Motion¶
#Iq #Id #V #P #PD #PDV #PDI #Uq #Ud #Openloop #gosteps #stepinterval #microstep #HALL #Idle #Estop #Brake #Coast #Close
#Iq¶
Set/GetArgument float: current setpoint in mAEnters current mode
Current (torque) control with the given Iq setpoint.
Response: the measured Iq in mA
#Id¶
Set/GetArgument float: current setpoint in mA
Sets the Id setpoint; normally left at 0. Also parameter 58.
Response: the measured Id in mA
#V¶
Set/GetArgument int: speed setpoint in encoder ticks/sEnters velocity mode
Velocity control with the given speed.
Response: the measured speed in ticks/s
#P¶
Set/GetArgument int: position setpoint in encoder ticksEnters position mode
Position control to the given position.
Response: the measured position in ticks
#PD¶
Set/GetArgument int: position setpoint in encoder ticksEnters PD mode
Impedance (PD) control around the given position with the gains KP and KD.
Response: the measured position in ticks
#PDV¶
Set/GetArgument int: speed setpoint in encoder ticks/s
The speed setpoint of the PD loop.
Response: the PD speed setpoint
#PDI¶
Set/GetArgument int: current feedforward in mA
The current feedforward of the PD loop.
Response: the PD current feedforward
#Uq¶
Set/GetArgument int: voltage in mVEnters voltage torque mode
Voltage-torque mode with the given q-axis voltage (no current loop).
Response: the Uq setpoint in mV
#Ud¶
Set/GetArgument int: voltage in mV
The d-axis voltage used in voltage-torque mode; does not change the mode.
Response: the Ud setpoint in mV
#Openloop¶
Set/GetArgument float: electrical speed in rad/sEnters open loop mode
Spins the motor open loop, as a plain stepper, with the voltage set by Openv. The voltage is not current-controlled and Ilim does not apply: see Open-loop stepping on Control modes.
Response: the open-loop speed
#gosteps¶
Set/GetArgument int: number of microsteps (sign = direction)Enters open-loop steps mode
Moves the given number of microsteps open loop, one every stepinterval, at the voltage set by Openv, then goes to idle. With microstep 16, 16 steps are one electrical cycle: four full steps, 7.2° on a 1.8° motor.
Response: Moving for N steps
#stepinterval¶
Set/GetArgument int: step time in µs
The time between two microsteps of gosteps, 1000 µs by default. It is rounded down to whole control cycles of 160 µs, and is 160 µs at the least.
Response: the step interval
#microstep¶
Set/GetArgument int: microsteps per electrical cycle
The microsteps gosteps makes per electrical cycle (four full steps), 16 by default.
Response: the microstep setting
#HALL¶
ActionEnters HALL mode
Homing against the sensor on ADDITIONAL2 at 3000 ticks/s, triggered when the pin is low. It holds while the pin stays low and spins on when the pin goes high again (see Send_data_pack_HALL for the CAN form with a chosen speed and trigger).
Response: HALL
#Idle¶
ActionEnters idle mode
Goes to idle; the motor coasts or brakes as set by Brake / Coast.
Response: Idle
#Estop¶
Action
The E-stop, as Send_ESTOP over CAN: it raises the E-stop error, the driver goes to idle (the motor brakes or coasts as set by Brake / Coast), and a calibration, gripper calibration or encoder-table or anti-cogging run that is running ends. The error stays until Clear. Added in firmware 110.
Response: E-stop
#Brake¶
ActionEnters idle mode
Goes to idle with the motor braking (phases shorted); also the idle behaviour from then on. From firmware 110 Save keeps it; on 109 the driver braked at every power-up. Also parameter 18.
Response: Brake 1
#Coast¶
ActionEnters idle mode
Goes to idle with the motor coasting (phases open); also the idle behaviour from then on. From firmware 110 Save keeps it; on 109 the next power-up braked again. Also parameter 18.
Response: Coast 0
#Close¶
ActionEnters idle mode
Leaves open loop and goes back to closed-loop idle. From firmware 110, while a calibration (Cal, Calonly) runs, it stops the calibration instead: it ends as a failed one (Calibration failed!), with the motor released and the driver not calibrated until it calibrates again. Firmware 109 switched the mode under the running calibration.
Response: nothing; Close: the calibration is stopped during a calibration (firmware 110)
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