| DEFAULT_POS |
Destination of movePos() command if no argument specified (0-65,535).
While DEFAULT_POS can be set as high as 65,535, its true range of useful values is bounded by the joint limits of the axes (e.g. approximately 0 to 18,000 for fingers and approximately 0 to 3150 for spread).
Default: Finger: 8500, Spread: 1575
|
| DEFAULT_STEP |
Size of openInc(), closeInc() and move() command movement if no argument specified (0-65,535).
While DEFAULT_STEP can be set as high as 65,535, its true range of useful values is bounded by the joint limits of the axes (e.g. approximately 0 to 18,000 for fingers and approximately 0 to 3150 for spread).
Default: Finger: 1700, Spread: 315
|
| MAX_STRAIN |
In open(), close(), openInc(), closeInc(), move(), movePos(), openTorque(), closeTorque(), and home() commands, a motor's motion is terminated if its strain gauge value exceeds the value of MAX_STRAIN (0-256).
A value of 255 or 256 disables the strain gage checking during motion commands.
Default: 256
|
| MIN_STRAIN |
In open(), close(), openInc(), closeInc(), move(), movePos(), openTorque(), closeTorque(), and home() commands, a motor's motion is terminated if its strain gauge value falls below the value of MIN_STRAIN (0-256).
A value of 255 or 256 disables the strain gage checking during motion commands.
Default: 256
|
| MAX_OPEN_VEL |
Controls the maximum velocity while opening a motor (16-4080).
Default: Finger: 100, Spread: 60 |
| MAX_CLOSE_VEL |
Controls the maximum velocity while closing a motor (16-4080).
Default: Finger: 100, Spread: 60
|
| LOOP_CTRL_VEL |
Loop Control Velocity. If non-zero, then a velocity byte will be sent in the control block for the motor (0,1).
Default: 1
|
| LOOP_CTRL_VEL_COEFF |
Loop Control Velocity Coefficient. When the firmware receives a velocity byte in a control block, it multiplies the value by the value of LOOP_CTRL_VEL before passing it to the affected motor (0-255).
Default: 1
|
| LOOP_CTRL_PROP_GAIN |
Loop Control Proportional Gain. If non-zero, then a Proportional Gain byte will be sent in the control block for the motor (0,1).
This controls the constant that is multiplied by the velocity error in order to produce the motor torque.
Default: 1
|
| LOOP_FEEDBACK_VEL |
Loop Feedback Velocity. If non-zero, then the firmware sends a signed byte giving the present velocity for the motor divided by the LOOP_FEEDBACK_VEL_COEFF parameter (0,1).
Default: 0
|
| LOOP_FEEDBACK_VEL_COEFF |
Loop Feedback Velocity Coefficient Purpose. Before sending a Loop Feedback Velocity byte, the firmware divides the velocity by this parameter's value (0-255).
Default: 1
|
| LOOP_FEEDBACK_STRAIN |
Loop Feedback Strain. If non-zero, then the firmware sends an unsigned byte giving the strain gauge value for the motor (0,1).
Default: 1
|
| LOOP_FEEDBACK_ABS_POS |
Loop Feedback Absolute Position. If non-zero, then the firmware sends an unsigned two-byte value giving the present position of the motor (0,1).
Default: 1
|
| LOOP_FEEDBACK_DELTA_POS |
Loop Feedback Delta Position. If non-zero, then the firmware sends a signed byte giving the change in position since the last datum, divided by the value of the LOOP_FEEDBACK_DELTA_POS_COEFF parameter (0,1).
A conflict occurs when the change in position is too great to transmit in a single signed byte, even after scaling.
Default: 1
|
| LOOP_FEEDBACK_DELTA_POS_COEFF |
Loop Feedback Delta Position Coefficient. Used to scale a delta position value (0-255).
Delta position is the change in position from the last reported position and is limited to one signed byte. The Present position is read and compared to the last reported position. The difference is divided by the RealTime variable LOOP_FEEDBACK_DELTA_POS_COEFF, clipped to a single signed byte, and then sent to the host. The value sent to the host should be multiplied by LOOP_FEEDBACK_DELTA_POS_COEFF and then added to the last reported position.
Default: 0
|
| ODOMETER |
The total number of counts traveled by the selected motor, divided by 1000 (0-4 billion).
This value is never reset; it is maintained through power failures and firmware downloads. This parameter is a readonly parameter.
|
| POSITION |
The present position of the motor (Finger: 0 to approximately 17,800, Spread: 0 to approximately 3150).
The range of the position parameter is dependent on the values of the OPEN_TARGET and the CLOSE_TARGET parameters. If these parameters are set beyond the joint stops then the joint stops themselves will dictate the range of position values, in which case the ranges may differ slightly from finger to finger. This parameter is a readonly parameter.
|
| STATUS |
The present status of the motor. 0 if ready to be used, or a status code otherwise (0, 1, 2, 4,...,8192, 16384 and sums of these). This parameter is a readonly parameter.
|
| STRAIN |
The present strain gage value for the motor (0-255).
Is 255 if there is no strain gauge. This parameter is a readonly parameter.
|
Tim Baier
bhandlib v0.25
1.4.7