There are two transmit PDOs provided by the MotionLinx-Aimodule. This is the data that originates from theMotionLinx-Ai module that is made available as input to the master controller.
Transmit PDO0 – Module Inputs (Object 0×1A00)
| Subindex | Index | Data Type | Data Description |
|---|---|---|---|
| SubIndex 1 All Sensors |
Index 0×3000 SubIndex 0 |
INT | Bitwise Value – Read Only: bit 00 = Left Sensor Port – Aux Input bit 01 = Reserved bit 02 = Right Sensor Port – Aux Input bit 03 = Reserved bit 04 = Left Sensor Port – Sensor Input bit 05 = Reserved bit 06 = Right Sensor Port – Sensor Input bit 07 thru bit 14 = Reserved bit 15 = 2 sec on / 2 sec off heartbeat |
| SubIndex 2 Servo State Left Motor |
Index 0×3001 SubIndex 0 |
SINT | Bit 0: Servo Command Status 1 = Last Servo Run Command Complete 0 = Servo Command in Process Bit 01: Servo Reset Status Echoes state Left/Right Motor Servo Command Bit 0 Bit 2: Servo Command Status Echoes state of Left/Right Motor Servo Command bit 1 |
| SubIndex 3 Servo State Right Motor |
Index 0×3006 SubIndex 0 |
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| SubIndex 4 Servo Position Left Motor |
Index 0×3002 SubIndex 0 |
INT | Signed integer value that indicates the current position of the Left/Right Motor in relation to its “0” position • For MDR the value is in mm • For PGD the value is in motor pulses |
| SubIndex 5 Servo Position Right Motor |
Index 0×3003 SubIndex 0 |
Transmit PDO1 – Module Diagnostics (Object 0×1A01)
| Subindex | Index | Data Type | Data Description | |
|---|---|---|---|---|
| SubIndex 1 Module Diagnostic Left Motor |
Index 0×3001 SubIndex 0 |
INT | Bitwise Value – Read Only: bit 00 = Motor Status* bit 01 = Motor Status* bit 02 = Port in Digital Mode bit 03 = Reserved bit 04 = Reserved bit 05 = Board Overheat bit 06 = Over-Voltage bit 07 = Low Voltage |
bit 08 = Overheated bit 09 = MaxTorque bit 10 = Short Circuit bit 11 = Motor Not Connected bit 12 = Overloaded bit 13 = Motor Stalled bit 14 = Hall Sensor Error bit 15 = Motor Not Used |
| SubIndex 2 Module Diagnostic Right Motor |
Index 0×3005 SubIndex 0 |
INT | ||
| SubIndex 3 System Diagnostic |
Index 0×3013 | Byte | Bitwise Value – Read Only: bit 00 = Logic voltage is below 14V bit 01 = Left Motor set speed is greater than the max. allowed speed for the attached motor bit 02 = Left Motor set speed is less than the min. allowed speed for the attached motor bit 03 = Right Motor set speed is greater than the max. allowed speed for the attached motor bit 04 = Right Motor set speed is less than the min. allowed speed for the attached motor bit 05 = Reserved bit 06 = Reserved bit 07 = Reserved |
|
Motor Status Bits
Bits 0 and 1 are used in combination to provide 4 possible states for motor status. The following chart defines the bit values for these states:
| Bit 1 | Bit 0 | Description |
|---|---|---|
| 0 | 0 | Motor not running, standard or servo braking applied |
| 0 | 1 | Motor running in CCW Direction |
| 1 | 0 | Motor running in CW Direction |
| 1 | 1 | Motor not running and no braking applied (free to spin) |