| ApossC SDK V01.15

SDK_Amplifier_MiniMACS6_DS402_Slave.mh
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1
8 #pragma once
9
10 // Declaration of the functions
11 long sdkMiniMACS6_SetupCanBusModule(long axis, long busId, long pdoNumber, long operationMode);
12 long sdkMiniMACS6_SetupCanVirtAmp(long axis, long maxRpm, long operationMode);
13 long sdkMiniMACS6_SetupCanVirtCntin(long axis, long operationMode);
14 long sdkMiniMACS6_SetupCanSdoParam(long busId, long pdonumber, long slaveAxisNo, long operationMode);
15
16 long sdkMiniMACS6_AxisHomingStart(long axis, long busId, long operationMode, long &homingState);
17
18
21 #define MINIMACS6_RECEIVE_PDO_1_PARAMETER 0x1400
22 #define MINIMACS6_RECEIVE_PDO_2_PARAMETER 0x1401
23 #define MINIMACS6_RECEIVE_PDO_3_PARAMETER 0x1402
24 #define MINIMACS6_RECEIVE_PDO_4_PARAMETER 0x1403
25 #define MINIMACS6_RECEIVE_PDO_1_MAPPING 0x1600
26 #define MINIMACS6_RECEIVE_PDO_2_MAPPING 0x1601
27 #define MINIMACS6_RECEIVE_PDO_3_MAPPING 0x1602
28 #define MINIMACS6_RECEIVE_PDO_4_MAPPING 0x1603
29 #define MINIMACS6_TRANSMIT_PDO_1_PARAMETER 0x1800
30 #define MINIMACS6_TRANSMIT_PDO_2_PARAMETER 0x1801
31 #define MINIMACS6_TRANSMIT_PDO_3_PARAMETER 0x1802
32 #define MINIMACS6_TRANSMIT_PDO_4_PARAMETER 0x1803
33 #define MINIMACS6_TRANSMIT_PDO_1_MAPPING 0x1A00
34 #define MINIMACS6_TRANSMIT_PDO_2_MAPPING 0x1A01
35 #define MINIMACS6_TRANSMIT_PDO_3_MAPPING 0x1A02
36 #define MINIMACS6_TRANSMIT_PDO_4_MAPPING 0x1A03
37 #define MINIMACS6_SYNC_MANAGER_2_PDO_ASSIGNMENT 0
38 #define MINIMACS6_SYNC_MANAGER_3_PDO_ASSIGNMENT 0
39 #define MINIMACS6_CONTROLWORD 0x6040
40 #define MINIMACS6_STATUSWORD 0x6041
41 #define MINIMACS6_MODES_OF_OPERATION 0x6060
42 #define MINIMACS6_OP_PPM 0x01 // Profile Position Mode
43 #define MINIMACS6_OP_PVM 0x03 // Profile Velocity Mode
44 #define MINIMACS6_OP_HMM 0x06 // Homing Mode
45 #define MINIMACS6_OP_CSP 0x08 // Cyclic Synchronous Position Mode
46 #define MINIMACS6_OP_CSV 0x09 // Cyclic Synchronous Velocity Mode
47 #define MINIMACS6_OP_CST 0x0A // Cyclic Synchronous Torque Mode
48 #define MINIMACS6_MODES_OF_OPERATION_DISPLAY 0x6061
sdkMiniMACS6_SetupCanVirtCntin
long sdkMiniMACS6_SetupCanVirtCntin(long axis, long operationMode)
Setup the virtual counter input for an MiniMACS6 DS402 slave with Can bus.
Definition: SDK_Amplifier_MiniMACS6_DS402_Slave.mc:183
sdkMiniMACS6_SetupCanSdoParam
long sdkMiniMACS6_SetupCanSdoParam(long busId, long pdonumber, long slaveAxisNo, long operationMode)
Setup the Sdo parameter for an MiniMACS6 DS402 slave.
Definition: SDK_Amplifier_MiniMACS6_DS402_Slave.mc:230
sdkMiniMACS6_AxisHomingStart
long sdkMiniMACS6_AxisHomingStart(long axis, long busId, long operationMode, long &homingState)
State machine function for performing a homing on an MiniMACS6 DS402 slave.
Definition: SDK_Amplifier_MiniMACS6_DS402_Slave.mc:318
sdkMiniMACS6_SetupCanVirtAmp
long sdkMiniMACS6_SetupCanVirtAmp(long axis, long maxRpm, long operationMode)
Setup the virtual amplifier for an MiniMACS6 DS402 slave with Can bus.
Definition: SDK_Amplifier_MiniMACS6_DS402_Slave.mc:112
sdkMiniMACS6_SetupCanBusModule
long sdkMiniMACS6_SetupCanBusModule(long axis, long busId, long pdoNumber, long operationMode)
Setup the Can bus module for an MiniMACS6 DS402 slave.
Definition: SDK_Amplifier_MiniMACS6_DS402_Slave.mc:37

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