SDK_Amplifier_Epos4.mh

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#pragma once
 
// Declaration of the functions
long sdkEpos4_SetupECatBusModule(long axis, long busId, long pdoNumber, long operationMode);
long sdkEpos4_SetupECatVirtAmp(long axis, long maxRpm, long operationMode);
long sdkEpos4_SetupECatVirtCntin(long axis, long operationMode);
long sdkEpos4_SetupECatSdoParam(long busId, long pdoNumber, long axisPolarity, long operationMode);
 
long sdkEpos4_SetupCanBusModule(long axis, long busId, long pdoNumber, long operationMode);
long sdkEpos4_SetupCanVirtAmp(long axis, long maxRpm, long operationMode);
long sdkEpos4_SetupCanVirtCntin(long axis, long operationMode);
long sdkEpos4_SetupCanSdoParam(long busId, long pdonumber, long axisPolarity, long operationMode);
 
long sdkEpos4_AxisHomingStart(long axis, long busId, long operationMode, long &homingState);
 
void sdkEpos4_PrintErrorDescription(long errorCode);
 
 
 
 
#define EPOS4_DEVICE_TYPE                               0x1000
#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      // 0x00: Defines the position that will be set as zero position
#define EPOS4_HOME_OFFSET_MOVE_DISTANCE                 0x30B1      // 0x00: Represents a moving distance in a homing procedure
#define EPOS4_CURRENT_THRESHOLD_FOR_HOMING_MODE         0x30B2      // 0x00: Used for homing methods «−1», «−2», «−3», and «−4»
#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      // 0x00: Switches the actually chosen operating mode
        #define EPOS4_OP_PPM    0x01    // Profile Position Mode
        #define EPOS4_OP_PVM    0x03    // Profile Velocity Mode
        #define EPOS4_OP_HMM    0x06    // Homing Mode
        #define EPOS4_OP_CSP    0x08    // Cyclic Synchronous Position Mode
        #define EPOS4_OP_CSV    0x09    // Cyclic Synchronous Velocity Mode
        #define EPOS4_OP_CST    0x0A    // Cyclic Synchronous Torque Mode
#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      // 0x00: Used to select the desired homing method
        #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      // 0x01: Speed for switch search, 0x02: Speed for zero search
#define EPOS4_HOMING_ACCELERATION                       0x609A      // 0x00: Acceleration and deceleration ramps in the homing profile
#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
 
 
#define EPOS4_F_NO_ERROR                        0x0000  // No error
#define EPOS4_F_GENERIC                         0x1000  // Generic error
#define EPOS4_F_GENERIC_INIT1                   0x1080  // Generic initialization
#define EPOS4_F_GENERIC_INIT2                   0x1081  // Generic initialization
#define EPOS4_F_GENERIC_INIT3                   0x1082  // Generic initialization
#define EPOS4_F_GENERIC_INIT4                   0x1083  // Generic initialization
#define EPOS4_F_GENERIC_INIT5                   0x1084  // Generic initialization
#define EPOS4_F_GENERIC_INIT6                   0x1085  // Generic initialization
#define EPOS4_F_GENERIC_INIT7                   0x1086  // Generic initialization
#define EPOS4_F_GENERIC_INIT8                   0x1087  // Generic initialization
#define EPOS4_F_GENERIC_INIT9                   0x1088  // Generic initialization
#define EPOS4_F_FIRMWARE_INCOMPATIBILITY        0x1090  // Firmware incompatibility
#define EPOS4_F_OVERCURRENT                     0x2310  // Overcurrent
#define EPOS4_F_POWER_STAGE_PROTECTION          0x2320  // Power stage protection
#define EPOS4_F_OVERVOLTAGE                     0x3210  // Overvoltage
#define EPOS4_F_UNDERVOLTAGE                    0x3220  // Undervoltage
#define EPOS4_F_THERMAL_OVERLOAD                0x4210  // Thermal overload
#define EPOS4_F_THERMAL_MOTOR_OVERLOAD          0x4380  // Thermal motor overload
#define EPOS4_F_LOGIC_VOLTAGE_LOW               0x5113  // Logic supply voltage too low
#define EPOS4_F_HARDWARE_DEFECT                 0x5280  // Hardware defect
#define EPOS4_F_HARDWARE_INCOMPATIBILITY        0x5281  // Hardware incompatibility
#define EPOS4_F_HARDWARE1                       0x5480  // Hardware error
#define EPOS4_F_HARDWARE2                       0x5481  // Hardware error
#define EPOS4_F_HARDWARE3                       0x5482  // Hardware error
#define EPOS4_F_HARDWARE4                       0x5483  // Hardware error
#define EPOS4_F_SIGN_OF_LIFE                    0x6080  // Sign of life
#define EPOS4_F_EXT_1_WATCHDOG                  0x6081  // Extension 1 watchdog
#define EPOS4_F_INTERNAL_SOFTWARE               0x61F0  // Internal software (Range from 0x6180 - 0x61F0)
#define EPOS4_F_SOFTWARE_PARAM                  0x6320  // Software parameter
#define EPOS4_F_PERSISTENT_PARAM_CORRUPT        0x6380  // Persistent param corrupt
#define EPOS4_F_POSITION_SENSOR                 0x7320  // Position sensor
#define EPOS4_F_POSITION_BREACH                 0x7380  // Position breach
#define EPOS4_F_POSITION_RESOLUTION             0x7381  // Position resolution
#define EPOS4_F_POSITION_INDEX                  0x7382  // Position index
#define EPOS4_F_HALL_SENSOR                     0x7388  // Hall sensor
#define EPOS4_F_HALL_NOT_FOUND                  0x7389  // Hall not found
#define EPOS4_F_HALL_ANGLE                      0x738A  // Hall angle detection
#define EPOS4_F_SSI_SENSOR                      0x738C  // SSI sensor
#define EPOS4_F_SSI_FRAME                       0x738D  // SSI frame
#define EPOS4_F_MISSING_MAIN_SENSOR             0x7390  // Missing main sensor
#define EPOS4_F_MISSING_COMM_SENSOR             0x7391  // Missing comm sensor
#define EPOS4_F_MAIN_SENSOR_DIR                 0x7392  // Main sensor direction
#define EPOS4_F_CAN_OVERRUN_OBJ_LOST            0x8110  // CAN overrun (obj lost)
#define EPOS4_F_CAN_OVERRUN                     0x8111  // CAN overrun
#define EPOS4_F_CAN_PASSIVE_MODE                0x8120  // CAN passive mode
#define EPOS4_F_CAN_HEARTBEAT                   0x8130  // CAN heartbeat
#define EPOS4_F_CAN_PDO_COB_ID_COLLISION        0x8150  // CAN PDO COB-ID collision
#define EPOS4_F_ETHERCAT_COMM                   0x8180  // EtherCAT comm
#define EPOS4_F_ETHERCAT_INIT                   0x8181  // EtherCAT init
#define EPOS4_F_ETHERCAT_RX_QUEUE               0x8182  // EtherCAT Rx queue
#define EPOS4_F_ETHERCAT_COMM_INTERNAL          0x8183  // EtherCAT comm internal
#define EPOS4_F_ETHERCAT_CYCLE_TIME             0x8184  // EtherCAT cycle time
#define EPOS4_F_CAN_BUS_OFF                     0x81FD  // CAN bus off
#define EPOS4_F_CAN_RX_QUEUE                    0x81FE  // CAN Rx queue
#define EPOS4_F_CAN_TX_QUEUE                    0x81FF  // CAN Tx queue
#define EPOS4_F_CAN_PDO_LENGTH                  0x8210  // CAN PDO length
#define EPOS4_F_RPDO_TIMEOUT                    0x8250  // RPDO timeout
#define EPOS4_F_ETHERCAT_PDO_COMM               0x8280  // EtherCAT PDO comm
#define EPOS4_F_ETHERCAT_SDO_COMM               0x8281  // EtherCAT SDO comm
#define EPOS4_F_FOLLOWING                       0x8611  // Following
#define EPOS4_F_NEG_LIMIT_SWITCH                0x8A80  // Negative limit switch
#define EPOS4_F_POS_LIMIT_SWITCH                0x8A81  // Positive limit switch
#define EPOS4_F_SOFTWARE_POSITION_LIMIT         0x8A82  // Software position limit
#define EPOS4_F_STO                             0x8A88  // STO
#define EPOS4_F_SYSTEM_OVERLOADED               0xFF01  // System overloaded
#define EPOS4_F_WATCHDOG                        0xFF02  // Watchdog
#define EPOS4_F_SYSTEM_PEAK_OVERLOADED          0xFF0B  // System peak overloaded
#define EPOS4_F_CONTROLLER_GAIN                 0xFF10  // Controller gain
#define EPOS4_F_AUTO_TUNING_ID                  0xFF11  // Auto tuning identification
#define EPOS4_F_AUTO_TUNING_CURRENT_LIMIT       0xFF12  // Auto tuning current limit
#define EPOS4_F_AUTO_TUNING_ID_CURRENT          0xFF13  // Auto tuning ID current
#define EPOS4_F_AUTO_TUNING_DATA_SAMPLING       0xFF14  // Auto tuning data sampling
#define EPOS4_F_AUTO_TUNING_SAMPLE_MISMATCH     0xFF15  // Auto tuning sample mismatch
#define EPOS4_F_AUTO_TUNING_PARAM               0xFF16  // Auto tuning parameter
#define EPOS4_F_AUTO_TUNING_AMPLITUDE_MISMATCH  0xFF17  // Auto tuning amplitude mismatch
#define EPOS4_F_AUTO_TUNING_TIMEOUT             0xFF19  // Auto tuning timeout
#define EPOS4_F_AUTO_TUNING_STANDSTILL          0xFF20  // Auto tuning standstill
#define EPOS4_F_AUTO_TUNING_TORQUE_INVALID      0xFF21  // Auto tuning torque invalid
#define EPOS4_F_AUTO_TUNING_MAX_SPEED           0xFF22  // Auto tuning max speed
#define EPOS4_F_AUTO_TUNING_MOTOR_CONNECTION    0xFF23  // Auto tuning motor connection
#define EPOS4_F_AUTO_TUNING_SENSOR_SIGNAL       0xFF24  // Auto tuning sensor signal