PmxCSharpLib 1.0.0.0
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PmxBaseClass.cs ファイル

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 [詳解]

クラス

class  PMX.PmxBase
 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 [詳解]
 

名前空間

namespace  PMX
 PMXの固有値の定義
 

列挙型

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]
 

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