📄 m5.h
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M5DLL_API int WINAPI PCube_getDeltaPos( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getMaxDeltaPos( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getActVel( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getIPolVel( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getDeltaVel( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getMaxDeltaVel( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getMinPos( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getMaxPos( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getMinVel( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getMaxVel( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getMinAcc( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getMaxAcc( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getMinCur( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getMaxCur( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getCur( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_getActPosInc( int dev, int cube, Int32* pValue );
M5DLL_API int WINAPI PCube_getMaxDeltaPosInc( int dev, int cube, Int32* pValue );
M5DLL_API int WINAPI PCube_getMinPosInc( int dev, int cube, Int32* pValue );
M5DLL_API int WINAPI PCube_getMaxPosInc( int dev, int cube, Int32* pValue );
M5DLL_API int WINAPI PCube_getMaxVelInc( int dev, int cube, Int32* pValue );
M5DLL_API int WINAPI PCube_getMaxAccInc( int dev, int cube, Int32* pValue );
M5DLL_API int WINAPI PCube_getVelInc( int dev, int cube, Int32* pValue );
M5DLL_API int WINAPI PCube_getDeltaPosInc( int dev, int cube, Int32* pValue );
M5DLL_API int WINAPI PCube_getTargetVelInc( int dev, int cube, Int32* pValue );
M5DLL_API int WINAPI PCube_setDioSetup( int dev, int cube, float value );
M5DLL_API int WINAPI PCube_setDioData( int dev, int cube, UInt32 value );
M5DLL_API int WINAPI PCube_setTargetPos( int dev, int cube, float value );
M5DLL_API int WINAPI PCube_setTargetVel( int dev, int cube, float value );
M5DLL_API int WINAPI PCube_setTargetAcc( int dev, int cube, float value );
M5DLL_API int WINAPI PCube_setKpPosControl( int dev, int cube, float value );
M5DLL_API int WINAPI PCube_setTnPosControl( int dev, int cube, float value );
M5DLL_API int WINAPI PCube_setTvPosControl( int dev, int cube, float value );
M5DLL_API int WINAPI PCube_setT1PosControl( int dev, int cube, float value );
M5DLL_API int WINAPI PCube_setKpVelControl( int dev, int cube, float value );
M5DLL_API int WINAPI PCube_setTnVelControl( int dev, int cube, float value );
M5DLL_API int WINAPI PCube_setTvVelControl( int dev, int cube, float value );
M5DLL_API int WINAPI PCube_setT1VelControl( int dev, int cube, float value );
M5DLL_API int WINAPI PCube_setRawCurrent( int dev, int cube, Int16 pValue );
M5DLL_API int WINAPI PCube_setAdeRawDAC( int dev, int cube, Int16 pValue );
M5DLL_API int WINAPI PCube_setConfig( int dev, int cube, UInt32 pValue );
M5DLL_API int WINAPI PCube_setMaxDeltaPos( int dev, int cube, float value );
M5DLL_API int WINAPI PCube_setMaxDeltaVel( int dev, int cube, float value );
M5DLL_API int WINAPI PCube_setMinPos( int dev, int cube, float value );
M5DLL_API int WINAPI PCube_setMaxPos( int dev, int cube, float value );
M5DLL_API int WINAPI PCube_setMinVel( int dev, int cube, float value );
M5DLL_API int WINAPI PCube_setMaxVel( int dev, int cube, float value );
M5DLL_API int WINAPI PCube_setMinAcc( int dev, int cube, float value );
M5DLL_API int WINAPI PCube_setMaxAcc( int dev, int cube, float value );
M5DLL_API int WINAPI PCube_setMinCur( int dev, int cube, float value );
M5DLL_API int WINAPI PCube_setMaxCur( int dev, int cube, float value );
M5DLL_API int WINAPI PCube_setCur( int dev, int cube, float value );
M5DLL_API int WINAPI PCube_setMaxDeltaPosInc( int dev, int cube, Int32 value );
M5DLL_API int WINAPI PCube_setMinPosInc( int dev, int cube, Int32 value );
M5DLL_API int WINAPI PCube_setMaxPosInc( int dev, int cube, Int32 value );
M5DLL_API int WINAPI PCube_setMaxVelInc( int dev, int cube, Int32 value );
M5DLL_API int WINAPI PCube_setMaxAccInc( int dev, int cube, Int32 value );
M5DLL_API int WINAPI PCube_setHomeOffsetInc( int dev, int cube, Int32 value );
M5DLL_API int WINAPI PCube_recalcPIDParams( int dev, int cube);
M5DLL_API int WINAPI PCube_queryEndPos( int dev, int cube, Bool* pbool );
M5DLL_API int WINAPI PCube_querySyncEnd( int dev, int cube, Bool* pbool );
// MOVE-COMMANDS
M5DLL_API int WINAPI PCube_moveStep( int dev, int cube, float pos, UInt16);
M5DLL_API int WINAPI PCube_moveStepContinue( int dev, int cube, float pos, UInt16);
M5DLL_API int WINAPI PCube_moveRamp( int dev, int cube, float, float, float);
M5DLL_API int WINAPI PCube_moveRampExtended( int dev, int cube, float pos, float vel, float acc,
unsigned long *stateRet,unsigned char *dioRet, float *posRet);
M5DLL_API int WINAPI PCube_movePos(int dev, int cube, float);
M5DLL_API int WINAPI PCube_moveTorque( int dev, int cube, float);
M5DLL_API int WINAPI PCube_moveVel( int dev, int cube, float);
M5DLL_API int WINAPI PCube_moveCurrent( int dev, int cube, float);
M5DLL_API int WINAPI PCube_moveCurrentExtended( int dev, int cube, float cur,
unsigned long *stateRet,unsigned char *dioRet, float *posRet);
M5DLL_API UInt32 WINAPI PCube_getStepStatus(int dev,int cube, int *stepitems);
M5DLL_API int WINAPI PCube_setStepQueueMode(int dev,int cube, int stepquemode);
M5DLL_API int WINAPI PCube_getStepPosState(int dev, int cube, float *pos, UInt32 *state);
M5DLL_API int WINAPI PCube_moveRampInc( int dev, int cube, Int32, Int32, Int32);
M5DLL_API int WINAPI PCube_moveVelInc( int dev, int cube, Int32);
M5DLL_API int WINAPI PCube_moveStepInc( int dev, int cube, Int32 pos, UInt16);
M5DLL_API int WINAPI PCube_moveStepExtended( int dev, int cube, float pos, unsigned short itime,
unsigned long *stateRet,unsigned char *dioRet, float *posRet);
M5DLL_API int WINAPI PCube_moveCurrentInc( int dev, int cube, Int16);
M5DLL_API int WINAPI PCube_moveStepIncFast( int dev, int cube, Int32 pos, UInt16);
M5DLL_API int PCube_getModuleType( int dev, int cube, UInt8* type );
// Special Functions
M5DLL_API int PCube_xmit8Bytes( int dev, int cube, void* bytes);
M5DLL_API int PCube_xack8Bytes( int dev, int cube, void* bytes);
M5DLL_API int PCube_doInternal( int dev, int cube, void* bytes);
M5DLL_API int PCube_getStatusInternal( int dev, int cube, unsigned int *pStat);
M5DLL_API int WINAPI PCube_getPosState(int dev, int cube, float *pos, UInt32 *state);
M5DLL_API int WINAPI M5dll_setAckMode(int dev, short mode);
M5DLL_API int WINAPI PCube_setC0( int dev, int cube, Int16 value );
M5DLL_API int WINAPI PCube_setDamp( int dev, int cube, Int16 value );
M5DLL_API int WINAPI PCube_setA0( int dev, int cube, Int16 value );
M5DLL_API int WINAPI PCube_getC0( int dev, int cube, Int16* pValue );
M5DLL_API int WINAPI PCube_getDamp( int dev, int cube, Int16* pValue );
M5DLL_API int WINAPI PCube_getA0( int dev, int cube, Int16* pValue );
M5DLL_API int WINAPI PCube_getDefC0( int dev, int cube, Int16* pValue );
M5DLL_API int WINAPI PCube_getDefDamp( int dev, int cube, Int16* pValue );
M5DLL_API int WINAPI PCube_getDefA0( int dev, int cube, Int16* pValue );
M5DLL_API int WINAPI MYTRACE( int dev, char* text );
M5DLL_API int WINAPI PCube_getDefBurncount( int dev, int cube, UInt8* pValue );
M5DLL_API int WINAPI PCube_getDefSetup( int dev, int cube, UInt32* pValue );
M5DLL_API int WINAPI PCube_getHomeOffset( int dev, int cube, float* pValue );
M5DLL_API int WINAPI PCube_setHomeOffset( int dev, int cube, float Value );
//###########################################################
// M3 Backward Compatibility
//###########################################################
typedef struct _tagConfigDrive
{ float posLimit; /* pos. LimitPos [rad or m] */
float negLimit; /* neg. LimitPos [rad or m] */
float maxVel; /* max. drive velocity [rad/s or m/s] */
float maxAcc; /* max. drive acceleration [rad/s^2 or m/s^2] */
float maxTow; /* max. allowed drive tow [rad or m] */
float maxCurrent; /* critical current [A] */
float maxTemperature; /* critical temperature [K] */
float incrPerUnit; /* increments per unit [1/rad or 1/m] */
Int16 defRegCoeff0; /* default RegCoeff */
Int16 defRegCoeff1; /* " */
Int16 defRegCoeff2; /* " */
UInt16 romVersion; /* version of ROM code (3.21.08 == 0x3218) */
UInt16 serNum; /* serial number */
UInt8 type; /* type of the drive [ROTARY_DRIVE or LINEAR_DRIVE]*/
UInt8 _realId; /* real ID of drive module - NOT FOR LATER USE !!! */
UInt8 pProdNum[ 8 ]; /* product number as string */
UInt8 pVersion[ 8 ]; /* ROM version as string */
} ConfigDrive;
M5DLL_API CLDRet CLDXtrnl_init( CLDXtrnlID* pXtrnlId, const char* pInitString );
M5DLL_API CLDRet CLDXtrnl_exit( CLDXtrnlID xtrnlId );
M5DLL_API CLDRet CLDXtrnl_reset( CLDXtrnlID xtrnlId );
M5DLL_API CLDRet CLDXtrnl_getStatus( CLDXtrnlID xtrnlId, BYTE* pStat );
M5DLL_API CLDRet CLDXtrnl_getTime( CLDXtrnlID xtrnlId, UInt32* pTime );
M5DLL_API CLDRet CLDXtrnl_getXtrnlSpec( CLDXtrnlID xtrnlId, XtrnlSpec* pSpec );
M5DLL_API CLDRet CLDDrive_initManip( int* pNumDrives, const char* pInitString );
M5DLL_API CLDRet CLDDrive_exitManip( void );
M5DLL_API CLDRet CLDDrive_commResetManip( void );
M5DLL_API CLDRet CLDDrive_initModule( CLDDriveID driveId );
M5DLL_API CLDRet CLDDrive_syncModule( CLDDriveID driveId );
M5DLL_API CLDRet CLDDrive_haltModule( CLDDriveID driveId );
M5DLL_API CLDRet CLDDrive_resetModule( CLDDriveID driveId );
M5DLL_API CLDRet CLDDrive_commResetModule( CLDDriveID driveId );
M5DLL_API CLDRet CLDDrive_freeDriveModule( CLDDriveID driveId );
M5DLL_API CLDRet CLDDrive_getStatus( CLDDriveID driveId, UInt32* pValue );
M5DLL_API CLDRet CLDDrive_getStatusM5( CLDDriveID driveId, UInt32* pStat );
M5DLL_API CLDRet CLDDrive_querySyncEnd( CLDDriveID driveId, Bool* pbool );
M5DLL_API CLDRet CLDDrive_queryEndPos( CLDDriveID driveId, Bool* pbool );
M5DLL_API CLDRet CLDDrive_queryFreeDrive( CLDDriveID driveId, Bool* pbool );
M5DLL_API CLDRet CLDDrive_getRegCoeff( CLDDriveID driveId, Int16* pCoeff0, Int16* pCoeff1, Int16* pCoeff2 );
M5DLL_API CLDRet CLDDrive_setRegCoeff( CLDDriveID driveId, Int16 coeff0, Int16 coeff1, Int16 coeff2 );
M5DLL_API CLDRet CLDDrive_setPidParams( CLDDriveID driveId, float valK, float valTi, float valTd );
M5DLL_API CLDRet CLDDrive_moveRamp( CLDDriveID driveId, float pos, float vel, float acc );
M5DLL_API CLDRet CLDDrive_movePos( CLDDriveID driveId, float pos );
M5DLL_API CLDRet CLDDrive_moveStep( CLDDriveID driveId, float pos, UInt16 step );
M5DLL_API CLDRet CLDDrive_moveVel( CLDDriveID driveId, float vel );
M5DLL_API CLDRet CLDDrive_getPos( CLDDriveID driveId, float* pPos );
M5DLL_API CLDRet CLDDrive_getVel( CLDDriveID driveId, float* pVel );
M5DLL_API CLDRet CLDDrive_getMaxDyn( CLDDriveID driveId, float* pVel, float* pAcc );
M5DLL_API CLDRet CLDDrive_setMaxDyn( CLDDriveID driveId, float vel, float acc );
M5DLL_API CLDRet CLDDrive_getActDyn( CLDDriveID driveId, float* pVel, float* pAcc );
M5DLL_API CLDRet CLDDrive_setActDyn( CLDDriveID driveId, float vel, float acc );
M5DLL_API CLDRet CLDDrive_getRange( CLDDriveID driveId, float* pPosLimit, float* pNegLimit );
M5DLL_API CLDRet CLDDrive_setRange( CLDDriveID driveId, float posLimit, float negLimit );
M5DLL_API CLDRet CLDDrive_getTow( CLDDriveID driveId, float* pTow );
M5DLL_API CLDRet CLDDrive_getMaxTow( CLDDriveID driveId, float* pMaxTow );
M5DLL_API CLDRet CLDDrive_setMaxTow( CLDDriveID driveId, float maxTow );
M5DLL_API CLDRet CLDDrive_getCurrent( CLDDriveID driveId, float* pCurrent );
M5DLL_API CLDRet CLDDrive_getMaxCurrent( CLDDriveID driveId, float* pMaxCurrent );
M5DLL_API CLDRet CLDDrive_setMaxCurrent( CLDDriveID driveId, float maxCurrent );
M5DLL_API CLDRet CLDDrive_setLimCurrent( CLDDriveID driveId, float limCurrent );
M5DLL_API CLDRet CLDDrive_getTemperature( CLDDriveID driveId, float* pTemperature );
M5DLL_API CLDRet CLDDrive_getMaxTemperature( CLDDriveID driveId, float* pMaxTemperature );
M5DLL_API CLDRet CLDDrive_setMaxTemperature( CLDDriveID driveId, float maxTemperature );
M5DLL_API CLDRet CLDDrive_getConfigDrive( CLDDriveID driveId, ConfigDrive* pDrive );
M5DLL_API CLDRet CLDDrive_configDigitalIO( CLDDriveID driveId, UInt32 mask );
M5DLL_API CLDRet CLDDrive_setDigitalOutput( CLDDriveID driveId, UInt32 out );
M5DLL_API CLDRet CLDDrive_getDigitalInput( CLDDriveID driveId, UInt32* pIn );
M5DLL_API CLDRet CLDDrive_doInternal( CLDDriveID driveId, void* pBytes );
M5DLL_API CLDRet CLDDrive_doWatchdog( CLDDriveID driveId, UInt8 pBytes );
M5DLL_API CLDRet CLDDrive_xmit8Bytes( CLDDriveID driveId, void* pBytes );
M5DLL_API CLDRet CLDDrive_xack8Bytes( CLDDriveID driveId, void* pBytes );
M5DLL_API CLDRet CLDDrive_moveTorque( CLDDriveID driveId, float Curr);
M5DLL_API CLDRet CLDDrive_setBrakeState( CLDDriveID driveId, UInt16 state );
M5DLL_API CLDRet CLDev_openDevice( unsigned short int* pDev, const char* pInitString );
M5DLL_API CLDRet CLDev_closeDevice( unsigned short int dev );
M5DLL_API CLDRet CLDev_resetDevice( unsigned short int dev );
//M5DLL_API int TW_getModuleCount(int dev, int *count);
M5DLL_API int WINAPI TW_addModule(int dev,UInt8 type, UInt32 sernr, int *index);
M5DLL_API int WINAPI TW_initModules(int dev);
M5DLL_API int WINAPI TW_setIO(int dev,int index, int port, Float newval);
M5DLL_API int WINAPI TW_getIO(int dev, int index, int port, Float *val);
M5DLL_API int WINAPI TW_setDigIOall(int dev, int index, UInt8 val);
M5DLL_API int WINAPI TW_getDigIOall(int dev, int index, UInt8* val);
//Common usefull functions
M5DLL_API int WINAPI M5dll_getBuildVersion(char *ptr);
M5DLL_API int WINAPI M5dll_getRevision(int dev, char *ptr);
M5DLL_API int WINAPI M5dll_AddError( int dev, int level, char *errorstring);
M5DLL_API int WINAPI M5dll_getCANstatus( int dev, int* cpu_load, int* bus_load, UInt8* can_stat);
M5DLL_API int WINAPI M5dll_AddForward( int devsource, int devdest);
#ifdef __cplusplus
}
#endif
//***************************************************************************
//
// ERRORFLAGS
//
#define CLD_OK 0
#define CLD_ERR -1 // Some Error
#define CLDERR_ERROR (100)
#define CLDERR_LIBRARYNOTFOUND (CLDERR_ERROR + 1)
#define CLDERR_INITIALIZATIONERROR (CLDERR_ERROR + 2)
#define CLDERR_TRANSMISSIONERROR (CLDERR_ERROR + 3)
#define CLDERR_RECEIVEERROR (CLDERR_ERROR + 4)
#define CLERR_TOOMANYDEVICES (CLDERR_ERROR + 5) //Error no longer supported
#define CLERR_BADPARAM (CLDERR_ERROR + 6)
#define CLERR_NOINITSTRING (CLDERR_ERROR + 7)
#define CLERR_NODEVICENAME (CLDERR_ERROR + 8)
#define CLERR_NODEVICEINITSTRING (CLDERR_ERROR + 9) //Error no longer supported
#define CLERR_BADDEVICEINITSTRING (CLDERR_ERROR + 10)
#define CLERR_HARDWARENOTFOUND (CLDERR_ERROR + 11)
#define CLERR_HARDWARETIMEOUT (CLDERR_ERROR + 12) //Error no longer supported
#define CLERR_NODUALPORTRAM (CLDERR_ERROR + 13) //Error no longer supported
#define CLERR_MSGBUFFEROVERFLOW (CLDERR_ERROR + 14) //Error no longer supported
#define CLERR_RECEIVERTIMEOUT (CLDERR_ERROR + 15) //Error no longer supported
#define CLERR_DEVICENOTOPEN (CLDERR_ERROR + 16)
#define CLERR_FUNCTIONNOTAVAILABLE (CLDERR_ERROR + 17)
#define CLDERR_THREADNOTCREATED (CLDERR_ERROR + 18)
#define CLERR_TIMEREVENTNOTCREATED (CLDERR_ERROR + 19)
#define CLERR_STEPMODEUNKNOWN (CLDERR_ERROR + 20)
#define CLERR_HARDWARENOTINSTALLED (CLDERR_ERROR+21)
#define CLERR_COMM_OVERRUN (CLDERR_ERROR+22)
#define CLERR_COMM_PARITY (CLDERR_ERROR+23)
#define CLERR_COMM_FRAME (CLDERR_ERROR+24)
#define CLERR_COMM_BREAK (CLDERR_ERROR+25)
#define CLERR_UNKNOWNERROR (CLDERR_ERROR+26)
#define CLERR_COMM_RECVTIMEOUT (CLDERR_ERROR+27)
#define CLERR_COMM_NODATA (CLDERR_ERROR+28)
#define CLERR_SLAVECONFIG_MISMATCH (CLDERR_ERROR+29)
#define CLERR_NODATASTRUCT (CLDERR_ERROR+30)
#define CLERR_COMM_SENDTIMEOUT (CLDERR_ERROR+31)
#define CLERR_WRONGHANDLE (CLDERR_ERROR + 32)
#define CLDERR_DRIVE (200)
#define CLDERR_DRIVE_RECEIVE (CLDERR_DRIVE + 1) //Error no longer supported
#define CLDERR_DRIVE_BADPARAM (CLDERR_DRIVE + 2) //Error no longer supported
#define CLDERR_DRIVE_BADANSWER (CLDERR_DRIVE + 3) //Error no longer supported
#define CLDERR_DRIVE_MODULENOTREADY (CLDERR_DRIVE + 4) //Error no longer supported
#define CLDERR_DRIVE_MODULEERROR (CLDERR_DRIVE + 5) //Error no longer supported
#define CLDERR_DRIVE_NOMODULEFOUND (CLDERR_DRIVE + 6)
#define CLDERR_DRIVE_MODULETIMEOUT (CLDERR_DRIVE + 7)
#define CLDERR_DRIVE_MANIPNOTINITIALIZED (CLDERR_DRIVE + 8) //Error no longer supported
#define CLDERR_DRIVE_COMMUNICATIONOVERRUN (CLDERR_DRIVE + 9) //Error no longer supported
#define NET_ERR (300)
#define NET_SOCKET_ERR (NET_ERR + 1 )
#define NET_HOST_ERR (NET_ERR + 2 )
#define NET_CONNECT_ERR (NET_ERR + 3 )
//***************************************************************************
//
// Messages
//
/********************************************************************************/
#define CANID_CMDALLHIGHPRIO 0x0000 /* (07): in/out */
/* (UInt8)cmd (0..7)data */
#define CANID_MODULEACK 0x0020 /* (15): out */
/* (UInt8)theModuleNumber */
#define CANID_MODULEREQ 0x0040 /* (14): in */
/* (UInt8)theModuleNumber */
#define CANID_STATE 0x0060 /* (13): out */
/* (UInt32)theState */
#define CANID_SETMOTION 0x0080 /* (12): in */
/* (UInt8)theMotionMode */
/* (float/Int32)theTargetValue */
/* (UInt16)theStepWidth */
#define CANID_CMDACK 0x00a0 /* (11): out */
/* (UInt8)cmd (0..7)data */
#define CANID_CMDGET 0x00c0 /* (10): in */
/* (UInt8)cmd */
#define CANID_CMDPUT 0x00e0 /* (09): in */
/* (UInt8)cmd (0..7)data */
#define CANID_CMDALL 0x0100 /* (08): in */
#define CANID_CMDPOSSTATE 0x0120
#define CMDCAN_DORESET 0x00
#define CMDCAN_DOSYNC 0x01
#define CMDCAN_DOHALT 0x02
#define CMDCAN_DOFREEDRIVE 0x03
#define CMDCAN_DOINTERNAL 0x04
#define CMDCAN_DOCOMMRESET 0x05
#define CMDCAN_DOCOMMRESETALL 0x06
#define CMDCAN_DOWATCHDOG 0x07
//#define CMDCAN_EXTENDEDPARAMSET 0x08
#define CMDCAN_SET_EXTENDEDPARAMSET 0x08
#define CMDCAN_RECALCPIDPARAMS 0x09
#define CMDCAN_GET_EXTENDEDPARAMSET 0x0a
#define CMDCAN_SETMOTIONMODE 0x0b
#define CMDCAN_GETPOSSTATE 0x0c
/*------ motion parameters ------ */
#define CMDCAN_POS 0x10 /* out */
/* (float/Int32)theTargetPos */
#define CMDCAN_VEL 0x11 /* out */
/* (float/Int32)theTargetVel */
#define CMDCAN_MOVEINCR 0x12
/* (Int32)theAbsIncrPos */
#define CMDCAN_MAXACC 0x20
/* (float/Int32)theMaxAcc */
#define CMDCAN_MAXVEL 0x21
/* (float/Int32)theMaxVel */
#define CMDCAN_ACTACC 0x22
/* (float/Int32)theActualAcc */
#define CMDCAN_ACTVEL 0x23
/* (float/Int32)theActualVel */
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