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