FEEDBACK Packet
The FEEDBACK packet is sent from each node to the contoller
in CYCLIC phase. It provides position (encoder) feedback.
NOTE: The controller may require that the fields
of the configured packet structure lie on natural boundaires. In which
case, it may be necessary to create dummy fields.
NOTE: When an auxiliary encoder is present on
an N axis node, it is simply appended as axis[N+1].
|
Data
|
Bits
|
DataType and modules
|
Packet
Section
|
packetType
0x80 FEEDBACK |
8
|
|
Header (Fixed) |
| nodeStatus |
16
|
nodeStatus |
Mac (Required) |
| feedback |
32
|
feedbackData
(6 parallelFeeback Module,
7 serialFeedback Module) |
Axis[0] Configurable |
| 1_tPeriod |
16
|
1/TData
(1/T Module) |
| 1_tPhase |
16
|
| extension |
8
|
feedbackExtension
(future modules) |
| each axis configured
independently |
32
|
As required |
Axis[N] Configurable |
| CRC |
32
|
|
CRC (Fixed) |
NodeStatus
Each FEEDBACK packet contains a 16-bit nodeStatus field.
|
Bit
|
Description
|
Definition
|
|
0
|
downstreamFault |
1 - downstream fault threshold exceeded
on node
0 - downstream fault threshold NOT exceeded on node |
|
1
|
recoveryMode |
1 - node is in recovery mode
0 - node is NOT in recovery mode |
|
2:3
|
Reserved |
|
|
7:4
|
nodeState |
encoded node network state (undiscovered, discovered,
synqOperation, etc.) |
|
11:8
|
Reserved |
|
|
12
|
ioAbort |
1 - ioAbort internal signal is asserted
0 - ioAbort internal signal is negated |
|
13
|
nodeAlarm |
1 - nodeAlarm output asserted; no
current through opto
0 - nodeAlarm output negated; current through opto |
|
14
|
nodeDisable |
1 - nodeDisable input asserted (or
not used); no current through opto
0 - nodeDisable input negated (normal state when used); current
through opto |
|
15
|
nodeError |
1 - one or more error flags are set in the sqMac
status register
0 - no node error flags set |
|
