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Update commands.md

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tobbelobb
2018-10-18 13:29:05 +02:00
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@@ -22,14 +22,14 @@ The current state of an axis is indicated by `<axis>.current_state`. The user ca
1. `AXIS_STATE_IDLE` Disable motor PWM and do nothing.
2. `AXIS_STATE_STARTUP_SEQUENCE` Run the [startup procedure](#startup-procedure).
3. `AXIS_STATE_FULL_CALIBRATION_SEQUENCE` Run motor calibration and then encoder offset calibration (or encoder index search if `<axis>.encoder.use_index` is `True`).
3. `AXIS_STATE_FULL_CALIBRATION_SEQUENCE` Run motor calibration and then encoder offset calibration (or encoder index search if `<axis>.encoder.config.use_index` is `True`).
4. `AXIS_STATE_MOTOR_CALIBRATION` Measure phase resistance and phase inductance of the motor.
* To store the results set `<axis>.motor.config.pre_calibrated` to `True` and [save the configuration](#saving-the-configuration). After that you don't have to run the motor calibration on the next start up.
* This modifies the variables `<axis>.motor.config.phase_resistance` and `<axis>.motor.config.phase_inductance`.
5. `AXIS_STATE_SENSORLESS_CONTROL` Run sensorless control.
* The motor must be calibrated (`<axis>.motor.is_calibrated`)
* [`<axis>.controller.control_mode`](#control-mode) must be `True`.
6. `AXIS_STATE_ENCODER_INDEX_SEARCH` Turn the motor in one direction until the encoder index is traversed. This state can only be entered if `<axis>.encoder.config.use_index` is `True`.
6. `AXIS_STATE_ENCODER_INDEX_SEARCH` Turn the motor in one direction until the encoder index is traversed. This state can only be entered if `<axis>.encoder.config.config.use_index` is `True`.
7. `AXIS_STATE_ENCODER_OFFSET_CALIBRATION` Turn the motor in one direction for a few seconds and then back to measure the offset between the encoder position and the electrical phase.
* Can only be entered if the motor is calibrated (`<axis>.motor.is_calibrated`).
* A successful encoder calibration will make the `<axis>.encoder.is_ready` go to true.