You can use spc_request_dev or spc_request_sys function when setting or using a smart expansion board.
spc_request_dev($sid, $cmd)
spc_request_sys($sid, $cmd)
Common commands can be used with spc_request_sys function and a list of the commands is as follows:
| Command | Option | Description |
|---|---|---|
| get | did | get a device ID |
| get | uid | get a unique ID |
Dedicated commands for each smart expansion board can be used with spc_request_dev.
A list of dedicated commands for PES-2403 is as follows:
| cmd | arg1 | arg2 | arg3 | arg4 |
|---|---|---|---|---|
| set | mode | full | - | - |
| half | - | - | ||
| vref | stop | (0~15) | - | |
| drive | (0~15) | - | ||
| lock | (0~15) | - | ||
| rsnc | (low_pps) | (high_pps) | ||
| speed | (pps) | - | - | |
| accel | (accel) | [decel] | - | |
| pos | (-1000000000 ~ +1000000000) | - | - | |
| get | state | - | - | - |
| pos | - | - | - | |
| move | step | [speed] | [accel] | [decel] |
| goto | pos | [spped] | [accel] | [decel] |
| sw(0~3) | [speed] | [accel] | [decel] | |
| stop | [decel] | - | - | - |
| eio | get | (0~3) | - | - |
| set | (0~3) | mode | input | |
| lock |
※ (): mandatory, []: optional