ProtocolCommands.h
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00001 
00002 /******************************************************************************
00003  * 
00004  * Copyright (c) 2012 
00005  * 
00006  * SCHUNK GmbH & Co. KG
00007  *  
00008  * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 
00009  * 
00010  * Project name: Drivers for "Amtec M5 Protocol" Electronics V4
00011  *                                                                        
00012  * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 
00013  * 
00014  * Email:robotics@schunk.com
00015  * 
00016  * ToDo: 
00017  * 
00018  * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 
00019  * 
00020  * Redistribution and use in source and binary forms, with or without 
00021  * modification, are permitted provided that the following conditions are met: 
00022  * 
00023  *  * Redistributions of source code must retain the above copyright 
00024  *    notice, this list of conditions and the following disclaimer. 
00025  *  * Redistributions in binary form must reproduce the above copyright 
00026  *    notice, this list of conditions and the following disclaimer in the 
00027  *    documentation and/or other materials provided with the distribution. 
00028  *  * Neither the name of SCHUNK GmbH & Co. KG nor the names of its 
00029  *    contributors may be used to endorse or promote products derived from 
00030  *    this software without specific prior written permission. 
00031  * 
00032  * This program is free software: you can redistribute it and/or modify 
00033  * it under the terms of the GNU Lesser General Public License LGPL as 
00034  * published by the Free Software Foundation, either version 3 of the 
00035  * License, or (at your option) any later version. 
00036  * 
00037  * This program is distributed in the hope that it will be useful, 
00038  * but WITHOUT ANY WARRANTY; without even the implied warranty of 
00039  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the 
00040  * GNU Lesser General Public License LGPL for more details. 
00041  * 
00042  * You should have received a copy of the GNU Lesser General Public 
00043  * License LGPL along with this program. 
00044  * If not, see <http://www.gnu.org/licenses/>.
00045  * 
00046  ******************************************************************************/
00047 
00048 #ifndef PROTOCOLCOMMANDS
00049 #define PROTOCOLCOMMANDS
00050 
00051 //***************************************************************************
00052 //
00053 //  Messages ID
00054 //
00055 //***************************************************************************
00056 
00057 // 11Bit ID
00058 #define MSGID_ACK                               0x0a0
00059 #define MSGID_GET                               0x0c0
00060 #define MSGID_SET                               0x0e0
00061 #define MSGID_STATE                             0x060
00062 #define MSGID_ALL                               0x100
00063 
00064 #define MSGID_DLR_INIT_0                0x42e
00065 #define MSGID_DLR_INIT_1                0x42c
00066 #define MSGID_DLR_INIT_2                0x42c
00067 #define MSGID_DLR_INIT_ACK              0x42b
00068 #define MSGID_DLR_DATA_GET              0x42d
00069 #define MSGID_DLR_DATA_ACK              0x3c5
00070 
00071 #define MSGID_SCHUNK_SEND               0x300
00072 #define MSGID_SCHUNK_RECV               0x200
00073 #define MAX_SCHUNK      63
00074 
00075 #define MSGID_EMS_START_ID              0x500
00076 #define MSGID_EMS_CONFIG_ACK    0x7e4
00077 #define MSGID_EMS_CONFIG                0x7e5
00078 
00079 #define MSGID_MP55_SEND                 0x600
00080 #define MSGID_MP55_RECV                 0x580
00081 #define MAX_MP55        127
00082 
00083 //***************************************************************************
00084 //
00085 //  Command ID (byte 0)
00086 //
00087 //***************************************************************************
00088 
00089 #define CMDID_RESET                             0x00    // message all
00090 #define CMDID_HOME                              0x01    // message all
00091 #define CMDID_HALT                              0x02    // message all
00092 #define CMDID_TOGGLEHOME                0x03
00093 #define CMDID_INTERNAL                  0x04
00094 #define CMDID_WATCHDOG                  0x07    // message all
00095 
00096 #define CMDID_SETPARAM                  0x08
00097 #define CMDID_RECALCPID                 0x09
00098 #define CMDID_BAUDRATE                  0x09    // message all
00099 #define CMDID_GETPARAM                  0x0a
00100 #define CMDID_SETMOVE                           0x0b
00101 
00102 #define CMDID_SAVEPOS                                   0x0e    // message all
00103 #define CMDID_STARTMOVE                         0x0f    // message all
00104 #define CMDID_SAVEPARAMS                        0x10
00105 
00106 #define CMDID_DLR_DATA_GET              0x44
00107 #define CMDID_DLR_DATA_ACK0             0x00
00108 #define CMDID_DLR_DATA_ACK1             0x41
00109 #define CMDID_DLR_DATA_ACK2             0x42
00110 #define CMDID_DLR_DATA_ACK3             0x83
00111 
00112 #define CMDID_SCHUNK_GET_FTI    0x4c
00113 #define CMDID_SCHUNK_GET_TEI    0x4e
00114 #define CMDID_SCHUNK_GET_TRI    0x56
00115 #define CMDID_SCHUNK_SET_BAUDRATE       0x72
00116 #define CMDID_SCHUNK_SET_MSGID  0x74
00117 #define CMDID_SCHUNK_SET_NULL   0x7a
00118 
00119 #define CMDID_EMS_SET_MSGID             0x80
00120 #define CMDID_EMS_SET_STARTBIT  0x81
00121 
00122 //***************************************************************************
00123 //
00124 //  Parameter ID (Byte 1)
00125 //
00126 //***************************************************************************
00127 
00128 #define PARID_DLR_DATA_GET              0x31
00129 
00130 #define PARID_MOVE_FRAMP                0x04
00131 #define PARID_MOVE_FSTEP                0x06
00132 #define PARID_MOVE_FVEL                 0x07
00133 #define PARID_MOVE_FCUR                 0x08
00134 #define PARID_MOVE_IRAMP                0x09
00135 #define PARID_MOVE_ISTEP                0x0b
00136 #define PARID_MOVE_IVEL                 0x0c
00137 #define PARID_MOVE_ICUR                 0x0d
00138 #define PARID_MOVE_FRAMP_EXT    0x0e
00139 #define PARID_MOVE_FSTEP_EXT    0x10
00140 #define PARID_MOVE_FVEL_EXT             0x11
00141 #define PARID_MOVE_FCUR_EXT             0x12
00142 #define PARID_MOVE_IRAMP_EXT    0x13
00143 #define PARID_MOVE_ISTEP_EXT    0x15
00144 #define PARID_MOVE_IVEL_EXT             0x16
00145 #define PARID_MOVE_ICUR_EXT             0x17
00146 
00147 #define PARID_DEF_FHOMEOFFSET                   0x00    // read
00148 #define PARID_DEF_FGEARRATIO                    0x01    // read
00149 #define PARID_DEF_FLINEARRATIO                  0x02    // read
00150 #define PARID_DEF_FMINPOS                               0x03    // read
00151 #define PARID_DEF_FMAXPOS                               0x04    // read
00152 #define PARID_DEF_FMAXDELTAPOS                  0x05    // read
00153 #define PARID_DEF_FCUROFFSET                    0x07    // read
00154 #define PARID_DEF_FCURRATIO                             0x08    // read
00155 #define PARID_DEF_FMAXVEL                               0x0a    // read
00156 #define PARID_DEF_FMAXACC                               0x0c    // read
00157 #define PARID_DEF_FMAXCUR                               0x0e    // read
00158 #define PARID_DEF_FHOMEVEL                              0x0f    // read
00159 #define PARID_DEF_FHOMEACC                              0x10    // read
00160 #define PARID_DEF_DIODATA                               0x19    // read
00161 #define PARID_DEF_SERIALNO                              0x1a    // read
00162 #define PARID_DEF_CONFIG                                0x1b    // read
00163 #define PARID_DEF_INCPERTURN                    0x1c    // read
00164 #define PARID_DEF_VERSION                               0x1d    // read
00165 #define PARID_DEF_BRAKETIMEOUT                  0x1f    // read
00166 #define PARID_DEF_ADDRESS                                       0x20    // read
00167 #define PARID_DEF_CANBAUDRATE                   0x22    // read/write
00168 #define PARID_DEF_RSBAUDRATE                    0x23    // read/write
00169 #define PARID_ACT_IPOSCOUNT                             0x24    // read
00170 #define PARID_ACT_DIODATA                               0x26    // read/write
00171 #define PARID_ACT_STATE                                 0x27    // read
00172 #define PARID_ACT_IRAMPVEL                              0x29    // write
00173 #define PARID_ACT_IRAMPACC                              0x2a    // write
00174 #define PARID_ACT_IHOMEOFFSET                   0x2c    // read/write
00175 #define PARID_ACT_ICUR                                  0x35    // read
00176 #define PARID_ACT_CONFIG                                0x39    // read/write
00177 #define PARID_ACT_FINCRATIO                             0x3b    // read/write
00178 #define PARID_ACT_FPOS                                  0x3c    // read
00179 #define PARID_ACT_FDELTAPOS                             0x3f    // read
00180 #define PARID_ACT_FMAXDELTAPOS                  0x40    // read/write
00181 #define PARID_ACT_FVEL                                  0x41    // read
00182 #define PARID_ACT_FIPOLVEL                              0x42    // read
00183 #define PARID_ACT_FMINPOS                               0x45    // read/write
00184 #define PARID_ACT_FMAXPOS                               0x46    // read/write
00185 #define PARID_ACT_FMAXVEL                               0x48    // read/write
00186 #define PARID_ACT_FMAXACC                               0x4a    // read/write
00187 #define PARID_ACT_FMAXCUR                               0x4c    // read/write
00188 #define PARID_ACT_FCUR                                  0x4d    // read
00189 #define PARID_ACT_FRAMPVEL                              0x4f    // write
00190 #define PARID_ACT_FRAMPACC                              0x50    // write
00191 #define PARID_DEF_C0                                    0x51    // read
00192 #define PARID_DEF_DAMP                                  0x52    // read
00193 #define PARID_DEF_A0                                    0x53    // read
00194 #define PARID_ACT_C0                                    0x54    // read/write
00195 #define PARID_ACT_DAMP                                  0x55    // read/write
00196 #define PARID_ACT_A0                                    0x56    // read/write
00197 #define PARID_DEF_BURNCOUNT                             0x57    // read
00198 #define PARID_DEF_SETUP                                 0x58    // read
00199 #define PARID_ACT_FHOMEOFFSET                   0x59    // read/write
00200 #define PARID_ACT_IPOS                                  0x5a    // read
00201 #define PARID_ACT_IMAXDELTAPOS                  0x5b    // read/write
00202 #define PARID_ACT_IMINPOS                               0x5c    // read/write
00203 #define PARID_ACT_IMAXPOS                               0x5d    // read/write
00204 #define PARID_ACT_IMAXVEL                               0x5e    // read/write
00205 #define PARID_ACT_IMAXACC                               0x5f    // read/write
00206 #define PARID_ACT_IVEL                                  0x60    // read
00207 #define PARID_ACT_IDELTAPOS                             0x61    // read
00208 #define PARID_ACT_FPOSSTATEDIO                  0x62    // read
00209 #define PARID_ACT_FSAVEPOS                              0x63    // read
00210 #define PARID_ACT_FHOMEVEL                              0x64    // read
00211 #define PARID_ACT_IHOMEVEL                              0x65    // read
00212 #define PARID_ACT_SYNCTIME                              0x66    // read/write
00213 #define PARID_ACT_LOADLIMIT                             0x67    // read/write
00214 #define PARID_ACT_MAXLOADGRADIENT       0x68    // read/write
00215 #define PARID_ACT_LOADDELTATIME         0x69    // read/write
00216 
00217 #define PARID_ACT_RAWMOTCUR                             0x6C    // read
00218 #define PARID_ACT_RAWMOTSUPPLY          0x6D    // read
00219 #define PARID_ACT_RAWTEMP                                       0x6E    // read
00220 #define PARID_ACT_RAWLOGICSUPPLY        0x6F    // read
00221 #define PARID_ACT_FMOTCUR                                       0x70    // read
00222 #define PARID_ACT_FMOTSUPPLY                    0x71    // read
00223 #define PARID_ACT_FTEMP                                         0x72    // read
00224 #define PARID_ACT_FLOGICSUPPLY          0x73    // read
00225 
00226 #define PARID_ACT_MINLOGIC                                      0x74
00227 #define PARID_ACT_MAXLOGIC                                      0x75
00228 #define PARID_ACT_MINMOTOR                                      0x76
00229 #define PARID_ACT_MAXMOTOR                                      0x77
00230 #define PARID_ACT_NOMCUR                                                0x78
00231 #define PARID_ACT_HMAXCUR                                               0x79
00232 #define PARID_ACT_LOGICUNDERSHOOT               0x7A
00233 #define PARID_ACT_LOGICOVERSHOOT                0x7B
00234 #define PARID_ACT_MOTORUNDERSHOOT               0x7C
00235 #define PARID_ACT_MOTOROVERSHOOT                0x7D
00236 #define PARID_ACT_NOMCUROVERSHOOT               0x7E
00237 #define PARID_ACT_HMAXCUROVERSHOOT      0x7F
00238 
00239 #define PARID_ACT_KP_PWMLIM                                     0x80
00240 #define PARID_ACT_CURRENTLIMIT                  0x81
00241 #define PARID_ACT_MAXPWMOUTPUT                  0x82
00242 
00243 #endif


schunk_libm5api
Author(s): Florian Weisshardt
autogenerated on Mon Oct 6 2014 07:30:34