Enum CustomDataIndex
February 26, 2020 ยท View on GitHub
Overview / Purpose
Enumeration CustomDataIndex
| Enumerator | Value | Description |
|---|---|---|
| NO_CUSTOM_DATA_SELECTED | 0 | No custom data selected |
| UINT32_TEST_RAMP | 1 | Incremental value used for test and validation |
| UINT32_MOTOR_ENCODER_RAW | 2 | Rotor optical encoder incremental value (raw) |
| UINT32_JOINT_ENCODER_RAW | 3 | Joint optical encoder incremental value (raw) |
| FLOAT_TEMPERATURE_PHASE_0 | 4 | Motor phase 0 temperature (degrees Celsius) |
| FLOAT_TEMPERATURE_PHASE_1 | 5 | Motor phase 1 temperature (degrees Celsius) |
| FLOAT_TEMPERATURE_PHASE_2 | 6 | Motor phase 2 temperature (degrees Celsius) |
| INT32_TORQUE_SENSOR_RAW_0 | 7 | Individual torque sensor strain gauge 0 ADC value (raw) |
| INT32_TORQUE_SENSOR_RAW_1 | 8 | Individual torque sensor strain gauge 1 ADC value (raw) |
| INT32_TORQUE_SENSOR_RAW_2 | 9 | Individual torque sensor strain gauge 2 ADC value (raw) |
| INT32_TORQUE_SENSOR_RAW_3 | 10 | Individual torque sensor strain gauge 3 ADC value (raw) |
| FLOAT_TORQUE_SENSOR_0 | 11 | Individual torque sensor strain gauge 0 converted value (Newton-meters) |
| FLOAT_TORQUE_SENSOR_1 | 12 | Individual torque sensor strain gauge 1 converted value (Newton-meters) |
| FLOAT_TORQUE_SENSOR_2 | 13 | Individual torque sensor strain gauge 2 converted value (Newton-meters) |
| FLOAT_TORQUE_SENSOR_3 | 14 | Individual torque sensor strain gauge 3 converted value (Newton-meters) |
| UINT32_MOTOR_ENCODER_RAW_LATCH_ON_INDEX_RISING | 15 | Rotor optical encoder incremental value at last index signal rising edge (raw) |
| UINT32_JOINT_ENCODER_RAW_LATCH_ON_INDEX_RISING | 16 | Joint optical encoder incremental value at last index signal rising edge (raw) |
| UINT32_ABSOLUTE_POSITION_SENSOR_RAW | 17 | Absolute position sensor integer value (raw) |
| FLOAT_ABSOLUTE_POSITION_SENSOR | 18 | Absolute position sensor converted value (degrees) |
| FLOAT_CONTROL_POSITION_JOINT_REQUESTED | 19 | Last axis position command received via Ethernet |
| UINT32_JIG_FLAGS | 20 | Jig status flags (internal use) |
| UINT32_TICK_MOTOR_CONTROL | 21 | Rotor optical encoder incremental value corrected for counter overflow (raw) |
| UINT32_TICK_JOINT_CONTROL | 22 | Joint optical encoder incremental value corrected for counter overflow (raw) |
| UINT32_INDEX_TICK_MOTOR_CONTROL | 23 | Rotor optical encoder incremental value corrected for counter overflow at last index signal rising edge (raw) |
| UINT32_INDEX_TICK_JOINT_CONTROL | 24 | Joint optical encoder incremental value corrected for counter overflow at last index signal rising edge (raw) |
| FLOAT_ACCELERATION_X | 25 | x-axis acceleration (meters per second squared) |
| FLOAT_ACCELERATION_Y | 26 | y-axis acceleration (meters per second squared) |
| FLOAT_ACCELERATION_Z | 27 | z-axis acceleration (meters per second squared) |
| FLOAT_ANGULAR_RATE_X | 28 | x-axis angular velocity (degrees per second) |
| FLOAT_ANGULAR_RATE_Y | 29 | y-axis angular velocity (degrees per second) |
| FLOAT_ANGULAR_RATE_Z | 30 | z-axis angular velocity (degrees per second) |
| FLOAT_POSITION_MOTOR_CMD | 31 | Axis position command sent to motor position control loop (degrees) |
| FLOAT_VELOCITY_MOTOR_CMD | 32 | Axis velocity command sent to motor velocity control loop (degrees per second) |
| FLOAT_POSITION_MOTOR | 33 | Actuator position measured by rotor optical encoder (degrees) |
| FLOAT_VELOCITY_MOTOR | 34 | Actuator angular velocity measured by rotor optical encoder (degrees per second) |
| UINT32_COMMUNICATIONS_JITTER | 35 | Jitter from the communication (microseconds) |
| FLOAT_TORQUE_AVERAGE | 36 | Actuator torque (Newton-meters) |
| FLOAT_CURRENT_MOTOR | 37 | Motor current (Amperes) |
| FLOAT_VOLTAGE_DIGITAL | 38 | Main board voltage (Volts) |
| FLOAT_TEMPERATURE_MOTOR_CELSIUS | 39 | Motor temperature (maximum of the three (3) phase temperatures) (degrees Celsius) |
| FLOAT_TEMPERATURE_CORE_CELSIUS | 40 | Microcontroller temperature (degrees Celsius) |
| UINT32_FAULT_A | 41 | Bank A faults (see ActuatorConfig.SafetyIdentifier) |
| UINT32_FAULT_B | 42 | Bank B faults (see ActuatorConfig.SafetyIdentifier) |
| UINT32_WARNING_A | 43 | Bank A warnings (see ActuatorConfig.SafetyIdentifier) |
| UINT32_WARNING_B | 44 | Bank B warnings (see ActuatorConfig.SafetyIdentifier) |
| FLOAT_POSITION_FROM_HALLS | 45 | Actuator position measured by motor hall sensors (degrees) |
| FLOAT_PHASE_CURRENT_0 | 46 | Motor phase 0 current (Amperes) |
| FLOAT_PHASE_CURRENT_1 | 47 | Motor phase 1 current (Amperes) |
| FLOAT_PHASE_CURRENT_2 | 48 | Motor phase 2 current (Amperes) |
| FLOAT_PHASE_PWM_0 | 49 | Pulse width modulation duty cycle applied to motor phase 0 (percentage) |
| FLOAT_PHASE_PWM_1 | 50 | Pulse width modulation duty cycle applied to motor phase 1 (percentage) |
| FLOAT_PHASE_PWM_2 | 51 | Pulse width modulation duty cycle applied to motor phase 2 (percentage) |
| FLOAT_MOTOR_ELECTRICAL_ANGLE | 52 | Motor electrical angle (degrees) |
| FLOAT_CURRENT_MOTOR_CMD | 53 | Motor current command sent to motor drive (Amperes) |
| FLOAT_TORQUE_JOINT_CMD | 54 | Axis torque command sent to joint torque control loop (Newton-meters) |
| FLOAT_POSITION_UNWRAPPED | 55 | Actuator position unwrapped (degrees) |
| UINT32_HALL_SENSOR_0 | 56 | Hall sensor 0 value (raw) |
| UINT32_HALL_SENSOR_1 | 57 | Hall sensor 1 value (raw) |
| UINT32_HALL_SENSOR_2 | 58 | Hall sensor 2 value (raw) |
| INT32_HALL_SENSOR_SCALED_0 | 59 | Hall sensor 0 scaled value (raw) |
| INT32_HALL_SENSOR_SCALED_1 | 60 | Hall sensor 1 scaled value (raw) |
| INT32_HALL_SENSOR_SCALED_2 | 61 | Hall sensor 2 scaled value (raw) |
| FLOAT_COGGING_COEFFICIENT_A_0 | 62 | Cogging torque cancellation coefficient A0 (Amperes) |
| FLOAT_COGGING_COEFFICIENT_A_1 | 63 | Cogging torque cancellation coefficient A1 (Amperes) |
| FLOAT_COGGING_COEFFICIENT_A_2 | 64 | Cogging torque cancellation coefficient A2 (Amperes) |
| FLOAT_COGGING_COEFFICIENT_A_3 | 65 | Cogging torque cancellation coefficient A3 (Amperes) |
| FLOAT_COGGING_COEFFICIENT_A_4 | 66 | Cogging torque cancellation coefficient A4 (Amperes) |
| FLOAT_COGGING_COEFFICIENT_A_5 | 67 | Cogging torque cancellation coefficient A5 (Amperes) |
| FLOAT_COGGING_COEFFICIENT_A_6 | 68 | Cogging torque cancellation coefficient A6 (Amperes) |
| FLOAT_COGGING_COEFFICIENT_A_7 | 69 | Cogging torque cancellation coefficient A7 (Amperes) |
| FLOAT_COGGING_COEFFICIENT_A_8 | 70 | Cogging torque cancellation coefficient A8 (Amperes) |
| FLOAT_COGGING_COEFFICIENT_A_9 | 71 | Cogging torque cancellation coefficient A9 (Amperes) |
| FLOAT_COGGING_COEFFICIENT_A_10 | 72 | Cogging torque cancellation coefficient A10 (Amperes) |
| FLOAT_COGGING_COEFFICIENT_A_11 | 73 | Cogging torque cancellation coefficient A11 (Amperes) |
| FLOAT_COGGING_COEFFICIENT_A_12 | 74 | Cogging torque cancellation coefficient A12 (Amperes) |
| FLOAT_COGGING_COEFFICIENT_A_13 | 75 | Cogging torque cancellation coefficient A13 (Amperes) |
| FLOAT_COGGING_COEFFICIENT_A_14 | 76 | Cogging torque cancellation coefficient A14 (Amperes) |
| FLOAT_COGGING_COEFFICIENT_A_15 | 77 | Cogging torque cancellation coefficient A15 (Amperes) |
| FLOAT_COGGING_COEFFICIENT_B_0 | 78 | Cogging torque cancellation coefficient B0 (Amperes) |
| FLOAT_COGGING_COEFFICIENT_B_1 | 79 | Cogging torque cancellation coefficient B1 (Amperes) |
| FLOAT_COGGING_COEFFICIENT_B_2 | 80 | Cogging torque cancellation coefficient B2 (Amperes) |
| FLOAT_COGGING_COEFFICIENT_B_3 | 81 | Cogging torque cancellation coefficient B3 (Amperes) |
| FLOAT_COGGING_COEFFICIENT_B_4 | 82 | Cogging torque cancellation coefficient B4 (Amperes) |
| FLOAT_COGGING_COEFFICIENT_B_5 | 83 | Cogging torque cancellation coefficient B5 (Amperes) |
| FLOAT_COGGING_COEFFICIENT_B_6 | 84 | Cogging torque cancellation coefficient B6 (Amperes) |
| FLOAT_COGGING_COEFFICIENT_B_7 | 85 | Cogging torque cancellation coefficient B7 (Amperes) |
| FLOAT_COGGING_COEFFICIENT_B_8 | 86 | Cogging torque cancellation coefficient B8 (Amperes) |
| FLOAT_COGGING_COEFFICIENT_B_9 | 87 | Cogging torque cancellation coefficient B9 (Amperes) |
| FLOAT_COGGING_COEFFICIENT_B_10 | 88 | Cogging torque cancellation coefficient B10 (Amperes) |
| FLOAT_COGGING_COEFFICIENT_B_11 | 89 | Cogging torque cancellation coefficient B11 (Amperes) |
| FLOAT_COGGING_COEFFICIENT_B_12 | 90 | Cogging torque cancellation coefficient B12 (Amperes) |
| FLOAT_COGGING_COEFFICIENT_B_13 | 91 | Cogging torque cancellation coefficient B13 (Amperes) |
| FLOAT_COGGING_COEFFICIENT_B_14 | 92 | Cogging torque cancellation coefficient B14 (Amperes) |
| FLOAT_COGGING_COEFFICIENT_B_15 | 93 | Cogging torque cancellation coefficient B15 (Amperes) |
| FLOAT_CURRENT_COGGING_FEEDFORWARD | 94 | Commanded cogging cancellation feedforward current sent to motor drive (Amperes) |
Parent topic: ActuatorConfig (Python)