Alex
9661838676
Работает. Есть CiA402, OD из SSC Tool. Автономный со своим main(). Проверялся тестами на SOEM.
1260 lines
60 KiB
C
1260 lines
60 KiB
C
/*
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* This source file is part of the EtherCAT Slave Stack Code licensed by Beckhoff Automation GmbH & Co KG, 33415 Verl, Germany.
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* The corresponding license agreement applies. This hint shall not be removed.
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* https://www.beckhoff.com/media/downloads/slave-stack-code/ethercat_ssc_license.pdf
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*/
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/**
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* \addtogroup CiA402appl CiA402 Sample Application
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* @{
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*/
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/**
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\file cia402appl.h
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\author EthercatSSC@beckhoff.com
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\brief CiA402 specific defines; objects; Axes structure
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\version 5.13
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<br>Changes to version V5.12:<br>
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V5.13 CIA402 1: update names and pdo mapping flags according ETG.6010<br>
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<br>Changes to version V5.11:<br>
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V5.12 CIA402 1: change define value STATUSWORD_STATE_SWITCHEDONDISABLED<br>
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V5.12 CIA402 2: update control word mask for transition 3 (Ready to switch on to Switched on)<br>
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V5.12 CiA402 3: add 16bit padding to process data of csv and csp mode<br>
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<br>Changes to version V5.01:<br>
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V5.11 CiA402 1: "append padding byte to ""csv/csp"" process data (basic process data has odd word length), add pack directive"<br>
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V5.11 COE1: update invalid end entry in the object dictionaries (error with some compilers)<br>
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<br>Changes to version - :<br>
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V5.01 : Start file change log
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*/
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/*-----------------------------------------------------------------------------------------
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------
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------ Includes
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------
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-----------------------------------------------------------------------------------------*/
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#include "objdef.h"
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#ifndef _CIA402_H_
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#define _CIA402_H_
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/*-----------------------------------------------------------------------------------------
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------
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------ Defines and Types
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------
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-----------------------------------------------------------------------------------------*/
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/*---------------------------------------------
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- ControlWord Commands Mask (IEC61800_184e)
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-----------------------------------------------*/
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#define CONTROLWORD_COMMAND_SHUTDOWN_MASK 0x0087 /**< \brief Shutdown command mask*/
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#define CONTROLWORD_COMMAND_SWITCHON_MASK 0x008F /**< \brief Switch on command mask*/
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#define CONTROLWORD_COMMAND_SWITCHON_ENABLEOPERATION_MASK 0x008F /**< \brief Switch on & Enable command mask*/
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#define CONTROLWORD_COMMAND_DISABLEVOLTAGE_MASK 0x0082 /**< \brief Disable voltage command mask*/
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#define CONTROLWORD_COMMAND_QUICKSTOP_MASK 0x0086 /**< \brief Quickstop command mask*/
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#define CONTROLWORD_COMMAND_DISABLEOPERATION_MASK 0x008F /**< \brief Disable operation command mask*/
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#define CONTROLWORD_COMMAND_ENABLEOPERATION_MASK 0x008F /**< \brief Enable operation command mask*/
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#define CONTROLWORD_COMMAND_FAULTRESET_MASK 0x0080 /**< \brief Fault reset command mask*/
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/*---------------------------------------------
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- ControlWord Commands (IEC61800_184e)
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-----------------------------------------------*/
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#define CONTROLWORD_COMMAND_SHUTDOWN 0x0006 /**< \brief Shutdown command*/
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#define CONTROLWORD_COMMAND_SWITCHON 0x0007 /**< \brief Switch on command*/
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#define CONTROLWORD_COMMAND_SWITCHON_ENABLEOPERATION 0x000F /**< \brief Switch on & Enable command*/
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#define CONTROLWORD_COMMAND_DISABLEVOLTAGE 0x0000 /**< \brief Disable voltage command*/
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#define CONTROLWORD_COMMAND_QUICKSTOP 0x0002 /**< \brief Quickstop command*/
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#define CONTROLWORD_COMMAND_DISABLEOPERATION 0x0007 /**< \brief Disable operation command*/
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#define CONTROLWORD_COMMAND_ENABLEOPERATION 0x000F /**< \brief Enable operation command*/
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#define CONTROLWORD_COMMAND_FAULTRESET 0x0080 /**< \brief Fault reset command*/
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/*---------------------------------------------
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- StatusWord Masks and Flags
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-----------------------------------------------*/
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#define STATUSWORD_STATE_MASK 0x006F /**< \brief State mask*/
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#define STATUSWORD_VOLTAGE_ENABLED 0x0010 /**< \brief Indicate high voltage enabled*/
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#define STATUSWORD_WARNING 0x0080 /**< \brief Warning active*/
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#define STATUSWORD_MANUFACTORSPECIFIC 0x0100 /**< \brief Manufacturer specific*/
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#define STATUSWORD_INTERNAL_LIMIT 0x0800 /**< \brief Internal limit*/
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#define STATUSWORD_REMOTE 0x0200 /**< \brief Set if the control word is processed*/
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#define STATUSWORD_TARGET_REACHED 0x0400 /**< \brief Target reached*/
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#define STATUSWORD_INTERNALLIMITACTIVE 0x0800 /**< \brief Internal limit active*/
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#define STATUSWORD_DRIVE_FOLLOWS_COMMAND 0x1000 /**< \brief Drive follows command (used in cyclic synchronous modes)*/
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/*---------------------------------------------
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- StatusWord
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-----------------------------------------------*/
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#define STATUSWORD_STATE_NOTREADYTOSWITCHON 0x0000 /**< \brief Not ready to switch on*/
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#define STATUSWORD_STATE_SWITCHEDONDISABLED 0x0040 /**< \brief Switched on but disabled*/
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#define STATUSWORD_STATE_READYTOSWITCHON 0x0021 /**< \brief Ready to switch on*/
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#define STATUSWORD_STATE_SWITCHEDON 0x0023 /**< \brief Switched on*/
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#define STATUSWORD_STATE_OPERATIONENABLED 0x0027 /**< \brief Operation enabled*/
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#define STATUSWORD_STATE_QUICKSTOPACTIVE 0x0007 /**< \brief Quickstop active*/
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#define STATUSWORD_STATE_FAULTREACTIONACTIVE 0x000F /**< \brief Fault reaction active*/
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#define STATUSWORD_STATE_FAULT 0x0008 /**< \brief Fault state*/
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/*---------------------------------------------
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- CiA402 State machine
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-----------------------------------------------*/
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#define STATE_NOT_READY_TO_SWITCH_ON 0x0001 /**< \brief Not ready to switch on (optional)*/
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#define STATE_SWITCH_ON_DISABLED 0x0002 /**< \brief Switch on but disabled (optional)*/
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#define STATE_READY_TO_SWITCH_ON 0x0004 /**< \brief Ready to switch on (mandatory)*/
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#define STATE_SWITCHED_ON 0x0008 /**< \brief Switch on (mandatory)*/
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#define STATE_OPERATION_ENABLED 0x0010 /**< \brief Operation enabled (mandatory)*/
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#define STATE_QUICK_STOP_ACTIVE 0x0020 /**< \brief Quick stop active (optional)*/
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#define STATE_FAULT_REACTION_ACTIVE 0x0040 /**< \brief Fault reaction active (mandatory)*/
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#define STATE_FAULT 0x0080 /**< \brief Fault state (mandatory)*/
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/*---------------------------------------------
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- CiA402 Modes of Operation (object 0x6060) (IEC61800_184e)
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-----------------------------------------------*/
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// -128 to -1 Manufacturer-specific operation modes
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#define NO_MODE 0 /**< \brief No mode*/
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#define PROFILE_POSITION_MODE 1 /**< \brief Position Profile mode*/
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#define VELOCITY_MODE 2 /**< \brief Velocity mode*/
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#define PROFILE_VELOCITY_MOCE 3 /**< \brief Velocity Profile mode*/
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#define PROFILE_TORQUE_MODE 4 /**< \brief Torque Profile mode*/
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//5 reserved
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#define HOMING_MODE 6 /**< \brief Homing mode*/
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#define INTERPOLATION_POSITION_MODE 7 /**< \brief Interpolation Position mode*/
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#define CYCLIC_SYNC_POSITION_MODE 8 /**< \brief Cyclic Synchronous Position mode*/
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#define CYCLIC_SYNC_VELOCITY_MODE 9 /**< \brief Cyclic Synchronous Velocity mode*/
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#define CYCLIC_SYNC_TORQUE_MODE 10/**< \brief Cyclic Synchronous Torque mode*/
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//+11 to +127 reserved
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/***************************************
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CiA402 Error Codes (object 0x603F) (IEC61800_184e)
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***************************************/
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#define ERROR_SHORT_CIRCUIT_EARTH_LEAKAGE_INPUT 0x2110 /**< \brief Short circuit/earth leakage (input)*/
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#define ERROR_EARTH_LEAKAGE_INPUT 0x2120 /**< \brief Earth leakage (input)*/
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#define ERROR_EARTH_LEAKAGE_PHASE_L1 0x2121 /**< \brief Earth leakage phase L1*/
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#define ERROR_EARTH_LEAKAGE_PHASE_L2 0x2122 /**< \brief Earth leakage phase L2*/
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#define ERROR_EARTH_LEAKAGE_PHASE_L3 0x2123 /**< \brief Earth leakage phase L3*/
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#define ERROR_SHORT_CIRCUIT_INPUT 0x2130 /**< \brief Short circuit (input)*/
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#define ERROR_SHORT_CIRCUIT_PHASES_L1_L2 0x2131 /**< \brief Short circuit phases L1-L2*/
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#define ERROR_SHORT_CIRCUIT_PHASES_L2_L3 0x2132 /**< \brief Short circuit phases L2-L3*/
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#define ERROR_SHORT_CIRCUIT_PHASES_L3_L1 0x2133 /**< \brief Short circuit phases L3-L1*/
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#define ERROR_INTERNAL_CURRENT_NO1 0x2211 /**< \brief Internal current no 1*/
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#define ERROR_INTERNAL_CURRENT_NO2 0x2212 /**< \brief Internal current no 2*/
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#define ERROR_OVER_CURRENT_IN_RAMP_FUNCTION 0x2213 /**< \brief Over-current in ramp function*/
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#define ERROR_OVER_CURRENT_IN_THE_SEQUENCE 0x2214 /**< \brief Over-current in the sequence*/
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#define ERROR_CONTINUOUS_OVER_CURRENT_DEVICE_INTERNAL 0x2220 /**< \brief Continuous over current (device internal)*/
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#define ERROR_CONTINUOUS_OVER_CURRENT_DEVICE_INTERNAL_NO1 0x2221 /**< \brief Continuous over current no 1*/
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#define ERROR_CONTINUOUS_OVER_CURRENT_DEVICE_INTERNAL_NO2 0x2222 /**< \brief Continuous over current no 2*/
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#define ERROR_SHORT_CIRCUIT_EARTH_LEAKAGE_DEVICE_INTERNAL 0x2230 /**< \brief Short circuit/earth leakage (device internal)*/
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#define ERROR_EARTH_LEAKAGE_DEVICE_INTERNAL 0x2240 /**< \brief Earth leakage (device internal)*/
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#define ERROR_SHORT_CIRCUIT_DEVICE_INTERNAL 0x2250 /**< \brief Short circuit (device internal)*/
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#define ERROR_CONTINUOUS_OVER_CURRENT 0x2310 /**< \brief Continuous over current*/
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#define ERROR_CONTINUOUS_OVER_CURRENT_NO1 0x2311 /**< \brief Continuous over current no 1*/
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#define ERROR_CONTINUOUS_OVER_CURRENT_NO2 0x2312 /**< \brief Continuous over current no 2*/
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#define ERROR_SHORT_CIRCUIT_EARTH_LEAKAGE_MOTOR_SIDE 0x2320 /**< \brief Short circuit/earth leakage (motor-side)*/
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#define ERROR_EARTH_LEAKAGE_MOTOR_SIDE 0x2330 /**< \brief Earth leakage (motor-side)*/
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#define ERROR_EARTH_LEAKAGE_PHASE_U 0x2331 /**< \brief Earth leakage phase U*/
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#define ERROR_EARTH_LEAKAGE_PHASE_V 0x2332 /**< \brief Earth leakage phase V*/
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#define ERROR_EARTH_LEAKAGE_PHASE_W 0x2333 /**< \brief Earth leakage phase W*/
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#define ERROR_SHORT_CIRCUIT_MOTOR_SIDE 0x2340 /**< \brief Short circuit (motor-side)*/
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#define ERROR_SHORT_CIRCUIT_PHASES_U_V 0x2341 /**< \brief Short circuit phases U-V*/
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#define ERROR_EARTH_LEAKAGE_PHASE_V_W 0x2342 /**< \brief Earth leakage phase V-W*/
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#define ERROR_EARTH_LEAKAGE_PHASE_W_U 0x2343 /**< \brief Earth leakage phase W-U*/
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#define ERROR_LOAD_LEVEL_FAULT_I2T_THERMAL_STATE 0x2350 /**< \brief Load level fault (I2t, thermal state)*/
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#define ERROR_LOAD_LEVEL_WARNING_I2T_THERMAL_STATE 0x2351 /**< \brief Load level warning (I2t, thermal state)*/
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#define ERROR_MAINS_OVER_VOLTAGE 0x3110 /**< \brief Mains over-voltage*/
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#define ERROR_MAINS_OVER_VOLTAGE_PHASE_L1 0x3111 /**< \brief Mains over-voltage phase L1*/
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#define ERROR_MAINS_OVER_VOLTAGE_PHASE_L2 0x3112 /**< \brief Mains over-voltage phase L2 */
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#define ERROR_MAINS_OVER_VOLTAGE_PHASE_L3 0x3113 /**< \brief Mains over-voltage phase L3*/
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#define ERROR_MAINS_UNDER_VOLTAGE 0x3120 /**< \brief Mains under-voltage*/
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#define ERROR_MAINS_UNDER_VOLTAGE_PHASE_L1 0x3121 /**< \brief Mains under-voltage phase L1*/
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#define ERROR_MAINS_UNDER_VOLTAGE_PHASE_L2 0x3122 /**< \brief Mains under-voltage phase L2*/
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#define ERROR_MAINS_UNDER_VOLTAGE_PHASE_L3 0x3123 /**< \brief Mains under-voltage phase L3*/
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#define ERROR_PHASE_FAILURE 0x3130 /**< \brief Phase failure*/
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#define ERROR_PHASE_FAILURE_L1 0x3131 /**< \brief Phase failure L1*/
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#define ERROR_PHASE_FAILURE_L2 0x3132 /**< \brief Phase failure L2*/
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#define ERROR_PHASE_FAILURE_L3 0x3133 /**< \brief Phase failure L3*/
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#define ERROR_PHASE_SEQUENCE 0x3134 /**< \brief Phase sequence*/
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#define ERROR_MAINS_FREQUENCY 0x3140 /**< \brief Mains frequency*/
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#define ERROR_MAINS_FREQUENCY_TOO_GREAT 0x3141 /**< \brief Mains frequency too great*/
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#define ERROR_MAINS_FREQUENCY_TOO_SMALL 0x3142 /**< \brief Mains frequency too small*/
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#define ERROR_DC_LINK_OVER_VOLTAGE 0x3210 /**< \brief DC link over-voltage*/
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#define ERROR_OVER_VOLTAGE_NO_1 0x3211 /**< \brief Over-voltage no 1*/
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#define ERROR_OVER_VOLTAGE_NO_2 0x3212 /**< \brief Over voltage no 2 */
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#define ERROR_DC_LINK_UNDER_VOLTAGE 0x3220 /**< \brief DC link under-voltage*/
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#define ERROR_UNDER_VOLTAGE_NO_1 0x3221 /**< \brief Under-voltage no 1*/
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#define ERROR_UNDER_VOLTAGE_NO_2 0x3222 /**< \brief Under-voltage no 2*/
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#define ERROR_LOAD_ERROR 0x3230 /**< \brief Load error*/
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#define ERROR_OUTPUT_OVER_VOLTAGE 0x3310 /**< \brief Output over-voltage*/
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#define ERROR_OUTPUT_OVER_VOLTAGE_PHASE_U 0x3311 /**< \brief Output over-voltage phase U*/
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#define ERROR_OUTPUT_OVER_VOLTAGE_PHASE_V 0x3312 /**< \brief Output over-voltage phase V*/
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#define ERROR_OUTPUT_OVER_VOLTAGE_PHASE_W 0x3313 /**< \brief Output over-voltage phase W*/
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#define ERROR_ARMATURE_CIRCUIT 0x3320 /**< \brief Armature circuit*/
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#define ERROR_ARMATURE_CIRCUIT_INTERRUPTED 0x3321 /**< \brief Armature circuit interrupted*/
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#define ERROR_FIELD_CIRCUIT 0x3330 /**< \brief Field circuit error */
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#define ERROR_FIELD_CIRCUIT_INTERRUPTED 0x3331 /**< \brief Field circuit interrupted*/
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#define ERROR_EXCESS_AMBIENT_TEMPERATURE 0x4110 /**< \brief Excess ambient temperature*/
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#define ERROR_TOO_LOW_AMBIENT_TEMPERATURE 0x4120 /**< \brief Too low ambient temperature*/
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#define ERROR_TEMPERATURE_SUPPLY_AIR 0x4130 /**< \brief Temperature supply air*/
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#define ERROR_TEMPERATURE_AIR_OUTLET 0x4140 /**< \brief Temperature air outlet*/
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#define ERROR_EXCESS_TEMPERATURE_DEVICE 0x4210 /**< \brief Excess temperature device*/
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#define ERROR_TOO_LOW_TEMPERATURE_DEVICE 0x4220 /**< \brief Too low temperature device*/
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#define ERROR_TEMPERATURE_DRIVE 0x4300 /**< \brief Temperature drive error*/
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#define ERROR_EXCESS_TEMPERATURE_DRIVE 0x4310 /**< \brief Excess temperature drive error*/
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#define ERROR_TOO_LOW_TEMPERATURE_DRIVE 0x4320 /**< \brief Too low temperature drive error*/
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#define ERROR_TEMPERATURE_SUPPLY 0x4400 /**< \brief Temperature supply error*/
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#define ERROR_EXCESS_TEMPERATURE_SUPPLY 0x4410 /**< \brief Excess temperature supply*/
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#define ERROR_TOO_LOW_TEMPERATURE_SUPPLY 0x4420 /**< \brief Too low temperature supply*/
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#define ERROR_SUPPLY_ERROR 0x5100 /**< \brief Supply error*/
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#define ERROR_SUPPLY_LOW_VOLTAGE 0x5110 /**< \brief Supply low voltage*/
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#define ERROR_U1_SUPPLY_15V 0x5111 /**< \brief U1 = supply +15V/-15V*/
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#define ERROR_U2_SUPPLY_24_V 0x5112 /**< \brief U2 = supply +24 V*/
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#define ERROR_U3_SUPPLY_5_V 0x5113 /**< \brief U3 = supply +5 V*/
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#define ERROR_U4_MANUFACTURER_SPECIFIC 0x5114 /**< \brief U4 = manufacturer-specific error*/
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#define ERROR_U5_MANUFACTURER_SPECIFIC 0x5115 /**< \brief U5 = manufacturer-specific error*/
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#define ERROR_U6_MANUFACTURER_SPECIFIC 0x5116 /**< \brief U6 = manufacturer-specific error*/
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#define ERROR_U7_MANUFACTURER_SPECIFIC 0x5117 /**< \brief U7 = manufacturer-specific error*/
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#define ERROR_U8_MANUFACTURER_SPECIFIC 0x5118 /**< \brief U8 = manufacturer-specific error*/
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#define ERROR_U9_MANUFACTURER_SPECIFIC 0x5119 /**< \brief U9 = manufacturer-specific error*/
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#define ERROR_SUPPLY_INTERMEDIATE_CIRCUIT 0x5120 /**< \brief Supply intermediate circuit*/
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//#define ERROR_CONTROL 0x5200
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#define ERROR_CONTROL_MEASUREMENT_CIRCUIT 0x5210 /**< \brief Measurement circuit*/
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#define ERROR_CONTROL_COMPUTING_CIRCUIT 0x5220 /**< \brief Computing circuit*/
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#define ERROR_OPERATING_UNIT 0x5300 /**< \brief Operating unit error*/
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#define ERROR_POWER_SECTION 0x5400 /**< \brief Power section error*/
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#define ERROR_OUTPUT_STAGES 0x5410 /**< \brief Output stages error*/
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#define ERROR_CHOPPER 0x5420 /**< \brief Chopper error*/
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#define ERROR_INPUT_STAGES 0x5430 /**< \brief Input stages error*/
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#define ERROR_CONTACTS_ERROR 0x5440 /**< \brief Contacts error*/
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#define ERROR_CONTACT_1_MANUFACTURER_SPECIFIC 0x5441 /**< \brief Contact 1 = manufacturer-specific error*/
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#define ERROR_CONTACT_2_MANUFACTURER_SPECIFIC 0x5442 /**< \brief Contact 2 = manufacturer-specific error*/
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#define ERROR_CONTACT_3_MANUFACTURER_SPECIFIC 0x5443 /**< \brief Contact 3 = manufacturer-specific error*/
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#define ERROR_CONTACT_4_MANUFACTURER_SPECIFIC 0x5444 /**< \brief Contact 4 = manufacturer-specific error*/
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#define ERROR_CONTACT_5_MANUFACTURER_SPECIFIC 0x5445 /**< \brief Contact 5 = manufacturer-specific error*/
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#define ERROR_FUSES_ERROR 0x5450 /**< \brief Fuses error*/
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#define ERROR_S1_L1 0x5451 /**< \brief S1 = l1 error*/
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#define ERROR_S2_L2 0x5452 /**< \brief S2 = l2 error*/
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#define ERROR_S3_L3 0x5453 /**< \brief S3 = l3 error*/
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#define ERROR_S4_MANUFACTURER_SPECIFIC 0x5454 /**< \brief S4 = manufacturer-specific error*/
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#define ERROR_S5_MANUFACTURER_SPECIFIC 0x5455 /**< \brief S5 = manufacturer-specific error*/
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#define ERROR_S6_MANUFACTURER_SPECIFIC 0x5456 /**< \brief S6 = manufacturer-specific error*/
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#define ERROR_S7_MANUFACTURER_SPECIFIC 0x5457 /**< \brief S7 = manufacturer-specific error*/
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#define ERROR_S8_MANUFACTURER_SPECIFIC 0x5458 /**< \brief S8 = manufacturer-specific error*/
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#define ERROR_S9_MANUFACTURER_SPECIFIC 0x5459 /**< \brief S9 = manufacturer-specific error*/
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#define ERROR_HARDWARE_MEMORY 0x5500 /**< \brief Hardware memory error*/
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#define ERROR_RAM 0x5510 /**< \brief RAM error*/
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#define ERROR_ROM_EPROM 0x5520 /**< \brief ROM/EPROM error*/
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#define ERROR_EEPROM 0x5530 /**< \brief EEPROM error*/
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#define ERROR_SOFTWARE_RESET_WATCHDOG 0x6010 /**< \brief Software reset (watchdog)*/
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//0x6301_TO_0x630F ERROR_DATA_RECORD_NO_1_TO_NO_15
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#define ERROR_LOSS_OF_PARAMETERS 0x6310 /**< \brief Loss of parameters*/
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#define ERROR_PARAMETER_ERROR 0x6320 /**< \brief Parameter error*/
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#define ERROR_POWER_ERROR 0x7100 /**< \brief Power error*/
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#define ERROR_BRAKE_CHOPPER 0x7110 /**< \brief Brake chopper*/
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#define ERROR_FAILURE_BRAKE_CHOPPER 0x7111 /**< \brief Failure brake chopper*/
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#define ERROR_OVER_CURRENT_BRAKE_CHOPPER 0x7112 /**< \brief Over current brake chopper*/
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#define ERROR_PROTECTIVE_CIRCUIT_BRAKE_CHOPPER 0x7113 /**< \brief Protective circuit brake chopper error*/
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#define ERROR_MOTOR_ERROR 0x7120 /**< \brief Motor error*/
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#define ERROR_MOTOR_BLOCKED 0x7121 /**< \brief Motor blocked error*/
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#define ERROR_MOTOR_ERROR_OR_COMMUTATION_MALFUNC 0x7122 /**< \brief Motor error or commutation malfunc */
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#define ERROR_MOTOR_TILTED 0x7123 /**< \brief Motor tilted*/
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#define ERROR_MEASUREMENT_CIRCUIT 0x7200 /**< \brief Measurement circuit*/
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#define ERROR_SENSOR_ERROR 0x7300 /**< \brief Sensor error*/
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#define ERROR_TACHO_FAULT 0x7301 /**< \brief Tacho fault*/
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#define ERROR_TACHO_WRONG_POLARITY 0x7302 /**< \brief Tacho wrong polarity*/
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#define ERROR_RESOLVER_1_FAULT 0x7303 /**< \brief Resolver 1 fault*/
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#define ERROR_RESOLVER_2_FAULT 0x7304 /**< \brief Resolver 2 fault*/
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#define ERROR_INCREMENTAL_SENSOR_1_FAULT 0x7305 /**< \brief Incremental sensor 1 fault*/
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#define ERROR_INCREMENTAL_SENSOR_2_FAULT 0x7306 /**< \brief Incremental sensor 2 fault*/
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#define ERROR_INCREMENTAL_SENSOR_3_FAULT 0x7307 /**< \brief Incremental sensor 3 fault*/
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#define ERROR_SPEED 0x7310 /**< \brief Speed error*/
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#define ERROR_POSITION 0x7320 /**< \brief Position error*/
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#define ERROR_COMPUTATION_CIRCUIT 0x7400 /**< \brief Computation circuit*/
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#define ERROR_COMMUNICATION 0x7500 /**< \brief Communication error*/
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#define ERROR_SERIAL_INTERFACE_NO_1 0x7510 /**< \brief Serial interface no 1 error*/
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#define ERROR_SERIAL_INTERFACE_NO_2 0x7520 /**< \brief Serial interface no 2 error*/
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#define ERROR_DATA_STORAGE_EXTERNAL 0x7600 /**< \brief Data storage (external) error*/
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#define ERROR_TORQUE_CONTROL 0x8300 /**< \brief Torque control error*/
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#define ERROR_EXCESS_TORQUE 0x8311 /**< \brief Excess torque error*/
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#define ERROR_DIFFICULT_START_UP 0x8312 /**< \brief Difficult start up error*/
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#define ERROR_STANDSTILL_TORQUE 0x8313 /**< \brief Standstill torque error*/
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#define ERROR_INSUFFICIENT_TORQUE 0x8321 /**< \brief Insufficient torque error*/
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#define ERROR_TORQUE_FAULT 0x8331 /**< \brief Torque fault*/
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#define ERROR_VELOCITY_SPEED_CONTROLLER 0x8400 /**< \brief Velocity speed controller*/
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#define ERROR_POSITION_CONTROLLER 0x8500 /**< \brief Position controller*/
|
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#define ERROR_POSITIONING_CONTROLLER 0x8600 /**< \brief Positioning controller*/
|
|
#define ERROR_FOLLOWING_ERROR 0x8611 /**< \brief Following error*/
|
|
#define ERROR_REFERENCE_LIMIT 0x8612 /**< \brief Reference limit*/
|
|
#define ERROR_SYNC_CONTROLLER 0x8700 /**< \brief Sync controller*/
|
|
#define ERROR_WINDING_CONTROLLER 0x8800 /**< \brief Winding controller*/
|
|
#define ERROR_PROCESS_DATA_MONITORING 0x8900 /**< \brief Process data monitoring*/
|
|
//#define ERROR_CONTROL 0x8A00
|
|
#define ERROR_DECELERATION 0xF001 /**< \brief Deceleration error*/
|
|
#define ERROR_SUB_SYNCHRONOUS_RUN 0xF002 /**< \brief Sub-synchronous run error*/
|
|
#define ERROR_STROKE_OPERATION 0xF003 /**< \brief Stroke operation error*/
|
|
//#define ERROR_CONTROL 0xF004
|
|
//0xFF00_TO_0xFFFF MANUFACTURER_SPECIFIC
|
|
|
|
|
|
/*---------------------------------------------
|
|
- CiA402 generic error option code values
|
|
Note: Not all values are valid for each error option code.
|
|
A detailed description of the option code values are listed in the specification IEC 61800-7-200
|
|
0x605B : action in state transition 8
|
|
0x605C : action in state transition 5
|
|
-----------------------------------------------*/
|
|
#define DISABLE_DRIVE 0 /**< \brief Disable drive (options: 0x605B; 0x605C; 0x605E)*/
|
|
#define SLOW_DOWN_RAMP 1 /**< \brief Slow down ramp (options: 0x605B; 0x605C; 0x605E)*/
|
|
#define QUICKSTOP_RAMP 2 /**< \brief Quick stop ramp (options: 0x605E)*/
|
|
#define STOP_ON_CURRENT_LIMIT 3 /**< \brief Stop on current limit (options: 0x605E)*/
|
|
#define STOP_ON_VOLTAGE_LIMIT 4 /**< \brief Stop on voltage limit (options: 0x605E)*/
|
|
|
|
|
|
/*---------------------------------------------
|
|
- Specific values for Quick stop option code (object 0x605A) (IEC61800_184e)
|
|
indicated the quick stop function
|
|
-----------------------------------------------*/
|
|
//-32768 to -1 MANUFACTURER_SPECIFIC
|
|
#define SLOWDOWN_RAMP_NO_TRANSIT 5 /**< \brief Slow down on slow down ramp and stay in Quick Stop Active*/
|
|
#define QUICKSTOP_RAMP_NO_TRANSIT 6 /**< \brief Slow down on quick stop ramp and stay in Quick Stop Active*/
|
|
#define CURRENT_LIMIT_NO_TRANSIT 7 /**< \brief Slow down on current limit and stay in Quick Stop Active*/
|
|
#define VOLTAGE_LIMIT_NO_TRANSIT 8 /**< \brief Slow down on voltage limit and stay in Quick Stop Active*/
|
|
//9 to 32767 RESERVED
|
|
|
|
|
|
#define MAX_AXES 2 /**< \brief Number of supported axes*/
|
|
|
|
/*ET9300 Project Handler :(#if FC1100_HW) lines 329 to 331 deleted*/
|
|
|
|
|
|
/*---------------------------------------------
|
|
- Module Identifications (each supported operation mode has a module)
|
|
-----------------------------------------------*/
|
|
#define CSV_CSP_MODULE_ID 0x00119800 /**< \brief Module Id for cyclic synchronous position/velocity mode (dynamic switching supported)*/
|
|
#define CSP_MODULE_ID 0x00219800 /**< \brief Module Id for cyclic synchronous position mode*/
|
|
#define CSV_MODULE_ID 0x00319800 /**< \brief Module Id for cyclic synchronous velocity mode*/
|
|
|
|
|
|
/**
|
|
* \addtogroup PdoMappingObjects PDO Mapping Objects
|
|
* csp/csv mode RxPDO mapping : 0x1600<br>
|
|
* csp mode RxPDO mapping : 0x1601<br>
|
|
* csv mode RxPDO mapping : 0x1602<br>
|
|
* csp/csv mode TxPDO mapping : 0x1A00<br>
|
|
* csp mode TxPDO mapping : 0x1A01<br>
|
|
* csv mode TxPDO mapping : 0x1A02
|
|
* @{
|
|
*/
|
|
/** \brief 0x1600 (csp/csv RxPDO) data structure*/
|
|
typedef struct OBJ_STRUCT_PACKED_START {
|
|
UINT16 u16SubIndex0; /**< \brief SubIndex 0*/
|
|
UINT32 aEntries[5]; /**< \brief Entry buffer*/
|
|
} OBJ_STRUCT_PACKED_END
|
|
TOBJ1600;
|
|
|
|
|
|
/** \brief 0x1601 (csp RxPDO) data structure*/
|
|
typedef struct OBJ_STRUCT_PACKED_START {
|
|
UINT16 u16SubIndex0; /**< \brief SubIndex 0*/
|
|
UINT32 aEntries[3]; /**< \brief Entry buffer*/
|
|
} OBJ_STRUCT_PACKED_END
|
|
TOBJ1601;
|
|
|
|
|
|
/** \brief 0x1602 (csv RxPDO) data structure*/
|
|
typedef struct OBJ_STRUCT_PACKED_START {
|
|
UINT16 u16SubIndex0; /**< \brief SubIndex 0*/
|
|
UINT32 aEntries[3]; /**< \brief Entry buffer*/
|
|
} OBJ_STRUCT_PACKED_END
|
|
TOBJ1602;
|
|
|
|
|
|
/** \brief 0x1A00 (csp/csv TxPDO) data structure*/
|
|
typedef struct OBJ_STRUCT_PACKED_START {
|
|
UINT16 u16SubIndex0; /**< \brief SubIndex 0*/
|
|
UINT32 aEntries[5]; /**< \brief Entry buffer*/
|
|
} OBJ_STRUCT_PACKED_END
|
|
TOBJ1A00;
|
|
|
|
|
|
/** \brief 0x1A01 (csp TxPDO) data structure*/
|
|
typedef struct OBJ_STRUCT_PACKED_START {
|
|
UINT16 u16SubIndex0; /**< \brief SubIndex 0*/
|
|
UINT32 aEntries[3]; /**< \brief Entry buffer*/
|
|
} OBJ_STRUCT_PACKED_END
|
|
TOBJ1A01;
|
|
|
|
|
|
/** \brief 0x1A02 (csv TxPDO) data structure*/
|
|
typedef struct OBJ_STRUCT_PACKED_START {
|
|
UINT16 u16SubIndex0; /**< \brief SubIndex 0*/
|
|
UINT32 aEntries[3]; /**< \brief Entry buffer*/
|
|
} OBJ_STRUCT_PACKED_END
|
|
TOBJ1A02;
|
|
/** @}*/
|
|
|
|
|
|
/**
|
|
* \addtogroup SmAssignObjects SyncManager Assignment Objects
|
|
* SyncManager 2 : 0x1C12<br>
|
|
* SyncManager 3 : 0x1C13
|
|
* @{
|
|
*/
|
|
/** \brief 0x1C12 (SyncManager 2 assignment) data structure*/
|
|
typedef struct OBJ_STRUCT_PACKED_START {
|
|
UINT16 u16SubIndex0; /**< \brief SubIndex 0*/
|
|
UINT16 aEntries[MAX_AXES]; /**< \brief Entry buffer (number of entries depends on the supported axis, each axis requires one entry)*/
|
|
} OBJ_STRUCT_PACKED_END
|
|
TOBJ1C12;
|
|
|
|
|
|
/** \brief 0x1C13 (SyncManager 3 assignment) data structure*/
|
|
typedef struct OBJ_STRUCT_PACKED_START {
|
|
UINT16 u16SubIndex0; /**< \brief SubIndex 0*/
|
|
UINT16 aEntries[MAX_AXES]; /**< \brief Entry buffer (number of entries depends on the supported axis, each axis requires one entry)*/
|
|
} OBJ_STRUCT_PACKED_END
|
|
TOBJ1C13;
|
|
/** @}*/
|
|
|
|
|
|
/**
|
|
* \addtogroup CiA402Objects CiA402 Axis Objects
|
|
* @{
|
|
*/
|
|
/** \brief 0x607D (Software Position Limit) data structure*/
|
|
typedef struct OBJ_STRUCT_PACKED_START {
|
|
UINT16 u16SubIndex0; /**< \brief SubIndex 0*/
|
|
INT32 i32MinLimit; /**< \brief Minimum limit*/
|
|
INT32 i32MaxLimit; /**< \brief Maximum limit*/
|
|
} OBJ_STRUCT_PACKED_END
|
|
TOBJ607D;
|
|
|
|
|
|
/** \brief Object 0x60C2 (Interpolation Time Period) data structure*/
|
|
typedef struct OBJ_STRUCT_PACKED_START {
|
|
UINT16 u16SubIndex0; /**< \brief SubIndex 0*/
|
|
UINT8 u8InterpolationPeriod; /**< \brief Interpolation period*/
|
|
INT8 i8InterpolationIndex; /**< \brief Interpolation index*/
|
|
} OBJ_STRUCT_PACKED_END
|
|
TOBJ60C2;
|
|
/** @}*/
|
|
|
|
|
|
/**
|
|
* \addtogroup DeviceParaObjects Device Parameter Objects
|
|
* Modular Device Profile : 0xF000<br>
|
|
* Module Profile List : 0xF010<br>
|
|
* Configured Modules Ident List : 0xF030<br>
|
|
* Detected Modules Ident List : 0xF050<br>
|
|
* @{
|
|
*/
|
|
/** \brief 0xF000 (Modular Device Profile) data structure*/
|
|
typedef struct OBJ_STRUCT_PACKED_START {
|
|
UINT16 u16SubIndex0; /**< \brief SubIndex0*/
|
|
UINT16 u16Moduleindexdistance; /**< \brief Module Index distance
|
|
*
|
|
* Index distance between two modules.<br>
|
|
* According to ETG.6010 the object index distance is 0x800*/
|
|
UINT16 u16Maximumnumberofmodules; /**< \brief Maximum number of modules*/
|
|
} OBJ_STRUCT_PACKED_END
|
|
TOBJF000;
|
|
|
|
|
|
/** \brief 0xF010 (Module Profile List) data structure*/
|
|
typedef struct OBJ_STRUCT_PACKED_START {
|
|
UINT16 u16SubIndex0; /**< \brief SubIndex0*/
|
|
UINT32 aEntries[MAX_AXES];/**< \brief Module profile information buffer
|
|
*
|
|
* Bit 00..15: Profile number of the module on position 1<br>
|
|
* Bit 16..31: Profile specific<br>
|
|
* The number of entries depends on the number of supported axes.
|
|
*/
|
|
} OBJ_STRUCT_PACKED_END
|
|
TOBJF010;
|
|
|
|
|
|
/** \brief 0xF030 (Configured Modules Ident List) data structure*/
|
|
typedef struct OBJ_STRUCT_PACKED_START {
|
|
UINT16 u16SubIndex0; /**< \brief SubIndex0*/
|
|
UINT32 aEntries[MAX_AXES];/**< \brief Module Ident List buffer
|
|
* The number of entries depends on the number of supported axes.
|
|
*/
|
|
} OBJ_STRUCT_PACKED_END
|
|
TOBJF030;
|
|
|
|
|
|
/** \brief 0xF050 (Detected Modules Ident List) data structure*/
|
|
typedef struct OBJ_STRUCT_PACKED_START {
|
|
UINT16 u16SubIndex0; /**< \brief SubIndex0*/
|
|
UINT32 aEntries[MAX_AXES];/**< \brief Module Ident List buffer
|
|
* The number of entries depends on the number of supported axes.
|
|
*/
|
|
} OBJ_STRUCT_PACKED_END
|
|
TOBJF050;
|
|
/** @}*/
|
|
|
|
|
|
/*---------------------------------------------
|
|
- Generic Axis structure
|
|
-----------------------------------------------*/
|
|
/**
|
|
* \addtogroup PDO Process Data Objects
|
|
* @{
|
|
*/
|
|
/** \brief Data structure to handle the process data transmitted via 0x1A00 (csp/csv TxPDO)*/
|
|
typedef struct STRUCT_PACKED_START
|
|
{
|
|
UINT16 ObjStatusWord; /**< \brief Status word (0x6041)*/
|
|
INT32 ObjPositionActualValue; /**< \brief Actual position (0x6064)*/
|
|
INT32 ObjVelocityActualValue; /**< \brief Actual velocity (0x606C)*/
|
|
INT16 ObjModesOfOperationDisplay; /**< \brief Current mode of operation (0x6061)*/
|
|
}STRUCT_PACKED_END
|
|
TCiA402PDO1A00;
|
|
|
|
|
|
/** \brief Data structure to handle the process data transmitted via 0x1A01 (csp TxPDO)*/
|
|
typedef struct STRUCT_PACKED_START
|
|
{
|
|
UINT16 ObjStatusWord; /**< \brief Status word (0x6041)*/
|
|
INT32 ObjPositionActualValue; /**< \brief Actual position (0x6064)*/
|
|
UINT16 Padding16Bit; /**< \brief 16bit padding*/
|
|
}STRUCT_PACKED_END
|
|
TCiA402PDO1A01;
|
|
|
|
|
|
/** \brief Data structure to handle the process data transmitted via 0x1A02 (csv TxPDO)*/
|
|
typedef struct STRUCT_PACKED_START
|
|
{
|
|
UINT16 ObjStatusWord; /**< \brief Status word (0x6041)*/
|
|
INT32 ObjPositionActualValue; /**< \brief Actual position (0x6064)*/
|
|
UINT16 Padding16Bit; /**< \brief 16bit padding*/
|
|
}STRUCT_PACKED_END
|
|
TCiA402PDO1A02;
|
|
|
|
|
|
/** \brief Data structure to handle the process data transmitted via 0x1600 (csp/csv RxPDO)*/
|
|
typedef struct STRUCT_PACKED_START
|
|
{
|
|
UINT16 ObjControlWord; /**< \brief Control word (0x6040)*/
|
|
INT32 ObjTargetPosition; /**< \brief Target position (0x607A)*/
|
|
INT32 ObjTargetVelocity; /**< \brief Target velocity (0x60FF)*/
|
|
INT16 ObjModesOfOperation; /**< \brief Mode of operation (0x6060)*/
|
|
}STRUCT_PACKED_END
|
|
TCiA402PDO1600;
|
|
|
|
|
|
/** \brief Data structure to handle the process data transmitted via 0x1601 (csp RxPDO)*/
|
|
typedef struct STRUCT_PACKED_START
|
|
{
|
|
UINT16 ObjControlWord; /**< \brief Control word (0x6040)*/
|
|
INT32 ObjTargetPosition; /**< \brief Target position (0x607A)*/
|
|
UINT16 Padding16Bit; /**< \brief 16bit padding*/
|
|
}STRUCT_PACKED_END
|
|
TCiA402PDO1601;
|
|
|
|
|
|
/** \brief Data structure to handle the process data transmitted via 0x1602 (csv RxPDO)*/
|
|
typedef struct STRUCT_PACKED_START
|
|
{
|
|
UINT16 ObjControlWord; /**< \brief Control word (0x6040)*/
|
|
INT32 ObjTargetVelocity; /**< \brief Target velocity (0x60FF)*/
|
|
UINT16 Padding16Bit; /**< \brief 16bit padding*/
|
|
}STRUCT_PACKED_END
|
|
TCiA402PDO1602;
|
|
/** @}*/
|
|
|
|
|
|
/*ET9300 Project Handler :(#if FC1100_HW) lines 573 to 575 deleted*/
|
|
|
|
/**
|
|
* \addtogroup CiA402Objects CiA402 Axis Objects
|
|
* @{
|
|
*/
|
|
/** \brief Data structure to handle the axis specific object data*/
|
|
typedef struct OBJ_STRUCT_PACKED_START
|
|
{
|
|
TOBJ1600 sRxPDOMap0; /**< \brief csv/csp RxPDO (0x1600)*/
|
|
TOBJ1601 sRxPDOMap1; /**< \brief csp RxPDO (0x1601)*/
|
|
TOBJ1602 sRxPDOMap2; /**< \brief csv RxPDO (0x1602)*/
|
|
TOBJ1A00 sTxPDOMap0; /**< \brief csv/csp TxPDO (0x1A00)*/
|
|
TOBJ1A01 sTxPDOMap1; /**< \brief csp TxPDO (0x1A01)*/
|
|
TOBJ1A02 sTxPDOMap2; /**< \brief csv TxPDO (0x1A02)*/
|
|
|
|
UINT16 objErrorCode; /**< \brief Error Code (0x603F)*/
|
|
UINT16 objControlWord; /**< \brief Control Word (0x6040)*/
|
|
UINT16 objStatusWord; /**< \brief Status Word (0x6041)*/
|
|
INT16 objQuickStopOptionCode; /**< \brief Quick Stop Option Code (0x605A)*/
|
|
INT16 objShutdownOptionCode; /**< \brief Shutdown Option Code (0x605B)*/
|
|
INT16 objDisableOperationOptionCode; /**< \brief Disable Operation Option Code (0x605C)*/
|
|
INT16 objFaultReactionCode; /**< \brief Fault Reaction Code (0x605E)*/
|
|
INT16 objModesOfOperation; /**< \brief Modes of Operation (0x6060)*/
|
|
INT16 objModesOfOperationDisplay; /**< \brief Mode of Operation Display (0x6061)*/
|
|
INT32 objPositionActualValue; /**< \brief Position Actual Value (0x6064)*/
|
|
INT32 objVelocityActualValue; /**< \brief Actual Velocity Value (0x606C)*/
|
|
INT16 objTorqueActualValue; /**< \brief Torque Actual Value (0x6077)*/
|
|
INT32 objTargetPosition; /**< \brief Target Position (0x607A)*/
|
|
TOBJ607D objSoftwarePositionLimit; /**< \brief Software Position limit (0x607D)*/
|
|
UINT32 objQuickStopDeclaration; /**< \brief Quick Stop Declaration (0x6085)*/
|
|
TOBJ60C2 objInterpolationTimePeriod; /**< \brief Interpolation Time Period (0x60C2)*/
|
|
INT32 objTargetVelocity; /**< \brief Target Velocity (0x60FF)*/
|
|
UINT32 objSupportedDriveModes; /**< \brief Supported Drive Modes (0x6502)*/
|
|
}OBJ_STRUCT_PACKED_END
|
|
CiA402Objects;
|
|
|
|
|
|
|
|
#define CIA402_OBJECTS_SIZE SIZEOF(CiA402Objects) /**< \brief Size of CiA402 object structure*/
|
|
|
|
|
|
/** \brief Data structure to handle an Cia402 axis*/
|
|
typedef struct
|
|
{
|
|
BOOL bAxisIsActive; /**< \brief Indicates if active is active*/
|
|
BOOL bBrakeApplied; /**< \brief Motor break is applied*/
|
|
BOOL bLowLevelPowerApplied; /**< \brief Low Level Power applied*/
|
|
BOOL bHighLevelPowerApplied; /**< \brief High Level Power applied*/
|
|
BOOL bAxisFunctionEnabled; /**< \brief Axis functions enabled*/
|
|
BOOL bConfigurationAllowed; /**< \brief Configuration allowed*/
|
|
|
|
UINT16 i16State; /**< \brief Axis state*/
|
|
UINT16 u16PendingOptionCode; /**< \brief Pending operation code*/
|
|
double fCurPosition; /**< \brief Current position within control loop*/
|
|
UINT32 u32CycleTime; /**< \brief Motion controller cycletime in us*/
|
|
|
|
|
|
CiA402Objects Objects; /**< \brief CiA402 Axis object variable*/
|
|
TOBJECT OBJMEM * ObjDic; /**< \brief Pointer to Axis specific object dictionary*/
|
|
}
|
|
TCiA402Axis, *pTCiA402Axis;
|
|
/** @}*/
|
|
|
|
#endif //_CIA402_H_
|
|
|
|
#ifdef _CiA402_
|
|
#define PROTO
|
|
#else
|
|
#define PROTO extern
|
|
#endif
|
|
|
|
|
|
/*---------------------------------------------
|
|
- Entry Descriptions and object names
|
|
-----------------------------------------------*/
|
|
#ifdef _CiA402_
|
|
/**
|
|
* \addtogroup SmAssignObjects SyncManager Assignment Objects
|
|
* @{
|
|
*/
|
|
|
|
/**
|
|
* \brief Entry descriptions of SyncManager assign objects
|
|
*
|
|
* SubIndex0<br>
|
|
* SubIndex1 (for all other entries the same description will be used (because the object code is ARRAY))
|
|
*/
|
|
OBJCONST TSDOINFOENTRYDESC OBJMEM asPDOAssignEntryDesc[] = {
|
|
{DEFTYPE_UNSIGNED8, 0x08, (ACCESS_READ|ACCESS_WRITE_PREOP)},
|
|
{DEFTYPE_UNSIGNED16, 0x10, (ACCESS_READ|ACCESS_WRITE_PREOP)}};
|
|
|
|
|
|
/**
|
|
* \brief Object 0x1C12 (Sync Manager 2 assign) object and entry names
|
|
*
|
|
* In this example no specific entry name is defined ("SubIndex xxx" is used)
|
|
*/
|
|
OBJCONST UCHAR OBJMEM aName0x1C12[] = "RxPDO assign";
|
|
|
|
/**
|
|
* \brief Object 0x1C13 (Sync Manager 3 assign) object and entry names
|
|
*
|
|
* In this example no specific entry name is defined ("SubIndex xxx" is used)
|
|
*/
|
|
OBJCONST UCHAR OBJMEM aName0x1C13[] = "TxPDO assign";
|
|
/** @}*/
|
|
|
|
|
|
/**
|
|
* \addtogroup PdoMappingObjects PDO Mapping Objects
|
|
* @{
|
|
*/
|
|
/**
|
|
* \brief Object 0x1600 (csp/csv RxPDO) entry descriptions
|
|
*/
|
|
OBJCONST TSDOINFOENTRYDESC OBJMEM asEntryDesc0x1600[] = {
|
|
{DEFTYPE_UNSIGNED8, 0x8, ACCESS_READ }, /* Subindex 000 */
|
|
{DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}, /* SubIndex 001*/
|
|
{DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}, /* SubIndex 002*/
|
|
{DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}, /* SubIndex 003*/
|
|
{DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}, /* SubIndex 004*/
|
|
{DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}}; /* SubIndex 005*/
|
|
|
|
|
|
/**
|
|
* \brief Object 0x1600 (csp/csv RxPDO) object and entry names
|
|
*
|
|
* In this example no specific entry name is defined ("SubIndex xxx" is used)
|
|
*/
|
|
OBJCONST UCHAR OBJMEM aName0x1600[] = "csp/csv RxPDO\000\377";
|
|
|
|
|
|
/**
|
|
* \brief Object 0x1601 (csp RxPDO) entry descriptions
|
|
*/
|
|
OBJCONST TSDOINFOENTRYDESC OBJMEM asEntryDesc0x1601[] = {
|
|
{DEFTYPE_UNSIGNED8, 0x8, ACCESS_READ }, /* Subindex 000 */
|
|
{DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}, /* SubIndex 001*/
|
|
{ DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ }, /* SubIndex 002*/
|
|
{DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}}; /* SubIndex 003*/
|
|
|
|
|
|
/**
|
|
* \brief Object 0x1601 (csp RxPDO) object and entry names
|
|
*
|
|
* In this example no specific entry name is defined ("SubIndex xxx" is used)
|
|
*/
|
|
OBJCONST UCHAR OBJMEM aName0x1601[] = "csp RxPDO\000\377";
|
|
|
|
|
|
/**
|
|
* \brief Object 0x1602 (csv RxPDO) entry descriptions
|
|
*/
|
|
OBJCONST TSDOINFOENTRYDESC OBJMEM asEntryDesc0x1602[] = {
|
|
{DEFTYPE_UNSIGNED8, 0x8, ACCESS_READ }, /* Subindex 000 */
|
|
{DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}, /* SubIndex 001*/
|
|
{ DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ }, /* SubIndex 002*/
|
|
{DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}}; /* SubIndex 003*/
|
|
|
|
|
|
/**
|
|
* \brief Object 0x1602 (csv RxPDO) object and entry names
|
|
*
|
|
* In this example no specific entry name is defined ("SubIndex xxx" is used)
|
|
*/
|
|
OBJCONST UCHAR OBJMEM aName0x1602[] = "csv RxPDO\000\377";
|
|
|
|
|
|
|
|
/**
|
|
* \brief Object 0x1A00 (csp/csv TxPDO) entry descriptions
|
|
*/
|
|
OBJCONST TSDOINFOENTRYDESC OBJMEM asEntryDesc0x1A00[] = {
|
|
{DEFTYPE_UNSIGNED8, 0x8, ACCESS_READ }, /* Subindex 000 */
|
|
{DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}, /* SubIndex 001*/
|
|
{DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}, /* SubIndex 002*/
|
|
{DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}, /* SubIndex 003*/
|
|
{DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}, /* SubIndex 004*/
|
|
{DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}}; /* SubIndex 005 */
|
|
|
|
|
|
/**
|
|
* \brief Object 0x1A00 (csp/csv TxPDO) object and entry names
|
|
*
|
|
* In this example no specific entry name is defined ("SubIndex xxx" is used)
|
|
*/
|
|
OBJCONST UCHAR OBJMEM aName0x1A00[] = "csp/csv TxPDO\000\377";
|
|
|
|
|
|
/**
|
|
* \brief Object 0x1A01 (csp RxPDO) entry descriptions
|
|
*/
|
|
OBJCONST TSDOINFOENTRYDESC OBJMEM asEntryDesc0x1A01[] = {
|
|
{DEFTYPE_UNSIGNED8, 0x8, ACCESS_READ }, /* Subindex 000 */
|
|
{DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}, /* SubIndex 001*/
|
|
{ DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ }, /* SubIndex 002*/
|
|
{DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}}; /* SubIndex 003 */
|
|
|
|
|
|
/**
|
|
* \brief Object 0x1A01 (csp TxPDO) object and entry names
|
|
*
|
|
* In this example no specific entry name is defined ("SubIndex xxx" is used)
|
|
*/
|
|
OBJCONST UCHAR OBJMEM aName0x1A01[] = "csp TxPDO\000\377";
|
|
|
|
|
|
|
|
/**
|
|
* \brief Object 0x1A02 (csv RxPDO) entry descriptions
|
|
*/
|
|
OBJCONST TSDOINFOENTRYDESC OBJMEM asEntryDesc0x1A02[] = {
|
|
{DEFTYPE_UNSIGNED8, 0x8, ACCESS_READ }, /* Subindex 000 */
|
|
{DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}, /* SubIndex 001*/
|
|
{ DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ }, /* SubIndex 002*/
|
|
{DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}}; /* SubIndex 003*/
|
|
|
|
|
|
/**
|
|
* \brief Object 0x1A02 (csv TxPDO) object and entry names
|
|
*
|
|
* In this example no specific entry name is defined ("SubIndex xxx" is used)
|
|
*/
|
|
OBJCONST UCHAR OBJMEM aName0x1A02[] = "csv TxPDO\000\377";
|
|
/** @}*/
|
|
|
|
|
|
|
|
/**
|
|
* \addtogroup CiA402Objects CiA402 Axis Objects
|
|
* @{
|
|
*/
|
|
/*ECATCHANGE_START(V5.13) CIA402 1*/
|
|
|
|
/** \brief Object 0x603F (Error Code) entry description*/
|
|
OBJCONST TSDOINFOENTRYDESC OBJMEM sEntryDesc0x603F = {DEFTYPE_UNSIGNED16, 0x10, (ACCESS_READ | OBJACCESS_TXPDOMAPPING) };
|
|
|
|
/** \brief Object 0x603F (Error Code) object name*/
|
|
OBJCONST UCHAR OBJMEM aName0x603F[] = "Error Code";
|
|
|
|
/** \brief Object 0x6040 (Control Word) entry description*/
|
|
OBJCONST TSDOINFOENTRYDESC OBJMEM sEntryDesc0x6040 = {DEFTYPE_UNSIGNED16, 0x10, (ACCESS_READWRITE|OBJACCESS_RXPDOMAPPING)};
|
|
|
|
/** \brief Object 0x6040 (Control Word) object name*/
|
|
OBJCONST UCHAR OBJMEM aName0x6040[] = "Control Word";
|
|
|
|
/** \brief Object 0x6041 (Status Word) entry description*/
|
|
OBJCONST TSDOINFOENTRYDESC OBJMEM sEntryDesc0x6041 = {DEFTYPE_UNSIGNED16, 0x10, (ACCESS_READ|OBJACCESS_TXPDOMAPPING)};
|
|
|
|
/** \brief Object 0x6041 (Status Word) object name*/
|
|
OBJCONST UCHAR OBJMEM aName0x6041[] = "Status Word";
|
|
|
|
/** \brief Object 0x605A (Quickstop Option Code) entry description*/
|
|
OBJCONST TSDOINFOENTRYDESC OBJMEM sEntryDesc0x605A = {DEFTYPE_INTEGER16, 0x10, ACCESS_READWRITE};
|
|
|
|
/** \brief Object 0x605A (Quickstop Option Code) object name*/
|
|
OBJCONST UCHAR OBJMEM aName0x605A[] = "Quick stop option code";
|
|
|
|
/** \brief Object 0x605B (Shutdown Option Code) entry description*/
|
|
OBJCONST TSDOINFOENTRYDESC OBJMEM sEntryDesc0x605B = {DEFTYPE_INTEGER16, 0x10, ACCESS_READWRITE};
|
|
|
|
/** \brief Object 0x605B (Shutdown Option Code) object name*/
|
|
OBJCONST UCHAR OBJMEM aName0x605B[] = "Shutdown Option Code";
|
|
|
|
|
|
/** \brief Object 0x605C (Disable Operation Option Code) entry description*/
|
|
OBJCONST TSDOINFOENTRYDESC OBJMEM sEntryDesc0x605C = {DEFTYPE_INTEGER16, 0x10, ACCESS_READWRITE};
|
|
|
|
/** \brief Object 0x605C (Disable Operation Option Code) object name*/
|
|
OBJCONST UCHAR OBJMEM aName0x605C[] = "Disable Operation Option Code";
|
|
|
|
/** \brief Object 0x605E (Fault Reaction Code) entry description*/
|
|
OBJCONST TSDOINFOENTRYDESC OBJMEM sEntryDesc0x605E = {DEFTYPE_INTEGER16, 0x10, ACCESS_READWRITE};
|
|
|
|
/** \brief Object 0x605E (Fault Reaction Code) object name*/
|
|
OBJCONST UCHAR OBJMEM aName0x605E[] = "Fault reaction option code";
|
|
|
|
/** \brief Object 0x6060 (Modes of Operation) entry description*/
|
|
OBJCONST TSDOINFOENTRYDESC OBJMEM sEntryDesc0x6060 = {DEFTYPE_INTEGER8, 0x08, (ACCESS_READWRITE|OBJACCESS_RXPDOMAPPING)};
|
|
|
|
/** \brief Object 0x6060 (Modes of Operation) object name*/
|
|
OBJCONST UCHAR OBJMEM aName0x6060[] = "Modes of Operation";
|
|
|
|
/** \brief Object 0x6061 (Modes of Operation Display) entry description*/
|
|
OBJCONST TSDOINFOENTRYDESC OBJMEM sEntryDesc0x6061 = {DEFTYPE_INTEGER8, 0x08, (ACCESS_READ | OBJACCESS_TXPDOMAPPING)};
|
|
|
|
/** \brief Object 0x6061 (Modes of Operation Display) object name*/
|
|
OBJCONST UCHAR OBJMEM aName0x6061[] = "Modes of Operation Display";
|
|
|
|
/** \brief Object 0x6064 (Position Actual Value) entry description*/
|
|
OBJCONST TSDOINFOENTRYDESC OBJMEM sEntryDesc0x6064 = {DEFTYPE_INTEGER32, 0x20, (ACCESS_READ | OBJACCESS_TXPDOMAPPING)};
|
|
|
|
/** \brief Object 0x6064 (Position Actual Value) object name*/
|
|
OBJCONST UCHAR OBJMEM aName0x6064[] = "Position Actual Value";
|
|
|
|
/** \brief Object 0x606C (Velocity Actual Value) entry description*/
|
|
OBJCONST TSDOINFOENTRYDESC OBJMEM sEntryDesc0x606C = {DEFTYPE_INTEGER32, 0x20, (ACCESS_READ | OBJACCESS_TXPDOMAPPING)};
|
|
|
|
/** \brief Object 0x606C (Velocity Actual Value) object name*/
|
|
OBJCONST UCHAR OBJMEM aName0x606C[] = "Velocity Actual Value";
|
|
|
|
/** \brief Object 0x6077 (Torque Actual Value) entry description*/
|
|
OBJCONST TSDOINFOENTRYDESC OBJMEM sEntryDesc0x6077 = {DEFTYPE_INTEGER16, 0x10, (ACCESS_READ | OBJACCESS_TXPDOMAPPING) };
|
|
|
|
/** \brief Object 0x6077 (Torque Actual Value) object name*/
|
|
OBJCONST UCHAR OBJMEM aName0x6077[] = "Torque Actual Value";
|
|
|
|
/** \brief Object 0x607A (Target Position) entry description*/
|
|
OBJCONST TSDOINFOENTRYDESC OBJMEM sEntryDesc0x607A = {DEFTYPE_INTEGER32, 0x20, (ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING)};
|
|
|
|
/** \brief Object 0x607A (Target Position) object name*/
|
|
OBJCONST UCHAR OBJMEM aName0x607A[] = "Target Position";
|
|
|
|
/**
|
|
* \brief Object 0x607D (Software Position Limit) entry description
|
|
*
|
|
* Subindex 0<br>
|
|
* Subindex 1 : Min Position range limit<br>
|
|
* Subindex 2 : Max Position range limit
|
|
*/
|
|
OBJCONST TSDOINFOENTRYDESC OBJMEM asEntryDesc0x607D[] = {
|
|
{DEFTYPE_UNSIGNED8, 0x08, ACCESS_READ},
|
|
{DEFTYPE_INTEGER32, 0x20, (ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING)},
|
|
{DEFTYPE_INTEGER32, 0x20, (ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING)}};
|
|
|
|
|
|
/** \brief Object 0x607D (Software Position Limit) object and entry names*/
|
|
OBJCONST UCHAR OBJMEM aName0x607D[] = "Software Position Limit\000Min position limit\000Max position limit\000\377";
|
|
|
|
|
|
/** \brief Object 0x6085 (Quickstop Declaration) entry description*/
|
|
OBJCONST TSDOINFOENTRYDESC OBJMEM sEntryDesc0x6085 = {DEFTYPE_INTEGER32, 0x20, (ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING)};
|
|
|
|
/** \brief Object 0x6085 (Quickstop Declaration) object name*/
|
|
OBJCONST UCHAR OBJMEM aName0x6085[] = "Quick stop deceleration";
|
|
|
|
|
|
/**
|
|
* \brief Object 0x60C2 (Interpolation Time Period) entry description
|
|
*
|
|
* Subindex 0<br>
|
|
* Subindex 1 : Interpolation time period value<br>
|
|
* Subindex 2 : Interpolation time index
|
|
*/
|
|
OBJCONST TSDOINFOENTRYDESC OBJMEM asEntryDesc0x60C2[] = {
|
|
{DEFTYPE_UNSIGNED8, 0x08, ACCESS_READ},
|
|
{DEFTYPE_UNSIGNED8, 0x08, (ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING)},
|
|
{DEFTYPE_INTEGER8, 0x08, (ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING)}};
|
|
|
|
/** \brief Object 0x60C2 (Interpolation Time Period) object and entry names*/
|
|
OBJCONST UCHAR OBJMEM aName0x60C2[] = "Interpolation Time Period\000Interpolation time period value\000Interpolation time index\000\377";
|
|
|
|
|
|
/** \brief Object 0x60FF (Target Velocity) entry description*/
|
|
OBJCONST TSDOINFOENTRYDESC OBJMEM sEntryDesc0x60FF = {DEFTYPE_INTEGER32, 0x20, (ACCESS_READWRITE | OBJACCESS_RXPDOMAPPING)};
|
|
|
|
/** \brief Object 0x60FF (Target Velocity) object name*/
|
|
OBJCONST UCHAR OBJMEM aName0x60FF[] = "Target Velocity";
|
|
|
|
|
|
/** \brief Object 0x6502 (Supported Drive Modes) entry description*/
|
|
OBJCONST TSDOINFOENTRYDESC OBJMEM sEntryDesc0x6502 = {DEFTYPE_UNSIGNED32, 0x20, (ACCESS_READ | OBJACCESS_TXPDOMAPPING )};
|
|
|
|
/*ECATCHANGE_END(V5.13) CIA402 1*/
|
|
/** \brief Object 0x6502 (Supported Drive Modes) object name*/
|
|
OBJCONST UCHAR OBJMEM aName0x6502[] = "Supported Drive Modes";
|
|
/** @}*/
|
|
|
|
|
|
/**
|
|
* \addtogroup DeviceParaObjects Device Parameter Objects
|
|
* @{
|
|
*/
|
|
/**
|
|
* \brief Object 0xF000 (Modular Device Profile) entry description
|
|
*
|
|
* Subindex 000 <br>
|
|
* SubIndex 001: Module index distance<br>
|
|
* SubIndex 002: Maximum number of modules
|
|
*/
|
|
OBJCONST TSDOINFOENTRYDESC OBJMEM asEntryDesc0xF000[3] = {
|
|
{DEFTYPE_UNSIGNED8, 0x8, ACCESS_READ },
|
|
{DEFTYPE_UNSIGNED16, 0x10, ACCESS_READ},
|
|
{DEFTYPE_UNSIGNED16, 0x10, ACCESS_READ}};
|
|
|
|
/** \brief Object 0xF000 (Modular Device Profile) object and entry names*/
|
|
OBJCONST UCHAR OBJMEM aName0xF000[] = "Modular Device Profile\000Index distance\000Maximum number of modules\000\377";
|
|
|
|
|
|
/**
|
|
* \brief 0xF010 (Module profile list) entry descriptions
|
|
*
|
|
* Subindex 0<br>
|
|
* SubIndex x
|
|
* (x > 0)
|
|
*/
|
|
OBJCONST TSDOINFOENTRYDESC OBJMEM asEntryDesc0xF010[3] = {
|
|
{DEFTYPE_UNSIGNED8, 0x08, ACCESS_READ},
|
|
{DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ},
|
|
{DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}};
|
|
|
|
/**
|
|
* \brief 0xF010 (Module profile list) object name
|
|
*
|
|
* no entry names defined because the object is an array (for every entry > 0 "SubIndex xxx" is returned)
|
|
*/
|
|
OBJCONST UCHAR OBJMEM aName0xF010[] = "Module Profile List";
|
|
|
|
|
|
/**
|
|
* \brief 0xF030 (Configured Modules Ident) entry descriptions
|
|
*
|
|
* Subindex 0<br>
|
|
* SubIndex x
|
|
* (x > 0)
|
|
*/
|
|
OBJCONST TSDOINFOENTRYDESC OBJMEM asEntryDesc0xF030[] = {
|
|
{DEFTYPE_UNSIGNED8, 0x08, (ACCESS_READ|ACCESS_WRITE_PREOP)},
|
|
{DEFTYPE_UNSIGNED32, 0x20, (ACCESS_READ|ACCESS_WRITE_PREOP)},
|
|
{DEFTYPE_UNSIGNED32, 0x20, (ACCESS_READ|ACCESS_WRITE_PREOP)}};
|
|
|
|
/**
|
|
* \brief 0xF030 (Configured Modules Ident) object name
|
|
*
|
|
* no entry names defined because the object is an array (for every entry > 0 "SubIndex xxx" is returned)
|
|
*/
|
|
OBJCONST UCHAR OBJMEM aName0xF030[] = "Configured Module Ident List";
|
|
|
|
|
|
/**
|
|
* \brief 0xF050 (Module detected list) entry descriptions
|
|
*
|
|
* Subindex 0<br>
|
|
* SubIndex x
|
|
* (x > 0)
|
|
*/
|
|
OBJCONST TSDOINFOENTRYDESC OBJMEM asEntryDesc0xF050[] = {
|
|
{DEFTYPE_UNSIGNED8, 0x08, ACCESS_READ},
|
|
{DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ},
|
|
{DEFTYPE_UNSIGNED32, 0x20, ACCESS_READ}};
|
|
|
|
|
|
/**
|
|
* \brief 0xF050 (Module detected list) object name
|
|
*
|
|
* no entry names defined because the object is an array (for every entry > 0 "SubIndex xxx" is returned)
|
|
*/
|
|
OBJCONST UCHAR OBJMEM aName0xF050[] = "Module detected list";
|
|
/** @}*/
|
|
#endif
|
|
|
|
|
|
/**
|
|
* \addtogroup SmAssignObjects SyncManager Assignment Objects
|
|
* @{
|
|
*/
|
|
|
|
/**
|
|
* \brief 0x1C12 (SyncManager 2 assignment) variable to handle object data
|
|
*
|
|
* SubIndex 0 : 1<br>
|
|
* SubIndex 1 : 0x1602
|
|
* SubIndex 2 : 0
|
|
*/
|
|
PROTO TOBJ1C12 sRxPDOassign
|
|
#ifdef _CiA402_
|
|
= {1,{0x1602,0x0}}
|
|
#endif
|
|
;
|
|
|
|
|
|
/**
|
|
* \brief 0x1C13 (SyncManager 3 assignment) variable to handle object data
|
|
*
|
|
* SubIndex 0 : 1<br>
|
|
* SubIndex 1 : 0x1A02<br>
|
|
* SubIndex 2 : 0
|
|
*/
|
|
PROTO TOBJ1C13 sTxPDOassign
|
|
#ifdef _CiA402_
|
|
= {1,{0x1A02,0x0}}
|
|
#endif
|
|
;
|
|
/** @}*/
|
|
|
|
|
|
/**
|
|
* \addtogroup DeviceParaObjects Device Parameter Objects
|
|
* @{
|
|
*/
|
|
/**
|
|
* \brief Object 0xF000 (Modular Device Profile) variable to handle object data
|
|
*
|
|
* SubIndex 0 : 2<br>
|
|
* SubIndex 1 : 0x800 (index distance)<br>
|
|
* SubIndex 2 : MAX_AXES (number of modules depends on the number of axes)
|
|
*/
|
|
PROTO TOBJF000 sModulardeviceprofile
|
|
#ifdef _CiA402_
|
|
= {2, 0x800, MAX_AXES}
|
|
#endif
|
|
;
|
|
|
|
|
|
/**
|
|
* \brief Object 0xF010 (Module profile list) variable to handle object data
|
|
*
|
|
* SubIndex 0 : 1<br>
|
|
* SubIndex 1 :2 (Low Word)<br>
|
|
* SubIndex 2 : 0
|
|
*/
|
|
PROTO TOBJF010 sModuleProfileInfo
|
|
#ifdef _CiA402_
|
|
= {1,{2,0}}
|
|
#endif
|
|
;
|
|
|
|
/**
|
|
* \brief Object 0xF030 (Configured Module List) variable to handle object data
|
|
*
|
|
* SubIndex 0 : 1<br>
|
|
* SubIndex 1 : csv Module is set by default<br>
|
|
* SubIndex 2 : 0
|
|
*/
|
|
PROTO TOBJF030 sConfiguredModuleIdentList
|
|
#ifdef _CiA402_
|
|
= {1,{0x319800,0}}
|
|
#endif
|
|
;
|
|
|
|
PROTO UINT8 Write0xF030( UINT16 index, UINT8 subindex, UINT32 dataSize, UINT16 MBXMEM * pData, UINT8 bCompleteAccess );
|
|
|
|
|
|
/**
|
|
* \brief Object 0xF050 (Detected Module List) variable to handle object data
|
|
*
|
|
* SubIndex 0 : 1<br>
|
|
* SubIndex 1 : csv Module is set by default<br>
|
|
* SubIndex 2 : 0
|
|
*/
|
|
PROTO TOBJF050 sDetectedModuleIdentList
|
|
#ifdef _CiA402_
|
|
= {1,{0x319800,0}}
|
|
#endif
|
|
;
|
|
/** @}*/
|
|
|
|
|
|
/**
|
|
* \addtogroup CiA402Objects CiA402 Axis Objects
|
|
* @{
|
|
*/
|
|
/**
|
|
* \brief Axis objects default values
|
|
*
|
|
*/
|
|
PROTO CiA402Objects DefCiA402ObjectValues
|
|
#ifdef _CiA402_
|
|
= {
|
|
{5, {0x60400010,0x607A0020,0x60FF0020,0x60600008,0x00000008}}, /* TOBJ1600*/
|
|
{3, {0x60400010,0x607A0020,0x00000010 }}, /*TOBJ1601*/
|
|
{3, {0x60400010,0x60FF0020,0x00000010 }}, /*TOBJ1602*/
|
|
{5, {0x60410010,0x60640020,0x606C0020,0x60610008,0x00000008}}, /*TOBJ1A00*/
|
|
{3, {0x60410010,0x60640020,0x00000010 }}, /*TOBJ1A01*/
|
|
{3, {0x60410010,0x60640020,0x00000010 }},/*TOBJ1A02*/
|
|
0x0,/*(UINT16) ErrorCode 0x1001*/
|
|
0x0,/*(UINT16) ControlWord 0x6040*/
|
|
0x0,/*(UINT16) StatusWord 0x6041*/
|
|
0x2,/*(INT16) QuickStopOptionCode 0x605A*/
|
|
DISABLE_DRIVE,/*(INT16)ShutdownOptionCode 0x605B*/
|
|
SLOW_DOWN_RAMP, /*(INT16) DisableOperationCode 0x605C*/
|
|
QUICKSTOP_RAMP,/*(INT16) FaultReactionCode 0x605E*/
|
|
0x0,/*(INT16) ModeOfOperation 0x6060*/
|
|
0x0,/*(INT16) Mode Of Operation Display 0x6061*/
|
|
0x0,/*(INT32) Position Actual Value 0x6064*/
|
|
0x0,/*(INT32) Velocity Actual Value 0x606C*/
|
|
0x0,/*(INT16) Torque Actual Value 0x6077*/
|
|
0x0,/*(INT32) Target Position 0x607A*/
|
|
{2,0x88CA6C00,0x77359400},/*TOBJ607D Software Position Limit (minLimit: -2000000000 / maxLimit: 2000000000)*/
|
|
0x0,/*(UINT32) QuickStopDeclaration 0x6085*/
|
|
{2,1,-3},/*TOBJ60C2 Interpolation Time Period*/
|
|
0x0,/*(INT32) Target Velocity 0x60FF*/
|
|
0x0/*(UINT32) Supported Drive Modes 0x6502*/
|
|
}
|
|
#endif
|
|
;
|
|
/** @}*/
|
|
|
|
|
|
/**
|
|
*\brief Base CiA402 device object dictionary
|
|
*/
|
|
PROTO TOBJECT OBJMEM ApplicationObjDic[]
|
|
#ifdef _CiA402_
|
|
= {/* Object 0x1C12 */
|
|
{NULL,NULL, 0x1C12, {DEFTYPE_UNSIGNED16, MAX_AXES | (OBJCODE_ARR << 8)}, asPDOAssignEntryDesc, aName0x1C12, &sRxPDOassign, NULL, NULL, 0x0000 },
|
|
/* Object 0x1C13 */
|
|
{NULL,NULL, 0x1C13, {DEFTYPE_UNSIGNED16, MAX_AXES | (OBJCODE_ARR << 8)}, asPDOAssignEntryDesc, aName0x1C13, &sTxPDOassign, NULL, NULL, 0x0000 },
|
|
/* Object 0xF000 */
|
|
{NULL,NULL, 0xF000, {DEFTYPE_RECORD, 2 | (OBJCODE_REC << 8)}, asEntryDesc0xF000, aName0xF000, &sModulardeviceprofile, NULL, NULL, 0x0000 },
|
|
/* Object 0xF010 */
|
|
{NULL,NULL, 0xF010, {DEFTYPE_UNSIGNED32, MAX_AXES | (OBJCODE_ARR << 8)}, asEntryDesc0xF010, aName0xF010, &sModuleProfileInfo, NULL, NULL, 0x0000 },
|
|
/* Object 0xF030 */
|
|
{NULL,NULL, 0xF030, {DEFTYPE_UNSIGNED32, MAX_AXES | (OBJCODE_ARR << 8)}, asEntryDesc0xF030, aName0xF030, &sConfiguredModuleIdentList, NULL, Write0xF030, 0x0000 },
|
|
/* Object 0xF050 */
|
|
{NULL,NULL, 0xF050, {DEFTYPE_UNSIGNED32, MAX_AXES | (OBJCODE_ARR << 8)}, asEntryDesc0xF050, aName0xF050, &sDetectedModuleIdentList, NULL, NULL, 0x0000 },
|
|
{NULL,NULL, 0xFFFF, {0, 0}, NULL, NULL, NULL, NULL, NULL, 0x000}}
|
|
#endif
|
|
;
|
|
|
|
|
|
|
|
/**
|
|
*\brief Object dictionary related to on CiA402 Axis
|
|
*/
|
|
PROTO TOBJECT OBJMEM DefCiA402AxisObjDic[]
|
|
#ifdef _CiA402_
|
|
= {
|
|
/* Object 0x1600 */
|
|
{NULL,NULL, 0x1600, {DEFTYPE_PDOMAPPING, 5 | (OBJCODE_REC << 8)}, asEntryDesc0x1600, aName0x1600, NULL, NULL, NULL, 0x0000 },
|
|
/* Object 0x1601 */
|
|
{NULL,NULL, 0x1601, {DEFTYPE_PDOMAPPING, 3 | (OBJCODE_REC << 8)}, asEntryDesc0x1601, aName0x1601,NULL, NULL, NULL, 0x0000 },
|
|
/* Object 0x1602 */
|
|
{NULL,NULL, 0x1602, {DEFTYPE_PDOMAPPING, 3 | (OBJCODE_REC << 8)}, asEntryDesc0x1602, aName0x1602, NULL, NULL, NULL, 0x0000 },
|
|
/* Object 0x1A00 */
|
|
{NULL,NULL, 0x1A00, {DEFTYPE_PDOMAPPING, 5 | (OBJCODE_REC << 8)}, asEntryDesc0x1A00, aName0x1A00, NULL, NULL, NULL, 0x0000 },
|
|
/* Object 0x1A01 */
|
|
{NULL,NULL, 0x1A01, {DEFTYPE_PDOMAPPING, 3 | (OBJCODE_REC << 8)}, asEntryDesc0x1A01, aName0x1A01, NULL, NULL, NULL, 0x0000 },
|
|
/* Object 0x1A02 */
|
|
{NULL,NULL, 0x1A02, {DEFTYPE_PDOMAPPING, 3 | (OBJCODE_REC << 8)}, asEntryDesc0x1A02, aName0x1A02, NULL, NULL, NULL, 0x0000 },
|
|
/* Object 0x603F */
|
|
{NULL,NULL, 0x603F, {DEFTYPE_UNSIGNED16 , 0 | (OBJCODE_VAR << 8)}, &sEntryDesc0x603F, aName0x603F, NULL, NULL, NULL, 0x0000 },
|
|
/* Object 0x6040 */
|
|
{NULL,NULL, 0x6040, {DEFTYPE_UNSIGNED16 , 0 | (OBJCODE_VAR << 8)}, &sEntryDesc0x6040, aName0x6040, NULL, NULL, NULL, 0x0000 },
|
|
/* Object 0x6041 */
|
|
{NULL,NULL, 0x6041, {DEFTYPE_UNSIGNED16 , 0 | (OBJCODE_VAR << 8)}, &sEntryDesc0x6041, aName0x6041, NULL, NULL, NULL, 0x0000 },
|
|
/* Object 0x605A */
|
|
{NULL,NULL, 0x605A, {DEFTYPE_INTEGER16 , 0 | (OBJCODE_VAR << 8)}, &sEntryDesc0x605A, aName0x605A, NULL, NULL, NULL, 0x0000 },
|
|
/* Object 0x605B */
|
|
{NULL,NULL, 0x605B, {DEFTYPE_INTEGER16 , 0 | (OBJCODE_VAR << 8)}, &sEntryDesc0x605B, aName0x605B, NULL, NULL, NULL, 0x0000 },
|
|
/* Object 0x605C */
|
|
{NULL,NULL, 0x605C, {DEFTYPE_INTEGER16 , 0 | (OBJCODE_VAR << 8)}, &sEntryDesc0x605C, aName0x605C, NULL, NULL, NULL, 0x0000 },
|
|
/* Object 0x605E */
|
|
{NULL,NULL, 0x605E, {DEFTYPE_INTEGER16 , 0 | (OBJCODE_VAR << 8)}, &sEntryDesc0x605E, aName0x605E, NULL, NULL, NULL, 0x0000 },
|
|
/* Object 0x6060 */
|
|
{NULL,NULL, 0x6060, {DEFTYPE_INTEGER8 , 0 | (OBJCODE_VAR << 8)}, &sEntryDesc0x6060, aName0x6060, NULL, NULL, NULL, 0x0000 },
|
|
/* Object 0x6061 */
|
|
{NULL,NULL, 0x6061, {DEFTYPE_INTEGER8 , 0 | (OBJCODE_VAR << 8)}, &sEntryDesc0x6061, aName0x6061, NULL, NULL, NULL, 0x0000 },
|
|
/* Object 0x6064 */
|
|
{NULL,NULL, 0x6064, {DEFTYPE_INTEGER32 , 0 | (OBJCODE_VAR << 8)}, &sEntryDesc0x6064, aName0x6064, NULL, NULL, NULL, 0x0000 },
|
|
/* Object 0x606C */
|
|
{NULL,NULL, 0x606C, {DEFTYPE_INTEGER32 , 0 | (OBJCODE_VAR << 8)}, &sEntryDesc0x606C, aName0x606C, NULL, NULL, NULL, 0x0000 },
|
|
/* Object 0x6077 */
|
|
{NULL,NULL, 0x6077, {DEFTYPE_INTEGER16 , 0 | (OBJCODE_VAR << 8)}, &sEntryDesc0x6077, aName0x6077, NULL, NULL, NULL, 0x0000 },
|
|
/* Object 0x607D */
|
|
{NULL,NULL, 0x607D, {DEFTYPE_INTEGER32 , 2 | (OBJCODE_ARR << 8)}, asEntryDesc0x607D, aName0x607D, NULL, NULL, NULL, 0x0000 },
|
|
/* Object 0x607A */
|
|
{NULL,NULL, 0x607A, {DEFTYPE_INTEGER32 , 0 | (OBJCODE_VAR << 8)}, &sEntryDesc0x607A, aName0x607A, NULL, NULL, NULL, 0x0000 },
|
|
/* Object 0x6085 */
|
|
{NULL,NULL, 0x6085, {DEFTYPE_UNSIGNED32 , 0 | (OBJCODE_VAR << 8)}, &sEntryDesc0x6085, aName0x6085, NULL, NULL, NULL, 0x0000 },
|
|
/* Object 0x60C2 */
|
|
{NULL,NULL, 0x60C2, {DEFTYPE_RECORD , 2 | (OBJCODE_REC << 8)}, asEntryDesc0x60C2, aName0x60C2, NULL, NULL, NULL, 0x0000 },
|
|
/* Object 0x60FF */
|
|
{NULL,NULL, 0x60FF, {DEFTYPE_INTEGER32 , 0 | (OBJCODE_VAR << 8)}, &sEntryDesc0x60FF, aName0x60FF, NULL, NULL, NULL, 0x0000 },
|
|
/* Object 0x6502 */
|
|
{NULL,NULL, 0x6502, {DEFTYPE_UNSIGNED32 , 0 | (OBJCODE_VAR << 8)}, &sEntryDesc0x6502, aName0x6502, NULL, NULL, NULL, 0x0000 },
|
|
{NULL,NULL, 0xFFFF, {0, 0}, NULL, NULL, NULL, NULL, NULL, 0x000}}
|
|
#endif
|
|
;
|
|
|
|
PROTO void APPL_Application(void);
|
|
/*ET9300 Project Handler :(#if EXPLICIT_DEVICE_ID) lines 1248 to 1250 deleted*/
|
|
|
|
PROTO void APPL_AckErrorInd(UINT16 stateTrans);
|
|
PROTO UINT16 APPL_StartMailboxHandler(void);
|
|
PROTO UINT16 APPL_StopMailboxHandler(void);
|
|
PROTO UINT16 APPL_StartInputHandler(UINT16 *pIntMask);
|
|
PROTO UINT16 APPL_StopInputHandler(void);
|
|
PROTO UINT16 APPL_StartOutputHandler(void);
|
|
PROTO UINT16 APPL_StopOutputHandler(void);
|
|
|
|
PROTO UINT16 APPL_GenerateMapping(UINT16 *pInputSize,UINT16 *pOutputSize);
|
|
PROTO void APPL_InputMapping(UINT16* pData);
|
|
PROTO void APPL_OutputMapping(UINT16* pData);
|
|
|
|
PROTO void CiA402_LocalError(UINT16 ErrorCode);
|
|
PROTO void CiA402_StateMachine(void);
|
|
|
|
#undef PROTO
|
|
/** @}*/
|