|
enum | PMX.RamAddrList {
PMX.PositionKp = 0
, PMX.PositionKi = 4
, PMX.PositionKd = 8
, PMX.PositionStrc = 12
,
PMX.SpeedKp = 16
, PMX.SpeedKi = 20
, PMX.SpeedKd = 24
, PMX.CurrentKp = 32
,
PMX.CurrentKi = 36
, PMX.CurrentKd = 40
, PMX.TorqueKp = 48
, PMX.TorqueKi = 52
,
PMX.TorqueKd = 56
, PMX.PositionDeadBand = 64
, PMX.SpeedDeadBand = 66
, PMX.CurrentDeadBand = 68
,
PMX.TorqueDeadBand = 70
, PMX.CenterOffset = 72
, PMX.CloneReverse = 74
, PMX.MinVoltageLimit = 76
,
PMX.MinVoltageLimitPower = 78
, PMX.MaxVoltageLimit = 80
, PMX.MaxVoltageLimitPower = 82
, PMX.CurrentLimit = 84
,
PMX.CurrentLimitPower = 86
, PMX.MotorTempLimit = 88
, PMX.MotorTempLimitPower = 90
, PMX.CpuTempLimit = 92
,
PMX.CpuTempLimitPower = 94
, PMX.CwPositionLimit = 96
, PMX.CwPositionLimitPower = 98
, PMX.CcwPositionLimit = 100
,
PMX.CcwPositionLimitPower = 102
, PMX.MaxGoalSpeed = 104
, PMX.MaxGoalCurrent = 106
, PMX.MaxGoalTorque = 108
,
PMX.TotalPowerRate = 110
, PMX.LockDetectTime = 112
, PMX.LockThresholdPower = 114
, PMX.LockDetectOutputPower = 116
,
PMX.presetPosAddr = 118
, PMX.presetSpdAddr = 119
, PMX.presetCurAddr = 120
, PMX.presetTrqAddr = 121
,
PMX.PositionKp2 = 124
, PMX.PositionKi2 = 128
, PMX.PositionKd2 = 132
, PMX.PositionStrc2 = 136
,
PMX.SpeedKp2 = 140
, PMX.SpeedKi2 = 144
, PMX.SpeedKd2 = 148
, PMX.CurrentKp2 = 156
,
PMX.CurrentKi2 = 160
, PMX.CurrentKd2 = 164
, PMX.TorqueKp2 = 172
, PMX.TorqueKi2 = 176
,
PMX.TorqueKd2 = 180
, PMX.PositionKp3 = 188
, PMX.PositionKi3 = 192
, PMX.PositionKd3 = 196
,
PMX.PositionStrc3 = 200
, PMX.SpeedKp3 = 204
, PMX.SpeedKi3 = 208
, PMX.SpeedKd3 = 212
,
PMX.CurrentKp3 = 220
, PMX.CurrentKi3 = 224
, PMX.CurrentKd3 = 228
, PMX.TorqueKp3 = 236
,
PMX.TorqueKi3 = 240
, PMX.TorqueKd3 = 244
, PMX.NowPosition = 300
, PMX.NowSpeed = 302
,
PMX.NowCurrent = 304
, PMX.NowTorque = 306
, PMX.NowPwm = 308
, PMX.MotorTemp = 310
,
PMX.CPUTemp = 312
, PMX.InputVoltage = 314
, PMX.TrajectoryTime = 316
, PMX.EncoderValue = 318
,
PMX.ErrorStatus = 400
, PMX.ErrorSystem = 401
, PMX.ErrorMotor = 402
, PMX.ErrorRamAccess = 404
,
PMX.TorqueSwitch = 500
, PMX.ControlMode = 501
, PMX.MotorReceiveData = 502
, PMX.Trajectory = 503
,
PMX.ShortBrakeCurrent = 530
, PMX.ShortBrakeTorque = 531
, PMX.ShortBrakePWM = 532
, PMX.LedMode = 533
,
PMX.CenterOffsetMinRange = 600
, PMX.CenterOffsetMaxRange = 602
, PMX.MinVoltageMinRange = 604
, PMX.MinVoltageMaxRange = 606
,
PMX.MaxVoltageMinRange = 608
, PMX.MaxVoltageMaxRange = 610
, PMX.FailSafeVoltageMinRange = 612
, PMX.FailSafeVoltageMaxRange = 614
,
PMX.CurrentMinRange = 616
, PMX.CurrentMaxRange = 618
, PMX.MotorTempMinRange = 620
, PMX.MotorTempMaxRange = 622
,
PMX.CpuTempMinRange = 624
, PMX.CpuTempMaxRange = 626
, PMX.CwPositionMinRange = 628
, PMX.CwPositionMaxRange = 630
,
PMX.CcwPositionMinRange = 632
, PMX.CcwPositionMaxRange = 634
, PMX.MaxGoalSpeedMinRange = 636
, PMX.MaxGoalSpeedMaxRange = 638
,
PMX.MaxGoalCurrentMinRange = 640
, PMX.MaxGoalCurrentMaxRange = 642
, PMX.MaxGoalTorqueMinRange = 644
, PMX.MaxGoalTorqueMaxRange = 646
,
PMX.GoalCommandValue1 = 700
, PMX.GoalCommandValue2 = 702
, PMX.GoalCommandValue3 = 704
} |
| RAMのアドレス一覧 [詳解]
|
|
enum | PMX.ControlMode {
PMX.Position = 0x01
, PMX.Speed = 0x02
, PMX.PositionSpeed = 0x03
, PMX.Current = 0x04
,
PMX.PositionCurrent = 0x05
, PMX.SpeedCurrent = 0x06
, PMX.PositionSpeedCurrent = 0x07
, PMX.Torque = 0x08
,
PMX.PositionTorque = 0x09
, PMX.SpeedTorque = 0x0A
, PMX.PositionSpeedTorque = 0x0B
, PMX.PWM = 0x10
,
PMX.Time = 0x20
, PMX.PositionTime = 0x21
, PMX.PositionCurrentTime = 0x25
, PMX.PositionTorqueTime = 0x29
} |
| コントロールモード一覧 [詳解]
|
|
enum | PMX.TrajectoryType { PMX.Even = 0x01
, PMX.FifthPoly = 0x05
, PMX.Error = 0xFF
} |
| 補間制御軌道生成タイプの定義 [詳解]
|
|
enum | PMX.EditBaudrate {
PMX._57600 = 0x00
, PMX._115200 = 0x01
, PMX._625000 = 0x02
, PMX._1000000 = 0x03
,
PMX._1250000 = 0x04
, PMX._1500000 = 0x05
, PMX._2000000 = 0x06
, PMX._3000000 = 0x07
} |
| 通信速度の定義 [詳解]
|
|
enum | PMX.EditParity { PMX.ParityNone = 0x00
, PMX.Odd = 0x01
, PMX.Even = 0x02
} |
| パリティの定義 [詳解]
|
|
enum | PMX.SendCmd {
PMX.MemREAD = 0xa0
, PMX.MemWRITE = 0xa1
, PMX.LOAD = 0xa2
, PMX.SAVE = 0xa3
,
PMX.MotorREAD = 0xa4
, PMX.MotorWRITE = 0xa5
, PMX.SystemREAD = 0xbb
, PMX.SystemWRITE = 0xbc
,
PMX.ReBoot = 0xbd
, PMX.FactoryReset = 0xbe
} |
| 送信コマンド一覧 [詳解]
|
|
enum | PMX.BuffPter {
PMX.Header = 0
, PMX.Header1 = 1
, PMX.ID = 2
, PMX.Length = 3
,
PMX.CMD = 4
, PMX.Option = 5
, PMX.Status = 5
, PMX.Data = 6
} |
| 送受信データ位置 [詳解]
|
|
enum | PMX.ReceiveDataOption {
PMX.NoReturn = 0x00
, PMX.Position = 0x01
, PMX.Speed = 0x02
, PMX.Current = 0x04
,
PMX.Torque = 0x08
, PMX.Pwm = 0x10
, PMX.MotorTemp = 0x20
, PMX.CpuTemp = 0x40
,
PMX.Voltage = 0x80
, PMX.Full = 0xFF
} |
| 応答データの定義 [詳解]
|
|
enum | PMX.ComError {
PMX.OK = 0
, PMX.TimeOut = 0xFF00
, PMX.CrcError = 0xFE00
, PMX.FormatError = 0xFD00
,
PMX.SendError = 0xFC00
, PMX.ReceiveError = 0xFB00
, PMX.MotorREADConvertError = 0xFA00
, PMX.NG = 0x8000
,
PMX.ErrorMask = 0xFF00
} |
| データが返ってこないなどサーボモータ外に起因するエラー一覧の定義 [詳解]
|
|
enum | PMX.MinimumLength { PMX.Send = 8
, PMX.Receive = 8
} |
| パケットの最低サイズ値の定義 [詳解]
|
|
enum | PMX.PmxStatusErrorList {
PMX.SystemError = 0x01
, PMX.MotorError = 0x02
, PMX.CommunicationError = 0x04
, PMX.CommandError = 0x08
,
PMX.RamAccessError = 0x10
, PMX.ModeError = 0x20
, PMX.DataError = 0x40
, PMX.RunError = 0x80
} |
| PMXのステータスの返信/エラー状態の値 [詳解]
|
|
enum | PMX.TorqueSwitchType {
PMX.Control = 0x00
, PMX.TorqueOn = 0x01
, PMX.Free = 0x02
, PMX.Brake = 0x04
,
PMX.Hold = 0x08
, PMX.Mask = 0x0F
, PMX.Error = 0xFF
} |
| トルクスイッチの定義 [詳解]
|
|
enum | PMX.CloneReverseType { PMX.Clone = 0x01
, PMX.Reverse = 0x02
} |
| クローン/リバースの定義 [詳解]
|
|
PMXで使用する関数や定義をひとまとまりにしたものです
- 著者
- Kondo Kagaku Co., Ltd.
-
T.Nobuhara Gotanda
- 日付
- 2024/09/28
- バージョン
- 1.0.0.0
- 著作権所有
- Kondo Kagaku Co., Ltd. 2024