Command line motor management
Works with my CAN-USB sniffer.
Usage: steppermove [args]
Where args are:
-0, --zeropos set current position to zero -A, --disablesw disable end-switches -D, --disable disable motor -E, --enablesw=arg enable end-switches with given mask -I, --nodeid=arg node ID (1..127) -P, --pidfile=arg pidfile (default: /tmp/steppersmng.pid) -R, --readvals read values of used parameters -S, --stop stop motor -a, --abs=arg move to absolute position (in encoder ticks) -c, --clearerr clear errors -d, --device=arg serial device name (default: /dev/ttyUSB0) -h, --help show this help -k, --check check SDO data file -l, --logfile=arg file to save logs -m, --maxspd=arg maximal motor speed (enc ticks per second) -p, --parse file[s] with SDO data to send to device -q, --quick directly send command without getting status -r, --rel=arg move to relative position (in encoder ticks) -s, --canspd=arg CAN bus speed -t, --serialspd=arg serial (tty) device speed (default: 115200) -u, --microsteps=arg set microstepping (0..256) -v, --verbose verbosity level for logging (each -v increases level) -w, --wait wait while motor is busy
Some usefull information
Factory settings of pusirobot drivers: 125kBaud, nodeID=5
Speed 6553.6 == 1rev/s