the_quimdc_object_dictionary
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the_quimdc_object_dictionary [2018/05/22 10:33] – external edit 127.0.0.1 | the_quimdc_object_dictionary [2022/11/03 19:09] – Add new functions documentation pdekeyzer | ||
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===== O.D. layout ===== | ===== O.D. layout ===== | ||
+ | |||
+ | Note: When setting/ | ||
+ | ^ GPIO Name ^ ID ^ | ||
+ | | CA_R | 0 | | ||
+ | | CA_L | 1 | | ||
+ | | CB_R | 2 | | ||
+ | | CB_L | 3 | | ||
+ | | CQR | 4 | | ||
+ | | CQL | 5 | | ||
Index profile is inspired by this [[http:// | Index profile is inspired by this [[http:// | ||
+ | |||
^ Index ^ Sub-index ^ Attribute ^ Type ^ Name ^ | ^ Index ^ Sub-index ^ Attribute ^ Type ^ Name ^ | ||
Line 64: | Line 74: | ||
| 0x4103 | 1 | RW | FLOAT32| Nominal Voltage Motor 1 (V) | | | 0x4103 | 1 | RW | FLOAT32| Nominal Voltage Motor 1 (V) | | ||
| ::: | 2 | RW | FLOAT32| Nominal Voltage Motor 2 (V) | | | ::: | 2 | RW | FLOAT32| Nominal Voltage Motor 2 (V) | | ||
- | | 0x4105 | + | | 0x4106 |
- | | ::: | 2 | RW | INT32 | Position | + | | ::: | 2 | RW | INT32 | BEMF Compensation Motor 2 (0/1) | |
+ | | 0x4107 | 1 | RW | INT32 | Minimal | ||
+ | | ::: | 2 | RW | INT32 | Minimal | ||
+ | | 0x4108 | 1 | RW | INT32 | Free Wheel GPIO ID Motor 1 (see table above) | ||
+ | | ::: | 2 | RW | INT32 | Free Wheel GPIO ID Motor 2 (see table above) | ||
+ | | 0x4109 | 1 | RW | INT32 | Homing GPIO ID Motor 1 (see table above) | ||
+ | | ::: | 2 | RW | INT32 | Homing GPIO ID Motor 2 (see table above) | ||
+ | | 0x410A | 1 | RW | INT32 | Positive limit switch GPIO ID Motor 1 (see table above) | ||
+ | | ::: | 2 | RW | INT32 | Positive limit switch GPIO ID Motor 2 (see table above) | ||
+ | | 0x410B | 1 | RW | INT32 | Negative limit switch GPIO ID Motor 1 (see table above) | ||
+ | | ::: | 2 | RW | INT32 | Negative limit switch GPIO ID Motor 2 (see table above) | ||
+ | | 0x410C | 1 | RW | INT32 | Positive limit switch GPIO inversion Motor 1 (0/1) | | ||
+ | | ::: | 2 | RW | INT32 | Positive limit switch GPIO inversion Motor 2 (0/1) | | ||
+ | | 0x410D | 1 | RW | INT32 | Negative limit switch GPIO inversion Motor 1 (0/1) | | ||
+ | | ::: | 2 | RW | INT32 | Negative limit switch GPIO inversion Motor 2 (0/1) | | ||
+ | | 0x410E | 1 | RW | INT32 | Homing GPIO inversion Motor 1 (0/1) | | ||
+ | | ::: | 2 | RW | INT32 | Homing GPIO inversion Motor 2 (0/1) | | ||
+ | | 0x410F | 1 | RW | INT32 | Max Position error Motor 1 (Ticks) | ||
+ | | ::: | 2 | RW | INT32 | Max Position error Motor 2 (Ticks) | ||
+ | | 0x4110 | 1 | RW | INT32 | PWM Offset Motor 1 | | ||
+ | | ::: | 2 | RW | INT32 | PWM Offset Motor 2 | | ||
+ | | 0x4111 | 1 | RW | INT32 | Acceleration Period Motor 1 (Seconds) | ||
+ | | ::: | 2 | RW | INT32 | Acceleration | ||
+ | | 0x4112 | 1 | RW | INT32 | Deceleration limit Motor 1 (Ticks/ | ||
+ | | ::: | 2 | RW | INT32 | Deceleration limit Motor 2 (Ticks/ | ||
+ | | 0x4113 | 1 | RW | INT32 | Acceleration limit Motor 1 (Ticks/ | ||
+ | | ::: | 2 | RW | INT32 | Acceleration limit Motor 2 (Ticks/ | ||
+ | | 0x4114 | 1 | RW | INT32 | Max Current Motor 1 (mA) | | ||
+ | | ::: | 2 | RW | INT32 | Max Current Motor 2 (mA) | | ||
+ | | 0x4115 | 1 | RW | INT32 | Max Speed Motor 1 (Ticks/ | ||
+ | | ::: | 2 | RW | INT32 | Max Speed Motor 2 (Ticks/ | ||
+ | | 0x4116 | 1 | RO | INT32 | Get actual PWM of Motor 1 | | ||
+ | | ::: | 2 | RO | INT32 | Get actual PWM of Motor 2 | | ||
+ | | 0x4117 | 1 | RO | INT32 | Is Homing Done on Motor 1 (0=homing not done/ | ||
+ | | ::: | 2 | RO | INT32 | Is Homing Done on Motor 2 (0=homing not done/ | ||
+ | | 0x4118 | 1 | WO | INT32 | Do Homing on Motor 1 with indicated speed (Ticks/ | ||
+ | | ::: | 2 | WO | INT32 | Do Homing on Motor 2 with indicated speed (Ticks/ | ||
| 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 | | ||
+ | | 0x6011 | 0 | RO | INT32 | Read Level of GPIO CA_R (0/1) | | ||
+ | | ::: | 1 | RO | INT32 | Read Level of GPIO CA_L (0/1) | | ||
+ | | ::: | 2 | RO | INT32 | Read Level of GPIO CB_R (0/1) | | ||
+ | | ::: | 3 | RO | INT32 | Read Level of GPIO CB_L (0/1) | | ||
+ | | ::: | 4 | RO | INT32 | Read Level of GPIO CQR (0/1) | | ||
+ | | ::: | 5 | RO | INT32 | Read Level of GPIO CQL (0/1) | | ||
+ | | 0x6012 | 1 | RO | INT32 | Read motor driver fault status (0/1) | | ||
+ | | 0x6013 | 1 | WO | INT32 | Put board to sleep (0/1) | | ||
+ | | 0x6014 | 1 | WO | INT32 | Reset board (0/1) | | ||
+ | | 0x6015 | 1 | WO | INT32 | Reset motor driver (0/1) | | ||
| 0x6060 | 1 | RW | INT32 | Control Loop Function Motor 1 | | | 0x6060 | 1 | RW | INT32 | Control Loop Function Motor 1 | | ||
| ::: | 2 | RW | INT32 | Control Loop Function Motor 2 | | | ::: | 2 | RW | INT32 | Control Loop Function Motor 2 | |
the_quimdc_object_dictionary.txt · Last modified: 2023/02/09 12:09 by pdekeyzer