3 ///////////////////////////////////////////////////////////////////////
5 // Main Dialog Definition
7 // WindowWidth => Width of main dialog window.
8 // WindowHeight => Height of main dialog window.
9 // WindowTitle => Title for dialog window.
10 // WindowFlags => Flags for controlling window behaviour:
12 // 0x0001 - Maximize window: 0 - No (default), 1 - Yes.
13 // 0x0002 - System menu: 0 - Hide, 1 - Show (default).
14 // 0x0004 - ESC close: 0 - Disabled (default), 1 - Enabled.
15 // 0x0008 - Size boxes: 0 - Hide (default), 1 - Show.
16 // 0x0010 - Resizing: 0 - Disabled (default), 1 - Enabled.
17 // 0x0020 - Title move: 0 - Disabled (default), 1 - Enabled.
19 ///////////////////////////////////////////////////////////////////////
23 WindowTitle = Controll Loop Adjust
26 ///////////////////////////////////////////////////////////////////////
28 // Operating Parameters
30 // OpFlags => Flags for controlling dialog operating behaviour:
32 // 0x0001 - Start polling on open: 0 - No (default), 1 - Yes.
34 // PollInterval => Polling interval (in ms). Default is 1000 ms if not specified.
35 // Fade => Fade list for SDO value changes. This list is as follows:
37 // time1,colour1,time2,colour2,time3,colour3
39 // The list can contain 0 or more time/colour pairs. The pairs must
40 // be ordered by increasing time. The SDO background colour will be
41 // the specified colour for the specified length of time after the
44 ///////////////////////////////////////////////////////////////////////
48 Fade = 2,[255.128.0],5,[255.192.128],10,[255.224.192]
50 ///////////////////////////////////////////////////////////////////////
54 // Layout elements within the dialog are specified as follows:
56 // $# = type,specification
58 // where: # - Element number. Numbers must be unique but need not be
59 // sequential. However, there must not be a gap of more
60 // than 100 between consecutive numbers.
61 // type - Type of element being specified (see below).
62 // specification - Specification of layout element. The format of this
63 // depends on the type of element being specified.
65 // Warning: Currently, there cannot be more than 800 dialog elements.
67 // Valid element types are:
69 // Controller - Defines a connection to a controller. This is non-displayable.
70 // SDO - Defines an SDO. This is non-displayable.
71 // Table - Defines a table. This is non-displayable.
72 // Box - Defines a group box.
73 // Bitmap - Defines a bitmap image.
74 // Text - Defines a text string.
75 // Bit - Defines a colour box to display a bit status.
76 // Button - Defines a button.
77 // List - Defines a listbox.
78 // Value - Defines an SDO value control.
80 // Specifications are as follows:
82 // Controller - flags,(connection)
83 // SDO - flags,ctrl,index,subindex,addndx,addsub
84 // Table - flags,(list)
85 // Box - label,offset,x,y,width,height,flags
86 // Bitmap - filename,offset,x,y,flags
87 // Text - string,offset,x,y,width,height,just,font,flags
88 // Bit - offset,x,y,width,height,flags,oncolour,offcolour,undefcolour,source,bitmask
89 // Button - type,label,offset,x,y,width,height,flags,textcolour,facecolour,params
90 // List - type,offset,x,y,width,drop-height,flags,params
91 // Value - label,offset,x,y,flags,sdo,format,addval,scale
93 // where: flags - Flags (element-specific).
94 // conn - Connection specification.
95 // ctrl - Element number of controller.
96 // sdo - Element number of SDO.
97 // table - Element number if table to be used for the listbox.
98 // index - SDO index (as hexadecimal, including the "0x").
99 // subindex - SDO subindex.
100 // addndx - Element number if element value is to be added to SDO index. 0 otherwise.
101 // addsub - Element number if element value is to be added to SDO subindex. 0 otherwise.
102 // list - List contents as ("String 1",Value 1,"String 2",Value 2,...). The
103 // first character of each string must be '*' and will be ingored. Strings
104 // cannot be longer than 50 characters.
105 // label - Label to be placed on element. This must be enclosed in double
106 // quotes and begin with "*".
107 // offset - Element number from which the (x,y) position is offset. 0 if absolute (x,y).
108 // x - The X coordinate of the upper left corner of the element within the dialog.
109 // y - The Y coordinate of the upper left corner of the element within the dialog.
110 // width - Width of the element within the dialog.
111 // height - Height of the element within the dialog.
112 // filename - Filename of ".bmp" file.
113 // string - Text string to be placed within the dialog.
114 // This must be enclosed in double quotes.
115 // just - Text string justification within the text box:
116 // -1 - Left, 0 - Center, 1 - Right.
117 // font - Text font size.
118 // subtype - Type of element being specified (described below).
119 // colour - Colour string. This may be specified as either a colour name or
120 // an [r.g.b] string (e.g. [128.255.25]). The following colour names
121 // are supported: Black, White, Gray, DlgGray, Red, Green, Blue,
122 // Yellow, Cyan, Magenta, DarkRed, DarkGreen, DarkBlue,
123 // Orange, Olive, Purple.
124 // bitmask - Bit mask specified in hex (e.g. 0x0002).
125 // params - Element-specific parameters (described below).
126 // format - Display format: 0 - long, 1 - hexadecimal.
127 // addval - Element number if element value is to be added to value. 0 otherwise.
128 // scale - Scale factor for display. 0 for no scaling.
132 // Close - Close the dialog. This is ignored for Tune Oscilloscope Monitors.
133 // PollStart - Start polling.
134 // PollStop - Stop polling.
135 // Controller - Select a new controller.
136 // Get - Gets an SDO value.
137 // Set - Sets an SDO value.
138 // Group - Defines a button to execute a function on a group of elements.
140 // Button parameters (where expected) are:
142 // Controller - source
144 // Set - sdo,value,addval
145 // Group - (elements)
147 // where: value - SDO value (long or hex).
148 // elements - List of element numbers seperated by commas.
152 // All: 0x0001 - Hide the button.
153 // Group: 0x0100 - "Read" each SDO element and "Click" each Get element.
154 // 0x0200 - "Write" each SDO element and "Click" each Set element.
156 // Button parameters (where expected) are:
160 // Lookup - sdo,table
162 // Controller element flags:
164 // 0x0001 - Connect controller on open.
166 // SDO element flags:
168 // 0x0001 - SDO should be polled.
169 // 0x0002 - SDO is read-only.
170 // 0x0004 - Poll SDO once after initial connection (or reconnection).
172 // Text element flags:
174 // 0x0001 - Use bold font.
178 // Table - The list contains items from a table.
179 // Axis - The list contains axis numbers from a controller.
180 // Lookup - The list contains SDO-selectable items.
182 // Lookup list flags:
184 // 0x0001 - Lookup element is read-only.
185 // 0x0002 - Automatically write if user changes value.
187 // Value element flags:
189 // 0x0001 - Value is read-only.
190 // 0x0002 - Blink value when Read button is pressed.
191 // 0x0004 - Automatically write if user changes value and leaves field.
192 // 0x0100 - Use the "small" child dialog.
193 // 0x0200 - Use the "display" child dialog (no Read or Write buttons).
195 ///////////////////////////////////////////////////////////////////////
197 $Ctrl = Controller,0x0001,(1,USB,6,50,0x0,921600,1)
200 //******************************************************************************************
201 // Titel - Logo - - Bild
202 //******************************************************************************************
203 $TextTitle = Text,"Control Loop Parameter Settings",0,20,30,600,40,-1,24,0x0001
204 $SelectCtr = Button,Controller,"*Select Controller" ,0,400,30,150,30,0x0000,Black,DlgGray,Ctrl
206 $TextAxis = Text,"Axis:",-,25,80,80,15,-1,14,0x0001,Black,-
207 $Axis = List,Axis,TextAxis,50,-5,50,200,0x0000,-,{Ctrl}
211 //******************************************************************************************
212 // Position PID Parameter
213 //******************************************************************************************
214 $BoxPIDCntr = Box,"*Position PID-Parameter", 0,20,120,950,400,0x0000
216 $SDO_Kprop_Ax = SDO,0x000D,Ctrl,0x2300,12,Axis,0
217 $SDO_Kder_Ax = SDO,0x000D,Ctrl,0x2300,13,Axis,0
218 $SDO_Kint_Ax = SDO,0x000D,Ctrl,0x2300,14,Axis,0
219 $SDO_Kilim_Ax = SDO,0x000D,Ctrl,0x2300,22,Axis,0
220 $SDO_Bbandwh_Ax = SDO,0x000D,Ctrl,0x2300,36,Axis,0
221 $SDO_FFvel_Ax = SDO,0x000D,Ctrl,0x2300,37,Axis,0
222 $SDO_FFacc_Ax = SDO,0x000D,Ctrl,0x2300,38,Axis,0
223 $SDO_KFFACC_Ax = SDO,0x000D,Ctrl,0x2300,135,Axis,0
224 $SDO_KFFDEC_Ax = SDO,0x000D,Ctrl,0x2300,136,Axis,0
227 $TextKPROP = Text,"KPROP: ",BoxPIDCntr,20, 35,170,14,-1,14,0x0000
228 $TextKDER = Text,"KDER: ",BoxPIDCntr,20, 70,170,14,-1,14,0x0000
229 $TextKINT = Text,"KINT: ",BoxPIDCntr,20,105,170,14,-1,14,0x0000
230 $TextKILIM = Text,"KILIM: ",BoxPIDCntr,20,140,170,14,-1,14,0x0000
231 $TextBANDWH = Text,"BANDWIDTH: ",BoxPIDCntr,20,175,170,14,-1,14,0x0000
232 $TextFFVEL = Text,"FFVEL: ",BoxPIDCntr,20,210,170,14,-1,14,0x0000
233 $TextFFACC = Text,"FFACC: ",BoxPIDCntr,20,245,170,14,-1,14,0x0000
234 $TextKFFACC = Text,"KFFACC: ",BoxPIDCntr,20,280,170,14,-1,14,0x0000
235 $TextKFFDEC = Text,"KFFDEC: ",BoxPIDCntr,20,315,170,14,-1,14,0x0000
237 $Val_11 = Value,"*", TextKPROP,80,-7,0x0200,SDO_Kprop_Ax,0,0,0
238 $Val_12 = Value,"*", TextKDER,80,-7,0x0200,SDO_Kder_Ax,0,0,0
239 $Val_13 = Value,"*", TextKINT,80,-7,0x0200,SDO_Kint_Ax,0,0,0
240 $Val_14 = Value,"*", TextKILIM,80,-7,0x0200,SDO_Kilim_Ax,0,0,0
241 $Val_15 = Value,"*", TextBANDWH,80,-7,0x0200,SDO_Bbandwh_Ax,0,0,0
242 $Val_16 = Value,"*", TextFFVEL,80,-7,0x0200,SDO_FFvel_Ax,0,0,0
243 $Val_17 = Value,"*", TextFFACC,80,-7,0x0200,SDO_FFacc_Ax,0,0,0
244 $Val_18 = Value,"*", TextKFFACC,80,-7,0x0200,SDO_KFFACC_Ax,0,0,0
245 $Val_19 = Value,"*", TextKFFDEC,80,-7,0x0200,SDO_KFFDEC_Ax,0,0,0
247 $161 = Button,Group,"*Set Params", Val_19,-5,40,95,30,0x0200,Black,DlgGray, (Val_11,Val_12,Val_13,Val_14,Val_15,Val_16,Val_17,Val_18,Val_19)
249 $HSlider31 = Slider ,Val_11,150,-5,600,35,0x0003,SDO_Kprop_Ax,0,4000,-
250 $Low31 = Text," 0 ",Val_11,120,2,100,30,-1,15,0x0001
251 $High31 = Text,"4000",Val_11,760,2,100,30,-1,15,0x0001
253 $HSlider32 = Slider ,Val_12,150,-5,600,35,0x0003,SDO_Kder_Ax,0,5000,-
254 $Low32 = Text," 0 ",Val_12,120,2,100,30,-1,15,0x0001
255 $High32 = Text,"5000",Val_12,760,2,100,30,-1,15,0x0001
257 $HSlider33 = Slider ,Val_13,150,-5,600,35,0x0003,SDO_Kint_Ax,0,1000,-
258 $Low33 = Text," 0 ",Val_13,120,2,100,30,-1,15,0x0001
259 $High33 = Text,"1000",Val_13,760,2,100,30,-1,15,0x0001
261 $HSlider34 = Slider ,Val_14,150,-5,600,35,0x0003,SDO_Kilim_Ax,0,1000,-
262 $Low34 = Text," 0 ",Val_14,120,2,100,30,-1,15,0x0001
263 $High34 = Text,"1000",Val_14,760,2,100,30,-1,15,0x0001
265 $HSlider35 = Slider ,Val_15,150,-5,600,35,0x0003,SDO_Bbandwh_Ax,0,1000,-
266 $Low35 = Text," 0 ",Val_15,120,2,100,30,-1,15,0x0001
267 $High35 = Text,"1000",Val_15,760,2,100,30,-1,15,0x0001
269 $HSlider36 = Slider ,Val_16,150,-5,600,35,0x0003,SDO_FFvel_Ax,0,2000,-
270 $Low36 = Text," 0 ",Val_16,120,2,100,30,-1,15,0x0001
271 $High36 = Text,"2000",Val_16,760,2,100,30,-1,15,0x0001
273 $HSlider37 = Slider ,Val_17,150,-5,600,35,0x0003,SDO_FFacc_Ax,0,9000,-
274 $Low37 = Text," 0 ",Val_17,120,2,100,30,-1,15,0x0001
275 $High37 = Text,"9000",Val_17,760,2,100,30,-1,15,0x0001
277 $HSlider38 = Slider ,Val_18,150,-5,600,35,0x0003,SDO_KFFACC_Ax,0,9000,-
278 $Low38 = Text," 0 ",Val_18,120,2,100,30,-1,15,0x0001
279 $High38 = Text,"9000",Val_18,760,2,100,30,-1,15,0x0001
281 $HSlider39 = Slider ,Val_19,150,-5,600,35,0x0003,SDO_KFFDEC_Ax,0,9000,-
282 $Low39 = Text," 0 ",Val_19,120,2,100,30,-1,15,0x0001
283 $High39 = Text,"9000",Val_19,760,2,100,30,-1,15,0x0001
285 //******************************************************************************************
286 // Current Control Parameter
287 //******************************************************************************************
288 $BoxCurPIDCntr = Box,"*Current PI-Parameter", BoxPIDCntr,0,410,950,190,0x0000
291 $SDO_CurKprop_Ax = SDO,0x000D,Ctrl,0x4000,33,Axis,0
292 $SDO_CurKint_Ax = SDO,0x000D,Ctrl,0x4000,34,Axis,0
293 $SDO_CurKilim_Ax = SDO,0x000D,Ctrl,0x4000,35,Axis,0
295 $TextCURKPROP = Text,"CURKPROP: ",BoxCurPIDCntr,20, 35,170,14,-1,14,0x0000
296 $TextCURKINT = Text,"CURKINT: ",BoxCurPIDCntr,20,70,170,14,-1,14,0x0000
297 $TextCURKILIM = Text,"CURKILIM: ",BoxCurPIDCntr,20,105,170,14,-1,14,0x0000
300 $Val_21 = Value,"*", TextCURKPROP,80,-7,0x0200,SDO_CurKprop_Ax,0,0,0
301 $Val_22 = Value,"*", TextCURKINT,80,-7,0x0200,SDO_CurKint_Ax,0,0,0
302 $Val_23 = Value,"*", TextCURKILIM,80,-7,0x0200,SDO_CurKilim_Ax,0,0,0
305 //$160 = Button,Group,"*Read RegulParams", 0,200,70,150,30,0x0200,Black,DlgGray, (131,132,133,134,135,136,137,141,142,143,144,145,146,147,151,152,153,154,155,156,157)
306 $161 = Button,Group,"*Set Params", Val_23,-5,40,95,30,0x0200,Black,DlgGray, (Val_21,Val_22,Val_23)
309 $HSlider41 = Slider ,Val_21,150,-5,600,35,0x0003,SDO_CurKprop_Ax,0,32000,-
310 $Low41 = Text," 0 ",Val_21,120,2,100,30,-1,15,0x0001
311 $High41 = Text,"20000",Val_21,760,2,100,30,-1,15,0x0001
313 $HSlider42 = Slider ,Val_22,150,-5,600,35,0x0003,SDO_CurKint_Ax,0,32000,-
314 $Low42 = Text," 0 ",Val_22,120,2,100,30,-1,15,0x0001
315 $High42 = Text,"32000",Val_22,760,2,100,30,-1,15,0x0001
317 $HSlider43 = Slider ,Val_23,150,-5,600,35,0x0003,SDO_CurKilim_Ax,0,32000,-
318 $Low43 = Text," 0 ",Val_23,120,2,100,30,-1,15,0x0001
319 $High43 = Text,"32000",Val_23,760,2,100,30,-1,15,0x0001
321 //******************************************************************************************
322 // Velocity Parameter
323 //******************************************************************************************
324 $BoxVelPICntr = Box,"*Velocity PI-Parameter", 0,20,730,950,190,0x0000
326 $SDO_VelKprop_Ax = SDO,0x000D,Ctrl,0x4000,30,Axis,0
327 $SDO_VelKint_Ax = SDO,0x000D,Ctrl,0x4000,31,Axis,0
328 $SDO_VelKilim_Ax = SDO,0x000D,Ctrl,0x4000,32,Axis,0
330 $TextVELKPROP = Text,"VELKPROP: ",BoxVelPICntr,20, 35,170,14,-1,14,0x0000
331 $TextVELKINT = Text,"VELKINT: ",BoxVelPICntr,20,70,170,14,-1,14,0x0000
332 $TextVELKILIM = Text,"VELKILIM: ",BoxVelPICntr,20,105,170,14,-1,14,0x0000
334 $Val_31 = Value,"*", TextVELKPROP,80,-7,0x0200,SDO_VelKprop_Ax,0,0,0
335 $Val_32 = Value,"*", TextVELKINT,80,-7,0x0200,SDO_VelKint_Ax,0,0,0
336 $Val_33 = Value,"*", TextVELKILIM,80,-7,0x0200,SDO_VelKilim_Ax,0,0,0
338 $161 = Button,Group,"*Set Params", Val_33,-5,40,95,30,0x0200,Black,DlgGray, (Val_31,Val_32,Val_33)
341 $HSlider31 = Slider ,Val_31,150,-5,600,35,0x0003,SDO_VelKprop_Ax,0,32000,-
342 $Low31 = Text," 0 ",Val_31,120,2,100,30,-1,15,0x0001
343 $High31 = Text,"20000",Val_31,760,2,100,30,-1,15,0x0001
345 $HSlider32 = Slider ,Val_32,150,-5,600,35,0x0003,SDO_VelKint_Ax,0,32000,-
346 $Low32 = Text," 0 ",Val_32,120,2,100,30,-1,15,0x0001
347 $High32 = Text,"32000",Val_32,760,2,100,30,-1,15,0x0001
349 $HSlider33 = Slider ,Val_33,150,-5,600,35,0x0003,SDO_VelKilim_Ax,0,32000,-
350 $Low33 = Text," 0 ",Val_33,120,2,100,30,-1,15,0x0001
351 $High33 = Text,"32000",Val_33,760,2,100,30,-1,15,0x0001
357 ///////////////////////////////////////////////////////////////////////////////////////////////////
