mitechlib.pub/Include/APS_Define.h

#ifndef _APS_DEFINE_H
#define _APS_DEFINE_H

// Initial option
#define INIT_AUTO_CARD_ID					( 0x00 )   // (Bit 0) CardId assigned by system, Input parameter of APS_initial( cardId, "MODE" )
#define INIT_MANUAL_ID						( 0x01 )   // (Bit 0) CardId manual by dip switch, Input parameter of APS_initial( cardId, "MODE" )
#define INIT_PARALLEL_FIXED 				( 0x02 )   // (Bit 1) Fixed axis indexing mode in Parallel type
#define INIT_SERIES_FIXED   				( 0x04 )   // (Bit 2) Fixed axis indexing mode in Series type
#define INIT_NOT_RESET_DO   				( 0x08 )   // (Bit 3) HSL Digital output not reset, (DO status will follow the slave status.)
#define INIT_PARAM_IGNORE					( 0x00 )   // (Bit 4-5) Load parameter method - ignore, keep current value
#define INIT_PARAM_LOAD_DEFAULT				( 0x10 )   // (Bit 4-5) Load parameter method - load parameter as default value 
#define INIT_PARAM_LOAD_FLASH				( 0x20 )   // (Bit 4-5) Load parameter method - load parameter from flash memory
#define INIT_MNET_INTERRUPT					( 0x40 )  // (Bit 6) Enable MNET interrupt mode. (Support motion interrupt for MotionNet series)

// Board parameter define (General)
#define PRB_EMG_LOGIC						( 0x0 )   // Board EMG logic
#define PRB_EMG_MODE						( 0x101 )
#define PRB_ECAT_MODE						( 0x102 )
#define PRB_ECAT_CYCLE						( 0x103 )
#define PRB_ECAT_RESTORE_OUTPUT				( 0x104 )
#define PRB_DI_EMG_FILTER_ENABLE			( 0x105 )
#define PRB_DI_EMG_FILTER_RANGE				( 0x106 )
#define PRB_PULSER_FILTER_RANGE				( 0x107 )
#define PRB_PULSER_FILTER_ENABLE			( 0x108 )
#define PRB_ECAT_AUTO_RECOVERY				( 0x109 ) 
#define PRB_IO_ACCESS_SEL					( 0x16 )
#define PRB_ECAT_SYNC_MODE					( 0x17 )	// 0: DC(default); 1: FreeRun;
#define PRB_ECAT_OP_RETRY_COUNT				( 0x18 )  
#define PRB_ECAT_SERVO_ON_MODE				( 0x19 )	//	0 : Standard mode (Default ) , 1 : Fast mode (no check status word)
#define PRB_ECAT_SERVO_ON_NO_RESET_ALARM	( 0x1A )	//	0 : Disable that remove reset alarm while servo on( Default ),    1 : Enable that remove reset alarm while servo on

//for 8364RS
#define PRB_PT0_MOD_NO						( 0x1C )
#define PRB_PT1_MOD_NO						( 0x1D )

#define PRB_SPEED_PROFILE_OPTION  	        ( 0x1E ) // Speed profile option
#define PRB_SAMPLING_LOOP_SELECT            ( 0x1F ) // Sampling loop selection
#define PRB_ECAT_SYNC_OFFSET				( 0x20 )
#define PRB_MANUAL_SLAVE_ID_SRC_1ST_GROUP	( 0x21 ) // The first group of setting manual slave ID source by bit format.(Salve 0 to Slave 31)
#define PRB_MANUAL_SLAVE_ID_SRC_2ND_GROUP	( 0x22 ) // The second group of setting manual slave ID source by bit format.(Salve 32 to Slave 63)
#define PRB_ECAT_CONTI_FRAME_LOSS_CNT		( 0x23 ) // The number of consecutive frame loss.
#define PRB_SAMPLING_SRC_AXIS_TYPE			( 0x24 ) // Sampling source axis type. 
#define PRB_AUTO_CONNECT					( 0x25 ) // Used for PCIe-833x start fieldbus speed up
#define PRB_ECAT_DCM_MODE					( 0x26 )
#define PRB_EXIT_KEEP_SERVO_ON				( 0x28 ) // Keep servo on state after closing APS library.
#define PRB_ABS_HOME_AUTO_SAVE				( 0x30 )
#define PRS_RT_LIMIT_RATIO				    ( 0x31 ) // RT Drive & IO time limit ratio. unit is %

#define PRB_WDT0_VALUE      (0x10)  // Set / Get watch dog limit.
#define PRB_WDT0_COUNTER    (0x11)  // Reset Wdt / Get Wdt_Count_Value
#define PRB_WDT0_UNIT       (0x12)  // wdt_unit
#define PRB_WDT0_ACTION     (0x13)  // wdt_action

#define PRB_DO_LOGIC		(0x14)	//DO logic, 0: no invert; 1: invert
#define PRB_DI_LOGIC		(0x15)	//DI logic, 0: no invert; 1: invert



#define PRB_TMR0_BASE       (0x20)  // Set TMR Value
#define PRB_TMR0_VALUE      (0x21)  // Get timer int count value

#define PRB_SYS_TMP_MONITOR (0x30)  // Get system temperature monitor data
#define PRB_CPU_TMP_MONITOR (0x31)  // Get CPU temperature monitor data
#define PRB_AUX_TMP_MONITOR (0x32)  // Get AUX temperature monitor data

#define PRB_UART_MULTIPLIER (0x40)  // Set UART Multiplier

#define PRB_PSR_MODE        (0x90)  // Config pulser mode
#define PRB_PSR_EA_LOGIC    (0x91)  // Set EA inverted
#define PRB_PSR_EB_LOGIC    (0x92)  // Set EB inverted

// Board parameter define (For PCI-8253/56)
#define PRB_DENOMINATOR     (0x80)  // Floating number denominator
//#define PRB_PSR_MODE      (0x90)  // Config pulser mode
#define PRB_PSR_ENABLE      (0x91)  // Enable/disable pulser mode
#define PRB_BOOT_SETTING    (0x100) // Load motion parameter method when DSP boot

#define PRB_PWM0_MAP_DO		(0x110)  // Enable & Map PWM0 to Do channels
#define PRB_PWM1_MAP_DO		(0x111)  // Enable & Map PWM1 to Do channels
#define PRB_PWM2_MAP_DO		(0x112)  // Enable & Map PWM2 to Do channels
#define PRB_PWM3_MAP_DO		(0x113)  // Enable & Map PWM3 to Do channels

// Board parameter define (For PCI-8392 SSCNET)
#define PRB_SSC_APPLICATION     (0x10000) // Reserved
#define PRB_SSC_CYCLE_TIME      (0x10000) // SSCNET cycle time selection(vaild befor start sscnet)
#define PRB_PARA_INIT_OPT       (0x00020) // Initial boot mode.

// Board parameter define (For DPAC)
#define PRB_DPAC_DISPLAY_MODE           (0x10001) //DPAC Display mode
#define PRB_DPAC_DI_MODE                (0x10002) //Set DI pin modes

#define PRB_DPAC_THERMAL_MONITOR_NO     (0x20001) //DPAC TEST
#define PRB_DPAC_THERMAL_MONITOR_VALUE  (0x20002) //DPAC TEST

//Board Parameter define (EMX-100) //20180302
#define PRB_ASYNC_MODE	(0x50)
#define PRB_DISCONNET_HANDLING	(0x51)

//Board Parameter define (AMP-304C) //20210401
#define PRB_GPDO_SEL_C0 (0X60)
#define PRB_GPDO_SEL_C1 (0X61)
#define PRB_GPDO_SEL_C2 (0X62)
#define PRB_GPDO_SEL_C3 (0X63)
#define PRB_GPDO_SEL_C4 (0X64)
#define PRB_GPDO_SEL_C5 (0X65)
#define PRB_GPDO_SEL_C6 (0X66)
#define PRB_GPDO_SEL_C7 (0X67)

#define PRB_GPDI_SEL_C0 (0X70)
#define PRB_GPDI_SEL_C1 (0X71)
#define PRB_GPDI_SEL_C2 (0X72)
#define PRB_GPDI_SEL_C3 (0X73)
#define PRB_GPDI_SEL_C4 (0X74)
#define PRB_GPDI_SEL_C5 (0X75)
#define PRB_GPDI_SEL_C6 (0X76)
#define PRB_GPDI_SEL_C7 (0X77)

#define PRB_GPDI_LOGIC_C0 (0X80)
#define PRB_GPDI_LOGIC_C1 (0X81)
#define PRB_GPDI_LOGIC_C2 (0X82)
#define PRB_GPDI_LOGIC_C3 (0X83)
#define PRB_GPDI_LOGIC_C4 (0X84)
#define PRB_GPDI_LOGIC_C5 (0X85)
#define PRB_GPDI_LOGIC_C6 (0X86)
#define PRB_GPDI_LOGIC_C7 (0X87)

#define PRB_GPDI_FILTER_EN_C0 (0X90)
#define PRB_GPDI_FILTER_EN_C1 (0X91)
#define PRB_GPDI_FILTER_EN_C2 (0X92)
#define PRB_GPDI_FILTER_EN_C3 (0X93)
#define PRB_GPDI_FILTER_EN_C4 (0X94)
#define PRB_GPDI_FILTER_EN_C5 (0X95)
#define PRB_GPDI_FILTER_EN_C6 (0X96)
#define PRB_GPDI_FILTER_EN_C7 (0X97)

#define PRB_LTC_FILTER_EN_C0 (0XB0)
#define PRB_LTC_FILTER_EN_C1 (0XB1)
#define PRB_LTC_FILTER_EN_C2 (0XB2)
#define PRB_LTC_FILTER_EN_C3 (0XB3)
//#define PRB_LTC_FILTER_EN_C4 (0XB4)
//#define PRB_LTC_FILTER_EN_C5 (0XB5)
//#define PRB_LTC_FILTER_EN_C6 (0XB6)
//#define PRB_LTC_FILTER_EN_C7 (0XB7)

#define PRB_GPDI_FILTER_WIDTH_C0 (0XC0)
#define PRB_GPDI_FILTER_WIDTH_C1 (0XC1)
#define PRB_GPDI_FILTER_WIDTH_C2 (0XC2)
#define PRB_GPDI_FILTER_WIDTH_C3 (0XC3)
#define PRB_GPDI_FILTER_WIDTH_C4 (0XC4)
#define PRB_GPDI_FILTER_WIDTH_C5 (0XC5)
#define PRB_GPDI_FILTER_WIDTH_C6 (0XC6)
#define PRB_GPDI_FILTER_WIDTH_C7 (0XC7)

#define PRB_LTC_FILTER_WIDTH_C0 (0XE0)
#define PRB_LTC_FILTER_WIDTH_C1 (0XE1)
#define PRB_LTC_FILTER_WIDTH_C2 (0XE2)
#define PRB_LTC_FILTER_WIDTH_C3 (0XE3)
//#define PRB_LTC_FILTER_WIDTH_C4 (0XE4)
//#define PRB_LTC_FILTER_WIDTH_C5 (0XE5)
//#define PRB_LTC_FILTER_WIDTH_C6 (0XE6)
//#define PRB_LTC_FILTER_WIDTH_C7 (0XE7)

#define PRB_TTL_DO_SEL_C0 (0X100)
#define PRB_TTL_DO_SEL_C1 (0X101)
#define PRB_TTL_DO_SEL_C2 (0X102)
#define PRB_TTL_DO_SEL_C3 (0X103)

#define PRB_TTL_DI_SEL_C0 (0X110)
#define PRB_TTL_DI_SEL_C1 (0X111)
#define PRB_TTL_DI_SEL_C2 (0X112)
#define PRB_TTL_DI_SEL_C3 (0X113)

#define PRB_LTC_FILTER_WIDTH_C0 (0XE0)
#define PRB_LTC_FILTER_WIDTH_C1 (0XE1)
#define PRB_LTC_FILTER_WIDTH_C2 (0XE2)
#define PRB_LTC_FILTER_WIDTH_C3 (0XE3)
//#define PRB_LTC_FILTER_WIDTH_C4 (0XE4)
//#define PRB_LTC_FILTER_WIDTH_C5 (0XE5)
//#define PRB_LTC_FILTER_WIDTH_C6 (0XE6)
//#define PRB_LTC_FILTER_WIDTH_C7 (0XE7)

#define PRB_TTL_DO_SEL_C0 (0X100)
#define PRB_TTL_DO_SEL_C1 (0X101)
#define PRB_TTL_DO_SEL_C2 (0X102)
#define PRB_TTL_DO_SEL_C3 (0X103)

#define PRB_TTL_DI_SEL_C0 (0X110)
#define PRB_TTL_DI_SEL_C1 (0X111)
#define PRB_TTL_DI_SEL_C2 (0X112)
#define PRB_TTL_DI_SEL_C3 (0X113)

// Axis parameter define (General)
#define PRA_EL_LOGIC        (0x00)  // EL logic
#define PRA_ORG_LOGIC       (0x01)  // ORG logic
#define PRA_EL_MODE         (0x02)  // EL stop mode
#define PRA_MDM_CONDI       (0x03)  // Motion done condition <-- typo, DO NOT USE IN THE FUTURE
#define PRA_MDN_CONDI       (0x03)  // Motion done condition <-- NEW
#define PRA_EL_EXCHANGE     (0x04)  // PEL, MEL exchange enable

#define PRA_ALM_LOGIC			(0x04)  // ALM logic
#define PRA_ZSP_LOGIC			(0x05)  // ZSP logic [PCI-8253/56 only]
#define PRA_EZ_LOGIC			(0x06)  // EZ logic 
#define PRA_STP_DEC				(0x07)  // Stop deceleration
#define PRA_SD_DEC				(0x07)  // Stop deceleration
#define PRA_SPEL_EN				(0x08)  // SPEL Enable
#define PRA_SMEL_EN				(0x09)  // SMEL Enable
#define PRA_EFB_POS0			(0x0A)  // EFB position 0 [PCI-8253/56]
#define PRA_EFB_POS1			(0x0B)  // EFB position 1 [PCI-8253/56]
#define PRA_SPEL_POS			(0x0A)  // Soft-end-limit for positive end [PCI-8254/58]
#define PRA_SMEL_POS			(0x0B)  // Soft-end-limit for negative end [PCI-8254/58]
#define PRA_EFB_CONDI0			(0x0C)  // EFB position 0 condition
#define PRA_EFB_CONDI1			(0x0D)  // EFB position 1 condition
#define PRA_EFB_SRC0			(0x0E)  // EFB position 0 source
#define PRA_EFB_SRC1			(0x0F)  // EFB position 1 source
#define PRA_HOME_MODE			(0x10)  // home mode
#define PRA_HOME_DIR			(0x11)  // homing direction
#define PRA_HOME_CURVE			(0x12)  // homing curve parten(T or s curve)
#define PRA_HOME_ACC			(0x13)  // Acceleration deceleration rate
#define PRA_HOME_VS				(0x14)  // homing start velocity
#define PRA_HOME_VM				(0x15)  // homing max velocity
#define PRA_HOME_VA				(0x16)  // homing approach velocity [PCI-8253/56 only]
#define PRA_HOME_SHIFT			(0x17)  // The shift from ORG [PCI-8254/58 only]
#define PRA_HOME_EZA			(0x18)  // EZ alignment enable
#define PRA_HOME_VO				(0x19)  // Homing leave ORG velocity
#define PRA_HOME_OFFSET			(0x1A)  // The escape pulse amounts(Leaving home by position)
#define PRA_HOME_POS			(0x1B)  // The position from ORG [PCI-8254/58 only]
#define PRA_HOME_TORQUE			(0x1C)  // Torque-Limit value setting for home move
#define PRA_HOME_EZ_DIR			(0x1D)  // EZ search direction
//parameters for EMX100
#define PRA_HOME_SEARCH_TARGET	(0x1E)  // Select Home move search target signal
#define PRA_HOME_DOWN_COUNTER	(0x1F)  // Home down counter limit  

#define PRA_CURVE           (0x20)  // Move curve pattern
#define PRA_SF              (0x20)  // Move s-factor
#define PRA_ACC             (0x21)  // Move acceleration
#define PRA_DEC             (0x22)  // Move deceleration
#define PRA_VS              (0x23)  // Move start velocity
#define PRA_VM              (0x24)  // Move max velocity
#define PRA_VE              (0x25)  // Move end velocity
#define PRA_SACC			(0x26)  // S curve acceleration
#define PRA_SDEC	        (0x27)  // S curve deceleration
#define PRA_ACC_SR          (0x28)  // S curve ratio in acceleration( S curve with linear acceleration)
#define PRA_DEC_SR          (0x29)  // S curve ratio in deceleration( S curve with linear deceleration)

#define PRA_PRE_EVENT_DIST		(0x2A) //Pre-event distance
#define PRA_POST_EVENT_DIST		(0x2B) //Post-event distance
//following only for V2...
#define PRA_DIST            (0x30)  // Move distance
#define PRA_MAX_VELOCITY    (0x31)  // Maximum velocity
#define PRA_SCUR_PERCENTAGE (0x32)  // Scurve percentage
#define PRA_BLENDING_MODE   (0x33)  // Blending mode
#define PRA_STOP_MODE       (0x34)  // Stop mode
#define PRA_STOP_DELRATE    (0x35)  // Stop function deceleration rate
//================================================================================

#define PRA_PT_STOP_ENDO    (0x32)  // Disable do when point table stopping.
#define PRA_PT_STP_DO_EN    (0x32)  // Disable do when point table stopping.



#define PRA_PT_STOP_DO      (0x33)  // Set do value when point table stopping.
#define PRA_PT_STP_DO       (0x33)  // Set do value when point table stopping.
#define PRA_PWM_OFF         (0x34)  // Disable specified PWM output when ASTP input signal is active.
#define PRA_DO_OFF          (0x35)  // Set DO value when ASTP input signal is active.

#define PRA_GPIO_SEL_SRC    (0x3A) // The source of GPIO selecting action function.
#define PRA_GPIO_SEL_CH_MAP (0x3B) // The channel mapping of GPIO selection action function.
#define PRA_GPIO_SEL_ACTION (0x3C) // GPIO selecting action assigned.
#define PRA_GPIO_SEL_LOGIC  (0x3D) // GPIO selecting logic assigned.
#define PRA_GPIO_SEL_EN     (0x3E) // GPIO selecting action function enable or disable.

#define PRA_JG_MODE         (0x40)  // Jog mode
#define PRA_JG_DIR          (0x41)  // Jog move direction
#define PRA_JG_CURVE        (0x42)  // Jog curve parten(T or s curve)
#define PRA_JG_SF           (0x42)  // Jog curve parten(T or s curve)
#define PRA_JG_ACC          (0x43)  // Jog move acceleration
#define PRA_JG_DEC          (0x44)  // Jog move deceleration
#define PRA_JG_VM           (0x45)  // Jog move max velocity
#define PRA_JG_STEP         (0x46)  // Jog offset (For step mode)
#define PRA_JG_OFFSET       (0x46)  // Jog offset (For step mode)
#define PRA_JG_DELAY        (0x47)  // Jog delay (For step mode)
#define PRA_JG_MAP_DI_EN    (0x48) // (I32) Enable Digital input map to jog command signal
#define PRA_JG_P_JOG_DI     (0x49) // (I32) Mapping configuration for positive jog and digital input.
#define PRA_JG_N_JOG_DI     (0x4A) // (I32) Mapping configuration for negative jog and digital input.
#define PRA_JG_JOG_DI       (0x4B) // (I32) Mapping configuration for jog and digital input.
#define PRA_JG_STOP			(0x4C)// just for EMX100

#define PRA_MDN_DELAY       (0x50)  // NSTP delay setting
#define PRA_SINP_WDW        (0x51)  // Soft INP window setting
#define PRA_SINP_STBL       (0x52)  // Soft INP stable cycle
#define PRA_SINP_STBT       (0x52)  // Soft INP stable cycle
#define PRA_SERVO_LOGIC     (0x53) //  SERVO logic

#define PRA_MOTION_SGN_PEL_MAP	(0x55)	// The channel mapping of motion signal PEL
#define PRA_MOTION_SGN_MEL_MAP	(0x56)	// The channel mapping of motion signal MEL
#define PRA_MOTION_SGN_ORG_MAP	(0x57)	// The channel mapping of motion signal ORG
#define PRA_MOTION_SGN_MAP_EN	(0x5D)	// Motion signal mapping enable

#define PRA_GEAR_MASTER       (0x60)  // (I32) Select gearing master
#define PRA_GEAR_ENGAGE_RATE  (0x61)  // (F64) Gear engage rate
#define PRA_GEAR_RATIO        (0x62)  // (F64) Gear ratio
#define PRA_GANTRY_PROTECT_1  (0x63)  // (F64) E-gear gantry mode protection level 1
#define PRA_GANTRY_PROTECT_2  (0x64)  // (F64) E-gear gantry mode protection level 2
#define PRA_EGEAR_MASTER      (0x65) //Select gearing master: 0~63
#define PRA_EGEAR_SOURCE      (0x66) //Select gearing source // 0: command position deviation1: feedback position deviation

// Axis parameter define (For PCI-8253/56)
#define PRA_PLS_IPT_MODE    	(0x80)  // Pulse input mode setting
#define PRA_PLS_OPT_MODE    	(0x81)  // Pulse output mode setting
#define PRA_MAX_E_LIMIT     	(0x82)  // Maximum encoder count limit
#define PRA_ENC_FILTER      	(0x83)  // Encoder filter
#define PRA_ENCODER_FILTER  	(0x83)  // Encoder filter
#define PRA_MOVE_RATIO      	(0x88)  // Move ratio 
#define PRA_EGEAR				(0x84)  // E-Gear ratio
#define PRA_ENCODER_DIR     	(0x85)  // Encoder direction
#define PRA_POS_UNIT_FACTOR 	(0x86)  // position unit factor setting

#define PRA_RING_LIMIT				( 0x8B )// Ring counter limitation value.
#define PRA_RING_ABS_MOVE_MODE		( 0x8C )// Absolute move mode in ring counter mode
#define PRA_ABSENC_FIXOFFSET 	(0x8F)	// Absolute encoder fix offset setting

#define PRA_KP_GAIN         (0x90)  // PID controller Kp gain
#define PRA_KI_GAIN         (0x91)  // PID controller Ki gain
#define PRA_KD_GAIN         (0x92)  // PID controller Kd gain
#define PRA_KFF_GAIN        (0x93)  // Velocity feedforward Kff gain
#define PRA_KVFF_GAIN       (0x93)  // Velocity feedforward Kff gain
#define PRA_KVGTY_GAIN      (0x94)  // Gantry controller Kvgty gain
#define PRA_KPGTY_GAIN      (0x95)  // Gantry controller Kpgty gain
#define PRA_IKP_GAIN        (0x96)  // PID controller Kp gain in torque mode
#define PRA_IKI_GAIN        (0x97)  // PID controller Ki gain in torque mode
#define PRA_IKD_GAIN        (0x98)  // PID controller Kd gain in torque mode
#define PRA_IKFF_GAIN       (0x99)  // Velocity feedforward Kff gain in torque mode
#define PRA_KAFF_GAIN       (0x9A)  // Acceleration feedforward Kaff gain
#define PRA_KP_SHIFT	 	(0x9B) 	// Proportional control result shift 
#define PRA_KI_SHIFT 		(0x9C)  // Integral control result shift 
#define PRA_KD_SHIFT 		(0x9D)  // Derivative control result shift
#define PRA_KVFF_SHIFT 		(0x9E)  // Velocity feed-forward control result shift
#define PRA_KAFF_SHIFT 		(0x9F) 	// Acceleration feed-forward control result shift 
#define PRA_PID_SHIFT 		(0xA0) 	// PID control result shift
#define PRA_PRE_CONTROL 	(0xA1) 	// Pre-control
#define PRA_DELAY_TIME 	    (0xA2) 	// Delay time for balancing filter

//following only for V2...
#define PRA_VOLTAGE_MAX     (0x9B)  // Maximum output limit
#define PRA_VOLTAGE_MIN     (0x9C)  // Minimum output limit
//================================================================================

#define PRA_M_INTERFACE     (0x100) // Motion interface

#define PRA_M_VOL_RANGE     (0x110) // Motor voltage input range
#define PRA_M_MAX_SPEED     (0x111) // Motor maximum speed
#define PRA_M_ENC_RES       (0x112) // Motor encoder resolution

#define PRA_V_OFFSET        (0x120) // Voltage offset
#define PRA_SERVO_V_BIAS    (0x120) // Voltage offset
#define PRA_DZ_LOW          (0x121) // Dead zone low side
#define PRA_DZ_UP           (0x122) // Dead zone up side
#define PRA_SAT_LIMIT       (0x123) // Voltage saturation output limit
#define PRA_SERVO_V_LIMIT   (0x123) // Voltage saturation output limit
#define PRA_ERR_C_LEVEL     (0x124) // Error counter check level
#define PRA_ERR_POS_LEVEL   (0x124) // Error counter check level
#define PRA_V_INVERSE       (0x125) // Output voltage inverse
#define PRA_SERVO_V_INVERSE (0x125) // Output voltage inverse
#define PRA_DZ_VAL          (0x126) // Dead zone output value
#define PRA_IW_MAX          (0x127) // Integral windup maximum value
#define PRA_IW_MIN          (0x128) // Integral windup minimum value
#define PRA_BKL_DIST        (0x129) // Backlash distance
#define PRA_BKL_CNSP        (0x12a) // Backlash consumption
#define PRA_INTEGRAL_LIMIT  (0x12B) // (I32) Integral limit
#define PRA_D_SAMPLE_TIME   (0x12C) // (I32) Derivative Sample Time

#define PRA_PSR_LINK        (0x130) // Connect pulser number
#define PRA_PSR_RATIO       (0X131) // Set pulser ratio

#define PRA_BIQUAD0_A1      (0x132) // (F64) Biquad filter0 coefficient A1
#define PRA_BIQUAD0_A2      (0x133) // (F64) Biquad filter0 coefficient A2
#define PRA_BIQUAD0_B0      (0x134) // (F64) Biquad filter0 coefficient B0
#define PRA_BIQUAD0_B1      (0x135) // (F64) Biquad filter0 coefficient B1
#define PRA_BIQUAD0_B2      (0x136) // (F64) Biquad filter0 coefficient B2
#define PRA_BIQUAD0_DIV     (0x137) // (F64) Biquad filter0 divider
#define PRA_BIQUAD1_A1      (0x138) // (F64) Biquad filter1 coefficient A1
#define PRA_BIQUAD1_A2      (0x139) // (F64) Biquad filter1 coefficient A2
#define PRA_BIQUAD1_B0      (0x13A) // (F64) Biquad filter1 coefficient B0
#define PRA_BIQUAD1_B1      (0x13B) // (F64) Biquad filter1 coefficient B1
#define PRA_BIQUAD1_B2      (0x13C) // (F64) Biquad filter1 coefficient B2
#define PRA_BIQUAD1_DIV    (0x13D) // (F64) Biquad filter1 divider
#define PRA_FRIC_GAIN		  (0x13E) // (F64) Friction voltage compensation


#define PRA_DA_TYPE         (0x140) // DAC output type
#define PRA_CONTROL_MODE    (0x141) // Closed loop control mode
// ADLINK internal use
#define PRA_CMD_Freq        (0x142) // (F64) Command Preshaping Frequency                    
#define PRA_CMD_Damp        (0x143) // (F64) Command Preshaping Damping                     
#define PRA_CMD_PSF         (0x144) // (F64) Command Preshaping Path Smooth Factor      
#define PRA_CMD_LPF2        (0x145) // (F64) Command Preshaping 2nd Order Low-Pass-Filter

// ADLINK internal use
#define PRA_USER_I32_1      (0x150) // (I32) For AMC data exchange
#define PRA_USER_I32_2      (0x151) // (I32) For AMC data exchange
#define PRA_USER_I32_3      (0x152) // (I32) For AMC data exchange
#define PRA_USER_I32_4      (0x153) // (I32) For AMC data exchange
#define PRA_USER_I32_5      (0x154) // (I32) For AMC data exchange
#define PRA_USER_F64_1      (0x155) // (F64) For AMC data exchange
#define PRA_USER_F64_2      (0x156) // (F64) For AMC data exchange
#define PRA_USER_F64_3      (0x157) // (F64) For AMC data exchange
#define PRA_USER_F64_4      (0x158) // (F64) For AMC data exchange
#define PRA_USER_F64_5      (0x159) // (F64) For AMC data exchange

//Pulser function
#define PRA_PSR_IPT_MODE		(0x160) // Pulser pulse input mode setting
#define PRA_PSR_IPT_LOGIC		(0x161) // Pulser pulse input logic
#define PRA_PSR_IPT_DIR			(0x162) // Pulser pulse input direction
#define PRA_PSR_RATIO_VALUE		(0x163) // reserved
#define PRA_PSR_PDV				(0x164) // Pulser ratio by PDV
#define PRA_PSR_PMG				(0x165) // Pulser ratio by PMG
#define PRA_PSR_HOME_TYPE		(0x166) // Pulser home type
#define PRA_PSR_HOME_SPD		(0x167) // Pulser home maximun speedlimit
#define PRA_PSR_ACC				(0x168) // reserved
#define PRA_PSR_JERK			(0x169) // reserved

#define PRA_PVT_PAUSE_DO		(0x16A) // (I32) Set DO value when PVT (or PT motion) pause

//Abs Home function
#define PRA_SENSOR_TYPE             (0x171) // (I32) sensor type; 0: unknown, 1: incremental, 2: single turn, 3: multi-turn
#define PRA_PULSE_PER_TURN          (0x172)
#define PRA_ENC_1_RESOLUTION        (0x173)
#define PRA_ENC_2_RESOLUTION        (0x174)
#define PRA_ENC_2_DETERMINABLE_REVOLUTION  (0x175)
#define PRA_ABS_HOME_ENABLE         (0x176) // Enable absolute home
#define PRA_ABS_ENCODER_VALUE       (0x177) // absolute encoder value (F64)
//EPOS
#define PRA_REF_SPEED               (0x178) // reference speed (rpm) (F64)
#define PRA_GEAR_LU_PER_REV         (0x179) // Mechanical gear: LU per revolution (F64)
#define PRA_GEAR_NUMERATOR          (0x17A) // Mechanical gear: Numerator (F64)
#define PRA_GEAR_DENOMINATOR        (0x17B) // Mechanical gear: Denominator (F64)
#define PRA_HOME_MAP_DI             (0x17C) // Link axis ORG to EPOS homing procedure (I32)
#define PRA_ACC_UNIT                (0x17D) // Select Acc/Dec unit is pulse/sec^2 or percentage for EPOS function (I32)
#define PRA_VIRTUAL_MULTI_TURN      (0x17E) // (I32) virtual multi-turn for absolute home; 0:disable, 1:enable

#define PRA_HOME_SLWA               ( 0x180 ) // (I32) Slow alignment enable
#define PRA_HOME_ACC_2ND            ( 0x181 ) // (F64) Second acceleration deceleration rate   
#define PRA_HOME_VS_2ND             ( 0x182 ) // (F64) Second homing start velocity
#define PRA_HOME_VM_2ND             ( 0x183 ) // (F64) Second homing max velocity
#define PRA_HOME_VO_2ND             ( 0x184 ) // (F64) Second homing leave sensor velocity

#define PRA_HOME_GTY_CONFIG         ( 0x185 ) // (I32) gantry home configuration
#define PRA_HOME_GTY_OFFSET         ( 0x186 ) // (F64) gantry home offset
#define PRA_HOME_GTY_RANGE          ( 0x187 ) // (F64) gantry home range

// Axis parameter define (For PCI-8154/58)
// Input/Output Mode
#define PRA_PLS_IPT_LOGIC   (0x200) //Reverse pulse input counting
#define PRA_FEEDBACK_SRC    (0x201) //Select feedback conter

//IO Config
#define PRA_ALM_MODE        (0x210) //ALM Mode
#define PRA_INP_LOGIC       (0x211) //INP Logic
#define PRA_SD_EN           (0x212) //SD Enable -- Bit 8
#define PRA_SD_MODE         (0x213) //SD Mode
#define PRA_SD_LOGIC        (0x214) //SD Logic
#define PRA_SD_LATCH        (0x215) //SD Latch
#define PRA_ERC_MODE        (0x216) //ERC Mode
#define PRA_ERC_LOGIC       (0x217) //ERC Logic
#define PRA_ERC_LEN         (0x218) //ERC Pulse Width
#define PRA_RESET_COUNTER   (0x219) //Reset Counter When Home Move is Complete
#define PRA_PLS_IPT_FLT     (0x21B) //EA/EB Filter Enable
#define PRA_INP_MODE        (0x21C) //INP Mode
#define PRA_LTC_LOGIC       (0x21D) //LTC LOGIC
#define PRA_IO_FILTER       (0x21E) //+-EZ, SD, ORG, ALM, INP filter
#define PRA_COMPENSATION_PULSE  (0x221) //BACKLASH PULSE
#define PRA_COMPENSATION_MODE   (0x222) //BACKLASH MODE
#define PRA_LTC_SRC         (0x223) //LTC Source
#define PRA_LTC_DEST        (0x224) //LTC Destination
#define PRA_LTC_DATA        (0x225) //Get LTC DATA

#define PRA_VIBSUP_RT       (0x22B) // Vibration Reverse Time
#define PRA_VIBSUP_FT       (0x22C) // Vibration Forward Time
#define PRA_LTC_DATA_SPD    (0x22D) // Choose latch data for current speed or error position

#define PRA_GPDO_SEL        (0x230) //Select DO/CMP Output mode
#define PRA_GPDI_SEL        (0x231) //Select DO/CMP Output mode
#define PRA_GPDI_LOGIC      (0x232) //Set GPIO Input Logic
#define PRA_RDY_LOGIC       (0x233) //RDY Logic
#define PRA_DI_FILTER_WIDTH (0x234) //DI Input Tunable Filter Width 
#define PRA_DI_FILTER_EN    (0x235) //DI Input Tunable Filter Enable


#define PRA_RDY_SEL			(0X236)
#define PRA_INP_SEL			(0X237)
#define PRA_SVON_SEL		(0X238)
#define PRA_ERC_SEL			(0X239)


//Fixed Speed
#define PRA_SPD_LIMIT       (0x240) // Set Fixed Speed
#define PRA_MAX_ACCDEC      (0x241) // Get max acceleration by fixed speed
#define PRA_MIN_ACCDEC      (0x242) // Get min acceleration by fixed speed
#define PRA_ENABLE_SPD      (0x243) // Disable/Enable Fixed Speed only for HSL-4XMO.

//Continuous Move
#define PRA_CONTI_MODE      (0x250) // Continuous Mode
#define PRA_CONTI_BUFF      (0x251) // Continuous Buffer

//Simultaneous Move
#define PRA_SYNC_STOP_MODE      (0x260) // Sync Mode

//Error compare
#define PRA_ECMP_EN		(0x280) // Error CMP Enable
#define PRA_ECMP_POS		(0x281) // Get CMP position
#define PRA_ECMP_SRC		(0x282) // Set CMP source
#define PRA_ECMP_ACTION		(0x283) // CMP Status
#define PRA_ECMP_STS	(0x284) //Error CMP logic
#define PRA_ERR_RESCOUNT	(0x285) // Reset Counter 3 (Error Counter)  
#define PRA_ERR_COUNTER	(0x290) // Counter 3(Error Counter) 

//General compare
#define PRA_GCMP_EN         (0x226) // CMP Enable
#define PRA_GCMP_POS        (0x227) // Get CMP position
#define PRA_GCMP_SRC        (0x228) // CMP source
#define PRA_GCMP_ACTION     (0x229) // CMP Action
#define PRA_GCMP_STS        (0x22A) // CMP Status

//Trigger compare
#define PRA_TCMP_EN			(0x270) // trigger CMP Enable
#define PRA_TCMP_POS		(0x271) // Get CMP position
#define PRA_TCMP_SRC		(0x272) // Set CMP source
#define PRA_TCMP_STS		(0x273) // CMP Status
#define PRA_TCMP_LOGIC	(0x274) // CMP logic
#define PRA_TCMP_ACTION	(0x275) // CMP Action

//PCS
#define PRA_PCS_EN			(0x2A0)	//PCS Enable
#define PRA_PCS_LOGIC		(0x2A1)	//PCS Logic

//AMP-304C axis parameter define
#define PRA_CNT_SRC			(0x2B0)

// CST mode using.
#define PRA_INIT_TRQ         			(0x300) // Initial torque command when switching to CST mode; Unit is 0.1%. Default value is 0%
#define PRA_TRQ_STP_TIME     			(0x301) // Time to reach zero torque command; Unit is 1ms. Default is 0 (Stop immediately).
#define PRA_MODE_CHANGE_STABLE_CNT      (0x302) // Stable count when operation mode changing to CSP.

//Mnet-4xmo axis parameter
#define PRA_ACC_DEC_OVERRIDE_EN			(0x400) // ACC/DEC override  

// PCI-8144 axis parameter define
#define PRA_CMD_CNT_EN      (0x10000)
#define PRA_MIO_SEN         (0x10001)
#define PRA_START_STA       (0x10002)
#define PRA_SPEED_CHN       (0x10003)
#define PRA_ORG_STP         (0x1A)

// Axis parameter define (For PCI-8392 SSCNET)
#define PRA_SSC_SERVO_PARAM_SRC     (0x10000) //Servo parameter source
#define PRA_SSC_SERVO_ABS_POS_OPT   (0x10001) //Absolute position system option
#define PRA_SSC_SERVO_ABS_CYC_CNT   (0x10002) //Absolute cycle counter of servo driver
#define PRA_SSC_SERVO_ABS_RES_CNT   (0x10003) //Absolute resolution counter of servo driver
#define PRA_SSC_TORQUE_LIMIT_P      (0x10004) //Torque limit positive (0.1%)
#define PRA_SSC_TORQUE_LIMIT_N      (0x10005) //Torque limit negative (0.1%)
#define PRA_SSC_TORQUE_CTRL         (0x10006) //Torque control
#define PRA_SSC_RESOLUTION          (0x10007) //resolution (E-gear)
#define PRA_SSC_GMR					(0x10008) //resolution (New E-gear)
#define PRA_SSC_GDR					(0x10009) //resolution (New E-gear)


// Axis parameter define (For EMX-100) //20180302
#define PRA_SOFT_EL_EN	(0xB0) //(0x07)
#define PRA_SOFT_EL_SRC	(0xB1) //(0x0A)
#define PRA_PLS_IPT_NEG_DRIVE	(0xB2) //(0x85)
#define PRA_PLS_OPT_NEG_DRIVE	(0xB3) //(0x86)
#define PRA_PLS_OPT_DIR (0xB4) //(0x87)
#define PRA_TRIG_VEL_PREVENTION_EN	(0xB5) //(0x88)
#define PRA_PLS_IPT_PIN_DIR (0x87)
#define PRA_PLS_OPT_PIN_DIR (0x88)
#define PRA_RST_OPT_CHG_DIO (0x89)

/*
#define PRA_ALM_EN (0xB6)
#define PRA_EL_EN (0xB7)
#define PRA_EZ_EN (0xB8)
#define PRA_INP_EN (0xB9)
#define PRA_ORG_EN (0xBA)
*/
#define PRA_SML_INSTANT_STOP	(0xBB)


// Sampling parameter define
#define SAMP_PA_RATE        (0x0) //Sampling rate
#define SAMP_PA_EDGE        (0x2) //Edge select
#define SAMP_PA_LEVEL       (0x3) //Level select
#define SAMP_PA_TRIGCH      (0x5) //Select trigger channel
//following only for V2
#define SAMP_PA_SEL         (0x6)
//================================================================================

#define SAMP_PA_SRC_CH0     (0x10) //Sample source of channel 0
#define SAMP_PA_SRC_CH1     (0x11) //Sample source of channel 1
#define SAMP_PA_SRC_CH2     (0x12) //Sample source of channel 2
#define SAMP_PA_SRC_CH3     (0x13) //Sample source of channel 3

// Sampling source
#define SAMP_AXIS_MASK      (0xF00)
#define SAMP_PARAM_MASK     (0xFF)
#define SAMP_COM_POS        (0x00) //command position
#define SAMP_FBK_POS        (0x01) //feedback position
#define SAMP_CMD_VEL        (0x02) //command velocity
#define SAMP_FBK_VEL        (0x03) //feedback velocity
#define SAMP_MIO            (0x04) //motion IO
#define SAMP_MSTS           (0x05) //motion status
#define SAMP_MSTS_ACC       (0x06) //motion status acc
#define SAMP_MSTS_MV        (0x07) //motion status at max velocity
#define SAMP_MSTS_DEC       (0x08) //motion status at dec
#define SAMP_MSTS_CSTP      (0x09) //motion status CSTP
#define SAMP_MSTS_MDN       (0x0A) //motion status MDN, the same with NSTP
#define SAMP_MIO_INP        (0x0B) //motion status INP
#define SAMP_MIO_ZERO       (0x0C) //motion status ZERO
#define SAMP_MIO_ORG        (0x0D) //motion status ORG

#define SAMP_CONTROL_VOL				(0x20)  // Control command voltage
#define SAMP_GTY_DEVIATION			(0x21) // Gantry deviation
#define SAMP_ENCODER_RAW			  (0x22) // Encoder raw data
#define SAMP_ERROR_COUNTER			(0x23) // Error counter data
#define SAMP_ERROR_POS					(SAMP_ERROR_COUNTER) //Error position [PCI-8254/58]
#define SAMP_PTBUFF_RUN_INDEX		(0x24) //Point table running index

// Only for PCIe-833X CST mode.
#define SAMP_CMD_TRQ        (0x25) // Command torque (I16)
#define SAMP_FBK_TRQ        (0x26) // Actual torque (I16)

//Only for PCI-8392
#define SAMP_SSC_MON_0      (0x10)  // SSCNET servo monitor ch0
#define SAMP_SSC_MON_1      (0x11)  // SSCNET servo monitor ch1
#define SAMP_SSC_MON_2      (0x12)  // SSCNET servo monitor ch2
#define SAMP_SSC_MON_3      (0x13)  // SSCNET servo monitor ch3

//Only for PCI-8254/8, AMP-204/8C
#define SAMP_COM_POS_F64						(0x10) // Command position
#define SAMP_FBK_POS_F64						(0x11) // Feedback position
#define SAMP_CMD_VEL_F64						(0x12) // Command velocity
#define SAMP_FBK_VEL_F64						(0x13) // Feedback velocity
#define SAMP_CONTROL_VOL_F64				(0x14) // Control command voltage
#define SAMP_ERR_POS_F64						(0x15) // Error position
#define SAMP_PWM_FREQUENCY_F64		  (0x18) // PWM frequency (Hz)
#define SAMP_PWM_DUTY_CYCLE_F64		  (0x19) // PWM duty cycle (%)
#define SAMP_PWM_WIDTH_F64					(0x1A) // PWM width (ns)
#define SAMP_VAO_COMP_VEL_F64			  (0x1B) // Composed velocity for Laser power control (pps)
#define SAMP_PTBUFF_COMP_VEL_F64		(0x1C) // Composed velocity of point table
#define SAMP_PTBUFF_COMP_ACC_F64		(0x1D) // Composed acceleration of point table

//FieldBus parameter define
#define PRF_COMMUNICATION_TYPE      (0x00)// FiledBus Communication Type(Full/half duplex)
#define PRF_TRANSFER_RATE           (0x01)// FiledBus Transfer Rate
#define PRF_HUB_NUMBER              (0x02)// FiledBus Hub Number
#define PRF_INITIAL_TYPE            (0x03)// FiledBus Initial Type(Clear/Reserve Do area)
#define PRF_CHKERRCNT_LAYER         (0x04)// Set the check error count layer.
#define PRF_RESEND_CNT	         (0x05)// Set resend counts

//Gantry parameter number define [Only for PCI-8392, PCI-8253/56]
#define GANTRY_MODE                 (0x0)
#define GENTRY_DEVIATION            (0x1)
#define GENTRY_DEVIATION_STP        (0x2)

// Filter parameter number define [Only for PCI-8253/56]
#define FTR_TYPE_ST0                    (0x00)  // Station 0 filter type
#define FTR_FC_ST0                      (0x01)  // Station 0 filter cutoff frequency
#define FTR_BW_ST0                      (0x02)  // Station 0 filter bandwidth
#define FTR_ENABLE_ST0                  (0x03)  // Station 0 filter enable/disable
#define FTR_TYPE_ST1                    (0x10)  // Station 1 filter type
#define FTR_FC_ST1                      (0x11)  // Station 1 filter cutoff frequency
#define FTR_BW_ST1                      (0x12)  // Station 1 filter bandwidth
#define FTR_ENABLE_ST1                  (0x13)  // Station 1 filter enable/disable

// Device name define
#define DEVICE_NAME_NULL            (0xFFFF)
#define DEVICE_NAME_PCI_8392        (0)
#define DEVICE_NAME_PCI_825X        (1)
#define DEVICE_NAME_PCI_8154        (2)
#define DEVICE_NAME_PCI_785X        (3)
#define DEVICE_NAME_PCI_8158        (4)
#define DEVICE_NAME_PCI_7856        (5)
#define DEVICE_NAME_ISA_DPAC1000    (6)
#define DEVICE_NAME_ISA_DPAC3000    (7)
#define DEVICE_NAME_PCI_8144        (8)
#define DEVICE_NAME_PCI_825458      (9)
#define DEVICE_NAME_PCI_8102        (10)
#define DEVICE_NAME_PCI_V8258       (11)
#define DEVICE_NAME_PCI_V8254       (12)
#define DEVICE_NAME_PCI_8158A       (13)
#define DEVICE_NAME_AMP_20408C      (14)
#define DEVICE_NAME_PCI_8353        (15)
#define DEVICE_NAME_PCI_8392F 	    (16)
#define DEVICE_NAME_PCI_C154 	    (17)
#define DEVICE_NAME_PCI_C154_PLUS   (18)
#define DEVICE_NAME_PCI_8353_RTX    (19)
#define DEVICE_NAME_PCIE_8338       (20)
#define DEVICE_NAME_PCIE_8154	    (21)
#define DEVICE_NAME_PCIE_8158	    (22)
#define DEVICE_NAME_ENET_EMX100	    (23)
#define DEVICE_NAME_PCIE_8334	    (24)
#define DEVICE_NAME_PCIE_8332	    (25)
#define DEVICE_NAME_PCIE_8331	    (26)
#define DEVICE_NAME_PCIE_7856       (27)
#define DEVICE_NAME_AMP104C			(28)
#define DEVICE_NAME_AMP_304C		(29)
#define DEVICE_NAME_BMP_132       	(30)
#define DEVICE_NAME_BMP_116       	(31)
#define DEVICE_NAME_PCIE_8364RS		(32)
#define DEVICE_NAME_AEW_38			(33)
#define DEVICE_NAME_AMP_304H		(34)
#define DEVICE_NAME_EM_2P00			(35)
#define DEVICE_NAME_EM_4P00			(36)
#define DEVICE_NAME_EM_8P00			(37)
#define DEVICE_NAME_EM_FP00			(38)
#define DEVICE_NAME_EM_2C00			(39)
#define DEVICE_NAME_EM_4C00			(40)
#define DEVICE_NAME_EM_8C00			(41)
#define DEVICE_NAME_EM_FC00			(42)
#define DEVICE_NAME_EM_2A00			(43)
#define DEVICE_NAME_EM_4A00			(44)
#define DEVICE_NAME_EM_8A00			(45)
#define DEVICE_NAME_EM_FA00			(46)
#define DEVICE_NAME_EM_0P00			(47)
#define DEVICE_NAME_EM_1P00			(48)
#define DEVICE_NAME_EM_0C00			(49)
#define DEVICE_NAME_EM_1C00			(50)
#define DEVICE_NAME_EM_0A00			(51)
#define DEVICE_NAME_EM_1A00			(52)
#define DEVICE_NAME_PCIe_M54	    (53)
#define DEVICE_NAME_PCIe_M58	    (54)
///////////////////////////////////////////////
//   HSL Slave module definition
///////////////////////////////////////////////
#define SLAVE_NAME_UNKNOWN          (0x000)
#define SLAVE_NAME_HSL_DI32         (0x100)
#define SLAVE_NAME_HSL_DO32         (0x101)
#define SLAVE_NAME_HSL_DI16DO16     (0x102)
#define SLAVE_NAME_HSL_AO4          (0x103)
#define SLAVE_NAME_HSL_AI16AO2_VV   (0x104)
#define SLAVE_NAME_HSL_AI16AO2_AV   (0x105)
#define SLAVE_NAME_HSL_DI16UL       (0x106)
#define SLAVE_NAME_HSL_DI16RO8      (0x107)
#define SLAVE_NAME_HSL_4XMO         (0x108)
#define SLAVE_NAME_HSL_DI16_UCT     (0x109)
#define SLAVE_NAME_HSL_DO16_UCT     (0x10A)
#define SLAVE_NAME_HSL_DI8DO8       (0x10B)
#define SLAVE_NAME_HSL_DI56DO32_FCN     (0x10C)
///////////////////////////////////////////////
//   MNET Slave module definition
///////////////////////////////////////////////
#define SLAVE_NAME_MNET_1XMO        (0x200)
#define SLAVE_NAME_MNET_4XMO        (0x201)
#define SLAVE_NAME_MNET_4XMO_C      (0x202)

//	
#define SLAVE_NAME_ECAT_UNKNOWN		(0x300)
#define SLAVE_NAME_GPM_4XMO			(0x301)
#define SLAVE_NAME_ECAT_4XMO		(0x302)
#define SLAVE_NAME_ECAT_TRG4		(0x303)
#define SLAVE_NAME_ECAT_4XMO_MT		(0x304)
#define SLAVE_NAME_ECAT_TRG4_MT		(0x305)

///////////////////////////////////////////////
//   PCIe-8364RS Device name definition
///////////////////////////////////////////////
#define SLAVE_NAME_PN_UNKNOWN      	(0x400) //Unknown
#define SLAVE_NAME_PN_V90      		(0x401) //Drive
#define SLAVE_NAME_PN_ET200SP  		(0x402) //IO

///////////////////////////////////////////////
//   PCIe-8364RS Module name definition
///////////////////////////////////////////////
//#define SLAVE_NAME_PN_DO_ST_16x24V	(0x501) 
//#define SLAVE_NAME_PN_DI_ST_16x24V	(0x502) 
//#define SLAVE_NAME_PN_AO_ST_4xUI	(0x503) 
//#define SLAVE_NAME_PN_AI_ST_4xUI    (0x504) 
#define SLAVE_NAME_PN_DO_MODULE					(0x501)
#define SLAVE_NAME_PN_DI_MODULE					(0x502) 
#define SLAVE_NAME_PN_AO_MODULE					(0x503)
#define SLAVE_NAME_PN_AI_MODULE					(0x504)
#define SLAVE_NAME_PN_General_DO_MODULE			(0x505)
#define SLAVE_NAME_PN_General_DI_MODULE			(0x506)
#define SLAVE_NAME_PN_Drive_ST_DO_As_DO_MODULE	(0x507)
#define SLAVE_NAME_PN_Drive_ST_DI_As_DI_MODULE	(0x508)
#define SLAVE_NAME_PN_Drive_SST_DO_As_DO_MODULE	(0x509)
#define SLAVE_NAME_PN_Drive_SST_DI_As_DI_MODULE	(0x50A)


///////////////////////////////////////////////
//   PCIe-833x Slave module definition
///////////////////////////////////////////////
#define SLAVE_ADLINK_ECAT_EPS_1132      (0x1132) 		// DI32
#define SLAVE_ADLINK_ECAT_EPS_2032      (0x2032) 		// DO32
#define SLAVE_ADLINK_ECAT_EPS_2132      (0x2132) 		// DO32
#define SLAVE_ADLINK_ECAT_EPS_3032      (0x3032) 		// AI32
#define SLAVE_ADLINK_ECAT_EPS_3216      (0x3216) 		// AI16
#define SLAVE_ADLINK_ECAT_EPS_3504      (0x3504) 		// AI04
#define SLAVE_ADLINK_ECAT_EPS_4008      (0x4008) 		// AO8
#define SLAVE_ADLINK_ECAT_EPS_2308      (0x2308) 		// DO8
#define SLAVE_ADLINK_ECAT_EPS_7002      (0x7002) 		// MO2
#define SLAVE_ADLINK_ECAT_EPS_1032      (0x1032) 		// DI32
#define SLAVE_ADLINK_ECAT_ESM_A620F		(0x516204A0) 	// AI08
#define SLAVE_ADLINK_EU_1008			(0x6)   		// DI8, 8 Channels, PNP 
#define SLAVE_ADLINK_EU_1108			(0x9)   		// DI8, 8 Channels, NPN
#define SLAVE_ADLINK_EU_1016			(0x10) 			// DI16, 16 Channels, PNP
#define SLAVE_ADLINK_EU_1116			(0xF) 			// DI16, 16 Channels, NPN
#define SLAVE_ADLINK_EU_2008			(0xB)   		// 11 DO8, 8 Channels, PNP 
#define SLAVE_ADLINK_EU_2108			(0xC)   		// 12 DO8, 8 Channels, NPN
#define SLAVE_ADLINK_EU_2016			(0x11) 			// DO16, 16 Channels, PNP
#define SLAVE_ADLINK_EU_2116			(0x12) 			// DO16, 16 Channels, NPN
#define SLAVE_ADLINK_EU_3104			(0x31)  		// 49 AI4, Voltage(0-10V), 4 Channels, 16 Bit 
#define SLAVE_ADLINK_EU_3304			(0x29)  		// 41 AI4, Current(4-20mA), 4 Channels, 16 Bit 
#define SLAVE_ADLINK_EU_4104			(0x32)  		// 50 AO4, Voltage(0-10V), 4 Channels, 16 Bit 
#define SLAVE_ADLINK_EU_4304			(0x35)  		// 53 AO4, Current(4-20mA), 4 Channels, 16 Bit 
#define SLAVE_ADLINK_ES_1008			( 0xE10F )		// Digital input, 8 channels, PNP and NPN
#define SLAVE_ADLINK_ES_1016			( 0xE10E )		// Digital input, 16 channels, PNP and NPN
#define SLAVE_ADLINK_ES_2016			( 0xE10A )		// Digital output, 16 channels, PNP
#define SLAVE_ADLINK_ES_2116			( 0xE106 )		// Digital output, 16 channels, NPN
#define SLAVE_ADLINK_ES_2008			( 0xE10B )		// Digital output, 8 channels, PNP
#define SLAVE_ADLINK_ES_2108			( 0xE10E )		// Digital output, 8 channels, NPN
#define SLAVE_ADLINK_ES_3104			( 0xE209 )  	// AI4, Voltage(-10-10V), 4 Channels, 16 Bit 
#define SLAVE_ADLINK_ES_3304			( 0xE20A )  	// AI4, Current(0-20mA), 4 Channels, 16 Bit 
#define SLAVE_ADLINK_ES_4104			( 0xE20B )  	// AO4, Voltage(-10-10V), 4 Channels, 16 Bit 
#define SLAVE_ADLINK_ES_4304			( 0xE20C )  	// AO4, Current(0-20mA), 4 Channels, 16 Bit 


///////////////////////////////////////////////
//   PCIe-833x EtherCAT master/slave status definition
///////////////////////////////////////////////
#define EC_STATE_NOT_RDY					(0x0000)
#define EC_STATE_RDY						(0x0001)
#define EC_STATE_BUS_SCAN					(0x0002)
#define EC_STATE_INIT						(0x0003)
#define EC_STATE_PREOP						(0x0004)
#define EC_STATE_SAFEOP						(0x0005)
#define EC_STATE_OP							(0x0006)
#define EC_STATE_BOOTSTRAP					(0x0007) // Only for slave state


//Trigger parameter number define. [Only for DB-8150]
//////////////////////////////////////
#define TG_PWM0_PULSE_WIDTH    (0x00)
#define TG_PWM1_PULSE_WIDTH    (0x01)

#define TG_PWM0_MODE           (0x02)
#define TG_PWM1_MODE           (0x03)

#define TG_TIMER0_INTERVAL     (0x04)
#define TG_TIMER1_INTERVAL     (0x05)

#define TG_ENC0_CNT_DIR        (0x06)
#define TG_ENC1_CNT_DIR        (0x07)

#define TG_IPT0_MODE           (0x08)
#define TG_IPT1_MODE           (0x09)

#define TG_EZ0_CLEAR_EN        (0x0A)
#define TG_EZ1_CLEAR_EN        (0x0B)

#define TG_EZ0_CLEAR_LOGIC     (0x0C)
#define TG_EZ1_CLEAR_LOGIC     (0x0D)

#define TG_CNT0_SOURCE         (0x0E)
#define TG_CNT1_SOURCE         (0x0F)

#define TG_FTR0_EN		       (0x10)
#define TG_FTR1_EN		       (0x11)

#define TG_DI_LATCH0_EN        (0x12)
#define TG_DI_LATCH1_EN        (0x13)

#define TG_DI_LATCH0_EDGE      (0x14)
#define TG_DI_LATCH1_EDGE      (0x15)

#define TG_DI_LATCH0_VALUE     (0x16)
#define TG_DI_LATCH1_VALUE     (0x17)

#define TG_TRGOUT_MAP          (0x18)
#define TG_TRGOUT_LOGIC        (0x19)

#define TG_FIFO_LEVEL          (0x1A)

#define TG_PWM0_SOURCE         (0x1B)
#define TG_PWM1_SOURCE         (0x1C)
//////////////////////////////////////

//trigger only for EMX100
#define TGR0_CMP_SRC		(0x00)
#define TGR1_CMP_SRC		(0x01)
#define TGR0_CMP_COND		(0x02)
#define TGR1_CMP_COND		(0x03)
#define TGR0_CMP_VALUE		(0x04)
#define TGR1_CMP_VALUE		(0x05)
#define TGR0_PULSE_WIDTH	(0x06)
#define TGR1_PULSE_WIDTH	(0x07)
#define TGR0_PULSE_LOGIC	(0x08)
#define TGR1_PULSE_LOGIC	(0x09)
#define TGR0_CMP_EN			(0x0A)
#define TGR1_CMP_EN			(0x0B)
#define TGR0_CMP_MODE		(0x0C)
#define TGR1_CMP_MODE		(0x0D)
#define TGR0_LCMP_INTER		(0x0E)
#define TGR1_LCMP_INTER		(0x0F)
#define TGR0_LCMP_RETIME	(0x10)
#define TGR1_LCMP_RETIME	(0x11)



//Trigger parameter number define. [Only for PCI-8253/56]
#define TG_LCMP0_SRC    (0x00)
#define TG_LCMP1_SRC    (0x01)
#define TG_TCMP0_SRC    (0x02)
#define TG_TCMP1_SRC    (0x03)
#define TG_LCMP0_EN     (0x04)
#define TG_LCMP1_EN     (0x05)
#define TG_TCMP0_EN     (0x06)
#define TG_TCMP1_EN     (0x07)
#define TG_TRG0_SRC     (0x10)
#define TG_TRG1_SRC     (0x11)
#define TG_TRG2_SRC     (0x12)
#define TG_TRG3_SRC     (0x13)
#define TG_TRG0_PWD     (0x14)
#define TG_TRG1_PWD     (0x15)
#define TG_TRG2_PWD     (0x16)
#define TG_TRG3_PWD     (0x17)
#define TG_TRG0_CFG     (0x18) //Also for HSL-4XMO
#define TG_TRG1_CFG     (0x19) //Also for HSL-4XMO
#define TG_TRG2_CFG     (0x1A) //Also for HSL-4XMO
#define TG_TRG3_CFG     (0x1B) //Also for HSL-4XMO

#define TMR_ITV         (0x20)
#define TMR_EN          (0x21)

//Trigger parameter number define. [Only for MNET-4XMO-C & HSL-4XMO]
#define TG_CMP0_SRC             (0x00)
#define TG_CMP1_SRC             (0x01)
#define TG_CMP2_SRC             (0x02)
#define TG_CMP3_SRC             (0x03)

#define TG_CMP0_EN              (0x04)
#define TG_CMP1_EN              (0x05)
#define TG_CMP2_EN              (0x06)
#define TG_CMP3_EN              (0x07)

#define TG_CMP0_TYPE            (0x08)
#define TG_CMP1_TYPE            (0x09)
#define TG_CMP2_TYPE            (0x0A)
#define TG_CMP3_TYPE            (0x0B)

#define TG_CMPH_EN              (0x0C) //Not for HSL-4XMO
#define TG_CMPH_DIR_EN          (0x0D) //Not for HSL-4XMO
#define TG_CMPH_DIR             (0x0E) //Not for HSL-4XMO

//#define TG_TRG0_SRC           (0x10)
//#define TG_TRG1_SRC           (0x11)
//#define TG_TRG2_SRC           (0x12)
//#define TG_TRG3_SRC           (0x13)

//#define TG_TRG0_PWD           (0x14)
//#define TG_TRG1_PWD           (0x15)
//#define TG_TRG2_PWD           (0x16)
//#define TG_TRG3_PWD           (0x17)

//#define TG_TRG0_CFG           (0x18)
//#define TG_TRG1_CFG           (0x19)
//#define TG_TRG2_CFG           (0x1A)
//#define TG_TRG3_CFG           (0x1B)

#define TG_ENCH_CFG             (0x20) //Not for HSL-4XMO

#define TG_TRG0_CMP_DIR         (0x21) //Only for HSL-4XMO
#define TG_TRG1_CMP_DIR         (0x22) //Only for HSL-4XMO
#define TG_TRG2_CMP_DIR         (0x23) //Only for HSL-4XMO
#define TG_TRG3_CMP_DIR         (0x24) //Only for HSL-4XMO

//Trigger parameter number define. [Only for PCI-8258, ECAT-4XMO]
#define TGR_LCMP0_SRC			(0x00)
#define TGR_LCMP1_SRC			(0x01)
#define TGR_TCMP0_SRC			(0x02)
#define TGR_TCMP1_SRC			(0x03)

#define TGR_TCMP0_DIR			(0x04)
#define TGR_TCMP1_DIR			(0x05)
#define TGR_TRG_EN				(0x06)

#define TGR_TCMP0_REUSE         (0x07)	// ECAT-4XMO
#define TGR_TCMP1_REUSE         (0x08)	// ECAT-4XMO
#define TGR_TCMP0_TRANSFER_DONE (0x09)	// ECAT-4XMO
#define TGR_TCMP1_TRANSFER_DONE (0x0A)	// ECAT-4XMO

#define TGR_MTCMP0_TRANSFER_DONE (0x0D)	// ECAT-4XMO-MT/TRG4-MT

#define TGR_TRG0_SRC		(0x10)
#define TGR_TRG1_SRC		(0x11)
#define TGR_TRG2_SRC		(0x12)
#define TGR_TRG3_SRC		(0x13)

#define TGR_TRG0_PWD		(0x14)
#define TGR_TRG1_PWD		(0x15)
#define TGR_TRG2_PWD		(0x16)
#define TGR_TRG3_PWD		(0x17)

#define TGR_TRG0_LOGIC		(0x18) 
#define TGR_TRG1_LOGIC		(0x19) 
#define TGR_TRG2_LOGIC		(0x1A)
#define TGR_TRG3_LOGIC		(0x1B)

#define TGR_TRG0_TGL	    (0x1C) 
#define TGR_TRG1_TGL		(0x1D) 
#define TGR_TRG2_TGL		(0x1E)
#define TGR_TRG3_TGL		(0x1F)

#define TIMR_ITV			(0x20)
#define TIMR_DIR			(0x21)
#define TIMR_RING_EN		(0x22)
#define TIMR_EN				(0x23)

// Multi-dimension comparator define [Only for PCI-8254/58]
#define TGR_MCMP0_SRC				(0x30)
#define TGR_MCMP1_SRC				(0x31)
#define TGR_MCMP2_SRC				(0x32)
#define TGR_MCMP3_SRC				(0x33)
#define TGR_MCMP_MODE				(0x34)

// 20191111
#define TGR_TRG0_TOGGLE_MODE			(0x35)
#define TGR_TRG1_TOGGLE_MODE			(0x36)
#define TGR_TRG2_TOGGLE_MODE			(0x37)
#define TGR_TRG3_TOGGLE_MODE			(0x38)
#define TGR_TRG0_TOGGLE_STATUS			(0x39)
#define TGR_TRG1_TOGGLE_STATUS			(0x3A)
#define TGR_TRG2_TOGGLE_STATUS			(0x3B)
#define TGR_TRG3_TOGGLE_STATUS			(0x3C) 

// weili 20191217
#define TGR_TCMP2_SRC (0x40)
#define TGR_TCMP3_SRC (0x41)
#define TGR_TCMP2_DIR (0x42)
#define TGR_TCMP3_DIR (0x43)
// 20200131
#define TGR_LCMP2_SRC			(0x44)
#define TGR_LCMP3_SRC			(0x45)
// 20200710
#define TGR_TCMP2_REUSE         (0x46)	// ECAT-4XMO/TRG4
#define TGR_TCMP3_REUSE         (0x47)	// ECAT-4XMO/TRG4
#define TGR_TCMP2_TRANSFER_DONE (0x48)	// ECAT-4XMO/TRG4
#define TGR_TCMP3_TRANSFER_DONE (0x49)	// ECAT-4XMO/TRG4
// 20200807
#define TGR_CMP_EXTENC0_SRC		(0x50)	//	only ECAT-TRG4
#define TGR_CMP_EXTENC1_SRC		(0x51)	//	only ECAT-TRG4
#define TGR_CMP_EXTENC2_SRC		(0x52)	//	only ECAT-TRG4
#define TGR_CMP_EXTENC3_SRC		(0x53)	//	only ECAT-TRG4
// 20210326
#define TGR_TRG0_MAP			(0X54)	// For AMPC-304C, 8364RS, SuperCAT, PCIe-833x
#define TGR_TRG1_MAP			(0X55)	// For AMPC-304C, 8364RS, SuperCAT, PCIe-833x
#define TGR_TRG2_MAP			(0X56)	// For AMP-304C, SuperCAT, PCIe-833x
#define TGR_TRG3_MAP			(0X57)	// For AMP-304C, SuperCAT, PCIe-833x

// For SuperCAT and PCIe-833x software compare trigger using.
#define TGR_TRG0_SGN_MAP		(0X58)
#define TGR_TRG1_SGN_MAP		(0X59)
#define TGR_TRG2_SGN_MAP		(0X5A)
#define TGR_TRG3_SGN_MAP		(0X5B)

#define TGR_TCMP0_SETTING_TYPE	(0x80)	// ECAT-4XMO(-MT)/TRG4(-MT)/SuperCAT, PCIe-833x
#define TGR_TCMP1_SETTING_TYPE	(0x81)	// ECAT-4XMO(-MT)/TRG4(-MT)/SuperCAT, PCIe-833x
#define TGR_TCMP2_SETTING_TYPE	(0x82)	// ECAT-4XMO/TRG4
#define TGR_TCMP3_SETTING_TYPE	(0x83)	// ECAT-4XMO/TRG4
#define TGR_MTCMP0_SETTING_TYPE	(0x88)	// ECAT-4XMO-MT/TRG4-MT 

#define TGR_TCMP0_LEVEL			(0xA0)	//	only AMP-304C
#define TGR_TCMP1_LEVEL			(0xA1)	//	only AMP-304C
#define TGR_TCMP2_LEVEL			(0xA2)	//	only AMP-304C
#define TGR_TCMP3_LEVEL			(0xA3)	//	only AMP-304C

#define TGR_TRG_STATUS          (0xB0)  //  only AMP-304C

#define TGR_TRG0_RESET_OUTPUT   (0xC0)  //  only AMP-304C
#define TGR_TRG1_RESET_OUTPUT   (0xC1)  //  only AMP-304C
#define TGR_TRG2_RESET_OUTPUT   (0xC2)  //  only AMP-304C
#define TGR_TRG3_RESET_OUTPUT   (0xC3)  //  only AMP-304C
// for 8364RS


#define TGR_TCMP4_SRC		   (0x62)
#define TGR_TCMP5_SRC		   (0x63)


#define TGR_TCMP4_DIR		   (0x66)
#define TGR_TCMP5_DIR		   (0x67)

#define TGR_EXTENC0_VALUE      (0x68)
#define TGR_EXTENC1_VALUE      (0x69)
#define TGR_EXTENC0_MODE       (0x6A)
#define TGR_EXTENC1_MODE       (0x6B)
#define TGR_EXTENC0_FILTER_EN  (0x6C)
#define TGR_EXTENC1_FILTER_EN  (0x6D)
#define TGR_EXTENC0_DIR        (0x6E)
#define TGR_EXTENC1_DIR        (0x6F)

#define TGR_TCMP4_TRANSFER_DONE (0x70)
#define TGR_TCMP5_TRANSFER_DONE (0x71)
//for 8364 20230602
#define TGR_TCMP2_TRG_CH (0x76)
#define TGR_TCMP3_TRG_CH (0x77) 
#define TGR_TCMP4_TRG_CH (0x78) 
#define TGR_TCMP5_TRG_CH (0x79)
#define TGR_LCMP4_SRC    (0x7C) 
#define TGR_LCMP5_SRC    (0x7D)
#define TGR_LCMP2_TRG_CH (0x7E)
#define TGR_LCMP3_TRG_CH (0x7F) 
#define TGR_LCMP4_TRG_CH (0x80) 
#define TGR_LCMP5_TRG_CH (0x81)
#define TGR_TRG4_TGL	 (0x82)
#define TGR_TRG5_TGL	 (0x83)
#define TGR_TRG4_PWD	 (0x84)
#define TGR_TRG5_PWD	 (0x85)

// Motion IO status bit number define.
#define MIO_ALM         (0)     // Servo alarm.
#define MIO_PEL         (1)     // Positive end limit.
#define MIO_MEL         (2)     // Negative end limit.
#define MIO_ORG         (3)     // ORG (Home)
#define MIO_EMG         (4)     // Emergency stop
#define MIO_EZ          (5)     // EZ.
#define MIO_INP         (6)     // In position.
#define MIO_SVON        (7)     // Servo on signal.
#define MIO_RDY         (8)     // Ready.
#define MIO_WARN        (9)     // Warning.
#define MIO_ZSP         (10)    // Zero speed.
#define MIO_SPEL        (11)    // Soft positive end limit.
#define MIO_SMEL        (12)    // Soft negative end limit.
#define MIO_TLC         (13)    // Torque is limited by torque limit value.
#define MIO_ABSL        (14)    // Absolute position lost.
#define MIO_STA         (15)    // External start signal.
#define MIO_PSD         (16)    // Positive slow down signal
#define MIO_MSD         (17)    // Negative slow down signal

// Motion status bit number define.
#define MTS_CSTP        (0)         // Command stop signal.
#define MTS_VM          (1)         // At maximum velocity.
#define MTS_ACC         (2)         // In acceleration.
#define MTS_DEC         (3)         // In deceleration.
#define MTS_DIR         (4)         // (Last)Moving direction.
#define MTS_NSTP        (5)         // Normal stop(Motion done).
#define MTS_HMV         (6)         // In home operation.
#define MTS_SMV         (7)         // Single axis move( relative, absolute, velocity move).
#define MTS_LIP         (8)         // Linear interpolation.
#define MTS_CIP         (9)         // Circular interpolation.
#define MTS_VS          (10)        // At start velocity.
#define MTS_PMV         (11)        // Point table move.
#define MTS_PDW         (12)        // Point table dwell move.
#define MTS_PPS         (13)        // Point table pause state.
#define MTS_SLV         (14)        // Slave axis move.
#define MTS_JOG         (15)        // Jog move.
#define MTS_ASTP        (16)        // Abnormal stop.
#define MTS_SVONS       (17)        // Servo off stopped.
#define MTS_EMGS        (18)        // EMG / SEMG stopped.
#define MTS_ALMS        (19)        // Alarm stop.
#define MTS_WANS        (20)        // Warning stopped.
#define MTS_PELS        (21)        // PEL stopped.
#define MTS_MELS        (22)        // MEL stopped.
#define MTS_ECES        (23)        // Error counter check level reaches and stopped.
#define MTS_SPELS       (24)        // Soft PEL stopped.
#define MTS_SMELS       (25)        // Soft MEL stopped.
#define MTS_STPOA       (26)        // Stop by others axes.
#define MTS_GDCES       (27)        // Gantry deviation error level reaches and stopped.
#define MTS_GTM         (28)        // Gantry mode turn on.
#define MTS_PAPB        (29)        // Pulsar mode turn on.
	//Following definition for PCI-8254/8
#define MTS_MDN        (5)         // Motion done. 0: In motion, 1: Motion done ( It could be abnormal stop)
#define MTS_WAIT       (10)        // Axis is in waiting state. ( Wait move trigger )
#define MTS_PTB         (11)        // Axis is in point buffer moving. ( When this bit on, MDN and ASTP will be cleared )
#define MTS_BLD		    (17)        // Axis (Axes) in blending moving
#define MTS_PRED       (18)        // Pre-distance event, 1: event arrived. The event will be clear when axis start moving 
#define MTS_POSTD     (19)        // Post-distance event. 1: event arrived. The event will be clear when axis start moving
#define MTS_GER         (28)        // 1: In geared ( This axis as slave axis and it follow a master specified in axis parameter. )
//Following definition for PCIe-833x
#define MTS_TM			(7)			// At maximum torque.
#define MTS_PSR        (29)
#define MTS_GRY        (30)
// Motion IO status bit value define.
#define MIO_ALM_V       (0x1)       // Servo alarm.
#define MIO_PEL_V       (0x2)       // Positive end limit.
#define MIO_MEL_V       (0x4)       // Negative end limit.
#define MIO_ORG_V       (0x8)       // ORG (Home).
#define MIO_EMG_V       (0x10)      // Emergency stop.
#define MIO_EZ_V        (0x20)      // EZ.
#define MIO_INP_V       (0x40)      // In position.
#define MIO_SVON_V      (0x80)      // Servo on signal.
#define MIO_RDY_V       (0x100)     // Ready.
#define MIO_WARN_V      (0x200)     // Warning.
#define MIO_ZSP_V       (0x400)     // Zero speed.
#define MIO_SPEL_V      (0x800)     // Soft positive end limit.
#define MIO_SMEL_V      (0x1000)    // Soft negative end limit.
#define MIO_TLC_V       (0x2000)    // Torque is limited by torque limit value.
#define MIO_ABSL_V      (0x4000)    // Absolute position lost.
#define MIO_STA_V       (0x8000)    // External start signal.
#define MIO_PSD_V       (0x10000)   // Positive slow down signal.
#define MIO_MSD_V       (0x20000)   // Negative slow down signal.

// Motion status bit value define.
#define MTS_CSTP_V      (0x1)           // Command stop signal.
#define MTS_VM_V        (0x2)           // At maximum velocity.
#define MTS_ACC_V       (0x4)           // In acceleration.
#define MTS_DEC_V       (0x8)           // In deceleration.
#define MTS_DIR_V       (0x10)          // (Last)Moving direction.
#define MTS_NSTP_V      (0x20)          // Normal stop(Motion done).
#define MTS_HMV_V       (0x40)          // In home operation.
#define MTS_SMV_V       (0x80)          // Single axis move( relative, absolute, velocity move).
#define MTS_LIP_V       (0x100)         // Linear interpolation.
#define MTS_CIP_V       (0x200)         // Circular interpolation.
#define MTS_VS_V        (0x400)         // At start velocity.
#define MTS_PMV_V       (0x800)         // Point table move.
#define MTS_PDW_V       (0x1000)        // Point table dwell move.
#define MTS_PPS_V       (0x2000)        // Point table pause state.
#define MTS_SLV_V       (0x4000)        // Slave axis move.
#define MTS_JOG_V       (0x8000)        // Jog move.
#define MTS_ASTP_V      (0x10000)       // Abnormal stop.
#define MTS_SVONS_V     (0x20000)       // Servo off stopped.
#define MTS_EMGS_V      (0x40000)       // EMG / SEMG stopped.
#define MTS_ALMS_V      (0x80000)       // Alarm stop.
#define MTS_WANS_V      (0x100000)      // Warning stopped.
#define MTS_PELS_V      (0x200000)      // PEL stopped.
#define MTS_MELS_V      (0x400000)      // MEL stopped.
#define MTS_ECES_V      (0x800000)      // Error counter check level reaches and stopped.
#define MTS_SPELS_V     (0x1000000)     // Soft PEL stopped.
#define MTS_SMELS_V     (0x2000000)     // Soft MEL stopped.
#define MTS_STPOA_V     (0x4000000)     // Stop by others axes.
#define MTS_GDCES_V     (0x8000000)     // Gantry deviation error level reaches and stopped.
#define MTS_GTM_V       (0x10000000)    // Gantry mode turn on.
#define MTS_PAPB_V      (0x20000000)    // Pulsar mode turn on.
//**********************
//for EMX  motion status

#define HMES	(29)
#define ORGS	(30)
#define EZS	(28)


//for EMX motion io
/*
#define ALM	(0)
#define PEL (1)
#define MEL	(2)
#define ORG	(3)
#define EMG	(4)
#define EZ	(5)
#define INP	(6)
#define SVON	(7)
#define RDY	(8)
*/
//**********************


// PointTable, option
//
#define PT_OPT_ABS      (0x00000000)    // move, absolute
#define PT_OPT_REL      (0x00000001)    // move, relative
#define PT_OPT_LINEAR   (0x00000000)    // move, linear
#define PT_OPT_ARC      (0x00000004)    // move, arc
#define PT_OPT_FC_CSTP  (0x00000000)    // signal, command stop (finish condition)
#define PT_OPT_FC_INP   (0x00000010)    // signal, in position
#define PT_OPT_LAST_POS (0x00000020)    // last point index
#define PT_OPT_DWELL    (0x00000040)    // dwell
#define PT_OPT_RAPID    (0x00000080)    // rapid positioning
#define PT_OPT_NOARC    (0x00010000)    // do not add arc
#define PT_OPT_SCUVE    (0x00000002)    // s-curve

// move option define
#define OPT_ABSOLUTE      (0x00000000)
#define OPT_RELATIVE      (0x00000001)
#define OPT_WAIT          (0x00000100)
#define OPT_FORCE_ABORT	  (0x00000200)

// PTP buffer mode define
#define PTP_OPT_ABORTING       (0x00000000)
#define PTP_OPT_BUFFERED       (0x00001000)
#define PTP_OPT_BLEND_LOW      (0x00002000)
#define PTP_OPT_BLEND_PREVIOUS (0x00003000)
#define PTP_OPT_BLEND_NEXT     (0x00004000)
#define PTP_OPT_BLEND_HIGH     (0x00005000)

#define ITP_OPT_ABORT_BLEND     (0x00000000)
#define ITP_OPT_ABORT_FORCE     (0x00001000)
#define ITP_OPT_ABORT_STOP      (0x00002000)
#define ITP_OPT_BUFFERED        (0x00003000)
#define ITP_OPT_BLEND_DEC_EVENT (0x00004000)
#define ITP_OPT_BLEND_RES_DIST  (0x00005000)
#define ITP_OPT_BLEND_RES_DIST_PERCENT (0x00006000)

//Latch Parameter Number Define. [ Only for PCI-8158A & PCI-C154(+) ]
#define LTC_ENC_IPT_MODE          (0x00)
#define LTC_ENC_EA_INV            (0x01)
#define LTC_ENC_EB_INV            (0x02)
#define LTC_ENC_SIGNAL_FILITER_EN (0x05)
#define LTC_FIFO_HIGH_LEVEL       (0x06)
#define LTC_SIGNAL_FILITER_EN     (0x07)
#define LTC_SIGNAL_TRIG_LOGIC     (0x08)


//Latch Parameter Number Define. [ Only for PCI-8258 & PCIe-833x + Ecat-4XMO/TRG4]
#define LTC_IPT          (0x10)
#define LTC_ENC          (0x11)
#define LTC_LOGIC        (0x12)
#define LTC_EN			 (0x13)
#define	LTC_FIFO_MODE	 (0x14)	//(only in Ecat-4XMO/TRG4)
// 20200807
#define LTC_EXTENC_SRC		(0x15)	//	only ECAT-TRG4
#define LTC_GET_DATA_SIZE	(0X16)	//	only AMP-304C
#define LTC_FIFO_LEVEL		(0x17)	//	only AMP-304C
#define LTC_SGN_MAP			( 0x20 )// Only for software latch in SuperCAT.

//Comparator Trigger Parameter Number Define. [ Only for PCI-8158A & PCI-C154(+) ]
#define	TIG_ENC_IPT_MODE0			(0x00)
#define TIG_ENC_IPT_MODE1			(0x01)
#define	TIG_ENC_IPT_MODE2			(0x02)
#define	TIG_ENC_IPT_MODE3			(0x03)
#define	TIG_ENC_IPT_MODE4			(0x04)
#define	TIG_ENC_IPT_MODE5			(0x05)
#define	TIG_ENC_IPT_MODE6			(0x06)
#define	TIG_ENC_IPT_MODE7			(0x07)
#define	TIG_ENC_EA_INV0				(0x08)
#define	TIG_ENC_EA_INV1				(0x09)
#define	TIG_ENC_EA_INV2				(0x0A)
#define	TIG_ENC_EA_INV3				(0x0B)
#define	TIG_ENC_EA_INV4				(0x0C)
#define	TIG_ENC_EA_INV5				(0x0D)
#define	TIG_ENC_EA_INV6				(0x0E)
#define	TIG_ENC_EA_INV7				(0x0F)
#define	TIG_ENC_EB_INV0				(0x10)
#define	TIG_ENC_EB_INV1				(0x11)
#define	TIG_ENC_EB_INV2				(0x12)
#define	TIG_ENC_EB_INV3				(0x13)
#define	TIG_ENC_EB_INV4				(0x14)
#define	TIG_ENC_EB_INV5				(0x15)
#define	TIG_ENC_EB_INV6				(0x16)
#define	TIG_ENC_EB_INV7				(0x17)
#define	TIG_ENC_SIGNAL_FILITER_EN0	(0x28)
#define	TIG_ENC_SIGNAL_FILITER_EN1	(0x29)
#define	TIG_ENC_SIGNAL_FILITER_EN2	(0x2A)
#define	TIG_ENC_SIGNAL_FILITER_EN3	(0x2B)
#define	TIG_ENC_SIGNAL_FILITER_EN4	(0x2C)
#define	TIG_ENC_SIGNAL_FILITER_EN5	(0x2D)
#define	TIG_ENC_SIGNAL_FILITER_EN6	(0x2E)
#define	TIG_ENC_SIGNAL_FILITER_EN7	(0x2F)
#define	TIG_TIMER8_DIR				(0x30)
#define	TIG_TIMER8_ITV				(0x31)
#define	TIG_CMP0_SRC				(0x32)
#define	TIG_CMP1_SRC				(0x33)
#define	TIG_CMP2_SRC				(0x34)
#define	TIG_CMP3_SRC				(0x35)
#define	TIG_CMP4_SRC				(0x36)
#define	TIG_CMP5_SRC				(0x37)
#define	TIG_CMP6_SRC				(0x38)
#define	TIG_CMP7_SRC				(0x39)
#define	TIG_TRG0_SRC				(0x3A)
#define	TIG_TRG1_SRC				(0x3B)
#define	TIG_TRG2_SRC				(0x3C)
#define	TIG_TRG3_SRC				(0x3D)
#define	TIG_TRG4_SRC				(0x3E)
#define	TIG_TRG5_SRC				(0x3F)
#define	TIG_TRG6_SRC				(0x40)
#define	TIG_TRG7_SRC				(0x41)
#define	TIG_TRGOUT0_MAP				(0x42)
#define	TIG_TRGOUT1_MAP				(0x43)
#define	TIG_TRGOUT2_MAP				(0x44)
#define	TIG_TRGOUT3_MAP				(0x45)
#define	TIG_TRGOUT4_MAP				(0x46)
#define	TIG_TRGOUT5_MAP				(0x47)
#define	TIG_TRGOUT6_MAP				(0x48)
#define	TIG_TRGOUT7_MAP				(0x49)
#define	TIG_TRGOUT0_LOGIC			(0x4A)
#define	TIG_TRGOUT1_LOGIC			(0x4B)
#define	TIG_TRGOUT2_LOGIC			(0x4C)
#define	TIG_TRGOUT3_LOGIC			(0x4D)
#define	TIG_TRGOUT4_LOGIC			(0x4E)
#define	TIG_TRGOUT5_LOGIC			(0x4F)
#define	TIG_TRGOUT6_LOGIC			(0x50)
#define	TIG_TRGOUT7_LOGIC			(0x51)
#define	TIG_PWM0_PULSE_WIDTH		(0x52)
#define	TIG_PWM1_PULSE_WIDTH		(0x53)
#define	TIG_PWM2_PULSE_WIDTH		(0x54)
#define	TIG_PWM3_PULSE_WIDTH		(0x55)
#define	TIG_PWM4_PULSE_WIDTH		(0x56)
#define	TIG_PWM5_PULSE_WIDTH		(0x57)
#define	TIG_PWM6_PULSE_WIDTH		(0x58)
#define	TIG_PWM7_PULSE_WIDTH		(0x59)
#define	TIG_PWM0_MODE				(0x5A)
#define	TIG_PWM1_MODE				(0x5B)
#define	TIG_PWM2_MODE				(0x5C)
#define	TIG_PWM3_MODE				(0x5D)
#define	TIG_PWM4_MODE				(0x5E)
#define	TIG_PWM5_MODE				(0x5F)
#define	TIG_PWM6_MODE				(0x60)
#define	TIG_PWM7_MODE				(0x61)
#define	TIG_TIMER0_ITV				(0x62)
#define	TIG_TIMER1_ITV				(0x63)
#define	TIG_TIMER2_ITV				(0x64)
#define	TIG_TIMER3_ITV				(0x65)
#define	TIG_TIMER4_ITV				(0x66)
#define	TIG_TIMER5_ITV				(0x67)
#define	TIG_TIMER6_ITV				(0x68)
#define	TIG_TIMER7_ITV				(0x69)
#define	TIG_FIFO_LEVEL0				(0x6A)
#define	TIG_FIFO_LEVEL1				(0x6B)
#define	TIG_FIFO_LEVEL2				(0x6C)
#define	TIG_FIFO_LEVEL3				(0x6D)
#define	TIG_FIFO_LEVEL4				(0x6E)
#define	TIG_FIFO_LEVEL5				(0x6F)
#define	TIG_FIFO_LEVEL6				(0x70)
#define	TIG_FIFO_LEVEL7				(0x71)
#define	TIG_OUTPUT_EN0				(0x72)
#define	TIG_OUTPUT_EN1				(0x73)
#define	TIG_OUTPUT_EN2				(0x74)
#define	TIG_OUTPUT_EN3				(0x75)
#define	TIG_OUTPUT_EN4				(0x76)
#define	TIG_OUTPUT_EN5				(0x77)
#define	TIG_OUTPUT_EN6				(0x78)
#define	TIG_OUTPUT_EN7				(0x79)

#define PRA_HOME_LATCH				(0x900)  // Select Home latch source [PCI-8353 only]

#define SLV_HSL_AI16AO2_AI_RANGE	(0x0000)
#define SLV_HSL_AI16AO2_AI_LAST_CH	(0x0001)
#define SLV_HSL_AI16AO2_ADC_EN		(0x0002)
#define SLV_HSL_AI16AO2_INPUT_MODE  (0x0003)
#define SLV_HSL_AI16AO2_VERSION		(0x1001) 

//	EtherCAT Master boot parameter [PCIe-833x][SuperCAT]
#define PRBOOT_ECAT_CYCLETIME_OPT	(0x00)
#define PRBOOT_ECAT_CYCLETIME_NS	(0x01)


#endif