add SMP_FAULT_BEHAVIOR

1 files changed, 12 insertions, 0 deletions

diff --git a/simplemotion_defs.h b/simplemotion_defs.h
index 6ae11fe..5c726e1 100644
--- a/simplemotion_defs.h
+++ b/simplemotion_defs.h
@@ -101,9 +101,21 @@
 #define SMP_BUFFERED_CMD_PERIOD 8

 #define SMP_RETURN_PARAM_ADDR 9

 #define SMP_RETURN_PARAM_LEN 10

+/*SMP_TIMOUT defines how long device waits for one packet to transmit before discarding it. unit 0.1 milliseconds*/

 #define SMP_TIMEOUT 12

 #define SMP_CUMULATIVE_STATUS 13 //error bits are set here if any, (SMP_CMD_STATUS_... bits). clear by writing 0

 #define SMP_ADDRESS_OFFSET 14 /*used to set or offset device address along physical method, i.e. DIP SW + offset to allow greater range of addresses than switch allows. */

+/* SMP_FAULT_BEHAVIOR defines maximum amount of time between to valid received SM packets to device and other SM

+ * fault behavior that affect drive operation.

+ *

+ * If comm is broken longer than watchdog time, drive will go fault stop state.

+ * Can be used for additional safety stop when drives are controlled only onver SM bus.

+ *

+ * -default value 0 means infinite time and also SM comm errors will not cause device faultstop

+ * -value 1 means that drive will have watchdog disabeld but will faultstop on any SM command error

+ * -values 2-99 reserved for future use

+ * -value >100 defines watchdog, it means drive fault stop on any SM command error or if no valid commands arrive within number of 0.1*millisconds.  */

+#define SMP_FAULT_BEHAVIOR 15

 

 

 //bit mask