias of ConfigName

class stepseries.commands.GetConfigRegister(motorID: int)[source]

Retrieves the CONFIG register values for a motor.

This register stores information about motor, alaram, and switch statuses.

Note

This command is only meant for debugging purposes. Most users should avoid this command.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of ConfigRegister

class stepseries.commands.GetDecayModeParam(motorID: int)[source]

Retrieves the current control algorithm parameters.

STEP400 Only

Executable Timing

Always

motorID: int

STEP400

1-4, 255

response_cls: alias of DecayModeParam

class stepseries.commands.GetDir(motorID: int)[source]

Retrieve the current direction of a motor.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of Dir

class stepseries.commands.GetElPos(motorID: int)[source]

Retrieve the current electrical position of the motor.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of ElPos

class stepseries.commands.GetFullstepSpeed(motorID: int)[source]

Retrieves the switch threshold of microstepping to fullstepping.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of FullstepSpeed

class stepseries.commands.GetGoUntilTimeout(motorID: int)[source]

Retrieve the timeout for stepseries.commands.GoUntil.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of GoUntilTimeout

class stepseries.commands.GetHiZ(motorID: int)[source]

Retrieve the HiZ status of a motor.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of HiZ

class stepseries.commands.GetHomeSw(motorID: int)[source]

Retrieve the status of the home switch.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of HomeSw

class stepseries.commands.GetHomeSwMode(motorID: int)[source]

Retrieve the configured mode for the home switch.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of HomeSwMode

class stepseries.commands.GetHomingDirection(motorID: int)[source]

Retrieve the homing direction for a motor.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of HomingDirection

class stepseries.commands.GetHomingSpeed(motorID: int)[source]

Retrieve the homing speed for a motor.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of HomingSpeed

class stepseries.commands.GetHomingStatus(motorID: int)[source]

Retrieve the homing status of a motor.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of HomingStatus

class stepseries.commands.GetKval(motorID: int)[source]

Retrieves the four KVAL parameters for a specified motor.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of Kval

class stepseries.commands.GetLimitSw(motorID: int)[source]

Retrieve the status of the limit switch.

STEP400 Only

Executable Timing

Always

motorID: int

STEP400

1-4, 255

response_cls: alias of LimitSw

class stepseries.commands.GetLimitSwMode(motorID: int)[source]

Retrieve the configured mode for the limit switch.

STEP400 Only

Executable Timing

Always

motorID: int

STEP400

1-4, 255

response_cls: alias of LimitSwMode

class stepseries.commands.GetLowSpeedOptimizeThreshold(motorID: int)[source]

Retrieve the low speed optimization threshold.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of LowSpeedOptimizeThreshold

class stepseries.commands.GetMark(motorID: int)[source]

Retrieve the MARK position.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of Mark

class stepseries.commands.GetMicrostepMode(motorID: int)[source]

Retrieves the configured microstepping mode for a motor.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of MicrostepMode

class stepseries.commands.GetMinSpeed(motorID: int)[source]

Retrieve the minimum speed of the speed profile.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of MinSpeed

class stepseries.commands.GetMotorStatus(motorID: int)[source]

Retrieve the current op status of a motor.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of MotorStatus

class stepseries.commands.GetOverCurrentThreshold(motorID: int)[source]

Retrieve the overcurrent threshold for a motor.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of OverCurrentThreshold

class stepseries.commands.GetPosition(motorID: int)[source]

Retrieve the current position of the motor.

Alternatively, stepseries.commands.SetPositionReportInterval can be configured to periodically send the current position.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of Position

class stepseries.commands.GetPositionList[source]

Retrieve the current positions for ALL motors.

Alternatively, stepseries.commands.SetPositionListReportInterval can be configured to periodically send the current position.

Executable Timing

Always

response_cls: alias of PositionList

class stepseries.commands.GetProhibitMotionOnHomeSw(motorID: int)[source]

Retrieve if motion towards the homing direction is disabled when the home switch is activated.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of ProhibitMotionOnHomeSw

class stepseries.commands.GetProhibitMotionOnLimitSw(motorID: int)[source]

Retrieve if motion in the opposite of the homing direction is disabled when the limit switch is activated.

STEP400 Only

Executable Timing

Always

motorID: int

STEP400

1-4, 255

response_cls: alias of ProhibitMotionOnLimitSw

class stepseries.commands.GetReleaseSwTimeout(motorID: int)[source]

Retrieve the timeout for stepseries.commands.ReleaseSw.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of ReleaseSwTimeout

class stepseries.commands.GetServoParam(motorID: int)[source]

Retrieve the servo PID control parameters.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of ServoParam

class stepseries.commands.GetSpeed(motorID: int)[source]

Retrieve the current motor speed.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of Speed

class stepseries.commands.GetSpeedProfile(motorID: int)[source]

Retrieves all three speed profile settings.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of SpeedProfile

class stepseries.commands.GetStallThreshold(motorID: int)[source]

Retrieve the stall threshold for a motor.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of StallThreshold

class stepseries.commands.GetStatus(motorID: int)[source]

Retrieves the status of the motor driver chip on the device.

This status includes the op status of the motor, alarms and, switches.

Note

This command is only meant for debugging purposes. Most users should avoid this command.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of Status

class stepseries.commands.GetThermalStatus(motorID: int)[source]

Retrieves the thermal status of motor.

Note that these thresholds are different between the STEP400 and STEP800.

Executable Timing

Always

STEP400:

TH_STATUS	Description	Enable Threshold	Disable Threshold
0	Normal
1	Warning	135°C	125°C
2	Bridge shutdown	155°C	145°C
3	Device shutdown	170°C	130°C

STEP800:

TH_STATUS	Description	Enable Threshold	Disable Threshold
0	Normal
1	Warning	130°C	130°C
2	Bridge shutdown	160°C	130°C

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of ThermalStatus

class stepseries.commands.GetTval(motorID: int)[source]

Retrieves the configuration for all four TVAL parameters.

STEP400 Only

Executable Timing

Always

motorID: int

STEP400

1-4, 255

response_cls: alias of Tval

class stepseries.commands.GetTval_mA(motorID: int)[source]

Retrieves the configuration for all four TVAL parameters.

Unlike stepseries.commands.GetTval, this returns the actual current values (in mA), not the register values.

STEP400 Only

Executable Timing

Always

motorID: int

STEP400

1-4, 255

response_cls: alias of Tval_mA

class stepseries.commands.GetUvlo(motorID: int)[source]

Retrieves the current state of UVLO.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of Uvlo

class stepseries.commands.GetVersion[source]

Retrieve the current firmware version of the controller.

Executable Timing

Always

response_cls: alias of Version

class stepseries.commands.GoHome(motorID: int)[source]

Send this motor to its origin (zero) point.

Executable Timing

Not Busy

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

class stepseries.commands.GoMark(motorID: int)[source]

Send this motor to its MARK positon.

Executable Timing

Not Busy

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

class stepseries.commands.GoTo(motorID: int, position: int)[source]

Moves to the specified position in the shortest route possible.

-2097152 and 2097151 are next to each other in the driver chip, like how 0 and 360 are on a circle. This means if you specify 2097000 and the motor is currently at -2097000, then the motor will move to -2097152, then 2097151, and finally 2097000.

Alternatively, stepseries.commands.GoToDir can be used to specific the direction in addition to the position.

Keeps the motor in the ‘BUSY’ state until the specified position has been reached.

Executable Timing

Not Busy

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

position: int

Valid Range

-2097152 - 2097151

class stepseries.commands.GoToDir(motorID: int, DIR: bool, position: int)[source]

Moves to specified position in the specified direction.

-2097152 and 2097151 are next to each other in the driver chip, like how 0 and 360 are on a circle. As an example, if you specify 2097000, True (forward) and the motor is currently at -2097000, then the motor will move to -2000000, then 0, and finally 2097000.

Alternatively, stepseries.commands.GoTo will automatically determine the shortest route (around that ‘circle’).

Keeps the motor in the ‘BUSY’ state until the specified position has been reached.

Executable Timing

Not Busy

DIR: bool: True for forward, False for backward.

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

position: int

Valid Range

-2097152 - 2097151

class stepseries.commands.GoUntil(motorID: int, ACT: bool, speed: float)[source]

Run a motor until the HOME switch activates or times out.

The motor will run at the speed and direction according to the speed parameter.

By default, the motor will soft stop unless if stepseries.commands.SetSwMode is set to 0.

The timeout for this command can be set using stepseries.commands.SetGoUntilTimeout.

This command is not influenced by stepseries.commands.SetHomingSpeed or stepseries.commands.SetHomingDirection.

The motor is kept in a BUSY state until this command finishes.

Executable Timing

Always

ACT: bool

The action to take when the HOME switch activates.

0	Set the origin (home) position here
1	Copy the current position to the MARK register

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

speed: float

The direction and speed to run.

Direction can be set by specifying a positive or negative value.

Valid Range	-15625.0 - 15625.0 [steps/s]
Default	100 [steps/s]

class stepseries.commands.HardHiZ(motorID: int)[source]

Immediately stops the motor.

When stopped, the motor’s excitation is released. If the electromagnetic brake is enabled, then the brake is put into a hold state before excitation is released. Transitions to HiZ after excitation is released. Remains in the BUSY state until the motor stops.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

class stepseries.commands.HardStop(motorID: int)[source]

Immediately stops the motor.

After stopping, the motor is kept in an excited state if it was originally in a HiZ state.

If it was in servo mode, then the mode will be released.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

class stepseries.commands.Homing(motorID: int)[source]

Start homing the motor.

The motor will start moving towards the origin point and then stop when the HOME switch activates. The motor will then slowly reverse until the HOME switch releases. The home point will be set to this point.

This command is essentially the combined functionality of stepseries.commands.GoUntil and stepseries.commands.ReleaseSw.

Homing direction and speed can be set with stepseries.commands.SetHomingDirection and stepseries.commands.SetHomingSpeed, respectively; or configured with the Config Tool.

If the motor does not reach the HOME switch before stepseries.commands.SetGoUntilTimeout or release the HOME switch before stepseries.commands.SetReleaseSwTimeout, then the controller will halt the motor’s movements.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

class stepseries.commands.Move(motorID: int, step: int)[source]

Move the motor the specified number of steps.

Keeps the motor in the ‘BUSY’ state until the specified steps has been reached.

Executable Timing

Stopped

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

class stepseries.commands.OSCCommand[source]

An abstract class meant to be implemented by OSC command objects.

If implementing your own command, it must inherit this class.

build() → OscMessage[source]: Converts the builder to a usable OSC message.

stringify() → str[source]: Converts the builder to an OSC message string.

class stepseries.commands.OSCGetCommand[source]: A command that only performs get functions on the device.

class stepseries.commands.OSCSetCommand[source]: A command that only performs set functions on the device.

class stepseries.commands.ReleaseSw(motorID: int, ACT: bool, DIR: bool)[source]

Move at a minimum speed until the HOME switch releases.

On release, the controller will hard stop the motor and then process the motor’s position according to ACT.

The timeout for this command can be set using stepseries.commands.SetReleaseSwTimeout.

This command is not influenced by stepseries.commands.SetHomingSpeed or stepseries.commands.SetHomingDirection.

The motor is kept in a BUSY state until this command finishes.

Executable Timing

Always

ACT: bool

The action to take when the HOME switch releases.

0	Set the origin (home) position here
1	Copy the current position to the MARK register

DIR: bool: True or False, depending on your environment.

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

class stepseries.commands.ReportError(enable: bool, callback: Optional[Callable[[...], None]] = None)[source]

Enable or disable automatic reports for command errors.

Executable Timing

Always

enable: bool

If True, enable the reporting.

Default

False

class stepseries.commands.ResetDevice[source]

Resets the entire device.

A programmatic version of physically pressing the RESET button.

Executable Timing

Always

response_cls: alias of Booted

class stepseries.commands.ResetMotorDriver(motorID: int)[source]

Resets the specified motor driver chip and resets defaults.

Note

This command is only meant for debugging purposes. Most users should avoid this command.

Executable Timing

Always

Deprecated

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

class stepseries.commands.ResetPos(motorID: int)[source]

Resets the motor’s position to 0.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

class stepseries.commands.Run(motorID: int, speed: float)[source]

Run the motor at a constant speed.

The motor follows the configured speed profile set with stepseries.commands.SetSpeedProfile.

Keeps the motor in the ‘BUSY’ state until speed has been reached.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

speed: float

Speed to run the motor at.

Negative values run the motor in reverse. Limited by the maximum and minimum speed set in the speed profile.

Valid Range

-15625.0 - 15625.0 [steps/s]

class stepseries.commands.SetAcc(motorID: int, acc: float)[source]

Sets the acceleration of the speed profile.

Executable Timing

Stopped

acc: float

Acceleration.

Valid Range	14.55 - 59590 [steps/s/s]
Default	2000 [steps/s/s]

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

class stepseries.commands.SetBemfParam(motorID: int, INT_SPEED: int, ST_SLP: int, FN_SLP_ACC: int, FN_SLP_DEC: int)[source]

Sets the BEMF compensation register.

BEMF only applies when the motor controller is in voltage mode. This goes without saying BEMF always applies on the STEP800.

Executable Timing

Always

FN_SLP_ACC: int

FN_SLP_ACC register.

Valid Range	0-255
Default	41

FN_SLP_DEC: int

FN_SLP_DEC register.

Valid Range	0-255
Default	41

INT_SPEED: int

INT_SPEED register.

Valid Range	0-16383
Default	1032

ST_SLP: int

ST_SLP register.

Valid Range	0-255
Default	25

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

class stepseries.commands.SetBrakeTransitionDuration(motorID: int, duration: int)[source]

Duration to keep the motor activated while the brake transitions.

Due to the physical transition time of the brake, the motor needs to be engaged to cover this period.

Executable Timing

Always

duration: int

Valid Range	0-10000 [ms]
Default	100 [ms]

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

class stepseries.commands.SetCurrentMode(motorID: int)[source]

Switch a specific motor into current mode.

STEP400 Only

Note

The STEP800 is always in voltage mode and cannot be switched.

Executable Timing

Always

motorID: int

STEP400

1-4, 255

class stepseries.commands.SetDec(motorID: int, dec: float)[source]

Sets the deceleration of the speed profile.

Executable Timing

Stopped

dec: float

Deceleration.

Valid Range	14.55 - 59590 [steps/s/s]
Default	2000 [steps/s/s]

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

class stepseries.commands.SetDecayModeParam(motorID: int, T_FAST: int, TON_MIN: int, TOFF_MIN: int)[source]

Sets the current control algorithm parameters.

STEP400 Only

Decay mode only applies when the motor controller is in current mode. This goes without saying decay mode never applies on the STEP800.

Executable Timing

HiZ

TOFF_MIN: int

TOFF_MIN register value.

Valid Range	0-255
Default	41

TON_MIN: int

TON_MIN register value.

Valid Range	0-255
Default	41

T_FAST: int

T_FAST register value.

Valid Range	0-255
Default	25

motorID: int

STEP400

1-4, 255

class stepseries.commands.SetDestIP[source]

Set the destination IP address for the device’s responses.

Query replies, internal state reports, or command errors are sent to this destination IP. Typically this is the IP address of your computer. Upon receipt, the device will reply with a stepseries.responses.DestIP. object.

Until this command is sent, no OSC messages will be sent from the device with the exception being responses.Booted. The Config Tool allows you to configure whether the device should wait for this command.

Note: The library will return before stepseries.responses.DestIP is received. This behavior will be changed in a future update.

Executable Timing

Always

response_cls: alias of DestIP

class stepseries.commands.SetElPos(motorID: int, newFullstep: int, newMicrostep: int)[source]

Set the electrical position of the motor.

Microstepping is expressed as step/128 and the value must match the current microstep mode.

Executable Timing

Stopped

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

newFullstep: int

Valid Range

0 - 3

newMicrostep: int

Valid Range

0 - 127

class stepseries.commands.SetFullstepSpeed(motorID: int, fullstepSpeed: float)[source]

Sets the threshold when microstepping switches to full stepping.

Executable Timing

Always

fullstepSpeed: float

Full-step speed.

Valid Range	7.63 - 15625 [steps/s]
Default	15625 [steps/s]

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

class stepseries.commands.SetGoUntilTimeout(motorID: int, timeOut: int)[source]

Set the timeout for stepseries.commands.GoUntil.

If the HOME switch is not activated before this timeout, then the controller stops the motor’s movements. Specify 0 to disable the timeout.

Can also be configured with the Config Tool.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

timeOut: int

How long to wait for the HOME switch to activate.

Valid Range	0 - 4294967295 [ms]
Default	10000 [ms]

class stepseries.commands.SetHomeSwMode(motorID: int, SW_MODE: bool)[source]

Configure whether to stop immediately on home switch release.

Executable Timing

HiZ

SW_MODE: bool

If True, do not stop.

False	Hard stop the motor
True	Do not stop
Default	True

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

class stepseries.commands.SetHomingDirection(motorID: int, direction: bool)[source]

Sets the homing direction for homing.

Can also be configured with the Config Tool.

Executable Timing

Always

direction: bool

True or False, depending on your environment.

Default

False

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

class stepseries.commands.SetHomingSpeed(motorID: int, speed: float)[source]

Set the homing speed for a motor.

Can also be configured with the Config Tool.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

speed: float

Speed to run at.

Valid Range	0.0 - 15625.0 [steps/s]
Default	100.0 [steps/s]

class stepseries.commands.SetKval(motorID: int, holdKVAL: int, runKVAL: int, accKVAL: int, decKVAL: int)[source]

Sets the configuration for all four KVAL parameters.

KVAL only applies when the motor controller is in voltage mode. This goes without saying KVAL always applies on the STEP800.

Executable Timing

Always

accKVAL: int

KVAL for accelerating the motor’s speed.

Valid Range	0-255
Default	16

decKVAL: int

KVAL for decelerating the motor’s speed.

Valid Range	0-255
Default	16

holdKVAL: int

KVAL for holding the motor’s position.

Valid Range	0-255
Default	16

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

runKVAL: int

KVAL for maintaining the motor’s speed.

Valid Range	0-255
Default	16

class stepseries.commands.SetLimitSwMode(motorID: int, SW_MODE: bool)[source]

Configure whether to stop immediately on limit switch activated.

STEP400 Only

Executable Timing

Always

SW_MODE: bool

If True, do not stop.

False	Hard stop the motor
True	Do not stop
Default	True

motorID: int

STEP400

1-4, 255

class stepseries.commands.SetLowSpeedOptimizeThreshold(motorID: int, lowSpeedOptimizationThreshold: float)[source]

Set the threshold for phase current distortion compensation.

At very low speeds with minimal drive voltage, motors tend to have difficulty maintaining smooth operation due to phase current distortion. This optimizer attempts to compensate for that.

Note

Make sure to enable this optimizer with stepseries.commands.EnableLowSpeedOptimize.

Executable Timing

Motor is stopped

lowSpeedOptimizationThreshold: float

Valid Range	0.0 - 976.3 [steps/s]
Default	0 [steps/s]

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

class stepseries.commands.SetMark(motorID: int, MARK: int)[source]

Set the MARK register to an arbitrary position.

This register allows you store one position. Each write overwrites the last position set to this register.

Executable Timing

Always

MARK: int: Point to be set.

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

class stepseries.commands.SetMaxSpeed(motorID: int, maxSpeed: float)[source]

Set the maximum speed of the speed profile.

Executable Timing

Always

maxSpeed: float

Maximum speed.

Valid Range	15.25 - 15610 [steps/s]
Default	620 [steps/s]

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

class stepseries.commands.SetMicrostepMode(motorID: int, STEP_SEL: int)[source]

Sets the microstepping mode.

Voltage mode allows microstepping up to 1/128 which is also the default. Current mode only allows microstepping up to 1/16.

Executable Timing

Always

STEP_SEL: int

The microstep mode to run the motor at.

STEP_SEL	Mode Description
0	1/1 microstep (full-step)
1	1/2 microstep
2	1/4 microstep
3	1/8 microstep
4	1/16 microstep
5	1/32 microstep
6	1/64 microstep
7	1/128 microstep

Default

1/128 microstep

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

class stepseries.commands.SetMinSpeed(motorID: int, minSpeed: float)[source]

Sets the minimum speed of the speed profile.

Also used for the motor speed of stepseries.commands.ReleaseSw.

If stepseries.commands.EnableLowSpeedOptimize is enabled, the this is automatically set to zero.

Executable Timing

Stopped

minSpeed: float

Minimum speed.

Valid Range	0 - 976.3 [steps/s]
Default	0 [steps/s]

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

class stepseries.commands.SetOverCurrentThreshold(motorID: int, OCD_TH: int)[source]

Sets the overcurrent detection threshold.

Note that these thresholds are different between the STEP400 and STEP800.

Executable Timing

Always

OCD_TH: int

The overcurrent threshold.

STEP400:

OCD_TH	Threshold
0	312.5 mA
1	625 mA
…	…
30	9.6875 A
31	10 A
Default	15 (5A)

STEP800:

OCD_TH	Threshold
0	375 mA
1	750 mA
…	…
30	5.625 A
31	6 A
Default	7 (3A)

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

class stepseries.commands.SetPosition(motorID: int, newPosition: int)[source]

Overwrites the motor’s current position.

Executable Timing

Stopped

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

newPosition: int

Position to override with.

Valid Range

-2097152 - 2097151

class stepseries.commands.SetPositionListReportInterval(interval: int, callback: Optional[Callable[[...], None]] = None)[source]

Periodically send the current positions of all motors.

When enabled, stepseries.commands.SetPositionReportInterval will be disabled.

Executable Timing

Always

interval: int

Time interval between reports.

When set to 0, this reporting is disabled.

Valid Range	0-2147483647 [ms]
Default	0 [ms]

response_cls: alias of PositionList

class stepseries.commands.SetPositionReportInterval(motorID: int, interval: int, callback: Optional[Callable[[...], None]] = None)[source]

Periodically send the current position of a motor.

When enabled, stepseries.commands.SetPositionListReportInterval will be disabled.

Executable Timing

Always

interval: int

Time interval between reports.

When set to 0, this reporting is disabled.

Valid Range	0-2147483647 [ms]
Default	0 [ms]

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

response_cls: alias of Position

class stepseries.commands.SetProhibitMotionOnHomeSw(motorID: int, enable: bool)[source]

Prohibit motion towards the homing direction when the home sensor is activated.

The direction to the origin point can be configured using the Config Tool or with stepseries.commands.SetHomingDirection.

Executable Timing

Always

enable: bool

If True, disable motion in the origin direction.

Default

False

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

class stepseries.commands.SetProhibitMotionOnLimitSw(motorID: int, enable: bool)[source]

Prohibit motion in the opposite direction of the homing direction when the limit sensor is activated.

The direction to the origin point can be configured using the Config Tool or with stepseries.commands.SetHomingDirection.

STEP400 Only

Executable Timing

Always

enable: bool

If True, disable motion in the LIMIT switch direction.

Default

False

motorID: int

STEP400

1-4, 255

class stepseries.commands.SetReleaseSwTimeout(motorID: int, timeOut: int)[source]

Set the timeout for stepseries.commands.ReleaseSw.

If the HOME switch is not releaseed before this timeout, then the controller stops the motor’s movements. Specify 0 to disable the timeout.

Can also be configured with the Config Tool.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

timeOut: int

How long to wait for the HOME switch to activate.

Valid Range	0 - 4294967295 [ms]
Default	10000 [ms]

class stepseries.commands.SetServoParam(motorID: int, kP: float, kI: float, kD: float)[source]

Configure the servo PID control parameters.

Executable Timing

Always

kD: float

Derivative gain.

Valid Range	0-
Default	0.0

kI: float

Integral gain.

Valid Range	0-
Default	0.0

kP: float

Proportional gain.

Valid Range	0-
Default	0.06

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

class stepseries.commands.SetSpeedProfile(motorID: int, acc: float, dec: float, maxSpeed: float)[source]

Sets multiple speed profile settings at once.

Acceleration, deceleration and max speed can all be set at once using this command.

Executable Timing

Stopped

acc: float

Acceleration.

Valid Range	14.55 - 59590 [steps/s/s]
Default	2000 [steps/s/s]

dec: float

Deceleration.

Valid Range	14.55 - 59590 [steps/s/s]
Default	2000 [steps/s/s]

maxSpeed: float

Maximum speed.

Valid Range	15.25 - 15610 [steps/s]
Default	620 [steps/s]

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

class stepseries.commands.SetStallThreshold(motorID: int, STALL_TH: int)[source]

Sets the stall detection threshold.

Note that these thresholds are different between the STEP400 and STEP800.

Executable Timing

Always

STALL_TH: int

The stall threshold.

STEP400:

STALL_TH	Threshold
0	312.5 mA
1	625 mA
…	…
30	9.6875 A
31	10 A
Default	31 (10A)

STEP800:

STALL_TH	Threshold
0	31.25 mA
1	62.5 mA
…	…
126	3.969 A
127	4 A
Default	127 (4A)

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

class stepseries.commands.SetTargetPosition(motorID: int, position: int)[source]

Set the target position to go to when in servo mode.

stepseries.commands.EnableServoMode must be enabled for this command to have an effect.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

position: int

Valid Range

-2097152 - 2097151

class stepseries.commands.SetTargetPositionList(position1: int, position2: int, position3: int, position4: int, position5: Optional[int] = None, position6: Optional[int] = None, position7: Optional[int] = None, position8: Optional[int] = None)[source]

Set the target positions of all motors at once.

Note

If using the STEP400, positions 5-8 do not need to be configured.

position1: int

Valid Range

-2097152 - 2097151

position2: int

Valid Range

-2097152 - 2097151

position3: int

Valid Range

-2097152 - 2097151

position4: int

Valid Range

-2097152 - 2097151

position5: int = None

STEP800 only

Valid Range

-2097152 - 2097151

position6: int = None

STEP800 only

Valid Range

-2097152 - 2097151

position7: int = None

STEP800 only

Valid Range

-2097152 - 2097151

position8: int = None

STEP800 only

Valid Range

-2097152 - 2097151

class stepseries.commands.SetTval(motorID: int, holdTVAL: int, runTVAL: int, accTVAL: int, setDecTVAL: int)[source]

Sets the configuration for all four TVAL parameters.

STEP400 Only

TVAL only applies when the motor controller is in current mode. This goes without saying TVAL never applies on the STEP800.

Executable Timing

Always

accTVAL: int

TVAL for accelerating the motor’s speed.

Valid Range	0-127
Default	16

holdTVAL: int

TVAL for holding the motor’s position.

Valid Range	0-127
Default	16

motorID: int

STEP400

1-4, 255

runTVAL: int

TVAL for maintaining the motor’s speed.

Valid Range	0-127
Default	16

setDecTVAL: int

TVAL for decelerating the motor’s speed.

Valid Range	0-127
Default	16

class stepseries.commands.SetVoltageMode(motorID: int)[source]

Switch a specific motor into voltage mode.

STEP400 Only

Note

The STEP800 is always in voltage mode and cannot be switched.

Executable Timing

Always

motorID: int

STEP400

1-4, 255

class stepseries.commands.SoftHiZ(motorID: int)[source]

Stops the motor according to the speed profile.

When stopped, the motor’s excitation is released. If the electromagnetic brake is enabled, then the brake is put into a hold state before excitation is released. Transitions to HiZ after excitation is released. Remains in the BUSY state until the motor stops.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

class stepseries.commands.SoftStop(motorID: int)[source]

Stops the motor according to the speed profile.

After decelerating and stopping, the motor is kept in an excited state if it was originally in a HiZ state. Remains in the BUSY state until the motor stops.

If it was in servo mode, then the mode will be released.

Executable Timing

Always

motorID: int

STEP400	1-4, 255
STEP800	1-8, 255

`stepseries.exceptions` – Device Errors

Custom exceptions raised by this library.

exception stepseries.exceptions.ClientClosedError[source]: The client’s connection is not open.

exception stepseries.exceptions.ClientNotFoundError[source]: The requested client could not be found.

exception stepseries.exceptions.InvalidCommandError[source]: The command cannot be executed.

exception stepseries.exceptions.ParseError[source]: Failed to parse the message from the device.

exception stepseries.exceptions.StepSeriesException[source]: Base exception for the library.

`stepseries.responses` – Device Responses

Messages received from the device.

class stepseries.responses.AdcVal(*args, **kwargs)[source]

The ADC_OUT register value from the motor driver chip.

ADC_OUT: int

Range	Description
0-31	5-bit read out of the ADC_OUT register

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

class stepseries.responses.BemfParam(*args, **kwargs)[source]

Register values for the BEMF parameter.

FN_SLP_ACC: int

Range	Description
0-255 (0xFF)	FN_SLP_ACC register value

FN_SLP_DEC: int

Range	Description
0-255 (0xFF)	FN_SLP_DEC register value

INT_SPEED: int

Range	Description
0-16383 (0x3FFF)	INT_SPEED register value

ST_SLP: int

Range	Description
0-255 (0xFF)	ST_SLP register value

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

class stepseries.responses.Booted(*args, **kwargs)[source]

Sent when the device (re)starts.

This message is sent regardless if stepseries.commands.SetDestIP has been recieved. By watching for this message, you can determine when the device restarts even if unexpectedly.

When the firmware has started and an ethernet uplink is confirmed, this message will be sent.

This is a broadcast message meaning it is sent to all devices on the subnet (address 255.255.255.255). If this is unacceptable for your network, you can disable it via the Config Tool.

deviceID: int

Range	Description
0-255	The device ID set by the DIP switch

class stepseries.responses.BrakeTransitionDuration(*args, **kwargs)[source]

The transitional duration when switching the brake mode.

duration: int: 0.0-10000.0 ms

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

class stepseries.responses.Busy(*args, **kwargs)[source]

The BUSY state of a motor.

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

state: int

Range	Description
0-1	1: BUSY, 0: Not BUSY

class stepseries.responses.ConfigName(*args, **kwargs)[source]

Metadata about the configuration file.

configFileOpenSucceeded: int: If the device could open the configuration file.

configFileParseSucceeded: int: If the configuration was successfully parsed.

configName: str: Name of the configuration.

sdInitializeSucceeded: int: If the microSD card was successfully read.

class stepseries.responses.ConfigRegister(*args, **kwargs)[source]

The 16-bit CONFIG register value from the motor driver.

CONFIG: int: 0-65535 (0xFFFF)

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

class stepseries.responses.DecayModeParam(*args, **kwargs)[source]

Register values (parameters) for the current control algorithm.

TOFF_MIN: int

Range	Description
0-255 (0xFF)	TOFF_MIN register value

TON_MIN: int

Range	Description
0-255 (0xFF)	TON_MIN register value

T_FAST: int

Range	Description
0-255 (0xFF)	T_FAST register value

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

class stepseries.responses.DestIP(*args, **kwargs)[source]

Confirmation stepseries.commands.SetDestIP has been recieved.

destIp0: int: The first octet of the IP address set.

destIp1: int: The second octet of the IP address set.

destIp2: int: The third octet of the IP address set.

destIp3: int: The fourth octet of the IP address set.

isNewDestIp: int: Indicates if the IP address has changed from what is already set.

class stepseries.responses.Dir(*args, **kwargs)[source]

The direction of a motor.

direction: int

Range	Description
0-1	1: Forward, 0: Reverse

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

class stepseries.responses.ElPos(*args, **kwargs)[source]

The electrical position of the motor.

fullstep: int

Range	Description
0-3	Fullstep position

microstep: int

Range	Description
0-127	Microstep position

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

exception stepseries.responses.ErrorCommand(*args, **kwargs)[source]

Sent if an error is detected while executing a command.

Can be enabled or disabled with stepseries.commands.ReportError.

errorText: str

errorText	Description
CommandIgnored	The command is currently not executable. Also refer to the `Timing` section.
MotorIdNotMatch	Motor ID is not appropriate.
BrakeEngaging	A motion command was sent while the electromagnetic brake was active.
HomeSwActivating	A motion command to move in the homing direction was sent while the home sensor is active.
LimitSwActivating	A motion command to move in the opposite of the homing direction was sent while the limit sensor is active.
GoUntilTimeout	Timed out while executing `/goUntil` command.
ReleaseSwTimeout	Timed out while executing `/releaseSw` command.
InServoMode	Received a command which can not be executed while servo mode.

motorID: int = None

Controller	Motor Range
STEP400	1-4
STEP800	1-8

exception stepseries.responses.ErrorOSC(*args, **kwargs)[source]

Sent if any error is detected in the OSC command.

errorText: str

errorText	Description
messageNotMatch	There is no corresponding command
oscSyntaxError	The OSC format is out of standard
WrongDataType	Wrong datatype of in argument(s)

motorID: int = None

Controller	Motor Range
STEP400	1-4
STEP800	1-8

class stepseries.responses.FullstepSpeed(*args, **kwargs)[source]

The threshold when microstepping switches to full-step mode.

fullstepSpeed: float: 7.63-15625.0 steps/s

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

class stepseries.responses.GoUntilTimeout(*args, **kwargs)[source]

The timeout duration for the stepseries.commands.GoUntil command.

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

timeout: int: 0.0-65535.0 ms

class stepseries.responses.HiZ(*args, **kwargs)[source]

The high-impedance (HiZ) state of a motor.

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

state: int

Range	Description
0-1	1: HiZ, 0: Not HiZ

class stepseries.responses.HomeSw(*args, **kwargs)[source]

The status of the HomeSw, whether open or closed.

direction: int

Range	Description
0-1	1: Forward, 0: Reverse

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

swState: int

Range	Description
0-1	1: Open, 0: Closed (detected)

class stepseries.responses.HomeSwMode(*args, **kwargs)[source]

The switch mode as described in stepseries.commands.SetHomeSwMode.

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

swMode: int

Range	Description
0-1	1: HardStop interrupt, 0: Notification (no stop)

class stepseries.responses.HomingDirection(*args, **kwargs)[source]

The motor rotating direction when homing.

homingDirection: int

Range	Description
0-1	1: Forward, 0: Reverse

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

class stepseries.responses.HomingSpeed(*args, **kwargs)[source]

The speed the motor will run when homing.

homingSpeed: float: 0.0-15625.0 steps/s

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

class stepseries.responses.HomingStatus(*args, **kwargs)[source]

Documentation: https://ponoor.com/en/docs/step-series/osc-command-reference/automatically-sent-messages-from-step-400/#homingstatus

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

class stepseries.responses.Kval(*args, **kwargs)[source]

All four KVALs together.

accKVAL: int

Range	Description
0-255	KVAL when stopped

decKVAL: int

Range	Description
0-255	KVAL when stopped

holdKVAL: int

Range	Description
0-255	KVAL when stopped

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

runKVAL: int

Range	Description
0-255	KVAL when stopped

class stepseries.responses.LimitSw(*args, **kwargs)[source]

The status of the LimitSw, whether open or closed.

direction: int

Range	Description
0-1	1: Forward, 0: Reverse

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

swState: int

Range	Description
0-1	1: Open, 0: Closed (detected)

class stepseries.responses.LimitSwMode(*args, **kwargs)[source]

The switch mode as described in stepseries.commands.SetHomeSwMode.

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

swMode: int

Range	Description
0-1	1: HardStop interrupt, 0: Notification (no stop)

class stepseries.responses.LowSpeedOptimizeThreshold(*args, **kwargs)[source]

The threshold to enable low speed optimization.

lowSpeedOptimizeThreshold: float: 0.0 - 976.3 steps/s

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

optimizationEnabled: int

Range	Description
0-1	1: Enabled, 0: Disabled

class stepseries.responses.Mark(*args, **kwargs)[source]

The latest MARK position.

MARK: int: -2,097,152-2,097,151 steps

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

class stepseries.responses.MicrostepMode(*args, **kwargs)[source]

The microstep mode of the motor.

STEP_SEL: int

Range	Description
0	Full-step
1	Half-step
2	1/4 step
3	1/8 step
4	1/16 step
5	1/32 step
6	1/64 step
7	1/128 step

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

class stepseries.responses.MinSpeed(*args, **kwargs)[source]

Minimum speed of the profile.

minSpeed: float: 0.0-976.3 steps/s

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

class stepseries.responses.MotorStatus(*args, **kwargs)[source]

The operating status of a motor.

MOT_STATUS: int

Range	Description
0	Stopped
1	Acceleration
2	Deceleration
3	Constant Speed

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

class stepseries.responses.OSCResponse(*args, **kwargs)[source]: An abstract class meant to be implemented by OSC resp objects.

class stepseries.responses.OverCurrent(*args, **kwargs)[source]

Documentation: https://ponoor.com/en/docs/step-series/osc-command-reference/automatically-sent-messages-from-step-400/#overcurrent

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

class stepseries.responses.OverCurrentThreshold(*args, **kwargs)[source]

The threshold of over current in mA.

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

overCurrentThreshold: float

Controller	Range
STEP400	312.5-10000.0
STEP800	375.0-6000.0

class stepseries.responses.Position(*args, **kwargs)[source]

The ABS_POS register value aka “the motor’s current position”.

ABS_POS: int: -2,097,152-2,097,151 steps

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

class stepseries.responses.PositionList(*args, **kwargs)[source]

The current position of all motors at once.

STEP400 users: position5-8 will be None since there are only four drivers on the board.

position1: int: -2,097,152-2,097,151 steps

position2: int: -2,097,152-2,097,151 steps

position3: int: -2,097,152-2,097,151 steps

position4: int: -2,097,152-2,097,151 steps

position5: int = None: -2,097,152-2,097,151 steps

position6: int = None: -2,097,152-2,097,151 steps

position7: int = None: -2,097,152-2,097,151 steps

position8: int = None: -2,097,152-2,097,151 steps

class stepseries.responses.ProhibitMotionOnHomeSw(*args, **kwargs)[source]

Whether motion towards the homing direction is permitted when HomeSw is active.

enable: int

Range	Description
0-1	1: Prohibited, 0: Allowed

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

class stepseries.responses.ProhibitMotionOnLimitSw(*args, **kwargs)[source]

Whether motion to the opposite of the homing direction is permitted when LimitSw is active.

enable: int

Range	Description
0-1	1: Prohibited, 0: Allowed

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

class stepseries.responses.ReleaseSwTimeout(*args, **kwargs)[source]

The timeout duration for the stepseries.commands.ReleaseSw command.

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

timeout: int: 0.0-10000.0 ms

class stepseries.responses.ServoParam(*args, **kwargs)[source]

The PID control gain.

kD: float

Range	Description
0.0-	Derivative gain

kI: float

Range	Description
0.0-	Integral gain

kP: float

Range	Description
0.0-	Proportional gain

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

class stepseries.responses.Speed(*args, **kwargs)[source]

The current motor speed.

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

speed: float: -15625.0-15625.0 steps/s

class stepseries.responses.SpeedProfile(*args, **kwargs)[source]

The acc, dec, and maxSpeed of the speed profile.

acc: float: 14.55-59590.0 steps/s/s

dec: float: 14.55-59590.0 stesp/s/s

maxSpeed: float: 15.25-15610.0 steps/s

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

class stepseries.responses.Stall(*args, **kwargs)[source]

Documentation: https://ponoor.com/en/docs/step-series/osc-command-reference/automatically-sent-messages-from-step-400/#stall

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

class stepseries.responses.StallThreshold(*args, **kwargs)[source]

The stall detection threshold in mA.

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

stallThreshold: float

Controller	Range
STEP400	312.5-10000.0
STEP800	31.25-4000.0

class stepseries.responses.Status(*args, **kwargs)[source]

The STATUS of a motor.

Refer to STATUS in the datasheet for the information contained in the registers. Some bits are latched and reset when the STATUS registers are read out. Because the firmware constantly reads these registers, they are immediately reset. It is possible to setup event to be reported depending on the data read, so please use those commands.

STEP400 Bits	STEP800 Bits	Configuration Command
UVLO	UVLO	`stepseries.commands.EnableUvloReport`
UVLO_ADC	N/A	Not implemented
OCD	OCD	`stepseries.commands.EnableOverCurrentReport`
STALL_A, STALL_B	STEP_LOSS_A, STEP_LOSS_B	`stepseries.commands.EnableStallReport`
CMD_ERROR	WRONG_CMD, NOTPREF_CMD	`stepseries.commands.EnableCommandErrorReport`
TH_STATUS	TH_WRN, TH_SD	`stepseries.commands.EnableThermalStatusReport`
SW_EVN	SW_EVN	`stepseries.commands.EnableHomeSwReport`
MOT_STATUS	MOT_STATUS	`stepseries.commands.EnableMotorStatusReport`
SW_F	SW_F	`stepseries.commands.EnableHomeSwReport`
BUSY	BUSY	`stepseries.commands.EnableBusyReport`
HIZ	HIZ	`stepseries.commands.EnableHiZReport`

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

status: int

Range	Description
0-65535	STATUS register value

class stepseries.responses.SwEvent(*args, **kwargs)[source]

Sent when the specified motor’s HomeSw drops from HIGH to LOW.

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

class stepseries.responses.ThermalStatus(*args, **kwargs)[source]

The thermal status of a motor driver chip.

The thresholds between the STEP400 and STEP800 do vary.

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

thermalStatus: int

STEP400:

Range	Description	Set Threshold	Release Threshold
0	Normal	N/A	N/A
1	Warning	135°C	125°C
2	Bridge Shutdown	155°C	145°C
3	Device Shutdown	170°C	130°C

STEP800:

Range	Description	Set Threshold	Release Threshold
0	Normal	N/A	N/A
1	Warning	130°C	130°C
2	Bridge Shutdown	160°C	130°C

class stepseries.responses.Tval(*args, **kwargs)[source]

All four TVALs together.

accTVAL: int

Range	Description
0-127	TVAL during acceleration

decTVAL: int

Range	Description
0-127	TVAL during deceleration

holdTVAL: int

Range	Description
0-127	TVAL when stopped

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

runTVAL: int

Range	Description
0-127	TVAL in constant speed mode

class stepseries.responses.Tval_mA(*args, **kwargs)[source]

All four TVALs together but in mA, not register values.

accTVAL_mA: float

Range	Description
78.125 - 5000.0	TVAL during acceleration

decTVAL_mA: float

Range	Description
78.125 - 5000.0	TVAL during deceleration

holdTVAL_mA: float

Range	Description
78.125 - 5000.0	TVAL when stopped

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

runTVAL_mA: float

Range	Description
78.125 - 5000.0	TVAL in constant speed mode

class stepseries.responses.Uvlo(*args, **kwargs)[source]

The current state of undervoltage lockout of a motor.

motorID: int

Controller	Motor Range
STEP400	1-4
STEP800	1-8

state: int

Range	Description
0-1	1: UVLO, 0: No UVLO

class stepseries.responses.Version(*args, **kwargs)[source]

The firmware version burnt onto the chip.

compile_date: str: Compile date of the firmware

firmware_name: str: Name of the firmware.

firmware_version: str: Version of the firmware.

`stepseries.step400` – STEP400 Device

4 axis stepper motor driver with and Ethernet interface.

class stepseries.step400.STEP400(id: int, address: str = '10.0.0.100', port: int = 50000, server_address: str = '0.0.0.0', server_port: int = 50100)[source]

Send and receive data from a STEP400 motor driver.

Note

It is recommended to create a default message handler for this driver. Here is an example:

>>> from stepseries.step400 import STEP400
>>>
>>> def default_handler(message) -> None:
...     print(message)
...
>>> driver = STEP400(0, '10.1.21.56')  # Your IP and dip ID here
>>> driver.on(None, default_handler)

Parameters

id (int) – The id set by the DIP switches on the device.
address (str) – The ip address of the device. Defaults to 10.0.0.100.
port (int) – The local port the device is listening on. Defaults to 50000.
server_address (str) – The ip address of the server (this machine). Should always be 0.0.0.0. Defaults to 0.0.0.0.
server_port (int) – The port the server is listening on. Defaults to 50100.
add_id_to_args (bool) – Whether to add id to address and server_port (the default behavior on the device). Defaults to True.

`stepseries.step800` – STEP800 Device

8 axis stepper motor driver with Ethernet interface.

class stepseries.step800.STEP800(id: int, address: str = '10.0.0.100', port: int = 50000, server_address: str = '0.0.0.0', server_port: int = 50100)[source]

Send and receive data from a STEP800 motor driver.

Note

It is recommended to create a default message handler for this driver. Here is an example:

>>> from stepseries.step800 import STEP800
>>>
>>> def default_handler(message) -> None:
...     print(message)
...
>>> driver = STEP800(0, '10.1.21.56')  # Your IP and dip ID here
>>> driver.on(None, default_handler)

Parameters

id (int) – The id set by the DIP switches on the device.
address (str) – The ip address of the device. Defaults to 10.0.0.100.
port (int) – The local port the device is listening on. Defaults to 50000.
server_address (str) – The ip address of the server (this machine). Should always be 0.0.0.0. Defaults to 0.0.0.0.
server_port (int) – The port the server is listening on. Defaults to 50100.
add_id_to_args (bool) – Whether to add id to address and server_port (the default behavior on the device). Defaults to True.

get(command: OSCGetCommand, with_callback: bool = True, wait: bool = True) → Union[OSCResponse, List[OSCResponse]][source]

Send a ‘get’ command to the device and return the response.

Note

The responses are also sent to each applicable callback.

If a ParseError is received, then it will be raised. The raw response can be retrieved via the response attribute of the error.

Parameters

command (OSCGetCommand) – The completed command template (stepseries.commands).
with_callback (bool) – Send the response to callbacks as well (defaults to True).
wait (bool) – Wait for a response from the device if True, otherwise return without waiting for a response (defaults to True).

Raises

TypeError – command is not an OSCSetCommand.
InvalidCommandError – command cannot run on a STEP800.

set(command: OSCSetCommand) → None[source]

Send a ‘set’ command to the device.

Parameters: command (OSCCommand) – The completed command template (stepseries.commands).
Raises: TypeError – command is not an OSCSetCommand.

stepseries.commands – Device Commands

stepseries.exceptions – Device Errors

stepseries.responses – Device Responses

stepseries.step400 – STEP400 Device

stepseries.step800 – STEP800 Device

`stepseries.commands` – Device Commands

`stepseries.exceptions` – Device Errors

`stepseries.responses` – Device Responses

`stepseries.step400` – STEP400 Device

`stepseries.step800` – STEP800 Device