#--------------------------------------------------------------------- # KoreMotorLE.knc - KoreMotor KNet Configuration File #--------------------------------------------------------------------- # $Id: KoreMotorLE.knc,v 1.2 2004/09/22 08:28:46 pbureau Exp $ #--------------------------------------------------------------------- # $Author: pbureau $ # $Revision: 1.2 $ # $Date: 2004/09/22 08:28:46 $ #--------------------------------------------------------------------- section KoreMotorLE modulebus i2c modbusaddr 6 device PriMotor1 module 0x1F device PriMotor2 module 0x20 device PriMotor3 module 0x21 device PriMotor4 module 0x22 device AltMotor1 module 0x23 device AltMotor2 module 0x24 device AltMotor3 module 0x25 device AltMotor4 module 0x26 device PriMotor1 i2c 0x1F device PriMotor2 i2c 0x20 device PriMotor3 i2c 0x21 device PriMotor4 i2c 0x22 device AltMotor1 i2c 0x23 device AltMotor2 i2c 0x24 device AltMotor3 i2c 0x25 device AltMotor4 i2c 0x26 register Mode 0x28 register SetPointSource 0x29 register HWOptions 0x2a register SWOptions 0x2b register ControlTyp 0x2c register ErrorFlags 0x2d register StatusFlags 0x2e register SetPointHH 0x2f register SetPointHL 0x30 register SetPointLH 0x31 register SetPointLL 0x32 register Filter 0x33 register PositionHH 0x34 register PositionHL 0x35 register PositionLH 0x36 register PositionLL 0x37 register SpeedH 0x38 register SpeedL 0x39 register TorqueH 0x3a register TorqueL 0x3b register TorqueBiasH 0x3c register TorqueBiasL 0x3d register KpSpeedH 0x3e register KpSpeedL 0x3f register KdSpeedH 0x40 register KdSpeedL 0x41 register KiSpeedH 0x42 register KiSpeedL 0x43 register SampleTimeH 0x44 register SampleTimeL 0x45 register BlockedTime 0x46 register IntGenPeriod 0x47 register IntGenAmplitude 0x48 register IntGenOffset 0x49 register SoftStopMinHH 0x4a register SoftStopMinHL 0x4b register SoftStopMinLH 0x4c register SoftStopMinLL 0x4d register SoftStopMaxHH 0x4e register SoftStopMaxHL 0x4f register SoftStopMaxLH 0x50 register SoftStopMaxLL 0x51 register Acceleration 0x52 register StaticFriction 0x54 register HWCurrentLimit 0x55 register SWCurrentLimitH 0x56 register SWCurrentLimitL 0x57 register MinSampleTimeL 0x58 register MinSampleTimeH 0x59 register NearTargetMargin 0x60 register KpPosL 0x61 register KpPosH 0x62 register KdPosL 0x63 register KdPosH 0x64 register KiPosL 0x65 register KiPosH 0x66 register KpTorqueL 0x67 register KpTorqueH 0x68 register KdTorqueL 0x69 register KdTorqueH 0x6a register KiTorqueL 0x6b register KiTorqueH 0x6c register MaxSpeedL 0x6d register MaxSpeedH 0x6e