MPI 04.00 Reference >> mpiMotor
MPIMotorFeedbackStatusBit
Definition
typedef enum MPIMotorFeedbackStatusBit {
MPIMotorFeedbackStatusBitINVALID = -1,
MPIMotorFeedbackStatusBitBROKEN_WIRE, /* 0 */
MPIMotorFeedbackStatusBitILLEGAL_STATE, /* 1 */
MPIMotorFeedbackStatusBitBROKEN_WIRE_SECONDARY, /* 2 */
MPIMotorFeedbackStatusBitILLEGAL_STATE_SECONDARY, /* 3 */
MPIMotorFeedbackStatusBitEND,
MPIMotorFeedbackStatusBitFIRST = MPIMotorFeedbackStatusBitINVALID + 1,
} MPIMotorFeedbackStatusBit;
Description
MPIMotorFeedbackStatusBit contains the fault bits for the feedback. These bits are used to decode the feedback status from the motor status. There is an equivalent enumeration for the feedback status mask. Be sure to use the mask when decoding the feedbackMask in MPIMotorStatus.
These bits are only applicable for MPIMotorFeedbackTypeQUAD_AB feedback types.
| MPIMotorFeedbackStatusBitBROKEN_WIRE | Status bit for broken A or B encoder wire. Requires a differential pair of A and B wires to be detectable. |
|---|---|
| MPIMotorFeedbackStatusBitILLEGAL_STATE | Status bit for a simultaneous state change on both the A and B encoder channel. Indicates a bad channel or faulty signals. |
| MPIMotorFeedbackStatusBitBROKEN_WIRE_SECONDARY | Status bit for broken A or B encoder wire on the secondary encoder feedback. |
| MPIMotorFeedbackStatusBitILLEGAL_STATE_ | Status bit for an illegal state on the secondary encoder feedback. |