From 47eb82f2f17522b7cc37e7595866e7a42699ca83 Mon Sep 17 00:00:00 2001 From: Tero K Date: Wed, 29 Apr 2015 14:19:20 +0300 Subject: Update SMP_TORQUE_MODE_ATTRIBUTES specifications --- simplemotion_defs.h | 30 ++++++++++++++++-------------- 1 file 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 -- cgit v1.2.3