00001 // this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*- 00002 00003 // -- BEGIN LICENSE BLOCK ---------------------------------------------- 00004 // This file is part of the SCHUNK Canopen Driver suite. 00005 // 00006 // This program is free software licensed under the LGPL 00007 // (GNU LESSER GENERAL PUBLIC LICENSE Version 3). 00008 // You can find a copy of this license in LICENSE folder in the top 00009 // directory of the source code. 00010 // 00011 // © Copyright 2016 SCHUNK GmbH, Lauffen/Neckar Germany 00012 // © Copyright 2016 FZI Forschungszentrum Informatik, Karlsruhe, Germany 00013 // -- END LICENSE BLOCK ------------------------------------------------ 00014 00015 //---------------------------------------------------------------------- 00025 //---------------------------------------------------------------------- 00026 #ifndef DS301_H 00027 #define DS301_H 00028 00029 #include <stdint.h> // Exact data types 00030 00031 namespace icl_hardware { 00032 namespace canopen_schunk { 00033 namespace ds301{ 00034 00043 00045 static const uint16_t ID_NMT = 0x00; 00046 static const uint16_t ID_SYNC = 0x80; // # 128 00047 static const uint16_t ID_EMCY_MIN = 0x81; // # 129 ... 255 00048 static const uint16_t ID_EMCY_MAX = 0xFF; 00049 static const uint16_t ID_TIME = 0x100; // # 256 00050 00051 // PDO1 00052 static const uint16_t ID_TPDO1_MIN = 0x181; // # 385 ... 511 00053 static const uint16_t ID_TPDO1_MAX = 0x1FF; 00054 static const uint16_t ID_RPDO1_MIN = 0x201; // # 513 ... 639 00055 static const uint16_t ID_RPDO1_MAX = 0x27F; 00056 00057 //PDO2 00058 static const uint16_t ID_TPDO2_MIN = 0x281; // # 641 ... 767 00059 static const uint16_t ID_TPDO2_MAX = 0x2FF; 00060 static const uint16_t ID_RPDO2_MIN = 0x301; // # 769 ... 895 00061 static const uint16_t ID_RPDO2_MAX = 0x37F; 00062 00063 //PDO3 00064 static const uint16_t ID_TPDO3_MIN = 0x381; // # 897 ... 1023 00065 static const uint16_t ID_TPDO3_MAX = 0x3FF; 00066 static const uint16_t ID_RPDO3_MIN = 0x401; // # 1025 ... 1151 00067 static const uint16_t ID_RPDO3_MAX = 0x47F; 00068 00069 //PDO4 00070 static const uint16_t ID_TPDO4_MIN = 0x481; // # 1153 ... 1279 00071 static const uint16_t ID_TPDO4_MAX = 0x4FF; 00072 static const uint16_t ID_RPDO4_MIN = 0x501; // # 1281 ... 1407 00073 static const uint16_t ID_RPDO4_MAX = 0x57F; 00074 00075 //SDO 00076 static const uint16_t ID_TSDO_MIN = 0x581; // # 1409 ... 1535 00077 static const uint16_t ID_TSDO_MAX = 0x5FF; 00078 static const uint16_t ID_RSDO_MIN = 0x601; // # 1537 ... 1663 00079 static const uint16_t ID_RSDO_MAX = 0x67F; 00080 00081 static const uint16_t ID_NMT_ERROR_MIN = 0x701; // # 1793 ... 1919 00082 static const uint16_t ID_NMT_ERROR_MAX = 0x77F; 00083 00084 00085 00086 }}} // end of NS 00087 00088 #endif // DS301_H