26 #ifndef OPENEL_MOTOR_H_ 27 #define OPENEL_MOTOR_H_ 31 #define ELMOTOR_PROPERTY (0x0010) 37 #define ELMOTOR_CTL_NON (0) 38 #define ELMOTOR_CTL_TORQUE (1) 39 #define ELMOTOR_CTL_SPEED (2) 40 #define ELMOTOR_CTL_POSITION (3) 46 #define ELRETURN_OK (0) 47 #define ELRETURN_ERR_NC (-256 + 1) 48 #define ELRETURN_ERR_PORT (-256 + 2) 49 #define ELRETURN_ERR_PRM (-256 + 3) 50 #define ELRETURN_ERR_NM (-256 + 4) 55 #define ELMOTOR_PRM_SW_INT_FL (8) 56 #define ELMOTOR_PRM_SW_INC_ABS (16) 57 #define ELMOTOR_PRM_RESO_BASE (18) 58 #define ELMOTOR_PRM_N_MUL_GEAR (20) 59 #define ELMOTOR_PRM_N_DIV_GEAR (22) 60 #define ELMOTOR_PRM_ONE_TURN (24) 61 #define ELMOTOR_PRM_K_MOVE (28) 62 #define ELMOTOR_PRM_TORQUE_MAX_I32 (32) 63 #define ELMOTOR_PRM_TORQUE_MAX_F64 (36) 64 #define ELMOTOR_PRM_TORQUE_LIM (40) 65 #define ELMOTOR_PRM_TORQUE_LIM_STOP (41) 68 #define ELMOTOR_EVENT_ARRIVE_POSITION (0) 69 #define ELMOTOR_EVENT_PASSAGE_POSITION (1) 70 #define ELMOTOR_EVENT_ARRIVE_SPEED (2) 76 typedef struct elMotorSigIn_st {
79 uint32_t _vender_specific:16;
86 typedef struct elMotorSigOut_st {
89 uint32_t _not_use_0:6;
95 uint32_t _not_use_1:4;
97 uint32_t _vender_specific:16;
104 typedef void (*ELMOTOR_P_FNC_CALLBACK)(uint32_t portID,uint32_t eventID);
165 int32_t elMotorSetCtlMode(uint32_t portID,uint32_t mode);
180 int32_t elMotorGetCtlMode(uint32_t portID,uint32_t *pMode);
199 int32_t elMotorSetPosition_I32(uint32_t portID,int32_t position,int32_t speed,int32_t tmAcc);
218 int32_t elMotorSetPosition_F64(uint32_t portID,
double position,
double speed,
double tmAcc);
235 int32_t elMotorSetSpeed_I32(uint32_t portID,int32_t speed,int32_t tmAcc);
253 int32_t elMotorSetSpeed_F64( uint32_t portID,
double speed,
double tmAcc);
267 int32_t elMotorSetTorque_I32(uint32_t portID,int32_t torque);
282 int32_t elMotorSetTorque_F64(uint32_t portID,
double torque);
303 int32_t elMotorSetBrake_I32(uint32_t portID,uint32_t ctlAftBrk,int32_t tmDec);
319 int32_t elMotorSetBrake_F64(uint32_t portID,uint32_t ctlAftBrk,
double tmDec);
334 int32_t elMotorGetBrake(uint32_t portID,uint32_t *pFlagBrake);
348 int32_t elMotorPreSetPosition_I32(uint32_t portID,int32_t pos);
362 int32_t elMotorPreSetPosition_F64(uint32_t portID,
double pos);
379 int32_t elMotorGetPosition_I32(uint32_t portID,uint32_t idx,int32_t *pPosition);
395 int32_t elMotorGetPosition_F64(uint32_t portID,uint32_t idx,
double *pPosition);
412 int32_t elMotorGetSpeed_I32(uint32_t portID,int32_t idx,int32_t *pOutSpeed);
428 int32_t elMotorGetSpeed_F64(uint32_t portID,int32_t idx,
double *pOutSpeed);
440 int32_t elMotorGoHome_I32(uint32_t portID,uint32_t idx,int32_t speed);
441 int32_t elMotorGoHome_F64(uint32_t portID,uint32_t idx,
double speed);
449 int32_t elMotorSetCallBack_I32(uint32_t portID,uint32_t eventID,ELMOTOR_P_FNC_CALLBACK pFncCB,int32_t val);
450 int32_t elMotorSetCallBack_F64(uint32_t portID,uint32_t eventID,ELMOTOR_P_FNC_CALLBACK pFncCB,
double val);
461 int32_t elMotorSetParam_U16(uint32_t portID,uint32_t prmID,uint16_t val);
462 int32_t elMotorSetParam_I16(uint32_t portID,uint32_t prmID,int16_t val);
463 int32_t elMotorSetParam_U32(uint32_t portID,uint32_t prmID,uint32_t val);
464 int32_t elMotorSetParam_I32(uint32_t portID,uint32_t prmID,uint32_t val);
465 int32_t elMotorSetParam_I64(uint32_t portID,uint32_t prmID,uint64_t val);
466 int32_t elMotorSetParam_U64(uint32_t portID,uint32_t prmID,uint64_t val);
467 int32_t elMotorSetParam_F32(uint32_t portID,uint32_t prmID,
float val);
468 int32_t elMotorSetParam_F64(uint32_t portID,uint32_t prmID,
double val);
476 int32_t elMotorGetParam_U16(uint32_t portID,uint32_t prmID,uint16_t *pOutVal);
477 int32_t elMotorGetParam_I16(uint32_t portID,uint32_t prmID,int16_t *pOutVal);
478 int32_t elMotorGetParam_U32(uint32_t portID,uint32_t prmID,uint32_t *pOutVal);
479 int32_t elMotorGetParam_I32(uint32_t portID,uint32_t prmID,int32_t *pOutVal);
480 int32_t elMotorGetParam_U64(uint32_t portID,uint32_t prmID,uint64_t *pOutVal);
481 int32_t elMotorGetParam_I64(uint32_t portID,uint32_t prmID,int64_t *pOutVal);
482 int32_t elMotorGetParam_F32(uint32_t portID,uint32_t prmID,
float *pOutVal);
483 int32_t elMotorGetParam_F64(uint32_t portID,uint32_t prmID,
double *pOutVal);
enum ReturnCode(* pFncDummy14)()
enum ReturnCode(* pFncDummy1A)()
enum ReturnCode(* pFncAddObserver)()
enum ReturnCode(* pFncInit)()
enum ReturnCode(* pFncDummy1B)()
OpenEL Common Header File 3.0.0.
enum ReturnCode(* pFncDummy1F)()
enum ReturnCode(* pFncFinalize)()
enum ReturnCode(* pFncDummy10)()
enum ReturnCode(* pFncReInit)()
enum ReturnCode(* pFncDummy19)()
enum ReturnCode(* pFncDummy16)()
enum ReturnCode(* pFncDummy17)()
enum ReturnCode(* pFncDummy07)()
enum ReturnCode(* pFncDummy0F)()
enum ReturnCode(* pFncDummy1D)()
enum ReturnCode(* pFncGetTime)()
enum ReturnCode(* pFncDummy0E)()
enum ReturnCode(* pFncDummy1C)()
enum ReturnCode(* pFncDummy0A)()
enum ReturnCode(* pFncGetProperty)()
enum ReturnCode(* pFncDummy0C)()
enum ReturnCode(* pFncDummy1E)()
enum ReturnCode(* pFncRemoveObserver)()
struct elMotorFncTblSt ELMOTOR_FNC_TBL_T
enum ReturnCode(* pFncDummy12)()
enum ReturnCode(* pFncGetPosition)(HALCOMPONENT_T **halComponent, halfloat **position)
enum ReturnCode(* pFncDummy13)()
enum ReturnCode(* pFncDummy15)()
enum ReturnCode(* pFncDummy0D)()
enum ReturnCode(* pFncSetPosition)(HALCOMPONENT_T **halComponent, halfloat position)
enum ReturnCode(* pFncDummy18)()
enum ReturnCode(* pFncDummy0B)()
enum ReturnCode(* pFncDummy11)()