- Initial commit
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linuxcnc
148
src/lcec_deasda.h
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148
src/lcec_deasda.h
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//
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// Copyright (C) 2014 Sascha Ittner <sascha.ittner@modusoft.de>
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//
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// This program is free software; you can redistribute it and/or modify
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// it under the terms of the GNU General Public License as published by
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// the Free Software Foundation; either version 2 of the License, or
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// (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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// GNU General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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//
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/*#############################################################################
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Description of Pins/Parameters:
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Pins:
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FLOAT OUT srv-vel-fb
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Actual velocity feddback in scale units per second.
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FLOAT OUT srv-vel-fb-rpm
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Actual velocity feddback in revolutions per minute.
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FLOAT OUT srv-vel-fb-rpm-abs
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Actual absolute value of velocity feddback in
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revolutions per minute.
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FLOAT OUT srv-vel-rpm
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Current velocity command send to motor driver in
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revolutions per minute.
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BIT OUT srv-ready
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ready status flag from motor driver
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BIT OUT srv-switched-on
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switched-on status flag from motor driver
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BIT OUT srv-oper-enabled
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operation-enabled status flag from motor driver
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BIT OUT srv-fault
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fault status flag from motor driver
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BIT OUT srv-volt-enabled
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voltage-enabled status flag from motor driver
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BIT OUT srv-quick-stoped
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quick-stoped status flag from motor driver
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BIT OUT srv-on-disabled
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on-disabled status flag from motor driver
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BIT OUT srv-warning
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warning status flag from motor driver
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BIT OUT srv-remote
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motor driver is remote controlled
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BIT OUT srv-at-speed
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motor has reached requested velocity
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BIT OUT srv-limit-active
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motor driver has reached some limit.
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BIT OUT srv-zero-speed
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motor has stopped
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S32 OUT srv-enc-raw
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raw value from motor encoder without offset calculation. This
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value is the unmodified one ad repoted by the motor driver.
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U32 OUT srv-pos-raw-hi
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Upper 32 bits of range extended 64 bit encoder value. This is a relative
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value wich is reset on restart/reset pin trigger.
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U32 OUT srv-pos-raw-lo
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Lower 32 bits of range extended 64 bit encoder value. This is a relative
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value wich is reset on restart/reset pin trigger.
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FLOAT OUT srv-pos-fb
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Actual encoder position
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BIT OUT srv-on-home-neg
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Motor encoder is below virtual home switch position. (See parameter
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srv-home-raw)
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BIT OUT srv-on-home-pos
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Motor encoder is above virtual home switch position. (See parameter
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srv-home-raw)
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BIT IN srv-pos-reset
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Reset relative position counter (srv-pos-raw-hi/srv-pos-raw-lo)
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BIT IN srv-switch-on
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Switch motor driver on
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BIT IN srv-enable-volt
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Enable motor driver voltage
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BIT IN srv-quick-stop
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Enable motor quick stop
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BIT IN srv-enable
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Enable motor driver operation. This signal is internaly delayed
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until driver reports switched-on.
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BIT IN srv-fault-reset
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Reset motor driver error
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BIT IN srv-fault-autoreset
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If set to 1 errors get automatically reset if drive is disabled (enable = 0)
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BIT IN srv-halt
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Set motor driver halt flag
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FLOAT IN srv-vel-cmd
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Velocity command input in scale units per second.
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Parameters:
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RW FLOAT srv-pos-scale
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Scale for position/velocity values (1.0 -> 1 revolution per second)
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RW S32 srv-home-raw
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Absolute position of virtual home switch. This could be used to implement
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a home switch on motors with abolute encoders without a hardware switch.
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#############################################################################*/
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#ifndef _LCEC_DEASDA_H_
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#define _LCEC_DEASDA_H_
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#include "lcec.h"
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#define LCEC_DEASDA_VID LCEC_DELTA_VID
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#define LCEC_DEASDA_PID 0x10305070
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#define LCEC_DEASDA_PDOS 6
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int lcec_deasda_init(int comp_id, struct lcec_slave *slave, ec_pdo_entry_reg_t *pdo_entry_regs);
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#endif
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