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4. First moves

The motor is calibrated and saved. Now it moves on command.

1. Move it

Use the jog controls:

  • Jog velocity turns the motor at a speed;
  • Jog position moves it to a position;
  • Jog current applies a torque;
  • Send setpoint sends a value in the current control mode.

The plots show position, speed and current while it moves.

Motor GUI simulated motor: device state, controls and live telemetry
Figure 1: Motor GUI simulated motor: device state, controls and live telemetry.

#V 16384        one revolution per second
#V 0
#P 0            back to where it started
#P 16384        one revolution forward
#Idle

Position is in encoder ticks, 16384 per revolution; speed in ticks per second; current in mA. If the motor hums or whines, lower the current limit or tune the loops.

Check

The position and speed feedback follow the request, and Idle stops driving the motor. A motor that does not follow needs Troubleshooting before a load is attached.

More: Control modes · Current limit and loop tuning.

2. Where to go next

You want to Read
get to know Motor GUI: the screen, the plots, recordings, several motors Motor GUI, Working in Motor GUI
control the driver from a program over CAN Over CAN, then With Python
put several drivers on one bus give each a node ID and terminate the ends: Power and the CAN daisy chain
protect the motor from overheating Thermistor
update the firmware Firmware
look up a message or a command API reference
build something: a wheeled robot, a leg, a compliant arm Guides
understand why it does not work Errors and recovery, Troubleshooting

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