Position management

Position

/setPosition (int)motorID (int)newPosition

Argument

Argument Range Description
motorID 1-4/1-8, 255 motor ID
newPosition -2,097,152 - 2,097,151 specified coordinates

Executable timing

When the motor is stopped

Description

Rewrites ABS_POS register to the specified coordinates. The current motor position is set to the specified coordinates.

/getPosition (int)motorID

Argument

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

Executable timing

Always

Description

Returns the contents of the ABS_POS register (current position).

Response

/position (int)motorID (int)ABS_POS
Argument Range Description
motorID 1-4/1-8, 255 motor ID
ABS_POS -2,097,152 - 2,097,151 current position

/resetPos (int)motorID

Argument

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

Executable timing

Always

Description

Reset ABS_POS register to 0.

HOME/MARK

/setMark (int)motorID (int)MARK

Argument

Argument Range Description
motorID 1-4/1-8, 255 motor ID
MARK Coordination to be set

Executable timing

Always

Description

Set the MARK register to arbitrary position.

/getMark (int)motorID

Argument

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

Executable timing

Always

Description

Get the MARK position.

Response

/mark (int)motorID (int)MARK
Argument Range Description
motorID 1-4/1-8, 255 motor ID
MARK Position of the MARK

/goHome (int)motorID

Argument

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

Executable timing

When the motor is not in BUSY state.

Description

Move the motor to the HOME position (zero position) according to the speed profile.

Response

None

/goMark (int)motorID

Argument

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

Executable timing

When the motor is not in BUSY state

Description

Move the motor to the MARK position according to the speed profile.

Response

None

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