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MipDefinitions.h

00001 // Copyright (c) 2004, Thomas Lochmatter, thl@lothosoft.ch 00002 00003 #ifndef fileMipDefinitions 00004 #define fileMipDefinitions 00005 00007 00011 00012 typedef struct T_SysParam { 00013 /*nr offSet */ 00014 00015 /* system informations */ 00016 /* 1 0 */ char AxisNumber; 00017 /* 6 1 */ char GroupAddress; 00018 /* 2 2 */ int StartupMode; 00019 /* 3 4 */ long RS232BaudRate; 00020 /* 4 8 */ int RS232Mode; 00021 /* 5 10 */ long RS485BaudRate; 00022 /* 7 14 */ TSysCfg SysConfig; 00023 /* 8 16 */ TsysCfg2 SysCongig2; 00024 /* 9 18 */ int SupplyVolt; 00025 /* 0 20 */ int NbOfChanges; 00026 00027 /* motor/encoder/gear informations */ 00028 /*10 22 */ int EncoderResolution; 00029 /*11 24 */ int MaxVelocity; 00030 /*12 26 */ word MinAccelTime; 00031 /*13 28 */ int PeakCurrent; 00032 /*14 30 */ int ContCurrent; 00033 /*15 32 */ float GearRatio; 00034 /*16 36 */ float Inertia; 00035 /*17 40 */ float TorqueConst; 00036 /*18 44 */ float SpeedConst; 00037 /*19 48 */ int CurDelta; 00038 00039 /* user informations */ 00040 /*20 50 */ long PosErrorMax; 00041 /*21 54 */ long UpPositionLimit; 00042 /*22 58 */ int EnableUpLimit; 00043 /*23 60 */ long LoPositionLimit; 00044 /*24 64 */ int EnableLoLimit; 00045 /*25 66 */ int PosGainP; 00046 /*26 68 */ int PosGainI; 00047 /*27 70 */ int PosGainD; 00048 /*28 72 */ int CurGainP; 00049 /*29 74 */ int CurGainI; 00050 /*30 76 */ int HomeType; 00051 /*31 78 */ float HomeVelocity; 00052 /*32 82 */ int CurrentThreshold; 00053 /*33 84 */ long HomeOffSet; 00054 /*34 88 */ int PLMaxVelocity; 00055 /*35 90 */ int AuxEncoderMode; 00056 /*36 92 */ float AuxEncoderGain; 00057 /*37 96 */ int BrakeGain; 00058 /*38 98 */ int HomePositionHi; 00059 /*39 100 */ int HomePositionLo; 00060 00061 /* utility information, autocalculated, read only */ 00062 /*40 102 */ long OneRevolution; 00063 /*41 106 */ long OneLoadRevolution; 00064 00065 /* the following parameters belong to the extended parameter structure */ 00066 /*42 110 */ word ExtendTag; 00067 /*43 112 */ long ExtParam[35]; 00068 /*78 252 */ long SysParamCRC; 00069 } T_SysParam; 00070 00071 #define EXTEND_TAG 54321 /* this value indicates the presence of an extended parameter Set */ 00072 00074 enum eMipSysConfig { 00075 /* 0 */ StartCurReg = 0x1; 00076 /* 1 */ StartPosReg = 0x2; 00077 /* 2 */ StopCurReg = 0x4; 00078 /* 3 */ BrakeAtStop = 0x8; 00079 /* 4 */ CheckEnable = 0x10; 00080 /* 5 */ CheckLeft = 0x20; 00081 /* 6 */ CheckRight = 0x40; 00082 /* 7 */ CheckDigOvld = 0x80; 00083 /* 8 */ ClearStop = 0x100; 00084 /* 9 */ ClearLeft = 0x200; 00085 /*10 */ ClearRight = 0x400; 00086 /*11 */ StopCurReg2 = 0x800; 00087 /*12 */ CycloidalProf = 0x1000; 00088 /*13 */ CheckEncoder = 0x2000; 00089 /*14 */ b14 = 0x4000; 00090 /*15 */ ConfigDC = 0x8000; 00091 }; 00092 00094 enum eMipSysConfig2 { 00095 /* 0 */ EnableWdog = 1; 00096 /* 1 */ ClearWdog = 2; 00097 /* 2 */ IgnoreWdog = 4; 00098 /* 3 */ DisOvrcur = 8; 00099 }; 00100 00101 #endif

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