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Macros | Functions
CiA402 Codes

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Macros

#define CONTROLWORD_COMMAND_SHUTDOWN_MASK   0x0087
 Shutdown command mask.
 
#define CONTROLWORD_COMMAND_SWITCHON_MASK   0x008F
 Switch on command mask.
 
#define CONTROLWORD_COMMAND_SWITCHON_ENABLEOPERATION_MASK   0x008F
 Switch on & Enable command mask.
 
#define CONTROLWORD_COMMAND_DISABLEVOLTAGE_MASK   0x0082
 Disable voltage command mask.
 
#define CONTROLWORD_COMMAND_QUICKSTOP_MASK   0x0086
 Quickstop command mask.
 
#define CONTROLWORD_COMMAND_DISABLEOPERATION_MASK   0x008F
 Disable operation command mask.
 
#define CONTROLWORD_COMMAND_ENABLEOPERATION_MASK   0x008F
 Enable operation command mask.
 
#define CONTROLWORD_COMMAND_FAULTRESET_MASK   0x0080
 Fault reset command mask.
 
#define CONTROLWORD_COMMAND_SHUTDOWN   0x0006
 Shutdown command.
 
#define CONTROLWORD_COMMAND_SWITCHON   0x0007
 Switch on command.
 
#define CONTROLWORD_COMMAND_SWITCHON_ENABLEOPERATION   0x000F
 Switch on & Enable command.
 
#define CONTROLWORD_COMMAND_DISABLEVOLTAGE   0x0000
 Disable voltage command.
 
#define CONTROLWORD_COMMAND_QUICKSTOP   0x0002
 Quickstop command.
 
#define CONTROLWORD_COMMAND_DISABLEOPERATION   0x0007
 Disable operation command.
 
#define CONTROLWORD_COMMAND_ENABLEOPERATION   0x000F
 Enable operation command.
 
#define CONTROLWORD_COMMAND_FAULTRESET   0x0080
 Fault reset command.
 
#define STATUSWORD_STATE_MASK   0x006F
 State mask.
 
#define STATUSWORD_VOLTAGE_ENABLED   0x0010
 Indicate high voltage enabled.
 
#define STATUSWORD_WARNING   0x0080
 Warning active.
 
#define STATUSWORD_MANUFACTORSPECIFIC   0x0100
 Manufacturer specific.
 
#define STATUSWORD_INTERNAL_LIMIT   0x0800
 Internal limit.
 
#define STATUSWORD_REMOTE   0x0200
 Set if the control word is processed.
 
#define STATUSWORD_TARGET_REACHED   0x0400
 Target reached.
 
#define STATUSWORD_INTERNALLIMITACTIVE   0x0800
 Internal limit active.
 
#define STATUSWORD_DRIVE_FOLLOWS_COMMAND   0x1000
 Drive follows command (used in cyclic synchronous modes)
 
#define STATUSWORD_STATE_NOTREADYTOSWITCHON   0x0000
 Not ready to switch on.
 
#define STATUSWORD_STATE_SWITCHEDONDISABLED   0x0040
 Switched on but disabled.
 
#define STATUSWORD_STATE_READYTOSWITCHON   0x0021
 Ready to switch on.
 
#define STATUSWORD_STATE_SWITCHEDON   0x0023
 Switched on.
 
#define STATUSWORD_STATE_OPERATIONENABLED   0x0027
 Operation enabled.
 
#define STATUSWORD_STATE_QUICKSTOPACTIVE   0x0007
 Quickstop active.
 
#define STATUSWORD_STATE_FAULTREACTIONACTIVE   0x000F
 Fault reaction active.
 
#define STATUSWORD_STATE_FAULT   0x0008
 Fault state.
 
#define STATE_NOT_READY_TO_SWITCH_ON   0x0001
 Not ready to switch on (optional)
 
#define STATE_SWITCH_ON_DISABLED   0x0002
 Switch on but disabled (optional)
 
#define STATE_READY_TO_SWITCH_ON   0x0004
 Ready to switch on (mandatory)
 
#define STATE_SWITCHED_ON   0x0008
 Switch on (mandatory)
 
#define STATE_OPERATION_ENABLED   0x0010
 Operation enabled (mandatory)
 
#define STATE_QUICK_STOP_ACTIVE   0x0020
 Quick stop active (optional)
 
#define STATE_FAULT_REACTION_ACTIVE   0x0040
 Fault reaction active (mandatory)
 
#define STATE_FAULT   0x0080
 Fault state (mandatory)
 
#define NO_MODE   0
 No mode.
 
#define PROFILE_POSITION_MODE   1
 Position Profile mode.
 
#define VELOCITY_MODE   2
 Velocity mode.
 
#define PROFILE_VELOCITY_MOCE   3
 Velocity Profile mode.
 
#define PROFILE_TORQUE_MODE   4
 Torque Profile mode.
 
#define HOMING_MODE   6
 Homing mode.
 
#define INTERPOLATION_POSITION_MODE   7
 Interpolation Position mode.
 
#define CYCLIC_SYNC_POSITION_MODE   8
 Cyclic Synchronous Position mode.
 
#define CYCLIC_SYNC_VELOCITY_MODE   9
 Cyclic Synchronous Velocity mode.
 
#define CYCLIC_SYNC_TORQUE_MODE   10
 Cyclic Synchronous Torque mode.
 
#define ERROR_SHORT_CIRCUIT_EARTH_LEAKAGE_INPUT   0x2110
 Short circuit/earth leakage (input)
 
#define ERROR_EARTH_LEAKAGE_INPUT   0x2120
 Earth leakage (input)
 
#define ERROR_EARTH_LEAKAGE_PHASE_L1   0x2121
 Earth leakage phase L1.
 
#define ERROR_EARTH_LEAKAGE_PHASE_L2   0x2122
 Earth leakage phase L2.
 
#define ERROR_EARTH_LEAKAGE_PHASE_L3   0x2123
 Earth leakage phase L3.
 
#define ERROR_SHORT_CIRCUIT_INPUT   0x2130
 Short circuit (input)
 
#define ERROR_SHORT_CIRCUIT_PHASES_L1_L2   0x2131
 Short circuit phases L1-L2.
 
#define ERROR_SHORT_CIRCUIT_PHASES_L2_L3   0x2132
 Short circuit phases L2-L3.
 
#define ERROR_SHORT_CIRCUIT_PHASES_L3_L1   0x2133
 Short circuit phases L3-L1.
 
#define ERROR_INTERNAL_CURRENT_NO1   0x2211
 Internal current no 1.
 
#define ERROR_INTERNAL_CURRENT_NO2   0x2212
 Internal current no 2.
 
#define ERROR_OVER_CURRENT_IN_RAMP_FUNCTION   0x2213
 Over-current in ramp function.
 
#define ERROR_OVER_CURRENT_IN_THE_SEQUENCE   0x2214
 Over-current in the sequence.
 
#define ERROR_CONTINUOUS_OVER_CURRENT_DEVICE_INTERNAL   0x2220
 Continuous over current (device internal)
 
#define ERROR_CONTINUOUS_OVER_CURRENT_DEVICE_INTERNAL_NO1   0x2221
 Continuous over current no 1.
 
#define ERROR_CONTINUOUS_OVER_CURRENT_DEVICE_INTERNAL_NO2   0x2222
 Continuous over current no 2.
 
#define ERROR_SHORT_CIRCUIT_EARTH_LEAKAGE_DEVICE_INTERNAL   0x2230
 Short circuit/earth leakage (device internal)
 
#define ERROR_EARTH_LEAKAGE_DEVICE_INTERNAL   0x2240
 Earth leakage (device internal)
 
#define ERROR_SHORT_CIRCUIT_DEVICE_INTERNAL   0x2250
 Short circuit (device internal)
 
#define ERROR_CONTINUOUS_OVER_CURRENT   0x2310
 Continuous over current.
 
#define ERROR_CONTINUOUS_OVER_CURRENT_NO1   0x2311
 Continuous over current no 1.
 
#define ERROR_CONTINUOUS_OVER_CURRENT_NO2   0x2312
 Continuous over current no 2.
 
#define ERROR_SHORT_CIRCUIT_EARTH_LEAKAGE_MOTOR_SIDE   0x2320
 Short circuit/earth leakage (motor-side)
 
#define ERROR_EARTH_LEAKAGE_MOTOR_SIDE   0x2330
 Earth leakage (motor-side)
 
#define ERROR_EARTH_LEAKAGE_PHASE_U   0x2331
 Earth leakage phase U.
 
#define ERROR_EARTH_LEAKAGE_PHASE_V   0x2332
 Earth leakage phase V.
 
#define ERROR_EARTH_LEAKAGE_PHASE_W   0x2333
 Earth leakage phase W.
 
#define ERROR_SHORT_CIRCUIT_MOTOR_SIDE   0x2340
 Short circuit (motor-side)
 
#define ERROR_SHORT_CIRCUIT_PHASES_U_V   0x2341
 Short circuit phases U-V.
 
#define ERROR_EARTH_LEAKAGE_PHASE_V_W   0x2342
 Earth leakage phase V-W.
 
#define ERROR_EARTH_LEAKAGE_PHASE_W_U   0x2343
 Earth leakage phase W-U.
 
#define ERROR_LOAD_LEVEL_FAULT_I2T_THERMAL_STATE   0x2350
 Load level fault (I2t, thermal state)
 
#define ERROR_LOAD_LEVEL_WARNING_I2T_THERMAL_STATE   0x2351
 Load level warning (I2t, thermal state)
 
#define ERROR_MAINS_OVER_VOLTAGE   0x3110
 Mains over-voltage.
 
#define ERROR_MAINS_OVER_VOLTAGE_PHASE_L1   0x3111
 Mains over-voltage phase L1.
 
#define ERROR_MAINS_OVER_VOLTAGE_PHASE_L2   0x3112
 Mains over-voltage phase L2.
 
#define ERROR_MAINS_OVER_VOLTAGE_PHASE_L3   0x3113
 Mains over-voltage phase L3.
 
#define ERROR_MAINS_UNDER_VOLTAGE   0x3120
 Mains under-voltage.
 
#define ERROR_MAINS_UNDER_VOLTAGE_PHASE_L1   0x3121
 Mains under-voltage phase L1.
 
#define ERROR_MAINS_UNDER_VOLTAGE_PHASE_L2   0x3122
 Mains under-voltage phase L2.
 
#define ERROR_MAINS_UNDER_VOLTAGE_PHASE_L3   0x3123
 Mains under-voltage phase L3.
 
#define ERROR_PHASE_FAILURE   0x3130
 Phase failure.
 
#define ERROR_PHASE_FAILURE_L1   0x3131
 Phase failure L1.
 
#define ERROR_PHASE_FAILURE_L2   0x3132
 Phase failure L2.
 
#define ERROR_PHASE_FAILURE_L3   0x3133
 Phase failure L3.
 
#define ERROR_PHASE_SEQUENCE   0x3134
 Phase sequence.
 
#define ERROR_MAINS_FREQUENCY   0x3140
 Mains frequency.
 
#define ERROR_MAINS_FREQUENCY_TOO_GREAT   0x3141
 Mains frequency too great.
 
#define ERROR_MAINS_FREQUENCY_TOO_SMALL   0x3142
 Mains frequency too small.
 
#define ERROR_DC_LINK_OVER_VOLTAGE   0x3210
 DC link over-voltage.
 
#define ERROR_OVER_VOLTAGE_NO_1   0x3211
 Over-voltage no 1.
 
#define ERROR_OVER_VOLTAGE_NO_2   0x3212
 Over voltage no 2.
 
#define ERROR_DC_LINK_UNDER_VOLTAGE   0x3220
 DC link under-voltage.
 
#define ERROR_UNDER_VOLTAGE_NO_1   0x3221
 Under-voltage no 1.
 
#define ERROR_UNDER_VOLTAGE_NO_2   0x3222
 Under-voltage no 2.
 
#define ERROR_LOAD_ERROR   0x3230
 Load error.
 
#define ERROR_OUTPUT_OVER_VOLTAGE   0x3310
 Output over-voltage.
 
#define ERROR_OUTPUT_OVER_VOLTAGE_PHASE_U   0x3311
 Output over-voltage phase U.
 
#define ERROR_OUTPUT_OVER_VOLTAGE_PHASE_V   0x3312
 Output over-voltage phase V.
 
#define ERROR_OUTPUT_OVER_VOLTAGE_PHASE_W   0x3313
 Output over-voltage phase W.
 
#define ERROR_ARMATURE_CIRCUIT   0x3320
 Armature circuit.
 
#define ERROR_ARMATURE_CIRCUIT_INTERRUPTED   0x3321
 Armature circuit interrupted.
 
#define ERROR_FIELD_CIRCUIT   0x3330
 Field circuit error.
 
#define ERROR_FIELD_CIRCUIT_INTERRUPTED   0x3331
 Field circuit interrupted.
 
#define ERROR_EXCESS_AMBIENT_TEMPERATURE   0x4110
 Excess ambient temperature.
 
#define ERROR_TOO_LOW_AMBIENT_TEMPERATURE   0x4120
 Too low ambient temperature.
 
#define ERROR_TEMPERATURE_SUPPLY_AIR   0x4130
 Temperature supply air.
 
#define ERROR_TEMPERATURE_AIR_OUTLET   0x4140
 Temperature air outlet.
 
#define ERROR_EXCESS_TEMPERATURE_DEVICE   0x4210
 Excess temperature device.
 
#define ERROR_TOO_LOW_TEMPERATURE_DEVICE   0x4220
 Too low temperature device.
 
#define ERROR_TEMPERATURE_DRIVE   0x4300
 Temperature drive error.
 
#define ERROR_EXCESS_TEMPERATURE_DRIVE   0x4310
 Excess temperature drive error.
 
#define ERROR_TOO_LOW_TEMPERATURE_DRIVE   0x4320
 Too low temperature drive error.
 
#define ERROR_TEMPERATURE_SUPPLY   0x4400
 Temperature supply error.
 
#define ERROR_EXCESS_TEMPERATURE_SUPPLY   0x4410
 Excess temperature supply.
 
#define ERROR_TOO_LOW_TEMPERATURE_SUPPLY   0x4420
 Too low temperature supply.
 
#define ERROR_SUPPLY_ERROR   0x5100
 Supply error.
 
#define ERROR_SUPPLY_LOW_VOLTAGE   0x5110
 Supply low voltage.
 
#define ERROR_U1_SUPPLY_15V   0x5111
 U1 = supply +15V/-15V.
 
#define ERROR_U2_SUPPLY_24_V   0x5112
 U2 = supply +24 V.
 
#define ERROR_U3_SUPPLY_5_V   0x5113
 U3 = supply +5 V.
 
#define ERROR_U4_MANUFACTURER_SPECIFIC   0x5114
 U4 = manufacturer-specific error.
 
#define ERROR_U5_MANUFACTURER_SPECIFIC   0x5115
 U5 = manufacturer-specific error.
 
#define ERROR_U6_MANUFACTURER_SPECIFIC   0x5116
 U6 = manufacturer-specific error.
 
#define ERROR_U7_MANUFACTURER_SPECIFIC   0x5117
 U7 = manufacturer-specific error.
 
#define ERROR_U8_MANUFACTURER_SPECIFIC   0x5118
 U8 = manufacturer-specific error.
 
#define ERROR_U9_MANUFACTURER_SPECIFIC   0x5119
 U9 = manufacturer-specific error.
 
#define ERROR_SUPPLY_INTERMEDIATE_CIRCUIT   0x5120
 Supply intermediate circuit.
 
#define ERROR_CONTROL_MEASUREMENT_CIRCUIT   0x5210
 Measurement circuit.
 
#define ERROR_CONTROL_COMPUTING_CIRCUIT   0x5220
 Computing circuit.
 
#define ERROR_OPERATING_UNIT   0x5300
 Operating unit error.
 
#define ERROR_POWER_SECTION   0x5400
 Power section error.
 
#define ERROR_OUTPUT_STAGES   0x5410
 Output stages error.
 
#define ERROR_CHOPPER   0x5420
 Chopper error.
 
#define ERROR_INPUT_STAGES   0x5430
 Input stages error.
 
#define ERROR_CONTACTS_ERROR   0x5440
 Contacts error.
 
#define ERROR_CONTACT_1_MANUFACTURER_SPECIFIC   0x5441
 Contact 1 = manufacturer-specific error.
 
#define ERROR_CONTACT_2_MANUFACTURER_SPECIFIC   0x5442
 Contact 2 = manufacturer-specific error.
 
#define ERROR_CONTACT_3_MANUFACTURER_SPECIFIC   0x5443
 Contact 3 = manufacturer-specific error.
 
#define ERROR_CONTACT_4_MANUFACTURER_SPECIFIC   0x5444
 Contact 4 = manufacturer-specific error.
 
#define ERROR_CONTACT_5_MANUFACTURER_SPECIFIC   0x5445
 Contact 5 = manufacturer-specific error.
 
#define ERROR_FUSES_ERROR   0x5450
 Fuses error.
 
#define ERROR_S1_L1   0x5451
 S1 = l1 error.
 
#define ERROR_S2_L2   0x5452
 S2 = l2 error.
 
#define ERROR_S3_L3   0x5453
 S3 = l3 error.
 
#define ERROR_S4_MANUFACTURER_SPECIFIC   0x5454
 S4 = manufacturer-specific error.
 
#define ERROR_S5_MANUFACTURER_SPECIFIC   0x5455
 S5 = manufacturer-specific error.
 
#define ERROR_S6_MANUFACTURER_SPECIFIC   0x5456
 S6 = manufacturer-specific error.
 
#define ERROR_S7_MANUFACTURER_SPECIFIC   0x5457
 S7 = manufacturer-specific error.
 
#define ERROR_S8_MANUFACTURER_SPECIFIC   0x5458
 S8 = manufacturer-specific error.
 
#define ERROR_S9_MANUFACTURER_SPECIFIC   0x5459
 S9 = manufacturer-specific error.
 
#define ERROR_HARDWARE_MEMORY   0x5500
 Hardware memory error.
 
#define ERROR_RAM   0x5510
 RAM error.
 
#define ERROR_ROM_EPROM   0x5520
 ROM/EPROM error.
 
#define ERROR_EEPROM   0x5530
 EEPROM error.
 
#define ERROR_SOFTWARE_RESET_WATCHDOG   0x6010
 Software reset (watchdog)
 
#define ERROR_LOSS_OF_PARAMETERS   0x6310
 Loss of parameters.
 
#define ERROR_PARAMETER_ERROR   0x6320
 Parameter error.
 
#define ERROR_POWER_ERROR   0x7100
 Power error.
 
#define ERROR_BRAKE_CHOPPER   0x7110
 Brake chopper.
 
#define ERROR_FAILURE_BRAKE_CHOPPER   0x7111
 Failure brake chopper.
 
#define ERROR_OVER_CURRENT_BRAKE_CHOPPER   0x7112
 Over current brake chopper.
 
#define ERROR_PROTECTIVE_CIRCUIT_BRAKE_CHOPPER   0x7113
 Protective circuit brake chopper error.
 
#define ERROR_MOTOR_ERROR   0x7120
 Motor error.
 
#define ERROR_MOTOR_BLOCKED   0x7121
 Motor blocked error.
 
#define ERROR_MOTOR_ERROR_OR_COMMUTATION_MALFUNC   0x7122
 Motor error or commutation malfunc.
 
#define ERROR_MOTOR_TILTED   0x7123
 Motor tilted.
 
#define ERROR_MEASUREMENT_CIRCUIT   0x7200
 Measurement circuit.
 
#define ERROR_SENSOR_ERROR   0x7300
 Sensor error.
 
#define ERROR_TACHO_FAULT   0x7301
 Tacho fault.
 
#define ERROR_TACHO_WRONG_POLARITY   0x7302
 Tacho wrong polarity.
 
#define ERROR_RESOLVER_1_FAULT   0x7303
 Resolver 1 fault.
 
#define ERROR_RESOLVER_2_FAULT   0x7304
 Resolver 2 fault.
 
#define ERROR_INCREMENTAL_SENSOR_1_FAULT   0x7305
 Incremental sensor 1 fault.
 
#define ERROR_INCREMENTAL_SENSOR_2_FAULT   0x7306
 Incremental sensor 2 fault.
 
#define ERROR_INCREMENTAL_SENSOR_3_FAULT   0x7307
 Incremental sensor 3 fault.
 
#define ERROR_SPEED   0x7310
 Speed error.
 
#define ERROR_POSITION   0x7320
 Position error.
 
#define ERROR_COMPUTATION_CIRCUIT   0x7400
 Computation circuit.
 
#define ERROR_COMMUNICATION   0x7500
 Communication error.
 
#define ERROR_SERIAL_INTERFACE_NO_1   0x7510
 Serial interface no 1 error.
 
#define ERROR_SERIAL_INTERFACE_NO_2   0x7520
 Serial interface no 2 error.
 
#define ERROR_DATA_STORAGE_EXTERNAL   0x7600
 Data storage (external) error.
 
#define ERROR_TORQUE_CONTROL   0x8300
 Torque control error.
 
#define ERROR_EXCESS_TORQUE   0x8311
 Excess torque error.
 
#define ERROR_DIFFICULT_START_UP   0x8312
 Difficult start up error.
 
#define ERROR_STANDSTILL_TORQUE   0x8313
 Standstill torque error.
 
#define ERROR_INSUFFICIENT_TORQUE   0x8321
 Insufficient torque error.
 
#define ERROR_TORQUE_FAULT   0x8331
 Torque fault.
 
#define ERROR_VELOCITY_SPEED_CONTROLLER   0x8400
 Velocity speed controller.
 
#define ERROR_POSITION_CONTROLLER   0x8500
 Position controller.
 
#define ERROR_POSITIONING_CONTROLLER   0x8600
 Positioning controller.
 
#define ERROR_FOLLOWING_ERROR   0x8611
 Following error.
 
#define ERROR_REFERENCE_LIMIT   0x8612
 Reference limit.
 
#define ERROR_SYNC_CONTROLLER   0x8700
 Sync controller.
 
#define ERROR_WINDING_CONTROLLER   0x8800
 Winding controller.
 
#define ERROR_PROCESS_DATA_MONITORING   0x8900
 Process data monitoring.
 
#define ERROR_DECELERATION   0xF001
 Deceleration error.
 
#define ERROR_SUB_SYNCHRONOUS_RUN   0xF002
 Sub-synchronous run error.
 
#define ERROR_STROKE_OPERATION   0xF003
 Stroke operation error.
 
#define DISABLE_DRIVE   0
 Disable drive (options: 0x605B; 0x605C; 0x605E)
 
#define SLOW_DOWN_RAMP   1
 Slow down ramp (options: 0x605B; 0x605C; 0x605E)
 
#define QUICKSTOP_RAMP   2
 Quick stop ramp (options: 0x605E)
 
#define STOP_ON_CURRENT_LIMIT   3
 Stop on current limit (options: 0x605E)
 
#define STOP_ON_VOLTAGE_LIMIT   4
 Stop on voltage limit (options: 0x605E)
 
#define SLOWDOWN_RAMP_NO_TRANSIT   5
 Slow down on slow down ramp and stay in Quick Stop Active.
 
#define QUICKSTOP_RAMP_NO_TRANSIT   6
 Slow down on quick stop ramp and stay in Quick Stop Active.
 
#define CURRENT_LIMIT_NO_TRANSIT   7
 Slow down on current limit and stay in Quick Stop Active.
 
#define VOLTAGE_LIMIT_NO_TRANSIT   8
 Slow down on voltage limit and stay in Quick Stop Active.
 
#define OBD_CIA402_AXIS_OFFSET   0x0800
 
#define OBD_ABORT_CONNECTION_OPTION_CODE_INDEX(x)   (0x6007 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_CONTROLWORD_INDEX(x)   (0x6040 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_STATUSWORD_INDEX(x)   (0x6041 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_QUICKSTOP_INDEX(x)   (0x605A + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_SHUTDOWN_INDEX(x)   (0x605B + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_DISABLE_OPERATION_INDEX(x)   (0x605C + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_HALT_OPTION_CODE_INDEX(x)   (0x605D + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_FAULT_REACTION_INDEX(x)   (0x605E + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_MODES_OF_OPERATION_INDEX(x)   (0x6060 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_MODES_OF_OPERATION_DISPLAY_INDEX(x)   (0x6061 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_POSITION_DEMAND_VALUE_INDEX(x)   (0x6062 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_POSITION_ACTUAL_INTERNAL_VALUE_INDEX(x)   (0x6063 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_POSITION_ACTUAL_VALUE_INDEX(x)   (0x6064 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_FOLLOWING_ERROR_WINDOW_INDEX(x)   (0x6065 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_FOLLOWING_ERROR_TIMEOUT_INDEX(x)   (0x6066 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_POSITION_WINDOW_INDEX(x)   (0x6067 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_POSITION_WINDOW_TIME_INDEX(x)   (0x6068 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_VELOCITY_SENSOR_ACTUAL_VALUE_INDEX(x)   (0x6069 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_VELOCITY_DEMAND_VALUE_INDEX(x)   (0x606B + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_VELOCITY_ACTUAL_VALUE_INDEX(x)   (0x606C + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_VELOCITY_WINDOW_INDEX(x)   (0x606D + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_VELOCITY_WINDOW_TIME_INDEX(x)   (0x606E + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_VELOCITY_THRESHOLD_INDEX(x)   (0x606F + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_VELOCITY_THRESHOLD_TIME_INDEX(x)   (0x6070 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_TARGET_TORQUE_INDEX(x)   (0x6071 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_MAX_TORQUE_INDEX(x)   (0x6072 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_TORQUE_DEMAND_INDEX(x)   (0x6074 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_TORQUE_ACTUAL_VALUE_INDEX(x)   (0x6077 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_CURRENT_ACTUAL_VALUE_INDEX(x)   (0x6078 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_TARGET_POSITION_INDEX(x)   (0x607A + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_POSITION_RANGE_LIMIT_INDEX(x)   (0x607B + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_HOME_OFFSET_INDEX(x)   (0x607C + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_SW_POSITION_LIMIT_INDEX(x)   (0x607D + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_POLARITY_INDEX(x)   (0x607E + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_TARGET_VELOCITY_INDEX(x)   (0x60FF + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_TARGET_VELOCITY_INDEX(x)   (0x60FF + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_MAX_MOTOR_SPEED_INDEX(x)   (0x6080 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_PROFILE_VELOCITY_INDEX(x)   (0x6081 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_PROFILE_ACCELERATION_INDEX(x)   (0x6083 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_PROFILE_DECELERATION_INDEX(x)   (0x6084 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_QUISTOP_DECELERATION_INDEX(x)   (0x6085 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_MOTION_PROFILE_TYPE_INDEX(x)   (0x6086 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_POSITION_ENCODER_RESOLUTION_INDEX(x)   (0x608F + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_VELOCITY_ENCONDER_RESOLUTION_INDEX(x)   (0x6090 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_GEAR_RATIO_INDEX(x)   (0x6091 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_FEED_CONSTANT_INDEX(x)   (0x6092 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_VELOCITY_FACTOR_INDEX(x)   (0x6096 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_HOMING_METHOD_INDEX(x)   (0x6098 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_HOMING_SPEEDS_INDEX(x)   (0x6099 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_HOMING_ACCELERATION_INDEX(x)   (0x609A + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_POSITION_OFFSET_INDEX(x)   (0x60B0 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_VELOCITY_OFFSET_INDEX(x)   (0x60B1 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_TORQUE_OFFSET_INDEX(x)   (0x60B2 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_TOUCH_PROBE_FUNCTION_INDEX(x)   (0x60B8 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_TOUCH_PROBE_STATUS_INDEX(x)   (0x60B9 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_TOUCH_PROBE_1_POS_EDGE_INDEX(x)   (0x60BA + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_TOUCH_PROBE_1_NEG_EDGE_INDEX(x)   (0x60BB + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_TOUCH_PROBE_2_POS_EDGE_INDEX(x)   (0x60BC + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_TOUCH_PROBE_2_NEG_EDGE_INDEX(x)   (0x60BD + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_INTERPOLATION_TIME_PERIOD_INDEX(x)   (0x60C2 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_MAX_ACCELERATION_INDEX(x)   (0x60C5 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_MAX_DECELERATION_INDEX(x)   (0x60C6 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_TOUCH_PROBE_SOURCE(x)   (0x60D0 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_TOUCH_PROBE_1_POS_EDGE_CNT_INDEX(x)   (0x60D5 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_TOUCH_PROBE_1_NEG_EDGE_CNT_INDEX(x)   (0x60D6 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_TOUCH_PROBE_2_POS_EDGE_CNT_INDEX(x)   (0x60D7 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_TOUCH_PROBE_2_NEG_EDGE_CNT_INDEX(x)   (0x60D8 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_POSITIVE_TORQUE_LIMIT_VALUE_INDEX(x)   (0x60E0 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_NEGATIVE_TORQUE_LIMIT_VALUE_INDEX(x)   (0x60E1 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_FOLLOWING_ERROR_ACTUAL_VALUE_INDEX(x)   (0x60F4 + x * OBD_CIA402_AXIS_OFFSET)
 
#define OBD_SUPPORTED_DRIVE_MODES_INDEX(x)   (0x6502 + x * OBD_CIA402_AXIS_OFFSET)
 
#define EC_SLV_APP_CIA_GETAXISVALUE(gav_type, gav_target, gav_axisDesc)
 Read CiA402 Axis value.
 
#define EC_SLV_APP_CIA_SETAXISVALUE(sav_type, sav_axisDesc, sav_value)
 Write CiA402 Axis value.
 

Functions

void EC_SLV_APP_CIA_applicationInit (EC_SLV_APP_CIA_Application_t *pAppInstance_p)
 Initialize subdevice application example.
 
uint32_t EC_SLV_APP_getCiA402ObjectEntryValue (void *pAppCtxt_p, EC_API_SLV_SCoE_ObjEntry_t *pObjectEntry_p, uint16_t length_p, uint16_t *pValue_p)
 Read CiA402 Object entry.
 
void EC_SLV_APP_setObdValues (void *ctxt)
 Set default values for CiA 402 object dictionary.
 
uint16_t EC_SLV_APP_CIA_startInputHandler (void *ctxt, uint16_t *intMask)
 Get cycle time information.
 
void EC_SLV_APP_cia402Application (void *ctxt)
 CiA402 Application function.
 
void EC_SLV_APP_cia402LocalError (void *ctxt, uint16_t errorCode)
 Local Error function handler.
 
uint32_t EC_SLV_APP_cia402ObjectDictionary (void *pContext_p)
 Generate CiA402 Objects.