Skip to content

RaftMotorControlCommands

Jump to bottom
Rob Dobson edited this page Mar 3, 2026 · 1 revision

MotorControl Commands

MotorControl accepts JSON commands through DeviceManager:

GET /devman/cmdjson?body={...}

The JSON body must include a device field that matches the configured device name.

Example (URL-encode the JSON in practice):

GET /devman/cmdjson?body={"device":"MotorControl","cmd":"motion","mode":"abs","pos":[50,50],"speed":75}

Common Fields

Field Type Description
device string Device name from SysType (name field).
cmd string Command name (see below).

Motion Command (cmd: motion)

Motion Fields

Field Type Description
mode string Motion mode (see below). Default: abs.
pos array Position array for position modes. Use null to skip axes.
vel array Velocity array for velocity modes. Use null to skip axes.
speed number/string Speed spec (see Speed Control).
motorCurrent number Motor current as percentage (0 = use default).
nosplit bool Prevent block splitting.
homing bool Mark as homing move.
more bool Hint that more moves are coming.
outOfBounds string Per-move override: allow, clamp, discard.
imm bool Immediate execution (stop, clear queue, then execute).
idx number Motion tracking index.
endstops array Endstop checks per axis (see Endstops).

Motion Modes

Mode Description
abs Absolute position in units.
rel Relative position in units.
pos-abs-steps Absolute position in steps (bypasses kinematics).
pos-rel-steps Relative position in steps (bypasses kinematics).
vel Velocity in units/sec.
vel-steps Velocity in steps/sec.
prop or prop-abs Proportionate absolute (0..1 mapped to axis bounds).
prop-rel Proportionate relative (fraction of axis range).

Speed Control

Numeric values are percentages. String values support unit suffixes:

Suffix Meaning
pc, percent Percentage of max.
ups, unitsps Units per second.
upm, unitspm Units per minute.
mmps Millimeters per second.
mmpm Millimeters per minute.
sps Steps per second.

Notes:

  • Empty string means 100 percent of configured max.
  • All speeds are capped by configured max.

Endstops Field

endstops is an array with one entry per axis. Each axis entry is a 2-element array [min, max] using these codes:

Code Meaning
T Check when moving toward the endstop.
X No check for this endstop.
1 Always check (hit).
0 Reserved (not hit).

Example (check min on axis 0, max on axis 1):

{
  "device": "MotorControl",
  "cmd": "motion",
  "mode": "rel",
  "pos": [-10, 10, null],
  "endstops": [
    ["T", "X"],
    ["X", "T"],
    ["X", "X"]
  ]
}

Motion Examples

Absolute move:

{
  "device": "MotorControl",
  "cmd": "motion",
  "mode": "abs",
  "pos": [100.0, 50.0, 25.0],
  "speed": 75
}

Relative move:

{
  "device": "MotorControl",
  "cmd": "motion",
  "mode": "rel",
  "pos": [10.0, -5.0, null],
  "speed": "20ups"
}

Velocity mode:

{
  "device": "MotorControl",
  "cmd": "motion",
  "mode": "vel",
  "vel": [50.0, 0, 0],
  "speed": "100mmps"
}

Step-based move:

{
  "device": "MotorControl",
  "cmd": "motion",
  "mode": "pos-abs-steps",
  "pos": [1000, 2000, 1500],
  "speed": "500sps"
}

Immediate execution:

{
  "device": "MotorControl",
  "cmd": "motion",
  "mode": "abs",
  "pos": [0, 0, 0],
  "imm": true,
  "speed": 100
}

Stop Command (cmd: stop)

Stops motion and optionally disables motors.

Field Type Description
disableMotors bool Disable motors after stopping. 
{
  "device": "MotorControl",
  "cmd": "stop",
  "disableMotors": true
}

Set Origin (cmd: setOrigin)

Sets current position as origin.

{
  "device": "MotorControl",
  "cmd": "setOrigin"
}

Max Current (cmd: maxCurrent)

Field Type Description
axisIdx number Zero-based axis index.
maxCurrentA number Max current in amps. 
{
  "device": "MotorControl",
  "cmd": "maxCurrent",
  "axisIdx": 0,
  "maxCurrentA": 1.5
}

Motor Off Timer (cmd: offAfter)

Field Type Description
offAfterS number Seconds to keep motors enabled after motion. 
{
  "device": "MotorControl",
  "cmd": "offAfter",
  "offAfterS": 5.0
}

Motion Patterns

Start pattern:

{
  "device": "MotorControl",
  "cmd": "startPattern",
  "pattern": "homing-seek-center",
  "forMs": 30000
}

Stop pattern:

{
  "device": "MotorControl",
  "cmd": "stopPattern"
}

Home shortcut (uses configured homingPattern):

{
  "device": "MotorControl",
  "cmd": "home",
  "forMs": 30000
}

Return Codes

Motion commands return:

  • RAFT_OK
  • RAFT_BUSY
  • RAFT_INVALID_DATA
  • RAFT_INVALID_OPERATION
  • RAFT_CANNOT_START
  • RAFT_NOT_IMPLEMENTED

Related Pages

Clone this wiki locally