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the_quimdc_object_dictionary [2023/01/25 13:14] – [O.D. layout] Add GPIO reading OD pdekeyzerthe_quimdc_object_dictionary [2023/02/09 12:09] (current) – pdekeyzer
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 | 0x6100 | 1         | RO        | INT32  | Motor Speed 1 (Tick/s)         | | 0x6100 | 1         | RO        | INT32  | Motor Speed 1 (Tick/s)         |
 | :::    | 2         | RO        | INT32  | Motor Speed 2 (Tick/s)         | | :::    | 2         | RO        | INT32  | Motor Speed 2 (Tick/s)         |
 +| 0x6200 | 1         | RW        | INT32  | GPIO PDO publish freq (Hz)         |
  
 ==== Notes ==== ==== Notes ====
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 ^ Byte 0  ^ Byte 1 ^ Byte 2 ^ Byte 3 ^ Byte 4 ^ Byte 5 ^ Byte 6 ^ Byte 7 ^ ^ 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  ||||| | 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.1674648851.txt.gz · Last modified: 2023/01/25 13:14 by pdekeyzer