INT32U CMD Command
INT32S DeltaPosition Shift (delta) of position
INT16S uDeltaPosition Fractional part of the shift in micro steps is only used with stepper motor. Range: -255..255.
INT8U Reserved [6] Reserved (6 bytes)
INT16U CRC Checksum
Answer: (4 bytes)
INT32U CMD Command (answer)
Description:
Upon receiving the command "movr" engine starts to move with pre-set parameters (speed, acceleration, hold), left or right
(depending on the sign of DeltaPosition) by the number of pulses specified in the fields DeltaPosition, uDeltaPosition. For stepper motor
uDeltaPosition sets the microstep, for DC motor this field is not used.
Command HOME
result_t command_home (device_t id)
Command code (CMD): "home" or 0x656D6F68.
Request: (4 bytes)
INT32U CMD Command
Answer: (4 bytes)
INT32U CMD Command (answer)
Description:
The positive direction is to the right. A value of zero reverses the direction of the direction of the flag, the set speed. Restriction
imposed by the trailer, act the same, except that the limit switch contact does not stop. Limit the maximum speed, acceleration and
deceleration function. 1) moves the motor according to the speed FastHome, uFastHome and flag HOME_DIR_FAST until limit switch, if
the flag is set HOME_STOP_ENDS, until the signal from the input synchronization if the flag HOME_STOP_SYNC (as accurately as
possible is important to catch the moment of operation limit switch) or until the signal is received from the speed sensor, if the flag
HOME_STOP_REV_SN 2) then moves according to the speed SlowHome, uSlowHome and flag HOME_DIR_SLOW until signal from the
clock input, if the flag HOME_MV_SEC. If the flag HOME_MV_SEC reset skip this paragraph. 3) then move the motor according to the
speed FastHome, uFastHome and flag HOME_DIR_SLOW a distance HomeDelta, uHomeDelta. description of flags and variable see in
description for commands GHOM/SHOM
Command LEFT
result_t command_left (device_t id)
Command code (CMD): "left" or 0x7466656C.
Request: (4 bytes)
INT32U CMD Command
Answer: (4 bytes)
INT32U CMD Command (answer)
Description:
Start continous moving to the left.
Command RIGT
result_t command_right (device_t id)
Command code (CMD): "rigt" or 0x74676972.
Request: (4 bytes)
INT32U CMD Command
Answer: (4 bytes)
INT32U CMD Command (answer)
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