 |
EtherCAT Slave
1.06.01
|
|
|
EtherCAT Slave
1.06.01
|
|
Macros | |
| #define | CONTROLWORD_COMMAND_SHUTDOWN_MASK 0x0087 |
| Shutdown command mask. More... | |
| #define | CONTROLWORD_COMMAND_SWITCHON_MASK 0x008F |
| Switch on command mask. More... | |
| #define | CONTROLWORD_COMMAND_SWITCHON_ENABLEOPERATION_MASK 0x008F |
| Switch on & Enable command mask. More... | |
| #define | CONTROLWORD_COMMAND_DISABLEVOLTAGE_MASK 0x0082 |
| Disable voltage command mask. More... | |
| #define | CONTROLWORD_COMMAND_QUICKSTOP_MASK 0x0086 |
| Quickstop command mask. More... | |
| #define | CONTROLWORD_COMMAND_DISABLEOPERATION_MASK 0x008F |
| Disable operation command mask. More... | |
| #define | CONTROLWORD_COMMAND_ENABLEOPERATION_MASK 0x008F |
| Enable operation command mask. More... | |
| #define | CONTROLWORD_COMMAND_FAULTRESET_MASK 0x0080 |
| Fault reset command mask. More... | |
| #define | CONTROLWORD_COMMAND_SHUTDOWN 0x0006 |
| Shutdown command. More... | |
| #define | CONTROLWORD_COMMAND_SWITCHON 0x0007 |
| Switch on command. More... | |
| #define | CONTROLWORD_COMMAND_SWITCHON_ENABLEOPERATION 0x000F |
| Switch on & Enable command. More... | |
| #define | CONTROLWORD_COMMAND_DISABLEVOLTAGE 0x0000 |
| Disable voltage command. More... | |
| #define | CONTROLWORD_COMMAND_QUICKSTOP 0x0002 |
| Quickstop command. More... | |
| #define | CONTROLWORD_COMMAND_DISABLEOPERATION 0x0007 |
| Disable operation command. More... | |
| #define | CONTROLWORD_COMMAND_ENABLEOPERATION 0x000F |
| Enable operation command. More... | |
| #define | CONTROLWORD_COMMAND_FAULTRESET 0x0080 |
| Fault reset command. More... | |
| #define | STATUSWORD_STATE_MASK 0x006F |
| State mask. More... | |
| #define | STATUSWORD_VOLTAGE_ENABLED 0x0010 |
| Indicate high voltage enabled. More... | |
| #define | STATUSWORD_WARNING 0x0080 |
| Warning active. More... | |
| #define | STATUSWORD_MANUFACTORSPECIFIC 0x0100 |
| Manufacturer specific. More... | |
| #define | STATUSWORD_INTERNAL_LIMIT 0x0800 |
| Internal limit. More... | |
| #define | STATUSWORD_REMOTE 0x0200 |
| Set if the control word is processed. More... | |
| #define | STATUSWORD_TARGET_REACHED 0x0400 |
| Target reached. More... | |
| #define | STATUSWORD_INTERNALLIMITACTIVE 0x0800 |
| Internal limit active. More... | |
| #define | STATUSWORD_DRIVE_FOLLOWS_COMMAND 0x1000 |
| Drive follows command (used in cyclic synchronous modes) More... | |
| #define | STATUSWORD_STATE_NOTREADYTOSWITCHON 0x0000 |
| Not ready to switch on. More... | |
| #define | STATUSWORD_STATE_SWITCHEDONDISABLED 0x0040 |
| Switched on but disabled. More... | |
| #define | STATUSWORD_STATE_READYTOSWITCHON 0x0021 |
| Ready to switch on. More... | |
| #define | STATUSWORD_STATE_SWITCHEDON 0x0023 |
| Switched on. More... | |
| #define | STATUSWORD_STATE_OPERATIONENABLED 0x0027 |
| Operation enabled. More... | |
| #define | STATUSWORD_STATE_QUICKSTOPACTIVE 0x0007 |
| Quickstop active. More... | |
| #define | STATUSWORD_STATE_FAULTREACTIONACTIVE 0x000F |
| Fault reaction active. More... | |
| #define | STATUSWORD_STATE_FAULT 0x0008 |
| Fault state. More... | |
| #define | STATE_NOT_READY_TO_SWITCH_ON 0x0001 |
| Not ready to switch on (optional) More... | |
| #define | STATE_SWITCH_ON_DISABLED 0x0002 |
| Switch on but disabled (optional) More... | |
| #define | STATE_READY_TO_SWITCH_ON 0x0004 |
| Ready to switch on (mandatory) More... | |
| #define | STATE_SWITCHED_ON 0x0008 |
| Switch on (mandatory) More... | |
| #define | STATE_OPERATION_ENABLED 0x0010 |
| Operation enabled (mandatory) More... | |
| #define | STATE_QUICK_STOP_ACTIVE 0x0020 |
| Quick stop active (optional) More... | |
| #define | STATE_FAULT_REACTION_ACTIVE 0x0040 |
| Fault reaction active (mandatory) More... | |
| #define | STATE_FAULT 0x0080 |
| Fault state (mandatory) More... | |
| #define | NO_MODE 0 |
| No mode. More... | |
| #define | PROFILE_POSITION_MODE 1 |
| Position Profile mode. More... | |
| #define | VELOCITY_MODE 2 |
| Velocity mode. More... | |
| #define | PROFILE_VELOCITY_MOCE 3 |
| Velocity Profile mode. More... | |
| #define | PROFILE_TORQUE_MODE 4 |
| Torque Profile mode. More... | |
| #define | HOMING_MODE 6 |
| Homing mode. More... | |
| #define | INTERPOLATION_POSITION_MODE 7 |
| Interpolation Position mode. More... | |
| #define | CYCLIC_SYNC_POSITION_MODE 8 |
| Cyclic Synchronous Position mode. More... | |
| #define | CYCLIC_SYNC_VELOCITY_MODE 9 |
| Cyclic Synchronous Velocity mode. More... | |
| #define | CYCLIC_SYNC_TORQUE_MODE 10 |
| Cyclic Synchronous Torque mode. More... | |
| #define | ERROR_SHORT_CIRCUIT_EARTH_LEAKAGE_INPUT 0x2110 |
| Short circuit/earth leakage (input) More... | |
| #define | ERROR_EARTH_LEAKAGE_INPUT 0x2120 |
| Earth leakage (input) More... | |
| #define | ERROR_EARTH_LEAKAGE_PHASE_L1 0x2121 |
| Earth leakage phase L1. More... | |
| #define | ERROR_EARTH_LEAKAGE_PHASE_L2 0x2122 |
| Earth leakage phase L2. More... | |
| #define | ERROR_EARTH_LEAKAGE_PHASE_L3 0x2123 |
| Earth leakage phase L3. More... | |
| #define | ERROR_SHORT_CIRCUIT_INPUT 0x2130 |
| Short circuit (input) More... | |
| #define | ERROR_SHORT_CIRCUIT_PHASES_L1_L2 0x2131 |
| Short circuit phases L1-L2. More... | |
| #define | ERROR_SHORT_CIRCUIT_PHASES_L2_L3 0x2132 |
| Short circuit phases L2-L3. More... | |
| #define | ERROR_SHORT_CIRCUIT_PHASES_L3_L1 0x2133 |
| Short circuit phases L3-L1. More... | |
| #define | ERROR_INTERNAL_CURRENT_NO1 0x2211 |
| Internal current no 1. More... | |
| #define | ERROR_INTERNAL_CURRENT_NO2 0x2212 |
| Internal current no 2. More... | |
| #define | ERROR_OVER_CURRENT_IN_RAMP_FUNCTION 0x2213 |
| Over-current in ramp function. More... | |
| #define | ERROR_OVER_CURRENT_IN_THE_SEQUENCE 0x2214 |
| Over-current in the sequence. More... | |
| #define | ERROR_CONTINUOUS_OVER_CURRENT_DEVICE_INTERNAL 0x2220 |
| Continuous over current (device internal) More... | |
| #define | ERROR_CONTINUOUS_OVER_CURRENT_DEVICE_INTERNAL_NO1 0x2221 |
| Continuous over current no 1. More... | |
| #define | ERROR_CONTINUOUS_OVER_CURRENT_DEVICE_INTERNAL_NO2 0x2222 |
| Continuous over current no 2. More... | |
| #define | ERROR_SHORT_CIRCUIT_EARTH_LEAKAGE_DEVICE_INTERNAL 0x2230 |
| Short circuit/earth leakage (device internal) More... | |
| #define | ERROR_EARTH_LEAKAGE_DEVICE_INTERNAL 0x2240 |
| Earth leakage (device internal) More... | |
| #define | ERROR_SHORT_CIRCUIT_DEVICE_INTERNAL 0x2250 |
| Short circuit (device internal) More... | |
| #define | ERROR_CONTINUOUS_OVER_CURRENT 0x2310 |
| Continuous over current. More... | |
| #define | ERROR_CONTINUOUS_OVER_CURRENT_NO1 0x2311 |
| Continuous over current no 1. More... | |
| #define | ERROR_CONTINUOUS_OVER_CURRENT_NO2 0x2312 |
| Continuous over current no 2. More... | |
| #define | ERROR_SHORT_CIRCUIT_EARTH_LEAKAGE_MOTOR_SIDE 0x2320 |
| Short circuit/earth leakage (motor-side) More... | |
| #define | ERROR_EARTH_LEAKAGE_MOTOR_SIDE 0x2330 |
| Earth leakage (motor-side) More... | |
| #define | ERROR_EARTH_LEAKAGE_PHASE_U 0x2331 |
| Earth leakage phase U. More... | |
| #define | ERROR_EARTH_LEAKAGE_PHASE_V 0x2332 |
| Earth leakage phase V. More... | |
| #define | ERROR_EARTH_LEAKAGE_PHASE_W 0x2333 |
| Earth leakage phase W. More... | |
| #define | ERROR_SHORT_CIRCUIT_MOTOR_SIDE 0x2340 |
| Short circuit (motor-side) More... | |
| #define | ERROR_SHORT_CIRCUIT_PHASES_U_V 0x2341 |
| Short circuit phases U-V. More... | |
| #define | ERROR_EARTH_LEAKAGE_PHASE_V_W 0x2342 |
| Earth leakage phase V-W. More... | |
| #define | ERROR_EARTH_LEAKAGE_PHASE_W_U 0x2343 |
| Earth leakage phase W-U. More... | |
| #define | ERROR_LOAD_LEVEL_FAULT_I2T_THERMAL_STATE 0x2350 |
| Load level fault (I2t, thermal state) More... | |
| #define | ERROR_LOAD_LEVEL_WARNING_I2T_THERMAL_STATE 0x2351 |
| Load level warning (I2t, thermal state) More... | |
| #define | ERROR_MAINS_OVER_VOLTAGE 0x3110 |
| Mains over-voltage. More... | |
| #define | ERROR_MAINS_OVER_VOLTAGE_PHASE_L1 0x3111 |
| Mains over-voltage phase L1. More... | |
| #define | ERROR_MAINS_OVER_VOLTAGE_PHASE_L2 0x3112 |
| Mains over-voltage phase L2. More... | |
| #define | ERROR_MAINS_OVER_VOLTAGE_PHASE_L3 0x3113 |
| Mains over-voltage phase L3. More... | |
| #define | ERROR_MAINS_UNDER_VOLTAGE 0x3120 |
| Mains under-voltage. More... | |
| #define | ERROR_MAINS_UNDER_VOLTAGE_PHASE_L1 0x3121 |
| Mains under-voltage phase L1. More... | |
| #define | ERROR_MAINS_UNDER_VOLTAGE_PHASE_L2 0x3122 |
| Mains under-voltage phase L2. More... | |
| #define | ERROR_MAINS_UNDER_VOLTAGE_PHASE_L3 0x3123 |
| Mains under-voltage phase L3. More... | |
| #define | ERROR_PHASE_FAILURE 0x3130 |
| Phase failure. More... | |
| #define | ERROR_PHASE_FAILURE_L1 0x3131 |
| Phase failure L1. More... | |
| #define | ERROR_PHASE_FAILURE_L2 0x3132 |
| Phase failure L2. More... | |
| #define | ERROR_PHASE_FAILURE_L3 0x3133 |
| Phase failure L3. More... | |
| #define | ERROR_PHASE_SEQUENCE 0x3134 |
| Phase sequence. More... | |
| #define | ERROR_MAINS_FREQUENCY 0x3140 |
| Mains frequency. More... | |
| #define | ERROR_MAINS_FREQUENCY_TOO_GREAT 0x3141 |
| Mains frequency too great. More... | |
| #define | ERROR_MAINS_FREQUENCY_TOO_SMALL 0x3142 |
| Mains frequency too small. More... | |
| #define | ERROR_DC_LINK_OVER_VOLTAGE 0x3210 |
| DC link over-voltage. More... | |
| #define | ERROR_OVER_VOLTAGE_NO_1 0x3211 |
| Over-voltage no 1. More... | |
| #define | ERROR_OVER_VOLTAGE_NO_2 0x3212 |
| Over voltage no 2. More... | |
| #define | ERROR_DC_LINK_UNDER_VOLTAGE 0x3220 |
| DC link under-voltage. More... | |
| #define | ERROR_UNDER_VOLTAGE_NO_1 0x3221 |
| Under-voltage no 1. More... | |
| #define | ERROR_UNDER_VOLTAGE_NO_2 0x3222 |
| Under-voltage no 2. More... | |
| #define | ERROR_LOAD_ERROR 0x3230 |
| Load error. More... | |
| #define | ERROR_OUTPUT_OVER_VOLTAGE 0x3310 |
| Output over-voltage. More... | |
| #define | ERROR_OUTPUT_OVER_VOLTAGE_PHASE_U 0x3311 |
| Output over-voltage phase U. More... | |
| #define | ERROR_OUTPUT_OVER_VOLTAGE_PHASE_V 0x3312 |
| Output over-voltage phase V. More... | |
| #define | ERROR_OUTPUT_OVER_VOLTAGE_PHASE_W 0x3313 |
| Output over-voltage phase W. More... | |
| #define | ERROR_ARMATURE_CIRCUIT 0x3320 |
| Armature circuit. More... | |
| #define | ERROR_ARMATURE_CIRCUIT_INTERRUPTED 0x3321 |
| Armature circuit interrupted. More... | |
| #define | ERROR_FIELD_CIRCUIT 0x3330 |
| Field circuit error. More... | |
| #define | ERROR_FIELD_CIRCUIT_INTERRUPTED 0x3331 |
| Field circuit interrupted. More... | |
| #define | ERROR_EXCESS_AMBIENT_TEMPERATURE 0x4110 |
| Excess ambient temperature. More... | |
| #define | ERROR_TOO_LOW_AMBIENT_TEMPERATURE 0x4120 |
| Too low ambient temperature. More... | |
| #define | ERROR_TEMPERATURE_SUPPLY_AIR 0x4130 |
| Temperature supply air. More... | |
| #define | ERROR_TEMPERATURE_AIR_OUTLET 0x4140 |
| Temperature air outlet. More... | |
| #define | ERROR_EXCESS_TEMPERATURE_DEVICE 0x4210 |
| Excess temperature device. More... | |
| #define | ERROR_TOO_LOW_TEMPERATURE_DEVICE 0x4220 |
| Too low temperature device. More... | |
| #define | ERROR_TEMPERATURE_DRIVE 0x4300 |
| Temperature drive error. More... | |
| #define | ERROR_EXCESS_TEMPERATURE_DRIVE 0x4310 |
| Excess temperature drive error. More... | |
| #define | ERROR_TOO_LOW_TEMPERATURE_DRIVE 0x4320 |
| Too low temperature drive error. More... | |
| #define | ERROR_TEMPERATURE_SUPPLY 0x4400 |
| Temperature supply error. More... | |
| #define | ERROR_EXCESS_TEMPERATURE_SUPPLY 0x4410 |
| Excess temperature supply. More... | |
| #define | ERROR_TOO_LOW_TEMPERATURE_SUPPLY 0x4420 |
| Too low temperature supply. More... | |
| #define | ERROR_SUPPLY_ERROR 0x5100 |
| Supply error. More... | |
| #define | ERROR_SUPPLY_LOW_VOLTAGE 0x5110 |
| Supply low voltage. More... | |
| #define | ERROR_U1_SUPPLY_15V 0x5111 |
| U1 = supply +15V/-15V. More... | |
| #define | ERROR_U2_SUPPLY_24_V 0x5112 |
| U2 = supply +24 V. More... | |
| #define | ERROR_U3_SUPPLY_5_V 0x5113 |
| U3 = supply +5 V. More... | |
| #define | ERROR_U4_MANUFACTURER_SPECIFIC 0x5114 |
| U4 = manufacturer-specific error. More... | |
| #define | ERROR_U5_MANUFACTURER_SPECIFIC 0x5115 |
| U5 = manufacturer-specific error. More... | |
| #define | ERROR_U6_MANUFACTURER_SPECIFIC 0x5116 |
| U6 = manufacturer-specific error. More... | |
| #define | ERROR_U7_MANUFACTURER_SPECIFIC 0x5117 |
| U7 = manufacturer-specific error. More... | |
| #define | ERROR_U8_MANUFACTURER_SPECIFIC 0x5118 |
| U8 = manufacturer-specific error. More... | |
| #define | ERROR_U9_MANUFACTURER_SPECIFIC 0x5119 |
| U9 = manufacturer-specific error. More... | |
| #define | ERROR_SUPPLY_INTERMEDIATE_CIRCUIT 0x5120 |
| Supply intermediate circuit. More... | |
| #define | ERROR_CONTROL_MEASUREMENT_CIRCUIT 0x5210 |
| Measurement circuit. More... | |
| #define | ERROR_CONTROL_COMPUTING_CIRCUIT 0x5220 |
| Computing circuit. More... | |
| #define | ERROR_OPERATING_UNIT 0x5300 |
| Operating unit error. More... | |
| #define | ERROR_POWER_SECTION 0x5400 |
| Power section error. More... | |
| #define | ERROR_OUTPUT_STAGES 0x5410 |
| Output stages error. More... | |
| #define | ERROR_CHOPPER 0x5420 |
| Chopper error. More... | |
| #define | ERROR_INPUT_STAGES 0x5430 |
| Input stages error. More... | |
| #define | ERROR_CONTACTS_ERROR 0x5440 |
| Contacts error. More... | |
| #define | ERROR_CONTACT_1_MANUFACTURER_SPECIFIC 0x5441 |
| Contact 1 = manufacturer-specific error. More... | |
| #define | ERROR_CONTACT_2_MANUFACTURER_SPECIFIC 0x5442 |
| Contact 2 = manufacturer-specific error. More... | |
| #define | ERROR_CONTACT_3_MANUFACTURER_SPECIFIC 0x5443 |
| Contact 3 = manufacturer-specific error. More... | |
| #define | ERROR_CONTACT_4_MANUFACTURER_SPECIFIC 0x5444 |
| Contact 4 = manufacturer-specific error. More... | |
| #define | ERROR_CONTACT_5_MANUFACTURER_SPECIFIC 0x5445 |
| Contact 5 = manufacturer-specific error. More... | |
| #define | ERROR_FUSES_ERROR 0x5450 |
| Fuses error. More... | |
| #define | ERROR_S1_L1 0x5451 |
| S1 = l1 error. More... | |
| #define | ERROR_S2_L2 0x5452 |
| S2 = l2 error. More... | |
| #define | ERROR_S3_L3 0x5453 |
| S3 = l3 error. More... | |
| #define | ERROR_S4_MANUFACTURER_SPECIFIC 0x5454 |
| S4 = manufacturer-specific error. More... | |
| #define | ERROR_S5_MANUFACTURER_SPECIFIC 0x5455 |
| S5 = manufacturer-specific error. More... | |
| #define | ERROR_S6_MANUFACTURER_SPECIFIC 0x5456 |
| S6 = manufacturer-specific error. More... | |
| #define | ERROR_S7_MANUFACTURER_SPECIFIC 0x5457 |
| S7 = manufacturer-specific error. More... | |
| #define | ERROR_S8_MANUFACTURER_SPECIFIC 0x5458 |
| S8 = manufacturer-specific error. More... | |
| #define | ERROR_S9_MANUFACTURER_SPECIFIC 0x5459 |
| S9 = manufacturer-specific error. More... | |
| #define | ERROR_HARDWARE_MEMORY 0x5500 |
| Hardware memory error. More... | |
| #define | ERROR_RAM 0x5510 |
| RAM error. More... | |
| #define | ERROR_ROM_EPROM 0x5520 |
| ROM/EPROM error. More... | |
| #define | ERROR_EEPROM 0x5530 |
| EEPROM error. More... | |
| #define | ERROR_SOFTWARE_RESET_WATCHDOG 0x6010 |
| Software reset (watchdog) More... | |
| #define | ERROR_LOSS_OF_PARAMETERS 0x6310 |
| Loss of parameters. More... | |
| #define | ERROR_PARAMETER_ERROR 0x6320 |
| Parameter error. More... | |
| #define | ERROR_POWER_ERROR 0x7100 |
| Power error. More... | |
| #define | ERROR_BRAKE_CHOPPER 0x7110 |
| Brake chopper. More... | |
| #define | ERROR_FAILURE_BRAKE_CHOPPER 0x7111 |
| Failure brake chopper. More... | |
| #define | ERROR_OVER_CURRENT_BRAKE_CHOPPER 0x7112 |
| Over current brake chopper. More... | |
| #define | ERROR_PROTECTIVE_CIRCUIT_BRAKE_CHOPPER 0x7113 |
| Protective circuit brake chopper error. More... | |
| #define | ERROR_MOTOR_ERROR 0x7120 |
| Motor error. More... | |
| #define | ERROR_MOTOR_BLOCKED 0x7121 |
| Motor blocked error. More... | |
| #define | ERROR_MOTOR_ERROR_OR_COMMUTATION_MALFUNC 0x7122 |
| Motor error or commutation malfunc. More... | |
| #define | ERROR_MOTOR_TILTED 0x7123 |
| Motor tilted. More... | |
| #define | ERROR_MEASUREMENT_CIRCUIT 0x7200 |
| Measurement circuit. More... | |
| #define | ERROR_SENSOR_ERROR 0x7300 |
| Sensor error. More... | |
| #define | ERROR_TACHO_FAULT 0x7301 |
| Tacho fault. More... | |
| #define | ERROR_TACHO_WRONG_POLARITY 0x7302 |
| Tacho wrong polarity. More... | |
| #define | ERROR_RESOLVER_1_FAULT 0x7303 |
| Resolver 1 fault. More... | |
| #define | ERROR_RESOLVER_2_FAULT 0x7304 |
| Resolver 2 fault. More... | |
| #define | ERROR_INCREMENTAL_SENSOR_1_FAULT 0x7305 |
| Incremental sensor 1 fault. More... | |
| #define | ERROR_INCREMENTAL_SENSOR_2_FAULT 0x7306 |
| Incremental sensor 2 fault. More... | |
| #define | ERROR_INCREMENTAL_SENSOR_3_FAULT 0x7307 |
| Incremental sensor 3 fault. More... | |
| #define | ERROR_SPEED 0x7310 |
| Speed error. More... | |
| #define | ERROR_POSITION 0x7320 |
| Position error. More... | |
| #define | ERROR_COMPUTATION_CIRCUIT 0x7400 |
| Computation circuit. More... | |
| #define | ERROR_COMMUNICATION 0x7500 |
| Communication error. More... | |
| #define | ERROR_SERIAL_INTERFACE_NO_1 0x7510 |
| Serial interface no 1 error. More... | |
| #define | ERROR_SERIAL_INTERFACE_NO_2 0x7520 |
| Serial interface no 2 error. More... | |
| #define | ERROR_DATA_STORAGE_EXTERNAL 0x7600 |
| Data storage (external) error. More... | |
| #define | ERROR_TORQUE_CONTROL 0x8300 |
| Torque control error. More... | |
| #define | ERROR_EXCESS_TORQUE 0x8311 |
| Excess torque error. More... | |
| #define | ERROR_DIFFICULT_START_UP 0x8312 |
| Difficult start up error. More... | |
| #define | ERROR_STANDSTILL_TORQUE 0x8313 |
| Standstill torque error. More... | |
| #define | ERROR_INSUFFICIENT_TORQUE 0x8321 |
| Insufficient torque error. More... | |
| #define | ERROR_TORQUE_FAULT 0x8331 |
| Torque fault. More... | |
| #define | ERROR_VELOCITY_SPEED_CONTROLLER 0x8400 |
| Velocity speed controller. More... | |
| #define | ERROR_POSITION_CONTROLLER 0x8500 |
| Position controller. More... | |
| #define | ERROR_POSITIONING_CONTROLLER 0x8600 |
| Positioning controller. More... | |
| #define | ERROR_FOLLOWING_ERROR 0x8611 |
| Following error. More... | |
| #define | ERROR_REFERENCE_LIMIT 0x8612 |
| Reference limit. More... | |
| #define | ERROR_SYNC_CONTROLLER 0x8700 |
| Sync controller. More... | |
| #define | ERROR_WINDING_CONTROLLER 0x8800 |
| Winding controller. More... | |
| #define | ERROR_PROCESS_DATA_MONITORING 0x8900 |
| Process data monitoring. More... | |
| #define | ERROR_DECELERATION 0xF001 |
| Deceleration error. More... | |
| #define | ERROR_SUB_SYNCHRONOUS_RUN 0xF002 |
| Sub-synchronous run error. More... | |
| #define | ERROR_STROKE_OPERATION 0xF003 |
| Stroke operation error. More... | |
| #define | DISABLE_DRIVE 0 |
| Disable drive (options: 0x605B; 0x605C; 0x605E) More... | |
| #define | SLOW_DOWN_RAMP 1 |
| Slow down ramp (options: 0x605B; 0x605C; 0x605E) More... | |
| #define | QUICKSTOP_RAMP 2 |
| Quick stop ramp (options: 0x605E) More... | |
| #define | STOP_ON_CURRENT_LIMIT 3 |
| Stop on current limit (options: 0x605E) More... | |
| #define | STOP_ON_VOLTAGE_LIMIT 4 |
| Stop on voltage limit (options: 0x605E) More... | |
| #define | SLOWDOWN_RAMP_NO_TRANSIT 5 |
| Slow down on slow down ramp and stay in Quick Stop Active. More... | |
| #define | QUICKSTOP_RAMP_NO_TRANSIT 6 |
| Slow down on quick stop ramp and stay in Quick Stop Active. More... | |
| #define | CURRENT_LIMIT_NO_TRANSIT 7 |
| Slow down on current limit and stay in Quick Stop Active. More... | |
| #define | VOLTAGE_LIMIT_NO_TRANSIT 8 |
| Slow down on voltage limit and stay in Quick Stop Active. More... | |
| #define | OBD_CIA402_AXIS_OFFSET 0x0800 |
| #define | OBD_ABORT_CONNECTION_OPTION_CODE_INDEX(x) (0x6007 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_CONTROLWORD_INDEX(x) (0x6040 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_STATUSWORD_INDEX(x) (0x6041 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_QUICKSTOP_INDEX(x) (0x605A + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_SHUTDOWN_INDEX(x) (0x605B + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_DISABLE_OPERATION_INDEX(x) (0x605C + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_HALT_OPTION_CODE_INDEX(x) (0x605D + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_FAULT_REACTION_INDEX(x) (0x605E + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_MODES_OF_OPERATION_INDEX(x) (0x6060 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_MODES_OF_OPERATION_DISPLAY_INDEX(x) (0x6061 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_POSITION_DEMAND_VALUE_INDEX(x) (0x6062 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_POSITION_ACTUAL_INTERNAL_VALUE_INDEX(x) (0x6063 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_POSITION_ACTUAL_VALUE_INDEX(x) (0x6064 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_FOLLOWING_ERROR_WINDOW_INDEX(x) (0x6065 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_FOLLOWING_ERROR_TIMEOUT_INDEX(x) (0x6066 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_POSITION_WINDOW_INDEX(x) (0x6067 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_POSITION_WINDOW_TIME_INDEX(x) (0x6068 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_VELOCITY_SENSOR_ACTUAL_VALUE_INDEX(x) (0x6069 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_VELOCITY_DEMAND_VALUE_INDEX(x) (0x606B + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_VELOCITY_ACTUAL_VALUE_INDEX(x) (0x606C + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_VELOCITY_WINDOW_INDEX(x) (0x606D + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_VELOCITY_WINDOW_TIME_INDEX(x) (0x606E + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_VELOCITY_THRESHOLD_INDEX(x) (0x606F + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_VELOCITY_THRESHOLD_TIME_INDEX(x) (0x6070 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_TARGET_TORQUE_INDEX(x) (0x6071 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_MAX_TORQUE_INDEX(x) (0x6072 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_TORQUE_DEMAND_INDEX(x) (0x6074 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_TORQUE_ACTUAL_VALUE_INDEX(x) (0x6077 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_CURRENT_ACTUAL_VALUE_INDEX(x) (0x6078 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_TARGET_POSITION_INDEX(x) (0x607A + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_POSITION_RANGE_LIMIT_INDEX(x) (0x607B + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_HOME_OFFSET_INDEX(x) (0x607C + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_SW_POSITION_LIMIT_INDEX(x) (0x607D + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_POLARITY_INDEX(x) (0x607E + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_TARGET_VELOCITY_INDEX(x) (0x60FF + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_TARGET_VELOCITY_INDEX(x) (0x60FF + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_MAX_MOTOR_SPEED_INDEX(x) (0x6080 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_PROFILE_VELOCITY_INDEX(x) (0x6081 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_PROFILE_ACCELERATION_INDEX(x) (0x6083 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_PROFILE_DECELERATION_INDEX(x) (0x6084 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_QUISTOP_DECELERATION_INDEX(x) (0x6085 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_MOTION_PROFILE_TYPE_INDEX(x) (0x6086 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_POSITION_ENCODER_RESOLUTION_INDEX(x) (0x608F + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_VELOCITY_ENCONDER_RESOLUTION_INDEX(x) (0x6090 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_GEAR_RATIO_INDEX(x) (0x6091 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_FEED_CONSTANT_INDEX(x) (0x6092 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_VELOCITY_FACTOR_INDEX(x) (0x6096 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_HOMING_METHOD_INDEX(x) (0x6098 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_HOMING_SPEEDS_INDEX(x) (0x6099 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_HOMING_ACCELERATION_INDEX(x) (0x609A + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_POSITION_OFFSET_INDEX(x) (0x60B0 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_VELOCITY_OFFSET_INDEX(x) (0x60B1 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_TORQUE_OFFSET_INDEX(x) (0x60B2 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_TOUCH_PROBE_FUNCTION_INDEX(x) (0x60B8 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_TOUCH_PROBE_STATUS_INDEX(x) (0x60B9 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_TOUCH_PROBE_1_POS_EDGE_INDEX(x) (0x60BA + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_TOUCH_PROBE_1_NEG_EDGE_INDEX(x) (0x60BB + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_TOUCH_PROBE_2_POS_EDGE_INDEX(x) (0x60BC + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_TOUCH_PROBE_2_NEG_EDGE_INDEX(x) (0x60BD + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_INTERPOLATION_TIME_PERIOD_INDEX(x) (0x60C2 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_MAX_ACCELERATION_INDEX(x) (0x60C5 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_MAX_DECELERATION_INDEX(x) (0x60C6 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_TOUCH_PROBE_1_POS_EDGE_CNT_INDEX(x) (0x60D5 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_TOUCH_PROBE_1_NEG_EDGE_CNT_INDEX(x) (0x60D6 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_TOUCH_PROBE_2_POS_EDGE_CNT_INDEX(x) (0x60D7 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_TOUCH_PROBE_2_NEG_EDGE_CNT_INDEX(x) (0x60D8 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_POSITIVE_TORQUE_LIMIT_VALUE_INDEX(x) (0x60E0 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_NEGATIVE_TORQUE_LIMIT_VALUE_INDEX(x) (0x60E1 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_FOLLOWING_ERROR_ACTUAL_VALUE_INDEX(x) (0x60F4 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | OBD_SUPPORTED_DRIVE_MODES_INDEX(x) (0x6502 + x * OBD_CIA402_AXIS_OFFSET) |
| #define | EC_SLV_APP_CIA_GETAXISVALUE(type_p, target_p, axisDesc_p) |
| Read CiA402 Axis value. More... | |
| #define | EC_SLV_APP_CIA_SETAXISVALUE(type_p, axisDesc_p, value_p) |
| Write CiA402 Axis value. More... | |
Functions | |
| void | EC_SLV_APP_applicationInit (EC_SLV_APP_Sapplication_t *pAppInstance_p) |
| Initialize slave application example. More... | |
| uint32_t | EC_SLV_APP_getCiA402ObjectValue (EC_SLV_APP_Sapplication_t *pApplication_p, EC_API_SLV_SCoE_Object_t *pObject_p, uint16_t length_p, uint16_t *pValue_p) |
| Read CiA402 Objects. More... | |
| uint32_t | EC_SLV_APP_setCiA402ObjectValue (EC_SLV_APP_Sapplication_t *pApplication_p, EC_SLV_APP_sCIA_object_t *pCiaObject_p, uint16_t length_p, uint16_t *pValue_p) |
| Write CiA402 Object value. More... | |
| uint32_t | EC_SLV_APP_getCiA402ObjectEntryValue (void *pAppCtxt_p, EC_API_SLV_SCoE_ObjEntry_t *pObjectEntry_p, uint16_t length_p, uint16_t *pValue_p) |
| Read CiA402 Object entry. More... | |
| uint32_t | EC_SLV_APP_setCiA402ObjectEntryValue (EC_API_SLV_SHandle_t *pEcApiSlv_p, uint16_t index_p, uint8_t subIndex_p, uint16_t length_p, uint16_t *pValue_p) |
| Write CiA402 Object entry. More... | |
| uint32_t | EC_SLV_APP_setSupportedDriveModes (EC_SLV_APP_Sapplication_t *pApplication_p) |
| Set supported drive modes. More... | |
| void | EC_SLV_APP_setObdValues (void *pCtxt_p) |
| Set default values for CiA 402 object dictionary. More... | |
| EC_API_SLV_EUserRetCodes_t | EC_SLV_APP_startInputHandler (void *pCtxt_p, uint16_t *pIntMask_p) |
| Get cycle time information. More... | |
| bool | EC_SLV_APP_transitionAction (int16_t characteristic_p) |
| This function shall calculate the desired Axis input values to move on a predefined ramp. More... | |
| void | EC_SLV_APP_CST (EC_SLV_APP_Sapplication_t *pApplication_p, EC_SLV_API_CiA402_SAxis_t *pCiA402Axis_p, bool gotOffsets) |
| Cyclic synchronous torque mode. ETG6010 6.4. More... | |
| void | EC_SLV_APP_CSV (EC_SLV_APP_Sapplication_t *pApplication_p, EC_SLV_API_CiA402_SAxis_t *pCiA402Axis_p, bool gotOffsets) |
| Cyclic synchronous velocity mode. ETG6010 6.3. More... | |
| void | EC_SLV_APP_CSP (EC_SLV_APP_Sapplication_t *pApplication_p, EC_SLV_API_CiA402_SAxis_t *pCiA402Axis_p, bool gotOffsets) |
| Cyclic synchronous position mode. ETG6010 6.2. More... | |
| void | EC_SLV_APP_motionControl (EC_SLV_APP_Sapplication_t *pApplication_p, EC_SLV_API_CiA402_SAxis_t *pCiA402Axis_p, bool gotOffsets) |
| This functions provides a simple feedback functionality. More... | |
| void | EC_SLV_APP_cia402Application (void *pCtxt_p) |
| CiA402 Application function. More... | |
| void | EC_SLV_APP_cia402LocalError (void *pCtxt_p, uint16_t errorCode_p) |
| Local Error function handler. More... | |
| uint32_t | EC_SLV_APP_cia402ObjectDictionary (void *pContext_p) |
| Generate CiA402 Objects. More... | |
1.8.17