Differences

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--- the_quimdc_object_dictionary [2022/11/30 11:19] – [O.D. layout] Add missing OD entries pdekeyzer
+++ the_quimdc_object_dictionary [2023/02/09 12:09] (current) – pdekeyzer
@@ Line 121: / Line 121: @@
 | 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            |
 | :::    | 2         | RO        | INT32  | Digital Input External Encoder 2            |
@@ Line 153: / Line 154: @@
 | 0x6100 | 1         | RO        | INT32  | Motor Speed 1 (Tick/s)         |
 | :::    | 2         | RO        | INT32  | Motor Speed 2 (Tick/s)         |
+| 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) |