 |
ECAT_Slave_in_ПЧ2П_c402
0.8
Реализация EtherCAT Slave для CM TMS320F28388D
|
|
ECAT_Slave_in_ПЧ2П_c402
0.8
Реализация EtherCAT Slave для CM TMS320F28388D
|
CiA402 specific defines; objects; Axes structure. Подробнее...
#include "objdef.h"Структуры данных | |
| struct | OBJ_STRUCT_PACKED_START |
| 0x1600 (csp/csv RxPDO) data structure Подробнее... | |
| struct | STRUCT_PACKED_START |
| Data structure to handle the process data transmitted via 0x1A00 (csp/csv TxPDO) Подробнее... | |
| struct | TCiA402Axis |
| Data structure to handle an Cia402 axis. Подробнее... | |
Макросы | |
| #define | CONTROLWORD_COMMAND_SHUTDOWN_MASK 0x0087 |
| Shutdown command mask. Подробнее... | |
| #define | CONTROLWORD_COMMAND_SWITCHON_MASK 0x008F |
| Switch on command mask. Подробнее... | |
| #define | CONTROLWORD_COMMAND_SWITCHON_ENABLEOPERATION_MASK 0x008F |
| Switch on & Enable command mask. Подробнее... | |
| #define | CONTROLWORD_COMMAND_DISABLEVOLTAGE_MASK 0x0082 |
| Disable voltage command mask. Подробнее... | |
| #define | CONTROLWORD_COMMAND_QUICKSTOP_MASK 0x0086 |
| Quickstop command mask. Подробнее... | |
| #define | CONTROLWORD_COMMAND_DISABLEOPERATION_MASK 0x008F |
| Disable operation command mask. Подробнее... | |
| #define | CONTROLWORD_COMMAND_ENABLEOPERATION_MASK 0x008F |
| Enable operation command mask. Подробнее... | |
| #define | CONTROLWORD_COMMAND_FAULTRESET_MASK 0x0080 |
| Fault reset command mask. Подробнее... | |
| #define | CONTROLWORD_COMMAND_SHUTDOWN 0x0006 |
| Shutdown command. Подробнее... | |
| #define | CONTROLWORD_COMMAND_SWITCHON 0x0007 |
| Switch on command. Подробнее... | |
| #define | CONTROLWORD_COMMAND_SWITCHON_ENABLEOPERATION 0x000F |
| Switch on & Enable command. Подробнее... | |
| #define | CONTROLWORD_COMMAND_DISABLEVOLTAGE 0x0000 |
| Disable voltage command. Подробнее... | |
| #define | CONTROLWORD_COMMAND_QUICKSTOP 0x0002 |
| Quickstop command. Подробнее... | |
| #define | CONTROLWORD_COMMAND_DISABLEOPERATION 0x0007 |
| Disable operation command. Подробнее... | |
| #define | CONTROLWORD_COMMAND_ENABLEOPERATION 0x000F |
| Enable operation command. Подробнее... | |
| #define | CONTROLWORD_COMMAND_FAULTRESET 0x0080 |
| Fault reset command. Подробнее... | |
| #define | STATUSWORD_STATE_MASK 0x006F |
| State mask. Подробнее... | |
| #define | STATUSWORD_VOLTAGE_ENABLED 0x0010 |
| Indicate high voltage enabled. Подробнее... | |
| #define | STATUSWORD_WARNING 0x0080 |
| Warning active. Подробнее... | |
| #define | STATUSWORD_MANUFACTORSPECIFIC 0x0100 |
| Manufacturer specific. Подробнее... | |
| #define | STATUSWORD_INTERNAL_LIMIT 0x0800 |
| Internal limit. Подробнее... | |
| #define | STATUSWORD_REMOTE 0x0200 |
| Set if the control word is processed. Подробнее... | |
| #define | STATUSWORD_TARGET_REACHED 0x0400 |
| Target reached. Подробнее... | |
| #define | STATUSWORD_INTERNALLIMITACTIVE 0x0800 |
| Internal limit active. Подробнее... | |
| #define | STATUSWORD_DRIVE_FOLLOWS_COMMAND 0x1000 |
| Drive follows command (used in cyclic synchronous modes) Подробнее... | |
| #define | STATUSWORD_STATE_NOTREADYTOSWITCHON 0x0000 |
| Not ready to switch on. Подробнее... | |
| #define | STATUSWORD_STATE_SWITCHEDONDISABLED 0x0040 |
| Switched on but disabled. Подробнее... | |
| #define | STATUSWORD_STATE_READYTOSWITCHON 0x0021 |
| Ready to switch on. Подробнее... | |
| #define | STATUSWORD_STATE_SWITCHEDON 0x0023 |
| Switched on. Подробнее... | |
| #define | STATUSWORD_STATE_OPERATIONENABLED 0x0027 |
| Operation enabled. Подробнее... | |
| #define | STATUSWORD_STATE_QUICKSTOPACTIVE 0x0007 |
| Quickstop active. Подробнее... | |
| #define | STATUSWORD_STATE_FAULTREACTIONACTIVE 0x000F |
| Fault reaction active. Подробнее... | |
| #define | STATUSWORD_STATE_FAULT 0x0008 |
| Fault state. Подробнее... | |
| #define | STATE_NOT_READY_TO_SWITCH_ON 0x0001 |
| Not ready to switch on (optional) Подробнее... | |
| #define | STATE_SWITCH_ON_DISABLED 0x0002 |
| Switch on but disabled (optional) Подробнее... | |
| #define | STATE_READY_TO_SWITCH_ON 0x0004 |
| Ready to switch on (mandatory) Подробнее... | |
| #define | STATE_SWITCHED_ON 0x0008 |
| Switch on (mandatory) Подробнее... | |
| #define | STATE_OPERATION_ENABLED 0x0010 |
| Operation enabled (mandatory) Подробнее... | |
| #define | STATE_QUICK_STOP_ACTIVE 0x0020 |
| Quick stop active (optional) Подробнее... | |
| #define | STATE_FAULT_REACTION_ACTIVE 0x0040 |
| Fault reaction active (mandatory) Подробнее... | |
| #define | STATE_FAULT 0x0080 |
| Fault state (mandatory) Подробнее... | |
| #define | NO_MODE 0 |
| No mode. Подробнее... | |
| #define | PROFILE_POSITION_MODE 1 |
| Position Profile mode. Подробнее... | |
| #define | VELOCITY_MODE 2 |
| Velocity mode. Подробнее... | |
| #define | PROFILE_VELOCITY_MOCE 3 |
| Velocity Profile mode. Подробнее... | |
| #define | PROFILE_TORQUE_MODE 4 |
| Torque Profile mode. Подробнее... | |
| #define | HOMING_MODE 6 |
| Homing mode. Подробнее... | |
| #define | INTERPOLATION_POSITION_MODE 7 |
| Interpolation Position mode. Подробнее... | |
| #define | CYCLIC_SYNC_POSITION_MODE 8 |
| Cyclic Synchronous Position mode. Подробнее... | |
| #define | CYCLIC_SYNC_VELOCITY_MODE 9 |
| Cyclic Synchronous Velocity mode. Подробнее... | |
| #define | CYCLIC_SYNC_TORQUE_MODE 10 |
| Cyclic Synchronous Torque mode. Подробнее... | |
| #define | ERROR_SHORT_CIRCUIT_EARTH_LEAKAGE_INPUT 0x2110 |
| Short circuit/earth leakage (input) Подробнее... | |
| #define | ERROR_EARTH_LEAKAGE_INPUT 0x2120 |
| Earth leakage (input) Подробнее... | |
| #define | ERROR_EARTH_LEAKAGE_PHASE_L1 0x2121 |
| Earth leakage phase L1. Подробнее... | |
| #define | ERROR_EARTH_LEAKAGE_PHASE_L2 0x2122 |
| Earth leakage phase L2. Подробнее... | |
| #define | ERROR_EARTH_LEAKAGE_PHASE_L3 0x2123 |
| Earth leakage phase L3. Подробнее... | |
| #define | ERROR_SHORT_CIRCUIT_INPUT 0x2130 |
| Short circuit (input) Подробнее... | |
| #define | ERROR_SHORT_CIRCUIT_PHASES_L1_L2 0x2131 |
| Short circuit phases L1-L2. Подробнее... | |
| #define | ERROR_SHORT_CIRCUIT_PHASES_L2_L3 0x2132 |
| Short circuit phases L2-L3. Подробнее... | |
| #define | ERROR_SHORT_CIRCUIT_PHASES_L3_L1 0x2133 |
| Short circuit phases L3-L1. Подробнее... | |
| #define | ERROR_INTERNAL_CURRENT_NO1 0x2211 |
| Internal current no 1. Подробнее... | |
| #define | ERROR_INTERNAL_CURRENT_NO2 0x2212 |
| Internal current no 2. Подробнее... | |
| #define | ERROR_OVER_CURRENT_IN_RAMP_FUNCTION 0x2213 |
| Over-current in ramp function. Подробнее... | |
| #define | ERROR_OVER_CURRENT_IN_THE_SEQUENCE 0x2214 |
| Over-current in the sequence. Подробнее... | |
| #define | ERROR_CONTINUOUS_OVER_CURRENT_DEVICE_INTERNAL 0x2220 |
| Continuous over current (device internal) Подробнее... | |
| #define | ERROR_CONTINUOUS_OVER_CURRENT_DEVICE_INTERNAL_NO1 0x2221 |
| Continuous over current no 1. Подробнее... | |
| #define | ERROR_CONTINUOUS_OVER_CURRENT_DEVICE_INTERNAL_NO2 0x2222 |
| Continuous over current no 2. Подробнее... | |
| #define | ERROR_SHORT_CIRCUIT_EARTH_LEAKAGE_DEVICE_INTERNAL 0x2230 |
| Short circuit/earth leakage (device internal) Подробнее... | |
| #define | ERROR_EARTH_LEAKAGE_DEVICE_INTERNAL 0x2240 |
| Earth leakage (device internal) Подробнее... | |
| #define | ERROR_SHORT_CIRCUIT_DEVICE_INTERNAL 0x2250 |
| Short circuit (device internal) Подробнее... | |
| #define | ERROR_CONTINUOUS_OVER_CURRENT 0x2310 |
| Continuous over current. Подробнее... | |
| #define | ERROR_CONTINUOUS_OVER_CURRENT_NO1 0x2311 |
| Continuous over current no 1. Подробнее... | |
| #define | ERROR_CONTINUOUS_OVER_CURRENT_NO2 0x2312 |
| Continuous over current no 2. Подробнее... | |
| #define | ERROR_SHORT_CIRCUIT_EARTH_LEAKAGE_MOTOR_SIDE 0x2320 |
| Short circuit/earth leakage (motor-side) Подробнее... | |
| #define | ERROR_EARTH_LEAKAGE_MOTOR_SIDE 0x2330 |
| Earth leakage (motor-side) Подробнее... | |
| #define | ERROR_EARTH_LEAKAGE_PHASE_U 0x2331 |
| Earth leakage phase U. Подробнее... | |
| #define | ERROR_EARTH_LEAKAGE_PHASE_V 0x2332 |
| Earth leakage phase V. Подробнее... | |
| #define | ERROR_EARTH_LEAKAGE_PHASE_W 0x2333 |
| Earth leakage phase W. Подробнее... | |
| #define | ERROR_SHORT_CIRCUIT_MOTOR_SIDE 0x2340 |
| Short circuit (motor-side) Подробнее... | |
| #define | ERROR_SHORT_CIRCUIT_PHASES_U_V 0x2341 |
| Short circuit phases U-V. Подробнее... | |
| #define | ERROR_EARTH_LEAKAGE_PHASE_V_W 0x2342 |
| Earth leakage phase V-W. Подробнее... | |
| #define | ERROR_EARTH_LEAKAGE_PHASE_W_U 0x2343 |
| Earth leakage phase W-U. Подробнее... | |
| #define | ERROR_LOAD_LEVEL_FAULT_I2T_THERMAL_STATE 0x2350 |
| Load level fault (I2t, thermal state) Подробнее... | |
| #define | ERROR_LOAD_LEVEL_WARNING_I2T_THERMAL_STATE 0x2351 |
| Load level warning (I2t, thermal state) Подробнее... | |
| #define | ERROR_MAINS_OVER_VOLTAGE 0x3110 |
| Mains over-voltage. Подробнее... | |
| #define | ERROR_MAINS_OVER_VOLTAGE_PHASE_L1 0x3111 |
| Mains over-voltage phase L1. Подробнее... | |
| #define | ERROR_MAINS_OVER_VOLTAGE_PHASE_L2 0x3112 |
| Mains over-voltage phase L2. Подробнее... | |
| #define | ERROR_MAINS_OVER_VOLTAGE_PHASE_L3 0x3113 |
| Mains over-voltage phase L3. Подробнее... | |
| #define | ERROR_MAINS_UNDER_VOLTAGE 0x3120 |
| Mains under-voltage. Подробнее... | |
| #define | ERROR_MAINS_UNDER_VOLTAGE_PHASE_L1 0x3121 |
| Mains under-voltage phase L1. Подробнее... | |
| #define | ERROR_MAINS_UNDER_VOLTAGE_PHASE_L2 0x3122 |
| Mains under-voltage phase L2. Подробнее... | |
| #define | ERROR_MAINS_UNDER_VOLTAGE_PHASE_L3 0x3123 |
| Mains under-voltage phase L3. Подробнее... | |
| #define | ERROR_PHASE_FAILURE 0x3130 |
| Phase failure. Подробнее... | |
| #define | ERROR_PHASE_FAILURE_L1 0x3131 |
| Phase failure L1. Подробнее... | |
| #define | ERROR_PHASE_FAILURE_L2 0x3132 |
| Phase failure L2. Подробнее... | |
| #define | ERROR_PHASE_FAILURE_L3 0x3133 |
| Phase failure L3. Подробнее... | |
| #define | ERROR_PHASE_SEQUENCE 0x3134 |
| Phase sequence. Подробнее... | |
| #define | ERROR_MAINS_FREQUENCY 0x3140 |
| Mains frequency. Подробнее... | |
| #define | ERROR_MAINS_FREQUENCY_TOO_GREAT 0x3141 |
| Mains frequency too great. Подробнее... | |
| #define | ERROR_MAINS_FREQUENCY_TOO_SMALL 0x3142 |
| Mains frequency too small. Подробнее... | |
| #define | ERROR_DC_LINK_OVER_VOLTAGE 0x3210 |
| DC link over-voltage. Подробнее... | |
| #define | ERROR_OVER_VOLTAGE_NO_1 0x3211 |
| Over-voltage no 1. Подробнее... | |
| #define | ERROR_OVER_VOLTAGE_NO_2 0x3212 |
| Over voltage no 2. Подробнее... | |
| #define | ERROR_DC_LINK_UNDER_VOLTAGE 0x3220 |
| DC link under-voltage. Подробнее... | |
| #define | ERROR_UNDER_VOLTAGE_NO_1 0x3221 |
| Under-voltage no 1. Подробнее... | |
| #define | ERROR_UNDER_VOLTAGE_NO_2 0x3222 |
| Under-voltage no 2. Подробнее... | |
| #define | ERROR_LOAD_ERROR 0x3230 |
| Load error. Подробнее... | |
| #define | ERROR_OUTPUT_OVER_VOLTAGE 0x3310 |
| Output over-voltage. Подробнее... | |
| #define | ERROR_OUTPUT_OVER_VOLTAGE_PHASE_U 0x3311 |
| Output over-voltage phase U. Подробнее... | |
| #define | ERROR_OUTPUT_OVER_VOLTAGE_PHASE_V 0x3312 |
| Output over-voltage phase V. Подробнее... | |
| #define | ERROR_OUTPUT_OVER_VOLTAGE_PHASE_W 0x3313 |
| Output over-voltage phase W. Подробнее... | |
| #define | ERROR_ARMATURE_CIRCUIT 0x3320 |
| Armature circuit. Подробнее... | |
| #define | ERROR_ARMATURE_CIRCUIT_INTERRUPTED 0x3321 |
| Armature circuit interrupted. Подробнее... | |
| #define | ERROR_FIELD_CIRCUIT 0x3330 |
| Field circuit error. Подробнее... | |
| #define | ERROR_FIELD_CIRCUIT_INTERRUPTED 0x3331 |
| Field circuit interrupted. Подробнее... | |
| #define | ERROR_EXCESS_AMBIENT_TEMPERATURE 0x4110 |
| Excess ambient temperature. Подробнее... | |
| #define | ERROR_TOO_LOW_AMBIENT_TEMPERATURE 0x4120 |
| Too low ambient temperature. Подробнее... | |
| #define | ERROR_TEMPERATURE_SUPPLY_AIR 0x4130 |
| Temperature supply air. Подробнее... | |
| #define | ERROR_TEMPERATURE_AIR_OUTLET 0x4140 |
| Temperature air outlet. Подробнее... | |
| #define | ERROR_EXCESS_TEMPERATURE_DEVICE 0x4210 |
| Excess temperature device. Подробнее... | |
| #define | ERROR_TOO_LOW_TEMPERATURE_DEVICE 0x4220 |
| Too low temperature device. Подробнее... | |
| #define | ERROR_TEMPERATURE_DRIVE 0x4300 |
| Temperature drive error. Подробнее... | |
| #define | ERROR_EXCESS_TEMPERATURE_DRIVE 0x4310 |
| Excess temperature drive error. Подробнее... | |
| #define | ERROR_TOO_LOW_TEMPERATURE_DRIVE 0x4320 |
| Too low temperature drive error. Подробнее... | |
| #define | ERROR_TEMPERATURE_SUPPLY 0x4400 |
| Temperature supply error. Подробнее... | |
| #define | ERROR_EXCESS_TEMPERATURE_SUPPLY 0x4410 |
| Excess temperature supply. Подробнее... | |
| #define | ERROR_TOO_LOW_TEMPERATURE_SUPPLY 0x4420 |
| Too low temperature supply. Подробнее... | |
| #define | ERROR_SUPPLY_ERROR 0x5100 |
| Supply error. Подробнее... | |
| #define | ERROR_SUPPLY_LOW_VOLTAGE 0x5110 |
| Supply low voltage. Подробнее... | |
| #define | ERROR_U1_SUPPLY_15V 0x5111 |
| U1 = supply +15V/-15V. Подробнее... | |
| #define | ERROR_U2_SUPPLY_24_V 0x5112 |
| U2 = supply +24 V. Подробнее... | |
| #define | ERROR_U3_SUPPLY_5_V 0x5113 |
| U3 = supply +5 V. Подробнее... | |
| #define | ERROR_U4_MANUFACTURER_SPECIFIC 0x5114 |
| U4 = manufacturer-specific error. Подробнее... | |
| #define | ERROR_U5_MANUFACTURER_SPECIFIC 0x5115 |
| U5 = manufacturer-specific error. Подробнее... | |
| #define | ERROR_U6_MANUFACTURER_SPECIFIC 0x5116 |
| U6 = manufacturer-specific error. Подробнее... | |
| #define | ERROR_U7_MANUFACTURER_SPECIFIC 0x5117 |
| U7 = manufacturer-specific error. Подробнее... | |
| #define | ERROR_U8_MANUFACTURER_SPECIFIC 0x5118 |
| U8 = manufacturer-specific error. Подробнее... | |
| #define | ERROR_U9_MANUFACTURER_SPECIFIC 0x5119 |
| U9 = manufacturer-specific error. Подробнее... | |
| #define | ERROR_SUPPLY_INTERMEDIATE_CIRCUIT 0x5120 |
| Supply intermediate circuit. Подробнее... | |
| #define | ERROR_CONTROL_MEASUREMENT_CIRCUIT 0x5210 |
| Measurement circuit. Подробнее... | |
| #define | ERROR_CONTROL_COMPUTING_CIRCUIT 0x5220 |
| Computing circuit. Подробнее... | |
| #define | ERROR_OPERATING_UNIT 0x5300 |
| Operating unit error. Подробнее... | |
| #define | ERROR_POWER_SECTION 0x5400 |
| Power section error. Подробнее... | |
| #define | ERROR_OUTPUT_STAGES 0x5410 |
| Output stages error. Подробнее... | |
| #define | ERROR_CHOPPER 0x5420 |
| Chopper error. Подробнее... | |
| #define | ERROR_INPUT_STAGES 0x5430 |
| Input stages error. Подробнее... | |
| #define | ERROR_CONTACTS_ERROR 0x5440 |
| Contacts error. Подробнее... | |
| #define | ERROR_CONTACT_1_MANUFACTURER_SPECIFIC 0x5441 |
| Contact 1 = manufacturer-specific error. Подробнее... | |
| #define | ERROR_CONTACT_2_MANUFACTURER_SPECIFIC 0x5442 |
| Contact 2 = manufacturer-specific error. Подробнее... | |
| #define | ERROR_CONTACT_3_MANUFACTURER_SPECIFIC 0x5443 |
| Contact 3 = manufacturer-specific error. Подробнее... | |
| #define | ERROR_CONTACT_4_MANUFACTURER_SPECIFIC 0x5444 |
| Contact 4 = manufacturer-specific error. Подробнее... | |
| #define | ERROR_CONTACT_5_MANUFACTURER_SPECIFIC 0x5445 |
| Contact 5 = manufacturer-specific error. Подробнее... | |
| #define | ERROR_FUSES_ERROR 0x5450 |
| Fuses error. Подробнее... | |
| #define | ERROR_S1_L1 0x5451 |
| S1 = l1 error. Подробнее... | |
| #define | ERROR_S2_L2 0x5452 |
| S2 = l2 error. Подробнее... | |
| #define | ERROR_S3_L3 0x5453 |
| S3 = l3 error. Подробнее... | |
| #define | ERROR_S4_MANUFACTURER_SPECIFIC 0x5454 |
| S4 = manufacturer-specific error. Подробнее... | |
| #define | ERROR_S5_MANUFACTURER_SPECIFIC 0x5455 |
| S5 = manufacturer-specific error. Подробнее... | |
| #define | ERROR_S6_MANUFACTURER_SPECIFIC 0x5456 |
| S6 = manufacturer-specific error. Подробнее... | |
| #define | ERROR_S7_MANUFACTURER_SPECIFIC 0x5457 |
| S7 = manufacturer-specific error. Подробнее... | |
| #define | ERROR_S8_MANUFACTURER_SPECIFIC 0x5458 |
| S8 = manufacturer-specific error. Подробнее... | |
| #define | ERROR_S9_MANUFACTURER_SPECIFIC 0x5459 |
| S9 = manufacturer-specific error. Подробнее... | |
| #define | ERROR_HARDWARE_MEMORY 0x5500 |
| Hardware memory error. Подробнее... | |
| #define | ERROR_RAM 0x5510 |
| RAM error. Подробнее... | |
| #define | ERROR_ROM_EPROM 0x5520 |
| ROM/EPROM error. Подробнее... | |
| #define | ERROR_EEPROM 0x5530 |
| EEPROM error. Подробнее... | |
| #define | ERROR_SOFTWARE_RESET_WATCHDOG 0x6010 |
| Software reset (watchdog) Подробнее... | |
| #define | ERROR_LOSS_OF_PARAMETERS 0x6310 |
| Loss of parameters. Подробнее... | |
| #define | ERROR_PARAMETER_ERROR 0x6320 |
| Parameter error. Подробнее... | |
| #define | ERROR_POWER_ERROR 0x7100 |
| Power error. Подробнее... | |
| #define | ERROR_BRAKE_CHOPPER 0x7110 |
| Brake chopper. Подробнее... | |
| #define | ERROR_FAILURE_BRAKE_CHOPPER 0x7111 |
| Failure brake chopper. Подробнее... | |
| #define | ERROR_OVER_CURRENT_BRAKE_CHOPPER 0x7112 |
| Over current brake chopper. Подробнее... | |
| #define | ERROR_PROTECTIVE_CIRCUIT_BRAKE_CHOPPER 0x7113 |
| Protective circuit brake chopper error. Подробнее... | |
| #define | ERROR_MOTOR_ERROR 0x7120 |
| Motor error. Подробнее... | |
| #define | ERROR_MOTOR_BLOCKED 0x7121 |
| Motor blocked error. Подробнее... | |
| #define | ERROR_MOTOR_ERROR_OR_COMMUTATION_MALFUNC 0x7122 |
| Motor error or commutation malfunc. Подробнее... | |
| #define | ERROR_MOTOR_TILTED 0x7123 |
| Motor tilted. Подробнее... | |
| #define | ERROR_MEASUREMENT_CIRCUIT 0x7200 |
| Measurement circuit. Подробнее... | |
| #define | ERROR_SENSOR_ERROR 0x7300 |
| Sensor error. Подробнее... | |
| #define | ERROR_TACHO_FAULT 0x7301 |
| Tacho fault. Подробнее... | |
| #define | ERROR_TACHO_WRONG_POLARITY 0x7302 |
| Tacho wrong polarity. Подробнее... | |
| #define | ERROR_RESOLVER_1_FAULT 0x7303 |
| Resolver 1 fault. Подробнее... | |
| #define | ERROR_RESOLVER_2_FAULT 0x7304 |
| Resolver 2 fault. Подробнее... | |
| #define | ERROR_INCREMENTAL_SENSOR_1_FAULT 0x7305 |
| Incremental sensor 1 fault. Подробнее... | |
| #define | ERROR_INCREMENTAL_SENSOR_2_FAULT 0x7306 |
| Incremental sensor 2 fault. Подробнее... | |
| #define | ERROR_INCREMENTAL_SENSOR_3_FAULT 0x7307 |
| Incremental sensor 3 fault. Подробнее... | |
| #define | ERROR_SPEED 0x7310 |
| Speed error. Подробнее... | |
| #define | ERROR_POSITION 0x7320 |
| Position error. Подробнее... | |
| #define | ERROR_COMPUTATION_CIRCUIT 0x7400 |
| Computation circuit. Подробнее... | |
| #define | ERROR_COMMUNICATION 0x7500 |
| Communication error. Подробнее... | |
| #define | ERROR_SERIAL_INTERFACE_NO_1 0x7510 |
| Serial interface no 1 error. Подробнее... | |
| #define | ERROR_SERIAL_INTERFACE_NO_2 0x7520 |
| Serial interface no 2 error. Подробнее... | |
| #define | ERROR_DATA_STORAGE_EXTERNAL 0x7600 |
| Data storage (external) error. Подробнее... | |
| #define | ERROR_TORQUE_CONTROL 0x8300 |
| Torque control error. Подробнее... | |
| #define | ERROR_EXCESS_TORQUE 0x8311 |
| Excess torque error. Подробнее... | |
| #define | ERROR_DIFFICULT_START_UP 0x8312 |
| Difficult start up error. Подробнее... | |
| #define | ERROR_STANDSTILL_TORQUE 0x8313 |
| Standstill torque error. Подробнее... | |
| #define | ERROR_INSUFFICIENT_TORQUE 0x8321 |
| Insufficient torque error. Подробнее... | |
| #define | ERROR_TORQUE_FAULT 0x8331 |
| Torque fault. Подробнее... | |
| #define | ERROR_VELOCITY_SPEED_CONTROLLER 0x8400 |
| Velocity speed controller. Подробнее... | |
| #define | ERROR_POSITION_CONTROLLER 0x8500 |
| Position controller. Подробнее... | |
| #define | ERROR_POSITIONING_CONTROLLER 0x8600 |
| Positioning controller. Подробнее... | |
| #define | ERROR_FOLLOWING_ERROR 0x8611 |
| Following error. Подробнее... | |
| #define | ERROR_REFERENCE_LIMIT 0x8612 |
| Reference limit. Подробнее... | |
| #define | ERROR_SYNC_CONTROLLER 0x8700 |
| Sync controller. Подробнее... | |
| #define | ERROR_WINDING_CONTROLLER 0x8800 |
| Winding controller. Подробнее... | |
| #define | ERROR_PROCESS_DATA_MONITORING 0x8900 |
| Process data monitoring. Подробнее... | |
| #define | ERROR_DECELERATION 0xF001 |
| Deceleration error. Подробнее... | |
| #define | ERROR_SUB_SYNCHRONOUS_RUN 0xF002 |
| Sub-synchronous run error. Подробнее... | |
| #define | ERROR_STROKE_OPERATION 0xF003 |
| Stroke operation error. Подробнее... | |
| #define | DISABLE_DRIVE 0 |
| Disable drive (options: 0x605B; 0x605C; 0x605E) Подробнее... | |
| #define | SLOW_DOWN_RAMP 1 |
| Slow down ramp (options: 0x605B; 0x605C; 0x605E) Подробнее... | |
| #define | QUICKSTOP_RAMP 2 |
| Quick stop ramp (options: 0x605E) Подробнее... | |
| #define | STOP_ON_CURRENT_LIMIT 3 |
| Stop on current limit (options: 0x605E) Подробнее... | |
| #define | STOP_ON_VOLTAGE_LIMIT 4 |
| Stop on voltage limit (options: 0x605E) Подробнее... | |
| #define | SLOWDOWN_RAMP_NO_TRANSIT 5 |
| Slow down on slow down ramp and stay in Quick Stop Active. Подробнее... | |
| #define | QUICKSTOP_RAMP_NO_TRANSIT 6 |
| Slow down on quick stop ramp and stay in Quick Stop Active. Подробнее... | |
| #define | CURRENT_LIMIT_NO_TRANSIT 7 |
| Slow down on current limit and stay in Quick Stop Active. Подробнее... | |
| #define | VOLTAGE_LIMIT_NO_TRANSIT 8 |
| Slow down on voltage limit and stay in Quick Stop Active. Подробнее... | |
| #define | MAX_AXES 2 |
| Number of supported axes. Подробнее... | |
| #define | CSV_CSP_MODULE_ID 0x00119800 |
| Module Id for cyclic synchronous position/velocity mode (dynamic switching supported) Подробнее... | |
| #define | CSP_MODULE_ID 0x00219800 |
| Module Id for cyclic synchronous position mode. Подробнее... | |
| #define | CSV_MODULE_ID 0x00319800 |
| Module Id for cyclic synchronous velocity mode. Подробнее... | |
| #define | CIA402_OBJECTS_SIZE SIZEOF(CiA402Objects) |
| Size of CiA402 object structure. Подробнее... | |
| #define | PROTO extern |
Определения типов | |
| typedef struct OBJ_STRUCT_PACKED_START | TOBJ1600 |
| 0x1600 (csp/csv RxPDO) data structure Подробнее... | |
| typedef struct OBJ_STRUCT_PACKED_START | TOBJ1601 |
| 0x1601 (csp RxPDO) data structure Подробнее... | |
| typedef struct OBJ_STRUCT_PACKED_START | TOBJ1602 |
| 0x1602 (csv RxPDO) data structure Подробнее... | |
| typedef struct OBJ_STRUCT_PACKED_START | TOBJ1A00 |
| 0x1A00 (csp/csv TxPDO) data structure Подробнее... | |
| typedef struct OBJ_STRUCT_PACKED_START | TOBJ1A01 |
| 0x1A01 (csp TxPDO) data structure Подробнее... | |
| typedef struct OBJ_STRUCT_PACKED_START | TOBJ1A02 |
| 0x1A02 (csv TxPDO) data structure Подробнее... | |
| typedef struct OBJ_STRUCT_PACKED_START | TOBJ1C12 |
| 0x1C12 (SyncManager 2 assignment) data structure Подробнее... | |
| typedef struct OBJ_STRUCT_PACKED_START | TOBJ1C13 |
| 0x1C13 (SyncManager 3 assignment) data structure Подробнее... | |
| typedef struct OBJ_STRUCT_PACKED_START | TOBJ607D |
| 0x607D (Software Position Limit) data structure Подробнее... | |
| typedef struct OBJ_STRUCT_PACKED_START | TOBJ60C2 |
| Object 0x60C2 (Interpolation Time Period) data structure. Подробнее... | |
| typedef struct OBJ_STRUCT_PACKED_START | TOBJF000 |
| 0xF000 (Modular Device Profile) data structure Подробнее... | |
| typedef struct OBJ_STRUCT_PACKED_START | TOBJF010 |
| 0xF010 (Module Profile List) data structure Подробнее... | |
| typedef struct OBJ_STRUCT_PACKED_START | TOBJF030 |
| 0xF030 (Configured Modules Ident List) data structure Подробнее... | |
| typedef struct OBJ_STRUCT_PACKED_START | TOBJF050 |
| 0xF050 (Detected Modules Ident List) data structure Подробнее... | |
| typedef struct STRUCT_PACKED_START | TCiA402PDO1A00 |
| Data structure to handle the process data transmitted via 0x1A00 (csp/csv TxPDO) Подробнее... | |
| typedef struct STRUCT_PACKED_START | TCiA402PDO1A01 |
| Data structure to handle the process data transmitted via 0x1A01 (csp TxPDO) Подробнее... | |
| typedef struct STRUCT_PACKED_START | TCiA402PDO1A02 |
| Data structure to handle the process data transmitted via 0x1A02 (csv TxPDO) Подробнее... | |
| typedef struct STRUCT_PACKED_START | TCiA402PDO1600 |
| Data structure to handle the process data transmitted via 0x1600 (csp/csv RxPDO) Подробнее... | |
| typedef struct STRUCT_PACKED_START | TCiA402PDO1601 |
| Data structure to handle the process data transmitted via 0x1601 (csp RxPDO) Подробнее... | |
| typedef struct STRUCT_PACKED_START | TCiA402PDO1602 |
| Data structure to handle the process data transmitted via 0x1602 (csv RxPDO) Подробнее... | |
| typedef struct OBJ_STRUCT_PACKED_START | CiA402Objects |
| Data structure to handle the axis specific object data. Подробнее... | |
| typedef struct TCiA402Axis * | pTCiA402Axis |
Функции | |
| PROTO UINT8 | Write0xF030 (UINT16 index, UINT8 subindex, UINT32 dataSize, UINT16 MBXMEM *pData, UINT8 bCompleteAccess) |
| This function writes "Configured Modules" Object 0xF030. Подробнее... | |
| void | APPL_Application (void) |
| This function will called from the synchronisation ISR or from the mainloop if no synchronisation is supported. Подробнее... | |
| PROTO void | APPL_AckErrorInd (UINT16 stateTrans) |
| The function is called when an error state was acknowledged by the master. Подробнее... | |
| PROTO UINT16 | APPL_StartMailboxHandler (void) |
| The function is called in the state transition from INIT to PREOP when all general settings were checked to start the mailbox handler. This function informs the application about the state transition, the application can refuse the state transition when returning an AL Status error code. The return code NOERROR_INWORK can be used, if the application cannot confirm the state transition immediately, in that case this function will be called cyclically until a value unequal NOERROR_INWORK is returned. Подробнее... | |
| PROTO UINT16 | APPL_StopMailboxHandler (void) |
| The function is called in the state transition from PREEOP to INIT to stop the mailbox handler. This functions informs the application about the state transition, the application cannot refuse the state transition. Подробнее... | |
| UINT16 | APPL_StartInputHandler (UINT16 *pIntMask) |
| The function is called in the state transition from PREOP to SAFEOP when all general settings were checked to start the input handler. This function informs the application about the state transition, the application can refuse the state transition when returning an AL Status error code. The return code NOERROR_INWORK can be used, if the application cannot confirm the state transition immediately, in that case the application need to be complete the transition by calling ECAT_StateChange. Подробнее... | |
| UINT16 | APPL_StopInputHandler (void) |
| The function is called in the state transition from SAFEOP to PREEOP to stop the input handler. This functions informs the application about the state transition, the application cannot refuse the state transition. Подробнее... | |
| UINT16 | APPL_StartOutputHandler (void) |
| The function is called in the state transition from SAFEOP to OP when all general settings were checked to start the output handler. This function informs the application about the state transition, the application can refuse the state transition when returning an AL Status error code. The return code NOERROR_INWORK can be used, if the application cannot confirm the state transition immediately, in that case the application need to be complete the transition by calling ECAT_StateChange. Подробнее... | |
| UINT16 | APPL_StopOutputHandler (void) |
| The function is called in the state transition from OP to SAFEOP to stop the output handler. This functions informs the application about the state transition, the application cannot refuse the state transition. Подробнее... | |
| UINT16 | APPL_GenerateMapping (UINT16 *pInputSize, UINT16 *pOutputSize) |
| This function calculates the process data sizes from the actual SM-PDO-Assign and PDO mapping. Подробнее... | |
| void | APPL_InputMapping (UINT16 *pData) |
| This function will copies the inputs from the local memory to the ESC memory to the hardware. Подробнее... | |
| void | APPL_OutputMapping (UINT16 *pData) |
| This function will copies the outputs from the ESC memory to the local memory to the hardware. Подробнее... | |
| void | CiA402_LocalError (UINT16 ErrorCode) |
| CiA402_LocalError. Подробнее... | |
| void | CiA402_StateMachine (void) |
| CiA402-Statemachine This function handles the state machine for devices using the CiA402 profile. called cyclic from MainLoop() All described transition numbers are referring to the document "ETG Implementation Guideline for the CiA402 Axis Profile" located on the EtherCAT.org download section. Подробнее... | |
Переменные | |
| PROTO TOBJ1C12 | sRxPDOassign |
| 0x1C12 (SyncManager 2 assignment) variable to handle object data Подробнее... | |
| PROTO TOBJ1C13 | sTxPDOassign |
| 0x1C13 (SyncManager 3 assignment) variable to handle object data Подробнее... | |
| PROTO TOBJF000 | sModulardeviceprofile |
| Object 0xF000 (Modular Device Profile) variable to handle object data. Подробнее... | |
| PROTO TOBJF010 | sModuleProfileInfo |
| Object 0xF010 (Module profile list) variable to handle object data. Подробнее... | |
| PROTO TOBJF030 | sConfiguredModuleIdentList |
| Object 0xF030 (Configured Module List) variable to handle object data. Подробнее... | |
| PROTO TOBJF050 | sDetectedModuleIdentList |
| Object 0xF050 (Detected Module List) variable to handle object data. Подробнее... | |
| PROTO CiA402Objects | DefCiA402ObjectValues |
| Axis objects default values. Подробнее... | |
| PROTO TOBJECT OBJMEM | ApplicationObjDic [] |
| Base CiA402 device object dictionary. Подробнее... | |
| PROTO TOBJECT OBJMEM | DefCiA402AxisObjDic [] |
| Object dictionary related to on CiA402 Axis. Подробнее... | |
CiA402 specific defines; objects; Axes structure.
Changes to version V5.12:
V5.13 CIA402 1: update names and pdo mapping flags according ETG.6010
Changes to version V5.11:
V5.12 CIA402 1: change define value STATUSWORD_STATE_SWITCHEDONDISABLED
V5.12 CIA402 2: update control word mask for transition 3 (Ready to switch on to Switched on)
V5.12 CiA402 3: add 16bit padding to process data of csv and csp mode
Changes to version V5.01:
V5.11 CiA402 1: "append padding byte to ""csv/csp"" process data (basic process data has odd word length), add pack directive"
V5.11 COE1: update invalid end entry in the object dictionaries (error with some compilers)
Changes to version - :
V5.01 : Start file change log
См. определение в файле cia402appl.h
1.9.1