📄 m5apiw32.h
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//-----------------------------------------------------------------------
// new PCube Module Setup
//-----------------------------------------------------------------------
// ---- FEEDBACK SETUP -----------
#define SETUPID_MOD_ENCODER_FEEDBACK 0x00000001L
#define SETUPID_MOD_RESOLVER_FEEDBACK 0x00000002L
#define SETUPID_MOD_ABSOLUTE_FEEDBACK 0x00000004L
// ---- DIGITAL IO SETUP ---------
#define SETUPID_MOD_4IN_4OUT 0x00000008L
#define SETUPID_MOD_3IN_ENCODER_IN 0x00000010L
#define SETUPID_MOD_3IN_ENCODER_OUT 0x00000020L
// ---- COMM INTERFACE -----------
#define SETUPID_MOD_RS232 0x00000040L
#define SETUPID_MOD_CAN 0x00000200L
#define SETUPID_MOD_PROFIBUS 0x00000400L
// ---- CAN ID SETUP -------------
#define SETUPID_MOD_USE_M3ID 0x00000800L
#define SETUPID_MOD_USE_M4ID 0x00001000L
#define SETUPID_MOD_USE_CANOPEN 0x00002000L
// ---- MOTOR SETUP --------------
#define SETUPID_MOD_INVERT_MOTORDIR 0x00004000L
// ---- INPUT USAGE --------------
#define SETUPID_MOD_USE_SW2_AS_ENABLE 0x00008000L
#define SETUPID_MOD_USE_SW2_AS_BRAKE 0x00010000L
// ---- OUTPUT USAGE -------------
#define SETUPID_MOD_ERROR_TO_OUT0 0x00020000L
// ---- IN/OUTPUT USAGE -------------
#define SETUPID_MOD_IO_GRIPPER_CONTROL 0x00080000L
//-----------------------------------------------------------------------
// new PCube Module Types
//-----------------------------------------------------------------------
#define TYPEID_MOD_ROTARY 0x0f
#define TYPEID_MOD_LINEAR 0xf0
//-----------------------------------------------------------------------
// new PCube Module DIO's
//-----------------------------------------------------------------------
#define DIOID_MOD_INBIT0 0x00000001L
#define DIOID_MOD_INBIT1 0x00000002L
#define DIOID_MOD_INBIT2 0x00000004L
#define DIOID_MOD_INBIT3 0x00000008L
#define DIOID_MOD_OUTBIT0 0x00000010L
#define DIOID_MOD_OUTBIT1 0x00000020L
#define DIOID_MOD_OUTBIT2 0x00000040L
#define DIOID_MOD_OUTBIT3 0x00000080L
#define DIOID_MOD_INSWR 0x00000100L
#define DIOID_MOD_INSW1 0x00000200L
#define DIOID_MOD_INSW2 0x00000400L
//-----------------------------------------------------------------------
// new EMS Module Types
//-----------------------------------------------------------------------
#define TYPEID_EMS_DIG24V_OUT 10
#define TYPEID_EMS_DIG24V_IN 11
#define TYPEID_EMS_ANA10V_OUT 12
#define TYPEID_EMS_ANA10V_IN 13
#define TYPEID_EMS_ANA25MA_OUT 14
#define TYPEID_EMS_ANA25MA_IN 15
//-----------------------------------------------------------------------
// new PCube Module Baudrates
//-----------------------------------------------------------------------
#define BAUDRATEID_MOD_CAN_75K 0
#define BAUDRATEID_MOD_CAN_250K 1
#define BAUDRATEID_MOD_CAN_500K 2
#define BAUDRATEID_MOD_CAN_1000K 3
#define BAUDRATEID_MOD_RS232_1200 0
#define BAUDRATEID_MOD_RS232_2400 1
#define BAUDRATEID_MOD_RS232_4800 2
#define BAUDRATEID_MOD_RS232_9600 3
#define BAUDRATEID_MOD_RS232_19200 4
#define BAUDRATEID_MOD_RS232_38400 5
//-----------------------------------------------------------------------
// new PCube Device Error Codes
//-----------------------------------------------------------------------
#define ERRID_DEV (-200L) // device error
#define ERRID_DEV_FUNCTIONNOTAVAILABLE (ERRID_DEV - 1)
#define ERRID_DEV_NOINITSTRING (ERRID_DEV - 2)
#define ERRID_DEV_NODEVICENAME (ERRID_DEV - 3)
#define ERRID_DEV_BADINITSTRING (ERRID_DEV - 4)
#define ERRID_DEV_INITERROR (ERRID_DEV - 5)
#define ERRID_DEV_NOTINITIALIZED (ERRID_DEV - 6)
#define ERRID_DEV_WRITEERROR (ERRID_DEV - 7)
#define ERRID_DEV_READERROR (ERRID_DEV - 8)
#define ERRID_DEV_WRITETIMEOUT (ERRID_DEV - 9)
#define ERRID_DEV_READTIMEOUT (ERRID_DEV - 10)
#define ERRID_DEV_WRONGMESSAGEID (ERRID_DEV - 11)
#define ERRID_DEV_WRONGCOMMANDID (ERRID_DEV - 12)
#define ERRID_DEV_WRONGPARAMETERID (ERRID_DEV - 13)
#define ERRID_DEV_EXITERROR (ERRID_DEV - 14)
#define ERRID_DEV_NOMODULES (ERRID_DEV - 15)
#define ERRID_DEV_WRONGDEVICEID (ERRID_DEV - 16)
#define ERRID_DEV_NOLIBRARY (ERRID_DEV - 17)
#define ERRID_DEV_ISINITIALIZED (ERRID_DEV - 18)
#define ERRID_DEV_WRONGEMSMODULEID (ERRID_DEV - 19)
#define ERRID_DEV_EMSNOTINITIALIZED (ERRID_DEV - 20)
#define ERRID_DEV_EMSMAXNUMBER (ERRID_DEV - 21)
#define ERRID_DEV_EMSINITERROR (ERRID_DEV - 22)
#define ERRID_DEV_WRONGEMSTYPE (ERRID_DEV - 23)
#define ERRID_DEV_WRONGEMSCHANNELID (ERRID_DEV - 24)
#define ERRID_DEV_WRONGMP55MODULEID (ERRID_DEV - 25)
#define ERRID_DEV_WRONGSCHUNKMODULEID (ERRID_DEV - 26)
#define ERRID_DEV_WRONGMODULEID (ERRID_DEV - 27)
#define ERRID_DEV_MODULEERROR (ERRID_DEV - 28)
#define ERRID_DEV_WAITTIMEOUT (ERRID_DEV - 29)
#define ERRID_DEV_OPENINIFILE (ERRID_DEV - 30)
//-----------------------------------------------------------------------
// old PCube Device Error Codes
//-----------------------------------------------------------------------
#define CLD_OK 0
#define CLD_ERR -1
#define CLDERR_ERROR (-200)
#define CLERR_FUNCTIONNOTAVAILABLE (CLDERR_ERROR - 1)
#define CLERR_NOINITSTRING (CLDERR_ERROR - 2)
#define CLERR_NODEVICENAME (CLDERR_ERROR - 3)
#define CLERR_BADDEVICEINITSTRING (CLDERR_ERROR - 4)
#define CLDERR_INITIALIZATIONERROR (CLDERR_ERROR - 5)
#define CLERR_DEVICENOTOPEN (CLDERR_ERROR - 6)
#define CLDERR_TRANSMISSIONERROR (CLDERR_ERROR - 7)
#define CLDERR_RECEIVEERROR (CLDERR_ERROR - 8)
#define CLERR_COMM_SENDTIMEOUT (CLDERR_ERROR - 9)
#define CLERR_COMM_RECVTIMEOUT (CLDERR_ERROR - 10)
#define CLDERR_DRIVE_NOMODULEFOUND (CLDERR_ERROR - 15)
#define CLERR_WRONGHANDLE (CLDERR_ERROR - 16)
#define CLDERR_LIBRARYNOTFOUND (CLDERR_ERROR - 17)
//-----------------------------------------------------------------------
// old PCube Module States
//-----------------------------------------------------------------------
#define STATE_ERROR 0x00000001L
#define STATE_HOME_OK 0x00000002L
#define STATE_HALTED 0x00000004L
#define STATE_POWERFAULT 0x00000008L
#define STATE_TOW_ERROR 0x00000010L
#define STATE_COMM_ERROR 0x00000020L
#define STATE_SWR 0x00000040L
#define STATE_SW1 0x00000080L
#define STATE_SW2 0x00000100L
#define STATE_BRAKEACTIVE 0x00000200L
#define STATE_CURLIMIT 0x00000400L
#define STATE_MOTION 0x00000800L
#define STATE_RAMP_ACC 0x00001000L
#define STATE_RAMP_STEADY 0x00002000L
#define STATE_RAMP_DEC 0x00004000L
#define STATE_RAMP_END 0x00008000L
#define STATE_INPROGRESS 0x00010000L
#define STATE_FULLBUFFER 0x00020000L
#define STATE_POW_VOLT_ERR 0x00040000L
#define STATE_POW_FET_TEMP 0x00080000L
#define STATE_POW_WDG_TEMP 0x00100000L
#define STATE_POW_SHORTCUR 0x00200000L
#define STATE_POW_HALLERR 0x00400000L
#define STATE_POW_INTEGRALERR 0x00800000L
#define STATE_CPU_OVERLOAD 0x01000000L
#define STATE_BEYOND_HARD 0x02000000L
#define STATE_BEYOND_SOFT 0x04000000L
//-----------------------------------------------------------------------
// old PCube Module Types
//-----------------------------------------------------------------------
#define ROTARY_DRIVE TYPEID_MOD_ROTARY
#define LINEAR_DRIVE TYPEID_MOD_LINEAR
//-----------------------------------------------------------------------
// old EMS Module Types
//-----------------------------------------------------------------------
#define TW_DIG24V_OUT TYPEID_EMS_DIG24V_OUT
#define TW_DIG24V_IN TYPEID_EMS_DIG24V_IN
#define TW_ANA10V_OUT TYPEID_EMS_ANA10V_OUT
#define TW_ANA10V_IN TYPEID_EMS_ANA10V_IN
#define TW_ANA25MA_OUT TYPEID_EMS_ANA25MA_OUT
#define TW_ANA25MA_IN TYPEID_EMS_ANA25MA_IN
//-----------------------------------------------------------------------
// old PCube Module Config
//-----------------------------------------------------------------------
#define CONFIG_ENCODER_FEEDBACK 0x00000001L
#define CONFIG_RESOLVER_FEEDBACK 0x00000002L
#define CONFIG_ABSOLUTE_FEEDBACK 0x00000004L
#define CONFIG_BRAKE_PRESENT 0x00000008L
#define CONFIG_BRAKE_AT_POWERON 0x00000010L
#define CONFIG_SWR_WITH_ENCODERZERO 0x00000020L
#define CONFIG_SWR_AT_FALLING_EDGE 0x00000040L
#define CONFIG_CHANGE_SWR_TO_LIMIT 0x00000080L
#define CONFIG_SWR_ENABLED 0x00000100L
#define CONFIG_SWR_LOW_ACTIVE 0x00000200L
#define CONFIG_SWR_EQ_POSLIMIT 0x00000400L
#define CONFIG_SW1_ENABLED 0x00000800L
#define CONFIG_SW1_LOW_ACTIVE 0x00001000L
#define CONFIG_SW1_EQ_POSLIMIT 0x00002000L
#define CONFIG_SW2_ENABLED 0x00004000L
#define CONFIG_SW2_LOW_ACTIVE 0x00008000L
#define CONFIG_SW2_EQ_POSLIMIT 0x00010000L
#define CONFIG_LINEAR_DRIVE 0x00020000L
#define CONFIG_OPENBRAKE_ON_SW2 0x00040000L
#define CONFIG_ALLOW_FULL_CUR 0x00080000L
#define CONFIG_M3_COMPATIBLE 0x00100000L
#define CONFIG_LINEAR_SCREW 0x00200000L
#define CONFIG_SYNC_MOTION 0x08000000L
#define CONFIG_CAN_RS232_COMM 0x40000000L
#define CONFIG_PROFI_RS485_COMM 0x80000000L
#define P3502_CONFIG_BRAKE_PRESENT 0x00000008L
#define P3502_CONFIG_BRAKE_AT_POWERON 0x00000010L
#define P3502_CONFIG_SWR_WITH_ENCODERZERO 0x00000020L
#define P3502_CONFIG_SWR_AT_FALLING_EDGE 0x00000040L
#define P3502_CONFIG_CHANGE_SWR_TO_LIMIT 0x00000080L
#define P3502_CONFIG_SWR_ENABLED 0x00000100L
#define P3502_CONFIG_SWR_LOW_ACTIVE 0x00000200L
#define P3502_CONFIG_SWR_USE_EXTERNAL 0x00000400L
#define P3502_CONFIG_SW1_ENABLED 0x00000800L
#define P3502_CONFIG_SW1_LOW_ACTIVE 0x00001000L
#define P3502_CONFIG_SW1_USE_EXTERNAL 0x00002000L
#define P3502_CONFIG_SW2_ENABLED 0x00004000L
#define P3502_CONFIG_SW2_LOW_ACTIVE 0x00008000L
#define P3502_CONFIG_SW2_USE_EXTERNAL 0x00010000L
#define P3502_CONFIG_LINEAR_DRIVE 0x00020000L
#define P3502_CONFIG_ALLOW_FULL_CUR 0x00080000L
#define P3502_CONFIG_M3_COMPATIBLE 0x00100000L
#define P3502_CONFIG_LINEAR_SCREW 0x00200000L
#define P3502_CONFIG_DISABLE_ON_HALT 0x00800000L
#define P3502_CONFIG_WATCHDOG_ENABLE 0x01000000L
#define P3502_CONFIG_ZERO_MOVE_AFTER_HOK 0x02000000L
#define P3502_CONFIG_DISABLE_ACK 0x04000000L
//-----------------------------------------------------------------------
// old PCube Module Setup
//-----------------------------------------------------------------------
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