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djsftree edited this page May 27, 2022 · 2 revisions

reading REAL as halType="u32"

Component Pins:
Owner   Type  Dir         Value  Name
    24  u32   OUT    0x00000283  lcec.0.Meca500.accel.x.raw
    24  u32   OUT    0x00000112  lcec.0.Meca500.accel.y.raw
    24  u32   OUT    0xFFFFBF93  lcec.0.Meca500.accel.z.raw
    24  bit   IN           TRUE  lcec.0.Meca500.ctrl.activate
    24  bit   IN          FALSE  lcec.0.Meca500.ctrl.deactivate
    24  bit   IN           TRUE  lcec.0.Meca500.ctrl.home
    24  bit   IN          FALSE  lcec.0.Meca500.ctrl.reset-errror
    24  bit   IN          FALSE  lcec.0.Meca500.ctrl.sim-mode
    24  u32   OUT    0xC28A5415  lcec.0.Meca500.encoder.a1.raw
    24  u32   OUT    0xC0B478C3  lcec.0.Meca500.encoder.a2.raw
    24  u32   OUT    0x411BFEF1  lcec.0.Meca500.encoder.a3.raw
    24  u32   OUT    0xC2B59246  lcec.0.Meca500.encoder.a4.raw
    24  u32   OUT    0xC2B11573  lcec.0.Meca500.encoder.a5.raw
    24  u32   OUT    0xC1F06666  lcec.0.Meca500.encoder.a6.raw
    24  bit   IN          FALSE  lcec.0.Meca500.motion.clear-move
    24  u32   IN     0x00000000  lcec.0.Meca500.motion.move-id
    24  bit   IN          FALSE  lcec.0.Meca500.motion.pause
    24  bit   IN          FALSE  lcec.0.Meca500.motion.reset-pstop
    24  bit   IN          FALSE  lcec.0.Meca500.motion.set-point
    24  u32   OUT    0x42D1A691  lcec.0.Meca500.pose.a1.raw
    24  u32   OUT    0xC29D6FD4  lcec.0.Meca500.pose.a2.raw
    24  u32   OUT    0x4394C820  lcec.0.Meca500.pose.a3.raw
    24  u32   OUT    0xC2B9553E  lcec.0.Meca500.pose.a4.raw
    24  u32   OUT    0x428D15FE  lcec.0.Meca500.pose.a5.raw
    24  u32   OUT    0xC1BB9246  lcec.0.Meca500.pose.a6.raw
    24  bit   OUT          TRUE  lcec.0.Meca500.slave-online
    24  bit   OUT          TRUE  lcec.0.Meca500.slave-oper
    24  bit   OUT         FALSE  lcec.0.Meca500.slave-state-init
    24  bit   OUT          TRUE  lcec.0.Meca500.slave-state-op
    24  bit   OUT         FALSE  lcec.0.Meca500.slave-state-preop
    24  bit   OUT         FALSE  lcec.0.Meca500.slave-state-safeop
    24  bit   OUT          TRUE  lcec.0.Meca500.status.activated
    24  bit   OUT         FALSE  lcec.0.Meca500.status.busy
    24  u32   OUT    0x00000000  lcec.0.Meca500.status.check-point
    24  bit   OUT         FALSE  lcec.0.Meca500.status.cleared
    24  bit   OUT          TRUE  lcec.0.Meca500.status.eob
    24  bit   OUT          TRUE  lcec.0.Meca500.status.eom
    24  u32   OUT    0x00000000  lcec.0.Meca500.status.error
    24  bit   OUT         FALSE  lcec.0.Meca500.status.excessive-torqe
    24  u32   OUT    0x000032C8  lcec.0.Meca500.status.fifo-space
    24  bit   OUT          TRUE  lcec.0.Meca500.status.homed
    24  u32   OUT    0x00000000  lcec.0.Meca500.status.move-id
    24  bit   OUT         FALSE  lcec.0.Meca500.status.paused
    24  bit   OUT         FALSE  lcec.0.Meca500.status.pstop
    24  bit   OUT         FALSE  lcec.0.Meca500.status.sim-activated
    24  u32   OUT    0x00000000  lcec.0.Meca500.torque.a1.raw
    24  u32   OUT    0x00000000  lcec.0.Meca500.torque.a2.raw
    24  u32   OUT    0x00000000  lcec.0.Meca500.torque.a3.raw
    24  u32   OUT    0x00000000  lcec.0.Meca500.torque.a4.raw
    24  u32   OUT    0x00000000  lcec.0.Meca500.torque.a5.raw
    24  u32   OUT    0x00000000  lcec.0.Meca500.torque.a6.raw
    24  float IN              0  lcec.0.Meca500.vel-cmd.a1
    24  float IN              0  lcec.0.Meca500.vel-cmd.a2
    24  float IN              0  lcec.0.Meca500.vel-cmd.a3
    24  float IN              0  lcec.0.Meca500.vel-cmd.a4
    24  float IN              0  lcec.0.Meca500.vel-cmd.a5
    24  float IN              0  lcec.0.Meca500.vel-cmd.a6
    24  u32   IN     0x00000000  lcec.0.Meca500.vel-command
    24  u32   OUT    0x00000000  lcec.0.Meca500.velocity.a1.raw
    24  u32   OUT    0x00000000  lcec.0.Meca500.velocity.a2.raw
    24  u32   OUT    0x00000000  lcec.0.Meca500.velocity.a3.raw
    24  u32   OUT    0x00000000  lcec.0.Meca500.velocity.a4.raw
    24  u32   OUT    0x00000000  lcec.0.Meca500.velocity.a5.raw
    24  u32   OUT    0x00000000  lcec.0.Meca500.velocity.a6.raw

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