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MotorData

MotorData¶

A motor data message is a single action followed by one or more command parameters, each encoded as a tuple: (param id, value, unit).

    message MotorData {
        DataAction action = 1;
        repeated DataParam paramList = 2;
    }

DataAction¶

GET¶

The MotorData message that requests the motor send to send back a MotorData message that contains values for each requested parameter.

RESULT¶

The MotorData message that contains one or more motor data values.

DataParam¶

VERSION¶

Motor version number. The manufacturer controls this value, and it has no meaning with motor control. (The system uses protocol buffers in a backward compatibly way, so versioning should not be necessary.)

MFG_DATE¶

The manufacturing date encoded as YYYYMMDD. The manufacturer controls this value, and it has no meaning with motor control.

MFG_ID¶

The manufacturer's ID. The manufacturer controls this value, and it has no meaning with motor control.

MODEL_ID¶

The motor's model ID. The manufacturer controls this value, and it has no meaning with motor control.

INDUCTANCE¶

The motor's inductance in Henries. This allows the control program to estimate total torque under different voltages and currents.

POSITION¶

The motor's current position in degrees.

CURRENT¶

The instantaneously measured current supplied to the motor windings.

VOLTAGE¶

The instantaneously measured voltage supplied to the motor windings.