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//
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// Copyright (c) Advantech Corporation. All rights reserved.
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//
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//
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// Use of this source code is subject to the terms of the Advantech end-user
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// license agreement (EULA) under which you licensed this SOFTWARE PRODUCT.
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// If you did not accept the terms of the EULA, you are not authorized to use
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// this source code. For a copy of the EULA, please see the LICENSE.RTF on your
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// install media.
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//
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#ifndef __ADV_MOT_PROP_ID_H__
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#define __ADV_MOT_PROP_ID_H__
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/*
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+-----------------------------------------------------------------------------+
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| ************ Advantech Motion Property ID Definition ********************** |
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+-----------------------------------------------------------------------------+
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*/
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///////////////////////////////////////////////////////////////////////////////
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//
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// Property ID Define
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//
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///////////////////////////////////////////////////////////////////////////////
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#define FT_Dev_ID 0
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#define PAR_Dev_ID 101
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#define CFG_Dev_ID 201
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#define FT_Ax_ID 301
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#define PAR_Ax_ID 401
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#define CFG_Ax_ID 501
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#define FT_Gp_ID 601
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#define PAR_Gp_ID 701
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#define CFG_Gp_ID 801
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// [9/24/2013 dan.yang]
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#define PAR_RB_ID 1000
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#define CFG_RB_ID 1200
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#define CFG_CH_ID 1500 // [11/18/2014 dan]
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///////////////////////////////////////////////////////////////////////////////
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// Device Feature
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///////////////////////////////////////////////////////////////////////////////
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#define FT_DevIpoTypeMap (FT_Dev_ID + 0)
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#define FT_DevAxesCount (FT_Dev_ID + 1)
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#define FT_DevFunctionMap (FT_Dev_ID + 2)
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#define FT_DevOverflowCntr (FT_Dev_ID + 3)
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//Master device config
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#define FT_MasCyclicCnt_R0 (FT_Dev_ID + 4)
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#define FT_MasCyclicCnt_R1 (FT_Dev_ID + 5)
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#define FT_DevMDAQTypeMap (FT_Dev_ID + 6)// [6/13/2012 dan.yang]
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#define FT_DevMDAQTrigMap (FT_Dev_ID + 7)// [6/13/2012 dan.yang]
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#define FT_DevMDAQMaxChan (FT_Dev_ID + 8)// [6/13/2012 dan.yang]
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#define FT_DevMDAQMaxBufCount (FT_Dev_ID + 9)// [6/13/2012 dan.yang]
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#define FT_DevLTCBufMaxCount (FT_Dev_ID + 10)
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#define FT_DevVersion (FT_Dev_ID + 11) // [6/4/2013 dan.yang]
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#define FT_DevEmgMap (FT_Dev_ID + 12) // [1/8/2014 deng]
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#define FT_DevSupportAxesCount (FT_Dev_ID + 13) // [9/30/2015 Andy]
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#define FT_AresVariableCount (FT_Dev_ID + 14) // [1/14/2016 Andy]
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#define FT_AresSupportProcessCount (FT_Dev_ID + 15) // [3/10/2016 Tehsin]
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#define FT_ECAT_Version (FT_Dev_ID + 16) // [6/16/2017 Andy]
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#define FT_DevPulseInMap (FT_Dev_ID + 17)
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#define FT_DevPulseInModeMap (FT_Dev_ID + 18)
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#define FT_DevCompareMap (FT_Dev_ID + 19)
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#define FT_DevLatchMap (FT_Dev_ID + 20)
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#define FT_DevExtDriveMap (FT_Dev_ID + 21)
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#define FT_SubVersion (FT_Dev_ID + 22) // [5/28/2019 Kevin]
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//DAQ function [1/24/2008 Dean]
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#define FT_DaqDiMaxChan (FT_Dev_ID + 50)
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#define FT_DaqDoMaxChan (FT_Dev_ID + 51)
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#define FT_DaqAiRangeMap (FT_Dev_ID + 52)
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#define FT_DaqAoRangeMap (FT_Dev_ID + 53)
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#define FT_DaqAiMaxSingleChan (FT_Dev_ID + 54)
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#define FT_DaqAiMaxDiffChan (FT_Dev_ID + 55)
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#define FT_DaqAiResolution (FT_Dev_ID + 56)
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#define FT_DaqAoMaxChan (FT_Dev_ID + 57)
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#define FT_DaqAoResolution (FT_Dev_ID + 58)
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#define FT_DaqCntMaxChan (FT_Dev_ID + 59)
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///////////////////////////////////////////////////////////////////////////////
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// Device Config
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///////////////////////////////////////////////////////////////////////////////
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#define CFG_DevBoardID (CFG_Dev_ID + 0)
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#define CFG_DevRingID (CFG_Dev_ID + 1)
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#define CFG_DevBaseAddress (CFG_Dev_ID + 2)
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#define CFG_DevInterrupt (CFG_Dev_ID + 3)
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#define CFG_DevBusNumber (CFG_Dev_ID + 4)
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#define CFG_DevSlotNumber (CFG_Dev_ID + 5)
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#define CFG_DevDriverVersion (CFG_Dev_ID + 6)
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#define CFG_DevDllVersion (CFG_Dev_ID + 7)
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#define CFG_DevComQualityContiErr (CFG_Dev_ID + 8)
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#define CFG_DevComQualityErrRate (CFG_Dev_ID + 9)
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#define CFG_DevComWdgMode (CFG_Dev_ID + 10)
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#define CFG_DevFwMemory (CFG_Dev_ID + 11)
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#define CFG_DevEmgReact (CFG_Dev_ID + 12)
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#define CFG_DevFwVersion (CFG_Dev_ID + 13)
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#define CFG_DevBelongsTo (CFG_Dev_ID + 14)
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#define CFG_DevMasterDev (CFG_Dev_ID + 15)
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#define CFG_DevSlaveDevs (CFG_Dev_ID + 16)
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#define CFG_DevCPLDVersion (CFG_Dev_ID + 17)
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#define CFG_DevCPLD_1Version (CFG_Dev_ID + 18)
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#define CFG_DevEmgLogic (CFG_Dev_ID + 19)
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#define CFG_DevLatestFwVersion (CFG_Dev_ID + 20) // [5/30/2013 dan.yang]
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#define CFG_DevEmgFilterTime (CFG_Dev_ID + 21) //20140107 zhaocui add
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#define CFG_DevMultiCmpAxisEnable (CFG_Dev_ID + 22) // [1/14/2014 deng]
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#define CFG_DevMultiCmpOutChannel (CFG_Dev_ID + 23) // [1/14/2014 deng]
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#define CFG_DevMultiCmpPulseLogic (CFG_Dev_ID + 24) // [1/14/2014 deng]
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#define CFG_DevMultiCmpPulseWidth (CFG_Dev_ID + 25) // [1/14/2014 deng]
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#define CFG_DevKillDec (CFG_Dev_ID + 26)// [2/28/2014 deng]
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#define CFG_DevFuncDiFltSmpRate (CFG_Dev_ID + 27) // [10/18/2013 dan.yang]
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#define CFG_DevLogMsg (CFG_Dev_ID + 28) // [06/26/2015 andy.wang]
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#define CFG_DevErrorReact (CFG_Dev_ID + 29) // [03/31/2016 andy.wang]
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#define CFG_DevCompensateTableEnable (CFG_Dev_ID + 30)//only for <20><EFBFBD>(PCI-1285)
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//Master device config
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#define CFG_MasBaudRate_R0 (CFG_Dev_ID + 31)
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#define CFG_MasBaudRate_R1 (CFG_Dev_ID + 32)
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#define CFG_MasComErrRate_R0 (CFG_Dev_ID + 33)
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#define CFG_MasComErrRate_R1 (CFG_Dev_ID + 34)
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#define CFG_MasComContiErr_R0 (CFG_Dev_ID + 35)
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#define CFG_MasComContiErr_R1 (CFG_Dev_ID + 36)
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#define CFG_MasIoComContiErr_R0 (CFG_Dev_ID + 37)
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#define CFG_MasIoComContiErr_R1 (CFG_Dev_ID + 38)
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#define CFG_MasDataComContiErr_R0 (CFG_Dev_ID + 39)
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#define CFG_MasDataComContiErr_R1 (CFG_Dev_ID + 40)
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//DAQ function [1/24/2008 Dean]
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#define CFG_DaqAiChanType (CFG_Dev_ID + 50)
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#define CFG_DaqAiRanges (CFG_Dev_ID + 51)
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#define CFG_DaqMaiRanges (CFG_Dev_ID + 52)
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#define CFG_DaqAoRanges_C0 (CFG_Dev_ID + 53)
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#define CFG_DaqAoRanges_C1 (CFG_Dev_ID + 54)
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#define CFG_DaqAoRanges_C2 (CFG_Dev_ID + 55)
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#define CFG_DaqAoRanges_C3 (CFG_Dev_ID + 56)
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#define CFG_DaqAiGain (CFG_Dev_ID + 57) // [4/19/2012 dan.yang]
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#define CFG_MasCycleTime (CFG_Dev_ID + 60) // [11/10/2014 dan]
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#define CFG_IoCycleTime (CFG_Dev_ID + 61)
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#define CFG_DevMotionMasterShiftTime (CFG_Dev_ID + 62)
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#define CFG_DevIoMasterShiftTime (CFG_Dev_ID + 63)
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//Add for <20>ͮ<EFBFBD>:PWM+multicompare. YDD. 2015.3.26
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#define CFG_DevMultiTrigFifoWriteEnable (CFG_Dev_ID + 64)
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#define CFG_DevMultiTrigPulseMode (CFG_Dev_ID + 65)
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#define CFG_DevMultiTrigPWMFreq (CFG_Dev_ID + 66)
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#define CFG_DevMultiTrigPWMDuty (CFG_Dev_ID + 67)
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#define CFG_DevMultiTrigAutoEmptyEn (CFG_Dev_ID + 68)
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#define CFG_DevMultiTrigForcePWMCount (CFG_Dev_ID + 69)
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//Add End
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#define CFG_DevMotionLostFrameThreshold (CFG_Dev_ID + 70)
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#define CFG_DevIOLostFrameThreshold (CFG_Dev_ID + 71)
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#define CFG_DevMotionDisconnectEventTime (CFG_Dev_ID + 72)
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#define CFG_DevIoDisconnectEventTime (CFG_Dev_ID + 73)
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#define CFG_DevConfigurePDOs (CFG_Dev_ID + 74)
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#define CFG_DevMultiCmpAxisEnableEx (CFG_Dev_ID + 75) // for 64 axes
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#define CFG_DevMultiCmpOutChannelEx (CFG_Dev_ID + 76) // for 64 axes
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#define CFG_DevMotionDisconnectSlave (CFG_Dev_ID + 77)
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#define CFG_DevIoDisconnectSlave (CFG_Dev_ID + 78)
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//Add End
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//ydd. Add for movelink for 1245S.18.1.25
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#define CFG_DevExtEncoderEn (CFG_Dev_ID + 80)
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#define CFG_DevExtEncoderPPUNum (CFG_Dev_ID + 81)
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#define CFG_DevExtEncoderPPUDemo (CFG_Dev_ID + 82)
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#define CFG_DevExtEncoderLogic (CFG_Dev_ID + 83)
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#define CFG_DevExtEncoderChannel (CFG_Dev_ID + 84)
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#define CFG_DevMotionWarnThreshold (CFG_Dev_ID + 90)
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#define CFG_DevMotionDisconnectFlag (CFG_Dev_ID + 91)
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#define CFG_DevIoWarnThreshold (CFG_Dev_ID + 92)
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#define CFG_DevIoDisconnectFlag (CFG_Dev_ID + 93)
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#define CFG_DevMotionRescanTime (CFG_Dev_ID + 94)
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#define CFG_DevIoRescanTime (CFG_Dev_ID + 95)
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#define CFG_DevAresAutoRun (CFG_Dev_ID + 96)
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#define CFG_DevAresRestart (CFG_Dev_ID + 97)
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///////////////////////////////////////////////////////////////////////////////
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// Axis Feature
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///////////////////////////////////////////////////////////////////////////////
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#define FT_AxFunctionMap (FT_Ax_ID + 0)
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#define FT_AxMaxVel (FT_Ax_ID + 1)
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#define FT_AxMaxAcc (FT_Ax_ID + 2)
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#define FT_AxMaxDec (FT_Ax_ID + 3)
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#define FT_AxMaxJerk (FT_Ax_ID + 4)
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#define FT_AxPulseInMap (FT_Ax_ID + 5)
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#define FT_AxPulseInModeMap (FT_Ax_ID + 6)
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#define FT_AxPulseOutMap (FT_Ax_ID + 7)
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#define FT_AxPulseOutModeMap (FT_Ax_ID + 8)
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#define FT_AxAlmMap (FT_Ax_ID + 9)
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#define FT_AxInpMap (FT_Ax_ID + 10)
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#define FT_AxErcMap (FT_Ax_ID + 11)
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#define FT_AxErcEnableModeMap (FT_Ax_ID + 12)
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#define FT_AxErcOnTimeMap (FT_Ax_ID + 13)
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#define FT_AxErcOffTimeMap (FT_Ax_ID + 14)
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#define FT_AxSdMap (FT_Ax_ID + 15)
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#define FT_AxElMap (FT_Ax_ID + 16)
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#define FT_AxSwMelMap (FT_Ax_ID + 17)
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#define FT_AxSwPelMap (FT_Ax_ID + 18)
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#define FT_AxHomeMap (FT_Ax_ID + 19)
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#define FT_AxBackLashMap (FT_Ax_ID + 20)
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#define FT_AxVibrationMap (FT_Ax_ID + 21)
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#define FT_AxAlarmMap (FT_Ax_ID + 22)
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#define FT_AxCompareMap (FT_Ax_ID + 23) // [9/14/2011 dan.yang]
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#define FT_AxLatchMap (FT_Ax_ID + 24) // [9/14/2011 dan.yang]
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#define FT_AxCamDOMap (FT_Ax_ID + 25) // [9/14/2011 dan.yang]
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#define FT_AxExtDriveMap (FT_Ax_ID + 26) // [9/14/2011 dan.yang]
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#define FT_AxExtMasterSrcMap (FT_Ax_ID + 27) // [9/14/2011 dan.yang]
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#define FT_AxGenDOMap (FT_Ax_ID + 28) // [9/14/2011 dan.yang]
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#define FT_AxGenDIMap (FT_Ax_ID + 29) // [9/14/2011 dan.yang]
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#define FT_AxSimStartSourceMap (FT_Ax_ID + 30) // [9/19/2011 dan.yang]
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#define FT_AxHomeModeMap (FT_Ax_ID + 31) // [6/14/2012 dan.yang]
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#define FT_AxIN1Map (FT_Ax_ID + 32) // [12/15/2012 dan.yang]
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#define FT_AxIN2Map (FT_Ax_ID + 33) // [12/15/2012 dan.yang]
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#define FT_AxIN3Map (FT_Ax_ID + 34) // [12/15/2012 dan.yang]
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#define FT_AxIN4Map (FT_Ax_ID + 35) // [12/15/2012 dan.yang]
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#define FT_AxIN5Map (FT_Ax_ID + 36) // [12/15/2012 dan.yang]
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#define FT_AxDIFilterMap (FT_Ax_ID + 37) // [1/8/2014 deng]
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#define FT_AxJogMap (FT_Ax_ID + 38) // [5/8/2014 dan.yang]
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#define FT_AxSimStartSourceMapEx (FT_Ax_ID + 39) //for 64 axes
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///////////////////////////////////////////////////////////////////////////////
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// Axis Parameter
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///////////////////////////////////////////////////////////////////////////////
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#define PAR_AxVelLow (PAR_Ax_ID + 0)
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#define PAR_AxVelHigh (PAR_Ax_ID + 1)
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#define PAR_AxAcc (PAR_Ax_ID + 2)
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#define PAR_AxDec (PAR_Ax_ID + 3)
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#define PAR_AxJerk (PAR_Ax_ID + 4)
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#define PAR_AxHomeExMode (PAR_Ax_ID + 5)
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#define PAR_AxHomeExSwitchMode (PAR_Ax_ID + 6)
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//#define PAR_AxHomeExCrossDistance (PAR_Ax_ID + 7)
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#define PAR_AxHomeCrossDistance (PAR_Ax_ID + 7)
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#define PAR_AxJerkL (PAR_Ax_ID + 8)
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//For fucai. 2014.4.11
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#define PAR_AxJogVelLow (PAR_Ax_ID + 9)
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#define PAR_AxJogVelHigh (PAR_Ax_ID + 10)
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#define PAR_AxJogAcc (PAR_Ax_ID + 11)
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#define PAR_AxJogDec (PAR_Ax_ID + 12)
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#define PAR_AxJogJerk (PAR_Ax_ID + 13)
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#define PAR_AxHomeVelLow (PAR_Ax_ID + 14)
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#define PAR_AxHomeVelHigh (PAR_Ax_ID + 15)
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#define PAR_AxHomeAcc (PAR_Ax_ID + 16)
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#define PAR_AxHomeDec (PAR_Ax_ID + 17)
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#define PAR_AxHomeJerk (PAR_Ax_ID + 18)
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#define PAR_AxDriverSWVersion (PAR_Ax_ID + 35)
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#define PAR_AxDriverStatus (PAR_Ax_ID + 36)
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#define PAR_AxDriverModelNumber (PAR_Ax_ID + 37)
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#define PAR_AxDriverSerialNumber (PAR_Ax_ID + 38)
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#define PAR_AxDriverActualTor (PAR_Ax_ID + 39)
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//#define PAR_AxDriverVendorID (PAR_Ax_ID + 40)
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//#define PAR_AxDriverReserved2 (PAR_Ax_ID + 41)
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#define PAR_AxJerkFactor (PAR_Ax_ID + 42)
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#define PAR_AxHomeJerkFactor (PAR_Ax_ID + 43)
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#define PAR_AxTargetPosition (PAR_Ax_ID + 44) //I32
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#define PAR_AxTargetVelocity (PAR_Ax_ID + 45) //I32
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#define PAR_AxTargetTorque (PAR_Ax_ID + 46) //I16
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#define PAR_AxControlWord (PAR_Ax_ID + 47) //U16
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#define PAR_AxStatusWord (PAR_Ax_ID + 48) //U16
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#define PAR_AxOperationMode (PAR_Ax_ID + 49) //U8
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#define PAR_AxMinAcc (PAR_Ax_ID + 50)//dan.yang 2015.8.12
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#define PAR_AxJerkValue (PAR_Ax_ID + 51) //ydd 17.3.23. Add for PCI-1240
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#define PAR_AxDLValue (PAR_Ax_ID + 52) //ydd 17.3.23. Add for PCI-1240
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#define PAR_AxErrorCode (PAR_Ax_ID + 53) //<2F><><EFBFBD>D<EFBFBD>Ȼs<C8BB><73>
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#define PAR_AxAbsPosi (PAR_Ax_ID + 54) //<2F><><EFBFBD>D<EFBFBD>Ȼs<C8BB><73>
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#define PAR_AxHomeMode (PAR_Ax_ID + 55)
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#define PAR_AxHomeDir (PAR_Ax_ID + 56)
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#define PAR_AxOffsetBase (PAR_Ax_ID + 57)
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///////////////////////////////////////////////////////////////////////////////
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// Axis Config
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///////////////////////////////////////////////////////////////////////////////
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#define CFG_AxPPU (CFG_Ax_ID + 50)
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#define CFG_AxPhyID (CFG_Ax_ID + 51)
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#define CFG_AxMaxVel (CFG_Ax_ID + 52)
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#define CFG_AxMaxAcc (CFG_Ax_ID + 53)
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#define CFG_AxMaxDec (CFG_Ax_ID + 54)
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#define CFG_AxMaxJerk (CFG_Ax_ID + 55)
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#define CFG_AxPulseInMode (CFG_Ax_ID + 56)
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#define CFG_AxPulseInLogic (CFG_Ax_ID + 57)
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#define CFG_AxPulseInSource (CFG_Ax_ID + 58)
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#define CFG_AxPulseOutMode (CFG_Ax_ID + 59)
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#define CFG_AxAlmEnable (CFG_Ax_ID + 60)
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#define CFG_AxAlmLogic (CFG_Ax_ID + 61)
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#define CFG_AxAlmReact (CFG_Ax_ID + 62)
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#define CFG_AxInpEnable (CFG_Ax_ID + 63)
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#define CFG_AxInpLogic (CFG_Ax_ID + 64)
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#define CFG_AxErcLogic (CFG_Ax_ID + 65)
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#define CFG_AxErcOnTime (CFG_Ax_ID + 66)
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#define CFG_AxErcOffTime (CFG_Ax_ID + 67)
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#define CFG_AxErcEnableMode (CFG_Ax_ID + 68)
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#define CFG_AxSdEnable (CFG_Ax_ID + 69)
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#define CFG_AxSdLogic (CFG_Ax_ID + 70)
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#define CFG_AxSdReact (CFG_Ax_ID + 71)
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#define CFG_AxSdLatch (CFG_Ax_ID + 72)
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#define CFG_AxElEnable (CFG_Ax_ID + 73)
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#define CFG_AxElLogic (CFG_Ax_ID + 74)
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#define CFG_AxElReact (CFG_Ax_ID + 75)
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#define CFG_AxSwMelEnable (CFG_Ax_ID + 76)
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#define CFG_AxSwPelEnable (CFG_Ax_ID + 77)
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#define CFG_AxSwMelReact (CFG_Ax_ID + 78)
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#define CFG_AxSwPelReact (CFG_Ax_ID + 79)
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#define CFG_AxSwMelValue (CFG_Ax_ID + 80)
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#define CFG_AxSwPelValue (CFG_Ax_ID + 81)
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#define CFG_AxHomeMode (CFG_Ax_ID + 82)
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#define CFG_AxHomeDir (PAR_Ax_ID + 83)
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#define CFG_AxHomeSwitchMode (PAR_Ax_ID + 84)
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#define CFG_AxHomePosition (PAR_Ax_ID + 85)
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#define CFG_AxHomeCrossDistance (PAR_Ax_ID + 86)
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#define CFG_AxOrgEnable (CFG_Ax_ID + 87)
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#define CFG_AxOrgLogic (CFG_Ax_ID + 88)
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#define CFG_AxEzEnable (CFG_Ax_ID + 89)
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#define CFG_AxEzLogic (CFG_Ax_ID + 90)
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#define CFG_AxEzCount (CFG_Ax_ID + 91)
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#define CFG_AxBacklashEnable (CFG_Ax_ID + 92)
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#define CFG_AxBacklashPulses (CFG_Ax_ID + 93)
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#define CFG_AxVibrationEnable (CFG_Ax_ID + 94)
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#define CFG_AxVibrationReverseTime (CFG_Ax_ID + 95)
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#define CFG_AxVibrationForwardTime (CFG_Ax_ID + 96)
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#define CFG_AxPositionLagEn (CFG_Ax_ID + 97)
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#define CFG_AxMaxPositionLag (CFG_Ax_ID + 98)
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#define CFG_AxEmgReaction (CFG_Ax_ID + 99)
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#define CFG_AxLatchLogic (CFG_Ax_ID + 100)
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#define CFG_AxHomeResetEnable (CFG_Ax_ID + 101)
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#define CFG_AxCmpSrc (CFG_Ax_ID + 102)
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#define CFG_AxCmpMethod (CFG_Ax_ID + 103)
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#define CFG_AxCmpPulseMode (CFG_Ax_ID + 104)
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#define CFG_AxCmpPulseLogic (CFG_Ax_ID + 105)
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#define CFG_AxCmpPulseWidth (CFG_Ax_ID + 106)
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#define CFG_AxCmpEnable (CFG_Ax_ID + 107)
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#define CFG_AxRange (CFG_Ax_ID + 108)
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#define CFG_AxGenDoEnable (CFG_Ax_ID + 109)
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#define CFG_AxExtMasterSrc (CFG_Ax_ID + 110)
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#define CFG_AxExtSelEnable (CFG_Ax_ID + 111)
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#define CFG_AxExtPulseNum (CFG_Ax_ID + 112)
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#define CFG_AxOrgLatch (CFG_Ax_ID + 113)
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#define CFG_AxOutLogic (CFG_Ax_ID + 114)
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#define CFG_AxDirLogic (CFG_Ax_ID + 115)
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#define CFG_AxExtPulseInMode (CFG_Ax_ID + 116)
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#define CFG_AxExtPresetNum (CFG_Ax_ID + 117)
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#define CFG_AxErcOffTmEnable (CFG_Ax_ID + 118)
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#define CFG_AxAuxOutEnable (CFG_Ax_ID + 119)
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#define CFG_AxAuxOutTime (CFG_Ax_ID + 120)
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/*ydd add for pci1245 and pci1265 2011-03-08 */
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#define CFG_AxCamDOEnable (CFG_Ax_ID + 121)
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#define CFG_AxCamDOLoLimit (CFG_Ax_ID + 122)
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#define CFG_AxCamDOHiLimit (CFG_Ax_ID + 123)
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#define CFG_AxCamDOMode (CFG_Ax_ID + 124)
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#define CFG_AxCamDODir (CFG_Ax_ID + 125)
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#define CFG_AxCamDOCmpSrc (CFG_Ax_ID + 126)
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#define CFG_AxCamDOLogic (CFG_Ax_ID + 127)
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#define CFG_AxModuleRange (CFG_Ax_ID + 128)
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#define CFG_AxBacklashVel (CFG_Ax_ID + 129)
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#define CFG_AxLatchEnable (CFG_Ax_ID + 130)
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#define CFG_AxPulseInMaxFreq (CFG_Ax_ID + 131) // [6/20/2011 dan.yang]
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#define CFG_AxSimStartSource (CFG_Ax_ID + 132) // [9/19/2011 dan.yang]
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#define CFG_AxOrgReact (CFG_Ax_ID + 133) // [12/26/2011 dan.yang]
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#define CFG_AxIN1StopEnable (CFG_Ax_ID + 134) // [12/14/2012 dan.yang]
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#define CFG_AxIN1StopReact (CFG_Ax_ID + 135) // [12/14/2012 dan.yang]
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#define CFG_AxIN1StopLogic (CFG_Ax_ID + 136) // [12/14/2012 dan.yang]
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#define CFG_AxIN2StopEnable (CFG_Ax_ID + 137) // [12/14/2012 dan.yang]
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#define CFG_AxIN2StopReact (CFG_Ax_ID + 138) // [12/14/2012 dan.yang]
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#define CFG_AxIN2StopLogic (CFG_Ax_ID + 139) // [12/14/2012 dan.yang]
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#define CFG_AxIN4StopEnable (CFG_Ax_ID + 140) // [12/14/2012 dan.yang]
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#define CFG_AxIN4StopReact (CFG_Ax_ID + 141) // [12/14/2012 dan.yang]
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#define CFG_AxIN4StopLogic (CFG_Ax_ID + 142) // [12/14/2012 dan.yang]
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#define CFG_AxIN5StopEnable (CFG_Ax_ID + 143) // [12/14/2012 dan.yang]
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#define CFG_AxIN5StopReact (CFG_Ax_ID + 144) // [12/14/2012 dan.yang]
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#define CFG_AxIN5StopLogic (CFG_Ax_ID + 145) // [12/14/2012 dan.yang]
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//latch buffer:// [3/6/2013 dan.yang]
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|
#define CFG_AxLatchBufEnable (CFG_Ax_ID + 146)
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|
#define CFG_AxLatchBufMinDist (CFG_Ax_ID + 147)
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#define CFG_AxLatchBufEventNum (CFG_Ax_ID + 148)
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#define CFG_AxLatchBufSource (CFG_Ax_ID + 149)
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#define CFG_AxLatchBufAxisID (CFG_Ax_ID + 150)
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#define CFG_AxLatchBufEdge (CFG_Ax_ID + 151)
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#define CFG_AxHomeOffsetDistance (CFG_Ax_ID + 152)
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#define CFG_AxHomeOffsetVel (CFG_Ax_ID + 153)
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//pwm //[7/15/2013]zhaocui add
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#define CFG_AxPWMFreq (CFG_Ax_ID + 154)
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|
#define CFG_AxPWMDuty (CFG_Ax_ID + 155)
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#define CFG_AxPPUDenominator (CFG_Ax_ID + 156) // [8/31/2013 dan.yang]
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#define CFG_AxGantryMaxDiffValue (CFG_Ax_ID + 157) // [9/3/2013 dan.yang]
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// [10/29/2013 dan.yang]:Add channel
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#define CFG_AxCh1CmpEnable (CFG_Ax_ID + 159)
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|
#define CFG_AxCh1CmpPulseLogic (CFG_Ax_ID + 160)
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#define CFG_AxCh2CmpEnable (CFG_Ax_ID + 161)
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|
#define CFG_AxCh2CmpPulseLogic (CFG_Ax_ID + 162)
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#define CFG_AxCh3CmpEnable (CFG_Ax_ID + 163)
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|
#define CFG_AxCh3CmpPulseLogic (CFG_Ax_ID + 164)
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|
//20131120 zhaocui add
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|
|
#define CFG_AxPelToleranceEnable (CFG_Ax_ID + 165)
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|
#define CFG_AxPelToleranceValue (CFG_Ax_ID + 166)
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|
#define CFG_AxSwPelToleranceEnable (CFG_Ax_ID + 167)
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|
#define CFG_AxSwPelToleranceValue (CFG_Ax_ID + 168)
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|
|
#define CFG_AxCmpPulseWidthEx (CFG_Ax_ID + 169)
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|
|
#define CFG_AxMelToleranceEnable (CFG_Ax_ID + 170)
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|
#define CFG_AxMelToleranceValue (CFG_Ax_ID + 171)
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|
#define CFG_AxSwMelToleranceEnable (CFG_Ax_ID + 172)
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|
#define CFG_AxSwMelToleranceValue (CFG_Ax_ID + 173)
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|
|
//20140107 zhaocui add
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|
|
#define CFG_AxALMFilterTime (CFG_Ax_ID + 174)
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|
|
#define CFG_AxLMTPFilterTime (CFG_Ax_ID + 175)
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|
|
#define CFG_AxLMTNFilterTime (CFG_Ax_ID + 176)
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|
#define CFG_AxIN1FilterTime (CFG_Ax_ID + 177)
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|
#define CFG_AxIN2FilterTime (CFG_Ax_ID + 178)
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|
|
#define CFG_AxORGFilterTime (CFG_Ax_ID + 179)
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|
#define CFG_AxIN4FilterTime (CFG_Ax_ID + 180)
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|
|
#define CFG_AxIN5FilterTime (CFG_Ax_ID + 181)
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|
|
#define CFG_AxEncoderRatio (CFG_Ax_ID + 182)//20131203 zhaocui add
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|
#define CFG_AxMaxErrCount (CFG_Ax_ID + 183)//20131203 zhaocui add
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|
#define CFG_AxResponseTime (CFG_Ax_ID + 184)//20131203 zhaocui add
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|
|
#define CFG_AxMaxCorrectTimes (CFG_Ax_ID + 185)//20131203 zhaocui add
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|
|
// [1/16/2014 deng]
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|
|
#define CFG_AxisMultiCmpDeviation (CFG_Ax_ID + 186)
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|
|
#define CFG_AxForcePWMOutTime (CFG_Ax_ID + 187)
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|
|
// [4/29/2014 deng]
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|
|
#define CFG_AxLatchStopEnable (CFG_Ax_ID + 188)
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|
|
#define CFG_AxLatchStopReact (CFG_Ax_ID + 189)
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|
|
#define CFG_AxPulseStopSrc (CFG_Ax_ID + 190)
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|
|
#define CFG_AxJogVLTime (CFG_Ax_ID + 191)
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|
|
|
#define CFG_AxPulseOutReverse (CFG_Ax_ID + 192) // [3/31/2014 dan.yang]: Reverse Pulse/Dir and CW/CCW pulse out mode for fucai
|
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|
#define CFG_AxKillDec (CFG_Ax_ID + 193) // [5/9/2014 kai.yang] added for DIStop dec
|
|
|
|
|
|
#define CFG_AxJogVelLow (CFG_Ax_ID + 194) //[7/10/2014 kai.yang]
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|
#define CFG_AxJogVelHigh (CFG_Ax_ID + 195) //[7/10/2014 kai.yang]
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|
|
#define CFG_AxJogAcc (CFG_Ax_ID + 196) //[7/10/2014 kai.yang]
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|
#define CFG_AxJogDec (CFG_Ax_ID + 197) //[7/10/2014 kai.yang]
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|
|
#define CFG_AxJogJerk (CFG_Ax_ID + 198) //[7/10/2014 kai.yang]
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|
#define CFG_AxMaxErrorCnt (CFG_Ax_ID + 199) //[10/13/2014 kai.yang]
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|
|
#define CFG_AxCounterMax (CFG_Ax_ID + 200) //[10/15/2014 kai.yang]
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|
|
#define CFG_AxOverflowMode (CFG_Ax_ID + 201) //[10/15/2014 kai.yang]
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|
|
#define CFG_AxGantryActDiffValue (CFG_Ax_ID + 202) //[11/11/2014 kai.yang]
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|
|
#define CFG_AxPelLogic (CFG_Ax_ID + 203)// [11/21/2014 deng]
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|
|
#define CFG_AxMelLogic (CFG_Ax_ID + 204)// [11/21/2014 deng]
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|
|
#define CFG_AxSetCmpDO (CFG_Ax_ID + 205)// [12/2/2014 deng]
|
|
|
|
|
|
//YDD 2015.4.11 Add for salehi copr.
|
|
|
#define CFG_AxMPGOffsetEnable (CFG_Ax_ID + 206)
|
|
|
#define CFG_AxMPGOffsetSum (CFG_Ax_ID + 207)
|
|
|
//YDD end
|
|
|
|
|
|
//YDD 2015.5.12 Add for Drlaser
|
|
|
#define CFG_AxIN1StopEdge (CFG_Ax_ID + 208) //<2F><><EFBFBD>t
|
|
|
#define CFG_AxIN2StopEdge (CFG_Ax_ID + 209)
|
|
|
#define CFG_AxIN4StopEdge (CFG_Ax_ID + 210)
|
|
|
#define CFG_AxIN5StopEdge (CFG_Ax_ID + 211)
|
|
|
|
|
|
#define CFG_AxIN1OffsetValue (CFG_Ax_ID + 212) //DI offset value
|
|
|
#define CFG_AxIN2OffsetValue (CFG_Ax_ID + 213)
|
|
|
#define CFG_AxIN4OffsetValue (CFG_Ax_ID + 214)
|
|
|
#define CFG_AxIN5OffsetValue (CFG_Ax_ID + 215)
|
|
|
//YDD Add End
|
|
|
|
|
|
//[dan.yang]Add for MPG
|
|
|
#define CFG_AxMPGMaxVel (CFG_Ax_ID + 216) //MPR vel
|
|
|
#define CFG_AxMPGAcc (CFG_Ax_ID + 217)
|
|
|
#define CFG_AxMPGDec (CFG_Ax_ID + 218)
|
|
|
#define CFG_AxMPGStopReact (CFG_Ax_ID + 219)
|
|
|
#define CFG_AxJogPAssign (CFG_Ax_ID + 220) //[5/8/2015 Andy.Wang]
|
|
|
#define CFG_AxJogNAssign (CFG_Ax_ID + 221) //[5/8/2015 Andy.Wang]
|
|
|
#define CFG_AxCamDOAssign (CFG_Ax_ID + 222) //[5/8/2015 Andy.Wang]
|
|
|
#define CFG_AxIN1StopAssign (CFG_Ax_ID + 223) //[5/12/2015 Andy.Wang]
|
|
|
#define CFG_AxTorqueConstData (CFG_Ax_ID + 224) //[7/29/2015 Andy.Wang]
|
|
|
#define CFG_AxTorqueEnable (CFG_Ax_ID + 225) //[8/6/2015 Andy.Wang]
|
|
|
#define CFG_AxJogJerkFactor (CFG_Ax_ID + 226) //[2/22/2016 Andy.Wang]
|
|
|
|
|
|
#define CFG_AxDIStartTime (CFG_Ax_ID + 227)
|
|
|
#define CFG_AxDIStartEdge (CFG_Ax_ID + 228)
|
|
|
#define CFG_AxHomeORGSide (CFG_Ax_ID + 229) //YDD Add for jinghui. 2016.5.6
|
|
|
#define CFG_AxCompensateEnable (CFG_Ax_ID + 230) //only for <20><EFBFBD>(PCI-1285)
|
|
|
#define CFG_AxCmpTrigPathEnable (CFG_Ax_ID + 231) //only for Salahi(PCI-1285)
|
|
|
#define CFG_AxCounterMin (CFG_Ax_ID + 232)
|
|
|
|
|
|
#define CFG_AxMaxTorque (CFG_Ax_ID + 233)
|
|
|
#define CFG_AxMaxMotorSpeed (CFG_Ax_ID + 234)
|
|
|
#define CFG_AxSvOnLogic (CFG_Ax_ID + 235)
|
|
|
#define CFG_AxGantryCompFactor (CFG_Ax_ID + 237) //[3/4/2016 Jayce]
|
|
|
#define CFG_AxRstLogic (CFG_Ax_ID + 238)
|
|
|
#define CFG_AxRstOn (CFG_Ax_ID + 239)
|
|
|
#define CFG_AxErcOn (CFG_Ax_ID + 240)
|
|
|
|
|
|
#define CFG_AxPVTVelLow (CFG_Ax_ID + 241)
|
|
|
#define CFG_AxPVTDec (CFG_Ax_ID + 242)
|
|
|
#define CFG_AxCmdFilterMode (CFG_Ax_ID + 243)
|
|
|
#define CFG_AxCmdFilterFactor (CFG_Ax_ID + 244)
|
|
|
|
|
|
#define CFG_AxRotateFlag (CFG_Ax_ID + 245)
|
|
|
#define CFG_AxRotateBestPath (CFG_Ax_ID + 246)
|
|
|
#define CFG_AxRotateCircleNumber (CFG_Ax_ID + 247)
|
|
|
/************************************************************************/
|
|
|
/* dan.yang 2014.11.22 Add for EtherCAT */
|
|
|
/************************************************************************/
|
|
|
#define CFG_CH_DaqDiInvertEnable CFG_CH_ID + 0
|
|
|
#define CFG_CH_DaqDiLowFilter CFG_CH_ID + 1
|
|
|
#define CFG_CH_DaqDiHighFilter CFG_CH_ID + 2
|
|
|
#define CFG_CH_DaqDoFsvEnable CFG_CH_ID + 3
|
|
|
#define CFG_CH_DaqAoRange CFG_CH_ID + 4
|
|
|
#define CFG_CH_DaqAiRange CFG_CH_ID + 5
|
|
|
#define CFG_CH_DaqAiEnable CFG_CH_ID + 6
|
|
|
#define CFG_CH_DaqAiIntegrationTime CFG_CH_ID + 7
|
|
|
#define CFG_CH_DaqAoFsv CFG_CH_ID + 8
|
|
|
#define CFG_CH_DaqAoStartup CFG_CH_ID + 9
|
|
|
#define CFG_CH_DaqAoEnable CFG_CH_ID + 23
|
|
|
|
|
|
/************************************************************************/
|
|
|
/* andy.wang 2015.04.21 Add for EtherCAT Counter */
|
|
|
/************************************************************************/
|
|
|
#define CFG_CH_DaqCntEnable CFG_CH_ID + 10
|
|
|
#define CFG_CH_DaqCntPulseInMode CFG_CH_ID + 11
|
|
|
#define CFG_CH_DaqCntInitValue CFG_CH_ID + 12
|
|
|
#define CFG_CH_DaqCntMaxValue CFG_CH_ID + 13
|
|
|
#define CFG_CH_DaqCntOverflowMode CFG_CH_ID + 14
|
|
|
#define CFG_CH_DaqCntLatchEnable CFG_CH_ID + 15
|
|
|
#define CFG_CH_DaqCntLatchEdge CFG_CH_ID + 16
|
|
|
#define CFG_CH_DaqCntCmpEnable CFG_CH_ID + 17
|
|
|
#define CFG_CH_DaqCntCmpMethod CFG_CH_ID + 18
|
|
|
#define CFG_CH_DaqCntCmpPulseEnable CFG_CH_ID + 19
|
|
|
#define CFG_CH_DaqCntCmpPulseMode CFG_CH_ID + 20
|
|
|
#define CFG_CH_DaqCntCmpPulseLogic CFG_CH_ID + 21
|
|
|
#define CFG_CH_DaqCntCmpPulseWidth CFG_CH_ID + 22
|
|
|
#define CFG_CH_DaqCntPulseInLogic CFG_CH_ID + 24
|
|
|
#define CFG_CH_DaqCntPulseInMaxFreq CFG_CH_ID + 25
|
|
|
#define CFG_CH_DaqCntMultiCmpDeviation CFG_CH_ID + 26
|
|
|
#define CFG_CH_DaqCntLatchLogic CFG_CH_ID + 27
|
|
|
#define CFG_CH_DaqCntLatchMinDist CFG_CH_ID + 28
|
|
|
#define CFG_CH_DaqCntExtPulseNum CFG_CH_ID + 29
|
|
|
#define CFG_CH_DaqCntExtPulseInMode CFG_CH_ID + 30
|
|
|
//////////////////////////////////////////////////////////////////////////
|
|
|
|
|
|
///////////////////////////////////////////////////////////////////////////////
|
|
|
// Group Parameter
|
|
|
///////////////////////////////////////////////////////////////////////////////
|
|
|
#define PAR_GpVelLow (PAR_Gp_ID + 0)
|
|
|
#define PAR_GpVelHigh (PAR_Gp_ID + 1)
|
|
|
#define PAR_GpAcc (PAR_Gp_ID + 2)
|
|
|
#define PAR_GpDec (PAR_Gp_ID + 3)
|
|
|
#define PAR_GpJerk (PAR_Gp_ID + 4)
|
|
|
#define PAR_GpGroupID (PAR_Gp_ID + 5)
|
|
|
#define PAR_GpJerkL (PAR_Gp_ID + 6)
|
|
|
#define PAR_GpIsPathDec (PAR_Gp_ID + 7)
|
|
|
#define PAR_GpRefPlane (PAR_Gp_ID + 8) // [6/20/2011 dan.yang]
|
|
|
#define PAR_GpJerkFactor (PAR_Gp_ID + 9)
|
|
|
#define PAR_GpJerkValue (PAR_Gp_ID + 10) //ydd 17.3.23. Add for PCI-1240
|
|
|
#define PAR_GpDLValue (PAR_Gp_ID + 11) //ydd 17.3.23. Add for PCI-1240
|
|
|
///////////////////////////////////////////////////////////////////////////////
|
|
|
// Group Config
|
|
|
///////////////////////////////////////////////////////////////////////////////
|
|
|
#define CFG_GpMaxVel (CFG_Gp_ID + 0)
|
|
|
#define CFG_GpMaxAcc (CFG_Gp_ID + 1)
|
|
|
#define CFG_GpMaxDec (CFG_Gp_ID + 2)
|
|
|
#define CFG_GpMaxJerk (CFG_Gp_ID + 3)
|
|
|
#define CFG_GpPPU (CFG_Gp_ID + 4)
|
|
|
#define CFG_GpAxesInGroup (CFG_Gp_ID + 5)
|
|
|
#define CFG_GpGroupID (CFG_Gp_ID + 6)
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#define CFG_GpBldTime (CFG_Gp_ID + 7) // [6/2/2011 dan.yang]
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#define CFG_GpSFEnable (CFG_Gp_ID + 8) // [6/2/2011 dan.yang]
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#define CFG_GpVectorEnable (CFG_Gp_ID + 13) // [6/5/2013 dan.yang]
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#define CFG_GpSpdFwdVelEn (CFG_Gp_ID + 14) // [6/22/2013 dan.yang]
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//Add for fuqiang.2016.4.14
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#define CFG_GpSFMinAngle (CFG_Gp_ID + 15)
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#define CFG_GpSFMaxAngle (CFG_Gp_ID + 16)
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#define CFG_GpSFSpeedRatio (CFG_Gp_ID + 17)
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#define CFG_GpSFMinCornerTime (CFG_Gp_ID + 18)
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//end.
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#define CFG_GpAxesInGroupEx (CFG_Gp_ID + 19) //for 64 axes
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//Add 17.7.4
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#define CFG_GpPWMLinkVel (CFG_Gp_ID + 20)
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#define CFG_GpPWMMonitorMode (CFG_Gp_ID + 21)
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#define CFG_GpPWMRefVel (CFG_Gp_ID + 22)
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//by dujunling 2012.11.23
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typedef enum
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{
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GM_PATTERN_ID_RefPlane=1,
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GM_PATTERN_ID_UNIT,
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GM_PATTERN_ID_Coordinate,
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GM_PATTERN_ID_PathControl,
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GM_PATTERN_ID_DistanceMode
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}GM_PATTERN_ID;
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//Robot zhaocui add 201307
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#define CFG_RbLengthArm1 (CFG_RB_ID + 0)
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#define CFG_RbLengthArm2 (CFG_RB_ID + 1)
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#define CFG_RbLengthArm3 (CFG_RB_ID + 2)
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#define CFG_RbHandMode (CFG_RB_ID + 3)
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#define CFG_RbSFEnable (CFG_RB_ID + 4)
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#define CFG_RbLengthArm4 (CFG_RB_ID + 5)
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#define CFG_RbLengthArm5 (CFG_RB_ID + 6)
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#define CFG_RbCsys (CFG_RB_ID + 7)
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#define CFG_RbJogAxis (CFG_RB_ID + 8)
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#define CFG_RbRZCOUPLING (CFG_RB_ID + 9)
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#define CFG_RbRZCFNumerator (CFG_RB_ID + 10)
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#define CFG_RbRZCFDenominator (CFG_RB_ID + 11)
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#define CFG_RbScaraAxisMode (CFG_RB_ID + 12)
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#define CFG_RbJ1J2CouplingEn (CFG_RB_ID + 13)
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//ydd. 18.1.25. Add for movelink
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#define CFG_RbMoveLinkCSAngle (CFG_RB_ID + 14)
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#define CFG_RbMoveLinkAutoEn (CFG_RB_ID + 15)
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#define PAR_RbVelLow (PAR_RB_ID + 0)
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#define PAR_RbVelHigh (PAR_RB_ID + 1)
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#define PAR_RbAcc (PAR_RB_ID + 2)
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#define PAR_RbDec (PAR_RB_ID + 3)
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#define PAR_RbJerk (PAR_RB_ID + 4)
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#define PAR_RbRefPlane (PAR_RB_ID + 5)
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#endif // __ADV_MOT_PROP_ID_H__
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