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| author | Tero K <tero.k@granitedevices.fi> | 2015-04-29 14:19:20 +0300 |
|---|---|---|
| committer | Tero K <tero.k@granitedevices.fi> | 2015-04-29 14:19:20 +0300 |
| commit | 47eb82f2f17522b7cc37e7595866e7a42699ca83 (patch) | |
| tree | d71b2f5e44d42cb58e9da8451a26140f028b1f4f | |
| parent | 5e1d1035cd3389f928c5e734ba6b18e075530c7c (diff) | |
| download | SimpleMotionV2-47eb82f2f17522b7cc37e7595866e7a42699ca83.tar.gz SimpleMotionV2-47eb82f2f17522b7cc37e7595866e7a42699ca83.zip | |
Update SMP_TORQUE_MODE_ATTRIBUTES specifications
| -rw-r--r-- | simplemotion_defs.h | 30 |
1 files changed, 16 insertions, 14 deletions
diff --git a/simplemotion_defs.h b/simplemotion_defs.h index 2eeed8f..07b2164 100644 --- a/simplemotion_defs.h +++ b/simplemotion_defs.h @@ -571,25 +571,27 @@ #define SMP_DYNAMIC_BRAKING_SPEED 912
#define SMP_BRAKE_STOP_ENGAGE_DELAY SMP_MECH_BRAKE_ENGAGE_DELAY /* SMP_BRAKE_STOP_ENGAGE_DELAY is old name, kept for compatibility*/
-/*Special torque mode specific settings, currently IONI only. Values:
+/*Special torque mode specific settings, currently IONI only. This paramterer is a bitfield
+ * defined as: bits 0-7: option bits, bits 8-29: rotation angle limit (in feedback counts).
+ *
+ * Guide:
* 0 = disabled, standard drive operation
- * nonzero = calculate value by:
- * round(allowed_rotation_in_counts/100)*100 + mode
+ * nonzero = calculate value by: round(allowed_rotation_in_counts/256)*256 + modebits
*
- * where mode:
- * 0=only rotation limit on
- * 1=rotation limit and analog trimpot torque scaling on.
- * Analog input 0-5V sets torque scale to 10-100%. Note: cant use analog input for torque setpoint now.
- * 2-99=reserved for future use
+ * where modebits is a bitfield defined as:
+ * bit 0: input scaling. if true, analog input 0-5V sets torque scale to 10-100%. Note: cant use analog input for torque setpoint now.
+ * bits 1-7: reserved for future use.
*
- * example 1: we want rotation limit of 8192 encoder counts (for each direction) and no scaling input, we
- * use value 8200.
+ * example 1: we want rotation limit of 8000 encoder counts (for each direction) and no scaling input, we
+ * use value 7936.
*
- * example 2: we want rotation limit of 8192 encoder counts (for each direction) and torque
- * command scaling input, we use value 8201
+ * example 2: we want rotation limit of 8000 encoder counts (for each direction) and torque
+ * command scaling input, we use value 7937
+
+ * example 3: no rotation limit but just saling is on: use value 1
*
- * Tip: use Granity Ctrl+P (Shortcut) dialog to set value:
- * http://granitedevices.com/wiki/Reading_and_writing_an_arbitrary_parameter_with_Granity
+ * Tip: use Granity Ctrl+P (Shortcut) dialog to set value:
+ * http://granitedevices.com/wiki/Reading_and_writing_an_arbitrary_parameter_with_Granity
*/
#define SMP_TORQUE_MODE_ATTRIBUTES 920
|