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| author | Tero K <tero.k@granitedevices.fi> | 2015-04-14 14:47:25 +0300 |
|---|---|---|
| committer | Tero K <tero.k@granitedevices.fi> | 2015-04-14 14:47:25 +0300 |
| commit | d82010d72c0e379492ac49a47a498b88890568d6 (patch) | |
| tree | 0b501dce6182914d3f2c7c2f0b48a021f86c0ac5 | |
| parent | 83005ef72921ff5c6f165637694437d84451bbaa (diff) | |
| download | SimpleMotionV2-d82010d72c0e379492ac49a47a498b88890568d6.tar.gz SimpleMotionV2-d82010d72c0e379492ac49a47a498b88890568d6.zip | |
Add SMP_SYSTEM_CONTROL_MEASURE_MOTOR_RL
| -rw-r--r-- | simplemotion_defs.h | 11 |
1 files changed, 11 insertions, 0 deletions
diff --git a/simplemotion_defs.h b/simplemotion_defs.h index 5968b7f..45bee87 100644 --- a/simplemotion_defs.h +++ b/simplemotion_defs.h @@ -331,6 +331,17 @@ #define SMP_SYSTEM_CONTROL_RESTART_TO_DFU_MODE 64
//read miscellaneous device specific flag bits
#define SMP_SYSTEM_CONTROL_GET_FLAGS 128
+ /*start measure motor RL function.
+ * poll debug param 5 for state
+ * -100 fail
+ * 700 busy
+ * 800 success -new RL values inserted in drive params
+ *
+ * SMP_STATUS must obey:
+ * requiredStats=STAT_INITIALIZED|STAT_RUN|STAT_ENABLED|STAT_VOLTAGES_OK;
+ deniedStats=STAT_FERROR_RECOVERY|STAT_PERMANENT_STOP|STAT_STO_ACTIVE|STAT_FAULTSTOP|STAT_HOMING;
+ */
+ #define SMP_SYSTEM_CONTROL_MEASURE_MOTOR_RL 256
//follow error tolerance for position control:
#define SMP_POS_FERROR_TRIP 555
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