the_quimdc_object_dictionary
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the_quimdc_object_dictionary [2017/01/10 15:33] – [O.D. layout] mounime | the_quimdc_object_dictionary [2018/05/22 10:33] – external edit 127.0.0.1 | ||
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+ | ====== The QuimDC Object Dictionary ====== | ||
+ | |||
+ | ---- | ||
+ | ===== How to add a parameter ===== | ||
+ | |||
+ | All the parameters are added to the Object Dictionary (O.D.) in board/ | ||
+ | |||
+ | ---- | ||
+ | |||
+ | |||
+ | ===== O.D. layout ===== | ||
+ | |||
+ | Index profile is inspired by this [[http:// | ||
+ | |||
+ | ^ Index ^ Sub-index ^ Attribute ^ Type ^ Name ^ | ||
+ | | 0x1000 | 0 | RO | UINT32 | Device type | | ||
+ | | 0x1010 | 0 | WO | VOID | Save parameters to flash | | ||
+ | | 0x2000 | 0 | RW | INT32 | Motor Watchdog (ms) | | ||
+ | | 0x2040 | 1 | RO | INT32 | Current Motor 1 (mA) | | ||
+ | | ::: | 2 | RO | INT32 | Current Motor 2 (mA) | | ||
+ | | 0x3333 | 0 | RW | INT32 | Operational Mode Manager (0 => leave, 1 => enter) | ||
+ | | 0x4000 | 1 | RW | INT32 | Speed PID, P Motor 1 | | ||
+ | | ::: | 2 | RW | INT32 | Speed PID, P Motor 2 | | ||
+ | | 0x4001 | 1 | RW | INT32 | Speed PID, I Motor 1 | | ||
+ | | ::: | 2 | RW | INT32 | Speed PID, I Motor 2 | | ||
+ | | 0x4002 | 1 | RW | INT32 | Speed PID, D Motor 1 | | ||
+ | | ::: | 2 | RW | INT32 | Speed PID, D Motor 2 | | ||
+ | | 0x4003 | 1 | RW | INT32 | Speed PID, Do Motor 1 | | ||
+ | | ::: | 2 | RW | INT32 | Speed PID, Do Motor 2 | | ||
+ | | 0x4004 | 1 | RW | INT32 | Speed PID, Fixed Point Divider Motor 1 | | ||
+ | | ::: | 2 | RW | INT32 | Speed PID, Fixed Point Divider Motor 2 | | ||
+ | | 0x4005 | 1 | RW | INT32 | Speed PID, Anti Wu Limit Motor 1 | | ||
+ | | ::: | 2 | RW | INT32 | Speed PID, Anti Wu Limit Motor 2 | | ||
+ | | 0x4010 | 1 | RW | INT32 | Current PID, P Motor 1 | | ||
+ | | ::: | 2 | RW | INT32 | Current PID, P Motor 2 | | ||
+ | | 0x4011 | 1 | RW | INT32 | Current PID, I Motor 1 | | ||
+ | | ::: | 2 | RW | INT32 | Current PID, I Motor 2 | | ||
+ | | 0x4012 | 1 | RW | INT32 | Current PID, D Motor 1 | | ||
+ | | ::: | 2 | RW | INT32 | Current PID, D Motor 2 | | ||
+ | | 0x4013 | 1 | RW | INT32 | Current PID, Do Motor 1 | | ||
+ | | ::: | 2 | RW | INT32 | Current PID, Do Motor 2 | | ||
+ | | 0x4014 | 1 | RW | INT32 | Current PID, Fixed Point Divider Motor 1 | | ||
+ | | ::: | 2 | RW | INT32 | Current PID, Fixed Point Divider Motor 2 | | ||
+ | | 0x4015 | 1 | RW | INT32 | Current PID, Anti Wu Limit Motor 1 | | ||
+ | | ::: | 2 | RW | INT32 | Current PID, Anti Wu Limit Motor 2 | | ||
+ | | 0x4020 | 1 | RW | INT32 | Position PID, P Motor 1 | | ||
+ | | ::: | 2 | RW | INT32 | Position PID, P Motor 2 | | ||
+ | | 0x4021 | 1 | RW | INT32 | Position PID, I Motor 1 | | ||
+ | | ::: | 2 | RW | INT32 | Position PID, I Motor 2 | | ||
+ | | 0x4022 | 1 | RW | INT32 | Position PID, D Motor 1 | | ||
+ | | ::: | 2 | RW | INT32 | Position PID, D Motor 2 | | ||
+ | | 0x4023 | 1 | RW | INT32 | Position PID, Do Motor 1 | | ||
+ | | ::: | 2 | RW | INT32 | Position PID, Do Motor 2 | | ||
+ | | 0x4024 | 1 | RW | INT32 | Position PID, Fixed Point Divider Motor 1 | | ||
+ | | ::: | 2 | RW | INT32 | Position PID, Fixed Point Divider Motor 2 | | ||
+ | | 0x4025 | 1 | RW | INT32 | Position PID, Anti Wu Limit Motor 1 | | ||
+ | | ::: | 2 | RW | INT32 | Position PID, Anti Wu Limit Motor 2 | | ||
+ | | 0x4100 | 1 | RW | FLOAT32| Resistance Motor 1 (Ohm) | | ||
+ | | ::: | 2 | RW | FLOAT32| Resistance Motor 2 (Ohm) | | ||
+ | | 0x4101 | 1 | RW | FLOAT32| Kv Motor 1 (Rpm/ | ||
+ | | ::: | 2 | RW | FLOAT32| Kv Motor 2 (Rpm/ | ||
+ | | 0x4102 | 1 | RW | INT32 | Ticks per Turn Motor 1 (Tick/ | ||
+ | | ::: | 2 | RW | INT32 | Ticks per Turn Motor 2 (Tick/ | ||
+ | | 0x4103 | 1 | RW | FLOAT32| Nominal Voltage Motor 1 (V) | | ||
+ | | ::: | 2 | RW | FLOAT32| Nominal Voltage Motor 2 (V) | | ||
+ | | 0x4105 | 1 | RW | INT32 | Position Speed Period Motor 1 (V) | | ||
+ | | ::: | 2 | RW | INT32 | Position Speed Period Motor 2 (V) | | ||
+ | | 0x6010 | 1 | RO | INT32 | Digital Input External Encoder 1 | | ||
+ | | ::: | 2 | RO | INT32 | Digital Input External Encoder 2 | | ||
+ | | 0x6060 | 1 | RW | INT32 | Control Loop Function Motor 1 | | ||
+ | | ::: | 2 | RW | INT32 | Control Loop Function Motor 2 | | ||
+ | | 0x6063 | 1 | RO | INT32 | Motor Position 1 (Tick) | ||
+ | | ::: | 2 | RO | INT32 | Motor Position 2 (Tick) | ||
+ | | 0x6078 | 1 | RW | INT32 | Reference/ | ||
+ | | ::: | 2 | RW | INT32 | Reference/ | ||
+ | | 0x607A | 1 | RW | INT32 | Reference/ | ||
+ | | ::: | 2 | RW | INT32 | Reference/ | ||
+ | | 0x607E | 1 | RW | INT32 | Polarity Motor 1 (Tick) | ||
+ | | ::: | 2 | RW | INT32 | Polarity Motor 2 (Tick) | ||
+ | | 0x60F0 | 1 | RW | INT32 | PWM Motor 1 ([-128, 128]) | | ||
+ | | ::: | 2 | RW | INT32 | PWM Motor 2 ([-128, 128]) | | ||
+ | | 0x607F | 1 | RW | INT32 | Pwm Duty Max 1 ([0, 127]) | | ||
+ | | ::: | 2 | RW | INT32 | Pwm Duty Max 2 ([0, 127]) | | ||
+ | | 0x6080 | 1 | WO | INT32 | Reset Position Motor 1 [0] | | ||
+ | | ::: | 2 | WO | INT32 | Reset Position Motor 2 [0] | | ||
+ | | 0x60FF | 1 | RW | INT32 | Reference/ | ||
+ | | ::: | 2 | RW | INT32 | Reference/ | ||
+ | | 0x6100 | 1 | RO | INT32 | Motor Speed 1 (Tick/ | ||
+ | | ::: | 2 | RO | INT32 | Motor Speed 2 (Tick/ | ||
+ | |||
the_quimdc_object_dictionary.txt · Last modified: 2023/02/09 12:09 by pdekeyzer