pusirobot/commandline/Readme.md

Command line motor management

Works with my CAN-USB sniffer.

Usage: steppermove [args]

Where args are:

-0, --zeropos          set current position to zero
-D, --disable          disable motor
-E, --enablesw         enable end-switches 1 and 2
-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 (steps)
-c, --clearerr         clear errors
-d, --device=arg       serial device name (default: /dev/ttyUSB0)
-h, --help             show this help
-k, --check=arg        check SDO data file
-l, --logfile=arg      file to save logs
-m, --maxspd=arg       maximal motor speed (steps per second)
-p, --parse=arg        file with SDO data to send to device
-q, --quick            directly send command without getting status
-r, --rel=arg          move to relative position (steps)
-s, --canspd=arg       CAN bus speed
-t, --serialspd=arg    serial (tty) device speed (default: 115200)
-u, --microsteps=arg   microstepping (0..256)
-w, --wait             wait while motor is busy

Some usefull information

Factory settings of pusirobot drivers: 125kBaud, nodeID=5