SdoDictionary.mh File Reference

Go to the source code of this file.

Macros
#define	sdodictionary_h
#define	SDOSUBCLASS(index)   (index & 0xFFC0)
#define	PISRC_NOTDEFINED   0x0000
#define	SDO_INTERNAL(ind, subindex)   Sysvar[(0x01000000 | (((long) (ind ))<<8)) | ((long) (subindex))]
#define	SDO_DIMARRAY(arrno, index)   Sysvar[(0x01210005 | (((long) (arrno))<<8)) + ((long) (index)))]
#define	SDOINDEX_APOSS_ARRAY   0x2100
	Aposs Array: SDO Index. More...
#define	APOSS_ARRAY_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_APOSS_ARRAY<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	Aposs Array: Getter. More...
#define	APOSS_ARRAY_SRCINDEX(modno, parno)   ((SDOINDEX_APOSS_ARRAY<<8) | (((long) (modno))<<8) | ((long) (parno)))
	Aposs Array: Source Index. More...
#define	APOSS_ARRAY(modno, parno)   Sysvar[APOSS_ARRAY_INDEX((modno),(parno))]
	Aposs Array: Setter. More...
#define	APOSS_ARRAY_MAX   255
	Aposs Array: Maximum number of parameters. More...
#define	SDOINDEX_GLB_PARAM   0x2200
	Global Parameters: SDO Index. More...
#define	GLB_PARAM_INDEX(parno)   ((0x01000000 | (SDOINDEX_GLB_PARAM<<8)) | ((long) (parno)))
	Global Parameters: Getter. More...
#define	GLB_PARAM_SRCINDEX(parno)   ((SDOINDEX_GLB_PARAM<<8) | ((long) (parno)))
	Global Parameters: Source Index. More...
#define	GLB_PARAM(parno)   Sysvar[GLB_PARAM_INDEX(parno)]
	Global Parameters: Setter. More...
#define	GLB_PARAM_MAX   102
	Global Parameters: Maximum number of parameters. More...
#define	CANNR   1
	CAN node ID. More...
#define	CANBAUD   2
	CAN baud rate. More...
#define	PRGPAR   3
	Activated program number. More...
#define	I_ERRCLR   8
	Input to clear error. More...
#define	O_ERROR   9
	Output set when error occurs. More...
#define	RSBAUDRATE   13
	RS485 baud rate. More...
#define	CANSYNCTIMER   15
	Cycle time for sending SYNC telegrams on the CAN bus. More...
#define	CANGUARDTIMER   16
	Period of guarding. More...
#define	IPADDRESSMODE   20
	IP address mode. More...
#define	IPSUBNET   21
	IP subnet. More...
#define	PRGSTARTCOND   22
	Program start condition. More...
#define	ESCCONDGLB   23
	ESC Behaviour global. More...
#define	IPMASK   24
	IP mask. More...
#define	IPDEFAULTGW   25
	IP default gateway. More...
#define	CANNRFORCE   26
	Node Id DIP Switch overwrite. More...
#define	GLB_PARAM_ESCCONDGLB_NOTHING   0
#define	GLB_PARAM_ESCCONDGLB_OUT_OFF   1
#define	GLB_PARAM_ESCCONDGLB_OUT_ON   2
#define	SDOINDEX_USER_PARAM   0x2201
	User Parameters: SDO Index. More...
#define	USER_PARAM_INDEX(parno)   ((0x01000000 | (SDOINDEX_USER_PARAM<<8)) | ((long) (parno)))
	User Parameters: Getter. More...
#define	USER_PARAM_SRCINDEX(parno)   ((SDOINDEX_USER_PARAM<<8) | ((long) (parno)))
	User Parameters: Source Index. More...
#define	USER_PARAM(parno)   Sysvar[USER_PARAM_INDEX(parno)]
	User Parameters: Setter. More...
#define	USER_PARAM_MAX   101
	User Parameters: Maximum number of parameters. More...
#define	SDOINDEX_SYS_PROCESS   0x2202
	System Process Data: SDO Index. More...
#define	SYS_PROCESS_INDEX(parno)   ((0x01000000 | (SDOINDEX_SYS_PROCESS<<8)) | ((long) (parno)))
	System Process Data: Getter. More...
#define	SYS_PROCESS_SRCINDEX(parno)   ((SDOINDEX_SYS_PROCESS<<8) | ((long) (parno)))
	System Process Data: Source Index. More...
#define	SYS_PROCESS(parno)   Sysvar[SYS_PROCESS_INDEX(parno)]
	System Process Data: Setter. More...
#define	SYS_PROCESS_MAX   143
	System Process Data: Maximum number of parameters. More...
#define	SYS_INBYTE_0   2
	Digital input state (Byte 0 = Input 1-8) More...
#define	SYS_INBYTE_1   3
	Digital input state (Byte 1 = Input 9-16) More...
#define	SYS_INBYTE_2   4
	Digital input state (Byte 2 = Input 17-24) More...
#define	SYS_INBYTE_3   5
	Digital input state (Byte 3 = Input 25-32) More...
#define	SYS_INBYTE_4   6
	Digital input state (Byte 4 = Input 33-40) More...
#define	SYS_INBYTE_5   7
	Digital input state (Byte 5 = Input 40-48) More...
#define	SYS_INBYTE_6   8
	Digital input state (Byte 6 = Input 49-56) More...
#define	SYS_INBYTE_7   9
	Digital input state (Byte 7 = Input 57-64) More...
#define	SYS_OUTBYTE_0   10
	Digital output state (Byte 0 = Output 1-8) More...
#define	SYS_OUTBYTE_1   11
	Digital output state (Byte 1 = Output 9-16) More...
#define	SYS_OUTBYTE_2   12
	Digital output state (Byte 2 = Output 17-24) More...
#define	SYS_OUTBYTE_3   13
	Digital output state (Byte 3 = Output 25-32) More...
#define	SYS_OUTBYTE_4   14
	Digital output state (Byte 4 = Output 33-40) More...
#define	SYS_OUTBYTE_5   15
	Digital output state (Byte 5= Output 41-48) More...
#define	SYS_OUTBYTE_6   16
	Digital output state (Byte 6 = Output 49-56) More...
#define	SYS_OUTBYTE_7   17
	Digital output state (Byte 7 = Output 57-64) More...
#define	SYS_AXSTATUS   18
#define	SYS_INAD_1   19
	Analog input value (inputs 1-4) More...
#define	SYS_INAD_2   20
	Analog input value (inputs 1-4) More...
#define	SYS_INAD_3   21
	Analog input value (inputs 1-4) More...
#define	SYS_INAD_4   22
	Analog input value (inputs 1-4) More...
#define	SYS_CLOCK   23
	Internal millisecond counter. More...
#define	SYS_USRSTAT   24
	User status. More...
#define	SYS_MAXAX   25
	Maximum number of axes. More...
#define	SYS_CAN_NODESTATE   26
	CAN NMT status. More...
#define	SYS_TIMEINT_LENGTH   27
	Duration of the last ms-interrupt. More...
#define	SYS_MAX_LOOPTIME   28
	Maximum loop time. More...
#define	SYS_AMP0_CURRENT   29
	Up-to-date motor current. More...
#define	SYS_NC_0   30
#define	SYS_AMP0_VOLTAGE   31
	Up-to-date motor voltage. More...
#define	SYS_AMP0_STATUS   32
	VLT status. More...
#define	SYS_AMP0_SPEED   33
	VLT output frequency. More...
#define	SYS_CANDIP   34
	Dip-Switch value (CAN node ID) More...
#define	SYS_CANOM_SDOABORT   35
	Last CANopen SDO abort code. More...
#define	SYS_HWANIN_UNFILT   36
	Unfiltered value of analog input. More...
#define	SYS_CANERR_RX_0   37
	CAN error counter for RX Master-Bus. More...
#define	SYS_CANERR_RX_1   38
	CAN error counter for RX Slave-Bus. More...
#define	SYS_CANERR_TX_0   39
	CAN error counter for TX Master-Bus. More...
#define	SYS_CANERR_TX_1   40
	CAN error counter for TX Slave-Bus. More...
#define	SYS_MAXTIMEINT_LENGTH   41
	Maximum duration of the ms-interrupt. More...
#define	SYS_HWCNTINC_0_VALUE   42
	Internal encoder counter (encoders 1-9) More...
#define	SYS_HWCNTINC_1_VALUE   43
	Internal encoder counter (encoders 1-9) More...
#define	SYS_HWCNTINC_2_VALUE   44
	Internal encoder counter (encoders 1-9) More...
#define	SYS_HWCNTINC_3_VALUE   45
	Internal encoder counter (encoders 1-9) More...
#define	SYS_HWCNTINC_4_VALUE   46
	Internal encoder counter (encoders 1-9) More...
#define	SYS_HWCNTINC_5_VALUE   47
	Internal encoder counter (encoders 1-9) More...
#define	SYS_HWCNTINC_6_VALUE   48
	Internal encoder counter (encoders 1-9) More...
#define	SYS_HWCNTINC_7_VALUE   49
	Internal encoder counter (encoders 1-9) More...
#define	SYS_HWCNTINC_8_VALUE   50
	Internal encoder counter (encoders 1-9) More...
#define	SYS_STACKSIZE   51
	Stack size of running Aposs program (or last program to run) More...
#define	SYS_HWLATCH_0_VALUE   52
	Internal encoder zero pulse position (encoders 1-9) More...
#define	SYS_HWLATCH_1_VALUE   53
	Internal encoder zero pulse position (encoders 1-9) More...
#define	SYS_HWLATCH_2_VALUE   54
	Internal encoder zero pulse position (encoders 1-9) More...
#define	SYS_HWLATCH_3_VALUE   55
	Internal encoder zero pulse position (encoders 1-9) More...
#define	SYS_HWLATCH_4_VALUE   56
	Internal encoder zero pulse position (encoders 1-9) More...
#define	SYS_HWLATCH_5_VALUE   57
	Internal encoder zero pulse position (encoders 1-9) More...
#define	SYS_HWLATCH_6_VALUE   58
	Internal encoder zero pulse position (encoders 1-9) More...
#define	SYS_HWLATCH_7_VALUE   59
	Internal encoder zero pulse position (encoders 1-9) More...
#define	SYS_HWLATCH_8_VALUE   60
	Internal encoder zero pulse position (encoders 1-9) More...
#define	SYS_EEPROM_SIZE   61
	Size of Flash (or EEprom) More...
#define	SYS_US_TIMER   62
	Internal microsecond time base. More...
#define	SYS_CANOS_TIM_LASTTXPDO   63
	Period of time since the last TxPDO was transmitted. More...
#define	SYS_CANOM_SDO_TIMEOUT   64
	SDO timeout. More...
#define	SYS_ECAT_NODESTATE   65
	Node state of the EtherCAT slave. More...
#define	SYS_ECAT_PDOLENGTH_IN   66
	Mailbox length of the EtherCAT PDO which was received via the bus. More...
#define	SYS_ECAT_PDOLENGTH_OUT   67
	Mailbox length of the EtherCAT PDO which was put on the bus for transmission. More...
#define	SYS_CANOM_GUARDERR_ID   68
	Node ID which caused the last error. More...
#define	SYS_CANOM_MASTERSTATE   69
	State of CAN master functionality. More...
#define	SYS_UART_BYTECOUNT   70
#define	SYS_HWCNTINC_0_STATUS   72
	Internal encoder status (encoders 1-9) More...
#define	SYS_HWCNTINC_1_STATUS   73
	Internal encoder status (encoders 1-9) More...
#define	SYS_HWCNTINC_2_STATUS   74
	Internal encoder status (encoders 1-9) More...
#define	SYS_HWCNTINC_3_STATUS   75
	Internal encoder status (encoders 1-9) More...
#define	SYS_HWCNTINC_4_STATUS   76
	Internal encoder status (encoders 1-9) More...
#define	SYS_HWCNTINC_5_STATUS   77
	Internal encoder status (encoders 1-9) More...
#define	SYS_HWCNTINC_6_STATUS   78
	Internal encoder status (encoders 1-9) More...
#define	SYS_HWCNTINC_7_STATUS   79
	Internal encoder status (encoders 1-9) More...
#define	SYS_HWCNTINC_8_STATUS   80
	Internal encoder status (encoders 1-9) More...
#define	SYS_HWLATCH_COUNT_0   93
	Encoder index counter (encoders 1-9) More...
#define	SYS_HWLATCH_COUNT_1   94
	Encoder index counter (encoders 1-9) More...
#define	SYS_HWLATCH_COUNT_2   95
	Encoder index counter (encoders 1-9) More...
#define	SYS_HWLATCH_COUNT_3   96
	Encoder index counter (encoders 1-9) More...
#define	SYS_HWLATCH_COUNT_4   97
	Encoder index counter (encoders 1-9) More...
#define	SYS_HWLATCH_COUNT_5   98
	Encoder index counter (encoders 1-9) More...
#define	SYS_HWLATCH_COUNT_6   99
	Encoder index counter (encoders 1-9) More...
#define	SYS_HWLATCH_COUNT_7   100
	Encoder index counter (encoders 1-9) More...
#define	SYS_HWLATCH_COUNT_8   101
	Encoder index counter (encoders 1-9) More...
#define	SYS_TIMEINT_DIFF   104
	Time between the last two millisecond interrupts. More...
#define	SYS_LED_0_CONTROL   110
	Control LED state. More...
#define	SYS_LED_1_CONTROL   111
	Control LED state. More...
#define	SYS_LED_2_CONTROL   112
	Control LED state. More...
#define	SYS_LED_3_CONTROL   113
	Control LED state. More...
#define	SYS_LED_4_CONTROL   114
	Control LED state. More...
#define	SYS_LED_5_CONTROL   115
	Control LED state. More...
#define	SYS_INAD_5   116
	Analog input value (input 5) More...
#define	SYS_INAD_6   117
	Analog input value (input 6) More...
#define	SYS_TIME_DAY   118
	Day value of the time stamp structure. More...
#define	SYS_TIME_TOD   119
	Time of day (from beginning of day) More...
#define	SYS_RTC_DATE   120
	Real time date in format yyyymmdd (decimal). More...
#define	SYS_RTC_TIME   121
	Real time in format hhmmss. More...
#define	SYS_TIMER_GETDAY   122
	Returns the day information (days since 1984-1-1), at which the controller started up. More...
#define	SYS_TIMER_GETTIMEOFDAY   123
	Returns the timeclk information (seconds since start of this day), at which the controller started up. More...
#define	SYS_GETMAXINHIBITTIME   124
	Returns the maximum time for which the millisecond timer was inhibited. More...
#define	SYS_PRETIMEINT_LENGTH   125
	Returns the length of the last pre-ms-interrupt in microseconds. More...
#define	SYS_MAXPRETIMEINT_LENGTH   126
	Returns the max length of the last pre-ms-interrupt in microseconds. More...
#define	SYS_PRETIMEINT_DIFF   127
	Returns the difference between this and the last pre-ms-interrupt in microseconds. More...
#define	SYS_MAXPRETIMEINT_DIFF   128
	Returns the max difference between this and the last pre-ms-interrupt in microseconds. More...
#define	SYS_MAXTIMEINT_DIFF   129
	Returns the max difference between this and the last ms-interrupt in microseconds. More...
#define	SYS_CAN_NR_OF_SYNC   130
	Returns the number of received SYNC telegrams. More...
#define	SYS_CANOM_SEND_NMT   131
	Activates the sending of NMT start telegrams. More...
#define	SYS_STACKUSAGE   132
	Current stack usage of running Aposs program (or last program to run) More...
#define	SYS_STACKMAX   133
	Maximum stack usage of running Aposs program (or last program to run) More...
#define	SYS_BL_STATUS   134
	Bootloader update status. More...
#define	SYS_TEMPERATURE   135
	Temperature of the PCB in 1/100th Degrees Celsius. More...
#define	SYS_FWSTACKMAX   136
	Returns the maximum of the used firmware stack in bytes. More...
#define	SYS_CURINT_LENGTH   137
	Returns the duration of the last current control interrupt in microseconds. More...
#define	SYS_MAXCURINT_LENGTH   138
	Returns the max duration of the last current control interrupt in microseconds. More...
#define	SYS_CURINT_DIFF   139
	Returns the difference between this and the last current control interrupt in microseconds. More...
#define	SYS_MAXCURINT_DIFF   140
	Returns the maximum difference between this and the last current control interrupt in microseconds. More...
#define	SYS_CPU_TEMPERATURE   141
	Temperature of the CPU in 1/100th Degrees Celsius. More...
#define	SYS_CAN_SYNC_OFFSET   142
	Returns a debug value for the CAN Sync function. More...
#define	SDOINDEX_SYS_INFO   0x2209
	System Information: SDO Index. More...
#define	SYS_INFO_INDEX(parno)   ((0x01000000 | (SDOINDEX_SYS_INFO<<8)) | ((long) (parno)))
	System Information: Getter. More...
#define	SYS_INFO_SRCINDEX(parno)   ((SDOINDEX_SYS_INFO<<8) | ((long) (parno)))
	System Information: Source Index. More...
#define	SYS_INFO(parno)   Sysvar[SYS_INFO_INDEX(parno)]
	System Information: Setter. More...
#define	SYS_INFO_MAX   77
	System Information: Maximum number of parameters. More...
#define	SYS_HARDWARE_ID   1
	Hardware identification. More...
#define	SYS_FW_CPU   2
	Software version. More...
#define	SYS_CUSTOMER_ID   3
	Customer identification code. More...
#define	SYS_MAX_AXES   5
	Number of axes available. More...
#define	SYS_FPGA_SW_VERSION   6
	FPGA software version. More...
#define	SYS_BOOTLOADER_SW_VERSION   7
	Bootloader software version. More...
#define	SYS_APP_VERSION_INFO1   8
	Application extra version 1. More...
#define	SYS_APP_VERSION_INFO2   9
	Application extra version 2. More...
#define	SYS_NUMBER_OF_INTEGRATED_AMPLIFIERS   10
	Number of integrated amplifiers. More...
#define	SYS_INTERNAL_FLASH_MEMORY   11
	Device type of the internal flash memory. More...
#define	SYS_FW_AMPLIFIER_VERSION   12
	Amplifier Version. More...
#define	SYS_FW_COPROCESSOR_VERSION   13
	Coprocessor software version. More...
#define	SYS_IP_ADDRESS_CONTROLLER   14
	IP address of controller. More...
#define	SYS_ANALOG_OPTION_TYPE   15
	Analog option type. More...
#define	SYS_SD_CARD_STATUS   16
	SD Card status. More...
#define	SYS_MAX_VIRTMAST   20
	Number of virtual masters. More...
#define	SYS_MAX_VIRTCOUNTIN   21
	Number of virtual counter inputs. More...
#define	SYS_MAX_VIRTLATCH   22
	Number of virtual inputs. More...
#define	SYS_MAX_VIRTAMP   23
	Number of virtual amplifiers. More...
#define	SYS_MAX_VIRTDIGIN   24
	Number of virtual digital inputs. More...
#define	SYS_MAX_VIRTDIGOUT   25
	Number of virtual digital outputs. More...
#define	SYS_MAX_VIRTANIN   26
	Number of virtual analog inputs. More...
#define	SYS_MAX_VIRTANOUT   27
	Number of virtual analog outputs. More...
#define	SYS_MAX_DIM_ARRAYS   28
	Maximum allowed number of DIM arrays. More...
#define	SYS_MAX_VIRTCUSTOMMOD   29
	Maximum allowed number of virtual customer modules. More...
#define	SYS_MAX_VIRTMATH   30
	Maximum allowed number of virtual math modules. More...
#define	SYS_ZB_AMP_NO   40
	Number of H/W amplifiers. More...
#define	SYS_MAX_ENCODER   41
	Number of H/W encoders. More...
#define	SYS_MAX_CNTINC   42
	Number of H/W incremental counters. More...
#define	SYS_MAX_CNTABS   43
	Number of H/W absolute counters. More...
#define	SYS_MAX_CNTUNI   44
	Number of H/W universal counters. More...
#define	SYS_MAX_COMPARATORS   45
	Number of H/W comparators. More...
#define	SYS_MAX_LATCH   46
	Number of H/W latches. More...
#define	SYS_MAX_SIGGEN   47
	Number of H/W signal generators. More...
#define	SYS_MAX_DDS   48
	Number of DDS modules. More...
#define	SYS_MAX_PULSGEN   49
	Number of pulse generators. More...
#define	SYS_MAX_DIGIN   50
	Number of digital input modules. More...
#define	SYS_MAX_DIGOUT   51
	Number of digital output modules. More...
#define	SYS_MAX_ANIN   52
	Number of analog input modules. More...
#define	SYS_MAX_ANOUT   53
	Number of analog output modules. More...
#define	SYS_MAX_BRENCREF   54
	Number of bridges Enc-Ref. More...
#define	SYS_MAX_BRREFENC   55
	Number of bridges Ref-Enc. More...
#define	SYS_MAX_BUSINFO   56
	Number of businfos. More...
#define	SYS_MAX_REFBUS   57
	Number of Refbus. More...
#define	SYS_MAX_HALL   58
	Number of Hall input modules. More...
#define	SYS_MAX_PWMGEN   59
	Number of PWM Generator modules. More...
#define	SYS_MAX_BUSMOD   60
	Number of bus modules. More...
#define	SYS_MAX_SHIFTREG   61
	Number of shift registers. More...
#define	SYS_CONTROLLER_FEATURES   62
	Delivers information about active features on this controller. More...
#define	SYS_MAX_PDO_SDO_SIZE   63
	Returns the max size of a "simple serial" telegram on this controller. More...
#define	SYS_MAX_XTLG_SIZE   64
	Returns the max size for X-Telegrams. More...
#define	SYS_BUILD_NUMBER   65
	Build number. More...
#define	SYS_MAX_CANBUS   66
	Number of physical CAN busses. More...
#define	SYS_MAX_MACHINES   67
	Number of Machine Modules. More...
#define	SYS_COMMOPT_PROTTYPE   68
	Protocol type running on bus option. More...
#define	SYS_HW_IDENTIFICATION   69
	Returns the hw identification of the PCB. More...
#define	SYS_HW_INDEX   70
	Returns the HW index of the PCB. More...
#define	SYS_PLATFORM   71
	Returns the platform number. More...
#define	SYS_RELEASE_TYPE   72
	Returns the release type. More...
#define	SYS_TG_VERSION   73
	Returns the version of the trajectory generator library. More...
#define	SYS_COMMOPT_INFO   74
	Info about bus option. More...
#define	SYS_UNIQUE_ID1   75
	SYS_UNIQUE_ID1 and SYS_UNIQUE_ID2 are together the unique ID for the controller. More...
#define	SYS_UNIQUE_ID2   76
	SYS_UNIQUE_ID1 and SYS_UNIQUE_ID2 are together the unique ID for the controller. More...
#define	SYS_HW_IDENTIFICATION_PC_ENC_OEM1   1
#define	SYS_HW_IDENTIFICATION_PC_ENC_OEM2   2
#define	SYS_HW_IDENTIFICATION_MICROMACS6   0
#define	SYS_HW_IDENTIFICATION_MICROMACS6_MODULE   1
#define	SDOINDEX_FPGA_REG   0x2216
	Read or write FPGA register: SDO Index. More...
#define	FPGA_REG_INDEX(parno)   ((0x01000000 | (SDOINDEX_FPGA_REG<<8)) | ((long) (parno)))
	Read or write FPGA register: Getter. More...
#define	FPGA_REG_SRCINDEX(parno)   ((SDOINDEX_FPGA_REG<<8) | ((long) (parno)))
	Read or write FPGA register: Source Index. More...
#define	FPGA_REG(parno)   Sysvar[FPGA_REG_INDEX(parno)]
	Read or write FPGA register: Setter. More...
#define	FPGA_REG_MAX   256
	Read or write FPGA register: Maximum number of parameters. More...
#define	FPGAREG_FPGAFWVERS   1
#define	FPGAREG_CLEAROVFL   2
#define	FPGAREG_INCENC1POS   3
#define	FPGAREG_INCENC2POS   4
#define	FPGAREG_INCENC3POS   5
#define	FPGAREG_INCENC4POS   6
#define	FPGAREG_INCENC5POS   7
#define	FPGAREG_INCENC6POS   8
#define	FPGAREG_POSLATCH1   9
#define	FPGAREG_POSLATCH2   10
#define	FPGAREG_POSLATCH3   11
#define	FPGAREG_POSLATCH4   12
#define	FPGAREG_POSLATCH5   13
#define	FPGAREG_POSLATCH6   14
#define	FPGAREG_POSLATCH_FLAG   15
#define	FPGAREG_ENC1QUADCNT   16
#define	FPGAREG_ENC2QUADCNT   17
#define	FPGAREG_ENC3QUADCNT   18
#define	FPGAREG_ENC4QUADCNT   19
#define	FPGAREG_ENC5QUADCNT   20
#define	FPGAREG_ENC6QUADCNT   21
#define	FPGAREG_U32CNT10   22
#define	FPGAREG_U32CNT11   23
#define	FPGAREG_U32CNT20   24
#define	FPGAREG_U32CNT21   25
#define	FPGAREG_U32CNT30   26
#define	FPGAREG_U32CNT31   27
#define	FPGAREG_U32CNT40   28
#define	FPGAREG_U32CNT41   29
#define	FPGAREG_SSI1POS0   30
#define	FPGAREG_SSI1POS1   31
#define	FPGAREG_SSI2POS0   32
#define	FPGAREG_SSI2POS1   33
#define	FPGAREG_SSI3POS0   34
#define	FPGAREG_SSI3POS1   35
#define	FPGAREG_SSIFLAG   36
#define	FPGAREG_DIN   37
#define	FPGAREG_DOUT   38
#define	FPGAREG_REFVEC0   39
#define	FPGAREG_REFVEC1   40
#define	FPGAREG_REFVEC2   41
#define	FPGAREG_REFVEC3   42
#define	SDOINDEX_FPGA_PARAM   0x2217
	Write custom specific parameters: SDO Index. More...
#define	FPGA_PARAM_INDEX(parno)   ((0x01000000 | (SDOINDEX_FPGA_PARAM<<8)) | ((long) (parno)))
	Write custom specific parameters: Getter. More...
#define	FPGA_PARAM_SRCINDEX(parno)   ((SDOINDEX_FPGA_PARAM<<8) | ((long) (parno)))
	Write custom specific parameters: Source Index. More...
#define	FPGA_PARAM(parno)   Sysvar[FPGA_PARAM_INDEX(parno)]
	Write custom specific parameters: Setter. More...
#define	FPGA_PARAM_MAX   256
	Write custom specific parameters: Maximum number of parameters. More...
#define	FPGAPAR_REF_ENC_BRIDGE1_CNFGREG   2
#define	FPGAPAR_REF_ENC_BRIDGE2_CNFGREG   3
#define	FPGAPAR_ENC_REF_BRIDGE_CNFGREG   4
#define	FPGAPAR_ENC1_3_MODEREG   5
#define	FPGAPAR_ABR_QDZ_POLARITY_REG   6
#define	FPGAPAR_DGX1_3_GLITCHFLTREG   7
#define	FPGAPAR_DGX4_6_GLITCHFLTREG   8
#define	FPGAPAR_ROT_SENSE_REG   9
#define	FPGAPAR_POSCNT_1_CNFGREG   10
#define	FPGAPAR_POSCNT_2_CNFGREG   11
#define	FPGAPAR_POSCNT_3_CNFGREG   12
#define	FPGAPAR_POSCNT_4_CNFGREG   13
#define	FPGAPAR_POSCNT_5_CNFGREG   14
#define	FPGAPAR_POSCNT_6_CNFGREG   15
#define	FPGAPAR_Reserve15   16
#define	FPGAPAR_POSLATCH_1_CNFGREG   17
#define	FPGAPAR_POSLATCH_2_CNFGREG   18
#define	FPGAPAR_POSLATCH_3_CNFGREG   19
#define	FPGAPAR_POSLATCH_4_CNFGREG   20
#define	FPGAPAR_POSLATCH_5_CNFGREG   21
#define	FPGAPAR_POSLATCH_6_CNFGREG   22
#define	FPGAPAR_Reserve22   23
#define	FPGAPAR_Reserve23   24
#define	FPGAPAR_Reserve24   25
#define	FPGAPAR_VM1_CNFGREG   26
#define	FPGAPAR_VM1_FREQ0REG   27
#define	FPGAPAR_VM1_FREQ1REG   28
#define	FPGAPAR_VM1_ZPULSE_RATIO   29
#define	FPGAPAR_Reserve29   30
#define	FPGAPAR_VM2_CNFGREG   31
#define	FPGAPAR_VM2_FREQ0REG   32
#define	FPGAPAR_VM2_FREQ1REG   33
#define	FPGAPAR_VM2_ZPULSE_RATIO   34
#define	FPGAPAR_Reserve34   35
#define	FPGAPAR_VM3_CNFGREG   36
#define	FPGAPAR_VM3_FREQ0REG   37
#define	FPGAPAR_VM3_FREQ1REG   38
#define	FPGAPAR_VM3_ZPULSE_RATIO   39
#define	FPGAPAR_Reserve39   40
#define	FPGAPAR_U32CNT_MODEREG   41
#define	FPGAPAR_U32CNT1_CNFGREG   42
#define	FPGAPAR_U32CNT2_CNFGREG   43
#define	FPGAPAR_U32CNT3_CNFGREG   44
#define	FPGAPAR_U32CNT4_CNFGREG   45
#define	FPGAPAR_Reserve45   46
#define	FPGAPAR_Reserve46   47
#define	FPGAPAR_Reserve47   48
#define	FPGAPAR_Reserve48   49
#define	FPGAPAR_CMP1_CNFG_REG   50
#define	FPGAPAR_CMP1_UPPERLEV_LOWWORD   51
#define	FPGAPAR_CMP1_UPPERLEV_HIGHWORD   52
#define	FPGAPAR_CMP1_LOWERLEV_LOWWORD   53
#define	FPGAPAR_CMP1_LOWERLEV_HIGHWORD   54
#define	FPGAPAR_Reserve54   55
#define	FPGAPAR_CMP2_CNFG_REG   56
#define	FPGAPAR_CMP2_UPPERLEV_LOWWORD   57
#define	FPGAPAR_CMP2_UPPERLEV_HIGHWORD   58
#define	FPGAPAR_CMP2_LOWERLEV_LOWWORD   59
#define	FPGAPAR_CMP2_LOWERLEV_HIGHWORD   60
#define	FPGAPAR_Reserve60   61
#define	FPGAPAR_CMP3_CNFG_REG   62
#define	FPGAPAR_CMP3_UPPERLEV_LOWWORD   63
#define	FPGAPAR_CMP3_UPPERLEV_HIGHWORD   64
#define	FPGAPAR_CMP3_LOWERLEV_LOWWORD   65
#define	FPGAPAR_CMP3_LOWERLEV_HIGHWORD   66
#define	FPGAPAR_Reserve66   67
#define	FPGAPAR_CMP4_CNFG_REG   68
#define	FPGAPAR_CMP4_UPPERLEV_LOWWORD   69
#define	FPGAPAR_CMP4_UPPERLEV_HIGHWORD   70
#define	FPGAPAR_CMP4_LOWERLEV_LOWWORD   71
#define	FPGAPAR_CMP4_LOWERLEV_HIGHWORD   72
#define	FPGAPAR_Reserve72   73
#define	FPGAPAR_SSI1CLKREG   74
#define	FPGAPAR_SSI1DELMODEREG   75
#define	FPGAPAR_SSI2CLKREG   76
#define	FPGAPAR_SSI2DELMODEREG   77
#define	FPGAPAR_SSI3CLKREG   78
#define	FPGAPAR_SSI3DELMODEREG   79
#define	FPGAPAR_Reserve79   80
#define	FPGAPAR_DDS1INPUTSELREG   81
#define	FPGAPAR_DDS1ZREG0   82
#define	FPGAPAR_DDS1ZREG1   83
#define	FPGAPAR_DDS1NREG0   84
#define	FPGAPAR_DDS1NREG1   85
#define	FPGAPAR_DDS1_Z_PULSE_RATIO   86
#define	FPGAPAR_DDS2INPUTSELREG   87
#define	FPGAPAR_DDS2ZREG0   88
#define	FPGAPAR_DDS2ZREG1   89
#define	FPGAPAR_DDS2NREG0   90
#define	FPGAPAR_DDS2NREG1   91
#define	FPGAPAR_DDS2_Z_PULSE_RATIO   92
#define	FPGAPAR_Reserve92   93
#define	FPGAPAR_PULSE_CNFGREG   94
#define	FPGAPAR_PULSE_DELAYREG   95
#define	FPGAPAR_PULSE_LENGTHREG   96
#define	FPGAPAR_Reserve96   97
#define	FPGAPAR_DIN_POLREG   98
#define	FPGAPAR_DIN1_4_FILTCNFG   99
#define	FPGAPAR_DIN5_8_FILTCNFG   100
#define	FPGAPAR_DIN9_12_FILTCNFG   101
#define	FPGAPAR_DIN13_15_FILTCNFG   102
#define	FPGAPAR_DOUT9_16CNFGREG   103
#define	FPGAPAR_DOUT1_2CNFGREG   104
#define	FPGAPAR_DOUT3_4CNFGREG   105
#define	FPGAPAR_RS232_CNFGREG   106
#define	FPGAPAR_ENC4PORTMODEREG   107
#define	FPGAPAR_ENC5PORTMODEREG   108
#define	FPGAPAR_ENC6PORTMODEREG   109
#define	FPGAPAR_Reserve109   110
#define	FPGAPAR_Reserve110   111
#define	FPGAPAR_Reserve111   112
#define	FPGAPAR_REFVEC_0_15_F2DIRQMASK   113
#define	FPGAPAR_REFVEC16_31_F2DIRQMASK   114
#define	FPGAPAR_REFVEC32_47_F2DIRQMASK   115
#define	FPGAPAR_REFVEC48_63_F2DIRQMASK   116
#define	FPGAPAR_REFVEC_0_15_SOCIRQMASK   117
#define	FPGAPAR_REFVEC16_31_SOCIRQMASK   118
#define	FPGAPAR_REFVEC32_47_SOCIRQMASK   119
#define	FPGAPAR_REFVEC48_63_SOCIRQMASK   120
#define	FPGAPAR_REFVEC_0_15_MODEREG   121
#define	FPGAPAR_REFVEC16_31_MODEREG   122
#define	FPGAPAR_REFVEC32_47_MODEREG   123
#define	FPGAPAR_REFVEC48_63_MODEREG   124
#define	FPGAPAR_REFVEC_0_15_SLOPEREG   125
#define	FPGAPAR_REFVEC16_31_SLOPEREG   126
#define	FPGAPAR_REFVEC32_47_SLOPEREG   127
#define	FPGAPAR_REFVEC48_63_SLOPEREG   128
#define	SDOINDEX_FPGA_USRREG   0x2218
	Address for the page number: SDO Index. More...
#define	FPGA_USRREG_INDEX(parno)   ((0x01000000 | (SDOINDEX_FPGA_USRREG<<8)) | ((long) (parno)))
	Address for the page number: Getter. More...
#define	FPGA_USRREG_SRCINDEX(parno)   ((SDOINDEX_FPGA_USRREG<<8) | ((long) (parno)))
	Address for the page number: Source Index. More...
#define	FPGA_USRREG(parno)   Sysvar[FPGA_USRREG_INDEX(parno)]
	Address for the page number: Setter. More...
#define	FPGA_USRREG_MAX   2
	Address for the page number: Maximum number of parameters. More...
#define	SDOINDEX_SDUPDATE   0x2220
	SD-Card Update Info Object: SDO Index. More...
#define	SDUPDATE_INDEX(parno)   ((0x01000000 | (SDOINDEX_SDUPDATE<<8)) | ((long) (parno)))
	SD-Card Update Info Object: Getter. More...
#define	SDUPDATE_SRCINDEX(parno)   ((SDOINDEX_SDUPDATE<<8) | ((long) (parno)))
	SD-Card Update Info Object: Source Index. More...
#define	SDUPDATE(parno)   Sysvar[SDUPDATE_INDEX(parno)]
	SD-Card Update Info Object: Setter. More...
#define	SDUPDATE_MAX   21
	SD-Card Update Info Object: Maximum number of parameters. More...
#define	SDUPDATE_COMMAND_1   1
	Detailed information about executed (completed or failed) update commands. More...
#define	SDUPDATE_COMMAND_2   2
	Detailed information about executed (completed or failed) update commands. More...
#define	SDUPDATE_COMMAND_3   3
	Detailed information about executed (completed or failed) update commands. More...
#define	SDUPDATE_COMMAND_4   4
	Detailed information about executed (completed or failed) update commands. More...
#define	SDUPDATE_COMMAND_5   5
	Detailed information about executed (completed or failed) update commands. More...
#define	SDUPDATE_COMMAND_6   6
	Detailed information about executed (completed or failed) update commands. More...
#define	SDUPDATE_COMMAND_7   7
	Detailed information about executed (completed or failed) update commands. More...
#define	SDUPDATE_COMMAND_8   8
	Detailed information about executed (completed or failed) update commands. More...
#define	SDUPDATE_COMMAND_9   9
	Detailed information about executed (completed or failed) update commands. More...
#define	SDUPDATE_COMMAND_10   10
	Detailed information about executed (completed or failed) update commands. More...
#define	SDUPDATE_COMMAND_11   11
	Detailed information about executed (completed or failed) update commands. More...
#define	SDUPDATE_COMMAND_12   12
	Detailed information about executed (completed or failed) update commands. More...
#define	SDUPDATE_COMMAND_13   13
	Detailed information about executed (completed or failed) update commands. More...
#define	SDUPDATE_COMMAND_14   14
	Detailed information about executed (completed or failed) update commands. More...
#define	SDUPDATE_COMMAND_15   15
	Detailed information about executed (completed or failed) update commands. More...
#define	SDUPDATE_COMMAND_16   16
	Detailed information about executed (completed or failed) update commands. More...
#define	SDUPDATE_STATE_FLAGS   17
	SD-Card Update state flags. More...
#define	SDUPDATE_COMMANDS_SKIPPED   18
	Number of SD-Card Update commands skipped due to existing report file entry. More...
#define	SDUPDATE_COMMANDS_COMPLETED   19
	Number of SD-Card Update commands executed successfully. More...
#define	SDUPDATE_COMMANDS_FAILED   20
	Number of SD-Card Update commands failed. More...
#define	SDOINDEX_AXE_PARAM   0x2300
	Axis Parameters: SDO Index. More...
#define	AXE_PARAM_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_AXE_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	Axis Parameters: Getter. More...
#define	AXE_PARAM_SRCINDEX(modno, parno)   ((SDOINDEX_AXE_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
	Axis Parameters: Source Index. More...
#define	AXE_PARAM(modno, parno)   Sysvar[AXE_PARAM_INDEX((modno),(parno))]
	Axis Parameters: Setter. More...
#define	AXE_PARAM_MAX   141
	Axis Parameters: Maximum number of parameters. More...
#define	VELMAX   2
	Rated speed of drive. More...
#define	HOME_FORCE   4
	Forced movement to home position. More...
#define	NEGLIMIT   5
	Negative software limit position. More...
#define	POSLIMIT   6
	Positive software limit position. More...
#define	SYNCMMAXCORR   7
	Limits the maximum correction done by marker correction. More...
#define	HOME_VEL   8
	Velocity for movement to home position. More...
#define	TESTWIN   9
	Size of the target window. More...
#define	VELMAXQC   10
	Maximum velocity. More...
#define	ACCMAXQC   11
	Maximum acceleration. More...
#define	KPROP   12
	Proportional value for PID position control loop. More...
#define	KDER   13
	Derivative Factor for PID position control loop. More...
#define	KINT   14
	Integral value for PID position control loop. More...
#define	TIMER   15
	Parameter for determining the sampling time of the position control algorithm. More...
#define	POSERR   16
	Maximum tolerated position error. More...
#define	SYNCOFFTIME   17
	Compensation velocity of an offset. More...
#define	SYNCMFPAR   18
	Marker filter configuration. More...
#define	SYNCMFTIME   19
	Filter time for marker correction. More...
#define	SWNEGLIMACT   20
	Negative software end limit active. More...
#define	SWPOSLIMACT   21
	Positive software end limit active. More...
#define	KILIM   22
	Limit value for the integral sum of the PID position control loop. More...
#define	VELRES   23
	Velocity resolution. More...
#define	POSFACT_Z   24
	User factor numerator. More...
#define	TESTTIM   25
	Measuring time in target window. More...
#define	TESTVAL   26
	Limit value for readings in target window. More...
#define	POSFACT_N   27
	User factor denominator. More...
#define	POSDRCT   29
	Rotational direction. More...
#define	PROFTIME   30
	Scan time for profile generator. More...
#define	MENCODER   31
	Resolution of master encoder. More...
#define	RAMPMIN   32
	Maximum acceleration. More...
#define	RAMPTYPE   33
	Ramp type. More...
#define	DFLTVEL   34
	Default velocity. More...
#define	DFLTACC   35
	Default acceleration. More...
#define	BANDWIDTH   36
	Bandwidth within which the PID filter is active. More...
#define	FFVEL   37
	Velocity Feed forward. More...
#define	REGWMAX   39
	Size of the control window (activation) More...
#define	REGWMIN   40
	Size of the control window (deactivation) More...
#define	HOME_TYPE   41
	Behavior during movement to home. More...
#define	HOME_RAMP   42
	Ramp for home motion. More...
#define	HOME_OFFSET   43
	Zero point offset for machine zero point or index. More...
#define	ERRCOND   44
	Behavior in event of an error. More...
#define	I_REFSWITCH   46
	Input reference switch. More...
#define	I_POSLIMITSW   47
	Positive limit switch. More...
#define	I_NEGLIMITSW   48
	Negative limit switch. More...
#define	O_BRAKE   49
	Output for brake. More...
#define	SYNCFACTM   50
	Synchronization factor master (M:S) or in CAM mode conversion qc in MU units. More...
#define	SYNCFACTS   51
	Synchronization factor slave (M:S) or in CAM mode conversion qc in MU units. More...
#define	SYNCTYPE   52
	Type of synchronization. More...
#define	SYNCMARKM   53
	Number of master markers. More...
#define	SYNCMARKS   54
	Number of slave markers. More...
#define	SYNCPOSOFFS   55
	Position offset for position synchronization. More...
#define	SYNCACCURACY   56
	Size of the accuracy window for position synchronization. More...
#define	SYNCREADY   57
	Number of markers for READY. More...
#define	SYNCFAULT   58
	Number of markers for fault. More...
#define	SYNCMPULSM   59
	Master marker distance. More...
#define	SYNCMPULSS   60
	Slave marker distance. More...
#define	SYNCMSTART   63
	Start behavior for synchronization with marker correction. More...
#define	O_AXMOVE   65
	Output for motion command active. More...
#define	SYNCVFTIME   66
	Velocity filter. More...
#define	SYNCVELREL   67
	Tolerated deviance of the slave drive from the master velocity. More...
#define	SYNCMWINM   69
	Tolerance window for marker monitoring. More...
#define	SYNCMWINS   70
	Tolerance window for slave marker monitoring. More...
#define	ESCCOND   71
	Condition on program termination. More...
#define	JERKMIN   99
	Minimum time required before reaching the maximum acceleration. More...
#define	JERKMIN2   101
	Minimum time required to ramp the acceleration down from maximum acceleration to 0. More...
#define	JERKMIN3   102
	Minimum time required to ramp the deceleration up from 0 to maximum deceleration. More...
#define	JERKMIN4   103
	Minimum time required to ramp the deceleration down from maximum deceleration to 0. More...
#define	KILIMTIME   106
	Time used to increase or decrease the integral limit. More...
#define	POSERRTIME   112
	Minimum time before position error produced. More...
#define	FEEDDIST   113
	Feed distance. More...
#define	FEEDREV   114
	Feed revolutions. More...
#define	POSENCQC   115
	Encoder resolution quadcount. More...
#define	POSENCREV   116
	Encoder resolution revolution count. More...
#define	HOMEZEROVEL   117
	Scaled velocity for moving into encoder index as part of the homing procedure. More...
#define	PISRC_SVIRTCOUNT   131
	Linked virtual counter module number for slave information. More...
#define	PISRC_MVIRTCOUNT   132
	Linked virtual counter module number for master information. More...
#define	PISRC_SVIRTLATCH   133
	Linked virtual latch module number for slave information. More...
#define	PISRC_MVIRTLATCH   134
	Linked virtual latch module number for master information. More...
#define	KFFACC   135
	Acceleration Feed Forward. More...
#define	KFFDEC   136
	Deceleration Feed Forward. More...
#define	I_POSLIMITSWACT   137
	Enables the monitoring of the positive limit switch. More...
#define	I_NEGLIMITSWACT   138
	Enables the monitoring of the negative limit switch. More...
#define	HOME_CURTHRESHOLD   139
	Current Threshold for homing mode. More...
#define	PIDOPTIONS   140
	Position PID Special options. More...
#define	RAMPTYPE_TRAPEZ   0
#define	RAMPTYPE_JERKLIMITED   2
#define	PID_OPTINTSUMCLEAR_ARRIVAL   0x0001
#define	PID_OPTINTSUMCLEAR_ZEROTRACKERR   0x0002
#define	SDOINDEX_AXE_PROCESS   0x2500
	Axis Process Data: SDO Index. More...
#define	AXE_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_AXE_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	Axis Process Data: Getter. More...
#define	AXE_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_AXE_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	Axis Process Data: Source Index. More...
#define	AXE_PROCESS(modno, parno)   Sysvar[AXE_PROCESS_INDEX((modno),(parno))]
	Axis Process Data: Setter. More...
#define	AXE_PROCESS_MAX   236
	Axis Process Data: Maximum number of parameters. More...
#define	REG_ACTPOS   1
	Actual position value. More...
#define	REG_COMPOS   2
	Set-point position value. More...
#define	REG_ZERO   3
	Last detected index position. More...
#define	REG_AVEL   4
	Actual velocity. More...
#define	REG_MAVEL   5
	Actual velocity of the master. More...
#define	REG_TRACKERR   6
	Actual position tracking error. More...
#define	REG_VELSMPT   9
	Number of samples used for calculation of speed values. More...
#define	REG_MAPOS   10
	Actual master position value. More...
#define	REG_MIPOS   11
	Last detected master index position. More...
#define	REG_IAVEL   12
	Internal actual velocity. More...
#define	REG_IMAVEL   13
	Internal actual master velocity. More...
#define	REG_REFERENCE   16
	Actual reference value generated by position control loop. More...
#define	REG_TIMER   18
	Sample period used by the PID position control loop. More...
#define	REG_PROFTIMER   19
	Number of PID controller steps in each Profile Generator step. More...
#define	REG_REVERSE   20
	Negative command values blocked. More...
#define	REG_REVDOUT   21
	Analog command output. More...
#define	REG_SOVERFLOW   22
	Slave Position Overflow. More...
#define	REG_MOVERFLOW   23
	Master Position Overflow. More...
#define	REG_USERREFVEL   27
	User velocity reference value for AxisControl(AxisNo, USERREFVEL) mode. More...
#define	REG_VAPOS   28
#define	REG_NORMTRACKERR   29
	Size of position tracking error in relation to the command velocity. More...
#define	REG_SENCINDXF   30
#define	REG_MENCINDXF   31
#define	REG_CNTRLSOURCE   32
#define	REG_ENCAVEL   33
	Summarized velocity of master encoder. More...
#define	REG_ENCLEAP   34
#define	REG_MENCLEAP   35
#define	REG_CNTRLWORD   36
#define	REG_PIDFLAG   37
#define	REG_SM_COMMAND   38
#define	REG_SM_STATE   39
#define	REG_USERREFPOS   40
	User reference position value for AxisControl(USERREFPOS) command. More...
#define	REG_SVIRTCOUNT   41
	Linked virtual counter number for slave information. More...
#define	REG_MVIRTCOUNT   42
	Linked virtual counter number for master information. More...
#define	REG_HOMINGSTATE   43
	State of the homing procedure. More...
#define	REG_SVIRTLATCH   44
	Linked virtual latch module number for slave information. More...
#define	REG_MVIRTLATCH   45
	Linked virtual latch module number for master information. More...
#define	REG_USERREFCUR   46
	Motor current reference value in AxisControl(USERREFCUR) mode. More...
#define	PID_ACTINTSUM   49
	Total sum of position tracking errors. More...
#define	PID_INTLIMIT   50
	Limitation of the summarized position tracking error. More...
#define	PID_100PERCENT   51
	PID position control loop output corresponding to a reference value of 100%. More...
#define	PID_VELRESVAL   52
	Default scaling factor internal high-resolution velocity or position information. More...
#define	PID_PIDPART   53
	Part of the reference value due to the PID position control loop. More...
#define	PID_FFPART   54
	Part of the reference value due to the FFVEL feed forward control. More...
#define	PID_FFACCPART   55
#define	PID_ACT_INTLIMIT   56
	Actual integration limit. More...
#define	PID_FF_FACTOR   57
	Internal representation of the FFVEL factor used in PID calculation. More...
#define	PID_FF_CMDVEL   58
	Internal representation of the velocity used for FFVEL calculation. More...
#define	PID_MODE   59
	Internal PID Mode. More...
#define	PFG_DIR   82
	Direction of command velocity. More...
#define	PFG_AACC   83
	Maximum allowed acceleration. More...
#define	PFG_ADEC   84
	Maximum allowed deceleration. More...
#define	PFG_VFIN   85
	Scaled target velocity. More...
#define	PFG_AACT   86
	Command acceleration. More...
#define	PFG_AACC_DELTA   87
	Scaled acceleration deviation. More...
#define	PFG_ADELTCALC   88
	Scaled acceleration deviation. More...
#define	PFG_PATHCALC   89
	Length of the brake ramp. More...
#define	PFG_PCMD   90
	Command position. More...
#define	PFG_VCMD   91
	Command velocity. More...
#define	PFG_PCORR   92
	Scaled correction value for the brake ramp. More...
#define	PFG_OLDMFILTVEL   93
	Scaled and filtered master velocity. More...
#define	PFG_OLDSFILTVEL   94
	Scaled and filtered slave velocity. More...
#define	PFG_MFILTERR   95
	Inaccuracy due to filtering of the master position value. More...
#define	PFG_MDIR   96
	Master direction for synchronization. More...
#define	PFG_MACTDIR   97
	Actual master direction. More...
#define	PFG_SACTDIR   98
	Actual slave direction. More...
#define	PFG_MPCMD   99
	Command position calculated by the synchronization algorithm. More...
#define	PFG_MPCMDOLD   100
	Last synchronization command position. More...
#define	PFG_REVERSING   101
	Reversing active. More...
#define	PFG_MMARKCNT   102
	Required master marker pulse count. More...
#define	PFG_SMARKCNT   103
	Required slave marker pulse count. More...
#define	PFG_MOLDZERO   104
	Master position of the last detected master marker. More...
#define	PFG_SOLDZERO   105
	Slave position of the last detected slave marker. More...
#define	PFG_MZEROCMD   106
	Master marker positionused for marker correction. More...
#define	PFG_SZEROCMD   107
	Master slave position used for marker correction. More...
#define	PFG_MHIT   108
	Master marker detection. More...
#define	PFG_SHIT   109
	Slave marker detection. More...
#define	PFG_READYCNT   110
	Synchronous marker check count. More...
#define	PFG_FAULTCNT   111
	Asynchronous marker check count. More...
#define	PFG_MPCMDERR   112
	Current synchronization position error. More...
#define	PFG_MARKERDIFF   113
	Slave/master marker difference count. More...
#define	PFG_SYNCSTART   114
	Status of marker synchronization start-up. More...
#define	PFG_OLDSYPOFFS   115
	Old value of the parameter SYNCPOSOFFS. More...
#define	PFG_KORREKTUR   116
	Value of the last marker correction [qc (slave)]. More...
#define	PFG_KORRREST   117
	Remainder of the marker correction. More...
#define	PFG_KORRVAL   118
	Value of the marker correction. More...
#define	PFG_MARKERFAKED   119
	Virtual marker created. More...
#define	PFG_INTOFFSET   120
	Current offset. More...
#define	PFG_SCALESHIFT   121
	Scaling factor for internal 64-bit values that are returned in 32-bit variables. More...
#define	PFG_AKTSTATE   122
	Current state of profile generator state machine. More...
#define	PFG_FLAGS   123
	Profile generator flags. More...
#define	PFG_STOPLEN   124
	Brake ramp length for stopping using deceleration setting. More...
#define	PFG_CINDEX   125
	Current curve interpolation index. More...
#define	PFG_CVINDEX   126
	Start/stop curve data index. More...
#define	PFG_CMAXINDEX   127
	Maximum curve interpolation index. More...
#define	PFG_SYNCSTOPLEN   128
	Brake ramp length for stopping using acceleration setting. More...
#define	PFG_CWRAP   130
	Current value of the curve counter. More...
#define	PFG_CSSTART   131
	Offset used for the start of current slave curve. More...
#define	PFG_CCOUNTER   132
	Number of curves to be processed. More...
#define	PFG_CCURVEPOS   133
	Current curve slave position. More...
#define	PFG_CSLAVECPOSQ   134
	Current curve position of the slave related to CSSTART. More...
#define	PFG_CMASTERCPOS   135
	Current curve master position. More...
#define	PFG_GETCMDVEL   136
	Scaled set point velocity. More...
#define	PFG_MMFAKEDCNT   137
	Consecutive virtual generated master markers. More...
#define	PFG_SMFAKEDCNT   138
	Consecutive virtual generated slave markers. More...
#define	PFG_MMILLEGALCNT   139
	Number of non-fitting master markers. More...
#define	PFG_SMILLEGALCNT   140
	Number of non-fitting slave markers. More...
#define	PFG_SYNCVELDIFF   141
	Difference between the slave and master velocity. More...
#define	PFG_SYNCPATHLEN   142
	Path length of velocity difference compensation. More...
#define	PFG_MMARKERDIST   143
	Filtered distance between two master markers. More...
#define	PFG_SMARKERDIST   144
	Filtered distance between two slave markers. More...
#define	PFG_STARTKORR   145
	First correction value after the start of a SYNCM. More...
#define	PFG_STARTKORRREST   146
	Remainder of the start-up correction value. More...
#define	PFG_KORRFILT   147
	Filtered correction value. More...
#define	PFG_LASTMMDIST   148
	Last measured distance between two master markers. More...
#define	PFG_MMARKCORR   149
	Calculated gear ratio correction value. More...
#define	PFG_KORRUNFILT   150
	Last unfiltered correction value. More...
#define	PFG_MDISTMARK   151
	Distance between current master position and last master marker. More...
#define	PFG_SDISTMARK   152
	Distance between current slave position and last slave marker. More...
#define	PFG_STARTKORRVAL   153
	Start-up correction value at each marker correction. More...
#define	PFG_LASTSMDIST   154
	Last measured distance between two slave markers. More...
#define	PFG_MARKERFILTER   155
	Number of markers defining the filtering period. More...
#define	PFG_KORRTAU   156
	Tau used by PT marker filter. More...
#define	PFG_INTMMERROR   157
	Sum of master marker distance errors. More...
#define	PFG_MMARKERR   158
	Filtered sum master marker errors. More...
#define	PFG_ORGREALPOS   159
	"Real" origin position after a SETORIGIN command More...
#define	PFG_DYNKORRLIMIT   160
	Calculated limit of marker correction. More...
#define	PFG_MMARKFIFOVALID   161
	"Valid" flag for actual master marker FIFO read address More...
#define	PFG_MMARKFIFOREAD   162
	Read the master marker FIFO. More...
#define	PFG_LASTERROR   163
	Additional information about the last PFG error. More...
#define	PFG_STOUCHPOS   164
	Not used. More...
#define	PFG_MTOUCHPOS   165
#define	PFG_MCENDPOS   166
	Master position where the last curve ended. More...
#define	PFG_SMARKFIFOVALID   167
	"Valid" flag for actual slave marker FIFO read address More...
#define	PFG_SMARKFIFOREAD   168
	Read the slave marker FIFO. More...
#define	PFG_CMARKPOS   173
	Reserved. More...
#define	PFG_MMARKFIFOTEST   174
	Read the master marker FIFO. More...
#define	PFG_SMARKFIFOTEST   175
	Read the slave marker FIFO. More...
#define	PFG_RESTOFFSDBL   176
	Reserved. More...
#define	PFG_OFFTOTALDIST   177
	Reserved. More...
#define	PFG_OFFDISTDONE   178
	Reserved. More...
#define	PFG_LASTMOVSYNC   179
	Reserved. More...
#define	PFG_JSTATE   180
	State of the Limited Jerk Movement state machine. More...
#define	PFG_VCMDSIGNED   181
	Scaled SIGNED set point velocity. More...
#define	PFG_JERKSTOPPATH   182
	Length of brake ramp if stopped. More...
#define	PFG_LASTMMDEVIATION   183
	Last master marker deviation. More...
#define	PFG_INTSMERROR   184
	Sum of slave marker distance errors. More...
#define	PFG_SMARKERR   185
	Filtered sum of slave marker errors. More...
#define	PFG_LASTSMDEVIATION   186
	Last slave marker deviation. More...
#define	PFG_MMDEVPOSDIFF   187
	Distance between last two master markers. More...
#define	PFG_SMDEVPOSDIFF   188
	Distance between last two slave markers. More...
#define	PFG_JERKFINVEL   189
	Velocity reached if the current acceleration is reduced to 0. More...
#define	PFG_JERKSTOPDIST   190
	Length of brake ramp if stopped with specified deceleration. More...
#define	PFG_LASTREALMZERO   191
	Position value of the last "real" master marker. More...
#define	PFG_LASTREALSZERO   192
	Position value of the last "real" slave marker. More...
#define	PFG_CPOLYMAXVEL   193
	Maximum velocity of a curve polynomial. More...
#define	PFG_CPOLYMINVEL   194
	Minimum velocity of a curve polynomial. More...
#define	PFG_SMARKERFILTER   195
	Slave filter value. More...
#define	PFG_SYNCDIFFPOSL   196
	Calculated position difference. More...
#define	PFG_CALCMCURVPOS   197
	Calculate the curve master position corresponding to a slave position. More...
#define	PFG_RESTOFFSET   198
	Offset which must still be handled. More...
#define	PFG_OFFSETVALUE   199
	Actual offset step value used to distribute offsets or corrections. More...
#define	PFG_MASTERTARGET   200
	Corrected slave position. More...
#define	PFG_REVERSEOFFSET   201
	Compensation offset for blocked reversal. More...
#define	PFG_MSTARTCURVESTATE   202
	State of the SYNCMSTART = 7 curve handling. More...
#define	PFG_MSTARTCURVESTARTMPCMD   203
	Master position where curve was started. More...
#define	PFG_MSTARTCURVEMPOSSL   204
	Master curvepos of start curve. More...
#define	PFG_MSTARTCURVEMENDPOSSL   205
	Master curve endpos of start curve. More...
#define	PFG_MSTARTCURVECPOSSL   206
	Slave curve position of start curve. More...
#define	PFG_MSTARTCURVEDELTAS   207
	Calculated slave distance. More...
#define	PFG_MSTARTCURVESMARKTODO   208
	Actual distance of the slave position to the next slave marker. More...
#define	PFG_MSTARTCURVEDELTASREST   209
	Remainder of MSTARTCURVEDELTAS divided by slave marker distance. More...
#define	PFG_MSTARTCURVEERR   210
	Difference between MSTARTCURVEDELTASREST and the rest of the master distance. More...
#define	PFG_MSTARTMARKERTODO   211
	Master markers necessary. More...
#define	PFG_SYNCAACT   212
	Actual acceleration value used for synchronization. More...
#define	PFG_ACTSYNCVFTIME   213
	Actual syncvftime active. More...
#define	PFG_FILTERCOUNT   214
	Internal relative count since PFG_MFILTERR was reset last time. More...
#define	PFG_MASTERVELSQSL   215
	Master velocity in slave qc per sample time. More...
#define	PFG_COMMANDPOS   216
	SollPos returned to sw_reg. More...
#define	PFG_OLDCOMMANDPOS   217
	OldSollPos returned to sw_reg. More...
#define	PFG_CMASTERCREST   218
	Remaining master distance. More...
#define	PFG_CSLAVECREST   219
	Remaining slave distance. More...
#define	PFG_SYNCMNEGBUFFER   220
	Internal buffer for suppressed negative master movement in synchronisation. More...
#define	PFG_CMASTERCLEN   221
	Master curve length of the actual curve running. More...
#define	PFG_CALCCURVEPOS   222
	Calculate the slave position corresponding to a curve master position. More...
#define	PFG_VCMDSIGNED_USERSCALED   223
	Used for virtual master working with VCMD. More...
#define	PFG_PROFTIMER   224
	PROFTIMER value from the axis. More...
#define	PFG_CCALCULATE   225
#define	PFG_OFFSET_TIME   226
#define	PFG_OFFSET_VFIN   227
#define	PFG_OFFSET_ACC   228
#define	PFG_OFFSET_CORR   229
#define	PFG_FINPOS   230
	Target position of the profile generator. More...
#define	PFG_COMPOSDIFF   231
	Difference of Command position and last command position. More...
#define	PFG_CSTARTCLEN   232
	Start curve length for the active PATHSTART command. More...
#define	PFG_ACMD   233
	Signed command acceleration. More...
#define	PFG_USERCMDPOS   234
	User command position. More...
#define	PFG_RUNTIME_ERR   235
	Returns last active runtime error. More...
#define	PGS_POSCTRL   0
#define	PGS_TPZPREDEC   1
#define	PGS_TPZACC   2
#define	PGS_TPZDEC   3
#define	PGS_TPZVEL   4
#define	PGS_CVEL   5
#define	PGS_CACC   6
#define	PGS_CPREDEC   7
#define	PGS_CDEC   8
#define	PGS_VSYNC   12
#define	PGS_PSYNC   13
#define	PGS_PSYNCM   14
#define	PGS_FLOAT   15
#define	PGS_POSFLOAT   16
#define	PGS_CSYIDLE   17
#define	PGS_CSYSTARTING   18
#define	PGS_CSYSTOPPING   19
#define	PGS_CSYRUNNING   20
#define	PGS_LMTJERK   21
#define	PGS_FLOATUSER   22
#define	PGS_PATHMOVE   23
#define	PGS_PATHSTART   24
#define	PGS_PATHSYNC   25
#define	PGS_PATHWAIT   26
#define	PGS_PATHIDLE   27
#define	SDOINDEX_MACHINE_PARAM   0x2600
	: SDO Index More...
#define	MACHINE_PARAM_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_MACHINE_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	: Getter More...
#define	MACHINE_PARAM_SRCINDEX(modno, parno)   ((SDOINDEX_MACHINE_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
	: Source Index More...
#define	MACHINE_PARAM(modno, parno)   Sysvar[MACHINE_PARAM_INDEX((modno),(parno))]
	: Setter More...
#define	MACHINE_PARAM_MAX   31
	: Maximum number of parameters More...
#define	MACHINE_PARAM_MAX_SUBINDEX   0
#define	MACHINE_MODE   1
#define	MACHINE_PISRC_VIRTCOUNT   10
#define	MACHINE_PISRC_VIRTLATCH   11
#define	KIN_SYNC_TYPE   21
	The type of the external movement the robot movement is synchronized to. More...
#define	KIN_SYNC_STARTFLAG   22
	The KIN_SYNC_STARTFLAG tells the TG that the next path that is executed should be synchronized. More...
#define	KIN_SYNC_STOPFLAG   23
	The KIN_SYNC_STOPFLAG tells the TG that the synchronization should stop with the stop of the next path. More...
#define	KIN_SYNC_VECX   24
	X component of the translation or rotation vector. More...
#define	KIN_SYNC_VECY   25
	Y component of the translation or rotation vector. More...
#define	KIN_SYNC_VECZ   26
	Z component of the translation or rotation vector. More...
#define	KIN_SYNC_ROTCX   27
	X component of the rotation center. More...
#define	KIN_SYNC_ROTCY   28
	Y component of the rotation center. More...
#define	KIN_SYNC_ROTCZ   29
	Z component of the rotation center. More...
#define	KIN_SYNC_FPSCALE   30
	The quadcounts of the input movments are divided by this factor to allow for floating point scaling when converting to machine units. More...
#define	MACHINE_MODE_DISABLED   0
#define	MACHINE_MODE_ENABLED   1
#define	SDOINDEX_MACHINE_PROCESS   0x2640
	: SDO Index More...
#define	MACHINE_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_MACHINE_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	: Getter More...
#define	MACHINE_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_MACHINE_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	: Source Index More...
#define	MACHINE_PROCESS(modno, parno)   Sysvar[MACHINE_PROCESS_INDEX((modno),(parno))]
	: Setter More...
#define	MACHINE_PROCESS_MAX   11
	: Maximum number of parameters More...
#define	MACHINE_PROCESS_MAX_SUBINDEX   0
#define	MACHINE_ERROR_FLAG   1
#define	KIN_SYNC_ACTIVE   3
	Indicates if the synchronization to an external movement is currently active. More...
#define	MACHINE_ACTPOS   4
#define	MACHINE_ACTVEL   5
#define	MACHINE_CPOS_MACHCOORD_X   6
#define	MACHINE_CPOS_MACHCOORD_Y   7
#define	MACHINE_CPOS_MACHCOORD_Z   8
#define	MACHINE_ACT_PATH_DISTANCE   9
	Actual path distance (absolute) More...
#define	MACHINE_ACT_PATH_VELOCITY   10
	Actual path velocity (absolute) More...
#define	SDOINDEX_VIRTMAST_PARAM   0x2800
	Virtual Master Parameters: SDO Index. More...
#define	VIRTMAST_PARAM_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_VIRTMAST_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Master Parameters: Getter. More...
#define	VIRTMAST_PARAM_SRCINDEX(modno, parno)   ((SDOINDEX_VIRTMAST_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Master Parameters: Source Index. More...
#define	VIRTMAST_PARAM(modno, parno)   Sysvar[VIRTMAST_PARAM_INDEX((modno),(parno))]
	Virtual Master Parameters: Setter. More...
#define	VIRTMAST_PARAM_MAX   36
	Virtual Master Parameters: Maximum number of parameters. More...
#define	VIRTMAST_MODE   1
	Enable / Disable / mode. More...
#define	VIRTMAST_PISRC_CMDWORD   10
	Link to the command word of an axis. More...
#define	VIRTMAST_PISRC_CMDVEL   11
	Index and subindex of the command velocity. More...
#define	VIRTMAST_VEL   30
	Target velocity. More...
#define	VIRTMAST_ACC   31
	Acceleration to reach target velocity. More...
#define	VIRTMAST_DEC   32
	Deceleration to reach target velocity. More...
#define	VIRTMAST_UUFACT_UNITNO   34
	Conversion factor uu to 1/1000 Hz, number of user units. More...
#define	VIRTMAST_UUFACT_INCNO   35
	Conversion factor uu to 1/1000 Hz, number of increments. More...
#define	VIRTMAST_MODE_DISABLED   0
#define	VIRTMAST_MODE_VELOCITY   1
#define	VIRTMAST_MODE_PROFILE   3
#define	SDOINDEX_VIRTCOUNTIN_PARAM   0x2840
	Virtual Counter Inputs parameters: SDO Index. More...
#define	VIRTCOUNTIN_PARAM_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_VIRTCOUNTIN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Counter Inputs parameters: Getter. More...
#define	VIRTCOUNTIN_PARAM_SRCINDEX(modno, parno)   ((SDOINDEX_VIRTCOUNTIN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Counter Inputs parameters: Source Index. More...
#define	VIRTCOUNTIN_PARAM(modno, parno)   Sysvar[VIRTCOUNTIN_PARAM_INDEX((modno),(parno))]
	Virtual Counter Inputs parameters: Setter. More...
#define	VIRTCOUNTIN_PARAM_MAX   37
	Virtual Counter Inputs parameters: Maximum number of parameters. More...
#define	VIRTCNTIN_MODE   1
	Counter mode. More...
#define	VIRTCNTIN_SIMULATION_SPEED   4
	defines the speed when counter is in simulation mode More...
#define	VIRTCNTIN_INHIBIT   5
	Module inhibit. More...
#define	VIRTCNTIN_PISRC_COUNTER   10
	Index/subindex of counter source. More...
#define	VIRTCNTIN_MAXSTEP   30
	Maximum stepsize allowed. More...
#define	VIRTCNTIN_OVFL_VALUE   32
	Value (Range) where the input will overflow. More...
#define	VIRTCNTIN_OVFL_FORCE   33
	Value where counter should produce an overflow. More...
#define	VIRTCNTIN_UUFACT_UNITNO   34
	Conversion Factor - number of user units. More...
#define	VIRTCNTIN_UUFACT_INCNO   35
	Conversion Factor - number of increments. More...
#define	VIRTCNTIN_MOVING_AVERAGE_N   36
#define	VIRTCNTIN_MODE_ABSOLUTE   0
#define	VIRTCNTIN_MODE_DELTA   1
#define	VIRTCNTIN_MODE_SIMULATION_SLAVE   2
#define	VIRTCNTIN_MODE_ABSOLUTE_DIRECT   3
#define	VIRTCNTIN_MODE_ABSOLUTE_16BIT   4
#define	VIRTCNTIN_MODE_ABSOLUTE_DIRECT_ENDLESS   5
#define	SDOINDEX_VIRTLATCH_PARAM   0x2880
	Virtual Latch Inputs Parameters: SDO Index. More...
#define	VIRTLATCH_PARAM_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_VIRTLATCH_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Latch Inputs Parameters: Getter. More...
#define	VIRTLATCH_PARAM_SRCINDEX(modno, parno)   ((SDOINDEX_VIRTLATCH_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Latch Inputs Parameters: Source Index. More...
#define	VIRTLATCH_PARAM(modno, parno)   Sysvar[VIRTLATCH_PARAM_INDEX((modno),(parno))]
	Virtual Latch Inputs Parameters: Setter. More...
#define	VIRTLATCH_PARAM_MAX   37
	Virtual Latch Inputs Parameters: Maximum number of parameters. More...
#define	VIRTLATCH_MODE   1
	Latch mode. More...
#define	VIRTLATCH_SIM_ZDIST   4
	Distance of latch values in simulator mode. More...
#define	VIRTLATCH_LATCHVALID_BITMASK   5
	Latchvalid Bitmask. More...
#define	VIRTLATCH_PISRC_COUNTER   10
	Index/subindex of counter source (attached) More...
#define	VIRTLATCH_PISRC_LATCHCNT   11
	Index/subindex of the counter at which the latch module is looking. More...
#define	VIRTLATCH_PISRC_LATCH   12
	Index/subindex of latch source. More...
#define	VIRTLATCH_PISRC_LATCHSTAT   13
	Index/subindex of latch status source. More...
#define	VIRTLATCH_PISRC_LATCHVALID   14
	Index / Subindex of latch valid information. More...
#define	VIRTLATCH_PISRC_LATCHFIFO_AMOUNT   15
	Index/subindex of LatchFifo information (amount) More...
#define	VIRTLATCH_PISRC_LATCHFIFO_READ   16
	Index/subindex of Latchfifo informtaion (read register) More...
#define	VIRTLATCH_CNTW_CLEAR   30
	Control Word Clear Command. More...
#define	VIRTLATCH_CNTW_ACTIVE   31
	Control Word Active Command. More...
#define	VIRTLATCH_STAT_HIT   33
	Value which signals that latch happened. More...
#define	VIRTLATCH_OFFSET   34
	Offset which is added to latch value. More...
#define	VIRTLATCH_UUFACT_UNITNO   35
	Conversion Factor - number of user units. More...
#define	VIRTLATCH_UUFACT_INCNO   36
	Conversion Factor - number of increments. More...
#define	VIRTLATCH_MODE_HARDWARE   0
#define	VIRTLATCH_MODE_SOFTWARE   1
#define	VIRTLATCH_MODE_SIMULATOR   2
#define	VIRTLATCH_MODE_16BIT   3
#define	VIRTLATCH_MODE_DIRECT   4
#define	SDOINDEX_VIRTAMP_PARAM   0x28C0
	Virtual Amplifier Parameters: SDO Index. More...
#define	VIRTAMP_PARAM_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_VIRTAMP_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Amplifier Parameters: Getter. More...
#define	VIRTAMP_PARAM_SRCINDEX(modno, parno)   ((SDOINDEX_VIRTAMP_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Amplifier Parameters: Source Index. More...
#define	VIRTAMP_PARAM(modno, parno)   Sysvar[VIRTAMP_PARAM_INDEX((modno),(parno))]
	Virtual Amplifier Parameters: Setter. More...
#define	VIRTAMP_PARAM_MAX   54
	Virtual Amplifier Parameters: Maximum number of parameters. More...
#define	VIRTAMP_MODE   1
	Mode of operation. More...
#define	VIRTAMP_PISRC_CMDWORD   10
	Index/subindex of command word. More...
#define	VIRTAMP_PISRC_REFPOS   11
	Index/subindex of position reference. More...
#define	VIRTAMP_PISRC_REFVEL   12
	Index/subindex of velocity reference. More...
#define	VIRTAMP_PISRC_REFACC   13
	Index/subindex of acceleration/current reference. More...
#define	VIRTAMP_PISRC_CURRENT   20
	Index/subindex of current. More...
#define	VIRTAMP_PISRC_STATUS   21
	Index/subindex of status. More...
#define	VIRTAMP_DRIVETYPE   30
	Predefined drivetype. More...
#define	VIRTAMP_CNTRLW_PWROFF   31
	Controlword to use in power off state. More...
#define	VIRTAMP_CNTRLW_PWRONDIS   32
	Controlword to use in power on disable state. More...
#define	VIRTAMP_CNTRLW_PWRONENP   33
	Controlword to use in power on enable positive direction state. More...
#define	VIRTAMP_CNTRLW_PWRONENN   34
	Controlword to use in power on enable negative direction state (could be same as above) More...
#define	VIRTAMP_CNTRLW_QUICKSTOP   35
	Controlword to stop drive with internal ramps. More...
#define	VIRTAMP_CNTRLW_RESET   36
	Controlword to reset from error. More...
#define	VIRTAMP_REFTYPE   37
	Type of reference. More...
#define	VIRTAMP_REFOUTP   38
	Digital output for positive direction signal. More...
#define	VIRTAMP_REFOUTN   39
	Number of output which must be set if reference is negative (reset if positive) More...
#define	VIRTAMP_REF100PERC   40
	Output reference value to use at 100 percent. More...
#define	VIRTAMP_REFLIMIT   41
	Output reference limit. More...
#define	VIRTAMP_REFOFFSET   42
	Offset to add to output reference. More...
#define	VIRTAMP_INVERT   43
	Output reference reversion. More...
#define	VIRTAMP_I2TTIME   44
	I2T Time interval for filtering. More...
#define	VIRTAMP_STOPDELAY   45
	Delay after a STOP command. More...
#define	VIRTAMP_REVERSE   46
	Reversing allowed. More...
#define	VIRTAMP_ERROR_BITMASK   47
	Bitmask to detect error condition. More...
#define	VIRTAMP_ERROR_POLARITY   48
	Polarity of Error Bit. More...
#define	VIRTAMP_I2TLIMIT   49
	I2T Limit value. More...
#define	VIRTAMP_REFACC100PERC   50
	Acceleration reference value (PO_VIRTAMP_REFACC) at full acceleration. More...
#define	VIRTAMP_READY_BITMASK   51
	Bitmask to detect drive ready condition. More...
#define	VIRTAMP_READY_POLARITY   52
	Polarity of Ready Bit. More...
#define	VIRTAMP_TORQUE_CONST   53
	Represents the motor’s torque constant. More...
#define	VIRTAMP_MODE_DISABLE   0
#define	VIRTAMP_MODE_ENABLE   1
#define	SDOINDEX_VIRTDIGIN_PARAM   0x2900
	Virtual Digital Input Parameters: SDO Index. More...
#define	VIRTDIGIN_PARAM_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_VIRTDIGIN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Digital Input Parameters: Getter. More...
#define	VIRTDIGIN_PARAM_SRCINDEX(modno, parno)   ((SDOINDEX_VIRTDIGIN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Digital Input Parameters: Source Index. More...
#define	VIRTDIGIN_PARAM(modno, parno)   Sysvar[VIRTDIGIN_PARAM_INDEX((modno),(parno))]
	Virtual Digital Input Parameters: Setter. More...
#define	VIRTDIGIN_PARAM_MAX   14
	Virtual Digital Input Parameters: Maximum number of parameters. More...
#define	VIRTDIGIN_PISRC_MAP1   10
	First Mapping entry for outputs (like CanOpen) More...
#define	VIRTDIGIN_PISRC_MAP2   11
	Second Mapping entry for outputs. More...
#define	VIRTDIGIN_PISRC_MAP3   12
	Third Mapping entry for outputs. More...
#define	VIRTDIGIN_PISRC_MAP4   13
	Fourth Mapping entry for outputs. More...
#define	SDOINDEX_VIRTDIGOUT_PARAM   0x2940
	Virtual Digital Output Parameters: SDO Index. More...
#define	VIRTDIGOUT_PARAM_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_VIRTDIGOUT_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Digital Output Parameters: Getter. More...
#define	VIRTDIGOUT_PARAM_SRCINDEX(modno, parno)   ((SDOINDEX_VIRTDIGOUT_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Digital Output Parameters: Source Index. More...
#define	VIRTDIGOUT_PARAM(modno, parno)   Sysvar[VIRTDIGOUT_PARAM_INDEX((modno),(parno))]
	Virtual Digital Output Parameters: Setter. More...
#define	VIRTDIGOUT_PARAM_MAX   2
	Virtual Digital Output Parameters: Maximum number of parameters. More...
#define	SDOINDEX_VIRTANIN_PARAM   0x2980
	Virtual Analog Input Parameters: SDO Index. More...
#define	VIRTANIN_PARAM_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_VIRTANIN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Analog Input Parameters: Getter. More...
#define	VIRTANIN_PARAM_SRCINDEX(modno, parno)   ((SDOINDEX_VIRTANIN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Analog Input Parameters: Source Index. More...
#define	VIRTANIN_PARAM(modno, parno)   Sysvar[VIRTANIN_PARAM_INDEX((modno),(parno))]
	Virtual Analog Input Parameters: Setter. More...
#define	VIRTANIN_PARAM_MAX   33
	Virtual Analog Input Parameters: Maximum number of parameters. More...
#define	VIRTANIN_PISRC_VALUE   10
	Index/subindex of source value. More...
#define	VIRTANIN_UUFACT_UNITNO   30
	Scale factor. More...
#define	VIRTANIN_UUFACT_DIGNO   31
	Scale factor. More...
#define	VIRTANIN_DIG_OFFSET   32
	Offset value. More...
#define	SDOINDEX_VIRTANOUT_PARAM   0x29C0
	Virtual Analog Output Parameters: SDO Index. More...
#define	VIRTANOUT_PARAM_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_VIRTANOUT_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Analog Output Parameters: Getter. More...
#define	VIRTANOUT_PARAM_SRCINDEX(modno, parno)   ((SDOINDEX_VIRTANOUT_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Analog Output Parameters: Source Index. More...
#define	VIRTANOUT_PARAM(modno, parno)   Sysvar[VIRTANOUT_PARAM_INDEX((modno),(parno))]
	Virtual Analog Output Parameters: Setter. More...
#define	VIRTANOUT_PARAM_MAX   2
	Virtual Analog Output Parameters: Maximum number of parameters. More...
#define	SDOINDEX_VIRTCUSTOM_PARAM   0x2A00
	Virtual Customer Module Parameters: SDO Index. More...
#define	VIRTCUSTOM_PARAM_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_VIRTCUSTOM_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Customer Module Parameters: Getter. More...
#define	VIRTCUSTOM_PARAM_SRCINDEX(modno, parno)   ((SDOINDEX_VIRTCUSTOM_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Customer Module Parameters: Source Index. More...
#define	VIRTCUSTOM_PARAM(modno, parno)   Sysvar[VIRTCUSTOM_PARAM_INDEX((modno),(parno))]
	Virtual Customer Module Parameters: Setter. More...
#define	VIRTCUSTOM_PARAM_MAX   20
	Virtual Customer Module Parameters: Maximum number of parameters. More...
#define	VIRTCUSTOM_PAR_1   1
	Custom parameters. More...
#define	VIRTCUSTOM_PAR_2   2
	Custom parameters. More...
#define	VIRTCUSTOM_PAR_3   3
	Custom parameters. More...
#define	VIRTCUSTOM_PAR_4   4
	Custom parameters. More...
#define	VIRTCUSTOM_PAR_5   5
	Custom parameters. More...
#define	VIRTCUSTOM_PAR_6   6
	Custom parameters. More...
#define	VIRTCUSTOM_PAR_7   7
	Custom parameters. More...
#define	VIRTCUSTOM_PAR_8   8
	Custom parameters. More...
#define	VIRTCUSTOM_PAR_9   9
	Custom parameters. More...
#define	VIRTCUSTOM_PISRC_1   10
	Custom sources. More...
#define	VIRTCUSTOM_PISRC_2   11
	Custom sources. More...
#define	VIRTCUSTOM_PISRC_3   12
	Custom sources. More...
#define	VIRTCUSTOM_PISRC_4   13
	Custom sources. More...
#define	VIRTCUSTOM_PISRC_5   14
	Custom sources. More...
#define	VIRTCUSTOM_PISRC_6   15
	Custom sources. More...
#define	VIRTCUSTOM_PISRC_7   16
	Custom sources. More...
#define	VIRTCUSTOM_PISRC_8   17
	Custom sources. More...
#define	VIRTCUSTOM_PISRC_9   18
	Custom sources. More...
#define	VIRTCUSTOM_PISRC_10   19
	Custom sources. More...
#define	SDOINDEX_VIRTMATH_PARAM   0x2A40
	Virtual Math Module Parameters: SDO Index. More...
#define	VIRTMATH_PARAM_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_VIRTMATH_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Math Module Parameters: Getter. More...
#define	VIRTMATH_PARAM_SRCINDEX(modno, parno)   ((SDOINDEX_VIRTMATH_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Math Module Parameters: Source Index. More...
#define	VIRTMATH_PARAM(modno, parno)   Sysvar[VIRTMATH_PARAM_INDEX((modno),(parno))]
	Virtual Math Module Parameters: Setter. More...
#define	VIRTMATH_PARAM_MAX   34
	Virtual Math Module Parameters: Maximum number of parameters. More...
#define	VIRTMATH_MODE   1
	Mode of the module. More...
#define	VIRTMATH_INVERT   2
	Inverts inputs and outputs. More...
#define	VIRTMATH_LOW_LIMIT   3
	Output low limit. More...
#define	VIRTMATH_HIGH_LIMIT   4
	Output high limit. More...
#define	VIRTMATH_PISRC_1   10
	Sources 1-4. More...
#define	VIRTMATH_PISRC_2   11
	Sources 1-4. More...
#define	VIRTMATH_PISRC_3   12
	Sources 1-4. More...
#define	VIRTMATH_PISRC_4   13
	Sources 1-4. More...
#define	VIRTMATH_POSRC_1   20
	Output source 1-2. More...
#define	VIRTMATH_POSRC_2   21
	Output source 1-2. More...
#define	VIRTMATH_MODE_BASED_1   30
	Mode based configuration 1 - 4. More...
#define	VIRTMATH_MODE_BASED_2   31
	Mode based configuration 1 - 4. More...
#define	VIRTMATH_MODE_BASED_3   32
	Mode based configuration 1 - 4. More...
#define	VIRTMATH_MODE_BASED_4   33
	Mode based configuration 1 - 4. More...
#define	VIRTMATH_MODE_OFF   0
#define	VIRTMATH_MODE_ADD   1
#define	VIRTMATH_MODE_GAIN   2
#define	VIRTMATH_MODE_SINW   10
#define	VIRTMATH_MODE_COSW   11
#define	VIRTMATH_MODE_SIN   12
#define	VIRTMATH_MODE_COS   13
#define	VIRTMATH_MODE_LP1_FILTER   20
#define	VIRTMATH_MODE_PID   30
#define	VIRTMATH_MODE_PID_KP   30
#define	VIRTMATH_MODE_PID_KI   31
#define	VIRTMATH_MODE_PID_KD   32
#define	VIRTMATH_MODE_PID_KILIM   33
#define	SDOINDEX_VIRTMAST_PROCESS   0x2C00
	Virtual Master Process Data: SDO Index. More...
#define	VIRTMAST_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_VIRTMAST_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Master Process Data: Getter. More...
#define	VIRTMAST_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_VIRTMAST_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Master Process Data: Source Index. More...
#define	VIRTMAST_PROCESS(modno, parno)   Sysvar[VIRTMAST_PROCESS_INDEX((modno),(parno))]
	Virtual Master Process Data: Setter. More...
#define	VIRTMAST_PROCESS_MAX   7
	Virtual Master Process Data: Maximum number of parameters. More...
#define	PO_VIRTMAST_VEL   1
	Output velocity in increments per line. More...
#define	PO_VIRTMAST_POS   2
	Cumulated position value of the master. More...
#define	PO_VIRTMAST_TVEL_INC   3
	scaled internal value More...
#define	PO_VIRTMAST_ACC_INC   4
	scaled internal value More...
#define	PO_VIRTMAST_DEC_INC   5
	scaled internal value More...
#define	PO_VIRTMAST_POS16   6
	PO_VIRTMAST_POS value shifted >> 16, which equals to qc (SIGNED16 value) More...
#define	SDOINDEX_VIRTCOUNTIN_PROCESS   0x2C40
	Virtual Counter Inputs Process Data: SDO Index. More...
#define	VIRTCOUNTIN_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_VIRTCOUNTIN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Counter Inputs Process Data: Getter. More...
#define	VIRTCOUNTIN_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_VIRTCOUNTIN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Counter Inputs Process Data: Source Index. More...
#define	VIRTCOUNTIN_PROCESS(modno, parno)   Sysvar[VIRTCOUNTIN_PROCESS_INDEX((modno),(parno))]
	Virtual Counter Inputs Process Data: Setter. More...
#define	VIRTCOUNTIN_PROCESS_MAX   13
	Virtual Counter Inputs Process Data: Maximum number of parameters. More...
#define	PO_VIRTCNTIN_VALUE   1
	Output of counter module. More...
#define	PO_VIRTCNTIN_VELOCITY   2
	Velocity. More...
#define	PO_VIRTCNTIN_FRACT   4
	Fractional part of the current position. More...
#define	PO_VIRTCNTIN_OVFLS   5
	Number of overflows. More...
#define	PO_VIRTCNTIN_LASTSRCPOS   6
	Last Source Position. More...
#define	PO_VIRTCNTIN_LASTVELOCITY   7
	Last measured velocity. More...
#define	PO_VIRTCNTIN_OVFL_AMOUNT   8
	When an overflow has happend, this value represents the amount of it. More...
#define	PO_VIRTCNTIN_STAT   9
	Status bits. More...
#define	PO_VIRTCNTIN_ERR_COUNT   10
	How many errors were detected. More...
#define	PO_VIRTCNTIN_VALUE_FILTERED_FRACTIONAL   11
#define	PO_VIRTCNTIN_VALUE_FILTERED_INTEGRAL   12
#define	SDOINDEX_VIRTLATCH_PROCESS   0x2C80
	Virtual Latch Inputs Process Data: SDO Index. More...
#define	VIRTLATCH_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_VIRTLATCH_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Latch Inputs Process Data: Getter. More...
#define	VIRTLATCH_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_VIRTLATCH_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Latch Inputs Process Data: Source Index. More...
#define	VIRTLATCH_PROCESS(modno, parno)   Sysvar[VIRTLATCH_PROCESS_INDEX((modno),(parno))]
	Virtual Latch Inputs Process Data: Setter. More...
#define	VIRTLATCH_PROCESS_MAX   16
	Virtual Latch Inputs Process Data: Maximum number of parameters. More...
#define	PO_VIRTLATCH_VALUE   1
	Latch position. More...
#define	PO_VIRTLATCH_COUNTER   2
	Latch counter. More...
#define	PO_VIRTLATCH_LASTSRCLATCHPOS   4
	Last source latch position. More...
#define	PO_VIRTLATCH_FLAG   5
	Latch flag, cleared by writing. More...
#define	PO_VIRTLATCH_CMDWORD   6
	Command word. More...
#define	PO_VIRTLATCH_FIFO_READ   7
	Latch position read from FIFO. More...
#define	PO_VIRTLATCH_FIFO_VALID   8
	Indicates if the latch from the FIFO is valid. More...
#define	PO_VIRTLATCH_FIFO_WRITEINDEX   9
	Position of the FIFO write index. More...
#define	PO_VIRTLATCH_FIFO_READINDEX   10
	Position of the FIFO read index. More...
#define	PO_VIRTLATCH_FIFO_LATCHAMOUNT   11
	Number of latches in the FIFO. More...
#define	PO_VIRTLATCH_FIFO_TOTALCNT   12
	Number of latches ever processed through FIFO. More...
#define	PO_VIRTLATCH_FIFO_OVERFLOWCNT   13
	Number of overflows. More...
#define	PO_VIRTLATCH_FIFO_PEEK   14
	Peek the latest element from the FIFO. More...
#define	PO_VIRTLATCH_VALID   15
	Valid flag. More...
#define	SDOINDEX_VIRTAMP_PROCESS   0x2CC0
	Virtual Amplifier Process Data: SDO Index. More...
#define	VIRTAMP_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_VIRTAMP_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Amplifier Process Data: Getter. More...
#define	VIRTAMP_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_VIRTAMP_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Amplifier Process Data: Source Index. More...
#define	VIRTAMP_PROCESS(modno, parno)   Sysvar[VIRTAMP_PROCESS_INDEX((modno),(parno))]
	Virtual Amplifier Process Data: Setter. More...
#define	VIRTAMP_PROCESS_MAX   16
	Virtual Amplifier Process Data: Maximum number of parameters. More...
#define	PO_VIRTAMP_STATUS   1
	Status. More...
#define	PO_VIRTAMP_CMDWORD   2
	Output command word. More...
#define	PO_VIRTAMP_REFPOS   3
	Output reference position. More...
#define	PO_VIRTAMP_REFVEL   4
	Output reference velocity. More...
#define	PO_VIRTAMP_REFACC   5
	Output reference acceleration. More...
#define	PO_VIRTAMP_DIRPOS   7
	Direction information. More...
#define	PO_VIRTAMP_DIRNEG   8
	Direction information. More...
#define	PO_VIRTAMP_CURRENT   10
	Current value. More...
#define	PO_VIRTAMP_ACTSTOPDELAY   12
	Internally used counter. More...
#define	PO_VIRTAMP_I2TVALUE   13
	Current sum of I2T calculation. More...
#define	PO_VIRTAMP_ERROR   14
	Error status. More...
#define	PO_VIRTAMP_REMOTE_AMP   15
	Indicates if remote amplifier is in use. More...
#define	VIRTAMP_ERROR_HWAMP   0x0001
#define	VIRTAMP_ERROR_I2T   0x0002
#define	VIRTAMP_ERROR_NOTREADY   0x0004
#define	SDOINDEX_VIRTDIGIN_PROCESS   0x2D00
	Virtual Digital Input Process Data: SDO Index. More...
#define	VIRTDIGIN_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_VIRTDIGIN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Digital Input Process Data: Getter. More...
#define	VIRTDIGIN_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_VIRTDIGIN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Digital Input Process Data: Source Index. More...
#define	VIRTDIGIN_PROCESS(modno, parno)   Sysvar[VIRTDIGIN_PROCESS_INDEX((modno),(parno))]
	Virtual Digital Input Process Data: Setter. More...
#define	VIRTDIGIN_PROCESS_MAX   8
	Virtual Digital Input Process Data: Maximum number of parameters. More...
#define	PO_VIRTDIGIN_VALLONG   1
	Returns the full 32bit output value. More...
#define	PO_VIRTDIGIN_VALWORD1   2
	Returns 16bit of the output value. More...
#define	PO_VIRTDIGIN_VALWORD2   3
	Returns 16bit of the output value. More...
#define	PO_VIRTDIGIN_VALBYTE1   4
	Returns 8bit of the output value. More...
#define	PO_VIRTDIGIN_VALBYTE2   5
	Returns 8bit of the output value. More...
#define	PO_VIRTDIGIN_VALBYTE3   6
	Returns 8bit of the output value. More...
#define	PO_VIRTDIGIN_VALBYTE4   7
	Returns 8bit of the output value. More...
#define	SDOINDEX_VIRTDIGOUT_PROCESS   0x2D40
	Virtual Digital Output Process Data: SDO Index. More...
#define	VIRTDIGOUT_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_VIRTDIGOUT_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Digital Output Process Data: Getter. More...
#define	VIRTDIGOUT_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_VIRTDIGOUT_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Digital Output Process Data: Source Index. More...
#define	VIRTDIGOUT_PROCESS(modno, parno)   Sysvar[VIRTDIGOUT_PROCESS_INDEX((modno),(parno))]
	Virtual Digital Output Process Data: Setter. More...
#define	VIRTDIGOUT_PROCESS_MAX   8
	Virtual Digital Output Process Data: Maximum number of parameters. More...
#define	PO_VIRTDIGOUT_VALLONG   1
	Returns all 32bit of the output value. More...
#define	PO_VIRTDIGOUT_VALWORD1   2
	Returns 16 bit of the output value. More...
#define	PO_VIRTDIGOUT_VALWORD2   3
	Returns 16 bit of the output value. More...
#define	PO_VIRTDIGOUT_VALBYTE1   4
	Returns 8bit of the output value. More...
#define	PO_VIRTDIGOUT_VALBYTE2   5
	Returns 8bit of the output value. More...
#define	PO_VIRTDIGOUT_VALBYTE3   6
	Returns 8bit of the output value. More...
#define	PO_VIRTDIGOUT_VALBYTE4   7
	Returns 8bit of the output value. More...
#define	SDOINDEX_VIRTANIN_PROCESS   0x2D80
	Virtual Analog Input Process Data: SDO Index. More...
#define	VIRTANIN_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_VIRTANIN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Analog Input Process Data: Getter. More...
#define	VIRTANIN_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_VIRTANIN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Analog Input Process Data: Source Index. More...
#define	VIRTANIN_PROCESS(modno, parno)   Sysvar[VIRTANIN_PROCESS_INDEX((modno),(parno))]
	Virtual Analog Input Process Data: Setter. More...
#define	VIRTANIN_PROCESS_MAX   8
	Virtual Analog Input Process Data: Maximum number of parameters. More...
#define	PO_VIRTANIN_VALUE   1
	Output value of the module. More...
#define	PO_VIRTANIN_MAXVAL   2
	Maximum measured input value. More...
#define	PO_VIRTANIN_MINVAL   3
	Minimum measured input value. More...
#define	PO_VIRTANIN_SUM   4
	Integrated value of PO_VIRTANIN_VALUE. More...
#define	PO_VIRTANIN_COUNT   6
	Integration time. More...
#define	PO_VIRTANIN_AVG   7
	Average value. More...
#define	SDOINDEX_VIRTANOUT_PROCESS   0x2DC0
	Virtual Analog Output Process Data: SDO Index. More...
#define	VIRTANOUT_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_VIRTANOUT_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Analog Output Process Data: Getter. More...
#define	VIRTANOUT_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_VIRTANOUT_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Analog Output Process Data: Source Index. More...
#define	VIRTANOUT_PROCESS(modno, parno)   Sysvar[VIRTANOUT_PROCESS_INDEX((modno),(parno))]
	Virtual Analog Output Process Data: Setter. More...
#define	VIRTANOUT_PROCESS_MAX   4
	Virtual Analog Output Process Data: Maximum number of parameters. More...
#define	PO_VIRTANOUT_VALUE   1
	Returns all 32bit of the output value. More...
#define	PO_VIRTANOUT_VALWORD1   2
	Returns 16bit of the output value. More...
#define	PO_VIRTANOUT_VALWORD2   3
	Returns 16bit of the output value. More...
#define	SDOINDEX_VIRTCUSTOM_PROCESS   0x2E00
	Virtual Customer Module Process Data: SDO Index. More...
#define	VIRTCUSTOM_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_VIRTCUSTOM_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Customer Module Process Data: Getter. More...
#define	VIRTCUSTOM_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_VIRTCUSTOM_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Customer Module Process Data: Source Index. More...
#define	VIRTCUSTOM_PROCESS(modno, parno)   Sysvar[VIRTCUSTOM_PROCESS_INDEX((modno),(parno))]
	Virtual Customer Module Process Data: Setter. More...
#define	VIRTCUSTOM_PROCESS_MAX   21
	Virtual Customer Module Process Data: Maximum number of parameters. More...
#define	PO_VIRTCUSTOM_1   1
	Custom Output Values. More...
#define	PO_VIRTCUSTOM_2   2
	Custom Output Values. More...
#define	PO_VIRTCUSTOM_3   3
	Custom Output Values. More...
#define	PO_VIRTCUSTOM_4   4
	Custom Output Values. More...
#define	PO_VIRTCUSTOM_5   5
	Custom Output Values. More...
#define	PO_VIRTCUSTOM_6   6
	Custom Output Values. More...
#define	PO_VIRTCUSTOM_7   7
	Custom Output Values. More...
#define	PO_VIRTCUSTOM_8   8
	Custom Output Values. More...
#define	PO_VIRTCUSTOM_9   9
	Custom Output Values. More...
#define	PO_VIRTCUSTOM_10   10
	Custom Output Values. More...
#define	PO_VIRTCUSTOM_11   11
	Custom Output Values. More...
#define	PO_VIRTCUSTOM_12   12
	Custom Output Values. More...
#define	PO_VIRTCUSTOM_13   13
	Custom Output Values. More...
#define	PO_VIRTCUSTOM_14   14
	Custom Output Values. More...
#define	PO_VIRTCUSTOM_15   15
	Custom Output Values. More...
#define	PO_VIRTCUSTOM_16   16
	Custom Output Values. More...
#define	PO_VIRTCUSTOM_17   17
	Custom Output Values. More...
#define	PO_VIRTCUSTOM_18   18
	Custom Output Values. More...
#define	PO_VIRTCUSTOM_19   19
	Custom Output Values. More...
#define	PO_VIRTCUSTOM_20   20
	Custom Output Values. More...
#define	SDOINDEX_VIRTMATH_PROCESS   0x2E40
	Virtual Math Module Process Data: SDO Index. More...
#define	VIRTMATH_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_VIRTMATH_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Math Module Process Data: Getter. More...
#define	VIRTMATH_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_VIRTMATH_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	Virtual Math Module Process Data: Source Index. More...
#define	VIRTMATH_PROCESS(modno, parno)   Sysvar[VIRTMATH_PROCESS_INDEX((modno),(parno))]
	Virtual Math Module Process Data: Setter. More...
#define	VIRTMATH_PROCESS_MAX   7
	Virtual Math Module Process Data: Maximum number of parameters. More...
#define	PO_VIRTMATH_VALUE   1
	Output value. More...
#define	PO_VIRTMATH_MODE_BASED_VALUE_1   2
	Mode dependent process value 1 - 5. More...
#define	PO_VIRTMATH_MODE_BASED_VALUE_2   3
	Mode dependent process value 1 - 5. More...
#define	PO_VIRTMATH_MODE_BASED_VALUE_3   4
	Mode dependent process value 1 - 5. More...
#define	PO_VIRTMATH_MODE_BASED_VALUE_4   5
	Mode dependent process value 1 - 5. More...
#define	PO_VIRTMATH_MODE_BASED_VALUE_5   6
	Mode dependent process value 1 - 5. More...
#define	VIRTMATH_MODE_PID_PROP_VALUE   2
#define	VIRTMATH_MODE_PID_INT_VALUE   3
#define	VIRTMATH_MODE_PID_DIFF_VALUE   4
#define	VIRTMATH_MODE_PID_PREV_ERROR   5
#define	VIRTMATH_MODE_PID_INT_SUM   6
#define	SDOINDEX_ECAT_SLAVE_PDO1_1_255   0x3301
	: SDO Index More...
#define	ECAT_SLAVE_PDO1_1_255_INDEX(parno)   ((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO1_1_255<<8)) | ((long) (parno)))
	: Getter More...
#define	ECAT_SLAVE_PDO1_1_255_SRCINDEX(parno)   ((SDOINDEX_ECAT_SLAVE_PDO1_1_255<<8) | ((long) (parno)))
	: Source Index More...
#define	ECAT_SLAVE_PDO1_1_255(parno)   Sysvar[ECAT_SLAVE_PDO1_1_255_INDEX(parno)]
	: Setter More...
#define	ECAT_SLAVE_PDO1_1_255_MAX   256
	: Maximum number of parameters More...
#define	SDOINDEX_ECAT_SLAVE_PDO1_256_510   0x3302
	: SDO Index More...
#define	ECAT_SLAVE_PDO1_256_510_INDEX(parno)   ((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO1_256_510<<8)) | ((long) (parno)))
	: Getter More...
#define	ECAT_SLAVE_PDO1_256_510_SRCINDEX(parno)   ((SDOINDEX_ECAT_SLAVE_PDO1_256_510<<8) | ((long) (parno)))
	: Source Index More...
#define	ECAT_SLAVE_PDO1_256_510(parno)   Sysvar[ECAT_SLAVE_PDO1_256_510_INDEX(parno)]
	: Setter More...
#define	ECAT_SLAVE_PDO1_256_510_MAX   256
	: Maximum number of parameters More...
#define	SDOINDEX_ECAT_SLAVE_PDO1_511_765   0x3303
	: SDO Index More...
#define	ECAT_SLAVE_PDO1_511_765_INDEX(parno)   ((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO1_511_765<<8)) | ((long) (parno)))
	: Getter More...
#define	ECAT_SLAVE_PDO1_511_765_SRCINDEX(parno)   ((SDOINDEX_ECAT_SLAVE_PDO1_511_765<<8) | ((long) (parno)))
	: Source Index More...
#define	ECAT_SLAVE_PDO1_511_765(parno)   Sysvar[ECAT_SLAVE_PDO1_511_765_INDEX(parno)]
	: Setter More...
#define	ECAT_SLAVE_PDO1_511_765_MAX   256
	: Maximum number of parameters More...
#define	SDOINDEX_ECAT_SLAVE_PDO1_766_1020   0x3304
	: SDO Index More...
#define	ECAT_SLAVE_PDO1_766_1020_INDEX(parno)   ((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO1_766_1020<<8)) | ((long) (parno)))
	: Getter More...
#define	ECAT_SLAVE_PDO1_766_1020_SRCINDEX(parno)   ((SDOINDEX_ECAT_SLAVE_PDO1_766_1020<<8) | ((long) (parno)))
	: Source Index More...
#define	ECAT_SLAVE_PDO1_766_1020(parno)   Sysvar[ECAT_SLAVE_PDO1_766_1020_INDEX(parno)]
	: Setter More...
#define	ECAT_SLAVE_PDO1_766_1020_MAX   256
	: Maximum number of parameters More...
#define	SDOINDEX_ECAT_SLAVE_PDO2_1_255   0x3305
	: SDO Index More...
#define	ECAT_SLAVE_PDO2_1_255_INDEX(parno)   ((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO2_1_255<<8)) | ((long) (parno)))
	: Getter More...
#define	ECAT_SLAVE_PDO2_1_255_SRCINDEX(parno)   ((SDOINDEX_ECAT_SLAVE_PDO2_1_255<<8) | ((long) (parno)))
	: Source Index More...
#define	ECAT_SLAVE_PDO2_1_255(parno)   Sysvar[ECAT_SLAVE_PDO2_1_255_INDEX(parno)]
	: Setter More...
#define	ECAT_SLAVE_PDO2_1_255_MAX   256
	: Maximum number of parameters More...
#define	SDOINDEX_ECAT_SLAVE_PDO2_256_510   0x3306
	: SDO Index More...
#define	ECAT_SLAVE_PDO2_256_510_INDEX(parno)   ((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO2_256_510<<8)) | ((long) (parno)))
	: Getter More...
#define	ECAT_SLAVE_PDO2_256_510_SRCINDEX(parno)   ((SDOINDEX_ECAT_SLAVE_PDO2_256_510<<8) | ((long) (parno)))
	: Source Index More...
#define	ECAT_SLAVE_PDO2_256_510(parno)   Sysvar[ECAT_SLAVE_PDO2_256_510_INDEX(parno)]
	: Setter More...
#define	ECAT_SLAVE_PDO2_256_510_MAX   256
	: Maximum number of parameters More...
#define	SDOINDEX_ECAT_SLAVE_PDO2_511_765   0x3307
	: SDO Index More...
#define	ECAT_SLAVE_PDO2_511_765_INDEX(parno)   ((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO2_511_765<<8)) | ((long) (parno)))
	: Getter More...
#define	ECAT_SLAVE_PDO2_511_765_SRCINDEX(parno)   ((SDOINDEX_ECAT_SLAVE_PDO2_511_765<<8) | ((long) (parno)))
	: Source Index More...
#define	ECAT_SLAVE_PDO2_511_765(parno)   Sysvar[ECAT_SLAVE_PDO2_511_765_INDEX(parno)]
	: Setter More...
#define	ECAT_SLAVE_PDO2_511_765_MAX   256
	: Maximum number of parameters More...
#define	SDOINDEX_ECAT_SLAVE_PDO2_766_1020   0x3308
	: SDO Index More...
#define	ECAT_SLAVE_PDO2_766_1020_INDEX(parno)   ((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO2_766_1020<<8)) | ((long) (parno)))
	: Getter More...
#define	ECAT_SLAVE_PDO2_766_1020_SRCINDEX(parno)   ((SDOINDEX_ECAT_SLAVE_PDO2_766_1020<<8) | ((long) (parno)))
	: Source Index More...
#define	ECAT_SLAVE_PDO2_766_1020(parno)   Sysvar[ECAT_SLAVE_PDO2_766_1020_INDEX(parno)]
	: Setter More...
#define	ECAT_SLAVE_PDO2_766_1020_MAX   256
	: Maximum number of parameters More...
#define	SDOINDEX_SMGLOBAL_PROCESS   0x3600
	Global State Machine Process Data: SDO Index. More...
#define	SMGLOBAL_PROCESS_INDEX(parno)   ((0x01000000 | (SDOINDEX_SMGLOBAL_PROCESS<<8)) | ((long) (parno)))
	Global State Machine Process Data: Getter. More...
#define	SMGLOBAL_PROCESS_SRCINDEX(parno)   ((SDOINDEX_SMGLOBAL_PROCESS<<8) | ((long) (parno)))
	Global State Machine Process Data: Source Index. More...
#define	SMGLOBAL_PROCESS(parno)   Sysvar[SMGLOBAL_PROCESS_INDEX(parno)]
	Global State Machine Process Data: Setter. More...
#define	SMGLOBAL_PROCESS_MAX   48
	Global State Machine Process Data: Maximum number of parameters. More...
#define	SM_PROC_RUNFLAGS   1
	Runtime flags. More...
#define	SM_PROC_PARAMCNT   2
	Maximum number of event parameters in event record. More...
#define	SM_PROC_EVENTCNT   3
	Number of events. More...
#define	SM_PROC_STATECNT   4
	Number of states. More...
#define	SM_PROC_MACHINECNT   5
	Number of state machine specifications. More...
#define	SM_PROC_POOLSIZE   6
	Number of records in event pool. More...
#define	SM_PROC_QUEUESIZE   7
	Total size of all event queues. More...
#define	SM_PROC_STATEDEPTH   8
	Depth of deepest state machine tree. More...
#define	SM_PROC_TIMERMAX   9
	Maximum number of timers. More...
#define	SM_PROC_SUBSIZE   10
	Number of records in subscribe pool. More...
#define	SM_PROC_PRMSIZE   11
	Number of records in parameter pool. More...
#define	SM_PROC_POSSIZE   12
	Number of records in position pool. More...
#define	SM_PROC_SYSSIZE   13
	Number of records in system event pool. More...
#define	SM_PROC_SYSCNT   14
	Maximum number of system event chains. More...
#define	SM_PROC_SMRUNSTATE   41
	Current state machine running state. More...
#define	SM_PROC_SMRUNFLAGS   42
	Current state machine run flags. More...
#define	SM_PROC_MACHINE   43
	Current state machine index. More...
#define	SM_PROC_POOLUSED   44
	Number of used records in event pool. More...
#define	SM_PROC_POOLFREE   45
	Number of free records in event pool. More...
#define	SM_PROC_POOLMAX   46
	Maximum number of records used in event pool. More...
#define	SM_PROC_HISTORY   47
	History recording enabled. More...
#define	SDOINDEX_SMMACHINE_PROCESS   0x3601
	State Machine Process Data: SDO Index. More...
#define	SMMACHINE_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_SMMACHINE_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	State Machine Process Data: Getter. More...
#define	SMMACHINE_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_SMMACHINE_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	State Machine Process Data: Source Index. More...
#define	SMMACHINE_PROCESS(modno, parno)   Sysvar[SMMACHINE_PROCESS_INDEX((modno),(parno))]
	State Machine Process Data: Setter. More...
#define	SMMACHINE_PROCESS_MAX   121
	State Machine Process Data: Maximum number of parameters. More...
#define	SM_MACH_ID   1
	User defined state machine ID. More...
#define	SM_MACH_ARRAYCNT   2
	Number of state machines in array. More...
#define	SM_MACH_QUEUESIZE   3
	Size of event queue. More...
#define	SM_MACH_DATASIZE   4
	Size of private data array. More...
#define	SM_MACH_ROOTSTATE   5
	Unique ID of root state. More...
#define	SM_MACH_FLAGS   41
	State machine flags. More...
#define	SM_MACH_STATE   42
	Unique ID of current state. More...
#define	SM_MACH_QUEUEUSED   43
	Number of used records in event queue. More...
#define	SM_MACH_QUEUEFREE   44
	Number of free records in event queue. More...
#define	SM_MACH_QUEUEMAX   45
	Maximum number of records used in event queue. More...
#define	SM_MACH_DATA_1   81
	Private data. More...
#define	SM_MACH_DATA_2   82
	Private data. More...
#define	SM_MACH_DATA_3   83
	Private data. More...
#define	SM_MACH_DATA_4   84
	Private data. More...
#define	SM_MACH_DATA_5   85
	Private data. More...
#define	SM_MACH_DATA_6   86
	Private data. More...
#define	SM_MACH_DATA_7   87
	Private data. More...
#define	SM_MACH_DATA_8   88
	Private data. More...
#define	SM_MACH_DATA_9   89
	Private data. More...
#define	SM_MACH_DATA_10   90
	Private data. More...
#define	SM_MACH_DATA_11   91
	Private data. More...
#define	SM_MACH_DATA_12   92
	Private data. More...
#define	SM_MACH_DATA_13   93
	Private data. More...
#define	SM_MACH_DATA_14   94
	Private data. More...
#define	SM_MACH_DATA_15   95
	Private data. More...
#define	SM_MACH_DATA_16   96
	Private data. More...
#define	SM_MACH_DATA_17   97
	Private data. More...
#define	SM_MACH_DATA_18   98
	Private data. More...
#define	SM_MACH_DATA_19   99
	Private data. More...
#define	SM_MACH_DATA_20   100
	Private data. More...
#define	SM_MACH_DATA_21   101
	Private data. More...
#define	SM_MACH_DATA_22   102
	Private data. More...
#define	SM_MACH_DATA_23   103
	Private data. More...
#define	SM_MACH_DATA_24   104
	Private data. More...
#define	SM_MACH_DATA_25   105
	Private data. More...
#define	SM_MACH_DATA_26   106
	Private data. More...
#define	SM_MACH_DATA_27   107
	Private data. More...
#define	SM_MACH_DATA_28   108
	Private data. More...
#define	SM_MACH_DATA_29   109
	Private data. More...
#define	SM_MACH_DATA_30   110
	Private data. More...
#define	SM_MACH_DATA_31   111
	Private data. More...
#define	SM_MACH_DATA_32   112
	Private data. More...
#define	SM_MACH_DATA_33   113
	Private data. More...
#define	SM_MACH_DATA_34   114
	Private data. More...
#define	SM_MACH_DATA_35   115
	Private data. More...
#define	SM_MACH_DATA_36   116
	Private data. More...
#define	SM_MACH_DATA_37   117
	Private data. More...
#define	SM_MACH_DATA_38   118
	Private data. More...
#define	SM_MACH_DATA_39   119
	Private data. More...
#define	SM_MACH_DATA_40   120
	Private data. More...
#define	SDOINDEX_HWAMP_PARAM   0x4000
	HW Amplifier Parameters: SDO Index. More...
#define	HWAMP_PARAM_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWAMP_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Amplifier Parameters: Getter. More...
#define	HWAMP_PARAM_SRCINDEX(modno, parno)   ((SDOINDEX_HWAMP_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Amplifier Parameters: Source Index. More...
#define	HWAMP_PARAM(modno, parno)   Sysvar[HWAMP_PARAM_INDEX((modno),(parno))]
	HW Amplifier Parameters: Setter. More...
#define	HWAMP_PARAM_MAX   93
	HW Amplifier Parameters: Maximum number of parameters. More...
#define	HWAMP_MODE   1
	Mode of operation. More...
#define	HWAMP_PISRC_CMDWORD   10
	Source Index/subindex of command word. More...
#define	HWAMP_PISRC_REFPOS   11
	Source Index/subindex of position reference. More...
#define	HWAMP_PISRC_REFVEL   12
	Source Index/subindex of velocity reference. More...
#define	HWAMP_PISRC_REFACC   13
	Source Index/subindex of acceleration reference. More...
#define	HWAMP_PISRC_ACTPOS   14
	Source for actual position. More...
#define	HWAMP_PISRC_ACTVEL   15
	Not used. More...
#define	HWAMP_PISRC_MAX   20
#define	HWAMP_VELKPROP   30
	Proportional factor of velocity controller. More...
#define	HWAMP_VELKINT   31
	Integral factor of velocity controller. More...
#define	HWAMP_VELKILIM   32
	Integral limit of velocity controller. More...
#define	HWAMP_CURKPROP   33
	Proportional factor of current controller. More...
#define	HWAMP_CURKINT   34
	Integral factor of current controller. More...
#define	HWAMP_CURKILIM   35
	Integral limit of current controller. More...
#define	HWAMP_COMMTYPE   36
	Commutation type in use. More...
#define	HWAMP_PWMFREQ   37
	Deprecated: Frequency of the PWM output. More...
#define	HWAMP_POLES   38
	Number of pole pairs. More...
#define	HWAMP_AHEADANGLE   39
	Field ahead angle (not used) More...
#define	HWAMP_I2TTIME   40
	Not used. More...
#define	HWAMP_CURFILTTIME   41
	Filter time for current measurement returned by PO_HWAMP_CURRENT, not used in current controller, so current controller uses allways unfiltered values. More...
#define	HWAMP_ENCRES   42
	Resolution of the encoder for position feed back in increments (quadcounts) More...
#define	HWAMP_MAXCUR   43
	Maximal current allowed. More...
#define	HWAMP_POSDIR   44
	Position input reverse. More...
#define	HWAMP_MAXRPM   45
	Maximum velocity in RPM. More...
#define	HWAMP_USERDEFINED_DATA0   46
	Selects what data should be mapped into PO_HWAMP_USERDEFINED_DATAn (only MACS5) More...
#define	HWAMP_USERDEFINED_DATA1   47
	Selects what data should be mapped into PO_HWAMP_USERDEFINED_DATAn (only MACS5) More...
#define	HWAMP_USERDEFINED_DATA2   48
	Selects what data should be mapped into PO_HWAMP_USERDEFINED_DATAn (only MACS5) More...
#define	HWAMP_USERDEFINED_DATA3   49
	Selects what data should be mapped into PO_HWAMP_USERDEFINED_DATAn (only MACS5) More...
#define	HWAMP_ELPOL   51
	encoder polarity vs. More...
#define	HWAMP_I2T_TRIPVALUE   53
	I2T monitoring trip value. More...
#define	HWAMP_I2T_CONT   54
	I2T value of continuously allowed current. More...
#define	HWAMP_CHOP_UDCMIN   55
	Voltage Level for low chopper function. More...
#define	HWAMP_CHOP_UDCMAX   56
	Voltage Level for high chopper function. More...
#define	HWAMP_VELPI_REFLIM   59
	Reference Limit for velocity controller. More...
#define	HWAMP_VELPI_OUTLIM   60
	Output Limit for velocity controller. More...
#define	HWAMP_CURPI0_REFLIM   61
	Reference Limit for current controller 0. More...
#define	HWAMP_CURPI0_OUTLIM   62
	Output Limit for current controller 0. More...
#define	HWAMP_CURPI1_REFLIM   63
	Reference Limit for current controller 1. More...
#define	HWAMP_CURPI1_OUTLIM   64
	Output Limit for current controller 1. More...
#define	HWAMP_ELPOS_LAGMULT   65
	Lag compensation multiplier value. More...
#define	HWAMP_TRIP_CURRENT   66
	Trip current value. More...
#define	HWAMP_TEMP_MAX   67
	Maximum board temperature. More...
#define	HWAMP_VOLT_MIN   68
	Minimum voltage for amplifier. More...
#define	HWAMP_VOLT_MAX   69
	Maximum voltage for amplifier. More...
#define	HWAMP_CURPI_MODE   70
	Current regulator mode. More...
#define	HWAMP_VELPI_MODE   71
	Velocity regulator mode. More...
#define	HWAMP_PROG   72
	Amplifier Program Execution. More...
#define	HWAMP_PROG_PARAMVAL   73
	Amplifier Program Parameter Value. More...
#define	HWAMP_PROG_PARAMIND   74
	Amplifier Program Parameter Index. More...
#define	HWAMP_PROG_RETVAL   75
	Amplifier Program Return Value. More...
#define	HWAMP_HALL_SIMULATOR   86
	Only for testing! More...
#define	HWAMP_HALL_ERROR_LIMIT   87
	Limit for hall errors. More...
#define	HWAMP_HALL_ALIGNMENT   88
	Hall Alignment. More...
#define	HWAMP_SW_VERSION   89
#define	HWAMP_POSEL_OFFSET   90
	Sets the offset of the electric field in relation to an absolute encoder. More...
#define	HWAMP_DEFINE_PO_DATA_SET   91
	Defines a set of process data. More...
#define	HWAMP_IDQ_D_REF   92
	Defines Idq d-Part reference in mA. More...
#define	HWAMP_MODE_POS_VEL_CUR   0
#define	HWAMP_MODE_POS_VEL   1
#define	HWAMP_MODE_POS_CUR   2
#define	HWAMP_MODE_POS   3
#define	HWAMP_MODE_PFG_CUR_PWM   4
#define	HWAMP_MODE_PFG_PWM   5
#define	HWAMP_MODE_INT_CUR_PWM   6
#define	HWAMP_MODE_INT_PWM   7
#define	HWAMP_COMMTYPE_NONE   0
#define	HWAMP_COMMTYPE_DC   1
#define	HWAMP_COMMTYPE_BLDC   2
#define	HWAMP_COMMTYPE_BLDC_120   2
#define	HWAMP_COMMTYPE_BLDC_60   3
#define	HWAMP_COMMTYPE_STEP   4
#define	HWAMP_COMMTYPE_HALL_PMSM   5
#define	HWAMP_COMMTYPE_DC_TWIN   6
#define	HWAMP_COMMTYPE_PMSM   7
#define	HWAMP_COMMTYPE_BLDC_TWIN   8
#define	HWAMP_COMMTYPE_BLDC_120_TWIN   8
#define	HWAMP_COMMTYPE_BLDC_60_TWIN   9
#define	HWAMP_COMMTYPE_STEP_TWIN   10
#define	HWAMP_COMMTYPE_HALL_PMSM_TWIN   11
#define	HWAMP_COMMTYPE_PMSM_TWIN   12
#define	HWAMP_COMMTYPE_CHOPPER   13
#define	HWAMP_COMMTYPE_DC_ALT   14
#define	HWAMP_COMMTYPE_DC_100   15
#define	HWAMP_ENCRES_MICROSTEP_RES   1024
#define	HWAMP_POSDIR_NORMAL   1
#define	HWAMP_POSDIR_REVERSE   -1
#define	HWAMP_ELPOL_REGULAR   1
#define	HWAMP_ELPOL_INVERS   -1
#define	HWAMP_ELPOL_INVERSE   -1
#define	HALL_ALIGNMENT_BOTTOM   0
#define	HALL_ALIGNMENT_360120240   0
#define	HALL_ALIGNMENT_060180300   1
#define	HALL_ALIGNMENT_120240360   2
#define	HALL_ALIGNMENT_180300060   3
#define	HALL_ALIGNMENT_240360120   4
#define	HALL_ALIGNMENT_300060180   5
#define	HALL_ALIGNMENT_120DEGREE   5
#define	HALL_ALIGNMENT_360240120   6
#define	HALL_ALIGNMENT_060300180   7
#define	HALL_ALIGNMENT_120360240   8
#define	HALL_ALIGNMENT_180060300   9
#define	HALL_ALIGNMENT_240120360   10
#define	HALL_ALIGNMENT_300180060   11
#define	HALL_ALIGNMENT_360060120   12
#define	HALL_ALIGNMENT_060120180   13
#define	HALL_ALIGNMENT_120180240   14
#define	HALL_ALIGNMENT_180240300   15
#define	HALL_ALIGNMENT_240300360   16
#define	HALL_ALIGNMENT_300360060   17
#define	HALL_ALIGNMENT_360120060   18
#define	HALL_ALIGNMENT_060180120   19
#define	HALL_ALIGNMENT_120240180   20
#define	HALL_ALIGNMENT_180300240   21
#define	HALL_ALIGNMENT_240360300   22
#define	HALL_ALIGNMENT_060DEGREE   22
#define	HALL_ALIGNMENT_300060360   23
#define	HALL_ALIGNMENT_TOP   23
#define	HALL_ALIGNMENT_ERROR   24
#define	HWAMP_PO_DATA_SET_FIRST   1
#define	HWAMP_PO_DATA_SET_LAST   9
#define	HWAMP_PO_DATA_SET_1_OFFSET   1
#define	HWAMP_PO_DATA_SET_2_OFFSET   1000
#define	HWAMP_PO_DATA_SET_MAX_LENGTH   6
#define	HWAMP_PO_DATA_SET_IMEAS   1
#define	HWAMP_PO_DATA_SET_IMEASFIL   2
#define	HWAMP_PO_DATA_SET_CUR_CALIB_OFFSET   3
#define	HWAMP_PO_DATA_SET_CUR_CALIB_STATE   4
#define	HWAMP_PO_DATA_SET_CUR_CALIB_GAIN   5
#define	HWAMP_PO_DATA_SET_DEVICE_SPECIFIC_1   6
#define	HWAMP_PO_DATA_SET_DEVICE_SPECIFIC_2   7
#define	HWAMP_PO_DATA_SET_I2T_ACT   8
#define	HWAMP_PO_DATA_SET_CUR_RAW   9
#define	SDOINDEX_HWENC_PARAM   0x4040
	HW Encoder Parameters: SDO Index. More...
#define	HWENC_PARAM_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWENC_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Encoder Parameters: Getter. More...
#define	HWENC_PARAM_SRCINDEX(modno, parno)   ((SDOINDEX_HWENC_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Encoder Parameters: Source Index. More...
#define	HWENC_PARAM(modno, parno)   Sysvar[HWENC_PARAM_INDEX((modno),(parno))]
	HW Encoder Parameters: Setter. More...
#define	HWENC_PARAM_MAX   44
	HW Encoder Parameters: Maximum number of parameters. More...
#define	HWENCODER_MODE   1
	Encoder type. More...
#define	HWENCODER_ISABSOLUTE   2
	Defines, if the used encoder delivers an absolute value. More...
#define	HWENCODER_PISRC_ENCOUT   10
	Source for the encoder signal. More...
#define	HWENCODER_PISRC_REFOUT   11
	Source for the reference signal. More...
#define	HWENCODER_GLITCHFILT   30
	Filter for encoder signals. More...
#define	HWENCODER_CLOCKFREQ   31
	Clock frequency for SSI encoder. More...
#define	HWENCODER_DATLEN   32
	Number of bits for SSI communication. More...
#define	HWENCODER_DELAY   33
	Delay for SSI. More...
#define	HWENCODER_TERM   34
	Termination (not used) More...
#define	HWENCODER_BUSID   35
	ID for serial communication (not used) More...
#define	HWENCODER_BAUDRATE   36
	Baud rate for serial communication (not used) More...
#define	HWENCODER_PARITY   37
	Parity for serial communication (not used) More...
#define	HWENCODER_MONITORING   38
	Encoder Monitoring Enable. More...
#define	HWENCODER_CLOCK_ACTIVE   39
	SSI clock active or not. More...
#define	HWENCODER_FAST_UPDATE   40
	Encoder update rate (Not on MACS5) More...
#define	HWENCODER_REVERSE_DIRECTION   41
	Encoder counting direction reverse (Only MACS5) More...
#define	HWENCODER_POSBITS   42
	Number of SSI bits with position information (Not on MACS5) More...
#define	HWENCODER_TRAILBITS   43
	Number of trailling SSI bits with no position information (Not on MACS5) More...
#define	HWENCODER_MODE_INCREMENTAL   0
#define	HWENCODER_MODE_INCROUTPUT   1
#define	HWENCODER_MODE_SSI_ACTIVE   2
#define	HWENCODER_MODE_SSI_PASSIVE   3
#define	HWENCODER_MODE_HIPERFACE_RX   4
#define	HWENCODER_MODE_HIPERFACE_TX   5
#define	HWENCODER_MODE_SINCOS   6
#define	HWENCODER_MODE_HALL   7
#define	HWENCODER_MODE_ENDAT   9
#define	HWENCODER_FAST_UPDATE_ENABLE   1
#define	HWENCODER_FAST_UPDATE_DISABLE   0
#define	HWENCODER_REVERSE_DIRECTION_NORMAL   0
#define	HWENCODER_REVERSE_DIRECTION_INVERSE   1
#define	SDOINDEX_HWHALL_PARAM   0x4070
	HW Hall Sensor Parameters: SDO Index. More...
#define	HWHALL_PARAM_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWHALL_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Hall Sensor Parameters: Getter. More...
#define	HWHALL_PARAM_SRCINDEX(modno, parno)   ((SDOINDEX_HWHALL_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Hall Sensor Parameters: Source Index. More...
#define	HWHALL_PARAM(modno, parno)   Sysvar[HWHALL_PARAM_INDEX((modno),(parno))]
	HW Hall Sensor Parameters: Setter. More...
#define	HWHALL_PARAM_MAX   11
	HW Hall Sensor Parameters: Maximum number of parameters. More...
#define	HWHALL_MODE   1
	Enable. More...
#define	HWHALL_PISRC_ENCOUT   10
	Source for the HALL Information. More...
#define	HWHALL_MODE_DISABLE   0
#define	HWHALL_MODE_ENABLE   1
#define	HWHALL_MODE_ENABLE_VEL   2
#define	SDOINDEX_HWCOUNTINC_PARAM   0x4080
	HW Counter-inc Parameters: SDO Index. More...
#define	HWCOUNTINC_PARAM_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWCOUNTINC_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Counter-inc Parameters: Getter. More...
#define	HWCOUNTINC_PARAM_SRCINDEX(modno, parno)   ((SDOINDEX_HWCOUNTINC_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Counter-inc Parameters: Source Index. More...
#define	HWCOUNTINC_PARAM(modno, parno)   Sysvar[HWCOUNTINC_PARAM_INDEX((modno),(parno))]
	HW Counter-inc Parameters: Setter. More...
#define	HWCOUNTINC_PARAM_MAX   35
	HW Counter-inc Parameters: Maximum number of parameters. More...
#define	HWCNTINC_MODE   1
	not used More...
#define	HWCNTINC_PISRC_COUNTER   10
	Source for counter signal. More...
#define	HWCNTINC_PISRC_TRIGGER   11
	Source for reset signal. More...
#define	HWCNTINC_SLOPE   30
	Slope selector for reset signal. More...
#define	HWCNTINC_INTERPOL   31
	Interpolation factor. More...
#define	HWCNTINC_SCALE   32
	Scale value (not used) More...
#define	HWCNTINC_UPDATERATE   33
	Update frequency of counter (not used) More...
#define	HWCNTINC_RESOLUTION   34
	Resolution of counter per revolution. More...
#define	HWCNTINC_PISRC_TRIGGER_ENCZ   0x000
#define	HWCNTINC_PISRC_TRIGGER_VMZ   0x040
#define	HWCNTINC_PISRC_TRIGGER_DDSZ   0x080
#define	HWCNTINC_PISRC_TRIGGER_BRDA   0x0C0
#define	HWCNTINC_PISRC_TRIGGER_BRDB   0x100
#define	HWCNTINC_PISRC_TRIGGER_DINP   0x140
#define	HWCNTINC_PISRC_TRIGGER_DOUT   0x180
#define	HWCNTINC_PISRC_TRIGGER_CMPG   0x1C0
#define	HWCNTINC_PISRC_TRIGGER_CMPL   0x200
#define	HWCNTINC_PISRC_TRIGGER_PULS   0x240
#define	HWCNTINC_PISRC_TRIGGER_SHIFT   0x280
#define	HWCNTINC_PISRC_TRIGGER_IRQ   0x2C0
#define	HWCNTINC_PISRC_TRIGGER_NOT   0xFFC0
#define	HWCNTINC_SLOPE_CONTINUOUS   0
#define	HWCNTINC_SLOPE_RISING   1
#define	HWCNTINC_SLOPE_FALLING   2
#define	HWCNTINC_SLOPE_BOTH   3
#define	SDOINDEX_HWCOUNTABS_PARAM   0x40C0
	HW Counter-abs Parameters: SDO Index. More...
#define	HWCOUNTABS_PARAM_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWCOUNTABS_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Counter-abs Parameters: Getter. More...
#define	HWCOUNTABS_PARAM_SRCINDEX(modno, parno)   ((SDOINDEX_HWCOUNTABS_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Counter-abs Parameters: Source Index. More...
#define	HWCOUNTABS_PARAM(modno, parno)   Sysvar[HWCOUNTABS_PARAM_INDEX((modno),(parno))]
	HW Counter-abs Parameters: Setter. More...
#define	HWCOUNTABS_PARAM_MAX   11
	HW Counter-abs Parameters: Maximum number of parameters. More...
#define	HWCNTABS_MODE   1
	Not used. More...
#define	HWCNTABS_CODING   2
	Data coding. More...
#define	HWCNTABS_PISCR_COUNTER   10
	not used More...
#define	HWCNTABS_CODING_GREY   0
#define	HWCNTABS_CODING_GRAY   0
#define	HWCNTABS_CODING_NONE   1
#define	SDOINDEX_HWCOUNTUNI_PARAM   0x4100
	HW Counter-universal Parameters: SDO Index. More...
#define	HWCOUNTUNI_PARAM_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWCOUNTUNI_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Counter-universal Parameters: Getter. More...
#define	HWCOUNTUNI_PARAM_SRCINDEX(modno, parno)   ((SDOINDEX_HWCOUNTUNI_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Counter-universal Parameters: Source Index. More...
#define	HWCOUNTUNI_PARAM(modno, parno)   Sysvar[HWCOUNTUNI_PARAM_INDEX((modno),(parno))]
	HW Counter-universal Parameters: Setter. More...
#define	HWCOUNTUNI_PARAM_MAX   32
	HW Counter-universal Parameters: Maximum number of parameters. More...
#define	HWCNTUNI_MODE   1
	Encoder / Reference Input. More...
#define	HWCNTUNI_PISRC_COUNTER   10
	Source of the counter signal. More...
#define	HWCNTUNI_PISRC_CLEARSIG   11
	Source of reset signal. More...
#define	HWCNTUNI_CLRSLOPE   30
	Slope selector for reset signal. More...
#define	HWCNTUNI_SRCSLOPE   31
	Slope selector for counter signal. More...
#define	HW_CNTUNI_MODE_ENCSRC   0
#define	HW_CNTUNI_MODE_REFSRC   1
#define	HW_CNTUNI_MODE_SINGLENCA   2
#define	HW_CNTUNI_MODE_SINGLENCB   3
#define	HW_CNTUNI_MODE_RESETOFFSET   0x8000
#define	SDOINDEX_HWCMPUNI_PARAM   0x4120
	HW Comparator-universal Parameters: SDO Index. More...
#define	HWCMPUNI_PARAM_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWCMPUNI_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Comparator-universal Parameters: Getter. More...
#define	HWCMPUNI_PARAM_SRCINDEX(modno, parno)   ((SDOINDEX_HWCMPUNI_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Comparator-universal Parameters: Source Index. More...
#define	HWCMPUNI_PARAM(modno, parno)   Sysvar[HWCMPUNI_PARAM_INDEX((modno),(parno))]
	HW Comparator-universal Parameters: Setter. More...
#define	HWCMPUNI_PARAM_MAX   34
	HW Comparator-universal Parameters: Maximum number of parameters. More...
#define	HWCMPUNI_MODE   1
	not used More...
#define	HWCMPUNI_PISRC_COUNTER   10
	Counter to be observed. More...
#define	HWCMPUNI_POLUL   30
	Polarity of output at upper limit. More...
#define	HWCMPUNI_POLLL   31
	Polarity of output at lower limit. More...
#define	HWCMPUNI_UPLIMIT   32
	Value of upper limit. More...
#define	HWCMPUNI_LOLIMIT   33
	Value of lower limit. More...
#define	SDOINDEX_HWLATCH_PARAM   0x4140
	HW Latch Register Parameters: SDO Index. More...
#define	HWLATCH_PARAM_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWLATCH_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Latch Register Parameters: Getter. More...
#define	HWLATCH_PARAM_SRCINDEX(modno, parno)   ((SDOINDEX_HWLATCH_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Latch Register Parameters: Source Index. More...
#define	HWLATCH_PARAM(modno, parno)   Sysvar[HWLATCH_PARAM_INDEX((modno),(parno))]
	HW Latch Register Parameters: Setter. More...
#define	HWLATCH_PARAM_MAX   33
	HW Latch Register Parameters: Maximum number of parameters. More...
#define	HWLATCH_MODE   1
	not used More...
#define	HWLATCH_PISRC_COUNTER   10
	Source for counter to latch. More...
#define	HWLATCH_PISRC_TRIGGER   11
	Source for trigger signal. More...
#define	HWLATCH_PISRC_CMDWORD   12
	Source Index/subindex of command word. More...
#define	HWLATCH_SLOPE   30
	Slope selector for trigger signal. More...
#define	HWLATCH_PAR_DIGIN_VALIDATOR   31
	Selects a digital input to validate the latch signal. More...
#define	HWLATCH_STARTADC   32
	If this is true, on some platforms the ADC will be started when a latch arrives. More...
#define	HWLATCH_PISRC_TRIGGER_ENCZ   0x0000
#define	HWLATCH_PISRC_TRIGGER_VMZ   0x0040
#define	HWLATCH_PISRC_TRIGGER_DDSZ   0x0080
#define	HWLATCH_PISRC_TRIGGER_BRDA   0x00C0
#define	HWLATCH_PISRC_TRIGGER_BRDB   0x0100
#define	HWLATCH_PISRC_TRIGGER_DINP   0x0140
#define	HWLATCH_PISRC_TRIGGER_DOUT   0x0180
#define	HWLATCH_PISRC_TRIGGER_CMPG   0x01C0
#define	HWLATCH_PISRC_TRIGGER_CMPL   0x0200
#define	HWLATCH_PISRC_TRIGGER_PULS   0x0240
#define	HWLATCH_PISRC_TRIGGER_SHIFT   0x0280
#define	HWLATCH_PISRC_TRIGGER_IRQ   0x02C0
#define	HWLATCH_PISRC_TRIGGER_NOT   0xFFC0
#define	HWLATCH_SLOPE_CONTINUOUS   0
#define	HWLATCH_SLOPE_RISING   1
#define	HWLATCH_SLOPE_FALLING   2
#define	HWLATCH_SLOPE_BOTH   3
#define	HWLATCH_PAR_DIGIN_VALIDATOR_NONE   0
#define	HWLATCH_PAR_DIGIN_VALIDATOR_HIGH_DINP1   1
#define	HWLATCH_PAR_DIGIN_VALIDATOR_HIGH_DINP2   2
#define	HWLATCH_PAR_DIGIN_VALIDATOR_LOW_DINP1   -1
#define	HWLATCH_PAR_DIGIN_VALIDATOR_LOW_DINP2   -2
#define	SDOINDEX_HWSIGGEN_PARAM   0x4180
	HW Signalgen (Enc/Pulse) Parameters: SDO Index. More...
#define	HWSIGGEN_PARAM_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWSIGGEN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Signalgen (Enc/Pulse) Parameters: Getter. More...
#define	HWSIGGEN_PARAM_SRCINDEX(modno, parno)   ((SDOINDEX_HWSIGGEN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Signalgen (Enc/Pulse) Parameters: Source Index. More...
#define	HWSIGGEN_PARAM(modno, parno)   Sysvar[HWSIGGEN_PARAM_INDEX((modno),(parno))]
	HW Signalgen (Enc/Pulse) Parameters: Setter. More...
#define	HWSIGGEN_PARAM_MAX   32
	HW Signalgen (Enc/Pulse) Parameters: Maximum number of parameters. More...
#define	HWSIGGEN_MODE   1
	Enable. More...
#define	HWSIGGEN_PISRC_VELOCITY   10
	Source for frequency reference. More...
#define	HWSIGGEN_PISRC_SYNC   11
	Source for the sync information (not used) More...
#define	HWSIGGEN_POLARITY   30
	Polarity of the reference signal. More...
#define	HWSIGGEN_SIGDIST   31
	Distance between two reference signals. More...
#define	HWSIGGEN_MODE_DISABLE   0
#define	HWSIGGEN_MODE_ENABLE   1
#define	HWSIGGEN_MODE_ENABLE_SPECIAL   2
#define	SDOINDEX_HWDDS_PARAM   0x41C0
	HW DDS Parameters: SDO Index. More...
#define	HWDDS_PARAM_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWDDS_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW DDS Parameters: Getter. More...
#define	HWDDS_PARAM_SRCINDEX(modno, parno)   ((SDOINDEX_HWDDS_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW DDS Parameters: Source Index. More...
#define	HWDDS_PARAM(modno, parno)   Sysvar[HWDDS_PARAM_INDEX((modno),(parno))]
	HW DDS Parameters: Setter. More...
#define	HWDDS_PARAM_MAX   35
	HW DDS Parameters: Maximum number of parameters. More...
#define	HWDDS_MODE   1
	Mode. More...
#define	HWDDS_PISRC_ENCSIG   10
	Source for encoder signal. More...
#define	HWDDS_PISRC_SYNC   11
	Source for the sync information. More...
#define	HWDDS_POLARITY   30
	Polarity of the reference signal. More...
#define	HWDDS_SIGDIST   31
	Distance between two reference signals. More...
#define	HWDDS_NUMERATOR   32
	Numerator of the divisor. More...
#define	HWDDS_DENOMINATOR   33
	Denominator of the divisor. More...
#define	HWDDS_ENAREVMCOMP   34
	Reverse compensation. More...
#define	SDOINDEX_HWPWMGEN_PARAM   0x41D0
	HW PWM Generator Parameters: SDO Index. More...
#define	HWPWMGEN_PARAM_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWPWMGEN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW PWM Generator Parameters: Getter. More...
#define	HWPWMGEN_PARAM_SRCINDEX(modno, parno)   ((SDOINDEX_HWPWMGEN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW PWM Generator Parameters: Source Index. More...
#define	HWPWMGEN_PARAM(modno, parno)   Sysvar[HWPWMGEN_PARAM_INDEX((modno),(parno))]
	HW PWM Generator Parameters: Setter. More...
#define	HWPWMGEN_PARAM_MAX   11
	HW PWM Generator Parameters: Maximum number of parameters. More...
#define	HWPWMGEN_MODE   1
	Mode. More...
#define	HWPWMGEN_POLARITY   2
	Polarity of the reference signal. More...
#define	HWPWMGEN_FREQUENCY   3
	Frequency of the PWM output. More...
#define	HWPWMGEN_DUTYCYCLE_RANGE   4
	Duty cycle range. More...
#define	HWPWMGEN_PISRC_DUTYCYCLE   10
	Source for pwm duty cycle. More...
#define	HWPWMGEN_MODE_SIGNED   0
#define	HWPWMGEN_MODE_UNSIGNED   1
#define	HWPWMGEN_POLARITY_POSITIVE   0
#define	HWPWMGEN_POLARITY_NEGATIVE   1
#define	SDOINDEX_HWPULSGEN_PARAM   0x41E0
	HW Pulsgen Parameters: SDO Index. More...
#define	HWPULSGEN_PARAM_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWPULSGEN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Pulsgen Parameters: Getter. More...
#define	HWPULSGEN_PARAM_SRCINDEX(modno, parno)   ((SDOINDEX_HWPULSGEN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Pulsgen Parameters: Source Index. More...
#define	HWPULSGEN_PARAM(modno, parno)   Sysvar[HWPULSGEN_PARAM_INDEX((modno),(parno))]
	HW Pulsgen Parameters: Setter. More...
#define	HWPULSGEN_PARAM_MAX   34
	HW Pulsgen Parameters: Maximum number of parameters. More...
#define	HWPULSGEN_MODE   1
	Mode. More...
#define	HWPULSGEN_PISRC_ENCSIG   10
	Source for encoder signal. More...
#define	HWPULSGEN_PISRC_SYNC   11
	Source for the sync information. More...
#define	HWPULSGEN_POLARITY   30
	Polarity of the output signal. More...
#define	HWPULSGEN_SIGDIST   31
	Distance between two output pulses (period) More...
#define	HWPULSGEN_SIGLENGTH   32
	Length of the pulse. More...
#define	HWPULSGEN_NOCOMP   33
	Disable reverse motion compensation. More...
#define	SDOINDEX_HWSHIFTREG_PARAM   0x41F0
	HW Shift Register Parameters: SDO Index. More...
#define	HWSHIFTREG_PARAM_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWSHIFTREG_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Shift Register Parameters: Getter. More...
#define	HWSHIFTREG_PARAM_SRCINDEX(modno, parno)   ((SDOINDEX_HWSHIFTREG_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Shift Register Parameters: Source Index. More...
#define	HWSHIFTREG_PARAM(modno, parno)   Sysvar[HWSHIFTREG_PARAM_INDEX((modno),(parno))]
	HW Shift Register Parameters: Setter. More...
#define	HWSHIFTREG_PARAM_MAX   31
	HW Shift Register Parameters: Maximum number of parameters. More...
#define	HWSHIFTREG_MODE   1
	Enable. More...
#define	HWSHIFTREG_PISRC_ENCSIG   10
	Source for shift clock. More...
#define	HWSHIFTREG_PISRC_DATA   11
	Data to be shifted. More...
#define	HWSHIFTREG_DELAY   30
	Input delay. More...
#define	SDOINDEX_HWDIGIN_PARAM   0x4200
	HW Digital Input Parameters: SDO Index. More...
#define	HWDIGIN_PARAM_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWDIGIN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Digital Input Parameters: Getter. More...
#define	HWDIGIN_PARAM_SRCINDEX(modno, parno)   ((SDOINDEX_HWDIGIN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Digital Input Parameters: Source Index. More...
#define	HWDIGIN_PARAM(modno, parno)   Sysvar[HWDIGIN_PARAM_INDEX((modno),(parno))]
	HW Digital Input Parameters: Setter. More...
#define	HWDIGIN_PARAM_MAX   63
	HW Digital Input Parameters: Maximum number of parameters. More...
#define	HWDIGIN_MODE   1
	not used More...
#define	HWDIGIN_POLARITY   30
	Polarity of input signal. More...
#define	HWDIGIN_GLITCHFILT1   31
	Glitch filter. More...
#define	HWDIGIN_GLITCHFILT2   32
	Glitch filter. More...
#define	HWDIGIN_GLITCHFILT3   33
	Glitch filter. More...
#define	HWDIGIN_GLITCHFILT4   34
	Glitch filter. More...
#define	HWDIGIN_GLITCHFILT5   35
	Glitch filter. More...
#define	HWDIGIN_GLITCHFILT6   36
	Glitch filter. More...
#define	HWDIGIN_GLITCHFILT7   37
	Glitch filter. More...
#define	HWDIGIN_GLITCHFILT8   38
	Glitch filter. More...
#define	HWDIGIN_GLITCHFILT9   39
	Glitch filter. More...
#define	HWDIGIN_GLITCHFILT10   40
	Glitch filter. More...
#define	HWDIGIN_GLITCHFILT11   41
	Glitch filter. More...
#define	HWDIGIN_GLITCHFILT12   42
	Glitch filter. More...
#define	HWDIGIN_GLITCHFILT13   43
	Glitch filter. More...
#define	HWDIGIN_GLITCHFILT14   44
	Glitch filter. More...
#define	HWDIGIN_GLITCHFILT15   45
	Glitch filter. More...
#define	HWDIGIN_GLITCHFILT16   46
	Glitch filter. More...
#define	HWDIGIN_GLITCHFILT17   47
	Glitch filter. More...
#define	HWDIGIN_GLITCHFILT18   48
	Glitch filter. More...
#define	HWDIGIN_GLITCHFILT19   49
	Glitch filter. More...
#define	HWDIGIN_GLITCHFILT20   50
	Glitch filter. More...
#define	HWDIGIN_GLITCHFILT21   51
	Glitch filter. More...
#define	HWDIGIN_GLITCHFILT22   52
	Glitch filter. More...
#define	HWDIGIN_GLITCHFILT23   53
	Glitch filter. More...
#define	HWDIGIN_GLITCHFILT24   54
	Glitch filter. More...
#define	HWDIGIN_GLITCHFILT25   55
	Glitch filter. More...
#define	HWDIGIN_GLITCHFILT26   56
	Glitch filter. More...
#define	HWDIGIN_GLITCHFILT27   57
	Glitch filter. More...
#define	HWDIGIN_GLITCHFILT28   58
	Glitch filter. More...
#define	HWDIGIN_GLITCHFILT29   59
	Glitch filter. More...
#define	HWDIGIN_GLITCHFILT30   60
	Glitch filter. More...
#define	HWDIGIN_GLITCHFILT31   61
	Glitch filter. More...
#define	HWDIGIN_GLITCHFILT32   62
	Glitch filter. More...
#define	SDOINDEX_HWDIGOUT_PARAM   0x4240
	HW Digital Output Parameters: SDO Index. More...
#define	HWDIGOUT_PARAM_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWDIGOUT_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Digital Output Parameters: Getter. More...
#define	HWDIGOUT_PARAM_SRCINDEX(modno, parno)   ((SDOINDEX_HWDIGOUT_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Digital Output Parameters: Source Index. More...
#define	HWDIGOUT_PARAM(modno, parno)   Sysvar[HWDIGOUT_PARAM_INDEX((modno),(parno))]
	HW Digital Output Parameters: Setter. More...
#define	HWDIGOUT_PARAM_MAX   18
	HW Digital Output Parameters: Maximum number of parameters. More...
#define	HWDIGOUT_MODE   1
	Mode. More...
#define	HWDIGOUT_PISRC_MAP1   10
	Mapping entry for outputs. More...
#define	HWDIGOUT_PISRC_MAP2   11
	Mapping entry for outputs. More...
#define	HWDIGOUT_PISRC_MAP3   12
	Mapping entry for outputs. More...
#define	HWDIGOUT_PISRC_MAP4   13
	Mapping entry for outputs. More...
#define	HWDIGOUT_PISRC_BIT1   14
	Source for input signal. More...
#define	HWDIGOUT_PISRC_BIT2   15
	Source for input signal. More...
#define	HWDIGOUT_PISRC_BIT3   16
	Source for input signal. More...
#define	HWDIGOUT_PISRC_BIT4   17
	Source for input signal. More...
#define	SDOINDEX_HWANIN_PARAM   0x4280
	HW Analog Input Parameters: SDO Index. More...
#define	HWANIN_PARAM_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWANIN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Analog Input Parameters: Getter. More...
#define	HWANIN_PARAM_SRCINDEX(modno, parno)   ((SDOINDEX_HWANIN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Analog Input Parameters: Source Index. More...
#define	HWANIN_PARAM(modno, parno)   Sysvar[HWANIN_PARAM_INDEX((modno),(parno))]
	HW Analog Input Parameters: Setter. More...
#define	HWANIN_PARAM_MAX   33
	HW Analog Input Parameters: Maximum number of parameters. More...
#define	HWANIN_MODE   1
	not used More...
#define	HWANIN_OFFSET   30
	Offset which will be added to the output value. More...
#define	HWANIN_FILTTIME   31
	Filter time for analogue input. More...
#define	HWANIN_SCALING   32
	not used More...
#define	SDOINDEX_HWANOUT_PARAM   0x42C0
	HW Analog Output Parameters: SDO Index. More...
#define	HWANOUT_PARAM_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWANOUT_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Analog Output Parameters: Getter. More...
#define	HWANOUT_PARAM_SRCINDEX(modno, parno)   ((SDOINDEX_HWANOUT_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Analog Output Parameters: Source Index. More...
#define	HWANOUT_PARAM(modno, parno)   Sysvar[HWANOUT_PARAM_INDEX((modno),(parno))]
	HW Analog Output Parameters: Setter. More...
#define	HWANOUT_PARAM_MAX   31
	HW Analog Output Parameters: Maximum number of parameters. More...
#define	HWANOUT_MODE   1
	Mode. More...
#define	HWANOUT_PISRC_VALUE   10
	Index and subindex of source. More...
#define	HWANOUT_OFFSET   30
	Value which is added to analogue value. More...
#define	SDOINDEX_HWSIGBUS_PARAM   0x4300
	HW Signalbridges/bus ENC-REF Parameters: SDO Index. More...
#define	HWSIGBUS_PARAM_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWSIGBUS_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Signalbridges/bus ENC-REF Parameters: Getter. More...
#define	HWSIGBUS_PARAM_SRCINDEX(modno, parno)   ((SDOINDEX_HWSIGBUS_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Signalbridges/bus ENC-REF Parameters: Source Index. More...
#define	HWSIGBUS_PARAM(modno, parno)   Sysvar[HWSIGBUS_PARAM_INDEX((modno),(parno))]
	HW Signalbridges/bus ENC-REF Parameters: Setter. More...
#define	HWSIGBUS_PARAM_MAX   11
	HW Signalbridges/bus ENC-REF Parameters: Maximum number of parameters. More...
#define	HWBRENCREF_PISRC_ENCSIG   10
	Source encoder signal. More...
#define	SDOINDEX_HWBRREFENC_PARAM   0x4310
	HW Signalbridges/bus REF-ENC Parameters: SDO Index. More...
#define	HWBRREFENC_PARAM_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWBRREFENC_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Signalbridges/bus REF-ENC Parameters: Getter. More...
#define	HWBRREFENC_PARAM_SRCINDEX(modno, parno)   ((SDOINDEX_HWBRREFENC_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Signalbridges/bus REF-ENC Parameters: Source Index. More...
#define	HWBRREFENC_PARAM(modno, parno)   Sysvar[HWBRREFENC_PARAM_INDEX((modno),(parno))]
	HW Signalbridges/bus REF-ENC Parameters: Setter. More...
#define	HWBRREFENC_PARAM_MAX   12
	HW Signalbridges/bus REF-ENC Parameters: Maximum number of parameters. More...
#define	HWBRREFENC_PISRC_REFSIGA   10
	Source for encoder signal A. More...
#define	HWBRREFENC_PISRC_REFSIGB   11
	Source for encoder signal B. More...
#define	SDOINDEX_HWREFBUS_PARAM   0x4320
	HW Reference Bus Parameters: SDO Index. More...
#define	HWREFBUS_PARAM_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWREFBUS_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Reference Bus Parameters: Getter. More...
#define	HWREFBUS_PARAM_SRCINDEX(modno, parno)   ((SDOINDEX_HWREFBUS_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Reference Bus Parameters: Source Index. More...
#define	HWREFBUS_PARAM(modno, parno)   Sysvar[HWREFBUS_PARAM_INDEX((modno),(parno))]
	HW Reference Bus Parameters: Setter. More...
#define	HWREFBUS_PARAM_MAX   32
	HW Reference Bus Parameters: Maximum number of parameters. More...
#define	SDOINDEX_BUSMOD_PARAM   0x4400
	Bus Module Parameters: SDO Index. More...
#define	BUSMOD_PARAM_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_BUSMOD_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	Bus Module Parameters: Getter. More...
#define	BUSMOD_PARAM_SRCINDEX(modno, parno)   ((SDOINDEX_BUSMOD_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
	Bus Module Parameters: Source Index. More...
#define	BUSMOD_PARAM(modno, parno)   Sysvar[BUSMOD_PARAM_INDEX((modno),(parno))]
	Bus Module Parameters: Setter. More...
#define	BUSMOD_PARAM_MAX   69
	Bus Module Parameters: Maximum number of parameters. More...
#define	BUSMOD_MODE   1
	Activate / Deactivate. More...
#define	BUSMOD_TYPE   2
	Parameter preset. More...
#define	BUSMOD_TYPE_AXES   3
	Axes number used for source setting. More...
#define	BUSMOD_PISRC_INPUT1   10
	Index and subindex of Input value. More...
#define	BUSMOD_PISRC_INPUT2   11
	Index and subindex of Input value. More...
#define	BUSMOD_PISRC_INPUT3   12
	Index and subindex of Input value. More...
#define	BUSMOD_PISRC_INPUT4   13
	Index and subindex of Input value. More...
#define	BUSMOD_PISRC_INPUT5   14
	Index and subindex of Input value. More...
#define	BUSMOD_PISRC_INPUT6   15
	Index and subindex of Input value. More...
#define	BUSMOD_PISRC_INPUT7   16
	Index and subindex of Input value. More...
#define	BUSMOD_PISRC_INPUT8   17
	Index and subindex of Input value. More...
#define	BUSMOD_LEN_TXPDO1   22
	Length of TxPDO in Bytes. More...
#define	BUSMOD_LEN_TXPDO2   23
	Length of TxPDO in Bytes. More...
#define	BUSMOD_LEN_TXPDO3   24
	Length of TxPDO in Bytes. More...
#define	BUSMOD_LEN_TXPDO4   25
	Length of TxPDO in Bytes. More...
#define	BUSMOD_LEN_RXPDO1   26
	Length of RxPDO in Bytes. More...
#define	BUSMOD_LEN_RXPDO2   27
	Length of RxPDO in Bytes. More...
#define	BUSMOD_LEN_RXPDO3   28
	Length of RxPDO in Bytes. More...
#define	BUSMOD_LEN_RXPDO4   29
	Length of RxPDO in Bytes. More...
#define	BUSMOD_BUSTYPE   30
	Bus type. More...
#define	BUSMOD_BUSNO   31
	Bus number. More...
#define	BUSMOD_ID   32
	Slave node id. More...
#define	BUSMOD_SYNC   33
	Sync interval (only for CAN) More...
#define	BUSMOD_GUARDTIME   35
	Guard interval. More...
#define	BUSMOD_INHIBITTIME   36
	Inhibit time. More...
#define	BUSMOD_EVENTTIME   37
	Event time. More...
#define	BUSMOD_TXOFFSET   38
	Offset of the TX PDO. More...
#define	BUSMOD_RXOFFSET   39
	Offset of the RX PDO. More...
#define	BUSMOD_TXMAP_INPUT1   41
	Mapping for TX PDOs (send to bus) More...
#define	BUSMOD_TXMAP_INPUT2   42
	Mapping for TX PDOs (send to bus) More...
#define	BUSMOD_TXMAP_INPUT3   43
	Mapping for TX PDOs (send to bus) More...
#define	BUSMOD_TXMAP_INPUT4   44
	Mapping for TX PDOs (send to bus) More...
#define	BUSMOD_TXMAP_INPUT5   45
	Mapping for TX PDOs (send to bus) More...
#define	BUSMOD_TXMAP_INPUT6   46
	Mapping for TX PDOs (send to bus) More...
#define	BUSMOD_TXMAP_INPUT7   47
	Mapping for TX PDOs (send to bus) More...
#define	BUSMOD_TXMAP_INPUT8   48
	Mapping for TX PDOs (send to bus) More...
#define	BUSMOD_RXMAP_POVALUE1   61
	Mapping for RX PDOs (receive from bus) More...
#define	BUSMOD_RXMAP_POVALUE2   62
	Mapping for RX PDOs (receive from bus) More...
#define	BUSMOD_RXMAP_POVALUE3   63
	Mapping for RX PDOs (receive from bus) More...
#define	BUSMOD_RXMAP_POVALUE4   64
	Mapping for RX PDOs (receive from bus) More...
#define	BUSMOD_RXMAP_POVALUE5   65
	Mapping for RX PDOs (receive from bus) More...
#define	BUSMOD_RXMAP_POVALUE6   66
	Mapping for RX PDOs (receive from bus) More...
#define	BUSMOD_RXMAP_POVALUE7   67
	Mapping for RX PDOs (receive from bus) More...
#define	BUSMOD_RXMAP_POVALUE8   68
	Mapping for RX PDOs (receive from bus) More...
#define	BUSMOD_MODE_DEACTIVATE   0
#define	BUSMOD_MODE_ACTIVATE   1
#define	BUSMOD_MODE_ACTIVATE_NOSTOP   2
#define	BUSMOD_BUSTYPE_CAN   0
#define	BUSMOD_BUSTYPE_ECAT_S   1
#define	BUSMOD_BUSTYPE_ECAT_M   2
#define	BUSMOD_BUSNO_CAN1   0
#define	BUSMOD_BUSNO_CAN2   1
#define	SDOINDEX_HWAMP_PROCESS   0x4800
	HW Amplifier Process Data: SDO Index. More...
#define	HWAMP_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWAMP_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Amplifier Process Data: Getter. More...
#define	HWAMP_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_HWAMP_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Amplifier Process Data: Source Index. More...
#define	HWAMP_PROCESS(modno, parno)   Sysvar[HWAMP_PROCESS_INDEX((modno),(parno))]
	HW Amplifier Process Data: Setter. More...
#define	HWAMP_PROCESS_MAX   86
	HW Amplifier Process Data: Maximum number of parameters. More...
#define	PO_HWAMP_STATUS   1
	Status word of the axis. More...
#define	PO_HWAMP_CURRENT   2
	Actual current. More...
#define	PO_HWAMP_HALLPOS   6
	Hall position. More...
#define	PO_HWAMP_SUPPLYVOLTAGE   8
	not used More...
#define	PO_HWAMP_POWERFAIL   9
	Use PO_HWAMP_STATUS bit UNDERVOLTAGE. More...
#define	PO_HWAMP_USERDEFINED_DATA0   13
	The value in this process data can be selected by the HWAMP_USERDEFINED_DATA parameters (only MACS5) More...
#define	PO_HWAMP_USERDEFINED_DATA1   14
	The value in this process data can be selected by the HWAMP_USERDEFINED_DATA parameters (only MACS5) More...
#define	PO_HWAMP_USERDEFINED_DATA2   15
	The value in this process data can be selected by the HWAMP_USERDEFINED_DATA parameters (only MACS5) More...
#define	PO_HWAMP_USERDEFINED_DATA3   16
	The value in this process data can be selected by the HWAMP_USERDEFINED_DATA parameters (only MACS5) More...
#define	PO_HWAMP_TEMP1   17
	Temperature Value 1 (On board) More...
#define	PO_HWAMP_TEMP2   18
	Temperature Value 2 (On board, in case of one sensor: equal PO_HWAMP_TEMP1) More...
#define	PO_HWAMP_VOLT1   19
	Voltage Value 1 (Power voltage at amplifier) More...
#define	PO_HWAMP_VOLT2   20
	Voltage Value 2 (Logic voltage, 24V) More...
#define	PO_HWAMP_PABS   21
	absolute position used to determine electrical position More...
#define	PO_HWAMP_PABSVEL   22
	Velocity. More...
#define	PO_HWAMP_HALL_POSEL   23
	Hall electrical position. More...
#define	PO_HWAMP_HALL_POSRAW   24
	Hall raw value. More...
#define	PO_HWAMP_ELPOS_POSEL   25
	Electrical position in quadcounts. More...
#define	PO_HWAMP_ELPOS_POSENC   26
	Last encoder position received. More...
#define	PO_HWAMP_COSSIN_COS   27
	Cosine value used for the transformation from ab to dq. More...
#define	PO_HWAMP_COSSIN_SIN   28
	Sine value used for the transformation from ab to dq. More...
#define	PO_HWAMP_VEL_VEL   29
	Velocity[rpm] = PO_HWAMP_VEL_VEL * 2 * HWAMP_MAXRPM / 0x7FFF. More...
#define	PO_HWAMP_VEL_VELRAW   30
	Velocity. More...
#define	PO_HWAMP_IPH_U   31
	Phase current U. More...
#define	PO_HWAMP_IPH_V   32
	Phase current V. More...
#define	PO_HWAMP_IPH_W   33
	Phase current W. More...
#define	PO_HWAMP_IPHFIL_U   34
	Deprecated, Phase current U filtered. More...
#define	PO_HWAMP_IPHFIL_V   35
	Deprecated, Phase current V filtered. More...
#define	PO_HWAMP_IPHFIL_W   36
	Deprecated, Phase current W filtered. More...
#define	PO_HWAMP_IPHI2T_U   37
	Deprecated, Actual I2T value U. More...
#define	PO_HWAMP_IPHI2T_V   38
	Deprecated, Actual I2T value V. More...
#define	PO_HWAMP_IPHI2T_W   39
	Deprecated, Actual I2T value W. More...
#define	PO_HWAMP_IDQ_D   40
	Currents in d coordinate used by PMSM or Stepper current controller. More...
#define	PO_HWAMP_IDQ_Q   41
	Currents in q coordinate used by PMSM or Stepper current controller. More...
#define	PO_HWAMP_DCPH_U   42
	Duty cycle in ph coordinates, -0x7FFF...0x7FFF. More...
#define	PO_HWAMP_DCPH_V   43
	Duty cycle in ph coordinates, -0x7FFF...0x7FFF. More...
#define	PO_HWAMP_DCPH_W   44
	Duty cycle in ph coordinates, -0x7FFF...0x7FFF. More...
#define	PO_HWAMP_DCDQ_D   45
	Duty cycle in d coordinate, -0x7FFF...0x7FFF. More...
#define	PO_HWAMP_DCDQ_Q   46
	Duty cycle in q coordinate, -0x7FFF...0x7FFF. More...
#define	PO_HWAMP_ENPH_U   47
	Enable/disable halfbridge U. More...
#define	PO_HWAMP_ENPH_V   48
	Enable/disable halfbridge V. More...
#define	PO_HWAMP_ENPH_W   49
	Enable/disable halfbridge W. More...
#define	PO_HWAMP_VELPI_ACTUAL   50
	Same as PO_HWAMP_VEL_VEL. More...
#define	PO_HWAMP_VELPI_REF   51
	Reference of velocity controller. More...
#define	PO_HWAMP_VELPI_ERR   52
	Actual regulation error of velocity controller. More...
#define	PO_HWAMP_VELPI_OUT   53
	Actual output of velocity controller. More...
#define	PO_HWAMP_VELPI_ACTINTSUM   54
	Actual integrated sum of velocity controller. More...
#define	PO_HWAMP_CURPI0_ACTUAL   55
	Actual value for current controller. More...
#define	PO_HWAMP_CURPI0_REF   56
	Reference value for current controller 0. More...
#define	PO_HWAMP_CURPI0_ERR   57
	Actual regulation error of current controller 0. More...
#define	PO_HWAMP_CURPI0_OUT   58
	Actual output of current controller 0. More...
#define	PO_HWAMP_CURPI0_ACTINTSUM   59
	Actual integrated sum of current controller 0. More...
#define	PO_HWAMP_CURPI1_ACTUAL   60
	Actual value for current controller 1. More...
#define	PO_HWAMP_CURPI1_REF   61
	Reference value for current controller 1. More...
#define	PO_HWAMP_CURPI1_ERR   62
	Actual regulation error of current controller 1. More...
#define	PO_HWAMP_CURPI1_OUT   63
	Actual output of current controller 1. More...
#define	PO_HWAMP_CURPI1_ACTINTSUM   64
	Actual integrated sum of current controller 1. More...
#define	PO_HWAMP_SET1_0   65
	Value depends on HWAMP_DEFINE_PO_DATA_SET. More...
#define	PO_HWAMP_SET1_1   66
	Value depends on HWAMP_DEFINE_PO_DATA_SET. More...
#define	PO_HWAMP_SET1_2   67
	Value depends on HWAMP_DEFINE_PO_DATA_SET. More...
#define	PO_HWAMP_SET1_3   68
	Value depends on HWAMP_DEFINE_PO_DATA_SET. More...
#define	PO_HWAMP_SET1_4   69
	Value depends on HWAMP_DEFINE_PO_DATA_SET. More...
#define	PO_HWAMP_SET1_5   70
	Value depends on HWAMP_DEFINE_PO_DATA_SET. More...
#define	PO_HWAMP_SET2_0   71
	Value depends on HWAMP_DEFINE_PO_DATA_SET. More...
#define	PO_HWAMP_SET2_1   72
	Value depends on HWAMP_DEFINE_PO_DATA_SET. More...
#define	PO_HWAMP_SET2_2   73
	Value depends on HWAMP_DEFINE_PO_DATA_SET. More...
#define	PO_HWAMP_SET2_3   74
	Value depends on HWAMP_DEFINE_PO_DATA_SET. More...
#define	PO_HWAMP_SET2_4   75
	Value depends on HWAMP_DEFINE_PO_DATA_SET. More...
#define	PO_HWAMP_SET2_5   76
	Value depends on HWAMP_DEFINE_PO_DATA_SET. More...
#define	PO_HWAMP_ELPOS_LAG   77
	Electrical position lag compensation value. More...
#define	PO_HWAMP_ELPOS_DELTA   78
	Electrical position lag actual value. More...
#define	PO_HWAMP_STEPPOS_POSEL   79
	Stepper Motor electrical position in cossin units. More...
#define	PO_HWAMP_REF   80
	Reference value. More...
#define	PO_HWAMP_FF   81
	Feed forward component. More...
#define	PO_HWAMP_STEPPOS_CURLOOPINDEX   82
	Index counting from 0 to number of current loops within a millisecond-loop. More...
#define	PO_HWAMP_HALL_ERRORCOUNT   83
	HALL error count. More...
#define	PO_HWAMP_TEMP_MOT   84
	Motor's temperature. More...
#define	PO_HWAMP_TOTAL_CURRENT   85
	Sum of alll PO_HWAMP_CURRENT. More...
#define	PO_HWAMP_STATUS_ENABLED   0x00001
#define	PO_HWAMP_STATUS_RUNNING   0x00002
#define	PO_HWAMP_STATUS_UNDERVOLTAGE   0x00004
#define	PO_HWAMP_STATUS_OVERVOLTAGE   0x00008
#define	PO_HWAMP_STATUS_HW_OVERCURRENT_ABS   0x00010
#define	PO_HWAMP_STATUS_SW_OVERCURRENT_ABS   0x00020
#define	PO_HWAMP_STATUS_SW_OVERCURRENT_I2T   0x00040
#define	PO_HWAMP_STATUS_OVERTEMPERATURE   0x00080
#define	PO_HWAMP_STATUS_DSP_LINK   0x00100
#define	PO_HWAMP_STATUS_MOSFETDRIVER_SUPPLY   0x00200
#define	PO_HWAMP_STATUS_ADC   0x00400
#define	PO_HWAMP_STATUS_HALL   0x00800
#define	PO_HWAMP_STATUS_HALL_ANGLE   0x01000
#define	PO_HWAMP_STATUS_NOT_YET_READY   0x10000
#define	PO_HWAMP_TEMP_INVALID   0x7FFF
#define	PO_HWAMP__TEMP_INVALID   0x7FFF
#define	PO_HWAMP_HALL_ERRORCOUNT_MAX   0xFFFF
#define	PO_HWAMP_TEMP_INVALID   0x7FFF
#define	SDOINDEX_HWENC_PROCESS   0x4840
	HW Encoder Process Data: SDO Index. More...
#define	HWENC_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWENC_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Encoder Process Data: Getter. More...
#define	HWENC_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_HWENC_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Encoder Process Data: Source Index. More...
#define	HWENC_PROCESS(modno, parno)   Sysvar[HWENC_PROCESS_INDEX((modno),(parno))]
	HW Encoder Process Data: Setter. More...
#define	HWENC_PROCESS_MAX   2
	HW Encoder Process Data: Maximum number of parameters. More...
#define	PO_HWENCODER_ERROR   1
	Encoder error bits. More...
#define	HWENCODER_ERROR_CRC   0x01
#define	HWENCODER_ERROR_SYNC   0x02
#define	HWENCODER_ERROR_TRANSFERTIME   0x04
#define	HWENCODER_ERROR_SIGNAL   0x08
#define	SDOINDEX_HWHALL_PROCESS   0x4870
	HW Hall Sensor Process Data: SDO Index. More...
#define	HWHALL_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWHALL_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Hall Sensor Process Data: Getter. More...
#define	HWHALL_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_HWHALL_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Hall Sensor Process Data: Source Index. More...
#define	HWHALL_PROCESS(modno, parno)   Sysvar[HWHALL_PROCESS_INDEX((modno),(parno))]
	HW Hall Sensor Process Data: Setter. More...
#define	HWHALL_PROCESS_MAX   4
	HW Hall Sensor Process Data: Maximum number of parameters. More...
#define	PO_HWHALL_STATUS   1
	Digital input status of HALL sensor (3 bits, 0...7) More...
#define	PO_HWHALL_POS   2
	Position value (incrementing/decrementing) More...
#define	PO_HWHALL_VEL   3
	Velocity value. More...
#define	SDOINDEX_HWCOUNTINC_PROCESS   0x4880
	HW Counter-inc Process Data: SDO Index. More...
#define	HWCOUNTINC_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWCOUNTINC_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Counter-inc Process Data: Getter. More...
#define	HWCOUNTINC_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_HWCOUNTINC_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Counter-inc Process Data: Source Index. More...
#define	HWCOUNTINC_PROCESS(modno, parno)   Sysvar[HWCOUNTINC_PROCESS_INDEX((modno),(parno))]
	HW Counter-inc Process Data: Setter. More...
#define	HWCOUNTINC_PROCESS_MAX   12
	HW Counter-inc Process Data: Maximum number of parameters. More...
#define	PO_HWCNTINC_VALUE   1
	Output of counter module (position value) More...
#define	PO_HWCNTINC_VELOCITY   2
	This value returns the position difference per millisecond. More...
#define	PO_HWCNTINC_STATUS   3
	not used (only legacy bits for Zoller) More...
#define	PO_HWCNTINC_LASTVALUE   4
	Last value of the counter. More...
#define	PO_HWCNTINC_SINCOSPART   5
	Analog part of the SinCos Signal. More...
#define	PO_HWCNTINC_INCPART   8
	Incremental part of a Sin Cos signal. More...
#define	PO_HWCNTINC_SINCOS_DEBUG   9
	Debug information for SinCos Encoder. More...
#define	PO_HWCNTINC_SINCOS_DEBUG2   10
	Debug Information for SinCos Encoder. More...
#define	PO_HWCNTINC_SINCOS_DEBUG3   11
	Debug Information for SinCos Encoder. More...
#define	SDOINDEX_HWCOUNTABS_PROCESS   0x48C0
	HW Counter-abs Process Data: SDO Index. More...
#define	HWCOUNTABS_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWCOUNTABS_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Counter-abs Process Data: Getter. More...
#define	HWCOUNTABS_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_HWCOUNTABS_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Counter-abs Process Data: Source Index. More...
#define	HWCOUNTABS_PROCESS(modno, parno)   Sysvar[HWCOUNTABS_PROCESS_INDEX((modno),(parno))]
	HW Counter-abs Process Data: Setter. More...
#define	HWCOUNTABS_PROCESS_MAX   3
	HW Counter-abs Process Data: Maximum number of parameters. More...
#define	PO_HWCNTABS_VALUE   1
	Position output of absolute encoder Counter. More...
#define	PO_HWCNTABS_RAW   2
	Raw databits of the transmission (Not on MACS5) More...
#define	SDOINDEX_HWCOUNTUNI_PROCESS   0x4900
	HW Counter-abs Process Data: SDO Index. More...
#define	HWCOUNTUNI_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWCOUNTUNI_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Counter-abs Process Data: Getter. More...
#define	HWCOUNTUNI_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_HWCOUNTUNI_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Counter-abs Process Data: Source Index. More...
#define	HWCOUNTUNI_PROCESS(modno, parno)   Sysvar[HWCOUNTUNI_PROCESS_INDEX((modno),(parno))]
	HW Counter-abs Process Data: Setter. More...
#define	HWCOUNTUNI_PROCESS_MAX   3
	HW Counter-abs Process Data: Maximum number of parameters. More...
#define	PO_HWCNTUNI_VALUE   1
	Output of counter module. More...
#define	PO_HWCNTUNI_VELOCITY   2
	not used More...
#define	SDOINDEX_HWCMPUNI_PROCESS   0x4920
	HW Comparator-universal Process Data: SDO Index. More...
#define	HWCMPUNI_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWCMPUNI_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Comparator-universal Process Data: Getter. More...
#define	HWCMPUNI_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_HWCMPUNI_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Comparator-universal Process Data: Source Index. More...
#define	HWCMPUNI_PROCESS(modno, parno)   Sysvar[HWCMPUNI_PROCESS_INDEX((modno),(parno))]
	HW Comparator-universal Process Data: Setter. More...
#define	HWCMPUNI_PROCESS_MAX   2
	HW Comparator-universal Process Data: Maximum number of parameters. More...
#define	SDOINDEX_HWLATCH_PROCESS   0x4940
	HW Latch Register Process Data: SDO Index. More...
#define	HWLATCH_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWLATCH_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Latch Register Process Data: Getter. More...
#define	HWLATCH_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_HWLATCH_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Latch Register Process Data: Source Index. More...
#define	HWLATCH_PROCESS(modno, parno)   Sysvar[HWLATCH_PROCESS_INDEX((modno),(parno))]
	HW Latch Register Process Data: Setter. More...
#define	HWLATCH_PROCESS_MAX   10
	HW Latch Register Process Data: Maximum number of parameters. More...
#define	PO_HWLATCH_VALUE   1
	Output of latch module. More...
#define	PO_HWLATCH_FLAG   2
	Flag signal that a new latch happened. More...
#define	PO_HWLATCH_COUNT   3
	Number of latches occurred up until now. More...
#define	PO_HWLATCH_AMOUNT_IN_FIFO   4
	Number of latches in FIFO. More...
#define	PO_HWLATCH_FIFOREAD   5
	Latch position read from FIFO. More...
#define	PO_HWLATCH_FIFO_WRITEINDEX   6
	Write index position of FIFO. More...
#define	PO_HWLATCH_FIFO_READINDEX   7
	Read index position of FIFO. More...
#define	PO_HWLATCH_FIFO_STAT   8
	Status of HW Latch FIFO. More...
#define	PO_HWLATCH_FIFO_PEEK   9
	Peek the latest element from the FIFO. More...
#define	SDOINDEX_HWSIGGEN_PROCESS   0x4980
	HW Signalgen (Enc/Pulse) Process Data: SDO Index. More...
#define	HWSIGGEN_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWSIGGEN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Signalgen (Enc/Pulse) Process Data: Getter. More...
#define	HWSIGGEN_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_HWSIGGEN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Signalgen (Enc/Pulse) Process Data: Source Index. More...
#define	HWSIGGEN_PROCESS(modno, parno)   Sysvar[HWSIGGEN_PROCESS_INDEX((modno),(parno))]
	HW Signalgen (Enc/Pulse) Process Data: Setter. More...
#define	HWSIGGEN_PROCESS_MAX   4
	HW Signalgen (Enc/Pulse) Process Data: Maximum number of parameters. More...
#define	SDOINDEX_HWDDS_PROCESS   0x49C0
	HW DDS Process Data: SDO Index. More...
#define	HWDDS_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWDDS_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW DDS Process Data: Getter. More...
#define	HWDDS_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_HWDDS_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW DDS Process Data: Source Index. More...
#define	HWDDS_PROCESS(modno, parno)   Sysvar[HWDDS_PROCESS_INDEX((modno),(parno))]
	HW DDS Process Data: Setter. More...
#define	HWDDS_PROCESS_MAX   1
	HW DDS Process Data: Maximum number of parameters. More...
#define	SDOINDEX_HWPWMGEN_PROCESS   0x49D0
	HW PWM Generators Process Data: SDO Index. More...
#define	HWPWMGEN_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWPWMGEN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW PWM Generators Process Data: Getter. More...
#define	HWPWMGEN_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_HWPWMGEN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW PWM Generators Process Data: Source Index. More...
#define	HWPWMGEN_PROCESS(modno, parno)   Sysvar[HWPWMGEN_PROCESS_INDEX((modno),(parno))]
	HW PWM Generators Process Data: Setter. More...
#define	HWPWMGEN_PROCESS_MAX   2
	HW PWM Generators Process Data: Maximum number of parameters. More...
#define	PO_HWPWMGEN_VALUE   1
	Current Duty Cycle (0-100%) More...
#define	SDOINDEX_HWPULSGEN_PROCESS   0x49E0
	HW Pulsgen Process Data: SDO Index. More...
#define	HWPULSGEN_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWPULSGEN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Pulsgen Process Data: Getter. More...
#define	HWPULSGEN_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_HWPULSGEN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Pulsgen Process Data: Source Index. More...
#define	HWPULSGEN_PROCESS(modno, parno)   Sysvar[HWPULSGEN_PROCESS_INDEX((modno),(parno))]
	HW Pulsgen Process Data: Setter. More...
#define	HWPULSGEN_PROCESS_MAX   1
	HW Pulsgen Process Data: Maximum number of parameters. More...
#define	SDOINDEX_HWSHIFTREG_PROCESS   0x49F0
	HW Shift Register Process Data: SDO Index. More...
#define	HWSHIFTREG_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWSHIFTREG_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Shift Register Process Data: Getter. More...
#define	HWSHIFTREG_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_HWSHIFTREG_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Shift Register Process Data: Source Index. More...
#define	HWSHIFTREG_PROCESS(modno, parno)   Sysvar[HWSHIFTREG_PROCESS_INDEX((modno),(parno))]
	HW Shift Register Process Data: Setter. More...
#define	HWSHIFTREG_PROCESS_MAX   1
	HW Shift Register Process Data: Maximum number of parameters. More...
#define	SDOINDEX_HWDIGIN_PROCESS   0x4A00
	HW Digital Input Process Data: SDO Index. More...
#define	HWDIGIN_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWDIGIN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Digital Input Process Data: Getter. More...
#define	HWDIGIN_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_HWDIGIN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Digital Input Process Data: Source Index. More...
#define	HWDIGIN_PROCESS(modno, parno)   Sysvar[HWDIGIN_PROCESS_INDEX((modno),(parno))]
	HW Digital Input Process Data: Setter. More...
#define	HWDIGIN_PROCESS_MAX   8
	HW Digital Input Process Data: Maximum number of parameters. More...
#define	PO_HWDIGIN_VALLONG   1
	Return 32 bit input states (1 bit for each digital input signal) More...
#define	PO_HWDIGIN_VALWORD1   2
	Returns 16 bit input state (1 bit for each digtal input) More...
#define	PO_HWDIGIN_VALWORD2   3
	Returns 16 bit input state (1 bit for each digtal input) More...
#define	PO_HWDIGIN_VALBYTE1   4
	Returns 8 bit input state (1 bit for each digital input) More...
#define	PO_HWDIGIN_VALBYTE2   5
	Returns 8 bit input state (1 bit for each digital input) More...
#define	PO_HWDIGIN_VALBYTE3   6
	Returns 8 bit input state (1 bit for each digital input) More...
#define	PO_HWDIGIN_VALBYTE4   7
	Returns 8 bit input state (1 bit for each digital input) More...
#define	SDOINDEX_HWDIGOUT_PROCESS   0x4A40
	HW Digital Output Process Data: SDO Index. More...
#define	HWDIGOUT_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWDIGOUT_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Digital Output Process Data: Getter. More...
#define	HWDIGOUT_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_HWDIGOUT_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Digital Output Process Data: Source Index. More...
#define	HWDIGOUT_PROCESS(modno, parno)   Sysvar[HWDIGOUT_PROCESS_INDEX((modno),(parno))]
	HW Digital Output Process Data: Setter. More...
#define	HWDIGOUT_PROCESS_MAX   3
	HW Digital Output Process Data: Maximum number of parameters. More...
#define	PO_HWDIGOUT_VALUE   1
	The current digital output state (32 bits, each bit represents one digital output) More...
#define	PO_HWDIGOUT_FORCEVALUE   2
	The output value to be forced. More...
#define	SDOINDEX_HWANIN_PROCESS   0x4A80
	HW Analog Input Process Data: SDO Index. More...
#define	HWANIN_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWANIN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Analog Input Process Data: Getter. More...
#define	HWANIN_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_HWANIN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Analog Input Process Data: Source Index. More...
#define	HWANIN_PROCESS(modno, parno)   Sysvar[HWANIN_PROCESS_INDEX((modno),(parno))]
	HW Analog Input Process Data: Setter. More...
#define	HWANIN_PROCESS_MAX   5
	HW Analog Input Process Data: Maximum number of parameters. More...
#define	PO_HWANIN_VALUE   1
	Filtered analog input value. More...
#define	PO_HWANIN_UNFILT   2
	Unfiltered analog input value. More...
#define	PO_HWANIN_MAXVAL   3
	Maximum value of the filtered value up to now. More...
#define	PO_HWANIN_MINVAL   4
	Minimum value of the filtered value up to now. More...
#define	SDOINDEX_HWANOUT_PROCESS   0x4AC0
	HW Analog Output Process Data: SDO Index. More...
#define	HWANOUT_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWANOUT_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Analog Output Process Data: Getter. More...
#define	HWANOUT_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_HWANOUT_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Analog Output Process Data: Source Index. More...
#define	HWANOUT_PROCESS(modno, parno)   Sysvar[HWANOUT_PROCESS_INDEX((modno),(parno))]
	HW Analog Output Process Data: Setter. More...
#define	HWANOUT_PROCESS_MAX   3
	HW Analog Output Process Data: Maximum number of parameters. More...
#define	PO_HWANOUT_VALUE   1
#define	PO_HWANOUT_FORCEVALUE   2
	Enable write by setting HWANOUT_MODE to 1. More...
#define	SDOINDEX_HWSIGBUS_PROCESS   0x4B00
	HW Signalbridges/bus ENC-REF Process Data: SDO Index. More...
#define	HWSIGBUS_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWSIGBUS_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Signalbridges/bus ENC-REF Process Data: Getter. More...
#define	HWSIGBUS_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_HWSIGBUS_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Signalbridges/bus ENC-REF Process Data: Source Index. More...
#define	HWSIGBUS_PROCESS(modno, parno)   Sysvar[HWSIGBUS_PROCESS_INDEX((modno),(parno))]
	HW Signalbridges/bus ENC-REF Process Data: Setter. More...
#define	HWSIGBUS_PROCESS_MAX   1
	HW Signalbridges/bus ENC-REF Process Data: Maximum number of parameters. More...
#define	SDOINDEX_HWBRREFENC_PROCESS   0x4B10
	HW Signalbridges/bus REF-ENC Process Data: SDO Index. More...
#define	HWBRREFENC_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWBRREFENC_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Signalbridges/bus REF-ENC Process Data: Getter. More...
#define	HWBRREFENC_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_HWBRREFENC_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Signalbridges/bus REF-ENC Process Data: Source Index. More...
#define	HWBRREFENC_PROCESS(modno, parno)   Sysvar[HWBRREFENC_PROCESS_INDEX((modno),(parno))]
	HW Signalbridges/bus REF-ENC Process Data: Setter. More...
#define	HWBRREFENC_PROCESS_MAX   1
	HW Signalbridges/bus REF-ENC Process Data: Maximum number of parameters. More...
#define	SDOINDEX_HWREFBUS_PROCESS   0x4B20
	HW Reference Bus Process Data: SDO Index. More...
#define	HWREFBUS_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_HWREFBUS_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	HW Reference Bus Process Data: Getter. More...
#define	HWREFBUS_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_HWREFBUS_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	HW Reference Bus Process Data: Source Index. More...
#define	HWREFBUS_PROCESS(modno, parno)   Sysvar[HWREFBUS_PROCESS_INDEX((modno),(parno))]
	HW Reference Bus Process Data: Setter. More...
#define	HWREFBUS_PROCESS_MAX   3
	HW Reference Bus Process Data: Maximum number of parameters. More...
#define	HWREFBUS_PO_REG0   1
	RefVecBus bits 0-31. More...
#define	HWREFBUS_PO_REG1   2
	RefVecBus bits 32-63. More...
#define	SDOINDEX_BUSMOD_PROCESS   0x4C00
	Bus Module Process Data: SDO Index. More...
#define	BUSMOD_PROCESS_INDEX(modno, parno)   ((0x01000000 | (SDOINDEX_BUSMOD_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
	Bus Module Process Data: Getter. More...
#define	BUSMOD_PROCESS_SRCINDEX(modno, parno)   ((SDOINDEX_BUSMOD_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
	Bus Module Process Data: Source Index. More...
#define	BUSMOD_PROCESS(modno, parno)   Sysvar[BUSMOD_PROCESS_INDEX((modno),(parno))]
	Bus Module Process Data: Setter. More...
#define	BUSMOD_PROCESS_MAX   39
	Bus Module Process Data: Maximum number of parameters. More...
#define	PO_BUSMOD_VALUE1   1
	Output value of the RX PDOs. More...
#define	PO_BUSMOD_VALUE2   2
	Output value of the RX PDOs. More...
#define	PO_BUSMOD_VALUE3   3
	Output value of the RX PDOs. More...
#define	PO_BUSMOD_VALUE4   4
	Output value of the RX PDOs. More...
#define	PO_BUSMOD_VALUE5   5
	Output value of the RX PDOs. More...
#define	PO_BUSMOD_VALUE6   6
	Output value of the RX PDOs. More...
#define	PO_BUSMOD_VALUE7   7
	Output value of the RX PDOs. More...
#define	PO_BUSMOD_VALUE8   8
	Output value of the RX PDOs. More...
#define	PO_BUSMOD_LASTERROR   23
	Last error number. More...
#define	PO_BUSMOD_LASTRXTIME   24
	Time of last PDO reception (PDO 1-4) More...
#define	PO_BUSMOD_LASTTXTIME   25
	Time of last PDO sending (PDO1-4) More...
#define	PO_BUSMOD_OBJ_TXPDO1   26
	Internal CanObj Number used for PDO. More...
#define	PO_BUSMOD_OBJ_TXPDO2   27
	Internal CanObj Number used for PDO. More...
#define	PO_BUSMOD_OBJ_TXPDO3   28
	Internal CanObj Number used for PDO. More...
#define	PO_BUSMOD_OBJ_TXPDO4   29
	Internal CanObj Number used for PDO. More...
#define	PO_BUSMOD_OBJ_RXPDO1   30
	Internal CanObj Number used for PDO. More...
#define	PO_BUSMOD_OBJ_RXPDO2   31
	Internal CanObj Number used for PDO. More...
#define	PO_BUSMOD_OBJ_RXPDO3   32
	Internal CanObj Number used for PDO. More...
#define	PO_BUSMOD_OBJ_RXPDO4   33
	Internal CanObj Number used for PDO. More...
#define	PO_BUSMOD_DEVTYPE   34
	Devicetype of connected slave node (only CAN) More...
#define	PO_BUSMOD_TIMER_TXPDO1   35
	Internal counter for event and inhibit time. More...
#define	PO_BUSMOD_TIMER_TXPDO2   36
	Internal counter for event and inhibit time. More...
#define	PO_BUSMOD_TIMER_TXPDO3   37
	Internal counter for event and inhibit time. More...
#define	PO_BUSMOD_TIMER_TXPDO4   38
	Internal counter for event and inhibit time. More...

Macro Definition Documentation

ACCMAXQC

#define ACCMAXQC   11

Maximum acceleration.

Maximum acceleration in internal units. For internal use only. Do NOT use this value! Use RAMPMIN (subindex 32) instead.

Initial Value

2184

Value Range

1-MLONG

Definition at line 2395 of file SdoDictionary.mh.

APOSS_ARRAY

#define APOSS_ARRAY	(		modno,
			parno
	)		Sysvar[APOSS_ARRAY_INDEX((modno),(parno))]

Aposs Array: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 40 of file SdoDictionary.mh.

APOSS_ARRAY_INDEX

#define APOSS_ARRAY_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_APOSS_ARRAY<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Aposs Array: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 28 of file SdoDictionary.mh.

APOSS_ARRAY_MAX

#define APOSS_ARRAY_MAX   255

Aposs Array: Maximum number of parameters.

Definition at line 44 of file SdoDictionary.mh.

APOSS_ARRAY_SRCINDEX

#define APOSS_ARRAY_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_APOSS_ARRAY<<8) | (((long) (modno))<<8) | ((long) (parno)))

Aposs Array: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 34 of file SdoDictionary.mh.

AXE_PARAM

#define AXE_PARAM	(		modno,
			parno
	)		Sysvar[AXE_PARAM_INDEX((modno),(parno))]

Axis Parameters: Setter.

Parameters

modno	Module number
parno	Parameter number

Examples

CAN_2Ax_EPOS4-Test_csp.mc, CAN_4Ax_MiniMACS6_cst.mc, DeltaRobot_No_SM_EPOS4_ECAT.mc, ECAT_1Ax_EPOS4-Test_cst.mc, ECAT_3Ax_Epos4-Test_csp.mc, and Stepper_XY_OL.mc.

Definition at line 2293 of file SdoDictionary.mh.

AXE_PARAM_INDEX

#define AXE_PARAM_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_AXE_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Axis Parameters: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 2281 of file SdoDictionary.mh.

AXE_PARAM_MAX

#define AXE_PARAM_MAX   141

Axis Parameters: Maximum number of parameters.

Definition at line 2297 of file SdoDictionary.mh.

AXE_PARAM_SRCINDEX

#define AXE_PARAM_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_AXE_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

Axis Parameters: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 2287 of file SdoDictionary.mh.

AXE_PROCESS

#define AXE_PROCESS	(		modno,
			parno
	)		Sysvar[AXE_PROCESS_INDEX((modno),(parno))]

Axis Process Data: Setter.

Parameters

modno	Module number
parno	Parameter number

Examples

CAN_1Ax_EPOS4-Test_cst.mc, CAN_4Ax_MiniMACS6_cst.mc, ECAT_1Ax_EPOS4-Test_cst.mc, and Maxon_RE_40_1ax_OL.mc.

Definition at line 3187 of file SdoDictionary.mh.

AXE_PROCESS_INDEX

#define AXE_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_AXE_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Axis Process Data: Getter.

Parameters

modno	Module number
parno	Parameter number

Examples

SetupSignalGeneratorAxis.mc, and SetupSignalGeneratorOpenloop.mc.

Definition at line 3175 of file SdoDictionary.mh.

AXE_PROCESS_MAX

#define AXE_PROCESS_MAX   236

Axis Process Data: Maximum number of parameters.

Definition at line 3191 of file SdoDictionary.mh.

AXE_PROCESS_SRCINDEX

#define AXE_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_AXE_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

Axis Process Data: Source Index.

Parameters

modno	Module number
parno	Parameter number

Examples

Maxon_RE_40_1ax_OL.mc.

Definition at line 3181 of file SdoDictionary.mh.

BANDWIDTH

#define BANDWIDTH   36

Bandwidth within which the PID filter is active.

1000 equals to 100% velocity setpoint.

Initial Value

1000

Value Range

0-2000

Definition at line 2635 of file SdoDictionary.mh.

BUSMOD_BUSNO

#define BUSMOD_BUSNO   31

Bus number.

Only valid in case of CAN bus type: 0 = CAN1 1 = CAN2

Initial Value

0

Definition at line 11006 of file SdoDictionary.mh.

BUSMOD_BUSNO_CAN1

#define BUSMOD_BUSNO_CAN1   0

Definition at line 11314 of file SdoDictionary.mh.

BUSMOD_BUSNO_CAN2

#define BUSMOD_BUSNO_CAN2   1

Definition at line 11315 of file SdoDictionary.mh.

BUSMOD_BUSTYPE

#define BUSMOD_BUSTYPE   30

Bus type.

0 = CAN 1 = EtherCAT (not implemented yet) 2 = EtherCAT Master

This parameter must be set before the activation of the bus module by BUSMOD_MODE.

Initial Value

0

Definition at line 10996 of file SdoDictionary.mh.

BUSMOD_BUSTYPE_CAN

#define BUSMOD_BUSTYPE_CAN   0

Definition at line 11309 of file SdoDictionary.mh.

BUSMOD_BUSTYPE_ECAT_M

#define BUSMOD_BUSTYPE_ECAT_M   2

Definition at line 11311 of file SdoDictionary.mh.

BUSMOD_BUSTYPE_ECAT_S

#define BUSMOD_BUSTYPE_ECAT_S   1

Definition at line 11310 of file SdoDictionary.mh.

BUSMOD_EVENTTIME

#define BUSMOD_EVENTTIME   37

Event time.

Only valid for CAN and if SYNC is not active.

A TX PDO will be sent each n milliseconds. Valid for PDO1-4.

Initial Value

0

Definition at line 11066 of file SdoDictionary.mh.

BUSMOD_GUARDTIME

#define BUSMOD_GUARDTIME   35

Guard interval.

Only CAN bus

0: No guarding n>20: Guarding active with guard time n*5 milliseconds n<=20: Guarding active with guard time 20*5 milliseconds

If guarding is active, a guarding CAN object (COBID 0x701) will be created on this CAN bus.
Every 20ms, one guard telegram will be sent to one node. If e.g. 3 nodes use guarding, each node will be guarded every 60ms.

Initial Value

0

Definition at line 11047 of file SdoDictionary.mh.

BUSMOD_ID

#define BUSMOD_ID   32

Slave node id.

Select the nodeid of the connected slave (1-n). Has to be set before the module is activated (see BUSMOD_MODE)

Initial Value

0

Value Range

1-65535

Definition at line 11017 of file SdoDictionary.mh.

BUSMOD_INHIBITTIME

#define BUSMOD_INHIBITTIME   36

Inhibit time.

Only valid for CAN and if no SYNC is used. The inhibit time is the minimum time between two TX PDO telegrams. Applies to PDO1-4.

Initial Value

0

Definition at line 11056 of file SdoDictionary.mh.

BUSMOD_LEN_RXPDO1

#define BUSMOD_LEN_RXPDO1   26

Length of RxPDO in Bytes.

Will be set automatically by firmware

Initial Value

0

Definition at line 10960 of file SdoDictionary.mh.

BUSMOD_LEN_RXPDO2

#define BUSMOD_LEN_RXPDO2   27

Length of RxPDO in Bytes.

Will be set automatically by firmware

Initial Value

0

Definition at line 10968 of file SdoDictionary.mh.

BUSMOD_LEN_RXPDO3

#define BUSMOD_LEN_RXPDO3   28

Length of RxPDO in Bytes.

Will be set automatically by firmware

Initial Value

0

Definition at line 10976 of file SdoDictionary.mh.

BUSMOD_LEN_RXPDO4

#define BUSMOD_LEN_RXPDO4   29

Length of RxPDO in Bytes.

Will be set automatically by firmware

Initial Value

0

Definition at line 10984 of file SdoDictionary.mh.

BUSMOD_LEN_TXPDO1

#define BUSMOD_LEN_TXPDO1   22

Length of TxPDO in Bytes.

Will be set automatically by firmware

Initial Value

0

Definition at line 10928 of file SdoDictionary.mh.

BUSMOD_LEN_TXPDO2

#define BUSMOD_LEN_TXPDO2   23

Length of TxPDO in Bytes.

Will be set automatically by firmware

Initial Value

0

Definition at line 10936 of file SdoDictionary.mh.

BUSMOD_LEN_TXPDO3

#define BUSMOD_LEN_TXPDO3   24

Length of TxPDO in Bytes.

Will be set automatically by firmware

Initial Value

0

Definition at line 10944 of file SdoDictionary.mh.

BUSMOD_LEN_TXPDO4

#define BUSMOD_LEN_TXPDO4   25

Length of TxPDO in Bytes.

Will be set automatically by firmware

Initial Value

0

Definition at line 10952 of file SdoDictionary.mh.

BUSMOD_MODE

#define BUSMOD_MODE   1

Activate / Deactivate.

Bus modules are used to communicate with CAN or EtherCAT slave nodes.

By the parameter BUSMOD_MODE, the module can be activated or deactivated. 0 = Deactivate (CAN objects will be deleted) 1 = Activate (CAN objects will be created) 2 = Activate as System object (only deleted in case of 0, or newstart mocexe). This allows axes to be kept going when pressing ESC (for stopping).

By writing 1 or 2, the bus module will be activated. Previously, BUSMOD_BUSTYPE, BUSMOD_BUSNO and BUSMOD_ID have to be set.

For CAN: In case guarding is used, BUSMOD_GUARDTIME has to set also previously. In case SYNC is used, BUSMOD_SYNC has to be set previously. Now the PDO mailboxes will be created for all the corresponding COBIDs for the slave with ID BUSMOD_ID. Then, if the CAN master state is OPERATIONAL (see SYS_CANOM_MASTERSTATE in system process data), the CAN slave will be set to OPERATIONAL as well by sending an NMT start telegram. (The CAN master state SYS_CANOM_MASTERSTATE is OPERATIONAL by default after startup of the controller).

Initial Value

0

Definition at line 10839 of file SdoDictionary.mh.

BUSMOD_MODE_ACTIVATE

#define BUSMOD_MODE_ACTIVATE   1

Definition at line 11305 of file SdoDictionary.mh.

BUSMOD_MODE_ACTIVATE_NOSTOP

#define BUSMOD_MODE_ACTIVATE_NOSTOP   2

Definition at line 11306 of file SdoDictionary.mh.

BUSMOD_MODE_DEACTIVATE

#define BUSMOD_MODE_DEACTIVATE   0

Definition at line 11304 of file SdoDictionary.mh.

BUSMOD_PARAM

#define BUSMOD_PARAM	(		modno,
			parno
	)		Sysvar[BUSMOD_PARAM_INDEX((modno),(parno))]

Bus Module Parameters: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 10813 of file SdoDictionary.mh.

BUSMOD_PARAM_INDEX

#define BUSMOD_PARAM_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_BUSMOD_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Bus Module Parameters: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 10801 of file SdoDictionary.mh.

BUSMOD_PARAM_MAX

#define BUSMOD_PARAM_MAX   69

Bus Module Parameters: Maximum number of parameters.

Definition at line 10817 of file SdoDictionary.mh.

BUSMOD_PARAM_SRCINDEX

#define BUSMOD_PARAM_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_BUSMOD_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

Bus Module Parameters: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 10807 of file SdoDictionary.mh.

BUSMOD_PISRC_INPUT1

#define BUSMOD_PISRC_INPUT1   10

Index and subindex of Input value.

Select the input value sources for each TX object (send to bus)

Initial Value

0

Definition at line 10864 of file SdoDictionary.mh.

BUSMOD_PISRC_INPUT2

#define BUSMOD_PISRC_INPUT2   11

Index and subindex of Input value.

Select the input value sources for each TX object (send to bus)

Initial Value

0

Definition at line 10872 of file SdoDictionary.mh.

BUSMOD_PISRC_INPUT3

#define BUSMOD_PISRC_INPUT3   12

Index and subindex of Input value.

Select the input value sources for each TX object (send to bus)

Initial Value

0

Definition at line 10880 of file SdoDictionary.mh.

BUSMOD_PISRC_INPUT4

#define BUSMOD_PISRC_INPUT4   13

Index and subindex of Input value.

Select the input value sources for each TX object (send to bus)

Initial Value

0

Definition at line 10888 of file SdoDictionary.mh.

BUSMOD_PISRC_INPUT5

#define BUSMOD_PISRC_INPUT5   14

Index and subindex of Input value.

Select the input value sources for each TX object (send to bus)

Initial Value

0

Definition at line 10896 of file SdoDictionary.mh.

BUSMOD_PISRC_INPUT6

#define BUSMOD_PISRC_INPUT6   15

Index and subindex of Input value.

Select the input value sources for each TX object (send to bus)

Initial Value

0

Definition at line 10904 of file SdoDictionary.mh.

BUSMOD_PISRC_INPUT7

#define BUSMOD_PISRC_INPUT7   16

Index and subindex of Input value.

Select the input value sources for each TX object (send to bus)

Initial Value

0

Definition at line 10912 of file SdoDictionary.mh.

BUSMOD_PISRC_INPUT8

#define BUSMOD_PISRC_INPUT8   17

Index and subindex of Input value.

Select the input value sources for each TX object (send to bus)

Initial Value

0

Definition at line 10920 of file SdoDictionary.mh.

BUSMOD_PROCESS

#define BUSMOD_PROCESS	(		modno,
			parno
	)		Sysvar[BUSMOD_PROCESS_INDEX((modno),(parno))]

Bus Module Process Data: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12795 of file SdoDictionary.mh.

BUSMOD_PROCESS_INDEX

#define BUSMOD_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_BUSMOD_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Bus Module Process Data: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12783 of file SdoDictionary.mh.

BUSMOD_PROCESS_MAX

#define BUSMOD_PROCESS_MAX   39

Bus Module Process Data: Maximum number of parameters.

Definition at line 12799 of file SdoDictionary.mh.

BUSMOD_PROCESS_SRCINDEX

#define BUSMOD_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_BUSMOD_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

Bus Module Process Data: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12789 of file SdoDictionary.mh.

BUSMOD_RXMAP_POVALUE1

#define BUSMOD_RXMAP_POVALUE1   61

Mapping for RX PDOs (receive from bus)

Mapping for PO_BUSMOD_VALUEn contains
0xUPLLOOOO, where

• U is option (1 Nibble) (0x1 = this is a SIGNED value)
• P is PDO-number (1 Nibble) (1..8)
• LL is length in bytes (1 Byte) (1..4)
• OOOO is offset in bytes (2 Bytes) (0 .. Pdo-length-1) Defines how the PO_BUSMOD_VALUEn is produced out of the incoming RxPdos.

  Initial Value

  0

Definition at line 11202 of file SdoDictionary.mh.

BUSMOD_RXMAP_POVALUE2

#define BUSMOD_RXMAP_POVALUE2   62

Mapping for RX PDOs (receive from bus)

Mapping for PO_BUSMOD_VALUEn contains
0xUPLLOOOO, where

• U is option (1 Nibble) (0x1 = this is a SIGNED value)
• P is PDO-number (1 Nibble) (1..8)
• LL is length in bytes (1 Byte) (1..4)
• OOOO is offset in bytes (2 Bytes) (0 .. Pdo-length-1) Defines how the PO_BUSMOD_VALUEn is produced out of the incoming RxPdos.

  Initial Value

  0

Definition at line 11216 of file SdoDictionary.mh.

BUSMOD_RXMAP_POVALUE3

#define BUSMOD_RXMAP_POVALUE3   63

Mapping for RX PDOs (receive from bus)

Mapping for PO_BUSMOD_VALUEn contains
0xUPLLOOOO, where

• U is option (1 Nibble) (0x1 = this is a SIGNED value)
• P is PDO-number (1 Nibble) (1..8)
• LL is length in bytes (1 Byte) (1..4)
• OOOO is offset in bytes (2 Bytes) (0 .. Pdo-length-1) Defines how the PO_BUSMOD_VALUEn is produced out of the incoming RxPdos.

  Initial Value

  0

Definition at line 11230 of file SdoDictionary.mh.

BUSMOD_RXMAP_POVALUE4

#define BUSMOD_RXMAP_POVALUE4   64

Mapping for RX PDOs (receive from bus)

Mapping for PO_BUSMOD_VALUEn contains
0xUPLLOOOO, where

• U is option (1 Nibble) (0x1 = this is a SIGNED value)
• P is PDO-number (1 Nibble) (1..8)
• LL is length in bytes (1 Byte) (1..4)
• OOOO is offset in bytes (2 Bytes) (0 .. Pdo-length-1) Defines how the PO_BUSMOD_VALUEn is produced out of the incoming RxPdos.

  Initial Value

  0

Definition at line 11244 of file SdoDictionary.mh.

BUSMOD_RXMAP_POVALUE5

#define BUSMOD_RXMAP_POVALUE5   65

Mapping for RX PDOs (receive from bus)

Mapping for PO_BUSMOD_VALUEn contains
0xUPLLOOOO, where

• U is option (1 Nibble) (0x1 = this is a SIGNED value)
• P is PDO-number (1 Nibble) (1..8)
• LL is length in bytes (1 Byte) (1..4)
• OOOO is offset in bytes (2 Bytes) (0 .. Pdo-length-1) Defines how the PO_BUSMOD_VALUEn is produced out of the incoming RxPdos.

  Initial Value

  0

Definition at line 11258 of file SdoDictionary.mh.

BUSMOD_RXMAP_POVALUE6

#define BUSMOD_RXMAP_POVALUE6   66

Mapping for RX PDOs (receive from bus)

Mapping for PO_BUSMOD_VALUEn contains
0xUPLLOOOO, where

• U is option (1 Nibble) (0x1 = this is a SIGNED value)
• P is PDO-number (1 Nibble) (1..8)
• LL is length in bytes (1 Byte) (1..4)
• OOOO is offset in bytes (2 Bytes) (0 .. Pdo-length-1) Defines how the PO_BUSMOD_VALUEn is produced out of the incoming RxPdos.

  Initial Value

  0

Definition at line 11272 of file SdoDictionary.mh.

BUSMOD_RXMAP_POVALUE7

#define BUSMOD_RXMAP_POVALUE7   67

Mapping for RX PDOs (receive from bus)

Mapping for PO_BUSMOD_VALUEn contains
0xUPLLOOOO, where

• U is option (1 Nibble) (0x1 = this is a SIGNED value)
• P is PDO-number (1 Nibble) (1..8)
• LL is length in bytes (1 Byte) (1..4)
• OOOO is offset in bytes (2 Bytes) (0 .. Pdo-length-1) Defines how the PO_BUSMOD_VALUEn is produced out of the incoming RxPdos.

  Initial Value

  0

Definition at line 11286 of file SdoDictionary.mh.

BUSMOD_RXMAP_POVALUE8

#define BUSMOD_RXMAP_POVALUE8   68

Mapping for RX PDOs (receive from bus)

Mapping for PO_BUSMOD_VALUEn contains
0xUPLLOOOO, where

• U is option (1 Nibble) (0x1 = this is a SIGNED value)
• P is PDO-number (1 Nibble) (1..8)
• LL is length in bytes (1 Byte) (1..4)
• OOOO is offset in bytes (2 Bytes) (0 .. Pdo-length-1) Defines how the PO_BUSMOD_VALUEn is produced out of the incoming RxPdos.

  Initial Value

  0

Definition at line 11300 of file SdoDictionary.mh.

BUSMOD_RXOFFSET

#define BUSMOD_RXOFFSET   39

Offset of the RX PDO.

Only EtherCAT: This value is the offset of the RX PDO Data within the whole I/O Image of the EtherCAT Master bus. It will be set automatically by the firmware (make sure BUSMOD_ID is set before the module is activated).

Initial Value

0

Definition at line 11084 of file SdoDictionary.mh.

BUSMOD_SYNC

#define BUSMOD_SYNC   33

Sync interval (only for CAN)

0 = No sync n = Every "n" SYNC

Only CAN bus: If this parameter is not 0, a CAN TX object for the SYNC telegram (COBID 0x80) will be created when the module is activated (see BUSMOD_MODE). A SYNC telegram will then be sent on this CAN bus each CANSYNCTIMER milliseconds (see global parameters for CANSYNCTIMER). The TX PDOs will be sent every n'th SYNC telegram. E.g. if CANSYNCTIMER is 2 and BUSMOD_SYNC is 3, then every 2ms a SYNC telegram, and every 6ms a TX PDO for this module will be sent.

Initial Value

0

Definition at line 11032 of file SdoDictionary.mh.

BUSMOD_TXMAP_INPUT1

#define BUSMOD_TXMAP_INPUT1   41

Mapping for TX PDOs (send to bus)

Mapping for each of the BUSMOD_PISRC_INPUTn sources. 0xPPLLOOOO PP: PDO number (1 Byte) (1-8), LL: Length in bytes (1 Byte) (1-4), OOOO: Offset (2 Bytes) (0 to Pdo-length-1) Defines how the input value, which is read by PISRC_INPUTx, is mapped into the defined transmit PDOs.

Initial Value

0

Definition at line 11097 of file SdoDictionary.mh.

BUSMOD_TXMAP_INPUT2

#define BUSMOD_TXMAP_INPUT2   42

Mapping for TX PDOs (send to bus)

Mapping for each of the BUSMOD_PISRC_INPUTn sources. 0xPPLLOOOO PP: PDO number (1 Byte) (1-8), LL: Length in bytes (1 Byte) (1-4), OOOO: Offset (2 Bytes) (0 to Pdo-length-1) Defines how the input value, which is read by PISRC_INPUTx, is mapped into the defined transmit PDOs.

Initial Value

0

Definition at line 11110 of file SdoDictionary.mh.

BUSMOD_TXMAP_INPUT3

#define BUSMOD_TXMAP_INPUT3   43

Mapping for TX PDOs (send to bus)

Mapping for each of the BUSMOD_PISRC_INPUTn sources. 0xPPLLOOOO PP: PDO number (1 Byte) (1-8), LL: Length in bytes (1 Byte) (1-4), OOOO: Offset (2 Bytes) (0 to Pdo-length-1) Defines how the input value, which is read by PISRC_INPUTx, is mapped into the defined transmit PDOs.

Initial Value

0

Definition at line 11123 of file SdoDictionary.mh.

BUSMOD_TXMAP_INPUT4

#define BUSMOD_TXMAP_INPUT4   44

Mapping for TX PDOs (send to bus)

Mapping for each of the BUSMOD_PISRC_INPUTn sources. 0xPPLLOOOO PP: PDO number (1 Byte) (1-8), LL: Length in bytes (1 Byte) (1-4), OOOO: Offset (2 Bytes) (0 to Pdo-length-1) Defines how the input value, which is read by PISRC_INPUTx, is mapped into the defined transmit PDOs.

Initial Value

0

Definition at line 11136 of file SdoDictionary.mh.

BUSMOD_TXMAP_INPUT5

#define BUSMOD_TXMAP_INPUT5   45

Mapping for TX PDOs (send to bus)

Mapping for each of the BUSMOD_PISRC_INPUTn sources. 0xPPLLOOOO PP: PDO number (1 Byte) (1-8), LL: Length in bytes (1 Byte) (1-4), OOOO: Offset (2 Bytes) (0 to Pdo-length-1) Defines how the input value, which is read by PISRC_INPUTx, is mapped into the defined transmit PDOs.

Initial Value

0

Definition at line 11149 of file SdoDictionary.mh.

BUSMOD_TXMAP_INPUT6

#define BUSMOD_TXMAP_INPUT6   46

Mapping for TX PDOs (send to bus)

Mapping for each of the BUSMOD_PISRC_INPUTn sources. 0xPPLLOOOO PP: PDO number (1 Byte) (1-8), LL: Length in bytes (1 Byte) (1-4), OOOO: Offset (2 Bytes) (0 to Pdo-length-1) Defines how the input value, which is read by PISRC_INPUTx, is mapped into the defined transmit PDOs.

Initial Value

0

Definition at line 11162 of file SdoDictionary.mh.

BUSMOD_TXMAP_INPUT7

#define BUSMOD_TXMAP_INPUT7   47

Mapping for TX PDOs (send to bus)

Mapping for each of the BUSMOD_PISRC_INPUTn sources. 0xPPLLOOOO PP: PDO number (1 Byte) (1-8), LL: Length in bytes (1 Byte) (1-4), OOOO: Offset (2 Bytes) (0 to Pdo-length-1) Defines how the input value, which is read by PISRC_INPUTx, is mapped into the defined transmit PDOs.

Initial Value

0

Definition at line 11175 of file SdoDictionary.mh.

BUSMOD_TXMAP_INPUT8

#define BUSMOD_TXMAP_INPUT8   48

Mapping for TX PDOs (send to bus)

Mapping for each of the BUSMOD_PISRC_INPUTn sources. 0xPPLLOOOO PP: PDO number (1 Byte) (1-8), LL: Length in bytes (1 Byte) (1-4), OOOO: Offset (2 Bytes) (0 to Pdo-length-1) Defines how the input value, which is read by PISRC_INPUTx, is mapped into the defined transmit PDOs.

Initial Value

0

Definition at line 11188 of file SdoDictionary.mh.

BUSMOD_TXOFFSET

#define BUSMOD_TXOFFSET   38

Offset of the TX PDO.

Only EtherCAT: This value is the offset of the TX PDO Data within the whole I/O Image of the EtherCAT Master bus. It will be set automatically by the firmware (make sure BUSMOD_ID is set before the module is activated).

Initial Value

0

Definition at line 11075 of file SdoDictionary.mh.

BUSMOD_TYPE

#define BUSMOD_TYPE   2

Parameter preset.

This allows presetting most of the parameters by predefined types. Possible types are (see drivetype). If the source parameters are also to be set, then an axes number must be specified (see BUSMOD_TYPE_AXES) before setting this parameter. Also, automatic presetting for IO modules is possible (type 0 or > 90), but in this case, it is necessary to have already set BUSMOD_ID and BUSMOD_BUSNO since some communication must be done with the module to determine the number of inputs and outputs.

Initial Value

-1

Definition at line 10848 of file SdoDictionary.mh.

BUSMOD_TYPE_AXES

#define BUSMOD_TYPE_AXES   3

Axes number used for source setting.

Defines axes number to be used for source setting in case where parameters are preset by BUSMOD_TYPE above. If axes number is -1, then the source setting is not changed.

Initial Value

-1

Definition at line 10856 of file SdoDictionary.mh.

CANBAUD

#define CANBAUD   2

CAN baud rate.

Value Range

0-8,0-88

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, CAN_4Ax_MiniMACS6_csp.mc, CAN_4Ax_MiniMACS6_cst.mc, and CAN_4Ax_MiniMACS6_csv.mc.

Definition at line 87 of file SdoDictionary.mh.

CANGUARDTIMER

#define CANGUARDTIMER   16

Period of guarding.

Currently not implemented.

Initial Value

20

Definition at line 140 of file SdoDictionary.mh.

CANNR

#define CANNR   1

CAN node ID.

Initial Value

1

Value Range

0-127

Definition at line 80 of file SdoDictionary.mh.

CANNRFORCE

#define CANNRFORCE   26

Node Id DIP Switch overwrite.

Initial Value

0

Definition at line 215 of file SdoDictionary.mh.

CANSYNCTIMER

#define CANSYNCTIMER   15

Cycle time for sending SYNC telegrams on the CAN bus.

Initial Value

1

Value Range

0-MLONG

Units

ms

Examples

CAN_1Ax_EPOS4-Test_csp.mc, CAN_1Ax_EPOS4-Test_cst.mc, CAN_1Ax_EPOS4-Test_csv.mc, CAN_4Ax_MiniMACS6_csp.mc, CAN_4Ax_MiniMACS6_cst.mc, and CAN_4Ax_MiniMACS6_csv.mc.

Definition at line 132 of file SdoDictionary.mh.

DFLTACC

#define DFLTACC   35

Default acceleration.

Scaled default acceleration (see VELRES, subindex 23).

Initial Value

50

Definition at line 2626 of file SdoDictionary.mh.

DFLTVEL

#define DFLTVEL   34

Default velocity.

Scaled default velocity (see VELRES, subindex 23).

Initial Value

50

Definition at line 2618 of file SdoDictionary.mh.

ECAT_SLAVE_PDO1_1_255

#define ECAT_SLAVE_PDO1_1_255

(

parno

)

Sysvar[ECAT_SLAVE_PDO1_1_255_INDEX(parno)]

: Setter

Parameters

parno

Parameter number

Definition at line 6987 of file SdoDictionary.mh.

ECAT_SLAVE_PDO1_1_255_INDEX

#define ECAT_SLAVE_PDO1_1_255_INDEX

(

parno

)

((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO1_1_255<<8)) | ((long) (parno)))

: Getter

Parameters

parno

Parameter number

Definition at line 6977 of file SdoDictionary.mh.

ECAT_SLAVE_PDO1_1_255_MAX

#define ECAT_SLAVE_PDO1_1_255_MAX   256

: Maximum number of parameters

Definition at line 6991 of file SdoDictionary.mh.

ECAT_SLAVE_PDO1_1_255_SRCINDEX

#define ECAT_SLAVE_PDO1_1_255_SRCINDEX

(

parno

)

((SDOINDEX_ECAT_SLAVE_PDO1_1_255<<8) | ((long) (parno)))

: Source Index

Parameters

parno

Parameter number

Definition at line 6982 of file SdoDictionary.mh.

ECAT_SLAVE_PDO1_256_510

#define ECAT_SLAVE_PDO1_256_510

(

parno

)

Sysvar[ECAT_SLAVE_PDO1_256_510_INDEX(parno)]

: Setter

Parameters

parno

Parameter number

Definition at line 7014 of file SdoDictionary.mh.

ECAT_SLAVE_PDO1_256_510_INDEX

#define ECAT_SLAVE_PDO1_256_510_INDEX

(

parno

)

((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO1_256_510<<8)) | ((long) (parno)))

: Getter

Parameters

parno

Parameter number

Definition at line 7004 of file SdoDictionary.mh.

ECAT_SLAVE_PDO1_256_510_MAX

#define ECAT_SLAVE_PDO1_256_510_MAX   256

: Maximum number of parameters

Definition at line 7018 of file SdoDictionary.mh.

ECAT_SLAVE_PDO1_256_510_SRCINDEX

#define ECAT_SLAVE_PDO1_256_510_SRCINDEX

(

parno

)

((SDOINDEX_ECAT_SLAVE_PDO1_256_510<<8) | ((long) (parno)))

: Source Index

Parameters

parno

Parameter number

Definition at line 7009 of file SdoDictionary.mh.

ECAT_SLAVE_PDO1_511_765

#define ECAT_SLAVE_PDO1_511_765

(

parno

)

Sysvar[ECAT_SLAVE_PDO1_511_765_INDEX(parno)]

: Setter

Parameters

parno

Parameter number

Definition at line 7041 of file SdoDictionary.mh.

ECAT_SLAVE_PDO1_511_765_INDEX

#define ECAT_SLAVE_PDO1_511_765_INDEX

(

parno

)

((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO1_511_765<<8)) | ((long) (parno)))

: Getter

Parameters

parno

Parameter number

Definition at line 7031 of file SdoDictionary.mh.

ECAT_SLAVE_PDO1_511_765_MAX

#define ECAT_SLAVE_PDO1_511_765_MAX   256

: Maximum number of parameters

Definition at line 7045 of file SdoDictionary.mh.

ECAT_SLAVE_PDO1_511_765_SRCINDEX

#define ECAT_SLAVE_PDO1_511_765_SRCINDEX

(

parno

)

((SDOINDEX_ECAT_SLAVE_PDO1_511_765<<8) | ((long) (parno)))

: Source Index

Parameters

parno

Parameter number

Definition at line 7036 of file SdoDictionary.mh.

ECAT_SLAVE_PDO1_766_1020

#define ECAT_SLAVE_PDO1_766_1020

(

parno

)

Sysvar[ECAT_SLAVE_PDO1_766_1020_INDEX(parno)]

: Setter

Parameters

parno

Parameter number

Definition at line 7068 of file SdoDictionary.mh.

ECAT_SLAVE_PDO1_766_1020_INDEX

#define ECAT_SLAVE_PDO1_766_1020_INDEX

(

parno

)

((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO1_766_1020<<8)) | ((long) (parno)))

: Getter

Parameters

parno

Parameter number

Definition at line 7058 of file SdoDictionary.mh.

ECAT_SLAVE_PDO1_766_1020_MAX

#define ECAT_SLAVE_PDO1_766_1020_MAX   256

: Maximum number of parameters

Definition at line 7072 of file SdoDictionary.mh.

ECAT_SLAVE_PDO1_766_1020_SRCINDEX

#define ECAT_SLAVE_PDO1_766_1020_SRCINDEX

(

parno

)

((SDOINDEX_ECAT_SLAVE_PDO1_766_1020<<8) | ((long) (parno)))

: Source Index

Parameters

parno

Parameter number

Definition at line 7063 of file SdoDictionary.mh.

ECAT_SLAVE_PDO2_1_255

#define ECAT_SLAVE_PDO2_1_255

(

parno

)

Sysvar[ECAT_SLAVE_PDO2_1_255_INDEX(parno)]

: Setter

Parameters

parno

Parameter number

Definition at line 7095 of file SdoDictionary.mh.

ECAT_SLAVE_PDO2_1_255_INDEX

#define ECAT_SLAVE_PDO2_1_255_INDEX

(

parno

)

((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO2_1_255<<8)) | ((long) (parno)))

: Getter

Parameters

parno

Parameter number

Definition at line 7085 of file SdoDictionary.mh.

ECAT_SLAVE_PDO2_1_255_MAX

#define ECAT_SLAVE_PDO2_1_255_MAX   256

: Maximum number of parameters

Definition at line 7099 of file SdoDictionary.mh.

ECAT_SLAVE_PDO2_1_255_SRCINDEX

#define ECAT_SLAVE_PDO2_1_255_SRCINDEX

(

parno

)

((SDOINDEX_ECAT_SLAVE_PDO2_1_255<<8) | ((long) (parno)))

: Source Index

Parameters

parno

Parameter number

Definition at line 7090 of file SdoDictionary.mh.

ECAT_SLAVE_PDO2_256_510

#define ECAT_SLAVE_PDO2_256_510

(

parno

)

Sysvar[ECAT_SLAVE_PDO2_256_510_INDEX(parno)]

: Setter

Parameters

parno

Parameter number

Definition at line 7122 of file SdoDictionary.mh.

ECAT_SLAVE_PDO2_256_510_INDEX

#define ECAT_SLAVE_PDO2_256_510_INDEX

(

parno

)

((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO2_256_510<<8)) | ((long) (parno)))

: Getter

Parameters

parno

Parameter number

Definition at line 7112 of file SdoDictionary.mh.

ECAT_SLAVE_PDO2_256_510_MAX

#define ECAT_SLAVE_PDO2_256_510_MAX   256

: Maximum number of parameters

Definition at line 7126 of file SdoDictionary.mh.

ECAT_SLAVE_PDO2_256_510_SRCINDEX

#define ECAT_SLAVE_PDO2_256_510_SRCINDEX

(

parno

)

((SDOINDEX_ECAT_SLAVE_PDO2_256_510<<8) | ((long) (parno)))

: Source Index

Parameters

parno

Parameter number

Definition at line 7117 of file SdoDictionary.mh.

ECAT_SLAVE_PDO2_511_765

#define ECAT_SLAVE_PDO2_511_765

(

parno

)

Sysvar[ECAT_SLAVE_PDO2_511_765_INDEX(parno)]

: Setter

Parameters

parno

Parameter number

Definition at line 7149 of file SdoDictionary.mh.

ECAT_SLAVE_PDO2_511_765_INDEX

#define ECAT_SLAVE_PDO2_511_765_INDEX

(

parno

)

((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO2_511_765<<8)) | ((long) (parno)))

: Getter

Parameters

parno

Parameter number

Definition at line 7139 of file SdoDictionary.mh.

ECAT_SLAVE_PDO2_511_765_MAX

#define ECAT_SLAVE_PDO2_511_765_MAX   256

: Maximum number of parameters

Definition at line 7153 of file SdoDictionary.mh.

ECAT_SLAVE_PDO2_511_765_SRCINDEX

#define ECAT_SLAVE_PDO2_511_765_SRCINDEX

(

parno

)

((SDOINDEX_ECAT_SLAVE_PDO2_511_765<<8) | ((long) (parno)))

: Source Index

Parameters

parno

Parameter number

Definition at line 7144 of file SdoDictionary.mh.

ECAT_SLAVE_PDO2_766_1020

#define ECAT_SLAVE_PDO2_766_1020

(

parno

)

Sysvar[ECAT_SLAVE_PDO2_766_1020_INDEX(parno)]

: Setter

Parameters

parno

Parameter number

Definition at line 7176 of file SdoDictionary.mh.

ECAT_SLAVE_PDO2_766_1020_INDEX

#define ECAT_SLAVE_PDO2_766_1020_INDEX

(

parno

)

((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO2_766_1020<<8)) | ((long) (parno)))

: Getter

Parameters

parno

Parameter number

Definition at line 7166 of file SdoDictionary.mh.

ECAT_SLAVE_PDO2_766_1020_MAX

#define ECAT_SLAVE_PDO2_766_1020_MAX   256

: Maximum number of parameters

Definition at line 7180 of file SdoDictionary.mh.

ECAT_SLAVE_PDO2_766_1020_SRCINDEX

#define ECAT_SLAVE_PDO2_766_1020_SRCINDEX

(

parno

)

((SDOINDEX_ECAT_SLAVE_PDO2_766_1020<<8) | ((long) (parno)))

: Source Index

Parameters

parno

Parameter number

Definition at line 7171 of file SdoDictionary.mh.

ERRCOND

#define ERRCOND   44

Behavior in event of an error.

Initial Value

0

Value Range

0-5

Definition at line 2702 of file SdoDictionary.mh.

ESCCOND

#define ESCCOND   71

Condition on program termination.

A programme is ended by reaching the end of the programme or by pressing Esc.

Initial Value

1

Value Range

0,1

Definition at line 2925 of file SdoDictionary.mh.

ESCCONDGLB

#define ESCCONDGLB   23

ESC Behaviour global.

Defines how the controller reacts when the programme is terminated. A programme is ended by reaching the end of the programme or by pressing Esc. 0: Nothing 1: Set all outputs to 0 2: Set all outputs to 1 This action will be executed after the actions of ESCCOND (ax-specific) have been executed.

Initial Value

0

Value Range

0,1,2

Examples

PWM_1Ax_ESCON.mc.

Definition at line 194 of file SdoDictionary.mh.

FEEDDIST

#define FEEDDIST   113

Feed distance.

Distance travelled (in user units) in FEEDREV revolutions of the gear box output shaft. FEEDDIST/FEEDREV defines the feed distance of the axis mechanics per revolution of the gear box output shaft (uu/rev).

Initial Value

2000

Value Range

1-MLONG

Units

uu

Examples

DeltaRobot_No_SM_EPOS4_ECAT.mc.

Definition at line 3011 of file SdoDictionary.mh.

FEEDREV

#define FEEDREV   114

Feed revolutions.

Number of revolutions of the gear box output shaft. FEEDDIST/FEEDREV defines the feed distance of the axis mechanics per revolution of the gear box output shaft (uu/rev).

Initial Value

1

Value Range

1-MLONG

Examples

DeltaRobot_No_SM_EPOS4_ECAT.mc.

Definition at line 3022 of file SdoDictionary.mh.

FFVEL

#define FFVEL   37

Velocity Feed forward.

Initial Value

0

Value Range

0-100000

Definition at line 2644 of file SdoDictionary.mh.

FPGA_PARAM

#define FPGA_PARAM

(

parno

)

Sysvar[FPGA_PARAM_INDEX(parno)]

Write custom specific parameters: Setter.

Parameters

parno

Parameter number

Definition at line 1707 of file SdoDictionary.mh.

FPGA_PARAM_INDEX

#define FPGA_PARAM_INDEX

(

parno

)

((0x01000000 | (SDOINDEX_FPGA_PARAM<<8)) | ((long) (parno)))

Write custom specific parameters: Getter.

Parameters

parno

Parameter number

Definition at line 1697 of file SdoDictionary.mh.

FPGA_PARAM_MAX

#define FPGA_PARAM_MAX   256

Write custom specific parameters: Maximum number of parameters.

Definition at line 1711 of file SdoDictionary.mh.

FPGA_PARAM_SRCINDEX

#define FPGA_PARAM_SRCINDEX

(

parno

)

((SDOINDEX_FPGA_PARAM<<8) | ((long) (parno)))

Write custom specific parameters: Source Index.

Parameters

parno

Parameter number

Definition at line 1702 of file SdoDictionary.mh.

FPGA_REG

#define FPGA_REG

(

parno

)

Sysvar[FPGA_REG_INDEX(parno)]

Read or write FPGA register: Setter.

Parameters

parno

Parameter number

Definition at line 1595 of file SdoDictionary.mh.

FPGA_REG_INDEX

#define FPGA_REG_INDEX

(

parno

)

((0x01000000 | (SDOINDEX_FPGA_REG<<8)) | ((long) (parno)))

Read or write FPGA register: Getter.

Parameters

parno

Parameter number

Definition at line 1585 of file SdoDictionary.mh.

FPGA_REG_MAX

#define FPGA_REG_MAX   256

Read or write FPGA register: Maximum number of parameters.

Definition at line 1599 of file SdoDictionary.mh.

FPGA_REG_SRCINDEX

#define FPGA_REG_SRCINDEX

(

parno

)

((SDOINDEX_FPGA_REG<<8) | ((long) (parno)))

Read or write FPGA register: Source Index.

Parameters

parno

Parameter number

Definition at line 1590 of file SdoDictionary.mh.

FPGA_USRREG

#define FPGA_USRREG

(

parno

)

Sysvar[FPGA_USRREG_INDEX(parno)]

Address for the page number: Setter.

Parameters

parno

Parameter number

Definition at line 1989 of file SdoDictionary.mh.

FPGA_USRREG_INDEX

#define FPGA_USRREG_INDEX

(

parno

)

((0x01000000 | (SDOINDEX_FPGA_USRREG<<8)) | ((long) (parno)))

Address for the page number: Getter.

Parameters

parno

Parameter number

Definition at line 1979 of file SdoDictionary.mh.

FPGA_USRREG_MAX

#define FPGA_USRREG_MAX   2

Address for the page number: Maximum number of parameters.

Definition at line 1993 of file SdoDictionary.mh.

FPGA_USRREG_SRCINDEX

#define FPGA_USRREG_SRCINDEX

(

parno

)

((SDOINDEX_FPGA_USRREG<<8) | ((long) (parno)))

Address for the page number: Source Index.

Parameters

parno

Parameter number

Definition at line 1984 of file SdoDictionary.mh.

FPGAPAR_ABR_QDZ_POLARITY_REG

#define FPGAPAR_ABR_QDZ_POLARITY_REG   6

Definition at line 1721 of file SdoDictionary.mh.

FPGAPAR_CMP1_CNFG_REG

#define FPGAPAR_CMP1_CNFG_REG   50

Definition at line 1809 of file SdoDictionary.mh.

FPGAPAR_CMP1_LOWERLEV_HIGHWORD

#define FPGAPAR_CMP1_LOWERLEV_HIGHWORD   54

Definition at line 1817 of file SdoDictionary.mh.

FPGAPAR_CMP1_LOWERLEV_LOWWORD

#define FPGAPAR_CMP1_LOWERLEV_LOWWORD   53

Definition at line 1815 of file SdoDictionary.mh.

FPGAPAR_CMP1_UPPERLEV_HIGHWORD

#define FPGAPAR_CMP1_UPPERLEV_HIGHWORD   52

Definition at line 1813 of file SdoDictionary.mh.

FPGAPAR_CMP1_UPPERLEV_LOWWORD

#define FPGAPAR_CMP1_UPPERLEV_LOWWORD   51

Definition at line 1811 of file SdoDictionary.mh.

FPGAPAR_CMP2_CNFG_REG

#define FPGAPAR_CMP2_CNFG_REG   56

Definition at line 1821 of file SdoDictionary.mh.

FPGAPAR_CMP2_LOWERLEV_HIGHWORD

#define FPGAPAR_CMP2_LOWERLEV_HIGHWORD   60

Definition at line 1829 of file SdoDictionary.mh.

FPGAPAR_CMP2_LOWERLEV_LOWWORD

#define FPGAPAR_CMP2_LOWERLEV_LOWWORD   59

Definition at line 1827 of file SdoDictionary.mh.

FPGAPAR_CMP2_UPPERLEV_HIGHWORD

#define FPGAPAR_CMP2_UPPERLEV_HIGHWORD   58

Definition at line 1825 of file SdoDictionary.mh.

FPGAPAR_CMP2_UPPERLEV_LOWWORD

#define FPGAPAR_CMP2_UPPERLEV_LOWWORD   57

Definition at line 1823 of file SdoDictionary.mh.

FPGAPAR_CMP3_CNFG_REG

#define FPGAPAR_CMP3_CNFG_REG   62

Definition at line 1833 of file SdoDictionary.mh.

FPGAPAR_CMP3_LOWERLEV_HIGHWORD

#define FPGAPAR_CMP3_LOWERLEV_HIGHWORD   66

Definition at line 1841 of file SdoDictionary.mh.

FPGAPAR_CMP3_LOWERLEV_LOWWORD

#define FPGAPAR_CMP3_LOWERLEV_LOWWORD   65

Definition at line 1839 of file SdoDictionary.mh.

FPGAPAR_CMP3_UPPERLEV_HIGHWORD

#define FPGAPAR_CMP3_UPPERLEV_HIGHWORD   64

Definition at line 1837 of file SdoDictionary.mh.

FPGAPAR_CMP3_UPPERLEV_LOWWORD

#define FPGAPAR_CMP3_UPPERLEV_LOWWORD   63

Definition at line 1835 of file SdoDictionary.mh.

FPGAPAR_CMP4_CNFG_REG

#define FPGAPAR_CMP4_CNFG_REG   68

Definition at line 1845 of file SdoDictionary.mh.

FPGAPAR_CMP4_LOWERLEV_HIGHWORD

#define FPGAPAR_CMP4_LOWERLEV_HIGHWORD   72

Definition at line 1853 of file SdoDictionary.mh.

FPGAPAR_CMP4_LOWERLEV_LOWWORD

#define FPGAPAR_CMP4_LOWERLEV_LOWWORD   71

Definition at line 1851 of file SdoDictionary.mh.

FPGAPAR_CMP4_UPPERLEV_HIGHWORD

#define FPGAPAR_CMP4_UPPERLEV_HIGHWORD   70

Definition at line 1849 of file SdoDictionary.mh.

FPGAPAR_CMP4_UPPERLEV_LOWWORD

#define FPGAPAR_CMP4_UPPERLEV_LOWWORD   69

Definition at line 1847 of file SdoDictionary.mh.

FPGAPAR_DDS1_Z_PULSE_RATIO

#define FPGAPAR_DDS1_Z_PULSE_RATIO   86

Definition at line 1881 of file SdoDictionary.mh.

FPGAPAR_DDS1INPUTSELREG

#define FPGAPAR_DDS1INPUTSELREG   81

Definition at line 1871 of file SdoDictionary.mh.

FPGAPAR_DDS1NREG0

#define FPGAPAR_DDS1NREG0   84

Definition at line 1877 of file SdoDictionary.mh.

FPGAPAR_DDS1NREG1

#define FPGAPAR_DDS1NREG1   85

Definition at line 1879 of file SdoDictionary.mh.

FPGAPAR_DDS1ZREG0

#define FPGAPAR_DDS1ZREG0   82

Definition at line 1873 of file SdoDictionary.mh.

FPGAPAR_DDS1ZREG1

#define FPGAPAR_DDS1ZREG1   83

Definition at line 1875 of file SdoDictionary.mh.

FPGAPAR_DDS2_Z_PULSE_RATIO

#define FPGAPAR_DDS2_Z_PULSE_RATIO   92

Definition at line 1893 of file SdoDictionary.mh.

FPGAPAR_DDS2INPUTSELREG

#define FPGAPAR_DDS2INPUTSELREG   87

Definition at line 1883 of file SdoDictionary.mh.

FPGAPAR_DDS2NREG0

#define FPGAPAR_DDS2NREG0   90

Definition at line 1889 of file SdoDictionary.mh.

FPGAPAR_DDS2NREG1

#define FPGAPAR_DDS2NREG1   91

Definition at line 1891 of file SdoDictionary.mh.

FPGAPAR_DDS2ZREG0

#define FPGAPAR_DDS2ZREG0   88

Definition at line 1885 of file SdoDictionary.mh.

FPGAPAR_DDS2ZREG1

#define FPGAPAR_DDS2ZREG1   89

Definition at line 1887 of file SdoDictionary.mh.

FPGAPAR_DGX1_3_GLITCHFLTREG

#define FPGAPAR_DGX1_3_GLITCHFLTREG   7

Definition at line 1723 of file SdoDictionary.mh.

FPGAPAR_DGX4_6_GLITCHFLTREG

#define FPGAPAR_DGX4_6_GLITCHFLTREG   8

Definition at line 1725 of file SdoDictionary.mh.

FPGAPAR_DIN13_15_FILTCNFG

#define FPGAPAR_DIN13_15_FILTCNFG   102

Definition at line 1913 of file SdoDictionary.mh.

FPGAPAR_DIN1_4_FILTCNFG

#define FPGAPAR_DIN1_4_FILTCNFG   99

Definition at line 1907 of file SdoDictionary.mh.

FPGAPAR_DIN5_8_FILTCNFG

#define FPGAPAR_DIN5_8_FILTCNFG   100

Definition at line 1909 of file SdoDictionary.mh.

FPGAPAR_DIN9_12_FILTCNFG

#define FPGAPAR_DIN9_12_FILTCNFG   101

Definition at line 1911 of file SdoDictionary.mh.

FPGAPAR_DIN_POLREG

#define FPGAPAR_DIN_POLREG   98

Definition at line 1905 of file SdoDictionary.mh.

FPGAPAR_DOUT1_2CNFGREG

#define FPGAPAR_DOUT1_2CNFGREG   104

Definition at line 1917 of file SdoDictionary.mh.

FPGAPAR_DOUT3_4CNFGREG

#define FPGAPAR_DOUT3_4CNFGREG   105

Definition at line 1919 of file SdoDictionary.mh.

FPGAPAR_DOUT9_16CNFGREG

#define FPGAPAR_DOUT9_16CNFGREG   103

Definition at line 1915 of file SdoDictionary.mh.

FPGAPAR_ENC1_3_MODEREG

#define FPGAPAR_ENC1_3_MODEREG   5

Definition at line 1719 of file SdoDictionary.mh.

FPGAPAR_ENC4PORTMODEREG

#define FPGAPAR_ENC4PORTMODEREG   107

Definition at line 1923 of file SdoDictionary.mh.

FPGAPAR_ENC5PORTMODEREG

#define FPGAPAR_ENC5PORTMODEREG   108

Definition at line 1925 of file SdoDictionary.mh.

FPGAPAR_ENC6PORTMODEREG

#define FPGAPAR_ENC6PORTMODEREG   109

Definition at line 1927 of file SdoDictionary.mh.

FPGAPAR_ENC_REF_BRIDGE_CNFGREG

#define FPGAPAR_ENC_REF_BRIDGE_CNFGREG   4

Definition at line 1717 of file SdoDictionary.mh.

FPGAPAR_POSCNT_1_CNFGREG

#define FPGAPAR_POSCNT_1_CNFGREG   10

Definition at line 1729 of file SdoDictionary.mh.

FPGAPAR_POSCNT_2_CNFGREG

#define FPGAPAR_POSCNT_2_CNFGREG   11

Definition at line 1731 of file SdoDictionary.mh.

FPGAPAR_POSCNT_3_CNFGREG

#define FPGAPAR_POSCNT_3_CNFGREG   12

Definition at line 1733 of file SdoDictionary.mh.

FPGAPAR_POSCNT_4_CNFGREG

#define FPGAPAR_POSCNT_4_CNFGREG   13

Definition at line 1735 of file SdoDictionary.mh.

FPGAPAR_POSCNT_5_CNFGREG

#define FPGAPAR_POSCNT_5_CNFGREG   14

Definition at line 1737 of file SdoDictionary.mh.

FPGAPAR_POSCNT_6_CNFGREG

#define FPGAPAR_POSCNT_6_CNFGREG   15

Definition at line 1739 of file SdoDictionary.mh.

FPGAPAR_POSLATCH_1_CNFGREG

#define FPGAPAR_POSLATCH_1_CNFGREG   17

Definition at line 1743 of file SdoDictionary.mh.

FPGAPAR_POSLATCH_2_CNFGREG

#define FPGAPAR_POSLATCH_2_CNFGREG   18

Definition at line 1745 of file SdoDictionary.mh.

FPGAPAR_POSLATCH_3_CNFGREG

#define FPGAPAR_POSLATCH_3_CNFGREG   19

Definition at line 1747 of file SdoDictionary.mh.

FPGAPAR_POSLATCH_4_CNFGREG

#define FPGAPAR_POSLATCH_4_CNFGREG   20

Definition at line 1749 of file SdoDictionary.mh.

FPGAPAR_POSLATCH_5_CNFGREG

#define FPGAPAR_POSLATCH_5_CNFGREG   21

Definition at line 1751 of file SdoDictionary.mh.

FPGAPAR_POSLATCH_6_CNFGREG

#define FPGAPAR_POSLATCH_6_CNFGREG   22

Definition at line 1753 of file SdoDictionary.mh.

FPGAPAR_PULSE_CNFGREG

#define FPGAPAR_PULSE_CNFGREG   94

Definition at line 1897 of file SdoDictionary.mh.

FPGAPAR_PULSE_DELAYREG

#define FPGAPAR_PULSE_DELAYREG   95

Definition at line 1899 of file SdoDictionary.mh.

FPGAPAR_PULSE_LENGTHREG

#define FPGAPAR_PULSE_LENGTHREG   96

Definition at line 1901 of file SdoDictionary.mh.

FPGAPAR_REF_ENC_BRIDGE1_CNFGREG

#define FPGAPAR_REF_ENC_BRIDGE1_CNFGREG   2

Definition at line 1713 of file SdoDictionary.mh.

FPGAPAR_REF_ENC_BRIDGE2_CNFGREG

#define FPGAPAR_REF_ENC_BRIDGE2_CNFGREG   3

Definition at line 1715 of file SdoDictionary.mh.

FPGAPAR_REFVEC16_31_F2DIRQMASK

#define FPGAPAR_REFVEC16_31_F2DIRQMASK   114

Definition at line 1937 of file SdoDictionary.mh.

FPGAPAR_REFVEC16_31_MODEREG

#define FPGAPAR_REFVEC16_31_MODEREG   122

Definition at line 1953 of file SdoDictionary.mh.

FPGAPAR_REFVEC16_31_SLOPEREG

#define FPGAPAR_REFVEC16_31_SLOPEREG   126

Definition at line 1961 of file SdoDictionary.mh.

FPGAPAR_REFVEC16_31_SOCIRQMASK

#define FPGAPAR_REFVEC16_31_SOCIRQMASK   118

Definition at line 1945 of file SdoDictionary.mh.

FPGAPAR_REFVEC32_47_F2DIRQMASK

#define FPGAPAR_REFVEC32_47_F2DIRQMASK   115

Definition at line 1939 of file SdoDictionary.mh.

FPGAPAR_REFVEC32_47_MODEREG

#define FPGAPAR_REFVEC32_47_MODEREG   123

Definition at line 1955 of file SdoDictionary.mh.

FPGAPAR_REFVEC32_47_SLOPEREG

#define FPGAPAR_REFVEC32_47_SLOPEREG   127

Definition at line 1963 of file SdoDictionary.mh.

FPGAPAR_REFVEC32_47_SOCIRQMASK

#define FPGAPAR_REFVEC32_47_SOCIRQMASK   119

Definition at line 1947 of file SdoDictionary.mh.

FPGAPAR_REFVEC48_63_F2DIRQMASK

#define FPGAPAR_REFVEC48_63_F2DIRQMASK   116

Definition at line 1941 of file SdoDictionary.mh.

FPGAPAR_REFVEC48_63_MODEREG

#define FPGAPAR_REFVEC48_63_MODEREG   124

Definition at line 1957 of file SdoDictionary.mh.

FPGAPAR_REFVEC48_63_SLOPEREG

#define FPGAPAR_REFVEC48_63_SLOPEREG   128

Definition at line 1965 of file SdoDictionary.mh.

FPGAPAR_REFVEC48_63_SOCIRQMASK

#define FPGAPAR_REFVEC48_63_SOCIRQMASK   120

Definition at line 1949 of file SdoDictionary.mh.

FPGAPAR_REFVEC_0_15_F2DIRQMASK

#define FPGAPAR_REFVEC_0_15_F2DIRQMASK   113

Definition at line 1935 of file SdoDictionary.mh.

FPGAPAR_REFVEC_0_15_MODEREG

#define FPGAPAR_REFVEC_0_15_MODEREG   121

Definition at line 1951 of file SdoDictionary.mh.

FPGAPAR_REFVEC_0_15_SLOPEREG

#define FPGAPAR_REFVEC_0_15_SLOPEREG   125

Definition at line 1959 of file SdoDictionary.mh.

FPGAPAR_REFVEC_0_15_SOCIRQMASK

#define FPGAPAR_REFVEC_0_15_SOCIRQMASK   117

Definition at line 1943 of file SdoDictionary.mh.

FPGAPAR_Reserve109

#define FPGAPAR_Reserve109   110

Definition at line 1929 of file SdoDictionary.mh.

FPGAPAR_Reserve110

#define FPGAPAR_Reserve110   111

Definition at line 1931 of file SdoDictionary.mh.

FPGAPAR_Reserve111

#define FPGAPAR_Reserve111   112

Definition at line 1933 of file SdoDictionary.mh.

FPGAPAR_Reserve15

#define FPGAPAR_Reserve15   16

Definition at line 1741 of file SdoDictionary.mh.

FPGAPAR_Reserve22

#define FPGAPAR_Reserve22   23

Definition at line 1755 of file SdoDictionary.mh.

FPGAPAR_Reserve23

#define FPGAPAR_Reserve23   24

Definition at line 1757 of file SdoDictionary.mh.

FPGAPAR_Reserve24

#define FPGAPAR_Reserve24   25

Definition at line 1759 of file SdoDictionary.mh.

FPGAPAR_Reserve29

#define FPGAPAR_Reserve29   30

Definition at line 1769 of file SdoDictionary.mh.

FPGAPAR_Reserve34

#define FPGAPAR_Reserve34   35

Definition at line 1779 of file SdoDictionary.mh.

FPGAPAR_Reserve39

#define FPGAPAR_Reserve39   40

Definition at line 1789 of file SdoDictionary.mh.

FPGAPAR_Reserve45

#define FPGAPAR_Reserve45   46

Definition at line 1801 of file SdoDictionary.mh.

FPGAPAR_Reserve46

#define FPGAPAR_Reserve46   47

Definition at line 1803 of file SdoDictionary.mh.

FPGAPAR_Reserve47

#define FPGAPAR_Reserve47   48

Definition at line 1805 of file SdoDictionary.mh.

FPGAPAR_Reserve48

#define FPGAPAR_Reserve48   49

Definition at line 1807 of file SdoDictionary.mh.

FPGAPAR_Reserve54

#define FPGAPAR_Reserve54   55

Definition at line 1819 of file SdoDictionary.mh.

FPGAPAR_Reserve60

#define FPGAPAR_Reserve60   61

Definition at line 1831 of file SdoDictionary.mh.

FPGAPAR_Reserve66

#define FPGAPAR_Reserve66   67

Definition at line 1843 of file SdoDictionary.mh.

FPGAPAR_Reserve72

#define FPGAPAR_Reserve72   73

Definition at line 1855 of file SdoDictionary.mh.

FPGAPAR_Reserve79

#define FPGAPAR_Reserve79   80

Definition at line 1869 of file SdoDictionary.mh.

FPGAPAR_Reserve92

#define FPGAPAR_Reserve92   93

Definition at line 1895 of file SdoDictionary.mh.

FPGAPAR_Reserve96

#define FPGAPAR_Reserve96   97

Definition at line 1903 of file SdoDictionary.mh.

FPGAPAR_ROT_SENSE_REG

#define FPGAPAR_ROT_SENSE_REG   9

Definition at line 1727 of file SdoDictionary.mh.

FPGAPAR_RS232_CNFGREG

#define FPGAPAR_RS232_CNFGREG   106

Definition at line 1921 of file SdoDictionary.mh.

FPGAPAR_SSI1CLKREG

#define FPGAPAR_SSI1CLKREG   74

Definition at line 1857 of file SdoDictionary.mh.

FPGAPAR_SSI1DELMODEREG

#define FPGAPAR_SSI1DELMODEREG   75

Definition at line 1859 of file SdoDictionary.mh.

FPGAPAR_SSI2CLKREG

#define FPGAPAR_SSI2CLKREG   76

Definition at line 1861 of file SdoDictionary.mh.

FPGAPAR_SSI2DELMODEREG

#define FPGAPAR_SSI2DELMODEREG   77

Definition at line 1863 of file SdoDictionary.mh.

FPGAPAR_SSI3CLKREG

#define FPGAPAR_SSI3CLKREG   78

Definition at line 1865 of file SdoDictionary.mh.

FPGAPAR_SSI3DELMODEREG

#define FPGAPAR_SSI3DELMODEREG   79

Definition at line 1867 of file SdoDictionary.mh.

FPGAPAR_U32CNT1_CNFGREG

#define FPGAPAR_U32CNT1_CNFGREG   42

Definition at line 1793 of file SdoDictionary.mh.

FPGAPAR_U32CNT2_CNFGREG

#define FPGAPAR_U32CNT2_CNFGREG   43

Definition at line 1795 of file SdoDictionary.mh.

FPGAPAR_U32CNT3_CNFGREG

#define FPGAPAR_U32CNT3_CNFGREG   44

Definition at line 1797 of file SdoDictionary.mh.

FPGAPAR_U32CNT4_CNFGREG

#define FPGAPAR_U32CNT4_CNFGREG   45

Definition at line 1799 of file SdoDictionary.mh.

FPGAPAR_U32CNT_MODEREG

#define FPGAPAR_U32CNT_MODEREG   41

Definition at line 1791 of file SdoDictionary.mh.

FPGAPAR_VM1_CNFGREG

#define FPGAPAR_VM1_CNFGREG   26

Definition at line 1761 of file SdoDictionary.mh.

FPGAPAR_VM1_FREQ0REG

#define FPGAPAR_VM1_FREQ0REG   27

Definition at line 1763 of file SdoDictionary.mh.

FPGAPAR_VM1_FREQ1REG

#define FPGAPAR_VM1_FREQ1REG   28

Definition at line 1765 of file SdoDictionary.mh.

FPGAPAR_VM1_ZPULSE_RATIO

#define FPGAPAR_VM1_ZPULSE_RATIO   29

Definition at line 1767 of file SdoDictionary.mh.

FPGAPAR_VM2_CNFGREG

#define FPGAPAR_VM2_CNFGREG   31

Definition at line 1771 of file SdoDictionary.mh.

FPGAPAR_VM2_FREQ0REG

#define FPGAPAR_VM2_FREQ0REG   32

Definition at line 1773 of file SdoDictionary.mh.

FPGAPAR_VM2_FREQ1REG

#define FPGAPAR_VM2_FREQ1REG   33

Definition at line 1775 of file SdoDictionary.mh.

FPGAPAR_VM2_ZPULSE_RATIO

#define FPGAPAR_VM2_ZPULSE_RATIO   34

Definition at line 1777 of file SdoDictionary.mh.

FPGAPAR_VM3_CNFGREG

#define FPGAPAR_VM3_CNFGREG   36

Definition at line 1781 of file SdoDictionary.mh.

FPGAPAR_VM3_FREQ0REG

#define FPGAPAR_VM3_FREQ0REG   37

Definition at line 1783 of file SdoDictionary.mh.

FPGAPAR_VM3_FREQ1REG

#define FPGAPAR_VM3_FREQ1REG   38

Definition at line 1785 of file SdoDictionary.mh.

FPGAPAR_VM3_ZPULSE_RATIO

#define FPGAPAR_VM3_ZPULSE_RATIO   39

Definition at line 1787 of file SdoDictionary.mh.

FPGAREG_CLEAROVFL

#define FPGAREG_CLEAROVFL   2

Definition at line 1603 of file SdoDictionary.mh.

FPGAREG_DIN

#define FPGAREG_DIN   37

Definition at line 1673 of file SdoDictionary.mh.

FPGAREG_DOUT

#define FPGAREG_DOUT   38

Definition at line 1675 of file SdoDictionary.mh.

FPGAREG_ENC1QUADCNT

#define FPGAREG_ENC1QUADCNT   16

Definition at line 1631 of file SdoDictionary.mh.

FPGAREG_ENC2QUADCNT

#define FPGAREG_ENC2QUADCNT   17

Definition at line 1633 of file SdoDictionary.mh.

FPGAREG_ENC3QUADCNT

#define FPGAREG_ENC3QUADCNT   18

Definition at line 1635 of file SdoDictionary.mh.

FPGAREG_ENC4QUADCNT

#define FPGAREG_ENC4QUADCNT   19

Definition at line 1637 of file SdoDictionary.mh.

FPGAREG_ENC5QUADCNT

#define FPGAREG_ENC5QUADCNT   20

Definition at line 1639 of file SdoDictionary.mh.

FPGAREG_ENC6QUADCNT

#define FPGAREG_ENC6QUADCNT   21

Definition at line 1641 of file SdoDictionary.mh.

FPGAREG_FPGAFWVERS

#define FPGAREG_FPGAFWVERS   1

Definition at line 1601 of file SdoDictionary.mh.

FPGAREG_INCENC1POS

#define FPGAREG_INCENC1POS   3

Definition at line 1605 of file SdoDictionary.mh.

FPGAREG_INCENC2POS

#define FPGAREG_INCENC2POS   4

Definition at line 1607 of file SdoDictionary.mh.

FPGAREG_INCENC3POS

#define FPGAREG_INCENC3POS   5

Definition at line 1609 of file SdoDictionary.mh.

FPGAREG_INCENC4POS

#define FPGAREG_INCENC4POS   6

Definition at line 1611 of file SdoDictionary.mh.

FPGAREG_INCENC5POS

#define FPGAREG_INCENC5POS   7

Definition at line 1613 of file SdoDictionary.mh.

FPGAREG_INCENC6POS

#define FPGAREG_INCENC6POS   8

Definition at line 1615 of file SdoDictionary.mh.

FPGAREG_POSLATCH1

#define FPGAREG_POSLATCH1   9

Definition at line 1617 of file SdoDictionary.mh.

FPGAREG_POSLATCH2

#define FPGAREG_POSLATCH2   10

Definition at line 1619 of file SdoDictionary.mh.

FPGAREG_POSLATCH3

#define FPGAREG_POSLATCH3   11

Definition at line 1621 of file SdoDictionary.mh.

FPGAREG_POSLATCH4

#define FPGAREG_POSLATCH4   12

Definition at line 1623 of file SdoDictionary.mh.

FPGAREG_POSLATCH5

#define FPGAREG_POSLATCH5   13

Definition at line 1625 of file SdoDictionary.mh.

FPGAREG_POSLATCH6

#define FPGAREG_POSLATCH6   14

Definition at line 1627 of file SdoDictionary.mh.

FPGAREG_POSLATCH_FLAG

#define FPGAREG_POSLATCH_FLAG   15

Definition at line 1629 of file SdoDictionary.mh.

FPGAREG_REFVEC0

#define FPGAREG_REFVEC0   39

Definition at line 1677 of file SdoDictionary.mh.

FPGAREG_REFVEC1

#define FPGAREG_REFVEC1   40

Definition at line 1679 of file SdoDictionary.mh.

FPGAREG_REFVEC2

#define FPGAREG_REFVEC2   41

Definition at line 1681 of file SdoDictionary.mh.

FPGAREG_REFVEC3

#define FPGAREG_REFVEC3   42

Definition at line 1683 of file SdoDictionary.mh.

FPGAREG_SSI1POS0

#define FPGAREG_SSI1POS0   30

Definition at line 1659 of file SdoDictionary.mh.

FPGAREG_SSI1POS1

#define FPGAREG_SSI1POS1   31

Definition at line 1661 of file SdoDictionary.mh.

FPGAREG_SSI2POS0

#define FPGAREG_SSI2POS0   32

Definition at line 1663 of file SdoDictionary.mh.

FPGAREG_SSI2POS1

#define FPGAREG_SSI2POS1   33

Definition at line 1665 of file SdoDictionary.mh.

FPGAREG_SSI3POS0

#define FPGAREG_SSI3POS0   34

Definition at line 1667 of file SdoDictionary.mh.

FPGAREG_SSI3POS1

#define FPGAREG_SSI3POS1   35

Definition at line 1669 of file SdoDictionary.mh.

FPGAREG_SSIFLAG

#define FPGAREG_SSIFLAG   36

Definition at line 1671 of file SdoDictionary.mh.

FPGAREG_U32CNT10

#define FPGAREG_U32CNT10   22

Definition at line 1643 of file SdoDictionary.mh.

FPGAREG_U32CNT11

#define FPGAREG_U32CNT11   23

Definition at line 1645 of file SdoDictionary.mh.

FPGAREG_U32CNT20

#define FPGAREG_U32CNT20   24

Definition at line 1647 of file SdoDictionary.mh.

FPGAREG_U32CNT21

#define FPGAREG_U32CNT21   25

Definition at line 1649 of file SdoDictionary.mh.

FPGAREG_U32CNT30

#define FPGAREG_U32CNT30   26

Definition at line 1651 of file SdoDictionary.mh.

FPGAREG_U32CNT31

#define FPGAREG_U32CNT31   27

Definition at line 1653 of file SdoDictionary.mh.

FPGAREG_U32CNT40

#define FPGAREG_U32CNT40   28

Definition at line 1655 of file SdoDictionary.mh.

FPGAREG_U32CNT41

#define FPGAREG_U32CNT41   29

Definition at line 1657 of file SdoDictionary.mh.

GLB_PARAM

#define GLB_PARAM

(

parno

)

Sysvar[GLB_PARAM_INDEX(parno)]

Global Parameters: Setter.

Parameters

parno

Parameter number

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, CAN_4Ax_MiniMACS6_csp.mc, CAN_4Ax_MiniMACS6_cst.mc, CAN_4Ax_MiniMACS6_csv.mc, and PWM_1Ax_ESCON.mc.

Definition at line 67 of file SdoDictionary.mh.

GLB_PARAM_ESCCONDGLB_NOTHING

#define GLB_PARAM_ESCCONDGLB_NOTHING   0

Definition at line 219 of file SdoDictionary.mh.

GLB_PARAM_ESCCONDGLB_OUT_OFF

#define GLB_PARAM_ESCCONDGLB_OUT_OFF   1

Examples

PWM_1Ax_ESCON.mc.

Definition at line 220 of file SdoDictionary.mh.

GLB_PARAM_ESCCONDGLB_OUT_ON

#define GLB_PARAM_ESCCONDGLB_OUT_ON   2

Definition at line 221 of file SdoDictionary.mh.

GLB_PARAM_INDEX

#define GLB_PARAM_INDEX

(

parno

)

((0x01000000 | (SDOINDEX_GLB_PARAM<<8)) | ((long) (parno)))

Global Parameters: Getter.

Parameters

parno

Parameter number

Definition at line 57 of file SdoDictionary.mh.

GLB_PARAM_MAX

#define GLB_PARAM_MAX   102

Global Parameters: Maximum number of parameters.

Definition at line 71 of file SdoDictionary.mh.

GLB_PARAM_SRCINDEX

#define GLB_PARAM_SRCINDEX

(

parno

)

((SDOINDEX_GLB_PARAM<<8) | ((long) (parno)))

Global Parameters: Source Index.

Parameters

parno

Parameter number

Definition at line 62 of file SdoDictionary.mh.

HALL_ALIGNMENT_060120180

#define HALL_ALIGNMENT_060120180   13

Definition at line 8328 of file SdoDictionary.mh.

HALL_ALIGNMENT_060180120

#define HALL_ALIGNMENT_060180120   19

Definition at line 8334 of file SdoDictionary.mh.

HALL_ALIGNMENT_060180300

#define HALL_ALIGNMENT_060180300   1

Definition at line 8315 of file SdoDictionary.mh.

HALL_ALIGNMENT_060300180

#define HALL_ALIGNMENT_060300180   7

Definition at line 8322 of file SdoDictionary.mh.

HALL_ALIGNMENT_060DEGREE

#define HALL_ALIGNMENT_060DEGREE   22

Definition at line 8338 of file SdoDictionary.mh.

HALL_ALIGNMENT_120180240

#define HALL_ALIGNMENT_120180240   14

Definition at line 8329 of file SdoDictionary.mh.

HALL_ALIGNMENT_120240180

#define HALL_ALIGNMENT_120240180   20

Definition at line 8335 of file SdoDictionary.mh.

HALL_ALIGNMENT_120240360

#define HALL_ALIGNMENT_120240360   2

Definition at line 8316 of file SdoDictionary.mh.

HALL_ALIGNMENT_120360240

#define HALL_ALIGNMENT_120360240   8

Definition at line 8323 of file SdoDictionary.mh.

HALL_ALIGNMENT_120DEGREE

#define HALL_ALIGNMENT_120DEGREE   5

Examples

Maxon_EC45_flat_1ax_BC_Hall.mc.

Definition at line 8320 of file SdoDictionary.mh.

HALL_ALIGNMENT_180060300

#define HALL_ALIGNMENT_180060300   9

Definition at line 8324 of file SdoDictionary.mh.

HALL_ALIGNMENT_180240300

#define HALL_ALIGNMENT_180240300   15

Definition at line 8330 of file SdoDictionary.mh.

HALL_ALIGNMENT_180300060

#define HALL_ALIGNMENT_180300060   3

Definition at line 8317 of file SdoDictionary.mh.

HALL_ALIGNMENT_180300240

#define HALL_ALIGNMENT_180300240   21

Definition at line 8336 of file SdoDictionary.mh.

HALL_ALIGNMENT_240120360

#define HALL_ALIGNMENT_240120360   10

Definition at line 8325 of file SdoDictionary.mh.

HALL_ALIGNMENT_240300360

#define HALL_ALIGNMENT_240300360   16

Definition at line 8331 of file SdoDictionary.mh.

HALL_ALIGNMENT_240360120

#define HALL_ALIGNMENT_240360120   4

Definition at line 8318 of file SdoDictionary.mh.

HALL_ALIGNMENT_240360300

#define HALL_ALIGNMENT_240360300   22

Definition at line 8337 of file SdoDictionary.mh.

HALL_ALIGNMENT_300060180

#define HALL_ALIGNMENT_300060180   5

Definition at line 8319 of file SdoDictionary.mh.

HALL_ALIGNMENT_300060360

#define HALL_ALIGNMENT_300060360   23

Definition at line 8339 of file SdoDictionary.mh.

HALL_ALIGNMENT_300180060

#define HALL_ALIGNMENT_300180060   11

Definition at line 8326 of file SdoDictionary.mh.

HALL_ALIGNMENT_300360060

#define HALL_ALIGNMENT_300360060   17

Definition at line 8332 of file SdoDictionary.mh.

HALL_ALIGNMENT_360060120

#define HALL_ALIGNMENT_360060120   12

Definition at line 8327 of file SdoDictionary.mh.

HALL_ALIGNMENT_360120060

#define HALL_ALIGNMENT_360120060   18

Definition at line 8333 of file SdoDictionary.mh.

HALL_ALIGNMENT_360120240

#define HALL_ALIGNMENT_360120240   0

Definition at line 8314 of file SdoDictionary.mh.

HALL_ALIGNMENT_360240120

#define HALL_ALIGNMENT_360240120   6

Definition at line 8321 of file SdoDictionary.mh.

HALL_ALIGNMENT_BOTTOM

#define HALL_ALIGNMENT_BOTTOM   0

Definition at line 8313 of file SdoDictionary.mh.

HALL_ALIGNMENT_ERROR

#define HALL_ALIGNMENT_ERROR   24

Definition at line 8341 of file SdoDictionary.mh.

HALL_ALIGNMENT_TOP

#define HALL_ALIGNMENT_TOP   23

Definition at line 8340 of file SdoDictionary.mh.

HOME_CURTHRESHOLD

#define HOME_CURTHRESHOLD   139

Current Threshold for homing mode.

Used for homing modes −1, −2, −3, and −4. A mechanical border will be detected when the measured motor current rises above the specified threshold [mA].

Initial Value

500

Units

mA

Definition at line 3143 of file SdoDictionary.mh.

HOME_FORCE

#define HOME_FORCE   4

Forced movement to home position.

0 = No 1 = Yes 255 = Yes + done

Initial Value

0

Value Range

0,1

Definition at line 2320 of file SdoDictionary.mh.

HOME_OFFSET

#define HOME_OFFSET   43

Zero point offset for machine zero point or index.

Offset movement after detection of hardware reference used by the HOME command.

Initial Value

0

Value Range

-MLONG-MLONG

Units

qc

Definition at line 2693 of file SdoDictionary.mh.

HOME_RAMP

#define HOME_RAMP   42

Ramp for home motion.

Scaled acceleration (see VELRES, subindex 23) used by the HOME command.

Initial Value

50

Definition at line 2681 of file SdoDictionary.mh.

HOME_TYPE

#define HOME_TYPE   41

Behavior during movement to home.

Initial Value

0

Definition at line 2673 of file SdoDictionary.mh.

HOME_VEL

#define HOME_VEL   8

Velocity for movement to home position.

Scaled velocity (see VELRES, subindex 23) used by the HOME command.

Initial Value

10

Definition at line 2361 of file SdoDictionary.mh.

HOMEZEROVEL

#define HOMEZEROVEL   117

Scaled velocity for moving into encoder index as part of the homing procedure.

Scaled velocity (see VELRES, subindex 2) for moving into the encoder index as part of the HOME command or CANopen homing procedures.

Initial Value

10

Definition at line 3053 of file SdoDictionary.mh.

HW_CNTUNI_MODE_ENCSRC

#define HW_CNTUNI_MODE_ENCSRC   0

Definition at line 8976 of file SdoDictionary.mh.

HW_CNTUNI_MODE_REFSRC

#define HW_CNTUNI_MODE_REFSRC   1

Definition at line 8977 of file SdoDictionary.mh.

HW_CNTUNI_MODE_RESETOFFSET

#define HW_CNTUNI_MODE_RESETOFFSET   0x8000

Definition at line 8980 of file SdoDictionary.mh.

HW_CNTUNI_MODE_SINGLENCA

#define HW_CNTUNI_MODE_SINGLENCA   2

Definition at line 8978 of file SdoDictionary.mh.

HW_CNTUNI_MODE_SINGLENCB

#define HW_CNTUNI_MODE_SINGLENCB   3

Definition at line 8979 of file SdoDictionary.mh.

HWAMP_AHEADANGLE

#define HWAMP_AHEADANGLE   39

Field ahead angle (not used)

Initial Value

0

Definition at line 7772 of file SdoDictionary.mh.

HWAMP_CHOP_UDCMAX

#define HWAMP_CHOP_UDCMAX   56

Voltage Level for high chopper function.

(Not available on MACS5) Voltage level for full chopper intervention

Units

mV*4

Definition at line 7949 of file SdoDictionary.mh.

HWAMP_CHOP_UDCMIN

#define HWAMP_CHOP_UDCMIN   55

Voltage Level for low chopper function.

(Not available on MACS5) Voltage level for first chopper intervention

Units

mV*4

Definition at line 7940 of file SdoDictionary.mh.

HWAMP_COMMTYPE

#define HWAMP_COMMTYPE   36

Commutation type in use.

Defines the motor and the type of commutation that is connected to the amplifier.

Examples

Maxon_EC45_flat_1ax_BC_Hall.mc.

Definition at line 7749 of file SdoDictionary.mh.

HWAMP_COMMTYPE_BLDC

#define HWAMP_COMMTYPE_BLDC   2

Examples

Maxon_EC45_flat_1ax_BC_Hall.mc.

Definition at line 8283 of file SdoDictionary.mh.

HWAMP_COMMTYPE_BLDC_120

#define HWAMP_COMMTYPE_BLDC_120   2

Definition at line 8284 of file SdoDictionary.mh.

HWAMP_COMMTYPE_BLDC_120_TWIN

#define HWAMP_COMMTYPE_BLDC_120_TWIN   8

Definition at line 8291 of file SdoDictionary.mh.

HWAMP_COMMTYPE_BLDC_60

#define HWAMP_COMMTYPE_BLDC_60   3

Definition at line 8285 of file SdoDictionary.mh.

HWAMP_COMMTYPE_BLDC_60_TWIN

#define HWAMP_COMMTYPE_BLDC_60_TWIN   9

Definition at line 8292 of file SdoDictionary.mh.

HWAMP_COMMTYPE_BLDC_TWIN

#define HWAMP_COMMTYPE_BLDC_TWIN   8

Definition at line 8290 of file SdoDictionary.mh.

HWAMP_COMMTYPE_CHOPPER

#define HWAMP_COMMTYPE_CHOPPER   13

Definition at line 8296 of file SdoDictionary.mh.

HWAMP_COMMTYPE_DC

#define HWAMP_COMMTYPE_DC   1

Definition at line 8282 of file SdoDictionary.mh.

HWAMP_COMMTYPE_DC_100

#define HWAMP_COMMTYPE_DC_100   15

Definition at line 8298 of file SdoDictionary.mh.

HWAMP_COMMTYPE_DC_ALT

#define HWAMP_COMMTYPE_DC_ALT   14

Definition at line 8297 of file SdoDictionary.mh.

HWAMP_COMMTYPE_DC_TWIN

#define HWAMP_COMMTYPE_DC_TWIN   6

Definition at line 8288 of file SdoDictionary.mh.

HWAMP_COMMTYPE_HALL_PMSM

#define HWAMP_COMMTYPE_HALL_PMSM   5

Definition at line 8287 of file SdoDictionary.mh.

HWAMP_COMMTYPE_HALL_PMSM_TWIN

#define HWAMP_COMMTYPE_HALL_PMSM_TWIN   11

Definition at line 8294 of file SdoDictionary.mh.

HWAMP_COMMTYPE_NONE

#define HWAMP_COMMTYPE_NONE   0

Definition at line 8281 of file SdoDictionary.mh.

HWAMP_COMMTYPE_PMSM

#define HWAMP_COMMTYPE_PMSM   7

Definition at line 8289 of file SdoDictionary.mh.

HWAMP_COMMTYPE_PMSM_TWIN

#define HWAMP_COMMTYPE_PMSM_TWIN   12

Definition at line 8295 of file SdoDictionary.mh.

HWAMP_COMMTYPE_STEP

#define HWAMP_COMMTYPE_STEP   4

Definition at line 8286 of file SdoDictionary.mh.

HWAMP_COMMTYPE_STEP_TWIN

#define HWAMP_COMMTYPE_STEP_TWIN   10

Definition at line 8293 of file SdoDictionary.mh.

HWAMP_CURFILTTIME

#define HWAMP_CURFILTTIME   41

Filter time for current measurement returned by PO_HWAMP_CURRENT, not used in current controller, so current controller uses allways unfiltered values.

Initial Value

2

Value Range

0-16384

Definition at line 7788 of file SdoDictionary.mh.

HWAMP_CURKILIM

#define HWAMP_CURKILIM   35

Integral limit of current controller.

Initial Value

32767

Value Range

0-65535

Definition at line 7743 of file SdoDictionary.mh.

HWAMP_CURKINT

#define HWAMP_CURKINT   34

Integral factor of current controller.

Initial Value

100

Value Range

0-65535

Definition at line 7734 of file SdoDictionary.mh.

HWAMP_CURKPROP

#define HWAMP_CURKPROP   33

Proportional factor of current controller.

Initial Value

200

Value Range

0-65535

Definition at line 7725 of file SdoDictionary.mh.

HWAMP_CURPI0_OUTLIM

#define HWAMP_CURPI0_OUTLIM   62

Output Limit for current controller 0.

(Not available on MACS5)

Value Range

0-65535

Units

DutyCycle

Definition at line 7987 of file SdoDictionary.mh.

HWAMP_CURPI0_REFLIM

#define HWAMP_CURPI0_REFLIM   61

Reference Limit for current controller 0.

Not available on MACS5 Limits reference value for current controller 0, so limits only PO_HWAMP_CURPI0_REF. See also HWAMP_MAXCUR.

Value Range

0-65535

Units

mA

Definition at line 7977 of file SdoDictionary.mh.

HWAMP_CURPI1_OUTLIM

#define HWAMP_CURPI1_OUTLIM   64

Output Limit for current controller 1.

(Not available on MACS5)

Value Range

0-65535

Units

DutyCycle

Definition at line 8009 of file SdoDictionary.mh.

HWAMP_CURPI1_REFLIM

#define HWAMP_CURPI1_REFLIM   63

Reference Limit for current controller 1.

Not available on MACS5 Limits reference value for current controller 1, so limits only PO_HWAMP_CURPI1_REF. See also HWAMP_MAXCUR.

Value Range

0-65535

Units

mA

Definition at line 7999 of file SdoDictionary.mh.

HWAMP_CURPI_MODE

#define HWAMP_CURPI_MODE   70

Current regulator mode.

0 = MODE_CLASSIC, 1 = MODE_LOADESTIMATE

(Not available on MACS5)

Initial Value

0

Definition at line 8069 of file SdoDictionary.mh.

HWAMP_DEFINE_PO_DATA_SET

#define HWAMP_DEFINE_PO_DATA_SET   91

Defines a set of process data.

Defines which process data should be visible in SDO PO_HWAMP_SET1_0....PO_HWAMP_SET1_5 and PO_HWAMP_SET2_0....PO_HWAMP_SET2_5. Only for experts recommended.

Exampel:

long axis = 3; HWAMP_PARAM(axis, HWAMP_COMMTYPE) = HWAMP_COMMTYPE_BLDC; // Define data. Note: The followning line of code is not necessary since it is exactly the default setting defined at startup HWAMP_PARAM(axis, HWAMP_DEFINE_PO_DATA_SET) =
HWAMP_PO_DATA_SET_1_OFFSET * HWAMP_PO_DATA_SET_IMEAS + // Assignes HWAMP_PO_DATA_SET_IMEAS to set 1 HWAMP_PO_DATA_SET_2_OFFSET * HWAMP_PO_DATA_SET_IMEASFIL; // Assignes HWAMP_PO_DATA_SET_IMEASFIL to set 2 // Now you can get process data printf("Filtered current of axis %ld, half bridge %ld is %ld[mA]", axis, 2, HWAMP_PROCESS(axis, PO_HWAMP_SET2_1);

Definition at line 8255 of file SdoDictionary.mh.

HWAMP_ELPOL

#define HWAMP_ELPOL   51

encoder polarity vs.

electrical polarity

Note:

• On MACS5, this parameter has subindex 135.
• Leave this parmeter if you use MotorAlignStart(..) or HallDetectStart(..), because these functions will set the parameter
• For Maxon and Dunker set it to HWAMP_ELPOL_INVERSE.
  
• If you exchange two phases on an EC-Motor, this parameter is going to change.

  Initial Value

  1

Definition at line 7917 of file SdoDictionary.mh.

HWAMP_ELPOL_INVERS

#define HWAMP_ELPOL_INVERS   -1

Definition at line 8309 of file SdoDictionary.mh.

HWAMP_ELPOL_INVERSE

#define HWAMP_ELPOL_INVERSE   -1

Definition at line 8310 of file SdoDictionary.mh.

HWAMP_ELPOL_REGULAR

#define HWAMP_ELPOL_REGULAR   1

Definition at line 8308 of file SdoDictionary.mh.

HWAMP_ELPOS_LAGMULT

#define HWAMP_ELPOS_LAGMULT   65

Lag compensation multiplier value.

(Not available on MACS5) This value can be used to compensate the lag of the electric field. It can be used with
HWAMP_COMMTYPE_PMSM HWAMP_COMMTYPE_PMSM_TWIN HWAMP_COMMTYPE_HALL_PMSM HWAMP_COMMTYPE_HALL_PMSM_TWIN HWAMP_COMMTYPE_STEP HWAMP_COMMTYPE_STEP_TWIN (in other words: All with sinusoidal commutation) with closed loop to achieve a higher maximum speed. In all other cases the parameter is ignored. The value of this parameter has to be optimized empirically. Start with 0 and increase, while evaluating the achievable maximum speed of the motor. The unit of the value is 1/655360 seconds. E.g. a value of 270 will result in 0.411 millisecond.

Initial Value

0

Units

s/655360

Examples

Stepper_XY_CL.mc.

Definition at line 8029 of file SdoDictionary.mh.

HWAMP_ENCRES

#define HWAMP_ENCRES   42

Resolution of the encoder for position feed back in increments (quadcounts)

This parameter is used to scale the parameters of the velocity controller to HWAMP_MAXRPM. It is also used to calculate the position within one motor revolution, which is necessary to generate the field for synchronous motors. Note that this parameter exists independently also in HWCOUNTINC_PARAM / HWCNTINC_RESOLUTION

Initial Value

2000

Value Range

1-1280000

Units

qc

Definition at line 7802 of file SdoDictionary.mh.

HWAMP_ENCRES_MICROSTEP_RES

#define HWAMP_ENCRES_MICROSTEP_RES   1024

Examples

Stepper_XY_OL.mc.

Definition at line 8301 of file SdoDictionary.mh.

HWAMP_HALL_ALIGNMENT

#define HWAMP_HALL_ALIGNMENT   88

Hall Alignment.

H1, H2 and H3 are the three HALL elements CW is clock wise CCW is counter clock wise

Initial Value

5

Value Range

0-24

Definition at line 8228 of file SdoDictionary.mh.

HWAMP_HALL_ERROR_LIMIT

#define HWAMP_HALL_ERROR_LIMIT   87

Limit for hall errors.

Only applicable if HWAMP_COMMTYPE is set to a value which requires hall sensors (e.g. HWAMP_COMMTYPE_BLDC, HWAMP_COMMTYPE_HALL_PMSM, HWAMP_COMMTYPE_BLDC_TWIN, HWAMP_COMMTYPE_HALL_PMSM_TWIN) A hall pattern fault counter (PO_HWAMP_HALL_ERRORCOUNT) increments in case of faulty hall pattern or decrements in case of correct hall pattern. This counter is compared with HWAMP_HALL_ERROR_LIMIT and can raise error 119. HWAMP_HALL_ERROR_LIMIT = 0 means: Never raise error due to a faulty pattern HWAMP_HALL_ERROR_LIMIT = 1 means: Raise error as soon as one faulty pattern has been recognized HWAMP_HALL_ERROR_LIMIT = 2 means: Raise error as pattern fault counter has reached 2 and so on

Initial Value

5

Definition at line 8216 of file SdoDictionary.mh.

HWAMP_HALL_SIMULATOR

#define HWAMP_HALL_SIMULATOR   86

Only for testing!

This is just for testing! Manipulates or simulates hall signal internally. Note: PO_HWAMP_HALL_POSRAW is manipulated, not PO_HWAMP_HALL_POSEL Note: An injected error may not always lead to a pattern error, an injected error is like noise or a broken connection and may or may not lead to a pattern error. By injecting hall signals we can simulate or manipulate hall. Various hall problems can be simulated with or without connected hall sensors. Why was this simulator implemented in firmware and not in an external hall generator?
Because it is possible to connect a real hall sensors and inject faults with this tool.

Set a fixed pattern, touches all 3 hall sensor lines (H1...H3) of one axis -10 set PO_HWAMP_HALL_POSRAW to 7 -11 set PO_HWAMP_HALL_POSRAW to 6 -12 set PO_HWAMP_HALL_POSRAW to 5 and so on -17 set PO_HWAMP_HALL_POSRAW to 0

Set one hall sensor line of PO_HWAMP_HALL_POSRAW to a defined level, touches just one hall sensor lines (H1 or H2 or H3) -6, hall sensor H1 will be set to 1 -5, hall sensor H2 will be set to 1 -4, hall sensor H3 will be set to 1 -3, hall sensor H1 will be set to 0 -2, hall sensor H2 will be set to 0 -1, hall sensor H3 will be set to 0

0, hall signal will never be manipulated, this is the default

By random ONE hall sensor (H1, H2 or H3) will be turned. If it is 0, it will be turned to 1 and vis versa. This is like noise. Touches just one hall sensor line (H1, H2 or H3) 1, every hall signal will be turned 2, every 2nd signal will be turned 3, every 3rd signal will be turned and so on

Initial Value

0

Definition at line 8203 of file SdoDictionary.mh.

HWAMP_I2T_CONT

#define HWAMP_I2T_CONT   54

I2T value of continuously allowed current.

(Not available on MACS5)

Definition at line 7931 of file SdoDictionary.mh.

HWAMP_I2T_TRIPVALUE

#define HWAMP_I2T_TRIPVALUE   53

I2T monitoring trip value.

(Not available on MACS5)

Please see details about I2T parameter under HWAMP_I2T_CONT

Definition at line 7925 of file SdoDictionary.mh.

HWAMP_I2TTIME

#define HWAMP_I2TTIME   40

Not used.

Initial Value

0

Definition at line 7779 of file SdoDictionary.mh.

HWAMP_IDQ_D_REF

#define HWAMP_IDQ_D_REF   92

Defines Idq d-Part reference in mA.

Experimental !

Initial Value

0

Value Range

-0x7FFF-0x7FFF

Units

mA

Definition at line 8267 of file SdoDictionary.mh.

HWAMP_MAXCUR

#define HWAMP_MAXCUR   43

Maximal current allowed.

Limits reference value for both current controllers.
In other words: Set HWAMP_CURPI0_REFLIM = HWAMP_CURPI1_REFLIM = HWAMP_MAXCUR. Cannot set a current higher than peak current of controller (see hardware manual).
When getting this parameter, just HWAMP_CURPI0_REFLIM is retrieved.
See also HWAMP_CURPI0_REFLIM and HWAMP_CURPI1_REFLIM.

Initial Value

2000

Units

mA

Examples

Maxon_EC45_flat_1ax_BC_Hall.mc.

Definition at line 7815 of file SdoDictionary.mh.

HWAMP_MAXRPM

#define HWAMP_MAXRPM   45

Maximum velocity in RPM.

Initial Value

2000

Value Range

1-65535

Units

rpm

Examples

Maxon_EC45_flat_1ax_BC_Hall.mc.

Definition at line 7833 of file SdoDictionary.mh.

HWAMP_MODE

#define HWAMP_MODE   1

Mode of operation.

Setting this parameter can raise error 101 because mode may not be supported by the controller or by the assigned HWAMP_COMMTYPE. Define always HWAMP_COMMTYPE first!

Initial Value

0

Examples

Maxon_EC45_flat_1ax_BC_Hall.mc.

Definition at line 7639 of file SdoDictionary.mh.

HWAMP_MODE_INT_CUR_PWM

#define HWAMP_MODE_INT_CUR_PWM   6

Definition at line 8277 of file SdoDictionary.mh.

HWAMP_MODE_INT_PWM

#define HWAMP_MODE_INT_PWM   7

Definition at line 8278 of file SdoDictionary.mh.

HWAMP_MODE_PFG_CUR_PWM

#define HWAMP_MODE_PFG_CUR_PWM   4

Definition at line 8275 of file SdoDictionary.mh.

HWAMP_MODE_PFG_PWM

#define HWAMP_MODE_PFG_PWM   5

Definition at line 8276 of file SdoDictionary.mh.

HWAMP_MODE_POS

#define HWAMP_MODE_POS   3

Definition at line 8274 of file SdoDictionary.mh.

HWAMP_MODE_POS_CUR

#define HWAMP_MODE_POS_CUR   2

Definition at line 8273 of file SdoDictionary.mh.

HWAMP_MODE_POS_VEL

#define HWAMP_MODE_POS_VEL   1

Definition at line 8272 of file SdoDictionary.mh.

HWAMP_MODE_POS_VEL_CUR

#define HWAMP_MODE_POS_VEL_CUR   0

Definition at line 8271 of file SdoDictionary.mh.

HWAMP_PARAM

#define HWAMP_PARAM	(		modno,
			parno
	)		Sysvar[HWAMP_PARAM_INDEX((modno),(parno))]

HW Amplifier Parameters: Setter.

Parameters

modno	Module number
parno	Parameter number

Examples

Maxon_EC45_flat_1ax_BC_Hall.mc, Maxon_ECi52_1ax_SC_SSI.mc, Stepper_XY_CL.mc, and Stepper_XY_OL.mc.

Definition at line 7627 of file SdoDictionary.mh.

HWAMP_PARAM_INDEX

#define HWAMP_PARAM_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWAMP_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Amplifier Parameters: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 7615 of file SdoDictionary.mh.

HWAMP_PARAM_MAX

#define HWAMP_PARAM_MAX   93

HW Amplifier Parameters: Maximum number of parameters.

Definition at line 7631 of file SdoDictionary.mh.

HWAMP_PARAM_SRCINDEX

#define HWAMP_PARAM_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWAMP_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Amplifier Parameters: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 7621 of file SdoDictionary.mh.

HWAMP_PISRC_ACTPOS

#define HWAMP_PISRC_ACTPOS   14

Source for actual position.

This parameter defines the source for the actual position. There are two value ranges with different meanings: 0-5: This will read the actual position directly out of the FPGA's inremental position register. This only works for digital incremental encoders! >=6: Source definitions as standard: Use index/subindex nomenclature, e.g. HWCOUNTINC_PROCESS_SRCINDEX(0, PO_HWCNTINC_VALUE)

Initial Value

0+n

Definition at line 7680 of file SdoDictionary.mh.

HWAMP_PISRC_ACTVEL

#define HWAMP_PISRC_ACTVEL   15

Not used.

Initial Value

0

Definition at line 7687 of file SdoDictionary.mh.

HWAMP_PISRC_CMDWORD

#define HWAMP_PISRC_CMDWORD   10

Source Index/subindex of command word.

Initial Value

PO_VIRTAMP_CMDWORD+n

Definition at line 7646 of file SdoDictionary.mh.

HWAMP_PISRC_MAX

#define HWAMP_PISRC_MAX   20

Definition at line 7689 of file SdoDictionary.mh.

HWAMP_PISRC_REFACC

#define HWAMP_PISRC_REFACC   13

Source Index/subindex of acceleration reference.

Initial Value

PO_VIRTAMP_REFACC+n

Definition at line 7669 of file SdoDictionary.mh.

HWAMP_PISRC_REFPOS

#define HWAMP_PISRC_REFPOS   11

Source Index/subindex of position reference.

Initial Value

PO_VIRTAMP_REFPOS+n

Units

qc

Definition at line 7655 of file SdoDictionary.mh.

HWAMP_PISRC_REFVEL

#define HWAMP_PISRC_REFVEL   12

Source Index/subindex of velocity reference.

Initial Value

PO_VIRTAMP_REFVEL+n

Definition at line 7662 of file SdoDictionary.mh.

HWAMP_PO_DATA_SET_1_OFFSET

#define HWAMP_PO_DATA_SET_1_OFFSET   1

Definition at line 8346 of file SdoDictionary.mh.

HWAMP_PO_DATA_SET_2_OFFSET

#define HWAMP_PO_DATA_SET_2_OFFSET   1000

Definition at line 8347 of file SdoDictionary.mh.

HWAMP_PO_DATA_SET_CUR_CALIB_GAIN

#define HWAMP_PO_DATA_SET_CUR_CALIB_GAIN   5

Definition at line 8353 of file SdoDictionary.mh.

HWAMP_PO_DATA_SET_CUR_CALIB_OFFSET

#define HWAMP_PO_DATA_SET_CUR_CALIB_OFFSET   3

Definition at line 8351 of file SdoDictionary.mh.

HWAMP_PO_DATA_SET_CUR_CALIB_STATE

#define HWAMP_PO_DATA_SET_CUR_CALIB_STATE   4

Definition at line 8352 of file SdoDictionary.mh.

HWAMP_PO_DATA_SET_CUR_RAW

#define HWAMP_PO_DATA_SET_CUR_RAW   9

Definition at line 8357 of file SdoDictionary.mh.

HWAMP_PO_DATA_SET_DEVICE_SPECIFIC_1

#define HWAMP_PO_DATA_SET_DEVICE_SPECIFIC_1   6

Definition at line 8354 of file SdoDictionary.mh.

HWAMP_PO_DATA_SET_DEVICE_SPECIFIC_2

#define HWAMP_PO_DATA_SET_DEVICE_SPECIFIC_2   7

Definition at line 8355 of file SdoDictionary.mh.

HWAMP_PO_DATA_SET_FIRST

#define HWAMP_PO_DATA_SET_FIRST   1

Definition at line 8344 of file SdoDictionary.mh.

HWAMP_PO_DATA_SET_I2T_ACT

#define HWAMP_PO_DATA_SET_I2T_ACT   8

Definition at line 8356 of file SdoDictionary.mh.

HWAMP_PO_DATA_SET_IMEAS

#define HWAMP_PO_DATA_SET_IMEAS   1

Definition at line 8349 of file SdoDictionary.mh.

HWAMP_PO_DATA_SET_IMEASFIL

#define HWAMP_PO_DATA_SET_IMEASFIL   2

Definition at line 8350 of file SdoDictionary.mh.

HWAMP_PO_DATA_SET_LAST

#define HWAMP_PO_DATA_SET_LAST   9

Definition at line 8345 of file SdoDictionary.mh.

HWAMP_PO_DATA_SET_MAX_LENGTH

#define HWAMP_PO_DATA_SET_MAX_LENGTH   6

Definition at line 8348 of file SdoDictionary.mh.

HWAMP_POLES

#define HWAMP_POLES   38

Number of pole pairs.

Initial Value

1

Examples

Maxon_EC45_flat_1ax_BC_Hall.mc, and Stepper_XY_OL.mc.

Definition at line 7765 of file SdoDictionary.mh.

HWAMP_POSDIR

#define HWAMP_POSDIR   44

Position input reverse.

Initial Value

1

Definition at line 7822 of file SdoDictionary.mh.

HWAMP_POSDIR_NORMAL

#define HWAMP_POSDIR_NORMAL   1

Definition at line 8304 of file SdoDictionary.mh.

HWAMP_POSDIR_REVERSE

#define HWAMP_POSDIR_REVERSE   -1

Definition at line 8305 of file SdoDictionary.mh.

HWAMP_POSEL_OFFSET

#define HWAMP_POSEL_OFFSET   90

Sets the offset of the electric field in relation to an absolute encoder.

If an absolute encoder is used and the offset between rotor/ encoder is already known, the classic motor alignment can be dispensed with. The offset and the polarity can be determined with the functions MotorAlignStart and MotorAlignStatus during commissioning. Set a value only if the axis is not in running state.

Units

qc

Examples

Maxon_ECi52_1ax_SC_SSI.mc.

Definition at line 8238 of file SdoDictionary.mh.

HWAMP_PROCESS

#define HWAMP_PROCESS	(		modno,
			parno
	)		Sysvar[HWAMP_PROCESS_INDEX((modno),(parno))]

HW Amplifier Process Data: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 11341 of file SdoDictionary.mh.

HWAMP_PROCESS_INDEX

#define HWAMP_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWAMP_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Amplifier Process Data: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 11329 of file SdoDictionary.mh.

HWAMP_PROCESS_MAX

#define HWAMP_PROCESS_MAX   86

HW Amplifier Process Data: Maximum number of parameters.

Definition at line 11345 of file SdoDictionary.mh.

HWAMP_PROCESS_SRCINDEX

#define HWAMP_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWAMP_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Amplifier Process Data: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 11335 of file SdoDictionary.mh.

HWAMP_PROG

#define HWAMP_PROG   72

Amplifier Program Execution.

(Not available on MACS5)

enum PGM_ProgramNo_Enum { PROGRAM_NONE = 0, // regular velocity loop PROGRAM_PMSMENCCALIB = 1, // calibration of the electrical position for PMSM motors PROGRAM_BLDCHALLCALIB = 2, // detection of Hall sensor alignment PROGRAM_STEPENCCALIB = 3, // calibration of the electrical position for STEP motors PROGRAM_PMSMENCCALIB2 = 4, // calibration of the electrical position for PMSM motors PROGRAM_CURCALIB = 5, // current measurements zero offset calibration PROGRAM_TEST = 6 // };

Definition at line 8094 of file SdoDictionary.mh.

HWAMP_PROG_PARAMIND

#define HWAMP_PROG_PARAMIND   74

Amplifier Program Parameter Index.

(Not available on MACS5)

#define PGM_PARAM_REFVAL_INDEX 0 // stator field reference value (current or PWM) #define PGM_PARAM_RAMPUPTIME_INDEX 1 // stator field ramp up time #define PGM_PARAM_RAMPDOWNTIME_INDEX 2 // stator field ramp down time #define PGM_PARAM_SAMPLEWAITTIME_INDEX 3 // wait duration between motion and position sampling #define PGM_PARAM_MOTIONTIME_INDEX 4 // motion duration #define PGM_PARAM_MOTIONDIR_INDEX 5 // suggested/allowed motion direction #define PGM_PARAM_FOLLOWRATIO_INDEX 6 // how close must the rotor follow the stator field

Definition at line 8114 of file SdoDictionary.mh.

HWAMP_PROG_PARAMVAL

#define HWAMP_PROG_PARAMVAL   73

Amplifier Program Parameter Value.

(Not available on MACS5)

Definition at line 8100 of file SdoDictionary.mh.

HWAMP_PROG_RETVAL

#define HWAMP_PROG_RETVAL   75

Amplifier Program Return Value.

(Not available on MACS5)

#define PGM_VELLOOP_PMSMENCCALIB2_RETVAL_ERROR_ILLEGALPARAMETER -6 // detection failed illegal parameter or control mode #define PGM_VELLOOP_PMSMENCCALIB2_RETVAL_ERROR_IMPRECISE -5 // detection failed imprecise error #define PGM_VELLOOP_PMSMENCCALIB2_RETVAL_ERROR_ILLEGALSTATE -4 // detection failed illegal state sequence #define PGM_VELLOOP_PMSMENCCALIB2_RETVAL_ERROR_MOTIONDIR -3 // detection failed motion direction not as expected #define PGM_VELLOOP_PMSMENCCALIB2_RETVAL_ERROR_BLOCKED -2 // detection failed rotor blocked #define PGM_VELLOOP_PMSMENCCALIB2_RETVAL_ERROR_ABORTED -1 // detection aborted #define PGM_VELLOOP_PMSMENCCALIB2_RETVAL_OK_REGULAR 1 // detection completed regular rotation direction #define PGM_VELLOOP_PMSMENCCALIB2_RETVAL_OK_INVERSE 0 // detection completed inverse rotation direction

#define PGM_STATE_STOPPED 0 // state stopped #define PGM_STATE_RAMPUP_STATORFIELD_000DEG 0x01 // build up stator, get rotor to 0� #define PGM_STATE_HOLD_STATORFIELD_000DEG 0x02 // take a sample at 0�, proceed to one of the four blocks

#define PGM_STATE_REGULARCW_ROTATE_000_330DEG 0x13 // regular CW block is applied if: #define PGM_STATE_REGULARCW_SAMPLE_REF1_330DEG 0x14 // - CW is allowed direction #define PGM_STATE_REGULARCW_ROTATE_330_300DEG 0x15 // - initial motion was CW #define PGM_STATE_REGULARCW_SAMPLE_UTURN_300DEG 0x16 #define PGM_STATE_REGULARCW_ROTATE_300_330DEG 0x17 #define PGM_STATE_REGULARCW_SAMPLE_REF2_330DEG 0x18

#define PGM_STATE_REGULARCCW_ROTATE_000_030DEG 0x23 // regular CCW is applied if: #define PGM_STATE_REGULARCCW_SAMPLE_REF1_030DEG 0x24 // - CCW is allowed direction #define PGM_STATE_REGULARCCW_ROTATE_030_060DEG 0x25 // - initial motion was CCW #define PGM_STATE_REGULARCCW_SAMPLE_UTURN_060DEG 0x26 #define PGM_STATE_REGULARCCW_ROTATE_060_030DEG 0x27 #define PGM_STATE_REGULARCCW_SAMPLE_REF2_030DEG 0x28

#define PGM_STATE_COMPENSATECW_ROTATE_000_180DEG 0x33 // compensate CW block is applied if: #define PGM_STATE_COMPENSATECW_SAMPLE_REF1_180DEG 0x34 // - CW is allowed direction #define PGM_STATE_COMPENSATECW_ROTATE_180_150DEG 0x35 // - initial motion was CCW #define PGM_STATE_COMPENSATECW_SAMPLE_UTURN_150DEG 0x36 #define PGM_STATE_COMPENSATECW_ROTATE_150_180DEG 0x37 #define PGM_STATE_COMPENSATECW_SAMPLE_REF2_180DEG 0x38

#define PGM_STATE_COMPENSATECCW_ROTATE_000_180DEG 0x43 // compensate CCW block is applied if: #define PGM_STATE_COMPENSATECCW_SAMPLE_REF1_180DEG 0x44 // - CCW is allowed direction #define PGM_STATE_COMPENSATECCW_ROTATE_180_150DEG 0x45 // - initial motion was CW #define PGM_STATE_COMPENSATECCW_SAMPLE_UTURN_150DEG 0x46 #define PGM_STATE_COMPENSATECCW_ROTATE_150_180DEG 0x47 #define PGM_STATE_COMPENSATECCW_SAMPLE_REF2_180DEG 0x48

#define PGM_STATE_RAMPDOWN_STATORFIELD 0x50 // build up stator, get rotor to

Definition at line 8164 of file SdoDictionary.mh.

HWAMP_PWMFREQ

#define HWAMP_PWMFREQ   37

Deprecated: Frequency of the PWM output.

Initial Value

24000

Units

Hz

Definition at line 7758 of file SdoDictionary.mh.

HWAMP_SW_VERSION

#define HWAMP_SW_VERSION   89

Definition at line 8230 of file SdoDictionary.mh.

HWAMP_TEMP_MAX

#define HWAMP_TEMP_MAX   67

Maximum board temperature.

(Not available on MACS5)

Units

Celsius*0.01

Definition at line 8045 of file SdoDictionary.mh.

HWAMP_TRIP_CURRENT

#define HWAMP_TRIP_CURRENT   66

Trip current value.

(Not available on MACS5)

Units

mA

Definition at line 8037 of file SdoDictionary.mh.

HWAMP_USERDEFINED_DATA0

#define HWAMP_USERDEFINED_DATA0   46

Selects what data should be mapped into PO_HWAMP_USERDEFINED_DATAn (only MACS5)

80 = Temperature 1 81 = Temperature 2 136 = Temperature 3 82 = VOLT1 83 = VOLT2 147 = HWAMP_IMEAS_0 148 = HWAMP_IMEAS_1 149 = HWAMP_IMEAS_2 150 = HWAMP_IMEAS_3 151 = HWAMP_IMEAS_4 152 = HWAMP_IMEAS_5

Initial Value

-1

Definition at line 7851 of file SdoDictionary.mh.

HWAMP_USERDEFINED_DATA1

#define HWAMP_USERDEFINED_DATA1   47

Selects what data should be mapped into PO_HWAMP_USERDEFINED_DATAn (only MACS5)

80 = Temperature 1 81 = Temperature 2 136 = Temperature 3 82 = VOLT1 83 = VOLT2 147 = HWAMP_IMEAS_0 148 = HWAMP_IMEAS_1 149 = HWAMP_IMEAS_2 150 = HWAMP_IMEAS_3 151 = HWAMP_IMEAS_4 152 = HWAMP_IMEAS_5

Initial Value

-1

Definition at line 7869 of file SdoDictionary.mh.

HWAMP_USERDEFINED_DATA2

#define HWAMP_USERDEFINED_DATA2   48

Selects what data should be mapped into PO_HWAMP_USERDEFINED_DATAn (only MACS5)

80 = Temperature 1 81 = Temperature 2 136 = Temperature 3 82 = VOLT1 83 = VOLT2 147 = HWAMP_IMEAS_0 148 = HWAMP_IMEAS_1 149 = HWAMP_IMEAS_2 150 = HWAMP_IMEAS_3 151 = HWAMP_IMEAS_4 152 = HWAMP_IMEAS_5

Initial Value

-1

Definition at line 7887 of file SdoDictionary.mh.

HWAMP_USERDEFINED_DATA3

#define HWAMP_USERDEFINED_DATA3   49

Selects what data should be mapped into PO_HWAMP_USERDEFINED_DATAn (only MACS5)

80 = Temperature 1 81 = Temperature 2 136 = Temperature 3 82 = VOLT1 83 = VOLT2 147 = HWAMP_IMEAS_0 148 = HWAMP_IMEAS_1 149 = HWAMP_IMEAS_2 150 = HWAMP_IMEAS_3 151 = HWAMP_IMEAS_4 152 = HWAMP_IMEAS_5

Initial Value

-1

Definition at line 7905 of file SdoDictionary.mh.

HWAMP_VELKILIM

#define HWAMP_VELKILIM   32

Integral limit of velocity controller.

Initial Value

16383

Value Range

0-65535

Definition at line 7716 of file SdoDictionary.mh.

HWAMP_VELKINT

#define HWAMP_VELKINT   31

Integral factor of velocity controller.

Initial Value

5

Value Range

0-65535

Definition at line 7707 of file SdoDictionary.mh.

HWAMP_VELKPROP

#define HWAMP_VELKPROP   30

Proportional factor of velocity controller.

Initial Value

200

Value Range

0-65535

Definition at line 7698 of file SdoDictionary.mh.

HWAMP_VELPI_MODE

#define HWAMP_VELPI_MODE   71

Velocity regulator mode.

0 = MODE_CLASSIC, 1 = MODE_LOADESTIMATE

(Not available on MACS5)

Initial Value

0

Definition at line 8077 of file SdoDictionary.mh.

HWAMP_VELPI_OUTLIM

#define HWAMP_VELPI_OUTLIM   60

Output Limit for velocity controller.

(Not available on MACS5)

Initial Value

32767

Definition at line 7965 of file SdoDictionary.mh.

HWAMP_VELPI_REFLIM

#define HWAMP_VELPI_REFLIM   59

Reference Limit for velocity controller.

(Not available on MACS5)

Initial Value

32767

Definition at line 7957 of file SdoDictionary.mh.

HWAMP_VOLT_MAX

#define HWAMP_VOLT_MAX   69

Maximum voltage for amplifier.

(Not available on MACS5)

Units

mV*4

Definition at line 8061 of file SdoDictionary.mh.

HWAMP_VOLT_MIN

#define HWAMP_VOLT_MIN   68

Minimum voltage for amplifier.

(Not available on MACS5)

Units

mV*4

Definition at line 8053 of file SdoDictionary.mh.

HWANIN_FILTTIME

#define HWANIN_FILTTIME   31

Filter time for analogue input.

At the moment, only multiples of 1000 (1 ms) are handled.

Initial Value

0

Value Range

0-1000000

Units

µs

Definition at line 10570 of file SdoDictionary.mh.

HWANIN_MODE

#define HWANIN_MODE   1

not used

Initial Value

0

Definition at line 10551 of file SdoDictionary.mh.

HWANIN_OFFSET

#define HWANIN_OFFSET   30

Offset which will be added to the output value.

Initial Value

0

Definition at line 10558 of file SdoDictionary.mh.

HWANIN_PARAM

#define HWANIN_PARAM	(		modno,
			parno
	)		Sysvar[HWANIN_PARAM_INDEX((modno),(parno))]

HW Analog Input Parameters: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 10540 of file SdoDictionary.mh.

HWANIN_PARAM_INDEX

#define HWANIN_PARAM_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWANIN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Analog Input Parameters: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 10528 of file SdoDictionary.mh.

HWANIN_PARAM_MAX

#define HWANIN_PARAM_MAX   33

HW Analog Input Parameters: Maximum number of parameters.

Definition at line 10544 of file SdoDictionary.mh.

HWANIN_PARAM_SRCINDEX

#define HWANIN_PARAM_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWANIN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Analog Input Parameters: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 10534 of file SdoDictionary.mh.

HWANIN_PROCESS

#define HWANIN_PROCESS	(		modno,
			parno
	)		Sysvar[HWANIN_PROCESS_INDEX((modno),(parno))]

HW Analog Input Process Data: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12605 of file SdoDictionary.mh.

HWANIN_PROCESS_INDEX

#define HWANIN_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWANIN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Analog Input Process Data: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12593 of file SdoDictionary.mh.

HWANIN_PROCESS_MAX

#define HWANIN_PROCESS_MAX   5

HW Analog Input Process Data: Maximum number of parameters.

Definition at line 12609 of file SdoDictionary.mh.

HWANIN_PROCESS_SRCINDEX

#define HWANIN_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWANIN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Analog Input Process Data: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12599 of file SdoDictionary.mh.

HWANIN_SCALING

#define HWANIN_SCALING   32

not used

0 = No scaling 1 = 12 bit 2 = 16 bit -1 = 12 bit +/- -2 = 16 bit +/-

Initial Value

0

Definition at line 10582 of file SdoDictionary.mh.

HWANOUT_MODE

#define HWANOUT_MODE   1

Mode.

0 = Normal mode 1 = User force mode

Initial Value

0

Value Range

0,1

Definition at line 10624 of file SdoDictionary.mh.

HWANOUT_OFFSET

#define HWANOUT_OFFSET   30

Value which is added to analogue value.

Initial Value

0

Value Range

0-0xFFFF

Definition at line 10642 of file SdoDictionary.mh.

HWANOUT_PARAM

#define HWANOUT_PARAM	(		modno,
			parno
	)		Sysvar[HWANOUT_PARAM_INDEX((modno),(parno))]

HW Analog Output Parameters: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 10609 of file SdoDictionary.mh.

HWANOUT_PARAM_INDEX

#define HWANOUT_PARAM_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWANOUT_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Analog Output Parameters: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 10597 of file SdoDictionary.mh.

HWANOUT_PARAM_MAX

#define HWANOUT_PARAM_MAX   31

HW Analog Output Parameters: Maximum number of parameters.

Definition at line 10613 of file SdoDictionary.mh.

HWANOUT_PARAM_SRCINDEX

#define HWANOUT_PARAM_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWANOUT_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Analog Output Parameters: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 10603 of file SdoDictionary.mh.

HWANOUT_PISRC_VALUE

#define HWANOUT_PISRC_VALUE   10

Index and subindex of source.

Initial Value

PO_VIRTAMP_REFVEL+n

Value Range

0-0xFFFFFE

Definition at line 10633 of file SdoDictionary.mh.

HWANOUT_PROCESS

#define HWANOUT_PROCESS	(		modno,
			parno
	)		Sysvar[HWANOUT_PROCESS_INDEX((modno),(parno))]

HW Analog Output Process Data: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12656 of file SdoDictionary.mh.

HWANOUT_PROCESS_INDEX

#define HWANOUT_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWANOUT_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Analog Output Process Data: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12644 of file SdoDictionary.mh.

HWANOUT_PROCESS_MAX

#define HWANOUT_PROCESS_MAX   3

HW Analog Output Process Data: Maximum number of parameters.

Definition at line 12660 of file SdoDictionary.mh.

HWANOUT_PROCESS_SRCINDEX

#define HWANOUT_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWANOUT_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Analog Output Process Data: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12650 of file SdoDictionary.mh.

HWBRENCREF_PISRC_ENCSIG

#define HWBRENCREF_PISRC_ENCSIG   10

Source encoder signal.

0x00 - 0x3F = Encoder 0-63 0x40 - 0x7F = VirtMaster 0-63
0x80 - 0xBF = DDS 0-63 0xC0 - 0xFF = Bridge 0-63 0xFFC0 = None

Initial Value

0

Value Range

0-0xFF

Definition at line 10687 of file SdoDictionary.mh.

HWBRREFENC_PARAM

#define HWBRREFENC_PARAM	(		modno,
			parno
	)		Sysvar[HWBRREFENC_PARAM_INDEX((modno),(parno))]

HW Signalbridges/bus REF-ENC Parameters: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 10714 of file SdoDictionary.mh.

HWBRREFENC_PARAM_INDEX

#define HWBRREFENC_PARAM_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWBRREFENC_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Signalbridges/bus REF-ENC Parameters: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 10702 of file SdoDictionary.mh.

HWBRREFENC_PARAM_MAX

#define HWBRREFENC_PARAM_MAX   12

HW Signalbridges/bus REF-ENC Parameters: Maximum number of parameters.

Definition at line 10718 of file SdoDictionary.mh.

HWBRREFENC_PARAM_SRCINDEX

#define HWBRREFENC_PARAM_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWBRREFENC_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Signalbridges/bus REF-ENC Parameters: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 10708 of file SdoDictionary.mh.

HWBRREFENC_PISRC_REFSIGA

#define HWBRREFENC_PISRC_REFSIGA   10

Source for encoder signal A.

0x000 - 0x03F = Encoder Z signal 0-63 0x040 - 0x07F = VirtMaster Z signal 0-63 0x080 - 0x0BF = DDS Z signal 0-63 0x0C0 - 0x0FF = Bridge A signal 0-63 0x100 - 0x13F = Bridge B signal 0-63 0x140 - 0x17F = Digital input 1-64 0x180 - 0x1BF = Digital output 1-64 0x1C0 - 0x1FF = Comparator GE 0-63 0x200 - 0x23F = Comparator LT 0-63 0x240 - 0x27F = Pulseformer 0-63 0x280 - 0x2BF = Shiftregister 0-63 0x2C0 = SOC irq 0x2C1 = F2D irq 0xFFC0 = None

Definition at line 10737 of file SdoDictionary.mh.

HWBRREFENC_PISRC_REFSIGB

#define HWBRREFENC_PISRC_REFSIGB   11

Source for encoder signal B.

0x000 - 0x03F = Encoder Z signal 0-63 0x040 - 0x07F = VirtMaster Z signal 0-63 0x080 - 0x0BF = DDS Z signal 0-63 0x0C0 - 0x0FF = Bridge A signal 0-63 0x100 - 0x13F = Bridge B signal 0-63 0x140 - 0x17F = Digital input 1-64 0x180 - 0x1BF = Digital output 1-64 0x1C0 - 0x1FF = Comparator GE 0-63 0x200 - 0x23F = Comparator LT 0-63 0x240 - 0x27F = Pulseformer 0-63 0x280 - 0x2BF = Shiftregister 0-63 0x2C0 = SOC irq 0x2C1 = F2D irq 0xFFC0 = None

Definition at line 10756 of file SdoDictionary.mh.

HWBRREFENC_PROCESS

#define HWBRREFENC_PROCESS	(		modno,
			parno
	)		Sysvar[HWBRREFENC_PROCESS_INDEX((modno),(parno))]

HW Signalbridges/bus REF-ENC Process Data: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12724 of file SdoDictionary.mh.

HWBRREFENC_PROCESS_INDEX

#define HWBRREFENC_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWBRREFENC_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Signalbridges/bus REF-ENC Process Data: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12712 of file SdoDictionary.mh.

HWBRREFENC_PROCESS_MAX

#define HWBRREFENC_PROCESS_MAX   1

HW Signalbridges/bus REF-ENC Process Data: Maximum number of parameters.

Definition at line 12728 of file SdoDictionary.mh.

HWBRREFENC_PROCESS_SRCINDEX

#define HWBRREFENC_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWBRREFENC_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Signalbridges/bus REF-ENC Process Data: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12718 of file SdoDictionary.mh.

HWCMPUNI_LOLIMIT

#define HWCMPUNI_LOLIMIT   33

Value of lower limit.

Initial Value

0

Definition at line 9061 of file SdoDictionary.mh.

HWCMPUNI_MODE

#define HWCMPUNI_MODE   1

not used

Initial Value

0

Definition at line 9017 of file SdoDictionary.mh.

HWCMPUNI_PARAM

#define HWCMPUNI_PARAM	(		modno,
			parno
	)		Sysvar[HWCMPUNI_PARAM_INDEX((modno),(parno))]

HW Comparator-universal Parameters: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 9006 of file SdoDictionary.mh.

HWCMPUNI_PARAM_INDEX

#define HWCMPUNI_PARAM_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWCMPUNI_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Comparator-universal Parameters: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 8994 of file SdoDictionary.mh.

HWCMPUNI_PARAM_MAX

#define HWCMPUNI_PARAM_MAX   34

HW Comparator-universal Parameters: Maximum number of parameters.

Definition at line 9010 of file SdoDictionary.mh.

HWCMPUNI_PARAM_SRCINDEX

#define HWCMPUNI_PARAM_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWCMPUNI_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Comparator-universal Parameters: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 9000 of file SdoDictionary.mh.

HWCMPUNI_PISRC_COUNTER

#define HWCMPUNI_PISRC_COUNTER   10

Counter to be observed.

The number of the universal counter instance which must be compared (0-n).

Initial Value

0+n

Definition at line 9025 of file SdoDictionary.mh.

HWCMPUNI_POLLL

#define HWCMPUNI_POLLL   31

Polarity of output at lower limit.

0 = Output is NOT (CNT >= LL) 1 = Output is (CNT >= LL)

Initial Value

0

Value Range

0,1

Definition at line 9047 of file SdoDictionary.mh.

HWCMPUNI_POLUL

#define HWCMPUNI_POLUL   30

Polarity of output at upper limit.

0 = Output is NOT (CNT < UL) 1 = Output is (CNT < UL)

Initial Value

0

Value Range

0,1

Definition at line 9036 of file SdoDictionary.mh.

HWCMPUNI_PROCESS

#define HWCMPUNI_PROCESS	(		modno,
			parno
	)		Sysvar[HWCMPUNI_PROCESS_INDEX((modno),(parno))]

HW Comparator-universal Process Data: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12216 of file SdoDictionary.mh.

HWCMPUNI_PROCESS_INDEX

#define HWCMPUNI_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWCMPUNI_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Comparator-universal Process Data: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12204 of file SdoDictionary.mh.

HWCMPUNI_PROCESS_MAX

#define HWCMPUNI_PROCESS_MAX   2

HW Comparator-universal Process Data: Maximum number of parameters.

Definition at line 12220 of file SdoDictionary.mh.

HWCMPUNI_PROCESS_SRCINDEX

#define HWCMPUNI_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWCMPUNI_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Comparator-universal Process Data: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12210 of file SdoDictionary.mh.

HWCMPUNI_UPLIMIT

#define HWCMPUNI_UPLIMIT   32

Value of upper limit.

Initial Value

0

Definition at line 9054 of file SdoDictionary.mh.

HWCNTABS_CODING

#define HWCNTABS_CODING   2

Data coding.

0 = gray code (default) 1 = no coding (plain binary)

Initial Value

0

Value Range

0-1

Definition at line 8853 of file SdoDictionary.mh.

HWCNTABS_CODING_GRAY

#define HWCNTABS_CODING_GRAY   0

Definition at line 8867 of file SdoDictionary.mh.

HWCNTABS_CODING_GREY

#define HWCNTABS_CODING_GREY   0

Definition at line 8866 of file SdoDictionary.mh.

HWCNTABS_CODING_NONE

#define HWCNTABS_CODING_NONE   1

Definition at line 8868 of file SdoDictionary.mh.

HWCNTABS_MODE

#define HWCNTABS_MODE   1

Not used.

Initial Value

0

Value Range

0

Definition at line 8842 of file SdoDictionary.mh.

HWCNTABS_PISCR_COUNTER

#define HWCNTABS_PISCR_COUNTER   10

not used

Initial Value

0

Value Range

0

Definition at line 8862 of file SdoDictionary.mh.

HWCNTINC_INTERPOL

#define HWCNTINC_INTERPOL   31

Interpolation factor.

This parameter is only valid for SinCos Encoders. This value defines to what value a SinCos Period should be interpolated. The value is defined 2^x. E.g. if the value is 8, the interpolation will be 256 increments per SinCos period. Only values between 2 and 12 are valid.

Initial Value

8

Value Range

2-12

Definition at line 8752 of file SdoDictionary.mh.

HWCNTINC_MODE

#define HWCNTINC_MODE   1

not used

Initial Value

0

Value Range

0,1

Definition at line 8688 of file SdoDictionary.mh.

HWCNTINC_PISRC_COUNTER

#define HWCNTINC_PISRC_COUNTER   10

Source for counter signal.

With this source, a signal can be selected as counter input.

0x00 - 0x3F = Encoder 0-63 0x40 - 0x7F = VirtMaster 0-63
0x80 - 0xBF = DDS 0-63 0xC0 - 0xFF = Bridge 0-63 0xFFC0 = None

Initial Value

0+n

Definition at line 8702 of file SdoDictionary.mh.

HWCNTINC_PISRC_TRIGGER

#define HWCNTINC_PISRC_TRIGGER   11

Source for reset signal.

With this source, a signal can be selected to reset the counter to 0.

0x000 - 0x03F = Encoder Z signal 0-63 0x040 - 0x07F = VirtMaster Z signal 0-63 0x080 - 0x0BF = DDS Z signal 0-63 0x0C0 - 0x0FF = Bridge A signal 0-63 0x100 - 0x13F = Bridge B signal 0-63 0x140 - 0x17F = Digital input 1-64 0x180 - 0x1BF = Digital output 1-64 0x1C0 - 0x1FF = Comparator GE 0-63 0x200 - 0x23F = Comparator LT 0-63 0x240 - 0x27F = Pulseformer 0-63 0x280 - 0x2BF = Shiftregister 0-63 0x2C0 = SOC irq 0x2C1 = F2D irq 0xFFC0 = None

Initial Value

0

Definition at line 8725 of file SdoDictionary.mh.

HWCNTINC_PISRC_TRIGGER_BRDA

#define HWCNTINC_PISRC_TRIGGER_BRDA   0x0C0

Definition at line 8788 of file SdoDictionary.mh.

HWCNTINC_PISRC_TRIGGER_BRDB

#define HWCNTINC_PISRC_TRIGGER_BRDB   0x100

Definition at line 8789 of file SdoDictionary.mh.

HWCNTINC_PISRC_TRIGGER_CMPG

#define HWCNTINC_PISRC_TRIGGER_CMPG   0x1C0

Definition at line 8792 of file SdoDictionary.mh.

HWCNTINC_PISRC_TRIGGER_CMPL

#define HWCNTINC_PISRC_TRIGGER_CMPL   0x200

Definition at line 8793 of file SdoDictionary.mh.

HWCNTINC_PISRC_TRIGGER_DDSZ

#define HWCNTINC_PISRC_TRIGGER_DDSZ   0x080

Definition at line 8787 of file SdoDictionary.mh.

HWCNTINC_PISRC_TRIGGER_DINP

#define HWCNTINC_PISRC_TRIGGER_DINP   0x140

Definition at line 8790 of file SdoDictionary.mh.

HWCNTINC_PISRC_TRIGGER_DOUT

#define HWCNTINC_PISRC_TRIGGER_DOUT   0x180

Definition at line 8791 of file SdoDictionary.mh.

HWCNTINC_PISRC_TRIGGER_ENCZ

#define HWCNTINC_PISRC_TRIGGER_ENCZ   0x000

Definition at line 8785 of file SdoDictionary.mh.

HWCNTINC_PISRC_TRIGGER_IRQ

#define HWCNTINC_PISRC_TRIGGER_IRQ   0x2C0

Definition at line 8796 of file SdoDictionary.mh.

HWCNTINC_PISRC_TRIGGER_NOT

#define HWCNTINC_PISRC_TRIGGER_NOT   0xFFC0

Definition at line 8797 of file SdoDictionary.mh.

HWCNTINC_PISRC_TRIGGER_PULS

#define HWCNTINC_PISRC_TRIGGER_PULS   0x240

Definition at line 8794 of file SdoDictionary.mh.

HWCNTINC_PISRC_TRIGGER_SHIFT

#define HWCNTINC_PISRC_TRIGGER_SHIFT   0x280

Definition at line 8795 of file SdoDictionary.mh.

HWCNTINC_PISRC_TRIGGER_VMZ

#define HWCNTINC_PISRC_TRIGGER_VMZ   0x040

Definition at line 8786 of file SdoDictionary.mh.

HWCNTINC_RESOLUTION

#define HWCNTINC_RESOLUTION   34

Resolution of counter per revolution.

The value needs to be entered in qc/rev. E.g. if it is an incremental encoder with 500 lines, the correct value to enter is 2000. Note that this parameter exists independently also in HWAMP_PARAM / HWAMP_ENCRES

Initial Value

2000

Units

qc

Definition at line 8781 of file SdoDictionary.mh.

HWCNTINC_SCALE

#define HWCNTINC_SCALE   32

Scale value (not used)

Initial Value

0

Value Range

0-16

Definition at line 8761 of file SdoDictionary.mh.

HWCNTINC_SLOPE

#define HWCNTINC_SLOPE   30

Slope selector for reset signal.

0 = Continuous 1 = Rising 2 = Falling 3 = Both

Initial Value

0

Value Range

0,1,2,3

Definition at line 8738 of file SdoDictionary.mh.

HWCNTINC_SLOPE_BOTH

#define HWCNTINC_SLOPE_BOTH   3

Definition at line 8803 of file SdoDictionary.mh.

HWCNTINC_SLOPE_CONTINUOUS

#define HWCNTINC_SLOPE_CONTINUOUS   0

Definition at line 8800 of file SdoDictionary.mh.

HWCNTINC_SLOPE_FALLING

#define HWCNTINC_SLOPE_FALLING   2

Definition at line 8802 of file SdoDictionary.mh.

HWCNTINC_SLOPE_RISING

#define HWCNTINC_SLOPE_RISING   1

Definition at line 8801 of file SdoDictionary.mh.

HWCNTINC_UPDATERATE

#define HWCNTINC_UPDATERATE   33

Update frequency of counter (not used)

How often the counter is updated. This is important if used by fast regulation loops.

Initial Value

0

Definition at line 8769 of file SdoDictionary.mh.

HWCNTUNI_CLRSLOPE

#define HWCNTUNI_CLRSLOPE   30

Slope selector for reset signal.

0 = Continuous 1 = Rising 2 = Falling 3 = Both

Initial Value

0

Definition at line 8961 of file SdoDictionary.mh.

HWCNTUNI_MODE

#define HWCNTUNI_MODE   1

Encoder / Reference Input.

Initial Value

0

Definition at line 8905 of file SdoDictionary.mh.

HWCNTUNI_PISRC_CLEARSIG

#define HWCNTUNI_PISRC_CLEARSIG   11

Source of reset signal.

0x000 - 0x03F = Encoder Z signal 0-63 0x040 - 0x07F = VirtMaster Z signal 0-63 0x080 - 0x0BF = DDS Z signal 0-63 0x0C0 - 0x0FF = Bridge A signal 0-63 0x100 - 0x13F = Bridge B signal 0-63 0x140 - 0x17F = Digital input 1-64 0x180 - 0x1BF = Digital output 1-64 0x1C0 - 0x1FF = Comparator GE 0-63 0x200 - 0x23F = Comparator LT 0-63 0x240 - 0x27F = Pulseformer 0-63 0x280 - 0x2BF = Shiftregister 0-63 0x2C0 = SOC irq 0x2C1 = F2D irq 0xFFC0 = None

Initial Value

0xFFC0

Definition at line 8950 of file SdoDictionary.mh.

HWCNTUNI_PISRC_COUNTER

#define HWCNTUNI_PISRC_COUNTER   10

Source of the counter signal.

0x00 - 0x3F = Encoder 0-63 0x40 - 0x7F = VirtMaster 0-63
0x80 - 0xBF = DDS 0-63 0xC0 - 0xFF = Bridge 0-63 0xFFC0 = None or (mode 1) 0x000 - 0x03F = Encoder Z signal 0-63 0x040 - 0x07F = VirtMaster Z signal 0-63 0x080 - 0x0BF = DDS Z signal 0-63 0x0C0 - 0x0FF = Bridge A signal 0-63 0x100 - 0x13F = Bridge B signal 0-63 0x140 - 0x17F = Digital input 1-64 0x180 - 0x1BF = Digital output 1-64 0x1C0 - 0x1FF = Comparator GE 0-63 0x200 - 0x23F = Comparator LT 0-63 0x240 - 0x27F = Pulseformer 0-63 0x280 - 0x2BF = Shiftregister 0-63

Initial Value

0+n

Definition at line 8929 of file SdoDictionary.mh.

HWCNTUNI_SRCSLOPE

#define HWCNTUNI_SRCSLOPE   31

Slope selector for counter signal.

0 = Continuous 1 = Rising 2 = Falling 3 = Both (only valid in mode 2)

Initial Value

0

Definition at line 8972 of file SdoDictionary.mh.

HWCOUNTABS_PARAM

#define HWCOUNTABS_PARAM	(		modno,
			parno
	)		Sysvar[HWCOUNTABS_PARAM_INDEX((modno),(parno))]

HW Counter-abs Parameters: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 8829 of file SdoDictionary.mh.

HWCOUNTABS_PARAM_INDEX

#define HWCOUNTABS_PARAM_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWCOUNTABS_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Counter-abs Parameters: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 8817 of file SdoDictionary.mh.

HWCOUNTABS_PARAM_MAX

#define HWCOUNTABS_PARAM_MAX   11

HW Counter-abs Parameters: Maximum number of parameters.

Definition at line 8833 of file SdoDictionary.mh.

HWCOUNTABS_PARAM_SRCINDEX

#define HWCOUNTABS_PARAM_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWCOUNTABS_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Counter-abs Parameters: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 8823 of file SdoDictionary.mh.

HWCOUNTABS_PROCESS

#define HWCOUNTABS_PROCESS	(		modno,
			parno
	)		Sysvar[HWCOUNTABS_PROCESS_INDEX((modno),(parno))]

HW Counter-abs Process Data: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12126 of file SdoDictionary.mh.

HWCOUNTABS_PROCESS_INDEX

#define HWCOUNTABS_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWCOUNTABS_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Counter-abs Process Data: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12114 of file SdoDictionary.mh.

HWCOUNTABS_PROCESS_MAX

#define HWCOUNTABS_PROCESS_MAX   3

HW Counter-abs Process Data: Maximum number of parameters.

Definition at line 12130 of file SdoDictionary.mh.

HWCOUNTABS_PROCESS_SRCINDEX

#define HWCOUNTABS_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWCOUNTABS_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Counter-abs Process Data: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12120 of file SdoDictionary.mh.

HWCOUNTINC_PARAM

#define HWCOUNTINC_PARAM	(		modno,
			parno
	)		Sysvar[HWCOUNTINC_PARAM_INDEX((modno),(parno))]

HW Counter-inc Parameters: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 8675 of file SdoDictionary.mh.

HWCOUNTINC_PARAM_INDEX

#define HWCOUNTINC_PARAM_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWCOUNTINC_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Counter-inc Parameters: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 8663 of file SdoDictionary.mh.

HWCOUNTINC_PARAM_MAX

#define HWCOUNTINC_PARAM_MAX   35

HW Counter-inc Parameters: Maximum number of parameters.

Definition at line 8679 of file SdoDictionary.mh.

HWCOUNTINC_PARAM_SRCINDEX

#define HWCOUNTINC_PARAM_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWCOUNTINC_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Counter-inc Parameters: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 8669 of file SdoDictionary.mh.

HWCOUNTINC_PROCESS

#define HWCOUNTINC_PROCESS	(		modno,
			parno
	)		Sysvar[HWCOUNTINC_PROCESS_INDEX((modno),(parno))]

HW Counter-inc Process Data: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12017 of file SdoDictionary.mh.

HWCOUNTINC_PROCESS_INDEX

#define HWCOUNTINC_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWCOUNTINC_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Counter-inc Process Data: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12005 of file SdoDictionary.mh.

HWCOUNTINC_PROCESS_MAX

#define HWCOUNTINC_PROCESS_MAX   12

HW Counter-inc Process Data: Maximum number of parameters.

Definition at line 12021 of file SdoDictionary.mh.

HWCOUNTINC_PROCESS_SRCINDEX

#define HWCOUNTINC_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWCOUNTINC_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Counter-inc Process Data: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12011 of file SdoDictionary.mh.

HWCOUNTUNI_PARAM

#define HWCOUNTUNI_PARAM	(		modno,
			parno
	)		Sysvar[HWCOUNTUNI_PARAM_INDEX((modno),(parno))]

HW Counter-universal Parameters: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 8894 of file SdoDictionary.mh.

HWCOUNTUNI_PARAM_INDEX

#define HWCOUNTUNI_PARAM_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWCOUNTUNI_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Counter-universal Parameters: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 8882 of file SdoDictionary.mh.

HWCOUNTUNI_PARAM_MAX

#define HWCOUNTUNI_PARAM_MAX   32

HW Counter-universal Parameters: Maximum number of parameters.

Definition at line 8898 of file SdoDictionary.mh.

HWCOUNTUNI_PARAM_SRCINDEX

#define HWCOUNTUNI_PARAM_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWCOUNTUNI_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Counter-universal Parameters: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 8888 of file SdoDictionary.mh.

HWCOUNTUNI_PROCESS

#define HWCOUNTUNI_PROCESS	(		modno,
			parno
	)		Sysvar[HWCOUNTUNI_PROCESS_INDEX((modno),(parno))]

HW Counter-abs Process Data: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12173 of file SdoDictionary.mh.

HWCOUNTUNI_PROCESS_INDEX

#define HWCOUNTUNI_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWCOUNTUNI_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Counter-abs Process Data: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12161 of file SdoDictionary.mh.

HWCOUNTUNI_PROCESS_MAX

#define HWCOUNTUNI_PROCESS_MAX   3

HW Counter-abs Process Data: Maximum number of parameters.

Definition at line 12177 of file SdoDictionary.mh.

HWCOUNTUNI_PROCESS_SRCINDEX

#define HWCOUNTUNI_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWCOUNTUNI_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Counter-abs Process Data: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12167 of file SdoDictionary.mh.

HWDDS_DENOMINATOR

#define HWDDS_DENOMINATOR   33

Denominator of the divisor.

Initial Value

1

Value Range

1-0x7FFFFFFF

Definition at line 9399 of file SdoDictionary.mh.

HWDDS_ENAREVMCOMP

#define HWDDS_ENAREVMCOMP   34

Reverse compensation.

1 = Enable reverse motion compensation

If the reverse motion compensation is activated, the signal on the output will not reverse even if the input reverses. The number of reverse increments will be counted. When the input signal runs forward again, this number of increments first have to be run, before the signal on the output starts to run again.

Initial Value

0

Value Range

0,1

Definition at line 9412 of file SdoDictionary.mh.

HWDDS_MODE

#define HWDDS_MODE   1

Mode.

bit 0 = 1 --> force sync signal This will reset the counter which is used to generate a reference signal.

Initial Value

0

Definition at line 9335 of file SdoDictionary.mh.

HWDDS_NUMERATOR

#define HWDDS_NUMERATOR   32

Numerator of the divisor.

Must be smaller than the denominator below.

Initial Value

1

Value Range

1-0x7FFFFFFF

Definition at line 9390 of file SdoDictionary.mh.

HWDDS_PARAM

#define HWDDS_PARAM	(		modno,
			parno
	)		Sysvar[HWDDS_PARAM_INDEX((modno),(parno))]

HW DDS Parameters: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 9322 of file SdoDictionary.mh.

HWDDS_PARAM_INDEX

#define HWDDS_PARAM_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWDDS_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW DDS Parameters: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 9310 of file SdoDictionary.mh.

HWDDS_PARAM_MAX

#define HWDDS_PARAM_MAX   35

HW DDS Parameters: Maximum number of parameters.

Definition at line 9326 of file SdoDictionary.mh.

HWDDS_PARAM_SRCINDEX

#define HWDDS_PARAM_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWDDS_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW DDS Parameters: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 9316 of file SdoDictionary.mh.

HWDDS_PISRC_ENCSIG

#define HWDDS_PISRC_ENCSIG   10

Source for encoder signal.

0x00 - 0x3F = Encoder 0-63 0x40 - 0x7F = VirtMaster 0-63
0x80 - 0xBF = DDS 0-63 0xC0 - 0xFF = Bridge 0-63 0xFFC0 = None

Initial Value

0

Value Range

0-0xFF

Definition at line 9349 of file SdoDictionary.mh.

HWDDS_PISRC_SYNC

#define HWDDS_PISRC_SYNC   11

Source for the sync information.

Initial Value

0

Value Range

0-0xFFFFFE

Definition at line 9358 of file SdoDictionary.mh.

HWDDS_POLARITY

#define HWDDS_POLARITY   30

Polarity of the reference signal.

0 = Negative signal 1 = Positive signal

Initial Value

0

Value Range

0,1

Definition at line 9369 of file SdoDictionary.mh.

HWDDS_PROCESS

#define HWDDS_PROCESS	(		modno,
			parno
	)		Sysvar[HWDDS_PROCESS_INDEX((modno),(parno))]

HW DDS Process Data: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12368 of file SdoDictionary.mh.

HWDDS_PROCESS_INDEX

#define HWDDS_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWDDS_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW DDS Process Data: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12356 of file SdoDictionary.mh.

HWDDS_PROCESS_MAX

#define HWDDS_PROCESS_MAX   1

HW DDS Process Data: Maximum number of parameters.

Definition at line 12372 of file SdoDictionary.mh.

HWDDS_PROCESS_SRCINDEX

#define HWDDS_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWDDS_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW DDS Process Data: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12362 of file SdoDictionary.mh.

HWDDS_SIGDIST

#define HWDDS_SIGDIST   31

Distance between two reference signals.

Values < 5 mean constant signal.

Initial Value

0

Value Range

0-65535

Units

qc

Definition at line 9381 of file SdoDictionary.mh.

HWDIGIN_GLITCHFILT1

#define HWDIGIN_GLITCHFILT1   31

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value

0

Value Range

0-7

Definition at line 9784 of file SdoDictionary.mh.

HWDIGIN_GLITCHFILT10

#define HWDIGIN_GLITCHFILT10   40

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value

0

Value Range

0-7

Definition at line 9937 of file SdoDictionary.mh.

HWDIGIN_GLITCHFILT11

#define HWDIGIN_GLITCHFILT11   41

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value

0

Value Range

0-7

Definition at line 9954 of file SdoDictionary.mh.

HWDIGIN_GLITCHFILT12

#define HWDIGIN_GLITCHFILT12   42

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value

0

Value Range

0-7

Definition at line 9971 of file SdoDictionary.mh.

HWDIGIN_GLITCHFILT13

#define HWDIGIN_GLITCHFILT13   43

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value

0

Value Range

0-7

Definition at line 9988 of file SdoDictionary.mh.

HWDIGIN_GLITCHFILT14

#define HWDIGIN_GLITCHFILT14   44

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value

0

Value Range

0-7

Definition at line 10005 of file SdoDictionary.mh.

HWDIGIN_GLITCHFILT15

#define HWDIGIN_GLITCHFILT15   45

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value

0

Value Range

0-7

Definition at line 10022 of file SdoDictionary.mh.

HWDIGIN_GLITCHFILT16

#define HWDIGIN_GLITCHFILT16   46

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value

0

Value Range

0-7

Definition at line 10039 of file SdoDictionary.mh.

HWDIGIN_GLITCHFILT17

#define HWDIGIN_GLITCHFILT17   47

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value

0

Value Range

0-7

Definition at line 10056 of file SdoDictionary.mh.

HWDIGIN_GLITCHFILT18

#define HWDIGIN_GLITCHFILT18   48

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value

0

Value Range

0-7

Definition at line 10073 of file SdoDictionary.mh.

HWDIGIN_GLITCHFILT19

#define HWDIGIN_GLITCHFILT19   49

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value

0

Value Range

0-7

Definition at line 10090 of file SdoDictionary.mh.

HWDIGIN_GLITCHFILT2

#define HWDIGIN_GLITCHFILT2   32

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value

0

Value Range

0-7

Definition at line 9801 of file SdoDictionary.mh.

HWDIGIN_GLITCHFILT20

#define HWDIGIN_GLITCHFILT20   50

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value

0

Value Range

0-7

Definition at line 10107 of file SdoDictionary.mh.

HWDIGIN_GLITCHFILT21

#define HWDIGIN_GLITCHFILT21   51

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value

0

Value Range

0-7

Definition at line 10124 of file SdoDictionary.mh.

HWDIGIN_GLITCHFILT22

#define HWDIGIN_GLITCHFILT22   52

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value

0

Value Range

0-7

Definition at line 10141 of file SdoDictionary.mh.

HWDIGIN_GLITCHFILT23

#define HWDIGIN_GLITCHFILT23   53

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value

0

Value Range

0-7

Definition at line 10158 of file SdoDictionary.mh.

HWDIGIN_GLITCHFILT24

#define HWDIGIN_GLITCHFILT24   54

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value

0

Value Range

0-7

Definition at line 10175 of file SdoDictionary.mh.

HWDIGIN_GLITCHFILT25

#define HWDIGIN_GLITCHFILT25   55

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value

0

Value Range

0-7

Definition at line 10192 of file SdoDictionary.mh.

HWDIGIN_GLITCHFILT26

#define HWDIGIN_GLITCHFILT26   56

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value

0

Value Range

0-7

Definition at line 10209 of file SdoDictionary.mh.

HWDIGIN_GLITCHFILT27

#define HWDIGIN_GLITCHFILT27   57

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value

0

Value Range

0-7

Definition at line 10226 of file SdoDictionary.mh.

HWDIGIN_GLITCHFILT28

#define HWDIGIN_GLITCHFILT28   58

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value

0

Value Range

0-7

Definition at line 10243 of file SdoDictionary.mh.

HWDIGIN_GLITCHFILT29

#define HWDIGIN_GLITCHFILT29   59

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value

0

Value Range

0-7

Definition at line 10260 of file SdoDictionary.mh.

HWDIGIN_GLITCHFILT3

#define HWDIGIN_GLITCHFILT3   33

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value

0

Value Range

0-7

Definition at line 9818 of file SdoDictionary.mh.

HWDIGIN_GLITCHFILT30

#define HWDIGIN_GLITCHFILT30   60

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value

0

Value Range

0-7

Definition at line 10277 of file SdoDictionary.mh.

HWDIGIN_GLITCHFILT31

#define HWDIGIN_GLITCHFILT31   61

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value

0

Value Range

0-7

Definition at line 10294 of file SdoDictionary.mh.

HWDIGIN_GLITCHFILT32

#define HWDIGIN_GLITCHFILT32   62

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value

0

Value Range

0-7

Definition at line 10311 of file SdoDictionary.mh.

HWDIGIN_GLITCHFILT4

#define HWDIGIN_GLITCHFILT4   34

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value

0

Value Range

0-7

Definition at line 9835 of file SdoDictionary.mh.

HWDIGIN_GLITCHFILT5

#define HWDIGIN_GLITCHFILT5   35

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value

0

Value Range

0-7

Definition at line 9852 of file SdoDictionary.mh.

HWDIGIN_GLITCHFILT6

#define HWDIGIN_GLITCHFILT6   36

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value

0

Value Range

0-7

Definition at line 9869 of file SdoDictionary.mh.

HWDIGIN_GLITCHFILT7

#define HWDIGIN_GLITCHFILT7   37

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value

0

Value Range

0-7

Definition at line 9886 of file SdoDictionary.mh.

HWDIGIN_GLITCHFILT8

#define HWDIGIN_GLITCHFILT8   38

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value

0

Value Range

0-7

Definition at line 9903 of file SdoDictionary.mh.

HWDIGIN_GLITCHFILT9

#define HWDIGIN_GLITCHFILT9   39

Glitch filter.

0 = No filter 1 = 0.8 µs 2 = 1.6 µs 3 = 6.4 µs 4 = 25.6 µs 5 = 102.4 µs 6 = 409.6 µs 7 = 1638.4 µs

Initial Value

0

Value Range

0-7

Definition at line 9920 of file SdoDictionary.mh.

HWDIGIN_MODE

#define HWDIGIN_MODE   1

not used

Initial Value

0

Definition at line 9756 of file SdoDictionary.mh.

HWDIGIN_PARAM

#define HWDIGIN_PARAM	(		modno,
			parno
	)		Sysvar[HWDIGIN_PARAM_INDEX((modno),(parno))]

HW Digital Input Parameters: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 9745 of file SdoDictionary.mh.

HWDIGIN_PARAM_INDEX

#define HWDIGIN_PARAM_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWDIGIN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Digital Input Parameters: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 9733 of file SdoDictionary.mh.

HWDIGIN_PARAM_MAX

#define HWDIGIN_PARAM_MAX   63

HW Digital Input Parameters: Maximum number of parameters.

Definition at line 9749 of file SdoDictionary.mh.

HWDIGIN_PARAM_SRCINDEX

#define HWDIGIN_PARAM_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWDIGIN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Digital Input Parameters: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 9739 of file SdoDictionary.mh.

HWDIGIN_POLARITY

#define HWDIGIN_POLARITY   30

Polarity of input signal.

This is a bit-wise inversion mask for the digital inputs. Each bit equals one digital input. Bit values: 0 = 0V is 1 1 = 24V is 1

Initial Value

0xFFFFFFFF

Definition at line 9767 of file SdoDictionary.mh.

HWDIGIN_PROCESS

#define HWDIGIN_PROCESS	(		modno,
			parno
	)		Sysvar[HWDIGIN_PROCESS_INDEX((modno),(parno))]

HW Digital Input Process Data: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12496 of file SdoDictionary.mh.

HWDIGIN_PROCESS_INDEX

#define HWDIGIN_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWDIGIN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Digital Input Process Data: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12484 of file SdoDictionary.mh.

HWDIGIN_PROCESS_MAX

#define HWDIGIN_PROCESS_MAX   8

HW Digital Input Process Data: Maximum number of parameters.

Definition at line 12500 of file SdoDictionary.mh.

HWDIGIN_PROCESS_SRCINDEX

#define HWDIGIN_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWDIGIN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Digital Input Process Data: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12490 of file SdoDictionary.mh.

HWDIGOUT_MODE

#define HWDIGOUT_MODE   1

Mode.

0 = Normal link mode, the output information comes from a source 1 = User force mode, the output information comes from the PO_HWDIGOUT_FORCEVALUE register.

Initial Value

0

Value Range

0,1

Definition at line 10353 of file SdoDictionary.mh.

HWDIGOUT_PARAM

#define HWDIGOUT_PARAM	(		modno,
			parno
	)		Sysvar[HWDIGOUT_PARAM_INDEX((modno),(parno))]

HW Digital Output Parameters: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 10338 of file SdoDictionary.mh.

HWDIGOUT_PARAM_INDEX

#define HWDIGOUT_PARAM_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWDIGOUT_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Digital Output Parameters: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 10326 of file SdoDictionary.mh.

HWDIGOUT_PARAM_MAX

#define HWDIGOUT_PARAM_MAX   18

HW Digital Output Parameters: Maximum number of parameters.

Definition at line 10342 of file SdoDictionary.mh.

HWDIGOUT_PARAM_SRCINDEX

#define HWDIGOUT_PARAM_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWDIGOUT_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Digital Output Parameters: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 10332 of file SdoDictionary.mh.

HWDIGOUT_PISRC_BIT1

#define HWDIGOUT_PISRC_BIT1   14

Source for input signal.

For controllers with PWM Output: 0x180: Normal digital output 0x400: PWM output

For Controllers with FPGA (MACS5): The digital outputs 1-4 are controlled by the FPGA. They are usually set with the values fetched from the sources HWDIGOUT_PISRC_MAP2 parameters. But they can also linked to other inputs internally in the FPGA. The following signals can be linked internally:

0x000 - 0x03F = Encoder Z signal 0-63 0x040 - 0x07F = VirtMaster Z signal 0-63 0x080 - 0x0BF = DDS Z signal 0-63 0x0C0 - 0x0FF= Bridge A signal 0-63 0x100 - 0x13F = Bridge B signal 0-63 0x140 - 0x17F = Digital input 1-64 0x180 - 0x1BF = Digital output 1-64 0x1C0 - 0x1FF = Comparator GE 0-63 0x200 - 0x23F = Comparator LT 0-63 0x240 - 0x27F = Pulseformer 0-63 0x280 - 0x2BF = Shiftregister 0-63 0x2C0 = SOC irq 0x2C1 = F2D irq 0xFFC0 = None

Definition at line 10426 of file SdoDictionary.mh.

HWDIGOUT_PISRC_BIT2

#define HWDIGOUT_PISRC_BIT2   15

Source for input signal.

For controllers with PWM Output: 0x180: Normal digital output 0x400: PWM output

For Controllers with FPGA (MACS5): The digital outputs 1-4 are controlled by the FPGA. They are usually set with the values fetched from the sources HWDIGOUT_PISRC_MAP2 parameters. But they can also linked to other inputs internally in the FPGA. The following signals can be linked internally:

0x000 - 0x03F = Encoder Z signal 0-63 0x040 - 0x07F = VirtMaster Z signal 0-63 0x080 - 0x0BF = DDS Z signal 0-63 0x0C0 - 0x0FF= Bridge A signal 0-63 0x100 - 0x13F = Bridge B signal 0-63 0x140 - 0x17F = Digital input 1-64 0x180 - 0x1BF = Digital output 1-64 0x1C0 - 0x1FF = Comparator GE 0-63 0x200 - 0x23F = Comparator LT 0-63 0x240 - 0x27F = Pulseformer 0-63 0x280 - 0x2BF = Shiftregister 0-63 0x2C0 = SOC irq 0x2C1 = F2D irq 0xFFC0 = None

Definition at line 10455 of file SdoDictionary.mh.

HWDIGOUT_PISRC_BIT3

#define HWDIGOUT_PISRC_BIT3   16

Source for input signal.

For controllers with PWM Output: 0x180: Normal digital output 0x400: PWM output

For Controllers with FPGA (MACS5): The digital outputs 1-4 are controlled by the FPGA. They are usually set with the values fetched from the sources HWDIGOUT_PISRC_MAP2 parameters. But they can also linked to other inputs internally in the FPGA. The following signals can be linked internally:

0x000 - 0x03F = Encoder Z signal 0-63 0x040 - 0x07F = VirtMaster Z signal 0-63 0x080 - 0x0BF = DDS Z signal 0-63 0x0C0 - 0x0FF= Bridge A signal 0-63 0x100 - 0x13F = Bridge B signal 0-63 0x140 - 0x17F = Digital input 1-64 0x180 - 0x1BF = Digital output 1-64 0x1C0 - 0x1FF = Comparator GE 0-63 0x200 - 0x23F = Comparator LT 0-63 0x240 - 0x27F = Pulseformer 0-63 0x280 - 0x2BF = Shiftregister 0-63 0x2C0 = SOC irq 0x2C1 = F2D irq 0xFFC0 = None

Definition at line 10484 of file SdoDictionary.mh.

HWDIGOUT_PISRC_BIT4

#define HWDIGOUT_PISRC_BIT4   17

Source for input signal.

For controllers with PWM Output: 0x180: Normal digital output 0x400: PWM output

For Controllers with FPGA (MACS5): The digital outputs 1-4 are controlled by the FPGA. They are usually set with the values fetched from the sources HWDIGOUT_PISRC_MAP2 parameters. But they can also linked to other inputs internally in the FPGA. The following signals can be linked internally:

0x000 - 0x03F = Encoder Z signal 0-63 0x040 - 0x07F = VirtMaster Z signal 0-63 0x080 - 0x0BF = DDS Z signal 0-63 0x0C0 - 0x0FF= Bridge A signal 0-63 0x100 - 0x13F = Bridge B signal 0-63 0x140 - 0x17F = Digital input 1-64 0x180 - 0x1BF = Digital output 1-64 0x1C0 - 0x1FF = Comparator GE 0-63 0x200 - 0x23F = Comparator LT 0-63 0x240 - 0x27F = Pulseformer 0-63 0x280 - 0x2BF = Shiftregister 0-63 0x2C0 = SOC irq 0x2C1 = F2D irq 0xFFC0 = None

Definition at line 10513 of file SdoDictionary.mh.

HWDIGOUT_PISRC_MAP1

#define HWDIGOUT_PISRC_MAP1   10

Mapping entry for outputs.

Like CanOpen: Byte 1,2 - Index Byte 3 - Subindex Byte 4 - Length in Bytes

Initial Value

PO_VIRTDIGOUT_VALLONG/4

Definition at line 10364 of file SdoDictionary.mh.

HWDIGOUT_PISRC_MAP2

#define HWDIGOUT_PISRC_MAP2   11

Mapping entry for outputs.

Like CanOpen: Byte 1,2 - Index Byte 3 - Subindex Byte 4 - Length in Bytes

Initial Value

0

Definition at line 10375 of file SdoDictionary.mh.

HWDIGOUT_PISRC_MAP3

#define HWDIGOUT_PISRC_MAP3   12

Mapping entry for outputs.

Like CanOpen: Byte 1,2 - Index Byte 3 - Subindex Byte 4 - Length in Bytes

Initial Value

0

Definition at line 10386 of file SdoDictionary.mh.

HWDIGOUT_PISRC_MAP4

#define HWDIGOUT_PISRC_MAP4   13

Mapping entry for outputs.

Like CanOpen: Byte 1,2 - Index Byte 3 - Subindex Byte 4 - Length in Bytes

Initial Value

0

Definition at line 10397 of file SdoDictionary.mh.

HWDIGOUT_PROCESS

#define HWDIGOUT_PROCESS	(		modno,
			parno
	)		Sysvar[HWDIGOUT_PROCESS_INDEX((modno),(parno))]

HW Digital Output Process Data: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12562 of file SdoDictionary.mh.

HWDIGOUT_PROCESS_INDEX

#define HWDIGOUT_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWDIGOUT_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Digital Output Process Data: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12550 of file SdoDictionary.mh.

HWDIGOUT_PROCESS_MAX

#define HWDIGOUT_PROCESS_MAX   3

HW Digital Output Process Data: Maximum number of parameters.

Definition at line 12566 of file SdoDictionary.mh.

HWDIGOUT_PROCESS_SRCINDEX

#define HWDIGOUT_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWDIGOUT_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Digital Output Process Data: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12556 of file SdoDictionary.mh.

HWENC_PARAM

#define HWENC_PARAM	(		modno,
			parno
	)		Sysvar[HWENC_PARAM_INDEX((modno),(parno))]

HW Encoder Parameters: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 8383 of file SdoDictionary.mh.

HWENC_PARAM_INDEX

#define HWENC_PARAM_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWENC_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Encoder Parameters: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 8371 of file SdoDictionary.mh.

HWENC_PARAM_MAX

#define HWENC_PARAM_MAX   44

HW Encoder Parameters: Maximum number of parameters.

Definition at line 8387 of file SdoDictionary.mh.

HWENC_PARAM_SRCINDEX

#define HWENC_PARAM_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWENC_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Encoder Parameters: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 8377 of file SdoDictionary.mh.

HWENC_PROCESS

#define HWENC_PROCESS	(		modno,
			parno
	)		Sysvar[HWENC_PROCESS_INDEX((modno),(parno))]

HW Encoder Process Data: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 11926 of file SdoDictionary.mh.

HWENC_PROCESS_INDEX

#define HWENC_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWENC_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Encoder Process Data: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 11914 of file SdoDictionary.mh.

HWENC_PROCESS_MAX

#define HWENC_PROCESS_MAX   2

HW Encoder Process Data: Maximum number of parameters.

Definition at line 11930 of file SdoDictionary.mh.

HWENC_PROCESS_SRCINDEX

#define HWENC_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWENC_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Encoder Process Data: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 11920 of file SdoDictionary.mh.

HWENCODER_BAUDRATE

#define HWENCODER_BAUDRATE   36

Baud rate for serial communication (not used)

Initial Value

9600

Definition at line 8507 of file SdoDictionary.mh.

HWENCODER_BUSID

#define HWENCODER_BUSID   35

ID for serial communication (not used)

Initial Value

255

Definition at line 8500 of file SdoDictionary.mh.

HWENCODER_CLOCK_ACTIVE

#define HWENCODER_CLOCK_ACTIVE   39

SSI clock active or not.

Initial Value

1

Value Range

0,1

Definition at line 8533 of file SdoDictionary.mh.

HWENCODER_CLOCKFREQ

#define HWENCODER_CLOCKFREQ   31

Clock frequency for SSI encoder.

The exact clock rate is hardware dependent. For MACS5, the available clock rates can be calculated by

Freq = 5000000 / (n+1)

where "n" can be between 0 and 127.

Initial Value

262000

Units

Hz

Definition at line 8464 of file SdoDictionary.mh.

HWENCODER_DATLEN

#define HWENCODER_DATLEN   32

Number of bits for SSI communication.

Initial Value

25

Value Range

2-63

Definition at line 8473 of file SdoDictionary.mh.

HWENCODER_DELAY

#define HWENCODER_DELAY   33

Delay for SSI.

Can be used for signal runtime compensation for long encoder wires. Sample point delay time in nsec (13-3400)

Initial Value

0

Value Range

13-3400

Units

nsec

Definition at line 8486 of file SdoDictionary.mh.

HWENCODER_ERROR_CRC

#define HWENCODER_ERROR_CRC   0x01

Definition at line 11939 of file SdoDictionary.mh.

HWENCODER_ERROR_SIGNAL

#define HWENCODER_ERROR_SIGNAL   0x08

Definition at line 11942 of file SdoDictionary.mh.

HWENCODER_ERROR_SYNC

#define HWENCODER_ERROR_SYNC   0x02

Definition at line 11940 of file SdoDictionary.mh.

HWENCODER_ERROR_TRANSFERTIME

#define HWENCODER_ERROR_TRANSFERTIME   0x04

Definition at line 11941 of file SdoDictionary.mh.

HWENCODER_FAST_UPDATE

#define HWENCODER_FAST_UPDATE   40

Encoder update rate (Not on MACS5)

Initial Value

0

Value Range

0,1

Definition at line 8542 of file SdoDictionary.mh.

HWENCODER_FAST_UPDATE_DISABLE

#define HWENCODER_FAST_UPDATE_DISABLE   0

Definition at line 8587 of file SdoDictionary.mh.

HWENCODER_FAST_UPDATE_ENABLE

#define HWENCODER_FAST_UPDATE_ENABLE   1

Definition at line 8586 of file SdoDictionary.mh.

HWENCODER_GLITCHFILT

#define HWENCODER_GLITCHFILT   30

Filter for encoder signals.

This parameter can enable a filter to suppress signal glitches. The parameter value is controller dependent. See hardware reference manual for description. This parameter has to be set after HWENCODER_MODE has been set.

Initial Value

0

Definition at line 8450 of file SdoDictionary.mh.

HWENCODER_ISABSOLUTE

#define HWENCODER_ISABSOLUTE   2

Defines, if the used encoder delivers an absolute value.

Initial Value

0

Value Range

0,1

Definition at line 8404 of file SdoDictionary.mh.

HWENCODER_MODE

#define HWENCODER_MODE   1

Encoder type.

See "controller dependent feature list" for the supported encoder types

Initial Value

0

Definition at line 8395 of file SdoDictionary.mh.

HWENCODER_MODE_ENDAT

#define HWENCODER_MODE_ENDAT   9

Definition at line 8583 of file SdoDictionary.mh.

HWENCODER_MODE_HALL

#define HWENCODER_MODE_HALL   7

Definition at line 8582 of file SdoDictionary.mh.

HWENCODER_MODE_HIPERFACE_RX

#define HWENCODER_MODE_HIPERFACE_RX   4

Definition at line 8579 of file SdoDictionary.mh.

HWENCODER_MODE_HIPERFACE_TX

#define HWENCODER_MODE_HIPERFACE_TX   5

Definition at line 8580 of file SdoDictionary.mh.

HWENCODER_MODE_INCREMENTAL

#define HWENCODER_MODE_INCREMENTAL   0

Definition at line 8575 of file SdoDictionary.mh.

HWENCODER_MODE_INCROUTPUT

#define HWENCODER_MODE_INCROUTPUT   1

Definition at line 8576 of file SdoDictionary.mh.

HWENCODER_MODE_SINCOS

#define HWENCODER_MODE_SINCOS   6

Definition at line 8581 of file SdoDictionary.mh.

HWENCODER_MODE_SSI_ACTIVE

#define HWENCODER_MODE_SSI_ACTIVE   2

Definition at line 8577 of file SdoDictionary.mh.

HWENCODER_MODE_SSI_PASSIVE

#define HWENCODER_MODE_SSI_PASSIVE   3

Definition at line 8578 of file SdoDictionary.mh.

HWENCODER_MONITORING

#define HWENCODER_MONITORING   38

Encoder Monitoring Enable.

Bitmask to enable Encoder Monitoring according to the PO_HWENCODER_ERROR value. E.g. a value of 0x01 enables the CRC monitoring. E.g. a value of 0x0F enables all monitoring bits

Initial Value

0

Definition at line 8524 of file SdoDictionary.mh.

HWENCODER_PARITY

#define HWENCODER_PARITY   37

Parity for serial communication (not used)

Initial Value

2

Definition at line 8514 of file SdoDictionary.mh.

HWENCODER_PISRC_ENCOUT

#define HWENCODER_PISRC_ENCOUT   10

Source for the encoder signal.

0x00 - 0x3F = Encoder 0-63 0x40 - 0x7F = HwSiggen 0-63
0x80 - 0xBF = DDS 0-63 0xC0 - 0xFF = Bridge 0-63 0xFFC0 = None

Initial Value

0+n

Value Range

0x00-0xFF

Definition at line 8418 of file SdoDictionary.mh.

HWENCODER_PISRC_REFOUT

#define HWENCODER_PISRC_REFOUT   11

Source for the reference signal.

0x000 - 0x03F = Encoder Z signal 0-63 0x040 - 0x07F = VirtMaster Z signal 0-63 0x080 - 0x0BF = DDS Z signal 0-63 0x0C0 - 0x0FF = Bridge A signal 0-63 0x100 - 0x13F = Bridge B signal 0-63 0x140 - 0x17F = Digital input 1-64 0x180 - 0x1BF = Digital output 1-64 0x1C0 - 0x1FF = Comparator GE 0-63 0x200 - 0x23F = Comparator LT 0-63 0x240 - 0x27F = Pulseformer 0-63 0x280 - 0x2BF = Shiftregister 0-63 0x2C0 = SOC irq 0x2C1 = F2D irq 0xFFC0 = None

Initial Value

0xFFC0

Value Range

0x000-0x2BF,0xFFC0

Definition at line 8441 of file SdoDictionary.mh.

HWENCODER_POSBITS

#define HWENCODER_POSBITS   42

Number of SSI bits with position information (Not on MACS5)

Initial Value

0

Value Range

2-30

Definition at line 8562 of file SdoDictionary.mh.

HWENCODER_REVERSE_DIRECTION

#define HWENCODER_REVERSE_DIRECTION   41

Encoder counting direction reverse (Only MACS5)

0 = Normal 1 = Inversed

Initial Value

0

Value Range

0,1

Definition at line 8553 of file SdoDictionary.mh.

HWENCODER_REVERSE_DIRECTION_INVERSE

#define HWENCODER_REVERSE_DIRECTION_INVERSE   1

Definition at line 8591 of file SdoDictionary.mh.

HWENCODER_REVERSE_DIRECTION_NORMAL

#define HWENCODER_REVERSE_DIRECTION_NORMAL   0

Definition at line 8590 of file SdoDictionary.mh.

HWENCODER_TERM

#define HWENCODER_TERM   34

Termination (not used)

Initial Value

0

Definition at line 8493 of file SdoDictionary.mh.

HWENCODER_TRAILBITS

#define HWENCODER_TRAILBITS   43

Number of trailling SSI bits with no position information (Not on MACS5)

Initial Value

0

Value Range

0-32

Definition at line 8571 of file SdoDictionary.mh.

HWHALL_MODE

#define HWHALL_MODE   1

Enable.

Please note that HWHALL_MODE_ENABLE_VEL is not available on all controllers. Contact "Controller Dependent Feature List" HWHALL_MODE_ENABLE_VEL is available from Firmware 9.4.00.

Initial Value

0

Value Range

0,1

Definition at line 8632 of file SdoDictionary.mh.

HWHALL_MODE_DISABLE

#define HWHALL_MODE_DISABLE   0

Definition at line 8647 of file SdoDictionary.mh.

HWHALL_MODE_ENABLE

#define HWHALL_MODE_ENABLE   1

Definition at line 8648 of file SdoDictionary.mh.

HWHALL_MODE_ENABLE_VEL

#define HWHALL_MODE_ENABLE_VEL   2

Definition at line 8649 of file SdoDictionary.mh.

HWHALL_PARAM

#define HWHALL_PARAM	(		modno,
			parno
	)		Sysvar[HWHALL_PARAM_INDEX((modno),(parno))]

HW Hall Sensor Parameters: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 8617 of file SdoDictionary.mh.

HWHALL_PARAM_INDEX

#define HWHALL_PARAM_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWHALL_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Hall Sensor Parameters: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 8605 of file SdoDictionary.mh.

HWHALL_PARAM_MAX

#define HWHALL_PARAM_MAX   11

HW Hall Sensor Parameters: Maximum number of parameters.

Definition at line 8621 of file SdoDictionary.mh.

HWHALL_PARAM_SRCINDEX

#define HWHALL_PARAM_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWHALL_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Hall Sensor Parameters: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 8611 of file SdoDictionary.mh.

HWHALL_PISRC_ENCOUT

#define HWHALL_PISRC_ENCOUT   10

Source for the HALL Information.

For controllers without separate Hall interfaces: 0x00 - 0x05 = Encoder 1-6 For controllers with Hall interfaces: 0x00-0x05 = Hall input 1-6

Initial Value

0+n

Value Range

0-5

Definition at line 8643 of file SdoDictionary.mh.

HWHALL_PROCESS

#define HWHALL_PROCESS	(		modno,
			parno
	)		Sysvar[HWHALL_PROCESS_INDEX((modno),(parno))]

HW Hall Sensor Process Data: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 11968 of file SdoDictionary.mh.

HWHALL_PROCESS_INDEX

#define HWHALL_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWHALL_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Hall Sensor Process Data: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 11956 of file SdoDictionary.mh.

HWHALL_PROCESS_MAX

#define HWHALL_PROCESS_MAX   4

HW Hall Sensor Process Data: Maximum number of parameters.

Definition at line 11972 of file SdoDictionary.mh.

HWHALL_PROCESS_SRCINDEX

#define HWHALL_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWHALL_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Hall Sensor Process Data: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 11962 of file SdoDictionary.mh.

HWLATCH_MODE

#define HWLATCH_MODE   1

not used

Initial Value

0

Value Range

0

Definition at line 9101 of file SdoDictionary.mh.

HWLATCH_PAR_DIGIN_VALIDATOR

#define HWLATCH_PAR_DIGIN_VALIDATOR   31

Selects a digital input to validate the latch signal.

A digital input can be defined as validator signal. Then the latch will only be accepted if this signal is TRUE according to the following definitions:

0 = none (always accepted) 1= digital input 1 must be HIGH 2 = digital input 2 must be HIGH -1 = digital input 1 must be LOW -2 = digital input 2 must be LOW

Initial Value

0

Definition at line 9168 of file SdoDictionary.mh.

HWLATCH_PAR_DIGIN_VALIDATOR_HIGH_DINP1

#define HWLATCH_PAR_DIGIN_VALIDATOR_HIGH_DINP1   1

Definition at line 9203 of file SdoDictionary.mh.

HWLATCH_PAR_DIGIN_VALIDATOR_HIGH_DINP2

#define HWLATCH_PAR_DIGIN_VALIDATOR_HIGH_DINP2   2

Definition at line 9204 of file SdoDictionary.mh.

HWLATCH_PAR_DIGIN_VALIDATOR_LOW_DINP1

#define HWLATCH_PAR_DIGIN_VALIDATOR_LOW_DINP1   -1

Definition at line 9205 of file SdoDictionary.mh.

HWLATCH_PAR_DIGIN_VALIDATOR_LOW_DINP2

#define HWLATCH_PAR_DIGIN_VALIDATOR_LOW_DINP2   -2

Definition at line 9206 of file SdoDictionary.mh.

HWLATCH_PAR_DIGIN_VALIDATOR_NONE

#define HWLATCH_PAR_DIGIN_VALIDATOR_NONE   0

Definition at line 9202 of file SdoDictionary.mh.

HWLATCH_PARAM

#define HWLATCH_PARAM	(		modno,
			parno
	)		Sysvar[HWLATCH_PARAM_INDEX((modno),(parno))]

HW Latch Register Parameters: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 9088 of file SdoDictionary.mh.

HWLATCH_PARAM_INDEX

#define HWLATCH_PARAM_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWLATCH_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Latch Register Parameters: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 9076 of file SdoDictionary.mh.

HWLATCH_PARAM_MAX

#define HWLATCH_PARAM_MAX   33

HW Latch Register Parameters: Maximum number of parameters.

Definition at line 9092 of file SdoDictionary.mh.

HWLATCH_PARAM_SRCINDEX

#define HWLATCH_PARAM_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWLATCH_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Latch Register Parameters: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 9082 of file SdoDictionary.mh.

HWLATCH_PISRC_CMDWORD

#define HWLATCH_PISRC_CMDWORD   12

Source Index/subindex of command word.

The command word is used to reset the latch flag. If it has the value 0x0001, the flag will be cleared.

Initial Value

PO_VIRTLATCH_CMDWORD+n

Definition at line 9143 of file SdoDictionary.mh.

HWLATCH_PISRC_COUNTER

#define HWLATCH_PISRC_COUNTER   10

Source for counter to latch.

Select HW Incremental/Absolute Counter Module as input.

Initial Value

0+n

Value Range

0-63

Definition at line 9111 of file SdoDictionary.mh.

HWLATCH_PISRC_TRIGGER

#define HWLATCH_PISRC_TRIGGER   11

Source for trigger signal.

Select signal to be used as latch trigger.

0x000 - 0x03F = Encoder Z signal 0-63 0x040 - 0x07F = VirtMaster Z signal 0-63 0x080 - 0x0BF = DDS Z signal 0-63 0x0C0 - 0x0FF = Bridge A signal 0-63 0x100 - 0x13F = Bridge B signal 0-63 0x140 - 0x17F = Digital input 1-64 0x180 - 0x1BF = Digital output 1-64 0x1C0 - 0x1FF = Comparator GE 0-63 0x200 - 0x23F = Comparator LT 0-63 0x240 - 0x27F = Pulseformer 0-63 0x280 - 0x2BF = Shiftregister 0-63 0x2C0 = SOC irq 0x2C1 = F2D irq 0xFFC0 = No trigger

Initial Value

0

Definition at line 9134 of file SdoDictionary.mh.

HWLATCH_PISRC_TRIGGER_BRDA

#define HWLATCH_PISRC_TRIGGER_BRDA   0x00C0

Definition at line 9184 of file SdoDictionary.mh.

HWLATCH_PISRC_TRIGGER_BRDB

#define HWLATCH_PISRC_TRIGGER_BRDB   0x0100

Definition at line 9185 of file SdoDictionary.mh.

HWLATCH_PISRC_TRIGGER_CMPG

#define HWLATCH_PISRC_TRIGGER_CMPG   0x01C0

Definition at line 9188 of file SdoDictionary.mh.

HWLATCH_PISRC_TRIGGER_CMPL

#define HWLATCH_PISRC_TRIGGER_CMPL   0x0200

Definition at line 9189 of file SdoDictionary.mh.

HWLATCH_PISRC_TRIGGER_DDSZ

#define HWLATCH_PISRC_TRIGGER_DDSZ   0x0080

Definition at line 9183 of file SdoDictionary.mh.

HWLATCH_PISRC_TRIGGER_DINP

#define HWLATCH_PISRC_TRIGGER_DINP   0x0140

Definition at line 9186 of file SdoDictionary.mh.

HWLATCH_PISRC_TRIGGER_DOUT

#define HWLATCH_PISRC_TRIGGER_DOUT   0x0180

Definition at line 9187 of file SdoDictionary.mh.

HWLATCH_PISRC_TRIGGER_ENCZ

#define HWLATCH_PISRC_TRIGGER_ENCZ   0x0000

Definition at line 9181 of file SdoDictionary.mh.

HWLATCH_PISRC_TRIGGER_IRQ

#define HWLATCH_PISRC_TRIGGER_IRQ   0x02C0

Definition at line 9192 of file SdoDictionary.mh.

HWLATCH_PISRC_TRIGGER_NOT

#define HWLATCH_PISRC_TRIGGER_NOT   0xFFC0

Definition at line 9193 of file SdoDictionary.mh.

HWLATCH_PISRC_TRIGGER_PULS

#define HWLATCH_PISRC_TRIGGER_PULS   0x0240

Definition at line 9190 of file SdoDictionary.mh.

HWLATCH_PISRC_TRIGGER_SHIFT

#define HWLATCH_PISRC_TRIGGER_SHIFT   0x0280

Definition at line 9191 of file SdoDictionary.mh.

HWLATCH_PISRC_TRIGGER_VMZ

#define HWLATCH_PISRC_TRIGGER_VMZ   0x0040

Definition at line 9182 of file SdoDictionary.mh.

HWLATCH_PROCESS

#define HWLATCH_PROCESS	(		modno,
			parno
	)		Sysvar[HWLATCH_PROCESS_INDEX((modno),(parno))]

HW Latch Register Process Data: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12246 of file SdoDictionary.mh.

HWLATCH_PROCESS_INDEX

#define HWLATCH_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWLATCH_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Latch Register Process Data: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12234 of file SdoDictionary.mh.

HWLATCH_PROCESS_MAX

#define HWLATCH_PROCESS_MAX   10

HW Latch Register Process Data: Maximum number of parameters.

Definition at line 12250 of file SdoDictionary.mh.

HWLATCH_PROCESS_SRCINDEX

#define HWLATCH_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWLATCH_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Latch Register Process Data: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12240 of file SdoDictionary.mh.

HWLATCH_SLOPE

#define HWLATCH_SLOPE   30

Slope selector for trigger signal.

0 = Continuous 1 = Rising 2 = Falling 3 = Both

Initial Value

1

Definition at line 9154 of file SdoDictionary.mh.

HWLATCH_SLOPE_BOTH

#define HWLATCH_SLOPE_BOTH   3

Definition at line 9199 of file SdoDictionary.mh.

HWLATCH_SLOPE_CONTINUOUS

#define HWLATCH_SLOPE_CONTINUOUS   0

Definition at line 9196 of file SdoDictionary.mh.

HWLATCH_SLOPE_FALLING

#define HWLATCH_SLOPE_FALLING   2

Definition at line 9198 of file SdoDictionary.mh.

HWLATCH_SLOPE_RISING

#define HWLATCH_SLOPE_RISING   1

Examples

SetupSignalGeneratorAxis.mc, and SetupSignalGeneratorOpenloop.mc.

Definition at line 9197 of file SdoDictionary.mh.

HWLATCH_STARTADC

#define HWLATCH_STARTADC   32

If this is true, on some platforms the ADC will be started when a latch arrives.

1 = Start ADC conversion on trigger event. Zub_count only, analog values on ENC1A to ENC3B are converted for interpolation, ADC-irq is triggered when conversion of ENC3B has finished. 0 = No ADC conversion after trigger event. If the trigger event is the same for all 3 latches, ADC-conversion is started only once.

Initial Value

0

Definition at line 9177 of file SdoDictionary.mh.

HWPULSGEN_MODE

#define HWPULSGEN_MODE   1

Mode.

0 = Continuous 1 = Single shot

Initial Value

0

Value Range

0,1

Definition at line 9544 of file SdoDictionary.mh.

HWPULSGEN_NOCOMP

#define HWPULSGEN_NOCOMP   33

Disable reverse motion compensation.

1=DISABLED 0=ENABLED

If the reverse motion compensation is enabled, the signal on the output will not reverse even if the input reverses. The number of reverse increments will be counted. When the input signal runs forward again, this number of increments first have to be run, before the signal on the output starts to run again.

Initial Value

0

Definition at line 9626 of file SdoDictionary.mh.

HWPULSGEN_PARAM

#define HWPULSGEN_PARAM	(		modno,
			parno
	)		Sysvar[HWPULSGEN_PARAM_INDEX((modno),(parno))]

HW Pulsgen Parameters: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 9529 of file SdoDictionary.mh.

HWPULSGEN_PARAM_INDEX

#define HWPULSGEN_PARAM_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWPULSGEN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Pulsgen Parameters: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 9517 of file SdoDictionary.mh.

HWPULSGEN_PARAM_MAX

#define HWPULSGEN_PARAM_MAX   34

HW Pulsgen Parameters: Maximum number of parameters.

Definition at line 9533 of file SdoDictionary.mh.

HWPULSGEN_PARAM_SRCINDEX

#define HWPULSGEN_PARAM_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWPULSGEN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Pulsgen Parameters: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 9523 of file SdoDictionary.mh.

HWPULSGEN_PISRC_ENCSIG

#define HWPULSGEN_PISRC_ENCSIG   10

Source for encoder signal.

0x00 - 0x3F = Encoder 0-63 0x40 - 0x7F = VirtMaster 0-63
0x80 - 0xBF = DDS 0-63 0xC0 - 0xFF = Bridge 0-63 0xFFC0 = None

Initial Value

0

Value Range

0-0xFF

Definition at line 9558 of file SdoDictionary.mh.

HWPULSGEN_PISRC_SYNC

#define HWPULSGEN_PISRC_SYNC   11

Source for the sync information.

0x000 - 0x03F = Encoder Z signal 0-63 0x040 - 0x07F = VirtMaster Z signal 0-63 0x080 - 0x0BF = DDS Z signal 0-63 0x0C0 - 0x0FF = Bridge A signal 0-63 0x100 - 0x13F = Bridge B signal 0-63 0x140 - 0x17F = Digital input 1-64 0x180 - 0x1BF = Digital output 1-64 0x1C0 - 0x1FF = Comparator GE 0-63 0x200 - 0x23F = Comparator LT 0-63 0x240 - 0x27F = Pulseformer 0-63 0x280 - 0x2BF = Shiftregister 0-63 0x2C0 = SOC irq 0x2C1 = F2D irq 0xFFC0 = None

Initial Value

0

Value Range

0-0x1FF

Definition at line 9581 of file SdoDictionary.mh.

HWPULSGEN_POLARITY

#define HWPULSGEN_POLARITY   30

Polarity of the output signal.

0 = Negative pulse is produced 1 = Positive pulse is produced

Initial Value

0

Value Range

0,1

Definition at line 9592 of file SdoDictionary.mh.

HWPULSGEN_PROCESS

#define HWPULSGEN_PROCESS	(		modno,
			parno
	)		Sysvar[HWPULSGEN_PROCESS_INDEX((modno),(parno))]

HW Pulsgen Process Data: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12436 of file SdoDictionary.mh.

HWPULSGEN_PROCESS_INDEX

#define HWPULSGEN_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWPULSGEN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Pulsgen Process Data: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12424 of file SdoDictionary.mh.

HWPULSGEN_PROCESS_MAX

#define HWPULSGEN_PROCESS_MAX   1

HW Pulsgen Process Data: Maximum number of parameters.

Definition at line 12440 of file SdoDictionary.mh.

HWPULSGEN_PROCESS_SRCINDEX

#define HWPULSGEN_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWPULSGEN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Pulsgen Process Data: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12430 of file SdoDictionary.mh.

HWPULSGEN_SIGDIST

#define HWPULSGEN_SIGDIST   31

Distance between two output pulses (period)

Initial Value

0

Value Range

0-65535

Units

qc

Definition at line 9603 of file SdoDictionary.mh.

HWPULSGEN_SIGLENGTH

#define HWPULSGEN_SIGLENGTH   32

Length of the pulse.

Initial Value

0

Value Range

0-65535

Units

qc

Definition at line 9614 of file SdoDictionary.mh.

HWPWMGEN_DUTYCYCLE_RANGE

#define HWPWMGEN_DUTYCYCLE_RANGE   4

Duty cycle range.

A value of 90% means a duty cycle range of 5-95%

Initial Value

80

Value Range

1-100

Units

%

Definition at line 9484 of file SdoDictionary.mh.

HWPWMGEN_FREQUENCY

#define HWPWMGEN_FREQUENCY   3

Frequency of the PWM output.

Initial Value

1000

Value Range

70-25000

Units

Hz

Definition at line 9472 of file SdoDictionary.mh.

HWPWMGEN_MODE

#define HWPWMGEN_MODE   1

Mode.

Initial Value

0

Definition at line 9450 of file SdoDictionary.mh.

HWPWMGEN_MODE_SIGNED

#define HWPWMGEN_MODE_SIGNED   0

Definition at line 9498 of file SdoDictionary.mh.

HWPWMGEN_MODE_UNSIGNED

#define HWPWMGEN_MODE_UNSIGNED   1

Definition at line 9499 of file SdoDictionary.mh.

HWPWMGEN_PARAM

#define HWPWMGEN_PARAM	(		modno,
			parno
	)		Sysvar[HWPWMGEN_PARAM_INDEX((modno),(parno))]

HW PWM Generator Parameters: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 9439 of file SdoDictionary.mh.

HWPWMGEN_PARAM_INDEX

#define HWPWMGEN_PARAM_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWPWMGEN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW PWM Generator Parameters: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 9427 of file SdoDictionary.mh.

HWPWMGEN_PARAM_MAX

#define HWPWMGEN_PARAM_MAX   11

HW PWM Generator Parameters: Maximum number of parameters.

Definition at line 9443 of file SdoDictionary.mh.

HWPWMGEN_PARAM_SRCINDEX

#define HWPWMGEN_PARAM_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWPWMGEN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW PWM Generator Parameters: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 9433 of file SdoDictionary.mh.

HWPWMGEN_PISRC_DUTYCYCLE

#define HWPWMGEN_PISRC_DUTYCYCLE   10

Source for pwm duty cycle.

The input range is SIGNED16, i.e. +/- 32768

Initial Value

PO_VIRTAMP_REFVEL+n

Value Range

0-0xFFFFFE

Definition at line 9494 of file SdoDictionary.mh.

HWPWMGEN_POLARITY

#define HWPWMGEN_POLARITY   2

Polarity of the reference signal.

0 = Positive signal 1 = Negative signal

Initial Value

0

Value Range

0,1

Definition at line 9461 of file SdoDictionary.mh.

HWPWMGEN_POLARITY_NEGATIVE

#define HWPWMGEN_POLARITY_NEGATIVE   1

Definition at line 9503 of file SdoDictionary.mh.

HWPWMGEN_POLARITY_POSITIVE

#define HWPWMGEN_POLARITY_POSITIVE   0

Definition at line 9502 of file SdoDictionary.mh.

HWPWMGEN_PROCESS

#define HWPWMGEN_PROCESS	(		modno,
			parno
	)		Sysvar[HWPWMGEN_PROCESS_INDEX((modno),(parno))]

HW PWM Generators Process Data: Setter.

Parameters

modno	Module number
parno	Parameter number

Examples

PWM_1Ax_ESCON.mc.

Definition at line 12398 of file SdoDictionary.mh.

HWPWMGEN_PROCESS_INDEX

#define HWPWMGEN_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWPWMGEN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW PWM Generators Process Data: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12386 of file SdoDictionary.mh.

HWPWMGEN_PROCESS_MAX

#define HWPWMGEN_PROCESS_MAX   2

HW PWM Generators Process Data: Maximum number of parameters.

Definition at line 12402 of file SdoDictionary.mh.

HWPWMGEN_PROCESS_SRCINDEX

#define HWPWMGEN_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWPWMGEN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW PWM Generators Process Data: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12392 of file SdoDictionary.mh.

HWREFBUS_PARAM

#define HWREFBUS_PARAM	(		modno,
			parno
	)		Sysvar[HWREFBUS_PARAM_INDEX((modno),(parno))]

HW Reference Bus Parameters: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 10783 of file SdoDictionary.mh.

HWREFBUS_PARAM_INDEX

#define HWREFBUS_PARAM_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWREFBUS_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Reference Bus Parameters: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 10771 of file SdoDictionary.mh.

HWREFBUS_PARAM_MAX

#define HWREFBUS_PARAM_MAX   32

HW Reference Bus Parameters: Maximum number of parameters.

Definition at line 10787 of file SdoDictionary.mh.

HWREFBUS_PARAM_SRCINDEX

#define HWREFBUS_PARAM_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWREFBUS_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Reference Bus Parameters: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 10777 of file SdoDictionary.mh.

HWREFBUS_PO_REG0

#define HWREFBUS_PO_REG0   1

RefVecBus bits 0-31.

Definition at line 12763 of file SdoDictionary.mh.

HWREFBUS_PO_REG1

#define HWREFBUS_PO_REG1   2

RefVecBus bits 32-63.

Definition at line 12768 of file SdoDictionary.mh.

HWREFBUS_PROCESS

#define HWREFBUS_PROCESS	(		modno,
			parno
	)		Sysvar[HWREFBUS_PROCESS_INDEX((modno),(parno))]

HW Reference Bus Process Data: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12754 of file SdoDictionary.mh.

HWREFBUS_PROCESS_INDEX

#define HWREFBUS_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWREFBUS_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Reference Bus Process Data: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12742 of file SdoDictionary.mh.

HWREFBUS_PROCESS_MAX

#define HWREFBUS_PROCESS_MAX   3

HW Reference Bus Process Data: Maximum number of parameters.

Definition at line 12758 of file SdoDictionary.mh.

HWREFBUS_PROCESS_SRCINDEX

#define HWREFBUS_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWREFBUS_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Reference Bus Process Data: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12748 of file SdoDictionary.mh.

HWSHIFTREG_DELAY

#define HWSHIFTREG_DELAY   30

Input delay.

Input data will be delayed by this value.

Initial Value

0

Value Range

0-65535

Units

qc

Definition at line 9718 of file SdoDictionary.mh.

HWSHIFTREG_MODE

#define HWSHIFTREG_MODE   1

Enable.

0 = Enable 1 = Reset (manual)

Initial Value

0

Value Range

0,1

Definition at line 9668 of file SdoDictionary.mh.

HWSHIFTREG_PARAM

#define HWSHIFTREG_PARAM	(		modno,
			parno
	)		Sysvar[HWSHIFTREG_PARAM_INDEX((modno),(parno))]

HW Shift Register Parameters: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 9653 of file SdoDictionary.mh.

HWSHIFTREG_PARAM_INDEX

#define HWSHIFTREG_PARAM_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWSHIFTREG_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Shift Register Parameters: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 9641 of file SdoDictionary.mh.

HWSHIFTREG_PARAM_MAX

#define HWSHIFTREG_PARAM_MAX   31

HW Shift Register Parameters: Maximum number of parameters.

Definition at line 9657 of file SdoDictionary.mh.

HWSHIFTREG_PARAM_SRCINDEX

#define HWSHIFTREG_PARAM_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWSHIFTREG_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Shift Register Parameters: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 9647 of file SdoDictionary.mh.

HWSHIFTREG_PISRC_DATA

#define HWSHIFTREG_PISRC_DATA   11

Data to be shifted.

0x000 - 0x03F = Encoder Z signal 0-63 0x040 - 0x07F = VirtMaster Z signal 0-63 0x080 - 0x0BF = DDS Z signal 0-63 0x0C0 - 0x0FF = Bridge A signal 0-63 0x100 - 0x13F = Bridge B signal 0-63 0x140 - 0x17F = Digital input 1-64 0x180 - 0x1BF = Digital output 1-64 0x1C0 - 0x1FF = Comparator GE 0-63 0x200 - 0x23F = Comparator LT 0-63 0x240 - 0x27F = Pulseformer 0-63 0x280 - 0x2BF = Shiftregister 0-63 0x2C0 = SOC irq 0x2C1 = F2D irq 0xFFC0 = None

Initial Value

0

Value Range

0-0x2BF

Definition at line 9706 of file SdoDictionary.mh.

HWSHIFTREG_PISRC_ENCSIG

#define HWSHIFTREG_PISRC_ENCSIG   10

Source for shift clock.

0x00 - 0x3F = Encoder 0-63 0x40 - 0x7F = VirtMaster 0-63
0x80 - 0xBF = DDS 0-63 0xC0 - 0xFF = Bridge 0-63 0xFFC0 = None The quadcounts for the shift operation are derived from the selected source signal.

Initial Value

0

Value Range

0-0xFF

Definition at line 9683 of file SdoDictionary.mh.

HWSHIFTREG_PROCESS

#define HWSHIFTREG_PROCESS	(		modno,
			parno
	)		Sysvar[HWSHIFTREG_PROCESS_INDEX((modno),(parno))]

HW Shift Register Process Data: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12466 of file SdoDictionary.mh.

HWSHIFTREG_PROCESS_INDEX

#define HWSHIFTREG_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWSHIFTREG_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Shift Register Process Data: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12454 of file SdoDictionary.mh.

HWSHIFTREG_PROCESS_MAX

#define HWSHIFTREG_PROCESS_MAX   1

HW Shift Register Process Data: Maximum number of parameters.

Definition at line 12470 of file SdoDictionary.mh.

HWSHIFTREG_PROCESS_SRCINDEX

#define HWSHIFTREG_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWSHIFTREG_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Shift Register Process Data: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12460 of file SdoDictionary.mh.

HWSIGBUS_PARAM

#define HWSIGBUS_PARAM	(		modno,
			parno
	)		Sysvar[HWSIGBUS_PARAM_INDEX((modno),(parno))]

HW Signalbridges/bus ENC-REF Parameters: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 10669 of file SdoDictionary.mh.

HWSIGBUS_PARAM_INDEX

#define HWSIGBUS_PARAM_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWSIGBUS_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Signalbridges/bus ENC-REF Parameters: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 10657 of file SdoDictionary.mh.

HWSIGBUS_PARAM_MAX

#define HWSIGBUS_PARAM_MAX   11

HW Signalbridges/bus ENC-REF Parameters: Maximum number of parameters.

Definition at line 10673 of file SdoDictionary.mh.

HWSIGBUS_PARAM_SRCINDEX

#define HWSIGBUS_PARAM_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWSIGBUS_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Signalbridges/bus ENC-REF Parameters: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 10663 of file SdoDictionary.mh.

HWSIGBUS_PROCESS

#define HWSIGBUS_PROCESS	(		modno,
			parno
	)		Sysvar[HWSIGBUS_PROCESS_INDEX((modno),(parno))]

HW Signalbridges/bus ENC-REF Process Data: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12694 of file SdoDictionary.mh.

HWSIGBUS_PROCESS_INDEX

#define HWSIGBUS_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWSIGBUS_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Signalbridges/bus ENC-REF Process Data: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12682 of file SdoDictionary.mh.

HWSIGBUS_PROCESS_MAX

#define HWSIGBUS_PROCESS_MAX   1

HW Signalbridges/bus ENC-REF Process Data: Maximum number of parameters.

Definition at line 12698 of file SdoDictionary.mh.

HWSIGBUS_PROCESS_SRCINDEX

#define HWSIGBUS_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWSIGBUS_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Signalbridges/bus ENC-REF Process Data: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12688 of file SdoDictionary.mh.

HWSIGGEN_MODE

#define HWSIGGEN_MODE   1

Enable.

0 = Disabled 1 = Enabled

Initial Value

0

Definition at line 9245 of file SdoDictionary.mh.

HWSIGGEN_MODE_DISABLE

#define HWSIGGEN_MODE_DISABLE   0

Definition at line 9294 of file SdoDictionary.mh.

HWSIGGEN_MODE_ENABLE

#define HWSIGGEN_MODE_ENABLE   1

Definition at line 9295 of file SdoDictionary.mh.

HWSIGGEN_MODE_ENABLE_SPECIAL

#define HWSIGGEN_MODE_ENABLE_SPECIAL   2

Definition at line 9296 of file SdoDictionary.mh.

HWSIGGEN_PARAM

#define HWSIGGEN_PARAM	(		modno,
			parno
	)		Sysvar[HWSIGGEN_PARAM_INDEX((modno),(parno))]

HW Signalgen (Enc/Pulse) Parameters: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 9232 of file SdoDictionary.mh.

HWSIGGEN_PARAM_INDEX

#define HWSIGGEN_PARAM_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWSIGGEN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Signalgen (Enc/Pulse) Parameters: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 9220 of file SdoDictionary.mh.

HWSIGGEN_PARAM_MAX

#define HWSIGGEN_PARAM_MAX   32

HW Signalgen (Enc/Pulse) Parameters: Maximum number of parameters.

Definition at line 9236 of file SdoDictionary.mh.

HWSIGGEN_PARAM_SRCINDEX

#define HWSIGGEN_PARAM_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWSIGGEN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Signalgen (Enc/Pulse) Parameters: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 9226 of file SdoDictionary.mh.

HWSIGGEN_PISRC_SYNC

#define HWSIGGEN_PISRC_SYNC   11

Source for the sync information (not used)

If the source is high, then a syncsignal is created immediately.

Initial Value

0

Value Range

0-0xFFFFFE

Definition at line 9267 of file SdoDictionary.mh.

HWSIGGEN_PISRC_VELOCITY

#define HWSIGGEN_PISRC_VELOCITY   10

Source for frequency reference.

The value of the source must lie between -625,000,000 and 625,000,000.

Initial Value

PO_VIRTMAST_VEL+n

Value Range

0-0xFFFFFE

Units

1/1000 Hz

Definition at line 9257 of file SdoDictionary.mh.

HWSIGGEN_POLARITY

#define HWSIGGEN_POLARITY   30

Polarity of the reference signal.

0 = Negative signal 1 = Positive signal

Initial Value

0

Value Range

0,1

Definition at line 9278 of file SdoDictionary.mh.

HWSIGGEN_PROCESS

#define HWSIGGEN_PROCESS	(		modno,
			parno
	)		Sysvar[HWSIGGEN_PROCESS_INDEX((modno),(parno))]

HW Signalgen (Enc/Pulse) Process Data: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12338 of file SdoDictionary.mh.

HWSIGGEN_PROCESS_INDEX

#define HWSIGGEN_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_HWSIGGEN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

HW Signalgen (Enc/Pulse) Process Data: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12326 of file SdoDictionary.mh.

HWSIGGEN_PROCESS_MAX

#define HWSIGGEN_PROCESS_MAX   4

HW Signalgen (Enc/Pulse) Process Data: Maximum number of parameters.

Definition at line 12342 of file SdoDictionary.mh.

HWSIGGEN_PROCESS_SRCINDEX

#define HWSIGGEN_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_HWSIGGEN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

HW Signalgen (Enc/Pulse) Process Data: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 12332 of file SdoDictionary.mh.

HWSIGGEN_SIGDIST

#define HWSIGGEN_SIGDIST   31

Distance between two reference signals.

Values < 5 mean constant signal.

Initial Value

0

Value Range

0-65535

Units

qc

Definition at line 9290 of file SdoDictionary.mh.

I_ERRCLR

#define I_ERRCLR   8

Input to clear error.

Initial Value

0

Value Range

-8-8

Definition at line 105 of file SdoDictionary.mh.

I_NEGLIMITSW

#define I_NEGLIMITSW   48

Negative limit switch.

Input number (0 = none) of negative limit switch.

Initial Value

0

Value Range

-8-8

Definition at line 2732 of file SdoDictionary.mh.

I_NEGLIMITSWACT

#define I_NEGLIMITSWACT   138

Enables the monitoring of the negative limit switch.

0 = Off 1 = On

Initial Value

1

Value Range

0,1

Definition at line 3133 of file SdoDictionary.mh.

I_POSLIMITSW

#define I_POSLIMITSW   47

Positive limit switch.

Input number (0 = none) of positive limit switch.

Initial Value

0

Value Range

-8-8

Definition at line 2722 of file SdoDictionary.mh.

I_POSLIMITSWACT

#define I_POSLIMITSWACT   137

Enables the monitoring of the positive limit switch.

0 = Off 1 = On

Initial Value

1

Value Range

0,1

Definition at line 3122 of file SdoDictionary.mh.

I_REFSWITCH

#define I_REFSWITCH   46

Input reference switch.

Input number (0 = none) of the reference switch (used by the HOME command).

Initial Value

0

Value Range

-8-8

Definition at line 2712 of file SdoDictionary.mh.

IPADDRESSMODE

#define IPADDRESSMODE   20

IP address mode.

-3 - Fixed IP mode (Firmware >= 7.1.17) -2 - EtherCAT master mode -1 - DHCP/Auto-IP 0 - DIP Switch 1-255 - Fixed IP mode (deprecated...use -3 if possible)

Initial Value

0

Value Range

-3,-2,-1,0,1-255

Definition at line 154 of file SdoDictionary.mh.

IPDEFAULTGW

#define IPDEFAULTGW   25

IP default gateway.

Initial Value

0

Definition at line 208 of file SdoDictionary.mh.

IPMASK

#define IPMASK   24

IP mask.

Initial Value

0

Definition at line 201 of file SdoDictionary.mh.

IPSUBNET

#define IPSUBNET   21

IP subnet.

Default: 172.16.1.0

Initial Value

0x000110AC

Definition at line 162 of file SdoDictionary.mh.

JERKMIN

#define JERKMIN   99

Minimum time required before reaching the maximum acceleration.

Initial Value

100

Value Range

1-MLONG

Units

ms

Definition at line 2936 of file SdoDictionary.mh.

JERKMIN2

#define JERKMIN2   101

Minimum time required to ramp the acceleration down from maximum acceleration to 0.

Initial Value

0

Value Range

0-MLONG

Units

ms

Definition at line 2947 of file SdoDictionary.mh.

JERKMIN3

#define JERKMIN3   102

Minimum time required to ramp the deceleration up from 0 to maximum deceleration.

Initial Value

0

Value Range

0-MLONG

Units

ms

Definition at line 2958 of file SdoDictionary.mh.

JERKMIN4

#define JERKMIN4   103

Minimum time required to ramp the deceleration down from maximum deceleration to 0.

Initial Value

0

Value Range

0-MLONG

Units

ms

Definition at line 2969 of file SdoDictionary.mh.

KDER

#define KDER   13

Derivative Factor for PID position control loop.

Initial Value

0

Value Range

0-65000

Examples

DeltaRobot_No_SM_EPOS4_ECAT.mc.

Definition at line 2413 of file SdoDictionary.mh.

KFFACC

#define KFFACC   135

Acceleration Feed Forward.

Initial Value

0

Value Range

0-8000

Definition at line 3102 of file SdoDictionary.mh.

KFFDEC

#define KFFDEC   136

Deceleration Feed Forward.

Initial Value

0

Value Range

0-8000

Definition at line 3111 of file SdoDictionary.mh.

KILIM

#define KILIM   22

Limit value for the integral sum of the PID position control loop.

Initial Value

1000

Value Range

0-2000

Definition at line 2507 of file SdoDictionary.mh.

KILIMTIME

#define KILIMTIME   106

Time used to increase or decrease the integral limit.

Period used to increase or decrease (maximum to KILIM) in case of automatic integration activation/deactivation of the position control loop.

0 = Integration is always active

Initial Value

0

Value Range

-10000-10000

Units

ms

Definition at line 2983 of file SdoDictionary.mh.

KIN_SYNC_ACTIVE

#define KIN_SYNC_ACTIVE   3

Indicates if the synchronization to an external movement is currently active.

Definition at line 4817 of file SdoDictionary.mh.

KIN_SYNC_FPSCALE

#define KIN_SYNC_FPSCALE   30

The quadcounts of the input movments are divided by this factor to allow for floating point scaling when converting to machine units.

Initial Value

1000

Definition at line 4773 of file SdoDictionary.mh.

KIN_SYNC_ROTCX

#define KIN_SYNC_ROTCX   27

X component of the rotation center.

Initial Value

0

Definition at line 4752 of file SdoDictionary.mh.

KIN_SYNC_ROTCY

#define KIN_SYNC_ROTCY   28

Y component of the rotation center.

Initial Value

0

Definition at line 4759 of file SdoDictionary.mh.

KIN_SYNC_ROTCZ

#define KIN_SYNC_ROTCZ   29

Z component of the rotation center.

Initial Value

0

Definition at line 4766 of file SdoDictionary.mh.

KIN_SYNC_STARTFLAG

#define KIN_SYNC_STARTFLAG   22

The KIN_SYNC_STARTFLAG tells the TG that the next path that is executed should be synchronized.

Initial Value

0

Definition at line 4717 of file SdoDictionary.mh.

KIN_SYNC_STOPFLAG

#define KIN_SYNC_STOPFLAG   23

The KIN_SYNC_STOPFLAG tells the TG that the synchronization should stop with the stop of the next path.

Initial Value

0

Definition at line 4724 of file SdoDictionary.mh.

KIN_SYNC_TYPE

#define KIN_SYNC_TYPE   21

The type of the external movement the robot movement is synchronized to.

1: translational movement 2: rotational movement

Initial Value

1

Definition at line 4710 of file SdoDictionary.mh.

KIN_SYNC_VECX

#define KIN_SYNC_VECX   24

X component of the translation or rotation vector.

Initial Value

0

Definition at line 4731 of file SdoDictionary.mh.

KIN_SYNC_VECY

#define KIN_SYNC_VECY   25

Y component of the translation or rotation vector.

Initial Value

0

Definition at line 4738 of file SdoDictionary.mh.

KIN_SYNC_VECZ

#define KIN_SYNC_VECZ   26

Z component of the translation or rotation vector.

Initial Value

0

Definition at line 4745 of file SdoDictionary.mh.

KINT

#define KINT   14

Integral value for PID position control loop.

Initial Value

0

Value Range

0-65000

Examples

DeltaRobot_No_SM_EPOS4_ECAT.mc.

Definition at line 2422 of file SdoDictionary.mh.

KPROP

#define KPROP   12

Proportional value for PID position control loop.

Initial Value

30

Value Range

1-65000

Examples

DeltaRobot_No_SM_EPOS4_ECAT.mc.

Definition at line 2404 of file SdoDictionary.mh.

MACHINE_ACT_PATH_DISTANCE

#define MACHINE_ACT_PATH_DISTANCE   9

Actual path distance (absolute)

Units

uu

Definition at line 4834 of file SdoDictionary.mh.

MACHINE_ACT_PATH_VELOCITY

#define MACHINE_ACT_PATH_VELOCITY   10

Actual path velocity (absolute)

Units

uu/s

Definition at line 4841 of file SdoDictionary.mh.

MACHINE_ACTPOS

#define MACHINE_ACTPOS   4

Definition at line 4819 of file SdoDictionary.mh.

MACHINE_ACTVEL

#define MACHINE_ACTVEL   5

Definition at line 4821 of file SdoDictionary.mh.

MACHINE_CPOS_MACHCOORD_X

#define MACHINE_CPOS_MACHCOORD_X   6

Definition at line 4823 of file SdoDictionary.mh.

MACHINE_CPOS_MACHCOORD_Y

#define MACHINE_CPOS_MACHCOORD_Y   7

Definition at line 4825 of file SdoDictionary.mh.

MACHINE_CPOS_MACHCOORD_Z

#define MACHINE_CPOS_MACHCOORD_Z   8

Definition at line 4827 of file SdoDictionary.mh.

MACHINE_ERROR_FLAG

#define MACHINE_ERROR_FLAG   1

Definition at line 4812 of file SdoDictionary.mh.

MACHINE_MODE

#define MACHINE_MODE   1

Definition at line 4699 of file SdoDictionary.mh.

MACHINE_MODE_DISABLED

#define MACHINE_MODE_DISABLED   0

Definition at line 4777 of file SdoDictionary.mh.

MACHINE_MODE_ENABLED

#define MACHINE_MODE_ENABLED   1

Definition at line 4778 of file SdoDictionary.mh.

MACHINE_PARAM

#define MACHINE_PARAM	(		modno,
			parno
	)		Sysvar[MACHINE_PARAM_INDEX((modno),(parno))]

: Setter

Parameters

modno	Module number
parno	Parameter number

Definition at line 4691 of file SdoDictionary.mh.

MACHINE_PARAM_INDEX

#define MACHINE_PARAM_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_MACHINE_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

: Getter

Parameters

modno	Module number
parno	Parameter number

Definition at line 4679 of file SdoDictionary.mh.

MACHINE_PARAM_MAX

#define MACHINE_PARAM_MAX   31

: Maximum number of parameters

Definition at line 4695 of file SdoDictionary.mh.

MACHINE_PARAM_MAX_SUBINDEX

#define MACHINE_PARAM_MAX_SUBINDEX   0

Definition at line 4697 of file SdoDictionary.mh.

MACHINE_PARAM_SRCINDEX

#define MACHINE_PARAM_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_MACHINE_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

: Source Index

Parameters

modno	Module number
parno	Parameter number

Definition at line 4685 of file SdoDictionary.mh.

MACHINE_PISRC_VIRTCOUNT

#define MACHINE_PISRC_VIRTCOUNT   10

Definition at line 4701 of file SdoDictionary.mh.

MACHINE_PISRC_VIRTLATCH

#define MACHINE_PISRC_VIRTLATCH   11

Definition at line 4703 of file SdoDictionary.mh.

MACHINE_PROCESS

#define MACHINE_PROCESS	(		modno,
			parno
	)		Sysvar[MACHINE_PROCESS_INDEX((modno),(parno))]

: Setter

Parameters

modno	Module number
parno	Parameter number

Definition at line 4804 of file SdoDictionary.mh.

MACHINE_PROCESS_INDEX

#define MACHINE_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_MACHINE_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

: Getter

Parameters

modno	Module number
parno	Parameter number

Definition at line 4792 of file SdoDictionary.mh.

MACHINE_PROCESS_MAX

#define MACHINE_PROCESS_MAX   11

: Maximum number of parameters

Definition at line 4808 of file SdoDictionary.mh.

MACHINE_PROCESS_MAX_SUBINDEX

#define MACHINE_PROCESS_MAX_SUBINDEX   0

Definition at line 4810 of file SdoDictionary.mh.

MACHINE_PROCESS_SRCINDEX

#define MACHINE_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_MACHINE_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

: Source Index

Parameters

modno	Module number
parno	Parameter number

Definition at line 4798 of file SdoDictionary.mh.

MENCODER

#define MENCODER   31

Resolution of master encoder.

Initial Value

500

Value Range

-MLONG-MLONG

Definition at line 2590 of file SdoDictionary.mh.

NEGLIMIT

#define NEGLIMIT   5

Negative software limit position.

Initial Value

-500000

Value Range

-MLONG-MLONG

Units

qc

Definition at line 2331 of file SdoDictionary.mh.

O_AXMOVE

#define O_AXMOVE   65

Output for motion command active.

Output number (0 = none), which is set when a motion is active.

Initial Value

0

Value Range

-8-8

Definition at line 2872 of file SdoDictionary.mh.

O_BRAKE

#define O_BRAKE   49

Output for brake.

Output number (0 = none) for brake control.

Initial Value

0

Value Range

-8-8

Definition at line 2742 of file SdoDictionary.mh.

O_ERROR

#define O_ERROR   9

Output set when error occurs.

Initial Value

0

Value Range

-8-8

Definition at line 114 of file SdoDictionary.mh.

PFG_AACC

#define PFG_AACC   83

Maximum allowed acceleration.

Maximum allowed acceleration during movement. This value is derived from the ACC command. Note that this applies when movement is "speeding up" in either the forward or reverse direction. The value (in qc/st²) is scaled by PFG_SCALESHIFT (subindex 121) and then the integer portion is returned. This value is always greater than or equal to 0.

Units

qc/st²

Definition at line 3494 of file SdoDictionary.mh.

PFG_AACC_DELTA

#define PFG_AACC_DELTA   87

Scaled acceleration deviation.

Scaled acceleration deviation (= jerk) multiplied by PFG_SCALESHIFT (see subindex 121 and 83). This is only used for S² ramps, CAM-profiling, and some other special modes.

Units

qc/st³

Definition at line 3529 of file SdoDictionary.mh.

PFG_AACT

#define PFG_AACT   86

Command acceleration.

Signed command acceleration currently being generated by the Profile Generator. Positive values mean "speeding up" either forwards OR in reverse. Negative values mean "slowing down" either forwards OR in reverse. To get the signed forward command acceleration, multiply this value by PFG_DIR (subindex 82). The value (in qc/st²) is scaled by PFG_SCALESHIFT (subindex 121) and then the integer portion is returned.

Units

qc/st²

Definition at line 3521 of file SdoDictionary.mh.

PFG_ACMD

#define PFG_ACMD   233

Signed command acceleration.

Scaled by 1/8192

Units

qc/st²

Definition at line 4622 of file SdoDictionary.mh.

PFG_ACTSYNCVFTIME

#define PFG_ACTSYNCVFTIME   213

Actual syncvftime active.

Actual syncvftime active when SYNCVFLIMIT is set and filtering is activated or deactivated. Then the syncvftime is increased or decreased until the wanted value is reached.

Definition at line 4498 of file SdoDictionary.mh.

PFG_ADEC

#define PFG_ADEC   84

Maximum allowed deceleration.

Maximum allowed deceleration during movement. This value is derived from the DEC command. Note that this applies when movement is "slowing down" in either the forward or reverse direction. The value (in qc/st²) is scaled by PFG_SCALESHIFT (subindex 121) and then the integer portion is returned. This value is always greater than or equal to 0.

Units

qc/st²

Definition at line 3503 of file SdoDictionary.mh.

PFG_ADELTCALC

#define PFG_ADELTCALC   88

Scaled acceleration deviation.

Scaled acceleration deviation multiplied by PFG_SCALESHIFT (subindex 121) calculated by the internal profile generator brake algorithm.

Units

qc/st³

Definition at line 3537 of file SdoDictionary.mh.

PFG_AKTSTATE

#define PFG_AKTSTATE   122

Current state of profile generator state machine.

Definition at line 3791 of file SdoDictionary.mh.

PFG_CALCCURVEPOS

#define PFG_CALCCURVEPOS   222

Calculate the slave position corresponding to a curve master position.

Definition at line 4561 of file SdoDictionary.mh.

PFG_CALCMCURVPOS

#define PFG_CALCMCURVPOS   197

Calculate the curve master position corresponding to a slave position.

Units

mu

Definition at line 4374 of file SdoDictionary.mh.

PFG_CCALCULATE

#define PFG_CCALCULATE   225

Definition at line 4585 of file SdoDictionary.mh.

PFG_CCOUNTER

#define PFG_CCOUNTER   132

Number of curves to be processed.

See SYNCC

Definition at line 3886 of file SdoDictionary.mh.

PFG_CCURVEPOS

#define PFG_CCURVEPOS   133

Current curve slave position.

This value will track the actual master position if tracking is active. Unlike the CURVEPOS command, this value does NOT include any offset due to a non-zero slave cycle length.

Units

uu

Definition at line 3894 of file SdoDictionary.mh.

PFG_CINDEX

#define PFG_CINDEX   125

Current curve interpolation index.

Firmware < 6.4.44: Current index used by curve interpolation. Range of interpolation point numbers: 0 to (number of interpolations points – 1).

Firmware >= 6.4.44: Index of Spline polynomial containing the current curve master position (-1 if master position precedes the spline). Note that there may NOT be a one-to-one correspondence between fixed points and spline polynomials. For example, trapezoidal curve segments require two spline polynomials.

Definition at line 3838 of file SdoDictionary.mh.

PFG_CMARKPOS

#define PFG_CMARKPOS   173

Reserved.

Reserved for labeling functionality (-> Master position where the next labeling action must be started).

Units

qc

Definition at line 4176 of file SdoDictionary.mh.

PFG_CMASTERCLEN

#define PFG_CMASTERCLEN   221

Master curve length of the actual curve running.

Definition at line 4556 of file SdoDictionary.mh.

PFG_CMASTERCPOS

#define PFG_CMASTERCPOS   135

Current curve master position.

This value will track the actual master position if tracking is active.

Units

mu

Definition at line 3910 of file SdoDictionary.mh.

PFG_CMASTERCREST

#define PFG_CMASTERCREST   218

Remaining master distance.

For the curve which is actually active, this variable returns the distance which is still to do in master units. This value is calculated as the difference between the master curve length minus the actual master curve position.

Units

mu

Definition at line 4538 of file SdoDictionary.mh.

PFG_CMAXINDEX

#define PFG_CMAXINDEX   127

Maximum curve interpolation index.

Firmware < 6.4.44: Maximum allowed index of curve interpolation (= number of interpolation points – 1).

Firmware >= 6.4.44: This is no longer used.

Definition at line 3857 of file SdoDictionary.mh.

PFG_COMMANDPOS

#define PFG_COMMANDPOS   216

SollPos returned to sw_reg.

SollPos which is returned to sw_reg internally. This is used for linked encoder types and must be considered in subtract_from_slave.

Units

qc

Definition at line 4522 of file SdoDictionary.mh.

PFG_COMPOSDIFF

#define PFG_COMPOSDIFF   231

Difference of Command position and last command position.

Created to serve as an input for counter units. This value is updated every 1 st even if PROFTIME is higher. It always contains the difference between command position and last command position where both are updated in a case of DEFORIGIN or overflow. So the difference is always valid and there should be no deviation over long
time periods.

Units

qc

Definition at line 4608 of file SdoDictionary.mh.

PFG_CPOLYMAXVEL

#define PFG_CPOLYMAXVEL   193

Maximum velocity of a curve polynomial.

Maximum velocity of a 5th order curve polynomial, multiplied by PFG_SCALESHIFT, subindex 121. If the calculation has set the CurveCalc error bit and the PFG_LastError contains a 5-7, then a maximum or minimum exists.

Units

qc/st

Definition at line 4345 of file SdoDictionary.mh.

PFG_CPOLYMINVEL

#define PFG_CPOLYMINVEL   194

Minimum velocity of a curve polynomial.

Minimum velocity of a 5th order curve polynomial, multiplied by PFG_SCALESHIFT, subindex 121. If the calculation has set the CurveCalc error bit and the PFG_LastError contains a 5-7, then a maximum or minimum exists.

Units

qc/st

Definition at line 4353 of file SdoDictionary.mh.

PFG_CSLAVECPOSQ

#define PFG_CSLAVECPOSQ   134

Current curve position of the slave related to CSSTART.

See subindex 131.

Units

qc

Definition at line 3902 of file SdoDictionary.mh.

PFG_CSLAVECREST

#define PFG_CSLAVECREST   219

Remaining slave distance.

For the curve which is actually active, this variable returns the distance which is still to do in user units. This value is calculated as the difference between the slave curve length minus the actual slave curve position.

Units

uu

Definition at line 4546 of file SdoDictionary.mh.

PFG_CSSTART

#define PFG_CSSTART   131

Offset used for the start of current slave curve.

Always 0 for closed curves.

Units

qc

Definition at line 3880 of file SdoDictionary.mh.

PFG_CSTARTCLEN

#define PFG_CSTARTCLEN   232

Start curve length for the active PATHSTART command.

This value will be valid immediately after a PATHSTART command has been executed. Once a path set by a PATHNEXT command has been activated, the value will no longer be valid.

Definition at line 4614 of file SdoDictionary.mh.

PFG_CVINDEX

#define PFG_CVINDEX   126

Start/stop curve data index.

Firmware < 6.4.44: This is the current index used by the curve interpolation. CVINDEX equals CINDEX if neither start nor stop of curve is active. Otherwise, CVINDEX holds the index of the start or stop curve data.

Formware >= 6.4.44: This indicates the state of the selected start/stop curve during curve synchronization: -1 - The slave is waiting to start engaging or has disengaged. 0 - The slave is engaging or disengaging using the selected start/stop curve. 1 - The slave is synchronized and is using the actual curve (not a start/stop curve).

Definition at line 3849 of file SdoDictionary.mh.

PFG_CWRAP

#define PFG_CWRAP   130

Current value of the curve counter.

Number of the curve that is currently being processed. This is set to 1 when the start curve specified by the SYNCCSTART command is begun. It is incremented each time a new curve cycle is started.

Definition at line 3872 of file SdoDictionary.mh.

PFG_DIR

#define PFG_DIR   82

Direction of command velocity.

1 - Command velocity is in the forward direction (or is stationary). -1 - Command velocity is in the reverse direction.

Definition at line 3485 of file SdoDictionary.mh.

PFG_DYNKORRLIMIT

#define PFG_DYNKORRLIMIT   160

Calculated limit of marker correction.

Internal dynamically calculated limit of the marker correction. See parameter SYNCMFPAR.

Definition at line 4097 of file SdoDictionary.mh.

PFG_FAULTCNT

#define PFG_FAULTCNT   111

Asynchronous marker check count.

Counter for the number of marker checks which were not synchronous, i.e. within the defined tolerance window (cp. Parameters SYNCACCURACY and SYNCFAULT). The counter is reset if a marker is detected inside the tolerance window again.

Definition at line 3711 of file SdoDictionary.mh.

PFG_FILTERCOUNT

#define PFG_FILTERCOUNT   214

Internal relative count since PFG_MFILTERR was reset last time.

Internal relative count since the PFG_MFILTERR (subindex 95) was reset last time. This is used to decide when the PFG_MFILTERR must be evaluated again to decide if we should activate the filter again or not.

Units

ms

Definition at line 4506 of file SdoDictionary.mh.

PFG_FINPOS

#define PFG_FINPOS   230

Target position of the profile generator.

Definition at line 4598 of file SdoDictionary.mh.

PFG_FLAGS

#define PFG_FLAGS   123

Profile generator flags.

These flags are identical to the bits of the APOSS command "InterruptSetup( STATBIT ...)": 0 0x01 - BUSY - Internal: Profile generator busy 1 0x02 - COMMANDERR - Internal: Profile generator error 2 0x04 - POSREACHED - Position reached 3 0x08 - INDEX_HIT - Index observed 4 0x10 - MINDEX_HIT - Master Index observed 5 0x20 - POS_ERR - Reserved for future use 6 0x40 - BRKPT_RCHD - Internal Breakpoint reached 7 0x80 - FLOATING - Pos. control switched off (= MOTOR OFF state) 8 0x0100 - MOVING - Axis is moving 9 0x0200 - OVERFLOWS - Overflow of slave position 10 0x0400 - OVERFLOWM - Overflow of master position 12 0x1000 - POSLIMERR - Positive pos. sw limit (->POSLIMIT) 13 0x2000 - NEGLIMERR - Negative pos. sw limit (->NEGLIMIT) 14 0x4000 - CURVE_ERR CAM sync. Error 15 0x8000 - OVERSHOOT - TPOSA will overshoot or not reach target 16-23 - Reserved for future use 24 0x01000000 - SYNCREADY - Sync. Ready 25 0x02000000 - SYNCFAULT - Sync. Failed 26 0x04000000 - SYNCACCUR - Sync. Accuracy reached (deviation between the position of the slave and master is less than SYNCACCURACY) 27 0x08000000 - SYNCMMHIT - Master marker hit 28 0x10000000 - SYNCSMHIT - Slave marker hit 29 0x20000000 - SYNCMMERR - Master marker error 30 0x40000000 - SYNCSMERR - Slave marker error 31 0x80000000 - TESTFLAG - Internal use only

Definition at line 3821 of file SdoDictionary.mh.

PFG_GETCMDVEL

#define PFG_GETCMDVEL   136

Scaled set point velocity.

Scaled set point velocity multiplied by PID_VELRESVAL (subindex 52). See PFG_VCMD (subindex 91) and PFG_VCMDSIGN (subindex 181), which are scaled by PFG_SCALESHIFT (subindex 121).

Units

qc/st

Definition at line 3918 of file SdoDictionary.mh.

PFG_INTMMERROR

#define PFG_INTMMERROR   157

Sum of master marker distance errors.

Sum of all errors of the master marker distance (actual distance – medium distance). See PFG_INTSMERROR, subindex 184.

Units

qc

Definition at line 4075 of file SdoDictionary.mh.

PFG_INTOFFSET

#define PFG_INTOFFSET   120

Current offset.

Value of the up-to-date offset. Internal units [qc] multiplied by PFG_SCALESHIFT, subindex 121. The value is based on the parameter SYNCPOSOFFS and the value of the command MOVESYNCORIGIN. The internal offset is handled correctly even at a position overflow.

Units

qc

Definition at line 3779 of file SdoDictionary.mh.

PFG_INTSMERROR

#define PFG_INTSMERROR   184

Sum of slave marker distance errors.

Sum of all errors of the slave marker distance (actual distance – medium distance). See PFG_INTMMERROR, subindex 157.

Units

qc

Definition at line 4271 of file SdoDictionary.mh.

PFG_JERKFINVEL

#define PFG_JERKFINVEL   189

Velocity reached if the current acceleration is reduced to 0.

Velocity which will be reached if the current acceleration is reduced to 0 using the jerk limitation settings (see command JERKFINVEL). This calculation works independently of the current setting of parameter RAMPTYPE. The result could also be negative if you drive negatively for example or if you are near velocity zero with an high deceleration.

Units

qc/st

Definition at line 4311 of file SdoDictionary.mh.

PFG_JERKSTOPDIST

#define PFG_JERKSTOPDIST   190

Length of brake ramp if stopped with specified deceleration.

Read: Same as JERKSTOPPATH (subindex 182), but instead of the actual deceleration setting, a given deceleration value can be used to calculate the distance. Write: Sets the deceleration value (scaled by parameter VELRES)to be used for calculations by this function. Note: This requires some calculation time! Do not call within a fast loop.

Units

qc

Definition at line 4321 of file SdoDictionary.mh.

PFG_JERKSTOPPATH

#define PFG_JERKSTOPPATH   182

Length of brake ramp if stopped.

Length of the brake ramp if motor must be stopped with a jerk limited movement using the current command settings of VEL, ACC, DEC and JERKMIN. Changing one of these command settings, also changes the length of the brake ramp.

This calculation always calculates the brake ramp for the jerk limited movement independent of the current setting of the parameter RAMPTYPE. For calculation of the brake ramp for a non-jerk limited movement use STOPLEN, subindex 124. For calculation of a jerk limited stop distance using a given deceleration value use JERKSTOPDIST, subindex 190. Note: This requires some calculation time! Do not call within very fast loops (e.g. every 2 ms).

Units

qc

Definition at line 4255 of file SdoDictionary.mh.

PFG_JSTATE

#define PFG_JSTATE   180

State of the Limited Jerk Movement state machine.

See "Limited Jerk Movements" in the general APOSS-IDE help for a detailed description of limited jerk movements and where these different states can appear within a complete limited jerk movement.

0 = Stopped (limited jerk movement is not active) 1 = Constant velocity (at target velocity) 2 = Acceleration ramp-up towards the target velocity 3 = Acceleration constant towards the target velocity 4 = Acceleration ramp-down towards the target velocity 5 = Acceleration ramp-down towards the maximum acceleration 6 = Deceleration ramp-up towards the target velocity 7 = Deceleration constant towards the target velocity 8 = Deceleration ramp-down towards the target velocity 9 = Deceleration ramp-down towards the maximum deceleration 10 = Deceleration ramp-up that will overshoot velocity = 0 11 = Deceleration constant that will overshoot velocity = 0 12 = Deceleration ramp-down that will overshoot velocity = 0

WARNING: Depending on the exact characteristics, timing, and duration of the movement, many of these states can be short-lived transient states, may not be observed at all, or may be observed in an unexpected sequence. For example, a deceleration ramp-up may not be followed by a deceleration ramp-down if the ramp-down is extremely short, or an acceleration ramp-down may be followed by a short deceleration ramp-up if the system overshoots the target velocity. Extreme care must be taken by any program that is designed to rely on the appearance of any particular state or on the sequence in which the states appear.

Definition at line 4236 of file SdoDictionary.mh.

PFG_KORREKTUR

#define PFG_KORREKTUR   116

Value of the last marker correction [qc (slave)].

Units

qc

Definition at line 3748 of file SdoDictionary.mh.

PFG_KORRFILT

#define PFG_KORRFILT   147

Filtered correction value.

Multiplied by PFG_SCALESHIFT, subindex 121.

Units

qc

Definition at line 3998 of file SdoDictionary.mh.

PFG_KORRREST

#define PFG_KORRREST   117

Remainder of the marker correction.

Remainder of the marker correction. If a master encoder filter is in use for SYNCP or SYNCM (i.e. parameter SYNCVFTIME < 0), then the correction value is also processed within 10 times the filter time. A fractional correction value (see PFG_KORRVAL, subindex 118) is calculated which is added each cycle. The remainder is updated after each calculation.

Definition at line 3754 of file SdoDictionary.mh.

PFG_KORRTAU

#define PFG_KORRTAU   156

Tau used by PT marker filter.

Tau which is in use by the PT marker filter. The usage of PFG_KORRTAU depends on the setting of parameter SYNCMFPAR.

Definition at line 4067 of file SdoDictionary.mh.

PFG_KORRUNFILT

#define PFG_KORRUNFILT   150

Last unfiltered correction value.

In qc of the slave.

Units

qc

Definition at line 4020 of file SdoDictionary.mh.

PFG_KORRVAL

#define PFG_KORRVAL   118

Value of the marker correction.

Value of the marker correction. Internal units [qc] multiplied by PFG_SCALESHIFT, subindex 121. See PFG_KORRREST, subindex 117.

Units

qc

Definition at line 3762 of file SdoDictionary.mh.

PFG_LASTERROR

#define PFG_LASTERROR   163

Additional information about the last PFG error.

Possible values are:

0 - No error. 1 - Curve start error, startposition set by deforg for synctype >=3 was too close to handle. 4 - Internal error calculating poly 5 root. 5 - Curve stability problem (minimum in interval). 6 - Curve stability problem (maximum in interval). 7 - Curve stability problem (minimum and maximum in interval). 100-120 - CAM curve definition error (curve could not be calculated).

If 0 is written to this value, then the last error will be cleared if possible. This includes the flags in PFG_FLAGS.

Definition at line 4132 of file SdoDictionary.mh.

PFG_LASTMMDEVIATION

#define PFG_LASTMMDEVIATION   183

Last master marker deviation.

Last master marker deviation compared to the average of the measured master marker distance. Multiplied by PFG_SCALESHIFT, subindex 121.

Units

qc

Definition at line 4263 of file SdoDictionary.mh.

PFG_LASTMMDIST

#define PFG_LASTMMDIST   148

Last measured distance between two master markers.

In qc of the master.

Units

qc

Definition at line 4006 of file SdoDictionary.mh.

PFG_LASTMOVSYNC

#define PFG_LASTMOVSYNC   179

Reserved.

Reserved for special applications (WAN-LAT).

Definition at line 4214 of file SdoDictionary.mh.

PFG_LASTREALMZERO

#define PFG_LASTREALMZERO   191

Position value of the last "real" master marker.

Faked ones are not respected.

Units

qc

Definition at line 4329 of file SdoDictionary.mh.

PFG_LASTREALSZERO

#define PFG_LASTREALSZERO   192

Position value of the last "real" slave marker.

Faked ones are not respected.

Units

qc

Definition at line 4337 of file SdoDictionary.mh.

PFG_LASTSMDEVIATION

#define PFG_LASTSMDEVIATION   186

Last slave marker deviation.

Last slave marker deviation compared to the average of the measured slave marker distance. Multiplied by PFG_SCALESHIFT, subindex 121.

Units

qc

Definition at line 4287 of file SdoDictionary.mh.

PFG_LASTSMDIST

#define PFG_LASTSMDIST   154

Last measured distance between two slave markers.

In qc of the slave.

Units

qc

Definition at line 4056 of file SdoDictionary.mh.

PFG_MACTDIR

#define PFG_MACTDIR   97

Actual master direction.

Actual master direction (+1 / -1), if SYNCP or SYNCM is active.

Definition at line 3607 of file SdoDictionary.mh.

PFG_MARKERDIFF

#define PFG_MARKERDIFF   113

Slave/master marker difference count.

Counter for the difference between detected slave and master markers. A master marker which is passed by in positive direction, increases the counter. If passed by in negative direction, it decreases the counter by one. The counter has opposite behaviour for slave markers. Bigger differences can be caused by the parameter SYNCPOSOFFS, the command MOVESYNCORIGIN, or by catching up movements.

Definition at line 3725 of file SdoDictionary.mh.

PFG_MARKERFAKED

#define PFG_MARKERFAKED   119

Virtual marker created.

Flag which indicates if a virtual marker was created. If a actual marker was detected, this flag is reset to 0 again (see SYNCMWINM and SYNCMWINS).

0 - Not created. 1 - Created.

Definition at line 3771 of file SdoDictionary.mh.

PFG_MARKERFILTER

#define PFG_MARKERFILTER   155

Number of markers defining the filtering period.

Definition at line 4061 of file SdoDictionary.mh.

PFG_MASTERTARGET

#define PFG_MASTERTARGET   200

Corrected slave position.

Read: Corrected slave position calculated by the following formula: APOS[qc] + sync ratio * (MasterTargetPos – MAPOS[qc]). Write: Defines the MasterTargetPos in use by the formula.

Units

qc

Definition at line 4399 of file SdoDictionary.mh.

PFG_MASTERVELSQSL

#define PFG_MASTERVELSQSL   215

Master velocity in slave qc per sample time.

This velocity is filtered like Oldmfiltvel. But if ActSyncVftime is smaller than 50 ms, it is still filtered by 50ms. See PFG_ACTSYNCVFTIME.

Units

qc/st

Definition at line 4514 of file SdoDictionary.mh.

PFG_MCENDPOS

#define PFG_MCENDPOS   166

Master position where the last curve ended.

During curve synchronization (SYNCC), whenever either end of the current curve is reached (i.e. either the curve end when going forward or the curve beginning when going backward), the actual master position (in qc) corresponding to that curve end is saved here.

Depending on the master gear factors (SYNCFACTS and SYNCFACTM) and integer arithmetic, this value may be +/- 1 qc away from the exact position of the end of the curve occurred.

Units

qc

Definition at line 4149 of file SdoDictionary.mh.

PFG_MDIR

#define PFG_MDIR   96

Master direction for synchronization.

Sign due to gear ratio. Possible values are +1 or -1.

Definition at line 3601 of file SdoDictionary.mh.

PFG_MDISTMARK

#define PFG_MDISTMARK   151

Distance between current master position and last master marker.

Distance between the current master position and the last master marker given as percentage of the nominal master marker distance.

The variable PFG_MDISTMARK allows different scaling (default is percent) by writing the resolution to it. If you write a 1000 to PFG_MDISTMARK you will then get the values in per thousand when you read the values out.

Units

%

Definition at line 4030 of file SdoDictionary.mh.

PFG_MFILTERR

#define PFG_MFILTERR   95

Inaccuracy due to filtering of the master position value.

This inaccuracy is compensated within a period of time which equals 10x the filter time.

Units

qc

Definition at line 3595 of file SdoDictionary.mh.

PFG_MHIT

#define PFG_MHIT   108

Master marker detection.

Flag indicating if a master marker was detected. The flag is reset when both markers were detected and the marker correction was processed.

1 = Master marker detected in forward direction. -1 = Master marker detected in backwards direction.

Definition at line 3690 of file SdoDictionary.mh.

PFG_MMARKCNT

#define PFG_MMARKCNT   102

Required master marker pulse count.

Number of master marker pulses (in SYNCM or SYNCCMM mode) which are counted until the necessary number (see SYNCMARKM) is reached. Then it is restarted with 0.

Definition at line 3645 of file SdoDictionary.mh.

PFG_MMARKCORR

#define PFG_MMARKCORR   149

Calculated gear ratio correction value.

Multiplied by PFG_SCALESHIFT, subindex 121.

Definition at line 4012 of file SdoDictionary.mh.

PFG_MMARKERDIST

#define PFG_MMARKERDIST   143

Filtered distance between two master markers.

Filtered distance value between two master markers. Value is [qc] multiplied by PFG_SCALESHIFT (see subindex 121) to get a better resolution. This value is only processed if the parameter SYNCMFTIME does not equal 0.

Units

qc

Definition at line 3968 of file SdoDictionary.mh.

PFG_MMARKERR

#define PFG_MMARKERR   158

Filtered sum master marker errors.

Filtered sum of all master marker errors, multiplied by PFG_SCALESHIFT, subindex 121. See PFG_SMARKERR, subindex 185.

Units

qc

Definition at line 4083 of file SdoDictionary.mh.

PFG_MMARKFIFOREAD

#define PFG_MMARKFIFOREAD   162

Read the master marker FIFO.

Read: Returns the entry of the current read address of the master marker FIFO and increases the FIFO read pointer afterwards. This allows entries to be read one after the other. If just the current entry must be read without increasing the pointer, the function PFG_MMARKFIFOTEST (subindex 174) should be used instead. Write: Clear the entire master marker buffer. The actual value written is ignored.

Definition at line 4116 of file SdoDictionary.mh.

PFG_MMARKFIFOTEST

#define PFG_MMARKFIFOTEST   174

Read the master marker FIFO.

Read: Entry of the current read address of the master marker FIFO. This function does not increase the read address (see PFG_MMARKFIFOREAD, subindex 162). Write: Delete the last master FIFO entry written. The actual value written is ignored.

Definition at line 4183 of file SdoDictionary.mh.

PFG_MMARKFIFOVALID

#define PFG_MMARKFIFOVALID   161

"Valid" flag for actual master marker FIFO read address

1 = "Real" marker hit in forward direction -1 = "Real" marker hit in backward direction 2 = "Faked" marker generated forwards -2 = "Faked" marker generated backwards

Read: Returns the "Valid". Write: Last valid entry is used together with the Label_Info defined by the last SETCURVE to fill the fifo with valid entries backward. The actual written value is ignored.

Definition at line 4109 of file SdoDictionary.mh.

PFG_MMDEVPOSDIFF

#define PFG_MMDEVPOSDIFF   187

Distance between last two master markers.

Distance between the last two master markers after correcting them by deviation. See PFG_LASTMMDEVIATION, subindex 183.

Units

qc

Definition at line 4295 of file SdoDictionary.mh.

PFG_MMFAKEDCNT

#define PFG_MMFAKEDCNT   137

Consecutive virtual generated master markers.

Number of consecutive virtual generated master markers (due to missing real master markers). If the next real marker is detected, this value is reset to 0. Value range: 0 - UNSIGNED16

Definition at line 3924 of file SdoDictionary.mh.

PFG_MMILLEGALCNT

#define PFG_MMILLEGALCNT   139

Number of non-fitting master markers.

Total number of non-fitting master markers. Value range: 0 - UNSIGNED16 This value is only reset by a restart of SYNCP, SYNCM or SYNCC. Otherwise, the reset must be done by the APOSS application.

Definition at line 3937 of file SdoDictionary.mh.

PFG_MOLDZERO

#define PFG_MOLDZERO   104

Master position of the last detected master marker.

Units

qc

Definition at line 3658 of file SdoDictionary.mh.

PFG_MPCMD

#define PFG_MPCMD   99

Command position calculated by the synchronization algorithm.

MPCMD is the command position for the position control loop. This position is where the slave should be if it were synchronized. SYNCERR = MPCMD – APOS This position may differ from PFG_PCMD if current limits (VEL, ACC, DEC, etc.) prevent the axis from reacting as quickly as is required to maintain synchronization. See axis parameter SYNCTYPE.

Units

qc

Definition at line 3622 of file SdoDictionary.mh.

PFG_MPCMDERR

#define PFG_MPCMDERR   112

Current synchronization position error.

Current synchronization position error (like command SYNCERR), always with sign.

Units

qc

Definition at line 3719 of file SdoDictionary.mh.

PFG_MPCMDOLD

#define PFG_MPCMDOLD   100

Last synchronization command position.

The command position value of the last sample time.

Units

qc

Definition at line 3630 of file SdoDictionary.mh.

PFG_MSTARTCURVECPOSSL

#define PFG_MSTARTCURVECPOSSL   206

Slave curve position of start curve.

Slave curve position of the start curve [qc of the slave]. Multiplied by PFG_SCALESHIFT, subindex 121.

Units

qc

Definition at line 4448 of file SdoDictionary.mh.

PFG_MSTARTCURVEDELTAS

#define PFG_MSTARTCURVEDELTAS   207

Calculated slave distance.

Calculated value of the slave distance which is necessary for a 5th order polynomial (SYNCMSTART 7) with the given master position and the number of markers (see PFG_MSTARTMARKERTODO, subindex 211) used for starting.

Units

qc

Definition at line 4456 of file SdoDictionary.mh.

PFG_MSTARTCURVEDELTASREST

#define PFG_MSTARTCURVEDELTASREST   209

Remainder of MSTARTCURVEDELTAS divided by slave marker distance.

Units

qc

Definition at line 4470 of file SdoDictionary.mh.

PFG_MSTARTCURVEERR

#define PFG_MSTARTCURVEERR   210

Difference between MSTARTCURVEDELTASREST and the rest of the master distance.

If this error is smaller than 1 percent of the marker distance, then the polynomial is started.

Units

qc

Definition at line 4478 of file SdoDictionary.mh.

PFG_MSTARTCURVEMENDPOSSL

#define PFG_MSTARTCURVEMENDPOSSL   205

Master curve endpos of start curve.

Master curve endpos of the start curve (= length) [qc of the slave]. Multiplied by PFG_SCALESHIFT, subindex 121.

Units

qc

Definition at line 4440 of file SdoDictionary.mh.

PFG_MSTARTCURVEMPOSSL

#define PFG_MSTARTCURVEMPOSSL   204

Master curvepos of start curve.

Master curvepos of the start curve (0 ...) [qc of the slave]. Multiplied by PFG_SCALESHIFT, subindex 121.

Units

qc

Definition at line 4432 of file SdoDictionary.mh.

PFG_MSTARTCURVESMARKTODO

#define PFG_MSTARTCURVESMARKTODO   208

Actual distance of the slave position to the next slave marker.

Units

qc

Definition at line 4463 of file SdoDictionary.mh.

PFG_MSTARTCURVESTARTMPCMD

#define PFG_MSTARTCURVESTARTMPCMD   203

Master position where curve was started.

Master position [qc of the slave] where curve was started. Multiplied by PFG_SCALESHIFT, subindex 121.

Units

qc

Definition at line 4424 of file SdoDictionary.mh.

PFG_MSTARTCURVESTATE

#define PFG_MSTARTCURVESTATE   202

State of the SYNCMSTART = 7 curve handling.

1 = SYNMCURVE_WAITSTART = Curve waits to be started 2 = SYNCMCURVE_RUNNING = Curve is running 3 = SYNMCURVE_WAITMASTERINDEX = Curve waits for first master index 4 = SYNCMCURVE_RESTART = Curve tries to restart while running

Definition at line 4416 of file SdoDictionary.mh.

PFG_MSTARTMARKERTODO

#define PFG_MSTARTMARKERTODO   211

Master markers necessary.

This is the number of master markers necessary to do the polynomial, calculated out of the velocity difference between master and slave and the given acceleration and jerk.

Definition at line 4484 of file SdoDictionary.mh.

PFG_MTOUCHPOS

#define PFG_MTOUCHPOS   165

Definition at line 4139 of file SdoDictionary.mh.

PFG_MZEROCMD

#define PFG_MZEROCMD   106

Master marker positionused for marker correction.

Master marker position (in SYNCM or SYNCCMM mode) which is used for the marker correction [qc (slave)]. It will be overwritten when next marker is reached.

Units

qc

Definition at line 3673 of file SdoDictionary.mh.

PFG_OFFDISTDONE

#define PFG_OFFDISTDONE   178

Reserved.

Reserved for special applications (WAN-LAT). Multiplied by PFG_SCALESHIFT, subindex 121.

Definition at line 4208 of file SdoDictionary.mh.

PFG_OFFSET_ACC

#define PFG_OFFSET_ACC   228

Definition at line 4591 of file SdoDictionary.mh.

PFG_OFFSET_CORR

#define PFG_OFFSET_CORR   229

Definition at line 4593 of file SdoDictionary.mh.

PFG_OFFSET_TIME

#define PFG_OFFSET_TIME   226

Definition at line 4587 of file SdoDictionary.mh.

PFG_OFFSET_VFIN

#define PFG_OFFSET_VFIN   227

Definition at line 4589 of file SdoDictionary.mh.

PFG_OFFSETVALUE

#define PFG_OFFSETVALUE   199

Actual offset step value used to distribute offsets or corrections.

Actual offset step value used to distribute offsets or corrections. Multiplied by PFG_SCALESHIFT, subindex 121.

Units

qc

Definition at line 4390 of file SdoDictionary.mh.

PFG_OFFTOTALDIST

#define PFG_OFFTOTALDIST   177

Reserved.

Reserved for special applications (WAN-LAT).

Definition at line 4202 of file SdoDictionary.mh.

PFG_OLDCOMMANDPOS

#define PFG_OLDCOMMANDPOS   217

OldSollPos returned to sw_reg.

OldSollPos which is returned to sw_reg internally. This is used for linked encoder types and must be considered in subtract_from_slave.

Units

qc

Definition at line 4530 of file SdoDictionary.mh.

PFG_OLDMFILTVEL

#define PFG_OLDMFILTVEL   93

Scaled and filtered master velocity.

Scaled and filtered master velocity multiplied by PFG_SCALESHIFT (see subindex 121 and 83). Is always valid for SYNCV mode, but valid for SYNCM and SYNP mode only if the parameter SYNCVFTIME is negative.

Units

qc/st

Definition at line 3579 of file SdoDictionary.mh.

PFG_OLDSFILTVEL

#define PFG_OLDSFILTVEL   94

Scaled and filtered slave velocity.

Scaled and filtered slave velocity multiplied by PFG_SCALESHIFT (see subindex 121 and 83). Only valid for SYNCV mode.

Units

qc/st

Definition at line 3587 of file SdoDictionary.mh.

PFG_OLDSYPOFFS

#define PFG_OLDSYPOFFS   115

Old value of the parameter SYNCPOSOFFS.

Old value of the parameter SYNCPOSOFFS. If SYNCPOSOFFS is modified, then the difference between the new and old value is calculated and added to the current synchronization set point position value. The new SYNCPOSOFFS value is then copied into PFG_OLDSYPOFFS.

Definition at line 3741 of file SdoDictionary.mh.

PFG_ORGREALPOS

#define PFG_ORGREALPOS   159

"Real" origin position after a SETORIGIN command

"Real" origin position after a SETORIGIN command. The value is processed by the commands RSTORIGIN and SETORIGIN.

Units

qc

Definition at line 4091 of file SdoDictionary.mh.

PFG_PATHCALC

#define PFG_PATHCALC   89

Length of the brake ramp.

Length of the brake ramp, as calculated by the profile generator brake algorithm.

Units

qc

Definition at line 3545 of file SdoDictionary.mh.

PFG_PCMD

#define PFG_PCMD   90

Command position.

Signed command postion currently being calculated by the Profile Generator. Momentum, inertia, and other factors, may cause this value to differ from the actual position.

Units

qc

Definition at line 3553 of file SdoDictionary.mh.

PFG_PCORR

#define PFG_PCORR   92

Scaled correction value for the brake ramp.

Scaled correction value for the brake ramp multiplied by PFG_SCALESHIFT (see subindex 121 and 83). This value is added per sample time to compensate an inaccuracy due to an integer number of brake steps.

Units

qc

Definition at line 3571 of file SdoDictionary.mh.

PFG_PROFTIMER

#define PFG_PROFTIMER   224

PROFTIMER value from the axis.

Used for internal calculation of PFG_VCMDSIGNED_USERSCALED

The number of timer interrupts that will be needed for each Profile Generator step

Definition at line 4583 of file SdoDictionary.mh.

PFG_READYCNT

#define PFG_READYCNT   110

Synchronous marker check count.

Counter for the number of marker checks which were synchronous, i.e. within the defined tolerance window (see SYNCACCURACY and SYNCREADY). The counter is reset if a marker is detected which not within the tolerance.

Definition at line 3705 of file SdoDictionary.mh.

PFG_RESTOFFSDBL

#define PFG_RESTOFFSDBL   176

Reserved.

Reserved for special applications (WAN-LAT).

Definition at line 4196 of file SdoDictionary.mh.

PFG_RESTOFFSET

#define PFG_RESTOFFSET   198

Offset which must still be handled.

Offset which must still be handled by a new offset distribution. Multiplied by PFG_SCALESHIFT, subindex 121.

Units

qc

Definition at line 4382 of file SdoDictionary.mh.

PFG_REVERSEOFFSET

#define PFG_REVERSEOFFSET   201

Compensation offset for blocked reversal.

Internal value which is used to compensate an offset if reversing is blocked (i.e. parameter REVERS = 2) and the master stops faster than the slave is allowed to stop.

Units

qc

Definition at line 4407 of file SdoDictionary.mh.

PFG_REVERSING

#define PFG_REVERSING   101

Reversing active.

Indicates whether reversing is active. Reversing means that the slave – related to the master – runs intentionally into the wrong direction in order to adjust an offset.

0 - Not active 1 - Active

Definition at line 3639 of file SdoDictionary.mh.

PFG_RUNTIME_ERR

#define PFG_RUNTIME_ERR   235

Returns last active runtime error.

200 PFG_ERR_FLAG_KINPOINTUNREACHABLE: The target point is outside boundary

Definition at line 4637 of file SdoDictionary.mh.

PFG_SACTDIR

#define PFG_SACTDIR   98

Actual slave direction.

Actual slave direction (+1 / -1), if SYNCP or SYNCM is active. The sign results from calculation of APOS minus last APOS.

Definition at line 3613 of file SdoDictionary.mh.

PFG_SCALESHIFT

#define PFG_SCALESHIFT   121

Scaling factor for internal 64-bit values that are returned in 32-bit variables.

Initial Value

128

Definition at line 3786 of file SdoDictionary.mh.

PFG_SDISTMARK

#define PFG_SDISTMARK   152

Distance between current slave position and last slave marker.

Distance between the current slave position and the last slave marker given as percentage of the nominal slave marker distance.

The variable PFG_SDISTMARK also allows different scaling (default is percent) by writing the resolution to it. Sample see PFG_MDISTMARK.

Units

%

Definition at line 4040 of file SdoDictionary.mh.

PFG_SHIT

#define PFG_SHIT   109

Slave marker detection.

Flag indicating if a slave marker was detected. The flag is reset when both markers were detected and the marker correction was processed.

1 = Slave marker detected in forward direction. -1 = Slave marker detected in backwards direction.

Definition at line 3699 of file SdoDictionary.mh.

PFG_SMARKCNT

#define PFG_SMARKCNT   103

Required slave marker pulse count.

Number of slave marker pulses (in SYNCM or SYNCMS mode) which are counted until the necessary number (see SYNCMARKS) is reached. Then it is restarted with 0.

Definition at line 3651 of file SdoDictionary.mh.

PFG_SMARKERDIST

#define PFG_SMARKERDIST   144

Filtered distance between two slave markers.

Filtered distance value between two slave markers. Value is [qc] multiplied by PFG_SCALESHIFT (see subindex 121) to get a better resolution. This value is only processed if the parameter SYNCSFTIME does not equal 0.

Units

qc

Definition at line 3976 of file SdoDictionary.mh.

PFG_SMARKERFILTER

#define PFG_SMARKERFILTER   195

Slave filter value.

Slave filter value corresponding to PFG_MMARKERFILTER (subindex 155).

Definition at line 4359 of file SdoDictionary.mh.

PFG_SMARKERR

#define PFG_SMARKERR   185

Filtered sum of slave marker errors.

Filtered sum of all slave marker errors, multiplied by PFG_SCALESHIFT, subindex 121. See PFG_MMARKERR, subindex 158.

Units

qc

Definition at line 4279 of file SdoDictionary.mh.

PFG_SMARKFIFOREAD

#define PFG_SMARKFIFOREAD   168

Read the slave marker FIFO.

Read: Entry of the current read address of the master marker FIFO and increases the FIFO read pointer afterwards. This allows entries to be read one after the other. If just the current entry must be read without increasing the pointer, the PFG_SMARKFIFOTEST (subindex 175) should be used instead. Write: Clear the entire slave marker buffer. The actual value written is ignored.

Definition at line 4168 of file SdoDictionary.mh.

PFG_SMARKFIFOTEST

#define PFG_SMARKFIFOTEST   175

Read the slave marker FIFO.

Read: Entry of the current read address of the slave marker FIFO. This function does not increase the read address (see PFG_SMARKFIFOREAD, subindex 168). Write: Delete the last slave FIFO entry written. The actual value written is ignored.

Definition at line 4190 of file SdoDictionary.mh.

PFG_SMARKFIFOVALID

#define PFG_SMARKFIFOVALID   167

"Valid" flag for actual slave marker FIFO read address

1 = "Real" marker hit in forward direction -1 = "Real" marker hit in backward direction 2 = "Faked" marker generated forwards -2 = "Faked" marker generated backwards

Read: Returns the "Valid" flag. Write: Last valid entry is used together with the Label_Info defined by the last SETCURVE to fill the fifo with valid entries backward.

Definition at line 4161 of file SdoDictionary.mh.

PFG_SMDEVPOSDIFF

#define PFG_SMDEVPOSDIFF   188

Distance between last two slave markers.

Distance between the last two slave markers after correcting them by deviation. See PFG_LASTSMDEVIATION, subindex 186.

Units

qc

Definition at line 4303 of file SdoDictionary.mh.

PFG_SMFAKEDCNT

#define PFG_SMFAKEDCNT   138

Consecutive virtual generated slave markers.

Number of consecutive virtual generated slave markers (due to missing real slave markers). If the next real slave marker is detected, this value is reset to 0. Value range: 0 - UNSIGNED16

Definition at line 3930 of file SdoDictionary.mh.

PFG_SMILLEGALCNT

#define PFG_SMILLEGALCNT   140

Number of non-fitting slave markers.

Total number of non-fitting slave markers. Value range: 0 - UNSIGNED16 This value is only reset by a restart of SYNCP, SYNCM, or SYNCC. Otherwise, the reset must be done by the APOSS application.

Definition at line 3944 of file SdoDictionary.mh.

PFG_SOLDZERO

#define PFG_SOLDZERO   105

Slave position of the last detected slave marker.

Units

qc

Definition at line 3665 of file SdoDictionary.mh.

PFG_STARTKORR

#define PFG_STARTKORR   145

First correction value after the start of a SYNCM.

This value indicates how many marker mismatches must be compensated for during synchronization start-up. The value is filtered if parameters SYNCOFFTTIME and SYNCMFTIME are defined. Not valid if parameter SYNCMSTART = 7 (polynomial start).

Definition at line 3982 of file SdoDictionary.mh.

PFG_STARTKORRREST

#define PFG_STARTKORRREST   146

Remainder of the start-up correction value.

Remainder of the start-up correction value which must still be compensated for. Multiplied by PFG_SCALESHIFT, subindex 121.

Units

qc

Definition at line 3990 of file SdoDictionary.mh.

PFG_STARTKORRVAL

#define PFG_STARTKORRVAL   153

Start-up correction value at each marker correction.

Value which is used to decline the start-up correction value at each marker correction (see PFG_STARTKORR, subindex 145). Multiplied by PFG_SCALESHIFT, subindex 121.

Units

qc

Definition at line 4048 of file SdoDictionary.mh.

PFG_STOPLEN

#define PFG_STOPLEN   124

Brake ramp length for stopping using deceleration setting.

Length of the trapezoidal brake ramp if motor must be stopped using the current command velocity and the current deceleration settings. This function always returns the length of the trapezoidal ramp independent of the actual configured ramp type. The length of a jerk limited ramp (RAMPTYPE = 2) is returned by the function PFG_JERKSTOPPATH (subindex 182). Note: This requires some calculation time! Do not call within very fast loops (e.g. every 2ms).

Units

qc

Definition at line 3830 of file SdoDictionary.mh.

PFG_STOUCHPOS

#define PFG_STOUCHPOS   164

Not used.

Definition at line 4137 of file SdoDictionary.mh.

PFG_SYNCAACT

#define PFG_SYNCAACT   212

Actual acceleration value used for synchronization.

Actual acceleration value used for synchronization (calc_syncvel). Multiplied by PFG_SCALESHIFT, subindex 121. This is internally used for jerk limited acceleration when starting synchronization.

Units

qc/st²

Definition at line 4492 of file SdoDictionary.mh.

PFG_SYNCDIFFPOSL

#define PFG_SYNCDIFFPOSL   196

Calculated position difference.

Calculated position difference (for test purposes) if SYNCTYPE = 1 ("feed forward synchronization") is active. Multiplied by PFG_SCALESHIFT, subindex 121.

Units

qc

Definition at line 4367 of file SdoDictionary.mh.

PFG_SYNCMNEGBUFFER

#define PFG_SYNCMNEGBUFFER   220

Internal buffer for suppressed negative master movement in synchronisation.

Definition at line 4551 of file SdoDictionary.mh.

PFG_SYNCPATHLEN

#define PFG_SYNCPATHLEN   142

Path length of velocity difference compensation.

Path length (PATHLEN) which is necessary to compensate for the velocity difference of master and slave.

Units

qc

Definition at line 3960 of file SdoDictionary.mh.

PFG_SYNCSTART

#define PFG_SYNCSTART   114

Status of marker synchronization start-up.

Bit 0: 1 - Start activity is still active Bit 1: 2 - Still no slave marker detected Bit 2: 4 - Still no master marker detected Bit 3: 8 - Master velocity not reached yet (reset only for parameter SYNCMSTART settings 2, 3, 4, 5)

Definition at line 3735 of file SdoDictionary.mh.

PFG_SYNCSTOPLEN

#define PFG_SYNCSTOPLEN   128

Brake ramp length for stopping using acceleration setting.

Length of the trapezoidal brake ramp if motor must be stopped using the current command velocity and the current acceleration settings (compare with PFG_STOPLEN which uses deceleration setting). This function always returns the length of the trapezoidal ramp independent of the actual configured ramp type. The length of a jerk limited ramp (RAMPTYPE = 2) is returned by the function PFG_JERKSTOPPATH (subindex 182). Note: This requires some calculation time! Do not call within very fast loops (e.g. every 2ms).

Units

qc

Definition at line 3866 of file SdoDictionary.mh.

PFG_SYNCVELDIFF

#define PFG_SYNCVELDIFF   141

Difference between the slave and master velocity.

Internal units multiplied by PFG_SCALESHIFT, subindex 121.

Units

qc/st

Definition at line 3952 of file SdoDictionary.mh.

PFG_SZEROCMD

#define PFG_SZEROCMD   107

Master slave position used for marker correction.

Master slave position (in SYNCM mode) which is used for the marker correction [qc (slave)]. It will be overwritten when next marker is reached.

Units

qc

Definition at line 3681 of file SdoDictionary.mh.

PFG_USERCMDPOS

#define PFG_USERCMDPOS   234

User command position.

When the profile generator is bypassed and shall take the command position from the user instead of generate it itself, this value is used. The user should not write to this value, but write to REG_USERREFPOS. The value of REG_USERREFPOS is passed to PFG_USERCMDPOS by the firmware.

Units

qc

Definition at line 4631 of file SdoDictionary.mh.

PFG_VCMD

#define PFG_VCMD   91

Command velocity.

Unsigned command velocity currently being generated by the Profile Generator. To get the signed command velocity, multiply this value by PFG_DIR (subindex 82). See also PFG_VCMDSIGNED (subindex 181). The value (in qc/st) is scaled by PFG_SCALESHIFT (subindex 121) and then the integer portion is returned. This value is always greater than or equal to 0.

Units

qc/st

Definition at line 3563 of file SdoDictionary.mh.

PFG_VCMDSIGNED

#define PFG_VCMDSIGNED   181

Scaled SIGNED set point velocity.

Scaled SIGNED set point velocity multiplied by PFG_SCALESHIFT calculated by the profile generator algorithm. See PFG_SCALESHIFT, subindex 121 and PFG_AACC, subindex 83, for scaling calculation.

Units

qc/st

Definition at line 4244 of file SdoDictionary.mh.

PFG_VCMDSIGNED_USERSCALED

#define PFG_VCMDSIGNED_USERSCALED   223

Used for virtual master working with VCMD.

This axis process data has been added to deliver more exact velocity information. This is necessary to implement the axis-controlled virtual master mode,
where the virtual master is fed by the velocity of a user defined axis (e.g. VMENCTYP 400 with old commands
/ setting VIRTMAST_PISRC_CMDVEL to this entry with new MACS5 modules).
The scaling is by standard 1000000, which means the internal value G_Vcmd is multiplied by 1000000. So the delivered value is 1/1000 qc per second. The scaling can be user defined by writing to PFG_VCMDSIGNED_USERSCALED.

Initial Value

1000000

Value Range

1-2147483647

Units

1/1000 qc/s

Definition at line 4577 of file SdoDictionary.mh.

PFG_VFIN

#define PFG_VFIN   85

Scaled target velocity.

Scaled target velocity multiplied by PFG_SCALESHIFT (see subindex 121 and 83).

Units

qc/st

Definition at line 3511 of file SdoDictionary.mh.

PGS_CACC

#define PGS_CACC   6

Definition at line 4647 of file SdoDictionary.mh.

PGS_CDEC

#define PGS_CDEC   8

Definition at line 4649 of file SdoDictionary.mh.

PGS_CPREDEC

#define PGS_CPREDEC   7

Definition at line 4648 of file SdoDictionary.mh.

PGS_CSYIDLE

#define PGS_CSYIDLE   17

Definition at line 4655 of file SdoDictionary.mh.

PGS_CSYRUNNING

#define PGS_CSYRUNNING   20

Definition at line 4658 of file SdoDictionary.mh.

PGS_CSYSTARTING

#define PGS_CSYSTARTING   18

Definition at line 4656 of file SdoDictionary.mh.

PGS_CSYSTOPPING

#define PGS_CSYSTOPPING   19

Definition at line 4657 of file SdoDictionary.mh.

PGS_CVEL

#define PGS_CVEL   5

Definition at line 4646 of file SdoDictionary.mh.

PGS_FLOAT

#define PGS_FLOAT   15

Definition at line 4653 of file SdoDictionary.mh.

PGS_FLOATUSER

#define PGS_FLOATUSER   22

Definition at line 4660 of file SdoDictionary.mh.

PGS_LMTJERK

#define PGS_LMTJERK   21

Definition at line 4659 of file SdoDictionary.mh.

PGS_PATHIDLE

#define PGS_PATHIDLE   27

Definition at line 4665 of file SdoDictionary.mh.

PGS_PATHMOVE

#define PGS_PATHMOVE   23

Definition at line 4661 of file SdoDictionary.mh.

PGS_PATHSTART

#define PGS_PATHSTART   24

Definition at line 4662 of file SdoDictionary.mh.

PGS_PATHSYNC

#define PGS_PATHSYNC   25

Definition at line 4663 of file SdoDictionary.mh.

PGS_PATHWAIT

#define PGS_PATHWAIT   26

Definition at line 4664 of file SdoDictionary.mh.

PGS_POSCTRL

#define PGS_POSCTRL   0

Definition at line 4641 of file SdoDictionary.mh.

PGS_POSFLOAT

#define PGS_POSFLOAT   16

Definition at line 4654 of file SdoDictionary.mh.

PGS_PSYNC

#define PGS_PSYNC   13

Definition at line 4651 of file SdoDictionary.mh.

PGS_PSYNCM

#define PGS_PSYNCM   14

Definition at line 4652 of file SdoDictionary.mh.

PGS_TPZACC

#define PGS_TPZACC   2

Definition at line 4643 of file SdoDictionary.mh.

PGS_TPZDEC

#define PGS_TPZDEC   3

Definition at line 4644 of file SdoDictionary.mh.

PGS_TPZPREDEC

#define PGS_TPZPREDEC   1

Definition at line 4642 of file SdoDictionary.mh.

PGS_TPZVEL

#define PGS_TPZVEL   4

Definition at line 4645 of file SdoDictionary.mh.

PGS_VSYNC

#define PGS_VSYNC   12

Definition at line 4650 of file SdoDictionary.mh.

PID_100PERCENT

#define PID_100PERCENT   51

PID position control loop output corresponding to a reference value of 100%.

Defines which output value of the PID position control loop corresponds to a reference value of 100%. 100% corresponds to 0x7FFFFFFF >>11 = 0xFFFFF right now.

Definition at line 3434 of file SdoDictionary.mh.

PID_ACT_INTLIMIT

#define PID_ACT_INTLIMIT   56

Actual integration limit.

Actual integration limit, taking into account the setting of parameter KILIMTIME. This value can be compared to PID_INTLIMIT (subindex 50) which represents the scaled value of allowed integration limit (see KILIM).

Definition at line 3460 of file SdoDictionary.mh.

PID_ACTINTSUM

#define PID_ACTINTSUM   49

Total sum of position tracking errors.

The value is a scaled value which is used in the FW.
The sum can not exceed the defined integration limit (see PID_INTLIMIT, subindex 50).

Definition at line 3421 of file SdoDictionary.mh.

PID_FF_CMDVEL

#define PID_FF_CMDVEL   58

Internal representation of the velocity used for FFVEL calculation.

This internal velocity is multiplied by PID_VELRES (128).

Definition at line 3471 of file SdoDictionary.mh.

PID_FF_FACTOR

#define PID_FF_FACTOR   57

Internal representation of the FFVEL factor used in PID calculation.

Definition at line 3465 of file SdoDictionary.mh.

PID_FFACCPART

#define PID_FFACCPART   55

Definition at line 3454 of file SdoDictionary.mh.

PID_FFPART

#define PID_FFPART   54

Part of the reference value due to the FFVEL feed forward control.

Definition at line 3452 of file SdoDictionary.mh.

PID_INTLIMIT

#define PID_INTLIMIT   50

Limitation of the summarized position tracking error.

This is an internally scaled value which is set with the parameters KINT and KILIM.

Definition at line 3427 of file SdoDictionary.mh.

PID_MODE

#define PID_MODE   59

Internal PID Mode.

PID_POSMODE = 1 PID_VELMODE = 2

Definition at line 3478 of file SdoDictionary.mh.

PID_OPTINTSUMCLEAR_ARRIVAL

#define PID_OPTINTSUMCLEAR_ARRIVAL   0x0001

Definition at line 3160 of file SdoDictionary.mh.

PID_OPTINTSUMCLEAR_ZEROTRACKERR

#define PID_OPTINTSUMCLEAR_ZEROTRACKERR   0x0002

Definition at line 3161 of file SdoDictionary.mh.

PID_PIDPART

#define PID_PIDPART   53

Part of the reference value due to the PID position control loop.

Definition at line 3447 of file SdoDictionary.mh.

PID_VELRESVAL

#define PID_VELRESVAL   52

Default scaling factor internal high-resolution velocity or position information.

Default scaling factor used for representation of internal high-resolution velocity or position information (64 bit). For example, it scales the velocity information if pure velocity control is active (SYNCV). In this case, the reason is to make sure that the PID position control loop gains can also be used for velocity control without any adaptations. The default setting of PID_VELRESVAL is 128. The content of PID_VELRESVAL is internally copied into PFG_SCALESHIFT, subindex 121. That is the field holding the scaling actually used.

Initial Value

128

Definition at line 3442 of file SdoDictionary.mh.

PIDOPTIONS

#define PIDOPTIONS   140

Position PID Special options.

Initial Value

0

Value Range

0-2

Definition at line 3152 of file SdoDictionary.mh.

PISRC_MVIRTCOUNT

#define PISRC_MVIRTCOUNT   132

Linked virtual counter module number for master information.

Defines where the axis gets the master position information from. The number means virtual count module index, i.e. 0 is the first virtual counter.

Initial Value

3

Value Range

0-63

Definition at line 3073 of file SdoDictionary.mh.

PISRC_MVIRTLATCH

#define PISRC_MVIRTLATCH   134

Linked virtual latch module number for master information.

Defines where the axis gets the master latch information from. The number means virtual latch module index, i.e. 0 is the first virtual latch module.

Initial Value

3

Value Range

0-63

Definition at line 3093 of file SdoDictionary.mh.

PISRC_NOTDEFINED

#define PISRC_NOTDEFINED   0x0000

Definition at line 10 of file SdoDictionary.mh.

PISRC_SVIRTCOUNT

#define PISRC_SVIRTCOUNT   131

Linked virtual counter module number for slave information.

Defines where the axis gets the slave position information from. The number means virtual count module index, i.e. 0 is the first virtual counter.

Initial Value

0

Value Range

0-63

Definition at line 3063 of file SdoDictionary.mh.

PISRC_SVIRTLATCH

#define PISRC_SVIRTLATCH   133

Linked virtual latch module number for slave information.

Defines where the axis gets the slave latch information from. The number means virtual latch module index, i.e. 0 is the first virtual latch module.

Initial Value

0

Value Range

0-63

Definition at line 3083 of file SdoDictionary.mh.

PO_BUSMOD_DEVTYPE

#define PO_BUSMOD_DEVTYPE   34

Devicetype of connected slave node (only CAN)

When the parameter BUSMODE_TYPE is set (legacy functions), the SDO 0x1000 (spec/profile) from the slave will be read. The read value is returned here.

Definition at line 12911 of file SdoDictionary.mh.

PO_BUSMOD_LASTERROR

#define PO_BUSMOD_LASTERROR   23

Last error number.

The last error number that happened while sending or receiving PDOs.

Definition at line 12845 of file SdoDictionary.mh.

PO_BUSMOD_LASTRXTIME

#define PO_BUSMOD_LASTRXTIME   24

Time of last PDO reception (PDO 1-4)

Definition at line 12850 of file SdoDictionary.mh.

PO_BUSMOD_LASTTXTIME

#define PO_BUSMOD_LASTTXTIME   25

Time of last PDO sending (PDO1-4)

(only for CAN)

Definition at line 12856 of file SdoDictionary.mh.

PO_BUSMOD_OBJ_RXPDO1

#define PO_BUSMOD_OBJ_RXPDO1   30

Internal CanObj Number used for PDO.

(Only for CAN)

Definition at line 12886 of file SdoDictionary.mh.

PO_BUSMOD_OBJ_RXPDO2

#define PO_BUSMOD_OBJ_RXPDO2   31

Internal CanObj Number used for PDO.

(Only for CAN)

Definition at line 12892 of file SdoDictionary.mh.

PO_BUSMOD_OBJ_RXPDO3

#define PO_BUSMOD_OBJ_RXPDO3   32

Internal CanObj Number used for PDO.

(Only for CAN)

Definition at line 12898 of file SdoDictionary.mh.

PO_BUSMOD_OBJ_RXPDO4

#define PO_BUSMOD_OBJ_RXPDO4   33

Internal CanObj Number used for PDO.

(Only for CAN)

Definition at line 12904 of file SdoDictionary.mh.

PO_BUSMOD_OBJ_TXPDO1

#define PO_BUSMOD_OBJ_TXPDO1   26

Internal CanObj Number used for PDO.

(Only for CAN)

Definition at line 12862 of file SdoDictionary.mh.

PO_BUSMOD_OBJ_TXPDO2

#define PO_BUSMOD_OBJ_TXPDO2   27

Internal CanObj Number used for PDO.

(Only for CAN)

Definition at line 12868 of file SdoDictionary.mh.

PO_BUSMOD_OBJ_TXPDO3

#define PO_BUSMOD_OBJ_TXPDO3   28

Internal CanObj Number used for PDO.

(Only for CAN)

Definition at line 12874 of file SdoDictionary.mh.

PO_BUSMOD_OBJ_TXPDO4

#define PO_BUSMOD_OBJ_TXPDO4   29

Internal CanObj Number used for PDO.

(Only for CAN)

Definition at line 12880 of file SdoDictionary.mh.

PO_BUSMOD_TIMER_TXPDO1

#define PO_BUSMOD_TIMER_TXPDO1   35

Internal counter for event and inhibit time.

Definition at line 12916 of file SdoDictionary.mh.

PO_BUSMOD_TIMER_TXPDO2

#define PO_BUSMOD_TIMER_TXPDO2   36

Internal counter for event and inhibit time.

Definition at line 12921 of file SdoDictionary.mh.

PO_BUSMOD_TIMER_TXPDO3

#define PO_BUSMOD_TIMER_TXPDO3   37

Internal counter for event and inhibit time.

Definition at line 12926 of file SdoDictionary.mh.

PO_BUSMOD_TIMER_TXPDO4

#define PO_BUSMOD_TIMER_TXPDO4   38

Internal counter for event and inhibit time.

Definition at line 12931 of file SdoDictionary.mh.

PO_BUSMOD_VALUE1

#define PO_BUSMOD_VALUE1   1

Output value of the RX PDOs.

Definition at line 12804 of file SdoDictionary.mh.

PO_BUSMOD_VALUE2

#define PO_BUSMOD_VALUE2   2

Output value of the RX PDOs.

Definition at line 12809 of file SdoDictionary.mh.

PO_BUSMOD_VALUE3

#define PO_BUSMOD_VALUE3   3

Output value of the RX PDOs.

Definition at line 12814 of file SdoDictionary.mh.

PO_BUSMOD_VALUE4

#define PO_BUSMOD_VALUE4   4

Output value of the RX PDOs.

Definition at line 12819 of file SdoDictionary.mh.

PO_BUSMOD_VALUE5

#define PO_BUSMOD_VALUE5   5

Output value of the RX PDOs.

Definition at line 12824 of file SdoDictionary.mh.

PO_BUSMOD_VALUE6

#define PO_BUSMOD_VALUE6   6

Output value of the RX PDOs.

Definition at line 12829 of file SdoDictionary.mh.

PO_BUSMOD_VALUE7

#define PO_BUSMOD_VALUE7   7

Output value of the RX PDOs.

Definition at line 12834 of file SdoDictionary.mh.

PO_BUSMOD_VALUE8

#define PO_BUSMOD_VALUE8   8

Output value of the RX PDOs.

Definition at line 12839 of file SdoDictionary.mh.

PO_HWAMP__TEMP_INVALID

#define PO_HWAMP__TEMP_INVALID   0x7FFF

Definition at line 11894 of file SdoDictionary.mh.

PO_HWAMP_COSSIN_COS

#define PO_HWAMP_COSSIN_COS   27

Cosine value used for the transformation from ab to dq.

(Not available on MACS5)

Definition at line 11469 of file SdoDictionary.mh.

PO_HWAMP_COSSIN_SIN

#define PO_HWAMP_COSSIN_SIN   28

Sine value used for the transformation from ab to dq.

(Not available on MACS5)

Definition at line 11475 of file SdoDictionary.mh.

PO_HWAMP_CURPI0_ACTINTSUM

#define PO_HWAMP_CURPI0_ACTINTSUM   59

Actual integrated sum of current controller 0.

(Not available on MACS5)

Units

mA

Definition at line 11693 of file SdoDictionary.mh.

PO_HWAMP_CURPI0_ACTUAL

#define PO_HWAMP_CURPI0_ACTUAL   55

Actual value for current controller.

(Not available on MACS5)

Units

mA

Definition at line 11663 of file SdoDictionary.mh.

PO_HWAMP_CURPI0_ERR

#define PO_HWAMP_CURPI0_ERR   57

Actual regulation error of current controller 0.

(Not available on MACS5)

Units

mA

Definition at line 11679 of file SdoDictionary.mh.

PO_HWAMP_CURPI0_OUT

#define PO_HWAMP_CURPI0_OUT   58

Actual output of current controller 0.

(Not available on MACS5)

Definition at line 11685 of file SdoDictionary.mh.

PO_HWAMP_CURPI0_REF

#define PO_HWAMP_CURPI0_REF   56

Reference value for current controller 0.

(Not available on MACS5)

Units

mA

Definition at line 11671 of file SdoDictionary.mh.

PO_HWAMP_CURPI1_ACTINTSUM

#define PO_HWAMP_CURPI1_ACTINTSUM   64

Actual integrated sum of current controller 1.

(Not available on MACS5)

Units

mA

Definition at line 11731 of file SdoDictionary.mh.

PO_HWAMP_CURPI1_ACTUAL

#define PO_HWAMP_CURPI1_ACTUAL   60

Actual value for current controller 1.

(Not available on MACS5)

Units

mA

Definition at line 11701 of file SdoDictionary.mh.

PO_HWAMP_CURPI1_ERR

#define PO_HWAMP_CURPI1_ERR   62

Actual regulation error of current controller 1.

(Not available on MACS5)

Units

mA

Definition at line 11717 of file SdoDictionary.mh.

PO_HWAMP_CURPI1_OUT

#define PO_HWAMP_CURPI1_OUT   63

Actual output of current controller 1.

(Not available on MACS5)

Definition at line 11723 of file SdoDictionary.mh.

PO_HWAMP_CURPI1_REF

#define PO_HWAMP_CURPI1_REF   61

Reference value for current controller 1.

(Not available on MACS5)

Units

mA

Definition at line 11709 of file SdoDictionary.mh.

PO_HWAMP_CURRENT

#define PO_HWAMP_CURRENT   2

Actual current.

Units

mA

Definition at line 11357 of file SdoDictionary.mh.

PO_HWAMP_DCDQ_D

#define PO_HWAMP_DCDQ_D   45

Duty cycle in d coordinate, -0x7FFF...0x7FFF.

(Not available on MACS5)

Definition at line 11601 of file SdoDictionary.mh.

PO_HWAMP_DCDQ_Q

#define PO_HWAMP_DCDQ_Q   46

Duty cycle in q coordinate, -0x7FFF...0x7FFF.

(Not available on MACS5)

Definition at line 11607 of file SdoDictionary.mh.

PO_HWAMP_DCPH_U

#define PO_HWAMP_DCPH_U   42

Duty cycle in ph coordinates, -0x7FFF...0x7FFF.

(Not available on MACS5)

Definition at line 11583 of file SdoDictionary.mh.

PO_HWAMP_DCPH_V

#define PO_HWAMP_DCPH_V   43

Duty cycle in ph coordinates, -0x7FFF...0x7FFF.

(Not available on MACS5)

Definition at line 11589 of file SdoDictionary.mh.

PO_HWAMP_DCPH_W

#define PO_HWAMP_DCPH_W   44

Duty cycle in ph coordinates, -0x7FFF...0x7FFF.

(Not available on MACS5)

Definition at line 11595 of file SdoDictionary.mh.

PO_HWAMP_ELPOS_DELTA

#define PO_HWAMP_ELPOS_DELTA   78

Electrical position lag actual value.

(Not available on MACS5)

Definition at line 11815 of file SdoDictionary.mh.

PO_HWAMP_ELPOS_LAG

#define PO_HWAMP_ELPOS_LAG   77

Electrical position lag compensation value.

(Not available on MACS5)

Definition at line 11809 of file SdoDictionary.mh.

PO_HWAMP_ELPOS_POSEL

#define PO_HWAMP_ELPOS_POSEL   25

Electrical position in quadcounts.

(Not available on MACS5)

Definition at line 11457 of file SdoDictionary.mh.

PO_HWAMP_ELPOS_POSENC

#define PO_HWAMP_ELPOS_POSENC   26

Last encoder position received.

(Not available on MACS5)

Definition at line 11463 of file SdoDictionary.mh.

PO_HWAMP_ENPH_U

#define PO_HWAMP_ENPH_U   47

Enable/disable halfbridge U.

(Not available on MACS5)

Definition at line 11613 of file SdoDictionary.mh.

PO_HWAMP_ENPH_V

#define PO_HWAMP_ENPH_V   48

Enable/disable halfbridge V.

(Not available on MACS5)

Definition at line 11619 of file SdoDictionary.mh.

PO_HWAMP_ENPH_W

#define PO_HWAMP_ENPH_W   49

Enable/disable halfbridge W.

(Not available on MACS5)

Definition at line 11625 of file SdoDictionary.mh.

PO_HWAMP_FF

#define PO_HWAMP_FF   81

Feed forward component.

(Not available on MACS5) PO_HWAMP_FF is the value which is linked by HWAMP_PISRC_REFACC. By default PO_HWAMP_FF is linked to HWAMP_PISRC_REFACC.

Definition at line 11835 of file SdoDictionary.mh.

PO_HWAMP_HALL_ERRORCOUNT

#define PO_HWAMP_HALL_ERRORCOUNT   83

HALL error count.

Increments for each faulty hall pattern until PO_HWAMP_HALL_ERRORCOUNT_MAX is reached Decrements for each correct hall pattern if PO_HWAMP_HALL_ERRORCOUNT > 0 See also HWAMP_HALL_ERROR_LIMIT.

Initial Value

0

Definition at line 11852 of file SdoDictionary.mh.

PO_HWAMP_HALL_ERRORCOUNT_MAX

#define PO_HWAMP_HALL_ERRORCOUNT_MAX   0xFFFF

Definition at line 11897 of file SdoDictionary.mh.

PO_HWAMP_HALL_POSEL

#define PO_HWAMP_HALL_POSEL   23

Hall electrical position.

(Not available on MACS5)

Definition at line 11444 of file SdoDictionary.mh.

PO_HWAMP_HALL_POSRAW

#define PO_HWAMP_HALL_POSRAW   24

Hall raw value.

(Not available on MACS5) value 0...7

Definition at line 11451 of file SdoDictionary.mh.

PO_HWAMP_HALLPOS

#define PO_HWAMP_HALLPOS   6

Hall position.

Definition at line 11362 of file SdoDictionary.mh.

PO_HWAMP_IDQ_D

#define PO_HWAMP_IDQ_D   40

Currents in d coordinate used by PMSM or Stepper current controller.

(Not available on MACS5)

Units

mA

Definition at line 11569 of file SdoDictionary.mh.

PO_HWAMP_IDQ_Q

#define PO_HWAMP_IDQ_Q   41

Currents in q coordinate used by PMSM or Stepper current controller.

(Not available on MACS5)

Units

mA

Definition at line 11577 of file SdoDictionary.mh.

PO_HWAMP_IPH_U

#define PO_HWAMP_IPH_U   31

Phase current U.

(Not available on MACS5) Relevant for the current controller

Units

mA

Definition at line 11498 of file SdoDictionary.mh.

PO_HWAMP_IPH_V

#define PO_HWAMP_IPH_V   32

Phase current V.

(Not available on MACS5) Relevant for the current controller

Units

mA

Definition at line 11507 of file SdoDictionary.mh.

PO_HWAMP_IPH_W

#define PO_HWAMP_IPH_W   33

Phase current W.

(Not available on MACS5) Relevant for the current controller

Units

mA

Definition at line 11516 of file SdoDictionary.mh.

PO_HWAMP_IPHFIL_U

#define PO_HWAMP_IPHFIL_U   34

Deprecated, Phase current U filtered.

Llow pass filtered (Not available on MACS5)

Units

mA

Definition at line 11525 of file SdoDictionary.mh.

PO_HWAMP_IPHFIL_V

#define PO_HWAMP_IPHFIL_V   35

Deprecated, Phase current V filtered.

Low pass filtered (Not available on MACS5)

Units

mA

Definition at line 11534 of file SdoDictionary.mh.

PO_HWAMP_IPHFIL_W

#define PO_HWAMP_IPHFIL_W   36

Deprecated, Phase current W filtered.

Low pass filtered (Not available on MACS5)

Units

mA

Definition at line 11543 of file SdoDictionary.mh.

PO_HWAMP_IPHI2T_U

#define PO_HWAMP_IPHI2T_U   37

Deprecated, Actual I2T value U.

(Not available on MACS5)

Definition at line 11549 of file SdoDictionary.mh.

PO_HWAMP_IPHI2T_V

#define PO_HWAMP_IPHI2T_V   38

Deprecated, Actual I2T value V.

(Not available on MACS5)

Definition at line 11555 of file SdoDictionary.mh.

PO_HWAMP_IPHI2T_W

#define PO_HWAMP_IPHI2T_W   39

Deprecated, Actual I2T value W.

(Not available on MACS5)

Definition at line 11561 of file SdoDictionary.mh.

PO_HWAMP_PABS

#define PO_HWAMP_PABS   21

absolute position used to determine electrical position

(Not available on MACS5)

Definition at line 11430 of file SdoDictionary.mh.

PO_HWAMP_PABSVEL

#define PO_HWAMP_PABSVEL   22

Velocity.

(Not available on MACS5)

Units

qc/s

Definition at line 11438 of file SdoDictionary.mh.

PO_HWAMP_POWERFAIL

#define PO_HWAMP_POWERFAIL   9

Use PO_HWAMP_STATUS bit UNDERVOLTAGE.

Definition at line 11372 of file SdoDictionary.mh.

PO_HWAMP_REF

#define PO_HWAMP_REF   80

Reference value.

(Not available on MACS5) PO_HWAMP_REF is the value which is linked by HWAMP_PISRC_REFPOS. By default PO_HWAMP_REF is linked to PO_VIRTAMP_REFVEL.

Definition at line 11828 of file SdoDictionary.mh.

PO_HWAMP_SET1_0

#define PO_HWAMP_SET1_0   65

Value depends on HWAMP_DEFINE_PO_DATA_SET.

(Not available on MACS5)

Definition at line 11737 of file SdoDictionary.mh.

PO_HWAMP_SET1_1

#define PO_HWAMP_SET1_1   66

Value depends on HWAMP_DEFINE_PO_DATA_SET.

(Not available on MACS5)

Definition at line 11743 of file SdoDictionary.mh.

PO_HWAMP_SET1_2

#define PO_HWAMP_SET1_2   67

Value depends on HWAMP_DEFINE_PO_DATA_SET.

(Not available on MACS5)

Definition at line 11749 of file SdoDictionary.mh.

PO_HWAMP_SET1_3

#define PO_HWAMP_SET1_3   68

Value depends on HWAMP_DEFINE_PO_DATA_SET.

(Not available on MACS5)

Definition at line 11755 of file SdoDictionary.mh.

PO_HWAMP_SET1_4

#define PO_HWAMP_SET1_4   69

Value depends on HWAMP_DEFINE_PO_DATA_SET.

(Not available on MACS5)

Definition at line 11761 of file SdoDictionary.mh.

PO_HWAMP_SET1_5

#define PO_HWAMP_SET1_5   70

Value depends on HWAMP_DEFINE_PO_DATA_SET.

(Not available on MACS5)

Definition at line 11767 of file SdoDictionary.mh.

PO_HWAMP_SET2_0

#define PO_HWAMP_SET2_0   71

Value depends on HWAMP_DEFINE_PO_DATA_SET.

(Not available on MACS5)

Definition at line 11773 of file SdoDictionary.mh.

PO_HWAMP_SET2_1

#define PO_HWAMP_SET2_1   72

Value depends on HWAMP_DEFINE_PO_DATA_SET.

(Not available on MACS5)

Definition at line 11779 of file SdoDictionary.mh.

PO_HWAMP_SET2_2

#define PO_HWAMP_SET2_2   73

Value depends on HWAMP_DEFINE_PO_DATA_SET.

(Not available on MACS5)

Definition at line 11785 of file SdoDictionary.mh.

PO_HWAMP_SET2_3

#define PO_HWAMP_SET2_3   74

Value depends on HWAMP_DEFINE_PO_DATA_SET.

(Not available on MACS5)

Definition at line 11791 of file SdoDictionary.mh.

PO_HWAMP_SET2_4

#define PO_HWAMP_SET2_4   75

Value depends on HWAMP_DEFINE_PO_DATA_SET.

(Not available on MACS5)

Definition at line 11797 of file SdoDictionary.mh.

PO_HWAMP_SET2_5

#define PO_HWAMP_SET2_5   76

Value depends on HWAMP_DEFINE_PO_DATA_SET.

(Not available on MACS5)

Definition at line 11803 of file SdoDictionary.mh.

PO_HWAMP_STATUS

#define PO_HWAMP_STATUS   1

Status word of the axis.

Definition at line 11350 of file SdoDictionary.mh.

PO_HWAMP_STATUS_ADC

#define PO_HWAMP_STATUS_ADC   0x00400

Definition at line 11885 of file SdoDictionary.mh.

PO_HWAMP_STATUS_DSP_LINK

#define PO_HWAMP_STATUS_DSP_LINK   0x00100

Definition at line 11883 of file SdoDictionary.mh.

PO_HWAMP_STATUS_ENABLED

#define PO_HWAMP_STATUS_ENABLED   0x00001

Definition at line 11875 of file SdoDictionary.mh.

PO_HWAMP_STATUS_HALL

#define PO_HWAMP_STATUS_HALL   0x00800

Definition at line 11886 of file SdoDictionary.mh.

PO_HWAMP_STATUS_HALL_ANGLE

#define PO_HWAMP_STATUS_HALL_ANGLE   0x01000

Definition at line 11887 of file SdoDictionary.mh.

PO_HWAMP_STATUS_HW_OVERCURRENT_ABS

#define PO_HWAMP_STATUS_HW_OVERCURRENT_ABS   0x00010

Definition at line 11879 of file SdoDictionary.mh.

PO_HWAMP_STATUS_MOSFETDRIVER_SUPPLY

#define PO_HWAMP_STATUS_MOSFETDRIVER_SUPPLY   0x00200

Definition at line 11884 of file SdoDictionary.mh.

PO_HWAMP_STATUS_NOT_YET_READY

#define PO_HWAMP_STATUS_NOT_YET_READY   0x10000

Definition at line 11888 of file SdoDictionary.mh.

PO_HWAMP_STATUS_OVERTEMPERATURE

#define PO_HWAMP_STATUS_OVERTEMPERATURE   0x00080

Definition at line 11882 of file SdoDictionary.mh.

PO_HWAMP_STATUS_OVERVOLTAGE

#define PO_HWAMP_STATUS_OVERVOLTAGE   0x00008

Definition at line 11878 of file SdoDictionary.mh.

PO_HWAMP_STATUS_RUNNING

#define PO_HWAMP_STATUS_RUNNING   0x00002

Definition at line 11876 of file SdoDictionary.mh.

PO_HWAMP_STATUS_SW_OVERCURRENT_ABS

#define PO_HWAMP_STATUS_SW_OVERCURRENT_ABS   0x00020

Definition at line 11880 of file SdoDictionary.mh.

PO_HWAMP_STATUS_SW_OVERCURRENT_I2T

#define PO_HWAMP_STATUS_SW_OVERCURRENT_I2T   0x00040

Definition at line 11881 of file SdoDictionary.mh.

PO_HWAMP_STATUS_UNDERVOLTAGE

#define PO_HWAMP_STATUS_UNDERVOLTAGE   0x00004

Definition at line 11877 of file SdoDictionary.mh.

PO_HWAMP_STEPPOS_CURLOOPINDEX

#define PO_HWAMP_STEPPOS_CURLOOPINDEX   82

Index counting from 0 to number of current loops within a millisecond-loop.

(Not available on MACS5) Typically counts from 0 to 23

Definition at line 11842 of file SdoDictionary.mh.

PO_HWAMP_STEPPOS_POSEL

#define PO_HWAMP_STEPPOS_POSEL   79

Stepper Motor electrical position in cossin units.

(Not available on MACS5)

Definition at line 11821 of file SdoDictionary.mh.

PO_HWAMP_SUPPLYVOLTAGE

#define PO_HWAMP_SUPPLYVOLTAGE   8

not used

Definition at line 11367 of file SdoDictionary.mh.

PO_HWAMP_TEMP1

#define PO_HWAMP_TEMP1   17

Temperature Value 1 (On board)

(Not available on MACS5)

Units

Celsius * 0.01

Definition at line 11400 of file SdoDictionary.mh.

PO_HWAMP_TEMP2

#define PO_HWAMP_TEMP2   18

Temperature Value 2 (On board, in case of one sensor: equal PO_HWAMP_TEMP1)

(Not available on MACS5)

Units

Celsius * 0.01

Definition at line 11408 of file SdoDictionary.mh.

PO_HWAMP_TEMP_INVALID [1/2]

#define PO_HWAMP_TEMP_INVALID   0x7FFF

Definition at line 11900 of file SdoDictionary.mh.

PO_HWAMP_TEMP_INVALID [2/2]

#define PO_HWAMP_TEMP_INVALID   0x7FFF

Definition at line 11900 of file SdoDictionary.mh.

PO_HWAMP_TEMP_MOT

#define PO_HWAMP_TEMP_MOT   84

Motor's temperature.

Only available if the hardware supports the external temperature sensor.
Temperatur characteristic for NTC B57871S0103+002 (Order number) from TDK

Initial Value

0x7FFF

Units

Celsius * 0.01

Definition at line 11863 of file SdoDictionary.mh.

PO_HWAMP_TOTAL_CURRENT

#define PO_HWAMP_TOTAL_CURRENT   85

Sum of alll PO_HWAMP_CURRENT.

Only available if the hardware supports this current sense.

Units

mA

Definition at line 11871 of file SdoDictionary.mh.

PO_HWAMP_USERDEFINED_DATA0

#define PO_HWAMP_USERDEFINED_DATA0   13

The value in this process data can be selected by the HWAMP_USERDEFINED_DATA parameters (only MACS5)

Definition at line 11377 of file SdoDictionary.mh.

PO_HWAMP_USERDEFINED_DATA1

#define PO_HWAMP_USERDEFINED_DATA1   14

The value in this process data can be selected by the HWAMP_USERDEFINED_DATA parameters (only MACS5)

Definition at line 11382 of file SdoDictionary.mh.

PO_HWAMP_USERDEFINED_DATA2

#define PO_HWAMP_USERDEFINED_DATA2   15

The value in this process data can be selected by the HWAMP_USERDEFINED_DATA parameters (only MACS5)

Definition at line 11387 of file SdoDictionary.mh.

PO_HWAMP_USERDEFINED_DATA3

#define PO_HWAMP_USERDEFINED_DATA3   16

The value in this process data can be selected by the HWAMP_USERDEFINED_DATA parameters (only MACS5)

Definition at line 11392 of file SdoDictionary.mh.

PO_HWAMP_VEL_VEL

#define PO_HWAMP_VEL_VEL   29

Velocity[rpm] = PO_HWAMP_VEL_VEL * 2 * HWAMP_MAXRPM / 0x7FFF.

(Not available on MACS5)

Definition at line 11481 of file SdoDictionary.mh.

PO_HWAMP_VEL_VELRAW

#define PO_HWAMP_VEL_VELRAW   30

Velocity.

(Not available on MACS5)

Units

qc/s

Definition at line 11489 of file SdoDictionary.mh.

PO_HWAMP_VELPI_ACTINTSUM

#define PO_HWAMP_VELPI_ACTINTSUM   54

Actual integrated sum of velocity controller.

Sum[rpm] = PO_HWAMP_VELPI_ACTINTSUM * 2 * HWAMP_MAXRPM / 0x7FFF

(Not available on MACS5)

Definition at line 11655 of file SdoDictionary.mh.

PO_HWAMP_VELPI_ACTUAL

#define PO_HWAMP_VELPI_ACTUAL   50

Same as PO_HWAMP_VEL_VEL.

(Not available on MACS5)

Definition at line 11631 of file SdoDictionary.mh.

PO_HWAMP_VELPI_ERR

#define PO_HWAMP_VELPI_ERR   52

Actual regulation error of velocity controller.

Error[rpm] = PO_HWAMP_VELPI_ERR * 2 * HWAMP_MAXRPM / 0x7FFF

(Not available on MACS5)

Definition at line 11643 of file SdoDictionary.mh.

PO_HWAMP_VELPI_OUT

#define PO_HWAMP_VELPI_OUT   53

Actual output of velocity controller.

Output[rpm] = PO_HWAMP_VELPI_OUT * 2 * HWAMP_MAXRPM / 0x7FFF

(Not available on MACS5)

Definition at line 11649 of file SdoDictionary.mh.

PO_HWAMP_VELPI_REF

#define PO_HWAMP_VELPI_REF   51

Reference of velocity controller.

Reference value[rpm] = PO_HWAMP_VELPI_REF * 2 * HWAMP_MAXRPM / 0x7FFF

(Not available on MACS5)

Definition at line 11637 of file SdoDictionary.mh.

PO_HWAMP_VOLT1

#define PO_HWAMP_VOLT1   19

Voltage Value 1 (Power voltage at amplifier)

(Not available on MACS5)

Units

mV * 4

Definition at line 11416 of file SdoDictionary.mh.

PO_HWAMP_VOLT2

#define PO_HWAMP_VOLT2   20

Voltage Value 2 (Logic voltage, 24V)

(Not available on MACS5)

Units

mV * 4

Definition at line 11424 of file SdoDictionary.mh.

PO_HWANIN_MAXVAL

#define PO_HWANIN_MAXVAL   3

Maximum value of the filtered value up to now.

Definition at line 12624 of file SdoDictionary.mh.

PO_HWANIN_MINVAL

#define PO_HWANIN_MINVAL   4

Minimum value of the filtered value up to now.

Definition at line 12629 of file SdoDictionary.mh.

PO_HWANIN_UNFILT

#define PO_HWANIN_UNFILT   2

Unfiltered analog input value.

Definition at line 12619 of file SdoDictionary.mh.

PO_HWANIN_VALUE

#define PO_HWANIN_VALUE   1

Filtered analog input value.

Definition at line 12614 of file SdoDictionary.mh.

PO_HWANOUT_FORCEVALUE

#define PO_HWANOUT_FORCEVALUE   2

Enable write by setting HWANOUT_MODE to 1.

Definition at line 12667 of file SdoDictionary.mh.

PO_HWANOUT_VALUE

#define PO_HWANOUT_VALUE   1

Definition at line 12662 of file SdoDictionary.mh.

PO_HWCNTABS_RAW

#define PO_HWCNTABS_RAW   2

Raw databits of the transmission (Not on MACS5)

Units

bits

Definition at line 12146 of file SdoDictionary.mh.

PO_HWCNTABS_VALUE

#define PO_HWCNTABS_VALUE   1

Position output of absolute encoder Counter.

Initial Value

0

Units

counts

Definition at line 12139 of file SdoDictionary.mh.

PO_HWCNTINC_INCPART

#define PO_HWCNTINC_INCPART   8

Incremental part of a Sin Cos signal.

Initial Value

0

Units

qc

Definition at line 12075 of file SdoDictionary.mh.

PO_HWCNTINC_LASTVALUE

#define PO_HWCNTINC_LASTVALUE   4

Last value of the counter.

Used by HWLATCH module.

Initial Value

0

Units

qc

Definition at line 12058 of file SdoDictionary.mh.

PO_HWCNTINC_SINCOS_DEBUG

#define PO_HWCNTINC_SINCOS_DEBUG   9

Debug information for SinCos Encoder.

Byte 0: digitalSignalQuadrant Byte 1: qepQuadrant Byte 2: quadrantOffset Byte 3: dif

Initial Value

0

Definition at line 12086 of file SdoDictionary.mh.

PO_HWCNTINC_SINCOS_DEBUG2

#define PO_HWCNTINC_SINCOS_DEBUG2   10

Debug Information for SinCos Encoder.

0x000 0AAA: Sine Value 0x00BB B000: Cosine Value 0x0C00 0000: Quadrant of the analog value

Definition at line 12094 of file SdoDictionary.mh.

PO_HWCNTINC_SINCOS_DEBUG3

#define PO_HWCNTINC_SINCOS_DEBUG3   11

Debug Information for SinCos Encoder.

Definition at line 12099 of file SdoDictionary.mh.

PO_HWCNTINC_SINCOSPART

#define PO_HWCNTINC_SINCOSPART   5

Analog part of the SinCos Signal.

This value represents the position within a SinCos period (typically 0-255)

Initial Value

0

Definition at line 12066 of file SdoDictionary.mh.

PO_HWCNTINC_STATUS

#define PO_HWCNTINC_STATUS   3

not used (only legacy bits for Zoller)

Initial Value

0

Units

qc

Definition at line 12048 of file SdoDictionary.mh.

PO_HWCNTINC_VALUE

#define PO_HWCNTINC_VALUE   1

Output of counter module (position value)

Initial Value

0

Units

qc

Definition at line 12030 of file SdoDictionary.mh.

PO_HWCNTINC_VELOCITY

#define PO_HWCNTINC_VELOCITY   2

This value returns the position difference per millisecond.

Initial Value

0

Units

qc/ms

Definition at line 12039 of file SdoDictionary.mh.

PO_HWCNTUNI_VALUE

#define PO_HWCNTUNI_VALUE   1

Output of counter module.

Units

qc

Definition at line 12184 of file SdoDictionary.mh.

PO_HWCNTUNI_VELOCITY

#define PO_HWCNTUNI_VELOCITY   2

not used

Definition at line 12189 of file SdoDictionary.mh.

PO_HWDIGIN_VALBYTE1

#define PO_HWDIGIN_VALBYTE1   4

Returns 8 bit input state (1 bit for each digital input)

Definition at line 12520 of file SdoDictionary.mh.

PO_HWDIGIN_VALBYTE2

#define PO_HWDIGIN_VALBYTE2   5

Returns 8 bit input state (1 bit for each digital input)

Definition at line 12525 of file SdoDictionary.mh.

PO_HWDIGIN_VALBYTE3

#define PO_HWDIGIN_VALBYTE3   6

Returns 8 bit input state (1 bit for each digital input)

Definition at line 12530 of file SdoDictionary.mh.

PO_HWDIGIN_VALBYTE4

#define PO_HWDIGIN_VALBYTE4   7

Returns 8 bit input state (1 bit for each digital input)

Definition at line 12535 of file SdoDictionary.mh.

PO_HWDIGIN_VALLONG

#define PO_HWDIGIN_VALLONG   1

Return 32 bit input states (1 bit for each digital input signal)

Definition at line 12505 of file SdoDictionary.mh.

PO_HWDIGIN_VALWORD1

#define PO_HWDIGIN_VALWORD1   2

Returns 16 bit input state (1 bit for each digtal input)

Definition at line 12510 of file SdoDictionary.mh.

PO_HWDIGIN_VALWORD2

#define PO_HWDIGIN_VALWORD2   3

Returns 16 bit input state (1 bit for each digtal input)

Definition at line 12515 of file SdoDictionary.mh.

PO_HWDIGOUT_FORCEVALUE

#define PO_HWDIGOUT_FORCEVALUE   2

The output value to be forced.

This parameter is only used in FORCE mode of the HW Digital Output module. This can be enabled by setting HWDIGOUT_MODE to 1.

Definition at line 12578 of file SdoDictionary.mh.

PO_HWDIGOUT_VALUE

#define PO_HWDIGOUT_VALUE   1

The current digital output state (32 bits, each bit represents one digital output)

Definition at line 12571 of file SdoDictionary.mh.

PO_HWENCODER_ERROR

#define PO_HWENCODER_ERROR   1

Encoder error bits.

Definition at line 11935 of file SdoDictionary.mh.

PO_HWHALL_POS

#define PO_HWHALL_POS   2

Position value (incrementing/decrementing)

Definition at line 11982 of file SdoDictionary.mh.

PO_HWHALL_STATUS

#define PO_HWHALL_STATUS   1

Digital input status of HALL sensor (3 bits, 0...7)

Definition at line 11977 of file SdoDictionary.mh.

PO_HWHALL_VEL

#define PO_HWHALL_VEL   3

Velocity value.

This value is only calculated when HWHALL_MODE is set to HWHALL_MODE_ENABLE_VEL.

Units

inc/s

Definition at line 11990 of file SdoDictionary.mh.

PO_HWLATCH_AMOUNT_IN_FIFO

#define PO_HWLATCH_AMOUNT_IN_FIFO   4

Number of latches in FIFO.

Only internally used.

Definition at line 12276 of file SdoDictionary.mh.

PO_HWLATCH_COUNT

#define PO_HWLATCH_COUNT   3

Number of latches occurred up until now.

Definition at line 12270 of file SdoDictionary.mh.

PO_HWLATCH_FIFO_PEEK

#define PO_HWLATCH_FIFO_PEEK   9

Peek the latest element from the FIFO.

Returns the latest element from the FIFO, without consuming it. Only internally used.

Units

qc

Definition at line 12311 of file SdoDictionary.mh.

PO_HWLATCH_FIFO_READINDEX

#define PO_HWLATCH_FIFO_READINDEX   7

Read index position of FIFO.

Only internally used.

Definition at line 12296 of file SdoDictionary.mh.

PO_HWLATCH_FIFO_STAT

#define PO_HWLATCH_FIFO_STAT   8

Status of HW Latch FIFO.

Bit 0 = overflow

Definition at line 12302 of file SdoDictionary.mh.

PO_HWLATCH_FIFO_WRITEINDEX

#define PO_HWLATCH_FIFO_WRITEINDEX   6

Write index position of FIFO.

Only internally used.

Definition at line 12290 of file SdoDictionary.mh.

PO_HWLATCH_FIFOREAD

#define PO_HWLATCH_FIFOREAD   5

Latch position read from FIFO.

Only internally used.

Units

qc

Definition at line 12284 of file SdoDictionary.mh.

PO_HWLATCH_FLAG

#define PO_HWLATCH_FLAG   2

Flag signal that a new latch happened.

1 = new latch 0 = no new latch

Definition at line 12265 of file SdoDictionary.mh.

PO_HWLATCH_VALUE

#define PO_HWLATCH_VALUE   1

Output of latch module.

This register contains the currently latched value

Units

qc

Definition at line 12258 of file SdoDictionary.mh.

PO_HWPWMGEN_VALUE

#define PO_HWPWMGEN_VALUE   1

Current Duty Cycle (0-100%)

Units

%

Examples

PWM_1Ax_ESCON.mc.

Definition at line 12409 of file SdoDictionary.mh.

PO_VIRTAMP_ACTSTOPDELAY

#define PO_VIRTAMP_ACTSTOPDELAY   12

Internally used counter.

Definition at line 6468 of file SdoDictionary.mh.

PO_VIRTAMP_CMDWORD

#define PO_VIRTAMP_CMDWORD   2

Output command word.

Depending on the current state, the value will be VIRTAMP_CNTRLW_PWRONENP, VIRTAMP_CNTRLW_PWRONENN, VIRTAMP_CNTRLW_PWRONDIS, VIRTAMP_CNTRLW_QUICKSTOP or VIRTAMP_CNTRLW_RESET

Definition at line 6426 of file SdoDictionary.mh.

PO_VIRTAMP_CURRENT

#define PO_VIRTAMP_CURRENT   10

Current value.

Current value as read from VIRTAMP_PISRC_CURRENT.

Definition at line 6463 of file SdoDictionary.mh.

PO_VIRTAMP_DIRNEG

#define PO_VIRTAMP_DIRNEG   8

Direction information.

If reference velocity is less than 0, this value is 1, otherwise 0.

Definition at line 6457 of file SdoDictionary.mh.

PO_VIRTAMP_DIRPOS

#define PO_VIRTAMP_DIRPOS   7

Direction information.

If reference velocity is bigger than or equal than 0, this value is 1, otherwise 0.

Definition at line 6451 of file SdoDictionary.mh.

PO_VIRTAMP_ERROR

#define PO_VIRTAMP_ERROR   14

Error status.

The VIRTAMP_ERROR_HWAMP bit is generated by the value that is read from VIRTAMP_PISRC_STATUS. This value will be ANDed with VIRTAMP_ERROR_BITMASK. If the result is != 0, and VIRTAMP_ERROR_POLARITY is 1, the VIRTAMP_ERROR_HWAMP bit is set (and vice versa).

The VIRTAMP_ERROR_I2T bit will be set if PO_VIRTAMP_I2TVALUE is bigger than VIRTAMP_I2TLIMIT.

Definition at line 6482 of file SdoDictionary.mh.

PO_VIRTAMP_I2TVALUE

#define PO_VIRTAMP_I2TVALUE   13

Current sum of I2T calculation.

Definition at line 6473 of file SdoDictionary.mh.

PO_VIRTAMP_REFACC

#define PO_VIRTAMP_REFACC   5

Output reference acceleration.

The value is read from VIRTAMP_PISRC_REFACC, scaled and limited, and then written to PO_VIRTAMP_REFACC. The unit is 2mA for internal amplifiers (e.g. 1000 = 2A). For bus amplifiers, see manual of the amplifier.

Definition at line 6445 of file SdoDictionary.mh.

PO_VIRTAMP_REFPOS

#define PO_VIRTAMP_REFPOS   3

Output reference position.

As read from VIRTAMP_PISRC_REFPOS

Definition at line 6432 of file SdoDictionary.mh.

PO_VIRTAMP_REFVEL

#define PO_VIRTAMP_REFVEL   4

Output reference velocity.

Basic value is read from VIRTAMP_PISRC_REFVEL. This value will be scaled and limited. The resulting value is then written to PO_VIRTAMP_REFVEL.

Definition at line 6438 of file SdoDictionary.mh.

PO_VIRTAMP_REMOTE_AMP

#define PO_VIRTAMP_REMOTE_AMP   15

Indicates if remote amplifier is in use.

0 = Local amplifier in use 1 = Remote amplifier in use

Initial Value

0

Value Range

0-1

Definition at line 6493 of file SdoDictionary.mh.

PO_VIRTAMP_STATUS

#define PO_VIRTAMP_STATUS   1

Status.

Status value read from HW amplifier (VIRTAMP_PISRC_STATUS).

Examples

CAN_4Ax_MiniMACS6_cst.mc.

Definition at line 6420 of file SdoDictionary.mh.

PO_VIRTANIN_AVG

#define PO_VIRTANIN_AVG   7

Average value.

PO_VIRTANIN_AVG = PO_VIRTANIN_SUM / PO_VIRTANIN_COUNT. When this process data is read, PO_VIRTANIN_SUM and PO_VIRTANIN_COUNT will be reset to 0.

Definition at line 6715 of file SdoDictionary.mh.

PO_VIRTANIN_COUNT

#define PO_VIRTANIN_COUNT   6

Integration time.

Time since the last reset of PO_VIRTANIN_SUM. It will be cleared by reading PO_VIRTANIN_AVG.

Units

ms

Definition at line 6708 of file SdoDictionary.mh.

PO_VIRTANIN_MAXVAL

#define PO_VIRTANIN_MAXVAL   2

Maximum measured input value.

Write 0 to reset.

Definition at line 6686 of file SdoDictionary.mh.

PO_VIRTANIN_MINVAL

#define PO_VIRTANIN_MINVAL   3

Minimum measured input value.

Write 0 to reset.

Definition at line 6692 of file SdoDictionary.mh.

PO_VIRTANIN_SUM

#define PO_VIRTANIN_SUM   4

Integrated value of PO_VIRTANIN_VALUE.

The value of PO_VIRTANIN_VALUE is added to this sum every millisecond. It will be cleared by reading PO_VIRTANIN_AVG.

Definition at line 6699 of file SdoDictionary.mh.

PO_VIRTANIN_VALUE

#define PO_VIRTANIN_VALUE   1

Output value of the module.

This is the value read by the APOSS command INAD

Definition at line 6680 of file SdoDictionary.mh.

PO_VIRTANOUT_VALUE

#define PO_VIRTANOUT_VALUE   1

Returns all 32bit of the output value.

Definition at line 6751 of file SdoDictionary.mh.

PO_VIRTANOUT_VALWORD1

#define PO_VIRTANOUT_VALWORD1   2

Returns 16bit of the output value.

PO_VIRTANOUT_VALWORD1 returns the LSW, PO_VIRTANOUT_VALWORD2 the MSW.

Definition at line 6757 of file SdoDictionary.mh.

PO_VIRTANOUT_VALWORD2

#define PO_VIRTANOUT_VALWORD2   3

Returns 16bit of the output value.

PO_VIRTANOUT_VALWORD1 returns the LSW, PO_VIRTANOUT_VALWORD2 the MSW.

Definition at line 6763 of file SdoDictionary.mh.

PO_VIRTCNTIN_ERR_COUNT

#define PO_VIRTCNTIN_ERR_COUNT   10

How many errors were detected.

(position steps bigger than VIRTCNTIN_MAXSTEP have been detected)

Definition at line 6261 of file SdoDictionary.mh.

PO_VIRTCNTIN_FRACT

#define PO_VIRTCNTIN_FRACT   4

Fractional part of the current position.

Units

1/4294967296 qc

Definition at line 6216 of file SdoDictionary.mh.

PO_VIRTCNTIN_LASTSRCPOS

#define PO_VIRTCNTIN_LASTSRCPOS   6

Last Source Position.

Last value from counter.

Units

qc

Definition at line 6232 of file SdoDictionary.mh.

PO_VIRTCNTIN_LASTVELOCITY

#define PO_VIRTCNTIN_LASTVELOCITY   7

Last measured velocity.

Units

qc/ms

Definition at line 6239 of file SdoDictionary.mh.

PO_VIRTCNTIN_OVFL_AMOUNT

#define PO_VIRTCNTIN_OVFL_AMOUNT   8

When an overflow has happend, this value represents the amount of it.

Units

qc

Definition at line 6246 of file SdoDictionary.mh.

PO_VIRTCNTIN_OVFLS

#define PO_VIRTCNTIN_OVFLS   5

Number of overflows.

See VIRTCNTIN_OVFL_VALUE

Units

rev

Definition at line 6224 of file SdoDictionary.mh.

PO_VIRTCNTIN_STAT

#define PO_VIRTCNTIN_STAT   9

Status bits.

VIRTCNTIN_STAT_OVFL 0x00000001: an overflow has happened VIRTCNTIN_STAT_MONFAULT 0x00010000: encoder monitoring fault VIRTCNTIN_STAT_CRCERR 0x00020000: endat CRC error VIRTCNTIN_STAT_SYNCERR 0x00040000: endat Sync error

Definition at line 6255 of file SdoDictionary.mh.

PO_VIRTCNTIN_VALUE

#define PO_VIRTCNTIN_VALUE   1

Output of counter module.

Units

qc

Definition at line 6201 of file SdoDictionary.mh.

PO_VIRTCNTIN_VALUE_FILTERED_FRACTIONAL

#define PO_VIRTCNTIN_VALUE_FILTERED_FRACTIONAL   11

Definition at line 6263 of file SdoDictionary.mh.

PO_VIRTCNTIN_VALUE_FILTERED_INTEGRAL

#define PO_VIRTCNTIN_VALUE_FILTERED_INTEGRAL   12

Definition at line 6265 of file SdoDictionary.mh.

PO_VIRTCNTIN_VELOCITY

#define PO_VIRTCNTIN_VELOCITY   2

Velocity.

Difference between last and new source counter value

Units

qc/ms

Definition at line 6209 of file SdoDictionary.mh.

PO_VIRTCUSTOM_1

#define PO_VIRTCUSTOM_1   1

Custom Output Values.

Definition at line 6799 of file SdoDictionary.mh.

PO_VIRTCUSTOM_10

#define PO_VIRTCUSTOM_10   10

Custom Output Values.

Definition at line 6844 of file SdoDictionary.mh.

PO_VIRTCUSTOM_11

#define PO_VIRTCUSTOM_11   11

Custom Output Values.

Definition at line 6849 of file SdoDictionary.mh.

PO_VIRTCUSTOM_12

#define PO_VIRTCUSTOM_12   12

Custom Output Values.

Definition at line 6854 of file SdoDictionary.mh.

PO_VIRTCUSTOM_13

#define PO_VIRTCUSTOM_13   13

Custom Output Values.

Definition at line 6859 of file SdoDictionary.mh.

PO_VIRTCUSTOM_14

#define PO_VIRTCUSTOM_14   14

Custom Output Values.

Definition at line 6864 of file SdoDictionary.mh.

PO_VIRTCUSTOM_15

#define PO_VIRTCUSTOM_15   15

Custom Output Values.

Definition at line 6869 of file SdoDictionary.mh.

PO_VIRTCUSTOM_16

#define PO_VIRTCUSTOM_16   16

Custom Output Values.

Definition at line 6874 of file SdoDictionary.mh.

PO_VIRTCUSTOM_17

#define PO_VIRTCUSTOM_17   17

Custom Output Values.

Definition at line 6879 of file SdoDictionary.mh.

PO_VIRTCUSTOM_18

#define PO_VIRTCUSTOM_18   18

Custom Output Values.

Definition at line 6884 of file SdoDictionary.mh.

PO_VIRTCUSTOM_19

#define PO_VIRTCUSTOM_19   19

Custom Output Values.

Definition at line 6889 of file SdoDictionary.mh.

PO_VIRTCUSTOM_2

#define PO_VIRTCUSTOM_2   2

Custom Output Values.

Definition at line 6804 of file SdoDictionary.mh.

PO_VIRTCUSTOM_20

#define PO_VIRTCUSTOM_20   20

Custom Output Values.

Definition at line 6894 of file SdoDictionary.mh.

PO_VIRTCUSTOM_3

#define PO_VIRTCUSTOM_3   3

Custom Output Values.

Definition at line 6809 of file SdoDictionary.mh.

PO_VIRTCUSTOM_4

#define PO_VIRTCUSTOM_4   4

Custom Output Values.

Definition at line 6814 of file SdoDictionary.mh.

PO_VIRTCUSTOM_5

#define PO_VIRTCUSTOM_5   5

Custom Output Values.

Definition at line 6819 of file SdoDictionary.mh.

PO_VIRTCUSTOM_6

#define PO_VIRTCUSTOM_6   6

Custom Output Values.

Definition at line 6824 of file SdoDictionary.mh.

PO_VIRTCUSTOM_7

#define PO_VIRTCUSTOM_7   7

Custom Output Values.

Definition at line 6829 of file SdoDictionary.mh.

PO_VIRTCUSTOM_8

#define PO_VIRTCUSTOM_8   8

Custom Output Values.

Definition at line 6834 of file SdoDictionary.mh.

PO_VIRTCUSTOM_9

#define PO_VIRTCUSTOM_9   9

Custom Output Values.

Definition at line 6839 of file SdoDictionary.mh.

PO_VIRTDIGIN_VALBYTE1

#define PO_VIRTDIGIN_VALBYTE1   4

Returns 8bit of the output value.

PO_VIRTDIGIN_VALBYTE1 returns the LSB, PO_VIRTDIGIN_VALBYTE4 the MSB.

Definition at line 6553 of file SdoDictionary.mh.

PO_VIRTDIGIN_VALBYTE2

#define PO_VIRTDIGIN_VALBYTE2   5

Returns 8bit of the output value.

PO_VIRTDIGIN_VALBYTE1 returns the LSB, PO_VIRTDIGIN_VALBYTE4 the MSB.

Definition at line 6559 of file SdoDictionary.mh.

PO_VIRTDIGIN_VALBYTE3

#define PO_VIRTDIGIN_VALBYTE3   6

Returns 8bit of the output value.

PO_VIRTDIGIN_VALBYTE1 returns the LSB, PO_VIRTDIGIN_VALBYTE4 the MSB.

Definition at line 6565 of file SdoDictionary.mh.

PO_VIRTDIGIN_VALBYTE4

#define PO_VIRTDIGIN_VALBYTE4   7

Returns 8bit of the output value.

PO_VIRTDIGIN_VALBYTE1 returns the LSB, PO_VIRTDIGIN_VALBYTE4 the MSB.

Definition at line 6571 of file SdoDictionary.mh.

PO_VIRTDIGIN_VALLONG

#define PO_VIRTDIGIN_VALLONG   1

Returns the full 32bit output value.

This is the value that will be read by the INB APOSS command

Definition at line 6535 of file SdoDictionary.mh.

PO_VIRTDIGIN_VALWORD1

#define PO_VIRTDIGIN_VALWORD1   2

Returns 16bit of the output value.

PO_VIRTDIGIN_VALWORD1 returns the LSW, PO_VIRTDIGIN_VALWORD2 the MSW.

Definition at line 6541 of file SdoDictionary.mh.

PO_VIRTDIGIN_VALWORD2

#define PO_VIRTDIGIN_VALWORD2   3

Returns 16bit of the output value.

PO_VIRTDIGIN_VALWORD1 returns the LSW, PO_VIRTDIGIN_VALWORD2 the MSW.

Definition at line 6547 of file SdoDictionary.mh.

PO_VIRTDIGOUT_VALBYTE1

#define PO_VIRTDIGOUT_VALBYTE1   4

Returns 8bit of the output value.

PO_VIRTDIGOUT_VALBYTE1 returns the LSB, PO_VIRTDIGOUT_VALBYTE4 the MSB.

Definition at line 6625 of file SdoDictionary.mh.

PO_VIRTDIGOUT_VALBYTE2

#define PO_VIRTDIGOUT_VALBYTE2   5

Returns 8bit of the output value.

PO_VIRTDIGOUT_VALBYTE1 returns the LSB, PO_VIRTDIGOUT_VALBYTE4 the MSB.

Definition at line 6631 of file SdoDictionary.mh.

PO_VIRTDIGOUT_VALBYTE3

#define PO_VIRTDIGOUT_VALBYTE3   6

Returns 8bit of the output value.

PO_VIRTDIGOUT_VALBYTE1 returns the LSB, PO_VIRTDIGOUT_VALBYTE4 the MSB.

Definition at line 6637 of file SdoDictionary.mh.

PO_VIRTDIGOUT_VALBYTE4

#define PO_VIRTDIGOUT_VALBYTE4   7

Returns 8bit of the output value.

PO_VIRTDIGOUT_VALBYTE1 returns the LSB, PO_VIRTDIGOUT_VALBYTE4 the MSB.

Definition at line 6643 of file SdoDictionary.mh.

PO_VIRTDIGOUT_VALLONG

#define PO_VIRTDIGOUT_VALLONG   1

Returns all 32bit of the output value.

Definition at line 6607 of file SdoDictionary.mh.

PO_VIRTDIGOUT_VALWORD1

#define PO_VIRTDIGOUT_VALWORD1   2

Returns 16 bit of the output value.

PO_VIRTDIGOUT_VALWORD1 returns the LSW, PO_VIRTDIGOUT_VALWORD2 the MSW.

Definition at line 6613 of file SdoDictionary.mh.

PO_VIRTDIGOUT_VALWORD2

#define PO_VIRTDIGOUT_VALWORD2   3

Returns 16 bit of the output value.

PO_VIRTDIGOUT_VALWORD1 returns the LSW, PO_VIRTDIGOUT_VALWORD2 the MSW.

Definition at line 6619 of file SdoDictionary.mh.

PO_VIRTLATCH_CMDWORD

#define PO_VIRTLATCH_CMDWORD   6

Command word.

Usually the HW module links to this value, to receive command word

Definition at line 6329 of file SdoDictionary.mh.

PO_VIRTLATCH_COUNTER

#define PO_VIRTLATCH_COUNTER   2

Latch counter.

Counts the number of processed latches

Definition at line 6309 of file SdoDictionary.mh.

PO_VIRTLATCH_FIFO_LATCHAMOUNT

#define PO_VIRTLATCH_FIFO_LATCHAMOUNT   11

Number of latches in the FIFO.

Definition at line 6358 of file SdoDictionary.mh.

PO_VIRTLATCH_FIFO_OVERFLOWCNT

#define PO_VIRTLATCH_FIFO_OVERFLOWCNT   13

Number of overflows.

An overflow happens, if the FIFO is not read fast enough

Definition at line 6369 of file SdoDictionary.mh.

PO_VIRTLATCH_FIFO_PEEK

#define PO_VIRTLATCH_FIFO_PEEK   14

Peek the latest element from the FIFO.

Returns the latest element from the FIFO, without consuming it

Units

qc

Definition at line 6377 of file SdoDictionary.mh.

PO_VIRTLATCH_FIFO_READ

#define PO_VIRTLATCH_FIFO_READ   7

Latch position read from FIFO.

Units

qc

Definition at line 6336 of file SdoDictionary.mh.

PO_VIRTLATCH_FIFO_READINDEX

#define PO_VIRTLATCH_FIFO_READINDEX   10

Position of the FIFO read index.

Only internal use.

Definition at line 6353 of file SdoDictionary.mh.

PO_VIRTLATCH_FIFO_TOTALCNT

#define PO_VIRTLATCH_FIFO_TOTALCNT   12

Number of latches ever processed through FIFO.

Definition at line 6363 of file SdoDictionary.mh.

PO_VIRTLATCH_FIFO_VALID

#define PO_VIRTLATCH_FIFO_VALID   8

Indicates if the latch from the FIFO is valid.

Definition at line 6341 of file SdoDictionary.mh.

PO_VIRTLATCH_FIFO_WRITEINDEX

#define PO_VIRTLATCH_FIFO_WRITEINDEX   9

Position of the FIFO write index.

Only internal use.

Definition at line 6347 of file SdoDictionary.mh.

PO_VIRTLATCH_FLAG

#define PO_VIRTLATCH_FLAG   5

Latch flag, cleared by writing.

1 means new latch.

Definition at line 6323 of file SdoDictionary.mh.

PO_VIRTLATCH_LASTSRCLATCHPOS

#define PO_VIRTLATCH_LASTSRCLATCHPOS   4

Last source latch position.

Counter value.

Units

qc

Definition at line 6317 of file SdoDictionary.mh.

PO_VIRTLATCH_VALID

#define PO_VIRTLATCH_VALID   15

Valid flag.

Flag which shows if the last trigger was inside the "valid" window (defined by VIRTLATCH_PISRC_LATCHVALID)

Definition at line 6383 of file SdoDictionary.mh.

PO_VIRTLATCH_VALUE

#define PO_VIRTLATCH_VALUE   1

Latch position.

Units

qc

Definition at line 6303 of file SdoDictionary.mh.

PO_VIRTMAST_ACC_INC

#define PO_VIRTMAST_ACC_INC   4

scaled internal value

Units

inc/ms²

Definition at line 6151 of file SdoDictionary.mh.

PO_VIRTMAST_DEC_INC

#define PO_VIRTMAST_DEC_INC   5

scaled internal value

Units

inc/ms²

Definition at line 6158 of file SdoDictionary.mh.

PO_VIRTMAST_POS

#define PO_VIRTMAST_POS   2

Cumulated position value of the master.

Units

inc

Definition at line 6137 of file SdoDictionary.mh.

PO_VIRTMAST_POS16

#define PO_VIRTMAST_POS16   6

PO_VIRTMAST_POS value shifted >> 16, which equals to qc (SIGNED16 value)

Definition at line 6163 of file SdoDictionary.mh.

PO_VIRTMAST_TVEL_INC

#define PO_VIRTMAST_TVEL_INC   3

scaled internal value

Units

inc/ms

Definition at line 6144 of file SdoDictionary.mh.

PO_VIRTMAST_VEL

#define PO_VIRTMAST_VEL   1

Output velocity in increments per line.

Units

inc/ms

Examples

SetupSignalGeneratorAxis.mc, and SetupSignalGeneratorOpenloop.mc.

Definition at line 6130 of file SdoDictionary.mh.

PO_VIRTMATH_MODE_BASED_VALUE_1

#define PO_VIRTMATH_MODE_BASED_VALUE_1   2

Mode dependent process value 1 - 5.

Definition at line 6936 of file SdoDictionary.mh.

PO_VIRTMATH_MODE_BASED_VALUE_2

#define PO_VIRTMATH_MODE_BASED_VALUE_2   3

Mode dependent process value 1 - 5.

Definition at line 6941 of file SdoDictionary.mh.

PO_VIRTMATH_MODE_BASED_VALUE_3

#define PO_VIRTMATH_MODE_BASED_VALUE_3   4

Mode dependent process value 1 - 5.

Definition at line 6946 of file SdoDictionary.mh.

PO_VIRTMATH_MODE_BASED_VALUE_4

#define PO_VIRTMATH_MODE_BASED_VALUE_4   5

Mode dependent process value 1 - 5.

Definition at line 6951 of file SdoDictionary.mh.

PO_VIRTMATH_MODE_BASED_VALUE_5

#define PO_VIRTMATH_MODE_BASED_VALUE_5   6

Mode dependent process value 1 - 5.

Definition at line 6956 of file SdoDictionary.mh.

PO_VIRTMATH_VALUE

#define PO_VIRTMATH_VALUE   1

Output value.

The value is rounded. if PO_VIRTMATH_VALUE is linked to a VIRTMATH_PISRC_x, the calculation is continued internally with float values.

Definition at line 6931 of file SdoDictionary.mh.

POSDRCT

#define POSDRCT   29

Rotational direction.

Initial Value

1

Value Range

1,2,12,21,22,11,-1,-2,-12,-21,-22,-11

Definition at line 2570 of file SdoDictionary.mh.

POSENCQC

#define POSENCQC   115

Encoder resolution quadcount.

This is the number of encoder quadcounts in POSENCREV revolutions. POSENCQC/POSENCREV defines the resolution of the encoder in quadcounts per motor revolution (qc/rev).

Initial Value

2000

Value Range

1-MLONG

Units

qc

Examples

DeltaRobot_No_SM_EPOS4_ECAT.mc.

Definition at line 3035 of file SdoDictionary.mh.

POSENCREV

#define POSENCREV   116

Encoder resolution revolution count.

POSENCQC/POSENCREV defines the resolution of the encoder in quadcounts per motor revolution (qc/rev).

Initial Value

1

Value Range

1-MLONG

Examples

DeltaRobot_No_SM_EPOS4_ECAT.mc.

Definition at line 3045 of file SdoDictionary.mh.

POSERR

#define POSERR   16

Maximum tolerated position error.

Initial Value

20000

Value Range

1-MLONG

Units

qc

Examples

CAN_2Ax_EPOS4-Test_csp.mc, CAN_4Ax_MiniMACS6_cst.mc, DeltaRobot_No_SM_EPOS4_ECAT.mc, ECAT_1Ax_EPOS4-Test_cst.mc, ECAT_3Ax_Epos4-Test_csp.mc, and Stepper_XY_OL.mc.

Definition at line 2444 of file SdoDictionary.mh.

POSERRTIME

#define POSERRTIME   112

Minimum time before position error produced.

Time frame for triggering position error state. Tracking errors (see POSERR) that are too large will trigger error state only if they exist longer than POSERRTIME.

0 = No time frame active, i.e. error state is triggered immediately.

Initial Value

0

Value Range

0-10000

Units

ms

Definition at line 2998 of file SdoDictionary.mh.

POSFACT_N

#define POSFACT_N   27

User factor denominator.

Number of revolutions of the gear box output shaft in POSFACT_Z revolutions of the gear box input shaft. POSFACT_Z/POSFACT_N defines the gear box ratio. In CAM mode, this defines the conversion of quadcounts to user units.

Initial Value

1000

Value Range

1-MLONG

Definition at line 2561 of file SdoDictionary.mh.

POSFACT_Z

#define POSFACT_Z   24

User factor numerator.

Number of revolutions of the gear box input shaft. POSFACT_Z/POSFACT_N defines the gear box ratio. In CAM mode, this defines the conversion of quadcounts to user units.

Initial Value

1000

Value Range

1-MLONG

Definition at line 2528 of file SdoDictionary.mh.

POSLIMIT

#define POSLIMIT   6

Positive software limit position.

Initial Value

500000

Value Range

-MLONG-MLONG

Units

qc

Definition at line 2342 of file SdoDictionary.mh.

PRGPAR

#define PRGPAR   3

Activated program number.

Initial Value

-1

Value Range

-1,0-127

Definition at line 96 of file SdoDictionary.mh.

PRGSTARTCOND

#define PRGSTARTCOND   22

Program start condition.

There is a new global parameter which influences the behavior when a program is started.
It is mainly designed to be used in development tests. Each bit can prevent re-initialization of some S/W parts:

0x0001 EXCLUDE_MOTOFF
Don't put axis to motor off when a new program is started 0x0002 EXCLUDE_MODULE_REINIT Dont' initialize lower-level modules (ampf_init(), mo_enc_init(), iol_ini(), hw_amp_initParams(), hw_ana_ini(), hw_enc_ini() 0x0004 EXCLUDE_AXPARS Don't initialize axis parameters 0x0008 EXCLUDE_GLBPARS Don't initialize global parameters

Initial Value

0

Definition at line 180 of file SdoDictionary.mh.

PROFTIME

#define PROFTIME   30

Scan time for profile generator.

Initial Value

1000

Value Range

1-10,11-10000

Units

µs

Definition at line 2581 of file SdoDictionary.mh.

RAMPMIN

#define RAMPMIN   32

Maximum acceleration.

Initial Value

1000

Value Range

1-360000

Units

ms

Examples

DeltaRobot_No_SM_EPOS4_ECAT.mc.

Definition at line 2601 of file SdoDictionary.mh.

RAMPTYPE

#define RAMPTYPE   33

Ramp type.

Initial Value

0

Value Range

0-2

Definition at line 2610 of file SdoDictionary.mh.

RAMPTYPE_JERKLIMITED

#define RAMPTYPE_JERKLIMITED   2

Definition at line 3157 of file SdoDictionary.mh.

RAMPTYPE_TRAPEZ

#define RAMPTYPE_TRAPEZ   0

Definition at line 3156 of file SdoDictionary.mh.

REG_ACTPOS

#define REG_ACTPOS   1

Actual position value.

See APOS, but without conversion to user units.

Units

qc

Examples

SetupSignalGeneratorAxis.mc, and SetupSignalGeneratorOpenloop.mc.

Definition at line 3199 of file SdoDictionary.mh.

REG_AVEL

#define REG_AVEL   4

Actual velocity.

Actual velocity summarized over a period of REG_VELSMPT to get a bigger value and better resolution. Sample time is typically 1 ms.

Units

qc/(st*REG_VELSMPT)

Definition at line 3223 of file SdoDictionary.mh.

REG_CNTRLSOURCE

#define REG_CNTRLSOURCE   32

Definition at line 3354 of file SdoDictionary.mh.

REG_CNTRLWORD

#define REG_CNTRLWORD   36

Definition at line 3369 of file SdoDictionary.mh.

REG_COMPOS

#define REG_COMPOS   2

Set-point position value.

See CPOS, but without conversion to user units.

Units

qc

Examples

Maxon_RE_40_1ax_OL.mc, and SetupSignalGeneratorAxis.mc.

Definition at line 3207 of file SdoDictionary.mh.

REG_ENCAVEL

#define REG_ENCAVEL   33

Summarized velocity of master encoder.

Summarized velocity of master encoder. Similar to MAVEL (subindex 5), however even if a master simulation (MENCODERTYPE= 6) is in use, the actual velocity of the real master encoder and NOT the simulated one is returned. Please note: This requires some calculation time! Do not call within a fast loop.

Units

qc/s

Definition at line 3363 of file SdoDictionary.mh.

REG_ENCLEAP

#define REG_ENCLEAP   34

Definition at line 3365 of file SdoDictionary.mh.

REG_HOMINGSTATE

#define REG_HOMINGSTATE   43

State of the homing procedure.

Result is the same as the function AxisHomeStatus returns.

Definition at line 3397 of file SdoDictionary.mh.

REG_IAVEL

#define REG_IAVEL   12

Internal actual velocity.

Internal actual velocity = ACTPOS – last ACTPOS. Sample time is typically 1 ms.

Units

qc/st

Examples

SetupSignalGeneratorAxis.mc, and SetupSignalGeneratorOpenloop.mc.

Definition at line 3273 of file SdoDictionary.mh.

REG_IMAVEL

#define REG_IMAVEL   13

Internal actual master velocity.

Internal actual master velocity = MAPOS – last MAPOS. Sample time is typically 1 ms.

Units

qc/st

Definition at line 3281 of file SdoDictionary.mh.

REG_MAPOS

#define REG_MAPOS   10

Actual master position value.

See MAPOS, but without conversion to master units.

Units

qc

Definition at line 3257 of file SdoDictionary.mh.

REG_MAVEL

#define REG_MAVEL   5

Actual velocity of the master.

Actual velocity of the master summarized over a period of REG_VELSMPT to get a bigger value and better resolution. Sample time is typically 1 ms.

Units

qc/(st*REG_VELSMPT)

Definition at line 3231 of file SdoDictionary.mh.

REG_MENCINDXF

#define REG_MENCINDXF   31

Definition at line 3352 of file SdoDictionary.mh.

REG_MENCLEAP

#define REG_MENCLEAP   35

Definition at line 3367 of file SdoDictionary.mh.

REG_MIPOS

#define REG_MIPOS   11

Last detected master index position.

See MIPOS, but without conversion to master units.

Units

qc

Definition at line 3265 of file SdoDictionary.mh.

REG_MOVERFLOW

#define REG_MOVERFLOW   23

Master Position Overflow.

Read: Returns a flag which signals that the master position had an overflow. Used for STAT and STATCLR status handling of slaves. Write: Clears the flag.

Definition at line 3331 of file SdoDictionary.mh.

REG_MVIRTCOUNT

#define REG_MVIRTCOUNT   42

Linked virtual counter number for master information.

Definition at line 3392 of file SdoDictionary.mh.

REG_MVIRTLATCH

#define REG_MVIRTLATCH   45

Linked virtual latch module number for master information.

Definition at line 3407 of file SdoDictionary.mh.

REG_NORMTRACKERR

#define REG_NORMTRACKERR   29

Size of position tracking error in relation to the command velocity.

Units

%

Definition at line 3348 of file SdoDictionary.mh.

REG_PIDFLAG

#define REG_PIDFLAG   37

Definition at line 3371 of file SdoDictionary.mh.

REG_PROFTIMER

#define REG_PROFTIMER   19

Number of PID controller steps in each Profile Generator step.

This is the number PID controller steps that are currently being executed for each step of the Profile Generator. It will be in the range 1-10. See parameter PROFTIME.

Definition at line 3304 of file SdoDictionary.mh.

REG_REFERENCE

#define REG_REFERENCE   16

Actual reference value generated by position control loop.

Actual reference value, which is generated by the position control loop. Values between –0xFFFFF to 0xFFFFF (–1048575 to 1048575).

Value Range

-0xFFFFF-0xFFFFF

Definition at line 3290 of file SdoDictionary.mh.

REG_REVDOUT

#define REG_REVDOUT   21

Analog command output.

Defines whether the analog command output is biploar (+/-10V) or if a unipolar analog output value (0-10V) and a digital direction output is in use. A setting of 0 means bipolar. Any value in the range 1-8 defines unipolar and gives the output number.

Definition at line 3317 of file SdoDictionary.mh.

REG_REVERSE

#define REG_REVERSE   20

Negative command values blocked.

0 = Allowed Not 0 = Blocked

Definition at line 3311 of file SdoDictionary.mh.

REG_SENCINDXF

#define REG_SENCINDXF   30

Definition at line 3350 of file SdoDictionary.mh.

REG_SM_COMMAND

#define REG_SM_COMMAND   38

Definition at line 3373 of file SdoDictionary.mh.

REG_SM_STATE

#define REG_SM_STATE   39

Definition at line 3375 of file SdoDictionary.mh.

REG_SOVERFLOW

#define REG_SOVERFLOW   22

Slave Position Overflow.

Read: Returns a flag which signals that the slave position had an overflow. Used for STAT and STATCLR status handling of slaves. Write: Clears the flag.

Definition at line 3324 of file SdoDictionary.mh.

REG_SVIRTCOUNT

#define REG_SVIRTCOUNT   41

Linked virtual counter number for slave information.

Definition at line 3387 of file SdoDictionary.mh.

REG_SVIRTLATCH

#define REG_SVIRTLATCH   44

Linked virtual latch module number for slave information.

Definition at line 3402 of file SdoDictionary.mh.

REG_TIMER

#define REG_TIMER   18

Sample period used by the PID position control loop.

See parameter TIMER.

Units

qc

Definition at line 3298 of file SdoDictionary.mh.

REG_TRACKERR

#define REG_TRACKERR   6

Actual position tracking error.

See TRACKERR, but without conversion to user units.

Units

qc

Definition at line 3239 of file SdoDictionary.mh.

REG_USERREFCUR

#define REG_USERREFCUR   46

Motor current reference value in AxisControl(USERREFCUR) mode.

Units

mA

Examples

CAN_1Ax_EPOS4-Test_cst.mc, CAN_4Ax_MiniMACS6_cst.mc, ECAT_1Ax_EPOS4-Test_cst.mc, and Maxon_RE_40_1ax_OL.mc.

Definition at line 3414 of file SdoDictionary.mh.

REG_USERREFPOS

#define REG_USERREFPOS   40

User reference position value for AxisControl(USERREFPOS) command.

Units

qc

Definition at line 3382 of file SdoDictionary.mh.

REG_USERREFVEL

#define REG_USERREFVEL   27

User velocity reference value for AxisControl(AxisNo, USERREFVEL) mode.

In case of AxisControl(AxisNo, USERREFVEL) mode, scaling is –0x4000 to 0x4000 for -100 to 100% of HWAMP_PARAM(AxisNo, HWAMP_MAXRPM).

This reference value is also used for AxisControl(AxisNo, USERREFPOS) mode as velocity feed forward. In this case, the scaling is qc/second with PID_VELRES scaling.

Definition at line 3339 of file SdoDictionary.mh.

REG_VAPOS

#define REG_VAPOS   28

Definition at line 3341 of file SdoDictionary.mh.

REG_VELSMPT

#define REG_VELSMPT   9

Number of samples used for calculation of speed values.

Configures the number of samples used for the summarized calculation of speed values like AVEL (see subindex 4) and MAVEL (see subindex 5).

Initial Value

20

Units

samples

Definition at line 3249 of file SdoDictionary.mh.

REG_ZERO

#define REG_ZERO   3

Last detected index position.

See IPOS, but without conversion to user units.

Units

qc

Examples

SetupSignalGeneratorAxis.mc, and SetupSignalGeneratorOpenloop.mc.

Definition at line 3215 of file SdoDictionary.mh.

REGWMAX

#define REGWMAX   39

Size of the control window (activation)

Initial Value

0

Value Range

0-MLONG

Units

qc

Definition at line 2655 of file SdoDictionary.mh.

REGWMIN

#define REGWMIN   40

Size of the control window (deactivation)

Initial Value

0

Value Range

0-MLONG

Units

qc

Definition at line 2666 of file SdoDictionary.mh.

RSBAUDRATE

#define RSBAUDRATE   13

RS485 baud rate.

Initial Value

921600

Definition at line 121 of file SdoDictionary.mh.

SDO_DIMARRAY

#define SDO_DIMARRAY	(		arrno,
			index
	)		Sysvar[(0x01210005 | (((long) (arrno))<<8)) + ((long) (index)))]

Definition at line 14 of file SdoDictionary.mh.

SDO_INTERNAL

#define SDO_INTERNAL	(		ind,
			subindex
	)		Sysvar[(0x01000000 | (((long) (ind ))<<8)) | ((long) (subindex))]

Definition at line 13 of file SdoDictionary.mh.

sdodictionary_h

#define sdodictionary_h

Definition at line 2 of file SdoDictionary.mh.

SDOINDEX_APOSS_ARRAY

#define SDOINDEX_APOSS_ARRAY   0x2100

Aposs Array: SDO Index.

Definition at line 22 of file SdoDictionary.mh.

SDOINDEX_AXE_PARAM

#define SDOINDEX_AXE_PARAM   0x2300

Axis Parameters: SDO Index.

Definition at line 2275 of file SdoDictionary.mh.

SDOINDEX_AXE_PROCESS

#define SDOINDEX_AXE_PROCESS   0x2500

Axis Process Data: SDO Index.

Definition at line 3169 of file SdoDictionary.mh.

SDOINDEX_BUSMOD_PARAM

#define SDOINDEX_BUSMOD_PARAM   0x4400

Bus Module Parameters: SDO Index.

Definition at line 10795 of file SdoDictionary.mh.

SDOINDEX_BUSMOD_PROCESS

#define SDOINDEX_BUSMOD_PROCESS   0x4C00

Bus Module Process Data: SDO Index.

Definition at line 12777 of file SdoDictionary.mh.

SDOINDEX_ECAT_SLAVE_PDO1_1_255

#define SDOINDEX_ECAT_SLAVE_PDO1_1_255   0x3301

: SDO Index

Definition at line 6972 of file SdoDictionary.mh.

SDOINDEX_ECAT_SLAVE_PDO1_256_510

#define SDOINDEX_ECAT_SLAVE_PDO1_256_510   0x3302

: SDO Index

Definition at line 6999 of file SdoDictionary.mh.

SDOINDEX_ECAT_SLAVE_PDO1_511_765

#define SDOINDEX_ECAT_SLAVE_PDO1_511_765   0x3303

: SDO Index

Definition at line 7026 of file SdoDictionary.mh.

SDOINDEX_ECAT_SLAVE_PDO1_766_1020

#define SDOINDEX_ECAT_SLAVE_PDO1_766_1020   0x3304

: SDO Index

Definition at line 7053 of file SdoDictionary.mh.

SDOINDEX_ECAT_SLAVE_PDO2_1_255

#define SDOINDEX_ECAT_SLAVE_PDO2_1_255   0x3305

: SDO Index

Definition at line 7080 of file SdoDictionary.mh.

SDOINDEX_ECAT_SLAVE_PDO2_256_510

#define SDOINDEX_ECAT_SLAVE_PDO2_256_510   0x3306

: SDO Index

Definition at line 7107 of file SdoDictionary.mh.

SDOINDEX_ECAT_SLAVE_PDO2_511_765

#define SDOINDEX_ECAT_SLAVE_PDO2_511_765   0x3307

: SDO Index

Definition at line 7134 of file SdoDictionary.mh.

SDOINDEX_ECAT_SLAVE_PDO2_766_1020

#define SDOINDEX_ECAT_SLAVE_PDO2_766_1020   0x3308

: SDO Index

Definition at line 7161 of file SdoDictionary.mh.

SDOINDEX_FPGA_PARAM

#define SDOINDEX_FPGA_PARAM   0x2217

Write custom specific parameters: SDO Index.

Definition at line 1692 of file SdoDictionary.mh.

SDOINDEX_FPGA_REG

#define SDOINDEX_FPGA_REG   0x2216

Read or write FPGA register: SDO Index.

Definition at line 1580 of file SdoDictionary.mh.

SDOINDEX_FPGA_USRREG

#define SDOINDEX_FPGA_USRREG   0x2218

Address for the page number: SDO Index.

Definition at line 1974 of file SdoDictionary.mh.

SDOINDEX_GLB_PARAM

#define SDOINDEX_GLB_PARAM   0x2200

Global Parameters: SDO Index.

Definition at line 52 of file SdoDictionary.mh.

SDOINDEX_HWAMP_PARAM

#define SDOINDEX_HWAMP_PARAM   0x4000

HW Amplifier Parameters: SDO Index.

Definition at line 7609 of file SdoDictionary.mh.

SDOINDEX_HWAMP_PROCESS

#define SDOINDEX_HWAMP_PROCESS   0x4800

HW Amplifier Process Data: SDO Index.

Definition at line 11323 of file SdoDictionary.mh.

SDOINDEX_HWANIN_PARAM

#define SDOINDEX_HWANIN_PARAM   0x4280

HW Analog Input Parameters: SDO Index.

Definition at line 10522 of file SdoDictionary.mh.

SDOINDEX_HWANIN_PROCESS

#define SDOINDEX_HWANIN_PROCESS   0x4A80

HW Analog Input Process Data: SDO Index.

Definition at line 12587 of file SdoDictionary.mh.

SDOINDEX_HWANOUT_PARAM

#define SDOINDEX_HWANOUT_PARAM   0x42C0

HW Analog Output Parameters: SDO Index.

Definition at line 10591 of file SdoDictionary.mh.

SDOINDEX_HWANOUT_PROCESS

#define SDOINDEX_HWANOUT_PROCESS   0x4AC0

HW Analog Output Process Data: SDO Index.

Definition at line 12638 of file SdoDictionary.mh.

SDOINDEX_HWBRREFENC_PARAM

#define SDOINDEX_HWBRREFENC_PARAM   0x4310

HW Signalbridges/bus REF-ENC Parameters: SDO Index.

Definition at line 10696 of file SdoDictionary.mh.

SDOINDEX_HWBRREFENC_PROCESS

#define SDOINDEX_HWBRREFENC_PROCESS   0x4B10

HW Signalbridges/bus REF-ENC Process Data: SDO Index.

Definition at line 12706 of file SdoDictionary.mh.

SDOINDEX_HWCMPUNI_PARAM

#define SDOINDEX_HWCMPUNI_PARAM   0x4120

HW Comparator-universal Parameters: SDO Index.

Definition at line 8988 of file SdoDictionary.mh.

SDOINDEX_HWCMPUNI_PROCESS

#define SDOINDEX_HWCMPUNI_PROCESS   0x4920

HW Comparator-universal Process Data: SDO Index.

Definition at line 12198 of file SdoDictionary.mh.

SDOINDEX_HWCOUNTABS_PARAM

#define SDOINDEX_HWCOUNTABS_PARAM   0x40C0

HW Counter-abs Parameters: SDO Index.

Definition at line 8811 of file SdoDictionary.mh.

SDOINDEX_HWCOUNTABS_PROCESS

#define SDOINDEX_HWCOUNTABS_PROCESS   0x48C0

HW Counter-abs Process Data: SDO Index.

Definition at line 12108 of file SdoDictionary.mh.

SDOINDEX_HWCOUNTINC_PARAM

#define SDOINDEX_HWCOUNTINC_PARAM   0x4080

HW Counter-inc Parameters: SDO Index.

Definition at line 8657 of file SdoDictionary.mh.

SDOINDEX_HWCOUNTINC_PROCESS

#define SDOINDEX_HWCOUNTINC_PROCESS   0x4880

HW Counter-inc Process Data: SDO Index.

Definition at line 11999 of file SdoDictionary.mh.

SDOINDEX_HWCOUNTUNI_PARAM

#define SDOINDEX_HWCOUNTUNI_PARAM   0x4100

HW Counter-universal Parameters: SDO Index.

Definition at line 8876 of file SdoDictionary.mh.

SDOINDEX_HWCOUNTUNI_PROCESS

#define SDOINDEX_HWCOUNTUNI_PROCESS   0x4900

HW Counter-abs Process Data: SDO Index.

Definition at line 12155 of file SdoDictionary.mh.

SDOINDEX_HWDDS_PARAM

#define SDOINDEX_HWDDS_PARAM   0x41C0

HW DDS Parameters: SDO Index.

Definition at line 9304 of file SdoDictionary.mh.

SDOINDEX_HWDDS_PROCESS

#define SDOINDEX_HWDDS_PROCESS   0x49C0

HW DDS Process Data: SDO Index.

Definition at line 12350 of file SdoDictionary.mh.

SDOINDEX_HWDIGIN_PARAM

#define SDOINDEX_HWDIGIN_PARAM   0x4200

HW Digital Input Parameters: SDO Index.

Definition at line 9727 of file SdoDictionary.mh.

SDOINDEX_HWDIGIN_PROCESS

#define SDOINDEX_HWDIGIN_PROCESS   0x4A00

HW Digital Input Process Data: SDO Index.

Definition at line 12478 of file SdoDictionary.mh.

SDOINDEX_HWDIGOUT_PARAM

#define SDOINDEX_HWDIGOUT_PARAM   0x4240

HW Digital Output Parameters: SDO Index.

Definition at line 10320 of file SdoDictionary.mh.

SDOINDEX_HWDIGOUT_PROCESS

#define SDOINDEX_HWDIGOUT_PROCESS   0x4A40

HW Digital Output Process Data: SDO Index.

Definition at line 12544 of file SdoDictionary.mh.

SDOINDEX_HWENC_PARAM

#define SDOINDEX_HWENC_PARAM   0x4040

HW Encoder Parameters: SDO Index.

Definition at line 8365 of file SdoDictionary.mh.

SDOINDEX_HWENC_PROCESS

#define SDOINDEX_HWENC_PROCESS   0x4840

HW Encoder Process Data: SDO Index.

Definition at line 11908 of file SdoDictionary.mh.

SDOINDEX_HWHALL_PARAM

#define SDOINDEX_HWHALL_PARAM   0x4070

HW Hall Sensor Parameters: SDO Index.

Definition at line 8599 of file SdoDictionary.mh.

SDOINDEX_HWHALL_PROCESS

#define SDOINDEX_HWHALL_PROCESS   0x4870

HW Hall Sensor Process Data: SDO Index.

Definition at line 11950 of file SdoDictionary.mh.

SDOINDEX_HWLATCH_PARAM

#define SDOINDEX_HWLATCH_PARAM   0x4140

HW Latch Register Parameters: SDO Index.

Definition at line 9070 of file SdoDictionary.mh.

SDOINDEX_HWLATCH_PROCESS

#define SDOINDEX_HWLATCH_PROCESS   0x4940

HW Latch Register Process Data: SDO Index.

Definition at line 12228 of file SdoDictionary.mh.

SDOINDEX_HWPULSGEN_PARAM

#define SDOINDEX_HWPULSGEN_PARAM   0x41E0

HW Pulsgen Parameters: SDO Index.

Definition at line 9511 of file SdoDictionary.mh.

SDOINDEX_HWPULSGEN_PROCESS

#define SDOINDEX_HWPULSGEN_PROCESS   0x49E0

HW Pulsgen Process Data: SDO Index.

Definition at line 12418 of file SdoDictionary.mh.

SDOINDEX_HWPWMGEN_PARAM

#define SDOINDEX_HWPWMGEN_PARAM   0x41D0

HW PWM Generator Parameters: SDO Index.

Definition at line 9421 of file SdoDictionary.mh.

SDOINDEX_HWPWMGEN_PROCESS

#define SDOINDEX_HWPWMGEN_PROCESS   0x49D0

HW PWM Generators Process Data: SDO Index.

Definition at line 12380 of file SdoDictionary.mh.

SDOINDEX_HWREFBUS_PARAM

#define SDOINDEX_HWREFBUS_PARAM   0x4320

HW Reference Bus Parameters: SDO Index.

Definition at line 10765 of file SdoDictionary.mh.

SDOINDEX_HWREFBUS_PROCESS

#define SDOINDEX_HWREFBUS_PROCESS   0x4B20

HW Reference Bus Process Data: SDO Index.

Definition at line 12736 of file SdoDictionary.mh.

SDOINDEX_HWSHIFTREG_PARAM

#define SDOINDEX_HWSHIFTREG_PARAM   0x41F0

HW Shift Register Parameters: SDO Index.

Definition at line 9635 of file SdoDictionary.mh.

SDOINDEX_HWSHIFTREG_PROCESS

#define SDOINDEX_HWSHIFTREG_PROCESS   0x49F0

HW Shift Register Process Data: SDO Index.

Definition at line 12448 of file SdoDictionary.mh.

SDOINDEX_HWSIGBUS_PARAM

#define SDOINDEX_HWSIGBUS_PARAM   0x4300

HW Signalbridges/bus ENC-REF Parameters: SDO Index.

Definition at line 10651 of file SdoDictionary.mh.

SDOINDEX_HWSIGBUS_PROCESS

#define SDOINDEX_HWSIGBUS_PROCESS   0x4B00

HW Signalbridges/bus ENC-REF Process Data: SDO Index.

Definition at line 12676 of file SdoDictionary.mh.

SDOINDEX_HWSIGGEN_PARAM

#define SDOINDEX_HWSIGGEN_PARAM   0x4180

HW Signalgen (Enc/Pulse) Parameters: SDO Index.

Definition at line 9214 of file SdoDictionary.mh.

SDOINDEX_HWSIGGEN_PROCESS

#define SDOINDEX_HWSIGGEN_PROCESS   0x4980

HW Signalgen (Enc/Pulse) Process Data: SDO Index.

Definition at line 12320 of file SdoDictionary.mh.

SDOINDEX_MACHINE_PARAM

#define SDOINDEX_MACHINE_PARAM   0x2600

: SDO Index

Definition at line 4673 of file SdoDictionary.mh.

SDOINDEX_MACHINE_PROCESS

#define SDOINDEX_MACHINE_PROCESS   0x2640

: SDO Index

Definition at line 4786 of file SdoDictionary.mh.

SDOINDEX_SDUPDATE

#define SDOINDEX_SDUPDATE   0x2220

SD-Card Update Info Object: SDO Index.

Definition at line 2001 of file SdoDictionary.mh.

SDOINDEX_SMGLOBAL_PROCESS

#define SDOINDEX_SMGLOBAL_PROCESS   0x3600

Global State Machine Process Data: SDO Index.

Definition at line 7188 of file SdoDictionary.mh.

SDOINDEX_SMMACHINE_PROCESS

#define SDOINDEX_SMMACHINE_PROCESS   0x3601

State Machine Process Data: SDO Index.

Definition at line 7323 of file SdoDictionary.mh.

SDOINDEX_SYS_INFO

#define SDOINDEX_SYS_INFO   0x2209

System Information: SDO Index.

Definition at line 1187 of file SdoDictionary.mh.

SDOINDEX_SYS_PROCESS

#define SDOINDEX_SYS_PROCESS   0x2202

System Process Data: SDO Index.

Definition at line 256 of file SdoDictionary.mh.

SDOINDEX_USER_PARAM

#define SDOINDEX_USER_PARAM   0x2201

User Parameters: SDO Index.

Definition at line 229 of file SdoDictionary.mh.

SDOINDEX_VIRTAMP_PARAM

#define SDOINDEX_VIRTAMP_PARAM   0x28C0

Virtual Amplifier Parameters: SDO Index.

Definition at line 5262 of file SdoDictionary.mh.

SDOINDEX_VIRTAMP_PROCESS

#define SDOINDEX_VIRTAMP_PROCESS   0x2CC0

Virtual Amplifier Process Data: SDO Index.

Definition at line 6392 of file SdoDictionary.mh.

SDOINDEX_VIRTANIN_PARAM

#define SDOINDEX_VIRTANIN_PARAM   0x2980

Virtual Analog Input Parameters: SDO Index.

Definition at line 5682 of file SdoDictionary.mh.

SDOINDEX_VIRTANIN_PROCESS

#define SDOINDEX_VIRTANIN_PROCESS   0x2D80

Virtual Analog Input Process Data: SDO Index.

Definition at line 6652 of file SdoDictionary.mh.

SDOINDEX_VIRTANOUT_PARAM

#define SDOINDEX_VIRTANOUT_PARAM   0x29C0

Virtual Analog Output Parameters: SDO Index.

Definition at line 5745 of file SdoDictionary.mh.

SDOINDEX_VIRTANOUT_PROCESS

#define SDOINDEX_VIRTANOUT_PROCESS   0x2DC0

Virtual Analog Output Process Data: SDO Index.

Definition at line 6724 of file SdoDictionary.mh.

SDOINDEX_VIRTCOUNTIN_PARAM

#define SDOINDEX_VIRTCOUNTIN_PARAM   0x2840

Virtual Counter Inputs parameters: SDO Index.

Definition at line 4967 of file SdoDictionary.mh.

SDOINDEX_VIRTCOUNTIN_PROCESS

#define SDOINDEX_VIRTCOUNTIN_PROCESS   0x2C40

Virtual Counter Inputs Process Data: SDO Index.

Definition at line 6172 of file SdoDictionary.mh.

SDOINDEX_VIRTCUSTOM_PARAM

#define SDOINDEX_VIRTCUSTOM_PARAM   0x2A00

Virtual Customer Module Parameters: SDO Index.

Definition at line 5775 of file SdoDictionary.mh.

SDOINDEX_VIRTCUSTOM_PROCESS

#define SDOINDEX_VIRTCUSTOM_PROCESS   0x2E00

Virtual Customer Module Process Data: SDO Index.

Definition at line 6772 of file SdoDictionary.mh.

SDOINDEX_VIRTDIGIN_PARAM

#define SDOINDEX_VIRTDIGIN_PARAM   0x2900

Virtual Digital Input Parameters: SDO Index.

Definition at line 5589 of file SdoDictionary.mh.

SDOINDEX_VIRTDIGIN_PROCESS

#define SDOINDEX_VIRTDIGIN_PROCESS   0x2D00

Virtual Digital Input Process Data: SDO Index.

Definition at line 6507 of file SdoDictionary.mh.

SDOINDEX_VIRTDIGOUT_PARAM

#define SDOINDEX_VIRTDIGOUT_PARAM   0x2940

Virtual Digital Output Parameters: SDO Index.

Definition at line 5652 of file SdoDictionary.mh.

SDOINDEX_VIRTDIGOUT_PROCESS

#define SDOINDEX_VIRTDIGOUT_PROCESS   0x2D40

Virtual Digital Output Process Data: SDO Index.

Definition at line 6580 of file SdoDictionary.mh.

SDOINDEX_VIRTLATCH_PARAM

#define SDOINDEX_VIRTLATCH_PARAM   0x2880

Virtual Latch Inputs Parameters: SDO Index.

Definition at line 5093 of file SdoDictionary.mh.

SDOINDEX_VIRTLATCH_PROCESS

#define SDOINDEX_VIRTLATCH_PROCESS   0x2C80

Virtual Latch Inputs Process Data: SDO Index.

Definition at line 6274 of file SdoDictionary.mh.

SDOINDEX_VIRTMAST_PARAM

#define SDOINDEX_VIRTMAST_PARAM   0x2800

Virtual Master Parameters: SDO Index.

Definition at line 4850 of file SdoDictionary.mh.

SDOINDEX_VIRTMAST_PROCESS

#define SDOINDEX_VIRTMAST_PROCESS   0x2C00

Virtual Master Process Data: SDO Index.

Definition at line 6101 of file SdoDictionary.mh.

SDOINDEX_VIRTMATH_PARAM

#define SDOINDEX_VIRTMATH_PARAM   0x2A40

Virtual Math Module Parameters: SDO Index.

Definition at line 5939 of file SdoDictionary.mh.

SDOINDEX_VIRTMATH_PROCESS

#define SDOINDEX_VIRTMATH_PROCESS   0x2E40

Virtual Math Module Process Data: SDO Index.

Definition at line 6903 of file SdoDictionary.mh.

SDOSUBCLASS

#define SDOSUBCLASS

(

index

)

(index & 0xFFC0)

Definition at line 8 of file SdoDictionary.mh.

SDUPDATE

#define SDUPDATE

(

parno

)

Sysvar[SDUPDATE_INDEX(parno)]

SD-Card Update Info Object: Setter.

Parameters

parno

Parameter number

Definition at line 2016 of file SdoDictionary.mh.

SDUPDATE_COMMAND_1

#define SDUPDATE_COMMAND_1   1

Detailed information about executed (completed or failed) update commands.

Error history for the first 16 commands executed by the SD-Card Update.
For each command: bits 0-7 error number (SD-Update) bits 8-15 error number (SDO/SXP Layer) bits 16-23 line number in the Batch File For more information, see "SD Card Firmware Update" in the Aposs Help.

Initial Value

0

Definition at line 2033 of file SdoDictionary.mh.

SDUPDATE_COMMAND_10

#define SDUPDATE_COMMAND_10   10

Detailed information about executed (completed or failed) update commands.

Error history for the first 16 commands executed by the SD-Card Update.
For each command: bits 0-7 error number (SD-Update) bits 8-15 error number (SDO/SXP Layer) bits 16-23 line number in the Batch File For more information, see "SD Card Firmware Update" in the Aposs Help.

Initial Value

0

Definition at line 2150 of file SdoDictionary.mh.

SDUPDATE_COMMAND_11

#define SDUPDATE_COMMAND_11   11

Detailed information about executed (completed or failed) update commands.

Error history for the first 16 commands executed by the SD-Card Update.
For each command: bits 0-7 error number (SD-Update) bits 8-15 error number (SDO/SXP Layer) bits 16-23 line number in the Batch File For more information, see "SD Card Firmware Update" in the Aposs Help.

Initial Value

0

Definition at line 2163 of file SdoDictionary.mh.

SDUPDATE_COMMAND_12

#define SDUPDATE_COMMAND_12   12

Detailed information about executed (completed or failed) update commands.

Error history for the first 16 commands executed by the SD-Card Update.
For each command: bits 0-7 error number (SD-Update) bits 8-15 error number (SDO/SXP Layer) bits 16-23 line number in the Batch File For more information, see "SD Card Firmware Update" in the Aposs Help.

Initial Value

0

Definition at line 2176 of file SdoDictionary.mh.

SDUPDATE_COMMAND_13

#define SDUPDATE_COMMAND_13   13

Detailed information about executed (completed or failed) update commands.

Error history for the first 16 commands executed by the SD-Card Update.
For each command: bits 0-7 error number (SD-Update) bits 8-15 error number (SDO/SXP Layer) bits 16-23 line number in the Batch File For more information, see "SD Card Firmware Update" in the Aposs Help.

Initial Value

0

Definition at line 2189 of file SdoDictionary.mh.

SDUPDATE_COMMAND_14

#define SDUPDATE_COMMAND_14   14

Detailed information about executed (completed or failed) update commands.

Error history for the first 16 commands executed by the SD-Card Update.
For each command: bits 0-7 error number (SD-Update) bits 8-15 error number (SDO/SXP Layer) bits 16-23 line number in the Batch File For more information, see "SD Card Firmware Update" in the Aposs Help.

Initial Value

0

Definition at line 2202 of file SdoDictionary.mh.

SDUPDATE_COMMAND_15

#define SDUPDATE_COMMAND_15   15

Detailed information about executed (completed or failed) update commands.

Error history for the first 16 commands executed by the SD-Card Update.
For each command: bits 0-7 error number (SD-Update) bits 8-15 error number (SDO/SXP Layer) bits 16-23 line number in the Batch File For more information, see "SD Card Firmware Update" in the Aposs Help.

Initial Value

0

Definition at line 2215 of file SdoDictionary.mh.

SDUPDATE_COMMAND_16

#define SDUPDATE_COMMAND_16   16

Detailed information about executed (completed or failed) update commands.

Error history for the first 16 commands executed by the SD-Card Update.
For each command: bits 0-7 error number (SD-Update) bits 8-15 error number (SDO/SXP Layer) bits 16-23 line number in the Batch File For more information, see "SD Card Firmware Update" in the Aposs Help.

Initial Value

0

Definition at line 2228 of file SdoDictionary.mh.

SDUPDATE_COMMAND_2

#define SDUPDATE_COMMAND_2   2

Detailed information about executed (completed or failed) update commands.

Error history for the first 16 commands executed by the SD-Card Update.
For each command: bits 0-7 error number (SD-Update) bits 8-15 error number (SDO/SXP Layer) bits 16-23 line number in the Batch File For more information, see "SD Card Firmware Update" in the Aposs Help.

Initial Value

0

Definition at line 2046 of file SdoDictionary.mh.

SDUPDATE_COMMAND_3

#define SDUPDATE_COMMAND_3   3

Detailed information about executed (completed or failed) update commands.

Error history for the first 16 commands executed by the SD-Card Update.
For each command: bits 0-7 error number (SD-Update) bits 8-15 error number (SDO/SXP Layer) bits 16-23 line number in the Batch File For more information, see "SD Card Firmware Update" in the Aposs Help.

Initial Value

0

Definition at line 2059 of file SdoDictionary.mh.

SDUPDATE_COMMAND_4

#define SDUPDATE_COMMAND_4   4

Detailed information about executed (completed or failed) update commands.

Error history for the first 16 commands executed by the SD-Card Update.
For each command: bits 0-7 error number (SD-Update) bits 8-15 error number (SDO/SXP Layer) bits 16-23 line number in the Batch File For more information, see "SD Card Firmware Update" in the Aposs Help.

Initial Value

0

Definition at line 2072 of file SdoDictionary.mh.

SDUPDATE_COMMAND_5

#define SDUPDATE_COMMAND_5   5

Detailed information about executed (completed or failed) update commands.

Error history for the first 16 commands executed by the SD-Card Update.
For each command: bits 0-7 error number (SD-Update) bits 8-15 error number (SDO/SXP Layer) bits 16-23 line number in the Batch File For more information, see "SD Card Firmware Update" in the Aposs Help.

Initial Value

0

Definition at line 2085 of file SdoDictionary.mh.

SDUPDATE_COMMAND_6

#define SDUPDATE_COMMAND_6   6

Detailed information about executed (completed or failed) update commands.

Error history for the first 16 commands executed by the SD-Card Update.
For each command: bits 0-7 error number (SD-Update) bits 8-15 error number (SDO/SXP Layer) bits 16-23 line number in the Batch File For more information, see "SD Card Firmware Update" in the Aposs Help.

Initial Value

0

Definition at line 2098 of file SdoDictionary.mh.

SDUPDATE_COMMAND_7

#define SDUPDATE_COMMAND_7   7

Detailed information about executed (completed or failed) update commands.

Error history for the first 16 commands executed by the SD-Card Update.
For each command: bits 0-7 error number (SD-Update) bits 8-15 error number (SDO/SXP Layer) bits 16-23 line number in the Batch File For more information, see "SD Card Firmware Update" in the Aposs Help.

Initial Value

0

Definition at line 2111 of file SdoDictionary.mh.

SDUPDATE_COMMAND_8

#define SDUPDATE_COMMAND_8   8

Detailed information about executed (completed or failed) update commands.

Error history for the first 16 commands executed by the SD-Card Update.
For each command: bits 0-7 error number (SD-Update) bits 8-15 error number (SDO/SXP Layer) bits 16-23 line number in the Batch File For more information, see "SD Card Firmware Update" in the Aposs Help.

Initial Value

0

Definition at line 2124 of file SdoDictionary.mh.

SDUPDATE_COMMAND_9

#define SDUPDATE_COMMAND_9   9

Detailed information about executed (completed or failed) update commands.

Error history for the first 16 commands executed by the SD-Card Update.
For each command: bits 0-7 error number (SD-Update) bits 8-15 error number (SDO/SXP Layer) bits 16-23 line number in the Batch File For more information, see "SD Card Firmware Update" in the Aposs Help.

Initial Value

0

Definition at line 2137 of file SdoDictionary.mh.

SDUPDATE_COMMANDS_COMPLETED

#define SDUPDATE_COMMANDS_COMPLETED   19

Number of SD-Card Update commands executed successfully.

Initial Value

0

Definition at line 2259 of file SdoDictionary.mh.

SDUPDATE_COMMANDS_FAILED

#define SDUPDATE_COMMANDS_FAILED   20

Number of SD-Card Update commands failed.

Initial Value

0

Definition at line 2266 of file SdoDictionary.mh.

SDUPDATE_COMMANDS_SKIPPED

#define SDUPDATE_COMMANDS_SKIPPED   18

Number of SD-Card Update commands skipped due to existing report file entry.

Initial Value

0

Definition at line 2252 of file SdoDictionary.mh.

SDUPDATE_INDEX

#define SDUPDATE_INDEX

(

parno

)

((0x01000000 | (SDOINDEX_SDUPDATE<<8)) | ((long) (parno)))

SD-Card Update Info Object: Getter.

Parameters

parno

Parameter number

Definition at line 2006 of file SdoDictionary.mh.

SDUPDATE_MAX

#define SDUPDATE_MAX   21

SD-Card Update Info Object: Maximum number of parameters.

Definition at line 2020 of file SdoDictionary.mh.

SDUPDATE_SRCINDEX

#define SDUPDATE_SRCINDEX

(

parno

)

((SDOINDEX_SDUPDATE<<8) | ((long) (parno)))

SD-Card Update Info Object: Source Index.

Parameters

parno

Parameter number

Definition at line 2011 of file SdoDictionary.mh.

SDUPDATE_STATE_FLAGS

#define SDUPDATE_STATE_FLAGS   17

SD-Card Update state flags.

SD-Card Update State Flags

0x00000080 one or more commands failed 0x00000040 one or more commands completed 0x00000020 one or more commands skipped 0x00000010 report file existing 0x00000008 batch file found 0x00000004 SD-Card detected 0x00000002 device serial number vaild 0x00000001 SD-Card Update was called

Initial Value

0x00000000

Definition at line 2245 of file SdoDictionary.mh.

SM_MACH_ARRAYCNT

#define SM_MACH_ARRAYCNT   2

Number of state machines in array.

If this is not an array of state machines, then this value will be 1.

Definition at line 7357 of file SdoDictionary.mh.

SM_MACH_DATA_1

#define SM_MACH_DATA_1   81

Private data.

Definition at line 7405 of file SdoDictionary.mh.

SM_MACH_DATA_10

#define SM_MACH_DATA_10   90

Private data.

Definition at line 7450 of file SdoDictionary.mh.

SM_MACH_DATA_11

#define SM_MACH_DATA_11   91

Private data.

Definition at line 7455 of file SdoDictionary.mh.

SM_MACH_DATA_12

#define SM_MACH_DATA_12   92

Private data.

Definition at line 7460 of file SdoDictionary.mh.

SM_MACH_DATA_13

#define SM_MACH_DATA_13   93

Private data.

Definition at line 7465 of file SdoDictionary.mh.

SM_MACH_DATA_14

#define SM_MACH_DATA_14   94

Private data.

Definition at line 7470 of file SdoDictionary.mh.

SM_MACH_DATA_15

#define SM_MACH_DATA_15   95

Private data.

Definition at line 7475 of file SdoDictionary.mh.

SM_MACH_DATA_16

#define SM_MACH_DATA_16   96

Private data.

Definition at line 7480 of file SdoDictionary.mh.

SM_MACH_DATA_17

#define SM_MACH_DATA_17   97

Private data.

Definition at line 7485 of file SdoDictionary.mh.

SM_MACH_DATA_18

#define SM_MACH_DATA_18   98

Private data.

Definition at line 7490 of file SdoDictionary.mh.

SM_MACH_DATA_19

#define SM_MACH_DATA_19   99

Private data.

Definition at line 7495 of file SdoDictionary.mh.

SM_MACH_DATA_2

#define SM_MACH_DATA_2   82

Private data.

Definition at line 7410 of file SdoDictionary.mh.

SM_MACH_DATA_20

#define SM_MACH_DATA_20   100

Private data.

Definition at line 7500 of file SdoDictionary.mh.

SM_MACH_DATA_21

#define SM_MACH_DATA_21   101

Private data.

Definition at line 7505 of file SdoDictionary.mh.

SM_MACH_DATA_22

#define SM_MACH_DATA_22   102

Private data.

Definition at line 7510 of file SdoDictionary.mh.

SM_MACH_DATA_23

#define SM_MACH_DATA_23   103

Private data.

Definition at line 7515 of file SdoDictionary.mh.

SM_MACH_DATA_24

#define SM_MACH_DATA_24   104

Private data.

Definition at line 7520 of file SdoDictionary.mh.

SM_MACH_DATA_25

#define SM_MACH_DATA_25   105

Private data.

Definition at line 7525 of file SdoDictionary.mh.

SM_MACH_DATA_26

#define SM_MACH_DATA_26   106

Private data.

Definition at line 7530 of file SdoDictionary.mh.

SM_MACH_DATA_27

#define SM_MACH_DATA_27   107

Private data.

Definition at line 7535 of file SdoDictionary.mh.

SM_MACH_DATA_28

#define SM_MACH_DATA_28   108

Private data.

Definition at line 7540 of file SdoDictionary.mh.

SM_MACH_DATA_29

#define SM_MACH_DATA_29   109

Private data.

Definition at line 7545 of file SdoDictionary.mh.

SM_MACH_DATA_3

#define SM_MACH_DATA_3   83

Private data.

Definition at line 7415 of file SdoDictionary.mh.

SM_MACH_DATA_30

#define SM_MACH_DATA_30   110

Private data.

Definition at line 7550 of file SdoDictionary.mh.

SM_MACH_DATA_31

#define SM_MACH_DATA_31   111

Private data.

Definition at line 7555 of file SdoDictionary.mh.

SM_MACH_DATA_32

#define SM_MACH_DATA_32   112

Private data.

Definition at line 7560 of file SdoDictionary.mh.

SM_MACH_DATA_33

#define SM_MACH_DATA_33   113

Private data.

Definition at line 7565 of file SdoDictionary.mh.

SM_MACH_DATA_34

#define SM_MACH_DATA_34   114

Private data.

Definition at line 7570 of file SdoDictionary.mh.

SM_MACH_DATA_35

#define SM_MACH_DATA_35   115

Private data.

Definition at line 7575 of file SdoDictionary.mh.

SM_MACH_DATA_36

#define SM_MACH_DATA_36   116

Private data.

Definition at line 7580 of file SdoDictionary.mh.

SM_MACH_DATA_37

#define SM_MACH_DATA_37   117

Private data.

Definition at line 7585 of file SdoDictionary.mh.

SM_MACH_DATA_38

#define SM_MACH_DATA_38   118

Private data.

Definition at line 7590 of file SdoDictionary.mh.

SM_MACH_DATA_39

#define SM_MACH_DATA_39   119

Private data.

Definition at line 7595 of file SdoDictionary.mh.

SM_MACH_DATA_4

#define SM_MACH_DATA_4   84

Private data.

Definition at line 7420 of file SdoDictionary.mh.

SM_MACH_DATA_40

#define SM_MACH_DATA_40   120

Private data.

Definition at line 7600 of file SdoDictionary.mh.

SM_MACH_DATA_5

#define SM_MACH_DATA_5   85

Private data.

Definition at line 7425 of file SdoDictionary.mh.

SM_MACH_DATA_6

#define SM_MACH_DATA_6   86

Private data.

Definition at line 7430 of file SdoDictionary.mh.

SM_MACH_DATA_7

#define SM_MACH_DATA_7   87

Private data.

Definition at line 7435 of file SdoDictionary.mh.

SM_MACH_DATA_8

#define SM_MACH_DATA_8   88

Private data.

Definition at line 7440 of file SdoDictionary.mh.

SM_MACH_DATA_9

#define SM_MACH_DATA_9   89

Private data.

Definition at line 7445 of file SdoDictionary.mh.

SM_MACH_DATASIZE

#define SM_MACH_DATASIZE   4

Size of private data array.

This is the number of long values in the data array.

Definition at line 7369 of file SdoDictionary.mh.

SM_MACH_FLAGS

#define SM_MACH_FLAGS   41

State machine flags.

Definition at line 7379 of file SdoDictionary.mh.

SM_MACH_ID

#define SM_MACH_ID   1

User defined state machine ID.

If this is an array of state machines, then this value will be the ID of first state machine in the array.

Definition at line 7351 of file SdoDictionary.mh.

SM_MACH_QUEUEFREE

#define SM_MACH_QUEUEFREE   44

Number of free records in event queue.

Definition at line 7395 of file SdoDictionary.mh.

SM_MACH_QUEUEMAX

#define SM_MACH_QUEUEMAX   45

Maximum number of records used in event queue.

Definition at line 7400 of file SdoDictionary.mh.

SM_MACH_QUEUESIZE

#define SM_MACH_QUEUESIZE   3

Size of event queue.

All state machines in an array will have the same event queue size.

Definition at line 7363 of file SdoDictionary.mh.

SM_MACH_QUEUEUSED

#define SM_MACH_QUEUEUSED   43

Number of used records in event queue.

Definition at line 7390 of file SdoDictionary.mh.

SM_MACH_ROOTSTATE

#define SM_MACH_ROOTSTATE   5

Unique ID of root state.

Definition at line 7374 of file SdoDictionary.mh.

SM_MACH_STATE

#define SM_MACH_STATE   42

Unique ID of current state.

This will be -1 if there is no current state.

Definition at line 7385 of file SdoDictionary.mh.

SM_PROC_EVENTCNT

#define SM_PROC_EVENTCNT   3

Number of events.

This includes predefined events.

Definition at line 7223 of file SdoDictionary.mh.

SM_PROC_HISTORY

#define SM_PROC_HISTORY   47

History recording enabled.

Definition at line 7314 of file SdoDictionary.mh.

SM_PROC_MACHINE

#define SM_PROC_MACHINE   43

Current state machine index.

This is the 0-based index of the state machine currently running. It will be -1 if no state machine is running.

Definition at line 7294 of file SdoDictionary.mh.

SM_PROC_MACHINECNT

#define SM_PROC_MACHINECNT   5

Number of state machine specifications.

Definition at line 7233 of file SdoDictionary.mh.

SM_PROC_PARAMCNT

#define SM_PROC_PARAMCNT   2

Maximum number of event parameters in event record.

Definition at line 7217 of file SdoDictionary.mh.

SM_PROC_POOLFREE

#define SM_PROC_POOLFREE   45

Number of free records in event pool.

Definition at line 7304 of file SdoDictionary.mh.

SM_PROC_POOLMAX

#define SM_PROC_POOLMAX   46

Maximum number of records used in event pool.

Definition at line 7309 of file SdoDictionary.mh.

SM_PROC_POOLSIZE

#define SM_PROC_POOLSIZE   6

Number of records in event pool.

Definition at line 7238 of file SdoDictionary.mh.

SM_PROC_POOLUSED

#define SM_PROC_POOLUSED   44

Number of used records in event pool.

Definition at line 7299 of file SdoDictionary.mh.

SM_PROC_POSSIZE

#define SM_PROC_POSSIZE   12

Number of records in position pool.

Definition at line 7268 of file SdoDictionary.mh.

SM_PROC_PRMSIZE

#define SM_PROC_PRMSIZE   11

Number of records in parameter pool.

Definition at line 7263 of file SdoDictionary.mh.

SM_PROC_QUEUESIZE

#define SM_PROC_QUEUESIZE   7

Total size of all event queues.

Definition at line 7243 of file SdoDictionary.mh.

SM_PROC_RUNFLAGS

#define SM_PROC_RUNFLAGS   1

Runtime flags.

Definition at line 7212 of file SdoDictionary.mh.

SM_PROC_SMRUNFLAGS

#define SM_PROC_SMRUNFLAGS   42

Current state machine run flags.

Definition at line 7288 of file SdoDictionary.mh.

SM_PROC_SMRUNSTATE

#define SM_PROC_SMRUNSTATE   41

Current state machine running state.

Definition at line 7283 of file SdoDictionary.mh.

SM_PROC_STATECNT

#define SM_PROC_STATECNT   4

Number of states.

Definition at line 7228 of file SdoDictionary.mh.

SM_PROC_STATEDEPTH

#define SM_PROC_STATEDEPTH   8

Depth of deepest state machine tree.

Definition at line 7248 of file SdoDictionary.mh.

SM_PROC_SUBSIZE

#define SM_PROC_SUBSIZE   10

Number of records in subscribe pool.

Definition at line 7258 of file SdoDictionary.mh.

SM_PROC_SYSCNT

#define SM_PROC_SYSCNT   14

Maximum number of system event chains.

Definition at line 7278 of file SdoDictionary.mh.

SM_PROC_SYSSIZE

#define SM_PROC_SYSSIZE   13

Number of records in system event pool.

Definition at line 7273 of file SdoDictionary.mh.

SM_PROC_TIMERMAX

#define SM_PROC_TIMERMAX   9

Maximum number of timers.

Definition at line 7253 of file SdoDictionary.mh.

SMGLOBAL_PROCESS

#define SMGLOBAL_PROCESS

(

parno

)

Sysvar[SMGLOBAL_PROCESS_INDEX(parno)]

Global State Machine Process Data: Setter.

Parameters

parno

Parameter number

Definition at line 7203 of file SdoDictionary.mh.

SMGLOBAL_PROCESS_INDEX

#define SMGLOBAL_PROCESS_INDEX

(

parno

)

((0x01000000 | (SDOINDEX_SMGLOBAL_PROCESS<<8)) | ((long) (parno)))

Global State Machine Process Data: Getter.

Parameters

parno

Parameter number

Definition at line 7193 of file SdoDictionary.mh.

SMGLOBAL_PROCESS_MAX

#define SMGLOBAL_PROCESS_MAX   48

Global State Machine Process Data: Maximum number of parameters.

Definition at line 7207 of file SdoDictionary.mh.

SMGLOBAL_PROCESS_SRCINDEX

#define SMGLOBAL_PROCESS_SRCINDEX

(

parno

)

((SDOINDEX_SMGLOBAL_PROCESS<<8) | ((long) (parno)))

Global State Machine Process Data: Source Index.

Parameters

parno

Parameter number

Definition at line 7198 of file SdoDictionary.mh.

SMMACHINE_PROCESS

#define SMMACHINE_PROCESS	(		modno,
			parno
	)		Sysvar[SMMACHINE_PROCESS_INDEX((modno),(parno))]

State Machine Process Data: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 7341 of file SdoDictionary.mh.

SMMACHINE_PROCESS_INDEX

#define SMMACHINE_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_SMMACHINE_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

State Machine Process Data: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 7329 of file SdoDictionary.mh.

SMMACHINE_PROCESS_MAX

#define SMMACHINE_PROCESS_MAX   121

State Machine Process Data: Maximum number of parameters.

Definition at line 7345 of file SdoDictionary.mh.

SMMACHINE_PROCESS_SRCINDEX

#define SMMACHINE_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_SMMACHINE_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

State Machine Process Data: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 7335 of file SdoDictionary.mh.

SWNEGLIMACT

#define SWNEGLIMACT   20

Negative software end limit active.

0 = Off 1 = On

Initial Value

0

Value Range

0,1

Definition at line 2487 of file SdoDictionary.mh.

SWPOSLIMACT

#define SWPOSLIMACT   21

Positive software end limit active.

0 = Off 1 = On

Initial Value

0

Value Range

0,1

Definition at line 2498 of file SdoDictionary.mh.

SYNCACCURACY

#define SYNCACCURACY   56

Size of the accuracy window for position synchronization.

Accuracy window [qc, CAM-Mode: uu] for synchronization, so that "Accuracy" bit is set.

Initial Value

1000

Value Range

-MLONG-MLONG

Units

qc

Definition at line 2811 of file SdoDictionary.mh.

SYNCFACTM

#define SYNCFACTM   50

Synchronization factor master (M:S) or in CAM mode conversion qc in MU units.

Initial Value

1

Value Range

-MLONG-MLONG

Definition at line 2751 of file SdoDictionary.mh.

SYNCFACTS

#define SYNCFACTS   51

Synchronization factor slave (M:S) or in CAM mode conversion qc in MU units.

Initial Value

1

Definition at line 2758 of file SdoDictionary.mh.

SYNCFAULT

#define SYNCFAULT   58

Number of markers for fault.

Number of markers outside SYNCACCURACY window, so that "Fault" bit is set.

Initial Value

10

Value Range

0-10000

Definition at line 2831 of file SdoDictionary.mh.

SYNCMARKM

#define SYNCMARKM   53

Number of master markers.

Initial Value

1

Value Range

0-10000

Definition at line 2781 of file SdoDictionary.mh.

SYNCMARKS

#define SYNCMARKS   54

Number of slave markers.

Initial Value

1

Value Range

0-10000

Definition at line 2790 of file SdoDictionary.mh.

SYNCMFPAR

#define SYNCMFPAR   18

Marker filter configuration.

Initial Value

0

Value Range

0-0x7F

Definition at line 2466 of file SdoDictionary.mh.

SYNCMFTIME

#define SYNCMFTIME   19

Filter time for marker correction.

0 = No filtering (see SYNCSFTIME, subindex 107)

Initial Value

0

Value Range

-MLONG-MLONG

Definition at line 2476 of file SdoDictionary.mh.

SYNCMMAXCORR

#define SYNCMMAXCORR   7

Limits the maximum correction done by marker correction.

Initial Value

0

Value Range

-MLONG-MLONG

Units

qc

Definition at line 2353 of file SdoDictionary.mh.

SYNCMPULSM

#define SYNCMPULSM   59

Master marker distance.

Distance [qc, CAM-Mode: mu] between two master markers.

Initial Value

500

Units

qc or mu

Definition at line 2841 of file SdoDictionary.mh.

SYNCMPULSS

#define SYNCMPULSS   60

Slave marker distance.

Distance [qc, CAM-Mode: uu] between two slave markers.

Initial Value

500

Value Range

0-238609294

Units

qc or mu

Definition at line 2853 of file SdoDictionary.mh.

SYNCMSTART

#define SYNCMSTART   63

Start behavior for synchronization with marker correction.

Initial Value

0

Value Range

0-7,1000-1007,2000

Definition at line 2862 of file SdoDictionary.mh.

SYNCMWINM

#define SYNCMWINM   69

Tolerance window for marker monitoring.

Tolerance window (0 = off) [qc, CAM-mode: mu] for master marker acceptance.

Initial Value

0

Value Range

0-MLONG

Definition at line 2905 of file SdoDictionary.mh.

SYNCMWINS

#define SYNCMWINS   70

Tolerance window for slave marker monitoring.

Tolerance window (0 = off) [qc, CAM-mode: uu] for slave marker acceptance.

Initial Value

0

Value Range

0-MLONG

Definition at line 2915 of file SdoDictionary.mh.

SYNCOFFTIME

#define SYNCOFFTIME   17

Compensation velocity of an offset.

1 - Synchronize 2 - New offset

Initial Value

0

Value Range

0-MLONG

Units

ms

Definition at line 2457 of file SdoDictionary.mh.

SYNCPOSOFFS

#define SYNCPOSOFFS   55

Position offset for position synchronization.

Initial Value

0

Units

qc

Definition at line 2799 of file SdoDictionary.mh.

SYNCREADY

#define SYNCREADY   57

Number of markers for READY.

Number of markers within SYNCACCURACY window, so that "Ready" bit is set.

Initial Value

1

Value Range

0-10000

Definition at line 2821 of file SdoDictionary.mh.

SYNCTYPE

#define SYNCTYPE   52

Type of synchronization.

Bit flags: 0x01 - Not used. 0x02 - In CAM mode: follow the CAM profile without taking ACC, DEC, and VEL limitations into account.

• In SyncPos/ SyncVe mode: follow the master's position/velocity without taking ACC, DEC, and VEL limitations into account. 0x04 - Enable buffering of negative master movements.

  Initial Value

  0

  Value Range

  0,0x2,0x4,0x6

Definition at line 2772 of file SdoDictionary.mh.

SYNCVELREL

#define SYNCVELREL   67

Tolerated deviance of the slave drive from the master velocity.

Initial Value

0

Value Range

0-100

Units

%

Definition at line 2895 of file SdoDictionary.mh.

SYNCVFTIME

#define SYNCVFTIME   66

Velocity filter.

Filter time for master velocity filtering used by velocity synchronization.

Initial Value

0

Value Range

-MLONG-MLONG

Units

τ_filt (µs)

Definition at line 2884 of file SdoDictionary.mh.

SYS_AMP0_CURRENT

#define SYS_AMP0_CURRENT   29

Up-to-date motor current.

MCO only. This subindex should not be used. Please use SDO 0x4000 (HWAMP) instead.

Definition at line 452 of file SdoDictionary.mh.

SYS_AMP0_SPEED

#define SYS_AMP0_SPEED   33

VLT output frequency.

MCO only. This subindex should not be used. Please use SDO 0x4000 (HWAMP) instead.

Definition at line 475 of file SdoDictionary.mh.

SYS_AMP0_STATUS

#define SYS_AMP0_STATUS   32

VLT status.

MCO only. This subindex should not be used. Please use SDO 0x4000 (HWAMP) instead.

Definition at line 468 of file SdoDictionary.mh.

SYS_AMP0_VOLTAGE

#define SYS_AMP0_VOLTAGE   31

Up-to-date motor voltage.

MCO only. This subindex should not be used. Please use SDO 0x4000 (HWAMP) instead.

Definition at line 461 of file SdoDictionary.mh.

SYS_ANALOG_OPTION_TYPE

#define SYS_ANALOG_OPTION_TYPE   15

Analog option type.

0 = No option 1 = 3-out/1-in option 2 = 6-in option

Definition at line 1291 of file SdoDictionary.mh.

SYS_APP_VERSION_INFO1

#define SYS_APP_VERSION_INFO1   8

Application extra version 1.

Can be written by APOSS program.

Definition at line 1251 of file SdoDictionary.mh.

SYS_APP_VERSION_INFO2

#define SYS_APP_VERSION_INFO2   9

Application extra version 2.

Can be written by APOSS program.

Definition at line 1257 of file SdoDictionary.mh.

SYS_AXSTATUS

#define SYS_AXSTATUS   18

Definition at line 373 of file SdoDictionary.mh.

SYS_BL_STATUS

#define SYS_BL_STATUS   134

Bootloader update status.

Definition at line 1134 of file SdoDictionary.mh.

SYS_BOOTLOADER_SW_VERSION

#define SYS_BOOTLOADER_SW_VERSION   7

Bootloader software version.

Definition at line 1245 of file SdoDictionary.mh.

SYS_BUILD_NUMBER

#define SYS_BUILD_NUMBER   65

Build number.

Definition at line 1491 of file SdoDictionary.mh.

SYS_CAN_NODESTATE

#define SYS_CAN_NODESTATE   26

CAN NMT status.

Delivers the CANopen Node state. The values are 0 NS_INIT
1 NS_CONNECTING
2 NS_PREPARING
4 NS_STOPPED
5 NS_OPERATIONAL
127 NS_PRE_OPERATIONAL Since FW 7.0.14 it is also allowed to write to this variable. This can be used to force the controller to operational if no master is available sending NMT telegrams.

Definition at line 429 of file SdoDictionary.mh.

SYS_CAN_NR_OF_SYNC

#define SYS_CAN_NR_OF_SYNC   130

Returns the number of received SYNC telegrams.

Definition at line 1110 of file SdoDictionary.mh.

SYS_CAN_SYNC_OFFSET

#define SYS_CAN_SYNC_OFFSET   142

Returns a debug value for the CAN Sync function.

Definition at line 1178 of file SdoDictionary.mh.

SYS_CANDIP

#define SYS_CANDIP   34

Dip-Switch value (CAN node ID)

MiniMACS only: Since dgital outputs 1-7 and DIP switch lines are muxed, MiniMACS by default reads DIP switch state only at reset. A write of key value into 0x2202/34 will force a update/reread of the DIP switch state.

Definition at line 483 of file SdoDictionary.mh.

SYS_CANERR_RX_0

#define SYS_CANERR_RX_0   37

CAN error counter for RX Master-Bus.

Read: Returns the error counter. Write: Sets the error mode (1 = automatic clear).

Definition at line 506 of file SdoDictionary.mh.

SYS_CANERR_RX_1

#define SYS_CANERR_RX_1   38

CAN error counter for RX Slave-Bus.

Read: Returns the error counter. Write: Sets the error mode (1 = automatic clear).

Definition at line 513 of file SdoDictionary.mh.

SYS_CANERR_TX_0

#define SYS_CANERR_TX_0   39

CAN error counter for TX Master-Bus.

Definition at line 518 of file SdoDictionary.mh.

SYS_CANERR_TX_1

#define SYS_CANERR_TX_1   40

CAN error counter for TX Slave-Bus.

Definition at line 523 of file SdoDictionary.mh.

SYS_CANOM_GUARDERR_ID

#define SYS_CANOM_GUARDERR_ID   68

Node ID which caused the last error.

Node ID which caused the last error 88 (Guarding error) or which caused the failure of a CanInit command.

Definition at line 732 of file SdoDictionary.mh.

SYS_CANOM_MASTERSTATE

#define SYS_CANOM_MASTERSTATE   69

State of CAN master functionality.

The CANopenMasterStatus is available to allow control over master activity. By default this status is 1 for backward compatibility. It has the following meaning 0 = Master does not send SYNC, GUARD, TxPDOs. It does not register incoming HeartBeats. If set to zero we set all slaves to PREOPERATIONAL by sending an NMT.
1 = Master does send SYNC, GUARD and TxPDOs and if set to one, we send a NMT start broadcast
to start all slaves commanding them into OPERATIONAL.

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, CAN_4Ax_MiniMACS6_csp.mc, CAN_4Ax_MiniMACS6_cst.mc, and CAN_4Ax_MiniMACS6_csv.mc.

Definition at line 742 of file SdoDictionary.mh.

SYS_CANOM_SDO_TIMEOUT

#define SYS_CANOM_SDO_TIMEOUT   64

SDO timeout.

The default timeout (300 ms) for SDOREAD and SDOWRITE commands can be modified by writing to this subindex.

Units

ms

Definition at line 711 of file SdoDictionary.mh.

SYS_CANOM_SDOABORT

#define SYS_CANOM_SDOABORT   35

Last CANopen SDO abort code.

If slave SDO access failed, then this will be the last CANopen SDO abort code. Note that the value is reset to 0 after every read so the current value can be read only once.

MCO: Frequency (instead of SDO abort code).

Examples

CAN_1Ax_DS402_ProfilePositionMode-ppm-Test.mc, CAN_1Ax_DS402_ProfileVelocityMode-pvm-Test.mc, CAN_1Ax_EPOS4-Test_csp.mc, CAN_1Ax_EPOS4-Test_cst.mc, CAN_1Ax_EPOS4-Test_csv.mc, CAN_2Ax_EPOS4-Test_csp.mc, CAN_4Ax_MiniMACS6_csp.mc, CAN_4Ax_MiniMACS6_cst.mc, CAN_4Ax_MiniMACS6_csv.mc, CAN_MultipleAx_DS402_ProfilePositionMode-ppm-Test.mc, and DeltaRobot_No_SM_EPOS4_ECAT.mc.

Definition at line 491 of file SdoDictionary.mh.

SYS_CANOM_SEND_NMT

#define SYS_CANOM_SEND_NMT   131

Activates the sending of NMT start telegrams.

0 = no NMT start telegrams are sent 1 = an NMT start telegram will be sent when either a bus module is activated, or when the CANopen master is activated

Initial Value

1

Definition at line 1119 of file SdoDictionary.mh.

SYS_CANOS_TIM_LASTTXPDO

#define SYS_CANOS_TIM_LASTTXPDO   63

Period of time since the last TxPDO was transmitted.

The transmission could be the result of a SYNC or EVENTTIME (see CANopen Transmission Type). PDOs requested by a remote frame are not considered.

Units

ms

Definition at line 703 of file SdoDictionary.mh.

SYS_CLOCK

#define SYS_CLOCK   23

Internal millisecond counter.

The TIME command returns this value.

Definition at line 403 of file SdoDictionary.mh.

SYS_COMMOPT_INFO

#define SYS_COMMOPT_INFO   74

Info about bus option.

Returns hardware-dependent info about the connected option board

Definition at line 1553 of file SdoDictionary.mh.

SYS_COMMOPT_PROTTYPE

#define SYS_COMMOPT_PROTTYPE   68

Protocol type running on bus option.

0 = EtherCAT 1 = Ethernet 2 = RS485 -1 = No option mounted

• 2 = Option failure

Definition at line 1511 of file SdoDictionary.mh.

SYS_CONTROLLER_FEATURES

#define SYS_CONTROLLER_FEATURES   62

Delivers information about active features on this controller.

0x00000001 == HAS_RTC 0x00000002 == HAS_FTP 0x00000004 == HAS_SDCARD 0x00000008 == HAS_AUTH 0x00000010 == HAS_FWSECURITY 0x00000020 == HAS_KINEMATICS

Definition at line 1476 of file SdoDictionary.mh.

SYS_CPU_TEMPERATURE

#define SYS_CPU_TEMPERATURE   141

Temperature of the CPU in 1/100th Degrees Celsius.

Units

Celsius * 0.01

Definition at line 1173 of file SdoDictionary.mh.

SYS_CURINT_DIFF

#define SYS_CURINT_DIFF   139

Returns the difference between this and the last current control interrupt in microseconds.

Definition at line 1161 of file SdoDictionary.mh.

SYS_CURINT_LENGTH

#define SYS_CURINT_LENGTH   137

Returns the duration of the last current control interrupt in microseconds.

Definition at line 1151 of file SdoDictionary.mh.

SYS_CUSTOMER_ID

#define SYS_CUSTOMER_ID   3

Customer identification code.

Set by zub.

Definition at line 1224 of file SdoDictionary.mh.

SYS_ECAT_NODESTATE

#define SYS_ECAT_NODESTATE   65

Node state of the EtherCAT slave.

Definition at line 716 of file SdoDictionary.mh.

SYS_ECAT_PDOLENGTH_IN

#define SYS_ECAT_PDOLENGTH_IN   66

Mailbox length of the EtherCAT PDO which was received via the bus.

Definition at line 721 of file SdoDictionary.mh.

SYS_ECAT_PDOLENGTH_OUT

#define SYS_ECAT_PDOLENGTH_OUT   67

Mailbox length of the EtherCAT PDO which was put on the bus for transmission.

Definition at line 726 of file SdoDictionary.mh.

SYS_EEPROM_SIZE

#define SYS_EEPROM_SIZE   61

Size of Flash (or EEprom)

Units

byte

Definition at line 688 of file SdoDictionary.mh.

SYS_FPGA_SW_VERSION

#define SYS_FPGA_SW_VERSION   6

FPGA software version.

MMMMMMMM.VVVV.BBBB (16 Bit) MMMMMMMM = Module number (e.g. type of MACS4) VVVV = Version BBBB = Bugfix (minor changes, etc.) Example:
Version 1.2.15 gives 1*256 + 2*32 + 15 = 303

Definition at line 1240 of file SdoDictionary.mh.

SYS_FW_AMPLIFIER_VERSION

#define SYS_FW_AMPLIFIER_VERSION   12

Amplifier Version.

Definition at line 1272 of file SdoDictionary.mh.

SYS_FW_COPROCESSOR_VERSION

#define SYS_FW_COPROCESSOR_VERSION   13

Coprocessor software version.

Definition at line 1277 of file SdoDictionary.mh.

SYS_FW_CPU

#define SYS_FW_CPU   2

Software version.

Version = MAINVER*10000 + SUBVER*100 + SUBSUB

Definition at line 1218 of file SdoDictionary.mh.

SYS_FWSTACKMAX

#define SYS_FWSTACKMAX   136

Returns the maximum of the used firmware stack in bytes.

Definition at line 1146 of file SdoDictionary.mh.

SYS_GETMAXINHIBITTIME

#define SYS_GETMAXINHIBITTIME   124

Returns the maximum time for which the millisecond timer was inhibited.

Definition at line 1080 of file SdoDictionary.mh.

SYS_HARDWARE_ID

#define SYS_HARDWARE_ID   1

Hardware identification.

Bytes 2-5 in $$ command CAN version.

Definition at line 1212 of file SdoDictionary.mh.

SYS_HW_IDENTIFICATION

#define SYS_HW_IDENTIFICATION   69

Returns the hw identification of the PCB.

Definition at line 1516 of file SdoDictionary.mh.

SYS_HW_IDENTIFICATION_MICROMACS6

#define SYS_HW_IDENTIFICATION_MICROMACS6   0

Definition at line 1571 of file SdoDictionary.mh.

SYS_HW_IDENTIFICATION_MICROMACS6_MODULE

#define SYS_HW_IDENTIFICATION_MICROMACS6_MODULE   1

Definition at line 1572 of file SdoDictionary.mh.

SYS_HW_IDENTIFICATION_PC_ENC_OEM1

#define SYS_HW_IDENTIFICATION_PC_ENC_OEM1   1

Definition at line 1569 of file SdoDictionary.mh.

SYS_HW_IDENTIFICATION_PC_ENC_OEM2

#define SYS_HW_IDENTIFICATION_PC_ENC_OEM2   2

Definition at line 1570 of file SdoDictionary.mh.

SYS_HW_INDEX

#define SYS_HW_INDEX   70

Returns the HW index of the PCB.

Definition at line 1521 of file SdoDictionary.mh.

SYS_HWANIN_UNFILT

#define SYS_HWANIN_UNFILT   36

Unfiltered value of analog input.

Use PO_HWANIN_UNFILT instead of this value.

MCO: Torque (instead of analog value).

Definition at line 499 of file SdoDictionary.mh.

SYS_HWCNTINC_0_STATUS

#define SYS_HWCNTINC_0_STATUS   72

Internal encoder status (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_STATUS (SDO 0x4880-0x4888/3).

Read: Bit 0 - Index flag Bit 1 - sincos enc. error

Write: Bit 0 - Clear index flag Bit 1 - Clear sincos error flag Bit 7 - Clear index counter

Definition at line 759 of file SdoDictionary.mh.

SYS_HWCNTINC_0_VALUE

#define SYS_HWCNTINC_0_VALUE   42

Internal encoder counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_VALUE (SDO 0x4880-0x4888/1).

Units

qc

Definition at line 540 of file SdoDictionary.mh.

SYS_HWCNTINC_1_STATUS

#define SYS_HWCNTINC_1_STATUS   73

Internal encoder status (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_STATUS (SDO 0x4880-0x4888/3).

Read: Bit 0 - Index flag Bit 1 - sincos enc. error

Write: Bit 0 - Clear index flag Bit 1 - Clear sincos error flag Bit 7 - Clear index counter

Definition at line 774 of file SdoDictionary.mh.

SYS_HWCNTINC_1_VALUE

#define SYS_HWCNTINC_1_VALUE   43

Internal encoder counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_VALUE (SDO 0x4880-0x4888/1).

Units

qc

Definition at line 548 of file SdoDictionary.mh.

SYS_HWCNTINC_2_STATUS

#define SYS_HWCNTINC_2_STATUS   74

Internal encoder status (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_STATUS (SDO 0x4880-0x4888/3).

Read: Bit 0 - Index flag Bit 1 - sincos enc. error

Write: Bit 0 - Clear index flag Bit 1 - Clear sincos error flag Bit 7 - Clear index counter

Definition at line 789 of file SdoDictionary.mh.

SYS_HWCNTINC_2_VALUE

#define SYS_HWCNTINC_2_VALUE   44

Internal encoder counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_VALUE (SDO 0x4880-0x4888/1).

Units

qc

Definition at line 556 of file SdoDictionary.mh.

SYS_HWCNTINC_3_STATUS

#define SYS_HWCNTINC_3_STATUS   75

Internal encoder status (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_STATUS (SDO 0x4880-0x4888/3).

Read: Bit 0 - Index flag Bit 1 - sincos enc. error

Write: Bit 0 - Clear index flag Bit 1 - Clear sincos error flag Bit 7 - Clear index counter

Definition at line 804 of file SdoDictionary.mh.

SYS_HWCNTINC_3_VALUE

#define SYS_HWCNTINC_3_VALUE   45

Internal encoder counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_VALUE (SDO 0x4880-0x4888/1).

Units

qc

Definition at line 564 of file SdoDictionary.mh.

SYS_HWCNTINC_4_STATUS

#define SYS_HWCNTINC_4_STATUS   76

Internal encoder status (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_STATUS (SDO 0x4880-0x4888/3).

Read: Bit 0 - Index flag Bit 1 - sincos enc. error

Write: Bit 0 - Clear index flag Bit 1 - Clear sincos error flag Bit 7 - Clear index counter

Definition at line 819 of file SdoDictionary.mh.

SYS_HWCNTINC_4_VALUE

#define SYS_HWCNTINC_4_VALUE   46

Internal encoder counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_VALUE (SDO 0x4880-0x4888/1).

Units

qc

Definition at line 572 of file SdoDictionary.mh.

SYS_HWCNTINC_5_STATUS

#define SYS_HWCNTINC_5_STATUS   77

Internal encoder status (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_STATUS (SDO 0x4880-0x4888/3).

Read: Bit 0 - Index flag Bit 1 - sincos enc. error

Write: Bit 0 - Clear index flag Bit 1 - Clear sincos error flag Bit 7 - Clear index counter

Definition at line 834 of file SdoDictionary.mh.

SYS_HWCNTINC_5_VALUE

#define SYS_HWCNTINC_5_VALUE   47

Internal encoder counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_VALUE (SDO 0x4880-0x4888/1).

Units

qc

Definition at line 580 of file SdoDictionary.mh.

SYS_HWCNTINC_6_STATUS

#define SYS_HWCNTINC_6_STATUS   78

Internal encoder status (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_STATUS (SDO 0x4880-0x4888/3).

Read: Bit 0 - Index flag Bit 1 - sincos enc. error

Write: Bit 0 - Clear index flag Bit 1 - Clear sincos error flag Bit 7 - Clear index counter

Definition at line 849 of file SdoDictionary.mh.

SYS_HWCNTINC_6_VALUE

#define SYS_HWCNTINC_6_VALUE   48

Internal encoder counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_VALUE (SDO 0x4880-0x4888/1).

Units

qc

Definition at line 588 of file SdoDictionary.mh.

SYS_HWCNTINC_7_STATUS

#define SYS_HWCNTINC_7_STATUS   79

Internal encoder status (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_STATUS (SDO 0x4880-0x4888/3).

Read: Bit 0 - Index flag Bit 1 - sincos enc. error

Write: Bit 0 - Clear index flag Bit 1 - Clear sincos error flag Bit 7 - Clear index counter

Definition at line 864 of file SdoDictionary.mh.

SYS_HWCNTINC_7_VALUE

#define SYS_HWCNTINC_7_VALUE   49

Internal encoder counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_VALUE (SDO 0x4880-0x4888/1).

Units

qc

Definition at line 596 of file SdoDictionary.mh.

SYS_HWCNTINC_8_STATUS

#define SYS_HWCNTINC_8_STATUS   80

Internal encoder status (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_STATUS (SDO 0x4880-0x4888/3).

Read: Bit 0 - Index flag Bit 1 - sincos enc. error

Write: Bit 0 - Clear index flag Bit 1 - Clear sincos error flag Bit 7 - Clear index counter

Definition at line 879 of file SdoDictionary.mh.

SYS_HWCNTINC_8_VALUE

#define SYS_HWCNTINC_8_VALUE   50

Internal encoder counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWCNTINC_VALUE (SDO 0x4880-0x4888/1).

Units

qc

Definition at line 604 of file SdoDictionary.mh.

SYS_HWLATCH_0_VALUE

#define SYS_HWLATCH_0_VALUE   52

Internal encoder zero pulse position (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_VALUE (SDO 0x4940-0x4948/1).

Units

qc

Definition at line 617 of file SdoDictionary.mh.

SYS_HWLATCH_1_VALUE

#define SYS_HWLATCH_1_VALUE   53

Internal encoder zero pulse position (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_VALUE (SDO 0x4940-0x4948/1).

Units

qc

Definition at line 625 of file SdoDictionary.mh.

SYS_HWLATCH_2_VALUE

#define SYS_HWLATCH_2_VALUE   54

Internal encoder zero pulse position (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_VALUE (SDO 0x4940-0x4948/1).

Units

qc

Definition at line 633 of file SdoDictionary.mh.

SYS_HWLATCH_3_VALUE

#define SYS_HWLATCH_3_VALUE   55

Internal encoder zero pulse position (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_VALUE (SDO 0x4940-0x4948/1).

Units

qc

Definition at line 641 of file SdoDictionary.mh.

SYS_HWLATCH_4_VALUE

#define SYS_HWLATCH_4_VALUE   56

Internal encoder zero pulse position (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_VALUE (SDO 0x4940-0x4948/1).

Units

qc

Definition at line 649 of file SdoDictionary.mh.

SYS_HWLATCH_5_VALUE

#define SYS_HWLATCH_5_VALUE   57

Internal encoder zero pulse position (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_VALUE (SDO 0x4940-0x4948/1).

Units

qc

Definition at line 657 of file SdoDictionary.mh.

SYS_HWLATCH_6_VALUE

#define SYS_HWLATCH_6_VALUE   58

Internal encoder zero pulse position (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_VALUE (SDO 0x4940-0x4948/1).

Units

qc

Definition at line 665 of file SdoDictionary.mh.

SYS_HWLATCH_7_VALUE

#define SYS_HWLATCH_7_VALUE   59

Internal encoder zero pulse position (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_VALUE (SDO 0x4940-0x4948/1).

Units

qc

Definition at line 673 of file SdoDictionary.mh.

SYS_HWLATCH_8_VALUE

#define SYS_HWLATCH_8_VALUE   60

Internal encoder zero pulse position (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_VALUE (SDO 0x4940-0x4948/1).

Units

qc

Definition at line 681 of file SdoDictionary.mh.

SYS_HWLATCH_COUNT_0

#define SYS_HWLATCH_COUNT_0   93

Encoder index counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_COUNT (SDO 0x4940-0x4948/3).

Definition at line 885 of file SdoDictionary.mh.

SYS_HWLATCH_COUNT_1

#define SYS_HWLATCH_COUNT_1   94

Encoder index counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_COUNT (SDO 0x4940-0x4948/3).

Definition at line 891 of file SdoDictionary.mh.

SYS_HWLATCH_COUNT_2

#define SYS_HWLATCH_COUNT_2   95

Encoder index counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_COUNT (SDO 0x4940-0x4948/3).

Definition at line 897 of file SdoDictionary.mh.

SYS_HWLATCH_COUNT_3

#define SYS_HWLATCH_COUNT_3   96

Encoder index counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_COUNT (SDO 0x4940-0x4948/3).

Definition at line 903 of file SdoDictionary.mh.

SYS_HWLATCH_COUNT_4

#define SYS_HWLATCH_COUNT_4   97

Encoder index counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_COUNT (SDO 0x4940-0x4948/3).

Definition at line 909 of file SdoDictionary.mh.

SYS_HWLATCH_COUNT_5

#define SYS_HWLATCH_COUNT_5   98

Encoder index counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_COUNT (SDO 0x4940-0x4948/3).

Definition at line 915 of file SdoDictionary.mh.

SYS_HWLATCH_COUNT_6

#define SYS_HWLATCH_COUNT_6   99

Encoder index counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_COUNT (SDO 0x4940-0x4948/3).

Definition at line 921 of file SdoDictionary.mh.

SYS_HWLATCH_COUNT_7

#define SYS_HWLATCH_COUNT_7   100

Encoder index counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_COUNT (SDO 0x4940-0x4948/3).

Definition at line 927 of file SdoDictionary.mh.

SYS_HWLATCH_COUNT_8

#define SYS_HWLATCH_COUNT_8   101

Encoder index counter (encoders 1-9)

For MACS5 and newer controllers, use PO_HWLATCH_COUNT (SDO 0x4940-0x4948/3).

Definition at line 933 of file SdoDictionary.mh.

SYS_INAD_1

#define SYS_INAD_1   19

Analog input value (inputs 1-4)

For MACS5 and newer controllers, use PO_VIRTANIN_VALUE (SDO 0x2D80-0x2D83/1).

Definition at line 379 of file SdoDictionary.mh.

SYS_INAD_2

#define SYS_INAD_2   20

Analog input value (inputs 1-4)

For MACS5 and newer controllers, use PO_VIRTANIN_VALUE (SDO 0x2D80-0x2D83/1).

Definition at line 385 of file SdoDictionary.mh.

SYS_INAD_3

#define SYS_INAD_3   21

Analog input value (inputs 1-4)

For MACS5 and newer controllers, use PO_VIRTANIN_VALUE (SDO 0x2D80-0x2D83/1).

Definition at line 391 of file SdoDictionary.mh.

SYS_INAD_4

#define SYS_INAD_4   22

Analog input value (inputs 1-4)

For MACS5 and newer controllers, use PO_VIRTANIN_VALUE (SDO 0x2D80-0x2D83/1).

Definition at line 397 of file SdoDictionary.mh.

SYS_INAD_5

#define SYS_INAD_5   116

Analog input value (input 5)

For MACS5 and newer controllers, use PO_VIRTANIN_VALUE (SDO 0x2D84/1).

Definition at line 1030 of file SdoDictionary.mh.

SYS_INAD_6

#define SYS_INAD_6   117

Analog input value (input 6)

For MACS5 and newer controllers, use PO_VIRTANIN_VALUE (SDO 0x2D85/1).

Definition at line 1036 of file SdoDictionary.mh.

SYS_INBYTE_0

#define SYS_INBYTE_0   2

Digital input state (Byte 0 = Input 1-8)

For MACS5 and newer controllers, use PO_VIRTDIGIN_VALBYTEn (SDO 0x2D00+n/4).

Definition at line 281 of file SdoDictionary.mh.

SYS_INBYTE_1

#define SYS_INBYTE_1   3

Digital input state (Byte 1 = Input 9-16)

For MACS5 and newer controllers, use PO_VIRTDIGIN_VALBYTEn (SDO 0x2D00+n/4).

Definition at line 287 of file SdoDictionary.mh.

SYS_INBYTE_2

#define SYS_INBYTE_2   4

Digital input state (Byte 2 = Input 17-24)

For MACS5 and newer controllers, use PO_VIRTDIGIN_VALBYTEn (SDO 0x2D00+n/4).

Definition at line 293 of file SdoDictionary.mh.

SYS_INBYTE_3

#define SYS_INBYTE_3   5

Digital input state (Byte 3 = Input 25-32)

For MACS5 and newer controllers, use PO_VIRTDIGIN_VALBYTEn (SDO 0x2D00+n/4).

Definition at line 299 of file SdoDictionary.mh.

SYS_INBYTE_4

#define SYS_INBYTE_4   6

Digital input state (Byte 4 = Input 33-40)

For MACS5 and newer controllers, use PO_VIRTDIGIN_VALBYTEn (SDO 0x2D00+n/4).

Definition at line 305 of file SdoDictionary.mh.

SYS_INBYTE_5

#define SYS_INBYTE_5   7

Digital input state (Byte 5 = Input 40-48)

For MACS5 and newer controllers, use PO_VIRTDIGIN_VALBYTEn (SDO 0x2D00+n/4).

Definition at line 311 of file SdoDictionary.mh.

SYS_INBYTE_6

#define SYS_INBYTE_6   8

Digital input state (Byte 6 = Input 49-56)

For MACS5 and newer controllers, use PO_VIRTDIGIN_VALBYTEn (SDO 0x2D00+n/4).

Definition at line 317 of file SdoDictionary.mh.

SYS_INBYTE_7

#define SYS_INBYTE_7   9

Digital input state (Byte 7 = Input 57-64)

For MACS5 and newer controllers, use PO_VIRTDIGIN_VALBYTEn (SDO 0x2D00+n/4).

Definition at line 323 of file SdoDictionary.mh.

SYS_INFO

#define SYS_INFO

(

parno

)

Sysvar[SYS_INFO_INDEX(parno)]

System Information: Setter.

Parameters

parno

Parameter number

Examples

EthernetUDPSocket_OpenClient.mc, and EthernetUDPSocket_OpenServer.mc.

Definition at line 1202 of file SdoDictionary.mh.

SYS_INFO_INDEX

#define SYS_INFO_INDEX

(

parno

)

((0x01000000 | (SDOINDEX_SYS_INFO<<8)) | ((long) (parno)))

System Information: Getter.

Parameters

parno

Parameter number

Definition at line 1192 of file SdoDictionary.mh.

SYS_INFO_MAX

#define SYS_INFO_MAX   77

System Information: Maximum number of parameters.

Definition at line 1206 of file SdoDictionary.mh.

SYS_INFO_SRCINDEX

#define SYS_INFO_SRCINDEX

(

parno

)

((SDOINDEX_SYS_INFO<<8) | ((long) (parno)))

System Information: Source Index.

Parameters

parno

Parameter number

Definition at line 1197 of file SdoDictionary.mh.

SYS_INTERNAL_FLASH_MEMORY

#define SYS_INTERNAL_FLASH_MEMORY   11

Device type of the internal flash memory.

Definition at line 1267 of file SdoDictionary.mh.

SYS_IP_ADDRESS_CONTROLLER

#define SYS_IP_ADDRESS_CONTROLLER   14

IP address of controller.

The bytes are ordered so that the LSB of the 4-byte value is the first value of the IP "dotted" address.

Examples

EthernetUDPSocket_OpenClient.mc, and EthernetUDPSocket_OpenServer.mc.

Definition at line 1283 of file SdoDictionary.mh.

SYS_LED_0_CONTROL

#define SYS_LED_0_CONTROL   110

Control LED state.

Value 0x00000fmm,
where mm is the mode, and f is the blink frequency in Hz. Possible modes: #define LED_MODE_OFF 0 #define LED_MODE_ON 1 #define LED_MODE_BLINK 2 #define LED_MODE_SINGLEFLASH 3 #define LED_MODE_DUALFLASH 4 #define LED_MODE_TRIPLEFLASH 5

Definition at line 954 of file SdoDictionary.mh.

SYS_LED_1_CONTROL

#define SYS_LED_1_CONTROL   111

Control LED state.

Value 0x00000fmm,
where mm is the mode, and f is the blink frequency in Hz. Possible modes: #define LED_MODE_OFF 0 #define LED_MODE_ON 1 #define LED_MODE_BLINK 2 #define LED_MODE_SINGLEFLASH 3 #define LED_MODE_DUALFLASH 4 #define LED_MODE_TRIPLEFLASH 5

Definition at line 968 of file SdoDictionary.mh.

SYS_LED_2_CONTROL

#define SYS_LED_2_CONTROL   112

Control LED state.

Value 0x00000fmm,
where mm is the mode, and f is the blink frequency in Hz. Possible modes: #define LED_MODE_OFF 0 #define LED_MODE_ON 1 #define LED_MODE_BLINK 2 #define LED_MODE_SINGLEFLASH 3 #define LED_MODE_DUALFLASH 4 #define LED_MODE_TRIPLEFLASH 5

Definition at line 982 of file SdoDictionary.mh.

SYS_LED_3_CONTROL

#define SYS_LED_3_CONTROL   113

Control LED state.

Value 0x00000fmm,
where mm is the mode, and f is the blink frequency in Hz. Possible modes: #define LED_MODE_OFF 0 #define LED_MODE_ON 1 #define LED_MODE_BLINK 2 #define LED_MODE_SINGLEFLASH 3 #define LED_MODE_DUALFLASH 4 #define LED_MODE_TRIPLEFLASH 5

Definition at line 996 of file SdoDictionary.mh.

SYS_LED_4_CONTROL

#define SYS_LED_4_CONTROL   114

Control LED state.

Value 0x00000fmm,
where mm is the mode, and f is the blink frequency in Hz. Possible modes: #define LED_MODE_OFF 0 #define LED_MODE_ON 1 #define LED_MODE_BLINK 2 #define LED_MODE_SINGLEFLASH 3 #define LED_MODE_DUALFLASH 4 #define LED_MODE_TRIPLEFLASH 5

Definition at line 1010 of file SdoDictionary.mh.

SYS_LED_5_CONTROL

#define SYS_LED_5_CONTROL   115

Control LED state.

Value 0x00000fmm,
where mm is the mode, and f is the blink frequency in Hz. Possible modes: #define LED_MODE_OFF 0 #define LED_MODE_ON 1 #define LED_MODE_BLINK 2 #define LED_MODE_SINGLEFLASH 3 #define LED_MODE_DUALFLASH 4 #define LED_MODE_TRIPLEFLASH 5

Definition at line 1024 of file SdoDictionary.mh.

SYS_MAX_ANIN

#define SYS_MAX_ANIN   52

Number of analog input modules.

Definition at line 1420 of file SdoDictionary.mh.

SYS_MAX_ANOUT

#define SYS_MAX_ANOUT   53

Number of analog output modules.

Definition at line 1425 of file SdoDictionary.mh.

SYS_MAX_AXES

#define SYS_MAX_AXES   5

Number of axes available.

Definition at line 1229 of file SdoDictionary.mh.

SYS_MAX_BRENCREF

#define SYS_MAX_BRENCREF   54

Number of bridges Enc-Ref.

Definition at line 1430 of file SdoDictionary.mh.

SYS_MAX_BRREFENC

#define SYS_MAX_BRREFENC   55

Number of bridges Ref-Enc.

Definition at line 1435 of file SdoDictionary.mh.

SYS_MAX_BUSINFO

#define SYS_MAX_BUSINFO   56

Number of businfos.

Definition at line 1440 of file SdoDictionary.mh.

SYS_MAX_BUSMOD

#define SYS_MAX_BUSMOD   60

Number of bus modules.

Definition at line 1460 of file SdoDictionary.mh.

SYS_MAX_CANBUS

#define SYS_MAX_CANBUS   66

Number of physical CAN busses.

Definition at line 1496 of file SdoDictionary.mh.

SYS_MAX_CNTABS

#define SYS_MAX_CNTABS   43

Number of H/W absolute counters.

Definition at line 1373 of file SdoDictionary.mh.

SYS_MAX_CNTINC

#define SYS_MAX_CNTINC   42

Number of H/W incremental counters.

Definition at line 1368 of file SdoDictionary.mh.

SYS_MAX_CNTUNI

#define SYS_MAX_CNTUNI   44

Number of H/W universal counters.

Definition at line 1378 of file SdoDictionary.mh.

SYS_MAX_COMPARATORS

#define SYS_MAX_COMPARATORS   45

Number of H/W comparators.

Definition at line 1383 of file SdoDictionary.mh.

SYS_MAX_DDS

#define SYS_MAX_DDS   48

Number of DDS modules.

Definition at line 1398 of file SdoDictionary.mh.

SYS_MAX_DIGIN

#define SYS_MAX_DIGIN   50

Number of digital input modules.

Each input module has 32 inputs.

Definition at line 1409 of file SdoDictionary.mh.

SYS_MAX_DIGOUT

#define SYS_MAX_DIGOUT   51

Number of digital output modules.

Each output module has 32 outputs.

Definition at line 1415 of file SdoDictionary.mh.

SYS_MAX_DIM_ARRAYS

#define SYS_MAX_DIM_ARRAYS   28

Maximum allowed number of DIM arrays.

Definition at line 1343 of file SdoDictionary.mh.

SYS_MAX_ENCODER

#define SYS_MAX_ENCODER   41

Number of H/W encoders.

Definition at line 1363 of file SdoDictionary.mh.

SYS_MAX_HALL

#define SYS_MAX_HALL   58

Number of Hall input modules.

Definition at line 1450 of file SdoDictionary.mh.

SYS_MAX_LATCH

#define SYS_MAX_LATCH   46

Number of H/W latches.

Definition at line 1388 of file SdoDictionary.mh.

SYS_MAX_LOOPTIME

#define SYS_MAX_LOOPTIME   28

Maximum loop time.

This is the maximum period since power-on between two calls of the internal wait loop.

Units

ms

Definition at line 445 of file SdoDictionary.mh.

SYS_MAX_MACHINES

#define SYS_MAX_MACHINES   67

Number of Machine Modules.

Definition at line 1501 of file SdoDictionary.mh.

SYS_MAX_PDO_SDO_SIZE

#define SYS_MAX_PDO_SDO_SIZE   63

Returns the max size of a "simple serial" telegram on this controller.

Definition at line 1481 of file SdoDictionary.mh.

SYS_MAX_PULSGEN

#define SYS_MAX_PULSGEN   49

Number of pulse generators.

Definition at line 1403 of file SdoDictionary.mh.

SYS_MAX_PWMGEN

#define SYS_MAX_PWMGEN   59

Number of PWM Generator modules.

Definition at line 1455 of file SdoDictionary.mh.

SYS_MAX_REFBUS

#define SYS_MAX_REFBUS   57

Number of Refbus.

Definition at line 1445 of file SdoDictionary.mh.

SYS_MAX_SHIFTREG

#define SYS_MAX_SHIFTREG   61

Number of shift registers.

Definition at line 1465 of file SdoDictionary.mh.

SYS_MAX_SIGGEN

#define SYS_MAX_SIGGEN   47

Number of H/W signal generators.

Definition at line 1393 of file SdoDictionary.mh.

SYS_MAX_VIRTAMP

#define SYS_MAX_VIRTAMP   23

Number of virtual amplifiers.

Definition at line 1318 of file SdoDictionary.mh.

SYS_MAX_VIRTANIN

#define SYS_MAX_VIRTANIN   26

Number of virtual analog inputs.

Definition at line 1333 of file SdoDictionary.mh.

SYS_MAX_VIRTANOUT

#define SYS_MAX_VIRTANOUT   27

Number of virtual analog outputs.

Definition at line 1338 of file SdoDictionary.mh.

SYS_MAX_VIRTCOUNTIN

#define SYS_MAX_VIRTCOUNTIN   21

Number of virtual counter inputs.

Definition at line 1308 of file SdoDictionary.mh.

SYS_MAX_VIRTCUSTOMMOD

#define SYS_MAX_VIRTCUSTOMMOD   29

Maximum allowed number of virtual customer modules.

Definition at line 1348 of file SdoDictionary.mh.

SYS_MAX_VIRTDIGIN

#define SYS_MAX_VIRTDIGIN   24

Number of virtual digital inputs.

Definition at line 1323 of file SdoDictionary.mh.

SYS_MAX_VIRTDIGOUT

#define SYS_MAX_VIRTDIGOUT   25

Number of virtual digital outputs.

Definition at line 1328 of file SdoDictionary.mh.

SYS_MAX_VIRTLATCH

#define SYS_MAX_VIRTLATCH   22

Number of virtual inputs.

Definition at line 1313 of file SdoDictionary.mh.

SYS_MAX_VIRTMAST

#define SYS_MAX_VIRTMAST   20

Number of virtual masters.

Definition at line 1303 of file SdoDictionary.mh.

SYS_MAX_VIRTMATH

#define SYS_MAX_VIRTMATH   30

Maximum allowed number of virtual math modules.

Definition at line 1353 of file SdoDictionary.mh.

SYS_MAX_XTLG_SIZE

#define SYS_MAX_XTLG_SIZE   64

Returns the max size for X-Telegrams.

Definition at line 1486 of file SdoDictionary.mh.

SYS_MAXAX

#define SYS_MAXAX   25

Maximum number of axes.

SDO 0x2209/5 should be used instead of this value.

Definition at line 415 of file SdoDictionary.mh.

SYS_MAXCURINT_DIFF

#define SYS_MAXCURINT_DIFF   140

Returns the maximum difference between this and the last current control interrupt in microseconds.

Definition at line 1166 of file SdoDictionary.mh.

SYS_MAXCURINT_LENGTH

#define SYS_MAXCURINT_LENGTH   138

Returns the max duration of the last current control interrupt in microseconds.

Clear by reading.

Definition at line 1156 of file SdoDictionary.mh.

SYS_MAXPRETIMEINT_DIFF

#define SYS_MAXPRETIMEINT_DIFF   128

Returns the max difference between this and the last pre-ms-interrupt in microseconds.

Definition at line 1100 of file SdoDictionary.mh.

SYS_MAXPRETIMEINT_LENGTH

#define SYS_MAXPRETIMEINT_LENGTH   126

Returns the max length of the last pre-ms-interrupt in microseconds.

Clear by reading.

Definition at line 1090 of file SdoDictionary.mh.

SYS_MAXTIMEINT_DIFF

#define SYS_MAXTIMEINT_DIFF   129

Returns the max difference between this and the last ms-interrupt in microseconds.

Definition at line 1105 of file SdoDictionary.mh.

SYS_MAXTIMEINT_LENGTH

#define SYS_MAXTIMEINT_LENGTH   41

Maximum duration of the ms-interrupt.

This is the maximum duration since the last read. The value is reset to 0 after every read. Also see SYS_TIMEINT_LENGTH (subindex 28).

Units

µs

Definition at line 532 of file SdoDictionary.mh.

SYS_NC_0

#define SYS_NC_0   30

Definition at line 454 of file SdoDictionary.mh.

SYS_NUMBER_OF_INTEGRATED_AMPLIFIERS

#define SYS_NUMBER_OF_INTEGRATED_AMPLIFIERS   10

Number of integrated amplifiers.

Definition at line 1262 of file SdoDictionary.mh.

SYS_OUTBYTE_0

#define SYS_OUTBYTE_0   10

Digital output state (Byte 0 = Output 1-8)

For MACS5 and newer controllers, use PO_VIRTDIGOUT_VALBYTEn (SDO 0x2D40+n/4).

Definition at line 329 of file SdoDictionary.mh.

SYS_OUTBYTE_1

#define SYS_OUTBYTE_1   11

Digital output state (Byte 1 = Output 9-16)

For MACS5 and newer controllers, use PO_VIRTDIGOUT_VALBYTEn (SDO 0x2D40+n/4).

Definition at line 335 of file SdoDictionary.mh.

SYS_OUTBYTE_2

#define SYS_OUTBYTE_2   12

Digital output state (Byte 2 = Output 17-24)

For MACS5 and newer controllers, use PO_VIRTDIGOUT_VALBYTEn (SDO 0x2D40+n/4).

Definition at line 341 of file SdoDictionary.mh.

SYS_OUTBYTE_3

#define SYS_OUTBYTE_3   13

Digital output state (Byte 3 = Output 25-32)

For MACS5 and newer controllers, use PO_VIRTDIGOUT_VALBYTEn (SDO 0x2D40+n/4).

Definition at line 347 of file SdoDictionary.mh.

SYS_OUTBYTE_4

#define SYS_OUTBYTE_4   14

Digital output state (Byte 4 = Output 33-40)

For MACS5 and newer controllers, use PO_VIRTDIGOUT_VALBYTEn (SDO 0x2D40+n/4).

Definition at line 353 of file SdoDictionary.mh.

SYS_OUTBYTE_5

#define SYS_OUTBYTE_5   15

Digital output state (Byte 5= Output 41-48)

For MACS5 and newer controllers, use PO_VIRTDIGOUT_VALBYTEn (SDO 0x2D40+n/4).

Definition at line 359 of file SdoDictionary.mh.

SYS_OUTBYTE_6

#define SYS_OUTBYTE_6   16

Digital output state (Byte 6 = Output 49-56)

For MACS5 and newer controllers, use PO_VIRTDIGOUT_VALBYTEn (SDO 0x2D40+n/4).

Definition at line 365 of file SdoDictionary.mh.

SYS_OUTBYTE_7

#define SYS_OUTBYTE_7   17

Digital output state (Byte 7 = Output 57-64)

For MACS5 and newer controllers, use PO_VIRTDIGOUT_VALBYTEn (SDO 0x2D40+n/4).

Definition at line 371 of file SdoDictionary.mh.

SYS_PLATFORM

#define SYS_PLATFORM   71

Returns the platform number.

13 - MACS5 18 - MasterMACS 19 - MiniMACS 22 - MiniMACS6 23 - PcEnc 24 - DDE-V75 25 - MicroMACS6 26 - MACS6-AMP5 OEM

Definition at line 1534 of file SdoDictionary.mh.

SYS_PRETIMEINT_DIFF

#define SYS_PRETIMEINT_DIFF   127

Returns the difference between this and the last pre-ms-interrupt in microseconds.

Definition at line 1095 of file SdoDictionary.mh.

SYS_PRETIMEINT_LENGTH

#define SYS_PRETIMEINT_LENGTH   125

Returns the length of the last pre-ms-interrupt in microseconds.

Definition at line 1085 of file SdoDictionary.mh.

SYS_PROCESS

#define SYS_PROCESS

(

parno

)

Sysvar[SYS_PROCESS_INDEX(parno)]

System Process Data: Setter.

Parameters

parno

Parameter number

Examples

CAN_1Ax_DS402_ProfilePositionMode-ppm-Test.mc, CAN_1Ax_DS402_ProfileVelocityMode-pvm-Test.mc, CAN_1Ax_EPOS4-Test_csp.mc, CAN_1Ax_EPOS4-Test_cst.mc, CAN_1Ax_EPOS4-Test_csv.mc, CAN_2Ax_EPOS4-Test_csp.mc, CAN_4Ax_MiniMACS6_csp.mc, CAN_4Ax_MiniMACS6_cst.mc, CAN_4Ax_MiniMACS6_csv.mc, CAN_MultipleAx_DS402_ProfilePositionMode-ppm-Test.mc, and DeltaRobot_No_SM_EPOS4_ECAT.mc.

Definition at line 271 of file SdoDictionary.mh.

SYS_PROCESS_INDEX

#define SYS_PROCESS_INDEX

(

parno

)

((0x01000000 | (SDOINDEX_SYS_PROCESS<<8)) | ((long) (parno)))

System Process Data: Getter.

Parameters

parno

Parameter number

Definition at line 261 of file SdoDictionary.mh.

SYS_PROCESS_MAX

#define SYS_PROCESS_MAX   143

System Process Data: Maximum number of parameters.

Definition at line 275 of file SdoDictionary.mh.

SYS_PROCESS_SRCINDEX

#define SYS_PROCESS_SRCINDEX

(

parno

)

((SDOINDEX_SYS_PROCESS<<8) | ((long) (parno)))

System Process Data: Source Index.

Parameters

parno

Parameter number

Definition at line 266 of file SdoDictionary.mh.

SYS_RELEASE_TYPE

#define SYS_RELEASE_TYPE   72

Returns the release type.

0 - Release n - Release Candidate n 99 - Test build

Definition at line 1542 of file SdoDictionary.mh.

SYS_RTC_DATE

#define SYS_RTC_DATE   120

Real time date in format yyyymmdd (decimal).

E.g. 20160209 = Sept 2nd 2016

Definition at line 1060 of file SdoDictionary.mh.

SYS_RTC_TIME

#define SYS_RTC_TIME   121

Real time in format hhmmss.

Definition at line 1065 of file SdoDictionary.mh.

SYS_SD_CARD_STATUS

#define SYS_SD_CARD_STATUS   16

SD Card status.

0 = Not inserted 1 = Inserted ( insertion status is only checked at startup)

Definition at line 1298 of file SdoDictionary.mh.

SYS_STACKMAX

#define SYS_STACKMAX   133

Maximum stack usage of running Aposs program (or last program to run)

Definition at line 1129 of file SdoDictionary.mh.

SYS_STACKSIZE

#define SYS_STACKSIZE   51

Stack size of running Aposs program (or last program to run)

Definition at line 609 of file SdoDictionary.mh.

SYS_STACKUSAGE

#define SYS_STACKUSAGE   132

Current stack usage of running Aposs program (or last program to run)

Definition at line 1124 of file SdoDictionary.mh.

SYS_TEMPERATURE

#define SYS_TEMPERATURE   135

Temperature of the PCB in 1/100th Degrees Celsius.

Units

Celsius * 0.01

Definition at line 1141 of file SdoDictionary.mh.

SYS_TG_VERSION

#define SYS_TG_VERSION   73

Returns the version of the trajectory generator library.

Definition at line 1547 of file SdoDictionary.mh.

SYS_TIME_DAY

#define SYS_TIME_DAY   118

Day value of the time stamp structure.

Those two objects contain the internal TIME object received by a time stamp. SYS_TIME_DAY – days since 1984-1-1 SYS_TIME_TOD – TimeOfDay (ms) this is really ms. In contrary to SYS_CLOCK which starts when you power on and which is not corrected.
That means it is system clock which is nearly 1 ms, but not necessarily exact (MACS3 for example 1 clock is 1.024 ms, MACS5 1 clock is 1 ms).
If you want to write those internal objects, than you have to obey a certain order. That means it should look like
SYS_PROCESS(SYS_TIME_DAY) = 5000 SYS_PROCESS(SYS_TIME_TOD) = 12000

Definition at line 1048 of file SdoDictionary.mh.

SYS_TIME_TOD

#define SYS_TIME_TOD   119

Time of day (from beginning of day)

Units

ms

Definition at line 1055 of file SdoDictionary.mh.

SYS_TIMEINT_DIFF

#define SYS_TIMEINT_DIFF   104

Time between the last two millisecond interrupts.

Units

µs

Definition at line 940 of file SdoDictionary.mh.

SYS_TIMEINT_LENGTH

#define SYS_TIMEINT_LENGTH   27

Duration of the last ms-interrupt.

Also see SYS_MAXTIMEINT_LENGTH (subindex 41).

Units

µs

Definition at line 437 of file SdoDictionary.mh.

SYS_TIMER_GETDAY

#define SYS_TIMER_GETDAY   122

Returns the day information (days since 1984-1-1), at which the controller started up.

Definition at line 1070 of file SdoDictionary.mh.

SYS_TIMER_GETTIMEOFDAY

#define SYS_TIMER_GETTIMEOFDAY   123

Returns the timeclk information (seconds since start of this day), at which the controller started up.

Definition at line 1075 of file SdoDictionary.mh.

SYS_UART_BYTECOUNT

#define SYS_UART_BYTECOUNT   70

Definition at line 744 of file SdoDictionary.mh.

SYS_UNIQUE_ID1

#define SYS_UNIQUE_ID1   75

SYS_UNIQUE_ID1 and SYS_UNIQUE_ID2 are together the unique ID for the controller.

Note that this is independent from serial number.

Definition at line 1559 of file SdoDictionary.mh.

SYS_UNIQUE_ID2

#define SYS_UNIQUE_ID2   76

SYS_UNIQUE_ID1 and SYS_UNIQUE_ID2 are together the unique ID for the controller.

Note that this is independent from serial number.

Definition at line 1565 of file SdoDictionary.mh.

SYS_US_TIMER

#define SYS_US_TIMER   62

Internal microsecond time base.

Units

µs

Definition at line 695 of file SdoDictionary.mh.

SYS_USRSTAT

#define SYS_USRSTAT   24

User status.

User status (one byte) which can be set by the USRSTAT command and is returned in the status field of communication telegrams.

Definition at line 409 of file SdoDictionary.mh.

SYS_ZB_AMP_NO

#define SYS_ZB_AMP_NO   40

Number of H/W amplifiers.

Definition at line 1358 of file SdoDictionary.mh.

TESTTIM

#define TESTTIM   25

Measuring time in target window.

Initial Value

0

Value Range

0-10

Units

ms

Definition at line 2539 of file SdoDictionary.mh.

TESTVAL

#define TESTVAL   26

Limit value for readings in target window.

Initial Value

1

Value Range

1-10000

Units

qc

Definition at line 2550 of file SdoDictionary.mh.

TESTWIN

#define TESTWIN   9

Size of the target window.

0 = Off

Initial Value

0

Value Range

0-10000

Units

qc

Definition at line 2373 of file SdoDictionary.mh.

TIMER

#define TIMER   15

Parameter for determining the sampling time of the position control algorithm.

Initial Value

1

Value Range

0-1000

Units

ms

Definition at line 2433 of file SdoDictionary.mh.

USER_PARAM

#define USER_PARAM

(

parno

)

Sysvar[USER_PARAM_INDEX(parno)]

User Parameters: Setter.

Parameters

parno

Parameter number

Examples

PWM_1Ax_ESCON.mc.

Definition at line 244 of file SdoDictionary.mh.

USER_PARAM_INDEX

#define USER_PARAM_INDEX

(

parno

)

((0x01000000 | (SDOINDEX_USER_PARAM<<8)) | ((long) (parno)))

User Parameters: Getter.

Parameters

parno

Parameter number

Definition at line 234 of file SdoDictionary.mh.

USER_PARAM_MAX

#define USER_PARAM_MAX   101

User Parameters: Maximum number of parameters.

Definition at line 248 of file SdoDictionary.mh.

USER_PARAM_SRCINDEX

#define USER_PARAM_SRCINDEX

(

parno

)

((SDOINDEX_USER_PARAM<<8) | ((long) (parno)))

User Parameters: Source Index.

Parameters

parno

Parameter number

Definition at line 239 of file SdoDictionary.mh.

VELMAX

#define VELMAX   2

Rated speed of drive.

Initial Value

1000

Value Range

1-65535

Units

rpm

Examples

DeltaRobot_No_SM_EPOS4_ECAT.mc.

Definition at line 2308 of file SdoDictionary.mh.

VELMAXQC

#define VELMAXQC   10

Maximum velocity.

Maximum speed in internal units. For internal use only. Do NOT use this value! Use VELMAX (subindex 2) instead.

Initial Value

2184533

Value Range

1-MLONG

Definition at line 2384 of file SdoDictionary.mh.

VELRES

#define VELRES   23

Velocity resolution.

Scaling used for the velocity and acceleration/deceleration commands. (100 i.e. percentage)

Initial Value

100

Value Range

1-100000

Definition at line 2517 of file SdoDictionary.mh.

VIRTAMP_CNTRLW_PWROFF

#define VIRTAMP_CNTRLW_PWROFF   31

Controlword to use in power off state.

This value will be written to PO_VIRTAMP_CMDWORD, when the amplifier is in OFF mode.

Initial Value

0

Value Range

0-65535

Definition at line 5355 of file SdoDictionary.mh.

VIRTAMP_CNTRLW_PWRONDIS

#define VIRTAMP_CNTRLW_PWRONDIS   32

Controlword to use in power on disable state.

This value will be written to PO_VIRTAMP_CMDWORD, when the amplifier is in Power On Disable mode.

Initial Value

0

Value Range

0-65535

Definition at line 5365 of file SdoDictionary.mh.

VIRTAMP_CNTRLW_PWRONENN

#define VIRTAMP_CNTRLW_PWRONENN   34

Controlword to use in power on enable negative direction state (could be same as above)

This value will be written to PO_VIRTAMP_CMDWORD, when the amplifier is in Power On Enable (negative direction) mode.

Initial Value

0

Value Range

0-65535

Examples

DeltaRobot_No_SM_EPOS4_ECAT.mc.

Definition at line 5385 of file SdoDictionary.mh.

VIRTAMP_CNTRLW_PWRONENP

#define VIRTAMP_CNTRLW_PWRONENP   33

Controlword to use in power on enable positive direction state.

This value will be written to PO_VIRTAMP_CMDWORD, when the amplifier is in Power On Enable (positive direction) mode.

Initial Value

0

Value Range

0-65535

Examples

DeltaRobot_No_SM_EPOS4_ECAT.mc.

Definition at line 5375 of file SdoDictionary.mh.

VIRTAMP_CNTRLW_QUICKSTOP

#define VIRTAMP_CNTRLW_QUICKSTOP   35

Controlword to stop drive with internal ramps.

This value will be written to PO_VIRTAMP_CMDWORD, when the amplifier is in Quick Stop mode.

Initial Value

0

Value Range

0-65535

Definition at line 5395 of file SdoDictionary.mh.

VIRTAMP_CNTRLW_RESET

#define VIRTAMP_CNTRLW_RESET   36

Controlword to reset from error.

This value will be written to PO_VIRTAMP_CMDWORD, when the amplifier is in Error Reset mode.

Initial Value

256

Value Range

0-65535

Definition at line 5405 of file SdoDictionary.mh.

VIRTAMP_DRIVETYPE

#define VIRTAMP_DRIVETYPE   30

Predefined drivetype.

Legacy parameter to set up predefined parameters for specific drives.

Initial Value

0

Value Range

0-65535

Definition at line 5345 of file SdoDictionary.mh.

VIRTAMP_ERROR_BITMASK

#define VIRTAMP_ERROR_BITMASK   47

Bitmask to detect error condition.

Bitmask which is applied to the value delivered by VIRTAMP_PISRC_STATUS to detect error condition of HW amplifier.

Initial Value

0

Definition at line 5510 of file SdoDictionary.mh.

VIRTAMP_ERROR_HWAMP

#define VIRTAMP_ERROR_HWAMP   0x0001

Definition at line 6497 of file SdoDictionary.mh.

VIRTAMP_ERROR_I2T

#define VIRTAMP_ERROR_I2T   0x0002

Definition at line 6498 of file SdoDictionary.mh.

VIRTAMP_ERROR_NOTREADY

#define VIRTAMP_ERROR_NOTREADY   0x0004

Definition at line 6499 of file SdoDictionary.mh.

VIRTAMP_ERROR_POLARITY

#define VIRTAMP_ERROR_POLARITY   48

Polarity of Error Bit.

0 = If the value delivered by VIRTAMP_PISRC_STATUS & VIRTAMP_ERROR_BITMASK is 0, an axis error will be issued. 1 = If the value is != 0, an axis error will be issued.

Initial Value

1

Value Range

0,1

Definition at line 5521 of file SdoDictionary.mh.

VIRTAMP_I2TLIMIT

#define VIRTAMP_I2TLIMIT   49

I2T Limit value.

If zero, then no calculation is done.

Initial Value

0

Value Range

0-655535

Units

mA²*1000

Definition at line 5533 of file SdoDictionary.mh.

VIRTAMP_I2TTIME

#define VIRTAMP_I2TTIME   44

I2T Time interval for filtering.

If zero, then no calculation is done.

Initial Value

0

Value Range

0-1000

Units

ms

Definition at line 5479 of file SdoDictionary.mh.

VIRTAMP_INVERT

#define VIRTAMP_INVERT   43

Output reference reversion.

1 = Normal direction -1 = Invert direction

Initial Value

1

Value Range

-1,1

Definition at line 5467 of file SdoDictionary.mh.

VIRTAMP_MODE

#define VIRTAMP_MODE   1

Mode of operation.

0 = Disabled 1 = Enabled (disabling saves about 10µs of execution time per virtamp)

Initial Value

1

Definition at line 5293 of file SdoDictionary.mh.

VIRTAMP_MODE_DISABLE

#define VIRTAMP_MODE_DISABLE   0

Definition at line 5580 of file SdoDictionary.mh.

VIRTAMP_MODE_ENABLE

#define VIRTAMP_MODE_ENABLE   1

Definition at line 5581 of file SdoDictionary.mh.

VIRTAMP_PARAM

#define VIRTAMP_PARAM	(		modno,
			parno
	)		Sysvar[VIRTAMP_PARAM_INDEX((modno),(parno))]

Virtual Amplifier Parameters: Setter.

Parameters

modno	Module number
parno	Parameter number

Examples

DeltaRobot_No_SM_EPOS4_ECAT.mc.

Definition at line 5280 of file SdoDictionary.mh.

VIRTAMP_PARAM_INDEX

#define VIRTAMP_PARAM_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_VIRTAMP_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Amplifier Parameters: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 5268 of file SdoDictionary.mh.

VIRTAMP_PARAM_MAX

#define VIRTAMP_PARAM_MAX   54

Virtual Amplifier Parameters: Maximum number of parameters.

Definition at line 5284 of file SdoDictionary.mh.

VIRTAMP_PARAM_SRCINDEX

#define VIRTAMP_PARAM_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_VIRTAMP_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Amplifier Parameters: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 5274 of file SdoDictionary.mh.

VIRTAMP_PISRC_CMDWORD

#define VIRTAMP_PISRC_CMDWORD   10

Index/subindex of command word.

Initial Value

REG_CNTRLWORD+n

Definition at line 5300 of file SdoDictionary.mh.

VIRTAMP_PISRC_CURRENT

#define VIRTAMP_PISRC_CURRENT   20

Index/subindex of current.

Initial Value

PO_HWAMP_CURRENT+n

Definition at line 5328 of file SdoDictionary.mh.

VIRTAMP_PISRC_REFACC

#define VIRTAMP_PISRC_REFACC   13

Index/subindex of acceleration/current reference.

Initial Value

PID_FFACCPART+n

Definition at line 5321 of file SdoDictionary.mh.

VIRTAMP_PISRC_REFPOS

#define VIRTAMP_PISRC_REFPOS   11

Index/subindex of position reference.

Initial Value

REG_COMPOS+n

Definition at line 5307 of file SdoDictionary.mh.

VIRTAMP_PISRC_REFVEL

#define VIRTAMP_PISRC_REFVEL   12

Index/subindex of velocity reference.

Initial Value

REG_REFERENCE+n

Definition at line 5314 of file SdoDictionary.mh.

VIRTAMP_PISRC_STATUS

#define VIRTAMP_PISRC_STATUS   21

Index/subindex of status.

Initial Value

PO_HWAMP_STATUS+n

Definition at line 5335 of file SdoDictionary.mh.

VIRTAMP_PROCESS

#define VIRTAMP_PROCESS	(		modno,
			parno
	)		Sysvar[VIRTAMP_PROCESS_INDEX((modno),(parno))]

Virtual Amplifier Process Data: Setter.

Parameters

modno	Module number
parno	Parameter number

Examples

CAN_4Ax_MiniMACS6_cst.mc.

Definition at line 6410 of file SdoDictionary.mh.

VIRTAMP_PROCESS_INDEX

#define VIRTAMP_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_VIRTAMP_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Amplifier Process Data: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 6398 of file SdoDictionary.mh.

VIRTAMP_PROCESS_MAX

#define VIRTAMP_PROCESS_MAX   16

Virtual Amplifier Process Data: Maximum number of parameters.

Definition at line 6414 of file SdoDictionary.mh.

VIRTAMP_PROCESS_SRCINDEX

#define VIRTAMP_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_VIRTAMP_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Amplifier Process Data: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 6404 of file SdoDictionary.mh.

VIRTAMP_READY_BITMASK

#define VIRTAMP_READY_BITMASK   51

Bitmask to detect drive ready condition.

Bitmask which is applied to the value delivered by VIRTAMP_PISRC_STATUS to detect drive ready to switch on condition of HW amplifier. The AxisControl command will block until this bit is set.

Initial Value

0x10000

Definition at line 5555 of file SdoDictionary.mh.

VIRTAMP_READY_POLARITY

#define VIRTAMP_READY_POLARITY   52

Polarity of Ready Bit.

0 = If the value delivered by VIRTAMP_PISRC_STATUS & VIRTAMP_ERROR_BITMASK is 0, the drive is regarded as ready to switch on 1 = If the above value is != 0, the drive is regarded as ready to switch on. See VIRTAMP_READY_POLARITY and PO_VIRTAMP_ERROR

Initial Value

0

Definition at line 5565 of file SdoDictionary.mh.

VIRTAMP_REF100PERC

#define VIRTAMP_REF100PERC   40

Output reference value to use at 100 percent.

Initial Value

0xFFFFF

Definition at line 5442 of file SdoDictionary.mh.

VIRTAMP_REFACC100PERC

#define VIRTAMP_REFACC100PERC   50

Acceleration reference value (PO_VIRTAMP_REFACC) at full acceleration.

This value will be achieved when the drive accelerates with a ramp of time RAMPMIN. See axis parameters KFFACC and KFFDEC. For internal amplifiers, the value is in unit 2mA. E.g. if the parameter value is 1000, this means 2000mA of forward value at full acceleration (ramp with time RAMPMIN). For bus drives, the value should be set to the expected value at full acceleration (according to RAMPMIN).

Initial Value

0xFFFFF

Units

mA

Definition at line 5546 of file SdoDictionary.mh.

VIRTAMP_REFLIMIT

#define VIRTAMP_REFLIMIT   41

Output reference limit.

Initial Value

0

Definition at line 5449 of file SdoDictionary.mh.

VIRTAMP_REFOFFSET

#define VIRTAMP_REFOFFSET   42

Offset to add to output reference.

Initial Value

0

Definition at line 5456 of file SdoDictionary.mh.

VIRTAMP_REFOUTN

#define VIRTAMP_REFOUTN   39

Number of output which must be set if reference is negative (reset if positive)

Number of output which must be set if reference is negative (reset if positive). 1 = digital output 1, etc.

Initial Value

0

Value Range

0-8

Definition at line 5435 of file SdoDictionary.mh.

VIRTAMP_REFOUTP

#define VIRTAMP_REFOUTP   38

Digital output for positive direction signal.

Usage for "direction positive" signal: Number of digital output which must be set if reference is positive (reset if negative). 1 = digital output 1, etc. Usage for "enable" signal: Set VIRTAMP_REFOUTP and VIRTAMP_REFOUTN to the same number (1 = digital output 1, etc.). Output will be HIGH when drive is enabled, LOW otherwise.

Initial Value

0

Value Range

0-8

Definition at line 5425 of file SdoDictionary.mh.

VIRTAMP_REFTYPE

#define VIRTAMP_REFTYPE   37

Type of reference.

0 = +/- reference 1 = Positive reference only

Initial Value

0

Definition at line 5414 of file SdoDictionary.mh.

VIRTAMP_REVERSE

#define VIRTAMP_REVERSE   46

Reversing allowed.

0 = Positive and negative reference allowed 1 = Only positive output, negative is set to zero

Initial Value

0

Value Range

0,1

Definition at line 5502 of file SdoDictionary.mh.

VIRTAMP_STOPDELAY

#define VIRTAMP_STOPDELAY   45

Delay after a STOP command.

Delay before the reference value is set to zero after a STOP command occurred. (Some FC don't like it, if reference is going to zero at the same time when stop is transmitted.)

Initial Value

0

Value Range

0-1000

Units

ms

Definition at line 5491 of file SdoDictionary.mh.

VIRTAMP_TORQUE_CONST

#define VIRTAMP_TORQUE_CONST   53

Represents the motor’s torque constant.

Initial Value

10000

Value Range

1-65535

Units

uNm/A

Examples

CAN_4Ax_MiniMACS6_csp.mc, CAN_4Ax_MiniMACS6_cst.mc, and CAN_4Ax_MiniMACS6_csv.mc.

Definition at line 5576 of file SdoDictionary.mh.

VIRTANIN_DIG_OFFSET

#define VIRTANIN_DIG_OFFSET   32

Offset value.

This factor can be used to add an offset to the analog value. See main description of the module.

Initial Value

0xFFFFFC00

Definition at line 5736 of file SdoDictionary.mh.

VIRTANIN_PARAM

#define VIRTANIN_PARAM	(		modno,
			parno
	)		Sysvar[VIRTANIN_PARAM_INDEX((modno),(parno))]

Virtual Analog Input Parameters: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 5700 of file SdoDictionary.mh.

VIRTANIN_PARAM_INDEX

#define VIRTANIN_PARAM_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_VIRTANIN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Analog Input Parameters: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 5688 of file SdoDictionary.mh.

VIRTANIN_PARAM_MAX

#define VIRTANIN_PARAM_MAX   33

Virtual Analog Input Parameters: Maximum number of parameters.

Definition at line 5704 of file SdoDictionary.mh.

VIRTANIN_PARAM_SRCINDEX

#define VIRTANIN_PARAM_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_VIRTANIN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Analog Input Parameters: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 5694 of file SdoDictionary.mh.

VIRTANIN_PISRC_VALUE

#define VIRTANIN_PISRC_VALUE   10

Index/subindex of source value.

This is the source, where the analog value will be fetched from.

Initial Value

PO_HWANIN_VALUE+n

Definition at line 5712 of file SdoDictionary.mh.

VIRTANIN_PROCESS

#define VIRTANIN_PROCESS	(		modno,
			parno
	)		Sysvar[VIRTANIN_PROCESS_INDEX((modno),(parno))]

Virtual Analog Input Process Data: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 6670 of file SdoDictionary.mh.

VIRTANIN_PROCESS_INDEX

#define VIRTANIN_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_VIRTANIN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Analog Input Process Data: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 6658 of file SdoDictionary.mh.

VIRTANIN_PROCESS_MAX

#define VIRTANIN_PROCESS_MAX   8

Virtual Analog Input Process Data: Maximum number of parameters.

Definition at line 6674 of file SdoDictionary.mh.

VIRTANIN_PROCESS_SRCINDEX

#define VIRTANIN_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_VIRTANIN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Analog Input Process Data: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 6664 of file SdoDictionary.mh.

VIRTANIN_UUFACT_DIGNO

#define VIRTANIN_UUFACT_DIGNO   31

Scale factor.

This factor can be used to scale the analog value. See main description of the module.

Initial Value

0xC8CC

Definition at line 5728 of file SdoDictionary.mh.

VIRTANIN_UUFACT_UNITNO

#define VIRTANIN_UUFACT_UNITNO   30

Scale factor.

This factor can be used to scale the analog value. See main description of the module.

Initial Value

0x7FFF

Definition at line 5720 of file SdoDictionary.mh.

VIRTANOUT_PARAM

#define VIRTANOUT_PARAM	(		modno,
			parno
	)		Sysvar[VIRTANOUT_PARAM_INDEX((modno),(parno))]

Virtual Analog Output Parameters: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 5763 of file SdoDictionary.mh.

VIRTANOUT_PARAM_INDEX

#define VIRTANOUT_PARAM_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_VIRTANOUT_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Analog Output Parameters: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 5751 of file SdoDictionary.mh.

VIRTANOUT_PARAM_MAX

#define VIRTANOUT_PARAM_MAX   2

Virtual Analog Output Parameters: Maximum number of parameters.

Definition at line 5767 of file SdoDictionary.mh.

VIRTANOUT_PARAM_SRCINDEX

#define VIRTANOUT_PARAM_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_VIRTANOUT_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Analog Output Parameters: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 5757 of file SdoDictionary.mh.

VIRTANOUT_PROCESS

#define VIRTANOUT_PROCESS	(		modno,
			parno
	)		Sysvar[VIRTANOUT_PROCESS_INDEX((modno),(parno))]

Virtual Analog Output Process Data: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 6742 of file SdoDictionary.mh.

VIRTANOUT_PROCESS_INDEX

#define VIRTANOUT_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_VIRTANOUT_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Analog Output Process Data: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 6730 of file SdoDictionary.mh.

VIRTANOUT_PROCESS_MAX

#define VIRTANOUT_PROCESS_MAX   4

Virtual Analog Output Process Data: Maximum number of parameters.

Definition at line 6746 of file SdoDictionary.mh.

VIRTANOUT_PROCESS_SRCINDEX

#define VIRTANOUT_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_VIRTANOUT_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Analog Output Process Data: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 6736 of file SdoDictionary.mh.

VIRTCNTIN_INHIBIT

#define VIRTCNTIN_INHIBIT   5

Module inhibit.

The counter will stay the same as long as this parameter is set to 1.

Initial Value

0

Value Range

0,1

Definition at line 5023 of file SdoDictionary.mh.

VIRTCNTIN_MAXSTEP

#define VIRTCNTIN_MAXSTEP   30

Maximum stepsize allowed.

If position difference per millisecond is bigger than this value, then it is ignored and counter continues with last velocity.

Initial Value

0

Definition at line 5038 of file SdoDictionary.mh.

VIRTCNTIN_MODE

#define VIRTCNTIN_MODE   1

Counter mode.

Defines how the source value is handled.

0 = Position (source is a position value and difference to last value is added) 1 = Velocity (source is a velocity value and it is added as is) 2 = Simulation (source is taken as it is - e.g. COMPOS from an axis) 3 = Absolute (source is absolute and is taken as it is) 4 = Position 16bit (source is 16bit position counter, difference to last value is added to current position)

Initial Value

0

Definition at line 5003 of file SdoDictionary.mh.

VIRTCNTIN_MODE_ABSOLUTE

#define VIRTCNTIN_MODE_ABSOLUTE   0

Definition at line 5080 of file SdoDictionary.mh.

VIRTCNTIN_MODE_ABSOLUTE_16BIT

#define VIRTCNTIN_MODE_ABSOLUTE_16BIT   4

Definition at line 5084 of file SdoDictionary.mh.

VIRTCNTIN_MODE_ABSOLUTE_DIRECT

#define VIRTCNTIN_MODE_ABSOLUTE_DIRECT   3

Definition at line 5083 of file SdoDictionary.mh.

VIRTCNTIN_MODE_ABSOLUTE_DIRECT_ENDLESS

#define VIRTCNTIN_MODE_ABSOLUTE_DIRECT_ENDLESS   5

Definition at line 5085 of file SdoDictionary.mh.

VIRTCNTIN_MODE_DELTA

#define VIRTCNTIN_MODE_DELTA   1

Definition at line 5081 of file SdoDictionary.mh.

VIRTCNTIN_MODE_SIMULATION_SLAVE

#define VIRTCNTIN_MODE_SIMULATION_SLAVE   2

Definition at line 5082 of file SdoDictionary.mh.

VIRTCNTIN_MOVING_AVERAGE_N

#define VIRTCNTIN_MOVING_AVERAGE_N   36

Definition at line 5076 of file SdoDictionary.mh.

VIRTCNTIN_OVFL_FORCE

#define VIRTCNTIN_OVFL_FORCE   33

Value where counter should produce an overflow.

If this value is set, then the virtual counter forces an overflow. This functionality is e.g. used for round table applications where you want to have an overflow every 360 degree.

Initial Value

0

Definition at line 5058 of file SdoDictionary.mh.

VIRTCNTIN_OVFL_VALUE

#define VIRTCNTIN_OVFL_VALUE   32

Value (Range) where the input will overflow.

If step is bigger than half of overlow value, then we assume that an overflow happened. The overflow value is the total range of the source. If the source goes from - n to n, then the value is 2*n. If the range is 0 .. n, then the overflow value is n.
The virtual counter still delivers the position within this range but signals the overflow to the axes so that the overflow is handled correctly. If this value is 0, then no overlow handling is done.

Initial Value

0

Definition at line 5049 of file SdoDictionary.mh.

VIRTCNTIN_PISRC_COUNTER

#define VIRTCNTIN_PISRC_COUNTER   10

Index/subindex of counter source.

Initial Value

PO_HWCNTINC_VALUE+n

Examples

Maxon_RE_40_1ax_OL.mc.

Definition at line 5030 of file SdoDictionary.mh.

VIRTCNTIN_SIMULATION_SPEED

#define VIRTCNTIN_SIMULATION_SPEED   4

defines the speed when counter is in simulation mode

This parameter can be used to link to VIRTCNTIN_PISRC_COUNTER, if the encoder value shall only be simulated.

Initial Value

0

Units

qc/ms

Definition at line 5013 of file SdoDictionary.mh.

VIRTCNTIN_UUFACT_INCNO

#define VIRTCNTIN_UUFACT_INCNO   35

Conversion Factor - number of increments.

Initial Value

1

Definition at line 5074 of file SdoDictionary.mh.

VIRTCNTIN_UUFACT_UNITNO

#define VIRTCNTIN_UUFACT_UNITNO   34

Conversion Factor - number of user units.

This factor is applied to the source value in modes VIRTCNTIN_MODE_ABSOLUTE, VIRTCNTIN_MODE_ABSOLUTE_16BIT and VIRTCNTIN_MODE_DELTA. Output value = source value * VIRTCNTIN_UUFACT_UNITNO / VIRTCNTIN_UUFACT_INCNO.

Initial Value

1

Definition at line 5067 of file SdoDictionary.mh.

VIRTCOUNTIN_PARAM

#define VIRTCOUNTIN_PARAM	(		modno,
			parno
	)		Sysvar[VIRTCOUNTIN_PARAM_INDEX((modno),(parno))]

Virtual Counter Inputs parameters: Setter.

Parameters

modno	Module number
parno	Parameter number

Examples

Maxon_RE_40_1ax_OL.mc.

Definition at line 4985 of file SdoDictionary.mh.

VIRTCOUNTIN_PARAM_INDEX

#define VIRTCOUNTIN_PARAM_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_VIRTCOUNTIN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Counter Inputs parameters: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 4973 of file SdoDictionary.mh.

VIRTCOUNTIN_PARAM_MAX

#define VIRTCOUNTIN_PARAM_MAX   37

Virtual Counter Inputs parameters: Maximum number of parameters.

Definition at line 4989 of file SdoDictionary.mh.

VIRTCOUNTIN_PARAM_SRCINDEX

#define VIRTCOUNTIN_PARAM_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_VIRTCOUNTIN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Counter Inputs parameters: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 4979 of file SdoDictionary.mh.

VIRTCOUNTIN_PROCESS

#define VIRTCOUNTIN_PROCESS	(		modno,
			parno
	)		Sysvar[VIRTCOUNTIN_PROCESS_INDEX((modno),(parno))]

Virtual Counter Inputs Process Data: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 6190 of file SdoDictionary.mh.

VIRTCOUNTIN_PROCESS_INDEX

#define VIRTCOUNTIN_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_VIRTCOUNTIN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Counter Inputs Process Data: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 6178 of file SdoDictionary.mh.

VIRTCOUNTIN_PROCESS_MAX

#define VIRTCOUNTIN_PROCESS_MAX   13

Virtual Counter Inputs Process Data: Maximum number of parameters.

Definition at line 6194 of file SdoDictionary.mh.

VIRTCOUNTIN_PROCESS_SRCINDEX

#define VIRTCOUNTIN_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_VIRTCOUNTIN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Counter Inputs Process Data: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 6184 of file SdoDictionary.mh.

VIRTCUSTOM_PAR_1

#define VIRTCUSTOM_PAR_1   1

Custom parameters.

Initial Value

0

Definition at line 5804 of file SdoDictionary.mh.

VIRTCUSTOM_PAR_2

#define VIRTCUSTOM_PAR_2   2

Custom parameters.

Initial Value

0

Definition at line 5811 of file SdoDictionary.mh.

VIRTCUSTOM_PAR_3

#define VIRTCUSTOM_PAR_3   3

Custom parameters.

Initial Value

0

Definition at line 5818 of file SdoDictionary.mh.

VIRTCUSTOM_PAR_4

#define VIRTCUSTOM_PAR_4   4

Custom parameters.

Initial Value

0

Definition at line 5825 of file SdoDictionary.mh.

VIRTCUSTOM_PAR_5

#define VIRTCUSTOM_PAR_5   5

Custom parameters.

Initial Value

0

Definition at line 5832 of file SdoDictionary.mh.

VIRTCUSTOM_PAR_6

#define VIRTCUSTOM_PAR_6   6

Custom parameters.

Initial Value

0

Definition at line 5839 of file SdoDictionary.mh.

VIRTCUSTOM_PAR_7

#define VIRTCUSTOM_PAR_7   7

Custom parameters.

Initial Value

0

Definition at line 5846 of file SdoDictionary.mh.

VIRTCUSTOM_PAR_8

#define VIRTCUSTOM_PAR_8   8

Custom parameters.

Initial Value

0

Definition at line 5853 of file SdoDictionary.mh.

VIRTCUSTOM_PAR_9

#define VIRTCUSTOM_PAR_9   9

Custom parameters.

Initial Value

0

Definition at line 5860 of file SdoDictionary.mh.

VIRTCUSTOM_PARAM

#define VIRTCUSTOM_PARAM	(		modno,
			parno
	)		Sysvar[VIRTCUSTOM_PARAM_INDEX((modno),(parno))]

Virtual Customer Module Parameters: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 5793 of file SdoDictionary.mh.

VIRTCUSTOM_PARAM_INDEX

#define VIRTCUSTOM_PARAM_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_VIRTCUSTOM_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Customer Module Parameters: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 5781 of file SdoDictionary.mh.

VIRTCUSTOM_PARAM_MAX

#define VIRTCUSTOM_PARAM_MAX   20

Virtual Customer Module Parameters: Maximum number of parameters.

Definition at line 5797 of file SdoDictionary.mh.

VIRTCUSTOM_PARAM_SRCINDEX

#define VIRTCUSTOM_PARAM_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_VIRTCUSTOM_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Customer Module Parameters: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 5787 of file SdoDictionary.mh.

VIRTCUSTOM_PISRC_1

#define VIRTCUSTOM_PISRC_1   10

Custom sources.

Initial Value

0

Definition at line 5867 of file SdoDictionary.mh.

VIRTCUSTOM_PISRC_10

#define VIRTCUSTOM_PISRC_10   19

Custom sources.

Initial Value

0

Definition at line 5930 of file SdoDictionary.mh.

VIRTCUSTOM_PISRC_2

#define VIRTCUSTOM_PISRC_2   11

Custom sources.

Initial Value

0

Definition at line 5874 of file SdoDictionary.mh.

VIRTCUSTOM_PISRC_3

#define VIRTCUSTOM_PISRC_3   12

Custom sources.

Initial Value

0

Definition at line 5881 of file SdoDictionary.mh.

VIRTCUSTOM_PISRC_4

#define VIRTCUSTOM_PISRC_4   13

Custom sources.

Initial Value

0

Definition at line 5888 of file SdoDictionary.mh.

VIRTCUSTOM_PISRC_5

#define VIRTCUSTOM_PISRC_5   14

Custom sources.

Initial Value

0

Definition at line 5895 of file SdoDictionary.mh.

VIRTCUSTOM_PISRC_6

#define VIRTCUSTOM_PISRC_6   15

Custom sources.

Initial Value

0

Definition at line 5902 of file SdoDictionary.mh.

VIRTCUSTOM_PISRC_7

#define VIRTCUSTOM_PISRC_7   16

Custom sources.

Initial Value

0

Definition at line 5909 of file SdoDictionary.mh.

VIRTCUSTOM_PISRC_8

#define VIRTCUSTOM_PISRC_8   17

Custom sources.

Initial Value

0

Definition at line 5916 of file SdoDictionary.mh.

VIRTCUSTOM_PISRC_9

#define VIRTCUSTOM_PISRC_9   18

Custom sources.

Initial Value

0

Definition at line 5923 of file SdoDictionary.mh.

VIRTCUSTOM_PROCESS

#define VIRTCUSTOM_PROCESS	(		modno,
			parno
	)		Sysvar[VIRTCUSTOM_PROCESS_INDEX((modno),(parno))]

Virtual Customer Module Process Data: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 6790 of file SdoDictionary.mh.

VIRTCUSTOM_PROCESS_INDEX

#define VIRTCUSTOM_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_VIRTCUSTOM_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Customer Module Process Data: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 6778 of file SdoDictionary.mh.

VIRTCUSTOM_PROCESS_MAX

#define VIRTCUSTOM_PROCESS_MAX   21

Virtual Customer Module Process Data: Maximum number of parameters.

Definition at line 6794 of file SdoDictionary.mh.

VIRTCUSTOM_PROCESS_SRCINDEX

#define VIRTCUSTOM_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_VIRTCUSTOM_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Customer Module Process Data: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 6784 of file SdoDictionary.mh.

VIRTDIGIN_PARAM

#define VIRTDIGIN_PARAM	(		modno,
			parno
	)		Sysvar[VIRTDIGIN_PARAM_INDEX((modno),(parno))]

Virtual Digital Input Parameters: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 5607 of file SdoDictionary.mh.

VIRTDIGIN_PARAM_INDEX

#define VIRTDIGIN_PARAM_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_VIRTDIGIN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Digital Input Parameters: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 5595 of file SdoDictionary.mh.

VIRTDIGIN_PARAM_MAX

#define VIRTDIGIN_PARAM_MAX   14

Virtual Digital Input Parameters: Maximum number of parameters.

Definition at line 5611 of file SdoDictionary.mh.

VIRTDIGIN_PARAM_SRCINDEX

#define VIRTDIGIN_PARAM_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_VIRTDIGIN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Digital Input Parameters: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 5601 of file SdoDictionary.mh.

VIRTDIGIN_PISRC_MAP1

#define VIRTDIGIN_PISRC_MAP1   10

First Mapping entry for outputs (like CanOpen)

0xiiiiSSLL iiii: Index SS: Subindex LL: Length in bytes

Initial Value

PO_HWDIGIN_VALLONG/4

Definition at line 5622 of file SdoDictionary.mh.

VIRTDIGIN_PISRC_MAP2

#define VIRTDIGIN_PISRC_MAP2   11

Second Mapping entry for outputs.

Initial Value

0

Definition at line 5629 of file SdoDictionary.mh.

VIRTDIGIN_PISRC_MAP3

#define VIRTDIGIN_PISRC_MAP3   12

Third Mapping entry for outputs.

Initial Value

0

Definition at line 5636 of file SdoDictionary.mh.

VIRTDIGIN_PISRC_MAP4

#define VIRTDIGIN_PISRC_MAP4   13

Fourth Mapping entry for outputs.

Initial Value

0

Definition at line 5643 of file SdoDictionary.mh.

VIRTDIGIN_PROCESS

#define VIRTDIGIN_PROCESS	(		modno,
			parno
	)		Sysvar[VIRTDIGIN_PROCESS_INDEX((modno),(parno))]

Virtual Digital Input Process Data: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 6525 of file SdoDictionary.mh.

VIRTDIGIN_PROCESS_INDEX

#define VIRTDIGIN_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_VIRTDIGIN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Digital Input Process Data: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 6513 of file SdoDictionary.mh.

VIRTDIGIN_PROCESS_MAX

#define VIRTDIGIN_PROCESS_MAX   8

Virtual Digital Input Process Data: Maximum number of parameters.

Definition at line 6529 of file SdoDictionary.mh.

VIRTDIGIN_PROCESS_SRCINDEX

#define VIRTDIGIN_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_VIRTDIGIN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Digital Input Process Data: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 6519 of file SdoDictionary.mh.

VIRTDIGOUT_PARAM

#define VIRTDIGOUT_PARAM	(		modno,
			parno
	)		Sysvar[VIRTDIGOUT_PARAM_INDEX((modno),(parno))]

Virtual Digital Output Parameters: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 5670 of file SdoDictionary.mh.

VIRTDIGOUT_PARAM_INDEX

#define VIRTDIGOUT_PARAM_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_VIRTDIGOUT_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Digital Output Parameters: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 5658 of file SdoDictionary.mh.

VIRTDIGOUT_PARAM_MAX

#define VIRTDIGOUT_PARAM_MAX   2

Virtual Digital Output Parameters: Maximum number of parameters.

Definition at line 5674 of file SdoDictionary.mh.

VIRTDIGOUT_PARAM_SRCINDEX

#define VIRTDIGOUT_PARAM_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_VIRTDIGOUT_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Digital Output Parameters: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 5664 of file SdoDictionary.mh.

VIRTDIGOUT_PROCESS

#define VIRTDIGOUT_PROCESS	(		modno,
			parno
	)		Sysvar[VIRTDIGOUT_PROCESS_INDEX((modno),(parno))]

Virtual Digital Output Process Data: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 6598 of file SdoDictionary.mh.

VIRTDIGOUT_PROCESS_INDEX

#define VIRTDIGOUT_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_VIRTDIGOUT_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Digital Output Process Data: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 6586 of file SdoDictionary.mh.

VIRTDIGOUT_PROCESS_MAX

#define VIRTDIGOUT_PROCESS_MAX   8

Virtual Digital Output Process Data: Maximum number of parameters.

Definition at line 6602 of file SdoDictionary.mh.

VIRTDIGOUT_PROCESS_SRCINDEX

#define VIRTDIGOUT_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_VIRTDIGOUT_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Digital Output Process Data: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 6592 of file SdoDictionary.mh.

VIRTLATCH_CNTW_ACTIVE

#define VIRTLATCH_CNTW_ACTIVE   31

Control Word Active Command.

This value will be written to PO_VIRTLATCH_CMDWORD when the module is ready to process a new latch.

Initial Value

0

Definition at line 5217 of file SdoDictionary.mh.

VIRTLATCH_CNTW_CLEAR

#define VIRTLATCH_CNTW_CLEAR   30

Control Word Clear Command.

This value will be written to PO_VIRTLATCH_CMDWORD when a latch shall be acknowledged (i.e. cleared).

Initial Value

1

Definition at line 5209 of file SdoDictionary.mh.

VIRTLATCH_LATCHVALID_BITMASK

#define VIRTLATCH_LATCHVALID_BITMASK   5

Latchvalid Bitmask.

The result from VIRTLATCH_PISRC_LATCHVALID will be ANDed with this bitmask to decide if a latch should be accepted.

Initial Value

0

Definition at line 5138 of file SdoDictionary.mh.

VIRTLATCH_MODE

#define VIRTLATCH_MODE   1

Latch mode.

Initial Value

0

Definition at line 5122 of file SdoDictionary.mh.

VIRTLATCH_MODE_16BIT

#define VIRTLATCH_MODE_16BIT   3

Definition at line 5253 of file SdoDictionary.mh.

VIRTLATCH_MODE_DIRECT

#define VIRTLATCH_MODE_DIRECT   4

Definition at line 5254 of file SdoDictionary.mh.

VIRTLATCH_MODE_HARDWARE

#define VIRTLATCH_MODE_HARDWARE   0

Definition at line 5250 of file SdoDictionary.mh.

VIRTLATCH_MODE_SIMULATOR

#define VIRTLATCH_MODE_SIMULATOR   2

Definition at line 5252 of file SdoDictionary.mh.

VIRTLATCH_MODE_SOFTWARE

#define VIRTLATCH_MODE_SOFTWARE   1

Definition at line 5251 of file SdoDictionary.mh.

VIRTLATCH_OFFSET

#define VIRTLATCH_OFFSET   34

Offset which is added to latch value.

Initial Value

0

Definition at line 5232 of file SdoDictionary.mh.

VIRTLATCH_PARAM

#define VIRTLATCH_PARAM	(		modno,
			parno
	)		Sysvar[VIRTLATCH_PARAM_INDEX((modno),(parno))]

Virtual Latch Inputs Parameters: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 5111 of file SdoDictionary.mh.

VIRTLATCH_PARAM_INDEX

#define VIRTLATCH_PARAM_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_VIRTLATCH_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Latch Inputs Parameters: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 5099 of file SdoDictionary.mh.

VIRTLATCH_PARAM_MAX

#define VIRTLATCH_PARAM_MAX   37

Virtual Latch Inputs Parameters: Maximum number of parameters.

Definition at line 5115 of file SdoDictionary.mh.

VIRTLATCH_PARAM_SRCINDEX

#define VIRTLATCH_PARAM_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_VIRTLATCH_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Latch Inputs Parameters: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 5105 of file SdoDictionary.mh.

VIRTLATCH_PISRC_COUNTER

#define VIRTLATCH_PISRC_COUNTER   10

Index/subindex of counter source (attached)

This is typically the virtual counter, which should be the reference for the latch value.
So when the latch is observed, the difference between latchcounter and latchvalue is applied to this counter to receive the latch value which then written to PO_VIRTLATCH_ COUNTER.

Initial Value

PO_VIRTCNTIN_VALUE+n

Definition at line 5147 of file SdoDictionary.mh.

VIRTLATCH_PISRC_LATCH

#define VIRTLATCH_PISRC_LATCH   12

Index/subindex of latch source.

This is the latch value that is reported.
By default this is the latch value from the HW_LATCH module (PO_HWLATCH_VALUE).

Initial Value

PO_HWLATCH_VALUE+n

Definition at line 5165 of file SdoDictionary.mh.

VIRTLATCH_PISRC_LATCHCNT

#define VIRTLATCH_PISRC_LATCHCNT   11

Index/subindex of the counter at which the latch module is looking.

This is the source for the Counter which is the reference for the Latch Value.
Typically this is the connected HW_COUNTINC modules counter value (PO_HWCNTINC_VALUE).

Initial Value

PO_HWCNTINC_VALUE+n

Definition at line 5156 of file SdoDictionary.mh.

VIRTLATCH_PISRC_LATCHFIFO_AMOUNT

#define VIRTLATCH_PISRC_LATCHFIFO_AMOUNT   15

Index/subindex of LatchFifo information (amount)

Only necessary for special fast-triggering systems. Amount gives the information how many latch values were stored since last read.

Initial Value

PO_HWLATCH_AMOUNT_IN_FIFO+n

Definition at line 5192 of file SdoDictionary.mh.

VIRTLATCH_PISRC_LATCHFIFO_READ

#define VIRTLATCH_PISRC_LATCHFIFO_READ   16

Index/subindex of Latchfifo informtaion (read register)

Only necessary for special fast-triggering systems. This is the source to read latch values from the HW modules FIFO.

Initial Value

PO_HWLATCH_FIFOREAD+n

Definition at line 5201 of file SdoDictionary.mh.

VIRTLATCH_PISRC_LATCHSTAT

#define VIRTLATCH_PISRC_LATCHSTAT   13

Index/subindex of latch status source.

Source for latch status. Only active if VIRTLACHT_MODE is equal to 0 or 3. If != 0, the value from this source will be ANDed with the parameter VIRTLATCH_STAT_HIT. If the result is equal to VIRTLATCH_STAT_HIT, then a marker is detected. If == 0, the value from source VIRTLATCH_PISRC_LATCH will be monitored. If it changes, a new marker will be detected.

Initial Value

PO_HWLATCH_FLAG+n

Definition at line 5175 of file SdoDictionary.mh.

VIRTLATCH_PISRC_LATCHVALID

#define VIRTLATCH_PISRC_LATCHVALID   14

Index / Subindex of latch valid information.

The value from this source will be ANDed with VIRTLATCH_LATCHVALID_BITMASK to decide if a latch shall be accepted.

Initial Value

0

Definition at line 5183 of file SdoDictionary.mh.

VIRTLATCH_PROCESS

#define VIRTLATCH_PROCESS	(		modno,
			parno
	)		Sysvar[VIRTLATCH_PROCESS_INDEX((modno),(parno))]

Virtual Latch Inputs Process Data: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 6292 of file SdoDictionary.mh.

VIRTLATCH_PROCESS_INDEX

#define VIRTLATCH_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_VIRTLATCH_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Latch Inputs Process Data: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 6280 of file SdoDictionary.mh.

VIRTLATCH_PROCESS_MAX

#define VIRTLATCH_PROCESS_MAX   16

Virtual Latch Inputs Process Data: Maximum number of parameters.

Definition at line 6296 of file SdoDictionary.mh.

VIRTLATCH_PROCESS_SRCINDEX

#define VIRTLATCH_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_VIRTLATCH_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Latch Inputs Process Data: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 6286 of file SdoDictionary.mh.

VIRTLATCH_SIM_ZDIST

#define VIRTLATCH_SIM_ZDIST   4

Distance of latch values in simulator mode.

See VIRTLACH_MODE value VIRTLATCH_MODE_SIMULATOR.

Initial Value

0

Definition at line 5130 of file SdoDictionary.mh.

VIRTLATCH_STAT_HIT

#define VIRTLATCH_STAT_HIT   33

Value which signals that latch happened.

The value from VIRTLATCH_PISRC_LATCHSTAT will be ANDed with this value. If all bits are set, a new latch is detected.

Initial Value

1

Definition at line 5225 of file SdoDictionary.mh.

VIRTLATCH_UUFACT_INCNO

#define VIRTLATCH_UUFACT_INCNO   36

Conversion Factor - number of increments.

Initial Value

1

Definition at line 5246 of file SdoDictionary.mh.

VIRTLATCH_UUFACT_UNITNO

#define VIRTLATCH_UUFACT_UNITNO   35

Conversion Factor - number of user units.

Initial Value

1

Definition at line 5239 of file SdoDictionary.mh.

VIRTMAST_ACC

#define VIRTMAST_ACC   31

Acceleration to reach target velocity.

Only valid for VIRTMAST_MODE == VIRTMAST_MODE_PROFILE (3) The master will ramp up using VIRTMAST_ACC until VIRTMAST_VEL is reached.

Initial Value

0

Units

inc/ms²

Definition at line 4924 of file SdoDictionary.mh.

VIRTMAST_DEC

#define VIRTMAST_DEC   32

Deceleration to reach target velocity.

Only valid for VIRTMAST_MODE == VIRTMAST_MODE_PROFILE (3) The master will ramp down using VIRTMAST_DEC until VIRTMAST_VEL is reached.

Initial Value

0

Units

inc/ms²

Definition at line 4935 of file SdoDictionary.mh.

VIRTMAST_MODE

#define VIRTMAST_MODE   1

Enable / Disable / mode.

Initial Value

0

Definition at line 4879 of file SdoDictionary.mh.

VIRTMAST_MODE_DISABLED

#define VIRTMAST_MODE_DISABLED   0

Examples

VirtualMaster_ProfileMode.mc.

Definition at line 4957 of file SdoDictionary.mh.

VIRTMAST_MODE_PROFILE

#define VIRTMAST_MODE_PROFILE   3

Examples

VirtualMaster_ProfileMode.mc.

Definition at line 4959 of file SdoDictionary.mh.

VIRTMAST_MODE_VELOCITY

#define VIRTMAST_MODE_VELOCITY   1

Definition at line 4958 of file SdoDictionary.mh.

VIRTMAST_PARAM

#define VIRTMAST_PARAM	(		modno,
			parno
	)		Sysvar[VIRTMAST_PARAM_INDEX((modno),(parno))]

Virtual Master Parameters: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 4868 of file SdoDictionary.mh.

VIRTMAST_PARAM_INDEX

#define VIRTMAST_PARAM_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_VIRTMAST_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Master Parameters: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 4856 of file SdoDictionary.mh.

VIRTMAST_PARAM_MAX

#define VIRTMAST_PARAM_MAX   36

Virtual Master Parameters: Maximum number of parameters.

Definition at line 4872 of file SdoDictionary.mh.

VIRTMAST_PARAM_SRCINDEX

#define VIRTMAST_PARAM_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_VIRTMAST_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Master Parameters: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 4862 of file SdoDictionary.mh.

VIRTMAST_PISRC_CMDVEL

#define VIRTMAST_PISRC_CMDVEL   11

Index and subindex of the command velocity.

Only valid for VIRTMAST_MODE == VIRTMAST_MODE_VELOCITY (1) This parameter defines a link between the virtual master and a velocity source. If the source is taken from PFG_VCMDSIGNED_USERSCALED which is in qc/ms, then VIRTMAST_UUFACT_UNITNO should be set to 4, to scale the value to the necessary increments

Initial Value

0

Value Range

0-0xFFFFFE

Definition at line 4902 of file SdoDictionary.mh.

VIRTMAST_PISRC_CMDWORD

#define VIRTMAST_PISRC_CMDWORD   10

Link to the command word of an axis.

Only valid for VIRTMAST_MODE == VIRTMAST_MODE_VELOCITY (1) This parameter defines a link between the virtual master and the command word of an axis. If the linked axis is in idle state, the velocity will be forced to 0.

Initial Value

0

Value Range

0-0xFFFFFE

Definition at line 4890 of file SdoDictionary.mh.

VIRTMAST_PROCESS

#define VIRTMAST_PROCESS	(		modno,
			parno
	)		Sysvar[VIRTMAST_PROCESS_INDEX((modno),(parno))]

Virtual Master Process Data: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 6119 of file SdoDictionary.mh.

VIRTMAST_PROCESS_INDEX

#define VIRTMAST_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_VIRTMAST_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Master Process Data: Getter.

Parameters

modno	Module number
parno	Parameter number

Examples

SetupSignalGeneratorAxis.mc, and SetupSignalGeneratorOpenloop.mc.

Definition at line 6107 of file SdoDictionary.mh.

VIRTMAST_PROCESS_MAX

#define VIRTMAST_PROCESS_MAX   7

Virtual Master Process Data: Maximum number of parameters.

Definition at line 6123 of file SdoDictionary.mh.

VIRTMAST_PROCESS_SRCINDEX

#define VIRTMAST_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_VIRTMAST_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Master Process Data: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 6113 of file SdoDictionary.mh.

VIRTMAST_UUFACT_INCNO

#define VIRTMAST_UUFACT_INCNO   35

Conversion factor uu to 1/1000 Hz, number of increments.

This factor is used to scaled the input value to 1/1000Hz. It applies to both when the velocity comes from VIRTMAST_PISRC_CMDVEL or from VIRTMAST_VEL.

Initial Value

1

Definition at line 4953 of file SdoDictionary.mh.

VIRTMAST_UUFACT_UNITNO

#define VIRTMAST_UUFACT_UNITNO   34

Conversion factor uu to 1/1000 Hz, number of user units.

This factor is used to scaled the input value to 1/1000Hz. It applies to both when the velocity comes from VIRTMAST_PISRC_CMDVEL or from VIRTMAST_VEL.

Initial Value

1

Definition at line 4944 of file SdoDictionary.mh.

VIRTMAST_VEL

#define VIRTMAST_VEL   30

Target velocity.

Only valid for VIRTMAST_MODE == VIRTMAST_MODE_PROFILE (3) This is the target velocity of the virtual master. The master will ramp up or down to this velocity using VIRTMAST_ACC/DEC until this velocity is achieved.

Initial Value

0

Units

inc/ms

Definition at line 4913 of file SdoDictionary.mh.

VIRTMATH_HIGH_LIMIT

#define VIRTMATH_HIGH_LIMIT   4

Output high limit.

Initial Value

0x7FFFFFFF

Definition at line 5999 of file SdoDictionary.mh.

VIRTMATH_INVERT

#define VIRTMATH_INVERT   2

Inverts inputs and outputs.

Invert inputs Bit 0 inverts PISRC_1 Bit 1 inverts PISRC_2 Bit 2 inverts PISRC_3 Bit 3 inverts PISRC_4

Invert outputs Bit 16 inverts POSRC_1 Bit 17 inverts POSRC_2

Initial Value

0

Definition at line 5985 of file SdoDictionary.mh.

VIRTMATH_LOW_LIMIT

#define VIRTMATH_LOW_LIMIT   3

Output low limit.

Initial Value

0x80000000

Definition at line 5992 of file SdoDictionary.mh.

VIRTMATH_MODE

#define VIRTMATH_MODE   1

Mode of the module.

Divisions by 0 lead to a maximum output, but are valid. When the mode is changed, the output and internal auxiliary variables are reset.

Initial Value

0

Definition at line 5969 of file SdoDictionary.mh.

VIRTMATH_MODE_ADD

#define VIRTMATH_MODE_ADD   1

Definition at line 6080 of file SdoDictionary.mh.

VIRTMATH_MODE_BASED_1

#define VIRTMATH_MODE_BASED_1   30

Mode based configuration 1 - 4.

Initial Value

0

Definition at line 6054 of file SdoDictionary.mh.

VIRTMATH_MODE_BASED_2

#define VIRTMATH_MODE_BASED_2   31

Mode based configuration 1 - 4.

Initial Value

0

Definition at line 6061 of file SdoDictionary.mh.

VIRTMATH_MODE_BASED_3

#define VIRTMATH_MODE_BASED_3   32

Mode based configuration 1 - 4.

Initial Value

0

Definition at line 6068 of file SdoDictionary.mh.

VIRTMATH_MODE_BASED_4

#define VIRTMATH_MODE_BASED_4   33

Mode based configuration 1 - 4.

Initial Value

0

Definition at line 6075 of file SdoDictionary.mh.

VIRTMATH_MODE_COS

#define VIRTMATH_MODE_COS   13

Definition at line 6085 of file SdoDictionary.mh.

VIRTMATH_MODE_COSW

#define VIRTMATH_MODE_COSW   11

Definition at line 6083 of file SdoDictionary.mh.

VIRTMATH_MODE_GAIN

#define VIRTMATH_MODE_GAIN   2

Definition at line 6081 of file SdoDictionary.mh.

VIRTMATH_MODE_LP1_FILTER

#define VIRTMATH_MODE_LP1_FILTER   20

Definition at line 6086 of file SdoDictionary.mh.

VIRTMATH_MODE_OFF

#define VIRTMATH_MODE_OFF   0

Definition at line 6079 of file SdoDictionary.mh.

VIRTMATH_MODE_PID

#define VIRTMATH_MODE_PID   30

Definition at line 6087 of file SdoDictionary.mh.

VIRTMATH_MODE_PID_DIFF_VALUE

#define VIRTMATH_MODE_PID_DIFF_VALUE   4

Definition at line 6962 of file SdoDictionary.mh.

VIRTMATH_MODE_PID_INT_SUM

#define VIRTMATH_MODE_PID_INT_SUM   6

Definition at line 6964 of file SdoDictionary.mh.

VIRTMATH_MODE_PID_INT_VALUE

#define VIRTMATH_MODE_PID_INT_VALUE   3

Definition at line 6961 of file SdoDictionary.mh.

VIRTMATH_MODE_PID_KD

#define VIRTMATH_MODE_PID_KD   32

Definition at line 6092 of file SdoDictionary.mh.

VIRTMATH_MODE_PID_KI

#define VIRTMATH_MODE_PID_KI   31

Definition at line 6091 of file SdoDictionary.mh.

VIRTMATH_MODE_PID_KILIM

#define VIRTMATH_MODE_PID_KILIM   33

Definition at line 6093 of file SdoDictionary.mh.

VIRTMATH_MODE_PID_KP

#define VIRTMATH_MODE_PID_KP   30

Definition at line 6090 of file SdoDictionary.mh.

VIRTMATH_MODE_PID_PREV_ERROR

#define VIRTMATH_MODE_PID_PREV_ERROR   5

Definition at line 6963 of file SdoDictionary.mh.

VIRTMATH_MODE_PID_PROP_VALUE

#define VIRTMATH_MODE_PID_PROP_VALUE   2

Definition at line 6960 of file SdoDictionary.mh.

VIRTMATH_MODE_SIN

#define VIRTMATH_MODE_SIN   12

Definition at line 6084 of file SdoDictionary.mh.

VIRTMATH_MODE_SINW

#define VIRTMATH_MODE_SINW   10

Definition at line 6082 of file SdoDictionary.mh.

VIRTMATH_PARAM

#define VIRTMATH_PARAM	(		modno,
			parno
	)		Sysvar[VIRTMATH_PARAM_INDEX((modno),(parno))]

Virtual Math Module Parameters: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 5957 of file SdoDictionary.mh.

VIRTMATH_PARAM_INDEX

#define VIRTMATH_PARAM_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_VIRTMATH_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Math Module Parameters: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 5945 of file SdoDictionary.mh.

VIRTMATH_PARAM_MAX

#define VIRTMATH_PARAM_MAX   34

Virtual Math Module Parameters: Maximum number of parameters.

Definition at line 5961 of file SdoDictionary.mh.

VIRTMATH_PARAM_SRCINDEX

#define VIRTMATH_PARAM_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_VIRTMATH_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Math Module Parameters: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 5951 of file SdoDictionary.mh.

VIRTMATH_PISRC_1

#define VIRTMATH_PISRC_1   10

Sources 1-4.

Links Input1-4 Sources. If VIRTMATH_PROCESS_SRCINDEX(xx,PO_VIRTMATH_VALUE) is specified as sources, the calculation is continued internally with float values. If 0 is specified, a default value is assumed (e.g. A/B: A=1, B=1).

Initial Value

0

Definition at line 6007 of file SdoDictionary.mh.

VIRTMATH_PISRC_2

#define VIRTMATH_PISRC_2   11

Sources 1-4.

Links Input1-4 Sources. If VIRTMATH_PROCESS_SRCINDEX(xx,PO_VIRTMATH_VALUE) is specified as sources, the calculation is continued internally with float values. If 0 is specified, a default value is assumed (e.g. A/B: A=1, B=1).

Initial Value

0

Definition at line 6015 of file SdoDictionary.mh.

VIRTMATH_PISRC_3

#define VIRTMATH_PISRC_3   12

Sources 1-4.

Links Input1-4 Sources. If VIRTMATH_PROCESS_SRCINDEX(xx,PO_VIRTMATH_VALUE) is specified as sources, the calculation is continued internally with float values. If 0 is specified, a default value is assumed (e.g. A/B: A=1, B=1).

Initial Value

0

Definition at line 6023 of file SdoDictionary.mh.

VIRTMATH_PISRC_4

#define VIRTMATH_PISRC_4   13

Sources 1-4.

Links Input1-4 Sources. If VIRTMATH_PROCESS_SRCINDEX(xx,PO_VIRTMATH_VALUE) is specified as sources, the calculation is continued internally with float values. If 0 is specified, a default value is assumed (e.g. A/B: A=1, B=1).

Initial Value

0

Definition at line 6031 of file SdoDictionary.mh.

VIRTMATH_POSRC_1

#define VIRTMATH_POSRC_1   20

Output source 1-2.

The result of the virtual maths modul PO_VIRTMATH_VALUE is written to this source.

Initial Value

0

Definition at line 6039 of file SdoDictionary.mh.

VIRTMATH_POSRC_2

#define VIRTMATH_POSRC_2   21

Output source 1-2.

The result of the virtual maths modul PO_VIRTMATH_VALUE is written to this source.

Initial Value

0

Definition at line 6047 of file SdoDictionary.mh.

VIRTMATH_PROCESS

#define VIRTMATH_PROCESS	(		modno,
			parno
	)		Sysvar[VIRTMATH_PROCESS_INDEX((modno),(parno))]

Virtual Math Module Process Data: Setter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 6921 of file SdoDictionary.mh.

VIRTMATH_PROCESS_INDEX

#define VIRTMATH_PROCESS_INDEX	(		modno,
			parno
	)		((0x01000000 | (SDOINDEX_VIRTMATH_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Math Module Process Data: Getter.

Parameters

modno	Module number
parno	Parameter number

Definition at line 6909 of file SdoDictionary.mh.

VIRTMATH_PROCESS_MAX

#define VIRTMATH_PROCESS_MAX   7

Virtual Math Module Process Data: Maximum number of parameters.

Definition at line 6925 of file SdoDictionary.mh.

VIRTMATH_PROCESS_SRCINDEX

#define VIRTMATH_PROCESS_SRCINDEX	(		modno,
			parno
	)		((SDOINDEX_VIRTMATH_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))

Virtual Math Module Process Data: Source Index.

Parameters

modno	Module number
parno	Parameter number

Definition at line 6915 of file SdoDictionary.mh.