Low-Latency Wireless Data Transfer for Motion Control

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