Dear John,

where can we find the mentioned desapi.c and "desaphi.h" files?

Looking at the DES 70/10 manual it seems that the motor speed is set up by analog voltage level.
This unit does not seems to have serial port which your driver is using. Can you tell how do you
interface this motor controller with serial port?

Best regards,

Piotr Trojanek
Robot Control and Recognition Systems Team,
Institute of Control & Computation Engineering,
Warsaw University of Technology

On Tue, Oct 27, 2009 at 03:55, John Zaitseff <> wrote:
As mentioned in my previous e-mail, the Centre for Autonomous
Systems purchased a couple of Maxon EC45 250W motors for our newest
platform, along with two 4QEC (DES 70/10) servoamplifier motor
controllers.  I ended up writing a low-level C interface to those
controllers, as contained in the files "desapi.h" and "desapi.c".

We were interested in controlling our platform using Player 2.0.
The simplest and most elegant way I could think of writing a Player
driver for our application was to split the task into two: first, a
position1d interface per motor controller, then, a driver that
would take two instances of the position1d driver and present a
position2d interface.

This e-mail contains the Player 2.0 position1d driver, maxon4qec.
I'm sure that someone can update it for Player 3.0, if so inclined.
The low-level interface is in my previous e-mail.

I hope this ends up being useful for anyone using Maxon motors and

Yours truly,

John Zaitseff

John Zaitseff            Centre for Autonomous Systems,
Research Engineer        School of Computer Science and Engineering,
Phone: +61 2 9385 6938   University of New South Wales,
Fax:   +61 2 9385 5995   Sydney, NSW, 2052, Australia.

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Piotr Trojanek