0x20E1 High Resolution Data

Prototype - This object will change in future releases!

High-resolution data contains all position, velocity and phase current measurements of the last millisecond. It is updated once per millisecond with the new data.

There are four sub-objects, which, when concatenated, reflect the full chunk of data. The timestamp corresponds to the measurements marked "1". Time step between position/velocity values is the motion control loop period, time step between phase currents is the torque control loop period. The data is encoded as follows:

Bytes Value
0-3 Timestamp (32-bit unsigned int)
4-7 Position 1 (32-bit signed int)
8-11 Position 2 (32-bit signed int)
12-15 Position 3 (32-bit signed int)
16-19 Position 4 (32-bit signed int)
20-23 Velocity 1 (32-bit signed int)
24-27 Velocity 2 (32-bit signed int)
28-31 Velocity 3 (32-bit signed int)
32-35 Velocity 4 (32-bit signed int)
36-37 Phase Current I_b 1 (16-bit signed int)
38-39 Phase Current I_c 1 (16-bit signed int)
40-41 Phase Current I_b 2 (16-bit signed int)
42-43 Phase Current I_c 2 (16-bit signed int)
... ...
96-97 Phase Current I_b 16 (16-bit signed int)
98-99 Phase Current I_c 16 (16-bit signed int)

 

Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Data 1 0x20E1:1 OCTET_STRING(25) 200 0 readonly (default) Transmit PDO (Inputs)
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Data 2 0x20E1:2 OCTET_STRING(25) 200 0 readonly (default) Transmit PDO (Inputs)
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Data 3 0x20E1:3 OCTET_STRING(25) 200 0 readonly (default) Transmit PDO (Inputs)
Name Index:Sub Type Bit Size Min Data Max Data Default Data Unit Access PDO Mapping
Data 4 0x20E1:4 OCTET_STRING(25) 200 0 readonly (default) Transmit PDO (Inputs)