Command code (CMD): "sgri" or 0x69726773.
Request: (70 bytes)
INT32U CMD Command
CHAR Manufacturer [16] Manufacturer. Max string length: 16 chars.
CHAR PartNumber [24] Series and PartNumber. Max string length: 24 chars.
INT8U Reserved [24] Reserved (24 bytes)
INT16U CRC Checksum
Answer: (4 bytes)
INT32U CMD Command (answer)
Description:
Set gear information to EEPROM. Can be used by manufacturer only.
Command GGRI
result_t get_gear_information (device_t id, gear_information_t* gear_information)
Command code (CMD): "ggri" or 0x69726767.
Request: (4 bytes)
INT32U CMD Command
Answer: (70 bytes)
INT32U CMD Command (answer)
CHAR Manufacturer [16] Manufacturer. Max string length: 16 chars.
CHAR PartNumber [24] Series and PartNumber. Max string length: 24 chars.
INT8U Reserved [24] Reserved (24 bytes)
INT16U CRC Checksum
Description:
Read gear information from EEPROM.
Command SGRS
result_t set_gear_settings (device_t id, const gear_settings_t* gear_settings)
Command code (CMD): "sgrs" or 0x73726773.
Request: (58 bytes)
INT32U CMD Command
FLT32 ReductionIn Input reduction coefficient. (Output = (ReductionOut / ReductionIn) * Input) Data type: float.
FLT32 ReductionOut Output reduction coefficient. (Output = (ReductionOut / ReductionIn) * Input) Data type: float.
FLT32 RatedInputTorque Max continuous torque (N m). Data type: float.
FLT32 RatedInputSpeed Max speed on the input shaft (rpm). Data type: float.
FLT32 MaxOutputBacklash Output backlash of the reduction gear(degree). Data type: float.
FLT32 InputInertia Equivalent input gear inertia (g cm2). Data type: float.
FLT32 Efficiency Reduction gear efficiency (%). Data type: float.
INT8U Reserved [24] Reserved (24 bytes)
INT16U CRC Checksum
Answer: (4 bytes)
INT32U CMD Command (answer)
Description:
Set gear settings to EEPROM. Can be used by manufacturer only.
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