Trombone 01.01.09.10 03Spe2014B30G Pal: 48 typedef struct CUserParameters { int16 eo_arr[2];//Code="EO",Help="Allow chars Echo for serial communication",Group="Communication",View="Yes",Edit="Yes",Grade="All",Default=1 int16 um_arr[2];//Code="UM",Help="Unit mode",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=3 long res2_arr[8];//Code="None",Help="Reserved Array",Group="Internal" int16 ts_arr[2];//Code="TS",Help="Sampling time",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=50 int16 rm_arr[2];//Code="RM",Help="Reference mode",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 float32 kp_arr[7];//Code="KP",Enum="KP_Enum",Help="proportional gain" float32 ki_arr[5];//Code="KI",Enum="KI_Enum",Help="Integral gain" int16 xa_arr[6];//Code="XA",Enum="XA_Enum",Help="Advanced extra parameters" Uint16 pp_arr[16];//Code="PP",Enum="PP_Enum",Help="Communication parameters" int16 xp_arr[14];//Code="XP",Enum="XP_Enum",Help="Extra Parameters" float32 cl_arr[5];//Code="CL",Enum="CL_Enum",Help="Continuous current limit" float32 pl_arr[3];//Code="PL",Enum="PL_Enum",Help="Peak current limit" float32 kg_arr[946];//Code="KG",Enum="ENUM_NONE",Help="Scheduled parameters",Group="Motion" int32 gs_arr[22];//Code="GS",Enum="GS_Enum",Help="Gain scheduling parameters" int32 vh_arr[4];//Code="VH",Enum="VH_Enum",Help="High limit for reference" int32 vl_arr[4];//Code="VL",Enum="VL_Enum",Help="Low limit for reference" int32 er_arr[6];//Code="ER",Enum="ER_Enum",Help="Allowed tracking error" float32 kv_arr[101];//Code="KV",Enum="ENUM_NONE",Help="Advanced filter for speed loop",Group="Motion" float32 kv_spare[19];//Code="None",Help="Reserved for future KV",Group="Internal" float32 ff_arr[8];//Code="FF",Enum="FF_Enum",Help="Feed forward" int32 ui_arr[25];//Code="UI",Enum="ENUM_NONE",Help="User Integer array",Group="User" float32 uf_arr[25];//Code="UF",Enum="ENUM_NONE",Help="User Float array",Group="User" int32 xm_arr[3];//Code="XM",Enum="XM_Enum",Help="Main sensor modulo range" int32 ym_arr[3];//Code="YM",Enum="YM_Enum",Help="Additional sensor modulo range" int32 hl_arr[4];//Code="HL",Enum="HL_Enum",Help="High limit for feedback" int32 ll_arr[4];//Code="LL",Enum="LL_Enum",Help="Low limit for feedback" int32 tr_arr[7];//Code="TR",Enum="TR_Enum",Help="Allowed tracking error" Uint32 sp_arr[5];//Code="SP",Help="Maximum speed indication in Point 2 Point mode",Group="Motion",View="Yes",Edit="Yes",Default=0 Uint32 ac_arr[5];//Code="AC",Help="Profile acceleration, cnt/sec/sec",Group="Motion",View="Yes",Edit="Yes",Default=1000000000 Uint32 dc_arr[2];//Code="DC",Help="Profile decleration, cnt/sec/sec",Group="Motion",View="Yes",Edit="Yes",Default=1000000000 Uint32 sd_arr[2];//Code="SD",Help="Stop deceleration, cnt/sec/sec",Group="Motion",View="Yes",Edit="Yes",Default=1000000000 Uint16 pm_arr[2];//Code="PM",Help="Profiler Active switch (On/Off)",Group="Motion",View="Yes",Edit="Yes",Default=1 int16 sf_arr[2];//Code="SF",Help="Profiler Smoothing factor",Group="Motion",View="Yes",Edit="Yes",Default=1 int32 ca_arr[150];//Code="CA",Enum="CA_Enum",Help="Commutation parameters" float32 sc_arr[20];//Code="SC",Enum="SC_Enum",Help="Stepper Commutation" int32 of_arr[52];//Code="OF",Enum="OF_Enum",Help="CAN Object mnemonic" Uint32 fc_arr[20];//Code="FC",Enum="FC_Enum",Help="Position and Velocity Scaling Factors" int32 res_long;//Code="None",Help="Reserved Long",Group="Internal" Uint32 il_arr[17];//Code="IL",Enum="IL_Enum",Help="Digital Input logic and function definitions" Uint32 if_arr[17];//Code="IF",Enum="IF_Enum",Help="Digital Input filter" Uint32 ol_arr[17];//Code="OL",Enum="OL_Enum",Help="Digital Output logic and function definitions" int32 ia_arr[6];//Code="IA",Enum="IA_Enum",Help="Analog feedback settings" float32 nt_arr[256];//Code="NT",Enum="ENUM_NONE",Help="Non Linear Array",Group="Motion" int32 zi_arr[25];//Code="ZI",Enum="ENUM_NONE",Help="Wizard integer array",Group="Internal" float32 zf_arr[25];//Code="ZF",Enum="ENUM_NONE",Help="Wizard float array",Group="Internal" Uint32 gi_arr[5];//Code="GI",Enum="ENUM_NONE",Help="Capture source input Array",Group="Motion" int32 et_arr[2049];//Code="ET",Enum="ENUM_NONE",Help="ECAM Array",Group="Motion" Uint16 go_arr[17];//Code="GO",Enum="GO_Enum",Help="Output Compare Source Array",Group="Motion" Uint16 bp_arr[3];//Code="BP",Enum="BP_Enum",Help="Logical brake parameters",Group="Motion" int32 ea_arr[20];//Code="EA",Enum="EA_Enum",Help="Encoder Emulation parameters",Group="Internal" int32 pc_arr[9];//Code="PC",Enum="PC_Enum",Help="Position Correction parameters" float32 ag_arr[3];//Code="AG",Enum="AG_Enum",Help="Analog gain" float32 as_arr[3];//Code="AS",Enum="AS_Enum",Help="Analog offset" float32 ad_arr[3];//Code="AD",Enum="AD_Enum",Help="Dead Band of analog input" int16 ar_arr[4];//Code="AR",Enum="AR_Enum",Help="Reference units of analog input" float32 nf_arr[16];//Code="NF",Enum="NF_Enum",Help="non linear float parameters" int32 us_arr[5];//Code="US",Enum="US_Enum",Help="User Saturation parameteres",Group="Motion" Uint16 po_arr[2];//Code="PO",Help="Positioning Option (0x60F2)",Group="Motion",View="Yes",Edit="Yes",Default=0 int32 em_arr[20];//Code="EM",Enum="EM_Enum",Help="ECAM parameters",Group="Motion" float32 ht_arr[4];//Code="HT",Enum="HT_Enum",Help="torque in stepper open loop" long xt_arr[8];//Code="XT",Enum="XT_Enum",Help="Extra Threshold sensing" Uint32 xi_arr[4];//Code="XI",Enum="XI_Enum",Help="Extended input port" Uint32 xo_arr[4];//Code="XO",Enum="XO_Enum",Help="Extended output port" long res_arr[785];//Code="None",Help="Reserved Array",Group="Internal" }CUserParametersStruct; enum KP_Enum { KP_Kpcur=1,//Help="Current controller proportional gain",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 KP_KpSpeed=2,//Help="Speed controller proportional (No gain scheduling) gain",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 KP_KpPos=3,//Help="Position controller proportional (No gain scheduling) gain",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 KP_KpGantryVel=4,//Help="Velocity controller Gantry proportional gain",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 KP_KpGantryPos=5,//Help="Position controller Gantry proportional gain",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 KP_GantryPosYfactor=6//Help="Planar Y factor of Gantry current",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 }; enum KI_Enum { KI_Kicur=1,//Help="Current controller integral gain",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 KI_KiSpeed=2,//Help="Speed controller integral gain (No gain scheduling)",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 KI_KiPos=3,//Help="Position controller integral gain (No gain scheduling)",Group="Motion",View="No",Edit="No",Product="H",Grade="All",Default=0 KI_GantryKiVel=4//Help="Gantry Velocity loop integral gain",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 }; typedef enum XA_Enum { XA_LIMITER_KSTEP=1,//Help="Over Current limiter proportional gain",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 XA_HOTPLUGIN_SPEED=2,//Help="Hot plugin threshold speed [elec. cycle/sec]",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=5 XA_CURRENT_EXCEEDED_US=3,//Help="Current exceeded usec",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=600 XA_STOP_MNG_BYPASS=4,//Help="Stop Manager Bypass",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 XA_CONTROL_111=5//Help="Control structure 1:1:1",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 }XA_ParamsEnum; enum PP_Enum { PP_PROTOCOL=1,//Help="Communication type",Group="Communication",View="No",Edit="No",Product="H",Grade="All",Default=1 PP_RS232_BOUD=2,//Help="RS232 baud rate",Group="Communication",View="Yes",Edit="Yes",Product="H",Grade="All",Default=2 PP_RS232_PARITY=4,//Help="RS232 parity",Group="Communication",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 PP_CAN_ID=13,//Help="CAN ID",Group="Communication",View="Yes",Edit="Yes",Product="H",Grade="All",Default=127 PP_CAN_BAUD=14,//Help="CAN baud rate",Group="Communication",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1 PP_CAN_GID=15//Help="CAN group ID",Group="Communication",View="Yes",Edit="Yes",Product="H",Grade="All",Default=128 }; typedef enum XP_Enum { XP_BUS_VOLTAGE=1,//Help="Over/Under voltage constant",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 XP_PWM_FREQ_MULT=2,//Help="Pwm Frequency Multipiler",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 XP_SYNC_FILT_PARAM=3,//Help="Not used",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 XP_VPOLE=4,//Help="Filter constant of the bus voltage measurements",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=30720 XP_STEP=5,//Help="Step limit for analog input filter",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=20 XP_CPOLE=6,//Help="Not used",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=12000 XP_MISMATCH=7,//Help="Halls encoder mismatch",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 XP_SLAVE_PHASE=8,//Help="Slave phase offset",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 XP_PWM_SYNC=9,//Help="Synchronize PWM to other drives",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 XP_OFFSET=10,//Help="Current offset",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 XP_LOW_LIMIT=11,//Help="Current low limit before offset",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 XP_HIGH_LIMIT=12,//Help="Current high limit before offset",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 XP_UNDER_VOL=13//Help="The under voltage threshold (V)",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 }XP_ParamsEnum; typedef enum CL_Enum { CL_CONTINUOUS_LIMIT=1,//Help="Continuous current limit",Group="Limits",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CL_STUCK_LIMIT=2,//Help="Motor stuck current level",Group="Limits",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CL_STUCK_SPEED=3,//Help="Motor stuck speed level",Group="Limits",View="Yes",Edit="Yes",Product="H",Grade="All",Default=60 CL_STUCK_TIME=4//Help="Motor stuck time-out",Group="Limits",View="Yes",Edit="Yes",Product="H",Grade="All",Default=3000 }CL_CURRENT_LIMIT_Enum; typedef enum PL_Enum { PL_PEAK_LIMIT=1,//Help="Peak current limit",Group="Limits",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 PL_PEAK_DURATION=2//Help="Peak duration",Group="Limits",View="Yes",Edit="Yes",Product="H",Grade="All",Default=3 }PL_CURRENT_LIMIT_Enum; typedef enum GS_Enum { GS_MIN_SPEED=1,//Help="Minimal speed for scheduling",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=100 GS_SET_PI=2,//Help="Gains selection",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=64 GS_SPEED_CALC_LIM=3,//Help="Speed selection",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 GS_FILTER_UP=4,//Help="Upwards filter time constant",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1500 GS_FILTER_DN=5,//Help="Downwards filter time constant",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1500 GS_MAX_SPEED_FACTOR=6,//Help="Maximum per minimum speed factor",Group="Motion",View="No",Edit="Yes",Product="H",Grade="All",Default=62 GS_SPEED_SOURCE=7,//Help="Speed source for gain schedule",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 GS_POSITION_FIR=8,//Help="Position FIR used in GS",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 GS_ALPHA_FACTOR=9,//Help="NL factor for position Motion",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=2000000000 GS_POS_ERROR_GAIN=10,//Help="Position error coefficient",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=54 GS_CRS_MAX_TIME=11,//Help="Max time of C&RS GS",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 GS_FAST_REF_FUNCTION=12,//Help="Fast reference function",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 GS_MAX_SPEED=13,//Help="Maximal speed for scheduling",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=6200 GS_POS_ERR_OPEN_KP=14,//Help="Speed error to open loop",Group="Motion",View="No",Edit="Yes",Product="H",Grade="All",Default=0 GS_SPEED_STEP_SCALE=15,//Help="Scheduling command step",Group="Motion",View="No",Edit="Yes",Product="H",Grade="All",Default=0 GS_SPEED_SET_ADV_FILTER_V1=16,//Help="Advanced filter selection Vel1",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1 GS_SPEED_SET_ADV_FILTER_V2=17,//Help="Advanced filter selection Vel2",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1 GS_SPEED_SET_ADV_FILTER_P1=18,//Help="Advanced filter selection Pos1",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1 GS_POS_INDEX_LIMIT1=19,//Help="Schedule by position, limit 1",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 GS_POS_INDEX_LIMIT2=20//Help="Schedule by position, limit 2",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 }GSParamsStruct; enum VH_Enum { VH_SPEED_DYNAMIC_BRAKE=1,//Help="Maximum speed for using dynamic brake",Group="Limits",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 VH_SPEED_LIM=2,//Help="Maximum speed reference",Group="Limits",View="Yes",Edit="Yes",Product="H",Grade="All",Default=2000000000 VH_POS_LIM=3//Help="Maximum position reference",Group="Limits",View="Yes",Edit="Yes",Product="H",Grade="All",Default=900000000 }; enum VL_Enum { VL_SPEED_LIM=2,//Help="Minimum speed reference",Group="Limits",View="No",Edit="Yes",Product="H",Grade="All",Default=0 VL_POS_LIM=3//Help="Minimum position reference",Group="Limits",View="Yes",Edit="Yes",Product="H",Grade="All",Default=-900000000 }; typedef enum ER_Enum { ER_VEL_FOLLOWING_ERR=2,//Help="Velocity Following error",Group="Limits",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 ER_POS_FOLLOWING_ERR=3,//Help="Position Following error ",Group="Limits",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 ER_VEL_GANTRY_FOLLOWING_ERR=4,//Help="Gantry Velocity Following error",Group="Limits",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 ER_POS_GANTRY_FOLLOWING_ERR=5//Help="Gantry Position Following error ",Group="Limits",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 }ER_ENUM; enum FF_Enum { FF_ACCELERATION=1,//Help="Torque feed forward gain",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 FF_VELOCITY=2,//Help="Speed feed forward gain",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1 FF_VEL_POS_RATIO=3,//Help="The ratio between velocity resolution and pos resolution",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1 FF_PHASE_ADVANCED=4,//Help="Advanced field angle by velocity",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 FF_VEL_OPEN_LOOP=5//Help="Torque feed forward according to speed",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 }; enum XM_Enum { XM_LOW_LIMIT=1,//Help="Main sensor modulo lower limit",Group="Limits",View="Yes",Edit="Yes",Product="H",Grade="All",Default=-1000000000 XM_UP_LIMIT=2//Help="Main sensor modulo upper limit",Group="Limits",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1000000000 }; enum YM_Enum { YM_LOW_LIMIT=1,//Help="Additional sensor modulo lower limit",Group="Limits",View="Yes",Edit="Yes",Product="H",Grade="All",Default=-1000000000 YM_UP_LIMIT=2//Help="Additional sensor modulo upper limit",Group="Limits",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1000000000 }; enum HL_Enum { HL_SPEED_LIM=2,//Help="Maximum speed feedback",Group="Limits",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1000000 HL_POS_LIM=3//Help="Maximum position feedback",Group="Limits",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1000000000 }; enum LL_Enum { LL_SPEED_LIM=2,//Help="Minimum speed feedback",Group="Limits",View="Yes",Edit="Yes",Product="H",Grade="All",Default=-1000000 LL_POS_LIM=3//Help="Minimum position feedback",Group="Limits",View="Yes",Edit="Yes",Product="H",Grade="All",Default=-1000000000 }; typedef enum TR_Enum { TR_POS_WIN=1,//Help="Position Window - 0x6067",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 TR_POS_WIN_TIME=2,//Help="Position Windows time - 0x6068",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 TR_VEL_WIN=3,//Help="Velocity window - 0x606d object",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 TR_VEL_WIN_TIME=4//Help="Velocity window time - 0x606e object",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 }TR_ENUM; typedef enum CA_Enum { CA_HALL_LEVEL1=1,//Help="Polarity for digital Hall sensor #1",Group="Commutation",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_HALL_LEVEL2=2,//Help="Polarity for digital Hall sensor #2",Group="Commutation",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_HALL_LEVEL3=3,//Help="Polarity for digital Hall sensor #3",Group="Commutation",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_DHALLA_POSITION=4,//Help="Position for digital Hall sensor #1",Group="Commutation",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1 CA_DHALLB_POSITION=5,//Help="Position for digital Hall sensor #2",Group="Commutation",View="Yes",Edit="Yes",Product="H",Grade="All",Default=2 CA_DHALLC_POSITION=6,//Help="Position for digital Hall sensor #3",Group="Commutation",View="Yes",Edit="Yes",Product="H",Grade="All",Default=3 CA_DHALL_OFFSET=7,//Help="Offset for absolute sensors",Group="Commutation",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_SERIAL_IGNORE_ERR=8,//Help="Serial encoder ignore bit error",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_AENC_PH_ERROR=9,//Help="Phase error for analog sensor channels",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_SSI_VELA_BITS_NUM=10,//Help="Serial Exclusive #2 number of data bits",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_AENCA_OFFSET=11,//Help="Offset for the A channel of analog sensor",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_AENCB_OFFSET=12,//Help="Offset for the B channel of analog sensor",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_AENCB_GAIN=13,//Help="Gain for the A channel of analog sensor",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=32768 CA_REF_CMD_MULTIPLY=14,//Help="Multiply socket reference",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_REF_CMD_SHIFT=15,//Help="Shift socket reference",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_COMMUTATE_EACH_MOTOR_ON=16,//Help="Force Commutation in Motor On",Group="Commutation",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_INIT_PHASE_METHOD=17,//Help="Initial phasing method",Group="Commutation",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1 CA_MAIN_ENCODER_BITS=18,//Help="Encoder counts per one mechanical revolution",Group="Commutation",View="Yes",Edit="Yes",Product="H",Grade="All",Default=4096 CA_NPOLES=19,//Help="Number of motor pole pairs",Group="Commutation",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_DHALL_PRESENT=20,//Help="Flag digital Hall sensors are present",Group="Commutation",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1 CA_GURLEY_BITNO=21,//Help="Gurley number of sine cycles",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_SSI_ERR_BIT_NUM=22,//Help="Bit number that represents the error bit",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=-1 CA_SSI_ERR_LOGIC=23,//Help="Flag low level error logic",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_HIPERFACE_DIRECTION=24,//Help="Hiperface serial position and analog position correlation",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_MOTOR_DIRECTION=25,//Help="Flag direct/reverse motor phase connection",Group="Commutation",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1 CA_CURRENT_REF2_SOCKET=26,//Help="Connect Current[i] to reference 2 current",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_YAW_CURRENT_REF_SOCKET=27,//Help="Connect Current[i] to Yaw reference current",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_DC_FEATURE=28,//Help="Motor Type",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_OFFSET_COMM_ONLINE=29,//Help="Offset commutation for online change",Group="Commutation",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_SSI_VELA_CONF=30,//Help="Bitwise configuration of Serial Exclusive #2 from PAL",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_AENC_RESOLUTION=31,//Help="Resolution in bit per analog sensor cycle",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=2 CA_RESOLVER_POLES=32,//Help="Sin/Cos Pole Pairs Number",Group="Sensor",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1 CA_RESOLVER_OFFSET_SIGNAL=33,//Help="Resolver offset calibration signal",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_RESOLVER_NCYCLES=34,//Help="Resolver N cycle interpolation",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1 CA_SERIAL_GLITCH_FIL_PAL=35,//Help="Serial encoder PAL glitch filter",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=2 CA_SERIAL_CLK_FREQ_PAL=36,//Help="Serial encoder clock basic frequency (before post scale)",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=25000000 CA_ERR_MAP_SRC_SOCKET=37,//Help="Error mapping source socket",Group="Sensor",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_ERR_MAP_DST_SOCKET=38,//Help="Error mapping destination socket",Group="Sensor",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_SSI_PAL2_DEAD_ZONE=39,//Help="SSI Exclusive 2 dead zone",Group="Sensor",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_POSERR_SOCKET=40,//Help="Position Error socket number",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 CA_P1_ID=41,//Help="Set ID of position[1]",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_P2_ID=42,//Help="Set ID of position[2]",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_P3_ID=43,//Help="Set ID of position[3]",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_P4_ID=44,//Help="Set ID of position[4]",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_POSITION_FEEDBACK=45,//Help="Connect Position[i] to position feedback",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1 CA_SPEED_FEEDBACK=46,//Help="Connect Position[i] to speed feedback",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1 CA_COMMUTAION_SENSOR=47,//Help="Connect Position[i] to commutation sensor",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1 CA_UPPER_AMP_SINCOS=48,//Help="Upper amplitude of sin/cos",Group="Limits",View="Yes",Edit="Yes",Product="H",Grade="All",Default=15669722 CA_LOWER_AMP_SINCOS=49,//Help="Lower amplitude of sin/cos",Group="Limits",View="Yes",Edit="Yes",Product="H",Grade="All",Default=18633 CA_QUALIFICATION1=50,//Help="qualification filter of eQEP1",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=10000000 CA_QUALIFICATION2=51,//Help="qualification filter of eQEP2",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=10000000 CA_MIN_AMP_COMM=52,//Help="Minimum amplitude for commutation (planar)",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_STEPPER_ANG_SRC=53,//Help="Stepper angle command source",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_P1_DIRECTION=54,//Help="Direction of position[1]",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_P2_DIRECTION=55,//Help="Direction of position[2]",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_P3_DIRECTION=56,//Help="Direction of position[3]",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_P4_DIRECTION=57,//Help="Direction of position[4]",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_SERIAL_REDUCE_HIGH=58,//Help="Serial encoder mask high bits",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_SERIAL_RESOLUTION=59,//Help="Serial encoder resolution bit",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_GEN_SENSOR_CONF=60,//Help="General Sensor Configuration",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_SERIAL_REDUCE_BITNO=61,//Help="Serial encoder reduce number of bits",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_SERIAL_MULTITURN_BITNO=62,//Help="Serial encoder multi turn number of bits",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_SERIAL_SYNC_READING=63,//Help="Serial encoder synchronize the mask signal (deltaT)",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_SERIAL_CLK_FREQUENCY=64,//Help="Reserved64",Group="Sensors",View="No",Edit="No",Product="H",Grade="All",Default=25000000 CA_GS_POS_INDEX=65,//Help="Connect Position[i] to schedule index",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_SSI_PROTOCOL_BITS=66,//Help="Serial encoder protocol bits",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_SSI_POS_LSB=67,//Help="Serial encoder position LSB number",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_POSITION_REF_SOCKET=68,//Help="Connect Position[i] to reference position",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_SPEED_REF_SOCKET=69,//Help="Connect Speed[i] to reference speed",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_CURRENT_REF_SOCKET=70,//Help="Connect Current[i] to reference current",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_FIR_P1_SOCKET=71,//Help="FIR filter items in socket 1",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_FIR_P2_SOCKET=72,//Help="FIR filter items in socket 2",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_FIR_P3_SOCKET=73,//Help="FIR filter items in socket 3",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_FIR_P4_SOCKET=74,//Help="FIR filter items in socket 4",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_FILTER_TYPE_P1_SOCKET=75,//Help="speed filter type in socket 1",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_FILTER_TYPE_P2_SOCKET=76,//Help="speed filter type in socket 2",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_FILTER_TYPE_P3_SOCKET=77,//Help="speed filter type in socket 3",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_FILTER_TYPE_P4_SOCKET=78,//Help="speed filter type in socket 4",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_ADDITIONAL_POS_SOCKET=79,//Help="Additional Position Select",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_GANTRY_ADD_SOCKET=80,//Help="Gantry socket number to add",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_GANTRY_SUB_SOCKET=81,//Help="Gantry socket number to sub",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_GANTRY_GANTRY_SOCKET_MODE=82,//Help="Gantry socket mode",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_GANTRY_PORT=83,//Help="Gantry Port input",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_GANTRY_COMM_FREQ=84,//Help="Gantry communication frequency",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=2 CA_GANTRY_SEQUENCE_MODE=85,//Help="Gantry sequence mode",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_SSI_DELAY=86,//Help="SSI first clock delay",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_TOUCHPROBE_SOCKET=87,//Help="TouchProbe Socket Selection",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_POS_FIR_LENGTH=88,//Help="Main position FIR length",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_PLANAR_Y1_ALIGNMENT=89,//Help="Planar Y1 alignment rate angle",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_PLANAR_Y1_MAX_ANGLE=90,//Help="Max angle to search in planar Y1",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_P1_OFFSET=91,//Help="Offset of position socket 1",Group="Sensor",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_P2_OFFSET=92,//Help="Offset of position socket 2",Group="Sensor",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_P3_OFFSET=93,//Help="Offset of position socket 3",Group="Sensor",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_P4_OFFSET=94,//Help="Offset of position socket 4",Group="Sensor",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_SERIAL_COMM_TIME=95,//Help="Serial sensor communication time",Group="Sensor",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_SERIAL_DECIMAL_BITS=96,//Help="Serial sensor non-binary resolution",Group="Sensor",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_YAW_REF_SOCKET=97,//Help="Connect Position[i] to Yaw reference position",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_STEPPER_CLOSED_CMD=98,//Help="Stepper closed loop command",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_STEPPER_CLOSED_FB=99,//Help="Stepper closed loop feedback",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_PWM_PIN_SELECTION=100,//Help="Selection of pin for PWM Duty Cycle signal",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_PWM_COMMAND_TYPE=101,//Help="PWM Duty Cycle reference units",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_PWM_FREQUENCY_LIMIT=102,//Help="PWM Duty Cycle minimum input frequency",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1 CA_PWM_MIN_DUTY=103,//Help="PWM Duty Cycle Minimum Duty Cycle Range (milliPercent)",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_PWM_MAX_DUTY=104,//Help="PWM Duty Cycle Maximum Duty Cycle Range (milliPercent)",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_PWM_MIN_DUTY_VALUE=105,//Help="PWM Duty Cycle Minimum Duty Cycle Range Physical Value (mA or cnt/sec)",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_PWM_MAX_DUTY_VALUE=106,//Help="PWM Duty Cycle Maximum Duty Cycle Range Physical Value (mA or cnt/sec)",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_PWM_DEADBAND=107,//Help="PWM Duty Cycle DeadBand (mA or cnt/sec)",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_PWM_SIGNAL_TYPE=108,//Help="PWM Duty Cycle Signal Type (with direction or without)",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 CA_PWM_VALUE_INVALID_FREQ=109//Help="PWM Duty Cycle value for signal below minimum frequency (mA or cnt/sec)",Group="Sensors",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 }CA_CommutationArrayEnum; typedef enum SC_Enum { SC_MAX_CURRENT=1,//Help="Maximum current for commutation in % of PL[1]",Group="Commutation",View="Yes",Edit="Yes",Product="H",Grade="All",Default=50 SC_INCREASE_TIME=2,//Help="Time to increase current to maximum [sec]",Group="Commutation",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0.5 SC_STABILIZATION_TIME=3,//Help="Stabilize time [sec]",Group="Commutation",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1 SC_4_RESERVED=4,//Help="Reserved for compatibility",Group="Commutation",View="No",Edit="No",Product="H",Grade="All",Default=1 SC_STABLE_SPEED=5,//Help="Stable speed to stop the process",Group="Commutation",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1 SC_RANGE_THRESHOLD=6,//Help="Binary Search: Threshold for stepper",Group="Commutation",View="Yes",Edit="Yes",Product="H",Grade="All",Default=5 SC_MAX_MOVE_DEG=7,//Help="Binary Search: Maximum movement in electrical deg",Group="Commutation",View="Yes",Edit="Yes",Product="H",Grade="All",Default=2 SC_STEPPER_TORQUE_COMMAND=8,//Help="Stepper torque command",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 SC_9_RESERVED=9,//Help="Reserved for compatibility",Group="Commutation",View="No",Edit="No",Product="H",Grade="All",Default=0 SC_TEST_ANGLE_STEP=10,//Help="Angle for verification test",Group="Commutation",View="Yes",Edit="Yes",Product="H",Grade="All",Default=30 SC_STEPPER_SPEED=11,//Help="Stepper speed during commutation",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1 SC_BINARY_VERIFY_EN=12,//Help="Binary Search: Verification enabled",Group="Commutation",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 SC_UNBALANCED_AXIS_EN=13//Help="Unbalanced axis commutation",Group="Commutation",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 }SC_PARAMS_Enum; enum OF_Enum { OF_ABORT_CONNECTION=1,//Help="Abort connection code - 0x6007",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_QS_OPTION_CODE=2,//Help="Quick stop Option Code - 0x605A object",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_SHUT_DOWN_OPTION_CODE=3,//Help="Shut down option code - 0x605B",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_DISABLE_OPERATION_OPTION_CODE=4,//Help="Disable operation option code - 0x605C",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_HALT_OPTION_CODE=5,//Help="Halt option code - 0x605D",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_FAULT_REACTION_OPTION_CODE=6,//Help="Fault reaction option code - 0x605E",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_MODES_OF_OPERATION=7,//Help="Modes of Operation - 0x6060",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_VEL_THRESHOLD=8,//Help="Velocity threshold - 0x606f",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_VEL_THRESHOLD_TIME=9,//Help="Velocity threshold time - 0x6070",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_MAX_TORQUE=10,//Help="Maximal torque - 0x6072",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_MAX_CURRENT=11,//Help="Maximal current ( same as maximal torque ) - 0x6073",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_MOTOR_RATED_CURRENT=12,//Help="Motor rated current - 0x6075",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_MOTOR_RATED_TORQUE=13,//Help="Motor rated torque - 0x6076",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_POLARITY=14,//Help="Polarity - 0x607e",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_MAX_PROFILE_VEL=15,//Help="Max profile velocity - 0x607F",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_MAX_MOTOR_SP=16,//Help="Max motor speed - 0x6080",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_TORQUE_SLOPE=17,//Help="Torque slope - 0x6087",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_POS_TORQUE_LIMIT=18,//Help="Positive torque limit - 0x60E0",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_NEG_TORQUE_LIMIT=19,//Help="Negative torque limit - 0x60E1",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_MAX_ACC=20,//Help="Max AC - Override by SD on BG - 0x60C5",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_MAX_DC=21,//Help="Max DC - Override by SD on BG - 0x60C6",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_INTERP_POS_SUB_MODE=22,//Help="Interpoalted position sub mode - 0x60C0",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_UNUSED23=23,//Help="None",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_INTERP_DATA_ACTUAL_BUF_SIZE=24,//Help="Interpolated data actual buffer size - 0x60C4.2",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_INTERP_DATA_BUF_ORGANIZATION=25,//Help="Interpolated data buffer organization - 0x60C4.3",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_PROFILE_AC=26,//Help="Profile Acceleration - 0x6083 (Override on bg (*AC))",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_PROFILE_DC=27,//Help="Profile deceleration - 0x6084 (Override on bg (*DC))",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_QUICK_STOP_DC=28,//Help="Quick stop deceleration - 0x6085 (Override by SD on BG)",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_POS_FOLOW_ERR=29,//Help="Position following error - 0x6065",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_POS_FOLOW_ERR_TIME=30,//Help="Position following error time - 0x6066",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_UNUSED31=31,//Help="Unused",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_UNUSED32=32,//Help="Unused",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_UNUSED33=33,//Help="Unused",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_UNUSED34=34,//Help="Unused",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_UNUSED35=35,//Help="Unused",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_UNUSED36=36,//Help="Unused",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_UNUSED37=37,//Help="Unused",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_UNUSED38=38,//Help="Unused",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_UNUSED39=39,//Help="Unused",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_POS_WINDOW=40,//Help="Position window - 0x6067 (Override by TR[1])",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_POS_WINDOW_TIME=41,//Help="Position window time - 0x6068 (Override by TR[2])",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_VEL_WINDOW=42,//Help="Velocity window - 0x606D (Override by TR[3])",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_VEL_WINDOW_TIME=43,//Help="velocity window time - 0x606E (Override by TR[4])",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_SW_LOW_LIMIT=44,//Help="Low Software Limit - 0x607D.1 (Override by VL[3])",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_SW_HI_LIMIT=45,//Help="High software limit - 0x607D.2 (Override by VH[3])",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_LOW_POS_RANGE=46,//Help="Low pos range - 0x607B.1 (Override by XM[1])",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_HI_POS_RANGE=47,//Help="High pos range - 0x607B.2 (Override by XM[2])",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_SMOOTH_FACTOR=48,//Help="Smooth factor mSec - 0x31DA (Override by SF on BG)",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_UNUSED49=49,//Help="Unused",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_TORQ_WINDOW=50,//Help="Torque window - 0x2E06 (Override by TR[5])",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 OF_TORQ_WINDOW_TIME=51//Help="Torque window time - 0x2E07 (Override by TR[6])",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=0 }; typedef enum FC_Enum { FC_ENCODER_INCREMENTS=1,//Help="Position encoder resolution 0x608F.1",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1 FC_MOTOR_REVOLUTIONS=2,//Help="Position encoder resolution 0x608F.2",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1 FC_ENCODER_INCREMENTS_PER_SECOND=3,//Help="Reserved: Velocity encoder resolution 0x6090.1",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=1 FC_MOTOR_REVOLUTIONS_PER_SECOND=4,//Help="Reserved: Velocity encoder resolution 0x6090.2",Group="System",View="No",Edit="Yes",Product="H",Grade="All",Default=1 FC_MOTOR_SHAFT_REVOLUTIONS=5,//Help="Gear ratio 0x6091.1",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1 FC_DRIVING_SHAFT_REVOLUTIONS=6,//Help="Gear ratio 0x6091.2",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1 FC_FEED=7,//Help="Feed constant 0x6092.1",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1 FC_DRIVING_REVOLUTIONS=8,//Help="Feed constant 0x6092.2",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1 FC_VELOCITY_FACTOR_NUM=9,//Help="Velocity factor 0x6096.1",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1 FC_VELOCITY_FACTOR_DEN=10,//Help="Velocity factor 0x6096.2",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1 FC_ACCELERATION_FACTOR_NUM=11,//Help="Acceleration factor 0x6097.1",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1 FC_ACCELERATION_FACTOR_DEN=12//Help="Acceleration factor 0x6097.2",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1 }FC_ENUM; typedef enum IL_Enum { IL_IN1=1,//Help="Digital In 1 logic\function",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 IL_IN2=2,//Help="Digital In 2 logic\function",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=7 IL_IN3=3,//Help="Digital In 3 logic\function",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=7 IL_IN4=4,//Help="Digital In 4 logic\function",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=7 IL_IN5=5,//Help="Digital In 5 logic\function",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=7 IL_IN6=6,//Help="Digital In 6 logic\function",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=7 IL_IN11=11,//Help="Differential Digital In 11 logic\function",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=7 IL_IN12=12,//Help="Differential Digital In 12 logic\function",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=7 IL_IN13=13,//Help="Differential Digital In 13 logic\function",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=7 IL_IN14=14,//Help="Differential Digital In 14 logic\function",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=7 IL_IN15=15,//Help="Differential Digital In 15 logic\function",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=7 IL_IN16=16//Help="Differential Digital In 16 logic\function",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=7 }IL_ENUM; typedef enum IF_Enum { IF_IN1=1,//Help="Digital In 1 filter",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 IF_IN2=2,//Help="Digital In 2 filter",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 IF_IN3=3,//Help="Digital In 3 filter",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 IF_IN4=4,//Help="Digital In 4 filter",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 IF_IN5=5,//Help="Digital In 5 filter",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 IF_IN6=6,//Help="Digital In 6 filter",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 IF_IN11=11,//Help="Digital In 11 filter",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 IF_IN12=12,//Help="Digital In 12 filter",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 IF_IN13=13,//Help="Digital In 13 filter",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 IF_IN14=14,//Help="Digital In 14 filter",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 IF_IN15=15,//Help="Digital In 15 filter",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 IF_IN16=16//Help="Digital In 16 filter",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 }IF_ENUM; typedef enum OL_Enum { OL_OUT1=1,//Help="Digital Out 1 logic\function",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 OL_OUT2=2,//Help="Digital Out 2 logic\function",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 OL_OUT3=3,//Help="Digital Out 3 logic\function",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 OL_OUT4=4,//Help="Digital Out 4 logic\function",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 OL_OUT14=14,//Help="Differential Digital Out 14 logic\function",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 OL_OUT15=15,//Help="Differential Digital Out 15 logic\function",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 OL_OUT16=16//Help="Differential Digital Out 16 logic\function",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 }OL_ENUM; enum IA_Enum { IA_INTENABLE=1,//Help="Analog Feedback Index search",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 IA_FLAG=2,//Help="Analog Feedback Index Clear Flag",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 IA_ANGLEPOSITIVE=3,//Help="Analog Feedback Index Angle at Positive",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 IA_ANGLENEGATIVE=4//Help="Analog Feedback Index Angle at Negative",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 }; typedef enum GO_Enum { GO_OUT_1=1,//Help="Digital Output-1 Compare Selection",Group="Outputs",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 GO_OUT_2=2,//Help="Digital Output-2 Compare Selection",Group="Outputs",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 GO_OUT_3=3,//Help="Digital Output-3 Compare Selection",Group="Outputs",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 GO_OUT_4=4,//Help="Digital Output-4 Compare Selection",Group="Outputs",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 GO_OUT_14=14,//Help="Digital Output-14 Compare Selection",Group="Outputs",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 GO_OUT_15=15,//Help="Digital Output-15 Compare Selection",Group="Outputs",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 GO_OUT_16=16//Help="Digital Output-16 Compare Selection",Group="Outputs",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 }GO_ENUM; enum BP_Enum { BP_ENGAGE_BRAKE=1,//Help="Engage brake time in millisec (motor on to motor off)",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 BP_RELEASE_BRAKE=2//Help="Release brake time in millisec (motor offn to motor on)",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 }; enum EA_Enum { EA_EMULATION_START=1,//Help="Encoder Emulation Start/Stop",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 EA_EMULATION_PULSE_WIDTH=2,//Help="Encoder Emulation Pulse Width",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=2 EA_EMULATION_DIRECTION=3,//Help="Encoder Emulation Direction",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 EA_EMULATION_EMULATED_SOCKET=4,//Help="Encoder Emulation Emulated socket number",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 EA_EMULATION_FEEDBACK_SOCKET=5,//Help="Encoder Emulation feedback socket number",Group="System",View="No",Edit="No",Product="H",Grade="All",Default=0 EA_EMULATION_MULTIPLIER=6,//Help="Encoder Emulation Emulated Socket Multiplier",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=1 EA_EMULATION_DIVIDER=7,//Help="Encoder Emulation Emulated Socket Divider",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 EA_EMULATION_FEEDBACK_AQB=8,//Help="Encoder Emulation Include AqB Feedback Socket",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 EA_EMULATION_PWM_SOURCE=9,//Help="PWM Emulation Source",Group="System",View="No",Edit="No",Product="H",Grade="All",Default=1 EA_EMULATION_PWM_FREQ_INDEX=10,//Help="PWM Emulation Frequency",Group="System",View="No",Edit="No",Product="H",Grade="All",Default=5 EA_EMULATION_PWM_SPEED_MIN=12,//Help="PWM Emulation Minimum Speed",Group="System",View="No",Edit="No",Product="H",Grade="All",Default=0 EA_EMULATION_PWM_SPEED_MAX=13,//Help="PWM Emulation Maximum Speed",Group="System",View="No",Edit="No",Product="H",Grade="All",Default=100000 EA_EMULATION_PWM_CURRENT_MIN=14,//Help="PWM Emulation Minimum Current",Group="System",View="No",Edit="No",Product="H",Grade="All",Default=0 EA_EMULATION_PWM_CURRENT_MAX=15,//Help="PWM Emulation Maximum Current",Group="System",View="No",Edit="No",Product="H",Grade="All",Default=0 EA_EMULATION_PWM_PERCENT_MIN=16,//Help="PWM Emulation Percent Minimum (milliPercent)",Group="System",View="No",Edit="No",Product="H",Grade="All",Default=0 EA_EMULATION_PWM_PERCENT_MAX=17//Help="PWM Emulation Percent Maximum (milliPercent)",Group="System",View="No",Edit="No",Product="H",Grade="All",Default=0 }; enum PC_Enum { PC_START=1,//Help="Position correction Start/Stop",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 PC_SOCKET=2,//Help="Position correction socket selection",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 PC_TABLE=3,//Help="Position correction table selection",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=2 PC_TABLE_LOW_INDEX=4,//Help="Position correction start table index",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 PC_TABLE_HI_INDEX=5,//Help="Position correction end table index",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 PC_TABLE_GRID=6,//Help="Position correction table grid",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 PC_START_POSITION=7,//Help="Position correction table start position",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 PC_MODULO=8//Help="Position correction modulo",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=100 }; enum AG_Enum { AG_ANALOG_IN_01=1//Help="Analog reference gain for analog input #1 ",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 }; enum AS_Enum { AS_AnalogOffset1=1,//Help="Analog offset for analog input #1",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 AS_AnalogOffset2=2//Help="Analog offset for analog input #2",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 }; enum AD_Enum { AD_AnalogDeadBandNeg=1,//Help="Analog1 dead band for negative voltage",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 AD_AnalogDeadBandPos=2//Help="Analog1 dead band for positive voltage",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 }; enum AR_Enum { AR_AnalogRefUnitIn1=1,//Help="Analog reference units for analog input #1",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 AR_AnalogRefUnitIn2=2//Help="Unused",Group="Digital/Analog interface",View="No",Edit="No",Product="H",Grade="All",Default=0 }; enum NF_Enum { NF_FRICTION_POS_COMMAND=1,//Help="Current for positive friction",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 NF_FRICTION_NEG_COMMAND=2,//Help="Current for negative friction",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 NF_COGGING_OPTION=3,//Help="Cogging compensation type",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 NF_COGGING_AMP=4,//Help="Cogging by sin, amplitude",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 NF_COGGING_HARMONIC=5,//Help="Cogging by sin, harmonic of phase angle",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 NF_COGGING_PHASE_OFFSET=6,//Help="Cogging by sin, phase offset",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 NF_INTEGRAL_DRAIN=7//Help="Velocity Integral Drain (dead zone)",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 }; enum US_Enum { US_CurrentOutput=1,//Help="Voltage limit - Current controller output",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=100 US_VelocityOutput=2,//Help="Current limit - Velocity controller output",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=100 US_PositionOutput=3,//Help="Velocity limit - Position controller output",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=100 US_GantryVelPosOutput=4//Help="Current limit - Gantry Position/Velocity controller output",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=100 }; enum EM_Enum { EM_MODE=1,//Help="ECAM/Follower Mode",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 EM_TABLE_HI_INDEX=2,//Help="ECAM last valid index",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 EM_START_POSITION=3,//Help="ECAM start position",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 EM_TABLE_GRID=4,//Help="ECAM table grid",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 EM_TABLE_LOW_INDEX=5,//Help="ECAM first valid index",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 EM_CAN_HEAD_POINTER=6,//Help="ECAM CAN head pointer",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 EM_LAST_SEGM_SHORT=7,//Help="ECAM last segment shortening",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 EM_TABLE_CUR_INDEX=8,//Help="ECAM present executing index",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 EM_RATIO_NUMERATOR=9,//Help="ECAM ratio numerator",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 EM_RATIO_DENOMINATOR=10,//Help="ECAM ratio denominator",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 EM_ECAM_OPTIONS=11,//Help="ECAM options",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 EM_VEL_FIR_LENGTH=12,//Help="ECAM velocity FIR filter length",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 EM_ACC_FIR_LENGTH=13//Help="ECAM acceleration FIR filter length",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 }; enum HT_Enum { HT_Holding=1,//Help="Stepper open loop - holding torque at stop",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 HT_Speed=2,//Help="Stepper open loop - torque at speed",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 HT_Acceleration=3//Help="Stepper open loop - torque at acceleration",Group="Motion",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 }; enum XT_Enum { XT_LOW_VOLT_SENS=1,//Help="Threshold for under voltage level [mV]",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 XT_HI_VOLT_SENS=2,//Help="Threshold for over voltage level [mV]",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 XT_ANALOG_SENSOR_SENS=3,//Help="Threshold for analog sensors min amplitude [A2D^2]",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 XT_HI_TEMP_SENS=4//Help="Threshold for high temperature sensing [C]",Group="System",View="Yes",Edit="Yes",Product="H",Grade="All",Default=85 }; enum XI_Enum { XI_VALUE=1,//Help="Extended input value",Group="Digital/Analog interface",View="No",Edit="No",Product="H",Grade="All",Default=0 XI_LOGIC=2,//Help="Extended input logic",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0xFFFFFF00 XI_PDO_MASK=3//Help="Extended input PDO Mask",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 }; enum XO_Enum { XO_VALUE=1,//Help="Extended output value",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 XO_LOGIC=2,//Help="Extended output logic",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0xFFFFFFFE XO_MASK=3//Help="Extended output Mask",Group="Digital/Analog interface",View="Yes",Edit="Yes",Product="H",Grade="All",Default=0 }; 65, -1, 66, 67, -1, -1, 68, -1, -1, -1, -1, -1, -1, 69, -1, -1, -1, 70, 71, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 72, 73, -1, -1, -1, -1, -1, -1, -1, 74, -1, -1, 75, 76, -1, 77, -1, -1, -1, -1, 78, -1, 79, 80, -1, -1, -1, -1, -1, -1, -1, 81, -1, -1, -1, 82, -1, -1, 83, -1, 84, -1, 85, -1, -1, -1, -1, 86, 87, 88, -1, 89, -1, -1, -1, -1, -1, 90, -1, -1, -1, -1, -1, -1, -1, -1, -1, 91, -1, -1, -1, -1, 92, 93, 94, -1, 95, -1, -1, -1, 96, -1, -1, -1, 97, -1, 98, -1, -1, 99, -1, 100, -1, -1, -1, -1, -1, -1, -1, -1, 101, -1, 102, 103, -1, -1, -1, -1, -1, -1, -1, -1, -1, 104, -1, -1, 105, 106, -1, 107, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 108, -1, -1, -1, -1, -1, 109, 110, -1, -1, 111, -1, -1, 112, 113, 114, 115, -1, -1, -1, -1, -1, -1, 116, -1, -1, -1, -1, -1, 117, 118, -1, -1, 119, -1, -1, -1, 120, -1, -1, -1, 121, -1, -1, 122, 123, -1, 124, -1, 125, -1, -1, -1, -1, -1, 126, -1, -1, -1, 127, 128, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 129, -1, -1, -1, -1, -1, 130, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 131, -1, 132, -1, -1, 133, -1, -1, -1, 134, -1, 135, -1, -1, -1, 136, -1, -1, -1, -1, -1, -1, 137, 138, -1, -1, -1, -1, -1, -1, -1, 139, -1, -1, -1, 140, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 141, -1, -1, 142, -1, -1, 143, -1, -1, -1, -1, -1, 144, 145, -1, 146, 147, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 148, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 149, -1, -1, -1, -1, -1, -1, -1, 150, 151, -1, -1, 152, -1, -1, -1, -1, -1, 153, -1, -1, -1, 154, -1, -1, -1, -1, -1, 155, -1, -1, -1, -1, 156, 157, 158, -1, 159, -1, -1, -1, -1, -1, 160, 161, 162, -1, 163, 164, -1, 165, 166, 167, 170, 168, -1, 169, 171, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 172, -1, -1, -1, 173, -1, 174, -1, -1, -1, -1, -1, -1, 175, -1, -1, -1, 176, -1, -1, -1, -1, 177, 178, -1, -1, 179, -1, 180, 181, -1, -1, 182, -1, -1, -1, -1, -1, -1, 183, 184, 185, 186, -1, -1, -1, -1, -1, -1, -1, 187, 188, 189, -1, 190, -1, 191, -1, 192, 193, -1, -1, -1, -1, -1, 194, -1, -1, -1, -1, -1, 195, -1, -1, -1, 196, -1, -1, 197, -1, 198, 199, -1, -1, -1, 200, -1, -1, -1, -1, -1, -1, -1, -1, 201, -1, -1, 202, -1, -1, 203, 204, -1, -1, -1, -1, -1, 205, -1, -1, -1, -1, -1, -1, -1, -1, 206, -1, -1, 207, -1, -1, 208, -1, -1, -1, 209, -1, -1, 210, 211, -1, 212, 213, -1, 215, -1, -1, 214, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 216, -1, -1, -1, -1, -1, -1, -1, -1, -1, 217, -1, -1, -1, -1, -1, -1, -1, 218, -1, 219, -1, -1, -1, -1, -1, 220, -1, -1, -1, 221, -1, 222, 223, 224, 225, -1, 226, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 227, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 228, -1, -1, 229, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, -1, 230, -1, 231, MLT , 0 SUB , 1 ADD , 2 DIV , 3 REM , 4 RSLTAND , 5 RSLTOR , 6 XOR , 7 NOT , 8 SHR , 9 SHL , 10 AND , 11 F_OR , 12 UNARY_NOT , 13 RSLTE , 14 RSLTA , 15 RSLTAE , 16 RSLTB , 17 RSLTBE , 18 RSLTNE , 19 MOV , 20 CMP , 21 JMP , 22 JMP_LABEL , 23 JMP_EOL , 24 JNZ , 25 JNZ_EOL , 26 JZ , 27 JZ_EOL , 28 SPADD , 29 GETINDX , 30 SETINDX , 31 SET_COMM , 32 GET_COMM , 33 SYSSUBJ , 34 EOL , 35 FREE_VAC , 36 USRSUBJ , 37 USRSUBRT , 38 LINK , 39 FORITR , 40 RESET_VM , 41 TRY , 42 ENDTRY , 43 UNARY_MINUS , 44 SET_COMM_E , 45 GET_COMM_E , 46 rnd , 47 , 1 , 1 sqrt , 48 , 1 , 1 fix , 49 , 1 , 1 sin , 50 , 1 , 1 cos , 51 , 1 , 1 abs , 52 , 1 , 1 tdif , 53 , 1 , 1 emit , 54 , 1 , 1 real , 55 , 1 , 1 emcy , 56 , 1 , 1 clrfls , 57 , 1 , 1 prgerr , 58 , 1 , 1 tick , 59 , 1 , 1 tock , 60 , 1 , 1 sign , 61 , 1 , 1 save , 62 , 0 , 1 utick , 63 , 1 , 1 utock , 64 , 1 , 1 262 262 262 262 262 262 262 262 262 262 262 262 262 262 262 262 262 262 262 262 8456 8456 8456 8456 8456 8456 8456 8456 8456 8456 8456 8456 8456 8456 8456 8456 8456 8456 8456 8456 8456 8456 8456 8456 262 8456 8456 518 517 518 517 517 517 518 518 517 518 518 518 518 518 518 518 518 518 -5112 1102 5197 5197 5125 5198 5197 9224 -7094 13390 5125 9294 1030 5198 25678 -5112 5197 25608 9294 1030 9294 -5112 1102 1030 25608 9224 13317 13390 13390 17486 5126 9224 13390 1102 5198 13390 5198 25674 5197 13390 9294 13389 13316 5198 5198 13390 5198 13390 13390 13318 13318 13390 5198 13390 25608 5197 25678 5198 13390 1029 5197 5198 9294 1029 9294 9294 5197 5197 25608 5197 9224 5197 1030 25608 5198 29702 1029 1030 9294 9294 13390 13390 1030 5197 13389 13390 13390 13390 5198 9294 13390 9294 9222 13390 9222 25674 5197 9294 1102 13390 9294 25606 9294 9294 9294 1030 9294 13390 13390 13390 9294 9294 9294 9294 13390 9294 25608 13390 5197 1102 5197 1102 13318 1030 1102 1030 9224 25608 1030 9293 13318 9294 13389 5198 17486 13386 13389 13390 25674 9294 5198 -5112 1030 5198 5198 -5112 1030 -5112 -5112 1030 1030 13318 13317 5198 25608 5198 5198 5198 5198 -5112 13390 5198 5198 13389 13390 13390 13390 Recorded Signals = 237 {0,1,8,Unused,None,Velocity} {1,1,8,Velocity,User,Velocity} {2,0,8,Position,User,Position} {3,0,8,Position Command,User,Position} {4,0,8,Digital Input,User,Inputs} {5,0,8,Position Error,User,Position} {6,1,8,Current Command [A],User,Current} {7,0,4,DC Bus Voltage,User,Voltage} {8,1,8,Velocity Command,User,Velocity} {9,0,4,Field Angle,User,Control} {10,1,8,Active Current [A],User,Current} {11,1,8,Reactive Current [A],User,Current} {12,1,4,Analog Input 1,User,Inputs} {13,0,4,Analog Input 2,User,Inputs} {14,1,8,Current - Phase A,User,Current} {15,1,8,Current - Phase B,User,Current} {16,1,8,Current - Phase C,User,Current} {17,0,4,Identification Experiment,Developer,Control} {18,0,8,Commutation Sensor,Expert,Control} {19,0,4,A Voltage,Expert,Voltage} {20,0,4,B Voltage,Expert,Voltage} {21,0,4,C Voltage,Expert,Voltage} {22,1,8,Filtered Trq Cmd,Expert,Current} {23,1,8,I_QIntL,Developer,Current} {24,0,8,Exception,User,General} {25,1,8,Q Controller Out,Expert,Control} {26,1,8,D Controller Out,Expert,Control} {27,0,4,Hall Sensor,Expert,General} {28,0,8,EQep2 Free timer,Developer,System} {29,0,8,SYNC0 latch time,Developer,System} {30,0,8,Timer1 Global time,Developer,System} {31,0,8,Unused,User,None} {32,0,4,Unused,User,None} {33,0,8,MatlabTestLong,Developer,System} {34,0,4,MatlabTestShort,Developer,System} {35,1,8,MatlabTestFloat,Developer,System} {36,0,16,MatlabTestDouble,Developer,System} {37,0,4,ADC IA,Developer,Current} {38,0,4,ADC IB,Developer,Current} {39,0,4,ADC IC,Developer,Current} {40,0,4,ADC ID,Developer,Current} {41,0,4,ADC ENC 2,Developer,System} {42,0,4,ADC VBUS,Developer,Voltage} {43,0,4,ADC ENC 0,Developer,System} {44,0,4,ADC ENC 1,Developer,System} {45,1,4,ADC INPUT 0,Developer,System} {46,0,4,ADC INPUT 1,Developer,System} {47,0,4,ADC ENC 0_2,Developer,System} {48,0,4,ADC ENC 1_2,Developer,System} {49,0,4,ADC REF,Developer,System} {50,0,4,ADC TMP,Expert,System} {51,0,4,ADC GND,Expert,System} {52,0,4,ADC 5V,Expert,System} {53,0,8,Unused,Developer,None} {54,0,8,Profiler process absolute time,Developer,System} {55,0,8,Unused,Developer,None} {56,1,8,Profiler Acceleration Out,Expert,Current} {57,0,8,Control process absolute time,Developer,System} {58,0,8,RtInterpRho,Developer,System} {59,1,8,PiSpeedCmd,Expert,Control} {60,1,8,VelAdvFilterOutput,Expert,Control} {61,1,8,VelAdvFilterInput,Expert,Control} {62,1,8,SpeedError,Developer,Control} {63,1,8,SpeedPiOut,Developer,Control} {64,1,8,SpeedIntegral,Expert,Control} {65,1,8,fDebug1,Developer,System} {66,1,8,fDebug2,Developer,System} {67,1,8,fDebug3,Developer,System} {68,1,8,fDebug4,Developer,System} {69,1,8,fDebug5,Developer,System} {70,0,8,Socket 1 Position,Expert,Position} {71,0,8,Socket 2 Position,Expert,Position} {72,0,8,Socket 3 Position,Expert,Position} {73,0,8,Socket 4 Position,Expert,Position} {74,1,8,Socket 1 Velocity,Expert,Velocity} {75,1,8,Socket 2 Velocity,Expert,Velocity} {76,1,8,Socket 3 Velocity,Expert,Velocity} {77,1,8,Socket 4 Velocity,Expert,Velocity} {78,0,4,Unused,Expert,None} {79,0,8,SinCos Atan2,Expert,Position} {80,0,8,Program Var1,User,General} {81,0,8,Program Var2,User,General} {82,0,8,Program Var3,User,General} {83,0,8,Program Var4,User,General} {84,0,8,Program Var5,User,General} {85,0,8,Program Var6,User,General} {86,0,8,Program Var7,User,General} {87,0,8,Program Var8,User,General} {88,0,4,Closed Loop Current Identificatio,Expert,Current} {89,0,8,Sin Encoder,Expert,System} {90,0,8,Cos Encoder,Expert,System} {91,0,4,Speed Ident Flag,Expert,System} {92,0,4,GS Index,Expert,Control} {93,1,8,Acceleration Command,User,Current} {94,0,8,Absolute Serial Position,Expert,Position} {95,0,8,Debug03,Developer,System} {96,0,8,Debug04,Developer,System} {97,0,8,Debug05,Developer,System} {98,0,8,Debug06,Developer,System} {99,0,8,Debug07,Developer,System} {100,0,8,Debug08,Developer,System} {101,0,8,Debug09,Developer,System} {102,0,8,Target Position 0x607A,User,Position} {103,0,8,Target Velocity 0x60FF,User,Velocity} {104,0,4,Target Torque 0x6071,User,Current} {105,1,8,Speed Error [cnt/sec],User,Velocity} {106,0,8,Sine Cycles Counter,Expert,Current} {107,1,8,Socket 1 Current,Expert,Current} {108,1,8,Socket 2 Current,Expert,Current} {109,1,8,Socket 3 Current,Expert,Current} {110,1,8,Socket 4 Current,Expert,Current} {111,1,8,Total Current Command [A],Expert,Current} {112,1,8,Total Velocity Command,Expert,Velocity} {113,0,8,Total Position Command,Expert,Position} {114,0,4,Ds402WaitMo0,Developer,System} {115,0,4,Ds402WaitMo1,Developer,System} {116,0,4,Ds402WaitTransition,Developer,System} {117,0,4,Ds402FsaState,Expert,System} {118,0,8,Actual Position 0x6064,User,Position} {119,0,8,Position Demand 0x6062,User,Position} {120,0,4,Control Word 0x6040,User,System} {121,0,4,Status Word 0x6041,User,System} {122,0,4,MO Proc,Expert,System} {123,1,8,Profiler Speed Out Internal,Expert,Velocity} {124,1,8,Smoothed Profiler Speed Out,User,Velocity} {125,1,8,Profiler Torque Out,User,Current} {126,1,8,Smoothed Profiler Acceleration Ou,User,Current} {127,0,8,Profiler Position Out internal,Expert,Position} {128,0,8,Smoothed Position Out Internal,Expert,Position} {129,1,8,Stop Manager Speed Out,User,Velocity} {130,0,8,Stop Manager Position Out,Expert,Position} {131,0,8,Socket 1 HwPosition,Expert,Position} {132,0,8,Socket 2 HwPosition,Expert,Position} {133,0,8,Socket 3 HwPosition,Expert,Position} {134,0,8,Socket 4 HwPosition,Expert,Position} {135,1,8,Unused,Expert,None} {136,1,8,Profile Torque RT,User,Current} {137,0,4,Motion Status Main,User,General} {138,0,8,Idle Loop time,Expert,System} {139,0,4,Control Loop,Expert,Control} {140,0,4,GS Index by Speed,Expert,Control} {141,0,4,GS Index by Position,Expert,Control} {142,0,4,GS Index by CRS,Expert,Control} {143,0,8,Position RT Reference Command,User,Position} {144,1,8,Velocity RT Reference Command,User,Velocity} {145,0,4,Cyclic Ref Is Active,Expert,System} {146,0,8,Absolute Gurley Cycles Count,Expert,Position} {147,0,4,Gurley Position Valid,Expert,Position} {148,0,4,Profile Position Queue Head,Expert,System} {149,0,4,Profile Position Queue Tail,Expert,System} {150,0,4,Switch\Halt\QS\Fault Active Flags,Expert,System} {151,0,8,TimeOfSync,Expert,System} {152,0,8,Digital Output OP value (SCORE),Expert,Inputs} {153,0,8,Digital Output 0x60FE (GCON),Expert,Inputs} {154,0,4,Tamagawa FS,Expert,Position} {155,0,8,Resolver Signal Offset,Expert,System} {156,0,4,Resolver ADC ENC 0 Sync,Expert,System} {157,0,4,Resolver ADC ENC 1 Sync,Expert,System} {158,0,4,Resolver top reading flag,Expert,System} {159,0,8,Output Compare 1 remaining events,Expert,System} {160,0,8,Output Compare 2 remaining events,Expert,System} {161,0,8,Gantry Differential Position,User,Position} {162,1,8,Gantry Velocity before filter,User,Velocity} {163,1,8,Gantry Velocity after filter,Expert,Velocity} {164,1,8,Next Gantry Current,User,Current} {165,1,8,Gantry Current,User,Current} {166,0,8,Velocity Offset 0x60B1,User,Velocity} {167,1,8,Additional Speed [cnt/sec],User,Velocity} {168,0,8,Additional Position 0x20A0,User,Position} {169,0,8,Additional Position [cnt],Expert,Position} {170,1,8,Current - Phase D,User,Current} {171,0,4,D Voltage,Expert,Voltage} {172,0,4,Drive Temperature [C],User,System} {173,0,8,SR - Status Register,User,System} {174,0,4,Torque Offset 0x60B2,User,Current} {175,0,4,Gantry Sync and CRC Error,Expert,System} {176,0,8,PvtUsecCounter,Expert,System} {177,0,8,Profiler Position Out UU,User,Position} {178,1,8,Speed Out Internal,Expert,Velocity} {179,0,4,Interpolation Active,Expert,System} {180,0,4,Mode Of Operation Display 0x6061,User,System} {181,0,8,Actual Velocity 0x606C,User,Velocity} {182,0,8,5V Digital Supply,User,Voltage} {183,0,8,Phasing Profiler Position Out,Expert,Position} {184,1,8,Phasing Profiler Speed Out,Expert,Velocity} {185,1,8,Phasing Profiler Acceleration Out,Expert,Current} {186,0,8,Superimposed Profiler Position Ou,Expert,Position} {187,1,8,Superimposed Profiler Speed Out,Expert,Velocity} {188,1,8,Superimposed Profiler Acceleratio,Expert,Current} {189,0,8,ECAM Position In,Expert,Position} {190,0,8,ECAM Position Out,User,Position} {191,0,8,ECAM Slave Segment Index,User,Position} {192,1,8,ECAM Speed Out,User,Velocity} {193,1,8,ECAM Acceleration Out,User,Current} {194,0,8,SinCos amplitude,Expert,System} {195,0,4,Brake output Active,User,Inputs} {196,0,4,IP extrapolation,Developer,System} {197,0,4,First Record Loaded,Developer,System} {198,0,8,Interpolated Data 0x60C1.1,User,Position} {199,0,8,Interpolated Data 0x60C1.2,User,Velocity} {200,0,4,Hw Limits Flag,Expert,Inputs} {201,0,8,IP mode SyncMboxTime,Developer,System} {202,0,8,Interpolation Buf[0],Expert,Position} {203,0,4,Reference mode (RM),Expert,System} {204,1,8,Cogging Current [A],Expert,Current} {205,0,4,ADC STO1,Developer,System} {206,0,4,ADC STO2,Developer,System} {207,0,8,Fast Reference 0x2005,Expert,Position} {208,0,4,None-DC Counter,Developer,System} {209,0,4,None-DC Correction,Developer,System} {210,0,4,SysTiming Flags,Developer,System} {211,0,4,Actual Torque 0x6077,User,Current} {212,0,4,Cyclic Extrapolation,Expert,System} {213,1,8,Filtered RMS current,User,Current} {214,0,8,Extended in 0x2202,Expert,System} {215,0,8,CCD indication,User,System} {216,0,8,PVT New Target,Expert,Position} {217,0,4,Temperature Threshold High,Expert,System} {218,0,4,Motion Status Superimposed,User,General} {219,0,4,Motion Status Simple Socket,User,General} {220,0,4,Motion Status Phasing,User,General} {221,0,4,GS Index by 0x2E00 low bits,User,Control} {222,0,4,GS Index by 0x2E00 high bits,User,Control} {223,0,4,Serial Exclusive 2: Direction/Dat,User,Position} {224,0,4,Auto Focus Error/Mode,User,System} {225,0,8,Step Block Detect Time,Expert,System} {226,0,8,Velocity Demand 0x606B,User,Velocity} {227,0,4,Torque Demand 0x6074,User,Current} {228,0,4,Digital Current - Phase A,Developer,Current} {229,0,4,Digital Current - Phase B,Developer,Current} {230,0,4,Digital Current - Phase C,Developer,Current} {231,0,4,Digital Current - Phase D,Developer,Current} {232,0,8,PWM Sensor - On Time,Expert,System} {233,0,8,PWM Sensor - Cycle Time,Expert,System} {234,1,8,PWM Sensor - Duty Cycle,User,System} {235,0,4,PWM Emulation - Full Range (PWM c,Expert,System} {236,0,4,PWM Emulation - Actual Value (PWM,Expert,System} End Recorded Signals [Program Limits] TextSpace=20480 CodeSpace=20480 MaxUserFuncs=50 MaxUserVars=100 NameLength=12 StackDepth=280 DataSpace=2048 UserProgMaxSize=131071 [Automatic Routines] AUTOEXEC=0 AUTO_ER=1 AUTO_STOP=2 AUTO_BG=3 AUTO_RLS=4 AUTO_FLS=5 AUTO_ENA=6 AUTO_I1=7 AUTO_I2=8 AUTO_I3=9 AUTO_I4=10 AUTO_I5=11 AUTO_I6=12 AUTO_HM=13 AUTO_HY=14 AUTO_PERR=15 1 , Don't Update 2 , Bad Command 3 , Bad Index 4 , PAL Does not support this sensor 5 , Has No Interpreter Meaning 6 , Program is not running 7 , Mode cannot be started - bad initialization data 8 , Motion terminated, probably data underflow 9 , CAN message HW buffer was overrun 10 , Can not be used by PDO 11 , Cannot write to flash memory 12 , Command not available in this unit mode 13 , Cannot reset communication - UART is busy 14 , Cannot perform CAN NMT sevice 15 , CAN Life time exceeded - motor shut down 16 , Array '[ ]' is expected, or empty expression in array 17 , Format of UL command is not valid - check the command definition 18 , Empty Assign 19 , Command syntax error 20 , Bad Set Point sending order 21 , Operand Out of Range 22 , Zero Division 23 , Command can not be assigned 24 , Bad Operation 25 , Command Not Valid While Moving 26 , Profiler mode not supported in this unit mode (UM) 27 , Bad ECAM setting, refer to EE[6] 28 , Out Of Limit Range 29 , CAN set object return an abort when called from interpreter 30 , No program to continue 31 , Object does not exist or returned an error 32 , Communication overrun, parity, noise, or framing error 33 , Bad sensor setting, check CA[18], CA[19] 34 , There is a conflict with another command 35 , Max bus voltage (BV) or max current (MC) is not valid 36 , Commutation method (CA[17]) or commutation table does not fit to sensor 37 , Hall sensors are defined to the same place, check CA[4],CA[5] or CA[6] 38 , PORT C mux is with conflict with other GO[] or cannot be assigned to the output 39 , Motion start specified for the past 40 , In Wizard Experiment! 41 , Command is not supported by this product 42 , Label was not detected in the User Progam 43 , CAN state machine in fault(Obj 0x6041 in DS402) 44 , Comma character - don't use as an error code 45 , An Attempt to read a write only command 46 , May Not Use Multicapture Homing Mode With Stop Event 47 , Program does not exist or not Compiled 48 , Motor could not start - fault reason in EE[5] 49 , Ecam must be disabled during init (RM=0) 50 , Stack Overflow 51 , Inhibit OR Abort inputs are active, Cannot start motor 52 , PVT Queue Full 53 , Only For Current 54 , Bad Data Base 55 , Bad Context 56 , The product grade does not support this command 57 , Motor Must be Off (MO=0) 58 , Servo (SO) must be on 59 , Semicolon - don't use as an error code 60 , Bad Unit Mode 61 , Data Base Reset 62 , Socket change not allowed while capture is enabled 63 , Question mark character, don't use as error code 64 , Can not set the index of an active table 65 , Disabled By SW 66 , Amplifier Not Ready 67 , Recorder Is Busy or data is uploaded 68 , Required profiler mode is not supported 69 , Recorder Usage Error 70 , Recorder data Invalid 71 , Homing is busy 72 , Modulo range must be even 73 , Socket Profiler must be stopped before setting its position 74 , Bad profile database, see EE[2] or 0x2081 for the failed object number 75 , DL is in progress 76 , Error mapping is not allowed while Homing is in progress (HM[1]\HF[1]) 77 , Buffer Too Large 78 , Out of Program Range 79 , Sensor setting error, possible conflict with other socket settings 80 , Reserved 80 81 , Download failed see specific error in EE[3] 82 , Program Is Running 83 , Command is not permitted in a program 84 , The System Is Not In Point To Point Mode 85 , STO is not active OR During STO Diagnostic 86 , PVT table is soon going to underflow 87 , Hall sensed with illegal value, may be not connected 88 , Reserved 88 89 , Reserved 89 90 , CAN state machine not ready(Obj 0x6041 in DS402) 91 , Bad PVT Head Pointer 92 , PDO not configured 93 , There is a wrong initiation value for this command 94 , Not allowed while Error mapping (PC[1]) is in progress 95 , ER[3] Too large for modulo setting applied 96 , User program time out 97 , RS232 receive buffer overflow 98 , Current offsets are beyond the allowed limit 99 , The sensor does not support this command 100 , The requested PWM multiplication value is not supported 101 , Absolute encoder setting problem 102 , Output Compare (OC[1] \ OC[21]) or Emulation (EA[1]) are busy 103 , Output Compare Sensor Is Not QUAD Enc 104 , Output Compare Table Length OR Data 105 , Speed loop KP out of range 106 , Position loop KP out of range 107 , Encoder emulation parameter (EA[2] to EA[7]) is out of range 108 , Encoder emulation (EA[1]) is already in progress 109 , unused 110 , Number exceeds the integer range 111 , KV vector is invalid 112 , KV defines scheduled block but scheduling is off 113 , Exp task queue is full 114 , Exp task queue is empty 115 , Exp output queue is full 116 , Exp output queue is empty 117 , Bad KV setting for sensor filter 118 , Bad KV setting 119 , Analog Sensor filter out of range 120 , Analog Sensor filter may contain 0 or 2 blocks 121 , Please wait until Analog Sensor initialized 122 , Motion mode is not supported or with initialization conflict 123 , Profiler queue is full 124 , unused 125 , Personality not loaded 126 , User Program failed - variable out of program size 127 , Modulo range must be positive 128 , Bad variable index in database - internal compiler error 129 , Variable is not an array 130 , Variable name does not exist 131 , Cannot record local variable 132 , Variable is an array 133 , Number of function input arguments is not as expected 134 , Cannot run local label/function with xq command 135 , Frequency identification failed 136 , A float value is not a number 137 , Program already compiled 138 , Position Interpolation buffer underflow 139 , The number of break points exceeds maximal number 140 , An attempt to set/clear break point at the not relevant line 141 , Boot Identity parameters section is not clear 142 , Checksum of data is not correct 143 , Missing boot identity parameters 144 , Numeric Stack underflow 145 , Numeric stack overflow 146 , Expression stack overflow 147 , Executable command within math expression 148 , Nothing in the expression 149 , Unexpected sentence termination 150 , Sentence terminator not found 151 , Parantheses mismatch 152 , Bad operand type 153 , Overflow in a numeric operator 154 , Address is out of data memory segment 155 , Beyond stack range 156 , Bad opcode 157 , No Available program stack 158 , Out of flash memory range 159 , Flash verify error 160 , Program Aborted by another thread 161 , Program is not halted 162 , Badly formatted number 163 , Not enough space in program data segment 164 , EC command (not an error) 165 , An attempt to access flash while busy 166 , The resulted user unit position is out of modulo range (XM[] or YM[]) 167 , Infinite loop in for loop - zero step 168 , Speed too large to start motor 169 , Time out using peripheral.(overflow or busy) 170 , Cannot erase sector in flash memory 171 , Cannot read from flash memory 172 , Cannot write to flash memory 173 , Executable area of program is too large 174 , Program has not been loaded 175 , Cannot write program checksum - clear program (CP) 176 , User code,variables and functions are too large 177 , Capture/Compare conversion error in analog encoder. Require known quad location 178 , CAN bus off 179 , Consumer HB event 180 , DF is not supported in this communication type 181 , Writing to Flash program area, faild 182 , PAL Burn Is In Process or no PAL is burnt or Incompatible PAL version 183 , PAL Burn (PB Command) Is Disabled 184 , Capture option already used by other operation 185 , This element may be modified only when interpolation is not active 186 , Interpolation queue is full 187 , Incorrect Interpolation sub-mode 188 , Gantry slave disable 189 , CAN message was lost, SW buffer overflow 190 , Reserve 191 , Reserve 192 , Reserve 193 , Reserve 194 , Reserve 195 , Reserve 196 , Reserve 197 , Reserve 198 , Reserve 199 , Reserve 200 , Main feedback error. Refer to EE[1] 201 , Commutation sequense failed 202 , Encoder-Hall sensor mismatch. Refer to XP[7] 203 , Current limit was exceeded 204 , External inhibit input detected 205 , AC fail: Loss of phase 206 , Digital halls run too fast or disconnected 207 , Speed error limit exceeded. Refer to ER[2] 208 , Position limit error exceeded. Refer to ER[3] 209 , Cannot start motor . Bad data base. Refer to CD 210 , Bad ECAM table 211 , Reserve 212 , Reserve 213 , Reserve 214 , Reserve 215 , Reserve 216 , Cannot find zero position without digital halls 217 , Over speed. Refer to HL[2] 218 , Reserve 219 , Reserve 220 , Reserve 221 , Motor stack 222 , Out of position limits. Refer to HL[3], LL[3] 223 , Numerical overflow 224 , Gantry slave is not enabled 225 , Reserve 226 , Reserve 227 , Reserve 228 , Reserve 229 , Cannot start motor because of internal problem 230 , Reserve 231 , Reserve 232 , Reserve 233 , Undervoltage protection 234 , Reserve 235 , Overvoltage protection 236 , Reserve 237 , Safety switch 238 , Reserve 239 , Reserve 240 , Reserve 241 , Short protection 242 , Reserve 243 , Over temperature protection 244 , Reserve 245 , Additional inhibit input 245 , None 246 , None 247 , None 248 , None 249 , None 250 , None 251 , None 252 , None 253 , None 254 , None 255 , None 0x00000001 , Main Feedback error refer to: EE[1] 0x00000002 , Commutation sequence failed 0x00000004 , Encoder - Hall sensor mismatch refer to: XP[7] 0x00000008 , Current limit was Exceeded 0x00000010 , External inhibit input detected 0x00000020 , AC Fail: loss of phase 0x00000040 , Digital Hall run too fast or disconnected 0x00000080 , Speed error limit exceeded refer to: ER[2] 0x00000100 , Position error limit exceeded see ER[3] 0x00000200 , Reserved: Cannot start motor because of bad database refer to: EE[5] or CD 0x00000400 , Reserved: Bad ECAM table 0x00000800 , Motor Disabled due to a heartbeat violation or loss of frame 0x00001000 , Motor Disabled due to a General fault 0x00003000 , Motor disabled due to Under voltage protection 0x00005000 , Motor disabled due to Overvoltage protection 0x00007000 , Motor disabled by a Safety switch 0x0000B000 , Motor disabled due to Short protection 0x0000D000 , Motor disabled due to Over temperature protection 0x0000F000 , Motor disabled by Additional Inhibit input 0x00010000 , Reserve: Cannot find zero position without DHalls 0x00020000 , Over Speed violation refer to: HL[2] 0x00040000 , Reserve: Stack overflow 0x00080000 , Reserve: Null interrupt 0x00100000 , Reserve: Timing error 0x00200000 , Motor stuck 0x00400000 , Out of position limits refer to: HL[3] or LL[3] 0x00800000 , Numerical overflow 0x01000000 , Gantry slave is not enabled 0x02000000 , PWM Sensor input frequency is below the allowed limit 0x04000000 , Reserved 26 0x08000000 , Reserved 27 0x10000000 , Reserved: Cannot tune current offsets 0x20000000 , Cannot start motor because of internal problem 0x40000000 , Reserved 30 0x80000000 , Reserved 31