cml__ampdef_8h-source.html

美国COPLEY驱动器,程序开发工具之一.

<a name="l00496"></a>00496 <span class="comment"></span>
<a name="l00497"></a>00497 <span class="comment">   /// Microstepping mode in which the commanded position is derived from</span>
<a name="l00498"></a>00498 <span class="comment">   /// the digital input pins.  Two of the digital inputs can be configured as</span>
<a name="l00499"></a>00499 <span class="comment">   /// either a master encoder input (quadrature input), a step &amp; direction </span>
<a name="l00500"></a>00500 <span class="comment">   /// input, or a step up / step down input.</span>
<a name="l00501"></a>00501 <span class="comment">   /// Please refer to the amplifier data sheet to determine which inputs</span>
<a name="l00502"></a>00502 <span class="comment">   /// should be used in this mode.</span>
<a name="l00503"></a>00503 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a397a212">AMPMODE_DIN_USTEP</a>        = 0x2100,
<a name="l00504"></a>00504 <span class="comment"></span>
<a name="l00505"></a>00505 <span class="comment">   /// Microstepping mode in which the commanded position is derived from</span>
<a name="l00506"></a>00506 <span class="comment">   /// the internal function generator.</span>
<a name="l00507"></a>00507 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a397a213">AMPMODE_FGEN_USTEP</a>       = 0x2200,
<a name="l00508"></a>00508 <span class="comment"></span>
<a name="l00509"></a>00509 <span class="comment">   /// Diagnostic microstepping mode.  This is a very simple microstepping</span>
<a name="l00510"></a>00510 <span class="comment">   /// mode that can be used for motor setup and testing.  A constant motor </span>
<a name="l00511"></a>00511 <span class="comment">   /// current is set by the programmed current value, and the motor phase</span>
<a name="l00512"></a>00512 <span class="comment">   /// is microstepped at a fixed rate.  The position and velocity loops are</span>
<a name="l00513"></a>00513 <span class="comment">   /// not used in this mode.</span>
<a name="l00514"></a>00514 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a397a214">AMPMODE_DIAG_USTEP</a>       = 0x2A00
<a name="l00515"></a>00515 };
<a name="l00516"></a>00516 
<a name="l00517"></a>00517 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00518"></a>00518 <span class="comment">/**</span>
<a name="l00519"></a>00519 <span class="comment">Amplifier event status word bit definitions.</span>
<a name="l00520"></a>00520 <span class="comment">*/</span>
<a name="l00521"></a>00521 <span class="comment">/***************************************************************************/</span>
<a name="l00522"></a><a class="code" href="CML__AmpDef_8h.html#a398">00522</a> <span class="keyword">enum</span> <a class="code" href="CML__AmpDef_8h.html#a398">EVENT_STATUS</a>
<a name="l00523"></a>00523 {
<a name="l00524"></a>00524    <a class="code" href="CML__AmpDef_8h.html#a398a215">ESTAT_SHORT_CRCT</a>    = 0x00000001,  <span class="comment">///&lt; Amplifier short circuit </span>
<a name="l00525"></a>00525 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a398a216">ESTAT_AMP_TEMP</a>      = 0x00000002,  <span class="comment">///&lt; Amplifier over temperature</span>
<a name="l00526"></a>00526 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a398a217">ESTAT_OVER_VOLT</a>     = 0x00000004,  <span class="comment">///&lt; Amplifier over voltage</span>
<a name="l00527"></a>00527 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a398a218">ESTAT_UNDER_VOLT</a>    = 0x00000008,  <span class="comment">///&lt; Amplifier under voltage</span>
<a name="l00528"></a>00528 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a398a219">ESTAT_MTR_TEMP</a>      = 0x00000010,  <span class="comment">///&lt; Motor over temperature</span>
<a name="l00529"></a>00529 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a398a220">ESTAT_ENCODER_PWR</a>   = 0x00000020,  <span class="comment">///&lt; Encoder power error</span>
<a name="l00530"></a>00530 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a398a221">ESTAT_PHASE_ERR</a>     = 0x00000040,  <span class="comment">///&lt; Phasing error</span>
<a name="l00531"></a>00531 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a398a222">ESTAT_CRNT_LIM</a>      = 0x00000080,  <span class="comment">///&lt; Current limited</span>
<a name="l00532"></a>00532 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a398a223">ESTAT_VOLT_LIM</a>      = 0x00000100,  <span class="comment">///&lt; Voltage limited</span>
<a name="l00533"></a>00533 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a398a224">ESTAT_POSLIM</a>        = 0x00000200,  <span class="comment">///&lt; Positive limit switch triggered</span>
<a name="l00534"></a>00534 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a398a225">ESTAT_NEGLIM</a>        = 0x00000400,  <span class="comment">///&lt; Negative limit switch triggered</span>
<a name="l00535"></a>00535 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a398a226">ESTAT_DISABLE_INPUT</a> = 0x00000800,  <span class="comment">///&lt; Enable input pin not set</span>
<a name="l00536"></a>00536 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a398a227">ESTAT_SOFT_DISABLE</a>  = 0x00001000,  <span class="comment">///&lt; Disabled due to software request</span>
<a name="l00537"></a>00537 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a398a228">ESTAT_STOP</a>          = 0x00002000,  <span class="comment">///&lt; Try to stop motor (after disable, before brake)</span>
<a name="l00538"></a>00538 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a398a229">ESTAT_BRAKE</a>         = 0x00004000,  <span class="comment">///&lt; Brake actuated</span>
<a name="l00539"></a>00539 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a398a230">ESTAT_PWM_DISABLE</a>   = 0x00008000,  <span class="comment">///&lt; PWM outputs disabled</span>
<a name="l00540"></a>00540 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a398a231">ESTAT_SOFTLIM_POS</a>   = 0x00010000,  <span class="comment">///&lt; Positive software limit reached</span>
<a name="l00541"></a>00541 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a398a232">ESTAT_SOFTLIM_NEG</a>   = 0x00020000,  <span class="comment">///&lt; Negative software limit reached</span>
<a name="l00542"></a>00542 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a398a233">ESTAT_TRK_ERR</a>       = 0x00040000,  <span class="comment">///&lt; Tracking error</span>
<a name="l00543"></a>00543 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a398a234">ESTAT_TRK_WARN</a>      = 0x00080000,  <span class="comment">///&lt; Tracking warning</span>
<a name="l00544"></a>00544 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a398a235">ESTAT_RESET</a>         = 0x00100000,  <span class="comment">///&lt; Amplifier has been reset</span>
<a name="l00545"></a>00545 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a398a236">ESTAT_POSWRAP</a>       = 0x00200000,  <span class="comment">///&lt; Encoder position wrapped (rotory) or hit limit (linear).</span>
<a name="l00546"></a>00546 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a398a237">ESTAT_FAULT</a>         = 0x00400000,  <span class="comment">///&lt; Latching fault in effect</span>
<a name="l00547"></a>00547 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a398a238">ESTAT_VEL_LIMIT</a>     = 0x00800000,  <span class="comment">///&lt; Velocity is at limit</span>
<a name="l00548"></a>00548 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a398a239">ESTAT_ACC_LIMIT</a>     = 0x01000000,  <span class="comment">///&lt; Acceleration is at limit</span>
<a name="l00549"></a>00549 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a398a240">ESTAT_TRK_WIN</a>       = 0x02000000,  <span class="comment">///&lt; Not in tracking window if set</span>
<a name="l00550"></a>00550 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a398a241">ESTAT_HOME</a>          = 0x04000000,  <span class="comment">///&lt; Home switch is active</span>
<a name="l00551"></a>00551 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a398a242">ESTAT_MOVING</a>        = 0x08000000,  <span class="comment">///&lt; Trajectory generator active OR not yet settled</span>
<a name="l00552"></a>00552 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a398a243">ESTAT_VEL_WIN</a>       = 0x10000000,  <span class="comment">///&lt; Velocity error outside of velocity window when set.</span>
<a name="l00553"></a><a class="code" href="CML__AmpDef_8h.html#a398a244">00553</a> <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a398a244">ESTAT_PHASE_INIT</a>    = 0x20000000   <span class="comment">///&lt; Set when using algorithmic phase init mode &amp; phase not initialized.</span>
<a name="l00554"></a>00554 <span class="comment"></span>};
<a name="l00555"></a>00555 
<a name="l00556"></a>00556 <span class="comment">/***************************************************************************/</span><span class="comment"></span>
<a name="l00557"></a>00557 <span class="comment">/**</span>
<a name="l00558"></a>00558 <span class="comment">Amplifier events.  This enumeration provides a list of events that can be</span>
<a name="l00559"></a>00559 <span class="comment">used to wait on amplifier conditions.</span>
<a name="l00560"></a>00560 <span class="comment">*/</span>
<a name="l00561"></a>00561 <span class="comment">/***************************************************************************/</span>
<a name="l00562"></a><a class="code" href="CML__AmpDef_8h.html#a399">00562</a> <span class="keyword">enum</span> <a class="code" href="CML__AmpDef_8h.html#a399">AMP_EVENT</a>
<a name="l00563"></a>00563 {<span class="comment"></span>
<a name="l00564"></a>00564 <span class="comment">   /// Set when a move is finished and the amplifier has settled in to position </span>
<a name="l00565"></a>00565 <span class="comment">   /// at the end of the move.  Cleared when a new move is started.</span>
<a name="l00566"></a>00566 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a399a245">AMPEVENT_MOVEDONE</a>      = 0x00000001,
<a name="l00567"></a>00567 <span class="comment"></span>
<a name="l00568"></a>00568 <span class="comment">   /// Set when the trajectory generator finishes a move.  The motor may not </span>
<a name="l00569"></a>00569 <span class="comment">   /// have settled into position at this point.  Cleared when a new move is</span>
<a name="l00570"></a>00570 <span class="comment">   /// started.</span>
<a name="l00571"></a>00571 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a399a246">AMPEVENT_TRJDONE</a>       = 0x00000002,
<a name="l00572"></a>00572 <span class="comment"></span>
<a name="l00573"></a>00573 <span class="comment">   /// A node guarding (or heartbeat) error has occurred.  This indicates that</span>
<a name="l00574"></a>00574 <span class="comment">   /// the amplifier failed to respond within the expected amount of time for</span>
<a name="l00575"></a>00575 <span class="comment">   /// either a heartbeat or node guarding message.  This could be caused by </span>
<a name="l00576"></a>00576 <span class="comment">   /// a network wiring problem, amplifier power down, amp reset, etc.</span>
<a name="l00577"></a>00577 <span class="comment">   /// This bit is set when the error occurs, and is cleared by a call to the</span>
<a name="l00578"></a>00578 <span class="comment">   /// function Amp::ClearNodeGuardEvent.</span>
<a name="l00579"></a>00579 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a399a247">AMPEVENT_NODEGUARD</a>     = 0x00000004,
<a name="l00580"></a>00580 <span class="comment"></span>
<a name="l00581"></a>00581 <span class="comment">   /// This event bit is used internally by the amplifier object.  It is set</span>
<a name="l00582"></a>00582 <span class="comment">   /// when the amp acknowledges a new move start.</span>
<a name="l00583"></a>00583 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a399a248">AMPEVENT_SPACK</a>         = 0x00000008,
<a name="l00584"></a>00584 <span class="comment"></span>
<a name="l00585"></a>00585 <span class="comment">   /// A latching amplifier fault has occurred.  The specifics of what caused</span>
<a name="l00586"></a>00586 <span class="comment">   /// the fault can be obtained by calling Amp::GetFaults, and the fault conditions</span>
<a name="l00587"></a>00587 <span class="comment">   /// can be cleared by calling Amp::ClearFaults.</span>
<a name="l00588"></a>00588 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a399a249">AMPEVENT_FAULT</a>         = 0x00000010,
<a name="l00589"></a>00589 <span class="comment"></span>
<a name="l00590"></a>00590 <span class="comment">   /// A non-latching amplifier error has occurred.  </span>
<a name="l00591"></a>00591 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a399a250">AMPEVENT_ERROR</a>         = 0x00000020,
<a name="l00592"></a>00592 <span class="comment"></span>
<a name="l00593"></a>00593 <span class="comment">   /// The amplifier's absolute position error is greater then the window</span>
<a name="l00594"></a>00594 <span class="comment">   /// set with Amp::SetPositionWarnWindow.</span>
<a name="l00595"></a>00595 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a399a251">AMPEVENT_POSWARN</a>       = 0x00000040,
<a name="l00596"></a>00596 <span class="comment"></span>
<a name="l00597"></a>00597 <span class="comment">   /// The amplifier's absolute position error is greater then the window</span>
<a name="l00598"></a>00598 <span class="comment">   /// set with Amp::SetSettlingWindow.</span>
<a name="l00599"></a>00599 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a399a252">AMPEVENT_POSWIN</a>        = 0x00000080,
<a name="l00600"></a>00600 <span class="comment"></span>
<a name="l00601"></a>00601 <span class="comment">   /// The amplifier's absolute velocity error is greater then the window</span>
<a name="l00602"></a>00602 <span class="comment">   /// set with Amp::SetVeliocityWarnWindow</span>
<a name="l00603"></a>00603 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a399a253">AMPEVENT_VELWIN</a>        = 0x00000100,
<a name="l00604"></a>00604 <span class="comment"></span>
<a name="l00605"></a>00605 <span class="comment">   /// The amplifier's outputs are disabled.  The reason for the disable</span>
<a name="l00606"></a>00606 <span class="comment">   /// can be determined by Amp::GetEventStatus</span>
<a name="l00607"></a>00607 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a399a254">AMPEVENT_DISABLED</a>      = 0x00000200,
<a name="l00608"></a>00608 <span class="comment"></span>
<a name="l00609"></a>00609 <span class="comment">   /// The positive limit switch is currently active</span>
<a name="l00610"></a>00610 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a399a255">AMPEVENT_POSLIM</a>        = 0x00000400,
<a name="l00611"></a>00611 <span class="comment"></span>
<a name="l00612"></a>00612 <span class="comment">   /// The negative limit switch is currently active</span>
<a name="l00613"></a>00613 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a399a256">AMPEVENT_NEGLIM</a>        = 0x00000800,
<a name="l00614"></a>00614 <span class="comment"></span>
<a name="l00615"></a>00615 <span class="comment">   /// The positive software limit is currently active</span>
<a name="l00616"></a>00616 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a399a257">AMPEVENT_SOFTLIM_POS</a>   = 0x00001000,
<a name="l00617"></a>00617 <span class="comment"></span>
<a name="l00618"></a>00618 <span class="comment">   /// The negative software limit is currently active</span>
<a name="l00619"></a>00619 <span class="comment"></span>   <a class="code" href="CML__AmpDef_8h.html#a399a258">AMPEV