/************************************************************************************************************************************* ** maxon motor ag, CH-6072 Sachseln ************************************************************************************************************************************** ** ** FILE: Definitions.h ** ** Summary: Functions for Linux shared library ** ** Date: 11.2018 ** Target: x86, x86_64, arm (sf,hf,aarch64) ** Devices: EPOS, EPOS2, EPOS4 ** Written by: maxon motor ag, CH-6072 Sachseln ** *************************************************************************************************************************************/ #ifndef _H_LINUX_EPOSCMD_ #define _H_LINUX_EPOSCMD_ //Communication int CreateCommunication(); int DeleteCommunication(); // Data Recorder int CreateDataRecorderCmdManager(void* KeyHandle); int DeleteDataRecorderCmdManager(); // INITIALISATION FUNCTIONS #define Initialisation_DllExport extern "C" #define HelpFunctions_DllExport extern "C" // CONFIGURATION FUNCTIONS #define Configuration_DllExport extern "C" // OPERATION FUNCTIONS #define Status_DllExport extern "C" #define StateMachine_DllExport extern "C" #define ErrorHandling_DllExport extern "C" #define MotionInfo_DllExport extern "C" #define ProfilePositionMode_DllExport extern "C" #define ProfileVelocityMode_DllExport extern "C" #define HomingMode_DllExport extern "C" #define InterpolatedPositionMode_DllExport extern "C" #define PositionMode_DllExport extern "C" #define VelocityMode_DllExport extern "C" #define CurrentMode_DllExport extern "C" #define MasterEncoderMode_DllExport extern "C" #define StepDirectionMode_DllExport extern "C" #define InputsOutputs_DllExport extern "C" // DATA RECORDING FUNCTIONS #define DataRecording_DllExport extern "C" // LOW LAYER FUNCTIONS #define CanLayer_DllExport extern "C" /************************************************************************************************************************************* * INITIALISATION FUNCTIONS *************************************************************************************************************************************/ //Communication Initialisation_DllExport void* VCS_OpenDevice(char* DeviceName, char* ProtocolStackName, char* InterfaceName, char* PortName, unsigned int* pErrorCode); Initialisation_DllExport int VCS_SetProtocolStackSettings(void* KeyHandle, unsigned int Baudrate, unsigned int Timeout, unsigned int* pErrorCode); Initialisation_DllExport int VCS_GetProtocolStackSettings(void* KeyHandle, unsigned int* pBaudrate, unsigned int* pTimeout, unsigned int* pErrorCode); Initialisation_DllExport int VCS_CloseDevice(void* KeyHandle, unsigned int* pErrorCode); Initialisation_DllExport int VCS_CloseAllDevices(unsigned int* pErrorCode); //Gateway Initialisation_DllExport int VCS_SetGatewaySettings(void* KeyHandle, unsigned int Baudrate, unsigned int* pErrorCode); Initialisation_DllExport int VCS_GetGatewaySettings(void* KeyHandle, unsigned int* pBaudrate, unsigned int* pErrorCode); //Sub device Initialisation_DllExport void* VCS_OpenSubDevice(void* DeviceHandle, char* DeviceName, char* ProtocolStackName, unsigned int* pErrorCode); Initialisation_DllExport int VCS_CloseSubDevice(void* KeyHandle, unsigned int* pErrorCode); Initialisation_DllExport int VCS_CloseAllSubDevices(void* DeviceHandle, unsigned int* pErrorCode); //Info HelpFunctions_DllExport int VCS_GetDriverInfo(char* p_pszLibraryName, unsigned short p_usMaxLibraryNameStrSize,char* p_pszLibraryVersion, unsigned short p_usMaxLibraryVersionStrSize, unsigned int* p_pErrorCode); HelpFunctions_DllExport int VCS_GetVersion(void* KeyHandle, unsigned short NodeId, unsigned short* pHardwareVersion, unsigned short* pSoftwareVersion, unsigned short* pApplicationNumber, unsigned short* pApplicationVersion, unsigned int* pErrorCode); HelpFunctions_DllExport int VCS_GetErrorInfo(unsigned int ErrorCodeValue, char* pErrorInfo, unsigned short MaxStrSize); //Advanced Functions HelpFunctions_DllExport int VCS_GetDeviceNameSelection(int StartOfSelection, char* pDeviceNameSel, unsigned short MaxStrSize, int* pEndOfSelection, unsigned int* pErrorCode); HelpFunctions_DllExport int VCS_GetProtocolStackNameSelection(char* DeviceName, int StartOfSelection, char* pProtocolStackNameSel, unsigned short MaxStrSize, int* pEndOfSelection, unsigned int* pErrorCode); HelpFunctions_DllExport int VCS_GetInterfaceNameSelection(char* DeviceName, char* ProtocolStackName, int StartOfSelection, char* pInterfaceNameSel, unsigned short MaxStrSize, int* pEndOfSelection, unsigned int* pErrorCode); HelpFunctions_DllExport int VCS_GetPortNameSelection(char* DeviceName, char* ProtocolStackName, char* InterfaceName, int StartOfSelection, char* pPortSel, unsigned short MaxStrSize, int* pEndOfSelection, unsigned int* pErrorCode); HelpFunctions_DllExport int VCS_ResetPortNameSelection(char* DeviceName, char* ProtocolStackName, char* InterfaceName, unsigned int* pErrorCode); HelpFunctions_DllExport int VCS_GetBaudrateSelection(char* DeviceName, char* ProtocolStackName, char* InterfaceName, char* PortName, int StartOfSelection, unsigned int* pBaudrateSel, int* pEndOfSelection, unsigned int* pErrorCode); HelpFunctions_DllExport int VCS_GetKeyHandle(char* DeviceName, char* ProtocolStackName, char* InterfaceName, char* PortName, void** pKeyHandle, unsigned int* pErrorCode); HelpFunctions_DllExport int VCS_GetDeviceName(void* KeyHandle, char* pDeviceName, unsigned short MaxStrSize, unsigned int* pErrorCode); HelpFunctions_DllExport int VCS_GetProtocolStackName(void* KeyHandle, char* pProtocolStackName, unsigned short MaxStrSize, unsigned int* pErrorCode); HelpFunctions_DllExport int VCS_GetInterfaceName(void* KeyHandle, char* pInterfaceName, unsigned short MaxStrSize, unsigned int* pErrorCode); HelpFunctions_DllExport int VCS_GetPortName(void* KeyHandle, char* pPortName, unsigned short MaxStrSize, unsigned int* pErrorCode); /************************************************************************************************************************************* * CONFIGURATION FUNCTIONS *************************************************************************************************************************************/ //General Configuration_DllExport int VCS_SetObject(void* KeyHandle, unsigned short NodeId, unsigned short ObjectIndex, unsigned char ObjectSubIndex, void* pData, unsigned int NbOfBytesToWrite, unsigned int* pNbOfBytesWritten, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetObject(void* KeyHandle, unsigned short NodeId, unsigned short ObjectIndex, unsigned char ObjectSubIndex, void* pData, unsigned int NbOfBytesToRead, unsigned int* pNbOfBytesRead, unsigned int* pErrorCode); Configuration_DllExport int VCS_Restore(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); Configuration_DllExport int VCS_Store(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); //Advanced Functions //Motor Configuration_DllExport int VCS_SetMotorType(void* KeyHandle, unsigned short NodeId, unsigned short MotorType, unsigned int* pErrorCode); Configuration_DllExport int VCS_SetDcMotorParameter(void* KeyHandle, unsigned short NodeId, unsigned short NominalCurrent, unsigned short MaxOutputCurrent, unsigned short ThermalTimeConstant, unsigned int* pErrorCode); Configuration_DllExport int VCS_SetDcMotorParameterEx(void* KeyHandle, unsigned short NodeId, unsigned int NominalCurrent, unsigned int MaxOutputCurrent, unsigned short ThermalTimeConstant, unsigned int* pErrorCode); Configuration_DllExport int VCS_SetEcMotorParameter(void* KeyHandle, unsigned short NodeId, unsigned short NominalCurrent, unsigned short MaxOutputCurrent, unsigned short ThermalTimeConstant, unsigned char NbOfPolePairs, unsigned int* pErrorCode); Configuration_DllExport int VCS_SetEcMotorParameterEx(void* KeyHandle, unsigned short NodeId, unsigned int NominalCurrent, unsigned int MaxOutputCurrent, unsigned short ThermalTimeConstant, unsigned char NbOfPolePairs, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetMotorType(void* KeyHandle, unsigned short NodeId, unsigned short* pMotorType, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetDcMotorParameter(void* KeyHandle, unsigned short NodeId, unsigned short* pNominalCurrent, unsigned short* pMaxOutputCurrent, unsigned short* pThermalTimeConstant, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetDcMotorParameterEx(void* KeyHandle, unsigned short NodeId, unsigned int* pNominalCurrent, unsigned int* pMaxOutputCurrent, unsigned short* pThermalTimeConstant, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetEcMotorParameter(void* KeyHandle, unsigned short NodeId, unsigned short* pNominalCurrent, unsigned short* pMaxOutputCurrent, unsigned short* pThermalTimeConstant, unsigned char* pNbOfPolePairs, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetEcMotorParameterEx(void* KeyHandle, unsigned short NodeId, unsigned int* pNominalCurrent, unsigned int* pMaxOutputCurrent, unsigned short* pThermalTimeConstant, unsigned char* pNbOfPolePairs, unsigned int* pErrorCode); //Sensor Configuration_DllExport int VCS_SetSensorType(void* KeyHandle, unsigned short NodeId, unsigned short SensorType, unsigned int* pErrorCode); Configuration_DllExport int VCS_SetIncEncoderParameter(void* KeyHandle, unsigned short NodeId, unsigned int EncoderResolution, int InvertedPolarity, unsigned int* pErrorCode); Configuration_DllExport int VCS_SetHallSensorParameter(void* KeyHandle, unsigned short NodeId, int InvertedPolarity, unsigned int* pErrorCode); Configuration_DllExport int VCS_SetSsiAbsEncoderParameter(void* KeyHandle, unsigned short NodeId, unsigned short DataRate, unsigned short NbOfMultiTurnDataBits, unsigned short NbOfSingleTurnDataBits, int InvertedPolarity, unsigned int* pErrorCode); Configuration_DllExport int VCS_SetSsiAbsEncoderParameterEx(void* KeyHandle, unsigned short NodeId, unsigned short DataRate, unsigned short NbOfMultiTurnDataBits, unsigned short NbOfSingleTurnDataBits, unsigned short NbOfSpecialDataBits, int InvertedPolarity, unsigned short Timeout, unsigned short PowerupTime, unsigned int* pErrorCode); Configuration_DllExport int VCS_SetSsiAbsEncoderParameterEx2(void* KeyHandle, unsigned short NodeId, unsigned short DataRate, unsigned short NbOfSpecialDataBitsLeading, unsigned short NbOfMultiTurnDataBits, unsigned short NbOfMultiTurnPositionBits, unsigned short NbOfSingleTurnDataBits, unsigned short NbOfSingleTurnPositionBits, unsigned short NbOfSpecialDataBitsTrailing, int InvertedPolarity, unsigned short Timeout, unsigned short PowerupTime, int CheckFrame, int ReferenceReset, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetSensorType(void* KeyHandle, unsigned short NodeId, unsigned short* pSensorType, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetIncEncoderParameter(void* KeyHandle, unsigned short NodeId, unsigned int* pEncoderResolution, int* pInvertedPolarity, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetHallSensorParameter(void* KeyHandle, unsigned short NodeId, int* pInvertedPolarity, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetSsiAbsEncoderParameter(void* KeyHandle, unsigned short NodeId, unsigned short* pDataRate, unsigned short* pNbOfMultiTurnDataBits, unsigned short* pNbOfSingleTurnDataBits, int* pInvertedPolarity, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetSsiAbsEncoderParameterEx(void* KeyHandle, unsigned short NodeId, unsigned short* pDataRate, unsigned short* pNbOfMultiTurnDataBits, unsigned short* pNbOfSingleTurnDataBits, unsigned short* pNbOfSpecialDataBits, int* pInvertedPolarity, unsigned short* pTimeout, unsigned short* pPowerupTime, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetSsiAbsEncoderParameterEx2(void* KeyHandle, unsigned short NodeId, unsigned short* pDataRate, unsigned short* pNbOfSpecialDataBitsLeading, unsigned short* pNbOfMultiTurnDataBits, unsigned short* pNbOfMultiTurnPositionBits, unsigned short* pNbOfSingleTurnDataBits, unsigned short* pNbOfSingleTurnPositionBits, unsigned short* pNbOfSpecialDataBitsTrailing, int* pInvertedPolarity, unsigned short* pTimeout, unsigned short* pPowerupTime, int* pCheckFrame, int* pReferenceReset, unsigned int* pErrorCode); //Safety Configuration_DllExport int VCS_SetMaxFollowingError(void* KeyHandle, unsigned short NodeId, unsigned int MaxFollowingError, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetMaxFollowingError(void* KeyHandle, unsigned short NodeId, unsigned int* pMaxFollowingError, unsigned int* pErrorCode); Configuration_DllExport int VCS_SetMaxProfileVelocity(void* KeyHandle, unsigned short NodeId, unsigned int MaxProfileVelocity, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetMaxProfileVelocity(void* KeyHandle, unsigned short NodeId, unsigned int* pMaxProfileVelocity, unsigned int* pErrorCode); Configuration_DllExport int VCS_SetMaxAcceleration(void* KeyHandle, unsigned short NodeId, unsigned int MaxAcceleration, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetMaxAcceleration(void* KeyHandle, unsigned short NodeId, unsigned int* pMaxAcceleration, unsigned int* pErrorCode); //Controller Gains Configuration_DllExport int VCS_SetControllerGain(void* KeyHandle, unsigned short NodeId, unsigned short EController, unsigned short EGain, unsigned long long Value, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetControllerGain(void* KeyHandle, unsigned short NodeId, unsigned short EController, unsigned short EGain, unsigned long long* pValue, unsigned int* pErrorCode); //Inputs/Outputs Configuration_DllExport int VCS_DigitalInputConfiguration(void* KeyHandle, unsigned short NodeId, unsigned short DigitalInputNb, unsigned short Configuration, int Mask, int Polarity, int ExecutionMask, unsigned int* pErrorCode); Configuration_DllExport int VCS_DigitalOutputConfiguration(void* KeyHandle, unsigned short NodeId, unsigned short DigitalOutputNb, unsigned short Configuration, int State, int Mask, int Polarity, unsigned int* pErrorCode); Configuration_DllExport int VCS_AnalogInputConfiguration(void* KeyHandle, unsigned short NodeId, unsigned short AnalogInputNb, unsigned short Configuration, int ExecutionMask, unsigned int* pErrorCode); Configuration_DllExport int VCS_AnalogOutputConfiguration(void* KeyHandle, unsigned short NodeId, unsigned short AnalogOutputNb, unsigned short Configuration, unsigned int* pErrorCode); //Units Configuration_DllExport int VCS_SetVelocityUnits(void* KeyHandle, unsigned short NodeId, unsigned char VelDimension, signed char VelNotation, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetVelocityUnits(void* KeyHandle, unsigned short NodeId, unsigned char* pVelDimension, char* pVelNotation, unsigned int* pErrorCode); //Compatibility Functions (do not use) Configuration_DllExport int VCS_SetPositionRegulatorGain(void* KeyHandle, unsigned short NodeId, unsigned short P, unsigned short I, unsigned short D, unsigned int* pErrorCode); Configuration_DllExport int VCS_SetPositionRegulatorFeedForward(void* KeyHandle, unsigned short NodeId, unsigned short VelocityFeedForward, unsigned short AccelerationFeedForward, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetPositionRegulatorGain(void* KeyHandle, unsigned short NodeId, unsigned short* pP, unsigned short* pI, unsigned short* pD, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetPositionRegulatorFeedForward(void* KeyHandle, unsigned short NodeId, unsigned short* pVelocityFeedForward, unsigned short* pAccelerationFeedForward, unsigned int* pErrorCode); Configuration_DllExport int VCS_SetVelocityRegulatorGain(void* KeyHandle, unsigned short NodeId, unsigned short P, unsigned short I, unsigned int* pErrorCode); Configuration_DllExport int VCS_SetVelocityRegulatorFeedForward(void* KeyHandle, unsigned short NodeId, unsigned short VelocityFeedForward, unsigned short AccelerationFeedForward, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetVelocityRegulatorGain(void* KeyHandle, unsigned short NodeId, unsigned short* pP, unsigned short* pI, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetVelocityRegulatorFeedForward(void* KeyHandle, unsigned short NodeId, unsigned short* pVelocityFeedForward, unsigned short* pAccelerationFeedForward, unsigned int* pErrorCode); Configuration_DllExport int VCS_SetCurrentRegulatorGain(void* KeyHandle, unsigned short NodeId, unsigned short P, unsigned short I, unsigned int* pErrorCode); Configuration_DllExport int VCS_GetCurrentRegulatorGain(void* KeyHandle, unsigned short NodeId, unsigned short* pP, unsigned short* pI, unsigned int* pErrorCode); /************************************************************************************************************************************* * OPERATION FUNCTIONS *************************************************************************************************************************************/ //OperationMode Status_DllExport int VCS_SetOperationMode(void* KeyHandle, unsigned short NodeId, char OperationMode, unsigned int* pErrorCode); Status_DllExport int VCS_GetOperationMode(void* KeyHandle, unsigned short NodeId, char* pOperationMode, unsigned int* pErrorCode); //StateMachine StateMachine_DllExport int VCS_ResetDevice(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); StateMachine_DllExport int VCS_SetState(void* KeyHandle, unsigned short NodeId, unsigned short State, unsigned int* pErrorCode); StateMachine_DllExport int VCS_SetEnableState(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); StateMachine_DllExport int VCS_SetDisableState(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); StateMachine_DllExport int VCS_SetQuickStopState(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); StateMachine_DllExport int VCS_ClearFault(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); StateMachine_DllExport int VCS_GetState(void* KeyHandle, unsigned short NodeId, unsigned short* pState, unsigned int* pErrorCode); StateMachine_DllExport int VCS_GetEnableState(void* KeyHandle, unsigned short NodeId, int* pIsEnabled, unsigned int* pErrorCode); StateMachine_DllExport int VCS_GetDisableState(void* KeyHandle, unsigned short NodeId, int* pIsDisabled, unsigned int* pErrorCode); StateMachine_DllExport int VCS_GetQuickStopState(void* KeyHandle, unsigned short NodeId, int* pIsQuickStopped, unsigned int* pErrorCode); StateMachine_DllExport int VCS_GetFaultState(void* KeyHandle, unsigned short NodeId, int* pIsInFault, unsigned int* pErrorCode); //ErrorHandling ErrorHandling_DllExport int VCS_GetNbOfDeviceError(void* KeyHandle, unsigned short NodeId, unsigned char *pNbDeviceError, unsigned int *pErrorCode); ErrorHandling_DllExport int VCS_GetDeviceErrorCode(void* KeyHandle, unsigned short NodeId, unsigned char DeviceErrorNumber, unsigned int *pDeviceErrorCode, unsigned int *pErrorCode); //Motion Info MotionInfo_DllExport int VCS_GetMovementState(void* KeyHandle, unsigned short NodeId, int* pTargetReached, unsigned int* pErrorCode); MotionInfo_DllExport int VCS_GetPositionIs(void* KeyHandle, unsigned short NodeId, int* pPositionIs, unsigned int* pErrorCode); MotionInfo_DllExport int VCS_GetVelocityIs(void* KeyHandle, unsigned short NodeId, int* pVelocityIs, unsigned int* pErrorCode); MotionInfo_DllExport int VCS_GetVelocityIsAveraged(void* KeyHandle, unsigned short NodeId, int* pVelocityIsAveraged, unsigned int* pErrorCode); MotionInfo_DllExport int VCS_GetCurrentIs(void* KeyHandle, unsigned short NodeId, short* pCurrentIs, unsigned int* pErrorCode); MotionInfo_DllExport int VCS_GetCurrentIsEx(void* KeyHandle, unsigned short NodeId, int* pCurrentIs, unsigned int* pErrorCode); MotionInfo_DllExport int VCS_GetCurrentIsAveraged(void* KeyHandle, unsigned short NodeId, short* pCurrentIsAveraged, unsigned int* pErrorCode); MotionInfo_DllExport int VCS_GetCurrentIsAveragedEx(void* KeyHandle, unsigned short NodeId, int* pCurrentIsAveraged, unsigned int* pErrorCode); MotionInfo_DllExport int VCS_WaitForTargetReached(void* KeyHandle, unsigned short NodeId, unsigned int Timeout, unsigned int* pErrorCode); //Profile Position Mode ProfilePositionMode_DllExport int VCS_ActivateProfilePositionMode(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); ProfilePositionMode_DllExport int VCS_SetPositionProfile(void* KeyHandle, unsigned short NodeId, unsigned int ProfileVelocity, unsigned int ProfileAcceleration, unsigned int ProfileDeceleration, unsigned int* pErrorCode); ProfilePositionMode_DllExport int VCS_GetPositionProfile(void* KeyHandle, unsigned short NodeId, unsigned int* pProfileVelocity, unsigned int* pProfileAcceleration, unsigned int* pProfileDeceleration, unsigned int* pErrorCode); ProfilePositionMode_DllExport int VCS_MoveToPosition(void* KeyHandle, unsigned short NodeId, long TargetPosition, int Absolute, int Immediately, unsigned int* pErrorCode); ProfilePositionMode_DllExport int VCS_GetTargetPosition(void* KeyHandle, unsigned short NodeId, long* pTargetPosition, unsigned int* pErrorCode); ProfilePositionMode_DllExport int VCS_HaltPositionMovement(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); //Advanced Functions ProfilePositionMode_DllExport int VCS_EnablePositionWindow(void* KeyHandle, unsigned short NodeId, unsigned int PositionWindow, unsigned short PositionWindowTime, unsigned int* pErrorCode); ProfilePositionMode_DllExport int VCS_DisablePositionWindow(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); //Profile Velocity Mode ProfileVelocityMode_DllExport int VCS_ActivateProfileVelocityMode(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); ProfileVelocityMode_DllExport int VCS_SetVelocityProfile(void* KeyHandle, unsigned short NodeId, unsigned int ProfileAcceleration, unsigned int ProfileDeceleration, unsigned int* pErrorCode); ProfileVelocityMode_DllExport int VCS_GetVelocityProfile(void* KeyHandle, unsigned short NodeId, unsigned int* pProfileAcceleration, unsigned int* pProfileDeceleration, unsigned int* pErrorCode); ProfileVelocityMode_DllExport int VCS_MoveWithVelocity(void* KeyHandle, unsigned short NodeId, long TargetVelocity, unsigned int* pErrorCode); ProfileVelocityMode_DllExport int VCS_GetTargetVelocity(void* KeyHandle, unsigned short NodeId, long* pTargetVelocity, unsigned int* pErrorCode); ProfileVelocityMode_DllExport int VCS_HaltVelocityMovement(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); //Advanced Functions ProfileVelocityMode_DllExport int VCS_EnableVelocityWindow(void* KeyHandle, unsigned short NodeId, unsigned int VelocityWindow, unsigned short VelocityWindowTime, unsigned int* pErrorCode); ProfileVelocityMode_DllExport int VCS_DisableVelocityWindow(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); //Homing Mode HomingMode_DllExport int VCS_ActivateHomingMode(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); HomingMode_DllExport int VCS_SetHomingParameter(void* KeyHandle, unsigned short NodeId, unsigned int HomingAcceleration, unsigned int SpeedSwitch, unsigned int SpeedIndex, int HomeOffset, unsigned short CurrentThreshold, int HomePosition, unsigned int* pErrorCode); HomingMode_DllExport int VCS_GetHomingParameter(void* KeyHandle, unsigned short NodeId, unsigned int* pHomingAcceleration, unsigned int* pSpeedSwitch, unsigned int* pSpeedIndex, int* pHomeOffset, unsigned short* pCurrentThreshold, int* pHomePosition, unsigned int* pErrorCode); HomingMode_DllExport int VCS_FindHome(void* KeyHandle, unsigned short NodeId, signed char HomingMethod, unsigned int* pErrorCode); HomingMode_DllExport int VCS_StopHoming(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); HomingMode_DllExport int VCS_DefinePosition(void* KeyHandle, unsigned short NodeId, int HomePosition, unsigned int* pErrorCode); HomingMode_DllExport int VCS_WaitForHomingAttained(void* KeyHandle, unsigned short NodeId, int Timeout, unsigned int* pErrorCode); HomingMode_DllExport int VCS_GetHomingState(void* KeyHandle, unsigned short NodeId, int* pHomingAttained, int* pHomingError, unsigned int* pErrorCode); //Interpolated Position Mode InterpolatedPositionMode_DllExport int VCS_ActivateInterpolatedPositionMode(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); InterpolatedPositionMode_DllExport int VCS_SetIpmBufferParameter(void* KeyHandle, unsigned short NodeId, unsigned short UnderflowWarningLimit, unsigned short OverflowWarningLimit, unsigned int* pErrorCode); InterpolatedPositionMode_DllExport int VCS_GetIpmBufferParameter(void* KeyHandle, unsigned short NodeId, unsigned short* pUnderflowWarningLimit, unsigned short* pOverflowWarningLimit, unsigned int* pMaxBufferSize, unsigned int* pErrorCode); InterpolatedPositionMode_DllExport int VCS_ClearIpmBuffer(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); InterpolatedPositionMode_DllExport int VCS_GetFreeIpmBufferSize(void* KeyHandle, unsigned short NodeId, unsigned int* pBufferSize, unsigned int* pErrorCode); InterpolatedPositionMode_DllExport int VCS_AddPvtValueToIpmBuffer(void* KeyHandle, unsigned short NodeId, long Position, long Velocity, unsigned char Time, unsigned int* pErrorCode); InterpolatedPositionMode_DllExport int VCS_StartIpmTrajectory(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); InterpolatedPositionMode_DllExport int VCS_StopIpmTrajectory(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); InterpolatedPositionMode_DllExport int VCS_GetIpmStatus(void* KeyHandle, unsigned short NodeId, int* pTrajectoryRunning, int* pIsUnderflowWarning, int* pIsOverflowWarning, int* pIsVelocityWarning, int* pIsAccelerationWarning, int* pIsUnderflowError, int* pIsOverflowError, int* pIsVelocityError, int* pIsAccelerationError, unsigned int* pErrorCode); //Position Mode PositionMode_DllExport int VCS_ActivatePositionMode(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); PositionMode_DllExport int VCS_SetPositionMust(void* KeyHandle, unsigned short NodeId, long PositionMust, unsigned int* pErrorCode); PositionMode_DllExport int VCS_GetPositionMust(void* KeyHandle, unsigned short NodeId, long* pPositionMust, unsigned int* pErrorCode); //Advanced Functions PositionMode_DllExport int VCS_ActivateAnalogPositionSetpoint(void* KeyHandle, unsigned short NodeId, unsigned short AnalogInputNumber, float Scaling, long Offset, unsigned int* pErrorCode); PositionMode_DllExport int VCS_DeactivateAnalogPositionSetpoint(void* KeyHandle, unsigned short NodeId, unsigned short AnalogInputNumber, unsigned int* pErrorCode); PositionMode_DllExport int VCS_EnableAnalogPositionSetpoint(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); PositionMode_DllExport int VCS_DisableAnalogPositionSetpoint(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); //Velocity Mode VelocityMode_DllExport int VCS_ActivateVelocityMode(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); VelocityMode_DllExport int VCS_SetVelocityMust(void* KeyHandle, unsigned short NodeId, long VelocityMust, unsigned int* pErrorCode); VelocityMode_DllExport int VCS_GetVelocityMust(void* KeyHandle, unsigned short NodeId, long* pVelocityMust, unsigned int* pErrorCode); //Advanced Functions VelocityMode_DllExport int VCS_ActivateAnalogVelocitySetpoint(void* KeyHandle, unsigned short NodeId, unsigned short AnalogInputNumber, float Scaling, long Offset, unsigned int* pErrorCode); VelocityMode_DllExport int VCS_DeactivateAnalogVelocitySetpoint(void* KeyHandle, unsigned short NodeId, unsigned short AnalogInputNumber, unsigned int* pErrorCode); VelocityMode_DllExport int VCS_EnableAnalogVelocitySetpoint(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); VelocityMode_DllExport int VCS_DisableAnalogVelocitySetpoint(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); //Current Mode CurrentMode_DllExport int VCS_ActivateCurrentMode(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); CurrentMode_DllExport int VCS_SetCurrentMust(void* KeyHandle, unsigned short NodeId, short CurrentMust, unsigned int* pErrorCode); CurrentMode_DllExport int VCS_SetCurrentMustEx(void* KeyHandle, unsigned short NodeId, int CurrentMust, unsigned int* pErrorCode); CurrentMode_DllExport int VCS_GetCurrentMust(void* KeyHandle, unsigned short NodeId, short* pCurrentMust, unsigned int* pErrorCode); CurrentMode_DllExport int VCS_GetCurrentMustEx(void* KeyHandle, unsigned short NodeId, int* pCurrentMust, unsigned int* pErrorCode); //Advanced Functions CurrentMode_DllExport int VCS_ActivateAnalogCurrentSetpoint(void* KeyHandle, unsigned short NodeId, unsigned short AnalogInputNumber, float Scaling, short Offset, unsigned int* pErrorCode); CurrentMode_DllExport int VCS_DeactivateAnalogCurrentSetpoint(void* KeyHandle, unsigned short NodeId, unsigned short AnalogInputNumber, unsigned int* pErrorCode); CurrentMode_DllExport int VCS_EnableAnalogCurrentSetpoint(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); CurrentMode_DllExport int VCS_DisableAnalogCurrentSetpoint(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); //MasterEncoder Mode MasterEncoderMode_DllExport int VCS_ActivateMasterEncoderMode(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); MasterEncoderMode_DllExport int VCS_SetMasterEncoderParameter(void* KeyHandle, unsigned short NodeId, unsigned short ScalingNumerator, unsigned short ScalingDenominator, unsigned char Polarity, unsigned int MaxVelocity, unsigned int MaxAcceleration, unsigned int* pErrorCode); MasterEncoderMode_DllExport int VCS_GetMasterEncoderParameter(void* KeyHandle, unsigned short NodeId, unsigned short* pScalingNumerator, unsigned short* pScalingDenominator, unsigned char* pPolarity, unsigned int* pMaxVelocity, unsigned int* pMaxAcceleration, unsigned int* pErrorCode); //StepDirection Mode StepDirectionMode_DllExport int VCS_ActivateStepDirectionMode(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); StepDirectionMode_DllExport int VCS_SetStepDirectionParameter(void* KeyHandle, unsigned short NodeId, unsigned short ScalingNumerator, unsigned short ScalingDenominator, unsigned char Polarity, unsigned int MaxVelocity, unsigned int MaxAcceleration, unsigned int* pErrorCode); StepDirectionMode_DllExport int VCS_GetStepDirectionParameter(void* KeyHandle, unsigned short NodeId, unsigned short* pScalingNumerator, unsigned short* pScalingDenominator, unsigned char* pPolarity, unsigned int* pMaxVelocity, unsigned int* pMaxAcceleration, unsigned int* pErrorCode); //Inputs Outputs //General InputsOutputs_DllExport int VCS_GetAllDigitalInputs(void* KeyHandle, unsigned short NodeId, unsigned short* pInputs, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_GetAllDigitalOutputs(void* KeyHandle, unsigned short NodeId, unsigned short* pOutputs, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_SetAllDigitalOutputs(void* KeyHandle, unsigned short NodeId, unsigned short Outputs, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_GetAnalogInput(void* KeyHandle, unsigned short NodeId, unsigned short InputNumber, unsigned short* pAnalogValue, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_GetAnalogInputVoltage(void* KeyHandle, unsigned short NodeId, unsigned short InputNumber, long* pVoltageValue, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_GetAnalogInputState(void* KeyHandle, unsigned short NodeId, unsigned short Configuration, long* pStateValue, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_SetAnalogOutput(void* KeyHandle, unsigned short NodeId, unsigned short OutputNumber, unsigned short AnalogValue, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_SetAnalogOutputVoltage(void* KeyHandle, unsigned short NodeId, unsigned short OutputNumber, long VoltageValue, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_SetAnalogOutputState(void* KeyHandle, unsigned short NodeId, unsigned short Configuration, long StateValue, unsigned int* pErrorCode); //Position Compare InputsOutputs_DllExport int VCS_SetPositionCompareParameter(void* KeyHandle, unsigned short NodeId, unsigned char OperationalMode, unsigned char IntervalMode, unsigned char DirectionDependency, unsigned short IntervalWidth, unsigned short IntervalRepetitions, unsigned short PulseWidth, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_GetPositionCompareParameter(void* KeyHandle, unsigned short NodeId, unsigned char* pOperationalMode, unsigned char* pIntervalMode, unsigned char* pDirectionDependency, unsigned short* pIntervalWidth, unsigned short* pIntervalRepetitions, unsigned short* pPulseWidth, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_ActivatePositionCompare(void* KeyHandle, unsigned short NodeId, unsigned short DigitalOutputNumber, int Polarity, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_DeactivatePositionCompare(void* KeyHandle, unsigned short NodeId, unsigned short DigitalOutputNumber, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_EnablePositionCompare(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_DisablePositionCompare(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_SetPositionCompareReferencePosition(void* KeyHandle, unsigned short NodeId, long ReferencePosition, unsigned int* pErrorCode); //Position Marker InputsOutputs_DllExport int VCS_SetPositionMarkerParameter(void* KeyHandle, unsigned short NodeId, unsigned char PositionMarkerEdgeType, unsigned char PositionMarkerMode, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_GetPositionMarkerParameter(void* KeyHandle, unsigned short NodeId, unsigned char* pPositionMarkerEdgeType, unsigned char* pPositionMarkerMode, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_ActivatePositionMarker(void* KeyHandle, unsigned short NodeId, unsigned short DigitalInputNumber, int Polarity, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_DeactivatePositionMarker(void* KeyHandle, unsigned short NodeId, unsigned short DigitalInputNumber, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_ReadPositionMarkerCounter(void* KeyHandle, unsigned short NodeId, unsigned short* pCount, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_ReadPositionMarkerCapturedPosition(void* KeyHandle, unsigned short NodeId, unsigned short CounterIndex, long* pCapturedPosition, unsigned int* pErrorCode); InputsOutputs_DllExport int VCS_ResetPositionMarkerCounter(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); //******************************************************************************************************************* // DATA RECORDING FUNCTIONS //******************************************************************************************************************* //DataRecorder Setup DataRecording_DllExport int VCS_SetRecorderParameter(void* KeyHandle, unsigned short NodeId, unsigned short SamplingPeriod, unsigned short NbOfPrecedingSamples, unsigned int* pErrorCode); DataRecording_DllExport int VCS_GetRecorderParameter(void* KeyHandle, unsigned short NodeId, unsigned short* pSamplingPeriod, unsigned short* pNbOfPrecedingSamples, unsigned int* pErrorCode); DataRecording_DllExport int VCS_EnableTrigger(void* KeyHandle, unsigned short NodeId, unsigned char TriggerType, unsigned int* pErrorCode); DataRecording_DllExport int VCS_DisableAllTriggers(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); DataRecording_DllExport int VCS_ActivateChannel(void* KeyHandle, unsigned short NodeId, unsigned char ChannelNumber, unsigned short ObjectIndex, unsigned char ObjectSubIndex, unsigned char ObjectSize, unsigned int* pErrorCode); DataRecording_DllExport int VCS_DeactivateAllChannels(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); //DataRecorder Status DataRecording_DllExport int VCS_StartRecorder(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); DataRecording_DllExport int VCS_StopRecorder(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); DataRecording_DllExport int VCS_ForceTrigger(void* KeyHandle, unsigned short NodeId, unsigned int* pErrorCode); DataRecording_DllExport int VCS_IsRecorderRunning(void* KeyHandle, unsigned short NodeId, int* pRunning, unsigned int* pErrorCode); DataRecording_DllExport int VCS_IsRecorderTriggered(void* KeyHandle, unsigned short NodeId, int* pTriggered, unsigned int* pErrorCode); //DataRecorder Data DataRecording_DllExport int VCS_ReadChannelVectorSize(void* KeyHandle, unsigned short NodeId, unsigned int* pVectorSize, unsigned int* pErrorCode); DataRecording_DllExport int VCS_ReadChannelDataVector(void* KeyHandle, unsigned short NodeId, unsigned char ChannelNumber, unsigned char* pDataVectorBuffer, unsigned int VectorBufferSize, unsigned int* pErrorCode); //Advanced Functions DataRecording_DllExport int VCS_ReadDataBuffer(void* KeyHandle, unsigned short NodeId, unsigned char* pDataBuffer, unsigned int BufferSizeToRead, unsigned int* pBufferSizeRead, unsigned short* pVectorStartOffset, unsigned short* pMaxNbOfSamples, unsigned short* pNbOfRecordedSamples, unsigned int* pErrorCode); DataRecording_DllExport int VCS_ExtractChannelDataVector(void* KeyHandle, unsigned short NodeId, unsigned char ChannelNumber, unsigned char* pDataBuffer, unsigned int BufferSize, unsigned char* pDataVector, unsigned int VectorSize, unsigned short VectorStartOffset, unsigned short MaxNbOfSamples, unsigned short NbOfRecordedSamples, unsigned int* pErrorCode); /************************************************************************************************************************************* * LOW LAYER FUNCTIONS *************************************************************************************************************************************/ //CanLayer Functions CanLayer_DllExport int VCS_SendCANFrame(void* KeyHandle, unsigned short CobID, unsigned short Length, void* pData, unsigned int* pErrorCode); CanLayer_DllExport int VCS_ReadCANFrame(void* KeyHandle, unsigned short CobID, unsigned short Length, void* pData, unsigned int Timeout, unsigned int* pErrorCode); CanLayer_DllExport int VCS_RequestCANFrame(void* KeyHandle, unsigned short CobID, unsigned short Length, void* pData, unsigned int* pErrorCode); CanLayer_DllExport int VCS_SendNMTService(void* KeyHandle, unsigned short NodeId, unsigned short CommandSpecifier, unsigned int* pErrorCode); /************************************************************************************************************************************* * TYPE DEFINITIONS *************************************************************************************************************************************/ //Communication //Dialog Mode const int DM_PROGRESS_DLG = 0; const int DM_PROGRESS_AND_CONFIRM_DLG = 1; const int DM_CONFIRM_DLG = 2; const int DM_NO_DLG = 3; //Configuration //MotorType const unsigned short MT_DC_MOTOR = 1; const unsigned short MT_EC_SINUS_COMMUTATED_MOTOR = 10; const unsigned short MT_EC_BLOCK_COMMUTATED_MOTOR = 11; //SensorType const unsigned short ST_UNKNOWN = 0; const unsigned short ST_INC_ENCODER_3CHANNEL = 1; const unsigned short ST_INC_ENCODER_2CHANNEL = 2; const unsigned short ST_HALL_SENSORS = 3; const unsigned short ST_SSI_ABS_ENCODER_BINARY = 4; const unsigned short ST_SSI_ABS_ENCODER_GREY = 5; const unsigned short ST_INC_ENCODER2_3CHANNEL = 6; const unsigned short ST_INC_ENCODER2_2CHANNEL = 7; const unsigned short ST_ANALOG_INC_ENCODER_3CHANNEL = 8; const unsigned short ST_ANALOG_INC_ENCODER_2CHANNEL = 9; //In- and outputs //Digital input configuration const unsigned short DIC_NEGATIVE_LIMIT_SWITCH = 0; const unsigned short DIC_POSITIVE_LIMIT_SWITCH = 1; const unsigned short DIC_HOME_SWITCH = 2; const unsigned short DIC_POSITION_MARKER = 3; const unsigned short DIC_DRIVE_ENABLE = 4; const unsigned short DIC_QUICK_STOP = 5; const unsigned short DIC_GENERAL_PURPOSE_J = 6; const unsigned short DIC_GENERAL_PURPOSE_I = 7; const unsigned short DIC_GENERAL_PURPOSE_H = 8; const unsigned short DIC_GENERAL_PURPOSE_G = 9; const unsigned short DIC_GENERAL_PURPOSE_F = 10; const unsigned short DIC_GENERAL_PURPOSE_E = 11; const unsigned short DIC_GENERAL_PURPOSE_D = 12; const unsigned short DIC_GENERAL_PURPOSE_C = 13; const unsigned short DIC_GENERAL_PURPOSE_B = 14; const unsigned short DIC_GENERAL_PURPOSE_A = 15; //Digital output configuration const unsigned short DOC_READY_FAULT = 0; const unsigned short DOC_POSITION_COMPARE = 1; const unsigned short DOC_GENERAL_PURPOSE_H = 8; const unsigned short DOC_GENERAL_PURPOSE_G = 9; const unsigned short DOC_GENERAL_PURPOSE_F = 10; const unsigned short DOC_GENERAL_PURPOSE_E = 11; const unsigned short DOC_GENERAL_PURPOSE_D = 12; const unsigned short DOC_GENERAL_PURPOSE_C = 13; const unsigned short DOC_GENERAL_PURPOSE_B = 14; const unsigned short DOC_GENERAL_PURPOSE_A = 15; //Analog input configuration const unsigned short AIC_ANALOG_CURRENT_SETPOINT = 0; const unsigned short AIC_ANALOG_VELOCITY_SETPOINT = 1; const unsigned short AIC_ANALOG_POSITION_SETPOINT = 2; const unsigned short AIC_GENERAL_PURPOSE_H = 8; const unsigned short AIC_GENERAL_PURPOSE_G = 9; const unsigned short AIC_GENERAL_PURPOSE_F = 10; const unsigned short AIC_GENERAL_PURPOSE_E = 11; const unsigned short AIC_GENERAL_PURPOSE_D = 12; const unsigned short AIC_GENERAL_PURPOSE_C = 13; const unsigned short AIC_GENERAL_PURPOSE_B = 14; const unsigned short AIC_GENERAL_PURPOSE_A = 15; //Analog output configuration const unsigned short AOC_GENERAL_PURPOSE_A = 0; const unsigned short AOC_GENERAL_PURPOSE_B = 1; //Units //VelocityDimension const unsigned char VD_RPM = 0xA4; //VelocityNotation const signed char VN_STANDARD = 0; const signed char VN_DECI = -1; const signed char VN_CENTI = -2; const signed char VN_MILLI = -3; //Operational mode const signed char OMD_PROFILE_POSITION_MODE = 1; const signed char OMD_PROFILE_VELOCITY_MODE = 3; const signed char OMD_HOMING_MODE = 6; const signed char OMD_INTERPOLATED_POSITION_MODE = 7; const signed char OMD_POSITION_MODE = -1; const signed char OMD_VELOCITY_MODE = -2; const signed char OMD_CURRENT_MODE = -3; const signed char OMD_MASTER_ENCODER_MODE = -5; const signed char OMD_STEP_DIRECTION_MODE = -6; //States const unsigned short ST_DISABLED = 0; const unsigned short ST_ENABLED = 1; const unsigned short ST_QUICKSTOP = 2; const unsigned short ST_FAULT = 3; //Homing mode //Homing method const char HM_ACTUAL_POSITION = 35; const char HM_NEGATIVE_LIMIT_SWITCH = 17; const char HM_NEGATIVE_LIMIT_SWITCH_AND_INDEX = 1; const char HM_POSITIVE_LIMIT_SWITCH = 18; const char HM_POSITIVE_LIMIT_SWITCH_AND_INDEX = 2; const char HM_HOME_SWITCH_POSITIVE_SPEED = 23; const char HM_HOME_SWITCH_POSITIVE_SPEED_AND_INDEX = 7; const char HM_HOME_SWITCH_NEGATIVE_SPEED = 27; const char HM_HOME_SWITCH_NEGATIVE_SPEED_AND_INDEX = 11; const char HM_CURRENT_THRESHOLD_POSITIVE_SPEED = -3; const char HM_CURRENT_THRESHOLD_POSITIVE_SPEED_AND_INDEX = -1; const char HM_CURRENT_THRESHOLD_NEGATIVE_SPEED = -4; const char HM_CURRENT_THRESHOLD_NEGATIVE_SPEED_AND_INDEX = -2; const char HM_INDEX_POSITIVE_SPEED = 34; const char HM_INDEX_NEGATIVE_SPEED = 33; //Input Output PositionMarker //PositionMarkerEdgeType const unsigned char PET_BOTH_EDGES = 0; const unsigned char PET_RISING_EDGE = 1; const unsigned char PET_FALLING_EDGE = 2; //PositionMarkerMode const unsigned char PM_CONTINUOUS = 0; const unsigned char PM_SINGLE = 1; const unsigned char PM_MULTIPLE = 2; //Input Output PositionCompare //PositionCompareOperationalMode const unsigned char PCO_SINGLE_POSITION_MODE = 0; const unsigned char PCO_POSITION_SEQUENCE_MODE = 1; //PositionCompareIntervalMode const unsigned char PCI_NEGATIVE_DIR_TO_REFPOS = 0; const unsigned char PCI_POSITIVE_DIR_TO_REFPOS = 1; const unsigned char PCI_BOTH_DIR_TO_REFPOS = 2; //PositionCompareDirectionDependency const unsigned char PCD_MOTOR_DIRECTION_NEGATIVE = 0; const unsigned char PCD_MOTOR_DIRECTION_POSITIVE = 1; const unsigned char PCD_MOTOR_DIRECTION_BOTH = 2; //Data recorder //Trigger type const unsigned short DR_MOVEMENT_START_TRIGGER = 1; //bit 1 const unsigned short DR_ERROR_TRIGGER = 2; //bit 2 const unsigned short DR_DIGITAL_INPUT_TRIGGER = 4; //bit 3 const unsigned short DR_MOVEMENT_END_TRIGGER = 8; //bit 4 //CanLayer Functions const unsigned short NCS_START_REMOTE_NODE = 1; const unsigned short NCS_STOP_REMOTE_NODE = 2; const unsigned short NCS_ENTER_PRE_OPERATIONAL = 128; const unsigned short NCS_RESET_NODE = 129; const unsigned short NCS_RESET_COMMUNICATION = 130; // Controller Gains // EController const unsigned short EC_PI_CURRENT_CONTROLLER = 1; const unsigned short EC_PI_VELOCITY_CONTROLLER = 10; const unsigned short EC_PI_VELOCITY_CONTROLLER_WITH_OBSERVER = 11; const unsigned short EC_PID_POSITION_CONTROLLER = 20; const unsigned short EC_DUAL_LOOP_POSITION_CONTROLLER = 21; // EGain (EC_PI_CURRENT_CONTROLLER) const unsigned short EG_PICC_P_GAIN = 1; const unsigned short EG_PICC_I_GAIN = 2; // EGain (EC_PI_VELOCITY_CONTROLLER) const unsigned short EG_PIVC_P_GAIN = 1; const unsigned short EG_PIVC_I_GAIN = 2; const unsigned short EG_PIVC_FEED_FORWARD_VELOCITY_GAIN = 10; const unsigned short EG_PIVC_FEED_FORWARD_ACCELERATION_GAIN = 11; // EGain (EC_PI_VELOCITY_CONTROLLER_WITH_OBSERVER) const unsigned short EG_PIVCWO_P_GAIN = 1; const unsigned short EG_PIVCWO_I_GAIN = 2; const unsigned short EG_PIVCWO_FEED_FORWARD_VELOCITY_GAIN = 10; const unsigned short EG_PIVCWO_FEED_FORWARD_ACCELERATION_GAIN = 11; const unsigned short EG_PIVCWO_OBSERVER_THETA_GAIN = 20; const unsigned short EG_PIVCWO_OBSERVER_OMEGA_GAIN = 21; const unsigned short EG_PIVCWO_OBSERVER_TAU_GAIN = 22; // EGain (EC_PID_POSITION_CONTROLLER) const unsigned short EG_PIDPC_P_GAIN = 1; const unsigned short EG_PIDPC_I_GAIN = 2; const unsigned short EG_PIDPC_D_GAIN = 3; const unsigned short EG_PIDPC_FEED_FORWARD_VELOCITY_GAIN = 10; const unsigned short EG_PIDPC_FEED_FORWARD_ACCELERATION_GAIN = 11; // EGain (EC_DUAL_LOOP_POSITION_CONTROLLER) const unsigned short EG_DLPC_AUXILIARY_LOOP_P_GAIN = 1; const unsigned short EG_DLPC_AUXILIARY_LOOP_I_GAIN = 2; const unsigned short EG_DLPC_AUXILIARY_LOOP_FEED_FORWARD_VELOCITY_GAIN = 10; const unsigned short EG_DLPC_AUXILIARY_LOOP_FEED_FORWARD_ACCELERATION_GAIN = 11; const unsigned short EG_DLPC_AUXILIARY_LOOP_OBSERVER_THETA_GAIN = 20; const unsigned short EG_DLPC_AUXILIARY_LOOP_OBSERVER_OMEGA_GAIN = 21; const unsigned short EG_DLPC_AUXILIARY_LOOP_OBSERVER_TAU_GAIN = 22; const unsigned short EG_DLPC_MAIN_LOOP_P_GAIN_LOW = 101; const unsigned short EG_DLPC_MAIN_LOOP_P_GAIN_HIGH = 102; const unsigned short EG_DLPC_MAIN_LOOP_GAIN_SCHEDULING_WEIGHT = 110; const unsigned short EG_DLPC_MAIN_LOOP_FILTER_COEFFICIENT_A = 120; const unsigned short EG_DLPC_MAIN_LOOP_FILTER_COEFFICIENT_B = 121; const unsigned short EG_DLPC_MAIN_LOOP_FILTER_COEFFICIENT_C = 122; const unsigned short EG_DLPC_MAIN_LOOP_FILTER_COEFFICIENT_D = 123; const unsigned short EG_DLPC_MAIN_LOOP_FILTER_COEFFICIENT_E = 124; #endif //_H_LINUX_EPOSCMD_