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)