Integrated a rudimentary type of simulation for the PDxx motors.
It simulates the PDxx PDO responses to a certain degree.
It implements the same PDO of the current factory version of the PDxx with status words, control words, commanded / actual velocity/position, etc.
A virtual "motor" responds to these commands implementing the CiA 402 Power State Machine as described in the manual of the motors and some resulting responses from movement, like target reached, etc.
It is important to emphasise that this is a rudimentary, bare-minimum simulation implementation, and that it may not even work for other firmware versions of the same hardware in its current state.
Integrated a rudimentary type of simulation for the PDxx motors. It simulates the PDxx PDO responses to a certain degree. It implements the same PDO of the current factory version of the PDxx with status words, control words, commanded / actual velocity/position, etc. A virtual "motor" responds to these commands implementing the CiA 402 Power State Machine as described in the manual of the motors and some resulting responses from movement, like target reached, etc. It is important to emphasise that this is a rudimentary, bare-minimum simulation implementation, and that it may not even work for other firmware versions of the same hardware in its current state.