QuimWiki

User Tools

Site Tools

Trace:
the_quimdc_object_dictionary

Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revisionPrevious revision
Next revision		Previous revision
Last revisionBoth sides next revision
the_quimdc_object_dictionary [2022/11/30 11:27] – Specify entry 4200 structure pdekeyzerthe_quimdc_object_dictionary [2023/01/25 13:19] – [O.D. layout] Add gpio publish freq pdekeyzer
Line 121: Line 121:
 | 0x4200 | 1         | RO        | INT32  | Read position reached Motor 1 (See note below) | | 0x4200 | 1         | RO        | INT32  | Read position reached Motor 1 (See note below) |
 | :::    | 2         | RO        | INT32  | Read position reached Motor 2 (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 153: Line 154:
 | 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 ====
Line 159: Line 161:
 ^ 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) | 0x00 | 0x00 |
the_quimdc_object_dictionary.txt · Last modified: 2023/02/09 12:09 by pdekeyzer