Table 4 - RealTime Finger Control Properties for the BH8-262
Property
Name
Type
Function
Size in
Block
LCV
Loop Control
Velocity
Flag
If True, RealTime control
block will contain control
velocity
1 signed byte
LCVC
Loop Control
Velocity Coefficient
Coefficient
(1 to 255)
LCV is multiplied by
LCVC to determine control
velocity
N/A
LCPG
Loop Control
Proportional Gain
Flag
If True, RealTime control
block will contain
Proportional Gain
1 unsigned
byte
LCT
Loop Control Torque
Flag
If True, RealTime control
block will contain control
torque
2 bytes,
signed
LFAIN
Loop Feedback
Analog Input
Flag
If True, RealTime feedback
block will contain analog
input value
1 unsigned
byte
LFBP
Loop Feedback
Breakaway Position
Flag
If True, RealTime feedback
block will contain
breakaway position
2 unsigned
bytes
LFV
Loop Feedback
Velocity
Flag
If True, RealTime feedback
block will contain feedback
velocity
1 signed byte
LFVC
Loop Feedback
Velocity Coefficient
Coefficient
(1 to 255)
Actual velocity is divided
by LFVC to get LFV
N/A
LFS
Loop Feedback
Strain
Flag
If True, RealTime feedback
block will contain strain
information
1 unsigned
byte
LFAP
Loop Feedback
Absolute Position
Flag
If True, RealTime feedback
block will contain absolute
position
2 unsigned
bytes
LFDP
Loop Feedback Delta
Position
Flag
If True, RealTime feedback
block will contain delta
position
1 signed byte
LFDPC
Loop Feedback Delta
Position Coefficient
Coefficient
(1 to 255)
The actual delta position is
divided by this to get LFDP
N/A
LFDPD
Loop Feedback Delta
Position Discard
Flag
If true, any delta position
overflow is discarded
N/A
Table 5 - RealTime Global Control Properties
Property
Name
Type
Function
Size in Block
LFT
Loop Feedback
Temp.
Flag
If True, RealTime feedback
block will contain temperature
1 unsigned byte
6.5
Example
This application uses fingers 1 and 2, and the spread. The fingers will receive velocity control
information and report strain and delta position. The spread will just report delta position. The
feedback block will also include the present hand temperature. All relevant coefficients will be set
to 1.
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