SdoDictionary.mh

Go to the documentation of this file.

#pragma once
#define sdodictionary_h     // For backwards compatibility in case user programs use this #define.
 
//=================================================================================================================
// SDO Defines
//=================================================================================================================
 
#define SDOSUBCLASS(index) (index & 0xFFC0)    // important for firmware !!!!
 
#define PISRC_NOTDEFINED                     0x0000
 
// General definition for SDO Read and Write
#define SDO_INTERNAL(ind,subindex)           Sysvar[(0x01000000 | (((long) (ind  ))<<8)) | ((long) (subindex))]
#define SDO_DIMARRAY(arrno,index)            Sysvar[(0x01210005 | (((long) (arrno))<<8)) + ((long) (index)))]
 
//=================================================================================================================
// 0x2100 APOSS_ARRAY - Aposs Array
//=================================================================================================================
#define SDOINDEX_APOSS_ARRAY                        0x2100
 
#define APOSS_ARRAY_INDEX(modno,parno)              ((0x01000000 | (SDOINDEX_APOSS_ARRAY<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define APOSS_ARRAY_SRCINDEX(modno,parno)           ((SDOINDEX_APOSS_ARRAY<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define APOSS_ARRAY(modno,parno)                    Sysvar[APOSS_ARRAY_INDEX((modno),(parno))]
 
#define APOSS_ARRAY_MAX                             255
 
//=================================================================================================================
// 0x2200 GLB_PARAM - Global Parameters
//=================================================================================================================
#define SDOINDEX_GLB_PARAM                          0x2200
 
#define GLB_PARAM_INDEX(parno)                      ((0x01000000 | (SDOINDEX_GLB_PARAM<<8)) | ((long) (parno)))
 
#define GLB_PARAM_SRCINDEX(parno)                   ((SDOINDEX_GLB_PARAM<<8) | ((long) (parno)))
 
#define GLB_PARAM(parno)                            Sysvar[GLB_PARAM_INDEX(parno)]
 
#define GLB_PARAM_MAX                               102
 
#define CANNR                          1  
 
#define CANBAUD                        2  
 
#define PRGPAR                         3  
 
#define I_ERRCLR                       8  
 
#define O_ERROR                        9  
 
#define RSBAUDRATE                     13 
 
#define CANSYNCTIMER                   15 
 
#define CANGUARDTIMER                  16 
 
#define IPADDRESSMODE                  20 
 
#define IPSUBNET                       21 
 
#define PRGSTARTCOND                   22 
 
#define ESCCONDGLB                     23 
 
#define IPMASK                         24 
 
#define IPDEFAULTGW                    25 
 
#define CANNRFORCE                     26 
 
 
    // Values for ESCCONDGLB:
    #define GLB_PARAM_ESCCONDGLB_NOTHING   0        // The actual values of the outputs are not changed.
    #define GLB_PARAM_ESCCONDGLB_OUT_OFF   1        // Set all outputs to 0
    #define GLB_PARAM_ESCCONDGLB_OUT_ON    2        // Set all outputs to 1
 
//=================================================================================================================
// 0x2201 USER_PARAM - User Parameters
//=================================================================================================================
#define SDOINDEX_USER_PARAM                         0x2201
 
#define USER_PARAM_INDEX(parno)                     ((0x01000000 | (SDOINDEX_USER_PARAM<<8)) | ((long) (parno)))
 
#define USER_PARAM_SRCINDEX(parno)                  ((SDOINDEX_USER_PARAM<<8) | ((long) (parno)))
 
#define USER_PARAM(parno)                           Sysvar[USER_PARAM_INDEX(parno)]
 
#define USER_PARAM_MAX                              101
 
//=================================================================================================================
// 0x2202 SYS_PROCESS - System Process Data
//=================================================================================================================
#define SDOINDEX_SYS_PROCESS                        0x2202
 
#define SYS_PROCESS_INDEX(parno)                    ((0x01000000 | (SDOINDEX_SYS_PROCESS<<8)) | ((long) (parno)))
 
#define SYS_PROCESS_SRCINDEX(parno)                 ((SDOINDEX_SYS_PROCESS<<8) | ((long) (parno)))
 
#define SYS_PROCESS(parno)                          Sysvar[SYS_PROCESS_INDEX(parno)]
 
#define SYS_PROCESS_MAX                             143
 
#define SYS_INBYTE_0                   2  
 
#define SYS_INBYTE_1                   3  
 
#define SYS_INBYTE_2                   4  
 
#define SYS_INBYTE_3                   5  
 
#define SYS_INBYTE_4                   6  
 
#define SYS_INBYTE_5                   7  
 
#define SYS_INBYTE_6                   8  
 
#define SYS_INBYTE_7                   9  
 
#define SYS_OUTBYTE_0                  10 
 
#define SYS_OUTBYTE_1                  11 
 
#define SYS_OUTBYTE_2                  12 
 
#define SYS_OUTBYTE_3                  13 
 
#define SYS_OUTBYTE_4                  14 
 
#define SYS_OUTBYTE_5                  15 
 
#define SYS_OUTBYTE_6                  16 
 
#define SYS_OUTBYTE_7                  17 
 
#define SYS_AXSTATUS                   18 
 
#define SYS_INAD_1                     19 
 
#define SYS_INAD_2                     20 
 
#define SYS_INAD_3                     21 
 
#define SYS_INAD_4                     22 
 
#define SYS_CLOCK                      23 
 
#define SYS_USRSTAT                    24 
 
#define SYS_MAXAX                      25 
 
#define SYS_CAN_NODESTATE              26 
 
#define SYS_TIMEINT_LENGTH             27 
 
#define SYS_MAX_LOOPTIME               28 
 
#define SYS_AMP0_CURRENT               29 
 
#define SYS_NC_0                       30 
 
#define SYS_AMP0_VOLTAGE               31 
 
#define SYS_AMP0_STATUS                32 
 
#define SYS_AMP0_SPEED                 33 
 
#define SYS_CANDIP                     34 
 
#define SYS_CANOM_SDOABORT             35 
 
#define SYS_HWANIN_UNFILT              36 
 
#define SYS_CANERR_RX_0                37 
 
#define SYS_CANERR_RX_1                38 
 
#define SYS_CANERR_TX_0                39 
 
#define SYS_CANERR_TX_1                40 
 
#define SYS_MAXTIMEINT_LENGTH          41 
 
#define SYS_HWCNTINC_0_VALUE           42 
 
#define SYS_HWCNTINC_1_VALUE           43 
 
#define SYS_HWCNTINC_2_VALUE           44 
 
#define SYS_HWCNTINC_3_VALUE           45 
 
#define SYS_HWCNTINC_4_VALUE           46 
 
#define SYS_HWCNTINC_5_VALUE           47 
 
#define SYS_HWCNTINC_6_VALUE           48 
 
#define SYS_HWCNTINC_7_VALUE           49 
 
#define SYS_HWCNTINC_8_VALUE           50 
 
#define SYS_STACKSIZE                  51 
 
#define SYS_HWLATCH_0_VALUE            52 
 
#define SYS_HWLATCH_1_VALUE            53 
 
#define SYS_HWLATCH_2_VALUE            54 
 
#define SYS_HWLATCH_3_VALUE            55 
 
#define SYS_HWLATCH_4_VALUE            56 
 
#define SYS_HWLATCH_5_VALUE            57 
 
#define SYS_HWLATCH_6_VALUE            58 
 
#define SYS_HWLATCH_7_VALUE            59 
 
#define SYS_HWLATCH_8_VALUE            60 
 
#define SYS_EEPROM_SIZE                61 
 
#define SYS_US_TIMER                   62 
 
#define SYS_CANOS_TIM_LASTTXPDO        63 
 
#define SYS_CANOM_SDO_TIMEOUT          64 
 
#define SYS_ECAT_NODESTATE             65 
 
#define SYS_ECAT_PDOLENGTH_IN          66 
 
#define SYS_ECAT_PDOLENGTH_OUT         67 
 
#define SYS_CANOM_GUARDERR_ID          68 
 
#define SYS_CANOM_MASTERSTATE          69 
 
#define SYS_UART_BYTECOUNT             70 
 
#define SYS_HWCNTINC_0_STATUS          72 
 
#define SYS_HWCNTINC_1_STATUS          73 
 
#define SYS_HWCNTINC_2_STATUS          74 
 
#define SYS_HWCNTINC_3_STATUS          75 
 
#define SYS_HWCNTINC_4_STATUS          76 
 
#define SYS_HWCNTINC_5_STATUS          77 
 
#define SYS_HWCNTINC_6_STATUS          78 
 
#define SYS_HWCNTINC_7_STATUS          79 
 
#define SYS_HWCNTINC_8_STATUS          80 
 
#define SYS_HWLATCH_COUNT_0            93 
 
#define SYS_HWLATCH_COUNT_1            94 
 
#define SYS_HWLATCH_COUNT_2            95 
 
#define SYS_HWLATCH_COUNT_3            96 
 
#define SYS_HWLATCH_COUNT_4            97 
 
#define SYS_HWLATCH_COUNT_5            98 
 
#define SYS_HWLATCH_COUNT_6            99 
 
#define SYS_HWLATCH_COUNT_7            100
 
#define SYS_HWLATCH_COUNT_8            101
 
#define SYS_TIMEINT_DIFF               104
 
#define SYS_LED_0_CONTROL              110
 
#define SYS_LED_1_CONTROL              111
 
#define SYS_LED_2_CONTROL              112
 
#define SYS_LED_3_CONTROL              113
 
#define SYS_LED_4_CONTROL              114
 
#define SYS_LED_5_CONTROL              115
 
#define SYS_INAD_5                     116
 
#define SYS_INAD_6                     117
 
#define SYS_TIME_DAY                   118
 
#define SYS_TIME_TOD                   119
 
#define SYS_RTC_DATE                   120
 
#define SYS_RTC_TIME                   121
 
#define SYS_TIMER_GETDAY               122
 
#define SYS_TIMER_GETTIMEOFDAY         123
 
#define SYS_GETMAXINHIBITTIME          124
 
#define SYS_PRETIMEINT_LENGTH          125
 
#define SYS_MAXPRETIMEINT_LENGTH       126
 
#define SYS_PRETIMEINT_DIFF            127
 
#define SYS_MAXPRETIMEINT_DIFF         128
 
#define SYS_MAXTIMEINT_DIFF            129
 
#define SYS_CAN_NR_OF_SYNC             130
 
#define SYS_CANOM_SEND_NMT             131
 
#define SYS_STACKUSAGE                 132
 
#define SYS_STACKMAX                   133
 
#define SYS_BL_STATUS                  134
 
#define SYS_TEMPERATURE                135
 
#define SYS_FWSTACKMAX                 136
 
#define SYS_CURINT_LENGTH              137
 
#define SYS_MAXCURINT_LENGTH           138
 
#define SYS_CURINT_DIFF                139
 
#define SYS_MAXCURINT_DIFF             140
 
#define SYS_CPU_TEMPERATURE            141
 
#define SYS_CAN_SYNC_OFFSET            142
 
 
//=================================================================================================================
// 0x2209 SYS_INFO - System Information
//=================================================================================================================
#define SDOINDEX_SYS_INFO                           0x2209
 
#define SYS_INFO_INDEX(parno)                       ((0x01000000 | (SDOINDEX_SYS_INFO<<8)) | ((long) (parno)))
 
#define SYS_INFO_SRCINDEX(parno)                    ((SDOINDEX_SYS_INFO<<8) | ((long) (parno)))
 
#define SYS_INFO(parno)                             Sysvar[SYS_INFO_INDEX(parno)]
 
#define SYS_INFO_MAX                                77
 
#define SYS_HARDWARE_ID                1  
 
#define SYS_FW_CPU                     2  
 
#define SYS_CUSTOMER_ID                3  
 
#define SYS_MAX_AXES                   5  
 
#define SYS_FPGA_SW_VERSION            6  
 
#define SYS_BOOTLOADER_SW_VERSION      7  
 
#define SYS_APP_VERSION_INFO1          8  
 
#define SYS_APP_VERSION_INFO2          9  
 
#define SYS_NUMBER_OF_INTEGRATED_AMPLIFIERS 10 
 
#define SYS_INTERNAL_FLASH_MEMORY      11 
 
#define SYS_FW_AMPLIFIER_VERSION       12 
 
#define SYS_FW_COPROCESSOR_VERSION     13 
 
#define SYS_IP_ADDRESS_CONTROLLER      14 
 
#define SYS_ANALOG_OPTION_TYPE         15 
 
#define SYS_SD_CARD_STATUS             16 
 
#define SYS_MAX_VIRTMAST               20 
 
#define SYS_MAX_VIRTCOUNTIN            21 
 
#define SYS_MAX_VIRTLATCH              22 
 
#define SYS_MAX_VIRTAMP                23 
 
#define SYS_MAX_VIRTDIGIN              24 
 
#define SYS_MAX_VIRTDIGOUT             25 
 
#define SYS_MAX_VIRTANIN               26 
 
#define SYS_MAX_VIRTANOUT              27 
 
#define SYS_MAX_DIM_ARRAYS             28 
 
#define SYS_MAX_VIRTCUSTOMMOD          29 
 
#define SYS_MAX_VIRTMATH               30 
 
#define SYS_ZB_AMP_NO                  40 
 
#define SYS_MAX_ENCODER                41 
 
#define SYS_MAX_CNTINC                 42 
 
#define SYS_MAX_CNTABS                 43 
 
#define SYS_MAX_CNTUNI                 44 
 
#define SYS_MAX_COMPARATORS            45 
 
#define SYS_MAX_LATCH                  46 
 
#define SYS_MAX_SIGGEN                 47 
 
#define SYS_MAX_DDS                    48 
 
#define SYS_MAX_PULSGEN                49 
 
#define SYS_MAX_DIGIN                  50 
 
#define SYS_MAX_DIGOUT                 51 
 
#define SYS_MAX_ANIN                   52 
 
#define SYS_MAX_ANOUT                  53 
 
#define SYS_MAX_BRENCREF               54 
 
#define SYS_MAX_BRREFENC               55 
 
#define SYS_MAX_BUSINFO                56 
 
#define SYS_MAX_REFBUS                 57 
 
#define SYS_MAX_HALL                   58 
 
#define SYS_MAX_PWMGEN                 59 
 
#define SYS_MAX_BUSMOD                 60 
 
#define SYS_MAX_SHIFTREG               61 
 
#define SYS_CONTROLLER_FEATURES        62 
 
#define SYS_MAX_PDO_SDO_SIZE           63 
 
#define SYS_MAX_XTLG_SIZE              64 
 
#define SYS_BUILD_NUMBER               65 
 
#define SYS_MAX_CANBUS                 66 
 
#define SYS_MAX_MACHINES               67 
 
#define SYS_COMMOPT_PROTTYPE           68 
 
#define SYS_HW_IDENTIFICATION          69 
 
#define SYS_HW_INDEX                   70 
 
#define SYS_PLATFORM                   71 
 
#define SYS_RELEASE_TYPE               72 
 
#define SYS_TG_VERSION                 73 
 
#define SYS_COMMOPT_INFO               74 
 
#define SYS_UNIQUE_ID1                 75 
 
#define SYS_UNIQUE_ID2                 76 
 
 
    // Values for SYS_HW_IDENTIFICATION:
    #define SYS_HW_IDENTIFICATION_PC_ENC_OEM1 1        // PC Encoder Inrterface OEM1
    #define SYS_HW_IDENTIFICATION_PC_ENC_OEM2 2        // PC Encoder Inrterface OEM1
    #define SYS_HW_IDENTIFICATION_MICROMACS6 0        // MicroMACS6
    #define SYS_HW_IDENTIFICATION_MICROMACS6_MODULE 1        // MicroMACS6 Module
 
//=================================================================================================================
// 0x2216 FPGA_REG - Read or write FPGA register
//=================================================================================================================
#define SDOINDEX_FPGA_REG                           0x2216
 
#define FPGA_REG_INDEX(parno)                       ((0x01000000 | (SDOINDEX_FPGA_REG<<8)) | ((long) (parno)))
 
#define FPGA_REG_SRCINDEX(parno)                    ((SDOINDEX_FPGA_REG<<8) | ((long) (parno)))
 
#define FPGA_REG(parno)                             Sysvar[FPGA_REG_INDEX(parno)]
 
#define FPGA_REG_MAX                                256
 
#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 
 
 
//=================================================================================================================
// 0x2217 FPGA_PARAM - Write custom specific parameters
//=================================================================================================================
#define SDOINDEX_FPGA_PARAM                         0x2217
 
#define FPGA_PARAM_INDEX(parno)                     ((0x01000000 | (SDOINDEX_FPGA_PARAM<<8)) | ((long) (parno)))
 
#define FPGA_PARAM_SRCINDEX(parno)                  ((SDOINDEX_FPGA_PARAM<<8) | ((long) (parno)))
 
#define FPGA_PARAM(parno)                           Sysvar[FPGA_PARAM_INDEX(parno)]
 
#define FPGA_PARAM_MAX                              256
 
#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
 
 
//=================================================================================================================
// 0x2218 FPGA_USRREG - Address for the page number
//=================================================================================================================
#define SDOINDEX_FPGA_USRREG                        0x2218
 
#define FPGA_USRREG_INDEX(parno)                    ((0x01000000 | (SDOINDEX_FPGA_USRREG<<8)) | ((long) (parno)))
 
#define FPGA_USRREG_SRCINDEX(parno)                 ((SDOINDEX_FPGA_USRREG<<8) | ((long) (parno)))
 
#define FPGA_USRREG(parno)                          Sysvar[FPGA_USRREG_INDEX(parno)]
 
#define FPGA_USRREG_MAX                             2
 
//=================================================================================================================
// 0x2220 SDUPDATE - SD-Card Update Info Object
//=================================================================================================================
#define SDOINDEX_SDUPDATE                           0x2220
 
#define SDUPDATE_INDEX(parno)                       ((0x01000000 | (SDOINDEX_SDUPDATE<<8)) | ((long) (parno)))
 
#define SDUPDATE_SRCINDEX(parno)                    ((SDOINDEX_SDUPDATE<<8) | ((long) (parno)))
 
#define SDUPDATE(parno)                             Sysvar[SDUPDATE_INDEX(parno)]
 
#define SDUPDATE_MAX                                21
 
#define SDUPDATE_COMMAND_1             1  
 
#define SDUPDATE_COMMAND_2             2  
 
#define SDUPDATE_COMMAND_3             3  
 
#define SDUPDATE_COMMAND_4             4  
 
#define SDUPDATE_COMMAND_5             5  
 
#define SDUPDATE_COMMAND_6             6  
 
#define SDUPDATE_COMMAND_7             7  
 
#define SDUPDATE_COMMAND_8             8  
 
#define SDUPDATE_COMMAND_9             9  
 
#define SDUPDATE_COMMAND_10            10 
 
#define SDUPDATE_COMMAND_11            11 
 
#define SDUPDATE_COMMAND_12            12 
 
#define SDUPDATE_COMMAND_13            13 
 
#define SDUPDATE_COMMAND_14            14 
 
#define SDUPDATE_COMMAND_15            15 
 
#define SDUPDATE_COMMAND_16            16 
 
#define SDUPDATE_STATE_FLAGS           17 
 
#define SDUPDATE_COMMANDS_SKIPPED      18 
 
#define SDUPDATE_COMMANDS_COMPLETED    19 
 
#define SDUPDATE_COMMANDS_FAILED       20 
 
 
//=================================================================================================================
// 0x2300 AXE_PARAM - Axis Parameters
//=================================================================================================================
#define SDOINDEX_AXE_PARAM                          0x2300
 
#define AXE_PARAM_INDEX(modno,parno)                ((0x01000000 | (SDOINDEX_AXE_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define AXE_PARAM_SRCINDEX(modno,parno)             ((SDOINDEX_AXE_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define AXE_PARAM(modno,parno)                      Sysvar[AXE_PARAM_INDEX((modno),(parno))]
 
#define AXE_PARAM_MAX                               141
 
#define VELMAX                         2  
 
#define HOME_FORCE                     4  
 
#define NEGLIMIT                       5  
 
#define POSLIMIT                       6  
 
#define SYNCMMAXCORR                   7  
 
#define HOME_VEL                       8  
 
#define TESTWIN                        9  
 
#define VELMAXQC                       10 
 
#define ACCMAXQC                       11 
 
#define KPROP                          12 
 
#define KDER                           13 
 
#define KINT                           14 
 
#define TIMER                          15 
 
#define POSERR                         16 
 
#define SYNCOFFTIME                    17 
 
#define SYNCMFPAR                      18 
 
#define SYNCMFTIME                     19 
 
#define SWNEGLIMACT                    20 
 
#define SWPOSLIMACT                    21 
 
#define KILIM                          22 
 
#define VELRES                         23 
 
#define POSFACT_Z                      24 
 
#define TESTTIM                        25 
 
#define TESTVAL                        26 
 
#define POSFACT_N                      27 
 
#define POSDRCT                        29 
 
#define PROFTIME                       30 
 
#define MENCODER                       31 
 
#define RAMPMIN                        32 
 
#define RAMPTYPE                       33 
 
#define DFLTVEL                        34 
 
#define DFLTACC                        35 
 
#define BANDWIDTH                      36 
 
#define FFVEL                          37 
 
#define REGWMAX                        39 
 
#define REGWMIN                        40 
 
#define HOME_TYPE                      41 
 
#define HOME_RAMP                      42 
 
#define HOME_OFFSET                    43 
 
#define ERRCOND                        44 
 
#define I_REFSWITCH                    46 
 
#define I_POSLIMITSW                   47 
 
#define I_NEGLIMITSW                   48 
 
#define O_BRAKE                        49 
 
#define SYNCFACTM                      50 
 
#define SYNCFACTS                      51 
 
#define SYNCTYPE                       52 
 
#define SYNCMARKM                      53 
 
#define SYNCMARKS                      54 
 
#define SYNCPOSOFFS                    55 
 
#define SYNCACCURACY                   56 
 
#define SYNCREADY                      57 
 
#define SYNCFAULT                      58 
 
#define SYNCMPULSM                     59 
 
#define SYNCMPULSS                     60 
 
#define SYNCMSTART                     63 
 
#define O_AXMOVE                       65 
 
#define SYNCVFTIME                     66 
 
#define SYNCVELREL                     67 
 
#define SYNCMWINM                      69 
 
#define SYNCMWINS                      70 
 
#define ESCCOND                        71 
 
#define JERKMIN                        99 
 
#define JERKMIN2                       101
 
#define JERKMIN3                       102
 
#define JERKMIN4                       103
 
#define KILIMTIME                      106
 
#define POSERRTIME                     112
 
#define FEEDDIST                       113
 
#define FEEDREV                        114
 
#define POSENCQC                       115
 
#define POSENCREV                      116
 
#define HOMEZEROVEL                    117
 
#define PISRC_SVIRTCOUNT               131
 
#define PISRC_MVIRTCOUNT               132
 
#define PISRC_SVIRTLATCH               133
 
#define PISRC_MVIRTLATCH               134
 
#define KFFACC                         135
 
#define KFFDEC                         136
 
#define I_POSLIMITSWACT                137
 
#define I_NEGLIMITSWACT                138
 
#define HOME_CURTHRESHOLD              139
 
#define PIDOPTIONS                     140
 
 
    // Values for RAMPTYPE:
    #define RAMPTYPE_TRAPEZ                0
    #define RAMPTYPE_JERKLIMITED           2
 
    // Values for PIDOPTIONS:
    #define PID_OPTINTSUMCLEAR_ARRIVAL     0x0001   // Integral sum is cleared on target arrival
    #define PID_OPTINTSUMCLEAR_ZEROTRACKERR 0x0002   // Integral sum is cleared once after arrival, when trackerr is 0
 
//=================================================================================================================
// 0x2500 AXE_PROCESS - Axis Process Data
//=================================================================================================================
#define SDOINDEX_AXE_PROCESS                        0x2500
 
#define AXE_PROCESS_INDEX(modno,parno)              ((0x01000000 | (SDOINDEX_AXE_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define AXE_PROCESS_SRCINDEX(modno,parno)           ((SDOINDEX_AXE_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define AXE_PROCESS(modno,parno)                    Sysvar[AXE_PROCESS_INDEX((modno),(parno))]
 
#define AXE_PROCESS_MAX                             236
 
#define REG_ACTPOS                     1  
 
#define REG_COMPOS                     2  
 
#define REG_ZERO                       3  
 
#define REG_AVEL                       4  
 
#define REG_MAVEL                      5  
 
#define REG_TRACKERR                   6  
 
#define REG_VELSMPT                    9  
 
#define REG_MAPOS                      10 
 
#define REG_MIPOS                      11 
 
#define REG_IAVEL                      12 
 
#define REG_IMAVEL                     13 
 
#define REG_REFERENCE                  16 
 
#define REG_TIMER                      18 
 
#define REG_PROFTIMER                  19 
 
#define REG_REVERSE                    20 
 
#define REG_REVDOUT                    21 
 
#define REG_SOVERFLOW                  22 
 
#define REG_MOVERFLOW                  23 
 
#define REG_USERREFVEL                 27 
 
#define REG_VAPOS                      28 
 
#define REG_NORMTRACKERR               29 
 
#define REG_SENCINDXF                  30 
 
#define REG_MENCINDXF                  31 
 
#define REG_CNTRLSOURCE                32 
 
#define REG_ENCAVEL                    33 
 
#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 
 
#define REG_SVIRTCOUNT                 41 
 
#define REG_MVIRTCOUNT                 42 
 
#define REG_HOMINGSTATE                43 
 
#define REG_SVIRTLATCH                 44 
 
#define REG_MVIRTLATCH                 45 
 
#define REG_USERREFCUR                 46 
 
#define PID_ACTINTSUM                  49 
 
#define PID_INTLIMIT                   50 
 
#define PID_100PERCENT                 51 
 
#define PID_VELRESVAL                  52 
 
#define PID_PIDPART                    53 
 
#define PID_FFPART                     54 
 
#define PID_FFACCPART                  55 
 
#define PID_ACT_INTLIMIT               56 
 
#define PID_FF_FACTOR                  57 
 
#define PID_FF_CMDVEL                  58 
 
#define PID_MODE                       59 
 
#define PFG_DIR                        82 
 
#define PFG_AACC                       83 
 
#define PFG_ADEC                       84 
 
#define PFG_VFIN                       85 
 
#define PFG_AACT                       86 
 
#define PFG_AACC_DELTA                 87 
 
#define PFG_ADELTCALC                  88 
 
#define PFG_PATHCALC                   89 
 
#define PFG_PCMD                       90 
 
#define PFG_VCMD                       91 
 
#define PFG_PCORR                      92 
 
#define PFG_OLDMFILTVEL                93 
 
#define PFG_OLDSFILTVEL                94 
 
#define PFG_MFILTERR                   95 
 
#define PFG_MDIR                       96 
 
#define PFG_MACTDIR                    97 
 
#define PFG_SACTDIR                    98 
 
#define PFG_MPCMD                      99 
 
#define PFG_MPCMDOLD                   100
 
#define PFG_REVERSING                  101
 
#define PFG_MMARKCNT                   102
 
#define PFG_SMARKCNT                   103
 
#define PFG_MOLDZERO                   104
 
#define PFG_SOLDZERO                   105
 
#define PFG_MZEROCMD                   106
 
#define PFG_SZEROCMD                   107
 
#define PFG_MHIT                       108
 
#define PFG_SHIT                       109
 
#define PFG_READYCNT                   110
 
#define PFG_FAULTCNT                   111
 
#define PFG_MPCMDERR                   112
 
#define PFG_MARKERDIFF                 113
 
#define PFG_SYNCSTART                  114
 
#define PFG_OLDSYPOFFS                 115
 
#define PFG_KORREKTUR                  116
 
#define PFG_KORRREST                   117
 
#define PFG_KORRVAL                    118
 
#define PFG_MARKERFAKED                119
 
#define PFG_INTOFFSET                  120
 
#define PFG_SCALESHIFT                 121
 
#define PFG_AKTSTATE                   122
 
#define PFG_FLAGS                      123
 
#define PFG_STOPLEN                    124
 
#define PFG_CINDEX                     125
 
#define PFG_CVINDEX                    126
 
#define PFG_CMAXINDEX                  127
 
#define PFG_SYNCSTOPLEN                128
 
#define PFG_CWRAP                      130
 
#define PFG_CSSTART                    131
 
#define PFG_CCOUNTER                   132
 
#define PFG_CCURVEPOS                  133
 
#define PFG_CSLAVECPOSQ                134
 
#define PFG_CMASTERCPOS                135
 
#define PFG_GETCMDVEL                  136
 
#define PFG_MMFAKEDCNT                 137
 
#define PFG_SMFAKEDCNT                 138
 
#define PFG_MMILLEGALCNT               139
 
#define PFG_SMILLEGALCNT               140
 
#define PFG_SYNCVELDIFF                141
 
#define PFG_SYNCPATHLEN                142
 
#define PFG_MMARKERDIST                143
 
#define PFG_SMARKERDIST                144
 
#define PFG_STARTKORR                  145
 
#define PFG_STARTKORRREST              146
 
#define PFG_KORRFILT                   147
 
#define PFG_LASTMMDIST                 148
 
#define PFG_MMARKCORR                  149
 
#define PFG_KORRUNFILT                 150
 
#define PFG_MDISTMARK                  151
 
#define PFG_SDISTMARK                  152
 
#define PFG_STARTKORRVAL               153
 
#define PFG_LASTSMDIST                 154
 
#define PFG_MARKERFILTER               155
 
#define PFG_KORRTAU                    156
 
#define PFG_INTMMERROR                 157
 
#define PFG_MMARKERR                   158
 
#define PFG_ORGREALPOS                 159
 
#define PFG_DYNKORRLIMIT               160
 
#define PFG_MMARKFIFOVALID             161
 
#define PFG_MMARKFIFOREAD              162
 
#define PFG_LASTERROR                  163
 
#define PFG_STOUCHPOS                  164
 
#define PFG_MTOUCHPOS                  165
 
#define PFG_MCENDPOS                   166
 
#define PFG_SMARKFIFOVALID             167
 
#define PFG_SMARKFIFOREAD              168
 
#define PFG_CMARKPOS                   173
 
#define PFG_MMARKFIFOTEST              174
 
#define PFG_SMARKFIFOTEST              175
 
#define PFG_RESTOFFSDBL                176
 
#define PFG_OFFTOTALDIST               177
 
#define PFG_OFFDISTDONE                178
 
#define PFG_LASTMOVSYNC                179
 
#define PFG_JSTATE                     180
 
#define PFG_VCMDSIGNED                 181
 
#define PFG_JERKSTOPPATH               182
 
#define PFG_LASTMMDEVIATION            183
 
#define PFG_INTSMERROR                 184
 
#define PFG_SMARKERR                   185
 
#define PFG_LASTSMDEVIATION            186
 
#define PFG_MMDEVPOSDIFF               187
 
#define PFG_SMDEVPOSDIFF               188
 
#define PFG_JERKFINVEL                 189
 
#define PFG_JERKSTOPDIST               190
 
#define PFG_LASTREALMZERO              191
 
#define PFG_LASTREALSZERO              192
 
#define PFG_CPOLYMAXVEL                193
 
#define PFG_CPOLYMINVEL                194
 
#define PFG_SMARKERFILTER              195
 
#define PFG_SYNCDIFFPOSL               196
 
#define PFG_CALCMCURVPOS               197
 
#define PFG_RESTOFFSET                 198
 
#define PFG_OFFSETVALUE                199
 
#define PFG_MASTERTARGET               200
 
#define PFG_REVERSEOFFSET              201
 
#define PFG_MSTARTCURVESTATE           202
 
#define PFG_MSTARTCURVESTARTMPCMD      203
 
#define PFG_MSTARTCURVEMPOSSL          204
 
#define PFG_MSTARTCURVEMENDPOSSL       205
 
#define PFG_MSTARTCURVECPOSSL          206
 
#define PFG_MSTARTCURVEDELTAS          207
 
#define PFG_MSTARTCURVESMARKTODO       208
 
#define PFG_MSTARTCURVEDELTASREST      209
 
#define PFG_MSTARTCURVEERR             210
 
#define PFG_MSTARTMARKERTODO           211
 
#define PFG_SYNCAACT                   212
 
#define PFG_ACTSYNCVFTIME              213
 
#define PFG_FILTERCOUNT                214
 
#define PFG_MASTERVELSQSL              215
 
#define PFG_COMMANDPOS                 216
 
#define PFG_OLDCOMMANDPOS              217
 
#define PFG_CMASTERCREST               218
 
#define PFG_CSLAVECREST                219
 
#define PFG_SYNCMNEGBUFFER             220
 
#define PFG_CMASTERCLEN                221
 
#define PFG_CALCCURVEPOS               222
 
#define PFG_VCMDSIGNED_USERSCALED      223
 
#define PFG_PROFTIMER                  224
 
#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
 
#define PFG_COMPOSDIFF                 231
 
#define PFG_CSTARTCLEN                 232
 
#define PFG_ACMD                       233
 
#define PFG_USERCMDPOS                 234
 
#define PFG_RUNTIME_ERR                235
 
 
    // Values for PFG_AKTSTATE:
    #define PGS_POSCTRL                    0        // Position control, no calculations
    #define PGS_TPZPREDEC                  1        // Deceleration before start of acceleration
    #define PGS_TPZACC                     2        // Trapezoidal acceleration
    #define PGS_TPZDEC                     3        // Trapezoidal deceleration
    #define PGS_TPZVEL                     4        // Trapezoidal constant velocity
    #define PGS_CVEL                       5        // Continuous velocity
    #define PGS_CACC                       6        // Continuous acceleration
    #define PGS_CPREDEC                    7        // Continuous deceleration before acceleration
    #define PGS_CDEC                       8        // Continuous deceleration
    #define PGS_VSYNC                      12       // Velocity synchronization
    #define PGS_PSYNC                      13       // Position synchronization
    #define PGS_PSYNCM                     14       // Position synchronization with marker
    #define PGS_FLOAT                      15       // Floating, no regulation
    #define PGS_POSFLOAT                   16       // Not used anymore
    #define PGS_CSYIDLE                    17       // Idle while in curve sync mode
    #define PGS_CSYSTARTING                18       // Start procedure for curve sync
    #define PGS_CSYSTOPPING                19       // Stop procedure for curve sync
    #define PGS_CSYRUNNING                 20       // Curve synchronization is running
    #define PGS_LMTJERK                    21       // Running in limited jerk mode (for detail look at PFG_G_JSTATE)
    #define PGS_FLOATUSER                  22       // Floating, command position is taken from user
    #define PGS_PATHMOVE                   23       // Path synchronization: Following PATHMOVE curve
    #define PGS_PATHSTART                  24       // Path synchronization: Following start path
    #define PGS_PATHSYNC                   25       // Path synchronization: Following main path
    #define PGS_PATHWAIT                   26       // Path synchronization: Stopped and waiting to continue
    #define PGS_PATHIDLE                   27       // Path synchronization: Stopped and idle
 
//=================================================================================================================
// 0x2600 MACHINE_PARAM - 
//=================================================================================================================
#define SDOINDEX_MACHINE_PARAM                      0x2600
 
#define MACHINE_PARAM_INDEX(modno,parno)            ((0x01000000 | (SDOINDEX_MACHINE_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define MACHINE_PARAM_SRCINDEX(modno,parno)         ((SDOINDEX_MACHINE_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define MACHINE_PARAM(modno,parno)                  Sysvar[MACHINE_PARAM_INDEX((modno),(parno))]
 
#define MACHINE_PARAM_MAX                           31
 
#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 
 
#define KIN_SYNC_STARTFLAG             22 
 
#define KIN_SYNC_STOPFLAG              23 
 
#define KIN_SYNC_VECX                  24 
 
#define KIN_SYNC_VECY                  25 
 
#define KIN_SYNC_VECZ                  26 
 
#define KIN_SYNC_ROTCX                 27 
 
#define KIN_SYNC_ROTCY                 28 
 
#define KIN_SYNC_ROTCZ                 29 
 
#define KIN_SYNC_FPSCALE               30 
 
 
    // Values for MACHINE_MODE:
    #define MACHINE_MODE_DISABLED          0
    #define MACHINE_MODE_ENABLED           1
 
//=================================================================================================================
// 0x2640 MACHINE_PROCESS - 
//=================================================================================================================
#define SDOINDEX_MACHINE_PROCESS                    0x2640
 
#define MACHINE_PROCESS_INDEX(modno,parno)          ((0x01000000 | (SDOINDEX_MACHINE_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define MACHINE_PROCESS_SRCINDEX(modno,parno)       ((SDOINDEX_MACHINE_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define MACHINE_PROCESS(modno,parno)                Sysvar[MACHINE_PROCESS_INDEX((modno),(parno))]
 
#define MACHINE_PROCESS_MAX                         11
 
#define MACHINE_PROCESS_MAX_SUBINDEX   0  
 
#define MACHINE_ERROR_FLAG             1  
 
#define KIN_SYNC_ACTIVE                3  
 
#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  
 
#define MACHINE_ACT_PATH_VELOCITY      10 
 
 
//=================================================================================================================
// 0x2800 VIRTMAST_PARAM - Virtual Master Parameters
//=================================================================================================================
#define SDOINDEX_VIRTMAST_PARAM                     0x2800
 
#define VIRTMAST_PARAM_INDEX(modno,parno)           ((0x01000000 | (SDOINDEX_VIRTMAST_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTMAST_PARAM_SRCINDEX(modno,parno)        ((SDOINDEX_VIRTMAST_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTMAST_PARAM(modno,parno)                 Sysvar[VIRTMAST_PARAM_INDEX((modno),(parno))]
 
#define VIRTMAST_PARAM_MAX                          36
 
#define VIRTMAST_MODE                  1  
 
#define VIRTMAST_PISRC_CMDWORD         10 
 
#define VIRTMAST_PISRC_CMDVEL          11 
 
#define VIRTMAST_VEL                   30 
 
#define VIRTMAST_ACC                   31 
 
#define VIRTMAST_DEC                   32 
 
#define VIRTMAST_UUFACT_UNITNO         34 
 
#define VIRTMAST_UUFACT_INCNO          35 
 
 
    // Values for VIRTMAST_MODE:
    #define VIRTMAST_MODE_DISABLED         0        // Disabled, output velocity is zero.
    #define VIRTMAST_MODE_VELOCITY         1        // Velocity mode, PO_VIRTMAST_VEL is taken directly from VIRTMAST_PISRC_CMDVEL, and scaled using VIRTMAST_UUFACT_INCNO and VIRTMAST_UUFACT_UNITNO.
    #define VIRTMAST_MODE_PROFILE          3        // Velocity profile mode, PO_VIRTMAST_VEL is generated using VIRTMAST_VEL/ACC/DEC.
 
//=================================================================================================================
// 0x2840 VIRTCOUNTIN_PARAM - Virtual Counter Inputs parameters
//=================================================================================================================
#define SDOINDEX_VIRTCOUNTIN_PARAM                  0x2840
 
#define VIRTCOUNTIN_PARAM_INDEX(modno,parno)        ((0x01000000 | (SDOINDEX_VIRTCOUNTIN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTCOUNTIN_PARAM_SRCINDEX(modno,parno)     ((SDOINDEX_VIRTCOUNTIN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTCOUNTIN_PARAM(modno,parno)              Sysvar[VIRTCOUNTIN_PARAM_INDEX((modno),(parno))]
 
#define VIRTCOUNTIN_PARAM_MAX                       37
 
#define VIRTCNTIN_MODE                 1  
 
#define VIRTCNTIN_SIMULATION_SPEED     4  
 
#define VIRTCNTIN_INHIBIT              5  
 
#define VIRTCNTIN_PISRC_COUNTER        10 
 
#define VIRTCNTIN_MAXSTEP              30 
 
#define VIRTCNTIN_OVFL_VALUE           32 
 
#define VIRTCNTIN_OVFL_FORCE           33 
 
#define VIRTCNTIN_UUFACT_UNITNO        34 
 
#define VIRTCNTIN_UUFACT_INCNO         35 
 
#define VIRTCNTIN_MOVING_AVERAGE_N     36 
 
 
    // Values for VIRTCNTIN_MODE:
    #define VIRTCNTIN_MODE_ABSOLUTE        0        // Source is a position value and difference to last value is added (incremental encoders)
    #define VIRTCNTIN_MODE_DELTA           1        // Source is a velocity value and it is added as is
    #define VIRTCNTIN_MODE_SIMULATION_SLAVE 2        // Source is taken as it is - e.g. COMPOS from an axis
    #define VIRTCNTIN_MODE_ABSOLUTE_DIRECT 3        // Source is absolute and is directly taken as output position (absolute encoders)
    #define VIRTCNTIN_MODE_ABSOLUTE_16BIT  4        // Source is 16bit position counter, difference to last value is added to current position
    #define VIRTCNTIN_MODE_ABSOLUTE_DIRECT_ENDLESS 5        // Source is absolute. Output position will not overflow at encoder overflow (absolute encoders).
 
//=================================================================================================================
// 0x2880 VIRTLATCH_PARAM - Virtual Latch Inputs Parameters
//=================================================================================================================
#define SDOINDEX_VIRTLATCH_PARAM                    0x2880
 
#define VIRTLATCH_PARAM_INDEX(modno,parno)          ((0x01000000 | (SDOINDEX_VIRTLATCH_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTLATCH_PARAM_SRCINDEX(modno,parno)       ((SDOINDEX_VIRTLATCH_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTLATCH_PARAM(modno,parno)                Sysvar[VIRTLATCH_PARAM_INDEX((modno),(parno))]
 
#define VIRTLATCH_PARAM_MAX                         37
 
#define VIRTLATCH_MODE                 1  
 
#define VIRTLATCH_SIM_ZDIST            4  
 
#define VIRTLATCH_LATCHVALID_BITMASK   5  
 
#define VIRTLATCH_PISRC_COUNTER        10 
 
#define VIRTLATCH_PISRC_LATCHCNT       11 
 
#define VIRTLATCH_PISRC_LATCH          12 
 
#define VIRTLATCH_PISRC_LATCHSTAT      13 
 
#define VIRTLATCH_PISRC_LATCHVALID     14 
 
#define VIRTLATCH_PISRC_LATCHFIFO_AMOUNT 15 
 
#define VIRTLATCH_PISRC_LATCHFIFO_READ 16 
 
#define VIRTLATCH_CNTW_CLEAR           30 
 
#define VIRTLATCH_CNTW_ACTIVE          31 
 
#define VIRTLATCH_STAT_HIT             33 
 
#define VIRTLATCH_OFFSET               34 
 
#define VIRTLATCH_UUFACT_UNITNO        35 
 
#define VIRTLATCH_UUFACT_INCNO         36 
 
 
    // Values for VIRTLATCH_MODE:
    #define VIRTLATCH_MODE_HARDWARE        0        // Standard mode with HW Latch modules.
    #define VIRTLATCH_MODE_SOFTWARE        1        // Latching is done in software (latency up to 1ms), using VIRTLATCH_PISRC_LATCHVALID and VIRTLATCH_LATCHVALID_BITMASK.
    #define VIRTLATCH_MODE_SIMULATOR       2        // Used for simulated latches. The value from VIRTLATCH_PISRC_COUNTER will be compared to the current PO_VIRTLATCH_VALUE. If the distance is bigger than VIRTLATCH_SIM_ZDIST, a new latch will be generated at PO_VIRTLATCH_VALUE + VIRTLATCH_SIM_ZDIST.
    #define VIRTLATCH_MODE_16BIT           3        // See Mode 0, but source is a 16bit value.
    #define VIRTLATCH_MODE_DIRECT          4        // If the value from VIRTLATCH_PISRC_LATCHVALID ANDed with VIRTLATCH_VALID_BITMASK result != 0, the value from VIRTLATCH_PISRC_COUNTER will be written directly in PO_VIRTLATCH_VALUE. Can be used for bus drives.
 
//=================================================================================================================
// 0x28C0 VIRTAMP_PARAM - Virtual Amplifier Parameters
//=================================================================================================================
#define SDOINDEX_VIRTAMP_PARAM                      0x28C0
 
#define VIRTAMP_PARAM_INDEX(modno,parno)            ((0x01000000 | (SDOINDEX_VIRTAMP_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTAMP_PARAM_SRCINDEX(modno,parno)         ((SDOINDEX_VIRTAMP_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTAMP_PARAM(modno,parno)                  Sysvar[VIRTAMP_PARAM_INDEX((modno),(parno))]
 
#define VIRTAMP_PARAM_MAX                           54
 
#define VIRTAMP_MODE                   1  
 
#define VIRTAMP_PISRC_CMDWORD          10 
 
#define VIRTAMP_PISRC_REFPOS           11 
 
#define VIRTAMP_PISRC_REFVEL           12 
 
#define VIRTAMP_PISRC_REFACC           13 
 
#define VIRTAMP_PISRC_CURRENT          20 
 
#define VIRTAMP_PISRC_STATUS           21 
 
#define VIRTAMP_DRIVETYPE              30 
 
#define VIRTAMP_CNTRLW_PWROFF          31 
 
#define VIRTAMP_CNTRLW_PWRONDIS        32 
 
#define VIRTAMP_CNTRLW_PWRONENP        33 
 
#define VIRTAMP_CNTRLW_PWRONENN        34 
 
#define VIRTAMP_CNTRLW_QUICKSTOP       35 
 
#define VIRTAMP_CNTRLW_RESET           36 
 
#define VIRTAMP_REFTYPE                37 
 
#define VIRTAMP_REFOUTP                38 
 
#define VIRTAMP_REFOUTN                39 
 
#define VIRTAMP_REF100PERC             40 
 
#define VIRTAMP_REFLIMIT               41 
 
#define VIRTAMP_REFOFFSET              42 
 
#define VIRTAMP_INVERT                 43 
 
#define VIRTAMP_I2TTIME                44 
 
#define VIRTAMP_STOPDELAY              45 
 
#define VIRTAMP_REVERSE                46 
 
#define VIRTAMP_ERROR_BITMASK          47 
 
#define VIRTAMP_ERROR_POLARITY         48 
 
#define VIRTAMP_I2TLIMIT               49 
 
#define VIRTAMP_REFACC100PERC          50 
 
#define VIRTAMP_READY_BITMASK          51 
 
#define VIRTAMP_READY_POLARITY         52 
 
#define VIRTAMP_TORQUE_CONST           53 
 
 
    // Values for VIRTAMP_MODE:
    #define VIRTAMP_MODE_DISABLE           0        // Disabled
    #define VIRTAMP_MODE_ENABLE            1        // Enabled
 
//=================================================================================================================
// 0x2900 VIRTDIGIN_PARAM - Virtual Digital Input Parameters
//=================================================================================================================
#define SDOINDEX_VIRTDIGIN_PARAM                    0x2900
 
#define VIRTDIGIN_PARAM_INDEX(modno,parno)          ((0x01000000 | (SDOINDEX_VIRTDIGIN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTDIGIN_PARAM_SRCINDEX(modno,parno)       ((SDOINDEX_VIRTDIGIN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTDIGIN_PARAM(modno,parno)                Sysvar[VIRTDIGIN_PARAM_INDEX((modno),(parno))]
 
#define VIRTDIGIN_PARAM_MAX                         14
 
#define VIRTDIGIN_PISRC_MAP1           10 
 
#define VIRTDIGIN_PISRC_MAP2           11 
 
#define VIRTDIGIN_PISRC_MAP3           12 
 
#define VIRTDIGIN_PISRC_MAP4           13 
 
 
//=================================================================================================================
// 0x2940 VIRTDIGOUT_PARAM - Virtual Digital Output Parameters
//=================================================================================================================
#define SDOINDEX_VIRTDIGOUT_PARAM                   0x2940
 
#define VIRTDIGOUT_PARAM_INDEX(modno,parno)         ((0x01000000 | (SDOINDEX_VIRTDIGOUT_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTDIGOUT_PARAM_SRCINDEX(modno,parno)      ((SDOINDEX_VIRTDIGOUT_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTDIGOUT_PARAM(modno,parno)               Sysvar[VIRTDIGOUT_PARAM_INDEX((modno),(parno))]
 
#define VIRTDIGOUT_PARAM_MAX                        2
 
//=================================================================================================================
// 0x2980 VIRTANIN_PARAM - Virtual Analog Input Parameters
//=================================================================================================================
#define SDOINDEX_VIRTANIN_PARAM                     0x2980
 
#define VIRTANIN_PARAM_INDEX(modno,parno)           ((0x01000000 | (SDOINDEX_VIRTANIN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTANIN_PARAM_SRCINDEX(modno,parno)        ((SDOINDEX_VIRTANIN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTANIN_PARAM(modno,parno)                 Sysvar[VIRTANIN_PARAM_INDEX((modno),(parno))]
 
#define VIRTANIN_PARAM_MAX                          33
 
#define VIRTANIN_PISRC_VALUE           10 
 
#define VIRTANIN_UUFACT_UNITNO         30 
 
#define VIRTANIN_UUFACT_DIGNO          31 
 
#define VIRTANIN_DIG_OFFSET            32 
 
 
//=================================================================================================================
// 0x29C0 VIRTANOUT_PARAM - Virtual Analog Output Parameters
//=================================================================================================================
#define SDOINDEX_VIRTANOUT_PARAM                    0x29C0
 
#define VIRTANOUT_PARAM_INDEX(modno,parno)          ((0x01000000 | (SDOINDEX_VIRTANOUT_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTANOUT_PARAM_SRCINDEX(modno,parno)       ((SDOINDEX_VIRTANOUT_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTANOUT_PARAM(modno,parno)                Sysvar[VIRTANOUT_PARAM_INDEX((modno),(parno))]
 
#define VIRTANOUT_PARAM_MAX                         2
 
//=================================================================================================================
// 0x2A00 VIRTCUSTOM_PARAM - Virtual Customer Module Parameters
//=================================================================================================================
#define SDOINDEX_VIRTCUSTOM_PARAM                   0x2A00
 
#define VIRTCUSTOM_PARAM_INDEX(modno,parno)         ((0x01000000 | (SDOINDEX_VIRTCUSTOM_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTCUSTOM_PARAM_SRCINDEX(modno,parno)      ((SDOINDEX_VIRTCUSTOM_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTCUSTOM_PARAM(modno,parno)               Sysvar[VIRTCUSTOM_PARAM_INDEX((modno),(parno))]
 
#define VIRTCUSTOM_PARAM_MAX                        20
 
#define VIRTCUSTOM_PAR_1               1  
 
#define VIRTCUSTOM_PAR_2               2  
 
#define VIRTCUSTOM_PAR_3               3  
 
#define VIRTCUSTOM_PAR_4               4  
 
#define VIRTCUSTOM_PAR_5               5  
 
#define VIRTCUSTOM_PAR_6               6  
 
#define VIRTCUSTOM_PAR_7               7  
 
#define VIRTCUSTOM_PAR_8               8  
 
#define VIRTCUSTOM_PAR_9               9  
 
#define VIRTCUSTOM_PISRC_1             10 
 
#define VIRTCUSTOM_PISRC_2             11 
 
#define VIRTCUSTOM_PISRC_3             12 
 
#define VIRTCUSTOM_PISRC_4             13 
 
#define VIRTCUSTOM_PISRC_5             14 
 
#define VIRTCUSTOM_PISRC_6             15 
 
#define VIRTCUSTOM_PISRC_7             16 
 
#define VIRTCUSTOM_PISRC_8             17 
 
#define VIRTCUSTOM_PISRC_9             18 
 
#define VIRTCUSTOM_PISRC_10            19 
 
 
//=================================================================================================================
// 0x2A40 VIRTMATH_PARAM - Virtual Math Module Parameters
//=================================================================================================================
#define SDOINDEX_VIRTMATH_PARAM                     0x2A40
 
#define VIRTMATH_PARAM_INDEX(modno,parno)           ((0x01000000 | (SDOINDEX_VIRTMATH_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTMATH_PARAM_SRCINDEX(modno,parno)        ((SDOINDEX_VIRTMATH_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTMATH_PARAM(modno,parno)                 Sysvar[VIRTMATH_PARAM_INDEX((modno),(parno))]
 
#define VIRTMATH_PARAM_MAX                          34
 
#define VIRTMATH_MODE                  1  
 
#define VIRTMATH_INVERT                2  
 
#define VIRTMATH_LOW_LIMIT             3  
 
#define VIRTMATH_HIGH_LIMIT            4  
 
#define VIRTMATH_PISRC_1               10 
 
#define VIRTMATH_PISRC_2               11 
 
#define VIRTMATH_PISRC_3               12 
 
#define VIRTMATH_PISRC_4               13 
 
#define VIRTMATH_POSRC_1               20 
 
#define VIRTMATH_POSRC_2               21 
 
#define VIRTMATH_MODE_BASED_1          30 
 
#define VIRTMATH_MODE_BASED_2          31 
 
#define VIRTMATH_MODE_BASED_3          32 
 
#define VIRTMATH_MODE_BASED_4          33 
 
 
    // Values for VIRTMATH_MODE:
    #define VIRTMATH_MODE_OFF              0        // Module Disabled
    #define VIRTMATH_MODE_ADD              1        // Output = Input1 + Input2 + Input3 + Input4
    #define VIRTMATH_MODE_GAIN             2        // Output = (Input1 / Input2) * (Input3 / Input4)
    #define VIRTMATH_MODE_SINW             10       // Output = Input1 / Input2 * Sin(2*PI*t/Input3) + Input4
    #define VIRTMATH_MODE_COSW             11       // Output = Input1 / Input2 * Cos(2*PI*t/Input3) + Input4
    #define VIRTMATH_MODE_SIN              12       // Output = Input1 / Input2 * Sin(Input3/1000) + Input4
    #define VIRTMATH_MODE_COS              13       // Output = Input1 / Input2 * Cos(Input3/1000) + Input4
    #define VIRTMATH_MODE_LP1_FILTER       20       // Output =   (Input1 - Output) / Input2 + Output
    #define VIRTMATH_MODE_PID              30       // Output = Pid(): Setpoint = Input1, measurement = Input2, Configuration = VIRTMATH_MODE_BASED1-4
 
    // Values for VIRTMATH_MODE_BASED:
    #define VIRTMATH_MODE_PID_KP           30       // Mode VIRTMATH_MODE_PID: Controller gain proportional
    #define VIRTMATH_MODE_PID_KI           31       // Mode VIRTMATH_MODE_PID: Controller gain integral
    #define VIRTMATH_MODE_PID_KD           32       // Mode VIRTMATH_MODE_PID: Controller gain differential
    #define VIRTMATH_MODE_PID_KILIM        33       // Mode VIRTMATH_MODE_PID: Integral limit
 
//=================================================================================================================
// 0x2C00 VIRTMAST_PROCESS - Virtual Master Process Data
//=================================================================================================================
#define SDOINDEX_VIRTMAST_PROCESS                   0x2C00
 
#define VIRTMAST_PROCESS_INDEX(modno,parno)         ((0x01000000 | (SDOINDEX_VIRTMAST_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTMAST_PROCESS_SRCINDEX(modno,parno)      ((SDOINDEX_VIRTMAST_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTMAST_PROCESS(modno,parno)               Sysvar[VIRTMAST_PROCESS_INDEX((modno),(parno))]
 
#define VIRTMAST_PROCESS_MAX                        7
 
#define PO_VIRTMAST_VEL                1  
 
#define PO_VIRTMAST_POS                2  
 
#define PO_VIRTMAST_TVEL_INC           3  
 
#define PO_VIRTMAST_ACC_INC            4  
 
#define PO_VIRTMAST_DEC_INC            5  
 
#define PO_VIRTMAST_POS16              6  
 
 
//=================================================================================================================
// 0x2C40 VIRTCOUNTIN_PROCESS - Virtual Counter Inputs Process Data
//=================================================================================================================
#define SDOINDEX_VIRTCOUNTIN_PROCESS                0x2C40
 
#define VIRTCOUNTIN_PROCESS_INDEX(modno,parno)      ((0x01000000 | (SDOINDEX_VIRTCOUNTIN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTCOUNTIN_PROCESS_SRCINDEX(modno,parno)   ((SDOINDEX_VIRTCOUNTIN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTCOUNTIN_PROCESS(modno,parno)            Sysvar[VIRTCOUNTIN_PROCESS_INDEX((modno),(parno))]
 
#define VIRTCOUNTIN_PROCESS_MAX                     13
 
#define PO_VIRTCNTIN_VALUE             1  
 
#define PO_VIRTCNTIN_VELOCITY          2  
 
#define PO_VIRTCNTIN_FRACT             4  
 
#define PO_VIRTCNTIN_OVFLS             5  
 
#define PO_VIRTCNTIN_LASTSRCPOS        6  
 
#define PO_VIRTCNTIN_LASTVELOCITY      7  
 
#define PO_VIRTCNTIN_OVFL_AMOUNT       8  
 
#define PO_VIRTCNTIN_STAT              9  
 
#define PO_VIRTCNTIN_ERR_COUNT         10 
 
#define PO_VIRTCNTIN_VALUE_FILTERED_FRACTIONAL 11 
 
#define PO_VIRTCNTIN_VALUE_FILTERED_INTEGRAL 12 
 
 
//=================================================================================================================
// 0x2C80 VIRTLATCH_PROCESS - Virtual Latch Inputs Process Data
//=================================================================================================================
#define SDOINDEX_VIRTLATCH_PROCESS                  0x2C80
 
#define VIRTLATCH_PROCESS_INDEX(modno,parno)        ((0x01000000 | (SDOINDEX_VIRTLATCH_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTLATCH_PROCESS_SRCINDEX(modno,parno)     ((SDOINDEX_VIRTLATCH_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTLATCH_PROCESS(modno,parno)              Sysvar[VIRTLATCH_PROCESS_INDEX((modno),(parno))]
 
#define VIRTLATCH_PROCESS_MAX                       16
 
#define PO_VIRTLATCH_VALUE             1  
 
#define PO_VIRTLATCH_COUNTER           2  
 
#define PO_VIRTLATCH_LASTSRCLATCHPOS   4  
 
#define PO_VIRTLATCH_FLAG              5  
 
#define PO_VIRTLATCH_CMDWORD           6  
 
#define PO_VIRTLATCH_FIFO_READ         7  
 
#define PO_VIRTLATCH_FIFO_VALID        8  
 
#define PO_VIRTLATCH_FIFO_WRITEINDEX   9  
 
#define PO_VIRTLATCH_FIFO_READINDEX    10 
 
#define PO_VIRTLATCH_FIFO_LATCHAMOUNT  11 
 
#define PO_VIRTLATCH_FIFO_TOTALCNT     12 
 
#define PO_VIRTLATCH_FIFO_OVERFLOWCNT  13 
 
#define PO_VIRTLATCH_FIFO_PEEK         14 
 
#define PO_VIRTLATCH_VALID             15 
 
 
//=================================================================================================================
// 0x2CC0 VIRTAMP_PROCESS - Virtual Amplifier Process Data
//=================================================================================================================
#define SDOINDEX_VIRTAMP_PROCESS                    0x2CC0
 
#define VIRTAMP_PROCESS_INDEX(modno,parno)          ((0x01000000 | (SDOINDEX_VIRTAMP_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTAMP_PROCESS_SRCINDEX(modno,parno)       ((SDOINDEX_VIRTAMP_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTAMP_PROCESS(modno,parno)                Sysvar[VIRTAMP_PROCESS_INDEX((modno),(parno))]
 
#define VIRTAMP_PROCESS_MAX                         16
 
#define PO_VIRTAMP_STATUS              1  
 
#define PO_VIRTAMP_CMDWORD             2  
 
#define PO_VIRTAMP_REFPOS              3  
 
#define PO_VIRTAMP_REFVEL              4  
 
#define PO_VIRTAMP_REFACC              5  
 
#define PO_VIRTAMP_DIRPOS              7  
 
#define PO_VIRTAMP_DIRNEG              8  
 
#define PO_VIRTAMP_CURRENT             10 
 
#define PO_VIRTAMP_ACTSTOPDELAY        12 
 
#define PO_VIRTAMP_I2TVALUE            13 
 
#define PO_VIRTAMP_ERROR               14 
 
#define PO_VIRTAMP_REMOTE_AMP          15 
 
 
    // Values for PO_VIRTAMP_ERROR:
    #define VIRTAMP_ERROR_HWAMP            0x0001   // HW amplifier reports error
    #define VIRTAMP_ERROR_I2T              0x0002   // Virtual amplifier reports I2T error
    #define VIRTAMP_ERROR_NOTREADY         0x0004   // HW amplifier not ready
 
//=================================================================================================================
// 0x2D00 VIRTDIGIN_PROCESS - Virtual Digital Input Process Data
//=================================================================================================================
#define SDOINDEX_VIRTDIGIN_PROCESS                  0x2D00
 
#define VIRTDIGIN_PROCESS_INDEX(modno,parno)        ((0x01000000 | (SDOINDEX_VIRTDIGIN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTDIGIN_PROCESS_SRCINDEX(modno,parno)     ((SDOINDEX_VIRTDIGIN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTDIGIN_PROCESS(modno,parno)              Sysvar[VIRTDIGIN_PROCESS_INDEX((modno),(parno))]
 
#define VIRTDIGIN_PROCESS_MAX                       8
 
#define PO_VIRTDIGIN_VALLONG           1  
 
#define PO_VIRTDIGIN_VALWORD1          2  
 
#define PO_VIRTDIGIN_VALWORD2          3  
 
#define PO_VIRTDIGIN_VALBYTE1          4  
 
#define PO_VIRTDIGIN_VALBYTE2          5  
 
#define PO_VIRTDIGIN_VALBYTE3          6  
 
#define PO_VIRTDIGIN_VALBYTE4          7  
 
 
//=================================================================================================================
// 0x2D40 VIRTDIGOUT_PROCESS - Virtual Digital Output Process Data
//=================================================================================================================
#define SDOINDEX_VIRTDIGOUT_PROCESS                 0x2D40
 
#define VIRTDIGOUT_PROCESS_INDEX(modno,parno)       ((0x01000000 | (SDOINDEX_VIRTDIGOUT_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTDIGOUT_PROCESS_SRCINDEX(modno,parno)    ((SDOINDEX_VIRTDIGOUT_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTDIGOUT_PROCESS(modno,parno)             Sysvar[VIRTDIGOUT_PROCESS_INDEX((modno),(parno))]
 
#define VIRTDIGOUT_PROCESS_MAX                      8
 
#define PO_VIRTDIGOUT_VALLONG          1  
 
#define PO_VIRTDIGOUT_VALWORD1         2  
 
#define PO_VIRTDIGOUT_VALWORD2         3  
 
#define PO_VIRTDIGOUT_VALBYTE1         4  
 
#define PO_VIRTDIGOUT_VALBYTE2         5  
 
#define PO_VIRTDIGOUT_VALBYTE3         6  
 
#define PO_VIRTDIGOUT_VALBYTE4         7  
 
 
//=================================================================================================================
// 0x2D80 VIRTANIN_PROCESS - Virtual Analog Input Process Data
//=================================================================================================================
#define SDOINDEX_VIRTANIN_PROCESS                   0x2D80
 
#define VIRTANIN_PROCESS_INDEX(modno,parno)         ((0x01000000 | (SDOINDEX_VIRTANIN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTANIN_PROCESS_SRCINDEX(modno,parno)      ((SDOINDEX_VIRTANIN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTANIN_PROCESS(modno,parno)               Sysvar[VIRTANIN_PROCESS_INDEX((modno),(parno))]
 
#define VIRTANIN_PROCESS_MAX                        8
 
#define PO_VIRTANIN_VALUE              1  
 
#define PO_VIRTANIN_MAXVAL             2  
 
#define PO_VIRTANIN_MINVAL             3  
 
#define PO_VIRTANIN_SUM                4  
 
#define PO_VIRTANIN_COUNT              6  
 
#define PO_VIRTANIN_AVG                7  
 
 
//=================================================================================================================
// 0x2DC0 VIRTANOUT_PROCESS - Virtual Analog Output Process Data
//=================================================================================================================
#define SDOINDEX_VIRTANOUT_PROCESS                  0x2DC0
 
#define VIRTANOUT_PROCESS_INDEX(modno,parno)        ((0x01000000 | (SDOINDEX_VIRTANOUT_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTANOUT_PROCESS_SRCINDEX(modno,parno)     ((SDOINDEX_VIRTANOUT_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTANOUT_PROCESS(modno,parno)              Sysvar[VIRTANOUT_PROCESS_INDEX((modno),(parno))]
 
#define VIRTANOUT_PROCESS_MAX                       4
 
#define PO_VIRTANOUT_VALUE             1  
 
#define PO_VIRTANOUT_VALWORD1          2  
 
#define PO_VIRTANOUT_VALWORD2          3  
 
 
//=================================================================================================================
// 0x2E00 VIRTCUSTOM_PROCESS - Virtual Customer Module Process Data
//=================================================================================================================
#define SDOINDEX_VIRTCUSTOM_PROCESS                 0x2E00
 
#define VIRTCUSTOM_PROCESS_INDEX(modno,parno)       ((0x01000000 | (SDOINDEX_VIRTCUSTOM_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTCUSTOM_PROCESS_SRCINDEX(modno,parno)    ((SDOINDEX_VIRTCUSTOM_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTCUSTOM_PROCESS(modno,parno)             Sysvar[VIRTCUSTOM_PROCESS_INDEX((modno),(parno))]
 
#define VIRTCUSTOM_PROCESS_MAX                      21
 
#define PO_VIRTCUSTOM_1                1  
 
#define PO_VIRTCUSTOM_2                2  
 
#define PO_VIRTCUSTOM_3                3  
 
#define PO_VIRTCUSTOM_4                4  
 
#define PO_VIRTCUSTOM_5                5  
 
#define PO_VIRTCUSTOM_6                6  
 
#define PO_VIRTCUSTOM_7                7  
 
#define PO_VIRTCUSTOM_8                8  
 
#define PO_VIRTCUSTOM_9                9  
 
#define PO_VIRTCUSTOM_10               10 
 
#define PO_VIRTCUSTOM_11               11 
 
#define PO_VIRTCUSTOM_12               12 
 
#define PO_VIRTCUSTOM_13               13 
 
#define PO_VIRTCUSTOM_14               14 
 
#define PO_VIRTCUSTOM_15               15 
 
#define PO_VIRTCUSTOM_16               16 
 
#define PO_VIRTCUSTOM_17               17 
 
#define PO_VIRTCUSTOM_18               18 
 
#define PO_VIRTCUSTOM_19               19 
 
#define PO_VIRTCUSTOM_20               20 
 
 
//=================================================================================================================
// 0x2E40 VIRTMATH_PROCESS - Virtual Math Module Process Data
//=================================================================================================================
#define SDOINDEX_VIRTMATH_PROCESS                   0x2E40
 
#define VIRTMATH_PROCESS_INDEX(modno,parno)         ((0x01000000 | (SDOINDEX_VIRTMATH_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTMATH_PROCESS_SRCINDEX(modno,parno)      ((SDOINDEX_VIRTMATH_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define VIRTMATH_PROCESS(modno,parno)               Sysvar[VIRTMATH_PROCESS_INDEX((modno),(parno))]
 
#define VIRTMATH_PROCESS_MAX                        7
 
#define PO_VIRTMATH_VALUE              1  
 
#define PO_VIRTMATH_MODE_BASED_VALUE_1 2  
 
#define PO_VIRTMATH_MODE_BASED_VALUE_2 3  
 
#define PO_VIRTMATH_MODE_BASED_VALUE_3 4  
 
#define PO_VIRTMATH_MODE_BASED_VALUE_4 5  
 
#define PO_VIRTMATH_MODE_BASED_VALUE_5 6  
 
 
    // Values for PO_VIRTMATH_MODE_BASED_VALUE:
    #define VIRTMATH_MODE_PID_PROP_VALUE   2        // Mode VIRTMATH_MODE_PID: Proportional value
    #define VIRTMATH_MODE_PID_INT_VALUE    3        // Mode VIRTMATH_MODE_PID: Integral value
    #define VIRTMATH_MODE_PID_DIFF_VALUE   4        // Mode VIRTMATH_MODE_PID: Differential value
    #define VIRTMATH_MODE_PID_PREV_ERROR   5        // Mode VIRTMATH_MODE_PID: Previous error
    #define VIRTMATH_MODE_PID_INT_SUM      6        // Mode VIRTMATH_MODE_PID: Actual integral sum
 
//=================================================================================================================
// 0x3301 ECAT_SLAVE_PDO1_1_255 - 
//=================================================================================================================
#define SDOINDEX_ECAT_SLAVE_PDO1_1_255              0x3301
 
#define ECAT_SLAVE_PDO1_1_255_INDEX(parno)          ((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO1_1_255<<8)) | ((long) (parno)))
 
#define ECAT_SLAVE_PDO1_1_255_SRCINDEX(parno)       ((SDOINDEX_ECAT_SLAVE_PDO1_1_255<<8) | ((long) (parno)))
 
#define ECAT_SLAVE_PDO1_1_255(parno)                Sysvar[ECAT_SLAVE_PDO1_1_255_INDEX(parno)]
 
#define ECAT_SLAVE_PDO1_1_255_MAX                   256
 
//=================================================================================================================
// 0x3302 ECAT_SLAVE_PDO1_256_510 - 
//=================================================================================================================
#define SDOINDEX_ECAT_SLAVE_PDO1_256_510            0x3302
 
#define ECAT_SLAVE_PDO1_256_510_INDEX(parno)        ((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO1_256_510<<8)) | ((long) (parno)))
 
#define ECAT_SLAVE_PDO1_256_510_SRCINDEX(parno)     ((SDOINDEX_ECAT_SLAVE_PDO1_256_510<<8) | ((long) (parno)))
 
#define ECAT_SLAVE_PDO1_256_510(parno)              Sysvar[ECAT_SLAVE_PDO1_256_510_INDEX(parno)]
 
#define ECAT_SLAVE_PDO1_256_510_MAX                 256
 
//=================================================================================================================
// 0x3303 ECAT_SLAVE_PDO1_511_765 - 
//=================================================================================================================
#define SDOINDEX_ECAT_SLAVE_PDO1_511_765            0x3303
 
#define ECAT_SLAVE_PDO1_511_765_INDEX(parno)        ((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO1_511_765<<8)) | ((long) (parno)))
 
#define ECAT_SLAVE_PDO1_511_765_SRCINDEX(parno)     ((SDOINDEX_ECAT_SLAVE_PDO1_511_765<<8) | ((long) (parno)))
 
#define ECAT_SLAVE_PDO1_511_765(parno)              Sysvar[ECAT_SLAVE_PDO1_511_765_INDEX(parno)]
 
#define ECAT_SLAVE_PDO1_511_765_MAX                 256
 
//=================================================================================================================
// 0x3304 ECAT_SLAVE_PDO1_766_1020 - 
//=================================================================================================================
#define SDOINDEX_ECAT_SLAVE_PDO1_766_1020           0x3304
 
#define ECAT_SLAVE_PDO1_766_1020_INDEX(parno)       ((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO1_766_1020<<8)) | ((long) (parno)))
 
#define ECAT_SLAVE_PDO1_766_1020_SRCINDEX(parno)    ((SDOINDEX_ECAT_SLAVE_PDO1_766_1020<<8) | ((long) (parno)))
 
#define ECAT_SLAVE_PDO1_766_1020(parno)             Sysvar[ECAT_SLAVE_PDO1_766_1020_INDEX(parno)]
 
#define ECAT_SLAVE_PDO1_766_1020_MAX                256
 
//=================================================================================================================
// 0x3305 ECAT_SLAVE_PDO2_1_255 - 
//=================================================================================================================
#define SDOINDEX_ECAT_SLAVE_PDO2_1_255              0x3305
 
#define ECAT_SLAVE_PDO2_1_255_INDEX(parno)          ((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO2_1_255<<8)) | ((long) (parno)))
 
#define ECAT_SLAVE_PDO2_1_255_SRCINDEX(parno)       ((SDOINDEX_ECAT_SLAVE_PDO2_1_255<<8) | ((long) (parno)))
 
#define ECAT_SLAVE_PDO2_1_255(parno)                Sysvar[ECAT_SLAVE_PDO2_1_255_INDEX(parno)]
 
#define ECAT_SLAVE_PDO2_1_255_MAX                   256
 
//=================================================================================================================
// 0x3306 ECAT_SLAVE_PDO2_256_510 - 
//=================================================================================================================
#define SDOINDEX_ECAT_SLAVE_PDO2_256_510            0x3306
 
#define ECAT_SLAVE_PDO2_256_510_INDEX(parno)        ((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO2_256_510<<8)) | ((long) (parno)))
 
#define ECAT_SLAVE_PDO2_256_510_SRCINDEX(parno)     ((SDOINDEX_ECAT_SLAVE_PDO2_256_510<<8) | ((long) (parno)))
 
#define ECAT_SLAVE_PDO2_256_510(parno)              Sysvar[ECAT_SLAVE_PDO2_256_510_INDEX(parno)]
 
#define ECAT_SLAVE_PDO2_256_510_MAX                 256
 
//=================================================================================================================
// 0x3307 ECAT_SLAVE_PDO2_511_765 - 
//=================================================================================================================
#define SDOINDEX_ECAT_SLAVE_PDO2_511_765            0x3307
 
#define ECAT_SLAVE_PDO2_511_765_INDEX(parno)        ((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO2_511_765<<8)) | ((long) (parno)))
 
#define ECAT_SLAVE_PDO2_511_765_SRCINDEX(parno)     ((SDOINDEX_ECAT_SLAVE_PDO2_511_765<<8) | ((long) (parno)))
 
#define ECAT_SLAVE_PDO2_511_765(parno)              Sysvar[ECAT_SLAVE_PDO2_511_765_INDEX(parno)]
 
#define ECAT_SLAVE_PDO2_511_765_MAX                 256
 
//=================================================================================================================
// 0x3308 ECAT_SLAVE_PDO2_766_1020 - 
//=================================================================================================================
#define SDOINDEX_ECAT_SLAVE_PDO2_766_1020           0x3308
 
#define ECAT_SLAVE_PDO2_766_1020_INDEX(parno)       ((0x01000000 | (SDOINDEX_ECAT_SLAVE_PDO2_766_1020<<8)) | ((long) (parno)))
 
#define ECAT_SLAVE_PDO2_766_1020_SRCINDEX(parno)    ((SDOINDEX_ECAT_SLAVE_PDO2_766_1020<<8) | ((long) (parno)))
 
#define ECAT_SLAVE_PDO2_766_1020(parno)             Sysvar[ECAT_SLAVE_PDO2_766_1020_INDEX(parno)]
 
#define ECAT_SLAVE_PDO2_766_1020_MAX                256
 
//=================================================================================================================
// 0x3600 SMGLOBAL_PROCESS - Global State Machine Process Data
//=================================================================================================================
#define SDOINDEX_SMGLOBAL_PROCESS                   0x3600
 
#define SMGLOBAL_PROCESS_INDEX(parno)               ((0x01000000 | (SDOINDEX_SMGLOBAL_PROCESS<<8)) | ((long) (parno)))
 
#define SMGLOBAL_PROCESS_SRCINDEX(parno)            ((SDOINDEX_SMGLOBAL_PROCESS<<8) | ((long) (parno)))
 
#define SMGLOBAL_PROCESS(parno)                     Sysvar[SMGLOBAL_PROCESS_INDEX(parno)]
 
#define SMGLOBAL_PROCESS_MAX                        48
 
#define SM_PROC_RUNFLAGS               1  
 
#define SM_PROC_PARAMCNT               2  
 
#define SM_PROC_EVENTCNT               3  
 
#define SM_PROC_STATECNT               4  
 
#define SM_PROC_MACHINECNT             5  
 
#define SM_PROC_POOLSIZE               6  
 
#define SM_PROC_QUEUESIZE              7  
 
#define SM_PROC_STATEDEPTH             8  
 
#define SM_PROC_TIMERMAX               9  
 
#define SM_PROC_SUBSIZE                10 
 
#define SM_PROC_PRMSIZE                11 
 
#define SM_PROC_POSSIZE                12 
 
#define SM_PROC_SYSSIZE                13 
 
#define SM_PROC_SYSCNT                 14 
 
#define SM_PROC_SMRUNSTATE             41 
 
#define SM_PROC_SMRUNFLAGS             42 
 
#define SM_PROC_MACHINE                43 
 
#define SM_PROC_POOLUSED               44 
 
#define SM_PROC_POOLFREE               45 
 
#define SM_PROC_POOLMAX                46 
 
#define SM_PROC_HISTORY                47 
 
 
//=================================================================================================================
// 0x3601 SMMACHINE_PROCESS - State Machine Process Data
//=================================================================================================================
#define SDOINDEX_SMMACHINE_PROCESS                  0x3601
 
#define SMMACHINE_PROCESS_INDEX(modno,parno)        ((0x01000000 | (SDOINDEX_SMMACHINE_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define SMMACHINE_PROCESS_SRCINDEX(modno,parno)     ((SDOINDEX_SMMACHINE_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define SMMACHINE_PROCESS(modno,parno)              Sysvar[SMMACHINE_PROCESS_INDEX((modno),(parno))]
 
#define SMMACHINE_PROCESS_MAX                       121
 
#define SM_MACH_ID                     1  
 
#define SM_MACH_ARRAYCNT               2  
 
#define SM_MACH_QUEUESIZE              3  
 
#define SM_MACH_DATASIZE               4  
 
#define SM_MACH_ROOTSTATE              5  
 
#define SM_MACH_FLAGS                  41 
 
#define SM_MACH_STATE                  42 
 
#define SM_MACH_QUEUEUSED              43 
 
#define SM_MACH_QUEUEFREE              44 
 
#define SM_MACH_QUEUEMAX               45 
 
#define SM_MACH_DATA_1                 81 
 
#define SM_MACH_DATA_2                 82 
 
#define SM_MACH_DATA_3                 83 
 
#define SM_MACH_DATA_4                 84 
 
#define SM_MACH_DATA_5                 85 
 
#define SM_MACH_DATA_6                 86 
 
#define SM_MACH_DATA_7                 87 
 
#define SM_MACH_DATA_8                 88 
 
#define SM_MACH_DATA_9                 89 
 
#define SM_MACH_DATA_10                90 
 
#define SM_MACH_DATA_11                91 
 
#define SM_MACH_DATA_12                92 
 
#define SM_MACH_DATA_13                93 
 
#define SM_MACH_DATA_14                94 
 
#define SM_MACH_DATA_15                95 
 
#define SM_MACH_DATA_16                96 
 
#define SM_MACH_DATA_17                97 
 
#define SM_MACH_DATA_18                98 
 
#define SM_MACH_DATA_19                99 
 
#define SM_MACH_DATA_20                100
 
#define SM_MACH_DATA_21                101
 
#define SM_MACH_DATA_22                102
 
#define SM_MACH_DATA_23                103
 
#define SM_MACH_DATA_24                104
 
#define SM_MACH_DATA_25                105
 
#define SM_MACH_DATA_26                106
 
#define SM_MACH_DATA_27                107
 
#define SM_MACH_DATA_28                108
 
#define SM_MACH_DATA_29                109
 
#define SM_MACH_DATA_30                110
 
#define SM_MACH_DATA_31                111
 
#define SM_MACH_DATA_32                112
 
#define SM_MACH_DATA_33                113
 
#define SM_MACH_DATA_34                114
 
#define SM_MACH_DATA_35                115
 
#define SM_MACH_DATA_36                116
 
#define SM_MACH_DATA_37                117
 
#define SM_MACH_DATA_38                118
 
#define SM_MACH_DATA_39                119
 
#define SM_MACH_DATA_40                120
 
 
//=================================================================================================================
// 0x4000 HWAMP_PARAM - HW Amplifier Parameters
//=================================================================================================================
#define SDOINDEX_HWAMP_PARAM                        0x4000
 
#define HWAMP_PARAM_INDEX(modno,parno)              ((0x01000000 | (SDOINDEX_HWAMP_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWAMP_PARAM_SRCINDEX(modno,parno)           ((SDOINDEX_HWAMP_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWAMP_PARAM(modno,parno)                    Sysvar[HWAMP_PARAM_INDEX((modno),(parno))]
 
#define HWAMP_PARAM_MAX                             93
 
#define HWAMP_MODE                     1  
 
#define HWAMP_PISRC_CMDWORD            10 
 
#define HWAMP_PISRC_REFPOS             11 
 
#define HWAMP_PISRC_REFVEL             12 
 
#define HWAMP_PISRC_REFACC             13 
 
#define HWAMP_PISRC_ACTPOS             14 
 
#define HWAMP_PISRC_ACTVEL             15 
 
#define HWAMP_PISRC_MAX                20 
 
#define HWAMP_VELKPROP                 30 
 
#define HWAMP_VELKINT                  31 
 
#define HWAMP_VELKILIM                 32 
 
#define HWAMP_CURKPROP                 33 
 
#define HWAMP_CURKINT                  34 
 
#define HWAMP_CURKILIM                 35 
 
#define HWAMP_COMMTYPE                 36 
 
#define HWAMP_PWMFREQ                  37 
 
#define HWAMP_POLES                    38 
 
#define HWAMP_AHEADANGLE               39 
 
#define HWAMP_I2TTIME                  40 
 
#define HWAMP_CURFILTTIME              41 
 
#define HWAMP_ENCRES                   42 
 
#define HWAMP_MAXCUR                   43 
 
#define HWAMP_POSDIR                   44 
 
#define HWAMP_MAXRPM                   45 
 
#define HWAMP_USERDEFINED_DATA0        46 
 
#define HWAMP_USERDEFINED_DATA1        47 
 
#define HWAMP_USERDEFINED_DATA2        48 
 
#define HWAMP_USERDEFINED_DATA3        49 
 
#define HWAMP_ELPOL                    51 
 
#define HWAMP_I2T_TRIPVALUE            53 
 
#define HWAMP_I2T_CONT                 54 
 
#define HWAMP_CHOP_UDCMIN              55 
 
#define HWAMP_CHOP_UDCMAX              56 
 
#define HWAMP_VELPI_REFLIM             59 
 
#define HWAMP_VELPI_OUTLIM             60 
 
#define HWAMP_CURPI0_REFLIM            61 
 
#define HWAMP_CURPI0_OUTLIM            62 
 
#define HWAMP_CURPI1_REFLIM            63 
 
#define HWAMP_CURPI1_OUTLIM            64 
 
#define HWAMP_ELPOS_LAGMULT            65 
 
#define HWAMP_TRIP_CURRENT             66 
 
#define HWAMP_TEMP_MAX                 67 
 
#define HWAMP_VOLT_MIN                 68 
 
#define HWAMP_VOLT_MAX                 69 
 
#define HWAMP_CURPI_MODE               70 
 
#define HWAMP_VELPI_MODE               71 
 
#define HWAMP_PROG                     72 
 
#define HWAMP_PROG_PARAMVAL            73 
 
#define HWAMP_PROG_PARAMIND            74 
 
#define HWAMP_PROG_RETVAL              75 
 
#define HWAMP_HALL_SIMULATOR           86 
 
#define HWAMP_HALL_ERROR_LIMIT         87 
 
#define HWAMP_HALL_ALIGNMENT           88 
 
#define HWAMP_SW_VERSION               89 
 
#define HWAMP_POSEL_OFFSET             90 
 
#define HWAMP_DEFINE_PO_DATA_SET       91 
 
#define HWAMP_IDQ_D_REF                92 
 
 
    // Values for HWAMP_MODE:
    #define HWAMP_MODE_POS_VEL_CUR         0        // Pos -> Vel -> Cur -> PWM
    #define HWAMP_MODE_POS_VEL             1        // Pos -> Vel -> PWM
    #define HWAMP_MODE_POS_CUR             2        // Pos -> Cur -> PWM
    #define HWAMP_MODE_POS                 3        // Pos -> PWM
    #define HWAMP_MODE_PFG_CUR_PWM         4        // Mode for all STEP and PMSM in open loop, with current control
    #define HWAMP_MODE_PFG_PWM             5        // Mode for all STEP and PMSM in open loop, without current control
    #define HWAMP_MODE_INT_CUR_PWM         6        // Mode only for HWAMP_COMMTYPE_CHOPPER: with current control
    #define HWAMP_MODE_INT_PWM             7        // Mode only for HWAMP_COMMTYPE_CHOPPER: without current control
 
    // Values for HWAMP_COMMTYPE:
    #define HWAMP_COMMTYPE_NONE            0        // Amplifier disabled
    #define HWAMP_COMMTYPE_DC              1        // DC motor, two phases
    #define HWAMP_COMMTYPE_BLDC            2        // Brushless, three phases, block commutation, requires HALL sensor
    #define HWAMP_COMMTYPE_BLDC_120        2        // Brushless, three phases, block commutation, 120° hall sensors, Deprecated
    #define HWAMP_COMMTYPE_BLDC_60         3        // Brushless, three phases, block commutation, 60° hall sensors, Deprecated
    #define HWAMP_COMMTYPE_STEP            4        // Stepper motor, two phases bipolar
    #define HWAMP_COMMTYPE_HALL_PMSM       5        // Alignment with HALL sensor, else like PMSM
    #define HWAMP_COMMTYPE_DC_TWIN         6        // DC motor  twin mode
    #define HWAMP_COMMTYPE_PMSM            7        // Brushless, three phases, sinusoidal commutation
    #define HWAMP_COMMTYPE_BLDC_TWIN       8        // Brushless, block commutation, requires HALL sensor,  twin mode
    #define HWAMP_COMMTYPE_BLDC_120_TWIN   8        // Brushless, block commutation, 120° hall sensors, twin mode, Deprecated
    #define HWAMP_COMMTYPE_BLDC_60_TWIN    9        // Brushless, block commutation, 60° hall sensors, twin mode, Deprecated
    #define HWAMP_COMMTYPE_STEP_TWIN       10       // Stepper motor, two phases bipolar,  twin mode
    #define HWAMP_COMMTYPE_HALL_PMSM_TWIN  11       // Alignment with HALL sensor, else like PMSM_TWIN
    #define HWAMP_COMMTYPE_PMSM_TWIN       12       // Brushless, three phases, sinusoidal commutation, twin mode
    #define HWAMP_COMMTYPE_CHOPPER         13       // Brake chopper, RL load required
    #define HWAMP_COMMTYPE_DC_ALT          14       // Only for internal use
    #define HWAMP_COMMTYPE_DC_100          15       // Only for internal use
 
    // Values for HWAMP_ENCRES:
    #define HWAMP_ENCRES_MICROSTEP_RES     1024     // This is a constant factor, which is used to calculate the value of the parameter HWAMP_ENCRES
 
    // Values for HWAMP_POSDIR:
    #define HWAMP_POSDIR_NORMAL            1        // Direction normal
    #define HWAMP_POSDIR_REVERSE           -1       // Direction reverse
 
    // Values for HWAMP_ELPOL:
    #define HWAMP_ELPOL_REGULAR            1        // Electrical polarity is equal encoder's polarity
    #define HWAMP_ELPOL_INVERS             -1       // Deprecated, wrong spelling, Use HWAMP_ELPOL_INVERSE
    #define HWAMP_ELPOL_INVERSE            -1       // Electrical polarity is inverse to encoder's polarity
 
    // Values for HWAMP_HALL_ALIGNMENT:
    #define HALL_ALIGNMENT_BOTTOM          0        // First element
    #define HALL_ALIGNMENT_360120240       0        // 120° CCW: H1 at 360°, H2 at 120°, H3 at 240°
    #define HALL_ALIGNMENT_060180300       1        // 120° CCW: H1 at 060°, H2 at 180°, H3 at 300°
    #define HALL_ALIGNMENT_120240360       2        // 120° CCW: H1 at 120°, H2 at 240°, H3 at 360°
    #define HALL_ALIGNMENT_180300060       3        // 120° CCW: H1 at 180°, H2 at 300°, H3 at 060°
    #define HALL_ALIGNMENT_240360120       4        // 120° CCW: H1 at 240°, H2 at 360°, H3 at 120°
    #define HALL_ALIGNMENT_300060180       5        // 120° CCW: H1 at 300°, H2 at 060°, H3 at 180°
    #define HALL_ALIGNMENT_120DEGREE       5        // 120° standard: same as ALIGNMENT_300060180  
    #define HALL_ALIGNMENT_360240120       6        // 120° CW:  H1 at 360°, H2 at 240°, H3 at 120°
    #define HALL_ALIGNMENT_060300180       7        // 120° CW:  H1 at 060°, H2 at 300°, H3 at 180°
    #define HALL_ALIGNMENT_120360240       8        // 120° CW:  H1 at 120°, H2 at 360°, H3 at 240°
    #define HALL_ALIGNMENT_180060300       9        // 120° CW:  H1 at 180°, H2 at 060°, H3 at 300°
    #define HALL_ALIGNMENT_240120360       10       // 120° CW:  H1 at 240°, H2 at 120°, H3 at 360°
    #define HALL_ALIGNMENT_300180060       11       // 120° CW:  H1 at 300°, H2 at 180°, H3 at 060°
    #define HALL_ALIGNMENT_360060120       12       // 60° CCW: H1 at 360°, H2 at 060°, H3 at 120° 
    #define HALL_ALIGNMENT_060120180       13       // 60° CCW: H1 at 060°, H2 at 120°, H3 at 180° 
    #define HALL_ALIGNMENT_120180240       14       // 60° CCW: H1 at 120°, H2 at 180°, H3 at 240° 
    #define HALL_ALIGNMENT_180240300       15       // 60° CCW: H1 at 180°, H2 at 240°, H3 at 300° 
    #define HALL_ALIGNMENT_240300360       16       // 60° CCW: H1 at 240°, H2 at 300°, H3 at 360° 
    #define HALL_ALIGNMENT_300360060       17       // 60° CCW: H1 at 300°, H2 at 360°, H3 at 060° 
    #define HALL_ALIGNMENT_360120060       18       // 60° CW:  H1 at 360°, H2 at 120°, H3 at 060° 
    #define HALL_ALIGNMENT_060180120       19       // 60° CW:  H1 at 060°, H2 at 180°, H3 at 120° 
    #define HALL_ALIGNMENT_120240180       20       // 60° CW:  H1 at 120°, H2 at 240°, H3 at 180° 
    #define HALL_ALIGNMENT_180300240       21       // 60° CW:  H1 at 180°, H2 at 300°, H3 at 240° 
    #define HALL_ALIGNMENT_240360300       22       // 60° CW:  H1 at 240°, H2 at 360°, H3 at 300° 
    #define HALL_ALIGNMENT_060DEGREE       22       // 60° standard: same as ALIGNMENT_240360300   
    #define HALL_ALIGNMENT_300060360       23       // 60° CW:  H1 at 300°, H2 at 060°, H3 at 360° 
    #define HALL_ALIGNMENT_TOP              23       // Last valid element
    #define HALL_ALIGNMENT_ERROR              24       // No valid alignment
 
    // Values for HWAMP_DEFINE_PO_DATA_SET:
    #define HWAMP_PO_DATA_SET_FIRST        1        // First set
    #define HWAMP_PO_DATA_SET_LAST         9        // Last set
    #define HWAMP_PO_DATA_SET_1_OFFSET     1        // Offset of SET1, see example
    #define HWAMP_PO_DATA_SET_2_OFFSET     1000     // Offset of SET2, see example
    #define HWAMP_PO_DATA_SET_MAX_LENGTH   6        // Max length of a set. SET1 and SET2 have each this length.
    #define HWAMP_PO_DATA_SET_IMEAS        1        // Actual not filtered half bridge current in [mA], order: depends on COMMTYPE. This is the default set for set 1.
    #define HWAMP_PO_DATA_SET_IMEASFIL     2        // Actual filtered half bridge current in [mA], order: depends on COMMTYPE. This is the default set for set 2.
    #define HWAMP_PO_DATA_SET_CUR_CALIB_OFFSET 3        // Used current calibration offset in [mA], order: depends on COMMTYPE
    #define HWAMP_PO_DATA_SET_CUR_CALIB_STATE 4        // State of current calibrartion, see CurCalibState, order: depends on COMMTYPE
    #define HWAMP_PO_DATA_SET_CUR_CALIB_GAIN 5        // Used current calibration gain, value range -10000...10000, order: depends on COMMTYPE
    #define HWAMP_PO_DATA_SET_DEVICE_SPECIFIC_1 6        // Depends on device, returns 0 if nothing implemented
    #define HWAMP_PO_DATA_SET_DEVICE_SPECIFIC_2 7        // Depends on device, returns 0 if nothing implemented
    #define HWAMP_PO_DATA_SET_I2T_ACT      8        // Actual half bridge I2T value, order: depends on COMMTYPE
    #define HWAMP_PO_DATA_SET_CUR_RAW      9        // Actual raw value of ADC's current sense, order: depends on COMMTYPE
 
//=================================================================================================================
// 0x4040 HWENC_PARAM - HW Encoder Parameters
//=================================================================================================================
#define SDOINDEX_HWENC_PARAM                        0x4040
 
#define HWENC_PARAM_INDEX(modno,parno)              ((0x01000000 | (SDOINDEX_HWENC_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWENC_PARAM_SRCINDEX(modno,parno)           ((SDOINDEX_HWENC_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWENC_PARAM(modno,parno)                    Sysvar[HWENC_PARAM_INDEX((modno),(parno))]
 
#define HWENC_PARAM_MAX                             44
 
#define HWENCODER_MODE                 1  
 
#define HWENCODER_ISABSOLUTE           2  
 
#define HWENCODER_PISRC_ENCOUT         10 
 
#define HWENCODER_PISRC_REFOUT         11 
 
#define HWENCODER_GLITCHFILT           30 
 
#define HWENCODER_CLOCKFREQ            31 
 
#define HWENCODER_DATLEN               32 
 
#define HWENCODER_DELAY                33 
 
#define HWENCODER_TERM                 34 
 
#define HWENCODER_BUSID                35 
 
#define HWENCODER_BAUDRATE             36 
 
#define HWENCODER_PARITY               37 
 
#define HWENCODER_MONITORING           38 
 
#define HWENCODER_CLOCK_ACTIVE         39 
 
#define HWENCODER_FAST_UPDATE          40 
 
#define HWENCODER_REVERSE_DIRECTION    41 
 
#define HWENCODER_POSBITS              42 
 
#define HWENCODER_TRAILBITS            43 
 
 
    // Values for HWENCODER_MODE:
    #define HWENCODER_MODE_INCREMENTAL     0        // Incremental Encoder Input
    #define HWENCODER_MODE_INCROUTPUT      1        // Incremental Encoder Output
    #define HWENCODER_MODE_SSI_ACTIVE      2        // SSI Encoder active clock
    #define HWENCODER_MODE_SSI_PASSIVE     3        // SSI Encoder passive clock
    #define HWENCODER_MODE_HIPERFACE_RX    4        // Hiperface Encoder receiving
    #define HWENCODER_MODE_HIPERFACE_TX    5        // Hiperface Encoder sending
    #define HWENCODER_MODE_SINCOS          6        // Sin/Cos Encoder
    #define HWENCODER_MODE_HALL            7        // HALL Sensor
    #define HWENCODER_MODE_ENDAT           9        // EnDat Encoder
 
    // Values for HWENCODER_FAST_UPDATE:
    #define HWENCODER_FAST_UPDATE_ENABLE   1
    #define HWENCODER_FAST_UPDATE_DISABLE  0
 
    // Values for HWENCODER_REVERSE_DIRECTION:
    #define HWENCODER_REVERSE_DIRECTION_NORMAL 0        // Normal counting direction
    #define HWENCODER_REVERSE_DIRECTION_INVERSE 1        // Inverse counting direction
 
//=================================================================================================================
// 0x4070 HWHALL_PARAM - HW Hall Sensor Parameters
//=================================================================================================================
#define SDOINDEX_HWHALL_PARAM                       0x4070
 
#define HWHALL_PARAM_INDEX(modno,parno)             ((0x01000000 | (SDOINDEX_HWHALL_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWHALL_PARAM_SRCINDEX(modno,parno)          ((SDOINDEX_HWHALL_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWHALL_PARAM(modno,parno)                   Sysvar[HWHALL_PARAM_INDEX((modno),(parno))]
 
#define HWHALL_PARAM_MAX                            11
 
#define HWHALL_MODE                    1  
 
#define HWHALL_PISRC_ENCOUT            10 
 
 
    // Values for HWHALL_MODE:
    #define HWHALL_MODE_DISABLE            0        // Disable hall port
    #define HWHALL_MODE_ENABLE             1        // Enable hall port
    #define HWHALL_MODE_ENABLE_VEL         2        // Enable hall with velocity measurement
 
//=================================================================================================================
// 0x4080 HWCOUNTINC_PARAM - HW Counter-inc Parameters
//=================================================================================================================
#define SDOINDEX_HWCOUNTINC_PARAM                   0x4080
 
#define HWCOUNTINC_PARAM_INDEX(modno,parno)         ((0x01000000 | (SDOINDEX_HWCOUNTINC_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWCOUNTINC_PARAM_SRCINDEX(modno,parno)      ((SDOINDEX_HWCOUNTINC_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWCOUNTINC_PARAM(modno,parno)               Sysvar[HWCOUNTINC_PARAM_INDEX((modno),(parno))]
 
#define HWCOUNTINC_PARAM_MAX                        35
 
#define HWCNTINC_MODE                  1  
 
#define HWCNTINC_PISRC_COUNTER         10 
 
#define HWCNTINC_PISRC_TRIGGER         11 
 
#define HWCNTINC_SLOPE                 30 
 
#define HWCNTINC_INTERPOL              31 
 
#define HWCNTINC_SCALE                 32 
 
#define HWCNTINC_UPDATERATE            33 
 
#define HWCNTINC_RESOLUTION            34 
 
 
    // Values for HWCNTINC_PISRC_TRIGGER:
    #define HWCNTINC_PISRC_TRIGGER_ENCZ    0x000    // Encoder Index line
    #define HWCNTINC_PISRC_TRIGGER_VMZ     0x040    // Virtual Master
    #define HWCNTINC_PISRC_TRIGGER_DDSZ    0x080    // DDS
    #define HWCNTINC_PISRC_TRIGGER_BRDA    0x0C0    // Bridge A Signals
    #define HWCNTINC_PISRC_TRIGGER_BRDB    0x100    // Bridge B Signals
    #define HWCNTINC_PISRC_TRIGGER_DINP    0x140    // Digital Input
    #define HWCNTINC_PISRC_TRIGGER_DOUT    0x180    // Digital Output
    #define HWCNTINC_PISRC_TRIGGER_CMPG    0x1C0    // Compare GreaterThan
    #define HWCNTINC_PISRC_TRIGGER_CMPL    0x200    // Compare LessThan
    #define HWCNTINC_PISRC_TRIGGER_PULS    0x240    // Pulse Generator
    #define HWCNTINC_PISRC_TRIGGER_SHIFT   0x280    // Shift Register
    #define HWCNTINC_PISRC_TRIGGER_IRQ     0x2C0    // SOC Interrupt
    #define HWCNTINC_PISRC_TRIGGER_NOT     0xFFC0   // No trigger
 
    // Values for HWCNTINC_SLOPE:
    #define HWCNTINC_SLOPE_CONTINUOUS      0        // Continuous reset signal
    #define HWCNTINC_SLOPE_RISING          1        // Rising reset signal
    #define HWCNTINC_SLOPE_FALLING         2        // Falling reset signal
    #define HWCNTINC_SLOPE_BOTH            3        // Rising/ Falling reset signal
 
//=================================================================================================================
// 0x40C0 HWCOUNTABS_PARAM - HW Counter-abs Parameters
//=================================================================================================================
#define SDOINDEX_HWCOUNTABS_PARAM                   0x40C0
 
#define HWCOUNTABS_PARAM_INDEX(modno,parno)         ((0x01000000 | (SDOINDEX_HWCOUNTABS_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWCOUNTABS_PARAM_SRCINDEX(modno,parno)      ((SDOINDEX_HWCOUNTABS_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWCOUNTABS_PARAM(modno,parno)               Sysvar[HWCOUNTABS_PARAM_INDEX((modno),(parno))]
 
#define HWCOUNTABS_PARAM_MAX                        11
 
#define HWCNTABS_MODE                  1  
 
#define HWCNTABS_CODING                2  
 
#define HWCNTABS_PISCR_COUNTER         10 
 
 
    // Values for HWCNTABS_CODING:
    #define HWCNTABS_CODING_GREY           0        // Gray code (typo)
    #define HWCNTABS_CODING_GRAY           0        // Gray code (default)
    #define HWCNTABS_CODING_NONE           1        // Binary
 
//=================================================================================================================
// 0x4100 HWCOUNTUNI_PARAM - HW Counter-universal Parameters
//=================================================================================================================
#define SDOINDEX_HWCOUNTUNI_PARAM                   0x4100
 
#define HWCOUNTUNI_PARAM_INDEX(modno,parno)         ((0x01000000 | (SDOINDEX_HWCOUNTUNI_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWCOUNTUNI_PARAM_SRCINDEX(modno,parno)      ((SDOINDEX_HWCOUNTUNI_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWCOUNTUNI_PARAM(modno,parno)               Sysvar[HWCOUNTUNI_PARAM_INDEX((modno),(parno))]
 
#define HWCOUNTUNI_PARAM_MAX                        32
 
#define HWCNTUNI_MODE                  1  
 
#define HWCNTUNI_PISRC_COUNTER         10 
 
#define HWCNTUNI_PISRC_CLEARSIG        11 
 
#define HWCNTUNI_CLRSLOPE              30 
 
#define HWCNTUNI_SRCSLOPE              31 
 
 
    // Values for HWCNTUNI_MODE:
    #define HW_CNTUNI_MODE_ENCSRC          0        // Encoder source /+/-)
    #define HW_CNTUNI_MODE_REFSRC          1        // Reference source (+)
    #define HW_CNTUNI_MODE_SINGLENCA       2        // Single encoder source A (+)
    #define HW_CNTUNI_MODE_SINGLENCB       3        // Single encoder source B (+)
    #define HW_CNTUNI_MODE_RESETOFFSET     0x8000   // Clear (add this value to mode to clear)
 
//=================================================================================================================
// 0x4120 HWCMPUNI_PARAM - HW Comparator-universal Parameters
//=================================================================================================================
#define SDOINDEX_HWCMPUNI_PARAM                     0x4120
 
#define HWCMPUNI_PARAM_INDEX(modno,parno)           ((0x01000000 | (SDOINDEX_HWCMPUNI_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWCMPUNI_PARAM_SRCINDEX(modno,parno)        ((SDOINDEX_HWCMPUNI_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWCMPUNI_PARAM(modno,parno)                 Sysvar[HWCMPUNI_PARAM_INDEX((modno),(parno))]
 
#define HWCMPUNI_PARAM_MAX                          34
 
#define HWCMPUNI_MODE                  1  
 
#define HWCMPUNI_PISRC_COUNTER         10 
 
#define HWCMPUNI_POLUL                 30 
 
#define HWCMPUNI_POLLL                 31 
 
#define HWCMPUNI_UPLIMIT               32 
 
#define HWCMPUNI_LOLIMIT               33 
 
 
//=================================================================================================================
// 0x4140 HWLATCH_PARAM - HW Latch Register Parameters
//=================================================================================================================
#define SDOINDEX_HWLATCH_PARAM                      0x4140
 
#define HWLATCH_PARAM_INDEX(modno,parno)            ((0x01000000 | (SDOINDEX_HWLATCH_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWLATCH_PARAM_SRCINDEX(modno,parno)         ((SDOINDEX_HWLATCH_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWLATCH_PARAM(modno,parno)                  Sysvar[HWLATCH_PARAM_INDEX((modno),(parno))]
 
#define HWLATCH_PARAM_MAX                           33
 
#define HWLATCH_MODE                   1  
 
#define HWLATCH_PISRC_COUNTER          10 
 
#define HWLATCH_PISRC_TRIGGER          11 
 
#define HWLATCH_PISRC_CMDWORD          12 
 
#define HWLATCH_SLOPE                  30 
 
#define HWLATCH_PAR_DIGIN_VALIDATOR    31 
 
#define HWLATCH_STARTADC               32 
 
 
    // Values for HWLATCH_PISRC_TRIGGER:
    #define HWLATCH_PISRC_TRIGGER_ENCZ     0x0000   // Encoder Index line
    #define HWLATCH_PISRC_TRIGGER_VMZ      0x0040   // Virtual Master
    #define HWLATCH_PISRC_TRIGGER_DDSZ     0x0080   // DDS
    #define HWLATCH_PISRC_TRIGGER_BRDA     0x00C0   // Bridge A Signals
    #define HWLATCH_PISRC_TRIGGER_BRDB     0x0100   // Bridge B Signals
    #define HWLATCH_PISRC_TRIGGER_DINP     0x0140   // Digital Input
    #define HWLATCH_PISRC_TRIGGER_DOUT     0x0180   // Digital Output
    #define HWLATCH_PISRC_TRIGGER_CMPG     0x01C0   // Compare GreaterThan
    #define HWLATCH_PISRC_TRIGGER_CMPL     0x0200   // Compare LessThan
    #define HWLATCH_PISRC_TRIGGER_PULS     0x0240   // Pulse Generator
    #define HWLATCH_PISRC_TRIGGER_SHIFT    0x0280   // Shift Register
    #define HWLATCH_PISRC_TRIGGER_IRQ      0x02C0   // SOC Interrupt
    #define HWLATCH_PISRC_TRIGGER_NOT      0xFFC0   // No trigger
 
    // Values for HWLATCH_SLOPE:
    #define HWLATCH_SLOPE_CONTINUOUS       0        // Continuous trigger signal
    #define HWLATCH_SLOPE_RISING           1        // Rising trigger signal
    #define HWLATCH_SLOPE_FALLING          2        // Falling trigger signal
    #define HWLATCH_SLOPE_BOTH             3        // Rising/ Falling trigger signal
 
    // Values for HWLATCH_PAR_DIGIN_VALIDATOR:
    #define HWLATCH_PAR_DIGIN_VALIDATOR_NONE 0        // Always accept
    #define HWLATCH_PAR_DIGIN_VALIDATOR_HIGH_DINP1 1        // High Din 1
    #define HWLATCH_PAR_DIGIN_VALIDATOR_HIGH_DINP2 2        // High Din 2
    #define HWLATCH_PAR_DIGIN_VALIDATOR_LOW_DINP1 -1       // Low Din 1
    #define HWLATCH_PAR_DIGIN_VALIDATOR_LOW_DINP2 -2       // Low Din 2
 
//=================================================================================================================
// 0x4180 HWSIGGEN_PARAM - HW Signalgen (Enc/Pulse) Parameters
//=================================================================================================================
#define SDOINDEX_HWSIGGEN_PARAM                     0x4180
 
#define HWSIGGEN_PARAM_INDEX(modno,parno)           ((0x01000000 | (SDOINDEX_HWSIGGEN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWSIGGEN_PARAM_SRCINDEX(modno,parno)        ((SDOINDEX_HWSIGGEN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWSIGGEN_PARAM(modno,parno)                 Sysvar[HWSIGGEN_PARAM_INDEX((modno),(parno))]
 
#define HWSIGGEN_PARAM_MAX                          32
 
#define HWSIGGEN_MODE                  1  
 
#define HWSIGGEN_PISRC_VELOCITY        10 
 
#define HWSIGGEN_PISRC_SYNC            11 
 
#define HWSIGGEN_POLARITY              30 
 
#define HWSIGGEN_SIGDIST               31 
 
 
    // Values for HWSIGGEN_MODE:
    #define HWSIGGEN_MODE_DISABLE          0        // Disable the signal generator
    #define HWSIGGEN_MODE_ENABLE           1        // Enable the signal generator
    #define HWSIGGEN_MODE_ENABLE_SPECIAL   2        // Enable the signal generator additionally to an incremental encoder (only trigger signal)
 
//=================================================================================================================
// 0x41C0 HWDDS_PARAM - HW DDS Parameters
//=================================================================================================================
#define SDOINDEX_HWDDS_PARAM                        0x41C0
 
#define HWDDS_PARAM_INDEX(modno,parno)              ((0x01000000 | (SDOINDEX_HWDDS_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWDDS_PARAM_SRCINDEX(modno,parno)           ((SDOINDEX_HWDDS_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWDDS_PARAM(modno,parno)                    Sysvar[HWDDS_PARAM_INDEX((modno),(parno))]
 
#define HWDDS_PARAM_MAX                             35
 
#define HWDDS_MODE                     1  
 
#define HWDDS_PISRC_ENCSIG             10 
 
#define HWDDS_PISRC_SYNC               11 
 
#define HWDDS_POLARITY                 30 
 
#define HWDDS_SIGDIST                  31 
 
#define HWDDS_NUMERATOR                32 
 
#define HWDDS_DENOMINATOR              33 
 
#define HWDDS_ENAREVMCOMP              34 
 
 
//=================================================================================================================
// 0x41D0 HWPWMGEN_PARAM - HW PWM Generator Parameters
//=================================================================================================================
#define SDOINDEX_HWPWMGEN_PARAM                     0x41D0
 
#define HWPWMGEN_PARAM_INDEX(modno,parno)           ((0x01000000 | (SDOINDEX_HWPWMGEN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWPWMGEN_PARAM_SRCINDEX(modno,parno)        ((SDOINDEX_HWPWMGEN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWPWMGEN_PARAM(modno,parno)                 Sysvar[HWPWMGEN_PARAM_INDEX((modno),(parno))]
 
#define HWPWMGEN_PARAM_MAX                          11
 
#define HWPWMGEN_MODE                  1  
 
#define HWPWMGEN_POLARITY              2  
 
#define HWPWMGEN_FREQUENCY             3  
 
#define HWPWMGEN_DUTYCYCLE_RANGE       4  
 
#define HWPWMGEN_PISRC_DUTYCYCLE       10 
 
 
    // Values for HWPWMGEN_MODE:
    #define HWPWMGEN_MODE_SIGNED           0        // Input value is a signed 16bit value
    #define HWPWMGEN_MODE_UNSIGNED         1        // Input value is an unsigned 16bit value
 
    // Values for HWPWMGEN_POLARITY:
    #define HWPWMGEN_POLARITY_POSITIVE     0        // Output Signal is not inverted
    #define HWPWMGEN_POLARITY_NEGATIVE     1        // Output Signal is inverted
 
//=================================================================================================================
// 0x41E0 HWPULSGEN_PARAM - HW Pulsgen Parameters
//=================================================================================================================
#define SDOINDEX_HWPULSGEN_PARAM                    0x41E0
 
#define HWPULSGEN_PARAM_INDEX(modno,parno)          ((0x01000000 | (SDOINDEX_HWPULSGEN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWPULSGEN_PARAM_SRCINDEX(modno,parno)       ((SDOINDEX_HWPULSGEN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWPULSGEN_PARAM(modno,parno)                Sysvar[HWPULSGEN_PARAM_INDEX((modno),(parno))]
 
#define HWPULSGEN_PARAM_MAX                         34
 
#define HWPULSGEN_MODE                 1  
 
#define HWPULSGEN_PISRC_ENCSIG         10 
 
#define HWPULSGEN_PISRC_SYNC           11 
 
#define HWPULSGEN_POLARITY             30 
 
#define HWPULSGEN_SIGDIST              31 
 
#define HWPULSGEN_SIGLENGTH            32 
 
#define HWPULSGEN_NOCOMP               33 
 
 
//=================================================================================================================
// 0x41F0 HWSHIFTREG_PARAM - HW Shift Register Parameters
//=================================================================================================================
#define SDOINDEX_HWSHIFTREG_PARAM                   0x41F0
 
#define HWSHIFTREG_PARAM_INDEX(modno,parno)         ((0x01000000 | (SDOINDEX_HWSHIFTREG_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWSHIFTREG_PARAM_SRCINDEX(modno,parno)      ((SDOINDEX_HWSHIFTREG_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWSHIFTREG_PARAM(modno,parno)               Sysvar[HWSHIFTREG_PARAM_INDEX((modno),(parno))]
 
#define HWSHIFTREG_PARAM_MAX                        31
 
#define HWSHIFTREG_MODE                1  
 
#define HWSHIFTREG_PISRC_ENCSIG        10 
 
#define HWSHIFTREG_PISRC_DATA          11 
 
#define HWSHIFTREG_DELAY               30 
 
 
//=================================================================================================================
// 0x4200 HWDIGIN_PARAM - HW Digital Input Parameters
//=================================================================================================================
#define SDOINDEX_HWDIGIN_PARAM                      0x4200
 
#define HWDIGIN_PARAM_INDEX(modno,parno)            ((0x01000000 | (SDOINDEX_HWDIGIN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWDIGIN_PARAM_SRCINDEX(modno,parno)         ((SDOINDEX_HWDIGIN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWDIGIN_PARAM(modno,parno)                  Sysvar[HWDIGIN_PARAM_INDEX((modno),(parno))]
 
#define HWDIGIN_PARAM_MAX                           63
 
#define HWDIGIN_MODE                   1  
 
#define HWDIGIN_POLARITY               30 
 
#define HWDIGIN_GLITCHFILT1            31 
 
#define HWDIGIN_GLITCHFILT2            32 
 
#define HWDIGIN_GLITCHFILT3            33 
 
#define HWDIGIN_GLITCHFILT4            34 
 
#define HWDIGIN_GLITCHFILT5            35 
 
#define HWDIGIN_GLITCHFILT6            36 
 
#define HWDIGIN_GLITCHFILT7            37 
 
#define HWDIGIN_GLITCHFILT8            38 
 
#define HWDIGIN_GLITCHFILT9            39 
 
#define HWDIGIN_GLITCHFILT10           40 
 
#define HWDIGIN_GLITCHFILT11           41 
 
#define HWDIGIN_GLITCHFILT12           42 
 
#define HWDIGIN_GLITCHFILT13           43 
 
#define HWDIGIN_GLITCHFILT14           44 
 
#define HWDIGIN_GLITCHFILT15           45 
 
#define HWDIGIN_GLITCHFILT16           46 
 
#define HWDIGIN_GLITCHFILT17           47 
 
#define HWDIGIN_GLITCHFILT18           48 
 
#define HWDIGIN_GLITCHFILT19           49 
 
#define HWDIGIN_GLITCHFILT20           50 
 
#define HWDIGIN_GLITCHFILT21           51 
 
#define HWDIGIN_GLITCHFILT22           52 
 
#define HWDIGIN_GLITCHFILT23           53 
 
#define HWDIGIN_GLITCHFILT24           54 
 
#define HWDIGIN_GLITCHFILT25           55 
 
#define HWDIGIN_GLITCHFILT26           56 
 
#define HWDIGIN_GLITCHFILT27           57 
 
#define HWDIGIN_GLITCHFILT28           58 
 
#define HWDIGIN_GLITCHFILT29           59 
 
#define HWDIGIN_GLITCHFILT30           60 
 
#define HWDIGIN_GLITCHFILT31           61 
 
#define HWDIGIN_GLITCHFILT32           62 
 
 
//=================================================================================================================
// 0x4240 HWDIGOUT_PARAM - HW Digital Output Parameters
//=================================================================================================================
#define SDOINDEX_HWDIGOUT_PARAM                     0x4240
 
#define HWDIGOUT_PARAM_INDEX(modno,parno)           ((0x01000000 | (SDOINDEX_HWDIGOUT_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWDIGOUT_PARAM_SRCINDEX(modno,parno)        ((SDOINDEX_HWDIGOUT_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWDIGOUT_PARAM(modno,parno)                 Sysvar[HWDIGOUT_PARAM_INDEX((modno),(parno))]
 
#define HWDIGOUT_PARAM_MAX                          18
 
#define HWDIGOUT_MODE                  1  
 
#define HWDIGOUT_PISRC_MAP1            10 
 
#define HWDIGOUT_PISRC_MAP2            11 
 
#define HWDIGOUT_PISRC_MAP3            12 
 
#define HWDIGOUT_PISRC_MAP4            13 
 
#define HWDIGOUT_PISRC_BIT1            14 
 
#define HWDIGOUT_PISRC_BIT2            15 
 
#define HWDIGOUT_PISRC_BIT3            16 
 
#define HWDIGOUT_PISRC_BIT4            17 
 
 
//=================================================================================================================
// 0x4280 HWANIN_PARAM - HW Analog Input Parameters
//=================================================================================================================
#define SDOINDEX_HWANIN_PARAM                       0x4280
 
#define HWANIN_PARAM_INDEX(modno,parno)             ((0x01000000 | (SDOINDEX_HWANIN_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWANIN_PARAM_SRCINDEX(modno,parno)          ((SDOINDEX_HWANIN_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWANIN_PARAM(modno,parno)                   Sysvar[HWANIN_PARAM_INDEX((modno),(parno))]
 
#define HWANIN_PARAM_MAX                            33
 
#define HWANIN_MODE                    1  
 
#define HWANIN_OFFSET                  30 
 
#define HWANIN_FILTTIME                31 
 
#define HWANIN_SCALING                 32 
 
 
//=================================================================================================================
// 0x42C0 HWANOUT_PARAM - HW Analog Output Parameters
//=================================================================================================================
#define SDOINDEX_HWANOUT_PARAM                      0x42C0
 
#define HWANOUT_PARAM_INDEX(modno,parno)            ((0x01000000 | (SDOINDEX_HWANOUT_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWANOUT_PARAM_SRCINDEX(modno,parno)         ((SDOINDEX_HWANOUT_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWANOUT_PARAM(modno,parno)                  Sysvar[HWANOUT_PARAM_INDEX((modno),(parno))]
 
#define HWANOUT_PARAM_MAX                           31
 
#define HWANOUT_MODE                   1  
 
#define HWANOUT_PISRC_VALUE            10 
 
#define HWANOUT_OFFSET                 30 
 
 
//=================================================================================================================
// 0x4300 HWSIGBUS_PARAM - HW Signalbridges/bus ENC-REF Parameters
//=================================================================================================================
#define SDOINDEX_HWSIGBUS_PARAM                     0x4300
 
#define HWSIGBUS_PARAM_INDEX(modno,parno)           ((0x01000000 | (SDOINDEX_HWSIGBUS_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWSIGBUS_PARAM_SRCINDEX(modno,parno)        ((SDOINDEX_HWSIGBUS_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWSIGBUS_PARAM(modno,parno)                 Sysvar[HWSIGBUS_PARAM_INDEX((modno),(parno))]
 
#define HWSIGBUS_PARAM_MAX                          11
 
#define HWBRENCREF_PISRC_ENCSIG        10 
 
 
//=================================================================================================================
// 0x4310 HWBRREFENC_PARAM - HW Signalbridges/bus REF-ENC Parameters
//=================================================================================================================
#define SDOINDEX_HWBRREFENC_PARAM                   0x4310
 
#define HWBRREFENC_PARAM_INDEX(modno,parno)         ((0x01000000 | (SDOINDEX_HWBRREFENC_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWBRREFENC_PARAM_SRCINDEX(modno,parno)      ((SDOINDEX_HWBRREFENC_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWBRREFENC_PARAM(modno,parno)               Sysvar[HWBRREFENC_PARAM_INDEX((modno),(parno))]
 
#define HWBRREFENC_PARAM_MAX                        12
 
#define HWBRREFENC_PISRC_REFSIGA       10 
 
#define HWBRREFENC_PISRC_REFSIGB       11 
 
 
//=================================================================================================================
// 0x4320 HWREFBUS_PARAM - HW Reference Bus Parameters
//=================================================================================================================
#define SDOINDEX_HWREFBUS_PARAM                     0x4320
 
#define HWREFBUS_PARAM_INDEX(modno,parno)           ((0x01000000 | (SDOINDEX_HWREFBUS_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWREFBUS_PARAM_SRCINDEX(modno,parno)        ((SDOINDEX_HWREFBUS_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWREFBUS_PARAM(modno,parno)                 Sysvar[HWREFBUS_PARAM_INDEX((modno),(parno))]
 
#define HWREFBUS_PARAM_MAX                          32
 
//=================================================================================================================
// 0x4400 BUSMOD_PARAM - Bus Module Parameters
//=================================================================================================================
#define SDOINDEX_BUSMOD_PARAM                       0x4400
 
#define BUSMOD_PARAM_INDEX(modno,parno)             ((0x01000000 | (SDOINDEX_BUSMOD_PARAM<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define BUSMOD_PARAM_SRCINDEX(modno,parno)          ((SDOINDEX_BUSMOD_PARAM<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define BUSMOD_PARAM(modno,parno)                   Sysvar[BUSMOD_PARAM_INDEX((modno),(parno))]
 
#define BUSMOD_PARAM_MAX                            69
 
#define BUSMOD_MODE                    1  
 
#define BUSMOD_TYPE                    2  
 
#define BUSMOD_TYPE_AXES               3  
 
#define BUSMOD_PISRC_INPUT1            10 
 
#define BUSMOD_PISRC_INPUT2            11 
 
#define BUSMOD_PISRC_INPUT3            12 
 
#define BUSMOD_PISRC_INPUT4            13 
 
#define BUSMOD_PISRC_INPUT5            14 
 
#define BUSMOD_PISRC_INPUT6            15 
 
#define BUSMOD_PISRC_INPUT7            16 
 
#define BUSMOD_PISRC_INPUT8            17 
 
#define BUSMOD_LEN_TXPDO1              22 
 
#define BUSMOD_LEN_TXPDO2              23 
 
#define BUSMOD_LEN_TXPDO3              24 
 
#define BUSMOD_LEN_TXPDO4              25 
 
#define BUSMOD_LEN_RXPDO1              26 
 
#define BUSMOD_LEN_RXPDO2              27 
 
#define BUSMOD_LEN_RXPDO3              28 
 
#define BUSMOD_LEN_RXPDO4              29 
 
#define BUSMOD_BUSTYPE                 30 
 
#define BUSMOD_BUSNO                   31 
 
#define BUSMOD_ID                      32 
 
#define BUSMOD_SYNC                    33 
 
#define BUSMOD_GUARDTIME               35 
 
#define BUSMOD_INHIBITTIME             36 
 
#define BUSMOD_EVENTTIME               37 
 
#define BUSMOD_TXOFFSET                38 
 
#define BUSMOD_RXOFFSET                39 
 
#define BUSMOD_TXMAP_INPUT1            41 
 
#define BUSMOD_TXMAP_INPUT2            42 
 
#define BUSMOD_TXMAP_INPUT3            43 
 
#define BUSMOD_TXMAP_INPUT4            44 
 
#define BUSMOD_TXMAP_INPUT5            45 
 
#define BUSMOD_TXMAP_INPUT6            46 
 
#define BUSMOD_TXMAP_INPUT7            47 
 
#define BUSMOD_TXMAP_INPUT8            48 
 
#define BUSMOD_RXMAP_POVALUE1          61 
 
#define BUSMOD_RXMAP_POVALUE2          62 
 
#define BUSMOD_RXMAP_POVALUE3          63 
 
#define BUSMOD_RXMAP_POVALUE4          64 
 
#define BUSMOD_RXMAP_POVALUE5          65 
 
#define BUSMOD_RXMAP_POVALUE6          66 
 
#define BUSMOD_RXMAP_POVALUE7          67 
 
#define BUSMOD_RXMAP_POVALUE8          68 
 
 
    // Values for BUSMOD_MODE:
    #define BUSMOD_MODE_DEACTIVATE         0        // Deactivate
    #define BUSMOD_MODE_ACTIVATE           1        // Activate
    #define BUSMOD_MODE_ACTIVATE_NOSTOP    2        // Activate (only deleted in case of 0 or newstart mocexe)
 
    // Values for BUSMOD_BUSTYPE:
    #define BUSMOD_BUSTYPE_CAN             0        // CAN bus
    #define BUSMOD_BUSTYPE_ECAT_S          1        // EtherCAT Slave (not implemented yet)
    #define BUSMOD_BUSTYPE_ECAT_M          2        // EtherCAT Master
 
    // Values for BUSMOD_BUSNO:
    #define BUSMOD_BUSNO_CAN1              0        // CAN bus number 1
    #define BUSMOD_BUSNO_CAN2              1        // CAN bus number 2
 
//=================================================================================================================
// 0x4800 HWAMP_PROCESS - HW Amplifier Process Data
//=================================================================================================================
#define SDOINDEX_HWAMP_PROCESS                      0x4800
 
#define HWAMP_PROCESS_INDEX(modno,parno)            ((0x01000000 | (SDOINDEX_HWAMP_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWAMP_PROCESS_SRCINDEX(modno,parno)         ((SDOINDEX_HWAMP_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWAMP_PROCESS(modno,parno)                  Sysvar[HWAMP_PROCESS_INDEX((modno),(parno))]
 
#define HWAMP_PROCESS_MAX                           86
 
#define PO_HWAMP_STATUS                1  
 
#define PO_HWAMP_CURRENT               2  
 
#define PO_HWAMP_HALLPOS               6  
 
#define PO_HWAMP_SUPPLYVOLTAGE         8  
 
#define PO_HWAMP_POWERFAIL             9  
 
#define PO_HWAMP_USERDEFINED_DATA0     13 
 
#define PO_HWAMP_USERDEFINED_DATA1     14 
 
#define PO_HWAMP_USERDEFINED_DATA2     15 
 
#define PO_HWAMP_USERDEFINED_DATA3     16 
 
#define PO_HWAMP_TEMP1                 17 
 
#define PO_HWAMP_TEMP2                 18 
 
#define PO_HWAMP_VOLT1                 19 
 
#define PO_HWAMP_VOLT2                 20 
 
#define PO_HWAMP_PABS                  21 
 
#define PO_HWAMP_PABSVEL               22 
 
#define PO_HWAMP_HALL_POSEL            23 
 
#define PO_HWAMP_HALL_POSRAW           24 
 
#define PO_HWAMP_ELPOS_POSEL           25 
 
#define PO_HWAMP_ELPOS_POSENC          26 
 
#define PO_HWAMP_COSSIN_COS            27 
 
#define PO_HWAMP_COSSIN_SIN            28 
 
#define PO_HWAMP_VEL_VEL               29 
 
#define PO_HWAMP_VEL_VELRAW            30 
 
#define PO_HWAMP_IPH_U                 31 
 
#define PO_HWAMP_IPH_V                 32 
 
#define PO_HWAMP_IPH_W                 33 
 
#define PO_HWAMP_IPHFIL_U              34 
 
#define PO_HWAMP_IPHFIL_V              35 
 
#define PO_HWAMP_IPHFIL_W              36 
 
#define PO_HWAMP_IPHI2T_U              37 
 
#define PO_HWAMP_IPHI2T_V              38 
 
#define PO_HWAMP_IPHI2T_W              39 
 
#define PO_HWAMP_IDQ_D                 40 
 
#define PO_HWAMP_IDQ_Q                 41 
 
#define PO_HWAMP_DCPH_U                42 
 
#define PO_HWAMP_DCPH_V                43 
 
#define PO_HWAMP_DCPH_W                44 
 
#define PO_HWAMP_DCDQ_D                45 
 
#define PO_HWAMP_DCDQ_Q                46 
 
#define PO_HWAMP_ENPH_U                47 
 
#define PO_HWAMP_ENPH_V                48 
 
#define PO_HWAMP_ENPH_W                49 
 
#define PO_HWAMP_VELPI_ACTUAL          50 
 
#define PO_HWAMP_VELPI_REF             51 
 
#define PO_HWAMP_VELPI_ERR             52 
 
#define PO_HWAMP_VELPI_OUT             53 
 
#define PO_HWAMP_VELPI_ACTINTSUM       54 
 
#define PO_HWAMP_CURPI0_ACTUAL         55 
 
#define PO_HWAMP_CURPI0_REF            56 
 
#define PO_HWAMP_CURPI0_ERR            57 
 
#define PO_HWAMP_CURPI0_OUT            58 
 
#define PO_HWAMP_CURPI0_ACTINTSUM      59 
 
#define PO_HWAMP_CURPI1_ACTUAL         60 
 
#define PO_HWAMP_CURPI1_REF            61 
 
#define PO_HWAMP_CURPI1_ERR            62 
 
#define PO_HWAMP_CURPI1_OUT            63 
 
#define PO_HWAMP_CURPI1_ACTINTSUM      64 
 
#define PO_HWAMP_SET1_0                65 
 
#define PO_HWAMP_SET1_1                66 
 
#define PO_HWAMP_SET1_2                67 
 
#define PO_HWAMP_SET1_3                68 
 
#define PO_HWAMP_SET1_4                69 
 
#define PO_HWAMP_SET1_5                70 
 
#define PO_HWAMP_SET2_0                71 
 
#define PO_HWAMP_SET2_1                72 
 
#define PO_HWAMP_SET2_2                73 
 
#define PO_HWAMP_SET2_3                74 
 
#define PO_HWAMP_SET2_4                75 
 
#define PO_HWAMP_SET2_5                76 
 
#define PO_HWAMP_ELPOS_LAG             77 
 
#define PO_HWAMP_ELPOS_DELTA           78 
 
#define PO_HWAMP_STEPPOS_POSEL         79 
 
#define PO_HWAMP_REF                   80 
 
#define PO_HWAMP_FF                    81 
 
#define PO_HWAMP_STEPPOS_CURLOOPINDEX  82 
 
#define PO_HWAMP_HALL_ERRORCOUNT       83 
 
#define PO_HWAMP_TEMP_MOT              84 
 
#define PO_HWAMP_TOTAL_CURRENT         85 
 
 
    // Values for PO_HWAMP_STATUS:
    #define PO_HWAMP_STATUS_ENABLED        0x00001  // Axis is enabled, its half bridges cannot be assigned to other axes
    #define PO_HWAMP_STATUS_RUNNING        0x00002  // Axis is running, velocity and/or current control is executed
    #define PO_HWAMP_STATUS_UNDERVOLTAGE   0x00004  // DC supply voltage has fallen below the min. level (HWAMP_VOLT_MIN) while axis is in RUNNING state
    #define PO_HWAMP_STATUS_OVERVOLTAGE    0x00008  // DC supply voltage has risen above the max. level (HWAMP_VOLT_MAX)
    #define PO_HWAMP_STATUS_HW_OVERCURRENT_ABS 0x00010  // Error detected by the hardware-based overcurrent protection of any axis
    #define PO_HWAMP_STATUS_SW_OVERCURRENT_ABS 0x00020  // Error detected by the software-based overcurrent protection
    #define PO_HWAMP_STATUS_SW_OVERCURRENT_I2T 0x00040  // I2T protection has detected an overload incident
    #define PO_HWAMP_STATUS_OVERTEMPERATURE 0x00080  // Internal temperature has risen above the max. level
    #define PO_HWAMP_STATUS_DSP_LINK       0x00100  // MACS5 only: Communication problem between amplifier and controller
    #define PO_HWAMP_STATUS_MOSFETDRIVER_SUPPLY 0x00200  // MOSFET driver supply failed
    #define PO_HWAMP_STATUS_ADC            0x00400  // MACS5 only: ADC failed
    #define PO_HWAMP_STATUS_HALL           0x00800  // Hall sensor problem
    #define PO_HWAMP_STATUS_HALL_ANGLE     0x01000  // Hall or encoder sensor problem
    #define PO_HWAMP_STATUS_NOT_YET_READY  0x10000  // Only MiniMACS6: Axis not yet ready. After setting COMMTYPE, it takes 7ms for calibration. Do not call AxisControll() before!
 
    // Values for PO_HWAMP_TEMP1:
    #define PO_HWAMP_TEMP_INVALID          0x7FFF   // Temperature is invalid. Temperature sensor may be not connected or defect.
 
    // Values for PO_HWAMP_TEMP2:
    #define PO_HWAMP__TEMP_INVALID         0x7FFF   // Temperature is invalid. Temperature sensor may be not connected or defect.
 
    // Values for PO_HWAMP_HALL_ERRORCOUNT:
    #define PO_HWAMP_HALL_ERRORCOUNT_MAX   0xFFFF   // Max value of PO_HWAMP_HALL_ERRORCOUNT
 
    // Values for PO_HWAMP_TEMP_MOT:
    #define PO_HWAMP_TEMP_INVALID          0x7FFF   // Temperature is invalid. Temperature sensor may be not connected or defect.
 
//=================================================================================================================
// 0x4840 HWENC_PROCESS - HW Encoder Process Data
//=================================================================================================================
#define SDOINDEX_HWENC_PROCESS                      0x4840
 
#define HWENC_PROCESS_INDEX(modno,parno)            ((0x01000000 | (SDOINDEX_HWENC_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWENC_PROCESS_SRCINDEX(modno,parno)         ((SDOINDEX_HWENC_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWENC_PROCESS(modno,parno)                  Sysvar[HWENC_PROCESS_INDEX((modno),(parno))]
 
#define HWENC_PROCESS_MAX                           2
 
#define PO_HWENCODER_ERROR             1  
 
 
    // Values for PO_HWENCODER_ERROR:
    #define HWENCODER_ERROR_CRC            0x01     // CRC check fault
    #define HWENCODER_ERROR_SYNC           0x02     // EnDat sync fault
    #define HWENCODER_ERROR_TRANSFERTIME   0x04     // Too little time to transfer data, increase encoder frequency
    #define HWENCODER_ERROR_SIGNAL         0x08     // Encoder signal quality monitoring
 
//=================================================================================================================
// 0x4870 HWHALL_PROCESS - HW Hall Sensor Process Data
//=================================================================================================================
#define SDOINDEX_HWHALL_PROCESS                     0x4870
 
#define HWHALL_PROCESS_INDEX(modno,parno)           ((0x01000000 | (SDOINDEX_HWHALL_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWHALL_PROCESS_SRCINDEX(modno,parno)        ((SDOINDEX_HWHALL_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWHALL_PROCESS(modno,parno)                 Sysvar[HWHALL_PROCESS_INDEX((modno),(parno))]
 
#define HWHALL_PROCESS_MAX                          4
 
#define PO_HWHALL_STATUS               1  
 
#define PO_HWHALL_POS                  2  
 
#define PO_HWHALL_VEL                  3  
 
 
//=================================================================================================================
// 0x4880 HWCOUNTINC_PROCESS - HW Counter-inc Process Data
//=================================================================================================================
#define SDOINDEX_HWCOUNTINC_PROCESS                 0x4880
 
#define HWCOUNTINC_PROCESS_INDEX(modno,parno)       ((0x01000000 | (SDOINDEX_HWCOUNTINC_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWCOUNTINC_PROCESS_SRCINDEX(modno,parno)    ((SDOINDEX_HWCOUNTINC_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWCOUNTINC_PROCESS(modno,parno)             Sysvar[HWCOUNTINC_PROCESS_INDEX((modno),(parno))]
 
#define HWCOUNTINC_PROCESS_MAX                      12
 
#define PO_HWCNTINC_VALUE              1  
 
#define PO_HWCNTINC_VELOCITY           2  
 
#define PO_HWCNTINC_STATUS             3  
 
#define PO_HWCNTINC_LASTVALUE          4  
 
#define PO_HWCNTINC_SINCOSPART         5  
 
#define PO_HWCNTINC_INCPART            8  
 
#define PO_HWCNTINC_SINCOS_DEBUG       9  
 
#define PO_HWCNTINC_SINCOS_DEBUG2      10 
 
#define PO_HWCNTINC_SINCOS_DEBUG3      11 
 
 
//=================================================================================================================
// 0x48C0 HWCOUNTABS_PROCESS - HW Counter-abs Process Data
//=================================================================================================================
#define SDOINDEX_HWCOUNTABS_PROCESS                 0x48C0
 
#define HWCOUNTABS_PROCESS_INDEX(modno,parno)       ((0x01000000 | (SDOINDEX_HWCOUNTABS_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWCOUNTABS_PROCESS_SRCINDEX(modno,parno)    ((SDOINDEX_HWCOUNTABS_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWCOUNTABS_PROCESS(modno,parno)             Sysvar[HWCOUNTABS_PROCESS_INDEX((modno),(parno))]
 
#define HWCOUNTABS_PROCESS_MAX                      3
 
#define PO_HWCNTABS_VALUE              1  
 
#define PO_HWCNTABS_RAW                2  
 
 
//=================================================================================================================
// 0x4900 HWCOUNTUNI_PROCESS - HW Counter-abs Process Data
//=================================================================================================================
#define SDOINDEX_HWCOUNTUNI_PROCESS                 0x4900
 
#define HWCOUNTUNI_PROCESS_INDEX(modno,parno)       ((0x01000000 | (SDOINDEX_HWCOUNTUNI_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWCOUNTUNI_PROCESS_SRCINDEX(modno,parno)    ((SDOINDEX_HWCOUNTUNI_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWCOUNTUNI_PROCESS(modno,parno)             Sysvar[HWCOUNTUNI_PROCESS_INDEX((modno),(parno))]
 
#define HWCOUNTUNI_PROCESS_MAX                      3
 
#define PO_HWCNTUNI_VALUE              1  
 
#define PO_HWCNTUNI_VELOCITY           2  
 
 
//=================================================================================================================
// 0x4920 HWCMPUNI_PROCESS - HW Comparator-universal Process Data
//=================================================================================================================
#define SDOINDEX_HWCMPUNI_PROCESS                   0x4920
 
#define HWCMPUNI_PROCESS_INDEX(modno,parno)         ((0x01000000 | (SDOINDEX_HWCMPUNI_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWCMPUNI_PROCESS_SRCINDEX(modno,parno)      ((SDOINDEX_HWCMPUNI_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWCMPUNI_PROCESS(modno,parno)               Sysvar[HWCMPUNI_PROCESS_INDEX((modno),(parno))]
 
#define HWCMPUNI_PROCESS_MAX                        2
 
//=================================================================================================================
// 0x4940 HWLATCH_PROCESS - HW Latch Register Process Data
//=================================================================================================================
#define SDOINDEX_HWLATCH_PROCESS                    0x4940
 
#define HWLATCH_PROCESS_INDEX(modno,parno)          ((0x01000000 | (SDOINDEX_HWLATCH_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWLATCH_PROCESS_SRCINDEX(modno,parno)       ((SDOINDEX_HWLATCH_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWLATCH_PROCESS(modno,parno)                Sysvar[HWLATCH_PROCESS_INDEX((modno),(parno))]
 
#define HWLATCH_PROCESS_MAX                         10
 
#define PO_HWLATCH_VALUE               1  
 
#define PO_HWLATCH_FLAG                2  
 
#define PO_HWLATCH_COUNT               3  
 
#define PO_HWLATCH_AMOUNT_IN_FIFO      4  
 
#define PO_HWLATCH_FIFOREAD            5  
 
#define PO_HWLATCH_FIFO_WRITEINDEX     6  
 
#define PO_HWLATCH_FIFO_READINDEX      7  
 
#define PO_HWLATCH_FIFO_STAT           8  
 
#define PO_HWLATCH_FIFO_PEEK           9  
 
 
//=================================================================================================================
// 0x4980 HWSIGGEN_PROCESS - HW Signalgen (Enc/Pulse) Process Data
//=================================================================================================================
#define SDOINDEX_HWSIGGEN_PROCESS                   0x4980
 
#define HWSIGGEN_PROCESS_INDEX(modno,parno)         ((0x01000000 | (SDOINDEX_HWSIGGEN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWSIGGEN_PROCESS_SRCINDEX(modno,parno)      ((SDOINDEX_HWSIGGEN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWSIGGEN_PROCESS(modno,parno)               Sysvar[HWSIGGEN_PROCESS_INDEX((modno),(parno))]
 
#define HWSIGGEN_PROCESS_MAX                        4
 
//=================================================================================================================
// 0x49C0 HWDDS_PROCESS - HW DDS Process Data
//=================================================================================================================
#define SDOINDEX_HWDDS_PROCESS                      0x49C0
 
#define HWDDS_PROCESS_INDEX(modno,parno)            ((0x01000000 | (SDOINDEX_HWDDS_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWDDS_PROCESS_SRCINDEX(modno,parno)         ((SDOINDEX_HWDDS_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWDDS_PROCESS(modno,parno)                  Sysvar[HWDDS_PROCESS_INDEX((modno),(parno))]
 
#define HWDDS_PROCESS_MAX                           1
 
//=================================================================================================================
// 0x49D0 HWPWMGEN_PROCESS - HW PWM Generators Process Data
//=================================================================================================================
#define SDOINDEX_HWPWMGEN_PROCESS                   0x49D0
 
#define HWPWMGEN_PROCESS_INDEX(modno,parno)         ((0x01000000 | (SDOINDEX_HWPWMGEN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWPWMGEN_PROCESS_SRCINDEX(modno,parno)      ((SDOINDEX_HWPWMGEN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWPWMGEN_PROCESS(modno,parno)               Sysvar[HWPWMGEN_PROCESS_INDEX((modno),(parno))]
 
#define HWPWMGEN_PROCESS_MAX                        2
 
#define PO_HWPWMGEN_VALUE              1  
 
 
//=================================================================================================================
// 0x49E0 HWPULSGEN_PROCESS - HW Pulsgen Process Data
//=================================================================================================================
#define SDOINDEX_HWPULSGEN_PROCESS                  0x49E0
 
#define HWPULSGEN_PROCESS_INDEX(modno,parno)        ((0x01000000 | (SDOINDEX_HWPULSGEN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWPULSGEN_PROCESS_SRCINDEX(modno,parno)     ((SDOINDEX_HWPULSGEN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWPULSGEN_PROCESS(modno,parno)              Sysvar[HWPULSGEN_PROCESS_INDEX((modno),(parno))]
 
#define HWPULSGEN_PROCESS_MAX                       1
 
//=================================================================================================================
// 0x49F0 HWSHIFTREG_PROCESS - HW Shift Register Process Data
//=================================================================================================================
#define SDOINDEX_HWSHIFTREG_PROCESS                 0x49F0
 
#define HWSHIFTREG_PROCESS_INDEX(modno,parno)       ((0x01000000 | (SDOINDEX_HWSHIFTREG_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWSHIFTREG_PROCESS_SRCINDEX(modno,parno)    ((SDOINDEX_HWSHIFTREG_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWSHIFTREG_PROCESS(modno,parno)             Sysvar[HWSHIFTREG_PROCESS_INDEX((modno),(parno))]
 
#define HWSHIFTREG_PROCESS_MAX                      1
 
//=================================================================================================================
// 0x4A00 HWDIGIN_PROCESS - HW Digital Input Process Data
//=================================================================================================================
#define SDOINDEX_HWDIGIN_PROCESS                    0x4A00
 
#define HWDIGIN_PROCESS_INDEX(modno,parno)          ((0x01000000 | (SDOINDEX_HWDIGIN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWDIGIN_PROCESS_SRCINDEX(modno,parno)       ((SDOINDEX_HWDIGIN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWDIGIN_PROCESS(modno,parno)                Sysvar[HWDIGIN_PROCESS_INDEX((modno),(parno))]
 
#define HWDIGIN_PROCESS_MAX                         8
 
#define PO_HWDIGIN_VALLONG             1  
 
#define PO_HWDIGIN_VALWORD1            2  
 
#define PO_HWDIGIN_VALWORD2            3  
 
#define PO_HWDIGIN_VALBYTE1            4  
 
#define PO_HWDIGIN_VALBYTE2            5  
 
#define PO_HWDIGIN_VALBYTE3            6  
 
#define PO_HWDIGIN_VALBYTE4            7  
 
 
//=================================================================================================================
// 0x4A40 HWDIGOUT_PROCESS - HW Digital Output Process Data
//=================================================================================================================
#define SDOINDEX_HWDIGOUT_PROCESS                   0x4A40
 
#define HWDIGOUT_PROCESS_INDEX(modno,parno)         ((0x01000000 | (SDOINDEX_HWDIGOUT_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWDIGOUT_PROCESS_SRCINDEX(modno,parno)      ((SDOINDEX_HWDIGOUT_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWDIGOUT_PROCESS(modno,parno)               Sysvar[HWDIGOUT_PROCESS_INDEX((modno),(parno))]
 
#define HWDIGOUT_PROCESS_MAX                        3
 
#define PO_HWDIGOUT_VALUE              1  
 
#define PO_HWDIGOUT_FORCEVALUE         2  
 
 
//=================================================================================================================
// 0x4A80 HWANIN_PROCESS - HW Analog Input Process Data
//=================================================================================================================
#define SDOINDEX_HWANIN_PROCESS                     0x4A80
 
#define HWANIN_PROCESS_INDEX(modno,parno)           ((0x01000000 | (SDOINDEX_HWANIN_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWANIN_PROCESS_SRCINDEX(modno,parno)        ((SDOINDEX_HWANIN_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWANIN_PROCESS(modno,parno)                 Sysvar[HWANIN_PROCESS_INDEX((modno),(parno))]
 
#define HWANIN_PROCESS_MAX                          5
 
#define PO_HWANIN_VALUE                1  
 
#define PO_HWANIN_UNFILT               2  
 
#define PO_HWANIN_MAXVAL               3  
 
#define PO_HWANIN_MINVAL               4  
 
 
//=================================================================================================================
// 0x4AC0 HWANOUT_PROCESS - HW Analog Output Process Data
//=================================================================================================================
#define SDOINDEX_HWANOUT_PROCESS                    0x4AC0
 
#define HWANOUT_PROCESS_INDEX(modno,parno)          ((0x01000000 | (SDOINDEX_HWANOUT_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWANOUT_PROCESS_SRCINDEX(modno,parno)       ((SDOINDEX_HWANOUT_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWANOUT_PROCESS(modno,parno)                Sysvar[HWANOUT_PROCESS_INDEX((modno),(parno))]
 
#define HWANOUT_PROCESS_MAX                         3
 
#define PO_HWANOUT_VALUE               1  
 
#define PO_HWANOUT_FORCEVALUE          2  
 
 
//=================================================================================================================
// 0x4B00 HWSIGBUS_PROCESS - HW Signalbridges/bus ENC-REF Process Data
//=================================================================================================================
#define SDOINDEX_HWSIGBUS_PROCESS                   0x4B00
 
#define HWSIGBUS_PROCESS_INDEX(modno,parno)         ((0x01000000 | (SDOINDEX_HWSIGBUS_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWSIGBUS_PROCESS_SRCINDEX(modno,parno)      ((SDOINDEX_HWSIGBUS_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWSIGBUS_PROCESS(modno,parno)               Sysvar[HWSIGBUS_PROCESS_INDEX((modno),(parno))]
 
#define HWSIGBUS_PROCESS_MAX                        1
 
//=================================================================================================================
// 0x4B10 HWBRREFENC_PROCESS - HW Signalbridges/bus REF-ENC Process Data
//=================================================================================================================
#define SDOINDEX_HWBRREFENC_PROCESS                 0x4B10
 
#define HWBRREFENC_PROCESS_INDEX(modno,parno)       ((0x01000000 | (SDOINDEX_HWBRREFENC_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWBRREFENC_PROCESS_SRCINDEX(modno,parno)    ((SDOINDEX_HWBRREFENC_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWBRREFENC_PROCESS(modno,parno)             Sysvar[HWBRREFENC_PROCESS_INDEX((modno),(parno))]
 
#define HWBRREFENC_PROCESS_MAX                      1
 
//=================================================================================================================
// 0x4B20 HWREFBUS_PROCESS - HW Reference Bus Process Data
//=================================================================================================================
#define SDOINDEX_HWREFBUS_PROCESS                   0x4B20
 
#define HWREFBUS_PROCESS_INDEX(modno,parno)         ((0x01000000 | (SDOINDEX_HWREFBUS_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWREFBUS_PROCESS_SRCINDEX(modno,parno)      ((SDOINDEX_HWREFBUS_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define HWREFBUS_PROCESS(modno,parno)               Sysvar[HWREFBUS_PROCESS_INDEX((modno),(parno))]
 
#define HWREFBUS_PROCESS_MAX                        3
 
#define HWREFBUS_PO_REG0               1  
 
#define HWREFBUS_PO_REG1               2  
 
 
//=================================================================================================================
// 0x4C00 BUSMOD_PROCESS - Bus Module Process Data
//=================================================================================================================
#define SDOINDEX_BUSMOD_PROCESS                     0x4C00
 
#define BUSMOD_PROCESS_INDEX(modno,parno)           ((0x01000000 | (SDOINDEX_BUSMOD_PROCESS<<8)) | (((long) (modno))<<8) | ((long) (parno)))
 
#define BUSMOD_PROCESS_SRCINDEX(modno,parno)        ((SDOINDEX_BUSMOD_PROCESS<<8) | (((long) (modno))<<8) | ((long) (parno)))
 
#define BUSMOD_PROCESS(modno,parno)                 Sysvar[BUSMOD_PROCESS_INDEX((modno),(parno))]
 
#define BUSMOD_PROCESS_MAX                          39
 
#define PO_BUSMOD_VALUE1               1  
 
#define PO_BUSMOD_VALUE2               2  
 
#define PO_BUSMOD_VALUE3               3  
 
#define PO_BUSMOD_VALUE4               4  
 
#define PO_BUSMOD_VALUE5               5  
 
#define PO_BUSMOD_VALUE6               6  
 
#define PO_BUSMOD_VALUE7               7  
 
#define PO_BUSMOD_VALUE8               8  
 
#define PO_BUSMOD_LASTERROR            23 
 
#define PO_BUSMOD_LASTRXTIME           24 
 
#define PO_BUSMOD_LASTTXTIME           25 
 
#define PO_BUSMOD_OBJ_TXPDO1           26 
 
#define PO_BUSMOD_OBJ_TXPDO2           27 
 
#define PO_BUSMOD_OBJ_TXPDO3           28 
 
#define PO_BUSMOD_OBJ_TXPDO4           29 
 
#define PO_BUSMOD_OBJ_RXPDO1           30 
 
#define PO_BUSMOD_OBJ_RXPDO2           31 
 
#define PO_BUSMOD_OBJ_RXPDO3           32 
 
#define PO_BUSMOD_OBJ_RXPDO4           33 
 
#define PO_BUSMOD_DEVTYPE              34 
 
#define PO_BUSMOD_TIMER_TXPDO1         35 
 
#define PO_BUSMOD_TIMER_TXPDO2         36 
 
#define PO_BUSMOD_TIMER_TXPDO3         37 
 
#define PO_BUSMOD_TIMER_TXPDO4         38 
 
 
//=================================================================================================================