#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