3.1.9.1.63 0x20E1 High resolution data
Prototype - This object will change in future releases!
High-resolution data contains all position, velocity and phase current measurements of the last millisecond. It
is updated once per millisecond with the new data.
There are four sub-objects, which, when concatenated, reflect the full chunk of data. The timestamp
corresponds to the measurements marked "1". Time step between position/velocity values is the motion
control loop period, time step between phase currents is the torque control loop period. The data is encoded
as follows:
Bytes
Value
0-3
Timestamp (32-bit unsigned int)
4-7
Position 1 (32-bit signed int)
8-11
Position 2 (32-bit signed int)
12-15
Position 3 (32-bit signed int)
16-19
Position 4 (32-bit signed int)
20-23
Velocity 1 (32-bit signed int)
24-27
Velocity 2 (32-bit signed int)
28-31
Velocity 3 (32-bit signed int)
32-35
Velocity 4 (32-bit signed int)
36-37
Phase Current I_b 1 (16-bit signed int)
38-39
Phase Current I_c 1 (16-bit signed int)
40-41
Phase Current I_b 2 (16-bit signed int)
42-43
Phase Current I_c 2 (16-bit signed int)
...
...
96-97
Phase Current I_b 16 (16-bit signed
int)
98-99
Phase Current I_c 16 (16-bit signed int)
Name
Index:Sub Type
Bit
Size
Min
Data
Max
Data
Default
Data
Unit Access
PDO
Mapping
Data 1
0x20E1:1
OCTET_STRING(25) 200
0
readonly
(default)
Transmit
PDO
(Inputs)
Synapticon Documentation
© 2021 Synapticon GmbH | Daimlerstraße 26 | D-71101 Schönaich Documentation v 4.19.0 | Built 2022-02-01
824/1031
