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motorBase/motorApp/AerotechSrc/EnsembleCommonStructures.h
T
kpetersn 8e8e559606 Changes from Ron Sluiter on 2018-06-28: 
"If disabling torque due to a fault, clear motorAxisProblem so that user
can Jog off limit switch."
2018-08-06 16:09:51 -05:00

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/// \file EnsembleCommonStructures.h
/// \brief Contains some common structures and enumerations.
///
/// Copyright (c) Aerotech, Inc. 2010-2017.
///
#ifndef __Ensemble_COMMON_STRUCTURES_H__
#define __Ensemble_COMMON_STRUCTURES_H__
/// \brief Represents the servo update rates
typedef enum
{
/// \brief 1 kHz rate (1 msec update time)
SERVORATEPARAMETER_OnekHz = 0,
/// \brief 2 kHz rate (0.5 msec update time)
SERVORATEPARAMETER_TwokHz = 1,
/// \brief 4 kHz rate (0.25 msec update time)
SERVORATEPARAMETER_FourkHz = 2,
/// \brief 5 kHz rate (0.2 msec update time)
SERVORATEPARAMETER_FivekHz = 3,
/// \brief 10 kHz rate (0.1 msec update time)
SERVORATEPARAMETER_TenkHz = 4,
/// \brief 20 kHz rate (0.05 msec update time)
SERVORATEPARAMETER_TwentykHz = 5,
} SERVORATEPARAMETER;
/// \brief This value represents information about the state of this task.
typedef enum
{
/// \brief This task was disabled by the TaskExecutionSetup parameter.
TASKSTATE_Inactive = 0,
/// \brief No program is associated or running.
TASKSTATE_Idle = 1,
/// \brief A program is associated but not running.
TASKSTATE_ProgramReady = 2,
/// \brief A program is associated and running.
TASKSTATE_ProgramRunning = 3,
/// \brief A program is associated, was run, and was paused.
TASKSTATE_ProgramPaused = 4,
/// \brief A program is associated, was run, and completed.
TASKSTATE_ProgramComplete = 5,
/// \brief A task error occurred on this task.
TASKSTATE_Error = 6,
/// \brief A task-based plugin is running in this task.
TASKSTATE_RunningPlugin = 10,
} TASKSTATE;
/// \brief Represents plane status
typedef enum
{
/// \brief The plane is generating motion on one or more axes.
PLANESTATUS_MotionActive = (1u << 0),
/// \brief The plane is generating a contoured motion on one or more axes.
PLANESTATUS_VelocityProfilingActive = (1u << 1),
/// \brief The plane is accelerating to the commanded velocity.
PLANESTATUS_AccelerationPhaseActive = (1u << 2),
/// \brief The plane is decelerating to the commanded velocity.
PLANESTATUS_DecelerationPhaseActive = (1u << 3),
/// \brief The plane is decelerating to zero velocity when commanded to abort.
PLANESTATUS_MotionAborting = (1u << 4),
/// \brief The plane is waiting for the START command to begin motion.
PLANESTATUS_HoldModeActive = (1u << 5),
} PLANESTATUS;
typedef enum
{
/// \brief The plane is generating motion on one or more axes.
PLANESTATUSBITS_MotionActiveBit = 0,
/// \brief The plane is generating a contoured motion on one or more axes.
PLANESTATUSBITS_VelocityProfilingActiveBit = 1,
/// \brief The plane is accelerating to the commanded velocity.
PLANESTATUSBITS_AccelerationPhaseActiveBit = 2,
/// \brief The plane is decelerating to the commanded velocity.
PLANESTATUSBITS_DecelerationPhaseActiveBit = 3,
/// \brief The plane is decelerating to zero velocity when commanded to abort.
PLANESTATUSBITS_MotionAbortingBit = 4,
/// \brief The plane is waiting for the START command to begin motion.
PLANESTATUSBITS_HoldModeActiveBit = 5,
} PLANESTATUSBITS;
/// \brief Represents the debug flags on the controller
typedef enum
{
/// \brief
DEBUGFLAGS_PrintStringCallbackPending = (1u << 0),
/// \brief
DEBUGFLAGS_CollectionTriggered = (1u << 1),
/// \brief
DEBUGFLAGS_CollectionDone = (1u << 2),
/// \brief
DEBUGFLAGS_InputBoxCallbackPending = (1u << 3),
} DEBUGFLAGS;
typedef enum
{
/// \brief
DEBUGFLAGSBITS_PrintStringCallbackPendingBit = 0,
/// \brief
DEBUGFLAGSBITS_CollectionTriggeredBit = 1,
/// \brief
DEBUGFLAGSBITS_CollectionDoneBit = 2,
/// \brief
DEBUGFLAGSBITS_InputBoxCallbackPendingBit = 3,
} DEBUGFLAGSBITS;
/// \brief Represents an axis status
typedef enum
{
/// \brief The axis is enabled.
AXISSTATUS_Enabled = (1u << 0),
/// \brief The axis is homed.
AXISSTATUS_Homed = (1u << 1),
/// \brief The axis is considered to be in position as configured by the InPositionDistance and InPositionTime parameters.
AXISSTATUS_InPosition = (1u << 2),
/// \brief The axis is performing drive generated motion.
AXISSTATUS_MoveActive = (1u << 3),
/// \brief The axis is accelerating.
AXISSTATUS_AccelerationPhase = (1u << 4),
/// \brief The axis is decelerating.
AXISSTATUS_DecelerationPhase = (1u << 5),
/// \brief Position capture is armed on the axis and waiting for a trigger signal.
AXISSTATUS_PositionCaptureActive = (1u << 6),
/// \brief For piezo drives, the controller clamps the motor output to the value of the PiezoVoltageClampLow or the PiezoVoltageClampHigh parameter. For all other drives, the controller clamps the motor output to the value of the MaxCurrentClamp parameter.
AXISSTATUS_CurrentClamp = (1u << 7),
/// \brief This represents the state of the dedicated brake output.
AXISSTATUS_BrakeOutput = (1u << 8),
/// \brief Indicates the direction of the active (or last) motion.
AXISSTATUS_MotionIsCw = (1u << 9),
/// \brief Gearing or camming is currently active on the axis.
AXISSTATUS_MasterSlaveControl = (1u << 10),
/// \brief The correction table for this axis is currently being applied.
AXISSTATUS_CalibrationActive = (1u << 11),
/// \brief A calibration file contains a calibration table that corrects this axis. The state of this bit is not affected by the CALENABLE or CALDISABLE commands.
AXISSTATUS_CalibrationEnabled = (1u << 12),
/// \brief The axis is currently performing motion under control of the JOYSTICK command.
AXISSTATUS_JoystickControl = (1u << 13),
/// \brief The axis is currently performing motion as part of the home cycle.
AXISSTATUS_Homing = (1u << 14),
/// \brief The axis position lost synchronization with the master and is ignoring profiled position.
AXISSTATUS_MasterMotionSuppressed = (1u << 15),
/// \brief This gantry is actively part of a gantry pair.
AXISSTATUS_GantryModeActive = (1u << 16),
/// \brief This axis is a gantry master in a gantry pair.
AXISSTATUS_GantryMasterActive = (1u << 17),
/// \brief This axis is operating under control of the AUTOFOCUS loop.
AXISSTATUS_AutofocusActive = (1u << 18),
/// \brief The filter defined by the Command Shaping Parameters is complete.
AXISSTATUS_CommandShapingFilterDone = (1u << 19),
/// \brief The axis is considered to be in position as configured by the InPosition2Distance and InPosition2Time parameters.
AXISSTATUS_InPosition2 = (1u << 20),
/// \brief The axis is operating under servo control.
AXISSTATUS_ServoControl = (1u << 21),
/// \brief This represents the state of the CW end of travel limit input. It is not affected by the active polarity, which is configured by the EndOfTravelLimitSetup parameter.
AXISSTATUS_CwEndOfTravelLimitInput = (1u << 22),
/// \brief This represents the state of the CCW end of travel limit input. It is not affected by the active polarity, which is configured by the EndOfTravelLimitSetup parameter.
AXISSTATUS_CcwEndOfTravelLimitInput = (1u << 23),
/// \brief This represents the state of the home limit input. It is not affected by the active polarity, which is configured by the EndOfTravelLimitSetup parameter.
AXISSTATUS_HomeLimitInput = (1u << 24),
/// \brief This represents the state of the marker input.
AXISSTATUS_MarkerInput = (1u << 25),
/// \brief This represents the state of the Hall-effect sensor A input.
AXISSTATUS_HallAInput = (1u << 26),
/// \brief This represents the state of the Hall-effect sensor B input.
AXISSTATUS_HallBInput = (1u << 27),
/// \brief This represents the state of the Hall-effect sensor C input.
AXISSTATUS_HallCInput = (1u << 28),
/// \brief An error condition is present on the Sine encoder input of the position feedback device.
AXISSTATUS_SineEncoderError = (1u << 29),
/// \brief An error condition is present on the Cosine encoder input of the position feedback device.
AXISSTATUS_CosineEncoderError = (1u << 30),
/// \brief This represents the state of the emergency stop sense input.
AXISSTATUS_EmergencyStopInput = (1u << 31),
} AXISSTATUS;
typedef enum
{
/// \brief The axis is enabled.
AXISSTATUSBITS_EnabledBit = 0,
/// \brief The axis is homed.
AXISSTATUSBITS_HomedBit = 1,
/// \brief The axis is considered to be in position as configured by the InPositionDistance and InPositionTime parameters.
AXISSTATUSBITS_InPositionBit = 2,
/// \brief The axis is performing drive generated motion.
AXISSTATUSBITS_MoveActiveBit = 3,
/// \brief The axis is accelerating.
AXISSTATUSBITS_AccelerationPhaseBit = 4,
/// \brief The axis is decelerating.
AXISSTATUSBITS_DecelerationPhaseBit = 5,
/// \brief Position capture is armed on the axis and waiting for a trigger signal.
AXISSTATUSBITS_PositionCaptureActiveBit = 6,
/// \brief For piezo drives, the controller clamps the motor output to the value of the PiezoVoltageClampLow or the PiezoVoltageClampHigh parameter. For all other drives, the controller clamps the motor output to the value of the MaxCurrentClamp parameter.
AXISSTATUSBITS_CurrentClampBit = 7,
/// \brief This represents the state of the dedicated brake output.
AXISSTATUSBITS_BrakeOutputBit = 8,
/// \brief Indicates the direction of the active (or last) motion.
AXISSTATUSBITS_MotionIsCwBit = 9,
/// \brief Gearing or camming is currently active on the axis.
AXISSTATUSBITS_MasterSlaveControlBit = 10,
/// \brief The correction table for this axis is currently being applied.
AXISSTATUSBITS_CalibrationActiveBit = 11,
/// \brief A calibration file contains a calibration table that corrects this axis. The state of this bit is not affected by the CALENABLE or CALDISABLE commands.
AXISSTATUSBITS_CalibrationEnabledBit = 12,
/// \brief The axis is currently performing motion under control of the JOYSTICK command.
AXISSTATUSBITS_JoystickControlBit = 13,
/// \brief The axis is currently performing motion as part of the home cycle.
AXISSTATUSBITS_HomingBit = 14,
/// \brief The axis position lost synchronization with the master and is ignoring profiled position.
AXISSTATUSBITS_MasterMotionSuppressedBit = 15,
/// \brief This gantry is actively part of a gantry pair.
AXISSTATUSBITS_GantryModeActiveBit = 16,
/// \brief This axis is a gantry master in a gantry pair.
AXISSTATUSBITS_GantryMasterActiveBit = 17,
/// \brief This axis is operating under control of the AUTOFOCUS loop.
AXISSTATUSBITS_AutofocusActiveBit = 18,
/// \brief The filter defined by the Command Shaping Parameters is complete.
AXISSTATUSBITS_CommandShapingFilterDoneBit = 19,
/// \brief The axis is considered to be in position as configured by the InPosition2Distance and InPosition2Time parameters.
AXISSTATUSBITS_InPosition2Bit = 20,
/// \brief The axis is operating under servo control.
AXISSTATUSBITS_ServoControlBit = 21,
/// \brief This represents the state of the CW end of travel limit input. It is not affected by the active polarity, which is configured by the EndOfTravelLimitSetup parameter.
AXISSTATUSBITS_CwEndOfTravelLimitInputBit = 22,
/// \brief This represents the state of the CCW end of travel limit input. It is not affected by the active polarity, which is configured by the EndOfTravelLimitSetup parameter.
AXISSTATUSBITS_CcwEndOfTravelLimitInputBit = 23,
/// \brief This represents the state of the home limit input. It is not affected by the active polarity, which is configured by the EndOfTravelLimitSetup parameter.
AXISSTATUSBITS_HomeLimitInputBit = 24,
/// \brief This represents the state of the marker input.
AXISSTATUSBITS_MarkerInputBit = 25,
/// \brief This represents the state of the Hall-effect sensor A input.
AXISSTATUSBITS_HallAInputBit = 26,
/// \brief This represents the state of the Hall-effect sensor B input.
AXISSTATUSBITS_HallBInputBit = 27,
/// \brief This represents the state of the Hall-effect sensor C input.
AXISSTATUSBITS_HallCInputBit = 28,
/// \brief An error condition is present on the Sine encoder input of the position feedback device.
AXISSTATUSBITS_SineEncoderErrorBit = 29,
/// \brief An error condition is present on the Cosine encoder input of the position feedback device.
AXISSTATUSBITS_CosineEncoderErrorBit = 30,
/// \brief This represents the state of the emergency stop sense input.
AXISSTATUSBITS_EmergencyStopInputBit = 31,
} AXISSTATUSBITS;
/// \brief Represents the motor type
typedef enum
{
/// \brief AC Brushless (Hall-Effect Switches)
MOTORTYPE_ACBrushlessHallEffect = 0,
/// \brief AC Brushless (Auto-MSET)
MOTORTYPE_ACBrushlessAutoMSET = 1,
/// \brief DC Brush
MOTORTYPE_DCBrush = 2,
/// \brief Stepper Motor
MOTORTYPE_StepperMotor = 3,
/// \brief 2-Phase AC Brushless
MOTORTYPE_TwoPhaseACBrushless = 6,
/// \brief AC Brushless (Commutation Search)
MOTORTYPE_ACBrushlessCommutationSearch = 7,
/// \brief Piezo Actuator
MOTORTYPE_PiezoActuator = 8,
} MOTORTYPE;
/// \brief Represents the home type
typedef enum
{
/// \brief Home Past Limit to Marker
HOMETYPE_PastLimittoMarker = 0,
/// \brief Home to Limit and Reverse to Marker
HOMETYPE_ToLimitandReversetoMarker = 1,
/// \brief Home to Marker Only
HOMETYPE_ToMarkerOnly = 2,
/// \brief Home to Limit Only
HOMETYPE_ToLimitOnly = 3,
/// \brief Home at Current Position
HOMETYPE_AtCurrentPosition = 4,
/// \brief Home at Current Position Absolute
HOMETYPE_AtCurrentPositionAbsolute = 6,
} HOMETYPE;
/// \brief Represents the position feedback type
typedef enum
{
/// \brief None (Open-Loop)
POSITIONFEEDBACKTYPE_None = 0,
/// \brief Local Encoder Counter
POSITIONFEEDBACKTYPE_LocalEncoderCounter = 1,
/// \brief Encoder Multiplier
POSITIONFEEDBACKTYPE_EncoderMultiplier = 2,
/// \brief Analog Input
POSITIONFEEDBACKTYPE_AnalogInput = 3,
/// \brief EnDat Absolute Encoder
POSITIONFEEDBACKTYPE_EnDatAbsoluteEncoder = 4,
/// \brief Hall-Effect Switches
POSITIONFEEDBACKTYPE_HallEffectSwitches = 5,
/// \brief Resolver
POSITIONFEEDBACKTYPE_Resolver = 6,
/// \brief Resolute Absolute Encoder
POSITIONFEEDBACKTYPE_ResoluteAbsoluteEncoder = 9,
/// \brief Capacitance Sensor
POSITIONFEEDBACKTYPE_CapacitanceSensor = 11,
} POSITIONFEEDBACKTYPE;
/// \brief Represents the velocity feedback type
typedef enum
{
/// \brief None (Use Position Feedback)
VELOCITYFEEDBACKTYPE_None = 0,
/// \brief Local Encoder Counter
VELOCITYFEEDBACKTYPE_LocalEncoderCounter = 1,
/// \brief Encoder Multiplier
VELOCITYFEEDBACKTYPE_EncoderMultiplier = 2,
/// \brief Analog Input
VELOCITYFEEDBACKTYPE_AnalogInput = 3,
/// \brief Resolver
VELOCITYFEEDBACKTYPE_Resolver = 6,
} VELOCITYFEEDBACKTYPE;
/// \brief Specifies the status flags of data collection
typedef enum
{
/// \brief Data collection was triggered
DATACOLLECTIONFLAGS_Triggered = (1u << 2),
/// \brief Data collection is done
DATACOLLECTIONFLAGS_Done = (1u << 3),
/// \brief Data collection buffer overflowed
DATACOLLECTIONFLAGS_Overflow = (1u << 5),
/// \brief Data collection was started by a SCOPETRIG
DATACOLLECTIONFLAGS_IsScopeTrigInitiated = (1u << 6),
} DATACOLLECTIONFLAGS;
typedef enum
{
/// \brief Data collection was triggered
DATACOLLECTIONFLAGSBITS_TriggeredBit = 2,
/// \brief Data collection is done
DATACOLLECTIONFLAGSBITS_DoneBit = 3,
/// \brief Data collection buffer overflowed
DATACOLLECTIONFLAGSBITS_OverflowBit = 5,
/// \brief Data collection was started by a SCOPETRIG
DATACOLLECTIONFLAGSBITS_IsScopeTrigInitiatedBit = 6,
} DATACOLLECTIONFLAGSBITS;
/// \brief Represents the piezo default servo state.
typedef enum
{
/// \brief Servo Off
PIEZODEFAULTSERVOSTATE_Off = 0,
/// \brief Servo On
PIEZODEFAULTSERVOSTATE_On = 1,
} PIEZODEFAULTSERVOSTATE;
/// \brief Specifies which status item to collect
typedef enum
{
/// \brief Position command
STATUSITEM_PositionCommand = 0,
/// \brief Position feedback
STATUSITEM_PositionFeedback = 1,
/// \brief Position feedback auxiliary
STATUSITEM_PositionFeedbackAuxiliary = 2,
/// \brief Axis status
STATUSITEM_AxisStatus = 3,
/// \brief Axis fault
STATUSITEM_AxisFault = 4,
/// \brief Analog input #0
STATUSITEM_AnalogInput0 = 5,
/// \brief Analog input #1
STATUSITEM_AnalogInput1 = 6,
/// \brief Analog output #0
STATUSITEM_AnalogOutput0 = 7,
/// \brief Analog output #1
STATUSITEM_AnalogOutput1 = 8,
/// \brief Digital input #0
STATUSITEM_DigitalInput0 = 9,
/// \brief Digital input #1
STATUSITEM_DigitalInput1 = 10,
/// \brief Digital input #2
STATUSITEM_DigitalInput2 = 11,
/// \brief Digital output #0
STATUSITEM_DigitalOutput0 = 12,
/// \brief Digital output #1
STATUSITEM_DigitalOutput1 = 13,
/// \brief Digital output #2
STATUSITEM_DigitalOutput2 = 14,
/// \brief Current command
STATUSITEM_CurrentCommand = 15,
/// \brief Current feedback
STATUSITEM_CurrentFeedback = 16,
/// \brief Amplifier temperature
STATUSITEM_AmplifierTemperature = 17,
/// \brief Auxiliary flags
STATUSITEM_DebugFlags = 18,
/// \brief Program position command
STATUSITEM_ProgramPositionCommand = 19,
/// \brief Program count of library task
STATUSITEM_ProgramCountTaskLibrary = 20,
/// \brief Program count of task #1
STATUSITEM_ProgramCountTask1 = 21,
/// \brief Program count of task #2
STATUSITEM_ProgramCountTask2 = 22,
/// \brief Program count of task #3
STATUSITEM_ProgramCountTask3 = 23,
/// \brief Program count of task #4
STATUSITEM_ProgramCountTask4 = 24,
/// \brief Time of the packet retrieval in milliseconds
STATUSITEM_PacketTime = 25,
/// \brief Program position feedback
STATUSITEM_ProgramPositionFeedback = 26,
/// \brief Absolute feedback
STATUSITEM_AbsoluteFeedback = 27,
/// \brief Status of plane #0
STATUSITEM_PlaneStatus0 = 28,
/// \brief Status of plane #1
STATUSITEM_PlaneStatus1 = 29,
/// \brief Status of plane #2, Epaq only
STATUSITEM_PlaneStatus2 = 30,
/// \brief Status of plane #3, Epaq only
STATUSITEM_PlaneStatus3 = 31,
/// \brief State of task #1
STATUSITEM_TaskState1 = 33,
/// \brief State of task #2
STATUSITEM_TaskState2 = 34,
/// \brief State of task #3
STATUSITEM_TaskState3 = 35,
/// \brief State of task #4
STATUSITEM_TaskState4 = 36,
/// \brief Analog input #2
STATUSITEM_AnalogInput2 = 38,
/// \brief Analog input #3
STATUSITEM_AnalogInput3 = 39,
/// \brief Analog output #2
STATUSITEM_AnalogOutput2 = 40,
/// \brief Analog output #3
STATUSITEM_AnalogOutput3 = 41,
/// \brief Velocity Command
STATUSITEM_VelocityCommand = 42,
/// \brief Velocity Feedback
STATUSITEM_VelocityFeedback = 43,
/// \brief Acceleration Command
STATUSITEM_AccelerationCommand = 44,
/// \brief Velocity Error
STATUSITEM_VelocityError = 45,
/// \brief Position Error
STATUSITEM_PositionError = 46,
/// \brief Current Error
STATUSITEM_CurrentError = 47,
/// \brief Acceleration Feedback
STATUSITEM_AccelerationFeedback = 48,
/// \brief Acceleration Error
STATUSITEM_AccelerationError = 49,
/// \brief Analog output #4
STATUSITEM_AnalogOutput4 = 50,
/// \brief Piezo Voltage Feedback
STATUSITEM_PiezoVoltageFeedback = 51,
/// \brief Piezo Voltage Command
STATUSITEM_PiezoVoltageCommand = 52,
} STATUSITEM;
/// \brief The type of loop transmission disturbance to use
typedef enum
{
/// \brief Turn off loop transmission
LOOPTRANSMISSIONMODE_Off = 0,
/// \brief Uses a sinusoid disturbance
LOOPTRANSMISSIONMODE_Sinusoid = 1,
/// \brief Uses a sinusoid disturbance and excites both axes of a gantry
LOOPTRANSMISSIONMODE_SinusoidGantry = 2,
/// \brief Uses a white noise disturbance
LOOPTRANSMISSIONMODE_WhiteNoise = 3,
/// \brief Use a white noise disturbance and excites both axes of a gantry
LOOPTRANSMISSIONMODE_WhiteNoiseGantry = 4,
} LOOPTRANSMISSIONMODE;
/// \brief The loop transmission type to use
typedef enum
{
/// \brief Open Loop
LOOPTRANSMISSIONTYPE_OpenLoop = 0,
/// \brief Closed Loop
LOOPTRANSMISSIONTYPE_ClosedLoop = 1,
/// \brief Current Loop
LOOPTRANSMISSIONTYPE_CurrentLoop = 2,
/// \brief AF Open Loop
LOOPTRANSMISSIONTYPE_AFOpenLoop = 3,
/// \brief AF Closed Loop
LOOPTRANSMISSIONTYPE_AFClosedLoop = 4,
} LOOPTRANSMISSIONTYPE;
/// \brief Represents the OnOff mode in AeroBasic
typedef enum
{
/// \brief Off or 0 is issued
ONOFF_Off = 0,
/// \brief On or 1 is issued
ONOFF_On = 1,
} ONOFF;
/// \brief Represents the PSO mode in AeroBasic
typedef enum
{
/// \brief Reset PSO
PSOMODE_Reset = 0,
/// \brief Turn off PSO
PSOMODE_Off = 1,
/// \brief Arm PSO
PSOMODE_Arm = 2,
/// \brief Fire PSO
PSOMODE_Fire = 3,
/// \brief Turn on PSO
PSOMODE_On = 4,
/// \brief Fire Continuous
PSOMODE_FireContinuous = 5,
} PSOMODE;
/// \brief The ethernet status information
typedef enum
{
/// \brief Whether there is data to be transmitted
ETHERNETSTATUS_DataInTransmitter = (1u << 0),
/// \brief Whether there is data to be processed
ETHERNETSTATUS_DataInReceiver = (1u << 1),
} ETHERNETSTATUS;
typedef enum
{
/// \brief Whether there is data to be transmitted
ETHERNETSTATUSBITS_DataInTransmitterBit = 0,
/// \brief Whether there is data to be processed
ETHERNETSTATUSBITS_DataInReceiverBit = 1,
} ETHERNETSTATUSBITS;
/// \brief Represents the semaphores in AeroBasic
typedef enum
{
/// \brief Modbus registers semaphore
SEMAPHORES_ModbusRegisters = 0,
/// \brief Global integers semaphore
SEMAPHORES_GlobalIntegers = 1,
/// \brief Global doubles semaphore
SEMAPHORES_GlobalDoubles = 2,
} SEMAPHORES;
/// \brief The wait option for waiting for a move to be completed
typedef enum
{
/// \brief Wait in position
WAITOPTION_InPosition = 0,
/// \brief Wait for move done
WAITOPTION_MoveDone = 1,
} WAITOPTION;
/// \brief Represents the wait mode in AeroBasic
typedef enum
{
/// \brief Do not wait for motion to be done
WAITTYPE_NoWait = 0,
/// \brief Wait for motion to be done
WAITTYPE_MoveDone = 1,
/// \brief Wait for axis to be in position
WAITTYPE_InPos = 2,
} WAITTYPE;
/// \brief The Mode types that can be retrieved by using the GETMODE immediate command.
typedef enum
{
/// \brief Returns the Motion Mode type (absolute/incremental).
MODETYPE_MotionMode = 0,
/// \brief Returns the Wait Mode type (in position / move done / no wait).
MODETYPE_WaitMode = 1,
/// \brief Returns the Ramp Mode type (linear / SCurve).
MODETYPE_RampMode = 2,
/// \brief Returns the Velocity Mode type (profiled / not profiled).
MODETYPE_VelocityMode = 3,
/// \brief Returns the S-curve value.
MODETYPE_ScurveValue = 4,
/// \brief Returns the Timescale value.
MODETYPE_TimeScaleValue = 5,
/// \brief Returns the default velocity value.
MODETYPE_DefaultVelocityValue = 6,
/// \brief Returns the acceleration rate value.
MODETYPE_AccelRateValue = 7,
/// \brief Returns the acceleration time value.
MODETYPE_AccelTimeValue = 8,
/// \brief Returns the acceleration distance value.
MODETYPE_AccelDistValue = 9,
/// \brief Returns the deceleration rate value.
MODETYPE_DecelRateValue = 10,
/// \brief Returns the deceleration time value.
MODETYPE_DecelTimeValue = 11,
/// \brief Returns the deceleration distance value.
MODETYPE_DecelDistValue = 12,
/// \brief Returns the current plane number for the task.
MODETYPE_Plane = 14,
} MODETYPE;
/// \brief The type of error that occured during compilation
typedef enum
{
/// \brief The syntax does not follow AeroBasic
COMPILERERRORTYPE_Syntax = 0,
/// \brief Specific testing detected an error (ex: unknown register set)
COMPILERERRORTYPE_Process = 1,
/// \brief The operating system blocked an operation (ex: file access restriction)
COMPILERERRORTYPE_System = 2,
/// \brief An unrecoverable error occured (ex: out of memory)
COMPILERERRORTYPE_Unrecoverable = 3,
/// \brief The message given is a warning
COMPILERERRORTYPE_Warning = 4,
} COMPILERERRORTYPE;
/// \brief
typedef enum
{
/// \brief
DAYOFWEEK_Sunday = 0,
/// \brief
DAYOFWEEK_Monday = 1,
/// \brief
DAYOFWEEK_Tuesday = 2,
/// \brief
DAYOFWEEK_Wednesday = 3,
/// \brief
DAYOFWEEK_Thursday = 4,
/// \brief
DAYOFWEEK_Friday = 5,
/// \brief
DAYOFWEEK_Saturday = 6,
} DAYOFWEEK;
/// \brief If this is different from , corrective measures should be taken.
typedef enum
{
/// \brief There are no mismatches between the axes
AXISMISMATCH_None = 0,
/// \brief The version of firmware is different between the axes, update the firmware
AXISMISMATCH_FirmwareVersion = 1,
/// \brief The axes numbers are different from expected, please setup the axes that are expected
AXISMISMATCH_AxisMask = 2,
} AXISMISMATCH;
/// \brief This is an enumeration of the Register types used when calling the Register immediate command functions found in .
typedef enum
{
/// \brief Global Integers
REGISTERTYPE_GlobalIntegers = 0,
/// \brief Global Doubles
REGISTERTYPE_GlobalDoubles = 1,
/// \brief Conversion Registers
REGISTERTYPE_ConversionRegisters = 2,
/// \brief Modbus Master Input Registers
REGISTERTYPE_ModbusMasterInputWords = 3,
/// \brief Modbus Master Output Registers
REGISTERTYPE_ModbusMasterOutputWords = 4,
/// \brief Modbus Master Input Bit Registers
REGISTERTYPE_ModbusMasterInputBits = 5,
/// \brief Modbus Master Output Bit Registers
REGISTERTYPE_ModbusMasterOutputBits = 6,
/// \brief Modbus Master Status Registers
REGISTERTYPE_ModbusMasterStatusWords = 7,
/// \brief Modbus Master Status Bit Registers
REGISTERTYPE_ModbusMasterStatusBits = 8,
/// \brief Modbus Master Virtual Input Registers
REGISTERTYPE_ModbusMasterVirtualInputs = 9,
/// \brief Modbus Master Virtual Output Registers
REGISTERTYPE_ModbusMasterVirtualOutputs = 10,
/// \brief Modbus Slave Input Registers
REGISTERTYPE_ModbusSlaveInputWords = 11,
/// \brief Modbus Slave Output Registers
REGISTERTYPE_ModbusSlaveOutputWords = 12,
/// \brief Modbus Slave Input Bit Registers
REGISTERTYPE_ModbusSlaveInputBits = 13,
/// \brief Modbus Slave Output Bit Registers
REGISTERTYPE_ModbusSlaveOutputBits = 14,
} REGISTERTYPE;
/// \brief The type of the component
typedef enum
{
/// \brief Compact pulse width modulation
COMPONENTTYPE_CP = 32773,
/// \brief Micro pulse width modulation
COMPONENTTYPE_MP = 32774,
/// \brief Ensemble control board
COMPONENTTYPE_Control = 32775,
/// \brief Compact Linear
COMPONENTTYPE_CL = 32776,
/// \brief High performance pulse width modulation enhanced
COMPONENTTYPE_HPE = 32777,
/// \brief High performance linear enhanced
COMPONENTTYPE_HLE = 32778,
/// \brief Micro pulse linear
COMPONENTTYPE_ML = 32779,
/// \brief Obsolete
COMPONENTTYPE_PMT = 32780,
/// \brief Ensemble Lab controller
COMPONENTTYPE_Lab = 32781,
/// \brief Ensemble QLab controller
COMPONENTTYPE_QLab = 32782,
/// \brief High Performance Single Axis Piezo Drive
COMPONENTTYPE_QDe = 32784,
/// \brief Single Axis Piezo Drive
COMPONENTTYPE_QL = 32785,
/// \brief High Performance Single Axis Piezo Drive
COMPONENTTYPE_QLe = 32786,
} COMPONENTTYPE;
/// \brief The communication type used to communicate with a controller
typedef enum
{
/// \brief Communications are over ethernet
COMMUNICATIONTYPE_Ethernet = 2,
/// \brief Communications are over USB
COMMUNICATIONTYPE_Usb = 3,
} COMMUNICATIONTYPE;
/// \brief Specifies the build result kind
typedef enum
{
/// \brief The build result describes a warning that occurred during the compilation
BUILDRESULTKIND_Warning = 0,
/// \brief The build result describes an error that occurred during the compilation
BUILDRESULTKIND_Error = 1,
} BUILDRESULTKIND;
/// \brief Contains information about configuration of FlashConfig in a stage.
typedef enum
{
/// \brief Whether the FlashConfig memory is present and FlashConfig feature is supported.
FLASHCONFIGSTATUS_Supported = (1u << 0),
/// \brief FlashConfig data is valid.
FLASHCONFIGSTATUS_DataValid = (1u << 1),
/// \brief Connected Stage serial number does not match expected Stage serial number.
FLASHCONFIGSTATUS_SerialMismatch = (1u << 2),
} FLASHCONFIGSTATUS;
typedef enum
{
/// \brief Whether the FlashConfig memory is present and FlashConfig feature is supported.
FLASHCONFIGSTATUSBITS_SupportedBit = 0,
/// \brief FlashConfig data is valid.
FLASHCONFIGSTATUSBITS_DataValidBit = 1,
/// \brief Connected Stage serial number does not match expected Stage serial number.
FLASHCONFIGSTATUSBITS_SerialMismatchBit = 2,
} FLASHCONFIGSTATUSBITS;
/// \brief Represents the faults of an axis
typedef enum
{
/// \brief The absolute value of the difference between the position command and the position feedback exceeded the threshold specified by the PositionErrorThreshold parameter.
AXISFAULT_PositionErrorFault = (1u << 0),
/// \brief The average motor current exceeded the threshold specified by the AverageCurrentThreshold and AverageCurrentTime parameters.
AXISFAULT_OverCurrentFault = (1u << 1),
/// \brief The axis encountered the clockwise (positive) end-of-travel limit switch.
AXISFAULT_CwEndOfTravelLimitFault = (1u << 2),
/// \brief The axis encountered the counter-clockwise (negative) end-of-travel limit switch.
AXISFAULT_CcwEndOfTravelLimitFault = (1u << 3),
/// \brief The axis was commanded to move beyond the position specified by the SoftwareLimitHigh parameter.
AXISFAULT_CwSoftwareLimitFault = (1u << 4),
/// \brief The axis was commanded to move beyond the position specified by the SoftwareLimitLow parameter.
AXISFAULT_CcwSoftwareLimitFault = (1u << 5),
/// \brief The amplifier for this axis exceeded its maximum current rating or experienced an internal error.
AXISFAULT_AmplifierFault = (1u << 6),
/// \brief The drive detected a problem with the feedback device specified by the PositionFeedbackType and PositionFeedbackChannel parameters.
AXISFAULT_PositionFeedbackFault = (1u << 7),
/// \brief The drive detected a problem with the feedback device specified by the VelocityFeedbackType and VelocityFeedbackChannel parameters.
AXISFAULT_VelocityFeedbackFault = (1u << 8),
/// \brief The drive detected an invalid state (all high or all low) for the Hall-effect sensor inputs on this axis.
AXISFAULT_HallSensorFault = (1u << 9),
/// \brief The commanded velocity is more than the velocity command threshold. Before the axis is homed, this threshold is specified by the VelocityCommandThresholdBeforeHome parameter. After the axis is homed, this threshold is specified by the VelocityCommandThreshold parameter.
AXISFAULT_MaxVelocityCommandFault = (1u << 10),
/// \brief The emergency stop sense input, specified by the ESTOPFaultInput parameter, was triggered.
AXISFAULT_EmergencyStopFault = (1u << 11),
/// \brief The absolute value of the difference between the velocity command and the velocity feedback exceeded the threshold specified by the VelocityErrorThreshold parameter.
AXISFAULT_VelocityErrorFault = (1u << 12),
/// \brief The external fault input, specified by the ExternalFaultAnalogInput or ExternalFaultDigitalInput parameters, was triggered.
AXISFAULT_ExternalFault = (1u << 15),
/// \brief The motor thermistor input was triggered, which indicates that the motor exceeded its maximum recommended operating temperature.
AXISFAULT_MotorTemperatureFault = (1u << 17),
/// \brief The amplifier exceeded its maximum recommended operating temperature.
AXISFAULT_AmplifierTemperatureFault = (1u << 18),
/// \brief The encoder fault input on the motor feedback connector was triggered.
AXISFAULT_EncoderFault = (1u << 19),
/// \brief One or more of the drives on the network lost communications with the controller.
AXISFAULT_CommunicationLostFault = (1u << 20),
/// \brief The difference between the position feedback and the scaled (adjusted by GainKv) velocity feedback exceeds the threshold specified by the PositionErrorThreshold parameter.
AXISFAULT_FeedbackScalingFault = (1u << 23),
/// \brief The distance that the axis moved while searching for the marker exceeded the threshold specified by the MarkerSearchThreshold parameter.
AXISFAULT_MarkerSearchFault = (1u << 24),
/// \brief The commanded voltage output exceeded the value of the PiezoVoltageClampLow or PiezoVoltageClampHigh parameter.
AXISFAULT_VoltageClampFault = (1u << 27),
/// \brief The power supply output has exceeded the allowable power or temperature threshold.
AXISFAULT_PowerSupplyFault = (1u << 28),
/// \brief The drive failed has encountered an internal error and had to disable. For assistance, contact Aerotech Customer Service.
AXISFAULT_InternalFault = (1u << 30),
} AXISFAULT;
typedef enum
{
/// \brief The absolute value of the difference between the position command and the position feedback exceeded the threshold specified by the PositionErrorThreshold parameter.
AXISFAULTBITS_PositionErrorFaultBit = 0,
/// \brief The average motor current exceeded the threshold specified by the AverageCurrentThreshold and AverageCurrentTime parameters.
AXISFAULTBITS_OverCurrentFaultBit = 1,
/// \brief The axis encountered the clockwise (positive) end-of-travel limit switch.
AXISFAULTBITS_CwEndOfTravelLimitFaultBit = 2,
/// \brief The axis encountered the counter-clockwise (negative) end-of-travel limit switch.
AXISFAULTBITS_CcwEndOfTravelLimitFaultBit = 3,
/// \brief The axis was commanded to move beyond the position specified by the SoftwareLimitHigh parameter.
AXISFAULTBITS_CwSoftwareLimitFaultBit = 4,
/// \brief The axis was commanded to move beyond the position specified by the SoftwareLimitLow parameter.
AXISFAULTBITS_CcwSoftwareLimitFaultBit = 5,
/// \brief The amplifier for this axis exceeded its maximum current rating or experienced an internal error.
AXISFAULTBITS_AmplifierFaultBit = 6,
/// \brief The drive detected a problem with the feedback device specified by the PositionFeedbackType and PositionFeedbackChannel parameters.
AXISFAULTBITS_PositionFeedbackFaultBit = 7,
/// \brief The drive detected a problem with the feedback device specified by the VelocityFeedbackType and VelocityFeedbackChannel parameters.
AXISFAULTBITS_VelocityFeedbackFaultBit = 8,
/// \brief The drive detected an invalid state (all high or all low) for the Hall-effect sensor inputs on this axis.
AXISFAULTBITS_HallSensorFaultBit = 9,
/// \brief The commanded velocity is more than the velocity command threshold. Before the axis is homed, this threshold is specified by the VelocityCommandThresholdBeforeHome parameter. After the axis is homed, this threshold is specified by the VelocityCommandThreshold parameter.
AXISFAULTBITS_MaxVelocityCommandFaultBit = 10,
/// \brief The emergency stop sense input, specified by the ESTOPFaultInput parameter, was triggered.
AXISFAULTBITS_EmergencyStopFaultBit = 11,
/// \brief The absolute value of the difference between the velocity command and the velocity feedback exceeded the threshold specified by the VelocityErrorThreshold parameter.
AXISFAULTBITS_VelocityErrorFaultBit = 12,
/// \brief The external fault input, specified by the ExternalFaultAnalogInput or ExternalFaultDigitalInput parameters, was triggered.
AXISFAULTBITS_ExternalFaultBit = 15,
/// \brief The motor thermistor input was triggered, which indicates that the motor exceeded its maximum recommended operating temperature.
AXISFAULTBITS_MotorTemperatureFaultBit = 17,
/// \brief The amplifier exceeded its maximum recommended operating temperature.
AXISFAULTBITS_AmplifierTemperatureFaultBit = 18,
/// \brief The encoder fault input on the motor feedback connector was triggered.
AXISFAULTBITS_EncoderFaultBit = 19,
/// \brief One or more of the drives on the network lost communications with the controller.
AXISFAULTBITS_CommunicationLostFaultBit = 20,
/// \brief The difference between the position feedback and the scaled (adjusted by GainKv) velocity feedback exceeds the threshold specified by the PositionErrorThreshold parameter.
AXISFAULTBITS_FeedbackScalingFaultBit = 23,
/// \brief The distance that the axis moved while searching for the marker exceeded the threshold specified by the MarkerSearchThreshold parameter.
AXISFAULTBITS_MarkerSearchFaultBit = 24,
/// \brief The commanded voltage output exceeded the value of the PiezoVoltageClampLow or PiezoVoltageClampHigh parameter.
AXISFAULTBITS_VoltageClampFaultBit = 27,
/// \brief The power supply output has exceeded the allowable power or temperature threshold.
AXISFAULTBITS_PowerSupplyFaultBit = 28,
/// \brief The drive failed has encountered an internal error and had to disable. For assistance, contact Aerotech Customer Service.
AXISFAULTBITS_InternalFaultBit = 30,
} AXISFAULTBITS;
/// \brief Represents the ramp type in AeroBasic
typedef enum
{
/// \brief Linear-based ramp type
RAMPTYPE_Linear = 0,
/// \brief S-curve-based ramp type
RAMPTYPE_Scurve = 1,
/// \brief Sine-based ramp type
RAMPTYPE_Sine = 2,
} RAMPTYPE;
/// \brief Represents the ramp mode in AeroBasic
typedef enum
{
/// \brief Distance-based acceleration and deceleration
RAMPMODE_Dist = 0,
/// \brief Rate-based acceleration and deceleration
RAMPMODE_Rate = 1,
/// \brief Time-based acceleration and deceleration
RAMPMODE_Time = 2,
} RAMPMODE;
/// \brief Represents the type of output an axis generates.
typedef enum
{
/// \brief No output is generated.
COMMANDOUTPUTTYPE_None = 0,
/// \brief Current output is generated.
COMMANDOUTPUTTYPE_Current = 1,
/// \brief Voltage output is generated.
COMMANDOUTPUTTYPE_Voltage = 2,
} COMMANDOUTPUTTYPE;
/// \brief Specifies the type of calibration table associated with a calibration file action.
typedef enum
{
/// \brief 1D calibration table.
BINARYCALIBRATIONACTIONTABLETYPE_Calibration1D = 0,
/// \brief 2D calibration table.
BINARYCALIBRATIONACTIONTABLETYPE_Calibration2D = 1,
} BINARYCALIBRATIONACTIONTABLETYPE;
/// \brief Specifies the status of a binary calibration file action.
typedef enum
{
/// \brief The calibration table was added.
BINARYCALIBRATIONACTIONSTATUS_TableAdded = 0,
/// \brief The calibration table was removed.
BINARYCALIBRATIONACTIONSTATUS_TableRemoved = 1,
/// \brief The calibration table was not added.
BINARYCALIBRATIONACTIONSTATUS_TableNotAdded = 2,
} BINARYCALIBRATIONACTIONSTATUS;
/// \brief Represents the position feedback channel type
typedef enum
{
/// \brief Default
POSITIONFEEDBACKCHANNEL_Default = -1,
/// \brief Channel 0
POSITIONFEEDBACKCHANNEL_Channel0 = 0,
/// \brief Channel 1
POSITIONFEEDBACKCHANNEL_Channel1 = 1,
/// \brief Channel 2
POSITIONFEEDBACKCHANNEL_Channel2 = 2,
/// \brief Channel 3
POSITIONFEEDBACKCHANNEL_Channel3 = 3,
/// \brief Channel 4
POSITIONFEEDBACKCHANNEL_Channel4 = 4,
} POSITIONFEEDBACKCHANNEL;
/// \brief Represents the velocity feedback channel type
typedef enum
{
/// \brief Default
VELOCITYFEEDBACKCHANNEL_Default = -1,
/// \brief Channel 0
VELOCITYFEEDBACKCHANNEL_Channel0 = 0,
/// \brief Channel 1
VELOCITYFEEDBACKCHANNEL_Channel1 = 1,
/// \brief Channel 2
VELOCITYFEEDBACKCHANNEL_Channel2 = 2,
/// \brief Channel 3
VELOCITYFEEDBACKCHANNEL_Channel3 = 3,
/// \brief Channel 4
VELOCITYFEEDBACKCHANNEL_Channel4 = 4,
} VELOCITYFEEDBACKCHANNEL;
#endif // __Ensemble_COMMON_STRUCTURES_H__
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