SDK_Amplifier_DS402_StateMachine.mh

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#pragma once
 
 
//State machine
long sdkDS402_ReadStatusWord(long busId);
long sdkDS402_ReadControlWord(long busId);
void sdkDS402_WriteControlWord(long busId, long value);
long sdkDS402_GetActDriveState(long busId);
void sdkDS402_PrintState(long state);
long helperDS402_ExecuteTransition(long busId, long transition);
long sdkDS402_TransitionToState(long busId, long newState);
long sdkDS402_WaitTransitionToState(long busId, long targetState, long timeout);
 
//Profile Mode settings
void sdkDS402_SetProfileAcceleration(long busId, long acc);
void sdkDS402_SetProfileDeceleration(long busId, long dec);
void sdkDS402_SetProfileVelocity(long busId, long vel);
void sdkDS402_SetMotionProfileType(long busId, long type);
void sdkDS402_SetMaxProfileVelocity(long busId, long vel);
void sdkDS402_SetMaxMotorSpeed(long busId, long vel);
void sdkDS402_SetMaxAcceleration(long busId, long acc);
void sdkDS402_SetQuickStopDeceleration(long busId, long dec);
void sdkDS402_SetProfileMovementParameter(long busId, long acc, long dec, long velocity);
 
//Profile Mode functions
void sdkDS402_SetOpartionMode(long busId, long operationMode);
long sdkDS402_GetOpartionMode(long busId);
void sdkDS402_QuickStop(long busId);
void sdkDS402_Halt(long busId);
void sdkDS402_ResetFault(long busId);
void sdkDS402_Print_StatusWord(long busId);
void sdkDS402_Print_ControlWord(long busId);
 
//Profile postion mode PPM
long helperDS402_PPM_PosStart(long busId, long pos, long relative, long startImmediately);
long sdkDS402_PPM_PosAbsStart(long busId, long pos, long startImmediately);
long sdkDS402_PPM_PosRelStart(long busId, long pos, long startImmediately);
long sdkDS402_PPM_TargetReached(long busId);
long sdkDS402_PPM_WaitTargetReached(long busId, long timeout);
 
//Profile velocity mode PVM
void sdkDS402_PVM_SetTargetVelocity(long busId, long targetVelocity);
long sdkDS402_PVM_CvelStart(long busId);
long sdkDS402_PVM_CvelStop(long busId);
long sdkDS402_PVM_TargetReached(long busId);
long sdkDS402_PVM_WaitTargetReached(long busId, long timeout);
 
 
#define DS402_DRIVE_STATE_NOT_READY_TO_SWITCH_ON            1
#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
 
//Transitions
#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
#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
 
        //PPM
        #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 //I2T, Current, max velocity, max speed
 
        //PPM
        #define DS402_SW_PPM_BIT_SETPOINT_ACK       12
        #define DS402_SW_PPM_BIT_FOLLWING_ERROR     13
 
        //PVM
        #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      // 0x00: Switches the actually chosen operating mode
        #define DS402_OP_PPM    0x01    // Profile Position Mode
        #define DS402_OP_PVM    0x03    // Profile Velocity Mode
        //#define DS402_OP_HMM  0x06    // Homing Mode
        //#define DS402_OP_CSP  0x08    // Cyclic Synchronous Position Mode
        //#define DS402_OP_CSV  0x09    // Cyclic Synchronous Velocity Mode
        //#define DS402_OP_CST  0x0A    // Cyclic Synchronous Torque Mode
#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      // 0x00: Used to select the desired homing method
        #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      // 0x01: Speed for switch search, 0x02: Speed for zero search
#define DS402_HOMING_ACCELERATION                       0x609A      // 0x00: Acceleration and deceleration ramps in the homing profile
#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
 
//Profile postion mode constants
#define DS402_PPM_ABSOLUTE                              0
#define DS402_PPM_RELATIVE                              1
#define DS402_PPM_AFTER_ACTUAL_POSITIONING              0
#define DS402_PPM_IMMEDIATELY                           1