Low-Latency Wireless Data Transfer for Motion Control : Table 4

]>Low-Latency Wireless Data Transfer for Motion Control : Table 4

Table 4: Data allocation within the data packets.


Manipulator to controller	Controller to manipulator

3 positions of 20 bits each	3 current amplitudes of 16 bit each
1 bit motor 1 enabled	1 bit enable motor 1
1 bit motor 2 enabled	1 bit enable motor 2
1 bit motor 3 enabled	1 bit enable motor 3
	1 bit enable homing

63 bits	52 bits