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1114 lines
54 KiB
C
1114 lines
54 KiB
C
/** @addtogroup cpp_api
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* @{
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*/
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/*! \file gclib_record.h
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* Defines a union for data records.
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* Each supported controller has a struct member in the union with named record types.
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* Offsets into the data record can also be used by referencing the member `byte_array`.
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*/
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#ifndef I_210405D9_D9EF_484F_8258_BB29A1BBA217
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#define I_210405D9_D9EF_484F_8258_BB29A1BBA217
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//typedefs to keep the layout of the structs clean and matching the Galil user manual docs
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#include <stdint.h>
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typedef uint8_t UB; //unsigned byte
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typedef uint16_t UW; //unsigned word
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typedef int16_t SW; //signed word
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typedef int32_t SL; //signed long
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typedef uint32_t UL; //unsigned long
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#if defined(_MSC_VER) || defined(__GNUC__) || defined(__BORLANDC__)
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#define PACKOK
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#endif
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#ifdef PACKOK
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#pragma pack(1)
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#else
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#error "Need to set structure packing for compiler"
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#endif
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#define GALILDATARECORDMAXLENGTH 512 //!< Max size for any Galil data record, equal to dual port ram size of PCI.
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//! Data record struct for DMC-4000 controllers, including 4000, 4200, 4103, and 500x0.
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struct GDataRecord4000
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{
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/*Offset type name description*/
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/*00*/ UB header_0; //!<1st Byte of Header.
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/*01*/ UB header_1; //!<2nd Byte of Header.
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/*02*/ UB header_2; //!<3rd Byte of Header.
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/*03*/ UB header_3; //!<4th Byte of Header.
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/*04-05*/ UW sample_number; //!<sample number.
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/*06*/ UB input_bank_0; //!<general input bank 0 (inputs 1-8).
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/*07*/ UB input_bank_1; //!<general input bank 1 (inputs 9-16).
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/*08*/ UB input_bank_2; //!<general input bank 2 (inputs 17-24).
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/*09*/ UB input_bank_3; //!<general input bank 3 (inputs 25-32).
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/*10*/ UB input_bank_4; //!<general input bank 4 (inputs 33-40).
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/*11*/ UB input_bank_5; //!<general input bank 5 (inputs 41-48).
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/*12*/ UB input_bank_6; //!<general input bank 6 (inputs 49-56).
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/*13*/ UB input_bank_7; //!<general input bank 7 (inputs 57-64).
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/*14*/ UB input_bank_8; //!<general input bank 8 (inputs 65-72).
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/*15*/ UB input_bank_9; //!<general input bank 9 (inputs 73-80).
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/*16*/ UB output_bank_0; //!<general output bank 0 (outputs 1-8).
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/*17*/ UB output_bank_1; //!<general output bank 1 (outputs 9-16).
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/*18*/ UB output_bank_2; //!<general output bank 2 (outputs 17-24).
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/*19*/ UB output_bank_3; //!<general output bank 3 (outputs 25-32).
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/*20*/ UB output_bank_4; //!<general output bank 4 (outputs 33-40).
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/*21*/ UB output_bank_5; //!<general output bank 5 (outputs 41-48).
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/*22*/ UB output_bank_6; //!<general output bank 6 (outputs 49-56).
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/*23*/ UB output_bank_7; //!<general output bank 7 (outputs 57-64).
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/*24*/ UB output_bank_8; //!<general output bank 8 (outputs 65-72).
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/*25*/ UB output_bank_9; //!<general output bank 9 (outputs 73-80).
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/*26-27*/ SW reserved_0; //!<Reserved.
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/*28-29*/ SW reserved_2; //!<Reserved.
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/*30-31*/ SW reserved_4; //!<Reserved.
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/*32-33*/ SW reserved_6; //!<Reserved.
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/*34-35*/ SW reserved_8; //!<Reserved.
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/*36-37*/ SW reserved_10; //!<Reserved.
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/*38-39*/ SW reserved_12; //!<Reserved.
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/*40-41*/ SW reserved_14; //!<Reserved.
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/*42*/ UB ethernet_status_a; //!<Ethernet Handle A Status.
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/*43*/ UB ethernet_status_b; //!<Ethernet Handle B Status.
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/*44*/ UB ethernet_status_c; //!<Ethernet Handle C Status.
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/*45*/ UB ethernet_status_d; //!<Ethernet Handle D Status.
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/*46*/ UB ethernet_status_e; //!<Ethernet Handle E Status.
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/*47*/ UB ethernet_status_f; //!<Ethernet Handle F Status.
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/*48*/ UB ethernet_status_g; //!<Ethernet Handle G Status.
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/*49*/ UB ethernet_status_h; //!<Ethernet Handle H Status.
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/*50*/ UB error_code; //!<error code.
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/*51*/ UB thread_status; //!<thread status
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/*52-55*/ UL amplifier_status; //!<Amplifier Status.
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/*56-59*/ UL contour_segment_count; //!<Segment Count for Contour Mode.
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/*60-61*/ UW contour_buffer_available; //!<Buffer space remaining, Contour Mode.
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/*62-63*/ UW s_plane_segment_count; //!<segment count of coordinated move for S plane.
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/*64-65*/ UW s_plane_move_status; //!<coordinated move status for S plane.
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/*66-69*/ SL s_distance; //!<distance traveled in coordinated move for S plane.
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/*70-71*/ UW s_plane_buffer_available; //!<Buffer space remaining, S Plane.
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/*72-73*/ UW t_plane_segment_count; //!<segment count of coordinated move for T plane.
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/*74-75*/ UW t_plane_move_status; //!<Coordinated move status for T plane.
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/*76-79*/ SL t_distance; //!<distance traveled in coordinated move for T plane.
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/*80-81*/ UW t_plane_buffer_available; //!<Buffer space remaining, T Plane.
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/*82-83*/ UW axis_a_status; //!<A axis status.
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/*84*/ UB axis_a_switches; //!<A axis switches.
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/*85*/ UB axis_a_stop_code; //!<A axis stop code.
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/*86-89*/ SL axis_a_reference_position; //!<A axis reference position.
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/*90-93*/ SL axis_a_motor_position; //!<A axis motor position.
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/*94-97*/ SL axis_a_position_error; //!<A axis position error.
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/*98-101*/ SL axis_a_aux_position; //!<A axis auxiliary position.
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/*102-105*/ SL axis_a_velocity; //!<A axis velocity.
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/*106-109*/ SL axis_a_torque; //!<A axis torque.
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/*110-111*/ UW axis_a_analog_in; //!<A axis analog input.
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/*112*/ UB axis_a_halls; //!<A Hall Input Status.
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/*113*/ UB axis_a_reserved; //!<Reserved.
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/*114-117*/ SL axis_a_variable; //!<A User-defined variable (ZA).
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/*118-119*/ UW axis_b_status; //!<B axis status.
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/*120*/ UB axis_b_switches; //!<B axis switches.
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/*121*/ UB axis_b_stop_code; //!<B axis stop code.
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/*122-125*/ SL axis_b_reference_position; //!<B axis reference position.
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/*126-129*/ SL axis_b_motor_position; //!<B axis motor position.
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/*130-133*/ SL axis_b_position_error; //!<B axis position error.
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/*134-137*/ SL axis_b_aux_position; //!<B axis auxiliary position.
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/*138-141*/ SL axis_b_velocity; //!<B axis velocity.
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/*142-145*/ SL axis_b_torque; //!<B axis torque.
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/*146-147*/ UW axis_b_analog_in; //!<B axis analog input.
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/*148*/ UB axis_b_halls; //!<B Hall Input Status.
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/*149*/ UB axis_b_reserved; //!<Reserved.
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/*150-153*/ SL axis_b_variable; //!<B User-defined variable (ZA).
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/*154-155*/ UW axis_c_status; //!<C axis status.
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/*156*/ UB axis_c_switches; //!<C axis switches.
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/*157*/ UB axis_c_stop_code; //!<C axis stop code.
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/*158-161*/ SL axis_c_reference_position; //!<C axis reference position.
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/*162-165*/ SL axis_c_motor_position; //!<C axis motor position.
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/*166-169*/ SL axis_c_position_error; //!<C axis position error.
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/*170-173*/ SL axis_c_aux_position; //!<C axis auxiliary position.
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/*174-177*/ SL axis_c_velocity; //!<C axis velocity.
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/*178-181*/ SL axis_c_torque; //!<C axis torque.
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/*182-183*/ UW axis_c_analog_in; //!<C axis analog input.
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/*184*/ UB axis_c_halls; //!<C Hall Input Status.
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/*185*/ UB axis_c_reserved; //!<Reserved.
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/*186-189*/ SL axis_c_variable; //!<C User-defined variable (ZA).
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/*190-191*/ UW axis_d_status; //!<D axis status.
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/*192*/ UB axis_d_switches; //!<D axis switches.
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/*193*/ UB axis_d_stop_code; //!<D axis stop code.
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/*194-197*/ SL axis_d_reference_position; //!<D axis reference position.
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/*198-201*/ SL axis_d_motor_position; //!<D axis motor position.
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/*202-205*/ SL axis_d_position_error; //!<D axis position error.
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/*206-209*/ SL axis_d_aux_position; //!<D axis auxiliary position.
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/*210-213*/ SL axis_d_velocity; //!<D axis velocity.
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/*214-217*/ SL axis_d_torque; //!<D axis torque.
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/*218-219*/ UW axis_d_analog_in; //!<D axis analog input.
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/*220*/ UB axis_d_halls; //!<D Hall Input Status.
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/*221*/ UB axis_d_reserved; //!<Reserved.
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/*222-225*/ SL axis_d_variable; //!<D User-defined variable (ZA).
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/*226-227*/ UW axis_e_status; //!<E axis status.
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/*228*/ UB axis_e_switches; //!<E axis switches.
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/*229*/ UB axis_e_stop_code; //!<E axis stop code.
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/*230-233*/ SL axis_e_reference_position; //!<E axis reference position.
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/*234-237*/ SL axis_e_motor_position; //!<E axis motor position.
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/*238-241*/ SL axis_e_position_error; //!<E axis position error.
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/*242-245*/ SL axis_e_aux_position; //!<E axis auxiliary position.
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/*246-249*/ SL axis_e_velocity; //!<E axis velocity.
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/*250-253*/ SL axis_e_torque; //!<E axis torque.
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/*254-255*/ UW axis_e_analog_in; //!<E axis analog input.
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/*256*/ UB axis_e_halls; //!<E Hall Input Status.
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/*257*/ UB axis_e_reserved; //!<Reserved.
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/*258-261*/ SL axis_e_variable; //!<E User-defined variable (ZA).
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/*262-263*/ UW axis_f_status; //!<F axis status.
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/*264*/ UB axis_f_switches; //!<F axis switches.
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/*265*/ UB axis_f_stop_code; //!<F axis stop code.
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/*266-269*/ SL axis_f_reference_position; //!<F axis reference position.
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/*270-273*/ SL axis_f_motor_position; //!<F axis motor position.
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/*274-277*/ SL axis_f_position_error; //!<F axis position error.
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/*278-281*/ SL axis_f_aux_position; //!<F axis auxiliary position.
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/*282-285*/ SL axis_f_velocity; //!<F axis velocity.
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/*286-289*/ SL axis_f_torque; //!<F axis torque.
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/*290-291*/ UW axis_f_analog_in; //!<F axis analog input.
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/*292*/ UB axis_f_halls; //!<F Hall Input Status.
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/*293*/ UB axis_f_reserved; //!<Reserved.
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/*294-297*/ SL axis_f_variable; //!<F User-defined variable (ZA).
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/*298-299*/ UW axis_g_status; //!<G axis status.
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/*300*/ UB axis_g_switches; //!<G axis switches.
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/*301*/ UB axis_g_stop_code; //!<G axis stop code.
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/*302-305*/ SL axis_g_reference_position; //!<G axis reference position.
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/*306-309*/ SL axis_g_motor_position; //!<G axis motor position.
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/*310-313*/ SL axis_g_position_error; //!<G axis position error.
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/*314-317*/ SL axis_g_aux_position; //!<G axis auxiliary position.
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/*318-321*/ SL axis_g_velocity; //!<G axis velocity.
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/*322-325*/ SL axis_g_torque; //!<G axis torque.
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/*326-327*/ UW axis_g_analog_in; //!<G axis analog input.
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/*328*/ UB axis_g_halls; //!<G Hall Input Status.
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/*329*/ UB axis_g_reserved; //!<Reserved.
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/*330-333*/ SL axis_g_variable; //!<G User-defined variable (ZA).
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/*334-335*/ UW axis_h_status; //!<H axis status.
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/*336*/ UB axis_h_switches; //!<H axis switches.
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/*337*/ UB axis_h_stop_code; //!<H axis stop code.
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/*338-341*/ SL axis_h_reference_position; //!<H axis reference position.
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/*342-345*/ SL axis_h_motor_position; //!<H axis motor position.
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/*346-349*/ SL axis_h_position_error; //!<H axis position error.
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/*350-353*/ SL axis_h_aux_position; //!<H axis auxiliary position.
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/*354-357*/ SL axis_h_velocity; //!<H axis velocity.
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/*358-361*/ SL axis_h_torque; //!<H axis torque.
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/*362-363*/ UW axis_h_analog_in; //!<H axis analog input.
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/*364*/ UB axis_h_halls; //!<H Hall Input Status.
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/*365*/ UB axis_h_reserved; //!<Reserved.
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/*366-369*/ SL axis_h_variable; //!<H User-defined variable (ZA).
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}; //DataRecord4000
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//! Data record struct for DMC-52000 controller. Same as DMC-4000, with bank indicator added at byte 40.
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struct GDataRecord52000
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{
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/*Offset type name description*/
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/*00*/ UB header_0; //!<1st Byte of Header.
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/*01*/ UB header_1; //!<2nd Byte of Header.
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/*02*/ UB header_2; //!<3rd Byte of Header.
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/*03*/ UB header_3; //!<4th Byte of Header.
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/*04-05*/ UW sample_number; //!<sample number.
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/*06*/ UB input_bank_0; //!<general input bank 0 (inputs 1-8).
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/*07*/ UB input_bank_1; //!<general input bank 1 (inputs 9-16).
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/*08*/ UB input_bank_2; //!<general input bank 2 (inputs 17-24).
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/*09*/ UB input_bank_3; //!<general input bank 3 (inputs 25-32).
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/*10*/ UB input_bank_4; //!<general input bank 4 (inputs 33-40).
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/*11*/ UB input_bank_5; //!<general input bank 5 (inputs 41-48).
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/*12*/ UB input_bank_6; //!<general input bank 6 (inputs 49-56).
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/*13*/ UB input_bank_7; //!<general input bank 7 (inputs 57-64).
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/*14*/ UB input_bank_8; //!<general input bank 8 (inputs 65-72).
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/*15*/ UB input_bank_9; //!<general input bank 9 (inputs 73-80).
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/*16*/ UB output_bank_0; //!<general output bank 0 (outputs 1-8).
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/*17*/ UB output_bank_1; //!<general output bank 1 (outputs 9-16).
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/*18*/ UB output_bank_2; //!<general output bank 2 (outputs 17-24).
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/*19*/ UB output_bank_3; //!<general output bank 3 (outputs 25-32).
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/*20*/ UB output_bank_4; //!<general output bank 4 (outputs 33-40).
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/*21*/ UB output_bank_5; //!<general output bank 5 (outputs 41-48).
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/*22*/ UB output_bank_6; //!<general output bank 6 (outputs 49-56).
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/*23*/ UB output_bank_7; //!<general output bank 7 (outputs 57-64).
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/*24*/ UB output_bank_8; //!<general output bank 8 (outputs 65-72).
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/*25*/ UB output_bank_9; //!<general output bank 9 (outputs 73-80).
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/*26-27*/ SW reserved_0; //!<Reserved.
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/*28-29*/ SW reserved_2; //!<Reserved.
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/*30-31*/ SW reserved_4; //!<Reserved.
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/*32-33*/ SW reserved_6; //!<Reserved.
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/*34-35*/ SW reserved_8; //!<Reserved.
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/*36-37*/ SW reserved_10; //!<Reserved.
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/*38-39*/ SW reserved_12; //!<Reserved.
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/*40*/ UB ethercat_bank; //!< EtherCAT Bank Indicator.
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/*41*/ UB reserved_14; //!<Reserved.
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/*42*/ UB ethernet_status_a; //!<Ethernet Handle A Status.
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/*43*/ UB ethernet_status_b; //!<Ethernet Handle B Status.
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/*44*/ UB ethernet_status_c; //!<Ethernet Handle C Status.
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/*45*/ UB ethernet_status_d; //!<Ethernet Handle D Status.
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/*46*/ UB ethernet_status_e; //!<Ethernet Handle E Status.
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/*47*/ UB ethernet_status_f; //!<Ethernet Handle F Status.
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/*48*/ UB ethernet_status_g; //!<Ethernet Handle G Status.
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/*49*/ UB ethernet_status_h; //!<Ethernet Handle H Status.
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/*50*/ UB error_code; //!<error code.
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/*51*/ UB thread_status; //!<thread status
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/*52-55*/ UL amplifier_status; //!<Amplifier Status.
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/*56-59*/ UL contour_segment_count; //!<Segment Count for Contour Mode.
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/*60-61*/ UW contour_buffer_available; //!<Buffer space remaining, Contour Mode.
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/*62-63*/ UW s_plane_segment_count; //!<segment count of coordinated move for S plane.
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/*64-65*/ UW s_plane_move_status; //!<coordinated move status for S plane.
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/*66-69*/ SL s_distance; //!<distance traveled in coordinated move for S plane.
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/*70-71*/ UW s_plane_buffer_available; //!<Buffer space remaining, S Plane.
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/*72-73*/ UW t_plane_segment_count; //!<segment count of coordinated move for T plane.
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/*74-75*/ UW t_plane_move_status; //!<Coordinated move status for T plane.
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/*76-79*/ SL t_distance; //!<distance traveled in coordinated move for T plane.
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/*80-81*/ UW t_plane_buffer_available; //!<Buffer space remaining, T Plane.
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/*82-83*/ UW axis_a_status; //!<A axis status.
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/*84*/ UB axis_a_switches; //!<A axis switches.
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/*85*/ UB axis_a_stop_code; //!<A axis stop code.
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/*86-89*/ SL axis_a_reference_position; //!<A axis reference position.
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/*90-93*/ SL axis_a_motor_position; //!<A axis motor position.
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/*94-97*/ SL axis_a_position_error; //!<A axis position error.
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/*98-101*/ SL axis_a_aux_position; //!<A axis auxiliary position.
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/*102-105*/ SL axis_a_velocity; //!<A axis velocity.
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/*106-109*/ SL axis_a_torque; //!<A axis torque.
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/*110-111*/ UW axis_a_analog_in; //!<A axis analog input.
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/*112*/ UB axis_a_halls; //!<A Hall Input Status.
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/*113*/ UB axis_a_reserved; //!<Reserved.
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/*114-117*/ SL axis_a_variable; //!<A User-defined variable (ZA).
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/*118-119*/ UW axis_b_status; //!<B axis status.
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/*120*/ UB axis_b_switches; //!<B axis switches.
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/*121*/ UB axis_b_stop_code; //!<B axis stop code.
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/*122-125*/ SL axis_b_reference_position; //!<B axis reference position.
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/*126-129*/ SL axis_b_motor_position; //!<B axis motor position.
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/*130-133*/ SL axis_b_position_error; //!<B axis position error.
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/*134-137*/ SL axis_b_aux_position; //!<B axis auxiliary position.
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/*138-141*/ SL axis_b_velocity; //!<B axis velocity.
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/*142-145*/ SL axis_b_torque; //!<B axis torque.
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/*146-147*/ UW axis_b_analog_in; //!<B axis analog input.
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/*148*/ UB axis_b_halls; //!<B Hall Input Status.
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/*149*/ UB axis_b_reserved; //!<Reserved.
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/*150-153*/ SL axis_b_variable; //!<B User-defined variable (ZA).
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/*154-155*/ UW axis_c_status; //!<C axis status.
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/*156*/ UB axis_c_switches; //!<C axis switches.
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/*157*/ UB axis_c_stop_code; //!<C axis stop code.
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/*158-161*/ SL axis_c_reference_position; //!<C axis reference position.
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/*162-165*/ SL axis_c_motor_position; //!<C axis motor position.
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/*166-169*/ SL axis_c_position_error; //!<C axis position error.
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/*170-173*/ SL axis_c_aux_position; //!<C axis auxiliary position.
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/*174-177*/ SL axis_c_velocity; //!<C axis velocity.
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/*178-181*/ SL axis_c_torque; //!<C axis torque.
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/*182-183*/ UW axis_c_analog_in; //!<C axis analog input.
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/*184*/ UB axis_c_halls; //!<C Hall Input Status.
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/*185*/ UB axis_c_reserved; //!<Reserved.
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/*186-189*/ SL axis_c_variable; //!<C User-defined variable (ZA).
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/*190-191*/ UW axis_d_status; //!<D axis status.
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/*192*/ UB axis_d_switches; //!<D axis switches.
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/*193*/ UB axis_d_stop_code; //!<D axis stop code.
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/*194-197*/ SL axis_d_reference_position; //!<D axis reference position.
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/*198-201*/ SL axis_d_motor_position; //!<D axis motor position.
|
|
/*202-205*/ SL axis_d_position_error; //!<D axis position error.
|
|
/*206-209*/ SL axis_d_aux_position; //!<D axis auxiliary position.
|
|
/*210-213*/ SL axis_d_velocity; //!<D axis velocity.
|
|
/*214-217*/ SL axis_d_torque; //!<D axis torque.
|
|
/*218-219*/ UW axis_d_analog_in; //!<D axis analog input.
|
|
/*220*/ UB axis_d_halls; //!<D Hall Input Status.
|
|
/*221*/ UB axis_d_reserved; //!<Reserved.
|
|
/*222-225*/ SL axis_d_variable; //!<D User-defined variable (ZA).
|
|
|
|
/*226-227*/ UW axis_e_status; //!<E axis status.
|
|
/*228*/ UB axis_e_switches; //!<E axis switches.
|
|
/*229*/ UB axis_e_stop_code; //!<E axis stop code.
|
|
/*230-233*/ SL axis_e_reference_position; //!<E axis reference position.
|
|
/*234-237*/ SL axis_e_motor_position; //!<E axis motor position.
|
|
/*238-241*/ SL axis_e_position_error; //!<E axis position error.
|
|
/*242-245*/ SL axis_e_aux_position; //!<E axis auxiliary position.
|
|
/*246-249*/ SL axis_e_velocity; //!<E axis velocity.
|
|
/*250-253*/ SL axis_e_torque; //!<E axis torque.
|
|
/*254-255*/ UW axis_e_analog_in; //!<E axis analog input.
|
|
/*256*/ UB axis_e_halls; //!<E Hall Input Status.
|
|
/*257*/ UB axis_e_reserved; //!<Reserved.
|
|
/*258-261*/ SL axis_e_variable; //!<E User-defined variable (ZA).
|
|
|
|
/*262-263*/ UW axis_f_status; //!<F axis status.
|
|
/*264*/ UB axis_f_switches; //!<F axis switches.
|
|
/*265*/ UB axis_f_stop_code; //!<F axis stop code.
|
|
/*266-269*/ SL axis_f_reference_position; //!<F axis reference position.
|
|
/*270-273*/ SL axis_f_motor_position; //!<F axis motor position.
|
|
/*274-277*/ SL axis_f_position_error; //!<F axis position error.
|
|
/*278-281*/ SL axis_f_aux_position; //!<F axis auxiliary position.
|
|
/*282-285*/ SL axis_f_velocity; //!<F axis velocity.
|
|
/*286-289*/ SL axis_f_torque; //!<F axis torque.
|
|
/*290-291*/ UW axis_f_analog_in; //!<F axis analog input.
|
|
/*292*/ UB axis_f_halls; //!<F Hall Input Status.
|
|
/*293*/ UB axis_f_reserved; //!<Reserved.
|
|
/*294-297*/ SL axis_f_variable; //!<F User-defined variable (ZA).
|
|
|
|
/*298-299*/ UW axis_g_status; //!<G axis status.
|
|
/*300*/ UB axis_g_switches; //!<G axis switches.
|
|
/*301*/ UB axis_g_stop_code; //!<G axis stop code.
|
|
/*302-305*/ SL axis_g_reference_position; //!<G axis reference position.
|
|
/*306-309*/ SL axis_g_motor_position; //!<G axis motor position.
|
|
/*310-313*/ SL axis_g_position_error; //!<G axis position error.
|
|
/*314-317*/ SL axis_g_aux_position; //!<G axis auxiliary position.
|
|
/*318-321*/ SL axis_g_velocity; //!<G axis velocity.
|
|
/*322-325*/ SL axis_g_torque; //!<G axis torque.
|
|
/*326-327*/ UW axis_g_analog_in; //!<G axis analog input.
|
|
/*328*/ UB axis_g_halls; //!<G Hall Input Status.
|
|
/*329*/ UB axis_g_reserved; //!<Reserved.
|
|
/*330-333*/ SL axis_g_variable; //!<G User-defined variable (ZA).
|
|
|
|
/*334-335*/ UW axis_h_status; //!<H axis status.
|
|
/*336*/ UB axis_h_switches; //!<H axis switches.
|
|
/*337*/ UB axis_h_stop_code; //!<H axis stop code.
|
|
/*338-341*/ SL axis_h_reference_position; //!<H axis reference position.
|
|
/*342-345*/ SL axis_h_motor_position; //!<H axis motor position.
|
|
/*346-349*/ SL axis_h_position_error; //!<H axis position error.
|
|
/*350-353*/ SL axis_h_aux_position; //!<H axis auxiliary position.
|
|
/*354-357*/ SL axis_h_velocity; //!<H axis velocity.
|
|
/*358-361*/ SL axis_h_torque; //!<H axis torque.
|
|
/*362-363*/ UW axis_h_analog_in; //!<H axis analog input.
|
|
/*364*/ UB axis_h_halls; //!<H Hall Input Status.
|
|
/*365*/ UB axis_h_reserved; //!<Reserved.
|
|
/*366-369*/ SL axis_h_variable; //!<H User-defined variable (ZA).
|
|
}; //DataRecord52000
|
|
|
|
//! Data record struct for DMC-1806 controller.
|
|
/*!
|
|
The 18x6 Data record is the same as 4000 except the following.
|
|
-# No header bytes. Firmware strips it in DR. Software removes it from QR.
|
|
-# No Ethernet status (bytes 42-49).
|
|
-# No amplfifier status (bytes 52-55).
|
|
-# No axis-specific hall input status.
|
|
*/
|
|
struct GDataRecord1806
|
|
{
|
|
/*Offset type name description*/
|
|
|
|
/*00-01*/ UW sample_number; //!<sample number.
|
|
|
|
/*02*/ UB input_bank_0; //!<general input bank 0 (inputs 1-8).
|
|
/*03*/ UB input_bank_1; //!<general input bank 1 (inputs 9-16).
|
|
/*04*/ UB input_bank_2; //!<general input bank 2 (inputs 17-24).
|
|
/*05*/ UB input_bank_3; //!<general input bank 3 (inputs 25-32).
|
|
/*06*/ UB input_bank_4; //!<general input bank 4 (inputs 33-40).
|
|
/*07*/ UB input_bank_5; //!<general input bank 5 (inputs 41-48).
|
|
/*08*/ UB input_bank_6; //!<general input bank 6 (inputs 49-56).
|
|
/*09*/ UB input_bank_7; //!<general input bank 7 (inputs 57-64).
|
|
/*10*/ UB input_bank_8; //!<general input bank 8 (inputs 65-72).
|
|
/*11*/ UB input_bank_9; //!<general input bank 9 (inputs 73-80).
|
|
|
|
/*12*/ UB output_bank_0; //!<general output bank 0 (outputs 1-8).
|
|
/*13*/ UB output_bank_1; //!<general output bank 1 (outputs 9-16).
|
|
/*14*/ UB output_bank_2; //!<general output bank 2 (outputs 17-24).
|
|
/*15*/ UB output_bank_3; //!<general output bank 3 (outputs 25-32).
|
|
/*16*/ UB output_bank_4; //!<general output bank 4 (outputs 33-40).
|
|
/*17*/ UB output_bank_5; //!<general output bank 5 (outputs 41-48).
|
|
/*18*/ UB output_bank_6; //!<general output bank 6 (outputs 49-56).
|
|
/*19*/ UB output_bank_7; //!<general output bank 7 (outputs 57-64).
|
|
/*20*/ UB output_bank_8; //!<general output bank 8 (outputs 65-72).
|
|
/*21*/ UB output_bank_9; //!<general output bank 9 (outputs 73-80).
|
|
|
|
/*22-23*/ SW reserved_0; //!<Reserved.
|
|
/*24-25*/ SW reserved_2; //!<Reserved.
|
|
/*26-27*/ SW reserved_4; //!<Reserved.
|
|
/*28-29*/ SW reserved_6; //!<Reserved.
|
|
/*30-31*/ SW reserved_8; //!<Reserved.
|
|
/*32-33*/ SW reserved_10; //!<Reserved.
|
|
/*34-35*/ SW reserved_12; //!<Reserved.
|
|
/*36-37*/ SW reserved_14; //!<Reserved.
|
|
|
|
/*38*/ UB reserved_16; //!<Reserved.
|
|
/*39*/ UB reserved_17; //!<Reserved.
|
|
/*40*/ UB reserved_18; //!<Reserved.
|
|
/*41*/ UB reserved_19; //!<Reserved.
|
|
/*42*/ UB reserved_20; //!<Reserved.
|
|
/*43*/ UB reserved_21; //!<Reserved.
|
|
/*44*/ UB reserved_22; //!<Reserved.
|
|
/*45*/ UB reserved_23; //!<Reserved.
|
|
|
|
/*46*/ UB error_code; //!<error code.
|
|
/*47*/ UB thread_status; //!<thread status.
|
|
/*48-51*/ UL reserved_24; //!<Reserved.
|
|
|
|
/*52-55*/ UL contour_segment_count; //!<Segment Count for Contour Mode.
|
|
/*56-57*/ UW contour_buffer_available; //!<Buffer space remaining, Contour Mode.
|
|
|
|
/*58-59*/ UW s_plane_segment_count; //!<segment count of coordinated move for S plane.
|
|
/*60-61*/ UW s_plane_move_status; //!<coordinated move status for S plane.
|
|
/*62-65*/ SL s_distance; //!<distance traveled in coordinated move for S plane.
|
|
/*66-67*/ UW s_plane_buffer_available; //!<Buffer space remaining, S Plane.
|
|
|
|
/*68-69*/ UW t_plane_segment_count; //!<segment count of coordinated move for T plane.
|
|
/*70-71*/ UW t_plane_move_status; //!<Coordinated move status for T plane.
|
|
/*72-75*/ SL t_distance; //!<distance traveled in coordinated move for T plane.
|
|
/*76-77*/ UW t_plane_buffer_available; //!<Buffer space remaining, T Plane.
|
|
|
|
/*78-79*/ UW axis_a_status; //!<A axis status.
|
|
/*80*/ UB axis_a_switches; //!<A axis switches.
|
|
/*81*/ UB axis_a_stop_code; //!<A axis stop code.
|
|
/*82-85*/ SL axis_a_reference_position; //!<A axis reference position.
|
|
/*86-89*/ SL axis_a_motor_position; //!<A axis motor position.
|
|
/*90-93*/ SL axis_a_position_error; //!<A axis position error.
|
|
/*94-97*/ SL axis_a_aux_position; //!<A axis auxiliary position.
|
|
/*98-101*/ SL axis_a_velocity; //!<A axis velocity.
|
|
/*102-105*/ SL axis_a_torque; //!<A axis torque.
|
|
/*106-107*/ UW axis_a_analog_in; //!<A axis analog input.
|
|
/*108*/ UB axis_a_reserved_0; //!<Reserved.
|
|
/*109*/ UB axis_a_reserved_1; //!<Reserved.
|
|
/*110-113*/ SL axis_a_variable; //!<A User-defined variable (ZA).
|
|
|
|
/*114-115*/ UW axis_b_status; //!<B axis status.
|
|
/*116*/ UB axis_b_switches; //!<B axis switches.
|
|
/*117*/ UB axis_b_stop_code; //!<B axis stop code.
|
|
/*118-121*/ SL axis_b_reference_position; //!<B axis reference position.
|
|
/*122-125*/ SL axis_b_motor_position; //!<B axis motor position.
|
|
/*126-129*/ SL axis_b_position_error; //!<B axis position error.
|
|
/*130-133*/ SL axis_b_aux_position; //!<B axis auxiliary position.
|
|
/*134-137*/ SL axis_b_velocity; //!<B axis velocity.
|
|
/*138-141*/ SL axis_b_torque; //!<B axis torque.
|
|
/*142-143*/ UW axis_b_analog_in; //!<B axis analog input.
|
|
/*144*/ UB axis_b_reserved_0; //!<Reserved.
|
|
/*145*/ UB axis_b_reserved_1; //!<Reserved.
|
|
/*146-149*/ SL axis_b_variable; //!<B User-defined variable (ZA).
|
|
|
|
/*150-151*/ UW axis_c_status; //!<C axis status.
|
|
/*152*/ UB axis_c_switches; //!<C axis switches.
|
|
/*153*/ UB axis_c_stop_code; //!<C axis stop code.
|
|
/*154-157*/ SL axis_c_reference_position; //!<C axis reference position.
|
|
/*158-161*/ SL axis_c_motor_position; //!<C axis motor position.
|
|
/*162-165*/ SL axis_c_position_error; //!<C axis position error.
|
|
/*166-169*/ SL axis_c_aux_position; //!<C axis auxiliary position.
|
|
/*170-173*/ SL axis_c_velocity; //!<C axis velocity.
|
|
/*174-177*/ SL axis_c_torque; //!<C axis torque.
|
|
/*178-179*/ UW axis_c_analog_in; //!<C axis analog input.
|
|
/*180*/ UB axis_c_reserved_0; //!<Reserved.
|
|
/*181*/ UB axis_c_reserved_1; //!<Reserved.
|
|
/*182-185*/ SL axis_c_variable; //!<C User-defined variable (ZA).
|
|
|
|
/*186-187*/ UW axis_d_status; //!<D axis status.
|
|
/*188*/ UB axis_d_switches; //!<D axis switches.
|
|
/*189*/ UB axis_d_stop_code; //!<D axis stop code.
|
|
/*190-193*/ SL axis_d_reference_position; //!<D axis reference position.
|
|
/*194-197*/ SL axis_d_motor_position; //!<D axis motor position.
|
|
/*198-201*/ SL axis_d_position_error; //!<D axis position error.
|
|
/*202-205*/ SL axis_d_aux_position; //!<D axis auxiliary position.
|
|
/*206-209*/ SL axis_d_velocity; //!<D axis velocity.
|
|
/*210-213*/ SL axis_d_torque; //!<D axis torque.
|
|
/*214-215*/ UW axis_d_analog_in; //!<D axis analog input.
|
|
/*216*/ UB axis_d_reserved_0; //!<Reserved.
|
|
/*217*/ UB axis_d_reserved_1; //!<Reserved.
|
|
/*218-221*/ SL axis_d_variable; //!<D User-defined variable (ZA).
|
|
|
|
/*222-223*/ UW axis_e_status; //!<E axis status.
|
|
/*224*/ UB axis_e_switches; //!<E axis switches.
|
|
/*225*/ UB axis_e_stop_code; //!<E axis stop code.
|
|
/*226-229*/ SL axis_e_reference_position; //!<E axis reference position.
|
|
/*230-233*/ SL axis_e_motor_position; //!<E axis motor position.
|
|
/*234-237*/ SL axis_e_position_error; //!<E axis position error.
|
|
/*238-241*/ SL axis_e_aux_position; //!<E axis auxiliary position.
|
|
/*242-245*/ SL axis_e_velocity; //!<E axis velocity.
|
|
/*256-249*/ SL axis_e_torque; //!<E axis torque.
|
|
/*250-251*/ UW axis_e_analog_in; //!<E axis analog input.
|
|
/*252*/ UB axis_e_reserved_0; //!<Reserved.
|
|
/*253*/ UB axis_e_reserved_1; //!<Reserved.
|
|
/*254-257*/ SL axis_e_variable; //!<E User-defined variable (ZA).
|
|
|
|
/*258-259*/ UW axis_f_status; //!<F axis status.
|
|
/*260*/ UB axis_f_switches; //!<F axis switches.
|
|
/*261*/ UB axis_f_stop_code; //!<F axis stop code.
|
|
/*262-265*/ SL axis_f_reference_position; //!<F axis reference position.
|
|
/*266-269*/ SL axis_f_motor_position; //!<F axis motor position.
|
|
/*270-273*/ SL axis_f_position_error; //!<F axis position error.
|
|
/*274-277*/ SL axis_f_aux_position; //!<F axis auxiliary position.
|
|
/*278-281*/ SL axis_f_velocity; //!<F axis velocity.
|
|
/*282-285*/ SL axis_f_torque; //!<F axis torque.
|
|
/*286-287*/ UW axis_f_analog_in; //!<F axis analog input.
|
|
/*288*/ UB axis_f_reserved_0; //!<Reserved.
|
|
/*289*/ UB axis_f_reserved_1; //!<Reserved.
|
|
/*290-293*/ SL axis_f_variable; //!<F User-defined variable (ZA).
|
|
|
|
/*294-295*/ UW axis_g_status; //!<G axis status.
|
|
/*296*/ UB axis_g_switches; //!<G axis switches.
|
|
/*297*/ UB axis_g_stop_code; //!<G axis stop code.
|
|
/*298-301*/ SL axis_g_reference_position; //!<G axis reference position.
|
|
/*302-305*/ SL axis_g_motor_position; //!<G axis motor position.
|
|
/*306-309*/ SL axis_g_position_error; //!<G axis position error.
|
|
/*310-313*/ SL axis_g_aux_position; //!<G axis auxiliary position.
|
|
/*314-317*/ SL axis_g_velocity; //!<G axis velocity.
|
|
/*318-321*/ SL axis_g_torque; //!<G axis torque.
|
|
/*322-323*/ UW axis_g_analog_in; //!<G axis analog input.
|
|
/*324*/ UB axis_g_reserved_0; //!<Reserved.
|
|
/*325*/ UB axis_g_reserved_1; //!<Reserved.
|
|
/*326-329*/ SL axis_g_variable; //!<G User-defined variable (ZA).
|
|
|
|
/*330-331*/ UW axis_h_status; //!<H axis status.
|
|
/*332*/ UB axis_h_switches; //!<H axis switches.
|
|
/*333*/ UB axis_h_stop_code; //!<H axis stop code.
|
|
/*334-337*/ SL axis_h_reference_position; //!<H axis reference position.
|
|
/*338-341*/ SL axis_h_motor_position; //!<H axis motor position.
|
|
/*342-345*/ SL axis_h_position_error; //!<H axis position error.
|
|
/*346-349*/ SL axis_h_aux_position; //!<H axis auxiliary position.
|
|
/*350-353*/ SL axis_h_velocity; //!<H axis velocity.
|
|
/*354-357*/ SL axis_h_torque; //!<H axis torque.
|
|
/*358-359*/ UW axis_h_analog_in; //!<H axis analog input.
|
|
/*360*/ UB axis_h_reserved_0; //!<Reserved.
|
|
/*361*/ UB axis_h_reserved_1; //!<Reserved.
|
|
/*362-365*/ SL axis_h_variable; //!<H User-defined variable (ZA).
|
|
}; //DataRecord1806
|
|
|
|
//! Data record struct for DMC-2103 controllers.
|
|
struct GDataRecord2103
|
|
{
|
|
|
|
/*Offset type name description*/
|
|
|
|
/*00*/ UB header_0; //!<1st Byte of Header.
|
|
/*01*/ UB header_1; //!<2nd Byte of Header.
|
|
/*02*/ UB header_2; //!<3rd Byte of Header.
|
|
/*03*/ UB header_3; //!<4th Byte of Header.
|
|
|
|
/*04-05*/ UW sample_number; //!<sample number.
|
|
|
|
/*06*/ UB input_bank_0; //!<general input bank 0 (inputs 1-8).
|
|
/*07*/ UB input_bank_1; //!<general input bank 1 (inputs 9-16).
|
|
/*08*/ UB input_bank_2; //!<general input bank 2 (inputs 17-24).
|
|
/*09*/ UB input_bank_3; //!<general input bank 3 (inputs 25-32).
|
|
/*10*/ UB input_bank_4; //!<general input bank 4 (inputs 33-40).
|
|
/*11*/ UB input_bank_5; //!<general input bank 5 (inputs 41-48).
|
|
/*12*/ UB input_bank_6; //!<general input bank 6 (inputs 49-56).
|
|
/*13*/ UB input_bank_7; //!<general input bank 7 (inputs 57-64).
|
|
/*14*/ UB input_bank_8; //!<general input bank 8 (inputs 65-72).
|
|
/*15*/ UB input_bank_9; //!<general input bank 9 (inputs 73-80).
|
|
|
|
/*16*/ UB output_bank_0; //!<general output bank 0 (outputs 1-8).
|
|
/*17*/ UB output_bank_1; //!<general output bank 1 (outputs 9-16).
|
|
/*18*/ UB output_bank_2; //!<general output bank 2 (outputs 17-24).
|
|
/*19*/ UB output_bank_3; //!<general output bank 3 (outputs 25-32).
|
|
/*20*/ UB output_bank_4; //!<general output bank 4 (outputs 33-40).
|
|
/*21*/ UB output_bank_5; //!<general output bank 5 (outputs 41-48).
|
|
/*22*/ UB output_bank_6; //!<general output bank 6 (outputs 49-56).
|
|
/*23*/ UB output_bank_7; //!<general output bank 7 (outputs 57-64).
|
|
/*24*/ UB output_bank_8; //!<general output bank 8 (outputs 65-72).
|
|
/*25*/ UB output_bank_9; //!<general output bank 9 (outputs 73-80).
|
|
|
|
/*26*/ UB error_code; //!<error code.
|
|
/*27*/ UB general_status; //!<general status
|
|
|
|
/*28-29*/ UW s_plane_segment_count; //!<segment count of coordinated move for S plane.
|
|
/*30-31*/ UW s_plane_move_status; //!<coordinated move status for S plane.
|
|
/*32-35*/ SL s_distance; //!<distance traveled in coordinated move for S plane.
|
|
|
|
/*36-37*/ UW t_plane_segment_count; //!<segment count of coordinated move for T plane.
|
|
/*38-39*/ UW t_plane_move_status; //!<Coordinated move status for T plane.
|
|
/*40-43*/ SL t_distance; //!<distance traveled in coordinated move for T plane.
|
|
|
|
/*44-45*/ UW axis_a_status; //!<A axis status.
|
|
/*46*/ UB axis_a_switches; //!<A axis switches.
|
|
/*47*/ UB axis_a_stop_code; //!<A axis stop code.
|
|
/*48-51*/ SL axis_a_reference_position; //!<A axis reference position.
|
|
/*52-55*/ SL axis_a_motor_position; //!<A axis motor position.
|
|
/*56-59*/ SL axis_a_position_error; //!<A axis position error.
|
|
/*60-63*/ SL axis_a_aux_position; //!<A axis auxiliary position.
|
|
/*64-67*/ SL axis_a_velocity; //!<A axis velocity.
|
|
/*68-69*/ SW axis_a_torque; //!<A axis torque.
|
|
/*70-71*/ UW axis_a_analog_in; //!<A axis analog input.
|
|
|
|
/*72-73*/ UW axis_b_status; //!<B axis status.
|
|
/*74*/ UB axis_b_switches; //!<B axis switches.
|
|
/*75*/ UB axis_b_stop_code; //!<B axis stop code.
|
|
/*76-79*/ SL axis_b_reference_position; //!<B axis reference position.
|
|
/*80-83*/ SL axis_b_motor_position; //!<B axis motor position.
|
|
/*84-87*/ SL axis_b_position_error; //!<B axis position error.
|
|
/*88-91*/ SL axis_b_aux_position; //!<B axis auxiliary position.
|
|
/*92-95*/ SL axis_b_velocity; //!<B axis velocity.
|
|
/*96-97*/ SW axis_b_torque; //!<B axis torque.
|
|
/*98-99*/ UW axis_b_analog_in; //!<B axis analog input.
|
|
|
|
/*100-101*/ UW axis_c_status; //!<C axis status.
|
|
/*102*/ UB axis_c_switches; //!<C axis switches.
|
|
/*103*/ UB axis_c_stop_code; //!<C axis stop code.
|
|
/*104-107*/ SL axis_c_reference_position; //!<C axis reference position.
|
|
/*108-111*/ SL axis_c_motor_position; //!<C axis motor position.
|
|
/*112-115*/ SL axis_c_position_error; //!<C axis position error.
|
|
/*116-119*/ SL axis_c_aux_position; //!<C axis auxiliary position.
|
|
/*120-123*/ SL axis_c_velocity; //!<C axis velocity.
|
|
/*124-125*/ SW axis_c_torque; //!<C axis torque.
|
|
/*126-127*/ UW axis_c_analog_in; //!<C axis analog input.
|
|
|
|
/*128-129*/ UW axis_d_status; //!<D axis status.
|
|
/*130*/ UB axis_d_switches; //!<D axis switches.
|
|
/*131*/ UB axis_d_stop_code; //!<D axis stop code.
|
|
/*132-135*/ SL axis_d_reference_position; //!<D axis reference position.
|
|
/*136-139*/ SL axis_d_motor_position; //!<D axis motor position.
|
|
/*140-143*/ SL axis_d_position_error; //!<D axis position error.
|
|
/*144-147*/ SL axis_d_aux_position; //!<D axis auxiliary position.
|
|
/*148-151*/ SL axis_d_velocity; //!<D axis velocity.
|
|
/*152-153*/ SW axis_d_torque; //!<D axis torque.
|
|
/*154-155*/ UW axis_d_analog_in; //!<D axis analog input.
|
|
|
|
/*156-157*/ UW axis_e_status; //!<E axis status.
|
|
/*158*/ UB axis_e_switches; //!<E axis switches.
|
|
/*159*/ UB axis_e_stop_code; //!<E axis stop code.
|
|
/*160-163*/ SL axis_e_reference_position; //!<E axis reference position.
|
|
/*164-167*/ SL axis_e_motor_position; //!<E axis motor position.
|
|
/*168-171*/ SL axis_e_position_error; //!<E axis position error.
|
|
/*172-175*/ SL axis_e_aux_position; //!<E axis auxiliary position.
|
|
/*176-179*/ SL axis_e_velocity; //!<E axis velocity.
|
|
/*180-181*/ SW axis_e_torque; //!<E axis torque.
|
|
/*182-183*/ UW axis_e_analog_in; //!<E axis analog input.
|
|
|
|
/*184-185*/ UW axis_f_status; //!<F axis status.
|
|
/*186*/ UB axis_f_switches; //!<F axis switches.
|
|
/*187*/ UB axis_f_stop_code; //!<F axis stop code.
|
|
/*188-191*/ SL axis_f_reference_position; //!<F axis reference position.
|
|
/*192-195*/ SL axis_f_motor_position; //!<F axis motor position.
|
|
/*196-199*/ SL axis_f_position_error; //!<F axis position error.
|
|
/*200-203*/ SL axis_f_aux_position; //!<F axis auxiliary position.
|
|
/*204-207*/ SL axis_f_velocity; //!<F axis velocity.
|
|
/*208-209*/ SW axis_f_torque; //!<F axis torque.
|
|
/*210-211*/ UW axis_f_analog_in; //!<F axis analog input.
|
|
|
|
/*212-213*/ UW axis_g_status; //!<G axis status.
|
|
/*214*/ UB axis_g_switches; //!<G axis switches.
|
|
/*215*/ UB axis_g_stop_code; //!<G axis stop code.
|
|
/*216-219*/ SL axis_g_reference_position; //!<G axis reference position.
|
|
/*220-223*/ SL axis_g_motor_position; //!<G axis motor position.
|
|
/*224-227*/ SL axis_g_position_error; //!<G axis position error.
|
|
/*228-231*/ SL axis_g_aux_position; //!<G axis auxiliary position.
|
|
/*232-235*/ SL axis_g_velocity; //!<G axis velocity.
|
|
/*236-237*/ SW axis_g_torque; //!<G axis torque.
|
|
/*238-239*/ UW axis_g_analog_in; //!<G axis analog input.
|
|
|
|
/*240-241*/ UW axis_h_status; //!<H axis status.
|
|
/*242*/ UB axis_h_switches; //!<H axis switches.
|
|
/*243*/ UB axis_h_stop_code; //!<H axis stop code.
|
|
/*244-247*/ SL axis_h_reference_position; //!<H axis reference position.
|
|
/*248-251*/ SL axis_h_motor_position; //!<H axis motor position.
|
|
/*252-255*/ SL axis_h_position_error; //!<H axis position error.
|
|
/*256-259*/ SL axis_h_aux_position; //!<H axis auxiliary position.
|
|
/*260-263*/ SL axis_h_velocity; //!<H axis velocity.
|
|
/*264-265*/ SW axis_h_torque; //!<H axis torque.
|
|
/*266-267*/ UW axis_h_analog_in; //!<H axis analog input.
|
|
}; //DataRecord2013
|
|
|
|
//!
|
|
//! Data record struct for DMC-1802 controllers.
|
|
/*!
|
|
The 18x2 Data record is the Same as 2103 except the following.
|
|
-# No header bytes. Software removes it from QR.
|
|
-# No analog in axis data.
|
|
*/
|
|
struct GDataRecord1802
|
|
{
|
|
|
|
/*Offset type name description*/
|
|
|
|
/*00-01*/ UW sample_number; //!<sample number.
|
|
|
|
/*02*/ UB input_bank_0; //!<general input bank 0 (inputs 1-8).
|
|
/*03*/ UB input_bank_1; //!<general input bank 1 (inputs 9-16).
|
|
/*04*/ UB input_bank_2; //!<general input bank 2 (inputs 17-24).
|
|
/*05*/ UB input_bank_3; //!<general input bank 3 (inputs 25-32).
|
|
/*06*/ UB input_bank_4; //!<general input bank 4 (inputs 33-40).
|
|
/*07*/ UB input_bank_5; //!<general input bank 5 (inputs 41-48).
|
|
/*08*/ UB input_bank_6; //!<general input bank 6 (inputs 49-56).
|
|
/*09*/ UB input_bank_7; //!<general input bank 7 (inputs 57-64).
|
|
/*10*/ UB input_bank_8; //!<general input bank 8 (inputs 65-72).
|
|
/*11*/ UB input_bank_9; //!<general input bank 9 (inputs 73-80).
|
|
|
|
/*12*/ UB output_bank_0; //!<general output bank 0 (outputs 1-8).
|
|
/*13*/ UB output_bank_1; //!<general output bank 1 (outputs 9-16).
|
|
/*14*/ UB output_bank_2; //!<general output bank 2 (outputs 17-24).
|
|
/*15*/ UB output_bank_3; //!<general output bank 3 (outputs 25-32).
|
|
/*16*/ UB output_bank_4; //!<general output bank 4 (outputs 33-40).
|
|
/*17*/ UB output_bank_5; //!<general output bank 5 (outputs 41-48).
|
|
/*18*/ UB output_bank_6; //!<general output bank 6 (outputs 49-56).
|
|
/*19*/ UB output_bank_7; //!<general output bank 7 (outputs 57-64).
|
|
/*20*/ UB output_bank_8; //!<general output bank 8 (outputs 65-72).
|
|
/*21*/ UB output_bank_9; //!<general output bank 9 (outputs 73-80).
|
|
|
|
/*22*/ UB error_code; //!<error code.
|
|
/*23*/ UB general_status; //!<general status
|
|
|
|
/*24-25*/ UW s_plane_segment_count; //!<segment count of coordinated move for S plane.
|
|
/*26-27*/ UW s_plane_move_status; //!<coordinated move status for S plane.
|
|
/*28-31*/ SL s_distance; //!<distance traveled in coordinated move for S plane.
|
|
|
|
/*32-33*/ UW t_plane_segment_count; //!<segment count of coordinated move for T plane.
|
|
/*34-35*/ UW t_plane_move_status; //!<Coordinated move status for T plane.
|
|
/*36-39*/ SL t_distance; //!<distance traveled in coordinated move for T plane.
|
|
|
|
/*40-41*/ UW axis_a_status; //!<A axis status.
|
|
/*42*/ UB axis_a_switches; //!<A axis switches.
|
|
/*43*/ UB axis_a_stop_code; //!<A axis stop code.
|
|
/*44-47*/ SL axis_a_reference_position; //!<A axis reference position.
|
|
/*48-51*/ SL axis_a_motor_position; //!<A axis motor position.
|
|
/*52-55*/ SL axis_a_position_error; //!<A axis position error.
|
|
/*56-59*/ SL axis_a_aux_position; //!<A axis auxiliary position.
|
|
/*60-63*/ SL axis_a_velocity; //!<A axis velocity.
|
|
/*64-65*/ SW axis_a_torque; //!<A axis torque.
|
|
/*66*/ UB axis_a_reserved_0; //!<Reserved.
|
|
/*67*/ UB axis_a_reserved_1; //!<Reserved.
|
|
|
|
/*68-69*/ UW axis_b_status; //!<B axis status.
|
|
/*70*/ UB axis_b_switches; //!<B axis switches.
|
|
/*71*/ UB axis_b_stop_code; //!<B axis stop code.
|
|
/*72-75*/ SL axis_b_reference_position; //!<B axis reference position.
|
|
/*76-79*/ SL axis_b_motor_position; //!<B axis motor position.
|
|
/*80-83*/ SL axis_b_position_error; //!<B axis position error.
|
|
/*84-87*/ SL axis_b_aux_position; //!<B axis auxiliary position.
|
|
/*88-91*/ SL axis_b_velocity; //!<B axis velocity.
|
|
/*92-93*/ SW axis_b_torque; //!<B axis torque.
|
|
/*94*/ UB axis_b_reserved_0; //!<Reserved.
|
|
/*95*/ UB axis_b_reserved_1; //!<Reserved.
|
|
|
|
/*96-97*/ UW axis_c_status; //!<C axis status.
|
|
/*98*/ UB axis_c_switches; //!<C axis switches.
|
|
/*99*/ UB axis_c_stop_code; //!<C axis stop code.
|
|
/*100-103*/ SL axis_c_reference_position; //!<C axis reference position.
|
|
/*104-107*/ SL axis_c_motor_position; //!<C axis motor position.
|
|
/*108-111*/ SL axis_c_position_error; //!<C axis position error.
|
|
/*112-115*/ SL axis_c_aux_position; //!<C axis auxiliary position.
|
|
/*116-119*/ SL axis_c_velocity; //!<C axis velocity.
|
|
/*120-121*/ SW axis_c_torque; //!<C axis torque.
|
|
/*122*/ UB axis_c_reserved_0; //!<Reserved.
|
|
/*123*/ UB axis_c_reserved_1; //!<Reserved.
|
|
|
|
/*124-125*/ UW axis_d_status; //!<D axis status.
|
|
/*126*/ UB axis_d_switches; //!<D axis switches.
|
|
/*127*/ UB axis_d_stop_code; //!<D axis stop code.
|
|
/*128-131*/ SL axis_d_reference_position; //!<D axis reference position.
|
|
/*132-135*/ SL axis_d_motor_position; //!<D axis motor position.
|
|
/*136-139*/ SL axis_d_position_error; //!<D axis position error.
|
|
/*140-143*/ SL axis_d_aux_position; //!<D axis auxiliary position.
|
|
/*144-147*/ SL axis_d_velocity; //!<D axis velocity.
|
|
/*148-149*/ SW axis_d_torque; //!<D axis torque.
|
|
/*150*/ UB axis_d_reserved_0; //!<Reserved.
|
|
/*151*/ UB axis_d_reserved_1; //!<Reserved.
|
|
|
|
}; //DataRecord1802
|
|
|
|
//! Data record struct for DMC-30010 controllers.
|
|
struct GDataRecord30000
|
|
{
|
|
|
|
/*Offset type name description*/
|
|
|
|
/*00*/ UB header_0; //!<1st Byte of Header.
|
|
/*01*/ UB header_1; //!<2nd Byte of Header.
|
|
/*02*/ UB header_2; //!<3rd Byte of Header.
|
|
/*03*/ UB header_3; //!<4th Byte of Header.
|
|
|
|
/*04-05*/ UW sample_number; //!<sample number.
|
|
|
|
/*06*/ UB input_bank_0; //!<general input bank 0 (inputs 1-8).
|
|
/*07*/ UB input_bank_1; //!<general input bank 1 (inputs 9-16).
|
|
|
|
/*08*/ UB output_bank_0; //!<general output bank 0 (outputs 1-8).
|
|
/*09*/ UB output_bank_1; //!<general output bank 1 (outputs 9-16).
|
|
|
|
/*10*/ UB error_code; //!<error code.
|
|
/*11*/ UB thread_status; //!<thread status.
|
|
|
|
/*12-13*/ UW input_analog_2; //!< Analog input 2. 1 is in axis data, see axis_a_analog_in.
|
|
|
|
/*14-15*/ UW output_analog_1; //!< Analog output 1.
|
|
/*16-17*/ UW output_analog_2; //!< Analog output 2.
|
|
|
|
/*18-21*/ UL amplifier_status; //!<Amplifier Status.
|
|
|
|
/*22-25*/ UL contour_segment_count; //!<Segment Count for Contour Mode.
|
|
/*26-27*/ UW contour_buffer_available; //!<Buffer space remaining, Contour Mode.
|
|
|
|
/*28-29*/ UW s_plane_segment_count; //!<segment count of coordinated move for S plane.
|
|
/*30-31*/ UW s_plane_move_status; //!<coordinated move status for S plane.
|
|
/*32-35*/ SL s_distance; //!<distance traveled in coordinated move for S plane.
|
|
/*36-37*/ UW s_plane_buffer_available; //!<Buffer space remaining, S Plane.
|
|
|
|
/*38-39*/ UW axis_a_status; //!<A axis status.
|
|
/*40*/ UB axis_a_switches; //!<A axis switches.
|
|
/*41*/ UB axis_a_stop_code; //!<A axis stop code.
|
|
/*42-45*/ SL axis_a_reference_position; //!<A axis reference position.
|
|
/*46-49*/ SL axis_a_motor_position; //!<A axis motor position.
|
|
/*50-53*/ SL axis_a_position_error; //!<A axis position error.
|
|
/*54-57*/ SL axis_a_aux_position; //!<A axis auxiliary position.
|
|
/*58-61*/ SL axis_a_velocity; //!<A axis velocity.
|
|
/*62-65*/ SL axis_a_torque; //!<A axis torque.
|
|
/*66-67*/ UW axis_a_analog_in; //!<A axis analog input.
|
|
/*68*/ UB axis_a_halls; //!<A Hall Input Status.
|
|
/*69*/ UB axis_a_reserved; //!<Reserved.
|
|
/*70-73*/ SL axis_a_variable; //!<A User-defined variable (ZA).
|
|
}; //DataRecord30000
|
|
|
|
//! Data record struct for RIO-471xx and RIO-472xx PLCs. Includes encoder fields.
|
|
struct GDataRecord47000_ENC
|
|
{
|
|
|
|
/*Offset type name description*/
|
|
|
|
/*00*/ UB header_0; //!< 1st Byte of Header.
|
|
/*01*/ UB header_1; //!< 2nd Byte of Header.
|
|
/*02*/ UB header_2; //!< 3rd Byte of Header.
|
|
/*03*/ UB header_3; //!< 4th Byte of Header.
|
|
|
|
/*04-05*/ UW sample_number; //!< Sample number.
|
|
/*06*/ UB error_code; //!< Error code.
|
|
/*07*/ UB general_status; //!< General status.
|
|
|
|
/*08-09*/ UW output_analog_0; //!< Analog output 0.
|
|
/*10-11*/ UW output_analog_1; //!< Analog output 1.
|
|
/*12-13*/ UW output_analog_2; //!< Analog output 2.
|
|
/*14-15*/ UW output_analog_3; //!< Analog output 3.
|
|
/*16-17*/ UW output_analog_4; //!< Analog output 4.
|
|
/*18-19*/ UW output_analog_5; //!< Analog output 5.
|
|
/*20-21*/ UW output_analog_6; //!< Analog output 6.
|
|
/*22-23*/ UW output_analog_7; //!< Analog output 7.
|
|
|
|
/*24-25*/ UW input_analog_0; //!< Analog input 0.
|
|
/*26-27*/ UW input_analog_1; //!< Analog input 1.
|
|
/*28-29*/ UW input_analog_2; //!< Analog input 2.
|
|
/*30-31*/ UW input_analog_3; //!< Analog input 3.
|
|
/*32-33*/ UW input_analog_4; //!< Analog input 4.
|
|
/*34-35*/ UW input_analog_5; //!< Analog input 5.
|
|
/*36-37*/ UW input_analog_6; //!< Analog input 6.
|
|
/*38-39*/ UW input_analog_7; //!< Analog input 7.
|
|
|
|
/*40-41*/ UW output_bank_0; //!< Digital outputs 0-15;
|
|
|
|
/*42-43*/ UW input_bank_0; //!< Digital inputs 0-15;
|
|
|
|
/*44-47*/ UL pulse_count_0; //!< Pulse counter (see PC).
|
|
/*48-51*/ SL zc_variable; //!< ZC User-defined variable (see ZC).
|
|
/*52-55*/ SL zd_variable; //!< ZD User-defined variable (see ZD).
|
|
|
|
/*56-59*/ SL encoder_0; //!< Encoder channel 0. Data only valid for parts with -BISS, -QUAD, or -SSI.
|
|
/*60-63*/ SL encoder_1; //!< Encoder channel 1. Data only valid for parts with -BISS, -QUAD, or -SSI.
|
|
/*64-67*/ SL encoder_2; //!< Encoder channel 2. Data only valid for parts with -BISS, -QUAD, or -SSI.
|
|
/*68-71*/ SL encoder_3; //!< Encoder channel 3. Data only valid for parts with -BISS, -QUAD, or -SSI.
|
|
|
|
}; //GDataRecord47000_ENC
|
|
|
|
//! Data record struct for RIO-47300. Includes encoder fields.
|
|
struct GDataRecord47300_ENC
|
|
{
|
|
|
|
/*Offset type name description*/
|
|
|
|
/*00*/ UB header_0; //!< 1st Byte of Header.
|
|
/*01*/ UB header_1; //!< 2nd Byte of Header.
|
|
/*02*/ UB header_2; //!< 3rd Byte of Header.
|
|
/*03*/ UB header_3; //!< 4th Byte of Header.
|
|
|
|
/*04-05*/ UW sample_number; //!< Sample number.
|
|
/*06*/ UB error_code; //!< Error code.
|
|
/*07*/ UB general_status; //!< General status.
|
|
|
|
/*08-09*/ UW output_analog_0; //!< Analog output 0.
|
|
/*10-11*/ UW output_analog_1; //!< Analog output 1.
|
|
/*12-13*/ UW output_analog_2; //!< Analog output 2.
|
|
/*14-15*/ UW output_analog_3; //!< Analog output 3.
|
|
/*16-17*/ UW output_analog_4; //!< Analog output 4.
|
|
/*18-19*/ UW output_analog_5; //!< Analog output 5.
|
|
/*20-21*/ UW output_analog_6; //!< Analog output 6.
|
|
/*22-23*/ UW output_analog_7; //!< Analog output 7.
|
|
|
|
/*24-25*/ UW input_analog_0; //!< Analog input 0.
|
|
/*26-27*/ UW input_analog_1; //!< Analog input 1.
|
|
/*28-29*/ UW input_analog_2; //!< Analog input 2.
|
|
/*30-31*/ UW input_analog_3; //!< Analog input 3.
|
|
/*32-33*/ UW input_analog_4; //!< Analog input 4.
|
|
/*34-35*/ UW input_analog_5; //!< Analog input 5.
|
|
/*36-37*/ UW input_analog_6; //!< Analog input 6.
|
|
/*38-39*/ UW input_analog_7; //!< Analog input 7.
|
|
|
|
/*40-41*/ UW output_bank_0; //!< Digital outputs 0-15;
|
|
/*42-43*/ UW output_bank_1; //!< Digital outputs 16-23;
|
|
|
|
/*44-45*/ UW input_bank_0; //!< Digital inputs 0-15;
|
|
/*46-47*/ UW input_bank_1; //!< Digital inputs 16-23;
|
|
|
|
/*48-51*/ UL pulse_count_0; //!< Pulse counter (see PC).
|
|
/*52-55*/ SL zc_variable; //!< ZC User-defined variable (see ZC).
|
|
/*56-59*/ SL zd_variable; //!< ZD User-defined variable (see ZD).
|
|
|
|
/*60-63*/ SL encoder_0; //!< Encoder channel 0. Data only valid for parts with -BISS, -QUAD, or -SSI.
|
|
/*64-67*/ SL encoder_1; //!< Encoder channel 1. Data only valid for parts with -BISS, -QUAD, or -SSI.
|
|
/*68-71*/ SL encoder_2; //!< Encoder channel 2. Data only valid for parts with -BISS, -QUAD, or -SSI.
|
|
/*72-75*/ SL encoder_3; //!< Encoder channel 3. Data only valid for parts with -BISS, -QUAD, or -SSI.
|
|
|
|
}; //GDataRecord47300_ENC
|
|
|
|
//! Data record struct for RIO-47300 with 24EX I/O daughter board.
|
|
struct GDataRecord47300_24EX
|
|
{
|
|
|
|
/*Offset type name description*/
|
|
|
|
/*00*/ UB header_0; //!< 1st Byte of Header.
|
|
/*01*/ UB header_1; //!< 2nd Byte of Header.
|
|
/*02*/ UB header_2; //!< 3rd Byte of Header.
|
|
/*03*/ UB header_3; //!< 4th Byte of Header.
|
|
|
|
/*04-05*/ UW sample_number; //!< Sample number.
|
|
/*06*/ UB error_code; //!< Error code.
|
|
/*07*/ UB general_status; //!< General status.
|
|
|
|
/*08-09*/ UW output_analog_0; //!< Analog output 0.
|
|
/*10-11*/ UW output_analog_1; //!< Analog output 1.
|
|
/*12-13*/ UW output_analog_2; //!< Analog output 2.
|
|
/*14-15*/ UW output_analog_3; //!< Analog output 3.
|
|
/*16-17*/ UW output_analog_4; //!< Analog output 4.
|
|
/*18-19*/ UW output_analog_5; //!< Analog output 5.
|
|
/*20-21*/ UW output_analog_6; //!< Analog output 6.
|
|
/*22-23*/ UW output_analog_7; //!< Analog output 7.
|
|
|
|
/*24-25*/ UW input_analog_0; //!< Analog input 0.
|
|
/*26-27*/ UW input_analog_1; //!< Analog input 1.
|
|
/*28-29*/ UW input_analog_2; //!< Analog input 2.
|
|
/*30-31*/ UW input_analog_3; //!< Analog input 3.
|
|
/*32-33*/ UW input_analog_4; //!< Analog input 4.
|
|
/*34-35*/ UW input_analog_5; //!< Analog input 5.
|
|
/*36-37*/ UW input_analog_6; //!< Analog input 6.
|
|
/*38-39*/ UW input_analog_7; //!< Analog input 7.
|
|
|
|
/*40-41*/ UW output_bank_0; //!< Digital outputs 0-15.
|
|
/*42-43*/ UW output_bank_1; //!< Digital outputs 16-23.
|
|
|
|
/*44-45*/ UW input_bank_0; //!< Digital inputs 0-15.
|
|
/*46-47*/ UW input_bank_1; //!< Digital inputs 16-23.
|
|
|
|
/*48-51*/ UL pulse_count_0; //!< Pulse counter (see PC)8.
|
|
/*52-55*/ SL zc_variable; //!< ZC User-defined variable (see ZC).
|
|
/*56-59*/ SL zd_variable; //!< ZD User-defined variable (see ZD).
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/*60-61*/ UW output_bank_2; //!< Digital outputs 24-39. Data only valid for parts with 24EXOUT.
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/*62-63*/ UW output_back_3; //!< Digital outputs 40-47. Data only valid for parts with 24EXOUT.
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/*64-65*/ UW input_bank_2; //!< Digital inputs 24-39. Data only valid for parts with 24EXIN.
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/*66-67*/ UW input_bank_3; //!< Digital inputs 40-47. Data only valid for parts with 24EXIN.
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}; //GDataRecord47300_24EX
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//! Data record struct for RIO-47162.
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struct GDataRecord47162
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{
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/*Offset type name description*/
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/*00*/ UB header_0; //!< 1st Byte of Header.
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/*01*/ UB header_1; //!< 2nd Byte of Header.
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/*02*/ UB header_2; //!< 3rd Byte of Header.
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/*03*/ UB header_3; //!< 4th Byte of Header.
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/*04-05*/ UW sample_number; //!< Sample number.
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/*06*/ UB error_code; //!< Error code.
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/*07*/ UB general_status; //!< General status.
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/*08-09*/ UW output_analog_0; //!< Analog output 0.
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/*10-11*/ UW output_analog_1; //!< Analog output 1.
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/*12-13*/ UW output_analog_2; //!< Analog output 2.
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/*14-15*/ UW output_analog_3; //!< Analog output 3.
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/*16-17*/ UW output_analog_4; //!< Analog output 4.
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/*18-19*/ UW output_analog_5; //!< Analog output 5.
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/*20-21*/ UW output_analog_6; //!< Analog output 6.
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/*22-23*/ UW output_analog_7; //!< Analog output 7.
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|
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/*24-25*/ UW input_analog_0; //!< Analog input 0.
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/*26-27*/ UW input_analog_1; //!< Analog input 1.
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/*28-29*/ UW input_analog_2; //!< Analog input 2.
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|
/*30-31*/ UW input_analog_3; //!< Analog input 3.
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/*32-33*/ UW input_analog_4; //!< Analog input 4.
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|
/*34-35*/ UW input_analog_5; //!< Analog input 5.
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/*36-37*/ UW input_analog_6; //!< Analog input 6.
|
|
/*38-39*/ UW input_analog_7; //!< Analog input 7.
|
|
|
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/*40*/ UB output_byte_0; //!< Digital outputs 0-7.
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|
/*41*/ UB output_byte_1; //!< Digital outputs 8-15.
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|
/*42*/ UB output_byte_2; //!< Digital outputs 16-23.
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|
|
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/*43*/ UB input_byte_0; //!< Digital inputs 0-7.
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|
/*44*/ UB input_byte_1; //!< Digital inputs 8-15.
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|
/*45*/ UB input_byte_2; //!< Digital inputs 16-23.
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|
/*46*/ UB input_byte_3; //!< Digital inputs 24-31.
|
|
/*47*/ UB input_byte_4; //!< Digital inputs 32-39.
|
|
|
|
/*48-51*/ UL pulse_count_0; //!< Pulse counter (see PC).
|
|
/*52-55*/ SL zc_variable; //!< ZC User-defined variable (see ZC).
|
|
/*56-59*/ SL zd_variable; //!< ZD User-defined variable (see ZD).
|
|
|
|
/*60-63*/ SL encoder_0; //!< Encoder channel 0. Data only valid for parts with -BISS, -QUAD, or -SSI.
|
|
/*64-67*/ SL encoder_1; //!< Encoder channel 1. Data only valid for parts with -BISS, -QUAD, or -SSI.
|
|
/*68-71*/ SL encoder_2; //!< Encoder channel 2. Data only valid for parts with -BISS, -QUAD, or -SSI.
|
|
/*72-75*/ SL encoder_3; //!< Encoder channel 3. Data only valid for parts with -BISS, -QUAD, or -SSI.
|
|
|
|
}; //GDataRecord47162
|
|
|
|
//! Data record union, containing all structs and a generic byte array accessor.
|
|
/*!
|
|
* Named structs can be used to access typed data by name.
|
|
* Offsets into the data record can also be used by referencing the member `byte_array`.
|
|
*
|
|
* \code{.cpp}
|
|
* //Getting the sample counter for the DMC-4000.
|
|
* cout << data_record->dmc4000.sample_number << '\n'; //access by 4000 product
|
|
* cout << * ((unsigned short *) (data_record->byte_array + 4)) << '\n'; //access by pointer arithmetic
|
|
* \endcode
|
|
*/
|
|
union GDataRecord
|
|
{
|
|
struct GDataRecord4000 dmc4000;//!< The DMC-4000 data record.
|
|
struct GDataRecord4000 dmc4103; //!< The DMC-4103 data record.
|
|
struct GDataRecord4000 dmc50000;//!< The DMC-50000 data record.
|
|
|
|
struct GDataRecord52000 dmc52000;//!< The DMC-52000 data record.
|
|
|
|
struct GDataRecord30000 dmc30000;//!< The DMC-30000 data record.
|
|
|
|
struct GDataRecord2103 dmc2103; //!< The DMC-21x3 data record.
|
|
|
|
struct GDataRecord1806 dmc1806; //!< The DMC-1806 data record.
|
|
|
|
struct GDataRecord1802 dmc1802; //!< The DMC-1802 data record.
|
|
|
|
struct GDataRecord47000_ENC rio47000; //!< The RIO-471xx & 472xx data record, including encoder support.
|
|
struct GDataRecord47300_ENC rio47300; //!< The RIO 473xx data record, including encoder support.
|
|
struct GDataRecord47300_24EX rio47300_24ex; //!< The RIO 473xx data record, with 24EXOUT/24EXIN support.
|
|
struct GDataRecord47162 rio47162; //!< The RIO 47162 data record.
|
|
|
|
unsigned char byte_array[GALILDATARECORDMAXLENGTH]; //!< Generic byte array for offsets.
|
|
};
|
|
|
|
|
|
#ifdef PACKOK
|
|
#pragma pack() //return pack to default
|
|
#else
|
|
#error "Need to return structure packing for compiler"
|
|
#endif
|
|
|
|
#endif //I_210405D9_D9EF_484F_8258_BB29A1BBA217
|
|
/** @}*/ |