The functions within this namespace converts the incomming 8-byte arrays to CAN data messages for RMDX motors. Please see the attached pdf, RMD_servo_motor_driver_protocol for full details. NB! All messages are related to the inner motor, not the output shaft. More...

Functions
void	readPIDParameters (unsigned char *_can_message)
	The function creates a CAN data message that can be used to request the motor to send back a CAN message containing the motor's PI parameters. More...

void	writePIDParametersToRAM (unsigned char *_can_message, unsigned char _k_p_position, unsigned char _k_i_position, unsigned char _k_p_speed, unsigned char _k_i_speed, unsigned char _k_p_torque, unsigned char _k_i_torque)
	The function creates a CAN data message that can be used to set the PI parameters of the motor in RAM. The parameters are deleted when the motor is turned off. More...

void	writePIDParametersToROM (unsigned char *_can_message, unsigned char _k_p_position, unsigned char _k_i_position, unsigned char _k_p_speed, unsigned char _k_i_speed, unsigned char _k_p_torque, unsigned char _k_i_torque)
	The function creates a CAN data message that can be used to set the PI parameters of the motor. The parameters are stored even when the motor is turned off. NB! This should be avoided as the ROM memory will quickly wear out from writing to it. More...

void	readAcceleration (unsigned char *_can_message)
	The function creates a CAN data message that can be used to request the motor to send back a CAN message containing the motor's acceleration. More...

void	writeAccelerationToRAM (unsigned char *_can_message, int32_t _acceleration)
	The function creates a CAN data message that can be used to set the acceleration of the motor. More...

void	readEncoderPosition (unsigned char *_can_message)
	The function creates a CAN data message that can be used to request the motor to send back a CAN message containing the motor's enocder data, raw encoder data, and encoder offset. More...

void	writeEncoderPositionOffset (unsigned char *_can_message, uint16_t _encoder_offset)
	The function creates a CAN data message that can be used to request the motor to set the encoder position offset. More...

void	writeCurrentPositionToROM (unsigned char *_can_message)
	The function creates a CAN data message that can be used to request the motor to set the current position as the zero position. More...

void	readMultiTurnAngle (unsigned char *_can_message)
	The function creates a CAN data message that can be used to request the motor to send back a CAN message containing the position of the motor even through multiple rotations. More...

void	readCircleTurnAngle (unsigned char *_can_message)
	The function creates a CAN data message that can be used to request the motor to send back a CAN message containing the position of the motor for a single rotation. The position is reset after each revolution of the motor. More...

void	motorOff (unsigned char *_can_message)
	The function creates a CAN data message that can be used to request the motor to turn off its controller, clear its operating status and clear previously received control commands. More...

void	motorStop (unsigned char *_can_message)
	The function creates a CAN data message that can be used to request the motor to stop its controller and clear previously received control commands. More...

void	motorRunning (unsigned char *_can_message)
	The function creates a CAN data message that can be used to request the motor to resume its control object from before it was stopped. More...

void	readMotorStatus1AndErrorFlag (unsigned char *_can_message)
	The function creates a CAN data message that can be used to request the motor to send back a CAN message containing its error status, voltage, and temperature. More...

void	clearMotorErrorFlag (unsigned char *_can_message)
	The function creates a CAN data message that can be used to request the motor to clear its error status. More...

void	readMotorStatus2 (unsigned char *_can_message)
	The function creates a CAN data message that can be used to request the motor to send back a CAN message containing its temperature, torque current, speed, and encoder position. More...

void	readMotorStatus3 (unsigned char *_can_message)
	The function creates a CAN data message that can be used to request the motor to send back a CAN message cointaining its three phase currents. More...

void	torqueCurrentControl (unsigned char *_can_message, int16_t _torque_current)
	The function creates a CAN data message that can be used to set the motor's torque current. After receiving the command the motor will reply with a CAN message containing temperature, torque current, speed and encoder position. More...

void	speedControl (unsigned char *_can_message, int32_t speed)
	The function creates a CAN data message that can be used to set the motor's speed. After receiving the command the motor will reply with a CAN message containing temperature, torque current, speed and encoder position. More...

void	positionControl1 (unsigned char *_can_message, int32_t _multiturn_angle)
	The function creates a CAN data message that can be used to set the motor's multi turn position. After receiving the command the motor will reply with a CAN message containing temperature, torque current, speed and encoder position. More...

void	positionControl2 (unsigned char *_can_message, int32_t _multiturn_angle, uint16_t _max_speed)
	The function creates a CAN data message that can be used to set the motor's multi turn position with a maximum speed. After receiving the command the motor will reply with a CAN message containing temperature, torque current, speed and encoder position. More...

void	positionControl3 (unsigned char *_can_message, uint16_t _singleturn_angle, uint8_t _spin_direction)
	The function creates a CAN data message that can be used to set the motor's single turn position with a specified rotation direction. After receiving the command the motor will reply with a CAN message containing temperature, torque current, speed and encoder position. More...

void	positionControl4 (unsigned char *_can_message, uint16_t _single_turn_angle, uint8_t _spin_direction, uint16_t max_speed)
	The function creates a CAN data message that can be used to set the motor's single turn position with a specified rotation direction and maximum speed. After receiving the command the motor will reply with a CAN message containing temperature, torque current, speed and encoder position. More...

Detailed Description

The functions within this namespace converts the incomming 8-byte arrays to CAN data messages for RMDX motors. Please see the attached pdf, RMD_servo_motor_driver_protocol for full details. NB! All messages are related to the inner motor, not the output shaft.

Function Documentation

◆ readPIDParameters()

void make_can_msg::readPIDParameters ( unsigned char * _can_message )

The function creates a CAN data message that can be used to request the motor to send back a CAN message containing the motor's PI parameters.

Parameters

[in] _can_message A CAN data array which is turned into the appropriate message

Definition at line 3 of file make_can_msg.cpp.

◆ writePIDParametersToRAM()

void make_can_msg::writePIDParametersToRAM	(	unsigned char *	_can_message,
		unsigned char	_k_p_position,
		unsigned char	_k_i_position,
		unsigned char	_k_p_speed,
		unsigned char	_k_i_speed,
		unsigned char	_k_p_torque,
		unsigned char	_k_i_torque
	)

The function creates a CAN data message that can be used to set the PI parameters of the motor in RAM. The parameters are deleted when the motor is turned off.

Parameters

[in]	_can_message	A CAN data array which is turned into the appropriate message.
[in]	_k_p_position
[in]	_k_i_position
[in]	_k_p_velocity
[in]	_k_i_velocity
[in]	_k_p_torque
[in]	_k_i_torque

Definition at line 9 of file make_can_msg.cpp.

◆ writePIDParametersToROM()

void make_can_msg::writePIDParametersToROM	(	unsigned char *	_can_message,
		unsigned char	_k_p_position,
		unsigned char	_k_i_position,
		unsigned char	_k_p_speed,
		unsigned char	_k_i_speed,
		unsigned char	_k_p_torque,
		unsigned char	_k_i_torque
	)

The function creates a CAN data message that can be used to set the PI parameters of the motor. The parameters are stored even when the motor is turned off. NB! This should be avoided as the ROM memory will quickly wear out from writing to it.

Parameters

[in]	_can_message	A CAN data array which is turned into the appropriate message
[in]	_k_p_position
[in]	_k_i_position
[in]	_k_p_velocity
[in]	_k_i_velocity
[in]	_k_p_torque
[in]	_k_i_torque

Definition at line 27 of file make_can_msg.cpp.

◆ readAcceleration()

void make_can_msg::readAcceleration ( unsigned char * _can_message )

The function creates a CAN data message that can be used to request the motor to send back a CAN message containing the motor's acceleration.

Parameters

[in] _can_message A CAN data array which is turned into the appropriate message.

Definition at line 45 of file make_can_msg.cpp.

◆ writeAccelerationToRAM()

void make_can_msg::writeAccelerationToRAM	(	unsigned char *	_can_message,
		int32_t	_acceleration
	)

The function creates a CAN data message that can be used to set the acceleration of the motor.

Parameters

[in] _can_message A CAN data array which is turned into the appropriate message.

Definition at line 51 of file make_can_msg.cpp.

◆ readEncoderPosition()

void make_can_msg::readEncoderPosition ( unsigned char * _can_message )

The function creates a CAN data message that can be used to request the motor to send back a CAN message containing the motor's enocder data, raw encoder data, and encoder offset.

Parameters

[in] _can_message A CAN data array which is turned into the appropriate message.

Definition at line 61 of file make_can_msg.cpp.

◆ writeEncoderPositionOffset()

void make_can_msg::writeEncoderPositionOffset	(	unsigned char *	_can_message,
		uint16_t	_encoder_offset
	)

The function creates a CAN data message that can be used to request the motor to set the encoder position offset.

Parameters

[in]	_can_message	A CAN data array which is turned into the appropriate message.
[in]	_encoder_offset	The desired encoder offset

Definition at line 67 of file make_can_msg.cpp.

◆ writeCurrentPositionToROM()

void make_can_msg::writeCurrentPositionToROM ( unsigned char * _can_message )

The function creates a CAN data message that can be used to request the motor to set the current position as the zero position.

Parameters

[in] _can_message A CAN data array which is turned into the appropriate message.

Definition at line 75 of file make_can_msg.cpp.

◆ readMultiTurnAngle()

void make_can_msg::readMultiTurnAngle ( unsigned char * _can_message )

The function creates a CAN data message that can be used to request the motor to send back a CAN message containing the position of the motor even through multiple rotations.

Parameters

[in] _can_message A CAN data array which is turned into the appropriate message.

Definition at line 81 of file make_can_msg.cpp.

◆ readCircleTurnAngle()

void make_can_msg::readCircleTurnAngle ( unsigned char * _can_message )

The function creates a CAN data message that can be used to request the motor to send back a CAN message containing the position of the motor for a single rotation. The position is reset after each revolution of the motor.

Parameters

[in] _can_message A CAN data array which is turned into the appropriate message.

Definition at line 87 of file make_can_msg.cpp.

◆ motorOff()

void make_can_msg::motorOff ( unsigned char * _can_message )

The function creates a CAN data message that can be used to request the motor to turn off its controller, clear its operating status and clear previously received control commands.

Parameters

[in] _can_message A CAN data array which is turned into the appropriate message.

Definition at line 93 of file make_can_msg.cpp.

◆ motorStop()

void make_can_msg::motorStop ( unsigned char * _can_message )

The function creates a CAN data message that can be used to request the motor to stop its controller and clear previously received control commands.

Parameters

[in] _can_message A CAN data array which is turned into the appropriate message.

Definition at line 99 of file make_can_msg.cpp.

◆ motorRunning()

void make_can_msg::motorRunning ( unsigned char * _can_message )

The function creates a CAN data message that can be used to request the motor to resume its control object from before it was stopped.

Parameters

[in] _can_message A CAN data array which is turned into the appropriate message.

Definition at line 104 of file make_can_msg.cpp.

◆ readMotorStatus1AndErrorFlag()

void make_can_msg::readMotorStatus1AndErrorFlag ( unsigned char * _can_message )

The function creates a CAN data message that can be used to request the motor to send back a CAN message containing its error status, voltage, and temperature.

Parameters

[in] _can_message A CAN data array which is turned into the appropriate message.

Definition at line 110 of file make_can_msg.cpp.

◆ clearMotorErrorFlag()

void make_can_msg::clearMotorErrorFlag ( unsigned char * _can_message )

The function creates a CAN data message that can be used to request the motor to clear its error status.

Parameters

[in] _can_message A CAN data array which is turned into the appropriate message.

Definition at line 116 of file make_can_msg.cpp.

◆ readMotorStatus2()

void make_can_msg::readMotorStatus2 ( unsigned char * _can_message )

The function creates a CAN data message that can be used to request the motor to send back a CAN message containing its temperature, torque current, speed, and encoder position.

Parameters

[in] _can_message A CAN data array which is turned into the appropriate message.

Definition at line 122 of file make_can_msg.cpp.

◆ readMotorStatus3()

void make_can_msg::readMotorStatus3 ( unsigned char * _can_message )

The function creates a CAN data message that can be used to request the motor to send back a CAN message cointaining its three phase currents.

Parameters

[in] _can_message A CAN data array which is turned into the appropriate message.

Definition at line 128 of file make_can_msg.cpp.

◆ torqueCurrentControl()

void make_can_msg::torqueCurrentControl	(	unsigned char *	_can_message,
		int16_t	_torque_current
	)

The function creates a CAN data message that can be used to set the motor's torque current. After receiving the command the motor will reply with a CAN message containing temperature, torque current, speed and encoder position.

Parameters

[in] _can_message A CAN data array which is turned into the appropriate message.

Definition at line 134 of file make_can_msg.cpp.

◆ speedControl()

void make_can_msg::speedControl	(	unsigned char *	_can_message,
		int32_t	speed
	)

The function creates a CAN data message that can be used to set the motor's speed. After receiving the command the motor will reply with a CAN message containing temperature, torque current, speed and encoder position.

Parameters

[in] _can_message A CAN data array which is turned into the appropriate message.

Definition at line 142 of file make_can_msg.cpp.

◆ positionControl1()

void make_can_msg::positionControl1	(	unsigned char *	_can_message,
		int32_t	_multiturn_angle
	)

The function creates a CAN data message that can be used to set the motor's multi turn position. After receiving the command the motor will reply with a CAN message containing temperature, torque current, speed and encoder position.

Parameters

[in]	_can_message	A CAN data array which is turned into the appropriate message.
[in]	_multiturn_angle	The multi turn angle of the motor.

Definition at line 152 of file make_can_msg.cpp.

◆ positionControl2()

void make_can_msg::positionControl2	(	unsigned char *	_can_message,
		int32_t	_multiturn_angle,
		uint16_t	_max_speed
	)

The function creates a CAN data message that can be used to set the motor's multi turn position with a maximum speed. After receiving the command the motor will reply with a CAN message containing temperature, torque current, speed and encoder position.

Parameters

[in]	_can_message	A CAN data array which is turned into the appropriate message.
[in]	_multiturn_angle	The multi turn angle of the motor.
[in]	_max_speed	The maximum allowable speed of the motor.

Definition at line 162 of file make_can_msg.cpp.

◆ positionControl3()

void make_can_msg::positionControl3	(	unsigned char *	_can_message,
		uint16_t	_singleturn_angle,
		uint8_t	_spin_direction
	)

The function creates a CAN data message that can be used to set the motor's single turn position with a specified rotation direction. After receiving the command the motor will reply with a CAN message containing temperature, torque current, speed and encoder position.

Parameters

[in]	_can_message	A CAN data array which is turned into the appropriate message.
[in]	_singleturn_angle	The single turn angle of the motor.
[in]	_spin_direction	The desired rotation direction of the motor. 0 = CW, 1 = CCW

Definition at line 174 of file make_can_msg.cpp.

◆ positionControl4()

void make_can_msg::positionControl4	(	unsigned char *	_can_message,
		uint16_t	_single_turn_angle,
		uint8_t	_spin_direction,
		uint16_t	max_speed
	)

The function creates a CAN data message that can be used to set the motor's single turn position with a specified rotation direction and maximum speed. After receiving the command the motor will reply with a CAN message containing temperature, torque current, speed and encoder position.

Parameters

[in]	_can_message	A CAN data array which is turned into the appropriate message.
[in]	_singleturn_angle	The single turn angle of the motor.
[in]	_spin_direction	The desired rotation direction of the motor. 0 = CW, 1 = CCW
[in]	_max_speed	The maximum allowable speed of the motor.

Definition at line 183 of file make_can_msg.cpp.

Functions

Detailed Description

Function Documentation

◆ readPIDParameters()

◆ writePIDParametersToRAM()

◆ writePIDParametersToROM()

◆ readAcceleration()

◆ writeAccelerationToRAM()

◆ readEncoderPosition()

◆ writeEncoderPositionOffset()

◆ writeCurrentPositionToROM()

◆ readMultiTurnAngle()

◆ readCircleTurnAngle()

◆ motorOff()

◆ motorStop()

◆ motorRunning()

◆ readMotorStatus1AndErrorFlag()

◆ clearMotorErrorFlag()

◆ readMotorStatus2()

◆ readMotorStatus3()

◆ torqueCurrentControl()

◆ speedControl()

◆ positionControl1()

◆ positionControl2()

◆ positionControl3()

◆ positionControl4()