MPISynqNetPacketCfgEncoder

Definition

typedef struct MPISynqNetPacketCfgEncoder {	
    int32_t feedbackCount;    /* per encoder */
    int32_t captureCount;     /* per encoder */
    int32_t compareCount;     /* per encoder */
} MPISynqNetPacketCfgEncoder;

Description

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

Setting all structure members to zero (0x0) values will effectively disable the encoder on the motor. Disabling an encoder will NOT affect encoder numbering, however, encoders with higher index numbers must be disabled before using encoders with lower index numbers.

NOTE: A motor is considered incomplete if it has no encoders enabled.

feedbackCount configures the number of 32-bit feedback data fields to be sent for an encoder. Valid numbers are zero thru MPISynqNetMaxEncoderFEEDBACK_COUNT , but may be further limited by the available resources on the node.NOTE: Setting this count to a value of zero (0x0) will affectively disable the encoder. All other encoder resources must also be set to NONE or zero (0x0).
captureCount configures the number of 32-bit capture data fields to be sent for an encoder. Valid numbers are zero thru MPISynqNetMaxMotorCAPTURE_COUNT, but may be further limited by the available resources on the node. If feedbackCount is zero (0x0), then this value must also be zero.NOTE: all capture/compare resources on a motor rely on 2 fixed 32bit data fields for command and status information. These fixed fields are currently not configurable.
compareCount configures the number of 32-bit compare data fields to be sent for an encoder. Valid numbers are zero thru MPISynqNetMaxMotorCOMPARE_COUNT, but may be further limited by the available resources on the node. If feedbackCount is zero (0x0), then this value must also be zero.NOTE: all capture/compare resources on a motor rely on 2 fixed 32bit data fields for command and status information. These fixed fields are currently not configurable.

See Also

mpiSynqNetPacketConfigGet | mpiSynqNetPacketConfigSet | MPISynqNetPacketCfgMotor | MPISynqNetPacketCfg | MPISynqNetPacketCfgNode