forked from epics_driver_modules/motorBase
Ron Sluiter
ffe75e7310
- changed EOT LS read status from AXISFAULT to AXISSTATUS so LS status can be monitored independent of fault status.
361 lines
15 KiB
C
361 lines
15 KiB
C
// File contains parameter numbers and header for Parameters.cpp
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// NOTE: this file is controller firmware version dependant and needs to match it
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#ifndef __PARAMETERS_H__
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#define __PARAMETERS_H__
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#define NUMBER_OF_PARAMETERS 340
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typedef enum {
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ParameterNumber_PosScaleFactor = 3,
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ParameterNumber_ServoUpdateRate = 4,
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ParameterNumber_ServoMask = 5,
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ParameterNumber_GainKpos = 6,
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ParameterNumber_GainKi = 7,
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ParameterNumber_GainKp = 8,
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ParameterNumber_GainVff = 9,
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ParameterNumber_GainAff = 10,
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ParameterNumber_GainKv = 11,
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ParameterNumber_GainKpi = 12,
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ParameterNumber_FiltTorq1N0 = 13,
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ParameterNumber_FiltTorq1N1 = 14,
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ParameterNumber_FiltTorq1N2 = 15,
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ParameterNumber_FiltTorq1D1 = 16,
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ParameterNumber_FiltTorq1D2 = 17,
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ParameterNumber_FiltTorq2N0 = 18,
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ParameterNumber_FiltTorq2N1 = 19,
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ParameterNumber_FiltTorq2N2 = 20,
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ParameterNumber_FiltTorq2D1 = 21,
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ParameterNumber_FiltTorq2D2 = 22,
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ParameterNumber_IGainDeadTimeUsec = 23,
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ParameterNumber_IGainK = 25,
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ParameterNumber_AxisRolloverDistCnts = 26,
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ParameterNumber_IGainKi = 27,
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ParameterNumber_IGainKp = 28,
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ParameterNumber_IGainIaOffset = 29,
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ParameterNumber_IGainIbOffset = 30,
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ParameterNumber_IGainVaOffset = 31,
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ParameterNumber_IGainVbOffset = 32,
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ParameterNumber_IGainVcOffset = 33,
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ParameterNumber_FaultMaskGlobal = 34,
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ParameterNumber_FaultMaskDisable = 35,
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ParameterNumber_FaultMaskDecel = 36,
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ParameterNumber_FaultMaskStop = 37,
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ParameterNumber_BrakeOnDriveDisable = 39,
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ParameterNumber_FaultMaskAux = 40,
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ParameterNumber_FaultEstopInput = 41,
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ParameterNumber_ThresholdPosErr = 42,
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ParameterNumber_ThresholdAvgIAmp = 43,
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ParameterNumber_ThresholdAvgITimeMsec = 44,
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ParameterNumber_ThresholdVelCmd = 45,
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ParameterNumber_ThresholdVelError = 46,
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ParameterNumber_ThresholdSoftCCW = 47,
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ParameterNumber_ThresholdSoftCW = 48,
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ParameterNumber_ThresholdClampIAmp = 49,
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ParameterNumber_ThresholdInPosDist = 50,
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ParameterNumber_CfgMotType = 51,
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ParameterNumber_CfgMotCyclesRev = 52,
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ParameterNumber_CfgMotCntsRev = 53,
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ParameterNumber_CfgMotOffsetAng = 55,
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ParameterNumber_CfgMotMSetTimeMsec = 56,
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ParameterNumber_CfgMotMSetIAmps = 57,
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ParameterNumber_CfgFbkPosType = 58,
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ParameterNumber_CfgFbkPosChan = 59,
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ParameterNumber_CfgFbkPosMultiplier = 60,
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ParameterNumber_CfgFbkVelType = 61,
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ParameterNumber_CfgFbkVelChan = 62,
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ParameterNumber_CfgFbkVelMultiplier = 63,
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ParameterNumber_CfgFbkMultFactorMX = 66,
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ParameterNumber_CfgFbkEncSineGain = 67,
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ParameterNumber_CfgFbkEncSineOffset = 68,
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ParameterNumber_CfgFbkEncCosineGain = 69,
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ParameterNumber_CfgFbkEncCosineOffset = 70,
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ParameterNumber_CfgFbkEncPhase = 71,
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ParameterNumber_GantryMasterAxis = 72,
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ParameterNumber_GantrySlaveAxis = 73,
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ParameterNumber_MBusMasterSlaveIPAddress = 74,
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ParameterNumber_MBusMasterSlaveSubnetMask = 75,
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ParameterNumber_MBusMasterSlaveGateway = 76,
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ParameterNumber_MBusMasterInputWords = 77,
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ParameterNumber_MBusMasterOutputWords = 78,
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ParameterNumber_MBusMasterInputBits = 79,
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ParameterNumber_MBusMasterOutputBits = 80,
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ParameterNumber_MBusMasterVirtualInputs = 81,
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ParameterNumber_MBusMasterVirtualOutputs = 82,
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ParameterNumber_LimitDecelDistCnts = 84,
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ParameterNumber_LimitDebounceTimeMsec = 85,
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ParameterNumber_LimitLevelMask = 86,
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ParameterNumber_BacklashDistCnts = 87,
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ParameterNumber_AuxOutBitMask = 88,
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ParameterNumber_AuxOutBitLevel = 89,
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ParameterNumber_DriveIOConfig = 90,
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ParameterNumber_BrakeOutput = 91,
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ParameterNumber_MBusMasterOutputWordsSections = 93,
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ParameterNumber_MBusMasterOutputBitsSections = 94,
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ParameterNumber_MBusMasterRWReadOffset = 95,
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ParameterNumber_AdcScaleFactor = 96,
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ParameterNumber_EncoderDivider = 97,
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ParameterNumber_FaultAuxInput = 98,
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ParameterNumber_BrakeDisableDelay = 99,
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ParameterNumber_DacScaleFactor = 100,
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ParameterNumber_MaxJogDistance = 101,
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ParameterNumber_DefaultSpeed = 102,
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ParameterNumber_DefaultRampRate = 103,
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ParameterNumber_DecelRateMoveAbort = 104,
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ParameterNumber_HomeType = 105,
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ParameterNumber_HomeDirection = 106,
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ParameterNumber_HomeFeedRate = 107,
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ParameterNumber_HomeOffset = 108,
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ParameterNumber_HomeAccelDecelRate = 109,
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ParameterNumber_DefaultWaitMode = 110,
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ParameterNumber_DefaultSCurve = 111,
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ParameterNumber_MotionBuffer = 112,
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ParameterNumber_DataCollectBufferSize = 113,
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ParameterNumber_CfgMotStepperRes = 114,
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ParameterNumber_CfgMotStepperHighCur = 115,
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ParameterNumber_CfgMotStepperLowCur = 116,
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ParameterNumber_CfgMotStepperDGain = 117,
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ParameterNumber_CfgMotStepperVerVel = 118,
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ParameterNumber_LimitDebounceDistCnts = 119,
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ParameterNumber_FiltTorq3N0 = 120,
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ParameterNumber_FiltTorq3N1 = 121,
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ParameterNumber_FiltTorq3N2 = 122,
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ParameterNumber_FiltTorq3D1 = 123,
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ParameterNumber_FiltTorq3D2 = 124,
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ParameterNumber_FiltTorq4N0 = 125,
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ParameterNumber_FiltTorq4N1 = 126,
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ParameterNumber_FiltTorq4N2 = 127,
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ParameterNumber_FiltTorq4D1 = 128,
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ParameterNumber_FiltTorq4D2 = 129,
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ParameterNumber_PrintStatementBufferSize = 138,
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ParameterNumber_AnalogInputOffset0 = 139,
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ParameterNumber_AnalogInputOffset1 = 140,
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ParameterNumber_ComPortXonChar = 146,
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ParameterNumber_ComPortXoffChar = 147,
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ParameterNumber_ComPortBaudRate = 148,
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ParameterNumber_ComPortSettings = 149,
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ParameterNumber_CfgTask0Slot = 151,
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ParameterNumber_CfgTask1Slot = 152,
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ParameterNumber_CfgTask2Slot = 153,
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ParameterNumber_CfgTask3Slot = 154,
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ParameterNumber_CfgTask4Slot = 155,
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ParameterNumber_CfgTask0Code = 156,
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ParameterNumber_CfgTask1Code = 157,
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ParameterNumber_CfgTask2Code = 158,
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ParameterNumber_CfgTask3Code = 159,
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ParameterNumber_CfgTask4Code = 160,
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ParameterNumber_CfgTask0Data = 161,
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ParameterNumber_CfgTask1Data = 162,
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ParameterNumber_CfgTask2Data = 163,
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ParameterNumber_CfgTask3Data = 164,
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ParameterNumber_CfgTask4Data = 165,
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ParameterNumber_CfgTask0Stack = 166,
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ParameterNumber_CfgTask1Stack = 167,
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ParameterNumber_CfgTask2Stack = 168,
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ParameterNumber_CfgTask3Stack = 169,
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ParameterNumber_CfgTask4Stack = 170,
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ParameterNumber_CfgTask0SysStack = 171,
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ParameterNumber_CfgTask1SysStack = 172,
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ParameterNumber_CfgTask2SysStack = 173,
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ParameterNumber_CfgTask3SysStack = 174,
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ParameterNumber_CfgTask4SysStack = 175,
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ParameterNumber_CfgTask0AutoProgram = 176,
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ParameterNumber_CfgTask1AutoProgram = 180,
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ParameterNumber_CfgTask2AutoProgram = 184,
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ParameterNumber_CfgTask3AutoProgram = 188,
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ParameterNumber_CfgTask4AutoProgram = 192,
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ParameterNumber_MaxJogSpeed = 201,
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ParameterNumber_CfgIntegerRegisters = 202,
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ParameterNumber_CfgDoubleRegisters = 203,
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ParameterNumber_PositionDecimalPlaces = 204,
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ParameterNumber_CfgTask0TaskFaultAxisMask = 205,
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ParameterNumber_CfgTask1TaskFaultAxisMask = 206,
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ParameterNumber_CfgTask2TaskFaultAxisMask = 207,
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ParameterNumber_CfgTask3TaskFaultAxisMask = 208,
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ParameterNumber_CfgTask4TaskFaultAxisMask = 209,
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ParameterNumber_AxisCalibrationFile = 210,
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ParameterNumber_InetGlbIntStartReg = 214,
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ParameterNumber_InetGlbIntNumReg = 215,
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ParameterNumber_InetGlbDblStartReg = 216,
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ParameterNumber_InetGlbDblNumReg = 217,
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ParameterNumber_InetGlbRegBcastRate = 218,
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ParameterNumber_InetGlbRegEnableFlags = 219,
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ParameterNumber_MBusSlaveUnitID = 220,
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ParameterNumber_MBusSlaveInputWords = 221,
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ParameterNumber_MBusSlaveOutputWords = 222,
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ParameterNumber_MBusSlaveInputBits = 223,
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ParameterNumber_MBusSlaveOutputBits = 224,
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ParameterNumber_MBusSlaveInputWordsOffset = 225,
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ParameterNumber_MBusSlaveOutputWordsOffset = 226,
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ParameterNumber_MBusSlaveInputBitsOffset = 227,
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ParameterNumber_MBusSlaveOutputBitsOffset = 228,
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ParameterNumber_MBusSlaveRWReadOffset = 229,
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ParameterNumber_MBusSlaveRWWriteOffset = 230,
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ParameterNumber_MBusMasterInputWordsOffset = 231,
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ParameterNumber_MBusMasterOutputWordsOffset = 232,
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ParameterNumber_MBusMasterInputBitsOffset = 233,
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ParameterNumber_MBusMasterOutputBitsOffset = 234,
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ParameterNumber_MBusMasterStatusWordsOffset = 235,
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ParameterNumber_MBusMasterStatusBitsOffset = 236,
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ParameterNumber_MBusMasterVirtualInputsOffset = 237,
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ParameterNumber_MBusMasterVirtualOutputsOffset = 238,
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ParameterNumber_MBusMasterRWWriteOffset = 239,
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ParameterNumber_MBusMasterFunctions = 240,
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ParameterNumber_MBusConfigFlags = 241,
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ParameterNumber_MBusSlaveType = 242,
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ParameterNumber_PosUnitsDisplay = 243,
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ParameterNumber_InetSock1IPAddress = 247,
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ParameterNumber_InetSock1Port = 248,
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ParameterNumber_InetSock1Flags = 249,
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ParameterNumber_InetSock1OutThreshBytes = 250,
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ParameterNumber_InetSock2IPAddress = 251,
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ParameterNumber_InetSock2Port = 252,
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ParameterNumber_InetSock2Flags = 253,
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ParameterNumber_InetSock2OutThreshBytes = 254,
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ParameterNumber_InetSock1ActiveTimeSec = 255,
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ParameterNumber_InetSock2ActiveTimeSec = 256,
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ParameterNumber_UserInteger1 = 261,
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ParameterNumber_UserInteger2 = 262,
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ParameterNumber_UserDouble1 = 263,
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ParameterNumber_UserDouble2 = 264,
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ParameterNumber_UserString1 = 265,
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ParameterNumber_UserString2 = 269,
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ParameterNumber_CfgFbkEncAbsSetup = 273,
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ParameterNumber_CfgFbkEncAbsPosBits = 274,
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ParameterNumber_CfgFbkEncAbsRevBits = 275,
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ParameterNumber_AsciiCmdEnable = 281,
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ParameterNumber_ComPortAuxXonChar = 283,
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ParameterNumber_ComPortAuxXoffChar = 284,
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ParameterNumber_ComPortAuxBaudRate = 285,
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ParameterNumber_ComPortAuxSettings = 286,
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ParameterNumber_JoystickVertCenter = 288,
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ParameterNumber_JoystickVertDeadband = 289,
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ParameterNumber_JoystickHorzCenter = 290,
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ParameterNumber_JoystickHorzDeadband = 291,
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ParameterNumber_JoystickFeedrateLow = 292,
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ParameterNumber_JoystickFeedrateHigh = 293,
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ParameterNumber_JoystickAxisPair1 = 294,
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ParameterNumber_JoystickAxisPair2 = 295,
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ParameterNumber_JoystickAxisPair3 = 296,
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ParameterNumber_JoystickAxisPair4 = 297,
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ParameterNumber_JoystickConfig = 298,
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ParameterNumber_HomePositionSet = 299,
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ParameterNumber_CfgTask0AxisMask = 300,
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ParameterNumber_CfgTask1AxisMask = 301,
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ParameterNumber_CfgTask2AxisMask = 302,
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ParameterNumber_CfgTask3AxisMask = 303,
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ParameterNumber_CfgTask4AxisMask = 304,
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ParameterNumber_AxisCalibrationFile2D = 305,
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ParameterNumber_FaultMaskDisableDelay = 309,
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ParameterNumber_DefaultVectorSpeed = 310,
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ParameterNumber_DefaultVectorRampRate = 311,
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ParameterNumber_CfgTask0StopOnAxisFault = 312,
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ParameterNumber_CfgTask1StopOnAxisFault = 313,
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ParameterNumber_CfgTask2StopOnAxisFault = 314,
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ParameterNumber_CfgTask3StopOnAxisFault = 315,
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ParameterNumber_CfgTask4StopOnAxisFault = 316,
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ParameterNumber_GpibEOSChar = 317,
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ParameterNumber_GpibPrimaryAddress = 318,
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ParameterNumber_GpibParallelResponse = 319,
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ParameterNumber_AsciiCmdEOSChar = 320,
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ParameterNumber_AsciiCmdAckChar = 321,
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ParameterNumber_AsciiCmdNakChar = 322,
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ParameterNumber_AsciiCmdFaultChar = 323,
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ParameterNumber_CfgTask0StopFaultMask = 324,
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ParameterNumber_CfgTask1StopFaultMask = 325,
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ParameterNumber_CfgTask2StopFaultMask = 326,
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ParameterNumber_CfgTask3StopFaultMask = 327,
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ParameterNumber_CfgTask4StopFaultMask = 328,
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ParameterNumber_FaultAxisGroup = 330,
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ParameterNumber_HarmonicCancellation0Period = 336,
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ParameterNumber_HarmonicCancellation0Type = 337,
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ParameterNumber_HarmonicCancellation0Channel = 338,
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ParameterNumber_HarmonicCancellation0Gain = 339,
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ParameterNumber_HarmonicCancellation0Phase = 340,
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ParameterNumber_HarmonicCancellation1Period = 341,
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ParameterNumber_HarmonicCancellation1Type = 342,
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ParameterNumber_HarmonicCancellation1Channel = 343,
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ParameterNumber_HarmonicCancellation1Gain = 344,
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ParameterNumber_HarmonicCancellation1Phase = 345,
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ParameterNumber_HarmonicCancellation2Period = 346,
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ParameterNumber_HarmonicCancellation2Type = 347,
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ParameterNumber_HarmonicCancellation2Channel = 348,
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ParameterNumber_HarmonicCancellation2Gain = 349,
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ParameterNumber_HarmonicCancellation2Phase = 350,
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ParameterNumber_AsciiCmdTimeout = 356,
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ParameterNumber_AsciiCmdTimeoutChar = 357,
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ParameterNumber_CfgFbkRDGain = 358,
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ParameterNumber_CfgFbkRDConfig = 359,
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ParameterNumber_CfgFbkRDCosPhase = 360,
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ParameterNumber_SoftLimitMode = 367,
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ParameterNumber_PsoSSI1Config = 368,
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ParameterNumber_PsoSSI2Config = 369,
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ParameterNumber_CfgFbkEncQuadDivider = 370,
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ParameterNumber_HarmonicCancellation3Period = 371,
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ParameterNumber_HarmonicCancellation3Type = 372,
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ParameterNumber_HarmonicCancellation3Channel = 373,
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ParameterNumber_HarmonicCancellation3Gain = 374,
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ParameterNumber_HarmonicCancellation3Phase = 375,
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ParameterNumber_HarmonicCancellation4Period = 376,
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ParameterNumber_HarmonicCancellation4Type = 377,
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ParameterNumber_HarmonicCancellation4Channel = 378,
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ParameterNumber_HarmonicCancellation4Gain = 379,
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ParameterNumber_HarmonicCancellation4Phase = 380,
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ParameterNumber_EnhancedThroughputChannel = 381,
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ParameterNumber_EnhancedThroughputGain = 382,
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ParameterNumber_HarmonicCancellationSetup = 383,
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ParameterNumber_EnhancedThroughputCurrentClamp = 384,
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ParameterNumber_Analog0Filter0CoeffN0 = 385,
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ParameterNumber_Analog0Filter0CoeffN1 = 386,
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ParameterNumber_Analog0Filter0CoeffN2 = 387,
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ParameterNumber_Analog0Filter0CoeffD1 = 388,
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ParameterNumber_Analog0Filter0CoeffD2 = 389,
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ParameterNumber_Analog0Filter1CoeffN0 = 390,
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ParameterNumber_Analog0Filter1CoeffN1 = 391,
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ParameterNumber_Analog0Filter1CoeffN2 = 392,
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ParameterNumber_Analog0Filter1CoeffD1 = 393,
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ParameterNumber_Analog0Filter1CoeffD2 = 394,
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ParameterNumber_Analog1Filter0CoeffN0 = 395,
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ParameterNumber_Analog1Filter0CoeffN1 = 396,
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ParameterNumber_Analog1Filter0CoeffN2 = 397,
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ParameterNumber_Analog1Filter0CoeffD1 = 398,
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ParameterNumber_Analog1Filter0CoeffD2 = 399,
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ParameterNumber_Analog1Filter1CoeffN0 = 400,
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ParameterNumber_Analog1Filter1CoeffN1 = 401,
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ParameterNumber_Analog1Filter1CoeffN2 = 402,
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ParameterNumber_Analog1Filter1CoeffD1 = 403,
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ParameterNumber_Analog1Filter1CoeffD2 = 404,
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ParameterNumber_ThresholdScheduleSetup = 405,
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ParameterNumber_ThresholdRegion2High = 406,
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ParameterNumber_ThresholdRegion2Low = 407,
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ParameterNumber_ThresholdRegion3GainKpos = 408,
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ParameterNumber_ThresholdRegion3GainKp = 409,
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ParameterNumber_ThresholdRegion3GainKi = 410,
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ParameterNumber_ThresholdRegion3GainKpi = 411,
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ParameterNumber_ThresholdRegion4High = 412,
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ParameterNumber_ThresholdRegion4Low = 413,
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ParameterNumber_ThresholdRegion5GainKpos = 414,
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ParameterNumber_ThresholdRegion5GainKp = 415,
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ParameterNumber_ThresholdRegion5GainKi = 416,
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ParameterNumber_ThresholdRegion5GainKpi = 417,
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ParameterNumber_DynamicScheduleSetup = 418,
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ParameterNumber_DynamicGainKposScale = 419,
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ParameterNumber_DynamicGainKpScale = 420,
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ParameterNumber_DynamicGainKiScale = 421,
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ParameterNumber_LinearAmpMaxPower = 422,
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ParameterNumber_LinearAmpDeratingFactor = 423,
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ParameterNumber_LinearAmpBusVoltage = 424,
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ParameterNumber_MotorResistance = 425,
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ParameterNumber_MotorBackEMFConstant = 426
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} ParameterNumber;
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typedef struct {
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const char* Name;
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int Number;
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} ParameterInformation;
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// returns information about parameters, array size is NUMBER_OF_PARAMETERS
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ParameterInformation* GetParameterInformation();
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#endif
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