Motor control

Motor movement

/run (int)motorID (float)speed

Argument

Argument Range Description
motorID 1-4/1-8, 255 motor ID
speed -15625 - 15625 [step/s] Rotation speed

Executable timing

Always

Description

Rotates the motor at specified speed. The acceleration is controlled with the pre-set speed profile. The speed is limited by maxSpeed. It remains in the BUSY state until the motor reached to the specified speed.

/move (int)motorID (int)step

Argument

Argument Range Description
motorID 1-4/1-8, 255 motor ID
step Moving step counts

Executable timing

when the motor is stopped

Description

Moves specified number of steps according to the pre-set speed profile. It remains in the BUSY state until reaches to the specified step counts.

/goTo (int)motorID (int)position

Argument

Argument Range Description
motorID 1-4/1-8, 255 motor ID
position -2,097,152 - 2,097,151 Destination

Executable timing

Always

Description

Moves to the specified position in the shortest route according to the pre-set speed profile. Remains in the BUSY state until it finishes moving to the specified position.

Inside the driver, -2,097,152 and 2,097,151 are located next to each other in a loop.

/goToDir (int)motorID (bool)DIR (int)position

Argument

Argument Range Description
motorID 1-4/1-8, 255 motor ID
DIR 0-1
position -2,097,152 - 2,097,151 Destination

Executable timing

Always

Description

Moves to the specified position in the specified direction according to the pre-set speed profile. Remains in the BUSY state until it finishes moving to the specified position.

Stops

/softStop (int)motorID

Argument

Argument Range Description
motorID 1-4/1-8, 255 motor ID

Executable timing

Always

Description

After decelerating according to the speed profile, the motor stops while it is kept excited. Remains in the BUSY state until the motor stops. If it was originally in the High Z state, the motor will be excited while it keeps its position.

If it was in the servo mode, the mode will be released.

/hardStop (int)motorID

Argument

Argument Range Description
motorID 1-4/1-8, 255 motor ID

Executable timing

Always

Description

Immediately stops the motor and leaves it excited. Remains in the BUSY state until the motor stops. If it was originally in the High Z state, the motor is excited while it keeps its position.

If it was in the servo mode, the mode will be released.

/softHiZ (int)motorID

Argument

Argument Range Description
motorID 1-4/1-8, 255 motor ID

Executable timing

Always

Description

Decelerate according to the speed profile, then stop the motor and release excitation. When the excitation is released, it goes into the High Z state. It remains in the BUSY state until the motor is stopped. If it was in the servo mode, it will be released. if electromagnetic brake mode is enabled, the controller puts the brake into hold state, and then transits to High Z state.

/hardHiZ (int)motorID

Argument

Argument Range Description
motorID 1-4/1-8, 255 motor ID

Executable timing

Always

Description

Immediately stops the motor and releases the stepper excitation. When the motor excitation is released, it goes into the High Z state. Remains in the BUSY state until the motor is stopped. If it was in the servo mode, it will be released. if electromagnetic brake mode is enabled, the controller puts the brake into hold state, and then transits to High Z state.

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