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+
+
+ Transport
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+
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+ Packet serial: the console talks the Basicmicro binary protocol directly over the USB-UART converter.
+
+
+
+
+
+
+
+
+
+
+ Device Info + + +
+
+
+ -
+
- Firmware
- — +
- Main battery
- — +
- Temperature
- — +
- Motor currents
- — +
- Status
- — +
GETVERSION (21) · GETMBATT (24) · GETTEMP (82) · GETCURRENTS (49) · GETSTATUS (90). Status bit meanings can vary slightly across firmware revisions.
+
+
+ -
+
- Device type (0x1000)
- — +
- Error register (0x1001)
- — +
- Vendor ID (0x1018:1)
- — +
- Product code (0x1018:2)
- — +
- Revision (0x1018:3)
- — +
- Serial number (0x1018:4)
- — +
Read over expedited SDO from the configured node.
+
+
+
+
+ CANopen Status & NMT
+
+ NMTno heartbeat
+ CiA 402unknown
+
+
+
+
+
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+
+
+ Heartbeat monitor listens on 0x700+node. If the drive is not producing heartbeats, enable them via object 0x1017.
+
+
+
+
+ Motion — Packet Serial
+ +Signed duty (±32767) · cmds 32 / 33
+ + +Sliders spring back to zero when released. Keyboard users: arrow keys nudge, the 0 button stops that motor.
+
+ Signed speed (qpps) · cmds 35 / 36 / 37
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+ Encoders · cmds 16 / 17 / 20
+-
+
- Encoder 1
- — +
- Encoder 2
- — +
+
+
+
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+
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+ Motion — DS402
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+ Mode display (0x6061): —
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+
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+ Velocity
+
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+
+
+
+
+
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+ Actual (0x606C)
+ —
+
+
+ Position
+
+
+
+
+
+
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+
+
+
+ Actual (0x6064)
+ —
+
+ Values are transmitted only after strict validation (full-string integer parse + type range check).
+
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+
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+ SDO Object Browser
+
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+ | Object | +Index | +Sub | +Type | +Value | ++ |
|---|
Click a row to load it into the form. ↻ reads the object. Expedited transfers only (≤ 4 bytes).
+
+
+ Raw Traffic + + +
+ + +UART mode: hex packet bytes. CAN mode: raw slcan lines. Pause stops the display; capture (for Export) continues.
+