fafo/OpenMicroManipulator
17
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

Update README.md

Browse source
This commit is contained in:
0x23 2025-09-19 10:09:46 +02:00 • committed by GitHub
parent 171d098f9c
commit fc65b24aa9
No known key found for this signature in database
GPG key ID: B5690EEEBB952194
1 changed files with 22 additions and 13 deletions
Download patch file Download diff file Expand all files Collapse all files

35
README.md
View file

@ -76,13 +76,13 @@ set_workspace_transform(transform)
get_workspace_transform()
home(axis_list=None)
calibrate_joint(joint_index, save_result)
move_to(x, y, z, f, move_immediately=False, blocking=True, timeout=1)
dwell(time_s, blocking, timeout=1)
set_max_acceleration(linear_accel, angular_accel)
wait_for_stop(polling_interval_ms=10, disable_callbacks=True)
set_servo_parameter(pos_kp=150, pos_ki=50000, vel_kp=0.2, vel_ki=100, vel_filter_tc=0.0025)
enable_motors(enable)
move_to(x, y, z, f, move_immediately, blocking, timeout)
set_pose(x, y, z)
dwell(time_s, blocking, timeout)
enable_motors(enable)
wait_for_stop(polling_interval_ms, disable_callbacks)
set_max_acceleration(linear_accel, angular_accel)
set_servo_parameter(pos_kp, pos_ki, vel_kp, vel_ki, vel_filter_tc)
```
## ⚙ CAD-Files
@ -143,16 +143,25 @@ Each command is acknowledged with either an **`ok`** or **`error`** response.
If a command provides additional information (e.g., the *get position* command), that information is returned **before** the `ok` message.
The client must wait for an acknowledgment from the previous command before sending the next one—otherwise, behavior is undefined.
| Command | Description |
|----------------|-----------------------------------------------------------------------------|
| `G0 X Y Z F` | Move the end-effector in a straight line to the specified position. <br> • `X`: target position on X-axis <br> • `Y`: target position on Y-axis <br> • `Z`: target position on Z-axis <br> • `F`: feed rate (movement speed) |
| `G1 X Y Z F` | Same as `G0`. |
| `M204 L A` | Set current acceleration. <br> • `L`: linear acceleration (m/s²) <br> • `A`: angular acceleration (rad/s²) |
| `M50` | Get current actuator pose (position). |
| `M51` | Get motion controller and servo loop update frequency. |
| `G0 X Y Z F` | Move the end-effector in a straight line to the specified position. <br>• `X`, `Y`, `Z`: target positions <br>• `F`: feed rate |
| `G1 X Y Z F` | Same as `G0`. |
| `G4 S/P` | Dwell/pause for a specified time. <br>• `S`: seconds <br>• `P`: milliseconds |
| `G24 X Y Z A B C` | Directly set current pose for servo loops. Optional rotation with `A`, `B`, `C`. |
| `G28 A-F` | Home one or more joints. <br>• Optional joint selection `A`–`F`. |
| `M17` | Enable motors and read current pose as the start pose. |
| `M18` | Disable motors. |
| `M50` | Get current internal position (X, Y, Z). |
| `M51` | Get current encoder angles (in degrees) and raw encoder values. |
| `M52` | Get the number of items in the planner queue. |
| `M53` | Check if all moves are finished. Returns `1` if finished, `0` otherwise. |
| `M53` | Check if all planned moves are finished (`1` = finished, `0` = not finished). |
| `M55 A B C D F` | Set servo loop parameters. <br>• `A`, `B`: position PI controller gains (P and I) <br>• `C`, `D`: velocity PI controller gains (P and I) <br>• `F`: velocity filter time constant |
| `M56 J S` | Calibrate a joint. <br>• `J`: joint index <br>• `S`: save calibration result |
| `M57` | Get device and servo loop info: homing/calibration state, angles, loop frequencies, and file list. |
| `M58` | Get firmware version. |
| `M204 L A` | Set linear and angular acceleration. <br>• `L`: linear acceleration <br>• `A`: angular acceleration |
## Youtube Video
[![Watch the video](images/thumbnail.jpg)](https://youtu.be/MgQbPdiuUTw)