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TG Motion
version 421 - 4033/904 cnc 121
Real-time system for controlling servo drives and I/O modules
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TG Motion
version 421 - 4033/904 cnc 121
Real-time system for controlling servo drives and I/O modules
|
Describes one servo drive (or axis) More...
#include <TGM.h>
Public Attributes | |
| int32_t | Number |
| Logical servo number. | |
| int32_t | Node |
| Communication node number. | |
| int32_t | Axis |
| Axis number ( valid for multiaxis servodrives ) | |
| int32_t | Type |
| Servo type. | |
| uint32_t | Resolution |
| Motor resolution [ inc/rev ]. | |
| int32_t | SerialNumber |
| Serial number of servo drives. | |
| volatile int32_t | Control |
| volatile int32_t | Status |
| Servo status -1 = communications fault, 0 = no response, 1 = fault, 2 - ready disable, 3 - ready enable. | |
| int32_t | Mode |
| Servo modes. | |
| int32_t | Error |
| Fault code. | |
| int32_t | EtherCATState |
| State of communications on the ETHERCAT. | |
| int32_t | DigitalIn |
| State of servo digital inputs. | |
| int32_t | DigitalOut |
| State of servo digital outputs, writing causes setting servo digital outputs. | |
| int32_t | TorqueFeedForward |
| Torque feed forward scaling is 0.001 of rated torque. | |
| int32_t | ControlWord |
| copy of CAN control word | |
| int32_t | StatusWord |
| copy of CAN status word | |
| int32_t | SysTimeDifference |
| last known difference between local time and reference time in ns | |
| struct ECAT_REGISTER | ecatRegister |
| ECAT register communication channel. | |
| uint32_t | ECATBusPosition |
| found physical position on the bus | |
| int32_t | IReserve [94] |
| reserved | |
| double | WritePosition |
| Wanted servo position [ inc ] RW. | |
| double | Position |
| Actual position reading from the servo [ inc ] R. | |
| double | RefPosition |
| Actual shift position from the servo [ inc ] R. | |
| double | ExtPosition |
| Actual external position reading from the servo [ inc ] R. | |
| double | Offset |
| Shift of the position [ inc ] W. | |
| double | Correction |
| Correction of position [ inc ] W. | |
| double | PositionError |
| Actual position error [ inc ] R. | |
| double | WriteSpeed |
| Actual speed writing to servo [ inc/s ] R. | |
| double | Speed |
| Actual speed reading from the servo [ inc/s ] R. | |
| double | LimitCurrent |
| Drive current limitation [ inc ] - depends on servo type W. | |
| double | Current |
| Actual drive current [ inc ] - depends on servo type R. | |
| double | MaxCurrent |
| Max. drive current [ mA ] - depends on servo type R. | |
| double | AnalogIn |
| Actual value from analog input [ inc ] - depends on servo type R. | |
| double | WriteAcc |
| Actual acceleration writing to servo [ inc/s2 ] R. | |
| double | AccMaxTorqueFeedForward |
| Acceleration for max feedforward [ inc/s2 ] W. | |
| double | TransformedPosition |
| Value to be copied to WritePosition in case of Mode == 9 (MODE_USER) | |
| double | DReserve [88] |
| reserved | |
| struct PG | Pg |
| Profile generator. | |
| struct SDO | Sdo |
| SDO communication object. | |
| struct GEAR | Gear |
| Gear generator. | |
| struct MAP_CNC | Cnc |
| Mapping of interpolator axis to servo. | |
| struct CAPTURE | Capture |
| Capture control. | |
| struct COMMAND | Command |
| Interface which simplifies Profile and Gear generator settings. | |
Describes one servo drive (or axis)
Structure size is 2048 bytes
| volatile int32_t SERVO::Control |
Servo control
| bit number | description |
|---|---|
| 0 | reset fault, |
| 1 | disable torque, |
| 2 | reset ETHERCAT Communication, |
| 3 | automatic calculate of torque feed forward on/off |
| 30 | clear bit 4 of CAN SERVO::ControlWord (clear new setpoint) (DCM servo type only) |
| 31 | set bit 4 of CAN SERVO::ControlWord (set new setpoint) (DCM servo type only) |
1.8.13