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.

See Also

MPIMotorFeedbackStatusMask | mpiMotorStatus