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519 lines
25 KiB
C
519 lines
25 KiB
C
#ifndef _APS_DEFINE_H
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#define _APS_DEFINE_H
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// Initial option
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#define INIT_MANUAL_ID (0x1) // (Bit 0) CardId manual by dip switch, Input parameter of APS_initial( cardId, "MODE" )
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#define INIT_PARALLEL_FIXED (0x2) // (Bit 1) Fixed axis indexing mode in Parallel type
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#define INIT_SERIES_FIXED (0x4) // (Bit 2) Fixed axis indexing mode in Series type
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#define INIT_NOT_RESET_DO (0x8) // (Bit 3) HSL Digital output not reset, (DO status will follow the slave status.)
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#define INIT_MNET_INTERRUPT (0x40) // (Bit 6) Enable MNET interrupt mode. (Support motion interrupt for MotionNet series)
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// Board parameter define (General)
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#define PRB_EMG_LOGIC (0x0) // Board EMG logic
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#define PRB_WDT0_VALUE (0x10) // Set / Get watch dog limit.
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#define PRB_WDT0_COUNTER (0x11) // Reset Wdt / Get Wdt_Count_Value
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#define PRB_WDT0_UNIT (0x12) // wdt_unit
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#define PRB_WDT0_ACTION (0x13) // wdt_action
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#define PRB_TMR0_BASE (0x20) // Set TMR Value
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#define PRB_TMR0_VALUE (0x21) // Get timer int count value
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#define PRB_SYS_TMP_MONITOR (0x30) // Get system temperature monitor data
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#define PRB_CPU_TMP_MONITOR (0x31) // Get CPU temperature monitor data
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#define PRB_AUX_TMP_MONITOR (0x32) // Get AUX temperature monitor data
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#define PRB_UART_MULTIPLIER (0x40) // Set UART Multiplier
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#define PRB_PSR_MODE (0x90) // Config pulser mode
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#define PRB_PSR_EA_LOGIC (0x91) // Set EA inverted
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#define PRB_PSR_EB_LOGIC (0x92) // Set EB inverted
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// Board parameter define (For PCI-8253/56)
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#define PRB_DENOMINATOR (0x80) // Floating number denominator
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//#define PRB_PSR_MODE (0x90) // Config pulser mode
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#define PRB_PSR_ENABLE (0x91) // Enable/disable pulser mode
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#define PRB_BOOT_SETTING (0x100) // Load motion parameter method when DSP boot
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// Board parameter define (For PCI-8392 SSCNET)
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#define PRB_SSC_APPLICATION (0x10000) // Reserved
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#define PRB_SSC_CYCLE_TIME (0x10000) // SSCNET cycle time selection(vaild befor start sscnet)
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#define PRB_PARA_INIT_OPT (0x00020) // Initial boot mode.
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// Board parameter define (For DPAC)
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#define PRB_DPAC_DISPLAY_MODE (0x10001) //DPAC Display mode
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#define PRB_DPAC_DI_MODE (0x10002) //Set DI pin modes
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#define PRB_DPAC_THERMAL_MONITOR_NO (0x20001) //DPAC TEST
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#define PRB_DPAC_THERMAL_MONITOR_VALUE (0x20002) //DPAC TEST
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// Axis parameter define (General)
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#define PRA_EL_LOGIC (0x00) // EL logic
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#define PRA_ORG_LOGIC (0x01) // ORG logic
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#define PRA_EL_MODE (0x02) // EL stop mode
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#define PRA_MDM_CONDI (0x03) // Motion done condition
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#define PRA_EL_EXCHANGE (0x04) // PEL, MEL exchange enable
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#define PRA_ALM_LOGIC (0x04) // ALM logic [PCI-8253/56 only]
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#define PRA_ZSP_LOGIC (0x05) // ZSP logic [PCI-8253/56 only]
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#define PRA_EZ_LOGIC (0x06) // EZ logic [PCI-8253/56 only]
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#define PRA_STP_DEC (0x07) // Stop deceleration
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#define PRA_SPEL_EN (0x08) // SPEL Enable
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#define PRA_SMEL_EN (0x09) // SMEL Enable
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#define PRA_EFB_POS0 (0x0A) // EFB position 0
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#define PRA_EFB_POS1 (0x0B) // EFB position 1
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#define PRA_EFB_CONDI0 (0x0C) // EFB position 0 condition
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#define PRA_EFB_CONDI1 (0x0D) // EFB position 1 condition
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#define PRA_EFB_SRC0 (0x0E) // EFB position 0 source
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#define PRA_EFB_SRC1 (0x0F) // EFB position 1 source
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#define PRA_HOME_MODE (0x10) // home mode
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#define PRA_HOME_DIR (0x11) // homing direction
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#define PRA_HOME_CURVE (0x12) // homing curve parten(T or s curve)
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#define PRA_HOME_ACC (0x13) // Acceleration deceleration rate
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#define PRA_HOME_VS (0x14) // homing start velocity
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#define PRA_HOME_VM (0x15) // homing max velocity
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#define PRA_HOME_VA (0x16) // homing approach velocity [PCI-8253/56 only]
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#define PRA_HOME_EZA (0x18) // EZ alignment enable
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#define PRA_HOME_VO (0x19) // Homing leave ORG velocity
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#define PRA_HOME_OFFSET (0x1A) // The escape pulse amounts(Leaving home by position)
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#define PRA_CURVE (0x20) // Move curve pattern
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#define PRA_ACC (0x21) // Move acceleration
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#define PRA_DEC (0x22) // Move deceleration
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#define PRA_VS (0x23) // Move start velocity
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#define PRA_VE (0x25) // Move end velocity
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#define PRA_SACC (0x26) // S curve acceleration
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#define PRA_SDEC (0x27) // S curve deceleration
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#define PRA_ACC_SR (0x28) // S curve ratio in acceleration( S curve with linear acceleration)
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#define PRA_DEC_SR (0x29) // S curve ratio in deceleration( S curve with linear deceleration)
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//following only for V2...
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#define PRA_DIST (0x30) // Move distance
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#define PRA_MAX_VELOCITY (0x31) // Maximum velocity
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#define PRA_SCUR_PERCENTAGE (0x32) // Scurve percentage
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#define PRA_BLENDING_MODE (0x33) // Blending mode
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#define PRA_STOP_MODE (0x34) // Stop mode
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#define PRA_STOP_DELRATE (0x35) // Stop function deceleration rate
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//================================================================================
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#define PRA_PT_STOP_ENDO (0x32) // Disable do when point table stopping.
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#define PRA_PT_STOP_DO (0x33) // Set do value when point table stopping.
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#define PRA_PWM_OFF (0x34) // Disable specified PWM output when ASTP input signal is active.
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#define PRA_DO_OFF (0x35) // Set DO value when ASTP input signal is active.
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#define PRA_JG_MODE (0x40) // Jog mode
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#define PRA_JG_DIR (0x41) // Jog move direction
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#define PRA_JG_CURVE (0x42) // Jog curve parten(T or s curve)
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#define PRA_JG_ACC (0x43) // Jog move acceleration
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#define PRA_JG_DEC (0x44) // Jog move deceleration
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#define PRA_JG_VM (0x45) // Jog move max velocity
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#define PRA_JG_STEP (0x46) // Jog offset (For step mode)
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#define PRA_JG_DELAY (0x47) // Jog delay (For step mode)
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#define PRA_MDN_DELAY (0x50) // NSTP delay setting
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#define PRA_SINP_WDW (0x51) // Soft INP window setting
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#define PRA_SINP_STBL (0x52) // Soft INP stable cycle
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#define PRA_SERVO_LOGIC (0x53) // SERVO logic
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// Axis parameter define (For PCI-8253/56)
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#define PRA_PLS_IPT_MODE (0x80) // Pulse input mode setting
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#define PRA_PLS_OPT_MODE (0x81) // Pulse output mode setting
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#define PRA_MAX_E_LIMIT (0x82) // Maximum encoder count limit
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#define PRA_ENC_FILTER (0x83) // Encoder filter
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#define PRA_EGEAR (0x84) // E-Gear ratio
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#define PRA_KP_GAIN (0x90) // PID controller Kp gain
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#define PRA_KI_GAIN (0x91) // PID controller Ki gain
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#define PRA_KD_GAIN (0x92) // PID controller Kd gain
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#define PRA_KFF_GAIN (0x93) // Velocity feedforward Kff gain
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#define PRA_KVGTY_GAIN (0x94) // Gantry controller Kvgty gain
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#define PRA_KPGTY_GAIN (0x95) // Gantry controller Kpgty gain
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#define PRA_IKP_GAIN (0x96) // PID controller Kp gain in torque mode
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#define PRA_IKI_GAIN (0x97) // PID controller Ki gain in torque mode
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#define PRA_IKD_GAIN (0x98) // PID controller Kd gain in torque mode
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#define PRA_IKFF_GAIN (0x99) // Velocity feedforward Kff gain in torque mode
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#define PRA_KAFF_GAIN (0x9A) // Acceleration feedforward Kaff gain
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//following only for V2...
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#define PRA_VOLTAGE_MAX (0x9B) // Maximum output limit
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#define PRA_VOLTAGE_MIN (0x9C) // Minimum output limit
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//================================================================================
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#define PRA_M_INTERFACE (0x100) // Motion interface
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#define PRA_M_VOL_RANGE (0x110) // Motor voltage input range
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#define PRA_M_MAX_SPEED (0x111) // Motor maximum speed
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#define PRA_M_ENC_RES (0x112) // Motor encoder resolution
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#define PRA_V_OFFSET (0x120) // Voltage offset
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#define PRA_DZ_LOW (0x121) // Dead zone low side
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#define PRA_DZ_UP (0x122) // Dead zone up side
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#define PRA_SAT_LIMIT (0x123) // Voltage saturation output limit
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#define PRA_ERR_C_LEVEL (0x124) // Error counter check level
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#define PRA_V_INVERSE (0x125) // Output voltage inverse
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#define PRA_DZ_VAL (0x126) // Dead zone output value
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#define PRA_IW_MAX (0x127) // Integral windup maximum value
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#define PRA_IW_MIN (0x128) // Integral windup minimum value
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#define PRA_BKL_DIST (0x129) // Backlash distance
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#define PRA_BKL_CNSP (0x12a) // Backlash consumption
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#define PRA_PSR_LINK (0x130) // Connect pulser number
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#define PRA_PSR_RATIO (0X131) // Set pulser ratio
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#define PRA_DA_TYPE (0x140) // DAC output type
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#define PRA_CONTROL_MODE (0x141) // Closed loop control mode
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// Axis parameter define (For PCI-8154/58)
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// Input/Output Mode
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#define PRA_PLS_IPT_LOGIC (0x200) //Reverse pulse input counting
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#define PRA_FEEDBACK_SRC (0x201) //Select feedback conter
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//IO Config
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#define PRA_ALM_MODE (0x210) //ALM Mode
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#define PRA_INP_LOGIC (0x211) //INP Logic
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#define PRA_SD_EN (0x212) //SD Enable -- Bit 8
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#define PRA_SD_MODE (0x213) //SD Mode
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#define PRA_SD_LOGIC (0x214) //SD Logic
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#define PRA_SD_LATCH (0x215) //SD Latch
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#define PRA_ERC_MODE (0x216) //ERC Mode
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#define PRA_ERC_LOGIC (0x217) //ERC logic
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#define PRA_ERC_LEN (0x218) //ERC pulse width
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#define PRA_PLS_IPT_FLT (0x21B) //EA/EB Filter Enable
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#define PRA_INP_MODE (0x21C) //INP Mode
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#define PRA_LTC_LOGIC (0x21D) //LTC LOGIC
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#define PRA_COMPENSATION_PULSE (0x221) //BACKLASH PULSE
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#define PRA_COMPENSATION_MODE (0x222) //BACKLASH MODE
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#define PRA_LTC_SRC (0x223) //LTC Source
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#define PRA_LTC_DEST (0x224) //LTC Destination
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#define PRA_LTC_DATA (0x225) //Get LTC DATA
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#define PRA_GCMP_EN (0x226) // CMP Enable
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#define PRA_GCMP_POS (0x227) // Get CMP position
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#define PRA_GCMP_SRC (0x228) // CMP source
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#define PRA_GCMP_ACTION (0x229) // CMP Action
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#define PRA_GCMP_STS (0x22A) // CMP Status
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#define PRA_VIBSUP_RT (0x22B) // Vibration Reverse Time
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#define PRA_VIBSUP_FT (0x22C) // Vibration Forward Time
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#define PRA_GPDO_SEL (0x230) //Select DO/CMP Output mode
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#define PRA_GPDI_SEL (0x231) //Select DO/CMP Output mode
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#define PRA_GPDI_LOGIC (0x232) //Set gpio input logic
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#define PRA_RDY_LOGIC (0x233) //RDY logic
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//Fixed Speed
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#define PRA_SPD_LIMIT (0x240) // Set Fixed Speed
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#define PRA_MAX_ACCDEC (0x241) // Get max acceleration by fixed speed
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#define PRA_MIN_ACCDEC (0x242) // Get min acceleration by fixed speed
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#define PRA_ENABLE_SPD (0x243) // Disable/Enable Fixed Speed only for HSL-4XMO.
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//Continuous Move
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#define PRA_CONTI_MODE (0x250) // Continuous Mode
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#define PRA_CONTI_BUFF (0x251) // Continuous Buffer
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// PCI-8144 axis parameter define
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#define PRA_CMD_CNT_EN (0x10000)
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#define PRA_MIO_SEN (0x10001)
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#define PRA_START_STA (0x10002)
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#define PRA_SPEED_CHN (0x10003)
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#define PRA_ORG_STP (0x1A)
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// Axis parameter define (For PCI-8392 SSCNET)
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#define PRA_SSC_SERVO_PARAM_SRC (0x10000) //Servo parameter source
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#define PRA_SSC_SERVO_ABS_POS_OPT (0x10001) //Absolute position system option
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#define PRA_SSC_SERVO_ABS_CYC_CNT (0x10002) //Absolute cycle counter of servo driver
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#define PRA_SSC_SERVO_ABS_RES_CNT (0x10003) //Absolute resolution counter of servo driver
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#define PRA_SSC_TORQUE_LIMIT_P (0x10004) //Torque limit positive (0.1%)
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#define PRA_SSC_TORQUE_LIMIT_N (0x10005) //Torque limit negative (0.1%)
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#define PRA_SSC_TORQUE_CTRL (0x10006) //Torque control
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#define PRA_SSC_RESOLUTION (0x10007) //resolution (E-gear)
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// Sampling parameter define
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#define SAMP_PA_RATE (0x0) //Sampling rate
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#define SAMP_PA_EDGE (0x2) //Edge select
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#define SAMP_PA_LEVEL (0x3) //Level select
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#define SAMP_PA_TRIGCH (0x5) //Select trigger channel
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//following only for V2
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#define SAMP_PA_SEL (0x6)
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//================================================================================
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#define SAMP_PA_SRC_CH0 (0x10) //Sample source of channel 0
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#define SAMP_PA_SRC_CH1 (0x11) //Sample source of channel 1
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#define SAMP_PA_SRC_CH2 (0x12) //Sample source of channel 2
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#define SAMP_PA_SRC_CH3 (0x13) //Sample source of channel 3
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// Sampling source
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#define SAMP_AXIS_MASK (0xF00)
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#define SAMP_PARAM_MASK (0xFF)
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#define SAMP_COM_POS (0x00) //command position
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#define SAMP_FBK_POS (0x01) //feedback position
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#define SAMP_CMD_VEL (0x02) //command velocity
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#define SAMP_FBK_VEL (0x03) //feedback velocity
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#define SAMP_MIO (0x04) //motion IO
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#define SAMP_MSTS (0x05) //motion status
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#define SAMP_MSTS_ACC (0x06) //motion status acc
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#define SAMP_MSTS_MV (0x07) //motion status at max velocity
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#define SAMP_MSTS_DEC (0x08) //motion status at dec
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#define SAMP_MSTS_CSTP (0x09) //motion status CSTP
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#define SAMP_MSTS_NSTP (0x0A) //motion status NSTP
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#define SAMP_MIO_INP (0x0B) //motion status INP
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#define SAMP_MIO_ZERO (0x0C) //motion status ZERO
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#define SAMP_MIO_ORG (0x0D) //motion status OGR
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#define SAMP_SSC_MON_0 (0x10) // SSCNET servo monitor ch0
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#define SAMP_SSC_MON_1 (0x11) // SSCNET servo monitor ch1
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#define SAMP_SSC_MON_2 (0x12) // SSCNET servo monitor ch2
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#define SAMP_SSC_MON_3 (0x13) // SSCNET servo monitor ch3
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#define SAMP_CONTROL_VOL (0x20) //
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#define SAMP_GTY_DEVIATION (0x21)
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#define SAMP_ENCODER_RAW (0x22)
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#define SAMP_ERROR_COUNTER (0x23)
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//FieldBus parameter define
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#define PRF_COMMUNICATION_TYPE (0x00)// FiledBus Communication Type(Full/half duplex)
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#define PRF_TRANSFER_RATE (0x01)// FiledBus Transfer Rate
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#define PRF_HUB_NUMBER (0x02)// FiledBus Hub Number
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#define PRF_INITIAL_TYPE (0x03)// FiledBus Initial Type(Clear/Reserve Do area)
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#define PRF_CHKERRCNT_LAYER (0x04)// Set the check error count layer.
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//Gantry parameter number define [Only for PCI-8392, PCI-8253/56]
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#define GANTRY_MODE (0x0)
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#define GENTRY_DEVIATION (0x1)
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#define GENTRY_DEVIATION_STP (0x2)
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// Filter parameter number define [Only for PCI-8253/56]
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#define FTR_TYPE_ST0 (0x00) // Station 0 filter type
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#define FTR_FC_ST0 (0x01) // Station 0 filter cutoff frequency
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#define FTR_BW_ST0 (0x02) // Station 0 filter bandwidth
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#define FTR_ENABLE_ST0 (0x03) // Station 0 filter enable/disable
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#define FTR_TYPE_ST1 (0x10) // Station 1 filter type
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#define FTR_FC_ST1 (0x11) // Station 1 filter cutoff frequency
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#define FTR_BW_ST1 (0x12) // Station 1 filter bandwidth
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#define FTR_ENABLE_ST1 (0x13) // Station 1 filter enable/disable
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// Device name define
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#define DEVICE_NAME_NULL (0xFFFF)
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#define DEVICE_NAME_PCI_8392 (0)
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#define DEVICE_NAME_PCI_825X (1)
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#define DEVICE_NAME_PCI_8154 (2)
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#define DEVICE_NAME_PCI_785X (3)
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#define DEVICE_NAME_PCI_8158 (4)
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#define DEVICE_NAME_PCI_7856 (5)
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#define DEVICE_NAME_ISA_DPAC1000 (6)
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#define DEVICE_NAME_ISA_DPAC3000 (7)
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#define DEVICE_NAME_PCI_8144 (8)
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#define DEVICE_NAME_PCI_8102 (9)
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///////////////////////////////////////////////
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// HSL Slave module definition
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///////////////////////////////////////////////
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#define SLAVE_NAME_UNKNOWN (0x000)
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#define SLAVE_NAME_HSL_DI32 (0x100)
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#define SLAVE_NAME_HSL_DO32 (0x101)
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#define SLAVE_NAME_HSL_DI16DO16 (0x102)
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#define SLAVE_NAME_HSL_AO4 (0x103)
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#define SLAVE_NAME_HSL_AI16AO2_VV (0x104)
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#define SLAVE_NAME_HSL_AI16AO2_AV (0x105)
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#define SLAVE_NAME_HSL_DI16UL (0x106)
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#define SLAVE_NAME_HSL_DI16RO8 (0x107)
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#define SLAVE_NAME_HSL_4XMO (0x108)
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#define SLAVE_NAME_HSL_DI16_UCT (0x109)
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#define SLAVE_NAME_HSL_DO16_UCT (0x10A)
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#define SLAVE_NAME_HSL_DI8DO8 (0x10B)
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///////////////////////////////////////////////
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// MNET Slave module definition
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///////////////////////////////////////////////
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#define SLAVE_NAME_MNET_1XMO (0x200)
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#define SLAVE_NAME_MNET_4XMO (0x201)
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#define SLAVE_NAME_MNET_4XMO_C (0x202)
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//Trigger parameter number define. [Only for PCI-8253/56]
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#define TG_LCMP0_SRC (0x00)
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#define TG_LCMP1_SRC (0x01)
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#define TG_TCMP0_SRC (0x02)
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#define TG_TCMP1_SRC (0x03)
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#define TG_LCMP0_EN (0x04)
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#define TG_LCMP1_EN (0x05)
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#define TG_TCMP0_EN (0x06)
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#define TG_TCMP1_EN (0x07)
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#define TG_TRG0_SRC (0x10)
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#define TG_TRG1_SRC (0x11)
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#define TG_TRG2_SRC (0x12)
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#define TG_TRG3_SRC (0x13)
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#define TG_TRG0_PWD (0x14)
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#define TG_TRG1_PWD (0x15)
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#define TG_TRG2_PWD (0x16)
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#define TG_TRG3_PWD (0x17)
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#define TG_TRG0_CFG (0x18) //Also for HSL-4XMO
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#define TG_TRG1_CFG (0x19) //Also for HSL-4XMO
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#define TG_TRG2_CFG (0x1A) //Also for HSL-4XMO
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#define TG_TRG3_CFG (0x1B) //Also for HSL-4XMO
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#define TMR_ITV (0x20)
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#define TMR_EN (0x21)
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//Trigger parameter number define. [Only for MNET-4XMO-C & HSL-4XMO]
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#define TG_CMP0_SRC (0x00)
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#define TG_CMP1_SRC (0x01)
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#define TG_CMP2_SRC (0x02)
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#define TG_CMP3_SRC (0x03)
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#define TG_CMP0_EN (0x04)
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#define TG_CMP1_EN (0x05)
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#define TG_CMP2_EN (0x06)
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#define TG_CMP3_EN (0x07)
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#define TG_CMP0_TYPE (0x08)
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#define TG_CMP1_TYPE (0x09)
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#define TG_CMP2_TYPE (0x0A)
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#define TG_CMP3_TYPE (0x0B)
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#define TG_CMPH_EN (0x0C) //Not for HSL-4XMO
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#define TG_CMPH_DIR_EN (0x0D) //Not for HSL-4XMO
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#define TG_CMPH_DIR (0x0E) //Not for HSL-4XMO
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//#define TG_TRG0_SRC (0x10)
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//#define TG_TRG1_SRC (0x11)
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//#define TG_TRG2_SRC (0x12)
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//#define TG_TRG3_SRC (0x13)
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//#define TG_TRG0_PWD (0x14)
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//#define TG_TRG1_PWD (0x15)
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//#define TG_TRG2_PWD (0x16)
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//#define TG_TRG3_PWD (0x17)
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//#define TG_TRG0_CFG (0x18)
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//#define TG_TRG1_CFG (0x19)
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//#define TG_TRG2_CFG (0x1A)
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//#define TG_TRG3_CFG (0x1B)
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#define TG_ENCH_CFG (0x20) //Not for HSL-4XMO
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#define TG_TRG0_CMP_DIR (0x21) //Only for HSL-4XMO
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#define TG_TRG1_CMP_DIR (0x22) //Only for HSL-4XMO
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#define TG_TRG2_CMP_DIR (0x23) //Only for HSL-4XMO
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#define TG_TRG3_CMP_DIR (0x24) //Only for HSL-4XMO
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// Motion IO status bit number define.
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#define MIO_ALM (0) // Servo alarm.
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#define MIO_PEL (1) // Positive end limit.
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#define MIO_MEL (2) // Negative end limit.
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#define MIO_ORG (3) // ORG (Home)
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#define MIO_EMG (4) // Emergency stop
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#define MIO_EZ (5) // EZ.
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#define MIO_INP (6) // In position.
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#define MIO_SVON (7) // Servo on signal.
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#define MIO_RDY (8) // Ready.
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#define MIO_WARN (9) // Warning.
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#define MIO_ZSP (10) // Zero speed.
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#define MIO_SPEL (11) // Soft positive end limit.
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#define MIO_SMEL (12) // Soft negative end limit.
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#define MIO_TLC (13) // Torque is limited by torque limit value.
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#define MIO_ABSL (14) // Absolute position lost.
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#define MIO_STA (15) // External start signal.
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#define MIO_PSD (16) // Positive slow down signal
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#define MIO_MSD (17) // Negative slow down signal
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// Motion status bit number define.
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#define MTS_CSTP (0) // Command stop signal.
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#define MTS_VM (1) // At maximum velocity.
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#define MTS_ACC (2) // In acceleration.
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#define MTS_DEC (3) // In deceleration.
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#define MTS_DIR (4) // (Last)Moving direction.
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#define MTS_NSTP (5) // Normal stop(Motion done).
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#define MTS_HMV (6) // In home operation.
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#define MTS_SMV (7) // Single axis move( relative, absolute, velocity move).
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#define MTS_LIP (8) // Linear interpolation.
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#define MTS_CIP (9) // Circular interpolation.
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#define MTS_VS (10) // At start velocity.
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#define MTS_PMV (11) // Point table move.
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#define MTS_PDW (12) // Point table dwell move.
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#define MTS_PPS (13) // Point table pause state.
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#define MTS_SLV (14) // Slave axis move.
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#define MTS_JOG (15) // Jog move.
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#define MTS_ASTP (16) // Abnormal stop.
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#define MTS_SVONS (17) // Servo off stopped.
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#define MTS_EMGS (18) // EMG / SEMG stopped.
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#define MTS_ALMS (19) // Alarm stop.
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#define MTS_WANS (20) // Warning stopped.
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#define MTS_PELS (21) // PEL stopped.
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#define MTS_MELS (22) // MEL stopped.
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#define MTS_ECES (23) // Error counter check level reaches and stopped.
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#define MTS_SPELS (24) // Soft PEL stopped.
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#define MTS_SMELS (25) // Soft MEL stopped.
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#define MTS_STPOA (26) // Stop by others axes.
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#define MTS_GDCES (27) // Gantry deviation error level reaches and stopped.
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#define MTS_GTM (28) // Gantry mode turn on.
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#define MTS_PAPB (29) // Pulsar mode turn on.
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// Motion IO status bit value define.
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#define MIO_ALM_V (0x1) // Servo alarm.
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#define MIO_PEL_V (0x2) // Positive end limit.
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#define MIO_MEL_V (0x4) // Negative end limit.
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#define MIO_ORG_V (0x8) // ORG (Home).
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#define MIO_EMG_V (0x10) // Emergency stop.
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#define MIO_EZ_V (0x20) // EZ.
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#define MIO_INP_V (0x40) // In position.
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#define MIO_SVON_V (0x80) // Servo on signal.
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#define MIO_RDY_V (0x100) // Ready.
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#define MIO_WARN_V (0x200) // Warning.
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#define MIO_ZSP_V (0x400) // Zero speed.
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#define MIO_SPEL_V (0x800) // Soft positive end limit.
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#define MIO_SMEL_V (0x1000) // Soft negative end limit.
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#define MIO_TLC_V (0x2000) // Torque is limited by torque limit value.
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#define MIO_ABSL_V (0x4000) // Absolute position lost.
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#define MIO_STA_V (0x8000) // External start signal.
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#define MIO_PSD_V (0x10000) // Positive slow down signal.
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#define MIO_MSD_V (0x20000) // Negative slow down signal.
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// Motion status bit value define.
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#define MTS_CSTP_V (0x1) // Command stop signal.
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#define MTS_VM_V (0x2) // At maximum velocity.
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#define MTS_ACC_V (0x4) // In acceleration.
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#define MTS_DEC_V (0x8) // In deceleration.
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#define MTS_DIR_V (0x10) // (Last)Moving direction.
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#define MTS_NSTP_V (0x20) // Normal stop(Motion done).
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#define MTS_HMV_V (0x40) // In home operation.
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#define MTS_SMV_V (0x80) // Single axis move( relative, absolute, velocity move).
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#define MTS_LIP_V (0x100) // Linear interpolation.
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#define MTS_CIP_V (0x200) // Circular interpolation.
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#define MTS_VS_V (0x400) // At start velocity.
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#define MTS_PMV_V (0x800) // Point table move.
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#define MTS_PDW_V (0x1000) // Point table dwell move.
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#define MTS_PPS_V (0x2000) // Point table pause state.
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#define MTS_SLV_V (0x4000) // Slave axis move.
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#define MTS_JOG_V (0x8000) // Jog move.
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#define MTS_ASTP_V (0x10000) // Abnormal stop.
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#define MTS_SVONS_V (0x20000) // Servo off stopped.
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#define MTS_EMGS_V (0x40000) // EMG / SEMG stopped.
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#define MTS_ALMS_V (0x80000) // Alarm stop.
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#define MTS_WANS_V (0x100000) // Warning stopped.
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#define MTS_PELS_V (0x200000) // PEL stopped.
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#define MTS_MELS_V (0x400000) // MEL stopped.
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#define MTS_ECES_V (0x800000) // Error counter check level reaches and stopped.
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#define MTS_SPELS_V (0x1000000) // Soft PEL stopped.
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#define MTS_SMELS_V (0x2000000) // Soft MEL stopped.
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#define MTS_STPOA_V (0x4000000) // Stop by others axes.
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#define MTS_GDCES_V (0x8000000) // Gantry deviation error level reaches and stopped.
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#define MTS_GTM_V (0x10000000) // Gantry mode turn on.
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#define MTS_PAPB_V (0x20000000) // Pulsar mode turn on.
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// PointTable, option
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//
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#define PT_OPT_ABS (0x00000000) // move, absolute
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#define PT_OPT_REL (0x00000001) // move, relative
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#define PT_OPT_LINEAR (0x00000000) // move, linear
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#define PT_OPT_ARC (0x00000004) // move, arc
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#define PT_OPT_FC_CSTP (0x00000000) // signal, command stop (finish condition)
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#define PT_OPT_FC_INP (0x00000010) // signal, in position
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#define PT_OPT_LAST_POS (0x00000020) // last point index
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#define PT_OPT_DWELL (0x00000040) // dwell
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#define PT_OPT_RAPID (0x00000080) // rapid positioning
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#define PT_OPT_NOARC (0x00010000) // do not add arc
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#define PT_OPT_SCUVE (0x00000002) // s-curve
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#endif
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