Data Sheet

Set target velocity

Command 0xE3

Format 32-bit write

Data

target velocity, signed 32-bit

• Range: −500,000,000 to +500,000,000

• Units: microsteps per 10,000 s

ticcmd

ticcmd -y NUM

ticcmd --velocity NUM

Arduino lib tic.setTargetVelocity(int32_t velocity)

This command sets the target velocity of the Tic, in microsteps per 10,000 seconds.

If the control mode is set to Serial / I²C / USB, the Tic will start accelerating or decelerating the motor to

reach the target velocity. If the control mode is something other than Serial / I²C / USB, this command

will be silently ignored.

In the Tic Control Center, the controls in the “Set target” box can be used to set a target velocity. These

controls are on the “Status” tab and are only available when the control mode is Serial / I²C / USB.

Halt and set position

Command 0xEC

Format 32-bit write

Data

current position, signed 32-bit

• Range: −2,147,483,648 to +2,147,483,647 = −0x8000 0000 to +0x7FFF FFFF

• Units: microsteps

ticcmd ticcmd --halt-and-set-position NUM

Arduino lib tic.haltAndSetPosition(int32_t position)

This command stops the motor abruptly without respecting the deceleration limit and sets the “Current

position” variable, which represents what position the Tic currently thinks the motor is in. Besides

stopping the motor and setting the current position, this command also clears the “position uncertain”

flag, sets the input state to “halt”, and clears the “input after scaling” variable.

If the control mode is something other than Serial / I²C / USB, this command will be silently ignored.

8. Command reference Page 122 of 150