Speed profile

/setMaxSpeed (int)motorID (float)maxSpeed

Argument

Argument	Range	Description
motorID	1-4, 255	motor ID
maxSpeed	15.25 - 15610 [step/s]	maximun speed

Executable timing

Always

Description

Sets the maximum speed of the speed profile.

Initial value

620

/setAcc (int)motorID (float)acc

Argument

Argument	Range	Description
motorID	1-4, 255	motor ID
acc	14.55 - 59590 [step/s/s]	acceleration

Executable timing

when the motor is stopped

Description

Sets the acceleration of the speed profile.

Initial value

2000

/setDec (int)motorID (float)dec

Argument

Argument	Range	Description
motorID	1-4, 255	motor ID
dec	14.55 - 59590 [step/s/s]	deceleration

Executable timing

when the motor is stopped

Description

Sets the deceleration of the speed profile.

Initial value

2000

/setSpeedProfile (int)motorID (float)acc (float)dec (float)maxSpeed

Argument

Argument	Range	Description
motorID	1-4, 255	motor ID
acc	14.55 - 59590 [step/s/s]	acceleration
dec	14.55 - 59590 [step/s/s]	deceleration
maxSpeed	15.25 - 15610 [step/s]	maximum speed

Executable timing

when the motor is stopped

Description

Sets the acc, dec, and maxSpeed of the speed profile together.

Initial value

Argument	Initial value	Description
acc	2000	acceleration
dcc	2000	deceleration
maxSpeed	620	maximum speed

/getSpeedProfile (int)motorID

Argument

Argument	Range	Description
motorID	1-4, 255	motor ID

Executable timing

Always

Description

Gets the acc, dec, and maxSpeed of the speed profile together.

Response

/speedProfile (int)motorID (float)acc (float)dec (float)maxSpeed

Argument	Range	Description
motorID	1-4, 255	motor ID
acc	14.55 - 59590 [step/s/s]	acceleration
dec	14.55 - 59590 [step/s/s]	deceleration
maxSpeed	15.25 - 15610 [step/s]	maximum speed

/setFullstepSpeed (int)motorID (float)fullstepSpeed

Argument

Argument	Range	Description
motorID	1-4, 255	motor ID
fullstepSpeed	7.63-15625 [step/s]	threshold

Executable timing

Always

Description

Sets the threshold at which the microstepping mode automatically switches to full-step mode.

Initial value

15625