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diff --git a/docs/CM1-C_ASCII_Command_Cheatsheet.md b/docs/CM1-C_ASCII_Command_Cheatsheet.md new file mode 100644 index 0000000..9fdd695 --- /dev/null +++ b/docs/CM1-C_ASCII_Command_Cheatsheet.md @@ -0,0 +1,189 @@ +# Cool Muscle CM1-C ASCII / CML Serial Control Cheat Sheet + +**Applies to:** CM1-C, with RT3.14-focused commands +**Serial default:** 38400 baud, 8-N-1, no flow control +**Terminator:** carriage return (`\r`, ASCII 13) after every command +**Motor ID:** append `.1`, `.2`, etc. Always include it explicitly. + +> Use low speed and low torque during commissioning. Software commands are not a safety-rated E-stop. + +## Quick direct move + +```text +M0.1=20 +A0.1=10 +S0.1=20 +P0.1=1000 +^.1 +``` + +- `P0` target position in pulses +- `S0` speed; actual unit is selected by `K37` +- `A0` acceleration in thousands of pulses/s^2 +- `M0` torque limit, 0-100% of peak torque +- `^` execute + +## Continuous rotation until stopped + +```text +A0.1=10 +M0.1=30 +P0.1=1000000000 +S0.1=20 +^.1 +``` + +Use negative speed for the opposite direction: + +```text +S0.1=-20 +^.1 +``` + +Stop: + +```text +].1 +``` + +`S0.1=0` also stops indefinite-position motion. Exact CW/CCW depends on `K45`. + +## Safety and enable commands + +| Command | Action | +|---|---| +| `].1` | Immediate normal software stop of motor 1; pauses a bank | +| `*` | Emergency stop all motors on the chain | +| `*1` | Clear emergency-stop state | +| `).1` | Disable motor; shaft becomes free | +| `(.1` | Enable motor | + +## Queries + +| Command | Information | +|---|---| +| `?.1` | Dynamic P0/A0/S0 | +| `?85.1` | Firmware and motor ID | +| `?90.1` | All K parameters | +| `?91.1` / `?P.1` | Position registers | +| `?92.1` / `?S.1` | Speed registers | +| `?93.1` / `?A.1` | Acceleration registers | +| `?95.1` | Position error | +| `?96.1` | Current position | +| `?97.1` | Current speed | +| `?98.1` | Averaged current | +| `?99.1` | Motor status | +| `?70.1` | Input status | +| `?71.1` | Temperature | +| `?74.1` | Analog input | +| `?1000.1` | All program and logic banks | +| `K37.1` | Query one specific parameter | + +## Status values from `?99` + +- `0` moving +- `1` position-error overflow +- `2` overspeed/overvoltage +- `4` overload/overcurrent +- `8` in position / ready +- `16` disabled +- `32` push torque reached +- `128` overtemperature +- `256` push target reached before expected resistance +- `512` emergency stop + +Values can be combined as a bit field. + +## Zeroing and homing + +| Command | Action | +|---|---| +| `|.1` | Run configured origin search | +| `|1.1` | Move to position zero | +| `|2.1` | Assign current position as zero | +| `|4.1` | Soft reset | +| `|11.1` | Clear whole-revolution count | + +The character is pipe `|` (ASCII 124), not capital I. Configure `K42`, `K43`, `K45`, `K46`, `K47`, and `K48` before origin search. + +## Outputs + +- `O1.1`, `O2.1`: output on +- `F1.1`, `F2.1`: output off +- `?51.1`, `?52.1`: output status +- Configure output behavior in `K34` + +## Stored registers + +- `P1-P25`: positions +- `S1-S15`: speeds +- `A1-A8`: accelerations +- `M1-M8`: torque limits +- `T1-T8`: millisecond timers +- `V1-V15`: variables/internal-state mappings +- `N1-N25`, `R1-R25`: coordinated-motion or general-use data + +## Program banks + +```text +B1 +S1,A1,P1 +END +``` + +- `[1.1`: execute program bank 1 +- `[L1.1`: execute logic bank 1 +- `].1`: pause immediately; send twice to terminate +- `}.1`: stop after current motion +- `>.1`, `<.1`: step through paused program +- `]L.1`: stop logic bank +- `B100`, `L100`: clear all banks +- `$ .1` without the space: save to EEPROM; actual command is `$.1` + +## Important K parameters + +- `K20`: baud / ASCII versus Modbus +- `K23`: serial event reporting and echo +- `K37`: resolution and speed unit; default `K37=3` = 1000 ppr, 100 pps speed unit +- `K44`: deceleration ratio +- `K45`: direction and coordinate sign +- `K55`: in-position tolerance +- `K56`: position-error fault threshold +- `K58`, `K59`: software position limits +- `K70`: CR-only versus CR+LF replies + +K/H parameters auto-save by default. On suitable RT3.14 firmware, `_SKH=0` temporarily disables auto-saving to avoid repeated EEPROM writes; `_SKH=1` re-enables it. + +## PowerShell + +```powershell +$PortName = "COM3" + +$cm = [System.IO.Ports.SerialPort]::new( + $PortName, 38400, + [System.IO.Ports.Parity]::None, + 8, + [System.IO.Ports.StopBits]::One +) +$cm.Handshake = [System.IO.Ports.Handshake]::None +$cm.ReadTimeout = 700 +$cm.WriteTimeout = 700 +$cm.NewLine = "`r" +$cm.Open() + +function Send-CM1 { + param( + [Parameter(Mandatory)][string]$Command, + [int]$WaitMs = 150 + ) + if (-not $script:cm -or -not $script:cm.IsOpen) { + throw "CM1 serial port is not open." + } + $null = $script:cm.ReadExisting() + $script:cm.Write($Command + "`r") + Start-Sleep -Milliseconds $WaitMs + $script:cm.ReadExisting() +} +``` + +**Source basis:** Myostat CM1-C User Guide v3.00 (2025-12-05) and CM1 RT3.14 Quick Reference Guide v3.14.00. |