2.3. Nanotec Stepper Motor#
Summary: |
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Type: |
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License: |
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Platforms: |
Windows |
Devices: |
Motor-Controller Nanotec SMCP |
Author: |
2.3.1. Overview#
The plugin implements the controllers SMCP from Nanotec.
2.3.2. Initialization#
The following parameters are mandatory or optional for initializing an instance of this plugin:
2.3.3. Parameters#
These parameters are available and can be used to configure the NanotecStepMotor instance. Many of them are directly initialized by the parameters of the constructor. During the runtime of an instance, the value of these parameters is obtained by the method getParam, writeable parameters can be changed using setParam.
- accel: {seq. of int}
motor shaft acceleration, range: 1..65.535 [default 2.364]
- async: {int}
asynchronous (1) or synchronous (0) [default] mode
- axisID: {seq. of int}
internal ID of axis
- axisSteps: {seq. of float}, read-only
number of full steps per unit (deg or mm) of axis, 0: axis not connected [default]
- coilCurrent: {seq. of int}
coil current if motor is running, range: 0..100
- coilCurrentRest: {seq. of int}
coil current if motor is in rest, range: 0..100
- decel: {seq. of int}
motor shaft deceleration, range: 1..65.535 [default 2.364]
- deviceID: {str}, read-only
Name of controller
- devicePort: {int}, read-only
Serial port of device
- microSteps: {seq. of int}
micro steps for motor [1, 2, 4, 5, 8, 10, 16, 32, 64]
- name: {str}, read-only
NanotecStepMotor
- numaxis: {int}, read-only
Number of axis
- speed: {seq. of int}
target speed range: 1..1.000.000 [default 1.000]
- units: {seq. of int}, read-only
unit of axis, 0: degree [default], 1: mm
2.3.4. Usage#
In order to open an instance of NanotecStepMotor, create an instance of serialIO first. Then pass this instance to the constructor of NanotecStepMotor. The motor plugin configures the serial connection with the right parameter set.
At the time of the initialization you have to indicate which Nanotec axis IDs should be controlled by this plugin. For each connected axis, you further have to indicate the number of full steps per unit, whereas the unit can be either in mm or degree.
In the following example, the axes 1 and 4 are connected (controllable by the plugin axis numbers 0 and 1 respectively). They both run at 10 full steps per mm (1) (hence: linear axes):
ser = dataIO(“SerialIO”,4,115200,”r”,8,1) mot = actuator(“NanotecStepMotor”,ser,[1,4],[10,10],[1,1])
2.3.5. Changelog#
itom setup 2.1.0: Release