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Macros
#define	OD_DEVICE_TYPE 0x1000,0X00

#define	OD_ERROR_REGISTER 0X1001,0X00

#define	OD_MANUFACTURER_DEVICE_NAME 0X1008,0X00

#define	OD_STORE_PARAMETERS 0X1010,0X00

#define	OD_SAVE_ALL_PARAMETERS 0X1010,0X01

#define	OD_RESTORE_PARAMETERS 0X1011,0X00

#define	OD_RESTORE_ALL_PARAMETERS 0X1011,0X01

#define	OD_IDENTITY_OBJECT 0X1018,0X00

#define	OD_VENDOR_ID 0X1018,0X01

#define	OD_PRODUCT_CODE 0X1018,0X02

#define	OD_REVISION_NUMBER 0X1018,0X03

#define	OD_SERIAL_NUMBER 0X1018,0X04

#define	OD_DIAGNOSIS_HISTORY 0X10F3,0X00

#define	OD_MAXIMUM_MESSAGES 0X10F3,0X01

#define	OD_NEWEST_MESSAGE 0X10F3,0X02

#define	OD_NEWEST_ACK_MESSAGE 0X10F3,0X03

#define	OD_NEW_MESSAGE_AVAILABLE 0X10F3,0X04

#define	OD_FLAGS 0X10F3,0X05

#define	OD_DIAGNOSIS_MESSAGE_1 0X10F3,0X06

#define	OD_DIAGNOSIS_MESSAGE_2 0X10F3,0X07

#define	OD_DIAGNOSIS_MESSAGE_3 0X10F3,0X08

#define	OD_DIAGNOSIS_MESSAGE_4 0X10F3,0X09

#define	OD_DIAGNOSIS_MESSAGE_5 0X10F3,0X0A

#define	OD_NUM_OF_RPDO_1_MAPPING 0X1600,0x00

#define	OD_NUM_OF_RPDO_2_MAPPING 0X1601,0x00

#define	OD_NUM_OF_RPDO_3_MAPPING 0X1602,0x00

#define	OD_NUM_OF_RPDO_4_MAPPING 0X1603,0x00

#define	OD_NUM_OF_TPDO_1_MAPPING 0X1A00,0x00

#define	OD_NUM_OF_TPDO_2_MAPPING 0X1A01,0x00

#define	OD_NUM_OF_TPDO_3_MAPPING 0X1A02,0x00

#define	OD_NUM_OF_TPDO_4_MAPPING 0X1A03,0x00

#define	OD_NUM_OF_SYNC_MANAGER_CHANNELS 0X1C00,0x00

#define	OD_COM_TYPE_SYNC_CHANNEL_0 0X1C00,0x01

#define	OD_COM_TYPE_SYNC_CHANNEL_1 0X1C00,0X02

#define	OD_COM_TYPE_SYNC_CHANNEL_2 OX1C00,0X03

#define	OD_COM_TYPE_SYNC_CHANNEL_3 0X1C00,0X04

#define	OD_NUM_OF_ASSIGNED_RxPDOS 0X1C12,0x00

#define	OD_1ST_ASSIGNED_RxPDO 0X1C12,0X00

#define	OD_NUM_OF_ASSIGNED_TxPDOS 0X1C13,0X00

#define	OD_1ST_ASSIGNED_TxPDO 0X1C13,0X01

#define	OD_SYNC_TYPE_OUTPUTS 0X1C32,0X01

#define	OD_CYCLE_TIME_OUTPUTS 0X1C32,0X02

#define	OD_SUPPORTED_SYNC_TYPES_OUTPUTS 0X1C32,0X04

#define	OD_MIN_CYCLE_TIME_OUTPUTS 0X1C32,0X05

#define	OD_CALC_AND_COPY_TIME_OUTPUTS 0X1C32,0X06

#define	OD_DELAY_TIME_OUTPUTS 0X1C32,0X09

#define	OD_SM_EVENT_MISSED_OUTPUTS 0X1C32,0X0B

#define	OD_CYCLE_TIME_TOO_SMALL_OUTPUTS 0X1C32,0X0C

#define	OD_SYNC_TYPE_INPUTS 0X1C33,0X01

#define	OD_CYCLE_TIME_INPUTS 0X1C33,0X02

#define	OD_SUPPORTED_SYNC_TYPES_INPUTS 0X1C33,0X04

#define	OD_MIN_CYCLE_TIME_INPUTS 0X1C33,0X05

#define	OD_CALC_AND_COPY_TIME_INPUTS 0X1C33,0X06

#define	OD_SM_EVENT_MISSED_INPUTS 0X1C33,0X0B

#define	OD_CYCLE_TIME_TOO_SMALL_INPUTS 0X1C33,0X0C

#define	OD_POWER_SUPPLY_VOLTAGE 0X2200,0X01

#define	OD_ACTIVE_FIELDBUS 0X2010,0X00

#define	OD_CUSTOM_PERSISTENT_MEMORY_1 0X210C,0X01

#define	OD_CUSTOM_PERSISTENT_MEMORY_2 0X210C,0X02

#define	OD_CUSTOM_PERSISTENT_MEMORY_3 0X210C,0X03

#define	OD_CUSTOM_PERSISTENT_MEMORY_4 0X210C,0X04

#define	OD_POWER_SUPPLY_VOLTAGE 0X2200,0X01

#define	OD_SENSOR_CONFIGURATION 0X3000,0X01
	Object Dictionary for Axis configurations. More...

#define	OD_CONTROL_STRUCTURE 0X3000,0X02

#define	OD_MOTOR_DATA_NOMINAL_CURRENT 0X3001,0X01

#define	OD_MOTOR_DATA_OUTPUT_CURRENT_LIMIT 0X3001,0X02

#define	OD_MOTOR_DATA_NUMBER_OF_POLE_PAIRS 0X3001,0X03

#define	OD_MOTOR_DATA_THERMAL_TIME_CONSTANT_WINDINGS 0X3001,0X04

#define	OD_MOTOR_DATA_TORQUE_CONSTANT 0X3001,0X05

#define	OD_GEAR_REDUCTION_NUMERATOR 0X3003,0X01

#define	OD_GEAR_REDUCTION_DENOMINATOR 0X3003,0X02

#define	OD_GEAR_MAX_INPUT_SPEED 0X3003,0X03

#define	OD_GEAR_MISC_CONFIGURATION 0X3003,0X04

#define	OD_DIGITAL_INCREMENTAL_ENCODER_1_TYPE 0X3010,0X02

#define	OD_CURRENT_CONTROLLER_PGAIN 0X30A0,0X01

#define	OD_CURRENT_CONTROLLER_IGAIN 0X30A0,0X02

#define	OD_POSITION_CONTROLLER_PGAIN 0X30A1,0X01

#define	OD_POSITION_CONTROLLER_IGAIN 0X30A1,0X02

#define	OD_POSITION_CONTROLLER_DGAIN 0X30A1,0X03

#define	OD_POSITION_CONTROLLER_FF_VEL_GAIN 0X30A1,0X04

#define	OD_POSITION_CONTROLLER_FF_ACC_GAIN 0X30A1,0X05

#define	OD_VELOCITY_CONTROLLER_PGAIN 0x30A2,0x01

#define	OD_VELOCITY_CONTROLLER_IGAIN 0x30A2,0x02

#define	OD_VELOCITY_CONTROLLER_FF_VEL_GAIN 0x30A2,0x03

#define	OD_VELOCITY_CONTROLLER_FF_ACC_GAIN 0x30A2,0x04

#define	OD_CONTROL_WORD 0x6040,0x00

#define	OD_STATUS_WORD 0x6041,0x00

#define	OD_OPERATION_MODE 0x6060,0x00

#define	OD_OPERATION_MODE_DISPLAY 0x6061,0x00

#define	OD_TARGET_POSITION 0x607A,0x00

#define	OD_POSITION_ACTUAL_VAL 0x6064,0x00

#define	OD_POSITION_DEMAND 0x6062,0x00

#define	OD_POSITON_FOLLOWING_ERROR 0x60F4,0X00

#define	OD_POSITONCOUNTS 0x6063,0x00

#define	OD_MAX_FOLLOWING_ERROR 0x6065,0x00

#define	OD_VELOCITY_ACTUAL_VALUE 0x606C,0x00

#define	OD_VELOCITY_ADDRESS 0x6069,0x00

#define	OD_TARGET_VELOCITY 0x60FF,0x00

#define	OD_VELOCITY_OFFSET 0x60B1,0x00

#define	OD_PROFILE_VELOCITY 0x6081,0x00

#define	OD_MAX_MOTOR_SPEED 0x6080,0x00

#define	OD_MAX_PROFILE_VELOCITY 0X607F,0X00

#define	OD_PROFILE_ACCELERATION 0x6083,0x00

#define	OD_PROFILE_DECELERATION 0x6084,0x00

#define	OD_QUICK_STOP_DECELERATION 0x6085,0x00

#define	OD_MOTION_PROFILE_TYPE 0x6086,0x00

#define	OD_VELOCITY_ENCODER_RESOLUTION_NUM 0x6094,0x01

#define	OD_VELOCITY_ENCODER_RESOLUTION_DEN 0x6094,0x02

#define	OD_INTERPOLATION_TIME_PERIOD 0X60C2,0X01

#define	OD_INTERPOLATION_TIME_UNIT 0X60C2,0X02

#define	OD_DIGITAL_INPUTS 0x60FD,0x00

#define	OD_DIGITAL_OUTPUTS 0x60FE,0x01

#define	OD_DC_CIRCUIT_LINK_VOLTAGE 0x6079,0x00

#define	OD_TARGET_TORQUE 0x6071,0x00

#define	OD_TORQUE_MAX 0x6072,0x00

#define	OD_TORQUE_ACTUAL_VALUE 0x6077,0x00

#define	OD_TORQUE_OFFSET 0x60b2,0x00

#define	OD_MAX_CURRENT 0x6073, 0x00

#define	OD_CURRENT_ACTUAL_VALUE 0x6078, 0x00

#define	OD_ERROR_CODE 0x603F, 0x00

#define	OD_QUICK_STOP_MODE 0x605A,0x00

#define	OD_STOP_OPTION_CODE 0x605D,0x00

#define	SM_COMM_RESET 0x81

#define	SM_FULL_RESET 0x82

#define	SM_START 0x01

#define	SM_GO_READY_TO_SWITCH_ON 0x06

#define	SM_GO_SWITCH_ON 0x07

#define	SM_GO_ENABLE 0X0F

#define	SM_GO_SWITCH_ON_DISABLE 0x00

#define	SM_RUN 0x1F

#define	SM_EXPEDITE 0x3F

#define	SM_QUICKSTOP 0x02

#define	SM_RELATIVE_POS 0X7F

#define	SM_FSAFROMSTATUSWORD(SW) (SW & 0x006f)

#define	SM_NOT_READY_TO_SWITCH_ON 0b00000000

#define	SM_NOT_READY_TO_SWITCH_ON_2 0b00100000

#define	SM_SWITCH_ON_DISABLED 0b01000000

#define	SM_SWITCH_ON_DISABLED_2 0b01100000

#define	SM_READY_TO_SWITCH_ON 0b00100001

#define	SM_SWITCHED_ON 0b00100011

#define	SM_OPERATION_ENABLED 0b00100111

#define	SM_QUICK_STOP_ACTIVE 0b00000111

#define	SM_FAULT_REACTION_ACTIVE 0b00001111

#define	SM_FAULTREACTIONACTIVE2 0b00101111

#define	SM_FAULT 0b00001000

#define	SM_FAULT2 0b00101000

#define	SM_SW_READY_TO_SWITCH_ON 0x0001

#define	SM_SW_SWITCHED_ON 0x0002

#define	SM_SW_OPERATION_ENABLED 0x0004

#define	SM_SW_FAULT 0x0008

#define	SM_SW_VOLTAGE_ENABLED 0x0010

#define	SM_SW_QUICK_STOP 0x0020

#define	SM_SW_SWITCH_ON_DISABLED 0x0040

#define	SM_SW_WARNING 0x0080

#define	SM_SW_REMOTE 0x0200

#define	SM_SW_TARGET_REACHED 0x0400

#define	SM_SW_INTERNAL_LIMIT_ACTIVE 0x0800

#define	SM_CW_SWITCH_ON 0x0001

#define	SM_CW_ENABLE_VOLTAGE 0x0002

#define	SM_CW_QUICK_STOP 0x0004

#define	SM_CW_ENABLE_OPERATION 0x0008

#define	SM_CW_FAULT_RESET 0x0080

#define	SM_CW_OD_HALT 0x0100

Macro Definition Documentation

◆ OD_1ST_ASSIGNED_RxPDO

#define OD_1ST_ASSIGNED_RxPDO 0X1C12,0X00

◆ OD_1ST_ASSIGNED_TxPDO

#define OD_1ST_ASSIGNED_TxPDO 0X1C13,0X01

◆ OD_ACTIVE_FIELDBUS

#define OD_ACTIVE_FIELDBUS 0X2010,0X00

◆ OD_CALC_AND_COPY_TIME_INPUTS

#define OD_CALC_AND_COPY_TIME_INPUTS 0X1C33,0X06

◆ OD_CALC_AND_COPY_TIME_OUTPUTS

#define OD_CALC_AND_COPY_TIME_OUTPUTS 0X1C32,0X06

◆ OD_COM_TYPE_SYNC_CHANNEL_0

#define OD_COM_TYPE_SYNC_CHANNEL_0 0X1C00,0x01

◆ OD_COM_TYPE_SYNC_CHANNEL_1

#define OD_COM_TYPE_SYNC_CHANNEL_1 0X1C00,0X02

◆ OD_COM_TYPE_SYNC_CHANNEL_2

#define OD_COM_TYPE_SYNC_CHANNEL_2 OX1C00,0X03

◆ OD_COM_TYPE_SYNC_CHANNEL_3

#define OD_COM_TYPE_SYNC_CHANNEL_3 0X1C00,0X04

◆ OD_CONTROL_STRUCTURE

#define OD_CONTROL_STRUCTURE 0X3000,0X02

◆ OD_CONTROL_WORD

#define OD_CONTROL_WORD 0x6040,0x00

◆ OD_CURRENT_ACTUAL_VALUE

#define OD_CURRENT_ACTUAL_VALUE 0x6078, 0x00

◆ OD_CURRENT_CONTROLLER_IGAIN

#define OD_CURRENT_CONTROLLER_IGAIN 0X30A0,0X02

◆ OD_CURRENT_CONTROLLER_PGAIN

#define OD_CURRENT_CONTROLLER_PGAIN 0X30A0,0X01

◆ OD_CUSTOM_PERSISTENT_MEMORY_1

#define OD_CUSTOM_PERSISTENT_MEMORY_1 0X210C,0X01

◆ OD_CUSTOM_PERSISTENT_MEMORY_2

#define OD_CUSTOM_PERSISTENT_MEMORY_2 0X210C,0X02

◆ OD_CUSTOM_PERSISTENT_MEMORY_3

#define OD_CUSTOM_PERSISTENT_MEMORY_3 0X210C,0X03

◆ OD_CUSTOM_PERSISTENT_MEMORY_4

#define OD_CUSTOM_PERSISTENT_MEMORY_4 0X210C,0X04

◆ OD_CYCLE_TIME_INPUTS

#define OD_CYCLE_TIME_INPUTS 0X1C33,0X02

◆ OD_CYCLE_TIME_OUTPUTS

#define OD_CYCLE_TIME_OUTPUTS 0X1C32,0X02

◆ OD_CYCLE_TIME_TOO_SMALL_INPUTS

#define OD_CYCLE_TIME_TOO_SMALL_INPUTS 0X1C33,0X0C

◆ OD_CYCLE_TIME_TOO_SMALL_OUTPUTS

#define OD_CYCLE_TIME_TOO_SMALL_OUTPUTS 0X1C32,0X0C

◆ OD_DC_CIRCUIT_LINK_VOLTAGE

#define OD_DC_CIRCUIT_LINK_VOLTAGE 0x6079,0x00

◆ OD_DELAY_TIME_OUTPUTS

#define OD_DELAY_TIME_OUTPUTS 0X1C32,0X09

◆ OD_DEVICE_TYPE

#define OD_DEVICE_TYPE 0x1000,0X00

◆ OD_DIAGNOSIS_HISTORY

#define OD_DIAGNOSIS_HISTORY 0X10F3,0X00

◆ OD_DIAGNOSIS_MESSAGE_1

#define OD_DIAGNOSIS_MESSAGE_1 0X10F3,0X06

◆ OD_DIAGNOSIS_MESSAGE_2

#define OD_DIAGNOSIS_MESSAGE_2 0X10F3,0X07

◆ OD_DIAGNOSIS_MESSAGE_3

#define OD_DIAGNOSIS_MESSAGE_3 0X10F3,0X08

◆ OD_DIAGNOSIS_MESSAGE_4

#define OD_DIAGNOSIS_MESSAGE_4 0X10F3,0X09

◆ OD_DIAGNOSIS_MESSAGE_5

#define OD_DIAGNOSIS_MESSAGE_5 0X10F3,0X0A

◆ OD_DIGITAL_INCREMENTAL_ENCODER_1_TYPE

#define OD_DIGITAL_INCREMENTAL_ENCODER_1_TYPE 0X3010,0X02

◆ OD_DIGITAL_INPUTS

#define OD_DIGITAL_INPUTS 0x60FD,0x00

◆ OD_DIGITAL_OUTPUTS

#define OD_DIGITAL_OUTPUTS 0x60FE,0x01

◆ OD_ERROR_CODE

#define OD_ERROR_CODE 0x603F, 0x00

◆ OD_ERROR_REGISTER

#define OD_ERROR_REGISTER 0X1001,0X00

◆ OD_FLAGS

#define OD_FLAGS 0X10F3,0X05

◆ OD_GEAR_MAX_INPUT_SPEED

#define OD_GEAR_MAX_INPUT_SPEED 0X3003,0X03

◆ OD_GEAR_MISC_CONFIGURATION

#define OD_GEAR_MISC_CONFIGURATION 0X3003,0X04

◆ OD_GEAR_REDUCTION_DENOMINATOR

#define OD_GEAR_REDUCTION_DENOMINATOR 0X3003,0X02

◆ OD_GEAR_REDUCTION_NUMERATOR

#define OD_GEAR_REDUCTION_NUMERATOR 0X3003,0X01

◆ OD_IDENTITY_OBJECT

#define OD_IDENTITY_OBJECT 0X1018,0X00

◆ OD_INTERPOLATION_TIME_PERIOD

#define OD_INTERPOLATION_TIME_PERIOD 0X60C2,0X01

◆ OD_INTERPOLATION_TIME_UNIT

#define OD_INTERPOLATION_TIME_UNIT 0X60C2,0X02

◆ OD_MANUFACTURER_DEVICE_NAME

#define OD_MANUFACTURER_DEVICE_NAME 0X1008,0X00

◆ OD_MAX_CURRENT

#define OD_MAX_CURRENT 0x6073, 0x00

◆ OD_MAX_FOLLOWING_ERROR

#define OD_MAX_FOLLOWING_ERROR 0x6065,0x00

◆ OD_MAX_MOTOR_SPEED

#define OD_MAX_MOTOR_SPEED 0x6080,0x00

◆ OD_MAX_PROFILE_VELOCITY

#define OD_MAX_PROFILE_VELOCITY 0X607F,0X00

◆ OD_MAXIMUM_MESSAGES

#define OD_MAXIMUM_MESSAGES 0X10F3,0X01

◆ OD_MIN_CYCLE_TIME_INPUTS

#define OD_MIN_CYCLE_TIME_INPUTS 0X1C33,0X05

◆ OD_MIN_CYCLE_TIME_OUTPUTS

#define OD_MIN_CYCLE_TIME_OUTPUTS 0X1C32,0X05

◆ OD_MOTION_PROFILE_TYPE

#define OD_MOTION_PROFILE_TYPE 0x6086,0x00

◆ OD_MOTOR_DATA_NOMINAL_CURRENT

#define OD_MOTOR_DATA_NOMINAL_CURRENT 0X3001,0X01

◆ OD_MOTOR_DATA_NUMBER_OF_POLE_PAIRS

#define OD_MOTOR_DATA_NUMBER_OF_POLE_PAIRS 0X3001,0X03

◆ OD_MOTOR_DATA_OUTPUT_CURRENT_LIMIT

#define OD_MOTOR_DATA_OUTPUT_CURRENT_LIMIT 0X3001,0X02

◆ OD_MOTOR_DATA_THERMAL_TIME_CONSTANT_WINDINGS

#define OD_MOTOR_DATA_THERMAL_TIME_CONSTANT_WINDINGS 0X3001,0X04

◆ OD_MOTOR_DATA_TORQUE_CONSTANT

#define OD_MOTOR_DATA_TORQUE_CONSTANT 0X3001,0X05

◆ OD_NEW_MESSAGE_AVAILABLE

#define OD_NEW_MESSAGE_AVAILABLE 0X10F3,0X04

◆ OD_NEWEST_ACK_MESSAGE

#define OD_NEWEST_ACK_MESSAGE 0X10F3,0X03

◆ OD_NEWEST_MESSAGE

#define OD_NEWEST_MESSAGE 0X10F3,0X02

◆ OD_NUM_OF_ASSIGNED_RxPDOS

#define OD_NUM_OF_ASSIGNED_RxPDOS 0X1C12,0x00

◆ OD_NUM_OF_ASSIGNED_TxPDOS

#define OD_NUM_OF_ASSIGNED_TxPDOS 0X1C13,0X00

◆ OD_NUM_OF_RPDO_1_MAPPING

#define OD_NUM_OF_RPDO_1_MAPPING 0X1600,0x00

◆ OD_NUM_OF_RPDO_2_MAPPING

#define OD_NUM_OF_RPDO_2_MAPPING 0X1601,0x00

◆ OD_NUM_OF_RPDO_3_MAPPING

#define OD_NUM_OF_RPDO_3_MAPPING 0X1602,0x00

◆ OD_NUM_OF_RPDO_4_MAPPING

#define OD_NUM_OF_RPDO_4_MAPPING 0X1603,0x00

◆ OD_NUM_OF_SYNC_MANAGER_CHANNELS

#define OD_NUM_OF_SYNC_MANAGER_CHANNELS 0X1C00,0x00

◆ OD_NUM_OF_TPDO_1_MAPPING

#define OD_NUM_OF_TPDO_1_MAPPING 0X1A00,0x00

◆ OD_NUM_OF_TPDO_2_MAPPING

#define OD_NUM_OF_TPDO_2_MAPPING 0X1A01,0x00

◆ OD_NUM_OF_TPDO_3_MAPPING

#define OD_NUM_OF_TPDO_3_MAPPING 0X1A02,0x00

◆ OD_NUM_OF_TPDO_4_MAPPING

#define OD_NUM_OF_TPDO_4_MAPPING 0X1A03,0x00

◆ OD_OPERATION_MODE

#define OD_OPERATION_MODE 0x6060,0x00

◆ OD_OPERATION_MODE_DISPLAY

#define OD_OPERATION_MODE_DISPLAY 0x6061,0x00

◆ OD_POSITION_ACTUAL_VAL

#define OD_POSITION_ACTUAL_VAL 0x6064,0x00

◆ OD_POSITION_CONTROLLER_DGAIN

#define OD_POSITION_CONTROLLER_DGAIN 0X30A1,0X03

◆ OD_POSITION_CONTROLLER_FF_ACC_GAIN

#define OD_POSITION_CONTROLLER_FF_ACC_GAIN 0X30A1,0X05

◆ OD_POSITION_CONTROLLER_FF_VEL_GAIN

#define OD_POSITION_CONTROLLER_FF_VEL_GAIN 0X30A1,0X04

◆ OD_POSITION_CONTROLLER_IGAIN

#define OD_POSITION_CONTROLLER_IGAIN 0X30A1,0X02

◆ OD_POSITION_CONTROLLER_PGAIN

#define OD_POSITION_CONTROLLER_PGAIN 0X30A1,0X01

◆ OD_POSITION_DEMAND

#define OD_POSITION_DEMAND 0x6062,0x00

◆ OD_POSITON_FOLLOWING_ERROR

#define OD_POSITON_FOLLOWING_ERROR 0x60F4,0X00

◆ OD_POSITONCOUNTS

#define OD_POSITONCOUNTS 0x6063,0x00

◆ OD_POWER_SUPPLY_VOLTAGE [1/2]

#define OD_POWER_SUPPLY_VOLTAGE 0X2200,0X01

◆ OD_POWER_SUPPLY_VOLTAGE [2/2]

#define OD_POWER_SUPPLY_VOLTAGE 0X2200,0X01

◆ OD_PRODUCT_CODE

#define OD_PRODUCT_CODE 0X1018,0X02

◆ OD_PROFILE_ACCELERATION

#define OD_PROFILE_ACCELERATION 0x6083,0x00

◆ OD_PROFILE_DECELERATION

#define OD_PROFILE_DECELERATION 0x6084,0x00

◆ OD_PROFILE_VELOCITY

#define OD_PROFILE_VELOCITY 0x6081,0x00

◆ OD_QUICK_STOP_DECELERATION

#define OD_QUICK_STOP_DECELERATION 0x6085,0x00

◆ OD_QUICK_STOP_MODE

#define OD_QUICK_STOP_MODE 0x605A,0x00

◆ OD_RESTORE_ALL_PARAMETERS

#define OD_RESTORE_ALL_PARAMETERS 0X1011,0X01

◆ OD_RESTORE_PARAMETERS

#define OD_RESTORE_PARAMETERS 0X1011,0X00

◆ OD_REVISION_NUMBER

#define OD_REVISION_NUMBER 0X1018,0X03

◆ OD_SAVE_ALL_PARAMETERS

#define OD_SAVE_ALL_PARAMETERS 0X1010,0X01

◆ OD_SENSOR_CONFIGURATION

#define OD_SENSOR_CONFIGURATION 0X3000,0X01

Object Dictionary for Axis configurations.

◆ OD_SERIAL_NUMBER

#define OD_SERIAL_NUMBER 0X1018,0X04

◆ OD_SM_EVENT_MISSED_INPUTS

#define OD_SM_EVENT_MISSED_INPUTS 0X1C33,0X0B

◆ OD_SM_EVENT_MISSED_OUTPUTS

#define OD_SM_EVENT_MISSED_OUTPUTS 0X1C32,0X0B

◆ OD_STATUS_WORD

#define OD_STATUS_WORD 0x6041,0x00

◆ OD_STOP_OPTION_CODE

#define OD_STOP_OPTION_CODE 0x605D,0x00

◆ OD_STORE_PARAMETERS

#define OD_STORE_PARAMETERS 0X1010,0X00

◆ OD_SUPPORTED_SYNC_TYPES_INPUTS

#define OD_SUPPORTED_SYNC_TYPES_INPUTS 0X1C33,0X04

◆ OD_SUPPORTED_SYNC_TYPES_OUTPUTS

#define OD_SUPPORTED_SYNC_TYPES_OUTPUTS 0X1C32,0X04

◆ OD_SYNC_TYPE_INPUTS

#define OD_SYNC_TYPE_INPUTS 0X1C33,0X01

◆ OD_SYNC_TYPE_OUTPUTS

#define OD_SYNC_TYPE_OUTPUTS 0X1C32,0X01

◆ OD_TARGET_POSITION

#define OD_TARGET_POSITION 0x607A,0x00

◆ OD_TARGET_TORQUE

#define OD_TARGET_TORQUE 0x6071,0x00

◆ OD_TARGET_VELOCITY

#define OD_TARGET_VELOCITY 0x60FF,0x00

◆ OD_TORQUE_ACTUAL_VALUE

#define OD_TORQUE_ACTUAL_VALUE 0x6077,0x00

◆ OD_TORQUE_MAX

#define OD_TORQUE_MAX 0x6072,0x00

◆ OD_TORQUE_OFFSET

#define OD_TORQUE_OFFSET 0x60b2,0x00

◆ OD_VELOCITY_ACTUAL_VALUE

#define OD_VELOCITY_ACTUAL_VALUE 0x606C,0x00

◆ OD_VELOCITY_ADDRESS

#define OD_VELOCITY_ADDRESS 0x6069,0x00

◆ OD_VELOCITY_CONTROLLER_FF_ACC_GAIN

#define OD_VELOCITY_CONTROLLER_FF_ACC_GAIN 0x30A2,0x04

◆ OD_VELOCITY_CONTROLLER_FF_VEL_GAIN

#define OD_VELOCITY_CONTROLLER_FF_VEL_GAIN 0x30A2,0x03

◆ OD_VELOCITY_CONTROLLER_IGAIN

#define OD_VELOCITY_CONTROLLER_IGAIN 0x30A2,0x02

◆ OD_VELOCITY_CONTROLLER_PGAIN

#define OD_VELOCITY_CONTROLLER_PGAIN 0x30A2,0x01

◆ OD_VELOCITY_ENCODER_RESOLUTION_DEN

#define OD_VELOCITY_ENCODER_RESOLUTION_DEN 0x6094,0x02

◆ OD_VELOCITY_ENCODER_RESOLUTION_NUM

#define OD_VELOCITY_ENCODER_RESOLUTION_NUM 0x6094,0x01

◆ OD_VELOCITY_OFFSET

#define OD_VELOCITY_OFFSET 0x60B1,0x00

◆ OD_VENDOR_ID

#define OD_VENDOR_ID 0X1018,0X01

◆ SM_COMM_RESET

#define SM_COMM_RESET 0x81

◆ SM_CW_ENABLE_OPERATION

#define SM_CW_ENABLE_OPERATION 0x0008

◆ SM_CW_ENABLE_VOLTAGE

#define SM_CW_ENABLE_VOLTAGE 0x0002

◆ SM_CW_FAULT_RESET

#define SM_CW_FAULT_RESET 0x0080

◆ SM_CW_OD_HALT

#define SM_CW_OD_HALT 0x0100

◆ SM_CW_QUICK_STOP

#define SM_CW_QUICK_STOP 0x0004

◆ SM_CW_SWITCH_ON

#define SM_CW_SWITCH_ON 0x0001

◆ SM_EXPEDITE

#define SM_EXPEDITE 0x3F

◆ SM_FAULT

#define SM_FAULT 0b00001000

◆ SM_FAULT2

#define SM_FAULT2 0b00101000

◆ SM_FAULT_REACTION_ACTIVE

#define SM_FAULT_REACTION_ACTIVE 0b00001111

◆ SM_FAULTREACTIONACTIVE2

#define SM_FAULTREACTIONACTIVE2 0b00101111

◆ SM_FSAFROMSTATUSWORD

#define SM_FSAFROMSTATUSWORD ( SW ) (SW & 0x006f)

◆ SM_FULL_RESET

#define SM_FULL_RESET 0x82

◆ SM_GO_ENABLE

#define SM_GO_ENABLE 0X0F

◆ SM_GO_READY_TO_SWITCH_ON

#define SM_GO_READY_TO_SWITCH_ON 0x06

◆ SM_GO_SWITCH_ON

#define SM_GO_SWITCH_ON 0x07

◆ SM_GO_SWITCH_ON_DISABLE

#define SM_GO_SWITCH_ON_DISABLE 0x00

◆ SM_NOT_READY_TO_SWITCH_ON

#define SM_NOT_READY_TO_SWITCH_ON 0b00000000

◆ SM_NOT_READY_TO_SWITCH_ON_2

#define SM_NOT_READY_TO_SWITCH_ON_2 0b00100000

◆ SM_OPERATION_ENABLED

#define SM_OPERATION_ENABLED 0b00100111

◆ SM_QUICK_STOP_ACTIVE

#define SM_QUICK_STOP_ACTIVE 0b00000111

◆ SM_QUICKSTOP

#define SM_QUICKSTOP 0x02

◆ SM_READY_TO_SWITCH_ON

#define SM_READY_TO_SWITCH_ON 0b00100001

◆ SM_RELATIVE_POS

#define SM_RELATIVE_POS 0X7F

◆ SM_RUN

#define SM_RUN 0x1F

◆ SM_START

#define SM_START 0x01

◆ SM_SW_FAULT

#define SM_SW_FAULT 0x0008

◆ SM_SW_INTERNAL_LIMIT_ACTIVE

#define SM_SW_INTERNAL_LIMIT_ACTIVE 0x0800

◆ SM_SW_OPERATION_ENABLED

#define SM_SW_OPERATION_ENABLED 0x0004

◆ SM_SW_QUICK_STOP

#define SM_SW_QUICK_STOP 0x0020

◆ SM_SW_READY_TO_SWITCH_ON

#define SM_SW_READY_TO_SWITCH_ON 0x0001

◆ SM_SW_REMOTE

#define SM_SW_REMOTE 0x0200

◆ SM_SW_SWITCH_ON_DISABLED

#define SM_SW_SWITCH_ON_DISABLED 0x0040

◆ SM_SW_SWITCHED_ON

#define SM_SW_SWITCHED_ON 0x0002

◆ SM_SW_TARGET_REACHED

#define SM_SW_TARGET_REACHED 0x0400

◆ SM_SW_VOLTAGE_ENABLED

#define SM_SW_VOLTAGE_ENABLED 0x0010

◆ SM_SW_WARNING

#define SM_SW_WARNING 0x0080

◆ SM_SWITCH_ON_DISABLED

#define SM_SWITCH_ON_DISABLED 0b01000000

◆ SM_SWITCH_ON_DISABLED_2

#define SM_SWITCH_ON_DISABLED_2 0b01100000

◆ SM_SWITCHED_ON

#define SM_SWITCHED_ON 0b00100011

Macros