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]
/setMinSpeed (int)motorID (float)minSpeed
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8, 255 | motor ID |
| minSpeed | 0.0 - 976.3 [step/s] | Minimum speed |
Executable timing
When the motor is stopped
Description
Set the speed profile minimum speed. This value is also used for the motor speed of /releaseSw. When
Low speed optimization is enabled, the minimum speed of the speed profile is set to zero.
Initial value
0[step/s]
/getMinSpeed (int)motorID
Argument
| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8, 255 | motor ID |
Executable timing
Always
Description
Return the speed profile minimum speed.
Response
/minSpeed (int)motorID (float)minSpeed| Argument | Range | Description |
|---|---|---|
| motorID | 1-4/1-8 | motor ID |
| minSpeed | 0.0 - 976.3 [step/s] | Minimum speed |
/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 |