TG Motion  version 421 - 4033/904 cnc 121
Real-time system for controlling servo drives and I/O modules
MAIN Struct Reference

The MAIN struct - fixed size of 4096 bytes. More...

#include <TGM.h>

Public Attributes

int32_t TGMotion_Version
 Version of TGM xxx DD MM YY.
 
int32_t TGMathDll_Version
 Version of math library xxx DD MM YY (not used in TGM420 upwards)
 
int32_t TGM_TgMotionKill
 Kill the TGM by setting to 0x4C4C494B value.
 
volatile uint32_t Log_Ctrl
 Control log output texts of TGM.
 
volatile uint32_t LogInterpolator_Ctrl
 Control log output texts od inerpolators;.
 
uint32_t Servo_Tick
 Counter of ticks servo thread.
 
uint32_t Servo_SetCycleTime
 Adjusted cycle time of servo thread [ mikrosec ].
 
uint32_t Servo_CycleTime
 Time of execute servo thread [ mikrosec ].
 
uint32_t PLC_SetCycleTime_Prg1
 Adjusted cycle time of PLC program 1 thread [ mikrosec ].
 
uint32_t PLC_CycleTime_Prg1
 Time of execute PLC program 1 thread [ mikrosec ].
 
uint32_t PLC_SetCycleTime_Prg2
 Adjusted cycle time of PLC program 2 thread [ mikrosec ].
 
uint32_t PLC_CycleTime_Prg2
 Time of execute PLC program 2 thread [ mikrosec ].
 
uint32_t PLC_SetCycleTime_Prg3
 Adjusted cycle time of PLC program 3 thread [ mikrosec ].
 
uint32_t PLC_CycleTime_Prg3
 Time of execute PLC program 3 thread [ mikrosec ].
 
uint32_t PLC_SetCycleTime_Prg4
 Adjusted cycle time of PLC program 4 thread [ mikrosec ].
 
uint32_t PLC_CycleTime_Prg4
 Time of execute PLC program 4 thread [ mikrosec ].
 
uint32_t PLC_SetCycleTime_Prg5
 Adjusted cycle time of PLC program 5 thread [ mikrosec ].
 
uint32_t PLC_CycleTime_Prg5
 Time of execute PLC program 5 thread [ mikrosec ].
 
uint32_t Number_Servos
 Number of servo drives.
 
uint32_t Number_Dios
 Number of dio modules.
 
uint32_t Number_Interpolators
 Number of interpolators.
 
uint32_t Interpolator_SetCycleTime
 Adjusted cycle time of INTERPOLATOR thread [ mikrosec ].
 
uint32_t Interpolator_CycleTime [3]
 Time execute of INTERPOLATORS [ mikrosec ].
 
uint32_t Max_Servo_Cycle_Time
 calculated maximum of servo loop time
 
uint32_t Max_Interpolator_Cycle_Time [3]
 calculated maximum of interpolator time
 
uint32_t Number_Universal_Devices
 number of general devices from .INI file
 
uint32_t Found_Total_Number_Of_ECAT_Devices
 number of found device on ECAT bus
 
int32_t Reserve [7]
 reserved
 
uint32_t Servo_CAN_BaudRate
 CAN Communications speed with servo axes [ kbit / s ].
 
uint32_t Dio_CAN_BaudRate
 CAN Communications speed with DIO modules [ kbit / s ].
 
uint32_t Servo_Bus
 Type of bus for servo communication 0 = virtual, 1 = CAN, 2 = ETHERCAT.
 
uint32_t Dio_Bus
 Type of bus for servo communication 0 = virtual, 1 = CAN, 2 = ETHERCAT.
 
uint16_t PLC_Name [MAX_PLC_FILE_NAME_SIZE]
 Name of PLC program file (always UNICODE - UTF16)
 
volatile uint32_t PLC_Ctrl
 Control PLC ( load, run, stop... )
 
uint16_t EtherCatDriver [MAX_ECAT_DRIVER_FILE_NAME_SIZE]
 Name of ETHERCAT driver (UNICODE, PC only)
 
uint32_t SystemTimeDifferenceSum
 ORed value of all DC slaves system time difference.
 
uint32_t EthPacketErrorCounter
 Counter of recieve packet error.
 
uint32_t EthMaxPacketLenght
 Max. lenght of packet.
 
int64_t MasterClock
 64-bit counter time in nanoseconds till DC started
 
int64_t ReferenceClock
 read 64-bit counter of the first slave with DC
 
int64_t MasterClockToReferenceClockDifference
 MasterClock - ReferenceClock.
 
int32_t Distributed_Clock
 copy of CONFIG_TGMOTION.Distributed_Clock
 
int32_t StateDistributedClock
 State of distributed clock on ETHERCAT 0 = off, 1 = on, -1 = error finding DC slave.
 
uint32_t Act_Timer_CycleTime
 actual measured main loop cycle time [ mikrosec ]
 
uint32_t Min_Timer_CycleTime
 minimal main loop cycle time
 
uint32_t Max_Timer_CycleTime
 maximal main loop cycle time
 
uint32_t Max_Timer_Latency
 calculated main loop timer latency
 
uint32_t Size_EEPROM_Memory
 size of EEPROM memory, zero means size of 512 bytes (compatibility with previous TGM versions)
 
uint32_t CAN_Sync_Act_Time
 Actual time between two CAN SYNCs.
 
uint32_t TGMmini_CPU_Temperature
 TGMmini only: CPU chip temperature in degrees of Celsius, if zero, no measurement done yet.
 
uint32_t PLC_MaxCycleTime_Prg1
 Maximal measured execution time PLC program 1 thread [ mikrosec ].
 
uint32_t PLC_MaxCycleTime_Prg2
 Maximal measured execution time PLC program 2 thread [ mikrosec ].
 
uint32_t PLC_MaxCycleTime_Prg3
 Maximal measured execution time PLC program 3 thread [ mikrosec ].
 
uint32_t PLC_MaxCycleTime_Prg4
 Maximal measured execution time PLC program 4 thread [ mikrosec ].
 
uint32_t PLC_MaxCycleTime_Prg5
 Maximal measured execution time PLC program 5 thread [ mikrosec ].
 
uint32_t CAN_Transmit_Buffer_Fullness
 fullness of the CAN transmit buffer, PC: 0 or 1, TGMmini: 0 - 55
 

Detailed Description

The MAIN struct - fixed size of 4096 bytes.

Definition at line 419 of file TGM.h.


The documentation for this struct was generated from the following file: