the_quimdc_object_dictionary
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the_quimdc_object_dictionary [2022/11/18 16:25] – [O.D. layout] pdekeyzer | the_quimdc_object_dictionary [2023/02/09 12:09] (current) – pdekeyzer | ||
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| 0x2040 | 1 | RO | INT32 | Current Motor 1 (mA) | | | 0x2040 | 1 | RO | INT32 | Current Motor 1 (mA) | | ||
| ::: | 2 | RO | INT32 | Current Motor 2 (mA) | | | ::: | 2 | RO | INT32 | Current Motor 2 (mA) | | ||
+ | | 0x200C | 0 | RW | INT32 | Emergency stop (uint8_t flag_id) | ||
| 0x3333 | 0 | RW | INT32 | Operational Mode Manager (0 => leave, 1 => enter) | | 0x3333 | 0 | RW | INT32 | Operational Mode Manager (0 => leave, 1 => enter) | ||
| 0x4000 | 1 | RW | INT32 | Speed PID, P Motor 1 | | | 0x4000 | 1 | RW | INT32 | Speed PID, P Motor 1 | | ||
Line 76: | Line 77: | ||
| 0x4103 | 1 | RW | INT32 | Nominal Voltage Motor 1 (mV) | | | 0x4103 | 1 | RW | INT32 | Nominal Voltage Motor 1 (mV) | | ||
| ::: | 2 | RW | INT32 | Nominal Voltage Motor 2 (mV) | | | ::: | 2 | RW | INT32 | Nominal Voltage Motor 2 (mV) | | ||
+ | | 0x4105 | 1 | RW | INT32 | Position speed period Motor 1 (ms) | | ||
+ | | ::: | 2 | RW | INT32 | Position speed period Motor 2 (ms) | | ||
| 0x4106 | 1 | RW | INT32 | BEMF Compensation Motor 1 [0/1] | | | 0x4106 | 1 | RW | INT32 | BEMF Compensation Motor 1 [0/1] | | ||
| ::: | 2 | RW | INT32 | BEMF Compensation Motor 2 [0/1] | | | ::: | 2 | RW | INT32 | BEMF Compensation Motor 2 [0/1] | | ||
Line 116: | Line 119: | ||
| 0x4119 | 1 | RW | INT32 | Set Ref PWM Motor 1[-128, | | 0x4119 | 1 | RW | INT32 | Set Ref PWM Motor 1[-128, | ||
| ::: | 2 | RW | INT32 | Set Ref PWM Motor 2[-128, | | ::: | 2 | RW | INT32 | Set Ref PWM Motor 2[-128, | ||
+ | | 0x4200 | 1 | RO | INT32 | Read position reached Motor 1 (See note below) | | ||
+ | | ::: | 2 | RO | INT32 | Read position reached Motor 2 (See note below) | | ||
+ | | 0x4202 | 1 | RO | INT32 | Read GPIO values (See note below) | | ||
| 0x6010 | 1 | RO | INT32 | Digital Input External Encoder 1 | | | 0x6010 | 1 | RO | INT32 | Digital Input External Encoder 1 | | ||
| ::: | 2 | RO | INT32 | Digital Input External Encoder 2 | | | ::: | 2 | RO | INT32 | Digital Input External Encoder 2 | | ||
Line 138: | Line 144: | ||
| 0x607E | 1 | RW | INT32 | Polarity Motor 1 (Tick) | | 0x607E | 1 | RW | INT32 | Polarity Motor 1 (Tick) | ||
| ::: | 2 | RW | INT32 | Polarity Motor 2 (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]) | | | 0x607F | 1 | RW | INT32 | Pwm Duty Max 1 ([0, 127]) | | ||
| ::: | 2 | RW | INT32 | Pwm Duty Max 2 ([0, 127]) | | | ::: | 2 | RW | INT32 | Pwm Duty Max 2 ([0, 127]) | | ||
| 0x6080 | 1 | WO | INT32 | Reset Position Motor 1 [0] | | | 0x6080 | 1 | WO | INT32 | Reset Position Motor 1 [0] | | ||
| ::: | 2 | WO | INT32 | Reset Position Motor 2 [0] | | | ::: | 2 | WO | INT32 | Reset Position Motor 2 [0] | | ||
+ | | 0x60F0 | 1 | RW | INT32 | PWM Motor 1 ([-128, 128]) | | ||
+ | | ::: | 2 | RW | INT32 | PWM Motor 2 ([-128, 128]) | | ||
| 0x60FF | 1 | RW | INT32 | Reference/ | | 0x60FF | 1 | RW | INT32 | Reference/ | ||
| ::: | 2 | RW | INT32 | Reference/ | | ::: | 2 | RW | INT32 | Reference/ | ||
| 0x6100 | 1 | RO | INT32 | Motor Speed 1 (Tick/ | | 0x6100 | 1 | RO | INT32 | Motor Speed 1 (Tick/ | ||
| ::: | 2 | RO | INT32 | Motor Speed 2 (Tick/ | | ::: | 2 | RO | INT32 | Motor Speed 2 (Tick/ | ||
+ | | 0x6200 | 1 | RW | INT32 | GPIO PDO publish freq (Hz) | | ||
+ | |||
+ | ==== Notes ==== | ||
+ | As the entry 0x4200 (Read position reached) is essentially designed to be used for PDOs, it has a specific structure | ||
+ | ^ Byte 0 ^ Byte 1 ^ Byte 2 ^ Byte 3 ^ Byte 4 ^ Byte 5 ^ Byte 6 ^ Byte 7 ^ | ||
+ | | position reached (0/1) | 0x00 | 0x00 | Position in ticks ||||| | ||
+ | The entry 0x4202 PDO structure is the following: | ||
+ | ^ Byte 0 ^ Byte 1 ^ Byte 2 ^ Byte 3 ^ Byte 4 ^ Byte 5 ^ Byte 6 ^ Byte 7 ^ | ||
+ | | Motor 1 positive limit switch level (0/1) | Motor 1 negative limit switch level (0/1) | Motor 1 homing limit switch level (0/1) | Motor 2 positive limit switch level (0/1) | Motor 2 negative limit switch level (0/1) | Motor 2 homing limit switch level (0/1) | Motor 1 free wheel GPIO level (0/1) | Motor 2 free wheel GPIO level (0/1) | |
the_quimdc_object_dictionary.1668785110.txt.gz · Last modified: 2022/11/18 16:25 by pdekeyzer