📄 m5.h
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#define CMDCAN_POSLIMIT 0x24
/* (float/Int32)thePosLimit */
#define CMDCAN_NEGLIMIT 0x25
/* (float/Int32)theNegLimit */
#define CMDCAN_REGCOEFFS 0x26
/* (Int16)theRegCoeff0 */
/* (Int16)theRegCoeff1 */
/* (Int16)theRegCoeff2 */
#define CMDCAN_PIDPARAMS 0x27
/* (Int16)thePidKp */
/* (Int16)thePidKi */
/* (Int16)thePidKd */
/*------ actual parameters ------ */
#define CMDCAN_TOW 0x30 /* out */
/* (float/Int32)theActualTow */
#define CMDCAN_MAXTOW 0x31
/* (float/Int32)theMaxTow */
#define CMDCAN_CURRENT 0x32 /* out */
/* (float/Int32)theCurrent */
#define CMDCAN_MAXCURRENT 0x33
/* (float/Int32)theMaxCurrent */
#define CMDCAN_TEMPERATURE 0x34 /* out */
/* (float/Int32)theTemperature */
#define CMDCAN_MAXTEMPERATURE 0x35
/* (float/Int32)theMaxTemperature */
/*------ default parameters ------ */
#define CMDCAN_DEFMAXACC 0x40 /* out */
/* (float/Int32)theMaxAcc */
#define CMDCAN_DEFMAXVEL 0x41 /* out */
/* (float/Int32)theMaxVel */
#define CMDCAN_DEFPOSLIMIT 0x42 /* out */
/* (float/Int32)thePosLimit */
#define CMDCAN_DEFNEGLIMIT 0x43 /* out */
/* (float/Int32)theNegLimit */
#define CMDCAN_DEFREGCOEFFS 0x44 /* out */
/* (Int16)theRegCoeff0 */
/* (Int16)theRegCoeff1 */
/* (Int16)theRegCoeff2 */
#define CMDCAN_DEFMAXCURRENT 0x45 /* out */
/* (float/Int32)theMaxCurrent */
#define CMDCAN_DEFMAXTOW 0x46 /* out */
/* (float/Int32)theMaxTow */
#define CMDCAN_DEFMAXTEMPERATURE 0x47 /* out */
/* (float/Int32)theMaxTemperature */
#define CMDCAN_DEFINCRPERUNIT 0x48 /* out */
/* (float)incrPerUnit */
#define CMDCAN_DEFMODULETYPE 0x49 /* out */
/* (UInt8)moduleType */
#define CMDCAN_DEFROMVERSION 0x4a /* out */
/* (UInt16)romVersion */
#define CMDCAN_DEFSERIALNUMBER 0x4b /* out */
/* (UInt32)serialNumber */
#define CMDCAN_DEFPRODUCTNUMBER 0x4c /* out */
/* (Char[7])pProductNumber */
#define CMDCAN_DEFPIDPARAMS 0x4d /* out */
/* (Int16)thePidKp */
/* (Int16)thePidKi */
/* (Int16)thePidKd */
#define CMDCAN_CHANGEBAUDRATE 0x50
/* (UInt32)baudRate */
/*------ motion parameters with float ------ */
#define CMDCAN_FPOS 0x60 /* out */
/* (float/Int32)theTargetPos */
#define CMDCAN_FVEL 0x61 /* out */
/* (float/Int32)theTargetVel */
#define CMDCAN_FACTPOS 0x62 /* out */
/* (float/Int32)theActualPos */
#define CMDCAN_FMAXACC 0x70
/* (float/Int32)theMaxAcc */
#define CMDCAN_FMAXVEL 0x71
/* (float/Int32)theMaxVel */
#define CMDCAN_FACTACC 0x72
/* (float/Int32)theActualAcc */
#define CMDCAN_FACTVEL 0x73
/* (float/Int32)theActualVel */
#define CMDCAN_FPOSLIMIT 0x74
/* (float/Int32)thePosLimit */
#define CMDCAN_FNEGLIMIT 0x75
/* (float/Int32)theNegLimit */
/*------ actual parameters ------ */
#define CMDCAN_FTOW 0x80 /* out */
/* (float/Int32)theActualTow */
#define CMDCAN_FMAXTOW 0x81
/* (float/Int32)theMaxTow */
#define CMDCAN_FCURRENT 0x82 /* out */
/* (float/Int32)theCurrent */
#define CMDCAN_FMAXCURRENT 0x83
/* (float/Int32)theMaxCurrent */
#define CMDCAN_FTEMPERATURE 0x84 /* out */
/* (float/Int32)theTemperature */
#define CMDCAN_FMAXTEMPERATURE 0x85
/* (float/Int32)theMaxTemperature */
#define CMDCAN_FLIMCURRENT 0x86
/* (float)theLimCurrent */
/*------ default parameters ------ */
#define CMDCAN_FDEFMAXACC 0x90 /* out */
/* (float/Int32)theMaxAcc */
#define CMDCAN_FDEFMAXVEL 0x91 /* out */
/* (float/Int32)theMaxVel */
#define CMDCAN_FDEFPOSLIMIT 0x92 /* out */
/* (float/Int32)thePosLimit */
#define CMDCAN_FDEFNEGLIMIT 0x93 /* out */
/* (float/Int32)theNegLimit */
#define CMDCAN_FDEFMAXCURRENT 0x95 /* out */
/* (float/Int32)theMaxCurrent */
#define CMDCAN_FDEFMAXTOW 0x96 /* out */
/* (float/Int32)theMaxTow */
#define CMDCAN_FDEFMAXTEMPERATURE 0x97 /* out */
/* (float/Int32)theMaxTemperature */
#define CMDCAN_FDEFMAXTEMPERATURE 0x97 /* out */
#define CMDCAN_CONFIGDIGITALIO 0xa0
/* (UInt32) mask */
#define CMDCAN_DIGITALBITS 0xa1
/* (UInt32) in/out */
#define CMDCAN_IBRAKESTATE 0xa2 /* in */
//***************************************************************************
//
// Extended-Parameterset-Definitions
//
#define DEF_FHOMEOFFSET 0x00
#define DEF_FGEARRATIO 0x01
#define DEF_FLINEARRATIO 0x02
#define DEF_FMINPOS 0x03
#define DEF_FMAXPOS 0x04
#define DEF_FMAXDELTAPOS 0x05
#define DEF_FMAXDELTAVEL 0x06
#define DEF_FTORQUERATIO 0x07
#define DEF_FCURRATIO 0x08
#define DEF_FMINVEL 0x09
#define DEF_FMAXVEL 0x0a
#define DEF_FMINACC 0x0b
#define DEF_FMAXACC 0x0c
#define DEF_FMINCUR 0x0d
#define DEF_FMAXCUR 0x0e
#define DEF_FHOMEVEL 0x0f
#define DEF_FHOMEACC 0x10
#define DEF_FKP_POSCNTRL 0x11
#define DEF_FTN_POSCNTRL 0x12
#define DEF_FTV_POSCNTRL 0x13
#define DEF_FT1_POSCNTRL 0x14
#define DEF_FKP_VELCNTRL 0x15
#define DEF_FTN_VELCNTRL 0x16
#define DEF_FTV_VELCNTRL 0x17
#define DEF_FT1_VELCNTRL 0x18
#define DEF_DIOSETUP 0x19
#define DEF_SERIALNO 0x1a
#define DEF_CONFIG 0x1b
#define DEF_PULSESPERTURN 0x1c
#define DEF_CUBEVERSION 0x1d
#define DEF_SERVICEINTERVAL 0x1e
#define DEF_BRAKETIMEOUT 0x1f
#define DEF_ADDRESS 0x20
#define DEF_MOVEMODE 0x21
#define DEF_PRIMARYBAUDRATE 0x22
#define DEF_SECONDARYBAUDRATE 0x23
#define ACT_POSCOUNT 0x24
#define ACT_REFPOSCOUNT 0x25
#define ACT_DIOSETUP 0x26
#define ACT_CUBESTATE 0x27
#define ACT_TARGETPOSINC 0x28
#define ACT_TARGETVELINC 0x29
#define ACT_TARGETACCINC 0x2a
#define ACT_STEPINC 0x2b
#define ACT_HOMEOFFSETINC 0x2c
#define ACT_FKP_POSCNTRL 0x2d
#define ACT_FTN_POSCNTRL 0x2e
#define ACT_FTV_POSCNTRL 0x2f
#define ACT_FT1_POSCNTRL 0x30
#define ACT_FKP_VELCNTRL 0x31
#define ACT_FTN_VELCNTRL 0x32
#define ACT_FTV_VELCNTRL 0x33
#define ACT_FT1_VELCNTRL 0x34
#define ACT_RAWCUR 0x35
#define ACT_HOMETOZERO 0x36
#define ACT_HOURCOUNT 0x37
#define ACT_ADERAWDAC 0x38
#define ACT_CONFIG 0x39
#define ACT_MOVEMODE 0x3a
#define ACT_FINCRATIO 0x3b
#define ACT_FPOS 0x3c
#define ACT_FPOS_ 0x3d
#define ACT_FIPOLPOS 0x3e
#define ACT_FDELTAPOS 0x3f
#define ACT_FMAXDELTAPOS 0x40
#define ACT_FVEL 0x41
#define ACT_FIPOLVEL 0x42
#define ACT_FDELTAVEL 0x43
#define ACT_FMAXDELTAVEL 0x44
#define ACT_FMINPOS 0x45
#define ACT_FMAXPOS 0x46
#define ACT_FMINVEL 0x47
#define ACT_FMAXVEL 0x48
#define ACT_FMINACC 0x49
#define ACT_FMAXACC 0x4a
#define ACT_FMINCUR 0x4b
#define ACT_FMAXCUR 0x4c
#define ACT_FCUR 0x4d
//#define ACT_MOVETORQUE 0x4e
#define ACT_TARGETPOS 0x4e // Set it for MOVE-RAMP-Commands!
#define ACT_TARGETVEL 0x4f
#define ACT_TARGETACC 0x50
#define DEF_C0 0x51
#define DEF_DAMP 0x52
#define DEF_A0 0x53
#define ACT_C0 0x54
#define ACT_DAMP 0x55
#define ACT_A0 0x56
//
#define DEF_BURNCOUNT 0x57
#define DEF_SETUP 0x58
#define HOMEOFFSET 0x59
// neu eingef黦t am 27.4.2000 -- SPE
#define ACT_POS 0x5a
#define ACT_MAXDELTAPOSINC 0x5b
#define ACT_MINPOSINC 0x5c
#define ACT_MAXPOSINC 0x5d
#define ACT_MAXVELINC 0x5e
#define ACT_MAXACCINC 0x5f
#define ACT_VELINC 0x60
#define ACT_DELTAPOSINC 0x61
//***************************************************************************
//
// global stuff
//
#define MAXDEVICES 32
#define MAXMODULES 32
#define MAXIOS 51
//* Entries in Configuration Register:
#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_ADE_PRESENT 0x00040000L
#define CONFIG_PID_OUT_TO_DAC 0x00080000L
#define CONFIG_M3_COMPATIBLE 0x00100000L
#define CONFIG_LINEAR_SCREW 0x00200000L
#define CONFIG_NOTIFYEMPTYBUFFER 0x00400000L
/*---------------------------------------------------------------------- */
/* state flags MoRSE 3 */
/*---------------------------------------------------------------------- */
#define ST_ENDPOS 0x00000001L
#define ST_HALTED 0x00000002L
#define ST_SYNCHRONIZED 0x00000004L
#define ST_MOVING 0x00000008L
#define ST_WARN_BEYONDSOFTLIMIT 0x00000010L
#define ST_BEYONDSOFTLIMIT 0x00000020L
#define ST_BEYONDHARDLIMIT 0x00000040L
#define ST_WARN_CURRENTLIMITATION 0x00000800L
#define ST_WARN_HIGHTEMPERATURE 0x00001000L
#define ST_WARN_LOWVOLTAGE 0x00002000L
#define ST_WARN_ANTIWINDUP 0x00004000L
#define ST_ERROR 0x00008000L
#define ST_ERR_ENCODERFAULT 0x00010000L
#define ST_ERR_POWERFAULT 0x00020000L
#define ST_ERR_WATCHDOGTIMEOUT 0x00040000L
#define ST_ERR_HARDWARETRAP 0x00080000L
#define ST_ERR_HIGHCURRENT 0x00100000L
#define ST_ERR_USER 0x00200000L
#define ST_ERR_TEMPERATURE 0x00400000L
#define ST_ERR_TOW 0x00800000L
#define ST_ERR_INTERNAL 0x01000000L
#define ST_ERR_COMMERROR 0x02000000L
#define ST_ERR_CRCERROR 0x04000000L
#define ST_ERR_FATALERROR 0x08000000L
#define ST_ERR_HARDMAXPOS 0x10000000L
#define ST_ERR_HARDMINPOS 0x20000000L
#define ST_ERR_SOFTMAXPOS 0x40000000L
#define ST_ERR_SOFTMINPOS 0x80000000L
//-----------------------------------------------------------------------
// Drive States M5
//-----------------------------------------------------------------------
#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
//* DRIVE-TYPES
#define ROTARY_DRIVE 0x0f
#define LINEAR_DRIVE 0xf0
#define WHEEL_DRIVE 0x010F
#define DIRECTION_DRIVE 0x020F
#define WRIST_ROLL_DRIVE 0x040F
#define WRIST_YAW_DRIVE 0x080F
#define GRIPPER_DRIVE 0x01F0
// Thomas Wuensche I/O-Moduls
#define TW_DIG24V_OUT 0
#define TW_DIG24V_IN 1
#define TW_ANA10V_OUT 2
#define TW_ANA10V_IN 3
#define TW_ANA25MA_OUT 4
#define TW_ANA25MA_IN 5
// Remote Access Functions
#define DEFAULT_PORT 5001
#define DEFAULT_PROTO SOCK_STREAM // TCP
#define DEFAULT_PASSWORD "amtec"
#endif
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