Speed profile

/setSpeedProfile (int)motorID (float)acc (float)dec (float)maxSpeed

Argument

Argument Range Description
motorID 1-4/1-8, 255 motor ID
acc 14.55 - 59590 [step/s/s] acceleration
dec 14.55 - 59590 [step/s/s] deceleration
maxSpeed 15.25 - 15610 [step/s] maximum speed

Executable timing

when the motor is stopped

Description

Sets the acc, dec, and maxSpeed of the speed profile together.

Initial value

Argument Initial value Description
acc 2000 acceleration
dcc 2000 deceleration
maxSpeed 620 maximum speed

/getSpeedProfile (int)motorID

Argument

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

Executable timing

Always

Description

Gets the acc, dec, and maxSpeed of the speed profile together.

Response

/speedProfile (int)motorID (float)acc (float)dec (float)maxSpeed

Argument Range Description
motorID 1-4/1-8, 255 motor ID
acc 14.55 - 59590 [step/s/s] acceleration
dec 14.55 - 59590 [step/s/s] deceleration
maxSpeed 15.25 - 15610 [step/s] maximum speed

/setFullstepSpeed (int)motorID (float)fullstepSpeed

Argument

Argument Range Description
motorID 1-4/1-8, 255 motor ID
fullstepSpeed 7.63-15625 [step/s] threshold

Executable timing

Always

Description

Sets the threshold at which the microstepping mode automatically switches to full-step mode.

Initial value

15625 [steps/s]

/getFullstepSpeed (int)motorID

Argument

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

Executable timing

Always

Description

Gets the threshold at which the microstepping mode automatically switches to full-step mode.

Response

/fullstepSpeed (int)motorID (float)fullstepSpeed
Argument Range Description
motorID 1-4 Motor ID
fullstepSpeed 7.63-15625 [step/s] Threshold

/setMaxSpeed (int)motorID (float)maxSpeed

Argument

Argument Range Description
motorID 1-4/1-8, 255 Motor ID
maxSpeed 15.25 - 15610 [step/s] maximum speed

Executable timing

Always

Description

Set the maximum speed of the speed profile

Initial value

620[step/s]

/setAcc (int)motorID (float)acc

Argument

Argument Range Description
motorID 1-4/1-8, 255 motor ID
acc 14.55 - 59590 [step/s/s] acceleration

Executable timing

When the motor is stopped

Description

Sets the acceleration of the speed profile.

Initial value

2000[steps/s/s]

/setDec (int)motorID (float)dec

Argument

Argument Range Description
motorID 1-4/1-8, 255 motor ID
dec 14.55 - 59590 [step/s/s] deceleration

Executable timing

When the motor is stopped

Description

Sets the deceleration of the speed profile.

Initial value

2000[step/s/s]

/getSpeed (int)motorID

Argument

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

Executable timing

Always

Description

Returns the current motor speed.

Response

/speed (int)motorID (float)speed
Argument range Description
motorID 1-4/1-8 Motor ID
speed -15625 - 15625 [step/s] Current speed
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