BH8-Series – User’s Manual
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© 2007 Barrett Technology®, Inc.
Document: D3000, Version: AF.00
Page 30 of 82
Parameter:
LFV
Name:
Loop Feedback Velocity
Purpose:
If non-zero, then the firmware sends a signed byte giving the present velocity for
the motor divided by the LFVC parameter.
Values:
0, 1
Default:
1
Notes:
Parameter:
LFVC
Name:
Loop Feedback Velocity Coefficient
Purpose:
Before sending a Loop Feedback Velocity byte, the firmware divides the
velocity by this parameter's value.
Values:
0 to 255
Default:
1
Notes:
Parameter:
LFS
Name:
Loop Feedback Strain
Purpose:
If non-zero, then the firmware sends an unsigned byte giving the strain gauge
value for the motor.
Values:
0, 1
Default:
1
Notes:
Parameter:
LFAP
Name:
Loop Feedback Absolute Position
Purpose:
If non-zero, then the firmware sends an unsigned two-byte value giving the
present position of the motor.
Values:
0, 1
Default:
1
Notes:
Parameter:
LFDP
Name:
Loop Feedback Delta Position
Purpose:
If non-zero, then the firmware sends a signed byte giving the change in position
since the last datum, divided by the value of the LFDPC parameter.
Values:
0, 1
Default:
1
Notes:
A conflict occurs when the change in position is too great to transmit in a single
signed byte, even after scaling. See section 6.2.3 for more information.
Parameter:
LFDPC
Name:
Loop Feedback Delta Position Coefficient
Purpose:
Used to scale a delta position value.
Values:
0 to 255
Default:
1
Notes:
Delta position is the change in position from the last reported position and is
limited to one signed byte. The Present position is read and compared to the last
reported position. The difference is divided by the RealTime variable LFDPC,
clipped to a single signed byte, and then sent to the host. The value sent to the
host should be multiplied by LFDPC and then added to the last reported position
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