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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.