#raw
register raw 0 raw
mesg raw 0x60a 32 1 96 0 0 0 0 0

#canopen
register x 0x58a canopen 
mesg x 10 0x6001 0

#emul
register new 3333 emulation

#stepper
register x 0x58a stepper
mesg x stop
mesg x status
mesg x info
mesg x absmove 3200
mesg x relmove 3200
mesg x relmove -3200
mesg x enable 0


===================
help
help> help - show help
help> list - list all threads
help> mesg NAME MESG - send message `MESG` to thread `NAME`
help> register NAME ID ROLE - register new thread with `NAME`, raw receiving `ID` running thread `ROLE`
help> threads - list all possible threads with their message format
help> unregister NAME - kill thread `NAME`

register x 0x58a stepper
OK
x maxspeed=OK

register y 0x58b stepper   
OK
y maxspeed=OK

list
thread> name='x' role='stepper' ID=0x58A
thread> name='y' role='stepper' ID=0x58B
thread> Send message 'help' to threads marked with (args) to get commands list

threads
role> canopen NodeID index subindex [data] - raw CANOpen commands with `index` and `subindex` to `NodeID`
role> emulation (list) - stepper emulation
role> raw ID [DATA] - raw CANbus commands to raw `ID` with `DATA`
role> stepper (list) - simple stepper motor: no limit switches, only goto

mesg x help
OK
x> COMMAND   NARGS   MEANING
x> stop        0     stop motor and clear errors
x> status      0     get current position and status
x> relmove     1     relative move
x> absmove     1     absolute move to position arg
x> enable      1     enable (!0) or disable (0) motor
x> setzero     0     set current position as zero
x> maxspeed    1     set/get maxspeed (get: arg==0)
x> info        0     get motor information

mesg x info
OK
x errstatus=0
x devstatus=0
x curpos=0
x enable=1
x microsteps=32
x extenable=0
x maxspeed=3200
x maxcurnt=600
x gpioval=8191
x rotdir=1
x relsteps=0
x abssteps=0

mesg x absmove 3200
OK
x abssteps=OK
mesg x status
OK
x devstatus=0
x curpos=3200
x errstatus=0

mesg x relmove 1000
OK
x abortcode='0x8000022' error='Data cannot be transferred or stored to the application because of the present device state'
x abortcode='0x8000022' error='Data cannot be transferred or stored to the application because of the present device state'

второй:
x> COMMAND   NARGS   MEANING
x> stop        0     stop motor and clear errors
x> status      0     get current position and status
x> relmove     1     relative move
x> absmove     1     absolute move to position arg
x> enable      1     enable (!0) or disable (0) motor
x> setzero     0     set current position as zero
x> maxspeed    1     set/get maxspeed (get: arg==0)
x> info        0     get motor information

x abssteps=OK
x rotdir=OK
x relsteps=OK