Tercio Control

Tercio Control is a web page that talks to the Tercio FD over Web Serial. Nothing to install and nothing sent to a server: the page runs in your browser and talks straight to the adapter on your desk.

Open Tercio Control

Requirements

• Chrome, Edge or another Chromium browser on a desktop computerFirefox and Safari do not support Web Serial.
• A Tercio FD plugged inClose any other program using its serial port.
• No adapter?Try the demo runs the page against a simulated bus with three motors and an IMU.

Connecting

1. Select Connect Tercio FD and choose tercioFD in the browser’s list.
2. The page asks every node for its identity and lists them under Motors in the side bar. Scan bus asks again, for example after powering up another driver.
3. Next time, Reconnect Tercio FD skips the list.

Finding your way

Top barThe unit for positions (degrees, radians or turns) and the light/dark switch.

Side barThe bus overview, every motor with its node ID and state, sensors, and the adapter.

Bus overviewEvery axis at a glance, Scan bus, Cut power to all, and Move together.

Stopping

Esc stops every motor on the bus (a broadcast Stop: they decelerate and hold). Cut power switches the bridges off. Neither replaces a hardware emergency stop.

A motor’s page

The header shows the motor’s name, node ID and state, with Stop and Cut power. Click the name to rename the motor; names are kept in your browser, tied to the driver’s serial number. Faults appear in a red banner with Clear fault.

ControlA live dial with position, target, velocity and following error. Move to a target, Jog with the buttons or ← →, Run while held, and Setup: set position, calibrate, home, find speed limits.

TuningA live chart of position, velocity or following error, the Position loop gains, and a Step response test that reports rise time, overshoot, settling time and error.

SettingsEvery parameter, grouped. Edit, Apply to send, Save to motor to keep. Read again, export to a file, import into another motor, factory reset.

DiagnosticsIdentity (firmware, protocol, hardware, encoder, clock, serial), the telemetry link, health (warnings, temperature, supply, loop load), an activity log and Copy report.

The adapter page

Bus health (error counters, last error, bus-off events), Traffic (frames per second each way, dropped and damaged frames), Identity, and Restart into update mode for a firmware update. Reset counters zeroes the statistics. See Bus health.

IMU

A Tercio IMU on the bus appears under Sensors and on the overview by itself. Its page has an artificial horizon and a compass, a live roll/pitch/yaw chart, calibration meters with Save calibration, acceleration and rate, its settings (fusion mode, mounting, rate, node ID) and diagnostics. Zero and Zero heading are in its header. See Tercio IMU.

Link options

Add to the address	Effect
?demo	Start the demo straight away.
?theme=light or ?theme=dark	Use that theme for this visit.

Note

Motors keep doing what they were last told if the page closes or the cable comes out. For anything that moves on its own, set Stop if host is silent for under Settings → Protection.