Motion¶
#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
Turns the stator field at the given electrical speed without the encoder in the loop, with the voltage set by Openv. Without a number it still starts the motor, at the stored speed: #Openloop alone is not a query. The speed is the same setting as #Opens.
Response: the open-loop speed
#Idle¶
ActionEnters idle mode
Goes to idle; the motor coasts or brakes as set by Brake.
Response: Idle
#Estop¶
Action
The E-stop, as Send_ESTOP over CAN: it raises the E-stop error, the driver disables the motor, which coasts, 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¶
Set/GetArgument int: 0 or 1
What the motor does in idle: 1 brakes (the phases are shorted through the driver), 0 coasts (the phases are open, the default). Takes effect once the driver is idle, so send Idle first. From firmware 110 Save keeps it; on 109 the driver coasted again after a power cycle. Also parameter 18. An error always disables the motor, which then coasts. The braking current is not limited, see Control modes. Added in firmware 107.
Response: the setting
#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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