| ApossC SDK V01.15

Macros
SdoDictionary.mh File Reference

Go to the source code of this file.

## Macros
#define | sdodictionary_h
#define | SDOSUBCLASS(index) (index & 0xFFC0)
#define | PISRC_NOTDEFINED 0x0000
#define | SDO_INTERNAL(ind, subindex) Sysvar[(0x01000000 | (((long) (ind ))<<8)) | ((long) (subindex))]
#define | SDO_DIMARRAY(arrno, index) Sysvar[(0x01210005 | (((long) (arrno))<<8)) + ((long) (index)))]
#define | SDOINDEX_APOSS_ARRAY 0x2100
| Aposs Array: SDO Index. More...
#define | APOSS_ARRAY_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_APOSS_ARRAY<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| Aposs Array: Getter. More...
#define | APOSS_ARRAY_SRCINDEX(modno, parno) ((SDOINDEX_APOSS_ARRAY<<8) | (((long) (modno))<<8) | ((long) (parno)))
| Aposs Array: Source Index. More...
#define | APOSS_ARRAY(modno, parno) Sysvar[APOSS_ARRAY_INDEX((modno),(parno))]
| Aposs Array: Setter. More...
#define | APOSS_ARRAY_MAX 255
| Aposs Array: Maximum number of parameters. More...
#define | SDOINDEX_GLB_PARAM 0x2200
| Global Parameters: SDO Index. More...
#define | GLB_PARAM_INDEX(parno) ((0x01000000 | (SDOINDEX_GLB_PARAM<<8)) | ((long) (parno)))
| Global Parameters: Getter. More...
#define | GLB_PARAM_SRCINDEX(parno) ((SDOINDEX_GLB_PARAM<<8) | ((long) (parno)))
| Global Parameters: Source Index. More...
#define | GLB_PARAM(parno) Sysvar[GLB_PARAM_INDEX(parno)]
| Global Parameters: Setter. More...
#define | GLB_PARAM_MAX 102
| Global Parameters: Maximum number of parameters. More...
#define | CANNR 1
| CAN node ID. More...
#define | CANBAUD 2
| CAN baud rate. More...
#define | PRGPAR 3
| Activated program number. More...
#define | I_ERRCLR 8
| Input to clear error. More...
#define | O_ERROR 9
| Output set when error occurs. More...
#define | RSBAUDRATE 13
| RS485 baud rate. More...
#define | CANSYNCTIMER 15
| Cycle time for sending SYNC telegrams on the CAN bus. More...
#define | CANGUARDTIMER 16
| Period of guarding. More...
#define | IPADDRESSMODE 20
| IP address mode. More...
#define | IPSUBNET 21
| IP subnet. More...
#define | PRGSTARTCOND 22
| Program start condition. More...
#define | ESCCONDGLB 23
| ESC Behaviour global. More...
#define | IPMASK 24
| IP mask. More...
#define | IPDEFAULTGW 25
| IP default gateway. More...
#define | CANNRFORCE 26
| Node Id DIP Switch overwrite. More...
#define | GLB_PARAM_ESCCONDGLB_NOTHING 0
#define | GLB_PARAM_ESCCONDGLB_OUT_OFF 1
#define | GLB_PARAM_ESCCONDGLB_OUT_ON 2
#define | SDOINDEX_USER_PARAM 0x2201
| User Parameters: SDO Index. More...
#define | USER_PARAM_INDEX(parno) ((0x01000000 | (SDOINDEX_USER_PARAM<<8)) | ((long) (parno)))
| User Parameters: Getter. More...
#define | USER_PARAM_SRCINDEX(parno) ((SDOINDEX_USER_PARAM<<8) | ((long) (parno)))
| User Parameters: Source Index. More...
#define | USER_PARAM(parno) Sysvar[USER_PARAM_INDEX(parno)]
| User Parameters: Setter. More...
#define | USER_PARAM_MAX 101
| User Parameters: Maximum number of parameters. More...
#define | SDOINDEX_SYS_PROCESS 0x2202
| System Process Data: SDO Index. More...
#define | SYS_PROCESS_INDEX(parno) ((0x01000000 | (SDOINDEX_SYS_PROCESS<<8)) | ((long) (parno)))
| System Process Data: Getter. More...
#define | SYS_PROCESS_SRCINDEX(parno) ((SDOINDEX_SYS_PROCESS<<8) | ((long) (parno)))
| System Process Data: Source Index. More...
#define | SYS_PROCESS(parno) Sysvar[SYS_PROCESS_INDEX(parno)]
| System Process Data: Setter. More...
#define | SYS_PROCESS_MAX 143
| System Process Data: Maximum number of parameters. More...
#define | SYS_INBYTE_0 2
| Digital input state (Byte 0 = Input 1-8) More...
#define | SYS_INBYTE_1 3
| Digital input state (Byte 1 = Input 9-16) More...
#define | SYS_INBYTE_2 4
| Digital input state (Byte 2 = Input 17-24) More...
#define | SYS_INBYTE_3 5
| Digital input state (Byte 3 = Input 25-32) More...
#define | SYS_INBYTE_4 6
| Digital input state (Byte 4 = Input 33-40) More...
#define | SYS_INBYTE_5 7
| Digital input state (Byte 5 = Input 40-48) More...
#define | SYS_INBYTE_6 8
| Digital input state (Byte 6 = Input 49-56) More...
#define | SYS_INBYTE_7 9
| Digital input state (Byte 7 = Input 57-64) More...
#define | SYS_OUTBYTE_0 10
| Digital output state (Byte 0 = Output 1-8) More...
#define | SYS_OUTBYTE_1 11
| Digital output state (Byte 1 = Output 9-16) More...
#define | SYS_OUTBYTE_2 12
| Digital output state (Byte 2 = Output 17-24) More...
#define | SYS_OUTBYTE_3 13
| Digital output state (Byte 3 = Output 25-32) More...
#define | SYS_OUTBYTE_4 14
| Digital output state (Byte 4 = Output 33-40) More...
#define | SYS_OUTBYTE_5 15
| Digital output state (Byte 5= Output 41-48) More...
#define | SYS_OUTBYTE_6 16
| Digital output state (Byte 6 = Output 49-56) More...
#define | SYS_OUTBYTE_7 17
| Digital output state (Byte 7 = Output 57-64) More...
#define | SYS_AXSTATUS 18
#define | SYS_INAD_1 19
| Analog input value (inputs 1-4) More...
#define | SYS_INAD_2 20
| Analog input value (inputs 1-4) More...
#define | SYS_INAD_3 21
| Analog input value (inputs 1-4) More...
#define | SYS_INAD_4 22
| Analog input value (inputs 1-4) More...
#define | SYS_CLOCK 23
| Internal millisecond counter. More...
#define | SYS_USRSTAT 24
| User status. More...
#define | SYS_MAXAX 25
| Maximum number of axes. More...
#define | SYS_CAN_NODESTATE 26
| CAN NMT status. More...
#define | SYS_TIMEINT_LENGTH 27
| Duration of the last ms-interrupt. More...
#define | SYS_MAX_LOOPTIME 28
| Maximum loop time. More...
#define | SYS_AMP0_CURRENT 29
| Up-to-date motor current. More...
#define | SYS_NC_0 30
#define | SYS_AMP0_VOLTAGE 31
| Up-to-date motor voltage. More...
#define | SYS_AMP0_STATUS 32
| VLT status. More...
#define | SYS_AMP0_SPEED 33
| VLT output frequency. More...
#define | SYS_CANDIP 34
| Dip-Switch value (CAN node ID) More...
#define | SYS_CANOM_SDOABORT 35
| Last CANopen SDO abort code. More...
#define | SYS_HWANIN_UNFILT 36
| Unfiltered value of analog input. More...
#define | SYS_CANERR_RX_0 37
| CAN error counter for RX Master-Bus. More...
#define | SYS_CANERR_RX_1 38
| CAN error counter for RX Slave-Bus. More...
#define | SYS_CANERR_TX_0 39
| CAN error counter for TX Master-Bus. More...
#define | SYS_CANERR_TX_1 40
| CAN error counter for TX Slave-Bus. More...
#define | SYS_MAXTIMEINT_LENGTH 41
| Maximum duration of the ms-interrupt. More...
#define | SYS_HWCNTINC_0_VALUE 42
| Internal encoder counter (encoders 1-9) More...
#define | SYS_HWCNTINC_1_VALUE 43
| Internal encoder counter (encoders 1-9) More...
#define | SYS_HWCNTINC_2_VALUE 44
| Internal encoder counter (encoders 1-9) More...
#define | SYS_HWCNTINC_3_VALUE 45
| Internal encoder counter (encoders 1-9) More...
#define | SYS_HWCNTINC_4_VALUE 46
| Internal encoder counter (encoders 1-9) More...
#define | SYS_HWCNTINC_5_VALUE 47
| Internal encoder counter (encoders 1-9) More...
#define | SYS_HWCNTINC_6_VALUE 48
| Internal encoder counter (encoders 1-9) More...
#define | SYS_HWCNTINC_7_VALUE 49
| Internal encoder counter (encoders 1-9) More...
#define | SYS_HWCNTINC_8_VALUE 50
| Internal encoder counter (encoders 1-9) More...
#define | SYS_STACKSIZE 51
| Stack size of running Aposs program (or last program to run) More...
#define | SYS_HWLATCH_0_VALUE 52
| Internal encoder zero pulse position (encoders 1-9) More...
#define | SYS_HWLATCH_1_VALUE 53
| Internal encoder zero pulse position (encoders 1-9) More...
#define | SYS_HWLATCH_2_VALUE 54
| Internal encoder zero pulse position (encoders 1-9) More...
#define | SYS_HWLATCH_3_VALUE 55
| Internal encoder zero pulse position (encoders 1-9) More...
#define | SYS_HWLATCH_4_VALUE 56
| Internal encoder zero pulse position (encoders 1-9) More...
#define | SYS_HWLATCH_5_VALUE 57
| Internal encoder zero pulse position (encoders 1-9) More...
#define | SYS_HWLATCH_6_VALUE 58
| Internal encoder zero pulse position (encoders 1-9) More...
#define | SYS_HWLATCH_7_VALUE 59
| Internal encoder zero pulse position (encoders 1-9) More...
#define | SYS_HWLATCH_8_VALUE 60
| Internal encoder zero pulse position (encoders 1-9) More...
#define | SYS_EEPROM_SIZE 61
| Size of Flash (or EEprom) More...
#define | SYS_US_TIMER 62
| Internal microsecond time base. More...
#define | SYS_CANOS_TIM_LASTTXPDO 63
| Period of time since the last TxPDO was transmitted. More...
#define | SYS_CANOM_SDO_TIMEOUT 64
| SDO timeout. More...
#define | SYS_ECAT_NODESTATE 65
| Node state of the EtherCAT slave. More...
#define | SYS_ECAT_PDOLENGTH_IN 66
| Mailbox length of the EtherCAT PDO which was received via the bus. More...
#define | SYS_ECAT_PDOLENGTH_OUT 67
| Mailbox length of the EtherCAT PDO which was put on the bus for transmission. More...
#define | SYS_CANOM_GUARDERR_ID 68
| Node ID which caused the last error. More...
#define | SYS_CANOM_MASTERSTATE 69
| State of CAN master functionality. More...
#define | SYS_UART_BYTECOUNT 70
#define | SYS_HWCNTINC_0_STATUS 72
| Internal encoder status (encoders 1-9) More...
#define | SYS_HWCNTINC_1_STATUS 73
| Internal encoder status (encoders 1-9) More...
#define | SYS_HWCNTINC_2_STATUS 74
| Internal encoder status (encoders 1-9) More...
#define | SYS_HWCNTINC_3_STATUS 75
| Internal encoder status (encoders 1-9) More...
#define | SYS_HWCNTINC_4_STATUS 76
| Internal encoder status (encoders 1-9) More...
#define | SYS_HWCNTINC_5_STATUS 77
| Internal encoder status (encoders 1-9) More...
#define | SYS_HWCNTINC_6_STATUS 78
| Internal encoder status (encoders 1-9) More...
#define | SYS_HWCNTINC_7_STATUS 79
| Internal encoder status (encoders 1-9) More...
#define | SYS_HWCNTINC_8_STATUS 80
| Internal encoder status (encoders 1-9) More...
#define | SYS_HWLATCH_COUNT_0 93
| Encoder index counter (encoders 1-9) More...
#define | SYS_HWLATCH_COUNT_1 94
| Encoder index counter (encoders 1-9) More...
#define | SYS_HWLATCH_COUNT_2 95
| Encoder index counter (encoders 1-9) More...
#define | SYS_HWLATCH_COUNT_3 96
| Encoder index counter (encoders 1-9) More...
#define | SYS_HWLATCH_COUNT_4 97
| Encoder index counter (encoders 1-9) More...
#define | SYS_HWLATCH_COUNT_5 98
| Encoder index counter (encoders 1-9) More...
#define | SYS_HWLATCH_COUNT_6 99
| Encoder index counter (encoders 1-9) More...
#define | SYS_HWLATCH_COUNT_7 100
| Encoder index counter (encoders 1-9) More...
#define | SYS_HWLATCH_COUNT_8 101
| Encoder index counter (encoders 1-9) More...
#define | SYS_TIMEINT_DIFF 104
| Time between the last two millisecond interrupts. More...
#define | SYS_LED_0_CONTROL 110
| Control LED state. More...
#define | SYS_LED_1_CONTROL 111
| Control LED state. More...
#define | SYS_LED_2_CONTROL 112
| Control LED state. More...
#define | SYS_LED_3_CONTROL 113
| Control LED state. More...
#define | SYS_LED_4_CONTROL 114
| Control LED state. More...
#define | SYS_LED_5_CONTROL 115
| Control LED state. More...
#define | SYS_INAD_5 116
| Analog input value (input 5) More...
#define | SYS_INAD_6 117
| Analog input value (input 6) More...
#define | SYS_TIME_DAY 118
| Day value of the time stamp structure. More...
#define | SYS_TIME_TOD 119
| Time of day (from beginning of day) More...
#define | SYS_RTC_DATE 120
| Real time date in format yyyymmdd (decimal). More...
#define | SYS_RTC_TIME 121
| Real time in format hhmmss. More...
#define | SYS_TIMER_GETDAY 122
| Returns the day information (days since 1984-1-1), at which the controller started up. More...
#define | SYS_TIMER_GETTIMEOFDAY 123
| Returns the timeclk information (seconds since start of this day), at which the controller started up. More...
#define | SYS_GETMAXINHIBITTIME 124
| Returns the maximum time for which the millisecond timer was inhibited. More...
#define | SYS_PRETIMEINT_LENGTH 125
| Returns the length of the last pre-ms-interrupt in microseconds. More...
#define | SYS_MAXPRETIMEINT_LENGTH 126
| Returns the max length of the last pre-ms-interrupt in microseconds. More...
#define | SYS_PRETIMEINT_DIFF 127
| Returns the difference between this and the last pre-ms-interrupt in microseconds. More...
#define | SYS_MAXPRETIMEINT_DIFF 128
| Returns the max difference between this and the last pre-ms-interrupt in microseconds. More...
#define | SYS_MAXTIMEINT_DIFF 129
| Returns the max difference between this and the last ms-interrupt in microseconds. More...
#define | SYS_CAN_NR_OF_SYNC 130
| Returns the number of received SYNC telegrams. More...
#define | SYS_CANOM_SEND_NMT 131
| Activates the sending of NMT start telegrams. More...
#define | SYS_STACKUSAGE 132
| Current stack usage of running Aposs program (or last program to run) More...
#define | SYS_STACKMAX 133
| Maximum stack usage of running Aposs program (or last program to run) More...
#define | SYS_BL_STATUS 134
| Bootloader update status. More...
#define | SYS_TEMPERATURE 135
| Temperature of the PCB in 1/100th Degrees Celsius. More...
#define | SYS_FWSTACKMAX 136
| Returns the maximum of the used firmware stack in bytes. More...
#define | SYS_CURINT_LENGTH 137
| Returns the duration of the last current control interrupt in microseconds. More...
#define | SYS_MAXCURINT_LENGTH 138
| Returns the max duration of the last current control interrupt in microseconds. More...
#define | SYS_CURINT_DIFF 139
| Returns the difference between this and the last current control interrupt in microseconds. More...
#define | SYS_MAXCURINT_DIFF 140
| Returns the maximum difference between this and the last current control interrupt in microseconds. More...
#define | SYS_CPU_TEMPERATURE 141
| Temperature of the CPU in 1/100th Degrees Celsius. More...
#define | SYS_CAN_SYNC_OFFSET 142
| Returns a debug value for the CAN Sync function. More...
#define | SDOINDEX_SYS_INFO 0x2209
| System Information: SDO Index. More...
#define | SYS_INFO_INDEX(parno) ((0x01000000 | (SDOINDEX_SYS_INFO<<8)) | ((long) (parno)))
| System Information: Getter. More...
#define | SYS_INFO_SRCINDEX(parno) ((SDOINDEX_SYS_INFO<<8) | ((long) (parno)))
| System Information: Source Index. More...
#define | SYS_INFO(parno) Sysvar[SYS_INFO_INDEX(parno)]
| System Information: Setter. More...
#define | SYS_INFO_MAX 77
| System Information: Maximum number of parameters. More...
#define | SYS_HARDWARE_ID 1
| Hardware identification. More...
#define | SYS_FW_CPU 2
| Software version. More...
#define | SYS_CUSTOMER_ID 3
| Customer identification code. More...
#define | SYS_MAX_AXES 5
| Number of axes available. More...
#define | SYS_FPGA_SW_VERSION 6
| FPGA software version. More...
#define | SYS_BOOTLOADER_SW_VERSION 7
| Bootloader software version. More...
#define | SYS_APP_VERSION_INFO1 8
| Application extra version 1. More...
#define | SYS_APP_VERSION_INFO2 9
| Application extra version 2. More...
#define | SYS_NUMBER_OF_INTEGRATED_AMPLIFIERS 10
| Number of integrated amplifiers. More...
#define | SYS_INTERNAL_FLASH_MEMORY 11
| Device type of the internal flash memory. More...
#define | SYS_FW_AMPLIFIER_VERSION 12
| Amplifier Version. More...
#define | SYS_FW_COPROCESSOR_VERSION 13
| Coprocessor software version. More...
#define | SYS_IP_ADDRESS_CONTROLLER 14
| IP address of controller. More...
#define | SYS_ANALOG_OPTION_TYPE 15
| Analog option type. More...
#define | SYS_SD_CARD_STATUS 16
| SD Card status. More...
#define | SYS_MAX_VIRTMAST 20
| Number of virtual masters. More...
#define | SYS_MAX_VIRTCOUNTIN 21
| Number of virtual counter inputs. More...
#define | SYS_MAX_VIRTLATCH 22
| Number of virtual inputs. More...
#define | SYS_MAX_VIRTAMP 23
| Number of virtual amplifiers. More...
#define | SYS_MAX_VIRTDIGIN 24
| Number of virtual digital inputs. More...
#define | SYS_MAX_VIRTDIGOUT 25
| Number of virtual digital outputs. More...
#define | SYS_MAX_VIRTANIN 26
| Number of virtual analog inputs. More...
#define | SYS_MAX_VIRTANOUT 27
| Number of virtual analog outputs. More...
#define | SYS_MAX_DIM_ARRAYS 28
| Maximum allowed number of DIM arrays. More...
#define | SYS_MAX_VIRTCUSTOMMOD 29
| Maximum allowed number of virtual customer modules. More...
#define | SYS_MAX_VIRTMATH 30
| Maximum allowed number of virtual math modules. More...
#define | SYS_ZB_AMP_NO 40
| Number of H/W amplifiers. More...
#define | SYS_MAX_ENCODER 41
| Number of H/W encoders. More...
#define | SYS_MAX_CNTINC 42
| Number of H/W incremental counters. More...
#define | SYS_MAX_CNTABS 43
| Number of H/W absolute counters. More...
#define | SYS_MAX_CNTUNI 44
| Number of H/W universal counters. More...
#define | SYS_MAX_COMPARATORS 45
| Number of H/W comparators. More...
#define | SYS_MAX_LATCH 46
| Number of H/W latches. More...
#define | SYS_MAX_SIGGEN 47
| Number of H/W signal generators. More...
#define | SYS_MAX_DDS 48
| Number of DDS modules. More...
#define | SYS_MAX_PULSGEN 49
| Number of pulse generators. More...
#define | SYS_MAX_DIGIN 50
| Number of digital input modules. More...
#define | SYS_MAX_DIGOUT 51
| Number of digital output modules. More...
#define | SYS_MAX_ANIN 52
| Number of analog input modules. More...
#define | SYS_MAX_ANOUT 53
| Number of analog output modules. More...
#define | SYS_MAX_BRENCREF 54
| Number of bridges Enc-Ref. More...
#define | SYS_MAX_BRREFENC 55
| Number of bridges Ref-Enc. More...
#define | SYS_MAX_BUSINFO 56
| Number of businfos. More...
#define | SYS_MAX_REFBUS 57
| Number of Refbus. More...
#define | SYS_MAX_HALL 58
| Number of Hall input modules. More...
#define | SYS_MAX_PWMGEN 59
| Number of PWM Generator modules. More...
#define | SYS_MAX_BUSMOD 60
| Number of bus modules. More...
#define | SYS_MAX_SHIFTREG 61
| Number of shift registers. More...
#define | SYS_CONTROLLER_FEATURES 62
| Delivers information about active features on this controller. More...
#define | SYS_MAX_PDO_SDO_SIZE 63
| Returns the max size of a "simple serial" telegram on this controller. More...
#define | SYS_MAX_XTLG_SIZE 64
| Returns the max size for X-Telegrams. More...
#define | SYS_BUILD_NUMBER 65
| Build number. More...
#define | SYS_MAX_CANBUS 66
| Number of physical CAN busses. More...
#define | SYS_MAX_MACHINES 67
| Number of Machine Modules. More...
#define | SYS_COMMOPT_PROTTYPE 68
| Protocol type running on bus option. More...
#define | SYS_HW_IDENTIFICATION 69
| Returns the hw identification of the PCB. More...
#define | SYS_HW_INDEX 70
| Returns the HW index of the PCB. More...
#define | SYS_PLATFORM 71
| Returns the platform number. More...
#define | SYS_RELEASE_TYPE 72
| Returns the release type. More...
#define | SYS_TG_VERSION 73
| Returns the version of the trajectory generator library. More...
#define | SYS_COMMOPT_INFO 74
| Info about bus option. More...
#define | SYS_UNIQUE_ID1 75
| SYS_UNIQUE_ID1 and SYS_UNIQUE_ID2 are together the unique ID for the controller. More...
#define | SYS_UNIQUE_ID2 76
| SYS_UNIQUE_ID1 and SYS_UNIQUE_ID2 are together the unique ID for the controller. More...
#define | SYS_HW_IDENTIFICATION_PC_ENC_OEM1 1
#define | SYS_HW_IDENTIFICATION_PC_ENC_OEM2 2
#define | SYS_HW_IDENTIFICATION_MICROMACS6 0
#define | SYS_HW_IDENTIFICATION_MICROMACS6_MODULE 1
#define | SDOINDEX_FPGA_REG 0x2216
| Read or write FPGA register: SDO Index. More...
#define | FPGA_REG_INDEX(parno) ((0x01000000 | (SDOINDEX_FPGA_REG<<8)) | ((long) (parno)))
| Read or write FPGA register: Getter. More...
#define | FPGA_REG_SRCINDEX(parno) ((SDOINDEX_FPGA_REG<<8) | ((long) (parno)))
| Read or write FPGA register: Source Index. More...
#define | FPGA_REG(parno) Sysvar[FPGA_REG_INDEX(parno)]
| Read or write FPGA register: Setter. More...
#define | FPGA_REG_MAX 256
| Read or write FPGA register: Maximum number of parameters. More...
#define | FPGAREG_FPGAFWVERS 1
#define | FPGAREG_CLEAROVFL 2
#define | FPGAREG_INCENC1POS 3
#define | FPGAREG_INCENC2POS 4
#define | FPGAREG_INCENC3POS 5
#define | FPGAREG_INCENC4POS 6
#define | FPGAREG_INCENC5POS 7
#define | FPGAREG_INCENC6POS 8
#define | FPGAREG_POSLATCH1 9
#define | FPGAREG_POSLATCH2 10
#define | FPGAREG_POSLATCH3 11
#define | FPGAREG_POSLATCH4 12
#define | FPGAREG_POSLATCH5 13
#define | FPGAREG_POSLATCH6 14
#define | FPGAREG_POSLATCH_FLAG 15
#define | FPGAREG_ENC1QUADCNT 16
#define | FPGAREG_ENC2QUADCNT 17
#define | FPGAREG_ENC3QUADCNT 18
#define | FPGAREG_ENC4QUADCNT 19
#define | FPGAREG_ENC5QUADCNT 20
#define | FPGAREG_ENC6QUADCNT 21
#define | FPGAREG_U32CNT10 22
#define | FPGAREG_U32CNT11 23
#define | FPGAREG_U32CNT20 24
#define | FPGAREG_U32CNT21 25
#define | FPGAREG_U32CNT30 26
#define | FPGAREG_U32CNT31 27
#define | FPGAREG_U32CNT40 28
#define | FPGAREG_U32CNT41 29
#define | FPGAREG_SSI1POS0 30
#define | FPGAREG_SSI1POS1 31
#define | FPGAREG_SSI2POS0 32
#define | FPGAREG_SSI2POS1 33
#define | FPGAREG_SSI3POS0 34
#define | FPGAREG_SSI3POS1 35
#define | FPGAREG_SSIFLAG 36
#define | FPGAREG_DIN 37
#define | FPGAREG_DOUT 38
#define | FPGAREG_REFVEC0 39
#define | FPGAREG_REFVEC1 40
#define | FPGAREG_REFVEC2 41
#define | FPGAREG_REFVEC3 42
#define | SDOINDEX_FPGA_PARAM 0x2217
| Write custom specific parameters: SDO Index. More...
#define | FPGA_PARAM_INDEX(parno) ((0x01000000 | (SDOINDEX_FPGA_PARAM<<8)) | ((long) (parno)))
| Write custom specific parameters: Getter. More...
#define | FPGA_PARAM_SRCINDEX(parno) ((SDOINDEX_FPGA_PARAM<<8) | ((long) (parno)))
| Write custom specific parameters: Source Index. More...
#define | FPGA_PARAM(parno) Sysvar[FPGA_PARAM_INDEX(parno)]
| Write custom specific parameters: Setter. More...
#define | FPGA_PARAM_MAX 256
| Write custom specific parameters: Maximum number of parameters. More...
#define | FPGAPAR_REF_ENC_BRIDGE1_CNFGREG 2
#define | FPGAPAR_REF_ENC_BRIDGE2_CNFGREG 3
#define | FPGAPAR_ENC_REF_BRIDGE_CNFGREG 4
#define | FPGAPAR_ENC1_3_MODEREG 5
#define | FPGAPAR_ABR_QDZ_POLARITY_REG 6
#define | FPGAPAR_DGX1_3_GLITCHFLTREG 7
#define | FPGAPAR_DGX4_6_GLITCHFLTREG 8
#define | FPGAPAR_ROT_SENSE_REG 9
#define | FPGAPAR_POSCNT_1_CNFGREG 10
#define | FPGAPAR_POSCNT_2_CNFGREG 11
#define | FPGAPAR_POSCNT_3_CNFGREG 12
#define | FPGAPAR_POSCNT_4_CNFGREG 13
#define | FPGAPAR_POSCNT_5_CNFGREG 14
#define | FPGAPAR_POSCNT_6_CNFGREG 15
#define | FPGAPAR_Reserve15 16
#define | FPGAPAR_POSLATCH_1_CNFGREG 17
#define | FPGAPAR_POSLATCH_2_CNFGREG 18
#define | FPGAPAR_POSLATCH_3_CNFGREG 19
#define | FPGAPAR_POSLATCH_4_CNFGREG 20
#define | FPGAPAR_POSLATCH_5_CNFGREG 21
#define | FPGAPAR_POSLATCH_6_CNFGREG 22
#define | FPGAPAR_Reserve22 23
#define | FPGAPAR_Reserve23 24
#define | FPGAPAR_Reserve24 25
#define | FPGAPAR_VM1_CNFGREG 26
#define | FPGAPAR_VM1_FREQ0REG 27
#define | FPGAPAR_VM1_FREQ1REG 28
#define | FPGAPAR_VM1_ZPULSE_RATIO 29
#define | FPGAPAR_Reserve29 30
#define | FPGAPAR_VM2_CNFGREG 31
#define | FPGAPAR_VM2_FREQ0REG 32
#define | FPGAPAR_VM2_FREQ1REG 33
#define | FPGAPAR_VM2_ZPULSE_RATIO 34
#define | FPGAPAR_Reserve34 35
#define | FPGAPAR_VM3_CNFGREG 36
#define | FPGAPAR_VM3_FREQ0REG 37
#define | FPGAPAR_VM3_FREQ1REG 38
#define | FPGAPAR_VM3_ZPULSE_RATIO 39
#define | FPGAPAR_Reserve39 40
#define | FPGAPAR_U32CNT_MODEREG 41
#define | FPGAPAR_U32CNT1_CNFGREG 42
#define | FPGAPAR_U32CNT2_CNFGREG 43
#define | FPGAPAR_U32CNT3_CNFGREG 44
#define | FPGAPAR_U32CNT4_CNFGREG 45
#define | FPGAPAR_Reserve45 46
#define | FPGAPAR_Reserve46 47
#define | FPGAPAR_Reserve47 48
#define | FPGAPAR_Reserve48 49
#define | FPGAPAR_CMP1_CNFG_REG 50
#define | FPGAPAR_CMP1_UPPERLEV_LOWWORD 51
#define | FPGAPAR_CMP1_UPPERLEV_HIGHWORD 52
#define | FPGAPAR_CMP1_LOWERLEV_LOWWORD 53
#define | FPGAPAR_CMP1_LOWERLEV_HIGHWORD 54
#define | FPGAPAR_Reserve54 55
#define | FPGAPAR_CMP2_CNFG_REG 56
#define | FPGAPAR_CMP2_UPPERLEV_LOWWORD 57
#define | FPGAPAR_CMP2_UPPERLEV_HIGHWORD 58
#define | FPGAPAR_CMP2_LOWERLEV_LOWWORD 59
#define | FPGAPAR_CMP2_LOWERLEV_HIGHWORD 60
#define | FPGAPAR_Reserve60 61
#define | FPGAPAR_CMP3_CNFG_REG 62
#define | FPGAPAR_CMP3_UPPERLEV_LOWWORD 63
#define | FPGAPAR_CMP3_UPPERLEV_HIGHWORD 64
#define | FPGAPAR_CMP3_LOWERLEV_LOWWORD 65
#define | FPGAPAR_CMP3_LOWERLEV_HIGHWORD 66
#define | FPGAPAR_Reserve66 67
#define | FPGAPAR_CMP4_CNFG_REG 68
#define | FPGAPAR_CMP4_UPPERLEV_LOWWORD 69
#define | FPGAPAR_CMP4_UPPERLEV_HIGHWORD 70
#define | FPGAPAR_CMP4_LOWERLEV_LOWWORD 71
#define | FPGAPAR_CMP4_LOWERLEV_HIGHWORD 72
#define | FPGAPAR_Reserve72 73
#define | FPGAPAR_SSI1CLKREG 74
#define | FPGAPAR_SSI1DELMODEREG 75
#define | FPGAPAR_SSI2CLKREG 76
#define | FPGAPAR_SSI2DELMODEREG 77
#define | FPGAPAR_SSI3CLKREG 78
#define | FPGAPAR_SSI3DELMODEREG 79
#define | FPGAPAR_Reserve79 80
#define | FPGAPAR_DDS1INPUTSELREG 81
#define | FPGAPAR_DDS1ZREG0 82
#define | FPGAPAR_DDS1ZREG1 83
#define | FPGAPAR_DDS1NREG0 84
#define | FPGAPAR_DDS1NREG1 85
#define | FPGAPAR_DDS1_Z_PULSE_RATIO 86
#define | FPGAPAR_DDS2INPUTSELREG 87
#define | FPGAPAR_DDS2ZREG0 88
#define | FPGAPAR_DDS2ZREG1 89
#define | FPGAPAR_DDS2NREG0 90
#define | FPGAPAR_DDS2NREG1 91
#define | FPGAPAR_DDS2_Z_PULSE_RATIO 92
#define | FPGAPAR_Reserve92 93
#define | FPGAPAR_PULSE_CNFGREG 94
#define | FPGAPAR_PULSE_DELAYREG 95
#define | FPGAPAR_PULSE_LENGTHREG 96
#define | FPGAPAR_Reserve96 97
#define | FPGAPAR_DIN_POLREG 98
#define | FPGAPAR_DIN1_4_FILTCNFG 99
#define | FPGAPAR_DIN5_8_FILTCNFG 100
#define | FPGAPAR_DIN9_12_FILTCNFG 101
#define | FPGAPAR_DIN13_15_FILTCNFG 102
#define | FPGAPAR_DOUT9_16CNFGREG 103
#define | FPGAPAR_DOUT1_2CNFGREG 104
#define | FPGAPAR_DOUT3_4CNFGREG 105
#define | FPGAPAR_RS232_CNFGREG 106
#define | FPGAPAR_ENC4PORTMODEREG 107
#define | FPGAPAR_ENC5PORTMODEREG 108
#define | FPGAPAR_ENC6PORTMODEREG 109
#define | FPGAPAR_Reserve109 110
#define | FPGAPAR_Reserve110 111
#define | FPGAPAR_Reserve111 112
#define | FPGAPAR_REFVEC_0_15_F2DIRQMASK 113
#define | FPGAPAR_REFVEC16_31_F2DIRQMASK 114
#define | FPGAPAR_REFVEC32_47_F2DIRQMASK 115
#define | FPGAPAR_REFVEC48_63_F2DIRQMASK 116
#define | FPGAPAR_REFVEC_0_15_SOCIRQMASK 117
#define | FPGAPAR_REFVEC16_31_SOCIRQMASK 118
#define | FPGAPAR_REFVEC32_47_SOCIRQMASK 119
#define | FPGAPAR_REFVEC48_63_SOCIRQMASK 120
#define | FPGAPAR_REFVEC_0_15_MODEREG 121
#define | FPGAPAR_REFVEC16_31_MODEREG 122
#define | FPGAPAR_REFVEC32_47_MODEREG 123
#define | FPGAPAR_REFVEC48_63_MODEREG 124
#define | FPGAPAR_REFVEC_0_15_SLOPEREG 125
#define | FPGAPAR_REFVEC16_31_SLOPEREG 126
#define | FPGAPAR_REFVEC32_47_SLOPEREG 127
#define | FPGAPAR_REFVEC48_63_SLOPEREG 128
#define | SDOINDEX_FPGA_USRREG 0x2218
| Address for the page number: SDO Index. More...
#define | FPGA_USRREG_INDEX(parno) ((0x01000000 | (SDOINDEX_FPGA_USRREG<<8)) | ((long) (parno)))
| Address for the page number: Getter. More...
#define | FPGA_USRREG_SRCINDEX(parno) ((SDOINDEX_FPGA_USRREG<<8) | ((long) (parno)))
| Address for the page number: Source Index. More...
#define | FPGA_USRREG(parno) Sysvar[FPGA_USRREG_INDEX(parno)]
| Address for the page number: Setter. More...
#define | FPGA_USRREG_MAX 2
| Address for the page number: Maximum number of parameters. More...
#define | SDOINDEX_SDUPDATE 0x2220
| SD-Card Update Info Object: SDO Index. More...
#define | SDUPDATE_INDEX(parno) ((0x01000000 | (SDOINDEX_SDUPDATE<<8)) | ((long) (parno)))
| SD-Card Update Info Object: Getter. More...
#define | SDUPDATE_SRCINDEX(parno) ((SDOINDEX_SDUPDATE<<8) | ((long) (parno)))
| SD-Card Update Info Object: Source Index. More...
#define | SDUPDATE(parno) Sysvar[SDUPDATE_INDEX(parno)]
| SD-Card Update Info Object: Setter. More...
#define | SDUPDATE_MAX 21
| SD-Card Update Info Object: Maximum number of parameters. More...
#define | SDUPDATE_COMMAND_1 1
| Detailed information about executed (completed or failed) update commands. More...
#define | SDUPDATE_COMMAND_2 2
| Detailed information about executed (completed or failed) update commands. More...
#define | SDUPDATE_COMMAND_3 3
| Detailed information about executed (completed or failed) update commands. More...
#define | SDUPDATE_COMMAND_4 4
| Detailed information about executed (completed or failed) update commands. More...
#define | SDUPDATE_COMMAND_5 5
| Detailed information about executed (completed or failed) update commands. More...
#define | SDUPDATE_COMMAND_6 6
| Detailed information about executed (completed or failed) update commands. More...
#define | SDUPDATE_COMMAND_7 7
| Detailed information about executed (completed or failed) update commands. More...
#define | SDUPDATE_COMMAND_8 8
| Detailed information about executed (completed or failed) update commands. More...
#define | SDUPDATE_COMMAND_9 9
| Detailed information about executed (completed or failed) update commands. More...
#define | SDUPDATE_COMMAND_10 10
| Detailed information about executed (completed or failed) update commands. More...
#define | SDUPDATE_COMMAND_11 11
| Detailed information about executed (completed or failed) update commands. More...
#define | SDUPDATE_COMMAND_12 12
| Detailed information about executed (completed or failed) update commands. More...
#define | SDUPDATE_COMMAND_13 13
| Detailed information about executed (completed or failed) update commands. More...
#define | SDUPDATE_COMMAND_14 14
| Detailed information about executed (completed or failed) update commands. More...
#define | SDUPDATE_COMMAND_15 15
| Detailed information about executed (completed or failed) update commands. More...
#define | SDUPDATE_COMMAND_16 16
| Detailed information about executed (completed or failed) update commands. More...
#define | SDUPDATE_STATE_FLAGS 17
| SD-Card Update state flags. More...
#define | SDUPDATE_COMMANDS_SKIPPED 18
| Number of SD-Card Update commands skipped due to existing report file entry. More...
#define | SDUPDATE_COMMANDS_COMPLETED 19
| Number of SD-Card Update commands executed successfully. More...
#define | SDUPDATE_COMMANDS_FAILED 20
| Number of SD-Card Update commands failed. More...
#define | SDOINDEX_AXE_PARAM 0x2300
| Axis Parameters: SDO Index. More...
#define | AXE_PARAM_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_AXE_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| Axis Parameters: Getter. More...
#define | AXE_PARAM_SRCINDEX(modno, parno) ((SDOINDEX_AXE_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
| Axis Parameters: Source Index. More...
#define | AXE_PARAM(modno, parno) Sysvar[AXE_PARAM_INDEX((modno),(parno))]
| Axis Parameters: Setter. More...
#define | AXE_PARAM_MAX 141
| Axis Parameters: Maximum number of parameters. More...
#define | VELMAX 2
| Rated speed of drive. More...
#define | HOME_FORCE 4
| Forced movement to home position. More...
#define | NEGLIMIT 5
| Negative software limit position. More...
#define | POSLIMIT 6
| Positive software limit position. More...
#define | SYNCMMAXCORR 7
| Limits the maximum correction done by marker correction. More...
#define | HOME_VEL 8
| Velocity for movement to home position. More...
#define | TESTWIN 9
| Size of the target window. More...
#define | VELMAXQC 10
| Maximum velocity. More...
#define | ACCMAXQC 11
| Maximum acceleration. More...
#define | KPROP 12
| Proportional value for PID position control loop. More...
#define | KDER 13
| Derivative Factor for PID position control loop. More...
#define | KINT 14
| Integral value for PID position control loop. More...
#define | TIMER 15
| Parameter for determining the sampling time of the position control algorithm. More...
#define | POSERR 16
| Maximum tolerated position error. More...
#define | SYNCOFFTIME 17
| Compensation velocity of an offset. More...
#define | SYNCMFPAR 18
| Marker filter configuration. More...
#define | SYNCMFTIME 19
| Filter time for marker correction. More...
#define | SWNEGLIMACT 20
| Negative software end limit active. More...
#define | SWPOSLIMACT 21
| Positive software end limit active. More...
#define | KILIM 22
| Limit value for the integral sum of the PID position control loop. More...
#define | VELRES 23
| Velocity resolution. More...
#define | POSFACT_Z 24
| User factor numerator. More...
#define | TESTTIM 25
| Measuring time in target window. More...
#define | TESTVAL 26
| Limit value for readings in target window. More...
#define | POSFACT_N 27
| User factor denominator. More...
#define | POSDRCT 29
| Rotational direction. More...
#define | PROFTIME 30
| Scan time for profile generator. More...
#define | MENCODER 31
| Resolution of master encoder. More...
#define | RAMPMIN 32
| Maximum acceleration. More...
#define | RAMPTYPE 33
| Ramp type. More...
#define | DFLTVEL 34
| Default velocity. More...
#define | DFLTACC 35
| Default acceleration. More...
#define | BANDWIDTH 36
| Bandwidth within which the PID filter is active. More...
#define | FFVEL 37
| Velocity Feed forward. More...
#define | REGWMAX 39
| Size of the control window (activation) More...
#define | REGWMIN 40
| Size of the control window (deactivation) More...
#define | HOME_TYPE 41
| Behavior during movement to home. More...
#define | HOME_RAMP 42
| Ramp for home motion. More...
#define | HOME_OFFSET 43
| Zero point offset for machine zero point or index. More...
#define | ERRCOND 44
| Behavior in event of an error. More...
#define | I_REFSWITCH 46
| Input reference switch. More...
#define | I_POSLIMITSW 47
| Positive limit switch. More...
#define | I_NEGLIMITSW 48
| Negative limit switch. More...
#define | O_BRAKE 49
| Output for brake. More...
#define | SYNCFACTM 50
| Synchronization factor master (M:S) or in CAM mode conversion qc in MU units. More...
#define | SYNCFACTS 51
| Synchronization factor slave (M:S) or in CAM mode conversion qc in MU units. More...
#define | SYNCTYPE 52
| Type of synchronization. More...
#define | SYNCMARKM 53
| Number of master markers. More...
#define | SYNCMARKS 54
| Number of slave markers. More...
#define | SYNCPOSOFFS 55
| Position offset for position synchronization. More...
#define | SYNCACCURACY 56
| Size of the accuracy window for position synchronization. More...
#define | SYNCREADY 57
| Number of markers for READY. More...
#define | SYNCFAULT 58
| Number of markers for fault. More...
#define | SYNCMPULSM 59
| Master marker distance. More...
#define | SYNCMPULSS 60
| Slave marker distance. More...
#define | SYNCMSTART 63
| Start behavior for synchronization with marker correction. More...
#define | O_AXMOVE 65
| Output for motion command active. More...
#define | SYNCVFTIME 66
| Velocity filter. More...
#define | SYNCVELREL 67
| Tolerated deviance of the slave drive from the master velocity. More...
#define | SYNCMWINM 69
| Tolerance window for marker monitoring. More...
#define | SYNCMWINS 70
| Tolerance window for slave marker monitoring. More...
#define | ESCCOND 71
| Condition on program termination. More...
#define | JERKMIN 99
| Minimum time required before reaching the maximum acceleration. More...
#define | JERKMIN2 101
| Minimum time required to ramp the acceleration down from maximum acceleration to 0. More...
#define | JERKMIN3 102
| Minimum time required to ramp the deceleration up from 0 to maximum deceleration. More...
#define | JERKMIN4 103
| Minimum time required to ramp the deceleration down from maximum deceleration to 0. More...
#define | KILIMTIME 106
| Time used to increase or decrease the integral limit. More...
#define | POSERRTIME 112
| Minimum time before position error produced. More...
#define | FEEDDIST 113
| Feed distance. More...
#define | FEEDREV 114
| Feed revolutions. More...
#define | POSENCQC 115
| Encoder resolution quadcount. More...
#define | POSENCREV 116
| Encoder resolution revolution count. More...
#define | HOMEZEROVEL 117
| Scaled velocity for moving into encoder index as part of the homing procedure. More...
#define | PISRC_SVIRTCOUNT 131
| Linked virtual counter module number for slave information. More...
#define | PISRC_MVIRTCOUNT 132
| Linked virtual counter module number for master information. More...
#define | PISRC_SVIRTLATCH 133
| Linked virtual latch module number for slave information. More...
#define | PISRC_MVIRTLATCH 134
| Linked virtual latch module number for master information. More...
#define | KFFACC 135
| Acceleration Feed Forward. More...
#define | KFFDEC 136
| Deceleration Feed Forward. More...
#define | I_POSLIMITSWACT 137
| Enables the monitoring of the positive limit switch. More...
#define | I_NEGLIMITSWACT 138
| Enables the monitoring of the negative limit switch. More...
#define | HOME_CURTHRESHOLD 139
| Current Threshold for homing mode. More...
#define | PIDOPTIONS 140
| Position PID Special options. More...
#define | RAMPTYPE_TRAPEZ 0
#define | RAMPTYPE_JERKLIMITED 2
#define | PID_OPTINTSUMCLEAR_ARRIVAL 0x0001
#define | PID_OPTINTSUMCLEAR_ZEROTRACKERR 0x0002
#define | SDOINDEX_AXE_PROCESS 0x2500
| Axis Process Data: SDO Index. More...
#define | AXE_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_AXE_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| Axis Process Data: Getter. More...
#define | AXE_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_AXE_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| Axis Process Data: Source Index. More...
#define | AXE_PROCESS(modno, parno) Sysvar[AXE_PROCESS_INDEX((modno),(parno))]
| Axis Process Data: Setter. More...
#define | AXE_PROCESS_MAX 236
| Axis Process Data: Maximum number of parameters. More...
#define | REG_ACTPOS 1
| Actual position value. More...
#define | REG_COMPOS 2
| Set-point position value. More...
#define | REG_ZERO 3
| Last detected index position. More...
#define | REG_AVEL 4
| Actual velocity. More...
#define | REG_MAVEL 5
| Actual velocity of the master. More...
#define | REG_TRACKERR 6
| Actual position tracking error. More...
#define | REG_VELSMPT 9
| Number of samples used for calculation of speed values. More...
#define | REG_MAPOS 10
| Actual master position value. More...
#define | REG_MIPOS 11
| Last detected master index position. More...
#define | REG_IAVEL 12
| Internal actual velocity. More...
#define | REG_IMAVEL 13
| Internal actual master velocity. More...
#define | REG_REFERENCE 16
| Actual reference value generated by position control loop. More...
#define | REG_TIMER 18
| Sample period used by the PID position control loop. More...
#define | REG_PROFTIMER 19
| Number of PID controller steps in each Profile Generator step. More...
#define | REG_REVERSE 20
| Negative command values blocked. More...
#define | REG_REVDOUT 21
| Analog command output. More...
#define | REG_SOVERFLOW 22
| Slave Position Overflow. More...
#define | REG_MOVERFLOW 23
| Master Position Overflow. More...
#define | REG_USERREFVEL 27
| User velocity reference value for AxisControl(AxisNo, USERREFVEL) mode. More...
#define | REG_VAPOS 28
#define | REG_NORMTRACKERR 29
| Size of position tracking error in relation to the command velocity. More...
#define | REG_SENCINDXF 30
#define | REG_MENCINDXF 31
#define | REG_CNTRLSOURCE 32
#define | REG_ENCAVEL 33
| Summarized velocity of master encoder. More...
#define | REG_ENCLEAP 34
#define | REG_MENCLEAP 35
#define | REG_CNTRLWORD 36
#define | REG_PIDFLAG 37
#define | REG_SM_COMMAND 38
#define | REG_SM_STATE 39
#define | REG_USERREFPOS 40
| User reference position value for AxisControl(USERREFPOS) command. More...
#define | REG_SVIRTCOUNT 41
| Linked virtual counter number for slave information. More...
#define | REG_MVIRTCOUNT 42
| Linked virtual counter number for master information. More...
#define | REG_HOMINGSTATE 43
| State of the homing procedure. More...
#define | REG_SVIRTLATCH 44
| Linked virtual latch module number for slave information. More...
#define | REG_MVIRTLATCH 45
| Linked virtual latch module number for master information. More...
#define | REG_USERREFCUR 46
| Motor current reference value in AxisControl(USERREFCUR) mode. More...
#define | PID_ACTINTSUM 49
| Total sum of position tracking errors. More...
#define | PID_INTLIMIT 50
| Limitation of the summarized position tracking error. More...
#define | PID_100PERCENT 51
| PID position control loop output corresponding to a reference value of 100%. More...
#define | PID_VELRESVAL 52
| Default scaling factor internal high-resolution velocity or position information. More...
#define | PID_PIDPART 53
| Part of the reference value due to the PID position control loop. More...
#define | PID_FFPART 54
| Part of the reference value due to the FFVEL feed forward control. More...
#define | PID_FFACCPART 55
#define | PID_ACT_INTLIMIT 56
| Actual integration limit. More...
#define | PID_FF_FACTOR 57
| Internal representation of the FFVEL factor used in PID calculation. More...
#define | PID_FF_CMDVEL 58
| Internal representation of the velocity used for FFVEL calculation. More...
#define | PID_MODE 59
| Internal PID Mode. More...
#define | PFG_DIR 82
| Direction of command velocity. More...
#define | PFG_AACC 83
| Maximum allowed acceleration. More...
#define | PFG_ADEC 84
| Maximum allowed deceleration. More...
#define | PFG_VFIN 85
| Scaled target velocity. More...
#define | PFG_AACT 86
| Command acceleration. More...
#define | PFG_AACC_DELTA 87
| Scaled acceleration deviation. More...
#define | PFG_ADELTCALC 88
| Scaled acceleration deviation. More...
#define | PFG_PATHCALC 89
| Length of the brake ramp. More...
#define | PFG_PCMD 90
| Command position. More...
#define | PFG_VCMD 91
| Command velocity. More...
#define | PFG_PCORR 92
| Scaled correction value for the brake ramp. More...
#define | PFG_OLDMFILTVEL 93
| Scaled and filtered master velocity. More...
#define | PFG_OLDSFILTVEL 94
| Scaled and filtered slave velocity. More...
#define | PFG_MFILTERR 95
| Inaccuracy due to filtering of the master position value. More...
#define | PFG_MDIR 96
| Master direction for synchronization. More...
#define | PFG_MACTDIR 97
| Actual master direction. More...
#define | PFG_SACTDIR 98
| Actual slave direction. More...
#define | PFG_MPCMD 99
| Command position calculated by the synchronization algorithm. More...
#define | PFG_MPCMDOLD 100
| Last synchronization command position. More...
#define | PFG_REVERSING 101
| Reversing active. More...
#define | PFG_MMARKCNT 102
| Required master marker pulse count. More...
#define | PFG_SMARKCNT 103
| Required slave marker pulse count. More...
#define | PFG_MOLDZERO 104
| Master position of the last detected master marker. More...
#define | PFG_SOLDZERO 105
| Slave position of the last detected slave marker. More...
#define | PFG_MZEROCMD 106
| Master marker positionused for marker correction. More...
#define | PFG_SZEROCMD 107
| Master slave position used for marker correction. More...
#define | PFG_MHIT 108
| Master marker detection. More...
#define | PFG_SHIT 109
| Slave marker detection. More...
#define | PFG_READYCNT 110
| Synchronous marker check count. More...
#define | PFG_FAULTCNT 111
| Asynchronous marker check count. More...
#define | PFG_MPCMDERR 112
| Current synchronization position error. More...
#define | PFG_MARKERDIFF 113
| Slave/master marker difference count. More...
#define | PFG_SYNCSTART 114
| Status of marker synchronization start-up. More...
#define | PFG_OLDSYPOFFS 115
| Old value of the parameter SYNCPOSOFFS. More...
#define | PFG_KORREKTUR 116
| Value of the last marker correction [qc (slave)]. More...
#define | PFG_KORRREST 117
| Remainder of the marker correction. More...
#define | PFG_KORRVAL 118
| Value of the marker correction. More...
#define | PFG_MARKERFAKED 119
| Virtual marker created. More...
#define | PFG_INTOFFSET 120
| Current offset. More...
#define | PFG_SCALESHIFT 121
| Scaling factor for internal 64-bit values that are returned in 32-bit variables. More...
#define | PFG_AKTSTATE 122
| Current state of profile generator state machine. More...
#define | PFG_FLAGS 123
| Profile generator flags. More...
#define | PFG_STOPLEN 124
| Brake ramp length for stopping using deceleration setting. More...
#define | PFG_CINDEX 125
| Current curve interpolation index. More...
#define | PFG_CVINDEX 126
| Start/stop curve data index. More...
#define | PFG_CMAXINDEX 127
| Maximum curve interpolation index. More...
#define | PFG_SYNCSTOPLEN 128
| Brake ramp length for stopping using acceleration setting. More...
#define | PFG_CWRAP 130
| Current value of the curve counter. More...
#define | PFG_CSSTART 131
| Offset used for the start of current slave curve. More...
#define | PFG_CCOUNTER 132
| Number of curves to be processed. More...
#define | PFG_CCURVEPOS 133
| Current curve slave position. More...
#define | PFG_CSLAVECPOSQ 134
| Current curve position of the slave related to CSSTART. More...
#define | PFG_CMASTERCPOS 135
| Current curve master position. More...
#define | PFG_GETCMDVEL 136
| Scaled set point velocity. More...
#define | PFG_MMFAKEDCNT 137
| Consecutive virtual generated master markers. More...
#define | PFG_SMFAKEDCNT 138
| Consecutive virtual generated slave markers. More...
#define | PFG_MMILLEGALCNT 139
| Number of non-fitting master markers. More...
#define | PFG_SMILLEGALCNT 140
| Number of non-fitting slave markers. More...
#define | PFG_SYNCVELDIFF 141
| Difference between the slave and master velocity. More...
#define | PFG_SYNCPATHLEN 142
| Path length of velocity difference compensation. More...
#define | PFG_MMARKERDIST 143
| Filtered distance between two master markers. More...
#define | PFG_SMARKERDIST 144
| Filtered distance between two slave markers. More...
#define | PFG_STARTKORR 145
| First correction value after the start of a SYNCM. More...
#define | PFG_STARTKORRREST 146
| Remainder of the start-up correction value. More...
#define | PFG_KORRFILT 147
| Filtered correction value. More...
#define | PFG_LASTMMDIST 148
| Last measured distance between two master markers. More...
#define | PFG_MMARKCORR 149
| Calculated gear ratio correction value. More...
#define | PFG_KORRUNFILT 150
| Last unfiltered correction value. More...
#define | PFG_MDISTMARK 151
| Distance between current master position and last master marker. More...
#define | PFG_SDISTMARK 152
| Distance between current slave position and last slave marker. More...
#define | PFG_STARTKORRVAL 153
| Start-up correction value at each marker correction. More...
#define | PFG_LASTSMDIST 154
| Last measured distance between two slave markers. More...
#define | PFG_MARKERFILTER 155
| Number of markers defining the filtering period. More...
#define | PFG_KORRTAU 156
| Tau used by PT marker filter. More...
#define | PFG_INTMMERROR 157
| Sum of master marker distance errors. More...
#define | PFG_MMARKERR 158
| Filtered sum master marker errors. More...
#define | PFG_ORGREALPOS 159
| "Real" origin position after a SETORIGIN command More...
#define | PFG_DYNKORRLIMIT 160
| Calculated limit of marker correction. More...
#define | PFG_MMARKFIFOVALID 161
| "Valid" flag for actual master marker FIFO read address More...
#define | PFG_MMARKFIFOREAD 162
| Read the master marker FIFO. More...
#define | PFG_LASTERROR 163
| Additional information about the last PFG error. More...
#define | PFG_STOUCHPOS 164
| Not used. More...
#define | PFG_MTOUCHPOS 165
#define | PFG_MCENDPOS 166
| Master position where the last curve ended. More...
#define | PFG_SMARKFIFOVALID 167
| "Valid" flag for actual slave marker FIFO read address More...
#define | PFG_SMARKFIFOREAD 168
| Read the slave marker FIFO. More...
#define | PFG_CMARKPOS 173
| Reserved. More...
#define | PFG_MMARKFIFOTEST 174
| Read the master marker FIFO. More...
#define | PFG_SMARKFIFOTEST 175
| Read the slave marker FIFO. More...
#define | PFG_RESTOFFSDBL 176
| Reserved. More...
#define | PFG_OFFTOTALDIST 177
| Reserved. More...
#define | PFG_OFFDISTDONE 178
| Reserved. More...
#define | PFG_LASTMOVSYNC 179
| Reserved. More...
#define | PFG_JSTATE 180
| State of the Limited Jerk Movement state machine. More...
#define | PFG_VCMDSIGNED 181
| Scaled SIGNED set point velocity. More...
#define | PFG_JERKSTOPPATH 182
| Length of brake ramp if stopped. More...
#define | PFG_LASTMMDEVIATION 183
| Last master marker deviation. More...
#define | PFG_INTSMERROR 184
| Sum of slave marker distance errors. More...
#define | PFG_SMARKERR 185
| Filtered sum of slave marker errors. More...
#define | PFG_LASTSMDEVIATION 186
| Last slave marker deviation. More...
#define | PFG_MMDEVPOSDIFF 187
| Distance between last two master markers. More...
#define | PFG_SMDEVPOSDIFF 188
| Distance between last two slave markers. More...
#define | PFG_JERKFINVEL 189
| Velocity reached if the current acceleration is reduced to 0. More...
#define | PFG_JERKSTOPDIST 190
| Length of brake ramp if stopped with specified deceleration. More...
#define | PFG_LASTREALMZERO 191
| Position value of the last "real" master marker. More...
#define | PFG_LASTREALSZERO 192
| Position value of the last "real" slave marker. More...
#define | PFG_CPOLYMAXVEL 193
| Maximum velocity of a curve polynomial. More...
#define | PFG_CPOLYMINVEL 194
| Minimum velocity of a curve polynomial. More...
#define | PFG_SMARKERFILTER 195
| Slave filter value. More...
#define | PFG_SYNCDIFFPOSL 196
| Calculated position difference. More...
#define | PFG_CALCMCURVPOS 197
| Calculate the curve master position corresponding to a slave position. More...
#define | PFG_RESTOFFSET 198
| Offset which must still be handled. More...
#define | PFG_OFFSETVALUE 199
| Actual offset step value used to distribute offsets or corrections. More...
#define | PFG_MASTERTARGET 200
| Corrected slave position. More...
#define | PFG_REVERSEOFFSET 201
| Compensation offset for blocked reversal. More...
#define | PFG_MSTARTCURVESTATE 202
| State of the SYNCMSTART = 7 curve handling. More...
#define | PFG_MSTARTCURVESTARTMPCMD 203
| Master position where curve was started. More...
#define | PFG_MSTARTCURVEMPOSSL 204
| Master curvepos of start curve. More...
#define | PFG_MSTARTCURVEMENDPOSSL 205
| Master curve endpos of start curve. More...
#define | PFG_MSTARTCURVECPOSSL 206
| Slave curve position of start curve. More...
#define | PFG_MSTARTCURVEDELTAS 207
| Calculated slave distance. More...
#define | PFG_MSTARTCURVESMARKTODO 208
| Actual distance of the slave position to the next slave marker. More...
#define | PFG_MSTARTCURVEDELTASREST 209
| Remainder of MSTARTCURVEDELTAS divided by slave marker distance. More...
#define | PFG_MSTARTCURVEERR 210
| Difference between MSTARTCURVEDELTASREST and the rest of the master distance. More...
#define | PFG_MSTARTMARKERTODO 211
| Master markers necessary. More...
#define | PFG_SYNCAACT 212
| Actual acceleration value used for synchronization. More...
#define | PFG_ACTSYNCVFTIME 213
| Actual syncvftime active. More...
#define | PFG_FILTERCOUNT 214
| Internal relative count since PFG_MFILTERR was reset last time. More...
#define | PFG_MASTERVELSQSL 215
| Master velocity in slave qc per sample time. More...
#define | PFG_COMMANDPOS 216
| SollPos returned to sw_reg. More...
#define | PFG_OLDCOMMANDPOS 217
| OldSollPos returned to sw_reg. More...
#define | PFG_CMASTERCREST 218
| Remaining master distance. More...
#define | PFG_CSLAVECREST 219
| Remaining slave distance. More...
#define | PFG_SYNCMNEGBUFFER 220
| Internal buffer for suppressed negative master movement in synchronisation. More...
#define | PFG_CMASTERCLEN 221
| Master curve length of the actual curve running. More...
#define | PFG_CALCCURVEPOS 222
| Calculate the slave position corresponding to a curve master position. More...
#define | PFG_VCMDSIGNED_USERSCALED 223
| Used for virtual master working with VCMD. More...
#define | PFG_PROFTIMER 224
| PROFTIMER value from the axis. More...
#define | PFG_CCALCULATE 225
#define | PFG_OFFSET_TIME 226
#define | PFG_OFFSET_VFIN 227
#define | PFG_OFFSET_ACC 228
#define | PFG_OFFSET_CORR 229
#define | PFG_FINPOS 230
| Target position of the profile generator. More...
#define | PFG_COMPOSDIFF 231
| Difference of Command position and last command position. More...
#define | PFG_CSTARTCLEN 232
| Start curve length for the active PATHSTART command. More...
#define | PFG_ACMD 233
| Signed command acceleration. More...
#define | PFG_USERCMDPOS 234
| User command position. More...
#define | PFG_RUNTIME_ERR 235
| Returns last active runtime error. More...
#define | PGS_POSCTRL 0
#define | PGS_TPZPREDEC 1
#define | PGS_TPZACC 2
#define | PGS_TPZDEC 3
#define | PGS_TPZVEL 4
#define | PGS_CVEL 5
#define | PGS_CACC 6
#define | PGS_CPREDEC 7
#define | PGS_CDEC 8
#define | PGS_VSYNC 12
#define | PGS_PSYNC 13
#define | PGS_PSYNCM 14
#define | PGS_FLOAT 15
#define | PGS_POSFLOAT 16
#define | PGS_CSYIDLE 17
#define | PGS_CSYSTARTING 18
#define | PGS_CSYSTOPPING 19
#define | PGS_CSYRUNNING 20
#define | PGS_LMTJERK 21
#define | PGS_FLOATUSER 22
#define | PGS_PATHMOVE 23
#define | PGS_PATHSTART 24
#define | PGS_PATHSYNC 25
#define | PGS_PATHWAIT 26
#define | PGS_PATHIDLE 27
#define | SDOINDEX_MACHINE_PARAM 0x2600
| : SDO Index More...
#define | MACHINE_PARAM_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_MACHINE_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| : Getter More...
#define | MACHINE_PARAM_SRCINDEX(modno, parno) ((SDOINDEX_MACHINE_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
| : Source Index More...
#define | MACHINE_PARAM(modno, parno) Sysvar[MACHINE_PARAM_INDEX((modno),(parno))]
| : Setter More...
#define | MACHINE_PARAM_MAX 31
| : Maximum number of parameters More...
#define | MACHINE_PARAM_MAX_SUBINDEX 0
#define | MACHINE_MODE 1
#define | MACHINE_PISRC_VIRTCOUNT 10
#define | MACHINE_PISRC_VIRTLATCH 11
#define | KIN_SYNC_TYPE 21
| The type of the external movement the robot movement is synchronized to. More...
#define | KIN_SYNC_STARTFLAG 22
| The KIN_SYNC_STARTFLAG tells the TG that the next path that is executed should be synchronized. More...
#define | KIN_SYNC_STOPFLAG 23
| The KIN_SYNC_STOPFLAG tells the TG that the synchronization should stop with the stop of the next path. More...
#define | KIN_SYNC_VECX 24
| X component of the translation or rotation vector. More...
#define | KIN_SYNC_VECY 25
| Y component of the translation or rotation vector. More...
#define | KIN_SYNC_VECZ 26
| Z component of the translation or rotation vector. More...
#define | KIN_SYNC_ROTCX 27
| X component of the rotation center. More...
#define | KIN_SYNC_ROTCY 28
| Y component of the rotation center. More...
#define | KIN_SYNC_ROTCZ 29
| Z component of the rotation center. More...
#define | KIN_SYNC_FPSCALE 30
| The quadcounts of the input movments are divided by this factor to allow for floating point scaling when converting to machine units. More...
#define | MACHINE_MODE_DISABLED 0
#define | MACHINE_MODE_ENABLED 1
#define | SDOINDEX_MACHINE_PROCESS 0x2640
| : SDO Index More...
#define | MACHINE_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_MACHINE_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| : Getter More...
#define | MACHINE_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_MACHINE_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| : Source Index More...
#define | MACHINE_PROCESS(modno, parno) Sysvar[MACHINE_PROCESS_INDEX((modno),(parno))]
| : Setter More...
#define | MACHINE_PROCESS_MAX 11
| : Maximum number of parameters More...
#define | MACHINE_PROCESS_MAX_SUBINDEX 0
#define | MACHINE_ERROR_FLAG 1
#define | KIN_SYNC_ACTIVE 3
| Indicates if the synchronization to an external movement is currently active. More...
#define | MACHINE_ACTPOS 4
#define | MACHINE_ACTVEL 5
#define | MACHINE_CPOS_MACHCOORD_X 6
#define | MACHINE_CPOS_MACHCOORD_Y 7
#define | MACHINE_CPOS_MACHCOORD_Z 8
#define | MACHINE_ACT_PATH_DISTANCE 9
| Actual path distance (absolute) More...
#define | MACHINE_ACT_PATH_VELOCITY 10
| Actual path velocity (absolute) More...
#define | SDOINDEX_VIRTMAST_PARAM 0x2800
| Virtual Master Parameters: SDO Index. More...
#define | VIRTMAST_PARAM_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_VIRTMAST_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Master Parameters: Getter. More...
#define | VIRTMAST_PARAM_SRCINDEX(modno, parno) ((SDOINDEX_VIRTMAST_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Master Parameters: Source Index. More...
#define | VIRTMAST_PARAM(modno, parno) Sysvar[VIRTMAST_PARAM_INDEX((modno),(parno))]
| Virtual Master Parameters: Setter. More...
#define | VIRTMAST_PARAM_MAX 36
| Virtual Master Parameters: Maximum number of parameters. More...
#define | VIRTMAST_MODE 1
| Enable / Disable / mode. More...
#define | VIRTMAST_PISRC_CMDWORD 10
| Link to the command word of an axis. More...
#define | VIRTMAST_PISRC_CMDVEL 11
| Index and subindex of the command velocity. More...
#define | VIRTMAST_VEL 30
| Target velocity. More...
#define | VIRTMAST_ACC 31
| Acceleration to reach target velocity. More...
#define | VIRTMAST_DEC 32
| Deceleration to reach target velocity. More...
#define | VIRTMAST_UUFACT_UNITNO 34
| Conversion factor uu to 1/1000 Hz, number of user units. More...
#define | VIRTMAST_UUFACT_INCNO 35
| Conversion factor uu to 1/1000 Hz, number of increments. More...
#define | VIRTMAST_MODE_DISABLED 0
#define | VIRTMAST_MODE_VELOCITY 1
#define | VIRTMAST_MODE_PROFILE 3
#define | SDOINDEX_VIRTCOUNTIN_PARAM 0x2840
| Virtual Counter Inputs parameters: SDO Index. More...
#define | VIRTCOUNTIN_PARAM_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_VIRTCOUNTIN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Counter Inputs parameters: Getter. More...
#define | VIRTCOUNTIN_PARAM_SRCINDEX(modno, parno) ((SDOINDEX_VIRTCOUNTIN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Counter Inputs parameters: Source Index. More...
#define | VIRTCOUNTIN_PARAM(modno, parno) Sysvar[VIRTCOUNTIN_PARAM_INDEX((modno),(parno))]
| Virtual Counter Inputs parameters: Setter. More...
#define | VIRTCOUNTIN_PARAM_MAX 37
| Virtual Counter Inputs parameters: Maximum number of parameters. More...
#define | VIRTCNTIN_MODE 1
| Counter mode. More...
#define | VIRTCNTIN_SIMULATION_SPEED 4
| defines the speed when counter is in simulation mode More...
#define | VIRTCNTIN_INHIBIT 5
| Module inhibit. More...
#define | VIRTCNTIN_PISRC_COUNTER 10
| Index/subindex of counter source. More...
#define | VIRTCNTIN_MAXSTEP 30
| Maximum stepsize allowed. More...
#define | VIRTCNTIN_OVFL_VALUE 32
| Value (Range) where the input will overflow. More...
#define | VIRTCNTIN_OVFL_FORCE 33
| Value where counter should produce an overflow. More...
#define | VIRTCNTIN_UUFACT_UNITNO 34
| Conversion Factor - number of user units. More...
#define | VIRTCNTIN_UUFACT_INCNO 35
| Conversion Factor - number of increments. More...
#define | VIRTCNTIN_MOVING_AVERAGE_N 36
#define | VIRTCNTIN_MODE_ABSOLUTE 0
#define | VIRTCNTIN_MODE_DELTA 1
#define | VIRTCNTIN_MODE_SIMULATION_SLAVE 2
#define | VIRTCNTIN_MODE_ABSOLUTE_DIRECT 3
#define | VIRTCNTIN_MODE_ABSOLUTE_16BIT 4
#define | VIRTCNTIN_MODE_ABSOLUTE_DIRECT_ENDLESS 5
#define | SDOINDEX_VIRTLATCH_PARAM 0x2880
| Virtual Latch Inputs Parameters: SDO Index. More...
#define | VIRTLATCH_PARAM_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_VIRTLATCH_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Latch Inputs Parameters: Getter. More...
#define | VIRTLATCH_PARAM_SRCINDEX(modno, parno) ((SDOINDEX_VIRTLATCH_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Latch Inputs Parameters: Source Index. More...
#define | VIRTLATCH_PARAM(modno, parno) Sysvar[VIRTLATCH_PARAM_INDEX((modno),(parno))]
| Virtual Latch Inputs Parameters: Setter. More...
#define | VIRTLATCH_PARAM_MAX 37
| Virtual Latch Inputs Parameters: Maximum number of parameters. More...
#define | VIRTLATCH_MODE 1
| Latch mode. More...
#define | VIRTLATCH_SIM_ZDIST 4
| Distance of latch values in simulator mode. More...
#define | VIRTLATCH_LATCHVALID_BITMASK 5
| Latchvalid Bitmask. More...
#define | VIRTLATCH_PISRC_COUNTER 10
| Index/subindex of counter source (attached) More...
#define | VIRTLATCH_PISRC_LATCHCNT 11
| Index/subindex of the counter at which the latch module is looking. More...
#define | VIRTLATCH_PISRC_LATCH 12
| Index/subindex of latch source. More...
#define | VIRTLATCH_PISRC_LATCHSTAT 13
| Index/subindex of latch status source. More...
#define | VIRTLATCH_PISRC_LATCHVALID 14
| Index / Subindex of latch valid information. More...
#define | VIRTLATCH_PISRC_LATCHFIFO_AMOUNT 15
| Index/subindex of LatchFifo information (amount) More...
#define | VIRTLATCH_PISRC_LATCHFIFO_READ 16
| Index/subindex of Latchfifo informtaion (read register) More...
#define | VIRTLATCH_CNTW_CLEAR 30
| Control Word Clear Command. More...
#define | VIRTLATCH_CNTW_ACTIVE 31
| Control Word Active Command. More...
#define | VIRTLATCH_STAT_HIT 33
| Value which signals that latch happened. More...
#define | VIRTLATCH_OFFSET 34
| Offset which is added to latch value. More...
#define | VIRTLATCH_UUFACT_UNITNO 35
| Conversion Factor - number of user units. More...
#define | VIRTLATCH_UUFACT_INCNO 36
| Conversion Factor - number of increments. More...
#define | VIRTLATCH_MODE_HARDWARE 0
#define | VIRTLATCH_MODE_SOFTWARE 1
#define | VIRTLATCH_MODE_SIMULATOR 2
#define | VIRTLATCH_MODE_16BIT 3
#define | VIRTLATCH_MODE_DIRECT 4
#define | SDOINDEX_VIRTAMP_PARAM 0x28C0
| Virtual Amplifier Parameters: SDO Index. More...
#define | VIRTAMP_PARAM_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_VIRTAMP_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Amplifier Parameters: Getter. More...
#define | VIRTAMP_PARAM_SRCINDEX(modno, parno) ((SDOINDEX_VIRTAMP_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Amplifier Parameters: Source Index. More...
#define | VIRTAMP_PARAM(modno, parno) Sysvar[VIRTAMP_PARAM_INDEX((modno),(parno))]
| Virtual Amplifier Parameters: Setter. More...
#define | VIRTAMP_PARAM_MAX 54
| Virtual Amplifier Parameters: Maximum number of parameters. More...
#define | VIRTAMP_MODE 1
| Mode of operation. More...
#define | VIRTAMP_PISRC_CMDWORD 10
| Index/subindex of command word. More...
#define | VIRTAMP_PISRC_REFPOS 11
| Index/subindex of position reference. More...
#define | VIRTAMP_PISRC_REFVEL 12
| Index/subindex of velocity reference. More...
#define | VIRTAMP_PISRC_REFACC 13
| Index/subindex of acceleration/current reference. More...
#define | VIRTAMP_PISRC_CURRENT 20
| Index/subindex of current. More...
#define | VIRTAMP_PISRC_STATUS 21
| Index/subindex of status. More...
#define | VIRTAMP_DRIVETYPE 30
| Predefined drivetype. More...
#define | VIRTAMP_CNTRLW_PWROFF 31
| Controlword to use in power off state. More...
#define | VIRTAMP_CNTRLW_PWRONDIS 32
| Controlword to use in power on disable state. More...
#define | VIRTAMP_CNTRLW_PWRONENP 33
| Controlword to use in power on enable positive direction state. More...
#define | VIRTAMP_CNTRLW_PWRONENN 34
| Controlword to use in power on enable negative direction state (could be same as above) More...
#define | VIRTAMP_CNTRLW_QUICKSTOP 35
| Controlword to stop drive with internal ramps. More...
#define | VIRTAMP_CNTRLW_RESET 36
| Controlword to reset from error. More...
#define | VIRTAMP_REFTYPE 37
| Type of reference. More...
#define | VIRTAMP_REFOUTP 38
| Digital output for positive direction signal. More...
#define | VIRTAMP_REFOUTN 39
| Number of output which must be set if reference is negative (reset if positive) More...
#define | VIRTAMP_REF100PERC 40
| Output reference value to use at 100 percent. More...
#define | VIRTAMP_REFLIMIT 41
| Output reference limit. More...
#define | VIRTAMP_REFOFFSET 42
| Offset to add to output reference. More...
#define | VIRTAMP_INVERT 43
| Output reference reversion. More...
#define | VIRTAMP_I2TTIME 44
| I2T Time interval for filtering. More...
#define | VIRTAMP_STOPDELAY 45
| Delay after a STOP command. More...
#define | VIRTAMP_REVERSE 46
| Reversing allowed. More...
#define | VIRTAMP_ERROR_BITMASK 47
| Bitmask to detect error condition. More...
#define | VIRTAMP_ERROR_POLARITY 48
| Polarity of Error Bit. More...
#define | VIRTAMP_I2TLIMIT 49
| I2T Limit value. More...
#define | VIRTAMP_REFACC100PERC 50
| Acceleration reference value (PO_VIRTAMP_REFACC) at full acceleration. More...
#define | VIRTAMP_READY_BITMASK 51
| Bitmask to detect drive ready condition. More...
#define | VIRTAMP_READY_POLARITY 52
| Polarity of Ready Bit. More...
#define | VIRTAMP_TORQUE_CONST 53
| Represents the motor’s torque constant. More...
#define | VIRTAMP_MODE_DISABLE 0
#define | VIRTAMP_MODE_ENABLE 1
#define | SDOINDEX_VIRTDIGIN_PARAM 0x2900
| Virtual Digital Input Parameters: SDO Index. More...
#define | VIRTDIGIN_PARAM_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_VIRTDIGIN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Digital Input Parameters: Getter. More...
#define | VIRTDIGIN_PARAM_SRCINDEX(modno, parno) ((SDOINDEX_VIRTDIGIN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Digital Input Parameters: Source Index. More...
#define | VIRTDIGIN_PARAM(modno, parno) Sysvar[VIRTDIGIN_PARAM_INDEX((modno),(parno))]
| Virtual Digital Input Parameters: Setter. More...
#define | VIRTDIGIN_PARAM_MAX 14
| Virtual Digital Input Parameters: Maximum number of parameters. More...
#define | VIRTDIGIN_PISRC_MAP1 10
| First Mapping entry for outputs (like CanOpen) More...
#define | VIRTDIGIN_PISRC_MAP2 11
| Second Mapping entry for outputs. More...
#define | VIRTDIGIN_PISRC_MAP3 12
| Third Mapping entry for outputs. More...
#define | VIRTDIGIN_PISRC_MAP4 13
| Fourth Mapping entry for outputs. More...
#define | SDOINDEX_VIRTDIGOUT_PARAM 0x2940
| Virtual Digital Output Parameters: SDO Index. More...
#define | VIRTDIGOUT_PARAM_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_VIRTDIGOUT_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Digital Output Parameters: Getter. More...
#define | VIRTDIGOUT_PARAM_SRCINDEX(modno, parno) ((SDOINDEX_VIRTDIGOUT_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Digital Output Parameters: Source Index. More...
#define | VIRTDIGOUT_PARAM(modno, parno) Sysvar[VIRTDIGOUT_PARAM_INDEX((modno),(parno))]
| Virtual Digital Output Parameters: Setter. More...
#define | VIRTDIGOUT_PARAM_MAX 2
| Virtual Digital Output Parameters: Maximum number of parameters. More...
#define | SDOINDEX_VIRTANIN_PARAM 0x2980
| Virtual Analog Input Parameters: SDO Index. More...
#define | VIRTANIN_PARAM_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_VIRTANIN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Analog Input Parameters: Getter. More...
#define | VIRTANIN_PARAM_SRCINDEX(modno, parno) ((SDOINDEX_VIRTANIN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Analog Input Parameters: Source Index. More...
#define | VIRTANIN_PARAM(modno, parno) Sysvar[VIRTANIN_PARAM_INDEX((modno),(parno))]
| Virtual Analog Input Parameters: Setter. More...
#define | VIRTANIN_PARAM_MAX 33
| Virtual Analog Input Parameters: Maximum number of parameters. More...
#define | VIRTANIN_PISRC_VALUE 10
| Index/subindex of source value. More...
#define | VIRTANIN_UUFACT_UNITNO 30
| Scale factor. More...
#define | VIRTANIN_UUFACT_DIGNO 31
| Scale factor. More...
#define | VIRTANIN_DIG_OFFSET 32
| Offset value. More...
#define | SDOINDEX_VIRTANOUT_PARAM 0x29C0
| Virtual Analog Output Parameters: SDO Index. More...
#define | VIRTANOUT_PARAM_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_VIRTANOUT_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Analog Output Parameters: Getter. More...
#define | VIRTANOUT_PARAM_SRCINDEX(modno, parno) ((SDOINDEX_VIRTANOUT_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Analog Output Parameters: Source Index. More...
#define | VIRTANOUT_PARAM(modno, parno) Sysvar[VIRTANOUT_PARAM_INDEX((modno),(parno))]
| Virtual Analog Output Parameters: Setter. More...
#define | VIRTANOUT_PARAM_MAX 2
| Virtual Analog Output Parameters: Maximum number of parameters. More...
#define | SDOINDEX_VIRTCUSTOM_PARAM 0x2A00
| Virtual Customer Module Parameters: SDO Index. More...
#define | VIRTCUSTOM_PARAM_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_VIRTCUSTOM_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Customer Module Parameters: Getter. More...
#define | VIRTCUSTOM_PARAM_SRCINDEX(modno, parno) ((SDOINDEX_VIRTCUSTOM_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Customer Module Parameters: Source Index. More...
#define | VIRTCUSTOM_PARAM(modno, parno) Sysvar[VIRTCUSTOM_PARAM_INDEX((modno),(parno))]
| Virtual Customer Module Parameters: Setter. More...
#define | VIRTCUSTOM_PARAM_MAX 20
| Virtual Customer Module Parameters: Maximum number of parameters. More...
#define | VIRTCUSTOM_PAR_1 1
| Custom parameters. More...
#define | VIRTCUSTOM_PAR_2 2
| Custom parameters. More...
#define | VIRTCUSTOM_PAR_3 3
| Custom parameters. More...
#define | VIRTCUSTOM_PAR_4 4
| Custom parameters. More...
#define | VIRTCUSTOM_PAR_5 5
| Custom parameters. More...
#define | VIRTCUSTOM_PAR_6 6
| Custom parameters. More...
#define | VIRTCUSTOM_PAR_7 7
| Custom parameters. More...
#define | VIRTCUSTOM_PAR_8 8
| Custom parameters. More...
#define | VIRTCUSTOM_PAR_9 9
| Custom parameters. More...
#define | VIRTCUSTOM_PISRC_1 10
| Custom sources. More...
#define | VIRTCUSTOM_PISRC_2 11
| Custom sources. More...
#define | VIRTCUSTOM_PISRC_3 12
| Custom sources. More...
#define | VIRTCUSTOM_PISRC_4 13
| Custom sources. More...
#define | VIRTCUSTOM_PISRC_5 14
| Custom sources. More...
#define | VIRTCUSTOM_PISRC_6 15
| Custom sources. More...
#define | VIRTCUSTOM_PISRC_7 16
| Custom sources. More...
#define | VIRTCUSTOM_PISRC_8 17
| Custom sources. More...
#define | VIRTCUSTOM_PISRC_9 18
| Custom sources. More...
#define | VIRTCUSTOM_PISRC_10 19
| Custom sources. More...
#define | SDOINDEX_VIRTMATH_PARAM 0x2A40
| Virtual Math Module Parameters: SDO Index. More...
#define | VIRTMATH_PARAM_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_VIRTMATH_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Math Module Parameters: Getter. More...
#define | VIRTMATH_PARAM_SRCINDEX(modno, parno) ((SDOINDEX_VIRTMATH_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Math Module Parameters: Source Index. More...
#define | VIRTMATH_PARAM(modno, parno) Sysvar[VIRTMATH_PARAM_INDEX((modno),(parno))]
| Virtual Math Module Parameters: Setter. More...
#define | VIRTMATH_PARAM_MAX 34
| Virtual Math Module Parameters: Maximum number of parameters. More...
#define | VIRTMATH_MODE 1
| Mode of the module. More...
#define | VIRTMATH_INVERT 2
| Inverts inputs and outputs. More...
#define | VIRTMATH_LOW_LIMIT 3
| Output low limit. More...
#define | VIRTMATH_HIGH_LIMIT 4
| Output high limit. More...
#define | VIRTMATH_PISRC_1 10
| Sources 1-4. More...
#define | VIRTMATH_PISRC_2 11
| Sources 1-4. More...
#define | VIRTMATH_PISRC_3 12
| Sources 1-4. More...
#define | VIRTMATH_PISRC_4 13
| Sources 1-4. More...
#define | VIRTMATH_POSRC_1 20
| Output source 1-2. More...
#define | VIRTMATH_POSRC_2 21
| Output source 1-2. More...
#define | VIRTMATH_MODE_BASED_1 30
| Mode based configuration 1 - 4. More...
#define | VIRTMATH_MODE_BASED_2 31
| Mode based configuration 1 - 4. More...
#define | VIRTMATH_MODE_BASED_3 32
| Mode based configuration 1 - 4. More...
#define | VIRTMATH_MODE_BASED_4 33
| Mode based configuration 1 - 4. More...
#define | VIRTMATH_MODE_OFF 0
#define | VIRTMATH_MODE_ADD 1
#define | VIRTMATH_MODE_GAIN 2
#define | VIRTMATH_MODE_SINW 10
#define | VIRTMATH_MODE_COSW 11
#define | VIRTMATH_MODE_SIN 12
#define | VIRTMATH_MODE_COS 13
#define | VIRTMATH_MODE_LP1_FILTER 20
#define | VIRTMATH_MODE_PID 30
#define | VIRTMATH_MODE_PID_KP 30
#define | VIRTMATH_MODE_PID_KI 31
#define | VIRTMATH_MODE_PID_KD 32
#define | VIRTMATH_MODE_PID_KILIM 33
#define | SDOINDEX_VIRTMAST_PROCESS 0x2C00
| Virtual Master Process Data: SDO Index. More...
#define | VIRTMAST_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_VIRTMAST_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Master Process Data: Getter. More...
#define | VIRTMAST_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_VIRTMAST_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Master Process Data: Source Index. More...
#define | VIRTMAST_PROCESS(modno, parno) Sysvar[VIRTMAST_PROCESS_INDEX((modno),(parno))]
| Virtual Master Process Data: Setter. More...
#define | VIRTMAST_PROCESS_MAX 7
| Virtual Master Process Data: Maximum number of parameters. More...
#define | PO_VIRTMAST_VEL 1
| Output velocity in increments per line. More...
#define | PO_VIRTMAST_POS 2
| Cumulated position value of the master. More...
#define | PO_VIRTMAST_TVEL_INC 3
| scaled internal value More...
#define | PO_VIRTMAST_ACC_INC 4
| scaled internal value More...
#define | PO_VIRTMAST_DEC_INC 5
| scaled internal value More...
#define | PO_VIRTMAST_POS16 6
| PO_VIRTMAST_POS value shifted >> 16, which equals to qc (SIGNED16 value) More...
#define | SDOINDEX_VIRTCOUNTIN_PROCESS 0x2C40
| Virtual Counter Inputs Process Data: SDO Index. More...
#define | VIRTCOUNTIN_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_VIRTCOUNTIN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Counter Inputs Process Data: Getter. More...
#define | VIRTCOUNTIN_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_VIRTCOUNTIN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Counter Inputs Process Data: Source Index. More...
#define | VIRTCOUNTIN_PROCESS(modno, parno) Sysvar[VIRTCOUNTIN_PROCESS_INDEX((modno),(parno))]
| Virtual Counter Inputs Process Data: Setter. More...
#define | VIRTCOUNTIN_PROCESS_MAX 13
| Virtual Counter Inputs Process Data: Maximum number of parameters. More...
#define | PO_VIRTCNTIN_VALUE 1
| Output of counter module. More...
#define | PO_VIRTCNTIN_VELOCITY 2
| Velocity. More...
#define | PO_VIRTCNTIN_FRACT 4
| Fractional part of the current position. More...
#define | PO_VIRTCNTIN_OVFLS 5
| Number of overflows. More...
#define | PO_VIRTCNTIN_LASTSRCPOS 6
| Last Source Position. More...
#define | PO_VIRTCNTIN_LASTVELOCITY 7
| Last measured velocity. More...
#define | PO_VIRTCNTIN_OVFL_AMOUNT 8
| When an overflow has happend, this value represents the amount of it. More...
#define | PO_VIRTCNTIN_STAT 9
| Status bits. More...
#define | PO_VIRTCNTIN_ERR_COUNT 10
| How many errors were detected. More...
#define | PO_VIRTCNTIN_VALUE_FILTERED_FRACTIONAL 11
#define | PO_VIRTCNTIN_VALUE_FILTERED_INTEGRAL 12
#define | SDOINDEX_VIRTLATCH_PROCESS 0x2C80
| Virtual Latch Inputs Process Data: SDO Index. More...
#define | VIRTLATCH_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_VIRTLATCH_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Latch Inputs Process Data: Getter. More...
#define | VIRTLATCH_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_VIRTLATCH_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Latch Inputs Process Data: Source Index. More...
#define | VIRTLATCH_PROCESS(modno, parno) Sysvar[VIRTLATCH_PROCESS_INDEX((modno),(parno))]
| Virtual Latch Inputs Process Data: Setter. More...
#define | VIRTLATCH_PROCESS_MAX 16
| Virtual Latch Inputs Process Data: Maximum number of parameters. More...
#define | PO_VIRTLATCH_VALUE 1
| Latch position. More...
#define | PO_VIRTLATCH_COUNTER 2
| Latch counter. More...
#define | PO_VIRTLATCH_LASTSRCLATCHPOS 4
| Last source latch position. More...
#define | PO_VIRTLATCH_FLAG 5
| Latch flag, cleared by writing. More...
#define | PO_VIRTLATCH_CMDWORD 6
| Command word. More...
#define | PO_VIRTLATCH_FIFO_READ 7
| Latch position read from FIFO. More...
#define | PO_VIRTLATCH_FIFO_VALID 8
| Indicates if the latch from the FIFO is valid. More...
#define | PO_VIRTLATCH_FIFO_WRITEINDEX 9
| Position of the FIFO write index. More...
#define | PO_VIRTLATCH_FIFO_READINDEX 10
| Position of the FIFO read index. More...
#define | PO_VIRTLATCH_FIFO_LATCHAMOUNT 11
| Number of latches in the FIFO. More...
#define | PO_VIRTLATCH_FIFO_TOTALCNT 12
| Number of latches ever processed through FIFO. More...
#define | PO_VIRTLATCH_FIFO_OVERFLOWCNT 13
| Number of overflows. More...
#define | PO_VIRTLATCH_FIFO_PEEK 14
| Peek the latest element from the FIFO. More...
#define | PO_VIRTLATCH_VALID 15
| Valid flag. More...
#define | SDOINDEX_VIRTAMP_PROCESS 0x2CC0
| Virtual Amplifier Process Data: SDO Index. More...
#define | VIRTAMP_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_VIRTAMP_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Amplifier Process Data: Getter. More...
#define | VIRTAMP_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_VIRTAMP_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Amplifier Process Data: Source Index. More...
#define | VIRTAMP_PROCESS(modno, parno) Sysvar[VIRTAMP_PROCESS_INDEX((modno),(parno))]
| Virtual Amplifier Process Data: Setter. More...
#define | VIRTAMP_PROCESS_MAX 16
| Virtual Amplifier Process Data: Maximum number of parameters. More...
#define | PO_VIRTAMP_STATUS 1
| Status. More...
#define | PO_VIRTAMP_CMDWORD 2
| Output command word. More...
#define | PO_VIRTAMP_REFPOS 3
| Output reference position. More...
#define | PO_VIRTAMP_REFVEL 4
| Output reference velocity. More...
#define | PO_VIRTAMP_REFACC 5
| Output reference acceleration. More...
#define | PO_VIRTAMP_DIRPOS 7
| Direction information. More...
#define | PO_VIRTAMP_DIRNEG 8
| Direction information. More...
#define | PO_VIRTAMP_CURRENT 10
| Current value. More...
#define | PO_VIRTAMP_ACTSTOPDELAY 12
| Internally used counter. More...
#define | PO_VIRTAMP_I2TVALUE 13
| Current sum of I2T calculation. More...
#define | PO_VIRTAMP_ERROR 14
| Error status. More...
#define | PO_VIRTAMP_REMOTE_AMP 15
| Indicates if remote amplifier is in use. More...
#define | VIRTAMP_ERROR_HWAMP 0x0001
#define | VIRTAMP_ERROR_I2T 0x0002
#define | VIRTAMP_ERROR_NOTREADY 0x0004
#define | SDOINDEX_VIRTDIGIN_PROCESS 0x2D00
| Virtual Digital Input Process Data: SDO Index. More...
#define | VIRTDIGIN_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_VIRTDIGIN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Digital Input Process Data: Getter. More...
#define | VIRTDIGIN_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_VIRTDIGIN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Digital Input Process Data: Source Index. More...
#define | VIRTDIGIN_PROCESS(modno, parno) Sysvar[VIRTDIGIN_PROCESS_INDEX((modno),(parno))]
| Virtual Digital Input Process Data: Setter. More...
#define | VIRTDIGIN_PROCESS_MAX 8
| Virtual Digital Input Process Data: Maximum number of parameters. More...
#define | PO_VIRTDIGIN_VALLONG 1
| Returns the full 32bit output value. More...
#define | PO_VIRTDIGIN_VALWORD1 2
| Returns 16bit of the output value. More...
#define | PO_VIRTDIGIN_VALWORD2 3
| Returns 16bit of the output value. More...
#define | PO_VIRTDIGIN_VALBYTE1 4
| Returns 8bit of the output value. More...
#define | PO_VIRTDIGIN_VALBYTE2 5
| Returns 8bit of the output value. More...
#define | PO_VIRTDIGIN_VALBYTE3 6
| Returns 8bit of the output value. More...
#define | PO_VIRTDIGIN_VALBYTE4 7
| Returns 8bit of the output value. More...
#define | SDOINDEX_VIRTDIGOUT_PROCESS 0x2D40
| Virtual Digital Output Process Data: SDO Index. More...
#define | VIRTDIGOUT_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_VIRTDIGOUT_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Digital Output Process Data: Getter. More...
#define | VIRTDIGOUT_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_VIRTDIGOUT_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Digital Output Process Data: Source Index. More...
#define | VIRTDIGOUT_PROCESS(modno, parno) Sysvar[VIRTDIGOUT_PROCESS_INDEX((modno),(parno))]
| Virtual Digital Output Process Data: Setter. More...
#define | VIRTDIGOUT_PROCESS_MAX 8
| Virtual Digital Output Process Data: Maximum number of parameters. More...
#define | PO_VIRTDIGOUT_VALLONG 1
| Returns all 32bit of the output value. More...
#define | PO_VIRTDIGOUT_VALWORD1 2
| Returns 16 bit of the output value. More...
#define | PO_VIRTDIGOUT_VALWORD2 3
| Returns 16 bit of the output value. More...
#define | PO_VIRTDIGOUT_VALBYTE1 4
| Returns 8bit of the output value. More...
#define | PO_VIRTDIGOUT_VALBYTE2 5
| Returns 8bit of the output value. More...
#define | PO_VIRTDIGOUT_VALBYTE3 6
| Returns 8bit of the output value. More...
#define | PO_VIRTDIGOUT_VALBYTE4 7
| Returns 8bit of the output value. More...
#define | SDOINDEX_VIRTANIN_PROCESS 0x2D80
| Virtual Analog Input Process Data: SDO Index. More...
#define | VIRTANIN_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_VIRTANIN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Analog Input Process Data: Getter. More...
#define | VIRTANIN_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_VIRTANIN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Analog Input Process Data: Source Index. More...
#define | VIRTANIN_PROCESS(modno, parno) Sysvar[VIRTANIN_PROCESS_INDEX((modno),(parno))]
| Virtual Analog Input Process Data: Setter. More...
#define | VIRTANIN_PROCESS_MAX 8
| Virtual Analog Input Process Data: Maximum number of parameters. More...
#define | PO_VIRTANIN_VALUE 1
| Output value of the module. More...
#define | PO_VIRTANIN_MAXVAL 2
| Maximum measured input value. More...
#define | PO_VIRTANIN_MINVAL 3
| Minimum measured input value. More...
#define | PO_VIRTANIN_SUM 4
| Integrated value of PO_VIRTANIN_VALUE. More...
#define | PO_VIRTANIN_COUNT 6
| Integration time. More...
#define | PO_VIRTANIN_AVG 7
| Average value. More...
#define | SDOINDEX_VIRTANOUT_PROCESS 0x2DC0
| Virtual Analog Output Process Data: SDO Index. More...
#define | VIRTANOUT_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_VIRTANOUT_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Analog Output Process Data: Getter. More...
#define | VIRTANOUT_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_VIRTANOUT_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Analog Output Process Data: Source Index. More...
#define | VIRTANOUT_PROCESS(modno, parno) Sysvar[VIRTANOUT_PROCESS_INDEX((modno),(parno))]
| Virtual Analog Output Process Data: Setter. More...
#define | VIRTANOUT_PROCESS_MAX 4
| Virtual Analog Output Process Data: Maximum number of parameters. More...
#define | PO_VIRTANOUT_VALUE 1
| Returns all 32bit of the output value. More...
#define | PO_VIRTANOUT_VALWORD1 2
| Returns 16bit of the output value. More...
#define | PO_VIRTANOUT_VALWORD2 3
| Returns 16bit of the output value. More...
#define | SDOINDEX_VIRTCUSTOM_PROCESS 0x2E00
| Virtual Customer Module Process Data: SDO Index. More...
#define | VIRTCUSTOM_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_VIRTCUSTOM_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Customer Module Process Data: Getter. More...
#define | VIRTCUSTOM_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_VIRTCUSTOM_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Customer Module Process Data: Source Index. More...
#define | VIRTCUSTOM_PROCESS(modno, parno) Sysvar[VIRTCUSTOM_PROCESS_INDEX((modno),(parno))]
| Virtual Customer Module Process Data: Setter. More...
#define | VIRTCUSTOM_PROCESS_MAX 21
| Virtual Customer Module Process Data: Maximum number of parameters. More...
#define | PO_VIRTCUSTOM_1 1
| Custom Output Values. More...
#define | PO_VIRTCUSTOM_2 2
| Custom Output Values. More...
#define | PO_VIRTCUSTOM_3 3
| Custom Output Values. More...
#define | PO_VIRTCUSTOM_4 4
| Custom Output Values. More...
#define | PO_VIRTCUSTOM_5 5
| Custom Output Values. More...
#define | PO_VIRTCUSTOM_6 6
| Custom Output Values. More...
#define | PO_VIRTCUSTOM_7 7
| Custom Output Values. More...
#define | PO_VIRTCUSTOM_8 8
| Custom Output Values. More...
#define | PO_VIRTCUSTOM_9 9
| Custom Output Values. More...
#define | PO_VIRTCUSTOM_10 10
| Custom Output Values. More...
#define | PO_VIRTCUSTOM_11 11
| Custom Output Values. More...
#define | PO_VIRTCUSTOM_12 12
| Custom Output Values. More...
#define | PO_VIRTCUSTOM_13 13
| Custom Output Values. More...
#define | PO_VIRTCUSTOM_14 14
| Custom Output Values. More...
#define | PO_VIRTCUSTOM_15 15
| Custom Output Values. More...
#define | PO_VIRTCUSTOM_16 16
| Custom Output Values. More...
#define | PO_VIRTCUSTOM_17 17
| Custom Output Values. More...
#define | PO_VIRTCUSTOM_18 18
| Custom Output Values. More...
#define | PO_VIRTCUSTOM_19 19
| Custom Output Values. More...
#define | PO_VIRTCUSTOM_20 20
| Custom Output Values. More...
#define | SDOINDEX_VIRTMATH_PROCESS 0x2E40
| Virtual Math Module Process Data: SDO Index. More...
#define | VIRTMATH_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_VIRTMATH_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Math Module Process Data: Getter. More...
#define | VIRTMATH_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_VIRTMATH_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| Virtual Math Module Process Data: Source Index. More...
#define | VIRTMATH_PROCESS(modno, parno) Sysvar[VIRTMATH_PROCESS_INDEX((modno),(parno))]
| Virtual Math Module Process Data: Setter. More...
#define | VIRTMATH_PROCESS_MAX 7
| Virtual Math Module Process Data: Maximum number of parameters. More...
#define | PO_VIRTMATH_VALUE 1
| Output value. More...
#define | PO_VIRTMATH_MODE_BASED_VALUE_1 2
| Mode dependent process value 1 - 5. More...
#define | PO_VIRTMATH_MODE_BASED_VALUE_2 3
| Mode dependent process value 1 - 5. More...
#define | PO_VIRTMATH_MODE_BASED_VALUE_3 4
| Mode dependent process value 1 - 5. More...
#define | PO_VIRTMATH_MODE_BASED_VALUE_4 5
| Mode dependent process value 1 - 5. More...
#define | PO_VIRTMATH_MODE_BASED_VALUE_5 6
| Mode dependent process value 1 - 5. More...
#define | VIRTMATH_MODE_PID_PROP_VALUE 2
#define | VIRTMATH_MODE_PID_INT_VALUE 3
#define | VIRTMATH_MODE_PID_DIFF_VALUE 4
#define | VIRTMATH_MODE_PID_PREV_ERROR 5
#define | VIRTMATH_MODE_PID_INT_SUM 6
#define | SDOINDEX_ECAT_SLAVE_PDO1_1_255 0x3301
| : SDO Index More...
#define | ECAT_SLAVE_PDO1_1_255_INDEX(parno) ((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO1_1_255<<8)) | ((long) (parno)))
| : Getter More...
#define | ECAT_SLAVE_PDO1_1_255_SRCINDEX(parno) ((SDOINDEX_ECAT_SLAVE_PDO1_1_255<<8) | ((long) (parno)))
| : Source Index More...
#define | ECAT_SLAVE_PDO1_1_255(parno) Sysvar[ECAT_SLAVE_PDO1_1_255_INDEX(parno)]
| : Setter More...
#define | ECAT_SLAVE_PDO1_1_255_MAX 256
| : Maximum number of parameters More...
#define | SDOINDEX_ECAT_SLAVE_PDO1_256_510 0x3302
| : SDO Index More...
#define | ECAT_SLAVE_PDO1_256_510_INDEX(parno) ((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO1_256_510<<8)) | ((long) (parno)))
| : Getter More...
#define | ECAT_SLAVE_PDO1_256_510_SRCINDEX(parno) ((SDOINDEX_ECAT_SLAVE_PDO1_256_510<<8) | ((long) (parno)))
| : Source Index More...
#define | ECAT_SLAVE_PDO1_256_510(parno) Sysvar[ECAT_SLAVE_PDO1_256_510_INDEX(parno)]
| : Setter More...
#define | ECAT_SLAVE_PDO1_256_510_MAX 256
| : Maximum number of parameters More...
#define | SDOINDEX_ECAT_SLAVE_PDO1_511_765 0x3303
| : SDO Index More...
#define | ECAT_SLAVE_PDO1_511_765_INDEX(parno) ((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO1_511_765<<8)) | ((long) (parno)))
| : Getter More...
#define | ECAT_SLAVE_PDO1_511_765_SRCINDEX(parno) ((SDOINDEX_ECAT_SLAVE_PDO1_511_765<<8) | ((long) (parno)))
| : Source Index More...
#define | ECAT_SLAVE_PDO1_511_765(parno) Sysvar[ECAT_SLAVE_PDO1_511_765_INDEX(parno)]
| : Setter More...
#define | ECAT_SLAVE_PDO1_511_765_MAX 256
| : Maximum number of parameters More...
#define | SDOINDEX_ECAT_SLAVE_PDO1_766_1020 0x3304
| : SDO Index More...
#define | ECAT_SLAVE_PDO1_766_1020_INDEX(parno) ((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO1_766_1020<<8)) | ((long) (parno)))
| : Getter More...
#define | ECAT_SLAVE_PDO1_766_1020_SRCINDEX(parno) ((SDOINDEX_ECAT_SLAVE_PDO1_766_1020<<8) | ((long) (parno)))
| : Source Index More...
#define | ECAT_SLAVE_PDO1_766_1020(parno) Sysvar[ECAT_SLAVE_PDO1_766_1020_INDEX(parno)]
| : Setter More...
#define | ECAT_SLAVE_PDO1_766_1020_MAX 256
| : Maximum number of parameters More...
#define | SDOINDEX_ECAT_SLAVE_PDO2_1_255 0x3305
| : SDO Index More...
#define | ECAT_SLAVE_PDO2_1_255_INDEX(parno) ((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO2_1_255<<8)) | ((long) (parno)))
| : Getter More...
#define | ECAT_SLAVE_PDO2_1_255_SRCINDEX(parno) ((SDOINDEX_ECAT_SLAVE_PDO2_1_255<<8) | ((long) (parno)))
| : Source Index More...
#define | ECAT_SLAVE_PDO2_1_255(parno) Sysvar[ECAT_SLAVE_PDO2_1_255_INDEX(parno)]
| : Setter More...
#define | ECAT_SLAVE_PDO2_1_255_MAX 256
| : Maximum number of parameters More...
#define | SDOINDEX_ECAT_SLAVE_PDO2_256_510 0x3306
| : SDO Index More...
#define | ECAT_SLAVE_PDO2_256_510_INDEX(parno) ((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO2_256_510<<8)) | ((long) (parno)))
| : Getter More...
#define | ECAT_SLAVE_PDO2_256_510_SRCINDEX(parno) ((SDOINDEX_ECAT_SLAVE_PDO2_256_510<<8) | ((long) (parno)))
| : Source Index More...
#define | ECAT_SLAVE_PDO2_256_510(parno) Sysvar[ECAT_SLAVE_PDO2_256_510_INDEX(parno)]
| : Setter More...
#define | ECAT_SLAVE_PDO2_256_510_MAX 256
| : Maximum number of parameters More...
#define | SDOINDEX_ECAT_SLAVE_PDO2_511_765 0x3307
| : SDO Index More...
#define | ECAT_SLAVE_PDO2_511_765_INDEX(parno) ((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO2_511_765<<8)) | ((long) (parno)))
| : Getter More...
#define | ECAT_SLAVE_PDO2_511_765_SRCINDEX(parno) ((SDOINDEX_ECAT_SLAVE_PDO2_511_765<<8) | ((long) (parno)))
| : Source Index More...
#define | ECAT_SLAVE_PDO2_511_765(parno) Sysvar[ECAT_SLAVE_PDO2_511_765_INDEX(parno)]
| : Setter More...
#define | ECAT_SLAVE_PDO2_511_765_MAX 256
| : Maximum number of parameters More...
#define | SDOINDEX_ECAT_SLAVE_PDO2_766_1020 0x3308
| : SDO Index More...
#define | ECAT_SLAVE_PDO2_766_1020_INDEX(parno) ((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO2_766_1020<<8)) | ((long) (parno)))
| : Getter More...
#define | ECAT_SLAVE_PDO2_766_1020_SRCINDEX(parno) ((SDOINDEX_ECAT_SLAVE_PDO2_766_1020<<8) | ((long) (parno)))
| : Source Index More...
#define | ECAT_SLAVE_PDO2_766_1020(parno) Sysvar[ECAT_SLAVE_PDO2_766_1020_INDEX(parno)]
| : Setter More...
#define | ECAT_SLAVE_PDO2_766_1020_MAX 256
| : Maximum number of parameters More...
#define | SDOINDEX_SMGLOBAL_PROCESS 0x3600
| Global State Machine Process Data: SDO Index. More...
#define | SMGLOBAL_PROCESS_INDEX(parno) ((0x01000000 | (SDOINDEX_SMGLOBAL_PROCESS<<8)) | ((long) (parno)))
| Global State Machine Process Data: Getter. More...
#define | SMGLOBAL_PROCESS_SRCINDEX(parno) ((SDOINDEX_SMGLOBAL_PROCESS<<8) | ((long) (parno)))
| Global State Machine Process Data: Source Index. More...
#define | SMGLOBAL_PROCESS(parno) Sysvar[SMGLOBAL_PROCESS_INDEX(parno)]
| Global State Machine Process Data: Setter. More...
#define | SMGLOBAL_PROCESS_MAX 48
| Global State Machine Process Data: Maximum number of parameters. More...
#define | SM_PROC_RUNFLAGS 1
| Runtime flags. More...
#define | SM_PROC_PARAMCNT 2
| Maximum number of event parameters in event record. More...
#define | SM_PROC_EVENTCNT 3
| Number of events. More...
#define | SM_PROC_STATECNT 4
| Number of states. More...
#define | SM_PROC_MACHINECNT 5
| Number of state machine specifications. More...
#define | SM_PROC_POOLSIZE 6
| Number of records in event pool. More...
#define | SM_PROC_QUEUESIZE 7
| Total size of all event queues. More...
#define | SM_PROC_STATEDEPTH 8
| Depth of deepest state machine tree. More...
#define | SM_PROC_TIMERMAX 9
| Maximum number of timers. More...
#define | SM_PROC_SUBSIZE 10
| Number of records in subscribe pool. More...
#define | SM_PROC_PRMSIZE 11
| Number of records in parameter pool. More...
#define | SM_PROC_POSSIZE 12
| Number of records in position pool. More...
#define | SM_PROC_SYSSIZE 13
| Number of records in system event pool. More...
#define | SM_PROC_SYSCNT 14
| Maximum number of system event chains. More...
#define | SM_PROC_SMRUNSTATE 41
| Current state machine running state. More...
#define | SM_PROC_SMRUNFLAGS 42
| Current state machine run flags. More...
#define | SM_PROC_MACHINE 43
| Current state machine index. More...
#define | SM_PROC_POOLUSED 44
| Number of used records in event pool. More...
#define | SM_PROC_POOLFREE 45
| Number of free records in event pool. More...
#define | SM_PROC_POOLMAX 46
| Maximum number of records used in event pool. More...
#define | SM_PROC_HISTORY 47
| History recording enabled. More...
#define | SDOINDEX_SMMACHINE_PROCESS 0x3601
| State Machine Process Data: SDO Index. More...
#define | SMMACHINE_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_SMMACHINE_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| State Machine Process Data: Getter. More...
#define | SMMACHINE_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_SMMACHINE_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| State Machine Process Data: Source Index. More...
#define | SMMACHINE_PROCESS(modno, parno) Sysvar[SMMACHINE_PROCESS_INDEX((modno),(parno))]
| State Machine Process Data: Setter. More...
#define | SMMACHINE_PROCESS_MAX 121
| State Machine Process Data: Maximum number of parameters. More...
#define | SM_MACH_ID 1
| User defined state machine ID. More...
#define | SM_MACH_ARRAYCNT 2
| Number of state machines in array. More...
#define | SM_MACH_QUEUESIZE 3
| Size of event queue. More...
#define | SM_MACH_DATASIZE 4
| Size of private data array. More...
#define | SM_MACH_ROOTSTATE 5
| Unique ID of root state. More...
#define | SM_MACH_FLAGS 41
| State machine flags. More...
#define | SM_MACH_STATE 42
| Unique ID of current state. More...
#define | SM_MACH_QUEUEUSED 43
| Number of used records in event queue. More...
#define | SM_MACH_QUEUEFREE 44
| Number of free records in event queue. More...
#define | SM_MACH_QUEUEMAX 45
| Maximum number of records used in event queue. More...
#define | SM_MACH_DATA_1 81
| Private data. More...
#define | SM_MACH_DATA_2 82
| Private data. More...
#define | SM_MACH_DATA_3 83
| Private data. More...
#define | SM_MACH_DATA_4 84
| Private data. More...
#define | SM_MACH_DATA_5 85
| Private data. More...
#define | SM_MACH_DATA_6 86
| Private data. More...
#define | SM_MACH_DATA_7 87
| Private data. More...
#define | SM_MACH_DATA_8 88
| Private data. More...
#define | SM_MACH_DATA_9 89
| Private data. More...
#define | SM_MACH_DATA_10 90
| Private data. More...
#define | SM_MACH_DATA_11 91
| Private data. More...
#define | SM_MACH_DATA_12 92
| Private data. More...
#define | SM_MACH_DATA_13 93
| Private data. More...
#define | SM_MACH_DATA_14 94
| Private data. More...
#define | SM_MACH_DATA_15 95
| Private data. More...
#define | SM_MACH_DATA_16 96
| Private data. More...
#define | SM_MACH_DATA_17 97
| Private data. More...
#define | SM_MACH_DATA_18 98
| Private data. More...
#define | SM_MACH_DATA_19 99
| Private data. More...
#define | SM_MACH_DATA_20 100
| Private data. More...
#define | SM_MACH_DATA_21 101
| Private data. More...
#define | SM_MACH_DATA_22 102
| Private data. More...
#define | SM_MACH_DATA_23 103
| Private data. More...
#define | SM_MACH_DATA_24 104
| Private data. More...
#define | SM_MACH_DATA_25 105
| Private data. More...
#define | SM_MACH_DATA_26 106
| Private data. More...
#define | SM_MACH_DATA_27 107
| Private data. More...
#define | SM_MACH_DATA_28 108
| Private data. More...
#define | SM_MACH_DATA_29 109
| Private data. More...
#define | SM_MACH_DATA_30 110
| Private data. More...
#define | SM_MACH_DATA_31 111
| Private data. More...
#define | SM_MACH_DATA_32 112
| Private data. More...
#define | SM_MACH_DATA_33 113
| Private data. More...
#define | SM_MACH_DATA_34 114
| Private data. More...
#define | SM_MACH_DATA_35 115
| Private data. More...
#define | SM_MACH_DATA_36 116
| Private data. More...
#define | SM_MACH_DATA_37 117
| Private data. More...
#define | SM_MACH_DATA_38 118
| Private data. More...
#define | SM_MACH_DATA_39 119
| Private data. More...
#define | SM_MACH_DATA_40 120
| Private data. More...
#define | SDOINDEX_HWAMP_PARAM 0x4000
| HW Amplifier Parameters: SDO Index. More...
#define | HWAMP_PARAM_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWAMP_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Amplifier Parameters: Getter. More...
#define | HWAMP_PARAM_SRCINDEX(modno, parno) ((SDOINDEX_HWAMP_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Amplifier Parameters: Source Index. More...
#define | HWAMP_PARAM(modno, parno) Sysvar[HWAMP_PARAM_INDEX((modno),(parno))]
| HW Amplifier Parameters: Setter. More...
#define | HWAMP_PARAM_MAX 93
| HW Amplifier Parameters: Maximum number of parameters. More...
#define | HWAMP_MODE 1
| Mode of operation. More...
#define | HWAMP_PISRC_CMDWORD 10
| Source Index/subindex of command word. More...
#define | HWAMP_PISRC_REFPOS 11
| Source Index/subindex of position reference. More...
#define | HWAMP_PISRC_REFVEL 12
| Source Index/subindex of velocity reference. More...
#define | HWAMP_PISRC_REFACC 13
| Source Index/subindex of acceleration reference. More...
#define | HWAMP_PISRC_ACTPOS 14
| Source for actual position. More...
#define | HWAMP_PISRC_ACTVEL 15
| Not used. More...
#define | HWAMP_PISRC_MAX 20
#define | HWAMP_VELKPROP 30
| Proportional factor of velocity controller. More...
#define | HWAMP_VELKINT 31
| Integral factor of velocity controller. More...
#define | HWAMP_VELKILIM 32
| Integral limit of velocity controller. More...
#define | HWAMP_CURKPROP 33
| Proportional factor of current controller. More...
#define | HWAMP_CURKINT 34
| Integral factor of current controller. More...
#define | HWAMP_CURKILIM 35
| Integral limit of current controller. More...
#define | HWAMP_COMMTYPE 36
| Commutation type in use. More...
#define | HWAMP_PWMFREQ 37
| Deprecated: Frequency of the PWM output. More...
#define | HWAMP_POLES 38
| Number of pole pairs. More...
#define | HWAMP_AHEADANGLE 39
| Field ahead angle (not used) More...
#define | HWAMP_I2TTIME 40
| Not used. More...
#define | HWAMP_CURFILTTIME 41
| Filter time for current measurement returned by PO_HWAMP_CURRENT, not used in current controller, so current controller uses allways unfiltered values. More...
#define | HWAMP_ENCRES 42
| Resolution of the encoder for position feed back in increments (quadcounts) More...
#define | HWAMP_MAXCUR 43
| Maximal current allowed. More...
#define | HWAMP_POSDIR 44
| Position input reverse. More...
#define | HWAMP_MAXRPM 45
| Maximum velocity in RPM. More...
#define | HWAMP_USERDEFINED_DATA0 46
| Selects what data should be mapped into PO_HWAMP_USERDEFINED_DATAn (only MACS5) More...
#define | HWAMP_USERDEFINED_DATA1 47
| Selects what data should be mapped into PO_HWAMP_USERDEFINED_DATAn (only MACS5) More...
#define | HWAMP_USERDEFINED_DATA2 48
| Selects what data should be mapped into PO_HWAMP_USERDEFINED_DATAn (only MACS5) More...
#define | HWAMP_USERDEFINED_DATA3 49
| Selects what data should be mapped into PO_HWAMP_USERDEFINED_DATAn (only MACS5) More...
#define | HWAMP_ELPOL 51
| encoder polarity vs. More...
#define | HWAMP_I2T_TRIPVALUE 53
| I2T monitoring trip value. More...
#define | HWAMP_I2T_CONT 54
| I2T value of continuously allowed current. More...
#define | HWAMP_CHOP_UDCMIN 55
| Voltage Level for low chopper function. More...
#define | HWAMP_CHOP_UDCMAX 56
| Voltage Level for high chopper function. More...
#define | HWAMP_VELPI_REFLIM 59
| Reference Limit for velocity controller. More...
#define | HWAMP_VELPI_OUTLIM 60
| Output Limit for velocity controller. More...
#define | HWAMP_CURPI0_REFLIM 61
| Reference Limit for current controller 0. More...
#define | HWAMP_CURPI0_OUTLIM 62
| Output Limit for current controller 0. More...
#define | HWAMP_CURPI1_REFLIM 63
| Reference Limit for current controller 1. More...
#define | HWAMP_CURPI1_OUTLIM 64
| Output Limit for current controller 1. More...
#define | HWAMP_ELPOS_LAGMULT 65
| Lag compensation multiplier value. More...
#define | HWAMP_TRIP_CURRENT 66
| Trip current value. More...
#define | HWAMP_TEMP_MAX 67
| Maximum board temperature. More...
#define | HWAMP_VOLT_MIN 68
| Minimum voltage for amplifier. More...
#define | HWAMP_VOLT_MAX 69
| Maximum voltage for amplifier. More...
#define | HWAMP_CURPI_MODE 70
| Current regulator mode. More...
#define | HWAMP_VELPI_MODE 71
| Velocity regulator mode. More...
#define | HWAMP_PROG 72
| Amplifier Program Execution. More...
#define | HWAMP_PROG_PARAMVAL 73
| Amplifier Program Parameter Value. More...
#define | HWAMP_PROG_PARAMIND 74
| Amplifier Program Parameter Index. More...
#define | HWAMP_PROG_RETVAL 75
| Amplifier Program Return Value. More...
#define | HWAMP_HALL_SIMULATOR 86
| Only for testing! More...
#define | HWAMP_HALL_ERROR_LIMIT 87
| Limit for hall errors. More...
#define | HWAMP_HALL_ALIGNMENT 88
| Hall Alignment. More...
#define | HWAMP_SW_VERSION 89
#define | HWAMP_POSEL_OFFSET 90
| Sets the offset of the electric field in relation to an absolute encoder. More...
#define | HWAMP_DEFINE_PO_DATA_SET 91
| Defines a set of process data. More...
#define | HWAMP_IDQ_D_REF 92
| Defines Idq d-Part reference in mA. More...
#define | HWAMP_MODE_POS_VEL_CUR 0
#define | HWAMP_MODE_POS_VEL 1
#define | HWAMP_MODE_POS_CUR 2
#define | HWAMP_MODE_POS 3
#define | HWAMP_MODE_PFG_CUR_PWM 4
#define | HWAMP_MODE_PFG_PWM 5
#define | HWAMP_MODE_INT_CUR_PWM 6
#define | HWAMP_MODE_INT_PWM 7
#define | HWAMP_COMMTYPE_NONE 0
#define | HWAMP_COMMTYPE_DC 1
#define | HWAMP_COMMTYPE_BLDC 2
#define | HWAMP_COMMTYPE_BLDC_120 2
#define | HWAMP_COMMTYPE_BLDC_60 3
#define | HWAMP_COMMTYPE_STEP 4
#define | HWAMP_COMMTYPE_HALL_PMSM 5
#define | HWAMP_COMMTYPE_DC_TWIN 6
#define | HWAMP_COMMTYPE_PMSM 7
#define | HWAMP_COMMTYPE_BLDC_TWIN 8
#define | HWAMP_COMMTYPE_BLDC_120_TWIN 8
#define | HWAMP_COMMTYPE_BLDC_60_TWIN 9
#define | HWAMP_COMMTYPE_STEP_TWIN 10
#define | HWAMP_COMMTYPE_HALL_PMSM_TWIN 11
#define | HWAMP_COMMTYPE_PMSM_TWIN 12
#define | HWAMP_COMMTYPE_CHOPPER 13
#define | HWAMP_COMMTYPE_DC_ALT 14
#define | HWAMP_COMMTYPE_DC_100 15
#define | HWAMP_ENCRES_MICROSTEP_RES 1024
#define | HWAMP_POSDIR_NORMAL 1
#define | HWAMP_POSDIR_REVERSE -1
#define | HWAMP_ELPOL_REGULAR 1
#define | HWAMP_ELPOL_INVERS -1
#define | HWAMP_ELPOL_INVERSE -1
#define | HALL_ALIGNMENT_BOTTOM 0
#define | HALL_ALIGNMENT_360120240 0
#define | HALL_ALIGNMENT_060180300 1
#define | HALL_ALIGNMENT_120240360 2
#define | HALL_ALIGNMENT_180300060 3
#define | HALL_ALIGNMENT_240360120 4
#define | HALL_ALIGNMENT_300060180 5
#define | HALL_ALIGNMENT_120DEGREE 5
#define | HALL_ALIGNMENT_360240120 6
#define | HALL_ALIGNMENT_060300180 7
#define | HALL_ALIGNMENT_120360240 8
#define | HALL_ALIGNMENT_180060300 9
#define | HALL_ALIGNMENT_240120360 10
#define | HALL_ALIGNMENT_300180060 11
#define | HALL_ALIGNMENT_360060120 12
#define | HALL_ALIGNMENT_060120180 13
#define | HALL_ALIGNMENT_120180240 14
#define | HALL_ALIGNMENT_180240300 15
#define | HALL_ALIGNMENT_240300360 16
#define | HALL_ALIGNMENT_300360060 17
#define | HALL_ALIGNMENT_360120060 18
#define | HALL_ALIGNMENT_060180120 19
#define | HALL_ALIGNMENT_120240180 20
#define | HALL_ALIGNMENT_180300240 21
#define | HALL_ALIGNMENT_240360300 22
#define | HALL_ALIGNMENT_060DEGREE 22
#define | HALL_ALIGNMENT_300060360 23
#define | HALL_ALIGNMENT_TOP 23
#define | HALL_ALIGNMENT_ERROR 24
#define | HWAMP_PO_DATA_SET_FIRST 1
#define | HWAMP_PO_DATA_SET_LAST 9
#define | HWAMP_PO_DATA_SET_1_OFFSET 1
#define | HWAMP_PO_DATA_SET_2_OFFSET 1000
#define | HWAMP_PO_DATA_SET_MAX_LENGTH 6
#define | HWAMP_PO_DATA_SET_IMEAS 1
#define | HWAMP_PO_DATA_SET_IMEASFIL 2
#define | HWAMP_PO_DATA_SET_CUR_CALIB_OFFSET 3
#define | HWAMP_PO_DATA_SET_CUR_CALIB_STATE 4
#define | HWAMP_PO_DATA_SET_CUR_CALIB_GAIN 5
#define | HWAMP_PO_DATA_SET_DEVICE_SPECIFIC_1 6
#define | HWAMP_PO_DATA_SET_DEVICE_SPECIFIC_2 7
#define | HWAMP_PO_DATA_SET_I2T_ACT 8
#define | HWAMP_PO_DATA_SET_CUR_RAW 9
#define | SDOINDEX_HWENC_PARAM 0x4040
| HW Encoder Parameters: SDO Index. More...
#define | HWENC_PARAM_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWENC_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Encoder Parameters: Getter. More...
#define | HWENC_PARAM_SRCINDEX(modno, parno) ((SDOINDEX_HWENC_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Encoder Parameters: Source Index. More...
#define | HWENC_PARAM(modno, parno) Sysvar[HWENC_PARAM_INDEX((modno),(parno))]
| HW Encoder Parameters: Setter. More...
#define | HWENC_PARAM_MAX 44
| HW Encoder Parameters: Maximum number of parameters. More...
#define | HWENCODER_MODE 1
| Encoder type. More...
#define | HWENCODER_ISABSOLUTE 2
| Defines, if the used encoder delivers an absolute value. More...
#define | HWENCODER_PISRC_ENCOUT 10
| Source for the encoder signal. More...
#define | HWENCODER_PISRC_REFOUT 11
| Source for the reference signal. More...
#define | HWENCODER_GLITCHFILT 30
| Filter for encoder signals. More...
#define | HWENCODER_CLOCKFREQ 31
| Clock frequency for SSI encoder. More...
#define | HWENCODER_DATLEN 32
| Number of bits for SSI communication. More...
#define | HWENCODER_DELAY 33
| Delay for SSI. More...
#define | HWENCODER_TERM 34
| Termination (not used) More...
#define | HWENCODER_BUSID 35
| ID for serial communication (not used) More...
#define | HWENCODER_BAUDRATE 36
| Baud rate for serial communication (not used) More...
#define | HWENCODER_PARITY 37
| Parity for serial communication (not used) More...
#define | HWENCODER_MONITORING 38
| Encoder Monitoring Enable. More...
#define | HWENCODER_CLOCK_ACTIVE 39
| SSI clock active or not. More...
#define | HWENCODER_FAST_UPDATE 40
| Encoder update rate (Not on MACS5) More...
#define | HWENCODER_REVERSE_DIRECTION 41
| Encoder counting direction reverse (Only MACS5) More...
#define | HWENCODER_POSBITS 42
| Number of SSI bits with position information (Not on MACS5) More...
#define | HWENCODER_TRAILBITS 43
| Number of trailling SSI bits with no position information (Not on MACS5) More...
#define | HWENCODER_MODE_INCREMENTAL 0
#define | HWENCODER_MODE_INCROUTPUT 1
#define | HWENCODER_MODE_SSI_ACTIVE 2
#define | HWENCODER_MODE_SSI_PASSIVE 3
#define | HWENCODER_MODE_HIPERFACE_RX 4
#define | HWENCODER_MODE_HIPERFACE_TX 5
#define | HWENCODER_MODE_SINCOS 6
#define | HWENCODER_MODE_HALL 7
#define | HWENCODER_MODE_ENDAT 9
#define | HWENCODER_FAST_UPDATE_ENABLE 1
#define | HWENCODER_FAST_UPDATE_DISABLE 0
#define | HWENCODER_REVERSE_DIRECTION_NORMAL 0
#define | HWENCODER_REVERSE_DIRECTION_INVERSE 1
#define | SDOINDEX_HWHALL_PARAM 0x4070
| HW Hall Sensor Parameters: SDO Index. More...
#define | HWHALL_PARAM_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWHALL_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Hall Sensor Parameters: Getter. More...
#define | HWHALL_PARAM_SRCINDEX(modno, parno) ((SDOINDEX_HWHALL_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Hall Sensor Parameters: Source Index. More...
#define | HWHALL_PARAM(modno, parno) Sysvar[HWHALL_PARAM_INDEX((modno),(parno))]
| HW Hall Sensor Parameters: Setter. More...
#define | HWHALL_PARAM_MAX 11
| HW Hall Sensor Parameters: Maximum number of parameters. More...
#define | HWHALL_MODE 1
| Enable. More...
#define | HWHALL_PISRC_ENCOUT 10
| Source for the HALL Information. More...
#define | HWHALL_MODE_DISABLE 0
#define | HWHALL_MODE_ENABLE 1
#define | HWHALL_MODE_ENABLE_VEL 2
#define | SDOINDEX_HWCOUNTINC_PARAM 0x4080
| HW Counter-inc Parameters: SDO Index. More...
#define | HWCOUNTINC_PARAM_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWCOUNTINC_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Counter-inc Parameters: Getter. More...
#define | HWCOUNTINC_PARAM_SRCINDEX(modno, parno) ((SDOINDEX_HWCOUNTINC_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Counter-inc Parameters: Source Index. More...
#define | HWCOUNTINC_PARAM(modno, parno) Sysvar[HWCOUNTINC_PARAM_INDEX((modno),(parno))]
| HW Counter-inc Parameters: Setter. More...
#define | HWCOUNTINC_PARAM_MAX 35
| HW Counter-inc Parameters: Maximum number of parameters. More...
#define | HWCNTINC_MODE 1
| not used More...
#define | HWCNTINC_PISRC_COUNTER 10
| Source for counter signal. More...
#define | HWCNTINC_PISRC_TRIGGER 11
| Source for reset signal. More...
#define | HWCNTINC_SLOPE 30
| Slope selector for reset signal. More...
#define | HWCNTINC_INTERPOL 31
| Interpolation factor. More...
#define | HWCNTINC_SCALE 32
| Scale value (not used) More...
#define | HWCNTINC_UPDATERATE 33
| Update frequency of counter (not used) More...
#define | HWCNTINC_RESOLUTION 34
| Resolution of counter per revolution. More...
#define | HWCNTINC_PISRC_TRIGGER_ENCZ 0x000
#define | HWCNTINC_PISRC_TRIGGER_VMZ 0x040
#define | HWCNTINC_PISRC_TRIGGER_DDSZ 0x080
#define | HWCNTINC_PISRC_TRIGGER_BRDA 0x0C0
#define | HWCNTINC_PISRC_TRIGGER_BRDB 0x100
#define | HWCNTINC_PISRC_TRIGGER_DINP 0x140
#define | HWCNTINC_PISRC_TRIGGER_DOUT 0x180
#define | HWCNTINC_PISRC_TRIGGER_CMPG 0x1C0
#define | HWCNTINC_PISRC_TRIGGER_CMPL 0x200
#define | HWCNTINC_PISRC_TRIGGER_PULS 0x240
#define | HWCNTINC_PISRC_TRIGGER_SHIFT 0x280
#define | HWCNTINC_PISRC_TRIGGER_IRQ 0x2C0
#define | HWCNTINC_PISRC_TRIGGER_NOT 0xFFC0
#define | HWCNTINC_SLOPE_CONTINUOUS 0
#define | HWCNTINC_SLOPE_RISING 1
#define | HWCNTINC_SLOPE_FALLING 2
#define | HWCNTINC_SLOPE_BOTH 3
#define | SDOINDEX_HWCOUNTABS_PARAM 0x40C0
| HW Counter-abs Parameters: SDO Index. More...
#define | HWCOUNTABS_PARAM_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWCOUNTABS_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Counter-abs Parameters: Getter. More...
#define | HWCOUNTABS_PARAM_SRCINDEX(modno, parno) ((SDOINDEX_HWCOUNTABS_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Counter-abs Parameters: Source Index. More...
#define | HWCOUNTABS_PARAM(modno, parno) Sysvar[HWCOUNTABS_PARAM_INDEX((modno),(parno))]
| HW Counter-abs Parameters: Setter. More...
#define | HWCOUNTABS_PARAM_MAX 11
| HW Counter-abs Parameters: Maximum number of parameters. More...
#define | HWCNTABS_MODE 1
| Not used. More...
#define | HWCNTABS_CODING 2
| Data coding. More...
#define | HWCNTABS_PISCR_COUNTER 10
| not used More...
#define | HWCNTABS_CODING_GREY 0
#define | HWCNTABS_CODING_GRAY 0
#define | HWCNTABS_CODING_NONE 1
#define | SDOINDEX_HWCOUNTUNI_PARAM 0x4100
| HW Counter-universal Parameters: SDO Index. More...
#define | HWCOUNTUNI_PARAM_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWCOUNTUNI_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Counter-universal Parameters: Getter. More...
#define | HWCOUNTUNI_PARAM_SRCINDEX(modno, parno) ((SDOINDEX_HWCOUNTUNI_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Counter-universal Parameters: Source Index. More...
#define | HWCOUNTUNI_PARAM(modno, parno) Sysvar[HWCOUNTUNI_PARAM_INDEX((modno),(parno))]
| HW Counter-universal Parameters: Setter. More...
#define | HWCOUNTUNI_PARAM_MAX 32
| HW Counter-universal Parameters: Maximum number of parameters. More...
#define | HWCNTUNI_MODE 1
| Encoder / Reference Input. More...
#define | HWCNTUNI_PISRC_COUNTER 10
| Source of the counter signal. More...
#define | HWCNTUNI_PISRC_CLEARSIG 11
| Source of reset signal. More...
#define | HWCNTUNI_CLRSLOPE 30
| Slope selector for reset signal. More...
#define | HWCNTUNI_SRCSLOPE 31
| Slope selector for counter signal. More...
#define | HW_CNTUNI_MODE_ENCSRC 0
#define | HW_CNTUNI_MODE_REFSRC 1
#define | HW_CNTUNI_MODE_SINGLENCA 2
#define | HW_CNTUNI_MODE_SINGLENCB 3
#define | HW_CNTUNI_MODE_RESETOFFSET 0x8000
#define | SDOINDEX_HWCMPUNI_PARAM 0x4120
| HW Comparator-universal Parameters: SDO Index. More...
#define | HWCMPUNI_PARAM_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWCMPUNI_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Comparator-universal Parameters: Getter. More...
#define | HWCMPUNI_PARAM_SRCINDEX(modno, parno) ((SDOINDEX_HWCMPUNI_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Comparator-universal Parameters: Source Index. More...
#define | HWCMPUNI_PARAM(modno, parno) Sysvar[HWCMPUNI_PARAM_INDEX((modno),(parno))]
| HW Comparator-universal Parameters: Setter. More...
#define | HWCMPUNI_PARAM_MAX 34
| HW Comparator-universal Parameters: Maximum number of parameters. More...
#define | HWCMPUNI_MODE 1
| not used More...
#define | HWCMPUNI_PISRC_COUNTER 10
| Counter to be observed. More...
#define | HWCMPUNI_POLUL 30
| Polarity of output at upper limit. More...
#define | HWCMPUNI_POLLL 31
| Polarity of output at lower limit. More...
#define | HWCMPUNI_UPLIMIT 32
| Value of upper limit. More...
#define | HWCMPUNI_LOLIMIT 33
| Value of lower limit. More...
#define | SDOINDEX_HWLATCH_PARAM 0x4140
| HW Latch Register Parameters: SDO Index. More...
#define | HWLATCH_PARAM_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWLATCH_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Latch Register Parameters: Getter. More...
#define | HWLATCH_PARAM_SRCINDEX(modno, parno) ((SDOINDEX_HWLATCH_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Latch Register Parameters: Source Index. More...
#define | HWLATCH_PARAM(modno, parno) Sysvar[HWLATCH_PARAM_INDEX((modno),(parno))]
| HW Latch Register Parameters: Setter. More...
#define | HWLATCH_PARAM_MAX 33
| HW Latch Register Parameters: Maximum number of parameters. More...
#define | HWLATCH_MODE 1
| not used More...
#define | HWLATCH_PISRC_COUNTER 10
| Source for counter to latch. More...
#define | HWLATCH_PISRC_TRIGGER 11
| Source for trigger signal. More...
#define | HWLATCH_PISRC_CMDWORD 12
| Source Index/subindex of command word. More...
#define | HWLATCH_SLOPE 30
| Slope selector for trigger signal. More...
#define | HWLATCH_PAR_DIGIN_VALIDATOR 31
| Selects a digital input to validate the latch signal. More...
#define | HWLATCH_STARTADC 32
| If this is true, on some platforms the ADC will be started when a latch arrives. More...
#define | HWLATCH_PISRC_TRIGGER_ENCZ 0x0000
#define | HWLATCH_PISRC_TRIGGER_VMZ 0x0040
#define | HWLATCH_PISRC_TRIGGER_DDSZ 0x0080
#define | HWLATCH_PISRC_TRIGGER_BRDA 0x00C0
#define | HWLATCH_PISRC_TRIGGER_BRDB 0x0100
#define | HWLATCH_PISRC_TRIGGER_DINP 0x0140
#define | HWLATCH_PISRC_TRIGGER_DOUT 0x0180
#define | HWLATCH_PISRC_TRIGGER_CMPG 0x01C0
#define | HWLATCH_PISRC_TRIGGER_CMPL 0x0200
#define | HWLATCH_PISRC_TRIGGER_PULS 0x0240
#define | HWLATCH_PISRC_TRIGGER_SHIFT 0x0280
#define | HWLATCH_PISRC_TRIGGER_IRQ 0x02C0
#define | HWLATCH_PISRC_TRIGGER_NOT 0xFFC0
#define | HWLATCH_SLOPE_CONTINUOUS 0
#define | HWLATCH_SLOPE_RISING 1
#define | HWLATCH_SLOPE_FALLING 2
#define | HWLATCH_SLOPE_BOTH 3
#define | HWLATCH_PAR_DIGIN_VALIDATOR_NONE 0
#define | HWLATCH_PAR_DIGIN_VALIDATOR_HIGH_DINP1 1
#define | HWLATCH_PAR_DIGIN_VALIDATOR_HIGH_DINP2 2
#define | HWLATCH_PAR_DIGIN_VALIDATOR_LOW_DINP1 -1
#define | HWLATCH_PAR_DIGIN_VALIDATOR_LOW_DINP2 -2
#define | SDOINDEX_HWSIGGEN_PARAM 0x4180
| HW Signalgen (Enc/Pulse) Parameters: SDO Index. More...
#define | HWSIGGEN_PARAM_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWSIGGEN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Signalgen (Enc/Pulse) Parameters: Getter. More...
#define | HWSIGGEN_PARAM_SRCINDEX(modno, parno) ((SDOINDEX_HWSIGGEN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Signalgen (Enc/Pulse) Parameters: Source Index. More...
#define | HWSIGGEN_PARAM(modno, parno) Sysvar[HWSIGGEN_PARAM_INDEX((modno),(parno))]
| HW Signalgen (Enc/Pulse) Parameters: Setter. More...
#define | HWSIGGEN_PARAM_MAX 32
| HW Signalgen (Enc/Pulse) Parameters: Maximum number of parameters. More...
#define | HWSIGGEN_MODE 1
| Enable. More...
#define | HWSIGGEN_PISRC_VELOCITY 10
| Source for frequency reference. More...
#define | HWSIGGEN_PISRC_SYNC 11
| Source for the sync information (not used) More...
#define | HWSIGGEN_POLARITY 30
| Polarity of the reference signal. More...
#define | HWSIGGEN_SIGDIST 31
| Distance between two reference signals. More...
#define | HWSIGGEN_MODE_DISABLE 0
#define | HWSIGGEN_MODE_ENABLE 1
#define | HWSIGGEN_MODE_ENABLE_SPECIAL 2
#define | SDOINDEX_HWDDS_PARAM 0x41C0
| HW DDS Parameters: SDO Index. More...
#define | HWDDS_PARAM_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWDDS_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW DDS Parameters: Getter. More...
#define | HWDDS_PARAM_SRCINDEX(modno, parno) ((SDOINDEX_HWDDS_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW DDS Parameters: Source Index. More...
#define | HWDDS_PARAM(modno, parno) Sysvar[HWDDS_PARAM_INDEX((modno),(parno))]
| HW DDS Parameters: Setter. More...
#define | HWDDS_PARAM_MAX 35
| HW DDS Parameters: Maximum number of parameters. More...
#define | HWDDS_MODE 1
| Mode. More...
#define | HWDDS_PISRC_ENCSIG 10
| Source for encoder signal. More...
#define | HWDDS_PISRC_SYNC 11
| Source for the sync information. More...
#define | HWDDS_POLARITY 30
| Polarity of the reference signal. More...
#define | HWDDS_SIGDIST 31
| Distance between two reference signals. More...
#define | HWDDS_NUMERATOR 32
| Numerator of the divisor. More...
#define | HWDDS_DENOMINATOR 33
| Denominator of the divisor. More...
#define | HWDDS_ENAREVMCOMP 34
| Reverse compensation. More...
#define | SDOINDEX_HWPWMGEN_PARAM 0x41D0
| HW PWM Generator Parameters: SDO Index. More...
#define | HWPWMGEN_PARAM_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWPWMGEN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW PWM Generator Parameters: Getter. More...
#define | HWPWMGEN_PARAM_SRCINDEX(modno, parno) ((SDOINDEX_HWPWMGEN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW PWM Generator Parameters: Source Index. More...
#define | HWPWMGEN_PARAM(modno, parno) Sysvar[HWPWMGEN_PARAM_INDEX((modno),(parno))]
| HW PWM Generator Parameters: Setter. More...
#define | HWPWMGEN_PARAM_MAX 11
| HW PWM Generator Parameters: Maximum number of parameters. More...
#define | HWPWMGEN_MODE 1
| Mode. More...
#define | HWPWMGEN_POLARITY 2
| Polarity of the reference signal. More...
#define | HWPWMGEN_FREQUENCY 3
| Frequency of the PWM output. More...
#define | HWPWMGEN_DUTYCYCLE_RANGE 4
| Duty cycle range. More...
#define | HWPWMGEN_PISRC_DUTYCYCLE 10
| Source for pwm duty cycle. More...
#define | HWPWMGEN_MODE_SIGNED 0
#define | HWPWMGEN_MODE_UNSIGNED 1
#define | HWPWMGEN_POLARITY_POSITIVE 0
#define | HWPWMGEN_POLARITY_NEGATIVE 1
#define | SDOINDEX_HWPULSGEN_PARAM 0x41E0
| HW Pulsgen Parameters: SDO Index. More...
#define | HWPULSGEN_PARAM_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWPULSGEN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Pulsgen Parameters: Getter. More...
#define | HWPULSGEN_PARAM_SRCINDEX(modno, parno) ((SDOINDEX_HWPULSGEN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Pulsgen Parameters: Source Index. More...
#define | HWPULSGEN_PARAM(modno, parno) Sysvar[HWPULSGEN_PARAM_INDEX((modno),(parno))]
| HW Pulsgen Parameters: Setter. More...
#define | HWPULSGEN_PARAM_MAX 34
| HW Pulsgen Parameters: Maximum number of parameters. More...
#define | HWPULSGEN_MODE 1
| Mode. More...
#define | HWPULSGEN_PISRC_ENCSIG 10
| Source for encoder signal. More...
#define | HWPULSGEN_PISRC_SYNC 11
| Source for the sync information. More...
#define | HWPULSGEN_POLARITY 30
| Polarity of the output signal. More...
#define | HWPULSGEN_SIGDIST 31
| Distance between two output pulses (period) More...
#define | HWPULSGEN_SIGLENGTH 32
| Length of the pulse. More...
#define | HWPULSGEN_NOCOMP 33
| Disable reverse motion compensation. More...
#define | SDOINDEX_HWSHIFTREG_PARAM 0x41F0
| HW Shift Register Parameters: SDO Index. More...
#define | HWSHIFTREG_PARAM_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWSHIFTREG_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Shift Register Parameters: Getter. More...
#define | HWSHIFTREG_PARAM_SRCINDEX(modno, parno) ((SDOINDEX_HWSHIFTREG_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Shift Register Parameters: Source Index. More...
#define | HWSHIFTREG_PARAM(modno, parno) Sysvar[HWSHIFTREG_PARAM_INDEX((modno),(parno))]
| HW Shift Register Parameters: Setter. More...
#define | HWSHIFTREG_PARAM_MAX 31
| HW Shift Register Parameters: Maximum number of parameters. More...
#define | HWSHIFTREG_MODE 1
| Enable. More...
#define | HWSHIFTREG_PISRC_ENCSIG 10
| Source for shift clock. More...
#define | HWSHIFTREG_PISRC_DATA 11
| Data to be shifted. More...
#define | HWSHIFTREG_DELAY 30
| Input delay. More...
#define | SDOINDEX_HWDIGIN_PARAM 0x4200
| HW Digital Input Parameters: SDO Index. More...
#define | HWDIGIN_PARAM_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWDIGIN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Digital Input Parameters: Getter. More...
#define | HWDIGIN_PARAM_SRCINDEX(modno, parno) ((SDOINDEX_HWDIGIN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Digital Input Parameters: Source Index. More...
#define | HWDIGIN_PARAM(modno, parno) Sysvar[HWDIGIN_PARAM_INDEX((modno),(parno))]
| HW Digital Input Parameters: Setter. More...
#define | HWDIGIN_PARAM_MAX 63
| HW Digital Input Parameters: Maximum number of parameters. More...
#define | HWDIGIN_MODE 1
| not used More...
#define | HWDIGIN_POLARITY 30
| Polarity of input signal. More...
#define | HWDIGIN_GLITCHFILT1 31
| Glitch filter. More...
#define | HWDIGIN_GLITCHFILT2 32
| Glitch filter. More...
#define | HWDIGIN_GLITCHFILT3 33
| Glitch filter. More...
#define | HWDIGIN_GLITCHFILT4 34
| Glitch filter. More...
#define | HWDIGIN_GLITCHFILT5 35
| Glitch filter. More...
#define | HWDIGIN_GLITCHFILT6 36
| Glitch filter. More...
#define | HWDIGIN_GLITCHFILT7 37
| Glitch filter. More...
#define | HWDIGIN_GLITCHFILT8 38
| Glitch filter. More...
#define | HWDIGIN_GLITCHFILT9 39
| Glitch filter. More...
#define | HWDIGIN_GLITCHFILT10 40
| Glitch filter. More...
#define | HWDIGIN_GLITCHFILT11 41
| Glitch filter. More...
#define | HWDIGIN_GLITCHFILT12 42
| Glitch filter. More...
#define | HWDIGIN_GLITCHFILT13 43
| Glitch filter. More...
#define | HWDIGIN_GLITCHFILT14 44
| Glitch filter. More...
#define | HWDIGIN_GLITCHFILT15 45
| Glitch filter. More...
#define | HWDIGIN_GLITCHFILT16 46
| Glitch filter. More...
#define | HWDIGIN_GLITCHFILT17 47
| Glitch filter. More...
#define | HWDIGIN_GLITCHFILT18 48
| Glitch filter. More...
#define | HWDIGIN_GLITCHFILT19 49
| Glitch filter. More...
#define | HWDIGIN_GLITCHFILT20 50
| Glitch filter. More...
#define | HWDIGIN_GLITCHFILT21 51
| Glitch filter. More...
#define | HWDIGIN_GLITCHFILT22 52
| Glitch filter. More...
#define | HWDIGIN_GLITCHFILT23 53
| Glitch filter. More...
#define | HWDIGIN_GLITCHFILT24 54
| Glitch filter. More...
#define | HWDIGIN_GLITCHFILT25 55
| Glitch filter. More...
#define | HWDIGIN_GLITCHFILT26 56
| Glitch filter. More...
#define | HWDIGIN_GLITCHFILT27 57
| Glitch filter. More...
#define | HWDIGIN_GLITCHFILT28 58
| Glitch filter. More...
#define | HWDIGIN_GLITCHFILT29 59
| Glitch filter. More...
#define | HWDIGIN_GLITCHFILT30 60
| Glitch filter. More...
#define | HWDIGIN_GLITCHFILT31 61
| Glitch filter. More...
#define | HWDIGIN_GLITCHFILT32 62
| Glitch filter. More...
#define | SDOINDEX_HWDIGOUT_PARAM 0x4240
| HW Digital Output Parameters: SDO Index. More...
#define | HWDIGOUT_PARAM_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWDIGOUT_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Digital Output Parameters: Getter. More...
#define | HWDIGOUT_PARAM_SRCINDEX(modno, parno) ((SDOINDEX_HWDIGOUT_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Digital Output Parameters: Source Index. More...
#define | HWDIGOUT_PARAM(modno, parno) Sysvar[HWDIGOUT_PARAM_INDEX((modno),(parno))]
| HW Digital Output Parameters: Setter. More...
#define | HWDIGOUT_PARAM_MAX 18
| HW Digital Output Parameters: Maximum number of parameters. More...
#define | HWDIGOUT_MODE 1
| Mode. More...
#define | HWDIGOUT_PISRC_MAP1 10
| Mapping entry for outputs. More...
#define | HWDIGOUT_PISRC_MAP2 11
| Mapping entry for outputs. More...
#define | HWDIGOUT_PISRC_MAP3 12
| Mapping entry for outputs. More...
#define | HWDIGOUT_PISRC_MAP4 13
| Mapping entry for outputs. More...
#define | HWDIGOUT_PISRC_BIT1 14
| Source for input signal. More...
#define | HWDIGOUT_PISRC_BIT2 15
| Source for input signal. More...
#define | HWDIGOUT_PISRC_BIT3 16
| Source for input signal. More...
#define | HWDIGOUT_PISRC_BIT4 17
| Source for input signal. More...
#define | SDOINDEX_HWANIN_PARAM 0x4280
| HW Analog Input Parameters: SDO Index. More...
#define | HWANIN_PARAM_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWANIN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Analog Input Parameters: Getter. More...
#define | HWANIN_PARAM_SRCINDEX(modno, parno) ((SDOINDEX_HWANIN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Analog Input Parameters: Source Index. More...
#define | HWANIN_PARAM(modno, parno) Sysvar[HWANIN_PARAM_INDEX((modno),(parno))]
| HW Analog Input Parameters: Setter. More...
#define | HWANIN_PARAM_MAX 33
| HW Analog Input Parameters: Maximum number of parameters. More...
#define | HWANIN_MODE 1
| not used More...
#define | HWANIN_OFFSET 30
| Offset which will be added to the output value. More...
#define | HWANIN_FILTTIME 31
| Filter time for analogue input. More...
#define | HWANIN_SCALING 32
| not used More...
#define | SDOINDEX_HWANOUT_PARAM 0x42C0
| HW Analog Output Parameters: SDO Index. More...
#define | HWANOUT_PARAM_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWANOUT_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Analog Output Parameters: Getter. More...
#define | HWANOUT_PARAM_SRCINDEX(modno, parno) ((SDOINDEX_HWANOUT_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Analog Output Parameters: Source Index. More...
#define | HWANOUT_PARAM(modno, parno) Sysvar[HWANOUT_PARAM_INDEX((modno),(parno))]
| HW Analog Output Parameters: Setter. More...
#define | HWANOUT_PARAM_MAX 31
| HW Analog Output Parameters: Maximum number of parameters. More...
#define | HWANOUT_MODE 1
| Mode. More...
#define | HWANOUT_PISRC_VALUE 10
| Index and subindex of source. More...
#define | HWANOUT_OFFSET 30
| Value which is added to analogue value. More...
#define | SDOINDEX_HWSIGBUS_PARAM 0x4300
| HW Signalbridges/bus ENC-REF Parameters: SDO Index. More...
#define | HWSIGBUS_PARAM_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWSIGBUS_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Signalbridges/bus ENC-REF Parameters: Getter. More...
#define | HWSIGBUS_PARAM_SRCINDEX(modno, parno) ((SDOINDEX_HWSIGBUS_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Signalbridges/bus ENC-REF Parameters: Source Index. More...
#define | HWSIGBUS_PARAM(modno, parno) Sysvar[HWSIGBUS_PARAM_INDEX((modno),(parno))]
| HW Signalbridges/bus ENC-REF Parameters: Setter. More...
#define | HWSIGBUS_PARAM_MAX 11
| HW Signalbridges/bus ENC-REF Parameters: Maximum number of parameters. More...
#define | HWBRENCREF_PISRC_ENCSIG 10
| Source encoder signal. More...
#define | SDOINDEX_HWBRREFENC_PARAM 0x4310
| HW Signalbridges/bus REF-ENC Parameters: SDO Index. More...
#define | HWBRREFENC_PARAM_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWBRREFENC_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Signalbridges/bus REF-ENC Parameters: Getter. More...
#define | HWBRREFENC_PARAM_SRCINDEX(modno, parno) ((SDOINDEX_HWBRREFENC_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Signalbridges/bus REF-ENC Parameters: Source Index. More...
#define | HWBRREFENC_PARAM(modno, parno) Sysvar[HWBRREFENC_PARAM_INDEX((modno),(parno))]
| HW Signalbridges/bus REF-ENC Parameters: Setter. More...
#define | HWBRREFENC_PARAM_MAX 12
| HW Signalbridges/bus REF-ENC Parameters: Maximum number of parameters. More...
#define | HWBRREFENC_PISRC_REFSIGA 10
| Source for encoder signal A. More...
#define | HWBRREFENC_PISRC_REFSIGB 11
| Source for encoder signal B. More...
#define | SDOINDEX_HWREFBUS_PARAM 0x4320
| HW Reference Bus Parameters: SDO Index. More...
#define | HWREFBUS_PARAM_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWREFBUS_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Reference Bus Parameters: Getter. More...
#define | HWREFBUS_PARAM_SRCINDEX(modno, parno) ((SDOINDEX_HWREFBUS_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Reference Bus Parameters: Source Index. More...
#define | HWREFBUS_PARAM(modno, parno) Sysvar[HWREFBUS_PARAM_INDEX((modno),(parno))]
| HW Reference Bus Parameters: Setter. More...
#define | HWREFBUS_PARAM_MAX 32
| HW Reference Bus Parameters: Maximum number of parameters. More...
#define | SDOINDEX_BUSMOD_PARAM 0x4400
| Bus Module Parameters: SDO Index. More...
#define | BUSMOD_PARAM_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_BUSMOD_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| Bus Module Parameters: Getter. More...
#define | BUSMOD_PARAM_SRCINDEX(modno, parno) ((SDOINDEX_BUSMOD_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
| Bus Module Parameters: Source Index. More...
#define | BUSMOD_PARAM(modno, parno) Sysvar[BUSMOD_PARAM_INDEX((modno),(parno))]
| Bus Module Parameters: Setter. More...
#define | BUSMOD_PARAM_MAX 69
| Bus Module Parameters: Maximum number of parameters. More...
#define | BUSMOD_MODE 1
| Activate / Deactivate. More...
#define | BUSMOD_TYPE 2
| Parameter preset. More...
#define | BUSMOD_TYPE_AXES 3
| Axes number used for source setting. More...
#define | BUSMOD_PISRC_INPUT1 10
| Index and subindex of Input value. More...
#define | BUSMOD_PISRC_INPUT2 11
| Index and subindex of Input value. More...
#define | BUSMOD_PISRC_INPUT3 12
| Index and subindex of Input value. More...
#define | BUSMOD_PISRC_INPUT4 13
| Index and subindex of Input value. More...
#define | BUSMOD_PISRC_INPUT5 14
| Index and subindex of Input value. More...
#define | BUSMOD_PISRC_INPUT6 15
| Index and subindex of Input value. More...
#define | BUSMOD_PISRC_INPUT7 16
| Index and subindex of Input value. More...
#define | BUSMOD_PISRC_INPUT8 17
| Index and subindex of Input value. More...
#define | BUSMOD_LEN_TXPDO1 22
| Length of TxPDO in Bytes. More...
#define | BUSMOD_LEN_TXPDO2 23
| Length of TxPDO in Bytes. More...
#define | BUSMOD_LEN_TXPDO3 24
| Length of TxPDO in Bytes. More...
#define | BUSMOD_LEN_TXPDO4 25
| Length of TxPDO in Bytes. More...
#define | BUSMOD_LEN_RXPDO1 26
| Length of RxPDO in Bytes. More...
#define | BUSMOD_LEN_RXPDO2 27
| Length of RxPDO in Bytes. More...
#define | BUSMOD_LEN_RXPDO3 28
| Length of RxPDO in Bytes. More...
#define | BUSMOD_LEN_RXPDO4 29
| Length of RxPDO in Bytes. More...
#define | BUSMOD_BUSTYPE 30
| Bus type. More...
#define | BUSMOD_BUSNO 31
| Bus number. More...
#define | BUSMOD_ID 32
| Slave node id. More...
#define | BUSMOD_SYNC 33
| Sync interval (only for CAN) More...
#define | BUSMOD_GUARDTIME 35
| Guard interval. More...
#define | BUSMOD_INHIBITTIME 36
| Inhibit time. More...
#define | BUSMOD_EVENTTIME 37
| Event time. More...
#define | BUSMOD_TXOFFSET 38
| Offset of the TX PDO. More...
#define | BUSMOD_RXOFFSET 39
| Offset of the RX PDO. More...
#define | BUSMOD_TXMAP_INPUT1 41
| Mapping for TX PDOs (send to bus) More...
#define | BUSMOD_TXMAP_INPUT2 42
| Mapping for TX PDOs (send to bus) More...
#define | BUSMOD_TXMAP_INPUT3 43
| Mapping for TX PDOs (send to bus) More...
#define | BUSMOD_TXMAP_INPUT4 44
| Mapping for TX PDOs (send to bus) More...
#define | BUSMOD_TXMAP_INPUT5 45
| Mapping for TX PDOs (send to bus) More...
#define | BUSMOD_TXMAP_INPUT6 46
| Mapping for TX PDOs (send to bus) More...
#define | BUSMOD_TXMAP_INPUT7 47
| Mapping for TX PDOs (send to bus) More...
#define | BUSMOD_TXMAP_INPUT8 48
| Mapping for TX PDOs (send to bus) More...
#define | BUSMOD_RXMAP_POVALUE1 61
| Mapping for RX PDOs (receive from bus) More...
#define | BUSMOD_RXMAP_POVALUE2 62
| Mapping for RX PDOs (receive from bus) More...
#define | BUSMOD_RXMAP_POVALUE3 63
| Mapping for RX PDOs (receive from bus) More...
#define | BUSMOD_RXMAP_POVALUE4 64
| Mapping for RX PDOs (receive from bus) More...
#define | BUSMOD_RXMAP_POVALUE5 65
| Mapping for RX PDOs (receive from bus) More...
#define | BUSMOD_RXMAP_POVALUE6 66
| Mapping for RX PDOs (receive from bus) More...
#define | BUSMOD_RXMAP_POVALUE7 67
| Mapping for RX PDOs (receive from bus) More...
#define | BUSMOD_RXMAP_POVALUE8 68
| Mapping for RX PDOs (receive from bus) More...
#define | BUSMOD_MODE_DEACTIVATE 0
#define | BUSMOD_MODE_ACTIVATE 1
#define | BUSMOD_MODE_ACTIVATE_NOSTOP 2
#define | BUSMOD_BUSTYPE_CAN 0
#define | BUSMOD_BUSTYPE_ECAT_S 1
#define | BUSMOD_BUSTYPE_ECAT_M 2
#define | BUSMOD_BUSNO_CAN1 0
#define | BUSMOD_BUSNO_CAN2 1
#define | SDOINDEX_HWAMP_PROCESS 0x4800
| HW Amplifier Process Data: SDO Index. More...
#define | HWAMP_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWAMP_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Amplifier Process Data: Getter. More...
#define | HWAMP_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_HWAMP_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Amplifier Process Data: Source Index. More...
#define | HWAMP_PROCESS(modno, parno) Sysvar[HWAMP_PROCESS_INDEX((modno),(parno))]
| HW Amplifier Process Data: Setter. More...
#define | HWAMP_PROCESS_MAX 86
| HW Amplifier Process Data: Maximum number of parameters. More...
#define | PO_HWAMP_STATUS 1
| Status word of the axis. More...
#define | PO_HWAMP_CURRENT 2
| Actual current. More...
#define | PO_HWAMP_HALLPOS 6
| Hall position. More...
#define | PO_HWAMP_SUPPLYVOLTAGE 8
| not used More...
#define | PO_HWAMP_POWERFAIL 9
| Use PO_HWAMP_STATUS bit UNDERVOLTAGE. More...
#define | PO_HWAMP_USERDEFINED_DATA0 13
| The value in this process data can be selected by the HWAMP_USERDEFINED_DATA parameters (only MACS5) More...
#define | PO_HWAMP_USERDEFINED_DATA1 14
| The value in this process data can be selected by the HWAMP_USERDEFINED_DATA parameters (only MACS5) More...
#define | PO_HWAMP_USERDEFINED_DATA2 15
| The value in this process data can be selected by the HWAMP_USERDEFINED_DATA parameters (only MACS5) More...
#define | PO_HWAMP_USERDEFINED_DATA3 16
| The value in this process data can be selected by the HWAMP_USERDEFINED_DATA parameters (only MACS5) More...
#define | PO_HWAMP_TEMP1 17
| Temperature Value 1 (On board) More...
#define | PO_HWAMP_TEMP2 18
| Temperature Value 2 (On board, in case of one sensor: equal PO_HWAMP_TEMP1) More...
#define | PO_HWAMP_VOLT1 19
| Voltage Value 1 (Power voltage at amplifier) More...
#define | PO_HWAMP_VOLT2 20
| Voltage Value 2 (Logic voltage, 24V) More...
#define | PO_HWAMP_PABS 21
| absolute position used to determine electrical position More...
#define | PO_HWAMP_PABSVEL 22
| Velocity. More...
#define | PO_HWAMP_HALL_POSEL 23
| Hall electrical position. More...
#define | PO_HWAMP_HALL_POSRAW 24
| Hall raw value. More...
#define | PO_HWAMP_ELPOS_POSEL 25
| Electrical position in quadcounts. More...
#define | PO_HWAMP_ELPOS_POSENC 26
| Last encoder position received. More...
#define | PO_HWAMP_COSSIN_COS 27
| Cosine value used for the transformation from ab to dq. More...
#define | PO_HWAMP_COSSIN_SIN 28
| Sine value used for the transformation from ab to dq. More...
#define | PO_HWAMP_VEL_VEL 29
| Velocity[rpm] = PO_HWAMP_VEL_VEL * 2 * HWAMP_MAXRPM / 0x7FFF. More...
#define | PO_HWAMP_VEL_VELRAW 30
| Velocity. More...
#define | PO_HWAMP_IPH_U 31
| Phase current U. More...
#define | PO_HWAMP_IPH_V 32
| Phase current V. More...
#define | PO_HWAMP_IPH_W 33
| Phase current W. More...
#define | PO_HWAMP_IPHFIL_U 34
| Deprecated, Phase current U filtered. More...
#define | PO_HWAMP_IPHFIL_V 35
| Deprecated, Phase current V filtered. More...
#define | PO_HWAMP_IPHFIL_W 36
| Deprecated, Phase current W filtered. More...
#define | PO_HWAMP_IPHI2T_U 37
| Deprecated, Actual I2T value U. More...
#define | PO_HWAMP_IPHI2T_V 38
| Deprecated, Actual I2T value V. More...
#define | PO_HWAMP_IPHI2T_W 39
| Deprecated, Actual I2T value W. More...
#define | PO_HWAMP_IDQ_D 40
| Currents in d coordinate used by PMSM or Stepper current controller. More...
#define | PO_HWAMP_IDQ_Q 41
| Currents in q coordinate used by PMSM or Stepper current controller. More...
#define | PO_HWAMP_DCPH_U 42
| Duty cycle in ph coordinates, -0x7FFF...0x7FFF. More...
#define | PO_HWAMP_DCPH_V 43
| Duty cycle in ph coordinates, -0x7FFF...0x7FFF. More...
#define | PO_HWAMP_DCPH_W 44
| Duty cycle in ph coordinates, -0x7FFF...0x7FFF. More...
#define | PO_HWAMP_DCDQ_D 45
| Duty cycle in d coordinate, -0x7FFF...0x7FFF. More...
#define | PO_HWAMP_DCDQ_Q 46
| Duty cycle in q coordinate, -0x7FFF...0x7FFF. More...
#define | PO_HWAMP_ENPH_U 47
| Enable/disable halfbridge U. More...
#define | PO_HWAMP_ENPH_V 48
| Enable/disable halfbridge V. More...
#define | PO_HWAMP_ENPH_W 49
| Enable/disable halfbridge W. More...
#define | PO_HWAMP_VELPI_ACTUAL 50
| Same as PO_HWAMP_VEL_VEL. More...
#define | PO_HWAMP_VELPI_REF 51
| Reference of velocity controller. More...
#define | PO_HWAMP_VELPI_ERR 52
| Actual regulation error of velocity controller. More...
#define | PO_HWAMP_VELPI_OUT 53
| Actual output of velocity controller. More...
#define | PO_HWAMP_VELPI_ACTINTSUM 54
| Actual integrated sum of velocity controller. More...
#define | PO_HWAMP_CURPI0_ACTUAL 55
| Actual value for current controller. More...
#define | PO_HWAMP_CURPI0_REF 56
| Reference value for current controller 0. More...
#define | PO_HWAMP_CURPI0_ERR 57
| Actual regulation error of current controller 0. More...
#define | PO_HWAMP_CURPI0_OUT 58
| Actual output of current controller 0. More...
#define | PO_HWAMP_CURPI0_ACTINTSUM 59
| Actual integrated sum of current controller 0. More...
#define | PO_HWAMP_CURPI1_ACTUAL 60
| Actual value for current controller 1. More...
#define | PO_HWAMP_CURPI1_REF 61
| Reference value for current controller 1. More...
#define | PO_HWAMP_CURPI1_ERR 62
| Actual regulation error of current controller 1. More...
#define | PO_HWAMP_CURPI1_OUT 63
| Actual output of current controller 1. More...
#define | PO_HWAMP_CURPI1_ACTINTSUM 64
| Actual integrated sum of current controller 1. More...
#define | PO_HWAMP_SET1_0 65
| Value depends on HWAMP_DEFINE_PO_DATA_SET. More...
#define | PO_HWAMP_SET1_1 66
| Value depends on HWAMP_DEFINE_PO_DATA_SET. More...
#define | PO_HWAMP_SET1_2 67
| Value depends on HWAMP_DEFINE_PO_DATA_SET. More...
#define | PO_HWAMP_SET1_3 68
| Value depends on HWAMP_DEFINE_PO_DATA_SET. More...
#define | PO_HWAMP_SET1_4 69
| Value depends on HWAMP_DEFINE_PO_DATA_SET. More...
#define | PO_HWAMP_SET1_5 70
| Value depends on HWAMP_DEFINE_PO_DATA_SET. More...
#define | PO_HWAMP_SET2_0 71
| Value depends on HWAMP_DEFINE_PO_DATA_SET. More...
#define | PO_HWAMP_SET2_1 72
| Value depends on HWAMP_DEFINE_PO_DATA_SET. More...
#define | PO_HWAMP_SET2_2 73
| Value depends on HWAMP_DEFINE_PO_DATA_SET. More...
#define | PO_HWAMP_SET2_3 74
| Value depends on HWAMP_DEFINE_PO_DATA_SET. More...
#define | PO_HWAMP_SET2_4 75
| Value depends on HWAMP_DEFINE_PO_DATA_SET. More...
#define | PO_HWAMP_SET2_5 76
| Value depends on HWAMP_DEFINE_PO_DATA_SET. More...
#define | PO_HWAMP_ELPOS_LAG 77
| Electrical position lag compensation value. More...
#define | PO_HWAMP_ELPOS_DELTA 78
| Electrical position lag actual value. More...
#define | PO_HWAMP_STEPPOS_POSEL 79
| Stepper Motor electrical position in cossin units. More...
#define | PO_HWAMP_REF 80
| Reference value. More...
#define | PO_HWAMP_FF 81
| Feed forward component. More...
#define | PO_HWAMP_STEPPOS_CURLOOPINDEX 82
| Index counting from 0 to number of current loops within a millisecond-loop. More...
#define | PO_HWAMP_HALL_ERRORCOUNT 83
| HALL error count. More...
#define | PO_HWAMP_TEMP_MOT 84
| Motor's temperature. More...
#define | PO_HWAMP_TOTAL_CURRENT 85
| Sum of alll PO_HWAMP_CURRENT. More...
#define | PO_HWAMP_STATUS_ENABLED 0x00001
#define | PO_HWAMP_STATUS_RUNNING 0x00002
#define | PO_HWAMP_STATUS_UNDERVOLTAGE 0x00004
#define | PO_HWAMP_STATUS_OVERVOLTAGE 0x00008
#define | PO_HWAMP_STATUS_HW_OVERCURRENT_ABS 0x00010
#define | PO_HWAMP_STATUS_SW_OVERCURRENT_ABS 0x00020
#define | PO_HWAMP_STATUS_SW_OVERCURRENT_I2T 0x00040
#define | PO_HWAMP_STATUS_OVERTEMPERATURE 0x00080
#define | PO_HWAMP_STATUS_DSP_LINK 0x00100
#define | PO_HWAMP_STATUS_MOSFETDRIVER_SUPPLY 0x00200
#define | PO_HWAMP_STATUS_ADC 0x00400
#define | PO_HWAMP_STATUS_HALL 0x00800
#define | PO_HWAMP_STATUS_HALL_ANGLE 0x01000
#define | PO_HWAMP_STATUS_NOT_YET_READY 0x10000
#define | PO_HWAMP_TEMP_INVALID 0x7FFF
#define | PO_HWAMP__TEMP_INVALID 0x7FFF
#define | PO_HWAMP_HALL_ERRORCOUNT_MAX 0xFFFF
#define | PO_HWAMP_TEMP_INVALID 0x7FFF
#define | SDOINDEX_HWENC_PROCESS 0x4840
| HW Encoder Process Data: SDO Index. More...
#define | HWENC_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWENC_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Encoder Process Data: Getter. More...
#define | HWENC_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_HWENC_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Encoder Process Data: Source Index. More...
#define | HWENC_PROCESS(modno, parno) Sysvar[HWENC_PROCESS_INDEX((modno),(parno))]
| HW Encoder Process Data: Setter. More...
#define | HWENC_PROCESS_MAX 2
| HW Encoder Process Data: Maximum number of parameters. More...
#define | PO_HWENCODER_ERROR 1
| Encoder error bits. More...
#define | HWENCODER_ERROR_CRC 0x01
#define | HWENCODER_ERROR_SYNC 0x02
#define | HWENCODER_ERROR_TRANSFERTIME 0x04
#define | HWENCODER_ERROR_SIGNAL 0x08
#define | SDOINDEX_HWHALL_PROCESS 0x4870
| HW Hall Sensor Process Data: SDO Index. More...
#define | HWHALL_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWHALL_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Hall Sensor Process Data: Getter. More...
#define | HWHALL_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_HWHALL_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Hall Sensor Process Data: Source Index. More...
#define | HWHALL_PROCESS(modno, parno) Sysvar[HWHALL_PROCESS_INDEX((modno),(parno))]
| HW Hall Sensor Process Data: Setter. More...
#define | HWHALL_PROCESS_MAX 4
| HW Hall Sensor Process Data: Maximum number of parameters. More...
#define | PO_HWHALL_STATUS 1
| Digital input status of HALL sensor (3 bits, 0...7) More...
#define | PO_HWHALL_POS 2
| Position value (incrementing/decrementing) More...
#define | PO_HWHALL_VEL 3
| Velocity value. More...
#define | SDOINDEX_HWCOUNTINC_PROCESS 0x4880
| HW Counter-inc Process Data: SDO Index. More...
#define | HWCOUNTINC_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWCOUNTINC_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Counter-inc Process Data: Getter. More...
#define | HWCOUNTINC_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_HWCOUNTINC_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Counter-inc Process Data: Source Index. More...
#define | HWCOUNTINC_PROCESS(modno, parno) Sysvar[HWCOUNTINC_PROCESS_INDEX((modno),(parno))]
| HW Counter-inc Process Data: Setter. More...
#define | HWCOUNTINC_PROCESS_MAX 12
| HW Counter-inc Process Data: Maximum number of parameters. More...
#define | PO_HWCNTINC_VALUE 1
| Output of counter module (position value) More...
#define | PO_HWCNTINC_VELOCITY 2
| This value returns the position difference per millisecond. More...
#define | PO_HWCNTINC_STATUS 3
| not used (only legacy bits for Zoller) More...
#define | PO_HWCNTINC_LASTVALUE 4
| Last value of the counter. More...
#define | PO_HWCNTINC_SINCOSPART 5
| Analog part of the SinCos Signal. More...
#define | PO_HWCNTINC_INCPART 8
| Incremental part of a Sin Cos signal. More...
#define | PO_HWCNTINC_SINCOS_DEBUG 9
| Debug information for SinCos Encoder. More...
#define | PO_HWCNTINC_SINCOS_DEBUG2 10
| Debug Information for SinCos Encoder. More...
#define | PO_HWCNTINC_SINCOS_DEBUG3 11
| Debug Information for SinCos Encoder. More...
#define | SDOINDEX_HWCOUNTABS_PROCESS 0x48C0
| HW Counter-abs Process Data: SDO Index. More...
#define | HWCOUNTABS_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWCOUNTABS_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Counter-abs Process Data: Getter. More...
#define | HWCOUNTABS_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_HWCOUNTABS_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Counter-abs Process Data: Source Index. More...
#define | HWCOUNTABS_PROCESS(modno, parno) Sysvar[HWCOUNTABS_PROCESS_INDEX((modno),(parno))]
| HW Counter-abs Process Data: Setter. More...
#define | HWCOUNTABS_PROCESS_MAX 3
| HW Counter-abs Process Data: Maximum number of parameters. More...
#define | PO_HWCNTABS_VALUE 1
| Position output of absolute encoder Counter. More...
#define | PO_HWCNTABS_RAW 2
| Raw databits of the transmission (Not on MACS5) More...
#define | SDOINDEX_HWCOUNTUNI_PROCESS 0x4900
| HW Counter-abs Process Data: SDO Index. More...
#define | HWCOUNTUNI_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWCOUNTUNI_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Counter-abs Process Data: Getter. More...
#define | HWCOUNTUNI_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_HWCOUNTUNI_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Counter-abs Process Data: Source Index. More...
#define | HWCOUNTUNI_PROCESS(modno, parno) Sysvar[HWCOUNTUNI_PROCESS_INDEX((modno),(parno))]
| HW Counter-abs Process Data: Setter. More...
#define | HWCOUNTUNI_PROCESS_MAX 3
| HW Counter-abs Process Data: Maximum number of parameters. More...
#define | PO_HWCNTUNI_VALUE 1
| Output of counter module. More...
#define | PO_HWCNTUNI_VELOCITY 2
| not used More...
#define | SDOINDEX_HWCMPUNI_PROCESS 0x4920
| HW Comparator-universal Process Data: SDO Index. More...
#define | HWCMPUNI_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWCMPUNI_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Comparator-universal Process Data: Getter. More...
#define | HWCMPUNI_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_HWCMPUNI_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Comparator-universal Process Data: Source Index. More...
#define | HWCMPUNI_PROCESS(modno, parno) Sysvar[HWCMPUNI_PROCESS_INDEX((modno),(parno))]
| HW Comparator-universal Process Data: Setter. More...
#define | HWCMPUNI_PROCESS_MAX 2
| HW Comparator-universal Process Data: Maximum number of parameters. More...
#define | SDOINDEX_HWLATCH_PROCESS 0x4940
| HW Latch Register Process Data: SDO Index. More...
#define | HWLATCH_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWLATCH_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Latch Register Process Data: Getter. More...
#define | HWLATCH_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_HWLATCH_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Latch Register Process Data: Source Index. More...
#define | HWLATCH_PROCESS(modno, parno) Sysvar[HWLATCH_PROCESS_INDEX((modno),(parno))]
| HW Latch Register Process Data: Setter. More...
#define | HWLATCH_PROCESS_MAX 10
| HW Latch Register Process Data: Maximum number of parameters. More...
#define | PO_HWLATCH_VALUE 1
| Output of latch module. More...
#define | PO_HWLATCH_FLAG 2
| Flag signal that a new latch happened. More...
#define | PO_HWLATCH_COUNT 3
| Number of latches occurred up until now. More...
#define | PO_HWLATCH_AMOUNT_IN_FIFO 4
| Number of latches in FIFO. More...
#define | PO_HWLATCH_FIFOREAD 5
| Latch position read from FIFO. More...
#define | PO_HWLATCH_FIFO_WRITEINDEX 6
| Write index position of FIFO. More...
#define | PO_HWLATCH_FIFO_READINDEX 7
| Read index position of FIFO. More...
#define | PO_HWLATCH_FIFO_STAT 8
| Status of HW Latch FIFO. More...
#define | PO_HWLATCH_FIFO_PEEK 9
| Peek the latest element from the FIFO. More...
#define | SDOINDEX_HWSIGGEN_PROCESS 0x4980
| HW Signalgen (Enc/Pulse) Process Data: SDO Index. More...
#define | HWSIGGEN_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWSIGGEN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Signalgen (Enc/Pulse) Process Data: Getter. More...
#define | HWSIGGEN_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_HWSIGGEN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Signalgen (Enc/Pulse) Process Data: Source Index. More...
#define | HWSIGGEN_PROCESS(modno, parno) Sysvar[HWSIGGEN_PROCESS_INDEX((modno),(parno))]
| HW Signalgen (Enc/Pulse) Process Data: Setter. More...
#define | HWSIGGEN_PROCESS_MAX 4
| HW Signalgen (Enc/Pulse) Process Data: Maximum number of parameters. More...
#define | SDOINDEX_HWDDS_PROCESS 0x49C0
| HW DDS Process Data: SDO Index. More...
#define | HWDDS_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWDDS_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW DDS Process Data: Getter. More...
#define | HWDDS_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_HWDDS_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW DDS Process Data: Source Index. More...
#define | HWDDS_PROCESS(modno, parno) Sysvar[HWDDS_PROCESS_INDEX((modno),(parno))]
| HW DDS Process Data: Setter. More...
#define | HWDDS_PROCESS_MAX 1
| HW DDS Process Data: Maximum number of parameters. More...
#define | SDOINDEX_HWPWMGEN_PROCESS 0x49D0
| HW PWM Generators Process Data: SDO Index. More...
#define | HWPWMGEN_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWPWMGEN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW PWM Generators Process Data: Getter. More...
#define | HWPWMGEN_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_HWPWMGEN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW PWM Generators Process Data: Source Index. More...
#define | HWPWMGEN_PROCESS(modno, parno) Sysvar[HWPWMGEN_PROCESS_INDEX((modno),(parno))]
| HW PWM Generators Process Data: Setter. More...
#define | HWPWMGEN_PROCESS_MAX 2
| HW PWM Generators Process Data: Maximum number of parameters. More...
#define | PO_HWPWMGEN_VALUE 1
| Current Duty Cycle (0-100%) More...
#define | SDOINDEX_HWPULSGEN_PROCESS 0x49E0
| HW Pulsgen Process Data: SDO Index. More...
#define | HWPULSGEN_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWPULSGEN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Pulsgen Process Data: Getter. More...
#define | HWPULSGEN_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_HWPULSGEN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Pulsgen Process Data: Source Index. More...
#define | HWPULSGEN_PROCESS(modno, parno) Sysvar[HWPULSGEN_PROCESS_INDEX((modno),(parno))]
| HW Pulsgen Process Data: Setter. More...
#define | HWPULSGEN_PROCESS_MAX 1
| HW Pulsgen Process Data: Maximum number of parameters. More...
#define | SDOINDEX_HWSHIFTREG_PROCESS 0x49F0
| HW Shift Register Process Data: SDO Index. More...
#define | HWSHIFTREG_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWSHIFTREG_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Shift Register Process Data: Getter. More...
#define | HWSHIFTREG_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_HWSHIFTREG_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Shift Register Process Data: Source Index. More...
#define | HWSHIFTREG_PROCESS(modno, parno) Sysvar[HWSHIFTREG_PROCESS_INDEX((modno),(parno))]
| HW Shift Register Process Data: Setter. More...
#define | HWSHIFTREG_PROCESS_MAX 1
| HW Shift Register Process Data: Maximum number of parameters. More...
#define | SDOINDEX_HWDIGIN_PROCESS 0x4A00
| HW Digital Input Process Data: SDO Index. More...
#define | HWDIGIN_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWDIGIN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Digital Input Process Data: Getter. More...
#define | HWDIGIN_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_HWDIGIN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Digital Input Process Data: Source Index. More...
#define | HWDIGIN_PROCESS(modno, parno) Sysvar[HWDIGIN_PROCESS_INDEX((modno),(parno))]
| HW Digital Input Process Data: Setter. More...
#define | HWDIGIN_PROCESS_MAX 8
| HW Digital Input Process Data: Maximum number of parameters. More...
#define | PO_HWDIGIN_VALLONG 1
| Return 32 bit input states (1 bit for each digital input signal) More...
#define | PO_HWDIGIN_VALWORD1 2
| Returns 16 bit input state (1 bit for each digtal input) More...
#define | PO_HWDIGIN_VALWORD2 3
| Returns 16 bit input state (1 bit for each digtal input) More...
#define | PO_HWDIGIN_VALBYTE1 4
| Returns 8 bit input state (1 bit for each digital input) More...
#define | PO_HWDIGIN_VALBYTE2 5
| Returns 8 bit input state (1 bit for each digital input) More...
#define | PO_HWDIGIN_VALBYTE3 6
| Returns 8 bit input state (1 bit for each digital input) More...
#define | PO_HWDIGIN_VALBYTE4 7
| Returns 8 bit input state (1 bit for each digital input) More...
#define | SDOINDEX_HWDIGOUT_PROCESS 0x4A40
| HW Digital Output Process Data: SDO Index. More...
#define | HWDIGOUT_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWDIGOUT_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Digital Output Process Data: Getter. More...
#define | HWDIGOUT_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_HWDIGOUT_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Digital Output Process Data: Source Index. More...
#define | HWDIGOUT_PROCESS(modno, parno) Sysvar[HWDIGOUT_PROCESS_INDEX((modno),(parno))]
| HW Digital Output Process Data: Setter. More...
#define | HWDIGOUT_PROCESS_MAX 3
| HW Digital Output Process Data: Maximum number of parameters. More...
#define | PO_HWDIGOUT_VALUE 1
| The current digital output state (32 bits, each bit represents one digital output) More...
#define | PO_HWDIGOUT_FORCEVALUE 2
| The output value to be forced. More...
#define | SDOINDEX_HWANIN_PROCESS 0x4A80
| HW Analog Input Process Data: SDO Index. More...
#define | HWANIN_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWANIN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Analog Input Process Data: Getter. More...
#define | HWANIN_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_HWANIN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Analog Input Process Data: Source Index. More...
#define | HWANIN_PROCESS(modno, parno) Sysvar[HWANIN_PROCESS_INDEX((modno),(parno))]
| HW Analog Input Process Data: Setter. More...
#define | HWANIN_PROCESS_MAX 5
| HW Analog Input Process Data: Maximum number of parameters. More...
#define | PO_HWANIN_VALUE 1
| Filtered analog input value. More...
#define | PO_HWANIN_UNFILT 2
| Unfiltered analog input value. More...
#define | PO_HWANIN_MAXVAL 3
| Maximum value of the filtered value up to now. More...
#define | PO_HWANIN_MINVAL 4
| Minimum value of the filtered value up to now. More...
#define | SDOINDEX_HWANOUT_PROCESS 0x4AC0
| HW Analog Output Process Data: SDO Index. More...
#define | HWANOUT_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWANOUT_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Analog Output Process Data: Getter. More...
#define | HWANOUT_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_HWANOUT_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Analog Output Process Data: Source Index. More...
#define | HWANOUT_PROCESS(modno, parno) Sysvar[HWANOUT_PROCESS_INDEX((modno),(parno))]
| HW Analog Output Process Data: Setter. More...
#define | HWANOUT_PROCESS_MAX 3
| HW Analog Output Process Data: Maximum number of parameters. More...
#define | PO_HWANOUT_VALUE 1
#define | PO_HWANOUT_FORCEVALUE 2
| Enable write by setting HWANOUT_MODE to 1. More...
#define | SDOINDEX_HWSIGBUS_PROCESS 0x4B00
| HW Signalbridges/bus ENC-REF Process Data: SDO Index. More...
#define | HWSIGBUS_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWSIGBUS_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Signalbridges/bus ENC-REF Process Data: Getter. More...
#define | HWSIGBUS_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_HWSIGBUS_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Signalbridges/bus ENC-REF Process Data: Source Index. More...
#define | HWSIGBUS_PROCESS(modno, parno) Sysvar[HWSIGBUS_PROCESS_INDEX((modno),(parno))]
| HW Signalbridges/bus ENC-REF Process Data: Setter. More...
#define | HWSIGBUS_PROCESS_MAX 1
| HW Signalbridges/bus ENC-REF Process Data: Maximum number of parameters. More...
#define | SDOINDEX_HWBRREFENC_PROCESS 0x4B10
| HW Signalbridges/bus REF-ENC Process Data: SDO Index. More...
#define | HWBRREFENC_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWBRREFENC_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Signalbridges/bus REF-ENC Process Data: Getter. More...
#define | HWBRREFENC_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_HWBRREFENC_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Signalbridges/bus REF-ENC Process Data: Source Index. More...
#define | HWBRREFENC_PROCESS(modno, parno) Sysvar[HWBRREFENC_PROCESS_INDEX((modno),(parno))]
| HW Signalbridges/bus REF-ENC Process Data: Setter. More...
#define | HWBRREFENC_PROCESS_MAX 1
| HW Signalbridges/bus REF-ENC Process Data: Maximum number of parameters. More...
#define | SDOINDEX_HWREFBUS_PROCESS 0x4B20
| HW Reference Bus Process Data: SDO Index. More...
#define | HWREFBUS_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_HWREFBUS_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| HW Reference Bus Process Data: Getter. More...
#define | HWREFBUS_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_HWREFBUS_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| HW Reference Bus Process Data: Source Index. More...
#define | HWREFBUS_PROCESS(modno, parno) Sysvar[HWREFBUS_PROCESS_INDEX((modno),(parno))]
| HW Reference Bus Process Data: Setter. More...
#define | HWREFBUS_PROCESS_MAX 3
| HW Reference Bus Process Data: Maximum number of parameters. More...
#define | HWREFBUS_PO_REG0 1
| RefVecBus bits 0-31. More...
#define | HWREFBUS_PO_REG1 2
| RefVecBus bits 32-63. More...
#define | SDOINDEX_BUSMOD_PROCESS 0x4C00
| Bus Module Process Data: SDO Index. More...
#define | BUSMOD_PROCESS_INDEX(modno, parno) ((0x01000000 | (SDOINDEX_BUSMOD_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
| Bus Module Process Data: Getter. More...
#define | BUSMOD_PROCESS_SRCINDEX(modno, parno) ((SDOINDEX_BUSMOD_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
| Bus Module Process Data: Source Index. More...
#define | BUSMOD_PROCESS(modno, parno) Sysvar[BUSMOD_PROCESS_INDEX((modno),(parno))]
| Bus Module Process Data: Setter. More...
#define | BUSMOD_PROCESS_MAX 39
| Bus Module Process Data: Maximum number of parameters. More...
#define | PO_BUSMOD_VALUE1 1
| Output value of the RX PDOs. More...
#define | PO_BUSMOD_VALUE2 2
| Output value of the RX PDOs. More...
#define | PO_BUSMOD_VALUE3 3
| Output value of the RX PDOs. More...
#define | PO_BUSMOD_VALUE4 4
| Output value of the RX PDOs. More...
#define | PO_BUSMOD_VALUE5 5
| Output value of the RX PDOs. More...
#define | PO_BUSMOD_VALUE6 6
| Output value of the RX PDOs. More...
#define | PO_BUSMOD_VALUE7 7
| Output value of the RX PDOs. More...
#define | PO_BUSMOD_VALUE8 8
| Output value of the RX PDOs. More...
#define | PO_BUSMOD_LASTERROR 23
| Last error number. More...
#define | PO_BUSMOD_LASTRXTIME 24
| Time of last PDO reception (PDO 1-4) More...
#define | PO_BUSMOD_LASTTXTIME 25
| Time of last PDO sending (PDO1-4) More...
#define | PO_BUSMOD_OBJ_TXPDO1 26
| Internal CanObj Number used for PDO. More...
#define | PO_BUSMOD_OBJ_TXPDO2 27
| Internal CanObj Number used for PDO. More...
#define | PO_BUSMOD_OBJ_TXPDO3 28
| Internal CanObj Number used for PDO. More...
#define | PO_BUSMOD_OBJ_TXPDO4 29
| Internal CanObj Number used for PDO. More...
#define | PO_BUSMOD_OBJ_RXPDO1 30
| Internal CanObj Number used for PDO. More...
#define | PO_BUSMOD_OBJ_RXPDO2 31
| Internal CanObj Number used for PDO. More...
#define | PO_BUSMOD_OBJ_RXPDO3 32
| Internal CanObj Number used for PDO. More...
#define | PO_BUSMOD_OBJ_RXPDO4 33
| Internal CanObj Number used for PDO. More...
#define | PO_BUSMOD_DEVTYPE 34
| Devicetype of connected slave node (only CAN) More...
#define | PO_BUSMOD_TIMER_TXPDO1 35
| Internal counter for event and inhibit time. More...
#define | PO_BUSMOD_TIMER_TXPDO2 36
| Internal counter for event and inhibit time. More...
#define | PO_BUSMOD_TIMER_TXPDO3 37
| Internal counter for event and inhibit time. More...
#define | PO_BUSMOD_TIMER_TXPDO4 38
| Internal counter for event and inhibit time. More...

## Macro Definition Documentation

## ◆ ACCMAXQC

#define ACCMAXQC 11

Maximum acceleration.

Maximum acceleration in internal units. For internal use only. Do NOT use this value! Use RAMPMIN (subindex 32) instead.

Initial Value
  2184

Value Range
  1-MLONG

Definition at line 2395 of file SdoDictionary.mh.

## ◆ APOSS_ARRAY

#define APOSS_ARRAY | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[APOSS_ARRAY_INDEX((modno),(parno))]

Aposs Array: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 40 of file SdoDictionary.mh.

## ◆ APOSS_ARRAY_INDEX

#define APOSS_ARRAY_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_APOSS_ARRAY<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Aposs Array: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 28 of file SdoDictionary.mh.

## ◆ APOSS_ARRAY_MAX

#define APOSS_ARRAY_MAX 255

Aposs Array: Maximum number of parameters.

Definition at line 44 of file SdoDictionary.mh.

## ◆ APOSS_ARRAY_SRCINDEX

#define APOSS_ARRAY_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_APOSS_ARRAY<<8) | (((long) (modno))<<8) | ((long) (parno)))

Aposs Array: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 34 of file SdoDictionary.mh.

## ◆ AXE_PARAM

#define AXE_PARAM | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[AXE_PARAM_INDEX((modno),(parno))]

Axis Parameters: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Examples
  CAN_2Ax_EPOS4-Test_csp.mc, CAN_4Ax_MiniMACS6_cst.mc, DeltaRobot_No_SM_EPOS4_ECAT.mc, ECAT_1Ax_EPOS4-Test_cst.mc, ECAT_3Ax_Epos4-Test_csp.mc, and Stepper_XY_OL.mc.

Definition at line 2293 of file SdoDictionary.mh.

## ◆ AXE_PARAM_INDEX

#define AXE_PARAM_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_AXE_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Axis Parameters: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 2281 of file SdoDictionary.mh.

## ◆ AXE_PARAM_MAX

#define AXE_PARAM_MAX 141

Axis Parameters: Maximum number of parameters.

Definition at line 2297 of file SdoDictionary.mh.

## ◆ AXE_PARAM_SRCINDEX

#define AXE_PARAM_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_AXE_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

Axis Parameters: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 2287 of file SdoDictionary.mh.

## ◆ AXE_PROCESS

#define AXE_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[AXE_PROCESS_INDEX((modno),(parno))]

Axis Process Data: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Examples
  CAN_1Ax_EPOS4-Test_cst.mc, CAN_4Ax_MiniMACS6_cst.mc, ECAT_1Ax_EPOS4-Test_cst.mc, and Maxon_RE_40_1ax_OL.mc.

Definition at line 3187 of file SdoDictionary.mh.

## ◆ AXE_PROCESS_INDEX

#define AXE_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_AXE_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Axis Process Data: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Examples
  SetupSignalGeneratorAxis.mc, and SetupSignalGeneratorOpenloop.mc.

Definition at line 3175 of file SdoDictionary.mh.

## ◆ AXE_PROCESS_MAX

#define AXE_PROCESS_MAX 236

Axis Process Data: Maximum number of parameters.

Definition at line 3191 of file SdoDictionary.mh.

## ◆ AXE_PROCESS_SRCINDEX

#define AXE_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_AXE_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

Axis Process Data: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Examples
  Maxon_RE_40_1ax_OL.mc.

Definition at line 3181 of file SdoDictionary.mh.

## ◆ BANDWIDTH

#define BANDWIDTH 36

Bandwidth within which the PID filter is active.

1000 equals to 100% velocity setpoint.

Initial Value
  1000

Value Range
  0-2000

Definition at line 2635 of file SdoDictionary.mh.

## ◆ BUSMOD_BUSNO

#define BUSMOD_BUSNO 31

Bus number.

Only valid in case of CAN bus type: 0 = CAN1 1 = CAN2

Initial Value
  0

Definition at line 11006 of file SdoDictionary.mh.

## ◆ BUSMOD_BUSNO_CAN1

#define BUSMOD_BUSNO_CAN1 0

Definition at line 11314 of file SdoDictionary.mh.

## ◆ BUSMOD_BUSNO_CAN2

#define BUSMOD_BUSNO_CAN2 1

Definition at line 11315 of file SdoDictionary.mh.

## ◆ BUSMOD_BUSTYPE

#define BUSMOD_BUSTYPE 30

Bus type.

0 = CAN 1 = EtherCAT (not implemented yet) 2 = EtherCAT Master

This parameter must be set before the activation of the bus module by BUSMOD_MODE.

Initial Value
  0

Definition at line 10996 of file SdoDictionary.mh.

## ◆ BUSMOD_BUSTYPE_CAN

#define BUSMOD_BUSTYPE_CAN 0

Definition at line 11309 of file SdoDictionary.mh.

## ◆ BUSMOD_BUSTYPE_ECAT_M

#define BUSMOD_BUSTYPE_ECAT_M 2

Definition at line 11311 of file SdoDictionary.mh.

## ◆ BUSMOD_BUSTYPE_ECAT_S

#define BUSMOD_BUSTYPE_ECAT_S 1

Definition at line 11310 of file SdoDictionary.mh.

## ◆ BUSMOD_EVENTTIME

#define BUSMOD_EVENTTIME 37

Event time.

Only valid for CAN and if SYNC is not active.

A TX PDO will be sent each n milliseconds. Valid for PDO1-4.

Initial Value
  0

Definition at line 11066 of file SdoDictionary.mh.

## ◆ BUSMOD_GUARDTIME

#define BUSMOD_GUARDTIME 35

Guard interval.

Only CAN bus

0: No guarding n>20: Guarding active with guard time n*5 milliseconds n<=20: Guarding active with guard time 20*5 milliseconds

If guarding is active, a guarding CAN object (COBID 0x701) will be created on this CAN bus.
Every 20ms, one guard telegram will be sent to one node. If e.g. 3 nodes use guarding, each node will be guarded every 60ms.

Initial Value
  0

Definition at line 11047 of file SdoDictionary.mh.

## ◆ BUSMOD_ID

#define BUSMOD_ID 32

Slave node id.

Select the nodeid of the connected slave (1-n). Has to be set before the module is activated (see BUSMOD_MODE)

Initial Value
  0

Value Range
  1-65535

Definition at line 11017 of file SdoDictionary.mh.

## ◆ BUSMOD_INHIBITTIME

#define BUSMOD_INHIBITTIME 36

Inhibit time.

Only valid for CAN and if no SYNC is used. The inhibit time is the minimum time between two TX PDO telegrams. Applies to PDO1-4.

Initial Value
  0

Definition at line 11056 of file SdoDictionary.mh.

## ◆ BUSMOD_LEN_RXPDO1

#define BUSMOD_LEN_RXPDO1 26

Length of RxPDO in Bytes.

Will be set automatically by firmware

Initial Value
  0

Definition at line 10960 of file SdoDictionary.mh.

## ◆ BUSMOD_LEN_RXPDO2

#define BUSMOD_LEN_RXPDO2 27

Length of RxPDO in Bytes.

Will be set automatically by firmware

Initial Value
  0

Definition at line 10968 of file SdoDictionary.mh.

## ◆ BUSMOD_LEN_RXPDO3

#define BUSMOD_LEN_RXPDO3 28

Length of RxPDO in Bytes.

Will be set automatically by firmware

Initial Value
  0

Definition at line 10976 of file SdoDictionary.mh.

## ◆ BUSMOD_LEN_RXPDO4

#define BUSMOD_LEN_RXPDO4 29

Length of RxPDO in Bytes.

Will be set automatically by firmware

Initial Value
  0

Definition at line 10984 of file SdoDictionary.mh.

## ◆ BUSMOD_LEN_TXPDO1

#define BUSMOD_LEN_TXPDO1 22

Length of TxPDO in Bytes.

Will be set automatically by firmware

Initial Value
  0

Definition at line 10928 of file SdoDictionary.mh.

## ◆ BUSMOD_LEN_TXPDO2

#define BUSMOD_LEN_TXPDO2 23

Length of TxPDO in Bytes.

Will be set automatically by firmware

Initial Value
  0

Definition at line 10936 of file SdoDictionary.mh.

## ◆ BUSMOD_LEN_TXPDO3

#define BUSMOD_LEN_TXPDO3 24

Length of TxPDO in Bytes.

Will be set automatically by firmware

Initial Value
  0

Definition at line 10944 of file SdoDictionary.mh.

## ◆ BUSMOD_LEN_TXPDO4

#define BUSMOD_LEN_TXPDO4 25

Length of TxPDO in Bytes.

Will be set automatically by firmware

Initial Value
  0

Definition at line 10952 of file SdoDictionary.mh.

## ◆ BUSMOD_MODE

#define BUSMOD_MODE 1

Activate / Deactivate.

Bus modules are used to communicate with CAN or EtherCAT slave nodes.

By the parameter BUSMOD_MODE, the module can be activated or deactivated. 0 = Deactivate (CAN objects will be deleted) 1 = Activate (CAN objects will be created) 2 = Activate as System object (only deleted in case of 0, or newstart mocexe). This allows axes to be kept going when pressing ESC (for stopping).

By writing 1 or 2, the bus module will be activated. Previously, BUSMOD_BUSTYPE, BUSMOD_BUSNO and BUSMOD_ID have to be set.

For CAN: In case guarding is used, BUSMOD_GUARDTIME has to set also previously. In case SYNC is used, BUSMOD_SYNC has to be set previously. Now the PDO mailboxes will be created for all the corresponding COBIDs for the slave with ID BUSMOD_ID. Then, if the CAN master state is OPERATIONAL (see SYS_CANOM_MASTERSTATE in system process data), the CAN slave will be set to OPERATIONAL as well by sending an NMT start telegram. (The CAN master state SYS_CANOM_MASTERSTATE is OPERATIONAL by default after startup of the controller).

Initial Value
  0

Definition at line 10839 of file SdoDictionary.mh.

## ◆ BUSMOD_MODE_ACTIVATE

#define BUSMOD_MODE_ACTIVATE 1

Definition at line 11305 of file SdoDictionary.mh.

## ◆ BUSMOD_MODE_ACTIVATE_NOSTOP

#define BUSMOD_MODE_ACTIVATE_NOSTOP 2

Definition at line 11306 of file SdoDictionary.mh.

## ◆ BUSMOD_MODE_DEACTIVATE

#define BUSMOD_MODE_DEACTIVATE 0

Definition at line 11304 of file SdoDictionary.mh.

## ◆ BUSMOD_PARAM

#define BUSMOD_PARAM | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[BUSMOD_PARAM_INDEX((modno),(parno))]

Bus Module Parameters: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 10813 of file SdoDictionary.mh.

## ◆ BUSMOD_PARAM_INDEX

#define BUSMOD_PARAM_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_BUSMOD_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Bus Module Parameters: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 10801 of file SdoDictionary.mh.

## ◆ BUSMOD_PARAM_MAX

#define BUSMOD_PARAM_MAX 69

Bus Module Parameters: Maximum number of parameters.

Definition at line 10817 of file SdoDictionary.mh.

## ◆ BUSMOD_PARAM_SRCINDEX

#define BUSMOD_PARAM_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_BUSMOD_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

Bus Module Parameters: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 10807 of file SdoDictionary.mh.

## ◆ BUSMOD_PISRC_INPUT1

#define BUSMOD_PISRC_INPUT1 10

Index and subindex of Input value.

Select the input value sources for each TX object (send to bus)

Initial Value
  0

Definition at line 10864 of file SdoDictionary.mh.

## ◆ BUSMOD_PISRC_INPUT2

#define BUSMOD_PISRC_INPUT2 11

Index and subindex of Input value.

Select the input value sources for each TX object (send to bus)

Initial Value
  0

Definition at line 10872 of file SdoDictionary.mh.

## ◆ BUSMOD_PISRC_INPUT3

#define BUSMOD_PISRC_INPUT3 12

Index and subindex of Input value.

Select the input value sources for each TX object (send to bus)

Initial Value
  0

Definition at line 10880 of file SdoDictionary.mh.

## ◆ BUSMOD_PISRC_INPUT4

#define BUSMOD_PISRC_INPUT4 13

Index and subindex of Input value.

Select the input value sources for each TX object (send to bus)

Initial Value
  0

Definition at line 10888 of file SdoDictionary.mh.

## ◆ BUSMOD_PISRC_INPUT5

#define BUSMOD_PISRC_INPUT5 14

Index and subindex of Input value.

Select the input value sources for each TX object (send to bus)

Initial Value
  0

Definition at line 10896 of file SdoDictionary.mh.

## ◆ BUSMOD_PISRC_INPUT6

#define BUSMOD_PISRC_INPUT6 15

Index and subindex of Input value.

Select the input value sources for each TX object (send to bus)

Initial Value
  0

Definition at line 10904 of file SdoDictionary.mh.

## ◆ BUSMOD_PISRC_INPUT7

#define BUSMOD_PISRC_INPUT7 16

Index and subindex of Input value.

Select the input value sources for each TX object (send to bus)

Initial Value
  0

Definition at line 10912 of file SdoDictionary.mh.

## ◆ BUSMOD_PISRC_INPUT8

#define BUSMOD_PISRC_INPUT8 17

Index and subindex of Input value.

Select the input value sources for each TX object (send to bus)

Initial Value
  0

Definition at line 10920 of file SdoDictionary.mh.

## ◆ BUSMOD_PROCESS

#define BUSMOD_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[BUSMOD_PROCESS_INDEX((modno),(parno))]

Bus Module Process Data: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12795 of file SdoDictionary.mh.

## ◆ BUSMOD_PROCESS_INDEX

#define BUSMOD_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_BUSMOD_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Bus Module Process Data: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12783 of file SdoDictionary.mh.

## ◆ BUSMOD_PROCESS_MAX

#define BUSMOD_PROCESS_MAX 39

Bus Module Process Data: Maximum number of parameters.

Definition at line 12799 of file SdoDictionary.mh.

## ◆ BUSMOD_PROCESS_SRCINDEX

#define BUSMOD_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_BUSMOD_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

Bus Module Process Data: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12789 of file SdoDictionary.mh.

## ◆ BUSMOD_RXMAP_POVALUE1

#define BUSMOD_RXMAP_POVALUE1 61

Mapping for RX PDOs (receive from bus)

Mapping for PO_BUSMOD_VALUEn contains
0xUPLLOOOO, where

- U is option (1 Nibble) (0x1 = this is a SIGNED value)
- P is PDO-number (1 Nibble) (1..8)
- LL is length in bytes (1 Byte) (1..4)
- OOOO is offset in bytes (2 Bytes) (0 .. Pdo-length-1) Defines how the PO_BUSMOD_VALUEn is produced out of the incoming RxPdos.
  Initial Value
    0

Definition at line 11202 of file SdoDictionary.mh.

## ◆ BUSMOD_RXMAP_POVALUE2

#define BUSMOD_RXMAP_POVALUE2 62

Mapping for RX PDOs (receive from bus)

Mapping for PO_BUSMOD_VALUEn contains
0xUPLLOOOO, where

- U is option (1 Nibble) (0x1 = this is a SIGNED value)
- P is PDO-number (1 Nibble) (1..8)
- LL is length in bytes (1 Byte) (1..4)
- OOOO is offset in bytes (2 Bytes) (0 .. Pdo-length-1) Defines how the PO_BUSMOD_VALUEn is produced out of the incoming RxPdos.
  Initial Value
    0

Definition at line 11216 of file SdoDictionary.mh.

## ◆ BUSMOD_RXMAP_POVALUE3

#define BUSMOD_RXMAP_POVALUE3 63

Mapping for RX PDOs (receive from bus)

Mapping for PO_BUSMOD_VALUEn contains
0xUPLLOOOO, where

- U is option (1 Nibble) (0x1 = this is a SIGNED value)
- P is PDO-number (1 Nibble) (1..8)
- LL is length in bytes (1 Byte) (1..4)
- OOOO is offset in bytes (2 Bytes) (0 .. Pdo-length-1) Defines how the PO_BUSMOD_VALUEn is produced out of the incoming RxPdos.
  Initial Value
    0

Definition at line 11230 of file SdoDictionary.mh.

## ◆ BUSMOD_RXMAP_POVALUE4

#define BUSMOD_RXMAP_POVALUE4 64

Mapping for RX PDOs (receive from bus)

Mapping for PO_BUSMOD_VALUEn contains
0xUPLLOOOO, where

- U is option (1 Nibble) (0x1 = this is a SIGNED value)
- P is PDO-number (1 Nibble) (1..8)
- LL is length in bytes (1 Byte) (1..4)
- OOOO is offset in bytes (2 Bytes) (0 .. Pdo-length-1) Defines how the PO_BUSMOD_VALUEn is produced out of the incoming RxPdos.
  Initial Value
    0

Definition at line 11244 of file SdoDictionary.mh.

## ◆ BUSMOD_RXMAP_POVALUE5

#define BUSMOD_RXMAP_POVALUE5 65

Mapping for RX PDOs (receive from bus)

Mapping for PO_BUSMOD_VALUEn contains
0xUPLLOOOO, where

- U is option (1 Nibble) (0x1 = this is a SIGNED value)
- P is PDO-number (1 Nibble) (1..8)
- LL is length in bytes (1 Byte) (1..4)
- OOOO is offset in bytes (2 Bytes) (0 .. Pdo-length-1) Defines how the PO_BUSMOD_VALUEn is produced out of the incoming RxPdos.
  Initial Value
    0

Definition at line 11258 of file SdoDictionary.mh.

## ◆ BUSMOD_RXMAP_POVALUE6

#define BUSMOD_RXMAP_POVALUE6 66

Mapping for RX PDOs (receive from bus)

Mapping for PO_BUSMOD_VALUEn contains
0xUPLLOOOO, where

- U is option (1 Nibble) (0x1 = this is a SIGNED value)
- P is PDO-number (1 Nibble) (1..8)
- LL is length in bytes (1 Byte) (1..4)
- OOOO is offset in bytes (2 Bytes) (0 .. Pdo-length-1) Defines how the PO_BUSMOD_VALUEn is produced out of the incoming RxPdos.
  Initial Value
    0

Definition at line 11272 of file SdoDictionary.mh.

## ◆ BUSMOD_RXMAP_POVALUE7

#define BUSMOD_RXMAP_POVALUE7 67

Mapping for RX PDOs (receive from bus)

Mapping for PO_BUSMOD_VALUEn contains
0xUPLLOOOO, where

- U is option (1 Nibble) (0x1 = this is a SIGNED value)
- P is PDO-number (1 Nibble) (1..8)
- LL is length in bytes (1 Byte) (1..4)
- OOOO is offset in bytes (2 Bytes) (0 .. Pdo-length-1) Defines how the PO_BUSMOD_VALUEn is produced out of the incoming RxPdos.
  Initial Value
    0

Definition at line 11286 of file SdoDictionary.mh.

## ◆ BUSMOD_RXMAP_POVALUE8

#define BUSMOD_RXMAP_POVALUE8 68

Mapping for RX PDOs (receive from bus)

Mapping for PO_BUSMOD_VALUEn contains
0xUPLLOOOO, where

- U is option (1 Nibble) (0x1 = this is a SIGNED value)
- P is PDO-number (1 Nibble) (1..8)
- LL is length in bytes (1 Byte) (1..4)
- OOOO is offset in bytes (2 Bytes) (0 .. Pdo-length-1) Defines how the PO_BUSMOD_VALUEn is produced out of the incoming RxPdos.
  Initial Value
    0

Definition at line 11300 of file SdoDictionary.mh.

## ◆ BUSMOD_RXOFFSET

#define BUSMOD_RXOFFSET 39

Offset of the RX PDO.

Only EtherCAT: This value is the offset of the RX PDO Data within the whole I/O Image of the EtherCAT Master bus. It will be set automatically by the firmware (make sure BUSMOD_ID is set before the module is activated).

Initial Value
  0

Definition at line 11084 of file SdoDictionary.mh.

## ◆ BUSMOD_SYNC

#define BUSMOD_SYNC 33

Sync interval (only for CAN)

0 = No sync n = Every "n" SYNC

Only CAN bus: If this parameter is not 0, a CAN TX object for the SYNC telegram (COBID 0x80) will be created when the module is activated (see BUSMOD_MODE). A SYNC telegram will then be sent on this CAN bus each CANSYNCTIMER milliseconds (see global parameters for CANSYNCTIMER). The TX PDOs will be sent every n'th SYNC telegram. E.g. if CANSYNCTIMER is 2 and BUSMOD_SYNC is 3, then every 2ms a SYNC telegram, and every 6ms a TX PDO for this module will be sent.

Initial Value
  0

Definition at line 11032 of file SdoDictionary.mh.

## ◆ BUSMOD_TXMAP_INPUT1

#define BUSMOD_TXMAP_INPUT1 41

Mapping for TX PDOs (send to bus)

Mapping for each of the BUSMOD_PISRC_INPUTn sources. 0xPPLLOOOO PP: PDO number (1 Byte) (1-8), LL: Length in bytes (1 Byte) (1-4), OOOO: Offset (2 Bytes) (0 to Pdo-length-1) Defines how the input value, which is read by PISRC_INPUTx, is mapped into the defined transmit PDOs.

Initial Value
  0

Definition at line 11097 of file SdoDictionary.mh.

## ◆ BUSMOD_TXMAP_INPUT2

#define BUSMOD_TXMAP_INPUT2 42

Mapping for TX PDOs (send to bus)

Mapping for each of the BUSMOD_PISRC_INPUTn sources. 0xPPLLOOOO PP: PDO number (1 Byte) (1-8), LL: Length in bytes (1 Byte) (1-4), OOOO: Offset (2 Bytes) (0 to Pdo-length-1) Defines how the input value, which is read by PISRC_INPUTx, is mapped into the defined transmit PDOs.

Initial Value
  0

Definition at line 11110 of file SdoDictionary.mh.

## ◆ BUSMOD_TXMAP_INPUT3

#define BUSMOD_TXMAP_INPUT3 43

Mapping for TX PDOs (send to bus)

Mapping for each of the BUSMOD_PISRC_INPUTn sources. 0xPPLLOOOO PP: PDO number (1 Byte) (1-8), LL: Length in bytes (1 Byte) (1-4), OOOO: Offset (2 Bytes) (0 to Pdo-length-1) Defines how the input value, which is read by PISRC_INPUTx, is mapped into the defined transmit PDOs.

Initial Value
  0

Definition at line 11123 of file SdoDictionary.mh.

## ◆ BUSMOD_TXMAP_INPUT4

#define BUSMOD_TXMAP_INPUT4 44

Mapping for TX PDOs (send to bus)

Mapping for each of the BUSMOD_PISRC_INPUTn sources. 0xPPLLOOOO PP: PDO number (1 Byte) (1-8), LL: Length in bytes (1 Byte) (1-4), OOOO: Offset (2 Bytes) (0 to Pdo-length-1) Defines how the input value, which is read by PISRC_INPUTx, is mapped into the defined transmit PDOs.

Initial Value
  0

Definition at line 11136 of file SdoDictionary.mh.

## ◆ BUSMOD_TXMAP_INPUT5

#define BUSMOD_TXMAP_INPUT5 45

Mapping for TX PDOs (send to bus)

Mapping for each of the BUSMOD_PISRC_INPUTn sources. 0xPPLLOOOO PP: PDO number (1 Byte) (1-8), LL: Length in bytes (1 Byte) (1-4), OOOO: Offset (2 Bytes) (0 to Pdo-length-1) Defines how the input value, which is read by PISRC_INPUTx, is mapped into the defined transmit PDOs.

Initial Value
  0

Definition at line 11149 of file SdoDictionary.mh.

## ◆ BUSMOD_TXMAP_INPUT6

#define BUSMOD_TXMAP_INPUT6 46

Mapping for TX PDOs (send to bus)

Mapping for each of the BUSMOD_PISRC_INPUTn sources. 0xPPLLOOOO PP: PDO number (1 Byte) (1-8), LL: Length in bytes (1 Byte) (1-4), OOOO: Offset (2 Bytes) (0 to Pdo-length-1) Defines how the input value, which is read by PISRC_INPUTx, is mapped into the defined transmit PDOs.

Initial Value
  0

Definition at line 11162 of file SdoDictionary.mh.

## ◆ BUSMOD_TXMAP_INPUT7

#define BUSMOD_TXMAP_INPUT7 47

Mapping for TX PDOs (send to bus)

Mapping for each of the BUSMOD_PISRC_INPUTn sources. 0xPPLLOOOO PP: PDO number (1 Byte) (1-8), LL: Length in bytes (1 Byte) (1-4), OOOO: Offset (2 Bytes) (0 to Pdo-length-1) Defines how the input value, which is read by PISRC_INPUTx, is mapped into the defined transmit PDOs.

Initial Value
  0

Definition at line 11175 of file SdoDictionary.mh.

## ◆ BUSMOD_TXMAP_INPUT8

#define BUSMOD_TXMAP_INPUT8 48

Mapping for TX PDOs (send to bus)

Mapping for each of the BUSMOD_PISRC_INPUTn sources. 0xPPLLOOOO PP: PDO number (1 Byte) (1-8), LL: Length in bytes (1 Byte) (1-4), OOOO: Offset (2 Bytes) (0 to Pdo-length-1) Defines how the input value, which is read by PISRC_INPUTx, is mapped into the defined transmit PDOs.

Initial Value
  0

Definition at line 11188 of file SdoDictionary.mh.

## ◆ BUSMOD_TXOFFSET

#define BUSMOD_TXOFFSET 38

Offset of the TX PDO.

Only EtherCAT: This value is the offset of the TX PDO Data within the whole I/O Image of the EtherCAT Master bus. It will be set automatically by the firmware (make sure BUSMOD_ID is set before the module is activated).

Initial Value
  0

Definition at line 11075 of file SdoDictionary.mh.

## ◆ BUSMOD_TYPE

#define BUSMOD_TYPE 2

Parameter preset.

This allows presetting most of the parameters by predefined types. Possible types are (see drivetype). If the source parameters are also to be set, then an axes number must be specified (see BUSMOD_TYPE_AXES) before setting this parameter. Also, automatic presetting for IO modules is possible (type 0 or > 90), but in this case, it is necessary to have already set BUSMOD_ID and BUSMOD_BUSNO since some communication must be done with the module to determine the number of inputs and outputs.

Initial Value
  -1

Definition at line 10848 of file SdoDictionary.mh.

## ◆ BUSMOD_TYPE_AXES

#define BUSMOD_TYPE_AXES 3

Axes number used for source setting.

Defines axes number to be used for source setting in case where parameters are preset by BUSMOD_TYPE above. If axes number is -1, then the source setting is not changed.

Initial Value
  -1

Definition at line 10856 of file SdoDictionary.mh.

## ◆ CANBAUD

#define CANBAUD 2

CAN baud rate.

Value Range
  0-8,0-88

Examples
  CAN_1Ax_EPOS4-Test_csp.mc, CAN_1Ax_EPOS4-Test_cst.mc, CAN_1Ax_EPOS4-Test_csv.mc, CAN_2Ax_EPOS4-Test_csp.mc, CAN_4Ax_MiniMACS6_csp.mc, CAN_4Ax_MiniMACS6_cst.mc, and CAN_4Ax_MiniMACS6_csv.mc.

Definition at line 87 of file SdoDictionary.mh.

## ◆ CANGUARDTIMER

#define CANGUARDTIMER 16

Period of guarding.

Currently not implemented.

Initial Value
  20

Definition at line 140 of file SdoDictionary.mh.

## ◆ CANNR

#define CANNR 1

CAN node ID.

Initial Value
  1

Value Range
  0-127

Definition at line 80 of file SdoDictionary.mh.

## ◆ CANNRFORCE

#define CANNRFORCE 26

Node Id DIP Switch overwrite.

Initial Value
  0

Definition at line 215 of file SdoDictionary.mh.

## ◆ CANSYNCTIMER

#define CANSYNCTIMER 15

Cycle time for sending SYNC telegrams on the CAN bus.

Initial Value
  1

Value Range
  0-MLONG

Units
  ms

Examples
  CAN_1Ax_EPOS4-Test_csp.mc, CAN_1Ax_EPOS4-Test_cst.mc, CAN_1Ax_EPOS4-Test_csv.mc, CAN_4Ax_MiniMACS6_csp.mc, CAN_4Ax_MiniMACS6_cst.mc, and CAN_4Ax_MiniMACS6_csv.mc.

Definition at line 132 of file SdoDictionary.mh.

## ◆ DFLTACC

#define DFLTACC 35

Default acceleration.

Scaled default acceleration (see VELRES, subindex 23).

Initial Value
  50

Definition at line 2626 of file SdoDictionary.mh.

## ◆ DFLTVEL

#define DFLTVEL 34

Default velocity.

Scaled default velocity (see VELRES, subindex 23).

Initial Value
  50

Definition at line 2618 of file SdoDictionary.mh.

## ◆ ECAT_SLAVE_PDO1_1_255

#define ECAT_SLAVE_PDO1_1_255 | ( |  | parno | ) | Sysvar[ECAT_SLAVE_PDO1_1_255_INDEX(parno)]

: Setter

Parameters

  parno | Parameter number

Definition at line 6987 of file SdoDictionary.mh.

## ◆ ECAT_SLAVE_PDO1_1_255_INDEX

#define ECAT_SLAVE_PDO1_1_255_INDEX | ( |  | parno | ) | ((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO1_1_255<<8)) | ((long) (parno)))

: Getter

Parameters

  parno | Parameter number

Definition at line 6977 of file SdoDictionary.mh.

## ◆ ECAT_SLAVE_PDO1_1_255_MAX

#define ECAT_SLAVE_PDO1_1_255_MAX 256

: Maximum number of parameters

Definition at line 6991 of file SdoDictionary.mh.

## ◆ ECAT_SLAVE_PDO1_1_255_SRCINDEX

#define ECAT_SLAVE_PDO1_1_255_SRCINDEX | ( |  | parno | ) | ((SDOINDEX_ECAT_SLAVE_PDO1_1_255<<8) | ((long) (parno)))

: Source Index

Parameters

  parno | Parameter number

Definition at line 6982 of file SdoDictionary.mh.

## ◆ ECAT_SLAVE_PDO1_256_510

#define ECAT_SLAVE_PDO1_256_510 | ( |  | parno | ) | Sysvar[ECAT_SLAVE_PDO1_256_510_INDEX(parno)]

: Setter

Parameters

  parno | Parameter number

Definition at line 7014 of file SdoDictionary.mh.

## ◆ ECAT_SLAVE_PDO1_256_510_INDEX

#define ECAT_SLAVE_PDO1_256_510_INDEX | ( |  | parno | ) | ((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO1_256_510<<8)) | ((long) (parno)))

: Getter

Parameters

  parno | Parameter number

Definition at line 7004 of file SdoDictionary.mh.

## ◆ ECAT_SLAVE_PDO1_256_510_MAX

#define ECAT_SLAVE_PDO1_256_510_MAX 256

: Maximum number of parameters

Definition at line 7018 of file SdoDictionary.mh.

## ◆ ECAT_SLAVE_PDO1_256_510_SRCINDEX

#define ECAT_SLAVE_PDO1_256_510_SRCINDEX | ( |  | parno | ) | ((SDOINDEX_ECAT_SLAVE_PDO1_256_510<<8) | ((long) (parno)))

: Source Index

Parameters

  parno | Parameter number

Definition at line 7009 of file SdoDictionary.mh.

## ◆ ECAT_SLAVE_PDO1_511_765

#define ECAT_SLAVE_PDO1_511_765 | ( |  | parno | ) | Sysvar[ECAT_SLAVE_PDO1_511_765_INDEX(parno)]

: Setter

Parameters

  parno | Parameter number

Definition at line 7041 of file SdoDictionary.mh.

## ◆ ECAT_SLAVE_PDO1_511_765_INDEX

#define ECAT_SLAVE_PDO1_511_765_INDEX | ( |  | parno | ) | ((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO1_511_765<<8)) | ((long) (parno)))

: Getter

Parameters

  parno | Parameter number

Definition at line 7031 of file SdoDictionary.mh.

## ◆ ECAT_SLAVE_PDO1_511_765_MAX

#define ECAT_SLAVE_PDO1_511_765_MAX 256

: Maximum number of parameters

Definition at line 7045 of file SdoDictionary.mh.

## ◆ ECAT_SLAVE_PDO1_511_765_SRCINDEX

#define ECAT_SLAVE_PDO1_511_765_SRCINDEX | ( |  | parno | ) | ((SDOINDEX_ECAT_SLAVE_PDO1_511_765<<8) | ((long) (parno)))

: Source Index

Parameters

  parno | Parameter number

Definition at line 7036 of file SdoDictionary.mh.

## ◆ ECAT_SLAVE_PDO1_766_1020

#define ECAT_SLAVE_PDO1_766_1020 | ( |  | parno | ) | Sysvar[ECAT_SLAVE_PDO1_766_1020_INDEX(parno)]

: Setter

Parameters

  parno | Parameter number

Definition at line 7068 of file SdoDictionary.mh.

## ◆ ECAT_SLAVE_PDO1_766_1020_INDEX

#define ECAT_SLAVE_PDO1_766_1020_INDEX | ( |  | parno | ) | ((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO1_766_1020<<8)) | ((long) (parno)))

: Getter

Parameters

  parno | Parameter number

Definition at line 7058 of file SdoDictionary.mh.

## ◆ ECAT_SLAVE_PDO1_766_1020_MAX

#define ECAT_SLAVE_PDO1_766_1020_MAX 256

: Maximum number of parameters

Definition at line 7072 of file SdoDictionary.mh.

## ◆ ECAT_SLAVE_PDO1_766_1020_SRCINDEX

#define ECAT_SLAVE_PDO1_766_1020_SRCINDEX | ( |  | parno | ) | ((SDOINDEX_ECAT_SLAVE_PDO1_766_1020<<8) | ((long) (parno)))

: Source Index

Parameters

  parno | Parameter number

Definition at line 7063 of file SdoDictionary.mh.

## ◆ ECAT_SLAVE_PDO2_1_255

#define ECAT_SLAVE_PDO2_1_255 | ( |  | parno | ) | Sysvar[ECAT_SLAVE_PDO2_1_255_INDEX(parno)]

: Setter

Parameters

  parno | Parameter number

Definition at line 7095 of file SdoDictionary.mh.

## ◆ ECAT_SLAVE_PDO2_1_255_INDEX

#define ECAT_SLAVE_PDO2_1_255_INDEX | ( |  | parno | ) | ((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO2_1_255<<8)) | ((long) (parno)))

: Getter

Parameters

  parno | Parameter number

Definition at line 7085 of file SdoDictionary.mh.

## ◆ ECAT_SLAVE_PDO2_1_255_MAX

#define ECAT_SLAVE_PDO2_1_255_MAX 256

: Maximum number of parameters

Definition at line 7099 of file SdoDictionary.mh.

## ◆ ECAT_SLAVE_PDO2_1_255_SRCINDEX

#define ECAT_SLAVE_PDO2_1_255_SRCINDEX | ( |  | parno | ) | ((SDOINDEX_ECAT_SLAVE_PDO2_1_255<<8) | ((long) (parno)))

: Source Index

Parameters

  parno | Parameter number

Definition at line 7090 of file SdoDictionary.mh.

## ◆ ECAT_SLAVE_PDO2_256_510

#define ECAT_SLAVE_PDO2_256_510 | ( |  | parno | ) | Sysvar[ECAT_SLAVE_PDO2_256_510_INDEX(parno)]

: Setter

Parameters

  parno | Parameter number

Definition at line 7122 of file SdoDictionary.mh.

## ◆ ECAT_SLAVE_PDO2_256_510_INDEX

#define ECAT_SLAVE_PDO2_256_510_INDEX | ( |  | parno | ) | ((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO2_256_510<<8)) | ((long) (parno)))

: Getter

Parameters

  parno | Parameter number

Definition at line 7112 of file SdoDictionary.mh.

## ◆ ECAT_SLAVE_PDO2_256_510_MAX

#define ECAT_SLAVE_PDO2_256_510_MAX 256

: Maximum number of parameters

Definition at line 7126 of file SdoDictionary.mh.

## ◆ ECAT_SLAVE_PDO2_256_510_SRCINDEX

#define ECAT_SLAVE_PDO2_256_510_SRCINDEX | ( |  | parno | ) | ((SDOINDEX_ECAT_SLAVE_PDO2_256_510<<8) | ((long) (parno)))

: Source Index

Parameters

  parno | Parameter number

Definition at line 7117 of file SdoDictionary.mh.

## ◆ ECAT_SLAVE_PDO2_511_765

#define ECAT_SLAVE_PDO2_511_765 | ( |  | parno | ) | Sysvar[ECAT_SLAVE_PDO2_511_765_INDEX(parno)]

: Setter

Parameters

  parno | Parameter number

Definition at line 7149 of file SdoDictionary.mh.

## ◆ ECAT_SLAVE_PDO2_511_765_INDEX

#define ECAT_SLAVE_PDO2_511_765_INDEX | ( |  | parno | ) | ((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO2_511_765<<8)) | ((long) (parno)))

: Getter

Parameters

  parno | Parameter number

Definition at line 7139 of file SdoDictionary.mh.

## ◆ ECAT_SLAVE_PDO2_511_765_MAX

#define ECAT_SLAVE_PDO2_511_765_MAX 256

: Maximum number of parameters

Definition at line 7153 of file SdoDictionary.mh.

## ◆ ECAT_SLAVE_PDO2_511_765_SRCINDEX

#define ECAT_SLAVE_PDO2_511_765_SRCINDEX | ( |  | parno | ) | ((SDOINDEX_ECAT_SLAVE_PDO2_511_765<<8) | ((long) (parno)))

: Source Index

Parameters

  parno | Parameter number

Definition at line 7144 of file SdoDictionary.mh.

## ◆ ECAT_SLAVE_PDO2_766_1020

#define ECAT_SLAVE_PDO2_766_1020 | ( |  | parno | ) | Sysvar[ECAT_SLAVE_PDO2_766_1020_INDEX(parno)]

: Setter

Parameters

  parno | Parameter number

Definition at line 7176 of file SdoDictionary.mh.

## ◆ ECAT_SLAVE_PDO2_766_1020_INDEX

#define ECAT_SLAVE_PDO2_766_1020_INDEX | ( |  | parno | ) | ((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO2_766_1020<<8)) | ((long) (parno)))

: Getter

Parameters

  parno | Parameter number

Definition at line 7166 of file SdoDictionary.mh.

## ◆ ECAT_SLAVE_PDO2_766_1020_MAX

#define ECAT_SLAVE_PDO2_766_1020_MAX 256

: Maximum number of parameters

Definition at line 7180 of file SdoDictionary.mh.

## ◆ ECAT_SLAVE_PDO2_766_1020_SRCINDEX

#define ECAT_SLAVE_PDO2_766_1020_SRCINDEX | ( |  | parno | ) | ((SDOINDEX_ECAT_SLAVE_PDO2_766_1020<<8) | ((long) (parno)))

: Source Index

Parameters

  parno | Parameter number

Definition at line 7171 of file SdoDictionary.mh.

## ◆ ERRCOND

#define ERRCOND 44

Behavior in event of an error.

Initial Value
  0

Value Range
  0-5

Definition at line 2702 of file SdoDictionary.mh.

## ◆ ESCCOND

#define ESCCOND 71

Condition on program termination.

A programme is ended by reaching the end of the programme or by pressing Esc.

Initial Value
  1

Value Range
  0,1

Definition at line 2925 of file SdoDictionary.mh.

## ◆ ESCCONDGLB

#define ESCCONDGLB 23

ESC Behaviour global.

Defines how the controller reacts when the programme is terminated. A programme is ended by reaching the end of the programme or by pressing Esc. 0: Nothing 1: Set all outputs to 0 2: Set all outputs to 1 This action will be executed after the actions of ESCCOND (ax-specific) have been executed.

Initial Value
  0

Value Range
  0,1,2

Examples
  PWM_1Ax_ESCON.mc.

Definition at line 194 of file SdoDictionary.mh.

## ◆ FEEDDIST

#define FEEDDIST 113

Feed distance.

Distance travelled (in user units) in FEEDREV revolutions of the gear box output shaft. FEEDDIST/FEEDREV defines the feed distance of the axis mechanics per revolution of the gear box output shaft (uu/rev).

Initial Value
  2000

Value Range
  1-MLONG

Units
  uu

Examples
  DeltaRobot_No_SM_EPOS4_ECAT.mc.

Definition at line 3011 of file SdoDictionary.mh.

## ◆ FEEDREV

#define FEEDREV 114

Feed revolutions.

Number of revolutions of the gear box output shaft. FEEDDIST/FEEDREV defines the feed distance of the axis mechanics per revolution of the gear box output shaft (uu/rev).

Initial Value
  1

Value Range
  1-MLONG

Examples
  DeltaRobot_No_SM_EPOS4_ECAT.mc.

Definition at line 3022 of file SdoDictionary.mh.

## ◆ FFVEL

#define FFVEL 37

Velocity Feed forward.

Initial Value
  0

Value Range
  0-100000

Definition at line 2644 of file SdoDictionary.mh.

## ◆ FPGA_PARAM

#define FPGA_PARAM | ( |  | parno | ) | Sysvar[FPGA_PARAM_INDEX(parno)]

Write custom specific parameters: Setter.

Parameters

  parno | Parameter number

Definition at line 1707 of file SdoDictionary.mh.

## ◆ FPGA_PARAM_INDEX

#define FPGA_PARAM_INDEX | ( |  | parno | ) | ((0x01000000 | (SDOINDEX_FPGA_PARAM<<8)) | ((long) (parno)))

Write custom specific parameters: Getter.

Parameters

  parno | Parameter number

Definition at line 1697 of file SdoDictionary.mh.

## ◆ FPGA_PARAM_MAX

#define FPGA_PARAM_MAX 256

Write custom specific parameters: Maximum number of parameters.

Definition at line 1711 of file SdoDictionary.mh.

## ◆ FPGA_PARAM_SRCINDEX

#define FPGA_PARAM_SRCINDEX | ( |  | parno | ) | ((SDOINDEX_FPGA_PARAM<<8) | ((long) (parno)))

Write custom specific parameters: Source Index.

Parameters

  parno | Parameter number

Definition at line 1702 of file SdoDictionary.mh.

## ◆ FPGA_REG

#define FPGA_REG | ( |  | parno | ) | Sysvar[FPGA_REG_INDEX(parno)]

Read or write FPGA register: Setter.

Parameters

  parno | Parameter number

Definition at line 1595 of file SdoDictionary.mh.

## ◆ FPGA_REG_INDEX

#define FPGA_REG_INDEX | ( |  | parno | ) | ((0x01000000 | (SDOINDEX_FPGA_REG<<8)) | ((long) (parno)))

Read or write FPGA register: Getter.

Parameters

  parno | Parameter number

Definition at line 1585 of file SdoDictionary.mh.

## ◆ FPGA_REG_MAX

#define FPGA_REG_MAX 256

Read or write FPGA register: Maximum number of parameters.

Definition at line 1599 of file SdoDictionary.mh.

## ◆ FPGA_REG_SRCINDEX

#define FPGA_REG_SRCINDEX | ( |  | parno | ) | ((SDOINDEX_FPGA_REG<<8) | ((long) (parno)))

Read or write FPGA register: Source Index.

Parameters

  parno | Parameter number

Definition at line 1590 of file SdoDictionary.mh.

## ◆ FPGA_USRREG

#define FPGA_USRREG | ( |  | parno | ) | Sysvar[FPGA_USRREG_INDEX(parno)]

Address for the page number: Setter.

Parameters

  parno | Parameter number

Definition at line 1989 of file SdoDictionary.mh.

## ◆ FPGA_USRREG_INDEX

#define FPGA_USRREG_INDEX | ( |  | parno | ) | ((0x01000000 | (SDOINDEX_FPGA_USRREG<<8)) | ((long) (parno)))

Address for the page number: Getter.

Parameters

  parno | Parameter number

Definition at line 1979 of file SdoDictionary.mh.

## ◆ FPGA_USRREG_MAX

#define FPGA_USRREG_MAX 2

Address for the page number: Maximum number of parameters.

Definition at line 1993 of file SdoDictionary.mh.

## ◆ FPGA_USRREG_SRCINDEX

#define FPGA_USRREG_SRCINDEX | ( |  | parno | ) | ((SDOINDEX_FPGA_USRREG<<8) | ((long) (parno)))

Address for the page number: Source Index.

Parameters

  parno | Parameter number

Definition at line 1984 of file SdoDictionary.mh.

## ◆ FPGAPAR_ABR_QDZ_POLARITY_REG

#define FPGAPAR_ABR_QDZ_POLARITY_REG 6

Definition at line 1721 of file SdoDictionary.mh.

## ◆ FPGAPAR_CMP1_CNFG_REG

#define FPGAPAR_CMP1_CNFG_REG 50

Definition at line 1809 of file SdoDictionary.mh.

## ◆ FPGAPAR_CMP1_LOWERLEV_HIGHWORD

#define FPGAPAR_CMP1_LOWERLEV_HIGHWORD 54

Definition at line 1817 of file SdoDictionary.mh.

## ◆ FPGAPAR_CMP1_LOWERLEV_LOWWORD

#define FPGAPAR_CMP1_LOWERLEV_LOWWORD 53

Definition at line 1815 of file SdoDictionary.mh.

## ◆ FPGAPAR_CMP1_UPPERLEV_HIGHWORD

#define FPGAPAR_CMP1_UPPERLEV_HIGHWORD 52

Definition at line 1813 of file SdoDictionary.mh.

## ◆ FPGAPAR_CMP1_UPPERLEV_LOWWORD

#define FPGAPAR_CMP1_UPPERLEV_LOWWORD 51

Definition at line 1811 of file SdoDictionary.mh.

## ◆ FPGAPAR_CMP2_CNFG_REG

#define FPGAPAR_CMP2_CNFG_REG 56

Definition at line 1821 of file SdoDictionary.mh.

## ◆ FPGAPAR_CMP2_LOWERLEV_HIGHWORD

#define FPGAPAR_CMP2_LOWERLEV_HIGHWORD 60

Definition at line 1829 of file SdoDictionary.mh.

## ◆ FPGAPAR_CMP2_LOWERLEV_LOWWORD

#define FPGAPAR_CMP2_LOWERLEV_LOWWORD 59

Definition at line 1827 of file SdoDictionary.mh.

## ◆ FPGAPAR_CMP2_UPPERLEV_HIGHWORD

#define FPGAPAR_CMP2_UPPERLEV_HIGHWORD 58

Definition at line 1825 of file SdoDictionary.mh.

## ◆ FPGAPAR_CMP2_UPPERLEV_LOWWORD

#define FPGAPAR_CMP2_UPPERLEV_LOWWORD 57

Definition at line 1823 of file SdoDictionary.mh.

## ◆ FPGAPAR_CMP3_CNFG_REG

#define FPGAPAR_CMP3_CNFG_REG 62

Definition at line 1833 of file SdoDictionary.mh.

## ◆ FPGAPAR_CMP3_LOWERLEV_HIGHWORD

#define FPGAPAR_CMP3_LOWERLEV_HIGHWORD 66

Definition at line 1841 of file SdoDictionary.mh.

## ◆ FPGAPAR_CMP3_LOWERLEV_LOWWORD

#define FPGAPAR_CMP3_LOWERLEV_LOWWORD 65

Definition at line 1839 of file SdoDictionary.mh.

## ◆ FPGAPAR_CMP3_UPPERLEV_HIGHWORD

#define FPGAPAR_CMP3_UPPERLEV_HIGHWORD 64

Definition at line 1837 of file SdoDictionary.mh.

## ◆ FPGAPAR_CMP3_UPPERLEV_LOWWORD

#define FPGAPAR_CMP3_UPPERLEV_LOWWORD 63

Definition at line 1835 of file SdoDictionary.mh.

## ◆ FPGAPAR_CMP4_CNFG_REG

#define FPGAPAR_CMP4_CNFG_REG 68

Definition at line 1845 of file SdoDictionary.mh.

## ◆ FPGAPAR_CMP4_LOWERLEV_HIGHWORD

#define FPGAPAR_CMP4_LOWERLEV_HIGHWORD 72

Definition at line 1853 of file SdoDictionary.mh.

## ◆ FPGAPAR_CMP4_LOWERLEV_LOWWORD

#define FPGAPAR_CMP4_LOWERLEV_LOWWORD 71

Definition at line 1851 of file SdoDictionary.mh.

## ◆ FPGAPAR_CMP4_UPPERLEV_HIGHWORD

#define FPGAPAR_CMP4_UPPERLEV_HIGHWORD 70

Definition at line 1849 of file SdoDictionary.mh.

## ◆ FPGAPAR_CMP4_UPPERLEV_LOWWORD

#define FPGAPAR_CMP4_UPPERLEV_LOWWORD 69

Definition at line 1847 of file SdoDictionary.mh.

## ◆ FPGAPAR_DDS1_Z_PULSE_RATIO

#define FPGAPAR_DDS1_Z_PULSE_RATIO 86

Definition at line 1881 of file SdoDictionary.mh.

## ◆ FPGAPAR_DDS1INPUTSELREG

#define FPGAPAR_DDS1INPUTSELREG 81

Definition at line 1871 of file SdoDictionary.mh.

## ◆ FPGAPAR_DDS1NREG0

#define FPGAPAR_DDS1NREG0 84

Definition at line 1877 of file SdoDictionary.mh.

## ◆ FPGAPAR_DDS1NREG1

#define FPGAPAR_DDS1NREG1 85

Definition at line 1879 of file SdoDictionary.mh.

## ◆ FPGAPAR_DDS1ZREG0

#define FPGAPAR_DDS1ZREG0 82

Definition at line 1873 of file SdoDictionary.mh.

## ◆ FPGAPAR_DDS1ZREG1

#define FPGAPAR_DDS1ZREG1 83

Definition at line 1875 of file SdoDictionary.mh.

## ◆ FPGAPAR_DDS2_Z_PULSE_RATIO

#define FPGAPAR_DDS2_Z_PULSE_RATIO 92

Definition at line 1893 of file SdoDictionary.mh.

## ◆ FPGAPAR_DDS2INPUTSELREG

#define FPGAPAR_DDS2INPUTSELREG 87

Definition at line 1883 of file SdoDictionary.mh.

## ◆ FPGAPAR_DDS2NREG0

#define FPGAPAR_DDS2NREG0 90

Definition at line 1889 of file SdoDictionary.mh.

## ◆ FPGAPAR_DDS2NREG1

#define FPGAPAR_DDS2NREG1 91

Definition at line 1891 of file SdoDictionary.mh.

## ◆ FPGAPAR_DDS2ZREG0

#define FPGAPAR_DDS2ZREG0 88

Definition at line 1885 of file SdoDictionary.mh.

## ◆ FPGAPAR_DDS2ZREG1

#define FPGAPAR_DDS2ZREG1 89

Definition at line 1887 of file SdoDictionary.mh.

## ◆ FPGAPAR_DGX1_3_GLITCHFLTREG

#define FPGAPAR_DGX1_3_GLITCHFLTREG 7

Definition at line 1723 of file SdoDictionary.mh.

## ◆ FPGAPAR_DGX4_6_GLITCHFLTREG

#define FPGAPAR_DGX4_6_GLITCHFLTREG 8

Definition at line 1725 of file SdoDictionary.mh.

## ◆ FPGAPAR_DIN13_15_FILTCNFG

#define FPGAPAR_DIN13_15_FILTCNFG 102

Definition at line 1913 of file SdoDictionary.mh.

## ◆ FPGAPAR_DIN1_4_FILTCNFG

#define FPGAPAR_DIN1_4_FILTCNFG 99

Definition at line 1907 of file SdoDictionary.mh.

## ◆ FPGAPAR_DIN5_8_FILTCNFG

#define FPGAPAR_DIN5_8_FILTCNFG 100

Definition at line 1909 of file SdoDictionary.mh.

## ◆ FPGAPAR_DIN9_12_FILTCNFG

#define FPGAPAR_DIN9_12_FILTCNFG 101

Definition at line 1911 of file SdoDictionary.mh.

## ◆ FPGAPAR_DIN_POLREG

#define FPGAPAR_DIN_POLREG 98

Definition at line 1905 of file SdoDictionary.mh.

## ◆ FPGAPAR_DOUT1_2CNFGREG

#define FPGAPAR_DOUT1_2CNFGREG 104

Definition at line 1917 of file SdoDictionary.mh.

## ◆ FPGAPAR_DOUT3_4CNFGREG

#define FPGAPAR_DOUT3_4CNFGREG 105

Definition at line 1919 of file SdoDictionary.mh.

## ◆ FPGAPAR_DOUT9_16CNFGREG

#define FPGAPAR_DOUT9_16CNFGREG 103

Definition at line 1915 of file SdoDictionary.mh.

## ◆ FPGAPAR_ENC1_3_MODEREG

#define FPGAPAR_ENC1_3_MODEREG 5

Definition at line 1719 of file SdoDictionary.mh.

## ◆ FPGAPAR_ENC4PORTMODEREG

#define FPGAPAR_ENC4PORTMODEREG 107

Definition at line 1923 of file SdoDictionary.mh.

## ◆ FPGAPAR_ENC5PORTMODEREG

#define FPGAPAR_ENC5PORTMODEREG 108

Definition at line 1925 of file SdoDictionary.mh.

## ◆ FPGAPAR_ENC6PORTMODEREG

#define FPGAPAR_ENC6PORTMODEREG 109

Definition at line 1927 of file SdoDictionary.mh.

## ◆ FPGAPAR_ENC_REF_BRIDGE_CNFGREG

#define FPGAPAR_ENC_REF_BRIDGE_CNFGREG 4

Definition at line 1717 of file SdoDictionary.mh.

## ◆ FPGAPAR_POSCNT_1_CNFGREG

#define FPGAPAR_POSCNT_1_CNFGREG 10

Definition at line 1729 of file SdoDictionary.mh.

## ◆ FPGAPAR_POSCNT_2_CNFGREG

#define FPGAPAR_POSCNT_2_CNFGREG 11

Definition at line 1731 of file SdoDictionary.mh.

## ◆ FPGAPAR_POSCNT_3_CNFGREG

#define FPGAPAR_POSCNT_3_CNFGREG 12

Definition at line 1733 of file SdoDictionary.mh.

## ◆ FPGAPAR_POSCNT_4_CNFGREG

#define FPGAPAR_POSCNT_4_CNFGREG 13

Definition at line 1735 of file SdoDictionary.mh.

## ◆ FPGAPAR_POSCNT_5_CNFGREG

#define FPGAPAR_POSCNT_5_CNFGREG 14

Definition at line 1737 of file SdoDictionary.mh.

## ◆ FPGAPAR_POSCNT_6_CNFGREG

#define FPGAPAR_POSCNT_6_CNFGREG 15

Definition at line 1739 of file SdoDictionary.mh.

## ◆ FPGAPAR_POSLATCH_1_CNFGREG

#define FPGAPAR_POSLATCH_1_CNFGREG 17

Definition at line 1743 of file SdoDictionary.mh.

## ◆ FPGAPAR_POSLATCH_2_CNFGREG

#define FPGAPAR_POSLATCH_2_CNFGREG 18

Definition at line 1745 of file SdoDictionary.mh.

## ◆ FPGAPAR_POSLATCH_3_CNFGREG

#define FPGAPAR_POSLATCH_3_CNFGREG 19

Definition at line 1747 of file SdoDictionary.mh.

## ◆ FPGAPAR_POSLATCH_4_CNFGREG

#define FPGAPAR_POSLATCH_4_CNFGREG 20

Definition at line 1749 of file SdoDictionary.mh.

## ◆ FPGAPAR_POSLATCH_5_CNFGREG

#define FPGAPAR_POSLATCH_5_CNFGREG 21

Definition at line 1751 of file SdoDictionary.mh.

## ◆ FPGAPAR_POSLATCH_6_CNFGREG

#define FPGAPAR_POSLATCH_6_CNFGREG 22

Definition at line 1753 of file SdoDictionary.mh.

## ◆ FPGAPAR_PULSE_CNFGREG

#define FPGAPAR_PULSE_CNFGREG 94

Definition at line 1897 of file SdoDictionary.mh.

## ◆ FPGAPAR_PULSE_DELAYREG

#define FPGAPAR_PULSE_DELAYREG 95

Definition at line 1899 of file SdoDictionary.mh.

## ◆ FPGAPAR_PULSE_LENGTHREG

#define FPGAPAR_PULSE_LENGTHREG 96

Definition at line 1901 of file SdoDictionary.mh.

## ◆ FPGAPAR_REF_ENC_BRIDGE1_CNFGREG

#define FPGAPAR_REF_ENC_BRIDGE1_CNFGREG 2

Definition at line 1713 of file SdoDictionary.mh.

## ◆ FPGAPAR_REF_ENC_BRIDGE2_CNFGREG

#define FPGAPAR_REF_ENC_BRIDGE2_CNFGREG 3

Definition at line 1715 of file SdoDictionary.mh.

## ◆ FPGAPAR_REFVEC16_31_F2DIRQMASK

#define FPGAPAR_REFVEC16_31_F2DIRQMASK 114

Definition at line 1937 of file SdoDictionary.mh.

## ◆ FPGAPAR_REFVEC16_31_MODEREG

#define FPGAPAR_REFVEC16_31_MODEREG 122

Definition at line 1953 of file SdoDictionary.mh.

## ◆ FPGAPAR_REFVEC16_31_SLOPEREG

#define FPGAPAR_REFVEC16_31_SLOPEREG 126

Definition at line 1961 of file SdoDictionary.mh.

## ◆ FPGAPAR_REFVEC16_31_SOCIRQMASK

#define FPGAPAR_REFVEC16_31_SOCIRQMASK 118

Definition at line 1945 of file SdoDictionary.mh.

## ◆ FPGAPAR_REFVEC32_47_F2DIRQMASK

#define FPGAPAR_REFVEC32_47_F2DIRQMASK 115

Definition at line 1939 of file SdoDictionary.mh.

## ◆ FPGAPAR_REFVEC32_47_MODEREG

#define FPGAPAR_REFVEC32_47_MODEREG 123

Definition at line 1955 of file SdoDictionary.mh.

## ◆ FPGAPAR_REFVEC32_47_SLOPEREG

#define FPGAPAR_REFVEC32_47_SLOPEREG 127

Definition at line 1963 of file SdoDictionary.mh.

## ◆ FPGAPAR_REFVEC32_47_SOCIRQMASK

#define FPGAPAR_REFVEC32_47_SOCIRQMASK 119

Definition at line 1947 of file SdoDictionary.mh.

## ◆ FPGAPAR_REFVEC48_63_F2DIRQMASK

#define FPGAPAR_REFVEC48_63_F2DIRQMASK 116

Definition at line 1941 of file SdoDictionary.mh.

## ◆ FPGAPAR_REFVEC48_63_MODEREG

#define FPGAPAR_REFVEC48_63_MODEREG 124

Definition at line 1957 of file SdoDictionary.mh.

## ◆ FPGAPAR_REFVEC48_63_SLOPEREG

#define FPGAPAR_REFVEC48_63_SLOPEREG 128

Definition at line 1965 of file SdoDictionary.mh.

## ◆ FPGAPAR_REFVEC48_63_SOCIRQMASK

#define FPGAPAR_REFVEC48_63_SOCIRQMASK 120

Definition at line 1949 of file SdoDictionary.mh.

## ◆ FPGAPAR_REFVEC_0_15_F2DIRQMASK

#define FPGAPAR_REFVEC_0_15_F2DIRQMASK 113

Definition at line 1935 of file SdoDictionary.mh.

## ◆ FPGAPAR_REFVEC_0_15_MODEREG

#define FPGAPAR_REFVEC_0_15_MODEREG 121

Definition at line 1951 of file SdoDictionary.mh.

## ◆ FPGAPAR_REFVEC_0_15_SLOPEREG

#define FPGAPAR_REFVEC_0_15_SLOPEREG 125

Definition at line 1959 of file SdoDictionary.mh.

## ◆ FPGAPAR_REFVEC_0_15_SOCIRQMASK

#define FPGAPAR_REFVEC_0_15_SOCIRQMASK 117

Definition at line 1943 of file SdoDictionary.mh.

## ◆ FPGAPAR_Reserve109

#define FPGAPAR_Reserve109 110

Definition at line 1929 of file SdoDictionary.mh.

## ◆ FPGAPAR_Reserve110

#define FPGAPAR_Reserve110 111

Definition at line 1931 of file SdoDictionary.mh.

## ◆ FPGAPAR_Reserve111

#define FPGAPAR_Reserve111 112

Definition at line 1933 of file SdoDictionary.mh.

## ◆ FPGAPAR_Reserve15

#define FPGAPAR_Reserve15 16

Definition at line 1741 of file SdoDictionary.mh.

## ◆ FPGAPAR_Reserve22

#define FPGAPAR_Reserve22 23

Definition at line 1755 of file SdoDictionary.mh.

## ◆ FPGAPAR_Reserve23

#define FPGAPAR_Reserve23 24

Definition at line 1757 of file SdoDictionary.mh.

## ◆ FPGAPAR_Reserve24

#define FPGAPAR_Reserve24 25

Definition at line 1759 of file SdoDictionary.mh.

## ◆ FPGAPAR_Reserve29

#define FPGAPAR_Reserve29 30

Definition at line 1769 of file SdoDictionary.mh.

## ◆ FPGAPAR_Reserve34

#define FPGAPAR_Reserve34 35

Definition at line 1779 of file SdoDictionary.mh.

## ◆ FPGAPAR_Reserve39

#define FPGAPAR_Reserve39 40

Definition at line 1789 of file SdoDictionary.mh.

## ◆ FPGAPAR_Reserve45

#define FPGAPAR_Reserve45 46

Definition at line 1801 of file SdoDictionary.mh.

## ◆ FPGAPAR_Reserve46

#define FPGAPAR_Reserve46 47

Definition at line 1803 of file SdoDictionary.mh.

## ◆ FPGAPAR_Reserve47

#define FPGAPAR_Reserve47 48

Definition at line 1805 of file SdoDictionary.mh.

## ◆ FPGAPAR_Reserve48

#define FPGAPAR_Reserve48 49

Definition at line 1807 of file SdoDictionary.mh.

## ◆ FPGAPAR_Reserve54

#define FPGAPAR_Reserve54 55

Definition at line 1819 of file SdoDictionary.mh.

## ◆ FPGAPAR_Reserve60

#define FPGAPAR_Reserve60 61

Definition at line 1831 of file SdoDictionary.mh.

## ◆ FPGAPAR_Reserve66

#define FPGAPAR_Reserve66 67

Definition at line 1843 of file SdoDictionary.mh.

## ◆ FPGAPAR_Reserve72

#define FPGAPAR_Reserve72 73

Definition at line 1855 of file SdoDictionary.mh.

## ◆ FPGAPAR_Reserve79

#define FPGAPAR_Reserve79 80

Definition at line 1869 of file SdoDictionary.mh.

## ◆ FPGAPAR_Reserve92

#define FPGAPAR_Reserve92 93

Definition at line 1895 of file SdoDictionary.mh.

## ◆ FPGAPAR_Reserve96

#define FPGAPAR_Reserve96 97

Definition at line 1903 of file SdoDictionary.mh.

## ◆ FPGAPAR_ROT_SENSE_REG

#define FPGAPAR_ROT_SENSE_REG 9

Definition at line 1727 of file SdoDictionary.mh.

## ◆ FPGAPAR_RS232_CNFGREG

#define FPGAPAR_RS232_CNFGREG 106

Definition at line 1921 of file SdoDictionary.mh.

## ◆ FPGAPAR_SSI1CLKREG

#define FPGAPAR_SSI1CLKREG 74

Definition at line 1857 of file SdoDictionary.mh.

## ◆ FPGAPAR_SSI1DELMODEREG

#define FPGAPAR_SSI1DELMODEREG 75

Definition at line 1859 of file SdoDictionary.mh.

## ◆ FPGAPAR_SSI2CLKREG

#define FPGAPAR_SSI2CLKREG 76

Definition at line 1861 of file SdoDictionary.mh.

## ◆ FPGAPAR_SSI2DELMODEREG

#define FPGAPAR_SSI2DELMODEREG 77

Definition at line 1863 of file SdoDictionary.mh.

## ◆ FPGAPAR_SSI3CLKREG

#define FPGAPAR_SSI3CLKREG 78

Definition at line 1865 of file SdoDictionary.mh.

## ◆ FPGAPAR_SSI3DELMODEREG

#define FPGAPAR_SSI3DELMODEREG 79

Definition at line 1867 of file SdoDictionary.mh.

## ◆ FPGAPAR_U32CNT1_CNFGREG

#define FPGAPAR_U32CNT1_CNFGREG 42

Definition at line 1793 of file SdoDictionary.mh.

## ◆ FPGAPAR_U32CNT2_CNFGREG

#define FPGAPAR_U32CNT2_CNFGREG 43

Definition at line 1795 of file SdoDictionary.mh.

## ◆ FPGAPAR_U32CNT3_CNFGREG

#define FPGAPAR_U32CNT3_CNFGREG 44

Definition at line 1797 of file SdoDictionary.mh.

## ◆ FPGAPAR_U32CNT4_CNFGREG

#define FPGAPAR_U32CNT4_CNFGREG 45

Definition at line 1799 of file SdoDictionary.mh.

## ◆ FPGAPAR_U32CNT_MODEREG

#define FPGAPAR_U32CNT_MODEREG 41

Definition at line 1791 of file SdoDictionary.mh.

## ◆ FPGAPAR_VM1_CNFGREG

#define FPGAPAR_VM1_CNFGREG 26

Definition at line 1761 of file SdoDictionary.mh.

## ◆ FPGAPAR_VM1_FREQ0REG

#define FPGAPAR_VM1_FREQ0REG 27

Definition at line 1763 of file SdoDictionary.mh.

## ◆ FPGAPAR_VM1_FREQ1REG

#define FPGAPAR_VM1_FREQ1REG 28

Definition at line 1765 of file SdoDictionary.mh.

## ◆ FPGAPAR_VM1_ZPULSE_RATIO

#define FPGAPAR_VM1_ZPULSE_RATIO 29

Definition at line 1767 of file SdoDictionary.mh.

## ◆ FPGAPAR_VM2_CNFGREG

#define FPGAPAR_VM2_CNFGREG 31

Definition at line 1771 of file SdoDictionary.mh.

## ◆ FPGAPAR_VM2_FREQ0REG

#define FPGAPAR_VM2_FREQ0REG 32

Definition at line 1773 of file SdoDictionary.mh.

## ◆ FPGAPAR_VM2_FREQ1REG

#define FPGAPAR_VM2_FREQ1REG 33

Definition at line 1775 of file SdoDictionary.mh.

## ◆ FPGAPAR_VM2_ZPULSE_RATIO

#define FPGAPAR_VM2_ZPULSE_RATIO 34

Definition at line 1777 of file SdoDictionary.mh.

## ◆ FPGAPAR_VM3_CNFGREG

#define FPGAPAR_VM3_CNFGREG 36

Definition at line 1781 of file SdoDictionary.mh.

## ◆ FPGAPAR_VM3_FREQ0REG

#define FPGAPAR_VM3_FREQ0REG 37

Definition at line 1783 of file SdoDictionary.mh.

## ◆ FPGAPAR_VM3_FREQ1REG

#define FPGAPAR_VM3_FREQ1REG 38

Definition at line 1785 of file SdoDictionary.mh.

## ◆ FPGAPAR_VM3_ZPULSE_RATIO

#define FPGAPAR_VM3_ZPULSE_RATIO 39

Definition at line 1787 of file SdoDictionary.mh.

## ◆ FPGAREG_CLEAROVFL

#define FPGAREG_CLEAROVFL 2

Definition at line 1603 of file SdoDictionary.mh.

## ◆ FPGAREG_DIN

#define FPGAREG_DIN 37

Definition at line 1673 of file SdoDictionary.mh.

## ◆ FPGAREG_DOUT

#define FPGAREG_DOUT 38

Definition at line 1675 of file SdoDictionary.mh.

## ◆ FPGAREG_ENC1QUADCNT

#define FPGAREG_ENC1QUADCNT 16

Definition at line 1631 of file SdoDictionary.mh.

## ◆ FPGAREG_ENC2QUADCNT

#define FPGAREG_ENC2QUADCNT 17

Definition at line 1633 of file SdoDictionary.mh.

## ◆ FPGAREG_ENC3QUADCNT

#define FPGAREG_ENC3QUADCNT 18

Definition at line 1635 of file SdoDictionary.mh.

## ◆ FPGAREG_ENC4QUADCNT

#define FPGAREG_ENC4QUADCNT 19

Definition at line 1637 of file SdoDictionary.mh.

## ◆ FPGAREG_ENC5QUADCNT

#define FPGAREG_ENC5QUADCNT 20

Definition at line 1639 of file SdoDictionary.mh.

## ◆ FPGAREG_ENC6QUADCNT

#define FPGAREG_ENC6QUADCNT 21

Definition at line 1641 of file SdoDictionary.mh.

## ◆ FPGAREG_FPGAFWVERS

#define FPGAREG_FPGAFWVERS 1

Definition at line 1601 of file SdoDictionary.mh.

## ◆ FPGAREG_INCENC1POS

#define FPGAREG_INCENC1POS 3

Definition at line 1605 of file SdoDictionary.mh.

## ◆ FPGAREG_INCENC2POS

#define FPGAREG_INCENC2POS 4

Definition at line 1607 of file SdoDictionary.mh.

## ◆ FPGAREG_INCENC3POS

#define FPGAREG_INCENC3POS 5

Definition at line 1609 of file SdoDictionary.mh.

## ◆ FPGAREG_INCENC4POS

#define FPGAREG_INCENC4POS 6

Definition at line 1611 of file SdoDictionary.mh.

## ◆ FPGAREG_INCENC5POS

#define FPGAREG_INCENC5POS 7

Definition at line 1613 of file SdoDictionary.mh.

## ◆ FPGAREG_INCENC6POS

#define FPGAREG_INCENC6POS 8

Definition at line 1615 of file SdoDictionary.mh.

## ◆ FPGAREG_POSLATCH1

#define FPGAREG_POSLATCH1 9

Definition at line 1617 of file SdoDictionary.mh.

## ◆ FPGAREG_POSLATCH2

#define FPGAREG_POSLATCH2 10

Definition at line 1619 of file SdoDictionary.mh.

## ◆ FPGAREG_POSLATCH3

#define FPGAREG_POSLATCH3 11

Definition at line 1621 of file SdoDictionary.mh.

## ◆ FPGAREG_POSLATCH4

#define FPGAREG_POSLATCH4 12

Definition at line 1623 of file SdoDictionary.mh.

## ◆ FPGAREG_POSLATCH5

#define FPGAREG_POSLATCH5 13

Definition at line 1625 of file SdoDictionary.mh.

## ◆ FPGAREG_POSLATCH6

#define FPGAREG_POSLATCH6 14

Definition at line 1627 of file SdoDictionary.mh.

## ◆ FPGAREG_POSLATCH_FLAG

#define FPGAREG_POSLATCH_FLAG 15

Definition at line 1629 of file SdoDictionary.mh.

## ◆ FPGAREG_REFVEC0

#define FPGAREG_REFVEC0 39

Definition at line 1677 of file SdoDictionary.mh.

## ◆ FPGAREG_REFVEC1

#define FPGAREG_REFVEC1 40

Definition at line 1679 of file SdoDictionary.mh.

## ◆ FPGAREG_REFVEC2

#define FPGAREG_REFVEC2 41

Definition at line 1681 of file SdoDictionary.mh.

## ◆ FPGAREG_REFVEC3

#define FPGAREG_REFVEC3 42

Definition at line 1683 of file SdoDictionary.mh.

## ◆ FPGAREG_SSI1POS0

#define FPGAREG_SSI1POS0 30

Definition at line 1659 of file SdoDictionary.mh.

## ◆ FPGAREG_SSI1POS1

#define FPGAREG_SSI1POS1 31

Definition at line 1661 of file SdoDictionary.mh.

## ◆ FPGAREG_SSI2POS0

#define FPGAREG_SSI2POS0 32

Definition at line 1663 of file SdoDictionary.mh.

## ◆ FPGAREG_SSI2POS1

#define FPGAREG_SSI2POS1 33

Definition at line 1665 of file SdoDictionary.mh.

## ◆ FPGAREG_SSI3POS0

#define FPGAREG_SSI3POS0 34

Definition at line 1667 of file SdoDictionary.mh.

## ◆ FPGAREG_SSI3POS1

#define FPGAREG_SSI3POS1 35

Definition at line 1669 of file SdoDictionary.mh.

## ◆ FPGAREG_SSIFLAG

#define FPGAREG_SSIFLAG 36

Definition at line 1671 of file SdoDictionary.mh.

## ◆ FPGAREG_U32CNT10

#define FPGAREG_U32CNT10 22

Definition at line 1643 of file SdoDictionary.mh.

## ◆ FPGAREG_U32CNT11

#define FPGAREG_U32CNT11 23

Definition at line 1645 of file SdoDictionary.mh.

## ◆ FPGAREG_U32CNT20

#define FPGAREG_U32CNT20 24

Definition at line 1647 of file SdoDictionary.mh.

## ◆ FPGAREG_U32CNT21

#define FPGAREG_U32CNT21 25

Definition at line 1649 of file SdoDictionary.mh.

## ◆ FPGAREG_U32CNT30

#define FPGAREG_U32CNT30 26

Definition at line 1651 of file SdoDictionary.mh.

## ◆ FPGAREG_U32CNT31

#define FPGAREG_U32CNT31 27

Definition at line 1653 of file SdoDictionary.mh.

## ◆ FPGAREG_U32CNT40

#define FPGAREG_U32CNT40 28

Definition at line 1655 of file SdoDictionary.mh.

## ◆ FPGAREG_U32CNT41

#define FPGAREG_U32CNT41 29

Definition at line 1657 of file SdoDictionary.mh.

## ◆ GLB_PARAM

#define GLB_PARAM | ( |  | parno | ) | Sysvar[GLB_PARAM_INDEX(parno)]

Global Parameters: Setter.

Parameters

  parno | Parameter number

Examples
  CAN_1Ax_EPOS4-Test_csp.mc, CAN_1Ax_EPOS4-Test_cst.mc, CAN_1Ax_EPOS4-Test_csv.mc, CAN_2Ax_EPOS4-Test_csp.mc, CAN_4Ax_MiniMACS6_csp.mc, CAN_4Ax_MiniMACS6_cst.mc, CAN_4Ax_MiniMACS6_csv.mc, and PWM_1Ax_ESCON.mc.

Definition at line 67 of file SdoDictionary.mh.

## ◆ GLB_PARAM_ESCCONDGLB_NOTHING

#define GLB_PARAM_ESCCONDGLB_NOTHING 0

Definition at line 219 of file SdoDictionary.mh.

## ◆ GLB_PARAM_ESCCONDGLB_OUT_OFF

#define GLB_PARAM_ESCCONDGLB_OUT_OFF 1

Examples
  PWM_1Ax_ESCON.mc.

Definition at line 220 of file SdoDictionary.mh.

## ◆ GLB_PARAM_ESCCONDGLB_OUT_ON

#define GLB_PARAM_ESCCONDGLB_OUT_ON 2

Definition at line 221 of file SdoDictionary.mh.

## ◆ GLB_PARAM_INDEX

#define GLB_PARAM_INDEX | ( |  | parno | ) | ((0x01000000 | (SDOINDEX_GLB_PARAM<<8)) | ((long) (parno)))

Global Parameters: Getter.

Parameters

  parno | Parameter number

Definition at line 57 of file SdoDictionary.mh.

## ◆ GLB_PARAM_MAX

#define GLB_PARAM_MAX 102

Global Parameters: Maximum number of parameters.

Definition at line 71 of file SdoDictionary.mh.

## ◆ GLB_PARAM_SRCINDEX

#define GLB_PARAM_SRCINDEX | ( |  | parno | ) | ((SDOINDEX_GLB_PARAM<<8) | ((long) (parno)))

Global Parameters: Source Index.

Parameters

  parno | Parameter number

Definition at line 62 of file SdoDictionary.mh.

## ◆ HALL_ALIGNMENT_060120180

#define HALL_ALIGNMENT_060120180 13

Definition at line 8328 of file SdoDictionary.mh.

## ◆ HALL_ALIGNMENT_060180120

#define HALL_ALIGNMENT_060180120 19

Definition at line 8334 of file SdoDictionary.mh.

## ◆ HALL_ALIGNMENT_060180300

#define HALL_ALIGNMENT_060180300 1

Definition at line 8315 of file SdoDictionary.mh.

## ◆ HALL_ALIGNMENT_060300180

#define HALL_ALIGNMENT_060300180 7

Definition at line 8322 of file SdoDictionary.mh.

## ◆ HALL_ALIGNMENT_060DEGREE

#define HALL_ALIGNMENT_060DEGREE 22

Definition at line 8338 of file SdoDictionary.mh.

## ◆ HALL_ALIGNMENT_120180240

#define HALL_ALIGNMENT_120180240 14

Definition at line 8329 of file SdoDictionary.mh.

## ◆ HALL_ALIGNMENT_120240180

#define HALL_ALIGNMENT_120240180 20

Definition at line 8335 of file SdoDictionary.mh.

## ◆ HALL_ALIGNMENT_120240360

#define HALL_ALIGNMENT_120240360 2

Definition at line 8316 of file SdoDictionary.mh.

## ◆ HALL_ALIGNMENT_120360240

#define HALL_ALIGNMENT_120360240 8

Definition at line 8323 of file SdoDictionary.mh.

## ◆ HALL_ALIGNMENT_120DEGREE

#define HALL_ALIGNMENT_120DEGREE 5

Examples
  Maxon_EC45_flat_1ax_BC_Hall.mc.

Definition at line 8320 of file SdoDictionary.mh.

## ◆ HALL_ALIGNMENT_180060300

#define HALL_ALIGNMENT_180060300 9

Definition at line 8324 of file SdoDictionary.mh.

## ◆ HALL_ALIGNMENT_180240300

#define HALL_ALIGNMENT_180240300 15

Definition at line 8330 of file SdoDictionary.mh.

## ◆ HALL_ALIGNMENT_180300060

#define HALL_ALIGNMENT_180300060 3

Definition at line 8317 of file SdoDictionary.mh.

## ◆ HALL_ALIGNMENT_180300240

#define HALL_ALIGNMENT_180300240 21

Definition at line 8336 of file SdoDictionary.mh.

## ◆ HALL_ALIGNMENT_240120360

#define HALL_ALIGNMENT_240120360 10

Definition at line 8325 of file SdoDictionary.mh.

## ◆ HALL_ALIGNMENT_240300360

#define HALL_ALIGNMENT_240300360 16

Definition at line 8331 of file SdoDictionary.mh.

## ◆ HALL_ALIGNMENT_240360120

#define HALL_ALIGNMENT_240360120 4

Definition at line 8318 of file SdoDictionary.mh.

## ◆ HALL_ALIGNMENT_240360300

#define HALL_ALIGNMENT_240360300 22

Definition at line 8337 of file SdoDictionary.mh.

## ◆ HALL_ALIGNMENT_300060180

#define HALL_ALIGNMENT_300060180 5

Definition at line 8319 of file SdoDictionary.mh.

## ◆ HALL_ALIGNMENT_300060360

#define HALL_ALIGNMENT_300060360 23

Definition at line 8339 of file SdoDictionary.mh.

## ◆ HALL_ALIGNMENT_300180060

#define HALL_ALIGNMENT_300180060 11

Definition at line 8326 of file SdoDictionary.mh.

## ◆ HALL_ALIGNMENT_300360060

#define HALL_ALIGNMENT_300360060 17

Definition at line 8332 of file SdoDictionary.mh.

## ◆ HALL_ALIGNMENT_360060120

#define HALL_ALIGNMENT_360060120 12

Definition at line 8327 of file SdoDictionary.mh.

## ◆ HALL_ALIGNMENT_360120060

#define HALL_ALIGNMENT_360120060 18

Definition at line 8333 of file SdoDictionary.mh.

## ◆ HALL_ALIGNMENT_360120240

#define HALL_ALIGNMENT_360120240 0

Definition at line 8314 of file SdoDictionary.mh.

## ◆ HALL_ALIGNMENT_360240120

#define HALL_ALIGNMENT_360240120 6

Definition at line 8321 of file SdoDictionary.mh.

## ◆ HALL_ALIGNMENT_BOTTOM

#define HALL_ALIGNMENT_BOTTOM 0

Definition at line 8313 of file SdoDictionary.mh.

## ◆ HALL_ALIGNMENT_ERROR

#define HALL_ALIGNMENT_ERROR 24

Definition at line 8341 of file SdoDictionary.mh.

## ◆ HALL_ALIGNMENT_TOP

#define HALL_ALIGNMENT_TOP 23

Definition at line 8340 of file SdoDictionary.mh.

## ◆ HOME_CURTHRESHOLD

#define HOME_CURTHRESHOLD 139

Current Threshold for homing mode.

Used for homing modes −1, −2, −3, and −4. A mechanical border will be detected when the measured motor current rises above the specified threshold [mA].

Initial Value
  500

Units
  mA

Definition at line 3143 of file SdoDictionary.mh.

## ◆ HOME_FORCE

#define HOME_FORCE 4

Forced movement to home position.

0 = No 1 = Yes 255 = Yes + done

Initial Value
  0

Value Range
  0,1

Definition at line 2320 of file SdoDictionary.mh.

## ◆ HOME_OFFSET

#define HOME_OFFSET 43

Zero point offset for machine zero point or index.

Offset movement after detection of hardware reference used by the HOME command.

Initial Value
  0

Value Range
  -MLONG-MLONG

Units
  qc

Definition at line 2693 of file SdoDictionary.mh.

## ◆ HOME_RAMP

#define HOME_RAMP 42

Ramp for home motion.

Scaled acceleration (see VELRES, subindex 23) used by the HOME command.

Initial Value
  50

Definition at line 2681 of file SdoDictionary.mh.

## ◆ HOME_TYPE

#define HOME_TYPE 41

Behavior during movement to home.

Initial Value
  0

Definition at line 2673 of file SdoDictionary.mh.

## ◆ HOME_VEL

#define HOME_VEL 8

Velocity for movement to home position.

Scaled velocity (see VELRES, subindex 23) used by the HOME command.

Initial Value
  10

Definition at line 2361 of file SdoDictionary.mh.

## ◆ HOMEZEROVEL

#define HOMEZEROVEL 117

Scaled velocity for moving into encoder index as part of the homing procedure.

Scaled velocity (see VELRES, subindex 2) for moving into the encoder index as part of the HOME command or CANopen homing procedures.

Initial Value
  10

Definition at line 3053 of file SdoDictionary.mh.

## ◆ HW_CNTUNI_MODE_ENCSRC

#define HW_CNTUNI_MODE_ENCSRC 0

Definition at line 8976 of file SdoDictionary.mh.

## ◆ HW_CNTUNI_MODE_REFSRC

#define HW_CNTUNI_MODE_REFSRC 1

Definition at line 8977 of file SdoDictionary.mh.

## ◆ HW_CNTUNI_MODE_RESETOFFSET

#define HW_CNTUNI_MODE_RESETOFFSET 0x8000

Definition at line 8980 of file SdoDictionary.mh.

## ◆ HW_CNTUNI_MODE_SINGLENCA

#define HW_CNTUNI_MODE_SINGLENCA 2

Definition at line 8978 of file SdoDictionary.mh.

## ◆ HW_CNTUNI_MODE_SINGLENCB

#define HW_CNTUNI_MODE_SINGLENCB 3

Definition at line 8979 of file SdoDictionary.mh.

## ◆ HWAMP_AHEADANGLE

#define HWAMP_AHEADANGLE 39

Field ahead angle (not used)

Initial Value
  0

Definition at line 7772 of file SdoDictionary.mh.

## ◆ HWAMP_CHOP_UDCMAX

#define HWAMP_CHOP_UDCMAX 56

Voltage Level for high chopper function.

(Not available on MACS5) Voltage level for full chopper intervention

Units
  mV*4

Definition at line 7949 of file SdoDictionary.mh.

## ◆ HWAMP_CHOP_UDCMIN

#define HWAMP_CHOP_UDCMIN 55

Voltage Level for low chopper function.

(Not available on MACS5) Voltage level for first chopper intervention

Units
  mV*4

Definition at line 7940 of file SdoDictionary.mh.

## ◆ HWAMP_COMMTYPE

#define HWAMP_COMMTYPE 36

Commutation type in use.

Defines the motor and the type of commutation that is connected to the amplifier.

Examples
  Maxon_EC45_flat_1ax_BC_Hall.mc.

Definition at line 7749 of file SdoDictionary.mh.

## ◆ HWAMP_COMMTYPE_BLDC

#define HWAMP_COMMTYPE_BLDC 2

Examples
  Maxon_EC45_flat_1ax_BC_Hall.mc.

Definition at line 8283 of file SdoDictionary.mh.

## ◆ HWAMP_COMMTYPE_BLDC_120

#define HWAMP_COMMTYPE_BLDC_120 2

Definition at line 8284 of file SdoDictionary.mh.

## ◆ HWAMP_COMMTYPE_BLDC_120_TWIN

#define HWAMP_COMMTYPE_BLDC_120_TWIN 8

Definition at line 8291 of file SdoDictionary.mh.

## ◆ HWAMP_COMMTYPE_BLDC_60

#define HWAMP_COMMTYPE_BLDC_60 3

Definition at line 8285 of file SdoDictionary.mh.

## ◆ HWAMP_COMMTYPE_BLDC_60_TWIN

#define HWAMP_COMMTYPE_BLDC_60_TWIN 9

Definition at line 8292 of file SdoDictionary.mh.

## ◆ HWAMP_COMMTYPE_BLDC_TWIN

#define HWAMP_COMMTYPE_BLDC_TWIN 8

Definition at line 8290 of file SdoDictionary.mh.

## ◆ HWAMP_COMMTYPE_CHOPPER

#define HWAMP_COMMTYPE_CHOPPER 13

Definition at line 8296 of file SdoDictionary.mh.

## ◆ HWAMP_COMMTYPE_DC

#define HWAMP_COMMTYPE_DC 1

Definition at line 8282 of file SdoDictionary.mh.

## ◆ HWAMP_COMMTYPE_DC_100

#define HWAMP_COMMTYPE_DC_100 15

Definition at line 8298 of file SdoDictionary.mh.

## ◆ HWAMP_COMMTYPE_DC_ALT

#define HWAMP_COMMTYPE_DC_ALT 14

Definition at line 8297 of file SdoDictionary.mh.

## ◆ HWAMP_COMMTYPE_DC_TWIN

#define HWAMP_COMMTYPE_DC_TWIN 6

Definition at line 8288 of file SdoDictionary.mh.

## ◆ HWAMP_COMMTYPE_HALL_PMSM

#define HWAMP_COMMTYPE_HALL_PMSM 5

Definition at line 8287 of file SdoDictionary.mh.

## ◆ HWAMP_COMMTYPE_HALL_PMSM_TWIN

#define HWAMP_COMMTYPE_HALL_PMSM_TWIN 11

Definition at line 8294 of file SdoDictionary.mh.

## ◆ HWAMP_COMMTYPE_NONE

#define HWAMP_COMMTYPE_NONE 0

Definition at line 8281 of file SdoDictionary.mh.

## ◆ HWAMP_COMMTYPE_PMSM

#define HWAMP_COMMTYPE_PMSM 7

Definition at line 8289 of file SdoDictionary.mh.

## ◆ HWAMP_COMMTYPE_PMSM_TWIN

#define HWAMP_COMMTYPE_PMSM_TWIN 12

Definition at line 8295 of file SdoDictionary.mh.

## ◆ HWAMP_COMMTYPE_STEP

#define HWAMP_COMMTYPE_STEP 4

Definition at line 8286 of file SdoDictionary.mh.

## ◆ HWAMP_COMMTYPE_STEP_TWIN

#define HWAMP_COMMTYPE_STEP_TWIN 10

Definition at line 8293 of file SdoDictionary.mh.

## ◆ HWAMP_CURFILTTIME

#define HWAMP_CURFILTTIME 41

Filter time for current measurement returned by PO_HWAMP_CURRENT, not used in current controller, so current controller uses allways unfiltered values.

Initial Value
  2

Value Range
  0-16384

Definition at line 7788 of file SdoDictionary.mh.

## ◆ HWAMP_CURKILIM

#define HWAMP_CURKILIM 35

Integral limit of current controller.

Initial Value
  32767

Value Range
  0-65535

Definition at line 7743 of file SdoDictionary.mh.

## ◆ HWAMP_CURKINT

#define HWAMP_CURKINT 34

Integral factor of current controller.

Initial Value
  100

Value Range
  0-65535

Definition at line 7734 of file SdoDictionary.mh.

## ◆ HWAMP_CURKPROP

#define HWAMP_CURKPROP 33

Proportional factor of current controller.

Initial Value
  200

Value Range
  0-65535

Definition at line 7725 of file SdoDictionary.mh.

## ◆ HWAMP_CURPI0_OUTLIM

#define HWAMP_CURPI0_OUTLIM 62

Output Limit for current controller 0.

(Not available on MACS5)

Value Range
  0-65535

Units
  DutyCycle

Definition at line 7987 of file SdoDictionary.mh.

## ◆ HWAMP_CURPI0_REFLIM

#define HWAMP_CURPI0_REFLIM 61

Reference Limit for current controller 0.

Not available on MACS5 Limits reference value for current controller 0, so limits only PO_HWAMP_CURPI0_REF. See also HWAMP_MAXCUR.

Value Range
  0-65535

Units
  mA

Definition at line 7977 of file SdoDictionary.mh.

## ◆ HWAMP_CURPI1_OUTLIM

#define HWAMP_CURPI1_OUTLIM 64

Output Limit for current controller 1.

(Not available on MACS5)

Value Range
  0-65535

Units
  DutyCycle

Definition at line 8009 of file SdoDictionary.mh.

## ◆ HWAMP_CURPI1_REFLIM

#define HWAMP_CURPI1_REFLIM 63

Reference Limit for current controller 1.

Not available on MACS5 Limits reference value for current controller 1, so limits only PO_HWAMP_CURPI1_REF. See also HWAMP_MAXCUR.

Value Range
  0-65535

Units
  mA

Definition at line 7999 of file SdoDictionary.mh.

## ◆ HWAMP_CURPI_MODE

#define HWAMP_CURPI_MODE 70

Current regulator mode.

0 = MODE_CLASSIC, 1 = MODE_LOADESTIMATE

(Not available on MACS5)

Initial Value
  0

Definition at line 8069 of file SdoDictionary.mh.

## ◆ HWAMP_DEFINE_PO_DATA_SET

#define HWAMP_DEFINE_PO_DATA_SET 91

Defines a set of process data.

Defines which process data should be visible in SDO PO_HWAMP_SET1_0....PO_HWAMP_SET1_5 and PO_HWAMP_SET2_0....PO_HWAMP_SET2_5. Only for experts recommended.

Exampel:

long axis = 3; HWAMP_PARAM(axis, HWAMP_COMMTYPE) = HWAMP_COMMTYPE_BLDC; // Define data. Note: The followning line of code is not necessary since it is exactly the default setting defined at startup HWAMP_PARAM(axis, HWAMP_DEFINE_PO_DATA_SET) =
HWAMP_PO_DATA_SET_1_OFFSET * HWAMP_PO_DATA_SET_IMEAS + // Assignes HWAMP_PO_DATA_SET_IMEAS to set 1 HWAMP_PO_DATA_SET_2_OFFSET * HWAMP_PO_DATA_SET_IMEASFIL; // Assignes HWAMP_PO_DATA_SET_IMEASFIL to set 2 // Now you can get process data printf("Filtered current of axis %ld, half bridge %ld is %ld[mA]", axis, 2, HWAMP_PROCESS(axis, PO_HWAMP_SET2_1);

Definition at line 8255 of file SdoDictionary.mh.

## ◆ HWAMP_ELPOL

#define HWAMP_ELPOL 51

encoder polarity vs.

electrical polarity

Note:

- On MACS5, this parameter has subindex 135.
- Leave this parmeter if you use MotorAlignStart(..) or HallDetectStart(..), because these functions will set the parameter
- For Maxon and Dunker set it to HWAMP_ELPOL_INVERSE.
- If you exchange two phases on an EC-Motor, this parameter is going to change.
  Initial Value
    1

Definition at line 7917 of file SdoDictionary.mh.

## ◆ HWAMP_ELPOL_INVERS

#define HWAMP_ELPOL_INVERS -1

Definition at line 8309 of file SdoDictionary.mh.

## ◆ HWAMP_ELPOL_INVERSE

#define HWAMP_ELPOL_INVERSE -1

Definition at line 8310 of file SdoDictionary.mh.

## ◆ HWAMP_ELPOL_REGULAR

#define HWAMP_ELPOL_REGULAR 1

Definition at line 8308 of file SdoDictionary.mh.

## ◆ HWAMP_ELPOS_LAGMULT

#define HWAMP_ELPOS_LAGMULT 65

Lag compensation multiplier value.

(Not available on MACS5) This value can be used to compensate the lag of the electric field. It can be used with
HWAMP_COMMTYPE_PMSM HWAMP_COMMTYPE_PMSM_TWIN HWAMP_COMMTYPE_HALL_PMSM HWAMP_COMMTYPE_HALL_PMSM_TWIN HWAMP_COMMTYPE_STEP HWAMP_COMMTYPE_STEP_TWIN (in other words: All with sinusoidal commutation) with closed loop to achieve a higher maximum speed. In all other cases the parameter is ignored. The value of this parameter has to be optimized empirically. Start with 0 and increase, while evaluating the achievable maximum speed of the motor. The unit of the value is 1/655360 seconds. E.g. a value of 270 will result in 0.411 millisecond.

Initial Value
  0

Units
  s/655360

Examples
  Stepper_XY_CL.mc.

Definition at line 8029 of file SdoDictionary.mh.

## ◆ HWAMP_ENCRES

#define HWAMP_ENCRES 42

Resolution of the encoder for position feed back in increments (quadcounts)

This parameter is used to scale the parameters of the velocity controller to HWAMP_MAXRPM. It is also used to calculate the position within one motor revolution, which is necessary to generate the field for synchronous motors. Note that this parameter exists independently also in HWCOUNTINC_PARAM / HWCNTINC_RESOLUTION

Initial Value
  2000

Value Range
  1-1280000

Units
  qc

Definition at line 7802 of file SdoDictionary.mh.

## ◆ HWAMP_ENCRES_MICROSTEP_RES

#define HWAMP_ENCRES_MICROSTEP_RES 1024

Examples
  Stepper_XY_OL.mc.

Definition at line 8301 of file SdoDictionary.mh.

## ◆ HWAMP_HALL_ALIGNMENT

#define HWAMP_HALL_ALIGNMENT 88

Hall Alignment.

H1, H2 and H3 are the three HALL elements CW is clock wise CCW is counter clock wise

Initial Value
  5

Value Range
  0-24

Definition at line 8228 of file SdoDictionary.mh.

## ◆ HWAMP_HALL_ERROR_LIMIT

#define HWAMP_HALL_ERROR_LIMIT 87

Limit for hall errors.

Only applicable if HWAMP_COMMTYPE is set to a value which requires hall sensors (e.g. HWAMP_COMMTYPE_BLDC, HWAMP_COMMTYPE_HALL_PMSM, HWAMP_COMMTYPE_BLDC_TWIN, HWAMP_COMMTYPE_HALL_PMSM_TWIN) A hall pattern fault counter (PO_HWAMP_HALL_ERRORCOUNT) increments in case of faulty hall pattern or decrements in case of correct hall pattern. This counter is compared with HWAMP_HALL_ERROR_LIMIT and can raise error 119. HWAMP_HALL_ERROR_LIMIT = 0 means: Never raise error due to a faulty pattern HWAMP_HALL_ERROR_LIMIT = 1 means: Raise error as soon as one faulty pattern has been recognized HWAMP_HALL_ERROR_LIMIT = 2 means: Raise error as pattern fault counter has reached 2 and so on

Initial Value
  5

Definition at line 8216 of file SdoDictionary.mh.

## ◆ HWAMP_HALL_SIMULATOR

#define HWAMP_HALL_SIMULATOR 86

Only for testing!

This is just for testing! Manipulates or simulates hall signal internally. Note: PO_HWAMP_HALL_POSRAW is manipulated, not PO_HWAMP_HALL_POSEL Note: An injected error may not always lead to a pattern error, an injected error is like noise or a broken connection and may or may not lead to a pattern error. By injecting hall signals we can simulate or manipulate hall. Various hall problems can be simulated with or without connected hall sensors. Why was this simulator implemented in firmware and not in an external hall generator?
Because it is possible to connect a real hall sensors and inject faults with this tool.

Set a fixed pattern, touches all 3 hall sensor lines (H1...H3) of one axis -10 set PO_HWAMP_HALL_POSRAW to 7 -11 set PO_HWAMP_HALL_POSRAW to 6 -12 set PO_HWAMP_HALL_POSRAW to 5 and so on -17 set PO_HWAMP_HALL_POSRAW to 0

Set one hall sensor line of PO_HWAMP_HALL_POSRAW to a defined level, touches just one hall sensor lines (H1 or H2 or H3) -6, hall sensor H1 will be set to 1 -5, hall sensor H2 will be set to 1 -4, hall sensor H3 will be set to 1 -3, hall sensor H1 will be set to 0 -2, hall sensor H2 will be set to 0 -1, hall sensor H3 will be set to 0

0, hall signal will never be manipulated, this is the default

By random ONE hall sensor (H1, H2 or H3) will be turned. If it is 0, it will be turned to 1 and vis versa. This is like noise. Touches just one hall sensor line (H1, H2 or H3) 1, every hall signal will be turned 2, every 2nd signal will be turned 3, every 3rd signal will be turned and so on

Initial Value
  0

Definition at line 8203 of file SdoDictionary.mh.

## ◆ HWAMP_I2T_CONT

#define HWAMP_I2T_CONT 54

I2T value of continuously allowed current.

(Not available on MACS5)

Definition at line 7931 of file SdoDictionary.mh.

## ◆ HWAMP_I2T_TRIPVALUE

#define HWAMP_I2T_TRIPVALUE 53

I2T monitoring trip value.

(Not available on MACS5)

Please see details about I2T parameter under HWAMP_I2T_CONT

Definition at line 7925 of file SdoDictionary.mh.

## ◆ HWAMP_I2TTIME

#define HWAMP_I2TTIME 40

Not used.

Initial Value
  0

Definition at line 7779 of file SdoDictionary.mh.

## ◆ HWAMP_IDQ_D_REF

#define HWAMP_IDQ_D_REF 92

Defines Idq d-Part reference in mA.

Experimental !

Initial Value
  0

Value Range
  -0x7FFF-0x7FFF

Units
  mA

Definition at line 8267 of file SdoDictionary.mh.

## ◆ HWAMP_MAXCUR

#define HWAMP_MAXCUR 43

Maximal current allowed.

Limits reference value for both current controllers.
In other words: Set HWAMP_CURPI0_REFLIM = HWAMP_CURPI1_REFLIM = HWAMP_MAXCUR. Cannot set a current higher than peak current of controller (see hardware manual).
When getting this parameter, just HWAMP_CURPI0_REFLIM is retrieved.
See also HWAMP_CURPI0_REFLIM and HWAMP_CURPI1_REFLIM.

Initial Value
  2000

Units
  mA

Examples
  Maxon_EC45_flat_1ax_BC_Hall.mc.

Definition at line 7815 of file SdoDictionary.mh.

## ◆ HWAMP_MAXRPM

#define HWAMP_MAXRPM 45

Maximum velocity in RPM.

Initial Value
  2000

Value Range
  1-65535

Units
  rpm

Examples
  Maxon_EC45_flat_1ax_BC_Hall.mc.

Definition at line 7833 of file SdoDictionary.mh.

## ◆ HWAMP_MODE

#define HWAMP_MODE 1

Mode of operation.

Setting this parameter can raise error 101 because mode may not be supported by the controller or by the assigned HWAMP_COMMTYPE. Define always HWAMP_COMMTYPE first!

Initial Value
  0

Examples
  Maxon_EC45_flat_1ax_BC_Hall.mc.

Definition at line 7639 of file SdoDictionary.mh.

## ◆ HWAMP_MODE_INT_CUR_PWM

#define HWAMP_MODE_INT_CUR_PWM 6

Definition at line 8277 of file SdoDictionary.mh.

## ◆ HWAMP_MODE_INT_PWM

#define HWAMP_MODE_INT_PWM 7

Definition at line 8278 of file SdoDictionary.mh.

## ◆ HWAMP_MODE_PFG_CUR_PWM

#define HWAMP_MODE_PFG_CUR_PWM 4

Definition at line 8275 of file SdoDictionary.mh.

## ◆ HWAMP_MODE_PFG_PWM

#define HWAMP_MODE_PFG_PWM 5

Definition at line 8276 of file SdoDictionary.mh.

## ◆ HWAMP_MODE_POS

#define HWAMP_MODE_POS 3

Definition at line 8274 of file SdoDictionary.mh.

## ◆ HWAMP_MODE_POS_CUR

#define HWAMP_MODE_POS_CUR 2

Definition at line 8273 of file SdoDictionary.mh.

## ◆ HWAMP_MODE_POS_VEL

#define HWAMP_MODE_POS_VEL 1

Definition at line 8272 of file SdoDictionary.mh.

## ◆ HWAMP_MODE_POS_VEL_CUR

#define HWAMP_MODE_POS_VEL_CUR 0

Definition at line 8271 of file SdoDictionary.mh.

## ◆ HWAMP_PARAM

#define HWAMP_PARAM | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWAMP_PARAM_INDEX((modno),(parno))]

HW Amplifier Parameters: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Examples
  Maxon_EC45_flat_1ax_BC_Hall.mc, Maxon_ECi52_1ax_SC_SSI.mc, Stepper_XY_CL.mc, and Stepper_XY_OL.mc.

Definition at line 7627 of file SdoDictionary.mh.

## ◆ HWAMP_PARAM_INDEX

#define HWAMP_PARAM_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWAMP_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Amplifier Parameters: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 7615 of file SdoDictionary.mh.

## ◆ HWAMP_PARAM_MAX

#define HWAMP_PARAM_MAX 93

HW Amplifier Parameters: Maximum number of parameters.

Definition at line 7631 of file SdoDictionary.mh.

## ◆ HWAMP_PARAM_SRCINDEX

#define HWAMP_PARAM_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWAMP_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Amplifier Parameters: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 7621 of file SdoDictionary.mh.

## ◆ HWAMP_PISRC_ACTPOS

#define HWAMP_PISRC_ACTPOS 14

Source for actual position.

This parameter defines the source for the actual position. There are two value ranges with different meanings: 0-5: This will read the actual position directly out of the FPGA's inremental position register. This only works for digital incremental encoders! >=6: Source definitions as standard: Use index/subindex nomenclature, e.g. HWCOUNTINC_PROCESS_SRCINDEX(0, PO_HWCNTINC_VALUE)

Initial Value
  0+n

Definition at line 7680 of file SdoDictionary.mh.

## ◆ HWAMP_PISRC_ACTVEL

#define HWAMP_PISRC_ACTVEL 15

Not used.

Initial Value
  0

Definition at line 7687 of file SdoDictionary.mh.

## ◆ HWAMP_PISRC_CMDWORD

#define HWAMP_PISRC_CMDWORD 10

Source Index/subindex of command word.

Initial Value
  PO_VIRTAMP_CMDWORD+n

Definition at line 7646 of file SdoDictionary.mh.

## ◆ HWAMP_PISRC_MAX

#define HWAMP_PISRC_MAX 20

Definition at line 7689 of file SdoDictionary.mh.

## ◆ HWAMP_PISRC_REFACC

#define HWAMP_PISRC_REFACC 13

Source Index/subindex of acceleration reference.

Initial Value
  PO_VIRTAMP_REFACC+n

Definition at line 7669 of file SdoDictionary.mh.

## ◆ HWAMP_PISRC_REFPOS

#define HWAMP_PISRC_REFPOS 11

Source Index/subindex of position reference.

Initial Value
  PO_VIRTAMP_REFPOS+n

Units
  qc

Definition at line 7655 of file SdoDictionary.mh.

## ◆ HWAMP_PISRC_REFVEL

#define HWAMP_PISRC_REFVEL 12

Source Index/subindex of velocity reference.

Initial Value
  PO_VIRTAMP_REFVEL+n

Definition at line 7662 of file SdoDictionary.mh.

## ◆ HWAMP_PO_DATA_SET_1_OFFSET

#define HWAMP_PO_DATA_SET_1_OFFSET 1

Definition at line 8346 of file SdoDictionary.mh.

## ◆ HWAMP_PO_DATA_SET_2_OFFSET

#define HWAMP_PO_DATA_SET_2_OFFSET 1000

Definition at line 8347 of file SdoDictionary.mh.

## ◆ HWAMP_PO_DATA_SET_CUR_CALIB_GAIN

#define HWAMP_PO_DATA_SET_CUR_CALIB_GAIN 5

Definition at line 8353 of file SdoDictionary.mh.

## ◆ HWAMP_PO_DATA_SET_CUR_CALIB_OFFSET

#define HWAMP_PO_DATA_SET_CUR_CALIB_OFFSET 3

Definition at line 8351 of file SdoDictionary.mh.

## ◆ HWAMP_PO_DATA_SET_CUR_CALIB_STATE

#define HWAMP_PO_DATA_SET_CUR_CALIB_STATE 4

Definition at line 8352 of file SdoDictionary.mh.

## ◆ HWAMP_PO_DATA_SET_CUR_RAW

#define HWAMP_PO_DATA_SET_CUR_RAW 9

Definition at line 8357 of file SdoDictionary.mh.

## ◆ HWAMP_PO_DATA_SET_DEVICE_SPECIFIC_1

#define HWAMP_PO_DATA_SET_DEVICE_SPECIFIC_1 6

Definition at line 8354 of file SdoDictionary.mh.

## ◆ HWAMP_PO_DATA_SET_DEVICE_SPECIFIC_2

#define HWAMP_PO_DATA_SET_DEVICE_SPECIFIC_2 7

Definition at line 8355 of file SdoDictionary.mh.

## ◆ HWAMP_PO_DATA_SET_FIRST

#define HWAMP_PO_DATA_SET_FIRST 1

Definition at line 8344 of file SdoDictionary.mh.

## ◆ HWAMP_PO_DATA_SET_I2T_ACT

#define HWAMP_PO_DATA_SET_I2T_ACT 8

Definition at line 8356 of file SdoDictionary.mh.

## ◆ HWAMP_PO_DATA_SET_IMEAS

#define HWAMP_PO_DATA_SET_IMEAS 1

Definition at line 8349 of file SdoDictionary.mh.

## ◆ HWAMP_PO_DATA_SET_IMEASFIL

#define HWAMP_PO_DATA_SET_IMEASFIL 2

Definition at line 8350 of file SdoDictionary.mh.

## ◆ HWAMP_PO_DATA_SET_LAST

#define HWAMP_PO_DATA_SET_LAST 9

Definition at line 8345 of file SdoDictionary.mh.

## ◆ HWAMP_PO_DATA_SET_MAX_LENGTH

#define HWAMP_PO_DATA_SET_MAX_LENGTH 6

Definition at line 8348 of file SdoDictionary.mh.

## ◆ HWAMP_POLES

#define HWAMP_POLES 38

Number of pole pairs.

Initial Value
  1

Examples
  Maxon_EC45_flat_1ax_BC_Hall.mc, and Stepper_XY_OL.mc.

Definition at line 7765 of file SdoDictionary.mh.

## ◆ HWAMP_POSDIR

#define HWAMP_POSDIR 44

Position input reverse.

Initial Value
  1

Definition at line 7822 of file SdoDictionary.mh.

## ◆ HWAMP_POSDIR_NORMAL

#define HWAMP_POSDIR_NORMAL 1

Definition at line 8304 of file SdoDictionary.mh.

## ◆ HWAMP_POSDIR_REVERSE

#define HWAMP_POSDIR_REVERSE -1

Definition at line 8305 of file SdoDictionary.mh.

## ◆ HWAMP_POSEL_OFFSET

#define HWAMP_POSEL_OFFSET 90

Sets the offset of the electric field in relation to an absolute encoder.

If an absolute encoder is used and the offset between rotor/ encoder is already known, the classic motor alignment can be dispensed with. The offset and the polarity can be determined with the functions MotorAlignStart and MotorAlignStatus during commissioning. Set a value only if the axis is not in running state.

Units
  qc

Examples
  Maxon_ECi52_1ax_SC_SSI.mc.

Definition at line 8238 of file SdoDictionary.mh.

## ◆ HWAMP_PROCESS

#define HWAMP_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWAMP_PROCESS_INDEX((modno),(parno))]

HW Amplifier Process Data: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 11341 of file SdoDictionary.mh.

## ◆ HWAMP_PROCESS_INDEX

#define HWAMP_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWAMP_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Amplifier Process Data: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 11329 of file SdoDictionary.mh.

## ◆ HWAMP_PROCESS_MAX

#define HWAMP_PROCESS_MAX 86

HW Amplifier Process Data: Maximum number of parameters.

Definition at line 11345 of file SdoDictionary.mh.

## ◆ HWAMP_PROCESS_SRCINDEX

#define HWAMP_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWAMP_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Amplifier Process Data: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 11335 of file SdoDictionary.mh.

## ◆ HWAMP_PROG

#define HWAMP_PROG 72

Amplifier Program Execution.

(Not available on MACS5)

enum PGM_ProgramNo_Enum { PROGRAM_NONE = 0, // regular velocity loop PROGRAM_PMSMENCCALIB = 1, // calibration of the electrical position for PMSM motors PROGRAM_BLDCHALLCALIB = 2, // detection of Hall sensor alignment PROGRAM_STEPENCCALIB = 3, // calibration of the electrical position for STEP motors PROGRAM_PMSMENCCALIB2 = 4, // calibration of the electrical position for PMSM motors PROGRAM_CURCALIB = 5, // current measurements zero offset calibration PROGRAM_TEST = 6 // };

Definition at line 8094 of file SdoDictionary.mh.

## ◆ HWAMP_PROG_PARAMIND

#define HWAMP_PROG_PARAMIND 74

Amplifier Program Parameter Index.

(Not available on MACS5)

#define PGM_PARAM_REFVAL_INDEX 0 // stator field reference value (current or PWM) #define PGM_PARAM_RAMPUPTIME_INDEX 1 // stator field ramp up time #define PGM_PARAM_RAMPDOWNTIME_INDEX 2 // stator field ramp down time #define PGM_PARAM_SAMPLEWAITTIME_INDEX 3 // wait duration between motion and position sampling #define PGM_PARAM_MOTIONTIME_INDEX 4 // motion duration #define PGM_PARAM_MOTIONDIR_INDEX 5 // suggested/allowed motion direction #define PGM_PARAM_FOLLOWRATIO_INDEX 6 // how close must the rotor follow the stator field

Definition at line 8114 of file SdoDictionary.mh.

## ◆ HWAMP_PROG_PARAMVAL

#define HWAMP_PROG_PARAMVAL 73

Amplifier Program Parameter Value.

(Not available on MACS5)

Definition at line 8100 of file SdoDictionary.mh.

## ◆ HWAMP_PROG_RETVAL

#define HWAMP_PROG_RETVAL 75

Amplifier Program Return Value.

(Not available on MACS5)

#define PGM_VELLOOP_PMSMENCCALIB2_RETVAL_ERROR_ILLEGALPARAMETER -6 // detection failed illegal parameter or control mode #define PGM_VELLOOP_PMSMENCCALIB2_RETVAL_ERROR_IMPRECISE -5 // detection failed imprecise error #define PGM_VELLOOP_PMSMENCCALIB2_RETVAL_ERROR_ILLEGALSTATE -4 // detection failed illegal state sequence #define PGM_VELLOOP_PMSMENCCALIB2_RETVAL_ERROR_MOTIONDIR -3 // detection failed motion direction not as expected #define PGM_VELLOOP_PMSMENCCALIB2_RETVAL_ERROR_BLOCKED -2 // detection failed rotor blocked #define PGM_VELLOOP_PMSMENCCALIB2_RETVAL_ERROR_ABORTED -1 // detection aborted #define PGM_VELLOOP_PMSMENCCALIB2_RETVAL_OK_REGULAR 1 // detection completed regular rotation direction #define PGM_VELLOOP_PMSMENCCALIB2_RETVAL_OK_INVERSE 0 // detection completed inverse rotation direction

#define PGM_STATE_STOPPED 0 // state stopped #define PGM_STATE_RAMPUP_STATORFIELD_000DEG 0x01 // build up stator, get rotor to 0ï¿½ #define PGM_STATE_HOLD_STATORFIELD_000DEG 0x02 // take a sample at 0ï¿½, proceed to one of the four blocks

#define PGM_STATE_REGULARCW_ROTATE_000_330DEG 0x13 // regular CW block is applied if: #define PGM_STATE_REGULARCW_SAMPLE_REF1_330DEG 0x14 // - CW is allowed direction #define PGM_STATE_REGULARCW_ROTATE_330_300DEG 0x15 // - initial motion was CW #define PGM_STATE_REGULARCW_SAMPLE_UTURN_300DEG 0x16 #define PGM_STATE_REGULARCW_ROTATE_300_330DEG 0x17 #define PGM_STATE_REGULARCW_SAMPLE_REF2_330DEG 0x18

#define PGM_STATE_REGULARCCW_ROTATE_000_030DEG 0x23 // regular CCW is applied if: #define PGM_STATE_REGULARCCW_SAMPLE_REF1_030DEG 0x24 // - CCW is allowed direction #define PGM_STATE_REGULARCCW_ROTATE_030_060DEG 0x25 // - initial motion was CCW #define PGM_STATE_REGULARCCW_SAMPLE_UTURN_060DEG 0x26 #define PGM_STATE_REGULARCCW_ROTATE_060_030DEG 0x27 #define PGM_STATE_REGULARCCW_SAMPLE_REF2_030DEG 0x28

#define PGM_STATE_COMPENSATECW_ROTATE_000_180DEG 0x33 // compensate CW block is applied if: #define PGM_STATE_COMPENSATECW_SAMPLE_REF1_180DEG 0x34 // - CW is allowed direction #define PGM_STATE_COMPENSATECW_ROTATE_180_150DEG 0x35 // - initial motion was CCW #define PGM_STATE_COMPENSATECW_SAMPLE_UTURN_150DEG 0x36 #define PGM_STATE_COMPENSATECW_ROTATE_150_180DEG 0x37 #define PGM_STATE_COMPENSATECW_SAMPLE_REF2_180DEG 0x38

#define PGM_STATE_COMPENSATECCW_ROTATE_000_180DEG 0x43 // compensate CCW block is applied if: #define PGM_STATE_COMPENSATECCW_SAMPLE_REF1_180DEG 0x44 // - CCW is allowed direction #define PGM_STATE_COMPENSATECCW_ROTATE_180_150DEG 0x45 // - initial motion was CW #define PGM_STATE_COMPENSATECCW_SAMPLE_UTURN_150DEG 0x46 #define PGM_STATE_COMPENSATECCW_ROTATE_150_180DEG 0x47 #define PGM_STATE_COMPENSATECCW_SAMPLE_REF2_180DEG 0x48

#define PGM_STATE_RAMPDOWN_STATORFIELD 0x50 // build up stator, get rotor to

Definition at line 8164 of file SdoDictionary.mh.

## ◆ HWAMP_PWMFREQ

#define HWAMP_PWMFREQ 37

Deprecated: Frequency of the PWM output.

Initial Value
  24000

Units
  Hz

Definition at line 7758 of file SdoDictionary.mh.

## ◆ HWAMP_SW_VERSION

#define HWAMP_SW_VERSION 89

Definition at line 8230 of file SdoDictionary.mh.

## ◆ HWAMP_TEMP_MAX

#define HWAMP_TEMP_MAX 67

Maximum board temperature.

(Not available on MACS5)

Units
  Celsius*0.01

Definition at line 8045 of file SdoDictionary.mh.

## ◆ HWAMP_TRIP_CURRENT

#define HWAMP_TRIP_CURRENT 66

Trip current value.

(Not available on MACS5)

Units
  mA

Definition at line 8037 of file SdoDictionary.mh.

## ◆ HWAMP_USERDEFINED_DATA0

#define HWAMP_USERDEFINED_DATA0 46

Selects what data should be mapped into PO_HWAMP_USERDEFINED_DATAn (only MACS5)

80 = Temperature 1 81 = Temperature 2 136 = Temperature 3 82 = VOLT1 83 = VOLT2 147 = HWAMP_IMEAS_0 148 = HWAMP_IMEAS_1 149 = HWAMP_IMEAS_2 150 = HWAMP_IMEAS_3 151 = HWAMP_IMEAS_4 152 = HWAMP_IMEAS_5

Initial Value
  -1

Definition at line 7851 of file SdoDictionary.mh.

## ◆ HWAMP_USERDEFINED_DATA1

#define HWAMP_USERDEFINED_DATA1 47

Selects what data should be mapped into PO_HWAMP_USERDEFINED_DATAn (only MACS5)

80 = Temperature 1 81 = Temperature 2 136 = Temperature 3 82 = VOLT1 83 = VOLT2 147 = HWAMP_IMEAS_0 148 = HWAMP_IMEAS_1 149 = HWAMP_IMEAS_2 150 = HWAMP_IMEAS_3 151 = HWAMP_IMEAS_4 152 = HWAMP_IMEAS_5

Initial Value
  -1

Definition at line 7869 of file SdoDictionary.mh.

## ◆ HWAMP_USERDEFINED_DATA2

#define HWAMP_USERDEFINED_DATA2 48

Selects what data should be mapped into PO_HWAMP_USERDEFINED_DATAn (only MACS5)

80 = Temperature 1 81 = Temperature 2 136 = Temperature 3 82 = VOLT1 83 = VOLT2 147 = HWAMP_IMEAS_0 148 = HWAMP_IMEAS_1 149 = HWAMP_IMEAS_2 150 = HWAMP_IMEAS_3 151 = HWAMP_IMEAS_4 152 = HWAMP_IMEAS_5

Initial Value
  -1

Definition at line 7887 of file SdoDictionary.mh.

## ◆ HWAMP_USERDEFINED_DATA3

#define HWAMP_USERDEFINED_DATA3 49

Selects what data should be mapped into PO_HWAMP_USERDEFINED_DATAn (only MACS5)

80 = Temperature 1 81 = Temperature 2 136 = Temperature 3 82 = VOLT1 83 = VOLT2 147 = HWAMP_IMEAS_0 148 = HWAMP_IMEAS_1 149 = HWAMP_IMEAS_2 150 = HWAMP_IMEAS_3 151 = HWAMP_IMEAS_4 152 = HWAMP_IMEAS_5

Initial Value
  -1

Definition at line 7905 of file SdoDictionary.mh.

## ◆ HWAMP_VELKILIM

#define HWAMP_VELKILIM 32

Integral limit of velocity controller.

Initial Value
  16383

Value Range
  0-65535

Definition at line 7716 of file SdoDictionary.mh.

## ◆ HWAMP_VELKINT

#define HWAMP_VELKINT 31

Integral factor of velocity controller.

Initial Value
  5

Value Range
  0-65535

Definition at line 7707 of file SdoDictionary.mh.

## ◆ HWAMP_VELKPROP

#define HWAMP_VELKPROP 30

Proportional factor of velocity controller.

Initial Value
  200

Value Range
  0-65535

Definition at line 7698 of file SdoDictionary.mh.

## ◆ HWAMP_VELPI_MODE

#define HWAMP_VELPI_MODE 71

Velocity regulator mode.

0 = MODE_CLASSIC, 1 = MODE_LOADESTIMATE

(Not available on MACS5)

Initial Value
  0

Definition at line 8077 of file SdoDictionary.mh.

## ◆ HWAMP_VELPI_OUTLIM

#define HWAMP_VELPI_OUTLIM 60

Output Limit for velocity controller.

(Not available on MACS5)

Initial Value
  32767

Definition at line 7965 of file SdoDictionary.mh.

## ◆ HWAMP_VELPI_REFLIM

#define HWAMP_VELPI_REFLIM 59

Reference Limit for velocity controller.

(Not available on MACS5)

Initial Value
  32767

Definition at line 7957 of file SdoDictionary.mh.

## ◆ HWAMP_VOLT_MAX

#define HWAMP_VOLT_MAX 69

Maximum voltage for amplifier.

(Not available on MACS5)

Units
  mV*4

Definition at line 8061 of file SdoDictionary.mh.

## ◆ HWAMP_VOLT_MIN

#define HWAMP_VOLT_MIN 68

Minimum voltage for amplifier.

(Not available on MACS5)

Units
  mV*4

Definition at line 8053 of file SdoDictionary.mh.

## ◆ HWANIN_FILTTIME

#define HWANIN_FILTTIME 31

Filter time for analogue input.

At the moment, only multiples of 1000 (1 ms) are handled.

Initial Value
  0

Value Range
  0-1000000

Units
  µs

Definition at line 10570 of file SdoDictionary.mh.

## ◆ HWANIN_MODE

#define HWANIN_MODE 1

not used

Initial Value
  0

Definition at line 10551 of file SdoDictionary.mh.

## ◆ HWANIN_OFFSET

#define HWANIN_OFFSET 30

Offset which will be added to the output value.

Initial Value
  0

Definition at line 10558 of file SdoDictionary.mh.

## ◆ HWANIN_PARAM

#define HWANIN_PARAM | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWANIN_PARAM_INDEX((modno),(parno))]

HW Analog Input Parameters: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 10540 of file SdoDictionary.mh.

## ◆ HWANIN_PARAM_INDEX

#define HWANIN_PARAM_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWANIN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Analog Input Parameters: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 10528 of file SdoDictionary.mh.

## ◆ HWANIN_PARAM_MAX

#define HWANIN_PARAM_MAX 33

HW Analog Input Parameters: Maximum number of parameters.

Definition at line 10544 of file SdoDictionary.mh.

## ◆ HWANIN_PARAM_SRCINDEX

#define HWANIN_PARAM_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWANIN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Analog Input Parameters: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 10534 of file SdoDictionary.mh.

## ◆ HWANIN_PROCESS

#define HWANIN_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWANIN_PROCESS_INDEX((modno),(parno))]

HW Analog Input Process Data: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12605 of file SdoDictionary.mh.

## ◆ HWANIN_PROCESS_INDEX

#define HWANIN_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWANIN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Analog Input Process Data: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12593 of file SdoDictionary.mh.

## ◆ HWANIN_PROCESS_MAX

#define HWANIN_PROCESS_MAX 5

HW Analog Input Process Data: Maximum number of parameters.

Definition at line 12609 of file SdoDictionary.mh.

## ◆ HWANIN_PROCESS_SRCINDEX

#define HWANIN_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWANIN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Analog Input Process Data: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12599 of file SdoDictionary.mh.

## ◆ HWANIN_SCALING

#define HWANIN_SCALING 32

not used

0 = No scaling 1 = 12 bit 2 = 16 bit -1 = 12 bit +/- -2 = 16 bit +/-

Initial Value
  0

Definition at line 10582 of file SdoDictionary.mh.

## ◆ HWANOUT_MODE

#define HWANOUT_MODE 1

Mode.

0 = Normal mode 1 = User force mode

Initial Value
  0

Value Range
  0,1

Definition at line 10624 of file SdoDictionary.mh.

## ◆ HWANOUT_OFFSET

#define HWANOUT_OFFSET 30

Value which is added to analogue value.

Initial Value
  0

Value Range
  0-0xFFFF

Definition at line 10642 of file SdoDictionary.mh.

## ◆ HWANOUT_PARAM

#define HWANOUT_PARAM | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWANOUT_PARAM_INDEX((modno),(parno))]

HW Analog Output Parameters: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 10609 of file SdoDictionary.mh.

## ◆ HWANOUT_PARAM_INDEX

#define HWANOUT_PARAM_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWANOUT_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Analog Output Parameters: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 10597 of file SdoDictionary.mh.

## ◆ HWANOUT_PARAM_MAX

#define HWANOUT_PARAM_MAX 31

HW Analog Output Parameters: Maximum number of parameters.

Definition at line 10613 of file SdoDictionary.mh.

## ◆ HWANOUT_PARAM_SRCINDEX

#define HWANOUT_PARAM_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWANOUT_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Analog Output Parameters: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 10603 of file SdoDictionary.mh.

## ◆ HWANOUT_PISRC_VALUE

#define HWANOUT_PISRC_VALUE 10

Index and subindex of source.

Initial Value
  PO_VIRTAMP_REFVEL+n

Value Range
  0-0xFFFFFE

Definition at line 10633 of file SdoDictionary.mh.

## ◆ HWANOUT_PROCESS

#define HWANOUT_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWANOUT_PROCESS_INDEX((modno),(parno))]

HW Analog Output Process Data: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12656 of file SdoDictionary.mh.

## ◆ HWANOUT_PROCESS_INDEX

#define HWANOUT_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWANOUT_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Analog Output Process Data: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12644 of file SdoDictionary.mh.

## ◆ HWANOUT_PROCESS_MAX

#define HWANOUT_PROCESS_MAX 3

HW Analog Output Process Data: Maximum number of parameters.

Definition at line 12660 of file SdoDictionary.mh.

## ◆ HWANOUT_PROCESS_SRCINDEX

#define HWANOUT_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWANOUT_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Analog Output Process Data: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12650 of file SdoDictionary.mh.

## ◆ HWBRENCREF_PISRC_ENCSIG

#define HWBRENCREF_PISRC_ENCSIG 10

Source encoder signal.

0x00 - 0x3F = Encoder 0-63 0x40 - 0x7F = VirtMaster 0-63
0x80 - 0xBF = DDS 0-63 0xC0 - 0xFF = Bridge 0-63 0xFFC0 = None

Initial Value
  0

Value Range
  0-0xFF

Definition at line 10687 of file SdoDictionary.mh.

## ◆ HWBRREFENC_PARAM

#define HWBRREFENC_PARAM | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWBRREFENC_PARAM_INDEX((modno),(parno))]

HW Signalbridges/bus REF-ENC Parameters: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 10714 of file SdoDictionary.mh.

## ◆ HWBRREFENC_PARAM_INDEX

#define HWBRREFENC_PARAM_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWBRREFENC_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Signalbridges/bus REF-ENC Parameters: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 10702 of file SdoDictionary.mh.

## ◆ HWBRREFENC_PARAM_MAX

#define HWBRREFENC_PARAM_MAX 12

HW Signalbridges/bus REF-ENC Parameters: Maximum number of parameters.

Definition at line 10718 of file SdoDictionary.mh.

## ◆ HWBRREFENC_PARAM_SRCINDEX

#define HWBRREFENC_PARAM_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWBRREFENC_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Signalbridges/bus REF-ENC Parameters: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 10708 of file SdoDictionary.mh.

## ◆ HWBRREFENC_PISRC_REFSIGA

#define HWBRREFENC_PISRC_REFSIGA 10

Source for encoder signal A.

0x000 - 0x03F = Encoder Z signal 0-63 0x040 - 0x07F = VirtMaster Z signal 0-63 0x080 - 0x0BF = DDS Z signal 0-63 0x0C0 - 0x0FF = Bridge A signal 0-63 0x100 - 0x13F = Bridge B signal 0-63 0x140 - 0x17F = Digital input 1-64 0x180 - 0x1BF = Digital output 1-64 0x1C0 - 0x1FF = Comparator GE 0-63 0x200 - 0x23F = Comparator LT 0-63 0x240 - 0x27F = Pulseformer 0-63 0x280 - 0x2BF = Shiftregister 0-63 0x2C0 = SOC irq 0x2C1 = F2D irq 0xFFC0 = None

Definition at line 10737 of file SdoDictionary.mh.

## ◆ HWBRREFENC_PISRC_REFSIGB

#define HWBRREFENC_PISRC_REFSIGB 11

Source for encoder signal B.

0x000 - 0x03F = Encoder Z signal 0-63 0x040 - 0x07F = VirtMaster Z signal 0-63 0x080 - 0x0BF = DDS Z signal 0-63 0x0C0 - 0x0FF = Bridge A signal 0-63 0x100 - 0x13F = Bridge B signal 0-63 0x140 - 0x17F = Digital input 1-64 0x180 - 0x1BF = Digital output 1-64 0x1C0 - 0x1FF = Comparator GE 0-63 0x200 - 0x23F = Comparator LT 0-63 0x240 - 0x27F = Pulseformer 0-63 0x280 - 0x2BF = Shiftregister 0-63 0x2C0 = SOC irq 0x2C1 = F2D irq 0xFFC0 = None

Definition at line 10756 of file SdoDictionary.mh.

## ◆ HWBRREFENC_PROCESS

#define HWBRREFENC_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWBRREFENC_PROCESS_INDEX((modno),(parno))]

HW Signalbridges/bus REF-ENC Process Data: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12724 of file SdoDictionary.mh.

## ◆ HWBRREFENC_PROCESS_INDEX

#define HWBRREFENC_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWBRREFENC_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Signalbridges/bus REF-ENC Process Data: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12712 of file SdoDictionary.mh.

## ◆ HWBRREFENC_PROCESS_MAX

#define HWBRREFENC_PROCESS_MAX 1

HW Signalbridges/bus REF-ENC Process Data: Maximum number of parameters.

Definition at line 12728 of file SdoDictionary.mh.

## ◆ HWBRREFENC_PROCESS_SRCINDEX

#define HWBRREFENC_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWBRREFENC_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Signalbridges/bus REF-ENC Process Data: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12718 of file SdoDictionary.mh.

## ◆ HWCMPUNI_LOLIMIT

#define HWCMPUNI_LOLIMIT 33

Value of lower limit.

Initial Value
  0

Definition at line 9061 of file SdoDictionary.mh.

## ◆ HWCMPUNI_MODE

#define HWCMPUNI_MODE 1

not used

Initial Value
  0

Definition at line 9017 of file SdoDictionary.mh.

## ◆ HWCMPUNI_PARAM

#define HWCMPUNI_PARAM | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWCMPUNI_PARAM_INDEX((modno),(parno))]

HW Comparator-universal Parameters: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 9006 of file SdoDictionary.mh.

## ◆ HWCMPUNI_PARAM_INDEX

#define HWCMPUNI_PARAM_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWCMPUNI_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Comparator-universal Parameters: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 8994 of file SdoDictionary.mh.

## ◆ HWCMPUNI_PARAM_MAX

#define HWCMPUNI_PARAM_MAX 34

HW Comparator-universal Parameters: Maximum number of parameters.

Definition at line 9010 of file SdoDictionary.mh.

## ◆ HWCMPUNI_PARAM_SRCINDEX

#define HWCMPUNI_PARAM_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWCMPUNI_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Comparator-universal Parameters: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 9000 of file SdoDictionary.mh.

## ◆ HWCMPUNI_PISRC_COUNTER

#define HWCMPUNI_PISRC_COUNTER 10

Counter to be observed.

The number of the universal counter instance which must be compared (0-n).

Initial Value
  0+n

Definition at line 9025 of file SdoDictionary.mh.

## ◆ HWCMPUNI_POLLL

#define HWCMPUNI_POLLL 31

Polarity of output at lower limit.

0 = Output is NOT (CNT >= LL) 1 = Output is (CNT >= LL)

Initial Value
  0

Value Range
  0,1

Definition at line 9047 of file SdoDictionary.mh.

## ◆ HWCMPUNI_POLUL

#define HWCMPUNI_POLUL 30

Polarity of output at upper limit.

0 = Output is NOT (CNT < UL) 1 = Output is (CNT < UL)

Initial Value
  0

Value Range
  0,1

Definition at line 9036 of file SdoDictionary.mh.

## ◆ HWCMPUNI_PROCESS

#define HWCMPUNI_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWCMPUNI_PROCESS_INDEX((modno),(parno))]

HW Comparator-universal Process Data: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12216 of file SdoDictionary.mh.

## ◆ HWCMPUNI_PROCESS_INDEX

#define HWCMPUNI_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWCMPUNI_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Comparator-universal Process Data: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12204 of file SdoDictionary.mh.

## ◆ HWCMPUNI_PROCESS_MAX

#define HWCMPUNI_PROCESS_MAX 2

HW Comparator-universal Process Data: Maximum number of parameters.

Definition at line 12220 of file SdoDictionary.mh.

## ◆ HWCMPUNI_PROCESS_SRCINDEX

#define HWCMPUNI_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWCMPUNI_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Comparator-universal Process Data: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12210 of file SdoDictionary.mh.

## ◆ HWCMPUNI_UPLIMIT

#define HWCMPUNI_UPLIMIT 32

Value of upper limit.

Initial Value
  0

Definition at line 9054 of file SdoDictionary.mh.

## ◆ HWCNTABS_CODING

#define HWCNTABS_CODING 2

Data coding.

0 = gray code (default) 1 = no coding (plain binary)

Initial Value
  0

Value Range
  0-1

Definition at line 8853 of file SdoDictionary.mh.

## ◆ HWCNTABS_CODING_GRAY

#define HWCNTABS_CODING_GRAY 0

Definition at line 8867 of file SdoDictionary.mh.

## ◆ HWCNTABS_CODING_GREY

#define HWCNTABS_CODING_GREY 0

Definition at line 8866 of file SdoDictionary.mh.

## ◆ HWCNTABS_CODING_NONE

#define HWCNTABS_CODING_NONE 1

Definition at line 8868 of file SdoDictionary.mh.

## ◆ HWCNTABS_MODE

#define HWCNTABS_MODE 1

Not used.

Initial Value
  0

Value Range
  0

Definition at line 8842 of file SdoDictionary.mh.

## ◆ HWCNTABS_PISCR_COUNTER

#define HWCNTABS_PISCR_COUNTER 10

not used

Initial Value
  0

Value Range
  0

Definition at line 8862 of file SdoDictionary.mh.

## ◆ HWCNTINC_INTERPOL

#define HWCNTINC_INTERPOL 31

Interpolation factor.

This parameter is only valid for SinCos Encoders. This value defines to what value a SinCos Period should be interpolated. The value is defined 2^x. E.g. if the value is 8, the interpolation will be 256 increments per SinCos period. Only values between 2 and 12 are valid.

Initial Value
  8

Value Range
  2-12

Definition at line 8752 of file SdoDictionary.mh.

## ◆ HWCNTINC_MODE

#define HWCNTINC_MODE 1

not used

Initial Value
  0

Value Range
  0,1

Definition at line 8688 of file SdoDictionary.mh.

## ◆ HWCNTINC_PISRC_COUNTER

#define HWCNTINC_PISRC_COUNTER 10

Source for counter signal.

With this source, a signal can be selected as counter input.

0x00 - 0x3F = Encoder 0-63 0x40 - 0x7F = VirtMaster 0-63
0x80 - 0xBF = DDS 0-63 0xC0 - 0xFF = Bridge 0-63 0xFFC0 = None

Initial Value
  0+n

Definition at line 8702 of file SdoDictionary.mh.

## ◆ HWCNTINC_PISRC_TRIGGER

#define HWCNTINC_PISRC_TRIGGER 11

Source for reset signal.

With this source, a signal can be selected to reset the counter to 0.

0x000 - 0x03F = Encoder Z signal 0-63 0x040 - 0x07F = VirtMaster Z signal 0-63 0x080 - 0x0BF = DDS Z signal 0-63 0x0C0 - 0x0FF = Bridge A signal 0-63 0x100 - 0x13F = Bridge B signal 0-63 0x140 - 0x17F = Digital input 1-64 0x180 - 0x1BF = Digital output 1-64 0x1C0 - 0x1FF = Comparator GE 0-63 0x200 - 0x23F = Comparator LT 0-63 0x240 - 0x27F = Pulseformer 0-63 0x280 - 0x2BF = Shiftregister 0-63 0x2C0 = SOC irq 0x2C1 = F2D irq 0xFFC0 = None

Initial Value
  0

Definition at line 8725 of file SdoDictionary.mh.

## ◆ HWCNTINC_PISRC_TRIGGER_BRDA

#define HWCNTINC_PISRC_TRIGGER_BRDA 0x0C0

Definition at line 8788 of file SdoDictionary.mh.

## ◆ HWCNTINC_PISRC_TRIGGER_BRDB

#define HWCNTINC_PISRC_TRIGGER_BRDB 0x100

Definition at line 8789 of file SdoDictionary.mh.

## ◆ HWCNTINC_PISRC_TRIGGER_CMPG

#define HWCNTINC_PISRC_TRIGGER_CMPG 0x1C0

Definition at line 8792 of file SdoDictionary.mh.

## ◆ HWCNTINC_PISRC_TRIGGER_CMPL

#define HWCNTINC_PISRC_TRIGGER_CMPL 0x200

Definition at line 8793 of file SdoDictionary.mh.

## ◆ HWCNTINC_PISRC_TRIGGER_DDSZ

#define HWCNTINC_PISRC_TRIGGER_DDSZ 0x080

Definition at line 8787 of file SdoDictionary.mh.

## ◆ HWCNTINC_PISRC_TRIGGER_DINP

#define HWCNTINC_PISRC_TRIGGER_DINP 0x140

Definition at line 8790 of file SdoDictionary.mh.

## ◆ HWCNTINC_PISRC_TRIGGER_DOUT

#define HWCNTINC_PISRC_TRIGGER_DOUT 0x180

Definition at line 8791 of file SdoDictionary.mh.

## ◆ HWCNTINC_PISRC_TRIGGER_ENCZ

#define HWCNTINC_PISRC_TRIGGER_ENCZ 0x000

Definition at line 8785 of file SdoDictionary.mh.

## ◆ HWCNTINC_PISRC_TRIGGER_IRQ

#define HWCNTINC_PISRC_TRIGGER_IRQ 0x2C0

Definition at line 8796 of file SdoDictionary.mh.

## ◆ HWCNTINC_PISRC_TRIGGER_NOT

#define HWCNTINC_PISRC_TRIGGER_NOT 0xFFC0

Definition at line 8797 of file SdoDictionary.mh.

## ◆ HWCNTINC_PISRC_TRIGGER_PULS

#define HWCNTINC_PISRC_TRIGGER_PULS 0x240

Definition at line 8794 of file SdoDictionary.mh.

## ◆ HWCNTINC_PISRC_TRIGGER_SHIFT

#define HWCNTINC_PISRC_TRIGGER_SHIFT 0x280

Definition at line 8795 of file SdoDictionary.mh.

## ◆ HWCNTINC_PISRC_TRIGGER_VMZ

#define HWCNTINC_PISRC_TRIGGER_VMZ 0x040

Definition at line 8786 of file SdoDictionary.mh.

## ◆ HWCNTINC_RESOLUTION

#define HWCNTINC_RESOLUTION 34

Resolution of counter per revolution.

The value needs to be entered in qc/rev. E.g. if it is an incremental encoder with 500 lines, the correct value to enter is 2000. Note that this parameter exists independently also in HWAMP_PARAM / HWAMP_ENCRES

Initial Value
  2000

Units
  qc

Definition at line 8781 of file SdoDictionary.mh.

## ◆ HWCNTINC_SCALE

#define HWCNTINC_SCALE 32

Scale value (not used)

Initial Value
  0

Value Range
  0-16

Definition at line 8761 of file SdoDictionary.mh.

## ◆ HWCNTINC_SLOPE

#define HWCNTINC_SLOPE 30

Slope selector for reset signal.

0 = Continuous 1 = Rising 2 = Falling 3 = Both

Initial Value
  0

Value Range
  0,1,2,3

Definition at line 8738 of file SdoDictionary.mh.

## ◆ HWCNTINC_SLOPE_BOTH

#define HWCNTINC_SLOPE_BOTH 3

Definition at line 8803 of file SdoDictionary.mh.

## ◆ HWCNTINC_SLOPE_CONTINUOUS

#define HWCNTINC_SLOPE_CONTINUOUS 0

Definition at line 8800 of file SdoDictionary.mh.

## ◆ HWCNTINC_SLOPE_FALLING

#define HWCNTINC_SLOPE_FALLING 2

Definition at line 8802 of file SdoDictionary.mh.

## ◆ HWCNTINC_SLOPE_RISING

#define HWCNTINC_SLOPE_RISING 1

Definition at line 8801 of file SdoDictionary.mh.

## ◆ HWCNTINC_UPDATERATE

#define HWCNTINC_UPDATERATE 33

Update frequency of counter (not used)

How often the counter is updated. This is important if used by fast regulation loops.

Initial Value
  0

Definition at line 8769 of file SdoDictionary.mh.

## ◆ HWCNTUNI_CLRSLOPE

#define HWCNTUNI_CLRSLOPE 30

Slope selector for reset signal.

0 = Continuous 1 = Rising 2 = Falling 3 = Both

Initial Value
  0

Definition at line 8961 of file SdoDictionary.mh.

## ◆ HWCNTUNI_MODE

#define HWCNTUNI_MODE 1

Encoder / Reference Input.

Initial Value
  0

Definition at line 8905 of file SdoDictionary.mh.

## ◆ HWCNTUNI_PISRC_CLEARSIG

#define HWCNTUNI_PISRC_CLEARSIG 11

Source of reset signal.

0x000 - 0x03F = Encoder Z signal 0-63 0x040 - 0x07F = VirtMaster Z signal 0-63 0x080 - 0x0BF = DDS Z signal 0-63 0x0C0 - 0x0FF = Bridge A signal 0-63 0x100 - 0x13F = Bridge B signal 0-63 0x140 - 0x17F = Digital input 1-64 0x180 - 0x1BF = Digital output 1-64 0x1C0 - 0x1FF = Comparator GE 0-63 0x200 - 0x23F = Comparator LT 0-63 0x240 - 0x27F = Pulseformer 0-63 0x280 - 0x2BF = Shiftregister 0-63 0x2C0 = SOC irq 0x2C1 = F2D irq 0xFFC0 = None

Initial Value
  0xFFC0

Definition at line 8950 of file SdoDictionary.mh.

## ◆ HWCNTUNI_PISRC_COUNTER

#define HWCNTUNI_PISRC_COUNTER 10

Source of the counter signal.

0x00 - 0x3F = Encoder 0-63 0x40 - 0x7F = VirtMaster 0-63
0x80 - 0xBF = DDS 0-63 0xC0 - 0xFF = Bridge 0-63 0xFFC0 = None or (mode 1) 0x000 - 0x03F = Encoder Z signal 0-63 0x040 - 0x07F = VirtMaster Z signal 0-63 0x080 - 0x0BF = DDS Z signal 0-63 0x0C0 - 0x0FF = Bridge A signal 0-63 0x100 - 0x13F = Bridge B signal 0-63 0x140 - 0x17F = Digital input 1-64 0x180 - 0x1BF = Digital output 1-64 0x1C0 - 0x1FF = Comparator GE 0-63 0x200 - 0x23F = Comparator LT 0-63 0x240 - 0x27F = Pulseformer 0-63 0x280 - 0x2BF = Shiftregister 0-63

Initial Value
  0+n

Definition at line 8929 of file SdoDictionary.mh.

## ◆ HWCNTUNI_SRCSLOPE

#define HWCNTUNI_SRCSLOPE 31

Slope selector for counter signal.

0 = Continuous 1 = Rising 2 = Falling 3 = Both (only valid in mode 2)

Initial Value
  0

Definition at line 8972 of file SdoDictionary.mh.

## ◆ HWCOUNTABS_PARAM

#define HWCOUNTABS_PARAM | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWCOUNTABS_PARAM_INDEX((modno),(parno))]

HW Counter-abs Parameters: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 8829 of file SdoDictionary.mh.

## ◆ HWCOUNTABS_PARAM_INDEX

#define HWCOUNTABS_PARAM_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWCOUNTABS_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Counter-abs Parameters: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 8817 of file SdoDictionary.mh.

## ◆ HWCOUNTABS_PARAM_MAX

#define HWCOUNTABS_PARAM_MAX 11

HW Counter-abs Parameters: Maximum number of parameters.

Definition at line 8833 of file SdoDictionary.mh.

## ◆ HWCOUNTABS_PARAM_SRCINDEX

#define HWCOUNTABS_PARAM_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWCOUNTABS_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Counter-abs Parameters: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 8823 of file SdoDictionary.mh.

## ◆ HWCOUNTABS_PROCESS

#define HWCOUNTABS_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWCOUNTABS_PROCESS_INDEX((modno),(parno))]

HW Counter-abs Process Data: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12126 of file SdoDictionary.mh.

## ◆ HWCOUNTABS_PROCESS_INDEX

#define HWCOUNTABS_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWCOUNTABS_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Counter-abs Process Data: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12114 of file SdoDictionary.mh.

## ◆ HWCOUNTABS_PROCESS_MAX

#define HWCOUNTABS_PROCESS_MAX 3

HW Counter-abs Process Data: Maximum number of parameters.

Definition at line 12130 of file SdoDictionary.mh.

## ◆ HWCOUNTABS_PROCESS_SRCINDEX

#define HWCOUNTABS_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWCOUNTABS_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Counter-abs Process Data: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12120 of file SdoDictionary.mh.

## ◆ HWCOUNTINC_PARAM

#define HWCOUNTINC_PARAM | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWCOUNTINC_PARAM_INDEX((modno),(parno))]

HW Counter-inc Parameters: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 8675 of file SdoDictionary.mh.

## ◆ HWCOUNTINC_PARAM_INDEX

#define HWCOUNTINC_PARAM_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWCOUNTINC_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Counter-inc Parameters: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 8663 of file SdoDictionary.mh.

## ◆ HWCOUNTINC_PARAM_MAX

#define HWCOUNTINC_PARAM_MAX 35

HW Counter-inc Parameters: Maximum number of parameters.

Definition at line 8679 of file SdoDictionary.mh.

## ◆ HWCOUNTINC_PARAM_SRCINDEX

#define HWCOUNTINC_PARAM_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWCOUNTINC_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Counter-inc Parameters: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 8669 of file SdoDictionary.mh.

## ◆ HWCOUNTINC_PROCESS

#define HWCOUNTINC_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWCOUNTINC_PROCESS_INDEX((modno),(parno))]

HW Counter-inc Process Data: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12017 of file SdoDictionary.mh.

## ◆ HWCOUNTINC_PROCESS_INDEX

#define HWCOUNTINC_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWCOUNTINC_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Counter-inc Process Data: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12005 of file SdoDictionary.mh.

## ◆ HWCOUNTINC_PROCESS_MAX

#define HWCOUNTINC_PROCESS_MAX 12

HW Counter-inc Process Data: Maximum number of parameters.

Definition at line 12021 of file SdoDictionary.mh.

## ◆ HWCOUNTINC_PROCESS_SRCINDEX

#define HWCOUNTINC_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWCOUNTINC_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Counter-inc Process Data: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12011 of file SdoDictionary.mh.

## ◆ HWCOUNTUNI_PARAM

#define HWCOUNTUNI_PARAM | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWCOUNTUNI_PARAM_INDEX((modno),(parno))]

HW Counter-universal Parameters: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 8894 of file SdoDictionary.mh.

## ◆ HWCOUNTUNI_PARAM_INDEX

#define HWCOUNTUNI_PARAM_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWCOUNTUNI_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Counter-universal Parameters: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 8882 of file SdoDictionary.mh.

## ◆ HWCOUNTUNI_PARAM_MAX

#define HWCOUNTUNI_PARAM_MAX 32

HW Counter-universal Parameters: Maximum number of parameters.

Definition at line 8898 of file SdoDictionary.mh.

## ◆ HWCOUNTUNI_PARAM_SRCINDEX

#define HWCOUNTUNI_PARAM_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWCOUNTUNI_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Counter-universal Parameters: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 8888 of file SdoDictionary.mh.

## ◆ HWCOUNTUNI_PROCESS

#define HWCOUNTUNI_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWCOUNTUNI_PROCESS_INDEX((modno),(parno))]

HW Counter-abs Process Data: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12173 of file SdoDictionary.mh.

## ◆ HWCOUNTUNI_PROCESS_INDEX

#define HWCOUNTUNI_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWCOUNTUNI_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Counter-abs Process Data: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12161 of file SdoDictionary.mh.

## ◆ HWCOUNTUNI_PROCESS_MAX

#define HWCOUNTUNI_PROCESS_MAX 3

HW Counter-abs Process Data: Maximum number of parameters.

Definition at line 12177 of file SdoDictionary.mh.

## ◆ HWCOUNTUNI_PROCESS_SRCINDEX

#define HWCOUNTUNI_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWCOUNTUNI_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Counter-abs Process Data: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12167 of file SdoDictionary.mh.

## ◆ HWDDS_DENOMINATOR

#define HWDDS_DENOMINATOR 33

Denominator of the divisor.

Initial Value
  1

Value Range
  1-0x7FFFFFFF

Definition at line 9399 of file SdoDictionary.mh.

## ◆ HWDDS_ENAREVMCOMP

#define HWDDS_ENAREVMCOMP 34

Reverse compensation.

1 = Enable reverse motion compensation

If the reverse motion compensation is activated, the signal on the output will not reverse even if the input reverses. The number of reverse increments will be counted. When the input signal runs forward again, this number of increments first have to be run, before the signal on the output starts to run again.

Initial Value
  0

Value Range
  0,1

Definition at line 9412 of file SdoDictionary.mh.

## ◆ HWDDS_MODE

#define HWDDS_MODE 1

Mode.

bit 0 = 1 --> force sync signal This will reset the counter which is used to generate a reference signal.

Initial Value
  0

Definition at line 9335 of file SdoDictionary.mh.

## ◆ HWDDS_NUMERATOR

#define HWDDS_NUMERATOR 32

Numerator of the divisor.

Must be smaller than the denominator below.

Initial Value
  1

Value Range
  1-0x7FFFFFFF

Definition at line 9390 of file SdoDictionary.mh.

## ◆ HWDDS_PARAM

#define HWDDS_PARAM | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWDDS_PARAM_INDEX((modno),(parno))]

HW DDS Parameters: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 9322 of file SdoDictionary.mh.

## ◆ HWDDS_PARAM_INDEX

#define HWDDS_PARAM_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWDDS_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW DDS Parameters: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 9310 of file SdoDictionary.mh.

## ◆ HWDDS_PARAM_MAX

#define HWDDS_PARAM_MAX 35

HW DDS Parameters: Maximum number of parameters.

Definition at line 9326 of file SdoDictionary.mh.

## ◆ HWDDS_PARAM_SRCINDEX

#define HWDDS_PARAM_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWDDS_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW DDS Parameters: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 9316 of file SdoDictionary.mh.

## ◆ HWDDS_PISRC_ENCSIG

#define HWDDS_PISRC_ENCSIG 10

Source for encoder signal.

0x00 - 0x3F = Encoder 0-63 0x40 - 0x7F = VirtMaster 0-63
0x80 - 0xBF = DDS 0-63 0xC0 - 0xFF = Bridge 0-63 0xFFC0 = None

Initial Value
  0

Value Range
  0-0xFF

Definition at line 9349 of file SdoDictionary.mh.

## ◆ HWDDS_PISRC_SYNC

#define HWDDS_PISRC_SYNC 11

Source for the sync information.

Initial Value
  0

Value Range
  0-0xFFFFFE

Definition at line 9358 of file SdoDictionary.mh.

## ◆ HWDDS_POLARITY

#define HWDDS_POLARITY 30

Polarity of the reference signal.

0 = Negative signal 1 = Positive signal

Initial Value
  0

Value Range
  0,1

Definition at line 9369 of file SdoDictionary.mh.

## ◆ HWDDS_PROCESS

#define HWDDS_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWDDS_PROCESS_INDEX((modno),(parno))]

HW DDS Process Data: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12368 of file SdoDictionary.mh.

## ◆ HWDDS_PROCESS_INDEX

#define HWDDS_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWDDS_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW DDS Process Data: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12356 of file SdoDictionary.mh.

## ◆ HWDDS_PROCESS_MAX

#define HWDDS_PROCESS_MAX 1

HW DDS Process Data: Maximum number of parameters.

Definition at line 12372 of file SdoDictionary.mh.

## ◆ HWDDS_PROCESS_SRCINDEX

#define HWDDS_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWDDS_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW DDS Process Data: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12362 of file SdoDictionary.mh.

## ◆ HWDDS_SIGDIST

#define HWDDS_SIGDIST 31

Distance between two reference signals.

Values < 5 mean constant signal.

Initial Value
  0

Value Range
  0-65535

Units
  qc

Definition at line 9381 of file SdoDictionary.mh.

## ◆ HWDIGIN_GLITCHFILT1

#define HWDIGIN_GLITCHFILT1 31

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value
  0

Value Range
  0-7

Definition at line 9784 of file SdoDictionary.mh.

## ◆ HWDIGIN_GLITCHFILT10

#define HWDIGIN_GLITCHFILT10 40

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value
  0

Value Range
  0-7

Definition at line 9937 of file SdoDictionary.mh.

## ◆ HWDIGIN_GLITCHFILT11

#define HWDIGIN_GLITCHFILT11 41

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value
  0

Value Range
  0-7

Definition at line 9954 of file SdoDictionary.mh.

## ◆ HWDIGIN_GLITCHFILT12

#define HWDIGIN_GLITCHFILT12 42

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value
  0

Value Range
  0-7

Definition at line 9971 of file SdoDictionary.mh.

## ◆ HWDIGIN_GLITCHFILT13

#define HWDIGIN_GLITCHFILT13 43

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value
  0

Value Range
  0-7

Definition at line 9988 of file SdoDictionary.mh.

## ◆ HWDIGIN_GLITCHFILT14

#define HWDIGIN_GLITCHFILT14 44

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value
  0

Value Range
  0-7

Definition at line 10005 of file SdoDictionary.mh.

## ◆ HWDIGIN_GLITCHFILT15

#define HWDIGIN_GLITCHFILT15 45

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value
  0

Value Range
  0-7

Definition at line 10022 of file SdoDictionary.mh.

## ◆ HWDIGIN_GLITCHFILT16

#define HWDIGIN_GLITCHFILT16 46

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value
  0

Value Range
  0-7

Definition at line 10039 of file SdoDictionary.mh.

## ◆ HWDIGIN_GLITCHFILT17

#define HWDIGIN_GLITCHFILT17 47

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value
  0

Value Range
  0-7

Definition at line 10056 of file SdoDictionary.mh.

## ◆ HWDIGIN_GLITCHFILT18

#define HWDIGIN_GLITCHFILT18 48

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value
  0

Value Range
  0-7

Definition at line 10073 of file SdoDictionary.mh.

## ◆ HWDIGIN_GLITCHFILT19

#define HWDIGIN_GLITCHFILT19 49

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value
  0

Value Range
  0-7

Definition at line 10090 of file SdoDictionary.mh.

## ◆ HWDIGIN_GLITCHFILT2

#define HWDIGIN_GLITCHFILT2 32

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value
  0

Value Range
  0-7

Definition at line 9801 of file SdoDictionary.mh.

## ◆ HWDIGIN_GLITCHFILT20

#define HWDIGIN_GLITCHFILT20 50

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value
  0

Value Range
  0-7

Definition at line 10107 of file SdoDictionary.mh.

## ◆ HWDIGIN_GLITCHFILT21

#define HWDIGIN_GLITCHFILT21 51

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value
  0

Value Range
  0-7

Definition at line 10124 of file SdoDictionary.mh.

## ◆ HWDIGIN_GLITCHFILT22

#define HWDIGIN_GLITCHFILT22 52

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value
  0

Value Range
  0-7

Definition at line 10141 of file SdoDictionary.mh.

## ◆ HWDIGIN_GLITCHFILT23

#define HWDIGIN_GLITCHFILT23 53

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value
  0

Value Range
  0-7

Definition at line 10158 of file SdoDictionary.mh.

## ◆ HWDIGIN_GLITCHFILT24

#define HWDIGIN_GLITCHFILT24 54

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value
  0

Value Range
  0-7

Definition at line 10175 of file SdoDictionary.mh.

## ◆ HWDIGIN_GLITCHFILT25

#define HWDIGIN_GLITCHFILT25 55

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value
  0

Value Range
  0-7

Definition at line 10192 of file SdoDictionary.mh.

## ◆ HWDIGIN_GLITCHFILT26

#define HWDIGIN_GLITCHFILT26 56

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value
  0

Value Range
  0-7

Definition at line 10209 of file SdoDictionary.mh.

## ◆ HWDIGIN_GLITCHFILT27

#define HWDIGIN_GLITCHFILT27 57

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value
  0

Value Range
  0-7

Definition at line 10226 of file SdoDictionary.mh.

## ◆ HWDIGIN_GLITCHFILT28

#define HWDIGIN_GLITCHFILT28 58

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value
  0

Value Range
  0-7

Definition at line 10243 of file SdoDictionary.mh.

## ◆ HWDIGIN_GLITCHFILT29

#define HWDIGIN_GLITCHFILT29 59

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value
  0

Value Range
  0-7

Definition at line 10260 of file SdoDictionary.mh.

## ◆ HWDIGIN_GLITCHFILT3

#define HWDIGIN_GLITCHFILT3 33

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value
  0

Value Range
  0-7

Definition at line 9818 of file SdoDictionary.mh.

## ◆ HWDIGIN_GLITCHFILT30

#define HWDIGIN_GLITCHFILT30 60

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value
  0

Value Range
  0-7

Definition at line 10277 of file SdoDictionary.mh.

## ◆ HWDIGIN_GLITCHFILT31

#define HWDIGIN_GLITCHFILT31 61

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value
  0

Value Range
  0-7

Definition at line 10294 of file SdoDictionary.mh.

## ◆ HWDIGIN_GLITCHFILT32

#define HWDIGIN_GLITCHFILT32 62

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value
  0

Value Range
  0-7

Definition at line 10311 of file SdoDictionary.mh.

## ◆ HWDIGIN_GLITCHFILT4

#define HWDIGIN_GLITCHFILT4 34

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value
  0

Value Range
  0-7

Definition at line 9835 of file SdoDictionary.mh.

## ◆ HWDIGIN_GLITCHFILT5

#define HWDIGIN_GLITCHFILT5 35

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value
  0

Value Range
  0-7

Definition at line 9852 of file SdoDictionary.mh.

## ◆ HWDIGIN_GLITCHFILT6

#define HWDIGIN_GLITCHFILT6 36

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value
  0

Value Range
  0-7

Definition at line 9869 of file SdoDictionary.mh.

## ◆ HWDIGIN_GLITCHFILT7

#define HWDIGIN_GLITCHFILT7 37

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value
  0

Value Range
  0-7

Definition at line 9886 of file SdoDictionary.mh.

## ◆ HWDIGIN_GLITCHFILT8

#define HWDIGIN_GLITCHFILT8 38

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value
  0

Value Range
  0-7

Definition at line 9903 of file SdoDictionary.mh.

## ◆ HWDIGIN_GLITCHFILT9

#define HWDIGIN_GLITCHFILT9 39

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value
  0

Value Range
  0-7

Definition at line 9920 of file SdoDictionary.mh.

## ◆ HWDIGIN_MODE

#define HWDIGIN_MODE 1

not used

Initial Value
  0

Definition at line 9756 of file SdoDictionary.mh.

## ◆ HWDIGIN_PARAM

#define HWDIGIN_PARAM | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWDIGIN_PARAM_INDEX((modno),(parno))]

HW Digital Input Parameters: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 9745 of file SdoDictionary.mh.

## ◆ HWDIGIN_PARAM_INDEX

#define HWDIGIN_PARAM_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWDIGIN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Digital Input Parameters: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 9733 of file SdoDictionary.mh.

## ◆ HWDIGIN_PARAM_MAX

#define HWDIGIN_PARAM_MAX 63

HW Digital Input Parameters: Maximum number of parameters.

Definition at line 9749 of file SdoDictionary.mh.

## ◆ HWDIGIN_PARAM_SRCINDEX

#define HWDIGIN_PARAM_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWDIGIN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Digital Input Parameters: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 9739 of file SdoDictionary.mh.

## ◆ HWDIGIN_POLARITY

#define HWDIGIN_POLARITY 30

Polarity of input signal.

This is a bit-wise inversion mask for the digital inputs. Each bit equals one digital input. Bit values: 0 = 0V is 1 1 = 24V is 1

Initial Value
  0xFFFFFFFF

Definition at line 9767 of file SdoDictionary.mh.

## ◆ HWDIGIN_PROCESS

#define HWDIGIN_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWDIGIN_PROCESS_INDEX((modno),(parno))]

HW Digital Input Process Data: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12496 of file SdoDictionary.mh.

## ◆ HWDIGIN_PROCESS_INDEX

#define HWDIGIN_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWDIGIN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Digital Input Process Data: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12484 of file SdoDictionary.mh.

## ◆ HWDIGIN_PROCESS_MAX

#define HWDIGIN_PROCESS_MAX 8

HW Digital Input Process Data: Maximum number of parameters.

Definition at line 12500 of file SdoDictionary.mh.

## ◆ HWDIGIN_PROCESS_SRCINDEX

#define HWDIGIN_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWDIGIN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Digital Input Process Data: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12490 of file SdoDictionary.mh.

## ◆ HWDIGOUT_MODE

#define HWDIGOUT_MODE 1

Mode.

0 = Normal link mode, the output information comes from a source 1 = User force mode, the output information comes from the PO_HWDIGOUT_FORCEVALUE register.

Initial Value
  0

Value Range
  0,1

Definition at line 10353 of file SdoDictionary.mh.

## ◆ HWDIGOUT_PARAM

#define HWDIGOUT_PARAM | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWDIGOUT_PARAM_INDEX((modno),(parno))]

HW Digital Output Parameters: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 10338 of file SdoDictionary.mh.

## ◆ HWDIGOUT_PARAM_INDEX

#define HWDIGOUT_PARAM_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWDIGOUT_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Digital Output Parameters: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 10326 of file SdoDictionary.mh.

## ◆ HWDIGOUT_PARAM_MAX

#define HWDIGOUT_PARAM_MAX 18

HW Digital Output Parameters: Maximum number of parameters.

Definition at line 10342 of file SdoDictionary.mh.

## ◆ HWDIGOUT_PARAM_SRCINDEX

#define HWDIGOUT_PARAM_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWDIGOUT_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Digital Output Parameters: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 10332 of file SdoDictionary.mh.

## ◆ HWDIGOUT_PISRC_BIT1

#define HWDIGOUT_PISRC_BIT1 14

Source for input signal.

For controllers with PWM Output: 0x180: Normal digital output 0x400: PWM output

For Controllers with FPGA (MACS5): The digital outputs 1-4 are controlled by the FPGA. They are usually set with the values fetched from the sources HWDIGOUT_PISRC_MAP2 parameters. But they can also linked to other inputs internally in the FPGA. The following signals can be linked internally:

0x000 - 0x03F = Encoder Z signal 0-63 0x040 - 0x07F = VirtMaster Z signal 0-63 0x080 - 0x0BF = DDS Z signal 0-63 0x0C0 - 0x0FF= Bridge A signal 0-63 0x100 - 0x13F = Bridge B signal 0-63 0x140 - 0x17F = Digital input 1-64 0x180 - 0x1BF = Digital output 1-64 0x1C0 - 0x1FF = Comparator GE 0-63 0x200 - 0x23F = Comparator LT 0-63 0x240 - 0x27F = Pulseformer 0-63 0x280 - 0x2BF = Shiftregister 0-63 0x2C0 = SOC irq 0x2C1 = F2D irq 0xFFC0 = None

Definition at line 10426 of file SdoDictionary.mh.

## ◆ HWDIGOUT_PISRC_BIT2

#define HWDIGOUT_PISRC_BIT2 15

Source for input signal.

For controllers with PWM Output: 0x180: Normal digital output 0x400: PWM output

For Controllers with FPGA (MACS5): The digital outputs 1-4 are controlled by the FPGA. They are usually set with the values fetched from the sources HWDIGOUT_PISRC_MAP2 parameters. But they can also linked to other inputs internally in the FPGA. The following signals can be linked internally:

0x000 - 0x03F = Encoder Z signal 0-63 0x040 - 0x07F = VirtMaster Z signal 0-63 0x080 - 0x0BF = DDS Z signal 0-63 0x0C0 - 0x0FF= Bridge A signal 0-63 0x100 - 0x13F = Bridge B signal 0-63 0x140 - 0x17F = Digital input 1-64 0x180 - 0x1BF = Digital output 1-64 0x1C0 - 0x1FF = Comparator GE 0-63 0x200 - 0x23F = Comparator LT 0-63 0x240 - 0x27F = Pulseformer 0-63 0x280 - 0x2BF = Shiftregister 0-63 0x2C0 = SOC irq 0x2C1 = F2D irq 0xFFC0 = None

Definition at line 10455 of file SdoDictionary.mh.

## ◆ HWDIGOUT_PISRC_BIT3

#define HWDIGOUT_PISRC_BIT3 16

Source for input signal.

For controllers with PWM Output: 0x180: Normal digital output 0x400: PWM output

For Controllers with FPGA (MACS5): The digital outputs 1-4 are controlled by the FPGA. They are usually set with the values fetched from the sources HWDIGOUT_PISRC_MAP2 parameters. But they can also linked to other inputs internally in the FPGA. The following signals can be linked internally:

0x000 - 0x03F = Encoder Z signal 0-63 0x040 - 0x07F = VirtMaster Z signal 0-63 0x080 - 0x0BF = DDS Z signal 0-63 0x0C0 - 0x0FF= Bridge A signal 0-63 0x100 - 0x13F = Bridge B signal 0-63 0x140 - 0x17F = Digital input 1-64 0x180 - 0x1BF = Digital output 1-64 0x1C0 - 0x1FF = Comparator GE 0-63 0x200 - 0x23F = Comparator LT 0-63 0x240 - 0x27F = Pulseformer 0-63 0x280 - 0x2BF = Shiftregister 0-63 0x2C0 = SOC irq 0x2C1 = F2D irq 0xFFC0 = None

Definition at line 10484 of file SdoDictionary.mh.

## ◆ HWDIGOUT_PISRC_BIT4

#define HWDIGOUT_PISRC_BIT4 17

Source for input signal.

For controllers with PWM Output: 0x180: Normal digital output 0x400: PWM output

For Controllers with FPGA (MACS5): The digital outputs 1-4 are controlled by the FPGA. They are usually set with the values fetched from the sources HWDIGOUT_PISRC_MAP2 parameters. But they can also linked to other inputs internally in the FPGA. The following signals can be linked internally:

0x000 - 0x03F = Encoder Z signal 0-63 0x040 - 0x07F = VirtMaster Z signal 0-63 0x080 - 0x0BF = DDS Z signal 0-63 0x0C0 - 0x0FF= Bridge A signal 0-63 0x100 - 0x13F = Bridge B signal 0-63 0x140 - 0x17F = Digital input 1-64 0x180 - 0x1BF = Digital output 1-64 0x1C0 - 0x1FF = Comparator GE 0-63 0x200 - 0x23F = Comparator LT 0-63 0x240 - 0x27F = Pulseformer 0-63 0x280 - 0x2BF = Shiftregister 0-63 0x2C0 = SOC irq 0x2C1 = F2D irq 0xFFC0 = None

Definition at line 10513 of file SdoDictionary.mh.

## ◆ HWDIGOUT_PISRC_MAP1

#define HWDIGOUT_PISRC_MAP1 10

Mapping entry for outputs.

Like CanOpen: Byte 1,2 - Index Byte 3 - Subindex Byte 4 - Length in Bytes

Initial Value
  PO_VIRTDIGOUT_VALLONG/4

Definition at line 10364 of file SdoDictionary.mh.

## ◆ HWDIGOUT_PISRC_MAP2

#define HWDIGOUT_PISRC_MAP2 11

Mapping entry for outputs.

Like CanOpen: Byte 1,2 - Index Byte 3 - Subindex Byte 4 - Length in Bytes

Initial Value
  0

Definition at line 10375 of file SdoDictionary.mh.

## ◆ HWDIGOUT_PISRC_MAP3

#define HWDIGOUT_PISRC_MAP3 12

Mapping entry for outputs.

Like CanOpen: Byte 1,2 - Index Byte 3 - Subindex Byte 4 - Length in Bytes

Initial Value
  0

Definition at line 10386 of file SdoDictionary.mh.

## ◆ HWDIGOUT_PISRC_MAP4

#define HWDIGOUT_PISRC_MAP4 13

Mapping entry for outputs.

Like CanOpen: Byte 1,2 - Index Byte 3 - Subindex Byte 4 - Length in Bytes

Initial Value
  0

Definition at line 10397 of file SdoDictionary.mh.

## ◆ HWDIGOUT_PROCESS

#define HWDIGOUT_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWDIGOUT_PROCESS_INDEX((modno),(parno))]

HW Digital Output Process Data: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12562 of file SdoDictionary.mh.

## ◆ HWDIGOUT_PROCESS_INDEX

#define HWDIGOUT_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWDIGOUT_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Digital Output Process Data: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12550 of file SdoDictionary.mh.

## ◆ HWDIGOUT_PROCESS_MAX

#define HWDIGOUT_PROCESS_MAX 3

HW Digital Output Process Data: Maximum number of parameters.

Definition at line 12566 of file SdoDictionary.mh.

## ◆ HWDIGOUT_PROCESS_SRCINDEX

#define HWDIGOUT_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWDIGOUT_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Digital Output Process Data: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12556 of file SdoDictionary.mh.

## ◆ HWENC_PARAM

#define HWENC_PARAM | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWENC_PARAM_INDEX((modno),(parno))]

HW Encoder Parameters: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 8383 of file SdoDictionary.mh.

## ◆ HWENC_PARAM_INDEX

#define HWENC_PARAM_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWENC_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Encoder Parameters: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 8371 of file SdoDictionary.mh.

## ◆ HWENC_PARAM_MAX

#define HWENC_PARAM_MAX 44

HW Encoder Parameters: Maximum number of parameters.

Definition at line 8387 of file SdoDictionary.mh.

## ◆ HWENC_PARAM_SRCINDEX

#define HWENC_PARAM_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWENC_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Encoder Parameters: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 8377 of file SdoDictionary.mh.

## ◆ HWENC_PROCESS

#define HWENC_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWENC_PROCESS_INDEX((modno),(parno))]

HW Encoder Process Data: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 11926 of file SdoDictionary.mh.

## ◆ HWENC_PROCESS_INDEX

#define HWENC_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWENC_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Encoder Process Data: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 11914 of file SdoDictionary.mh.

## ◆ HWENC_PROCESS_MAX

#define HWENC_PROCESS_MAX 2

HW Encoder Process Data: Maximum number of parameters.

Definition at line 11930 of file SdoDictionary.mh.

## ◆ HWENC_PROCESS_SRCINDEX

#define HWENC_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWENC_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Encoder Process Data: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 11920 of file SdoDictionary.mh.

## ◆ HWENCODER_BAUDRATE

#define HWENCODER_BAUDRATE 36

Baud rate for serial communication (not used)

Initial Value
  9600

Definition at line 8507 of file SdoDictionary.mh.

## ◆ HWENCODER_BUSID

#define HWENCODER_BUSID 35

ID for serial communication (not used)

Initial Value
  255

Definition at line 8500 of file SdoDictionary.mh.

## ◆ HWENCODER_CLOCK_ACTIVE

#define HWENCODER_CLOCK_ACTIVE 39

SSI clock active or not.

Initial Value
  1

Value Range
  0,1

Definition at line 8533 of file SdoDictionary.mh.

## ◆ HWENCODER_CLOCKFREQ

#define HWENCODER_CLOCKFREQ 31

Clock frequency for SSI encoder.

The exact clock rate is hardware dependent. For MACS5, the available clock rates can be calculated by

Freq = 5000000 / (n+1)

where "n" can be between 0 and 127.

Initial Value
  262000

Units
  Hz

Definition at line 8464 of file SdoDictionary.mh.

## ◆ HWENCODER_DATLEN

#define HWENCODER_DATLEN 32

Number of bits for SSI communication.

Initial Value
  25

Value Range
  2-63

Definition at line 8473 of file SdoDictionary.mh.

## ◆ HWENCODER_DELAY

#define HWENCODER_DELAY 33

Delay for SSI.

Can be used for signal runtime compensation for long encoder wires. Sample point delay time in nsec (13-3400)

Initial Value
  0

Value Range
  13-3400

Units
  nsec

Definition at line 8486 of file SdoDictionary.mh.

## ◆ HWENCODER_ERROR_CRC

#define HWENCODER_ERROR_CRC 0x01

Definition at line 11939 of file SdoDictionary.mh.

## ◆ HWENCODER_ERROR_SIGNAL

#define HWENCODER_ERROR_SIGNAL 0x08

Definition at line 11942 of file SdoDictionary.mh.

## ◆ HWENCODER_ERROR_SYNC

#define HWENCODER_ERROR_SYNC 0x02

Definition at line 11940 of file SdoDictionary.mh.

## ◆ HWENCODER_ERROR_TRANSFERTIME

#define HWENCODER_ERROR_TRANSFERTIME 0x04

Definition at line 11941 of file SdoDictionary.mh.

## ◆ HWENCODER_FAST_UPDATE

#define HWENCODER_FAST_UPDATE 40

Encoder update rate (Not on MACS5)

Initial Value
  0

Value Range
  0,1

Definition at line 8542 of file SdoDictionary.mh.

## ◆ HWENCODER_FAST_UPDATE_DISABLE

#define HWENCODER_FAST_UPDATE_DISABLE 0

Definition at line 8587 of file SdoDictionary.mh.

## ◆ HWENCODER_FAST_UPDATE_ENABLE

#define HWENCODER_FAST_UPDATE_ENABLE 1

Definition at line 8586 of file SdoDictionary.mh.

## ◆ HWENCODER_GLITCHFILT

#define HWENCODER_GLITCHFILT 30

Filter for encoder signals.

This parameter can enable a filter to suppress signal glitches. The parameter value is controller dependent. See hardware reference manual for description. This parameter has to be set after HWENCODER_MODE has been set.

Initial Value
  0

Definition at line 8450 of file SdoDictionary.mh.

## ◆ HWENCODER_ISABSOLUTE

#define HWENCODER_ISABSOLUTE 2

Defines, if the used encoder delivers an absolute value.

Initial Value
  0

Value Range
  0,1

Definition at line 8404 of file SdoDictionary.mh.

## ◆ HWENCODER_MODE

#define HWENCODER_MODE 1

Encoder type.

See "controller dependent feature list" for the supported encoder types

Initial Value
  0

Definition at line 8395 of file SdoDictionary.mh.

## ◆ HWENCODER_MODE_ENDAT

#define HWENCODER_MODE_ENDAT 9

Definition at line 8583 of file SdoDictionary.mh.

## ◆ HWENCODER_MODE_HALL

#define HWENCODER_MODE_HALL 7

Definition at line 8582 of file SdoDictionary.mh.

## ◆ HWENCODER_MODE_HIPERFACE_RX

#define HWENCODER_MODE_HIPERFACE_RX 4

Definition at line 8579 of file SdoDictionary.mh.

## ◆ HWENCODER_MODE_HIPERFACE_TX

#define HWENCODER_MODE_HIPERFACE_TX 5

Definition at line 8580 of file SdoDictionary.mh.

## ◆ HWENCODER_MODE_INCREMENTAL

#define HWENCODER_MODE_INCREMENTAL 0

Definition at line 8575 of file SdoDictionary.mh.

## ◆ HWENCODER_MODE_INCROUTPUT

#define HWENCODER_MODE_INCROUTPUT 1

Definition at line 8576 of file SdoDictionary.mh.

## ◆ HWENCODER_MODE_SINCOS

#define HWENCODER_MODE_SINCOS 6

Definition at line 8581 of file SdoDictionary.mh.

## ◆ HWENCODER_MODE_SSI_ACTIVE

#define HWENCODER_MODE_SSI_ACTIVE 2

Definition at line 8577 of file SdoDictionary.mh.

## ◆ HWENCODER_MODE_SSI_PASSIVE

#define HWENCODER_MODE_SSI_PASSIVE 3

Definition at line 8578 of file SdoDictionary.mh.

## ◆ HWENCODER_MONITORING

#define HWENCODER_MONITORING 38

Encoder Monitoring Enable.

Bitmask to enable Encoder Monitoring according to the PO_HWENCODER_ERROR value. E.g. a value of 0x01 enables the CRC monitoring. E.g. a value of 0x0F enables all monitoring bits

Initial Value
  0

Definition at line 8524 of file SdoDictionary.mh.

## ◆ HWENCODER_PARITY

#define HWENCODER_PARITY 37

Parity for serial communication (not used)

Initial Value
  2

Definition at line 8514 of file SdoDictionary.mh.

## ◆ HWENCODER_PISRC_ENCOUT

#define HWENCODER_PISRC_ENCOUT 10

Source for the encoder signal.

0x00 - 0x3F = Encoder 0-63 0x40 - 0x7F = HwSiggen 0-63
0x80 - 0xBF = DDS 0-63 0xC0 - 0xFF = Bridge 0-63 0xFFC0 = None

Initial Value
  0+n

Value Range
  0x00-0xFF

Definition at line 8418 of file SdoDictionary.mh.

## ◆ HWENCODER_PISRC_REFOUT

#define HWENCODER_PISRC_REFOUT 11

Source for the reference signal.

0x000 - 0x03F = Encoder Z signal 0-63 0x040 - 0x07F = VirtMaster Z signal 0-63 0x080 - 0x0BF = DDS Z signal 0-63 0x0C0 - 0x0FF = Bridge A signal 0-63 0x100 - 0x13F = Bridge B signal 0-63 0x140 - 0x17F = Digital input 1-64 0x180 - 0x1BF = Digital output 1-64 0x1C0 - 0x1FF = Comparator GE 0-63 0x200 - 0x23F = Comparator LT 0-63 0x240 - 0x27F = Pulseformer 0-63 0x280 - 0x2BF = Shiftregister 0-63 0x2C0 = SOC irq 0x2C1 = F2D irq 0xFFC0 = None

Initial Value
  0xFFC0

Value Range
  0x000-0x2BF,0xFFC0

Definition at line 8441 of file SdoDictionary.mh.

## ◆ HWENCODER_POSBITS

#define HWENCODER_POSBITS 42

Number of SSI bits with position information (Not on MACS5)

Initial Value
  0

Value Range
  2-30

Definition at line 8562 of file SdoDictionary.mh.

## ◆ HWENCODER_REVERSE_DIRECTION

#define HWENCODER_REVERSE_DIRECTION 41

Encoder counting direction reverse (Only MACS5)

0 = Normal 1 = Inversed

Initial Value
  0

Value Range
  0,1

Definition at line 8553 of file SdoDictionary.mh.

## ◆ HWENCODER_REVERSE_DIRECTION_INVERSE

#define HWENCODER_REVERSE_DIRECTION_INVERSE 1

Definition at line 8591 of file SdoDictionary.mh.

## ◆ HWENCODER_REVERSE_DIRECTION_NORMAL

#define HWENCODER_REVERSE_DIRECTION_NORMAL 0

Definition at line 8590 of file SdoDictionary.mh.

## ◆ HWENCODER_TERM

#define HWENCODER_TERM 34

Termination (not used)

Initial Value
  0

Definition at line 8493 of file SdoDictionary.mh.

## ◆ HWENCODER_TRAILBITS

#define HWENCODER_TRAILBITS 43

Number of trailling SSI bits with no position information (Not on MACS5)

Initial Value
  0

Value Range
  0-32

Definition at line 8571 of file SdoDictionary.mh.

## ◆ HWHALL_MODE

#define HWHALL_MODE 1

Enable.

Please note that HWHALL_MODE_ENABLE_VEL is not available on all controllers. Contact "Controller Dependent Feature List" HWHALL_MODE_ENABLE_VEL is available from Firmware 9.4.00.

Initial Value
  0

Value Range
  0,1

Definition at line 8632 of file SdoDictionary.mh.

## ◆ HWHALL_MODE_DISABLE

#define HWHALL_MODE_DISABLE 0

Definition at line 8647 of file SdoDictionary.mh.

## ◆ HWHALL_MODE_ENABLE

#define HWHALL_MODE_ENABLE 1

Definition at line 8648 of file SdoDictionary.mh.

## ◆ HWHALL_MODE_ENABLE_VEL

#define HWHALL_MODE_ENABLE_VEL 2

Definition at line 8649 of file SdoDictionary.mh.

## ◆ HWHALL_PARAM

#define HWHALL_PARAM | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWHALL_PARAM_INDEX((modno),(parno))]

HW Hall Sensor Parameters: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 8617 of file SdoDictionary.mh.

## ◆ HWHALL_PARAM_INDEX

#define HWHALL_PARAM_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWHALL_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Hall Sensor Parameters: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 8605 of file SdoDictionary.mh.

## ◆ HWHALL_PARAM_MAX

#define HWHALL_PARAM_MAX 11

HW Hall Sensor Parameters: Maximum number of parameters.

Definition at line 8621 of file SdoDictionary.mh.

## ◆ HWHALL_PARAM_SRCINDEX

#define HWHALL_PARAM_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWHALL_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Hall Sensor Parameters: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 8611 of file SdoDictionary.mh.

## ◆ HWHALL_PISRC_ENCOUT

#define HWHALL_PISRC_ENCOUT 10

Source for the HALL Information.

For controllers without separate Hall interfaces: 0x00 - 0x05 = Encoder 1-6 For controllers with Hall interfaces: 0x00-0x05 = Hall input 1-6

Initial Value
  0+n

Value Range
  0-5

Definition at line 8643 of file SdoDictionary.mh.

## ◆ HWHALL_PROCESS

#define HWHALL_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWHALL_PROCESS_INDEX((modno),(parno))]

HW Hall Sensor Process Data: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 11968 of file SdoDictionary.mh.

## ◆ HWHALL_PROCESS_INDEX

#define HWHALL_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWHALL_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Hall Sensor Process Data: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 11956 of file SdoDictionary.mh.

## ◆ HWHALL_PROCESS_MAX

#define HWHALL_PROCESS_MAX 4

HW Hall Sensor Process Data: Maximum number of parameters.

Definition at line 11972 of file SdoDictionary.mh.

## ◆ HWHALL_PROCESS_SRCINDEX

#define HWHALL_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWHALL_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Hall Sensor Process Data: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 11962 of file SdoDictionary.mh.

## ◆ HWLATCH_MODE

#define HWLATCH_MODE 1

not used

Initial Value
  0

Value Range
  0

Definition at line 9101 of file SdoDictionary.mh.

## ◆ HWLATCH_PAR_DIGIN_VALIDATOR

#define HWLATCH_PAR_DIGIN_VALIDATOR 31

Selects a digital input to validate the latch signal.

A digital input can be defined as validator signal. Then the latch will only be accepted if this signal is TRUE according to the following definitions:

0 = none (always accepted) 1= digital input 1 must be HIGH 2 = digital input 2 must be HIGH -1 = digital input 1 must be LOW -2 = digital input 2 must be LOW

Initial Value
  0

Definition at line 9168 of file SdoDictionary.mh.

## ◆ HWLATCH_PAR_DIGIN_VALIDATOR_HIGH_DINP1

#define HWLATCH_PAR_DIGIN_VALIDATOR_HIGH_DINP1 1

Definition at line 9203 of file SdoDictionary.mh.

## ◆ HWLATCH_PAR_DIGIN_VALIDATOR_HIGH_DINP2

#define HWLATCH_PAR_DIGIN_VALIDATOR_HIGH_DINP2 2

Definition at line 9204 of file SdoDictionary.mh.

## ◆ HWLATCH_PAR_DIGIN_VALIDATOR_LOW_DINP1

#define HWLATCH_PAR_DIGIN_VALIDATOR_LOW_DINP1 -1

Definition at line 9205 of file SdoDictionary.mh.

## ◆ HWLATCH_PAR_DIGIN_VALIDATOR_LOW_DINP2

#define HWLATCH_PAR_DIGIN_VALIDATOR_LOW_DINP2 -2

Definition at line 9206 of file SdoDictionary.mh.

## ◆ HWLATCH_PAR_DIGIN_VALIDATOR_NONE

#define HWLATCH_PAR_DIGIN_VALIDATOR_NONE 0

Definition at line 9202 of file SdoDictionary.mh.

## ◆ HWLATCH_PARAM

#define HWLATCH_PARAM | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWLATCH_PARAM_INDEX((modno),(parno))]

HW Latch Register Parameters: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 9088 of file SdoDictionary.mh.

## ◆ HWLATCH_PARAM_INDEX

#define HWLATCH_PARAM_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWLATCH_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Latch Register Parameters: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 9076 of file SdoDictionary.mh.

## ◆ HWLATCH_PARAM_MAX

#define HWLATCH_PARAM_MAX 33

HW Latch Register Parameters: Maximum number of parameters.

Definition at line 9092 of file SdoDictionary.mh.

## ◆ HWLATCH_PARAM_SRCINDEX

#define HWLATCH_PARAM_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWLATCH_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Latch Register Parameters: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 9082 of file SdoDictionary.mh.

## ◆ HWLATCH_PISRC_CMDWORD

#define HWLATCH_PISRC_CMDWORD 12

Source Index/subindex of command word.

The command word is used to reset the latch flag. If it has the value 0x0001, the flag will be cleared.

Initial Value
  PO_VIRTLATCH_CMDWORD+n

Definition at line 9143 of file SdoDictionary.mh.

## ◆ HWLATCH_PISRC_COUNTER

#define HWLATCH_PISRC_COUNTER 10

Source for counter to latch.

Select HW Incremental/Absolute Counter Module as input.

Initial Value
  0+n

Value Range
  0-63

Definition at line 9111 of file SdoDictionary.mh.

## ◆ HWLATCH_PISRC_TRIGGER

#define HWLATCH_PISRC_TRIGGER 11

Source for trigger signal.

Select signal to be used as latch trigger.

0x000 - 0x03F = Encoder Z signal 0-63 0x040 - 0x07F = VirtMaster Z signal 0-63 0x080 - 0x0BF = DDS Z signal 0-63 0x0C0 - 0x0FF = Bridge A signal 0-63 0x100 - 0x13F = Bridge B signal 0-63 0x140 - 0x17F = Digital input 1-64 0x180 - 0x1BF = Digital output 1-64 0x1C0 - 0x1FF = Comparator GE 0-63 0x200 - 0x23F = Comparator LT 0-63 0x240 - 0x27F = Pulseformer 0-63 0x280 - 0x2BF = Shiftregister 0-63 0x2C0 = SOC irq 0x2C1 = F2D irq 0xFFC0 = No trigger

Initial Value
  0

Definition at line 9134 of file SdoDictionary.mh.

## ◆ HWLATCH_PISRC_TRIGGER_BRDA

#define HWLATCH_PISRC_TRIGGER_BRDA 0x00C0

Definition at line 9184 of file SdoDictionary.mh.

## ◆ HWLATCH_PISRC_TRIGGER_BRDB

#define HWLATCH_PISRC_TRIGGER_BRDB 0x0100

Definition at line 9185 of file SdoDictionary.mh.

## ◆ HWLATCH_PISRC_TRIGGER_CMPG

#define HWLATCH_PISRC_TRIGGER_CMPG 0x01C0

Definition at line 9188 of file SdoDictionary.mh.

## ◆ HWLATCH_PISRC_TRIGGER_CMPL

#define HWLATCH_PISRC_TRIGGER_CMPL 0x0200

Definition at line 9189 of file SdoDictionary.mh.

## ◆ HWLATCH_PISRC_TRIGGER_DDSZ

#define HWLATCH_PISRC_TRIGGER_DDSZ 0x0080

Definition at line 9183 of file SdoDictionary.mh.

## ◆ HWLATCH_PISRC_TRIGGER_DINP

#define HWLATCH_PISRC_TRIGGER_DINP 0x0140

Definition at line 9186 of file SdoDictionary.mh.

## ◆ HWLATCH_PISRC_TRIGGER_DOUT

#define HWLATCH_PISRC_TRIGGER_DOUT 0x0180

Definition at line 9187 of file SdoDictionary.mh.

## ◆ HWLATCH_PISRC_TRIGGER_ENCZ

#define HWLATCH_PISRC_TRIGGER_ENCZ 0x0000

Definition at line 9181 of file SdoDictionary.mh.

## ◆ HWLATCH_PISRC_TRIGGER_IRQ

#define HWLATCH_PISRC_TRIGGER_IRQ 0x02C0

Definition at line 9192 of file SdoDictionary.mh.

## ◆ HWLATCH_PISRC_TRIGGER_NOT

#define HWLATCH_PISRC_TRIGGER_NOT 0xFFC0

Definition at line 9193 of file SdoDictionary.mh.

## ◆ HWLATCH_PISRC_TRIGGER_PULS

#define HWLATCH_PISRC_TRIGGER_PULS 0x0240

Definition at line 9190 of file SdoDictionary.mh.

## ◆ HWLATCH_PISRC_TRIGGER_SHIFT

#define HWLATCH_PISRC_TRIGGER_SHIFT 0x0280

Definition at line 9191 of file SdoDictionary.mh.

## ◆ HWLATCH_PISRC_TRIGGER_VMZ

#define HWLATCH_PISRC_TRIGGER_VMZ 0x0040

Definition at line 9182 of file SdoDictionary.mh.

## ◆ HWLATCH_PROCESS

#define HWLATCH_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWLATCH_PROCESS_INDEX((modno),(parno))]

HW Latch Register Process Data: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12246 of file SdoDictionary.mh.

## ◆ HWLATCH_PROCESS_INDEX

#define HWLATCH_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWLATCH_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Latch Register Process Data: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12234 of file SdoDictionary.mh.

## ◆ HWLATCH_PROCESS_MAX

#define HWLATCH_PROCESS_MAX 10

HW Latch Register Process Data: Maximum number of parameters.

Definition at line 12250 of file SdoDictionary.mh.

## ◆ HWLATCH_PROCESS_SRCINDEX

#define HWLATCH_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWLATCH_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Latch Register Process Data: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12240 of file SdoDictionary.mh.

## ◆ HWLATCH_SLOPE

#define HWLATCH_SLOPE 30

Slope selector for trigger signal.

0 = Continuous 1 = Rising 2 = Falling 3 = Both

Initial Value
  1

Definition at line 9154 of file SdoDictionary.mh.

## ◆ HWLATCH_SLOPE_BOTH

#define HWLATCH_SLOPE_BOTH 3

Definition at line 9199 of file SdoDictionary.mh.

## ◆ HWLATCH_SLOPE_CONTINUOUS

#define HWLATCH_SLOPE_CONTINUOUS 0

Definition at line 9196 of file SdoDictionary.mh.

## ◆ HWLATCH_SLOPE_FALLING

#define HWLATCH_SLOPE_FALLING 2

Definition at line 9198 of file SdoDictionary.mh.

## ◆ HWLATCH_SLOPE_RISING

#define HWLATCH_SLOPE_RISING 1

Examples
  SetupSignalGeneratorAxis.mc, and SetupSignalGeneratorOpenloop.mc.

Definition at line 9197 of file SdoDictionary.mh.

## ◆ HWLATCH_STARTADC

#define HWLATCH_STARTADC 32

If this is true, on some platforms the ADC will be started when a latch arrives.

1 = Start ADC conversion on trigger event. Zub_count only, analog values on ENC1A to ENC3B are converted for interpolation, ADC-irq is triggered when conversion of ENC3B has finished. 0 = No ADC conversion after trigger event. If the trigger event is the same for all 3 latches, ADC-conversion is started only once.

Initial Value
  0

Definition at line 9177 of file SdoDictionary.mh.

## ◆ HWPULSGEN_MODE

#define HWPULSGEN_MODE 1

Mode.

0 = Continuous 1 = Single shot

Initial Value
  0

Value Range
  0,1

Definition at line 9544 of file SdoDictionary.mh.

## ◆ HWPULSGEN_NOCOMP

#define HWPULSGEN_NOCOMP 33

Disable reverse motion compensation.

1=DISABLED 0=ENABLED

If the reverse motion compensation is enabled, the signal on the output will not reverse even if the input reverses. The number of reverse increments will be counted. When the input signal runs forward again, this number of increments first have to be run, before the signal on the output starts to run again.

Initial Value
  0

Definition at line 9626 of file SdoDictionary.mh.

## ◆ HWPULSGEN_PARAM

#define HWPULSGEN_PARAM | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWPULSGEN_PARAM_INDEX((modno),(parno))]

HW Pulsgen Parameters: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 9529 of file SdoDictionary.mh.

## ◆ HWPULSGEN_PARAM_INDEX

#define HWPULSGEN_PARAM_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWPULSGEN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Pulsgen Parameters: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 9517 of file SdoDictionary.mh.

## ◆ HWPULSGEN_PARAM_MAX

#define HWPULSGEN_PARAM_MAX 34

HW Pulsgen Parameters: Maximum number of parameters.

Definition at line 9533 of file SdoDictionary.mh.

## ◆ HWPULSGEN_PARAM_SRCINDEX

#define HWPULSGEN_PARAM_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWPULSGEN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Pulsgen Parameters: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 9523 of file SdoDictionary.mh.

## ◆ HWPULSGEN_PISRC_ENCSIG

#define HWPULSGEN_PISRC_ENCSIG 10

Source for encoder signal.

0x00 - 0x3F = Encoder 0-63 0x40 - 0x7F = VirtMaster 0-63
0x80 - 0xBF = DDS 0-63 0xC0 - 0xFF = Bridge 0-63 0xFFC0 = None

Initial Value
  0

Value Range
  0-0xFF

Definition at line 9558 of file SdoDictionary.mh.

## ◆ HWPULSGEN_PISRC_SYNC

#define HWPULSGEN_PISRC_SYNC 11

Source for the sync information.

0x000 - 0x03F = Encoder Z signal 0-63 0x040 - 0x07F = VirtMaster Z signal 0-63 0x080 - 0x0BF = DDS Z signal 0-63 0x0C0 - 0x0FF = Bridge A signal 0-63 0x100 - 0x13F = Bridge B signal 0-63 0x140 - 0x17F = Digital input 1-64 0x180 - 0x1BF = Digital output 1-64 0x1C0 - 0x1FF = Comparator GE 0-63 0x200 - 0x23F = Comparator LT 0-63 0x240 - 0x27F = Pulseformer 0-63 0x280 - 0x2BF = Shiftregister 0-63 0x2C0 = SOC irq 0x2C1 = F2D irq 0xFFC0 = None

Initial Value
  0

Value Range
  0-0x1FF

Definition at line 9581 of file SdoDictionary.mh.

## ◆ HWPULSGEN_POLARITY

#define HWPULSGEN_POLARITY 30

Polarity of the output signal.

0 = Negative pulse is produced 1 = Positive pulse is produced

Initial Value
  0

Value Range
  0,1

Definition at line 9592 of file SdoDictionary.mh.

## ◆ HWPULSGEN_PROCESS

#define HWPULSGEN_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWPULSGEN_PROCESS_INDEX((modno),(parno))]

HW Pulsgen Process Data: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12436 of file SdoDictionary.mh.

## ◆ HWPULSGEN_PROCESS_INDEX

#define HWPULSGEN_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWPULSGEN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Pulsgen Process Data: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12424 of file SdoDictionary.mh.

## ◆ HWPULSGEN_PROCESS_MAX

#define HWPULSGEN_PROCESS_MAX 1

HW Pulsgen Process Data: Maximum number of parameters.

Definition at line 12440 of file SdoDictionary.mh.

## ◆ HWPULSGEN_PROCESS_SRCINDEX

#define HWPULSGEN_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWPULSGEN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Pulsgen Process Data: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12430 of file SdoDictionary.mh.

## ◆ HWPULSGEN_SIGDIST

#define HWPULSGEN_SIGDIST 31

Distance between two output pulses (period)

Initial Value
  0

Value Range
  0-65535

Units
  qc

Definition at line 9603 of file SdoDictionary.mh.

## ◆ HWPULSGEN_SIGLENGTH

#define HWPULSGEN_SIGLENGTH 32

Length of the pulse.

Initial Value
  0

Value Range
  0-65535

Units
  qc

Definition at line 9614 of file SdoDictionary.mh.

## ◆ HWPWMGEN_DUTYCYCLE_RANGE

#define HWPWMGEN_DUTYCYCLE_RANGE 4

Duty cycle range.

A value of 90% means a duty cycle range of 5-95%

Initial Value
  80

Value Range
  1-100

Units
  %

Definition at line 9484 of file SdoDictionary.mh.

## ◆ HWPWMGEN_FREQUENCY

#define HWPWMGEN_FREQUENCY 3

Frequency of the PWM output.

Initial Value
  1000

Value Range
  70-25000

Units
  Hz

Definition at line 9472 of file SdoDictionary.mh.

## ◆ HWPWMGEN_MODE

#define HWPWMGEN_MODE 1

Mode.

Initial Value
  0

Definition at line 9450 of file SdoDictionary.mh.

## ◆ HWPWMGEN_MODE_SIGNED

#define HWPWMGEN_MODE_SIGNED 0

Definition at line 9498 of file SdoDictionary.mh.

## ◆ HWPWMGEN_MODE_UNSIGNED

#define HWPWMGEN_MODE_UNSIGNED 1

Definition at line 9499 of file SdoDictionary.mh.

## ◆ HWPWMGEN_PARAM

#define HWPWMGEN_PARAM | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWPWMGEN_PARAM_INDEX((modno),(parno))]

HW PWM Generator Parameters: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 9439 of file SdoDictionary.mh.

## ◆ HWPWMGEN_PARAM_INDEX

#define HWPWMGEN_PARAM_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWPWMGEN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW PWM Generator Parameters: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 9427 of file SdoDictionary.mh.

## ◆ HWPWMGEN_PARAM_MAX

#define HWPWMGEN_PARAM_MAX 11

HW PWM Generator Parameters: Maximum number of parameters.

Definition at line 9443 of file SdoDictionary.mh.

## ◆ HWPWMGEN_PARAM_SRCINDEX

#define HWPWMGEN_PARAM_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWPWMGEN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW PWM Generator Parameters: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 9433 of file SdoDictionary.mh.

## ◆ HWPWMGEN_PISRC_DUTYCYCLE

#define HWPWMGEN_PISRC_DUTYCYCLE 10

Source for pwm duty cycle.

The input range is SIGNED16, i.e. +/- 32768

Initial Value
  PO_VIRTAMP_REFVEL+n

Value Range
  0-0xFFFFFE

Definition at line 9494 of file SdoDictionary.mh.

## ◆ HWPWMGEN_POLARITY

#define HWPWMGEN_POLARITY 2

Polarity of the reference signal.

0 = Positive signal 1 = Negative signal

Initial Value
  0

Value Range
  0,1

Definition at line 9461 of file SdoDictionary.mh.

## ◆ HWPWMGEN_POLARITY_NEGATIVE

#define HWPWMGEN_POLARITY_NEGATIVE 1

Definition at line 9503 of file SdoDictionary.mh.

## ◆ HWPWMGEN_POLARITY_POSITIVE

#define HWPWMGEN_POLARITY_POSITIVE 0

Definition at line 9502 of file SdoDictionary.mh.

## ◆ HWPWMGEN_PROCESS

#define HWPWMGEN_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWPWMGEN_PROCESS_INDEX((modno),(parno))]

HW PWM Generators Process Data: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Examples
  PWM_1Ax_ESCON.mc.

Definition at line 12398 of file SdoDictionary.mh.

## ◆ HWPWMGEN_PROCESS_INDEX

#define HWPWMGEN_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWPWMGEN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW PWM Generators Process Data: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12386 of file SdoDictionary.mh.

## ◆ HWPWMGEN_PROCESS_MAX

#define HWPWMGEN_PROCESS_MAX 2

HW PWM Generators Process Data: Maximum number of parameters.

Definition at line 12402 of file SdoDictionary.mh.

## ◆ HWPWMGEN_PROCESS_SRCINDEX

#define HWPWMGEN_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWPWMGEN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW PWM Generators Process Data: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12392 of file SdoDictionary.mh.

## ◆ HWREFBUS_PARAM

#define HWREFBUS_PARAM | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWREFBUS_PARAM_INDEX((modno),(parno))]

HW Reference Bus Parameters: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 10783 of file SdoDictionary.mh.

## ◆ HWREFBUS_PARAM_INDEX

#define HWREFBUS_PARAM_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWREFBUS_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Reference Bus Parameters: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 10771 of file SdoDictionary.mh.

## ◆ HWREFBUS_PARAM_MAX

#define HWREFBUS_PARAM_MAX 32

HW Reference Bus Parameters: Maximum number of parameters.

Definition at line 10787 of file SdoDictionary.mh.

## ◆ HWREFBUS_PARAM_SRCINDEX

#define HWREFBUS_PARAM_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWREFBUS_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Reference Bus Parameters: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 10777 of file SdoDictionary.mh.

## ◆ HWREFBUS_PO_REG0

#define HWREFBUS_PO_REG0 1

RefVecBus bits 0-31.

Definition at line 12763 of file SdoDictionary.mh.

## ◆ HWREFBUS_PO_REG1

#define HWREFBUS_PO_REG1 2

RefVecBus bits 32-63.

Definition at line 12768 of file SdoDictionary.mh.

## ◆ HWREFBUS_PROCESS

#define HWREFBUS_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWREFBUS_PROCESS_INDEX((modno),(parno))]

HW Reference Bus Process Data: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12754 of file SdoDictionary.mh.

## ◆ HWREFBUS_PROCESS_INDEX

#define HWREFBUS_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWREFBUS_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Reference Bus Process Data: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12742 of file SdoDictionary.mh.

## ◆ HWREFBUS_PROCESS_MAX

#define HWREFBUS_PROCESS_MAX 3

HW Reference Bus Process Data: Maximum number of parameters.

Definition at line 12758 of file SdoDictionary.mh.

## ◆ HWREFBUS_PROCESS_SRCINDEX

#define HWREFBUS_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWREFBUS_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Reference Bus Process Data: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12748 of file SdoDictionary.mh.

## ◆ HWSHIFTREG_DELAY

#define HWSHIFTREG_DELAY 30

Input delay.

Input data will be delayed by this value.

Initial Value
  0

Value Range
  0-65535

Units
  qc

Definition at line 9718 of file SdoDictionary.mh.

## ◆ HWSHIFTREG_MODE

#define HWSHIFTREG_MODE 1

Enable.

0 = Enable 1 = Reset (manual)

Initial Value
  0

Value Range
  0,1

Definition at line 9668 of file SdoDictionary.mh.

## ◆ HWSHIFTREG_PARAM

#define HWSHIFTREG_PARAM | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWSHIFTREG_PARAM_INDEX((modno),(parno))]

HW Shift Register Parameters: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 9653 of file SdoDictionary.mh.

## ◆ HWSHIFTREG_PARAM_INDEX

#define HWSHIFTREG_PARAM_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWSHIFTREG_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Shift Register Parameters: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 9641 of file SdoDictionary.mh.

## ◆ HWSHIFTREG_PARAM_MAX

#define HWSHIFTREG_PARAM_MAX 31

HW Shift Register Parameters: Maximum number of parameters.

Definition at line 9657 of file SdoDictionary.mh.

## ◆ HWSHIFTREG_PARAM_SRCINDEX

#define HWSHIFTREG_PARAM_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWSHIFTREG_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Shift Register Parameters: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 9647 of file SdoDictionary.mh.

## ◆ HWSHIFTREG_PISRC_DATA

#define HWSHIFTREG_PISRC_DATA 11

Data to be shifted.

0x000 - 0x03F = Encoder Z signal 0-63 0x040 - 0x07F = VirtMaster Z signal 0-63 0x080 - 0x0BF = DDS Z signal 0-63 0x0C0 - 0x0FF = Bridge A signal 0-63 0x100 - 0x13F = Bridge B signal 0-63 0x140 - 0x17F = Digital input 1-64 0x180 - 0x1BF = Digital output 1-64 0x1C0 - 0x1FF = Comparator GE 0-63 0x200 - 0x23F = Comparator LT 0-63 0x240 - 0x27F = Pulseformer 0-63 0x280 - 0x2BF = Shiftregister 0-63 0x2C0 = SOC irq 0x2C1 = F2D irq 0xFFC0 = None

Initial Value
  0

Value Range
  0-0x2BF

Definition at line 9706 of file SdoDictionary.mh.

## ◆ HWSHIFTREG_PISRC_ENCSIG

#define HWSHIFTREG_PISRC_ENCSIG 10

Source for shift clock.

0x00 - 0x3F = Encoder 0-63 0x40 - 0x7F = VirtMaster 0-63
0x80 - 0xBF = DDS 0-63 0xC0 - 0xFF = Bridge 0-63 0xFFC0 = None The quadcounts for the shift operation are derived from the selected source signal.

Initial Value
  0

Value Range
  0-0xFF

Definition at line 9683 of file SdoDictionary.mh.

## ◆ HWSHIFTREG_PROCESS

#define HWSHIFTREG_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWSHIFTREG_PROCESS_INDEX((modno),(parno))]

HW Shift Register Process Data: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12466 of file SdoDictionary.mh.

## ◆ HWSHIFTREG_PROCESS_INDEX

#define HWSHIFTREG_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWSHIFTREG_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Shift Register Process Data: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12454 of file SdoDictionary.mh.

## ◆ HWSHIFTREG_PROCESS_MAX

#define HWSHIFTREG_PROCESS_MAX 1

HW Shift Register Process Data: Maximum number of parameters.

Definition at line 12470 of file SdoDictionary.mh.

## ◆ HWSHIFTREG_PROCESS_SRCINDEX

#define HWSHIFTREG_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWSHIFTREG_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Shift Register Process Data: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12460 of file SdoDictionary.mh.

## ◆ HWSIGBUS_PARAM

#define HWSIGBUS_PARAM | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWSIGBUS_PARAM_INDEX((modno),(parno))]

HW Signalbridges/bus ENC-REF Parameters: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 10669 of file SdoDictionary.mh.

## ◆ HWSIGBUS_PARAM_INDEX

#define HWSIGBUS_PARAM_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWSIGBUS_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Signalbridges/bus ENC-REF Parameters: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 10657 of file SdoDictionary.mh.

## ◆ HWSIGBUS_PARAM_MAX

#define HWSIGBUS_PARAM_MAX 11

HW Signalbridges/bus ENC-REF Parameters: Maximum number of parameters.

Definition at line 10673 of file SdoDictionary.mh.

## ◆ HWSIGBUS_PARAM_SRCINDEX

#define HWSIGBUS_PARAM_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWSIGBUS_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Signalbridges/bus ENC-REF Parameters: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 10663 of file SdoDictionary.mh.

## ◆ HWSIGBUS_PROCESS

#define HWSIGBUS_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWSIGBUS_PROCESS_INDEX((modno),(parno))]

HW Signalbridges/bus ENC-REF Process Data: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12694 of file SdoDictionary.mh.

## ◆ HWSIGBUS_PROCESS_INDEX

#define HWSIGBUS_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWSIGBUS_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Signalbridges/bus ENC-REF Process Data: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12682 of file SdoDictionary.mh.

## ◆ HWSIGBUS_PROCESS_MAX

#define HWSIGBUS_PROCESS_MAX 1

HW Signalbridges/bus ENC-REF Process Data: Maximum number of parameters.

Definition at line 12698 of file SdoDictionary.mh.

## ◆ HWSIGBUS_PROCESS_SRCINDEX

#define HWSIGBUS_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWSIGBUS_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Signalbridges/bus ENC-REF Process Data: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12688 of file SdoDictionary.mh.

## ◆ HWSIGGEN_MODE

#define HWSIGGEN_MODE 1

Enable.

0 = Disabled 1 = Enabled

Initial Value
  0

Definition at line 9245 of file SdoDictionary.mh.

## ◆ HWSIGGEN_MODE_DISABLE

#define HWSIGGEN_MODE_DISABLE 0

Definition at line 9294 of file SdoDictionary.mh.

## ◆ HWSIGGEN_MODE_ENABLE

#define HWSIGGEN_MODE_ENABLE 1

Definition at line 9295 of file SdoDictionary.mh.

## ◆ HWSIGGEN_MODE_ENABLE_SPECIAL

#define HWSIGGEN_MODE_ENABLE_SPECIAL 2

Definition at line 9296 of file SdoDictionary.mh.

## ◆ HWSIGGEN_PARAM

#define HWSIGGEN_PARAM | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWSIGGEN_PARAM_INDEX((modno),(parno))]

HW Signalgen (Enc/Pulse) Parameters: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 9232 of file SdoDictionary.mh.

## ◆ HWSIGGEN_PARAM_INDEX

#define HWSIGGEN_PARAM_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWSIGGEN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Signalgen (Enc/Pulse) Parameters: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 9220 of file SdoDictionary.mh.

## ◆ HWSIGGEN_PARAM_MAX

#define HWSIGGEN_PARAM_MAX 32

HW Signalgen (Enc/Pulse) Parameters: Maximum number of parameters.

Definition at line 9236 of file SdoDictionary.mh.

## ◆ HWSIGGEN_PARAM_SRCINDEX

#define HWSIGGEN_PARAM_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWSIGGEN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Signalgen (Enc/Pulse) Parameters: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 9226 of file SdoDictionary.mh.

## ◆ HWSIGGEN_PISRC_SYNC

#define HWSIGGEN_PISRC_SYNC 11

Source for the sync information (not used)

If the source is high, then a syncsignal is created immediately.

Initial Value
  0

Value Range
  0-0xFFFFFE

Definition at line 9267 of file SdoDictionary.mh.

## ◆ HWSIGGEN_PISRC_VELOCITY

#define HWSIGGEN_PISRC_VELOCITY 10

Source for frequency reference.

The value of the source must lie between -625,000,000 and 625,000,000.

Initial Value
  PO_VIRTMAST_VEL+n

Value Range
  0-0xFFFFFE

Units
  1/1000 Hz

Definition at line 9257 of file SdoDictionary.mh.

## ◆ HWSIGGEN_POLARITY

#define HWSIGGEN_POLARITY 30

Polarity of the reference signal.

0 = Negative signal 1 = Positive signal

Initial Value
  0

Value Range
  0,1

Definition at line 9278 of file SdoDictionary.mh.

## ◆ HWSIGGEN_PROCESS

#define HWSIGGEN_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[HWSIGGEN_PROCESS_INDEX((modno),(parno))]

HW Signalgen (Enc/Pulse) Process Data: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12338 of file SdoDictionary.mh.

## ◆ HWSIGGEN_PROCESS_INDEX

#define HWSIGGEN_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_HWSIGGEN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Signalgen (Enc/Pulse) Process Data: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12326 of file SdoDictionary.mh.

## ◆ HWSIGGEN_PROCESS_MAX

#define HWSIGGEN_PROCESS_MAX 4

HW Signalgen (Enc/Pulse) Process Data: Maximum number of parameters.

Definition at line 12342 of file SdoDictionary.mh.

## ◆ HWSIGGEN_PROCESS_SRCINDEX

#define HWSIGGEN_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_HWSIGGEN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Signalgen (Enc/Pulse) Process Data: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 12332 of file SdoDictionary.mh.

## ◆ HWSIGGEN_SIGDIST

#define HWSIGGEN_SIGDIST 31

Distance between two reference signals.

Values < 5 mean constant signal.

Initial Value
  0

Value Range
  0-65535

Units
  qc

Definition at line 9290 of file SdoDictionary.mh.

## ◆ I_ERRCLR

#define I_ERRCLR 8

Input to clear error.

Initial Value
  0

Value Range
  -8-8

Definition at line 105 of file SdoDictionary.mh.

## ◆ I_NEGLIMITSW

#define I_NEGLIMITSW 48

Negative limit switch.

Input number (0 = none) of negative limit switch.

Initial Value
  0

Value Range
  -8-8

Definition at line 2732 of file SdoDictionary.mh.

## ◆ I_NEGLIMITSWACT

#define I_NEGLIMITSWACT 138

Enables the monitoring of the negative limit switch.

0 = Off 1 = On

Initial Value
  1

Value Range
  0,1

Definition at line 3133 of file SdoDictionary.mh.

## ◆ I_POSLIMITSW

#define I_POSLIMITSW 47

Positive limit switch.

Input number (0 = none) of positive limit switch.

Initial Value
  0

Value Range
  -8-8

Definition at line 2722 of file SdoDictionary.mh.

## ◆ I_POSLIMITSWACT

#define I_POSLIMITSWACT 137

Enables the monitoring of the positive limit switch.

0 = Off 1 = On

Initial Value
  1

Value Range
  0,1

Definition at line 3122 of file SdoDictionary.mh.

## ◆ I_REFSWITCH

#define I_REFSWITCH 46

Input reference switch.

Input number (0 = none) of the reference switch (used by the HOME command).

Initial Value
  0

Value Range
  -8-8

Definition at line 2712 of file SdoDictionary.mh.

## ◆ IPADDRESSMODE

#define IPADDRESSMODE 20

IP address mode.

-3 - Fixed IP mode (Firmware >= 7.1.17) -2 - EtherCAT master mode -1 - DHCP/Auto-IP 0 - DIP Switch 1-255 - Fixed IP mode (deprecated...use -3 if possible)

Initial Value
  0

Value Range
  -3,-2,-1,0,1-255

Definition at line 154 of file SdoDictionary.mh.

## ◆ IPDEFAULTGW

#define IPDEFAULTGW 25

IP default gateway.

Initial Value
  0

Definition at line 208 of file SdoDictionary.mh.

## ◆ IPMASK

#define IPMASK 24

IP mask.

Initial Value
  0

Definition at line 201 of file SdoDictionary.mh.

## ◆ IPSUBNET

#define IPSUBNET 21

IP subnet.

Default: 172.16.1.0

Initial Value
  0x000110AC

Definition at line 162 of file SdoDictionary.mh.

## ◆ JERKMIN

#define JERKMIN 99

Minimum time required before reaching the maximum acceleration.

Initial Value
  100

Value Range
  1-MLONG

Units
  ms

Definition at line 2936 of file SdoDictionary.mh.

## ◆ JERKMIN2

#define JERKMIN2 101

Minimum time required to ramp the acceleration down from maximum acceleration to 0.

Initial Value
  0

Value Range
  0-MLONG

Units
  ms

Definition at line 2947 of file SdoDictionary.mh.

## ◆ JERKMIN3

#define JERKMIN3 102

Minimum time required to ramp the deceleration up from 0 to maximum deceleration.

Initial Value
  0

Value Range
  0-MLONG

Units
  ms

Definition at line 2958 of file SdoDictionary.mh.

## ◆ JERKMIN4

#define JERKMIN4 103

Minimum time required to ramp the deceleration down from maximum deceleration to 0.

Initial Value
  0

Value Range
  0-MLONG

Units
  ms

Definition at line 2969 of file SdoDictionary.mh.

## ◆ KDER

#define KDER 13

Derivative Factor for PID position control loop.

Initial Value
  0

Value Range
  0-65000

Examples
  DeltaRobot_No_SM_EPOS4_ECAT.mc.

Definition at line 2413 of file SdoDictionary.mh.

## ◆ KFFACC

#define KFFACC 135

Acceleration Feed Forward.

Initial Value
  0

Value Range
  0-8000

Definition at line 3102 of file SdoDictionary.mh.

## ◆ KFFDEC

#define KFFDEC 136

Deceleration Feed Forward.

Initial Value
  0

Value Range
  0-8000

Definition at line 3111 of file SdoDictionary.mh.

## ◆ KILIM

#define KILIM 22

Limit value for the integral sum of the PID position control loop.

Initial Value
  1000

Value Range
  0-2000

Definition at line 2507 of file SdoDictionary.mh.

## ◆ KILIMTIME

#define KILIMTIME 106

Time used to increase or decrease the integral limit.

Period used to increase or decrease (maximum to KILIM) in case of automatic integration activation/deactivation of the position control loop.

0 = Integration is always active

Initial Value
  0

Value Range
  -10000-10000

Units
  ms

Definition at line 2983 of file SdoDictionary.mh.

## ◆ KIN_SYNC_ACTIVE

#define KIN_SYNC_ACTIVE 3

Indicates if the synchronization to an external movement is currently active.

Definition at line 4817 of file SdoDictionary.mh.

## ◆ KIN_SYNC_FPSCALE

#define KIN_SYNC_FPSCALE 30

The quadcounts of the input movments are divided by this factor to allow for floating point scaling when converting to machine units.

Initial Value
  1000

Definition at line 4773 of file SdoDictionary.mh.

## ◆ KIN_SYNC_ROTCX

#define KIN_SYNC_ROTCX 27

X component of the rotation center.

Initial Value
  0

Definition at line 4752 of file SdoDictionary.mh.

## ◆ KIN_SYNC_ROTCY

#define KIN_SYNC_ROTCY 28

Y component of the rotation center.

Initial Value
  0

Definition at line 4759 of file SdoDictionary.mh.

## ◆ KIN_SYNC_ROTCZ

#define KIN_SYNC_ROTCZ 29

Z component of the rotation center.

Initial Value
  0

Definition at line 4766 of file SdoDictionary.mh.

## ◆ KIN_SYNC_STARTFLAG

#define KIN_SYNC_STARTFLAG 22

The KIN_SYNC_STARTFLAG tells the TG that the next path that is executed should be synchronized.

Initial Value
  0

Definition at line 4717 of file SdoDictionary.mh.

## ◆ KIN_SYNC_STOPFLAG

#define KIN_SYNC_STOPFLAG 23

The KIN_SYNC_STOPFLAG tells the TG that the synchronization should stop with the stop of the next path.

Initial Value
  0

Definition at line 4724 of file SdoDictionary.mh.

## ◆ KIN_SYNC_TYPE

#define KIN_SYNC_TYPE 21

The type of the external movement the robot movement is synchronized to.

1: translational movement 2: rotational movement

Initial Value
  1

Definition at line 4710 of file SdoDictionary.mh.

## ◆ KIN_SYNC_VECX

#define KIN_SYNC_VECX 24

X component of the translation or rotation vector.

Initial Value
  0

Definition at line 4731 of file SdoDictionary.mh.

## ◆ KIN_SYNC_VECY

#define KIN_SYNC_VECY 25

Y component of the translation or rotation vector.

Initial Value
  0

Definition at line 4738 of file SdoDictionary.mh.

## ◆ KIN_SYNC_VECZ

#define KIN_SYNC_VECZ 26

Z component of the translation or rotation vector.

Initial Value
  0

Definition at line 4745 of file SdoDictionary.mh.

## ◆ KINT

#define KINT 14

Integral value for PID position control loop.

Initial Value
  0

Value Range
  0-65000

Examples
  DeltaRobot_No_SM_EPOS4_ECAT.mc.

Definition at line 2422 of file SdoDictionary.mh.

## ◆ KPROP

#define KPROP 12

Proportional value for PID position control loop.

Initial Value
  30

Value Range
  1-65000

Examples
  DeltaRobot_No_SM_EPOS4_ECAT.mc.

Definition at line 2404 of file SdoDictionary.mh.

## ◆ MACHINE_ACT_PATH_DISTANCE

#define MACHINE_ACT_PATH_DISTANCE 9

Actual path distance (absolute)

Units
  uu

Definition at line 4834 of file SdoDictionary.mh.

## ◆ MACHINE_ACT_PATH_VELOCITY

#define MACHINE_ACT_PATH_VELOCITY 10

Actual path velocity (absolute)

Units
  uu/s

Definition at line 4841 of file SdoDictionary.mh.

## ◆ MACHINE_ACTPOS

#define MACHINE_ACTPOS 4

Definition at line 4819 of file SdoDictionary.mh.

## ◆ MACHINE_ACTVEL

#define MACHINE_ACTVEL 5

Definition at line 4821 of file SdoDictionary.mh.

## ◆ MACHINE_CPOS_MACHCOORD_X

#define MACHINE_CPOS_MACHCOORD_X 6

Definition at line 4823 of file SdoDictionary.mh.

## ◆ MACHINE_CPOS_MACHCOORD_Y

#define MACHINE_CPOS_MACHCOORD_Y 7

Definition at line 4825 of file SdoDictionary.mh.

## ◆ MACHINE_CPOS_MACHCOORD_Z

#define MACHINE_CPOS_MACHCOORD_Z 8

Definition at line 4827 of file SdoDictionary.mh.

## ◆ MACHINE_ERROR_FLAG

#define MACHINE_ERROR_FLAG 1

Definition at line 4812 of file SdoDictionary.mh.

## ◆ MACHINE_MODE

#define MACHINE_MODE 1

Definition at line 4699 of file SdoDictionary.mh.

## ◆ MACHINE_MODE_DISABLED

#define MACHINE_MODE_DISABLED 0

Definition at line 4777 of file SdoDictionary.mh.

## ◆ MACHINE_MODE_ENABLED

#define MACHINE_MODE_ENABLED 1

Definition at line 4778 of file SdoDictionary.mh.

## ◆ MACHINE_PARAM

#define MACHINE_PARAM | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[MACHINE_PARAM_INDEX((modno),(parno))]

: Setter

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 4691 of file SdoDictionary.mh.

## ◆ MACHINE_PARAM_INDEX

#define MACHINE_PARAM_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_MACHINE_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

: Getter

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 4679 of file SdoDictionary.mh.

## ◆ MACHINE_PARAM_MAX

#define MACHINE_PARAM_MAX 31

: Maximum number of parameters

Definition at line 4695 of file SdoDictionary.mh.

## ◆ MACHINE_PARAM_MAX_SUBINDEX

#define MACHINE_PARAM_MAX_SUBINDEX 0

Definition at line 4697 of file SdoDictionary.mh.

## ◆ MACHINE_PARAM_SRCINDEX

#define MACHINE_PARAM_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_MACHINE_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

: Source Index

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 4685 of file SdoDictionary.mh.

## ◆ MACHINE_PISRC_VIRTCOUNT

#define MACHINE_PISRC_VIRTCOUNT 10

Definition at line 4701 of file SdoDictionary.mh.

## ◆ MACHINE_PISRC_VIRTLATCH

#define MACHINE_PISRC_VIRTLATCH 11

Definition at line 4703 of file SdoDictionary.mh.

## ◆ MACHINE_PROCESS

#define MACHINE_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[MACHINE_PROCESS_INDEX((modno),(parno))]

: Setter

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 4804 of file SdoDictionary.mh.

## ◆ MACHINE_PROCESS_INDEX

#define MACHINE_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_MACHINE_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

: Getter

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 4792 of file SdoDictionary.mh.

## ◆ MACHINE_PROCESS_MAX

#define MACHINE_PROCESS_MAX 11

: Maximum number of parameters

Definition at line 4808 of file SdoDictionary.mh.

## ◆ MACHINE_PROCESS_MAX_SUBINDEX

#define MACHINE_PROCESS_MAX_SUBINDEX 0

Definition at line 4810 of file SdoDictionary.mh.

## ◆ MACHINE_PROCESS_SRCINDEX

#define MACHINE_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_MACHINE_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

: Source Index

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 4798 of file SdoDictionary.mh.

## ◆ MENCODER

#define MENCODER 31

Resolution of master encoder.

Initial Value
  500

Value Range
  -MLONG-MLONG

Definition at line 2590 of file SdoDictionary.mh.

## ◆ NEGLIMIT

#define NEGLIMIT 5

Negative software limit position.

Initial Value
  -500000

Value Range
  -MLONG-MLONG

Units
  qc

Definition at line 2331 of file SdoDictionary.mh.

## ◆ O_AXMOVE

#define O_AXMOVE 65

Output for motion command active.

Output number (0 = none), which is set when a motion is active.

Initial Value
  0

Value Range
  -8-8

Definition at line 2872 of file SdoDictionary.mh.

## ◆ O_BRAKE

#define O_BRAKE 49

Output for brake.

Output number (0 = none) for brake control.

Initial Value
  0

Value Range
  -8-8

Definition at line 2742 of file SdoDictionary.mh.

## ◆ O_ERROR

#define O_ERROR 9

Output set when error occurs.

Initial Value
  0

Value Range
  -8-8

Definition at line 114 of file SdoDictionary.mh.

## ◆ PFG_AACC

#define PFG_AACC 83

Maximum allowed acceleration.

Maximum allowed acceleration during movement. This value is derived from the ACC command. Note that this applies when movement is "speeding up" in either the forward or reverse direction. The value (in qc/st²) is scaled by PFG_SCALESHIFT (subindex 121) and then the integer portion is returned. This value is always greater than or equal to 0.

Units
  qc/st²

Definition at line 3494 of file SdoDictionary.mh.

## ◆ PFG_AACC_DELTA

#define PFG_AACC_DELTA 87

Scaled acceleration deviation.

Scaled acceleration deviation (= jerk) multiplied by PFG_SCALESHIFT (see subindex 121 and 83). This is only used for S² ramps, CAM-profiling, and some other special modes.

Units
  qc/st³

Definition at line 3529 of file SdoDictionary.mh.

## ◆ PFG_AACT

#define PFG_AACT 86

Command acceleration.

Signed command acceleration currently being generated by the Profile Generator. Positive values mean "speeding up" either forwards OR in reverse. Negative values mean "slowing down" either forwards OR in reverse. To get the signed forward command acceleration, multiply this value by PFG_DIR (subindex 82). The value (in qc/st²) is scaled by PFG_SCALESHIFT (subindex 121) and then the integer portion is returned.

Units
  qc/st²

Definition at line 3521 of file SdoDictionary.mh.

## ◆ PFG_ACMD

#define PFG_ACMD 233

Signed command acceleration.

Scaled by 1/8192

Units
  qc/st²

Definition at line 4622 of file SdoDictionary.mh.

## ◆ PFG_ACTSYNCVFTIME

#define PFG_ACTSYNCVFTIME 213

Actual syncvftime active.

Actual syncvftime active when SYNCVFLIMIT is set and filtering is activated or deactivated. Then the syncvftime is increased or decreased until the wanted value is reached.

Definition at line 4498 of file SdoDictionary.mh.

## ◆ PFG_ADEC

#define PFG_ADEC 84

Maximum allowed deceleration.

Maximum allowed deceleration during movement. This value is derived from the DEC command. Note that this applies when movement is "slowing down" in either the forward or reverse direction. The value (in qc/st²) is scaled by PFG_SCALESHIFT (subindex 121) and then the integer portion is returned. This value is always greater than or equal to 0.

Units
  qc/st²

Definition at line 3503 of file SdoDictionary.mh.

## ◆ PFG_ADELTCALC

#define PFG_ADELTCALC 88

Scaled acceleration deviation.

Scaled acceleration deviation multiplied by PFG_SCALESHIFT (subindex 121) calculated by the internal profile generator brake algorithm.

Units
  qc/st³

Definition at line 3537 of file SdoDictionary.mh.

## ◆ PFG_AKTSTATE

#define PFG_AKTSTATE 122

Current state of profile generator state machine.

Definition at line 3791 of file SdoDictionary.mh.

## ◆ PFG_CALCCURVEPOS

#define PFG_CALCCURVEPOS 222

Calculate the slave position corresponding to a curve master position.

Definition at line 4561 of file SdoDictionary.mh.

## ◆ PFG_CALCMCURVPOS

#define PFG_CALCMCURVPOS 197

Calculate the curve master position corresponding to a slave position.

Units
  mu

Definition at line 4374 of file SdoDictionary.mh.

## ◆ PFG_CCALCULATE

#define PFG_CCALCULATE 225

Definition at line 4585 of file SdoDictionary.mh.

## ◆ PFG_CCOUNTER

#define PFG_CCOUNTER 132

Number of curves to be processed.

See SYNCC

Definition at line 3886 of file SdoDictionary.mh.

## ◆ PFG_CCURVEPOS

#define PFG_CCURVEPOS 133

Current curve slave position.

This value will track the actual master position if tracking is active. Unlike the CURVEPOS command, this value does NOT include any offset due to a non-zero slave cycle length.

Units
  uu

Definition at line 3894 of file SdoDictionary.mh.

## ◆ PFG_CINDEX

#define PFG_CINDEX 125

Current curve interpolation index.

Firmware < 6.4.44: Current index used by curve interpolation. Range of interpolation point numbers: 0 to (number of interpolations points – 1).

Firmware >= 6.4.44: Index of Spline polynomial containing the current curve master position (-1 if master position precedes the spline). Note that there may NOT be a one-to-one correspondence between fixed points and spline polynomials. For example, trapezoidal curve segments require two spline polynomials.

Definition at line 3838 of file SdoDictionary.mh.

## ◆ PFG_CMARKPOS

#define PFG_CMARKPOS 173

Reserved.

Reserved for labeling functionality (-> Master position where the next labeling action must be started).

Units
  qc

Definition at line 4176 of file SdoDictionary.mh.

## ◆ PFG_CMASTERCLEN

#define PFG_CMASTERCLEN 221

Master curve length of the actual curve running.

Definition at line 4556 of file SdoDictionary.mh.

## ◆ PFG_CMASTERCPOS

#define PFG_CMASTERCPOS 135

Current curve master position.

This value will track the actual master position if tracking is active.

Units
  mu

Definition at line 3910 of file SdoDictionary.mh.

## ◆ PFG_CMASTERCREST

#define PFG_CMASTERCREST 218

Remaining master distance.

For the curve which is actually active, this variable returns the distance which is still to do in master units. This value is calculated as the difference between the master curve length minus the actual master curve position.

Units
  mu

Definition at line 4538 of file SdoDictionary.mh.

## ◆ PFG_CMAXINDEX

#define PFG_CMAXINDEX 127

Maximum curve interpolation index.

Firmware < 6.4.44: Maximum allowed index of curve interpolation (= number of interpolation points – 1).

Firmware >= 6.4.44: This is no longer used.

Definition at line 3857 of file SdoDictionary.mh.

## ◆ PFG_COMMANDPOS

#define PFG_COMMANDPOS 216

SollPos returned to sw_reg.

SollPos which is returned to sw_reg internally. This is used for linked encoder types and must be considered in subtract_from_slave.

Units
  qc

Definition at line 4522 of file SdoDictionary.mh.

## ◆ PFG_COMPOSDIFF

#define PFG_COMPOSDIFF 231

Difference of Command position and last command position.

Created to serve as an input for counter units. This value is updated every 1 st even if PROFTIME is higher. It always contains the difference between command position and last command position where both are updated in a case of DEFORIGIN or overflow. So the difference is always valid and there should be no deviation over long
time periods.

Units
  qc

Definition at line 4608 of file SdoDictionary.mh.

## ◆ PFG_CPOLYMAXVEL

#define PFG_CPOLYMAXVEL 193

Maximum velocity of a curve polynomial.

Maximum velocity of a 5th order curve polynomial, multiplied by PFG_SCALESHIFT, subindex 121. If the calculation has set the CurveCalc error bit and the PFG_LastError contains a 5-7, then a maximum or minimum exists.

Units
  qc/st

Definition at line 4345 of file SdoDictionary.mh.

## ◆ PFG_CPOLYMINVEL

#define PFG_CPOLYMINVEL 194

Minimum velocity of a curve polynomial.

Minimum velocity of a 5th order curve polynomial, multiplied by PFG_SCALESHIFT, subindex 121. If the calculation has set the CurveCalc error bit and the PFG_LastError contains a 5-7, then a maximum or minimum exists.

Units
  qc/st

Definition at line 4353 of file SdoDictionary.mh.

## ◆ PFG_CSLAVECPOSQ

#define PFG_CSLAVECPOSQ 134

Current curve position of the slave related to CSSTART.

See subindex 131.

Units
  qc

Definition at line 3902 of file SdoDictionary.mh.

## ◆ PFG_CSLAVECREST

#define PFG_CSLAVECREST 219

Remaining slave distance.

For the curve which is actually active, this variable returns the distance which is still to do in user units. This value is calculated as the difference between the slave curve length minus the actual slave curve position.

Units
  uu

Definition at line 4546 of file SdoDictionary.mh.

## ◆ PFG_CSSTART

#define PFG_CSSTART 131

Offset used for the start of current slave curve.

Always 0 for closed curves.

Units
  qc

Definition at line 3880 of file SdoDictionary.mh.

## ◆ PFG_CSTARTCLEN

#define PFG_CSTARTCLEN 232

Start curve length for the active PATHSTART command.

This value will be valid immediately after a PATHSTART command has been executed. Once a path set by a PATHNEXT command has been activated, the value will no longer be valid.

Definition at line 4614 of file SdoDictionary.mh.

## ◆ PFG_CVINDEX

#define PFG_CVINDEX 126

Start/stop curve data index.

Firmware < 6.4.44: This is the current index used by the curve interpolation. CVINDEX equals CINDEX if neither start nor stop of curve is active. Otherwise, CVINDEX holds the index of the start or stop curve data.

Formware >= 6.4.44: This indicates the state of the selected start/stop curve during curve synchronization: -1 - The slave is waiting to start engaging or has disengaged. 0 - The slave is engaging or disengaging using the selected start/stop curve. 1 - The slave is synchronized and is using the actual curve (not a start/stop curve).

Definition at line 3849 of file SdoDictionary.mh.

## ◆ PFG_CWRAP

#define PFG_CWRAP 130

Current value of the curve counter.

Number of the curve that is currently being processed. This is set to 1 when the start curve specified by the SYNCCSTART command is begun. It is incremented each time a new curve cycle is started.

Definition at line 3872 of file SdoDictionary.mh.

## ◆ PFG_DIR

#define PFG_DIR 82

Direction of command velocity.

1 - Command velocity is in the forward direction (or is stationary). -1 - Command velocity is in the reverse direction.

Definition at line 3485 of file SdoDictionary.mh.

## ◆ PFG_DYNKORRLIMIT

#define PFG_DYNKORRLIMIT 160

Calculated limit of marker correction.

Internal dynamically calculated limit of the marker correction. See parameter SYNCMFPAR.

Definition at line 4097 of file SdoDictionary.mh.

## ◆ PFG_FAULTCNT

#define PFG_FAULTCNT 111

Asynchronous marker check count.

Counter for the number of marker checks which were not synchronous, i.e. within the defined tolerance window (cp. Parameters SYNCACCURACY and SYNCFAULT). The counter is reset if a marker is detected inside the tolerance window again.

Definition at line 3711 of file SdoDictionary.mh.

## ◆ PFG_FILTERCOUNT

#define PFG_FILTERCOUNT 214

Internal relative count since PFG_MFILTERR was reset last time.

Internal relative count since the PFG_MFILTERR (subindex 95) was reset last time. This is used to decide when the PFG_MFILTERR must be evaluated again to decide if we should activate the filter again or not.

Units
  ms

Definition at line 4506 of file SdoDictionary.mh.

## ◆ PFG_FINPOS

#define PFG_FINPOS 230

Target position of the profile generator.

Definition at line 4598 of file SdoDictionary.mh.

## ◆ PFG_FLAGS

#define PFG_FLAGS 123

Profile generator flags.

These flags are identical to the bits of the APOSS command "InterruptSetup( STATBIT ...)": 0 0x01 - BUSY - Internal: Profile generator busy 1 0x02 - COMMANDERR - Internal: Profile generator error 2 0x04 - POSREACHED - Position reached 3 0x08 - INDEX_HIT - Index observed 4 0x10 - MINDEX_HIT - Master Index observed 5 0x20 - POS_ERR - Reserved for future use 6 0x40 - BRKPT_RCHD - Internal Breakpoint reached 7 0x80 - FLOATING - Pos. control switched off (= MOTOR OFF state) 8 0x0100 - MOVING - Axis is moving 9 0x0200 - OVERFLOWS - Overflow of slave position 10 0x0400 - OVERFLOWM - Overflow of master position 12 0x1000 - POSLIMERR - Positive pos. sw limit (->POSLIMIT) 13 0x2000 - NEGLIMERR - Negative pos. sw limit (->NEGLIMIT) 14 0x4000 - CURVE_ERR CAM sync. Error 15 0x8000 - OVERSHOOT - TPOSA will overshoot or not reach target 16-23 - Reserved for future use 24 0x01000000 - SYNCREADY - Sync. Ready 25 0x02000000 - SYNCFAULT - Sync. Failed 26 0x04000000 - SYNCACCUR - Sync. Accuracy reached (deviation between the position of the slave and master is less than SYNCACCURACY) 27 0x08000000 - SYNCMMHIT - Master marker hit 28 0x10000000 - SYNCSMHIT - Slave marker hit 29 0x20000000 - SYNCMMERR - Master marker error 30 0x40000000 - SYNCSMERR - Slave marker error 31 0x80000000 - TESTFLAG - Internal use only

Definition at line 3821 of file SdoDictionary.mh.

## ◆ PFG_GETCMDVEL

#define PFG_GETCMDVEL 136

Scaled set point velocity.

Scaled set point velocity multiplied by PID_VELRESVAL (subindex 52). See PFG_VCMD (subindex 91) and PFG_VCMDSIGN (subindex 181), which are scaled by PFG_SCALESHIFT (subindex 121).

Units
  qc/st

Definition at line 3918 of file SdoDictionary.mh.

## ◆ PFG_INTMMERROR

#define PFG_INTMMERROR 157

Sum of master marker distance errors.

Sum of all errors of the master marker distance (actual distance – medium distance). See PFG_INTSMERROR, subindex 184.

Units
  qc

Definition at line 4075 of file SdoDictionary.mh.

## ◆ PFG_INTOFFSET

#define PFG_INTOFFSET 120

Current offset.

Value of the up-to-date offset. Internal units [qc] multiplied by PFG_SCALESHIFT, subindex 121. The value is based on the parameter SYNCPOSOFFS and the value of the command MOVESYNCORIGIN. The internal offset is handled correctly even at a position overflow.

Units
  qc

Definition at line 3779 of file SdoDictionary.mh.

## ◆ PFG_INTSMERROR

#define PFG_INTSMERROR 184

Sum of slave marker distance errors.

Sum of all errors of the slave marker distance (actual distance – medium distance). See PFG_INTMMERROR, subindex 157.

Units
  qc

Definition at line 4271 of file SdoDictionary.mh.

## ◆ PFG_JERKFINVEL

#define PFG_JERKFINVEL 189

Velocity reached if the current acceleration is reduced to 0.

Velocity which will be reached if the current acceleration is reduced to 0 using the jerk limitation settings (see command JERKFINVEL). This calculation works independently of the current setting of parameter RAMPTYPE. The result could also be negative if you drive negatively for example or if you are near velocity zero with an high deceleration.

Units
  qc/st

Definition at line 4311 of file SdoDictionary.mh.

## ◆ PFG_JERKSTOPDIST

#define PFG_JERKSTOPDIST 190

Length of brake ramp if stopped with specified deceleration.

Read: Same as JERKSTOPPATH (subindex 182), but instead of the actual deceleration setting, a given deceleration value can be used to calculate the distance. Write: Sets the deceleration value (scaled by parameter VELRES)to be used for calculations by this function. Note: This requires some calculation time! Do not call within a fast loop.

Units
  qc

Definition at line 4321 of file SdoDictionary.mh.

## ◆ PFG_JERKSTOPPATH

#define PFG_JERKSTOPPATH 182

Length of brake ramp if stopped.

Length of the brake ramp if motor must be stopped with a jerk limited movement using the current command settings of VEL, ACC, DEC and JERKMIN. Changing one of these command settings, also changes the length of the brake ramp.

This calculation always calculates the brake ramp for the jerk limited movement independent of the current setting of the parameter RAMPTYPE. For calculation of the brake ramp for a non-jerk limited movement use STOPLEN, subindex 124. For calculation of a jerk limited stop distance using a given deceleration value use JERKSTOPDIST, subindex 190. Note: This requires some calculation time! Do not call within very fast loops (e.g. every 2 ms).

Units
  qc

Definition at line 4255 of file SdoDictionary.mh.

## ◆ PFG_JSTATE

#define PFG_JSTATE 180

State of the Limited Jerk Movement state machine.

See "Limited Jerk Movements" in the general APOSS-IDE help for a detailed description of limited jerk movements and where these different states can appear within a complete limited jerk movement.

0 = Stopped (limited jerk movement is not active) 1 = Constant velocity (at target velocity) 2 = Acceleration ramp-up towards the target velocity 3 = Acceleration constant towards the target velocity 4 = Acceleration ramp-down towards the target velocity 5 = Acceleration ramp-down towards the maximum acceleration 6 = Deceleration ramp-up towards the target velocity 7 = Deceleration constant towards the target velocity 8 = Deceleration ramp-down towards the target velocity 9 = Deceleration ramp-down towards the maximum deceleration 10 = Deceleration ramp-up that will overshoot velocity = 0 11 = Deceleration constant that will overshoot velocity = 0 12 = Deceleration ramp-down that will overshoot velocity = 0

WARNING: Depending on the exact characteristics, timing, and duration of the movement, many of these states can be short-lived transient states, may not be observed at all, or may be observed in an unexpected sequence. For example, a deceleration ramp-up may not be followed by a deceleration ramp-down if the ramp-down is extremely short, or an acceleration ramp-down may be followed by a short deceleration ramp-up if the system overshoots the target velocity. Extreme care must be taken by any program that is designed to rely on the appearance of any particular state or on the sequence in which the states appear.

Definition at line 4236 of file SdoDictionary.mh.

## ◆ PFG_KORREKTUR

#define PFG_KORREKTUR 116

Value of the last marker correction [qc (slave)].

Units
  qc

Definition at line 3748 of file SdoDictionary.mh.

## ◆ PFG_KORRFILT

#define PFG_KORRFILT 147

Filtered correction value.

Multiplied by PFG_SCALESHIFT, subindex 121.

Units
  qc

Definition at line 3998 of file SdoDictionary.mh.

## ◆ PFG_KORRREST

#define PFG_KORRREST 117

Remainder of the marker correction.

Remainder of the marker correction. If a master encoder filter is in use for SYNCP or SYNCM (i.e. parameter SYNCVFTIME < 0), then the correction value is also processed within 10 times the filter time. A fractional correction value (see PFG_KORRVAL, subindex 118) is calculated which is added each cycle. The remainder is updated after each calculation.

Definition at line 3754 of file SdoDictionary.mh.

## ◆ PFG_KORRTAU

#define PFG_KORRTAU 156

Tau used by PT marker filter.

Tau which is in use by the PT marker filter. The usage of PFG_KORRTAU depends on the setting of parameter SYNCMFPAR.

Definition at line 4067 of file SdoDictionary.mh.

## ◆ PFG_KORRUNFILT

#define PFG_KORRUNFILT 150

Last unfiltered correction value.

In qc of the slave.

Units
  qc

Definition at line 4020 of file SdoDictionary.mh.

## ◆ PFG_KORRVAL

#define PFG_KORRVAL 118

Value of the marker correction.

Value of the marker correction. Internal units [qc] multiplied by PFG_SCALESHIFT, subindex 121. See PFG_KORRREST, subindex 117.

Units
  qc

Definition at line 3762 of file SdoDictionary.mh.

## ◆ PFG_LASTERROR

#define PFG_LASTERROR 163

Additional information about the last PFG error.

Possible values are:

0 - No error. 1 - Curve start error, startposition set by deforg for synctype >=3 was too close to handle. 4 - Internal error calculating poly 5 root. 5 - Curve stability problem (minimum in interval). 6 - Curve stability problem (maximum in interval). 7 - Curve stability problem (minimum and maximum in interval). 100-120 - CAM curve definition error (curve could not be calculated).

If 0 is written to this value, then the last error will be cleared if possible. This includes the flags in PFG_FLAGS.

Definition at line 4132 of file SdoDictionary.mh.

## ◆ PFG_LASTMMDEVIATION

#define PFG_LASTMMDEVIATION 183

Last master marker deviation.

Last master marker deviation compared to the average of the measured master marker distance. Multiplied by PFG_SCALESHIFT, subindex 121.

Units
  qc

Definition at line 4263 of file SdoDictionary.mh.

## ◆ PFG_LASTMMDIST

#define PFG_LASTMMDIST 148

Last measured distance between two master markers.

In qc of the master.

Units
  qc

Definition at line 4006 of file SdoDictionary.mh.

## ◆ PFG_LASTMOVSYNC

#define PFG_LASTMOVSYNC 179

Reserved.

Reserved for special applications (WAN-LAT).

Definition at line 4214 of file SdoDictionary.mh.

## ◆ PFG_LASTREALMZERO

#define PFG_LASTREALMZERO 191

Position value of the last "real" master marker.

Faked ones are not respected.

Units
  qc

Definition at line 4329 of file SdoDictionary.mh.

## ◆ PFG_LASTREALSZERO

#define PFG_LASTREALSZERO 192

Position value of the last "real" slave marker.

Faked ones are not respected.

Units
  qc

Definition at line 4337 of file SdoDictionary.mh.

## ◆ PFG_LASTSMDEVIATION

#define PFG_LASTSMDEVIATION 186

Last slave marker deviation.

Last slave marker deviation compared to the average of the measured slave marker distance. Multiplied by PFG_SCALESHIFT, subindex 121.

Units
  qc

Definition at line 4287 of file SdoDictionary.mh.

## ◆ PFG_LASTSMDIST

#define PFG_LASTSMDIST 154

Last measured distance between two slave markers.

In qc of the slave.

Units
  qc

Definition at line 4056 of file SdoDictionary.mh.

## ◆ PFG_MACTDIR

#define PFG_MACTDIR 97

Actual master direction.

Actual master direction (+1 / -1), if SYNCP or SYNCM is active.

Definition at line 3607 of file SdoDictionary.mh.

## ◆ PFG_MARKERDIFF

#define PFG_MARKERDIFF 113

Slave/master marker difference count.

Counter for the difference between detected slave and master markers. A master marker which is passed by in positive direction, increases the counter. If passed by in negative direction, it decreases the counter by one. The counter has opposite behaviour for slave markers. Bigger differences can be caused by the parameter SYNCPOSOFFS, the command MOVESYNCORIGIN, or by catching up movements.

Definition at line 3725 of file SdoDictionary.mh.

## ◆ PFG_MARKERFAKED

#define PFG_MARKERFAKED 119

Virtual marker created.

Flag which indicates if a virtual marker was created. If a actual marker was detected, this flag is reset to 0 again (see SYNCMWINM and SYNCMWINS).

0 - Not created. 1 - Created.

Definition at line 3771 of file SdoDictionary.mh.

## ◆ PFG_MARKERFILTER

#define PFG_MARKERFILTER 155

Number of markers defining the filtering period.

Definition at line 4061 of file SdoDictionary.mh.

## ◆ PFG_MASTERTARGET

#define PFG_MASTERTARGET 200

Corrected slave position.

Read: Corrected slave position calculated by the following formula: APOS[qc] + sync ratio * (MasterTargetPos – MAPOS[qc]). Write: Defines the MasterTargetPos in use by the formula.

Units
  qc

Definition at line 4399 of file SdoDictionary.mh.

## ◆ PFG_MASTERVELSQSL

#define PFG_MASTERVELSQSL 215

Master velocity in slave qc per sample time.

This velocity is filtered like Oldmfiltvel. But if ActSyncVftime is smaller than 50 ms, it is still filtered by 50ms. See PFG_ACTSYNCVFTIME.

Units
  qc/st

Definition at line 4514 of file SdoDictionary.mh.

## ◆ PFG_MCENDPOS

#define PFG_MCENDPOS 166

Master position where the last curve ended.

During curve synchronization (SYNCC), whenever either end of the current curve is reached (i.e. either the curve end when going forward or the curve beginning when going backward), the actual master position (in qc) corresponding to that curve end is saved here.

Depending on the master gear factors (SYNCFACTS and SYNCFACTM) and integer arithmetic, this value may be +/- 1 qc away from the exact position of the end of the curve occurred.

Units
  qc

Definition at line 4149 of file SdoDictionary.mh.

## ◆ PFG_MDIR

#define PFG_MDIR 96

Master direction for synchronization.

Sign due to gear ratio. Possible values are +1 or -1.

Definition at line 3601 of file SdoDictionary.mh.

## ◆ PFG_MDISTMARK

#define PFG_MDISTMARK 151

Distance between current master position and last master marker.

Distance between the current master position and the last master marker given as percentage of the nominal master marker distance.

The variable PFG_MDISTMARK allows different scaling (default is percent) by writing the resolution to it. If you write a 1000 to PFG_MDISTMARK you will then get the values in per thousand when you read the values out.

Units
  %

Definition at line 4030 of file SdoDictionary.mh.

## ◆ PFG_MFILTERR

#define PFG_MFILTERR 95

Inaccuracy due to filtering of the master position value.

This inaccuracy is compensated within a period of time which equals 10x the filter time.

Units
  qc

Definition at line 3595 of file SdoDictionary.mh.

## ◆ PFG_MHIT

#define PFG_MHIT 108

Master marker detection.

Flag indicating if a master marker was detected. The flag is reset when both markers were detected and the marker correction was processed.

1 = Master marker detected in forward direction. -1 = Master marker detected in backwards direction.

Definition at line 3690 of file SdoDictionary.mh.

## ◆ PFG_MMARKCNT

#define PFG_MMARKCNT 102

Required master marker pulse count.

Number of master marker pulses (in SYNCM or SYNCCMM mode) which are counted until the necessary number (see SYNCMARKM) is reached. Then it is restarted with 0.

Definition at line 3645 of file SdoDictionary.mh.

## ◆ PFG_MMARKCORR

#define PFG_MMARKCORR 149

Calculated gear ratio correction value.

Multiplied by PFG_SCALESHIFT, subindex 121.

Definition at line 4012 of file SdoDictionary.mh.

## ◆ PFG_MMARKERDIST

#define PFG_MMARKERDIST 143

Filtered distance between two master markers.

Filtered distance value between two master markers. Value is [qc] multiplied by PFG_SCALESHIFT (see subindex 121) to get a better resolution. This value is only processed if the parameter SYNCMFTIME does not equal 0.

Units
  qc

Definition at line 3968 of file SdoDictionary.mh.

## ◆ PFG_MMARKERR

#define PFG_MMARKERR 158

Filtered sum master marker errors.

Filtered sum of all master marker errors, multiplied by PFG_SCALESHIFT, subindex 121. See PFG_SMARKERR, subindex 185.

Units
  qc

Definition at line 4083 of file SdoDictionary.mh.

## ◆ PFG_MMARKFIFOREAD

#define PFG_MMARKFIFOREAD 162

Read the master marker FIFO.

Read: Returns the entry of the current read address of the master marker FIFO and increases the FIFO read pointer afterwards. This allows entries to be read one after the other. If just the current entry must be read without increasing the pointer, the function PFG_MMARKFIFOTEST (subindex 174) should be used instead. Write: Clear the entire master marker buffer. The actual value written is ignored.

Definition at line 4116 of file SdoDictionary.mh.

## ◆ PFG_MMARKFIFOTEST

#define PFG_MMARKFIFOTEST 174

Read the master marker FIFO.

Read: Entry of the current read address of the master marker FIFO. This function does not increase the read address (see PFG_MMARKFIFOREAD, subindex 162). Write: Delete the last master FIFO entry written. The actual value written is ignored.

Definition at line 4183 of file SdoDictionary.mh.

## ◆ PFG_MMARKFIFOVALID

#define PFG_MMARKFIFOVALID 161

"Valid" flag for actual master marker FIFO read address

1 = "Real" marker hit in forward direction -1 = "Real" marker hit in backward direction 2 = "Faked" marker generated forwards -2 = "Faked" marker generated backwards

Read: Returns the "Valid". Write: Last valid entry is used together with the Label_Info defined by the last SETCURVE to fill the fifo with valid entries backward. The actual written value is ignored.

Definition at line 4109 of file SdoDictionary.mh.

## ◆ PFG_MMDEVPOSDIFF

#define PFG_MMDEVPOSDIFF 187

Distance between last two master markers.

Distance between the last two master markers after correcting them by deviation. See PFG_LASTMMDEVIATION, subindex 183.

Units
  qc

Definition at line 4295 of file SdoDictionary.mh.

## ◆ PFG_MMFAKEDCNT

#define PFG_MMFAKEDCNT 137

Consecutive virtual generated master markers.

Number of consecutive virtual generated master markers (due to missing real master markers). If the next real marker is detected, this value is reset to 0. Value range: 0 - UNSIGNED16

Definition at line 3924 of file SdoDictionary.mh.

## ◆ PFG_MMILLEGALCNT

#define PFG_MMILLEGALCNT 139

Number of non-fitting master markers.

Total number of non-fitting master markers. Value range: 0 - UNSIGNED16 This value is only reset by a restart of SYNCP, SYNCM or SYNCC. Otherwise, the reset must be done by the APOSS application.

Definition at line 3937 of file SdoDictionary.mh.

## ◆ PFG_MOLDZERO

#define PFG_MOLDZERO 104

Master position of the last detected master marker.

Units
  qc

Definition at line 3658 of file SdoDictionary.mh.

## ◆ PFG_MPCMD

#define PFG_MPCMD 99

Command position calculated by the synchronization algorithm.

MPCMD is the command position for the position control loop. This position is where the slave should be if it were synchronized. SYNCERR = MPCMD – APOS This position may differ from PFG_PCMD if current limits (VEL, ACC, DEC, etc.) prevent the axis from reacting as quickly as is required to maintain synchronization. See axis parameter SYNCTYPE.

Units
  qc

Definition at line 3622 of file SdoDictionary.mh.

## ◆ PFG_MPCMDERR

#define PFG_MPCMDERR 112

Current synchronization position error.

Current synchronization position error (like command SYNCERR), always with sign.

Units
  qc

Definition at line 3719 of file SdoDictionary.mh.

## ◆ PFG_MPCMDOLD

#define PFG_MPCMDOLD 100

Last synchronization command position.

The command position value of the last sample time.

Units
  qc

Definition at line 3630 of file SdoDictionary.mh.

## ◆ PFG_MSTARTCURVECPOSSL

#define PFG_MSTARTCURVECPOSSL 206

Slave curve position of start curve.

Slave curve position of the start curve [qc of the slave]. Multiplied by PFG_SCALESHIFT, subindex 121.

Units
  qc

Definition at line 4448 of file SdoDictionary.mh.

## ◆ PFG_MSTARTCURVEDELTAS

#define PFG_MSTARTCURVEDELTAS 207

Calculated slave distance.

Calculated value of the slave distance which is necessary for a 5th order polynomial (SYNCMSTART 7) with the given master position and the number of markers (see PFG_MSTARTMARKERTODO, subindex 211) used for starting.

Units
  qc

Definition at line 4456 of file SdoDictionary.mh.

## ◆ PFG_MSTARTCURVEDELTASREST

#define PFG_MSTARTCURVEDELTASREST 209

Remainder of MSTARTCURVEDELTAS divided by slave marker distance.

Units
  qc

Definition at line 4470 of file SdoDictionary.mh.

## ◆ PFG_MSTARTCURVEERR

#define PFG_MSTARTCURVEERR 210

Difference between MSTARTCURVEDELTASREST and the rest of the master distance.

If this error is smaller than 1 percent of the marker distance, then the polynomial is started.

Units
  qc

Definition at line 4478 of file SdoDictionary.mh.

## ◆ PFG_MSTARTCURVEMENDPOSSL

#define PFG_MSTARTCURVEMENDPOSSL 205

Master curve endpos of start curve.

Master curve endpos of the start curve (= length) [qc of the slave]. Multiplied by PFG_SCALESHIFT, subindex 121.

Units
  qc

Definition at line 4440 of file SdoDictionary.mh.

## ◆ PFG_MSTARTCURVEMPOSSL

#define PFG_MSTARTCURVEMPOSSL 204

Master curvepos of start curve.

Master curvepos of the start curve (0 ...) [qc of the slave]. Multiplied by PFG_SCALESHIFT, subindex 121.

Units
  qc

Definition at line 4432 of file SdoDictionary.mh.

## ◆ PFG_MSTARTCURVESMARKTODO

#define PFG_MSTARTCURVESMARKTODO 208

Actual distance of the slave position to the next slave marker.

Units
  qc

Definition at line 4463 of file SdoDictionary.mh.

## ◆ PFG_MSTARTCURVESTARTMPCMD

#define PFG_MSTARTCURVESTARTMPCMD 203

Master position where curve was started.

Master position [qc of the slave] where curve was started. Multiplied by PFG_SCALESHIFT, subindex 121.

Units
  qc

Definition at line 4424 of file SdoDictionary.mh.

## ◆ PFG_MSTARTCURVESTATE

#define PFG_MSTARTCURVESTATE 202

State of the SYNCMSTART = 7 curve handling.

1 = SYNMCURVE_WAITSTART = Curve waits to be started 2 = SYNCMCURVE_RUNNING = Curve is running 3 = SYNMCURVE_WAITMASTERINDEX = Curve waits for first master index 4 = SYNCMCURVE_RESTART = Curve tries to restart while running

Definition at line 4416 of file SdoDictionary.mh.

## ◆ PFG_MSTARTMARKERTODO

#define PFG_MSTARTMARKERTODO 211

Master markers necessary.

This is the number of master markers necessary to do the polynomial, calculated out of the velocity difference between master and slave and the given acceleration and jerk.

Definition at line 4484 of file SdoDictionary.mh.

## ◆ PFG_MTOUCHPOS

#define PFG_MTOUCHPOS 165

Definition at line 4139 of file SdoDictionary.mh.

## ◆ PFG_MZEROCMD

#define PFG_MZEROCMD 106

Master marker positionused for marker correction.

Master marker position (in SYNCM or SYNCCMM mode) which is used for the marker correction [qc (slave)]. It will be overwritten when next marker is reached.

Units
  qc

Definition at line 3673 of file SdoDictionary.mh.

## ◆ PFG_OFFDISTDONE

#define PFG_OFFDISTDONE 178

Reserved.

Reserved for special applications (WAN-LAT). Multiplied by PFG_SCALESHIFT, subindex 121.

Definition at line 4208 of file SdoDictionary.mh.

## ◆ PFG_OFFSET_ACC

#define PFG_OFFSET_ACC 228

Definition at line 4591 of file SdoDictionary.mh.

## ◆ PFG_OFFSET_CORR

#define PFG_OFFSET_CORR 229

Definition at line 4593 of file SdoDictionary.mh.

## ◆ PFG_OFFSET_TIME

#define PFG_OFFSET_TIME 226

Definition at line 4587 of file SdoDictionary.mh.

## ◆ PFG_OFFSET_VFIN

#define PFG_OFFSET_VFIN 227

Definition at line 4589 of file SdoDictionary.mh.

## ◆ PFG_OFFSETVALUE

#define PFG_OFFSETVALUE 199

Actual offset step value used to distribute offsets or corrections.

Actual offset step value used to distribute offsets or corrections. Multiplied by PFG_SCALESHIFT, subindex 121.

Units
  qc

Definition at line 4390 of file SdoDictionary.mh.

## ◆ PFG_OFFTOTALDIST

#define PFG_OFFTOTALDIST 177

Reserved.

Reserved for special applications (WAN-LAT).

Definition at line 4202 of file SdoDictionary.mh.

## ◆ PFG_OLDCOMMANDPOS

#define PFG_OLDCOMMANDPOS 217

OldSollPos returned to sw_reg.

OldSollPos which is returned to sw_reg internally. This is used for linked encoder types and must be considered in subtract_from_slave.

Units
  qc

Definition at line 4530 of file SdoDictionary.mh.

## ◆ PFG_OLDMFILTVEL

#define PFG_OLDMFILTVEL 93

Scaled and filtered master velocity.

Scaled and filtered master velocity multiplied by PFG_SCALESHIFT (see subindex 121 and 83). Is always valid for SYNCV mode, but valid for SYNCM and SYNP mode only if the parameter SYNCVFTIME is negative.

Units
  qc/st

Definition at line 3579 of file SdoDictionary.mh.

## ◆ PFG_OLDSFILTVEL

#define PFG_OLDSFILTVEL 94

Scaled and filtered slave velocity.

Scaled and filtered slave velocity multiplied by PFG_SCALESHIFT (see subindex 121 and 83). Only valid for SYNCV mode.

Units
  qc/st

Definition at line 3587 of file SdoDictionary.mh.

## ◆ PFG_OLDSYPOFFS

#define PFG_OLDSYPOFFS 115

Old value of the parameter SYNCPOSOFFS.

Old value of the parameter SYNCPOSOFFS. If SYNCPOSOFFS is modified, then the difference between the new and old value is calculated and added to the current synchronization set point position value. The new SYNCPOSOFFS value is then copied into PFG_OLDSYPOFFS.

Definition at line 3741 of file SdoDictionary.mh.

## ◆ PFG_ORGREALPOS

#define PFG_ORGREALPOS 159

"Real" origin position after a SETORIGIN command

"Real" origin position after a SETORIGIN command. The value is processed by the commands RSTORIGIN and SETORIGIN.

Units
  qc

Definition at line 4091 of file SdoDictionary.mh.

## ◆ PFG_PATHCALC

#define PFG_PATHCALC 89

Length of the brake ramp.

Length of the brake ramp, as calculated by the profile generator brake algorithm.

Units
  qc

Definition at line 3545 of file SdoDictionary.mh.

## ◆ PFG_PCMD

#define PFG_PCMD 90

Command position.

Signed command postion currently being calculated by the Profile Generator. Momentum, inertia, and other factors, may cause this value to differ from the actual position.

Units
  qc

Definition at line 3553 of file SdoDictionary.mh.

## ◆ PFG_PCORR

#define PFG_PCORR 92

Scaled correction value for the brake ramp.

Scaled correction value for the brake ramp multiplied by PFG_SCALESHIFT (see subindex 121 and 83). This value is added per sample time to compensate an inaccuracy due to an integer number of brake steps.

Units
  qc

Definition at line 3571 of file SdoDictionary.mh.

## ◆ PFG_PROFTIMER

#define PFG_PROFTIMER 224

PROFTIMER value from the axis.

Used for internal calculation of PFG_VCMDSIGNED_USERSCALED

The number of timer interrupts that will be needed for each Profile Generator step

Definition at line 4583 of file SdoDictionary.mh.

## ◆ PFG_READYCNT

#define PFG_READYCNT 110

Synchronous marker check count.

Counter for the number of marker checks which were synchronous, i.e. within the defined tolerance window (see SYNCACCURACY and SYNCREADY). The counter is reset if a marker is detected which not within the tolerance.

Definition at line 3705 of file SdoDictionary.mh.

## ◆ PFG_RESTOFFSDBL

#define PFG_RESTOFFSDBL 176

Reserved.

Reserved for special applications (WAN-LAT).

Definition at line 4196 of file SdoDictionary.mh.

## ◆ PFG_RESTOFFSET

#define PFG_RESTOFFSET 198

Offset which must still be handled.

Offset which must still be handled by a new offset distribution. Multiplied by PFG_SCALESHIFT, subindex 121.

Units
  qc

Definition at line 4382 of file SdoDictionary.mh.

## ◆ PFG_REVERSEOFFSET

#define PFG_REVERSEOFFSET 201

Compensation offset for blocked reversal.

Internal value which is used to compensate an offset if reversing is blocked (i.e. parameter REVERS = 2) and the master stops faster than the slave is allowed to stop.

Units
  qc

Definition at line 4407 of file SdoDictionary.mh.

## ◆ PFG_REVERSING

#define PFG_REVERSING 101

Reversing active.

Indicates whether reversing is active. Reversing means that the slave – related to the master – runs intentionally into the wrong direction in order to adjust an offset.

0 - Not active 1 - Active

Definition at line 3639 of file SdoDictionary.mh.

## ◆ PFG_RUNTIME_ERR

#define PFG_RUNTIME_ERR 235

Returns last active runtime error.

200 PFG_ERR_FLAG_KINPOINTUNREACHABLE: The target point is outside boundary

Definition at line 4637 of file SdoDictionary.mh.

## ◆ PFG_SACTDIR

#define PFG_SACTDIR 98

Actual slave direction.

Actual slave direction (+1 / -1), if SYNCP or SYNCM is active. The sign results from calculation of APOS minus last APOS.

Definition at line 3613 of file SdoDictionary.mh.

## ◆ PFG_SCALESHIFT

#define PFG_SCALESHIFT 121

Scaling factor for internal 64-bit values that are returned in 32-bit variables.

Initial Value
  128

Definition at line 3786 of file SdoDictionary.mh.

## ◆ PFG_SDISTMARK

#define PFG_SDISTMARK 152

Distance between current slave position and last slave marker.

Distance between the current slave position and the last slave marker given as percentage of the nominal slave marker distance.

The variable PFG_SDISTMARK also allows different scaling (default is percent) by writing the resolution to it. Sample see PFG_MDISTMARK.

Units
  %

Definition at line 4040 of file SdoDictionary.mh.

## ◆ PFG_SHIT

#define PFG_SHIT 109

Slave marker detection.

Flag indicating if a slave marker was detected. The flag is reset when both markers were detected and the marker correction was processed.

1 = Slave marker detected in forward direction. -1 = Slave marker detected in backwards direction.

Definition at line 3699 of file SdoDictionary.mh.

## ◆ PFG_SMARKCNT

#define PFG_SMARKCNT 103

Required slave marker pulse count.

Number of slave marker pulses (in SYNCM or SYNCMS mode) which are counted until the necessary number (see SYNCMARKS) is reached. Then it is restarted with 0.

Definition at line 3651 of file SdoDictionary.mh.

## ◆ PFG_SMARKERDIST

#define PFG_SMARKERDIST 144

Filtered distance between two slave markers.

Filtered distance value between two slave markers. Value is [qc] multiplied by PFG_SCALESHIFT (see subindex 121) to get a better resolution. This value is only processed if the parameter SYNCSFTIME does not equal 0.

Units
  qc

Definition at line 3976 of file SdoDictionary.mh.

## ◆ PFG_SMARKERFILTER

#define PFG_SMARKERFILTER 195

Slave filter value.

Slave filter value corresponding to PFG_MMARKERFILTER (subindex 155).

Definition at line 4359 of file SdoDictionary.mh.

## ◆ PFG_SMARKERR

#define PFG_SMARKERR 185

Filtered sum of slave marker errors.

Filtered sum of all slave marker errors, multiplied by PFG_SCALESHIFT, subindex 121. See PFG_MMARKERR, subindex 158.

Units
  qc

Definition at line 4279 of file SdoDictionary.mh.

## ◆ PFG_SMARKFIFOREAD

#define PFG_SMARKFIFOREAD 168

Read the slave marker FIFO.

Read: Entry of the current read address of the master marker FIFO and increases the FIFO read pointer afterwards. This allows entries to be read one after the other. If just the current entry must be read without increasing the pointer, the PFG_SMARKFIFOTEST (subindex 175) should be used instead. Write: Clear the entire slave marker buffer. The actual value written is ignored.

Definition at line 4168 of file SdoDictionary.mh.

## ◆ PFG_SMARKFIFOTEST

#define PFG_SMARKFIFOTEST 175

Read the slave marker FIFO.

Read: Entry of the current read address of the slave marker FIFO. This function does not increase the read address (see PFG_SMARKFIFOREAD, subindex 168). Write: Delete the last slave FIFO entry written. The actual value written is ignored.

Definition at line 4190 of file SdoDictionary.mh.

## ◆ PFG_SMARKFIFOVALID

#define PFG_SMARKFIFOVALID 167

"Valid" flag for actual slave marker FIFO read address

1 = "Real" marker hit in forward direction -1 = "Real" marker hit in backward direction 2 = "Faked" marker generated forwards -2 = "Faked" marker generated backwards

Read: Returns the "Valid" flag. Write: Last valid entry is used together with the Label_Info defined by the last SETCURVE to fill the fifo with valid entries backward.

Definition at line 4161 of file SdoDictionary.mh.

## ◆ PFG_SMDEVPOSDIFF

#define PFG_SMDEVPOSDIFF 188

Distance between last two slave markers.

Distance between the last two slave markers after correcting them by deviation. See PFG_LASTSMDEVIATION, subindex 186.

Units
  qc

Definition at line 4303 of file SdoDictionary.mh.

## ◆ PFG_SMFAKEDCNT

#define PFG_SMFAKEDCNT 138

Consecutive virtual generated slave markers.

Number of consecutive virtual generated slave markers (due to missing real slave markers). If the next real slave marker is detected, this value is reset to 0. Value range: 0 - UNSIGNED16

Definition at line 3930 of file SdoDictionary.mh.

## ◆ PFG_SMILLEGALCNT

#define PFG_SMILLEGALCNT 140

Number of non-fitting slave markers.

Total number of non-fitting slave markers. Value range: 0 - UNSIGNED16 This value is only reset by a restart of SYNCP, SYNCM, or SYNCC. Otherwise, the reset must be done by the APOSS application.

Definition at line 3944 of file SdoDictionary.mh.

## ◆ PFG_SOLDZERO

#define PFG_SOLDZERO 105

Slave position of the last detected slave marker.

Units
  qc

Definition at line 3665 of file SdoDictionary.mh.

## ◆ PFG_STARTKORR

#define PFG_STARTKORR 145

First correction value after the start of a SYNCM.

This value indicates how many marker mismatches must be compensated for during synchronization start-up. The value is filtered if parameters SYNCOFFTTIME and SYNCMFTIME are defined. Not valid if parameter SYNCMSTART = 7 (polynomial start).

Definition at line 3982 of file SdoDictionary.mh.

## ◆ PFG_STARTKORRREST

#define PFG_STARTKORRREST 146

Remainder of the start-up correction value.

Remainder of the start-up correction value which must still be compensated for. Multiplied by PFG_SCALESHIFT, subindex 121.

Units
  qc

Definition at line 3990 of file SdoDictionary.mh.

## ◆ PFG_STARTKORRVAL

#define PFG_STARTKORRVAL 153

Start-up correction value at each marker correction.

Value which is used to decline the start-up correction value at each marker correction (see PFG_STARTKORR, subindex 145). Multiplied by PFG_SCALESHIFT, subindex 121.

Units
  qc

Definition at line 4048 of file SdoDictionary.mh.

## ◆ PFG_STOPLEN

#define PFG_STOPLEN 124

Brake ramp length for stopping using deceleration setting.

Length of the trapezoidal brake ramp if motor must be stopped using the current command velocity and the current deceleration settings. This function always returns the length of the trapezoidal ramp independent of the actual configured ramp type. The length of a jerk limited ramp (RAMPTYPE = 2) is returned by the function PFG_JERKSTOPPATH (subindex 182). Note: This requires some calculation time! Do not call within very fast loops (e.g. every 2ms).

Units
  qc

Definition at line 3830 of file SdoDictionary.mh.

## ◆ PFG_STOUCHPOS

#define PFG_STOUCHPOS 164

Not used.

Definition at line 4137 of file SdoDictionary.mh.

## ◆ PFG_SYNCAACT

#define PFG_SYNCAACT 212

Actual acceleration value used for synchronization.

Actual acceleration value used for synchronization (calc_syncvel). Multiplied by PFG_SCALESHIFT, subindex 121. This is internally used for jerk limited acceleration when starting synchronization.

Units
  qc/st²

Definition at line 4492 of file SdoDictionary.mh.

## ◆ PFG_SYNCDIFFPOSL

#define PFG_SYNCDIFFPOSL 196

Calculated position difference.

Calculated position difference (for test purposes) if SYNCTYPE = 1 ("feed forward synchronization") is active. Multiplied by PFG_SCALESHIFT, subindex 121.

Units
  qc

Definition at line 4367 of file SdoDictionary.mh.

## ◆ PFG_SYNCMNEGBUFFER

#define PFG_SYNCMNEGBUFFER 220

Internal buffer for suppressed negative master movement in synchronisation.

Definition at line 4551 of file SdoDictionary.mh.

## ◆ PFG_SYNCPATHLEN

#define PFG_SYNCPATHLEN 142

Path length of velocity difference compensation.

Path length (PATHLEN) which is necessary to compensate for the velocity difference of master and slave.

Units
  qc

Definition at line 3960 of file SdoDictionary.mh.

## ◆ PFG_SYNCSTART

#define PFG_SYNCSTART 114

Status of marker synchronization start-up.

Bit 0: 1 - Start activity is still active Bit 1: 2 - Still no slave marker detected Bit 2: 4 - Still no master marker detected Bit 3: 8 - Master velocity not reached yet (reset only for parameter SYNCMSTART settings 2, 3, 4, 5)

Definition at line 3735 of file SdoDictionary.mh.

## ◆ PFG_SYNCSTOPLEN

#define PFG_SYNCSTOPLEN 128

Brake ramp length for stopping using acceleration setting.

Length of the trapezoidal brake ramp if motor must be stopped using the current command velocity and the current acceleration settings (compare with PFG_STOPLEN which uses deceleration setting). This function always returns the length of the trapezoidal ramp independent of the actual configured ramp type. The length of a jerk limited ramp (RAMPTYPE = 2) is returned by the function PFG_JERKSTOPPATH (subindex 182). Note: This requires some calculation time! Do not call within very fast loops (e.g. every 2ms).

Units
  qc

Definition at line 3866 of file SdoDictionary.mh.

## ◆ PFG_SYNCVELDIFF

#define PFG_SYNCVELDIFF 141

Difference between the slave and master velocity.

Internal units multiplied by PFG_SCALESHIFT, subindex 121.

Units
  qc/st

Definition at line 3952 of file SdoDictionary.mh.

## ◆ PFG_SZEROCMD

#define PFG_SZEROCMD 107

Master slave position used for marker correction.

Master slave position (in SYNCM mode) which is used for the marker correction [qc (slave)]. It will be overwritten when next marker is reached.

Units
  qc

Definition at line 3681 of file SdoDictionary.mh.

## ◆ PFG_USERCMDPOS

#define PFG_USERCMDPOS 234

User command position.

When the profile generator is bypassed and shall take the command position from the user instead of generate it itself, this value is used. The user should not write to this value, but write to REG_USERREFPOS. The value of REG_USERREFPOS is passed to PFG_USERCMDPOS by the firmware.

Units
  qc

Definition at line 4631 of file SdoDictionary.mh.

## ◆ PFG_VCMD

#define PFG_VCMD 91

Command velocity.

Unsigned command velocity currently being generated by the Profile Generator. To get the signed command velocity, multiply this value by PFG_DIR (subindex 82). See also PFG_VCMDSIGNED (subindex 181). The value (in qc/st) is scaled by PFG_SCALESHIFT (subindex 121) and then the integer portion is returned. This value is always greater than or equal to 0.

Units
  qc/st

Definition at line 3563 of file SdoDictionary.mh.

## ◆ PFG_VCMDSIGNED

#define PFG_VCMDSIGNED 181

Scaled SIGNED set point velocity.

Scaled SIGNED set point velocity multiplied by PFG_SCALESHIFT calculated by the profile generator algorithm. See PFG_SCALESHIFT, subindex 121 and PFG_AACC, subindex 83, for scaling calculation.

Units
  qc/st

Definition at line 4244 of file SdoDictionary.mh.

## ◆ PFG_VCMDSIGNED_USERSCALED

#define PFG_VCMDSIGNED_USERSCALED 223

Used for virtual master working with VCMD.

This axis process data has been added to deliver more exact velocity information. This is necessary to implement the axis-controlled virtual master mode,
where the virtual master is fed by the velocity of a user defined axis (e.g. VMENCTYP 400 with old commands
/ setting VIRTMAST_PISRC_CMDVEL to this entry with new MACS5 modules).
The scaling is by standard 1000000, which means the internal value G_Vcmd is multiplied by 1000000. So the delivered value is 1/1000 qc per second. The scaling can be user defined by writing to PFG_VCMDSIGNED_USERSCALED.

Initial Value
  1000000

Value Range
  1-2147483647

Units
  1/1000 qc/s

Definition at line 4577 of file SdoDictionary.mh.

## ◆ PFG_VFIN

#define PFG_VFIN 85

Scaled target velocity.

Scaled target velocity multiplied by PFG_SCALESHIFT (see subindex 121 and 83).

Units
  qc/st

Definition at line 3511 of file SdoDictionary.mh.

## ◆ PGS_CACC

#define PGS_CACC 6

Definition at line 4647 of file SdoDictionary.mh.

## ◆ PGS_CDEC

#define PGS_CDEC 8

Definition at line 4649 of file SdoDictionary.mh.

## ◆ PGS_CPREDEC

#define PGS_CPREDEC 7

Definition at line 4648 of file SdoDictionary.mh.

## ◆ PGS_CSYIDLE

#define PGS_CSYIDLE 17

Definition at line 4655 of file SdoDictionary.mh.

## ◆ PGS_CSYRUNNING

#define PGS_CSYRUNNING 20

Definition at line 4658 of file SdoDictionary.mh.

## ◆ PGS_CSYSTARTING

#define PGS_CSYSTARTING 18

Definition at line 4656 of file SdoDictionary.mh.

## ◆ PGS_CSYSTOPPING

#define PGS_CSYSTOPPING 19

Definition at line 4657 of file SdoDictionary.mh.

## ◆ PGS_CVEL

#define PGS_CVEL 5

Definition at line 4646 of file SdoDictionary.mh.

## ◆ PGS_FLOAT

#define PGS_FLOAT 15

Definition at line 4653 of file SdoDictionary.mh.

## ◆ PGS_FLOATUSER

#define PGS_FLOATUSER 22

Definition at line 4660 of file SdoDictionary.mh.

## ◆ PGS_LMTJERK

#define PGS_LMTJERK 21

Definition at line 4659 of file SdoDictionary.mh.

## ◆ PGS_PATHIDLE

#define PGS_PATHIDLE 27

Definition at line 4665 of file SdoDictionary.mh.

## ◆ PGS_PATHMOVE

#define PGS_PATHMOVE 23

Definition at line 4661 of file SdoDictionary.mh.

## ◆ PGS_PATHSTART

#define PGS_PATHSTART 24

Definition at line 4662 of file SdoDictionary.mh.

## ◆ PGS_PATHSYNC

#define PGS_PATHSYNC 25

Definition at line 4663 of file SdoDictionary.mh.

## ◆ PGS_PATHWAIT

#define PGS_PATHWAIT 26

Definition at line 4664 of file SdoDictionary.mh.

## ◆ PGS_POSCTRL

#define PGS_POSCTRL 0

Definition at line 4641 of file SdoDictionary.mh.

## ◆ PGS_POSFLOAT

#define PGS_POSFLOAT 16

Definition at line 4654 of file SdoDictionary.mh.

## ◆ PGS_PSYNC

#define PGS_PSYNC 13

Definition at line 4651 of file SdoDictionary.mh.

## ◆ PGS_PSYNCM

#define PGS_PSYNCM 14

Definition at line 4652 of file SdoDictionary.mh.

## ◆ PGS_TPZACC

#define PGS_TPZACC 2

Definition at line 4643 of file SdoDictionary.mh.

## ◆ PGS_TPZDEC

#define PGS_TPZDEC 3

Definition at line 4644 of file SdoDictionary.mh.

## ◆ PGS_TPZPREDEC

#define PGS_TPZPREDEC 1

Definition at line 4642 of file SdoDictionary.mh.

## ◆ PGS_TPZVEL

#define PGS_TPZVEL 4

Definition at line 4645 of file SdoDictionary.mh.

## ◆ PGS_VSYNC

#define PGS_VSYNC 12

Definition at line 4650 of file SdoDictionary.mh.

## ◆ PID_100PERCENT

#define PID_100PERCENT 51

PID position control loop output corresponding to a reference value of 100%.

Defines which output value of the PID position control loop corresponds to a reference value of 100%. 100% corresponds to 0x7FFFFFFF >>11 = 0xFFFFF right now.

Definition at line 3434 of file SdoDictionary.mh.

## ◆ PID_ACT_INTLIMIT

#define PID_ACT_INTLIMIT 56

Actual integration limit.

Actual integration limit, taking into account the setting of parameter KILIMTIME. This value can be compared to PID_INTLIMIT (subindex 50) which represents the scaled value of allowed integration limit (see KILIM).

Definition at line 3460 of file SdoDictionary.mh.

## ◆ PID_ACTINTSUM

#define PID_ACTINTSUM 49

Total sum of position tracking errors.

The value is a scaled value which is used in the FW.
The sum can not exceed the defined integration limit (see PID_INTLIMIT, subindex 50).

Definition at line 3421 of file SdoDictionary.mh.

## ◆ PID_FF_CMDVEL

#define PID_FF_CMDVEL 58

Internal representation of the velocity used for FFVEL calculation.

This internal velocity is multiplied by PID_VELRES (128).

Definition at line 3471 of file SdoDictionary.mh.

## ◆ PID_FF_FACTOR

#define PID_FF_FACTOR 57

Internal representation of the FFVEL factor used in PID calculation.

Definition at line 3465 of file SdoDictionary.mh.

## ◆ PID_FFACCPART

#define PID_FFACCPART 55

Definition at line 3454 of file SdoDictionary.mh.

## ◆ PID_FFPART

#define PID_FFPART 54

Part of the reference value due to the FFVEL feed forward control.

Definition at line 3452 of file SdoDictionary.mh.

## ◆ PID_INTLIMIT

#define PID_INTLIMIT 50

Limitation of the summarized position tracking error.

This is an internally scaled value which is set with the parameters KINT and KILIM.

Definition at line 3427 of file SdoDictionary.mh.

## ◆ PID_MODE

#define PID_MODE 59

Internal PID Mode.

PID_POSMODE = 1 PID_VELMODE = 2

Definition at line 3478 of file SdoDictionary.mh.

## ◆ PID_OPTINTSUMCLEAR_ARRIVAL

#define PID_OPTINTSUMCLEAR_ARRIVAL 0x0001

Definition at line 3160 of file SdoDictionary.mh.

## ◆ PID_OPTINTSUMCLEAR_ZEROTRACKERR

#define PID_OPTINTSUMCLEAR_ZEROTRACKERR 0x0002

Definition at line 3161 of file SdoDictionary.mh.

## ◆ PID_PIDPART

#define PID_PIDPART 53

Part of the reference value due to the PID position control loop.

Definition at line 3447 of file SdoDictionary.mh.

## ◆ PID_VELRESVAL

#define PID_VELRESVAL 52

Default scaling factor internal high-resolution velocity or position information.

Default scaling factor used for representation of internal high-resolution velocity or position information (64 bit). For example, it scales the velocity information if pure velocity control is active (SYNCV). In this case, the reason is to make sure that the PID position control loop gains can also be used for velocity control without any adaptations. The default setting of PID_VELRESVAL is 128. The content of PID_VELRESVAL is internally copied into PFG_SCALESHIFT, subindex 121. That is the field holding the scaling actually used.

Initial Value
  128

Definition at line 3442 of file SdoDictionary.mh.

## ◆ PIDOPTIONS

#define PIDOPTIONS 140

Position PID Special options.

Initial Value
  0

Value Range
  0-2

Definition at line 3152 of file SdoDictionary.mh.

## ◆ PISRC_MVIRTCOUNT

#define PISRC_MVIRTCOUNT 132

Linked virtual counter module number for master information.

Defines where the axis gets the master position information from. The number means virtual count module index, i.e. 0 is the first virtual counter.

Initial Value
  3

Value Range
  0-63

Definition at line 3073 of file SdoDictionary.mh.

## ◆ PISRC_MVIRTLATCH

#define PISRC_MVIRTLATCH 134

Linked virtual latch module number for master information.

Defines where the axis gets the master latch information from. The number means virtual latch module index, i.e. 0 is the first virtual latch module.

Initial Value
  3

Value Range
  0-63

Definition at line 3093 of file SdoDictionary.mh.

## ◆ PISRC_NOTDEFINED

#define PISRC_NOTDEFINED 0x0000

Definition at line 10 of file SdoDictionary.mh.

## ◆ PISRC_SVIRTCOUNT

#define PISRC_SVIRTCOUNT 131

Linked virtual counter module number for slave information.

Defines where the axis gets the slave position information from. The number means virtual count module index, i.e. 0 is the first virtual counter.

Initial Value
  0

Value Range
  0-63

Definition at line 3063 of file SdoDictionary.mh.

## ◆ PISRC_SVIRTLATCH

#define PISRC_SVIRTLATCH 133

Linked virtual latch module number for slave information.

Defines where the axis gets the slave latch information from. The number means virtual latch module index, i.e. 0 is the first virtual latch module.

Initial Value
  0

Value Range
  0-63

Definition at line 3083 of file SdoDictionary.mh.

## ◆ PO_BUSMOD_DEVTYPE

#define PO_BUSMOD_DEVTYPE 34

Devicetype of connected slave node (only CAN)

When the parameter BUSMODE_TYPE is set (legacy functions), the SDO 0x1000 (spec/profile) from the slave will be read. The read value is returned here.

Definition at line 12911 of file SdoDictionary.mh.

## ◆ PO_BUSMOD_LASTERROR

#define PO_BUSMOD_LASTERROR 23

Last error number.

The last error number that happened while sending or receiving PDOs.

Definition at line 12845 of file SdoDictionary.mh.

## ◆ PO_BUSMOD_LASTRXTIME

#define PO_BUSMOD_LASTRXTIME 24

Time of last PDO reception (PDO 1-4)

Definition at line 12850 of file SdoDictionary.mh.

## ◆ PO_BUSMOD_LASTTXTIME

#define PO_BUSMOD_LASTTXTIME 25

Time of last PDO sending (PDO1-4)

(only for CAN)

Definition at line 12856 of file SdoDictionary.mh.

## ◆ PO_BUSMOD_OBJ_RXPDO1

#define PO_BUSMOD_OBJ_RXPDO1 30

Internal CanObj Number used for PDO.

(Only for CAN)

Definition at line 12886 of file SdoDictionary.mh.

## ◆ PO_BUSMOD_OBJ_RXPDO2

#define PO_BUSMOD_OBJ_RXPDO2 31

Internal CanObj Number used for PDO.

(Only for CAN)

Definition at line 12892 of file SdoDictionary.mh.

## ◆ PO_BUSMOD_OBJ_RXPDO3

#define PO_BUSMOD_OBJ_RXPDO3 32

Internal CanObj Number used for PDO.

(Only for CAN)

Definition at line 12898 of file SdoDictionary.mh.

## ◆ PO_BUSMOD_OBJ_RXPDO4

#define PO_BUSMOD_OBJ_RXPDO4 33

Internal CanObj Number used for PDO.

(Only for CAN)

Definition at line 12904 of file SdoDictionary.mh.

## ◆ PO_BUSMOD_OBJ_TXPDO1

#define PO_BUSMOD_OBJ_TXPDO1 26

Internal CanObj Number used for PDO.

(Only for CAN)

Definition at line 12862 of file SdoDictionary.mh.

## ◆ PO_BUSMOD_OBJ_TXPDO2

#define PO_BUSMOD_OBJ_TXPDO2 27

Internal CanObj Number used for PDO.

(Only for CAN)

Definition at line 12868 of file SdoDictionary.mh.

## ◆ PO_BUSMOD_OBJ_TXPDO3

#define PO_BUSMOD_OBJ_TXPDO3 28

Internal CanObj Number used for PDO.

(Only for CAN)

Definition at line 12874 of file SdoDictionary.mh.

## ◆ PO_BUSMOD_OBJ_TXPDO4

#define PO_BUSMOD_OBJ_TXPDO4 29

Internal CanObj Number used for PDO.

(Only for CAN)

Definition at line 12880 of file SdoDictionary.mh.

## ◆ PO_BUSMOD_TIMER_TXPDO1

#define PO_BUSMOD_TIMER_TXPDO1 35

Internal counter for event and inhibit time.

Definition at line 12916 of file SdoDictionary.mh.

## ◆ PO_BUSMOD_TIMER_TXPDO2

#define PO_BUSMOD_TIMER_TXPDO2 36

Internal counter for event and inhibit time.

Definition at line 12921 of file SdoDictionary.mh.

## ◆ PO_BUSMOD_TIMER_TXPDO3

#define PO_BUSMOD_TIMER_TXPDO3 37

Internal counter for event and inhibit time.

Definition at line 12926 of file SdoDictionary.mh.

## ◆ PO_BUSMOD_TIMER_TXPDO4

#define PO_BUSMOD_TIMER_TXPDO4 38

Internal counter for event and inhibit time.

Definition at line 12931 of file SdoDictionary.mh.

## ◆ PO_BUSMOD_VALUE1

#define PO_BUSMOD_VALUE1 1

Output value of the RX PDOs.

Definition at line 12804 of file SdoDictionary.mh.

## ◆ PO_BUSMOD_VALUE2

#define PO_BUSMOD_VALUE2 2

Output value of the RX PDOs.

Definition at line 12809 of file SdoDictionary.mh.

## ◆ PO_BUSMOD_VALUE3

#define PO_BUSMOD_VALUE3 3

Output value of the RX PDOs.

Definition at line 12814 of file SdoDictionary.mh.

## ◆ PO_BUSMOD_VALUE4

#define PO_BUSMOD_VALUE4 4

Output value of the RX PDOs.

Definition at line 12819 of file SdoDictionary.mh.

## ◆ PO_BUSMOD_VALUE5

#define PO_BUSMOD_VALUE5 5

Output value of the RX PDOs.

Definition at line 12824 of file SdoDictionary.mh.

## ◆ PO_BUSMOD_VALUE6

#define PO_BUSMOD_VALUE6 6

Output value of the RX PDOs.

Definition at line 12829 of file SdoDictionary.mh.

## ◆ PO_BUSMOD_VALUE7

#define PO_BUSMOD_VALUE7 7

Output value of the RX PDOs.

Definition at line 12834 of file SdoDictionary.mh.

## ◆ PO_BUSMOD_VALUE8

#define PO_BUSMOD_VALUE8 8

Output value of the RX PDOs.

Definition at line 12839 of file SdoDictionary.mh.

## ◆ PO_HWAMP__TEMP_INVALID

#define PO_HWAMP__TEMP_INVALID 0x7FFF

Definition at line 11894 of file SdoDictionary.mh.

## ◆ PO_HWAMP_COSSIN_COS

#define PO_HWAMP_COSSIN_COS 27

Cosine value used for the transformation from ab to dq.

(Not available on MACS5)

Definition at line 11469 of file SdoDictionary.mh.

## ◆ PO_HWAMP_COSSIN_SIN

#define PO_HWAMP_COSSIN_SIN 28

Sine value used for the transformation from ab to dq.

(Not available on MACS5)

Definition at line 11475 of file SdoDictionary.mh.

## ◆ PO_HWAMP_CURPI0_ACTINTSUM

#define PO_HWAMP_CURPI0_ACTINTSUM 59

Actual integrated sum of current controller 0.

(Not available on MACS5)

Units
  mA

Definition at line 11693 of file SdoDictionary.mh.

## ◆ PO_HWAMP_CURPI0_ACTUAL

#define PO_HWAMP_CURPI0_ACTUAL 55

Actual value for current controller.

(Not available on MACS5)

Units
  mA

Definition at line 11663 of file SdoDictionary.mh.

## ◆ PO_HWAMP_CURPI0_ERR

#define PO_HWAMP_CURPI0_ERR 57

Actual regulation error of current controller 0.

(Not available on MACS5)

Units
  mA

Definition at line 11679 of file SdoDictionary.mh.

## ◆ PO_HWAMP_CURPI0_OUT

#define PO_HWAMP_CURPI0_OUT 58

Actual output of current controller 0.

(Not available on MACS5)

Definition at line 11685 of file SdoDictionary.mh.

## ◆ PO_HWAMP_CURPI0_REF

#define PO_HWAMP_CURPI0_REF 56

Reference value for current controller 0.

(Not available on MACS5)

Units
  mA

Definition at line 11671 of file SdoDictionary.mh.

## ◆ PO_HWAMP_CURPI1_ACTINTSUM

#define PO_HWAMP_CURPI1_ACTINTSUM 64

Actual integrated sum of current controller 1.

(Not available on MACS5)

Units
  mA

Definition at line 11731 of file SdoDictionary.mh.

## ◆ PO_HWAMP_CURPI1_ACTUAL

#define PO_HWAMP_CURPI1_ACTUAL 60

Actual value for current controller 1.

(Not available on MACS5)

Units
  mA

Definition at line 11701 of file SdoDictionary.mh.

## ◆ PO_HWAMP_CURPI1_ERR

#define PO_HWAMP_CURPI1_ERR 62

Actual regulation error of current controller 1.

(Not available on MACS5)

Units
  mA

Definition at line 11717 of file SdoDictionary.mh.

## ◆ PO_HWAMP_CURPI1_OUT

#define PO_HWAMP_CURPI1_OUT 63

Actual output of current controller 1.

(Not available on MACS5)

Definition at line 11723 of file SdoDictionary.mh.

## ◆ PO_HWAMP_CURPI1_REF

#define PO_HWAMP_CURPI1_REF 61

Reference value for current controller 1.

(Not available on MACS5)

Units
  mA

Definition at line 11709 of file SdoDictionary.mh.

## ◆ PO_HWAMP_CURRENT

#define PO_HWAMP_CURRENT 2

Actual current.

Units
  mA

Definition at line 11357 of file SdoDictionary.mh.

## ◆ PO_HWAMP_DCDQ_D

#define PO_HWAMP_DCDQ_D 45

Duty cycle in d coordinate, -0x7FFF...0x7FFF.

(Not available on MACS5)

Definition at line 11601 of file SdoDictionary.mh.

## ◆ PO_HWAMP_DCDQ_Q

#define PO_HWAMP_DCDQ_Q 46

Duty cycle in q coordinate, -0x7FFF...0x7FFF.

(Not available on MACS5)

Definition at line 11607 of file SdoDictionary.mh.

## ◆ PO_HWAMP_DCPH_U

#define PO_HWAMP_DCPH_U 42

Duty cycle in ph coordinates, -0x7FFF...0x7FFF.

(Not available on MACS5)

Definition at line 11583 of file SdoDictionary.mh.

## ◆ PO_HWAMP_DCPH_V

#define PO_HWAMP_DCPH_V 43

Duty cycle in ph coordinates, -0x7FFF...0x7FFF.

(Not available on MACS5)

Definition at line 11589 of file SdoDictionary.mh.

## ◆ PO_HWAMP_DCPH_W

#define PO_HWAMP_DCPH_W 44

Duty cycle in ph coordinates, -0x7FFF...0x7FFF.

(Not available on MACS5)

Definition at line 11595 of file SdoDictionary.mh.

## ◆ PO_HWAMP_ELPOS_DELTA

#define PO_HWAMP_ELPOS_DELTA 78

Electrical position lag actual value.

(Not available on MACS5)

Definition at line 11815 of file SdoDictionary.mh.

## ◆ PO_HWAMP_ELPOS_LAG

#define PO_HWAMP_ELPOS_LAG 77

Electrical position lag compensation value.

(Not available on MACS5)

Definition at line 11809 of file SdoDictionary.mh.

## ◆ PO_HWAMP_ELPOS_POSEL

#define PO_HWAMP_ELPOS_POSEL 25

Electrical position in quadcounts.

(Not available on MACS5)

Definition at line 11457 of file SdoDictionary.mh.

## ◆ PO_HWAMP_ELPOS_POSENC

#define PO_HWAMP_ELPOS_POSENC 26

Last encoder position received.

(Not available on MACS5)

Definition at line 11463 of file SdoDictionary.mh.

## ◆ PO_HWAMP_ENPH_U

#define PO_HWAMP_ENPH_U 47

Enable/disable halfbridge U.

(Not available on MACS5)

Definition at line 11613 of file SdoDictionary.mh.

## ◆ PO_HWAMP_ENPH_V

#define PO_HWAMP_ENPH_V 48

Enable/disable halfbridge V.

(Not available on MACS5)

Definition at line 11619 of file SdoDictionary.mh.

## ◆ PO_HWAMP_ENPH_W

#define PO_HWAMP_ENPH_W 49

Enable/disable halfbridge W.

(Not available on MACS5)

Definition at line 11625 of file SdoDictionary.mh.

## ◆ PO_HWAMP_FF

#define PO_HWAMP_FF 81

Feed forward component.

(Not available on MACS5) PO_HWAMP_FF is the value which is linked by HWAMP_PISRC_REFACC. By default PO_HWAMP_FF is linked to HWAMP_PISRC_REFACC.

Definition at line 11835 of file SdoDictionary.mh.

## ◆ PO_HWAMP_HALL_ERRORCOUNT

#define PO_HWAMP_HALL_ERRORCOUNT 83

HALL error count.

Increments for each faulty hall pattern until PO_HWAMP_HALL_ERRORCOUNT_MAX is reached Decrements for each correct hall pattern if PO_HWAMP_HALL_ERRORCOUNT > 0 See also HWAMP_HALL_ERROR_LIMIT.

Initial Value
  0

Definition at line 11852 of file SdoDictionary.mh.

## ◆ PO_HWAMP_HALL_ERRORCOUNT_MAX

#define PO_HWAMP_HALL_ERRORCOUNT_MAX 0xFFFF

Definition at line 11897 of file SdoDictionary.mh.

## ◆ PO_HWAMP_HALL_POSEL

#define PO_HWAMP_HALL_POSEL 23

Hall electrical position.

(Not available on MACS5)

Definition at line 11444 of file SdoDictionary.mh.

## ◆ PO_HWAMP_HALL_POSRAW

#define PO_HWAMP_HALL_POSRAW 24

Hall raw value.

(Not available on MACS5) value 0...7

Definition at line 11451 of file SdoDictionary.mh.

## ◆ PO_HWAMP_HALLPOS

#define PO_HWAMP_HALLPOS 6

Hall position.

Definition at line 11362 of file SdoDictionary.mh.

## ◆ PO_HWAMP_IDQ_D

#define PO_HWAMP_IDQ_D 40

Currents in d coordinate used by PMSM or Stepper current controller.

(Not available on MACS5)

Units
  mA

Definition at line 11569 of file SdoDictionary.mh.

## ◆ PO_HWAMP_IDQ_Q

#define PO_HWAMP_IDQ_Q 41

Currents in q coordinate used by PMSM or Stepper current controller.

(Not available on MACS5)

Units
  mA

Definition at line 11577 of file SdoDictionary.mh.

## ◆ PO_HWAMP_IPH_U

#define PO_HWAMP_IPH_U 31

Phase current U.

(Not available on MACS5) Relevant for the current controller

Units
  mA

Definition at line 11498 of file SdoDictionary.mh.

## ◆ PO_HWAMP_IPH_V

#define PO_HWAMP_IPH_V 32

Phase current V.

(Not available on MACS5) Relevant for the current controller

Units
  mA

Definition at line 11507 of file SdoDictionary.mh.

## ◆ PO_HWAMP_IPH_W

#define PO_HWAMP_IPH_W 33

Phase current W.

(Not available on MACS5) Relevant for the current controller

Units
  mA

Definition at line 11516 of file SdoDictionary.mh.

## ◆ PO_HWAMP_IPHFIL_U

#define PO_HWAMP_IPHFIL_U 34

Deprecated, Phase current U filtered.

Llow pass filtered (Not available on MACS5)

Units
  mA

Definition at line 11525 of file SdoDictionary.mh.

## ◆ PO_HWAMP_IPHFIL_V

#define PO_HWAMP_IPHFIL_V 35

Deprecated, Phase current V filtered.

Low pass filtered (Not available on MACS5)

Units
  mA

Definition at line 11534 of file SdoDictionary.mh.

## ◆ PO_HWAMP_IPHFIL_W

#define PO_HWAMP_IPHFIL_W 36

Deprecated, Phase current W filtered.

Low pass filtered (Not available on MACS5)

Units
  mA

Definition at line 11543 of file SdoDictionary.mh.

## ◆ PO_HWAMP_IPHI2T_U

#define PO_HWAMP_IPHI2T_U 37

Deprecated, Actual I2T value U.

(Not available on MACS5)

Definition at line 11549 of file SdoDictionary.mh.

## ◆ PO_HWAMP_IPHI2T_V

#define PO_HWAMP_IPHI2T_V 38

Deprecated, Actual I2T value V.

(Not available on MACS5)

Definition at line 11555 of file SdoDictionary.mh.

## ◆ PO_HWAMP_IPHI2T_W

#define PO_HWAMP_IPHI2T_W 39

Deprecated, Actual I2T value W.

(Not available on MACS5)

Definition at line 11561 of file SdoDictionary.mh.

## ◆ PO_HWAMP_PABS

#define PO_HWAMP_PABS 21

absolute position used to determine electrical position

(Not available on MACS5)

Definition at line 11430 of file SdoDictionary.mh.

## ◆ PO_HWAMP_PABSVEL

#define PO_HWAMP_PABSVEL 22

Velocity.

(Not available on MACS5)

Units
  qc/s

Definition at line 11438 of file SdoDictionary.mh.

## ◆ PO_HWAMP_POWERFAIL

#define PO_HWAMP_POWERFAIL 9

Use PO_HWAMP_STATUS bit UNDERVOLTAGE.

Definition at line 11372 of file SdoDictionary.mh.

## ◆ PO_HWAMP_REF

#define PO_HWAMP_REF 80

Reference value.

(Not available on MACS5) PO_HWAMP_REF is the value which is linked by HWAMP_PISRC_REFPOS. By default PO_HWAMP_REF is linked to PO_VIRTAMP_REFVEL.

Definition at line 11828 of file SdoDictionary.mh.

## ◆ PO_HWAMP_SET1_0

#define PO_HWAMP_SET1_0 65

Value depends on HWAMP_DEFINE_PO_DATA_SET.

(Not available on MACS5)

Definition at line 11737 of file SdoDictionary.mh.

## ◆ PO_HWAMP_SET1_1

#define PO_HWAMP_SET1_1 66

Value depends on HWAMP_DEFINE_PO_DATA_SET.

(Not available on MACS5)

Definition at line 11743 of file SdoDictionary.mh.

## ◆ PO_HWAMP_SET1_2

#define PO_HWAMP_SET1_2 67

Value depends on HWAMP_DEFINE_PO_DATA_SET.

(Not available on MACS5)

Definition at line 11749 of file SdoDictionary.mh.

## ◆ PO_HWAMP_SET1_3

#define PO_HWAMP_SET1_3 68

Value depends on HWAMP_DEFINE_PO_DATA_SET.

(Not available on MACS5)

Definition at line 11755 of file SdoDictionary.mh.

## ◆ PO_HWAMP_SET1_4

#define PO_HWAMP_SET1_4 69

Value depends on HWAMP_DEFINE_PO_DATA_SET.

(Not available on MACS5)

Definition at line 11761 of file SdoDictionary.mh.

## ◆ PO_HWAMP_SET1_5

#define PO_HWAMP_SET1_5 70

Value depends on HWAMP_DEFINE_PO_DATA_SET.

(Not available on MACS5)

Definition at line 11767 of file SdoDictionary.mh.

## ◆ PO_HWAMP_SET2_0

#define PO_HWAMP_SET2_0 71

Value depends on HWAMP_DEFINE_PO_DATA_SET.

(Not available on MACS5)

Definition at line 11773 of file SdoDictionary.mh.

## ◆ PO_HWAMP_SET2_1

#define PO_HWAMP_SET2_1 72

Value depends on HWAMP_DEFINE_PO_DATA_SET.

(Not available on MACS5)

Definition at line 11779 of file SdoDictionary.mh.

## ◆ PO_HWAMP_SET2_2

#define PO_HWAMP_SET2_2 73

Value depends on HWAMP_DEFINE_PO_DATA_SET.

(Not available on MACS5)

Definition at line 11785 of file SdoDictionary.mh.

## ◆ PO_HWAMP_SET2_3

#define PO_HWAMP_SET2_3 74

Value depends on HWAMP_DEFINE_PO_DATA_SET.

(Not available on MACS5)

Definition at line 11791 of file SdoDictionary.mh.

## ◆ PO_HWAMP_SET2_4

#define PO_HWAMP_SET2_4 75

Value depends on HWAMP_DEFINE_PO_DATA_SET.

(Not available on MACS5)

Definition at line 11797 of file SdoDictionary.mh.

## ◆ PO_HWAMP_SET2_5

#define PO_HWAMP_SET2_5 76

Value depends on HWAMP_DEFINE_PO_DATA_SET.

(Not available on MACS5)

Definition at line 11803 of file SdoDictionary.mh.

## ◆ PO_HWAMP_STATUS

#define PO_HWAMP_STATUS 1

Status word of the axis.

Definition at line 11350 of file SdoDictionary.mh.

## ◆ PO_HWAMP_STATUS_ADC

#define PO_HWAMP_STATUS_ADC 0x00400

Definition at line 11885 of file SdoDictionary.mh.

## ◆ PO_HWAMP_STATUS_DSP_LINK

#define PO_HWAMP_STATUS_DSP_LINK 0x00100

Definition at line 11883 of file SdoDictionary.mh.

## ◆ PO_HWAMP_STATUS_ENABLED

#define PO_HWAMP_STATUS_ENABLED 0x00001

Definition at line 11875 of file SdoDictionary.mh.

## ◆ PO_HWAMP_STATUS_HALL

#define PO_HWAMP_STATUS_HALL 0x00800

Definition at line 11886 of file SdoDictionary.mh.

## ◆ PO_HWAMP_STATUS_HALL_ANGLE

#define PO_HWAMP_STATUS_HALL_ANGLE 0x01000

Definition at line 11887 of file SdoDictionary.mh.

## ◆ PO_HWAMP_STATUS_HW_OVERCURRENT_ABS

#define PO_HWAMP_STATUS_HW_OVERCURRENT_ABS 0x00010

Definition at line 11879 of file SdoDictionary.mh.

## ◆ PO_HWAMP_STATUS_MOSFETDRIVER_SUPPLY

#define PO_HWAMP_STATUS_MOSFETDRIVER_SUPPLY 0x00200

Definition at line 11884 of file SdoDictionary.mh.

## ◆ PO_HWAMP_STATUS_NOT_YET_READY

#define PO_HWAMP_STATUS_NOT_YET_READY 0x10000

Definition at line 11888 of file SdoDictionary.mh.

## ◆ PO_HWAMP_STATUS_OVERTEMPERATURE

#define PO_HWAMP_STATUS_OVERTEMPERATURE 0x00080

Definition at line 11882 of file SdoDictionary.mh.

## ◆ PO_HWAMP_STATUS_OVERVOLTAGE

#define PO_HWAMP_STATUS_OVERVOLTAGE 0x00008

Definition at line 11878 of file SdoDictionary.mh.

## ◆ PO_HWAMP_STATUS_RUNNING

#define PO_HWAMP_STATUS_RUNNING 0x00002

Definition at line 11876 of file SdoDictionary.mh.

## ◆ PO_HWAMP_STATUS_SW_OVERCURRENT_ABS

#define PO_HWAMP_STATUS_SW_OVERCURRENT_ABS 0x00020

Definition at line 11880 of file SdoDictionary.mh.

## ◆ PO_HWAMP_STATUS_SW_OVERCURRENT_I2T

#define PO_HWAMP_STATUS_SW_OVERCURRENT_I2T 0x00040

Definition at line 11881 of file SdoDictionary.mh.

## ◆ PO_HWAMP_STATUS_UNDERVOLTAGE

#define PO_HWAMP_STATUS_UNDERVOLTAGE 0x00004

Definition at line 11877 of file SdoDictionary.mh.

## ◆ PO_HWAMP_STEPPOS_CURLOOPINDEX

#define PO_HWAMP_STEPPOS_CURLOOPINDEX 82

Index counting from 0 to number of current loops within a millisecond-loop.

(Not available on MACS5) Typically counts from 0 to 23

Definition at line 11842 of file SdoDictionary.mh.

## ◆ PO_HWAMP_STEPPOS_POSEL

#define PO_HWAMP_STEPPOS_POSEL 79

Stepper Motor electrical position in cossin units.

(Not available on MACS5)

Definition at line 11821 of file SdoDictionary.mh.

## ◆ PO_HWAMP_SUPPLYVOLTAGE

#define PO_HWAMP_SUPPLYVOLTAGE 8

not used

Definition at line 11367 of file SdoDictionary.mh.

## ◆ PO_HWAMP_TEMP1

#define PO_HWAMP_TEMP1 17

Temperature Value 1 (On board)

(Not available on MACS5)

Units
  Celsius * 0.01

Definition at line 11400 of file SdoDictionary.mh.

## ◆ PO_HWAMP_TEMP2

#define PO_HWAMP_TEMP2 18

Temperature Value 2 (On board, in case of one sensor: equal PO_HWAMP_TEMP1)

(Not available on MACS5)

Units
  Celsius * 0.01

Definition at line 11408 of file SdoDictionary.mh.

## ◆ PO_HWAMP_TEMP_INVALID [1/2]

#define PO_HWAMP_TEMP_INVALID 0x7FFF

Definition at line 11900 of file SdoDictionary.mh.

## ◆ PO_HWAMP_TEMP_INVALID [2/2]

#define PO_HWAMP_TEMP_INVALID 0x7FFF

Definition at line 11900 of file SdoDictionary.mh.

## ◆ PO_HWAMP_TEMP_MOT

#define PO_HWAMP_TEMP_MOT 84

Motor's temperature.

Only available if the hardware supports the external temperature sensor.
Temperatur characteristic for NTC B57871S0103+002 (Order number) from TDK

Initial Value
  0x7FFF

Units
  Celsius * 0.01

Definition at line 11863 of file SdoDictionary.mh.

## ◆ PO_HWAMP_TOTAL_CURRENT

#define PO_HWAMP_TOTAL_CURRENT 85

Sum of alll PO_HWAMP_CURRENT.

Only available if the hardware supports this current sense.

Units
  mA

Definition at line 11871 of file SdoDictionary.mh.

## ◆ PO_HWAMP_USERDEFINED_DATA0

#define PO_HWAMP_USERDEFINED_DATA0 13

The value in this process data can be selected by the HWAMP_USERDEFINED_DATA parameters (only MACS5)

Definition at line 11377 of file SdoDictionary.mh.

## ◆ PO_HWAMP_USERDEFINED_DATA1

#define PO_HWAMP_USERDEFINED_DATA1 14

The value in this process data can be selected by the HWAMP_USERDEFINED_DATA parameters (only MACS5)

Definition at line 11382 of file SdoDictionary.mh.

## ◆ PO_HWAMP_USERDEFINED_DATA2

#define PO_HWAMP_USERDEFINED_DATA2 15

The value in this process data can be selected by the HWAMP_USERDEFINED_DATA parameters (only MACS5)

Definition at line 11387 of file SdoDictionary.mh.

## ◆ PO_HWAMP_USERDEFINED_DATA3

#define PO_HWAMP_USERDEFINED_DATA3 16

The value in this process data can be selected by the HWAMP_USERDEFINED_DATA parameters (only MACS5)

Definition at line 11392 of file SdoDictionary.mh.

## ◆ PO_HWAMP_VEL_VEL

#define PO_HWAMP_VEL_VEL 29

Velocity[rpm] = PO_HWAMP_VEL_VEL * 2 * HWAMP_MAXRPM / 0x7FFF.

(Not available on MACS5)

Definition at line 11481 of file SdoDictionary.mh.

## ◆ PO_HWAMP_VEL_VELRAW

#define PO_HWAMP_VEL_VELRAW 30

Velocity.

(Not available on MACS5)

Units
  qc/s

Definition at line 11489 of file SdoDictionary.mh.

## ◆ PO_HWAMP_VELPI_ACTINTSUM

#define PO_HWAMP_VELPI_ACTINTSUM 54

Actual integrated sum of velocity controller.

Sum[rpm] = PO_HWAMP_VELPI_ACTINTSUM * 2 * HWAMP_MAXRPM / 0x7FFF

(Not available on MACS5)

Definition at line 11655 of file SdoDictionary.mh.

## ◆ PO_HWAMP_VELPI_ACTUAL

#define PO_HWAMP_VELPI_ACTUAL 50

Same as PO_HWAMP_VEL_VEL.

(Not available on MACS5)

Definition at line 11631 of file SdoDictionary.mh.

## ◆ PO_HWAMP_VELPI_ERR

#define PO_HWAMP_VELPI_ERR 52

Actual regulation error of velocity controller.

Error[rpm] = PO_HWAMP_VELPI_ERR * 2 * HWAMP_MAXRPM / 0x7FFF

(Not available on MACS5)

Definition at line 11643 of file SdoDictionary.mh.

## ◆ PO_HWAMP_VELPI_OUT

#define PO_HWAMP_VELPI_OUT 53

Actual output of velocity controller.

Output[rpm] = PO_HWAMP_VELPI_OUT * 2 * HWAMP_MAXRPM / 0x7FFF

(Not available on MACS5)

Definition at line 11649 of file SdoDictionary.mh.

## ◆ PO_HWAMP_VELPI_REF

#define PO_HWAMP_VELPI_REF 51

Reference of velocity controller.

Reference value[rpm] = PO_HWAMP_VELPI_REF * 2 * HWAMP_MAXRPM / 0x7FFF

(Not available on MACS5)

Definition at line 11637 of file SdoDictionary.mh.

## ◆ PO_HWAMP_VOLT1

#define PO_HWAMP_VOLT1 19

Voltage Value 1 (Power voltage at amplifier)

(Not available on MACS5)

Units
  mV * 4

Definition at line 11416 of file SdoDictionary.mh.

## ◆ PO_HWAMP_VOLT2

#define PO_HWAMP_VOLT2 20

Voltage Value 2 (Logic voltage, 24V)

(Not available on MACS5)

Units
  mV * 4

Definition at line 11424 of file SdoDictionary.mh.

## ◆ PO_HWANIN_MAXVAL

#define PO_HWANIN_MAXVAL 3

Maximum value of the filtered value up to now.

Definition at line 12624 of file SdoDictionary.mh.

## ◆ PO_HWANIN_MINVAL

#define PO_HWANIN_MINVAL 4

Minimum value of the filtered value up to now.

Definition at line 12629 of file SdoDictionary.mh.

## ◆ PO_HWANIN_UNFILT

#define PO_HWANIN_UNFILT 2

Unfiltered analog input value.

Definition at line 12619 of file SdoDictionary.mh.

## ◆ PO_HWANIN_VALUE

#define PO_HWANIN_VALUE 1

Filtered analog input value.

Definition at line 12614 of file SdoDictionary.mh.

## ◆ PO_HWANOUT_FORCEVALUE

#define PO_HWANOUT_FORCEVALUE 2

Enable write by setting HWANOUT_MODE to 1.

Definition at line 12667 of file SdoDictionary.mh.

## ◆ PO_HWANOUT_VALUE

#define PO_HWANOUT_VALUE 1

Definition at line 12662 of file SdoDictionary.mh.

## ◆ PO_HWCNTABS_RAW

#define PO_HWCNTABS_RAW 2

Raw databits of the transmission (Not on MACS5)

Units
  bits

Definition at line 12146 of file SdoDictionary.mh.

## ◆ PO_HWCNTABS_VALUE

#define PO_HWCNTABS_VALUE 1

Position output of absolute encoder Counter.

Initial Value
  0

Units
  counts

Definition at line 12139 of file SdoDictionary.mh.

## ◆ PO_HWCNTINC_INCPART

#define PO_HWCNTINC_INCPART 8

Incremental part of a Sin Cos signal.

Initial Value
  0

Units
  qc

Definition at line 12075 of file SdoDictionary.mh.

## ◆ PO_HWCNTINC_LASTVALUE

#define PO_HWCNTINC_LASTVALUE 4

Last value of the counter.

Used by HWLATCH module.

Initial Value
  0

Units
  qc

Definition at line 12058 of file SdoDictionary.mh.

## ◆ PO_HWCNTINC_SINCOS_DEBUG

#define PO_HWCNTINC_SINCOS_DEBUG 9

Debug information for SinCos Encoder.

Byte 0: digitalSignalQuadrant Byte 1: qepQuadrant Byte 2: quadrantOffset Byte 3: dif

Initial Value
  0

Definition at line 12086 of file SdoDictionary.mh.

## ◆ PO_HWCNTINC_SINCOS_DEBUG2

#define PO_HWCNTINC_SINCOS_DEBUG2 10

Debug Information for SinCos Encoder.

0x000 0AAA: Sine Value 0x00BB B000: Cosine Value 0x0C00 0000: Quadrant of the analog value

Definition at line 12094 of file SdoDictionary.mh.

## ◆ PO_HWCNTINC_SINCOS_DEBUG3

#define PO_HWCNTINC_SINCOS_DEBUG3 11

Debug Information for SinCos Encoder.

Definition at line 12099 of file SdoDictionary.mh.

## ◆ PO_HWCNTINC_SINCOSPART

#define PO_HWCNTINC_SINCOSPART 5

Analog part of the SinCos Signal.

This value represents the position within a SinCos period (typically 0-255)

Initial Value
  0

Definition at line 12066 of file SdoDictionary.mh.

## ◆ PO_HWCNTINC_STATUS

#define PO_HWCNTINC_STATUS 3

not used (only legacy bits for Zoller)

Initial Value
  0

Units
  qc

Definition at line 12048 of file SdoDictionary.mh.

## ◆ PO_HWCNTINC_VALUE

#define PO_HWCNTINC_VALUE 1

Output of counter module (position value)

Initial Value
  0

Units
  qc

Definition at line 12030 of file SdoDictionary.mh.

## ◆ PO_HWCNTINC_VELOCITY

#define PO_HWCNTINC_VELOCITY 2

This value returns the position difference per millisecond.

Initial Value
  0

Units
  qc/ms

Definition at line 12039 of file SdoDictionary.mh.

## ◆ PO_HWCNTUNI_VALUE

#define PO_HWCNTUNI_VALUE 1

Output of counter module.

Units
  qc

Definition at line 12184 of file SdoDictionary.mh.

## ◆ PO_HWCNTUNI_VELOCITY

#define PO_HWCNTUNI_VELOCITY 2

not used

Definition at line 12189 of file SdoDictionary.mh.

## ◆ PO_HWDIGIN_VALBYTE1

#define PO_HWDIGIN_VALBYTE1 4

Returns 8 bit input state (1 bit for each digital input)

Definition at line 12520 of file SdoDictionary.mh.

## ◆ PO_HWDIGIN_VALBYTE2

#define PO_HWDIGIN_VALBYTE2 5

Returns 8 bit input state (1 bit for each digital input)

Definition at line 12525 of file SdoDictionary.mh.

## ◆ PO_HWDIGIN_VALBYTE3

#define PO_HWDIGIN_VALBYTE3 6

Returns 8 bit input state (1 bit for each digital input)

Definition at line 12530 of file SdoDictionary.mh.

## ◆ PO_HWDIGIN_VALBYTE4

#define PO_HWDIGIN_VALBYTE4 7

Returns 8 bit input state (1 bit for each digital input)

Definition at line 12535 of file SdoDictionary.mh.

## ◆ PO_HWDIGIN_VALLONG

#define PO_HWDIGIN_VALLONG 1

Return 32 bit input states (1 bit for each digital input signal)

Definition at line 12505 of file SdoDictionary.mh.

## ◆ PO_HWDIGIN_VALWORD1

#define PO_HWDIGIN_VALWORD1 2

Returns 16 bit input state (1 bit for each digtal input)

Definition at line 12510 of file SdoDictionary.mh.

## ◆ PO_HWDIGIN_VALWORD2

#define PO_HWDIGIN_VALWORD2 3

Returns 16 bit input state (1 bit for each digtal input)

Definition at line 12515 of file SdoDictionary.mh.

## ◆ PO_HWDIGOUT_FORCEVALUE

#define PO_HWDIGOUT_FORCEVALUE 2

The output value to be forced.

This parameter is only used in FORCE mode of the HW Digital Output module. This can be enabled by setting HWDIGOUT_MODE to 1.

Definition at line 12578 of file SdoDictionary.mh.

## ◆ PO_HWDIGOUT_VALUE

#define PO_HWDIGOUT_VALUE 1

The current digital output state (32 bits, each bit represents one digital output)

Definition at line 12571 of file SdoDictionary.mh.

## ◆ PO_HWENCODER_ERROR

#define PO_HWENCODER_ERROR 1

Encoder error bits.

Definition at line 11935 of file SdoDictionary.mh.

## ◆ PO_HWHALL_POS

#define PO_HWHALL_POS 2

Position value (incrementing/decrementing)

Definition at line 11982 of file SdoDictionary.mh.

## ◆ PO_HWHALL_STATUS

#define PO_HWHALL_STATUS 1

Digital input status of HALL sensor (3 bits, 0...7)

Definition at line 11977 of file SdoDictionary.mh.

## ◆ PO_HWHALL_VEL

#define PO_HWHALL_VEL 3

Velocity value.

This value is only calculated when HWHALL_MODE is set to HWHALL_MODE_ENABLE_VEL.

Units
  inc/s

Definition at line 11990 of file SdoDictionary.mh.

## ◆ PO_HWLATCH_AMOUNT_IN_FIFO

#define PO_HWLATCH_AMOUNT_IN_FIFO 4

Number of latches in FIFO.

Only internally used.

Definition at line 12276 of file SdoDictionary.mh.

## ◆ PO_HWLATCH_COUNT

#define PO_HWLATCH_COUNT 3

Number of latches occurred up until now.

Definition at line 12270 of file SdoDictionary.mh.

## ◆ PO_HWLATCH_FIFO_PEEK

#define PO_HWLATCH_FIFO_PEEK 9

Peek the latest element from the FIFO.

Returns the latest element from the FIFO, without consuming it. Only internally used.

Units
  qc

Definition at line 12311 of file SdoDictionary.mh.

## ◆ PO_HWLATCH_FIFO_READINDEX

#define PO_HWLATCH_FIFO_READINDEX 7

Read index position of FIFO.

Only internally used.

Definition at line 12296 of file SdoDictionary.mh.

## ◆ PO_HWLATCH_FIFO_STAT

#define PO_HWLATCH_FIFO_STAT 8

Status of HW Latch FIFO.

Bit 0 = overflow

Definition at line 12302 of file SdoDictionary.mh.

## ◆ PO_HWLATCH_FIFO_WRITEINDEX

#define PO_HWLATCH_FIFO_WRITEINDEX 6

Write index position of FIFO.

Only internally used.

Definition at line 12290 of file SdoDictionary.mh.

## ◆ PO_HWLATCH_FIFOREAD

#define PO_HWLATCH_FIFOREAD 5

Latch position read from FIFO.

Only internally used.

Units
  qc

Definition at line 12284 of file SdoDictionary.mh.

## ◆ PO_HWLATCH_FLAG

#define PO_HWLATCH_FLAG 2

Flag signal that a new latch happened.

1 = new latch 0 = no new latch

Definition at line 12265 of file SdoDictionary.mh.

## ◆ PO_HWLATCH_VALUE

#define PO_HWLATCH_VALUE 1

Output of latch module.

This register contains the currently latched value

Units
  qc

Definition at line 12258 of file SdoDictionary.mh.

## ◆ PO_HWPWMGEN_VALUE

#define PO_HWPWMGEN_VALUE 1

Current Duty Cycle (0-100%)

Units
  %

Examples
  PWM_1Ax_ESCON.mc.

Definition at line 12409 of file SdoDictionary.mh.

## ◆ PO_VIRTAMP_ACTSTOPDELAY

#define PO_VIRTAMP_ACTSTOPDELAY 12

Internally used counter.

Definition at line 6468 of file SdoDictionary.mh.

## ◆ PO_VIRTAMP_CMDWORD

#define PO_VIRTAMP_CMDWORD 2

Output command word.

Depending on the current state, the value will be VIRTAMP_CNTRLW_PWRONENP, VIRTAMP_CNTRLW_PWRONENN, VIRTAMP_CNTRLW_PWRONDIS, VIRTAMP_CNTRLW_QUICKSTOP or VIRTAMP_CNTRLW_RESET

Definition at line 6426 of file SdoDictionary.mh.

## ◆ PO_VIRTAMP_CURRENT

#define PO_VIRTAMP_CURRENT 10

Current value.

Current value as read from VIRTAMP_PISRC_CURRENT.

Definition at line 6463 of file SdoDictionary.mh.

## ◆ PO_VIRTAMP_DIRNEG

#define PO_VIRTAMP_DIRNEG 8

Direction information.

If reference velocity is less than 0, this value is 1, otherwise 0.

Definition at line 6457 of file SdoDictionary.mh.

## ◆ PO_VIRTAMP_DIRPOS

#define PO_VIRTAMP_DIRPOS 7

Direction information.

If reference velocity is bigger than or equal than 0, this value is 1, otherwise 0.

Definition at line 6451 of file SdoDictionary.mh.

## ◆ PO_VIRTAMP_ERROR

#define PO_VIRTAMP_ERROR 14

Error status.

The VIRTAMP_ERROR_HWAMP bit is generated by the value that is read from VIRTAMP_PISRC_STATUS. This value will be ANDed with VIRTAMP_ERROR_BITMASK. If the result is != 0, and VIRTAMP_ERROR_POLARITY is 1, the VIRTAMP_ERROR_HWAMP bit is set (and vice versa).

The VIRTAMP_ERROR_I2T bit will be set if PO_VIRTAMP_I2TVALUE is bigger than VIRTAMP_I2TLIMIT.

Definition at line 6482 of file SdoDictionary.mh.

## ◆ PO_VIRTAMP_I2TVALUE

#define PO_VIRTAMP_I2TVALUE 13

Current sum of I2T calculation.

Definition at line 6473 of file SdoDictionary.mh.

## ◆ PO_VIRTAMP_REFACC

#define PO_VIRTAMP_REFACC 5

Output reference acceleration.

The value is read from VIRTAMP_PISRC_REFACC, scaled and limited, and then written to PO_VIRTAMP_REFACC. The unit is 2mA for internal amplifiers (e.g. 1000 = 2A). For bus amplifiers, see manual of the amplifier.

Definition at line 6445 of file SdoDictionary.mh.

## ◆ PO_VIRTAMP_REFPOS

#define PO_VIRTAMP_REFPOS 3

Output reference position.

As read from VIRTAMP_PISRC_REFPOS

Definition at line 6432 of file SdoDictionary.mh.

## ◆ PO_VIRTAMP_REFVEL

#define PO_VIRTAMP_REFVEL 4

Output reference velocity.

Basic value is read from VIRTAMP_PISRC_REFVEL. This value will be scaled and limited. The resulting value is then written to PO_VIRTAMP_REFVEL.

Definition at line 6438 of file SdoDictionary.mh.

## ◆ PO_VIRTAMP_REMOTE_AMP

#define PO_VIRTAMP_REMOTE_AMP 15

Indicates if remote amplifier is in use.

0 = Local amplifier in use 1 = Remote amplifier in use

Initial Value
  0

Value Range
  0-1

Definition at line 6493 of file SdoDictionary.mh.

## ◆ PO_VIRTAMP_STATUS

#define PO_VIRTAMP_STATUS 1

Status.

Status value read from HW amplifier (VIRTAMP_PISRC_STATUS).

Examples
  CAN_4Ax_MiniMACS6_cst.mc.

Definition at line 6420 of file SdoDictionary.mh.

## ◆ PO_VIRTANIN_AVG

#define PO_VIRTANIN_AVG 7

Average value.

PO_VIRTANIN_AVG = PO_VIRTANIN_SUM / PO_VIRTANIN_COUNT. When this process data is read, PO_VIRTANIN_SUM and PO_VIRTANIN_COUNT will be reset to 0.

Definition at line 6715 of file SdoDictionary.mh.

## ◆ PO_VIRTANIN_COUNT

#define PO_VIRTANIN_COUNT 6

Integration time.

Time since the last reset of PO_VIRTANIN_SUM. It will be cleared by reading PO_VIRTANIN_AVG.

Units
  ms

Definition at line 6708 of file SdoDictionary.mh.

## ◆ PO_VIRTANIN_MAXVAL

#define PO_VIRTANIN_MAXVAL 2

Maximum measured input value.

Write 0 to reset.

Definition at line 6686 of file SdoDictionary.mh.

## ◆ PO_VIRTANIN_MINVAL

#define PO_VIRTANIN_MINVAL 3

Minimum measured input value.

Write 0 to reset.

Definition at line 6692 of file SdoDictionary.mh.

## ◆ PO_VIRTANIN_SUM

#define PO_VIRTANIN_SUM 4

Integrated value of PO_VIRTANIN_VALUE.

The value of PO_VIRTANIN_VALUE is added to this sum every millisecond. It will be cleared by reading PO_VIRTANIN_AVG.

Definition at line 6699 of file SdoDictionary.mh.

## ◆ PO_VIRTANIN_VALUE

#define PO_VIRTANIN_VALUE 1

Output value of the module.

This is the value read by the APOSS command INAD

Definition at line 6680 of file SdoDictionary.mh.

## ◆ PO_VIRTANOUT_VALUE

#define PO_VIRTANOUT_VALUE 1

Returns all 32bit of the output value.

Definition at line 6751 of file SdoDictionary.mh.

## ◆ PO_VIRTANOUT_VALWORD1

#define PO_VIRTANOUT_VALWORD1 2

Returns 16bit of the output value.

PO_VIRTANOUT_VALWORD1 returns the LSW, PO_VIRTANOUT_VALWORD2 the MSW.

Definition at line 6757 of file SdoDictionary.mh.

## ◆ PO_VIRTANOUT_VALWORD2

#define PO_VIRTANOUT_VALWORD2 3

Returns 16bit of the output value.

PO_VIRTANOUT_VALWORD1 returns the LSW, PO_VIRTANOUT_VALWORD2 the MSW.

Definition at line 6763 of file SdoDictionary.mh.

## ◆ PO_VIRTCNTIN_ERR_COUNT

#define PO_VIRTCNTIN_ERR_COUNT 10

How many errors were detected.

(position steps bigger than VIRTCNTIN_MAXSTEP have been detected)

Definition at line 6261 of file SdoDictionary.mh.

## ◆ PO_VIRTCNTIN_FRACT

#define PO_VIRTCNTIN_FRACT 4

Fractional part of the current position.

Units
  1/4294967296 qc

Definition at line 6216 of file SdoDictionary.mh.

## ◆ PO_VIRTCNTIN_LASTSRCPOS

#define PO_VIRTCNTIN_LASTSRCPOS 6

Last Source Position.

Last value from counter.

Units
  qc

Definition at line 6232 of file SdoDictionary.mh.

## ◆ PO_VIRTCNTIN_LASTVELOCITY

#define PO_VIRTCNTIN_LASTVELOCITY 7

Last measured velocity.

Units
  qc/ms

Definition at line 6239 of file SdoDictionary.mh.

## ◆ PO_VIRTCNTIN_OVFL_AMOUNT

#define PO_VIRTCNTIN_OVFL_AMOUNT 8

When an overflow has happend, this value represents the amount of it.

Units
  qc

Definition at line 6246 of file SdoDictionary.mh.

## ◆ PO_VIRTCNTIN_OVFLS

#define PO_VIRTCNTIN_OVFLS 5

Number of overflows.

See VIRTCNTIN_OVFL_VALUE

Units
  rev

Definition at line 6224 of file SdoDictionary.mh.

## ◆ PO_VIRTCNTIN_STAT

#define PO_VIRTCNTIN_STAT 9

Status bits.

VIRTCNTIN_STAT_OVFL 0x00000001: an overflow has happened VIRTCNTIN_STAT_MONFAULT 0x00010000: encoder monitoring fault VIRTCNTIN_STAT_CRCERR 0x00020000: endat CRC error VIRTCNTIN_STAT_SYNCERR 0x00040000: endat Sync error

Definition at line 6255 of file SdoDictionary.mh.

## ◆ PO_VIRTCNTIN_VALUE

#define PO_VIRTCNTIN_VALUE 1

Output of counter module.

Units
  qc

Definition at line 6201 of file SdoDictionary.mh.

## ◆ PO_VIRTCNTIN_VALUE_FILTERED_FRACTIONAL

#define PO_VIRTCNTIN_VALUE_FILTERED_FRACTIONAL 11

Definition at line 6263 of file SdoDictionary.mh.

## ◆ PO_VIRTCNTIN_VALUE_FILTERED_INTEGRAL

#define PO_VIRTCNTIN_VALUE_FILTERED_INTEGRAL 12

Definition at line 6265 of file SdoDictionary.mh.

## ◆ PO_VIRTCNTIN_VELOCITY

#define PO_VIRTCNTIN_VELOCITY 2

Velocity.

Difference between last and new source counter value

Units
  qc/ms

Definition at line 6209 of file SdoDictionary.mh.

## ◆ PO_VIRTCUSTOM_1

#define PO_VIRTCUSTOM_1 1

Custom Output Values.

Definition at line 6799 of file SdoDictionary.mh.

## ◆ PO_VIRTCUSTOM_10

#define PO_VIRTCUSTOM_10 10

Custom Output Values.

Definition at line 6844 of file SdoDictionary.mh.

## ◆ PO_VIRTCUSTOM_11

#define PO_VIRTCUSTOM_11 11

Custom Output Values.

Definition at line 6849 of file SdoDictionary.mh.

## ◆ PO_VIRTCUSTOM_12

#define PO_VIRTCUSTOM_12 12

Custom Output Values.

Definition at line 6854 of file SdoDictionary.mh.

## ◆ PO_VIRTCUSTOM_13

#define PO_VIRTCUSTOM_13 13

Custom Output Values.

Definition at line 6859 of file SdoDictionary.mh.

## ◆ PO_VIRTCUSTOM_14

#define PO_VIRTCUSTOM_14 14

Custom Output Values.

Definition at line 6864 of file SdoDictionary.mh.

## ◆ PO_VIRTCUSTOM_15

#define PO_VIRTCUSTOM_15 15

Custom Output Values.

Definition at line 6869 of file SdoDictionary.mh.

## ◆ PO_VIRTCUSTOM_16

#define PO_VIRTCUSTOM_16 16

Custom Output Values.

Definition at line 6874 of file SdoDictionary.mh.

## ◆ PO_VIRTCUSTOM_17

#define PO_VIRTCUSTOM_17 17

Custom Output Values.

Definition at line 6879 of file SdoDictionary.mh.

## ◆ PO_VIRTCUSTOM_18

#define PO_VIRTCUSTOM_18 18

Custom Output Values.

Definition at line 6884 of file SdoDictionary.mh.

## ◆ PO_VIRTCUSTOM_19

#define PO_VIRTCUSTOM_19 19

Custom Output Values.

Definition at line 6889 of file SdoDictionary.mh.

## ◆ PO_VIRTCUSTOM_2

#define PO_VIRTCUSTOM_2 2

Custom Output Values.

Definition at line 6804 of file SdoDictionary.mh.

## ◆ PO_VIRTCUSTOM_20

#define PO_VIRTCUSTOM_20 20

Custom Output Values.

Definition at line 6894 of file SdoDictionary.mh.

## ◆ PO_VIRTCUSTOM_3

#define PO_VIRTCUSTOM_3 3

Custom Output Values.

Definition at line 6809 of file SdoDictionary.mh.

## ◆ PO_VIRTCUSTOM_4

#define PO_VIRTCUSTOM_4 4

Custom Output Values.

Definition at line 6814 of file SdoDictionary.mh.

## ◆ PO_VIRTCUSTOM_5

#define PO_VIRTCUSTOM_5 5

Custom Output Values.

Definition at line 6819 of file SdoDictionary.mh.

## ◆ PO_VIRTCUSTOM_6

#define PO_VIRTCUSTOM_6 6

Custom Output Values.

Definition at line 6824 of file SdoDictionary.mh.

## ◆ PO_VIRTCUSTOM_7

#define PO_VIRTCUSTOM_7 7

Custom Output Values.

Definition at line 6829 of file SdoDictionary.mh.

## ◆ PO_VIRTCUSTOM_8

#define PO_VIRTCUSTOM_8 8

Custom Output Values.

Definition at line 6834 of file SdoDictionary.mh.

## ◆ PO_VIRTCUSTOM_9

#define PO_VIRTCUSTOM_9 9

Custom Output Values.

Definition at line 6839 of file SdoDictionary.mh.

## ◆ PO_VIRTDIGIN_VALBYTE1

#define PO_VIRTDIGIN_VALBYTE1 4

Returns 8bit of the output value.

PO_VIRTDIGIN_VALBYTE1 returns the LSB, PO_VIRTDIGIN_VALBYTE4 the MSB.

Definition at line 6553 of file SdoDictionary.mh.

## ◆ PO_VIRTDIGIN_VALBYTE2

#define PO_VIRTDIGIN_VALBYTE2 5

Returns 8bit of the output value.

PO_VIRTDIGIN_VALBYTE1 returns the LSB, PO_VIRTDIGIN_VALBYTE4 the MSB.

Definition at line 6559 of file SdoDictionary.mh.

## ◆ PO_VIRTDIGIN_VALBYTE3

#define PO_VIRTDIGIN_VALBYTE3 6

Returns 8bit of the output value.

PO_VIRTDIGIN_VALBYTE1 returns the LSB, PO_VIRTDIGIN_VALBYTE4 the MSB.

Definition at line 6565 of file SdoDictionary.mh.

## ◆ PO_VIRTDIGIN_VALBYTE4

#define PO_VIRTDIGIN_VALBYTE4 7

Returns 8bit of the output value.

PO_VIRTDIGIN_VALBYTE1 returns the LSB, PO_VIRTDIGIN_VALBYTE4 the MSB.

Definition at line 6571 of file SdoDictionary.mh.

## ◆ PO_VIRTDIGIN_VALLONG

#define PO_VIRTDIGIN_VALLONG 1

Returns the full 32bit output value.

This is the value that will be read by the INB APOSS command

Definition at line 6535 of file SdoDictionary.mh.

## ◆ PO_VIRTDIGIN_VALWORD1

#define PO_VIRTDIGIN_VALWORD1 2

Returns 16bit of the output value.

PO_VIRTDIGIN_VALWORD1 returns the LSW, PO_VIRTDIGIN_VALWORD2 the MSW.

Definition at line 6541 of file SdoDictionary.mh.

## ◆ PO_VIRTDIGIN_VALWORD2

#define PO_VIRTDIGIN_VALWORD2 3

Returns 16bit of the output value.

PO_VIRTDIGIN_VALWORD1 returns the LSW, PO_VIRTDIGIN_VALWORD2 the MSW.

Definition at line 6547 of file SdoDictionary.mh.

## ◆ PO_VIRTDIGOUT_VALBYTE1

#define PO_VIRTDIGOUT_VALBYTE1 4

Returns 8bit of the output value.

PO_VIRTDIGOUT_VALBYTE1 returns the LSB, PO_VIRTDIGOUT_VALBYTE4 the MSB.

Definition at line 6625 of file SdoDictionary.mh.

## ◆ PO_VIRTDIGOUT_VALBYTE2

#define PO_VIRTDIGOUT_VALBYTE2 5

Returns 8bit of the output value.

PO_VIRTDIGOUT_VALBYTE1 returns the LSB, PO_VIRTDIGOUT_VALBYTE4 the MSB.

Definition at line 6631 of file SdoDictionary.mh.

## ◆ PO_VIRTDIGOUT_VALBYTE3

#define PO_VIRTDIGOUT_VALBYTE3 6

Returns 8bit of the output value.

PO_VIRTDIGOUT_VALBYTE1 returns the LSB, PO_VIRTDIGOUT_VALBYTE4 the MSB.

Definition at line 6637 of file SdoDictionary.mh.

## ◆ PO_VIRTDIGOUT_VALBYTE4

#define PO_VIRTDIGOUT_VALBYTE4 7

Returns 8bit of the output value.

PO_VIRTDIGOUT_VALBYTE1 returns the LSB, PO_VIRTDIGOUT_VALBYTE4 the MSB.

Definition at line 6643 of file SdoDictionary.mh.

## ◆ PO_VIRTDIGOUT_VALLONG

#define PO_VIRTDIGOUT_VALLONG 1

Returns all 32bit of the output value.

Definition at line 6607 of file SdoDictionary.mh.

## ◆ PO_VIRTDIGOUT_VALWORD1

#define PO_VIRTDIGOUT_VALWORD1 2

Returns 16 bit of the output value.

PO_VIRTDIGOUT_VALWORD1 returns the LSW, PO_VIRTDIGOUT_VALWORD2 the MSW.

Definition at line 6613 of file SdoDictionary.mh.

## ◆ PO_VIRTDIGOUT_VALWORD2

#define PO_VIRTDIGOUT_VALWORD2 3

Returns 16 bit of the output value.

PO_VIRTDIGOUT_VALWORD1 returns the LSW, PO_VIRTDIGOUT_VALWORD2 the MSW.

Definition at line 6619 of file SdoDictionary.mh.

## ◆ PO_VIRTLATCH_CMDWORD

#define PO_VIRTLATCH_CMDWORD 6

Command word.

Usually the HW module links to this value, to receive command word

Definition at line 6329 of file SdoDictionary.mh.

## ◆ PO_VIRTLATCH_COUNTER

#define PO_VIRTLATCH_COUNTER 2

Latch counter.

Counts the number of processed latches

Definition at line 6309 of file SdoDictionary.mh.

## ◆ PO_VIRTLATCH_FIFO_LATCHAMOUNT

#define PO_VIRTLATCH_FIFO_LATCHAMOUNT 11

Number of latches in the FIFO.

Definition at line 6358 of file SdoDictionary.mh.

## ◆ PO_VIRTLATCH_FIFO_OVERFLOWCNT

#define PO_VIRTLATCH_FIFO_OVERFLOWCNT 13

Number of overflows.

An overflow happens, if the FIFO is not read fast enough

Definition at line 6369 of file SdoDictionary.mh.

## ◆ PO_VIRTLATCH_FIFO_PEEK

#define PO_VIRTLATCH_FIFO_PEEK 14

Peek the latest element from the FIFO.

Returns the latest element from the FIFO, without consuming it

Units
  qc

Definition at line 6377 of file SdoDictionary.mh.

## ◆ PO_VIRTLATCH_FIFO_READ

#define PO_VIRTLATCH_FIFO_READ 7

Latch position read from FIFO.

Units
  qc

Definition at line 6336 of file SdoDictionary.mh.

## ◆ PO_VIRTLATCH_FIFO_READINDEX

#define PO_VIRTLATCH_FIFO_READINDEX 10

Position of the FIFO read index.

Only internal use.

Definition at line 6353 of file SdoDictionary.mh.

## ◆ PO_VIRTLATCH_FIFO_TOTALCNT

#define PO_VIRTLATCH_FIFO_TOTALCNT 12

Number of latches ever processed through FIFO.

Definition at line 6363 of file SdoDictionary.mh.

## ◆ PO_VIRTLATCH_FIFO_VALID

#define PO_VIRTLATCH_FIFO_VALID 8

Indicates if the latch from the FIFO is valid.

Definition at line 6341 of file SdoDictionary.mh.

## ◆ PO_VIRTLATCH_FIFO_WRITEINDEX

#define PO_VIRTLATCH_FIFO_WRITEINDEX 9

Position of the FIFO write index.

Only internal use.

Definition at line 6347 of file SdoDictionary.mh.

## ◆ PO_VIRTLATCH_FLAG

#define PO_VIRTLATCH_FLAG 5

Latch flag, cleared by writing.

1 means new latch.

Definition at line 6323 of file SdoDictionary.mh.

## ◆ PO_VIRTLATCH_LASTSRCLATCHPOS

#define PO_VIRTLATCH_LASTSRCLATCHPOS 4

Last source latch position.

Counter value.

Units
  qc

Definition at line 6317 of file SdoDictionary.mh.

## ◆ PO_VIRTLATCH_VALID

#define PO_VIRTLATCH_VALID 15

Valid flag.

Flag which shows if the last trigger was inside the "valid" window (defined by VIRTLATCH_PISRC_LATCHVALID)

Definition at line 6383 of file SdoDictionary.mh.

## ◆ PO_VIRTLATCH_VALUE

#define PO_VIRTLATCH_VALUE 1

Latch position.

Units
  qc

Definition at line 6303 of file SdoDictionary.mh.

## ◆ PO_VIRTMAST_ACC_INC

#define PO_VIRTMAST_ACC_INC 4

scaled internal value

Units
  inc/ms²

Definition at line 6151 of file SdoDictionary.mh.

## ◆ PO_VIRTMAST_DEC_INC

#define PO_VIRTMAST_DEC_INC 5

scaled internal value

Units
  inc/ms²

Definition at line 6158 of file SdoDictionary.mh.

## ◆ PO_VIRTMAST_POS

#define PO_VIRTMAST_POS 2

Cumulated position value of the master.

Units
  inc

Definition at line 6137 of file SdoDictionary.mh.

## ◆ PO_VIRTMAST_POS16

#define PO_VIRTMAST_POS16 6

PO_VIRTMAST_POS value shifted >> 16, which equals to qc (SIGNED16 value)

Definition at line 6163 of file SdoDictionary.mh.

## ◆ PO_VIRTMAST_TVEL_INC

#define PO_VIRTMAST_TVEL_INC 3

scaled internal value

Units
  inc/ms

Definition at line 6144 of file SdoDictionary.mh.

## ◆ PO_VIRTMAST_VEL

#define PO_VIRTMAST_VEL 1

Output velocity in increments per line.

Units
  inc/ms

Examples
  SetupSignalGeneratorAxis.mc, and SetupSignalGeneratorOpenloop.mc.

Definition at line 6130 of file SdoDictionary.mh.

## ◆ PO_VIRTMATH_MODE_BASED_VALUE_1

#define PO_VIRTMATH_MODE_BASED_VALUE_1 2

Mode dependent process value 1 - 5.

Definition at line 6936 of file SdoDictionary.mh.

## ◆ PO_VIRTMATH_MODE_BASED_VALUE_2

#define PO_VIRTMATH_MODE_BASED_VALUE_2 3

Mode dependent process value 1 - 5.

Definition at line 6941 of file SdoDictionary.mh.

## ◆ PO_VIRTMATH_MODE_BASED_VALUE_3

#define PO_VIRTMATH_MODE_BASED_VALUE_3 4

Mode dependent process value 1 - 5.

Definition at line 6946 of file SdoDictionary.mh.

## ◆ PO_VIRTMATH_MODE_BASED_VALUE_4

#define PO_VIRTMATH_MODE_BASED_VALUE_4 5

Mode dependent process value 1 - 5.

Definition at line 6951 of file SdoDictionary.mh.

## ◆ PO_VIRTMATH_MODE_BASED_VALUE_5

#define PO_VIRTMATH_MODE_BASED_VALUE_5 6

Mode dependent process value 1 - 5.

Definition at line 6956 of file SdoDictionary.mh.

## ◆ PO_VIRTMATH_VALUE

#define PO_VIRTMATH_VALUE 1

Output value.

The value is rounded. if PO_VIRTMATH_VALUE is linked to a VIRTMATH_PISRC_x, the calculation is continued internally with float values.

Definition at line 6931 of file SdoDictionary.mh.

## ◆ POSDRCT

#define POSDRCT 29

Rotational direction.

Initial Value
  1

Value Range
  1,2,12,21,22,11,-1,-2,-12,-21,-22,-11

Definition at line 2570 of file SdoDictionary.mh.

## ◆ POSENCQC

#define POSENCQC 115

Encoder resolution quadcount.

This is the number of encoder quadcounts in POSENCREV revolutions. POSENCQC/POSENCREV defines the resolution of the encoder in quadcounts per motor revolution (qc/rev).

Initial Value
  2000

Value Range
  1-MLONG

Units
  qc

Examples
  DeltaRobot_No_SM_EPOS4_ECAT.mc.

Definition at line 3035 of file SdoDictionary.mh.

## ◆ POSENCREV

#define POSENCREV 116

Encoder resolution revolution count.

POSENCQC/POSENCREV defines the resolution of the encoder in quadcounts per motor revolution (qc/rev).

Initial Value
  1

Value Range
  1-MLONG

Examples
  DeltaRobot_No_SM_EPOS4_ECAT.mc.

Definition at line 3045 of file SdoDictionary.mh.

## ◆ POSERR

#define POSERR 16

Maximum tolerated position error.

Initial Value
  20000

Value Range
  1-MLONG

Units
  qc

Examples
  CAN_2Ax_EPOS4-Test_csp.mc, CAN_4Ax_MiniMACS6_cst.mc, DeltaRobot_No_SM_EPOS4_ECAT.mc, ECAT_1Ax_EPOS4-Test_cst.mc, ECAT_3Ax_Epos4-Test_csp.mc, and Stepper_XY_OL.mc.

Definition at line 2444 of file SdoDictionary.mh.

## ◆ POSERRTIME

#define POSERRTIME 112

Minimum time before position error produced.

Time frame for triggering position error state. Tracking errors (see POSERR) that are too large will trigger error state only if they exist longer than POSERRTIME.

0 = No time frame active, i.e. error state is triggered immediately.

Initial Value
  0

Value Range
  0-10000

Units
  ms

Definition at line 2998 of file SdoDictionary.mh.

## ◆ POSFACT_N

#define POSFACT_N 27

User factor denominator.

Number of revolutions of the gear box output shaft in POSFACT_Z revolutions of the gear box input shaft. POSFACT_Z/POSFACT_N defines the gear box ratio. In CAM mode, this defines the conversion of quadcounts to user units.

Initial Value
  1000

Value Range
  1-MLONG

Definition at line 2561 of file SdoDictionary.mh.

## ◆ POSFACT_Z

#define POSFACT_Z 24

User factor numerator.

Number of revolutions of the gear box input shaft. POSFACT_Z/POSFACT_N defines the gear box ratio. In CAM mode, this defines the conversion of quadcounts to user units.

Initial Value
  1000

Value Range
  1-MLONG

Definition at line 2528 of file SdoDictionary.mh.

## ◆ POSLIMIT

#define POSLIMIT 6

Positive software limit position.

Initial Value
  500000

Value Range
  -MLONG-MLONG

Units
  qc

Definition at line 2342 of file SdoDictionary.mh.

## ◆ PRGPAR

#define PRGPAR 3

Activated program number.

Initial Value
  -1

Value Range
  -1,0-127

Definition at line 96 of file SdoDictionary.mh.

## ◆ PRGSTARTCOND

#define PRGSTARTCOND 22

Program start condition.

There is a new global parameter which influences the behavior when a program is started.
It is mainly designed to be used in development tests. Each bit can prevent re-initialization of some S/W parts:

0x0001 EXCLUDE_MOTOFF
Don't put axis to motor off when a new program is started 0x0002 EXCLUDE_MODULE_REINIT Dont' initialize lower-level modules (ampf_init(), mo_enc_init(), iol_ini(), hw_amp_initParams(), hw_ana_ini(), hw_enc_ini() 0x0004 EXCLUDE_AXPARS Don't initialize axis parameters 0x0008 EXCLUDE_GLBPARS Don't initialize global parameters

Initial Value
  0

Definition at line 180 of file SdoDictionary.mh.

## ◆ PROFTIME

#define PROFTIME 30

Scan time for profile generator.

Initial Value
  1000

Value Range
  1-10,11-10000

Units
  µs

Definition at line 2581 of file SdoDictionary.mh.

## ◆ RAMPMIN

#define RAMPMIN 32

Maximum acceleration.

Initial Value
  1000

Value Range
  1-360000

Units
  ms

Examples
  DeltaRobot_No_SM_EPOS4_ECAT.mc.

Definition at line 2601 of file SdoDictionary.mh.

## ◆ RAMPTYPE

#define RAMPTYPE 33

Ramp type.

Initial Value
  0

Value Range
  0-2

Definition at line 2610 of file SdoDictionary.mh.

## ◆ RAMPTYPE_JERKLIMITED

#define RAMPTYPE_JERKLIMITED 2

Definition at line 3157 of file SdoDictionary.mh.

## ◆ RAMPTYPE_TRAPEZ

#define RAMPTYPE_TRAPEZ 0

Definition at line 3156 of file SdoDictionary.mh.

## ◆ REG_ACTPOS

#define REG_ACTPOS 1

Actual position value.

See APOS, but without conversion to user units.

Units
  qc

Examples
  SetupSignalGeneratorAxis.mc, and SetupSignalGeneratorOpenloop.mc.

Definition at line 3199 of file SdoDictionary.mh.

## ◆ REG_AVEL

#define REG_AVEL 4

Actual velocity.

Actual velocity summarized over a period of REG_VELSMPT to get a bigger value and better resolution. Sample time is typically 1 ms.

Units
  qc/(st*REG_VELSMPT)

Definition at line 3223 of file SdoDictionary.mh.

## ◆ REG_CNTRLSOURCE

#define REG_CNTRLSOURCE 32

Definition at line 3354 of file SdoDictionary.mh.

## ◆ REG_CNTRLWORD

#define REG_CNTRLWORD 36

Definition at line 3369 of file SdoDictionary.mh.

## ◆ REG_COMPOS

#define REG_COMPOS 2

Set-point position value.

See CPOS, but without conversion to user units.

Units
  qc

Examples
  Maxon_RE_40_1ax_OL.mc, and SetupSignalGeneratorAxis.mc.

Definition at line 3207 of file SdoDictionary.mh.

## ◆ REG_ENCAVEL

#define REG_ENCAVEL 33

Summarized velocity of master encoder.

Summarized velocity of master encoder. Similar to MAVEL (subindex 5), however even if a master simulation (MENCODERTYPE= 6) is in use, the actual velocity of the real master encoder and NOT the simulated one is returned. Please note: This requires some calculation time! Do not call within a fast loop.

Units
  qc/s

Definition at line 3363 of file SdoDictionary.mh.

## ◆ REG_ENCLEAP

#define REG_ENCLEAP 34

Definition at line 3365 of file SdoDictionary.mh.

## ◆ REG_HOMINGSTATE

#define REG_HOMINGSTATE 43

State of the homing procedure.

Result is the same as the function AxisHomeStatus returns.

Definition at line 3397 of file SdoDictionary.mh.

## ◆ REG_IAVEL

#define REG_IAVEL 12

Internal actual velocity.

Internal actual velocity = ACTPOS – last ACTPOS. Sample time is typically 1 ms.

Units
  qc/st

Examples
  SetupSignalGeneratorAxis.mc, and SetupSignalGeneratorOpenloop.mc.

Definition at line 3273 of file SdoDictionary.mh.

## ◆ REG_IMAVEL

#define REG_IMAVEL 13

Internal actual master velocity.

Internal actual master velocity = MAPOS – last MAPOS. Sample time is typically 1 ms.

Units
  qc/st

Definition at line 3281 of file SdoDictionary.mh.

## ◆ REG_MAPOS

#define REG_MAPOS 10

Actual master position value.

See MAPOS, but without conversion to master units.

Units
  qc

Definition at line 3257 of file SdoDictionary.mh.

## ◆ REG_MAVEL

#define REG_MAVEL 5

Actual velocity of the master.

Actual velocity of the master summarized over a period of REG_VELSMPT to get a bigger value and better resolution. Sample time is typically 1 ms.

Units
  qc/(st*REG_VELSMPT)

Definition at line 3231 of file SdoDictionary.mh.

## ◆ REG_MENCINDXF

#define REG_MENCINDXF 31

Definition at line 3352 of file SdoDictionary.mh.

## ◆ REG_MENCLEAP

#define REG_MENCLEAP 35

Definition at line 3367 of file SdoDictionary.mh.

## ◆ REG_MIPOS

#define REG_MIPOS 11

Last detected master index position.

See MIPOS, but without conversion to master units.

Units
  qc

Definition at line 3265 of file SdoDictionary.mh.

## ◆ REG_MOVERFLOW

#define REG_MOVERFLOW 23

Master Position Overflow.

Read: Returns a flag which signals that the master position had an overflow. Used for STAT and STATCLR status handling of slaves. Write: Clears the flag.

Definition at line 3331 of file SdoDictionary.mh.

## ◆ REG_MVIRTCOUNT

#define REG_MVIRTCOUNT 42

Linked virtual counter number for master information.

Definition at line 3392 of file SdoDictionary.mh.

## ◆ REG_MVIRTLATCH

#define REG_MVIRTLATCH 45

Linked virtual latch module number for master information.

Definition at line 3407 of file SdoDictionary.mh.

## ◆ REG_NORMTRACKERR

#define REG_NORMTRACKERR 29

Size of position tracking error in relation to the command velocity.

Units
  %

Definition at line 3348 of file SdoDictionary.mh.

## ◆ REG_PIDFLAG

#define REG_PIDFLAG 37

Definition at line 3371 of file SdoDictionary.mh.

## ◆ REG_PROFTIMER

#define REG_PROFTIMER 19

Number of PID controller steps in each Profile Generator step.

This is the number PID controller steps that are currently being executed for each step of the Profile Generator. It will be in the range 1-10. See parameter PROFTIME.

Definition at line 3304 of file SdoDictionary.mh.

## ◆ REG_REFERENCE

#define REG_REFERENCE 16

Actual reference value generated by position control loop.

Actual reference value, which is generated by the position control loop. Values between –0xFFFFF to 0xFFFFF (–1048575 to 1048575).

Value Range
  -0xFFFFF-0xFFFFF

Definition at line 3290 of file SdoDictionary.mh.

## ◆ REG_REVDOUT

#define REG_REVDOUT 21

Analog command output.

Defines whether the analog command output is biploar (+/-10V) or if a unipolar analog output value (0-10V) and a digital direction output is in use. A setting of 0 means bipolar. Any value in the range 1-8 defines unipolar and gives the output number.

Definition at line 3317 of file SdoDictionary.mh.

## ◆ REG_REVERSE

#define REG_REVERSE 20

Negative command values blocked.

0 = Allowed Not 0 = Blocked

Definition at line 3311 of file SdoDictionary.mh.

## ◆ REG_SENCINDXF

#define REG_SENCINDXF 30

Definition at line 3350 of file SdoDictionary.mh.

## ◆ REG_SM_COMMAND

#define REG_SM_COMMAND 38

Definition at line 3373 of file SdoDictionary.mh.

## ◆ REG_SM_STATE

#define REG_SM_STATE 39

Definition at line 3375 of file SdoDictionary.mh.

## ◆ REG_SOVERFLOW

#define REG_SOVERFLOW 22

Slave Position Overflow.

Read: Returns a flag which signals that the slave position had an overflow. Used for STAT and STATCLR status handling of slaves. Write: Clears the flag.

Definition at line 3324 of file SdoDictionary.mh.

## ◆ REG_SVIRTCOUNT

#define REG_SVIRTCOUNT 41

Linked virtual counter number for slave information.

Definition at line 3387 of file SdoDictionary.mh.

## ◆ REG_SVIRTLATCH

#define REG_SVIRTLATCH 44

Linked virtual latch module number for slave information.

Definition at line 3402 of file SdoDictionary.mh.

## ◆ REG_TIMER

#define REG_TIMER 18

Sample period used by the PID position control loop.

See parameter TIMER.

Units
  qc

Definition at line 3298 of file SdoDictionary.mh.

## ◆ REG_TRACKERR

#define REG_TRACKERR 6

Actual position tracking error.

See TRACKERR, but without conversion to user units.

Units
  qc

Definition at line 3239 of file SdoDictionary.mh.

## ◆ REG_USERREFCUR

#define REG_USERREFCUR 46

Motor current reference value in AxisControl(USERREFCUR) mode.

Units
  mA

Examples
  CAN_1Ax_EPOS4-Test_cst.mc, CAN_4Ax_MiniMACS6_cst.mc, ECAT_1Ax_EPOS4-Test_cst.mc, and Maxon_RE_40_1ax_OL.mc.

Definition at line 3414 of file SdoDictionary.mh.

## ◆ REG_USERREFPOS

#define REG_USERREFPOS 40

User reference position value for AxisControl(USERREFPOS) command.

Units
  qc

Definition at line 3382 of file SdoDictionary.mh.

## ◆ REG_USERREFVEL

#define REG_USERREFVEL 27

User velocity reference value for AxisControl(AxisNo, USERREFVEL) mode.

In case of AxisControl(AxisNo, USERREFVEL) mode, scaling is –0x4000 to 0x4000 for -100 to 100% of HWAMP_PARAM(AxisNo, HWAMP_MAXRPM).

This reference value is also used for AxisControl(AxisNo, USERREFPOS) mode as velocity feed forward. In this case, the scaling is qc/second with PID_VELRES scaling.

Definition at line 3339 of file SdoDictionary.mh.

## ◆ REG_VAPOS

#define REG_VAPOS 28

Definition at line 3341 of file SdoDictionary.mh.

## ◆ REG_VELSMPT

#define REG_VELSMPT 9

Number of samples used for calculation of speed values.

Configures the number of samples used for the summarized calculation of speed values like AVEL (see subindex 4) and MAVEL (see subindex 5).

Initial Value
  20

Units
  samples

Definition at line 3249 of file SdoDictionary.mh.

## ◆ REG_ZERO

#define REG_ZERO 3

Last detected index position.

See IPOS, but without conversion to user units.

Units
  qc

Examples
  SetupSignalGeneratorAxis.mc, and SetupSignalGeneratorOpenloop.mc.

Definition at line 3215 of file SdoDictionary.mh.

## ◆ REGWMAX

#define REGWMAX 39

Size of the control window (activation)

Initial Value
  0

Value Range
  0-MLONG

Units
  qc

Definition at line 2655 of file SdoDictionary.mh.

## ◆ REGWMIN

#define REGWMIN 40

Size of the control window (deactivation)

Initial Value
  0

Value Range
  0-MLONG

Units
  qc

Definition at line 2666 of file SdoDictionary.mh.

## ◆ RSBAUDRATE

#define RSBAUDRATE 13

RS485 baud rate.

Initial Value
  921600

Definition at line 121 of file SdoDictionary.mh.

## ◆ SDO_DIMARRAY

#define SDO_DIMARRAY | ( |  | arrno,
|  |  | index
| ) |  | Sysvar[(0x01210005 | (((long) (arrno))<<8)) + ((long) (index)))]

Definition at line 14 of file SdoDictionary.mh.

## ◆ SDO_INTERNAL

#define SDO_INTERNAL | ( |  | ind,
|  |  | subindex
| ) |  | Sysvar[(0x01000000 | (((long) (ind ))<<8)) | ((long) (subindex))]

Definition at line 13 of file SdoDictionary.mh.

## ◆ sdodictionary_h

#define sdodictionary_h

Definition at line 2 of file SdoDictionary.mh.

## ◆ SDOINDEX_APOSS_ARRAY

#define SDOINDEX_APOSS_ARRAY 0x2100

Aposs Array: SDO Index.

Definition at line 22 of file SdoDictionary.mh.

## ◆ SDOINDEX_AXE_PARAM

#define SDOINDEX_AXE_PARAM 0x2300

Axis Parameters: SDO Index.

Definition at line 2275 of file SdoDictionary.mh.

## ◆ SDOINDEX_AXE_PROCESS

#define SDOINDEX_AXE_PROCESS 0x2500

Axis Process Data: SDO Index.

Definition at line 3169 of file SdoDictionary.mh.

## ◆ SDOINDEX_BUSMOD_PARAM

#define SDOINDEX_BUSMOD_PARAM 0x4400

Bus Module Parameters: SDO Index.

Definition at line 10795 of file SdoDictionary.mh.

## ◆ SDOINDEX_BUSMOD_PROCESS

#define SDOINDEX_BUSMOD_PROCESS 0x4C00

Bus Module Process Data: SDO Index.

Definition at line 12777 of file SdoDictionary.mh.

## ◆ SDOINDEX_ECAT_SLAVE_PDO1_1_255

#define SDOINDEX_ECAT_SLAVE_PDO1_1_255 0x3301

: SDO Index

Definition at line 6972 of file SdoDictionary.mh.

## ◆ SDOINDEX_ECAT_SLAVE_PDO1_256_510

#define SDOINDEX_ECAT_SLAVE_PDO1_256_510 0x3302

: SDO Index

Definition at line 6999 of file SdoDictionary.mh.

## ◆ SDOINDEX_ECAT_SLAVE_PDO1_511_765

#define SDOINDEX_ECAT_SLAVE_PDO1_511_765 0x3303

: SDO Index

Definition at line 7026 of file SdoDictionary.mh.

## ◆ SDOINDEX_ECAT_SLAVE_PDO1_766_1020

#define SDOINDEX_ECAT_SLAVE_PDO1_766_1020 0x3304

: SDO Index

Definition at line 7053 of file SdoDictionary.mh.

## ◆ SDOINDEX_ECAT_SLAVE_PDO2_1_255

#define SDOINDEX_ECAT_SLAVE_PDO2_1_255 0x3305

: SDO Index

Definition at line 7080 of file SdoDictionary.mh.

## ◆ SDOINDEX_ECAT_SLAVE_PDO2_256_510

#define SDOINDEX_ECAT_SLAVE_PDO2_256_510 0x3306

: SDO Index

Definition at line 7107 of file SdoDictionary.mh.

## ◆ SDOINDEX_ECAT_SLAVE_PDO2_511_765

#define SDOINDEX_ECAT_SLAVE_PDO2_511_765 0x3307

: SDO Index

Definition at line 7134 of file SdoDictionary.mh.

## ◆ SDOINDEX_ECAT_SLAVE_PDO2_766_1020

#define SDOINDEX_ECAT_SLAVE_PDO2_766_1020 0x3308

: SDO Index

Definition at line 7161 of file SdoDictionary.mh.

## ◆ SDOINDEX_FPGA_PARAM

#define SDOINDEX_FPGA_PARAM 0x2217

Write custom specific parameters: SDO Index.

Definition at line 1692 of file SdoDictionary.mh.

## ◆ SDOINDEX_FPGA_REG

#define SDOINDEX_FPGA_REG 0x2216

Read or write FPGA register: SDO Index.

Definition at line 1580 of file SdoDictionary.mh.

## ◆ SDOINDEX_FPGA_USRREG

#define SDOINDEX_FPGA_USRREG 0x2218

Address for the page number: SDO Index.

Definition at line 1974 of file SdoDictionary.mh.

## ◆ SDOINDEX_GLB_PARAM

#define SDOINDEX_GLB_PARAM 0x2200

Global Parameters: SDO Index.

Definition at line 52 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWAMP_PARAM

#define SDOINDEX_HWAMP_PARAM 0x4000

HW Amplifier Parameters: SDO Index.

Definition at line 7609 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWAMP_PROCESS

#define SDOINDEX_HWAMP_PROCESS 0x4800

HW Amplifier Process Data: SDO Index.

Definition at line 11323 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWANIN_PARAM

#define SDOINDEX_HWANIN_PARAM 0x4280

HW Analog Input Parameters: SDO Index.

Definition at line 10522 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWANIN_PROCESS

#define SDOINDEX_HWANIN_PROCESS 0x4A80

HW Analog Input Process Data: SDO Index.

Definition at line 12587 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWANOUT_PARAM

#define SDOINDEX_HWANOUT_PARAM 0x42C0

HW Analog Output Parameters: SDO Index.

Definition at line 10591 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWANOUT_PROCESS

#define SDOINDEX_HWANOUT_PROCESS 0x4AC0

HW Analog Output Process Data: SDO Index.

Definition at line 12638 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWBRREFENC_PARAM

#define SDOINDEX_HWBRREFENC_PARAM 0x4310

HW Signalbridges/bus REF-ENC Parameters: SDO Index.

Definition at line 10696 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWBRREFENC_PROCESS

#define SDOINDEX_HWBRREFENC_PROCESS 0x4B10

HW Signalbridges/bus REF-ENC Process Data: SDO Index.

Definition at line 12706 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWCMPUNI_PARAM

#define SDOINDEX_HWCMPUNI_PARAM 0x4120

HW Comparator-universal Parameters: SDO Index.

Definition at line 8988 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWCMPUNI_PROCESS

#define SDOINDEX_HWCMPUNI_PROCESS 0x4920

HW Comparator-universal Process Data: SDO Index.

Definition at line 12198 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWCOUNTABS_PARAM

#define SDOINDEX_HWCOUNTABS_PARAM 0x40C0

HW Counter-abs Parameters: SDO Index.

Definition at line 8811 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWCOUNTABS_PROCESS

#define SDOINDEX_HWCOUNTABS_PROCESS 0x48C0

HW Counter-abs Process Data: SDO Index.

Definition at line 12108 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWCOUNTINC_PARAM

#define SDOINDEX_HWCOUNTINC_PARAM 0x4080

HW Counter-inc Parameters: SDO Index.

Definition at line 8657 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWCOUNTINC_PROCESS

#define SDOINDEX_HWCOUNTINC_PROCESS 0x4880

HW Counter-inc Process Data: SDO Index.

Definition at line 11999 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWCOUNTUNI_PARAM

#define SDOINDEX_HWCOUNTUNI_PARAM 0x4100

HW Counter-universal Parameters: SDO Index.

Definition at line 8876 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWCOUNTUNI_PROCESS

#define SDOINDEX_HWCOUNTUNI_PROCESS 0x4900

HW Counter-abs Process Data: SDO Index.

Definition at line 12155 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWDDS_PARAM

#define SDOINDEX_HWDDS_PARAM 0x41C0

HW DDS Parameters: SDO Index.

Definition at line 9304 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWDDS_PROCESS

#define SDOINDEX_HWDDS_PROCESS 0x49C0

HW DDS Process Data: SDO Index.

Definition at line 12350 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWDIGIN_PARAM

#define SDOINDEX_HWDIGIN_PARAM 0x4200

HW Digital Input Parameters: SDO Index.

Definition at line 9727 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWDIGIN_PROCESS

#define SDOINDEX_HWDIGIN_PROCESS 0x4A00

HW Digital Input Process Data: SDO Index.

Definition at line 12478 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWDIGOUT_PARAM

#define SDOINDEX_HWDIGOUT_PARAM 0x4240

HW Digital Output Parameters: SDO Index.

Definition at line 10320 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWDIGOUT_PROCESS

#define SDOINDEX_HWDIGOUT_PROCESS 0x4A40

HW Digital Output Process Data: SDO Index.

Definition at line 12544 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWENC_PARAM

#define SDOINDEX_HWENC_PARAM 0x4040

HW Encoder Parameters: SDO Index.

Definition at line 8365 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWENC_PROCESS

#define SDOINDEX_HWENC_PROCESS 0x4840

HW Encoder Process Data: SDO Index.

Definition at line 11908 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWHALL_PARAM

#define SDOINDEX_HWHALL_PARAM 0x4070

HW Hall Sensor Parameters: SDO Index.

Definition at line 8599 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWHALL_PROCESS

#define SDOINDEX_HWHALL_PROCESS 0x4870

HW Hall Sensor Process Data: SDO Index.

Definition at line 11950 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWLATCH_PARAM

#define SDOINDEX_HWLATCH_PARAM 0x4140

HW Latch Register Parameters: SDO Index.

Definition at line 9070 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWLATCH_PROCESS

#define SDOINDEX_HWLATCH_PROCESS 0x4940

HW Latch Register Process Data: SDO Index.

Definition at line 12228 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWPULSGEN_PARAM

#define SDOINDEX_HWPULSGEN_PARAM 0x41E0

HW Pulsgen Parameters: SDO Index.

Definition at line 9511 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWPULSGEN_PROCESS

#define SDOINDEX_HWPULSGEN_PROCESS 0x49E0

HW Pulsgen Process Data: SDO Index.

Definition at line 12418 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWPWMGEN_PARAM

#define SDOINDEX_HWPWMGEN_PARAM 0x41D0

HW PWM Generator Parameters: SDO Index.

Definition at line 9421 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWPWMGEN_PROCESS

#define SDOINDEX_HWPWMGEN_PROCESS 0x49D0

HW PWM Generators Process Data: SDO Index.

Definition at line 12380 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWREFBUS_PARAM

#define SDOINDEX_HWREFBUS_PARAM 0x4320

HW Reference Bus Parameters: SDO Index.

Definition at line 10765 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWREFBUS_PROCESS

#define SDOINDEX_HWREFBUS_PROCESS 0x4B20

HW Reference Bus Process Data: SDO Index.

Definition at line 12736 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWSHIFTREG_PARAM

#define SDOINDEX_HWSHIFTREG_PARAM 0x41F0

HW Shift Register Parameters: SDO Index.

Definition at line 9635 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWSHIFTREG_PROCESS

#define SDOINDEX_HWSHIFTREG_PROCESS 0x49F0

HW Shift Register Process Data: SDO Index.

Definition at line 12448 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWSIGBUS_PARAM

#define SDOINDEX_HWSIGBUS_PARAM 0x4300

HW Signalbridges/bus ENC-REF Parameters: SDO Index.

Definition at line 10651 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWSIGBUS_PROCESS

#define SDOINDEX_HWSIGBUS_PROCESS 0x4B00

HW Signalbridges/bus ENC-REF Process Data: SDO Index.

Definition at line 12676 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWSIGGEN_PARAM

#define SDOINDEX_HWSIGGEN_PARAM 0x4180

HW Signalgen (Enc/Pulse) Parameters: SDO Index.

Definition at line 9214 of file SdoDictionary.mh.

## ◆ SDOINDEX_HWSIGGEN_PROCESS

#define SDOINDEX_HWSIGGEN_PROCESS 0x4980

HW Signalgen (Enc/Pulse) Process Data: SDO Index.

Definition at line 12320 of file SdoDictionary.mh.

## ◆ SDOINDEX_MACHINE_PARAM

#define SDOINDEX_MACHINE_PARAM 0x2600

: SDO Index

Definition at line 4673 of file SdoDictionary.mh.

## ◆ SDOINDEX_MACHINE_PROCESS

#define SDOINDEX_MACHINE_PROCESS 0x2640

: SDO Index

Definition at line 4786 of file SdoDictionary.mh.

## ◆ SDOINDEX_SDUPDATE

#define SDOINDEX_SDUPDATE 0x2220

SD-Card Update Info Object: SDO Index.

Definition at line 2001 of file SdoDictionary.mh.

## ◆ SDOINDEX_SMGLOBAL_PROCESS

#define SDOINDEX_SMGLOBAL_PROCESS 0x3600

Global State Machine Process Data: SDO Index.

Definition at line 7188 of file SdoDictionary.mh.

## ◆ SDOINDEX_SMMACHINE_PROCESS

#define SDOINDEX_SMMACHINE_PROCESS 0x3601

State Machine Process Data: SDO Index.

Definition at line 7323 of file SdoDictionary.mh.

## ◆ SDOINDEX_SYS_INFO

#define SDOINDEX_SYS_INFO 0x2209

System Information: SDO Index.

Definition at line 1187 of file SdoDictionary.mh.

## ◆ SDOINDEX_SYS_PROCESS

#define SDOINDEX_SYS_PROCESS 0x2202

System Process Data: SDO Index.

Definition at line 256 of file SdoDictionary.mh.

## ◆ SDOINDEX_USER_PARAM

#define SDOINDEX_USER_PARAM 0x2201

User Parameters: SDO Index.

Definition at line 229 of file SdoDictionary.mh.

## ◆ SDOINDEX_VIRTAMP_PARAM

#define SDOINDEX_VIRTAMP_PARAM 0x28C0

Virtual Amplifier Parameters: SDO Index.

Definition at line 5262 of file SdoDictionary.mh.

## ◆ SDOINDEX_VIRTAMP_PROCESS

#define SDOINDEX_VIRTAMP_PROCESS 0x2CC0

Virtual Amplifier Process Data: SDO Index.

Definition at line 6392 of file SdoDictionary.mh.

## ◆ SDOINDEX_VIRTANIN_PARAM

#define SDOINDEX_VIRTANIN_PARAM 0x2980

Virtual Analog Input Parameters: SDO Index.

Definition at line 5682 of file SdoDictionary.mh.

## ◆ SDOINDEX_VIRTANIN_PROCESS

#define SDOINDEX_VIRTANIN_PROCESS 0x2D80

Virtual Analog Input Process Data: SDO Index.

Definition at line 6652 of file SdoDictionary.mh.

## ◆ SDOINDEX_VIRTANOUT_PARAM

#define SDOINDEX_VIRTANOUT_PARAM 0x29C0

Virtual Analog Output Parameters: SDO Index.

Definition at line 5745 of file SdoDictionary.mh.

## ◆ SDOINDEX_VIRTANOUT_PROCESS

#define SDOINDEX_VIRTANOUT_PROCESS 0x2DC0

Virtual Analog Output Process Data: SDO Index.

Definition at line 6724 of file SdoDictionary.mh.

## ◆ SDOINDEX_VIRTCOUNTIN_PARAM

#define SDOINDEX_VIRTCOUNTIN_PARAM 0x2840

Virtual Counter Inputs parameters: SDO Index.

Definition at line 4967 of file SdoDictionary.mh.

## ◆ SDOINDEX_VIRTCOUNTIN_PROCESS

#define SDOINDEX_VIRTCOUNTIN_PROCESS 0x2C40

Virtual Counter Inputs Process Data: SDO Index.

Definition at line 6172 of file SdoDictionary.mh.

## ◆ SDOINDEX_VIRTCUSTOM_PARAM

#define SDOINDEX_VIRTCUSTOM_PARAM 0x2A00

Virtual Customer Module Parameters: SDO Index.

Definition at line 5775 of file SdoDictionary.mh.

## ◆ SDOINDEX_VIRTCUSTOM_PROCESS

#define SDOINDEX_VIRTCUSTOM_PROCESS 0x2E00

Virtual Customer Module Process Data: SDO Index.

Definition at line 6772 of file SdoDictionary.mh.

## ◆ SDOINDEX_VIRTDIGIN_PARAM

#define SDOINDEX_VIRTDIGIN_PARAM 0x2900

Virtual Digital Input Parameters: SDO Index.

Definition at line 5589 of file SdoDictionary.mh.

## ◆ SDOINDEX_VIRTDIGIN_PROCESS

#define SDOINDEX_VIRTDIGIN_PROCESS 0x2D00

Virtual Digital Input Process Data: SDO Index.

Definition at line 6507 of file SdoDictionary.mh.

## ◆ SDOINDEX_VIRTDIGOUT_PARAM

#define SDOINDEX_VIRTDIGOUT_PARAM 0x2940

Virtual Digital Output Parameters: SDO Index.

Definition at line 5652 of file SdoDictionary.mh.

## ◆ SDOINDEX_VIRTDIGOUT_PROCESS

#define SDOINDEX_VIRTDIGOUT_PROCESS 0x2D40

Virtual Digital Output Process Data: SDO Index.

Definition at line 6580 of file SdoDictionary.mh.

## ◆ SDOINDEX_VIRTLATCH_PARAM

#define SDOINDEX_VIRTLATCH_PARAM 0x2880

Virtual Latch Inputs Parameters: SDO Index.

Definition at line 5093 of file SdoDictionary.mh.

## ◆ SDOINDEX_VIRTLATCH_PROCESS

#define SDOINDEX_VIRTLATCH_PROCESS 0x2C80

Virtual Latch Inputs Process Data: SDO Index.

Definition at line 6274 of file SdoDictionary.mh.

## ◆ SDOINDEX_VIRTMAST_PARAM

#define SDOINDEX_VIRTMAST_PARAM 0x2800

Virtual Master Parameters: SDO Index.

Definition at line 4850 of file SdoDictionary.mh.

## ◆ SDOINDEX_VIRTMAST_PROCESS

#define SDOINDEX_VIRTMAST_PROCESS 0x2C00

Virtual Master Process Data: SDO Index.

Definition at line 6101 of file SdoDictionary.mh.

## ◆ SDOINDEX_VIRTMATH_PARAM

#define SDOINDEX_VIRTMATH_PARAM 0x2A40

Virtual Math Module Parameters: SDO Index.

Definition at line 5939 of file SdoDictionary.mh.

## ◆ SDOINDEX_VIRTMATH_PROCESS

#define SDOINDEX_VIRTMATH_PROCESS 0x2E40

Virtual Math Module Process Data: SDO Index.

Definition at line 6903 of file SdoDictionary.mh.

## ◆ SDOSUBCLASS

#define SDOSUBCLASS | ( |  | index | ) | (index & 0xFFC0)

Definition at line 8 of file SdoDictionary.mh.

## ◆ SDUPDATE

#define SDUPDATE | ( |  | parno | ) | Sysvar[SDUPDATE_INDEX(parno)]

SD-Card Update Info Object: Setter.

Parameters

  parno | Parameter number

Definition at line 2016 of file SdoDictionary.mh.

## ◆ SDUPDATE_COMMAND_1

#define SDUPDATE_COMMAND_1 1

Detailed information about executed (completed or failed) update commands.

Error history for the first 16 commands executed by the SD-Card Update.
For each command: bits 0-7 error number (SD-Update) bits 8-15 error number (SDO/SXP Layer) bits 16-23 line number in the Batch File For more information, see "SD Card Firmware Update" in the Aposs Help.

Initial Value
  0

Definition at line 2033 of file SdoDictionary.mh.

## ◆ SDUPDATE_COMMAND_10

#define SDUPDATE_COMMAND_10 10

Detailed information about executed (completed or failed) update commands.

Error history for the first 16 commands executed by the SD-Card Update.
For each command: bits 0-7 error number (SD-Update) bits 8-15 error number (SDO/SXP Layer) bits 16-23 line number in the Batch File For more information, see "SD Card Firmware Update" in the Aposs Help.

Initial Value
  0

Definition at line 2150 of file SdoDictionary.mh.

## ◆ SDUPDATE_COMMAND_11

#define SDUPDATE_COMMAND_11 11

Detailed information about executed (completed or failed) update commands.

Error history for the first 16 commands executed by the SD-Card Update.
For each command: bits 0-7 error number (SD-Update) bits 8-15 error number (SDO/SXP Layer) bits 16-23 line number in the Batch File For more information, see "SD Card Firmware Update" in the Aposs Help.

Initial Value
  0

Definition at line 2163 of file SdoDictionary.mh.

## ◆ SDUPDATE_COMMAND_12

#define SDUPDATE_COMMAND_12 12

Detailed information about executed (completed or failed) update commands.

Error history for the first 16 commands executed by the SD-Card Update.
For each command: bits 0-7 error number (SD-Update) bits 8-15 error number (SDO/SXP Layer) bits 16-23 line number in the Batch File For more information, see "SD Card Firmware Update" in the Aposs Help.

Initial Value
  0

Definition at line 2176 of file SdoDictionary.mh.

## ◆ SDUPDATE_COMMAND_13

#define SDUPDATE_COMMAND_13 13

Detailed information about executed (completed or failed) update commands.

Error history for the first 16 commands executed by the SD-Card Update.
For each command: bits 0-7 error number (SD-Update) bits 8-15 error number (SDO/SXP Layer) bits 16-23 line number in the Batch File For more information, see "SD Card Firmware Update" in the Aposs Help.

Initial Value
  0

Definition at line 2189 of file SdoDictionary.mh.

## ◆ SDUPDATE_COMMAND_14

#define SDUPDATE_COMMAND_14 14

Detailed information about executed (completed or failed) update commands.

Error history for the first 16 commands executed by the SD-Card Update.
For each command: bits 0-7 error number (SD-Update) bits 8-15 error number (SDO/SXP Layer) bits 16-23 line number in the Batch File For more information, see "SD Card Firmware Update" in the Aposs Help.

Initial Value
  0

Definition at line 2202 of file SdoDictionary.mh.

## ◆ SDUPDATE_COMMAND_15

#define SDUPDATE_COMMAND_15 15

Detailed information about executed (completed or failed) update commands.

Error history for the first 16 commands executed by the SD-Card Update.
For each command: bits 0-7 error number (SD-Update) bits 8-15 error number (SDO/SXP Layer) bits 16-23 line number in the Batch File For more information, see "SD Card Firmware Update" in the Aposs Help.

Initial Value
  0

Definition at line 2215 of file SdoDictionary.mh.

## ◆ SDUPDATE_COMMAND_16

#define SDUPDATE_COMMAND_16 16

Detailed information about executed (completed or failed) update commands.

Error history for the first 16 commands executed by the SD-Card Update.
For each command: bits 0-7 error number (SD-Update) bits 8-15 error number (SDO/SXP Layer) bits 16-23 line number in the Batch File For more information, see "SD Card Firmware Update" in the Aposs Help.

Initial Value
  0

Definition at line 2228 of file SdoDictionary.mh.

## ◆ SDUPDATE_COMMAND_2

#define SDUPDATE_COMMAND_2 2

Detailed information about executed (completed or failed) update commands.

Error history for the first 16 commands executed by the SD-Card Update.
For each command: bits 0-7 error number (SD-Update) bits 8-15 error number (SDO/SXP Layer) bits 16-23 line number in the Batch File For more information, see "SD Card Firmware Update" in the Aposs Help.

Initial Value
  0

Definition at line 2046 of file SdoDictionary.mh.

## ◆ SDUPDATE_COMMAND_3

#define SDUPDATE_COMMAND_3 3

Detailed information about executed (completed or failed) update commands.

Error history for the first 16 commands executed by the SD-Card Update.
For each command: bits 0-7 error number (SD-Update) bits 8-15 error number (SDO/SXP Layer) bits 16-23 line number in the Batch File For more information, see "SD Card Firmware Update" in the Aposs Help.

Initial Value
  0

Definition at line 2059 of file SdoDictionary.mh.

## ◆ SDUPDATE_COMMAND_4

#define SDUPDATE_COMMAND_4 4

Detailed information about executed (completed or failed) update commands.

Error history for the first 16 commands executed by the SD-Card Update.
For each command: bits 0-7 error number (SD-Update) bits 8-15 error number (SDO/SXP Layer) bits 16-23 line number in the Batch File For more information, see "SD Card Firmware Update" in the Aposs Help.

Initial Value
  0

Definition at line 2072 of file SdoDictionary.mh.

## ◆ SDUPDATE_COMMAND_5

#define SDUPDATE_COMMAND_5 5

Detailed information about executed (completed or failed) update commands.

Error history for the first 16 commands executed by the SD-Card Update.
For each command: bits 0-7 error number (SD-Update) bits 8-15 error number (SDO/SXP Layer) bits 16-23 line number in the Batch File For more information, see "SD Card Firmware Update" in the Aposs Help.

Initial Value
  0

Definition at line 2085 of file SdoDictionary.mh.

## ◆ SDUPDATE_COMMAND_6

#define SDUPDATE_COMMAND_6 6

Detailed information about executed (completed or failed) update commands.

Error history for the first 16 commands executed by the SD-Card Update.
For each command: bits 0-7 error number (SD-Update) bits 8-15 error number (SDO/SXP Layer) bits 16-23 line number in the Batch File For more information, see "SD Card Firmware Update" in the Aposs Help.

Initial Value
  0

Definition at line 2098 of file SdoDictionary.mh.

## ◆ SDUPDATE_COMMAND_7

#define SDUPDATE_COMMAND_7 7

Detailed information about executed (completed or failed) update commands.

Error history for the first 16 commands executed by the SD-Card Update.
For each command: bits 0-7 error number (SD-Update) bits 8-15 error number (SDO/SXP Layer) bits 16-23 line number in the Batch File For more information, see "SD Card Firmware Update" in the Aposs Help.

Initial Value
  0

Definition at line 2111 of file SdoDictionary.mh.

## ◆ SDUPDATE_COMMAND_8

#define SDUPDATE_COMMAND_8 8

Detailed information about executed (completed or failed) update commands.

Error history for the first 16 commands executed by the SD-Card Update.
For each command: bits 0-7 error number (SD-Update) bits 8-15 error number (SDO/SXP Layer) bits 16-23 line number in the Batch File For more information, see "SD Card Firmware Update" in the Aposs Help.

Initial Value
  0

Definition at line 2124 of file SdoDictionary.mh.

## ◆ SDUPDATE_COMMAND_9

#define SDUPDATE_COMMAND_9 9

Detailed information about executed (completed or failed) update commands.

Error history for the first 16 commands executed by the SD-Card Update.
For each command: bits 0-7 error number (SD-Update) bits 8-15 error number (SDO/SXP Layer) bits 16-23 line number in the Batch File For more information, see "SD Card Firmware Update" in the Aposs Help.

Initial Value
  0

Definition at line 2137 of file SdoDictionary.mh.

## ◆ SDUPDATE_COMMANDS_COMPLETED

#define SDUPDATE_COMMANDS_COMPLETED 19

Number of SD-Card Update commands executed successfully.

Initial Value
  0

Definition at line 2259 of file SdoDictionary.mh.

## ◆ SDUPDATE_COMMANDS_FAILED

#define SDUPDATE_COMMANDS_FAILED 20

Number of SD-Card Update commands failed.

Initial Value
  0

Definition at line 2266 of file SdoDictionary.mh.

## ◆ SDUPDATE_COMMANDS_SKIPPED

#define SDUPDATE_COMMANDS_SKIPPED 18

Number of SD-Card Update commands skipped due to existing report file entry.

Initial Value
  0

Definition at line 2252 of file SdoDictionary.mh.

## ◆ SDUPDATE_INDEX

#define SDUPDATE_INDEX | ( |  | parno | ) | ((0x01000000 | (SDOINDEX_SDUPDATE<<8)) | ((long) (parno)))

SD-Card Update Info Object: Getter.

Parameters

  parno | Parameter number

Definition at line 2006 of file SdoDictionary.mh.

## ◆ SDUPDATE_MAX

#define SDUPDATE_MAX 21

SD-Card Update Info Object: Maximum number of parameters.

Definition at line 2020 of file SdoDictionary.mh.

## ◆ SDUPDATE_SRCINDEX

#define SDUPDATE_SRCINDEX | ( |  | parno | ) | ((SDOINDEX_SDUPDATE<<8) | ((long) (parno)))

SD-Card Update Info Object: Source Index.

Parameters

  parno | Parameter number

Definition at line 2011 of file SdoDictionary.mh.

## ◆ SDUPDATE_STATE_FLAGS

#define SDUPDATE_STATE_FLAGS 17

SD-Card Update state flags.

SD-Card Update State Flags

0x00000080 one or more commands failed 0x00000040 one or more commands completed 0x00000020 one or more commands skipped 0x00000010 report file existing 0x00000008 batch file found 0x00000004 SD-Card detected 0x00000002 device serial number vaild 0x00000001 SD-Card Update was called

Initial Value
  0x00000000

Definition at line 2245 of file SdoDictionary.mh.

## ◆ SM_MACH_ARRAYCNT

#define SM_MACH_ARRAYCNT 2

Number of state machines in array.

If this is not an array of state machines, then this value will be 1.

Definition at line 7357 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_1

#define SM_MACH_DATA_1 81

Private data.

Definition at line 7405 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_10

#define SM_MACH_DATA_10 90

Private data.

Definition at line 7450 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_11

#define SM_MACH_DATA_11 91

Private data.

Definition at line 7455 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_12

#define SM_MACH_DATA_12 92

Private data.

Definition at line 7460 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_13

#define SM_MACH_DATA_13 93

Private data.

Definition at line 7465 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_14

#define SM_MACH_DATA_14 94

Private data.

Definition at line 7470 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_15

#define SM_MACH_DATA_15 95

Private data.

Definition at line 7475 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_16

#define SM_MACH_DATA_16 96

Private data.

Definition at line 7480 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_17

#define SM_MACH_DATA_17 97

Private data.

Definition at line 7485 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_18

#define SM_MACH_DATA_18 98

Private data.

Definition at line 7490 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_19

#define SM_MACH_DATA_19 99

Private data.

Definition at line 7495 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_2

#define SM_MACH_DATA_2 82

Private data.

Definition at line 7410 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_20

#define SM_MACH_DATA_20 100

Private data.

Definition at line 7500 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_21

#define SM_MACH_DATA_21 101

Private data.

Definition at line 7505 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_22

#define SM_MACH_DATA_22 102

Private data.

Definition at line 7510 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_23

#define SM_MACH_DATA_23 103

Private data.

Definition at line 7515 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_24

#define SM_MACH_DATA_24 104

Private data.

Definition at line 7520 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_25

#define SM_MACH_DATA_25 105

Private data.

Definition at line 7525 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_26

#define SM_MACH_DATA_26 106

Private data.

Definition at line 7530 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_27

#define SM_MACH_DATA_27 107

Private data.

Definition at line 7535 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_28

#define SM_MACH_DATA_28 108

Private data.

Definition at line 7540 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_29

#define SM_MACH_DATA_29 109

Private data.

Definition at line 7545 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_3

#define SM_MACH_DATA_3 83

Private data.

Definition at line 7415 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_30

#define SM_MACH_DATA_30 110

Private data.

Definition at line 7550 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_31

#define SM_MACH_DATA_31 111

Private data.

Definition at line 7555 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_32

#define SM_MACH_DATA_32 112

Private data.

Definition at line 7560 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_33

#define SM_MACH_DATA_33 113

Private data.

Definition at line 7565 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_34

#define SM_MACH_DATA_34 114

Private data.

Definition at line 7570 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_35

#define SM_MACH_DATA_35 115

Private data.

Definition at line 7575 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_36

#define SM_MACH_DATA_36 116

Private data.

Definition at line 7580 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_37

#define SM_MACH_DATA_37 117

Private data.

Definition at line 7585 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_38

#define SM_MACH_DATA_38 118

Private data.

Definition at line 7590 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_39

#define SM_MACH_DATA_39 119

Private data.

Definition at line 7595 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_4

#define SM_MACH_DATA_4 84

Private data.

Definition at line 7420 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_40

#define SM_MACH_DATA_40 120

Private data.

Definition at line 7600 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_5

#define SM_MACH_DATA_5 85

Private data.

Definition at line 7425 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_6

#define SM_MACH_DATA_6 86

Private data.

Definition at line 7430 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_7

#define SM_MACH_DATA_7 87

Private data.

Definition at line 7435 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_8

#define SM_MACH_DATA_8 88

Private data.

Definition at line 7440 of file SdoDictionary.mh.

## ◆ SM_MACH_DATA_9

#define SM_MACH_DATA_9 89

Private data.

Definition at line 7445 of file SdoDictionary.mh.

## ◆ SM_MACH_DATASIZE

#define SM_MACH_DATASIZE 4

Size of private data array.

This is the number of long values in the data array.

Definition at line 7369 of file SdoDictionary.mh.

## ◆ SM_MACH_FLAGS

#define SM_MACH_FLAGS 41

State machine flags.

Definition at line 7379 of file SdoDictionary.mh.

## ◆ SM_MACH_ID

#define SM_MACH_ID 1

User defined state machine ID.

If this is an array of state machines, then this value will be the ID of first state machine in the array.

Definition at line 7351 of file SdoDictionary.mh.

## ◆ SM_MACH_QUEUEFREE

#define SM_MACH_QUEUEFREE 44

Number of free records in event queue.

Definition at line 7395 of file SdoDictionary.mh.

## ◆ SM_MACH_QUEUEMAX

#define SM_MACH_QUEUEMAX 45

Maximum number of records used in event queue.

Definition at line 7400 of file SdoDictionary.mh.

## ◆ SM_MACH_QUEUESIZE

#define SM_MACH_QUEUESIZE 3

Size of event queue.

All state machines in an array will have the same event queue size.

Definition at line 7363 of file SdoDictionary.mh.

## ◆ SM_MACH_QUEUEUSED

#define SM_MACH_QUEUEUSED 43

Number of used records in event queue.

Definition at line 7390 of file SdoDictionary.mh.

## ◆ SM_MACH_ROOTSTATE

#define SM_MACH_ROOTSTATE 5

Unique ID of root state.

Definition at line 7374 of file SdoDictionary.mh.

## ◆ SM_MACH_STATE

#define SM_MACH_STATE 42

Unique ID of current state.

This will be -1 if there is no current state.

Definition at line 7385 of file SdoDictionary.mh.

## ◆ SM_PROC_EVENTCNT

#define SM_PROC_EVENTCNT 3

Number of events.

This includes predefined events.

Definition at line 7223 of file SdoDictionary.mh.

## ◆ SM_PROC_HISTORY

#define SM_PROC_HISTORY 47

History recording enabled.

Definition at line 7314 of file SdoDictionary.mh.

## ◆ SM_PROC_MACHINE

#define SM_PROC_MACHINE 43

Current state machine index.

This is the 0-based index of the state machine currently running. It will be -1 if no state machine is running.

Definition at line 7294 of file SdoDictionary.mh.

## ◆ SM_PROC_MACHINECNT

#define SM_PROC_MACHINECNT 5

Number of state machine specifications.

Definition at line 7233 of file SdoDictionary.mh.

## ◆ SM_PROC_PARAMCNT

#define SM_PROC_PARAMCNT 2

Maximum number of event parameters in event record.

Definition at line 7217 of file SdoDictionary.mh.

## ◆ SM_PROC_POOLFREE

#define SM_PROC_POOLFREE 45

Number of free records in event pool.

Definition at line 7304 of file SdoDictionary.mh.

## ◆ SM_PROC_POOLMAX

#define SM_PROC_POOLMAX 46

Maximum number of records used in event pool.

Definition at line 7309 of file SdoDictionary.mh.

## ◆ SM_PROC_POOLSIZE

#define SM_PROC_POOLSIZE 6

Number of records in event pool.

Definition at line 7238 of file SdoDictionary.mh.

## ◆ SM_PROC_POOLUSED

#define SM_PROC_POOLUSED 44

Number of used records in event pool.

Definition at line 7299 of file SdoDictionary.mh.

## ◆ SM_PROC_POSSIZE

#define SM_PROC_POSSIZE 12

Number of records in position pool.

Definition at line 7268 of file SdoDictionary.mh.

## ◆ SM_PROC_PRMSIZE

#define SM_PROC_PRMSIZE 11

Number of records in parameter pool.

Definition at line 7263 of file SdoDictionary.mh.

## ◆ SM_PROC_QUEUESIZE

#define SM_PROC_QUEUESIZE 7

Total size of all event queues.

Definition at line 7243 of file SdoDictionary.mh.

## ◆ SM_PROC_RUNFLAGS

#define SM_PROC_RUNFLAGS 1

Runtime flags.

Definition at line 7212 of file SdoDictionary.mh.

## ◆ SM_PROC_SMRUNFLAGS

#define SM_PROC_SMRUNFLAGS 42

Current state machine run flags.

Definition at line 7288 of file SdoDictionary.mh.

## ◆ SM_PROC_SMRUNSTATE

#define SM_PROC_SMRUNSTATE 41

Current state machine running state.

Definition at line 7283 of file SdoDictionary.mh.

## ◆ SM_PROC_STATECNT

#define SM_PROC_STATECNT 4

Number of states.

Definition at line 7228 of file SdoDictionary.mh.

## ◆ SM_PROC_STATEDEPTH

#define SM_PROC_STATEDEPTH 8

Depth of deepest state machine tree.

Definition at line 7248 of file SdoDictionary.mh.

## ◆ SM_PROC_SUBSIZE

#define SM_PROC_SUBSIZE 10

Number of records in subscribe pool.

Definition at line 7258 of file SdoDictionary.mh.

## ◆ SM_PROC_SYSCNT

#define SM_PROC_SYSCNT 14

Maximum number of system event chains.

Definition at line 7278 of file SdoDictionary.mh.

## ◆ SM_PROC_SYSSIZE

#define SM_PROC_SYSSIZE 13

Number of records in system event pool.

Definition at line 7273 of file SdoDictionary.mh.

## ◆ SM_PROC_TIMERMAX

#define SM_PROC_TIMERMAX 9

Maximum number of timers.

Definition at line 7253 of file SdoDictionary.mh.

## ◆ SMGLOBAL_PROCESS

#define SMGLOBAL_PROCESS | ( |  | parno | ) | Sysvar[SMGLOBAL_PROCESS_INDEX(parno)]

Global State Machine Process Data: Setter.

Parameters

  parno | Parameter number

Definition at line 7203 of file SdoDictionary.mh.

## ◆ SMGLOBAL_PROCESS_INDEX

#define SMGLOBAL_PROCESS_INDEX | ( |  | parno | ) | ((0x01000000 | (SDOINDEX_SMGLOBAL_PROCESS<<8)) | ((long) (parno)))

Global State Machine Process Data: Getter.

Parameters

  parno | Parameter number

Definition at line 7193 of file SdoDictionary.mh.

## ◆ SMGLOBAL_PROCESS_MAX

#define SMGLOBAL_PROCESS_MAX 48

Global State Machine Process Data: Maximum number of parameters.

Definition at line 7207 of file SdoDictionary.mh.

## ◆ SMGLOBAL_PROCESS_SRCINDEX

#define SMGLOBAL_PROCESS_SRCINDEX | ( |  | parno | ) | ((SDOINDEX_SMGLOBAL_PROCESS<<8) | ((long) (parno)))

Global State Machine Process Data: Source Index.

Parameters

  parno | Parameter number

Definition at line 7198 of file SdoDictionary.mh.

## ◆ SMMACHINE_PROCESS

#define SMMACHINE_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[SMMACHINE_PROCESS_INDEX((modno),(parno))]

State Machine Process Data: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 7341 of file SdoDictionary.mh.

## ◆ SMMACHINE_PROCESS_INDEX

#define SMMACHINE_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_SMMACHINE_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

State Machine Process Data: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 7329 of file SdoDictionary.mh.

## ◆ SMMACHINE_PROCESS_MAX

#define SMMACHINE_PROCESS_MAX 121

State Machine Process Data: Maximum number of parameters.

Definition at line 7345 of file SdoDictionary.mh.

## ◆ SMMACHINE_PROCESS_SRCINDEX

#define SMMACHINE_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_SMMACHINE_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

State Machine Process Data: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 7335 of file SdoDictionary.mh.

## ◆ SWNEGLIMACT

#define SWNEGLIMACT 20

Negative software end limit active.

0 = Off 1 = On

Initial Value
  0

Value Range
  0,1

Definition at line 2487 of file SdoDictionary.mh.

## ◆ SWPOSLIMACT

#define SWPOSLIMACT 21

Positive software end limit active.

0 = Off 1 = On

Initial Value
  0

Value Range
  0,1

Definition at line 2498 of file SdoDictionary.mh.

## ◆ SYNCACCURACY

#define SYNCACCURACY 56

Size of the accuracy window for position synchronization.

Accuracy window [qc, CAM-Mode: uu] for synchronization, so that "Accuracy" bit is set.

Initial Value
  1000

Value Range
  -MLONG-MLONG

Units
  qc

Definition at line 2811 of file SdoDictionary.mh.

## ◆ SYNCFACTM

#define SYNCFACTM 50

Synchronization factor master (M:S) or in CAM mode conversion qc in MU units.

Initial Value
  1

Value Range
  -MLONG-MLONG

Definition at line 2751 of file SdoDictionary.mh.

## ◆ SYNCFACTS

#define SYNCFACTS 51

Synchronization factor slave (M:S) or in CAM mode conversion qc in MU units.

Initial Value
  1

Definition at line 2758 of file SdoDictionary.mh.

## ◆ SYNCFAULT

#define SYNCFAULT 58

Number of markers for fault.

Number of markers outside SYNCACCURACY window, so that "Fault" bit is set.

Initial Value
  10

Value Range
  0-10000

Definition at line 2831 of file SdoDictionary.mh.

## ◆ SYNCMARKM

#define SYNCMARKM 53

Number of master markers.

Initial Value
  1

Value Range
  0-10000

Definition at line 2781 of file SdoDictionary.mh.

## ◆ SYNCMARKS

#define SYNCMARKS 54

Number of slave markers.

Initial Value
  1

Value Range
  0-10000

Definition at line 2790 of file SdoDictionary.mh.

## ◆ SYNCMFPAR

#define SYNCMFPAR 18

Marker filter configuration.

Initial Value
  0

Value Range
  0-0x7F

Definition at line 2466 of file SdoDictionary.mh.

## ◆ SYNCMFTIME

#define SYNCMFTIME 19

Filter time for marker correction.

0 = No filtering (see SYNCSFTIME, subindex 107)

Initial Value
  0

Value Range
  -MLONG-MLONG

Definition at line 2476 of file SdoDictionary.mh.

## ◆ SYNCMMAXCORR

#define SYNCMMAXCORR 7

Limits the maximum correction done by marker correction.

Initial Value
  0

Value Range
  -MLONG-MLONG

Units
  qc

Definition at line 2353 of file SdoDictionary.mh.

## ◆ SYNCMPULSM

#define SYNCMPULSM 59

Master marker distance.

Distance [qc, CAM-Mode: mu] between two master markers.

Initial Value
  500

Units
  qc or mu

Definition at line 2841 of file SdoDictionary.mh.

## ◆ SYNCMPULSS

#define SYNCMPULSS 60

Slave marker distance.

Distance [qc, CAM-Mode: uu] between two slave markers.

Initial Value
  500

Value Range
  0-238609294

Units
  qc or mu

Definition at line 2853 of file SdoDictionary.mh.

## ◆ SYNCMSTART

#define SYNCMSTART 63

Start behavior for synchronization with marker correction.

Initial Value
  0

Value Range
  0-7,1000-1007,2000

Definition at line 2862 of file SdoDictionary.mh.

## ◆ SYNCMWINM

#define SYNCMWINM 69

Tolerance window for marker monitoring.

Tolerance window (0 = off) [qc, CAM-mode: mu] for master marker acceptance.

Initial Value
  0

Value Range
  0-MLONG

Definition at line 2905 of file SdoDictionary.mh.

## ◆ SYNCMWINS

#define SYNCMWINS 70

Tolerance window for slave marker monitoring.

Tolerance window (0 = off) [qc, CAM-mode: uu] for slave marker acceptance.

Initial Value
  0

Value Range
  0-MLONG

Definition at line 2915 of file SdoDictionary.mh.

## ◆ SYNCOFFTIME

#define SYNCOFFTIME 17

Compensation velocity of an offset.

1 - Synchronize 2 - New offset

Initial Value
  0

Value Range
  0-MLONG

Units
  ms

Definition at line 2457 of file SdoDictionary.mh.

## ◆ SYNCPOSOFFS

#define SYNCPOSOFFS 55

Position offset for position synchronization.

Initial Value
  0

Units
  qc

Definition at line 2799 of file SdoDictionary.mh.

## ◆ SYNCREADY

#define SYNCREADY 57

Number of markers for READY.

Number of markers within SYNCACCURACY window, so that "Ready" bit is set.

Initial Value
  1

Value Range
  0-10000

Definition at line 2821 of file SdoDictionary.mh.

## ◆ SYNCTYPE

#define SYNCTYPE 52

Type of synchronization.

Bit flags: 0x01 - Not used. 0x02 - In CAM mode: follow the CAM profile without taking ACC, DEC, and VEL limitations into account.

- In SyncPos/ SyncVe mode: follow the master's position/velocity without taking ACC, DEC, and VEL limitations into account. 0x04 - Enable buffering of negative master movements.
  Initial Value
    0
  Value Range
    0,0x2,0x4,0x6

Definition at line 2772 of file SdoDictionary.mh.

## ◆ SYNCVELREL

#define SYNCVELREL 67

Tolerated deviance of the slave drive from the master velocity.

Initial Value
  0

Value Range
  0-100

Units
  %

Definition at line 2895 of file SdoDictionary.mh.

## ◆ SYNCVFTIME

#define SYNCVFTIME 66

Velocity filter.

Filter time for master velocity filtering used by velocity synchronization.

Initial Value
  0

Value Range
  -MLONG-MLONG

Units
  τ_filt (µs)

Definition at line 2884 of file SdoDictionary.mh.

## ◆ SYS_AMP0_CURRENT

#define SYS_AMP0_CURRENT 29

Up-to-date motor current.

MCO only. This subindex should not be used. Please use SDO 0x4000 (HWAMP) instead.

Definition at line 452 of file SdoDictionary.mh.

## ◆ SYS_AMP0_SPEED

#define SYS_AMP0_SPEED 33

VLT output frequency.

MCO only. This subindex should not be used. Please use SDO 0x4000 (HWAMP) instead.

Definition at line 475 of file SdoDictionary.mh.

## ◆ SYS_AMP0_STATUS

#define SYS_AMP0_STATUS 32

VLT status.

MCO only. This subindex should not be used. Please use SDO 0x4000 (HWAMP) instead.

Definition at line 468 of file SdoDictionary.mh.

## ◆ SYS_AMP0_VOLTAGE

#define SYS_AMP0_VOLTAGE 31

Up-to-date motor voltage.

MCO only. This subindex should not be used. Please use SDO 0x4000 (HWAMP) instead.

Definition at line 461 of file SdoDictionary.mh.

## ◆ SYS_ANALOG_OPTION_TYPE

#define SYS_ANALOG_OPTION_TYPE 15

Analog option type.

0 = No option 1 = 3-out/1-in option 2 = 6-in option

Definition at line 1291 of file SdoDictionary.mh.

## ◆ SYS_APP_VERSION_INFO1

#define SYS_APP_VERSION_INFO1 8

Application extra version 1.

Can be written by APOSS program.

Definition at line 1251 of file SdoDictionary.mh.

## ◆ SYS_APP_VERSION_INFO2

#define SYS_APP_VERSION_INFO2 9

Application extra version 2.

Can be written by APOSS program.

Definition at line 1257 of file SdoDictionary.mh.

## ◆ SYS_AXSTATUS

#define SYS_AXSTATUS 18

Definition at line 373 of file SdoDictionary.mh.

## ◆ SYS_BL_STATUS

#define SYS_BL_STATUS 134

Bootloader update status.

Definition at line 1134 of file SdoDictionary.mh.

## ◆ SYS_BOOTLOADER_SW_VERSION

#define SYS_BOOTLOADER_SW_VERSION 7

Bootloader software version.

Definition at line 1245 of file SdoDictionary.mh.

## ◆ SYS_BUILD_NUMBER

#define SYS_BUILD_NUMBER 65

Build number.

Definition at line 1491 of file SdoDictionary.mh.

## ◆ SYS_CAN_NODESTATE

#define SYS_CAN_NODESTATE 26

CAN NMT status.

Delivers the CANopen Node state. The values are 0 NS_INIT
1 NS_CONNECTING
2 NS_PREPARING
4 NS_STOPPED
5 NS_OPERATIONAL
127 NS_PRE_OPERATIONAL Since FW 7.0.14 it is also allowed to write to this variable. This can be used to force the controller to operational if no master is available sending NMT telegrams.

Definition at line 429 of file SdoDictionary.mh.

## ◆ SYS_CAN_NR_OF_SYNC

#define SYS_CAN_NR_OF_SYNC 130

Returns the number of received SYNC telegrams.

Definition at line 1110 of file SdoDictionary.mh.

## ◆ SYS_CAN_SYNC_OFFSET

#define SYS_CAN_SYNC_OFFSET 142

Returns a debug value for the CAN Sync function.

Definition at line 1178 of file SdoDictionary.mh.

## ◆ SYS_CANDIP

#define SYS_CANDIP 34

Dip-Switch value (CAN node ID)

MiniMACS only: Since dgital outputs 1-7 and DIP switch lines are muxed, MiniMACS by default reads DIP switch state only at reset. A write of key value into 0x2202/34 will force a update/reread of the DIP switch state.

Definition at line 483 of file SdoDictionary.mh.

## ◆ SYS_CANERR_RX_0

#define SYS_CANERR_RX_0 37

CAN error counter for RX Master-Bus.

Read: Returns the error counter. Write: Sets the error mode (1 = automatic clear).

Definition at line 506 of file SdoDictionary.mh.

## ◆ SYS_CANERR_RX_1

#define SYS_CANERR_RX_1 38

CAN error counter for RX Slave-Bus.

Read: Returns the error counter. Write: Sets the error mode (1 = automatic clear).

Definition at line 513 of file SdoDictionary.mh.

## ◆ SYS_CANERR_TX_0

#define SYS_CANERR_TX_0 39

CAN error counter for TX Master-Bus.

Definition at line 518 of file SdoDictionary.mh.

## ◆ SYS_CANERR_TX_1

#define SYS_CANERR_TX_1 40

CAN error counter for TX Slave-Bus.

Definition at line 523 of file SdoDictionary.mh.

## ◆ SYS_CANOM_GUARDERR_ID

#define SYS_CANOM_GUARDERR_ID 68

Node ID which caused the last error.

Node ID which caused the last error 88 (Guarding error) or which caused the failure of a CanInit command.

Definition at line 732 of file SdoDictionary.mh.

## ◆ SYS_CANOM_MASTERSTATE

#define SYS_CANOM_MASTERSTATE 69

State of CAN master functionality.

The CANopenMasterStatus is available to allow control over master activity. By default this status is 1 for backward compatibility. It has the following meaning 0 = Master does not send SYNC, GUARD, TxPDOs. It does not register incoming HeartBeats. If set to zero we set all slaves to PREOPERATIONAL by sending an NMT.
1 = Master does send SYNC, GUARD and TxPDOs and if set to one, we send a NMT start broadcast
to start all slaves commanding them into OPERATIONAL.

Examples
  CAN_1Ax_EPOS4-Test_csp.mc, CAN_1Ax_EPOS4-Test_cst.mc, CAN_1Ax_EPOS4-Test_csv.mc, CAN_2Ax_EPOS4-Test_csp.mc, CAN_4Ax_MiniMACS6_csp.mc, CAN_4Ax_MiniMACS6_cst.mc, and CAN_4Ax_MiniMACS6_csv.mc.

Definition at line 742 of file SdoDictionary.mh.

## ◆ SYS_CANOM_SDO_TIMEOUT

#define SYS_CANOM_SDO_TIMEOUT 64

SDO timeout.

The default timeout (300 ms) for SDOREAD and SDOWRITE commands can be modified by writing to this subindex.

Units
  ms

Definition at line 711 of file SdoDictionary.mh.

## ◆ SYS_CANOM_SDOABORT

#define SYS_CANOM_SDOABORT 35

Last CANopen SDO abort code.

If slave SDO access failed, then this will be the last CANopen SDO abort code. Note that the value is reset to 0 after every read so the current value can be read only once.

MCO: Frequency (instead of SDO abort code).

Examples
  CAN_1Ax_DS402_ProfilePositionMode-ppm-Test.mc, CAN_1Ax_DS402_ProfileVelocityMode-pvm-Test.mc, CAN_1Ax_EPOS4-Test_csp.mc, CAN_1Ax_EPOS4-Test_cst.mc, CAN_1Ax_EPOS4-Test_csv.mc, CAN_2Ax_EPOS4-Test_csp.mc, CAN_4Ax_MiniMACS6_csp.mc, CAN_4Ax_MiniMACS6_cst.mc, CAN_4Ax_MiniMACS6_csv.mc, CAN_MultipleAx_DS402_ProfilePositionMode-ppm-Test.mc, and DeltaRobot_No_SM_EPOS4_ECAT.mc.

Definition at line 491 of file SdoDictionary.mh.

## ◆ SYS_CANOM_SEND_NMT

#define SYS_CANOM_SEND_NMT 131

Activates the sending of NMT start telegrams.

0 = no NMT start telegrams are sent 1 = an NMT start telegram will be sent when either a bus module is activated, or when the CANopen master is activated

Initial Value
  1

Definition at line 1119 of file SdoDictionary.mh.

## ◆ SYS_CANOS_TIM_LASTTXPDO

#define SYS_CANOS_TIM_LASTTXPDO 63

Period of time since the last TxPDO was transmitted.

The transmission could be the result of a SYNC or EVENTTIME (see CANopen Transmission Type). PDOs requested by a remote frame are not considered.

Units
  ms

Definition at line 703 of file SdoDictionary.mh.

## ◆ SYS_CLOCK

#define SYS_CLOCK 23

Internal millisecond counter.

The TIME command returns this value.

Definition at line 403 of file SdoDictionary.mh.

## ◆ SYS_COMMOPT_INFO

#define SYS_COMMOPT_INFO 74

Info about bus option.

Returns hardware-dependent info about the connected option board

Definition at line 1553 of file SdoDictionary.mh.

## ◆ SYS_COMMOPT_PROTTYPE

#define SYS_COMMOPT_PROTTYPE 68

Protocol type running on bus option.

0 = EtherCAT 1 = Ethernet 2 = RS485 -1 = No option mounted

- 2 = Option failure

Definition at line 1511 of file SdoDictionary.mh.

## ◆ SYS_CONTROLLER_FEATURES

#define SYS_CONTROLLER_FEATURES 62

Delivers information about active features on this controller.

0x00000001 == HAS_RTC 0x00000002 == HAS_FTP 0x00000004 == HAS_SDCARD 0x00000008 == HAS_AUTH 0x00000010 == HAS_FWSECURITY 0x00000020 == HAS_KINEMATICS

Definition at line 1476 of file SdoDictionary.mh.

## ◆ SYS_CPU_TEMPERATURE

#define SYS_CPU_TEMPERATURE 141

Temperature of the CPU in 1/100th Degrees Celsius.

Units
  Celsius * 0.01

Definition at line 1173 of file SdoDictionary.mh.

## ◆ SYS_CURINT_DIFF

#define SYS_CURINT_DIFF 139

Returns the difference between this and the last current control interrupt in microseconds.

Definition at line 1161 of file SdoDictionary.mh.

## ◆ SYS_CURINT_LENGTH

#define SYS_CURINT_LENGTH 137

Returns the duration of the last current control interrupt in microseconds.

Definition at line 1151 of file SdoDictionary.mh.

## ◆ SYS_CUSTOMER_ID

#define SYS_CUSTOMER_ID 3

Customer identification code.

Set by zub.

Definition at line 1224 of file SdoDictionary.mh.

## ◆ SYS_ECAT_NODESTATE

#define SYS_ECAT_NODESTATE 65

Node state of the EtherCAT slave.

Definition at line 716 of file SdoDictionary.mh.

## ◆ SYS_ECAT_PDOLENGTH_IN

#define SYS_ECAT_PDOLENGTH_IN 66

Mailbox length of the EtherCAT PDO which was received via the bus.

Definition at line 721 of file SdoDictionary.mh.

## ◆ SYS_ECAT_PDOLENGTH_OUT

#define SYS_ECAT_PDOLENGTH_OUT 67

Mailbox length of the EtherCAT PDO which was put on the bus for transmission.

Definition at line 726 of file SdoDictionary.mh.

## ◆ SYS_EEPROM_SIZE

#define SYS_EEPROM_SIZE 61

Size of Flash (or EEprom)

Units
  byte

Definition at line 688 of file SdoDictionary.mh.

## ◆ SYS_FPGA_SW_VERSION

#define SYS_FPGA_SW_VERSION 6

FPGA software version.

MMMMMMMM.VVVV.BBBB (16 Bit) MMMMMMMM = Module number (e.g. type of MACS4) VVVV = Version BBBB = Bugfix (minor changes, etc.) Example:
Version 1.2.15 gives 1*256 + 2*32 + 15 = 303

Definition at line 1240 of file SdoDictionary.mh.

## ◆ SYS_FW_AMPLIFIER_VERSION

#define SYS_FW_AMPLIFIER_VERSION 12

Amplifier Version.

Definition at line 1272 of file SdoDictionary.mh.

## ◆ SYS_FW_COPROCESSOR_VERSION

#define SYS_FW_COPROCESSOR_VERSION 13

Coprocessor software version.

Definition at line 1277 of file SdoDictionary.mh.

## ◆ SYS_FW_CPU

#define SYS_FW_CPU 2

Software version.

Version = MAINVER*10000 + SUBVER*100 + SUBSUB

Definition at line 1218 of file SdoDictionary.mh.

## ◆ SYS_FWSTACKMAX

#define SYS_FWSTACKMAX 136

Returns the maximum of the used firmware stack in bytes.

Definition at line 1146 of file SdoDictionary.mh.

## ◆ SYS_GETMAXINHIBITTIME

#define SYS_GETMAXINHIBITTIME 124

Returns the maximum time for which the millisecond timer was inhibited.

Definition at line 1080 of file SdoDictionary.mh.

## ◆ SYS_HARDWARE_ID

#define SYS_HARDWARE_ID 1

Hardware identification.

Bytes 2-5 in $$ command CAN version.

Definition at line 1212 of file SdoDictionary.mh.

## ◆ SYS_HW_IDENTIFICATION

#define SYS_HW_IDENTIFICATION 69

Returns the hw identification of the PCB.

Definition at line 1516 of file SdoDictionary.mh.

## ◆ SYS_HW_IDENTIFICATION_MICROMACS6

#define SYS_HW_IDENTIFICATION_MICROMACS6 0

Definition at line 1571 of file SdoDictionary.mh.

## ◆ SYS_HW_IDENTIFICATION_MICROMACS6_MODULE

#define SYS_HW_IDENTIFICATION_MICROMACS6_MODULE 1

Definition at line 1572 of file SdoDictionary.mh.

## ◆ SYS_HW_IDENTIFICATION_PC_ENC_OEM1

#define SYS_HW_IDENTIFICATION_PC_ENC_OEM1 1

Definition at line 1569 of file SdoDictionary.mh.

## ◆ SYS_HW_IDENTIFICATION_PC_ENC_OEM2

#define SYS_HW_IDENTIFICATION_PC_ENC_OEM2 2

Definition at line 1570 of file SdoDictionary.mh.

## ◆ SYS_HW_INDEX

#define SYS_HW_INDEX 70

Returns the HW index of the PCB.

Definition at line 1521 of file SdoDictionary.mh.

## ◆ SYS_HWANIN_UNFILT

#define SYS_HWANIN_UNFILT 36

Unfiltered value of analog input.

Use PO_HWANIN_UNFILT instead of this value.

MCO: Torque (instead of analog value).

Definition at line 499 of file SdoDictionary.mh.

## ◆ SYS_HWCNTINC_0_STATUS

#define SYS_HWCNTINC_0_STATUS 72

Internal encoder status (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_STATUS (SDO 0x4880-0x4888/3).

Read: Bit 0 - Index flag Bit 1 - sincos enc. error

Write: Bit 0 - Clear index flag Bit 1 - Clear sincos error flag Bit 7 - Clear index counter

Definition at line 759 of file SdoDictionary.mh.

## ◆ SYS_HWCNTINC_0_VALUE

#define SYS_HWCNTINC_0_VALUE 42

Internal encoder counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_VALUE (SDO 0x4880-0x4888/1).

Units
  qc

Definition at line 540 of file SdoDictionary.mh.

## ◆ SYS_HWCNTINC_1_STATUS

#define SYS_HWCNTINC_1_STATUS 73

Internal encoder status (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_STATUS (SDO 0x4880-0x4888/3).

Read: Bit 0 - Index flag Bit 1 - sincos enc. error

Write: Bit 0 - Clear index flag Bit 1 - Clear sincos error flag Bit 7 - Clear index counter

Definition at line 774 of file SdoDictionary.mh.

## ◆ SYS_HWCNTINC_1_VALUE

#define SYS_HWCNTINC_1_VALUE 43

Internal encoder counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_VALUE (SDO 0x4880-0x4888/1).

Units
  qc

Definition at line 548 of file SdoDictionary.mh.

## ◆ SYS_HWCNTINC_2_STATUS

#define SYS_HWCNTINC_2_STATUS 74

Internal encoder status (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_STATUS (SDO 0x4880-0x4888/3).

Read: Bit 0 - Index flag Bit 1 - sincos enc. error

Write: Bit 0 - Clear index flag Bit 1 - Clear sincos error flag Bit 7 - Clear index counter

Definition at line 789 of file SdoDictionary.mh.

## ◆ SYS_HWCNTINC_2_VALUE

#define SYS_HWCNTINC_2_VALUE 44

Internal encoder counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_VALUE (SDO 0x4880-0x4888/1).

Units
  qc

Definition at line 556 of file SdoDictionary.mh.

## ◆ SYS_HWCNTINC_3_STATUS

#define SYS_HWCNTINC_3_STATUS 75

Internal encoder status (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_STATUS (SDO 0x4880-0x4888/3).

Read: Bit 0 - Index flag Bit 1 - sincos enc. error

Write: Bit 0 - Clear index flag Bit 1 - Clear sincos error flag Bit 7 - Clear index counter

Definition at line 804 of file SdoDictionary.mh.

## ◆ SYS_HWCNTINC_3_VALUE

#define SYS_HWCNTINC_3_VALUE 45

Internal encoder counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_VALUE (SDO 0x4880-0x4888/1).

Units
  qc

Definition at line 564 of file SdoDictionary.mh.

## ◆ SYS_HWCNTINC_4_STATUS

#define SYS_HWCNTINC_4_STATUS 76

Internal encoder status (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_STATUS (SDO 0x4880-0x4888/3).

Read: Bit 0 - Index flag Bit 1 - sincos enc. error

Write: Bit 0 - Clear index flag Bit 1 - Clear sincos error flag Bit 7 - Clear index counter

Definition at line 819 of file SdoDictionary.mh.

## ◆ SYS_HWCNTINC_4_VALUE

#define SYS_HWCNTINC_4_VALUE 46

Internal encoder counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_VALUE (SDO 0x4880-0x4888/1).

Units
  qc

Definition at line 572 of file SdoDictionary.mh.

## ◆ SYS_HWCNTINC_5_STATUS

#define SYS_HWCNTINC_5_STATUS 77

Internal encoder status (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_STATUS (SDO 0x4880-0x4888/3).

Read: Bit 0 - Index flag Bit 1 - sincos enc. error

Write: Bit 0 - Clear index flag Bit 1 - Clear sincos error flag Bit 7 - Clear index counter

Definition at line 834 of file SdoDictionary.mh.

## ◆ SYS_HWCNTINC_5_VALUE

#define SYS_HWCNTINC_5_VALUE 47

Internal encoder counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_VALUE (SDO 0x4880-0x4888/1).

Units
  qc

Definition at line 580 of file SdoDictionary.mh.

## ◆ SYS_HWCNTINC_6_STATUS

#define SYS_HWCNTINC_6_STATUS 78

Internal encoder status (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_STATUS (SDO 0x4880-0x4888/3).

Read: Bit 0 - Index flag Bit 1 - sincos enc. error

Write: Bit 0 - Clear index flag Bit 1 - Clear sincos error flag Bit 7 - Clear index counter

Definition at line 849 of file SdoDictionary.mh.

## ◆ SYS_HWCNTINC_6_VALUE

#define SYS_HWCNTINC_6_VALUE 48

Internal encoder counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_VALUE (SDO 0x4880-0x4888/1).

Units
  qc

Definition at line 588 of file SdoDictionary.mh.

## ◆ SYS_HWCNTINC_7_STATUS

#define SYS_HWCNTINC_7_STATUS 79

Internal encoder status (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_STATUS (SDO 0x4880-0x4888/3).

Read: Bit 0 - Index flag Bit 1 - sincos enc. error

Write: Bit 0 - Clear index flag Bit 1 - Clear sincos error flag Bit 7 - Clear index counter

Definition at line 864 of file SdoDictionary.mh.

## ◆ SYS_HWCNTINC_7_VALUE

#define SYS_HWCNTINC_7_VALUE 49

Internal encoder counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_VALUE (SDO 0x4880-0x4888/1).

Units
  qc

Definition at line 596 of file SdoDictionary.mh.

## ◆ SYS_HWCNTINC_8_STATUS

#define SYS_HWCNTINC_8_STATUS 80

Internal encoder status (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_STATUS (SDO 0x4880-0x4888/3).

Read: Bit 0 - Index flag Bit 1 - sincos enc. error

Write: Bit 0 - Clear index flag Bit 1 - Clear sincos error flag Bit 7 - Clear index counter

Definition at line 879 of file SdoDictionary.mh.

## ◆ SYS_HWCNTINC_8_VALUE

#define SYS_HWCNTINC_8_VALUE 50

Internal encoder counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_VALUE (SDO 0x4880-0x4888/1).

Units
  qc

Definition at line 604 of file SdoDictionary.mh.

## ◆ SYS_HWLATCH_0_VALUE

#define SYS_HWLATCH_0_VALUE 52

Internal encoder zero pulse position (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_VALUE (SDO 0x4940-0x4948/1).

Units
  qc

Definition at line 617 of file SdoDictionary.mh.

## ◆ SYS_HWLATCH_1_VALUE

#define SYS_HWLATCH_1_VALUE 53

Internal encoder zero pulse position (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_VALUE (SDO 0x4940-0x4948/1).

Units
  qc

Definition at line 625 of file SdoDictionary.mh.

## ◆ SYS_HWLATCH_2_VALUE

#define SYS_HWLATCH_2_VALUE 54

Internal encoder zero pulse position (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_VALUE (SDO 0x4940-0x4948/1).

Units
  qc

Definition at line 633 of file SdoDictionary.mh.

## ◆ SYS_HWLATCH_3_VALUE

#define SYS_HWLATCH_3_VALUE 55

Internal encoder zero pulse position (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_VALUE (SDO 0x4940-0x4948/1).

Units
  qc

Definition at line 641 of file SdoDictionary.mh.

## ◆ SYS_HWLATCH_4_VALUE

#define SYS_HWLATCH_4_VALUE 56

Internal encoder zero pulse position (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_VALUE (SDO 0x4940-0x4948/1).

Units
  qc

Definition at line 649 of file SdoDictionary.mh.

## ◆ SYS_HWLATCH_5_VALUE

#define SYS_HWLATCH_5_VALUE 57

Internal encoder zero pulse position (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_VALUE (SDO 0x4940-0x4948/1).

Units
  qc

Definition at line 657 of file SdoDictionary.mh.

## ◆ SYS_HWLATCH_6_VALUE

#define SYS_HWLATCH_6_VALUE 58

Internal encoder zero pulse position (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_VALUE (SDO 0x4940-0x4948/1).

Units
  qc

Definition at line 665 of file SdoDictionary.mh.

## ◆ SYS_HWLATCH_7_VALUE

#define SYS_HWLATCH_7_VALUE 59

Internal encoder zero pulse position (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_VALUE (SDO 0x4940-0x4948/1).

Units
  qc

Definition at line 673 of file SdoDictionary.mh.

## ◆ SYS_HWLATCH_8_VALUE

#define SYS_HWLATCH_8_VALUE 60

Internal encoder zero pulse position (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_VALUE (SDO 0x4940-0x4948/1).

Units
  qc

Definition at line 681 of file SdoDictionary.mh.

## ◆ SYS_HWLATCH_COUNT_0

#define SYS_HWLATCH_COUNT_0 93

Encoder index counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_COUNT (SDO 0x4940-0x4948/3).

Definition at line 885 of file SdoDictionary.mh.

## ◆ SYS_HWLATCH_COUNT_1

#define SYS_HWLATCH_COUNT_1 94

Encoder index counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_COUNT (SDO 0x4940-0x4948/3).

Definition at line 891 of file SdoDictionary.mh.

## ◆ SYS_HWLATCH_COUNT_2

#define SYS_HWLATCH_COUNT_2 95

Encoder index counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_COUNT (SDO 0x4940-0x4948/3).

Definition at line 897 of file SdoDictionary.mh.

## ◆ SYS_HWLATCH_COUNT_3

#define SYS_HWLATCH_COUNT_3 96

Encoder index counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_COUNT (SDO 0x4940-0x4948/3).

Definition at line 903 of file SdoDictionary.mh.

## ◆ SYS_HWLATCH_COUNT_4

#define SYS_HWLATCH_COUNT_4 97

Encoder index counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_COUNT (SDO 0x4940-0x4948/3).

Definition at line 909 of file SdoDictionary.mh.

## ◆ SYS_HWLATCH_COUNT_5

#define SYS_HWLATCH_COUNT_5 98

Encoder index counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_COUNT (SDO 0x4940-0x4948/3).

Definition at line 915 of file SdoDictionary.mh.

## ◆ SYS_HWLATCH_COUNT_6

#define SYS_HWLATCH_COUNT_6 99

Encoder index counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_COUNT (SDO 0x4940-0x4948/3).

Definition at line 921 of file SdoDictionary.mh.

## ◆ SYS_HWLATCH_COUNT_7

#define SYS_HWLATCH_COUNT_7 100

Encoder index counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_COUNT (SDO 0x4940-0x4948/3).

Definition at line 927 of file SdoDictionary.mh.

## ◆ SYS_HWLATCH_COUNT_8

#define SYS_HWLATCH_COUNT_8 101

Encoder index counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_COUNT (SDO 0x4940-0x4948/3).

Definition at line 933 of file SdoDictionary.mh.

## ◆ SYS_INAD_1

#define SYS_INAD_1 19

Analog input value (inputs 1-4)

For MACS5 and newer controllers, use PO_VIRTANIN_VALUE (SDO 0x2D80-0x2D83/1).

Definition at line 379 of file SdoDictionary.mh.

## ◆ SYS_INAD_2

#define SYS_INAD_2 20

Analog input value (inputs 1-4)

For MACS5 and newer controllers, use PO_VIRTANIN_VALUE (SDO 0x2D80-0x2D83/1).

Definition at line 385 of file SdoDictionary.mh.

## ◆ SYS_INAD_3

#define SYS_INAD_3 21

Analog input value (inputs 1-4)

For MACS5 and newer controllers, use PO_VIRTANIN_VALUE (SDO 0x2D80-0x2D83/1).

Definition at line 391 of file SdoDictionary.mh.

## ◆ SYS_INAD_4

#define SYS_INAD_4 22

Analog input value (inputs 1-4)

For MACS5 and newer controllers, use PO_VIRTANIN_VALUE (SDO 0x2D80-0x2D83/1).

Definition at line 397 of file SdoDictionary.mh.

## ◆ SYS_INAD_5

#define SYS_INAD_5 116

Analog input value (input 5)

For MACS5 and newer controllers, use PO_VIRTANIN_VALUE (SDO 0x2D84/1).

Definition at line 1030 of file SdoDictionary.mh.

## ◆ SYS_INAD_6

#define SYS_INAD_6 117

Analog input value (input 6)

For MACS5 and newer controllers, use PO_VIRTANIN_VALUE (SDO 0x2D85/1).

Definition at line 1036 of file SdoDictionary.mh.

## ◆ SYS_INBYTE_0

#define SYS_INBYTE_0 2

Digital input state (Byte 0 = Input 1-8)

For MACS5 and newer controllers, use PO_VIRTDIGIN_VALBYTEn (SDO 0x2D00+n/4).

Definition at line 281 of file SdoDictionary.mh.

## ◆ SYS_INBYTE_1

#define SYS_INBYTE_1 3

Digital input state (Byte 1 = Input 9-16)

For MACS5 and newer controllers, use PO_VIRTDIGIN_VALBYTEn (SDO 0x2D00+n/4).

Definition at line 287 of file SdoDictionary.mh.

## ◆ SYS_INBYTE_2

#define SYS_INBYTE_2 4

Digital input state (Byte 2 = Input 17-24)

For MACS5 and newer controllers, use PO_VIRTDIGIN_VALBYTEn (SDO 0x2D00+n/4).

Definition at line 293 of file SdoDictionary.mh.

## ◆ SYS_INBYTE_3

#define SYS_INBYTE_3 5

Digital input state (Byte 3 = Input 25-32)

For MACS5 and newer controllers, use PO_VIRTDIGIN_VALBYTEn (SDO 0x2D00+n/4).

Definition at line 299 of file SdoDictionary.mh.

## ◆ SYS_INBYTE_4

#define SYS_INBYTE_4 6

Digital input state (Byte 4 = Input 33-40)

For MACS5 and newer controllers, use PO_VIRTDIGIN_VALBYTEn (SDO 0x2D00+n/4).

Definition at line 305 of file SdoDictionary.mh.

## ◆ SYS_INBYTE_5

#define SYS_INBYTE_5 7

Digital input state (Byte 5 = Input 40-48)

For MACS5 and newer controllers, use PO_VIRTDIGIN_VALBYTEn (SDO 0x2D00+n/4).

Definition at line 311 of file SdoDictionary.mh.

## ◆ SYS_INBYTE_6

#define SYS_INBYTE_6 8

Digital input state (Byte 6 = Input 49-56)

For MACS5 and newer controllers, use PO_VIRTDIGIN_VALBYTEn (SDO 0x2D00+n/4).

Definition at line 317 of file SdoDictionary.mh.

## ◆ SYS_INBYTE_7

#define SYS_INBYTE_7 9

Digital input state (Byte 7 = Input 57-64)

For MACS5 and newer controllers, use PO_VIRTDIGIN_VALBYTEn (SDO 0x2D00+n/4).

Definition at line 323 of file SdoDictionary.mh.

## ◆ SYS_INFO

#define SYS_INFO | ( |  | parno | ) | Sysvar[SYS_INFO_INDEX(parno)]

System Information: Setter.

Parameters

  parno | Parameter number

Examples
  EthernetUDPSocket_OpenClient.mc, and EthernetUDPSocket_OpenServer.mc.

Definition at line 1202 of file SdoDictionary.mh.

## ◆ SYS_INFO_INDEX

#define SYS_INFO_INDEX | ( |  | parno | ) | ((0x01000000 | (SDOINDEX_SYS_INFO<<8)) | ((long) (parno)))

System Information: Getter.

Parameters

  parno | Parameter number

Definition at line 1192 of file SdoDictionary.mh.

## ◆ SYS_INFO_MAX

#define SYS_INFO_MAX 77

System Information: Maximum number of parameters.

Definition at line 1206 of file SdoDictionary.mh.

## ◆ SYS_INFO_SRCINDEX

#define SYS_INFO_SRCINDEX | ( |  | parno | ) | ((SDOINDEX_SYS_INFO<<8) | ((long) (parno)))

System Information: Source Index.

Parameters

  parno | Parameter number

Definition at line 1197 of file SdoDictionary.mh.

## ◆ SYS_INTERNAL_FLASH_MEMORY

#define SYS_INTERNAL_FLASH_MEMORY 11

Device type of the internal flash memory.

Definition at line 1267 of file SdoDictionary.mh.

## ◆ SYS_IP_ADDRESS_CONTROLLER

#define SYS_IP_ADDRESS_CONTROLLER 14

IP address of controller.

The bytes are ordered so that the LSB of the 4-byte value is the first value of the IP "dotted" address.

Examples
  EthernetUDPSocket_OpenClient.mc, and EthernetUDPSocket_OpenServer.mc.

Definition at line 1283 of file SdoDictionary.mh.

## ◆ SYS_LED_0_CONTROL

#define SYS_LED_0_CONTROL 110

Control LED state.

Value 0x00000fmm,
where mm is the mode, and f is the blink frequency in Hz. Possible modes: #define LED_MODE_OFF 0 #define LED_MODE_ON 1 #define LED_MODE_BLINK 2 #define LED_MODE_SINGLEFLASH 3 #define LED_MODE_DUALFLASH 4 #define LED_MODE_TRIPLEFLASH 5

Definition at line 954 of file SdoDictionary.mh.

## ◆ SYS_LED_1_CONTROL

#define SYS_LED_1_CONTROL 111

Control LED state.

Value 0x00000fmm,
where mm is the mode, and f is the blink frequency in Hz. Possible modes: #define LED_MODE_OFF 0 #define LED_MODE_ON 1 #define LED_MODE_BLINK 2 #define LED_MODE_SINGLEFLASH 3 #define LED_MODE_DUALFLASH 4 #define LED_MODE_TRIPLEFLASH 5

Definition at line 968 of file SdoDictionary.mh.

## ◆ SYS_LED_2_CONTROL

#define SYS_LED_2_CONTROL 112

Control LED state.

Value 0x00000fmm,
where mm is the mode, and f is the blink frequency in Hz. Possible modes: #define LED_MODE_OFF 0 #define LED_MODE_ON 1 #define LED_MODE_BLINK 2 #define LED_MODE_SINGLEFLASH 3 #define LED_MODE_DUALFLASH 4 #define LED_MODE_TRIPLEFLASH 5

Definition at line 982 of file SdoDictionary.mh.

## ◆ SYS_LED_3_CONTROL

#define SYS_LED_3_CONTROL 113

Control LED state.

Value 0x00000fmm,
where mm is the mode, and f is the blink frequency in Hz. Possible modes: #define LED_MODE_OFF 0 #define LED_MODE_ON 1 #define LED_MODE_BLINK 2 #define LED_MODE_SINGLEFLASH 3 #define LED_MODE_DUALFLASH 4 #define LED_MODE_TRIPLEFLASH 5

Definition at line 996 of file SdoDictionary.mh.

## ◆ SYS_LED_4_CONTROL

#define SYS_LED_4_CONTROL 114

Control LED state.

Value 0x00000fmm,
where mm is the mode, and f is the blink frequency in Hz. Possible modes: #define LED_MODE_OFF 0 #define LED_MODE_ON 1 #define LED_MODE_BLINK 2 #define LED_MODE_SINGLEFLASH 3 #define LED_MODE_DUALFLASH 4 #define LED_MODE_TRIPLEFLASH 5

Definition at line 1010 of file SdoDictionary.mh.

## ◆ SYS_LED_5_CONTROL

#define SYS_LED_5_CONTROL 115

Control LED state.

Value 0x00000fmm,
where mm is the mode, and f is the blink frequency in Hz. Possible modes: #define LED_MODE_OFF 0 #define LED_MODE_ON 1 #define LED_MODE_BLINK 2 #define LED_MODE_SINGLEFLASH 3 #define LED_MODE_DUALFLASH 4 #define LED_MODE_TRIPLEFLASH 5

Definition at line 1024 of file SdoDictionary.mh.

## ◆ SYS_MAX_ANIN

#define SYS_MAX_ANIN 52

Number of analog input modules.

Definition at line 1420 of file SdoDictionary.mh.

## ◆ SYS_MAX_ANOUT

#define SYS_MAX_ANOUT 53

Number of analog output modules.

Definition at line 1425 of file SdoDictionary.mh.

## ◆ SYS_MAX_AXES

#define SYS_MAX_AXES 5

Number of axes available.

Definition at line 1229 of file SdoDictionary.mh.

## ◆ SYS_MAX_BRENCREF

#define SYS_MAX_BRENCREF 54

Number of bridges Enc-Ref.

Definition at line 1430 of file SdoDictionary.mh.

## ◆ SYS_MAX_BRREFENC

#define SYS_MAX_BRREFENC 55

Number of bridges Ref-Enc.

Definition at line 1435 of file SdoDictionary.mh.

## ◆ SYS_MAX_BUSINFO

#define SYS_MAX_BUSINFO 56

Number of businfos.

Definition at line 1440 of file SdoDictionary.mh.

## ◆ SYS_MAX_BUSMOD

#define SYS_MAX_BUSMOD 60

Number of bus modules.

Definition at line 1460 of file SdoDictionary.mh.

## ◆ SYS_MAX_CANBUS

#define SYS_MAX_CANBUS 66

Number of physical CAN busses.

Definition at line 1496 of file SdoDictionary.mh.

## ◆ SYS_MAX_CNTABS

#define SYS_MAX_CNTABS 43

Number of H/W absolute counters.

Definition at line 1373 of file SdoDictionary.mh.

## ◆ SYS_MAX_CNTINC

#define SYS_MAX_CNTINC 42

Number of H/W incremental counters.

Definition at line 1368 of file SdoDictionary.mh.

## ◆ SYS_MAX_CNTUNI

#define SYS_MAX_CNTUNI 44

Number of H/W universal counters.

Definition at line 1378 of file SdoDictionary.mh.

## ◆ SYS_MAX_COMPARATORS

#define SYS_MAX_COMPARATORS 45

Number of H/W comparators.

Definition at line 1383 of file SdoDictionary.mh.

## ◆ SYS_MAX_DDS

#define SYS_MAX_DDS 48

Number of DDS modules.

Definition at line 1398 of file SdoDictionary.mh.

## ◆ SYS_MAX_DIGIN

#define SYS_MAX_DIGIN 50

Number of digital input modules.

Each input module has 32 inputs.

Definition at line 1409 of file SdoDictionary.mh.

## ◆ SYS_MAX_DIGOUT

#define SYS_MAX_DIGOUT 51

Number of digital output modules.

Each output module has 32 outputs.

Definition at line 1415 of file SdoDictionary.mh.

## ◆ SYS_MAX_DIM_ARRAYS

#define SYS_MAX_DIM_ARRAYS 28

Maximum allowed number of DIM arrays.

Definition at line 1343 of file SdoDictionary.mh.

## ◆ SYS_MAX_ENCODER

#define SYS_MAX_ENCODER 41

Number of H/W encoders.

Definition at line 1363 of file SdoDictionary.mh.

## ◆ SYS_MAX_HALL

#define SYS_MAX_HALL 58

Number of Hall input modules.

Definition at line 1450 of file SdoDictionary.mh.

## ◆ SYS_MAX_LATCH

#define SYS_MAX_LATCH 46

Number of H/W latches.

Definition at line 1388 of file SdoDictionary.mh.

## ◆ SYS_MAX_LOOPTIME

#define SYS_MAX_LOOPTIME 28

Maximum loop time.

This is the maximum period since power-on between two calls of the internal wait loop.

Units
  ms

Definition at line 445 of file SdoDictionary.mh.

## ◆ SYS_MAX_MACHINES

#define SYS_MAX_MACHINES 67

Number of Machine Modules.

Definition at line 1501 of file SdoDictionary.mh.

## ◆ SYS_MAX_PDO_SDO_SIZE

#define SYS_MAX_PDO_SDO_SIZE 63

Returns the max size of a "simple serial" telegram on this controller.

Definition at line 1481 of file SdoDictionary.mh.

## ◆ SYS_MAX_PULSGEN

#define SYS_MAX_PULSGEN 49

Number of pulse generators.

Definition at line 1403 of file SdoDictionary.mh.

## ◆ SYS_MAX_PWMGEN

#define SYS_MAX_PWMGEN 59

Number of PWM Generator modules.

Definition at line 1455 of file SdoDictionary.mh.

## ◆ SYS_MAX_REFBUS

#define SYS_MAX_REFBUS 57

Number of Refbus.

Definition at line 1445 of file SdoDictionary.mh.

## ◆ SYS_MAX_SHIFTREG

#define SYS_MAX_SHIFTREG 61

Number of shift registers.

Definition at line 1465 of file SdoDictionary.mh.

## ◆ SYS_MAX_SIGGEN

#define SYS_MAX_SIGGEN 47

Number of H/W signal generators.

Definition at line 1393 of file SdoDictionary.mh.

## ◆ SYS_MAX_VIRTAMP

#define SYS_MAX_VIRTAMP 23

Number of virtual amplifiers.

Definition at line 1318 of file SdoDictionary.mh.

## ◆ SYS_MAX_VIRTANIN

#define SYS_MAX_VIRTANIN 26

Number of virtual analog inputs.

Definition at line 1333 of file SdoDictionary.mh.

## ◆ SYS_MAX_VIRTANOUT

#define SYS_MAX_VIRTANOUT 27

Number of virtual analog outputs.

Definition at line 1338 of file SdoDictionary.mh.

## ◆ SYS_MAX_VIRTCOUNTIN

#define SYS_MAX_VIRTCOUNTIN 21

Number of virtual counter inputs.

Definition at line 1308 of file SdoDictionary.mh.

## ◆ SYS_MAX_VIRTCUSTOMMOD

#define SYS_MAX_VIRTCUSTOMMOD 29

Maximum allowed number of virtual customer modules.

Definition at line 1348 of file SdoDictionary.mh.

## ◆ SYS_MAX_VIRTDIGIN

#define SYS_MAX_VIRTDIGIN 24

Number of virtual digital inputs.

Definition at line 1323 of file SdoDictionary.mh.

## ◆ SYS_MAX_VIRTDIGOUT

#define SYS_MAX_VIRTDIGOUT 25

Number of virtual digital outputs.

Definition at line 1328 of file SdoDictionary.mh.

## ◆ SYS_MAX_VIRTLATCH

#define SYS_MAX_VIRTLATCH 22

Number of virtual inputs.

Definition at line 1313 of file SdoDictionary.mh.

## ◆ SYS_MAX_VIRTMAST

#define SYS_MAX_VIRTMAST 20

Number of virtual masters.

Definition at line 1303 of file SdoDictionary.mh.

## ◆ SYS_MAX_VIRTMATH

#define SYS_MAX_VIRTMATH 30

Maximum allowed number of virtual math modules.

Definition at line 1353 of file SdoDictionary.mh.

## ◆ SYS_MAX_XTLG_SIZE

#define SYS_MAX_XTLG_SIZE 64

Returns the max size for X-Telegrams.

Definition at line 1486 of file SdoDictionary.mh.

## ◆ SYS_MAXAX

#define SYS_MAXAX 25

Maximum number of axes.

SDO 0x2209/5 should be used instead of this value.

Definition at line 415 of file SdoDictionary.mh.

## ◆ SYS_MAXCURINT_DIFF

#define SYS_MAXCURINT_DIFF 140

Returns the maximum difference between this and the last current control interrupt in microseconds.

Definition at line 1166 of file SdoDictionary.mh.

## ◆ SYS_MAXCURINT_LENGTH

#define SYS_MAXCURINT_LENGTH 138

Returns the max duration of the last current control interrupt in microseconds.

Clear by reading.

Definition at line 1156 of file SdoDictionary.mh.

## ◆ SYS_MAXPRETIMEINT_DIFF

#define SYS_MAXPRETIMEINT_DIFF 128

Returns the max difference between this and the last pre-ms-interrupt in microseconds.

Definition at line 1100 of file SdoDictionary.mh.

## ◆ SYS_MAXPRETIMEINT_LENGTH

#define SYS_MAXPRETIMEINT_LENGTH 126

Returns the max length of the last pre-ms-interrupt in microseconds.

Clear by reading.

Definition at line 1090 of file SdoDictionary.mh.

## ◆ SYS_MAXTIMEINT_DIFF

#define SYS_MAXTIMEINT_DIFF 129

Returns the max difference between this and the last ms-interrupt in microseconds.

Definition at line 1105 of file SdoDictionary.mh.

## ◆ SYS_MAXTIMEINT_LENGTH

#define SYS_MAXTIMEINT_LENGTH 41

Maximum duration of the ms-interrupt.

This is the maximum duration since the last read. The value is reset to 0 after every read. Also see SYS_TIMEINT_LENGTH (subindex 28).

Units
  µs

Definition at line 532 of file SdoDictionary.mh.

## ◆ SYS_NC_0

#define SYS_NC_0 30

Definition at line 454 of file SdoDictionary.mh.

## ◆ SYS_NUMBER_OF_INTEGRATED_AMPLIFIERS

#define SYS_NUMBER_OF_INTEGRATED_AMPLIFIERS 10

Number of integrated amplifiers.

Definition at line 1262 of file SdoDictionary.mh.

## ◆ SYS_OUTBYTE_0

#define SYS_OUTBYTE_0 10

Digital output state (Byte 0 = Output 1-8)

For MACS5 and newer controllers, use PO_VIRTDIGOUT_VALBYTEn (SDO 0x2D40+n/4).

Definition at line 329 of file SdoDictionary.mh.

## ◆ SYS_OUTBYTE_1

#define SYS_OUTBYTE_1 11

Digital output state (Byte 1 = Output 9-16)

For MACS5 and newer controllers, use PO_VIRTDIGOUT_VALBYTEn (SDO 0x2D40+n/4).

Definition at line 335 of file SdoDictionary.mh.

## ◆ SYS_OUTBYTE_2

#define SYS_OUTBYTE_2 12

Digital output state (Byte 2 = Output 17-24)

For MACS5 and newer controllers, use PO_VIRTDIGOUT_VALBYTEn (SDO 0x2D40+n/4).

Definition at line 341 of file SdoDictionary.mh.

## ◆ SYS_OUTBYTE_3

#define SYS_OUTBYTE_3 13

Digital output state (Byte 3 = Output 25-32)

For MACS5 and newer controllers, use PO_VIRTDIGOUT_VALBYTEn (SDO 0x2D40+n/4).

Definition at line 347 of file SdoDictionary.mh.

## ◆ SYS_OUTBYTE_4

#define SYS_OUTBYTE_4 14

Digital output state (Byte 4 = Output 33-40)

For MACS5 and newer controllers, use PO_VIRTDIGOUT_VALBYTEn (SDO 0x2D40+n/4).

Definition at line 353 of file SdoDictionary.mh.

## ◆ SYS_OUTBYTE_5

#define SYS_OUTBYTE_5 15

Digital output state (Byte 5= Output 41-48)

For MACS5 and newer controllers, use PO_VIRTDIGOUT_VALBYTEn (SDO 0x2D40+n/4).

Definition at line 359 of file SdoDictionary.mh.

## ◆ SYS_OUTBYTE_6

#define SYS_OUTBYTE_6 16

Digital output state (Byte 6 = Output 49-56)

For MACS5 and newer controllers, use PO_VIRTDIGOUT_VALBYTEn (SDO 0x2D40+n/4).

Definition at line 365 of file SdoDictionary.mh.

## ◆ SYS_OUTBYTE_7

#define SYS_OUTBYTE_7 17

Digital output state (Byte 7 = Output 57-64)

For MACS5 and newer controllers, use PO_VIRTDIGOUT_VALBYTEn (SDO 0x2D40+n/4).

Definition at line 371 of file SdoDictionary.mh.

## ◆ SYS_PLATFORM

#define SYS_PLATFORM 71

Returns the platform number.

13 - MACS5 18 - MasterMACS 19 - MiniMACS 22 - MiniMACS6 23 - PcEnc 24 - DDE-V75 25 - MicroMACS6 26 - MACS6-AMP5 OEM

Definition at line 1534 of file SdoDictionary.mh.

## ◆ SYS_PRETIMEINT_DIFF

#define SYS_PRETIMEINT_DIFF 127

Returns the difference between this and the last pre-ms-interrupt in microseconds.

Definition at line 1095 of file SdoDictionary.mh.

## ◆ SYS_PRETIMEINT_LENGTH

#define SYS_PRETIMEINT_LENGTH 125

Returns the length of the last pre-ms-interrupt in microseconds.

Definition at line 1085 of file SdoDictionary.mh.

## ◆ SYS_PROCESS

#define SYS_PROCESS | ( |  | parno | ) | Sysvar[SYS_PROCESS_INDEX(parno)]

System Process Data: Setter.

Parameters

  parno | Parameter number

Examples
  CAN_1Ax_DS402_ProfilePositionMode-ppm-Test.mc, CAN_1Ax_DS402_ProfileVelocityMode-pvm-Test.mc, CAN_1Ax_EPOS4-Test_csp.mc, CAN_1Ax_EPOS4-Test_cst.mc, CAN_1Ax_EPOS4-Test_csv.mc, CAN_2Ax_EPOS4-Test_csp.mc, CAN_4Ax_MiniMACS6_csp.mc, CAN_4Ax_MiniMACS6_cst.mc, CAN_4Ax_MiniMACS6_csv.mc, CAN_MultipleAx_DS402_ProfilePositionMode-ppm-Test.mc, and DeltaRobot_No_SM_EPOS4_ECAT.mc.

Definition at line 271 of file SdoDictionary.mh.

## ◆ SYS_PROCESS_INDEX

#define SYS_PROCESS_INDEX | ( |  | parno | ) | ((0x01000000 | (SDOINDEX_SYS_PROCESS<<8)) | ((long) (parno)))

System Process Data: Getter.

Parameters

  parno | Parameter number

Definition at line 261 of file SdoDictionary.mh.

## ◆ SYS_PROCESS_MAX

#define SYS_PROCESS_MAX 143

System Process Data: Maximum number of parameters.

Definition at line 275 of file SdoDictionary.mh.

## ◆ SYS_PROCESS_SRCINDEX

#define SYS_PROCESS_SRCINDEX | ( |  | parno | ) | ((SDOINDEX_SYS_PROCESS<<8) | ((long) (parno)))

System Process Data: Source Index.

Parameters

  parno | Parameter number

Definition at line 266 of file SdoDictionary.mh.

## ◆ SYS_RELEASE_TYPE

#define SYS_RELEASE_TYPE 72

Returns the release type.

0 - Release n - Release Candidate n 99 - Test build

Definition at line 1542 of file SdoDictionary.mh.

## ◆ SYS_RTC_DATE

#define SYS_RTC_DATE 120

Real time date in format yyyymmdd (decimal).

E.g. 20160209 = Sept 2nd 2016

Definition at line 1060 of file SdoDictionary.mh.

## ◆ SYS_RTC_TIME

#define SYS_RTC_TIME 121

Real time in format hhmmss.

Definition at line 1065 of file SdoDictionary.mh.

## ◆ SYS_SD_CARD_STATUS

#define SYS_SD_CARD_STATUS 16

SD Card status.

0 = Not inserted 1 = Inserted ( insertion status is only checked at startup)

Definition at line 1298 of file SdoDictionary.mh.

## ◆ SYS_STACKMAX

#define SYS_STACKMAX 133

Maximum stack usage of running Aposs program (or last program to run)

Definition at line 1129 of file SdoDictionary.mh.

## ◆ SYS_STACKSIZE

#define SYS_STACKSIZE 51

Stack size of running Aposs program (or last program to run)

Definition at line 609 of file SdoDictionary.mh.

## ◆ SYS_STACKUSAGE

#define SYS_STACKUSAGE 132

Current stack usage of running Aposs program (or last program to run)

Definition at line 1124 of file SdoDictionary.mh.

## ◆ SYS_TEMPERATURE

#define SYS_TEMPERATURE 135

Temperature of the PCB in 1/100th Degrees Celsius.

Units
  Celsius * 0.01

Definition at line 1141 of file SdoDictionary.mh.

## ◆ SYS_TG_VERSION

#define SYS_TG_VERSION 73

Returns the version of the trajectory generator library.

Definition at line 1547 of file SdoDictionary.mh.

## ◆ SYS_TIME_DAY

#define SYS_TIME_DAY 118

Day value of the time stamp structure.

Those two objects contain the internal TIME object received by a time stamp. SYS_TIME_DAY – days since 1984-1-1 SYS_TIME_TOD – TimeOfDay (ms) this is really ms. In contrary to SYS_CLOCK which starts when you power on and which is not corrected.
That means it is system clock which is nearly 1 ms, but not necessarily exact (MACS3 for example 1 clock is 1.024 ms, MACS5 1 clock is 1 ms).
If you want to write those internal objects, than you have to obey a certain order. That means it should look like
SYS_PROCESS(SYS_TIME_DAY) = 5000 SYS_PROCESS(SYS_TIME_TOD) = 12000

Definition at line 1048 of file SdoDictionary.mh.

## ◆ SYS_TIME_TOD

#define SYS_TIME_TOD 119

Time of day (from beginning of day)

Units
  ms

Definition at line 1055 of file SdoDictionary.mh.

## ◆ SYS_TIMEINT_DIFF

#define SYS_TIMEINT_DIFF 104

Time between the last two millisecond interrupts.

Units
  µs

Definition at line 940 of file SdoDictionary.mh.

## ◆ SYS_TIMEINT_LENGTH

#define SYS_TIMEINT_LENGTH 27

Duration of the last ms-interrupt.

Also see SYS_MAXTIMEINT_LENGTH (subindex 41).

Units
  µs

Definition at line 437 of file SdoDictionary.mh.

## ◆ SYS_TIMER_GETDAY

#define SYS_TIMER_GETDAY 122

Returns the day information (days since 1984-1-1), at which the controller started up.

Definition at line 1070 of file SdoDictionary.mh.

## ◆ SYS_TIMER_GETTIMEOFDAY

#define SYS_TIMER_GETTIMEOFDAY 123

Returns the timeclk information (seconds since start of this day), at which the controller started up.

Definition at line 1075 of file SdoDictionary.mh.

## ◆ SYS_UART_BYTECOUNT

#define SYS_UART_BYTECOUNT 70

Definition at line 744 of file SdoDictionary.mh.

## ◆ SYS_UNIQUE_ID1

#define SYS_UNIQUE_ID1 75

SYS_UNIQUE_ID1 and SYS_UNIQUE_ID2 are together the unique ID for the controller.

Note that this is independent from serial number.

Definition at line 1559 of file SdoDictionary.mh.

## ◆ SYS_UNIQUE_ID2

#define SYS_UNIQUE_ID2 76

SYS_UNIQUE_ID1 and SYS_UNIQUE_ID2 are together the unique ID for the controller.

Note that this is independent from serial number.

Definition at line 1565 of file SdoDictionary.mh.

## ◆ SYS_US_TIMER

#define SYS_US_TIMER 62

Internal microsecond time base.

Units
  µs

Definition at line 695 of file SdoDictionary.mh.

## ◆ SYS_USRSTAT

#define SYS_USRSTAT 24

User status.

User status (one byte) which can be set by the USRSTAT command and is returned in the status field of communication telegrams.

Definition at line 409 of file SdoDictionary.mh.

## ◆ SYS_ZB_AMP_NO

#define SYS_ZB_AMP_NO 40

Number of H/W amplifiers.

Definition at line 1358 of file SdoDictionary.mh.

## ◆ TESTTIM

#define TESTTIM 25

Measuring time in target window.

Initial Value
  0

Value Range
  0-10

Units
  ms

Definition at line 2539 of file SdoDictionary.mh.

## ◆ TESTVAL

#define TESTVAL 26

Limit value for readings in target window.

Initial Value
  1

Value Range
  1-10000

Units
  qc

Definition at line 2550 of file SdoDictionary.mh.

## ◆ TESTWIN

#define TESTWIN 9

Size of the target window.

0 = Off

Initial Value
  0

Value Range
  0-10000

Units
  qc

Definition at line 2373 of file SdoDictionary.mh.

## ◆ TIMER

#define TIMER 15

Parameter for determining the sampling time of the position control algorithm.

Initial Value
  1

Value Range
  0-1000

Units
  ms

Definition at line 2433 of file SdoDictionary.mh.

## ◆ USER_PARAM

#define USER_PARAM | ( |  | parno | ) | Sysvar[USER_PARAM_INDEX(parno)]

User Parameters: Setter.

Parameters

  parno | Parameter number

Examples
  PWM_1Ax_ESCON.mc.

Definition at line 244 of file SdoDictionary.mh.

## ◆ USER_PARAM_INDEX

#define USER_PARAM_INDEX | ( |  | parno | ) | ((0x01000000 | (SDOINDEX_USER_PARAM<<8)) | ((long) (parno)))

User Parameters: Getter.

Parameters

  parno | Parameter number

Definition at line 234 of file SdoDictionary.mh.

## ◆ USER_PARAM_MAX

#define USER_PARAM_MAX 101

User Parameters: Maximum number of parameters.

Definition at line 248 of file SdoDictionary.mh.

## ◆ USER_PARAM_SRCINDEX

#define USER_PARAM_SRCINDEX | ( |  | parno | ) | ((SDOINDEX_USER_PARAM<<8) | ((long) (parno)))

User Parameters: Source Index.

Parameters

  parno | Parameter number

Definition at line 239 of file SdoDictionary.mh.

## ◆ VELMAX

#define VELMAX 2

Rated speed of drive.

Initial Value
  1000

Value Range
  1-65535

Units
  rpm

Examples
  DeltaRobot_No_SM_EPOS4_ECAT.mc.

Definition at line 2308 of file SdoDictionary.mh.

## ◆ VELMAXQC

#define VELMAXQC 10

Maximum velocity.

Maximum speed in internal units. For internal use only. Do NOT use this value! Use VELMAX (subindex 2) instead.

Initial Value
  2184533

Value Range
  1-MLONG

Definition at line 2384 of file SdoDictionary.mh.

## ◆ VELRES

#define VELRES 23

Velocity resolution.

Scaling used for the velocity and acceleration/deceleration commands. (100 i.e. percentage)

Initial Value
  100

Value Range
  1-100000

Definition at line 2517 of file SdoDictionary.mh.

## ◆ VIRTAMP_CNTRLW_PWROFF

#define VIRTAMP_CNTRLW_PWROFF 31

Controlword to use in power off state.

This value will be written to PO_VIRTAMP_CMDWORD, when the amplifier is in OFF mode.

Initial Value
  0

Value Range
  0-65535

Definition at line 5355 of file SdoDictionary.mh.

## ◆ VIRTAMP_CNTRLW_PWRONDIS

#define VIRTAMP_CNTRLW_PWRONDIS 32

Controlword to use in power on disable state.

This value will be written to PO_VIRTAMP_CMDWORD, when the amplifier is in Power On Disable mode.

Initial Value
  0

Value Range
  0-65535

Definition at line 5365 of file SdoDictionary.mh.

## ◆ VIRTAMP_CNTRLW_PWRONENN

#define VIRTAMP_CNTRLW_PWRONENN 34

Controlword to use in power on enable negative direction state (could be same as above)

This value will be written to PO_VIRTAMP_CMDWORD, when the amplifier is in Power On Enable (negative direction) mode.

Initial Value
  0

Value Range
  0-65535

Examples
  DeltaRobot_No_SM_EPOS4_ECAT.mc.

Definition at line 5385 of file SdoDictionary.mh.

## ◆ VIRTAMP_CNTRLW_PWRONENP

#define VIRTAMP_CNTRLW_PWRONENP 33

Controlword to use in power on enable positive direction state.

This value will be written to PO_VIRTAMP_CMDWORD, when the amplifier is in Power On Enable (positive direction) mode.

Initial Value
  0

Value Range
  0-65535

Examples
  DeltaRobot_No_SM_EPOS4_ECAT.mc.

Definition at line 5375 of file SdoDictionary.mh.

## ◆ VIRTAMP_CNTRLW_QUICKSTOP

#define VIRTAMP_CNTRLW_QUICKSTOP 35

Controlword to stop drive with internal ramps.

This value will be written to PO_VIRTAMP_CMDWORD, when the amplifier is in Quick Stop mode.

Initial Value
  0

Value Range
  0-65535

Definition at line 5395 of file SdoDictionary.mh.

## ◆ VIRTAMP_CNTRLW_RESET

#define VIRTAMP_CNTRLW_RESET 36

Controlword to reset from error.

This value will be written to PO_VIRTAMP_CMDWORD, when the amplifier is in Error Reset mode.

Initial Value
  256

Value Range
  0-65535

Definition at line 5405 of file SdoDictionary.mh.

## ◆ VIRTAMP_DRIVETYPE

#define VIRTAMP_DRIVETYPE 30

Predefined drivetype.

Legacy parameter to set up predefined parameters for specific drives.

Initial Value
  0

Value Range
  0-65535

Definition at line 5345 of file SdoDictionary.mh.

## ◆ VIRTAMP_ERROR_BITMASK

#define VIRTAMP_ERROR_BITMASK 47

Bitmask to detect error condition.

Bitmask which is applied to the value delivered by VIRTAMP_PISRC_STATUS to detect error condition of HW amplifier.

Initial Value
  0

Definition at line 5510 of file SdoDictionary.mh.

## ◆ VIRTAMP_ERROR_HWAMP

#define VIRTAMP_ERROR_HWAMP 0x0001

Definition at line 6497 of file SdoDictionary.mh.

## ◆ VIRTAMP_ERROR_I2T

#define VIRTAMP_ERROR_I2T 0x0002

Definition at line 6498 of file SdoDictionary.mh.

## ◆ VIRTAMP_ERROR_NOTREADY

#define VIRTAMP_ERROR_NOTREADY 0x0004

Definition at line 6499 of file SdoDictionary.mh.

## ◆ VIRTAMP_ERROR_POLARITY

#define VIRTAMP_ERROR_POLARITY 48

Polarity of Error Bit.

0 = If the value delivered by VIRTAMP_PISRC_STATUS & VIRTAMP_ERROR_BITMASK is 0, an axis error will be issued. 1 = If the value is != 0, an axis error will be issued.

Initial Value
  1

Value Range
  0,1

Definition at line 5521 of file SdoDictionary.mh.

## ◆ VIRTAMP_I2TLIMIT

#define VIRTAMP_I2TLIMIT 49

I2T Limit value.

If zero, then no calculation is done.

Initial Value
  0

Value Range
  0-655535

Units
  mA²*1000

Definition at line 5533 of file SdoDictionary.mh.

## ◆ VIRTAMP_I2TTIME

#define VIRTAMP_I2TTIME 44

I2T Time interval for filtering.

If zero, then no calculation is done.

Initial Value
  0

Value Range
  0-1000

Units
  ms

Definition at line 5479 of file SdoDictionary.mh.

## ◆ VIRTAMP_INVERT

#define VIRTAMP_INVERT 43

Output reference reversion.

1 = Normal direction -1 = Invert direction

Initial Value
  1

Value Range
  -1,1

Definition at line 5467 of file SdoDictionary.mh.

## ◆ VIRTAMP_MODE

#define VIRTAMP_MODE 1

Mode of operation.

0 = Disabled 1 = Enabled (disabling saves about 10µs of execution time per virtamp)

Initial Value
  1

Definition at line 5293 of file SdoDictionary.mh.

## ◆ VIRTAMP_MODE_DISABLE

#define VIRTAMP_MODE_DISABLE 0

Definition at line 5580 of file SdoDictionary.mh.

## ◆ VIRTAMP_MODE_ENABLE

#define VIRTAMP_MODE_ENABLE 1

Definition at line 5581 of file SdoDictionary.mh.

## ◆ VIRTAMP_PARAM

#define VIRTAMP_PARAM | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[VIRTAMP_PARAM_INDEX((modno),(parno))]

Virtual Amplifier Parameters: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Examples
  DeltaRobot_No_SM_EPOS4_ECAT.mc.

Definition at line 5280 of file SdoDictionary.mh.

## ◆ VIRTAMP_PARAM_INDEX

#define VIRTAMP_PARAM_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_VIRTAMP_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Amplifier Parameters: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 5268 of file SdoDictionary.mh.

## ◆ VIRTAMP_PARAM_MAX

#define VIRTAMP_PARAM_MAX 54

Virtual Amplifier Parameters: Maximum number of parameters.

Definition at line 5284 of file SdoDictionary.mh.

## ◆ VIRTAMP_PARAM_SRCINDEX

#define VIRTAMP_PARAM_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_VIRTAMP_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Amplifier Parameters: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 5274 of file SdoDictionary.mh.

## ◆ VIRTAMP_PISRC_CMDWORD

#define VIRTAMP_PISRC_CMDWORD 10

Index/subindex of command word.

Initial Value
  REG_CNTRLWORD+n

Definition at line 5300 of file SdoDictionary.mh.

## ◆ VIRTAMP_PISRC_CURRENT

#define VIRTAMP_PISRC_CURRENT 20

Index/subindex of current.

Initial Value
  PO_HWAMP_CURRENT+n

Definition at line 5328 of file SdoDictionary.mh.

## ◆ VIRTAMP_PISRC_REFACC

#define VIRTAMP_PISRC_REFACC 13

Index/subindex of acceleration/current reference.

Initial Value
  PID_FFACCPART+n

Definition at line 5321 of file SdoDictionary.mh.

## ◆ VIRTAMP_PISRC_REFPOS

#define VIRTAMP_PISRC_REFPOS 11

Index/subindex of position reference.

Initial Value
  REG_COMPOS+n

Definition at line 5307 of file SdoDictionary.mh.

## ◆ VIRTAMP_PISRC_REFVEL

#define VIRTAMP_PISRC_REFVEL 12

Index/subindex of velocity reference.

Initial Value
  REG_REFERENCE+n

Definition at line 5314 of file SdoDictionary.mh.

## ◆ VIRTAMP_PISRC_STATUS

#define VIRTAMP_PISRC_STATUS 21

Index/subindex of status.

Initial Value
  PO_HWAMP_STATUS+n

Definition at line 5335 of file SdoDictionary.mh.

## ◆ VIRTAMP_PROCESS

#define VIRTAMP_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[VIRTAMP_PROCESS_INDEX((modno),(parno))]

Virtual Amplifier Process Data: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Examples
  CAN_4Ax_MiniMACS6_cst.mc.

Definition at line 6410 of file SdoDictionary.mh.

## ◆ VIRTAMP_PROCESS_INDEX

#define VIRTAMP_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_VIRTAMP_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Amplifier Process Data: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 6398 of file SdoDictionary.mh.

## ◆ VIRTAMP_PROCESS_MAX

#define VIRTAMP_PROCESS_MAX 16

Virtual Amplifier Process Data: Maximum number of parameters.

Definition at line 6414 of file SdoDictionary.mh.

## ◆ VIRTAMP_PROCESS_SRCINDEX

#define VIRTAMP_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_VIRTAMP_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Amplifier Process Data: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 6404 of file SdoDictionary.mh.

## ◆ VIRTAMP_READY_BITMASK

#define VIRTAMP_READY_BITMASK 51

Bitmask to detect drive ready condition.

Bitmask which is applied to the value delivered by VIRTAMP_PISRC_STATUS to detect drive ready to switch on condition of HW amplifier. The AxisControl command will block until this bit is set.

Initial Value
  0x10000

Definition at line 5555 of file SdoDictionary.mh.

## ◆ VIRTAMP_READY_POLARITY

#define VIRTAMP_READY_POLARITY 52

Polarity of Ready Bit.

0 = If the value delivered by VIRTAMP_PISRC_STATUS & VIRTAMP_ERROR_BITMASK is 0, the drive is regarded as ready to switch on 1 = If the above value is != 0, the drive is regarded as ready to switch on. See VIRTAMP_READY_POLARITY and PO_VIRTAMP_ERROR

Initial Value
  0

Definition at line 5565 of file SdoDictionary.mh.

## ◆ VIRTAMP_REF100PERC

#define VIRTAMP_REF100PERC 40

Output reference value to use at 100 percent.

Initial Value
  0xFFFFF

Definition at line 5442 of file SdoDictionary.mh.

## ◆ VIRTAMP_REFACC100PERC

#define VIRTAMP_REFACC100PERC 50

Acceleration reference value (PO_VIRTAMP_REFACC) at full acceleration.

This value will be achieved when the drive accelerates with a ramp of time RAMPMIN. See axis parameters KFFACC and KFFDEC. For internal amplifiers, the value is in unit 2mA. E.g. if the parameter value is 1000, this means 2000mA of forward value at full acceleration (ramp with time RAMPMIN). For bus drives, the value should be set to the expected value at full acceleration (according to RAMPMIN).

Initial Value
  0xFFFFF

Units
  mA

Definition at line 5546 of file SdoDictionary.mh.

## ◆ VIRTAMP_REFLIMIT

#define VIRTAMP_REFLIMIT 41

Output reference limit.

Initial Value
  0

Definition at line 5449 of file SdoDictionary.mh.

## ◆ VIRTAMP_REFOFFSET

#define VIRTAMP_REFOFFSET 42

Offset to add to output reference.

Initial Value
  0

Definition at line 5456 of file SdoDictionary.mh.

## ◆ VIRTAMP_REFOUTN

#define VIRTAMP_REFOUTN 39

Number of output which must be set if reference is negative (reset if positive)

Number of output which must be set if reference is negative (reset if positive). 1 = digital output 1, etc.

Initial Value
  0

Value Range
  0-8

Definition at line 5435 of file SdoDictionary.mh.

## ◆ VIRTAMP_REFOUTP

#define VIRTAMP_REFOUTP 38

Digital output for positive direction signal.

Usage for "direction positive" signal: Number of digital output which must be set if reference is positive (reset if negative). 1 = digital output 1, etc. Usage for "enable" signal: Set VIRTAMP_REFOUTP and VIRTAMP_REFOUTN to the same number (1 = digital output 1, etc.). Output will be HIGH when drive is enabled, LOW otherwise.

Initial Value
  0

Value Range
  0-8

Definition at line 5425 of file SdoDictionary.mh.

## ◆ VIRTAMP_REFTYPE

#define VIRTAMP_REFTYPE 37

Type of reference.

0 = +/- reference 1 = Positive reference only

Initial Value
  0

Definition at line 5414 of file SdoDictionary.mh.

## ◆ VIRTAMP_REVERSE

#define VIRTAMP_REVERSE 46

Reversing allowed.

0 = Positive and negative reference allowed 1 = Only positive output, negative is set to zero

Initial Value
  0

Value Range
  0,1

Definition at line 5502 of file SdoDictionary.mh.

## ◆ VIRTAMP_STOPDELAY

#define VIRTAMP_STOPDELAY 45

Delay after a STOP command.

Delay before the reference value is set to zero after a STOP command occurred. (Some FC don't like it, if reference is going to zero at the same time when stop is transmitted.)

Initial Value
  0

Value Range
  0-1000

Units
  ms

Definition at line 5491 of file SdoDictionary.mh.

## ◆ VIRTAMP_TORQUE_CONST

#define VIRTAMP_TORQUE_CONST 53

Represents the motor’s torque constant.

Initial Value
  10000

Value Range
  1-65535

Units
  uNm/A

Examples
  CAN_4Ax_MiniMACS6_csp.mc, CAN_4Ax_MiniMACS6_cst.mc, and CAN_4Ax_MiniMACS6_csv.mc.

Definition at line 5576 of file SdoDictionary.mh.

## ◆ VIRTANIN_DIG_OFFSET

#define VIRTANIN_DIG_OFFSET 32

Offset value.

This factor can be used to add an offset to the analog value. See main description of the module.

Initial Value
  0xFFFFFC00

Definition at line 5736 of file SdoDictionary.mh.

## ◆ VIRTANIN_PARAM

#define VIRTANIN_PARAM | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[VIRTANIN_PARAM_INDEX((modno),(parno))]

Virtual Analog Input Parameters: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 5700 of file SdoDictionary.mh.

## ◆ VIRTANIN_PARAM_INDEX

#define VIRTANIN_PARAM_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_VIRTANIN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Analog Input Parameters: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 5688 of file SdoDictionary.mh.

## ◆ VIRTANIN_PARAM_MAX

#define VIRTANIN_PARAM_MAX 33

Virtual Analog Input Parameters: Maximum number of parameters.

Definition at line 5704 of file SdoDictionary.mh.

## ◆ VIRTANIN_PARAM_SRCINDEX

#define VIRTANIN_PARAM_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_VIRTANIN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Analog Input Parameters: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 5694 of file SdoDictionary.mh.

## ◆ VIRTANIN_PISRC_VALUE

#define VIRTANIN_PISRC_VALUE 10

Index/subindex of source value.

This is the source, where the analog value will be fetched from.

Initial Value
  PO_HWANIN_VALUE+n

Definition at line 5712 of file SdoDictionary.mh.

## ◆ VIRTANIN_PROCESS

#define VIRTANIN_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[VIRTANIN_PROCESS_INDEX((modno),(parno))]

Virtual Analog Input Process Data: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 6670 of file SdoDictionary.mh.

## ◆ VIRTANIN_PROCESS_INDEX

#define VIRTANIN_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_VIRTANIN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Analog Input Process Data: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 6658 of file SdoDictionary.mh.

## ◆ VIRTANIN_PROCESS_MAX

#define VIRTANIN_PROCESS_MAX 8

Virtual Analog Input Process Data: Maximum number of parameters.

Definition at line 6674 of file SdoDictionary.mh.

## ◆ VIRTANIN_PROCESS_SRCINDEX

#define VIRTANIN_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_VIRTANIN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Analog Input Process Data: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 6664 of file SdoDictionary.mh.

## ◆ VIRTANIN_UUFACT_DIGNO

#define VIRTANIN_UUFACT_DIGNO 31

Scale factor.

This factor can be used to scale the analog value. See main description of the module.

Initial Value
  0xC8CC

Definition at line 5728 of file SdoDictionary.mh.

## ◆ VIRTANIN_UUFACT_UNITNO

#define VIRTANIN_UUFACT_UNITNO 30

Scale factor.

This factor can be used to scale the analog value. See main description of the module.

Initial Value
  0x7FFF

Definition at line 5720 of file SdoDictionary.mh.

## ◆ VIRTANOUT_PARAM

#define VIRTANOUT_PARAM | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[VIRTANOUT_PARAM_INDEX((modno),(parno))]

Virtual Analog Output Parameters: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 5763 of file SdoDictionary.mh.

## ◆ VIRTANOUT_PARAM_INDEX

#define VIRTANOUT_PARAM_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_VIRTANOUT_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Analog Output Parameters: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 5751 of file SdoDictionary.mh.

## ◆ VIRTANOUT_PARAM_MAX

#define VIRTANOUT_PARAM_MAX 2

Virtual Analog Output Parameters: Maximum number of parameters.

Definition at line 5767 of file SdoDictionary.mh.

## ◆ VIRTANOUT_PARAM_SRCINDEX

#define VIRTANOUT_PARAM_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_VIRTANOUT_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Analog Output Parameters: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 5757 of file SdoDictionary.mh.

## ◆ VIRTANOUT_PROCESS

#define VIRTANOUT_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[VIRTANOUT_PROCESS_INDEX((modno),(parno))]

Virtual Analog Output Process Data: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 6742 of file SdoDictionary.mh.

## ◆ VIRTANOUT_PROCESS_INDEX

#define VIRTANOUT_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_VIRTANOUT_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Analog Output Process Data: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 6730 of file SdoDictionary.mh.

## ◆ VIRTANOUT_PROCESS_MAX

#define VIRTANOUT_PROCESS_MAX 4

Virtual Analog Output Process Data: Maximum number of parameters.

Definition at line 6746 of file SdoDictionary.mh.

## ◆ VIRTANOUT_PROCESS_SRCINDEX

#define VIRTANOUT_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_VIRTANOUT_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Analog Output Process Data: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 6736 of file SdoDictionary.mh.

## ◆ VIRTCNTIN_INHIBIT

#define VIRTCNTIN_INHIBIT 5

Module inhibit.

The counter will stay the same as long as this parameter is set to 1.

Initial Value
  0

Value Range
  0,1

Definition at line 5023 of file SdoDictionary.mh.

## ◆ VIRTCNTIN_MAXSTEP

#define VIRTCNTIN_MAXSTEP 30

Maximum stepsize allowed.

If position difference per millisecond is bigger than this value, then it is ignored and counter continues with last velocity.

Initial Value
  0

Definition at line 5038 of file SdoDictionary.mh.

## ◆ VIRTCNTIN_MODE

#define VIRTCNTIN_MODE 1

Counter mode.

Defines how the source value is handled.

0 = Position (source is a position value and difference to last value is added) 1 = Velocity (source is a velocity value and it is added as is) 2 = Simulation (source is taken as it is - e.g. COMPOS from an axis) 3 = Absolute (source is absolute and is taken as it is) 4 = Position 16bit (source is 16bit position counter, difference to last value is added to current position)

Initial Value
  0

Definition at line 5003 of file SdoDictionary.mh.

## ◆ VIRTCNTIN_MODE_ABSOLUTE

#define VIRTCNTIN_MODE_ABSOLUTE 0

Definition at line 5080 of file SdoDictionary.mh.

## ◆ VIRTCNTIN_MODE_ABSOLUTE_16BIT

#define VIRTCNTIN_MODE_ABSOLUTE_16BIT 4

Definition at line 5084 of file SdoDictionary.mh.

## ◆ VIRTCNTIN_MODE_ABSOLUTE_DIRECT

#define VIRTCNTIN_MODE_ABSOLUTE_DIRECT 3

Definition at line 5083 of file SdoDictionary.mh.

## ◆ VIRTCNTIN_MODE_ABSOLUTE_DIRECT_ENDLESS

#define VIRTCNTIN_MODE_ABSOLUTE_DIRECT_ENDLESS 5

Definition at line 5085 of file SdoDictionary.mh.

## ◆ VIRTCNTIN_MODE_DELTA

#define VIRTCNTIN_MODE_DELTA 1

Definition at line 5081 of file SdoDictionary.mh.

## ◆ VIRTCNTIN_MODE_SIMULATION_SLAVE

#define VIRTCNTIN_MODE_SIMULATION_SLAVE 2

Definition at line 5082 of file SdoDictionary.mh.

## ◆ VIRTCNTIN_MOVING_AVERAGE_N

#define VIRTCNTIN_MOVING_AVERAGE_N 36

Definition at line 5076 of file SdoDictionary.mh.

## ◆ VIRTCNTIN_OVFL_FORCE

#define VIRTCNTIN_OVFL_FORCE 33

Value where counter should produce an overflow.

If this value is set, then the virtual counter forces an overflow. This functionality is e.g. used for round table applications where you want to have an overflow every 360 degree.

Initial Value
  0

Definition at line 5058 of file SdoDictionary.mh.

## ◆ VIRTCNTIN_OVFL_VALUE

#define VIRTCNTIN_OVFL_VALUE 32

Value (Range) where the input will overflow.

If step is bigger than half of overlow value, then we assume that an overflow happened. The overflow value is the total range of the source. If the source goes from - n to n, then the value is 2*n. If the range is 0 .. n, then the overflow value is n.
The virtual counter still delivers the position within this range but signals the overflow to the axes so that the overflow is handled correctly. If this value is 0, then no overlow handling is done.

Initial Value
  0

Definition at line 5049 of file SdoDictionary.mh.

## ◆ VIRTCNTIN_PISRC_COUNTER

#define VIRTCNTIN_PISRC_COUNTER 10

Index/subindex of counter source.

Initial Value
  PO_HWCNTINC_VALUE+n

Examples
  Maxon_RE_40_1ax_OL.mc.

Definition at line 5030 of file SdoDictionary.mh.

## ◆ VIRTCNTIN_SIMULATION_SPEED

#define VIRTCNTIN_SIMULATION_SPEED 4

defines the speed when counter is in simulation mode

This parameter can be used to link to VIRTCNTIN_PISRC_COUNTER, if the encoder value shall only be simulated.

Initial Value
  0

Units
  qc/ms

Definition at line 5013 of file SdoDictionary.mh.

## ◆ VIRTCNTIN_UUFACT_INCNO

#define VIRTCNTIN_UUFACT_INCNO 35

Conversion Factor - number of increments.

Initial Value
  1

Definition at line 5074 of file SdoDictionary.mh.

## ◆ VIRTCNTIN_UUFACT_UNITNO

#define VIRTCNTIN_UUFACT_UNITNO 34

Conversion Factor - number of user units.

This factor is applied to the source value in modes VIRTCNTIN_MODE_ABSOLUTE, VIRTCNTIN_MODE_ABSOLUTE_16BIT and VIRTCNTIN_MODE_DELTA. Output value = source value * VIRTCNTIN_UUFACT_UNITNO / VIRTCNTIN_UUFACT_INCNO.

Initial Value
  1

Definition at line 5067 of file SdoDictionary.mh.

## ◆ VIRTCOUNTIN_PARAM

#define VIRTCOUNTIN_PARAM | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[VIRTCOUNTIN_PARAM_INDEX((modno),(parno))]

Virtual Counter Inputs parameters: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Examples
  Maxon_RE_40_1ax_OL.mc.

Definition at line 4985 of file SdoDictionary.mh.

## ◆ VIRTCOUNTIN_PARAM_INDEX

#define VIRTCOUNTIN_PARAM_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_VIRTCOUNTIN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Counter Inputs parameters: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 4973 of file SdoDictionary.mh.

## ◆ VIRTCOUNTIN_PARAM_MAX

#define VIRTCOUNTIN_PARAM_MAX 37

Virtual Counter Inputs parameters: Maximum number of parameters.

Definition at line 4989 of file SdoDictionary.mh.

## ◆ VIRTCOUNTIN_PARAM_SRCINDEX

#define VIRTCOUNTIN_PARAM_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_VIRTCOUNTIN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Counter Inputs parameters: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 4979 of file SdoDictionary.mh.

## ◆ VIRTCOUNTIN_PROCESS

#define VIRTCOUNTIN_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[VIRTCOUNTIN_PROCESS_INDEX((modno),(parno))]

Virtual Counter Inputs Process Data: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 6190 of file SdoDictionary.mh.

## ◆ VIRTCOUNTIN_PROCESS_INDEX

#define VIRTCOUNTIN_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_VIRTCOUNTIN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Counter Inputs Process Data: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 6178 of file SdoDictionary.mh.

## ◆ VIRTCOUNTIN_PROCESS_MAX

#define VIRTCOUNTIN_PROCESS_MAX 13

Virtual Counter Inputs Process Data: Maximum number of parameters.

Definition at line 6194 of file SdoDictionary.mh.

## ◆ VIRTCOUNTIN_PROCESS_SRCINDEX

#define VIRTCOUNTIN_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_VIRTCOUNTIN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Counter Inputs Process Data: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 6184 of file SdoDictionary.mh.

## ◆ VIRTCUSTOM_PAR_1

#define VIRTCUSTOM_PAR_1 1

Custom parameters.

Initial Value
  0

Definition at line 5804 of file SdoDictionary.mh.

## ◆ VIRTCUSTOM_PAR_2

#define VIRTCUSTOM_PAR_2 2

Custom parameters.

Initial Value
  0

Definition at line 5811 of file SdoDictionary.mh.

## ◆ VIRTCUSTOM_PAR_3

#define VIRTCUSTOM_PAR_3 3

Custom parameters.

Initial Value
  0

Definition at line 5818 of file SdoDictionary.mh.

## ◆ VIRTCUSTOM_PAR_4

#define VIRTCUSTOM_PAR_4 4

Custom parameters.

Initial Value
  0

Definition at line 5825 of file SdoDictionary.mh.

## ◆ VIRTCUSTOM_PAR_5

#define VIRTCUSTOM_PAR_5 5

Custom parameters.

Initial Value
  0

Definition at line 5832 of file SdoDictionary.mh.

## ◆ VIRTCUSTOM_PAR_6

#define VIRTCUSTOM_PAR_6 6

Custom parameters.

Initial Value
  0

Definition at line 5839 of file SdoDictionary.mh.

## ◆ VIRTCUSTOM_PAR_7

#define VIRTCUSTOM_PAR_7 7

Custom parameters.

Initial Value
  0

Definition at line 5846 of file SdoDictionary.mh.

## ◆ VIRTCUSTOM_PAR_8

#define VIRTCUSTOM_PAR_8 8

Custom parameters.

Initial Value
  0

Definition at line 5853 of file SdoDictionary.mh.

## ◆ VIRTCUSTOM_PAR_9

#define VIRTCUSTOM_PAR_9 9

Custom parameters.

Initial Value
  0

Definition at line 5860 of file SdoDictionary.mh.

## ◆ VIRTCUSTOM_PARAM

#define VIRTCUSTOM_PARAM | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[VIRTCUSTOM_PARAM_INDEX((modno),(parno))]

Virtual Customer Module Parameters: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 5793 of file SdoDictionary.mh.

## ◆ VIRTCUSTOM_PARAM_INDEX

#define VIRTCUSTOM_PARAM_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_VIRTCUSTOM_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Customer Module Parameters: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 5781 of file SdoDictionary.mh.

## ◆ VIRTCUSTOM_PARAM_MAX

#define VIRTCUSTOM_PARAM_MAX 20

Virtual Customer Module Parameters: Maximum number of parameters.

Definition at line 5797 of file SdoDictionary.mh.

## ◆ VIRTCUSTOM_PARAM_SRCINDEX

#define VIRTCUSTOM_PARAM_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_VIRTCUSTOM_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Customer Module Parameters: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 5787 of file SdoDictionary.mh.

## ◆ VIRTCUSTOM_PISRC_1

#define VIRTCUSTOM_PISRC_1 10

Custom sources.

Initial Value
  0

Definition at line 5867 of file SdoDictionary.mh.

## ◆ VIRTCUSTOM_PISRC_10

#define VIRTCUSTOM_PISRC_10 19

Custom sources.

Initial Value
  0

Definition at line 5930 of file SdoDictionary.mh.

## ◆ VIRTCUSTOM_PISRC_2

#define VIRTCUSTOM_PISRC_2 11

Custom sources.

Initial Value
  0

Definition at line 5874 of file SdoDictionary.mh.

## ◆ VIRTCUSTOM_PISRC_3

#define VIRTCUSTOM_PISRC_3 12

Custom sources.

Initial Value
  0

Definition at line 5881 of file SdoDictionary.mh.

## ◆ VIRTCUSTOM_PISRC_4

#define VIRTCUSTOM_PISRC_4 13

Custom sources.

Initial Value
  0

Definition at line 5888 of file SdoDictionary.mh.

## ◆ VIRTCUSTOM_PISRC_5

#define VIRTCUSTOM_PISRC_5 14

Custom sources.

Initial Value
  0

Definition at line 5895 of file SdoDictionary.mh.

## ◆ VIRTCUSTOM_PISRC_6

#define VIRTCUSTOM_PISRC_6 15

Custom sources.

Initial Value
  0

Definition at line 5902 of file SdoDictionary.mh.

## ◆ VIRTCUSTOM_PISRC_7

#define VIRTCUSTOM_PISRC_7 16

Custom sources.

Initial Value
  0

Definition at line 5909 of file SdoDictionary.mh.

## ◆ VIRTCUSTOM_PISRC_8

#define VIRTCUSTOM_PISRC_8 17

Custom sources.

Initial Value
  0

Definition at line 5916 of file SdoDictionary.mh.

## ◆ VIRTCUSTOM_PISRC_9

#define VIRTCUSTOM_PISRC_9 18

Custom sources.

Initial Value
  0

Definition at line 5923 of file SdoDictionary.mh.

## ◆ VIRTCUSTOM_PROCESS

#define VIRTCUSTOM_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[VIRTCUSTOM_PROCESS_INDEX((modno),(parno))]

Virtual Customer Module Process Data: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 6790 of file SdoDictionary.mh.

## ◆ VIRTCUSTOM_PROCESS_INDEX

#define VIRTCUSTOM_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_VIRTCUSTOM_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Customer Module Process Data: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 6778 of file SdoDictionary.mh.

## ◆ VIRTCUSTOM_PROCESS_MAX

#define VIRTCUSTOM_PROCESS_MAX 21

Virtual Customer Module Process Data: Maximum number of parameters.

Definition at line 6794 of file SdoDictionary.mh.

## ◆ VIRTCUSTOM_PROCESS_SRCINDEX

#define VIRTCUSTOM_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_VIRTCUSTOM_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Customer Module Process Data: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 6784 of file SdoDictionary.mh.

## ◆ VIRTDIGIN_PARAM

#define VIRTDIGIN_PARAM | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[VIRTDIGIN_PARAM_INDEX((modno),(parno))]

Virtual Digital Input Parameters: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 5607 of file SdoDictionary.mh.

## ◆ VIRTDIGIN_PARAM_INDEX

#define VIRTDIGIN_PARAM_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_VIRTDIGIN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Digital Input Parameters: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 5595 of file SdoDictionary.mh.

## ◆ VIRTDIGIN_PARAM_MAX

#define VIRTDIGIN_PARAM_MAX 14

Virtual Digital Input Parameters: Maximum number of parameters.

Definition at line 5611 of file SdoDictionary.mh.

## ◆ VIRTDIGIN_PARAM_SRCINDEX

#define VIRTDIGIN_PARAM_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_VIRTDIGIN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Digital Input Parameters: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 5601 of file SdoDictionary.mh.

## ◆ VIRTDIGIN_PISRC_MAP1

#define VIRTDIGIN_PISRC_MAP1 10

First Mapping entry for outputs (like CanOpen)

0xiiiiSSLL iiii: Index SS: Subindex LL: Length in bytes

Initial Value
  PO_HWDIGIN_VALLONG/4

Definition at line 5622 of file SdoDictionary.mh.

## ◆ VIRTDIGIN_PISRC_MAP2

#define VIRTDIGIN_PISRC_MAP2 11

Second Mapping entry for outputs.

Initial Value
  0

Definition at line 5629 of file SdoDictionary.mh.

## ◆ VIRTDIGIN_PISRC_MAP3

#define VIRTDIGIN_PISRC_MAP3 12

Third Mapping entry for outputs.

Initial Value
  0

Definition at line 5636 of file SdoDictionary.mh.

## ◆ VIRTDIGIN_PISRC_MAP4

#define VIRTDIGIN_PISRC_MAP4 13

Fourth Mapping entry for outputs.

Initial Value
  0

Definition at line 5643 of file SdoDictionary.mh.

## ◆ VIRTDIGIN_PROCESS

#define VIRTDIGIN_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[VIRTDIGIN_PROCESS_INDEX((modno),(parno))]

Virtual Digital Input Process Data: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 6525 of file SdoDictionary.mh.

## ◆ VIRTDIGIN_PROCESS_INDEX

#define VIRTDIGIN_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_VIRTDIGIN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Digital Input Process Data: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 6513 of file SdoDictionary.mh.

## ◆ VIRTDIGIN_PROCESS_MAX

#define VIRTDIGIN_PROCESS_MAX 8

Virtual Digital Input Process Data: Maximum number of parameters.

Definition at line 6529 of file SdoDictionary.mh.

## ◆ VIRTDIGIN_PROCESS_SRCINDEX

#define VIRTDIGIN_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_VIRTDIGIN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Digital Input Process Data: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 6519 of file SdoDictionary.mh.

## ◆ VIRTDIGOUT_PARAM

#define VIRTDIGOUT_PARAM | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[VIRTDIGOUT_PARAM_INDEX((modno),(parno))]

Virtual Digital Output Parameters: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 5670 of file SdoDictionary.mh.

## ◆ VIRTDIGOUT_PARAM_INDEX

#define VIRTDIGOUT_PARAM_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_VIRTDIGOUT_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Digital Output Parameters: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 5658 of file SdoDictionary.mh.

## ◆ VIRTDIGOUT_PARAM_MAX

#define VIRTDIGOUT_PARAM_MAX 2

Virtual Digital Output Parameters: Maximum number of parameters.

Definition at line 5674 of file SdoDictionary.mh.

## ◆ VIRTDIGOUT_PARAM_SRCINDEX

#define VIRTDIGOUT_PARAM_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_VIRTDIGOUT_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Digital Output Parameters: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 5664 of file SdoDictionary.mh.

## ◆ VIRTDIGOUT_PROCESS

#define VIRTDIGOUT_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[VIRTDIGOUT_PROCESS_INDEX((modno),(parno))]

Virtual Digital Output Process Data: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 6598 of file SdoDictionary.mh.

## ◆ VIRTDIGOUT_PROCESS_INDEX

#define VIRTDIGOUT_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_VIRTDIGOUT_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Digital Output Process Data: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 6586 of file SdoDictionary.mh.

## ◆ VIRTDIGOUT_PROCESS_MAX

#define VIRTDIGOUT_PROCESS_MAX 8

Virtual Digital Output Process Data: Maximum number of parameters.

Definition at line 6602 of file SdoDictionary.mh.

## ◆ VIRTDIGOUT_PROCESS_SRCINDEX

#define VIRTDIGOUT_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_VIRTDIGOUT_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Digital Output Process Data: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 6592 of file SdoDictionary.mh.

## ◆ VIRTLATCH_CNTW_ACTIVE

#define VIRTLATCH_CNTW_ACTIVE 31

Control Word Active Command.

This value will be written to PO_VIRTLATCH_CMDWORD when the module is ready to process a new latch.

Initial Value
  0

Definition at line 5217 of file SdoDictionary.mh.

## ◆ VIRTLATCH_CNTW_CLEAR

#define VIRTLATCH_CNTW_CLEAR 30

Control Word Clear Command.

This value will be written to PO_VIRTLATCH_CMDWORD when a latch shall be acknowledged (i.e. cleared).

Initial Value
  1

Definition at line 5209 of file SdoDictionary.mh.

## ◆ VIRTLATCH_LATCHVALID_BITMASK

#define VIRTLATCH_LATCHVALID_BITMASK 5

Latchvalid Bitmask.

The result from VIRTLATCH_PISRC_LATCHVALID will be ANDed with this bitmask to decide if a latch should be accepted.

Initial Value
  0

Definition at line 5138 of file SdoDictionary.mh.

## ◆ VIRTLATCH_MODE

#define VIRTLATCH_MODE 1

Latch mode.

Initial Value
  0

Definition at line 5122 of file SdoDictionary.mh.

## ◆ VIRTLATCH_MODE_16BIT

#define VIRTLATCH_MODE_16BIT 3

Definition at line 5253 of file SdoDictionary.mh.

## ◆ VIRTLATCH_MODE_DIRECT

#define VIRTLATCH_MODE_DIRECT 4

Definition at line 5254 of file SdoDictionary.mh.

## ◆ VIRTLATCH_MODE_HARDWARE

#define VIRTLATCH_MODE_HARDWARE 0

Definition at line 5250 of file SdoDictionary.mh.

## ◆ VIRTLATCH_MODE_SIMULATOR

#define VIRTLATCH_MODE_SIMULATOR 2

Definition at line 5252 of file SdoDictionary.mh.

## ◆ VIRTLATCH_MODE_SOFTWARE

#define VIRTLATCH_MODE_SOFTWARE 1

Definition at line 5251 of file SdoDictionary.mh.

## ◆ VIRTLATCH_OFFSET

#define VIRTLATCH_OFFSET 34

Offset which is added to latch value.

Initial Value
  0

Definition at line 5232 of file SdoDictionary.mh.

## ◆ VIRTLATCH_PARAM

#define VIRTLATCH_PARAM | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[VIRTLATCH_PARAM_INDEX((modno),(parno))]

Virtual Latch Inputs Parameters: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 5111 of file SdoDictionary.mh.

## ◆ VIRTLATCH_PARAM_INDEX

#define VIRTLATCH_PARAM_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_VIRTLATCH_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Latch Inputs Parameters: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 5099 of file SdoDictionary.mh.

## ◆ VIRTLATCH_PARAM_MAX

#define VIRTLATCH_PARAM_MAX 37

Virtual Latch Inputs Parameters: Maximum number of parameters.

Definition at line 5115 of file SdoDictionary.mh.

## ◆ VIRTLATCH_PARAM_SRCINDEX

#define VIRTLATCH_PARAM_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_VIRTLATCH_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Latch Inputs Parameters: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 5105 of file SdoDictionary.mh.

## ◆ VIRTLATCH_PISRC_COUNTER

#define VIRTLATCH_PISRC_COUNTER 10

Index/subindex of counter source (attached)

This is typically the virtual counter, which should be the reference for the latch value.
So when the latch is observed, the difference between latchcounter and latchvalue is applied to this counter to receive the latch value which then written to PO_VIRTLATCH_ COUNTER.

Initial Value
  PO_VIRTCNTIN_VALUE+n

Definition at line 5147 of file SdoDictionary.mh.

## ◆ VIRTLATCH_PISRC_LATCH

#define VIRTLATCH_PISRC_LATCH 12

Index/subindex of latch source.

This is the latch value that is reported.
By default this is the latch value from the HW_LATCH module (PO_HWLATCH_VALUE).

Initial Value
  PO_HWLATCH_VALUE+n

Definition at line 5165 of file SdoDictionary.mh.

## ◆ VIRTLATCH_PISRC_LATCHCNT

#define VIRTLATCH_PISRC_LATCHCNT 11

Index/subindex of the counter at which the latch module is looking.

This is the source for the Counter which is the reference for the Latch Value.
Typically this is the connected HW_COUNTINC modules counter value (PO_HWCNTINC_VALUE).

Initial Value
  PO_HWCNTINC_VALUE+n

Definition at line 5156 of file SdoDictionary.mh.

## ◆ VIRTLATCH_PISRC_LATCHFIFO_AMOUNT

#define VIRTLATCH_PISRC_LATCHFIFO_AMOUNT 15

Index/subindex of LatchFifo information (amount)

Only necessary for special fast-triggering systems. Amount gives the information how many latch values were stored since last read.

Initial Value
  PO_HWLATCH_AMOUNT_IN_FIFO+n

Definition at line 5192 of file SdoDictionary.mh.

## ◆ VIRTLATCH_PISRC_LATCHFIFO_READ

#define VIRTLATCH_PISRC_LATCHFIFO_READ 16

Index/subindex of Latchfifo informtaion (read register)

Only necessary for special fast-triggering systems. This is the source to read latch values from the HW modules FIFO.

Initial Value
  PO_HWLATCH_FIFOREAD+n

Definition at line 5201 of file SdoDictionary.mh.

## ◆ VIRTLATCH_PISRC_LATCHSTAT

#define VIRTLATCH_PISRC_LATCHSTAT 13

Index/subindex of latch status source.

Source for latch status. Only active if VIRTLACHT_MODE is equal to 0 or 3. If != 0, the value from this source will be ANDed with the parameter VIRTLATCH_STAT_HIT. If the result is equal to VIRTLATCH_STAT_HIT, then a marker is detected. If == 0, the value from source VIRTLATCH_PISRC_LATCH will be monitored. If it changes, a new marker will be detected.

Initial Value
  PO_HWLATCH_FLAG+n

Definition at line 5175 of file SdoDictionary.mh.

## ◆ VIRTLATCH_PISRC_LATCHVALID

#define VIRTLATCH_PISRC_LATCHVALID 14

Index / Subindex of latch valid information.

The value from this source will be ANDed with VIRTLATCH_LATCHVALID_BITMASK to decide if a latch shall be accepted.

Initial Value
  0

Definition at line 5183 of file SdoDictionary.mh.

## ◆ VIRTLATCH_PROCESS

#define VIRTLATCH_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[VIRTLATCH_PROCESS_INDEX((modno),(parno))]

Virtual Latch Inputs Process Data: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 6292 of file SdoDictionary.mh.

## ◆ VIRTLATCH_PROCESS_INDEX

#define VIRTLATCH_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_VIRTLATCH_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Latch Inputs Process Data: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 6280 of file SdoDictionary.mh.

## ◆ VIRTLATCH_PROCESS_MAX

#define VIRTLATCH_PROCESS_MAX 16

Virtual Latch Inputs Process Data: Maximum number of parameters.

Definition at line 6296 of file SdoDictionary.mh.

## ◆ VIRTLATCH_PROCESS_SRCINDEX

#define VIRTLATCH_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_VIRTLATCH_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Latch Inputs Process Data: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 6286 of file SdoDictionary.mh.

## ◆ VIRTLATCH_SIM_ZDIST

#define VIRTLATCH_SIM_ZDIST 4

Distance of latch values in simulator mode.

See VIRTLACH_MODE value VIRTLATCH_MODE_SIMULATOR.

Initial Value
  0

Definition at line 5130 of file SdoDictionary.mh.

## ◆ VIRTLATCH_STAT_HIT

#define VIRTLATCH_STAT_HIT 33

Value which signals that latch happened.

The value from VIRTLATCH_PISRC_LATCHSTAT will be ANDed with this value. If all bits are set, a new latch is detected.

Initial Value
  1

Definition at line 5225 of file SdoDictionary.mh.

## ◆ VIRTLATCH_UUFACT_INCNO

#define VIRTLATCH_UUFACT_INCNO 36

Conversion Factor - number of increments.

Initial Value
  1

Definition at line 5246 of file SdoDictionary.mh.

## ◆ VIRTLATCH_UUFACT_UNITNO

#define VIRTLATCH_UUFACT_UNITNO 35

Conversion Factor - number of user units.

Initial Value
  1

Definition at line 5239 of file SdoDictionary.mh.

## ◆ VIRTMAST_ACC

#define VIRTMAST_ACC 31

Acceleration to reach target velocity.

Only valid for VIRTMAST_MODE == VIRTMAST_MODE_PROFILE (3) The master will ramp up using VIRTMAST_ACC until VIRTMAST_VEL is reached.

Initial Value
  0

Units
  inc/ms²

Definition at line 4924 of file SdoDictionary.mh.

## ◆ VIRTMAST_DEC

#define VIRTMAST_DEC 32

Deceleration to reach target velocity.

Only valid for VIRTMAST_MODE == VIRTMAST_MODE_PROFILE (3) The master will ramp down using VIRTMAST_DEC until VIRTMAST_VEL is reached.

Initial Value
  0

Units
  inc/ms²

Definition at line 4935 of file SdoDictionary.mh.

## ◆ VIRTMAST_MODE

#define VIRTMAST_MODE 1

Enable / Disable / mode.

Initial Value
  0

Definition at line 4879 of file SdoDictionary.mh.

## ◆ VIRTMAST_MODE_DISABLED

#define VIRTMAST_MODE_DISABLED 0

Examples
  VirtualMaster_ProfileMode.mc.

Definition at line 4957 of file SdoDictionary.mh.

## ◆ VIRTMAST_MODE_PROFILE

#define VIRTMAST_MODE_PROFILE 3

Examples
  VirtualMaster_ProfileMode.mc.

Definition at line 4959 of file SdoDictionary.mh.

## ◆ VIRTMAST_MODE_VELOCITY

#define VIRTMAST_MODE_VELOCITY 1

Definition at line 4958 of file SdoDictionary.mh.

## ◆ VIRTMAST_PARAM

#define VIRTMAST_PARAM | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[VIRTMAST_PARAM_INDEX((modno),(parno))]

Virtual Master Parameters: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 4868 of file SdoDictionary.mh.

## ◆ VIRTMAST_PARAM_INDEX

#define VIRTMAST_PARAM_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_VIRTMAST_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Master Parameters: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 4856 of file SdoDictionary.mh.

## ◆ VIRTMAST_PARAM_MAX

#define VIRTMAST_PARAM_MAX 36

Virtual Master Parameters: Maximum number of parameters.

Definition at line 4872 of file SdoDictionary.mh.

## ◆ VIRTMAST_PARAM_SRCINDEX

#define VIRTMAST_PARAM_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_VIRTMAST_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Master Parameters: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 4862 of file SdoDictionary.mh.

## ◆ VIRTMAST_PISRC_CMDVEL

#define VIRTMAST_PISRC_CMDVEL 11

Index and subindex of the command velocity.

Only valid for VIRTMAST_MODE == VIRTMAST_MODE_VELOCITY (1) This parameter defines a link between the virtual master and a velocity source. If the source is taken from PFG_VCMDSIGNED_USERSCALED which is in qc/ms, then VIRTMAST_UUFACT_UNITNO should be set to 4, to scale the value to the necessary increments

Initial Value
  0

Value Range
  0-0xFFFFFE

Definition at line 4902 of file SdoDictionary.mh.

## ◆ VIRTMAST_PISRC_CMDWORD

#define VIRTMAST_PISRC_CMDWORD 10

Link to the command word of an axis.

Only valid for VIRTMAST_MODE == VIRTMAST_MODE_VELOCITY (1) This parameter defines a link between the virtual master and the command word of an axis. If the linked axis is in idle state, the velocity will be forced to 0.

Initial Value
  0

Value Range
  0-0xFFFFFE

Definition at line 4890 of file SdoDictionary.mh.

## ◆ VIRTMAST_PROCESS

#define VIRTMAST_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[VIRTMAST_PROCESS_INDEX((modno),(parno))]

Virtual Master Process Data: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 6119 of file SdoDictionary.mh.

## ◆ VIRTMAST_PROCESS_INDEX

#define VIRTMAST_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_VIRTMAST_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Master Process Data: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Examples
  SetupSignalGeneratorAxis.mc, and SetupSignalGeneratorOpenloop.mc.

Definition at line 6107 of file SdoDictionary.mh.

## ◆ VIRTMAST_PROCESS_MAX

#define VIRTMAST_PROCESS_MAX 7

Virtual Master Process Data: Maximum number of parameters.

Definition at line 6123 of file SdoDictionary.mh.

## ◆ VIRTMAST_PROCESS_SRCINDEX

#define VIRTMAST_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_VIRTMAST_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Master Process Data: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 6113 of file SdoDictionary.mh.

## ◆ VIRTMAST_UUFACT_INCNO

#define VIRTMAST_UUFACT_INCNO 35

Conversion factor uu to 1/1000 Hz, number of increments.

This factor is used to scaled the input value to 1/1000Hz. It applies to both when the velocity comes from VIRTMAST_PISRC_CMDVEL or from VIRTMAST_VEL.

Initial Value
  1

Definition at line 4953 of file SdoDictionary.mh.

## ◆ VIRTMAST_UUFACT_UNITNO

#define VIRTMAST_UUFACT_UNITNO 34

Conversion factor uu to 1/1000 Hz, number of user units.

This factor is used to scaled the input value to 1/1000Hz. It applies to both when the velocity comes from VIRTMAST_PISRC_CMDVEL or from VIRTMAST_VEL.

Initial Value
  1

Definition at line 4944 of file SdoDictionary.mh.

## ◆ VIRTMAST_VEL

#define VIRTMAST_VEL 30

Target velocity.

Only valid for VIRTMAST_MODE == VIRTMAST_MODE_PROFILE (3) This is the target velocity of the virtual master. The master will ramp up or down to this velocity using VIRTMAST_ACC/DEC until this velocity is achieved.

Initial Value
  0

Units
  inc/ms

Definition at line 4913 of file SdoDictionary.mh.

## ◆ VIRTMATH_HIGH_LIMIT

#define VIRTMATH_HIGH_LIMIT 4

Output high limit.

Initial Value
  0x7FFFFFFF

Definition at line 5999 of file SdoDictionary.mh.

## ◆ VIRTMATH_INVERT

#define VIRTMATH_INVERT 2

Inverts inputs and outputs.

Invert inputs Bit 0 inverts PISRC_1 Bit 1 inverts PISRC_2 Bit 2 inverts PISRC_3 Bit 3 inverts PISRC_4

Invert outputs Bit 16 inverts POSRC_1 Bit 17 inverts POSRC_2

Initial Value
  0

Definition at line 5985 of file SdoDictionary.mh.

## ◆ VIRTMATH_LOW_LIMIT

#define VIRTMATH_LOW_LIMIT 3

Output low limit.

Initial Value
  0x80000000

Definition at line 5992 of file SdoDictionary.mh.

## ◆ VIRTMATH_MODE

#define VIRTMATH_MODE 1

Mode of the module.

Divisions by 0 lead to a maximum output, but are valid. When the mode is changed, the output and internal auxiliary variables are reset.

Initial Value
  0

Definition at line 5969 of file SdoDictionary.mh.

## ◆ VIRTMATH_MODE_ADD

#define VIRTMATH_MODE_ADD 1

Definition at line 6080 of file SdoDictionary.mh.

## ◆ VIRTMATH_MODE_BASED_1

#define VIRTMATH_MODE_BASED_1 30

Mode based configuration 1 - 4.

Initial Value
  0

Definition at line 6054 of file SdoDictionary.mh.

## ◆ VIRTMATH_MODE_BASED_2

#define VIRTMATH_MODE_BASED_2 31

Mode based configuration 1 - 4.

Initial Value
  0

Definition at line 6061 of file SdoDictionary.mh.

## ◆ VIRTMATH_MODE_BASED_3

#define VIRTMATH_MODE_BASED_3 32

Mode based configuration 1 - 4.

Initial Value
  0

Definition at line 6068 of file SdoDictionary.mh.

## ◆ VIRTMATH_MODE_BASED_4

#define VIRTMATH_MODE_BASED_4 33

Mode based configuration 1 - 4.

Initial Value
  0

Definition at line 6075 of file SdoDictionary.mh.

## ◆ VIRTMATH_MODE_COS

#define VIRTMATH_MODE_COS 13

Definition at line 6085 of file SdoDictionary.mh.

## ◆ VIRTMATH_MODE_COSW

#define VIRTMATH_MODE_COSW 11

Definition at line 6083 of file SdoDictionary.mh.

## ◆ VIRTMATH_MODE_GAIN

#define VIRTMATH_MODE_GAIN 2

Definition at line 6081 of file SdoDictionary.mh.

## ◆ VIRTMATH_MODE_LP1_FILTER

#define VIRTMATH_MODE_LP1_FILTER 20

Definition at line 6086 of file SdoDictionary.mh.

## ◆ VIRTMATH_MODE_OFF

#define VIRTMATH_MODE_OFF 0

Definition at line 6079 of file SdoDictionary.mh.

## ◆ VIRTMATH_MODE_PID

#define VIRTMATH_MODE_PID 30

Definition at line 6087 of file SdoDictionary.mh.

## ◆ VIRTMATH_MODE_PID_DIFF_VALUE

#define VIRTMATH_MODE_PID_DIFF_VALUE 4

Definition at line 6962 of file SdoDictionary.mh.

## ◆ VIRTMATH_MODE_PID_INT_SUM

#define VIRTMATH_MODE_PID_INT_SUM 6

Definition at line 6964 of file SdoDictionary.mh.

## ◆ VIRTMATH_MODE_PID_INT_VALUE

#define VIRTMATH_MODE_PID_INT_VALUE 3

Definition at line 6961 of file SdoDictionary.mh.

## ◆ VIRTMATH_MODE_PID_KD

#define VIRTMATH_MODE_PID_KD 32

Definition at line 6092 of file SdoDictionary.mh.

## ◆ VIRTMATH_MODE_PID_KI

#define VIRTMATH_MODE_PID_KI 31

Definition at line 6091 of file SdoDictionary.mh.

## ◆ VIRTMATH_MODE_PID_KILIM

#define VIRTMATH_MODE_PID_KILIM 33

Definition at line 6093 of file SdoDictionary.mh.

## ◆ VIRTMATH_MODE_PID_KP

#define VIRTMATH_MODE_PID_KP 30

Definition at line 6090 of file SdoDictionary.mh.

## ◆ VIRTMATH_MODE_PID_PREV_ERROR

#define VIRTMATH_MODE_PID_PREV_ERROR 5

Definition at line 6963 of file SdoDictionary.mh.

## ◆ VIRTMATH_MODE_PID_PROP_VALUE

#define VIRTMATH_MODE_PID_PROP_VALUE 2

Definition at line 6960 of file SdoDictionary.mh.

## ◆ VIRTMATH_MODE_SIN

#define VIRTMATH_MODE_SIN 12

Definition at line 6084 of file SdoDictionary.mh.

## ◆ VIRTMATH_MODE_SINW

#define VIRTMATH_MODE_SINW 10

Definition at line 6082 of file SdoDictionary.mh.

## ◆ VIRTMATH_PARAM

#define VIRTMATH_PARAM | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[VIRTMATH_PARAM_INDEX((modno),(parno))]

Virtual Math Module Parameters: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 5957 of file SdoDictionary.mh.

## ◆ VIRTMATH_PARAM_INDEX

#define VIRTMATH_PARAM_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_VIRTMATH_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Math Module Parameters: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 5945 of file SdoDictionary.mh.

## ◆ VIRTMATH_PARAM_MAX

#define VIRTMATH_PARAM_MAX 34

Virtual Math Module Parameters: Maximum number of parameters.

Definition at line 5961 of file SdoDictionary.mh.

## ◆ VIRTMATH_PARAM_SRCINDEX

#define VIRTMATH_PARAM_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_VIRTMATH_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Math Module Parameters: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 5951 of file SdoDictionary.mh.

## ◆ VIRTMATH_PISRC_1

#define VIRTMATH_PISRC_1 10

Sources 1-4.

Links Input1-4 Sources. If VIRTMATH_PROCESS_SRCINDEX(xx,PO_VIRTMATH_VALUE) is specified as sources, the calculation is continued internally with float values. If 0 is specified, a default value is assumed (e.g. A/B: A=1, B=1).

Initial Value
  0

Definition at line 6007 of file SdoDictionary.mh.

## ◆ VIRTMATH_PISRC_2

#define VIRTMATH_PISRC_2 11

Sources 1-4.

Links Input1-4 Sources. If VIRTMATH_PROCESS_SRCINDEX(xx,PO_VIRTMATH_VALUE) is specified as sources, the calculation is continued internally with float values. If 0 is specified, a default value is assumed (e.g. A/B: A=1, B=1).

Initial Value
  0

Definition at line 6015 of file SdoDictionary.mh.

## ◆ VIRTMATH_PISRC_3

#define VIRTMATH_PISRC_3 12

Sources 1-4.

Links Input1-4 Sources. If VIRTMATH_PROCESS_SRCINDEX(xx,PO_VIRTMATH_VALUE) is specified as sources, the calculation is continued internally with float values. If 0 is specified, a default value is assumed (e.g. A/B: A=1, B=1).

Initial Value
  0

Definition at line 6023 of file SdoDictionary.mh.

## ◆ VIRTMATH_PISRC_4

#define VIRTMATH_PISRC_4 13

Sources 1-4.

Links Input1-4 Sources. If VIRTMATH_PROCESS_SRCINDEX(xx,PO_VIRTMATH_VALUE) is specified as sources, the calculation is continued internally with float values. If 0 is specified, a default value is assumed (e.g. A/B: A=1, B=1).

Initial Value
  0

Definition at line 6031 of file SdoDictionary.mh.

## ◆ VIRTMATH_POSRC_1

#define VIRTMATH_POSRC_1 20

Output source 1-2.

The result of the virtual maths modul PO_VIRTMATH_VALUE is written to this source.

Initial Value
  0

Definition at line 6039 of file SdoDictionary.mh.

## ◆ VIRTMATH_POSRC_2

#define VIRTMATH_POSRC_2 21

Output source 1-2.

The result of the virtual maths modul PO_VIRTMATH_VALUE is written to this source.

Initial Value
  0

Definition at line 6047 of file SdoDictionary.mh.

## ◆ VIRTMATH_PROCESS

#define VIRTMATH_PROCESS | ( |  | modno,
|  |  | parno
| ) |  | Sysvar[VIRTMATH_PROCESS_INDEX((modno),(parno))]

Virtual Math Module Process Data: Setter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 6921 of file SdoDictionary.mh.

## ◆ VIRTMATH_PROCESS_INDEX

#define VIRTMATH_PROCESS_INDEX | ( |  | modno,
|  |  | parno
| ) |  | ((0x01000000 | (SDOINDEX_VIRTMATH_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Math Module Process Data: Getter.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 6909 of file SdoDictionary.mh.

## ◆ VIRTMATH_PROCESS_MAX

#define VIRTMATH_PROCESS_MAX 7

Virtual Math Module Process Data: Maximum number of parameters.

Definition at line 6925 of file SdoDictionary.mh.

## ◆ VIRTMATH_PROCESS_SRCINDEX

#define VIRTMATH_PROCESS_SRCINDEX | ( |  | modno,
|  |  | parno
| ) |  | ((SDOINDEX_VIRTMATH_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Math Module Process Data: Source Index.

Parameters

  modno | Module number
  parno | Parameter number

Definition at line 6915 of file SdoDictionary.mh.

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