Data type for servo configuration data.
Data structure used in MLxAxisData structure.
Contains servo information for each axis that will be populated during
initialization. To update these values, change the tag value and execute an
MLxSetAxisProperties.
Version history
0.1.0
deGroot
Changes
Changed:
- source code ported
- version number reset
- now using semantic versioning
Overview
| name | type | default | comment |
|---|---|---|---|
| PulsePerPositionUnit | DINT | For future use REQUIRED - The number of encoder pulses per position Unit | |
| HomeOffset | DINT | For future use REQUIRED - The home offset for the servo drive. This can be configured through the MLxRobotSetHomeOffsets AOI. | |
| FollowingError | DINT | For future use OPTIONAL - If non-zero, this will update the following error for the axis | |
| DriveModel_LEN | DINT | Stringlength for platform compatibility | |
| DriveModel | STRING[82] | For future use OPTIONAL - If set, the system will perform a check that the correct drive model is read from the servo drive. |
Details
PulsePerPositionUnit
DINTFor future use REQUIRED - The number of encoder pulses per position Unit
HomeOffset
DINTFor future use REQUIRED - The home offset for the servo drive. This can be configured through the MLxRobotSetHomeOffsets AOI.
FollowingError
DINTFor future use OPTIONAL - If non-zero, this will update the following error for the axis
DriveModel_LEN
DINTStringlength for platform compatibility
DriveModel
STRING[82]For future use OPTIONAL - If set, the system will perform a check that the correct drive model is read from the servo drive.