SDK_Amplifier_DS402_StateMachine.mh File Reference

Declaration of the DS402 StateMachineFunction. More...

Go to the source code of this file.

Macros
#define	DS402_DRIVE_STATE_NOT_READY_TO_SWITCH_ON   1
	Drive States and Transitions - CiA 402 State Machine. More...
#define	DS402_DRIVE_STATE_SWITCH_ON_DISABLED   2
#define	DS402_DRIVE_STATE_READY_TO_SWITCH_ON   3
#define	DS402_DRIVE_STATE_SWITCHED_ON   4
#define	DS402_DRIVE_STATE_OPERATION_ENABLED   5
#define	DS402_DRIVE_STATE_QUICK_STOP_ACTIVE   6
#define	DS402_DRIVE_STATE_FAULT_REACTION_ACTIVE   7
#define	DS402_DRIVE_STATE_FAULT   8
#define	DS402_TRANSITION_SHUTDOWN   1
#define	DS402_TRANSITION_SWITCH_ON   2
#define	DS402_TRANSITION_ENABLE_OPERATION   3
#define	DS402_TRANSITION_DISABLE_VOLTAGE   4
#define	DS402_TRANSITION_DISABLE_OPERATION   5
#define	DS402_TRANSITION_QUICK_STOP   6
#define	DS402_TRANSITION_FAULT_RESET   7
#define	DS402_ABORT_CONNECTION_OPTION_CODE   0x6007
	OBJECT DICTIONARY - CiA 402. More...
#define	DS402_ERROR_CODE   0x603F
#define	DS402_CONTROLWORD   0x6040
#define	DS402_CW_BIT_SWITCH_ON   0
#define	DS402_CW_BIT_ENABLE_VOLTAGE   1
#define	DS402_CW_BIT_QUICK_STOP   2
#define	DS402_CW_BIT_ENABLE_OPERATION   3
#define	DS402_CW_BIT_HALT   8
#define	DS402_CW_PPM_BIT_NEW_SETPOINT   4
#define	DS402_CW_PPM_BIT_CHANGE_IMMEDIATELY   5
#define	DS402_CW_PPM_BIT_RELATIVE_MOVEMENT   6
#define	DS402_CW_PPM_BIT_ENDLESS_MOVEMENT   15
#define	DS402_STATUSWORD   0x6041
#define	DS402_SW_BIT_READY_TO_SWITCH_ON   0
#define	DS402_SW_BIT_SWITCHED_ON   1
#define	DS402_SW_BIT_OPERATION_ENABLED   2
#define	DS402_SW_BIT_FAULT   3
#define	DS402_SW_BIT_VOLTAGE_ENABLED   4
#define	DS402_SW_BIT_QUICK_STOP   5
#define	DS402_SW_BIT_SWITCH_ON_DISABLED   6
#define	DS402_SW_BIT_WARNING   7
#define	DS402_SW_BIT_REMOTE   9
#define	DS402_SW_BIT_TARGET_REACHED   10
#define	DS402_SW_BIT_INTERNAL_LIMIT   11
#define	DS402_SW_PPM_BIT_SETPOINT_ACK   12
#define	DS402_SW_PPM_BIT_FOLLWING_ERROR   13
#define	DS402_SW_PVM_BIT_SPEED   12
#define	DS402_QUICK_STOP_OPTION_CODE   0x605A
#define	DS402_SHUTDOWN_OPTION_CODE   0x605B
#define	DS402_DISABLE_OPERATION_OPTION_CODE   0x605C
#define	DS402_FAULT_REACTION_OPTION_CODE   0x605E
#define	DS402_MODES_OF_OPERATION   0x6060
#define	DS402_OP_PPM   0x01
#define	DS402_OP_PVM   0x03
#define	DS402_MODES_OF_OPERATION_DISPLAY   0x6061
#define	DS402_POSITION_DEMAND_VALUE   0x6062
#define	DS402_POSITION_ACTUAL_VALUE   0x6064
#define	DS402_FOLLOWING_ERROR_WINDOW   0x6065
#define	DS402_FOLLOWING_ERROR_TIMEOUT   0x6066
#define	DS402_VELOCITY_DEMAND_VALUE   0x606B
#define	DS402_VELOCITY_ACTUAL_VALUE   0x606C
#define	DS402_TARGET_TORQUE   0x6071
#define	DS402_MOTOR_RATED_TORQUE   0x6076
#define	DS402_TORQUE_ACTUAL_VALUE   0x6077
#define	DS402_TARGET_POSITION   0x607A
#define	DS402_POSITION_RANGE_LIMIT   0x607B
#define	DS402_SOFTWARE_POSITION_LIMIT   0x607D
#define	DS402_MAX_PROFILE_VELOCITY   0x607F
#define	DS402_MAX_MOTOR_SPEED   0x6080
#define	DS402_PROFILE_VELOCITY   0x6081
#define	DS402_PROFILE_ACCELERATION   0x6083
#define	DS402_PROFILE_DECELERATION   0x6084
#define	DS402_QUICK_STOP_DECELERATION   0x6085
#define	DS402_MOTION_PROFILE_TYPE   0x6086
#define	DS402_HOMING_METHOD   0x6098
#define	DS402_HOMING_ACT_POSITION   37
#define	DS402_HOMING_IDX_P_SPEED   34
#define	DS402_HOMING_IDX_N_SPEED   33
#define	DS402_HOMING_SWITCH_P_SPEED   23
#define	DS402_HOMING_SWITCH_N_SPEED   27
#define	DS402_HOMING_LIMIT_P_SPEED   18
#define	DS402_HOMING_LIMIT_N_SPEED   17
#define	DS402_HOMING_SWITCH_IDX_P_SPEED   7
#define	DS402_HOMING_SWITCH_IDX_N_SPEED   11
#define	DS402_HOMING_LIMIT_IDX_P_SPEED   2
#define	DS402_HOMING_LIMIT_IDX_N_SPEED   1
#define	DS402_HOMING_CURRENT_IDX_P_SPEED   -1
#define	DS402_HOMING_CURRENT_IDX_N_SPEED   -2
#define	DS402_HOMING_CURRENT_P_SPEED   -3
#define	DS402_HOMING_CURRENT_N_SPEED   -4
#define	DS402_HOMING_SPEEDS   0x6099
#define	DS402_HOMING_ACCELERATION   0x609A
#define	DS402_SI_UNIT_POSITION   0x60A8
#define	DS402_SI_UNIT_VELOCITY   0x60A9
#define	DS402_SI_UNIT_ACCELERATION   0x60AA
#define	DS402_POSITION_OFFSET   0x60B0
#define	DS402_VELOCITY_OFFSET   0x60B1
#define	DS402_TORQUE_OFFSET   0x60B2
#define	DS402_TOUCH_PROBE_FUNCTION   0x60B8
#define	DS402_TOUCH_PROBE_STATUS   0x60B9
#define	DS402_TOUCH_PROBE_POSITION_1_POSITIVE_VALUE   0x60BA
#define	DS402_TOUCH_PROBE_POSITION_1_NEGATIVE_VALUE   0x60BB
#define	DS402_INTERPOLATION_TIME_PERIOD   0x60C2
#define	DS402_MAX_ACCELERATION   0x60C5
#define	DS402_TOUCH_PROBE_SOURCE   0x60D0
#define	DS402_TOUCH_PROBE_1_POSITIVE_EDGE_COUNTER   0x60D5
#define	DS402_TOUCH_PROBE_1_NEGATIVE_EDGE_COUNTER   0x60D6
#define	DS402_ADDITIONAL_POSITION_ACTUAL_VALUES   0x60E4
#define	DS402_ADDITIONAL_VELOCITY_ACTUAL_VALUES   0x60E5
#define	DS402_FOLLOWING_ERROR_ACTUAL_VALUE   0x60F4
#define	DS402_DIGITAL_INPUTS   0x60FD
#define	DS402_DIGITAL_OUTPUTS   0x60FE
#define	DS402_TARGET_VELOCITY   0x60FF
#define	DS402_MOTOR_TYPE   0x6402
#define	DS402_SUPPORTED_DRIVE_MODES   0x6502
#define	DS402_PPM_ABSOLUTE   0
#define	DS402_PPM_RELATIVE   1
#define	DS402_PPM_AFTER_ACTUAL_POSITIONING   0

Functions
long	sdkDS402_ReadStatusWord (long busId)
	Declaration of functions. More...
long	sdkDS402_ReadControlWord (long busId)
	Read control word. More...
void	sdkDS402_WriteControlWord (long busId, long value)
	Write control word. More...
long	sdkDS402_GetActDriveState (long busId)
	Get the actual drive state. More...
void	sdkDS402_PrintState (long state)
	Print the name of certain drive state. More...
long	helperDS402_ExecuteTransition (long busId, long transition)
	Execute a state transition. More...
long	sdkDS402_TransitionToState (long busId, long newState)
	Transition to another state. More...
long	sdkDS402_WaitTransitionToState (long busId, long targetState, long timeout)
	Wait transition to another state. More...
void	sdkDS402_SetProfileAcceleration (long busId, long acc)
	Profile Mode settings. More...
void	sdkDS402_SetProfileDeceleration (long busId, long dec)
	Set the profile deceleration DS402_PROFILE_DECELERATION(0x6084) More...
void	sdkDS402_SetProfileVelocity (long busId, long vel)
	Set the profile velocity DS402_PROFILE_VELOCITY(0x6081) More...
void	sdkDS402_SetMotionProfileType (long busId, long type)
	Set the motion profile type DS402_MOTION_PROFILE_TYPE(0x6086) More...
void	sdkDS402_SetMaxProfileVelocity (long busId, long vel)
	Set the max profile velocity DS402_MAX_PROFILE_VELOCITY(0x607F) More...
void	sdkDS402_SetMaxMotorSpeed (long busId, long vel)
	Set the max profile velocity DS402_MAX_MOTOR_SPEED(0x6080) More...
void	sdkDS402_SetMaxAcceleration (long busId, long acc)
	Set the max acceleration DS402_MAX_ACCELERATION(0x60C5) More...
void	sdkDS402_SetQuickStopDeceleration (long busId, long dec)
	Set quick stop deceleration DS402_QUICK_STOP_DECELERATION(0x6085) More...
void	sdkDS402_SetProfileMovementParameter (long busId, long acc, long dec, long velocity)
	Set quick stop deceleration DS402_QUICK_STOP_DECELERATION(0x6085) More...
void	sdkDS402_SetOpartionMode (long busId, long operationMode)
	Profile Mode functions. More...
long	sdkDS402_GetOpartionMode (long busId)
	Get the mode of operation DS402_MODES_OF_OPERATION(0x6060) More...
void	sdkDS402_QuickStop (long busId)
	Execute quick stop. More...
void	sdkDS402_Halt (long busId)
	Stop the motor. More...
void	sdkDS402_ResetFault (long busId)
	Reset fault. More...
void	sdkDS402_Print_StatusWord (long busId)
	Print the status word. More...
void	sdkDS402_Print_ControlWord (long busId)
	Print the control word. More...
long	helperDS402_PPM_PosStart (long busId, long pos, long relative, long startImmediately)
	Profile Position Mode functions. More...
long	sdkDS402_PPM_PosAbsStart (long busId, long pos, long startImmediately)
	Start absolute positioning. More...
long	sdkDS402_PPM_PosRelStart (long busId, long pos, long startImmediately)
	Start relative positioning. More...
long	sdkDS402_PPM_TargetReached (long busId)
	Checks whether the target was reached. More...
long	sdkDS402_PPM_WaitTargetReached (long busId, long timeout)
	Wait until target is reachd. More...
void	sdkDS402_PVM_SetTargetVelocity (long busId, long targetVelocity)
	Profile Velocity Mode functions. More...
long	sdkDS402_PVM_CvelStart (long busId)
	Start continuous velocity (PVM) More...
long	sdkDS402_PVM_CvelStop (long busId)
	Stop continuous velocity (PVM) More...
long	sdkDS402_PVM_TargetReached (long busId)
	Checks whether the target velocity has reached. More...
long	sdkDS402_PVM_WaitTargetReached (long busId, long timeout)
	Wait until target is reachd. More...

Detailed Description

Declaration of the DS402 StateMachineFunction.

Definition in file SDK_Amplifier_DS402_StateMachine.mh.

Macro Definition Documentation

DS402_ABORT_CONNECTION_OPTION_CODE

#define DS402_ABORT_CONNECTION_OPTION_CODE   0x6007

OBJECT DICTIONARY - CiA 402.

Definition at line 81 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_ADDITIONAL_POSITION_ACTUAL_VALUES

#define DS402_ADDITIONAL_POSITION_ACTUAL_VALUES   0x60E4

Definition at line 179 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_ADDITIONAL_VELOCITY_ACTUAL_VALUES

#define DS402_ADDITIONAL_VELOCITY_ACTUAL_VALUES   0x60E5

Definition at line 180 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_CONTROLWORD

#define DS402_CONTROLWORD   0x6040

Definition at line 83 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_CW_BIT_ENABLE_OPERATION

#define DS402_CW_BIT_ENABLE_OPERATION   3

Definition at line 87 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_CW_BIT_ENABLE_VOLTAGE

#define DS402_CW_BIT_ENABLE_VOLTAGE   1

Definition at line 85 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_CW_BIT_HALT

#define DS402_CW_BIT_HALT   8

Definition at line 88 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_CW_BIT_QUICK_STOP

#define DS402_CW_BIT_QUICK_STOP   2

Definition at line 86 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_CW_BIT_SWITCH_ON

#define DS402_CW_BIT_SWITCH_ON   0

Definition at line 84 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_CW_PPM_BIT_CHANGE_IMMEDIATELY

#define DS402_CW_PPM_BIT_CHANGE_IMMEDIATELY   5

Definition at line 92 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_CW_PPM_BIT_ENDLESS_MOVEMENT

#define DS402_CW_PPM_BIT_ENDLESS_MOVEMENT   15

Definition at line 94 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_CW_PPM_BIT_NEW_SETPOINT

#define DS402_CW_PPM_BIT_NEW_SETPOINT   4

Definition at line 91 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_CW_PPM_BIT_RELATIVE_MOVEMENT

#define DS402_CW_PPM_BIT_RELATIVE_MOVEMENT   6

Definition at line 93 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_DIGITAL_INPUTS

#define DS402_DIGITAL_INPUTS   0x60FD

Definition at line 182 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_DIGITAL_OUTPUTS

#define DS402_DIGITAL_OUTPUTS   0x60FE

Definition at line 183 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_DISABLE_OPERATION_OPTION_CODE

#define DS402_DISABLE_OPERATION_OPTION_CODE   0x605C

Definition at line 117 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_DRIVE_STATE_FAULT

#define DS402_DRIVE_STATE_FAULT   8

Definition at line 67 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_DRIVE_STATE_FAULT_REACTION_ACTIVE

#define DS402_DRIVE_STATE_FAULT_REACTION_ACTIVE   7

Definition at line 66 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_DRIVE_STATE_NOT_READY_TO_SWITCH_ON

#define DS402_DRIVE_STATE_NOT_READY_TO_SWITCH_ON   1

Drive States and Transitions - CiA 402 State Machine.

Definition at line 60 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_DRIVE_STATE_OPERATION_ENABLED

#define DS402_DRIVE_STATE_OPERATION_ENABLED   5

Examples

CAN_1Ax_DS402_ProfilePositionMode-ppm-Test.mc, CAN_1Ax_DS402_ProfileVelocityMode-pvm-Test.mc, and CAN_MultipleAx_DS402_ProfilePositionMode-ppm-Test.mc.

Definition at line 64 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_DRIVE_STATE_QUICK_STOP_ACTIVE

#define DS402_DRIVE_STATE_QUICK_STOP_ACTIVE   6

Definition at line 65 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_DRIVE_STATE_READY_TO_SWITCH_ON

#define DS402_DRIVE_STATE_READY_TO_SWITCH_ON   3

Examples

CAN_1Ax_DS402_ProfilePositionMode-ppm-Test.mc, CAN_1Ax_DS402_ProfileVelocityMode-pvm-Test.mc, and CAN_MultipleAx_DS402_ProfilePositionMode-ppm-Test.mc.

Definition at line 62 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_DRIVE_STATE_SWITCH_ON_DISABLED

#define DS402_DRIVE_STATE_SWITCH_ON_DISABLED   2

Examples

CAN_1Ax_DS402_ProfilePositionMode-ppm-Test.mc, CAN_1Ax_DS402_ProfileVelocityMode-pvm-Test.mc, and CAN_MultipleAx_DS402_ProfilePositionMode-ppm-Test.mc.

Definition at line 61 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_DRIVE_STATE_SWITCHED_ON

#define DS402_DRIVE_STATE_SWITCHED_ON   4

Definition at line 63 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_ERROR_CODE

#define DS402_ERROR_CODE   0x603F

Definition at line 82 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_FAULT_REACTION_OPTION_CODE

#define DS402_FAULT_REACTION_OPTION_CODE   0x605E

Definition at line 118 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_FOLLOWING_ERROR_ACTUAL_VALUE

#define DS402_FOLLOWING_ERROR_ACTUAL_VALUE   0x60F4

Definition at line 181 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_FOLLOWING_ERROR_TIMEOUT

#define DS402_FOLLOWING_ERROR_TIMEOUT   0x6066

Definition at line 130 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_FOLLOWING_ERROR_WINDOW

#define DS402_FOLLOWING_ERROR_WINDOW   0x6065

Definition at line 129 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_HOMING_ACCELERATION

#define DS402_HOMING_ACCELERATION   0x609A

Definition at line 163 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_HOMING_ACT_POSITION

#define DS402_HOMING_ACT_POSITION   37

Definition at line 147 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_HOMING_CURRENT_IDX_N_SPEED

#define DS402_HOMING_CURRENT_IDX_N_SPEED   -2

Definition at line 159 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_HOMING_CURRENT_IDX_P_SPEED

#define DS402_HOMING_CURRENT_IDX_P_SPEED   -1

Definition at line 158 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_HOMING_CURRENT_N_SPEED

#define DS402_HOMING_CURRENT_N_SPEED   -4

Definition at line 161 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_HOMING_CURRENT_P_SPEED

#define DS402_HOMING_CURRENT_P_SPEED   -3

Definition at line 160 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_HOMING_IDX_N_SPEED

#define DS402_HOMING_IDX_N_SPEED   33

Definition at line 149 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_HOMING_IDX_P_SPEED

#define DS402_HOMING_IDX_P_SPEED   34

Definition at line 148 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_HOMING_LIMIT_IDX_N_SPEED

#define DS402_HOMING_LIMIT_IDX_N_SPEED   1

Definition at line 157 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_HOMING_LIMIT_IDX_P_SPEED

#define DS402_HOMING_LIMIT_IDX_P_SPEED   2

Definition at line 156 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_HOMING_LIMIT_N_SPEED

#define DS402_HOMING_LIMIT_N_SPEED   17

Definition at line 153 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_HOMING_LIMIT_P_SPEED

#define DS402_HOMING_LIMIT_P_SPEED   18

Definition at line 152 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_HOMING_METHOD

#define DS402_HOMING_METHOD   0x6098

Definition at line 146 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_HOMING_SPEEDS

#define DS402_HOMING_SPEEDS   0x6099

Definition at line 162 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_HOMING_SWITCH_IDX_N_SPEED

#define DS402_HOMING_SWITCH_IDX_N_SPEED   11

Definition at line 155 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_HOMING_SWITCH_IDX_P_SPEED

#define DS402_HOMING_SWITCH_IDX_P_SPEED   7

Definition at line 154 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_HOMING_SWITCH_N_SPEED

#define DS402_HOMING_SWITCH_N_SPEED   27

Definition at line 151 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_HOMING_SWITCH_P_SPEED

#define DS402_HOMING_SWITCH_P_SPEED   23

Definition at line 150 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_INTERPOLATION_TIME_PERIOD

#define DS402_INTERPOLATION_TIME_PERIOD   0x60C2

Definition at line 174 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_MAX_ACCELERATION

#define DS402_MAX_ACCELERATION   0x60C5

Definition at line 175 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_MAX_MOTOR_SPEED

#define DS402_MAX_MOTOR_SPEED   0x6080

Definition at line 140 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_MAX_PROFILE_VELOCITY

#define DS402_MAX_PROFILE_VELOCITY   0x607F

Definition at line 139 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_MODES_OF_OPERATION

#define DS402_MODES_OF_OPERATION   0x6060

Definition at line 119 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_MODES_OF_OPERATION_DISPLAY

#define DS402_MODES_OF_OPERATION_DISPLAY   0x6061

Definition at line 126 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_MOTION_PROFILE_TYPE

#define DS402_MOTION_PROFILE_TYPE   0x6086

Definition at line 145 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_MOTOR_RATED_TORQUE

#define DS402_MOTOR_RATED_TORQUE   0x6076

Definition at line 134 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_MOTOR_TYPE

#define DS402_MOTOR_TYPE   0x6402

Definition at line 185 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_OP_PPM

#define DS402_OP_PPM   0x01

Examples

CAN_1Ax_DS402_ProfilePositionMode-ppm-Test.mc, and CAN_MultipleAx_DS402_ProfilePositionMode-ppm-Test.mc.

Definition at line 120 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_OP_PVM

#define DS402_OP_PVM   0x03

Examples

CAN_1Ax_DS402_ProfileVelocityMode-pvm-Test.mc.

Definition at line 121 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_POSITION_ACTUAL_VALUE

#define DS402_POSITION_ACTUAL_VALUE   0x6064

Definition at line 128 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_POSITION_DEMAND_VALUE

#define DS402_POSITION_DEMAND_VALUE   0x6062

Definition at line 127 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_POSITION_OFFSET

#define DS402_POSITION_OFFSET   0x60B0

Definition at line 167 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_POSITION_RANGE_LIMIT

#define DS402_POSITION_RANGE_LIMIT   0x607B

Definition at line 137 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_PPM_ABSOLUTE

#define DS402_PPM_ABSOLUTE   0

Definition at line 189 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_PPM_AFTER_ACTUAL_POSITIONING

#define DS402_PPM_AFTER_ACTUAL_POSITIONING   0

Definition at line 191 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_PPM_RELATIVE

#define DS402_PPM_RELATIVE   1

Definition at line 190 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_PROFILE_ACCELERATION

#define DS402_PROFILE_ACCELERATION   0x6083

Definition at line 142 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_PROFILE_DECELERATION

#define DS402_PROFILE_DECELERATION   0x6084

Definition at line 143 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_PROFILE_VELOCITY

#define DS402_PROFILE_VELOCITY   0x6081

Definition at line 141 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_QUICK_STOP_DECELERATION

#define DS402_QUICK_STOP_DECELERATION   0x6085

Definition at line 144 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_QUICK_STOP_OPTION_CODE

#define DS402_QUICK_STOP_OPTION_CODE   0x605A

Definition at line 115 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_SHUTDOWN_OPTION_CODE

#define DS402_SHUTDOWN_OPTION_CODE   0x605B

Definition at line 116 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_SI_UNIT_ACCELERATION

#define DS402_SI_UNIT_ACCELERATION   0x60AA

Definition at line 166 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_SI_UNIT_POSITION

#define DS402_SI_UNIT_POSITION   0x60A8

Definition at line 164 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_SI_UNIT_VELOCITY

#define DS402_SI_UNIT_VELOCITY   0x60A9

Definition at line 165 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_SOFTWARE_POSITION_LIMIT

#define DS402_SOFTWARE_POSITION_LIMIT   0x607D

Definition at line 138 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_STATUSWORD

#define DS402_STATUSWORD   0x6041

Definition at line 96 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_SUPPORTED_DRIVE_MODES

#define DS402_SUPPORTED_DRIVE_MODES   0x6502

Definition at line 186 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_SW_BIT_FAULT

#define DS402_SW_BIT_FAULT   3

Examples

CAN_1Ax_DS402_ProfilePositionMode-ppm-Test.mc, CAN_1Ax_DS402_ProfileVelocityMode-pvm-Test.mc, and CAN_MultipleAx_DS402_ProfilePositionMode-ppm-Test.mc.

Definition at line 100 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_SW_BIT_INTERNAL_LIMIT

#define DS402_SW_BIT_INTERNAL_LIMIT   11

Definition at line 107 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_SW_BIT_OPERATION_ENABLED

#define DS402_SW_BIT_OPERATION_ENABLED   2

Definition at line 99 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_SW_BIT_QUICK_STOP

#define DS402_SW_BIT_QUICK_STOP   5

Definition at line 102 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_SW_BIT_READY_TO_SWITCH_ON

#define DS402_SW_BIT_READY_TO_SWITCH_ON   0

Definition at line 97 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_SW_BIT_REMOTE

#define DS402_SW_BIT_REMOTE   9

Definition at line 105 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_SW_BIT_SWITCH_ON_DISABLED

#define DS402_SW_BIT_SWITCH_ON_DISABLED   6

Definition at line 103 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_SW_BIT_SWITCHED_ON

#define DS402_SW_BIT_SWITCHED_ON   1

Definition at line 98 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_SW_BIT_TARGET_REACHED

#define DS402_SW_BIT_TARGET_REACHED   10

Definition at line 106 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_SW_BIT_VOLTAGE_ENABLED

#define DS402_SW_BIT_VOLTAGE_ENABLED   4

Definition at line 101 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_SW_BIT_WARNING

#define DS402_SW_BIT_WARNING   7

Definition at line 104 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_SW_PPM_BIT_FOLLWING_ERROR

#define DS402_SW_PPM_BIT_FOLLWING_ERROR   13

Examples

CAN_1Ax_DS402_ProfilePositionMode-ppm-Test.mc, CAN_1Ax_DS402_ProfileVelocityMode-pvm-Test.mc, and CAN_MultipleAx_DS402_ProfilePositionMode-ppm-Test.mc.

Definition at line 111 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_SW_PPM_BIT_SETPOINT_ACK

#define DS402_SW_PPM_BIT_SETPOINT_ACK   12

Definition at line 110 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_SW_PVM_BIT_SPEED

#define DS402_SW_PVM_BIT_SPEED   12

Definition at line 114 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_TARGET_POSITION

#define DS402_TARGET_POSITION   0x607A

Definition at line 136 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_TARGET_TORQUE

#define DS402_TARGET_TORQUE   0x6071

Definition at line 133 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_TARGET_VELOCITY

#define DS402_TARGET_VELOCITY   0x60FF

Definition at line 184 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_TORQUE_ACTUAL_VALUE

#define DS402_TORQUE_ACTUAL_VALUE   0x6077

Definition at line 135 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_TORQUE_OFFSET

#define DS402_TORQUE_OFFSET   0x60B2

Definition at line 169 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_TOUCH_PROBE_1_NEGATIVE_EDGE_COUNTER

#define DS402_TOUCH_PROBE_1_NEGATIVE_EDGE_COUNTER   0x60D6

Definition at line 178 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_TOUCH_PROBE_1_POSITIVE_EDGE_COUNTER

#define DS402_TOUCH_PROBE_1_POSITIVE_EDGE_COUNTER   0x60D5

Definition at line 177 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_TOUCH_PROBE_FUNCTION

#define DS402_TOUCH_PROBE_FUNCTION   0x60B8

Definition at line 170 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_TOUCH_PROBE_POSITION_1_NEGATIVE_VALUE

#define DS402_TOUCH_PROBE_POSITION_1_NEGATIVE_VALUE   0x60BB

Definition at line 173 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_TOUCH_PROBE_POSITION_1_POSITIVE_VALUE

#define DS402_TOUCH_PROBE_POSITION_1_POSITIVE_VALUE   0x60BA

Definition at line 172 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_TOUCH_PROBE_SOURCE

#define DS402_TOUCH_PROBE_SOURCE   0x60D0

Definition at line 176 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_TOUCH_PROBE_STATUS

#define DS402_TOUCH_PROBE_STATUS   0x60B9

Definition at line 171 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_TRANSITION_DISABLE_OPERATION

#define DS402_TRANSITION_DISABLE_OPERATION   5

Definition at line 74 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_TRANSITION_DISABLE_VOLTAGE

#define DS402_TRANSITION_DISABLE_VOLTAGE   4

Definition at line 73 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_TRANSITION_ENABLE_OPERATION

#define DS402_TRANSITION_ENABLE_OPERATION   3

Definition at line 72 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_TRANSITION_FAULT_RESET

#define DS402_TRANSITION_FAULT_RESET   7

Definition at line 76 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_TRANSITION_QUICK_STOP

#define DS402_TRANSITION_QUICK_STOP   6

Definition at line 75 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_TRANSITION_SHUTDOWN

#define DS402_TRANSITION_SHUTDOWN   1

Definition at line 70 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_TRANSITION_SWITCH_ON

#define DS402_TRANSITION_SWITCH_ON   2

Definition at line 71 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_VELOCITY_ACTUAL_VALUE

#define DS402_VELOCITY_ACTUAL_VALUE   0x606C

Definition at line 132 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_VELOCITY_DEMAND_VALUE

#define DS402_VELOCITY_DEMAND_VALUE   0x606B

Definition at line 131 of file SDK_Amplifier_DS402_StateMachine.mh.

DS402_VELOCITY_OFFSET

#define DS402_VELOCITY_OFFSET   0x60B1

Definition at line 168 of file SDK_Amplifier_DS402_StateMachine.mh.

Function Documentation

helperDS402_ExecuteTransition()

long helperDS402_ExecuteTransition	(	long	busId,
		long	transition
	)

Execute a state transition.

This function executes a state transition within the DS402 state machine. DO NOT USE this function for state changes. It is just a helper function for the function sdkDS402_TransitionToState(). If you want to execute a state transition, use the function sdkDS402_TransitionToState().

The function writes value to the control word, to set the bits for state changes.

Bit 0: Switched on
Bit 1: Enable voltage
Bit 2: Quick stop
Bit 3: Enable operation
..
Bit 7: Fault reset
T

sdkDS402_TransitionToState()

Parameters

busId	Bus ID of the connected slave
transition	Value of the transition to execute

Returns

value: Process value
value > 0 Transition successful
value < 0 Invalid transition

Definition at line 152 of file SDK_Amplifier_DS402_StateMachine.mc.

{
    long controlWord = sdkDS402_ReadControlWord(busId);
    long retVal = 1;
 
    switch(transition) {
        case DS402_TRANSITION_SHUTDOWN:
            //Transition Shutdown: CW 0xxx x110
            printf("...: execute Transition: DS402_TRANSITION_SHUTDOWN\n", busId);
            controlWord = (controlWord & 0xFF78) | 0x06;
            sdkDS402_WriteControlWord(busId, controlWord);
            break;
        case DS402_TRANSITION_SWITCH_ON:
            printf("...: execute Transition: DS402_TRANSITION_SWITCH_ON\n", busId);
            //Transition Switch On: CW 0xxx x111
            controlWord = (controlWord & 0xFF78) | 0x07;
            sdkDS402_WriteControlWord(busId, controlWord);
            break;
        case DS402_TRANSITION_ENABLE_OPERATION:
            printf("...: execute Transition: DS402_TRANSITION_ENABLE_OPERATION\n", busId);
            //Transition Enable Operation: CW 0xxx 1111
            controlWord = (controlWord & 0xFF70) | 0x0F;
            sdkDS402_WriteControlWord(busId, controlWord);
            break;
        case DS402_TRANSITION_DISABLE_VOLTAGE:
            printf("...: execute Transition: DS402_TRANSITION_DISABLE_VOLTAGE\n", busId);
            //Transition Disable Voltage: CW 0xxx xx0x
            controlWord = (controlWord & 0xFF7D);
            sdkDS402_WriteControlWord(busId, controlWord);
            break;
        case DS402_TRANSITION_QUICK_STOP:
            printf("...: execute Transition: DS402_TRANSITION_QUICK_STOP\n", busId);
            //Transition Quick Stop: CW 0xxx x01x
            controlWord = (controlWord & 0xFF79) | 0x02;
            sdkDS402_WriteControlWord(busId, controlWord);
            break;
        case DS402_TRANSITION_DISABLE_OPERATION:
            printf("...: execute Transition: DS402_TRANSITION_DISABLE_OPERATION\n", busId);
            //Transition Disable Voltage: CW 0xxx 0111
            controlWord = (controlWord & 0xFF70) | 0x07;
            sdkDS402_WriteControlWord(busId, controlWord);
            break;
        case DS402_TRANSITION_FAULT_RESET:
            printf("...: execute Transition: DS402_TRANSITION_FAULT_RESET\n", busId);
            //Transition Fault Resest: CW 0xxx xxxx -> 1xxx xxxx
            controlWord = (controlWord & 0xFF7F);
            sdkDS402_WriteControlWord(busId, controlWord);
            //Delay(1);
            controlWord = controlWord | 0x80;
            sdkDS402_WriteControlWord(busId, controlWord);
            //Transition switch on disable
            controlWord = controlWord & 0xFF7F;
            sdkDS402_WriteControlWord(busId, controlWord);
            break;
        default:
            printf("Invalid state transition\n");
            retVal = -1;
            break;
    }
 
    return(retVal);
}

helperDS402_PPM_PosStart()

long helperDS402_PPM_PosStart	(	long	busId,
		long	pos,
		long	relative,
		long	startImmediately
	)

Profile Position Mode functions.

Start positioning relative or absolute

This function starts positioning of an axis relative or absolute. Do not use this funtion. Use sdkDS402_PPM_PosAbsStart() or sdkDS402_PPM_PosRelStart() instead. This funtion is blocking until the setpoint acknowledge is received (max 2ms)

Parameters

busId	Bus ID of the connected slave
pos	target position
relative	excute the positioning relative or absolute 0: absolute 1: relative
startImmediately	start the movement immediately 0: Finish actual positioning 1: Abort actual positioning and start next positioning

Returns

value: Process value
value = 1 successful, new setpoint acknowlegded
value = -1 failed, new setpoint not acknowlegded
value = -2 failed, previous setpoint has been assumed and no additional setpoint may be accepted

Definition at line 721 of file SDK_Amplifier_DS402_StateMachine.mc.

{
    long retVal = 1;
    long controlWord = 0;
    long setpointAcknowlege=1;
    long time = 0;
    long actState = -1;
 
    printf("...: new setpoint: %d\n", pos);
 
    if(sdkDS402_ReadStatusWord(busId).i[DS402_SW_PPM_BIT_SETPOINT_ACK]==1)
    {
        print("...: the previous setpoint has been assumed and no additional setpoint may be accepted");
        return(-2);
    }
 
    actState = sdkDS402_GetActDriveState(busId);
    if(actState != DS402_DRIVE_STATE_OPERATION_ENABLED)
    {
        print("...: drive state is not in operation enabled");
        return(-1);
    }
 
    SdoWrite(busId, DS402_TARGET_POSITION, 0 ,pos);
 
    controlWord = sdkDS402_ReadControlWord(busId);
    controlWord.i[DS402_CW_PPM_BIT_NEW_SETPOINT] = 1;
    controlWord.i[DS402_CW_PPM_BIT_CHANGE_IMMEDIATELY] = startImmediately;
    controlWord.i[DS402_CW_PPM_BIT_RELATIVE_MOVEMENT] = relative;
    controlWord.i[DS402_CW_PPM_BIT_ENDLESS_MOVEMENT] = 0;
 
    sdkDS402_WriteControlWord(busId, controlWord);
 
    time = Time();
    while(sdkDS402_ReadStatusWord(busId).i[DS402_SW_PPM_BIT_SETPOINT_ACK]!=1)
    {
        if((Time()-time) > 2) //is blocking until the new setpoint has been acknowledged
        {
            print("...: no setpoint acknowledge received");
            setpointAcknowlege = 0;
            retVal = -1;
            break;
        }
    }
    controlWord = sdkDS402_ReadControlWord(busId);
    controlWord.i[DS402_CW_PPM_BIT_NEW_SETPOINT] = 0;
    controlWord.i[DS402_CW_PPM_BIT_CHANGE_IMMEDIATELY] = 0;
    controlWord.i[DS402_CW_PPM_BIT_RELATIVE_MOVEMENT] = 0;
    controlWord.i[DS402_CW_PPM_BIT_ENDLESS_MOVEMENT] = 0;
 
    sdkDS402_WriteControlWord(busId, controlWord);
 
    if(setpointAcknowlege)
    {
        print("...: setpoint acknowleged");
    }
 
    return(retVal);
}

sdkDS402_GetActDriveState()

long sdkDS402_GetActDriveState

(

long

busId

)

Get the actual drive state.

This function gets the actual state in DS402 state machine The state is depending on the folloeing bits in the status word.

Bit0: Ready to switch on
Bit1: Switched on
Bit2: Operation enabled
Bit3: Fault
Bit4: *(don't care)
Bit5: Quick stop (low active)
Bit6: switch on disabled

Parameters

busId

Bus ID of the connected slave

Returns

value: drive state (value mapping: in SDK_Amplifier_DS402_StateMachine.mh)

Definition at line 83 of file SDK_Amplifier_DS402_StateMachine.mc.

{
    long status = sdkDS402_ReadStatusWord(busId);
 
    switch(status & 0x006F) //mask bits xxxx xxxx x11x 1111
    {
 
        case 0x0000:    return(DS402_DRIVE_STATE_NOT_READY_TO_SWITCH_ON);   //xxxx xxxx x00x 0000
        case 0x0040:    return(DS402_DRIVE_STATE_SWITCH_ON_DISABLED);       //xxxx xxxx x10x 0000
        case 0x0021:    return(DS402_DRIVE_STATE_READY_TO_SWITCH_ON);       //xxxx xxxx x01x 0001
        case 0x0023:    return(DS402_DRIVE_STATE_SWITCHED_ON);              //xxxx xxxx x01x 0011
        case 0x0027:    return(DS402_DRIVE_STATE_OPERATION_ENABLED);        //xxxx xxxx x01x 0111
        case 0x0007:    return(DS402_DRIVE_STATE_QUICK_STOP_ACTIVE);        //xxxx xxxx x01x 0001
        case 0x000F:    return(DS402_DRIVE_STATE_FAULT_REACTION_ACTIVE);    //xxxx xxxx x00x 1111
        case 0x0008:    return(DS402_DRIVE_STATE_FAULT);                    //xxxx xxxx x00x 1000
        default:        return(-1);;
    }
}

sdkDS402_GetOpartionMode()

long sdkDS402_GetOpartionMode

(

long

busId

)

Get the mode of operation DS402_MODES_OF_OPERATION(0x6060)

Get the mode of operation.

Parameters

busId

Bus ID of the connected slave

Returns

operationMode Definition of the operation mode
DS402_OP_PPM (1): Profile Position Mode (PPM)
DS402_OP_PVM (3): Profile Velocity Mode (PVM)

Definition at line 531 of file SDK_Amplifier_DS402_StateMachine.mc.

{
    long operationMode = SdoRead( busId, DS402_MODES_OF_OPERATION, 0);
    return(operationMode);
}

sdkDS402_Halt()

void sdkDS402_Halt

(

long

busId

)

Stop the motor.

This function stops the motor with the defined profile deceleration. The deceleration can be set with method sdkDS402_SetProfileDeceleration

Parameters

busId

Bus ID of the connected slave

Definition at line 557 of file SDK_Amplifier_DS402_StateMachine.mc.

{
    long controlWord;
    printf("Bus Id %d, Halt\n", busId);
 
    controlWord = sdkDS402_ReadControlWord(busId);
    controlWord.i[DS402_CW_BIT_HALT] = 1;
 
    sdkDS402_WriteControlWord(busId, controlWord);
}

sdkDS402_PPM_PosAbsStart()

long sdkDS402_PPM_PosAbsStart	(	long	busId,
		long	pos,
		long	startImmediately
	)

Start absolute positioning.

This function starts absolute positioning This funtion is blocking until the setpoint acknowledge is received (max 2ms)

Parameters

busId	Bus ID of the connected slave
pos	target position
startImmediately	start the movement immediately 0: Finish actual positioning 1: Abort actual positioning and start next positioning

Returns

value: Process value
value = 1 successful, new setpoint acknowlegded
value = -1 failed, new setpoint not acknowlegded
value = -2 failed, previous setpoint has been assumed and no additional setpoint may be accepted

Definition at line 797 of file SDK_Amplifier_DS402_StateMachine.mc.

{
 
    printf("Bus Id %d, sdkDS402_PPM_PosAbsStart:\n", busId);
    return helperDS402_PPM_PosStart(busId, pos, DS402_PPM_ABSOLUTE, startImmediately);
}

sdkDS402_PPM_PosRelStart()

long sdkDS402_PPM_PosRelStart	(	long	busId,
		long	pos,
		long	startImmediately
	)

Start relative positioning.

This function starts relative positioning This funtion is blocking until the setpoint acknowledge is received (max 2ms)

Parameters

busId	Bus ID of the connected slave
pos	relative movement value
startImmediately	start the movement immediately 0: Finish actual positioning 1: Abort actual positioning and start next positioning

Returns

value: Process value
value = 1 successful, new setpoint acknowlegded
value = -1 failed, new setpoint not acknowlegded
value = -2 failed, previous setpoint has been assumed and no additional setpoint may be accepted

Definition at line 819 of file SDK_Amplifier_DS402_StateMachine.mc.

{
    printf("Bus Id %d, sdkDS402_PPM_PosRelStart:\n", busId);
    return helperDS402_PPM_PosStart(busId, pos, DS402_PPM_RELATIVE, startImmediately);
}

sdkDS402_PPM_TargetReached()

long sdkDS402_PPM_TargetReached

(

long

busId

)

Checks whether the target was reached.

This function verifies whether the axis reached the target position This function is not blocking until the axis reaches the target.

Parameters

busId

Bus ID of the connected slave

Returns

value: Process value
value = 1 Target reached
value = 0 Target NOT reached

Definition at line 836 of file SDK_Amplifier_DS402_StateMachine.mc.

{
    return(sdkDS402_ReadStatusWord(busId).i[DS402_SW_BIT_TARGET_REACHED]);
}

sdkDS402_PPM_WaitTargetReached()

long sdkDS402_PPM_WaitTargetReached	(	long	busId,
		long	timeout
	)

Wait until target is reachd.

This function waits (blocks) until the axis has reached the target position whthin the defined timeout.

Parameters

busId	Bus ID of the connected slave
timeout	Timeout until the function is aborted >=0: timeout in [ms] < 0: infinite timeout

Returns

value: Process value
value > 0 Target reached
value < 0 Timeout expired

Definition at line 853 of file SDK_Amplifier_DS402_StateMachine.mc.

{
    long time = Time();
    long targetReached = 1;
 
    printf("Bus Id %d, sdkDS402_PPM_WaitTargetReached:\n", busId);
 
    while(sdkDS402_PPM_TargetReached(busId) == 0 && targetReached)
    {
        if(timeout >= 0 &&  (Time() - time) > timeout)
        {
            targetReached = -1;
            printf("...: target position not reached within timeout (%d ms)\n", timeout);
        }
    }
    if(targetReached)
    {
        print("...: target position reached");
    }
 
    return(targetReached);
}

sdkDS402_Print_ControlWord()

void sdkDS402_Print_ControlWord

(

long

busId

)

Print the control word.

This function writes the control word split into individual bits with their description. It is depending on the actual modes of operation (PPM/PVM). This function can be used for debugging purposes.

Parameters

busId

Bus ID of the connected slave

Definition at line 656 of file SDK_Amplifier_DS402_StateMachine.mc.

{
    long value;
    long controlWord;
    long operationMode;
 
    operationMode = SdoRead(busId, DS402_MODES_OF_OPERATION, 0);
    controlWord = sdkDS402_ReadControlWord(busId);
 
    print("CONTROL WORD");
    value = controlWord.i[DS402_CW_BIT_SWITCH_ON];
    printf("\tSWITCH_ON:\t\t%d\n", value);
 
    value = controlWord.i[DS402_CW_BIT_ENABLE_VOLTAGE];
    printf("\tENABLE_VOLTAGE:\t\t%d\n", value);
 
    value = controlWord.i[DS402_CW_BIT_QUICK_STOP];
    printf("\tQUICK_STOP:\t\t%d\n", value);
 
    value = controlWord.i[DS402_CW_BIT_ENABLE_OPERATION];
    printf("\tENABLE_OPERATION:\t%d\n", value);
 
    value = controlWord.i[DS402_CW_BIT_HALT];
    printf("\tHALT:\t\t\t%d\n", value);
 
    if(operationMode == DS402_OP_PPM)
    {
        value = controlWord.i[DS402_CW_PPM_BIT_NEW_SETPOINT];
        printf("\tNEW_SETPOINT:\t%d\n", value);
 
        value = controlWord.i[DS402_CW_PPM_BIT_CHANGE_IMMEDIATELY];
        printf("\tCHANGE_IMMEDIATELY:\t%d\n", value);
 
        value = controlWord.i[DS402_CW_PPM_BIT_RELATIVE_MOVEMENT];
        printf("\tRELATIVE_MOVEMENT:\t%d\n", value);
 
        value = controlWord.i[DS402_CW_PPM_BIT_ENDLESS_MOVEMENT];
        printf("\tENDLESS_MOVEMENT:\t%d\n", value);
    }
}

sdkDS402_Print_StatusWord()

void sdkDS402_Print_StatusWord

(

long

busId

)

Print the status word.

This function print the status word split into individual bits with their description. It is depending on the actual modes of operation (PPM/PVM). This function can be used for debugging purposes.

Parameters

busId

Bus ID of the connected slave

Definition at line 588 of file SDK_Amplifier_DS402_StateMachine.mc.

{
    long value;
    long status;
    long operationMode;
    operationMode = SdoRead(busId, DS402_MODES_OF_OPERATION, 0);
    status = sdkDS402_ReadStatusWord(busId);
 
 
    print("STATUS WORD");
 
    value = status.i[DS402_SW_BIT_READY_TO_SWITCH_ON];
    printf("\tREADY_TO_SWITCH_ON:\t%d\n", value);
 
    value = status.i[DS402_SW_BIT_SWITCHED_ON];
    printf("\tSWITCHED_ON:\t\t%d\n", value);
 
    value = status.i[DS402_SW_BIT_OPERATION_ENABLED];
    printf("\tOPERATION_ENABLED:\t%d\n", value);
 
    value = status.i[DS402_SW_BIT_FAULT];
    printf("\tFAULT:\t\t\t%d\n", value);
 
    value = status.i[DS402_SW_BIT_VOLTAGE_ENABLED];
    printf("\tVOLTAGE_ENABLED:\t%d\n", value);
 
    value = status.i[DS402_SW_BIT_QUICK_STOP];
    printf("\tQUICK_STOP:\t\t%d\n", value);
 
    value = status.i[DS402_SW_BIT_SWITCH_ON_DISABLED];
    printf("\tSWITCH_ON_DISABLED:\t%d\n", value);
 
    value = status.i[DS402_SW_BIT_WARNING];
    printf("\tWARNING:\t\t%d\n", value);
 
    value = status.i[DS402_SW_BIT_REMOTE];
    printf("\tREMOTE:\t\t\t%d\n", value);
 
    value = status.i[DS402_SW_BIT_TARGET_REACHED];
    printf("\tTARGET_REACHED:\t\t%d\n", value);
 
    value = status.i[DS402_SW_BIT_INTERNAL_LIMIT];
    printf("\tINTERNAL_LIMIT:\t\t%d\n", value);
 
    if(operationMode == DS402_OP_PPM)
    {
        value = status.i[DS402_SW_PPM_BIT_SETPOINT_ACK];
        printf("\tSETPOINT_ACK:\t\t%d\n", value);
 
        value = status.i[DS402_SW_PPM_BIT_FOLLWING_ERROR];
        printf("\tFOLLWING_ERROR:\t\t%d\n", value);
    }
 
    if(operationMode == DS402_OP_PVM)
    {
        value = status.i[DS402_SW_PVM_BIT_SPEED];
        printf("\tSPEED:\t\t\t%d\n", value);
    }
}

sdkDS402_PrintState()

void sdkDS402_PrintState

(

long

state

)

Print the name of certain drive state.

This function prints the state name from a state vlaue. It can be used to create human readable print outputs for debugging reason.

Parameters

state

value of the state to print (value mapping: in SDK_Amplifier_DS402_StateMachine.mh)

Definition at line 111 of file SDK_Amplifier_DS402_StateMachine.mc.

{
    switch(state)
    {
        case DS402_DRIVE_STATE_NOT_READY_TO_SWITCH_ON:  printf("DRIVE_STATE_NOT_READY_TO_SWITCH_ON"); break;
        case DS402_DRIVE_STATE_SWITCH_ON_DISABLED:      printf("DRIVE_STATE_SWITCH_ON_DISABLED"); break;
        case DS402_DRIVE_STATE_READY_TO_SWITCH_ON:      printf("DRIVE_STATE_READY_TO_SWITCH_ON"); break;
        case DS402_DRIVE_STATE_SWITCHED_ON:             printf("DRIVE_STATE_SWITCHED_ON"); break;
        case DS402_DRIVE_STATE_OPERATION_ENABLED:       printf("DRIVE_STATE_OPERATION_ENABLED"); break;
        case DS402_DRIVE_STATE_QUICK_STOP_ACTIVE:       printf("DRIVE_STATE_QUICK_STOP_ACTIVE"); break;
        case DS402_DRIVE_STATE_FAULT_REACTION_ACTIVE:   printf("DRIVE_STATE_FAULT_REACTION_ACTIVE"); break;
        case DS402_DRIVE_STATE_FAULT:                   printf("DRIVE_STATE_FAULT"); break;
        default:                                    printf("%d", state);
    }
}

sdkDS402_PVM_CvelStart()

long sdkDS402_PVM_CvelStart

(

long

busId

)

Start continuous velocity (PVM)

This function start to run the axis in continuous velocity The velocity can be defined with the method sdkDS402_PVM_SetTargetVelocity.

Parameters

busId

Bus ID of the connected slave

Returns

value: Process value
value 1 Successful
value -1 Failed, drive is not in 'Operation enabled' state

Definition at line 904 of file SDK_Amplifier_DS402_StateMachine.mc.

{
    long actState;
    long controlWord;
 
    printf("Bus Id %d, sdkDS402_PPM_CvelStart: \n", busId);
 
    actState = sdkDS402_GetActDriveState(busId);
    if(actState != DS402_DRIVE_STATE_OPERATION_ENABLED)
    {
        printf("...: drive state is not in operation enabled\n");
        return(-1);
    }
 
    //Reset the Halt bit to start the execution
    controlWord = sdkDS402_ReadControlWord(busId);
    controlWord.i[DS402_CW_BIT_HALT] = 0;
    sdkDS402_WriteControlWord(busId, controlWord);
 
    printf("...: started\n");
 
    return(1);
}

sdkDS402_PVM_CvelStop()

long sdkDS402_PVM_CvelStop

(

long

busId

)

Stop continuous velocity (PVM)

This function stops the axis.

Parameters

busId

Bus ID of the connected slave

Returns

value: Process value
value 1 Successful

Definition at line 935 of file SDK_Amplifier_DS402_StateMachine.mc.

{
    long controlWord;
    printf("Bus Id %d, sdkDS402_PPM_CvelStop:\n", busId);
 
    //Set the Halt bit, to stop the execution
    controlWord = sdkDS402_ReadControlWord(busId);
    controlWord.i[DS402_CW_BIT_HALT] = 1;
 
    sdkDS402_WriteControlWord(busId, controlWord);
    printf("...: stopped\n");
 
    return(1);
}

sdkDS402_PVM_SetTargetVelocity()

void sdkDS402_PVM_SetTargetVelocity	(	long	busId,
		long	targetVelocity
	)

Profile Velocity Mode functions.

Set target velocity for PVM

This function sets the target velocity for the Profile Position Mode (PVM)

Parameters

busId	Bus ID of the connected slave
targetVelocity	Target velocity

Definition at line 888 of file SDK_Amplifier_DS402_StateMachine.mc.

{
    printf("Bus Id %d, PVM: Set target velocity to %d\n", busId, targetVelocity);
    SdoWrite(busId, DS402_TARGET_VELOCITY, 0, targetVelocity);
}

sdkDS402_PVM_TargetReached()

long sdkDS402_PVM_TargetReached

(

long

busId

)

Checks whether the target velocity has reached.

This function verifies whether the axis reached the target velocity

Parameters

busId

Bus ID of the connected slave

Returns

value: Process value
value = 1 Target reached
value = 0 Target NOT reached

Definition at line 959 of file SDK_Amplifier_DS402_StateMachine.mc.

{
    return sdkDS402_ReadStatusWord(busId).i[DS402_SW_BIT_TARGET_REACHED];
}

sdkDS402_PVM_WaitTargetReached()

long sdkDS402_PVM_WaitTargetReached	(	long	busId,
		long	timeout
	)

Wait until target is reachd.

This function waits (blocks) until the axis has reached the target velocity whthin the defined timeout.

Parameters

busId	Bus ID of the connected slave
timeout	Timeout until the funcition returns >=0: timeout in [ms] < 0: infinite timeout

Returns

value: Process value
value > 0 Target reached
value < 0 Timeout expired

Definition at line 976 of file SDK_Amplifier_DS402_StateMachine.mc.

{
    long time = Time();
    long targetReached = 1;
 
    printf("Bus Id %d, sdkDS402_PVM_WaitTargetReached:\n", busId);
 
    while(sdkDS402_PPM_TargetReached(busId) == 0 && targetReached)
    {
        if(timeout >= 0 &&  (Time() - time) > timeout)
        {
            targetReached = -1;
            printf("...: target velocity not reached within timeout (%d ms)\n", timeout);
        }
    }
    if(targetReached)
    {
        print("...: target velocity reached");
    }
 
    return(targetReached);
}

sdkDS402_QuickStop()

void sdkDS402_QuickStop

(

long

busId

)

Execute quick stop.

This function executes a quick stop with the defined deceleration. The deceleration can be set with method sdkDS402_SetQuickStopDeceleration()

Parameters

busId

Bus ID of the connected slave

Definition at line 544 of file SDK_Amplifier_DS402_StateMachine.mc.

{
    printf("Bus Id %d, Quick Stop\n", busId);
    sdkDS402_TransitionToState(busId, DS402_DRIVE_STATE_QUICK_STOP_ACTIVE);
}

sdkDS402_ReadControlWord()

long sdkDS402_ReadControlWord

(

long

busId

)

Read control word.

This function reads the control word form index DS402_CONTROLWORD(0x6040) and subindex 0 The bits have different meaning for Profile Position Mode and Profile Velocity Mode

Parameters

busId

Bus ID of the connected slave

Returns

value: control word

Definition at line 46 of file SDK_Amplifier_DS402_StateMachine.mc.

{
    return SdoRead(busId, DS402_CONTROLWORD, 0);
}

sdkDS402_ReadStatusWord()

long sdkDS402_ReadStatusWord

(

long

busId

)

Declaration of functions.

Declaration of functions.

Read status word

This function reads the status word form index DS402_STATUSWORD(0x6041) and subindex 0 The bits have different meaning for Profile Position Mode and Profile Velocity Mode

Parameters

busId

Bus ID of the connected slave

Returns

value: status word

Definition at line 33 of file SDK_Amplifier_DS402_StateMachine.mc.

{
    return SdoRead(busId, DS402_STATUSWORD, 0);
}

sdkDS402_ResetFault()

void sdkDS402_ResetFault

(

long

busId

)

Reset fault.

This function resets the fault execute a state transition to 'Switch On disabled'

Parameters

busId

Bus ID of the connected slave

Definition at line 574 of file SDK_Amplifier_DS402_StateMachine.mc.

{
    printf("Bus Id %d, Reset Fault\n", busId);
    sdkDS402_TransitionToState(busId, DS402_DRIVE_STATE_SWITCH_ON_DISABLED);
}

sdkDS402_SetMaxAcceleration()

void sdkDS402_SetMaxAcceleration	(	long	busId,
		long	acc
	)

Set the max acceleration DS402_MAX_ACCELERATION(0x60C5)

Set the maximum allowed acceleration to prevent mechanical damage.

Parameters

busId	Bus ID of the connected slave
acc	acceleration value

Definition at line 464 of file SDK_Amplifier_DS402_StateMachine.mc.

{
    SdoWrite(busId, DS402_MAX_ACCELERATION, 0, acc);
}

sdkDS402_SetMaxMotorSpeed()

void sdkDS402_SetMaxMotorSpeed	(	long	busId,
		long	vel
	)

Set the max profile velocity DS402_MAX_MOTOR_SPEED(0x6080)

Set the maximum allowed speed for the motor. It serves as protection for the motor. The value is given in [rpm].

Parameters

busId	Bus ID of the connected slave
vel	speed value [velocity unit]

Definition at line 452 of file SDK_Amplifier_DS402_StateMachine.mc.

{
    SdoWrite(busId, DS402_MAX_MOTOR_SPEED, 0, vel);
}

sdkDS402_SetMaxProfileVelocity()

void sdkDS402_SetMaxProfileVelocity	(	long	busId,
		long	vel
	)

Set the max profile velocity DS402_MAX_PROFILE_VELOCITY(0x607F)

Set the velocity limit in a PPM or PVM move.

Parameters

busId	Bus ID of the connected slave
vel	velocity value [velocity unit]

Definition at line 439 of file SDK_Amplifier_DS402_StateMachine.mc.

{
    SdoWrite(busId, DS402_MAX_PROFILE_VELOCITY, 0, vel);
}

sdkDS402_SetMotionProfileType()

void sdkDS402_SetMotionProfileType	(	long	busId,
		long	type
	)

Set the motion profile type DS402_MOTION_PROFILE_TYPE(0x6086)

Set the type of motion profile trajectory

Parameters

busId	Bus ID of the connected slave
type	motion profile type value 0: linear ramp (trapezoidal profile)

Definition at line 427 of file SDK_Amplifier_DS402_StateMachine.mc.

{
    SdoWrite(busId, DS402_MOTION_PROFILE_TYPE, 0, type);
}

sdkDS402_SetOpartionMode()

void sdkDS402_SetOpartionMode	(	long	busId,
		long	operationMode
	)

Profile Mode functions.

Set the mode of operation DS402_MODES_OF_OPERATION(0x6060)

Set the mode of operation.

Parameters

busId	Bus ID of the connected slave
operationMode	Definition of the operation mode DS402_OP_PPM (1): Profile Position Mode (PPM) DS402_OP_PVM (3): Profile Velocity Mode (PVM)

Definition at line 508 of file SDK_Amplifier_DS402_StateMachine.mc.

{
    if( operationMode == DS402_OP_PPM)
    {
        printf("Bus Id %d, setup profile position mode\n" ,busId);
        SdoWrite( busId, DS402_MODES_OF_OPERATION, 0, DS402_OP_PPM);
    }
    else if(operationMode == DS402_OP_PVM)
    {
        printf("Bus Id %d, setup profile velocity mode\n" ,busId);
        SdoWrite( busId, DS402_MODES_OF_OPERATION, 0, DS402_OP_PVM);
    }
}

sdkDS402_SetProfileAcceleration()

void sdkDS402_SetProfileAcceleration	(	long	busId,
		long	acc
	)

Profile Mode settings.

Set the profile acceleration DS402_PROFILE_ACCELERATION(0x6083)

Set the acceleration for PPM (Profile Position Mode) and PVM (Profile Velocity Mode)

Parameters

busId	Bus ID of the connected slave
acc	acceleration value [acceleration unit]

Definition at line 389 of file SDK_Amplifier_DS402_StateMachine.mc.

{
    SdoWrite(busId, DS402_PROFILE_ACCELERATION, 0, acc);
}

sdkDS402_SetProfileDeceleration()

void sdkDS402_SetProfileDeceleration	(	long	busId,
		long	dec
	)

Set the profile deceleration DS402_PROFILE_DECELERATION(0x6084)

Set the deceleration for PPM (Profile Position Mode) and PVM (Profile Velocity Mode)

Parameters

busId	Bus ID of the connected slave
acc	deceleration value [acceleration unit]

Definition at line 401 of file SDK_Amplifier_DS402_StateMachine.mc.

{
    SdoWrite(busId, DS402_PROFILE_DECELERATION, 0, dec);
}

sdkDS402_SetProfileMovementParameter()

void sdkDS402_SetProfileMovementParameter	(	long	busId,
		long	acc,
		long	dec,
		long	velocity
	)

Set quick stop deceleration DS402_QUICK_STOP_DECELERATION(0x6085)

Set the deceleration of the quick stop profile.

Parameters

busId	Bus ID of the connected slave
dec	deceleration value

Definition at line 488 of file SDK_Amplifier_DS402_StateMachine.mc.

{
    sdkDS402_SetProfileAcceleration(busId, acc);
    sdkDS402_SetProfileDeceleration(busId, dec);
    sdkDS402_SetProfileVelocity(busId, velocity);
}

sdkDS402_SetProfileVelocity()

void sdkDS402_SetProfileVelocity	(	long	busId,
		long	vel
	)

Set the profile velocity DS402_PROFILE_VELOCITY(0x6081)

Set the deceleration for PPM (Profile Position Mode) The target velocity for PVM has to be set with the function sdkDS402_PVM_TargetReached()

Parameters

busId	Bus ID of the connected slave
vel	velocity value [velocity unit]

Definition at line 414 of file SDK_Amplifier_DS402_StateMachine.mc.

{
    SdoWrite(busId, DS402_PROFILE_VELOCITY, 0, vel);
}

sdkDS402_SetQuickStopDeceleration()

void sdkDS402_SetQuickStopDeceleration	(	long	busId,
		long	dec
	)

Set quick stop deceleration DS402_QUICK_STOP_DECELERATION(0x6085)

Set the deceleration of the quick stop profile.

Parameters

busId	Bus ID of the connected slave
dec	deceleration value

Definition at line 476 of file SDK_Amplifier_DS402_StateMachine.mc.

{
    SdoWrite(busId, DS402_QUICK_STOP_DECELERATION, 0, dec);
}

sdkDS402_TransitionToState()

long sdkDS402_TransitionToState	(	long	busId,
		long	newState
	)

Transition to another state.

This function executes a state transition within the DS402 state machine. It gets the actual state and performs a transition to a new state, if the transition between those two states is allowed. It is not checked whether the target state has been achieved.

Parameters

busId	Bus ID of the connected slave
newState	target state

Returns

value: Process value
value > 0 Transition executed
value < 0 Invalid transition

Definition at line 230 of file SDK_Amplifier_DS402_StateMachine.mc.

                                                           {
 
    long transition = -1;
    long actState = sdkDS402_GetActDriveState(busId);
 
    printf("Bus Id %d, Transition from ", busId);
    sdkDS402_PrintState(actState);
    printf(" to ");
    sdkDS402_PrintState(newState);
    print();
 
    switch(actState) {
        case DS402_DRIVE_STATE_NOT_READY_TO_SWITCH_ON:
            if (newState == DS402_DRIVE_STATE_SWITCH_ON_DISABLED) {
               // Automatic transition
            }
            break;
        case DS402_DRIVE_STATE_SWITCH_ON_DISABLED:
            if (newState == DS402_DRIVE_STATE_READY_TO_SWITCH_ON) {
                transition = DS402_TRANSITION_SHUTDOWN;
            }
            break;
        case DS402_DRIVE_STATE_READY_TO_SWITCH_ON:
            if (newState == DS402_DRIVE_STATE_SWITCH_ON_DISABLED) {
                transition = DS402_TRANSITION_DISABLE_VOLTAGE;
            }
            else if (newState == DS402_DRIVE_STATE_SWITCHED_ON) {
                transition = DS402_TRANSITION_SWITCH_ON;
            }
            else if (newState == DS402_DRIVE_STATE_OPERATION_ENABLED) {
                transition = DS402_TRANSITION_ENABLE_OPERATION;
            }
            break;
        case DS402_DRIVE_STATE_SWITCHED_ON:
            if (newState == DS402_DRIVE_STATE_SWITCH_ON_DISABLED) {
                transition = DS402_TRANSITION_DISABLE_VOLTAGE;
            }
            else if (newState == DS402_DRIVE_STATE_READY_TO_SWITCH_ON) {
                transition = DS402_TRANSITION_SHUTDOWN;
            }
            else if (newState == DS402_DRIVE_STATE_OPERATION_ENABLED) {
                transition = DS402_TRANSITION_ENABLE_OPERATION;
            }
            break;
        case DS402_DRIVE_STATE_OPERATION_ENABLED:
            if (newState == DS402_DRIVE_STATE_SWITCH_ON_DISABLED) {
                transition = DS402_TRANSITION_DISABLE_VOLTAGE;
            }
            else if (newState == DS402_DRIVE_STATE_READY_TO_SWITCH_ON) {
                transition = DS402_TRANSITION_SHUTDOWN;
            }
            else if (newState == DS402_DRIVE_STATE_SWITCHED_ON) {
                transition = DS402_TRANSITION_DISABLE_OPERATION;
            }
            else if (newState == DS402_DRIVE_STATE_QUICK_STOP_ACTIVE) {
                transition = DS402_TRANSITION_QUICK_STOP;
            }
            break;
        case DS402_DRIVE_STATE_QUICK_STOP_ACTIVE:
            if (newState == DS402_DRIVE_STATE_SWITCH_ON_DISABLED) {
                transition = DS402_TRANSITION_SHUTDOWN;
            }
            else if (newState == DS402_DRIVE_STATE_OPERATION_ENABLED) {
                transition = DS402_TRANSITION_ENABLE_OPERATION;
            }
            break;
        case DS402_DRIVE_STATE_FAULT_REACTION_ACTIVE:
            if (newState == DS402_DRIVE_STATE_FAULT) {
                // Automatic transition
            }
            else if (newState == DS402_DRIVE_STATE_SWITCH_ON_DISABLED) {
                transition = DS402_TRANSITION_FAULT_RESET;
            }
            break;
        case DS402_DRIVE_STATE_FAULT:
            if (newState == DS402_DRIVE_STATE_SWITCH_ON_DISABLED) {
                transition = DS402_TRANSITION_FAULT_RESET;
            }
            break;
        default:
            printf("...: invalid actual drive state: %d\n", busId, actState);
            break;
    }
 
    if(transition != -1)
    {
        helperDS402_ExecuteTransition(busId, transition);
    }
    else
    {
        printf("...: invalid state transition\n", busId);
    }
 
    return(transition);
}

sdkDS402_WaitTransitionToState()

long sdkDS402_WaitTransitionToState	(	long	busId,
		long	targetState,
		long	timeout
	)

Wait transition to another state.

This function waits (block) until a target state in DS402 state machine has been reached or the timeout expierd. It gets the actual state and performs a transition to a new state, if the transition between those two states is allowed. Because this function is blocking, just use it for a single axis. If you would like to change the state of several axis use sdkDS402_TransitionToState() funciton and verify the transition in the application.

sdkDS402_TransitionToState

Parameters

busId	Bus ID of the connected slave
newState	target state
Timeout	until the function is aborted >=0: timeout in [ms] < 0: infinite timeout

Returns

value: Process value
value > 0 Transition executed (number of transition)
value -1 Invalid transition
value -2 Timeout expired
value -3 Invalid actual state

Definition at line 347 of file SDK_Amplifier_DS402_StateMachine.mc.

{
    long actState, transition;
    long time = Time();
 
    printf("Bus Id %d, sdkDS402_WaitTransitionToState\n" ,busId);
 
    transition = sdkDS402_TransitionToState(busId, targetState);
    if(transition < 0)
    {
        //Invalid transition
        return(-1);
    }
 
    actState = sdkDS402_GetActDriveState(busId);
    while(actState != targetState)
    {
        if(timeout >= 0 &&  (Time() - time) > timeout)
        {
            //Timeout elapsed
            printf("...: target state not reached within timeout (%d ms)\n", timeout);
            return(-2);
        }
        actState = sdkDS402_GetActDriveState(busId);
    }
 
    return(transition);
}

sdkDS402_WriteControlWord()

void sdkDS402_WriteControlWord	(	long	busId,
		long	value
	)

Write control word.

This function writes the control word to index DS402_CONTROLWORD(0x6040) and subindex 0 The bits have different meaning for Profile Position Mode and Profile Velocity Mode

Parameters

busId	Bus ID of the connected slave
value	Value of the control word

Returns

value: control word

Definition at line 60 of file SDK_Amplifier_DS402_StateMachine.mc.

{
    SdoWrite(busId, DS402_CONTROLWORD, 0, value);
}