MPISqNodeInfo
Definition
typedef struct MPISqNodeInfo {
int32_t motorCount;
int32_t driveCount;
int32_t motorOffset;
int32_t feedbackSecondaryCount;
MPISqNodeInfoId id;
MPISqNodeInfoFpga fpga;
MPISqNodeInfoNetwork network;
MPISqNodeInfoIo io;
} MPISqNodeInfo;
Description
MPISqNodeInfo contains static data stored for the SynqNet node. The motor objects are indexed sequentially across all the SynqNet nodes associated with each network. Each motor on a controller has a unique number.
| motorCount | The number of motors that the SynqNet node supports. |
|---|---|
| driveCount | The number of drives interfaces that the SynqNet node supports. |
| motorOffset | The starting number for the first motor on the SynqNet node. |
| feedbackSecondaryCount | The number of auxillary feedbacks on the node. |
| id | A structure that contains identification data for the SynqNet node. See MPISqNodeInfoId. |
| fpga | A structure that contains identification data for the SynqNet node FPGA. See MPISqNodeInfoFpga. |
| network | A structure that contains network interface information for the SynqNet node. See MPISqNodeInfoNetwork. |
| io | A structure that returns how many of each type of node I/O this node supports. |