This is what I could find out so far about the communiaction with ARCO. The following requests and responses are being sent via the serial port in the respective situations:
DISABLE ARCO
{"req":{"set": {"ARCO": 0}}}
{"res":{"set":{"ARCO":"done"}}}
ENABLE ARCO
{"req":{"set": {"ARCO": 1}}}
{"res":{"set":{"ARCO":"done"}}}
REPEATED STANDARD STATUS COMMUNICATION
{"req":{"get": {"ARCO":"","MOT1":""}}}}} //(2x --> Why?)
{"res":{"get":{"ARCO":1,"MOT1":{"ABS_POS":0,"EL_POS":0,"MARK":0,"SPEED":0,"ACC":70,"DEC":70,"MAX_SPEED":65,"MIN_SPEED":0,"TVAL_HOLD":2,"TVAL_RUN":18,"TVAL_ACC":18,"TVAL_DEC":18,"T_FAST":25,"TON_MIN":41,"TOFF_MIN":41,"FS_SPD":39,"OCD_TH":2,"STEP_MODE":4,"CONFIG":11904,"ALARM":255,"STATUS":{"HIZ":1,"UVLO":0,"TH_SD":0,"TH_WRN":0,"OCD":0,"WCMD":0,"NOPCMD":0,"BUSY":0,"DIR":"In","MST":"stop"},"SUBMODEL":"ESATTO3","NTC_T":"30.28","BKLASH":0,"CAL_STATUS":"stop","CAL_MAXPOS":731000,"CAL_BKLASH":149,"CAL_MIN_LO":0,"CAL_MIN_HI":19364,"CAL_MAX_LO":685087,"CAL_MAX_HI":731000,"CAL_OFFMIN":19364,"HSENDET":1,"CAL_MINPOS":0,"CAL_HOMEP":1000,"CAL_NUMOF":2,"CAL_DIR":"normal","LASTDIR":0,"HOLDCURR_STATUS":0,"COMPENSATION_POS":0.00000,"POSITION":0.00000,"POSITION_MEC":0.00000}}}}
{"req":{"get": {"CALRESTART": ""}}} (2x --> why?)
{"res":{"get":{"CALRESTART":{"MOT1":0,"MOT2":1}}}} //(="ARCO-MOTOR needs recalibration, ESATTO Motor is ok!" (Request was sent after Disable ARCO and reENABLE Arco!)
{"req":{"get": {"ARCO_LEDBLINKSTATUS":""}}} //(Only occurs when CALRESTART = 1 for MOT2, i.e. when ARCO needs recal))
{"res":{"get":{"ARCO_LEDBLINKSTATUS":"CalRestart_MaxPosEqualMinPos"}}}
{"req":{"get":{"EXT_T":""}}}
{"res":{"get":{"EXT_T":"-127.00"}}}
{"req":{"get":{"VIN_12V":""}}}
{"res":{"get":{"VIN_12V":"12.45"}}}
{"req":{"get":{"VIN_USB":""}}}
{"res":{"get":{"VIN_USB":"5.16"}}}
{"req":{"get":{"MOT2":{"ABS_POS":"DEG","COMPENSATION_POS":"DEG","POSITION":"DEG"}}}}
{"res":{"get":{"MOT2":{"ABS_POS":"0.000157220[deg]","COMPENSATION_POS":"-0.000157220[deg]","POSITION":"0.000000000[deg]","STATUS":{"HIZ":1,"UVLO":0,"TH_SD":0,"TH_WRN":0,"OCD":0,"WCMD":0,"NOPCMD":0,"BUSY":0,"DIR":"CCW","MST":"stop"},"HSENDET":1}}}}
GOTO ANGLE
Go to an angle of 20 Degrees
{"req":{"cmd":{"MOT2":{"GOTO":{"DEG":20.0002}}}}}
CALIBRATION
Start calibration:
{"req":{"set": {"MOT2":{"CAL_STATUS": "exec"}}}}
Response:
{"res":{"set":{"MOT2":{"CAL_STATUS":"done","STATUS":{"HIZ":1,"UV
Asc for motor-calibration status: (still calibrating??)
{"req":{"get": {"MOT2" :{"CAL_STATUS":""}}}}...
Response:
{"res":{"get":{"MOT2":{"CAL_STATUS":"stop","STATUS":{"HIZ":1,"UV...
or
{"res":{"get":{"MOT2":{"CAL_STATUS":"exec","STATUS":{"HIZ":1,"UV...