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LaserCut-2Head-Server/LaiPuLaser/AdvMotDrv.h

1782 lines
72 KiB
C
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//
// 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_DRV_H__
#define __ADV_MOT_DRV_H__
/*
+-----------------------------------------------------------------------------+
| ************ Advantech Motion Date Type Definition ************************ |
+-----------------------------------------------------------------------------+
*/
#define U8 UCHAR
#define U16 USHORT
#define U32 ULONG
#define U64 ULONGLONG
#define I8 CHAR
#define I16 SHORT
#define I32 LONG
#define I64 LONGLONG
#define F32 float
#define F64 DOUBLE
#define PU8 UCHAR*
#define PU16 USHORT*
#define PU32 ULONG*
#define PU64 ULONGLONG*
#define PI8 CHAR*
#define PI16 SHORT*
#define PI32 LONG*
#define PI64 LONGLONG*
#define PF32 FLOAT*
#define PF64 DOUBLE*
#ifdef _WIN64
#define LONG_PTR LONG_PTR
#define ULONG_PTR ULONG_PTR
#else
#define LONG_PTR LONG
#define ULONG_PTR ULONG
#endif
// #if defined (_AMD64_)
// #define HAND U64
// #define PHAND U64*
// #else
// #define HAND U32
// #define PHAND U32*
// #endif
#define HAND UINT_PTR
#define PHAND UINT_PTR*
#ifndef ULONG_PTR
#define ULONG_PTR unsigned long*
#endif
/*
+-----------------------------------------------------------------------------+
| ********************** Physical Axis Define ******************************* |
+-----------------------------------------------------------------------------+
*/
#define X_AXIS 0
#define Y_AXIS 1
#define Z_AXIS 2
#define U_AXIS 3
#define A_AXIS 4 //[Dan.Yang 2011.03.10]
#define B_AXIS 5 //[Dan.Yang 2011.03.10]
/*+-----------------------------------------------------------------------------+
| ******************** Settings' Limit *************************** |
+-----------------------------------------------------------------------------+
*/
/*
+-----------------------------------------------------------------------------+
| ********************** GMCode Axis Define ******************************* |
+-----------------------------------------------------------------------------+
*/
#define GM_AXIS_X 1
#define GM_AXIS_Y 2
#define GM_AXIS_Z 4
#define GM_AXIS_A 8
#define GM_AXIS_B 16
#define GM_AXIS_C 32
#define GM_AXIS_X1 64
#define GM_AXIS_Y1 128
/*+-----------------------------------------------------------------------------+
| ******************** Settings' Limit *************************** |
+-----------------------------------------------------------------------------+
*/
#ifdef PCI1244
#define MAX_RATE 150
#define MIN_RATE 0
#define MAX_R 4096
#define MIN_R 0
#define MAX_V 32767
#define MIN_V 1
#define MAX_D 65535
#define MIN_D 1
#define MAX_A 65535
#define MIN_A 1
#define MAX_K 65535
#define MIN_K 1
#define MAX_PULSE 268435455
#define MIN_PULSE 0
#define MAX_POSITION 268435455
//#define MIN_POSITION -2147483648
#define MIN_POSITION MAX_POSITION*(-1)-1
#else
#define MAX_RATE 500
#define MIN_RATE 1
#define MAX_R 8000000
#define MIN_R 16000
#define MAX_V 8000
#define MIN_V 1
#define MAX_D 8000
#define MIN_D 1
#define MAX_A 8000
#define MIN_A 1
#define MAX_K 65535
#define MIN_K 1
#define MAX_PULSE 268435455
#define MIN_PULSE 0
#define MAX_POSITION 2147483647
//#define MIN_POSITION -2147483648
#define MIN_POSITION MAX_POSITION*(-1)-1
#endif
#define NOT_DEFINE 0xffffffff
#define MAX_CMPPULSEWIDTH 85899345
/*
+-----------------------------------------------------------------------------+
| ******************** Device Function Map Define *************************** |
+-----------------------------------------------------------------------------+
*/
#define DEV_FUNC_MOT 0x001
#define DEV_FUNC_DI 0x002
#define DEV_FUNC_DO 0x004
#define DEV_FUNC_AI 0x008
#define DEV_FUNC_AO 0x010
#define DEV_FUNC_TMR 0x020
#define DEV_FUNC_CNT 0x040
#define DEV_FUNC_DAQDI 0x080
#define DEV_FUNC_DAQDO 0x100
#define DEV_FUNC_DAQAI 0x200
#define DEV_FUNC_DAQAO 0x400
#define DEV_FUNC_EMG 0x800
#define DEV_FUNC_MDAQ 0x1000
/*
+-----------------------------------------------------------------------------+
| **************** Device Interpolation Type Map Define ********************* |
+-----------------------------------------------------------------------------+
*/
#define DEV_IPO_LINE_2AX 0x01
#define DEV_IPO_LINE_3AX 0x02
//////////////////////////////////////////////////////////////////////////
//ydd:add for pci1265.20110309
#define DEV_IPO_LINE_4AX 0x04
#define DEV_IPO_LINE_5AX 0x08
#define DEV_IPO_LINE_6AX 0x10
#define DEV_IPO_LINE_7AX 0x20
#define DEV_IPO_LINE_8AX 0x40
//////////////////////////////////////////////////////////////////////////
#define DEV_IPO_ARC_2AX 0x0100
#define DEV_IPO_ARC_3AX 0x0200
#define DEV_IPO_SPIRAL 0x0400 // [6/20/2011 dan.yang]
#define DEV_IPO_BLENDING 0x0800
#define DEV_IPO_SPEED_FORWARD 0x1000
#define DEV_IPO_DO_CONTROL 0x2000
#define DEV_IPO_GEAR 0x00010000 // [9/14/2011 dan.yang]
#define DEV_IPO_CAM 0x00020000 // [9/14/2011 dan.yang]
#define DEV_IPO_GANTRY 0x00040000 // [9/14/2011 dan.yang]
#define DEV_IPO_TANGENT 0x00080000 // [9/14/2011 dan.yang]
#define DEV_IPO_SELPTH 0x01000000 // [9/14/2011 dan.yang]
/*
+-----------------------------------------------------------------------------+
| ********************* Axis Feature Map Define ***************************** |
+-----------------------------------------------------------------------------+
*/
#define AX_FUNC_INP 0x01
#define AX_FUNC_ALM 0x02
#define AX_FUNC_ERC 0x04
#define AX_FUNC_SD 0x08
#define AX_FUNC_EL 0x10
#define AX_FUNC_SW_EL 0x20
#define AX_FUNC_ORG 0x40
#define AX_FUNC_EZ 0x80
#define AX_FUNC_BACKLASH_CORRECT 0x0100
#define AX_FUNC_SUPPRESS_VIBRATION 0x0200
#define AX_FUNC_HOME 0x0400
#define Ax_FUNC_IMPOSE 0x0800 // [9/14/2011 dan.yang]
#define Ax_FUNC_CMP 0x1000 // [9/14/2011 dan.yang]
#define Ax_FUNC_LATCH 0x2000 // [9/14/2011 dan.yang]
#define Ax_FUNC_CAMDO 0x4000 // [9/14/2011 dan.yang]
#define Ax_FUNC_EXTDRV 0x8000 // [9/14/2011 dan.yang]
#define Ax_FUNC_SIMSTART 0x010000 // [9/14/2011 dan.yang]
#define AX_FUNC_IN1_STOP 0x020000 // [12/15/2012 dan.yang]
#define AX_FUNC_IN2_STOP 0x040000 // [12/15/2012 dan.yang]
#define AX_FUNC_IN3_STOP 0x080000 // [12/15/2012 dan.yang]
#define AX_FUNC_IN4_STOP 0x100000 // [12/15/2012 dan.yang]
#define AX_FUNC_IN5_STOP 0x200000 // [12/15/2012 dan.yang]
#define AX_FUNC_MAXTOR_LMT 0x400000
#define LtcStopEnable 0x100
#define LtcStopReact 0x200
/*
+-----------------------------------------------------------------------------+
| ******************** Axis Pulse In Map Define ***************************** |
+-----------------------------------------------------------------------------+
*/
#define AX_PI_MODE 1
#define AX_PI_LOGIC 2
#define AX_PI_SOURCE 4
/*
+-----------------------------------------------------------------------------+
| ******************* Axis Pulse In Mode Map Define ************************* |
+-----------------------------------------------------------------------------+
*/
#define AX_PIM_1XAB 1
#define AX_PIM_2XAB 2
#define AX_PIM_4XAB 4
#define AX_PIM_CWCCW 8
/*
+-----------------------------------------------------------------------------+
| ******************* Axis Pulse Out Map Define ***************************** |
+-----------------------------------------------------------------------------+
*/
#define AX_PO_MODE 1
#define AX_PO_PIN_REVERSE 2
/*
+-----------------------------------------------------------------------------+
| ******************* Axis Pulse Out Mode Map Define ************************ |
+-----------------------------------------------------------------------------+
*/
#define AX_POM_OUT_DIR 1
#define AX_POM_OUT_DIR_OUTNEG 2
#define AX_POM_OUT_DIR_DIRNEG 4
#define AX_POM_OUT_DIR_ALLNEG 8
#define AX_POM_CW_CCW 16
#define AX_POM_CW_CCW_ALLNEG 32
#define AX_POM_AB 64
#define AX_POM_BA 128
#define AX_POM_CW_CCW_OUTNEG 256
#define AX_POM_CW_CCW_DIRNEG 512
/*
+-----------------------------------------------------------------------------+
| *********************** Axis Alarm Map Define ***************************** |
+-----------------------------------------------------------------------------+
*/
#define AX_ALM_EN 1
#define AX_ALM_LOGIC 2
#define AX_ALM_REACT 4
/*
+-----------------------------------------------------------------------------+
| ********************** Axis InPosition Map Define ************************* |
+-----------------------------------------------------------------------------+
*/
#define AX_INP_EN 1
#define AX_INP_LOGIC 2
/*
+-----------------------------------------------------------------------------+
| *********************** Axis ERC Map Define ******************************* |
+-----------------------------------------------------------------------------+
*/
#define AX_ERC_EN_MODE 1
#define AX_ERC_LOGIC 2
#define AX_ERC_ON_TIME 4
#define AX_ERC_OFF_TIME 8
/*
+-----------------------------------------------------------------------------+
| *********************** Axis SD Map Define ******************************** |
+-----------------------------------------------------------------------------+
*/
#define AX_SD_EN 1
#define AX_SD_LOGIC 2
#define AX_SD_REACT 4
#define AX_SD_LATCH 8
/*
+-----------------------------------------------------------------------------+
| ***************** Axis Hardware Limit Map Define ************************** |
+-----------------------------------------------------------------------------+
*/
#define AX_EL_EN 1
#define AX_EL_LOGIC 2
#define AX_EL_REACT 4
/*
+-----------------------------------------------------------------------------+
| ************** Axis Software Minus Limit Map Define *********************** |
+-----------------------------------------------------------------------------+
*/
#define AX_SW_MEL_EN 1
#define AX_SW_MEL_REACT 2
#define AX_SW_MEL_VALUE 4
/*
+-----------------------------------------------------------------------------+
| ************** Axis Software Plus Limit Map Define ************************ |
+-----------------------------------------------------------------------------+
*/
#define AX_SW_PEL_EN 1
#define AX_SW_PEL_REACT 2
#define AX_SW_PEL_VALUE 4
/*
+-----------------------------------------------------------------------------+
| ******************** Axis Home Map Define ********************************* |
+-----------------------------------------------------------------------------+
*/
#define AX_HM_MODE 0x01
#define AX_HM_ORG_LOGIC 0x02
#define AX_HM_EZ_LOGIC 0x04
#define AX_HM_RESET_EN 0x08 // [9/14/2011 dan.yang]
#define AX_HM_ORG_REACT 0x10 // [12/27/2011 dan.yang]
/*
+-----------------------------------------------------------------------------+
| ******************** Axis Compare Map Define ********************************* | // [9/14/2011 dan.yang]
+-----------------------------------------------------------------------------+
*/
#define AX_CMP_EN 0x01
#define AX_CMP_LOGIC 0x02
#define AX_CMP_SRC 0x04
#define AX_CMP_METHOD 0x08
#define AX_CMP_PULSE_MODE 0x10
#define AX_CMP_PULSE_WIDTH 0x20
/*
+-----------------------------------------------------------------------------+
| ******************** Axis Latch Map Define ********************************* | // [9/14/2011 dan.yang]
+-----------------------------------------------------------------------------+
*/
#define AX_LATCH_EN 0x01
#define AX_LATCH_LOGIC 0x02
#define AX_LATCH_BUF_EN 0x04
// [3/6/2013 dan.yang]:Add for latch buffer
#define AX_LATCH_BUF_MINDST 0x08
#define AX_LATCH_BUF_EVTNUM 0x10
#define AX_LATCH_BUF_SRC 0x20
#define AX_LATCH_BUF_AXID 0x40
#define AX_LATCH_BUF_EDGE 0x80
/*
+-----------------------------------------------------------------------------+
| ******************** Axis Cam DO Map Define ********************************* | // [9/14/2011 dan.yang]
+-----------------------------------------------------------------------------+
*/
#define AX_CAMDO_EN 0x01
#define AX_CAMDO_LOGIC 0x02
#define AX_CAMDO_CMP_SRC 0x04
#define AX_CAMDO_LOW_LIMIT 0x08
#define AX_CAMDO_HIGH_LIMIT 0x10
#define AX_CAMDO_MODE 0x20
#define AX_CAMDO_DIR 0x40
#define AX_CAMDO_ASSIGN 0x80
/*
+-----------------------------------------------------------------------------+
| ******************** Axis External Drive Map Define ********************************* | // [9/14/2011 dan.yang]
+-----------------------------------------------------------------------------+
*/
#define AX_EXT_MASTER_SRC 0x01
#define AX_EXT_SEL_EN 0x02
#define AX_EXT_PULSE_Num 0x04
#define AX_EXT_PULSE_IN_MODE 0x08
#define AX_EXT_PRESET_NUM 0x10
/*
+-----------------------------------------------------------------------------+
| ******************** Axis External Master Source Map Define ********************************* | // [9/14/2011 dan.yang]
+-----------------------------------------------------------------------------+
*/
#define ExtSrcAxis0 0x01
#define ExtSrcAxis1 0x02
#define ExtSrcAxis2 0x04
#define ExtSrcAxis3 0x08
/*
+-----------------------------------------------------------------------------+
| ******************** Axis Simultaneous Start/Stop source Map Define ********************************* | // [9/14/2011 dan.yang]
+-----------------------------------------------------------------------------+
*/
#define SimSrc_Disable 0x000000
#define SimSrc_STA 0x000001
#define SimSrc_TRIGP_AX0 0x000100
#define SimSrc_TRIGP_AX1 0x000200
#define SimSrc_TRIGP_AX2 0x000400
#define SimSrc_TRIGP_AX3 0x000800
#define SimSrc_TRIGP_AX4 0x001000
#define SimSrc_TRIGP_AX5 0x002000
#define SimSrc_TRIGP_AX6 0x004000
#define SimSrc_TRIGP_AX7 0x008000
#define SimSrc_STOP_AX0 0x010000
#define SimSrc_STOP_AX1 0x020000
#define SimSrc_STOP_AX2 0x040000
#define SimSrc_STOP_AX3 0x080000
#define SimSrc_STOP_AX4 0x100000
#define SimSrc_STOP_AX5 0x200000
#define SimSrc_STOP_AX6 0x400000
#define SimSrc_STOP_AX7 0x800000
/*
+-----------------------------------------------------------------------------+
| ******************** Axis Gen_DO Map Define ********************************* | // [9/14/2011 dan.yang]
+-----------------------------------------------------------------------------+
*/
#define OUT4oCAM_DO 0x01
#define OUT5oTRIG_P 0x02
#define OUT6oSVON 0x04
#define OUT7oERC 0x08
/*
+-----------------------------------------------------------------------------+
| ******************** Axis Gen_DI Start/Stop Mode Map Define ********************************* | // [9/14/2011 dan.yang]
+-----------------------------------------------------------------------------+
*/
#define IN1oLTC 0x01
#define IN2oRDY 0x02
#define IN3oJOG_P 0x04
#define IN4oJOG_M 0x08
/*
+-----------------------------------------------------------------------------+
| ******************** Axis IN1~IN5 Stop Map Define ********************************* | // [12/15/2012 dan.yang]
+-----------------------------------------------------------------------------+
*/
#define IN_STOP_ENABLE 0x01
#define IN_STOP_LOGIC 0x02
#define IN_STOP_REACT 0x04
/*
+-----------------------------------------------------------------------------+
+-----------------------------------------------------------------------------+
*/
/*
+-----------------------------------------------------------------------------+
| ******************** Pulse In Mode Define ********************************* |
+-----------------------------------------------------------------------------+
*/
#define AB_1X 0
#define AB_2X 1
#define AB_4X 2
#define I_CW_CCW 3
#define I_PULSE_DIR 4
/*
+-----------------------------------------------------------------------------+
| ******************** Pulse In Logic Define ******************************** |
+-----------------------------------------------------------------------------+
*/
#define NO_INV_DIR 0
#define INV_DIR 1
/*
+-----------------------------------------------------------------------------+
| ******************** Pulse In Source Define ******************************* |
+-----------------------------------------------------------------------------+
*/
#define EXTERNAL_FEEBACK 0
#define COMMAND_PULSE 1
/*
+-----------------------------------------------------------------------------+
| ******************** Pulse Out Mode Define ******************************** |
+-----------------------------------------------------------------------------+
*/
#define OUT_DIR 1
#define OUT_DIR_OUT_NEG 2
#define OUT_DIR_DIR_NEG 4
#define OUT_DIR_ALL_NEG 8
#define O_CW_CCW 16
#define CW_CCW_ALL_NEG 32
#define AB_PHASE 64
#define BA_PHASE 128
#define CW_CCW_OUT_NEG 256
#define CW_CCW_DIR_NEG 512
/*
+-----------------------------------------------------------------------------+
| ******************** Alarm Enable Define ********************************** |
+-----------------------------------------------------------------------------+
*/
#define ALM_DIS 0
#define ALM_EN 1
/*
+-----------------------------------------------------------------------------+
| ******************** Alarm Logic Define *********************************** |
+-----------------------------------------------------------------------------+
*/
#define ALM_ACT_LOW 0
#define ALM_ACT_HIGH 1
/*
+-----------------------------------------------------------------------------+
| ******************** Alarm React Define *********************************** |
+-----------------------------------------------------------------------------+
*/
#define ALM_IMMED_STOP 0
#define ALM_DEC_TO_STOP 1
/*
+-----------------------------------------------------------------------------+
| ******************** Inposition Enable Define ***************************** |
+-----------------------------------------------------------------------------+
*/
#define INP_DIS 0
#define INP_EN 1
/*
+-----------------------------------------------------------------------------+
| ******************** Inposition Logic Define ****************************** |
+-----------------------------------------------------------------------------+
*/
#define INP_ACT_LOW 0
#define INP_ACT_HIGH 1
/*
+-----------------------------------------------------------------------------+
| ******************** SD Enable Define ***************************** |
+-----------------------------------------------------------------------------+
*/
#define SD_ENABLE 0
#define SD_DISABLE 1
/*
+-----------------------------------------------------------------------------+
| ******************** SD Latch Define ***************************** |
+-----------------------------------------------------------------------------+
*/
#define SD_LEVEL 0
#define SD_LATCH 1
/*
+-----------------------------------------------------------------------------+
| ******************** SD Logic Define ****************************** |
+-----------------------------------------------------------------------------+
*/
#define SD_ACT_LOW 0
#define SD_ACT_HIGH 1
/*
+-----------------------------------------------------------------------------+
| ******************** SD React Define *********************************** |
+-----------------------------------------------------------------------------+
*/
#define SD_IMMED_STOP 1
#define SD_DEC_AND_STOP 0
/*
+-----------------------------------------------------------------------------+
| ****************** Hardware Limit Enable Define *************************** |
+-----------------------------------------------------------------------------+
*/
#define HLMT_DIS 0
#define HLMT_EN 1
/*
+-----------------------------------------------------------------------------+
| ****************** Out Logic Define **************************** |
+-----------------------------------------------------------------------------+
*/
#define OUT_ACT_LOW 0
#define OUT_ACT_HIGH 1
/*
+-----------------------------------------------------------------------------+
| ****************** Dir Logic Define **************************** |
+-----------------------------------------------------------------------------+
*/
#define DIR_ACT_LOW 0
#define DIR_ACT_HIGH 1
/*
+-----------------------------------------------------------------------------+
| ****************** Erc Logic Define **************************** |
+-----------------------------------------------------------------------------+
*/
#define ERC_DIS 0
#define ERC_EN 1
/*
+-----------------------------------------------------------------------------+
| ****************** Erc Timer Define **************************** |
+-----------------------------------------------------------------------------+
*/
#define ERC_OFF_TIME_DIS 0
#define ERC_OFF_TIME_EN 1
/*
+-----------------------------------------------------------------------------+
| ****************** Hardware Limit Enable Define *************************** |
+-----------------------------------------------------------------------------+
*/
#define HLMT_DIS 0
#define HLMT_EN 1
/*
+-----------------------------------------------------------------------------+
| ****************** Hardware Limit Logic Define **************************** |
+-----------------------------------------------------------------------------+
*/
#define HLMT_ACT_LOW 0
#define HLMT_ACT_HIGH 1
/*
+-----------------------------------------------------------------------------+
| ****************** Hardware Limit React Define **************************** |
+-----------------------------------------------------------------------------+
*/
#define HLMT_IMMED_STOP 0
#define HLMT_DEC_TO_STOP 1
/*
+-----------------------------------------------------------------------------+
| ****************** IN Disable or Enable Define **************************** |
+-----------------------------------------------------------------------------+
*/
#define IN_DISABLE 0
#define IN_ENABLE 1
/*
+-----------------------------------------------------------------------------+
| ****************** Software Limit Enable Define *************************** |
+-----------------------------------------------------------------------------+
*/
#define SLMT_DIS 0
#define SLMT_EN 1
/*
+-----------------------------------------------------------------------------+
| ****************** Software Limit React Define **************************** |
+-----------------------------------------------------------------------------+
*/
#define SLMT_IMMED_STOP 0
#define SLMT_DEC_TO_STOP 1
/*
+-----------------------------------------------------------------------------+
| ****************** ORG React Define **************************** |
+-----------------------------------------------------------------------------+
*/
#define ORG_IMMED_STOP 0
#define ORG_DEC_TO_STOP 1
/*
+-----------------------------------------------------------------------------+
| ****************** Ax General DO<44><4F>Enable Define **************************** |
+-----------------------------------------------------------------------------+
*/
#define GEN_DO_DISABLE 0
#define GEN_DO_ENABLE 1
/*
+-----------------------------------------------------------------------------+
| ****************** Ax External Master Source Define ************************ |
+-----------------------------------------------------------------------------+
*/
#define EXT_MASTER_SRC_AX_0 0
#define EXT_MASTER_SRC_AX_1 1
#define EXT_MASTER_SRC_AX_2 2
#define EXT_MASTER_SRC_AX_3 3
#define EXT_MASTER_SRC_SELF 4
/*
+-----------------------------------------------------------------------------+
| ****************** Ax External Drive Mode ************************ |
+-----------------------------------------------------------------------------+
*/
#define EXT_DRIVE_DISABLE 0
#define EXT_DRIVE_JOG 1
#define EXT_DRIVE_MPG 2
#define EXT_DRIVE_MPG_CONT 3
#define EXT_DRIVE_MPG_PRESETP 4
#define EXT_DRIVE_MPG_PRESETN 5
/*
+-----------------------------------------------------------------------------+
| ********************* ORG Enable Define *********************************** |
+-----------------------------------------------------------------------------+
*/
#define ORG_DISABLE 0
#define ORG_ENABLE 1
/*
+-----------------------------------------------------------------------------+
| ********************* ORG Logic Define ************************************ |
+-----------------------------------------------------------------------------+
*/
#define ORG_ACT_LOW 0
#define ORG_ACT_HIGH 1
/*
+-----------------------------------------------------------------------------+
| ********************* ORG Latch Define ************************************ |
+-----------------------------------------------------------------------------+
*/
#define ORG_LEVEL 1
#define ORG_LATCH 0
/*
+-----------------------------------------------------------------------------+
| ********************** EZ Enable Define *********************************** |
+-----------------------------------------------------------------------------+
*/
#define EZ_DISABLE 0
#define EZ_ENABLE 1
/*
+-----------------------------------------------------------------------------+
| ********************** EZ Logic Define ************************************ |
+-----------------------------------------------------------------------------+
*/
#define EZ_ACT_LOW 0
#define EZ_ACT_HIGH 1
/*
+-----------------------------------------------------------------------------+
| ********************** In1 Enable Define *********************************** |
+-----------------------------------------------------------------------------+
*/
#define IN1_DISABLE 0
#define IN1_ENABLE 1
/*
+-----------------------------------------------------------------------------+
| ********************** IN1 Logic Define ************************************ |
+-----------------------------------------------------------------------------+
*/
#define IN1_ACT_LOW 0
#define IN1_ACT_HIGH 1
/*
+-----------------------------------------------------------------------------+
| ********************** In2 Enable Define *********************************** |
+-----------------------------------------------------------------------------+
*/
#define IN2_DISABLE 0
#define IN2_ENABLE 1
/*
+-----------------------------------------------------------------------------+
| ********************** IN2 Logic Define ************************************ |
+-----------------------------------------------------------------------------+
*/
#define IN2_ACT_LOW 0
#define IN2_ACT_HIGH 1
/*
+-----------------------------------------------------------------------------+
| ********************** Servo State Define ********************************* |
+-----------------------------------------------------------------------------+
*/
#define SV_OFF 0
#define SV_ON 1
/*
+-----------------------------------------------------------------------------+
| ********************** Motion Axis State Define *************************** |
+-----------------------------------------------------------------------------+
*/
#define STA_AX_DISABLE 0
#define STA_AX_READY 1
#define STA_AX_STOPPING 2
#define STA_AX_ERROR_STOP 3
#define STA_AX_HOMING 4
#define STA_AX_PTP_MOT 5
#define STA_AX_CONTI_MOT 6
#define STA_AX_SYNC_MOT 7
#define STA_AX_EXT_JOG 8
#define STA_AX_EXT_MPG 9
#define STA_AX_PAUSE 10 // [5/16/2013 dan.yang]
#define STA_AX_BUSY 11 // [5/16/2013 dan.yang]
/*
+-----------------------------------------------------------------------------+
| ********************** Motion Group State Define ************************** |
+-----------------------------------------------------------------------------+
*/
#define STA_GP_DISABLE 0
#define STA_GP_READY 1
#define STA_GP_STOPPING 2
#define STA_GP_ERROR_STOP 3
#define STA_GP_MOTION 4
#define STA_GP_AX_MOTION 5
#define STA_GP_MOTION_PATH 6
#define STA_GP_PAUSE 7 // [5/7/2013 dan.yang]
#define STA_GP_BUSY 8 // [5/15/2013 dan.yang]
#define WIN_STA_GP_EXT_JOG 9 //JOG mode [7/11/2014 kai.yang]
#define WIN_STA_GP_EXT_MPG 10 //mpg mode [7/11/2014 kai.yang]
#define WIN_STA_GP_EXT_JOG_MOVING 11 //JOG moving[7/11/2014 kai.yang]
/*
+-----------------------------------------------------------------------------+
| ********************** Motion Group State Define ************************** |//zhaocui add 201308
+-----------------------------------------------------------------------------+
*/
#define STA_RB_DISABLE 0
#define STA_RB_READY 1
#define STA_RB_STOPPING 2
#define STA_RB_ERROR_STOP 3
#define STA_RB_MOTION 4
#define STA_RB_AX_MOTION 5
#define STA_RB_MOTION_PATH 6
#define STA_RB_PAUSE 7
#define STA_RB_BUSY 8
#define WIN_STA_GP_EXT_JOG 9
#define WIN_STA_GP_EXT_MPG 10
#define WIN_STA_GP_EXT_JOG_MOVING 11
/*
+-----------------------------------------------------------------------------+
| ****************** Velocity Move Direction Define ************************* |
+-----------------------------------------------------------------------------+
*/
#define DIR_POSITIVE 0
#define DIR_NEGATIVE 1
/*
+-----------------------------------------------------------------------------+
| ********************* Motion Home Mode Define ***************************** |
+-----------------------------------------------------------------------------+
*/
#define AbsSwitch 0
#define LmtSwitch 1
#define RefPulse 2
#define Direct 3
#define MODE1_Abs 0
#define MODE2_Lmt 1
#define MODE3_Ref 2
#define MODE4_Abs_Ref 3
#define MODE5_Abs_NegRef 4
#define MODE6_Lmt_Ref 5
#define MODE7_AbsSearch 6
#define MODE8_LmtSearch 7
#define MODE9_AbsSearch_Ref 8
#define MODE10_AbsSearch_NegRef 9
#define MODE11_LmtSearch_Ref 10
#define MODE12_AbsSearchReFind 11 // [6/13/2012 dan.yang]
#define MODE13_LmtSearchReFind 12 // [6/13/2012 dan.yang]
#define MODE14_AbsSearchReFind_Ref 13 // [6/13/2012 dan.yang]
#define MODE15_AbsSearchReFind_NegRef 14 // [6/13/2012 dan.yang]
#define MODE16_LmtSearchReFind_Ref 15 // [6/13/2012 dan.yang]
#define CiA402_MODE1 101
#define CiA402_MODE2 102
#define CiA402_MODE3 103
#define CiA402_MODE4 104
#define CiA402_MODE5 105
#define CiA402_MODE6 106
#define CiA402_MODE7 107
#define CiA402_MODE8 108
#define CiA402_MODE9 109
#define CiA402_MODE10 110
#define CiA402_MODE11 111
#define CiA402_MODE12 112
#define CiA402_MODE13 113
#define CiA402_MODE14 114
#define CiA402_MODE15 115
#define CiA402_MODE16 116
#define CiA402_MODE17 117
#define CiA402_MODE18 118
#define CiA402_MODE19 119
#define CiA402_MODE20 120
#define CiA402_MODE21 121
#define CiA402_MODE22 122
#define CiA402_MODE23 123
#define CiA402_MODE24 124
#define CiA402_MODE25 125
#define CiA402_MODE26 126
#define CiA402_MODE27 127
#define CiA402_MODE28 128
#define CiA402_MODE29 129
#define CiA402_MODE30 130
#define CiA402_MODE31 131
#define CiA402_MODE32 132
#define CiA402_MODE33 133
#define CiA402_MODE34 134
#define CiA402_MODE35 135
#define CiA402_MODE36 136
#define CiA402_MODE37 137
/*
+-----------------------------------------------------------------------------+
| ****************** DI Filter Define ********************** |
+-----------------------------------------------------------------------------+
*/
#define MP_ALM_FILTER 0x0001
#define MP_LMTP_FILTER 0x0002
#define MP_LMTN_FILTER 0x0004
#define MP_IN1_LTC_FILTER 0x0008
#define MP_IN2_RDY_FILTER 0x0010
#define MP_IN3_ORG_FILTER 0x0020
#define MP_IN4_JOGP_FILTER 0x0040
#define MP_IN5_JOGN_FILTER 0x0080
/*
+-----------------------------------------------------------------------------+
| ****************** Motion Home Direction Mode Define ********************** |
+-----------------------------------------------------------------------------+
*/
#define PosiDir 0
#define NegDir 1
#define SwitchPosi 2
#define SwitchNeg 3
/*
+-----------------------------------------------------------------------------+
| ********************* Motion Home Switch Mode Define ********************** |
+-----------------------------------------------------------------------------+
*/
#define LevelOn 0
#define LevelOff 1
#define EdgeOn 2
#define EdgeOff 3
/*
+-----------------------------------------------------------------------------+
| ********************* Motion HomeEx Steps Define ********************** |
+-----------------------------------------------------------------------------+
*/
#define HomeStep0 0
#define HomeStep1 1
#define HomeStep2 2
#define HomeStep3 3
#define HomeStep4 4
#define HomeStep5 5
#define HomeStep6 6
/*
+-----------------------------------------------------------------------------+
| ***************** Arc Interpolation Direction Define ********************** |
+-----------------------------------------------------------------------------+
*/
#define DIR_CW 0
#define DIR_CCW 1
/*
+-----------------------------------------------------------------------------+
| ***************** Compare Source Define *********************************** |
+-----------------------------------------------------------------------------+
*/
#define SRC_COMMAND_POSITION 0
#define SRC_ACTUAL_POSITION 1
/*
+-----------------------------------------------------------------------------+
| ***************** Compare Pulse mode Define ******************************* |
+-----------------------------------------------------------------------------+
*/
#define CMP_PULSE 0
#define CMP_TOGGLE 1
#define CMP_PWM 2
/*
+-----------------------------------------------------------------------------+
| ***************** Compare Enable Define *********************************** |
+-----------------------------------------------------------------------------+
*/
#define CMP_ENABLE 1
#define CMP_DISABLE 0
/*
+-----------------------------------------------------------------------------+
| ***************** Compare Pulse Logic Define ****************************** |
+-----------------------------------------------------------------------------+
*/
#define CP_ACT_LOW 0
#define CP_ACT_HIGH 1
/*
+-----------------------------------------------------------------------------+
| ***************** Compare Pulse Width Define ****************************** |
+-----------------------------------------------------------------------------+
*/
#define CP_5US 0
#define CP_10US 1
#define CP_20US 2
#define CP_50US 3
#define CP_100US 4
#define CP_200US 5
#define CP_500US 6
#define CP_1000US 7
/*
+-----------------------------------------------------------------------------+
| ************************* Compare Method Define ****************************|
+-----------------------------------------------------------------------------+
*/
#define MTD_GREATER_POSITION 0
#define MTD_SMALLER_POSITION 1
#define MTD_DIRECTIONLESS 2
#define MTD_UNDEFINED 3 // [4/13/2012 dan.yang]
/*
+-----------------------------------------------------------------------------+
| ************************* Event Type Define ******************************* |
+-----------------------------------------------------------------------------+
*/
#define EVT_DEV_DISCONNET 0x01 // [11/25/2014 dan]
#define EVT_DEV_IO_DISCONNET 0x02 // [07/03/2015 andy.wang]
#define AX_MOTION_DONE 0x80
#define AX_COMPARE 0x1E
#define EVT_NO_EVENT 0x00
#define EVT_AX_MOTION_DONE 0x01
#define EVT_AX_COMPARED 0x02
#define EVT_AX_LATCHED 0x04 // [Dan.Yang 2011.07.26]
#define EVT_AX_ERROR 0x08 // [12/14/2012 dan.yang]
#define EVT_AX_VH_START 0x10 // [6/13/2012 dan.yang]
#define EVT_AX_VH_END 0x20 // [6/13/2012 dan.yang]
#define EVT_AX_LATCHBUF_DONE 0x40 // [3/6/2013 dan.yang]
#define EVT_GP_MOTION_DONE 0x02
#define EVT_GP1_MOTION_DONE 0x01 // done event of GroupID 1
#define EVT_GP2_MOTION_DONE 0x02 // done event of GroupID 2
#define EVT_GP3_MOTION_DONE 0x04 // done event of GroupID 3
#define EVT_GP4_MOTION_DONE 0x08
//Start High Speed
#define EVT_GP1_VH_START 0x01
#define EVT_GP2_VH_START 0x02
#define EVT_GP3_VH_START 0x04
#define EVT_GP4_VH_START 0x08
//Start deceleration
#define EVT_GP1_VH_END 0x01
#define EVT_GP2_VH_END 0x02
#define EVT_GP3_VH_END 0x04
#define EVT_GP4_VH_END 0x08
#define EVT_CANCELED 0x10
#define EVT_TIMEOUT 0xFFFF
enum EVENT_TYPE
{
TYPE_DISABLED,
TYPE_X_PULSE,
TYPE_X_GREATER_COMP_NEG,
TYPE_X_LESS_COMP_NEG,
TYPE_X_LESS_COMP_POS,
TYPE_X_GREATER_COMP_POS,
TYPE_X_C_END,
TYPE_X_C_STA,
TYPE_X_D_END,
TYPE_Y_PULSE,
TYPE_Y_GREATER_COMP_NEG,
TYPE_Y_LESS_COMP_NEG,
TYPE_Y_LESS_COMP_POS,
TYPE_Y_GREATER_COMP_POS,
TYPE_Y_C_END,
TYPE_Y_C_STA,
TYPE_Y_D_END,
TYPE_Z_PULSE,
TYPE_Z_GREATER_COMP_NEG,
TYPE_Z_LESS_COMP_NEG,
TYPE_Z_LESS_COMP_POS,
TYPE_Z_GREATER_COMP_POS,
TYPE_Z_C_END,
TYPE_Z_C_STA,
TYPE_Z_D_END,
TYPE_U_PULSE,
TYPE_U_GREATER_COMP_NEG,
TYPE_U_LESS_COMP_NEG,
TYPE_U_LESS_COMP_POS,
TYPE_U_GREATER_COMP_POS,
TYPE_U_C_END,
TYPE_U_C_STA,
TYPE_U_D_END,
TYPE_INTERPOLATION
};
#define MAX_EVENT_TYPE_NUM 64 //TYPE_IPO+1
#define NodeHd_Type 0xFO
#define HdType_Dev 0xF1
#define HdType_Axis 0xF2
#define HdType_Group 0xF3
#define HdType_AxInGp 0xF4
#define HdType_MasDev 0xF5
#define HdType_SlvDev 0xF6 // [9/29/2014 dan]
//WR3 setting can be one of these types
#define WR3_Mask 0X0f9f//use '&'
//#define Ax_Sync_TMove 0x0f98//use '&'{bit0:MANLD(0) bit1:DSNDE(0) bit2:SACC(0)}
//#define Ax_Async_TMove 0x0f9E//bit0:MANLD(1) bit1:DSNDE(1) bit2:SACC(0)
//#define Ax_Sync_SMove 0x0f99//use bit0:MANLD(0) bit1:DSNDE(0) bit2:SACC(1)
//#define Ax_Async_SMove 0x0f9f//bit0:MANLD(1) bit1:DSNDE(1) bit2:SACC(1)
//********************************Motion type of Axis OR Group*****************
//Ptp types:
#define Unknown 0
#define SynTPtP 1
#define AsynTPtP 2
#define SynSPtP 3
#define AsynSPtP 4
//Conti types:
#define SynTConti 5
#define AsynTConti 6
#define SynSConti 7
#define AsynSConti 8
//Home types:
#define HomeEX 9
//Stop types:
#define SynTDecStop 22
#define AsynTDecStop 23
#define SynSDecStop 24
#define AsynSDecStop 25
#define EmgStop 26
//IPO types:
#define SynTLineIpo 27
#define AsynTLineIpo 28
#define SynSLineIpo 29
#define AsynSLineIpo 30
#define SynTContiIpo 31
#define AsynTContiIpo 32
#define SynTArcIpo 33
#define AsynTArcIpo 34
#define SynTDirectIpo 35
#define AsynTDirectIpo 36
#define SynSDirectIpo 37
#define AsynSDirectIpo 38
#define SynTDecStopGp 39
#define AsynTDecStopGp 40
#define SynSDecStopGp 41
#define AsynSDecStopGp 42
#define EmgStopGp 43
// [2/26/2008 kiya.chen] add
#define SynSArcIpo 44
#define AsynSArcIpo 45
#define SynSContiIpo 46
#define AsynSContiIpo 47
//******************Home Sub Types***************************//
#define SearchLevelOnOrgByFixDir 0
#define SearchLevelOffOrgByFixDir 1
#define SearchEdgeOnOrgByFixDir 2 //HomeEX_SubType1,2,3,4
#define SearchEdgeOffOrgByFixDir 3
#define SearchLevelOnOrgBySwitchDir 4
#define SearchLevelOffOrgBySwitchDir 5
#define SearchEdgeOnOrgBySwitchDir 6//HomeEX_SubType5,6,7,8
#define SearchEdgeOffOrgBySwitchDir 7
#define SearchLevelOnLmtBySwitchDir 8
#define SearchLevelOffLmtBySwitchDir 9
#define SearchEdgeOnLmtByFixDir 10 //HomeEX_SubType9,10,11,12
#define SearchEdgeOnLmtBySwitchDir 11 //HomeEX_SubType13,14,15,16
#define SearchEdgeOffLmtBySwitchDir 12
#define SearchEz 13 //HomeEX_SubType17,18,19,20
#define HomeEX_SubType1 1 //AbsSwitch+PosiDir+EdgeOn+HighActive
#define HomeEX_SubType2 2 //AbsSwitch+PosiDir+EdgeOn+LowActive
#define HomeEX_SubType3 3 //AbsSwitch+NegDir+EdgeOn+HighActive
#define HomeEX_SubType4 4 //AbsSwitch+NegDir+EdgeOn+LowActive
#define HomeEX_SubType5 5 //AbsSwitch+SwitchPosi+EdgeOn+HighActive
#define HomeEX_SubType6 6 //AbsSwitch+SwitchPosi+EdgeOn+LowActive
#define HomeEX_SubType7 7 //AbsSwitch+SwitchNeg+EdgeOn+HighActive
#define HomeEX_SubType8 8 //AbsSwitch+SwitchNeg+EdgeOn+LowActive
#define HomeEX_SubType9 9 //LimitSwitch+PosiDir+EdgeOn+HighActive
#define HomeEX_SubType10 10 //LimitSwitch+PosiDir+EdgeOn+LowActive
#define HomeEX_SubType11 11 //LimitSwitch+NegDir+EdgeOn+HighActive
#define HomeEX_SubType12 12 //LimitSwitch+NegDir+EdgeOn+LowActive
#define HomeEX_SubType13 13 //LimitSwitch+SwitchPosi+EdgeOn+HighActive
#define HomeEX_SubType14 14 //LimitSwitch+SwitchPosi+EdgeOn+LowActive
#define HomeEX_SubType15 15 //LimitSwitch+SwitchNeg+EdgeOn+HighActive
#define HomeEX_SubType16 16 //LimitSwitch+SwitchNeg+EdgeOn+LowActive
#define HomeEX_SubType17 17 //RefPulse+PosiDir+EdgeOn+HighActive
#define HomeEX_SubType18 18 //RefPulse+PosiDir+EdgeOn+LowActive
#define HomeEX_SubType19 19 //RefPulse+NegDir+EdgeOn+HighActive
#define HomeEX_SubType20 20 //RefPulse+NegDir+EdgeOn+LowActive
//******************End of Home Sub Types***************************//
//**********************************End of Motion type***************************
#define Ptp_PosDir 0
#define Ptp_NegDir 1
#define Conti_PosDir 0
#define Conti_NegDir 1
#define Home_PosDir 0
#define Home_NegDir 1
/*
+-----------------------------------------------------------------------------+
| ********************* Motion Home Phase Define **************************** |
+-----------------------------------------------------------------------------+
*/
#define Home_Phase_Search_ORG 0
#define Home_Phase_Search_EL 1
#define Home_Phase_Search_EZ 2
#define Home_Phase_CrossDistance 3
#define Home_Phase_ORG_OUTING 4
#define Home_Phase_EL_OUTING 5
#define Home_Phase_EZ_OUTING 6
/*
+-----------------------------------------------------------------------------+
| ********************* Motion Home Switch Mode Define ********************** |
+-----------------------------------------------------------------------------+
*/
#define LevelOn 0
#define LevelOff 1
#define EdgeOn 2
#define EdgeOff 3
/*
+-----------------------------------------------------------------------------+
| ********************* Motion Path Cmd Define ****************************** |
+-----------------------------------------------------------------------------+
*/
#define EndPath 0
#define Abs2DLine 1
#define Rel2DLine 2
#define Abs2DArcCW 3
#define Abs2DArcCCW 4
#define Rel2DArcCW 5
#define Rel2DArcCCW 6
#define Abs3DLine 7
#define Rel3DLine 8
#define AbsMultiLine 9
#define RelMultiLine 10
//Add for pci1245 and pci1265[dan.yang 2011.05.04]// Reserved.
#define Abs2DDirect 11
#define Rel2DDirect 12
#define Abs3DDirect 13
#define Rel3DDirect 14
#define Abs4DDirect 15
#define Rel4DDirect 16
#define Abs5DDirect 17
#define Rel5DDirect 18
#define Abs6DDirect 19
#define Rel6DDirect 20
#define Abs3DArcCW 21
#define Rel3DArcCW 22
#define Abs3DArcCCW 23
#define Rel3DArcCCW 24
#define Abs3DSpiralCW 25
#define Rel3DSpiralCW 26
#define Abs3DSpiralCCW 27
#define Rel3DSpiralCCW 28
#define GPDELAY 29
#define Abs4DSpiralCW 30 //add by zhaocui.deng 20130402
#define Rel4DSpiralCW 31
#define Abs4DSpiralCCW 32
#define Rel4DSpiralCCW 33
#define Abs5DSpiralCW 34
#define Rel5DSpiralCW 35
#define Abs5DSpiralCCW 36
#define Rel5DSpiralCCW 37
#define Abs6DSpiralCW 38
#define Rel6DSpiralCW 39
#define Abs6DSpiralCCW 40
#define Rel6DSpiralCCW 41
#define Abs7DSpiralCW 42
#define Rel7DSpiralCW 43
#define Abs7DSpiralCCW 44
#define Rel7DSpiralCCW 45
#define Abs8DSpiralCW 46
#define Rel8DSpiralCW 47
#define Abs8DSpiralCCW 48
#define Rel8DSpiralCCW 49
//added by zhaocui.deng 20130502
#define Abs2DArcCWAngle 50
#define Rel2DArcCWAngle 51
#define Abs2DArcCCWAngle 52
#define Rel2DArcCCWAngle 53
#define Abs3DArcCWAngle 54
#define Rel3DArcCWAngle 55
#define Abs3DArcCCWAngle 56
#define Rel3DArcCCWAngle 57
#define Abs3DSpiralCWAngle 58
#define Rel3DSpiralCWAngle 59
#define Abs3DSpiralCCWAngle 60
#define Rel3DSpiralCCWAngle 61
#define Abs4DSpiralCWAngle 62
#define Rel4DSpiralCWAngle 63
#define Abs4DSpiralCCWAngle 64
#define Rel4DSpiralCCWAngle 65
#define Abs5DSpiralCWAngle 66
#define Rel5DSpiralCWAngle 67
#define Abs5DSpiralCCWAngle 68
#define Rel5DSpiralCCWAngle 69
#define Abs6DSpiralCWAngle 70
#define Rel6DSpiralCWAngle 71
#define Abs6DSpiralCCWAngle 72
#define Rel6DSpiralCCWAngle 73
#define Abs7DSpiralCWAngle 74
#define Rel7DSpiralCWAngle 75
#define Abs7DSpiralCCWAngle 76
#define Rel7DSpiralCCWAngle 77
#define Abs8DSpiralCWAngle 78
#define Rel8DSpiralCWAngle 79
#define Abs8DSpiralCCWAngle 80
#define Rel8DSpiralCCWAngle 81
#define Abs7DDirect 82
#define Rel7DDirect 83
#define Abs8DDirect 84
#define Rel8DDirect 85
#define Abs2DArcCW_3P 86 // [9/4/2014 kai.yang]
#define Rel2DArcCW_3P 87
#define Abs2DArcCCW_3P 88
#define Rel2DArcCCW_3P 89
#define DoControl 90 // [2/27/2014 dan.yang]
#define Abs1DDirect 91
#define Rel1DDirect 92
/*//tehsin 2015/11/18
+-----------------------------------------------------------------------------+
| ********************* PT Motion Mode ****************************** |
+-----------------------------------------------------------------------------+
*/
#define PT_BUFFER_STATIC (0x00)
#define PT_BUFFER_DYNAMIC (0x01)
//#define PT_SEGMENT_SEQUENCE (0x00)
//#define PT_SEGMENT_STOP (0x01)
/*
+-----------------------------------------------------------------------------+
| *********************Robot Motion Path Cmd Define ************************ |
+-----------------------------------------------------------------------------+
*/// [9/17/2013 dan.yang]: For different with general path command.
#ifdef ADVVIRTUALMOTIONCARD
#define RB_MOVE_CMD_BASE 0xA0
#define RB_EndPath (RB_MOVE_CMD_BASE+0)
#define RB_AbsMove (RB_MOVE_CMD_BASE+1)
#define RB_RelMove (RB_MOVE_CMD_BASE+2)
#define RB_AbsMoveDirect (RB_MOVE_CMD_BASE+3)
#define RB_RelMoveDirect (RB_MOVE_CMD_BASE+4)
#define RB_AbsMoveLine (RB_MOVE_CMD_BASE+5)
#define RB_RelMoveLine (RB_MOVE_CMD_BASE+6)
#define RB_AbsMoveArcCW (RB_MOVE_CMD_BASE+7)
#define RB_RelMoveArcCW (RB_MOVE_CMD_BASE+8)
#define RB_AbsMoveArcCCW (RB_MOVE_CMD_BASE+9)
#define RB_RelMoveArcCCW (RB_MOVE_CMD_BASE+10)
#define RB_AbsMoveArcCW_3P (RB_MOVE_CMD_BASE+11)
#define RB_RelMoveArcCW_3P (RB_MOVE_CMD_BASE+12)
#define RB_AbsMoveArcCCW_3P (RB_MOVE_CMD_BASE+13)
#define RB_RelMoveArcCCW_3P (RB_MOVE_CMD_BASE+14)
#define RB_DELAY (RB_MOVE_CMD_BASE+20)
#define RB_DoControl (RB_MOVE_CMD_BASE+21)
#else
#define RB_EndPath 0
#define RB_AbsMove 1
#define RB_RelMove 2
#define RB_AbsMoveDirect 3
#define RB_RelMoveDirect 4
#define RB_AbsMoveLine 5
#define RB_RelMoveLine 6
#define RB_AbsMoveArcCW 7
#define RB_RelMoveArcCW 8
#define RB_AbsMoveArcCCW 9
#define RB_RelMoveArcCCW 10
#define RB_AbsMoveArcCW_3P 11
#define RB_RelMoveArcCW_3P 12
#define RB_AbsMoveArcCCW_3P 13
#define RB_RelMoveArcCCW_3P 14
#define RB_DELAY 20
#define RB_DoControl 21
#endif
/*+-----------------------------------------------------------------------------+
| ********************* Motion Path Mode Define ***************************** |
+-----------------------------------------------------------------------------+
*/
#define BlendingEn 0
#define BlendingDis 1
#define COUSTOM_MODE 2
/*
/*
+-----------------------------------------------------------------------------+
| ********************* Motion Event Name Define **************************** |
+-----------------------------------------------------------------------------+
*/
#define ADV_EVT_NUM 6
#define ADV_EVT_AX_DONE "EVT_AX_DONE"
#define ADV_EVT_GP_DONE "EVT_GP_DONE"
#define ADV_EVT_CANCELED "EVT_CANCELED"
/*
+-----------------------------------------------------------------------------+
| *********************** Axis ERC Map Define ******************************* |
+-----------------------------------------------------------------------------+
*/
#define AX_ERC_EN_MODE 1
#define AX_ERC_LOGIC 2
#define AX_ERC_ON_TIME 4
#define AX_ERC_OFF_TIME 8
/*
+-----------------------------------------------------------------------------+
| ******************** Axis ERC On-Time Map Define ************************** |
+-----------------------------------------------------------------------------+
*/
#define AX_ERC_ON_12US 1
#define AX_ERC_ON_102US 2
#define AX_ERC_ON_409US 4
#define AX_ERC_ON_1600US 8
#define AX_ERC_ON_13MS 16
#define AX_ERC_ON_52MS 32
#define AX_ERC_ON_104MS 64
#define AX_ERC_ON_LEVEL 128
/*
+-----------------------------------------------------------------------------+
| ******************** Axis ERC Enable mode Map Define ********************** |
+-----------------------------------------------------------------------------+
*/
#define AX_ERC_ON_HOME 1
#define AX_ERC_ON_MIO 2
#define AX_ERC_ON_HOME_MIO 4
/*
+-----------------------------------------------------------------------------+
| ******************** Axis ERC Off-Time Map Define ************************** |
+-----------------------------------------------------------------------------+
*/
#define AX_ERC_OFF_0US 1
#define AX_ERC_OFF_12US 2
#define AX_ERC_OFF_1600US 4
#define AX_ERC_OFF_104MS 8
/*
+-----------------------------------------------------------------------------+
| ******************** Axis BACKLASH Map Define ************************** |
+-----------------------------------------------------------------------------+
*/
#define AX_BKSH_EN 1
#define AX_BKSH_VALUE 2
/*
+-----------------------------------------------------------------------------+
| ******************** Axis VIBRATION Map Define ************************** |
+-----------------------------------------------------------------------------+
*/
#define AX_VIBRA_EN 1
#define AX_VIBRA_FWD_VALUE 2
#define AX_VIBRA_REV_VALUE 4
/*
+-----------------------------------------------------------------------------+
| ***************** ERC Acitve Logic Define ********************************* |
+-----------------------------------------------------------------------------+
*/
#define ERC_ACT_LOW 0
#define ERC_ACT_HIGH 1
//Added by Dean -----------------------------------------------
#define ERC_ON_DISABLE 0
#define ERC_ON_HOME 1
#define ERC_ON_MIO 2
#define ERC_ON_HOME_MIO 3
/*
+-----------------------------------------------------------------------------+
| ******************** Axis ERC On-Time Define ****************************** |
+-----------------------------------------------------------------------------+
*/
#define ERC_ON_12US 0
#define ERC_ON_102US 1
#define ERC_ON_409US 2
#define ERC_ON_1600US 3
#define ERC_ON_13MS 4
#define ERC_ON_52MS 5
#define ERC_ON_104MS 6
#define ERC_ON_LEVEL 7
/*
+-----------------------------------------------------------------------------+
| ******************** Axis ERC Off-Time Define ***************************** |
+-----------------------------------------------------------------------------+
*/
#define ERC_OFF_0US 0
#define ERC_OFF_12US 1
#define ERC_OFF_1600US 2
#define ERC_OFF_104MS 3
/*
+-----------------------------------------------------------------------------+
| ***************** ERC on home Define(only for KW Dialog) ****************** |
+-----------------------------------------------------------------------------+
*/
#define ERC_HOME_DISABLE 0
#define ERC_HOME_ENABLE 1
/*
+-----------------------------------------------------------------------------+
| ***************** ERC on motion_io Define(only for KW Dialog) ************* |
+-----------------------------------------------------------------------------+
*/
#define ERC_ERRMIO_DISABLE 0
#define ERC_ERRMIO_ENABLE 1
/*
+-----------------------------------------------------------------------------+
| ****************** SD Enable Define *************************** |
+-----------------------------------------------------------------------------+
*/
#define SD_DIS 0
#define SD_EN 1
/*
+-----------------------------------------------------------------------------+
| ****************** SD React Define **************************** |
+-----------------------------------------------------------------------------+
*/
#define SD_DEC 0
#define SD_DEC_TO_STOP 1
/*
+-----------------------------------------------------------------------------+
| ****************** SD Latch Define **************************** |
+-----------------------------------------------------------------------------+
*/
#define SD_LATCH_DIS 0
#define SD_LATCH_EN 1
/*
+-----------------------------------------------------------------------------+
| ****************** Latch Logic Define **************************** |
+-----------------------------------------------------------------------------+
*/
#define LATCH_ACT_LOW 0
#define LATCH_ACT_HIGH 1
/*
+-----------------------------------------------------------------------------+
| ****************** Home Reset Define **************************** |
+-----------------------------------------------------------------------------+
*/
#define HOME_RESET_DIS 0
#define HOME_RESET_EN 1
/*
+-----------------------------------------------------------------------------+
| ****************** Backlash enable Define **************************** |
+-----------------------------------------------------------------------------+
*/
#define BKSH_DIS 0
#define BKSH_EN 1
/*
+-----------------------------------------------------------------------------+
| ****************** Viabration enable Define **************************** | //ydd:modified.20110309
+-----------------------------------------------------------------------------+
*/
#define VIBRA_DIS 0
#define VIBRA_EN 1
/*
+-----------------------------------------------------------------------------+
| ****************** Baudrate Define **************************** |
+-----------------------------------------------------------------------------+
*/
#define BR_AMONET_2500K 0x00
#define BR_AMONET_5M 0x01
#define BR_AMONET_10M 0x02
#define BR_AMONET_20M 0x03
#define BR_CAN_10K 0x10
#define BR_CAN_20K 0x11
#define BR_CAN_50K 0x12
#define BR_CAN_125K 0x13
#define BR_CAN_250K 0x14
#define BR_CAN_500K 0x15
#define BR_CAN_800K 0x16
#define BR_CAN_1000K 0x17
/*
+-----------------------------------------------------------------------------+
| ****************** Master Communication Status **************************** |
+-----------------------------------------------------------------------------+
*/
#define COM_ST_DISCONNECTED 0x00
#define COM_ST_CONNECTED 0x01
#define COM_ST_SLAVE_ERROR 0x02
#define COM_ST_BUSY 0x03
#define COM_ST_ERROR 0x04
/*
+-----------------------------------------------------------------------------+
| ********************* CAM DO Mode ***************************************** |
+-----------------------------------------------------------------------------+
//Add for pci1245 and pci1265.[dan.yang 2011.05.25]
*/
#define CamDOByPosition 0
#define CamDOByTime 1
/*
+-----------------------------------------------------------------------------+
| ********************* Encode Pulse in Max Frequency ***************************************** |
+-----------------------------------------------------------------------------+
//Add for pci1245 and pci1265.[dan.yang 2011.06.20]
*/
#define ENC_500KHZ 0x00
#define ENC_1MHZ 0x01
#define ENC_2MHZ 0x02
#define ENC_4MHZ 0x03
/*
+-----------------------------------------------------------------------------+
| *********************Reference plane for Arc interpolation /spiral interpolation/Gantry function * |
+-----------------------------------------------------------------------------+
//Add for pci1245 and pci1265.[dan.yang 2011.06.20]
*/
#define XY_PLANE 0
#define YZ_PLANE 1
#define XZ_PLANE 2
/*
+-----------------------------------------------------------------------------+
| *********************PWM ***************************************************|
+-----------------------------------------------------------------------------+
//Add for pci1245 and pci1265.[zhaocui 2013.07.15]
*/
#define MaxPWMFreq 250000
#define MinPWMFreq 1
/*
+-----------------------------------------------------------------------------+
| ********** Motion DAQ channel type MAP* |
+-----------------------------------------------------------------------------+
//Add for pci1245 and pci1265.[dan.yang 2012.06.13]
*/
#define MP_MQ_TYPE_CMDPOSI 0x01 // cmd position information
#define MP_MQ_TYPE_ACTPOSI 0x02 // act position information
#define MP_MQ_TYPE_LAGPOSI 0x04 // cmd - act position information
#define MP_MQ_TYPE_CMDVEL 0x08 // cmd velocity information (reserved)
/*
+-----------------------------------------------------------------------------+
| *********************Motion DAQ Channel Type * |
+-----------------------------------------------------------------------------+
//Add for pci1245 and pci1265.[dan.yang 2012.06.13]
*/
#define MQ_TYPE_CMDPOSI 0 // cmd position information
#define MQ_TYPE_ACTPOSI 1 // act position information
#define MQ_TYPE_LAGPOSI 2 // cmd - act position information
#define MQ_TYPE_CMDVEL 3 // cmd velocity information (reserved)
/*
+-----------------------------------------------------------------------------+
| *********************Motion DAQ trigger type * |
+-----------------------------------------------------------------------------+
//Add for pci1245 and pci1265.[dan.yang 2012.06.13]
*/
// Motion DAQ trigger type (each channel can be set to trigger in what state )
#define MQ_TRIG_DISABLE 0 // Disable
#define MQ_TRIG_SW 1 // Trigger by Software
#define MQ_TRIG_DI 2 // Trigger by DI (reserved)
#define MQ_TRIG_AX0_START 3 // Trigger by Axis0 start move
#define MQ_TRIG_AX1_START 4 // Trigger by Axis1 start move
#define MQ_TRIG_AX2_START 5 // Trigger by Axis2 start move
#define MQ_TRIG_AX3_START 6 // Trigger by Axis3 start move
#define MQ_TRIG_AX4_START 7 // Trigger by Axis4 start move
#define MQ_TRIG_AX5_START 8 // Trigger by Axis5 start move
#define MQ_TRIG_AX6_START 9 // Trigger by Axis6 start move
#define MQ_TRIG_AX7_START 10 // Trigger by Axis7 start move
#define MQ_TRIG_AX8_START 11 // Trigger by Axis8 start move
#define MQ_TRIG_AX9_START 12 // Trigger by Axis9 start move
#define MQ_TRIG_AX10_START 13 // Trigger by Axis10 start move
#define MQ_TRIG_AX11_START 14 // Trigger by Axis11 start move
/*
+-----------------------------------------------------------------------------+
| *********************Motion DAQ trigger Map * |
+-----------------------------------------------------------------------------+
//Add for pci1245 and pci1265.[dan.yang 2012.06.18]
*/
#define MP_MQ_TRIG_DISABLE 0x0000 // Disable
#define MP_MQ_TRIG_SW 0x0001 // Trigger by Software
#define MP_MQ_TRIG_DI 0x0002 // Trigger by DI (reserved)
#define MP_MQ_TRIG_AX_START 0x0004 // Trigger by AXIS
/*
+-----------------------------------------------------------------------------+
| *********************Home Mode Map * |
+-----------------------------------------------------------------------------+
//Add for pci1245 and pci1265.[dan.yang 2012.06.13]
*/
#define MP_MODE1_Abs 0x0001
#define MP_MODE2_Lmt 0x0002
#define MP_MODE3_Ref 0x0004
#define MP_MODE4_Abs_Ref 0x0008
#define MP_MODE5_Abs_NegRef 0x0010
#define MP_MODE6_Lmt_Ref 0x0020
#define MP_MODE7_AbsSearch 0x0040
#define MP_MODE8_LmtSearch 0x0080
#define MP_MODE9_AbsSearch_Ref 0x0100
#define MP_MODE10_AbsSearch_NegRef 0x0200
#define MP_MODE11_LmtSearch_Ref 0x0400
#define MP_MODE12_AbsSearchReFind 0x0800
#define MP_MODE13_LmtSearchReFind 0x1000
#define MP_MODE14_AbsSearchReFind_Ref 0x2000
#define MP_MODE15_AbsSearchReFind_NegRef 0x4000
#define MP_MODE16_LmtSearchReFind_Ref 0x8000
/*
+-----------------------------------------------------------------------------+
| *********************Ax Motion IO * |
+-----------------------------------------------------------------------------+
//.[kai.yang 2014.05.29]
*/
#define AX_MOTION_IO_RDY 0x00000001
#define AX_MOTION_IO_ALM 0x00000002
#define AX_MOTION_IO_LMTP 0x00000004
#define AX_MOTION_IO_LMTN 0x00000008
#define AX_MOTION_IO_ORG 0x00000010
#define AX_MOTION_IO_DIR 0x00000020
#define AX_MOTION_IO_EMG 0x00000040
#define AX_MOTION_IO_PCS 0x00000080
#define AX_MOTION_IO_ERC 0x00000100
#define AX_MOTION_IO_EZ 0x00000200
#define AX_MOTION_IO_CLR 0x00000400
#define AX_MOTION_IO_LTC 0x00000800
#define AX_MOTION_IO_SD 0x00001000
#define AX_MOTION_IO_INP 0x00002000
#define AX_MOTION_IO_SVON 0x00004000
#define AX_MOTION_IO_ALRM 0x00008000
#define AX_MOTION_IO_SLMTP 0x00010000
#define AX_MOTION_IO_SLMTN 0x00020000
#define AX_MOTION_IO_CMP 0x00040000
#define AX_MOTION_IO_CAMDO 0x00080000
#define AX_MOTION_IO_MAXTORLMT 0x00100000 //Andy.Wang 2015.08.10
/*
+-----------------------------------------------------------------------------+
| *********************AI Range Map * |
+-----------------------------------------------------------------------------+
//Add for AI[dan.yang 2014.11.22]
*/
#define DAQ_AI_NEG_10V_TO_10V 0x00000001
#define DAQ_AI_NEG_5V_TO_5V 0x00000002
#define DAQ_AI_NEG_2500MV_TO_2500MV 0x00000004
#define DAQ_AI_NEG_1250MV_TO_1250MV 0x00000008
#define DAQ_AI_NEG_625MV_TO_625MV 0x00000010
#define DAQ_AI_NEG_1V_TO_1V 0x00000020
#define DAQ_AI_NEG_500MV_TO_500MV 0x00000040
#define DAQ_AI_NEG_150MV_TO_150MV 0x00000080
#define DAQ_AI_NEG_0_TO_10V 0x00000100
#define DAQ_AI_NEG_0_TO_500MV 0x00000200
#define DAQ_AI_0MA_TO_20MA 0x00010000
#define DAQ_AI_4MA_TO_20MA 0x00020000
#define DAQ_AI_NEG_20MA_TO_20MA 0x00040000
/*
/*
+-----------------------------------------------------------------------------+
| *********************AI Range configuration * |
+-----------------------------------------------------------------------------+
//Add for AI[dan.yang 2014.11.22]
*/
#define CFG_DAQ_AI_NEG_10V_TO_10V 0x00000000
#define CFG_DAQ_AI_NEG_5V_TO_5V 0x00000001
#define CFG_DAQ_AI_NEG_2500MV_TO_2500MV 0x00000002
#define CFG_DAQ_AI_NEG_1250MV_TO_1250MV 0x00000003
#define CFG_DAQ_AI_NEG_625MV_TO_625MV 0x00000004
#define CFG_DAQ_AI_NEG_1V_TO_1V 0x00000005
#define CFG_DAQ_AI_NEG_500MV_TO_500MV 0x00000006
#define CFG_DAQ_AI_NEG_150MV_TO_150MV 0x00000007
#define CFG_DAQ_AI_NEG_0_TO_10V 0x00000008
#define CFG_DAQ_AI_NEG_0_TO_500MV 0x00000009
#define CFG_DAQ_AI_0MA_TO_20MA 0x00000010
#define CFG_DAQ_AI_4MA_TO_20MA 0x00000011
#define CFG_DAQ_AI_NEG_20MA_TO_20MA 0x00000012
/*
+-----------------------------------------------------------------------------+
| *********************AO Range Map * |
+-----------------------------------------------------------------------------+
//Add for AO[dan.yang 2014.11.22]
*/
#define DAQ_AO_NEG_10V_TO_10V 0x00000001
#define DAQ_AO_NEG_5V_TO_5V 0x00000002
#define DAQ_AO_NEG_2500MV_TO_2500MV 0x00000004
#define DAQ_AO_NEG_1250MV_TO_1250MV 0x00000008
#define DAQ_AO_NEG_625MV_TO_625MV 0x00000010
#define DAQ_AO_NEG_0V_TO_10V 0x00000020
#define DAQ_AO_NEG_0V_TO_5V 0x00000040
#define DAQ_AO_0MA_TO_20MA 0x00010000
#define DAQ_AO_4MA_TO_20MA 0x00020000
/*
+-----------------------------------------------------------------------------+
| *********************AO Range Configuration * |
+-----------------------------------------------------------------------------+
//Add for AO[dan.yang 2014.11.22]
*/
#define CFG_DAQ_AO_NEG_10V_TO_10V 0x00000000
#define CFG_DAQ_AO_NEG_5V_TO_5V 0x00000001
#define CFG_DAQ_AO_NEG_2500MV_TO_2500MV 0x00000002
#define CFG_DAQ_AO_NEG_1250MV_TO_1250MV 0x00000003
#define CFG_DAQ_AO_NEG_625MV_TO_625MV 0x00000004
#define CFG_DAQ_AO_NEG_0V_TO_10V 0x00000005
#define CFG_DAQ_AO_NEG_0V_TO_5V 0x00000006
#define CFG_DAQ_AO_0MA_TO_20MA 0x00000010
#define CFG_DAQ_AO_4MA_TO_20MA 0x00000011
#define ECAT_TYPE_I8 1
#define ECAT_TYPE_U8 2
#define ECAT_TYPE_I16 3
#define ECAT_TYPE_U16 4
#define ECAT_TYPE_I32 5
#define ECAT_TYPE_U32 6
#define ECAT_TYPE_I64 7
#define ECAT_TYPE_U64 8
#define ECAT_TYPE_STRING 9
#endif // __ADV_MOT_DRV_H__
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