NT Motor&Encoder Module CLI
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Accessing the CLI of a NT motor&encoder module requires using a standard terminal program, such as HTerm.
It can be done in two ways:
- Direkt Connection: The NT motor module is connected on its NT port directly to a PC via a USB-TTL adapter, pretty much as one would do for Live Recording, except that now both the Tx and Rx lines need to be connected to the USB-TTL adapter. In the terminal program the baud rate must be set to 2000000 bps.
- Via STorM32 Main Board: In this configuration, a STorM32 main board is used, so to say, as USB-TTL adapter. The NT motor module is connected to the STorM32 main board via the NT bus, as for normal operation. The STorM32 main board is connected to a PC, typically via the main board's USB port. The STorM32 main board has first to be put into a pass-through mode by sending the special command "xQTNTQMODE0X" to it, where X = 4 for accessing the pitch NT motor module, X = 5 for roll, and X = 6 for yaw. The STorM32 board then works as tunnel connecting the PC with the selected NT module. In the terminal program the baud rate is typically set to 115200 bps.
CLI command | effect |
---|---|
rrange; | run the encoder range test sequence |
rpp; | run the motor pole pairs determination sequence |
rofs; | run the motor offset determination sequence |
reval; | run the display encoder raw values sequence, send a character to stop it |
getcal; | display the current pole pair and offset settings |
clrpp; | set the current pole pairs to zero |
clrofs; | set the current offset to zero |
setpp X; | set the current pole pairs to the given value |
setofs X; | set the current poffset to the given value |
retrieve; | retrieve module settings from EEPROM |
store; | store module settings into EEPROM |
getsetup; | display current module settings |
clrsetup; | set current module settings to default |
setidpitch; | set the module's ID to pitch (ID = 4) |
setidroll; | set the module's ID to roll (ID = 5) |
setidyaw; | set the module's ID to yaw (ID = 6) |
clrid; | set the module's ID to ID = 0 |
setmodeltle5012b; | set the module's encoder to TLE5012B (spi) |
setmodelas5048a; | set the module's encoder to AS5048A (spi) |
clrmodel; | set the module's encoder to NONE |
r4; | run the torque cogging sequence |
getdt; | display the determined time constants |
r5; | run the speed sequence |
getspeed; | display the determined speed constants |
streamX; | enable stream at rate X, X = 1,2,3,4 |
@Q | resets main board and module |
RESTART | restarts QMODE |