SuperModified.Datasheet

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SuperModifiedTM

SuperModifiedTM

Miniature controller for DC motors

1. General Description

The SuperModified controller is a miniature size fully functionalDC motor controller able of performing digital PID position control, velocitycontrol and profiled position control. With a footprint of 17x37mm it can fitinside standard RC servo enclosures. Together with MagEnc

TMthe

SuperModifiedTM

controller can be used to transform an RC servo to anadvanced servo motor. Operation with third party standard A/B channeloutput incremental encoders is also possible. The SuperModified

TMcomes in

two current capability versions: 1Amp (3 Amp peak current) and 5 Amp (7.8Amp peak current) and two corresponding MCU voltage versions: 5V and3.3V.

2. Features

Miniature size. Ideal for space/weight critical applications such asrobotics.

Programmable. Based on the ATMega168P 8-bit risk Atmel AVR

micro-controller the SuperModifiedTM controller can beprogrammed using standard development tools commerciallyavailable.

Open source. Download SuperModifiedTMcontroller source codefrom our Google Code page.

Multiple interfaces. Electrical layer interfaces include I2C 5V, I2C

3.3V, RS-485, UART 5V, UART 3.3V, multi-point UART (as perATMega168P datasheet). Protocol in terfaces include 01Mechatronics proprietary, open source protocol, Modbus, PositionPulse Modulation (standard RC servo compatibility mode), VelocityPulse Modulation.

APIs (Appl ication Programming Interfaces) available for free forpopular platforms like Arduino and Gumstix.

Incremental encoder A/B channel quadrature decoding. Absoluteposition sensing input (pulse width modulated) compatible with 01

Mechatronics MagEncTM.

Includes four configurable digital IOs and four analog inputs.

Includes on-board SPI as per ATMega168P datasheet.

SuperModified TM

MiniatureController for DCMotors

The robotic rebirth ofthe hobby servo

Preliminary datasheet

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SuperModifiedTM

3. Pinout

3.1. Pin description

1 Amp Version 5 Amp Version

Name Description

AIN1 Analog input 1. Connected directly to ATMega168P PC0/ADC0pin.



AIN4 Analog input 4. Connected directly to ATMega168P PC3/ADC3

pin.

DIO1 Digital IO 1. Connected directly to ATMega168P PD7 pin

DIO2 /PRG.MOSI

Digital IO 2. Connected directly to ATMega168P PB3 pin. MasterOut Slave In (MOSI) for In System Programming (ISP) and on-board SPI interface.

DIO3 /PRG.MISO

Digital IO 3. Connected directly to ATMega168P PB4 pin. MasterIn Slave Out (MISO) for ISP (in system programming) and on-board SPI interface.

DIO4 /PRG.SCK

Digital IO 4: Connected directly to ATMega168P PB5 pin. SerialClock (SCK) for ISP (in system programming) and on-board SPIinterface.

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SuperModifiedTM

4. ElectricalCharacteristics

RST Connected to ATMega168P reset pin. Pulled up to VCC through10K resistor.

IF0 Interface Functional description

I2C SDA. I2C data

RS-485 A. non-inverting RS-485 transceiver channel

UART TXD. UART transmit data

RC Servo PMCMD. Pulse modulated command, PPM (Positionpulse modulation) or VPM (Velocity pulsemodulation) according to PMSELECT state

Analog ANCMD. Analog command input. 2.5V zeroposition / velocity.

IF1 Interface Functional description

I2C SCL. I2C clock

RS-485 B. inverting RS-485 transceiver channel

UART RXD. UART receive data

RC Servo PMSEL. Select between PPM and PVM.PPM Vcc (default), PVM 0 V

Analog ANSEL . Select between analog control modes.Analog position control Vcc (default)Analog velocity control 0V

ENC.A Incremental encoder channel A input. TTL 5V compatible.

ENC.B Incremental encoder channel A input. TTL 5V compatible.

ENC.ABS Pulse width modulated position input. Period 1025s, absolute

position modulation 0-1024 s. 5V TTL compatible input.Compatible with 01 Mechatronics MagEncTM

.Note: Absence of this signal disables homing capability of theSuperModified

TMcontroller to an absolute position.

ENC.VCC Regulated +5V or +3.3 V (according to voltage version)

ENC.GND Ground

PRG.GND Ground

PRG.VCC Regulated +5V or +3.3V (according to voltage version)

GND Ground

VIN Motor input voltage. Recommended 5V - 6.8 V.

MOT+ Motor connection

MOT- Motor connection

MOT-CHASSIS

Motor chassis. Solder to motor chassis for improved immunity tonoise created by the motor.

Absolute Maximum ratings (non operating)

Stresses beyond those listed under Absolute Maximum Ratings may cause permanentdamage to the device. This is a stress rating only and functional operation of the deviceat these or other conditions beyond those indicated in the operational sections of thisspecification is not implied. Exposure to absolute maximum rating conditions for extendedperiods may affect device reliability.

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SuperModifiedTM

4.1. AbsoluteMaximum ratings

4.2. OperatingConditions

4.3. DC and timingcharacteristics

Parameter Symbol Min Max

Input Voltage Vin -0.5 V 14.5 V

Analog in Voltage Vain -0.5 V Vcc + 0.5 V

Digital in Voltage Vdin -0.5 V Vcc + 0.5 V

Logic supply voltage Vcc -0.5 V 6 V

I2C/RXD/PMSELECT pin voltage VI2C -0.5V Vcc + 0.5 V

RST pin Voltage VRST -0.5 V 13 V

RS-485 voltage (transient) V485 -50 V 50 V

Logic supply current for off board use Ivcc 0 mA 100 mA

I2C/TXD/PM output current II2C -20 mA 20 mA

Digital out current Idout -20 mA 20 mA

RS-485 output current - driver I485D -250 mA 250 mA

RS-485 output current - receiver I485R -24 mA 24 mA

Operating Temperature T -25oC 125

oC

Humidity (non condensing) H - 85.00%

Operating Conditions

Parameter Symbol Min Max

Input Voltage Vin Vcc 6.8 V

Analog in Voltage Vain 0V Vcc

Digital in Voltage Vdin 0V Vcc

Logic supply voltage Vcc 3.3 V or 5 V* 3.3 V or 5 V*

I2C/RXD/PMSELECT pin voltage VI2C 0 V Vcc

RST pin Voltage VRST 0 V Vcc

RS-485 voltage V485 -7 V 12 V

Logic supply current for off board use Ivcc 0 mA 50 mA

I2C/TXD/PM output current II2C -10 mA 10 mA

Digital out current Idout -10 mA 10 mA

RS-485 output current - driver I485 -60 mA 60 mA

RS-485 output current - receiver I485 -8 mA 8 mA

Operating Temperature T 0 oC 80 oC

*according to voltage version

Parameter Symbol Typical

Input current, controller only ICONTR 20 mA

Motor current, 1A version IMOT 1 A

Motor current, 5A version IMOT 5 A

Input current total ITOT ICONTR + IMOT

DIO1-4 output source current IDIOSRC 5 mA

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SuperModifiedTM

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DIO1-4 output sink current IDIOSNK 20mA

For additional DC and timing characteristics refer to specific IC datasheetaccording to below table.

IC Function Related pinsATMega168P Microcontroller

Note: SupermodifiedTM

on-boardcrystal at 20MHz

Digital IOs (DIO1-4 )Analog IOs (AIN1-4)RSTI2C pins (SDA,SCL)

MCP1702 Voltage regulator VCC, GND

MCP17511MC33887

Motor driver MOT+, MOT-, VIN, GND,

SN65HVD485E RS-485 transceiver A_485, B_485

5. Electr ical Layout

Bellow the electrical schematics for the 1 Amp version (MCP17511 motor driver) and the 5 Amp version(MC33887 motor driver) are presented.

5.1. Schematic for 1 Amp version
http://www.atmel.com/dyn/resources/prod_documents/doc8025.pdfhttp://ww1.microchip.com/downloads/en/DeviceDoc/21983A.pdfhttp://www.freescale.com/files/analog/doc/data_sheet/MPC17511A.pdf?pspll=1http://www.freescale.com/files/analog/doc/data_sheet/MPC17511A.pdf?pspll=1http://www.freescale.com/files/analog/doc/data_sheet/MC33887.pdfhttp://www.freescale.com/files/analog/doc/data_sheet/MC33887.pdfhttp://www.freescale.com/files/analog/doc/data_sheet/MPC17511A.pdf?pspll=1http://ww1.microchip.com/downloads/en/DeviceDoc/21983A.pdfhttp://www.atmel.com/dyn/resources/prod_documents/doc8025.pdf


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SuperModifiedTM

5.2. Schematic for 5 Amp version

6. Connections In the following diagram the connections of a fully assembled motor controller aredisplayed.

PRG.GND

PRG.VCC

DIO1

DIO2/PRG.MOSI

DIO3/PRG.MISO

DIO4/PRG.SCK

RST

MOT+

MOT-

MOT.CHASSIS

AIN1

AIN2

AIN3

AIN4

ENC.A

ENC.B

ENC.ABS

ENC.VCC

ENC.GND

GND

VIN

IF0IF1

SuperModifiedTM

Controller #1

Brush DC

Motor

Ard uin o

Gumstix

or

Other controller

MagEncTM

or

Incremental

Encoder

AVRISP mkII

or

Other ISP

programmer

SuperModifiedTM

Controller #2

MagEncTM

or

Incremental

Encoder

Brush DC

Motor

To next

SuperModifiedTM

controller

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SuperModifiedTM

7. 01MechProtocol

Pins Connect to

VINGND

Regulated DC power supply capable of delivering at least ITOT: 1.02A or 5.02 A according to SuperModified

TMversion.

IF0IF1

InterfaceSuperModifiedcontroller

HostController

Note

IF0=SDA SDAI2C

IF1=SCL SCL

Appropriate pullup resistors onhost

IF0=TXD RXDUART

IF1=RXD TXD

IF0=A A (non inv.)RS-485

IF1=B B (inverting)

120 Ohm terminalresistors at hostand last controller.

IF0=PMPulsemodulatedoutputRC-Servo

IF1=PMSEL Digital out

Select betweenPPM / PVMthrough thePMSEL pin

IF0=ANCMD DAC outputAnalog

IF1=ANSEL Digital out

DAC output canalso be a PWMoutput with a lowpass filter.

AIN1-4 External analog voltages 0-5V from sensors etc.

MOT+

MOT-

Brush DC motor power leads. If connected with wrong polarity

motor control cannot be achieved.

MOTCHASSIS

Motor chassis.

DIO1-4External digital IOs.Output 0-5V, 20mA sink current, 5mA source current.Input 0-5V, impedance >10KOhm.

PRG.VCC Vcc pin of external ISP (In System Programmer).

PRG.GND Gnd pin of external ISP.

PRG.MOSI MOSI pin of external ISP.

PRG.MISO MISO pin of external ISP

PRG.SCK SCK pin of external ISP.

RST Reset pin of external ISP.

01 Mechatronics specifies a proprietary software layer protocol for use with theSuperModified

TMcontroller and other 01 Mechatronics products. With appropriate

H/W and minor modifications this protocol can support a multitude of electrical

and data link layers. The general form of the 01Mech protocol is analyzed in thissection and implementation specifics according to data link layers defined bystandards are analyzed at the specific data link layers.

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SuperModifiedTM

7.1. Frame format

7.1.1. Header

7.1.2. Addressed andown node ID

7.1.3. Command ID &classification

The general 01Mech protocol frame format is presented below

H[0] AndIDH[1]

Head

er1

st byte

Head

er2

nd byte

Address

ednod

eID

Optional according to if provided by data link layer

Mandatory regardless of data link layer

One box equals 1 byte

cID bCnt d[0] d[bCnt-1] lrc...Co

mman

dID

Byte

count

Data

1st

by

te

Data

lastb

yte

Checksu

m

OndID

Own

nod

eID

The 01Mech protocol specifies two types of data transfers.

Send command data transfer: A bus master commands a bus slave (e.g. aSuperModified

TMcontroller) to do something.

Command response data transfer: A bus slave responds to the requestinitiated by a bus master. This data transfer can only be initiated as a resultof a previous send command data transfer.

The two header bytes are specified as: H[0] = 0x55, H[1] = 0xAA.The header is used only for data link standards that do not support busarchitectures inherently.

The AndID byte always contains the node ID of the device addressed on the bus.There is an exception when ndID = 0 (reserved for broadcasting).The OndID byte always contains the node ID of the device that issues themessage. There are specific data link layers (like I2C) which incorporate part orall of the node ID bytes functionality.

For example if a master with ID = 0x01 wants to command a SuperModifiedTM

controller with node ID = 0x04 to do something then: OndID = 0x01 and AndID =0x04. When the SuperModified

TMcontroller responds with a command response

then OndID = 0x04 and AndID = 0x01.

The 01Mech protocol specifies three types of commands according to their busmaster related functionality.

Set commands: A bus master commands a bus slave to do something: e.g.move the motor connected to a SuperModified

TMcontroller with a constant

velocity. These types of commands involve sending data to the slave.

Get commands: A bus master requests data from a bus slave: e.g. a masterrequests the current motor velocity from a SuperModified

TMcontroller.

Broadcast set commands: A bus master commands all slaves on the busto do something: e.g. a master commands all SuperModified

TMcontrollers

attached to the bus to halt.

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SuperModifiedTM

7.1.4. Error f rames

7.1.5. Byte Count

7.1.6. Data

7.1.7. Checksum

According to command classification, the 01Mech protocol specifies command IDranges. The table below summarizes the latter statement.

Command Type ID Range low limi t ID Range high limit

Set commands 0 99

Get commands 100 199

Broadcast set commands 200 249

reserved 250 255

Thus a set command ID can exist in the decimal range of 0-99 a get command IDin the range of 100-199 and a broadcast set command ID in the range of 200-249. Commands are device specific and an accompanying document specifyingthe command set of the device must be provided by the manufacturer.

One of the reserved command IDs, 250 = 0xFA is used for a special commandspecified by the 01Mech protocol: the error command. If one or more errors are

present in the SuperModified

TM

controller they will be reported using this specialcommand ID as illustrated in the below error frame schematic.For a full list of error codes refer to section 15.

H[0] AndIDH[1]

Head

er1st b

yte

Head

er2nd b

yte

Addres

sedno

deID

0xFA bCnt ec[0] ec[bCnt-1] lrc...Er

rorID

Byte

cou

nt

1st e

rrorc

ode

last

erro

rcod

e

Checks

um

OndID

Own

nod

eID

The bCnt is specified as the number of bytes the data argument of a commandconsists of. Note that only data bytes are counted.

A command can contain from zero up to 255 bytes of data.

The checksum is an LRC (Longitudinal Redundancy Check ) checksum. It iscalculated for the mandatory bytes of the data frame i.e. command ID, bytecount, data[0] to data[byte count -1]. The calculation of an LRC checksum aresimple and straightforward: An exclusive or is applied on the packet bytesconsecutively. A C implementation is given below:

typedef unsigned char u08;

u08 zoProt ocol LRC( u08 *l r cBytes, u08 l r cByteCount ){

u08 i ;u08 l r c = 0;

for( i =0; i


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SuperModifiedTM

7.2. Transmissionbyte order

7.3. Control flow &errors

Data are transferred lowest byte first. Refer to general frame format at section 7.1

According to the 01Mech protocol specification the following scenarios ofcommunication flow control can exist.

Master

MCU / CPU

SlaveSuperModified

TM

controller

Process

command

with no

error

Command response:

- same command ID

- no data

Send set command

- command ID

- 0 to 256 bytes of data*

Master

MCU / CPU

SlaveSuperModified

TM

controller

Process

command

with no

error

Command response:

- same command ID


Send get command

- command ID

- no data

Successful set command Successful get command

Master

MCU / CPU

Slave

SuperModifiedTM

controller

Error

occurrence

duringcommand

proccessing

Command response:

- error ID = 250

- 0 to 256 error codes**

Send set command- command ID


Master

MCU / CPU

Slave

SuperModifiedTM

controller

Command response:

- error ID = 250

- 0 to 256 error codes**

Send get command- command ID

- no data

Error during set command Error during get command

Error

occurrence

duringcommand

proccessing

*According to device command set. ** According to device error set.

Master

MCU / CPU

Slave

SuperModifiedTM

controller

Process command.

If there is an error occu rrence save error for

reporting during next non broadcast commandreceived.

Send broadcast set command

- broadcast ID = 0x00

- command ID

- 0 to 256 bytes of data

Broadcast command

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SuperModifiedTM

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7.3.1. Communicationflow examples

The slave error reporting mechanism is introduced in the above flow charts.Errors can occur on a bus slave in a synchronous or an asynchronous manner. In

re as an asynchronous error can be.g. a detection of a motor stalled condition.

et of the SuperModifiedTM

controller is specified in section 15 of thisocument.

xamples of communication scenarios according to the 01Mech protocol:

oller withcommand response:

gain P

sponse (other slaves realize that they are

= 0x01, OndID = 0x04, cID = set PID gain Pommand ID, bCnt = 0, lrc

valid command response:

set PID gain P ID, bCnt = 2, d[0] = gain P low byte, d[1] =

altogether. The addressed node ID is

04 (i.e. slave address)onse:

ndID = 0x04, cID = set PID gain P, bCnt = 0, lrc

roller with ID #5, through UART interface and gets a

] = 0xAA , AndID = 0x05, OndID = 0x01, cID = start command

n the bus with ID 0x05 accepts the command

[1] = 0xAA, AndID = 0x01, OndID = 0x05, cID = start command ID,Cnt = 0, lrc

troller with ID #4,nse:

, AndID = 0x04, OndID = 0x01, cID = get position

n the bus with ID 0x04 accepts the command

the case of the SuperModifiedTM

controller a synchronous error can be e.g.the reception of an erroneous checksum whee

The 01Mech protocol specifies that the error set of a slave device, similarly to thecommand set is device specific and thus provided by the device manufacturer.The error sdEExample 1: Master (own ID = 0x01) sends a set PID gain P (set command with2 bytes of data 16-bit value) command to the SuperModified contrID=0x04, through UART interface and gets a valid

1.The bus master issues the command on UART:H[0] = 0x55, H[1] = 0xAA , AndID = 0x04, OndID = 0x01, cID = set PID

command ID, bCnt = 2, d[0] = gain P low byte, d[1] = gain P high byte, lrc2. The SuperModified

TMcontroller on the bus with ID 0x04 accepts the command,

executes it and issues a command renot addresses by the node ID value):H[0]=0x55, H[1] = 0xAA, AndIDcExample 2: Master sends a set PID gain P command to the SuperModifiedcontroller with ID #4, through I2C interface and gets a

1. The bus master issues the command on I2C:OndID = 0x01, cID =gain P high byte, lrc

Note that the header is omittedincorporated in the I2C slave address

2. The SuperModifiedTM

controller on the bus with ID 0xaccepts the command and issues a command respOExample 3: Master sends a start command (set command with 0 bytes of data)to the SuperModified contvalid command response:

1.The bus master issues the command on UART:H[0] = 0x55, H[1

ID, bCnt = 0, lrc2. The SuperModified

TMcontroller o

and issues a command response:H[0]=0x55, HbExample 4: Master sends a get position command (get command expecting a32 bit signed answer 4 bytes) to the SuperModified conthrough UART interface and gets a valid command respo

1.The bus master issues the command on UART:H[0] = 0x55, H[1] = 0xAAcommand ID, bCnt = 0, lrc


controller oand issues a command response :


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SuperModifiedTM

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7.3.2. Recommendedmaster operation

8. Configuringmode of interface

8.1. Programming thecontroller

H[0]=0x55, H[1] = 0xAA, AndID = 0x01, OndID = 0x04, cID = get positioncommand ID, bCnt = 4, d[0] = position[0] (LSB), d[1] = position[1], d[2] =osition[2], d[3] = position[3] (MSB), lrcp

Example 5: Master sends a set PID gain P command (with wrong lrc) to theSuperModified controller with ID #4, through I2C interface and gets an error

ain P low byte, d[1] =

ifies the wrong lrc,

ndID = 0x04, cID = 250 (error ID), bCnt = 1,d[0] = wrong lrc error code, lrc

n error command response:

set PID gain P ID, bCnt = 2, d[0] = gain P low byte, d[1] =

nt condition, so it does not

r ID), bCnt = 2, d[0] = motor stalled error code, d[0]over-current error code, lrc

ata) to the all SuperModified controllers on the bus, through UART

(broadcast ID), OndID = 0x01, cID =

s with any ID accept the commandnd do not issue a command response:

rce regularly as code forarious platforms is continuously under development.

edTM

Google Code page:ttp://code.google.com/p/zosupermodified/

command response:

1. The bus master issues the command on I2C:OndID = 0x01, cID = set PID gain P ID, bCnt = 2, d[0] = ggain P high byte, lrc (but the master sends the wrong lrc !)


controller on the bus with ID 0x04 identdoes not execute the command and issues an error response:OExample 6: Master sends a set PID gain P command to the SuperModifiedcontroller with ID #4, through I2C interface and gets a

1. The bus master issues the command on I2C:

OndID = 0x01, cID =gain P high byte, lrc


controller on the bus with ID 0x04 in the meantime hasdetected a motor stalled condition and an over-curreexecute the command and issues an error response:OndID = 0x04, cID = 250 (erro=Example 7: Master sends a broadcast stop command (set command with 0bytes of dinterface:

1.The bus master issues the command on UART:H[0] = 0x55, H[1] = 0xAA , AndID = 0x00broadcast stop command ID, bCnt = 0, lrc


controllers on the buaThe master of a bus should wait on the slave response with a timeout in casethe slave does not respond. Source code for the implementation of a masteraccording to the 01Mech protocol can be found on the 01 MechatronicsSuperModified

TMGoogle Code page. Check this resou

v

The SuperModifiedTM controller comes pre-programmed from 01 Mechatronicsaccording to ordered interface mode. Change of the mode of interface cancurrently be done only by reprogramming the SuperModified

TMcontroller,

according to desired interface. The source code of the SuperModifiedTM

isdistributed under the GNU General public license V3.0 and is available fordownload from our SuperModifih

ble for download from ouroAvrLib

Detailed instructions on how to program the controller through the In SystemProgramming interface can be found in the Atmel AVR programming guidedocument, written by 01 Mechatronics and is availaz and zoSuperModified Google Code pages.


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SuperModifiedTM

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9. I2C Interface

9.1. Electrical layer

9.1.1. Connections

9.1.2. Bus speeds

9.1.3. Pull up resistor

sizing

The SuperModifiedTM

controller I2C interface uses the I2C specification standardexchange data with other devices connected on the same I2C bus.to

The I2C bus was designed by Philips in the early '80s to allow easycommunication between components which reside on the same circuit board.Philips Semiconductors migrated to NXP in 2006. I2C is not only used on single

boards, but also to connect components which are linked via cable. Simplicityand flexibility are key characteristics that make this bus attractive to manypplications. The latest I2C specificationa is available directly from NXP.

the SuperModifiedTM

I2C hardware please consult theTMega168p datasheet

For specific information onA .

d as 0 Volts on the SDA line. The SCL line is used to clock the dataansfer.

anC device pulls down the line to 0 Volts using internal open-collector circuitry.

A typical electrical interconnection of an I2C bus is given below.

The I2C bus allows communication between devices residing on the same I2Cbus by the means of two bi-directional lines: SDA for data and SCL for clock. Thestandard utilizes bipolar logic. A logic 1 is represented as Vcc Volts and logic 0 isrepresentetr

An I2C bus needs pull up resistors on the SDA and SCL lines for correctoperation. For a logic high an I2C device tri-states the corresponding I2C pin,thus allowing the line to be pulled to Vcc by the pull up resistor. For a logic lowI2

The following two bus speed modes are supported by the SuperModifiedTM

ontroller.

bit/s

Fast-mode (Fm), with a bit rate up to 400 kbit/s

ystem Vcc the pull up resistors can be calculated by the

llowing formulae

100KHz Operation

Minimum pull-up:

c

Standard-mode (Sm), with a bit rate up to 100 kAccording to the s

fo

min

0.4

3mA

Vcc V Rp

= , Maximum pull-upmax

1000

b

nsRp

C=

Cb

: Capacitance of one bus line in pF.

400KHz Operation

Minimum pull-up:min

0.4

3mA

Vcc V Rp

= , Maximum pull-upmax

300

b

nsRp

C=

Recommended values for 5V systems : 2.2 kOhm

Recommended values for 3.3V systems : 1,5 kOhm
http://www.nxp.com/http://www.nxp.com/


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SuperModifiedTM

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9.1.4. Considerations

9.2. Data link layer

9.2.1. SuperModif iedslave addresses

9.2.2. General calladdress

The I2C standard dictates that bus capacitance for each line should be keptbelow 10pF. Bus capacitance is very important for correct bus operation. For thewiring of the SDA and SCL lines a twisted-pair cable is recommended to ensure

ect operation cannot be ensured. In that

ths of up to 1m where it should be avoided (withoutpeaters) for longer buses.

otypes of messages:

here a master issues at least two reads and/or writes

elow the two most essential types of messages are presented.

Master transmit message

minimum bus capacitance.Note that bus capacitance is also influenced by the length of the wires, so theyshould be kept as short as possible. If the overall length of an I2C bus induces a

higher bus capacitance than 10 pF corrcase an I2C repeater is recommended.The SuperModified

TMcontroller can overcome such limitations utilizing the RS-

485 bus which allows for great distances between bus nodes. As a rule of thumbI2C is adequate for bus lengreDevices on the I2C bus are distinguished according to their role on the bus tmasters and slaves. The I2C standard specifies three basic

Single message where a master writes data to a slave;

Single message where a master reads data from a slave;

Combined messages, w

to one or more slaves.B

Master receive message

SuperModifiedTM

controllers come preprogrammed with a slave address of 0x04.If more than one SuperModified

TMcontroller is ordered slave addresses increase

or every additional controller.

edTM

controller #2 -> slave address 0x05

gramming the device. For detailsfer to our Atmel AVR programming guide

by 1 fe.g.SuperModified

TMcontroller #1 -> slave address 0x04

SuperModifiAnd so on.SuperModified

TMslave addresses can be also adjusted at customer request or

even re-configured by the end-user by reprore .

ne of them utilizedy the SuperModified

TMcontroller is the general call address.

The I2C bus specification includes some special addresses. Ob


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SuperModifiedTM

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n initiate a general call, transmitting theame data to all I2C devices on the bus.

eneral call address : Slave address

9.3. 01Mech Protocolover I2C

9.3.1. Frame structure

9.3.2. Communicationflow control

9.3.3. Communicationexample over I2C

The general call address is for addressing every device connected to the I2C-busat the same time. An I2C bus master cas

G R / bitW

0000 000 0

Implementation specifics for the 01Mech protocol over I2C are given below.

hus theame structure of the 01Mech protocol over I2C is the one shown below.

The frame structure of the 01Mech protocol over I2C does not include headerbytes as their functionality is incorporated in the I2C data link layer. Tfr


mman

dID

Byteco

unt

Data1

st byte

Datala

stbyte

Checks

um

One box equals 1 byte

OndID

Ownn

odeID

AndID

Addres

sedno

deID

When examined in combination with the I2C standard the 01Mech protocol frameon the I2C bus is depicted below.

S SAddr R/W

I2C standard specific

01Mech protocol specific

Sta

rtco

nditio

n

Sla

veadd

ress

=

addressed

nod

eid

rea

dwrite


mman

dID

Byte

cou

nt

Data

1st b

yte

Data

last

byte

Checks

um

OndID

Ow

nno

deID

A A A A A A P

ackn

owle

dge

Sto

pco

nditio

n

And ID

Addressed

nod

eID

A

For the implementation of the 01Mech protocol over I2C only the Master Transmitmessages are used (as they are specified by the I2C standard). The hostcontroller and the SuperModified

TMcontroller take turns at being masters on the

C bus. A transaction is always initiated by the host controller.

e host

ontrollers I2C address should be set according to its node ID thus 0x01.

ds the following master transmit message.(I2C bus representation)

I2Example scenario: The host controller with ID = 0x01 sends a start commandto the SuperModifiedTM controller with node ID = 0x04. Note: Th

c1. The host controller sen

S 0x04 0

From host controller to SuperModifiedTM

controller

From SuperModifiedTM

controller to host controller

Startc

onditio

n

Slav

ead

dres

s

write

cID 0x00 lrc

StartC

omman

dID

Byte

cou

nt

Checks

um

0x01

Own

nod

eID

A A A A P

ackn

owle

dge

Stop

con

ditio

n

0x04 A

addres

sedno

deid


16/38

SuperModifiedTM

16/38

10. UART, RS-485interfaces

10.1. Electrical Layer

10.1.1. RS-485specification

The host controller then waits (with a timeout) for the SuperModifiedTM

to respondn the I2C bus.

mmandsponse using again an I2C master transmit message. The latter is this:

o2. The SuperModified controller accepts the command and issues a core

S 0x01 0

From host controller to SuperModifiedTM

controller

From SuperModifiedTM controller to host controller

Startc

onditio

n

Slav

ead

dres

s=

addres

sedno

deid

write

cID 0x00 lrc

StartC

omman

dID

Byte

cou

nt

Checks

um

0x04

Own

nod

eID

A A A A P

ackn

owle

dge

Stop

con

ditio

n

0x01 A

addres

sedno

deid

In a similar manner all I2C transactions are carried out. Note that theSuperModified

TMcontroller will never initiate a master transmit unless a command

received.

tems). Note that naming of theART pins/lines is usually host system related.

f serial communications over longer distances,proved noise immunity etc.).

erlease refer to theATMega168p datasheet

is

The UART (Universal Asynchronous Receiver Transmitter) is not acommunication standard but rather a piece of hardware. However it is the mainworkhorse behind EIA-232, EIA-422 and EIA-485 electrical standards (previouslynamed RS-232 and so on). The UART takes bytes of data and transmits theindividual bits in a sequential fashion. At the destination, a second UARTreassembles the bits into complete bytes. Three lines are used: TXD (used to

transmit data), RXD (used to receive data) and GND (provides a common voltagereference between the two communicating sysUAn UART chip (or a UART module integrated in a microcontroller) is usuallyexternally connected to an electrical-standard-compliant transceiver IC. Howeverit can also be used as it is. Of course utilizing the appropriate transceiver hasmany advantages (capability oimFor more information on the UART utilized by the SuperModifiedTM controllp at the USART0 section.

e and the UART interface as theyre utilized for the SuperModifiedTM

controller:

laye

Electrical layer specifics for the RS-485 interfaca

RS-485 elect rical r spec if ics

Physical Media : Twisted Pair

Network Topology : Point-to-point, Multi-dropped, Multi-point

Maximum Distance : 1200 meters

Mode of Operation : Differential

Voltage Levels : sed)+/-6V (Commonly u

Mark(1) : Negative Voltages

Space(0) : Positive voltages

Signals (half-duplex): /RxB = inverting Tx/RxA = non inverting Tx


17/38

SuperModifiedTM

17/38

10.1.2. RS-485Connections

When one or more SuperModifiedTM controllers are connected on a RS-485 bus,onnections should be as illustrated below.c

Host controller with

RS-485 transceiver

SuperModifiedTM

Controller #1

GND VIN

IF0/A

IF1/B

SuperModifiedTM

Controller #2

GND VIN

IF0/A

IF1/B

SuperModifiedTM

Controller #3

GND VIN

IF0/A

IF1/B

(ID = 4) (ID = 5) (ID = 6)

120 Ohm120 Ohm 120 Ohm

Unconnected solder jumper (default)

Connected solder jumper

GND

5to6.8Volt

BA

120 Ohm

The SuperModifiedTM controller has a preinstalled 120 Ohm RS-485 terminal

resistor. However it is by default not connected across the A and B RS-485terminals. An on-board solder-jumper is used to apply the resistor on the bus.This jumper can be configured according to customer requests by 01


18/38

SuperModifiedTM

18/38

10.1.3. UARTspecification

10.1.4. UARTconnections

10.1.5. Considerations

10.2. Data link layer

Mechatronics.

ayer ard)UART electrical l specif ics (not part of any stand

Physical Media : 3 wires (twisting recommended)

Network Topology : Point-to-point, Single master multi point.

Maximum Distance : ~1 meterMode of Operation : Single ended

Voltage Levels : cc = 5Volts or 3.3 Volts )0-Vcc ( V

Mark(1) : 0 Volts

Space(0) : Vcc

Signals:age reference between

connected systems

TXD = transmitRXD = receiveGND = common volt

Note that the UART interface pins can be connected to an external RS-232

ansceiver thus making the SuperModifiedTM controller RS-232 compliant.

e of the SuperModifiedTM

controller connectionshould be as illustrated below:

tr

When using the UART interfacs

Host controller

with UART

GND

VIN

IF0/TXD

IF1/RXD

GND

VIN

IF0/TXD

IF1/RXD

GND

VIN

IF0/TXD

IF1/RXD

GND

5to6.8Volt

TXD

RXD

SuperModifiedTM

Controller #1(ID = 4)

SuperModifiedTM


SuperModifiedTM


Note that the same connections can be used if an external RS-232 transceiver issed with every SuperModified

TMcontroller.

asheet

u

The number of devices that can be connected as illustrated above depends onthe host controller UART fan-out. The fan-out is simply the number of inputs thatcan be connected to an output before the current required by the inputs exceedsthe current that can be delivered by the output while still maintaining correct logiclevels. Refer to the UART manufacturer datasheet for current capability of theTXD pin and to the ATMega168p dat for the current input needs of pin

XD of the SuperModified controller.

external RS232 transceiver. A frame on anyf these layers is illustrated below:

R

The data link layer used for both UART and RS-485 data transfers is identical.The same applies in the case of ano
http://www.atmel.com/dyn/resources/prod_documents/doc8025.pdfhttp://www.atmel.com/dyn/resources/prod_documents/doc8025.pdf


19/38

SuperModifiedTM

10.3. 01MechProtocol over UART

11. RC Servo

Interface

11.1. Connections

Bus idle

start bit0 bit1

LSB

bit2 bit7

MSB

stop

Bus idle

Henceforth by referring to UART a reference to RS485 (and RS232) interfacesare implied.The UART implementation of the 01Mech protocol complies fully to the generalform presented in section 7. The host controller is the only master of the UARTbus and the only device that can initiate a transaction.

The SuperModifiedTM

controller offers compatibility with the very popular RCServo Position Pulse Modulation interface.

Furthermore the second IF pin (IF1) can be used to select between positioncontrol and velocity control.

IF1 connected to Vcc or left floating Position control.IF1 connected to ground Velocity control.

Limit positions that correspond to 1ms and 2ms pulses are configured by defaultto 180 degrees. However they can be configured by 01 Mechatronics uponcustomer request.

Also by default velocities are limited 1000 ticks/second. Again they can be

changed according to customers request.

Note that the above interface option implies the use of 01 MechatronicsMagEnc

TMencoder together with the SuperModified

TMcontroller.

The SuperModifiedTM

controller, when configured for RC-Servo interface, shouldbe connected following the principles illustrated below:

GND

VIN

IF0/PMCMD

IF1/PMSEL

GND

Vcc

DIO

PPM

GND

VIN

IF0/PMCMD

IF1/PMSEL

Vcc

DIO

PPM

GND

19/38


20/38

SuperModifiedTM

11.2. RC-ServoInterface limitationsand capabilities

12. AnalogInterface

12.1. Connections

12.2. Analogprogramming mode

The pulse modulation scheme is also illustrated.

The RC-Servo interface does not support all available commands of theSuperModified

TMcontroller. i.e. no feedback on position or velocity etc.

However it provides full motion capabilities in a straight-forward way.SuperModified

TMservos can be pre-configured by 01 Mechatronics to have

custom position or velocity limits, to execute profiled position with customaccelerations and velocities etc. Please contact us at [email protected] for moredetails. The analog programming scheme which is presented below can also beused to adjust these settings to some extend.

Similarly to the RC-Servo interface the analog interface is a simple and straight-forward way to control the SuperModified

TM.

The IF1 pin is again used as a digital input and selects between position orvelocity control.IF1 = Vcc or left floating position controlIF1 = 0 Volts velocity control

IF0 pin is configured as an analog input and accepts the analog command.0 Volts -maximum position / -maximum velocity2.5 Volts center position / zero velocity5 Volts maximum position/ maximum velocity

Default limit positions and velocities, interface capabilities and limitations areidentical with the RC servo interface.

Connection principles for the analog interface mode are illustrated below. Alsothe analog programming mode is presented.

GND

VIN

IF0/AN

CMD

IF1/ANSEL

GND

SuperModifiedTM

Controller #1

Vcc

GND

10K

DC 5V

GND

VIN

IF0/AN

CMD

IF1/ANSEL

GND

SuperModifiedTM

Controller #2

Vcc

GND

10K

DC 5V

Super-

ModifiedTM

Controller

Analog prog ramming settings adjustment

10K

5V

5V

5V

5V

AIN1

AIN2

AIN3

AIN4

10K

10K

10K

GND

DIO1

DIO3

SW1

Some key settings of the SuperModified

TMcontroller can be adjusted, to some

extend, using the analog programming mode illustrated above.

The SuperModifiedTM

controller must be set up with the connections shown.Digital I/Os 1 and 3 must have the capability to be easily connected to GND. Ameans for providing 0-5Volts analog voltages to AIN1-4 is also mandatory. Multi-turn, 10KOhm potentiometers are recommended. The command interface

(analog or RC) must also be connected and ready to command the controller.

20/38
mailto:[email protected]:[email protected]


21/38

SuperModifiedTM

13. ModBus overRS-485 Interface

14. Command set

14.1. Positionnomenclature

The procedure for analog programming is the following:

Power up the SuperModifiedTM

controller

To initiate the analog programming mode pull DIO1 and DIO3 to ground formore than 3 seconds.

Release the ground connection and allow the pins to be pulled to Vcc by the

internal pull-up resistors. Adjust settings by modifying the AIN1-4 voltages according to your

preferences. Evaluate the modifications by commanding the controller to doposition/velocity movements.

When finished pull DIO1 and DIO3 to ground for more than 3 seconds.

The settings are written to internal EEPROM.

The controller now behaves as adjusted.

If you do not wish to complete the adjustment just disconnect the controller fromthe power supply before completing the process.

Default settings can always be restored by the following procedure:

Power up the controller.

Pull DIO2 and DIO4 to ground for more than 3 seconds.

For all settings this rule applies:2.5V default value, 0V100% decrease, 5V 100% increase.

Correspondence of AIN input to setting

AN1: Max position/velocityAN2: Min position/velocityAN3: Acceleration/deceleration of profiled positioningAN4: Velocity of profiled positioning

Currently under development.

Commands are presented in ascending order according to Command ID. Tx andRx notations are host related ie Tx = transmitted by the host controller, Rx =received by the host controller. The SuperModified

TMcontroller is assumed to

have a default node ID value = 0x04 and the host controller is assumed to have anode ID value = 0x01. The standard frame for UART interface contains twoheader bytes H[0]=0x55,H[1]=0xAA. These are not used for the I2C interface.

When controlling a motor, a controller must keep track of its rotary position. Inorder to achieve this with an incremental encoder the motor position isconsidered to be 0 at some point (e.g. at power up or after a homing sequence)and all consecutive positions are calculated relative to this zero using theincremental encoder. This is a kind of absolute position. Henceforth this positionwill be called Incremental Absolute Position. The range of this position issoftware related according to the registers assigned to it. For theSuperModifiedTM controller it can be -2147483648 to +2147483648 ticks (32 bitsigned integer).

The SuperModifiedTM

controller when interfaced with the MagEncTM

absolute encoder can get incremental and absolute readings for rotary position.The position acquired by the SuperModified

TMcontroller through the MagEnc

TM

absolute interface will be referred to as Absolute Posit ion. Note that thisposition can have values 0-1024 ticks (which is the MagEncTM resolution).

21/38


22/38

SuperModifiedTM

22/38

14.2. Set commands

14.2.1. Set PID gain P

14.2.2. Set PID gain I

14.2.3. Set PID gain D

14.2.4. Set profileacceleration

Finally there is the Relative Incremental Position which is calculated in respect tocurrent position with information provided by the Incremental Absolute Position.Henceforth we will refer to this position simply as Relative Position.

Command ID: 0x00 Name: Set PID gain PTx data bytes: 2 interpreted as: 16 bit unsigned integer

Rx data bytes: 0 interpreted as: -

Description: Sets the Proportional gain of the internal PID control loop.

Notes: Stored in EEPROM. Default value: TBD

Example: Set gain P = 2000 ( = 0x07D0)

Host H[0] H[1] AndID OndID cID bCnt D[0] D[1] lrc

frame 0x55 0xAA 0x04 0x01 0x00 0x02 0xD0 0x07 0xD5

Slave H[0] H[1] AndID OndID cID bCnt lrc

frame 0x55 0xAA 0x01 0x04 0x00 0x00 0x00

Command ID: 0x01 Name: Set PID gain I

Tx data bytes: 2 interpreted as: 16 bit unsigned integer


Description: Sets the Integral gain of the internal PID control loop.


Example: Set gain I = 1000 ( = 0x03E8)


frame 0x55 0xAA 0x04 0x01 0x01 0x02 0xE8 0x03 0xE8


frame 0x55 0xAA 0x01 0x04 0x01 0x00 0x01

Command ID: 0x02 Name: Set PID gain D



Description: Sets the Derivative gain of the internal PID control loop.


Example: Set gain D = 10000 ( = 0x2710)


frame 0x55 0xAA 0x04 0x01 0x02 0x02 0x10 0x27 0x37


frame 0x55 0xAA 0x01 0x04 0x02 0x00 0x02

Command ID: 0x03 Name: Set profi le acceleration



Description: Set the desired acceleration (a) and deceleration (-a) forprofiled position and velocity movements.

Notes: Stored in EEPROM.Measured in ticks/sec

2.

Default value: TBD

u

t

a -a

uc

Example: Set profile acceleration = 800 (0x0320)ticks/sec2


23/38

SuperModifiedTM

23/38

14.2.5. Set profileconstant velocity

14.2.6. Set current limit

14.2.7. Set duration forcurrent limit




frame 0x55 0xAA 0x01 0x04 0x03 0x00 0x03

Command ID: 0x04 Name: Set profile constant velocity



Description: Set the desired constant velocity (uc) of position or velocityprofiled movements.

Notes: Stored in EEPROM.Measured in ticks/sec.Default value: TBD

u

t

a -a

uc

Example: Set constant velocity = 800 (0x0320) ticks/sec


frame 0x55 0xAA 0x04 0x01 0x04 0x02 0x20 0x03 0x25Slave H[0] H[1] AndID OndID cID bCnt lrc

frame 0x55 0xAA 0x01 0x04 0x04 0x00 0x04

Command ID: 0x05 Name: Set current limit



Description: Sets the maximum average current allowed to be supplied tothe motor for a specific duration (DurationForCurrentLimit).

Notes: Stored in EEPROM. Measured in mA. Default value: 1000/5000(1A/5A versions). Does not apply for 1A SuperModified version.! Adjust this setting according to motor rating.

Example: Set current l imit at = 900 ( = 0x0384) mA




frame 0x55 0xAA 0x01 0x04 0x05 0x00 0x05

Command ID: 0x06 Name: Set duration for current limit



Description: If the average current is above the current limit for the currentlimit duration an error is generated and the motor is stopped.

Notes: Stored in EEPROM. Measured in mSec. Default value: 5000! Adjust this setting according to motor ratings.

Example: Set current l imit duration = 10000 ( = 0x2710) mSec




frame 0x55 0xAA 0x01 0x04 0x06 0x00 0x06


24/38

SuperModifiedTM

14.2.8. Move withvelocity

14.2.9. Move toabsolute position

14.2.10. Move torelative position

14.2.11. Profiled movewith velocity

Command ID: 0x07 Name: Move with velocity

Tx data bytes: 2 interpreted as: 16 bit signed integer


Description: Configures the velocity setpoint according to data and sets themotor in velocity control mode.

Notes: Measured in ticks/sec. Motor starts to move with commandedvelocity immediately and without any motion profiles.

Example: Move with +500 (0x01F4) ticks /sec


frame 0x55 0xAA 0x04 0x01 0x07 0x02 0xF4 0x01 0xF0


frame 0x55 0xAA 0x01 0x04 0x07 0x00 0x07

Command ID: 0x08 Name: Move to absolute position


Rx data bytes: 0 interpreted as: -Description: Configures the absolute position setpoint and sets the motor in

position control mode. Absolute Incremental Position is implied.

Notes: Measured in ticks. Motor starts to move to commanded positionimmediately and without any motion profiles. (max acceleration,then full stop at commanded position)

Example: Move to abso lute posit ion =10240 (0x00002800) ticks

Host H[0] H[1] AndID OndID cID bCnt D[0] D[1] D[2] D[3] lrc

frame 0x55 0xAA 0x04 0x01 0x08 0x04 0x00 0x28 0x00 0x00 0x2B


frame 0x55 0xAA 0x01 0x04 0x08 0x00 0x08

Command ID: 0x09 Name: Move to relative position



Description: Configures the absolute position setpoint and sets the motor inposition control mode.

Notes: Measured in ticks. Motor starts to move to commanded positionimmediately and without any motion profiles. Position iscalculated relative to current position.

Example: Move to -3000 (0xFFFFF448) ticks relative to current posi tion


frame 0x55 0xAA 0x04 0x01 0x09 0x04 0x48 0xF4 0xFF 0xFF 0xBFSlave H[0] H[1] AndID OndID cID bCnt lrc

frame 0x55 0xAA 0x01 0x04 0x09 0x00 0x09

Command ID: 0x0A Name: Profiled move with velocity



Description: Configures the velocity position setpoint and sets the motor inprofiled velocity control mode.

Notes: Measured in ticks/sec. Motor starts to move immediately withacceleration setting until the velocity setpoint is reached. Then

it continues with commanded velocity.Example: Move motor -500 (0xFE0C) ticks/sec

24/38


25/38

SuperModifiedTM

14.2.12. Profiled moveto absolute position

14.2.13. Profiled moveto relative position

14.2.14. Set velocitysetpoint


frame 0x55 0xAA 0x04 0x01 0x0A 0x02 0x0C 0xFE 0xFA


frame 0x55 0xAA 0x01 0x04 0x0A 0x00 0x0A

Command ID: 0x0B Name: Profiled move to absolute posit ion



Description: Configures the absolute position setpoint and sets the motor inprofiled position control mode.

Notes: Measured in ticks. Motor starts to move to commandedabsolute position following the given motion profile. IncrementalAbsolute Position is implied.

Example: Move to -3000 (0xFFFFF448) ticks


frame 0x55 0xAA 0x04 0x01 0x0B 0x04 0x48 0xF4 0xFF 0xFF 0xB3


frame 0x55 0xAA 0x01 0x04 0x0B 0x00 0x0B

Command ID: 0x0C Name: Profiled move to relative position



Description: Configures the absolute position setpoint and sets the motor inposition control mode.

Notes: Measured in ticks. Motor starts to move to commandedabsolute position following the given motion profile.

Example: Move to 3000 (0x00000BB8) ticks relative to current posit ionHost H[0] H[1] AndID OndID cID bCnt D[0] D[1] D[2] D[3] lrc

frame 0x55 0xAA 0x04 0x01 0x0C 0x04 0xB8 0x0B 0x00 0x00 0xBB


frame 0x55 0xAA 0x01 0x04 0x0C 0x00 0x0C

Command ID: 0x0D Name: Set velocity setpoint



Description: Stores a velocity setpoint. Used in conjunction with broadcastcommand Do move for synchronized motions of many

SuperModifiedTM

controllers on the same bus.Notes: Measured in ticks/sec. The received velocity setpoint is

buffered. A following broadcast Do move command will initiatenon profiled move with velocity according to buffered setpoint.

Example: Store a velocity setpoint = 0 (can be used to simultaneously halt allmotors together with a Do move broadcast command)


frame 0x55 0xAA 0x04 0x01 0x0D 0x02 0x00 0x00 0x0F


frame 0x55 0xAA 0x01 0x04 0x0D 0x00 0x0D

25/38


26/38

SuperModifiedTM

14.2.15. Set absoluteposition setpoint

14.2.16. Set relative

position setpoint

14.2.17. Set profiledvelocity setpoint

14.2.18. Set profiledabsolute positionsetpoint

Command ID: 0x0E Name: Set absolute position setpoint



Description: Stores an absolute position setpoint. Used in conjunction withbroadcast command Do move for synchronized motions of

many SuperModifiedTM

controllers on the same bus.Notes: Measured in ticks. The received absolute position setpoint is

buffered. A following broadcast Do move command will initiatenon profiled absolute move to buffered setpoint.

Example: Store an absolute move to +64 (0x00000040) ticks


frame 0x55 0xAA 0x04 0x01 0x0E 0x04 0x40 0x00 0x00 0x00 0x4A


frame 0x55 0xAA 0x01 0x04 0x0E 0x00 0x0E

Command ID: 0x0F Name: Set relative position setpoint



Description: Stores relative position setpoint. Used in conjunction withbroadcast command Do move for synchronized motions ofmany SuperModified

TMcontrollers on the same bus.

Notes: Measured in ticks. The received relative position setpoint isbuffered. A following broadcast Do move command will initiatenon profiled relative move to buffered setpoint.

Example: Store a relative move to 0 ticks


frame 0x55 0xAA 0x04 0x01 0x0F 0x04 0x00 0x00 0x00 0x00 0x0B


frame 0x55 0xAA 0x01 0x04 0x0F 0x00 0x0F

Command ID: 0x10 Name: Set profiled velocity setpoint



Description: Stores relative velocity setpoint. Used in conjunction withbroadcast command Do move for synchronized motions ofmany SuperModified


Notes: Measured in ticks/sec. The received velocity setpoint isbuffered. A following broadcast Do move command will initiate

profiled move with velocity according to buffered setpoint.

Example: Store a profi led veloci ty setpoint = 783 (0x030F) ticks/sec


frame 0x55 0xAA 0x04 0x01 0x10 0x02 0x0F 0x03 0x1E


frame 0x55 0xAA 0x01 0x04 0x10 0x00 0x10

Command ID: 0x11 Name: Set profiled absolute position setpoint



Description: Stores an absolute position setpoint. Used in conjunction withbroadcast command Do move for synchronized motions of

26/38


27/38

SuperModifiedTM

14.2.19. Set profiledrelative positionsetpoint

14.2.20. Configuredigital IOs

14.2.21. Set digitaloutputs

many SuperModifiedTM

controllers on the same bus.

Notes: Measured in ticks. The received absolute position setpoint isbuffered. A following broadcast Do move command will initiateprofiled absolute move to buffered setpoint.

Example: Store a profiled absolute position setpoint = 0 ticks

Host H[0] H[1] AndID OndID cID bCnt D[0] D[1] D[2] D[3] lrcframe 0x55 0xAA 0x04 0x01 0x11 0x04 0x00 0x00 0x00 0x00 0x15


frame 0x55 0xAA 0x01 0x04 0x11 0x00 0x11

Command ID: 0x12 Name: Set profi led relative position setpoint



Description: Stores a relative position setpoint. Used in conjunction withbroadcast command Do move for synchronized motions ofmany SuperModified


Notes: Measured in ticks. The received relative position setpoint isbuffered. A following broadcast Do move command will initiateprofiled absolute move to buffered setpoint.

Example: Store a profiled relative posit ion setpoint = 0 ticks


frame 0x55 0xAA 0x04 0x01 0x12 0x04 0x00 0x00 0x00 0x00 0x16


frame 0x55 0xAA 0x01 0x04 0x12 0x00 0x12

Command ID: 0x13 Name: Configure digi tal IOs



Description: Configures whether the four on-board digital IOs DIO1DIO4will be inputs or outputs.

Notes: Stored in EEPROM. The four low bits of the data bytecorrespond to Digital IO configuration: Bit0 DIO1, if set DIO1is configured as output; if zero DIO1 configured as input. So onfor rest bits.

Example: Set DIO1 and DIO4 as outputs , DIO2 and 3 as inputs

Host H[0] H[1] AndID OndID cID bCnt D[0] lrc

frame 0x55 0xAA 0x04 0x01 0x13 0x01 0x09 0x1B


frame 0x55 0xAA 0x01 0x04 0x13 0x00 0x13

Command ID: 0x14 Name: Set digital outputs



Description: Configures the state of the on-board digital outputs.

Notes: The four low bits of the data byte correspond to Digital Outputsstate: Bit0 DIO1, if set and DIO is configured as output digitaloutVcc. If zero digital output state 0V. If the correspondingDIO is not configured as an output the command will be

discarded.

Example: Set DIO4 high

27/38


28/38

SuperModifiedTM

14.2.22. Set node ID

14.2.23. Set localacceptance mask


frame 0x55 0xAA 0x04 0x01 0x14 0x01 0x08 0x14


frame 0x55 0xAA 0x01 0x04 0x14 0x00 0x14

Command ID: 0x15 Name: Set node ID



Description: Configures the node ID of the SuperModifiedTM

Controller.

Notes: Stored to EEPROM. After execution of this command thecontroller no longer responds to its previous ID. Power cyclingfor a HW reset is advised after this command.

Example: Change contro ller ID from 0x04 to 0x05




frame 0x55 0xAA 0x01 0x04 0x15 0x00 0x15

Command ID: 0x16 Name: Set Local Acceptance Mask



Description: Configures the SuperModifiedTM

controller to be addressed byusing more than one IDs. This command is actually used toallow for groups of SuperModified

TMcontrollers to be

commanded all at the same time with a single command.

The mechanism of the implementation is illustrated in pseudo-code below:

if ( controller_ID AND local_acceptance_mask) =( received_ID AND local_acceptance_mask)

ThenAccept command as if correct ID was received

For the command response the local acceptance mask is notused. In this way from a group of controllers accepting thecommand, only one the group leader- whose ID is equal to theAndID issued by the master will respond.

Local acceptance mask functionality is discarded for getcommands.

Notes: Stored to EEPROM.Example:There are 10 SuperModified controllers on a bus. Their IDs areset to be: 0x10, 0x11, 0x12, 0x13, 0x14, 0x20, 0x21, 0x22,0x23, 0x24. Controllers with IDs 0x10 and 0x20 are the groupleaders. All controllers have their local acceptance mask set to0xF0. This means that only the four high bits of an AndID areexamined in order to decide if the controller will execute thecommand or not. The lower four bits are dont cares.

When the master issues a command to node 0x10, allcontrollers 0x10, 0x11, 0x12, 0x13, 0x14 will execute thecommand. Only controller 0x10 will issue a command

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14.2.24. Set baud rateUART

14.2.25. Resetincremental position

14.2.26. Start

response. Accordingly when the master issues a command tonode 0x20 controllers 0x20, 0x21, 0x22, 0x23, 0x24 willexecute the command. Only controller 0x20 will issue acommand response.

Example: Set local acceptance mask of controller 0x10 to 0xF0


frame 0x55 0xAA 0x10 0x01 0x16 0x01 0xF0 0xE7


frame 0x55 0xAA 0x01 0x10 0x16 0x00 0x16

Command ID: 0x17 Name: Set baud rate UART



Description: Configures the UART baud rate. Measured in bps (bits per sec)

Notes: Stored to EEPROM. Minimum value: 600 bps. Maximum value115200 bps. Default value 9600 BpsAfter execution of this command the controller no longerresponds to previous baud rate.

Example: Change control ler UART baud rate from 9600 to 19200 Bps


frame 0x55 0xAA 0x04 0x01 0x17 0x04 0x00 0x4B 0x00 0x00 0x58


frame 0x55 0xAA 0x01 0x04 0x17 0x00 0x17

Command ID: 0x18 Name: Reset incremental posit ion

Tx data bytes: 0 interpreted as: -


Description: Sets the current Incremental Absolute Position = 0.

Notes: On reception of this command the controller switches toposition control with position setpoint = 0, thus maintaining itsposition. All buffered setpoints are disabled. This commandshould be used only during homing sequences implemented bythe end user on the host controller. These homing sequencesshould involve low motor speeds.

Example: Reset Incremental position

Host H[0] H[1] AndID OndID cID bCnt lrc

frame 0x55 0xAA 0x04 0x01 0x18 0x00 0x18


frame 0x55 0xAA 0x01 0x04 0x18 0x00 0x18

Command ID: 0x19 Name: Start



Description: Initializes the SuperModifiedTM

Ccntroller.

Notes: The SuperModifiedTM controller upon power up is notexecuting any type of control, thus not applying any voltageforce on the attached motor. When this command is receivedincremental position is reset, all internal circuitry and memory isinitialized and the controller enters position control mode withposition setpoint = 0.

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14.2.27. Halt

14.2.28. Stop

14.2.29. Set errorreporting level

Example: Start the SuperModifiedTM

controller


frame 0x55 0xAA 0x04 0x01 0x19 0x00 0x19


frame 0x55 0xAA 0x01 0x04 0x19 0x00 0x19

Command ID: 0x1A Name: Halt



Description: Stops the motor.

Notes: The SuperModifiedTM controller is switched to position controlwith position setpoint = current position.

Example: Halt the motor attached to the SuperModifiedTM

controller.





Command ID: 0x1B Name: Stop



Description: Un - Initializes the SuperModifiedTM

Ccntroller.

Notes: The SuperModifiedTM

controller does not execute any controlloop.

Example: Start the SuperModifiedTM

controller





Command ID: 0x1C Name: Set error reporting level

Tx data bytes: 1 interpreted as: 8bit unsigned integer


Description: Sets the error reporting level.0(default): Only serious errors are reported. e.g. motor over-current error (motor operation will be halted in order to prevent

damage to the motor). If such an error exists normal commandresponse frames will be overridden by the error frame.1: All warnings are treated as errors. By default warnings do notcause the override of a command response frame with an errorframe. A warning can be generated if e.g. the SuperModified

TM

controller receives a move position but it has not received aStart command prior to that.

Notes: Stored to EEPROM.

Example: Set error reporting level to 1.


frame 0x55 0xAA 0x04 0x01 0x1C 0x01 0x01 0x1C



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14.3. Get Commands14.3.1. Get PID gain P

14.3.2. Get PID gain I

14.3.3. Get PID gain D

14.3.4. Get profileacceleration

14.3.5. Get profileconstant velocity

Command ID: 0x64 Name: Get PID gain P


Rx data bytes: 2 interpreted as: 16-bit unsigned integer

Description: Gets the proportional gain from the SuperModifiedTM

controller.

Notes: This setting is read from on-board EEPROM.

Example: Get PID gain P (which is e.g. 2000 = 0x07D0 )


frame 0x55 0xAA 0x04 0x01 0x64 0x00 0x64

Slave H[0] H[1] AndID OndID cID bCnt D[0] D[1] lrc

frame 0x55 0xAA 0x01 0x04 0x64 0x02 0xD0 0x07 0xB1

Command ID: 0x65 Name: Get PID gain I



Description: Gets the integral gain from the SuperModifiedTM

controller.


Example: Get PID gain I (which is e.g. 1000 = 0x03E8 )


frame 0x55 0xAA 0x04 0x01 0x65 0x00 0x65


frame 0x55 0xAA 0x01 0x04 0x65 0x02 0xE8 0x03 0x8C

Command ID: 0x66 Name: Get PID gain D



Description: Gets the derivative gain from the SuperModifiedTM

controller.Notes: This setting is read from on-board EEPROM.

Example: Get PID gain D (which is e.g. 10000 = 0x2710 )


frame 0x55 0xAA 0x04 0x01 0x66 0x00 0x66



Command ID: 0x67 Name: Get profile acceleration


Rx data bytes:2 interpreted as:

16-bit unsigned integer

Description: Gets the profile acceleration in ticks/sec2.


Example: Get prof ile acceleration (which is e.g. 800 = 0x0320 )


frame 0x55 0xAA 0x04 0x01 0x67 0x00 0x67



Command ID: 0x68 Name: Get profile constant velocity



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SuperModifiedTM

14.3.6. Get current limit

14.3.7. Get current limitduration

14.3.8. Get digital IOconfiguration

Description: Gets the constant velocity for profiled motion in ticks/sec.


Example: Get profi le constant veloc ity (which i s e.g. 800 = 0x0320 )


frame 0x55 0xAA 0x04 0x01 0x68 0x00 0x68



Command ID: 0x69 Name: Get current limit



Description: Gets the motor current limit in mA.

Notes: This setting is read from on-board EEPROM.This setting does not apply for the 1A version.

Example: Get current limit (which is e.g. 5000 = 0x1388 )

Host H[0] H[1] AndID OndID cID bCnt lrcframe 0x55 0xAA 0x04 0x01 0x69 0x00 0x69


frame 0x55 0xAA 0x01 0x04 0x69 0x02 0x88 0x13 0xF0

Command ID: 0x6A Name: Get current limit duration



Description: Gets the motor current limit duration in mS. If a current over thecurrent_limit appears at the motor for more thancurrent_limit_duration then the over-current error is generated

and the motor operation is halted.Notes: This setting is read from on-board EEPROM.

This setting does not apply for the 1A version.

Example: Get current l imi t duration (which is e.g. 5000 = 0x1388 )




frame 0x55 0xAA 0x01 0x04 0x6A 0x02 0x88 0x13 0xF3

Command ID: 0x6B Name: Get digi tal IO configuration



Description: Gets the digital IO configuration. Lower nibble (4 lower bits) areset or reset according to IO configuration


Example: Get digi tal IO configuration (which is e.g. all outputs )



Slave H[0] H[1] AndID OndID cID bCnt D[0] lrc

frame 0x55 0xAA 0x01 0x04 0x6B 0x01 0x0F 0x65

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SuperModifiedTM

14.3.9. Get localacceptance mask

14.3.10. Get digitalinputs

14.3.11. Get analoginputs

14.3.12. Get position

Command ID: 0x6C Name: Get local acceptance mask



Description: Gets the local acceptance mask of the addressed controller.Local acceptance mask functionality is explined in the set local

acceptance mask command.Notes: This setting is read from on-board EEPROM.

Example: Get local acceptance mask (which is e.g. no acceptance mask )




frame 0x55 0xAA 0x01 0x04 0x6C 0x01 0xFF 0x92

Command ID: 0x6D Name: Get digital inputs


Rx data bytes: 1 interpreted as: 8-bit unsigned integerDescription: Gets the state of the on-board digital inputs. Stored in lower

nibble of received byte. DIO1 is represented by bit 0, DIO2 bybit 1 and so on.

Notes: If a DIO is configured as output reads will return the digitaloutput state.

Example: Get digital inputs (which are e.g. all zeros )


frame 0x55 0xAA 0x04 0x01 0x6D 0x00 0x6D


frame 0x55 0xAA 0x01 0x04 0x6D 0x01 0x00 0x6C

Command ID: 0x6E Name: Get analog inputs


Rx data bytes: 8 interpreted as: 4 x 16-bit unsigned integers

Description: Gets the analog voltages read by the on-board ADC on the fouranalog inputs AIN1-4. D[0] and D[1] contain the valuecorresponding to AIN1, D[2] and D[3] the value correspondingto AIN2 and so on.

Notes: On board ADC resolution is 10 bits. A 50% weighted runningaverage filter is applied on readings.

Example: Get analog inputs (which e.g. all read 2.5Volts )


frame 0x55 0xAA 0x04 0x01 0x6E 0x00 0x6E

Slave H[0] H[1] AndID OndID cID bCnt D[0] D[1] D[2] D[3] D[4]

frame 0x55 0xAA 0x01 0x04 0x6E 0x08 0x00 0x02 0x00 0x02 0x00

D[5] D[6] D[7] lrc

0x02 0x00 0x02 0x66

Command ID: 0x6F Name: Get position


Rx data bytes: 4 interpreted as: 32-bit signed integer

Description: Gets the current Incremental Absolute position in ticks.

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SuperModifiedTM

14.3.13. Get absoluteposition

14.3.14. Get veloci ty

14.3.15. Get current

14.3.16. Get warning

Notes: -

Example: Get posi tion (which is e.g. 5683 = 0x1633 ticks)


frame 0x55 0xAA 0x04 0x01 0x6F 0x00 0x6F

Slave H[0] H[1] AndID OndID cID bCnt D[0] D[1] D[2] D[3] lrc

frame 0x55 0xAA 0x01 0x04 0x6F 0x04 0x33 0x16 0x00 0x00 0x4E

Command ID: 0x70 Name: Get absolute posit ion



Description: Gets the current Absolute position in ticks. Resolution is 10bits.This is the raw reading from the absolute encoder interface.

Notes: Only available if a MagEncTM

magnetic absolute encoder isinterfaced to the SuperModified

TMcontroller.

Example: Get absolute pos ition (which is e.g. 512 = 0x0200 ticks)


frame 0x55 0xAA 0x04 0x01 0x70 0x00 0x70



Command ID: 0x71 Name: Get velocity



Description: Gets the current velocity in ticks/sec.

Notes: Only available if a MagEncTM

magnetic absolute encoder isinterfaced to the SuperModified

TMcontroller.

Example: Get velocity (which is e.g. 400 ticks/sec = 0x0190 ticks/sec)Host H[0] H[1] AndID OndID cID bCnt lrc

frame 0x55 0xAA 0x04 0x01 0x71 0x00 0x71


frame 0x55 0xAA 0x01 0x04 0x71 0x02 0x90 0x01 0xE2

Command ID: 0x72 Name: Get current



Description: Gets the current in mA.

Notes: Only available with the 5A version.Example: Get current (which is e.g. 187mA 0x00BB )


frame 0x55 0xAA 0x04 0x01 0x72 0x00 0x72


frame 0x55 0xAA 0x01 0x04 0x72 0x02 0xBB 0x00 0xCB

Command ID: 0x73 Name: Get warning



Description: Gets the most recent warning.If the error reporting level is set to 0 warnings are stored insidethe SuperModified

TMin a circular buffer. The last warning is

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SuperModifiedTM

14.4. Broadcastcommands14.4.1. Do move

14.4.2. Global start

14.4.3. Global halt

14.4.4. Global stop

popped from the buffer and sent through the communicationinterface.

Notes: If no warnings exist the no_error error code will be returned

Example: Get warning (e.g. there are no warnings)


frame 0x55 0xAA 0x04 0x01 0x73 0x00 0x73Slave H[0] H[1] AndID OndID cID bCnt D[0] lrc


Command ID: 0xC9 Name: Do move



Description: All controllers execute their pre-buffered sepoints.

Notes: If there is no pre-buffered setpoint (or it has already beenexecuted by a previous Do Move) command is discarded.

Example: Move all motors attached to controllers on the bus to respectivebuffered setpoint.


frame 0x55 0xAA 0x00 0x01 0xC8 0x00 0xC8

Command ID: 0xC9 Name: Global start



Description: Starts all SuperModifiedTM

controllers on the bus.

Notes: -

Example: Start all SuperModifiedTM


Host H[0] H[1] AndID OndID cID bCnt lrcframe 0x55 0xAA 0x00 0x01 0xC9 0x00 0xC9

Command ID: 0xCA Name: Global halt



Description: Halts all SuperModifiedTM

controllers on the bus by applyingposition control and position setpoint = current position.

Notes: -

Example: Halt all SuperModifiedTM



frame 0x55 0xAA 0x00 0x01 0xCA 0x00 0xCA

Command ID: 0xCB Name: Global stop



Description: De-activates all SuperModifiedTM


Notes: -

Example: Stop all SuperModifiedTM



frame 0x55 0xAA 0x00 0x01 0xCB 0x00 0xCB

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SuperModifiedTM

15. Error codereference

During operation, various errors and warnings may appear. Errors are assigned aseverity level: 0 serious errors and 1 warnings.

Whenever an error is detected by the SuperModifiedTM

controller it is stored in aqueue in memory and is reported according to error reporting level on the nextcommand response issued by the controller: i.e. on the next received command

the controller will not issue a regular command response but rather transmit anerror frame like in section 7.1.4

According to error code action may or may not be taken by the controllerssoftware. The default error reporting level is set to 0 ie only 0 level errors arereported through the command response override mechanism.

A list of the available error codes, their assigned error level and their probablecause is presented below.

Code Name Level Description:/cause/notes

Motor/Encoder related errors

0x01 Motor Stalled 0 Description: A motor stalled condition has occurred.Cause: 1) The motor is actually stalled. 2) The motor has been instructedto achieve a non-achievable velocity.Action taken: When this error occurs the SuperModified

TMcontroller shuts

off power to the motor.Resolution: Check your mechanical implementation. Make sure the motoris adequately sized for the intended purpose.

0x02 Encoder Overflow 0 Description: The incremental position is about to overflow.Cause: The motor has traveled extremely long towards the samedirection. (2147482624 encoder ticks)

Action taken: When this error occurs the SuperModifiedTM controller shutsoff power to the motor.Resolution: None. This error is almost impossible to occur.

0x03 Encoder Underflow 0 Description: The incremental position is about to underflow.Cause: The motor has traveled extremely long towards the samedirection. (-2147482624 encoder ticks)Action taken: When this error occurs the SuperModified

TMcontroller shuts

off power to the motor. An error response is issued during the nextcommunication cycle.Resolution: None. This error is almost impossible to occur.

Command Related Errors

0x11 Invalid command ID 0 Description: A communication packet with a non existent command IDhas been received.Cause: The host controller issued an invalid command IDAction taken: None. The command is not executed. An error response isissued immediately.Resolution: Check your communication software for possible errors.

0x12 Invalid set commandbyte-count

0 Description: A set command with a wrong bytecount has been received.Cause: The host controller issued an invalid set command bytecountAction taken: None. The command is not executed. An error response isissued immediately.Resolution: Check your communication software for possible errors.

0x13 Invalid argument 0 Description: A set command with an invalid data argument has been

received. For example attempting to set the SuperModified node ID to 0.Cause: The host controller issued an invalid data argument.

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SuperModifiedTM

Action taken: None. The command is not executed. An error response isissued immediately.Resolution: Check your communication software for possible errors.

0x14 Invalid command formotor state

0 Description: The received command is invalid for the given motor state.ie the SuperModified

TMcontroller is instructed to move the motor with a

specific velocity prior to receiving a Start command (initialization and PIDactivation).Cause: described above.Action taken: None. The command is not executed. An error response isissued immediately.Resolution: Issue a Start command before attempting to issue movementcommands.

0x15 Invalid byte-count 1 Description: A get or broadcast command has been received with invalidbytecount.Cause: described above.Action taken: None. The command is executed. An error response isissued immediately only if the error reporting level is set to 1.Resolution: Check your communication software for possible errors

I2C related errors

0x23 Arbitration lost 1 Description: The SuperModifiedTM

controller lost arbitration when trying toissue a command response.Cause: described above.Action taken: The SuperModified

TMcontroller tries another 5 times to

issue the command response. If all tries fail an error response is issued.Resolution: Check your communication software for possible errors. Theonly reason for arbitration loss is a second device trying to be I2C masterat the same time.

0x31 Packet override 0 Description: A communication packet override condition was detected.Cause: Communication at this rate cannot be handled by the

SuperModifiedTM

controller.Action taken: An error response is issued.Resolution: Introduce some delay between communication cycles withthe SuperModified

TMcontroller.

0x32 Invalid receive byte-count

0 Description: The received I2C packet had a different byte length than itshould according to packet byte-count.Cause: described above.Action taken: The command is not executed. An error response is issuedimmediately.Resolution: Check your communication software for possible errors

UART related errors

0x41 Memory allocationerror

0 Description: Uart initialization detected not enough memory for uartbuffers.Cause: User programming of the controller has taken up all memory.Action taken: None. Note: The SuperModified

TMcontroller cannot initiate

Uart transactions or may not function at all.Resolution: Reduce memory needed for your program inside theSuperModified

TMcontroller.

0x46 Frame error 0 Description: Uart detected a frame error. Ie invalid number of data bits,invalid number of stop bits etcCause: 1) Incompatible host uart settings. 2) Extreme noise 3)Bad/damag

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