Asycube - Asyril SA
Programming Guide
43/83
5.4.8. Platform Vibrations (C for Cube)
Platform vibrate for a time [ms]
Vibration F vibrates for 100ms
Vibration F vibrate forever. Stop vibration
with command HC.
Platform vibrate for a pre-
defined delay
Delay depends on selected Vibration. In
this case the delay is equal the register
950 value. If value = 0 -> forever
Read selected Platform
vibration
Vibration F is selected. The selected
vibration is the last vibration executed.
Read selected Platform
Vibration and state
Vibration F is selected and the state is 3.
States:
0: Actuator disabled
1: Actuator enable but stopped
3: Vibrating
5: Actuator stopped over temperature
!: Undefined actuator state
Read Platform Vibration state
State of Vibration F is 0.
States:
0: Actuator disabled
1: Actuator enable but stopped
3: Vibrating
5: Actuator stopped over temperature
!: Undefined actuator
Table 5-13: platform vibrations commands
The value sent back indicates the duration of the vibration (communication time is not
included).
NOTE :
For the Asycube 50, 80 and 240, the duration answered can change depending of the
conditions when the vibration is requested.
- Due to hardware limitation, the vibration effectively starts 60ms after the command
has been received.
- If the amplifiers are in the switching OFF process (automatically 5s after the end of
the last vibration), the Asycube needs to wait the end of the switching OFF process
(max 150ms) before to be able to start a new vibration. Then the time answered to
the command will be: the time requested + the 60ms of switching ON amplifiers +
max 150ms of switching OFF process. The 150ms is the worst situation, because if
the request appears in the middle of the switching OFF process, the delay will be
only 75ms.This delay depends of the moment when the request appears during the
switching OFF process.
To Next Page
Loading...
Need help?
General
