/* * This file is part of the stepper project. * Copyright 2020 Edward V. Emelianov . * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option, "") any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program. If not, see . */ // this file can be included more than once! // variable name / index / subindex / datasize / issigned / name // heartbeat time DICENTRY(HEARTBTTIME, 0x1017, 0, 2, 0, "heartbeat time") // receive PDO parameter 0 // largest subindex supported DICENTRY(RPDOP0LS, 0x1400, 0, 1, 0, "receive PDO parameter 0, largest subindex supported") // COB-ID used by PDO DICENTRY(RPDOP0CI, 0x1400, 1, 4, 0, "receive PDO parameter 0, COB-ID used by PDO") // transmission type DICENTRY(RPDOP0TT, 0x1400, 2, 1, 0, "receive PDO parameter 0, transmission type") // inhibit time DICENTRY(RPDOP0IT, 0x1400, 3, 2, 0, "receive PDO parameter 0, inhibit time") // compatibility entry DICENTRY(RPDOP0CE, 0x1400, 4, 1, 0, "receive PDO parameter 0, compatibility entry") // event timer DICENTRY(RPDOP0ET, 0x1400, 5, 2, 0, "receive PDO parameter 0, event timer") // receive PDO mapping 0 // number of mapped application objects DICENTRY(RPDOM0N, 0x1600, 0, 1, 0, "receive PDO mapping 0, number of objects") // first map DICENTRY(RPDOM0O1, 0x1600, 1, 4, 0, "receive PDO mapping 0, mapping for 1st object") // transmit PDO parameter 0 // largest subindex supported DICENTRY(TPDOP0LS, 0x1800, 0, 1, 0, "transmit PDO parameter 0, largest subindex supported") // COB-ID used by PDO DICENTRY(TPDOP0CI, 0x1800, 1, 4, 0, "transmit PDO parameter 0, COB-ID used by PDO") // transmission type DICENTRY(TPDOP0TT, 0x1800, 2, 1, 0, "transmit PDO parameter 0, transmission type") // inhibit time DICENTRY(TPDOP0IT, 0x1800, 3, 2, 0, "transmit PDO parameter 0, inhibit time") // reserved DICENTRY(TPDOP0R, 0x1800, 4, 1, 0, "transmit PDO parameter 0, reserved") // event timer DICENTRY(TPDOP0ET, 0x1800, 5, 2, 0, "transmit PDO parameter 0, event timer") // transmit PDO mapping 0 // number of mapped application objects DICENTRY(TPDOM0N, 0x1A00, 0, 1, 0, "transmit PDO mapping 0, number of objects") // first map DICENTRY(TPDOM0O1, 0x1A00, 1, 4, 0, "transmit PDO mapping 0, mapping for 1st object") DICENTRY(TPDOM0O2, 0x1A00, 2, 4, 0, "transmit PDO mapping 0, mapping for 2nd object") DICENTRY(TPDOM0O3, 0x1A00, 3, 4, 0, "transmit PDO mapping 0, mapping for 3rd object") DICENTRY(TPDOM0O4, 0x1A00, 4, 4, 0, "transmit PDO mapping 0, mapping for 4th object") DICENTRY(TPDOM0O5, 0x1A00, 5, 4, 0, "transmit PDO mapping 0, mapping for 5th object") // node ID DICENTRY(NODEID, 0x2002, 0, 1, 0, "node ID") // baudrate DICENTRY(BAUDRATE, 0x2003, 0, 1, 0, "baudrate") // system control: 1- bootloader, 2 - save parameters, 3 - reset factory settings DICENTRY(SYSCONTROL, 0x2007, 0, 1, 0, "system control: 1- bootloader, 2 - save parameters, 3 - reset factory settings") // error status DICENTRY(ERRSTATE, 0x6000, 0, 1, 0, "error status") // controller status DICENTRY(DEVSTATUS, 0x6001, 0, 1, 0, "controller status") // rotation direction DICENTRY(ROTDIR, 0x6002, 0, 1, 0, "rotation direction") // maximal speed DICENTRY(MAXSPEED, 0x6003, 0, 4, 1, "maximal speed") // relative displacement DICENTRY(RELSTEPS, 0x6004, 0, 4, 0, "relative displacement") // operation mode DICENTRY(OPMODE, 0x6005, 0, 1, 0, "operation mode") // start speed DICENTRY(STARTSPEED, 0x6006, 0, 2, 0, "start speed") // stop speed DICENTRY(STOPSPEED, 0x6007, 0, 2, 0, "stop speed") // acceleration coefficient DICENTRY(ACCELCOEF, 0x6008, 0, 1, 0, "acceleration coefficient") // deceleration coefficient DICENTRY(DECELCOEF, 0x6009, 0, 1, 0, "deceleration coefficient") // microstepping DICENTRY(MICROSTEPS, 0x600A, 0, 2, 0, "microstepping") // max current DICENTRY(MAXCURNT, 0x600B, 0, 2, 0, "maximum phase current") // current position DICENTRY(POSITION, 0x600C, 0, 4, 0, "current position") // current reduction DICENTRY(CURRREDUCT, 0x600D, 0, 1, 0, "current reduction") // motor enable DICENTRY(ENABLE, 0x600E, 0, 1, 0, "motor enable") // EXT emergency stop enable DICENTRY(EXTENABLE, 0x600F, 1, 1, 0, "EXT emergency stop enable") // EXT emergency stop trigger mode DICENTRY(EXTTRIGMODE, 0x600F, 2, 1, 0, "EXT emergency stop trigger mode") // EXT emergency sensor type DICENTRY(EXTSENSTYPE, 0x600F, 3, 1, 0, "EXT emergency sensor type") // GPIO direction DICENTRY(GPIODIR, 0x6011, 1, 2, 0, "GPIO direction") // GPIO configuration DICENTRY(GPIOCONF, 0x6011, 2, 4, 0, "GPIO configuration") // GPIO value DICENTRY(GPIOVAL, 0x6012, 0, 2, 0, "GPIO value") // stall parameters DICENTRY(STALLPARS, 0x6017, 0, 2, 0, "stall parameters (open loop)") // offline operation DICENTRY(OFFLNMBR, 0x6018, 1, 1, 0, "Number of offline programming command") DICENTRY(OFFLENBL, 0x6018, 2, 1, 0, "Offline automatic operation enable") // stall set DICENTRY(STALLSET, 0x601B, 0, 1, 0, "stall set (open loop)") // absolute displacement DICENTRY(ABSSTEPS, 0x601C, 0, 4, 1, "absolute displacement") // stop motor DICENTRY(STOP, 0x6020, 0, 1, 0, "stop motor") // encoder resolution DICENTRY(ENCRESOL, 0x6021, 0, 2, 0, "encoder resolution (closed loop)") // stall length parameter DICENTRY(STALLLEN, 0x6028, 0, 2, 0, "stall length parameter (closed loop)") // torque ring enable DICENTRY(TORQRING, 0x6029, 0, 1, 0, "torque ring enable (closed loop)") // autosave position DICENTRY(POSAUTOSAVE, 0x602A, 0, 1, 0, "autosave position (closed loop)") // real time speed DICENTRY(REALTIMESPD, 0x6030, 0, 2, 1, "real time speed (closed loop)") // calibration zero DICENTRY(CALIBZERO, 0x6034, 0, 4, 1, "calibration zero") // encoder position DICENTRY(ENCPOS, 0x6035, 0, 4, 1, "encoder position")