From d82010d72c0e379492ac49a47a498b88890568d6 Mon Sep 17 00:00:00 2001 From: Tero K Date: Tue, 14 Apr 2015 14:47:25 +0300 Subject: Add SMP_SYSTEM_CONTROL_MEASURE_MOTOR_RL --- simplemotion_defs.h | 11 +++++++++++ 1 file changed, 11 insertions(+) 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 -- cgit v1.2.3