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[Solved] Correct way to stop a motor in TORQUE, SPEED and POSITION mode

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Forum 1
(@baymax)
Eminent Member
Joined: 10 months ago
Posts: 12
Topic starter  

Hi, I am using SoloPy v3.1.0.

I just started using a Solo Mini v2 using the SoloPy library. I am trying to implement methods to stop the motor in each control mode

TORQUE CONTROL MODE

    def _stop_torque_control_mode(self) -> None:
        self._solo.set_torque_reference_iq(0.0)

SPEED CONTROL MODE

    def _stop_speed_control_mode(self) -> None:
        self._solo.set_speed_reference(speed_reference=0.0)

POSITION CONTROL MODE

    def _stop_position_control_mode(self) -> None:
        enc_position = self._solo.get_position_counts_feedback()[0]
        self._solo.set_position_reference(enc_position)

Is it the correct way to stop the motor? Is there a better way to stop the motor?

Cheers.


   
SOLO_Francesco
(@solo_francesco)
Chief Member
Joined: 2 years ago
Posts: 31
 

Hi,

all this implementation look ok, a lot of considerations can be made on the goal you want to reach and the system of your application. 

- For example exist the possibility to emergency stop the motor calling "emergency_stop()" this will stop the motor putting 0 torque on it. It's for emergency stop, and not to be used for standard motor stop, after using it, it will require to recycle the power in order to be able to move the motor again.  

- In general you can also check the return of the function to check if the command is executed and redo if you have problems

- For speed, you can also use the "set_speed_deceleration_value()" in order to have a less radical stop


   
Forum 1
(@baymax)
Eminent Member
Joined: 10 months ago
Posts: 12
Topic starter  

Hi Francesco. Thanks for the tips!


   
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