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MipMessageTypes.inc.h

00001 00002 enum eType { 00003 sNone=0x00, 00004 00005 // I. Exception functions 00006 sReset=0x08, 00007 sHalt=0x09, 00008 sBrake=0x0A, 00009 00010 // II. Status and error handling 00011 sReadAxisStatus=0x0B, 00012 sReadError=0x0C, 00013 sClearError=0x0D, 00014 sReadWarning=0x0E, 00015 sClearWarning=0x0F, 00016 00017 // III. System parameter settings functions 00018 sReadTempParam=0x10, 00019 sReadPermanentParam=0x11, 00020 sSetTempParam=0x12, 00021 sResetTempParam=0x14, 00022 sUpdatePermParam=0x15, 00023 sReadAllTempParam=0x16, 00024 sReadAllPermParam=0x17, 00025 sSetAllTempParam=0x18, 00026 sSetAllPermParam=0x19, 00027 sReadCurrentGains=0x1A, 00028 sSetCurrentGains=0x1B, 00029 sReadPositionGains=0x1C, 00030 sSetPositionGains=0x1D, 00031 sReadVersion=0x1F, 00032 00033 // IV. Motion control functions 00034 sSetRegMode=0x20, 00035 sSetProfile=0x21, 00036 sSetPosVelocity=0x22, 00037 sSetWaitMode=0x23, 00038 sMoveAbsolute=0x24, 00039 sMoveRelative=0x25, 00040 sWaitForTargetPos=0x26, 00041 sSetVelocity=0x27, 00042 sStopMotion=0x28, 00043 sFindHomeSys=0x29, 00044 sFindHome=0x2A, 00045 sFindIndex=0x2B, 00046 sDefinePosition=0x2C, 00047 sWaitForPosition=0x2D, 00048 sReadIndexDistance=0x2E, 00049 sReadProfile=0x2F, 00050 00051 // V. Motion information functions 00052 sReadPosition=0x30, 00053 sReadPositionMust=0x31, 00054 sReadPositionIsMust=0x32, 00055 sReadVelocity=0x33, 00056 sReadVelocityMean=0x34, 00057 sReadVelocityMust=0x35, 00058 sReadVelocityIsMust=0x36, 00059 sReadCurrent=0x37, 00060 sReadCurrentMean=0x38, 00061 sReadCurrentMust=0x39, 00062 sReadCurrentIsMust=0x3A, 00063 sReadPosVelCur=0x3B, 00064 sReadPosVelCurMean=0x3C, 00065 sReadPosVelCurMust=0x3D, 00066 sReadPosVelCurIsMust=0x3E, 00067 sReadAxisInfo=0x3F, 00068 00069 // VI. Input / Output and miscellaneous functions 00070 sReadInput=0x40, 00071 sReadInputByte=0x41, 00072 sWaitForInput=0x42, 00073 sSetOutput=0x43, 00074 sSetOutputByte=0x44, 00075 sReadAnalogInput=0x45, 00076 sSetUserPWM=0x46, 00077 sReadSysTime=0x47, 00078 sWaitTime=0x48, 00079 sSetCurrent=0x49, 00080 sReadECStatus=0x4A, 00081 sReadMaxStack=0x4F, 00082 00083 // VII. Serial input / output on RS232 port 00084 sPutString=0x4B, 00085 sGetString=0x4C, 00086 sPutNumber=0x4D, 00087 sGetNumber=0x4E, 00088 00089 // VIII. Multi-axes functions 00090 sInitMoveAbsolute=0x50, 00091 sInitMoveRelative=0x51, 00092 sInitSetVelocity=0x52, 00093 sStartMovement=0x53, 00094 00095 // IX. Autotuning functions 00096 sInitAutoTune=0x60, 00097 sAutotune=0x61, 00098 sSquareCurrentTest=0x62, 00099 00100 // X. Recording functions 00101 sSetupRecorder=0x68, 00102 sRecordData=0x69, 00103 sReadNbOfSamples=0x6A, 00104 sReadRecordedData=0x6B, 00105 00106 // XI. User parameter settings functions 00107 sReadAllTempUsr1Param=0x70, 00108 sReadAllPermUsr1Param=0x71, 00109 sSetAllTempUsr1Param=0x72, 00110 sSetAllPermUsr1Param=0x73, 00111 sReadAllTempUsr2Param=0x74, 00112 sReadAllPermUsr2Param=0x75, 00113 sSetAllTempUsr2Param=0x76, 00114 sSetAllPermUsr2Param=0x77, 00115 sCheckCRC=0x78 00116 };

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