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Gertbot
4.20
4.21
Rev 2.3-September-2014
Clear errors?? ........................................................................... Error! Bookmark not defined.
Read motor status ................................................................................................................... 38
5
Digital Command Control .............................................................................................................. 39
5.1
DCC command ...................................................................................................................... 40
5.2
DCC configure ....................................................................................................................... 40
5.3
Connecting it up. .................................................................................................................... 41
6
Operating details ............................................................................................................................ 41
6.1
End-stops ............................................................................................................................... 41
6.2
Halt ........................................................................................................................................ 43
6.3
Frequency settings ................................................................................................................. 43
6.3.1
Jitter. .............................................................................................................................. 43
6.3.2
Accuracy. ....................................................................................................................... 43
6.4
Synchronous operation ........................................................................................................... 44
6.4.1
Direct commands............................................................................................................ 44
6.4.2
Synchronous commands ................................................................................................. 46
7
Motor error .................................................................................................................................... 47
7.1
Reaction to an error ................................................................................................................ 47
7.2
Oscillation.............................................................................................................................. 48
7.3
Brushed motor start/stop ........................................................................................................ 48
8
Appendix A: error codes. ............................................................................................................... 50
9
Software. ....................................................................................................................................... 52
9.1
Gertbot Gui. ........................................................................................................................... 52
9.2
Gertbot C-drivers. .................................................................................................................. 52
9.3
Gertbot Python-drivers. .......................................................................................................... 52
9.4
Gertbot DCC GUI. ................................................................................................................. 52
10 Appendix B: Technology. .............................................................................................................. 53
10.1 DC voltage. ............................................................................................................................ 53
10.2 AC voltage. ............................................................................................................................ 53
10.3 H-bridge. ............................................................................................................................... 54
10.4 DC Brushed motor. ................................................................................................................ 55
10.5 Stepper motor......................................................................................................................... 56
10.5.1 Connections.................................................................................................................... 56
10.5.2 Mechanics ...................................................................................................................... 57
10.5.3 Rotor hold. ..................................................................................................................... 57
10.6 Inductors. ............................................................................................................................... 58
10.6.1 Switching it on. .............................................................................................................. 58
10.6.2 Switching it off. .............................................................................................................. 59
4
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