SE-Power Can Open Handbuch - Afag Handhabungs- und ...

#define drive_type (0x6510A1 + cUINT32 + cRD }
#define drive_revision (0x6510A2 + cUINT32 + cRD }
#define encoder_serial_number (0x6510A3 + cUINT32 + cRD }
#define encoder_type (0x6510A4 + cUINT32 + cRD }
#define encoder_revision (0x6510A5 + cUINT32 + cRD }
#define module_serial_number (0x6510A6 + cUINT32 + cRD }
#define module_type (0x6510A7 + cUINT32 + cRD }
#define module_revision (0x6510A8 + cUINT32 + cRD }
#define firmware_main_version (0x6510A9 + cUINT32 + cRD }
#define firmware_custom_version (0x6510AA + cUINT32 + cRD }
#define mdc_version (0x6510AB + cUINT32 + cRD }
#define firmware_type (0x6510AC + cUINT32 + cRD }
#define cycletime_current_controller (0x6510B0 + cUINT32 + cRD }
#define cycletime_velocity_controller (0x6510B1 + cUINT32 + cRD }
#define cycletime_position_controller (0x6510B2 + cUINT32 + cRD }
#define cycletime_tracectory_generator (0x6510B3 + cUINT32 + cRD }
#define device_current (0x6510B8 + cUINT32 + cRD }
#define commisioning_state (0x6510C0 + cUINT32 + cRD + cWR }
/********************************************************************************/
/* 'magic' word for loading parameter */
/********************************************************************************/
#define cLOAD 0x64616F6C
#define cSAVE 0x65766173
/********************************************************************************/
/* modes of operation */
/********************************************************************************/
#define cPositionMode 0x01
#define cVelocityMode 0x03
#define cTorqueMode 0x04
#define cHomingMode 0x06
#define cInterpolatedMode 0x07
#define cUnknownMode 0xFF
/********************************************************************************/
/* digital inputs */
/********************************************************************************/
#define cEND0 0x00000001 /* negativer Endschalter */
#define cEND1 0x00000002 /* positiver Endschalter */
#define cHOME_SAMPLE 0x00000004 /* Home / Sample */
#define cLOCK 0x00000008 /* Regler- oder Endstufenfreigabe fehlt */
#define cPOS0 0x01000000 /* Digital Input Target selector */
#define cPOS1 0x02000000 /* Digital Input Target selector */
#define cPOS2 0x04000000 /* Digital Input Target selector */
#define cPOS3 0x08000000 /* Digital Input Target selector */
#define cSTART 0x10000000
#define cSAMPLE 0x20000000
/* ------------ Definition nach Steckerbenamung ------------------------------- */
#define cDIN0 cPOS0
#define cDIN1 cPOS1
#define cDIN2 cPOS2
#define cDIN3 cPOS3
#define cDIN5 cLOCK
#define cDIN6 cEND0
#define cDIN7 cEND1
#define cDIN8 cSTART
#define cDIN9 cSAMPLE
/********************************************************************************/
/* controlword */
/********************************************************************************/
#define cwSHUT_DOWN 0x0006
#define cwSWITCH_ON 0x0007
#define cwDISABLE_VOLTAGE 0x0000
#define cwQUICK_STOP 0x0002
#define cwDISABLE_OPERATION 0x0007
#define cwENABLE_OPERATION 0x000F
#define cwFAULT_RESET 0x0080 /* Fault Reset mit steigender Flanke */
170 SE-Power- BA 12 de. 27.11.07