// // Copyright (c) Advantech Corporation. All rights reserved. // // // Use of this source code is subject to the terms of the Advantech end-user // license agreement (EULA) under which you licensed this SOFTWARE PRODUCT. // If you did not accept the terms of the EULA, you are not authorized to use // this source code. For a copy of the EULA, please see the LICENSE.RTF on your // install media. // #ifndef __ADV_MOT_PROP_ID_H__ #define __ADV_MOT_PROP_ID_H__ /* +-----------------------------------------------------------------------------+ | ************ Advantech Motion Property ID Definition ********************** | +-----------------------------------------------------------------------------+ */ /////////////////////////////////////////////////////////////////////////////// // // Property ID Define // /////////////////////////////////////////////////////////////////////////////// #define FT_Dev_ID 0 #define PAR_Dev_ID 101 #define CFG_Dev_ID 201 #define FT_Ax_ID 301 #define PAR_Ax_ID 401 #define CFG_Ax_ID 501 #define FT_Gp_ID 601 #define PAR_Gp_ID 701 #define CFG_Gp_ID 801 // [9/24/2013 dan.yang] #define PAR_RB_ID 1000 #define CFG_RB_ID 1200 #define CFG_CH_ID 1500 // [11/18/2014 dan] /////////////////////////////////////////////////////////////////////////////// // Device Feature /////////////////////////////////////////////////////////////////////////////// #define FT_DevIpoTypeMap (FT_Dev_ID + 0) #define FT_DevAxesCount (FT_Dev_ID + 1) #define FT_DevFunctionMap (FT_Dev_ID + 2) #define FT_DevOverflowCntr (FT_Dev_ID + 3) //Master device config #define FT_MasCyclicCnt_R0 (FT_Dev_ID + 4) #define FT_MasCyclicCnt_R1 (FT_Dev_ID + 5) #define FT_DevMDAQTypeMap (FT_Dev_ID + 6)// [6/13/2012 dan.yang] #define FT_DevMDAQTrigMap (FT_Dev_ID + 7)// [6/13/2012 dan.yang] #define FT_DevMDAQMaxChan (FT_Dev_ID + 8)// [6/13/2012 dan.yang] #define FT_DevMDAQMaxBufCount (FT_Dev_ID + 9)// [6/13/2012 dan.yang] #define FT_DevLTCBufMaxCount (FT_Dev_ID + 10) #define FT_DevVersion (FT_Dev_ID + 11) // [6/4/2013 dan.yang] #define FT_DevEmgMap (FT_Dev_ID + 12) // [1/8/2014 deng] #define FT_DevSupportAxesCount (FT_Dev_ID + 13) // [9/30/2015 Andy] #define FT_AresVariableCount (FT_Dev_ID + 14) // [1/14/2016 Andy] //DAQ function [1/24/2008 Dean] #define FT_DaqDiMaxChan (FT_Dev_ID + 50) #define FT_DaqDoMaxChan (FT_Dev_ID + 51) #define FT_DaqAiRangeMap (FT_Dev_ID + 52) #define FT_DaqAoRangeMap (FT_Dev_ID + 53) #define FT_DaqAiMaxSingleChan (FT_Dev_ID + 54) #define FT_DaqAiMaxDiffChan (FT_Dev_ID + 55) #define FT_DaqAiResolution (FT_Dev_ID + 56) #define FT_DaqAoMaxChan (FT_Dev_ID + 57) #define FT_DaqAoResolution (FT_Dev_ID + 58) #define FT_DaqCntMaxChan (FT_Dev_ID + 59) /////////////////////////////////////////////////////////////////////////////// // Device Config /////////////////////////////////////////////////////////////////////////////// #define CFG_DevBoardID (CFG_Dev_ID + 0) #define CFG_DevRingID (CFG_Dev_ID + 1) #define CFG_DevBaseAddress (CFG_Dev_ID + 2) #define CFG_DevInterrupt (CFG_Dev_ID + 3) #define CFG_DevBusNumber (CFG_Dev_ID + 4) #define CFG_DevSlotNumber (CFG_Dev_ID + 5) #define CFG_DevDriverVersion (CFG_Dev_ID + 6) #define CFG_DevDllVersion (CFG_Dev_ID + 7) #define CFG_DevComQualityContiErr (CFG_Dev_ID + 8) #define CFG_DevComQualityErrRate (CFG_Dev_ID + 9) #define CFG_DevComWdgMode (CFG_Dev_ID + 10) #define CFG_DevFwMemory (CFG_Dev_ID + 11) #define CFG_DevEmgReact (CFG_Dev_ID + 12) #define CFG_DevFwVersion (CFG_Dev_ID + 13) #define CFG_DevBelongsTo (CFG_Dev_ID + 14) #define CFG_DevMasterDev (CFG_Dev_ID + 15) #define CFG_DevSlaveDevs (CFG_Dev_ID + 16) #define CFG_DevCPLDVersion (CFG_Dev_ID + 17) #define CFG_DevCPLD_1Version (CFG_Dev_ID + 18) #define CFG_DevEmgLogic (CFG_Dev_ID + 19) #define CFG_DevLatestFwVersion (CFG_Dev_ID + 20) // [5/30/2013 dan.yang] #define CFG_DevEmgFilterTime (CFG_Dev_ID + 21) //20140107 zhaocui add #define CFG_DevMultiCmpAxisEnable (CFG_Dev_ID + 22) // [1/14/2014 deng] #define CFG_DevMultiCmpOutChannel (CFG_Dev_ID + 23) // [1/14/2014 deng] #define CFG_DevMultiCmpPulseLogic (CFG_Dev_ID + 24) // [1/14/2014 deng] #define CFG_DevMultiCmpPulseWidth (CFG_Dev_ID + 25) // [1/14/2014 deng] #define CFG_DevKillDec (CFG_Dev_ID + 26)// [2/28/2014 deng] #define CFG_DevFuncDiFltSmpRate (CFG_Dev_ID + 27) // [10/18/2013 dan.yang] #define CFG_DevLogMsg (CFG_Dev_ID + 28) // [06/26/2015 andy.wang] //DAQ function [1/24/2008 Dean] #define CFG_DaqAiChanType (CFG_Dev_ID + 50) #define CFG_DaqAiRanges (CFG_Dev_ID + 51) #define CFG_DaqMaiRanges (CFG_Dev_ID + 52) #define CFG_DaqAoRanges_C0 (CFG_Dev_ID + 53) #define CFG_DaqAoRanges_C1 (CFG_Dev_ID + 54) #define CFG_DaqAoRanges_C2 (CFG_Dev_ID + 55) #define CFG_DaqAoRanges_C3 (CFG_Dev_ID + 56) #define CFG_DaqAiGain (CFG_Dev_ID + 57) // [4/19/2012 dan.yang] //Master device config #define CFG_MasBaudRate_R0 (CFG_Dev_ID + 31) #define CFG_MasBaudRate_R1 (CFG_Dev_ID + 32) #define CFG_MasComErrRate_R0 (CFG_Dev_ID + 33) #define CFG_MasComErrRate_R1 (CFG_Dev_ID + 34) #define CFG_MasComContiErr_R0 (CFG_Dev_ID + 35) #define CFG_MasComContiErr_R1 (CFG_Dev_ID + 36) #define CFG_MasIoComContiErr_R0 (CFG_Dev_ID + 37) #define CFG_MasIoComContiErr_R1 (CFG_Dev_ID + 38) #define CFG_MasDataComContiErr_R0 (CFG_Dev_ID + 39) #define CFG_MasDataComContiErr_R1 (CFG_Dev_ID + 40) #define CFG_MasCycleTime (CFG_Dev_ID + 60) // [11/10/2014 dan] #define CFG_IoCycleTime (CFG_Dev_ID + 61) #define CFG_DevMultiTrigPulseMode (CFG_Dev_ID + 65) #define CFG_DevMultiTrigAutoEmptyEn (CFG_Dev_ID + 68) #define CFG_DevMultiTrigForcePWMCount (CFG_Dev_ID + 69) /////////////////////////////////////////////////////////////////////////////// // Axis Feature /////////////////////////////////////////////////////////////////////////////// #define FT_AxFunctionMap (FT_Ax_ID + 0) #define FT_AxMaxVel (FT_Ax_ID + 1) #define FT_AxMaxAcc (FT_Ax_ID + 2) #define FT_AxMaxDec (FT_Ax_ID + 3) #define FT_AxMaxJerk (FT_Ax_ID + 4) #define FT_AxPulseInMap (FT_Ax_ID + 5) #define FT_AxPulseInModeMap (FT_Ax_ID + 6) #define FT_AxPulseOutMap (FT_Ax_ID + 7) #define FT_AxPulseOutModeMap (FT_Ax_ID + 8) #define FT_AxAlmMap (FT_Ax_ID + 9) #define FT_AxInpMap (FT_Ax_ID + 10) #define FT_AxErcMap (FT_Ax_ID + 11) #define FT_AxErcEnableModeMap (FT_Ax_ID + 12) #define FT_AxErcOnTimeMap (FT_Ax_ID + 13) #define FT_AxErcOffTimeMap (FT_Ax_ID + 14) #define FT_AxSdMap (FT_Ax_ID + 15) #define FT_AxElMap (FT_Ax_ID + 16) #define FT_AxSwMelMap (FT_Ax_ID + 17) #define FT_AxSwPelMap (FT_Ax_ID + 18) #define FT_AxHomeMap (FT_Ax_ID + 19) #define FT_AxBackLashMap (FT_Ax_ID + 20) #define FT_AxVibrationMap (FT_Ax_ID + 21) #define FT_AxAlarmMap (FT_Ax_ID + 22) #define FT_AxCompareMap (FT_Ax_ID + 23) // [9/14/2011 dan.yang] #define FT_AxLatchMap (FT_Ax_ID + 24) // [9/14/2011 dan.yang] #define FT_AxCamDOMap (FT_Ax_ID + 25) // [9/14/2011 dan.yang] #define FT_AxExtDriveMap (FT_Ax_ID + 26) // [9/14/2011 dan.yang] #define FT_AxExtMasterSrcMap (FT_Ax_ID + 27) // [9/14/2011 dan.yang] #define FT_AxGenDOMap (FT_Ax_ID + 28) // [9/14/2011 dan.yang] #define FT_AxGenDIMap (FT_Ax_ID + 29) // [9/14/2011 dan.yang] #define FT_AxSimStartSourceMap (FT_Ax_ID + 30) // [9/19/2011 dan.yang] #define FT_AxHomeModeMap (FT_Ax_ID + 31) // [6/14/2012 dan.yang] #define FT_AxIN1Map (FT_Ax_ID + 32) // [12/15/2012 dan.yang] #define FT_AxIN2Map (FT_Ax_ID + 33) // [12/15/2012 dan.yang] #define FT_AxIN3Map (FT_Ax_ID + 34) // [12/15/2012 dan.yang] #define FT_AxIN4Map (FT_Ax_ID + 35) // [12/15/2012 dan.yang] #define FT_AxIN5Map (FT_Ax_ID + 36) // [12/15/2012 dan.yang] #define FT_AxDIFilterMap (FT_Ax_ID + 37) // [1/8/2014 deng] #define FT_AxJogMap (FT_Ax_ID + 38) // [5/8/2014 dan.yang] /////////////////////////////////////////////////////////////////////////////// // Axis Parameter /////////////////////////////////////////////////////////////////////////////// #define PAR_AxVelLow (PAR_Ax_ID + 0) #define PAR_AxVelHigh (PAR_Ax_ID + 1) #define PAR_AxAcc (PAR_Ax_ID + 2) #define PAR_AxDec (PAR_Ax_ID + 3) #define PAR_AxJerk (PAR_Ax_ID + 4) #define PAR_AxHomeExMode (PAR_Ax_ID + 5) #define PAR_AxHomeExSwitchMode (PAR_Ax_ID + 6) //#define PAR_AxHomeExCrossDistance (PAR_Ax_ID + 7) #define PAR_AxHomeCrossDistance (PAR_Ax_ID + 7) #define PAR_AxJerkL (PAR_Ax_ID + 8) //#define PAR_AxJogVelLow (PAR_Ax_ID + 9) //#define PAR_AxJogVelHigh (PAR_Ax_ID + 10) //#define PAR_AxJogAcc (PAR_Ax_ID + 11) //#define PAR_AxJogDec (PAR_Ax_ID + 12) //#define PAR_AxJogJerk (PAR_Ax_ID + 13) #define PAR_AxHomeVelLow (PAR_Ax_ID + 14) #define PAR_AxHomeVelHigh (PAR_Ax_ID + 15) #define PAR_AxHomeAcc (PAR_Ax_ID + 16) #define PAR_AxHomeDec (PAR_Ax_ID + 17) #define PAR_AxHomeJerk (PAR_Ax_ID + 18) //YDD. 2015.3.6 Add for panasonic driver parameter getting/setting on PCI-1203 #define PAR_AxHistoryNumber (PAR_Ax_ID + 20) #define PAR_AxHistoryIndex1 (PAR_Ax_ID + 21) #define PAR_AxHistoryIndex2 (PAR_Ax_ID + 22) #define PAR_AxHistoryIndex3 (PAR_Ax_ID + 23) #define PAR_AxHistoryIndex4 (PAR_Ax_ID + 24) #define PAR_AxHistoryIndex5 (PAR_Ax_ID + 25) #define PAR_AxHistoryIndex6 (PAR_Ax_ID + 26) #define PAR_AxHistoryIndex7 (PAR_Ax_ID + 27) #define PAR_AxHistoryIndex8 (PAR_Ax_ID + 28) #define PAR_AxHistoryIndex9 (PAR_Ax_ID + 29) #define PAR_AxHistoryIndex10 (PAR_Ax_ID + 30) #define PAR_AxHistoryIndex11 (PAR_Ax_ID + 31) #define PAR_AxHistoryIndex12 (PAR_Ax_ID + 32) #define PAR_AxHistoryIndex13 (PAR_Ax_ID + 33) #define PAR_AxHistoryIndex14 (PAR_Ax_ID + 34) #define PAR_AxDriverSWVersion (PAR_Ax_ID + 35) #define PAR_AxDriverStatus (PAR_Ax_ID + 36) #define PAR_AxDriverModelNumber (PAR_Ax_ID + 37) #define PAR_AxDriverSerialNumber (PAR_Ax_ID + 38) #define PAR_AxDriverActualTor (PAR_Ax_ID + 39) #define PAR_AxDriverVendorID (PAR_Ax_ID + 40) #define PAR_AxDriverReserved2 (PAR_Ax_ID + 41) /////////////////////////////////////////////////////////////////////////////// // Axis Config /////////////////////////////////////////////////////////////////////////////// #define CFG_AxPPU (CFG_Ax_ID + 50) #define CFG_AxPhyID (CFG_Ax_ID + 51) #define CFG_AxMaxVel (CFG_Ax_ID + 52) #define CFG_AxMaxAcc (CFG_Ax_ID + 53) #define CFG_AxMaxDec (CFG_Ax_ID + 54) #define CFG_AxMaxJerk (CFG_Ax_ID + 55) #define CFG_AxPulseInMode (CFG_Ax_ID + 56) #define CFG_AxPulseInLogic (CFG_Ax_ID + 57) #define CFG_AxPulseInSource (CFG_Ax_ID + 58) #define CFG_AxPulseOutMode (CFG_Ax_ID + 59) #define CFG_AxAlmEnable (CFG_Ax_ID + 60) #define CFG_AxAlmLogic (CFG_Ax_ID + 61) #define CFG_AxAlmReact (CFG_Ax_ID + 62) #define CFG_AxInpEnable (CFG_Ax_ID + 63) #define CFG_AxInpLogic (CFG_Ax_ID + 64) #define CFG_AxErcLogic (CFG_Ax_ID + 65) #define CFG_AxErcOnTime (CFG_Ax_ID + 66) #define CFG_AxErcOffTime (CFG_Ax_ID + 67) #define CFG_AxErcEnableMode (CFG_Ax_ID + 68) #define CFG_AxSdEnable (CFG_Ax_ID + 69) #define CFG_AxSdLogic (CFG_Ax_ID + 70) #define CFG_AxSdReact (CFG_Ax_ID + 71) #define CFG_AxSdLatch (CFG_Ax_ID + 72) #define CFG_AxElEnable (CFG_Ax_ID + 73) #define CFG_AxElLogic (CFG_Ax_ID + 74) #define CFG_AxElReact (CFG_Ax_ID + 75) #define CFG_AxSwMelEnable (CFG_Ax_ID + 76) #define CFG_AxSwPelEnable (CFG_Ax_ID + 77) #define CFG_AxSwMelReact (CFG_Ax_ID + 78) #define CFG_AxSwPelReact (CFG_Ax_ID + 79) #define CFG_AxSwMelValue (CFG_Ax_ID + 80) #define CFG_AxSwPelValue (CFG_Ax_ID + 81) #define CFG_AxHomeMode (CFG_Ax_ID + 82) #define CFG_AxHomeDir (PAR_Ax_ID + 83) #define CFG_AxHomeSwitchMode (PAR_Ax_ID + 84) #define CFG_AxHomePosition (PAR_Ax_ID + 85) #define CFG_AxHomeCrossDistance (PAR_Ax_ID + 86) #define CFG_AxOrgEnable (CFG_Ax_ID + 87) #define CFG_AxOrgLogic (CFG_Ax_ID + 88) #define CFG_AxEzEnable (CFG_Ax_ID + 89) #define CFG_AxEzLogic (CFG_Ax_ID + 90) #define CFG_AxEzCount (CFG_Ax_ID + 91) #define CFG_AxBacklashEnable (CFG_Ax_ID + 92) #define CFG_AxBacklashPulses (CFG_Ax_ID + 93) #define CFG_AxVibrationEnable (CFG_Ax_ID + 94) #define CFG_AxVibrationReverseTime (CFG_Ax_ID + 95) #define CFG_AxVibrationForwardTime (CFG_Ax_ID + 96) #define CFG_AxPositionLagEn (CFG_Ax_ID + 97) #define CFG_AxMaxPositionLag (CFG_Ax_ID + 98) #define CFG_AxEmgReaction (CFG_Ax_ID + 99) #define CFG_AxLatchLogic (CFG_Ax_ID + 100) #define CFG_AxHomeResetEnable (CFG_Ax_ID + 101) #define CFG_AxCmpSrc (CFG_Ax_ID + 102) #define CFG_AxCmpMethod (CFG_Ax_ID + 103) #define CFG_AxCmpPulseMode (CFG_Ax_ID + 104) #define CFG_AxCmpPulseLogic (CFG_Ax_ID + 105) #define CFG_AxCmpPulseWidth (CFG_Ax_ID + 106) #define CFG_AxCmpEnable (CFG_Ax_ID + 107) #define CFG_AxRange (CFG_Ax_ID + 108) #define CFG_AxGenDoEnable (CFG_Ax_ID + 109) #define CFG_AxExtMasterSrc (CFG_Ax_ID + 110) #define CFG_AxExtSelEnable (CFG_Ax_ID + 111) #define CFG_AxExtPulseNum (CFG_Ax_ID + 112) #define CFG_AxOrgLatch (CFG_Ax_ID + 113) #define CFG_AxOutLogic (CFG_Ax_ID + 114) #define CFG_AxDirLogic (CFG_Ax_ID + 115) #define CFG_AxExtPulseInMode (CFG_Ax_ID + 116) #define CFG_AxExtPresetNum (CFG_Ax_ID + 117) #define CFG_AxErcOffTmEnable (CFG_Ax_ID + 118) #define CFG_AxAuxOutEnable (CFG_Ax_ID + 119) #define CFG_AxAuxOutTime (CFG_Ax_ID + 120) /*ydd add for pci1245 and pci1265 2011-03-08 */ #define CFG_AxCamDOEnable (CFG_Ax_ID + 121) #define CFG_AxCamDOLoLimit (CFG_Ax_ID + 122) #define CFG_AxCamDOHiLimit (CFG_Ax_ID + 123) #define CFG_AxCamDOMode (CFG_Ax_ID + 124) #define CFG_AxCamDODir (CFG_Ax_ID + 125) #define CFG_AxCamDOCmpSrc (CFG_Ax_ID + 126) #define CFG_AxCamDOLogic (CFG_Ax_ID + 127) #define CFG_AxModuleRange (CFG_Ax_ID + 128) #define CFG_AxBacklashVel (CFG_Ax_ID + 129) #define CFG_AxLatchEnable (CFG_Ax_ID + 130) #define CFG_AxPulseInMaxFreq (CFG_Ax_ID + 131) // [6/20/2011 dan.yang] #define CFG_AxSimStartSource (CFG_Ax_ID + 132) // [9/19/2011 dan.yang] #define CFG_AxOrgReact (CFG_Ax_ID + 133) // [12/26/2011 dan.yang] #define CFG_AxIN1StopEnable (CFG_Ax_ID + 134) // [12/14/2012 dan.yang] #define CFG_AxIN1StopReact (CFG_Ax_ID + 135) // [12/14/2012 dan.yang] #define CFG_AxIN1StopLogic (CFG_Ax_ID + 136) // [12/14/2012 dan.yang] #define CFG_AxIN2StopEnable (CFG_Ax_ID + 137) // [12/14/2012 dan.yang] #define CFG_AxIN2StopReact (CFG_Ax_ID + 138) // [12/14/2012 dan.yang] #define CFG_AxIN2StopLogic (CFG_Ax_ID + 139) // [12/14/2012 dan.yang] #define CFG_AxIN4StopEnable (CFG_Ax_ID + 140) // [12/14/2012 dan.yang] #define CFG_AxIN4StopReact (CFG_Ax_ID + 141) // [12/14/2012 dan.yang] #define CFG_AxIN4StopLogic (CFG_Ax_ID + 142) // [12/14/2012 dan.yang] #define CFG_AxIN5StopEnable (CFG_Ax_ID + 143) // [12/14/2012 dan.yang] #define CFG_AxIN5StopReact (CFG_Ax_ID + 144) // [12/14/2012 dan.yang] #define CFG_AxIN5StopLogic (CFG_Ax_ID + 145) // [12/14/2012 dan.yang] //latch buffer:// [3/6/2013 dan.yang] #define CFG_AxLatchBufEnable (CFG_Ax_ID + 146) #define CFG_AxLatchBufMinDist (CFG_Ax_ID + 147) #define CFG_AxLatchBufEventNum (CFG_Ax_ID + 148) #define CFG_AxLatchBufSource (CFG_Ax_ID + 149) #define CFG_AxLatchBufAxisID (CFG_Ax_ID + 150) #define CFG_AxLatchBufEdge (CFG_Ax_ID + 151) #define CFG_AxHomeOffsetDistance (CFG_Ax_ID + 152) #define CFG_AxHomeOffsetVel (CFG_Ax_ID + 153) //pwm //[7/15/2013]zhaocui add #define CFG_AxPWMFreq (CFG_Ax_ID + 154) #define CFG_AxPWMDuty (CFG_Ax_ID + 155) #define CFG_AxPPUDenominator (CFG_Ax_ID + 156) // [8/31/2013 dan.yang] #define CFG_AxGantryMaxDiffValue (CFG_Ax_ID + 157) // [9/3/2013 dan.yang] // [10/29/2013 dan.yang]:Add channel #define CFG_AxCh1CmpEnable (CFG_Ax_ID + 159) #define CFG_AxCh1CmpPulseLogic (CFG_Ax_ID + 160) #define CFG_AxCh2CmpEnable (CFG_Ax_ID + 161) #define CFG_AxCh2CmpPulseLogic (CFG_Ax_ID + 162) #define CFG_AxCh3CmpEnable (CFG_Ax_ID + 163) #define CFG_AxCh3CmpPulseLogic (CFG_Ax_ID + 164) //20131120 zhaocui add #define CFG_AxPelToleranceEnable (CFG_Ax_ID + 165) #define CFG_AxPelToleranceValue (CFG_Ax_ID + 166) #define CFG_AxSwPelToleranceEnable (CFG_Ax_ID + 167) #define CFG_AxSwPelToleranceValue (CFG_Ax_ID + 168) #define CFG_AxCmpPulseWidthEx (CFG_Ax_ID + 169) #define CFG_AxMelToleranceEnable (CFG_Ax_ID + 170) #define CFG_AxMelToleranceValue (CFG_Ax_ID + 171) #define CFG_AxSwMelToleranceEnable (CFG_Ax_ID + 172) #define CFG_AxSwMelToleranceValue (CFG_Ax_ID + 173) //20140107 zhaocui add #define CFG_AxALMFilterTime (CFG_Ax_ID + 174) #define CFG_AxLMTPFilterTime (CFG_Ax_ID + 175) #define CFG_AxLMTNFilterTime (CFG_Ax_ID + 176) #define CFG_AxIN1FilterTime (CFG_Ax_ID + 177) #define CFG_AxIN2FilterTime (CFG_Ax_ID + 178) #define CFG_AxORGFilterTime (CFG_Ax_ID + 179) #define CFG_AxIN4FilterTime (CFG_Ax_ID + 180) #define CFG_AxIN5FilterTime (CFG_Ax_ID + 181) #define CFG_AxEncoderRatio (CFG_Ax_ID + 182)//20131203 zhaocui add #define CFG_AxMaxErrCount (CFG_Ax_ID + 183)//20131203 zhaocui add #define CFG_AxResponseTime (CFG_Ax_ID + 184)//20131203 zhaocui add #define CFG_AxMaxCorrectTimes (CFG_Ax_ID + 185)//20131203 zhaocui add // [1/16/2014 deng] #define CFG_AxisMultiCmpDeviation (CFG_Ax_ID + 186) #define CFG_AxForcePWMOutTime (CFG_Ax_ID + 187) // [4/29/2014 deng] #define CFG_AxLatchStopEnable (CFG_Ax_ID + 188) #define CFG_AxLatchStopReact (CFG_Ax_ID + 189) #define CFG_AxPulseStopSrc (CFG_Ax_ID + 190) #define CFG_AxJogVLTime (CFG_Ax_ID + 191) #define CFG_AxPulseOutReverse (CFG_Ax_ID + 192) // [3/31/2014 dan.yang]: Reverse Pulse/Dir and CW/CCW pulse out mode for fucai #define CFG_AxKillDec (CFG_Ax_ID + 193) // [5/9/2014 kai.yang] added for DIStop dec #define CFG_AxJogVelLow (CFG_Ax_ID + 194) //[7/10/2014 kai.yang] #define CFG_AxJogVelHigh (CFG_Ax_ID + 195) //[7/10/2014 kai.yang] #define CFG_AxJogAcc (CFG_Ax_ID + 196) //[7/10/2014 kai.yang] #define CFG_AxJogDec (CFG_Ax_ID + 197) //[7/10/2014 kai.yang] #define CFG_AxJogJerk (CFG_Ax_ID + 198) //[7/10/2014 kai.yang] #define CFG_AxMaxErrorCnt (CFG_Ax_ID + 199) //[10/13/2014 kai.yang] #define CFG_AxCounterMax (CFG_Ax_ID + 200) //[10/15/2014 kai.yang] #define CFG_AxOverflowMode (CFG_Ax_ID + 201) //[10/15/2014 kai.yang] #define CFG_AxGantryActDiffValue (CFG_Ax_ID + 202) //[11/11/2014 kai.yang] #define CFG_AxPelLogic (CFG_Ax_ID + 203)// [11/21/2014 deng] #define CFG_AxMelLogic (CFG_Ax_ID + 204)// [11/21/2014 deng] #define CFG_AxSetCmpDO (CFG_Ax_ID + 205)// [12/2/2014 deng] #define CFG_AxJogPAssign (CFG_Ax_ID + 220) //[5/8/2015 Andy.Wang] #define CFG_AxJogNAssign (CFG_Ax_ID + 221) //[5/8/2015 Andy.Wang] #define CFG_AxCamDOAssign (CFG_Ax_ID + 222) //[5/8/2015 Andy.Wang] #define CFG_AxIN1StopAssign (CFG_Ax_ID + 223) //[5/12/2015 Andy.Wang] #define CFG_AxCmdErrorProtection (CFG_Ax_ID + 224) //[7/29/2015 Andy.Wang] #define CFG_AxTorqueEnable (CFG_Ax_ID + 225) //[8/6/2015 Andy.Wang] #define CFG_AxJogJerkFactor (CFG_Ax_ID + 226) //[2/22/2016 Andy.Wang] /************************************************************************/ /* dan.yang 2014.11.22 Add for etherCAT */ /************************************************************************/ #define CFG_CH_DaqDiInvertEnable CFG_CH_ID + 0 #define CFG_CH_DaqDiLowFilter CFG_CH_ID + 1 #define CFG_CH_DaqDiHighFilter CFG_CH_ID + 2 #define CFG_CH_DaqDoFsvEnable CFG_CH_ID + 3 #define CFG_CH_DaqAoRange CFG_CH_ID + 4 #define CFG_CH_DaqAiRange CFG_CH_ID + 5 #define CFG_CH_DaqAiEnable CFG_CH_ID + 6 #define CFG_CH_DaqAiIntegrationTime CFG_CH_ID + 7 #define CFG_CH_DaqAoFsv CFG_CH_ID + 8 #define CFG_CH_DaqAoStartup CFG_CH_ID + 9 /************************************************************************/ /* andy.wang 2015.04.21 Add for EtherCAT Counter */ /************************************************************************/ #define CFG_CH_DaqCntEnable CFG_CH_ID + 10 #define CFG_CH_DaqCntPulseInMode CFG_CH_ID + 11 #define CFG_CH_DaqCntInitValue CFG_CH_ID + 12 #define CFG_CH_DaqCntMaxValue CFG_CH_ID + 13 #define CFG_CH_DaqCntOverflowMode CFG_CH_ID + 14 #define CFG_CH_DaqCntLatchEnable CFG_CH_ID + 15 #define CFG_CH_DaqCntLatchEdge CFG_CH_ID + 16 #define CFG_CH_DaqCntCmpEnable CFG_CH_ID + 17 #define CFG_CH_DaqCntCmpMethod CFG_CH_ID + 18 #define CFG_CH_DaqCntCmpPulseEnable CFG_CH_ID + 19 #define CFG_CH_DaqCntCmpPulseMode CFG_CH_ID + 20 #define CFG_CH_DaqCntCmpPulseLogic CFG_CH_ID + 21 #define CFG_CH_DaqCntCmpPulseWidth CFG_CH_ID + 22 ////////////////////////////////////////////////////////////////////////// /////////////////////////////////////////////////////////////////////////////// // Group Parameter /////////////////////////////////////////////////////////////////////////////// #define PAR_GpVelLow (PAR_Gp_ID + 0) #define PAR_GpVelHigh (PAR_Gp_ID + 1) #define PAR_GpAcc (PAR_Gp_ID + 2) #define PAR_GpDec (PAR_Gp_ID + 3) #define PAR_GpJerk (PAR_Gp_ID + 4) #define PAR_GpGroupID (PAR_Gp_ID + 5) #define PAR_GpJerkL (PAR_Gp_ID + 6) #define PAR_GpIsPathDec (PAR_Gp_ID + 7) #define PAR_GpRefPlane (PAR_Gp_ID + 8) // [6/20/2011 dan.yang] #define PAR_GpJerkFactor (PAR_Gp_ID + 9) /////////////////////////////////////////////////////////////////////////////// // Group Config /////////////////////////////////////////////////////////////////////////////// #define CFG_GpMaxVel (CFG_Gp_ID + 0) #define CFG_GpMaxAcc (CFG_Gp_ID + 1) #define CFG_GpMaxDec (CFG_Gp_ID + 2) #define CFG_GpMaxJerk (CFG_Gp_ID + 3) #define CFG_GpPPU (CFG_Gp_ID + 4) #define CFG_GpAxesInGroup (CFG_Gp_ID + 5) #define CFG_GpGroupID (CFG_Gp_ID + 6) #define CFG_GpBldTime (CFG_Gp_ID + 7) // [6/2/2011 dan.yang] #define CFG_GpSFEnable (CFG_Gp_ID + 8) // [6/2/2011 dan.yang] #define CFG_GpVectorEnable (CFG_Gp_ID + 13) // [6/5/2013 dan.yang] #define CFG_GpSpdFwdVelEn (CFG_Gp_ID + 14) // [6/22/2013 dan.yang] //by dujunling 2012.11.23 typedef enum { GM_PATTERN_ID_RefPlane=1, GM_PATTERN_ID_UNIT, GM_PATTERN_ID_Coordinate, GM_PATTERN_ID_PathControl, GM_PATTERN_ID_DistanceMode }GM_PATTERN_ID; //Robot zhaocui add 201307 #define CFG_RbLengthArm1 (CFG_RB_ID + 0) #define CFG_RbLengthArm2 (CFG_RB_ID + 1) #define CFG_RbLengthArm3 (CFG_RB_ID + 2) #define CFG_RbHandMode (CFG_RB_ID + 3) #define CFG_RbSFEnable (CFG_RB_ID + 4) #define CFG_RbLengthArm4 (CFG_RB_ID + 5) #define CFG_RbLengthArm5 (CFG_RB_ID + 6) #define CFG_RbCsys (CFG_RB_ID + 7) #define CFG_RbJogAxis (CFG_RB_ID + 8) #define CFG_RbRZCOUPLING (CFG_RB_ID + 9) #define CFG_RbRZCFNumerator (CFG_RB_ID + 10) #define CFG_RbRZCFDenominator (CFG_RB_ID + 11) #define PAR_RbVelLow (PAR_RB_ID + 0) #define PAR_RbVelHigh (PAR_RB_ID + 1) #define PAR_RbAcc (PAR_RB_ID + 2) #define PAR_RbDec (PAR_RB_ID + 3) #define PAR_RbJerk (PAR_RB_ID + 4) #define PAR_RbRefPlane (PAR_RB_ID + 5) #endif // __ADV_MOT_PROP_ID_H__