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Epos4.m
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classdef Epos4 < handle
% EPOS4 class, use this class for communication with Maxon EPOS4
% motor controller
%
% This class has the methods
%
% EPOS4 (nodeID, portNameSuffix), Constructor
%
% use it as: Motor1 = Epos4(1,0);
% for creating a new object Motor1 wich will deal with EPOS4 Node 1 and USB0.
%
% delete, Destructor:
%
% use it as: delete(Motor1);
% when you finish with EPOS4 node.
%
% ActualPosition
% return actual encoder position.
% Example:
% qc = Motor1.ActualPosition;
%
% ActualVelocity
% return actual motor velocity.
% Example:
% rpm = Motor1.ActualVelocity;
%
% ActualCurrent
% return actual current throght motor
% Example:
% i = Motor1.ActualCurrent;
%
% IsInErrorState
% return 0 if not error, or 1 if error
% Example:
% errorstate = Motor1.IsInErrorState;
%
% ClearErrorState
% clear actual error in EPOS4
% Example:
% if (Motor1.IsInErrorState)
% Motor1.ClearErrorState;
% end
%
% EnableNode
% power the motor
% Example:
% Motor1.EnableNode;
%
% DisableNode
% Unpower the motor
% Example:
% Motor1.DisableNode;
%
% SetOperationMode
% Change the operation mode for epos4
% Example:
% Motor1.SetOperationMode(OperationModes.CurrentMode);
% tip: use the tab key for the list of operation modes in class.
% >> OperationModes.<tab>
% for further help type:
% >> help Epos4.SetOperationMode
%
% GetOperationModes
% return the actual Operation Mode in Epos4
% Example
% OpMode = Motor1.GetOperationMode;
%
% SetHommingMethod
% for changing the way as the motor home
% Example
% Motor1.SetHommingMethod( HommingMethods.ActualPosition )
% for further help type:
% >> help Epos4.SetHommingMethod
%
% GetHommingMethod
% for returning the actual home method
% Example
% Motor1.GetHommingMethod
%
% DoHomming
% for performing the home procedure
% Example
% Motor1.DoHomming
%
% MotionInPosition
% for moving the motor in Position or Profile Position Mode
% Example:
% Motor1.MotionInPosition( 132000 )
% for further help type:
% >> help Epos4.MotionInPosition
%
% MotionInVelocity
% for moving the motor in Velocity or Profile Velocity Mode
% Example:
% Motor1.MotionInVelocity( 2000 )
% for further help type:
% >> help Epos4.MotionInVelocity
%
% MotionWithCurrent
% for moving the motor in Current Mode
% Example:
% Motor1.MotionWithCurrent( 2000 )
%
% Stop
% for stopping the motor
% Example:
% Motor1.Stop
%
% E. Yime, 2015
%
properties (SetAccess = immutable )
NodeID = 0;
Handle = 0;
end
properties (SetAccess = private )
OpMode = 0;
Enable = 0;
HomeMethod = 0;
end
methods
function res = Epos4(node, usbId)
% constructor
% use it as: Motor1 = Epos4(1, 0);
%
% E. Yime, 2015
%
res.NodeID = node;
res.Handle = OpenCommunication(usbId);
res.OpMode = res.GetOperationMode;
res.Enable = res.IsEnable;
res.GetHommingMethod;
end
function delete(obj)
% destructor
% use it as: delete(Motor1)
%
% E. Yime, 2015
%
obj.ClearErrorState;
obj.DisableNode;
CloseCommunication(obj.Handle);
end
function res = GetHandle(obj)
% This function is only for debugging purpose
% use it as: Motor1.GetHandle
%
% E. Yime, 2015
%
res = obj.Handle;
end
function res = IsInErrorState(obj)
% This function is for obtaining the error state in a Epos4
% node
%
% use it as:
% if (Motor1.IsInErrorState)
% Motor1.ClearErrorState
% ....
% end
%
% E. Yime, 2015
%
res = (bitand(obj.GetStatusWord, 8) == 8);
end
function res = ExplainErrors(obj)
% This function is for listing the actual errors in a Epos4
% node
%
% use it as:
% >> Motor1.ExplainErrors;
%
% E. Yime, 2015
%
Errors = {
0, 'No Error'; ...
4096, 'Generic Error'; ...
8976, 'Overcurrent Error';
12816, 'Overvoltage Error'; ...
12832, 'Undervoltage Error'; ...
16912, 'Overtemperature Error'; ...
20755, 'Logic Supply Voltage Too Low Error'; ...
20756, 'Supply Voltage Output Stage Too Low Error'; ...
24832, 'Internal Software Error'; ...
25376, 'Software Parameter Error'; ...
29472, 'Position Sensor Error'; ...
33040, 'CAN Overrun Error (Objects lost)'; ...
33041, 'CAN Overrun Error'; ...
33056, 'CAN Passive Mode Error'; ...
33072, 'CAN Life Guarding Error or Heartbeat Error'; ...
33104, 'CAN Transmit COB-ID Collision Error'; ...
33277, 'CAN Bus Off Error'; ...
33278, 'CAN Rx Queue Overflow Error'; ...
33279, 'CAN Tx Queue Overflow Error'; ...
33296, 'CAN PDO Length Error'; ...
34321, 'Following Error'; ...
65281, 'Hall Sensor Error'; ...
65282, 'Index Processing Error'; ...
68283, 'Encoder Resolution Error'; ...
65284, 'Hall Sensor not found Error'; ...
65285, 'Negative Limit Switch Error'; ...
65287, 'Positive Limit Switch Error'; ...
65288, 'Hall Angle Detection Error'; ...
65289, 'Software Position Limit Error'; ...
65290, 'Position Sensor Breach Error'; ...
65291, 'System Overloaded Error'; ...
65292, 'Interpolated Position Mode Error'; ...
65293, 'Auto Tuning Identification Error'; ...
65295, 'Gear Scaling Factor Error'; ...
65296, 'Controller Gain Error'; ...
65297, 'Main Sensor Direction Error'; ...
65298, 'Auxiliary Sensor Direction Error' };
Index = 4099;
number = GetObject(obj.Handle, obj.NodeID, Index, 0, 1);
for i = 1:number
res = GetObject(obj.Handle, obj.NodeID, Index, number, 4);
for j = 1:size( Errors, 1)
if ( res == cell2mat(Errors(j,1)) )
disp( Errors(j, 2) );
end
end
end
end
function res = ClearErrorState(obj)
% This function is for clearing the error in a node
%
% use it as:
% if (Motor1.IsInErrorState)
% Motor1.ClearErrorState
% ....
% end
%
% E. Yime, 2015
%
res = ClearErrorState(obj.Handle, obj.NodeID);
end
function res = ShowOperationMode(obj)
% This function is for detecting actual Operation Mode in
% Epos4 class
%
% use it as:
% >> Motor1.ShowOperationMode
%
% E. Yime, 2015
%
res = obj.OpMode;
end
function res = GetOperationMode(obj)
% This function is for receiving actual Operation Mode in a
% physical Epos4 Motor controller
%
% use it as:
% >> Motor1.GetOperationMode
%
% E. Yime, 2015
%
a = GetObject(obj.Handle, obj.NodeID, 24672, 0, 1);
switch a
case 6
res = OperationModes.HommingMode;
case 3
res = OperationModes.ProfileVelocityMode;
case 1
res = OperationModes.ProfilePositionMode;
case 255
res = OperationModes.PositionMode;
case 254
res = OperationModes.VelocityMode;
case 253
res = OperationModes.CurrentMode;
otherwise
res = OperationModes.UnimplementedMode;
end
end
function res = SetOperationMode(obj, mode, varargin)
% This function is for setting the actual Operation Mode in a Epos4 Motor controller
% you can use it in the following ways,
%
% >> Motor1.SetOperationMode( OperationModes.HommingMode )
%
% >> Motor1.SetOperationMode( OperationModes.ProfileVelocityMode )
%
% >> Motor1.SetOperationMode( OperationModes.ProfilePositionMode )
%
% >> Motor1.SetOperationMode( OperationModes.PositionMode )
%
% >> Motor1.SetOperationMode( OperationModes.VelocityMode )
%
% >> Motor1.SetOperationMode( OperationModes.CurrentMode )
%
% E. Yime, 2015
%
% Object to write
Index = 24672;
SubIndex = 0;
bytes = 1;
switch mode
case OperationModes.HommingMode
Values = 6;
case OperationModes.ProfileVelocityMode
Values = 3;
case OperationModes.ProfilePositionMode
Values = 1;
case OperationModes.PositionMode
Values = -1;
case OperationModes.VelocityMode
Values = -2;
case OperationModes.CurrentMode
Values = -3;
otherwise
error('invalid mode');
end
res = SetObject(obj.Handle, obj.NodeID, Index, SubIndex, Values, bytes);
obj.OpMode = mode;
end
function res = SetHommingMethod(obj, homming, varargin)
% This function if for performing a homming in a EPOS4 node
% you can use it in the following ways,
%
% >> Motor1.SetHommingMethod( HommingMethods.ActualPosition )
% The EPOS4 will set the actual position as the default zero
%
% >> Motor1.SetHommingMethod( HommingMethods.HomeSwitchNegSpeed )
% or
% >> Motor1.SetHommingMethod( HommingMethods.HomeSwitchNegSpeed, SpeedForZeroSearch, AccelerationForZeroSearch )
%
% >> Motor1.SetHommingMethod( HommingMethods.HomeSwitchNegSpeedIndex )
% or
% >> Motor1.SetHommingMethod( HommingMethods.HomeSwitchNegSpeedIndex, SpeedForZeroSearch, SpeedForIndexSearch, AccelerationForZeroSearch )
%
% >> Motor1.SetHommingMethod( HommingMethods.HomeSwitchPosSpeed )
% or
% >> Motor1.SetHommingMethod( HommingMethods.HomeSwitchPosSpeed, SpeedForZeroSearch, AccelerationForZeroSearch )
%
% >> Motor1.SetHommingMethod( HommingMethods.HomeSwitchPosSpeedIndex )
% or
% >> Motor1.SetHommingMethod( HommingMethods.HomeSwitchPosSpeedIndex, SpeedForZeroSearch, SpeedForIndexSearch, AccelerationForZeroSearch )
%
% >> Motor1.SetHommingMethod( HommingMethods.CurrentNegSpeed )
% or
% >> Motor1.SetHommingMethod( HommingMethods.CurrentNegSpeed, CurrentToZeroSearch )
%
% >> Motor1.SetHommingMethod( HommingMethods.CurrentNegSpeedIndex )
% or
% >> Motor1.SetHommingMethod( HommingMethods.CurrentNegSpeedIndex, CurrentToZeroSearch, SpeedForIndexSearch )
%
% >> Motor1.SetHommingMethod( HommingMethods.CurrentPosSpeed )
% or
% >> Motor1.SetHommingMethod( HommingMethods.CurrentPosSpeed, CurrentToZeroSearch )
%
% >> Motor1.SetHommingMethod( HommingMethods.CurrentPosSpeedIndex )
% or
% >> Motor1.SetHommingMethod( HommingMethods.CurrentPosSpeedIndex, CurrentToZeroSearch, SpeedForIndexSearch )
%
% E. Yime, 2015
%
% Initial values
Index = zeros(4);
SubIndex = zeros(4);
Bytes = zeros(4);
Values = zeros(4);
% First object
number = 1;
Index(1) = 24728;
SubIndex(1) = 0;
Bytes(1) = 1;
if (nargin > 5)
error('No more of 4 arguments allowed ')
end
switch (homming)
case HommingMethods.ActualPosition
Values(1) = 35;
if (nargin > 2)
error('No additional arguments allowed when homming to actual Position')
end
obj.HomeMethod = 1;
case HommingMethods.HomeSwitchNegSpeed
Values(1) = 27;
if (nargin > 4)
error('Only two aditional parameters allowed')
end
if (nargin > 2)
% Speed Zero
number = 2;
Index(2) = 24729;
SubIndex(2) = 1;
Values(2) = cell2mat(varargin(1));
Bytes(2) = 4;
end
if (nargin > 3)
% Accel
number = 3;
Index(3) = 24730;
SubIndex(3) = 0;
Values(3) = cell2mat(varargin(2));
Bytes(3) = 4;
end
obj.HomeMethod = 2;
case HommingMethods.HomeSwitchNegSpeedIndex
Values(1) = 11;
if (nargin > 2)
% Speed to Home
number = 2;
Index(2) = 24729;
SubIndex(2) = 1;
Values(2) = cell2mat(varargin(1));
Bytes(2) = 4;
end
if (nargin > 3)
% Speed to Index
number = 3;
Index(3) = 24729;
SubIndex(3) = 2;
Values(3) = cell2mat(varargin(2));
Bytes(3) = 4;
end
if (nargin > 4)
% Accel
number = 4;
Index(4) = 24730;
SubIndex(4) = 0;
Values(4) = cell2mat(varargin(3));
Bytes(4) = 4;
end
obj.HomeMethod = 3;
case HommingMethods.HomeSwitchPosSpeed
Values(1) = 23;
if (nargin > 4)
error('Only two aditional parameters allowed')
end
if (nargin > 2)
% Speed Zero
number = 2;
Index(2) = 24729;
SubIndex(2) = 1;
Values(2) = cell2mat(varargin(1));
Bytes(2) = 4;
end
if (nargin > 3)
% Accel
number = 3;
Index(3) = 24730;
SubIndex(3) = 0;
Values(3) = cell2mat(varargin(2));
Bytes(3) = 4;
end
obj.HomeMethod = 4;
case HommingMethods.HomeSwitchPosSpeedIndex
Values(1) = 7;
if (nargin > 2)
% Speed to Home
number = 2;
Index(2) = 24729;
SubIndex(2) = 1;
Values(2) = cell2mat(varargin(1));
Bytes(2) = 4;
end
if (nargin > 3)
% Speed to Index
number = 3;
Index(3) = 24729;
SubIndex(3) = 2;
Values(3) = cell2mat(varargin(2));
Bytes(3) = 4;
end
if (nargin > 4)
% Accel
number = 4;
Index(4) = 24730;
SubIndex(4) = 0;
Values(4) = cell2mat(varargin(3));
Bytes(4) = 4;
end
obj.HomeMethod = 5;
case HommingMethods.CurrentNegSpeed
Values(1) = -4;
if (nargin > 3)
error('Only Current Threshold allowed in Current Negative Speed')
end
if (nargin > 2)
% current threshold
number = 2;
Index(2) = 8320;
SubIndex(2) = 0;
Values(2) = cell2mat(varargin(1));
Bytes(2) = 2;
end
obj.HomeMethod = 6;
case HommingMethods.CurrentNegSpeedIndex
Values(1) = -2;
if (nargin > 4)
error('Only two additional values allowed')
end
if (nargin > 2)
% current threshold
number = 2;
Index(2) = 8320;
SubIndex(2) = 0;
Values(2) = cell2mat(varargin(1));
Bytes(2) = 2;
end
if (nargin > 3)
% Speed to Index
number = 3;
Index(3) = 24729;
SubIndex(3) = 2;
Values(3) = cell2mat(varargin(2));
Bytes(3) = 4;
end
obj.HomeMethod = 7;
case HommingMethods.CurrentPosSpeed
Values(1) = -3;
if (nargin > 3)
error('Only Current Threshold allowed in Current Positive Speed')
end
if (nargin > 2)
% current threshold
number = 2;
Index(2) = 8320;
SubIndex(2) = 0;
Values(2) = cell2mat(varargin(1));
Bytes(2) = 2;
end
obj.HomeMethod = 8;
case HommingMethods.CurrentPosSpeedIndex
Values(1) = -1;
if (nargin > 4)
error('Only two additional values allowed')
end
if (nargin > 2)
% current threshold
number = 2;
Index(2) = 8320;
SubIndex(2) = 0;
Values(2) = cell2mat(varargin(1));
Bytes(2) = 2;
end
if (nargin > 3)
% Speed to Index
number = 3;
Index(3) = 24729;
SubIndex(3) = 2;
Values(3) = cell2mat(varargin(2));
Bytes(3) = 4;
end
obj.HomeMethod = 9;
otherwise
error('Not Implemente Homming Method')
end
for i = 1:number
res = SetObject(obj.Handle, obj.NodeID, Index(i), SubIndex(i), Values(i), Bytes(i));
end
end
function res = GetHommingMethod(obj)
% This function is for getting the actual value of the homming method in a EPOS4
% controller
%
% use it as:
%
% >> Motor1.GetHommingMethod
%
% E. Yime, 2015
%
Index = 24728;
SubIndex = 0;
Size = 1;
a = GetObject(obj.Handle, obj.NodeID, Index, SubIndex, Size);
switch (a)
case 35
res = HommingMethods.ActualPosition;
obj.HomeMethod = 1;
case 27
res = HommingMethods.HomeSwitchNegSpeed;
obj.HomeMethod = 2;
case 23
res = HommingMethods.HomeSwitchPosSpeed;
obj.HomeMethod = 4;
case 11
res = HommingMethods.HomeSwitchNegSpeedIndex;
obj.HomeMethod = 3;
case 7
res = HommingMethods.HomeSwitchPosSpeedIndex;
obj.HomeMethod = 5;
case 255
res = HommingMethods.CurrentPosSpeedIndex;
obj.HomeMethod = 7;
case 254
res = HommingMethods.CurrentNegSpeedIndex;
obj.HomeMethod = 9;
case 253
res = HommingMethods.CurrentPosSpeed;
obj.HomeMethod = 6;
case 252
res = HommingMethods.CurrentNegSpeed;
obj.HomeMethod = 8;
otherwise
res = HommingMethods.NotImplemented;
obj.HomeMethod = 0;
end
end
function res = DoHomming(obj)
% This function is for Homming a motor connected to a EPOS4
% controller when the EPOS4 is in Homming
%
% use it as:
%
% >> Motor1.DoHomming
%
% E. Yime, 2015
%
if (obj.IsInErrorState)
obj.Enable = 0;
error('you can not do a Homming when the motors is in error state');
end
if ( obj.Enable == 0)
error('you can not do a Homming with a disabled motor');
end
if ( obj.OpMode ~= OperationModes.HommingMode )
error('you can not do a Homming when the motor is not in Homming Mode');
end
if (obj.HomeMethod == 0)
error('you must specify a valid Homming Method before performing a homming');
end
% change controlword to home the motor
res = FindHome(obj.Handle, obj.NodeID, obj.HomeMethod);
end
function res = IsEnable(obj)
% This function is for detecting if EPOS4 is enabled
%
% use it as:
% >> Motor1.IsEnable
%
% E. Yime, 2015
%
res = (bitand(obj.GetStatusWord, 4) == 4);
end
function res = EnableNode(obj)
% This function is for enabling a physical EPOS4 Motor Controller
%
% use it as:
% >> Motor1.EnableNode
%
% E. Yime, 2015
%
if (obj.IsInErrorState)
obj.Enable = 0;
error('you can not Enable a Motore when it is in error state');
end
obj.Enable = 1;
res = EnableNode(obj.Handle, obj.NodeID);
end
function res = DisableNode(obj)
% This function is for disabling a physical EPOS4 Motor Controller
%
% use it as:
% >> Motor1.DisableNode
%
% E. Yime, 2015
%
obj.Enable = 0;
res = DisableNode(obj.Handle, obj.NodeID);
end
function res = GetStatusWord(obj)
% This function is for getting the actual status word in a EPOS4
% object dictionary
%
% use it as:
% >> Motor1.GetStatusWord
%
% E. Yime, 2015
%
res = GetObject(obj.Handle, obj.NodeID, 24641, 0, 2);
end
function res = ExplainStatusWord(obj)
% This function is for obtaining an interpretation of the object
% status word in the object dictionary
%
% use it as:
% >> Motor1.ExplainStatusWord
%
% E. Yime, 2015
%
res = obj.GetStatusWord;
if (bitand(res,1) == 1)
disp('Node is Ready to Swith On');
end
if (bitand(res,2) == 2)
disp('Node is Swithed On');
end
if (bitand(res,4) == 4)
disp('Node is Operation Enable');
end
if (bitand(res,8) == 8)
disp('Node is Fault State');
end
if (bitand(res,16) == 16)
disp('Node is Voltage Enabled');
end
if (bitand(res,32) == 32)
disp('Node is QuickStop');
end
if (bitand(res,64) == 64)
disp('Node is Swtich On Disable');
end
if (bitand(res,128) == 128)
disp('Node is Warning State');
end
if (bitand(res,1024) == 1024)
disp('Node has reached target');
end
end
function res = ActualPosition(obj)
% This function is for obtaining the actual position of the EPOS4
% node
%
% use it as:
% >> Motor1.ActualPosition
%
% E. Yime, 2015
%
res = GetPosition(obj.Handle, obj.NodeID);
end
function res = WaitUntilDone( obj, TimeOut )
% This function will wait until the motor reachs the target
%
% use it as:
% >> Motor1.WaitUntilDone( TimeOutIn_ms );
%
% E. Yime, 2015
%
res = WaitForTargetReached( obj.Handle, obj.NodeID, TimeOut );
end
function res = MotionInPosition(obj, varargin)
% This function is for moving a motor connected to a EPOS4 controller
% when the motor is in Position or Profile Position Mode.
%
% use it as:
%
% In Position Mode or Profile Position mode
% >> Motor1.MotionInPosition( DesiredPosition )
%
% In Profile Position mode
% >> Motor1.MotionInPosition( DesiredPosition, ProfileVelocity, ProfileAcceleration, AbsoluteOrRelativePosition )
%
% E. Yime, 2015
%
if (nargin < 2 || nargin > 5)
error('you should call this function with four arguments');
end
if (obj.IsInErrorState)
obj.Enable = 0;
error('you can not move a motor when it is in error state');
end
if ( obj.Enable == 0)
error('you can not move a disabled motor');
end
if ( (obj.OpMode ~= OperationModes.PositionMode) && (obj.OpMode ~= OperationModes.ProfilePositionMode) )
error('you can not move a motor when it is not in position related mode');
end
Position = cell2mat(varargin(1));
if (nargin > 2)
velocity = cell2mat(varargin(2));
else
velocity = 8000;
end
if (nargin > 3)
acceleration = cell2mat(varargin(3));
else
acceleration = velocity/2;
end
if (nargin > 4)
Abs = cell2mat(varargin(4));
else
Abs = 0;
end
if (obj.GetOperationMode == OperationModes.PositionMode)
res = SetPosition(obj.Handle, obj.NodeID, Position);
elseif (obj.GetOperationMode == OperationModes.ProfilePositionMode)
if ( nargin > 2)
SetProfilePositionData(obj.Handle, obj.NodeID, velocity, acceleration);
end
res = MoveToPosition(obj.Handle, obj.NodeID, Position, Abs);
end
end
function res = ActualVelocity(obj)
% This function is for obtaining the actual velocity of the EPOS4
% node
%
% use it as:
% >> Motor1.ActualVelocity
%
% E. Yime, 2015
%
res = GetVelocity(obj.Handle, obj.NodeID);
end
function res = MotionInVelocity(obj, varargin)
% This function is for moving a motor connected to a EPOS4 controller
% when the motor is in Velocity or Profile Velocity Mode.
%
% use it as:
%
% In Velocity Mode or Profile Velocity mode
% >> Motor1.MotionInVelocity( DesiredVelocity )
%
% In Profile Velocity mode
% >> Motor1.MotionInPosition( DesiredVelocity, ProfileAcceleration )
%
% E. Yime, 2015
%
if (nargin < 2 || nargin > 3)
error('you should call this function with four arguments');
end
if (obj.IsInErrorState)
obj.Enable = 0;
error('you can not move a motor when it is in error state');
end
if ( obj.Enable == 0)
error('you can not move a disabled motor');
end
if ( (obj.OpMode ~= OperationModes.VelocityMode) && (obj.OpMode ~= OperationModes.ProfileVelocityMode) )
error('you can not move a motor when it is not in velocity related mode');
end
Velocity = cell2mat(varargin(1));
if (nargin > 2)
Acceleration = cell2mat(varargin(2));
else
Acceleration = 4000;
end
if (obj.GetOperationMode == OperationModes.VelocityMode)
res = SetVelocity(obj.Handle, obj.NodeID, Velocity);
elseif (obj.GetOperationMode == OperationModes.ProfileVelocityMode)
if (nargin > 2)
SetProfileVelocityData(obj.Handle, obj.NodeID, Acceleration);
end
res = MoveWithVelocity(obj.Handle, obj.NodeID, Velocity);
end
end
function res = ActualCurrent(obj)
% This function is for obtaining the actual current of the EPOS4
% node
%
% use it as:
% >> Motor1.ActualCurrent
%
% E. Yime, 2015
%
res = GetCurrent(obj.Handle, obj.NodeID);
end
function res = MotionWithCurrent(obj, current)
% This function is for moving a motor connected to a EPOS4 controller
% when the motor is in Current Mode
%
% use it as:
%
% >> Motor1.MotionWithCurrent( DesiredCurrent )
%
% E. Yime, 2015
%
if (obj.IsInErrorState)
obj.Enable = 0;
error('you can not move a motor when it is in error state');
end
if ( obj.Enable == 0)
error('you can not move a disabled motor');
end
if ( obj.OpMode ~= OperationModes.CurrentMode)
error('you can not move the motor when it is not in current mode');
end
res = SetCurrent( obj.Handle, obj.NodeID, current);
end
function res = Stop(obj)
% This function is for stopping a motor connected to a EPOS4 controller
%
% use it as:
%
% >> Motor1.Stop
%
% E. Yime, 2015
%
res = QuickStop(obj.Handle, obj.NodeID);
end
end
end