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Stepper module type

This module type allows to control a stepper motor. It computes micro-stepping and motion planning.

Its type has access to all common capabilities.

Modules’s type settings:

Warning: This module doesn't save any of the following parameters, they must be set each time your module reboots.

The number of steps per turn must be defined, as well as the wheel diameter at the output of the motor if you wahnt to use translation. These specs may figure in your motor’s datasheet.


Functions

Function name and parametersActionComment
setToZero(self)Resets current position of the motor to 0You can use it to initialize the position of the motor
control(self)Displays module type graphical interfaceOnly available using Jupyter notebook

Variables

Motor settings

Variable nameActionType
stepPerTurnDefines the stepper resolutionread / write: float
wheel_sizeDefines wheel size used for translation moderead / write: float

Motor control modes

Variable nameActionType
compliant- True: disables the motor driver, you can use it to move the motor by hand.
- False: Enables the motor driver.
read / write: Boolean (True or False)
rot_position_modeEnables/Disables the motor rotation position control mode.
Disables power mode and translation position mode if enabled.
Doesn't work if no position PID is configured.
read / write: Boolean (True or False)
rot_speed_modeEnables/Disables the motor rotation speed control mode.
Disables power mode and translation speed mode if enabled.
Doesn't work if no speed PID configured.
read / write: Boolean (True or False)
trans_position_modeEnables/Disables the motor translation position control mode.
Disables power mode and rotation position mode if enabled.
Doesn't work if no position PID configured.
read / write: Boolean (True or False)
trans_speed_modeEnables/Disables the motor translation speed control mode.
Disables power mode and rotation speed mode if enabled.
Doesn't work if no speed PID configured.
read / write: Boolean (True or False)

Motor commands

Variable nameActionType
target_rot_positionSets the target rotation position to reach in °.read / write: float
target_rot_speedSets the target rotation speed to reach in °/s.read / write: float
target_trans_positionSets the target translation position to reach in mm.read / write: float
target_trans_speedSets the target translation speed to reach in mm/s.read / write: float

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