diff options
| -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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