It seems there should be an easy answer to this. Is there a simple way to enable/disable axes via USB and python? The default way I have done this is to set all gains to 0. But we have run into two issues:
Then you have to remember the gains and reset them. Admittedly a trivial operation. But if you re-enable the gains after moving the motor around and not re-setting the set position or the integrator error you might be in for a jolt.
In one case we observed anomalous, almost random rotation of the motor when the gains were set to 0. I am not sure why this happened.
In principal I would like to be able to kill the motor, and then re-enable it with it to auto set the new home position to it’s current location. Ideally this would be done in firmware so you don’t have to worry about remembering gains and positions across python sessions.
Any suggestions would be great.
Thanks for the awesome driver.