MPISynqNetPacketCfgMotor

Definition

typedef struct MPISynqNetPacketCfgMotor {	
    MPISynqNetResourceCommand   command;
    long                        pulseEngineCount;
    long                        feedbackPrimaryCount;
    MPISynqNetResourceIoBits    ioInput;
    MPISynqNetResourceIoBits    ioOutput;			
    MPISynqNetResourceMonitor   monitor;
} MPISynqNetPacketCfgMotor;

 

Change History: Modified in 04.00.

Description

MPISynqNetPacketCfgMotor structure is a member of the MPISynqNetPacketCfgNode configuration structure. It contains the network packet configuration for a single motor found on a particular node. Only configurable packet data is represented in this structure. Fixed packet fields are not application configurable.

NOTE: Setting all structure members to a NONE or Zero (0x0) value will effectively disable the motor on the network. This will cause the controller to renumber the subsequent motors on the network.

command Selects the command data type and count. Please see MPISynqNetResourceCommand.
pulseEngineCount Configures the number of pulse engine to be enable for a motor. Valid numbers are zero thru MPISynqNetMaxMotorPULSE_ENGINE_COUNT, but may be further limited by the available resources on the node.Each pulse engine requires a 64-bit upstream data field and a 32-bit downstream data field.
feedbackPrimaryCount Configures the number of 32-bit feedback data fields to be sent for a motor. Valid numbers are zero thru MPISynqNetMaxEncoderFEEDBACK_COUNT, but may be further limited by the available resources on the node.
ioInput Selects the number of input bit data received from this motor. Please see MPISynqNetResourceIoBits.
ioOutput Selects the number of output bit data sent to this motor. Please see MPISynqNetResourceIoBits.
monitor Selects the number of montior data fields received from this motor. Please see MPISynqNetResourceMonitor.

See Also

mpiSynqNetPacketConfigGet | mpiSynqNetPacketConfigSet | MPISynqNetPacketCfg | MPISynqNetPacketCfgNode | MPISynqNetResourceCommand | MPISynqNetResourceIoBits | MPISynqNetResourceMonitor | MPISynqNetPacketCfgProbe