ApossC SDK  V01.15
Macros | Functions
SDK_Amplifier_Epos4.mh File Reference

Declaration of the Epos4 function. More...

Go to the source code of this file.

Macros

#define EPOS4_DEVICE_TYPE   0x1000
 OBJECT DICTIONARY - EPOS4 Firmware Specification Edition 2020-04. More...
 
#define EPOS4_ERROR_REGISTER   0x1001
 
#define EPOS4_ERROR_HISTORY   0x1003
 
#define EPOS4_COB_ID_SYNC   0x1005
 
#define EPOS4_MANUFACTURER_DEVICE_NAME   0x1008
 
#define EPOS4_STORE_PARAMETERS   0x1010
 
#define EPOS4_RESTORE_DEFAULT_PARAMETERS   0x1011
 
#define EPOS4_COB_ID_EMCY   0x1014
 
#define EPOS4_CONSUMER_HEARTBEAT_TIME   0x1016
 
#define EPOS4_PRODUCER_HEARTBEAT_TIME   0x1017
 
#define EPOS4_IDENTITY_OBJECT   0x1018
 
#define EPOS4_DIAGNOSIS_HISTORY   0x10F3
 
#define EPOS4_SDO_SERVER_PARAMETER   0x1200
 
#define EPOS4_RECEIVE_PDO_1_PARAMETER   0x1400
 
#define EPOS4_RECEIVE_PDO_2_PARAMETER   0x1401
 
#define EPOS4_RECEIVE_PDO_3_PARAMETER   0x1402
 
#define EPOS4_RECEIVE_PDO_4_PARAMETER   0x1403
 
#define EPOS4_RECEIVE_PDO_1_MAPPING   0x1600
 
#define EPOS4_RECEIVE_PDO_2_MAPPING   0x1601
 
#define EPOS4_RECEIVE_PDO_3_MAPPING   0x1602
 
#define EPOS4_RECEIVE_PDO_4_MAPPING   0x1603
 
#define EPOS4_TRANSMIT_PDO_1_PARAMETER   0x1800
 
#define EPOS4_TRANSMIT_PDO_2_PARAMETER   0x1801
 
#define EPOS4_TRANSMIT_PDO_3_PARAMETER   0x1802
 
#define EPOS4_TRANSMIT_PDO_4_PARAMETER   0x1803
 
#define EPOS4_TRANSMIT_PDO_1_MAPPING   0x1A00
 
#define EPOS4_TRANSMIT_PDO_2_MAPPING   0x1A01
 
#define EPOS4_TRANSMIT_PDO_3_MAPPING   0x1A02
 
#define EPOS4_TRANSMIT_PDO_4_MAPPING   0x1A03
 
#define EPOS4_SYNC_MANAGER_COMMUNICATION_TYPE   0x1C00
 
#define EPOS4_SYNC_MANAGER_2_PDO_ASSIGNMENT   0x1C12
 
#define EPOS4_SYNC_MANAGER_3_PDO_ASSIGNMENT   0x1C13
 
#define EPOS4_SYNC_MANAGER_2_PARAMETER   0x1C32
 
#define EPOS4_SYNC_MANAGER_3_PARAMETER   0x1C33
 
#define EPOS4_PROGRAM_DATA   0x1F50
 
#define EPOS4_PROGRAM_CONTROL   0x1F51
 
#define EPOS4_PROGRAM_SOFTWARE_IDENTIFICATION   0x1F56
 
#define EPOS4_FLASH_STATUS_IDENTIFICATION   0x1F57
 
#define EPOS4_NODE_ID   0x2000
 
#define EPOS4_CAN_BIT_RATE   0x2001
 
#define EPOS4_RS232_BIT_RATE   0x2002
 
#define EPOS4_RS232_FRAME_TIMEOUT   0x2005
 
#define EPOS4_USB_FRAME_TIMEOUT   0x2006
 
#define EPOS4_CAN_BIT_RATE_DISPLAY   0x200A
 
#define EPOS4_ACTIVE_FIELDBUS   0x2010
 
#define EPOS4_ADDITIONAL_IDENTITY   0x2100
 
#define EPOS4_EXTENSION_1_IDENTITY   0x2101
 
#define EPOS4_CUSTOM_PERSISTENT_MEMORY   0x210C
 
#define EPOS4_POWER_SUPPLY   0x2200
 
#define EPOS4_AXIS_CONFIGURATION   0x3000
 
#define EPOS4_MOTOR_DATA   0x3001
 
#define EPOS4_ELECTRICAL_SYSTEM_PARAMETERS   0x3002
 
#define EPOS4_GEAR_CONFIGURATION   0x3003
 
#define EPOS4_DIGITAL_INCREMENTAL_ENCODER_1   0x3010
 
#define EPOS4_ANALOG_INCREMENTAL_ENCODER   0x3011
 
#define EPOS4_SSI_ABSOLUTE_ENCODER   0x3012
 
#define EPOS4_DIGITAL_HALL_SENSOR   0x301A
 
#define EPOS4_DIGITAL_INCREMENTAL_ENCODER_2   0x3020
 
#define EPOS4_CURRENT_CONTROL_PARAMETER_SET   0x30A0
 
#define EPOS4_POSITION_CONTROL_PARAMETER_SET   0x30A1
 
#define EPOS4_VELOCITY_CONTROL_PARAMETER_SET   0x30A2
 
#define EPOS4_VELOCITY_OBSERVER_PARAMETER_SET   0x30A3
 
#define EPOS4_DUAL_LOOP_POSITION_CONTROL_PARAMETER_SET   0x30AE
 
#define EPOS4_HOME_POSITION   0x30B0
 
#define EPOS4_HOME_OFFSET_MOVE_DISTANCE   0x30B1
 
#define EPOS4_CURRENT_THRESHOLD_FOR_HOMING_MODE   0x30B2
 
#define EPOS4_CURRENT_DEMAND_VALUE   0x30D0
 
#define EPOS4_CURRENT_ACTUAL_VALUES   0x30D1
 
#define EPOS4_TORQUE_ACTUAL_VALUES   0x30D2
 
#define EPOS4_VELOCITY_ACTUAL_VALUES   0x30D3
 
#define EPOS4_STANDSTILL_WINDOW_CONFIGURATION   0x30E0
 
#define EPOS4_DIGITAL_INPUT_PROPERTIES   0x3141
 
#define EPOS4_CONFIGURATION_OF_DIGITAL_INPUTS   0x3142
 
#define EPOS4_DIGITAL_OUTPUT_PROPERTIES   0x3150
 
#define EPOS4_CONFIGURATION_OF_DIGITAL_OUTPUTS   0x3151
 
#define EPOS4_HOLDING_BRAKE_PARAMETERS   0x3158
 
#define EPOS4_ANALOG_INPUT_PROPERTIES   0x3160
 
#define EPOS4_CONFIGURATION_OF_ANALOG_INPUTS   0x3161
 
#define EPOS4_ANALOG_INPUT_GENERAL_PURPOSE   0x3162
 
#define EPOS4_ANALOG_INPUT_ADJUSTMENT   0x3163
 
#define EPOS4_ANALOG_INPUT_CURRENT_SET_VALUE_PROPERTIES   0x3170
 
#define EPOS4_ANALOG_INPUT_VELOCITY_SET_VALUE_PROPERTIES   0x3171
 
#define EPOS4_ANALOG_OUTPUT_PROPERTIES   0x3180
 
#define EPOS4_CONFIGURATION_OF_ANALOG_OUTPUTS   0x3181
 
#define EPOS4_ANALOG_OUTPUT_GENERAL_PURPOSE   0x3182
 
#define EPOS4_MOTOR_PROTECTION   0x3200
 
#define EPOS4_THERMAL_CONTROLLER_PROTECTION   0x3201
 
#define EPOS4_FUNCTIONAL_SAFETY   0x3202
 
#define EPOS4_ABORT_CONNECTION_OPTION_CODE   0x6007
 
#define EPOS4_ERROR_CODE   0x603F
 
#define EPOS4_CONTROLWORD   0x6040
 
#define EPOS4_STATUSWORD   0x6041
 
#define EPOS4_QUICK_STOP_OPTION_CODE   0x605A
 
#define EPOS4_SHUTDOWN_OPTION_CODE   0x605B
 
#define EPOS4_DISABLE_OPERATION_OPTION_CODE   0x605C
 
#define EPOS4_FAULT_REACTION_OPTION_CODE   0x605E
 
#define EPOS4_MODES_OF_OPERATION   0x6060
 
#define EPOS4_OP_PPM   0x01
 
#define EPOS4_OP_PVM   0x03
 
#define EPOS4_OP_HMM   0x06
 
#define EPOS4_OP_CSP   0x08
 
#define EPOS4_OP_CSV   0x09
 
#define EPOS4_OP_CST   0x0A
 
#define EPOS4_MODES_OF_OPERATION_DISPLAY   0x6061
 
#define EPOS4_POSITION_DEMAND_VALUE   0x6062
 
#define EPOS4_POSITION_ACTUAL_VALUE   0x6064
 
#define EPOS4_FOLLOWING_ERROR_WINDOW   0x6065
 
#define EPOS4_FOLLOWING_ERROR_TIMEOUT   0x6066
 
#define EPOS4_VELOCITY_DEMAND_VALUE   0x606B
 
#define EPOS4_VELOCITY_ACTUAL_VALUE   0x606C
 
#define EPOS4_TARGET_TORQUE   0x6071
 
#define EPOS4_MOTOR_RATED_TORQUE   0x6076
 
#define EPOS4_TORQUE_ACTUAL_VALUE   0x6077
 
#define EPOS4_TARGET_POSITION   0x607A
 
#define EPOS4_POSITION_RANGE_LIMIT   0x607B
 
#define EPOS4_SOFTWARE_POSITION_LIMIT   0x607D
 
#define EPOS4_MAX_PROFILE_VELOCITY   0x607F
 
#define EPOS4_MAX_MOTOR_SPEED   0x6080
 
#define EPOS4_PROFILE_VELOCITY   0x6081
 
#define EPOS4_PROFILE_ACCELERATION   0x6083
 
#define EPOS4_PROFILE_DECELERATION   0x6084
 
#define EPOS4_QUICK_STOP_DECELERATION   0x6085
 
#define EPOS4_MOTION_PROFILE_TYPE   0x6086
 
#define EPOS4_HOMING_METHOD   0x6098
 
#define EPOS4_HOMING_ACT_POSITION   37
 
#define EPOS4_HOMING_IDX_P_SPEED   34
 
#define EPOS4_HOMING_IDX_N_SPEED   33
 
#define EPOS4_HOMING_SWITCH_P_SPEED   23
 
#define EPOS4_HOMING_SWITCH_N_SPEED   27
 
#define EPOS4_HOMING_LIMIT_P_SPEED   18
 
#define EPOS4_HOMING_LIMIT_N_SPEED   17
 
#define EPOS4_HOMING_SWITCH_IDX_P_SPEED   7
 
#define EPOS4_HOMING_SWITCH_IDX_N_SPEED   11
 
#define EPOS4_HOMING_LIMIT_IDX_P_SPEED   2
 
#define EPOS4_HOMING_LIMIT_IDX_N_SPEED   1
 
#define EPOS4_HOMING_CURRENT_IDX_P_SPEED   -1
 
#define EPOS4_HOMING_CURRENT_IDX_N_SPEED   -2
 
#define EPOS4_HOMING_CURRENT_P_SPEED   -3
 
#define EPOS4_HOMING_CURRENT_N_SPEED   -4
 
#define EPOS4_HOMING_SPEEDS   0x6099
 
#define EPOS4_HOMING_ACCELERATION   0x609A
 
#define EPOS4_SI_UNIT_POSITION   0x60A8
 
#define EPOS4_SI_UNIT_VELOCITY   0x60A9
 
#define EPOS4_SI_UNIT_ACCELERATION   0x60AA
 
#define EPOS4_POSITION_OFFSET   0x60B0
 
#define EPOS4_VELOCITY_OFFSET   0x60B1
 
#define EPOS4_TORQUE_OFFSET   0x60B2
 
#define EPOS4_TOUCH_PROBE_FUNCTION   0x60B8
 
#define EPOS4_TOUCH_PROBE_STATUS   0x60B9
 
#define EPOS4_TOUCH_PROBE_POSITION_1_POSITIVE_VALUE   0x60BA
 
#define EPOS4_TOUCH_PROBE_POSITION_1_NEGATIVE_VALUE   0x60BB
 
#define EPOS4_INTERPOLATION_TIME_PERIOD   0x60C2
 
#define EPOS4_MAX_ACCELERATION   0x60C5
 
#define EPOS4_TOUCH_PROBE_SOURCE   0x60D0
 
#define EPOS4_TOUCH_PROBE_1_POSITIVE_EDGE_COUNTER   0x60D5
 
#define EPOS4_TOUCH_PROBE_1_NEGATIVE_EDGE_COUNTER   0x60D6
 
#define EPOS4_ADDITIONAL_POSITION_ACTUAL_VALUES   0x60E4
 
#define EPOS4_ADDITIONAL_VELOCITY_ACTUAL_VALUES   0x60E5
 
#define EPOS4_FOLLOWING_ERROR_ACTUAL_VALUE   0x60F4
 
#define EPOS4_DIGITAL_INPUTS   0x60FD
 
#define EPOS4_DIGITAL_OUTPUTS   0x60FE
 
#define EPOS4_TARGET_VELOCITY   0x60FF
 
#define EPOS4_MOTOR_TYPE   0x6402
 
#define EPOS4_SUPPORTED_DRIVE_MODES   0x6502
 
#define EPOS4_MODULAR_DEVICE_PROFILE   0xF000
 
#define EPOS4_CONFIGURED_MODULE_IDENT_LIST   0xF030
 
#define EPOS4_DETECTED_MODULE_IDENT_LIST   0xF050
 

Functions

long sdkEpos4_SetupECatBusModule (long axis, long busId, long pdoNumber, long operationMode)
 Setup the ECAT bus module for an Epos4. More...
 
long sdkEpos4_SetupECatVirtAmp (long axis, long maxRpm, long operationMode)
 Setup the virtual amplifier for an Epos4 with EtherCat. More...
 
long sdkEpos4_SetupECatVirtCntin (long axis, long operationMode)
 Setup the virtual counter input for an Epos4 with EtherCat. More...
 
long sdkEpos4_SetupECatSdoParam (long busId, long pdoNumber, long axisPolarity, long operationMode)
 Setup the Sdo parameter for an Epos4 with EtherCat. More...
 
long sdkEpos4_SetupCanBusModule (long axis, long busId, long pdoNumber, long operationMode)
 Setup the Can bus module for an Epos4. More...
 
long sdkEpos4_SetupCanVirtAmp (long axis, long maxRpm, long operationMode)
 Setup the virtual amplifier for an Epos4 with Can bus. More...
 
long sdkEpos4_SetupCanVirtCntin (long axis, long operationMode)
 Setup the virtual counter input for an Epos4 with Can bus. More...
 
long sdkEpos4_SetupCanSdoParam (long busId, long pdonumber, long axisPolarity, long operationMode)
 Setup the Sdo parameter for an Epos4. More...
 
long sdkEpos4_AxisHomingStart (long axis, long busId, long operationMode, long &homingState)
 State machine function for performing a homing on an EPOS4. More...
 
void sdkEpos4_PrintErrorDescription (long errorCode)
 Prints a error description for Epos4 errors. More...
 

Detailed Description

Declaration of the Epos4 function.

Revision
261

Definition in file SDK_Amplifier_Epos4.mh.

Macro Definition Documentation

◆ EPOS4_ABORT_CONNECTION_OPTION_CODE

#define EPOS4_ABORT_CONNECTION_OPTION_CODE   0x6007

Definition at line 118 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_ACTIVE_FIELDBUS

#define EPOS4_ACTIVE_FIELDBUS   0x2010

Definition at line 74 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_ADDITIONAL_IDENTITY

#define EPOS4_ADDITIONAL_IDENTITY   0x2100

Definition at line 75 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_ADDITIONAL_POSITION_ACTUAL_VALUES

#define EPOS4_ADDITIONAL_POSITION_ACTUAL_VALUES   0x60E4

Definition at line 186 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_ADDITIONAL_VELOCITY_ACTUAL_VALUES

#define EPOS4_ADDITIONAL_VELOCITY_ACTUAL_VALUES   0x60E5

Definition at line 187 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_ANALOG_INCREMENTAL_ENCODER

#define EPOS4_ANALOG_INCREMENTAL_ENCODER   0x3011

Definition at line 84 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_ANALOG_INPUT_ADJUSTMENT

#define EPOS4_ANALOG_INPUT_ADJUSTMENT   0x3163

Definition at line 109 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_ANALOG_INPUT_CURRENT_SET_VALUE_PROPERTIES

#define EPOS4_ANALOG_INPUT_CURRENT_SET_VALUE_PROPERTIES   0x3170

Definition at line 110 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_ANALOG_INPUT_GENERAL_PURPOSE

#define EPOS4_ANALOG_INPUT_GENERAL_PURPOSE   0x3162

Definition at line 108 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_ANALOG_INPUT_PROPERTIES

#define EPOS4_ANALOG_INPUT_PROPERTIES   0x3160

Definition at line 106 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_ANALOG_INPUT_VELOCITY_SET_VALUE_PROPERTIES

#define EPOS4_ANALOG_INPUT_VELOCITY_SET_VALUE_PROPERTIES   0x3171

Definition at line 111 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_ANALOG_OUTPUT_GENERAL_PURPOSE

#define EPOS4_ANALOG_OUTPUT_GENERAL_PURPOSE   0x3182

Definition at line 114 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_ANALOG_OUTPUT_PROPERTIES

#define EPOS4_ANALOG_OUTPUT_PROPERTIES   0x3180

Definition at line 112 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_AXIS_CONFIGURATION

#define EPOS4_AXIS_CONFIGURATION   0x3000

Definition at line 79 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_CAN_BIT_RATE

#define EPOS4_CAN_BIT_RATE   0x2001

Definition at line 69 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_CAN_BIT_RATE_DISPLAY

#define EPOS4_CAN_BIT_RATE_DISPLAY   0x200A

Definition at line 73 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_COB_ID_EMCY

#define EPOS4_COB_ID_EMCY   0x1014

Definition at line 37 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_COB_ID_SYNC

#define EPOS4_COB_ID_SYNC   0x1005

Definition at line 33 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_CONFIGURATION_OF_ANALOG_INPUTS

#define EPOS4_CONFIGURATION_OF_ANALOG_INPUTS   0x3161

Definition at line 107 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_CONFIGURATION_OF_ANALOG_OUTPUTS

#define EPOS4_CONFIGURATION_OF_ANALOG_OUTPUTS   0x3181

Definition at line 113 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_CONFIGURATION_OF_DIGITAL_INPUTS

#define EPOS4_CONFIGURATION_OF_DIGITAL_INPUTS   0x3142

Definition at line 102 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_CONFIGURATION_OF_DIGITAL_OUTPUTS

#define EPOS4_CONFIGURATION_OF_DIGITAL_OUTPUTS   0x3151

Definition at line 104 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_CONFIGURED_MODULE_IDENT_LIST

#define EPOS4_CONFIGURED_MODULE_IDENT_LIST   0xF030

Definition at line 195 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_CONSUMER_HEARTBEAT_TIME

#define EPOS4_CONSUMER_HEARTBEAT_TIME   0x1016

Definition at line 38 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_CONTROLWORD

#define EPOS4_CONTROLWORD   0x6040

Definition at line 120 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_CURRENT_ACTUAL_VALUES

#define EPOS4_CURRENT_ACTUAL_VALUES   0x30D1

Definition at line 97 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_CURRENT_CONTROL_PARAMETER_SET

#define EPOS4_CURRENT_CONTROL_PARAMETER_SET   0x30A0

Definition at line 88 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_CURRENT_DEMAND_VALUE

#define EPOS4_CURRENT_DEMAND_VALUE   0x30D0

Definition at line 96 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_CURRENT_THRESHOLD_FOR_HOMING_MODE

#define EPOS4_CURRENT_THRESHOLD_FOR_HOMING_MODE   0x30B2
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, ECAT_1Ax_EPOS4-Test_cst.mc, and ECAT_3Ax_Epos4-Test_csp.mc.

Definition at line 95 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_CUSTOM_PERSISTENT_MEMORY

#define EPOS4_CUSTOM_PERSISTENT_MEMORY   0x210C

Definition at line 77 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_DETECTED_MODULE_IDENT_LIST

#define EPOS4_DETECTED_MODULE_IDENT_LIST   0xF050

Definition at line 196 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_DEVICE_TYPE

#define EPOS4_DEVICE_TYPE   0x1000

OBJECT DICTIONARY - EPOS4 Firmware Specification Edition 2020-04.

Definition at line 30 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_DIAGNOSIS_HISTORY

#define EPOS4_DIAGNOSIS_HISTORY   0x10F3

Definition at line 41 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_DIGITAL_HALL_SENSOR

#define EPOS4_DIGITAL_HALL_SENSOR   0x301A

Definition at line 86 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_DIGITAL_INCREMENTAL_ENCODER_1

#define EPOS4_DIGITAL_INCREMENTAL_ENCODER_1   0x3010

Definition at line 83 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_DIGITAL_INCREMENTAL_ENCODER_2

#define EPOS4_DIGITAL_INCREMENTAL_ENCODER_2   0x3020

Definition at line 87 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_DIGITAL_INPUT_PROPERTIES

#define EPOS4_DIGITAL_INPUT_PROPERTIES   0x3141

Definition at line 101 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_DIGITAL_INPUTS

#define EPOS4_DIGITAL_INPUTS   0x60FD

Definition at line 189 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_DIGITAL_OUTPUT_PROPERTIES

#define EPOS4_DIGITAL_OUTPUT_PROPERTIES   0x3150

Definition at line 103 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_DIGITAL_OUTPUTS

#define EPOS4_DIGITAL_OUTPUTS   0x60FE

Definition at line 190 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_DISABLE_OPERATION_OPTION_CODE

#define EPOS4_DISABLE_OPERATION_OPTION_CODE   0x605C

Definition at line 124 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_DUAL_LOOP_POSITION_CONTROL_PARAMETER_SET

#define EPOS4_DUAL_LOOP_POSITION_CONTROL_PARAMETER_SET   0x30AE

Definition at line 92 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_ELECTRICAL_SYSTEM_PARAMETERS

#define EPOS4_ELECTRICAL_SYSTEM_PARAMETERS   0x3002

Definition at line 81 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_ERROR_CODE

#define EPOS4_ERROR_CODE   0x603F
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, ECAT_1Ax_EPOS4-Test_cst.mc, and ECAT_3Ax_Epos4-Test_csp.mc.

Definition at line 119 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_ERROR_HISTORY

#define EPOS4_ERROR_HISTORY   0x1003

Definition at line 32 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_ERROR_REGISTER

#define EPOS4_ERROR_REGISTER   0x1001

Definition at line 31 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_EXTENSION_1_IDENTITY

#define EPOS4_EXTENSION_1_IDENTITY   0x2101

Definition at line 76 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_FAULT_REACTION_OPTION_CODE

#define EPOS4_FAULT_REACTION_OPTION_CODE   0x605E

Definition at line 125 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_FLASH_STATUS_IDENTIFICATION

#define EPOS4_FLASH_STATUS_IDENTIFICATION   0x1F57

Definition at line 67 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_FOLLOWING_ERROR_ACTUAL_VALUE

#define EPOS4_FOLLOWING_ERROR_ACTUAL_VALUE   0x60F4

Definition at line 188 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_FOLLOWING_ERROR_TIMEOUT

#define EPOS4_FOLLOWING_ERROR_TIMEOUT   0x6066

Definition at line 137 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_FOLLOWING_ERROR_WINDOW

#define EPOS4_FOLLOWING_ERROR_WINDOW   0x6065

Definition at line 136 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_FUNCTIONAL_SAFETY

#define EPOS4_FUNCTIONAL_SAFETY   0x3202

Definition at line 117 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_GEAR_CONFIGURATION

#define EPOS4_GEAR_CONFIGURATION   0x3003

Definition at line 82 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_HOLDING_BRAKE_PARAMETERS

#define EPOS4_HOLDING_BRAKE_PARAMETERS   0x3158

Definition at line 105 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_HOME_OFFSET_MOVE_DISTANCE

#define EPOS4_HOME_OFFSET_MOVE_DISTANCE   0x30B1
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, ECAT_1Ax_EPOS4-Test_cst.mc, and ECAT_3Ax_Epos4-Test_csp.mc.

Definition at line 94 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_HOME_POSITION

#define EPOS4_HOME_POSITION   0x30B0
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, ECAT_1Ax_EPOS4-Test_cst.mc, and ECAT_3Ax_Epos4-Test_csp.mc.

Definition at line 93 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_HOMING_ACCELERATION

#define EPOS4_HOMING_ACCELERATION   0x609A
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, ECAT_1Ax_EPOS4-Test_cst.mc, and ECAT_3Ax_Epos4-Test_csp.mc.

Definition at line 170 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_HOMING_ACT_POSITION

#define EPOS4_HOMING_ACT_POSITION   37
Examples
ECAT_1Ax_EPOS4-Test_cst.mc, and ECAT_3Ax_Epos4-Test_csp.mc.

Definition at line 154 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_HOMING_CURRENT_IDX_N_SPEED

#define EPOS4_HOMING_CURRENT_IDX_N_SPEED   -2

Definition at line 166 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_HOMING_CURRENT_IDX_P_SPEED

#define EPOS4_HOMING_CURRENT_IDX_P_SPEED   -1

Definition at line 165 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_HOMING_CURRENT_N_SPEED

#define EPOS4_HOMING_CURRENT_N_SPEED   -4
Examples
CAN_1Ax_EPOS4-Test_cst.mc, CAN_1Ax_EPOS4-Test_csv.mc, and CAN_2Ax_EPOS4-Test_csp.mc.

Definition at line 168 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_HOMING_CURRENT_P_SPEED

#define EPOS4_HOMING_CURRENT_P_SPEED   -3

Definition at line 167 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_HOMING_IDX_N_SPEED

#define EPOS4_HOMING_IDX_N_SPEED   33

Definition at line 156 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_HOMING_IDX_P_SPEED

#define EPOS4_HOMING_IDX_P_SPEED   34

Definition at line 155 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_HOMING_LIMIT_IDX_N_SPEED

#define EPOS4_HOMING_LIMIT_IDX_N_SPEED   1

Definition at line 164 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_HOMING_LIMIT_IDX_P_SPEED

#define EPOS4_HOMING_LIMIT_IDX_P_SPEED   2

Definition at line 163 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_HOMING_LIMIT_N_SPEED

#define EPOS4_HOMING_LIMIT_N_SPEED   17

Definition at line 160 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_HOMING_LIMIT_P_SPEED

#define EPOS4_HOMING_LIMIT_P_SPEED   18

Definition at line 159 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_HOMING_METHOD

#define EPOS4_HOMING_METHOD   0x6098
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, ECAT_1Ax_EPOS4-Test_cst.mc, and ECAT_3Ax_Epos4-Test_csp.mc.

Definition at line 153 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_HOMING_SPEEDS

#define EPOS4_HOMING_SPEEDS   0x6099
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, ECAT_1Ax_EPOS4-Test_cst.mc, and ECAT_3Ax_Epos4-Test_csp.mc.

Definition at line 169 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_HOMING_SWITCH_IDX_N_SPEED

#define EPOS4_HOMING_SWITCH_IDX_N_SPEED   11

Definition at line 162 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_HOMING_SWITCH_IDX_P_SPEED

#define EPOS4_HOMING_SWITCH_IDX_P_SPEED   7

Definition at line 161 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_HOMING_SWITCH_N_SPEED

#define EPOS4_HOMING_SWITCH_N_SPEED   27

Definition at line 158 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_HOMING_SWITCH_P_SPEED

#define EPOS4_HOMING_SWITCH_P_SPEED   23

Definition at line 157 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_IDENTITY_OBJECT

#define EPOS4_IDENTITY_OBJECT   0x1018

Definition at line 40 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_INTERPOLATION_TIME_PERIOD

#define EPOS4_INTERPOLATION_TIME_PERIOD   0x60C2

Definition at line 181 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_MANUFACTURER_DEVICE_NAME

#define EPOS4_MANUFACTURER_DEVICE_NAME   0x1008

Definition at line 34 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_MAX_ACCELERATION

#define EPOS4_MAX_ACCELERATION   0x60C5

Definition at line 182 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_MAX_MOTOR_SPEED

#define EPOS4_MAX_MOTOR_SPEED   0x6080

Definition at line 147 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_MAX_PROFILE_VELOCITY

#define EPOS4_MAX_PROFILE_VELOCITY   0x607F

Definition at line 146 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_MODES_OF_OPERATION

#define EPOS4_MODES_OF_OPERATION   0x6060

Definition at line 126 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_MODES_OF_OPERATION_DISPLAY

#define EPOS4_MODES_OF_OPERATION_DISPLAY   0x6061

Definition at line 133 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_MODULAR_DEVICE_PROFILE

#define EPOS4_MODULAR_DEVICE_PROFILE   0xF000

Definition at line 194 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_MOTION_PROFILE_TYPE

#define EPOS4_MOTION_PROFILE_TYPE   0x6086

Definition at line 152 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_MOTOR_DATA

#define EPOS4_MOTOR_DATA   0x3001

Definition at line 80 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_MOTOR_PROTECTION

#define EPOS4_MOTOR_PROTECTION   0x3200

Definition at line 115 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_MOTOR_RATED_TORQUE

#define EPOS4_MOTOR_RATED_TORQUE   0x6076

Definition at line 141 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_MOTOR_TYPE

#define EPOS4_MOTOR_TYPE   0x6402

Definition at line 192 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_NODE_ID

#define EPOS4_NODE_ID   0x2000

Definition at line 68 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_OP_CSP

#define EPOS4_OP_CSP   0x08
Examples
CAN_1Ax_EPOS4-Test_csp.mc, CAN_2Ax_EPOS4-Test_csp.mc, and ECAT_3Ax_Epos4-Test_csp.mc.

Definition at line 130 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_OP_CST

#define EPOS4_OP_CST   0x0A
Examples
CAN_1Ax_EPOS4-Test_cst.mc, and ECAT_1Ax_EPOS4-Test_cst.mc.

Definition at line 132 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_OP_CSV

#define EPOS4_OP_CSV   0x09
Examples
CAN_1Ax_EPOS4-Test_csv.mc.

Definition at line 131 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_OP_HMM

#define EPOS4_OP_HMM   0x06

Definition at line 129 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_OP_PPM

#define EPOS4_OP_PPM   0x01

Definition at line 127 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_OP_PVM

#define EPOS4_OP_PVM   0x03

Definition at line 128 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_POSITION_ACTUAL_VALUE

#define EPOS4_POSITION_ACTUAL_VALUE   0x6064

Definition at line 135 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_POSITION_CONTROL_PARAMETER_SET

#define EPOS4_POSITION_CONTROL_PARAMETER_SET   0x30A1

Definition at line 89 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_POSITION_DEMAND_VALUE

#define EPOS4_POSITION_DEMAND_VALUE   0x6062

Definition at line 134 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_POSITION_OFFSET

#define EPOS4_POSITION_OFFSET   0x60B0

Definition at line 174 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_POSITION_RANGE_LIMIT

#define EPOS4_POSITION_RANGE_LIMIT   0x607B

Definition at line 144 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_POWER_SUPPLY

#define EPOS4_POWER_SUPPLY   0x2200

Definition at line 78 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_PRODUCER_HEARTBEAT_TIME

#define EPOS4_PRODUCER_HEARTBEAT_TIME   0x1017

Definition at line 39 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_PROFILE_ACCELERATION

#define EPOS4_PROFILE_ACCELERATION   0x6083

Definition at line 149 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_PROFILE_DECELERATION

#define EPOS4_PROFILE_DECELERATION   0x6084

Definition at line 150 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_PROFILE_VELOCITY

#define EPOS4_PROFILE_VELOCITY   0x6081

Definition at line 148 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_PROGRAM_CONTROL

#define EPOS4_PROGRAM_CONTROL   0x1F51

Definition at line 65 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_PROGRAM_DATA

#define EPOS4_PROGRAM_DATA   0x1F50

Definition at line 64 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_PROGRAM_SOFTWARE_IDENTIFICATION

#define EPOS4_PROGRAM_SOFTWARE_IDENTIFICATION   0x1F56

Definition at line 66 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_QUICK_STOP_DECELERATION

#define EPOS4_QUICK_STOP_DECELERATION   0x6085

Definition at line 151 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_QUICK_STOP_OPTION_CODE

#define EPOS4_QUICK_STOP_OPTION_CODE   0x605A

Definition at line 122 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_RECEIVE_PDO_1_MAPPING

#define EPOS4_RECEIVE_PDO_1_MAPPING   0x1600

Definition at line 47 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_RECEIVE_PDO_1_PARAMETER

#define EPOS4_RECEIVE_PDO_1_PARAMETER   0x1400

Definition at line 43 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_RECEIVE_PDO_2_MAPPING

#define EPOS4_RECEIVE_PDO_2_MAPPING   0x1601

Definition at line 48 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_RECEIVE_PDO_2_PARAMETER

#define EPOS4_RECEIVE_PDO_2_PARAMETER   0x1401

Definition at line 44 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_RECEIVE_PDO_3_MAPPING

#define EPOS4_RECEIVE_PDO_3_MAPPING   0x1602

Definition at line 49 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_RECEIVE_PDO_3_PARAMETER

#define EPOS4_RECEIVE_PDO_3_PARAMETER   0x1402

Definition at line 45 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_RECEIVE_PDO_4_MAPPING

#define EPOS4_RECEIVE_PDO_4_MAPPING   0x1603

Definition at line 50 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_RECEIVE_PDO_4_PARAMETER

#define EPOS4_RECEIVE_PDO_4_PARAMETER   0x1403

Definition at line 46 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_RESTORE_DEFAULT_PARAMETERS

#define EPOS4_RESTORE_DEFAULT_PARAMETERS   0x1011

Definition at line 36 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_RS232_BIT_RATE

#define EPOS4_RS232_BIT_RATE   0x2002

Definition at line 70 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_RS232_FRAME_TIMEOUT

#define EPOS4_RS232_FRAME_TIMEOUT   0x2005

Definition at line 71 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_SDO_SERVER_PARAMETER

#define EPOS4_SDO_SERVER_PARAMETER   0x1200

Definition at line 42 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_SHUTDOWN_OPTION_CODE

#define EPOS4_SHUTDOWN_OPTION_CODE   0x605B

Definition at line 123 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_SI_UNIT_ACCELERATION

#define EPOS4_SI_UNIT_ACCELERATION   0x60AA

Definition at line 173 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_SI_UNIT_POSITION

#define EPOS4_SI_UNIT_POSITION   0x60A8

Definition at line 171 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_SI_UNIT_VELOCITY

#define EPOS4_SI_UNIT_VELOCITY   0x60A9

Definition at line 172 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_SOFTWARE_POSITION_LIMIT

#define EPOS4_SOFTWARE_POSITION_LIMIT   0x607D

Definition at line 145 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_SSI_ABSOLUTE_ENCODER

#define EPOS4_SSI_ABSOLUTE_ENCODER   0x3012

Definition at line 85 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_STANDSTILL_WINDOW_CONFIGURATION

#define EPOS4_STANDSTILL_WINDOW_CONFIGURATION   0x30E0

Definition at line 100 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_STATUSWORD

#define EPOS4_STATUSWORD   0x6041

Definition at line 121 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_STORE_PARAMETERS

#define EPOS4_STORE_PARAMETERS   0x1010

Definition at line 35 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_SUPPORTED_DRIVE_MODES

#define EPOS4_SUPPORTED_DRIVE_MODES   0x6502

Definition at line 193 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_SYNC_MANAGER_2_PARAMETER

#define EPOS4_SYNC_MANAGER_2_PARAMETER   0x1C32

Definition at line 62 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_SYNC_MANAGER_2_PDO_ASSIGNMENT

#define EPOS4_SYNC_MANAGER_2_PDO_ASSIGNMENT   0x1C12

Definition at line 60 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_SYNC_MANAGER_3_PARAMETER

#define EPOS4_SYNC_MANAGER_3_PARAMETER   0x1C33

Definition at line 63 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_SYNC_MANAGER_3_PDO_ASSIGNMENT

#define EPOS4_SYNC_MANAGER_3_PDO_ASSIGNMENT   0x1C13

Definition at line 61 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_SYNC_MANAGER_COMMUNICATION_TYPE

#define EPOS4_SYNC_MANAGER_COMMUNICATION_TYPE   0x1C00

Definition at line 59 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_TARGET_POSITION

#define EPOS4_TARGET_POSITION   0x607A

Definition at line 143 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_TARGET_TORQUE

#define EPOS4_TARGET_TORQUE   0x6071

Definition at line 140 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_TARGET_VELOCITY

#define EPOS4_TARGET_VELOCITY   0x60FF

Definition at line 191 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_THERMAL_CONTROLLER_PROTECTION

#define EPOS4_THERMAL_CONTROLLER_PROTECTION   0x3201

Definition at line 116 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_TORQUE_ACTUAL_VALUE

#define EPOS4_TORQUE_ACTUAL_VALUE   0x6077

Definition at line 142 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_TORQUE_ACTUAL_VALUES

#define EPOS4_TORQUE_ACTUAL_VALUES   0x30D2

Definition at line 98 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_TORQUE_OFFSET

#define EPOS4_TORQUE_OFFSET   0x60B2

Definition at line 176 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_TOUCH_PROBE_1_NEGATIVE_EDGE_COUNTER

#define EPOS4_TOUCH_PROBE_1_NEGATIVE_EDGE_COUNTER   0x60D6

Definition at line 185 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_TOUCH_PROBE_1_POSITIVE_EDGE_COUNTER

#define EPOS4_TOUCH_PROBE_1_POSITIVE_EDGE_COUNTER   0x60D5

Definition at line 184 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_TOUCH_PROBE_FUNCTION

#define EPOS4_TOUCH_PROBE_FUNCTION   0x60B8

Definition at line 177 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_TOUCH_PROBE_POSITION_1_NEGATIVE_VALUE

#define EPOS4_TOUCH_PROBE_POSITION_1_NEGATIVE_VALUE   0x60BB

Definition at line 180 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_TOUCH_PROBE_POSITION_1_POSITIVE_VALUE

#define EPOS4_TOUCH_PROBE_POSITION_1_POSITIVE_VALUE   0x60BA

Definition at line 179 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_TOUCH_PROBE_SOURCE

#define EPOS4_TOUCH_PROBE_SOURCE   0x60D0

Definition at line 183 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_TOUCH_PROBE_STATUS

#define EPOS4_TOUCH_PROBE_STATUS   0x60B9

Definition at line 178 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_TRANSMIT_PDO_1_MAPPING

#define EPOS4_TRANSMIT_PDO_1_MAPPING   0x1A00

Definition at line 55 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_TRANSMIT_PDO_1_PARAMETER

#define EPOS4_TRANSMIT_PDO_1_PARAMETER   0x1800

Definition at line 51 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_TRANSMIT_PDO_2_MAPPING

#define EPOS4_TRANSMIT_PDO_2_MAPPING   0x1A01

Definition at line 56 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_TRANSMIT_PDO_2_PARAMETER

#define EPOS4_TRANSMIT_PDO_2_PARAMETER   0x1801

Definition at line 52 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_TRANSMIT_PDO_3_MAPPING

#define EPOS4_TRANSMIT_PDO_3_MAPPING   0x1A02

Definition at line 57 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_TRANSMIT_PDO_3_PARAMETER

#define EPOS4_TRANSMIT_PDO_3_PARAMETER   0x1802

Definition at line 53 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_TRANSMIT_PDO_4_MAPPING

#define EPOS4_TRANSMIT_PDO_4_MAPPING   0x1A03

Definition at line 58 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_TRANSMIT_PDO_4_PARAMETER

#define EPOS4_TRANSMIT_PDO_4_PARAMETER   0x1803

Definition at line 54 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_USB_FRAME_TIMEOUT

#define EPOS4_USB_FRAME_TIMEOUT   0x2006

Definition at line 72 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_VELOCITY_ACTUAL_VALUE

#define EPOS4_VELOCITY_ACTUAL_VALUE   0x606C

Definition at line 139 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_VELOCITY_ACTUAL_VALUES

#define EPOS4_VELOCITY_ACTUAL_VALUES   0x30D3

Definition at line 99 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_VELOCITY_CONTROL_PARAMETER_SET

#define EPOS4_VELOCITY_CONTROL_PARAMETER_SET   0x30A2

Definition at line 90 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_VELOCITY_DEMAND_VALUE

#define EPOS4_VELOCITY_DEMAND_VALUE   0x606B

Definition at line 138 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_VELOCITY_OBSERVER_PARAMETER_SET

#define EPOS4_VELOCITY_OBSERVER_PARAMETER_SET   0x30A3

Definition at line 91 of file SDK_Amplifier_Epos4.mh.

◆ EPOS4_VELOCITY_OFFSET

#define EPOS4_VELOCITY_OFFSET   0x60B1

Definition at line 175 of file SDK_Amplifier_Epos4.mh.

Function Documentation

◆ sdkEpos4_AxisHomingStart()

long sdkEpos4_AxisHomingStart ( long  axis,
long  busId,
long  operationMode,
long &  homingState 
)

State machine function for performing a homing on an EPOS4.

This function sets the EPOS4 in homing mode and starts the homing defined on the EPOS4. Before calling this function, all homing parameters must be configured on the EPOS4. The function is not blocking. The return parameter must be checked.

Parameters
axisAxis module number
busIdBus ID of the connected slave
operationModeOperation mod which should be set after homing.
homingStateCall-by-reference variable for the iteration of the different homing states. Must be initialized with 0.
Returns
value: Process value
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Definition at line 607 of file SDK_Amplifier_Epos4.mc.

609 {
610  long time, displayMode;
611  long homingMethode = 0;
612 
613  time= Time()%1000;
614 
615  switch (homingState) {
616  case 0:
617  print("sdkEpos4_AxisHomingStart: " ,axis);
618  homingMethode = SdoRead(busId, EPOS4_HOMING_METHOD,0);
619  print("...: EPOS4 Homing AxisNo: ",axis," - Homing methode: ",homingMethode);
620  homingState = 1;
621  break;
622  case 1:
623  print("...: EPOS4 Homing AxisNo: ",axis," - Enable drive");
624  // The trajectory generator of the EPOS4 is used for homing. With this command the axis is switched on
625  // and the trajectory generator of the MACS is switched off. Thus REG_COMPOS = REG_ACTPOS is set.
626  AxisControl(axis, USERREFVEL);
627 
628  // x6060 Change operation mode to ”6: Homing mode.”
629  SdoWriten( busId, EPOS4_MODES_OF_OPERATION, 0, 1, EPOS4_OP_HMM);
630  print("...: EPOS4 Homing AxisNo: ",axis," - Set mode of OP: 0x06");
631 
632  homingState = 2;
633 
634  case 2:
635  displayMode = SdoRead(busId, EPOS4_MODES_OF_OPERATION_DISPLAY, 0);
636  if(displayMode== EPOS4_OP_HMM)
637  {
638  print("...: EPOS4 Homing AxisNo: ",axis," - Display mode of OP: ",displayMode);
639  homingState = 3;
640  }
641  else if(time==0)
642  {
643  printf("...: EPOS4 Homing AxisNo: %ld - Waiting for OP mode display: %lx\n",axis, VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS));
644  // This section must be called in a 1 ms loop because of the print function.
645  Delay(1);
646  }
647  break;
648 
649  case 3:
650  // Bit 2 Operation enabled - EPOS4 is ready to start
651  // Bit 10 Target reached - Homing procedure is interrupted or not started
652  if(VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS).i[2]==1 && VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS).i[10]==1)
653  {
654  printf("...: EPOS4 Homing AxisNo: %ld - Homing start signal Status: %lx\n",axis,VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS));
655  VIRTAMP_PARAM(axis, VIRTAMP_CNTRLW_PWRONENP) = 0x1F;
656  VIRTAMP_PARAM(axis, VIRTAMP_CNTRLW_PWRONENN) = 0x1F;
657  homingState = 4;
658  }
659  // Bit 13 Homingerror - Homing error occurred
660  else if(VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS).i[13]==1)
661  {
662  printf("...: EPOS4 Homing AxisNo: %ld - Homing Error - Status: %lx\n",axis, VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS));
663  return(-1);
664  }
665  else if(time==0)
666  {
667  printf("...: EPOS4 Homing AxisNo: %ld - Waiting for ready bit: %lx\n",axis, VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS));
668  // This section must be called in a 1 ms loop because of the print function.
669  Delay(1);
670  }
671  break;
672 
673  case 4:
674  // Homing procedure is completed successfully
675  if (VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS).i[12]==1)
676  {
677  printf("...: EPOS4 Homing AxisNo: %ld - Homing done - Status: %lx\n",axis, VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS));
678 
679  VIRTAMP_PARAM(axis, VIRTAMP_CNTRLW_PWRONENP) = 0x0F;
680  VIRTAMP_PARAM(axis, VIRTAMP_CNTRLW_PWRONENN) = 0x0F;
681 
682  SdoWriten(busId, 0x6060, 0, 1, operationMode ); // 0x6060 Change operation mode to ”xxx mode.”
683 
684  homingState = 5;
685  break;
686  }
687  // Bit 13 Homingerror - Homing error occurred
688  else if(VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS).i[13]==1)
689  {
690  printf("...: EPOS4 Homing AxisNo: %ld - Homing Error - Status: %lx\n",axis, VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS));
691  return(-1);
692  }
693  // Homing procedure is in progress
694  else if(time==0)
695  {
696  printf("...: EPOS4 Homing AxisNo: %ld - Homing in progress - Status: %lx\n",axis, VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS));
697  // This section must be called in a 1 ms loop because of the print function.
698  Delay(1);
699  }
700  break;
701 
702  case 5:
703  displayMode = SdoRead(busId, EPOS4_MODES_OF_OPERATION_DISPLAY, 0);
704  if(displayMode== operationMode)
705  {
706  print("...: EPOS4 Homing AxisNo: ",axis," - Display mode of OP: ",displayMode);
707  homingState = 6;
708  }
709  else if(time==0)
710  {
711  printf("...: EPOS4 Homing AxisNo: %ld - Waiting for OP mode display: %lx\n",axis, VIRTAMP_PROCESS(axis,PO_VIRTAMP_STATUS));
712  // This section must be called in a 1 ms loop because of the print function.
713  Delay(1);
714  }
715  case 6:
716  print("...: EPOS4 Homing AxisNo: ",axis," - Disable Drive");
717  AxisControl(axis, OFF);
718  homingState = 7;
719  case 7:
720  return(1);
721  default :
722  print("...: EPOS4 Homing AxisNo: ",axis," - Incorrect hominState value: ", homingState);
723  return(-1);
724  }
725 
726  return(0);
727 }

◆ sdkEpos4_PrintErrorDescription()

void sdkEpos4_PrintErrorDescription ( long  errorCode)

Prints a error description for Epos4 errors.

This function prints a description for Epos4 error codes

Parameters
errorCodeEpos4 error code

Definition at line 735 of file SDK_Amplifier_Epos4.mc.

736 {
737  switch (errorCode) {
738  case EPOS4_F_NO_ERROR:
739  printf("No error.");
740  break;
741  case EPOS4_F_GENERIC:
742  printf("Generic error.");
743  break;
744  case EPOS4_F_GENERIC_INIT1:
745  case EPOS4_F_GENERIC_INIT2:
746  case EPOS4_F_GENERIC_INIT3:
747  case EPOS4_F_GENERIC_INIT4:
748  case EPOS4_F_GENERIC_INIT5:
749  case EPOS4_F_GENERIC_INIT6:
750  case EPOS4_F_GENERIC_INIT7:
751  case EPOS4_F_GENERIC_INIT8:
752  case EPOS4_F_GENERIC_INIT9:
753  printf("Generic initialization error.");
754  break;
755  case EPOS4_F_FIRMWARE_INCOMPATIBILITY:
756  printf("Firmware incompatibility.");
757  break;
758  case EPOS4_F_OVERCURRENT:
759  printf("Overcurrent.");
760  break;
761  case EPOS4_F_POWER_STAGE_PROTECTION:
762  printf("Power stage protection.");
763  break;
764  case EPOS4_F_OVERVOLTAGE:
765  printf("Overvoltage.");
766  break;
767  case EPOS4_F_UNDERVOLTAGE:
768  printf("Undervoltage.");
769  break;
770  case EPOS4_F_THERMAL_OVERLOAD:
771  printf("Thermal overload.");
772  break;
773  case EPOS4_F_THERMAL_MOTOR_OVERLOAD:
774  printf("Thermal motor overload.");
775  break;
776  case EPOS4_F_LOGIC_VOLTAGE_LOW:
777  printf("Logic supply voltage too low.");
778  break;
779  case EPOS4_F_HARDWARE_DEFECT:
780  printf("Hardware defect.");
781  break;
782  case EPOS4_F_HARDWARE_INCOMPATIBILITY:
783  printf("Hardware incompatibility.");
784  break;
785  case EPOS4_F_HARDWARE1:
786  case EPOS4_F_HARDWARE2:
787  case EPOS4_F_HARDWARE3:
788  case EPOS4_F_HARDWARE4:
789  printf("Hardware error.");
790  break;
791  case EPOS4_F_SIGN_OF_LIFE:
792  printf("Sign of life.");
793  break;
794  case EPOS4_F_EXT_1_WATCHDOG:
795  printf("Extension 1 watchdog.");
796  break;
797  case EPOS4_F_INTERNAL_SOFTWARE:
798  printf("Internal software.");
799  break;
800  case EPOS4_F_SOFTWARE_PARAM:
801  printf("Software parameter error.");
802  break;
803  case EPOS4_F_PERSISTENT_PARAM_CORRUPT:
804  printf("Persistent param corrupt.");
805  break;
806  case EPOS4_F_POSITION_SENSOR:
807  printf("Position sensor error.");
808  break;
809  case EPOS4_F_POSITION_BREACH:
810  printf("Position breach.");
811  break;
812  case EPOS4_F_POSITION_RESOLUTION:
813  printf("Position resolution error.");
814  break;
815  case EPOS4_F_POSITION_INDEX:
816  printf("Position index.");
817  break;
818  case EPOS4_F_HALL_SENSOR:
819  printf("Hall sensor error.");
820  break;
821  case EPOS4_F_HALL_NOT_FOUND:
822  printf("Hall not found.");
823  break;
824  case EPOS4_F_HALL_ANGLE:
825  printf("Hall angle detection error.");
826  break;
827  case EPOS4_F_SSI_SENSOR:
828  printf("SSI sensor.");
829  break;
830  case EPOS4_F_SSI_FRAME:
831  printf("SSI frame.");
832  break;
833  case EPOS4_F_MISSING_MAIN_SENSOR:
834  printf("Missing main sensor.");
835  break;
836  case EPOS4_F_MISSING_COMM_SENSOR:
837  printf("Missing comm sensor.");
838  break;
839  case EPOS4_F_MAIN_SENSOR_DIR:
840  printf("Main sensor direction.");
841  break;
842  case EPOS4_F_CAN_OVERRUN_OBJ_LOST:
843  printf("CAN overrun (object lost).");
844  break;
845  case EPOS4_F_CAN_OVERRUN:
846  printf("CAN overrun.");
847  break;
848  case EPOS4_F_CAN_PASSIVE_MODE:
849  printf("CAN passive mode.");
850  break;
851  case EPOS4_F_CAN_HEARTBEAT:
852  printf("CAN heartbeat error.");
853  break;
854  case EPOS4_F_CAN_PDO_COB_ID_COLLISION:
855  printf("CAN PDO COB-ID collision.");
856  break;
857  case EPOS4_F_ETHERCAT_COMM:
858  printf("EtherCAT communication error.");
859  break;
860  case EPOS4_F_ETHERCAT_INIT:
861  printf("EtherCAT initialization error.");
862  break;
863  case EPOS4_F_ETHERCAT_RX_QUEUE:
864  printf("EtherCAT Rx queue overflow error.");
865  break;
866  case EPOS4_F_ETHERCAT_COMM_INTERNAL:
867  printf("EtherCAT communication (internal) error.");
868  break;
869  case EPOS4_F_ETHERCAT_CYCLE_TIME:
870  printf("EtherCAT communication cycle time error.");
871  break;
872  case EPOS4_F_CAN_BUS_OFF:
873  printf("CAN bus turned off.");
874  break;
875  case EPOS4_F_CAN_RX_QUEUE:
876  printf("CAN Rx queue overflow.");
877  break;
878  case EPOS4_F_CAN_TX_QUEUE:
879  printf("CAN Tx queue overflow.");
880  break;
881  case EPOS4_F_CAN_PDO_LENGTH:
882  printf("CAN PDO length error.");
883  break;
884  case EPOS4_F_RPDO_TIMEOUT:
885  printf("RPDO timeout.");
886  break;
887  case EPOS4_F_ETHERCAT_PDO_COMM:
888  printf("EtherCAT PDO communication error.");
889  break;
890  case EPOS4_F_ETHERCAT_SDO_COMM:
891  printf("EtherCAT SDO communication error.");
892  break;
893  case EPOS4_F_FOLLOWING:
894  printf("Following error.");
895  break;
896  case EPOS4_F_NEG_LIMIT_SWITCH:
897  printf("Negative limit switch error.");
898  break;
899  case EPOS4_F_POS_LIMIT_SWITCH:
900  printf("Positive limit switch error.");
901  break;
902  case EPOS4_F_SOFTWARE_POSITION_LIMIT:
903  printf("Software position limit error.");
904  break;
905  case EPOS4_F_STO:
906  printf("STO error.");
907  break;
908  case EPOS4_F_SYSTEM_OVERLOADED:
909  printf("System overloaded.");
910  break;
911  case EPOS4_F_WATCHDOG:
912  printf("Watchdog error.");
913  break;
914  case EPOS4_F_SYSTEM_PEAK_OVERLOADED:
915  printf("System peak overloaded.");
916  break;
917  case EPOS4_F_CONTROLLER_GAIN:
918  printf("Controller gain error.");
919  break;
920  case EPOS4_F_AUTO_TUNING_ID:
921  printf("Auto tuning identification error.");
922  break;
923  case EPOS4_F_AUTO_TUNING_CURRENT_LIMIT:
924  printf("Auto tuning current limit error.");
925  break;
926  case EPOS4_F_AUTO_TUNING_ID_CURRENT:
927  printf("Auto tuning identification current error.");
928  break;
929  case EPOS4_F_AUTO_TUNING_DATA_SAMPLING:
930  printf("Auto tuning data sampling error.");
931  break;
932  case EPOS4_F_AUTO_TUNING_SAMPLE_MISMATCH:
933  printf("Auto tuning sample mismatch error.");
934  break;
935  case EPOS4_F_AUTO_TUNING_PARAM:
936  printf("Auto tuning parameter error.");
937  break;
938  case EPOS4_F_AUTO_TUNING_AMPLITUDE_MISMATCH:
939  printf("Auto tuning amplitude mismatch error.");
940  break;
941  case EPOS4_F_AUTO_TUNING_TIMEOUT:
942  printf("Auto tuning timeout error.");
943  break;
944  case EPOS4_F_AUTO_TUNING_STANDSTILL:
945  printf("Auto tuning standstill error.");
946  break;
947  case EPOS4_F_AUTO_TUNING_TORQUE_INVALID:
948  printf("Auto tuning torque invalid error.");
949  break;
950  case EPOS4_F_AUTO_TUNING_MAX_SPEED:
951  printf("Auto tuning max system speed error.");
952  break;
953  case EPOS4_F_AUTO_TUNING_MOTOR_CONNECTION:
954  printf("Auto tuning motor connection error.");
955  break;
956  case EPOS4_F_AUTO_TUNING_SENSOR_SIGNAL:
957  printf("Auto tuning sensor signal error.");
958  break;
959  default:
960  if(errorCode >= 0x6180 && errorCode <= 0x61F0) //0x6180 through 0x61F0 is internal software error
961  {
962  printf("Internal software error.");
963  }
964  else
965  {
966  printf("Unknown error code: 0x%04X\n", errorCode);
967  }
968  break;
969  }
970 }

◆ sdkEpos4_SetupCanBusModule()

long sdkEpos4_SetupCanBusModule ( long  axis,
long  busId,
long  pdoNumber,
long  operationMode 
)

Setup the Can bus module for an Epos4.

This function sets up the Can bus module for an Epos4. It can be defined with which operation mode is used. Currently there are no differences in the different operation modes regarding the Bus Module setup.

Parameters
axisAxis module number
busIdBus ID of the connected slave
pdoNumberUsed PDO number
operationModeDefinition of the operation mode
0x08: Cyclic synchronous position (csp) mode
0x09: Cyclic synchronous velocity (csv) mode
0x0A: Cyclic synchronous torque (cst) mode
Note
The value passed from "BUSMOD_RXMAP_POVALUE3" is the current torque. The value is given in per thousand of “Motor rated torque” and is signed.
Returns
value: Always 1 in this function
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Definition at line 313 of file SDK_Amplifier_Epos4.mc.

314 {
315  long busmod, signedFlag;
316  busmod = axis;
317  signedFlag = 0x10000000;
318 
319  print("sdkEpos4_SetupCanBusModule: ", busmod);
320 
321  BUSMOD_PARAM(busmod, BUSMOD_MODE) = BUSMOD_MODE_DEACTIVATE; // Deactivate (objects will be deleted)
322  BUSMOD_PARAM(busmod, BUSMOD_BUSTYPE) = BUSMOD_BUSTYPE_CAN; // Can bus
323  BUSMOD_PARAM(busmod, BUSMOD_MODE) = BUSMOD_MODE_ACTIVATE; // Create bus module
324 
325  BUSMOD_PARAM(busmod, BUSMOD_BUSNO) = busId / 100000; // Bus number (0 = master, 1 = slave CAN bus)
326  BUSMOD_PARAM(busmod, BUSMOD_ID) = busId % 1000; // CAN Id for this bus module
327  BUSMOD_PARAM(busmod, BUSMOD_SYNC) = 1; // Sync active
328  BUSMOD_PARAM(busmod, BUSMOD_GUARDTIME) = 0; // no guarding
329 
330  BUSMOD_PARAM(busmod, BUSMOD_PISRC_INPUT1) = VIRTAMP_PROCESS_SRCINDEX(axis,PO_VIRTAMP_CMDWORD); // Select the input value sources object (send to bus): CMD Word
331 
332  if (operationMode == EPOS4_OP_CSP) // cycle synchronous position (csp) mode
333  {
334  BUSMOD_PARAM(busmod, BUSMOD_PISRC_INPUT2) = VIRTAMP_PROCESS_SRCINDEX(axis,PO_VIRTAMP_REFPOS); // Select the input value sources object (send to bus): position setpoint
335  print("...: cycle synchronous position (csp) mode");
336  }
337  else if (operationMode == EPOS4_OP_CSV) // cycle synchronous velocity (csv) mode
338  {
339  BUSMOD_PARAM(busmod, BUSMOD_PISRC_INPUT2) = VIRTAMP_PROCESS_SRCINDEX(axis,PO_VIRTAMP_REFVEL); // Select the input value sources object (send to bus): velocity setvel
340  print("...: cycle synchronous velocity (csv) mode");
341  }
342  else if (operationMode == EPOS4_OP_CST) // cycle synchronous torque (cst) mode
343  {
344  BUSMOD_PARAM(busmod, BUSMOD_PISRC_INPUT2) = AXE_PROCESS_SRCINDEX(axis,REG_USERREFCUR); // Select the input value sources object (send to bus): target torque
345  print("...: cycle synchronous torque (cst) mode");
346  }
347  else // Error
348  {
349  print("...: not supported operation mode");
350  return(-1);
351  }
352 
353  BUSMOD_PARAM(busmod, BUSMOD_TXMAP_INPUT1) = pdoNumber*0x01000000 + 2*0x00010000 + 0; // pdo ; length in bytes; bytes offset control word
354  BUSMOD_PARAM(busmod, BUSMOD_TXMAP_INPUT2) = pdoNumber*0x01000000 + 4*0x00010000 + 2; // pdo ; length in bytes; bytes offset target position/ velocity
355 
356  BUSMOD_PARAM(busmod, BUSMOD_RXMAP_POVALUE1) = pdoNumber*0x01000000 + 2*0x00010000 + 0; // pdo ; length in bytes; bytes offset status word
357  BUSMOD_PARAM(busmod, BUSMOD_RXMAP_POVALUE2) = pdoNumber*0x01000000 + 4*0x00010000 + 2; // pdo ; length in bytes; bytes offset position actual value
358  BUSMOD_PARAM(busmod, BUSMOD_RXMAP_POVALUE3) = signedFlag + pdoNumber*0x01000000 + 2*0x00010000 + 6; // pdo ; length in bytes; bytes offset torque actual value
359 
360  BUSMOD_PARAM(busmod, BUSMOD_MODE) = BUSMOD_MODE_ACTIVATE_NOSTOP; // Start bus module
361 
362  return(1);
363 }

◆ sdkEpos4_SetupCanSdoParam()

long sdkEpos4_SetupCanSdoParam ( long  busId,
long  pdonumber,
long  axisPolarity,
long  operationMode 
)

Setup the Sdo parameter for an Epos4.

This function sets up the Sdo parameter for an Epos4. It can be defined with which operation mode is used. The CANSYNCTIMER must be set before calling this function.

Parameters
busIdBus ID of the connected slave
pdoNumberUsed PDO number
axisPolarityDefinition of the polarity, 0: Normal polarity, 1: Inverse polarity
operationModeDefinition of the operation mode
0x08: Cyclic synchronous position (csp) mode
0x09: Cyclic synchronous velocity (csv) mode
0x0A: Cyclic synchronous torque (cst) mode
Returns
value: Process value
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Definition at line 497 of file SDK_Amplifier_Epos4.mc.

499 {
500  long nodeid, last_value;
501  nodeid = busId % 100000;
502 
503  print("sdkEpos4_SetupCanSdoParam: " ,nodeid);
504 
505  if (axisPolarity==1){ // set axis polarity
506  SdoWrite( busId, EPOS4_AXIS_CONFIGURATION, 4, 1);
507  print("...: change axis direction");
508  }
509  else{
510  SdoWrite( busId, EPOS4_AXIS_CONFIGURATION, 4, 0);
511  }
512 
513  //interpolation time periode value
514  SdoWrite(busId, EPOS4_INTERPOLATION_TIME_PERIOD, 1, GLB_PARAM(CANSYNCTIMER));
515  print("...: set interpolation time periode: ", GLB_PARAM(CANSYNCTIMER), " ms");
516 
517  // reset Transmittype
518  SdoWrite(busId, EPOS4_TRANSMIT_PDO_1_PARAMETER, 2, 255); // TxPDO1 Transmittype
519  SdoWrite(busId, EPOS4_TRANSMIT_PDO_2_PARAMETER, 2, 255); // TxPDO2 Transmittype
520  SdoWrite(busId, EPOS4_TRANSMIT_PDO_3_PARAMETER, 2, 255); // TxPDO3 Transmittype
521  SdoWrite(busId, EPOS4_TRANSMIT_PDO_4_PARAMETER, 2, 255); // TxPDO4 Transmittype
522 
523  // the pdos have to be disabled for configuring
524  last_value = (SdoRead(busId, EPOS4_TRANSMIT_PDO_1_PARAMETER, 1));
525  SdoWrite(busId, EPOS4_TRANSMIT_PDO_1_PARAMETER, 1, (last_value | 0x80000000)); // disable pdo 1
526  last_value = (SdoRead(busId, EPOS4_TRANSMIT_PDO_2_PARAMETER, 1));
527  SdoWrite(busId, EPOS4_TRANSMIT_PDO_2_PARAMETER, 1, (last_value | 0x80000000)); // disable pdo 2
528  last_value = (SdoRead(busId, EPOS4_TRANSMIT_PDO_3_PARAMETER, 1));
529  SdoWrite(busId, EPOS4_TRANSMIT_PDO_3_PARAMETER, 1, (last_value | 0x80000000)); // disable pdo 3
530  last_value = (SdoRead(busId, EPOS4_TRANSMIT_PDO_4_PARAMETER, 1));
531  SdoWrite(busId, EPOS4_TRANSMIT_PDO_4_PARAMETER, 1, (last_value | 0x80000000)); // disable pdo 4
532 
533  //the pdos have to be disabled for configuring
534  last_value = (SdoRead(busId, EPOS4_RECEIVE_PDO_1_PARAMETER, 1));
535  SdoWrite(busId, EPOS4_RECEIVE_PDO_1_PARAMETER, 1, (last_value | 0x80000000)); // disable pdo 1
536  last_value = (SdoRead(busId, EPOS4_RECEIVE_PDO_2_PARAMETER, 1));
537  SdoWrite(busId, EPOS4_RECEIVE_PDO_2_PARAMETER, 1, (last_value | 0x80000000)); // disable pdo 2
538  last_value = (SdoRead(busId, EPOS4_RECEIVE_PDO_3_PARAMETER, 1));
539  SdoWrite(busId, EPOS4_RECEIVE_PDO_3_PARAMETER, 1, (last_value | 0x80000000)); // disable pdo 3
540  last_value = (SdoRead(busId, EPOS4_RECEIVE_PDO_4_PARAMETER, 1));
541  SdoWrite(busId, EPOS4_RECEIVE_PDO_4_PARAMETER, 1, (last_value | 0x80000000)); // disable pdo 4
542 
543  // Now we setup the correct PDO transmission for Tx and Rx
544  SdoWrite(busId, (EPOS4_TRANSMIT_PDO_1_PARAMETER + pdonumber-1), 2, 1); // TxPDO Transmittype SYNC
545  SdoWrite(busId, (EPOS4_RECEIVE_PDO_1_PARAMETER + pdonumber-1), 2, 1); // RxPDO Transmittype SYNC
546 
547  // config RX PDO
548  SdoWrite(busId, (EPOS4_RECEIVE_PDO_1_MAPPING + pdonumber-1), 0x00, 0); // disable
549  SdoWrite(busId, (EPOS4_RECEIVE_PDO_1_MAPPING + pdonumber-1), 0x01, 0x60400010); // controlword
550 
551  if (operationMode == EPOS4_OP_CSP) { // cycle synchronous position (csp) mode
552  SdoWrite(busId, (EPOS4_RECEIVE_PDO_1_MAPPING + pdonumber-1), 2, 0x607A0020); // download pdo 0x1600 entry: position set point
553  SdoWrite(busId, EPOS4_MODES_OF_OPERATION, 0, EPOS4_OP_CSP); // mode of operation CSP
554  print("...: cycle synchronous position (csp) mode");
555  }
556  else if (operationMode == EPOS4_OP_CSV ) {
557  SdoWrite(busId, (EPOS4_RECEIVE_PDO_1_MAPPING + pdonumber-1), 2, 0x60FF0020); // download pdo 0x1600 entry: target velocity 32bit
558  SdoWrite(busId, EPOS4_MODES_OF_OPERATION, 0, EPOS4_OP_CSV); // mode of operation CSV
559  print("...: cycle synchronous velocity (csv) mode");
560  }
561  else if (operationMode == EPOS4_OP_CST) {
562  SdoWrite(busId, (EPOS4_RECEIVE_PDO_1_MAPPING + pdonumber-1), 2, 0x60710010); // download pdo 0x1600 entry: Target torque 32bit
563  SdoWrite(busId, EPOS4_MODES_OF_OPERATION, 0, EPOS4_OP_CST); // mode of operation CST
564  print("...: cycle synchronous torque (cst) mode");
565  }
566  else { // Error
567  print("...: not supported operation mode");
568  return(-1);
569  }
570  SdoWrite(busId, (EPOS4_RECEIVE_PDO_1_MAPPING + pdonumber - 1), 0x00, 2); // enable
571 
572  // config TX PDO
573  SdoWrite(busId, (EPOS4_TRANSMIT_PDO_1_MAPPING + pdonumber - 1), 0x00, 0); // disable
574  SdoWrite(busId, (EPOS4_TRANSMIT_PDO_1_MAPPING + pdonumber - 1), 0x01, 0x60410010); // statusword
575  SdoWrite(busId, (EPOS4_TRANSMIT_PDO_1_MAPPING + pdonumber - 1), 0x02, 0x60640020); // actpos
576  SdoWrite(busId, (EPOS4_TRANSMIT_PDO_1_MAPPING + pdonumber - 1), 0x03, 0x30D20110); // Torque actual value averaged
577  SdoWrite(busId, (EPOS4_TRANSMIT_PDO_1_MAPPING + pdonumber - 1), 0x00, 3 ); // enable
578 
579  // fill in the wanted pdo
580  SdoWrite(busId, (EPOS4_TRANSMIT_PDO_1_PARAMETER + pdonumber - 1), 1, (0x80000180 + (pdonumber - 1)*0x100 + nodeid) );// fill in pdo
581  SdoWrite(busId, (EPOS4_RECEIVE_PDO_1_PARAMETER + pdonumber - 1), 1, (0x80000200 + (pdonumber - 1)*0x100 + nodeid) );// fill in pdo
582 
583  // enable
584  SdoWrite(busId, (EPOS4_TRANSMIT_PDO_1_PARAMETER + pdonumber - 1), 1, (0x00000180 + (pdonumber - 1)*0x100 + nodeid) );// enable pdo
585  SdoWrite(busId, (EPOS4_RECEIVE_PDO_1_PARAMETER + pdonumber - 1), 1, (0x00000200 + (pdonumber - 1)*0x100 + nodeid) );// enable pdo
586 
587  return(1);
588 }

◆ sdkEpos4_SetupCanVirtAmp()

long sdkEpos4_SetupCanVirtAmp ( long  axis,
long  maxRpm,
long  operationMode 
)

Setup the virtual amplifier for an Epos4 with Can bus.

This function sets up the virtual amplifier with Can bus for an Epos4. It can be defined with which operation mode is used.

Parameters
axisAxis module number
maxRpmDefinition of the maximum motor speed [rpm]
operationModeDefinition of the operation mode
0x08: Cyclic synchronous position (csp) mode
0x09: Cyclic synchronous velocity (csv) mode 0x0A: Cyclic synchronous torque (cst) mode
Note
The value passed from "PO_BUSMOD_VALUE3" to "VIRTAMP_PISRC_CURRENT" is the current torque. The value is given in per thousand of “Motor rated torque”.
Returns
value: Always 1 in this function
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Definition at line 383 of file SDK_Amplifier_Epos4.mc.

384 {
385  print("sdkEpos4_SetupCanVirtAmp: ",axis );
386 
387  // virtual amplifiers have a fixed connection to axes number, axes 0 uses amplifier 0.
388  VIRTAMP_PARAM(axis,VIRTAMP_PISRC_CMDWORD) = AXE_PROCESS_SRCINDEX(axis,REG_CNTRLWORD);
389  VIRTAMP_PARAM(axis,VIRTAMP_PISRC_REFPOS) = AXE_PROCESS_SRCINDEX(axis,REG_COMPOS);
390  VIRTAMP_PARAM(axis,VIRTAMP_PISRC_REFVEL) = AXE_PROCESS_SRCINDEX(axis,REG_REFERENCE);
391  VIRTAMP_PARAM(axis,VIRTAMP_PISRC_REFACC) = AXE_PROCESS_SRCINDEX(axis,PID_FFACCPART);
392  VIRTAMP_PARAM(axis,VIRTAMP_PISRC_STATUS) = BUSMOD_PROCESS_SRCINDEX(axis,PO_BUSMOD_VALUE1);
393  VIRTAMP_PARAM(axis,VIRTAMP_PISRC_CURRENT) = BUSMOD_PROCESS_SRCINDEX(axis, PO_BUSMOD_VALUE3);
394 
395  VIRTAMP_PARAM(axis,VIRTAMP_CNTRLW_PWROFF) = 0x06;
396  VIRTAMP_PARAM(axis,VIRTAMP_CNTRLW_PWRONDIS) = 0x06;
397  VIRTAMP_PARAM(axis,VIRTAMP_CNTRLW_PWRONENP) = 0x0F;
398  VIRTAMP_PARAM(axis,VIRTAMP_CNTRLW_PWRONENN) = 0x0F;
399  VIRTAMP_PARAM(axis,VIRTAMP_CNTRLW_QUICKSTOP) = 0x02;
400  VIRTAMP_PARAM(axis,VIRTAMP_CNTRLW_RESET) = 0x80;
401 
402  VIRTAMP_PARAM(axis,VIRTAMP_STOPDELAY) = 0x00;
403  VIRTAMP_PARAM(axis,VIRTAMP_ERROR_BITMASK) = 0x08;
404  VIRTAMP_PARAM(axis,VIRTAMP_ERROR_POLARITY) = 1;
405 
406  if (operationMode == EPOS4_OP_CSP) // cycle synchronous position (csp) mode
407  {
408  VIRTAMP_PARAM(axis,VIRTAMP_REF100PERC) = 0; // not used in csp
409  VIRTAMP_PARAM(axis,VIRTAMP_REFLIMIT) = 0; // not used in csp
410  print("...: cycle synchronous position (csp) mode");
411  }
412  else if (operationMode == EPOS4_OP_CSV) // cycle synchronous velocity (csv) mode
413  {
414  VIRTAMP_PARAM(axis,VIRTAMP_REF100PERC) = maxRpm;
415  VIRTAMP_PARAM(axis,VIRTAMP_REFLIMIT) = 2* maxRpm;
416  print("...: cycle synchronous velocity (csv) mode");
417  }
418  else if (operationMode == EPOS4_OP_CST) // cycle synchronous torque (cst) mode
419  {
420  VIRTAMP_PARAM(axis,VIRTAMP_REF100PERC) = 0; // not used in cst
421  VIRTAMP_PARAM(axis,VIRTAMP_REFLIMIT) = 0; // not used in cst
422  print("...: cycle synchronous torque (cst) mode");
423  }
424  else // Error
425  {
426  print("...: not supported operation mode");
427  return(-1);
428  }
429 
430  VIRTAMP_PARAM(axis,VIRTAMP_MODE) = VIRTAMP_MODE_ENABLE; // has to be the last one because it activates all
431 
432  return(1);
433 }

◆ sdkEpos4_SetupCanVirtCntin()

long sdkEpos4_SetupCanVirtCntin ( long  axis,
long  operationMode 
)

Setup the virtual counter input for an Epos4 with Can bus.

This function sets up the virtual counter input for an Epos4. It can be defined with which operation mode is used.

Parameters
axisAxis module number
operationModeDefinition of the operation mode
0x08: Cyclic synchronous position (csp) mode
0x09: Cyclic synchronous velocity (csv) mode
0x0A: Cyclic synchronous torque (cst) mode
Returns
value: Process value
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Definition at line 450 of file SDK_Amplifier_Epos4.mc.

451 {
452  print("sdkEpos4_SetupCanVirtCntin: ",axis);
453 
454  VIRTCOUNTIN_PARAM(axis,VIRTCNTIN_PISRC_COUNTER) = BUSMOD_PROCESS_SRCINDEX(axis, PO_BUSMOD_VALUE2);
455 
456  if (operationMode == EPOS4_OP_CSP) // cycle synchronous position (csp) mode
457  {
458  VIRTCOUNTIN_PARAM(axis,VIRTCNTIN_MODE) = VIRTCNTIN_MODE_ABSOLUTE_DIRECT; // Source is absolute and is taken as it is
459  print("...: cycle synchronous position (csp) mode");
460  }
461  else if (operationMode == EPOS4_OP_CSV) // cycle synchronous velocity (csv) mode
462  {
463  VIRTCOUNTIN_PARAM(axis,VIRTCNTIN_MODE) = VIRTCNTIN_MODE_ABSOLUTE; // Source is a position value and difference to last value is added
464  print("...: cycle synchronous velocity (csv) mode");
465  }
466  else if (operationMode == EPOS4_OP_CST) // cycle synchronous torque (cst) mode
467  {
468  VIRTCOUNTIN_PARAM(axis,VIRTCNTIN_MODE) = VIRTCNTIN_MODE_ABSOLUTE_DIRECT; // Source is absolute and is taken as it is
469  print("...: cycle synchronous torque (cst) mode");
470  }
471  else // Error
472  {
473  print("...: not supported operation mode");
474  return(-1);
475  }
476 
477  return(1);
478 }

◆ sdkEpos4_SetupECatBusModule()

long sdkEpos4_SetupECatBusModule ( long  axis,
long  busId,
long  pdoNumber,
long  operationMode 
)

Setup the ECAT bus module for an Epos4.

This function sets up the ECAT bus module for an Epos4. It can be defined with which operation mode is used. Currently there are no differences in the different operation modes regarding the Bus Module setup.

Parameters
axisAxis module number
busIdBus ID of the connected slave
pdoNumberUsed PDO number
operationModeDefinition of the operation mode
1: Cyclic synchronous position (csp) mode
2: Cyclic synchronous velocity (csv) mode
Returns
value: Process value
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Definition at line 37 of file SDK_Amplifier_Epos4.mc.

38 {
39  long busmod, slaveNo;
40 
41  busmod = axis;
42  slaveNo = (busId-1000000);
43 
44  print("sdkEpos4_SetupECatBusModule: ",busmod );
45 
46  BUSMOD_PARAM(busmod, BUSMOD_MODE) = BUSMOD_MODE_DEACTIVATE; // Deactivate (objects will be deleted)
47  BUSMOD_PARAM(busmod, BUSMOD_BUSTYPE) = BUSMOD_BUSTYPE_ECAT_M; // EtherCAT Master
48  BUSMOD_PARAM(busmod, BUSMOD_ID) = slaveNo; // Select the nodeid of the connected slave
49 
50  BUSMOD_PARAM(busmod, BUSMOD_PISRC_INPUT1) = VIRTAMP_PROCESS_SRCINDEX(axis,PO_VIRTAMP_CMDWORD); // Select the input value sources object (send to bus): CMD Word
51 
52  if (operationMode==EPOS4_OP_CSP) // cycle synchronous position (csp) mode
53  {
54  BUSMOD_PARAM(busmod, BUSMOD_PISRC_INPUT2) = VIRTAMP_PROCESS_SRCINDEX(axis,PO_VIRTAMP_REFPOS); // Select the input value sources object (send to bus): position setpoint
55  print("...: cycle synchronous position (csp) mode");
56  }
57  else if (operationMode==EPOS4_OP_CSV) // cycle synchronous velocity (csv) mode
58  {
59  BUSMOD_PARAM(busmod, BUSMOD_PISRC_INPUT2) = VIRTAMP_PROCESS_SRCINDEX(axis,PO_VIRTAMP_REFVEL); // Select the input value sources object (send to bus): velocity setvel
60  print("...: cycle synchronous velocity (csv) mode");
61  }
62  else if (operationMode == EPOS4_OP_CST) // cycle synchronous torque (cst) mode
63  {
64  BUSMOD_PARAM(busmod, BUSMOD_PISRC_INPUT2) = AXE_PROCESS_SRCINDEX(axis,REG_USERREFCUR); // Select the input value sources object (send to bus): target torque
65  print("...: cycle synchronous torque (cst) mode");
66  }
67  else // Error
68  {
69  print("...: not supported operation mode");
70  return(-1);
71  }
72 
73  BUSMOD_PARAM(busmod, BUSMOD_TXMAP_INPUT1) = pdoNumber*0x01000000 + 2*0x00010000 + 0; // pdo ; length in bytes; bytes offset control word
74  BUSMOD_PARAM(busmod, BUSMOD_TXMAP_INPUT2) = pdoNumber*0x01000000 + 4*0x00010000 + 2; // pdo ; length in bytes; bytes offset target position/ velocity
75 
76  BUSMOD_PARAM(busmod, BUSMOD_RXMAP_POVALUE1) = pdoNumber*0x01000000 + 2*0x00010000 + 0; // pdo ; length in bytes; bytes offset status word
77  BUSMOD_PARAM(busmod, BUSMOD_RXMAP_POVALUE2) = pdoNumber*0x01000000 + 4*0x00010000 + 2; // pdo ; length in bytes; bytes offset position actual value
78  BUSMOD_PARAM(busmod, BUSMOD_RXMAP_POVALUE3) = pdoNumber*0x01000000 + 4*0x00010000 + 6; // pdo ; length in bytes; bytes offset current actual value
79 
80  BUSMOD_PARAM(busmod, BUSMOD_MODE) = BUSMOD_MODE_ACTIVATE_NOSTOP; // Start bus module
81 
82  return(1);
83 }

◆ sdkEpos4_SetupECatSdoParam()

long sdkEpos4_SetupECatSdoParam ( long  busId,
long  pdoNumber,
long  axisPolarity,
long  operationMode 
)

Setup the Sdo parameter for an Epos4 with EtherCat.

This function sets up the Sdo parameter with EtherCat for an Epos4. It can be defined with which operation mode is used.

Parameters
busIdBus ID of the connected slave
pdoNumberUsed PDO number
axisPolarityDefinition of the polarity, 0: Normal polarity, 1: Inverse polarity
operationModeDefinition of the operation mode
0x08: Cyclic synchronous position (csp) mode
0x09: Cyclic synchronous velocity (csv) mode
0x0A: Cyclic synchronous torque (cst) mode
Returns
value: Process value
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Definition at line 209 of file SDK_Amplifier_Epos4.mc.

210 {
211  long sm_TX = EPOS4_SYNC_MANAGER_2_PDO_ASSIGNMENT;
212  long sm_RX = EPOS4_SYNC_MANAGER_3_PDO_ASSIGNMENT;
213 
214  print("sdkEpos4_SetupECatSdoParam Ax: ",busId," pdoNumber ",pdoNumber);
215 
216  SdoWriten( busId, sm_TX, 0x00, 1, 0x00); // disable entry
217  SdoWriten( busId, sm_RX, 0x00, 1, 0x00); // disable entry
218 
219  SdoWriten( busId, EPOS4_TRANSMIT_PDO_1_MAPPING, 0, 1, 0); // clear pdo 0x1a00 entries
220  SdoWriten( busId, EPOS4_TRANSMIT_PDO_1_MAPPING, 1, 4, 0x60410010); // download pdo 0x1A00 entry: statusword
221  SdoWriten( busId, EPOS4_TRANSMIT_PDO_1_MAPPING, 2, 4, 0x60640020); // download pdo 0x1A00 entry: actual position
222  SdoWriten( busId, EPOS4_TRANSMIT_PDO_1_MAPPING, 3, 4, 0x30D10120); // download pdo 0x1A00 entry: Current actual value averaged [mA] 0x30D1 / 1 32bit
223  SdoWriten( busId, EPOS4_TRANSMIT_PDO_1_MAPPING, 0, 1, 3); // download pdo 0x1A00 entry: number of entries
224 
225  SdoWriten( busId, EPOS4_TRANSMIT_PDO_2_MAPPING, 0, 1, 0); // clear pdo 0x1a01 entries
226  SdoWriten( busId, EPOS4_TRANSMIT_PDO_3_MAPPING, 0, 1, 0); // clear pdo 0x1a02 entries
227  SdoWriten( busId, EPOS4_TRANSMIT_PDO_4_MAPPING, 0, 1, 0); // clear pdo 0x1a03 entries
228 
229  SdoWriten( busId, EPOS4_RECEIVE_PDO_1_MAPPING, 0, 1, 0); // clear pdo 0x1600 entries
230  SdoWriten( busId, EPOS4_RECEIVE_PDO_1_MAPPING, 1, 4, 0x60400010); // download pdo 0x1600 entry: controlword
231 
232  if (operationMode==EPOS4_OP_CSP) // cycle synchronous position (csp) mode
233  {
234  SdoWriten( busId, EPOS4_RECEIVE_PDO_1_MAPPING, 2, 4, 0x607A0020); // download pdo 0x1600 entry: position set point
235  }
236  else if (operationMode==EPOS4_OP_CSV) // cycle synchronous velocity (csv) mode
237  {
238  SdoWriten( busId, EPOS4_RECEIVE_PDO_1_MAPPING, 2, 4, 0x60FF0020); // download pdo 0x1600 entry: target velocity 32bit
239  }
240  else if (operationMode == EPOS4_OP_CST) {
241  SdoWriten(busId, (EPOS4_RECEIVE_PDO_1_MAPPING), 2, 4, 0x60710010); // download pdo 0x1600 entry: Target torque 32bit
242  }
243 
244  SdoWriten( busId, EPOS4_RECEIVE_PDO_1_MAPPING, 0, 1, 2); // download pdo 0x1600 entry: number of entries
245 
246  SdoWriten( busId, EPOS4_RECEIVE_PDO_2_MAPPING, 0, 1, 0); // clear pdo 0x1601 entries
247  SdoWriten( busId, EPOS4_RECEIVE_PDO_3_MAPPING, 0, 1, 0); // clear pdo 0x1602 entries
248  SdoWriten( busId, EPOS4_RECEIVE_PDO_4_MAPPING, 0, 1, 0); // clear pdo 0x1603 entries
249 
250 
251  SdoWriten( busId, sm_TX, 1, 2, 0x1600); // download pdo 0x1C1@b 2:01 index
252  SdoWriten( busId, sm_TX, 0, 1, 1); // download pdo 0x1C12 count
253 
254  SdoWriten( busId, sm_RX, 1, 2, 0x1A00 ); // download pdo 0x1C13:01 index
255  SdoWriten( busId, sm_RX, 0, 1, 1); // download pdo 0x1C13 count
256 
257 
258  SdoWriten( busId, EPOS4_INTERPOLATION_TIME_PERIOD, 1, 0, 1); //interpolation time periode value
259 
260  if (axisPolarity==1) // set axis polarity
261  {
262  SdoWriten( busId, EPOS4_AXIS_CONFIGURATION, 4, 4, 1);
263  print("...: change axis direction");
264  }
265  else
266  {
267  SdoWriten( busId, EPOS4_AXIS_CONFIGURATION, 4, 4, 0);
268  }
269 
270  if (operationMode==EPOS4_OP_CSP)
271  {
272  SdoWriten( busId, EPOS4_MODES_OF_OPERATION, 0, 1, EPOS4_OP_CSP); // cycle synchronous position (csp) mode
273  print("...: cycle synchronous position (csp) mode");
274  }
275  else if (operationMode==EPOS4_OP_CSV)
276  {
277  SdoWriten( busId, EPOS4_MODES_OF_OPERATION, 0, 1, EPOS4_OP_CSV); // cycle synchronous velocity (csv) mode
278  print("...: cycle synchronous velocity (csv) mode");
279  }
280  else if (operationMode == EPOS4_OP_CST) {
281  SdoWriten(busId, EPOS4_MODES_OF_OPERATION, 0, 1, EPOS4_OP_CST); // cycle synchronous torque (cst) mode
282  print("...: cycle synchronous torque (cst) mode");
283  }
284  else // Error
285  {
286  print("...: not supported operation mode");
287  return(-1);
288  }
289 
290  return(1);
291 }

◆ sdkEpos4_SetupECatVirtAmp()

long sdkEpos4_SetupECatVirtAmp ( long  axis,
long  maxRpm,
long  operationMode 
)

Setup the virtual amplifier for an Epos4 with EtherCat.

This function sets up the virtual amplifier with EtherCat for an Epos4. It can be defined with which operation mode is used.

Parameters
axisAxis module number
maxRpmDefinition of the maximum motor speed [rpm]
operationModeDefinition of the operation mode
0x08: Cyclic synchronous position (csp) mode
0x09: Cyclic synchronous velocity (csv) mode
0x0A: Cyclic synchronous torque (cst) mode
Returns
value: Process value
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Definition at line 101 of file SDK_Amplifier_Epos4.mc.

102 {
103  print("sdkEpos4_SetupECatVirtAmp: ",axis );
104 
105  // virtual amplifiers have a fixed connection to axes number, axes 0 uses amplifier 0.
106  VIRTAMP_PARAM(axis,VIRTAMP_PISRC_CMDWORD) = AXE_PROCESS_SRCINDEX(axis,REG_CNTRLWORD);
107  VIRTAMP_PARAM(axis,VIRTAMP_PISRC_REFPOS) = AXE_PROCESS_SRCINDEX(axis,REG_COMPOS);
108  VIRTAMP_PARAM(axis,VIRTAMP_PISRC_REFVEL) = AXE_PROCESS_SRCINDEX(axis,REG_REFERENCE);
109  VIRTAMP_PARAM(axis,VIRTAMP_PISRC_REFACC) = AXE_PROCESS_SRCINDEX(axis,PID_FFACCPART);
110  VIRTAMP_PARAM(axis,VIRTAMP_PISRC_STATUS) = BUSMOD_PROCESS_SRCINDEX(axis,PO_BUSMOD_VALUE1);
111  VIRTAMP_PARAM(axis,VIRTAMP_PISRC_CURRENT) = BUSMOD_PROCESS_SRCINDEX(axis, PO_BUSMOD_VALUE3);
112 
113  VIRTAMP_PARAM(axis,VIRTAMP_CNTRLW_PWROFF) = 0x06;
114  VIRTAMP_PARAM(axis,VIRTAMP_CNTRLW_PWRONDIS) = 0x06;
115  VIRTAMP_PARAM(axis,VIRTAMP_CNTRLW_PWRONENP) = 0x0F;
116  VIRTAMP_PARAM(axis,VIRTAMP_CNTRLW_PWRONENN) = 0x0F;
117  VIRTAMP_PARAM(axis,VIRTAMP_CNTRLW_QUICKSTOP) = 0x02;
118  VIRTAMP_PARAM(axis,VIRTAMP_CNTRLW_RESET) = 0x80;
119 
120  VIRTAMP_PARAM(axis,VIRTAMP_STOPDELAY) = 0x0;
121  VIRTAMP_PARAM(axis,VIRTAMP_ERROR_BITMASK) = 0x0008;
122  VIRTAMP_PARAM(axis,VIRTAMP_ERROR_POLARITY) = 1;
123 
124  if (operationMode==EPOS4_OP_CSP) // cycle synchronous position (csp) mode
125  {
126  VIRTAMP_PARAM(axis,VIRTAMP_REF100PERC) = 0; // not used in csp
127  VIRTAMP_PARAM(axis,VIRTAMP_REFLIMIT) = 0; // not used in csp
128  print("...: cycle synchronous position (csp) mode");
129  }
130  else if (operationMode==EPOS4_OP_CSV) // cycle synchronous velocity (csv) mode
131  {
132  VIRTAMP_PARAM(axis,VIRTAMP_REF100PERC) = maxRpm;
133  VIRTAMP_PARAM(axis,VIRTAMP_REFLIMIT) = 2* maxRpm;
134  print("...: cycle synchronous velocity (csv) mode");
135  }
136  else if (operationMode == EPOS4_OP_CST) // cycle synchronous torque (cst) mode
137  {
138  VIRTAMP_PARAM(axis,VIRTAMP_REF100PERC) = 0; // not used in cst
139  VIRTAMP_PARAM(axis,VIRTAMP_REFLIMIT) = 0; // not used in cst
140  print("...: cycle synchronous torque (cst) mode");
141  }
142  else // Error
143  {
144  print("...: not supported operation mode");
145  return(-1);
146  }
147 
148  VIRTAMP_PARAM(axis,VIRTAMP_MODE) = VIRTAMP_MODE_ENABLE; // has to be the last one because it activates all
149 
150  return(1);
151 }

◆ sdkEpos4_SetupECatVirtCntin()

long sdkEpos4_SetupECatVirtCntin ( long  axis,
long  operationMode 
)

Setup the virtual counter input for an Epos4 with EtherCat.

This function sets up the virtual counter input with EtherCat for an Epos4. It can be defined with which operation mode is used.

Parameters
axisAxis module number
operationModeDefinition of the operation mode
1: Cyclic synchronous position (csp) mode
2: Cyclic synchronous velocity (csv) mode
Returns
value: Process value
value > 0 Process successful
value = 0 Process is active
value < 0 Error

Definition at line 168 of file SDK_Amplifier_Epos4.mc.

169 {
170  print("sdkEpos4_SetupECatVirtCntin: ",axis);
171 
172  VIRTCOUNTIN_PARAM(axis,VIRTCNTIN_PISRC_COUNTER) = BUSMOD_PROCESS_SRCINDEX(axis, PO_BUSMOD_VALUE2);
173 
174  if (operationMode==EPOS4_OP_CSP) // cycle synchronous position (csp) mode
175  {
176  VIRTCOUNTIN_PARAM(axis,VIRTCNTIN_MODE) = VIRTCNTIN_MODE_ABSOLUTE_DIRECT; // Source is absolute and is taken as it is
177  print("...: cycle synchronous position (csp) mode");
178  }
179  else if (operationMode==EPOS4_OP_CSV) // cycle synchronous velocity (csv) mode
180  {
181  VIRTCOUNTIN_PARAM(axis,VIRTCNTIN_MODE) = VIRTCNTIN_MODE_ABSOLUTE; // Source is a position value and difference to last value is added
182  print("...: cycle synchronous velocity (csv) mode");
183  }
184  else // Error
185  {
186  print("...: not supported operation mode");
187  return(-1);
188  }
189 
190  return(1);
191 }
VIRTCNTIN_MODE
#define VIRTCNTIN_MODE
Counter mode.
Definition: SdoDictionary.mh:5003
BUSMOD_MODE_ACTIVATE_NOSTOP
#define BUSMOD_MODE_ACTIVATE_NOSTOP
Definition: SdoDictionary.mh:11306
PID_FFACCPART
#define PID_FFACCPART
Definition: SdoDictionary.mh:3454
EPOS4_MODES_OF_OPERATION_DISPLAY
#define EPOS4_MODES_OF_OPERATION_DISPLAY
Definition: SDK_Amplifier_Epos4.mh:133
EPOS4_RECEIVE_PDO_3_PARAMETER
#define EPOS4_RECEIVE_PDO_3_PARAMETER
Definition: SDK_Amplifier_Epos4.mh:45
VIRTCOUNTIN_PARAM
#define VIRTCOUNTIN_PARAM(modno, parno)
Virtual Counter Inputs parameters: Setter.
Definition: SdoDictionary.mh:4985
VIRTAMP_PROCESS_SRCINDEX
#define VIRTAMP_PROCESS_SRCINDEX(modno, parno)
Virtual Amplifier Process Data: Source Index.
Definition: SdoDictionary.mh:6404
EPOS4_INTERPOLATION_TIME_PERIOD
#define EPOS4_INTERPOLATION_TIME_PERIOD
Definition: SDK_Amplifier_Epos4.mh:181
VIRTAMP_CNTRLW_QUICKSTOP
#define VIRTAMP_CNTRLW_QUICKSTOP
Controlword to stop drive with internal ramps.
Definition: SdoDictionary.mh:5395
BUSMOD_ID
#define BUSMOD_ID
Slave node id.
Definition: SdoDictionary.mh:11017
BUSMOD_BUSTYPE_ECAT_M
#define BUSMOD_BUSTYPE_ECAT_M
Definition: SdoDictionary.mh:11311
VIRTAMP_ERROR_POLARITY
#define VIRTAMP_ERROR_POLARITY
Polarity of Error Bit.
Definition: SdoDictionary.mh:5521
VIRTAMP_CNTRLW_RESET
#define VIRTAMP_CNTRLW_RESET
Controlword to reset from error.
Definition: SdoDictionary.mh:5405
EPOS4_TRANSMIT_PDO_4_MAPPING
#define EPOS4_TRANSMIT_PDO_4_MAPPING
Definition: SDK_Amplifier_Epos4.mh:58
EPOS4_OP_CST
#define EPOS4_OP_CST
Definition: SDK_Amplifier_Epos4.mh:132
EPOS4_SYNC_MANAGER_2_PDO_ASSIGNMENT
#define EPOS4_SYNC_MANAGER_2_PDO_ASSIGNMENT
Definition: SDK_Amplifier_Epos4.mh:60
EPOS4_RECEIVE_PDO_1_PARAMETER
#define EPOS4_RECEIVE_PDO_1_PARAMETER
Definition: SDK_Amplifier_Epos4.mh:43
VIRTAMP_PISRC_CMDWORD
#define VIRTAMP_PISRC_CMDWORD
Index/subindex of command word.
Definition: SdoDictionary.mh:5300
EPOS4_TRANSMIT_PDO_1_PARAMETER
#define EPOS4_TRANSMIT_PDO_1_PARAMETER
Definition: SDK_Amplifier_Epos4.mh:51
VIRTAMP_REF100PERC
#define VIRTAMP_REF100PERC
Output reference value to use at 100 percent.
Definition: SdoDictionary.mh:5442
EPOS4_OP_CSP
#define EPOS4_OP_CSP
Definition: SDK_Amplifier_Epos4.mh:130
BUSMOD_RXMAP_POVALUE2
#define BUSMOD_RXMAP_POVALUE2
Mapping for RX PDOs (receive from bus)
Definition: SdoDictionary.mh:11216
BUSMOD_BUSTYPE
#define BUSMOD_BUSTYPE
Bus type.
Definition: SdoDictionary.mh:10996
BUSMOD_MODE_ACTIVATE
#define BUSMOD_MODE_ACTIVATE
Definition: SdoDictionary.mh:11305
PO_VIRTAMP_REFVEL
#define PO_VIRTAMP_REFVEL
Output reference velocity.
Definition: SdoDictionary.mh:6438
EPOS4_MODES_OF_OPERATION
#define EPOS4_MODES_OF_OPERATION
Definition: SDK_Amplifier_Epos4.mh:126
PO_BUSMOD_VALUE1
#define PO_BUSMOD_VALUE1
Output value of the RX PDOs.
Definition: SdoDictionary.mh:12804
VIRTAMP_PISRC_STATUS
#define VIRTAMP_PISRC_STATUS
Index/subindex of status.
Definition: SdoDictionary.mh:5335
BUSMOD_BUSTYPE_CAN
#define BUSMOD_BUSTYPE_CAN
Definition: SdoDictionary.mh:11309
VIRTCNTIN_MODE_ABSOLUTE
#define VIRTCNTIN_MODE_ABSOLUTE
Definition: SdoDictionary.mh:5080
REG_REFERENCE
#define REG_REFERENCE
Actual reference value generated by position control loop.
Definition: SdoDictionary.mh:3290
BUSMOD_PISRC_INPUT2
#define BUSMOD_PISRC_INPUT2
Index and subindex of Input value.
Definition: SdoDictionary.mh:10872
CANSYNCTIMER
#define CANSYNCTIMER
Cycle time for sending SYNC telegrams on the CAN bus.
Definition: SdoDictionary.mh:132
BUSMOD_TXMAP_INPUT1
#define BUSMOD_TXMAP_INPUT1
Mapping for TX PDOs (send to bus)
Definition: SdoDictionary.mh:11097
EPOS4_TRANSMIT_PDO_3_PARAMETER
#define EPOS4_TRANSMIT_PDO_3_PARAMETER
Definition: SDK_Amplifier_Epos4.mh:53
EPOS4_OP_HMM
#define EPOS4_OP_HMM
Definition: SDK_Amplifier_Epos4.mh:129
VIRTAMP_PARAM
#define VIRTAMP_PARAM(modno, parno)
Virtual Amplifier Parameters: Setter.
Definition: SdoDictionary.mh:5280
EPOS4_TRANSMIT_PDO_4_PARAMETER
#define EPOS4_TRANSMIT_PDO_4_PARAMETER
Definition: SDK_Amplifier_Epos4.mh:54
BUSMOD_RXMAP_POVALUE1
#define BUSMOD_RXMAP_POVALUE1
Mapping for RX PDOs (receive from bus)
Definition: SdoDictionary.mh:11202
VIRTAMP_ERROR_BITMASK
#define VIRTAMP_ERROR_BITMASK
Bitmask to detect error condition.
Definition: SdoDictionary.mh:5510
EPOS4_RECEIVE_PDO_3_MAPPING
#define EPOS4_RECEIVE_PDO_3_MAPPING
Definition: SDK_Amplifier_Epos4.mh:49
EPOS4_TRANSMIT_PDO_1_MAPPING
#define EPOS4_TRANSMIT_PDO_1_MAPPING
Definition: SDK_Amplifier_Epos4.mh:55
EPOS4_TRANSMIT_PDO_2_MAPPING
#define EPOS4_TRANSMIT_PDO_2_MAPPING
Definition: SDK_Amplifier_Epos4.mh:56
REG_USERREFCUR
#define REG_USERREFCUR
Motor current reference value in AxisControl(USERREFCUR) mode.
Definition: SdoDictionary.mh:3414
BUSMOD_BUSNO
#define BUSMOD_BUSNO
Bus number.
Definition: SdoDictionary.mh:11006
VIRTAMP_STOPDELAY
#define VIRTAMP_STOPDELAY
Delay after a STOP command.
Definition: SdoDictionary.mh:5491
BUSMOD_PROCESS_SRCINDEX
#define BUSMOD_PROCESS_SRCINDEX(modno, parno)
Bus Module Process Data: Source Index.
Definition: SdoDictionary.mh:12789
VIRTAMP_PROCESS
#define VIRTAMP_PROCESS(modno, parno)
Virtual Amplifier Process Data: Setter.
Definition: SdoDictionary.mh:6410
VIRTAMP_PISRC_REFACC
#define VIRTAMP_PISRC_REFACC
Index/subindex of acceleration/current reference.
Definition: SdoDictionary.mh:5321
PO_BUSMOD_VALUE3
#define PO_BUSMOD_VALUE3
Output value of the RX PDOs.
Definition: SdoDictionary.mh:12814
PO_VIRTAMP_CMDWORD
#define PO_VIRTAMP_CMDWORD
Output command word.
Definition: SdoDictionary.mh:6426
VIRTAMP_CNTRLW_PWRONENN
#define VIRTAMP_CNTRLW_PWRONENN
Controlword to use in power on enable negative direction state (could be same as above)
Definition: SdoDictionary.mh:5385
VIRTAMP_PISRC_CURRENT
#define VIRTAMP_PISRC_CURRENT
Index/subindex of current.
Definition: SdoDictionary.mh:5328
EPOS4_RECEIVE_PDO_2_MAPPING
#define EPOS4_RECEIVE_PDO_2_MAPPING
Definition: SDK_Amplifier_Epos4.mh:48
VIRTAMP_CNTRLW_PWRONENP
#define VIRTAMP_CNTRLW_PWRONENP
Controlword to use in power on enable positive direction state.
Definition: SdoDictionary.mh:5375
BUSMOD_MODE_DEACTIVATE
#define BUSMOD_MODE_DEACTIVATE
Definition: SdoDictionary.mh:11304
EPOS4_RECEIVE_PDO_2_PARAMETER
#define EPOS4_RECEIVE_PDO_2_PARAMETER
Definition: SDK_Amplifier_Epos4.mh:44
EPOS4_TRANSMIT_PDO_2_PARAMETER
#define EPOS4_TRANSMIT_PDO_2_PARAMETER
Definition: SDK_Amplifier_Epos4.mh:52
VIRTAMP_MODE_ENABLE
#define VIRTAMP_MODE_ENABLE
Definition: SdoDictionary.mh:5581
PO_VIRTAMP_REFPOS
#define PO_VIRTAMP_REFPOS
Output reference position.
Definition: SdoDictionary.mh:6432
EPOS4_SYNC_MANAGER_3_PDO_ASSIGNMENT
#define EPOS4_SYNC_MANAGER_3_PDO_ASSIGNMENT
Definition: SDK_Amplifier_Epos4.mh:61
REG_COMPOS
#define REG_COMPOS
Set-point position value.
Definition: SdoDictionary.mh:3207
AXE_PROCESS_SRCINDEX
#define AXE_PROCESS_SRCINDEX(modno, parno)
Axis Process Data: Source Index.
Definition: SdoDictionary.mh:3181
EPOS4_OP_CSV
#define EPOS4_OP_CSV
Definition: SDK_Amplifier_Epos4.mh:131
EPOS4_RECEIVE_PDO_4_MAPPING
#define EPOS4_RECEIVE_PDO_4_MAPPING
Definition: SDK_Amplifier_Epos4.mh:50
BUSMOD_MODE
#define BUSMOD_MODE
Activate / Deactivate.
Definition: SdoDictionary.mh:10839
EPOS4_TRANSMIT_PDO_3_MAPPING
#define EPOS4_TRANSMIT_PDO_3_MAPPING
Definition: SDK_Amplifier_Epos4.mh:57
EPOS4_HOMING_METHOD
#define EPOS4_HOMING_METHOD
Definition: SDK_Amplifier_Epos4.mh:153
VIRTAMP_MODE
#define VIRTAMP_MODE
Mode of operation.
Definition: SdoDictionary.mh:5293
EPOS4_AXIS_CONFIGURATION
#define EPOS4_AXIS_CONFIGURATION
Definition: SDK_Amplifier_Epos4.mh:79
BUSMOD_SYNC
#define BUSMOD_SYNC
Sync interval (only for CAN)
Definition: SdoDictionary.mh:11032
REG_CNTRLWORD
#define REG_CNTRLWORD
Definition: SdoDictionary.mh:3369
VIRTAMP_CNTRLW_PWROFF
#define VIRTAMP_CNTRLW_PWROFF
Controlword to use in power off state.
Definition: SdoDictionary.mh:5355
BUSMOD_RXMAP_POVALUE3
#define BUSMOD_RXMAP_POVALUE3
Mapping for RX PDOs (receive from bus)
Definition: SdoDictionary.mh:11230
VIRTAMP_PISRC_REFPOS
#define VIRTAMP_PISRC_REFPOS
Index/subindex of position reference.
Definition: SdoDictionary.mh:5307
GLB_PARAM
#define GLB_PARAM(parno)
Global Parameters: Setter.
Definition: SdoDictionary.mh:67
BUSMOD_GUARDTIME
#define BUSMOD_GUARDTIME
Guard interval.
Definition: SdoDictionary.mh:11047
BUSMOD_PISRC_INPUT1
#define BUSMOD_PISRC_INPUT1
Index and subindex of Input value.
Definition: SdoDictionary.mh:10864
PO_VIRTAMP_STATUS
#define PO_VIRTAMP_STATUS
Status.
Definition: SdoDictionary.mh:6420
VIRTCNTIN_MODE_ABSOLUTE_DIRECT
#define VIRTCNTIN_MODE_ABSOLUTE_DIRECT
Definition: SdoDictionary.mh:5083
VIRTAMP_PISRC_REFVEL
#define VIRTAMP_PISRC_REFVEL
Index/subindex of velocity reference.
Definition: SdoDictionary.mh:5314
VIRTAMP_REFLIMIT
#define VIRTAMP_REFLIMIT
Output reference limit.
Definition: SdoDictionary.mh:5449
BUSMOD_PARAM
#define BUSMOD_PARAM(modno, parno)
Bus Module Parameters: Setter.
Definition: SdoDictionary.mh:10813
VIRTAMP_CNTRLW_PWRONDIS
#define VIRTAMP_CNTRLW_PWRONDIS
Controlword to use in power on disable state.
Definition: SdoDictionary.mh:5365
EPOS4_RECEIVE_PDO_4_PARAMETER
#define EPOS4_RECEIVE_PDO_4_PARAMETER
Definition: SDK_Amplifier_Epos4.mh:46
BUSMOD_TXMAP_INPUT2
#define BUSMOD_TXMAP_INPUT2
Mapping for TX PDOs (send to bus)
Definition: SdoDictionary.mh:11110
VIRTCNTIN_PISRC_COUNTER
#define VIRTCNTIN_PISRC_COUNTER
Index/subindex of counter source.
Definition: SdoDictionary.mh:5030
PO_BUSMOD_VALUE2
#define PO_BUSMOD_VALUE2
Output value of the RX PDOs.
Definition: SdoDictionary.mh:12809
EPOS4_RECEIVE_PDO_1_MAPPING
#define EPOS4_RECEIVE_PDO_1_MAPPING
Definition: SDK_Amplifier_Epos4.mh:47
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