| ApossC SDK V01.15

SDK_Amplifier_Epos4.mh
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1
8 #pragma once
9
10 // Declaration of the functions
11 long sdkEpos4_SetupECatBusModule(long axis, long busId, long pdoNumber, long operationMode);
12 long sdkEpos4_SetupECatVirtAmp(long axis, long maxRpm, long operationMode);
13 long sdkEpos4_SetupECatVirtCntin(long axis, long operationMode);
14 long sdkEpos4_SetupECatSdoParam(long busId, long pdoNumber, long axisPolarity, long operationMode);
15
16 long sdkEpos4_SetupCanBusModule(long axis, long busId, long pdoNumber, long operationMode);
17 long sdkEpos4_SetupCanVirtAmp(long axis, long maxRpm, long operationMode);
18 long sdkEpos4_SetupCanVirtCntin(long axis, long operationMode);
19 long sdkEpos4_SetupCanSdoParam(long busId, long pdonumber, long axisPolarity, long operationMode);
20
21 long sdkEpos4_AxisHomingStart(long axis, long busId, long operationMode, long &homingState);
22
23 void sdkEpos4_PrintErrorDescription(long errorCode);
24
25
26
27
30 #define EPOS4_DEVICE_TYPE 0x1000
31 #define EPOS4_ERROR_REGISTER 0x1001
32 #define EPOS4_ERROR_HISTORY 0x1003
33 #define EPOS4_COB_ID_SYNC 0x1005
34 #define EPOS4_MANUFACTURER_DEVICE_NAME 0x1008
35 #define EPOS4_STORE_PARAMETERS 0x1010
36 #define EPOS4_RESTORE_DEFAULT_PARAMETERS 0x1011
37 #define EPOS4_COB_ID_EMCY 0x1014
38 #define EPOS4_CONSUMER_HEARTBEAT_TIME 0x1016
39 #define EPOS4_PRODUCER_HEARTBEAT_TIME 0x1017
40 #define EPOS4_IDENTITY_OBJECT 0x1018
41 #define EPOS4_DIAGNOSIS_HISTORY 0x10F3
42 #define EPOS4_SDO_SERVER_PARAMETER 0x1200
43 #define EPOS4_RECEIVE_PDO_1_PARAMETER 0x1400
44 #define EPOS4_RECEIVE_PDO_2_PARAMETER 0x1401
45 #define EPOS4_RECEIVE_PDO_3_PARAMETER 0x1402
46 #define EPOS4_RECEIVE_PDO_4_PARAMETER 0x1403
47 #define EPOS4_RECEIVE_PDO_1_MAPPING 0x1600
48 #define EPOS4_RECEIVE_PDO_2_MAPPING 0x1601
49 #define EPOS4_RECEIVE_PDO_3_MAPPING 0x1602
50 #define EPOS4_RECEIVE_PDO_4_MAPPING 0x1603
51 #define EPOS4_TRANSMIT_PDO_1_PARAMETER 0x1800
52 #define EPOS4_TRANSMIT_PDO_2_PARAMETER 0x1801
53 #define EPOS4_TRANSMIT_PDO_3_PARAMETER 0x1802
54 #define EPOS4_TRANSMIT_PDO_4_PARAMETER 0x1803
55 #define EPOS4_TRANSMIT_PDO_1_MAPPING 0x1A00
56 #define EPOS4_TRANSMIT_PDO_2_MAPPING 0x1A01
57 #define EPOS4_TRANSMIT_PDO_3_MAPPING 0x1A02
58 #define EPOS4_TRANSMIT_PDO_4_MAPPING 0x1A03
59 #define EPOS4_SYNC_MANAGER_COMMUNICATION_TYPE 0x1C00
60 #define EPOS4_SYNC_MANAGER_2_PDO_ASSIGNMENT 0x1C12
61 #define EPOS4_SYNC_MANAGER_3_PDO_ASSIGNMENT 0x1C13
62 #define EPOS4_SYNC_MANAGER_2_PARAMETER 0x1C32
63 #define EPOS4_SYNC_MANAGER_3_PARAMETER 0x1C33
64 #define EPOS4_PROGRAM_DATA 0x1F50
65 #define EPOS4_PROGRAM_CONTROL 0x1F51
66 #define EPOS4_PROGRAM_SOFTWARE_IDENTIFICATION 0x1F56
67 #define EPOS4_FLASH_STATUS_IDENTIFICATION 0x1F57
68 #define EPOS4_NODE_ID 0x2000
69 #define EPOS4_CAN_BIT_RATE 0x2001
70 #define EPOS4_RS232_BIT_RATE 0x2002
71 #define EPOS4_RS232_FRAME_TIMEOUT 0x2005
72 #define EPOS4_USB_FRAME_TIMEOUT 0x2006
73 #define EPOS4_CAN_BIT_RATE_DISPLAY 0x200A
74 #define EPOS4_ACTIVE_FIELDBUS 0x2010
75 #define EPOS4_ADDITIONAL_IDENTITY 0x2100
76 #define EPOS4_EXTENSION_1_IDENTITY 0x2101
77 #define EPOS4_CUSTOM_PERSISTENT_MEMORY 0x210C
78 #define EPOS4_POWER_SUPPLY 0x2200
79 #define EPOS4_AXIS_CONFIGURATION 0x3000
80 #define EPOS4_MOTOR_DATA 0x3001
81 #define EPOS4_ELECTRICAL_SYSTEM_PARAMETERS 0x3002
82 #define EPOS4_GEAR_CONFIGURATION 0x3003
83 #define EPOS4_DIGITAL_INCREMENTAL_ENCODER_1 0x3010
84 #define EPOS4_ANALOG_INCREMENTAL_ENCODER 0x3011
85 #define EPOS4_SSI_ABSOLUTE_ENCODER 0x3012
86 #define EPOS4_DIGITAL_HALL_SENSOR 0x301A
87 #define EPOS4_DIGITAL_INCREMENTAL_ENCODER_2 0x3020
88 #define EPOS4_CURRENT_CONTROL_PARAMETER_SET 0x30A0
89 #define EPOS4_POSITION_CONTROL_PARAMETER_SET 0x30A1
90 #define EPOS4_VELOCITY_CONTROL_PARAMETER_SET 0x30A2
91 #define EPOS4_VELOCITY_OBSERVER_PARAMETER_SET 0x30A3
92 #define EPOS4_DUAL_LOOP_POSITION_CONTROL_PARAMETER_SET 0x30AE
93 #define EPOS4_HOME_POSITION 0x30B0 // 0x00: Defines the position that will be set as zero position
94 #define EPOS4_HOME_OFFSET_MOVE_DISTANCE 0x30B1 // 0x00: Represents a moving distance in a homing procedure
95 #define EPOS4_CURRENT_THRESHOLD_FOR_HOMING_MODE 0x30B2 // 0x00: Used for homing methods «−1», «−2», «−3», and «−4»
96 #define EPOS4_CURRENT_DEMAND_VALUE 0x30D0
97 #define EPOS4_CURRENT_ACTUAL_VALUES 0x30D1
98 #define EPOS4_TORQUE_ACTUAL_VALUES 0x30D2
99 #define EPOS4_VELOCITY_ACTUAL_VALUES 0x30D3
100 #define EPOS4_STANDSTILL_WINDOW_CONFIGURATION 0x30E0
101 #define EPOS4_DIGITAL_INPUT_PROPERTIES 0x3141
102 #define EPOS4_CONFIGURATION_OF_DIGITAL_INPUTS 0x3142
103 #define EPOS4_DIGITAL_OUTPUT_PROPERTIES 0x3150
104 #define EPOS4_CONFIGURATION_OF_DIGITAL_OUTPUTS 0x3151
105 #define EPOS4_HOLDING_BRAKE_PARAMETERS 0x3158
106 #define EPOS4_ANALOG_INPUT_PROPERTIES 0x3160
107 #define EPOS4_CONFIGURATION_OF_ANALOG_INPUTS 0x3161
108 #define EPOS4_ANALOG_INPUT_GENERAL_PURPOSE 0x3162
109 #define EPOS4_ANALOG_INPUT_ADJUSTMENT 0x3163
110 #define EPOS4_ANALOG_INPUT_CURRENT_SET_VALUE_PROPERTIES 0x3170
111 #define EPOS4_ANALOG_INPUT_VELOCITY_SET_VALUE_PROPERTIES 0x3171
112 #define EPOS4_ANALOG_OUTPUT_PROPERTIES 0x3180
113 #define EPOS4_CONFIGURATION_OF_ANALOG_OUTPUTS 0x3181
114 #define EPOS4_ANALOG_OUTPUT_GENERAL_PURPOSE 0x3182
115 #define EPOS4_MOTOR_PROTECTION 0x3200
116 #define EPOS4_THERMAL_CONTROLLER_PROTECTION 0x3201
117 #define EPOS4_FUNCTIONAL_SAFETY 0x3202
118 #define EPOS4_ABORT_CONNECTION_OPTION_CODE 0x6007
119 #define EPOS4_ERROR_CODE 0x603F
120 #define EPOS4_CONTROLWORD 0x6040 //
121 #define EPOS4_STATUSWORD 0x6041
122 #define EPOS4_QUICK_STOP_OPTION_CODE 0x605A
123 #define EPOS4_SHUTDOWN_OPTION_CODE 0x605B
124 #define EPOS4_DISABLE_OPERATION_OPTION_CODE 0x605C
125 #define EPOS4_FAULT_REACTION_OPTION_CODE 0x605E
126 #define EPOS4_MODES_OF_OPERATION 0x6060 // 0x00: Switches the actually chosen operating mode
127 #define EPOS4_OP_PPM 0x01 // Profile Position Mode
128 #define EPOS4_OP_PVM 0x03 // Profile Velocity Mode
129 #define EPOS4_OP_HMM 0x06 // Homing Mode
130 #define EPOS4_OP_CSP 0x08 // Cyclic Synchronous Position Mode
131 #define EPOS4_OP_CSV 0x09 // Cyclic Synchronous Velocity Mode
132 #define EPOS4_OP_CST 0x0A // Cyclic Synchronous Torque Mode
133 #define EPOS4_MODES_OF_OPERATION_DISPLAY 0x6061
134 #define EPOS4_POSITION_DEMAND_VALUE 0x6062
135 #define EPOS4_POSITION_ACTUAL_VALUE 0x6064
136 #define EPOS4_FOLLOWING_ERROR_WINDOW 0x6065
137 #define EPOS4_FOLLOWING_ERROR_TIMEOUT 0x6066
138 #define EPOS4_VELOCITY_DEMAND_VALUE 0x606B
139 #define EPOS4_VELOCITY_ACTUAL_VALUE 0x606C
140 #define EPOS4_TARGET_TORQUE 0x6071
141 #define EPOS4_MOTOR_RATED_TORQUE 0x6076
142 #define EPOS4_TORQUE_ACTUAL_VALUE 0x6077
143 #define EPOS4_TARGET_POSITION 0x607A
144 #define EPOS4_POSITION_RANGE_LIMIT 0x607B
145 #define EPOS4_SOFTWARE_POSITION_LIMIT 0x607D
146 #define EPOS4_MAX_PROFILE_VELOCITY 0x607F
147 #define EPOS4_MAX_MOTOR_SPEED 0x6080
148 #define EPOS4_PROFILE_VELOCITY 0x6081
149 #define EPOS4_PROFILE_ACCELERATION 0x6083
150 #define EPOS4_PROFILE_DECELERATION 0x6084
151 #define EPOS4_QUICK_STOP_DECELERATION 0x6085
152 #define EPOS4_MOTION_PROFILE_TYPE 0x6086
153 #define EPOS4_HOMING_METHOD 0x6098 // 0x00: Used to select the desired homing method
154 #define EPOS4_HOMING_ACT_POSITION 37
155 #define EPOS4_HOMING_IDX_P_SPEED 34
156 #define EPOS4_HOMING_IDX_N_SPEED 33
157 #define EPOS4_HOMING_SWITCH_P_SPEED 23
158 #define EPOS4_HOMING_SWITCH_N_SPEED 27
159 #define EPOS4_HOMING_LIMIT_P_SPEED 18
160 #define EPOS4_HOMING_LIMIT_N_SPEED 17
161 #define EPOS4_HOMING_SWITCH_IDX_P_SPEED 7
162 #define EPOS4_HOMING_SWITCH_IDX_N_SPEED 11
163 #define EPOS4_HOMING_LIMIT_IDX_P_SPEED 2
164 #define EPOS4_HOMING_LIMIT_IDX_N_SPEED 1
165 #define EPOS4_HOMING_CURRENT_IDX_P_SPEED -1
166 #define EPOS4_HOMING_CURRENT_IDX_N_SPEED -2
167 #define EPOS4_HOMING_CURRENT_P_SPEED -3
168 #define EPOS4_HOMING_CURRENT_N_SPEED -4
169 #define EPOS4_HOMING_SPEEDS 0x6099 // 0x01: Speed for switch search, 0x02: Speed for zero search
170 #define EPOS4_HOMING_ACCELERATION 0x609A // 0x00: Acceleration and deceleration ramps in the homing profile
171 #define EPOS4_SI_UNIT_POSITION 0x60A8
172 #define EPOS4_SI_UNIT_VELOCITY 0x60A9
173 #define EPOS4_SI_UNIT_ACCELERATION 0x60AA
174 #define EPOS4_POSITION_OFFSET 0x60B0
175 #define EPOS4_VELOCITY_OFFSET 0x60B1
176 #define EPOS4_TORQUE_OFFSET 0x60B2
177 #define EPOS4_TOUCH_PROBE_FUNCTION 0x60B8
178 #define EPOS4_TOUCH_PROBE_STATUS 0x60B9
179 #define EPOS4_TOUCH_PROBE_POSITION_1_POSITIVE_VALUE 0x60BA
180 #define EPOS4_TOUCH_PROBE_POSITION_1_NEGATIVE_VALUE 0x60BB
181 #define EPOS4_INTERPOLATION_TIME_PERIOD 0x60C2
182 #define EPOS4_MAX_ACCELERATION 0x60C5
183 #define EPOS4_TOUCH_PROBE_SOURCE 0x60D0
184 #define EPOS4_TOUCH_PROBE_1_POSITIVE_EDGE_COUNTER 0x60D5
185 #define EPOS4_TOUCH_PROBE_1_NEGATIVE_EDGE_COUNTER 0x60D6
186 #define EPOS4_ADDITIONAL_POSITION_ACTUAL_VALUES 0x60E4
187 #define EPOS4_ADDITIONAL_VELOCITY_ACTUAL_VALUES 0x60E5
188 #define EPOS4_FOLLOWING_ERROR_ACTUAL_VALUE 0x60F4
189 #define EPOS4_DIGITAL_INPUTS 0x60FD
190 #define EPOS4_DIGITAL_OUTPUTS 0x60FE
191 #define EPOS4_TARGET_VELOCITY 0x60FF
192 #define EPOS4_MOTOR_TYPE 0x6402
193 #define EPOS4_SUPPORTED_DRIVE_MODES 0x6502
194 #define EPOS4_MODULAR_DEVICE_PROFILE 0xF000
195 #define EPOS4_CONFIGURED_MODULE_IDENT_LIST 0xF030
196 #define EPOS4_DETECTED_MODULE_IDENT_LIST 0xF050
197
198
201 #define EPOS4_F_NO_ERROR 0x0000 // No error
202 #define EPOS4_F_GENERIC 0x1000 // Generic error
203 #define EPOS4_F_GENERIC_INIT1 0x1080 // Generic initialization
204 #define EPOS4_F_GENERIC_INIT2 0x1081 // Generic initialization
205 #define EPOS4_F_GENERIC_INIT3 0x1082 // Generic initialization
206 #define EPOS4_F_GENERIC_INIT4 0x1083 // Generic initialization
207 #define EPOS4_F_GENERIC_INIT5 0x1084 // Generic initialization
208 #define EPOS4_F_GENERIC_INIT6 0x1085 // Generic initialization
209 #define EPOS4_F_GENERIC_INIT7 0x1086 // Generic initialization
210 #define EPOS4_F_GENERIC_INIT8 0x1087 // Generic initialization
211 #define EPOS4_F_GENERIC_INIT9 0x1088 // Generic initialization
212 #define EPOS4_F_FIRMWARE_INCOMPATIBILITY 0x1090 // Firmware incompatibility
213 #define EPOS4_F_OVERCURRENT 0x2310 // Overcurrent
214 #define EPOS4_F_POWER_STAGE_PROTECTION 0x2320 // Power stage protection
215 #define EPOS4_F_OVERVOLTAGE 0x3210 // Overvoltage
216 #define EPOS4_F_UNDERVOLTAGE 0x3220 // Undervoltage
217 #define EPOS4_F_THERMAL_OVERLOAD 0x4210 // Thermal overload
218 #define EPOS4_F_THERMAL_MOTOR_OVERLOAD 0x4380 // Thermal motor overload
219 #define EPOS4_F_LOGIC_VOLTAGE_LOW 0x5113 // Logic supply voltage too low
220 #define EPOS4_F_HARDWARE_DEFECT 0x5280 // Hardware defect
221 #define EPOS4_F_HARDWARE_INCOMPATIBILITY 0x5281 // Hardware incompatibility
222 #define EPOS4_F_HARDWARE1 0x5480 // Hardware error
223 #define EPOS4_F_HARDWARE2 0x5481 // Hardware error
224 #define EPOS4_F_HARDWARE3 0x5482 // Hardware error
225 #define EPOS4_F_HARDWARE4 0x5483 // Hardware error
226 #define EPOS4_F_SIGN_OF_LIFE 0x6080 // Sign of life
227 #define EPOS4_F_EXT_1_WATCHDOG 0x6081 // Extension 1 watchdog
228 #define EPOS4_F_INTERNAL_SOFTWARE 0x61F0 // Internal software (Range from 0x6180 - 0x61F0)
229 #define EPOS4_F_SOFTWARE_PARAM 0x6320 // Software parameter
230 #define EPOS4_F_PERSISTENT_PARAM_CORRUPT 0x6380 // Persistent param corrupt
231 #define EPOS4_F_POSITION_SENSOR 0x7320 // Position sensor
232 #define EPOS4_F_POSITION_BREACH 0x7380 // Position breach
233 #define EPOS4_F_POSITION_RESOLUTION 0x7381 // Position resolution
234 #define EPOS4_F_POSITION_INDEX 0x7382 // Position index
235 #define EPOS4_F_HALL_SENSOR 0x7388 // Hall sensor
236 #define EPOS4_F_HALL_NOT_FOUND 0x7389 // Hall not found
237 #define EPOS4_F_HALL_ANGLE 0x738A // Hall angle detection
238 #define EPOS4_F_SSI_SENSOR 0x738C // SSI sensor
239 #define EPOS4_F_SSI_FRAME 0x738D // SSI frame
240 #define EPOS4_F_MISSING_MAIN_SENSOR 0x7390 // Missing main sensor
241 #define EPOS4_F_MISSING_COMM_SENSOR 0x7391 // Missing comm sensor
242 #define EPOS4_F_MAIN_SENSOR_DIR 0x7392 // Main sensor direction
243 #define EPOS4_F_CAN_OVERRUN_OBJ_LOST 0x8110 // CAN overrun (obj lost)
244 #define EPOS4_F_CAN_OVERRUN 0x8111 // CAN overrun
245 #define EPOS4_F_CAN_PASSIVE_MODE 0x8120 // CAN passive mode
246 #define EPOS4_F_CAN_HEARTBEAT 0x8130 // CAN heartbeat
247 #define EPOS4_F_CAN_PDO_COB_ID_COLLISION 0x8150 // CAN PDO COB-ID collision
248 #define EPOS4_F_ETHERCAT_COMM 0x8180 // EtherCAT comm
249 #define EPOS4_F_ETHERCAT_INIT 0x8181 // EtherCAT init
250 #define EPOS4_F_ETHERCAT_RX_QUEUE 0x8182 // EtherCAT Rx queue
251 #define EPOS4_F_ETHERCAT_COMM_INTERNAL 0x8183 // EtherCAT comm internal
252 #define EPOS4_F_ETHERCAT_CYCLE_TIME 0x8184 // EtherCAT cycle time
253 #define EPOS4_F_CAN_BUS_OFF 0x81FD // CAN bus off
254 #define EPOS4_F_CAN_RX_QUEUE 0x81FE // CAN Rx queue
255 #define EPOS4_F_CAN_TX_QUEUE 0x81FF // CAN Tx queue
256 #define EPOS4_F_CAN_PDO_LENGTH 0x8210 // CAN PDO length
257 #define EPOS4_F_RPDO_TIMEOUT 0x8250 // RPDO timeout
258 #define EPOS4_F_ETHERCAT_PDO_COMM 0x8280 // EtherCAT PDO comm
259 #define EPOS4_F_ETHERCAT_SDO_COMM 0x8281 // EtherCAT SDO comm
260 #define EPOS4_F_FOLLOWING 0x8611 // Following
261 #define EPOS4_F_NEG_LIMIT_SWITCH 0x8A80 // Negative limit switch
262 #define EPOS4_F_POS_LIMIT_SWITCH 0x8A81 // Positive limit switch
263 #define EPOS4_F_SOFTWARE_POSITION_LIMIT 0x8A82 // Software position limit
264 #define EPOS4_F_STO 0x8A88 // STO
265 #define EPOS4_F_SYSTEM_OVERLOADED 0xFF01 // System overloaded
266 #define EPOS4_F_WATCHDOG 0xFF02 // Watchdog
267 #define EPOS4_F_SYSTEM_PEAK_OVERLOADED 0xFF0B // System peak overloaded
268 #define EPOS4_F_CONTROLLER_GAIN 0xFF10 // Controller gain
269 #define EPOS4_F_AUTO_TUNING_ID 0xFF11 // Auto tuning identification
270 #define EPOS4_F_AUTO_TUNING_CURRENT_LIMIT 0xFF12 // Auto tuning current limit
271 #define EPOS4_F_AUTO_TUNING_ID_CURRENT 0xFF13 // Auto tuning ID current
272 #define EPOS4_F_AUTO_TUNING_DATA_SAMPLING 0xFF14 // Auto tuning data sampling
273 #define EPOS4_F_AUTO_TUNING_SAMPLE_MISMATCH 0xFF15 // Auto tuning sample mismatch
274 #define EPOS4_F_AUTO_TUNING_PARAM 0xFF16 // Auto tuning parameter
275 #define EPOS4_F_AUTO_TUNING_AMPLITUDE_MISMATCH 0xFF17 // Auto tuning amplitude mismatch
276 #define EPOS4_F_AUTO_TUNING_TIMEOUT 0xFF19 // Auto tuning timeout
277 #define EPOS4_F_AUTO_TUNING_STANDSTILL 0xFF20 // Auto tuning standstill
278 #define EPOS4_F_AUTO_TUNING_TORQUE_INVALID 0xFF21 // Auto tuning torque invalid
279 #define EPOS4_F_AUTO_TUNING_MAX_SPEED 0xFF22 // Auto tuning max speed
280 #define EPOS4_F_AUTO_TUNING_MOTOR_CONNECTION 0xFF23 // Auto tuning motor connection
281 #define EPOS4_F_AUTO_TUNING_SENSOR_SIGNAL 0xFF24 // Auto tuning sensor signal
282
sdkEpos4_SetupECatSdoParam
long sdkEpos4_SetupECatSdoParam(long busId, long pdoNumber, long axisPolarity, long operationMode)
Setup the Sdo parameter for an Epos4 with EtherCat.
Definition: SDK_Amplifier_Epos4.mc:209
sdkEpos4_SetupECatVirtCntin
long sdkEpos4_SetupECatVirtCntin(long axis, long operationMode)
Setup the virtual counter input for an Epos4 with EtherCat.
Definition: SDK_Amplifier_Epos4.mc:168
sdkEpos4_AxisHomingStart
long sdkEpos4_AxisHomingStart(long axis, long busId, long operationMode, long &homingState)
State machine function for performing a homing on an EPOS4.
Definition: SDK_Amplifier_Epos4.mc:607
sdkEpos4_PrintErrorDescription
void sdkEpos4_PrintErrorDescription(long errorCode)
Prints a error description for Epos4 errors.
Definition: SDK_Amplifier_Epos4.mc:735
sdkEpos4_SetupECatVirtAmp
long sdkEpos4_SetupECatVirtAmp(long axis, long maxRpm, long operationMode)
Setup the virtual amplifier for an Epos4 with EtherCat.
Definition: SDK_Amplifier_Epos4.mc:101
sdkEpos4_SetupCanBusModule
long sdkEpos4_SetupCanBusModule(long axis, long busId, long pdoNumber, long operationMode)
Setup the Can bus module for an Epos4.
Definition: SDK_Amplifier_Epos4.mc:313
sdkEpos4_SetupCanVirtCntin
long sdkEpos4_SetupCanVirtCntin(long axis, long operationMode)
Setup the virtual counter input for an Epos4 with Can bus.
Definition: SDK_Amplifier_Epos4.mc:450
sdkEpos4_SetupCanVirtAmp
long sdkEpos4_SetupCanVirtAmp(long axis, long maxRpm, long operationMode)
Setup the virtual amplifier for an Epos4 with Can bus.
Definition: SDK_Amplifier_Epos4.mc:383
sdkEpos4_SetupECatBusModule
long sdkEpos4_SetupECatBusModule(long axis, long busId, long pdoNumber, long operationMode)
Setup the ECAT bus module for an Epos4.
Definition: SDK_Amplifier_Epos4.mc:37
sdkEpos4_SetupCanSdoParam
long sdkEpos4_SetupCanSdoParam(long busId, long pdonumber, long axisPolarity, long operationMode)
Setup the Sdo parameter for an Epos4.
Definition: SDK_Amplifier_Epos4.mc:497

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