Motor Commands

SUMMARY

The commands below can be used to communicate with the motor of any Humboldt HM-3000.  All commands will use a similar format for sending and receiving commands and data.

Typical Message Structure (bytes)

• Flag Byte
• 175 will always be the flag byte.
• Device ID
• 1 – 255
• Command
• Size
• Count of size of message starting with Device Id and ending with Checksum, this is not a checksum count.
• Data
• Checksum
• Addition of all bytes excluding Flag byte and checksum 0-255 wraps around if greater than 255.

HM3000 Motor Commands as of 10-25-2007

Motor Up

• Flag byte
• Device ID
• 5 ß Motor Up Command
• 4 ß Byte count
• Checksum

Motor Up Acknowledge (received after motor up command sent)

• Flag byte
• Device ID
• 62 à motor up acknowledge
• 04 à byte count
• Checksum

Motor Down

• Flag byte
• Device ID
• 6 ß Motor Down Command
• 4 ß Byte count
• Checksum

Motor Down Acknowledge (received after motor down command sent)

• Flag byte
• Device ID
• 63 à motor down acknowledge
• 04 à byte count
• Checksum

Motor Stop

• Flag byte
• Device ID
• 7 ß Motor Stop Command
• 4 ß Byte count
• Checksum

Motor Stop Acknowledge (received after motor stop command sent)

• Flag byte
• Device ID
• 64 à motor down acknowledge
• 04 à byte count
• Checksum

Get Current Motor Speed

• Flag byte
• Device ID
• 8 ß Current Motor Speed
• 4 ß Byte count
• Checksum

Get Current Speed Acknowledge (received after requesting motor speed command)

• Flag byte
• Device ID
• 43 à Get speed acknowledge
• 08 à byte count
• Byte 1 of speed value (floating point number)
• Byte 2 of speed value
• Byte 3 of speed value
• Byte 4 of speed value
• Checksum

Send Motor Speed

• Flag byte
• Device ID
• 9 ß Send motor speed
• 8 ß Byte count
• Byte 1 of speed value (floating point number)
• Byte 2 of speed value
• Byte 3 of speed value
• Byte 4 of speed value
• Checksum

Example:

Set Device 1 to a speed of 0.5 in/min (SEE NOTES AT BOTTOM FOR SPEED UNITS).

Message:

• 175 - Flag
• 1 – Device ID
• 9 - Command
• 8 - Size
• 63 – Byte 1 of float (floating point number converted to byte representation)
• 0 – Byte 2 of float
• 0 – Byte 3 of float
• 0 – Byte 4 of float
• 81 – This is the checksum.

Send Motor Speed Acknowledge

• The received acknowledge will be the same reply as the when requesting the current speed. See command Get Current Speed Acknowledge.   The reply should contain the speed you just set.

NOTES: 

Motor speed will always be sent over in metric for Firmware versions 5.xx and greater.  If the firmware is less than 5 then the speed will be sent over in whatever units the HM-3000 is currently using.

If the motor is running and you send a new speed, you will have to send an up/down command to have the motor run at the new set speed.