Zero Motion Command with SDK 2.0.3

[Gokru]

We are trying to do zero motion when our system is motionless. We have to do that with SDK. When we send the Zero Motion Command and its inverse command as the datasheet says, we can not see the INS_STATUS_STATIONARY_MODE status bit clear in DID_INS_x.insStatus. Value returns as if no command has been sent. We can do this process with EvalTool but not with SDK.

Do you have any advice or sample code piece related to this topic?

Thanks.

[andrewpriddis]

What do you mean when you say you don't see it clear? Do you mean that when you send the command that the insStatus bit INS_STATUS_STATIONARY_MODE is true, but never returns to a false state?

[Gokru]

What do you mean when you say you don't see it clear? Do you mean that when you send the command that the insStatus bit INS_STATUS_STATIONARY_MODE is true, but never returns to a false state?

There is a flag in "data_sets.h" header file in "eInsStatusFlags" part. It is INS_STATUS_STATIONARY_MODE and its value is (int)0x00002000. When we read datasheet, it says you should see this flag value until the zero motion progress is completed in DID_INS_x.insStatus, then this bit should be clear. We are sending command but can not see any change about this flag. We are able to use other reading and writing operations without any problems, but after sending the zero motion command, we can not figure out whether this operation can be performed.