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ProtocolCommands.h
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/*
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* Copyright (c) 2012 SCHUNK GmbH & Co. KG
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* Copyright (c) 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef PROTOCOLCOMMANDS
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#define PROTOCOLCOMMANDS
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//***************************************************************************
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//
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// Messages ID
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//
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//***************************************************************************
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// 11Bit ID
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#define MSGID_ACK 0x0a0
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#define MSGID_GET 0x0c0
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#define MSGID_SET 0x0e0
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#define MSGID_STATE 0x060
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#define MSGID_ALL 0x100
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#define MSGID_DLR_INIT_0 0x42e
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#define MSGID_DLR_INIT_1 0x42c
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#define MSGID_DLR_INIT_2 0x42c
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#define MSGID_DLR_INIT_ACK 0x42b
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#define MSGID_DLR_DATA_GET 0x42d
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#define MSGID_DLR_DATA_ACK 0x3c5
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#define MSGID_SCHUNK_SEND 0x300
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#define MSGID_SCHUNK_RECV 0x200
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#define MAX_SCHUNK 63
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#define MSGID_EMS_START_ID 0x500
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#define MSGID_EMS_CONFIG_ACK 0x7e4
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#define MSGID_EMS_CONFIG 0x7e5
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#define MSGID_MP55_SEND 0x600
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#define MSGID_MP55_RECV 0x580
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#define MAX_MP55 127
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//***************************************************************************
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//
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// Command ID (byte 0)
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//
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//***************************************************************************
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#define CMDID_RESET 0x00 // message all
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#define CMDID_HOME 0x01 // message all
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#define CMDID_HALT 0x02 // message all
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#define CMDID_TOGGLEHOME 0x03
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#define CMDID_INTERNAL 0x04
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#define CMDID_WATCHDOG 0x07 // message all
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#define CMDID_SETPARAM 0x08
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#define CMDID_RECALCPID 0x09
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#define CMDID_BAUDRATE 0x09 // message all
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#define CMDID_GETPARAM 0x0a
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#define CMDID_SETMOVE 0x0b
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#define CMDID_SAVEPOS 0x0e // message all
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#define CMDID_STARTMOVE 0x0f // message all
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#define CMDID_SAVEPARAMS 0x10
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#define CMDID_DLR_DATA_GET 0x44
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#define CMDID_DLR_DATA_ACK0 0x00
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#define CMDID_DLR_DATA_ACK1 0x41
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#define CMDID_DLR_DATA_ACK2 0x42
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#define CMDID_DLR_DATA_ACK3 0x83
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#define CMDID_SCHUNK_GET_FTI 0x4c
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#define CMDID_SCHUNK_GET_TEI 0x4e
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#define CMDID_SCHUNK_GET_TRI 0x56
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#define CMDID_SCHUNK_SET_BAUDRATE 0x72
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#define CMDID_SCHUNK_SET_MSGID 0x74
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#define CMDID_SCHUNK_SET_NULL 0x7a
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#define CMDID_EMS_SET_MSGID 0x80
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#define CMDID_EMS_SET_STARTBIT 0x81
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//***************************************************************************
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//
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// Parameter ID (Byte 1)
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//
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//***************************************************************************
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#define PARID_DLR_DATA_GET 0x31
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#define PARID_MOVE_FRAMP 0x04
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#define PARID_MOVE_FSTEP 0x06
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#define PARID_MOVE_FVEL 0x07
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#define PARID_MOVE_FCUR 0x08
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#define PARID_MOVE_IRAMP 0x09
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#define PARID_MOVE_ISTEP 0x0b
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#define PARID_MOVE_IVEL 0x0c
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#define PARID_MOVE_ICUR 0x0d
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#define PARID_MOVE_FRAMP_EXT 0x0e
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#define PARID_MOVE_FSTEP_EXT 0x10
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#define PARID_MOVE_FVEL_EXT 0x11
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#define PARID_MOVE_FCUR_EXT 0x12
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#define PARID_MOVE_IRAMP_EXT 0x13
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#define PARID_MOVE_ISTEP_EXT 0x15
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#define PARID_MOVE_IVEL_EXT 0x16
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#define PARID_MOVE_ICUR_EXT 0x17
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#define PARID_DEF_FHOMEOFFSET 0x00 // read
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#define PARID_DEF_FGEARRATIO 0x01 // read
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#define PARID_DEF_FLINEARRATIO 0x02 // read
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#define PARID_DEF_FMINPOS 0x03 // read
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#define PARID_DEF_FMAXPOS 0x04 // read
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#define PARID_DEF_FMAXDELTAPOS 0x05 // read
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#define PARID_DEF_FCUROFFSET 0x07 // read
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#define PARID_DEF_FCURRATIO 0x08 // read
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#define PARID_DEF_FMAXVEL 0x0a // read
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#define PARID_DEF_FMAXACC 0x0c // read
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#define PARID_DEF_FMAXCUR 0x0e // read
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#define PARID_DEF_FHOMEVEL 0x0f // read
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#define PARID_DEF_FHOMEACC 0x10 // read
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#define PARID_DEF_DIODATA 0x19 // read
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#define PARID_DEF_SERIALNO 0x1a // read
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#define PARID_DEF_CONFIG 0x1b // read
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#define PARID_DEF_INCPERTURN 0x1c // read
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#define PARID_DEF_VERSION 0x1d // read
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#define PARID_DEF_BRAKETIMEOUT 0x1f // read
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#define PARID_DEF_ADDRESS 0x20 // read
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#define PARID_DEF_CANBAUDRATE 0x22 // read/write
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#define PARID_DEF_RSBAUDRATE 0x23 // read/write
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#define PARID_ACT_IPOSCOUNT 0x24 // read
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#define PARID_ACT_DIODATA 0x26 // read/write
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#define PARID_ACT_STATE 0x27 // read
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#define PARID_ACT_IRAMPVEL 0x29 // write
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#define PARID_ACT_IRAMPACC 0x2a // write
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#define PARID_ACT_IHOMEOFFSET 0x2c // read/write
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#define PARID_ACT_ICUR 0x35 // read
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#define PARID_ACT_CONFIG 0x39 // read/write
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#define PARID_ACT_FINCRATIO 0x3b // read/write
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#define PARID_ACT_FPOS 0x3c // read
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#define PARID_ACT_FDELTAPOS 0x3f // read
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#define PARID_ACT_FMAXDELTAPOS 0x40 // read/write
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#define PARID_ACT_FVEL 0x41 // read
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#define PARID_ACT_FIPOLVEL 0x42 // read
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#define PARID_ACT_FMINPOS 0x45 // read/write
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#define PARID_ACT_FMAXPOS 0x46 // read/write
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#define PARID_ACT_FMAXVEL 0x48 // read/write
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#define PARID_ACT_FMAXACC 0x4a // read/write
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#define PARID_ACT_FMAXCUR 0x4c // read/write
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#define PARID_ACT_FCUR 0x4d // read
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#define PARID_ACT_FRAMPVEL 0x4f // write
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#define PARID_ACT_FRAMPACC 0x50 // write
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#define PARID_DEF_C0 0x51 // read
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#define PARID_DEF_DAMP 0x52 // read
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#define PARID_DEF_A0 0x53 // read
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#define PARID_ACT_C0 0x54 // read/write
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#define PARID_ACT_DAMP 0x55 // read/write
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#define PARID_ACT_A0 0x56 // read/write
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#define PARID_DEF_BURNCOUNT 0x57 // read
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#define PARID_DEF_SETUP 0x58 // read
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#define PARID_ACT_FHOMEOFFSET 0x59 // read/write
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#define PARID_ACT_IPOS 0x5a // read
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#define PARID_ACT_IMAXDELTAPOS 0x5b // read/write
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#define PARID_ACT_IMINPOS 0x5c // read/write
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#define PARID_ACT_IMAXPOS 0x5d // read/write
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#define PARID_ACT_IMAXVEL 0x5e // read/write
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#define PARID_ACT_IMAXACC 0x5f // read/write
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#define PARID_ACT_IVEL 0x60 // read
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#define PARID_ACT_IDELTAPOS 0x61 // read
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#define PARID_ACT_FPOSSTATEDIO 0x62 // read
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#define PARID_ACT_FSAVEPOS 0x63 // read
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#define PARID_ACT_FHOMEVEL 0x64 // read
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#define PARID_ACT_IHOMEVEL 0x65 // read
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#define PARID_ACT_SYNCTIME 0x66 // read/write
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#define PARID_ACT_LOADLIMIT 0x67 // read/write
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#define PARID_ACT_MAXLOADGRADIENT 0x68 // read/write
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#define PARID_ACT_LOADDELTATIME 0x69 // read/write
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#define PARID_ACT_RAWMOTCUR 0x6C // read
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#define PARID_ACT_RAWMOTSUPPLY 0x6D // read
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#define PARID_ACT_RAWTEMP 0x6E // read
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#define PARID_ACT_RAWLOGICSUPPLY 0x6F // read
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#define PARID_ACT_FMOTCUR 0x70 // read
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#define PARID_ACT_FMOTSUPPLY 0x71 // read
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#define PARID_ACT_FTEMP 0x72 // read
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#define PARID_ACT_FLOGICSUPPLY 0x73 // read
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#define PARID_ACT_MINLOGIC 0x74
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#define PARID_ACT_MAXLOGIC 0x75
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#define PARID_ACT_MINMOTOR 0x76
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#define PARID_ACT_MAXMOTOR 0x77
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#define PARID_ACT_NOMCUR 0x78
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#define PARID_ACT_HMAXCUR 0x79
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#define PARID_ACT_LOGICUNDERSHOOT 0x7A
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#define PARID_ACT_LOGICOVERSHOOT 0x7B
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#define PARID_ACT_MOTORUNDERSHOOT 0x7C
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#define PARID_ACT_MOTOROVERSHOOT 0x7D
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#define PARID_ACT_NOMCUROVERSHOOT 0x7E
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#define PARID_ACT_HMAXCUROVERSHOOT 0x7F
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#define PARID_ACT_KP_PWMLIM 0x80
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#define PARID_ACT_CURRENTLIMIT 0x81
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#define PARID_ACT_MAXPWMOUTPUT 0x82
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#endif
schunk_libm5api
Author(s): Florian Weisshardt
autogenerated on Mon Nov 25 2019 03:48:19