Changeset 12587 for trunk/Cosy/devdrv/dkc.cc

Timestamp:

11/21/11 11:17:20 (13 years ago)

Author:

tbretz

Message:

Added sending the command to set the FACT Led voltages

File:

• trunk/Cosy/devdrv/dkc.cc (modified) (3 diffs)

trunk/Cosy/devdrv/dkc.cc

@@ -78 +78 @@
                  case 0xe8260: return "Torque limit active";
     case 0xe264: return "Target position out of numerical range";
-    case 0xe829: return "Positive position limit exceeded";
-    case 0xe830: return "Negative position limit exceeded";
+    case 0xe829: case 0xe8029: return "Positive position limit exceeded";
+    case 0xe830: case 0xe8030: return "Negative position limit exceeded";
     case 0xe831: return "Position limit reached during jog";
     case 0xe834: return "Emergency-Stop";
@@ -94 +94 @@
     case 0xf228: case 0xf2028: return "Excessive control deviation";
     case 0xf250: return "Overflow of target position preset memory";
+    case 0xf257: return "Command position out of range";
     case 0xf269: return "Error during release of the motor holding brake";
     case 0xf276: return "Absolute encoder out of allowed window";
@@ -441 +442 @@
     SendSDO(0x3007, (LWORD_t)cvel);
     WaitForSdo(0x3007);
+}
+
+void Dkc::SetLedVoltage(LWORDS_t volt)
+{
+    SendSDO(0x4000, (LWORD_t)volt);
+    WaitForSdo(0x4000);
 }