diff options
Diffstat (limited to 'simplemotion_defs.h')
| -rw-r--r-- | simplemotion_defs.h | 14 |
1 files changed, 12 insertions, 2 deletions
diff --git a/simplemotion_defs.h b/simplemotion_defs.h index 7892683..fb6cf6d 100644 --- a/simplemotion_defs.h +++ b/simplemotion_defs.h @@ -98,6 +98,8 @@ #define SMP_RETURN_PARAM_LEN 10
#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. */
+
//bit mask
#define SM_BUFCMD_STAT_IDLE 1
@@ -142,6 +144,7 @@ // continue to .. 200
+
/*
* List of motor control parameters.
*
@@ -231,15 +234,21 @@ //for drive internal use only:
#define _MOTOR_LAST 7
+
+
+
+//position follow error trip point
+//velocity follow error trip point. units: velocity command (counts per PIDcycle * divider)
+
//#define CFG_INPUT_FILTER_LEN 30
#define SMP_CONTROL_MODE 559
//control mode choices:
#define CM_TORQUE 3
#define CM_VELOCITY 2
#define CM_POSITION 1
+ #define CM_NONE 0
#define SMP_INPUT_MULTIPLIER 560
#define SMP_INPUT_DIVIDER 561
-//setpoint source
#define SMP_INPUT_REFERENCE_MODE 562
//choices:
#define SMP_INPUT_REFERENCE_MODE_SERIALONLY 0
@@ -414,8 +423,9 @@ #define SMP_SCOPE_CHANNEL_SELECT 905
#define SMP_MECH_BRAKE_RELEASE_DELAY 910
-#define SMP_BRAKE_STOP_ENGAGE_DELAY 911
+#define SMP_MECH_BRAKE_ENGAGE_DELAY 911
#define SMP_DYNAMIC_BRAKING_SPEED 912
+#define SMP_BRAKE_STOP_ENGAGE_DELAY SMP_MECH_BRAKE_ENGAGE_DELAY /* SMP_BRAKE_STOP_ENGAGE_DELAY is old name, kept for compatibility*/
//////////////////////////////////////////////////////////////////////////////////RUNTIME PARAMS 5000-9999
|