libm5api: m5apiw32.h Source File

00001 // ========================================================================= //
00002 //                                                                           //
00003 //     Copyright 1999,2000,2001                                                                                          //
00004 //                                                                           //
00005 //     AMTEC GmbH                                                            //
00006 //     Automatisierung, Mess- und Testtechnologien                           //
00007 //     13127 Berlin                                                          //
00008 //     Germany                                                               //
00009 //                                                                           //
00010 //     Tel   : +49 30 474990 0                                               //
00011 //     Fax   : +49 30 474990 99                                              //
00012 //     Email : support@amtec-robotics.com                                    //
00013 //                                                                           //
00014 // ========================================================================= //
00015 /*
00016         $Log: m5apiw32.h,v $
00017         Revision 1.36  2004/02/25 02:20:53  mael
00018         Added command PCube_getDefCurOffset
00019         
00020         Revision 1.35  2003/03/20 16:49:03  mael
00021         added error code
00022         
00023         Revision 1.34  2003/02/27 18:35:36  mael
00024         added error
00025         
00026         Revision 1.33  2003/02/11 16:26:45  mael
00027         added wait functions
00028         
00029         Revision 1.32  2003/02/07 17:32:36  mael
00030         adapted bas file to version 5050
00031         
00032         Revision 1.31  2003/02/07 16:44:42  mael
00033         changed setup id name
00034         
00035         Revision 1.30  2003/02/07 16:17:06  mael
00036         added module command
00037         added setup id
00038         
00039         Revision 1.29  2003/01/15 11:38:17  mael
00040         added basic function and new error code
00041         
00042         Revision 1.28  2003/01/13 16:16:39  mael
00043         renamed schunk and mp55 functions
00044         
00045         Revision 1.27  2003/01/10 18:46:21  mael
00046         added OS version comments for functions
00047         
00048         Revision 1.26  2003/01/10 14:28:33  mael
00049         added Schunk FTS functions
00050         renamed MP55 functions
00051         increase DLL version to 5040
00052         
00053         Revision 1.25  2002/12/06 17:05:05  mael
00054         reordered functions
00055         
00056         Revision 1.24  2002/12/03 16:42:27  mael
00057         reorderd functions
00058         added error codes
00059         
00060         Revision 1.23  2002/11/22 11:21:13  mael
00061         added error defines
00062         
00063         Revision 1.22  2002/11/19 14:29:07  mael
00064         removed include
00065         
00066         Revision 1.21  2002/10/30 18:42:27  mael
00067         added new error codes
00068         
00069         Revision 1.20  2002/09/23 10:34:08  mael
00070         new version 5030
00071         renamed and implemented setBaudRateAll
00072         
00073         Revision 1.19  2002/09/10 10:49:40  mael
00074         added function
00075         
00076         Revision 1.18  2002/09/09 18:18:10  mael
00077         fixed ansi C incompability
00078         
00079         Revision 1.17  2002/09/02 09:19:38  tsc
00080         Changed DLL-version after adding MP55 support
00081         
00082         Revision 1.16  2002/08/29 17:36:25  tsc
00083         Added support for MP55 force sensor; new commands
00084         
00085         Revision 1.15  2002/08/06 17:33:02  mael
00086         added io cards header
00087         
00088         Revision 1.14  2002/05/16 12:34:48  mael
00089         added functions
00090         
00091         Revision 1.13  2002/05/15 12:36:56  mael
00092         fixed config bits
00093         
00094         Revision 1.12  2002/03/28 18:49:05  mael
00095         added some void arguments
00096         
00097         Revision 1.11  2002/03/20 20:06:34  mael
00098         include stl for qnx
00099         
00100         Revision 1.10  2002/03/20 20:04:44  mael
00101         added bool typedef for qnx
00102         
00103         Revision 1.9  2002/03/14 11:38:55  mael
00104         removed define
00105         
00106         Revision 1.8  2002/02/20 11:31:34  mael
00107         mapped old to new names
00108         
00109         Revision 1.7  2002/02/20 11:25:57  mael
00110         added some functions
00111         renamed some functions for consistency
00112         
00113         Revision 1.6  2002/02/15 13:14:05  mael
00114         added debug arguments in open device
00115         
00116         Revision 1.5  2002/01/25 12:59:39  mael
00117         added UCI header
00118         
00119         Revision 1.4  2002/01/16 13:03:19  mael
00120         added ems defines
00121         
00122         Revision 1.3  2002/01/15 11:13:25  mael
00123         changed some old error codes
00124         
00125         Revision 1.2  2002/01/03 13:26:41  mael
00126         added functions and defines
00127         
00128         Revision 1.1  2001/11/26 11:53:46  mael
00129         added header for new m5 dll
00130         
00131         Revision 1.4  2001/11/26 10:15:26  mael
00132         used dynamic device array and reference counter
00133         added error codes
00134         
00135         Revision 1.3  2001/11/26 09:06:53  mael
00136         added old and new m5api defines
00137         implemented getModuleIdMap and getDllVersion
00138         fixed some wrong function declarations
00139         added defines for linux and qnx
00140         
00141 */
00142 #ifndef M5APIW32_H
00143 #define M5APIW32_H
00144 
00145 
00146 #define M5DLLVERSION 0x5060
00147 #define MAX_MODULES 31
00148 
00149 #if defined (_WIN32)
00150 #ifndef WINAPI
00151         #define WINAPI __stdcall
00152 #endif
00153 
00154 #ifdef M5APIW32_EXPORTS
00155         #define M5DLL_API __declspec(dllexport)
00156 #else
00157         #define M5DLL_API __declspec(dllimport)
00158 #endif
00159 #endif
00160 #if defined(__LINUX__)
00161         #define WINAPI
00162         #define M5DLL_API
00163 #endif
00164 #if defined (__QNX__)
00165         #define WINAPI
00166         #define M5DLL_API
00167 #endif
00168 
00169 extern M5DLL_API int g_iM5DebugLevel;
00170 extern M5DLL_API int g_iM5DebugFile;
00171 extern M5DLL_API int g_iM5Debug;
00172 
00173 //-----------------------------------------------------------------------
00174 // new PCube Module States
00175 //-----------------------------------------------------------------------
00176 #define STATEID_MOD_ERROR                                                               0x00000001L
00177 #define STATEID_MOD_HOME                                                                0x00000002L
00178 #define STATEID_MOD_HALT                                                                0x00000004L
00179 #define STATEID_MOD_POWERFAULT                                  0x00000008L
00180 #define STATEID_MOD_TOW_ERROR                                           0x00000010L
00181 #define STATEID_MOD_COMM_ERROR                                  0x00000020L
00182 #define STATEID_MOD_SWR                                                                 0x00000040L
00183 #define STATEID_MOD_SW1                                                                 0x00000080L
00184 #define STATEID_MOD_SW2                                                                 0x00000100L
00185 #define STATEID_MOD_BRAKEACTIVE                                 0x00000200L
00186 #define STATEID_MOD_CURLIMIT                                            0x00000400L
00187 #define STATEID_MOD_MOTION                                                      0x00000800L
00188 #define STATEID_MOD_RAMP_ACC                                            0x00001000L
00189 #define STATEID_MOD_RAMP_STEADY                                 0x00002000L
00190 #define STATEID_MOD_RAMP_DEC                                            0x00004000L
00191 #define STATEID_MOD_RAMP_END                                            0x00008000L
00192 #define STATEID_MOD_INPROGRESS                                  0x00010000L
00193 #define STATEID_MOD_FULLBUFFER                                  0x00020000L
00194 #define STATEID_MOD_POW_VOLT_ERR                                0x00040000L
00195 #define STATEID_MOD_POW_FET_TEMP                                0x00080000L
00196 #define STATEID_MOD_POW_WDG_TEMP                                0x00100000L
00197 #define STATEID_MOD_POW_SHORTCUR                                0x00200000L
00198 #define STATEID_MOD_POW_HALLERR                                 0x00400000L
00199 #define STATEID_MOD_POW_INTEGRALERR                     0x00800000L
00200 #define STATEID_MOD_CPU_OVERLOAD                                0x01000000L
00201 #define STATEID_MOD_BEYOND_HARD                           0x02000000L
00202 #define STATEID_MOD_BEYOND_SOFT                                 0x04000000L
00203 #define STATEID_MOD_LOGIC_VOLT                                  0x08000000L
00204 
00205 //-----------------------------------------------------------------------
00206 // new PCube Module Config
00207 //-----------------------------------------------------------------------
00208 #define CONFIGID_MOD_ENCODER_FEEDBACK                   0x00000001L //OS: 25xx from 35xx in SETUP
00209 #define CONFIGID_MOD_RESOLVER_FEEDBACK                  0x00000002L //OS: 25xx from 35xx in SETUP
00210 #define CONFIGID_MOD_ABSOLUTE_FEEDBACK                  0x00000004L //OS: 25xx from 35xx in SETUP
00211 #define CONFIGID_MOD_BRAKE_PRESENT                              0x00000008L
00212 #define CONFIGID_MOD_BRAKE_AT_POWERON                   0x00000010L
00213 #define CONFIGID_MOD_SWR_WITH_ENCODERZERO               0x00000020L
00214 #define CONFIGID_MOD_SWR_AT_FALLING_EDGE                0x00000040L
00215 #define CONFIGID_MOD_CHANGE_SWR_TO_LIMIT                0x00000080L
00216 #define CONFIGID_MOD_SWR_ENABLED                        0x00000100L
00217 #define CONFIGID_MOD_SWR_LOW_ACTIVE                             0x00000200L
00218 #define CONFIGID_MOD_SWR_EQ_POSLIMIT                    0x00000400L //OS: 25xx
00219 #define CONFIGID_MOD_SWR_USE_EXTERNAL                   0x00000400L //OS: 35xx
00220 #define CONFIGID_MOD_SW1_ENABLED                                0x00000800L
00221 #define CONFIGID_MOD_SW1_LOW_ACTIVE                             0x00001000L
00222 #define CONFIGID_MOD_SW1_EQ_POSLIMIT                    0x00002000L //OS: 25xx
00223 #define CONFIGID_MOD_SW1_USE_EXTERNAL                   0x00002000L //OS: 35xx
00224 #define CONFIGID_MOD_SW2_ENABLED                                0x00004000L
00225 #define CONFIGID_MOD_SW2_LOW_ACTIVE                             0x00008000L
00226 #define CONFIGID_MOD_SW2_EQ_POSLIMIT                    0x00010000L //OS: 25xx
00227 #define CONFIGID_MOD_SW2_USE_EXTERNAL                   0x00010000L //OS: 35xx
00228 #define CONFIGID_MOD_LINEAR                                             0x00020000L
00229 #define CONFIGID_MOD_OPENBRAKE_ON_SW2                   0x00040000L     //OS: 25xx but not in 2512 from 35xx in SETUP
00230 #define CONFIGID_MOD_ALLOW_FULL_CUR                             0x00080000L
00231 #define CONFIGID_MOD_M3_COMPATIBLE                              0x00100000L
00232 #define CONFIGID_MOD_LINEAR_SCREW                               0x00200000L
00233 #define CONFIGID_MOD_DISABLE_ON_HALT                    0x00800000L
00234 #define CONFIGID_MOD_WATCHDOG_ENABLE                    0x01000000L
00235 #define CONFIGID_MOD_ZERO_MOVE_AFTER_HOK                0x02000000L //OS: 35xx
00236 #define CONFIGID_MOD_DISABLE_ACK                                0x04000000L
00237 #define CONFIGID_MOD_SYNC_MOTION                                0x08000000L
00238 #define CONFIGID_MOD_SYNC_TRANSMIT                              0x10000000L //OS: 36xx
00239 #define CONFIGID_MOD_CAN_RS232_COMM                             0x40000000L //OS: 25xx
00240 #define CONFIGID_MOD_PROFI_RS485_COMM                   0x80000000L //OS: 25xx
00241 
00242 //-----------------------------------------------------------------------
00243 // new PCube Module Setup
00244 //-----------------------------------------------------------------------
00245 // ---- FEEDBACK SETUP -----------
00246 #define SETUPID_MOD_ENCODER_FEEDBACK                    0x00000001L
00247 #define SETUPID_MOD_RESOLVER_FEEDBACK                   0x00000002L
00248 #define SETUPID_MOD_ABSOLUTE_FEEDBACK                   0x00000004L
00249 // ---- DIGITAL IO SETUP ---------
00250 #define SETUPID_MOD_4IN_4OUT                                    0x00000008L
00251 #define SETUPID_MOD_3IN_ENCODER_IN                              0x00000010L
00252 #define SETUPID_MOD_3IN_ENCODER_OUT                             0x00000020L
00253 // ---- COMM INTERFACE -----------
00254 #define SETUPID_MOD_RS232                                               0x00000040L
00255 #define SETUPID_MOD_CAN                                                 0x00000200L
00256 #define SETUPID_MOD_PROFIBUS                                    0x00000400L
00257 // ---- CAN ID SETUP -------------
00258 #define SETUPID_MOD_USE_M3ID                                    0x00000800L
00259 #define SETUPID_MOD_USE_M4ID                                    0x00001000L
00260 #define SETUPID_MOD_USE_CANOPEN                                 0x00002000L
00261 // ---- MOTOR SETUP --------------
00262 #define SETUPID_MOD_INVERT_MOTORDIR                             0x00004000L
00263 // ---- INPUT USAGE --------------
00264 #define SETUPID_MOD_USE_SW2_AS_ENABLE                   0x00008000L
00265 #define SETUPID_MOD_USE_SW2_AS_BRAKE                    0x00010000L
00266 // ---- OUTPUT USAGE -------------
00267 #define SETUPID_MOD_ERROR_TO_OUT0                               0x00020000L
00268 // ---- IN/OUTPUT USAGE -------------
00269 #define SETUPID_MOD_IO_GRIPPER_CONTROL                  0x00080000L
00270 
00271 //-----------------------------------------------------------------------
00272 // new PCube Module Types
00273 //-----------------------------------------------------------------------
00274 #define TYPEID_MOD_ROTARY                                               0x0f
00275 #define TYPEID_MOD_LINEAR                                               0xf0
00276 
00277 //-----------------------------------------------------------------------
00278 // new PCube Module DIO's
00279 //-----------------------------------------------------------------------
00280 #define DIOID_MOD_INBIT0                                                0x00000001L
00281 #define DIOID_MOD_INBIT1                                                0x00000002L
00282 #define DIOID_MOD_INBIT2                                                0x00000004L
00283 #define DIOID_MOD_INBIT3                                                0x00000008L
00284  
00285 #define DIOID_MOD_OUTBIT0                                               0x00000010L
00286 #define DIOID_MOD_OUTBIT1                                               0x00000020L
00287 #define DIOID_MOD_OUTBIT2                                               0x00000040L
00288 #define DIOID_MOD_OUTBIT3                                               0x00000080L
00289  
00290 #define DIOID_MOD_INSWR                                                 0x00000100L
00291 #define DIOID_MOD_INSW1                                                 0x00000200L
00292 #define DIOID_MOD_INSW2                                                 0x00000400L
00293 
00294 //-----------------------------------------------------------------------
00295 // new EMS Module Types
00296 //-----------------------------------------------------------------------
00297 #define TYPEID_EMS_DIG24V_OUT                                   10
00298 #define TYPEID_EMS_DIG24V_IN                                    11
00299 #define TYPEID_EMS_ANA10V_OUT                                   12
00300 #define TYPEID_EMS_ANA10V_IN                                    13
00301 #define TYPEID_EMS_ANA25MA_OUT                                  14
00302 #define TYPEID_EMS_ANA25MA_IN                                   15
00303 
00304 //-----------------------------------------------------------------------
00305 // new PCube Module Baudrates
00306 //-----------------------------------------------------------------------
00307 #define BAUDRATEID_MOD_CAN_125K                                 0
00308 #define BAUDRATEID_MOD_CAN_250K                                 1
00309 #define BAUDRATEID_MOD_CAN_500K                                 2
00310 #define BAUDRATEID_MOD_CAN_1000K                                3
00311 
00312 #define BAUDRATEID_MOD_RS232_1200                               0
00313 #define BAUDRATEID_MOD_RS232_2400                               1
00314 #define BAUDRATEID_MOD_RS232_4800                               2
00315 #define BAUDRATEID_MOD_RS232_9600                               3
00316 #define BAUDRATEID_MOD_RS232_19200                      4
00317 #define BAUDRATEID_MOD_RS232_38400                      5
00318 #define BAUDRATEID_MOD_RS232_57600                      6
00319 #define BAUDRATEID_MOD_RS232_115200                     7
00320 
00321 //-----------------------------------------------------------------------
00322 // new PCube Device Error Codes
00323 //-----------------------------------------------------------------------
00324 #define ERRID_DEV                                                       (-200L)         // device error
00325 #define ERRID_DEV_FUNCTIONNOTAVAILABLE          (ERRID_DEV - 1) 
00326 #define ERRID_DEV_NOINITSTRING                          (ERRID_DEV - 2)
00327 #define ERRID_DEV_NODEVICENAME                          (ERRID_DEV - 3)
00328 #define ERRID_DEV_BADINITSTRING                         (ERRID_DEV - 4)
00329 #define ERRID_DEV_INITERROR                                     (ERRID_DEV - 5)
00330 #define ERRID_DEV_NOTINITIALIZED                        (ERRID_DEV - 6)
00331 #define ERRID_DEV_WRITEERROR                            (ERRID_DEV - 7)
00332 #define ERRID_DEV_READERROR                                     (ERRID_DEV - 8)
00333 #define ERRID_DEV_WRITETIMEOUT                          (ERRID_DEV - 9)
00334 #define ERRID_DEV_READTIMEOUT                           (ERRID_DEV - 10)
00335 #define ERRID_DEV_WRONGMESSAGEID                        (ERRID_DEV - 11)
00336 #define ERRID_DEV_WRONGCOMMANDID                        (ERRID_DEV - 12)
00337 #define ERRID_DEV_WRONGPARAMETERID                      (ERRID_DEV - 13)
00338 #define ERRID_DEV_EXITERROR                                     (ERRID_DEV - 14)
00339 #define ERRID_DEV_NOMODULES                                     (ERRID_DEV - 15)
00340 #define ERRID_DEV_WRONGDEVICEID                         (ERRID_DEV - 16)
00341 #define ERRID_DEV_NOLIBRARY                                     (ERRID_DEV - 17)
00342 #define ERRID_DEV_ISINITIALIZED                         (ERRID_DEV - 18)
00343 #define ERRID_DEV_WRONGEMSMODULEID                      (ERRID_DEV - 19)
00344 #define ERRID_DEV_EMSNOTINITIALIZED                     (ERRID_DEV - 20)
00345 #define ERRID_DEV_EMSMAXNUMBER                          (ERRID_DEV - 21)
00346 #define ERRID_DEV_EMSINITERROR                          (ERRID_DEV - 22)
00347 #define ERRID_DEV_WRONGEMSTYPE                          (ERRID_DEV - 23)
00348 #define ERRID_DEV_WRONGEMSCHANNELID                     (ERRID_DEV - 24)
00349 #define ERRID_DEV_WRONGMP55MODULEID                     (ERRID_DEV - 25)
00350 #define ERRID_DEV_WRONGSCHUNKMODULEID           (ERRID_DEV - 26)
00351 #define ERRID_DEV_WRONGMODULEID                         (ERRID_DEV - 27)
00352 #define ERRID_DEV_MODULEERROR                           (ERRID_DEV - 28)
00353 #define ERRID_DEV_WAITTIMEOUT                           (ERRID_DEV - 29)
00354 #define ERRID_DEV_OPENINIFILE                           (ERRID_DEV - 30)
00355 
00356 //-----------------------------------------------------------------------
00357 // old PCube Device Error Codes
00358 //-----------------------------------------------------------------------
00359 #define CLD_OK                                                  0
00360 #define CLD_ERR                                                 -1
00361 #define CLDERR_ERROR                                    (-200)
00362 #define CLERR_FUNCTIONNOTAVAILABLE      (CLDERR_ERROR - 1)      
00363 #define CLERR_NOINITSTRING                              (CLDERR_ERROR - 2)
00364 #define CLERR_NODEVICENAME                              (CLDERR_ERROR - 3)
00365 #define CLERR_BADDEVICEINITSTRING               (CLDERR_ERROR - 4)
00366 #define CLDERR_INITIALIZATIONERROR              (CLDERR_ERROR - 5)      
00367 #define CLERR_DEVICENOTOPEN                             (CLDERR_ERROR - 6)
00368 #define CLDERR_TRANSMISSIONERROR                (CLDERR_ERROR - 7)
00369 #define CLDERR_RECEIVEERROR                             (CLDERR_ERROR - 8)
00370 #define CLERR_COMM_SENDTIMEOUT                  (CLDERR_ERROR - 9)
00371 #define CLERR_COMM_RECVTIMEOUT                  (CLDERR_ERROR - 10)
00372 #define CLDERR_DRIVE_NOMODULEFOUND              (CLDERR_ERROR - 15)
00373 #define CLERR_WRONGHANDLE                               (CLDERR_ERROR - 16)
00374 #define CLDERR_LIBRARYNOTFOUND                  (CLDERR_ERROR - 17)     
00375 
00376 //-----------------------------------------------------------------------
00377 // old PCube Module States
00378 //-----------------------------------------------------------------------
00379 #define STATE_ERROR                                                     0x00000001L
00380 #define STATE_HOME_OK                                           0x00000002L
00381 #define STATE_HALTED                                            0x00000004L
00382 #define STATE_POWERFAULT                                        0x00000008L
00383 #define STATE_TOW_ERROR                                         0x00000010L
00384 #define STATE_COMM_ERROR                                        0x00000020L
00385 #define STATE_SWR                                                       0x00000040L
00386 #define STATE_SW1                                                       0x00000080L
00387 #define STATE_SW2                                                       0x00000100L
00388 #define STATE_BRAKEACTIVE                                       0x00000200L
00389 #define STATE_CURLIMIT                                          0x00000400L
00390 #define STATE_MOTION                                            0x00000800L
00391 #define STATE_RAMP_ACC                                          0x00001000L
00392 #define STATE_RAMP_STEADY                                       0x00002000L
00393 #define STATE_RAMP_DEC                                          0x00004000L
00394 #define STATE_RAMP_END                                          0x00008000L
00395 #define STATE_INPROGRESS                                        0x00010000L
00396 #define STATE_FULLBUFFER                                        0x00020000L
00397 #define STATE_POW_VOLT_ERR                                      0x00040000L
00398 #define STATE_POW_FET_TEMP                                      0x00080000L
00399 #define STATE_POW_WDG_TEMP                                      0x00100000L
00400 #define STATE_POW_SHORTCUR                                      0x00200000L
00401 #define STATE_POW_HALLERR                                       0x00400000L
00402 #define STATE_POW_INTEGRALERR                           0x00800000L
00403 #define STATE_CPU_OVERLOAD                                      0x01000000L
00404 #define STATE_BEYOND_HARD                                       0x02000000L
00405 #define STATE_BEYOND_SOFT                                       0x04000000L
00406 
00407 //-----------------------------------------------------------------------
00408 // old PCube Module Types
00409 //-----------------------------------------------------------------------
00410 #define ROTARY_DRIVE                                            TYPEID_MOD_ROTARY
00411 #define LINEAR_DRIVE                                            TYPEID_MOD_LINEAR
00412 
00413 //-----------------------------------------------------------------------
00414 // old EMS Module Types
00415 //-----------------------------------------------------------------------
00416 #define TW_DIG24V_OUT                                           TYPEID_EMS_DIG24V_OUT
00417 #define TW_DIG24V_IN                                            TYPEID_EMS_DIG24V_IN
00418 #define TW_ANA10V_OUT                                           TYPEID_EMS_ANA10V_OUT
00419 #define TW_ANA10V_IN                                            TYPEID_EMS_ANA10V_IN
00420 #define TW_ANA25MA_OUT                                          TYPEID_EMS_ANA25MA_OUT
00421 #define TW_ANA25MA_IN                                           TYPEID_EMS_ANA25MA_IN
00422 
00423 //-----------------------------------------------------------------------
00424 // old PCube Module Config
00425 //-----------------------------------------------------------------------
00426 
00427 #define CONFIG_ENCODER_FEEDBACK                         0x00000001L
00428 #define CONFIG_RESOLVER_FEEDBACK                        0x00000002L
00429 #define CONFIG_ABSOLUTE_FEEDBACK                        0x00000004L
00430 #define CONFIG_BRAKE_PRESENT                            0x00000008L
00431 #define CONFIG_BRAKE_AT_POWERON                         0x00000010L
00432 #define CONFIG_SWR_WITH_ENCODERZERO                     0x00000020L
00433 #define CONFIG_SWR_AT_FALLING_EDGE                      0x00000040L
00434 #define CONFIG_CHANGE_SWR_TO_LIMIT                      0x00000080L
00435 #define CONFIG_SWR_ENABLED                              0x00000100L
00436 #define CONFIG_SWR_LOW_ACTIVE                           0x00000200L
00437 #define CONFIG_SWR_EQ_POSLIMIT                          0x00000400L
00438 #define CONFIG_SW1_ENABLED                                      0x00000800L
00439 #define CONFIG_SW1_LOW_ACTIVE                           0x00001000L
00440 #define CONFIG_SW1_EQ_POSLIMIT                          0x00002000L
00441 #define CONFIG_SW2_ENABLED                                      0x00004000L
00442 #define CONFIG_SW2_LOW_ACTIVE                           0x00008000L
00443 #define CONFIG_SW2_EQ_POSLIMIT                          0x00010000L
00444 #define CONFIG_LINEAR_DRIVE                                     0x00020000L
00445 #define CONFIG_OPENBRAKE_ON_SW2                         0x00040000L
00446 #define CONFIG_ALLOW_FULL_CUR                           0x00080000L
00447 #define CONFIG_M3_COMPATIBLE                            0x00100000L
00448 #define CONFIG_LINEAR_SCREW                                     0x00200000L
00449 #define CONFIG_SYNC_MOTION                                      0x08000000L
00450 #define CONFIG_CAN_RS232_COMM                           0x40000000L
00451 #define CONFIG_PROFI_RS485_COMM                         0x80000000L
00452 
00453 #define P3502_CONFIG_BRAKE_PRESENT          0x00000008L
00454 #define P3502_CONFIG_BRAKE_AT_POWERON       0x00000010L
00455 #define P3502_CONFIG_SWR_WITH_ENCODERZERO   0x00000020L
00456 #define P3502_CONFIG_SWR_AT_FALLING_EDGE    0x00000040L
00457 #define P3502_CONFIG_CHANGE_SWR_TO_LIMIT    0x00000080L
00458 #define P3502_CONFIG_SWR_ENABLED                0x00000100L
00459 #define P3502_CONFIG_SWR_LOW_ACTIVE         0x00000200L
00460 #define P3502_CONFIG_SWR_USE_EXTERNAL       0x00000400L
00461 #define P3502_CONFIG_SW1_ENABLED            0x00000800L
00462 #define P3502_CONFIG_SW1_LOW_ACTIVE         0x00001000L
00463 #define P3502_CONFIG_SW1_USE_EXTERNAL       0x00002000L
00464 #define P3502_CONFIG_SW2_ENABLED                        0x00004000L
00465 #define P3502_CONFIG_SW2_LOW_ACTIVE         0x00008000L
00466 #define P3502_CONFIG_SW2_USE_EXTERNAL           0x00010000L
00467 #define P3502_CONFIG_LINEAR_DRIVE                       0x00020000L
00468 #define P3502_CONFIG_ALLOW_FULL_CUR                     0x00080000L
00469 #define P3502_CONFIG_M3_COMPATIBLE                      0x00100000L
00470 #define P3502_CONFIG_LINEAR_SCREW                       0x00200000L
00471 #define P3502_CONFIG_DISABLE_ON_HALT            0x00800000L
00472 #define P3502_CONFIG_WATCHDOG_ENABLE            0x01000000L
00473 #define P3502_CONFIG_ZERO_MOVE_AFTER_HOK        0x02000000L
00474 #define P3502_CONFIG_DISABLE_ACK                        0x04000000L
00475 
00476 //-----------------------------------------------------------------------
00477 // old PCube Module Setup
00478 //-----------------------------------------------------------------------
00479 
00480 // ---- FEEDBACK SETUP -----------
00481 #define P3502_SETUP_ENCODER_FEEDBACK            0x00000001L
00482 #define P3502_SETUP_RESOLVER_FEEDBACK           0x00000002L
00483 #define P3502_SETUP_ABSOLUTE_FEEDBACK           0x00000004L
00484 // ---- DIGITAL IO SETUP ---------
00485 #define P3502_SETUP_4IN_4OUT                0x00000008L
00486 #define P3502_SETUP_3IN_ENCODER_IN                      0x00000010L
00487 #define P3502_SETUP_3IN_ENCODER_OUT                     0x00000020L
00488 // ---- COMM INTERFACE -----------
00489 #define P3502_SETUP_RS232                                       0x00000040L
00490 #define P3502_SETUP_RS485HD                                     0x00000080L
00491 #define P3502_SETUP_RS485FD                                     0x00000100L
00492 #define P3502_SETUP_CAN                                         0x00000200L
00493 #define P3502_SETUP_PROFIBUS                            0x00000400L
00494 // ---- CAN ID SETUP -------------
00495 #define P3502_SETUP_USE_M3ID                            0x00000800L
00496 #define P3502_SETUP_USE_M4ID                            0x00001000L
00497 #define P3502_SETUP_USE_CANOPEN                         0x00002000L
00498 // ---- MOTOR SETUP --------------
00499 #define P3502_SETUP_INVERT_MOTORDIR         0x00004000L
00500 // ---- INPUT USAGE --------------
00501 #define P3502_SETUP_USE_SW2_AS_ENABLE           0x00008000L
00502 #define P3502_SETUP_USE_SW2_AS_BRAKE            0x00010000L
00503 // ---- OUTPUT USAGE -------------
00504 #define P3502_SETUP_ERROR_TO_OUT0                       0x00020000L
00505 // ---- COUNTER SETUP ------------
00506 #define P3502_SETUP_INVERT_COUNTER                      0x00040000L
00507 
00508 //-----------------------------------------------------------------------
00509 // old PCube Functionnames
00510 //-----------------------------------------------------------------------
00511 
00512 #define PCube_getCubeState                      PCube_getModuleState
00513 #define PCube_getDefCubeVersion         PCube_getModuleVersion
00514 #define PCube_getModulesIdMap           PCube_getModuleIdMap
00515 #define PCube_getDefBurncount           PCube_getDefBurnCount
00516 #define PCube_getDefSerialNo            PCube_getModuleSerialNo
00517 #define PCube_getDefPulsesPerTurn       PCube_getDefIncPerTurn
00518 #define PCube_getDefDioSetup            PCube_getDefDioData
00519 #define PCube_getActPos                         PCube_getPos
00520 #define PCube_getActVel                         PCube_getVel
00521 #define PCube_getActPosInc                      PCube_getPosInc
00522 #define PCube_syncModule                        PCube_homeModule
00523 #define PCube_moveCurrent                       PCube_moveCur
00524 #define PCube_moveCurrentInc            PCube_moveCurInc
00525 #define PCube_moveCurrentExtended       PCube_moveCurExtended
00526 #define DLR_FTSInit                                     PCube_initDLR_FTS
00527 #define DLR_FTSGetData                          PCube_getDataDLR_FTS
00528 #define PCube_getStatusInternal         PCube_getStateInternal
00529 #define PCube_ConfigFromFile            PCube_configFromFile
00530 #define PCube_getInitString                     PCube_getDeviceInitString
00531 #define PCube_getName                           PCube_getDeviceName
00532 #define PCube_getRevision                       PCube_getDeviceRevision
00533 #define PCube_setTargetVel                      PCube_setRampVel
00534 #define PCube_setTargetAcc                      PCube_setRampAcc
00535 
00536 //-----------------------------------------------------------------------
00537 // new PCube Functionnames
00538 //-----------------------------------------------------------------------
00539 #ifdef __cplusplus
00540 extern "C" {
00541 #endif
00542 
00543 M5DLL_API int WINAPI PCube_getDllVersion( void );
00544 M5DLL_API int WINAPI PCube_setDllDebug( int iDebug, int iDebugLevel, int iDebugFile );
00545 
00546 M5DLL_API int WINAPI PCube_configFromFile( const char* acFileName );
00547 M5DLL_API int WINAPI PCube_openDevice( int* piDeviceId, const char* acInitString );
00548 M5DLL_API int WINAPI PCube_closeDevice( int iDeviceId );
00549 M5DLL_API int WINAPI PCube_closeDevices( void );
00550 M5DLL_API int WINAPI PCube_getDeviceCount( void );
00551 M5DLL_API int WINAPI PCube_getDeviceIdMap( int* aiIdMap );
00552 M5DLL_API const char* WINAPI PCube_getDeviceRevision( int iDeviceId );
00553 M5DLL_API const char* WINAPI PCube_getDeviceInitString( int iDeviceId );
00554 M5DLL_API const char* WINAPI PCube_getDeviceName( int iDeviceId );
00555 M5DLL_API int WINAPI PCube_setDeviceName( int iDeviceId, const char* acDeviceName );
00556 M5DLL_API int WINAPI PCube_setDeviceDebug( int iDeviceId, int iDebug, int iDebugLevel, int iDebugFile );
00557 
00558 M5DLL_API int WINAPI PCube_getModuleCount( int iDeviceId );
00559 M5DLL_API int WINAPI PCube_getModuleIdMap( int iDeviceId, int* aiIdMap );
00560 M5DLL_API int WINAPI PCube_getModuleState( int iDeviceId, int iModuleId, unsigned long* puiState );
00561 M5DLL_API int WINAPI PCube_getModuleType( int iDeviceId, int iModuleId, unsigned char* pucValue );
00562 M5DLL_API int WINAPI PCube_getModuleVersion( int iDeviceId, int iModuleId, unsigned short* puiValue );
00563 M5DLL_API int WINAPI PCube_getModuleSerialNo( int iDeviceId, int iModuleId, unsigned long* puiValue );
00564 
00565 M5DLL_API int WINAPI PCube_getDefConfig( int iDeviceId, int iModuleId, unsigned long* puiValue );
00566 M5DLL_API int WINAPI PCube_getDefSetup( int iDeviceId, int iModuleId, unsigned long* puiValue );        //OS: available from 35xx 
00567 M5DLL_API int WINAPI PCube_getDefBaudRate( int iDeviceId, int iModuleId, unsigned char* pucValue );
00568 M5DLL_API int WINAPI PCube_getDefBurnCount( int iDeviceId, int iModuleId, unsigned char* pucValue );
00569 M5DLL_API int WINAPI PCube_getDefGearRatio( int iDeviceId, int iModuleId, float* pfValue );
00570 M5DLL_API int WINAPI PCube_getDefLinearRatio( int iDeviceId, int iModuleId, float* pfValue );
00571 M5DLL_API int WINAPI PCube_getDefCurRatio( int iDeviceId, int iModuleId, float* pfValue );
00572 M5DLL_API int WINAPI PCube_getDefBrakeTimeOut( int iDeviceId, int iModuleId, unsigned short* puiValue );
00573 M5DLL_API int WINAPI PCube_getDefIncPerTurn( int iDeviceId, int iModuleId, unsigned long* puiValue );
00574 M5DLL_API int WINAPI PCube_getDefDioData( int iDeviceId, int iModuleId, unsigned long* puiValue );      //OS: not available from 35xx 
00575 M5DLL_API int WINAPI PCube_getDefA0( int iDeviceId, int iModuleId, short* piValue );
00576 M5DLL_API int WINAPI PCube_getDefC0( int iDeviceId, int iModuleId, short* piValue );
00577 M5DLL_API int WINAPI PCube_getDefDamp( int iDeviceId, int iModuleId, short* piValue );
00578 M5DLL_API int WINAPI PCube_getDefHomeOffset( int iDeviceId, int iModuleId, float* pfValue );
00579 M5DLL_API int WINAPI PCube_getDefHomeVel( int iDeviceId, int iModuleId, float* pfValue );
00580 M5DLL_API int WINAPI PCube_getDefMinPos( int iDeviceId, int iModuleId, float* pfValue );
00581 M5DLL_API int WINAPI PCube_getDefMaxPos( int iDeviceId, int iModuleId, float* pfValue );
00582 M5DLL_API int WINAPI PCube_getDefMaxVel( int iDeviceId, int iModuleId, float* pfValue );
00583 M5DLL_API int WINAPI PCube_getDefMaxAcc( int iDeviceId, int iModuleId, float* pfValue );
00584 M5DLL_API int WINAPI PCube_getDefMaxCur( int iDeviceId, int iModuleId, float* pfValue );
00585 M5DLL_API int WINAPI PCube_getDefMaxDeltaPos( int iDeviceId, int iModuleId, float* pfValue );
00586 
00587 M5DLL_API int WINAPI PCube_getConfig( int iDeviceId, int iModuleId, unsigned long* puiValue );
00588 M5DLL_API int WINAPI PCube_getIncRatio( int iDeviceId, int iModuleId, float* pValue );
00589 M5DLL_API int WINAPI PCube_getStateDioPos( int iDeviceId, int iModuleId, unsigned long* puiShortState, unsigned char* pucDio, float* pfPos );   //OS: available from 2518 and 3518
00590 M5DLL_API int WINAPI PCube_getDioData( int iDeviceId, int iModuleId, unsigned long* puiValue );
00591 M5DLL_API int WINAPI PCube_getA0( int iDeviceId, int iModuleId, short* piValue );
00592 M5DLL_API int WINAPI PCube_getC0( int iDeviceId, int iModuleId, short* piValue );
00593 M5DLL_API int WINAPI PCube_getDamp( int iDeviceId, int iModuleId, short* piValue );
00594 M5DLL_API int WINAPI PCube_getHomeOffset( int iDeviceId, int iModuleId, float* pValue );
00595 M5DLL_API int WINAPI PCube_getHomeOffsetInc( int iDeviceId, int iModuleId, long* piValue );
00596 M5DLL_API int WINAPI PCube_getHomeVel( int iDeviceId, int iModuleId, float* pfValue );          //OS: available from 2518 and 3518
00597 M5DLL_API int WINAPI PCube_getHomeVelInc( int iDeviceId, int iModuleId, long* piValue );        //OS: available from 2518 and 3518
00598 M5DLL_API int WINAPI PCube_getPos( int iDeviceId, int iModuleId, float* pfPos );
00599 M5DLL_API int WINAPI PCube_getPosInc( int iDeviceId, int iModuleId, long* piValue );
00600 M5DLL_API int WINAPI PCube_getPosCountInc( int iDeviceId, int iModuleId, long* piValue );
00601 M5DLL_API int WINAPI PCube_getVel( int iDeviceId, int iModuleId, float* pfVel );
00602 M5DLL_API int WINAPI PCube_getVelInc( int iDeviceId, int iModuleId, long* piValue );
00603 M5DLL_API int WINAPI PCube_getIPolVel( int iDeviceId, int iModuleId, float* pValue );
00604 M5DLL_API int WINAPI PCube_getCur( int iDeviceId, int iModuleId, float* pfCur );
00605 M5DLL_API int WINAPI PCube_getCurInc( int iDeviceId, int iModuleId, short* piValue );
00606 M5DLL_API int WINAPI PCube_getMinPos( int iDeviceId, int iModuleId, float* pfValue );
00607 M5DLL_API int WINAPI PCube_getMinPosInc( int iDeviceId, int iModuleId, long* piValue );
00608 M5DLL_API int WINAPI PCube_getMaxPos( int iDeviceId, int iModuleId, float* pfValue );
00609 M5DLL_API int WINAPI PCube_getMaxPosInc( int iDeviceId, int iModuleId, long* piValue );
00610 M5DLL_API int WINAPI PCube_getMaxVel( int iDeviceId, int iModuleId, float* pfValue );
00611 M5DLL_API int WINAPI PCube_getMaxVelInc( int iDeviceId, int iModuleId, long* piValue );
00612 M5DLL_API int WINAPI PCube_getMaxAcc( int iDeviceId, int iModuleId, float* pfValue );
00613 M5DLL_API int WINAPI PCube_getMaxAccInc( int iDeviceId, int iModuleId, long* piValue );
00614 M5DLL_API int WINAPI PCube_getMaxCur( int iDeviceId, int iModuleId, float* pfValue );
00615 M5DLL_API int WINAPI PCube_getDeltaPos( int iDeviceId, int iModuleId, float* pfValue );
00616 M5DLL_API int WINAPI PCube_getDeltaPosInc( int iDeviceId, int iModuleId, long* piValue );
00617 M5DLL_API int WINAPI PCube_getMaxDeltaPos( int iDeviceId, int iModuleId, float* pfValue );
00618 M5DLL_API int WINAPI PCube_getMaxDeltaPosInc( int iDeviceId, int iModuleId, long* piValue );
00619 M5DLL_API int WINAPI PCube_getSavePos( int iDeviceId, int iModuleId, float* pfValue );  //OS: available from 2518 and 3518
00620 M5DLL_API int WINAPI PCube_getSyncTime( int iDeviceId, int iModuleId, short* piValue ); //OS: available from 3602
00621 
00622 M5DLL_API int WINAPI PCube_setConfig( int iDeviceId, int iModuleId, unsigned long uiValue );
00623 M5DLL_API int WINAPI PCube_setDioData( int iDeviceId, int iModuleId, unsigned long uiValue );
00624 M5DLL_API int WINAPI PCube_setA0( int iDeviceId, int iModuleId, short iValue );
00625 M5DLL_API int WINAPI PCube_setC0( int iDeviceId, int iModuleId, short iValue );
00626 M5DLL_API int WINAPI PCube_setDamp( int iDeviceId, int iModuleId, short iValue );
00627 M5DLL_API int WINAPI PCube_setHomeOffset( int iDeviceId, int iModuleId, float fValue );
00628 M5DLL_API int WINAPI PCube_setHomeOffsetInc( int iDeviceId, int iModuleId, long iValue );
00629 M5DLL_API int WINAPI PCube_setHomeVel( int iDeviceId, int iModuleId, float fValue );    //OS: available from 2518 and 3518
00630 M5DLL_API int WINAPI PCube_setHomeVelInc( int iDeviceId, int iModuleId, long iValue );  //OS: available from 2518 and 3518
00631 M5DLL_API int WINAPI PCube_setRampVel( int iDeviceId, int iModuleId, float fValue );                    
00632 M5DLL_API int WINAPI PCube_setRampVelInc( int iDeviceId, int iModuleId, long iValue );
00633 M5DLL_API int WINAPI PCube_setRampAcc( int iDeviceId, int iModuleId, float fValue );                    
00634 M5DLL_API int WINAPI PCube_setRampAccInc( int iDeviceId, int iModuleId, long iValue );
00635 M5DLL_API int WINAPI PCube_setMinPos( int iDeviceId, int iModuleId, float fValue );
00636 M5DLL_API int WINAPI PCube_setMinPosInc( int iDeviceId, int iModuleId, long iValue );
00637 M5DLL_API int WINAPI PCube_setMaxPos( int iDeviceId, int iModuleId, float fValue );
00638 M5DLL_API int WINAPI PCube_setMaxPosInc( int iDeviceId, int iModuleId, long iValue );
00639 M5DLL_API int WINAPI PCube_setMaxVel( int iDeviceId, int iModuleId, float fValue );
00640 M5DLL_API int WINAPI PCube_setMaxVelInc( int iDeviceId, int iModuleId, long iValue );
00641 M5DLL_API int WINAPI PCube_setMaxAcc( int iDeviceId, int iModuleId, float fValue );
00642 M5DLL_API int WINAPI PCube_setMaxAccInc( int iDeviceId, int iModuleId, long iValue );
00643 M5DLL_API int WINAPI PCube_setMaxCur( int iDeviceId, int iModuleId, float fValue );
00644 M5DLL_API int WINAPI PCube_setMaxDeltaPos( int iDeviceId, int iModuleId, float fValue );
00645 M5DLL_API int WINAPI PCube_setMaxDeltaPosInc( int iDeviceId, int iModuleId, long iValue );
00646 M5DLL_API int WINAPI PCube_setSyncTime( int iDeviceId, int iModuleId, short iValue );   //OS: available from 3602
00647 
00648 M5DLL_API int WINAPI PCube_homeModule( int iDeviceId, int iModuleId );
00649 M5DLL_API int WINAPI PCube_haltModule( int iDeviceId, int iModuleId );
00650 M5DLL_API int WINAPI PCube_resetModule( int iDeviceId, int iModuleId );
00651 M5DLL_API int WINAPI PCube_recalcPIDParams( int iDeviceId, int iModuleId );
00652 
00653 M5DLL_API int WINAPI PCube_movePos( int iDeviceId, int iModuleId, float fPos );
00654 M5DLL_API int WINAPI PCube_movePosInc( int iDeviceId, int iModuleId, long iPos );
00655 M5DLL_API int WINAPI PCube_movePosExtended( int iDeviceId, int iModuleId, float fPos, unsigned long* puiShortState, unsigned char* pucDio, float* pfPos );
00656 M5DLL_API int WINAPI PCube_moveRamp( int iDeviceId, int iModuleId, float fPos, float fVel, float fAcc );
00657 M5DLL_API int WINAPI PCube_moveRampInc( int iDeviceId, int iModuleId, long iPos, long iVel, long iAcc );
00658 M5DLL_API int WINAPI PCube_moveRampExtended( int iDeviceId, int iModuleId, float fPos, float fVel, float fAcc, unsigned long* puiState, unsigned char* pucDio, float* pfPos );
00659 M5DLL_API int WINAPI PCube_moveVel( int iDeviceId, int iModuleId, float fVel );
00660 M5DLL_API int WINAPI PCube_moveVelInc( int iDeviceId, int iModuleId, long iVel );
00661 M5DLL_API int WINAPI PCube_moveVelExtended( int iDeviceId, int iModuleId, float fCur, unsigned long* puiShortState, unsigned char* pucDio, float* pfPos );
00662 M5DLL_API int WINAPI PCube_moveCur( int iDeviceId, int iModuleId, float fCur );
00663 M5DLL_API int WINAPI PCube_moveCurInc( int iDeviceId, int iModuleId, long iCur );
00664 M5DLL_API int WINAPI PCube_moveCurExtended( int iDeviceId, int iModuleId, float fCur, unsigned long* puiShortState, unsigned char* pucDio, float* pfPos );
00665 M5DLL_API int WINAPI PCube_moveStep( int iDeviceId, int iModuleId, float fPos, unsigned short uiTime );
00666 M5DLL_API int WINAPI PCube_moveStepInc( int iDeviceId, int iModuleId, long iPos, unsigned short uiTime );
00667 M5DLL_API int WINAPI PCube_moveStepExtended( int iDeviceId, int iModuleId, float fPos, unsigned short uiTime, unsigned long* puiShortState, unsigned char* pucDio, float* pfPos );
00668 
00669 M5DLL_API int WINAPI PCube_homeAll( int iDeviceId );
00670 M5DLL_API int WINAPI PCube_resetAll( int iDeviceId );
00671 M5DLL_API int WINAPI PCube_haltAll( int iDeviceId );
00672 M5DLL_API int WINAPI PCube_serveWatchdogAll( int iDeviceId );
00673 M5DLL_API int WINAPI PCube_setBaudRateAll( int iDeviceId, unsigned char pucValue );
00674 M5DLL_API int WINAPI PCube_startMotionAll( int iDeviceId );
00675 M5DLL_API int WINAPI PCube_savePosAll( int iDeviceId );
00676 
00677 M5DLL_API int WINAPI PCube_waitForHomeEnd( int iDeviceId, int iModuleId, unsigned long uiTime );
00678 M5DLL_API int WINAPI PCube_waitForMotionEnd( int iDeviceId, int iModuleId, unsigned long uiTime );
00679 M5DLL_API int WINAPI PCube_waitForRampEnd( int iDeviceId, int iModuleId, unsigned long uiTime );
00680 M5DLL_API int WINAPI PCube_waitForRampDec( int iDeviceId, int iModuleId, unsigned long uiTime );
00681 M5DLL_API int WINAPI PCube_waitForRampSteady( int iDeviceId, int iModuleId, unsigned long uiTime );
00682 M5DLL_API int WINAPI PCube_waitForHomeEndAll( int iDeviceId, unsigned long uiTime );
00683 M5DLL_API int WINAPI PCube_waitForMotionEndAll( int iDeviceId, unsigned long uiTime );
00684 M5DLL_API int WINAPI PCube_waitForRampEndAll( int iDeviceId, unsigned long uiTime );
00685 M5DLL_API int WINAPI PCube_waitForStartMotionAll( int iDeviceId );
00686 
00687 M5DLL_API int WINAPI PCube_xmit8Bytes( int iDeviceId, int iModuleId, void* pBytes );
00688 M5DLL_API int WINAPI PCube_xack8Bytes( int iDeviceId, int iModuleId, void* pBytes );
00689 M5DLL_API int WINAPI PCube_doInternal( int iDeviceId, int iModuleId, void* pBytes );
00690 M5DLL_API int WINAPI PCube_getStateInternal( int iDeviceId, int iModuleId, unsigned long* puiState );
00691 M5DLL_API int WINAPI PCube_updateModuleIdMap( int iDeviceId );
00692 
00693 M5DLL_API int WINAPI PCube_initEMS_IO( int iDeviceId, unsigned char ucType, unsigned long uiSerialNo );
00694 M5DLL_API int WINAPI PCube_getDataEMS_DIO( int iDeviceId, int iModuleId, int iChannelId, int* piData );
00695 M5DLL_API int WINAPI PCube_getDataEMS_AIO( int iDeviceId, int iModuleId, int iChannelId, float* pfData );
00696 M5DLL_API int WINAPI PCube_setDataEMS_DIO( int iDeviceId, int iModuleId, int iChannelId, int iData );
00697 M5DLL_API int WINAPI PCube_setDataEMS_AIO( int iDeviceId, int iModuleId, int iChannelId, float fData );
00698 
00699 M5DLL_API int WINAPI PCube_initDLR_FTS( int iDeviceId );
00700 M5DLL_API int WINAPI PCube_getDataDLR_FTS( int iDeviceId, float* pfDataFX, float* pfDataFY, float* pfDataFZ, float* pfDataTX, float* pfDataTY, float* pfDataTZ, long* piState );
00701 
00702 M5DLL_API int WINAPI PCube_getDataSCHUNK_FTC( int iDeviceId, int iModulId, int iChannelTypeId, float* pfDataFX, float* pfDataFY, float* pfDataFZ, float* pfDataTX, float* pfDataTY, float* pfDataTZ, short* piState );
00703 M5DLL_API int WINAPI PCube_setNullSCHUNK_FTC( int iDeviceId, int iModulId, short* piState );
00704 
00705 M5DLL_API int WINAPI PCube_getDataMP55_IO( int iDeviceId, int iModuleId, float* pfData );
00706 M5DLL_API int WINAPI PCube_setTaraMP55_IO( int iDeviceId, int iModuleId, float fData );
00707 
00708 M5DLL_API int WINAPI PCube_getDefCurOffset( int iDeviceId, int iModuleId, float* pfValue );
00709 
00710 M5DLL_API int WINAPI PCube_getDataMP55_IO_fast( int iDeviceId, int iModuleId, float* pfData );
00711 M5DLL_API int WINAPI PCube_setInitMP55_IO_fast( int iDeviceId, int iModuleId );
00712 
00713 M5DLL_API int WINAPI PCube_getRawMotorCurrent( int iDeviceId, int iModuleId, short* piValue );
00714 M5DLL_API int WINAPI PCube_getRawMotorSupply( int iDeviceId, int iModuleId, short* piValue );
00715 M5DLL_API int WINAPI PCube_getRawTemperature( int iDeviceId, int iModuleId, short* piValue );
00716 M5DLL_API int WINAPI PCube_getRawLogicSupply( int iDeviceId, int iModuleId, short* piValue );
00717 
00718 M5DLL_API int WINAPI PCube_getCanOpenRawAbsEnc( int iDeviceId, int iModuleId, short* piValue );
00719 
00720 M5DLL_API int WINAPI PCube_getLoadLimit( int iDeviceId, int iModuleId, long* piValue );
00721 M5DLL_API int WINAPI PCube_getMaxLoadGradient( int iDeviceId, int iModuleId, long* piValue );
00722 M5DLL_API int WINAPI PCube_getLoadDeltaTime( int iDeviceId, int iModuleId, unsigned short* piValue );
00723 M5DLL_API int WINAPI PCube_setLoadLimit( int iDeviceId, int iModuleId, long iValue );
00724 M5DLL_API int WINAPI PCube_setMaxLoadGradient( int iDeviceId, int iModuleId, long iValue );
00725 M5DLL_API int WINAPI PCube_setLoadDeltaTime( int iDeviceId, int iModuleId, unsigned short iValue );
00726 
00727 M5DLL_API int WINAPI PCube_saveParameters( int iDeviceId, int iModuleId );
00728 
00729 M5DLL_API int WINAPI PCube_getDefCANBaudRate( int iDeviceId, int iModuleId, unsigned char* pucValue );
00730 M5DLL_API int WINAPI PCube_getDefRSBaudRate( int iDeviceId, int iModuleId, unsigned char* pucValue );
00731 M5DLL_API int WINAPI PCube_setDefGearRatio( int iDeviceId, int iModuleId, float fValue );
00732 M5DLL_API int WINAPI PCube_setDefLinRatio( int iDeviceId, int iModuleId, float fValue );
00733 M5DLL_API int WINAPI PCube_setDefCurRatio( int iDeviceId, int iModuleId, float fValue );
00734 M5DLL_API int WINAPI PCube_setDefHomeAcc( int iDeviceId, int iModuleId, float fValue );
00735 M5DLL_API int WINAPI PCube_setModuleSerialNo( int iDeviceId, int iModuleId, unsigned long uiValue );
00736 M5DLL_API int WINAPI PCube_setDefIncPerTurn( int iDeviceId, int iModuleId, unsigned long uiValue );
00737 M5DLL_API int WINAPI PCube_setDefBrakeTimeOut( int iDeviceId, int iModuleId, unsigned short uiValue );
00738 M5DLL_API int WINAPI PCube_setDefAddress( int iDeviceId, int iModuleId, unsigned char uiValue );
00739 M5DLL_API int WINAPI PCube_setDefCANBaudRate( int iDeviceId, int iModuleId, unsigned char uiValue );
00740 M5DLL_API int WINAPI PCube_setDefRSBaudRate( int iDeviceId, int iModuleId, unsigned char uiValue );
00741 M5DLL_API int WINAPI PCube_setDefSetup( int iDeviceId, int iModuleId, unsigned long uiValue );
00742 
00743 M5DLL_API int WINAPI PCube_getMotorCurrent( int iDeviceId, int iModuleId, float* pfValue );
00744 M5DLL_API int WINAPI PCube_getMotorSupply( int iDeviceId, int iModuleId, float* pfValue );
00745 M5DLL_API int WINAPI PCube_getTemperature( int iDeviceId, int iModuleId, float* pfValue );
00746 M5DLL_API int WINAPI PCube_getLogicSupply( int iDeviceId, int iModuleId, float* pfValue );
00747 M5DLL_API int WINAPI PCube_getMinLogicVoltage( int iDeviceId, int iModuleId, float* pfValue );
00748 M5DLL_API int WINAPI PCube_getMaxLogicVoltage( int iDeviceId, int iModuleId, float* pfValue );
00749 M5DLL_API int WINAPI PCube_getMinMotorVoltage( int iDeviceId, int iModuleId, float* pfValue );
00750 M5DLL_API int WINAPI PCube_getMaxMotorVoltage( int iDeviceId, int iModuleId, float* pfValue );
00751 M5DLL_API int WINAPI PCube_getNominalMotorCurrent( int iDeviceId, int iModuleId, float* pfValue );
00752 M5DLL_API int WINAPI PCube_getMaximumMotorCurrent( int iDeviceId, int iModuleId, float* pfValue );
00753 M5DLL_API int WINAPI PCube_getLogicUndershootTime( int iDeviceId, int iModuleId, long* piValue );
00754 M5DLL_API int WINAPI PCube_getLogicOvershootTime( int iDeviceId, int iModuleId, long* piValue );
00755 M5DLL_API int WINAPI PCube_getMotorUndershootTime( int iDeviceId, int iModuleId, long* piValue );
00756 M5DLL_API int WINAPI PCube_getMotorOvershootTime( int iDeviceId, int iModuleId, long* piValue );
00757 M5DLL_API int WINAPI PCube_getNomCurOvershootTime( int iDeviceId, int iModuleId, long* piValue );
00758 M5DLL_API int WINAPI PCube_getHMaxCurOvershootTime( int iDeviceId, int iModuleId, long* piValue );
00759 M5DLL_API int WINAPI PCube_setMinLogicVoltage( int iDeviceId, int iModuleId, float fValue );
00760 M5DLL_API int WINAPI PCube_setMaxLogicVoltage( int iDeviceId, int iModuleId, float fValue );
00761 M5DLL_API int WINAPI PCube_setMinMotorVoltage( int iDeviceId, int iModuleId, float fValue );
00762 M5DLL_API int WINAPI PCube_setMaxMotorVoltage( int iDeviceId, int iModuleId, float fValue );
00763 M5DLL_API int WINAPI PCube_setNominalMotorCurrent( int iDeviceId, int iModuleId, float fValue );
00764 M5DLL_API int WINAPI PCube_setMaximumMotorCurrent( int iDeviceId, int iModuleId, float fValue );
00765 M5DLL_API int WINAPI PCube_setLogicUndershootTime( int iDeviceId, int iModuleId, long iValue );
00766 M5DLL_API int WINAPI PCube_setLogicOvershootTime( int iDeviceId, int iModuleId, long iValue );
00767 M5DLL_API int WINAPI PCube_setMotorUndershootTime( int iDeviceId, int iModuleId, long iValue );
00768 M5DLL_API int WINAPI PCube_setMotorOvershootTime( int iDeviceId, int iModuleId, long iValue );
00769 M5DLL_API int WINAPI PCube_setNomCurOvershootTime( int iDeviceId, int iModuleId, long iValue );
00770 M5DLL_API int WINAPI PCube_setHMaxCurOvershootTime( int iDeviceId, int iModuleId, long iValue );
00771 
00772 M5DLL_API int WINAPI PCube_getKpPWMLimit( int iDeviceId, int iModuleId, long* piValue );
00773 M5DLL_API int WINAPI PCube_getCurrentLimit( int iDeviceId, int iModuleId, float* pfValue );
00774 M5DLL_API int WINAPI PCube_getMaxPWMOutput( int iDeviceId, int iModuleId, long* piValue );
00775 M5DLL_API int WINAPI PCube_setKpPWMLimit( int iDeviceId, int iModuleId, long iValue );
00776 M5DLL_API int WINAPI PCube_setCurrentLimit( int iDeviceId, int iModuleId, float fValue );
00777 
00778 #ifdef __cplusplus
00779         }
00780 #endif
00781 
00782 #endif