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

Describes one general module. More...

#include <TGM.h>

Public Attributes

uint32_t VendorID
 Vendor ID from .INI file for Universal I/O device.
uint32_t ProductID
 Product ID from .INI file.
uint32_t TX_PDO
 Master->Slave PDO index from .INI file (numbers in range 0x1600 - 0x17FF)
uint32_t RX_PDO
 Slave->Master PDO index from .INI file (numbers in range 0x1A00 - 0x1BFF)
uint32_t SetECATBusPosition
 desired physical position on the bus
int32_t EtherCATState
 I/O unit communication status from EtherCAT point of view.
struct SDO Sdo
 SDO communicating channel.
int32_t sdoResponseTries
 unsuccessful SDO request counter from PLC
ECAT_REGISTER ecatRegister
 ECAT register communication channel.
uint32_t ECATBusPosition
 actual physical position on the ECAT bus
uint32_t IReserve [108]
uint32_t User_PDO_Output_Size
 size of the output PDO (Master->Slave)
uint8_t User_PDO_Output [USER_DIO_PDO_SIZE]
 output PDO as a flat array
uint32_t User_PDO_Input_Size
 size of the input PDO (Slave->Master)
uint8_t User_PDO_Input [USER_DIO_PDO_SIZE]
 input PDO as a flat array

Detailed Description

Describes one general module.

Structure size is 1024 bytes. All the information is read from device EEPROM.

Definition at line 1006 of file TGM.h.

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