133 lines
2.8 KiB
CSV
133 lines
2.8 KiB
CSV
|
CMD ID,Name,Sender,Signals,Start byte,Signal Type,Bits,Factor,Offset
|
||
|
|
0x000,CANOpen NMT Message**,Master,-,-,-,-,-,-
|
||
|
|
0x001,ODrive Heartbeat Message,Axis,"Axis Error
|
||
|
|
Axis Current State
|
||
|
|
Motor Error Flag
|
||
|
|
Encoder Error Flag
|
||
|
|
Controller Error Flag
|
||
|
|
Trajectory Done Flag","0
|
||
|
|
4
|
||
|
|
5.0
|
||
|
|
6.0
|
||
|
|
7.0
|
||
|
|
7.7","Unsigned Int
|
||
|
|
Unsigned Int
|
||
|
|
Unsigned Int
|
||
|
|
Unsigned Int
|
||
|
|
Unsigned Int
|
||
|
|
Unsigned Int","32
|
||
|
|
8
|
||
|
|
1
|
||
|
|
1
|
||
|
|
1
|
||
|
|
1","-
|
||
|
|
-
|
||
|
|
-
|
||
|
|
-
|
||
|
|
-
|
||
|
|
-","-
|
||
|
|
-
|
||
|
|
-
|
||
|
|
-
|
||
|
|
-
|
||
|
|
-"
|
||
|
|
0x002,ODrive Estop Message,Master,-,-,-,-,-,-
|
||
|
|
0x003,Get Motor Error*,Axis,Motor Error,0,Unsigned Int,64,1,0
|
||
|
|
0x004,Get Encoder Error*,Axis,Encoder Error,0,Unsigned Int,32,1,0
|
||
|
|
0x005,Get Sensorless Error*,Axis,Sensorless Error,0,Unsigned Int,32,1,0
|
||
|
|
0x006,Set Axis Node ID,Master,Axis CAN Node ID,0,Unsigned Int,32,1,0
|
||
|
|
0x007,Set Axis Requested State,Master,Axis Requested State,0,Unsigned Int,32,1,0
|
||
|
|
0x008,Set Axis Startup Config,Master,- Not yet implemented -,-,-,-,-,-
|
||
|
|
0x009,Get Encoder Estimates*,Master,"Encoder Pos Estimate
|
||
|
|
Encoder Vel Estimate","0
|
||
|
|
4","IEEE 754 Float
|
||
|
|
IEEE 754 Float","32
|
||
|
|
32","1
|
||
|
|
1","0
|
||
|
|
0"
|
||
|
|
0x00A,Get Encoder Count*,Master,"Encoder Shadow Count
|
||
|
|
Encoder Count in CPR","0
|
||
|
|
4","Signed Int
|
||
|
|
Signed Int","32
|
||
|
|
32","1
|
||
|
|
1","0
|
||
|
|
0"
|
||
|
|
0x00B,Set Controller Modes,Master,"Control Mode
|
||
|
|
Input Mode","0
|
||
|
|
4","Signed Int
|
||
|
|
Signed Int","32
|
||
|
|
32","1
|
||
|
|
1","0
|
||
|
|
0"
|
||
|
|
0x00C,Set Input Pos,Master,"Input Pos
|
||
|
|
Vel FF
|
||
|
|
Torque FF","0
|
||
|
|
4
|
||
|
|
6","IEEE 754 Float
|
||
|
|
Signed Int
|
||
|
|
Signed Int","32
|
||
|
|
16
|
||
|
|
16","1
|
||
|
|
0.001
|
||
|
|
0.001","0
|
||
|
|
0
|
||
|
|
0"
|
||
|
|
0x00D,Set Input Vel,Master,"Input Vel
|
||
|
|
Torque FF","0
|
||
|
|
4","IEEE 754 Float
|
||
|
|
IEEE 754 Float","32
|
||
|
|
32","1
|
||
|
|
1","0
|
||
|
|
0"
|
||
|
|
0x00E,Set Input Torque,Master,Input Torque,0,IEEE 754 Float,32,1,0
|
||
|
|
0x00F,Set Limits,Master,"Velocity Limit
|
||
|
|
Current Limit","0
|
||
|
|
4","IEEE 754 Float
|
||
|
|
IEEE 754 Float",32,"1
|
||
|
|
1","0
|
||
|
|
0"
|
||
|
|
0x010,Start Anticogging,Master,-,-,-,-,-,-
|
||
|
|
0x011,Set Traj Vel Limit,Master,Traj Vel Limit,0,IEEE 754 Float,32,1,0
|
||
|
|
0x012,Set Traj Accel Limits,Master,"Traj Accel Limit
|
||
|
|
Traj Decel Limit","0
|
||
|
|
4","IEEE 754 Float
|
||
|
|
IEEE 754 Float","32
|
||
|
|
32","1
|
||
|
|
1","0
|
||
|
|
0"
|
||
|
|
0x013,Set Traj Inertia,Master,Traj Inertia,0,IEEE 754 Float,32,1,0
|
||
|
|
0x014,Get IQ*,Axis,"Iq Setpoint
|
||
|
|
Iq Measured","0
|
||
|
|
4","IEEE 754 Float
|
||
|
|
IEEE 754 Float","32
|
||
|
|
32","1
|
||
|
|
1","0
|
||
|
|
0"
|
||
|
|
0x015,Get Sensorless Estimates*,Master,"Sensorless Pos Estimate
|
||
|
|
Sensorless Vel Estimate","0
|
||
|
|
4","IEEE 754 Float
|
||
|
|
IEEE 754 Float","32
|
||
|
|
32","1
|
||
|
|
1","0
|
||
|
|
0"
|
||
|
|
0x016,Reboot ODrive,Master***,-,-,-,-,-,-
|
||
|
|
0x017,Get Bus Voltage and Current,Master***,"Bus Voltage
|
||
|
|
Bus Current","0
|
||
|
|
4","IEEE 754 Float
|
||
|
|
IEEE 754 Float","32
|
||
|
|
32","1
|
||
|
|
1","0
|
||
|
|
0"
|
||
|
|
0x018,Clear Errors,Master,-,-,-,-,-,-
|
||
|
|
0x019,Set Linear Count,Master,Position,0,Signed Int,32,1,0
|
||
|
|
0x01A,Set Position Gain,Master,Pos Gain,0,IEEE 754 Float,32,1,0
|
||
|
|
0x01B,Set Vel Gains,Master,"Vel Gain
|
||
|
|
Vel Integrator Gain","0
|
||
|
|
4","IEEE 754 Float
|
||
|
|
IEEE 754 Float","32
|
||
|
|
32","1
|
||
|
|
1","0
|
||
|
|
0"
|
||
|
|
0x01C,Get ADC Voltage****,Master***,ADC Voltage,0,IEEE 754 Float,32,1,0
|
||
|
|
0x01D,Get Controller Error*,Axis,Controller Error,0,Unsigned Int,32,1,0
|
||
|
|
0x700,CANOpen Heartbeat Message**,Slave,-,-,-,-,-,-
|