mirror of
https://github.com/eddyem/zeiss_utils.git
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79 lines
2.5 KiB
C
79 lines
2.5 KiB
C
/**
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Commands & other data for absolute rotary encoder DS406
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**/
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#pragma once
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#ifndef DS406_CANOPEN_H__
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#define DS406_CANOPEN_H__
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#define DS406_DEVTYPE 0x1000
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#define DS406_ERRORREG 0x1001
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#define DS406_MANUFSTATUS 0x1002
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#define DS406_COBID_SYNC 0x1005
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#define DS406_MANDEVNAME 0x1008
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#define DS406_MANHW_VERS 0x1009
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#define DS406_MANSW_VERS 0x100A
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#define DS406_STORE_PARAMS 0x1010
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#define DS406_RESTORE_DEF 0x1011
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#define DS406_COBID_EMERG 0x1014
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#define DS406_INHIB_TM_EMERG 0x1015
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#define DS406_PROD_HEARTB_TM 0x1017
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#define DS406_IDENT_OBJ 0x1018
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#define DS406_ERROR_BEHAVIOUR 0x1029
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#define DS406_PDO1 0x1800
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#define DS406_PDO2 0x1801
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#define DS406_PDO1_MAPPED 0x1A00
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#define DS406_PDO2_MAPPED 0x1A01
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#define DS406_PDO3_MAPPED 0x1A02
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#define DS406_PDO4_MAPPED 0x1A03
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#define DS406_BAUDRATE 0x2100
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#define DS406_NODE_NUMBER 0x2101
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#define DS406_TERMINATOR 0x2102
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#define DS406_NMT_AUTOSTART 0x2104
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#define DS406_PDO_TRIG_THRES 0x2105
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#define DS406_FILTER_CONFIG 0x2106
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#define DS406_CUSTOMER_MEMRY 0x2110
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#define DS406_SENSOR_AMPLITUDE 0x2200
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#define DS406_TARG_FREQ_DEVIAT 0x2201
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// Configuration parameters
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// subindex=1 - Safety code sequence (uint16) - 0 for CW, 1 for CCW
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// 2 - Safety preset value (uint32)
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// 3 - Inverted safety preset value (uint32)
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#define DS406_CONF_PARAMETERS 0x5000
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#define DS406_CONF_VALID 0x50FE
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#define DS406_CONF_VALID_VALID 0xA5
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#define DS406_CONF_CHECKSUM 0x50FF
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#define DS406_OPER_PARAMS 0x6000
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#define DS406_MEAS_UNITS_PERREV 0x6001
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#define DS406_TOT_MEAS_RANGE 0x6002
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#define DS406_PRESET_VAL 0x6003
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#define DS406_POSITION_VAL 0x6004
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#define DS406_PDO_IS_POSITION 0x60040020
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#define DS406_POS_RAW_VAL 0x600C
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#define DS406_SPEED_VAL 0x6030
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#define DS406_PDO_IS_SPEED 0x60300110
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#define DS406_CYCLE_TIMER 0x6200
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#define DS406_WORK_AREA_STATE 0x6400
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#define DS406_WORK_AREA_LIM_LO 0x6401
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#define DS406_WORK_AREA_LIM_HI 0x6401
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#define DS406_OPER_STATUS 0x6500
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#define DS406_TURN_RESOLUT 0x6501
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#define DS406_REVOL_NUMBER 0x6502
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#define DS406_ALARMS 0x6503
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#define DS406_SUPP_ALARMS 0x6504
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#define DS406_WARNINGS 0x6505
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#define DS406_SUPP_WARNINGS 0x6506
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#define DS406_PROF_SW_VERS 0x6507
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#define DS406_OFFSET_VAL 0x6509
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#define DS406_MODULE_ID 0x650A
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#define DS406_SERIAL_NUMBER 0x650B
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#endif // DS406_CANOPEN_H__
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