From 7fbdf4b99edb6015a762f9d51b67d510b2ee74f8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Torsten=20B=C3=B6gershausen?= Date: Wed, 13 Nov 2024 12:01:59 +0100 Subject: [PATCH] docs/motorRecord.html: CNEN is implementation specific The CNEN field has been developed with motion controllers which can switch between open- and closed-loop. In modern controllers this is hard-coded inside the motion controller, or to be more exact, sometimes the configuration of ths controller. In other words, the CNEN field has been used to enable or disable the motor. Make this different usage and functionality more clear. --- docs/motorRecord.html | 17 ++++++++++++----- 1 file changed, 12 insertions(+), 5 deletions(-) diff --git a/docs/motorRecord.html b/docs/motorRecord.html index 4e9255ce..763c15ca 100644 --- a/docs/motorRecord.html +++ b/docs/motorRecord.html @@ -2875,11 +2875,18 @@ below. R/W Enable control RECCHOICE - (0:"Disable", 1:"Enable")  Enable/Disable closed-loop position control.  - This field is active only if the GAIN_SUPPORT bit in the MSTA is true.  - This field is set by both the user and device support.  CNEN is set to Disable - by device support when it detects a motion controller error; e.g. maximum - following error exceeded. + This field is active only if the GAIN_SUPPORT bit in the MSTA is true. + The function of this field is depending on the motion controller. + This field is set by both the user and device support. +
  • + Some (older?) controllers can switch between open- and closed-loop. (0: open loop, 1: closed loop) +
    • +
  • + Some controllers use this field to enable torque control +
    • +
  • + Most modern controllers use this field to enable/disable the motor (amplifier/driver) +
    • PCOF