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 |