| ID | Label | Type | #Val | Min | Max | Attr | Description |
|---|---|---|---|---|---|---|---|
|
12460 |
Position origin, mcnt |
Flt64 |
|
|
|
RO |
Starting position of a wave. If the wave is generating a position output, then the wave will both start and end at this position. |
|
12461 |
Number of ticks per wave cycle |
Flt32 |
|
|
|
RO |
Wave period as a multiple of the basic wave computation update rate. For example, if the wave update rate is set to its default of 1 msec, then a sine-wave that has a period of 20 msec will have this parameter set to a value of 20 "ticks". NOTE: Any wave cycle that's not an even multiple of the wave update rate will be quantized, e.g. if a wave cycle of 20.5 msec is specified, it will be "quantized" to a 21 msec cycle. |
|
12462 |
Magnitude of sine wave |
Flt32 |
|
|
|
RO |
Sine wave magnitude and frequency. Depending on whether the wave function outputs a position or torque, the wave magnitude is specified in units of either encoder counts or torque counts, respectively. The wave frequency is basically the inverse of DataID 12461, converted to standard units of hertz. DataID 12463 is quantized in the same manner as DataID 12461. |
|
12463 |
Frequency of sine wave, Hz |
Flt32 |
|
|
|
RO |
|
|
12464 |
Wave output w/o offset |
Flt32 |
|
|
|
RO |
Wave generator output without the wave offset. |
|
12465 |
Composite wave output |
Flt32 |
|
|
|
RO |
Wave generator output with the wave offset. |
|
12466 |
Wave complete flag |
BOOL |
|
|
|
RO |
Flag indicating if a wave cycle is complete. |
|
12467 |
Wave delay-disable flag |
BOOL |
|
|
|
RO |
Flag indicating if the wave is currently going through the final cycle and is getting ready to stop. Note that a user may invoke a device command to stop a wave at any time, however, the wave generator will complete its last cycle before stopping. |