Copley Motion Library

Generated by Doxygen 1.8.13

Contents

1 Copley Motion Library 1

1.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

1.1.1 Supported platforms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

1.1.2 Multi-tasking support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1

1.1.3 CAN hardware support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1.1.4 EtherCAT hardware support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1.2 CANopen basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2

1.2.1 CANopen Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

1.2.2 SDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

1.2.3 PDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1.2.4 Network management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

1.2.5 SYNC messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1.2.6 Emergency messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1.3 EtherCAT basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1.4 Architectural overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1.4.1 CanInterface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1.4.2 EtherCatHardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1.4.3 Network class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1.4.4 CanOpen class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1.4.5 EtherCAT class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

1.4.6 Receiver class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

1.4.7 Node class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

1.4.8 Amp class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

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2 Hierarchical Index 9

2.1 Class Hierarchy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

3 Class Index 13

3.1 Class List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

4 File Index 19

4.1 File List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

5 Class Documentation 23

5.1 IOModule::AlgInPDO Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

5.1.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

5.1.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

5.1.2.1 GetInVal() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

5.1.2.2 Init() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

5.1.2.3 Received() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

5.2 AlgoPhaseInit Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

5.2.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

5.2.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

5.2.2.1 AlgoPhaseInit() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

5.2.3 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

5.2.3.1 phaseInitConfig . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

5.3 IOModule::AlgOutPDO Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

5.3.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

5.3.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

5.3.2.1 Init() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

5.3.2.2 Transmit() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

5.3.2.3 Update() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

5.4 Amp Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

5.4.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

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5.4.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

5.4.2.1 Amp() [1/3] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

5.4.2.2 Amp() [2/3] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

5.4.2.3 Amp() [3/3] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

5.4.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

5.4.3.1 AccLoad2User() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

5.4.3.2 AccMtr2User() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

5.4.3.3 AccUser2Load() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

5.4.3.4 AccUser2Mtr() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

5.4.3.5 CheckStateForMove() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

5.4.3.6 ClearEventLatch() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

5.4.3.7 ClearFaults() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

5.4.3.8 ClearHaltedMove() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

5.4.3.9 ClearNodeGuardEvent() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

5.4.3.10 Disable() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

5.4.3.11 Dnld16() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

5.4.3.12 Dnld16() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

5.4.3.13 Dnld32() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

5.4.3.14 Dnld32() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

5.4.3.15 Dnld8() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

5.4.3.16 Dnld8() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

5.4.3.17 DnldString() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

5.4.3.18 DoMove() [1/4] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54

5.4.3.19 DoMove() [2/4] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

5.4.3.20 DoMove() [3/4] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

5.4.3.21 DoMove() [4/4] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

5.4.3.22 Download() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

5.4.3.23 Enable() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

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5.4.3.24 FormatPosInit() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

5.4.3.25 FormatPtSeg() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57

5.4.3.26 FormatPvtSeg() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

5.4.3.27 GetAlgoPhaseInit() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58

5.4.3.28 GetAmpConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

5.4.3.29 GetAmpInfo() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59

5.4.3.30 GetAmpMode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

5.4.3.31 GetAmpName() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

5.4.3.32 GetAmpTemp() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60

5.4.3.33 GetAnalogCommandFilter() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

5.4.3.34 GetAnalogEncoder() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61

5.4.3.35 GetAnalogRefConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

5.4.3.36 GetCammingConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

5.4.3.37 GetCanNetworkConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62

5.4.3.38 GetControlWord() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

5.4.3.39 GetCountsPerUnit() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63

5.4.3.40 GetCountsPerUnit() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

5.4.3.41 GetCrntLoopConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64

5.4.3.42 GetCurrentActual() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

5.4.3.43 GetCurrentCommand() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65

5.4.3.44 GetCurrentLimited() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

5.4.3.45 GetCurrentProgrammed() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

5.4.3.46 GetDAConverterConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

5.4.3.47 GetEncoderErrorConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

5.4.3.48 GetErrorStatus() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

5.4.3.49 GetEventLatch() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

5.4.3.50 GetEventMask() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

5.4.3.51 GetEventStatus() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

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5.4.3.52 GetEventSticky() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

5.4.3.53 GetFaultMask() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

5.4.3.54 GetFaults() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

5.4.3.55 GetFuncGenConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

5.4.3.56 GetGainScheduling() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

5.4.3.57 GetHallState() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72

5.4.3.58 GetHaltMode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

5.4.3.59 GetHighVoltage() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

5.4.3.60 GetHomeAccel() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

5.4.3.61 GetHomeAdjustment() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

5.4.3.62 GetHomeCapture() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

5.4.3.63 GetHomeConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

5.4.3.64 GetHomeCurrent() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

5.4.3.65 GetHomeDelay() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

5.4.3.66 GetHomeMethod() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

5.4.3.67 GetHomeOffset() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 76

5.4.3.68 GetHomeVelFast() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

5.4.3.69 GetHomeVelSlow() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

5.4.3.70 GetIloopCommandFilter() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

5.4.3.71 GetIloopCommandFilter2() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

5.4.3.72 GetIndexCapture() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78

5.4.3.73 GetInputConfig() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

5.4.3.74 GetInputConfig() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79

5.4.3.75 GetInputDebounce() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

5.4.3.76 GetInputs() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80

5.4.3.77 GetInputs32() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

5.4.3.78 GetInputShapingFilter() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

5.4.3.79 GetIoConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81

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5.4.3.80 GetIOOPtions() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

5.4.3.81 GetIoPullup() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82

5.4.3.82 GetIoPullup32() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

5.4.3.83 GetLinkage() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83

5.4.3.84 GetLinkRef() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

5.4.3.85 GetMicrostepRate() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

5.4.3.86 GetMotorCurrent() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84

5.4.3.87 GetMtrInfo() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

5.4.3.88 GetNetworkOptions() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

5.4.3.89 GetNetworkRef() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85

5.4.3.90 GetOutputConfig() [1/6] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

5.4.3.91 GetOutputConfig() [2/6] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86

5.4.3.92 GetOutputConfig() [3/6] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

5.4.3.93 GetOutputConfig() [4/6] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87

5.4.3.94 GetOutputConfig() [5/6] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

5.4.3.95 GetOutputConfig() [6/6] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88

5.4.3.96 GetOutputs() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

5.4.3.97 GetPhaseAngle() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89

5.4.3.98 GetPhaseMode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

5.4.3.99 GetPosCaptureCfg() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

5.4.3.100 GetPosCaptureStat() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90

5.4.3.101 GetPositionActual() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

5.4.3.102 GetPositionCommand() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

5.4.3.103 GetPositionError() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

5.4.3.104 GetPositionErrorWindow() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92

5.4.3.105 GetPositionLoad() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

5.4.3.106 GetPositionMotor() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93

5.4.3.107 GetPositionWarnWindow() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

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5.4.3.108 GetPosLoopConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

5.4.3.109 GetProfileAcc() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94

5.4.3.110 GetProfileConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

5.4.3.111 GetProfileDec() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95

5.4.3.112 GetProfileJerk() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

5.4.3.113 GetProfileType() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

5.4.3.114 GetProfileVel() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96

5.4.3.115 GetPvtBuffFree() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

5.4.3.116 GetPvtBuffStat() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97

5.4.3.117 GetPvtSegID() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

5.4.3.118 GetPvtSegPos() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

5.4.3.119 GetPwmInConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98

5.4.3.120 GetPwmMode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

5.4.3.121 GetQuickStop() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99

5.4.3.122 GetQuickStopDec() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

5.4.3.123 GetRefVoltage() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

5.4.3.124 GetRegenConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

5.4.3.125 GetServoLoopConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

5.4.3.126 GetSettlingTime() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101

5.4.3.127 GetSettlingWindow() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

5.4.3.128 GetSoftLimits() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102

5.4.3.129 GetSpecialFirmwareConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

5.4.3.130 GetState() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

5.4.3.131 GetStatusWord() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

5.4.3.132 GetTargetPos() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

5.4.3.133 GetTargetVel() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104

5.4.3.134 GetTorqueActual() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

5.4.3.135 GetTorqueDemand() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105

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5.4.3.136 GetTorqueRated() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

5.4.3.137 GetTorqueSlope() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

5.4.3.138 GetTorqueTarget() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

5.4.3.139 GetTraceChannel() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

5.4.3.140 GetTraceData() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

5.4.3.141 GetTraceMaxChannel() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108

5.4.3.142 GetTracePeriod() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108

5.4.3.143 GetTraceRefPeriod() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

5.4.3.144 GetTraceStatus() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

5.4.3.145 GetTraceTrigger() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

5.4.3.146 GetTrackingWindows() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110

5.4.3.147 GetTrajectoryAcc() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

5.4.3.148 GetTrajectoryJrkAbort() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111

5.4.3.149 GetTrajectoryVel() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

5.4.3.150 GetUstepConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

5.4.3.151 GetVelLoopConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112

5.4.3.152 GetVelocityActual() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

5.4.3.153 GetVelocityCommand() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

5.4.3.154 GetVelocityLimited() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

5.4.3.155 GetVelocityLoad() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114

5.4.3.156 GetVelocityProgrammed() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

5.4.3.157 GetVelocityWarnTime() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115

5.4.3.158 GetVelocityWarnWindow() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

5.4.3.159 GetVloopCommandFilter() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

5.4.3.160 GetVloopOutputFilter() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116

5.4.3.161 GetVloopOutputFilter2() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

5.4.3.162 GetVloopOutputFilter3() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

5.4.3.163 GoHome() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117

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5.4.3.164 GoHome() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

5.4.3.165 HaltMove() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

5.4.3.166 HandleStateChange() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118

5.4.3.167 Init() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

5.4.3.168 Init() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119

5.4.3.169 InitSubAxis() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

5.4.3.170 IsHardwareEnabled() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

5.4.3.171 IsReferenced() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121

5.4.3.172 IsSoftwareEnabled() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121

5.4.3.173 JrkLoad2User() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121

5.4.3.174 JrkUser2Load() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

5.4.3.175 LoadCCDFromFile() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122

5.4.3.176 LoadFromFile() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

5.4.3.177 MoveAbs() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

5.4.3.178 MoveRel() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

5.4.3.179 PosLoad2User() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

5.4.3.180 PosMtr2User() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

5.4.3.181 PosUser2Load() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

5.4.3.182 PosUser2Mtr() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

5.4.3.183 PvtBufferFlush() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

5.4.3.184 PvtBufferPop() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126

5.4.3.185 PvtClearErrors() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

5.4.3.186 PvtStatusUpdate() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

5.4.3.187 PvtWriteBuff() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127

5.4.3.188 PvtWriteBuff() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

5.4.3.189 QuickStop() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128

5.4.3.190 ReInit() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

5.4.3.191 Reset() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

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5.4.3.192 SaveAmpConfig() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129

5.4.3.193 SaveAmpConfig() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

5.4.3.194 SendTrajectory() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130

5.4.3.195 SetAlgoPhaseInit() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

5.4.3.196 SetAmpConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

5.4.3.197 SetAmpMode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131

5.4.3.198 SetAmpName() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132

5.4.3.199 SetAnalogCommandFilter() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132

5.4.3.200 SetAnalogRefConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

5.4.3.201 SetCammingConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

5.4.3.202 SetCanNetworkConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133

5.4.3.203 SetControlWord() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134

5.4.3.204 SetCountsPerUnit() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134

5.4.3.205 SetCountsPerUnit() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135

5.4.3.206 SetCrntLoopConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136

5.4.3.207 SetCurrentProgrammed() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136

5.4.3.208 SetDAConverterConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136

5.4.3.209 SetEncoderErrorConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

5.4.3.210 SetFaultMask() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137

5.4.3.211 SetFuncGenConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

5.4.3.212 SetGainScheduling() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

5.4.3.213 SetHaltMode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

5.4.3.214 SetHomeAccel() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

5.4.3.215 SetHomeConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139

5.4.3.216 SetHomeCurrent() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

5.4.3.217 SetHomeDelay() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140

5.4.3.218 SetHomeMethod() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

5.4.3.219 SetHomeOffset() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

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5.4.3.220 SetHomeVelFast() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141

5.4.3.221 SetHomeVelSlow() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

5.4.3.222 SetIloopCommandFilter() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142

5.4.3.223 SetIloopCommandFilter2() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143

5.4.3.224 SetInputConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143

5.4.3.225 SetInputDebounce() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144

5.4.3.226 SetInputShapingFilter() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144

5.4.3.227 SetIoConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

5.4.3.228 SetIOOptions() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

5.4.3.229 SetIoPullup() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145

5.4.3.230 SetIoPullup32() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146

5.4.3.231 SetMicrostepRate() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146

5.4.3.232 SetMtrInfo() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147

5.4.3.233 SetNetworkOptions() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147

5.4.3.234 SetOutputConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148

5.4.3.235 SetOutputs() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148

5.4.3.236 SetPhaseMode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

5.4.3.237 SetPosCaptureCfg() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

5.4.3.238 SetPositionActual() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150

5.4.3.239 SetPositionErrorWindow() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150

5.4.3.240 SetPositionLoad() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

5.4.3.241 SetPositionMotor() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152

5.4.3.242 SetPositionWarnWindow() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153

5.4.3.243 SetPosLoopConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153

5.4.3.244 SetProfileAcc() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

5.4.3.245 SetProfileConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154

5.4.3.246 SetProfileDec() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

5.4.3.247 SetProfileJerk() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

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5.4.3.248 SetProfileType() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

5.4.3.249 SetProfileVel() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

5.4.3.250 SetPvtInitialPos() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

5.4.3.251 SetPwmInConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157

5.4.3.252 SetPwmMode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157

5.4.3.253 SetQuickStop() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158

5.4.3.254 SetQuickStopDec() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158

5.4.3.255 SetRegenConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

5.4.3.256 SetServoLoopConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159

5.4.3.257 SetSettlingTime() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160

5.4.3.258 SetSettlingWindow() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160

5.4.3.259 SetSoftLimits() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160

5.4.3.260 SetSpecialFirmwareConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161

5.4.3.261 SetTargetPos() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161

5.4.3.262 SetTargetVel() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162

5.4.3.263 SetTorqueRated() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162

5.4.3.264 SetTorqueSlope() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163

5.4.3.265 SetTorqueTarget() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163

5.4.3.266 SetTraceChannel() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164

5.4.3.267 SetTracePeriod() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164

5.4.3.268 SetTraceTrigger() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165

5.4.3.269 SetTrackingWindows() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165

5.4.3.270 SetTrajectoryJrkAbort() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166

5.4.3.271 SetupMove() [1/3] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166

5.4.3.272 SetupMove() [2/3] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167

5.4.3.273 SetupMove() [3/3] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167

5.4.3.274 SetUstepConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168

5.4.3.275 SetVelLoopConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168

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5.4.3.276 SetVelocityProgrammed() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168

5.4.3.277 SetVelocityWarnTime() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169

5.4.3.278 SetVelocityWarnWindow() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169

5.4.3.279 SetVloopCommandFilter() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170

5.4.3.280 SetVloopOutputFilter() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170

5.4.3.281 SetVloopOutputFilter2() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170

5.4.3.282 SetVloopOutputFilter3() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171

5.4.3.283 StartMove() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171

5.4.3.284 StartPVT() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172

5.4.3.285 TraceStart() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172

5.4.3.286 TraceStop() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172

5.4.3.287 UpdateEvents() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172

5.4.3.288 Upld16() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173

5.4.3.289 Upld16() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173

5.4.3.290 Upld32() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174

5.4.3.291 Upld32() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174

5.4.3.292 Upld8() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175

5.4.3.293 Upld8() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175

5.4.3.294 UpldString() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176

5.4.3.295 Upload() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176

5.4.3.296 VelLoad2User() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177

5.4.3.297 VelMtr2User() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177

5.4.3.298 VelUser2Load() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178

5.4.3.299 VelUser2Mtr() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178

5.4.3.300 WaitEvent() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179

5.4.3.301 WaitEvent() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179

5.4.3.302 WaitHomeDone() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180

5.4.3.303 WaitInputEvent() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180

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5.4.3.304 WaitInputHigh() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181

5.4.3.305 WaitInputLow() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181

5.4.3.306 WaitMoveDone() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182

5.5 AmpConfig Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182

5.5.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185

5.5.2 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185

5.5.2.1 capCtrl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186

5.5.2.2 CME_Config . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186

5.5.2.3 encoderOutCfg . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186

5.5.2.4 limitBitMask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186

5.5.2.5 options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186

5.5.2.6 phaseMode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186

5.5.2.7 progCrnt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187

5.5.2.8 progVel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187

5.5.2.9 pwmMode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187

5.5.2.10 stepRate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187

5.6 AmpError Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188

5.6.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

5.6.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

5.6.2.1 DecodeStatus() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191

5.7 AmpFault Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192

5.7.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194

5.7.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194

5.7.2.1 DecodeFault() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194

5.8 AmpFileError Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195

5.8.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197

5.9 AmpInfo Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197

5.9.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198

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5.10 AmpIoCfg Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199

5.10.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199

5.10.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199

5.10.2.1 AmpIoCfg() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200

5.10.3 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200

5.10.3.1 inCfg . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200

5.10.3.2 inPullUpCfg . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200

5.10.3.3 inPullUpCfg32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200

5.10.3.4 inputCt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 200

5.10.3.5 outMask . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201

5.10.3.6 outMask1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201

5.10.3.7 outputCt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201

5.11 AmpSettings Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201

5.11.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202

5.11.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202

5.11.2.1 AmpSettings() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203

5.11.3 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203

5.11.3.1 enableOnInit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203

5.11.3.2 guardTime . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203

5.11.3.3 heartbeatPeriod . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204

5.11.3.4 heartbeatTimeout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204

5.11.3.5 initialMode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204

5.11.3.6 lifeFactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205

5.11.3.7 maxPvtSendCt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205

5.11.3.8 resetOnInit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205

5.11.3.9 synchID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205

5.11.3.10 synchPeriod . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206

5.11.3.11 synchProducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206

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5.11.3.12 synchUseFirstAmp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206

5.11.3.13 timeStampID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206

5.12 AnalogRefConfig Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207

5.12.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207

5.12.2 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207

5.12.2.1 calibration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207

5.12.2.2 deadband . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208

5.12.2.3 scale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208

5.13 APRD Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208

5.13.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209

5.14 APWR Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209

5.14.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210

5.15 ARMW Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210

5.15.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211

5.16 Array< C > Class Template Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211

5.16.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212

5.16.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212

5.16.2.1 Array() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212

5.16.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213

5.16.3.1 add() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213

5.16.3.2 length() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213

5.16.3.3 operator[]() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213

5.16.3.4 rem() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214

5.17 BRD Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214

5.17.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215

5.18 BWR Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215

5.18.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216

5.19 CammingConfig Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216

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5.19.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217

5.19.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217

5.19.2.1 CammingConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217

5.19.3 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217

5.19.3.1 cammingMasterVel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217

5.20 CanError Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218

5.20.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219

5.21 CanFrame Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219

5.21.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220

5.21.2 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220

5.21.2.1 data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220

5.21.2.2 id . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 220

5.21.2.3 length . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221

5.22 CanInterface Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221

5.22.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223

5.22.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223

5.22.2.1 CanInterface() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223

5.22.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223

5.22.3.1 ChkID() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223

5.22.3.2 Close() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224

5.22.3.3 Open() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224

5.22.3.4 Recv() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224

5.22.3.5 RecvFrame() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225

5.22.3.6 SetBaud() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225

5.22.3.7 SetName() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226

5.22.3.8 SupportsTimestamps() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226

5.22.3.9 Xmit() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226

5.22.3.10 XmitFrame() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227

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5.22.4 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 227

5.22.4.1 portName . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228

5.23 CanNetworkConfig Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228

5.23.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229

5.23.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229

5.23.2.1 FromAmpFormat() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229

5.23.2.2 ToAmpFormat() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230

5.23.3 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230

5.23.3.1 heartbeat . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230

5.23.3.2 nodeGuard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230

5.23.3.3 nodeGuardLife . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 230

5.23.3.4 numInPins . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231

5.23.3.5 offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231

5.23.3.6 pinMapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231

5.23.3.7 useSwitch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231

5.24 CanOpen Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232

5.24.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234

5.24.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234

5.24.2.1 CanOpen() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234

5.24.2.2 ∼CanOpen() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234

5.24.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234

5.24.3.1 AttachNode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234

5.24.3.2 BootModeNode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235

5.24.3.3 Close() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235

5.24.3.4 DetachNode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 235

5.24.3.5 DisableReceiver() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236

5.24.3.6 EnableReceiver() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 236

5.24.3.7 GetErrorFrameCounter() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237

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5.24.3.8 GetNetworkType() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237

5.24.3.9 GetSynchProducer() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237

5.24.3.10 Open() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 237

5.24.3.11 Open() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238

5.24.3.12 PreOpNode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 238

5.24.3.13 ResetComm() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239

5.24.3.14 ResetNode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 239

5.24.3.15 SetNodeGuard() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240

5.24.3.16 SetSynchProducer() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240

5.24.3.17 StartNode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 240

5.24.3.18 StopNode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241

5.24.3.19 Xmit() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241

5.24.3.20 XmitPDO() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242

5.24.3.21 XmitSDO() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 242

5.25 CanOpenError Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243

5.25.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245

5.25.2 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245

5.25.2.1 IllegalFieldCt . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 245

5.25.2.2 Initialized . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246

5.25.2.3 MonitorRunning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246

5.25.2.4 NotInitialized . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246

5.25.2.5 SDO_BadMuxRcvd . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246

5.26 CanOpenNodeInfo Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247

5.26.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248

5.26.2 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248

5.26.2.1 guardTimeout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248

5.26.2.2 guardToggle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 248

5.26.2.3 guardType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249

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5.27 CanOpenSettings Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249

5.27.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249

5.27.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250

5.27.2.1 CanOpenSettings() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250

5.27.3 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250

5.27.3.1 readThreadPriority . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250

5.27.3.2 syncID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250

5.27.3.3 timeID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 250

5.27.3.4 useAsTimingReference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251

5.28 CopleyCAN Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251

5.28.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253

5.28.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253

5.28.2.1 CopleyCAN() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253

5.28.2.2 CopleyCAN() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253

5.28.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 253

5.28.3.1 Close() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254

5.28.3.2 Open() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254

5.28.3.3 RecvFrame() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 254

5.28.3.4 SetBaud() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255

5.28.3.5 SupportsTimestamps() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255

5.28.3.6 XmitFrame() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 255

5.28.4 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256

5.28.4.1 local . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256

5.29 CopleyIO Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256

5.29.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 258

5.29.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259

5.29.2.1 CopleyIO() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259

5.29.2.2 CopleyIO() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259

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5.29.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259

5.29.3.1 GetIOAnlg() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 259

5.29.3.2 GetIOCfg() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260

5.29.3.3 GetIODigi() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 260

5.29.3.4 GetIOInfo() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261

5.29.3.5 GetIOPWM() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261

5.29.3.6 Init() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 261

5.29.3.7 Init() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262

5.29.3.8 LoadFromFile() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 262

5.29.3.9 SaveIOConfig() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263

5.29.3.10 SaveIOConfig() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 263

5.29.3.11 SerialCmd() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264

5.29.3.12 SetIOAnlg() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 264

5.29.3.13 SetIOConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265

5.29.3.14 SetIODigi() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265

5.29.3.15 SetIOInfo() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 265

5.29.3.16 SetIOPWM() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266

5.30 CopleyIOAnlg Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266

5.30.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267

5.31 CopleyIOCfg Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267

5.31.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268

5.32 CopleyIODigi Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268

5.32.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269

5.33 CopleyIOInfo Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269

5.33.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 270

5.34 CopleyIOPWM Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271

5.34.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271

5.35 CopleyMotionLibrary Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271

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5.35.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272

5.35.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272

5.35.2.1 ∼CopleyMotionLibrary() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272

5.35.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 272

5.35.3.1 Debug() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273

5.35.3.2 Error() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273

5.35.3.3 FlushLog() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 273

5.35.3.4 GetDebugLevel() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274

5.35.3.5 GetFlushLog() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274

5.35.3.6 GetLogFile() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274

5.35.3.7 GetMaxLogSize() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 274

5.35.3.8 GetVersionString() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275

5.35.3.9 LogCAN() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275

5.35.3.10 SetDebugLevel() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 275

5.35.3.11 SetFlushLog() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276

5.35.3.12 SetLogFile() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276

5.35.3.13 SetMaxLogSize() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 276

5.35.3.14 Warn() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277

5.36 CopleyNode Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277

5.36.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279

5.36.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279

5.36.2.1 FirmwareUpdate() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279

5.36.2.2 SerialCmd() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280

5.37 CopleyNodeError Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280

5.37.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282

5.38 CrntLoopConfig Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282

5.38.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283

5.38.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283

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5.38.2.1 CrntLoopConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283

5.38.3 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283

5.38.3.1 contLim . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283

5.38.3.2 peakTime . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 283

5.38.3.3 slope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284

5.38.3.4 stepHoldCurrent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284

5.38.3.5 stepRun2HoldTime . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284

5.38.3.6 stepVolControlDelayTime . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 284

5.39 DAConfig Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285

5.39.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285

5.39.2 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285

5.39.2.1 daConverterConfig . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285

5.40 IOModule::DigInPDO Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286

5.40.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287

5.40.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 287

5.40.2.1 GetBitVal() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288

5.40.2.2 GetInVal() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288

5.40.2.3 Init() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 288

5.40.2.4 Received() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289

5.41 IOModule::DigOutPDO Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289

5.41.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291

5.41.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291

5.41.2.1 Init() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 291

5.41.2.2 Transmit() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292

5.41.2.3 Update() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292

5.41.2.4 UpdateBit() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 292

5.42 EcatDgram Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293

5.42.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294

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5.42.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294

5.42.2.1 EcatDgram() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 294

5.42.2.2 EcatDgram() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295

5.42.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295

5.42.3.1 checkNdx() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 295

5.42.3.2 getDgramLen() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296

5.42.3.3 getNdx() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296

5.42.3.4 getNext() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296

5.42.3.5 Init() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 296

5.42.3.6 Init() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297

5.42.3.7 Load() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 297

5.42.3.8 setData() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298

5.42.3.9 setData() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298

5.42.3.10 setNdx() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 298

5.42.3.11 setNext() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299

5.43 EcatFrame Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299

5.43.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300

5.44 EncoderErrorConfig Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300

5.44.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300

5.44.2 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301

5.44.2.1 encoderErrorConfig . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301

5.45 Error Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301

5.45.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304

5.45.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304

5.45.2.1 Error() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 304

5.45.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305

5.45.3.1 GetID() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305

5.45.3.2 Lookup() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 305

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5.45.3.3 toString() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306

5.46 EtherCAT Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306

5.46.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308

5.46.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308

5.46.2.1 AddToFrame() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 308

5.46.2.2 FoE_DnldData() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309

5.46.2.3 FoE_DnldStart() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 309

5.46.2.4 FoE_LastErrInfo() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310

5.46.2.5 FoE_UpldData() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 310

5.46.2.6 FoE_UpldStart() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311

5.46.2.7 GetIdFromEEPROM() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 311

5.46.2.8 GetNetworkType() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312

5.46.2.9 GetNodeAddress() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 312

5.46.2.10 getNodeCount() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313

5.46.2.11 InitDistClk() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313

5.46.2.12 MailboxTransfer() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 313

5.46.2.13 MailboxTransfer() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 314

5.46.2.14 maxSdoFromNode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315

5.46.2.15 maxSdoToNode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 315

5.46.2.16 SetNodeGuard() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316

5.46.2.17 SetSync0Period() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 316

5.46.2.18 WaitCycleUpdate() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317

5.47 EtherCatError Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317

5.47.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 319

5.48 EtherCatHardware Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320

5.48.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320

5.49 EtherCatSettings Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321

5.49.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321

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5.49.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321

5.49.2.1 EtherCatSettings() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321

5.49.3 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321

5.49.3.1 cyclePeriod . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322

5.49.3.2 cycleThreadPriority . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322

5.49.3.3 readThreadPriority . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322

5.50 Event Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322

5.50.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 323

5.50.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324

5.50.2.1 Event() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324

5.50.2.2 ∼Event() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324

5.50.2.3 Event() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324

5.50.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 324

5.50.3.1 delChain() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325

5.50.3.2 getMask() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325

5.50.3.3 getValue() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325

5.50.3.4 isTrue() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 325

5.50.3.5 operator=() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326

5.50.3.6 setChain() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 326

5.50.3.7 setValue() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327

5.50.3.8 Wait() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 327

5.51 EventAll Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328

5.51.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329

5.51.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329

5.51.2.1 EventAll() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329

5.51.2.2 EventAll() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 329

5.51.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330

5.51.3.1 isTrue() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330

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5.52 EventAny Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330

5.52.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331

5.52.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331

5.52.2.1 EventAny() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 331

5.52.2.2 EventAny() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332

5.52.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332

5.52.3.1 isTrue() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 332

5.53 EventAnyClear Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333

5.53.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334

5.53.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334

5.53.2.1 EventAnyClear() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334

5.53.2.2 EventAnyClear() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334

5.53.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334

5.53.3.1 isTrue() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 334

5.54 EventError Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335

5.54.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336

5.55 EventMap Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336

5.55.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337

5.55.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337

5.55.2.1 ∼EventMap() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 337

5.55.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338

5.55.3.1 Add() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338

5.55.3.2 changeBits() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338

5.55.3.3 clrBits() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 338

5.55.3.4 getMask() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339

5.55.3.5 Remove() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339

5.55.3.6 setBits() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 339

5.55.3.7 setMask() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340

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5.56 EventNone Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340

5.56.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341

5.56.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341

5.56.2.1 EventNone() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 341

5.56.2.2 EventNone() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342

5.56.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342

5.56.3.1 isTrue() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 342

5.57 Filter Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343

5.57.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343

5.57.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343

5.57.2.1 Filter() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343

5.57.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343

5.57.3.1 LoadFromCCX() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343

5.58 Firmware Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344

5.58.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344

5.58.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345

5.58.2.1 getAmpType() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345

5.58.2.2 getData() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345

5.58.2.3 getFileVersion() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 345

5.58.2.4 getLength() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346

5.58.2.5 getStart() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346

5.58.2.6 progress() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346

5.59 FirmwareError Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346

5.59.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348

5.60 FPRD Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348

5.60.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349

5.61 FPWR Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349

5.61.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350

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5.62 FuncGenConfig Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350

5.62.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351

5.62.2 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351

5.62.2.1 amp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351

5.63 GainScheduling Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351

5.63.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351

5.63.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352

5.63.2.1 GainScheduling() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352

5.64 HomeConfig Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352

5.64.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353

5.64.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353

5.64.2.1 HomeConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353

5.64.3 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353

5.64.3.1 accel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353

5.64.3.2 current . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353

5.64.3.3 delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 353

5.64.3.4 extended . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354

5.64.3.5 offset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354

5.64.3.6 velFast . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354

5.64.3.7 velSlow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 354

5.65 InputShaper Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355

5.65.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355

5.65.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355

5.65.2.1 InputShaper() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355

5.65.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355

5.65.3.1 LoadFromCCX() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355

5.66 IOError Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356

5.66.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 357

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5.67 IOFileError Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 358

5.67.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359

5.68 IOModule Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359

5.68.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 368

5.68.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369

5.68.2.1 IOModule() [1/3] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369

5.68.2.2 IOModule() [2/3] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369

5.68.2.3 IOModule() [3/3] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 369

5.68.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370

5.68.3.1 Ain16GetCt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370

5.68.3.2 Ain16GetLowerLimit() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370

5.68.3.3 Ain16GetNegativeDelta() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 370

5.68.3.4 Ain16GetPositiveDelta() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 371

5.68.3.5 Ain16GetUnsignedDelta() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 371

5.68.3.6 Ain16GetUpperLimit() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 372

5.68.3.7 Ain16Read() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 372

5.68.3.8 Ain16SetLowerLimit() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373

5.68.3.9 Ain16SetNegativeDelta() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 373

5.68.3.10 Ain16SetPositiveDelta() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374

5.68.3.11 Ain16SetUnsignedDelta() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374

5.68.3.12 Ain16SetUpperLimit() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 374

5.68.3.13 Ain32GetCt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375

5.68.3.14 Ain32GetLowerLimit() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 375

5.68.3.15 Ain32GetNegativeDelta() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376

5.68.3.16 Ain32GetOffset() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 376

5.68.3.17 Ain32GetPositiveDelta() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377

5.68.3.18 Ain32GetScaling() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377

5.68.3.19 Ain32GetUnsignedDelta() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 377

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5.68.3.20 Ain32GetUpperLimit() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378

5.68.3.21 Ain32Read() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 378

5.68.3.22 Ain32SetLowerLimit() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379

5.68.3.23 Ain32SetNegativeDelta() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 379

5.68.3.24 Ain32SetOffset() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380

5.68.3.25 Ain32SetPositiveDelta() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380

5.68.3.26 Ain32SetScaling() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 380

5.68.3.27 Ain32SetUnsignedDelta() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381

5.68.3.28 Ain32SetUpperLimit() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 381

5.68.3.29 Ain8GetCt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382

5.68.3.30 Ain8Read() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382

5.68.3.31 AinFltGetCt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 382

5.68.3.32 AinFltGetLowerLimit() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384

5.68.3.33 AinFltGetNegativeDelta() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 384

5.68.3.34 AinFltGetOffset() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385

5.68.3.35 AinFltGetPositiveDelta() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 385

5.68.3.36 AinFltGetScaling() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386

5.68.3.37 AinFltGetUnsignedDelta() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386

5.68.3.38 AinFltGetUpperLimit() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 386

5.68.3.39 AinFltRead() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387

5.68.3.40 AinFltSetLowerLimit() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 387

5.68.3.41 AinFltSetNegativeDelta() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388

5.68.3.42 AinFltSetOffset() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 388

5.68.3.43 AinFltSetPositiveDelta() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389

5.68.3.44 AinFltSetScaling() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389

5.68.3.45 AinFltSetUnsignedDelta() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 389

5.68.3.46 AinFltSetUpperLimit() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 390

5.68.3.47 AinGetIntEna() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 390

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5.68.3.48 AinGetIntSource() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391

5.68.3.49 AinGetTrigType() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 391

5.68.3.50 AinSetIntEna() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 392

5.68.3.51 AinSetTrigType() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 392

5.68.3.52 Aout16GetCt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 392

5.68.3.53 Aout16GetErrValue() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393

5.68.3.54 Aout16SetErrValue() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 393

5.68.3.55 Aout16Write() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394

5.68.3.56 Aout32GetCt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 394

5.68.3.57 Aout32GetErrValue() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395

5.68.3.58 Aout32GetOffset() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395

5.68.3.59 Aout32GetScaling() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 395

5.68.3.60 Aout32SetErrValue() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 396

5.68.3.61 Aout32SetOffset() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 396

5.68.3.62 Aout32SetScaling() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397

5.68.3.63 Aout32Write() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 397

5.68.3.64 Aout8GetCt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398

5.68.3.65 Aout8Write() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398

5.68.3.66 AoutFltGetCt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 398

5.68.3.67 AoutFltGetErrValue() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399

5.68.3.68 AoutFltGetOffset() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 399

5.68.3.69 AoutFltGetScaling() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 400

5.68.3.70 AoutFltSetErrValue() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 400

5.68.3.71 AoutFltSetOffset() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 400

5.68.3.72 AoutFltSetScaling() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 401

5.68.3.73 AoutFltWrite() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 401

5.68.3.74 AoutGetErrMode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 402

5.68.3.75 AoutSetErrMode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 402

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5.68.3.76 BitCount() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 403

5.68.3.77 BitDnld() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 403

5.68.3.78 BitUpld() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 404

5.68.3.79 Din16GetCt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 404

5.68.3.80 Din16GetFilt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 404

5.68.3.81 Din16GetMaskAny() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 405

5.68.3.82 Din16GetMaskHigh2Low() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 405

5.68.3.83 Din16GetMaskLow2High() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 406

5.68.3.84 Din16GetPol() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 406

5.68.3.85 Din16Read() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 407

5.68.3.86 Din16SetFilt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 407

5.68.3.87 Din16SetMaskAny() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 408

5.68.3.88 Din16SetMaskHigh2Low() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 408

5.68.3.89 Din16SetMaskLow2High() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 408

5.68.3.90 Din16SetPol() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 409

5.68.3.91 Din32GetCt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 409

5.68.3.92 Din32GetFilt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 410

5.68.3.93 Din32GetMaskAny() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 410

5.68.3.94 Din32GetMaskHigh2Low() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 411

5.68.3.95 Din32GetMaskLow2High() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 411

5.68.3.96 Din32GetPol() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 412

5.68.3.97 Din32Read() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 412

5.68.3.98 Din32SetFilt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 412

5.68.3.99 Din32SetMaskAny() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 413

5.68.3.100Din32SetMaskHigh2Low() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 413

5.68.3.101Din32SetMaskLow2High() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414

5.68.3.102Din32SetPol() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 414

5.68.3.103Din8GetCt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 415

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5.68.3.104Din8GetFilt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 415

5.68.3.105Din8GetMaskAny() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416

5.68.3.106Din8GetMaskHigh2Low() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416

5.68.3.107Din8GetMaskLow2High() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 416

5.68.3.108Din8GetPol() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 417

5.68.3.109Din8Read() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 417

5.68.3.110Din8SetFilt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 418

5.68.3.111Din8SetMaskAny() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 418

5.68.3.112Din8SetMaskHigh2Low() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419

5.68.3.113Din8SetMaskLow2High() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 419

5.68.3.114Din8SetPol() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 420

5.68.3.115DinGetCt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 420

5.68.3.116DinGetFilt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 421

5.68.3.117DinGetIntEna() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 421

5.68.3.118DinGetMaskAny() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 421

5.68.3.119DinGetMaskHigh2Low() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 422

5.68.3.120DinGetMaskLow2High() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 422

5.68.3.121DinGetPol() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423

5.68.3.122DinRead() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 423

5.68.3.123DinSetFilt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 424

5.68.3.124DinSetIntEna() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 424

5.68.3.125DinSetMaskAny() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 424

5.68.3.126DinSetMaskHigh2Low() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425

5.68.3.127DinSetMaskLow2High() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 425

5.68.3.128DinSetPol() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 426

5.68.3.129Dout16GetCt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 426

5.68.3.130Dout16GetErrMode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 427

5.68.3.131Dout16GetErrValue() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 427

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5.68.3.132Dout16GetFilt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 428

5.68.3.133Dout16GetPol() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 428

5.68.3.134Dout16Read() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 429

5.68.3.135Dout16SetErrMode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 429

5.68.3.136Dout16SetErrValue() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 429

5.68.3.137Dout16SetFilt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 430

5.68.3.138Dout16SetPol() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 430

5.68.3.139Dout16Write() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 431

5.68.3.140Dout32GetCt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 431

5.68.3.141Dout32GetErrMode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 432

5.68.3.142Dout32GetErrValue() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 432

5.68.3.143Dout32GetFilt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433

5.68.3.144Dout32GetPol() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 433

5.68.3.145Dout32Read() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 434

5.68.3.146Dout32SetErrMode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 434

5.68.3.147Dout32SetErrValue() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 434

5.68.3.148Dout32SetFilt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 435

5.68.3.149Dout32SetPol() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 435

5.68.3.150Dout32Write() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 436

5.68.3.151Dout8GetCt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 436

5.68.3.152Dout8GetErrMode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 437

5.68.3.153Dout8GetErrValue() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 437

5.68.3.154Dout8GetFilt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 438

5.68.3.155Dout8GetPol() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 438

5.68.3.156Dout8Read() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 439

5.68.3.157Dout8SetErrMode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 439

5.68.3.158Dout8SetErrValue() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 439

5.68.3.159Dout8SetFilt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 440

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5.68.3.160Dout8SetPol() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 440

5.68.3.161Dout8Write() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 441

5.68.3.162DoutGetCt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 441

5.68.3.163DoutGetErrMode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442

5.68.3.164DoutGetErrValue() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 442

5.68.3.165DoutGetFilt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 443

5.68.3.166DoutGetPol() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 443

5.68.3.167DoutSetErrMode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 444

5.68.3.168DoutSetErrValue() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 444

5.68.3.169DoutSetFilt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445

5.68.3.170DoutSetPol() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445

5.68.3.171DoutWrite() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 445

5.68.3.172Init() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 446

5.68.3.173Init() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447

5.68.3.174PostIOEvent() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447

5.68.3.175WaitIOEvent() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 447

5.68.3.176WaitIOEvent() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 448

5.69 IOModuleSettings Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 448

5.69.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449

5.69.2 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449

5.69.2.1 guardTime . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 449

5.69.2.2 heartbeatPeriod . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 450

5.69.2.3 heartbeatTimeout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 450

5.69.2.4 lifeFactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 450

5.69.2.5 useStandardAinPDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 451

5.69.2.6 useStandardAoutPDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 451

5.69.2.7 useStandardDinPDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 451

5.69.2.8 useStandardDoutPDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 451

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5.70 IxxatCAN Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 452

5.70.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453

5.70.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 453

5.70.2.1 IxxatCAN() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 454

5.70.2.2 IxxatCAN() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 454

5.70.2.3 ∼IxxatCAN() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 454

5.70.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 454

5.70.3.1 Close() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 454

5.70.3.2 ConvertError() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455

5.70.3.3 Open() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455

5.70.3.4 RecvFrame() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 455

5.70.3.5 rxInt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456

5.70.3.6 SetBaud() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 456

5.70.3.7 XmitFrame() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457

5.70.4 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457

5.70.4.1 channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 457

5.71 IxxatCANV3 Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 458

5.71.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 459

5.71.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 459

5.71.2.1 Close() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 460

5.71.2.2 ConvertError() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 460

5.71.2.3 Open() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 460

5.71.2.4 RecvFrame() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461

5.71.2.5 SetBaud() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461

5.71.2.6 XmitFrame() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 461

5.71.3 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 462

5.71.3.1 channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 462

5.72 KvaserCAN Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 462

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5.72.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 464

5.72.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 464

5.72.2.1 KvaserCAN() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 464

5.72.2.2 KvaserCAN() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 464

5.72.2.3 ∼KvaserCAN() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 465

5.72.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 465

5.72.3.1 Close() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 465

5.72.3.2 ConvertError() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 465

5.72.3.3 Open() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 466

5.72.3.4 RecvFrame() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 466

5.72.3.5 SetBaud() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 467

5.72.3.6 XmitFrame() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 467

5.73 Linkage Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 468

5.73.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 470

5.73.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 470

5.73.2.1 Linkage() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 470

5.73.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 470

5.73.3.1 ClearLatchedError() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 471

5.73.3.2 Configure() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 471

5.73.3.3 ConvertAmpToAxis() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 471

5.73.3.4 ConvertAmpToAxisPos() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 472

5.73.3.5 ConvertAxisToAmp() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 472

5.73.3.6 ConvertAxisToAmpPos() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 473

5.73.3.7 GetAmp() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 473

5.73.3.8 GetAmpCount() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 474

5.73.3.9 GetAmpRef() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 474

5.73.3.10 GetAxesCount() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 474

5.73.3.11 GetLatchedError() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 475

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5.73.3.12 GetMoveLimits() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 475

5.73.3.13 GetPositionCommand() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 476

5.73.3.14 HaltMove() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 476

5.73.3.15 Init() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 477

5.73.3.16 Init() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 477

5.73.3.17 MoveTo() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 478

5.73.3.18 MoveTo() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 479

5.73.3.19 MoveToRel() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 479

5.73.3.20 MoveToRel() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 480

5.73.3.21 operator[]() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 480

5.73.3.22 SendTrajectory() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 481

5.73.3.23 SetMoveLimits() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 481

5.73.3.24 StartMove() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 482

5.73.3.25 WaitEvent() [1/3] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 482

5.73.3.26 WaitEvent() [2/3] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 483

5.73.3.27 WaitEvent() [3/3] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 483

5.73.3.28 WaitMoveDone() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 484

5.74 LinkError Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 484

5.74.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 486

5.74.2 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 486

5.74.2.1 NetworkMismatch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 486

5.74.2.2 NotSupported . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 486

5.75 LinkSettings Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487

5.75.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487

5.75.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487

5.75.2.1 LinkSettings() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487

5.75.3 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487

5.75.3.1 haltOnPosWarn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488

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5.75.3.2 haltOnVelWin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488

5.75.3.3 moveAckTimeout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 488

5.76 LinkTrajectory Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 489

5.76.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490

5.76.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490

5.76.2.1 Finish() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 490

5.76.2.2 GetDim() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 491

5.76.2.3 MaximumBufferPointsToUse() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 491

5.76.2.4 NextSegment() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 491

5.76.2.5 StartNew() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492

5.76.2.6 UseVelocityInfo() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 492

5.77 LinkTrjScurve Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 493

5.77.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 494

5.77.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 494

5.77.2.1 Calculate() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 494

5.77.2.2 GetDim() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 495

5.77.2.3 NextSegment() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 495

5.77.2.4 StartNew() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496

5.78 LinuxEcatHardware Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496

5.78.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497

5.79 LSS Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497

5.79.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 499

5.79.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 500

5.79.2.1 LSS() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 500

5.79.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 500

5.79.3.1 ActivateBitRate() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 500

5.79.3.2 Enquire() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 501

5.79.3.3 EnquireInfo() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 501

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5.79.3.4 FindAmplifiers() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 502

5.79.3.5 FindAmpSerial() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 502

5.79.3.6 GetAmpNodeID() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 503

5.79.3.7 getTimeout() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 503

5.79.3.8 NewFrame() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 503

5.79.3.9 SelectAmp() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 504

5.79.3.10 SetAmpNodeID() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 504

5.79.3.11 SetBitRate() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 505

5.79.3.12 SetBitRate() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 505

5.79.3.13 SetNodeID() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 505

5.79.3.14 setTimeout() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 506

5.79.3.15 StoreConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 506

5.79.3.16 SwitchModeGlobal() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 506

5.79.3.17 Xmit() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 507

5.80 MtrInfo Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 507

5.80.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 509

5.80.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510

5.80.2.1 MtrInfo() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510

5.80.3 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510

5.80.3.1 gearRatio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510

5.80.3.2 hallVelShift . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510

5.80.3.3 loadEncOptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 510

5.80.3.4 loadEncRes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 511

5.80.3.5 loadEncType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 511

5.80.3.6 mtrEncOptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 511

5.80.3.7 poles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 511

5.80.3.8 resolverCycles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 511

5.81 Mutex Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512

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5.81.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512

5.81.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512

5.81.2.1 Lock() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512

5.81.2.2 Unlock() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513

5.82 MutexLocker Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513

5.82.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513

5.82.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513

5.82.2.1 MutexLocker() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513

5.82.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 514

5.82.3.1 Lock() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 514

5.83 Network Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 514

5.83.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 516

5.83.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 516

5.83.2.1 DescribeState() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 516

5.83.2.2 GetNodeInfo() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 516

5.83.2.3 maxSdoFromNode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 517

5.83.2.4 maxSdoToNode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 517

5.83.2.5 SetNodeInfo() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518

5.84 NetworkError Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518

5.84.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 519

5.85 NetworkNodeInfo Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 519

5.85.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520

5.86 NetworkOptions Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520

5.86.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520

5.86.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520

5.86.2.1 NetworkOptions() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520

5.87 Node Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521

5.87.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 524

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5.87.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 524

5.87.2.1 Node() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 524

5.87.2.2 Node() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 524

5.87.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 525

5.87.3.1 ClearErrorHistory() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 525

5.87.3.2 GetDeviceType() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 525

5.87.3.3 GetErrorHistory() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 525

5.87.3.4 GetErrorRegister() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 526

5.87.3.5 GetIdentity() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 526

5.87.3.6 GetMfgDeviceName() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 527

5.87.3.7 GetMfgHardwareVer() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 527

5.87.3.8 GetMfgSoftwareVer() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 528

5.87.3.9 GetMfgStatus() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 528

5.87.3.10 GetNetworkRef() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 528

5.87.3.11 GetNetworkType() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 529

5.87.3.12 GetNodeID() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 529

5.87.3.13 GetState() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 529

5.87.3.14 GetSynchId() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 529

5.87.3.15 GetSynchPeriod() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 530

5.87.3.16 HandleEmergency() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 530

5.87.3.17 HandleStateChange() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 530

5.87.3.18 Init() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 531

5.87.3.19 maxSdoFromNode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 531

5.87.3.20 maxSdoToNode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 532

5.87.3.21 PdoDisable() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 532

5.87.3.22 PdoEnable() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 532

5.87.3.23 PdoSet() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 533

5.87.3.24 PreOpNode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 533

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5.87.3.25 ResetComm() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 534

5.87.3.26 ResetNode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 534

5.87.3.27 RpdoDisable() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 534

5.87.3.28 SavePDOMapping() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535

5.87.3.29 SetSynchId() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535

5.87.3.30 SetSynchPeriod() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 535

5.87.3.31 StartHeartbeat() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 536

5.87.3.32 StartNode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 536

5.87.3.33 StartNodeGuard() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 537

5.87.3.34 StopGuarding() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 537

5.87.3.35 StopNode() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 537

5.87.3.36 SynchStart() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 538

5.87.3.37 SynchStop() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 538

5.87.3.38 TpdoDisable() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 538

5.87.3.39 UnInit() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 539

5.87.4 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 539

5.87.4.1 sdo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 539

5.88 NodeError Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 539

5.88.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 541

5.89 NodeIdentity Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 541

5.89.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 541

5.90 Path Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 542

5.90.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 543

5.90.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 543

5.90.2.1 Path() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 544

5.90.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 544

5.90.3.1 AddArc() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 544

5.90.3.2 AddArc() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 544

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5.90.3.3 AddLine() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 545

5.90.3.4 AddLine() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 545

5.90.3.5 GetDim() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 546

5.90.3.6 NextSegment() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 546

5.90.3.7 Pause() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 547

5.90.3.8 PlayPath() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 547

5.90.3.9 Reset() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 548

5.90.3.10 SetAcc() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 548

5.90.3.11 SetDec() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 548

5.90.3.12 SetJrk() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 549

5.90.3.13 SetStartPos() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 549

5.90.3.14 SetVel() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 550

5.90.3.15 StartNew() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 550

5.91 PathError Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 551

5.91.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 552

5.92 PDO Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 553

5.92.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 555

5.92.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 555

5.92.2.1 AddVar() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 555

5.92.2.2 ClearMap() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 556

5.92.2.3 GetID() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 556

5.92.2.4 GetMapCodes() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 556

5.92.2.5 GetRtrOk() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 557

5.92.2.6 GetType() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 557

5.92.2.7 SetID() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 557

5.92.2.8 SetType() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 558

5.92.3 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 558

5.92.3.1 map . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 558

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5.93 PDO_Error Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 559

5.93.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 560

5.93.2 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 560

5.93.2.1 BitOverflow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 560

5.94 Pmap Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 560

5.94.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 561

5.94.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 561

5.94.2.1 Pmap() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 562

5.94.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 563

5.94.3.1 Get() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 563

5.94.3.2 GetBits() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 563

5.94.3.3 GetIndex() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 564

5.94.3.4 GetSub() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 564

5.94.3.5 Init() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 564

5.94.3.6 Set() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 565

5.95 Pmap16 Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 565

5.95.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 566

5.95.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 566

5.95.2.1 Pmap16() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 566

5.95.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 567

5.95.3.1 Get() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 567

5.95.3.2 Init() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 567

5.95.3.3 Read() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 568

5.95.3.4 Set() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 568

5.95.3.5 Write() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 568

5.96 Pmap24 Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 569

5.96.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 570

5.96.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 570

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5.96.2.1 Pmap24() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 570

5.96.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 570

5.96.3.1 Get() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 570

5.96.3.2 Init() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 571

5.96.3.3 Read() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 571

5.96.3.4 Set() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 571

5.96.3.5 Write() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 572

5.97 Pmap32 Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 572

5.97.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 573

5.97.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 573

5.97.2.1 Pmap32() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 573

5.97.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 574

5.97.3.1 Get() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 574

5.97.3.2 Init() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 574

5.97.3.3 Read() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 575

5.97.3.4 Set() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 575

5.97.3.5 Write() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 575

5.98 Pmap8 Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 576

5.98.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 577

5.98.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 577

5.98.2.1 Pmap8() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 577

5.98.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 577

5.98.3.1 Get() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 577

5.98.3.2 Init() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 578

5.98.3.3 Read() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 578

5.98.3.4 Set() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 578

5.98.3.5 Write() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 579

5.99 PmapRaw Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 579

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5.99.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 580

5.99.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 580

5.99.2.1 PmapRaw() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 580

5.99.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 581

5.99.3.1 Get() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 581

5.99.3.2 Set() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 581

5.100Point< N > Class Template Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 582

5.100.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 583

5.100.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 583

5.100.2.1 getDim() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 583

5.100.2.2 getMax() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 583

5.100.2.3 setDim() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 583

5.101PointN Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 584

5.101.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 585

5.101.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 585

5.101.2.1 getDim() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 585

5.101.2.2 getMax() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 585

5.101.2.3 setDim() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 585

5.102PosLoopConfig Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 586

5.102.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 587

5.102.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 587

5.102.2.1 PosLoopConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 587

5.102.3 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 587

5.102.3.1 scale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 587

5.103ProfileConfig Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 587

5.103.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 588

5.103.2 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 588

5.103.2.1 abort . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 588

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5.103.2.2 pos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 589

5.104ProfileConfigScurve Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 589

5.104.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 589

5.104.2 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 589

5.104.2.1 acc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 590

5.104.2.2 jrk . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 590

5.104.2.3 pos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 590

5.104.2.4 vel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 590

5.105ProfileConfigTrap Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 590

5.105.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 591

5.105.2 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 591

5.105.2.1 acc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 591

5.105.2.2 dec . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 591

5.105.2.3 pos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 591

5.105.2.4 vel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 592

5.106ProfileConfigVel Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 592

5.106.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 592

5.106.2 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 592

5.106.2.1 acc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 593

5.106.2.2 dec . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 593

5.106.2.3 dir . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 593

5.106.2.4 vel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 593

5.107PvtConstAccelTrj Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 594

5.107.1 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 595

5.107.1.1 GetDim() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 595

5.108PvtConstAccelTrjError Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 595

5.109PvtSegCache Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 596

5.109.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 597

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5.109.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 597

5.109.2.1 AddSegment() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 597

5.109.2.2 GetPosition() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 598

5.109.2.3 GetSegment() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 598

5.110PvtTrj Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 599

5.110.1 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 600

5.110.1.1 GetDim() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 600

5.111PvtTrjError Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 600

5.112PwmInConfig Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 601

5.112.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 602

5.112.2 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 602

5.112.2.1 cfg . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 602

5.112.2.2 deadBand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 602

5.112.2.3 freq . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 603

5.112.2.4 scale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 603

5.112.2.5 uvCfg . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 603

5.113Receiver Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 603

5.113.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 604

5.113.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 604

5.113.2.1 ∼Receiver() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 604

5.113.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 605

5.113.3.1 NewFrame() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 605

5.114RefObj Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 605

5.114.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 607

5.114.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 607

5.114.2.1 RefObj() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 607

5.114.2.2 ∼RefObj() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 608

5.114.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 608

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5.114.3.1 GrabRef() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 608

5.114.3.2 GrabRef() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 608

5.114.3.3 KillRef() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 609

5.114.3.4 LockRef() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 609

5.114.3.5 LogRefs() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 610

5.114.3.6 ReleaseRef() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 610

5.114.3.7 setAutoDelete() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 610

5.114.3.8 SetRefName() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 610

5.115RefObjLocker< RefClass > Class Template Reference . . . . . . . . . . . . . . . . . . . . . . . . . . 612

5.115.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 612

5.115.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 612

5.115.2.1 RefObjLocker() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 612

5.115.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 613

5.115.3.1 operator∗() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 613

5.115.3.2 operator->() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 613

5.116RegenConfig Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 613

5.116.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 614

5.116.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 614

5.116.2.1 RegenConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 614

5.116.3 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 615

5.116.3.1 contPower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 615

5.116.3.2 model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 615

5.116.3.3 peakPower . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 615

5.116.3.4 peakTime . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 615

5.116.3.5 vOff . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 615

5.116.3.6 vOn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 616

5.117RPDO Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 616

5.117.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 617

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5.117.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 617

5.117.2.1 RPDO() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 617

5.117.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 617

5.117.3.1 Init() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 618

5.117.3.2 LoadData() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 618

5.118RPDO_LinkCtrl Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 618

5.118.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 620

5.118.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 620

5.118.2.1 Init() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 620

5.118.2.2 Transmit() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 620

5.119ScurveError Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 621

5.119.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 622

5.120SDO Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 622

5.120.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 624

5.120.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 624

5.120.2.1 SDO() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 624

5.120.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 624

5.120.3.1 BlockDnld() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 624

5.120.3.2 BlockUpld() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 625

5.120.3.3 DisableBlkDnld() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 625

5.120.3.4 DisableBlkUpld() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 626

5.120.3.5 Dnld16() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 626

5.120.3.6 Dnld16() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 626

5.120.3.7 Dnld32() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 627

5.120.3.8 Dnld32() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 627

5.120.3.9 Dnld8() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 628

5.120.3.10Dnld8() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 628

5.120.3.11DnldFlt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 629

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5.120.3.12DnldString() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 629

5.120.3.13Download() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 630

5.120.3.14Download() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 630

5.120.3.15EnableBlkDnld() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 631

5.120.3.16EnableBlkUpld() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 631

5.120.3.17GetMaxRetry() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 631

5.120.3.18GetTimeout() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 632

5.120.3.19Init() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 632

5.120.3.20SetTimeout() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 632

5.120.3.21Upld16() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 633

5.120.3.22Upld16() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 633

5.120.3.23Upld32() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 633

5.120.3.24Upld32() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 634

5.120.3.25Upld8() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 634

5.120.3.26Upld8() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 635

5.120.3.27UpldFlt() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 635

5.120.3.28UpldString() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 636

5.120.3.29Upload() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 636

5.120.3.30Upload() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 637

5.121SDO_Error Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 637

5.121.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 640

5.122Semaphore Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 640

5.122.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 641

5.122.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 641

5.122.2.1 Semaphore() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 641

5.122.2.2 ∼Semaphore() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 641

5.122.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 641

5.122.3.1 Get() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 641

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5.122.3.2 Put() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 642

5.123ServoLoopConfig Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 642

5.123.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 642

5.123.2 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 643

5.123.2.1 servoLoopConfig . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 643

5.124SiemensCAN Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 643

5.124.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 645

5.124.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 645

5.124.2.1 SiemensCAN() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 645

5.124.2.2 SiemensCAN() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 645

5.124.2.3 ∼SiemensCAN() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 646

5.124.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 646

5.124.3.1 Close() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 646

5.124.3.2 ConvertError() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 646

5.124.3.3 Open() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 647

5.124.3.4 RecvFrame() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 647

5.124.3.5 SetBaud() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 648

5.124.3.6 XmitFrame() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 648

5.125SoftPosLimit Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 649

5.125.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 649

5.125.2 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 649

5.125.2.1 accel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 649

5.125.2.2 macroEncoderCapture . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 650

5.125.2.3 motorPosWrap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 650

5.125.2.4 neg . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 650

5.125.2.5 pos . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 650

5.126Thread Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 651

5.126.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 652

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5.126.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 652

5.126.2.1 Thread() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 652

5.126.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 652

5.126.3.1 getTimeMS() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 652

5.126.3.2 getTimeUS() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 653

5.126.3.3 run() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 653

5.126.3.4 setPriority() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 653

5.126.3.5 sleep() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 654

5.126.3.6 start() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 654

5.126.3.7 stop() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 654

5.127ThreadError Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 655

5.127.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 656

5.128TPDO Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 656

5.128.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 658

5.128.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 658

5.128.2.1 HandleRxMsg() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 658

5.128.2.2 ProcessData() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 658

5.128.2.3 Received() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 659

5.128.2.4 SetRtrOk() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 659

5.129TrackingWindows Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 659

5.129.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 660

5.129.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 660

5.129.2.1 TrackingWindows() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 660

5.129.3 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 660

5.129.3.1 settlingTime . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 660

5.129.3.2 settlingWin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 661

5.129.3.3 trackErr . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 661

5.129.3.4 trackWarn . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 661

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5.130Trajectory Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 661

5.130.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 662

5.130.2 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 663

5.130.2.1 Finish() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 663

5.130.2.2 MaximumBufferPointsToUse() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 663

5.130.2.3 NextSegment() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 663

5.130.2.4 StartNew() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 664

5.130.2.5 UseVelocityInfo() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 664

5.131TrjError Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 665

5.131.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 666

5.131.2 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 666

5.131.2.1 NoneAvailable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 666

5.132TrjScurve Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 666

5.132.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 667

5.132.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 668

5.132.2.1 TrjScurve() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 668

5.132.3 Member Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 668

5.132.3.1 Calculate() [1/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 668

5.132.3.2 Calculate() [2/2] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 669

5.132.3.3 GetStartPos() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 669

5.132.3.4 SetStartPos() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 670

5.132.3.5 StartNew() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 670

5.133UstepConfig Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 670

5.133.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 671

5.133.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 671

5.133.2.1 UstepConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 671

5.133.3 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 671

5.133.3.1 maxVelAdj . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 672

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5.133.3.2 ustepConfigAndStatus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 672

5.133.3.3 ustepPGainOutLoop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 672

5.134VelLoopConfig Struct Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 672

5.134.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 673

5.134.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 673

5.134.2.1 VelLoopConfig() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 673

5.134.3 Member Data Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 674

5.134.3.1 estopDec . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 674

5.134.3.2 maxAcc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 674

5.134.3.3 maxDec . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 674

5.134.3.4 maxVel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 675

5.134.3.5 shift . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 675

5.134.3.6 velCmdff . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 675

5.135WinUdpEcatHardware Class Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 675

5.135.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 676

5.135.2 Constructor & Destructor Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 676

5.135.2.1 WinUdpEcatHardware() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 677

6 File Documentation 679

6.1 Amp.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 679

6.1.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 679

6.2 AmpFile.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 680

6.2.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 680

6.2.2 Function Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 680

6.2.2.1 GetCCDFileSize() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 680

6.2.2.2 WriteCCDToCANDrive() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 681

6.2.2.3 WriteCCDToEcatDrive() . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 681

6.3 AmpFW.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 682

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6.3.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 682

6.4 AmpParam.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 682

6.4.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 683

6.5 AmpPDO.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 683

6.5.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 683

6.5.2 Macro Definition Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 683

6.5.2.1 MAX_PENDING_PVT_STATUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 683

6.6 AmpPVT.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 684

6.6.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 684

6.7 AmpStruct.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 684

6.7.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 684

6.8 AmpUnits.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 685

6.8.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 685

6.9 AmpVersion.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 685

6.9.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 685

6.10 Can.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 686

6.10.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 686

6.11 can_copley.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 686

6.11.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 687

6.12 can_ixxat.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 688

6.12.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 689

6.13 can_ixxat_v3.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 689

6.13.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 690

6.14 can_kvaser.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 690

6.14.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 691

6.15 can_siemens.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 692

6.15.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 692

6.16 CanOpen.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 692

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6.16.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 693

6.17 CML.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 693

6.17.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 693

6.18 CML.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 694

6.18.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 695

6.18.2 Enumeration Type Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 695

6.18.2.1 CML_LOG_LEVEL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 695

6.19 CML_Amp.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 695

6.19.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 696

6.20 CML_AmpDef.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 697

6.20.1 Enumeration Type Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 704

6.20.1.1 AMP_EVENT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 704

6.20.1.2 AMP_FAULT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 705

6.20.1.3 AMP_FEATURE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 705

6.20.1.4 AMP_MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 707

6.20.1.5 AMP_PHASE_MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 709

6.20.1.6 AMP_PWM_MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 710

6.20.1.7 AMP_TRACE_STATUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 710

6.20.1.8 AMP_TRACE_TRIGGER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 710

6.20.1.9 AMP_TRACE_VAR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 711

6.20.1.10 COPLEY_HOME_METHOD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 712

6.20.1.11 EVENT_STATUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 715

6.20.1.12 HALT_MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 716

6.20.1.13 INPUT_PIN_CONFIG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 716

6.20.1.14 OUTPUT_PIN_CONFIG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 718

6.20.1.15 POS_CAPTURE_CFG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 719

6.20.1.16 POS_CAPTURE_STAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 720

6.20.1.17 PROFILE_TYPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 721

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6.20.1.18 QUICK_STOP_MODE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 721

6.21 CML_AmpStruct.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 722

6.21.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 724

6.21.2 Enumeration Type Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 724

6.21.2.1 CAN_BIT_RATE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 724

6.22 CML_Array.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 725

6.22.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 725

6.23 CML_Can.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 726

6.23.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 727

6.23.2 Enumeration Type Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 727

6.23.2.1 CAN_FRAME_TYPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 727

6.24 CML_CanOpen.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 727

6.24.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 729

6.25 CML_Copley.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 729

6.25.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 730

6.26 CML_CopleyIO.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 730

6.26.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 732

6.26.2 Enumeration Type Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 732

6.26.2.1 CIO_OBJID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 732

6.27 CML_Error.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 734

6.27.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 735

6.28 CML_EtherCAT.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 735

6.28.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 736

6.29 CML_EventMap.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 737

6.29.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 738

6.30 CML_File.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 738

6.30.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 739

6.31 CML_Filter.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 739

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6.31.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 741

6.32 CML_Firmware.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 741

6.32.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 742

6.33 CML_Geometry.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 742

6.33.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 743

6.34 CML_InputShaper.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 743

6.34.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 745

6.35 CML_IO.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 745

6.35.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 748

6.35.2 Enumeration Type Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 748

6.35.2.1 IO_AIN_TRIG_TYPE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 748

6.35.2.2 IO_OBJID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 748

6.35.2.3 IOMODULE_EVENTS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 750

6.36 CML_Linkage.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 751

6.36.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 752

6.36.2 Enumeration Type Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 752

6.36.2.1 LINK_EVENT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 752

6.37 CML_Network.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 753

6.37.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 755

6.37.2 Enumeration Type Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 755

6.37.2.1 GuardProtocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 755

6.37.2.2 NetworkType . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 756

6.37.2.3 NodeState . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 756

6.38 CML_Node.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 756

6.38.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 757

6.39 CML_PDO.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 758

6.39.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 759

6.40 CML_PvtConstAccelTrj.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 759

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6.40.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 760

6.41 CML_PvtTrj.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 760

6.41.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 761

6.42 CML_Reference.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 761

6.42.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 763

6.43 CML_SDO.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 763

6.43.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 765

6.43.2 Macro Definition Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 765

6.43.2.1 SDO_BLK_DNLD_THRESHOLD . . . . . . . . . . . . . . . . . . . . . . . . . . . . 765

6.43.2.2 SDO_BLK_UPLD_THRESHOLD . . . . . . . . . . . . . . . . . . . . . . . . . . . . 765

6.44 CML_Settings.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 766

6.44.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 767

6.44.2 Macro Definition Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 767

6.44.2.1 CML_ALLOW_FLOATING_POINT . . . . . . . . . . . . . . . . . . . . . . . . . . . 767

6.44.2.2 CML_DEBUG_ASSERT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 767

6.44.2.3 CML_ENABLE_IOMODULE_PDOS . . . . . . . . . . . . . . . . . . . . . . . . . . . 768

6.44.2.4 CML_ENABLE_USER_UNITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 768

6.44.2.5 CML_ERROR_HASH_SIZE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 768

6.44.2.6 CML_ERROR_MESSAGES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 768

6.44.2.7 CML_FILE_ACCESS_OK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 768

6.44.2.8 CML_HASH_SIZE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 769

6.44.2.9 CML_LINKAGE_TRJ_BUFFER_SIZE . . . . . . . . . . . . . . . . . . . . . . . . . . 769

6.44.2.10 CML_MAX_AMPS_PER_LINK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 769

6.44.2.11 CML_MAX_ECAT_FRAMES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 769

6.44.2.12 CML_NAMESPACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 770

6.44.2.13 CML_NAMESPACE_START . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 770

6.45 CML_Threads.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 770

6.45.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 771

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CONTENTS lxiii

6.46 CML_Trajectory.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 772

6.47 CML_TrjScurve.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 773

6.47.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 774

6.48 CML_Utils.h File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 774

6.48.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 775

6.48.2 Macro Definition Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 775

6.48.2.1 ByteCast . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 776

6.48.3 Typedef Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 776

6.48.3.1 int16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 776

6.48.3.2 int32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 776

6.48.3.3 int64 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 776

6.48.3.4 uint16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 777

6.48.3.5 uint32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 777

6.48.3.6 uunit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 777

6.49 CopleyIO.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 777

6.49.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 778

6.50 CopleyNode.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 778

6.50.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 778

6.51 ecatdc.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 778

6.51.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 779

6.52 Error.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 779

6.52.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 779

6.53 EtherCAT.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 779

6.53.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 780

6.53.2 Macro Definition Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 780

6.53.2.1 SM_RXMBX . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 780

6.54 EventMap.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 780

6.54.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 781

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lxiv CONTENTS

6.55 File.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 781

6.55.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 781

6.56 Filter.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 781

6.56.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 782

6.57 Firmware.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 782

6.58 Geometry.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 783

6.59 InputShaper.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 783

6.59.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 783

6.60 IOmodule.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 783

6.60.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 784

6.61 Linkage.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 784

6.61.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 784

6.62 Network.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 785

6.62.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 785

6.63 Node.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 785

6.63.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 786

6.64 PDO.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 786

6.64.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 786

6.65 PvtConstAccelTrj.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 786

6.65.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 787

6.66 PvtTrj.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 787

6.66.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 787

6.67 Reference.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 787

6.67.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 788

6.68 SDO.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 788

6.68.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 788

6.69 Threads.cpp File Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 788

6.69.1 Detailed Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 789

Index 791

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Chapter 1

Copley Motion Library

1.1 Introduction

The Copley Motion Library is a collection of C++ objects which are intended to simplify the development of CANopen
and EtherCAT based products. These libraries allow low level access to the CANopen and EtherCAT networks while
also providing high level methods for easy development of network based motion control applications.

1.1.1 Supported platforms

The Copley Motion Library is designed to be highly platform independent. The only requirements of a platform are:

• C++ must be supported. The Copley Motion Library makes heavy use of the object oriented features of the C++
language. Porting it to standard C would require significant effort.

• Multi-tasking. The library uses multiple threads of execution. For this reason, some type of multi-tasking operating
system is required. A real time operating system is desirable, but not necessary.

• Network hardware. Some sort of CAN hardware must be available for CANopen support. An Ethernet port must
be available for EtherCAT support.

The majority of the library code should be easily portable across platforms, even to those systems that do not have a
very complete C++ implementation. In particular, the standard C and C++ libraries have been avoided to the extent
possible.

1.1.2 Multi-tasking support

The C++ language does not define any standard method for multi-tasking, so a generic multi-tasking layer has been
defined for use by this library. Three classes have been defined in the header file CML_Threads.h which define the
multi-tasking interface. These classes are;

• Thread: An independent thread of execution.

• Mutex: A mechanism used to provide mutually exclusive access to a variable or system resource.

• Semaphore: A mechanism used to control access to a resource pool. This object allows threads to pend on it
with timeouts.

When porting the library to a new environment, these three objects will need to be implemented for that environment.
The libraries currently support multi-tasking under posix compatible operating systems (most Unix varieties including
Linux), and MS Windows.
2 Copley Motion Library

1.1.3 CAN hardware support

The Copley Motion Libraries have been designed to use a generic interface to the low level CAN network hardware.
This makes porting the libraries to new CAN hardware very straight forward. All CAN hardware access is routed through
the CanInterface object defined in the header file CML_Can.h. This object defines generic methods to open, close, read
from, and write to the CAN network. Adding support for new CAN interface hardware is as simple as implementing a
new CanInterface object derived from this class.

1.1.4 EtherCAT hardware support

When communicating over an EtherCAT network, CML uses the standard operating system API calls to access the
Ethernet hardware. No special device drivers other then those normally used to access the Ethernet hardware are
required.

Note that EtherCAT requires a dedicated Ethernet port. It is generally not possible to share a single Ethernet port for
both a EtherCAT and general Ethernet communications at the same time.

1.2 CANopen basics

CAN (Control Area Network) is a serial network originally developed for use in the automotive industry. The physical
layer of CAN consists of a two wire differentially driven bus, typically terminated with 120 Ohm resisters on each end.
The maximum bit rate supported by CAN is 1,000,000 bits/second for up to 25 meters. Lower bit rates may be used for
longer network lengths.

Communication over the CAN bus takes the form of network packets. Each packet consists of an identifier, some control
bits, and zero to eight bytes of data. Each packet is sent with CRC information which allows the CAN controllers on the
network to identify and re-send incorrectly formatted packets.

The identifier sent with each CAN packet identifies the type of packet being sent, as well as the priority of the packet.
If two or more devices on the network attempt to transmit packets at the same time, the one sending the higher priority
packet will succeed. The device sending the lower priority packet will detect the network collision and automatically back
off the network and re-try the transmission later. The fact that the higher priority packet is transmitted when a network
collision occurs allows very high network bandwidth utilization. Other network technologies (such as Ethernet) would
require both transmitting devices to abort their transmissions if a network collision was detected.

CANopen is a high level protocol used to communicate over a CAN network. It allows blocks of data larger then the
eight byte CAN limit to be transmitted as a single entity. Additionally, CANopen defines a standard framework for device
operation which simplifies communication between dissimilar devices.

In most cases a CANopen network consists of one master device, and multiple slave devices (also called network
nodes). Each of the nodes on the network has a 7-bit node ID number associated with it in the range 1 to 127 (the node
ID 0 is reserved, and should not be used). The Copley Motion Libraries are designed to run on the CANopen network
master.

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1.2 CANopen basics 3

1.2.1 CANopen Object Dictionary

One of the central concepts defined by the CANopen protocol is the notion of an object dictionary. This is essentially a
collection of parameters on each device which define it's configuration and status. Most communication over the CA←-
Nopen network consists of uploading data to, and downloading data from the object dictionaries of the various devices.

Each entry in the object dictionary is accessed using a 16-bit index value. Most entries in a device's object dictionary
are simple atomic types (16-bit integers, 32-bit integers, strings, etc), however entries may be defined as complex types
(records or arrays). In this case, the individual elements in the record or array are accessed using an additional 8-bit
sub-index. It is not possible for these objects to be of complex types, so nesting of structures is not allowed.

1.2.2 SDO

The majority of traffic over the CANopen network consists of the network master reading and writing to the object
dictionaries of the slave devices (nodes) on the network. The primary mechanism through which this is accomplished is
the Service Data Object (SDO).

Each node on the CANopen network is required to implement at least one SDO. The SDO is essentially a channel that
can be opened between a network master and a slave for the purpose of reading from and writing to the slave's object
dictionary.

SDO transfers are always initiated by the master, and always confirmed by the slave. The synchronous nature of the
SDO makes error detection very straight forward. However, since every transfer using an SDO takes at least two CAN
messages (one from the master to the slave, one from the slave to the master) they can be somewhat slow for the
transfer of real time information.

For example, for the network master to update an object which holds an eight byte long value, six CAN messages will
be required:

• 1.The master sends a message to the slave indicating it's intentions to update the object. In this message it sends
the object's index and sub-index values. It also passes the size (in bytes) of the data that will be transferred.

• 2.The slave responds to the master indicating that it is ready to receive the data.

• 3.The master sends the first 7 bytes of data. SDO transfers use one byte of the CAN message data for header
information, so the largest amount of data that can be passed in any single message is 7 bytes.

• 4.The slave responds indicating that it received the data and is ready for more.

• 5.The master sends the remaining byte of data.

• 6.The slave responds indicating success.

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4 Copley Motion Library

1.2.3 PDO

A second method of accessing the data in the node's object dictionaries is defined by CANopen. This method is called
the Process Data Object (PDO) and is primarily used to transfer frequently changing real-time data.

Unlike an SDO, a PDO can be initiated by either the network master, or the slave device. In fact, unlike SDO transfers,
PDO transfers do not really follow a master - slave model. Any device on the network can initiate a PDO transfer, and a
PDO message can be received and processed by multiple devices on the network.

Every PDO message consists of exactly one CAN message. Unlike SDO transfers, there is no confirmation with PDO
transfers. This has the benefit of making much better use of the CAN network bandwidth, but since there is no response
to a PDO, some other mechanism must be found to determine if the message was received successfully.

For example, updating the value of an 8-byte long variable in a device's object dictionary using a PDO can be accom-
plished in one CAN message, unlike the 6 messages that it required using SDO transfers.

• 1.The master sends a CAN message containing the 8-bytes of data. No additional header information is passed
in the message, and no response is sent.

Of course, since all 8 bytes of the CAN message data were used to hold the object's value, there is no place the transmit
the index / sub-index of the object being updated. This information must be implied based on the CAN message ID
associated with the PDO. To create this association, a PDO must be mapped to one or more objects in a device's object
dictionary before it can be used. This is accomplished by using SDO transfers, and effectively tells the device which
object(s) a particular PDO transfer will access.

The result is that sending a PDO like in the above example requires a bit of setup using SDO transfers. It's therefore
not useful to use a PDO transfer to update an object's value just once, since this could be more efficiently done using
a single SDO transfer. However, if a particular object needs to be updated repeatedly, then the overhead of mapping a
PDO to it makes more sense.

Aside from efficiency issues, PDO transfers have some other useful features. SDO transfers are inherently one master
to one slave. PDO transfers can be used to broadcast a message to multiple other devices on the network. This is
useful for synchronizing the start of a multi-axis move, for example.

Additionally, a slave device can be configured to transmit the value of one (or more) of the objects in it's object dictionary
either at a set frequency, or when some internal event occurs. This would also be accomplished using PDO transfers.

1.2.4 Network management

Most communication over the CANopen network consists of reading and writing values to a device's object dictionary
using either SDO or PDO transfers. There are however several other message types which are required by the CANopen
protocol.

Network management messages are used to control the state of the devices on the CANopen network. Every CANopen
device implements a simple state machine which is controlled through the use of these messages. The following states
are defined:

• Pre-operational: Every node enters this state after power-up or reset. In this state, the device is not functional, but
will communicate over the CANopen network. PDO transfers are not allowed in pre-operational state, but SDO
transfers may be used.

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1.2 CANopen basics 5

• Operational: This is the normal operating state for all devices. SDO and PDO transfers are both allowed.

• Stopped: No communication is allowed in this state except for network management messages. Neither SDO nor
PDO transfers may be used.

One use of network management messages is to control these state changes on the network devices. The following
network management messages are sent by the network manager to control these state changes. Each of these
messages can be either sent to a single node (by node ID), or broadcast to all the nodes on the network.

• Reset. This message causes the receiving node(s) to perform a soft reset and come up in pre-operation state.

• Reset communications. Causes the receiving node(s) to reset their CANopen network to it's power-on state, and
enter pre-operational state. This is not a full device reset, just a reset of the CANopen interface.

• Pre-operational. This message causes the receiving node(s) to enter pre-operational state. No reset is performed.

• Start. Causes the node(s) to enter operational state.

• Stop. Causes the node(s) to enter stopped state.

In addition to controlling the device's state machines, network management messages can be used to monitor the
operation of the nodes on the CANopen network. There are two protocols to perform this task; heartbeat and node
guarding.

The heartbeat protocol is very simple, the network master configures the node to transmit a heartbeat message at some
interval. The heartbeat message is then sent by the node at the specified frequency. The only information passed in the
heartbeat message is the current state of the node (i.e. pre-operational, operational or stopped). The network manager
can monitor these messages, and if anything happens to the node (or the network connection to the node) it can detect
this by the lack of heartbeat messages.

Node guarding is similar. The network manager configures the node to expect node guarding messages at some
interval. The network manager then sends a message to the configured node at that frequency, and the node responds
with a node guarding message. This allows both the network manager and slave device to identify a network failure if
the guarding messages stop.

1.2.5 SYNC messages

Another type of message defined by the CANopen protocol is the SYNC message. This is a message that one device
is configured to transmit at some interval, and that all other devices on the network receive. It can be used for device
synchronization, and PDO transfers can be configured to be sent in response to the SYNC event.

Every CANopen network should have one (and only one) device which is configured to produce SYNC messages (the
SYNC producer). Other devices on the network which receive the SYNC messages are SYNC consumers.

Copley Controls amplifiers are able to be configured as both SYNC producers and SYNC consumers. The default
configuration for every amplifier after reset is as a SYNC consumer. The Copley Motion Library Amp class constructor
will configure one of the amplifiers as a SYNC producer by default.

1.2.6 Emergency messages

Emergency messages are sent by CANopen devices when some error condition is detected. They contain information
about the type of error condition as well as manufacturer specific information not defined by the CANopen spec.

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6 Copley Motion Library

1.3 EtherCAT basics

The EtherCAT network is a high performance field bus based on the Ethernet physical layer. There are several different
high level protocols that can be implemented on top of EtherCAT, but the most common protocol, and the one supported
by CML, is the CANopen over EtherCAT (CoE) protocol. When using this protocol, the EtherCAT network acts very
much like a high speed CANopen network supporting an object dictionary, SDO and PDO access just like in CANopen.

One significant difference between the EtherCAT network and CANopen network is that in the CANopen network the
nodes are able to transmit their status updates any time they like. In the EtherCAT network the network master needs
to poll the status of the nodes.

1.4 Architectural overview

The Copley Motion Libraries are made up of a large number of classes, but several are of primary importance and
will be used for every program. This section gives a brief overview of the most important of these classes. Detailed
documentation of each of the provided classes is provided later in the manual.

1.4.1 CanInterface

This class has already been mentioned above. It is one of the few classes that is highly platform dependent. The
CanInterface class is used to abstract the CAN network interface hardware available on the system.

Typically, one of the first objects created in a program using the Copley Motion Libraries is a CanInterface object. This
will in turn be passed to the CanOpen object.

1.4.2 EtherCatHardware

This class is the generic representation of the Ethernet hardware interface used by the operating system. Like the
CanInterface object, the exact details of this class's implementation will be different depending on the operating system
being used.

1.4.3 Network class

The Network class represents an EtherCAT or CANopen network.

1.4.4 CanOpen class

The CanOpen class is derived from the Network class and represents the CANopen network. The Open method of this
class must be called before the class can be used. This method takes a reference to a CanInterface object as it's only
parameter. The CanOpen class will then attempt to open the CAN interface (by calling CanInterface::Open method),
and if that is successful it will start a new thread which will be responsible for reading messages from the CAN interface.

It is possible to have more then one CanOpen object in a system. Each should be connected to a distinct CAN network,
and each should therefore be passed a distinct CanInterface object.

The primary responsibility of the CanOpen object is to listen for messages on the CAN network. To perform this task, the
CanOpen object creates a separate high priority thread which constantly monitors the CAN network for new messages.
Every time a new message is received, the read thread searches for a Receiver object associated with the message's
CAN ID. If such an object is found, it's handler method is called to process the message.

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1.4 Architectural overview 7

1.4.5 EtherCAT class

The EtherCAT class is derived from the Network class and represents the EtherCAT network. The Open method of this
class must be called before the class can be used. This method takes a reference to a EtherCatHardware object as it's
only parameter. That object will be used to perform the low level communications with the Ethernet hardware.

1.4.6 Receiver class

Receiver objects are used to listen for messages on the CAN network. Each Receiver object has a CAN message ID
associated with it. When a message is received which has this ID value, the CanOpen object will search for a Receiver
object with that ID. If no such Receiver is found, the message will be ignored. If a Receiver object with a matching ID is
found, then the virtual Receiver::NewFrame() method will be called.

1.4.7 Node class

The Node class represents a node (slave device) on the CANopen network. This class is passed a node ID value,
and a reference to a CanOpen object during construction. The CanOpen object identifies which network the Node is
connected to.

The Node class defines various methods to read and write standard objects from the node's object dictionary. The
objects that are built into the Node class are those that are defined in the CANopen communication specification (D←-
S301).

The Node class also includes logic which allows it to transmit and monitor the node guarding (or heartbeat) protocols
for the device on the network. If the device being monitored stops responding, or changes state, the virtual method
HandleStateChange() will be called. By default this does nothing, but it may be extended to perform any necessary
action to handle the condition.

1.4.8 Amp class

The Amp inherits from the Node class, and is used to represent a Copley Controls amplifier on the CANopen network.
This class includes numerous methods used to get and set various amplifier parameters. The Amp class also includes
several high level methods used to make point to point moves, home the amplifier, and stream complex PVT style
profiles down to the amplifier.

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8 Copley Motion Library

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Chapter 2

Hierarchical Index

2.1 Class Hierarchy

This inheritance list is sorted roughly, but not completely, alphabetically:

AlgoPhaseInit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
AmpConfig . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
AmpInfo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
AmpIoCfg . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
AmpSettings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
AnalogRefConfig . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
Array< C > . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
Array< PDO_Info > . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
CammingConfig . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
CanFrame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
CanNetworkConfig . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
CanOpenSettings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 249
CopleyIOAnlg . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 266
CopleyIOCfg . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
CopleyIODigi . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 268
CopleyIOInfo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269
CopleyIOPWM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
CopleyMotionLibrary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
CrntLoopConfig . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 282
DAConfig . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 285
EcatDgram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293
APRD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
APWR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
ARMW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
BRD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
BWR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
FPRD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348
FPWR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 349
EncoderErrorConfig . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 300
Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 301
AmpFileError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
10 Hierarchical Index

CanError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 218
CanOpenError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 243
EtherCatError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 317
EventError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 335
FirmwareError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346
IOFileError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 358
LinkError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 484
NetworkError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 518
NodeError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 539
AmpError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 188
AmpFault . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
CopleyNodeError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280
IOError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356
PathError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 551
PDO_Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 559
PvtConstAccelTrjError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 595
PvtTrjError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 600
ScurveError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 621
SDO_Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 637
ThreadError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 655
TrjError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 665
EtherCatSettings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 321
Event . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 322
EventAll . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328
EventAny . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 330
EventAnyClear . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 333
EventNone . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 340
EventMap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344
FuncGenConfig . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 350
GainScheduling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 351
HomeConfig . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352
InputShaper . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355
IOModuleSettings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 448
LinkSettings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487
MtrInfo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 507
Mutex . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512
MutexLocker . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 513
NetworkNodeInfo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 519
CanOpenNodeInfo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
NetworkOptions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 520
NodeIdentity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 541
Pmap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 560
Pmap16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 565
Pmap24 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 569
Pmap32 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 572
Pmap8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 576
PmapRaw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 579
PointN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 584
Point< N > . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 582
Point< CML_MAX_AMPS_PER_LINK > . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 582
Point< PATH_MAX_DIMENSIONS > . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 582

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2.1 Class Hierarchy 11

PosLoopConfig . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 586
ProfileConfig . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 587
ProfileConfigScurve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 589
ProfileConfigTrap . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 590
ProfileConfigVel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 592
PvtSegCache . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 596
PwmInConfig . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 601
RefObj . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 605
CanInterface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
CopleyCAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
IxxatCAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 452
IxxatCANV3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 458
KvaserCAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 462
SiemensCAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 643
EcatFrame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
EtherCatHardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
LinuxEcatHardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 496
WinUdpEcatHardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 675
Linkage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 468
LinkTrajectory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 489
LinkTrjScurve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 493
Path . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 542
PvtConstAccelTrj . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 594
PvtTrj . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 599
Network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 514
CanOpen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
EtherCAT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
Node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521
CopleyNode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
Amp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
IOModule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359
CopleyIO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 256
PDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 553
RPDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 616
IOModule::AlgOutPDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
IOModule::DigOutPDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289
RPDO_LinkCtrl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 618
TPDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 656
IOModule::AlgInPDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
IOModule::DigInPDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
Receiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 603
LSS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497
Trajectory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 661
TrjScurve . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 666
RefObjLocker< RefClass > . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 612
RegenConfig . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 613
SDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 622
Semaphore . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 640
ServoLoopConfig . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 642
SoftPosLimit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 649
Thread . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 651
CanOpen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232

Generated by Doxygen
12 Hierarchical Index

Linkage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 468
TrackingWindows . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 659
UstepConfig . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 670
VelLoopConfig . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 672

Generated by Doxygen
Chapter 3

Class Index

3.1 Class List

Here are the classes, structs, unions and interfaces with brief descriptions:

IOModule::AlgInPDO
Transmit PDO for mapping analog inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
AlgoPhaseInit
Configuration structure used to set up algorithmic phase init . . . . . . . . . . . . . . . . . . . . . 26
IOModule::AlgOutPDO
Receive PDO for mapping analog outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Amp
Copley Controls amplifier object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
AmpConfig
Amplifier configuration structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
AmpError
This class represents error conditions that can occur in the Copley Amplifier object . . . . . . . . . 188
AmpFault
This class represents latching amplifier fault conditions . . . . . . . . . . . . . . . . . . . . . . . . 192
AmpFileError
This class represents error conditions that can occur when loading amplifer data from a data file . . 195
AmpInfo
Amplifier characteristics data structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
AmpIoCfg
Programmable I/O pin configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
AmpSettings
Copley amplifier settings object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
AnalogRefConfig
Analog input configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
APRD
Read by position in network (aka Auto Increment Physical Read) The read is performed on the node
who's position matches the passed address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
APWR
Write by position in network (Auto Increment Physical Write) Like the APRD datagram, but a write
version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
ARMW
Read by position in network and write to the same address of all following nodes . . . . . . . . . . . 210
14 Class Index

Array< C >
This class template implements a simple dynamic array of a given type . . . . . . . . . . . . . . . . 211
BRD
Broadcast read . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
BWR
Broadcast write. This type of datagram writes data to the same location on every node in the network 215
CammingConfig
Configuration structure used to set up the camming . . . . . . . . . . . . . . . . . . . . . . . . . . 216
CanError
Class used to represent an error condition returned from a CAN interface function . . . . . . . . . . 218
CanFrame
Low level CAN data frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 219
CanInterface
Abstract class used for low level interaction with CAN hardware . . . . . . . . . . . . . . . . . . . . 221
CanNetworkConfig
CANopen Node ID and bit rate configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
CanOpen
Top level interface into the CANopen network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
CanOpenError
This class holds the error codes that describe CANopen error conditions . . . . . . . . . . . . . . . 243
CanOpenNodeInfo
The CanOpenNodeInfo structure holds some data required by the CANopen network interface which
is present in every node it manages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 247
CanOpenSettings
Configuration object used to customize global settings for the CANopen network . . . . . . . . . . . 249
CopleyCAN
This class extends the generic CanInterface class into a working interface for the Copley can device
driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
CopleyIO
This class represents a Copley CANopen I/O module . . . . . . . . . . . . . . . . . . . . . . . . . 256
CopleyIOAnlg
This structure is used to return information about the analog inputs of a Copley I/O module . . . . . 266
CopleyIOCfg
IO Module configuration structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 267
CopleyIODigi
This structure is used to return information about the digital I/O of a Copley I/O module . . . . . . . 268
CopleyIOInfo
IO Module characteristics data structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 269
CopleyIOPWM
This structure is used to return information about the PWM outputs of a Copley I/O module . . . . . 271
CopleyMotionLibrary
Copley Motion Libraries utility object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 271
CopleyNode
Copley CANopen Node class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
CopleyNodeError
This class represents errors that can be returned by the CopleyNode class . . . . . . . . . . . . . . 280
CrntLoopConfig
This structure holds the current loop configuration parameters . . . . . . . . . . . . . . . . . . . . 282
DAConfig
Configuration structure used to hold the settings for a drive's D/A converter . . . . . . . . . . . . . . 285
IOModule::DigInPDO
Transmit PDO for mapping digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 286
IOModule::DigOutPDO
Receive PDO for mapping digital output pins . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 289

Generated by Doxygen
3.1 Class List 15

EcatDgram
Generic EtherCAT datagram class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 293
EcatFrame
EtherCAT frame class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 299
EncoderErrorConfig
This structure holds configuration info about the encoder error filter . . . . . . . . . . . . . . . . . . 300
Error
This class is the root class for all error codes returned by functions defined within the Motion Library 301
EtherCAT
Top level interface into the EtherCAT network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 306
EtherCatError
This class holds the error codes that describe EtherCAT error conditions . . . . . . . . . . . . . . . 317
EtherCatHardware
Low level Ethernet hardware interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 320
EtherCatSettings
Configuration object used to customize global settings for the EtherCAT network . . . . . . . . . . . 321
Event
Events are a generic mechanism used to wait on some condition . . . . . . . . . . . . . . . . . . . 322
EventAll
This is an event that matches if all of a group of bits are set in the EventMap mask . . . . . . . . . . 328
EventAny
This is an event that matches if any of a group of bits are set in the EventMap mask . . . . . . . . . 330
EventAnyClear
This is an event that matches if any of a group of bits are clear in the EventMap mask . . . . . . . . 333
EventError
This class represents error conditions related to the Event object . . . . . . . . . . . . . . . . . . . 335
EventMap
An event map is a mechanism that allows one or more threads to wait on some pre-defined event, or
group of events . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 336
EventNone
This is an event that matches if none of a group of bits are set in the EventMap mask . . . . . . . . 340
Filter
Generic filter structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 343
Firmware
Copley Controls amplifier firmware object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 344
FirmwareError
This class represents error conditions that can occur while accessing a Copley Controls amplifier
firmware object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 346
FPRD
Read by assigned node ID (Configured Address Physical Read) The master assigns each node a
unique 16-bit address at startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 348
FPWR
Write by assigned node ID (Configured Address Physical Write) . . . . . . . . . . . . . . . . . . . 349
FuncGenConfig
Configuration parameters for amplifier's internal function generator . . . . . . . . . . . . . . . . . . 350
GainScheduling
Configuration structure used to set up the Gain Scheduling . . . . . . . . . . . . . . . . . . . . . . 351
HomeConfig
Homing parameter structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 352
InputShaper
Generic input shaper structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 355
IOError
I/O module errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 356

Generated by Doxygen
16 Class Index

IOFileError
This class represents error conditions that can occur when loading IO module data from a data file . 358
IOModule
Standard CANopen I/O module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 359
IOModuleSettings
Standard CANopen I/O module settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 448
IxxatCAN
Ixxat specific CAN interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 452
IxxatCANV3
Ixxat specific CAN interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 458
KvaserCAN
Kvaser specific CAN interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 462
Linkage
Linkage object, used for controlling a group of coordinated amplifiers . . . . . . . . . . . . . . . . . 468
LinkError
This class represents error conditions that can occur in the Linkage class . . . . . . . . . . . . . . 484
LinkSettings
Linkage object settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 487
LinkTrajectory
Linkage trajectory . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 489
LinkTrjScurve
Multi-axis s-curve profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 493
LinuxEcatHardware
This class provides an interface to the Ethernet ports on a linux system . . . . . . . . . . . . . . . 496
LSS
CANopen Layer Setting Services object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 497
MtrInfo
Motor information structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 507
Mutex
This class represents an object that can be used by multiple threads to gain safe access to a shared
resource . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 512
MutexLocker
This is a utility class that locks a mutex in it's constructor, and unlocks it in it's destructor . . . . . . . 513
Network
Abstract network class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 514
NetworkError
This class holds the error codes that describe various Netowrk error conditions . . . . . . . . . . . 518
NetworkNodeInfo
Private data owned by the network object attached to every node . . . . . . . . . . . . . . . . . . . 519
NetworkOptions
Configuration structure used to configure the amplifiers network support . . . . . . . . . . . . . . . 520
Node
Node class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 521
NodeError
This class represents node errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 539
NodeIdentity
CANopen identity object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 541
Path
Multi-axis complex trajectory path . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 542
PathError
This class represents errors returned by the path Path object . . . . . . . . . . . . . . . . . . . . . 551
PDO
PDO (Process Data Object) base class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 553

Generated by Doxygen
3.1 Class List 17

PDO_Error
This class represents error conditions related to PDOs . . . . . . . . . . . . . . . . . . . . . . . . 559
Pmap
This class allows variables to be mapped into a PDO . . . . . . . . . . . . . . . . . . . . . . . . . 560
Pmap16
This is a PDO variable mapping class that extends the virtual Pmap class to handle 16-bit integers . 565
Pmap24
This is a PDO variable mapping class that extends the virtual Pmap class to handle 24-bit integers . 569
Pmap32
This is a PDO variable mapping class that extends the virtual Pmap class to handle 32-bit integers . 572
Pmap8
This is a PDO variable mapping class that extends the virtual Pmap class to handle 8-bit integers . . 576
PmapRaw
This is the most generic PDO variable mapping class . . . . . . . . . . . . . . . . . . . . . . . . . 579
Point< N >
Template used for N dimensional objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 582
PointN
An N axis point . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 584
PosLoopConfig
This structure holds the position loop configuration parameters specific to the Copley amplifier . . . 586
ProfileConfig
Amplifier profile parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 587
ProfileConfigScurve
S-curve profile parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 589
ProfileConfigTrap
Trapezoidal profile parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 590
ProfileConfigVel
Velocity profile parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 592
PvtConstAccelTrj . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 594
PvtConstAccelTrjError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 595
PvtSegCache
PVT trajectory segment cache object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 596
PvtTrj . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 599
PvtTrjError . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 600
PwmInConfig
PWM or Pulse/Direction input configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 601
Receiver
CANopen receiver object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 603
RefObj
This class is used to track object references in the CML library . . . . . . . . . . . . . . . . . . . . 605
RefObjLocker< RefClass >
This is a utility class that locks a reference in it's constructor, and unlocks it in it's destructor . . . . . 612
RegenConfig
Configuration structure used to set up the amplifier regeneration resister . . . . . . . . . . . . . . . 613
RPDO
Receive PDO (received by node, transmitted by this software) . . . . . . . . . . . . . . . . . . . . 616
RPDO_LinkCtrl
Receive PDO used to update the control word of all amplifiers in the linkage . . . . . . . . . . . . . 618
ScurveError
This class represents error conditions that can occur in the TrjScurve class . . . . . . . . . . . . . . 621
SDO
CANopen Service Data Object (SDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 622
SDO_Error
This class represents SDO errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 637

Generated by Doxygen
18 Class Index

Semaphore
Generic semaphore class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 640
ServoLoopConfig
This structure holds configuration info about specific parts of the velocity and position loops . . . . . 642
SiemensCAN
SiemensPCIeToCAN specific CAN interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 643
SoftPosLimit
Software limit switch configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 649
Thread
Virtual class which provides multi-tasking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 651
ThreadError
Errors related to the multi-threaded libraries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 655
TPDO
Transmit PDO (transmitted by node, received by this software) . . . . . . . . . . . . . . . . . . . . 656
TrackingWindows
Position and velocity error windows . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 659
Trajectory
Trajectory information class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 661
TrjError
This class represents error conditions reported by the trajectory classes . . . . . . . . . . . . . . . 665
TrjScurve
Asymmetric S-curve profile generator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 666
UstepConfig
Configuration structure used to set up the microstepper . . . . . . . . . . . . . . . . . . . . . . . . 670
VelLoopConfig
This structure holds the velocity loop configuration parameters specific to the Copley amplifier . . . . 672
WinUdpEcatHardware
This class provides an interface to the Ethernet ports on a windows system . . . . . . . . . . . . . 675

Generated by Doxygen
Chapter 4

File Index

4.1 File List

Here is a list of all documented files with brief descriptions:

Amp.cpp
This file provides most of the implementation for the Copley Amplifier object . . . . . . . . . . . . . 679
AmpFile.cpp
This file contains code used to read CME-2 .ccx and .ccd amplifier files . . . . . . . . . . . . . . . 680
AmpFW.cpp
This file contains code used to update an amplifier's firmware over the CANopen network . . . . . . 682
AmpParam.cpp
This file contains the AMP object methods used to upload / download various amplifier parameters . 682
AmpPDO.cpp
This file contains code that implements PDO objects used by the Copley Controls amplifier object . . 683
AmpPVT.cpp
This file contains the code used by the Amp object to stream PVT trajectory profiles over the CA←-
Nopen network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 684
AmpStruct.cpp
This file contains the AMP object methods used to upload / download structures containing groups
of amplifier parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 684
AmpUnits.cpp
This file contains the AMP object methods used to handle unit conversions . . . . . . . . . . . . . . 685
AmpVersion.cpp
This file contains some rules used by the Amp object to determine if certain features are supported
by the amplifier based on it's model number and firmware version number . . . . . . . . . . . . . . 685
Can.cpp
This file handles the initialization of the static variables (error codes) used by the CanError and Can←-
Interface classes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 686
can_copley.h
CAN hardware interface for the Copley Controls CAN card . . . . . . . . . . . . . . . . . . . . . . 686
can_ixxat.h
CAN hardware interface for the Ixxat CAN driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . 688
can_ixxat_v3.h
CAN hardware interface for the Ixxat CAN driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . 689
can_kvaser.h
CAN hardware interface for the Kvaser CAN driver . . . . . . . . . . . . . . . . . . . . . . . . . . 690
20 File Index

can_siemens.h
CAN hardware interface for the SiemensPCIeToCAN CAN driver . . . . . . . . . . . . . . . . . . . 692
CanOpen.cpp
This file holds code for the top level CANopen class . . . . . . . . . . . . . . . . . . . . . . . . . . 692
CML.cpp
CML object definition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 693
CML.h
Top level include file for the CML libraries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 694
CML_Amp.h
This file defines the Copley Amplifier object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 695
CML_AmpDef.h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 697
CML_AmpStruct.h
This file contains a number of structures used to pass configuration parameters to an Amp object . . 722
CML_Array.h
This file implements a simple dynamic array template used in CML . . . . . . . . . . . . . . . . . . 725
CML_Can.h
This file contains the base classes used to define the low level interface to the CAN network hardware 726
CML_CanOpen.h
This header file defines the classes used for the top level of the CANopen network . . . . . . . . . . 727
CML_Copley.h
This header file defines a generic Copley node type . . . . . . . . . . . . . . . . . . . . . . . . . . 729
CML_CopleyIO.h
Standard CANopen I/O module support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 730
CML_Error.h
This file defines the top level error class used throughout the library . . . . . . . . . . . . . . . . . 734
CML_EtherCAT.h
This header file defines the classes used to represent the top level of the EtherCAT network interface 735
CML_EventMap.h
This file defines the Event Map class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 737
CML_File.h
This file holds various handy functions for parsing files . . . . . . . . . . . . . . . . . . . . . . . . 738
CML_Filter.h
This file defines the Filter object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 739
CML_Firmware.h
This file defines classes related to the Copley amplifier Firmware object . . . . . . . . . . . . . . . 741
CML_Geometry.h
This file contains class definitions used to define multi-axis trajectory paths . . . . . . . . . . . . . . 742
CML_InputShaper.h
This file defines the InputShaper object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 743
CML_IO.h
Standard CANopen I/O module support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 745
CML_Linkage.h
This file defines the Linkage object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 751
CML_Network.h
This header file defines the classes used for the generic top level network interface . . . . . . . . . 753
CML_Node.h
This header file defines the classes that define a generic node on the network . . . . . . . . . . . . 756
CML_PDO.h
This header file defines the classes used to communicate to CANopen nodes using Process Data
Objects (PDOs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 758
CML_PvtConstAccelTrj.h
This header file defines the classes that define the PvtConstAccelTrj class . . . . . . . . . . . . . . 759
CML_PvtTrj.h
This header file defines the classes that define the PvtTrj class . . . . . . . . . . . . . . . . . . . . 760

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4.1 File List 21

CML_Reference.h
This header file defines a set of classes used to handle reference counting within the CML library . . 761
CML_SDO.h
This header file defines the classes used to communicate to CANopen nodes using Service Data
Objects (SDOs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 763
CML_Settings.h
This file provides some configuration options used to customize the Copley Motion Libraries . . . . . 766
CML_Threads.h
The classes defined in this file provide an operating system independent way of accessing multi-
tasking system features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 770
CML_Trajectory.h . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 772
CML_TrjScurve.h
This file defines the TrjScurve class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 773
CML_Utils.h
This file holds various handy utility types and functions . . . . . . . . . . . . . . . . . . . . . . . . 774
CopleyIO.cpp
This file contains the CopleyIO object methods used to upload / download structures containing
groups of module parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 777
CopleyNode.cpp
This file holds code to implement the CopleyNode object . . . . . . . . . . . . . . . . . . . . . . . 778
ecatdc.cpp
This file holds some utility code used by the EtherCAT network when initializing it's distributed clock . 778
Error.cpp
This file handles initializing the static data objects used by the Error class . . . . . . . . . . . . . . 779
EtherCAT.cpp
This file holds code for the top level EtherCAT class . . . . . . . . . . . . . . . . . . . . . . . . . . 779
EventMap.cpp
This file contains the implementation of the EventMap class . . . . . . . . . . . . . . . . . . . . . . 780
File.cpp
This file contains code used to parse CME-2 type files . . . . . . . . . . . . . . . . . . . . . . . . 781
Filter.cpp
Implementation of the Filter class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 781
Firmware.cpp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 782
Geometry.cpp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 783
InputShaper.cpp
Implementation of the InputShaper class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 783
IOmodule.cpp
I/O module object support . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 783
Linkage.cpp
Implementation of the Linkage class . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 784
Network.cpp
This file holds code for the top level CANopen class . . . . . . . . . . . . . . . . . . . . . . . . . . 785
Node.cpp
This file holds code to implement the CANopen node related objects . . . . . . . . . . . . . . . . . 785
PDO.cpp
This file holds the code needed to implement CANopen Process Data Objects (PDOs) . . . . . . . 786
PvtConstAccelTrj.cpp
This file holds code to implement the PvtConstAccelTrj class . . . . . . . . . . . . . . . . . . . . . 786
PvtTrj.cpp
This file holds code to implement the PvtTrj class . . . . . . . . . . . . . . . . . . . . . . . . . . . 787
Reference.cpp
This file holds the code needed to implement the CML reference counting objects . . . . . . . . . . 787
SDO.cpp
This file contains the code used to implement the CANopen SDO objects . . . . . . . . . . . . . . 788

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22 File Index

Threads.cpp
This file only contains definitions for the generic thread error objects . . . . . . . . . . . . . . . . . 788

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Chapter 5

Class Documentation

5.1 IOModule::AlgInPDO Class Reference

Transmit PDO for mapping analog inputs.

Inheritance diagram for IOModule::AlgInPDO:

RefObj

PDO

TPDO

IOModule::AlgInPDO
24 Class Documentation

Collaboration diagram for IOModule::AlgInPDO:

RefObj Pmap

map

PDO

TPDO

IOModule::AlgInPDO

Public Member Functions

• const Error ∗ Init (class IOModule ∗io, uint32 cobID, uint8 ct, uint8 id[ ], IOMODULE_EVENTS event)
Initialize a analog input PDO object.
• bool GetInVal (uint8 id, int16 &value)
Read the specified input from the PDO's cached data.
• void Received (void)
New transmit PDO received.

Additional Inherited Members

5.1.1 Detailed Description

Transmit PDO for mapping analog inputs.

This class represents the standard transmit PDO which can be used to map up to 4 16-bit analog inputs.

5.1.2 Member Function Documentation

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5.1 IOModule::AlgInPDO Class Reference 25

5.1.2.1 GetInVal()

bool GetInVal (
uint8 id,
int16 & value )

Read the specified input from the PDO's cached data.

The value returned will be the last value received via PDO for this input bank.

Parameters
id The input ID to be checked.
value The input value will be returned here. If the input is not mapped to this PDO, then this will not be changed.

Returns

true if the value was returned, false if the input isn't mapped to this PDO.

5.1.2.2 Init()

const Error ∗ Init (

class IOModule ∗ io,
uint32 cobID,
uint8 ct,
uint8 id[ ],
IOMODULE_EVENTS event )

Initialize a analog input PDO object.

Parameters

io Pointer to the I/O module to which this PDO is assigned.

cobID The CAN ID for this PDO message.
ct The number of inputs to be mapped (1 to 4)
id An array of ct input ID numbers. These will be mapped (in order) to the PDO.
event The event bit to post when a PDO message is received.

Returns

A pointer to an error object, or NULL on success

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5.1.2.3 Received()

void Received (
void ) [virtual]

New transmit PDO received.

This method is called by the CANopen reader thread when a new PDO message is received. It causes this PDO object
to post it's event to the IOModule object's event map. This will cause any waiting threads to wake up.

Reimplemented from TPDO.

The documentation for this class was generated from the following files:

• CML_IO.h
• IOmodule.cpp

5.2 AlgoPhaseInit Struct Reference

Configuration structure used to set up algorithmic phase init.

Public Member Functions

• AlgoPhaseInit (void)
Default constructor.

Public Attributes

• uint16 phaseInitCurrent
Maximum Current to use with algorithmic phase initialization. (0.01 amp units)
• uint16 phaseInitTime
Algorithmic phase initialization timeout. (milliseconds)
• uint16 phaseInitConfig
Algorithmic Phase Initialization config.

5.2.1 Detailed Description

Configuration structure used to set up algorithmic phase init.

These settings may be up/download from the amplifier using the functions Amp::SetAlgoPhaseInit and Amp::GetAlgo←-
PhaseInit.

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5.3 IOModule::AlgOutPDO Class Reference 27

5.2.2 Constructor & Destructor Documentation

5.2.2.1 AlgoPhaseInit()

AlgoPhaseInit (
void ) [inline]

Default constructor.

Initializes all structure elements to zero.

5.2.3 Member Data Documentation

5.2.3.1 phaseInitConfig

uint16 phaseInitConfig

Algorithmic Phase Initialization config.

Bit mapped as follows (Bit 0 If clear, use algorithmic phase initialization. If set force the phase angle to 0. bits 1 - 15
reserved

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

• CML_AmpStruct.h

5.3 IOModule::AlgOutPDO Class Reference

Receive PDO for mapping analog outputs.

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28 Class Documentation

Inheritance diagram for IOModule::AlgOutPDO:

RefObj

PDO

RPDO

IOModule::AlgOutPDO

Collaboration diagram for IOModule::AlgOutPDO:

RefObj Pmap

map

PDO

RPDO

IOModule::AlgOutPDO

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5.3 IOModule::AlgOutPDO Class Reference 29

Public Member Functions

• const Error ∗ Init (class IOModule ∗io, uint32 cobID, uint8 ct, uint8 id[ ])
Initialize an analog output PDO object.
• bool Update (uint8 id, int16 value)
Update the locally stored value of one of the 16-bit analog outputs associated with this PDO.
• const Error ∗ Transmit (void)
Transmit this PDO.

Additional Inherited Members

5.3.1 Detailed Description

Receive PDO for mapping analog outputs.

This class represents the standard receive PDO which can be used to transmit up to 4 16-bit analog outputs.

5.3.2 Member Function Documentation

5.3.2.1 Init()

const Error ∗ Init (

class IOModule ∗ io,
uint32 cobID,
uint8 ct,
uint8 id[ ] )

Initialize an analog output PDO object.

Parameters

io Pointer to the I/O module to which this PDO is assigned.

cobID The CAN ID for this PDO message.
ct The number of outputs to be mapped (1 to 4)
id An array of ct output ID numbers. These will be mapped (in order) to the PDO.

Returns

A pointer to an error object, or NULL on success

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5.3.2.2 Transmit()

const Error ∗ Transmit (

void )

Transmit this PDO.

Returns

A pointer to an error object, or NULL on success

5.3.2.3 Update()

bool Update (
uint8 id,
int16 value )

Update the locally stored value of one of the 16-bit analog outputs associated with this PDO.

Parameters
id The output block ID to be updatad.
value The new value for the output block.

Returns

true if the value was updated, false if the block isn't mapped to this PDO.

The documentation for this class was generated from the following files:

• CML_IO.h
• IOmodule.cpp

5.4 Amp Class Reference

Copley Controls amplifier object.

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5.4 Amp Class Reference 31

Inheritance diagram for Amp:

RefObj

Node

CopleyNode

Amp

Collaboration diagram for Amp:

RefObj SDO

sdo

Node

CopleyNode EventMap

eventMap

Amp

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32 Class Documentation

Public Member Functions

• virtual const Error ∗ UpdateEvents (uint16 stat, uint32 events, uint16 inputs)
Update the amplifier's event map based on the status information received by a status PDO.
• void PvtStatusUpdate (uint32 status)
This is an internal function which should not be called by user code.
• virtual uint32 GetNetworkRef (void)
Return a reference ID to the network that this node is attached to.
• virtual NodeState GetState (void)
Returns the present state of this node.
• const Error ∗ GetStatusWord (uint16 &value)
Get the current value of the drive's status word.
• virtual const Error ∗ SetControlWord (uint16 value)
Set the amplifier's control word.
• const Error ∗ GetControlWord (uint16 &value)
Returns the present value of the CANopen device profile control word.

Amplifier initialization

• Amp ()
Default constructor.
• Amp (Network &net, int16 nodeID)
Construct and initialize an amplifier object using defaults for all amp settings.
• Amp (Network &net, int16 nodeID, AmpSettings &settings)
Construct and initialize an amplifier object.
• virtual ∼Amp ()
Amp object destructor.
• const Error ∗ Init (Network &net, int16 nodeID)
Initialize the amplifier object using all default settings.
• const Error ∗ Init (Network &net, int16 nodeID, AmpSettings &settings)
Initialize the amplifier object with custom amp settings.
• const Error ∗ ReInit (void)
Re-initialize an amplifier.
• const Error ∗ Reset (void)
Reset the amplifier object.
• const Error ∗ InitSubAxis (Amp &primary, int axis=2)
Initialize an Amp object for use with a secondary axis of a multi-axis EtherCAT amplifier.

Amplifier modes & status info

• const Error ∗ GetAmpName (char ∗name)

Get the amplifier name stored in the amplifiers flash.
• const Error ∗ SetAmpName (char ∗name)
Set the amplifier name stored in the amplifiers flash.
• const Error ∗ SetAmpMode (AMP_MODE mode)
Set the amplifier mode of operation.
• const Error ∗ GetAmpMode (AMP_MODE &mode)
Get the currently active amplifier mode of operation.
• const Error ∗ Disable (bool wait=true)
Disable the amplifier.
• const Error ∗ Enable (bool wait=true)

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5.4 Amp Class Reference 33

Enable the amplifier.

• bool IsHardwareEnabled (void)
Return true if the amplifier's PWM outputs are currently enabled.
• bool IsSoftwareEnabled (void)
Return true if the amplifier is being enabled by software.
• bool IsReferenced (void)
Return true if the amplifier has been successfully referenced (homed).
• const Error ∗ CheckStateForMove (void)
Check the amplifier's state to make sure a move can be started.
• const Error ∗ ClearFaults (void)
Clear amplifier faults.
• const Error ∗ GetFaults (AMP_FAULT &value)
Get any active amplifier faults.
• const Error ∗ SetFaultMask (AMP_FAULT &value)
Set the amplifier's fault mask.
• const Error ∗ GetFaultMask (AMP_FAULT &value)
Get the current value of the amplifier's fault mask.
• const Error ∗ GetEventStatus (EVENT_STATUS &stat)
Get the amplifier's 'event status' register.
• const Error ∗ GetEventSticky (EVENT_STATUS &stat)
Get the amplifier's 'sticky' event status register.
• const Error ∗ GetEventLatch (EVENT_STATUS &stat)
Get the amplifier's latched event status register.
• const Error ∗ SetPwmMode (AMP_PWM_MODE mode)
Set the PWM output mode configuration for the amplifier.
• const Error ∗ GetPwmMode (AMP_PWM_MODE &mode)
Get the current PWM output mode configuration from the amplifier.
• const Error ∗ SetPhaseMode (AMP_PHASE_MODE mode)
Set the phasing mode configuration for the amplifier.
• const Error ∗ GetPhaseMode (AMP_PHASE_MODE &mode)
Get the current phasing mode configuration from the amplifier.

Motor & Amplifier state information

• const Error ∗ GetPositionActual (uunit &value)

Get the actual position used by the servo loop.
• const Error ∗ SetPositionActual (uunit value)
Set the actual position.
• const Error ∗ GetPositionMotor (uunit &value)
Get the actual motor position.
• const Error ∗ SetPositionMotor (uunit value)
Set the actual motor position.
• const Error ∗ GetPositionLoad (uunit &value)
Get the load encoder position.
• const Error ∗ SetPositionLoad (uunit value)
Set the load encoder position.
• const Error ∗ GetPositionCommand (uunit &value)
Get the instantaneous commanded position.
• const Error ∗ GetPositionError (uunit &value)
Get the position error.
• const Error ∗ GetVelocityActual (uunit &value)
Get the actual motor velocity.
• const Error ∗ GetVelocityLoad (uunit &value)
Get the load encoder velocity.

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• const Error ∗ GetVelocityCommand (uunit &value)

Get the commanded velocity.
• const Error ∗ GetVelocityLimited (uunit &value)
Get the limited velocity.
• const Error ∗ GetCurrentActual (int16 &value)
Get the actual motor current.
• const Error ∗ GetCurrentCommand (int16 &value)
Get the commanded motor current.
• const Error ∗ GetCurrentLimited (int16 &value)
Get the limited motor current.
• const Error ∗ GetTrajectoryVel (uunit &value)
Get the instantaneous commanded velocity passed out of the trajectory generator.
• const Error ∗ GetTrajectoryAcc (uunit &value)
Get the instantaneous commanded acceleration passed out of the trajectory generator.
• const Error ∗ GetTrajectoryJrkAbort (uunit &value)
Get the jerk value used during trajectory aborts.
• const Error ∗ SetTrajectoryJrkAbort (uunit value)
Set the jerk value used during trajectory aborts.
• const Error ∗ GetPhaseAngle (int16 &value)
Get the motor phase angle.
• const Error ∗ GetHallState (int16 &value)
Get the current digital hall sensor state.
• const Error ∗ GetRefVoltage (int16 &value)
Get the analog reference input voltage.
• const Error ∗ GetHighVoltage (int16 &value)
Get the high voltage bus voltage in units of 0.1 volts.
• const Error ∗ GetAmpTemp (int16 &value)
Get the current amplifier temperature (degrees C).
• const Error ∗ GetAnalogEncoder (int16 &sin, int16 &cos)
Get the raw voltage on the two analog encoder inputs (0.1 millivolt units).
• const Error ∗ GetMotorCurrent (int16 &u, int16 &v)
Get the actual current values read directly from the amplifier's current sensors.

Input & Output pin control

• const Error ∗ SetIoConfig (AmpIoCfg &cfg)

Configure the amplifier's programmable I/O pins using the values passed in the config structure.
• const Error ∗ GetIoConfig (AmpIoCfg &cfg)
Read the amplifier's programmable I/O pin configuration and return it in the passed config structure.
• const Error ∗ GetInputs (uint16 &value, bool viaSDO=false)
Get the present value of the general purpose input pins.
• const Error ∗ GetInputs32 (uint32 &value)
32-bit version to Get the present value of the general purpose input pins.
• const Error ∗ WaitInputEvent (Event &e, Timeout timeout, uint32 &match)
Wait on the amplifier's general purpose input pins.
• const Error ∗ WaitInputHigh (uint32 inputs, Timeout timeout=-1)
Wait for any of the specified general purpose input pins to be set.
• const Error ∗ WaitInputLow (uint32 inputs, Timeout timeout=-1)
Wait for any of the specified general purpose input pins to be lowered.
• const Error ∗ SetIoPullup (uint16 value)
Set the current state of the input pin pull up/down resisters.
• const Error ∗ GetIoPullup (uint16 &value)
Get the current state of the input pin pull up/down resisters.
• const Error ∗ SetInputConfig (int8 pin, INPUT_PIN_CONFIG cfg, uint16 axis=0)

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5.4 Amp Class Reference 35

Set the input pin configuration for the specified input pin.
• const Error ∗ GetInputConfig (int8 pin, INPUT_PIN_CONFIG &cfg)
Get the input pin configuration for the specified input pin.
• const Error ∗ GetInputConfig (int8 pin, INPUT_PIN_CONFIG &cfg, uint16 &axis)
Get the input pin configuration for the specified input pin.
• const Error ∗ SetInputDebounce (int8 pin, int16 value)
Set the input pin debounce time for the specified input pin.
• const Error ∗ GetInputDebounce (int8 pin, int16 &value)
Get the input pin debounce time for the specified input pin.
• const Error ∗ SetOutputConfig (int8 pin, OUTPUT_PIN_CONFIG cfg, uint32 mask1=0, uint32 mask2=0, uint16
axis=0)
Set the output pin configuration for the specified pin.
• const Error ∗ GetOutputConfig (int8 pin, OUTPUT_PIN_CONFIG &cfg)
Get the output configuration for the specified pin.
• const Error ∗ GetOutputConfig (int8 pin, OUTPUT_PIN_CONFIG &cfg, uint16 &axis)
Get the output configuration for the specified pin.
• const Error ∗ GetOutputConfig (int8 pin, OUTPUT_PIN_CONFIG &cfg, uint32 &mask)
Get the output pin configuration for the specified pin.
• const Error ∗ GetOutputConfig (int8 pin, OUTPUT_PIN_CONFIG &cfg, uint32 &mask, uint16 &axis)
Get the output pin configuration for the specified pin.
• const Error ∗ GetOutputConfig (int8 pin, OUTPUT_PIN_CONFIG &cfg, uint32 &mask1, uint32 &mask2)
Get the output pin configuration for the specified pin.
• const Error ∗ GetOutputConfig (int8 pin, OUTPUT_PIN_CONFIG &cfg, uint32 &mask1, uint32 &mask2, uint16
&axis)
Get the output pin configuration for the specified pin.
• const Error ∗ SetOutputs (uint16 value)
Update the state of the manual output pins.
• const Error ∗ GetOutputs (uint16 &value)
Get the present value of the output pin control register.
• const Error ∗ SetIOOptions (int32 value)
Set the IO Options.
• const Error ∗ GetIOOPtions (int32 &value)
Get the IO Options.
• const Error ∗ SetIoPullup32 (int32 value)
32 Bit version of SetIoPullup.
• const Error ∗ GetIoPullup32 (int32 &value)
32 Bit version of GetIoPullup.

Position capture

• const Error ∗ SetPosCaptureCfg (POS_CAPTURE_CFG cfg)

Set the position capture configuration.
• const Error ∗ GetPosCaptureCfg (POS_CAPTURE_CFG &cfg)
Read the current configuration of the position capture mechanism.
• const Error ∗ GetPosCaptureStat (POS_CAPTURE_STAT &stat)
Read the current status of the position capture mechanism.
• const Error ∗ GetIndexCapture (int32 &value)
Get the most recently captured encoder index position.
• const Error ∗ GetHomeCapture (int32 &value)
Get the most recently captured home sensor position.

General parameter setup.

• const Error ∗ GetAmpConfig (AmpConfig &cfg)

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Read the complete amplifier configuration from the amplifier and return it in the passed structure.
• const Error ∗ SetAmpConfig (AmpConfig &cfg)
Update an amplifier's configuration from the passed structure.
• const Error ∗ SaveAmpConfig (AmpConfig &cfg)
Upload the passed amplifier configuration to the amplifier's workign memory, and then copy that working memory to
flash.
• const Error ∗ SaveAmpConfig (void)
Save all amplifier parameters to internal flash memory.
• const Error ∗ LoadFromFile (const char ∗name, int &line)
Load the specified amplifier data file.
• const Error ∗ LoadCCDFromFile (const char ∗name, Network &net)
Checks the network type and calls the correct function to write the ccd file to the amplifier.
• const Error ∗ GetCanNetworkConfig (CanNetworkConfig &cfg)
Get the current CANopen network configuration programmed into the amplifier.
• const Error ∗ SetCanNetworkConfig (CanNetworkConfig &cfg)
Set the CANopen node ID and bit rate configuration.
• const Error ∗ GetNetworkOptions (NetworkOptions &cfg)
Set the Network Options configuration.
• const Error ∗ SetNetworkOptions (NetworkOptions &cfg)
Set the Network Options configuration.
• const Error ∗ GetAmpInfo (AmpInfo &info)
Read the Amplifier information parameters from the drive.
• const Error ∗ GetMtrInfo (MtrInfo &info)
Read the motor information structure from the amplifier.
• const Error ∗ SetMtrInfo (MtrInfo &info)
Update the amplifier's motor information.
• const Error ∗ GetRegenConfig (RegenConfig &cfg)
Upload the current configuration parameters for the power regeneration resister connected to the amplifier.
• const Error ∗ SetRegenConfig (RegenConfig &cfg)
Download a new configuration structure for the power regeneration resister.
• const Error ∗ GetUstepConfig (UstepConfig &cfg)
Upload the current configuration parameters for the stepper.
• const Error ∗ SetUstepConfig (UstepConfig &cfg)
Download a new configuration structure for the microstepper.
• const Error ∗ GetAlgoPhaseInit (AlgoPhaseInit &cfg)
Upload the current configuration parameters for the algorithmic phase init.
• const Error ∗ SetAlgoPhaseInit (AlgoPhaseInit &cfg)
Download a new configuration structure for the algorithmic phase init.
• const Error ∗ GetCammingConfig (CammingConfig &cfg)
Upload the current configuration parameters for the camming.
• const Error ∗ SetCammingConfig (CammingConfig &cfg)
Download a new configuration structure for Camming.
• const Error ∗ GetGainScheduling (GainScheduling &cfg)
Upload the current configuration parameters for the GainS cheduling.
• const Error ∗ SetGainScheduling (GainScheduling &cfg)
Download a new configuration structure for Gain Scheduling.
• const Error ∗ GetDAConverterConfig (DAConfig &cfg)
Get the configuration for the D/A converter.
• const Error ∗ SetDAConverterConfig (DAConfig &cfg)
Set the D/A converter configuration.
• const Error ∗ GetSpecialFirmwareConfig (AmpConfig &cfg)
Reads the amplifier's special firmware.
• const Error ∗ SetSpecialFirmwareConfig (AmpConfig &cfg)
Configure the amplifier's special firmware.
• const Error ∗ GetEncoderErrorConfig (EncoderErrorConfig &cfg)

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5.4 Amp Class Reference 37

Read the amplifier's encoder error configuration.

• const Error ∗ SetEncoderErrorConfig (EncoderErrorConfig &cfg)
Configure the amplifier's encoder error configuration.

Low level access to CANopen objects.

• const Error ∗ Download (int16 index, int16 sub, int32 size, byte ∗data)
Download data to an object in this Amps object dictionary.
• const Error ∗ Upload (int16 index, int16 sub, int32 &size, byte ∗data)
Upload data from an object in this Amps object dictionary.
• const Error ∗ Dnld32 (int16 index, int16 sub, uint32 data)
Download data to an object in this Amps object dictionary.
• const Error ∗ Dnld32 (int16 index, int16 sub, int32 data)
Download data to an object in this Amps object dictionary.
• const Error ∗ Upld32 (int16 index, int16 sub, uint32 &data)
Upload data from an object in this Amps object dictionary.
• const Error ∗ Upld32 (int16 index, int16 sub, int32 &data)
Upload data from an object in this Amps object dictionary.
• const Error ∗ Dnld16 (int16 index, int16 sub, uint16 data)
Download data to an object in this Amps object dictionary.
• const Error ∗ Dnld16 (int16 index, int16 sub, int16 data)
Download data to an object in this Amps object dictionary.
• const Error ∗ Upld16 (int16 index, int16 sub, uint16 &data)
Upload data from an object in this Amps object dictionary.
• const Error ∗ Upld16 (int16 index, int16 sub, int16 &data)
Upload data from an object in this Amps object dictionary.
• const Error ∗ Dnld8 (int16 index, int16 sub, uint8 data)
Download data to an object in this Amps object dictionary.
• const Error ∗ Dnld8 (int16 index, int16 sub, int8 data)
Download data to an object in this Amps object dictionary.
• const Error ∗ Upld8 (int16 index, int16 sub, uint8 &data)
Upload data from an object in this Amps object dictionary.
• const Error ∗ Upld8 (int16 index, int16 sub, int8 &data)
Upload data from an object in this Amps object dictionary.
• const Error ∗ DnldString (int16 index, int16 sub, char ∗data)
Download data to an object in this Amps object dictionary.
• const Error ∗ UpldString (int16 index, int16 sub, int32 &len, char ∗data)
Upload data from an object in this Amps object dictionary.

Control loop setup

• const Error ∗ GetPosLoopConfig (PosLoopConfig &cfg)

Get the configuration values of the amplifiers position loop.
• const Error ∗ SetPosLoopConfig (PosLoopConfig &cfg)
Update the amplifier's position loop configuration.
• const Error ∗ GetVelLoopConfig (VelLoopConfig &cfg)
Get the configuration values of the amplifiers velocity loop.
• const Error ∗ SetVelLoopConfig (VelLoopConfig &cfg)
Update the amplifier's velocity loop configuration.
• const Error ∗ GetCrntLoopConfig (CrntLoopConfig &cfg)
Get the configuration values of the amplifiers current loop.
• const Error ∗ SetCrntLoopConfig (CrntLoopConfig &cfg)
Update the amplifier's current loop configuration.
• const Error ∗ GetVloopOutputFilter (Filter &f)

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Get the coefficients used in the velocity loop output filter.

• const Error ∗ SetVloopOutputFilter (Filter &f)
Set new coefficients for the velocity loop output filter.
• const Error ∗ GetVloopOutputFilter2 (Filter &f)
Get the coefficients used in the second velocity loop output filter.
• const Error ∗ SetVloopOutputFilter2 (Filter &f)
Set the coefficients used in the second velocity loop output filter.
• const Error ∗ GetVloopOutputFilter3 (Filter &f)
Get the coefficients used in the third velocity loop output filter.
• const Error ∗ SetVloopOutputFilter3 (Filter &f)
Set the coefficients used in the third velocity loop output filter.
• const Error ∗ GetVloopCommandFilter (Filter &f)
Get the coefficients used in the velocity loop command filter.
• const Error ∗ SetVloopCommandFilter (Filter &f)
Set new coefficients for the velocity loop command filter.
• const Error ∗ GetIloopCommandFilter (Filter &f)
Get the coefficients used in the current loop input filter.
• const Error ∗ SetIloopCommandFilter (Filter &f)
Set the coefficients used in the current loop input filter.
• const Error ∗ GetIloopCommandFilter2 (Filter &f)
Get the coefficients used in the second current loop input filter.
• const Error ∗ SetIloopCommandFilter2 (Filter &f)
Set the coefficients used in the second current loop input filter.
• const Error ∗ GetAnalogCommandFilter (Filter &f)
Get the coefficients used in the velocity loop command filter.
• const Error ∗ SetAnalogCommandFilter (Filter &f)
Set new coefficients for the analog reference input filter.
• const Error ∗ GetInputShapingFilter (InputShaper &f)
Get the coefficients used in the input shaping filter.
• const Error ∗ SetInputShapingFilter (InputShaper &f)
Set new coefficients for the input shaping filter.
• const Error ∗ GetServoLoopConfig (int32 &value)
Get the servo loop configuration.
• const Error ∗ SetServoLoopConfig (int32 value)
Set the servo loop configuration.

Position and velocity windows

• const Error ∗ SetTrackingWindows (TrackingWindows &cfg)

Update the amplifier's tracking window configuration.
• const Error ∗ GetTrackingWindows (TrackingWindows &cfg)
Get the configuration values of the amplifiers position & velocity tracking windows.
• const Error ∗ SetPositionErrorWindow (uunit value)
Set the position error window.
• const Error ∗ GetPositionErrorWindow (uunit &value)
Get the position error window.
• const Error ∗ SetPositionWarnWindow (uunit value)
Set the position warning window.
• const Error ∗ GetPositionWarnWindow (uunit &value)
Get the position warning window.
• const Error ∗ SetSettlingWindow (uunit value)
Set the position settling window.
• const Error ∗ GetSettlingWindow (uunit &value)
Get the position window value.

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• const Error ∗ SetSettlingTime (uint16 value)

Set the position window time value (milliseconds).
• const Error ∗ GetSettlingTime (uint16 &value)
Get the position window time value (milliseconds).
• const Error ∗ SetVelocityWarnWindow (uunit value)
Set the velocity warning window.
• const Error ∗ GetVelocityWarnWindow (uunit &value)
Get the velocity warning window.
• const Error ∗ SetVelocityWarnTime (uint16 value)
Set the velocity warning window time value (milliseconds).
• const Error ∗ GetVelocityWarnTime (uint16 &value)
Get the position window time value (milliseconds).
• const Error ∗ SetSoftLimits (SoftPosLimit &cfg)
Set software limit switch settings.
• const Error ∗ GetSoftLimits (SoftPosLimit &cfg)
Upload the current software limit switch settings from the amplifier.

Homing mode.

• const Error ∗ GoHome (void)

Execute a home move.
• const Error ∗ GoHome (HomeConfig &cfg)
Execute a home move.
• const Error ∗ SetHomeConfig (HomeConfig &cfg)
Configure the amplifier's homing related parameters.
• const Error ∗ GetHomeConfig (HomeConfig &cfg)
Load a structure with all parameters related to homing the amplifier.
• const Error ∗ SetHomeMethod (COPLEY_HOME_METHOD method, uint16 extended=0)
Set the method used for homing the drive.
• const Error ∗ GetHomeMethod (COPLEY_HOME_METHOD &method, uint16 ∗extended=0)
Get the selected homing method.
• const Error ∗ SetHomeOffset (uunit value)
Set the home offset value.
• const Error ∗ GetHomeOffset (uunit &value)
Get the home offset value.
• const Error ∗ SetHomeVelFast (uunit value)
Set the home velocity used to move to a home switch.
• const Error ∗ GetHomeVelFast (uunit &value)
Get the home velocity used to move to a home switch.
• const Error ∗ SetHomeVelSlow (uunit value)
Set the home velocity used to find a switch edge.
• const Error ∗ GetHomeVelSlow (uunit &value)
Get the home velocity used to find a switch edge.
• const Error ∗ SetHomeAccel (uunit value)
Set the home acceleration.
• const Error ∗ GetHomeAccel (uunit &value)
Get the home acceleration.
• const Error ∗ SetHomeCurrent (int16 value)
Set the home current.
• const Error ∗ GetHomeCurrent (int16 &value)
Get the home current.
• const Error ∗ SetHomeDelay (int16 value)
Set the home delay.
• const Error ∗ GetHomeDelay (int16 &value)

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Get the home current.

• const Error ∗ GetHomeAdjustment (uunit &value)
Get the last home adjustment amount.

Quick stop support

• const Error ∗ QuickStop (void)

Perform a 'quick stop' on the axis.
• const Error ∗ HaltMove (void)
Halt the current move.
• const Error ∗ SetQuickStopDec (uunit value)
Set the quick stop deceleration value (i.e.
• const Error ∗ GetQuickStopDec (uunit &value)
Get the quick stop deceleration value.
• const Error ∗ SetHaltMode (HALT_MODE mode)
Set the halt mode.
• const Error ∗ GetHaltMode (HALT_MODE &mode)
Get the halt mode.
• const Error ∗ SetQuickStop (QUICK_STOP_MODE mode)
Set the quick stop mode.
• const Error ∗ GetQuickStop (QUICK_STOP_MODE &mode)
Get the quick stop mode.
• const Error ∗ ClearHaltedMove (void)
Clear out any old set-point after a move is halted.

Point to point move support (position profile mode)

• const Error ∗ SetupMove (ProfileConfigTrap &cfg)

Setup a point to point move, but do not start it.
• const Error ∗ SetupMove (ProfileConfigScurve &cfg)
Setup a point to point move, but do not start it.
• const Error ∗ SetupMove (ProfileConfigVel &cfg)
Setup a point to point move, but do not start it.
• const Error ∗ DoMove (ProfileConfigTrap &cfg, bool relative=false)
Perform a point to point move.
• const Error ∗ DoMove (ProfileConfigScurve &cfg, bool relative=false)
Perform a point to point move.
• const Error ∗ DoMove (ProfileConfigVel &cfg)
Perform a velocity profile move.
• const Error ∗ DoMove (uunit pos, bool relative=false)
Perform a point to point move.
• const Error ∗ StartMove (bool relative=false)
Start the move that's already been programmed.
• const Error ∗ MoveAbs (uunit pos)
Start an absolute point to point move to the specified position.
• const Error ∗ MoveRel (uunit dist)
Start a relative point to point move of the specified distance.
• const Error ∗ SetProfileConfig (ProfileConfig &cfg)
Configure the amplifier's parameters related to point-to-point moves.
• const Error ∗ GetProfileConfig (ProfileConfig &cfg)
Load a structure with all parameters related to point-to-point moves.
• const Error ∗ SetProfileType (PROFILE_TYPE type)
Set the motion profile type.
• const Error ∗ GetProfileType (PROFILE_TYPE &type)

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Get the currently selected motion profile type.

• const Error ∗ SetTargetPos (uunit value)
Set the profile target position (i.e.
• const Error ∗ GetTargetPos (uunit &value)
Get the profile target position.
• const Error ∗ SetProfileVel (uunit value)
Set the profile velocity value (i.e.
• const Error ∗ GetProfileVel (uunit &value)
Get the profile velocity value.
• const Error ∗ SetProfileAcc (uunit value)
Set the profile acceleration value (i.e.
• const Error ∗ GetProfileAcc (uunit &value)
Get the profile acceleration value.
• const Error ∗ SetProfileDec (uunit value)
Set the profile deceleration value (i.e.
• const Error ∗ GetProfileDec (uunit &value)
Get the profile deceleration value.
• const Error ∗ SetProfileJerk (uunit value)
Set the jerk limit used with S-curve profiles.
• const Error ∗ GetProfileJerk (uunit &value)
Get the currently programmed jerk limit for S-curve profiles.

Profile velocity mode support

• const Error ∗ SetTargetVel (uunit value)

Set the target velocity used in profile velocity mode.
• const Error ∗ GetTargetVel (uunit &value)
Get the target velocity used in profile velocity mode.

Profile torque mode support

• const Error ∗ SetTorqueTarget (int16 value)

Set the amplifier target torque value.
• const Error ∗ GetTorqueTarget (int16 &value)
Get the current target torque value.
• const Error ∗ GetTorqueDemand (int16 &value)
Get the torque demand value.
• const Error ∗ GetTorqueActual (int16 &value)
Get the actual torque being applied by the motor at the moment.
• const Error ∗ SetTorqueSlope (int32 value)
Set the rate of change of torque for use in profile torque mode (AMPMODE_CAN_TORQUE).
• const Error ∗ GetTorqueSlope (int32 &value)
Get the rate of change of torque for use in profile torque mode (AMPMODE_CAN_TORQUE).
• const Error ∗ SetTorqueRated (int32 value)
Set the motor rated torque parameter.
• const Error ∗ GetTorqueRated (int32 &value)
Get the motor rated torque parameter.

PVT (interpolated position) trajectory support

• const Error ∗ SendTrajectory (Trajectory &trj, bool start=true)

Upload a PVT move trajectory to the amplifier and optionally start the move.
• const Error ∗ StartPVT (void)

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Start a PVT move that has already been uploaded.

• const Error ∗ GetPvtBuffFree (int16 &n)
Get the number of free positions in the PVT segment buffer.
• const Error ∗ GetPvtSegID (uint16 &id)
Get the segment ID that the amplifier expects for the next PVT segment.
• const Error ∗ GetPvtBuffStat (uint32 &stat)
Get the amplifier's PVT buffer status word.
• const Error ∗ GetPvtSegPos (uunit &pos)
Get the starting position of the PVT segment currently active in the amplifier.

Amplifier event processing

• const Error ∗ WaitEvent (Event &e, Timeout timeout=-1)

Wait for an amplifier event condition.
• const Error ∗ WaitEvent (Event &e, Timeout timeout, AMP_EVENT &match)
Wait for an amplifier event condition.
• const Error ∗ WaitMoveDone (Timeout timeout=-1)
Wait for the currently running move to finish, or for an error to occur.
• const Error ∗ WaitHomeDone (Timeout timeout=-1)
Wait for the currently running homing move to finish, or for an error to occur.
• const Error ∗ ClearNodeGuardEvent (void)
This function attempts to clear a node guarding event condition.
• const Error ∗ GetEventMask (AMP_EVENT &e)
Get the current state of the amplifier's event mask.
• const Error ∗ GetErrorStatus (bool noComm=false)
Return an error object identifying the amplifiers status.

Unit conversion functions.

If unit conversions are enabled in CML_Settings.h, then these functions handle the details of converting from user
position, velocity, acceleration & jerk units to the internal units used by the amplifier.

• virtual const Error ∗ SetCountsPerUnit (uunit cts)

Configure the user programmable units.
• virtual const Error ∗ GetCountsPerUnit (uunit &cts)
Get the number of encoder counts / user distance unit.
• virtual const Error ∗ SetCountsPerUnit (uunit load, uunit mtr)
Configure the user programmable units for a dual encoder system.
• virtual const Error ∗ GetCountsPerUnit (uunit &load, uunit &mtr)
Get the number of encoder counts / user distance unit for both encoders in a dual encoder system.
• virtual int32 PosUser2Mtr (uunit pos)
Convert a position from user position units to internal amplifier units.
• virtual int32 VelUser2Mtr (uunit vel)
Convert a velocity from user units to internal amplifier units.
• virtual int32 AccUser2Mtr (uunit vel)
Convert an acceleration from user units to internal amplifier units.
• virtual uunit PosMtr2User (int32 pos)
Convert a position from internal amplifier units to user units.
• virtual uunit VelMtr2User (int32 vel)
Convert a velocity from internal amplifier units to user units.
• virtual uunit AccMtr2User (int32 vel)
Convert an acceleration from internal amplifier units to user units.
• virtual int32 PosUser2Load (uunit pos)
Convert a position from user position units to internal amplifier units.

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• virtual int32 VelUser2Load (uunit vel)

Convert a velocity from user units to internal amplifier units.
• virtual int32 AccUser2Load (uunit acc)
Convert an acceleration from user units to internal amplifier units.
• virtual int32 JrkUser2Load (uunit jrk)
Convert a jerk value from user units to internal amplifier units.
• virtual uunit PosLoad2User (int32 pos)
Convert a position from internal amplifier units to user units.
• virtual uunit VelLoad2User (int32 vel)
Convert a velocity from internal amplifier units to user units.
• virtual uunit AccLoad2User (int32 acc)
Convert an acceleration from internal amplifier units to user units.
• virtual uunit JrkLoad2User (int32 jrk)
Convert a jerk value from internal amplifier units to user units.

Linkage access
Amplifier object may be attached to a Linkage object.
In this case, multi- axis moves may be easily performed through calls to the Linkage object holding the amplifiers.

• class Linkage ∗ GetLinkage (void)

Return a pointer to the linkage that this amplifier is attached to.
• uint32 GetLinkRef (void)
Return a reference to the linkage that this amplifier is attached to.

Non standard modes of operation.

These functions are used when running in modes other then the standard CANopen position modes.
Note that at present the libraries offer only very limited support for these modes.

• const Error ∗ GetFuncGenConfig (FuncGenConfig &cfg)

Upload the current configuration of the amplifier's internal function generator.
• const Error ∗ SetFuncGenConfig (FuncGenConfig &cfg)
Configure the amplifier's internal function generator.
• const Error ∗ GetAnalogRefConfig (AnalogRefConfig &cfg)
Upload the amplifier's analog reference input configuration.
• const Error ∗ SetAnalogRefConfig (AnalogRefConfig &cfg)
Configure the amplifier's analog reference input.
• const Error ∗ GetPwmInConfig (PwmInConfig &cfg)
Upload the amplifier's PWM input pin configuration.
• const Error ∗ SetPwmInConfig (PwmInConfig &cfg)
Configure the amplifier's PWM input pins.
• const Error ∗ SetCurrentProgrammed (int16 crnt)
Set the programmed current value in 0.01 Amp units.
• const Error ∗ GetCurrentProgrammed (int16 &crnt)
Get the programmed current value.
• const Error ∗ SetVelocityProgrammed (uunit vel)
Set the programmed velocity value.
• const Error ∗ GetVelocityProgrammed (uunit &vel)
Get the programmed velocity value.
• const Error ∗ SetMicrostepRate (int16 rate)
Set the amplifier microstepping rate.
• const Error ∗ GetMicrostepRate (int16 &rate)
Get the amplifier microstepping rate.

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Trace control functions

The amplifier supports an internal 'tracing' mechanism which allows certain internal variables to be sampled at a
fixed rate and stored to internal memory.
This mechanism is used by the CME program to implement the oscilloscope display of internal amplifier information.
The following methods are available to allow this amplifier feature to be used by CML programs.

• const Error ∗ GetTraceStatus (AMP_TRACE_STATUS &stat, int16 &samp, int16 &sampMax)

Get the current status of the amplifier's trace system.
• const Error ∗ GetTraceRefPeriod (int32 &per)
Get the 'reference period' used with the amplifiers trace mechanism.
• const Error ∗ GetTracePeriod (int16 &per)
Get the period of time between trace samples.
• const Error ∗ SetTracePeriod (int16 per)
Set the period of time between trace samples.
• const Error ∗ GetTraceTrigger (AMP_TRACE_TRIGGER &type, uint8 &chan, int32 &level, int16 &delay)
Get the current configuration of the amplifier's trace trigger.
• const Error ∗ SetTraceTrigger (AMP_TRACE_TRIGGER type, uint8 chan=0, int32 level=0, int16 delay=0)
Configure the amplifier's trace trigger.
• const Error ∗ GetTraceMaxChannel (uint8 &max)
Return the maximum number of trace channels supported by the amplifier.
• const Error ∗ GetTraceChannel (uint8 ndx, AMP_TRACE_VAR &value)
Get the amplifier variable current selected on one of the trace channels.
• const Error ∗ SetTraceChannel (uint8 ndx, AMP_TRACE_VAR value)
Select an amplifier trace variable to be sampled.
• const Error ∗ GetTraceData (int32 ∗data, int32 &max)
Upload any trace data captured in the amplifier.
• const Error ∗ TraceStart (void)
Start collecting trace data on the amplifier.
• const Error ∗ TraceStop (void)
Stop collecting trace data on the amplifier.

Protected Member Functions

• const Error ∗ ClearEventLatch (EVENT_STATUS stat)

Clear the latched version of the amplifier's event status register.
• virtual void HandleStateChange (NodeState from, NodeState to)
Handle an amplifier state change.
• const Error ∗ FormatPosInit (int32 pos, uint8 ∗data)
Format a PVT segment to set the initial 32-bit position on a drive.
• const Error ∗ FormatPvtSeg (int32 pos, int32 vel, uint8 time, uint8 ∗buff)
Format a PVT trajectory segment.
• const Error ∗ FormatPtSeg (int32 pos, uint8 time, uint8 ∗buff)
Format a PT trajectory segment.
• const Error ∗ SetPvtInitialPos (int32 pos, bool viaSDO=true)
Set the initial position for a PVT trajectory.
• const Error ∗ PvtBufferFlush (bool viaSDO=true)
Flush the amplifier's PVT trajectory buffer.
• const Error ∗ PvtBufferPop (uint16 n=1, bool viaSDO=true)
Pop the N most recently sent segments off the amplifier's PVT trajectory buffer.
• const Error ∗ PvtClearErrors (uint8 mask, bool viaSDO=true)

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Clear the specified PVT buffer errors.

• const Error ∗ PvtWriteBuff (uint8 ∗buff, bool viaSDO=false)
Write to the PVT buffer on the amp.
• const Error ∗ PvtWriteBuff (uint8 buff[ ][8], int ct, bool viaSDO=false)
Write multiple PVT buffers to the drive.

Protected Attributes
• EventMap eventMap
This is an event map that is used to track amplifier events and state changes.

Friends
• class Linkage

Additional Inherited Members

5.4.1 Detailed Description

Copley Controls amplifier object.

This object represents a Copley Controls amplifier on the network.

The Amp object can be used directly for fairly easy control of an amplifier on the CANopen network. The object provides
easy to use methods for setting and getting amplifier parameter blocks. It also handles many of the details of both point
to point moves and the transfer of complex PVT profiles.

In addition, the standard Amp object provides several virtual functions which can be used in derived classes to signal
the derived object on state changes or emergency conditions.

5.4.2 Constructor & Destructor Documentation

5.4.2.1 Amp() [1/3]

Amp (
void )

Default constructor.

Init() must be called before the Amp object may be used.

5.4.2.2 Amp() [2/3]

Amp (
Network & net,
int16 nodeID )

Construct and initialize an amplifier object using defaults for all amp settings.

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Parameters

net Reference to the network object for this amp.

nodeID a valid node ID for the amp. For CANopen, the node ID should range from 1 to 127. For EtherCAT, node
ID's >= 0 identify the node by it's EtherCAT alias. Negative ID's identify the node by network position (-1
is the first node, -2 is the second, etc).

5.4.2.3 Amp() [3/3]

Amp (
Network & net,
int16 nodeID,
AmpSettings & settings )

Construct and initialize an amplifier object.

Parameters

net Reference to the Network for this amp.

nodeID a valid node ID for the amp. For CANopen, the node ID should range from 1 to 127. For EtherCAT, node
ID's >= 0 identify the node by it's EtherCAT alias. Negative ID's identify the node by network position (-1
is the first node, -2 is the second, etc).
settings Amplifier settings to be used.

5.4.3 Member Function Documentation

5.4.3.1 AccLoad2User()

uunit AccLoad2User (
int32 acc ) [virtual]

Convert an acceleration from internal amplifier units to user units.

Internal to the amplifier, all accelerations are stored in units of 10 encoder counts / second∧ 2. If user units are not
enabled in CML_Settings.h, then user units are the same as amplifier units, and this function has no effect.

If user units are enabled, then this function converts from amplifier units to user units (defined using Amp::SetCounts←-
PerUnit).

For dual encoder systems the unit conversion used by this function is based on the load encoder resolution. To convert
motor encoder accelerations, use Amp::AccMtr2User. On single encoder systems either of these functions can be used.

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Parameters

acc The acceleration in units of 10 encoder counts / second∧ 2

Returns

The acceleration in user units

5.4.3.2 AccMtr2User()

uunit AccMtr2User (
int32 acc ) [virtual]

Convert an acceleration from internal amplifier units to user units.

This function converts using motor encoder units on a dual encoder system. Load encoder accelerations can be con-
verted using Amp::AccLoad2User.

Parameters

acc The acceleration in units of 10 encoder counts / second∧ 2

Returns

The acceleration in user units

5.4.3.3 AccUser2Load()

int32 AccUser2Load (
uunit acc ) [virtual]

Convert an acceleration from user units to internal amplifier units.

Internal to the amplifier, all accelerations are stored in units of 10 encoder counts / second / second. If user units are
not enabled in CML_Settings.h, then user units are the same as amplifier units, and this function has no effect.

If user units are enabled, then this function converts from user units (defined using Amp::SetCountsPerUnit) to these
internal amplifier units.

For dual encoder systems the unit conversion used by this function is based on the load encoder resolution. To convert
motor encoder accelerations, use Amp::AccUser2Mtr. On single encoder systems either of these functions can be used.

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Parameters
acc The acceleration in user units

Returns

The acceleration in 10 encoder counts / second ∧ 2 units

5.4.3.4 AccUser2Mtr()

int32 AccUser2Mtr (
uunit acc ) [virtual]

Convert an acceleration from user units to internal amplifier units.

This function converts using motor encoder units on a dual encoder system. Load encoder accelerations can be con-
verted using Amp::AccUser2Load.

Parameters
acc The acceleration in user units

Returns

The acceleration in 10 encoder counts / second ∧ 2 units

5.4.3.5 CheckStateForMove()

const Error ∗ CheckStateForMove (

void )

Check the amplifier's state to make sure a move can be started.

This function is used internally by the functions that start moves & homing. It looks at the current state of the amplifier
and returns an appropriate error code if something is wrong that would cause problems during a move/home.

Returns

A pointer to an error object, or NULL for no error

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5.4.3.6 ClearEventLatch()

const Error ∗ ClearEventLatch (

EVENT_STATUS stat ) [protected]

Clear the latched version of the amplifier's event status register.

This function is protected and generally only intended for internal use.

Parameters

stat Identifies which bits to clear. Any bit set in this parameter will be cleared in the latched event status register.

Returns

A pointer to an error object, or NULL on success

5.4.3.7 ClearFaults()

const Error ∗ ClearFaults (

void )

Clear amplifier faults.

This function can be used to clear any latching faults on the amplifier (see Amp::SetFaultMask for details on latching
fault conditions). It also clears tracking error conditions.

Returns

A pointer to an error object, or NULL on success

5.4.3.8 ClearHaltedMove()

const Error ∗ ClearHaltedMove (

void )

Clear out any old set-point after a move is halted.

Returns

A pointer to an error object, or NULL on success.

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5.4.3.9 ClearNodeGuardEvent()

const Error ∗ ClearNodeGuardEvent (

void )

This function attempts to clear a node guarding event condition.

Node guarding events occur when the amplifier fails to respond to it's heartbeat protocol for some reason. This could
be caused by a network wiring problem, slow processing on the master controller (causing the amplifier guard message
to be delayed or lost), or an amplifier error such as a reset or power down.

In any case, once a node guarding error is identified, the error condition must be cleared before any new moves may be
performed.

This function attempts to clear the node guarding event condition, however if it determines that the amplifier has been
reset then it fails and returns the error object AmpError::Reset. In this case, the amplifier object must be reinitialized
before it can be used. The amp may be reinitialized by calling Amp::Init or Amp::ReInit.

If node guarding error become a problem, it may mean that the guard time is set too low. This can be adjusted when the
amplifier object is initialized by the values in the AmpSettings object.

Returns

A pointer to an error object, or NULL on success.

5.4.3.10 Disable()

const Error ∗ Disable (

bool wait = true )

Disable the amplifier.

Note that if the brake delays are in use, then the amplifier may still be enabled when this function returns success. The
outputs will actually be disabled after the amplifier finishes the braking procedure.

Parameters

wait Wait for confirmation from the amplifier if true (default).

Returns

A pointer to an error object, or NULL on success.

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5.4.3.11 Dnld16() [1/2]

const Error ∗ Dnld16 (

int16 index,
int16 sub,
uint16 data )

Download data to an object in this Amps object dictionary.

The object number is adjusted based on the axis number if necessary.

Parameters

index The index of the object to be downloaded.

sub The sub-index of the object to be downloaded.
data The value to be downloaded.

Returns

A pointer to an error object, or NULL on success

5.4.3.12 Dnld16() [2/2]

const Error ∗ Dnld16 (

int16 index,
int16 sub,
int16 data )

Download data to an object in this Amps object dictionary.

The object number is adjusted based on the axis number if necessary.

Parameters

index The index of the object to be downloaded.

sub The sub-index of the object to be downloaded.
data The value to be downloaded.

Returns

A pointer to an error object, or NULL on success

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5.4.3.13 Dnld32() [1/2]

const Error ∗ Dnld32 (

int16 index,
int16 sub,
uint32 data )

Download data to an object in this Amps object dictionary.

The object number is adjusted based on the axis number if necessary.

Parameters

index The index of the object to be downloaded.

sub The sub-index of the object to be downloaded.
data The value to be downloaded.

Returns

A pointer to an error object, or NULL on success

5.4.3.14 Dnld32() [2/2]

const Error ∗ Dnld32 (

int16 index,
int16 sub,
int32 data )

Download data to an object in this Amps object dictionary.

The object number is adjusted based on the axis number if necessary.

Parameters

index The index of the object to be downloaded.

sub The sub-index of the object to be downloaded.
data The value to be downloaded.

Returns

A pointer to an error object, or NULL on success

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5.4.3.15 Dnld8() [1/2]

const Error ∗ Dnld8 (

int16 index,
int16 sub,
uint8 data )

Download data to an object in this Amps object dictionary.

The object number is adjusted based on the axis number if necessary.

Parameters

index The index of the object to be downloaded.

sub The sub-index of the object to be downloaded.
data The value to be downloaded.

Returns

A pointer to an error object, or NULL on success

5.4.3.16 Dnld8() [2/2]

const Error ∗ Dnld8 (

int16 index,
int16 sub,
int8 data )

Download data to an object in this Amps object dictionary.

The object number is adjusted based on the axis number if necessary.

Parameters

index The index of the object to be downloaded.

sub The sub-index of the object to be downloaded.
data The value to be downloaded.

Returns

A pointer to an error object, or NULL on success

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5.4.3.17 DnldString()

const Error ∗ DnldString (

int16 index,
int16 sub,
char ∗ data )

Download data to an object in this Amps object dictionary.

The object number is adjusted based on the axis number if necessary.

Parameters

index The index of the object to be downloaded.

sub The sub-index of the object to be downloaded.
data The value to be downloaded.

Returns

A pointer to an error object, or NULL on success

5.4.3.18 DoMove() [1/4]

const Error ∗ DoMove (

ProfileConfigTrap & cfg,
bool relative = false )

Perform a point to point move.

The move will use the trapezoidal profile mode, and all parameters will be programmed before the move is started.

This function can also be used to update a move that is alread in progress.

Parameters

cfg A structure holding all the move configuration parameters.

relative This will be a relative move if true, absolute if false (default)

Returns

A pointer to an error object, or NULL on success.

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5.4.3.19 DoMove() [2/4]

const Error ∗ DoMove (

ProfileConfigScurve & cfg,
bool relative = false )

Perform a point to point move.

The move will use the S-curve profile mode, and all parameters will be programmed before the move is started.

Parameters

cfg A structure holding all the move configuration parameters.

relative This will be a relative move if true, absolute if false (default)

Returns

A pointer to an error object, or NULL on success.

5.4.3.20 DoMove() [3/4]

const Error ∗ DoMove (

ProfileConfigVel & cfg )

Perform a velocity profile move.

All parameters will be programmed before the move is started.

This function can also be used to update a move that is alread in progress.

Parameters

cfg A structure holding all the move configuration parameters.

Returns

A pointer to an error object, or NULL on success.

5.4.3.21 DoMove() [4/4]

const Error ∗ DoMove (

uunit pos,
bool relative = false )

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Perform a point to point move.

It's assumed that the drive is already configured with the properly trajectory parameters (velocity, acceleration, deceler-
ation, profile type, etc).

This function sets the trajectories target position to the passed value, and manipulates the control word to start the
move. It can be used for either absolute moves or relative moves

Parameters

pos Position to move to (absolute) or distance to move (relative).

relative True if this is a relative move, false for absolute.

Returns

A pointer to an error object, or NULL on success.

5.4.3.22 Download()

const Error ∗ Download (

int16 index,
int16 sub,
int32 size,
byte ∗ data )

Download data to an object in this Amps object dictionary.

The object number is adjusted based on the axis number if necessary.

Parameters

index The index of the object to be downloaded.

sub The sub-index of the object to be downloaded.
size The number of bytes of data to be downloaded
data A character array holding the data to be downloaded.

Returns

A pointer to an error object, or NULL on success

5.4.3.23 Enable()

const Error ∗ Enable (

bool wait = true )

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Enable the amplifier.

Parameters

wait If true, the function won't return until a status message from the amp is received indicating that it
successfully enabled.

Returns

A pointer to an error object, or NULL on success.

5.4.3.24 FormatPosInit()

const Error ∗ FormatPosInit (

int32 pos,
uint8 ∗ data ) [protected]

Format a PVT segment to set the initial 32-bit position on a drive.

Parameters
pos The 32-bit initial position
data Buffer of at least 8 bytes where formatted data will be stored.

Returns

An error object

5.4.3.25 FormatPtSeg()

const Error ∗ FormatPtSeg (

int32 pos,
uint8 time,
uint8 ∗ buff ) [protected]

Format a PT trajectory segment.

The position and time information passed to the function are organized into the proper format and stored in the passed
buffer. The buffer is assumed to be at least 8 bytes long.

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Parameters

pos Position at start of segment (encoder counts)

time Time till next segment (milliseconds)
buff Points to the buffer where the message will be stored.

Returns

An error object

5.4.3.26 FormatPvtSeg()

const Error ∗ FormatPvtSeg (

int32 pos,
int32 vel,
uint8 time,
uint8 ∗ buff ) [protected]

Format a PVT trajectory segment.

The position, velocity and time information passed to the function are organized into the proper format and stored in the
passed buffer. The buffer is assumed to be at least 8 bytes long.

Parameters

pos Position at start of segment (encoder counts)

vel Velocity at start of segment (0.1 counts/sec)
time Time till next segment (milliseconds)
buff Points to the buffer where the message will be stored.

Returns

An error object

5.4.3.27 GetAlgoPhaseInit()

const Error ∗ GetAlgoPhaseInit (

AlgoPhaseInit & cfg )

Upload the current configuration parameters for the algorithmic phase init.

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Parameters

cfg A structure where the configuration parameters will be returned.

Returns

A pointer to an error object, or NULL on success

5.4.3.28 GetAmpConfig()

const Error ∗ GetAmpConfig (

AmpConfig & cfg )

Read the complete amplifier configuration from the amplifier and return it in the passed structure.

This structure holds every amplifier parameter that can be stored to the amplifier's internal flash memory. The contents
of the structure represent the complete amplifier configuration.

Parameters

cfg The structure which will hold the uploaded configuration.

Returns

A pointer to an error object, or NULL on success

5.4.3.29 GetAmpInfo()

const Error ∗ GetAmpInfo (

AmpInfo & info )

Read the Amplifier information parameters from the drive.

These parameters describe the amplifiers capabilities. They are read only.

Parameters

info A structure that will be filled with the amplifier info

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Returns

A pointer to an error object, or NULL on success

5.4.3.30 GetAmpMode()

const Error ∗ GetAmpMode (

AMP_MODE & mode )

Get the currently active amplifier mode of operation.

Parameters

mode The active mode of operation is returned here

Returns

A pointer to an error object, or NULL on success.

5.4.3.31 GetAmpName()

const Error ∗ GetAmpName (

char ∗ name )

Get the amplifier name stored in the amplifiers flash.

Parameters

name The name of the drive is returned here. This buffer should be at least 50 bytes long to avoid overflow.

Returns

A pointer to an error object, or NULL on success

5.4.3.32 GetAmpTemp()

const Error ∗ GetAmpTemp (

int16 & value )

Get the current amplifier temperature (degrees C).

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Parameters
value The value will be returned in this variable

Returns

A pointer to an error object, or NULL on success

5.4.3.33 GetAnalogCommandFilter()

const Error ∗ GetAnalogCommandFilter (

Filter & f )

Get the coefficients used in the velocity loop command filter.

Parameters

f A structure where the filter coefficients will be returned

Returns

A pointer to an error object, or NULL on success

5.4.3.34 GetAnalogEncoder()

const Error ∗ GetAnalogEncoder (

int16 & sin,
int16 & cos )

Get the raw voltage on the two analog encoder inputs (0.1 millivolt units).

If the amplifier has analog encoder inputs, then they will be read and returned.

Parameters

sin The sine input of the analog encoder will be returned here.
cos The cosine input of the analog encoder will be returned here.

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Returns

A pointer to an error object, or NULL on success

5.4.3.35 GetAnalogRefConfig()

const Error ∗ GetAnalogRefConfig (

AnalogRefConfig & cfg )

Upload the amplifier's analog reference input configuration.

Parameters

cfg A structure where the configuration parameters will be returned.

Returns

A pointer to an error object, or NULL on success

5.4.3.36 GetCammingConfig()

const Error ∗ GetCammingConfig (

CammingConfig & cfg )

Upload the current configuration parameters for the camming.

Parameters

cfg A structure where the configuration parameters will be returned.

Returns

A pointer to an error object, or NULL on success

5.4.3.37 GetCanNetworkConfig()

const Error ∗ GetCanNetworkConfig (

CanNetworkConfig & cfg )

Get the current CANopen network configuration programmed into the amplifier.

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Parameters

cfg A structure where the configuration parameters will be returned.

Returns

A pointer to an error object, or NULL on success

5.4.3.38 GetControlWord()

const Error ∗ GetControlWord (

uint16 & value )

Returns the present value of the CANopen device profile control word.

Parameters
value Returns the control word value

Returns

A pointer to an error object, or NULL on success

5.4.3.39 GetCountsPerUnit() [1/2]

const Error ∗ GetCountsPerUnit (

uunit & cts ) [virtual]

Get the number of encoder counts / user distance unit.

This function is only available when user units are selected in CML_Settings.h.

This value defaults to 1.0 (i.e. user distance units are in encoder counts). It can be adjusted if some other distance unit
is desired.

This value controls velocity, acceleration, and jerk units also. These units are always based on a time interval of seconds.

Parameters
cts The count value will be returned here

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Returns

A pointer to an error object, or NULL on success

5.4.3.40 GetCountsPerUnit() [2/2]

const Error ∗ GetCountsPerUnit (

uunit & load,
uunit & mtr ) [virtual]

Get the number of encoder counts / user distance unit for both encoders in a dual encoder system.

This function is only available when user units are selected in CML_Settings.h.

These values default to 1.0 (i.e. user distance units are in encoder counts). It can be adjusted if some other distance
unit is desired.

These values control velocity, acceleration, and jerk units also. These units are always based on a time interval of
seconds.

Parameters

load The load encoder scaling factor will be returned here

mtr The motor encoder scaling factor will be returned here

Returns

A pointer to an error object, or NULL on success

5.4.3.41 GetCrntLoopConfig()

const Error ∗ GetCrntLoopConfig (

CrntLoopConfig & cfg )

Get the configuration values of the amplifiers current loop.

Parameters

cfg A structure that will be filled with the config info.

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Returns

A pointer to an error object, or NULL on success

5.4.3.42 GetCurrentActual()

const Error ∗ GetCurrentActual (

int16 & value )

Get the actual motor current.

This current is based on the amplifiers current sensors, and indicates the portion of current that is being used to generate
torque in the motor.

The current is returned in units of 0.01 amps.

Parameters
value A variable that will store the returned value.

Returns

A pointer to an error object, or NULL on success

5.4.3.43 GetCurrentCommand()

const Error ∗ GetCurrentCommand (

int16 & value )

Get the commanded motor current.

This current is the input to the current limiter. This value is also the output of the velocity loop when the motor is in either
position or velocity control mode. When in current control mode, the commanded current is derived from the control
source (analog input, PWM input, function generator, etc).

The current is returned in units of 0.01 amps.

Parameters
value A variable that will store the returned value.

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Returns

A pointer to an error object, or NULL on success

5.4.3.44 GetCurrentLimited()

const Error ∗ GetCurrentLimited (

int16 & value )

Get the limited motor current.

The commanded current (GetCurrentCommand) is passed to a current limiter. The output of the current limiter is the
limited current which is passed as an input to the current loop.

The current is returned in units of 0.01 amps.

Parameters
value A variable that will store the returned value.

Returns

A pointer to an error object, or NULL on success

5.4.3.45 GetCurrentProgrammed()

const Error ∗ GetCurrentProgrammed (

int16 & crnt )

Get the programmed current value.

This parameter is the current that the amplifier will attempt to maintain when set to the mode AMPMODE_PROG_CRNT.

Parameters

crnt The current will be returned here (0.01 Amp units).

Returns

A pointer to an error object, or NULL on success

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5.4.3.46 GetDAConverterConfig()

const Error ∗ GetDAConverterConfig (

DAConfig & cfg )

Get the configuration for the D/A converter.

Parameters

cfg A structure where the configuration will be returned

Returns

A pointer to an error object, or NULL on success

5.4.3.47 GetEncoderErrorConfig()

const Error ∗ GetEncoderErrorConfig (

EncoderErrorConfig & cfg )

Read the amplifier's encoder error configuration.

Parameters

cfg A structure that holds the encoder error configuration settings.

Returns

A pointer to an error object, or NULL on success

5.4.3.48 GetErrorStatus()

const Error ∗ GetErrorStatus (

bool noComm = false )

Return an error object identifying the amplifiers status.

This function causes the amplifier object to examine it's event mask and return an error object corresponding to the most
serious error present.

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Parameters

noComm If true, then no CAN message communications will be performed by this function. This is useful if the
function is being called from a CAN message handler which can't perform SDO communications. If
false (default), then the amplifier may be queried for more detailed error information.

Returns

A pointer to an error object, or NULL if no errors are present

5.4.3.49 GetEventLatch()

const Error ∗ GetEventLatch (

EVENT_STATUS & stat )

Get the amplifier's latched event status register.

This register is a copy of the normal event status register in which bits are latched, i.e. they are set bit not cleared.
Bits in this register are only cleared in response to a Amp::ClearEventLatch function call (which is protected by the Amp
object). This register is primarily used internally by the Amp object to detect reset conditions on the amplifier.

Parameters
stat The register status is returned here.

Returns

A pointer to an error object, or NULL on success

5.4.3.50 GetEventMask()

const Error ∗ GetEventMask (

AMP_EVENT & e )

Get the current state of the amplifier's event mask.

The event mask is a bit-mapped variable identifies many interesting elements of the amplifiers state. The contents of
this variable are built up from several different amplifier status words which are constantly updated over the CANopen
network.

When the event mask is read using this function, no new messages are passed over the network. The current value
of the event mask is simply returned. Any time the amplifier's state changes, it sends a message over the CANopen
network which is used to update this mask.

It is also possible to wait on a particular value for this mask. See Amp::WaitEvent for details.

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Parameters

e The amplifier's event mask is returned here

Returns

A pointer to an error object, or NULL on success.

5.4.3.51 GetEventStatus()

const Error ∗ GetEventStatus (

EVENT_STATUS & stat )

Get the amplifier's 'event status' register.

This is the main register used internal to the amplifier to describe it's current state.

Parameters
stat The register status is returned here.

Returns

A pointer to an error object, or NULL on success

5.4.3.52 GetEventSticky()

const Error ∗ GetEventSticky (

EVENT_STATUS & stat )

Get the amplifier's 'sticky' event status register.

This register is a copy of the amplifiers event status register in which bits are set normally, but only cleared when the
register is read (i.e. the bits are 'sticky'). It's useful for checking for transitory events which might me missed by reading
the standard event status register.

Parameters
stat The register status is returned here.

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Returns

A pointer to an error object, or NULL on success

5.4.3.53 GetFaultMask()

const Error ∗ GetFaultMask (

AMP_FAULT & value )

Get the current value of the amplifier's fault mask.

This mask identifies which error conditions will be treated as latching faults by the amplifier.

Parameters

value The fault mask will be returned here

Returns

A pointer to an error object, or NULL on success

5.4.3.54 GetFaults()

const Error ∗ GetFaults (

AMP_FAULT & value )

Get any active amplifier faults.

Parameters

value A bit mask identifying the active faults will be returned here.

Returns

A pointer to an error object, or NULL on success

5.4.3.55 GetFuncGenConfig()

const Error ∗ GetFuncGenConfig (

FuncGenConfig & cfg )

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Upload the current configuration of the amplifier's internal function generator.

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Parameters

cfg A structure where the configuration will be returned.

Returns

A pointer to an error object, or NULL on success

5.4.3.56 GetGainScheduling()

const Error ∗ GetGainScheduling (

GainScheduling & cfg )

Upload the current configuration parameters for the GainS cheduling.

Parameters

cfg A structure where the configuration parameters will be returned.

Returns

A pointer to an error object, or NULL on success

5.4.3.57 GetHallState()

const Error ∗ GetHallState (

int16 & value )

Get the current digital hall sensor state.

The hall state is the value of the hall sensors after any adjustments have been made to them based on the hallWiring
parameter of the MtrInfo structure.

Parameters
value variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

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5.4.3.58 GetHaltMode()

const Error ∗ GetHaltMode (

HALT_MODE & mode )

Get the halt mode.

This mode defines what happens when a halt command is issued to the amplifier.

Parameters
mode The mode will be returned here.

Returns

A pointer to an error object, or NULL on success

5.4.3.59 GetHighVoltage()

const Error ∗ GetHighVoltage (

int16 & value )

Get the high voltage bus voltage in units of 0.1 volts.

Parameters
value The value will be returned in this variable

Returns

A pointer to an error object, or NULL on success

5.4.3.60 GetHomeAccel()

const Error ∗ GetHomeAccel (

uunit & value )

Get the home acceleration.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

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Parameters
value variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

5.4.3.61 GetHomeAdjustment()

const Error ∗ GetHomeAdjustment (

uunit & value )

Get the last home adjustment amount.

The value returned is distance that the home position was adjusted by on the last successful home opperation.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

5.4.3.62 GetHomeCapture()

const Error ∗ GetHomeCapture (

int32 & value )

Get the most recently captured home sensor position.

Parameters

value The captured position is returned here in units of encoder counts.

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Returns

A pointer to an error object, or NULL on success

5.4.3.63 GetHomeConfig()

const Error ∗ GetHomeConfig (

HomeConfig & cfg )

Load a structure with all parameters related to homing the amplifier.

Parameters

cfg A structure where the configuration parameters will be returned.

Returns

A pointer to an error object, or NULL on success

5.4.3.64 GetHomeCurrent()

const Error ∗ GetHomeCurrent (

int16 & value )

Get the home current.

The homing current is returned in 0.01 Amp units (i.e. a value of 123 would be 1.23 Amps).

Parameters
value variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

5.4.3.65 GetHomeDelay()

const Error ∗ GetHomeDelay (

int16 & value )

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Get the home current.

The homing delay is returned in units of milliseconds.

Parameters
value variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

5.4.3.66 GetHomeMethod()

const Error ∗ GetHomeMethod (

COPLEY_HOME_METHOD & method,
uint16 ∗ extended = 0 )

Get the selected homing method.

Parameters
method The home method will be returned here.
extended If this pointer is non-null, then the extended homing method value will be returned here. If this pointer is
null, then it will be ignored.

Returns

A pointer to an error object, or NULL on success

5.4.3.67 GetHomeOffset()

const Error ∗ GetHomeOffset (

uunit & value )

Get the home offset value.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value variable that will store the returned value

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Returns

A pointer to an error object, or NULL on success

5.4.3.68 GetHomeVelFast()

const Error ∗ GetHomeVelFast (

uunit & value )

Get the home velocity used to move to a home switch.

This velocity is used for any home moves that may be made at a high velocity without effecting the quality of the home
sensor detection.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

5.4.3.69 GetHomeVelSlow()

const Error ∗ GetHomeVelSlow (

uunit & value )

Get the home velocity used to find a switch edge.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

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5.4.3.70 GetIloopCommandFilter()

const Error ∗ GetIloopCommandFilter (

Filter & f )

Get the coefficients used in the current loop input filter.

Parameters

f A structure where the filter coefficients will be returned

Returns

A pointer to an error object, or NULL on success

5.4.3.71 GetIloopCommandFilter2()

const Error ∗ GetIloopCommandFilter2 (

Filter & f )

Get the coefficients used in the second current loop input filter.

Parameters

f A structure where the filter coefficients will be returned

Returns

A pointer to an error object, or NULL on success

5.4.3.72 GetIndexCapture()

const Error ∗ GetIndexCapture (

int32 & value )

Get the most recently captured encoder index position.

Parameters

value The captured position is returned here in units of encoder counts.

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Returns

A pointer to an error object, or NULL on success

5.4.3.73 GetInputConfig() [1/2]

const Error ∗ GetInputConfig (

int8 pin,
INPUT_PIN_CONFIG & cfg )

Get the input pin configuration for the specified input pin.

Each of the amplifier input pins can be configured to perform some function. This function configures the specified input
to perform the specified function.

Parameters

pin The input pin to check. Input pins are numbered starting from 0. Check the amplifier datasheet for the number
of input pins available.
cfg The input pin function will be returned in this variable.

Returns

A pointer to an error object, or NULL on success

5.4.3.74 GetInputConfig() [2/2]

const Error ∗ GetInputConfig (

int8 pin,
INPUT_PIN_CONFIG & cfg,
uint16 & axis )

Get the input pin configuration for the specified input pin.

Each of the amplifier input pins can be configured to perform some function. This function configures the specified input
to perform the specified function.

Parameters

pin The input pin to check. Input pins are numbered starting from 0. Check the amplifier datasheet for the
number of input pins available.
cfg The input pin function will be returned in this variable.
axis The axis number that this input pin is configured for

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Returns

A pointer to an error object, or NULL on success

5.4.3.75 GetInputDebounce()

const Error ∗ GetInputDebounce (

int8 pin,
int16 & value )

Get the input pin debounce time for the specified input pin.

Parameters

pin The input pin to configure. Input pins are numbered starting from 0. Check the amplifier datasheet for the
number of input pins available.
value The pins debounce time (milliseconds) is returned here.

Returns

A pointer to an error object, or NULL on success

5.4.3.76 GetInputs()

const Error ∗ GetInputs (

uint16 & value,
bool viaSDO = false )

Get the present value of the general purpose input pins.

The input pin values are returned one per bit. The value of input pin 1 will be returned in bit 0 (1 if high, 0 if low), pin 2
will be in bit 1, etc.

Parameters
value variable that will store the returned value
viaSDO If true, an SDO will be used to read the input pins. If false (default), the most recent input value received
from the amplifier via PDO will be returned.

Returns

A pointer to an error object, or NULL on success

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5.4.3.77 GetInputs32()

const Error ∗ GetInputs32 (

uint32 & value )

32-bit version to Get the present value of the general purpose input pins.

Note that only the lower 16 input pins are PDO mapped, so this function will always use an SDO access to read the full
set of inputs. If the input of interest is one of the lower 16 pins, then the method Amp::GetInputs() is generally a much
faster way to read the pin's state.

The input pin values are returned one per bit. The value of input pin 1 will be returned in bit 0 (1 if high, 0 if low), pin 2
will be in bit 1, etc.

Parameters
value variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

5.4.3.78 GetInputShapingFilter()

const Error ∗ GetInputShapingFilter (

InputShaper & f )

Get the coefficients used in the input shaping filter.

Parameters

f A structure where the filter coefficients will be returned

Returns

A pointer to an error object, or NULL on success

5.4.3.79 GetIoConfig()

const Error ∗ GetIoConfig (

AmpIoCfg & cfg )

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Read the amplifier's programmable I/O pin configuration and return it in the passed config structure.

Parameters

cfg A structure that holds the configuration settings.

Returns

A pointer to an error object, or NULL on success

5.4.3.80 GetIOOPtions()

const Error ∗ GetIOOPtions (

int32 & value )

Get the IO Options.

See the Amp::SetIOOptions method for description.

Parameters
value variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

5.4.3.81 GetIoPullup()

const Error ∗ GetIoPullup (

uint16 & value )

Get the current state of the input pin pull up/down resisters.

Pull up/down resisters control how an undriven input pin will be interpreted by the amplifier. Depending on the model of
amplifier being controlled, there may be zero or more groups of pull up/down resisters attached to some the input pins.

Each bit of this register is used to control one group of pull up/down resisters. Bit 0 controls group 0, etc.

Please refer to the amplifier data sheet for details on the number of groups of pull up/down resisters, and which input
pins are included in each group.

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Parameters
value variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

5.4.3.82 GetIoPullup32()

const Error ∗ GetIoPullup32 (

int32 & value )

32 Bit version of GetIoPullup.

This is useful on drives that support more then 16 pull up/down resistors. Please see Amp::GetIoPullup() for more
details.

Parameters
value variable that will store the returned value.

Returns

A pointer to an error object, or NULL on success

5.4.3.83 GetLinkage()

Linkage ∗ GetLinkage (
void )

Return a pointer to the linkage that this amplifier is attached to.

WARNING - this function is dangerous as the pointer is not locked. Use Amp::GetLinkRef instead!

Returns

The linkage pointer, or NULL if the Amp is not attached to any linkage object.

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5.4.3.84 GetLinkRef()

uint32 GetLinkRef (
void )

Return a reference to the linkage that this amplifier is attached to.

Returns

The linkage reference, or 0 if the Amp is not attached to any linkage object.

5.4.3.85 GetMicrostepRate()

const Error ∗ GetMicrostepRate (

int16 & rate )

Get the amplifier microstepping rate.

This parameter is only used in the diagnostic microstepping mode (AMPMODE_DIAG_USTEP).

Parameters

rate The microstepping rate will be returned here (degrees / second).

Returns

A pointer to an error object, or NULL on success

5.4.3.86 GetMotorCurrent()

const Error ∗ GetMotorCurrent (

int16 & u,
int16 & v )

Get the actual current values read directly from the amplifier's current sensors.

Note that if the motor wiring is being swapped in software, the U and V reading will be swapped.

Parameters
u The U winding current will be returned here.
v The V winding current will be returned here.

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Returns

A pointer to an error object, or NULL on success

5.4.3.87 GetMtrInfo()

const Error ∗ GetMtrInfo (

MtrInfo & info )

Read the motor information structure from the amplifier.

Parameters

info A structure that will be filled with the motor info

Returns

A pointer to an error object, or NULL on success

5.4.3.88 GetNetworkOptions()

const Error ∗ GetNetworkOptions (

NetworkOptions & cfg )

Set the Network Options configuration.

Parameters

cfg Reference to the NetworkOptions structure where the configuration data will be returned.

Returns

A pointer to an error object, or NULL on success

5.4.3.89 GetNetworkRef()

uint32 GetNetworkRef (
void ) [virtual]

Return a reference ID to the network that this node is attached to.

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Returns

The reference ID or 0 if the node isn't attached to any network.

Reimplemented from Node.

5.4.3.90 GetOutputConfig() [1/6]

const Error ∗ GetOutputConfig (

int8 pin,
OUTPUT_PIN_CONFIG & cfg )

Get the output configuration for the specified pin.

Parameters
pin The output pin to check.
cfg The pin configuration value will be returned here.

Returns

A pointer to an error object, or NULL on success

5.4.3.91 GetOutputConfig() [2/6]

const Error ∗ GetOutputConfig (

int8 pin,
OUTPUT_PIN_CONFIG & cfg,
uint16 & axis )

Get the output configuration for the specified pin.

Parameters
pin The output pin to check.
cfg The pin configuration value will be returned here.
axis On multi-axis drives the axis number that this output pin is configured for will be returned here.

Returns

A pointer to an error object, or NULL on success

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5.4.3.92 GetOutputConfig() [3/6]

const Error ∗ GetOutputConfig (

int8 pin,
OUTPUT_PIN_CONFIG & cfg,
uint32 & mask )

Get the output pin configuration for the specified pin.

Parameters
pin The output pin to check.
cfg The pin configuration value will be returned here.
mask The pin's status bit selection mask will be returned here.

Returns

A pointer to an error object, or NULL on success

5.4.3.93 GetOutputConfig() [4/6]

const Error ∗ GetOutputConfig (

int8 pin,
OUTPUT_PIN_CONFIG & cfg,
uint32 & mask,
uint16 & axis )

Get the output pin configuration for the specified pin.

Parameters
pin The output pin to check.
cfg The pin configuration value will be returned here.
mask The pin's status bit selection mask will be returned here.
axis On multi-axis drives the axis number that this output pin is configured for will be returned here

Returns

A pointer to an error object, or NULL on success

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5.4.3.94 GetOutputConfig() [5/6]

const Error ∗ GetOutputConfig (

int8 pin,
OUTPUT_PIN_CONFIG & cfg,
uint32 & param1,
uint32 & param2 )

Get the output pin configuration for the specified pin.

This function supports output pin configurations that require two 32-bit parameters.

Parameters
pin The output pin to check.
cfg The pin configuration value will be returned here.
param1 The pin's first 32-bit parameter will be returned here
param2 The pin's second 32-bit parameter will be returned here

Returns

A pointer to an error object, or NULL on success

5.4.3.95 GetOutputConfig() [6/6]

const Error ∗ GetOutputConfig (

int8 pin,
OUTPUT_PIN_CONFIG & cfg,
uint32 & param1,
uint32 & param2,
uint16 & axis )

Get the output pin configuration for the specified pin.

This function supports output pin configurations that require two 32-bit parameters.

Parameters
pin The output pin to check.
cfg The pin configuration value will be returned here.
param1 The pin's first 32-bit parameter will be returned here
param2 The pin's second 32-bit parameter will be returned here
axis On multi-axis drives the axis number that this pin is configured for will be returned here

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Returns

A pointer to an error object, or NULL on success

5.4.3.96 GetOutputs()

const Error ∗ GetOutputs (

uint16 & value )

Get the present value of the output pin control register.

This register shows the current state of all digital output pins. For each pin, the corresponding bit in the register will be
1 if the pin is active, and 0 if the pin is inactive. Bit 0 follows output pin 0, bit 1 follows pin 1, etc.

Parameters
value variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

5.4.3.97 GetPhaseAngle()

const Error ∗ GetPhaseAngle (

int16 & value )

Get the motor phase angle.

The phase angle describes the motor's electrical position with respect to it's windings. It's an internal parameter used
by the amplifier to commutate a brushless motor.

The angle is returned in degrees.

Parameters
value variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

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5.4.3.98 GetPhaseMode()

const Error ∗ GetPhaseMode (

AMP_PHASE_MODE & mode )

Get the current phasing mode configuration from the amplifier.

Parameters

mode The mode information will be returned here.

Returns

A pointer to an error object, or NULL on success

5.4.3.99 GetPosCaptureCfg()

const Error ∗ GetPosCaptureCfg (

POS_CAPTURE_CFG & cfg )

Read the current configuration of the position capture mechanism.

Parameters

cfg The position capture configuration value is returned here.

Returns

A pointer to an error object, or NULL on success

5.4.3.100 GetPosCaptureStat()

const Error ∗ GetPosCaptureStat (

POS_CAPTURE_STAT & stat )

Read the current status of the position capture mechanism.

Parameters
stat The position capture status value is returned here.

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Returns

A pointer to an error object, or NULL on success

5.4.3.101 GetPositionActual()

const Error ∗ GetPositionActual (

uunit & value )

Get the actual position used by the servo loop.

For dual encoder systems, this will be the load encoder position. To get the motor encoder position on such a system,
use Amp::GetPositionMotor.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

5.4.3.102 GetPositionCommand()

const Error ∗ GetPositionCommand (

uunit & value )

Get the instantaneous commanded position.

This position is the command input to the servo loop. The commanded position is calculated by the trajectory generator
and updated every servo cycle.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value variable that will store the returned value

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Returns

A pointer to an error object, or NULL on success

5.4.3.103 GetPositionError()

const Error ∗ GetPositionError (

uunit & value )

Get the position error.

This is the difference between the instantaneous commanded position and the actual position.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

5.4.3.104 GetPositionErrorWindow()

const Error ∗ GetPositionErrorWindow (

uunit & value )

Get the position error window.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value The position error window value will be returned here.

Returns

A pointer to an error object, or NULL on success

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5.4.3.105 GetPositionLoad()

const Error ∗ GetPositionLoad (

uunit & value )

Get the load encoder position.

For single encoder systems, this value is NOT USED.

For dual encoder systems, this function returns the load encoder position and is identical to the value returned by
Amp::GetPositionActual. This is also the passive load position when the load encoder is configured to be in passive
mode.

Parameters
value variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

5.4.3.106 GetPositionMotor()

const Error ∗ GetPositionMotor (

uunit & value )

Get the actual motor position.

For single encoder systems, this value is identical to the value returned by Amp::GetPositionActual.

For dual encoder systems, this function returns the actual motor position and Amp::GetPositionActual may be used to
get the load encoder position.

Parameters
value variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

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5.4.3.107 GetPositionWarnWindow()

const Error ∗ GetPositionWarnWindow (

uunit & value )

Get the position warning window.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

5.4.3.108 GetPosLoopConfig()

const Error ∗ GetPosLoopConfig (

PosLoopConfig & cfg )

Get the configuration values of the amplifiers position loop.

Parameters

cfg A structure that will be filled with the config info.

Returns

A pointer to an error object, or NULL on success

5.4.3.109 GetProfileAcc()

const Error ∗ GetProfileAcc (

uunit & value )

Get the profile acceleration value.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

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Parameters
value variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

5.4.3.110 GetProfileConfig()

const Error ∗ GetProfileConfig (

ProfileConfig & cfg )

Load a structure with all parameters related to point-to-point moves.

Parameters

cfg A structure where the configuration parameters will be returned.

Returns

A pointer to an error object, or NULL on success

5.4.3.111 GetProfileDec()

const Error ∗ GetProfileDec (

uunit & value )

Get the profile deceleration value.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

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5.4.3.112 GetProfileJerk()

const Error ∗ GetProfileJerk (

uunit & value )

Get the currently programmed jerk limit for S-curve profiles.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value The location in which the jerk value will be returned.

Returns

A pointer to an error object, or NULL on success

5.4.3.113 GetProfileType()

const Error ∗ GetProfileType (

PROFILE_TYPE & type )

Get the currently selected motion profile type.

This profile type is used for point to point moves in which the amplifier calculates it's own trajectory.

Parameters
type variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

5.4.3.114 GetProfileVel()

const Error ∗ GetProfileVel (

uunit & value )

Get the profile velocity value.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

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Parameters
value variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

5.4.3.115 GetPvtBuffFree()

const Error ∗ GetPvtBuffFree (

int16 & n )

Get the number of free positions in the PVT segment buffer.

Parameters

n A reference used to return the number of free positions

Returns

A pointer to an error object, or NULL on success

5.4.3.116 GetPvtBuffStat()

const Error ∗ GetPvtBuffStat (

uint32 & stat )

Get the amplifier's PVT buffer status word.

Parameters

stat A reference to a variable where the status will be returned

Returns

A pointer to an error object, or NULL on success

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5.4.3.117 GetPvtSegID()

const Error ∗ GetPvtSegID (

uint16 & id )

Get the segment ID that the amplifier expects for the next PVT segment.

This starts at zero when the amp is reset, and is increased for every segment received.

Parameters

id A reference to the variable where the ID will be written

Returns

A pointer to an error object, or NULL on success

5.4.3.118 GetPvtSegPos()

const Error ∗ GetPvtSegPos (

uunit & pos )

Get the starting position of the PVT segment currently active in the amplifier.

When running in PVT mode, this allows an approximation of the amplifier position to be retrieved without adding any
additional overhead to the CANopen network.

The position returned by this function is only valid when running in PVT mode.

Parameters
pos The position is returned here.

Returns

A pointer to an error object, or NULL on success.

5.4.3.119 GetPwmInConfig()

const Error ∗ GetPwmInConfig (

PwmInConfig & cfg )

Upload the amplifier's PWM input pin configuration.

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Parameters

cfg A structure where the configuration parameters will be returned.

Returns

A pointer to an error object, or NULL on success

5.4.3.120 GetPwmMode()

const Error ∗ GetPwmMode (

AMP_PWM_MODE & mode )

Get the current PWM output mode configuration from the amplifier.

Parameters

mode The mode information will be returned here.

Returns

A pointer to an error object, or NULL on success

5.4.3.121 GetQuickStop()

const Error ∗ GetQuickStop (

QUICK_STOP_MODE & mode )

Get the quick stop mode.

This mode defines what happens when a quick stop command is issued to the amplifier.

Parameters
mode The mode will be returned here.

Returns

A pointer to an error object, or NULL on success

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5.4.3.122 GetQuickStopDec()

const Error ∗ GetQuickStopDec (

uunit & value )

Get the quick stop deceleration value.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

5.4.3.123 GetRefVoltage()

const Error ∗ GetRefVoltage (

int16 & value )

Get the analog reference input voltage.

If the amplifier has an analog reference input, it's value will be returned in millivolts.

Parameters
value The value will be returned in this variable

Returns

A pointer to an error object, or NULL on success

5.4.3.124 GetRegenConfig()

const Error ∗ GetRegenConfig (

RegenConfig & cfg )

Upload the current configuration parameters for the power regeneration resister connected to the amplifier.

Note that not all amplifiers support a regen resister. Please see the amplifier datasheet to determine if this feature is
available for the amplifier being used.

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Parameters

cfg A structure where the configuration parameters will be returned.

Returns

A pointer to an error object, or NULL on success

5.4.3.125 GetServoLoopConfig()

const Error ∗ GetServoLoopConfig (

int32 & value )

Get the servo loop configuration.

This parameter allows various parts of the drive servo loops to be enabled/disabled.

Parameters
value variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

5.4.3.126 GetSettlingTime()

const Error ∗ GetSettlingTime (

uint16 & value )

Get the position window time value (milliseconds).

This timeout is used in conjunction with the position window value to identify when a motor has come to rest at the
desired position.

Parameters
value variable that will store the returned value

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Returns

A pointer to an error object, or NULL on success

5.4.3.127 GetSettlingWindow()

const Error ∗ GetSettlingWindow (

uunit & value )

Get the position window value.

This window, along with the position window time value, is used to identify when the motor has come to rest at the
desired position.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

5.4.3.128 GetSoftLimits()

const Error ∗ GetSoftLimits (

SoftPosLimit & cfg )

Upload the current software limit switch settings from the amplifier.

Parameters

cfg The limit switch settings will be returned in this structure.

Returns

A pointer to an error object, or NULL on success.

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5.4.3.129 GetSpecialFirmwareConfig()

const Error ∗ GetSpecialFirmwareConfig (

AmpConfig & cfg )

Reads the amplifier's special firmware.

These will use serial binary commands since there are no corresponding CAN objects.

Parameters

cfg A structure that holds the configuration settings.

Returns

A pointer to an error object, or NULL on success

5.4.3.130 GetState()

NodeState GetState (
void ) [virtual]

Returns the present state of this node.

Note that this requires node guarding or heartbeats to be enabled.

Returns

The present node state.

Reimplemented from Node.

5.4.3.131 GetStatusWord()

const Error ∗ GetStatusWord (

uint16 & value )

Get the current value of the drive's status word.

The drive status word indicates the drives current state in it's internal state machine. The drives state in turn identifies if
the drive is enabled / disabled, whether a fault is present on the drive, whether it is in motion, etc.

This status word is part of the CANopen device profile (DSP-402). It's used internally by the amplifier object.

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Parameters
value Returns the current status word value

Returns

A pointer to an error object, or NULL on success

5.4.3.132 GetTargetPos()

const Error ∗ GetTargetPos (

uunit & value )

Get the profile target position.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

5.4.3.133 GetTargetVel()

const Error ∗ GetTargetVel (

uunit & value )

Get the target velocity used in profile velocity mode.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value variable that will store the returned value

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Returns

A pointer to an error object, or NULL on success

5.4.3.134 GetTorqueActual()

const Error ∗ GetTorqueActual (

int16 & value )

Get the actual torque being applied by the motor at the moment.

Parameters

value The torque value is returned here. This is specified in thousandths of the motor rated torque (see
Amp::SetTorqueTarget more more info).

Returns

A pointer to an error object, or NULL on success

5.4.3.135 GetTorqueDemand()

const Error ∗ GetTorqueDemand (

int16 & value )

Get the torque demand value.

This is the torque that the amplifier is attempting to apply at the moment.

Parameters

value The torque value is returned here. This is specified in thousandths of the motor rated torque (see
Amp::SetTorqueTarget more more info).

Returns

A pointer to an error object, or NULL on success

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5.4.3.136 GetTorqueRated()

const Error ∗ GetTorqueRated (

int32 & value )

Get the motor rated torque parameter.

The motor's rated torque is the amount of torque that the motor can continuously output without damage.

Parameters

value The motor's rated torque in 0.001 Nm units. For linear motors the units are 0.001 N.

Returns

A pointer to an error object, or NULL on success

5.4.3.137 GetTorqueSlope()

const Error ∗ GetTorqueSlope (

int32 & value )

Get the rate of change of torque for use in profile torque mode (AMPMODE_CAN_TORQUE).

Parameters

value The rate of change specified in thousandths of the total rated torque per second.

Returns

A pointer to an error object, or NULL on success

5.4.3.138 GetTorqueTarget()

const Error ∗ GetTorqueTarget (

int16 & value )

Get the current target torque value.

This parameter is used in profile torque mode (AMPMODE_CAN_TORQUE) to specify the torque that should be applied
by the motor.

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Parameters

value The torque value is returned here. This is specified in thousandths of the motor rated torque (see
Amp::SetTorqueTarget more more info).

Returns

A pointer to an error object, or NULL on success

5.4.3.139 GetTraceChannel()

const Error ∗ GetTraceChannel (

uint8 ndx,
AMP_TRACE_VAR & value )

Get the amplifier variable current selected on one of the trace channels.

Parameters
ndx The trace channel to get
value The trace variable assigned to this channel will be returned here.

Returns

A pointer to an error object, or NULL on success

5.4.3.140 GetTraceData()

const Error ∗ GetTraceData (

int32 ∗ data,
int32 & max )

Upload any trace data captured in the amplifier.

Trace data should only be uploaded when the traces are stopped. Uploading data while it is currently being collected in
the amplifier can cause corrupt data to be uploaded.

The trace data is returned as an array of 32-bit integer values. If there are N currently active trace channels, and M
samples of data have been collected, then a total of N x M integer values will be returned. In this case, the samples for
channel n (0 <= n < N) will be located at postion n + m∗N for 0 <= m < M.

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Parameters
data An array where the trace data will be returned.
max On entry to this call, this parameter must hold the maximum number of 32-bit integer values to upload. On
successful return this parameter will be filled with the total number of integers uploaded.

Returns

A pointer to an error object, or NULL on success

5.4.3.141 GetTraceMaxChannel()

const Error ∗ GetTraceMaxChannel (

uint8 & max )

Return the maximum number of trace channels supported by the amplifier.

Parameters

max The number of channels is returned here.

Returns

A pointer to an error object, or NULL on success

5.4.3.142 GetTracePeriod()

const Error ∗ GetTracePeriod (

int16 & per )

Get the period of time between trace samples.

When the trace system is running, the amplifier will sample and store it's internal variables this often.

Note that this parameter specifies time in units of the amplifier's 'reference period'. See Amp::GetTraceRefPeriod for
more information.

Parameters
per The trace period is returned here.

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Returns

A pointer to an error object, or NULL on success

5.4.3.143 GetTraceRefPeriod()

const Error ∗ GetTraceRefPeriod (

int32 & per )

Get the 'reference period' used with the amplifiers trace mechanism.

The amplifier internally samples it's trace channels at integer multiples of this time.

For example, if the amplifier's reference period is 100,000 nanoseconds, then setting the trace period to 12 would
indicate that the amplifier should sample it's internal variables every 1.2 milliseconds.

Parameters

per The reference period is returned here in units of nanoseconds.

Returns

A pointer to an error object, or NULL on success

5.4.3.144 GetTraceStatus()

const Error ∗ GetTraceStatus (

AMP_TRACE_STATUS & stat,
int16 & samp,
int16 & sampMax )

Get the current status of the amplifier's trace system.

Parameters

stat Information on whether the trace is currently running is returned in this parameter.
samp The total number of trace samples collected is returned here.
sampMax The maximum number of trace samples that will fit in the internal buffer is returned here. This value will
change depending on how many trace channels are active and which variables are selected.

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Returns

A pointer to an error object, or NULL on success

5.4.3.145 GetTraceTrigger()

const Error ∗ GetTraceTrigger (

AMP_TRACE_TRIGGER & type,
uint8 & chan,
int32 & level,
int16 & delay )

Get the current configuration of the amplifier's trace trigger.

See Amp::SetTraceTrigger for more information about the trigger.

Parameters

type The type of trigger to be used.

chan Which trace channel to trigger off of.
level The trigger level
delay The delay between the occurance of the trigger and the start of data collection.

Returns

A pointer to an error object, or NULL on success

5.4.3.146 GetTrackingWindows()

const Error ∗ GetTrackingWindows (

TrackingWindows & cfg )

Get the configuration values of the amplifiers position & velocity tracking windows.

This function allows all tracking window paramters to be read from the amplifier as a group.

Parameters

cfg A structure that will be filled with the config info.

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Returns

A pointer to an error object, or NULL on success

5.4.3.147 GetTrajectoryAcc()

const Error ∗ GetTrajectoryAcc (

uunit & value )

Get the instantaneous commanded acceleration passed out of the trajectory generator.

This acceleration is used by the position loop to calculate it's acceleration feed forward term.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

5.4.3.148 GetTrajectoryJrkAbort()

const Error ∗ GetTrajectoryJrkAbort (

uunit & value )

Get the jerk value used during trajectory aborts.

If this is 0, then the abort will be calculated without any jerk limits.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

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5.4.3.149 GetTrajectoryVel()

const Error ∗ GetTrajectoryVel (

uunit & value )

Get the instantaneous commanded velocity passed out of the trajectory generator.

This velocity is used by the position loop to calculate it's velocity feed forward term.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

5.4.3.150 GetUstepConfig()

const Error ∗ GetUstepConfig (

UstepConfig & cfg )

Upload the current configuration parameters for the stepper.

Parameters

cfg A structure where the configuration parameters will be returned.

Returns

A pointer to an error object, or NULL on success

5.4.3.151 GetVelLoopConfig()

const Error ∗ GetVelLoopConfig (

VelLoopConfig & cfg )

Get the configuration values of the amplifiers velocity loop.

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Parameters

cfg A structure that will be filled with the config info.

Returns

A pointer to an error object, or NULL on success

viDrain only in some firmware versions

5.4.3.152 GetVelocityActual()

const Error ∗ GetVelocityActual (

uunit & value )

Get the actual motor velocity.

The motor velocity is estimated by the amplifier based on the change in position seen at the encoder. For dual encoder
systems, the load encoder veloctiy can be queried using the function Amp::GetVelocityLoad.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

5.4.3.153 GetVelocityCommand()

const Error ∗ GetVelocityCommand (

uunit & value )

Get the commanded velocity.

The commanded velocity is the velocity value that is passed to the velocity limiter, and from there to the velocity control
loop. If the amplifier is in position mode (i.e. the position loop is active), then this velocity is the output of the position
control loop.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

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Parameters
value variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

5.4.3.154 GetVelocityLimited()

const Error ∗ GetVelocityLimited (

uunit & value )

Get the limited velocity.

This velocity is the result of applying the velocity limiter to the commanded velocity (see GetVelocityCommand).

When the velocity loop is being driven by the position loop, the velocity limiter consists of a maximum velocity value only.
When some other source is driving the velocity loop, the limiter also includes a maximum acceleration and deceleration
value.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

5.4.3.155 GetVelocityLoad()

const Error ∗ GetVelocityLoad (

uunit & value )

Get the load encoder velocity.

The load velocity is estimated by the amplifier based on the change in position seen at the load encoder. For dual
encoder systems, the motor encoder veloctiy can be queried using the function Amp::GetVelocityActual.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

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Parameters
value variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

5.4.3.156 GetVelocityProgrammed()

const Error ∗ GetVelocityProgrammed (

uunit & vel )

Get the programmed velocity value.

This parameter is the velocity that the amplifier will attempt to maintain when set to the mode AMPMODE_PROG_VEL.

Parameters
vel The velocity will be returned here.

Returns

A pointer to an error object, or NULL on success

5.4.3.157 GetVelocityWarnTime()

const Error ∗ GetVelocityWarnTime (

uint16 & value )

Get the position window time value (milliseconds).

Parameters
value variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

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5.4.3.158 GetVelocityWarnWindow()

const Error ∗ GetVelocityWarnWindow (

uunit & value )

Get the velocity warning window.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value variable that will store the returned value

Returns

A pointer to an error object, or NULL on success

5.4.3.159 GetVloopCommandFilter()

const Error ∗ GetVloopCommandFilter (

Filter & f )

Get the coefficients used in the velocity loop command filter.

Parameters

f A structure where the filter coefficients will be returned

Returns

A pointer to an error object, or NULL on success

5.4.3.160 GetVloopOutputFilter()

const Error ∗ GetVloopOutputFilter (

Filter & f )

Get the coefficients used in the velocity loop output filter.

Parameters

f A structure where the filter coefficients will be returned

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Returns

A pointer to an error object, or NULL on success

5.4.3.161 GetVloopOutputFilter2()

const Error ∗ GetVloopOutputFilter2 (

Filter & f )

Get the coefficients used in the second velocity loop output filter.

Parameters

f A structure where the filter coefficients will be returned

Returns

A pointer to an error object, or NULL on success

5.4.3.162 GetVloopOutputFilter3()

const Error ∗ GetVloopOutputFilter3 (

Filter & f )

Get the coefficients used in the third velocity loop output filter.

Parameters

f A structure where the filter coefficients will be returned

Returns

A pointer to an error object, or NULL on success

5.4.3.163 GoHome() [1/2]

const Error ∗ GoHome (

void )

Execute a home move.

The various homing parameters (method, velocity, etc) are assumed to have already be configured.

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Returns

A pointer to an error object, or NULL on success.

5.4.3.164 GoHome() [2/2]

const Error ∗ GoHome (

HomeConfig & cfg )

Execute a home move.

The various homing parameters are passed in the HomeConfig structure.

This function simply programs all the homing parameters passed in the structure, then calls Amp::GoHome().

Parameters

cfg The homing configuration parameter structure.

Returns

A pointer to an error object, or NULL on success.

5.4.3.165 HaltMove()

const Error ∗ HaltMove (

void )

Halt the current move.

The exact type of halt can be programmed using the Amp::SetHaltMode function.
Note that the halt function is only available when running in one of the standard CAN amplifier modes. If doing low level
velocity or current control, then moves must be stopped externally.

Returns

A pointer to an error object, or NULL on success.

5.4.3.166 HandleStateChange()

void HandleStateChange (
NodeState from,
NodeState to ) [protected], [virtual]

Handle an amplifier state change.

This method wakes up any task waiting on the move done semaphore in the event of a guard error. If this feature is
desired, this method should be called from any class that over rides this method.

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Parameters

from Previous state of the Amp before the change

to New state of the Amp

Reimplemented from Node.

5.4.3.167 Init() [1/2]

const Error ∗ Init (

Network & net,
int16 nodeID ) [virtual]

Initialize the amplifier object using all default settings.

Parameters

net Reference to the Network for this amp.

nodeID a valid node ID for the amp. For CANopen, the node ID should range from 1 to 127. For EtherCAT, node
ID's >= 0 identify the node by it's EtherCAT alias. Negative ID's identify the node by network position (-1
is the first node, -2 is the second, etc).

Returns

A pointer to an error object, or NULL on success.

Reimplemented from Node.

5.4.3.168 Init() [2/2]

const Error ∗ Init (

Network & net,
int16 nodeID,
AmpSettings & settings )

Initialize the amplifier object with custom amp settings.

Parameters

net Reference to the Network for this amp.

nodeID a valid node ID for the amp
settings Amplifier settings to be used.

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Returns

A pointer to an error object, or NULL on success.

5.4.3.169 InitSubAxis()

const Error ∗ InitSubAxis (

Amp & primary,
int axis = 2 )

Initialize an Amp object for use with a secondary axis of a multi-axis EtherCAT amplifier.

For Copley EtherCAT multi-axis drives (such as the AE2, BE2, etc), the drive is configured as a single node on the
EtherCAT network with multiple axes of motion residing at that node. To control such a drive using CML, use a seperate
Amp object for each axis.

The first axis of such a drive is the primary axis and should be initialized using the normal Amp::Init() function call just
like a single axis amp. For any additional axes, use the Amp::InitSubAxis() call and pass in a reference to the primary
Amp object.

Note that multi-axis CANopen drives are normally configured as multiple distinct nodes on the CANopen network. Do
not use this method to initialize nodes on a multi-axis CANopen drive, instead use the Amp::Init() method for each Amp
object.

Parameters

primary Reference to the Amp object created for the primary (first) axis of the multi-axis EtherCAT drive.
axis The axis number of the axis to be initialized. The axis number passed should be greater then or equal to
two. Axis one is the primary axis and should be initialized using the Amp::Init() method.

Returns

A pointer to an error object, or NULL on success.

5.4.3.170 IsHardwareEnabled()

bool IsHardwareEnabled (
void )

Return true if the amplifier's PWM outputs are currently enabled.

Returns

true if the amplifier's PWM outputs are currently enabled.

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5.4.3.171 IsReferenced()

bool IsReferenced (
void )

Return true if the amplifier has been successfully referenced (homed).

When an amplifier is first powered up (or after a reset) it does not know the absolute position of the motor. Once
the home routine has been successfully executed, the encoder zero location is known and the amplifier is considered
referenced.

Once an amplifier has been referenced, it will not loose reference until it is reset, or until a new home routine is executed.
During the execution of a home routine, the amplifier is considered to be unreferenced. If the home routine is completed
successfully, the amplifier will then be referenced again.

Returns

true if the amplifier has been referenced. Return false if the amplifier has not been referenced if an error occurs
reading this information from the amplifier.

5.4.3.172 IsSoftwareEnabled()

bool IsSoftwareEnabled (
void )

Return true if the amplifier is being enabled by software.

The amplifier outputs may still be disabled if this is true due to an error condition, etc.

Returns

true if the amplifier is enabled by software.

5.4.3.173 JrkLoad2User()

uunit JrkLoad2User (
int32 jrk ) [virtual]

Convert a jerk value from internal amplifier units to user units.

Internal to the amplifier, all jerk values are stored in units of 100 encoder counts / second∧ 3. If user units are not enabled
in CML_Settings.h, then user units are the same as amplifier units, and this function has no effect.

If user units are enabled, then this function converts from amplifier units to user units (defined using Amp::SetCounts←-
PerUnit).

For dual encoder systems the unit conversion used by this function is based on the load encoder resolution.

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Parameters

jrk The jerk value in units of 100 encoder counts / second∧ 3

Returns

The jerk in user units

5.4.3.174 JrkUser2Load()

int32 JrkUser2Load (
uunit jrk ) [virtual]

Convert a jerk value from user units to internal amplifier units.

Internal to the amplifier, all jerk values are stored in units of 100 encoder counts / second ∧ 3. If user units are not
enabled in CML_Settings.h, then user units are the same as amplifier units, and this function has no effect.

If user units are enabled, then this function converts from user units (defined using Amp::SetCountsPerUnit) to these
internal amplifier units.

For dual encoder systems the unit conversion used by this function is based on the load encoder resolution.

Parameters
jrk The jerk in user units

Returns

The jerk in 100 encoder counts / second ∧ 3 units

5.4.3.175 LoadCCDFromFile()

const Error ∗ LoadCCDFromFile (

const char ∗ name,
Network & net )

Checks the network type and calls the correct function to write the ccd file to the amplifier.

Parameters

name Name of the file to be passed.

net Reference to the network object.
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Returns

The most recent error code returned by this node.

5.4.3.176 LoadFromFile()

const Error ∗ LoadFromFile (

const char ∗ name,
int & line )

Load the specified amplifier data file.

This function presently supports loading ∗.ccx files created by the CME-2 program, version 3.1 and later.

Parameters

name The name (and optionally path) of the file to load

line If not NULL, the last line number read from the file is returned here. This is useful for finding file format errors.

Returns

A pointer to an error object, or NULL on success.

5.4.3.177 MoveAbs()

const Error∗ MoveAbs (

uunit pos ) [inline]

Start an absolute point to point move to the specified position.

This is identical to calling Amp::DoMove( pos )

Parameters
pos The position to move to

Returns

A pointer to an error object, or NULL on success

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5.4.3.178 MoveRel()

const Error∗ MoveRel (

uunit dist ) [inline]

Start a relative point to point move of the specified distance.

This is identical to calling Amp::DoMove( dist, true )

Parameters
dist The distance to move

Returns

A pointer to an error object, or NULL on success

5.4.3.179 PosLoad2User()

uunit PosLoad2User (
int32 pos ) [virtual]

Convert a position from internal amplifier units to user units.

Internal to the amplifier, all positions are stored in units of encoder counts. If user units are not enabled in CML_←-
Settings.h, then user units are also in encoder counts and this function has no effect.

If user units are enabled, then this function converts from amplifier units to user units (defined using Amp::SetCounts←-
PerUnit).

For dual encoder systems the unit conversion used by this function is based on the load encoder resolution. To convert
motor encoder positions, use Amp::PosMtr2User. On single encoder systems either of these functions can be used.

Parameters
pos The position in encoder counts

Returns

The position in user units

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5.4.3.180 PosMtr2User()

uunit PosMtr2User (
int32 pos ) [virtual]

Convert a position from internal amplifier units to user units.

This function converts using motor encoder units on a dual encoder system. Load encoder positions can be converted
using Amp::PosLoad2User.

Parameters
pos The position in encoder counts

Returns

The position in user units

5.4.3.181 PosUser2Load()

int32 PosUser2Load (
uunit pos ) [virtual]

Convert a position from user position units to internal amplifier units.

Internal to the amplifier, all positions are stored in units of encoder counts. If user units are not enabled in CML_←-
Settings.h, then user units are also in encoder counts and this function has no effect.

If user units are enabled at compile time, then this function converts from user units (defined using Amp::SetCounts←-
PerUnit) to these internal amplifier units.

For dual encoder systems the unit conversion used by this function is based on the load encoder resolution. To convert
motor encoder positions, use Amp::PosUser2Mtr. On single encoder systems either of these functions can be used.

Parameters
pos The position in user units

Returns

The position in encoder counts

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5.4.3.182 PosUser2Mtr()

int32 PosUser2Mtr (
uunit pos ) [virtual]

Convert a position from user position units to internal amplifier units.

This function converts using motor encoder units on a dual encoder system. Load encoder positions can be converted
using Amp::PosUser2Load.

Parameters
pos The position in user units

Returns

The position in encoder counts

5.4.3.183 PvtBufferFlush()

const Error ∗ PvtBufferFlush (

bool viaSDO = true ) [protected]

Flush the amplifier's PVT trajectory buffer.

Flushing the buffer in this way will cause any running profile to be aborted.

Parameters

viaSDO If true, use a SDO to download the message. If false, use a PDO. default is true.

Returns

An error object.

5.4.3.184 PvtBufferPop()

const Error ∗ PvtBufferPop (

uint16 n = 1,
bool viaSDO = true ) [protected]

Pop the N most recently sent segments off the amplifier's PVT trajectory buffer.
If there are less then N segments on the buffer, then the buffer is cleared. Any profile running on the amplifier will
continue to run (is not aborted) unless a buffer underflow occurs.

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Parameters

n The number of segments to pop off the buffer. Defaults to 1.

viaSDO If true, use a SDO to download the message. If false, use a PDO. default is true.

Returns

An error object.

5.4.3.185 PvtClearErrors()

const Error ∗ PvtClearErrors (

uint8 mask,
bool viaSDO = true ) [protected]

Clear the specified PVT buffer errors.

Parameters

mask A bit mask representing which PVT buffer errors to clear.

viaSDO If true, use a SDO to download the message. If false, use a PDO. default is true.

Returns

An error object.

5.4.3.186 PvtStatusUpdate()

void PvtStatusUpdate (
uint32 status )

This is an internal function which should not be called by user code.

This function is used to handle the details of streaming out a trajectory that's too big to fit in the amplifier's PVT buffer
all at once.

5.4.3.187 PvtWriteBuff() [1/2]

const Error ∗ PvtWriteBuff (

uint8 ∗ buff,
bool viaSDO = false ) [protected]

Write to the PVT buffer on the amp.

We use a PDO to do this on CANopen, but use an SDO access on EtherCAT.

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Parameters

buff Points to a buffer of formatted data to be sent. The buffer length must be at least 8 bytes.
viaSDO Only used on CANopen. If true, download using an SDO.

Returns

A pointer to an error object, or NULL on success.

5.4.3.188 PvtWriteBuff() [2/2]

const Error ∗ PvtWriteBuff (

uint8 buff[ ][8],
int ct,
bool viaSDO = false ) [protected]

Write multiple PVT buffers to the drive.

Parameters

buff Points to a buffer of formatted data to be sent

ct Number of buffers to write;
viaSDO Only used on CANopen. If true, download using an SDO.

Returns

A pointer to an error object, or NULL on success.

5.4.3.189 QuickStop()

const Error ∗ QuickStop (

void )

Perform a 'quick stop' on the axis.

The exact meaning of a quick stop can be programmed using the Amp::SetQuickStop function. Regardless of the type
of quick stop being performed, the amplifier will always end up disabled at the end of the quick stop. If disabling the
amplifier is not desirable, then the Amp::HaltMove function should be used instead.
Note that the quick stop function is only available when running in one of the standard CAN amplifier modes. If doing
low level velocity or current control, then moves must be stopped externally.

Returns

A pointer to an error object, or NULL on success.

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5.4.3.190 ReInit()

const Error ∗ ReInit (

void )

Re-initialize an amplifier.

This function simply calls Amp::Init using the same parameters that were initially passed.

Returns

A pointer to an error object, or NULL on success.

5.4.3.191 Reset()

const Error ∗ Reset (

void )

Reset the amplifier object.

This function should be used for Amp objects instead of Node::ResetNode(). It resets the amplifier and re-initializes the
amplifier object.

Returns

A pointer to an error object, or NULL on success.

5.4.3.192 SaveAmpConfig() [1/2]

const Error ∗ SaveAmpConfig (

AmpConfig & cfg )

Upload the passed amplifier configuration to the amplifier's workign memory, and then copy that working memory to
flash.

Parameters

cfg The structure which holds the new configuration.

Returns

A pointer to an error object, or NULL on success

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5.4.3.193 SaveAmpConfig() [2/2]

const Error ∗ SaveAmpConfig (

void )

Save all amplifier parameters to internal flash memory.

Flash memory is a type of non-volatile RAM which allows amplifier parameters to be saved between power cycles.
When this function is called, any amplifier parameters that may be stored to flash will be copied from their working
(RAM) locations to the stored (flash) locations.

For a list of those amplifier parameters which may be saved to flash memory, see the AmpConfig structure. Every
member of that structure represents an amplifier parameter that may be saved to flash.

Returns

A pointer to an error object, or NULL on success

5.4.3.194 SendTrajectory()

const Error ∗ SendTrajectory (

Trajectory & trj,
bool start = true )

Upload a PVT move trajectory to the amplifier and optionally start the move.

Parameters

trj Reference to the trajectory that will be feed to the amp. A local pointer to this trajectory will be stored if the
entire profile will not fit in the amplifiers on-board buffer. This pointer will be kept until the entire profile has
been uploaded to the amp. It is therefore important to ensure that the trajectory object will remain valid (i.e.
not be deallocated) until the amplifier object has called the Trajectory.Finish() method on it.
start If true (the default), the profile will be started by this call. If false, the profile will be uploaded, but not started.
Use true if this is a single axis move, false if this is part of a multi-axis move which needs to be synchronized.

Returns

An error object.

Clear the PVT segment cache

Make sure the trajectory object is ready to go

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5.4.3.195 SetAlgoPhaseInit()

const Error ∗ SetAlgoPhaseInit (

AlgoPhaseInit & cfg )

Download a new configuration structure for the algorithmic phase init.

Parameters

cfg A structure containing the configuration parameters to set.

Returns

A pointer to an error object, or NULL on success

5.4.3.196 SetAmpConfig()

const Error ∗ SetAmpConfig (

AmpConfig & cfg )

Update an amplifier's configuration from the passed structure.

The AmpConfig structure holds all amplifier parameters that may be stored in the amplifier's non-volatile flash memory.
This function may be used to update all of these parameters in a single call.

Note that this function updates the copies of these variables in working RAM, not directly in the amplifier flash memory.
To copy these parameters to non-volatile memory, call Amp::SaveAmpConfig after updating them.

Parameters

cfg The structure which holds the new configuration.

Returns

A pointer to an error object, or NULL on success

5.4.3.197 SetAmpMode()

const Error ∗ SetAmpMode (

AMP_MODE mode )

Set the amplifier mode of operation.

The mode of operation determines the top level control loop that will be controled (position, velocity, or current), and the
source of that control (CANopen network, digital input pins, etc).

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Parameters

mode The mode of operation to be set

Returns

A pointer to an error object, or NULL on success.

5.4.3.198 SetAmpName()

const Error ∗ SetAmpName (

char ∗ name )

Set the amplifier name stored in the amplifiers flash.

Parameters

name The name of the drive to be set

Returns

A pointer to an error object, or NULL on success

5.4.3.199 SetAnalogCommandFilter()

const Error ∗ SetAnalogCommandFilter (

Filter & f )

Set new coefficients for the analog reference input filter.

Parameters

f A structure holding the filter coefficients

Returns

A pointer to an error object, or NULL on success

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5.4.3.200 SetAnalogRefConfig()

const Error ∗ SetAnalogRefConfig (

AnalogRefConfig & cfg )

Configure the amplifier's analog reference input.

Note that some amplifier models do not support the analog reference.

Parameters

cfg A structure holding the configuration to download

Returns

A pointer to an error object, or NULL on success

5.4.3.201 SetCammingConfig()

const Error ∗ SetCammingConfig (

CammingConfig & cfg )

Download a new configuration structure for Camming.

Parameters

cfg A structure containing the configuration parameters to set.

Returns

A pointer to an error object, or NULL on success

5.4.3.202 SetCanNetworkConfig()

const Error ∗ SetCanNetworkConfig (

CanNetworkConfig & cfg )

Set the CANopen node ID and bit rate configuration.

Note that the amplifier only uses this parameter at startup or after a reset.

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Parameters

cfg Structure holding the configuration to set.

Returns

A pointer to an error object, or NULL on success

5.4.3.203 SetControlWord()

const Error ∗ SetControlWord (

uint16 value ) [virtual]

Set the amplifier's control word.

The control word is part of the CANopen device profile (DSP-402). It's used to enable/disable the amplifier, start moves,
etc. This function is used internally by the Amp object.

Parameters
value The control word value to set

Returns

A pointer to an error object, or NULL on success

5.4.3.204 SetCountsPerUnit() [1/2]

const Error ∗ SetCountsPerUnit (

uunit cts ) [virtual]

Configure the user programmable units.

Unit conversions may be enabled or disabled at compile time through a setting in CML_Settings.h. If this feature is
disabled, then all position, velocity, acceleration & jerk values are passed as 32-bit integers in the amplifier's native
units:

• Position: Encoder counts

• Velocity: 0.1 encoder counts / second (i.e. 100 would be 10 counts/sec)

• Acceleration: 10 counts / second ∧ 2 (i.e. 100 would be 1000 counts/sec∧ 2)

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• Jerk: 100 counts / second∧ 3 (i.e. 100 would be 10000 counts/sec∧ 3).

If unit conversions are enabled in CML_Settings.h, then these values are passed as double precision floating point
values, and this function may be used to set a scaling factor for these units. The scaling factor is passed to this function
as a number of encoder counts / user distance unit.

Velocity units are always equal to distance units / second. Likewise, acceleration and jerk units are distance units /
second∧ 2 and distance units / second∧ 3.

For example, if the motor in question has a 1 micron encoder, then user units of meters, meters/sec, meters/sec∧ 2, etc
can be selected by passing a value of 1,000,000 to this function (i.e. the number of microns/meter).

When user units are enabled at compile time, the amplifier defaults to units of encoder counts, encoder counts / second,
etc.

Parameters

cts The number of encoder counts / user distance unit.

Returns

A pointer to an error object, or NULL on success. Note that if user units are disabled in CML_Settings.h, then this
function will return an error.

5.4.3.205 SetCountsPerUnit() [2/2]

const Error ∗ SetCountsPerUnit (

uunit load,
uunit mtr ) [virtual]

Configure the user programmable units for a dual encoder system.

This method provides the same feature as the single encoder version however it takes two scaling parameters; a load
encoder scaler and a motor encoder scaler. These two values are used to scale amplifier parameters based on which
encoder they refer to.

Parameters

load The load encoder scaling factor. This gives the number of load encoder counts / user position unit.
mtr The motor encoder scaling factor. This gives the number of motor encoder counts / user position unit.

Returns

A pointer to an error object, or NULL on success.

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5.4.3.206 SetCrntLoopConfig()

const Error ∗ SetCrntLoopConfig (

CrntLoopConfig & cfg )

Update the amplifier's current loop configuration.

Parameters

cfg A structure that will be filled with the config info.

Returns

A pointer to an error object, or NULL on success

5.4.3.207 SetCurrentProgrammed()

const Error ∗ SetCurrentProgrammed (

int16 crnt )

Set the programmed current value in 0.01 Amp units.

This parameter is only used when running in the mode AMPMODE_PROG_CRNT. The value programmed through this
variable is the current that the amplifier will attempt to output.

Parameters

crnt The current to output (0.01 Amp units).

Returns

A pointer to an error object, or NULL on success

5.4.3.208 SetDAConverterConfig()

const Error ∗ SetDAConverterConfig (

DAConfig & cfg )

Set the D/A converter configuration.

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Parameters

cfg A structure holding the D/A converter configuration.

Returns

A pointer to an error object, or NULL on success

5.4.3.209 SetEncoderErrorConfig()

const Error ∗ SetEncoderErrorConfig (

EncoderErrorConfig & cfg )

Configure the amplifier's encoder error configuration.

Parameters

cfg A structure that holds the encoder error configuration settings.

Returns

A pointer to an error object, or NULL on success

5.4.3.210 SetFaultMask()

const Error ∗ SetFaultMask (

AMP_FAULT & value )

Set the amplifier's fault mask.

The fault mask identifies which conditions will be treated as latching faults by the amplifier. If such a condition occurs,
the amplifier's output will be disabled immediately, and will not be enabled until the fault condition is cleared.

Parameters

value A bit mask identifying which fault conditions to latch.

Returns

A pointer to an error object, or NULL on success

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5.4.3.211 SetFuncGenConfig()

const Error ∗ SetFuncGenConfig (

FuncGenConfig & cfg )

Configure the amplifier's internal function generator.

Parameters

cfg A structure holding the configuration to download

Returns

A pointer to an error object, or NULL on success

5.4.3.212 SetGainScheduling()

const Error ∗ SetGainScheduling (

GainScheduling & cfg )

Download a new configuration structure for Gain Scheduling.

Parameters

cfg A structure containing the configuration parameters to set.

Returns

A pointer to an error object, or NULL on success

5.4.3.213 SetHaltMode()

const Error ∗ SetHaltMode (

HALT_MODE mode )

Set the halt mode.

When the amplifier's halt command is issued (Amp::HaltMove) the amplifier will attempt to stop the move in progress
using the method defined by it's halt mode.

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Parameters
mode The mode to set

Returns

A pointer to an error object, or NULL on success

5.4.3.214 SetHomeAccel()

const Error ∗ SetHomeAccel (

uunit value )

Set the home acceleration.

This acceleration value will be used for all moves that are part of the home routine.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value the value to set

Returns

A pointer to an error object, or NULL on success

5.4.3.215 SetHomeConfig()

const Error ∗ SetHomeConfig (

HomeConfig & cfg )

Configure the amplifier's homing related parameters.

The passed structure contains all parameters related to performing a home routine.

Parameters

cfg A structure holding the configuration parameters.

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Returns

A pointer to an error object, or NULL on success

5.4.3.216 SetHomeCurrent()

const Error ∗ SetHomeCurrent (

int16 value )

Set the home current.

The home current value is only used when homing to a hard stop. This parameter is specified in units of 0.01 Amps (i.e.
a value of 123 would be 1.23 Amps).

Parameters
value the value to set

Returns

A pointer to an error object, or NULL on success

5.4.3.217 SetHomeDelay()

const Error ∗ SetHomeDelay (

int16 value )

Set the home delay.

The home delay value is only used when homing to a hard stop. This parameter is specified in units of milliseconds.

Parameters
value the value to set

Returns

A pointer to an error object, or NULL on success

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5.4.3.218 SetHomeMethod()

const Error ∗ SetHomeMethod (

COPLEY_HOME_METHOD method,
uint16 extended = 0 )

Set the method used for homing the drive.

Parameters
method The home method to set
extended If the 'method' parameter is set to CHM_EXTENDED, then this value will be written to the extended
homing parameter on the amplifier. For any other homing method this parameter is ignored.

Returns

A pointer to an error object, or NULL on success

5.4.3.219 SetHomeOffset()

const Error ∗ SetHomeOffset (

uunit value )

Set the home offset value.

This offset is the difference between the location of the homing sensor (as defined by the homing method), and the
actual zero position. Once the home location has been found, the amplifier will use this offset to determine where the
zero position location is.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value the value to set

Returns

A pointer to an error object, or NULL on success

5.4.3.220 SetHomeVelFast()

const Error ∗ SetHomeVelFast (

uunit value )

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Set the home velocity used to move to a home switch.

This velocity will be used for any move in the home routine that can be done at relatively high speed. A second slower
velocity can also be programed for the parts of the home routine that are speed sensitive.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value the value to set

Returns

A pointer to an error object, or NULL on success

5.4.3.221 SetHomeVelSlow()

const Error ∗ SetHomeVelSlow (

uunit value )

Set the home velocity used to find a switch edge.

This velocity will be used for any move in the home routine which is speed sensitive. This typically is a move in which
the edge of a sensor is being searched for.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value the value to set

Returns

A pointer to an error object, or NULL on success

5.4.3.222 SetIloopCommandFilter()

const Error ∗ SetIloopCommandFilter (

Filter & f )

Set the coefficients used in the current loop input filter.

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Parameters

f A structure holding the filter coefficients

Returns

A pointer to an error object, or NULL on success

5.4.3.223 SetIloopCommandFilter2()

const Error ∗ SetIloopCommandFilter2 (

Filter & f )

Set the coefficients used in the second current loop input filter.

Parameters

f A structure holding the filter coefficients

Returns

A pointer to an error object, or NULL on success

5.4.3.224 SetInputConfig()

const Error ∗ SetInputConfig (

int8 pin,
INPUT_PIN_CONFIG cfg,
uint16 axis = 0 )

Set the input pin configuration for the specified input pin.

Each of the amplifier input pins can be configured to perform some function. This method configures the specified input
to perform the specified function.

Parameters

pin The input pin to configure. Input pins are numbered starting from 0. Check the amplifier datasheet for the
number of input pins available.
cfg The input pin function to be assigned to this pin.
axis The axis to apply this input configuration to. This only applies to multi-axis drives. Default is 0 (first axis/axis
A).

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Returns

A pointer to an error object, or NULL on success

5.4.3.225 SetInputDebounce()

const Error ∗ SetInputDebounce (

int8 pin,
int16 value )

Set the input pin debounce time for the specified input pin.

Each of the amplifier input pins can be configured ignore transient states that last less then the debounce time. This
function configures the debounce time for a specific pin.

Parameters

pin The input pin to configure. Input pins are numbered starting from 0. Check the amplifier datasheet for the
number of input pins available.
value The debounce time to use (milliseconds)

Returns

A pointer to an error object, or NULL on success

5.4.3.226 SetInputShapingFilter()

const Error ∗ SetInputShapingFilter (

InputShaper & f )

Set new coefficients for the input shaping filter.

Parameters

f A structure holding the filter coefficients

Returns

A pointer to an error object, or NULL on success

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5.4.3.227 SetIoConfig()

const Error ∗ SetIoConfig (

AmpIoCfg & cfg )

Configure the amplifier's programmable I/O pins using the values passed in the config structure.

The inputCt and outputCt values of the config structure should indicate the total number of input & output pins to
configure. If the amplifier has more pins then these values indicate, the configuration of the remaining amplifier pins will
not be changed.

Parameters

cfg A structure that holds the configuration settings.

Returns

A pointer to an error object, or NULL on success

5.4.3.228 SetIOOptions()

const Error ∗ SetIOOptions (

int32 value )

Set the IO Options.

This parameter is used to configure the optional features of the general purpose IO. Bits 0-3 describe whether several
IO pins are used as a serial interface for expanded IO features. 0 is normal IO, 1 is AEM/APM development board LEDs
and address switches. 2 is LEDs wired the same as the developers kit board, but using separate red & green LEDs for
network status.

Parameters

value The new value for the IOOptions configuration

Returns

A pointer to an error object, or NULL on success

5.4.3.229 SetIoPullup()

const Error ∗ SetIoPullup (

uint16 value )

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Set the current state of the input pin pull up/down resisters.

Pull up/down resisters control how an undriven input pin will be interpreted by the amplifier. Depending on the model of
amplifier being controlled, there may be zero or more groups of pull up/down resisters attached to some the input pins.

Each bit of this register is used to control one group of pull up/down resisters. Bit 0 controls group 0, etc.

Please refer to the amplifier data sheet for details on the number of groups of pull up/down resisters, and which input
pins are included in each group.

Parameters

value The new value to write to the pull up/down control register.

Returns

A pointer to an error object, or NULL on success

5.4.3.230 SetIoPullup32()

const Error ∗ SetIoPullup32 (

int32 value )

32 Bit version of SetIoPullup.

This is useful on drives that support more then 16 pull up/down resistors. Please see Amp::SetIoPullup() for more
details.

Parameters

value The new value to write to the pull up/down control register.

Returns

A pointer to an error object, or NULL on success

5.4.3.231 SetMicrostepRate()

const Error ∗ SetMicrostepRate (

int16 rate )

Set the amplifier microstepping rate.

This parameter is only used in the diagnostic microstepping mode (AMPMODE_DIAG_USTEP).

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Parameters

rate The microstepping rate in degrees / second

Returns

A pointer to an error object, or NULL on success

5.4.3.232 SetMtrInfo()

const Error ∗ SetMtrInfo (

MtrInfo & info )

Update the amplifier's motor information.

Parameters

info A structure that contains the motor info to be downloaded.

Returns

A pointer to an error object, or NULL on success

5.4.3.233 SetNetworkOptions()

const Error ∗ SetNetworkOptions (

NetworkOptions & cfg )

Set the Network Options configuration.

Parameters

cfg Reference to the NetworkOptions structure containing the configuration data to be written to the amp.

Returns

A pointer to an error object, or NULL on success

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5.4.3.234 SetOutputConfig()

const Error ∗ SetOutputConfig (

int8 pin,
OUTPUT_PIN_CONFIG cfg,
uint32 param1 = 0,
uint32 param2 = 0,
uint16 axis = 0 )

Set the output pin configuration for the specified pin.

Each of the amplifier output pins can be configured to perform some function. These functions break down into several
basic modes:

• manual mode: In this mode, the output pin will be controlled through the CANopen network using the Amp::Set←-
Outputs function. Output pins can be configured to be either active high or active low in this mode.

• Status word tracking: In this mode, the output pin is configured to track one or more bits of one of the amplifier's
internal status words. A 32-bit mask is also supplied which identifies which bits are to be tracked. If any of the
selected bits are set in the status word, the output pin will go active.

• Position trigger. In this mode the output pin will be configured to go active based on the position of the motor.
In some cases the output will go active between two programmed positions. In other cases the output will be
triggered by crossing a position and will stay active for a programmed duration.

Parameters

pin The output pin to configure. Output pins are numbered starting from 0. Check the amplifier datasheet for
the number of output pins available.
cfg The pin function to be assigned to this pin.
param1 A 32-bit parameter used in conjunction with the output pin configuration to define the pin behavior. For
most simple output pin modes this parameter is a bitmask that selects bits in a status register that the
output should track. If the output pin is being configured for manual mode, then the mask is not used and
does not need to be specified.
param2 A second 32-bit parameter used in a few output pin configurations.
axis On multi-axis drives this is used to configure which axis this output pin is configured for.

Returns

A pointer to an error object, or NULL on success

5.4.3.235 SetOutputs()

const Error ∗ SetOutputs (

uint16 value )

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Update the state of the manual output pins.

The passed value will be written to the output pin control register. Any of the output pins that have been configured as
manual outputs will be updated based on the value of this register.

Bit 0 controls output pin 0, bit 1 sets output pin 1, etc.

Note that only those output pins that have been configured as manual outputs are effected by this command. Output pins
that are configured to perform some other function (such as tracking bits in the event status register) are not effected.
See Amp::SetOutputConfig for details on configuring the amplifier output pins.

Also note that this pin controls the active/inactive state of the outputs, not the high/low state. Each output pin can be
individually configured as active high or active low. Setting a bit in the register to 1 sets the corresponding output pin
active. Active high/low configuration is set using Amp::SetOutputConfig.

Parameters
value The new value to write to the output pin control register.

Returns

A pointer to an error object, or NULL on success

5.4.3.236 SetPhaseMode()

const Error ∗ SetPhaseMode (

AMP_PHASE_MODE mode )

Set the phasing mode configuration for the amplifier.

Parameters
mode The phasing mode to set

Returns

A pointer to an error object, or NULL on success

5.4.3.237 SetPosCaptureCfg()

const Error ∗ SetPosCaptureCfg (

POS_CAPTURE_CFG cfg )

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Set the position capture configuration.

The position capture mechanism in the amplifier allows the motor position to be captured by some event. The position
can be captured by a transition on the encoder index signal, or by a transition on a general purpose input pin which has
been configured as a 'home' input.

Parameters

cfg The position capture configuration value is passed here.

Returns

A pointer to an error object, or NULL on success

5.4.3.238 SetPositionActual()

const Error ∗ SetPositionActual (

uunit value )

Set the actual position.

On dual encoder systems, this will set the load encoder position. Amp::SetPositionMotor may be used to set the motor
position on such systems.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters

value The actual position of the motor.

Returns

A pointer to an error object, or NULL on success

5.4.3.239 SetPositionErrorWindow()

const Error ∗ SetPositionErrorWindow (

uunit value )

Set the position error window.

If the absolute value of the motor's position error ever exceeds this value, then a tracking error will occur.

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A tracking error causes the amplifier to abort any move in progress, and attempt to bring the motor to a stop using
it's velocity loop. The commanded velocity input to the velocity loop will be driven to zero, subject to the velocity loop
acceleration and deceleration limits.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

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Parameters

value The value to use for the position error window.

Returns

A pointer to an error object, or NULL on success

5.4.3.240 SetPositionLoad()

const Error ∗ SetPositionLoad (

uunit value )

Set the load encoder position.

On single encoder systems, this value is NOT USED.

For dual encoder systems, this will set the load encoder position. This is also the passive load position when the load
encoder is configured to be in passive mode.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters

value The actual position of the motor.

Returns

A pointer to an error object, or NULL on success

5.4.3.241 SetPositionMotor()

const Error ∗ SetPositionMotor (

uunit value )

Set the actual motor position.

On dual encoder systems, this will set the motor encoder position. Amp::SetPositionActual may be used to set the load
position on such systems.

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Parameters

value The actual position of the motor.

Returns

A pointer to an error object, or NULL on success

5.4.3.242 SetPositionWarnWindow()

const Error ∗ SetPositionWarnWindow (

uunit value )

Set the position warning window.

If the absolute value of the position error ever exceeds this value, then a tracking warning will result. A tracking warning
causes a bit in the drives status to be set.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value the value to set

Returns

A pointer to an error object, or NULL on success

5.4.3.243 SetPosLoopConfig()

const Error ∗ SetPosLoopConfig (

PosLoopConfig & cfg )

Update the amplifier's position loop configuration.

Parameters

cfg A structure that will be filled with the config info.

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Returns

A pointer to an error object, or NULL on success

5.4.3.244 SetProfileAcc()

const Error ∗ SetProfileAcc (

uunit value )

Set the profile acceleration value (i.e.

the acceleration that the motor will normally attain when starting the move).

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value The value to set.

Returns

A pointer to an error object, or NULL on success

5.4.3.245 SetProfileConfig()

const Error ∗ SetProfileConfig (

ProfileConfig & cfg )

Configure the amplifier's parameters related to point-to-point moves.

Parameters

cfg A structure holding the configuration parameters.

Returns

A pointer to an error object, or NULL on success

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5.4.3.246 SetProfileDec()

const Error ∗ SetProfileDec (

uunit value )

Set the profile deceleration value (i.e.

the acceleration that the motor will normally attain when ending the move).

Note that S-curve profiles don't use a separate deceleration value. For S-curve moves, the value programmed in Set←-
ProfileAcc is also used for the deceleration segment at the end of the move.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value The value to set.

Returns

A pointer to an error object, or NULL on success

5.4.3.247 SetProfileJerk()

const Error ∗ SetProfileJerk (

uunit value )

Set the jerk limit used with S-curve profiles.

Jerk is the rate of change of acceleration.

Note that this value is only used with S-curve profiles. Trapezoidal profiles do not limit jerk (i.e. they allow instantaneous
changes in acceleration).

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value The jerk value to set

Returns

A pointer to an error object, or NULL on success

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5.4.3.248 SetProfileType()

const Error ∗ SetProfileType (

PROFILE_TYPE type )

Set the motion profile type.

The motion profile type is only used when running in 'position profile' mode. In this mode, the drive performs point to
point moves using it's internal trajectory generator.

The motion profile type defines the type of trajectory profile that the drive will generate.

Parameters

type The profile type to use

Returns

A pointer to an error object, or NULL on success

5.4.3.249 SetProfileVel()

const Error ∗ SetProfileVel (

uunit value )

Set the profile velocity value (i.e.

the velocity that the motor will normally attain during the move).

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value The value to set.

Returns

A pointer to an error object, or NULL on success

5.4.3.250 SetPvtInitialPos()

const Error ∗ SetPvtInitialPos (

int32 pos,
bool viaSDO = true ) [protected]

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Set the initial position for a PVT trajectory.

This function sends a full 32-bit position value which can be used to start a PVT move beyond the 24-bit limit of normal
segments. It's normally used at the beginning of a PVT trajectory when the starting position is greater then 24-bits and
the commanded position at the time of the move's start is not obvious.

Parameters
pos The 32-bit initial position
viaSDO If true, use a SDO to download the message. If false, use a PDO. default is true.

Returns

An error object

5.4.3.251 SetPwmInConfig()

const Error ∗ SetPwmInConfig (

PwmInConfig & cfg )

Configure the amplifier's PWM input pins.

Note that these settings are only used when the amplifier is controlled by it's PWM (or pulse/direction) input pins, i.e.
not in CANopen mode.

Parameters

cfg A structure holding the configuration to download

Returns

A pointer to an error object, or NULL on success

5.4.3.252 SetPwmMode()

const Error ∗ SetPwmMode (

AMP_PWM_MODE mode )

Set the PWM output mode configuration for the amplifier.

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Parameters
mode The PWM output mode to set

Returns

A pointer to an error object, or NULL on success

5.4.3.253 SetQuickStop()

const Error ∗ SetQuickStop (

QUICK_STOP_MODE mode )

Set the quick stop mode.

When the amplifier's quick stop command is issued (Amp::QuickStop), the amplifier will attempt to stop the move in
progress using the method defined by it's quick stop mode.

Parameters
mode The mode to set

Returns

A pointer to an error object, or NULL on success

5.4.3.254 SetQuickStopDec()

const Error ∗ SetQuickStopDec (

uunit value )

Set the quick stop deceleration value (i.e.

the acceleration that the motor will use when doing a quick stop).

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value The value to set.

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Returns

A pointer to an error object, or NULL on success

5.4.3.255 SetRegenConfig()

const Error ∗ SetRegenConfig (

RegenConfig & cfg )

Download a new configuration structure for the power regeneration resister.

Note that not all amplifiers support a regen resister. Please see the amplifier datasheet to determine if this feature is
available for the amplifier being used.

Parameters

cfg A structure containing the configuration parameters to set.

Returns

A pointer to an error object, or NULL on success

5.4.3.256 SetServoLoopConfig()

const Error ∗ SetServoLoopConfig (

int32 value )

Set the servo loop configuration.

This parameter allows various parts of the drive servo loops to be enabled/disabled.

Parameters

value The servo config value to be used.

Returns

A pointer to an error object, or NULL on success

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5.4.3.257 SetSettlingTime()

const Error ∗ SetSettlingTime (

uint16 value )

Set the position window time value (milliseconds).

The drive will be considered to be settled in position after a move when it's absolute position error value has been within
the position window for an amount of time greater then the position window time value.

Parameters
value the value to set

Returns

A pointer to an error object, or NULL on success

5.4.3.258 SetSettlingWindow()

const Error ∗ SetSettlingWindow (

uunit value )

Set the position settling window.

The drive will be considered to be settled in position after a move when it's absolute position error value has been within
the position window for an amount of time greater then the position window time value.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value the value to set

Returns

A pointer to an error object, or NULL on success

5.4.3.259 SetSoftLimits()

const Error ∗ SetSoftLimits (

SoftPosLimit & cfg )

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Set software limit switch settings.

The amplifier's software limit settings consist of a positive and negative absolute position. Any time the motors actual
position is greater then the positive limit, or less then the negative limit, a limit event occurs. Software limit events are
treated by the amplifer in the same way that physical limit switches are, no current will be output in the direction of the
limit switch, and any running trajectory will be aborted.

Software limit switches are not used until the amplifier has been homed. Also, if the positive software limit is set to a
value greater then or equal to the negative software limit, then the limits are disabled.

Parameters

cfg The limit switch settings to use

Returns

A pointer to an error object, or NULL on success.

5.4.3.260 SetSpecialFirmwareConfig()

const Error ∗ SetSpecialFirmwareConfig (

AmpConfig & cfg )

Configure the amplifier's special firmware.

These will use serial binary commands since there are no corresponding CAN objects.

Parameters

cfg A structure that holds the configuration settings.

Returns

A pointer to an error object, or NULL on success

5.4.3.261 SetTargetPos()

const Error ∗ SetTargetPos (

uunit value )

Set the profile target position (i.e.

the position to which the motor should move).
For relative moves, this function sets the distance to move.
This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

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Parameters
value The position to move to

Returns

A pointer to an error object, or NULL on success

5.4.3.262 SetTargetVel()

const Error ∗ SetTargetVel (

uunit value )

Set the target velocity used in profile velocity mode.

This parameter is only used when the amplifier is set to profile velocity mode (AMPMODE_CAN_VELOCITY). When in
this mode, this parameter defines the target velocity for motion.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value The new target velocity.

Returns

A pointer to an error object, or NULL on success

5.4.3.263 SetTorqueRated()

const Error ∗ SetTorqueRated (

int32 value )

Set the motor rated torque parameter.

The motor's rated torque is the amount of torque that the motor can continuously output without damage.

Parameters

value The motor's rated torque in 0.001 Nm units. For linear motors the units are 0.001 N.

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Returns

A pointer to an error object, or NULL on success

5.4.3.264 SetTorqueSlope()

const Error ∗ SetTorqueSlope (

int32 value )

Set the rate of change of torque for use in profile torque mode (AMPMODE_CAN_TORQUE).

Setting this parameter to zero will cause the rate of change to be unlimited.

Parameters

value The rate of change specified in thousandths of the total rated torque per second. For example, setting to
1000 would specify a slope of the full rated torque of the motor every second.

Returns

A pointer to an error object, or NULL on success

5.4.3.265 SetTorqueTarget()

const Error ∗ SetTorqueTarget (

int16 value )

Set the amplifier target torque value.

This parameter is used in profile torque mode (AMPMODE_CAN_TORQUE) to specify the desired target torque value.
The actual torque commanded by the amplifier will ramp up/down to this value based on the programmed torque slope
(see Amp::SetTorqueSlope).

The units used for this object are based on the CANopen DS402 specification. An applications note is available on Cop-
ley's web site which gives more information on exactly how to convert between these torque units and the commanded
current in the drive. http://www.copleycontrols.com/Motion/pdf/Current-Scaling.pdf

Parameters

value The torque value to be set. This is specified in thousandths of the motor rated torque.

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Returns

A pointer to an error object, or NULL on success

5.4.3.266 SetTraceChannel()

const Error ∗ SetTraceChannel (

uint8 ndx,
AMP_TRACE_VAR value )

Select an amplifier trace variable to be sampled.

Parameters
ndx The trace channel that the variable will be assigned to.
value The trace variable to sample.

Returns

A pointer to an error object, or NULL on success

5.4.3.267 SetTracePeriod()

const Error ∗ SetTracePeriod (

int16 per )

Set the period of time between trace samples.

When the trace system is running, the amplifier will sample and store it's internal variables this often.

Note that this parameter specifies time in units of the amplifier's 'reference period'. See Amp::GetTraceRefPeriod for
more information.

Parameters
per The trace period to be set.

Returns

A pointer to an error object, or NULL on success

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5.4.3.268 SetTraceTrigger()

const Error ∗ SetTraceTrigger (

AMP_TRACE_TRIGGER type,
uint8 chan = 0,
int32 level = 0,
int16 delay = 0 )

Configure the amplifier's trace trigger.

The trigger acts something like the trigger on an oscilloscope. It allows some event to be specified which will cause the
trace subsystem to start collecting data. Most trigger types watch one of the trace channels and constantly compare
it's value to a level. The type of comparison made will depend on the type of trigger. For example, the trace can be
triggered on the rising edge of a signal, on the falling edge, etc.

The trigger also allows a delay value to be specified. Trace data will start to be collected N trace periods after the trigger,
where N is the delay value. The delay can also be negative, in which case the data will start to be collected before the
trigger event.

Parameters
type The trigger type.
chan The trace channel to watch. This parameter defaults to 0 if not specified.
level The trigger level. This parameter defaults to 0 if not specified.
delay The trigger delay in trace sample periods. Defaults to 0 if not specified.

Returns

A pointer to an error object, or NULL on success

5.4.3.269 SetTrackingWindows()

const Error ∗ SetTrackingWindows (

TrackingWindows & cfg )

Update the amplifier's tracking window configuration.

This function allows all tracking window parameters to be configured with one function call.

Parameters

cfg A structure that holds the configuration settings.

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Returns

A pointer to an error object, or NULL on success

5.4.3.270 SetTrajectoryJrkAbort()

const Error ∗ SetTrajectoryJrkAbort (

uunit value )

Set the jerk value used during trajectory aborts.

If this is 0, then the abort will be calculated without any jerk limits.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value The jerk value to be used.

Returns

A pointer to an error object, or NULL on success

5.4.3.271 SetupMove() [1/3]

const Error ∗ SetupMove (

ProfileConfigTrap & cfg )

Setup a point to point move, but do not start it.

The move may be subsequently started using Amp::StartMove().

The move will use the trapezoidal profile mode, and all parameters will be programmed based on the values passed in
the cfg structure.

Parameters

cfg A structure holding all the move configuration parameters.

Returns

A pointer to an error object, or NULL on success.

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5.4.3.272 SetupMove() [2/3]

const Error ∗ SetupMove (

ProfileConfigScurve & cfg )

Setup a point to point move, but do not start it.

The move may be subsequently started using Amp::StartMove().

The move will use the S-curve profile mode, and all parameters will be programmed based on the values passed in the
cfg structure.

Parameters

cfg A structure holding all the move configuration parameters.

Returns

A pointer to an error object, or NULL on success.

5.4.3.273 SetupMove() [3/3]

const Error ∗ SetupMove (

ProfileConfigVel & cfg )

Setup a point to point move, but do not start it.

The move may be subsequently started using Amp::StartMove().

The move will use the velocity profile mode, and all parameters will be programmed based on the values passed in the
cfg structure.

Parameters

cfg A structure holding all the move configuration parameters.

Returns

A pointer to an error object, or NULL on success.

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5.4.3.274 SetUstepConfig()

const Error ∗ SetUstepConfig (

UstepConfig & cfg )

Download a new configuration structure for the microstepper.

Parameters

cfg A structure containing the configuration parameters to set.

Returns

A pointer to an error object, or NULL on success

5.4.3.275 SetVelLoopConfig()

const Error ∗ SetVelLoopConfig (

VelLoopConfig & cfg )

Update the amplifier's velocity loop configuration.

Parameters

cfg A structure that will be filled with the config info.

Returns

A pointer to an error object, or NULL on success

viDrain only in some firmware versions

5.4.3.276 SetVelocityProgrammed()

const Error ∗ SetVelocityProgrammed (

uunit vel )

Set the programmed velocity value.

This parameter is only used when running in the mode AMPMODE_PROG_VEL. The value programmed through this
variable is the velocity that the amplifier will attempt to output.

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Parameters
vel The velocity to output.

Returns

A pointer to an error object, or NULL on success

5.4.3.277 SetVelocityWarnTime()

const Error ∗ SetVelocityWarnTime (

uint16 value )

Set the velocity warning window time value (milliseconds).

If the velocity error exceeds the velocity warning window, then a bit will be set in the amplifier status word. This bit will
not be cleared until the velocity error has been within the warning window for at least this long.

Parameters
value the value to set

Returns

A pointer to an error object, or NULL on success

5.4.3.278 SetVelocityWarnWindow()

const Error ∗ SetVelocityWarnWindow (

uunit value )

Set the velocity warning window.

If the absolute value of the velocity error exceeds this value, then a velocity warning will result. A velocity warning causes
a bit in the drives status to be set.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

Parameters
value the value to set

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Returns

A pointer to an error object, or NULL on success

5.4.3.279 SetVloopCommandFilter()

const Error ∗ SetVloopCommandFilter (

Filter & f )

Set new coefficients for the velocity loop command filter.

Parameters

f A structure holding the filter coefficients

Returns

A pointer to an error object, or NULL on success

5.4.3.280 SetVloopOutputFilter()

const Error ∗ SetVloopOutputFilter (

Filter & f )

Set new coefficients for the velocity loop output filter.

Parameters

f A structure holding the filter coefficients

Returns

A pointer to an error object, or NULL on success

5.4.3.281 SetVloopOutputFilter2()

const Error ∗ SetVloopOutputFilter2 (

Filter & f )

Set the coefficients used in the second velocity loop output filter.

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Parameters

f A structure holding the filter coefficients

Returns

A pointer to an error object, or NULL on success

5.4.3.282 SetVloopOutputFilter3()

const Error ∗ SetVloopOutputFilter3 (

Filter & f )

Set the coefficients used in the third velocity loop output filter.

Parameters

f A structure holding the filter coefficients

Returns

A pointer to an error object, or NULL on success

5.4.3.283 StartMove()

const Error ∗ StartMove (

bool relative = false )

Start the move that's already been programmed.

This function is primarily intended for internal use, and is called by DoMove and SendTrajectory. Note that the amplifier
mode must have already been setup when this function is called. The mode should be either AMPMODE_CAN_PRO←-
FILE, or AMPMODE_CAN_PVT. This function is not used to start a homing move.

Parameters

relative If true, start a relative move. If false, start an absolute move. Note that this is only used with point to point
moves, interpolated moves should always set relative to false.

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Returns

A pointer to an error object, or NULL on success.

5.4.3.284 StartPVT()

const Error ∗ StartPVT (

void )

Start a PVT move that has already been uploaded.

Returns

A pointer to an error object, or NULL on success.

5.4.3.285 TraceStart()

const Error ∗ TraceStart (

void )

Start collecting trace data on the amplifier.

The trace will automatically stop once the amplifier's internal trace buffer fills up.

Returns

A pointer to an error object, or NULL on success

5.4.3.286 TraceStop()

const Error ∗ TraceStop (

void )

Stop collecting trace data on the amplifier.

Returns

A pointer to an error object, or NULL on success

5.4.3.287 UpdateEvents()

const Error ∗ UpdateEvents (

uint16 stat,
uint32 events,
uint16 inputs ) [virtual]

Update the amplifier's event map based on the status information received by a status PDO.
This function is intended for internal use and shouldn't generally be called by user code.

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Parameters

stat The CANopen status word

events The Event status word
inputs The current state of the first 16 input pins

Returns

Null on success, or an error object on failure

5.4.3.288 Upld16() [1/2]

const Error ∗ Upld16 (

int16 index,
int16 sub,
uint16 & data )

Upload data from an object in this Amps object dictionary.

The object number is adjusted based on the axis number if necessary.

Parameters

index The index of the object to be downloaded.

sub The sub-index of the object to be downloaded.
data The uploaded data will be returned here.

Returns

A pointer to an error object, or NULL on success

5.4.3.289 Upld16() [2/2]

const Error ∗ Upld16 (

int16 index,
int16 sub,
int16 & data )

Upload data from an object in this Amps object dictionary.

The object number is adjusted based on the axis number if necessary.

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Parameters

index The index of the object to be downloaded.

sub The sub-index of the object to be downloaded.
data The uploaded data will be returned here.

Returns

A pointer to an error object, or NULL on success

5.4.3.290 Upld32() [1/2]

const Error ∗ Upld32 (

int16 index,
int16 sub,
uint32 & data )

Upload data from an object in this Amps object dictionary.

The object number is adjusted based on the axis number if necessary.

Parameters

index The index of the object to be downloaded.

sub The sub-index of the object to be downloaded.
data The uploaded data will be returned here.

Returns

A pointer to an error object, or NULL on success

5.4.3.291 Upld32() [2/2]

const Error ∗ Upld32 (

int16 index,
int16 sub,
int32 & data )

Upload data from an object in this Amps object dictionary.

The object number is adjusted based on the axis number if necessary.

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5.4 Amp Class Reference 175

Parameters

index The index of the object to be downloaded.

sub The sub-index of the object to be downloaded.
data The uploaded data will be returned here.

Returns

A pointer to an error object, or NULL on success

5.4.3.292 Upld8() [1/2]

const Error ∗ Upld8 (

int16 index,
int16 sub,
uint8 & data )

Upload data from an object in this Amps object dictionary.

The object number is adjusted based on the axis number if necessary.

Parameters

index The index of the object to be downloaded.

sub The sub-index of the object to be downloaded.
data The uploaded data will be returned here.

Returns

A pointer to an error object, or NULL on success

5.4.3.293 Upld8() [2/2]

const Error ∗ Upld8 (

int16 index,
int16 sub,
int8 & data )

Upload data from an object in this Amps object dictionary.

The object number is adjusted based on the axis number if necessary.

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Parameters

index The index of the object to be downloaded.

sub The sub-index of the object to be downloaded.
data The uploaded data will be returned here.

Returns

A pointer to an error object, or NULL on success

5.4.3.294 UpldString()

const Error ∗ UpldString (

int16 index,
int16 sub,
int32 & len,
char ∗ data )

Upload data from an object in this Amps object dictionary.

The object number is adjusted based on the axis number if necessary.

Parameters

index The index of the object to be downloaded.

sub The sub-index of the object to be downloaded.
len Holds the size of the buffer on entry, and the length of the downloaded data on return.
data The uploaded data will be returned here.

Returns

A pointer to an error object, or NULL on success

5.4.3.295 Upload()

const Error ∗ Upload (

int16 index,
int16 sub,
int32 & size,
byte ∗ data )

Upload data from an object in this Amps object dictionary.

The object number is adjusted based on the axis number if necessary.

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5.4 Amp Class Reference 177

Parameters

index The index of the object to be downloaded.

sub The sub-index of the object to be downloaded.
size On entry, this gives the maximum number of bytes of data to be uploaded. On successful return, it gives
the actual number of bytes received.
data A character array which will store the uploaded data.

Returns

A pointer to an error object, or NULL on success

5.4.3.296 VelLoad2User()

uunit VelLoad2User (
int32 vel ) [virtual]

Convert a velocity from internal amplifier units to user units.

Internal to the amplifier, all velocities are stored in units of 0.1 encoder counts / second. If user units are not enabled in
CML_Settings.h, then user units are the same as amplifier units, and this function has no effect.

If user units are enabled, then this function converts from amplifier units to user units (defined using Amp::SetCounts←-
PerUnit).

For dual encoder systems the unit conversion used by this function is based on the load encoder resolution. To convert
motor encoder velocities, use Amp::VelMtr2User. On single encoder systems either of these functions can be used.

Parameters

vel The velocity in 0.1 encoder counts / second

Returns

The velocity in user units

5.4.3.297 VelMtr2User()

uunit VelMtr2User (
int32 vel ) [virtual]

Convert a velocity from internal amplifier units to user units.

This function converts using motor encoder units on a dual encoder system. Load encoder velcities can be converted
using Amp::VelLoad2User.

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Parameters

vel The velocity in 0.1 encoder counts / second

Returns

The velocity in user units

5.4.3.298 VelUser2Load()

int32 VelUser2Load (
uunit vel ) [virtual]

Convert a velocity from user units to internal amplifier units.

Internal to the amplifier, all velocities are stored in units of 0.1 encoder counts / second. If user units are not enabled in
CML_Settings.h, then user units are the same as amplifier units, and this function has no effect.

If user units are enabled, then this function converts from user units (defined using Amp::SetCountsPerUnit) to these
internal amplifier units.

For dual encoder systems the unit conversion used by this function is based on the load encoder resolution. To convert
motor encoder velocities, use Amp::VelUser2Mtr. On single encoder systems either of these functions can be used.

Parameters
vel The velocity in user units

Returns

The velocity in 0.1 encoder counts / second

5.4.3.299 VelUser2Mtr()

int32 VelUser2Mtr (
uunit vel ) [virtual]

Convert a velocity from user units to internal amplifier units.

This function converts using motor encoder units on a dual encoder system. Load encoder velocities can be converted
using Amp::VelUser2Load.

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5.4 Amp Class Reference 179

Parameters
vel The velocity in user units

Returns

The velocity in 0.1 encoder counts / second

5.4.3.300 WaitEvent() [1/2]

const Error ∗ WaitEvent (

Event & e,
Timeout timeout = -1 )

Wait for an amplifier event condition.

This function can be used to wait on any generic event associated with the amplifier.

Parameters
e The event to wait on.
timeout The timeout for the wait (milliseconds). If < 0, then wait forever (default).

Returns

A pointer to an error object, or NULL on success.

5.4.3.301 WaitEvent() [2/2]

const Error ∗ WaitEvent (

Event & eventObj,
Timeout timeoutObj,
AMP_EVENT & eventMatch )

Wait for an amplifier event condition.

This function can be used to wait on any generic event associated with the amplifier.

Parameters

eventObj The event to wait on.

timeoutObj The timeout for the wait (milliseconds). If < 0, then wait forever.
eventMatch Returns the matching event condition.
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Returns

A pointer to an error object, or NULL on success.

5.4.3.302 WaitHomeDone()

const Error ∗ WaitHomeDone (

Timeout timeout = -1 )

Wait for the currently running homing move to finish, or for an error to occur.

This is similar to the Amp::WaitMoveDone method, except it does some additional checks after the move finishes to
ensure that the homing operation was successful. This function will fail immediately if the amp is not currently in homing
mode.

Parameters

timeout The maximum time to wait (milliseconds)

Returns

A pointer to an error object, or NULL on success.

5.4.3.303 WaitInputEvent()

const Error ∗ WaitInputEvent (

Event & e,
Timeout timeout,
uint32 & match )

Wait on the amplifier's general purpose input pins.

The amplifier object maintains an EventMap object which reflects the state of the amplifier's general purpose input pins.
Each bit of this EventMap corresponds to one input pin; bit 0 for input 0, bit 1 for input 1, etc. The bit in the event map is
set when the corresponding input pin is high, and cleared when the input pin is low.

This function provides a very flexible method for waiting on a particular state on the input pins. Event objects may be
created to define a specific state of one or more pins, and these objects may be used in conjunction with this function to
wait for that state to occur.

In addition to this function, two simpler functions are also provided. These functions (WaitInputHigh and WaitInput←-
Low) allow the user to wait on one or more input pins to go high or low respectively. Internally, these function call
WaitInputEvent for their implementation.

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5.4 Amp Class Reference 181

Parameters
e An Event object describing the input pin state to wait on.
timeout The timeout for the wait (milliseconds). If < 0, then wait forever.
match On success, the state of the input pins which caused the match to occur will be returned here.

Returns

A pointer to an error object, or NULL on success.

5.4.3.304 WaitInputHigh()

const Error ∗ WaitInputHigh (

uint32 inputs,
Timeout timeout = -1 )

Wait for any of the specified general purpose input pins to be set.

The inputs parameter specifies which input(s) to wait on using a bit mask. Bit 0 should be set for input 0, bit 1 for input
1, etc. The function will return when any of the specified input pins goes high.

Parameters

inputs Specifies which input pin(s) to wait on.

timeout The timeout for the wait (milliseconds). If < 0, then wait forever. If not specified, the timeout defaults to -1

Returns

A pointer to an error object, or NULL on success.

5.4.3.305 WaitInputLow()

const Error ∗ WaitInputLow (

uint32 inputs,
Timeout timeout = -1 )

Wait for any of the specified general purpose input pins to be lowered.

The inputs parameter specifies which input(s) to wait on using a bit mask. Bit 0 should be set for input 0, bit 1 for input
1, etc. The function will return when any of the specified input pins goes low.

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Parameters

inputs Specifies which input pin(s) to wait on.

timeout The timeout for the wait (milliseconds). If < 0, then wait forever. If not specified, the timeout defaults to -1

Returns

A pointer to an error object, or NULL on success.

5.4.3.306 WaitMoveDone()

const Error ∗ WaitMoveDone (

Timeout timeout = -1 )

Wait for the currently running move to finish, or for an error to occur.

Parameters

timeout The maximum time to wait (milliseconds)

Returns

A pointer to an error object, or NULL on success.

The documentation for this class was generated from the following files:

• CML_Amp.h
• Amp.cpp
• AmpFile.cpp
• AmpParam.cpp
• AmpPDO.cpp
• AmpPVT.cpp
• AmpStruct.cpp
• AmpUnits.cpp
• AmpVersion.cpp

5.5 AmpConfig Struct Reference

Amplifier configuration structure.

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5.5 AmpConfig Struct Reference 183

Collaboration diagram for AmpConfig:

servoConfig
ServoLoopConfig

inputShaping
InputShaper

limit
SoftPosLimit

fgen
FuncGenConfig

can
CanNetworkConfig

daConfig
DAConfig

iloopCmdFltr
iloopCmdFltr2
aInCmdFltr
vloopOutFltr2
Filter vloopOutFltr3
vloopCmdFltr
vloopOutFltr

PwmInConfig
pwmIn

VelLoopConfig
vLoop

EncoderErrorConfig
errFilterCfg

CammingConfig
camming

CrntLoopConfig cLoop
AmpConfig
window
TrackingWindows
gainSched

GainScheduling regen

RegenConfig motor

MtrInfo
netOptions

NetworkOptions
home

HomeConfig
io

AmpIoCfg
ustep

UstepConfig
algoPhaseInit

AlgoPhaseInit
ref

AnalogRefConfig
profile

ProfileConfig
pLoop

PosLoopConfig

Public Member Functions

• AmpConfig ()
Default constructor. Simply sets all members to zero.

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184 Class Documentation

Public Attributes

• char name [COPLEY_MAX_STRING]

Amplifier axis name.
• AMP_MODE controlMode
Amplifier default mode of operation.
• AMP_PHASE_MODE phaseMode
Amplifier phasing mode.
• AMP_PWM_MODE pwmMode
PWM output mode.
• char CME_Config [COPLEY_MAX_STRING]
String used by CME to save state information This string is reserved and should not be modified.
• AMP_FAULT faultMask
Amplifier fault mask register.
• uunit progVel
Programmed veloctiy value.
• int16 progCrnt
Programmed current value (0.01 amp units).
• uint32 options
Amplifier options.
• int16 stepRate
Diagnostic microstepping rate.
• uint16 capCtrl
Index capture configuration.
• uint32 trjJrkAbort
Trajectory abort jerk.
• EVENT_STATUS limitBitMask
One bit of a standard CANopen status word is user programmable using this setting.
• uint16 encoderOutCfg
Some amplifier models provide a secondary encoder connected which can be configured as either an input or output.
• CanNetworkConfig can
CANopen network configuration.
• PosLoopConfig pLoop
Position loop configuration.
• VelLoopConfig vLoop
Velocity loop configuration.
• CrntLoopConfig cLoop
Current loop configuration.
• MtrInfo motor
Motor information.
• TrackingWindows window
Tracking window settings.
• SoftPosLimit limit
Software position limits.
• AmpIoCfg io
General purpose I/O pin configuration.
• HomeConfig home

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5.5 AmpConfig Struct Reference 185

Homing mode configuration.

• ProfileConfig profile
Trajectory profile settings.
• AnalogRefConfig ref
Analog reference input settings.
• PwmInConfig pwmIn
PWM input configuration.
• FuncGenConfig fgen
Internal function generator settings.
• RegenConfig regen
Regeneration resister configuration.
• Filter vloopOutFltr
Velocity loop output filter settings.
• Filter vloopCmdFltr
Velocity loop command filter settings.
• Filter aInCmdFltr
Analog command filter settings.
• InputShaper inputShaping
Input shaping filter.
• UstepConfig ustep
Stepper configuration.
• AlgoPhaseInit algoPhaseInit
Algorithmic Phase Initialization.
• CammingConfig camming
Camming Configuration.
• GainScheduling gainSched
Gain Scheduling Configuration.
• NetworkOptions netOptions
Can Bus network support.
• DAConfig daConfig
D/A converter configuration.
• ServoLoopConfig servoConfig
Configure various parts of the amps servo loops.
• EncoderErrorConfig errFilterCfg
Encoder error filter configuration.

5.5.1 Detailed Description

Amplifier configuration structure.

This structure contains all user configurable parameters used by an amplifier which may be stored in non-volatile mem-
ory.

5.5.2 Member Data Documentation

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5.5.2.1 capCtrl

uint16 capCtrl

Index capture configuration.

This parameter is not normally used in CANopen mode and is included here for completness only.

5.5.2.2 CME_Config

char CME_Config[COPLEY_MAX_STRING]

String used by CME to save state information This string is reserved and should not be modified.

5.5.2.3 encoderOutCfg

uint16 encoderOutCfg

Some amplifier models provide a secondary encoder connected which can be configured as either an input or output.

This parameter is used to configure this hardware.

5.5.2.4 limitBitMask

EVENT_STATUS limitBitMask

One bit of a standard CANopen status word is user programmable using this setting.

This feature is not used by CML and is only included here for completness.

5.5.2.5 options

uint32 options

Amplifier options.

This parameter is reserved for future use.

5.5.2.6 phaseMode

AMP_PHASE_MODE phaseMode

Amplifier phasing mode.

This parameter controls the type of commutation used by the amplifer.

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5.5.2.7 progCrnt

int16 progCrnt

Programmed current value (0.01 amp units).

This parameter is only used in Amp mode AMPMODE_PROG_CRNT.

5.5.2.8 progVel

uunit progVel

Programmed veloctiy value.

This parameter is only used in Amp mode AMPMODE_PROG_VEL.

5.5.2.9 pwmMode

AMP_PWM_MODE pwmMode

PWM output mode.

This parameter can be used to configure the pwm output section of the amplifier.

5.5.2.10 stepRate

int16 stepRate

Diagnostic microstepping rate.

This parameter gives the microstep rate (degrees / second) for use in a special diagnostic microstepping mode. The
parameter is not used in normal CANopen modes, and is only include here for completness.

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

• CML_AmpStruct.h

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5.6 AmpError Class Reference

This class represents error conditions that can occur in the Copley Amplifier object.

Inheritance diagram for AmpError:

Error

NodeError

AmpError

AmpFault

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5.6 AmpError Class Reference 189

Collaboration diagram for AmpError:

Internal
Error OK
Unknown

NetworkUnavailable
NodeError
GuardTimeout

NegLim
pvtSegVel
TryingStopMtr
NegSoftLim
PhaseErr
AmpError UnderVolt
HomingError
NoUserUnits
TrackErr
PrimaryGone
...

Static Public Member Functions

• static const AmpError ∗ DecodeStatus (EVENT_STATUS stat)

Decode the passed event status word and return an appropriate error object.

Static Public Attributes

• static const AmpError Fault

Latching fault is active.
• static const AmpError ShortCircuit
Short circuit detected.
• static const AmpError AmpTemp
Amplifier over temp.
• static const AmpError OverVolt
Amplifier over voltage.
• static const AmpError UnderVolt
Amplifier under voltage.
• static const AmpError MotorTemp

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Motor over temp.

• static const AmpError EncoderPower
Encoder power error.
• static const AmpError PhaseErr
Motor phasing error.
• static const AmpError TrackErr
Position tracking error.
• static const AmpError NodeState
The drive's state is inappropriate for the requested operation.
• static const AmpError pvtSegPos
PVT segment position value over 24-bits.
• static const AmpError pvtSegVel
PVT segment velocity value too large.
• static const AmpError pvtBufferFull
PVT trajectory buffer full.
• static const AmpError badDeviceID
Unknown device identity.
• static const AmpError badHomeParam
Bad parameter specified to home command.
• static const AmpError badMoveParam
Bad parameter specified to move command.
• static const AmpError InMotion
Amplifier is currently in motion.
• static const AmpError GuardError
The amplifier's heartbeat message timed out.
• static const AmpError PosLim
Positive limit switch is active.
• static const AmpError NegLim
Negative limit switch is active.
• static const AmpError PosSoftLim
Positive software limit is active.
• static const AmpError NegSoftLim
Negative software limit is active.
• static const AmpError TrackWarn
Position tracking warning.
• static const AmpError Unknown
An error occurred, but went away before it could be decoded.
• static const AmpError Reset
The amplifier has been reset.
• static const AmpError Disabled
The amplifier is disabled.
• static const AmpError QuickStopMode
The amplifier is doing a quick stop.
• static const AmpError NoUserUnits
User units are not available (see CML_Settings.h)
• static const AmpError Abort
Last trajectory aborted.

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• static const AmpError pvtPosUnavail

The PVT segment position is not available.
• static const AmpError VelWin
Velocity tracking window exceeded.
• static const AmpError PhaseInit
Amplifier is currently performing a phase initialization.
• static const AmpError NotHoming
The amplifier is not currently configured for homing mode.
• static const AmpError HomingError
The amplifier did not complete the homing method successfully.
• static const AmpError BadAxis
Illegal axis number specified.
• static const AmpError PrimaryGone
Primary axis Amp object no longer available.
• static const AmpError NotInit
Amp object not properly initialized.
• static const AmpError TryingStopMtr
The amplifier is trying to stop the motor.

Protected Member Functions

• AmpError (uint16 id, const char ∗desc)

Standard protected constructor.

Additional Inherited Members

5.6.1 Detailed Description

This class represents error conditions that can occur in the Copley Amplifier object.

5.6.2 Member Function Documentation

5.6.2.1 DecodeStatus()

const AmpError ∗ DecodeStatus (

EVENT_STATUS stat ) [static]

Decode the passed event status word and return an appropriate error object.

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Parameters

stat The amplifier event status register

Returns

A pointer to an error object, or NULL if there is no error.

The documentation for this class was generated from the following files:

• CML_Amp.h
• Amp.cpp

5.7 AmpFault Class Reference

This class represents latching amplifier fault conditions.

Inheritance diagram for AmpFault:

Error

NodeError

AmpError

AmpFault

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5.7 AmpFault Class Reference 193

Collaboration diagram for AmpFault:

Internal
Error OK
Unknown

NetworkUnavailable
NodeError
GuardTimeout

NegLim
pvtSegVel
TryingStopMtr
NegSoftLim
PhaseErr
AmpError UnderVolt
HomingError
NoUserUnits
TrackErr
PrimaryGone
...

I2TLimit
PhaseErr
UnderVolt
TrackErr
EncoderPower
AmpFault OverVolt
MotorTemp
AmpTemp
ADC
ShortCircuit
...

Static Public Member Functions

• static const AmpFault ∗ DecodeFault (AMP_FAULT f)
Return an appropriate fault object based on the amplifier fault mask.

Static Public Attributes

• static const AmpFault Memory

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Fatal hardware error: the flash data is corrupt.

• static const AmpFault ADC
Fatal hardware error: An A/D offset error has occurred.
• static const AmpFault ShortCircuit
The amplifier detected a short circuit condition.
• static const AmpFault AmpTemp
The amplifier is over temperature.
• static const AmpFault MotorTemp
A motor temperature error was detected.
• static const AmpFault OverVolt
The amplifier bus voltage is over the acceptable limit.
• static const AmpFault UnderVolt
The amplifier bus voltage is below the acceptable limit.
• static const AmpFault EncoderPower
Over current on the encoder power supply.
• static const AmpFault PhaseErr
Amplifier phasing error.
• static const AmpFault TrackErr
Tracking error, the position error is too large.
• static const AmpFault I2TLimit
Current limited by I∧ 2 algorithm.
• static const AmpFault Unknown
Some unknown amplifier fault has occurred.

Protected Member Functions

• AmpFault (uint16 id, const char ∗desc)
Standard protected constructor.

Additional Inherited Members

5.7.1 Detailed Description

This class represents latching amplifier fault conditions.

5.7.2 Member Function Documentation

5.7.2.1 DecodeFault()

const AmpFault ∗ DecodeFault (

AMP_FAULT fault ) [static]

Return an appropriate fault object based on the amplifier fault mask.

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5.8 AmpFileError Class Reference 195

Parameters

fault The amplifier fault mask.

Returns

A pointer to the fault object, NULL if there is no fault.

The documentation for this class was generated from the following files:

• CML_Amp.h

• Amp.cpp

5.8 AmpFileError Class Reference

This class represents error conditions that can occur when loading amplifer data from a data file.

Inheritance diagram for AmpFileError:

Error

AmpFileError

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196 Class Documentation

Collaboration diagram for AmpFileError:

Internal
Error OK
Unknown

FPGAtooOld
range
tooOld
format
AmpFileError
noFileAccess
fileOpen
axisCt
axis

Static Public Attributes

• static const AmpFileError format

Amplifier file format error.
• static const AmpFileError tooOld
Amplifier file format is too old, use CME version 3.1 or later.
• static const AmpFileError noFileAccess
File access was not enabled at compile time. See CML_Settings.h.
• static const AmpFileError fileOpen
Error opening amplifier file.
• static const AmpFileError range
A parameter in the amplifier file is out of range.
• static const AmpFileError axis
Amplifier file is for multi axis, not supported.
• static const AmpFileError axisCt
Amplifier requested an axis that is not present in the ccx file or vice versa.
• static const AmpFileError FPGAtooOld
Amplifier firmware is too old, update to 2.72 or later.

Protected Member Functions

• AmpFileError (uint16 id, const char ∗desc)

Standard protected constructor.

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5.9 AmpInfo Struct Reference 197

Additional Inherited Members

5.8.1 Detailed Description

This class represents error conditions that can occur when loading amplifer data from a data file.

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

• CML_AmpStruct.h

5.9 AmpInfo Struct Reference

Amplifier characteristics data structure.

Public Attributes

• char model [COPLEY_MAX_STRING]

Model number string.
• char mfgName [COPLEY_MAX_STRING]
Name of the amplifier manufacturer.
• char mfgWeb [COPLEY_MAX_STRING]
Web address of the manufacturer.
• char mfgInfo [COPLEY_MAX_STRING]
Amplifier's manufacturing information string.
• char swVer [COPLEY_MAX_STRING]
Software version number.
• uint16 swVerNum
Version number represented as an integer.
• uint32 serial
Serial number.
• uint32 modes
Supported modes of operation (see DSP402 spec)
• uint16 crntPeak
Peak current rating (10 milliamp units)
• uint16 crntCont
Continuous current rating (10 milliamp units)
• uint16 crntTime
Time at peak current (milliseconds)
• uint16 voltMax
Max bus voltage (100 millivolt units)
• uint16 voltMin
Min bus voltage (100 millivolt units)
• uint16 voltHyst
Bus voltage hysteresis for over voltage shutdown (100 millivolt units)

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• uint16 tempMax
Max temperature (deg C)
• uint16 tempHyst
Temperature hysteresis for over temp shutdown (deg C)
• uint16 pwmPeriod
PWM period (10 nanosecond units)
• uint16 servoPeriod
Servo period (multiples of PWM period)
• int16 crntScale
Current scaling factor.
• int16 voltScale
Voltage scaling factor.
• int16 refScale
Reference scaling factor.
• int16 aencScale
Analog encoder scaling factor.
• int16 type
Amp type.
• int16 pwm_off
PWM off time.
• int16 pwm_dbzero
PWM deadband @ zero current.
• int16 pwm_dbcont
PWM deadband @ continuous current.
• int16 regenPeak
Internal regen resister peak limit.
• int16 regenCont
Internal regen resister continuous limit.
• int16 regenTime
Internal regen resister peak time.

5.9.1 Detailed Description

Amplifier characteristics data structure.

This structure is used to hold information about the amplifier such as it's model number, serial number, peak current
rating, etc.

The amplifier characteristics defined in this structure can not be changed. They are defined by Copley Controls when
the amplifier is designed and/or manufactured.

Use the Amp::GetAmpInfo method to retrieve this information from the amplifier.

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

• CML_AmpStruct.h

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5.10 AmpIoCfg Struct Reference 199

5.10 AmpIoCfg Struct Reference

Programmable I/O pin configuration.

Public Member Functions

• AmpIoCfg (void)
Default constructor for AmpIoCfg structure.

Public Attributes

• uint8 inputCt
Number of programmable inputs available on this amplifier.
• uint8 outputCt
Number of programmable outputs available on this amplifier.
• uint16 inPullUpCfg
Input pin pull-up / pull-down resister configuration.
• int32 inPullUpCfg32
Input pin pull-up / pull-down resister configuration.
• INPUT_PIN_CONFIG inCfg [COPLEY_MAX_INPUTS]
Input pin configuration for each pin.
• int16 inDebounce [COPLEY_MAX_INPUTS]
Input pin debounce time (milliseconds)
• OUTPUT_PIN_CONFIG outCfg [COPLEY_MAX_OUTPUTS]
Output pin configuration for each output pin See Amp::SetOutputConfig for more information.
• uint32 outMask [COPLEY_MAX_OUTPUTS]
Output pin configuration mask for each pin.
• uint32 outMask1 [COPLEY_MAX_OUTPUTS]
Output pin configuration mask for each pin.
• int32 ioOptions
IO Options, used to configure the optional features of the general purpose IO.

5.10.1 Detailed Description

Programmable I/O pin configuration.

5.10.2 Constructor & Destructor Documentation

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5.10.2.1 AmpIoCfg()

AmpIoCfg (
void )

Default constructor for AmpIoCfg structure.

This simply sets all member parameters to default values of zero.

5.10.3 Member Data Documentation

5.10.3.1 inCfg

INPUT_PIN_CONFIG inCfg[COPLEY_MAX_INPUTS]

Input pin configuration for each pin.

See Amp::SetInputConfig for more information.

5.10.3.2 inPullUpCfg

uint16 inPullUpCfg

Input pin pull-up / pull-down resister configuration.

See Amp::SetIoPullup for more information

5.10.3.3 inPullUpCfg32

int32 inPullUpCfg32

Input pin pull-up / pull-down resister configuration.

32 Bit version of paramter inPullUpCfg

5.10.3.4 inputCt

uint8 inputCt

Number of programmable inputs available on this amplifier.

This is a read only parameter, writes have no effect.

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5.11 AmpSettings Class Reference 201

5.10.3.5 outMask

uint32 outMask[COPLEY_MAX_OUTPUTS]

Output pin configuration mask for each pin.

See Amp::SetOutputConfig for more information

5.10.3.6 outMask1

uint32 outMask1[COPLEY_MAX_OUTPUTS]

Output pin configuration mask for each pin.

See Amp::SetOutputConfig for more information

5.10.3.7 outputCt

uint8 outputCt

Number of programmable outputs available on this amplifier.

This is a read only parameter, writes have no effect.

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

• CML_AmpStruct.h
• AmpStruct.cpp

5.11 AmpSettings Class Reference

Copley amplifier settings object.

Public Member Functions

• AmpSettings ()
Create a settings object with all default values.

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202 Class Documentation

Public Attributes

• uint32 synchPeriod
Synch object period in microseconds.
• uint32 synchID
Synch object CAN message ID.
• bool synchUseFirstAmp
Use first initialized amplifier as synch producer.
• bool synchProducer
Synch producer (true/false) If true, this node will produce synch messages.
• uint32 timeStampID
High resolution time stamp CAN ID.
• uint16 heartbeatPeriod
The CANopen heartbeat protocol is one of two standard methods used to constantly watch for network or device problems.
• uint16 heartbeatTimeout
Additional time to wait before generating a heartbeat error (milliseconds) If the heartbeat protocol is used, then this value,
combined with the heartbeatTime will determine how long the network master waits for the node's heartbeat message
before it generates a heartbeat error.
• uint16 guardTime
Node guarding guard time (milliseconds)
• uint8 lifeFactor
Node guarding life time factor.
• bool enableOnInit
Enable amplifier at init time.
• AMP_MODE initialMode
Initial mode of operation.
• bool resetOnInit
Reset the amplifier on init.
• uint8 maxPvtSendCt
Max PVT segments to send in response to a PVT status update.

5.11.1 Detailed Description

Copley amplifier settings object.

This object is passed to the Init() method of the Copley amp. It holds the various customizable settings used by the
amplifier.

5.11.2 Constructor & Destructor Documentation

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5.11 AmpSettings Class Reference 203

5.11.2.1 AmpSettings()

AmpSettings (
void )

Create a settings object with all default values.

Default constructor for amplifier settings object.

The default values for each member of this class are defined below.

This constructor sets all the settings to the default values.

5.11.3 Member Data Documentation

5.11.3.1 enableOnInit

bool enableOnInit

Enable amplifier at init time.

If this is true, then the amplifier will be enabled at the end of a successful init(). If false, the amplifier will be disabled
when init() returns.

Default: true

5.11.3.2 guardTime

uint16 guardTime

Node guarding guard time (milliseconds)

The CANopen node guarding protocol is a second method (the first being the heartbeat protocol) for devices on the
network to watch for network problems. In this protocol, the master controller sends a request message out to the slave
device at a specified interval. The slave device responds to this request with a message indicating it's state.

The main difference between this protocol and the heartbeat protocol is that both the slave node and the master are able
to recognize network errors. With the heartbeat protocol only the network master is able to identify network problems.

Note that only one of these two protocols can be active in a node device at any time. If the heartbeat period is non-zero,
then the heartbeat protocol will be used.

This parameter gives the node guarding period for use with this node. This is the period between node guarding request
messages sent by the master controller.

Note that both this parameter, and the life time factor must be non-zero for node guarding to be used.

For EtherCAT networks, this parameter specifies the process data heartbeat timeout. This is similar to the CANopen
node guarding timeout. If the drive is operational, and goes this long without receiving process data from the master,
then it will identify a timeout condition.

Default 200 (ms)

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5.11.3.3 heartbeatPeriod

uint16 heartbeatPeriod

The CANopen heartbeat protocol is one of two standard methods used to constantly watch for network or device prob-
lems.

When the heartbeat protocol is used, each device on the CANopen network transmits a 'heartbeat' message at a
specified interval. The network master watches for these messages, and is able to detect a device error if it's heartbeat
message is not received within the expected time.

This parameter configures the heartbeat period (milliseconds) that will be used by this amplifier to transmit it's heartbeat
message.

If this parameter is set to zero, then the heartbeat protocol is disabled on this node.

This setting is not used on EtherCAT networks.

Default: zero (not used)

5.11.3.4 heartbeatTimeout

uint16 heartbeatTimeout

Additional time to wait before generating a heartbeat error (milliseconds) If the heartbeat protocol is used, then this
value, combined with the heartbeatTime will determine how long the network master waits for the node's heartbeat
message before it generates a heartbeat error.

Note that setting this to zero does not disable the heartbeat protocol. set the heartbeatPeriod value to zero to disable
heartbeat.

This setting is not used on EtherCAT networks.

Default 200 (ms)

5.11.3.5 initialMode

AMP_MODE initialMode

Initial mode of operation.

This defines the mode of operation that the amplifier will be placed in when it is initialized.

Default: AMPMODE_CAN_HOMING

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5.11 AmpSettings Class Reference 205

5.11.3.6 lifeFactor

uint8 lifeFactor

Node guarding life time factor.

When the node guarding protocol is used, this parameter is used by the slave device to determine how long to wait for
a node guarding request from the master controller before signaling an error condition.

The life time factor is treated as a multiple of the guard time.

If this parameter and the node guard time are both non-zero, and the heartbeatTime is zero, then node guarding will be
setup for the amplifier.

This setting is not used on EtherCAT networks.

Default 3 (multiples of the guard time)

5.11.3.7 maxPvtSendCt

uint8 maxPvtSendCt

Max PVT segments to send in response to a PVT status update.

This parameter may be used to limit the number of new PVT segments to send in response to a PVT status update.
Normally, this parameter may be safely left at it's default setting.

Default 6

5.11.3.8 resetOnInit

bool resetOnInit

Reset the amplifier on init.

If true, the amplifier will be reset when it is initialized.

Note that resetting nodes on an EtherCAT network will make it impossible to access anything on the network while the
reset is occuring. Resetting EtherCAT nodes is therefore not recommended.

Default: false

5.11.3.9 synchID

uint32 synchID

Synch object CAN message ID.

This is the message ID used for the synch message. Default is 0x00000080

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206 Class Documentation

5.11.3.10 synchPeriod

uint32 synchPeriod

Synch object period in microseconds.

The synch object is a message that is transmitted by one node on a CANopen network at a fixed interval. This message
is used to synchronize the devices on the network.

Default is 10,000 (10 ms).

5.11.3.11 synchProducer

bool synchProducer

Synch producer (true/false) If true, this node will produce synch messages.

Default: false

Note: If the 'synchUseFirstAmp' setting of this object is true, then the passed value of this settings will not be used, and
will be overwritten during initialization.

Note: There should be exactly one synch producer on every network.

5.11.3.12 synchUseFirstAmp

bool synchUseFirstAmp

Use first initialized amplifier as synch producer.

If this setting is true (default), then the first amplifier to be initialized will be set as the synch producer, and all other
amplifier's will be setup as synch consumers. This causes the value of the 'synchProducer' setting to be updated during
init to indicate whether the amp is producing synch messages or not.

By default, this setting is true

5.11.3.13 timeStampID

uint32 timeStampID

High resolution time stamp CAN ID.

The high resolution time stamp is a PDO that is generated by the synch producer and consumed by the other amplifiers
on the network. It is used to synchronize the clocks of the amplifiers. This parameter defines the CAN ID that will be
used for this message. Setting to zero will disable the time stamp message. Default 0x0180

The documentation for this class was generated from the following files:

• CML_Amp.h
• Amp.cpp

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5.12 AnalogRefConfig Struct Reference 207

5.12 AnalogRefConfig Struct Reference

Analog input configuration.

Public Member Functions

• AnalogRefConfig (void)
Default constructor. Simply sets all members to zero.

Public Attributes

• int16 calibration
Calibration offset.
• int16 offset
Offset in millivolts.
• int16 deadband
Deadband in millivolts.
• int32 scale
Scaling factor.

5.12.1 Detailed Description

Analog input configuration.

These parameters are used when the amplifier is being driven from it's analog reference input pin. Note that not all
amplifier have an analog input reference, and that this is not a standard CANopen mode of operation.

5.12.2 Member Data Documentation

5.12.2.1 calibration

int16 calibration

Calibration offset.

This offset is set at the factory and should normally not be modified. Units are millivolts

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208 Class Documentation

5.12.2.2 deadband

int16 deadband

Deadband in millivolts.

The analog input will be treated as zero when it's absolute value is less then this.

5.12.2.3 scale

int32 scale

Scaling factor.

Units are dependent on the mode of operation: 0.01 Amp when driving current. 0.1 Encoder counts/second when driving
velocity

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

• CML_AmpStruct.h

5.13 APRD Struct Reference

Read by position in network (aka Auto Increment Physical Read) The read is performed on the node who's position
matches the passed address.

Inheritance diagram for APRD:

EcatDgram

APRD

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5.14 APWR Struct Reference 209

Collaboration diagram for APRD:

EcatDgram

APRD

Additional Inherited Members

5.13.1 Detailed Description

Read by position in network (aka Auto Increment Physical Read) The read is performed on the node who's position
matches the passed address.

Pass 0 for the node closest to the master, 1 for the next node, etc. In the datagram sent out, the ADP field will hold -N for
a passed address of N. Each node increments the ADP value as it passes, and the node that receives a zero responds
to the read.

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

• CML_EtherCAT.h

5.14 APWR Struct Reference

Write by position in network (Auto Increment Physical Write) Like the APRD datagram, but a write version.

Inheritance diagram for APWR:

EcatDgram

APWR

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210 Class Documentation

Collaboration diagram for APWR:

EcatDgram

APWR

Additional Inherited Members

5.14.1 Detailed Description

Write by position in network (Auto Increment Physical Write) Like the APRD datagram, but a write version.

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

• CML_EtherCAT.h

5.15 ARMW Struct Reference

Read by position in network and write to the same address of all following nodes.

Inheritance diagram for ARMW:

EcatDgram

ARMW

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5.16 Array< C > Class Template Reference 211

Collaboration diagram for ARMW:

EcatDgram

ARMW

Additional Inherited Members

5.15.1 Detailed Description

Read by position in network and write to the same address of all following nodes.

The read is performed on the node who's position matches the passed address. Pass 0 for the node closest to the
master, 1 for the next node, etc. All nodes after that position will have the data read from the earlier node written to the
same address

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

• CML_EtherCAT.h

5.16 Array< C > Class Template Reference

This class template implements a simple dynamic array of a given type.

Inheritance diagram for Array< C >:

Array< C >

< PDO_Info >

Array< PDO_Info >

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212 Class Documentation

Public Member Functions

• Array (int init=32, int step=-1)

Default constructor for a dynamic array.
• virtual ∼Array ()
Default destructor.
• int length (void)
Returns the current number of elements currently stored in the Array.
• C & operator[ ] (int ndx)
Return a reference to the item at the specified index.
• void add (C val)
Append a value to the end of the array.
• void rem (int ndx)
Remove the element at the specified index.

5.16.1 Detailed Description

template<class C>
class Array< C >

This class template implements a simple dynamic array of a given type.

5.16.2 Constructor & Destructor Documentation

5.16.2.1 Array()

Array (
int init = 32,
int step = -1 ) [inline]

Default constructor for a dynamic array.

Parameters

init Number of objects to initially allocate space for

step When new data is needed, the array size will be increased by this amount If this parameter is negative
(default), then the initial value will be used. If this parameter is zero, then the array size will be doubled on
each increase.

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5.16 Array< C > Class Template Reference 213

5.16.3 Member Function Documentation

5.16.3.1 add()

void add (
C val ) [inline]

Append a value to the end of the array.

The array will grow to accomodate the new data if necessary

Parameters
val Value to append.

5.16.3.2 length()

int length (
void ) [inline]

Returns the current number of elements currently stored in the Array.

Returns

Number of stored elements

5.16.3.3 operator[]()

C& operator[ ] (
int ndx ) [inline]

Return a reference to the item at the specified index.

Parameters

ndx Index of the element to return

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214 Class Documentation

Returns

Reference to the data at the specified index.

5.16.3.4 rem()

void rem (
int ndx ) [inline]

Remove the element at the specified index.

The array will be compacted

Parameters

ndx The index of the value to remove

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

• CML_Array.h

5.17 BRD Struct Reference

Broadcast read.

Inheritance diagram for BRD:

EcatDgram

BRD

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5.18 BWR Struct Reference 215

Collaboration diagram for BRD:

EcatDgram

BRD

Additional Inherited Members

5.17.1 Detailed Description

Broadcast read.

This type of datagram reads data from the same location on every node in the network. Returned data is ORed, so any
bit set in any node will be set in the accumulated response. The ADP address is sent out from the master as zero and
incremented by every slave that responds to the read.

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

• CML_EtherCAT.h

5.18 BWR Struct Reference

Broadcast write. This type of datagram writes data to the same location on every node in the network.

Inheritance diagram for BWR:

EcatDgram

BWR

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216 Class Documentation

Collaboration diagram for BWR:

EcatDgram

BWR

Additional Inherited Members

5.18.1 Detailed Description

Broadcast write. This type of datagram writes data to the same location on every node in the network.

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

• CML_EtherCAT.h

5.19 CammingConfig Struct Reference

Configuration structure used to set up the camming.

Public Member Functions

• CammingConfig (void)
Default constructor.

Public Attributes

• uint16 cammingModeConfig
Camming Mode configuration. See documentation for details.
• uint16 cammingDelayForward
Camming delay forward.(Units:master command counts)
• uint16 cammingDelayReverse
Camming delay forward.(Units:master command counts)
• int32 cammingMasterVel
Camming master velocity.

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5.19 CammingConfig Struct Reference 217

5.19.1 Detailed Description

Configuration structure used to set up the camming.

These settings may be up/download from the amplifier using the functions Amp::SetCammingConfig and Amp::Get←-
CammingConfig.

5.19.2 Constructor & Destructor Documentation

5.19.2.1 CammingConfig()

CammingConfig (
void ) [inline]

Default constructor.

Initializes all structure elements to zero.

5.19.3 Member Data Documentation

5.19.3.1 cammingMasterVel

int32 cammingMasterVel

Camming master velocity.

Constnat velocity of the Camming internal generator. (Units 0.1 counts/s)

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

• CML_AmpStruct.h

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5.20 CanError Class Reference

Class used to represent an error condition returned from a CAN interface function.

Inheritance diagram for CanError:

Error

CanError

CanOpenError

Collaboration diagram for CanError:

Internal
Error OK
Unknown

InvalidID
Alloc
NoDriver
Timeout
Driver
CanError AlreadyOpen
BadParam
BadPortName
NotOpen
Permission
...

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5.21 CanFrame Struct Reference 219

Static Public Attributes

• static const CanError BadPortName

Indicates that the specified port name is invalid.
• static const CanError NotOpen
Indicates that the CAN port is not open.
• static const CanError AlreadyOpen
Indicates an illegal attempt to open an already open port.
• static const CanError BadParam
A parameter passed to the CAN member function is not valid.
• static const CanError Driver
Generic error from the CAN driver.
• static const CanError BadBaud
Illegal baud rate specified.
• static const CanError Timeout
Timeout waiting on read/write.
• static const CanError Overflow
CAN buffer overflow.
• static const CanError BusOff
CAN bus is in the OFF state.
• static const CanError InvalidID
Indicates an invalid CAN ID passed.
• static const CanError Unknown
Unknown CAN error condition.
• static const CanError NoDriver
Unable to open CAN driver, or missing dll file.
• static const CanError Alloc
CAN driver memory allocation error.
• static const CanError Permission
Permission error opening CAN port.

Additional Inherited Members

5.20.1 Detailed Description

Class used to represent an error condition returned from a CAN interface function.

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

• CML_Can.h

5.21 CanFrame Struct Reference

Low level CAN data frame.

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Public Attributes

• CAN_FRAME_TYPE type
Identifies the frame type.
• int32 id
The CAN message ID.
• uint32 timestamp
Timestamp of received frame if supported by CAN interface.
• byte length
Gives the number of bytes of data included in the frame.
• byte data [8]
Holds any data sent with the frame.

5.21.1 Detailed Description

Low level CAN data frame.

This class is used to represent the basic frame of information that is passed over the CAN network.

A frame of CAN data consists of a message ID value (either 11 or 29 bits depending on whether standard or extended
frames are in use), 0 to 8 bytes of data, and some special attributes.

Frame objects are passed to the CanInterface::Xmit() function, and filled in by the CanInterface::Recv() function.

5.21.2 Member Data Documentation

5.21.2.1 data

byte data[8]

Holds any data sent with the frame.

A frame may be accompanied by 0 to 8 bytes of data.

5.21.2.2 id

int32 id

The CAN message ID.

If bit 29 is clear, this is a standard 11 bit ID (bits 0-10 hold the ID). If bit 29 is set, this is an extended 29 bit ID (bits 0-28
hold the ID). Bits 30 and 31 are not presently used.

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5.21.2.3 length

byte length

Gives the number of bytes of data included in the frame.

The length of a frame may range from 0 to 8 bytes

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

• CML_Can.h

5.22 CanInterface Class Reference

Abstract class used for low level interaction with CAN hardware.

Inheritance diagram for CanInterface:

RefObj

CanInterface

CopleyCAN IxxatCAN IxxatCANV3 KvaserCAN SiemensCAN

Collaboration diagram for CanInterface:

RefObj

CanInterface

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Public Member Functions

• CanInterface (void)
Default constructor for a CAN interface object.
• CanInterface (const char ∗port)
Standard constructor for the CAN interface object.
• virtual ∼CanInterface ()
Standard destructor for base CanInterface object.
• virtual const Error ∗ SetName (const char ∗name)
Set the name of the port.
• virtual const Error ∗ Open (void)
Open the CAN interface.
• virtual const Error ∗ Close (void)
Close the CAN interface.
• virtual const Error ∗ SetBaud (int32 baud)
Set the CAN interface baud rate.
• const Error ∗ Recv (CanFrame &frame, Timeout timeout=-1)
Receive the next CAN frame.
• const Error ∗ Xmit (CanFrame &frame, Timeout timeout=0)
Write a CAN frame to the CAN network.
• virtual bool SupportsTimestamps (void)
Return true if the CAN interface supports timestamps on received frames.

Static Public Member Functions

• static const Error ∗ ChkID (int32 id)

Check an ID to make sure it's valid.

Protected Member Functions

• virtual const Error ∗ RecvFrame (CanFrame &frame, Timeout timeout)

Receive the next CAN frame.
• virtual const Error ∗ XmitFrame (CanFrame &frame, Timeout timeout)
Write a CAN frame to the CAN network.

Protected Attributes

• char ∗ portName
This string is initialized by the default constructor.

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5.22 CanInterface Class Reference 223

5.22.1 Detailed Description

Abstract class used for low level interaction with CAN hardware.

This class contains methods that are used to open and close the CAN network adapter, as well as transmit and receive
frames over the CAN network.

The base CanInterface class defines a standard minimal interface to the CAN network. This base class does not actually
provide support for any hardware, rather it should be extended by a class that provides access to the actual CAN network
adapter being used.

5.22.2 Constructor & Destructor Documentation

5.22.2.1 CanInterface()

CanInterface (
const char ∗ port ) [inline]

Standard constructor for the CAN interface object.

The only thing that the constructor does is initialize the portName member variable to the value passed.

Parameters

port A string that may be used to identify which port to open.

5.22.3 Member Function Documentation

5.22.3.1 ChkID()

static const Error∗ ChkID (

int32 id ) [inline], [static]

Check an ID to make sure it's valid.

To be valid, a message ID must either be an 11 bit standard ID, or a 28-bit extended ID. By convention, all extended ID's
must have bit 29 set to identify them as such.

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224 Class Documentation

Parameters
id The ID to be checked

Returns

A pointer to an error object, or NULL on success.

5.22.3.2 Close()

virtual const Error∗ Close (

void ) [inline], [virtual]

Close the CAN interface.

Returns

A valid CAN error object

Reimplemented in SiemensCAN, KvaserCAN, IxxatCANV3, IxxatCAN, and CopleyCAN.

5.22.3.3 Open()

virtual const Error∗ Open (

void ) [inline], [virtual]

Open the CAN interface.

Returns

A valid CAN error object

Reimplemented in SiemensCAN, KvaserCAN, IxxatCANV3, IxxatCAN, and CopleyCAN.

5.22.3.4 Recv()

const Error ∗ Recv (

CanFrame & frame,
Timeout timeout = -1 )

Receive the next CAN frame.

This is the public function used to read CAN messages from the network.

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5.22 CanInterface Class Reference 225

Parameters

frame A reference to the frame object that will be filled by the read.
timeout The timeout (ms) to wait for the frame. A timeout of 0 will return immediately if no data is available. A
timeout of < 0 will wait forever.

Returns

A pointer to an error object, or NULL on success.

5.22.3.5 RecvFrame()

const Error ∗ RecvFrame (

CanFrame & frame,
Timeout timeout ) [protected], [virtual]

Receive the next CAN frame.

This is called by the public Recv function, and must be implemented by the actual CanInterace class. It handles the
hardware specific details of reading a message from the network.

Parameters

frame A reference to the frame object that will be filled by the read.
timeout The timeout (ms) to wait for the frame. A timeout of 0 will return immediately if no data is available. A
timeout of < 0 will wait forever.

Returns

A pointer to an error object, or NULL on success.

Reimplemented in SiemensCAN, KvaserCAN, IxxatCANV3, IxxatCAN, and CopleyCAN.

5.22.3.6 SetBaud()

virtual const Error∗ SetBaud (

int32 baud ) [inline], [virtual]

Set the CAN interface baud rate.

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226 Class Documentation

Parameters

baud In bits / second

Returns

A valid CAN error object

Reimplemented in SiemensCAN, KvaserCAN, IxxatCANV3, IxxatCAN, and CopleyCAN.

5.22.3.7 SetName()

const Error ∗ SetName (

const char ∗ name ) [virtual]

Set the name of the port.

Parameters
name The port name.

Returns

A pointer to an error object, or NULL on success.

5.22.3.8 SupportsTimestamps()

virtual bool SupportsTimestamps (

void ) [inline], [virtual]

Return true if the CAN interface supports timestamps on received frames.

Returns

true if timestamps are supported

Reimplemented in CopleyCAN.

5.22.3.9 Xmit()

const Error ∗ Xmit (

CanFrame & frame,
Timeout timeout = 0 )

Write a CAN frame to the CAN network.

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5.22 CanInterface Class Reference 227

Parameters

frame A reference to the frame to write.

timeout The time to wait for the frame to be successfully sent. If the timeout is 0, the frame is written to the output
queue and the function returns without waiting for it to be sent. If the timeout is <0 then the function will
delay forever.

Returns

A pointer to an error object, or NULL on success.

5.22.3.10 XmitFrame()

const Error ∗ XmitFrame (

CanFrame & frame,
Timeout timeout ) [protected], [virtual]

Write a CAN frame to the CAN network.

This is called by the public Xmit function, and must be implemented by the actual CanInterface class. It handles the
hardware specific details of writing a message to the network.

Parameters

frame A reference to the frame to write.

timeout The time to wait for the frame to be successfully sent. If the timeout is 0, the frame is written to the output
queue and the function returns without waiting for it to be sent. If the timeout is <0 then the function will
delay forever.

Returns

A pointer to an error object, or NULL on success.

Reimplemented in SiemensCAN, KvaserCAN, IxxatCANV3, IxxatCAN, and CopleyCAN.

5.22.4 Member Data Documentation

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228 Class Documentation

5.22.4.1 portName

char∗ portName [protected]

This string is initialized by the default constructor.

It may be used to identify which CAN port to open, etc.
The documentation for this class was generated from the following files:

• CML_Can.h
• Can.cpp

5.23 CanNetworkConfig Struct Reference

CANopen Node ID and bit rate configuration.

Public Member Functions

• CanNetworkConfig ()
Default constructor. Set default values.
• void FromAmpFormat (uint16 a)
Load the structure from a 16-bit word.
• uint16 ToAmpFormat (void)
Encode the contents of the structure into a 16-bit word in the format used by the amplifier.

Public Attributes
• uint8 numInPins
Number of general purpose input pins to read on startup for node ID selection.
• bool useSwitch
If true, use the CAN address switch as part of the node ID calculation.
• uint8 offset
Offset added to the value read from the input pins & address switch.
• CAN_BIT_RATE bitRate
CANopen network bit rate to use.
• uint32 pinMapping
Input pin mapping for node ID selection.
• uint16 quickStop
CANopen quick stop option code.
• uint16 shutDownOption
CANopen shutdown option code.
• uint16 disableOption
CANopen disable option code.
• uint16 haltOption
CANopen halt option code.
• uint16 heartbeat
CANopen heartbeat time.
• uint16 nodeGuard
CANopen Node Guard time.
• uint16 nodeGuardLife
CANopen Node Guarding Life time factor.

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5.23 CanNetworkConfig Struct Reference 229

5.23.1 Detailed Description

CANopen Node ID and bit rate configuration.

The amplifier's CANopen node ID and network bit rate can be configured using the members of this structure. Note that
the ID and bit rate are only set on power-up or reset, so after programming a new configuration the amplifier must be
reset for the configuration to become active.

The CANopen node ID is a 7 bit number in the range 1 to 128. The value 0 is reserved and is not considered a valid
node ID. Selecting a node ID of 0 will cause the amplifier to stop communicating over the CANopen network.

The node ID is calculated using a combination of any of the following:

• The CAN address switch on amplifiers which support this feature

• 0 to 7 general purpose input pins.

• A programmable offset in the range 0 to 128.

On startup, the input pins are read first. The inputs that will be used for CAN address selection are the highest numbered
pins available. For example, on an amplifier with 12 input pins (0 to 11), if 3 inputs are used for CANopen node ID
selection, then the pins used will be 9, 10 and 11. These three pins will result in a base node address between 0 and 7.

If the CAN address switch is being used, then the value read from the input pins will be shifted up four bits (multiplied
by 16) and the value of the input switch will be added to it.

Finally, the programmed offset will be added to the value read from the input pins and address switch. The lowest 7 bits
of this sum will be used as the CANopen node ID. If this value results in an ID of zero, the CANopen interface will be
disabled.

For example, to program an amplifier to ignore input pins and the address switch, and just set a fixed ID of 7, set the
number of input pins to zero, turn off the address switch, and set the offset to 7.

5.23.2 Member Function Documentation

5.23.2.1 FromAmpFormat()

void FromAmpFormat (
uint16 a )

Load the structure from a 16-bit word.

Parameters

a A 16-bit value encoding the network configuration. See the amplifier documentation for details on the format.

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230 Class Documentation

5.23.2.2 ToAmpFormat()

uint16 ToAmpFormat (
void )

Encode the contents of the structure into a 16-bit word in the format used by the amplifier.

See the amplifier documentation for details on this format.

Returns

A 16-bit word representing the contents of this structure.

5.23.3 Member Data Documentation

5.23.3.1 heartbeat

uint16 heartbeat

CANopen heartbeat time.

The frequency at which the amp will produce heartbeat messages. This parameter may be set to zero to disable
heartbeat production.

5.23.3.2 nodeGuard

uint16 nodeGuard

CANopen Node Guard time.

This parameter gives the time between nodeguarding requests that are sent form the CANopen master to this amplifier

5.23.3.3 nodeGuardLife

uint16 nodeGuardLife

CANopen Node Guarding Life time factor.

This objct gives a multiple of the CANopen Node Guarding Time

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5.23 CanNetworkConfig Struct Reference 231

5.23.3.4 numInPins

uint8 numInPins

Number of general purpose input pins to read on startup for node ID selection.

This parameter may be set from 0 to 7.

5.23.3.5 offset

uint8 offset

Offset added to the value read from the input pins & address switch.

5.23.3.6 pinMapping

uint32 pinMapping

Input pin mapping for node ID selection.

When network node id indicates that 1 or more input pins will be used to select the node ID, this parameter is used to
map input pins to ID bits. Availabel after 3.35 firmware. See documentation

5.23.3.7 useSwitch

bool useSwitch

If true, use the CAN address switch as part of the node ID calculation.

Note that on amplifiers which do not support this switch this parameter is ignored.

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

• CML_AmpStruct.h
• AmpStruct.cpp

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232 Class Documentation

5.24 CanOpen Class Reference

The CanOpen class is the top level interface into the CANopen network.

Inheritance diagram for CanOpen:

RefObj

Network Thread

CanOpen

Collaboration diagram for CanOpen:

RefObj

Network Thread

CanOpen

Public Member Functions

• CanOpen (void)

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5.24 CanOpen Class Reference 233

Default constructor.
• virtual ∼CanOpen (void)
CanOpen Destructor.
• const Error ∗ Open (CanInterface &can)
Open the CANopen network.
• const Error ∗ Open (CanInterface &can, CanOpenSettings &settings)
Open the CANopen network.
• void Close (void)
Close the CANopen network.
• NetworkType GetNetworkType (void)
Return the network type.
• const Error ∗ AttachNode (Node ∗n)
Attach the passed node to this network.
• const Error ∗ DetachNode (Node ∗n)
Detach the passed node from this network.
• const Error ∗ SetNodeGuard (Node ∗n, GuardProtocol type, Timeout timeout=50, uint8 life=3)
Configure the node guarding protocol for a CANopen node.
• const Error ∗ ResetNode (Node ∗n)
Send a network management message to reset the specified node.
• const Error ∗ ResetComm (Node ∗n)
Send a network management message to reset the communications of the specified node.
• const Error ∗ PreOpNode (Node ∗n)
Send a network management message to put the specified node in pre-operational state.
• const Error ∗ StartNode (Node ∗n)
Send a network management message to start the specified node.
• const Error ∗ StopNode (Node ∗n)
Send a network management message to stop the specified node.
• const Error ∗ BootModeNode (Node ∗n)
For CANopen networks, this is the same as CanOpen::StopNode();.
• const Error ∗ Xmit (CanFrame &frame, Timeout timeout=2000)
Transmit a frame over the CANopen network.
• const Error ∗ XmitSDO (Node ∗n, uint8 ∗data, uint16 len, uint16 ∗ret, Timeout timeout=2000)
Transmit an SDO message over the CANopen network and wait for a response.
• const Error ∗ XmitPDO (class PDO ∗pdo, Timeout timeout=2000)
Transmit a PDO over the CANopen network.
• int16 GetSynchProducer (void)
Return the node ID of the synch producer for this network.
• void SetSynchProducer (int16 nodeID)
Set the node ID of the synch producer for this network.
• int32 GetErrorFrameCounter (void)
Return the number of error frames received over then CAN network since the last time the counter was cleared.
• void ClearErrorFrameCounter (void)
Clear the error frame counter.
• const Error ∗ EnableReceiver (uint32 canMsgID, class Receiver ∗rcvr)
Enable reception handling of the message identified by this Receiver object.
• const Error ∗ DisableReceiver (uint32 canMsgID)
Disable reception handling of a particular CANopen message type.

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234 Class Documentation

Additional Inherited Members

5.24.1 Detailed Description

The CanOpen class is the top level interface into the CANopen network.

There should be at least one object of this class in every CANopen based application. Normally, only one object will
be necessary, however if more then one independent CANopen network is in use, then more then one object will be
necessary.

On startup, a low level CAN interface object should be created. This object should be passed to the CANopen object's
Open() method.

5.24.2 Constructor & Destructor Documentation

5.24.2.1 CanOpen()

CanOpen (
void )

Default constructor.

Simply initializes some local variables.

5.24.2.2 ∼CanOpen()

∼CanOpen (
void ) [virtual]

CanOpen Destructor.

This closes the CANopen network.

5.24.3 Member Function Documentation

5.24.3.1 AttachNode()

const Error ∗ AttachNode (

Node ∗ n ) [virtual]

Attach the passed node to this network.

This function is called by the node object when it's initialized. It connects the node to the CANopen network object so
that messages bound for the node can be properly delivered.

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5.24 CanOpen Class Reference 235

Parameters
n Pointer to the node to attach to the network.

Returns

A pointer to an error object, or NULL on success.

Implements Network.

5.24.3.2 BootModeNode()

const Error ∗ BootModeNode (

Node ∗ n ) [virtual]

For CANopen networks, this is the same as CanOpen::StopNode();.

Parameters
n Pointer to the node to stop.

Returns

A pointer to an error object, or NULL on success.

Implements Network.

5.24.3.3 Close()

void Close (
void )

Close the CANopen network.

This disables all receivers and stops the thread that listens on the CAN network.

5.24.3.4 DetachNode()

const Error ∗ DetachNode (

Node ∗ n ) [virtual]

Detach the passed node from this network.

This function is called by the node object when it's uninitialized. It removes the connection between the node and the
CANopen network object.

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236 Class Documentation

Parameters

n Pointer to the node to detach from the network.

Returns

A pointer to an error object, or NULL on success.

Implements Network.

5.24.3.5 DisableReceiver()

const Error ∗ DisableReceiver (

uint32 canMsgID )

Disable reception handling of a particular CANopen message type.

Parameters

canMsgID The CAN message ID.

Returns

A pointer to an error object, or NULL on success.

5.24.3.6 EnableReceiver()

const Error ∗ EnableReceiver (

uint32 msgID,
class Receiver ∗ rcvr )

Enable reception handling of the message identified by this Receiver object.

The receiver is enabled by adding it to a binary tree of receiver objects maintained by the CanOpen object.

Parameters

msgID The CAN message ID to assocaite with this receiver.

rcvr Pointer to the receiver to add

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5.24 CanOpen Class Reference 237

Returns

A pointer to an error object, or NULL on success.

5.24.3.7 GetErrorFrameCounter()

int32 GetErrorFrameCounter (
void ) [inline]

Return the number of error frames received over then CAN network since the last time the counter was cleared.

Returns

The number of error frames received since the last call to CanOpen::ClearErrorFrameCounter();

5.24.3.8 GetNetworkType()

NetworkType GetNetworkType (
void ) [inline], [virtual]

Return the network type.

Returns

Always returns the value NET_TYPE_CANOPEN

Implements Network.

5.24.3.9 GetSynchProducer()

int16 GetSynchProducer (
void ) [inline]

Return the node ID of the synch producer for this network.

Returns

The synch producer node ID, or 0 if no synch producer has been registered.

5.24.3.10 Open() [1/2]

const Error ∗ Open (

CanInterface & can )

Open the CANopen network.

This function performs the one time initialization necessary to communication via the CANopen network. It should be
the first function called for the CANopen object.
All configurable settings will be set to their defaults when the CanOpen object is opened using this method. For a list of
CanOpen object settings and their default values, please see the CanOpenSettings object.

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238 Class Documentation

Parameters

can A reference to the CAN interface object that will be used for all low level communication over the network.

Returns

A pointer to an error object, or NULL on success.

5.24.3.11 Open() [2/2]

const Error ∗ Open (

CanInterface & ci,
CanOpenSettings & settings )

Open the CANopen network.

This function performs the one time initialization necessary to communication via the CANopen network. It should be
the first function called for the CANopen object.

This version of the Open function takes a CanOpenSettings object reference as it's second parameter. The data mem-
bers of the settings object may be used to configure some of the CanOpen object's behavior.

Parameters

ci A reference to the CAN interface object that will be used for all low level communication over the network.
settings A reference to a CanOpenSettings object. This object is used to customize the behavior of the CanOpen
object.

Returns

A pointer to an error object, or NULL on success.

5.24.3.12 PreOpNode()

const Error ∗ PreOpNode (

Node ∗ n ) [virtual]

Send a network management message to put the specified node in pre-operational state.

Parameters
n Pointer to the node.

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5.24 CanOpen Class Reference 239

Returns

A pointer to an error object, or NULL on success.

Implements Network.

5.24.3.13 ResetComm()

const Error ∗ ResetComm (

Node ∗ n ) [virtual]

Send a network management message to reset the communications of the specified node.

All nodes have their communications reset if the passed node ID is zero.

Parameters
n A pointer to the node to reset

Returns

A pointer to an error object, or NULL on success.

Implements Network.

5.24.3.14 ResetNode()

const Error ∗ ResetNode (

Node ∗ n ) [virtual]

Send a network management message to reset the specified node.

All nodes are reset if the passed node ID is zero.

Parameters
n A pointer to the node to reset

Returns

A pointer to an error object, or NULL on success.

Implements Network.

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240 Class Documentation

5.24.3.15 SetNodeGuard()

const Error ∗ SetNodeGuard (

Node ∗ n,
GuardProtocol type,
Timeout to = 50,
uint8 life = 3 ) [virtual]

Configure the node guarding protocol for a CANopen node.

Parameters

n The node to configure guarding on.

type The type of node guarding to configure.
to A timeout (milliseconds) to use for this node guarding protocol. If not specified, this parameter defaults to 50
milliseconds.
life A life time factor for use with the node guarding protocol (default 3). Only the node guarding protocol uses this
parameter, it may be omitted for other node guarding types.

Returns

A pointer to an error object, or NULL on success.

Implements Network.

5.24.3.16 SetSynchProducer()

void SetSynchProducer (
int16 nodeID ) [inline]

Set the node ID of the synch producer for this network.

Parameters

nodeID The new synch producer node ID, or 0 for none.

5.24.3.17 StartNode()

const Error ∗ StartNode (

Node ∗ n ) [virtual]

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5.24 CanOpen Class Reference 241

Send a network management message to start the specified node.

Parameters
n Pointer to the node to start.

Returns

A pointer to an error object, or NULL on success.

Implements Network.

5.24.3.18 StopNode()

const Error ∗ StopNode (

Node ∗ n ) [virtual]

Send a network management message to stop the specified node.

Parameters
n Pointer to the node to stop.

Returns

A pointer to an error object, or NULL on success.

Implements Network.

5.24.3.19 Xmit()

const Error ∗ Xmit (

CanFrame & frame,
Timeout timeout = 2000 )

Transmit a frame over the CANopen network.

Parameters

frame Refernce to the frame to transmit

timeout Max time to wait for the frame to be sent.

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242 Class Documentation

Returns

A pointer to an error object, or NULL on success.

5.24.3.20 XmitPDO()

const Error ∗ XmitPDO (

class PDO ∗ pdo,
Timeout timeout = 2000 ) [virtual]

Transmit a PDO over the CANopen network.

If the PDO is a transmit PDO (i.e. the type of PDO that's normally sent from the node and received by the master), then
a remote request is sent.

Parameters

pdo Pointer to the PDO to be transmitted.

timeout Max time to wait for the PDO to be sent.

Returns

A pointer to an error object, or NULL on success.

Implements Network.

5.24.3.21 XmitSDO()

const Error ∗ XmitSDO (

Node ∗ n,
uint8 ∗ buff,
uint16 len,
uint16 ∗ ret,
Timeout timeout = 2000 ) [virtual]

Transmit an SDO message over the CANopen network and wait for a response.

The SDO should have alrady been formatted into the passed array. This function assigns the standard CAN message
ID and transmits the resulting CAN frame.

Parameters

n Pointer to the node to whom the SDO is addressed.

buff Buffer containing the formatted SDO data
len Length of the SDO data in bytes. Should be 8 bytes for standard CANopen SDOs.
ret Pointer to a location where the number of received bytes will be stored on success. Generated by Doxygen

timeout Max time to wait for the SDO to be sent.

5.25 CanOpenError Class Reference 243

Returns

A pointer to an error object, or NULL on success.

Implements Network.

The documentation for this class was generated from the following files:

• CML_CanOpen.h

• CanOpen.cpp

5.25 CanOpenError Class Reference

This class holds the error codes that describe CANopen error conditions.

Inheritance diagram for CanOpenError:

Error

CanError

CanOpenError

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244 Class Documentation

Collaboration diagram for CanOpenError:

Internal
Error OK
Unknown

InvalidID
Alloc
NoDriver
Timeout
Driver
CanError AlreadyOpen
BadParam
BadPortName
NotOpen
Permission
...

SDO_BadMsgRcvd
SDO_BadMuxRcvd
MonitorRunning
SDO_Busy
RcvrPresent
CanOpenError BadParam
BadNodeID
ThreadStart
Closed
IllegalFieldCt
...

Static Public Attributes

• static const CanOpenError ThreadStart

Indicates that the specified port name is invalid.
• static const CanOpenError BadParam
One of the parameters passed to the CANopen function is invalid.
• static const CanOpenError SDO_Busy
The SDO object is busy.
• static const CanOpenError SDO_Timeout
The SDO up/download failed with a timeout.
• static const CanOpenError SDO_Unknown
Some unknown error occurred.

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5.25 CanOpenError Class Reference 245

• static const CanOpenError SDO_BadMuxRcvd

The mux (index/sub-index) received in a SDO message is inconsistent with the object being accessed.
• static const CanOpenError SDO_BadMsgRcvd
An improperly formatted SDO message was received.
• static const CanOpenError BadNodeID
An illegal node ID was specified.
• static const CanOpenError NotInitialized
The object being used has not been initialized.
• static const CanOpenError Initialized
An attempt was made to initialize an object that has already been initialized, and doesn't allow multiple initialization.
• static const CanOpenError NotSupported
The requested feature is not supported by this node.
• static const CanOpenError MonitorRunning
Monitor already running - An attempt is made to start the heartbeat or node guarding and it's already running.
• static const CanOpenError IllegalFieldCt
The node returned an illegal field count for the object being requested in it's object dictionary.
• static const CanOpenError RcvrNotFound
An attempt was made to disable a receiver that wasn't enabled.
• static const CanOpenError RcvrPresent
An attempt was made to enable a receiver that was already enabled.
• static const CanOpenError Closed
The CANopen port is closed.

Additional Inherited Members

5.25.1 Detailed Description

This class holds the error codes that describe CANopen error conditions.

5.25.2 Member Data Documentation

5.25.2.1 IllegalFieldCt

const CanOpenError IllegalFieldCt [static]

The node returned an illegal field count for the object being requested in it's object dictionary.

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246 Class Documentation

5.25.2.2 Initialized

const CanOpenError Initialized [static]

An attempt was made to initialize an object that has already been initialized, and doesn't allow multiple initialization.

5.25.2.3 MonitorRunning

const CanOpenError MonitorRunning [static]

Monitor already running - An attempt is made to start the heartbeat or node guarding and it's already running.

5.25.2.4 NotInitialized

const CanOpenError NotInitialized [static]

The object being used has not been initialized.

This error indicates a coding error, i.e. trying to use a Receiver object without initializing it.

5.25.2.5 SDO_BadMuxRcvd

const CanOpenError SDO_BadMuxRcvd [static]

The mux (index/sub-index) received in a SDO message is inconsistent with the object being accessed.

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

• CML_CanOpen.h

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5.26 CanOpenNodeInfo Struct Reference 247

5.26 CanOpenNodeInfo Struct Reference

The CanOpenNodeInfo structure holds some data required by the CANopen network interface which is present in every
node it manages.

Inheritance diagram for CanOpenNodeInfo:

NetworkNodeInfo

CanOpenNodeInfo

Collaboration diagram for CanOpenNodeInfo:

RefObj SDO

sdo

NetworkNodeInfo Node Semaphore

sdoSemPtr
me
semPtr

prev
CanOpenNodeInfo
next

Public Attributes

• uint32 eventTime
Time (milliseconds) when next guarding event is due.

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248 Class Documentation

• int16 guardToggle
This value keeps track of the toggle bit used with node guarding.
• int32 guardTimeout
This variable gives the guard time in milliseconds.
• uint8 lifeTime
Max number of guard timeouts before an error is generated.
• uint8 lifeCounter
Counter used to track guard timeouts.
• GuardProtocol guardType
This variable identifies the type of guard protocol being used by this node.
• NodeState desired
State I'm waiting for.
• Semaphore ∗ semPtr
Pointer to semaphore used when waiting for state change.
• Semaphore ∗ sdoSemPtr
Pointer to semaphore used when waiting for an SDO response.
• uint8 ∗ sdoBuff
Pointer to SDO data buffer.

5.26.1 Detailed Description

The CanOpenNodeInfo structure holds some data required by the CANopen network interface which is present in every
node it manages.

The contents of this structure should be considered the private property of the CANopen class.

5.26.2 Member Data Documentation

5.26.2.1 guardTimeout

int32 guardTimeout

This variable gives the guard time in milliseconds.

It's used both in heartbeat and node guarding modes.

5.26.2.2 guardToggle

int16 guardToggle

This value keeps track of the toggle bit used with node guarding.

It's set to -1 if the toggle bit isn't used.

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5.27 CanOpenSettings Class Reference 249

5.26.2.3 guardType

GuardProtocol guardType

This variable identifies the type of guard protocol being used by this node.

The options are none, heartbeat monitor, and node guarding.

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

• CML_CanOpen.h
• CanOpen.cpp

5.27 CanOpenSettings Class Reference

Configuration object used to customize global settings for the CANopen network.

Public Member Functions

• CanOpenSettings ()
Default constructor for CanOpenSettings object.

Public Attributes

• int readThreadPriority
Defines the read thread priority.
• bool useAsTimingReference
If true, the master (i.e.
• uint32 syncID
CAN message ID of the SYNC message.
• uint32 timeID
CAN message ID of the timestamp message.

5.27.1 Detailed Description

Configuration object used to customize global settings for the CANopen network.

An object of this type may be passed to the CanOpen::Open() method when the network is first opened.

If no CanOpenSettings object is passed to the CanOpen::Open() method, then the behavior is exactly the same as
passing a CanOpenSettings object with the default settings.

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5.27.2 Constructor & Destructor Documentation

5.27.2.1 CanOpenSettings()

CanOpenSettings (
void )

Default constructor for CanOpenSettings object.

This constructor simply sets all the settings to their default values.

5.27.3 Member Data Documentation

5.27.3.1 readThreadPriority

int readThreadPriority

Defines the read thread priority.

The read thread is started when the CanOpen object is first opened (using CanOpen::Open()). This thread is responsible
for reading messages from the CANopen network and calling the message handlers associated with them. It should be
run at a relatively high priority. Default: 9

5.27.3.2 syncID

uint32 syncID

CAN message ID of the SYNC message.

This is only used if the CanOpen object wll act as the timing reference in the system. If so, this ID must match the
corresponding value passed in the AmpSettings object. Default 0x80

5.27.3.3 timeID

uint32 timeID

CAN message ID of the timestamp message.

This is only used if the CanOpen object wll act as the timing reference in the system. If so, this ID must match the
corresponding value passed in the AmpSettings object. Default 0x180

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5.27.3.4 useAsTimingReference

bool useAsTimingReference

If true, the master (i.e.

the computer that CML is running on) will generate sync timing messages used to synchronize the clocks of the nodes
on the CANopen network. This is only possible if the CAN interface being used is able to capture accurate PC timer
based time stamps of the received CAN frames. Since this isn't supported by most CAN interfaces, the default setting
for this is false. If false, one of the nodes on the CANopen network will generate the time stamps. Default: false

The documentation for this class was generated from the following files:

• CML_CanOpen.h
• CanOpen.cpp

5.28 CopleyCAN Class Reference

This class extends the generic CanInterface class into a working interface for the Copley can device driver.

Inheritance diagram for CopleyCAN:

RefObj

CanInterface

CopleyCAN

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Collaboration diagram for CopleyCAN:

RefObj

CanInterface

CopleyCAN

Public Member Functions

• CopleyCAN (void)
Construct a CAN object.
• CopleyCAN (const char ∗port)
Construct a new CAN object.
• virtual ∼CopleyCAN (void)
Destructor for CopleyCAN object.
• const Error ∗ Open (void)
Open the CAN bus.
• const Error ∗ Close (void)
Close the CAN interface.
• const Error ∗ SetBaud (int32 baud)
Set the CAN interface baud rate.
• bool SupportsTimestamps (void)
Return true if the CAN interface supports timestamps on received frames.

Protected Member Functions

• const Error ∗ RecvFrame (CanFrame &frame, Timeout timeout)

Receive the next CAN frame.
• const Error ∗ XmitFrame (CanFrame &frame, Timeout timeout)
Write a CAN frame to the CAN network.

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5.28 CopleyCAN Class Reference 253

Protected Attributes

• int open
tracks the state of the interface as open or closed.
• int32 baud
Holds a copy of the last baud rate set.
• void ∗ local
This pointer is used to keep track of private data used by the driver.

Additional Inherited Members

5.28.1 Detailed Description

This class extends the generic CanInterface class into a working interface for the Copley can device driver.

5.28.2 Constructor & Destructor Documentation

5.28.2.1 CopleyCAN() [1/2]

CopleyCAN (
void )

Construct a CAN object.

Calls CanInterface constructor.

5.28.2.2 CopleyCAN() [2/2]

CopleyCAN (
const char ∗ port )

Construct a new CAN object.

Calls CanInterface constuctor.

5.28.3 Member Function Documentation

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5.28.3.1 Close()

const Error ∗ Close (

void ) [virtual]

Close the CAN interface.

Returns

A CAN error object identifying the error.

Reimplemented from CanInterface.

5.28.3.2 Open()

const Error ∗ Open (

void ) [virtual]

Open the CAN bus.

Returns

A CAN error object identifying the error.

Reimplemented from CanInterface.

5.28.3.3 RecvFrame()

const Error ∗ RecvFrame (

CanFrame & frame,
Timeout timeout ) [protected], [virtual]

Receive the next CAN frame.

Parameters

frame A reference to the frame object that will be filled by the read.
timeout The timeout (ms) to wait for the frame. A timeout of 0 will return immediately if no data is available. A
timeout of < 0 will wait forever.

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Returns

A CAN error object identifying the error.

Reimplemented from CanInterface.

5.28.3.4 SetBaud()

const Error ∗ SetBaud (

int32 b ) [virtual]

Set the CAN interface baud rate.

This should be set before the CAN interface is open.

Parameters
b The baud rate to set.

Returns

A CAN error object identifying the error.

Reimplemented from CanInterface.

5.28.3.5 SupportsTimestamps()

bool SupportsTimestamps (
void ) [inline], [virtual]

Return true if the CAN interface supports timestamps on received frames.

Returns

true if timestamps are supported

Reimplemented from CanInterface.

5.28.3.6 XmitFrame()

const Error ∗ XmitFrame (

CanFrame & frame,
Timeout timeout ) [protected], [virtual]

Write a CAN frame to the CAN network.

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Parameters

frame A reference to the frame to write.

timeout The time to wait for the frame to be successfully sent. If the timeout is 0, the frame is written to the output
queue and the function returns without waiting for it to be sent. If the timeout is <0 then the function will
delay forever.

Returns

A CAN error object identifying the error.

Reimplemented from CanInterface.

5.28.4 Member Data Documentation

5.28.4.1 local

void∗ local [protected]

This pointer is used to keep track of private data used by the driver.

The documentation for this class was generated from the following files:

• can_copley.h
• can_copley.cpp

5.29 CopleyIO Class Reference

This class represents a Copley CANopen I/O module.

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5.29 CopleyIO Class Reference 257

Inheritance diagram for CopleyIO:

RefObj

Node

IOModule

CopleyIO

Collaboration diagram for CopleyIO:

SDO RefObj Pmap

sdo map

Node PDO

RPDO TPDO

AlgOutPDO DigOutPDO AlgInPDO DigInPDO EventMap

aoutPDO doutPDO ainPDO dinPDO eventMap

IOModule

CopleyIO

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258 Class Documentation

Public Member Functions

• CopleyIO (void)
Default constructor for a Copley I/O module.
• CopleyIO (Network &net, int16 nodeID)
Construct a CopleyIO object and initialize it using default settings.
• CopleyIO (Network &net, int16 nodeID, IOModuleSettings &settings)
Construct a CopleyIO object and initialize it using custom settings.
• virtual ∼CopleyIO ()
Virtual destructor for the IOModule object.
• virtual const Error ∗ Init (Network &net, int16 nodeID)
Initialize a Copley IO module using default settings.
• virtual const Error ∗ Init (Network &net, int16 nodeID, IOModuleSettings &settings)
Initialize an I/O module using custom settings.
• const Error ∗ GetIOInfo (CopleyIOInfo &info)
Read the I/O Module information parameters from the drive.
• const Error ∗ GetIODigi (CopleyIODigi &digi)
Read the I/O Module digital parameters from the drive.
• const Error ∗ GetIOAnlg (CopleyIOAnlg &anlg)
Read the I/O Module analog parameters from the drive.
• const Error ∗ GetIOPWM (CopleyIOPWM &pwm, CopleyIOInfo &info)
Read the I/O Module PWM parameters from the drive.
• const Error ∗ GetIOCfg (CopleyIOCfg &cfg)
Read the complete I/O configuration from the module and return it in the passed structure.
• const Error ∗ SetIOInfo (CopleyIOInfo &info)
Write the I/O Module information parameters to the drive.
• const Error ∗ SetIODigi (CopleyIODigi &digi)
Write the I/O Module digital parameters to the drive.
• const Error ∗ SetIOAnlg (CopleyIOAnlg &anlg)
Write the I/O Module analog parameters to the drive.
• const Error ∗ SetIOPWM (CopleyIOPWM &pwm, CopleyIOInfo &info)
Write the I/O Module PWM parameters to the drive.
• const Error ∗ SetIOConfig (CopleyIOCfg &cfg)
Write the complete I/O configuration from the module and return it in the passed structure.
• const Error ∗ SaveIOConfig (void)
Save all I/O parameters to internal flash memory.
• const Error ∗ SaveIOConfig (CopleyIOCfg &cfg)
Upload the passed io module configuration to the module's working memory, and then copy that working memory to flash.
• const Error ∗ LoadFromFile (const char ∗name, int &line)
Load the specified io module data file.
• const Error ∗ SerialCmd (uint8 opcode, uint8 &ct, uint8 max, uint16 ∗data)
Send a serial port message to a Copley device over the CANopen network.

Additional Inherited Members

5.29.1 Detailed Description

This class represents a Copley CANopen I/O module.

It extendes the standard I/O module with methods that can be used to restore from a CME generated I/O settings file.

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5.29 CopleyIO Class Reference 259

5.29.2 Constructor & Destructor Documentation

5.29.2.1 CopleyIO() [1/2]

CopleyIO (
Network & net,
int16 nodeID )

Construct a CopleyIO object and initialize it using default settings.

Parameters
net The Network object that this module is associated with.
nodeID The node ID of the module on the network.

5.29.2.2 CopleyIO() [2/2]

CopleyIO (
Network & net,
int16 nodeID,
IOModuleSettings & settings )

Construct a CopleyIO object and initialize it using custom settings.

Parameters
net The Network object that this module is associated with.
nodeID The node ID of the module on the network.
settings The settings to use when configuring the module

5.29.3 Member Function Documentation

5.29.3.1 GetIOAnlg()

const Error ∗ GetIOAnlg (

CopleyIOAnlg & anlg )

Read the I/O Module analog parameters from the drive.

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Parameters

anlg A structure that will be filled with the analog I/O values

Returns

A pointer to an error object, or NULL on success

5.29.3.2 GetIOCfg()

const Error ∗ GetIOCfg (

CopleyIOCfg & cfg )

Read the complete I/O configuration from the module and return it in the passed structure.

This structure holds every module parameter that can be stored to the module's internal flash memory. The contents of
the structure represent the complete I/O configuration.

Parameters

cfg The structure which will hold the uploaded configuration.

Returns

A pointer to an error object, or NULL on success

5.29.3.3 GetIODigi()

const Error ∗ GetIODigi (

CopleyIODigi & digi )

Read the I/O Module digital parameters from the drive.

Parameters

digi A structure that will be filled with the digital I/O values

Returns

A pointer to an error object, or NULL on success

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5.29.3.4 GetIOInfo()

const Error ∗ GetIOInfo (

CopleyIOInfo & info )

Read the I/O Module information parameters from the drive.

Parameters

info A structure that will be filled with the I/O module info

Returns

A pointer to an error object, or NULL on success

5.29.3.5 GetIOPWM()

const Error ∗ GetIOPWM (

CopleyIOPWM & pwm,
CopleyIOInfo & info )

Read the I/O Module PWM parameters from the drive.

Parameters

pwm A structure that will be filled with the PWM I/O values
info A structure containing additional information about the module.

Returns

A pointer to an error object, or NULL on success

5.29.3.6 Init() [1/2]

const Error ∗ Init (

Network & net,
int16 nodeID ) [virtual]

Initialize a Copley IO module using default settings.

This function associates the object with the CANopen network it will be used on.

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Parameters
net The Network object that this module is associated with.
nodeID The node ID of the module on the network.

Returns

A pointer to an error object, or NULL on success

Reimplemented from IOModule.

5.29.3.7 Init() [2/2]

const Error ∗ Init (

Network & net,
int16 nodeID,
IOModuleSettings & settings ) [virtual]

Initialize an I/O module using custom settings.

This function associates the object with the CANopen network it will be used on.

Parameters
net The Network object that this module is associated with.
nodeID The node ID of the module on the network.
settings The settings to use when configuring the module

Returns

A pointer to an error object, or NULL on success

Reimplemented from IOModule.

5.29.3.8 LoadFromFile()

const Error ∗ LoadFromFile (

const char ∗ name,
int & line )

Load the specified io module data file.

This function presently supports loading ∗.cci files created by the CME-2 program, version 1 and later.

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Parameters

name The name (and optionally path) of the file to load

line If not NULL, the last line number read from the file is returned here. This is useful for finding file format errors.

Returns

A pointer to an error object, or NULL on success.

5.29.3.9 SaveIOConfig() [1/2]

const Error ∗ SaveIOConfig (

void )

Save all I/O parameters to internal flash memory.

Flash memory is a type of non-volatile RAM which allows module parameters to be saved between power cycles. When
this function is called, any module parameters that may be stored to flash will be copied from their working (RAM)
locations to the stored (flash) locations.

For a list of those I/O parameters which may be saved to flash memory, see the IOConfig structure. Every member of
that structure represents an io module parameter that may be saved to flash.

Returns

A pointer to an error object, or NULL on success

5.29.3.10 SaveIOConfig() [2/2]

const Error ∗ SaveIOConfig (

CopleyIOCfg & cfg )

Upload the passed io module configuration to the module's working memory, and then copy that working memory to
flash.

Parameters

cfg The structure which holds the new configuration.

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Returns

A pointer to an error object, or NULL on success

5.29.3.11 SerialCmd()

const Error ∗ SerialCmd (

uint8 opcode,
uint8 & ct,
uint8 max,
uint16 ∗ data )

Send a serial port message to a Copley device over the CANopen network.

Copley devices use serial ports for some basic configuration purposes. Most of the functions available over the serial
interface are also available in the CANopen object dictionary, but not everything.

This function allows a native serial port command to be sent over the CANopen network. It allows any remaining features
of the device to be accessed when only a CANopen connection is available.

Parameters

opcode The command code to be sent to the amplifier.

ct The number of 16-bit words of data to be sent to the amplifier. On return, this parameter will hold the
number of 16-bit words of response data passed back from the amplifier.
max The maximum number of words of response data that the data array can hold.
data An array of data to be passed to the node with the command. On return, any response data (up to max
words) will be passed here. If this parameter is not specified, then no data will be passed or returned
regardless of the values passed in max and ct.

Returns

An error object, or null on success.

5.29.3.12 SetIOAnlg()

const Error ∗ SetIOAnlg (

CopleyIOAnlg & anlg )

Write the I/O Module analog parameters to the drive.

Parameters

anlg A structure that will be filled with the analog I/O values

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Returns

A pointer to an error object, or NULL on success

5.29.3.13 SetIOConfig()

const Error ∗ SetIOConfig (

CopleyIOCfg & cfg )

Write the complete I/O configuration from the module and return it in the passed structure.

This structure holds every I/O parameter that can be stored to the module's internal flash memory. The contents of the
structure represent the complete I/O configuration.

Parameters

cfg The structure which will hold the uploaded configuration.

Returns

A pointer to an error object, or NULL on success

5.29.3.14 SetIODigi()

const Error ∗ SetIODigi (

CopleyIODigi & digi )

Write the I/O Module digital parameters to the drive.

Parameters

digi A structure that will be filled with the digital I/O values

Returns

A pointer to an error object, or NULL on success

5.29.3.15 SetIOInfo()

const Error ∗ SetIOInfo (

CopleyIOInfo & info )

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Write the I/O Module information parameters to the drive.

Parameters

info A structure that will be filled with the I/O module info

Returns

A pointer to an error object, or NULL on success

5.29.3.16 SetIOPWM()

const Error ∗ SetIOPWM (

CopleyIOPWM & pwm,
CopleyIOInfo & info )

Write the I/O Module PWM parameters to the drive.

Parameters

pwm A structure that will be filled with the PWM I/O values
info A structure containing additional information about the module.

Returns

A pointer to an error object, or NULL on success

The documentation for this class was generated from the following files:

• CML_CopleyIO.h
• CopleyIO.cpp
• CopleyIOFile.cpp

5.30 CopleyIOAnlg Struct Reference

This structure is used to return information about the analog inputs of a Copley I/O module.

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Public Attributes
• uint16 iRaw [COPLEYIO_NUM_AIN]
Analog input raw value.
• uint32 iScaled [COPLEYIO_NUM_AIN]
Analog input scaled value.
• uint32 iFactor [COPLEYIO_NUM_AIN]
Analog input scaling factor.
• uint32 iOffset [COPLEYIO_NUM_AIN]
Analog input offset.
• uint32 iUpLimit [COPLEYIO_NUM_AIN]
Analog input upper limit for interrupt.
• uint32 iLoLimit [COPLEYIO_NUM_AIN]
Analog input lower limit for interrupt.
• uint32 iAbsDelta [COPLEYIO_NUM_AIN]
Analog input absolute delta value for interrrupt.
• uint32 iPosDelta [COPLEYIO_NUM_AIN]
Analog input positive delta value for interrrupt.
• uint32 iNegDelta [COPLEYIO_NUM_AIN]
Analog input negative delta value for interrrupt.
• uint16 iFlags [COPLEYIO_NUM_AIN]
Analog input interrrupt flags.
• uint16 iMask [COPLEYIO_NUM_AIN]
Analog input interrrupt mask.

5.30.1 Detailed Description

This structure is used to return information about the analog inputs of a Copley I/O module.

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

• CML_CopleyIO.h

5.31 CopleyIOCfg Struct Reference

IO Module configuration structure.

Collaboration diagram for CopleyIOCfg:

CopleyIOInfo CopleyIOAnlg CopleyIODigi CopleyIOPWM

info anlg digi pwm

CopleyIOCfg

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Public Attributes

• CopleyIOInfo info
Global IO Module parameters.
• CopleyIODigi digi
Digital IO parameters.
• CopleyIOAnlg anlg
Analog input parameters.
• CopleyIOPWM pwm
PWM output parameters.

5.31.1 Detailed Description

IO Module configuration structure.

This structure contains all user configurable parameters used by an IO module which may be stored in non-volatile
memory.

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

• CML_CopleyIO.h

5.32 CopleyIODigi Struct Reference

This structure is used to return information about the digital I/O of a Copley I/O module.

Public Attributes

• uint16 bankMode [COPLEYIO_DIO_BANKS]

Digital I/O bank mode.
• uint16 pullupMsk [COPLEYIO_DIO_BANKS]
Digital I/O pull-up resistor mask.
• uint16 typeMsk [COPLEYIO_DIO_BANKS]
Digital I/O output type mask.
• uint16 faultMsk [COPLEYIO_DIO_BANKS]
Digital I/O output fault state mask.
• uint16 invMsk [COPLEYIO_DIO_BANKS]
Digital I/O inversion mask.
• uint16 valueMsk [COPLEYIO_DIO_BANKS]
Digital I/O data value mask.
• uint16 modeMsk [COPLEYIO_DIO_BANKS]
Digital I/O output fault mode mask.
• uint16 rawMsk [COPLEYIO_DIO_BANKS]
Digital I/O raw data value mask.

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• uint16 hiLoMsk [COPLEYIO_DIO_BANKS]

Digital I/O input low->high interrupt mask.
• uint16 loHiMsk [COPLEYIO_DIO_BANKS]
Digital I/O input high->low interrupt mask.
• uint16 debounce0 [COPLEYIO_DIO_BANKS]
Digital I/O debounce time, bit 0.
• uint16 debounce1 [COPLEYIO_DIO_BANKS]
Digital I/O debounce time, bit 1.
• uint16 debounce2 [COPLEYIO_DIO_BANKS]
Digital I/O debounce time, bit 2.
• uint16 debounce3 [COPLEYIO_DIO_BANKS]
Digital I/O debounce time, bit 3.
• uint16 debounce4 [COPLEYIO_DIO_BANKS]
Digital I/O debounce time, bit 4.
• uint16 debounce5 [COPLEYIO_DIO_BANKS]
Digital I/O debounce time, bit 5.
• uint16 debounce6 [COPLEYIO_DIO_BANKS]
Digital I/O debounce time, bit 6.
• uint16 debounce7 [COPLEYIO_DIO_BANKS]
Digital I/O debounce time, bit 7.

5.32.1 Detailed Description

This structure is used to return information about the digital I/O of a Copley I/O module.

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

• CML_CopleyIO.h

5.33 CopleyIOInfo Struct Reference

IO Module characteristics data structure.

Public Attributes

• uint32 serial
Serial number.
• char model [COPLEYIO_MAX_STRING]
Model number string.
• char mfgInfo [COPLEYIO_MAX_STRING]
Amplifier's manufacturing information string.
• uint16 hwType
Hardware type code.

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• uint16 loopRate
Main loop update rate (Hz)
• uint16 fwVersion
Firmware version number.
• uint32 baud
Serial port baud rate (bps)
• uint16 maxWords
Maximum number of words sent with any command.
• char name [COPLEYIO_MAX_STRING]
I/O module name.
• char hostCfg [COPLEYIO_MAX_STRING]
Host configuration state (CME use only)
• int16 nodeCfg
CAN node ID configuration.
• uint16 rateCfg
CAN bit rate configuration.
• uint16 nodeID
CAN node ID.
• uint16 status
CAN network status word.
• uint16 rate
CAN network bit rate.
• uint16 anlgInt
Active analog interrupts.
• uint16 anlgIntEna
Analog input global interrupt enable.
• uint16 digiIntEna
Digital input global interrupt enable.
• uint32 pwmPeriodA
PWM bank A period.
• uint32 pwmPeriodB
PWM bank B period.

5.33.1 Detailed Description

IO Module characteristics data structure.

This structure is used to hold information about the IO Module such as it's model number, serial number, etc.

Use the IOModule::GetIOInfo method to retrieve this information from the module.

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

• CML_CopleyIO.h

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5.34 CopleyIOPWM Struct Reference 271

5.34 CopleyIOPWM Struct Reference

This structure is used to return information about the PWM outputs of a Copley I/O module.

Public Attributes

• uint16 oRaw [COPLEYIO_NUM_PWM]

PWM output raw value.
• uint32 oScaled [COPLEYIO_NUM_PWM]
PWM output scaled value.
• uint32 oFactor [COPLEYIO_NUM_PWM]
PWM output scaling factor.
• int32 oOffset [COPLEYIO_NUM_PWM]
PWM output offset.

5.34.1 Detailed Description

This structure is used to return information about the PWM outputs of a Copley I/O module.

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

• CML_CopleyIO.h

5.35 CopleyMotionLibrary Class Reference

Copley Motion Libraries utility object.

Public Member Functions

• CopleyMotionLibrary ()
Default constructor for the CopleyMotionLibrary object.
• ∼CopleyMotionLibrary ()
Destructor for CopleyMotionLibrary object.
• const char ∗ GetVersionString ()
Get the CML library version string.
• void SetDebugLevel (CML_LOG_LEVEL level)
Set the debug message level.
• void SetFlushLog (bool flush)
Enable/Disable the flushing of the log file after each write.
• void SetMaxLogSize (int32 max)
Set the max CML log file size.
• void FlushLog (void)

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Flush the log file (if one is open).

• void SetLogFile (const char ∗fname)
Set the debug message log file name.
• void Debug (const char ∗fmt,...)
Write a debug message to the log file.
• void Warn (const char ∗fmt,...)
Write a warning message to the log file.
• void Error (const char ∗fmt,...)
Write an error message to the log file.
• void LogCAN (bool recv, struct CanFrame &frame)
Write the CAN frame to the log file.
• CML_LOG_LEVEL GetDebugLevel (void)
Return the debug level.
• bool GetFlushLog (void)
Get the state of the log flushing setting.
• int32 GetMaxLogSize (void)
Return the max log size.
• const char ∗ GetLogFile (void)
Return the name of the log file.

5.35.1 Detailed Description

Copley Motion Libraries utility object.

This object defines a number of handy methods related to the libraries as a whole.

A single global CML object is created by the libraries automatically.

5.35.2 Constructor & Destructor Documentation

5.35.2.1 ∼CopleyMotionLibrary()

∼CopleyMotionLibrary ( )

Destructor for CopleyMotionLibrary object.

This simply closes the log file if one is open.

5.35.3 Member Function Documentation

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5.35.3.1 Debug()

void Debug (
const char ∗ fmt,
... )

Write a debug message to the log file.

The debug level must be set >= LOG_DEBUG for this message to be written.

Note that message logging is only available if file support is enabled in the CML_Settings.h file.

Parameters

fmt A printf style format string

5.35.3.2 Error()

void Error (
const char ∗ fmt,
... )

Write an error message to the log file.

The debug level must be set >= LOG_ERRORS for this message to be written.

Note that message logging is only available if file support is enabled in the CML_Settings.h file.

Parameters

fmt A printf style format string

5.35.3.3 FlushLog()

void FlushLog (
void )

Flush the log file (if one is open).

This forces the log contents to be written to disk, thus preventing it from being lost if the program exits without calling
the CML object destructor.

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5.35.3.4 GetDebugLevel()

CML_LOG_LEVEL GetDebugLevel (
void ) [inline]

Return the debug level.

Returns

The debug level presently set

5.35.3.5 GetFlushLog()

bool GetFlushLog (
void ) [inline]

Get the state of the log flushing setting.

Returns

true if enabled.

5.35.3.6 GetLogFile()

const char∗ GetLogFile (

void ) [inline]

Return the name of the log file.

Returns

The log file name as a zero terminated string

5.35.3.7 GetMaxLogSize()

int32 GetMaxLogSize (
void ) [inline]

Return the max log size.

Returns

The max log size in bytes

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5.35 CopleyMotionLibrary Class Reference 275

5.35.3.8 GetVersionString()

const char ∗ GetVersionString (

void )

Get the CML library version string.

Returns

A string giving the CML version number

5.35.3.9 LogCAN()

void LogCAN (
bool recv,
struct CanFrame & frame )

Write the CAN frame to the log file.

The log level must be at least LOG_FILT_CAN for this to be written.

Parameters

recv True if this was a received message, false for transmit messages
frame The frame to log

5.35.3.10 SetDebugLevel()

void SetDebugLevel (
CML_LOG_LEVEL level )

Set the debug message level.

The library code includes some debug messages that may be enabled by setting the debug level to a value greater then
LOG_NONE.

If the level was previously set higher then LOG_NONE, and is then set to LOG_NONE, any open log file will be closed.

The default log level is LOG_NONE (no messages).

Parameters
level The log level.

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276 Class Documentation

5.35.3.11 SetFlushLog()

void SetFlushLog (
bool flush )

Enable/Disable the flushing of the log file after each write.

This can be useful if debug messages are being lost due to a crash, however it can increase the time necessary to write
to the file.

The default is false (don't flush).

Parameters

flush True if file flushing is desired

5.35.3.12 SetLogFile()

void SetLogFile (
const char ∗ fname )

Set the debug message log file name.

This file will be used to log debug messages. The file will be created (or truncated if it alread exists) when the first
message is written to the file. Note that the debug level must be set > LOG_NONE for any messages to be written.
Also note that file access must be enabled in CML_Settings.h for the log file to be used.

If the log file is already open when this method is called, it will be closed and a new log file with the specified name will
be open on the next write to it.

The default log file name is "cml.log"

Parameters

fname The log file name

5.35.3.13 SetMaxLogSize()

void SetMaxLogSize (
int32 max )

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5.36 CopleyNode Class Reference 277

Set the max CML log file size.

This option can be used to prevent a debug log file from getting so large it uses all available disk space on long runs.
Once the log file exceeds this size, it will be renamed logfilename.bak (where logfilename is replaced by the log file
name), and a new log file will be started. Any old backup log file will be overwritten.

The default max log size is 1,000,000 bytes.

Parameters

max Maximum log file size in bytes

5.35.3.14 Warn()

void Warn (
const char ∗ fmt,
... )

Write a warning message to the log file.

The debug level must be set >= LOG_WARNINGS for this message to be written.

Note that message logging is only available if file support is enabled in the CML_Settings.h file.

Parameters

fmt A printf style format string

The documentation for this class was generated from the following files:

• CML.h
• CML.cpp

5.36 CopleyNode Class Reference

Copley CANopen Node class.

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278 Class Documentation

Inheritance diagram for CopleyNode:

RefObj

Node

CopleyNode

Amp

Collaboration diagram for CopleyNode:

RefObj SDO

sdo

Node

CopleyNode

Public Member Functions

• const Error ∗ FirmwareUpdate (Firmware &fw)

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5.36 CopleyNode Class Reference 279

Use a special protocol to update the firmware in Copley CANopen devices.

• const Error ∗ SerialCmd (uint8 opcode, uint8 &ct, uint8 max=0, uint16 ∗data=0)
Send a serial port message to a Copley device over the CANopen network.

Additional Inherited Members

5.36.1 Detailed Description

Copley CANopen Node class.

Objects of this class represent Copley products attached to the CANopen bus.

5.36.2 Member Function Documentation

5.36.2.1 FirmwareUpdate()

const Error ∗ FirmwareUpdate (

Firmware & fw )

Use a special protocol to update the firmware in Copley CANopen devices.

Note that this is not part of normal operation, but rather a special utility function which allows the device firmware to be
updated if necessary.

Only firmware files produced by Copley Controls Corp. should be used to update Copley devices. Attempting to update
a device with incorrectly formatted firmware files will render the it inoperable.

If an error occurs during the download of new firmware, it may be necessary to reprogram the device through it's serial
port. The CME-2 software can be used to recover an device in this case.

Parameters

fw The firmware object holding the data to be programmed.

Returns

An error object, or NULL on success.

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280 Class Documentation

5.36.2.2 SerialCmd()

const Error ∗ SerialCmd (

uint8 opcode,
uint8 & ct,
uint8 max = 0,
uint16 ∗ data = 0 )

Send a serial port message to a Copley device over the CANopen network.

Copley devices use serial ports for some basic configuration purposes. Most of the functions available over the serial
interface are also available in the CANopen object dictionary, but not everything.

This function allows a native serial port command to be sent over the CANopen network. It allows any remaining features
of the device to be accessed when only a CANopen connection is available.

Parameters

opcode The command code to be sent to the amplifier.

ct The number of 16-bit words of data to be sent to the amplifier. On return, this parameter will hold the
number of 16-bit words of response data passed back from the amplifier.
max The maximum number of words of response data that the data array can hold.
data An array of data to be passed to the node with the command. On return, any response data (up to max
words) will be passed here. If this parameter is not specified, then no data will be passed or returned
regardless of the values passed in max and ct.

Returns

An error object, or null on success.

The documentation for this class was generated from the following files:

• CML_Copley.h
• AmpFW.cpp
• CopleyNode.cpp

5.37 CopleyNodeError Class Reference

This class represents errors that can be returned by the CopleyNode class.

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5.37 CopleyNodeError Class Reference 281

Inheritance diagram for CopleyNodeError:

Error

NodeError

CopleyNodeError

Collaboration diagram for CopleyNodeError:

Internal
Error OK
Unknown

NetworkUnavailable
NodeError
GuardTimeout

SerialMsgLen
CopleyNodeError
SerialError

Static Public Attributes

• static const CopleyNodeError SerialMsgLen

Too much data passed for a serial port command.
• static const CopleyNodeError SerialError
The device return a serial port error code.

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282 Class Documentation

Protected Member Functions

• CopleyNodeError (uint16 id, const char ∗desc)
Standard protected constructor.

Additional Inherited Members

5.37.1 Detailed Description

This class represents errors that can be returned by the CopleyNode class.
There is one static member for each defined error.
The documentation for this class was generated from the following file:

• CML_Copley.h

5.38 CrntLoopConfig Struct Reference

This structure holds the current loop configuration parameters.

Public Member Functions

• CrntLoopConfig (void)
Default constructor.

Public Attributes
• int16 kp
Proportional gain.
• int16 ki
Integral gain.
• int16 offset
Current offset.
• int16 peakLim
Peak current limit (0.01 amp units) This is the maximum current that can be applied to the motor at any time Also used as
Boost current in stepper mode.
• int16 contLim
Continuous current limit (0.01 amp units) This is the maximum current that can continuously be applied to the load.
• int16 peakTime
Time at peak current limit (milliseconds) If peak current is requested, it will fall back to the continuous limit within this
amount of time.
• uint16 stepHoldCurrent
Stepper hold current (0.01 amps).
• uint16 stepRun2HoldTime
Run to hold time(milliseconds) The period of time, beginning when a move is complete, to when output current switched
to hold current.
• uint16 stepVolControlDelayTime
Voltage control mode time delay (milliseconds) Time delay to enter into a special voltage control mode.
• int32 slope
Rate of change of current command (milliamps/sec).

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5.38 CrntLoopConfig Struct Reference 283

5.38.1 Detailed Description

This structure holds the current loop configuration parameters.

The current loop is one of three servo control loops used by the amplifier to control a motor. The configuration parame-
ters used by this control loop allow the servo performance to be 'tuned' for various motors and loads.

This structure also holds the parameters used to control current limiting. The current limiting acts on the commanded
current before it is sent to the current loop.

The amplifier member functions Amp::GetCrntLoopConfig and Amp::SetCrntLoopConfig are used to read and write this
data to the amplifier.

5.38.2 Constructor & Destructor Documentation

5.38.2.1 CrntLoopConfig()

CrntLoopConfig (
void ) [inline]

Default constructor.

Simply initializes all members to zero.

5.38.3 Member Data Documentation

5.38.3.1 contLim

int16 contLim

Continuous current limit (0.01 amp units) This is the maximum current that can continuously be applied to the load.

Also used as Run current in stepper mode.

5.38.3.2 peakTime

int16 peakTime

Time at peak current limit (milliseconds) If peak current is requested, it will fall back to the continuous limit within this
amount of time.

Also used as Boost current time in stepper mode.

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284 Class Documentation

5.38.3.3 slope

int32 slope

Rate of change of current command (milliamps/sec).

This parameter is only used when running in the low level programmed current mode (AMPMODE_PROG_CRNT), or in
the CANopen profile torque mode (AMPMODE_CAN_TORQUE). In other modes this parameter is ignored and no limit
is placed on the slope of the current command.

If this parameter is set to zero (default) it is not used in any mode of operation.

Note that this parameter is internally the same as the torque slope parameter which can be set using the function Amp←-
::SetTorqueSlope. The units are different however as this parameter controls slope in units of current and the torque
slope function adjusts in units of torque.

5.38.3.4 stepHoldCurrent

uint16 stepHoldCurrent

Stepper hold current (0.01 amps).

Current used to hold the motor at rest. Used in stepper mode only.

5.38.3.5 stepRun2HoldTime

uint16 stepRun2HoldTime

Run to hold time(milliseconds) The period of time, beginning when a move is complete, to when output current switched
to hold current.

Used in stepper mode only.

5.38.3.6 stepVolControlDelayTime

uint16 stepVolControlDelayTime

Voltage control mode time delay (milliseconds) Time delay to enter into a special voltage control mode.

If set to zero this feature is disabled. Used for stepper mode only.

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

• CML_AmpStruct.h

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5.39 DAConfig Struct Reference 285

5.39 DAConfig Struct Reference

Configuration structure used to hold the settings for a drive's D/A converter.

Public Member Functions

• DAConfig (void)
Default constructor Initialize all elements to zero.

Public Attributes

• int32 daConverterConfig
D/A converter configuration.

5.39.1 Detailed Description

Configuration structure used to hold the settings for a drive's D/A converter.

These settings may be up/download from the amplifier using the functions Amp::SetDAConverterConfig and Amp::←-
GetDAConverterConfig

5.39.2 Member Data Documentation

5.39.2.1 daConverterConfig

int32 daConverterConfig

D/A converter configuration.

This paramter sets the mode for the D/A converter on drives so equipped. See CAN ID 0x21E0 for details.

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

• CML_AmpStruct.h

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286 Class Documentation

5.40 IOModule::DigInPDO Class Reference

Transmit PDO for mapping digital inputs.

Inheritance diagram for IOModule::DigInPDO:

RefObj

PDO

TPDO

IOModule::DigInPDO

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5.40 IOModule::DigInPDO Class Reference 287

Collaboration diagram for IOModule::DigInPDO:

RefObj Pmap

map

PDO

TPDO

IOModule::DigInPDO

Public Member Functions

• const Error ∗ Init (class IOModule ∗io, uint32 cobID, uint8 ct, uint8 id[ ], IOMODULE_EVENTS event)
Initialize a digital input PDO object.
• bool GetInVal (uint8 id, uint8 &value)
Read the specified input bank from the PDO's cached data.
• bool GetBitVal (uint16 id, bool &value)
Update the locally stored value of one bit in this PDO.
• void Received (void)
New transmit PDO received.

Additional Inherited Members

5.40.1 Detailed Description

Transmit PDO for mapping digital inputs.

This class represents the standard transmit PDO into which up to 64 digital inputs may be mapped.

5.40.2 Member Function Documentation

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288 Class Documentation

5.40.2.1 GetBitVal()

bool GetBitVal (
uint16 id,
bool & value )

Update the locally stored value of one bit in this PDO.

Parameters
id The output ID to be updatad.
value The new value for the output.

Returns

true if the value was updated, false if the output isn't mapped to this PDO.

5.40.2.2 GetInVal()

bool GetInVal (
uint8 id,
uint8 & value )

Read the specified input bank from the PDO's cached data.

The value returned will be the last value received via PDO for this input bank.

Parameters
id The input block ID to be checked.
value The input value for the block will be returned here.

Returns

true if the value was returned, false if the block isn't mapped to this PDO.

5.40.2.3 Init()

const Error ∗ Init (

class IOModule ∗ io,
uint32 cobID,

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5.41 IOModule::DigOutPDO Class Reference 289

uint8 ct,
uint8 id[ ],
IOMODULE_EVENTS event )

Initialize a digital input PDO object.

Parameters

io Pointer to the I/O module to which this PDO is assigned.

cobID The CAN ID for this PDO message.
ct The number of input blocks to be mapped (1 to 8)
id An array of ct input block ID numbers. These will be mapped (in order) to the PDO.
event The event bit to post when a PDO message is received.

Returns

A pointer to an error object, or NULL on success

5.40.2.4 Received()

void Received (
void ) [virtual]

New transmit PDO received.

This method is called by the CANopen reader thread when a new PDO message is received. It causes this PDO object
to post it's event to the IOModule object's event map. This will cause any waiting threads to wake up.

Reimplemented from TPDO.

The documentation for this class was generated from the following files:

• CML_IO.h
• IOmodule.cpp

5.41 IOModule::DigOutPDO Class Reference

Receive PDO for mapping digital output pins.

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290 Class Documentation

Inheritance diagram for IOModule::DigOutPDO:

RefObj

PDO

RPDO

IOModule::DigOutPDO

Collaboration diagram for IOModule::DigOutPDO:

RefObj Pmap

map

PDO

RPDO

IOModule::DigOutPDO

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5.41 IOModule::DigOutPDO Class Reference 291

Public Member Functions

• const Error ∗ Init (class IOModule ∗io, uint32 cobID, uint8 ct, uint8 id[ ])
Initialize a digital output PDO object.
• bool Update (uint8 id, uint8 value)
Update the locally stored value of one of the 8-bit digital output blocks associated with this PDO.
• bool UpdateBit (uint16 id, bool value)
Update the locally stored value of one bit in this PDO.
• const Error ∗ Transmit (void)
Transmit this PDO.

Additional Inherited Members

5.41.1 Detailed Description

Receive PDO for mapping digital output pins.

This class represents the standard receive PDO into which up to 64 digital output pins may be mapped.

5.41.2 Member Function Documentation

5.41.2.1 Init()

const Error ∗ Init (

class IOModule ∗ io,
uint32 cobID,
uint8 ct,
uint8 id[ ] )

Initialize a digital output PDO object.

Parameters

io Pointer to the I/O module to which this PDO is assigned.

cobID The CAN ID for this PDO message.
ct The number of output blocks to be mapped (1 to 8)
id An array of ct output block ID numbers. These will be mapped (in order) to the PDO.

Returns

A pointer to an error object, or NULL on success

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292 Class Documentation

5.41.2.2 Transmit()

const Error ∗ Transmit (

void )

Transmit this PDO.

Returns

A pointer to an error object, or NULL on success

5.41.2.3 Update()

bool Update (
uint8 id,
uint8 value )

Update the locally stored value of one of the 8-bit digital output blocks associated with this PDO.

Parameters
id The output block ID to be updatad.
value The new value for the output block.

Returns

true if the value was updated, false if the block isn't mapped to this PDO.

5.41.2.4 UpdateBit()

bool UpdateBit (
uint16 id,
bool value )

Update the locally stored value of one bit in this PDO.

Parameters
id The output ID to be updatad.
value The new value for the output.

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5.42 EcatDgram Class Reference 293

Returns

true if the value was updated, false if the output isn't mapped to this PDO.

The documentation for this class was generated from the following files:

• CML_IO.h
• IOmodule.cpp

5.42 EcatDgram Class Reference

Generic EtherCAT datagram class.

Inheritance diagram for EcatDgram:

EcatDgram

APRD APWR ARMW BRD BWR FPRD FPWR PDO_List

ALstatDG RPDO_List TPDO_List

Public Member Functions

• EcatDgram (uint8 cmd, int16 adp, int16 ado, int16 len, void ∗ptr=0)
Construct a datagram with a variable data length.
• EcatDgram (uint8 cmd, int16 adp, int16 ado, int16 len, int32 val)
Construct a datagram with up to 4 bytes of data.
• virtual ∼EcatDgram ()
Default destructor for an EtherCAT datagram.
• void Init (uint8 cmd, int16 adp, int16 ado, int16 len, int32 val)
Initialize a datagram with up to 4 bytes of data.
• void Init (uint8 cmd, int16 adp, int16 ado, int16 len, void ∗ptr=0)
Initialize a datagram with an arbitrary amount of data.
• void Reset (void)
Reset the datagram.
• void setNext (EcatDgram ∗n)
Add a new datagram after this one.
• EcatDgram ∗ getNext (void)
Get a pointer to the next datagram stored in the frame.
• virtual const Error ∗ Load (void ∗buff, int16 &off)
Pack this datagram into a memory buffer that's large enough to hold an entire EtherCAT frame.

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294 Class Documentation

• bool checkNdx (void)

Compare the index stored in the frame that this datagram is part of to the expected value.
• void setData (void ∗ptr)
Update the data value stored in this datagram.
• void setData (int32 val)
Update the data value stored in this datagram.
• void setNdx (uint8 ndx)
Update the index value associated with this datagram.
• uint8 getNdx (void)
Return the current datagram index value.
• int16 getDgramLen (void)
Return the datagram length in bytes.

5.42.1 Detailed Description

Generic EtherCAT datagram class.

At the lowest levels, an EtherCAT packet is made up of one or more reads and/or writes to memory locations on the
slave nodes. Each of these memory accesses is called a datagram.

There are several different types of datagrams; reads/writes to a node based on it's location in the network, reads/writes
to a node based on it's address, broadcast accesses to all nodes on the network, etc.

This class makes up the base for all datagrams.

In general, CML uses don't need to concern themselves with EtherCAT datagrams. This class is used internally in the
libary to support low level communications over the EtherCAT network.

5.42.2 Constructor & Destructor Documentation

5.42.2.1 EcatDgram() [1/2]

EcatDgram (
uint8 cmd,
int16 adp,
int16 ado,
int16 len,
void ∗ ptr = 0 )

Construct a datagram with a variable data length.

Parameters

cmd Identifies the type of datagram

adp Generally the EtherCAT node on the network
ado Generally identifies the memory address being accessed. Generated by Doxygen

len Length of the memory access in bytes

ptr Pointer where the read/write data is held
5.42 EcatDgram Class Reference 295

5.42.2.2 EcatDgram() [2/2]

EcatDgram (
uint8 cmd,
int16 adp,
int16 ado,
int16 len,
int32 val )

Construct a datagram with up to 4 bytes of data.

Parameters

cmd Identifies the type of datagram

adp Generally the EtherCAT node on the network
ado Generally identifies the memory address being accessed.
len Length of the memory access in bytes (up to 4)
val Value of the data to send.

5.42.3 Member Function Documentation

5.42.3.1 checkNdx()

bool checkNdx (
void )

Compare the index stored in the frame that this datagram is part of to the expected value.

This can be used to help verify that the frame received over the EtherCAT network contains the expected datagrams.

Returns

true if the index stored in the frame holds the expected value.

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296 Class Documentation

5.42.3.2 getDgramLen()

int16 getDgramLen (
void )

Return the datagram length in bytes.

That's the length of the data plus the 12 byte header.

Returns

The datagram length in bytes.

5.42.3.3 getNdx()

uint8 getNdx (
void )

Return the current datagram index value.

Returns

The current index value.

5.42.3.4 getNext()

EcatDgram ∗ getNext (
void )

Get a pointer to the next datagram stored in the frame.

Returns

A pointer to the next datagram, or NULL if there is none.

5.42.3.5 Init() [1/2]

void Init (
uint8 cmd,
int16 adp,
int16 ado,
int16 len,
int32 val )

Initialize a datagram with up to 4 bytes of data.

The data value will be stored in a local buffer

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5.42 EcatDgram Class Reference 297

Parameters

cmd Identifies the type of datagram

adp Generally the EtherCAT node on the network
ado Generally identifies the memory address being accessed.
len Length of the memory access in bytes (up to 4)
val Value of the data to send.

5.42.3.6 Init() [2/2]

void Init (
uint8 cmd,
int16 adp,
int16 ado,
int16 len,
void ∗ ptr = 0 )

Initialize a datagram with an arbitrary amount of data.

Parameters

cmd Identifies the type of datagram

adp Generally the EtherCAT node on the network
ado Generally identifies the memory address being accessed.
len Length of the memory access in bytes
ptr Pointer where the read/write data is held

5.42.3.7 Load()

const Error ∗ Load (

void ∗ ptr,
int16 & off ) [virtual]

Pack this datagram into a memory buffer that's large enough to hold an entire EtherCAT frame.

Parameters

ptr Points to the frame buffer

off Gives the offset in the frame where this datagram should be loaded. On return, this is increased by the size of the
datagram

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Returns

An error code or null on success.

5.42.3.8 setData() [1/2]

void setData (
void ∗ ptr )

Update the data value stored in this datagram.

Parameters

ptr Pointer to the data to store. The data referenced by this pointer should be at least as long as the length of the
datagram.

5.42.3.9 setData() [2/2]

void setData (
int32 val )

Update the data value stored in this datagram.

Parameters
val The value to be stored in the datagram. The datagram is expected to be no longer then 4 bytes.

5.42.3.10 setNdx()

void setNdx (
uint8 ndx )

Update the index value associated with this datagram.

Parameters
ndx The new index value to store.

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5.43 EcatFrame Class Reference 299

5.42.3.11 setNext()

void setNext (
EcatDgram ∗ n )

Add a new datagram after this one.

Parameters

n Pointer to the next datagram. A local copy of this pointer will be stored

The documentation for this class was generated from the following files:

• CML_EtherCAT.h
• EtherCAT.cpp

5.43 EcatFrame Class Reference

EtherCAT frame class.

Inheritance diagram for EcatFrame:

RefObj

EcatFrame

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300 Class Documentation

Collaboration diagram for EcatFrame:

RefObj

EcatFrame

Additional Inherited Members

5.43.1 Detailed Description

EtherCAT frame class.

This is used internally to represent a single frame of data sent over the EtherCAT network. The frame consists of a
header structure followed by a series of datagrams.

The documentation for this class was generated from the following files:

• CML_EtherCAT.h
• EtherCAT.cpp

5.44 EncoderErrorConfig Struct Reference

This structure holds configuration info about the encoder error filter.

Public Attributes

• uint32 encoderErrorConfig
Encoder Error Filter Configuration This parameter it set up as follows: Bits 0-3: Maximum number of consecutice bad
samples to allow.

5.44.1 Detailed Description

This structure holds configuration info about the encoder error filter.

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5.45 Error Class Reference 301

5.44.2 Member Data Documentation

5.44.2.1 encoderErrorConfig

uint32 encoderErrorConfig

Encoder Error Filter Configuration This parameter it set up as follows: Bits 0-3: Maximum number of consecutice bad
samples to allow.

Bits 4-15: Reserved for future use. Bits 16-28: Maximum difference between the actual and extrapolated reading before
treating reading as bad. Bits 29-31: Reserved for future use.

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

• CML_AmpStruct.h

5.45 Error Class Reference

This class is the root class for all error codes returned by functions defined within the Motion Library.

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302 Class Documentation

Inheritance diagram for Error:

AmpFileError

CanError CanOpenError

EtherCatError

EventError

FirmwareError

IOFileError

LinkError

NetworkError AmpError AmpFault

Error NodeError CopleyNodeError

PathError IOError

PDO_Error

PvtConstAccelTrjError

PvtTrjError

ScurveError

SDO_Error

ThreadError

TrjError

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5.45 Error Class Reference 303

Collaboration diagram for Error:

Internal
Error OK
Unknown

Public Member Functions

• const char ∗ toString () const

Return a C style string describing the error condition represented by this error object.
• uint16 GetID (void) const
Return an integer ID that can be used to identify the error.

Static Public Member Functions

• static const Error ∗ Lookup (int16 id)

Lookup the constant error object associated with the passed ID code.

Static Public Attributes

• static const Error OK

A constant error object that represents no error.
• static const Error Unknown
An invalid error ID code was passed to Error::Lookup.
• static const Error Internal
Generic internal software error.

Protected Member Functions

• Error (uint16 i, const char ∗desc)

Constructor used to create an error object of a particular type.

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304 Class Documentation

5.45.1 Detailed Description

This class is the root class for all error codes returned by functions defined within the Motion Library.

Every error condition defined in the library has a constant, static error object associated with it. Pointers to these objects
are returned from the various function calls.

All library functions that return an error object pointer will return a NULL pointer in the case of no error. This allows one
to simply test the error pointer returned to determine if it indicates an error.

For example:

const Error *err = SomeFunctionCall();

if( err )
printf( "Error: %%s\\n", err->toString() );
else
printf( "no error\\n" );

To test for a specific error condition, the following code can be used:

const Error *err = SomeFunctionCall();

if( err == &ThreadError::Timeout )

printf( "A timeout occurred\\n" );

Note that the constructor used to create a new unique error code is protected, therefore only sub-classes of the Error
object are allowed to create new unique error codes.

5.45.2 Constructor & Destructor Documentation

5.45.2.1 Error()

Error (
uint16 i,
const char ∗ desc ) [inline], [protected]

Constructor used to create an error object of a particular type.

This constructor is protected, so only sub-classes of the Error class can construct objects in this manner.

A unique ID coded and a description string must be provided with the new object.

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5.45 Error Class Reference 305

Parameters
i The unique error ID value
desc A description of the error

5.45.3 Member Function Documentation

5.45.3.1 GetID()

uint16 GetID (
void ) const [inline]

Return an integer ID that can be used to identify the error.

Each error code in the system has a unique 16-bit integer identifier associated with it. This function can be used to
return this identifier.

These ID codes are primarily intended for internal use by the Error object, they are only provided externally for use in
system which require an integer error ID code to interface with other parts of the system. The function Error::Lookup
can be used to convert the ID value back into an error object.

Returns

The 16-bit integer ID value associated with this Error object.

5.45.3.2 Lookup()

const Error ∗ Lookup (

int16 id ) [static]

Lookup the constant error object associated with the passed ID code.

If the passed ID doesn't correspond to any known Error object, then the address of the Error::Unknown will be returned.

Parameters

id The ID code of the error to be found

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306 Class Documentation

Returns

A pointer to an error object.

5.45.3.3 toString()

const char∗ toString ( ) const [inline]

Return a C style string describing the error condition represented by this error object.

Returns

A constant character string describing the error condition.

The documentation for this class was generated from the following files:

• CML_Error.h
• Error.cpp

5.46 EtherCAT Class Reference

The EtherCAT class is the top level interface into the EtherCAT network.

Inheritance diagram for EtherCAT:

RefObj

Network

EtherCAT

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5.46 EtherCAT Class Reference 307

Collaboration diagram for EtherCAT:

RefObj

Network

EtherCAT

Public Member Functions

• NetworkType GetNetworkType (void)
Return the network type.
• const Error ∗ GetIdFromEEPROM (Node ∗n, struct NodeIdentity &id)
Read the node ID info that was pullsed from EEPROM on startup.
• const Error ∗ SetNodeGuard (Node ∗n, GuardProtocol type, Timeout timeout=200, uint8 life=0)
Configure the heartbeat protocol for an EtherCAT node.
• const Error ∗ SetSync0Period (Node ∗n, uint32 ns)
Set the period of the SYNC0 signal used on nodes with a distributed clock.
• uint16 getNodeCount (void)
Return the number of nodes discovered on the network.
• const Error ∗ GetNodeAddress (Node ∗n, uint16 &addr)
Return the EtherCAT address assigned to this node.
• const Error ∗ FoE_DnldStart (Node ∗n, const char ∗filename, uint32 password, Timeout to=2000)
Initiate a new file download using the File over EtherCAT (FoE) protocol.
• const Error ∗ FoE_DnldData (Node ∗n, int32 len, uint8 ∗buff, Timeout to=2000, bool end=true)
Download a block of file data to a node using the File over EtherCAT (FoE) protocol.
• const Error ∗ FoE_UpldStart (Node ∗n, const char ∗filename, uint32 password, Timeout to=2000)
Initiate a new file upload using the File over EtherCAT (FoE) protocol.
• const Error ∗ FoE_UpldData (Node ∗n, int32 max, int32 ∗len, uint8 ∗data, Timeout to=2000)
Upload a block of file data from a node using the File over EtherCAT (FoE) protocol.
• int32 FoE_LastErrInfo (Node ∗n, char ∗msg, int maxMsg)
Return the detailed error code and message for the most recent FoE error response on this node.
• int32 maxSdoToNode (Node ∗n)
Return the maximum number of bytes that can be sent in an SDO message.
• int32 maxSdoFromNode (Node ∗n)
Return the maximum number of bytes that can be received in an SDO message.
• const Error ∗ WaitCycleUpdate (Timeout to)
Wait for the cyclic thread to update.

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Protected Member Functions

• const Error ∗ InitDistClk (void)

Initialize the distributed clock system on this network.
• const Error ∗ MailboxTransfer (Node ∗n, uint16 len, uint16 ∗ret, Timeout timeout=2000)
Write a block of data to the mailbox of an EtherCAT node and wait for a response.
• const Error ∗ MailboxTransfer (Node ∗n, void ∗send, uint16 len, void ∗resp, uint16 ∗ret, uint16 max, Timeout
timeout=2000, bool getMtx=false)
Write a block of data to the mailbox of an EtherCAT node and wait for a response.
• const Error ∗ AddToFrame (class EcatFrame ∗frame, class EcatDgram ∗dg)
Add a datagram to the frame.

Friends

• class Linkage
• class Node

Additional Inherited Members

5.46.1 Detailed Description

The EtherCAT class is the top level interface into the EtherCAT network.

There should be at least one object of this class in every EtherCAT based application.

5.46.2 Member Function Documentation

5.46.2.1 AddToFrame()

const Error ∗ AddToFrame (

class EcatFrame ∗ frame,
class EcatDgram ∗ dg ) [protected]

Add a datagram to the frame.

If the frame is too large to add the datagram, then first send the frame, reset it and add the datagram.

Parameters

frame The frame

dg The datagram

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5.46 EtherCAT Class Reference 309

Returns

An error pointer or NULL on success

5.46.2.2 FoE_DnldData()

const Error ∗ FoE_DnldData (

Node ∗ n,
int32 len,
uint8 ∗ data,
Timeout to = 2000,
bool end = true )

Download a block of file data to a node using the File over EtherCAT (FoE) protocol.

The transfer should have been previously initialized by calling the EtherCAT::FoE_DnldStart function.

Parameters
n Pointer to the node to download to
len Length of data to download in bytes
data Buffer holding the data to download
to A timeout value.
end True if this is the last block of data to be sent

Returns

An error pointer on failure, or null on success.

5.46.2.3 FoE_DnldStart()

const Error ∗ FoE_DnldStart (

Node ∗ n,
const char ∗ filename,
uint32 password,
Timeout to = 2000 )

Initiate a new file download using the File over EtherCAT (FoE) protocol.

This function should be used to start a new file download. On success, the EtherCAT::FoE_DnldData function can be
used to pass the file data.

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Parameters
n Points to the node who will receive this download
filename Name of the file to be sent. May be null if no file name is to be passed.
password Optional password value to be sent to the slave device (0 if not used)
to Timeout to wait for response.

Returns

An error pointer on failure, or null on success.

5.46.2.4 FoE_LastErrInfo()

int32 FoE_LastErrInfo (
Node ∗ n,
char ∗ msg,
int maxMsg )

Return the detailed error code and message for the most recent FoE error response on this node.

Parameters
n Points to the node in question
msg Buffer where error message should be stored (can be null)
maxMsg Size of the message buffer

Returns

The most recent error code returned by this node.

5.46.2.5 FoE_UpldData()

const Error ∗ FoE_UpldData (

Node ∗ n,
int32 max,
int32 ∗ len,
uint8 ∗ data,
Timeout to = 2000 )

Upload a block of file data from a node using the File over EtherCAT (FoE) protocol.

The transfer should have been previously initialized by calling the EtherCAT::FoE_UpldStart function.

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5.46 EtherCAT Class Reference 311

Parameters

n Pointer to the node to upload from

max Maximum length of data to upload in bytes
len On return, holds the actual number of bytes uploaded.
data Buffer where data will be written
to A timeout value.

Returns

An error pointer on failure, or null on success.

5.46.2.6 FoE_UpldStart()

const Error ∗ FoE_UpldStart (

Node ∗ n,
const char ∗ filename,
uint32 password,
Timeout to = 2000 )

Initiate a new file upload using the File over EtherCAT (FoE) protocol.

This function should be used to start a new file upload. On success, the EtherCAT::FoE_UpldData function can be used
to read the file data.

Parameters

n Points to the node from which the data will be uploaded.

filename Name of the file to be read. May be null if no file name is to be passed.
password Optional password value to be sent to the slave device (0 if not used)
to Timeout to wait for response.

Returns

An error pointer on failure, or null on success.

5.46.2.7 GetIdFromEEPROM()

const Error ∗ GetIdFromEEPROM (

Node ∗ n,
struct NodeIdentity & id )

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312 Class Documentation

Read the node ID info that was pullsed from EEPROM on startup.

This can be useful on nodes that don't support the CoE protocol and therefor can't use the more standard Node::Get←-
Identity method.

Parameters
n Points to the node to access
id Structure where identiy info will be returned

Returns

An error pointer on failure, or null on success.

5.46.2.8 GetNetworkType()

NetworkType GetNetworkType (
void ) [inline], [virtual]

Return the network type.

Returns

Always returns the value NET_TYPE_ETHERCAT

Implements Network.

5.46.2.9 GetNodeAddress()

const Error ∗ GetNodeAddress (

Node ∗ n,
uint16 & addr )

Return the EtherCAT address assigned to this node.

When each node is added to an EtherCAT network, the network object assigns it a unique address. This address is
then used by the master to communicate with the node over the network.

Parameters
n Pointer to the node object
addr The assigned address will be returned here

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5.46 EtherCAT Class Reference 313

Returns

An error pointer on failure, or null on success.

5.46.2.10 getNodeCount()

uint16 getNodeCount (
void ) [inline]

Return the number of nodes discovered on the network.

Returns

The number of nodes on the EtherCAT network

5.46.2.11 InitDistClk()

const Error ∗ InitDistClk (

void ) [protected]

Initialize the distributed clock system on this network.

This is called at startup by EtherCAT::Open();

Returns

An error object, or NULL on success

5.46.2.12 MailboxTransfer() [1/2]

const Error ∗ MailboxTransfer (

Node ∗ n,
uint16 len,
uint16 ∗ ret,
Timeout timeout = 2000 ) [protected]

Write a block of data to the mailbox of an EtherCAT node and wait for a response.

Note that the mailbox mutex should be held when this is called.

The input and output data used by this function is stored in the previously allocated sync buffers

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314 Class Documentation

Parameters
n The node to access.
len The number of bytes of data to send
ret returns the actual number of bytes returned.
timeout The maximum time to wait for a response.

Returns

An error pointer on failure, or null on success.

5.46.2.13 MailboxTransfer() [2/2]

const Error ∗ MailboxTransfer (

Node ∗ n,
void ∗ send,
uint16 len,
void ∗ resp,
uint16 ∗ ret,
uint16 max,
Timeout timeout = 2000,
bool getMtx = false ) [protected]

Write a block of data to the mailbox of an EtherCAT node and wait for a response.

Note that the mailbox mutex should be held when this is called.

Parameters
n The node to access.
send Buffer holding the data to send to the node
len The number of bytes of data to send
recv Buffer where the received data will be returned
ret returns the actual number of bytes returned.
max Maximum number of bytes to return
timeout The maximum time to wait for a response.
getMtx True if the mailbox mutex should be acquired by this function. False if the mutex is already held by the
calling function.

Returns

An error pointer on failure, or null on success.

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5.46 EtherCAT Class Reference 315

5.46.2.14 maxSdoFromNode()

int32 maxSdoFromNode (
Node ∗ n ) [virtual]

Return the maximum number of bytes that can be received in an SDO message.

For CANopen this is always 8 (the max size of a CAN frame). For EtherCAT it's the size of the mailbox buffer, and is
node specific

Parameters
n The node to query

Returns

The maximum number of bytes in an SDO receive message

Reimplemented from Network.

5.46.2.15 maxSdoToNode()

int32 maxSdoToNode (
Node ∗ n ) [virtual]

Return the maximum number of bytes that can be sent in an SDO message.

For CANopen this is always 8 (the max size of a CAN frame). For EtherCAT it's the size of the mailbox buffer, and is
node specific

Parameters
n The node to query

Returns

The maximum number of bytes in an SDO transmit message

Reimplemented from Network.

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316 Class Documentation

5.46.2.16 SetNodeGuard()

const Error ∗ SetNodeGuard (

Node ∗ n,
GuardProtocol type,
Timeout timeout = 200,
uint8 life = 0 ) [virtual]

Configure the heartbeat protocol for an EtherCAT node.

This sets the heartbeat timeout used for process data on the EtherCAT node.

Parameters

n The node to configure heartbeat on

type The type of node guarding to configure.
timeout A timeout (milliseconds) to use for this node guarding protocol. If not specified, this parameter defaults to
200 milliseconds.
life This parameter is not used under EtherCAT.

Returns

An error object, or NULL on success

Implements Network.

5.46.2.17 SetSync0Period()

const Error ∗ SetSync0Period (

Node ∗ n,
uint32 ns )

Set the period of the SYNC0 signal used on nodes with a distributed clock.

This also starts generation of the SYNC0 signal.

Parameters

n The node to modify

ns The period in nanoseconds.

Returns

An error object, or NULL on success

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5.47 EtherCatError Class Reference 317

5.46.2.18 WaitCycleUpdate()

const Error ∗ WaitCycleUpdate (

Timeout to )

Wait for the cyclic thread to update.

Parameters

to Max time to wait before returning an error

Returns

An error object on failure, or NULL on success.

The documentation for this class was generated from the following files:

• CML_EtherCAT.h
• ecatdc.cpp
• EtherCAT.cpp

5.47 EtherCatError Class Reference

This class holds the error codes that describe EtherCAT error conditions.

Inheritance diagram for EtherCatError:

Error

EtherCatError

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318 Class Documentation

Collaboration diagram for EtherCatError:

Internal
Error OK
Unknown

ReadHardware
MboxHeader
OpenHardware
MboxSyntax
EcatMsgCorrupt
EtherCatError HardwareNotInit
PdoNotEnabled
NodeStateChange
EcatNotInit
Sync0Config
...

Static Public Attributes

• static const EtherCatError ThreadStart

Unable to start main EtherCAT.
• static const EtherCatError HardwareNotInit
EtherCAT hardware has not been initialized.
• static const EtherCatError OpenHardware
Unable to open EtherCAT hardware.
• static const EtherCatError ReadHardware
Error reading from Ethernet socket.
• static const EtherCatError WriteHardware
Error writing to Ethernet socket.
• static const EtherCatError NoResponse
Remote device did not respond to request (working counter is zero).
• static const EtherCatError EcatNotInit
EtherCAT network object not initialized.
• static const EtherCatError NodeNotFound
Specified node was not found on the EtherCAT network.
• static const EtherCatError NodeBootMode
EtherCAT node is currently in boot mode.
• static const EtherCatError NodeStateChange
Error changing node operational state.
• static const EtherCatError EcatMsgCorrupt

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5.47 EtherCatError Class Reference 319

EtherCAT message received from network is corrupt.

• static const EtherCatError DatagramWontFit
Not enough space in frame for new datagram.
• static const EtherCatError MboxError
EtherCAT node returned an unknown mailbox error code.
• static const EtherCatError MboxSyntax
EtherCAT node reported the syntax of mailbox header is invalid.
• static const EtherCatError MboxProtocol
EtherCAT node does not support the requested mailbox protocol.
• static const EtherCatError MboxChannel
EtherCAT node returned an invalide mailbox channel code.
• static const EtherCatError MboxService
EtherCAT node does not support the requested mailbox service.
• static const EtherCatError MboxHeader
EtherCAT node reported an invalid mailbox protocol header.
• static const EtherCatError MboxTooShort
EtherCAT node reported the length of the mailbox data is too short.
• static const EtherCatError MboxMemory
EtherCAT node reported insufficient memory for mailbox transfer.
• static const EtherCatError MboxSize
EtherCAT node reported inconsistent mailbox data length.
• static const EtherCatError FoEformat
EtherCAT node returned incorrectly formatted FoE response.
• static const EtherCatError FoEerror
EtherCAT node returned an FoE error response.
• static const EtherCatError NodeNotInit
EtherCAT node has not been initialized.
• static const EtherCatError PdoNotEnabled
PDO is not currently enabled on network.
• static const EtherCatError NetworkWiringError
EtherCAT network is not correctly wired.
• static const EtherCatError Sync0Config
Error configuring SYNC0 timer on slave device.

Additional Inherited Members

5.47.1 Detailed Description

This class holds the error codes that describe EtherCAT error conditions.

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

• CML_EtherCAT.h

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5.48 EtherCatHardware Class Reference

Low level Ethernet hardware interface.

Inheritance diagram for EtherCatHardware:

RefObj

EtherCatHardware

LinuxEcatHardware WinUdpEcatHardware

Collaboration diagram for EtherCatHardware:

RefObj

EtherCatHardware

Additional Inherited Members

5.48.1 Detailed Description

Low level Ethernet hardware interface.

This pure virtual class is the base for an OS specific class which implements the interface to the Ethernet hardware.

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

• CML_EtherCAT.h

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5.49 EtherCatSettings Class Reference 321

5.49 EtherCatSettings Class Reference

Configuration object used to customize global settings for the EtherCAT network.

Public Member Functions

• EtherCatSettings ()
Default constructor for EtherCatSettings object.

Public Attributes

• int readThreadPriority
Defines the EtherCAT read thread priority.
• int cycleThreadPriority
Defines the EtherCAT cycle thread priority.
• Timeout cyclePeriod
EtherCAT cycle period.

5.49.1 Detailed Description

Configuration object used to customize global settings for the EtherCAT network.

An object of this type may be passed to the EtherCAT::Open() method when the network is first opened.

If no settings object is passed to the EtherCAT::Open() method, then the behavior is exactly the same as passing a
EtherCatSettings object with the default settings.

5.49.2 Constructor & Destructor Documentation

5.49.2.1 EtherCatSettings()

EtherCatSettings ( ) [inline]

Default constructor for EtherCatSettings object.

This sets all settings to their default values

5.49.3 Member Data Documentation

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322 Class Documentation

5.49.3.1 cyclePeriod

Timeout cyclePeriod

EtherCAT cycle period.

This parameter defines the update rate at which the EtherCAT network is polled. Default: 1 ms.

5.49.3.2 cycleThreadPriority

int cycleThreadPriority

Defines the EtherCAT cycle thread priority.

The cycle thread is started when the EtherCAT object is first opened (using EtherCAT::Open()). This thread is respon-
sible for polling the EtherCAT network at a set frequency. It should be run at a relatively high priority. Default: 9

5.49.3.3 readThreadPriority

int readThreadPriority

Defines the EtherCAT read thread priority.

The read thread is started when the EtherCAT object is first opened (using EtherCAT::Open()). This thread is responsible
for reading Ethernet messages from the hardware and processing them as they arrive. It should be run at a relatively
high priority. Default: 9

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

• CML_EtherCAT.h

5.50 Event Class Reference

Events are a generic mechanism used to wait on some condition.

Inheritance diagram for Event:

Event

EventAll EventAny EventAnyClear EventNone

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5.50 Event Class Reference 323

Public Member Functions

• Event (uint32 val=0)
Default constructor for an Event object.
• virtual ∼Event ()
Event distructor.
• Event (const Event &)
Event object copy constructor.
• Event & operator= (const Event &)
Event assignment operator.
• const Error ∗ setValue (uint32 val)
Change the value that the event will wait for.
• void setChain (class EventMap &map, uint32 mask)
Setup event chaining.
• void delChain (void)
Remove any pointer to a chained event map.
• uint32 getValue (void)
Return the value that this event will wait on.
• uint32 getMask (void)
Return the most recent mask value that caused the event to succeed.
• const Error ∗ Wait (EventMap &m, Timeout timeout)
Wait on an event.
• virtual bool isTrue (uint32 mask)
Test the event to see if it's condition is true.

Protected Attributes
• uint32 value
This is the value that the event is waiting for.

Friends
• class EventMap

5.50.1 Detailed Description

Events are a generic mechanism used to wait on some condition.

They are used in conjunction with the EventMap object.

Every EventMap object has a 32-bit mask register which describes it's state. Event objects may be attached to an
EventMap to wait for any combination of bits in the mask to become active.

The base Event class is a virtual class, and therefore shouldn't be used directly. It is extended by a number of sub-
classes which are used to wait for certain map bits to be set, cleared, etc.

An Event object may only be assigned to one EventMap at a time. An attempt to attach it to multiple EventMap objects
will result in an error. Further, Event objects are not thread safe. Only one thread should access a particular Event
object at a time. EventMap objects however are thread safe, so any number of threads may attach their own Event
objects to the same EventMap object without issue.

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5.50.2 Constructor & Destructor Documentation

5.50.2.1 Event() [1/2]

Event (
uint32 val = 0 )

Default constructor for an Event object.

Parameters

val The value that the event will wait for. If not specified, defaults to zero.

5.50.2.2 ∼Event()

∼Event (
void ) [virtual]

Event distructor.

This makes sure the event isn't mapped when it's destroyed

5.50.2.3 Event() [2/2]

Event (
const Event & e )

Event object copy constructor.

Parameters
e Another event that this will copy.

5.50.3 Member Function Documentation

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5.50 Event Class Reference 325

5.50.3.1 delChain()

void delChain (
void )

Remove any pointer to a chained event map.

This undoes any chaining that was setup using the Event::setChain method.

5.50.3.2 getMask()

uint32 getMask (
void ) [inline]

Return the most recent mask value that caused the event to succeed.

After a successful Wait, this can be used to return the mask that caused the successful match.

Returns

The mask value

5.50.3.3 getValue()

uint32 getValue (
void ) [inline]

Return the value that this event will wait on.

Returns

The event value

5.50.3.4 isTrue()

virtual bool isTrue (

uint32 mask ) [inline], [virtual]

Test the event to see if it's condition is true.

This method should be implemented in the sub-class to define the type of event matching used. The base class always
returns false.

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326 Class Documentation

Parameters
mask The EventMap mask compare to.

Returns

true if the event is satisfied, false if not.

Reimplemented in EventNone, EventAll, EventAnyClear, and EventAny.

5.50.3.5 operator=()

Event & operator= (

const Event & e )

Event assignment operator.

This uses the value of the passed event object to update this event's value. Note that it's not legal to change an events
value while the event is attached to an EventMap object. If this is attempted, then this assignment will silently fail. The
preferred method for changing an event's value is through the Event::setValue method.

Parameters
e Another event that will be used to initialize this one.

Returns

A reference to this object

5.50.3.6 setChain()

void setChain (
class EventMap & map,
uint32 mask )

Setup event chaining.

Each time the event is updated, it will either set or clear the bits specified by mask in the referenced EventMap object.
The bits will be set if the update causes the event to be true, and cleared otherwise.

WARNING: a local reference to the passed map object is held by this event after this method is called. The event
map may not be deleted until the Event::delChain method has been used to remove this reference. This is not handled
automatically by the EventMap destructor.

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5.50 Event Class Reference 327

Parameters
map The map to chain.
mask The bit(s) to set/clear in the chained map based on the state of this event.

5.50.3.7 setValue()

const Error ∗ setValue (

uint32 val )

Change the value that the event will wait for.

The event's value can not be changed while it is attached to an EventMap object. If this is attempted, then &Event←-
Error::AlreadyOwned will be returned.

Parameters
val The new event value

Returns

A pointer to an error object, or NULL on success.

5.50.3.8 Wait()

const Error ∗ Wait (

EventMap & eventMapObj,
Timeout timeout )

Wait on an event.

This function causes the calling thread to pend until the event is true, or the timeout expires.

Note that the event should not be owned by any event map when this is called.

Parameters

eventMapObj The event map that this event should watch.

timeout The maximum amount of time to wait (milliseconds). If < 0, then the task will wait forever.

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328 Class Documentation

Returns

A pointer to an error object on failure, or NULL on success.

The documentation for this class was generated from the following files:

• CML_EventMap.h
• EventMap.cpp

5.51 EventAll Class Reference

This is an event that matches if all of a group of bits are set in the EventMap mask.

Inheritance diagram for EventAll:

Event

EventAll

Collaboration diagram for EventAll:

Event

EventAll

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5.51 EventAll Class Reference 329

Public Member Functions

• EventAll (uint32 v=0)

Construct a new object specifying a group of bits that should be checked.
• EventAll (const EventAll &e)
Construct a new event object using the value of a passed event.
• virtual bool isTrue (uint32 mask)
Check the event against the passed mask.

Additional Inherited Members

5.51.1 Detailed Description

This is an event that matches if all of a group of bits are set in the EventMap mask.

5.51.2 Constructor & Destructor Documentation

5.51.2.1 EventAll() [1/2]

EventAll (
uint32 v = 0 ) [inline]

Construct a new object specifying a group of bits that should be checked.

Parameters

v The bit mask that the event will wait on. Default is zero

5.51.2.2 EventAll() [2/2]

EventAll (
const EventAll & e ) [inline]

Construct a new event object using the value of a passed event.

Parameters

e Another event object who's value will be used to initialize this one.

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330 Class Documentation

5.51.3 Member Function Documentation

5.51.3.1 isTrue()

virtual bool isTrue (

uint32 mask ) [inline], [virtual]

Check the event against the passed mask.

If all of the selected bits are set in the mask, then the event is satisfied.

Parameters
mask The mask to test against

Returns

true if all bits of interest are set in the mask.

Reimplemented from Event.

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

• CML_EventMap.h

5.52 EventAny Class Reference

This is an event that matches if any of a group of bits are set in the EventMap mask.

Inheritance diagram for EventAny:

Event

EventAny

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5.52 EventAny Class Reference 331

Collaboration diagram for EventAny:

Event

EventAny

Public Member Functions

• EventAny (uint32 v=0)

Construct a new object specifying a group of bits that should be checked.
• EventAny (const EventAny &e)
Construct a new event object using the value of a passed event.
• virtual bool isTrue (uint32 mask)
Check the event.

Additional Inherited Members

5.52.1 Detailed Description

This is an event that matches if any of a group of bits are set in the EventMap mask.

5.52.2 Constructor & Destructor Documentation

5.52.2.1 EventAny() [1/2]

EventAny (
uint32 v = 0 ) [inline]

Construct a new object specifying a group of bits that should be checked.

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Parameters

v The bit mask that the event will wait on. Default is zero

5.52.2.2 EventAny() [2/2]

EventAny (
const EventAny & e ) [inline]

Construct a new event object using the value of a passed event.

Parameters

e Another event object who's value will be used to initialize this one.

5.52.3 Member Function Documentation

5.52.3.1 isTrue()

virtual bool isTrue (

uint32 mask ) [inline], [virtual]

Check the event.

The event is satisfied if any of the selected bits are set in the mask.

Parameters

mask Bitmap identifying the event bits that are of interest.

Returns

true if any bits of interest are set in the mask.

Reimplemented from Event.

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

• CML_EventMap.h

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5.53 EventAnyClear Class Reference 333

5.53 EventAnyClear Class Reference

This is an event that matches if any of a group of bits are clear in the EventMap mask.

Inheritance diagram for EventAnyClear:

Event

EventAnyClear

Collaboration diagram for EventAnyClear:

Event

EventAnyClear

Public Member Functions

• EventAnyClear (uint32 v=0)

Construct a new object specifying a group of bits that should be checked.
• EventAnyClear (const EventAnyClear &e)
Construct a new event object using the value of a passed event.
• virtual bool isTrue (uint32 mask)
Check the event.

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Additional Inherited Members

5.53.1 Detailed Description

This is an event that matches if any of a group of bits are clear in the EventMap mask.

5.53.2 Constructor & Destructor Documentation

5.53.2.1 EventAnyClear() [1/2]

EventAnyClear (
uint32 v = 0 ) [inline]

Construct a new object specifying a group of bits that should be checked.

Parameters

v The bit mask that the event will wait on. Default is zero

5.53.2.2 EventAnyClear() [2/2]

EventAnyClear (
const EventAnyClear & e ) [inline]

Construct a new event object using the value of a passed event.

Parameters

e Another event object who's value will be used to initialize this one.

5.53.3 Member Function Documentation

5.53.3.1 isTrue()

virtual bool isTrue (

uint32 mask ) [inline], [virtual]

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5.54 EventError Class Reference 335

Check the event.

The event is satisfied if any of the selected bits are clear in the mask.

Parameters

mask A bitmap identifying the event bits of interest.

Returns

true if any bits of interest are set in the mask.

Reimplemented from Event.

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

• CML_EventMap.h

5.54 EventError Class Reference

This class represents error conditions related to the Event object.

Inheritance diagram for EventError:

Error

EventError

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336 Class Documentation

Collaboration diagram for EventError:

Internal
Error OK
Unknown

NotMapped
EventError
AlreadyOwned

Static Public Attributes

• static const EventError AlreadyOwned

The event is already mapped to another object.
• static const EventError NotMapped
The event is not mapped to this object.

Protected Member Functions

• EventError (uint16 id, const char ∗desc)

Standard protected constructor.

Additional Inherited Members

5.54.1 Detailed Description

This class represents error conditions related to the Event object.

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

• CML_EventMap.h

5.55 EventMap Class Reference

An event map is a mechanism that allows one or more threads to wait on some pre-defined event, or group of events.

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5.55 EventMap Class Reference 337

Public Member Functions

• virtual ∼EventMap (void)

Event map destructor.
• const Error ∗ Add (Event ∗e)
Add the passed event to the list of events pending on this map.
• const Error ∗ Remove (Event ∗e)
Remove the passed event from the list of events pending on this map.
• uint32 getMask (void)
Get the current value of the mask for this event map.
• void setMask (uint32 mask)
Update the event mask.
• void setBits (uint32 bits)
Set bits in the event mask.
• void clrBits (uint32 bits)
Clear bits in the event mask.
• void changeBits (uint32 bits, uint32 value)
Change the value of specified bits in the mask for this event.

Friends

• class Event

5.55.1 Detailed Description

An event map is a mechanism that allows one or more threads to wait on some pre-defined event, or group of events.

For a particular event map, there are one or more events that are grouped with that map. Any number of threads may
pend on the state of these events.

5.55.2 Constructor & Destructor Documentation

5.55.2.1 ∼EventMap()

∼EventMap (
void ) [virtual]

Event map destructor.

Removes any attached events Note that it is an error to destroy an EventMap if it is currently pointed to by any events
using 'setChain'. Make sure to remove any such chaining before the event map is destroyed.

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5.55.3 Member Function Documentation

5.55.3.1 Add()

const Error ∗ Add (

Event ∗ eventObjPntr )

Add the passed event to the list of events pending on this map.

If the event is already mapped to a map (this one or another) then this function will return &EventError::AlreadyOwned.

Parameters

eventObj Points to the event to add

Returns

A pointer to an error object on failure, or NULL on success.

5.55.3.2 changeBits()

void changeBits (
uint32 bits,
uint32 value ) [inline]

Change the value of specified bits in the mask for this event.

The bits to change are identified by one parameter, and the new value for these bits is specified in the other parameter.

Parameters

bits Identifies which bits in the mask to change. Only those bits which are set in this parameter will be effected
in the event mask.
value The new value for the bits identified in the first parameter.

5.55.3.3 clrBits()

void clrBits (
uint32 bits ) [inline]

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5.55 EventMap Class Reference 339

Clear bits in the event mask.

Parameters
bits Any bit set in this parameter will be cleared in the event mask.

5.55.3.4 getMask()

uint32 getMask (
void ) [inline]

Get the current value of the mask for this event map.

Returns

The 32-bit mask value.

5.55.3.5 Remove()

const Error ∗ Remove (

Event ∗ eventObjPntr )

Remove the passed event from the list of events pending on this map.

If the event is not presently attached to this map, then this function will return &EventError::NotMapped.

Parameters
e Points to the event to remove

Returns

A pointer to an error object on failure, or NULL on success.

5.55.3.6 setBits()

void setBits (
uint32 bits ) [inline]

Set bits in the event mask.

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Parameters
bits Any bit set in this parameter will be set in the event mask.

5.55.3.7 setMask()

void setMask (
uint32 mask ) [inline]

Update the event mask.

The new mask value will equal the passed parameter.

Parameters
mask The new mask value.

The documentation for this class was generated from the following files:

• CML_EventMap.h
• EventMap.cpp

5.56 EventNone Class Reference

This is an event that matches if none of a group of bits are set in the EventMap mask.

Inheritance diagram for EventNone:

Event

EventNone

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5.56 EventNone Class Reference 341

Collaboration diagram for EventNone:

Event

EventNone

Public Member Functions

• EventNone (uint32 v=0)

Construct a new object specifying a group of bits that should be checked.
• EventNone (const EventNone &e)
Construct a new event object using the value of a passed event.
• virtual bool isTrue (uint32 mask)
Check the event against the passed mask.

Additional Inherited Members

5.56.1 Detailed Description

This is an event that matches if none of a group of bits are set in the EventMap mask.

5.56.2 Constructor & Destructor Documentation

5.56.2.1 EventNone() [1/2]

EventNone (
uint32 v = 0 ) [inline]

Construct a new object specifying a group of bits that should be checked.

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342 Class Documentation

Parameters

v The bit mask that the event will wait on. Default is zero

5.56.2.2 EventNone() [2/2]

EventNone (
const EventNone & e ) [inline]

Construct a new event object using the value of a passed event.

Parameters

e Another event object who's value will be used to initialize this one.

5.56.3 Member Function Documentation

5.56.3.1 isTrue()

virtual bool isTrue (

uint32 mask ) [inline], [virtual]

Check the event against the passed mask.

If none of the selected bits are set in the mask, then the event is satisfied.

Parameters
mask The mask to test against

Returns

true if none bits of interest are set in the mask.

Reimplemented from Event.

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

• CML_EventMap.h

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5.57 Filter Class Reference 343

5.57 Filter Class Reference

Generic filter structure.

Public Member Functions

• Filter (void)
Default constructor for filter object.
• const Error ∗ LoadFromCCX (int32 coef[ ], int ct)
Load the filter coefficients from an array of integer values read from a .ccx file.
• void getIntCoef (int16 &a1, int16 &a2, int16 &b0, int16 &b1, int16 &b2, int16 &k)
Return the filter coefficients in integer format as used by DSP based amplifiers.
• void getFloatCoef (float &a1, float &a2, float &b0, float &b1, float &b2)
Return the filter coefficients in floating point format as used by FPGA based amplifiers.

5.57.1 Detailed Description

Generic filter structure.

This structure holds the coefficients used by the amplifier in various configurable filters.

5.57.2 Constructor & Destructor Documentation

5.57.2.1 Filter()

Filter (
void )

Default constructor for filter object.

Simply sets all coefficients to zero.

5.57.3 Member Function Documentation

5.57.3.1 LoadFromCCX()

const Error ∗ LoadFromCCX (

int32 coef[ ],
int ct )

Load the filter coefficients from an array of integer values read from a .ccx file.

For DSP based amps the ccx file contains an array of 9 short integers holding the coefficient data. For FPGA based
amps the ccx file holds an array of 7 long integer values.

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Parameters

coef The array of coefficient data read from the ccx file
ct The number of coefficients (should be either 7 or 9)

Returns

An error pointer or NULL on success

The documentation for this class was generated from the following files:

• CML_Filter.h
• Filter.cpp

5.58 Firmware Class Reference

Copley Controls amplifier firmware object.

Public Member Functions

• uint16 getFileVersion ()
Returns the firmware file version number.
• uint16 getAmpType ()
Returns the amplifier type for this firmware.
• uint32 getStart ()
Returns the firmware starting address.
• uint32 getLength ()
Returns the firmware length (in words)
• uint16 ∗ getData (void)
Returns the firmware binary data.
• virtual void progress (uint32 addr)
This virtual function is called repeatedly during an amplifier firmware update.

5.58.1 Detailed Description

Copley Controls amplifier firmware object.

This object is used to represent a firmware file which can be uploaded to an amplifier.

Note that uploading firmware to the amplifier is not part of normal operation. The amplifier firmware is stored in internal
Flash memory, and only needs to be updated if a new version with new features or bug fixes is produced by Copley
Controls Corporation.

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5.58 Firmware Class Reference 345

5.58.2 Member Function Documentation

5.58.2.1 getAmpType()

uint16 getAmpType ( ) [inline]

Returns the amplifier type for this firmware.

Returns

The amplifier type for this firmware

5.58.2.2 getData()

uint16∗ getData (
void ) [inline]

Returns the firmware binary data.

Returns

The firmware binary data

5.58.2.3 getFileVersion()

uint16 getFileVersion ( ) [inline]

Returns the firmware file version number.

Returns

The firmware file version number

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5.58.2.4 getLength()

uint32 getLength ( ) [inline]

Returns the firmware length (in words)

Returns

The firmware length (in words)

5.58.2.5 getStart()

uint32 getStart ( ) [inline]

Returns the firmware starting address.

Returns

The firmware starting address

5.58.2.6 progress()

virtual void progress (

uint32 addr ) [inline], [virtual]

This virtual function is called repeatedly during an amplifier firmware update.

It can be overloaded to display the progress of the download. This version does nothing.

Parameters
addr The address currently being downloaded.

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

• CML_Firmware.h

5.59 FirmwareError Class Reference

This class represents error conditions that can occur while accessing a Copley Controls amplifier firmware object.

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5.59 FirmwareError Class Reference 347

Inheritance diagram for FirmwareError:

Error

FirmwareError

Collaboration diagram for FirmwareError:

Internal
Error OK
Unknown

alloc
format
read
FirmwareError
notSupported
open
crc

Static Public Attributes

• static const FirmwareError open
Unable to open specified firmware file.
• static const FirmwareError read
Error reading from firmware file.
• static const FirmwareError format
File format error.
• static const FirmwareError crc
File CRC error.
• static const FirmwareError alloc
Memory allocation error.
• static const FirmwareError notSupported
Firmware update not supported.

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348 Class Documentation

Protected Member Functions

• FirmwareError (uint16 id, const char ∗desc)

Standard protected constructor.

Additional Inherited Members

5.59.1 Detailed Description

This class represents error conditions that can occur while accessing a Copley Controls amplifier firmware object.

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

• CML_Firmware.h

5.60 FPRD Struct Reference

Read by assigned node ID (Configured Address Physical Read) The master assigns each node a unique 16-bit address
at startup.

Inheritance diagram for FPRD:

EcatDgram

FPRD

ALstatDG

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5.61 FPWR Struct Reference 349

Collaboration diagram for FPRD:

EcatDgram

FPRD

Additional Inherited Members

5.60.1 Detailed Description

Read by assigned node ID (Configured Address Physical Read) The master assigns each node a unique 16-bit address
at startup.

This datagram reads from memory locations within the slave based on these assigned addresses

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

• CML_EtherCAT.h

5.61 FPWR Struct Reference

Write by assigned node ID (Configured Address Physical Write)

Inheritance diagram for FPWR:

EcatDgram

FPWR

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Collaboration diagram for FPWR:

EcatDgram

FPWR

Additional Inherited Members

5.61.1 Detailed Description

Write by assigned node ID (Configured Address Physical Write)

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

• CML_EtherCAT.h

5.62 FuncGenConfig Struct Reference

Configuration parameters for amplifier's internal function generator.

Public Member Functions

• FuncGenConfig (void)
Default constructor, sets all members to zero.

Public Attributes

• int16 cfg
Configuration.
• int16 duty
Duty cycle in 0.1% (i.e. 0 to 1000)
• int16 freq
Frequency (Hz)
• int32 amp
Amplitude.

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5.63 GainScheduling Struct Reference 351

5.62.1 Detailed Description

Configuration parameters for amplifier's internal function generator.

5.62.2 Member Data Documentation

5.62.2.1 amp

int32 amp

Amplitude.

Units depend on what the function generator is driving 0.01 Amps for current. 0.1 encoder counts/sec for veloctiy.
Encoder counts for position.

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

• CML_AmpStruct.h

5.63 GainScheduling Struct Reference

Configuration structure used to set up the Gain Scheduling.

Public Member Functions

• GainScheduling (void)
Default constructor.

Public Attributes

• uint32 gainSchedulingConfig
Gain Scheduling configuration. See documentation for details.

5.63.1 Detailed Description

Configuration structure used to set up the Gain Scheduling.

These settings may be up/download from the amplifier using the functions Amp::SetGainScheduling and Amp::Get←-
GainScheduling.

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5.63.2 Constructor & Destructor Documentation

5.63.2.1 GainScheduling()

GainScheduling (
void ) [inline]

Default constructor.

Initializes all structure elements to zero.

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

• CML_AmpStruct.h

5.64 HomeConfig Struct Reference

Homing parameter structure.

Public Member Functions

• HomeConfig (void)
Default constructor, just set the method to none and the other parameters to zero.

Public Attributes

• COPLEY_HOME_METHOD method
Homing method to use.
• uint16 extended
Extended home method.
• uunit velFast
Velocity to use for fast moves during the home procedure.
• uunit velSlow
Velocity to use when seeking a sensor edge.
• uunit accel
Acceleration to use for the home procuedure.
• uunit offset
Offset from located home position to zero position.
• int16 current
Home current limit.
• int16 delay
Home delay.

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5.64 HomeConfig Struct Reference 353

5.64.1 Detailed Description

Homing parameter structure.

This structure allows all homing parameters to be grouped together and passed to the amplifier for convenience.

5.64.2 Constructor & Destructor Documentation

5.64.2.1 HomeConfig()

HomeConfig (
void ) [inline]

Default constructor, just set the method to none and the other parameters to zero.

5.64.3 Member Data Documentation

5.64.3.1 accel

uunit accel

Acceleration to use for the home procuedure.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

5.64.3.2 current

int16 current

Home current limit.

This parameter is only used when running in one of the 'home to hard stop' homing modes. In all other modes this
parameter may be left uninitialized. The current should be specified in units of 0.01 Amps (i.e. 100 for 1.0 Amp)

5.64.3.3 delay

int16 delay

Home delay.

This parameter is only used when running in one of the 'home to hard stop' homing modes. In all other modes this
parameter may be left uninitialized. The delay is specified in units of milliseconds.

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5.64.3.4 extended

uint16 extended

Extended home method.

If the main home method is set to any value other then 'CHM_EXTENDED' then this parameter is ignored. If the home
method is set to this value, then this value will be used to define the low level homing routine used by the amplifier.

For the most part this parameter can be ignored. It's intended to allow access to some low level features of the amplifier's
homing state machine which are otherwise not available through the more generic home methods.

Encodings for this parameter can be found in the CANopen programmers guide for CANopen object 0x2352, or in the
serial port programmers guide for variable 0xC2.

5.64.3.5 offset

uunit offset

Offset from located home position to zero position.

After the home position is found as defined by the home method, this offset will be added to it and the resulting position
will be considered the zero position. This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

5.64.3.6 velFast

uunit velFast

Velocity to use for fast moves during the home procedure.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

5.64.3.7 velSlow

uunit velSlow

Velocity to use when seeking a sensor edge.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

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

• CML_AmpStruct.h

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5.65 InputShaper Class Reference 355

5.65 InputShaper Class Reference

Generic input shaper structure.

Public Member Functions

• InputShaper (void)
Default constructor for InputShaper object.
• const Error ∗ LoadFromCCX (int32 inputShaping[ ], int ct)
Load the filter coefficients from an array of integer values read from a .ccx file.
• void setInputShapeFilter (float inputShaperData[ ])
Return the amplitude for each impulse in the input shaping filter.

5.65.1 Detailed Description

Generic input shaper structure.

This structure holds the amplitudes and times of the impulse functions used to create the input shaper, as well as the
info used by CME2 to indentify the filter type and settings.

5.65.2 Constructor & Destructor Documentation

5.65.2.1 InputShaper()

InputShaper (
void )

Default constructor for InputShaper object.

Simply sets all impulses to 0

5.65.3 Member Function Documentation

5.65.3.1 LoadFromCCX()

const Error ∗ LoadFromCCX (

int32 inputShaping[ ],
int ct )

Load the filter coefficients from an array of integer values read from a .ccx file.

The .ccx file holds an array of 20 long integer values for the input shaping filter.

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Parameters

inputShaping The array of input shaping data read from the ccx file
ct The number of coefficients (should be 20)

Returns

An error pointer or NULL on success

The documentation for this class was generated from the following files:

• CML_InputShaper.h
• InputShaper.cpp

5.66 IOError Class Reference

I/O module errors.

Inheritance diagram for IOError:

Error

NodeError

IOError

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5.66 IOError Class Reference 357

Collaboration diagram for IOError:

Internal
Error OK
Unknown

NetworkUnavailable
NodeError
GuardTimeout

BadID
IOError
BadIOCount

Static Public Attributes

• static const IOError BadID

The passed digital I/O pin ID number is invalid.
• static const IOError BadIOCount
The number of passed I/O ID blocks is invalid.

Protected Member Functions

• IOError (uint16 id, const char ∗desc)

Standard protected constructor.

Additional Inherited Members

5.66.1 Detailed Description

I/O module errors.

This class is used to represent errors that may be returned by a standard I/O module.

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

• CML_IO.h

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358 Class Documentation

5.67 IOFileError Class Reference

This class represents error conditions that can occur when loading IO module data from a data file.

Inheritance diagram for IOFileError:

Error

IOFileError

Collaboration diagram for IOFileError:

Internal
Error OK
Unknown

IOFileError bankInvalid

Static Public Attributes

• static const IOFileError bankInvalid

I/O bank invalid.

Protected Member Functions

• IOFileError (uint16 id, const char ∗desc)

Standard protected constructor.

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5.68 IOModule Class Reference 359

Additional Inherited Members

5.67.1 Detailed Description

This class represents error conditions that can occur when loading IO module data from a data file.

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

• CML_CopleyIO.h

5.68 IOModule Class Reference

Standard CANopen I/O module.

Inheritance diagram for IOModule:

RefObj

Node

IOModule

CopleyIO

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360 Class Documentation

Collaboration diagram for IOModule:

SDO RefObj Pmap

sdo map

Node PDO

RPDO TPDO

AlgOutPDO DigOutPDO AlgInPDO DigInPDO EventMap

aoutPDO doutPDO ainPDO dinPDO eventMap

IOModule

Classes

• class AlgInPDO
Transmit PDO for mapping analog inputs.
• class AlgOutPDO
Receive PDO for mapping analog outputs.
• class DigInPDO
Transmit PDO for mapping digital inputs.
• class DigOutPDO
Receive PDO for mapping digital output pins.

Public Member Functions

• IOModule (void)
Default constructor for an I/O module.
• IOModule (Network &net, int16 nodeID)
Construct an IOModule object and initialize it using default settings.
• IOModule (Network &net, int16 nodeID, IOModuleSettings &settings)
Construct an IOModule object and initialize it using custom settings.
• virtual ∼IOModule ()
Virtual destructor for the IOModule object.
• virtual const Error ∗ Init (Network &net, int16 nodeID)
Initialize an I/O module using default settings.
• virtual const Error ∗ Init (Network &net, int16 nodeID, IOModuleSettings &settings)
Initialize an I/O module using custom settings.

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5.68 IOModule Class Reference 361

• virtual const Error ∗ WaitIOEvent (IOMODULE_EVENTS event, Timeout timeout=-1)

Wait on an event associated with this I/O module.
• virtual const Error ∗ WaitIOEvent (Event &e, Timeout timeout, IOMODULE_EVENTS &match)
Wait for an event associated with this I/O module.

Digital input control

If the module contains digital inputs, these methods may be used to configure and read those inputs.
The inputs may be read and controlled individually, or in groups of 8, 16 or 32 inputs.
All I/O modules should support access to digital inputs in groups of 8. Support for individual access or different
groupings is optional under the spec. If a particular device does not support such groupings, an attempt to use them
should return an error code.
Each input pin or group of pins is assigned an ID number used to access it. When single inputs are accessed, these
ID numbers range from 0 (the first input) to N-1 (the last input), where N is the total number of input pins available
on the module.
When groups of inputs are accessed as a unit, the group is assigned a number. The first group of inputs will be
assigned ID number 0, the second will be ID 1, etc. The number of groups of a particular size will be the total number
of inputs divided by the group size.
For example, to access the fifty third input pin individually you would use id number 52. To access it as part of a
group of 8 inputs, you would access group number 6 (52/8). Input 52 would be bit 4 (52%8) of that group.

• virtual const Error ∗ DinGetIntEna (bool &value)

Get the current setting of the global interrupt enable for digital inputs.
• virtual const Error ∗ DinSetIntEna (bool value)
Set the current setting of the global interrupt enable for digital inputs.
• virtual const Error ∗ DinGetCt (uint16 &ct)
Return the number of individual inputs available on this device.
• virtual const Error ∗ DinRead (uint16 id, bool &value, bool viaSDO=false)
Read a single digital input.
• virtual const Error ∗ DinGetPol (uint16 id, bool &value)
Get the current polarity settings for a digital input.
• virtual const Error ∗ DinSetPol (uint16 id, bool value)
Set the current polarity setting for a digital input.
• virtual const Error ∗ DinGetFilt (uint16 id, bool &value)
Get the current filter constant setting for a digital input.
• virtual const Error ∗ DinSetFilt (uint16 id, bool value)
Set the current filter constant setting for a digital input.
• virtual const Error ∗ DinGetMaskAny (uint16 id, bool &value)
Get the 'any transition' interrupt mask settings for a digital input.
• virtual const Error ∗ DinSetMaskAny (uint16 id, bool value)
Set the 'any transition' interrupt mask settings for a digital input.
• virtual const Error ∗ DinGetMaskLow2High (uint16 id, bool &value)
Get the 'low to high' interrupt mask settings for a digital input.
• virtual const Error ∗ DinSetMaskLow2High (uint16 id, bool value)
Set the 'low to high' interrupt mask settings for a digital input.
• virtual const Error ∗ DinGetMaskHigh2Low (uint16 id, bool &value)
Get the 'high to low' interrupt mask settings for a digital input.
• virtual const Error ∗ DinSetMaskHigh2Low (uint16 id, bool value)
Set the 'high to low' interrupt mask settings for a digital input.
• virtual const Error ∗ Din8GetCt (uint8 &ct)
Return the number of 8-bit groups of inputs available on this device.
• virtual const Error ∗ Din8Read (uint8 id, uint8 &value, bool viaSDO=false)
Read a group of 8 digital inputs.

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362 Class Documentation

• virtual const Error ∗ Din8GetPol (uint8 id, uint8 &value)

Get the current polarity settings for a group of 8 digital inputs.
• virtual const Error ∗ Din8SetPol (uint8 id, uint8 value)
Set the current polarity setting for a group of 8 digital inputs.
• virtual const Error ∗ Din8GetFilt (uint8 id, uint8 &value)
Get the current filter constant settings for a group of 8 digital inputs.
• virtual const Error ∗ Din8SetFilt (uint8 id, uint8 value)
Set the current filter constant setting for a group of 8 digital inputs.
• virtual const Error ∗ Din8GetMaskAny (uint8 id, uint8 &value)
Get the 'any transition' interrupt mask settings for a group of 8 digital inputs.
• virtual const Error ∗ Din8SetMaskAny (uint8 id, uint8 value)
Set the 'any transition' interrupt mask settings for a group of 8 digital inputs.
• virtual const Error ∗ Din8GetMaskLow2High (uint8 id, uint8 &value)
Get the 'low to high' interrupt mask settings for a group of 8 digital inputs.
• virtual const Error ∗ Din8SetMaskLow2High (uint8 id, uint8 value)
Set the 'low to high' interrupt mask settings for a group of 8 digital inputs.
• virtual const Error ∗ Din8GetMaskHigh2Low (uint8 id, uint8 &value)
Get the 'high to low' interrupt mask settings for a group of 8 digital inputs.
• virtual const Error ∗ Din8SetMaskHigh2Low (uint8 id, uint8 value)
Set the 'high to low' interrupt mask settings for a group of 8 digital inputs.
• virtual const Error ∗ Din16GetCt (uint8 &ct)
Return the number of 16-bit groups of inputs available on this device.
• virtual const Error ∗ Din16Read (uint8 id, uint16 &value, bool viaSDO=false)
Read a group of 16 digital inputs.
• virtual const Error ∗ Din16GetPol (uint8 id, uint16 &value)
Get the current polarity settings for a group of 16 digital inputs.
• virtual const Error ∗ Din16SetPol (uint8 id, uint16 value)
Set the current polarity setting for a group of 16 digital inputs.
• virtual const Error ∗ Din16GetFilt (uint8 id, uint16 &value)
Get the current filter constant settings for a group of 16 digital inputs.
• virtual const Error ∗ Din16SetFilt (uint8 id, uint16 value)
Set the current filter constant setting for a group of 16 digital inputs.
• virtual const Error ∗ Din16GetMaskAny (uint8 id, uint16 &value)
Get the 'any transition' interrupt mask settings for a group of 16 digital inputs.
• virtual const Error ∗ Din16SetMaskAny (uint8 id, uint16 value)
Set the 'any transition' interrupt mask settings for a group of 16 digital inputs.
• virtual const Error ∗ Din16GetMaskLow2High (uint8 id, uint16 &value)
Get the 'low to high' interrupt mask settings for a group of 16 digital inputs.
• virtual const Error ∗ Din16SetMaskLow2High (uint8 id, uint16 value)
Set the 'low to high' interrupt mask settings for a group of 16 digital inputs.
• virtual const Error ∗ Din16GetMaskHigh2Low (uint8 id, uint16 &value)
Get the 'high to low' interrupt mask settings for a group of 16 digital inputs.
• virtual const Error ∗ Din16SetMaskHigh2Low (uint8 id, uint16 value)
Set the 'high to low' interrupt mask settings for a group of 16 digital inputs.
• virtual const Error ∗ Din32GetCt (uint8 &ct)
Return the number of 32-bit groups of inputs available on this device.
• virtual const Error ∗ Din32Read (uint8 id, uint32 &value, bool viaSDO=false)
Read a group of 32 digital inputs.
• virtual const Error ∗ Din32GetPol (uint8 id, uint32 &value)
Get the current polarity settings for a group of 32 digital inputs.
• virtual const Error ∗ Din32SetPol (uint8 id, uint32 value)
Set the current polarity setting for a group of 32 digital inputs.
• virtual const Error ∗ Din32GetFilt (uint8 id, uint32 &value)
Get the current filter constant settings for a group of 32 digital inputs.
• virtual const Error ∗ Din32SetFilt (uint8 id, uint32 value)

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Set the current filter constant setting for a group of 32 digital inputs.
• virtual const Error ∗ Din32GetMaskAny (uint8 id, uint32 &value)
Get the 'any transition' interrupt mask settings for a group of 32 digital inputs.
• virtual const Error ∗ Din32SetMaskAny (uint8 id, uint32 value)
Set the 'any transition' interrupt mask settings for a group of 32 digital inputs.
• virtual const Error ∗ Din32GetMaskLow2High (uint8 id, uint32 &value)
Get the 'low to high' interrupt mask settings for a group of 32 digital inputs.
• virtual const Error ∗ Din32SetMaskLow2High (uint8 id, uint32 value)
Set the 'low to high' interrupt mask settings for a group of 32 digital inputs.
• virtual const Error ∗ Din32GetMaskHigh2Low (uint8 id, uint32 &value)
Get the 'high to low' interrupt mask settings for a group of 32 digital inputs.
• virtual const Error ∗ Din32SetMaskHigh2Low (uint8 id, uint32 value)
Set the 'high to low' interrupt mask settings for a group of 32 digital inputs.

Digital output control

If the module contains digital outputs, these methods may be used to configure and set those outputs.
The outputs may be set and controlled individually, or in groups of 8, 16 or 32 outputs.
All I/O modules should support access to digital outputs in groups of 8. Support for individual access or different
groupings is optional under the spec. If a particular device does not support such groupings, an attempt to use them
should return an error code.
Each output pin or group of pins is assigned an ID number used to access it. When single outputs are accessed,
these ID numbers range from 0 (the first output) to N-1 (the last output), where N is the total number of output pins
available on the module.
When groups of outputs are accessed as a unit, the group is assigned a number. The first group of outputs will be
assigned ID number 0, the second will be ID 1, etc. The number of groups of a particular size will be the total number
of outputs divided by the group size.
For example, to access the twenty seventy output pin individually you would use id number 26. To access it as part
of a group of 8 outputs, you would access group number 3 (26/8). Output 26 would be bit 2 (26%8) of that group.

• virtual const Error ∗ DoutGetCt (uint16 &ct)

Return the number of individual outputs available on this device.
• virtual const Error ∗ DoutWrite (uint16 id, bool value, bool viaSDO=false)
Write an individual digital output.
• virtual const Error ∗ DoutGetPol (uint16 id, bool &value)
Get the current polarity setting for an individual digital output.
• virtual const Error ∗ DoutSetPol (uint16 id, bool value)
Set the current polarity setting for an individual digital output.
• virtual const Error ∗ DoutGetFilt (uint16 id, bool &value)
Get the current filter constant setting for an individual digital output.
• virtual const Error ∗ DoutSetFilt (uint16 id, bool value)
Set the current filter constant setting for an individual digital output.
• virtual const Error ∗ DoutGetErrMode (uint16 id, bool &value)
Get the current error mode setting for an individual digital output.
• virtual const Error ∗ DoutSetErrMode (uint16 id, bool value)
Set the current error mode setting for an individual digital output.
• virtual const Error ∗ DoutGetErrValue (uint16 id, bool &value)
Get the current error value setting for an individual digital output.
• virtual const Error ∗ DoutSetErrValue (uint16 id, bool value)
Set the current error value setting for an individual digital output.
• virtual const Error ∗ Dout8GetCt (uint8 &ct)
Return the number of 8-bit groups of outputs available on this device.
• const Error ∗ Dout8Write (uint8 id, uint8 value, bool viaSDO=false)

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Write a group of 8 digital outputs.

• const Error ∗ Dout8Read (uint8 id, uint8 &value)
Read back the last value written to this bank of 8 digital outputs.
• virtual const Error ∗ Dout8GetPol (uint8 id, uint8 &value)
Get the current polarity settings for a group of 8 digital outputs.
• virtual const Error ∗ Dout8SetPol (uint8 id, uint8 value)
Set the current polarity setting for a group of 8 digital outputs.
• virtual const Error ∗ Dout8GetFilt (uint8 id, uint8 &value)
Get the current filter constant settings for a group of 8 digital outputs.
• virtual const Error ∗ Dout8SetFilt (uint8 id, uint8 value)
Set the current filter constant setting for a group of 8 digital outputs.
• virtual const Error ∗ Dout8GetErrMode (uint8 id, uint8 &value)
Get the current error mode settings for a group of 8 digital outputs.
• virtual const Error ∗ Dout8SetErrMode (uint8 id, uint8 value)
Set the current error mode settings for a group of 8 digital outputs.
• virtual const Error ∗ Dout8GetErrValue (uint8 id, uint8 &value)
Get the current error value settings for a group of 8 digital outputs.
• virtual const Error ∗ Dout8SetErrValue (uint8 id, uint8 value)
Set the current error value settings for a group of 8 digital outputs.
• virtual const Error ∗ Dout16GetCt (uint8 &ct)
Return the number of 16-bit groups of outputs available on this device.
• virtual const Error ∗ Dout16Write (uint8 id, uint16 value, bool viaSDO=false)
Write a group of 16 digital outputs.
• const Error ∗ Dout16Read (uint8 id, uint16 &value)
Read back the last value written to this bank of 16 digital outputs.
• virtual const Error ∗ Dout16GetPol (uint8 id, uint16 &value)
Get the current polarity settings for a group of 16 digital outputs.
• virtual const Error ∗ Dout16SetPol (uint8 id, uint16 value)
Set the current polarity setting for a group of 16 digital outputs.
• virtual const Error ∗ Dout16GetFilt (uint8 id, uint16 &value)
Get the current filter constant settings for a group of 16 digital outputs.
• virtual const Error ∗ Dout16SetFilt (uint8 id, uint16 value)
Set the current filter constant setting for a group of 16 digital outputs.
• virtual const Error ∗ Dout16GetErrMode (uint8 id, uint16 &value)
Get the current error mode settings for a group of 16 digital outputs.
• virtual const Error ∗ Dout16SetErrMode (uint8 id, uint16 value)
Set the current error mode settings for a group of 16 digital outputs.
• virtual const Error ∗ Dout16GetErrValue (uint8 id, uint16 &value)
Get the current error value settings for a group of 16 digital outputs.
• virtual const Error ∗ Dout16SetErrValue (uint8 id, uint16 value)
Set the current error value settings for a group of 16 digital outputs.
• virtual const Error ∗ Dout32GetCt (uint8 &ct)
Return the number of 32-bit groups of outputs available on this device.
• virtual const Error ∗ Dout32Write (uint8 id, uint32 value, bool viaSDO=false)
Write a group of 32 digital outputs.
• const Error ∗ Dout32Read (uint8 id, uint32 &value)
Read back the last value written to this bank of 32 digital outputs.
• virtual const Error ∗ Dout32GetPol (uint8 id, uint32 &value)
Get the current polarity settings for a group of 32 digital outputs.
• virtual const Error ∗ Dout32SetPol (uint8 id, uint32 value)
Set the current polarity setting for a group of 32 digital outputs.
• virtual const Error ∗ Dout32GetFilt (uint8 id, uint32 &value)
Get the current filter constant settings for a group of 32 digital outputs.
• virtual const Error ∗ Dout32SetFilt (uint8 id, uint32 value)
Set the current filter constant setting for a group of 32 digital outputs.

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• virtual const Error ∗ Dout32GetErrMode (uint8 id, uint32 &value)

Get the current error mode settings for a group of 32 digital outputs.
• virtual const Error ∗ Dout32SetErrMode (uint8 id, uint32 value)
Set the current error mode settings for a group of 32 digital outputs.
• virtual const Error ∗ Dout32GetErrValue (uint8 id, uint32 &value)
Get the current error value settings for a group of 32 digital outputs.
• virtual const Error ∗ Dout32SetErrValue (uint8 id, uint32 value)
Set the current error value settings for a group of 32 digital outputs.

Analog input control

If the module contains analog inputs, these methods may be used to configure and read those inputs.
Most manufacturers support 16-bit access to analog inputs. Other input sizes are optional in the spec. and may or
may not be available.

• virtual const Error ∗ Ain8GetCt (uint8 &ct)

Return the number of 8-bit analog inputs available on this device.
• virtual const Error ∗ Ain8Read (uint8 id, int8 &value)
Read an 8-bit analog input.
• virtual const Error ∗ Ain16GetCt (uint8 &ct)
Return the number of 16-bit analog inputs available on this device.
• virtual const Error ∗ Ain16Read (uint8 id, int16 &value, bool viaSDO=false)
Read a 16-bit analog input.
• virtual const Error ∗ Ain32GetCt (uint8 &ct)
Return the number of 32-bit analog inputs available on this device.
• virtual const Error ∗ Ain32Read (uint8 id, int32 &value)
Read a 32-bit analog input.
• virtual const Error ∗ AinFltGetCt (uint8 &ct)
Return the number of floating point analog inputs available on this device.
• virtual const Error ∗ AinFltRead (uint8 id, float &value)
Read a floating point analog input.
• virtual const Error ∗ Ain32GetOffset (uint8 id, int32 &value)
Get the analog input offset value as a 32-bit integer.
• virtual const Error ∗ Ain32SetOffset (uint8 id, int32 value)
Set the analog input offset value as a 32-bit integer.
• virtual const Error ∗ Ain32GetScaling (uint8 id, int32 &value)
Get the analog input scaling factor as a 32-bit integer.
• virtual const Error ∗ Ain32SetScaling (uint8 id, int32 value)
Set the analog input scaling factor as a 32-bit integer.
• virtual const Error ∗ AinFltGetOffset (uint8 id, float &value)
Get the analog input offset value as a floating point value.
• virtual const Error ∗ AinFltSetOffset (uint8 id, float value)
Set the analog input offset value as a floating point value.
• virtual const Error ∗ AinFltGetScaling (uint8 id, float &value)
Get the analog input scaling factor as a floating point value.
• virtual const Error ∗ AinFltSetScaling (uint8 id, float value)
Set the analog input scaling factor as a floating point value.
• virtual const Error ∗ AinGetIntEna (bool &value)
Get the current setting of the global interrupt enable for analog inputs.
• virtual const Error ∗ AinSetIntEna (bool value)
Set the current setting of the global interrupt enable for analog inputs.
• virtual const Error ∗ AinGetTrigType (uint8 id, IO_AIN_TRIG_TYPE &value)
Get the analog input trigger type associated with the input channel.
• virtual const Error ∗ AinSetTrigType (uint8 id, IO_AIN_TRIG_TYPE value)
Set the analog input trigger type associated with the input channel.

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• virtual const Error ∗ AinGetIntSource (uint8 id, uint32 &value)

Get the analog input interrupt source.
• virtual const Error ∗ Ain16GetUpperLimit (uint8 id, int16 &value)
Get the analog input upper limit value as a 16-bit integer.
• virtual const Error ∗ Ain16SetUpperLimit (uint8 id, int16 value)
Set the analog input upper limit value as a 16-bit integer.
• virtual const Error ∗ Ain16GetLowerLimit (uint8 id, int16 &value)
Get the analog input lower limit value as a 16-bit integer.
• virtual const Error ∗ Ain16SetLowerLimit (uint8 id, int16 value)
Set the analog input lower limit value as a 16-bit integer.
• virtual const Error ∗ Ain16GetUnsignedDelta (uint8 id, int16 &value)
Get the analog input unsigned delta value as a 16-bit integer.
• virtual const Error ∗ Ain16SetUnsignedDelta (uint8 id, int16 value)
Set the analog input unsigned delta value as a 16-bit integer.
• virtual const Error ∗ Ain16GetNegativeDelta (uint8 id, int16 &value)
Get the analog input negative delta value as a 16-bit integer.
• virtual const Error ∗ Ain16SetNegativeDelta (uint8 id, int16 value)
Set the analog input negative delta value as a 16-bit integer.
• virtual const Error ∗ Ain16GetPositiveDelta (uint8 id, int16 &value)
Get the analog input positive delta value as a 16-bit integer.
• virtual const Error ∗ Ain16SetPositiveDelta (uint8 id, int16 value)
Set the analog input positive delta value as a 16-bit integer.
• virtual const Error ∗ Ain32GetUpperLimit (uint8 id, int32 &value)
Get the analog input upper limit value as a 32-bit integer.
• virtual const Error ∗ Ain32SetUpperLimit (uint8 id, int32 value)
Set the analog input upper limit value as a 32-bit integer.
• virtual const Error ∗ Ain32GetLowerLimit (uint8 id, int32 &value)
Get the analog input lower limit value as a 32-bit integer.
• virtual const Error ∗ Ain32SetLowerLimit (uint8 id, int32 value)
Set the analog input lower limit value as a 32-bit integer.
• virtual const Error ∗ Ain32GetUnsignedDelta (uint8 id, int32 &value)
Get the analog input unsigned delta value as a 32-bit integer.
• virtual const Error ∗ Ain32SetUnsignedDelta (uint8 id, int32 value)
Set the analog input unsigned delta value as a 32-bit integer.
• virtual const Error ∗ Ain32GetNegativeDelta (uint8 id, int32 &value)
Get the analog input negative delta value as a 32-bit integer.
• virtual const Error ∗ Ain32SetNegativeDelta (uint8 id, int32 value)
Set the analog input negative delta value as a 32-bit integer.
• virtual const Error ∗ Ain32GetPositiveDelta (uint8 id, int32 &value)
Get the analog input positive delta value as a 32-bit integer.
• virtual const Error ∗ Ain32SetPositiveDelta (uint8 id, int32 value)
Set the analog input positive delta value as a 32-bit integer.
• virtual const Error ∗ AinFltGetUpperLimit (uint8 id, float &value)
Get the analog input upper limit value as a floating point value.
• virtual const Error ∗ AinFltSetUpperLimit (uint8 id, float value)
Set the analog input upper limit value as a floating point value.
• virtual const Error ∗ AinFltGetLowerLimit (uint8 id, float &value)
Get the analog input lower limit value as a floating point value.
• virtual const Error ∗ AinFltSetLowerLimit (uint8 id, float value)
Set the analog input lower limit value as a floating point value.
• virtual const Error ∗ AinFltGetUnsignedDelta (uint8 id, float &value)
Get the analog input unsigned delta value as a floating point value.
• virtual const Error ∗ AinFltSetUnsignedDelta (uint8 id, float value)
Set the analog input unsigned delta value as a floating point value.
• virtual const Error ∗ AinFltGetNegativeDelta (uint8 id, float &value)

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Get the analog input negative delta value as a floating point value.
• virtual const Error ∗ AinFltSetNegativeDelta (uint8 id, float value)
Set the analog input negative delta value as a floating point value.
• virtual const Error ∗ AinFltGetPositiveDelta (uint8 id, float &value)
Get the analog input positive delta value as a floating point value.
• virtual const Error ∗ AinFltSetPositiveDelta (uint8 id, float value)
Set the analog input positive delta value as a floating point value.

Analog output control

If the module contains analog outputs, these methods may be used to configure and write to those outputs.
Most manufacturers support 16-bit access to analog inputs. Other input sizes are optional in the spec. and may or
may not be available.

• virtual const Error ∗ Aout8GetCt (uint8 &ct)

Return the number of 8-bit analog outputs available on this device.
• virtual const Error ∗ Aout8Write (uint8 id, int8 value)
Write to an 8-bit analog output.
• virtual const Error ∗ Aout16GetCt (uint8 &ct)
Return the number of 16-bit analog outputs available on this device.
• virtual const Error ∗ Aout16Write (uint8 id, int16 value, bool viaSDO=false)
Write to a 16-bit analog output.
• virtual const Error ∗ Aout32GetCt (uint8 &ct)
Return the number of 32-bit analog outputs available on this device.
• virtual const Error ∗ Aout32Write (uint8 id, int32 value)
Write to a 32-bit analog output.
• virtual const Error ∗ AoutFltGetCt (uint8 &ct)
Return the number of floating point analog outputs available on this device.
• virtual const Error ∗ AoutFltWrite (uint8 id, float value)
Write to a floating point analog output.
• virtual const Error ∗ Aout32GetOffset (uint8 id, int32 &value)
Get the analog output offset value as a 32-bit integer.
• virtual const Error ∗ Aout32SetOffset (uint8 id, int32 value)
Set the analog output offset value as a 32-bit integer.
• virtual const Error ∗ Aout32GetScaling (uint8 id, int32 &value)
Get the analog output scaling factor as a 32-bit integer.
• virtual const Error ∗ Aout32SetScaling (uint8 id, int32 value)
Set the analog output scaling factor as a 32-bit integer.
• virtual const Error ∗ AoutFltGetOffset (uint8 id, float &value)
Get the analog output offset value as a floating point value.
• virtual const Error ∗ AoutFltSetOffset (uint8 id, float value)
Set the analog output offset value as a floating point value.
• virtual const Error ∗ AoutFltGetScaling (uint8 id, float &value)
Get the analog output scaling factor as a floating point value.
• virtual const Error ∗ AoutFltSetScaling (uint8 id, float value)
Set the analog output scaling factor as a floating point value.
• virtual const Error ∗ AoutGetErrMode (uint8 id, bool &value)
Get the analog output error mode.
• virtual const Error ∗ AoutSetErrMode (uint8 id, bool value)
Set the analog output error mode.
• virtual const Error ∗ Aout32GetErrValue (uint8 id, int32 &value)
Get the analog output error value as a 32-bit integer.
• virtual const Error ∗ Aout32SetErrValue (uint8 id, int32 value)
Set the analog output error value as a 32-bit integer.
• virtual const Error ∗ Aout16GetErrValue (uint8 id, int16 &value)

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Get the analog output error value as a 16-bit integer.

• virtual const Error ∗ Aout16SetErrValue (uint8 id, int16 value)
Set the analog output error value as a 32-bit integer.
• virtual const Error ∗ AoutFltGetErrValue (uint8 id, float &value)
Get the analog output error value as a floating point value.
• virtual const Error ∗ AoutFltSetErrValue (uint8 id, float value)
Set the analog output error value as a floating point value.

Protected Member Functions

• const Error ∗ BitUpld (uint16 base, uint16 id, bool &value)
Upload a setting for a single digital I/O pin.
• const Error ∗ BitDnld (uint16 base, uint16 id, bool value)
Download a setting for a single digital I/O pin.
• const Error ∗ BitCount (uint16 base, uint16 &ct)
Count the number of individual I/O pins available on the device.
• virtual void PostIOEvent (IOMODULE_EVENTS event)
Post an event condition to the I/O module's event map.

Protected Attributes
• DigOutPDO doutPDO
Default PDO used to transmit digital output info.

Additional Inherited Members

5.68.1 Detailed Description

Standard CANopen I/O module.

This class represents and I/O module device conforming to the DS401 CANopen specification. The class may be
extended to provide additional manufacturer specific features.

Note that the CANopen standard defines a very large number of parameters that may be used with a standard I/O
module. Of these, only a small subset are requred by the spec. In practice, it seems that most of the major manufacturers
of CANopen I/O modules only implement the minimum required by the spec. The result is that many of the optional
functions have not been tested with real hardware due to the lack of availability. Please contact Copley Controls if you
believe that you have found a problem with any of these functions.

For the typical I/O module, you can expect the following functionality to be supported based on the type of I/O the module
supports:

Digital Inputs: Reading the inputs via PDO or SDO in groups of 8 should be supported. Other features are optional.

Digital Outputs: Writing to the outputs via PDO or SDO in groups of 8 should be supported. Other features are optional.

Analog Inputs: Reading 16-bit analog inputs via PDO or SDO is normally supported. Other input sizes and features are
optional.

Analog Outputs: Writing 16-bit analog outputs via PDO or SDO is normally supported. Other output sizes and features
are optional.

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5.68.2 Constructor & Destructor Documentation

5.68.2.1 IOModule() [1/3]

IOModule (
void )

Default constructor for an I/O module.

Any object created using this constructor must be initialized by a call to IOModule::Init before it is used.

5.68.2.2 IOModule() [2/3]

IOModule (
Network & net,
int16 nodeID )

Construct an IOModule object and initialize it using default settings.

Parameters
net The Network object that this module is associated with.
nodeID The node ID of the module on the network.

5.68.2.3 IOModule() [3/3]

IOModule (
Network & net,
int16 nodeID,
IOModuleSettings & settings )

Construct an IOModule object and initialize it using custom settings.

Parameters
net The Network object that this module is associated with.
nodeID The node ID of the module on the network.
settings The settings to use when configuring the module

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5.68.3 Member Function Documentation

5.68.3.1 Ain16GetCt()

virtual const Error∗ Ain16GetCt (

uint8 & ct ) [inline], [virtual]

Return the number of 16-bit analog inputs available on this device.

Parameters
ct The count is returned here. Zero is returned on error.

Returns

A pointer to an error object, or NULL on success

5.68.3.2 Ain16GetLowerLimit()

virtual const Error∗ Ain16GetLowerLimit (

uint8 id,
int16 & value ) [inline], [virtual]

Get the analog input lower limit value as a 16-bit integer.

The lower limit defines the value at which an interrupt will be generated if it is enabled.

Parameters
id The analog input channel ID
value The value is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.3 Ain16GetNegativeDelta()

virtual const Error∗ Ain16GetNegativeDelta (

uint8 id,
int16 & value ) [inline], [virtual]

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Get the analog input negative delta value as a 16-bit integer.

The negative delta defines the amount of change at which an interrupt will be generated if it is enabled.

Parameters
id The analog input channel ID
value The value is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.4 Ain16GetPositiveDelta()

virtual const Error∗ Ain16GetPositiveDelta (

uint8 id,
int16 & value ) [inline], [virtual]

Get the analog input positive delta value as a 16-bit integer.

The positive delta defines the amount of change at which an interrupt will be generated if it is enabled.

Parameters
id The analog input channel ID
value The value is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.5 Ain16GetUnsignedDelta()

virtual const Error∗ Ain16GetUnsignedDelta (

uint8 id,
int16 & value ) [inline], [virtual]

Get the analog input unsigned delta value as a 16-bit integer.

The unsigned delta defines the amount of change at which an interrupt will be generated if it is enabled.

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Parameters
id The analog input channel ID
value The value is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.6 Ain16GetUpperLimit()

virtual const Error∗ Ain16GetUpperLimit (

uint8 id,
int16 & value ) [inline], [virtual]

Get the analog input upper limit value as a 16-bit integer.

The upper limit defines the value at which an interrupt will be generated if it is enabled.

Parameters
id The analog input channel ID
value The value is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.7 Ain16Read()

const Error ∗ Ain16Read (

uint8 id,
int16 & value,
bool viaSDO = false ) [virtual]

Read a 16-bit analog input.

Parameters
id The analog input channel ID
value The analog input value
viaSDO If true, read the input using SDO transfers. If false (default) use the most recently received PDO data if
this input is mapped to a transmit PDO and the PDO is active.
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Returns

A pointer to an error object, or NULL on success

5.68.3.8 Ain16SetLowerLimit()

virtual const Error∗ Ain16SetLowerLimit (

uint8 id,
int16 value ) [inline], [virtual]

Set the analog input lower limit value as a 16-bit integer.

The lower limit defines the value at which an interrupt will be generated if it is enabled.

Parameters
id The analog input channel ID
value The value to be set.

Returns

A pointer to an error object, or NULL on success

5.68.3.9 Ain16SetNegativeDelta()

virtual const Error∗ Ain16SetNegativeDelta (

uint8 id,
int16 value ) [inline], [virtual]

Set the analog input negative delta value as a 16-bit integer.

The negative delta defines the amount of change at which an interrupt will be generated if it is enabled.

Parameters
id The analog input channel ID
value The value to be set.

Returns

A pointer to an error object, or NULL on success

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5.68.3.10 Ain16SetPositiveDelta()

virtual const Error∗ Ain16SetPositiveDelta (

uint8 id,
int16 value ) [inline], [virtual]

Set the analog input positive delta value as a 16-bit integer.

The positive delta defines the amount of change at which an interrupt will be generated if it is enabled.

Parameters
id The analog input channel ID
value The value to be set.

Returns

A pointer to an error object, or NULL on success

5.68.3.11 Ain16SetUnsignedDelta()

virtual const Error∗ Ain16SetUnsignedDelta (

uint8 id,
int16 value ) [inline], [virtual]

Set the analog input unsigned delta value as a 16-bit integer.

The unsigned delta defines the amount of change at which an interrupt will be generated if it is enabled.

Parameters
id The analog input channel ID
value The value to be set.

Returns

A pointer to an error object, or NULL on success

5.68.3.12 Ain16SetUpperLimit()

virtual const Error∗ Ain16SetUpperLimit (

uint8 id,
int16 value ) [inline], [virtual]

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Set the analog input upper limit value as a 16-bit integer.

The upper limit defines the value at which an interrupt will be generated if it is enabled.

Parameters
id The analog input channel ID
value The value to be set.

Returns

A pointer to an error object, or NULL on success

5.68.3.13 Ain32GetCt()

virtual const Error∗ Ain32GetCt (

uint8 & ct ) [inline], [virtual]

Return the number of 32-bit analog inputs available on this device.

Parameters
ct The count is returned here. Zero is returned on error.

Returns

A pointer to an error object, or NULL on success

5.68.3.14 Ain32GetLowerLimit()

virtual const Error∗ Ain32GetLowerLimit (

uint8 id,
int32 & value ) [inline], [virtual]

Get the analog input lower limit value as a 32-bit integer.

The lower limit defines the value at which an interrupt will be generated if it is enabled.

Parameters
id The analog input channel ID
value The value is returned here.

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Returns

A pointer to an error object, or NULL on success

5.68.3.15 Ain32GetNegativeDelta()

virtual const Error∗ Ain32GetNegativeDelta (

uint8 id,
int32 & value ) [inline], [virtual]

Get the analog input negative delta value as a 32-bit integer.

The negative delta defines the amount of change at which an interrupt will be generated if it is enabled.

Parameters
id The analog input channel ID
value The value is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.16 Ain32GetOffset()

virtual const Error∗ Ain32GetOffset (

uint8 id,
int32 & value ) [inline], [virtual]

Get the analog input offset value as a 32-bit integer.

Parameters
id The analog input channel ID
value The value is returned here.

Returns

A pointer to an error object, or NULL on success

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5.68.3.17 Ain32GetPositiveDelta()

virtual const Error∗ Ain32GetPositiveDelta (

uint8 id,
int32 & value ) [inline], [virtual]

Get the analog input positive delta value as a 32-bit integer.

The positive delta defines the amount of change at which an interrupt will be generated if it is enabled.

Parameters
id The analog input channel ID
value The value is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.18 Ain32GetScaling()

virtual const Error∗ Ain32GetScaling (

uint8 id,
int32 & value ) [inline], [virtual]

Get the analog input scaling factor as a 32-bit integer.

Parameters
id The analog input channel ID
value The value is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.19 Ain32GetUnsignedDelta()

virtual const Error∗ Ain32GetUnsignedDelta (

uint8 id,
int32 & value ) [inline], [virtual]

Get the analog input unsigned delta value as a 32-bit integer.

The unsigned delta defines the amount of change at which an interrupt will be generated if it is enabled.

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Parameters
id The analog input channel ID
value The value is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.20 Ain32GetUpperLimit()

virtual const Error∗ Ain32GetUpperLimit (

uint8 id,
int32 & value ) [inline], [virtual]

Get the analog input upper limit value as a 32-bit integer.

The upper limit defines the value at which an interrupt will be generated if it is enabled.

Parameters
id The analog input channel ID
value The value is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.21 Ain32Read()

virtual const Error∗ Ain32Read (

uint8 id,
int32 & value ) [inline], [virtual]

Read a 32-bit analog input.

Parameters
id The analog input channel ID
value The analog input value

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Returns

A pointer to an error object, or NULL on success

5.68.3.22 Ain32SetLowerLimit()

virtual const Error∗ Ain32SetLowerLimit (

uint8 id,
int32 value ) [inline], [virtual]

Set the analog input lower limit value as a 32-bit integer.

The lower limit defines the value at which an interrupt will be generated if it is enabled.

Parameters
id The analog input channel ID
value The value to be set.

Returns

A pointer to an error object, or NULL on success

5.68.3.23 Ain32SetNegativeDelta()

virtual const Error∗ Ain32SetNegativeDelta (

uint8 id,
int32 value ) [inline], [virtual]

Set the analog input negative delta value as a 32-bit integer.

The negative delta defines the amount of change at which an interrupt will be generated if it is enabled.

Parameters
id The analog input channel ID
value The value to be set.

Returns

A pointer to an error object, or NULL on success

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5.68.3.24 Ain32SetOffset()

virtual const Error∗ Ain32SetOffset (

uint8 id,
int32 value ) [inline], [virtual]

Set the analog input offset value as a 32-bit integer.

Parameters
id The analog input channel ID
value The value to be set.

Returns

A pointer to an error object, or NULL on success

5.68.3.25 Ain32SetPositiveDelta()

virtual const Error∗ Ain32SetPositiveDelta (

uint8 id,
int32 value ) [inline], [virtual]

Set the analog input positive delta value as a 32-bit integer.

The positive delta defines the amount of change at which an interrupt will be generated if it is enabled.

Parameters
id The analog input channel ID
value The value to be set.

Returns

A pointer to an error object, or NULL on success

5.68.3.26 Ain32SetScaling()

virtual const Error∗ Ain32SetScaling (

uint8 id,
int32 value ) [inline], [virtual]

Set the analog input scaling factor as a 32-bit integer.

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Parameters
id The analog input channel ID
value The value to be set.

Returns

A pointer to an error object, or NULL on success

5.68.3.27 Ain32SetUnsignedDelta()

virtual const Error∗ Ain32SetUnsignedDelta (

uint8 id,
int32 value ) [inline], [virtual]

Set the analog input unsigned delta value as a 32-bit integer.

The unsigned delta defines the amount of change at which an interrupt will be generated if it is enabled.

Parameters
id The analog input channel ID
value The value to be set.

Returns

A pointer to an error object, or NULL on success

5.68.3.28 Ain32SetUpperLimit()

virtual const Error∗ Ain32SetUpperLimit (

uint8 id,
int32 value ) [inline], [virtual]

Set the analog input upper limit value as a 32-bit integer.

The upper limit defines the value at which an interrupt will be generated if it is enabled.

Parameters
id The analog input channel ID
value The value to be set.

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Returns

A pointer to an error object, or NULL on success

5.68.3.29 Ain8GetCt()

virtual const Error∗ Ain8GetCt (

uint8 & ct ) [inline], [virtual]

Return the number of 8-bit analog inputs available on this device.

Parameters
ct The count is returned here. Zero is returned on error.

Returns

A pointer to an error object, or NULL on success

5.68.3.30 Ain8Read()

virtual const Error∗ Ain8Read (

uint8 id,
int8 & value ) [inline], [virtual]

Read an 8-bit analog input.

Parameters
id The analog input channel ID
value The analog input value

Returns

A pointer to an error object, or NULL on success

5.68.3.31 AinFltGetCt()

virtual const Error∗ AinFltGetCt (

uint8 & ct ) [inline], [virtual]

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Return the number of floating point analog inputs available on this device.

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Parameters
ct The count is returned here. Zero is returned on error.

Returns

A pointer to an error object, or NULL on success

5.68.3.32 AinFltGetLowerLimit()

virtual const Error∗ AinFltGetLowerLimit (

uint8 id,
float & value ) [inline], [virtual]

Get the analog input lower limit value as a floating point value.

The lower limit defines the value at which an interrupt will be generated if it is enabled.

Parameters
id The analog input channel ID
value The value is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.33 AinFltGetNegativeDelta()

virtual const Error∗ AinFltGetNegativeDelta (

uint8 id,
float & value ) [inline], [virtual]

Get the analog input negative delta value as a floating point value.

The negative delta defines the amount of change at which an interrupt will be generated if it is enabled.

Parameters
id The analog input channel ID
value The value is returned here.

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Returns

A pointer to an error object, or NULL on success

5.68.3.34 AinFltGetOffset()

virtual const Error∗ AinFltGetOffset (

uint8 id,
float & value ) [inline], [virtual]

Get the analog input offset value as a floating point value.

Parameters
id The analog input channel ID
value The value is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.35 AinFltGetPositiveDelta()

virtual const Error∗ AinFltGetPositiveDelta (

uint8 id,
float & value ) [inline], [virtual]

Get the analog input positive delta value as a floating point value.

The positive delta defines the amount of change at which an interrupt will be generated if it is enabled.

Parameters
id The analog input channel ID
value The value is returned here.

Returns

A pointer to an error object, or NULL on success

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5.68.3.36 AinFltGetScaling()

virtual const Error∗ AinFltGetScaling (

uint8 id,
float & value ) [inline], [virtual]

Get the analog input scaling factor as a floating point value.

Parameters
id The analog input channel ID
value The value is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.37 AinFltGetUnsignedDelta()

virtual const Error∗ AinFltGetUnsignedDelta (

uint8 id,
float & value ) [inline], [virtual]

Get the analog input unsigned delta value as a floating point value.

The unsigned delta defines the amount of change at which an interrupt will be generated if it is enabled.

Parameters
id The analog input channel ID
value The value is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.38 AinFltGetUpperLimit()

virtual const Error∗ AinFltGetUpperLimit (

uint8 id,
float & value ) [inline], [virtual]

Get the analog input upper limit value as a floating point value.
The upper limit defines the value at which an interrupt will be generated if it is enabled.

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Parameters
id The analog input channel ID
value The value is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.39 AinFltRead()

virtual const Error∗ AinFltRead (

uint8 id,
float & value ) [inline], [virtual]

Read a floating point analog input.

Parameters
id The analog input channel ID
value The analog input value

Returns

A pointer to an error object, or NULL on success

5.68.3.40 AinFltSetLowerLimit()

virtual const Error∗ AinFltSetLowerLimit (

uint8 id,
float value ) [inline], [virtual]

Set the analog input lower limit value as a floating point value.

The lower limit defines the value at which an interrupt will be generated if it is enabled.

Parameters
id The analog input channel ID
value The value to be set.

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Returns

A pointer to an error object, or NULL on success

5.68.3.41 AinFltSetNegativeDelta()

virtual const Error∗ AinFltSetNegativeDelta (

uint8 id,
float value ) [inline], [virtual]

Set the analog input negative delta value as a floating point value.

The negative delta defines the amount of change at which an interrupt will be generated if it is enabled.

Parameters
id The analog input channel ID
value The value to be set.

Returns

A pointer to an error object, or NULL on success

5.68.3.42 AinFltSetOffset()

virtual const Error∗ AinFltSetOffset (

uint8 id,
float value ) [inline], [virtual]

Set the analog input offset value as a floating point value.

Parameters
id The analog input channel ID
value The value to be set.

Returns

A pointer to an error object, or NULL on success

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5.68.3.43 AinFltSetPositiveDelta()

virtual const Error∗ AinFltSetPositiveDelta (

uint8 id,
float value ) [inline], [virtual]

Set the analog input positive delta value as a floating point value.

The positive delta defines the amount of change at which an interrupt will be generated if it is enabled.

Parameters
id The analog input channel ID
value The value to be set.

Returns

A pointer to an error object, or NULL on success

5.68.3.44 AinFltSetScaling()

virtual const Error∗ AinFltSetScaling (

uint8 id,
float value ) [inline], [virtual]

Set the analog input scaling factor as a floating point value.

Parameters
id The analog input channel ID
value The value to be set.

Returns

A pointer to an error object, or NULL on success

5.68.3.45 AinFltSetUnsignedDelta()

virtual const Error∗ AinFltSetUnsignedDelta (

uint8 id,
float value ) [inline], [virtual]

Set the analog input unsigned delta value as a floating point value.
The unsigned delta defines the amount of change at which an interrupt will be generated if it is enabled.

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Parameters
id The analog input channel ID
value The value to be set.

Returns

A pointer to an error object, or NULL on success

5.68.3.46 AinFltSetUpperLimit()

virtual const Error∗ AinFltSetUpperLimit (

uint8 id,
float value ) [inline], [virtual]

Set the analog input upper limit value as a floating point value.

The upper limit defines the value at which an interrupt will be generated if it is enabled.

Parameters
id The analog input channel ID
value The value to be set.

Returns

A pointer to an error object, or NULL on success

5.68.3.47 AinGetIntEna()

virtual const Error∗ AinGetIntEna (

bool & value ) [inline], [virtual]

Get the current setting of the global interrupt enable for analog inputs.

A return value of true indicates that interrupts are enabled, false disabled.

Parameters
value The current interrupt enable setting is returned here.

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Returns

A pointer to an error object, or NULL on success

5.68.3.48 AinGetIntSource()

virtual const Error∗ AinGetIntSource (

uint8 id,
uint32 & value ) [inline], [virtual]

Get the analog input interrupt source.

This variable may be used to determine which analog input has produced an interrupt. There are eight banks of interrupt
source registers, each of which covers 32 analog inputs in it's 32 bits. Bank 0 identifies analog inputs 0 to 31, Bank 1
identifies analog inputs 32 to 63, etc. The bit associated with the analog input generating the latest interrupt will be set
in the value returned by this read. Reading this variable causes all it's bit to be automatically reset.

Parameters

id The bank number to read (0 to 7)

value The value is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.49 AinGetTrigType()

virtual const Error∗ AinGetTrigType (

uint8 id,
IO_AIN_TRIG_TYPE & value ) [inline], [virtual]

Get the analog input trigger type associated with the input channel.

Parameters
id The analog input channel ID
value The value is returned here.

Returns

A pointer to an error object, or NULL on success

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5.68.3.50 AinSetIntEna()

virtual const Error∗ AinSetIntEna (

bool value ) [inline], [virtual]

Set the current setting of the global interrupt enable for analog inputs.

Setting this parameter to true enables interrupts, false disables.

Parameters
value The interrupt enable setting.

Returns

A pointer to an error object, or NULL on success

5.68.3.51 AinSetTrigType()

virtual const Error∗ AinSetTrigType (

uint8 id,
IO_AIN_TRIG_TYPE value ) [inline], [virtual]

Set the analog input trigger type associated with the input channel.

Parameters
id The analog input channel ID
value The value to set

Returns

A pointer to an error object, or NULL on success

5.68.3.52 Aout16GetCt()

virtual const Error∗ Aout16GetCt (

uint8 & ct ) [inline], [virtual]

Return the number of 16-bit analog outputs available on this device.

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Parameters
ct The count is returned here. Zero is returned on error.

Returns

A pointer to an error object, or NULL on success

5.68.3.53 Aout16GetErrValue()

virtual const Error∗ Aout16GetErrValue (

uint8 id,
int16 & value ) [inline], [virtual]

Get the analog output error value as a 16-bit integer.

The error value is the value that the analog output will assume on device error, if it's error mode is set to true.

Parameters
id The analog output channel ID
value The value is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.54 Aout16SetErrValue()

virtual const Error∗ Aout16SetErrValue (

uint8 id,
int16 value ) [inline], [virtual]

Set the analog output error value as a 32-bit integer.

The error value is the value that the analog output will assume on device error, if it's error mode is set to true.

Parameters
id The analog output channel ID
value The value to be set.

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Returns

A pointer to an error object, or NULL on success

5.68.3.55 Aout16Write()

const Error ∗ Aout16Write (

uint8 id,
int16 value,
bool viaSDO = false ) [virtual]

Write to a 16-bit analog output.

Since 16-bit outputs are mapped to the default PDOs of the I/O module, these outputs may be written using either PDOs
or SDOs.

Parameters
id The analog input channel ID
value The value to write.
viaSDO If true, the outputs will be written using SDO messages. If false (default), then a PDO will be used if
possible.

Returns

A pointer to an error object, or NULL on success

5.68.3.56 Aout32GetCt()

virtual const Error∗ Aout32GetCt (

uint8 & ct ) [inline], [virtual]

Return the number of 32-bit analog outputs available on this device.

Parameters
ct The count is returned here. Zero is returned on error.

Returns

A pointer to an error object, or NULL on success

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5.68.3.57 Aout32GetErrValue()

virtual const Error∗ Aout32GetErrValue (

uint8 id,
int32 & value ) [inline], [virtual]

Get the analog output error value as a 32-bit integer.

The error value is the value that the analog output will assume on device error, if it's error mode is set to true.

Parameters
id The analog output channel ID
value The value is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.58 Aout32GetOffset()

virtual const Error∗ Aout32GetOffset (

uint8 id,
int32 & value ) [inline], [virtual]

Get the analog output offset value as a 32-bit integer.

Parameters
id The analog output channel ID
value The value is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.59 Aout32GetScaling()

virtual const Error∗ Aout32GetScaling (

uint8 id,
int32 & value ) [inline], [virtual]

Get the analog output scaling factor as a 32-bit integer.

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Parameters
id The analog output channel ID
value The value is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.60 Aout32SetErrValue()

virtual const Error∗ Aout32SetErrValue (

uint8 id,
int32 value ) [inline], [virtual]

Set the analog output error value as a 32-bit integer.

The error value is the value that the analog output will assume on device error, if it's error mode is set to true.

Parameters
id The analog output channel ID
value The value to be set.

Returns

A pointer to an error object, or NULL on success

5.68.3.61 Aout32SetOffset()

virtual const Error∗ Aout32SetOffset (

uint8 id,
int32 value ) [inline], [virtual]

Set the analog output offset value as a 32-bit integer.

Parameters
id The analog output channel ID
value The value to be set.

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Returns

A pointer to an error object, or NULL on success

5.68.3.62 Aout32SetScaling()

virtual const Error∗ Aout32SetScaling (

uint8 id,
int32 value ) [inline], [virtual]

Set the analog output scaling factor as a 32-bit integer.

Parameters
id The analog output channel ID
value The value to be set.

Returns

A pointer to an error object, or NULL on success

5.68.3.63 Aout32Write()

virtual const Error∗ Aout32Write (

uint8 id,
int32 value ) [inline], [virtual]

Write to a 32-bit analog output.

Parameters
id The analog input channel ID
value The value to write.

Returns

A pointer to an error object, or NULL on success

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5.68.3.64 Aout8GetCt()

virtual const Error∗ Aout8GetCt (

uint8 & ct ) [inline], [virtual]

Return the number of 8-bit analog outputs available on this device.

Parameters
ct The count is returned here. Zero is returned on error.

Returns

A pointer to an error object, or NULL on success

5.68.3.65 Aout8Write()

virtual const Error∗ Aout8Write (

uint8 id,
int8 value ) [inline], [virtual]

Write to an 8-bit analog output.

Parameters
id The analog input channel ID
value The value to write.

Returns

A pointer to an error object, or NULL on success

5.68.3.66 AoutFltGetCt()

virtual const Error∗ AoutFltGetCt (

uint8 & ct ) [inline], [virtual]

Return the number of floating point analog outputs available on this device.

Parameters
ct The count is returned here. Zero is returned on error.

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Returns

A pointer to an error object, or NULL on success

5.68.3.67 AoutFltGetErrValue()

virtual const Error∗ AoutFltGetErrValue (

uint8 id,
float & value ) [inline], [virtual]

Get the analog output error value as a floating point value.

The error value is the value that the analog output will assume on device error, if it's error mode is set to true.

Parameters
id The analog output channel ID
value The value is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.68 AoutFltGetOffset()

virtual const Error∗ AoutFltGetOffset (

uint8 id,
float & value ) [inline], [virtual]

Get the analog output offset value as a floating point value.

Parameters
id The analog output channel ID
value The value is returned here.

Returns

A pointer to an error object, or NULL on success

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5.68.3.69 AoutFltGetScaling()

virtual const Error∗ AoutFltGetScaling (

uint8 id,
float & value ) [inline], [virtual]

Get the analog output scaling factor as a floating point value.

Parameters
id The analog output channel ID
value The value is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.70 AoutFltSetErrValue()

virtual const Error∗ AoutFltSetErrValue (

uint8 id,
float value ) [inline], [virtual]

Set the analog output error value as a floating point value.

The error value is the value that the analog output will assume on device error, if it's error mode is set to true.

Parameters
id The analog output channel ID
value The value to be set.

Returns

A pointer to an error object, or NULL on success

5.68.3.71 AoutFltSetOffset()

virtual const Error∗ AoutFltSetOffset (

uint8 id,
float value ) [inline], [virtual]

Set the analog output offset value as a floating point value.

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Parameters
id The analog output channel ID
value The value to be set.

Returns

A pointer to an error object, or NULL on success

5.68.3.72 AoutFltSetScaling()

virtual const Error∗ AoutFltSetScaling (

uint8 id,
float value ) [inline], [virtual]

Set the analog output scaling factor as a floating point value.

Parameters
id The analog output channel ID
value The value to be set.

Returns

A pointer to an error object, or NULL on success

5.68.3.73 AoutFltWrite()

virtual const Error∗ AoutFltWrite (

uint8 id,
float value ) [inline], [virtual]

Write to a floating point analog output.

Parameters
id The analog input channel ID
value The value to write.

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Returns

A pointer to an error object, or NULL on success

5.68.3.74 AoutGetErrMode()

virtual const Error∗ AoutGetErrMode (

uint8 id,
bool & value ) [inline], [virtual]

Get the analog output error mode.

If the error mode is true, then the analog output will change it's value to the programmed error value in the case of a
device failure. If false, a device failure will not cause a change in the analog output value.

Parameters
id The analog output channel ID
value The value is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.75 AoutSetErrMode()

virtual const Error∗ AoutSetErrMode (

uint8 id,
bool value ) [inline], [virtual]

Set the analog output error mode.

If the error mode is true, then the analog output will change it's value to the programmed error value in the case of a
device failure. If false, a device failure will not cause a change in the analog output value.

Parameters
id The analog output channel ID
value The value to be set.

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Returns

A pointer to an error object, or NULL on success

5.68.3.76 BitCount()

const Error∗ BitCount (

uint16 base,
uint16 & ct ) [inline], [protected]

Count the number of individual I/O pins available on the device.

Parameters

base The base index for the object dictionary

ct The count is returned here

Returns

A pointer to an error object, or NULL on success

5.68.3.77 BitDnld()

const Error∗ BitDnld (

uint16 base,
uint16 id,
bool value ) [inline], [protected]

Download a setting for a single digital I/O pin.

The object dictionary index/sub-index is calculated from the pin ID and a passed base address.

Parameters

base The object dictionary base index for this parameter

id The I/O pin ID. Must range from 0 to 1024
value The boolean value is passed here.

Returns

A pointer to an error object, or NULL on success

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5.68.3.78 BitUpld()

const Error∗ BitUpld (

uint16 base,
uint16 id,
bool & value ) [inline], [protected]

Upload a setting for a single digital I/O pin.

The object dictionary entry is calculated based on the pin ID and the base object dictionary ID passed.

Parameters

base The object dictionary base index for this parameter

id The I/O pin ID. Must range from 0 to 1024
value The boolean value is returned here

Returns

A pointer to an error object, or NULL on success

5.68.3.79 Din16GetCt()

virtual const Error∗ Din16GetCt (

uint8 & ct ) [inline], [virtual]

Return the number of 16-bit groups of inputs available on this device.

Parameters
ct The count is returned here. Zero is returned on error.

Returns

A pointer to an error object, or NULL on success

5.68.3.80 Din16GetFilt()

virtual const Error∗ Din16GetFilt (

uint8 id,
uint16 & value ) [inline], [virtual]

Get the current filter constant settings for a group of 16 digital inputs.
For each input in the group, a value of 1 enables the filter, 0 disables.

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Parameters

id Identifies which group of inputs to read.

value The current filter setting of the input lines is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.81 Din16GetMaskAny()

virtual const Error∗ Din16GetMaskAny (

uint8 id,
uint16 & value ) [inline], [virtual]

Get the 'any transition' interrupt mask settings for a group of 16 digital inputs.

For each input in the group, a value of 1 enables interrupts on any change, and a value of 0 disables the interrupt.

Parameters

id Identifies which group of inputs to read.

value The current interrupt mask setting of the input lines.

Returns

A pointer to an error object, or NULL on success

5.68.3.82 Din16GetMaskHigh2Low()

virtual const Error∗ Din16GetMaskHigh2Low (

uint8 id,
uint16 & value ) [inline], [virtual]

Get the 'high to low' interrupt mask settings for a group of 16 digital inputs.

For each input in the group, a value of 1 enables interrupts on a high to low transition, and a value of 0 disables the
interrupt.

Parameters

id Identifies which group of inputs to read.

value The current interrupt mask setting of the input lines.
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Returns

A pointer to an error object, or NULL on success

5.68.3.83 Din16GetMaskLow2High()

virtual const Error∗ Din16GetMaskLow2High (

uint8 id,
uint16 & value ) [inline], [virtual]

Get the 'low to high' interrupt mask settings for a group of 16 digital inputs.

For each input in the group, a value of 1 enables interrupts on a low to high transition, and a value of 0 disables the
interrupt.

Parameters

id Identifies which group of inputs to read.

value The current interrupt mask setting of the input lines.

Returns

A pointer to an error object, or NULL on success

5.68.3.84 Din16GetPol()

virtual const Error∗ Din16GetPol (

uint8 id,
uint16 & value ) [inline], [virtual]

Get the current polarity settings for a group of 16 digital inputs.

For each input in the group, a value of 1 enables inversion and 0 disables.

Parameters

id Identifies which group of inputs to read.

value The current polarity setting of the input lines is returned here.

Returns

A pointer to an error object, or NULL on success

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5.68.3.85 Din16Read()

const Error ∗ Din16Read (

uint8 id,
uint16 & value,
bool viaSDO = false ) [virtual]

Read a group of 16 digital inputs.

Parameters

id Identifies which group of 16 inputs to read.

value The value of the 16 input lines is returned here.
viaSDO If true, read the inputs using SDO transfers. If false (default) use the most recently received PDO data if
this input group is mapped to a transmit PDO and the PDO is active.

Returns

A pointer to an error object, or NULL on success

5.68.3.86 Din16SetFilt()

virtual const Error∗ Din16SetFilt (

uint8 id,
uint16 value ) [inline], [virtual]

Set the current filter constant setting for a group of 16 digital inputs.

For each input in the group, a value of 1 enables the filter, 0 disables.

Parameters

id Identifies which group of inputs to effect.

value The new filter setting of the input lines.

Returns

A pointer to an error object, or NULL on success

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5.68.3.87 Din16SetMaskAny()

virtual const Error∗ Din16SetMaskAny (

uint8 id,
uint16 value ) [inline], [virtual]

Set the 'any transition' interrupt mask settings for a group of 16 digital inputs.

For each input in the group, a value of 1 enables interrupts on any transition, and a value of 0 disables.

Parameters

id Identifies which group of inputs to effect.

value The new interrupt mask value.

Returns

A pointer to an error object, or NULL on success

5.68.3.88 Din16SetMaskHigh2Low()

virtual const Error∗ Din16SetMaskHigh2Low (

uint8 id,
uint16 value ) [inline], [virtual]

Set the 'high to low' interrupt mask settings for a group of 16 digital inputs.

For each input in the group, a value of 1 enables interrupts on high to low transitions, and a value of 0 disables.

Parameters

id Identifies which group of inputs to effect.

value The new interrupt mask value.

Returns

A pointer to an error object, or NULL on success

5.68.3.89 Din16SetMaskLow2High()

virtual const Error∗ Din16SetMaskLow2High (

uint8 id,
uint16 value ) [inline], [virtual]

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Set the 'low to high' interrupt mask settings for a group of 16 digital inputs.

For each input in the group, a value of 1 enables interrupts on low to high transitions, and a value of 0 disables.

Parameters

id Identifies which group of inputs to effect.

value The new interrupt mask value.

Returns

A pointer to an error object, or NULL on success

5.68.3.90 Din16SetPol()

virtual const Error∗ Din16SetPol (

uint8 id,
uint16 value ) [inline], [virtual]

Set the current polarity setting for a group of 16 digital inputs.

For each input in the group, a value of 1 enables inversion and 0 disables.

Parameters

id Identifies which group of inputs to effect.

value The new polarity setting of the input lines.

Returns

A pointer to an error object, or NULL on success

5.68.3.91 Din32GetCt()

virtual const Error∗ Din32GetCt (

uint8 & ct ) [inline], [virtual]

Return the number of 32-bit groups of inputs available on this device.

Parameters
ct The count is returned here. Zero is returned on error.

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Returns

A pointer to an error object, or NULL on success

5.68.3.92 Din32GetFilt()

virtual const Error∗ Din32GetFilt (

uint8 id,
uint32 & value ) [inline], [virtual]

Get the current filter constant settings for a group of 32 digital inputs.

For each input in the group, a value of 1 enables the filter, 0 disables.

Parameters

id Identifies which group of inputs to read.

value The current filter setting of the input lines is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.93 Din32GetMaskAny()

virtual const Error∗ Din32GetMaskAny (

uint8 id,
uint32 & value ) [inline], [virtual]

Get the 'any transition' interrupt mask settings for a group of 32 digital inputs.

For each input in the group, a value of 1 enables interrupts on any change, and a value of 0 disables the interrupt.

Parameters

id Identifies which group of inputs to read.

value The current interrupt mask setting of the input lines.

Returns

A pointer to an error object, or NULL on success

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5.68.3.94 Din32GetMaskHigh2Low()

virtual const Error∗ Din32GetMaskHigh2Low (

uint8 id,
uint32 & value ) [inline], [virtual]

Get the 'high to low' interrupt mask settings for a group of 32 digital inputs.

For each input in the group, a value of 1 enables interrupts on a high to low transition, and a value of 0 disables the
interrupt.

Parameters

id Identifies which group of inputs to read.

value The current interrupt mask setting of the input lines.

Returns

A pointer to an error object, or NULL on success

5.68.3.95 Din32GetMaskLow2High()

virtual const Error∗ Din32GetMaskLow2High (

uint8 id,
uint32 & value ) [inline], [virtual]

Get the 'low to high' interrupt mask settings for a group of 32 digital inputs.

For each input in the group, a value of 1 enables interrupts on a low to high transition, and a value of 0 disables the
interrupt.

Parameters

id Identifies which group of inputs to read.

value The current interrupt mask setting of the input lines.

Returns

A pointer to an error object, or NULL on success

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5.68.3.96 Din32GetPol()

virtual const Error∗ Din32GetPol (

uint8 id,
uint32 & value ) [inline], [virtual]

Get the current polarity settings for a group of 32 digital inputs.

For each input in the group, a value of 1 enables inversion and 0 disables.

Parameters

id Identifies which group of inputs to read.

value The current polarity setting of the input lines is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.97 Din32Read()

const Error ∗ Din32Read (

uint8 id,
uint32 & value,
bool viaSDO = false ) [virtual]

Read a group of 32 digital inputs.

Parameters

id Identifies which group of 32 inputs to read.

value The value of the 32 input lines is returned here.
viaSDO If true, read the inputs using SDO transfers. If false (default) use the most recently received PDO data if
this input group is mapped to a transmit PDO and the PDO is active.

Returns

A pointer to an error object, or NULL on success

5.68.3.98 Din32SetFilt()

virtual const Error∗ Din32SetFilt (

uint8 id,
uint32 value ) [inline], [virtual]

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Set the current filter constant setting for a group of 32 digital inputs.

For each input in the group, a value of 1 enables the filter, 0 disables.

Parameters

id Identifies which group of inputs to effect.

value The new filter setting of the input lines.

Returns

A pointer to an error object, or NULL on success

5.68.3.99 Din32SetMaskAny()

virtual const Error∗ Din32SetMaskAny (

uint8 id,
uint32 value ) [inline], [virtual]

Set the 'any transition' interrupt mask settings for a group of 32 digital inputs.

For each input in the group, a value of 1 enables interrupts on any transition, and a value of 0 disables.

Parameters

id Identifies which group of inputs to effect.

value The new interrupt mask value.

Returns

A pointer to an error object, or NULL on success

5.68.3.100 Din32SetMaskHigh2Low()

virtual const Error∗ Din32SetMaskHigh2Low (

uint8 id,
uint32 value ) [inline], [virtual]

Set the 'high to low' interrupt mask settings for a group of 32 digital inputs.

For each input in the group, a value of 1 enables interrupts on high to low transitions, and a value of 0 disables.

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Parameters

id Identifies which group of inputs to effect.

value The new interrupt mask value.

Returns

A pointer to an error object, or NULL on success

5.68.3.101 Din32SetMaskLow2High()

virtual const Error∗ Din32SetMaskLow2High (

uint8 id,
uint32 value ) [inline], [virtual]

Set the 'low to high' interrupt mask settings for a group of 32 digital inputs.

For each input in the group, a value of 1 enables interrupts on low to high transitions, and a value of 0 disables.

Parameters

id Identifies which group of inputs to effect.

value The new interrupt mask value.

Returns

A pointer to an error object, or NULL on success

5.68.3.102 Din32SetPol()

virtual const Error∗ Din32SetPol (

uint8 id,
uint32 value ) [inline], [virtual]

Set the current polarity setting for a group of 32 digital inputs.

For each input in the group, a value of 1 enables inversion and 0 disables.

Parameters

id Identifies which group of inputs to effect.

value The new polarity setting of the input lines.

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Returns

A pointer to an error object, or NULL on success

5.68.3.103 Din8GetCt()

virtual const Error∗ Din8GetCt (

uint8 & ct ) [inline], [virtual]

Return the number of 8-bit groups of inputs available on this device.

Parameters
ct The count is returned here. Zero is returned on error.

Returns

A pointer to an error object, or NULL on success

5.68.3.104 Din8GetFilt()

virtual const Error∗ Din8GetFilt (

uint8 id,
uint8 & value ) [inline], [virtual]

Get the current filter constant settings for a group of 8 digital inputs.

For each input in the group, a value of 1 enables the filter, 0 disables.

Parameters

id Identifies which group of 8 inputs to read.

value The current filter setting of the 8 input lines is returned here.

Returns

A pointer to an error object, or NULL on success

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5.68.3.105 Din8GetMaskAny()

virtual const Error∗ Din8GetMaskAny (

uint8 id,
uint8 & value ) [inline], [virtual]

Get the 'any transition' interrupt mask settings for a group of 8 digital inputs.

For each input in the group, a value of 1 enables interrupts on any change, and a value of 0 disables the interrupt.

Parameters

id Identifies which group of 8 inputs to read.

value The current interrupt mask setting of the 8 input lines.

Returns

A pointer to an error object, or NULL on success

5.68.3.106 Din8GetMaskHigh2Low()

virtual const Error∗ Din8GetMaskHigh2Low (

uint8 id,
uint8 & value ) [inline], [virtual]

Get the 'high to low' interrupt mask settings for a group of 8 digital inputs.

For each input in the group, a value of 1 enables interrupts on a high to low transition, and a value of 0 disables the
interrupt.

Parameters

id Identifies which group of 8 inputs to read.

value The current interrupt mask setting of the 8 input lines.

Returns

A pointer to an error object, or NULL on success

5.68.3.107 Din8GetMaskLow2High()

virtual const Error∗ Din8GetMaskLow2High (

uint8 id,
uint8 & value ) [inline], [virtual]

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Get the 'low to high' interrupt mask settings for a group of 8 digital inputs.

For each input in the group, a value of 1 enables interrupts on a low to high transition, and a value of 0 disables the
interrupt.

Parameters

id Identifies which group of 8 inputs to read.

value The current interrupt mask setting of the 8 input lines.

Returns

A pointer to an error object, or NULL on success

5.68.3.108 Din8GetPol()

virtual const Error∗ Din8GetPol (

uint8 id,
uint8 & value ) [inline], [virtual]

Get the current polarity settings for a group of 8 digital inputs.

For each input in the group, a value of 1 enables inversion and 0 disables.

Parameters

id Identifies which group of 8 inputs to read.

value The current polarity setting of the 8 input lines is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.109 Din8Read()

const Error ∗ Din8Read (

uint8 id,
uint8 & value,
bool viaSDO = false ) [virtual]

Read a group of 8 digital inputs.

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Parameters

id Identifies which group of 8 inputs to read.

value The value of the 8 input lines is returned here.
viaSDO If true, read the inputs using SDO transfers. If false (default) use the most recently received PDO data if
this input group is mapped to a transmit PDO and the PDO is active.

Returns

A pointer to an error object, or NULL on success

5.68.3.110 Din8SetFilt()

virtual const Error∗ Din8SetFilt (

uint8 id,
uint8 value ) [inline], [virtual]

Set the current filter constant setting for a group of 8 digital inputs.

For each input in the group, a value of 1 enables the filter, 0 disables.

Parameters

id Identifies which group of 8 inputs to effect.

value The new filter setting of the 8 input lines.

Returns

A pointer to an error object, or NULL on success

5.68.3.111 Din8SetMaskAny()

virtual const Error∗ Din8SetMaskAny (

uint8 id,
uint8 value ) [inline], [virtual]

Set the 'any transition' interrupt mask settings for a group of 8 digital inputs.

For each input in the group, a value of 1 enables interrupts on any transition, and a value of 0 disables.

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Parameters

id Identifies which group of 8 inputs to effect.

value The new interrupt mask value.

Returns

A pointer to an error object, or NULL on success

5.68.3.112 Din8SetMaskHigh2Low()

virtual const Error∗ Din8SetMaskHigh2Low (

uint8 id,
uint8 value ) [inline], [virtual]

Set the 'high to low' interrupt mask settings for a group of 8 digital inputs.

For each input in the group, a value of 1 enables interrupts on high to low transitions, and a value of 0 disables.

Parameters

id Identifies which group of 8 inputs to effect.

value The new interrupt mask value.

Returns

A pointer to an error object, or NULL on success

5.68.3.113 Din8SetMaskLow2High()

virtual const Error∗ Din8SetMaskLow2High (

uint8 id,
uint8 value ) [inline], [virtual]

Set the 'low to high' interrupt mask settings for a group of 8 digital inputs.

For each input in the group, a value of 1 enables interrupts on low to high transitions, and a value of 0 disables.

Parameters

id Identifies which group of 8 inputs to effect.

value The new interrupt mask value.

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Returns

A pointer to an error object, or NULL on success

5.68.3.114 Din8SetPol()

virtual const Error∗ Din8SetPol (

uint8 id,
uint8 value ) [inline], [virtual]

Set the current polarity setting for a group of 8 digital inputs.

For each input in the group, a value of 1 enables inversion and 0 disables.

Parameters

id Identifies which group of 8 inputs to effect.

value The new polarity setting of the 8 input lines.

Returns

A pointer to an error object, or NULL on success

5.68.3.115 DinGetCt()

virtual const Error∗ DinGetCt (

uint16 & ct ) [inline], [virtual]

Return the number of individual inputs available on this device.

Parameters
ct The count is returned here. Zero is returned on error.

Returns

A pointer to an error object, or NULL on success

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5.68.3.116 DinGetFilt()

virtual const Error∗ DinGetFilt (

uint16 id,
bool & value ) [inline], [virtual]

Get the current filter constant setting for a digital input.

The filter constant is enabled if true, disabled if false.

Parameters

id Identifies the digital input.

value The current filter setting.

Returns

A pointer to an error object, or NULL on success

5.68.3.117 DinGetIntEna()

virtual const Error∗ DinGetIntEna (

bool & value ) [inline], [virtual]

Get the current setting of the global interrupt enable for digital inputs.

A return value of true indicates that interrupts are enabled, false disabled.

Parameters
value The current interrupt enable setting is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.118 DinGetMaskAny()

virtual const Error∗ DinGetMaskAny (

uint16 id,
bool & value ) [inline], [virtual]

Get the 'any transition' interrupt mask settings for a digital input.
If true, any transition on the input will generate an interrupt.

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Parameters

id Identifies the digital input.

value The current interrupt mask setting

Returns

A pointer to an error object, or NULL on success

5.68.3.119 DinGetMaskHigh2Low()

virtual const Error∗ DinGetMaskHigh2Low (

uint16 id,
bool & value ) [inline], [virtual]

Get the 'high to low' interrupt mask settings for a digital input.

If true, a high to low transition on the input will generate an interrupt.

Parameters

id Identifies the digital input.

value The current interrupt mask setting

Returns

A pointer to an error object, or NULL on success

5.68.3.120 DinGetMaskLow2High()

virtual const Error∗ DinGetMaskLow2High (

uint16 id,
bool & value ) [inline], [virtual]

Get the 'low to high' interrupt mask settings for a digital input.

If true, a low to high transition on the input will generate an interrupt.

Parameters

id Identifies the digital input.

value The current interrupt mask setting

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Returns

A pointer to an error object, or NULL on success

5.68.3.121 DinGetPol()

virtual const Error∗ DinGetPol (

uint16 id,
bool & value ) [inline], [virtual]

Get the current polarity settings for a digital input.

Polarity inversion is enabled if true, disabled if false.

Parameters

id Identifies the digital input.

value The current polarity setting.

Returns

A pointer to an error object, or NULL on success

5.68.3.122 DinRead()

const Error ∗ DinRead (

uint16 id,
bool & value,
bool viaSDO = false ) [virtual]

Read a single digital input.

Parameters

id Identifies the digital input to read.

value The value of the input.
viaSDO If true, an SDO will be used to read the input pin. If false (default), the latest value returned via PDO will
be returned, if available.

Returns

A pointer to an error object, or NULL on success

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5.68.3.123 DinSetFilt()

virtual const Error∗ DinSetFilt (

uint16 id,
bool value ) [inline], [virtual]

Set the current filter constant setting for a digital input.

The filter constant is enabled if true, disabled if false.

Parameters

id Identifies the digital input.

value The new filter setting.

Returns

A pointer to an error object, or NULL on success

5.68.3.124 DinSetIntEna()

virtual const Error∗ DinSetIntEna (

bool value ) [inline], [virtual]

Set the current setting of the global interrupt enable for digital inputs.

Setting this parameter to true enables interrupts, false disables.

Parameters
value The interrupt enable setting.

Returns

A pointer to an error object, or NULL on success

5.68.3.125 DinSetMaskAny()

virtual const Error∗ DinSetMaskAny (

uint16 id,
bool value ) [inline], [virtual]

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Set the 'any transition' interrupt mask settings for a digital input.

If true, any transition on the input will generate an interrupt.

Parameters

id Identifies the digital input.

value The new interrupt mask setting.

Returns

A pointer to an error object, or NULL on success

5.68.3.126 DinSetMaskHigh2Low()

virtual const Error∗ DinSetMaskHigh2Low (

uint16 id,
bool value ) [inline], [virtual]

Set the 'high to low' interrupt mask settings for a digital input.

If true, a high to low transition on the input will generate an interrupt.

Parameters

id Identifies the digital input.

value The new interrupt mask setting.

Returns

A pointer to an error object, or NULL on success

5.68.3.127 DinSetMaskLow2High()

virtual const Error∗ DinSetMaskLow2High (

uint16 id,
bool value ) [inline], [virtual]

Set the 'low to high' interrupt mask settings for a digital input.

If true, a low to high transition on the input will generate an interrupt.

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Parameters

id Identifies the digital input.

value The new interrupt mask setting.

Returns

A pointer to an error object, or NULL on success

5.68.3.128 DinSetPol()

virtual const Error∗ DinSetPol (

uint16 id,
bool value ) [inline], [virtual]

Set the current polarity setting for a digital input.

Polarity inversion is enabled if true, disabled if false.

Parameters

id Identifies the digital input.

value The new polarity setting.

Returns

A pointer to an error object, or NULL on success

5.68.3.129 Dout16GetCt()

virtual const Error∗ Dout16GetCt (

uint8 & ct ) [inline], [virtual]

Return the number of 16-bit groups of outputs available on this device.

Parameters
ct The count is returned here. Zero is returned on error.

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Returns

A pointer to an error object, or NULL on success

5.68.3.130 Dout16GetErrMode()

virtual const Error∗ Dout16GetErrMode (

uint8 id,
uint16 & value ) [inline], [virtual]

Get the current error mode settings for a group of 16 digital outputs.

For each output in the group, a value of 1 will cause the output to take it's programmed error value on a device failure.
Setting the mode to 0 will cause the output to hold it's programmed value on failure.

Parameters

id Identifies which group of outputs to read.

value The current error mode setting of the output lines is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.131 Dout16GetErrValue()

virtual const Error∗ Dout16GetErrValue (

uint8 id,
uint16 & value ) [inline], [virtual]

Get the current error value settings for a group of 16 digital outputs.

Error values define the state of the output if a device failure occurs. The error value will only be set for those output pins
which have an error mode set to 1. Those with error mode set to zero will not be changed by a device failure.

Parameters

id Identifies which group of outputs to read.

value The current error value setting of the output lines is returned here.

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Returns

A pointer to an error object, or NULL on success

5.68.3.132 Dout16GetFilt()

virtual const Error∗ Dout16GetFilt (

uint8 id,
uint16 & value ) [inline], [virtual]

Get the current filter constant settings for a group of 16 digital outputs.

For each output in the group, a value of 1 enables the filter, 0 disables.

Parameters

id Identifies which group of outputs to read.

value The current filter setting of the output lines is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.133 Dout16GetPol()

virtual const Error∗ Dout16GetPol (

uint8 id,
uint16 & value ) [inline], [virtual]

Get the current polarity settings for a group of 16 digital outputs.

For each output in the group, a value of 1 enables inversion and 0 disables.

Parameters

id Identifies which group of outputs to read.

value The current polarity setting of the output lines is returned here.

Returns

A pointer to an error object, or NULL on success

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5.68.3.134 Dout16Read()

const Error∗ Dout16Read (

uint8 id,
uint16 & value ) [inline]

Read back the last value written to this bank of 16 digital outputs.

Parameters

id Identifies which group of outputs to read.

value The current state of the output lines is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.135 Dout16SetErrMode()

virtual const Error∗ Dout16SetErrMode (

uint8 id,
uint16 value ) [inline], [virtual]

Set the current error mode settings for a group of 16 digital outputs.

For each output in the group, a value of 1 will cause the output to take it's programmed error value on a device failure.
Setting the mode to 0 will cause the output to hold it's programmed value on failure.

Parameters

id Identifies which group of outputs to effect.

value The new error mode setting of the output lines.

Returns

A pointer to an error object, or NULL on success

5.68.3.136 Dout16SetErrValue()

virtual const Error∗ Dout16SetErrValue (

uint8 id,
uint16 value ) [inline], [virtual]

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Set the current error value settings for a group of 16 digital outputs.

Error values define the state of the output if a device failure occurs. The error value will only be set for those output pins
which have an error mode set to 1. Those with error mode set to zero will not be changed by a device failure.

Parameters

id Identifies which group of outputs to effect.

value The new error value setting of the output lines.

Returns

A pointer to an error object, or NULL on success

5.68.3.137 Dout16SetFilt()

virtual const Error∗ Dout16SetFilt (

uint8 id,
uint16 value ) [inline], [virtual]

Set the current filter constant setting for a group of 16 digital outputs.

For each output in the group, a value of 1 enables the filter, 0 disables.

Parameters

id Identifies which group of outputs to effect.

value The new filter setting of the output lines.

Returns

A pointer to an error object, or NULL on success

5.68.3.138 Dout16SetPol()

virtual const Error∗ Dout16SetPol (

uint8 id,
uint16 value ) [inline], [virtual]

Set the current polarity setting for a group of 16 digital outputs.

For each output in the group, a value of 1 enables inversion and 0 disables.

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Parameters

id Identifies which group of outputs to effect.

value The new polarity setting of the output lines.

Returns

A pointer to an error object, or NULL on success

5.68.3.139 Dout16Write()

const Error ∗ Dout16Write (

uint8 id,
uint16 value,
bool viaSDO = false ) [virtual]

Write a group of 16 digital outputs.

The outputs may be written either by SDO or by PDO. The PDO method is faster since it only requires a single message
to be sent. SDO transfers additionally require a response from the module.

If a PDO transfer is requested, but is not possible because the module is not in an operational state, or because the
output block isn't mapped to the PDO, then an SDO transfer will be used.

Parameters

id Identifies which group of outputs to write.

value The new value of the output lines.
viaSDO If true, the outputs will be written using SDO messages. If false (default), then a PDO will be used if
possible.

Returns

A pointer to an error object, or NULL on success

5.68.3.140 Dout32GetCt()

virtual const Error∗ Dout32GetCt (

uint8 & ct ) [inline], [virtual]

Return the number of 32-bit groups of outputs available on this device.

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Parameters
ct The count is returned here. Zero is returned on error.

Returns

A pointer to an error object, or NULL on success

5.68.3.141 Dout32GetErrMode()

virtual const Error∗ Dout32GetErrMode (

uint8 id,
uint32 & value ) [inline], [virtual]

Get the current error mode settings for a group of 32 digital outputs.

For each output in the group, a value of 1 will cause the output to take it's programmed error value on a device failure.
Setting the mode to 0 will cause the output to hold it's programmed value on failure.

Parameters

id Identifies which group of outputs to read.

value The current error mode setting of the output lines is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.142 Dout32GetErrValue()

virtual const Error∗ Dout32GetErrValue (

uint8 id,
uint32 & value ) [inline], [virtual]

Get the current error value settings for a group of 32 digital outputs.

Error values define the state of the output if a device failure occurs. The error value will only be set for those output pins
which have an error mode set to 1. Those with error mode set to zero will not be changed by a device failure.

Parameters

id Identifies which group of outputs to read.

value The current error value setting of the output lines is returned here.
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Returns

A pointer to an error object, or NULL on success

5.68.3.143 Dout32GetFilt()

virtual const Error∗ Dout32GetFilt (

uint8 id,
uint32 & value ) [inline], [virtual]

Get the current filter constant settings for a group of 32 digital outputs.

For each output in the group, a value of 1 enables the filter, 0 disables.

Parameters

id Identifies which group of outputs to read.

value The current filter setting of the output lines is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.144 Dout32GetPol()

virtual const Error∗ Dout32GetPol (

uint8 id,
uint32 & value ) [inline], [virtual]

Get the current polarity settings for a group of 32 digital outputs.

For each output in the group, a value of 1 enables inversion and 0 disables.

Parameters

id Identifies which group of outputs to read.

value The current polarity setting of the output lines is returned here.

Returns

A pointer to an error object, or NULL on success

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5.68.3.145 Dout32Read()

const Error∗ Dout32Read (

uint8 id,
uint32 & value ) [inline]

Read back the last value written to this bank of 32 digital outputs.

Parameters

id Identifies which group of outputs to read.

value The current state of the output lines is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.146 Dout32SetErrMode()

virtual const Error∗ Dout32SetErrMode (

uint8 id,
uint32 value ) [inline], [virtual]

Set the current error mode settings for a group of 32 digital outputs.

For each output in the group, a value of 1 will cause the output to take it's programmed error value on a device failure.
Setting the mode to 0 will cause the output to hold it's programmed value on failure.

Parameters

id Identifies which group of outputs to effect.

value The new error mode setting of the output lines.

Returns

A pointer to an error object, or NULL on success

5.68.3.147 Dout32SetErrValue()

virtual const Error∗ Dout32SetErrValue (

uint8 id,
uint32 value ) [inline], [virtual]

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5.68 IOModule Class Reference 435

Set the current error value settings for a group of 32 digital outputs.

Error values define the state of the output if a device failure occurs. The error value will only be set for those output pins
which have an error mode set to 1. Those with error mode set to zero will not be changed by a device failure.

Parameters

id Identifies which group of outputs to effect.

value The new error value setting of the output lines.

Returns

A pointer to an error object, or NULL on success

5.68.3.148 Dout32SetFilt()

virtual const Error∗ Dout32SetFilt (

uint8 id,
uint32 value ) [inline], [virtual]

Set the current filter constant setting for a group of 32 digital outputs.

For each output in the group, a value of 1 enables the filter, 0 disables.

Parameters

id Identifies which group of outputs to effect.

value The new filter setting of the output lines.

Returns

A pointer to an error object, or NULL on success

5.68.3.149 Dout32SetPol()

virtual const Error∗ Dout32SetPol (

uint8 id,
uint32 value ) [inline], [virtual]

Set the current polarity setting for a group of 32 digital outputs.

For each output in the group, a value of 1 enables inversion and 0 disables.

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Parameters

id Identifies which group of outputs to effect.

value The new polarity setting of the output lines.

Returns

A pointer to an error object, or NULL on success

5.68.3.150 Dout32Write()

const Error ∗ Dout32Write (

uint8 id,
uint32 value,
bool viaSDO = false ) [virtual]

Write a group of 32 digital outputs.

The outputs may be written either by SDO or by PDO. The PDO method is faster since it only requires a single message
to be sent. SDO transfers additionally require a response from the module.

If a PDO transfer is requested, but is not possible because the module is not in an operational state, or because the
output block isn't mapped to the PDO, then an SDO transfer will be used.

Parameters

id Identifies which group of outputs to write.

value The new value of the output lines.
viaSDO If true, the outputs will be written using SDO messages. If false (default), then a PDO will be used if
possible.

Returns

A pointer to an error object, or NULL on success

5.68.3.151 Dout8GetCt()

virtual const Error∗ Dout8GetCt (

uint8 & ct ) [inline], [virtual]

Return the number of 8-bit groups of outputs available on this device.

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Parameters
ct The count is returned here. Zero is returned on error.

Returns

A pointer to an error object, or NULL on success

5.68.3.152 Dout8GetErrMode()

virtual const Error∗ Dout8GetErrMode (

uint8 id,
uint8 & value ) [inline], [virtual]

Get the current error mode settings for a group of 8 digital outputs.

For each output in the group, a value of 1 will cause the output to take it's programmed error value on a device failure.
Setting the mode to 0 will cause the output to hold it's programmed value on failure.

Parameters

id Identifies which group of outputs to read.

value The current error mode setting of the output lines is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.153 Dout8GetErrValue()

virtual const Error∗ Dout8GetErrValue (

uint8 id,
uint8 & value ) [inline], [virtual]

Get the current error value settings for a group of 8 digital outputs.

Error values define the state of the output if a device failure occurs. The error value will only be set for those output pins
which have an error mode set to 1. Those with error mode set to zero will not be changed by a device failure.

Parameters

id Identifies which group of outputs to read.

value The current error value setting of the output lines is returned here.
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Returns

A pointer to an error object, or NULL on success

5.68.3.154 Dout8GetFilt()

virtual const Error∗ Dout8GetFilt (

uint8 id,
uint8 & value ) [inline], [virtual]

Get the current filter constant settings for a group of 8 digital outputs.

For each output in the group, a value of 1 enables the filter, 0 disables.

Parameters

id Identifies which group of outputs to read.

value The current filter setting of the output lines is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.155 Dout8GetPol()

virtual const Error∗ Dout8GetPol (

uint8 id,
uint8 & value ) [inline], [virtual]

Get the current polarity settings for a group of 8 digital outputs.

For each output in the group, a value of 1 enables inversion and 0 disables.

Parameters

id Identifies which group of outputs to read.

value The current polarity setting of the output lines is returned here.

Returns

A pointer to an error object, or NULL on success

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5.68.3.156 Dout8Read()

const Error∗ Dout8Read (

uint8 id,
uint8 & value ) [inline]

Read back the last value written to this bank of 8 digital outputs.

Parameters

id Identifies which group of outputs to read.

value The current state of the output lines is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.157 Dout8SetErrMode()

virtual const Error∗ Dout8SetErrMode (

uint8 id,
uint8 value ) [inline], [virtual]

Set the current error mode settings for a group of 8 digital outputs.

For each output in the group, a value of 1 will cause the output to take it's programmed error value on a device failure.
Setting the mode to 0 will cause the output to hold it's programmed value on failure.

Parameters

id Identifies which group of outputs to effect.

value The new error mode setting of the output lines.

Returns

A pointer to an error object, or NULL on success

5.68.3.158 Dout8SetErrValue()

virtual const Error∗ Dout8SetErrValue (

uint8 id,
uint8 value ) [inline], [virtual]

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Set the current error value settings for a group of 8 digital outputs.

Error values define the state of the output if a device failure occurs. The error value will only be set for those output pins
which have an error mode set to 1. Those with error mode set to zero will not be changed by a device failure.

Parameters

id Identifies which group of outputs to effect.

value The new error value setting of the output lines.

Returns

A pointer to an error object, or NULL on success

5.68.3.159 Dout8SetFilt()

virtual const Error∗ Dout8SetFilt (

uint8 id,
uint8 value ) [inline], [virtual]

Set the current filter constant setting for a group of 8 digital outputs.

For each output in the group, a value of 1 enables the filter, 0 disables.

Parameters

id Identifies which group of outputs to effect.

value The new filter setting of the output lines.

Returns

A pointer to an error object, or NULL on success

5.68.3.160 Dout8SetPol()

virtual const Error∗ Dout8SetPol (

uint8 id,
uint8 value ) [inline], [virtual]

Set the current polarity setting for a group of 8 digital outputs.

For each output in the group, a value of 1 enables inversion and 0 disables.

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Parameters

id Identifies which group of outputs to effect.

value The new polarity setting of the output lines.

Returns

A pointer to an error object, or NULL on success

5.68.3.161 Dout8Write()

const Error ∗ Dout8Write (

uint8 id,
uint8 value,
bool viaSDO = false )

Write a group of 8 digital outputs.

The outputs may be written either by SDO or by PDO. The PDO method is faster since it only requires a single message
to be sent. SDO transfers additionally require a response from the module.

If a PDO transfer is requested, but is not possible because the module is not in an operational state, or because the
output block isn't mapped to the PDO, then an SDO transfer will be used.

Parameters

id Identifies which group of outputs to write.

value The new value of the output lines.
viaSDO If true, the outputs will be written using SDO messages. If false (default), then a PDO will be used if
possible.

Returns

A pointer to an error object, or NULL on success

5.68.3.162 DoutGetCt()

virtual const Error∗ DoutGetCt (

uint16 & ct ) [inline], [virtual]

Return the number of individual outputs available on this device.

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Parameters
ct The count is returned here. Zero is returned on error.

Returns

A pointer to an error object, or NULL on success

5.68.3.163 DoutGetErrMode()

virtual const Error∗ DoutGetErrMode (

uint16 id,
bool & value ) [inline], [virtual]

Get the current error mode setting for an individual digital output.

A value of true will cause the output to take it's programmed error value on a device failure. Setting the mode to false
will cause the output to hold it's programmed value on failure.

Parameters

id Identifies the output to read.

value The current error mode setting of the output line is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.164 DoutGetErrValue()

virtual const Error∗ DoutGetErrValue (

uint16 id,
bool & value ) [inline], [virtual]

Get the current error value setting for an individual digital output.

Error values define the state of the output if a device failure occurs. The error value will only be set for those output pins
which have an error mode set to true. Those with error mode set to false will not be changed by a device failure.

Parameters

id Identifies the output to read.

value The current error value setting of the output line is returned here.
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Returns

A pointer to an error object, or NULL on success

5.68.3.165 DoutGetFilt()

virtual const Error∗ DoutGetFilt (

uint16 id,
bool & value ) [inline], [virtual]

Get the current filter constant setting for an individual digital output.

A value of true enables the filter, false disables.

Parameters

id Identifies the output to read.

value The current filter setting of the output line is returned here.

Returns

A pointer to an error object, or NULL on success

5.68.3.166 DoutGetPol()

virtual const Error∗ DoutGetPol (

uint16 id,
bool & value ) [inline], [virtual]

Get the current polarity setting for an individual digital output.

A value of true enables inversion and false disables.

Parameters

id Identifies the output to read.

value The current polarity setting of the output line is returned here.

Returns

A pointer to an error object, or NULL on success

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5.68.3.167 DoutSetErrMode()

virtual const Error∗ DoutSetErrMode (

uint16 id,
bool value ) [inline], [virtual]

Set the current error mode setting for an individual digital output.

A value of true will cause the output to take it's programmed error value on a device failure. Setting the mode to false
will cause the output to hold it's programmed value on failure.

Parameters

id Identifies which digital output to effect.

value The new error mode setting of the output line.

Returns

A pointer to an error object, or NULL on success

5.68.3.168 DoutSetErrValue()

virtual const Error∗ DoutSetErrValue (

uint16 id,
bool value ) [inline], [virtual]

Set the current error value setting for an individual digital output.

Error values define the state of the output if a device failure occurs. The error value will only be set for those output pins
which have an error mode set to true. Those with error mode set to false will not be changed by a device failure.

Parameters

id Identifies which digital output to effect.

value The new error value setting of the output line.

Returns

A pointer to an error object, or NULL on success

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5.68.3.169 DoutSetFilt()

virtual const Error∗ DoutSetFilt (

uint16 id,
bool value ) [inline], [virtual]

Set the current filter constant setting for an individual digital output.

A value of true enables the filter, false disables.

Parameters

id Identifies which digital output to effect.

value The new filter setting of the output line.

Returns

A pointer to an error object, or NULL on success

5.68.3.170 DoutSetPol()

virtual const Error∗ DoutSetPol (

uint16 id,
bool value ) [inline], [virtual]

Set the current polarity setting for an individual digital output.

A value of true enables inversion and false disables.

Parameters

id Identifies which digital output to effect.

value The new polarity setting of the output line.

Returns

A pointer to an error object, or NULL on success

5.68.3.171 DoutWrite()

const Error ∗ DoutWrite (

uint16 id,

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bool value,
bool viaSDO = false ) [virtual]

Write an individual digital output.

The output may be written either by SDO or by PDO. The PDO method is faster since it only requires a single message
to be sent. SDO transfers additionally require a response from the module.

If a PDO transfer is requested, but is not possible because the module is not in an operational state, or because the
output isn't mapped to the PDO, then an SDO transfer will be used.

Parameters

id Identifies which output to write.

value The new value of the output line.
viaSDO If true, the outputs will be written using SDO messages. If false (default), then a PDO will be used if
possible.

Returns

A pointer to an error object, or NULL on success

5.68.3.172 Init() [1/2]

const Error ∗ Init (

Network & net,
int16 nodeID ) [virtual]

Initialize an I/O module using default settings.

This function associates the object with the CANopen network it will be used on.

Parameters
net The Network object that this module is associated with.
nodeID The node ID of the module on the network.

Returns

A pointer to an error object, or NULL on success

Reimplemented from Node.

Reimplemented in CopleyIO.

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5.68.3.173 Init() [2/2]

const Error ∗ Init (

Network & net,
int16 nodeID,
IOModuleSettings & settings ) [virtual]

Initialize an I/O module using custom settings.

This function associates the object with the CANopen network it will be used on.

Parameters
net The Network object that this module is associated with.
nodeID The node ID of the module on the network.
settings The settings to use when configuring the module

Returns

A pointer to an error object, or NULL on success

Reimplemented in CopleyIO.

5.68.3.174 PostIOEvent()

virtual void PostIOEvent (

IOMODULE_EVENTS event ) [inline], [protected], [virtual]

Post an event condition to the I/O module's event map.

This method is used internally by the various standard transmit PDOs when a new PDO message is received.

Parameters

event The event bit(s) to post

5.68.3.175 WaitIOEvent() [1/2]

const Error ∗ WaitIOEvent (

IOMODULE_EVENTS event,
Timeout timeout = -1 ) [virtual]

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Wait on an event associated with this I/O module.

The standard events are used to indicate that a new transmit PDO has been received. A thread may wait on such an
event by calling this function.

Parameters

event The event(s) to wait on. Multiple events may be ORed together and in this case this function will return
when any of them occur.
timeout The timeout for the wait (milliseconds). Negative values indicate that no timeout should be used (wait
forever). The default value is -1.

Returns

A pointer to an error object, or NULL on success

5.68.3.176 WaitIOEvent() [2/2]

const Error ∗ WaitIOEvent (

Event & e,
Timeout timeout,
IOMODULE_EVENTS & match ) [virtual]

Wait for an event associated with this I/O module.

This function can be used to wait on any generic event associated with the I/O module.

Parameters
e The event to wait on.
timeout The timeout for the wait (milliseconds). If < 0, then wait forever.
match Returns the matching event condition.

Returns

A pointer to an error object, or NULL on success.

The documentation for this class was generated from the following files:

• CML_IO.h
• IOmodule.cpp

5.69 IOModuleSettings Struct Reference

Standard CANopen I/O module settings.

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Public Attributes
• uint16 heartbeatPeriod
The CANopen heartbeat protocol is one of two standard methods used to constantly watch for network or device problems.
• uint16 heartbeatTimeout
Additional time to wait before generating a heartbeat error (milliseconds) If the heartbeat protocol is used, then this value,
combined with the heartbeatTime will determine how long the network master waits for the node's heartbeat message
before it generates a heartbeat error.
• uint16 guardTime
Node guarding guard time (milliseconds)
• uint8 lifeFactor
Node guarding life time factor.
• bool useStandardDinPDO
Use the standard digital input PDO object.
• bool useStandardDoutPDO
Use the standard digital output PDO object.
• bool useStandardAinPDO
Use the standard analog input PDO objects.
• bool useStandardAoutPDO
Use the standard analog output PDO objects.

5.69.1 Detailed Description

Standard CANopen I/O module settings.

This structure may be passed to an I/O module object during initialization. It allows custom settings to be assigned to
the module.

5.69.2 Member Data Documentation

5.69.2.1 guardTime

uint16 guardTime

Node guarding guard time (milliseconds)

The CANopen node guarding protocol is a second method (the first being the heartbeat protocol) for devices on the
network to watch for network problems. In this protocol, the master controller sends a request message out to the slave
device at a specified interval. The slave device responds to this request with a message indicating it's state.

The main difference between this protocol and the heartbeat protocol is that both the slave node and the master are able
to recognize network errors. With the heartbeat protocol only the network master is able to identify network problems.

Note that only one of these two protocols can be active in a node device at any time. If the heartbeat period is non-zero,
then the heartbeat protocol will be used.

This parameter gives the node guarding period for use with this node. This is the period between node guarding request
messages sent by the master controller.

Note that both this parameter, and the life time factor must be non-zero for node guarding to be used.

Default 0 (ms)

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5.69.2.2 heartbeatPeriod

uint16 heartbeatPeriod

The CANopen heartbeat protocol is one of two standard methods used to constantly watch for network or device prob-
lems.

When the heartbeat protocol is used, each device on the CANopen network transmits a 'heartbeat' message at a
specified interval. The network master watches for these messages, and is able to detect a device error if it's heartbeat
message is not received within the expected time.

This parameter configures the heartbeat period (milliseconds) that will be used by this module to transmit it's heartbeat
message.

If this parameter is set to zero, then the heartbeat protocol is disabled on this node.

Default: zero (not used)

5.69.2.3 heartbeatTimeout

uint16 heartbeatTimeout

Additional time to wait before generating a heartbeat error (milliseconds) If the heartbeat protocol is used, then this
value, combined with the heartbeatTime will determine how long the network master waits for the node's heartbeat
message before it generates a heartbeat error.

Note that setting this to zero does not disable the heartbeat protocol. set the heartbeatPeriod value to zero to disable
heartbeat.

Default 100 (ms)

5.69.2.4 lifeFactor

uint8 lifeFactor

Node guarding life time factor.

When the node guarding protocol is used, this parameter is used by the slave device to determine how long to wait for
a node guarding request from the master controller before signaling an error condition.

The life time factor is treated as a multiple of the guard time.

If this parameter and the node guard time are both non-zero, and the heartbeatTime is zero, then node guarding will be
setup for the amplifier.

Default 3 (multiples of the guard time)

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5.69.2.5 useStandardAinPDO

bool useStandardAinPDO

Use the standard analog input PDO objects.

If true (default) then up to three standard PDO objects will be configured to read the first 12 16-bit analog input pins
when they generate events. If false, then these PDOs will not be configured.

5.69.2.6 useStandardAoutPDO

bool useStandardAoutPDO

Use the standard analog output PDO objects.

If true (default) then up to three standard PDO objects will be configured to transmit the analog output data for up to 12
16-bit analog outputs. If false, then these PDOs will not be configured.

5.69.2.7 useStandardDinPDO

bool useStandardDinPDO

Use the standard digital input PDO object.

If true (default) then a standard PDO object will be configured to read up to 64 digital inputs any time one of them
changes. If false, then this PDO will not be configured.

5.69.2.8 useStandardDoutPDO

bool useStandardDoutPDO

Use the standard digital output PDO object.

If true (default) then a standard PDO object will be configured to transmit updated settings for the first 64 digital output
pins when any of them are changed. If false, no such PDO will be configured.

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

• CML_IO.h

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5.70 IxxatCAN Class Reference

Ixxat specific CAN interface.

Inheritance diagram for IxxatCAN:

RefObj

CanInterface

IxxatCAN

Collaboration diagram for IxxatCAN:

RefObj

CanInterface Semaphore Mutex CanFrame

rxSem mutex rx

IxxatCAN

Public Member Functions

• IxxatCAN (void)
Construct a new Ixxat CAN interface object.

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• IxxatCAN (const char ∗port)

Construct a new Ixxat CAN interface object for the specified port.
• virtual ∼IxxatCAN (void)
Destructor for Ixxat card.
• const Error ∗ Open (void)
Open the Ixxat CAN card.
• const Error ∗ Close (void)
Close the CAN interface.
• const Error ∗ SetBaud (int32 baud)
Set the CAN interface baud rate.
• void rxInt (int16 ct, void ∗frame)
Receive interrupt handler.

Protected Member Functions

• const Error ∗ RecvFrame (CanFrame &frame, Timeout timeout)

Receive the next CAN frame.
• const Error ∗ XmitFrame (CanFrame &frame, Timeout timeout)
Write a CAN frame to the CAN network.
• const Error ∗ ConvertError (int err)
Convert error codes defined by the Vector CAN library into the standard error codes used by the motion library.

Protected Attributes

• int open
tracks the state of the interface as open or closed.
• uint8 channel
Which CAN channel to use (on multi-channel boards).
• int32 baud
Holds a copy of the last baud rate set.
• int handle
File handle used to access the CAN channel.

Additional Inherited Members

5.70.1 Detailed Description

Ixxat specific CAN interface.

This class extends the generic CanInterface class into a working interface for the Ixxat can device driver.

5.70.2 Constructor & Destructor Documentation

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5.70.2.1 IxxatCAN() [1/2]

IxxatCAN (
void )

Construct a new Ixxat CAN interface object.

This simply sets the default baud rate and marks the card as not open.

5.70.2.2 IxxatCAN() [2/2]

IxxatCAN (
const char ∗ port )

Construct a new Ixxat CAN interface object for the specified port.

The port name should be of the form CANx or IXXATx where x is the port number. The port numbers start at 0, so the
first port would be identified by the port name CAN0.

Parameters

port The port name string identifying the CAN device.

5.70.2.3 ∼IxxatCAN()

∼IxxatCAN (
void ) [virtual]

Destructor for Ixxat card.

Closes the interface and unloads the library.

5.70.3 Member Function Documentation

5.70.3.1 Close()

const Error ∗ Close (

void ) [virtual]

Close the CAN interface.

Returns

A pointer to an error object on failure, or NULL on success.

Reimplemented from CanInterface.

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5.70.3.2 ConvertError()

const Error ∗ ConvertError (

int err ) [protected]

Convert error codes defined by the Vector CAN library into the standard error codes used by the motion library.

Parameters
err The Vector style status code

Returns

A pointer to an error object, or NULL if no error is indicated

5.70.3.3 Open()

const Error ∗ Open (

void ) [virtual]

Open the Ixxat CAN card.

The card should have been identified by setting it's name either in the constructor, or by using the method CanInterface←-
::SetName.

If no port name was set, then the default Ixxat card will be used.

If the port name is set to "select", then a dialog box will be shown allowing the card to be selected from any installed
Ixxat cards.

Otherwise, the port name should be of the form "CANx" where x is the Ixxat hardware key number (i.e. CAN1 for
hardware key 1).

Returns

A pointer to an error object on failure, or NULL on success.

Reimplemented from CanInterface.

5.70.3.4 RecvFrame()

const Error ∗ RecvFrame (

CanFrame & frame,
Timeout timeout ) [protected], [virtual]

Receive the next CAN frame.

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Parameters

frame A reference to the frame object that will be filled by the read.
timeout The timeout (ms) to wait for the frame. A timeout of 0 will return immediately if no data is available. A
timeout of < 0 will wait forever.

Returns

A pointer to an error object on failure, or NULL on success.

Reimplemented from CanInterface.

5.70.3.5 rxInt()

void rxInt (
int16 ct,
void ∗ ptr )

Receive interrupt handler.

This is an internal function that should not be called except by the driver. It's used to add one or more CAN frames to
the receive buffer when they are received.

Parameters

ct The number of frames to add

ptr Points to an array of ct VCI_CAN_OBJ structures.

5.70.3.6 SetBaud()

const Error ∗ SetBaud (

int32 b ) [virtual]

Set the CAN interface baud rate.

Parameters
b The baud rate to set.

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5.70 IxxatCAN Class Reference 457

Returns

A pointer to an error object on failure, or NULL on success.

Reimplemented from CanInterface.

5.70.3.7 XmitFrame()

const Error ∗ XmitFrame (

CanFrame & frame,
Timeout timeout ) [protected], [virtual]

Write a CAN frame to the CAN network.

Parameters

frame A reference to the frame to write.

timeout The time to wait for the frame to be successfully sent. If the timeout is 0, the frame is written to the output
queue and the function returns without waiting for it to be sent. If the timeout is <0 then the function will
delay forever.

Returns

A pointer to an error object on failure, or NULL on success.

Reimplemented from CanInterface.

5.70.4 Member Data Documentation

5.70.4.1 channel

uint8 channel [protected]

Which CAN channel to use (on multi-channel boards).

For the moment this is always set to zero.

The documentation for this class was generated from the following files:

• can_ixxat.h
• can_ixxat.cpp

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458 Class Documentation

5.71 IxxatCANV3 Class Reference

Ixxat specific CAN interface.

Inheritance diagram for IxxatCANV3:

RefObj

CanInterface

IxxatCANV3

Collaboration diagram for IxxatCANV3:

RefObj

CanInterface Mutex

mutex

IxxatCANV3

Public Member Functions

• const Error ∗ Open (void)

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5.71 IxxatCANV3 Class Reference 459

Open the CAN interface.

• const Error ∗ Close (void)
Close the CAN interface.
• const Error ∗ SetBaud (int32 baud)
Set the CAN interface baud rate.

Protected Member Functions

• const Error ∗ RecvFrame (CanFrame &frame, Timeout timeout)

Receive the next CAN frame.
• const Error ∗ XmitFrame (CanFrame &frame, Timeout timeout)
Write a CAN frame to the CAN network.
• const Error ∗ ConvertError (int err)
Convert error codes defined by the Vector CAN library into the standard error codes used by the motion library.

Protected Attributes

• int open
tracks the state of the interface as open or closed.
• uint8 channel
Which CAN channel to use (on multi-channel boards).
• int32 baud
Holds a copy of the last baud rate set.
• int handle
File handle used to access the CAN channel.

Additional Inherited Members

5.71.1 Detailed Description

Ixxat specific CAN interface.

This class extends the generic CanInterface class into a working interface for the Ixxat can device driver.

5.71.2 Member Function Documentation

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5.71.2.1 Close()

const Error ∗ Close (

void ) [virtual]

Close the CAN interface.

Returns

A pointer to an error object on failure, or NULL on success.

Reimplemented from CanInterface.

5.71.2.2 ConvertError()

const Error ∗ ConvertError (

int err ) [protected]

Convert error codes defined by the Vector CAN library into the standard error codes used by the motion library.

Parameters
err The Vector style status code

Returns

A pointer to an error object, or NULL if no error is indicated

5.71.2.3 Open()

const Error ∗ Open (

void ) [virtual]

Open the CAN interface.

Returns

A valid CAN error object

Reimplemented from CanInterface.

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5.71 IxxatCANV3 Class Reference 461

5.71.2.4 RecvFrame()

const Error ∗ RecvFrame (

CanFrame & frame,
Timeout timeout ) [protected], [virtual]

Receive the next CAN frame.

Parameters

frame A reference to the frame object that will be filled by the read.
timeout The timeout (ms) to wait for the frame. A timeout of 0 will return immediately if no data is available. A
timeout of < 0 will wait forever.

Returns

A pointer to an error object on failure, or NULL on success.

Reimplemented from CanInterface.

5.71.2.5 SetBaud()

const Error ∗ SetBaud (

int32 b ) [virtual]

Set the CAN interface baud rate.

Parameters
b The baud rate to set.

Returns

A pointer to an error object on failure, or NULL on success.

Reimplemented from CanInterface.

5.71.2.6 XmitFrame()

const Error ∗ XmitFrame (

CanFrame & frame,
Timeout timeout ) [protected], [virtual]

Write a CAN frame to the CAN network.

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Parameters

frame A reference to the frame to write.

timeout The time to wait for the frame to be successfully sent. If the timeout is 0, the frame is written to the output
queue and the function returns without waiting for it to be sent. If the timeout is <0 then the function will
delay forever.

Returns

A pointer to an error object on failure, or NULL on success.

Reimplemented from CanInterface.

5.71.3 Member Data Documentation

5.71.3.1 channel

uint8 channel [protected]

Which CAN channel to use (on multi-channel boards).

For the moment this is always set to zero.
The documentation for this class was generated from the following files:

• can_ixxat_v3.h
• can_ixxat_v3.cpp

5.72 KvaserCAN Class Reference

Kvaser specific CAN interface.

Inheritance diagram for KvaserCAN:

RefObj

CanInterface

KvaserCAN

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5.72 KvaserCAN Class Reference 463

Collaboration diagram for KvaserCAN:

RefObj

CanInterface Mutex

mutex

KvaserCAN

Public Member Functions

• KvaserCAN (void)
Construct a default CAN object.
• KvaserCAN (const char ∗port)
Construct a CAN object with a specified port name.
• virtual ∼KvaserCAN (void)
Destructor.
• const Error ∗ Open (void)
Open the Kvaser CAN port.
• const Error ∗ Close (void)
Close the CAN interface.
• const Error ∗ SetBaud (int32 baud)
Set the CAN interface baud rate.

Protected Member Functions

• const Error ∗ RecvFrame (CanFrame &frame, Timeout timeout)

Receive the next CAN frame.
• const Error ∗ XmitFrame (CanFrame &frame, Timeout timeout)
Write a CAN frame to the CAN network.
• const Error ∗ ConvertError (int err)
Convert error codes defined by the Vector CAN library into the standard error codes used by the motion library.

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Protected Attributes

• int open
tracks the state of the interface as open or closed.
• int32 baud
Holds a copy of the last baud rate set.
• int kvBaud
Holds a value the Kvaser driver uses to identify bit rate.
• int Handle_Rd
File handle used to configure and read from the CAN channel.
• int Handle_Wr
File handle used to write to the CAN channel.

Additional Inherited Members

5.72.1 Detailed Description

Kvaser specific CAN interface.

This class extends the generic CanInterface class into a working interface for the Kvaser can device driver.

5.72.2 Constructor & Destructor Documentation

5.72.2.1 KvaserCAN() [1/2]

KvaserCAN (
void )

Construct a default CAN object.

The CAN interface is closed initially, and no port name is selected.

5.72.2.2 KvaserCAN() [2/2]

KvaserCAN (
const char ∗ port )

Construct a CAN object with a specified port name.

The port name should be of the form CANx or KVASERx where x is the port number. The port numbers start at 0, so
the first port would be identified by the port name CAN0.

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5.72 KvaserCAN Class Reference 465

Parameters

port The port name string identifying the CAN device.

5.72.2.3 ∼KvaserCAN()

∼KvaserCAN (
void ) [virtual]

Destructor.

This closes the CAN port and frees the .dll

5.72.3 Member Function Documentation

5.72.3.1 Close()

const Error ∗ Close (

void ) [virtual]

Close the CAN interface.

Returns

A pointer to an error object on failure, NULL on success.

Reimplemented from CanInterface.

5.72.3.2 ConvertError()

const Error ∗ ConvertError (

int err ) [protected]

Convert error codes defined by the Vector CAN library into the standard error codes used by the motion library.

Parameters
err The Vector style status code

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Returns

A pointer to an error object on failure, NULL on success.

5.72.3.3 Open()

const Error ∗ Open (

void ) [virtual]

Open the Kvaser CAN port.

Before Open is called, the desired baud rate must have been specified by calling SetBaud, and the port name must
have been set. If the baud was not specified, it will default to 1,000,000 BPS. If the port name is not set, it will default to
CAN0.

Returns

A pointer to an error object on failure, NULL on success.

Reimplemented from CanInterface.

5.72.3.4 RecvFrame()

const Error ∗ RecvFrame (

CanFrame & frame,
Timeout timeout ) [protected], [virtual]

Receive the next CAN frame.

Parameters

frame A reference to the frame object that will be filled by the read.
timeout The timeout (ms) to wait for the frame. A timeout of 0 will return immediately if no data is available. A
timeout of < 0 will wait forever.

Returns

A pointer to an error object on failure, NULL on success.

Reimplemented from CanInterface.

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5.72.3.5 SetBaud()

const Error ∗ SetBaud (

int32 b ) [virtual]

Set the CAN interface baud rate.

Parameters
b The baud rate to set.

Returns

A pointer to an error object on failure, NULL on success.

Reimplemented from CanInterface.

5.72.3.6 XmitFrame()

const Error ∗ XmitFrame (

CanFrame & frame,
Timeout timeout ) [protected], [virtual]

Write a CAN frame to the CAN network.

Parameters

frame A reference to the frame to write.

timeout The time to wait for the frame to be successfully sent. If the timeout is 0, the frame is written to the output
queue and the function returns without waiting for it to be sent. If the timeout is <0 then the function will
delay forever.

Returns

A pointer to an error object on failure, NULL on success.

Reimplemented from CanInterface.

The documentation for this class was generated from the following files:

• can_kvaser.h
• can_kvaser.cpp

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5.73 Linkage Class Reference

Linkage object, used for controlling a group of coordinated amplifiers.

Inheritance diagram for Linkage:

Thread RefObj

Linkage

Collaboration diagram for Linkage:

Thread RefObj EventMap

eventMap

Linkage

Public Member Functions

• Linkage ()
Default constructor.
• virtual ∼Linkage ()
Linkage object destructor.
• const Error ∗ Init (uint16 ct, Amp a[ ])
Initialize a new linkage object.
• const Error ∗ Init (uint16 ct, Amp ∗a[ ])
Initialize a new linkage object.
• const Error ∗ Configure (LinkSettings &settings)

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5.73 Linkage Class Reference 469

Configure a linkage.
• Amp & GetAmp (uint16 i)
Get a reference to the amplifier object at the specified location in the linkage.
• uint32 GetAmpRef (uint16 i)
Return a CML reference number for the amp object at the specified location in the linkage.
• const Error ∗ MoveTo (PointN &p, uunit vel, uunit acc, uunit dec, uunit jrk, bool start=true)
Move to a point in space.
• const Error ∗ MoveToRel (PointN &p, uunit vel, uunit acc, uunit dec, uunit jrk, bool start=true)
Move to a point in space using relative distances.
• const Error ∗ SetMoveLimits (uunit vel, uunit acc, uunit dec, uunit jrk)
Set limits used for multi-axis point-to-point moves.
• const Error ∗ GetMoveLimits (uunit &vel, uunit &acc, uunit &dec, uunit &jrk)
Return the move limits currently set for this linkage.
• const Error ∗ MoveTo (PointN &p, bool start=true)
Move to a specified position.
• const Error ∗ MoveToRel (PointN &p, bool start=true)
Move to a point in space using relative distances.
• const Error ∗ StartMove (void)
Start the moves that have already been programmed into all axes of this linkage.
• const Error ∗ WaitMoveDone (Timeout timeout=-1)
Wait for the currently running move to finish, or for an error to occur.
• const Error ∗ WaitEvent (Event &e, Timeout timeout, LINK_EVENT &match, EventMap &map)
Wait for a linkage event condition.
• const Error ∗ WaitEvent (Event &e, Timeout timeout, LINK_EVENT &match)
Wait for a linkage event condition.
• const Error ∗ WaitEvent (Event &e, Timeout timeout=-1)
Wait for a linkage event condition.
• const Error ∗ HaltMove (void)
Halt the current move.
• const Error ∗ SendTrajectory (LinkTrajectory &trj, bool start=true)
Upload a multi-axis PVT move trajectory to the linkage and optionally start the move.
• const Error ∗ GetLatchedError (int &amp)
Return any latched error codes held by the linkage object.
• void ClearLatchedError (void)
Clear any latched errors.
• Amp & operator[ ] (uint16 i)
Return a reference to the specified amplifier object in this linkage.
• uint16 GetAmpCount (void)
Return the number of amplifiers associated with this linkage.
• virtual uint16 GetAxesCount (void)
Return the number of independent axes associated with this linkage.
• const Error ∗ GetPositionCommand (PointN &p)
Get the current commanded position of the linkage.
• virtual const Error ∗ ConvertAmpToAxisPos (uunit pos[ ])
Convert the linkage position from the amplifier frame to the axis frame.
• virtual const Error ∗ ConvertAxisToAmpPos (uunit pos[ ])
Convert the linkage position from the axis frame to the amplifier frame.

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• virtual const Error ∗ ConvertAmpToAxis (uunit pos[ ], uunit vel[ ])

Convert position & velocity information from the amplifier frame to the axis frame.
• virtual const Error ∗ ConvertAxisToAmp (uunit pos[ ], uunit vel[ ])
Convert position & velocity information from the axis frame to the amplifier frame.
• uint32 GetNetworkRef (void)
Return a CML reference number for the Network this linkage is associated with.
• NetworkType GetNetworkType (void)
Return the network type for the network this linkage is associated with.

Public Attributes

• EventMap eventMap
This is an event map that is used to track linkage events and state changes.

Friends

• class Amp

Additional Inherited Members

5.73.1 Detailed Description

Linkage object, used for controlling a group of coordinated amplifiers.

5.73.2 Constructor & Destructor Documentation

5.73.2.1 Linkage()

Linkage (
void )

Default constructor.

Linkage::Init must be called before this linkage object may be used.

5.73.3 Member Function Documentation

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5.73 Linkage Class Reference 471

5.73.3.1 ClearLatchedError()

void ClearLatchedError (
void ) [inline]

Clear any latched errors.

This function clears the latched error information returned by Linkage::GetLatchedError(). Latched errors are automat-
ically cleared at the start of a new move. This call may be used to clear latched error information at any other time.

5.73.3.2 Configure()

const Error ∗ Configure (

LinkSettings & settings )

Configure a linkage.

The linkage object will be configured to use the various settings passed in the LinkSettings object.

When a new Linkage object is created, it will be configured using a default set of settings. These settings can be
modified through this call. Set the documentation of the LinkSettings object for details of the available settings and their
default values.

Parameters

settings The new settings to be used. A local copy of this object will be made by the linkage.

Returns

An error object pointer, or NULL on success.

5.73.3.3 ConvertAmpToAxis()

virtual const Error∗ ConvertAmpToAxis (

uunit pos[ ],
uunit vel[ ] ) [inline], [virtual]

Convert position & velocity information from the amplifier frame to the axis frame.

The passed arrays contain a position and velocity for each amplifer on entry. These values should be converted to axis
positions & velocities in this function.

By default, this function doesn't do anything, however it is a virtual function to allow it to be extended in sub-classes.

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Parameters

pos An array of amplifer positions on entry, and axes positions on exit.

vel An array of amplifier velocities on entry, and axis velocities on exit.

Returns

NULL on success or an Error pointer on failure.

5.73.3.4 ConvertAmpToAxisPos()

virtual const Error∗ ConvertAmpToAxisPos (

uunit pos[ ] ) [inline], [virtual]

Convert the linkage position from the amplifier frame to the axis frame.

The passed array contains a position for each amplifer on entry. These positions should be converted to axis positions
in this function. By default, this function doesn't do anything, however it is a virtual function to allow it to be extended in
sub-classes.

Parameters

pos An array of amplifer positions on entry, and axes positions on exit.

Returns

NULL on success or an Error pointer on failure.

5.73.3.5 ConvertAxisToAmp()

virtual const Error∗ ConvertAxisToAmp (

uunit pos[ ],
uunit vel[ ] ) [inline], [virtual]

Convert position & velocity information from the axis frame to the amplifier frame.

The passed arrays contain a position and velocity for each axis on entry. These values should be converted to amp
positions & velocities in this function.

By default, this function doesn't do anything, however it is a virtual function to allow it to be extended in sub-classes.

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5.73 Linkage Class Reference 473

Parameters

pos An array of axis positions on entry, and amplifier positions on exit.

vel An array of axis velocities on entry, and amplifier velocities on exit.

Returns

NULL on success or an Error pointer on failure.

5.73.3.6 ConvertAxisToAmpPos()

virtual const Error∗ ConvertAxisToAmpPos (

uunit pos[ ] ) [inline], [virtual]

Convert the linkage position from the axis frame to the amplifier frame.

The passed array contains a position for each axis on entry. These positions should be converted to amplifier positions
in this function. By default, this function doesn't do anything, however it is a virtual function to allow it to be extended in
sub-classes.

Parameters

pos An array of axis positions on entry, and amp positions on exit.

Returns

NULL on success or an Error pointer on failure.

5.73.3.7 GetAmp()

Amp & GetAmp (

uint16 i )

Get a reference to the amplifier object at the specified location in the linkage.

Note that if CML_DEBUG_ASSERT is defined, then the standard C assert function will be used to check for an invalid
index.

NOTE: This function is unsafe and has been depreciated. Use Linkage::GetAmpRef() as a safer alternative.

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Parameters

i The index of the amplifier to access.

Returns

A reference to the amplifier object.

5.73.3.8 GetAmpCount()

uint16 GetAmpCount (
void ) [inline]

Return the number of amplifiers associated with this linkage.

Returns

The amplifier count.

5.73.3.9 GetAmpRef()

uint32 GetAmpRef (
uint16 i )

Return a CML reference number for the amp object at the specified location in the linkage.

RefObj::LockRef() can then be used to safely obtain a pointer to the actual Amp object.

Parameters

i The index of the amplifier to access.

Returns

A reference to the amplifier object.

5.73.3.10 GetAxesCount()

virtual uint16 GetAxesCount (

void ) [inline], [virtual]

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5.73 Linkage Class Reference 475

Return the number of independent axes associated with this linkage.

For a standard Linkage object, this will be the same as the amp count, however, this function is virtual to allow more
complex structures to be represented in sub-classes.

Returns

The number of independent axes for this Linkage.

5.73.3.11 GetLatchedError()

const Error∗ GetLatchedError (

int & amp ) [inline]

Return any latched error codes held by the linkage object.

When an error occurs during a move, the linkage latches the first error to occur and the index of the amplifier that caused
it.

Note that the latched error information will be reset automatically at the start of any new move.

Parameters

amp The index of the amplifier producing the latched error will be returned. -1 will be returned if the amplifier is
unknown.

Returns

A pointer to the latched error object, or NULL if no error was latched.

5.73.3.12 GetMoveLimits()

const Error ∗ GetMoveLimits (

uunit & vel,
uunit & acc,
uunit & dec,
uunit & jrk )

Return the move limits currently set for this linkage.

Parameters
vel Returns maximum velocity
acc Returns maximum acceleration
dec by
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Doxygenmaximum deceleration
jrk Returns maximum jerk
476 Class Documentation

Returns

An error object pointer, or NULL on success.

5.73.3.13 GetPositionCommand()

const Error ∗ GetPositionCommand (

PointN & p )

Get the current commanded position of the linkage.

Note that this function queries the position of each amplifier sequentially and therefore the returned position information
will only be accurate if the linkage is at rest when the function is called.

Parameters

p A point that will be filled in with the current Linkage commanded position.

Returns

An error object pointer, or NULL on success.

5.73.3.14 HaltMove()

const Error ∗ HaltMove (

void )

Halt the current move.

The exact type of halt can be programmed individually for each axis using the Amp::SetHaltMode function.

Returns

An error object pointer, or NULL on success.

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5.73 Linkage Class Reference 477

5.73.3.15 Init() [1/2]

const Error ∗ Init (

uint16 ct,
Amp a[ ] )

Initialize a new linkage object.

If the object has already been initialized, this will fail with an error.

All amplifiers attached to a linkage must be initialized, and must share the same network object. Also, amplifiers may
only be attached to one linkage at a time, so this function will fail if any of the passed amplifier objects is already attached
to a Linkage.

The linkage object will maintain pointers to each of the amplifier objects passed to this function. The amplifiers may not
be destroyed until after the linkage object is.

Parameters

ct The number of amplifiers to be used with this linkage. Note that this must be between 1 and
CML_MAX_AMPS_PER_LINK.
a An array of amplifiers to be assigned to this linkage. There must be at least ct amplifiers in this array.

Returns

An error object pointer, or NULL on success.

5.73.3.16 Init() [2/2]

const Error ∗ Init (

uint16 ct,
Amp ∗ a[ ] )

Initialize a new linkage object.

If the object has already been initialized, this will fail with an error.

All amplifiers attached to a linkage must be initialized, and must share the same network object. Also, amplifiers may
only be attached to one linkage at a time, so this function will fail if any of the passed amplifier objects is already attached
to a Linkage.

The linkage object will maintain pointers to each of the amplifier objects passed to this function. The amplifiers may not
be destroyed until after the linkage object is.

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Parameters

ct The number of amplifiers to be used with this linkage. Note that this must be between 1 and
CML_MAX_AMPS_PER_LINK.
a An array of pointer to amplifier objects to be assigned to this linkage. There must be at least ct pointers in this
array.

Returns

An error object pointer, or NULL on success.

5.73.3.17 MoveTo() [1/2]

const Error ∗ MoveTo (

PointN & p,
uunit vel,
uunit acc,
uunit dec,
uunit jrk,
bool start = true )

Move to a point in space.

The number of dimensions of the point must equal the number of axes controlled by the Linkage (as returned by
Linkage::GetAxesCount).

This method causes the linkage to perform a straight line move in N space from the present position to the specified
point. The move will be limited in velocity, acceleration & jerk to the passed values.

The linkage is assumed to be at rest when this method is called. If this isn't the case, then an error will result.

Note that this function causes a trajectory to be calculated and passed to the amplifiers as a series of PVT points. This
calculation requires floating point math, so this function is not available if floating point support has not been enabled in
CML_Settings.h.

Parameters
p The point in N space to move to.
vel Maximum velocity
acc Maximum acceleration
dec Maximum deceleration
jrk Maximum jerk
start If true (the default), the profile will be started by this call. If false, the profile will be uploaded, but not started.
In that case the move may be later started by a call to Linkage::StartMove.

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Returns

An error object pointer, or NULL on success.

5.73.3.18 MoveTo() [2/2]

const Error ∗ MoveTo (

PointN & p,
bool start = true )

Move to a specified position.

This move uses the limits previously set using Linkage::SetMoveLimits.

Parameters
p The point to move to.
start If true (the default), the profile will be started by this call. If false, the profile will be uploaded, but not started.
In that case the move may be later started by a call to Linkage::StartMove.

Returns

An error object pointer, or NULL on success.

5.73.3.19 MoveToRel() [1/2]

const Error ∗ MoveToRel (

PointN & p,
uunit vel,
uunit acc,
uunit dec,
uunit jrk,
bool start = true )

Move to a point in space using relative distances.

The number of dimensions of the point must equal the number of axes controlled by the Linkage (as returned by
Linkage::GetAxesCount).

This method causes the linkage to perform a straight line move in N space from the present position to the specified
point using relative distances. The move will be limited in velocity, acceleration & jerk to the passed values.

The linkage is assumed to be at rest when this method is called. If this isn't the case, then an error will result.

Note that this function causes a trajectory to be calculated and passed to the amplifiers as a series of PVT points. This
calculation requires floating point math, so this function is not available if floating point support has not been enabled in
CML_Settings.h.

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Parameters
p The relative distances to the desired point in N space.
vel Maximum velocity
acc Maximum acceleration
dec Maximum deceleration
jrk Maximum jerk
start If true (the default), the profile will be started by this call. If false, the profile will be uploaded, but not started.
In that case the move may be later started by a call to Linkage::StartMove.

Returns

An error object pointer, or NULL on success.

5.73.3.20 MoveToRel() [2/2]

const Error ∗ MoveToRel (

PointN & p,
bool start = true )

Move to a point in space using relative distances.

This move uses the limits previously set using Linkage::SetMoveLimits.

Parameters
p The relative distances to the desired point in N space.
start If true (the default), the profile will be started by this call. If false, the profile will be uploaded, but not started.
In that case the move may be later started by a call to Linkage::StartMove.

Returns

An error object pointer, or NULL on success.

5.73.3.21 operator[]()

Amp& operator[ ] (
uint16 i ) [inline]

Return a reference to the specified amplifier object in this linkage.

This is the same as Linkage::GetAmp

NOTE: This function is unsafe and has been depreciated. Use Linkage::GetAmpRef() as a safer alternative.

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5.73 Linkage Class Reference 481

Parameters

i The amplifier index location

Returns

A reference to the amp object

5.73.3.22 SendTrajectory()

const Error ∗ SendTrajectory (

LinkTrajectory & trj,
bool start = true )

Upload a multi-axis PVT move trajectory to the linkage and optionally start the move.

Parameters

trj Reference to the linkage trajectory to be used. A local reference to this trajectory will be stored if the entire
profile will not fit in the amplifiers on-board buffer. This pointer will be kept until the entire profile has been
uploaded to the linkage. It is therefore important to ensure that the trajectory object passed here will remain
valid (i.e. not be deallocated) until the linkage has called the LinkTrajectory.Finish() method.
start If true (the default), the profile will be started by this call. If false, the profile will be uploaded, but not started.
In that case the move may be later started by a call to Linkage::StartMove.

Returns

An error object.

5.73.3.23 SetMoveLimits()

const Error ∗ SetMoveLimits (

uunit vel,
uunit acc,
uunit dec,
uunit jrk )

Set limits used for multi-axis point-to-point moves.

Parameters
vel Maximum velocity
acc Maximum acceleration
dec by
Generated Maximum
Doxygen deceleration

jrk Maximum jerk

482 Class Documentation

Returns

An error object pointer, or NULL on success.

5.73.3.24 StartMove()

const Error ∗ StartMove (

void )

Start the moves that have already been programmed into all axes of this linkage.

Returns

An error object pointer, or NULL on success.

5.73.3.25 WaitEvent() [1/3]

const Error ∗ WaitEvent (

Event & e,
Timeout timeout,
LINK_EVENT & match,
EventMap & map )

Wait for a linkage event condition.

This function additionally polls the drive status while waiting to ensure a lost message won't cause a timeout

Parameters
e The event to wait on.
timeout The timeout for the wait (milliseconds). If < 0, then wait forever.
match Returns the matching event condition.
map Event map to wait on

Returns

A pointer to an error object, or NULL on success.

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5.73 Linkage Class Reference 483

5.73.3.26 WaitEvent() [2/3]

const Error ∗ WaitEvent (

Event & e,
Timeout timeout,
LINK_EVENT & match )

Wait for a linkage event condition.

This function can be used to wait on any generic event associated with the linkage.

Parameters
e The event to wait on.
timeout The timeout for the wait (milliseconds). If < 0, then wait forever.
match Returns the matching event condition.

Returns

A pointer to an error object, or NULL on success.

5.73.3.27 WaitEvent() [3/3]

const Error ∗ WaitEvent (

Event & e,
Timeout timeout = -1 )

Wait for a linkage event condition.

This function can be used to wait on any generic event associated with the linkage.

Parameters
e The event to wait on.
timeout The timeout for the wait (milliseconds). If < 0, then wait forever (default).

Returns

A pointer to an error object, or NULL on success.

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484 Class Documentation

5.73.3.28 WaitMoveDone()

const Error ∗ WaitMoveDone (

Timeout timeout = -1 )

Wait for the currently running move to finish, or for an error to occur.

Parameters

timeout The maximum time to wait (milliseconds). Default is -1 (forever).

Returns

A pointer to an error object, or NULL on success.

The documentation for this class was generated from the following files:

• CML_Linkage.h
• Linkage.cpp

5.74 LinkError Class Reference

This class represents error conditions that can occur in the Linkage class.

Inheritance diagram for LinkError:

Error

LinkError

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5.74 LinkError Class Reference 485

Collaboration diagram for LinkError:

Internal
Error OK
Unknown

BadAmpCount
AmpTrjNotRunning
AmpAlreadyLinked
AmpRemoved
AmpTrjOverflow
LinkError StartMoveTO
AlreadyInit
NoActiveTrj
NetworkMismatch
BadMoveLimit
...

Static Public Attributes

• static const LinkError NetworkMismatch

The amplifier objects used to init the linkage are not all attached to the same CanOpen network.
• static const LinkError BadAmpCount
An illegal number of amplifiers was passed to Linkage::Init.
• static const LinkError AlreadyInit
Init was called on a Linkage that is already initialized.
• static const LinkError AmpAlreadyLinked
The passed amplifier object is already assigned to a linkage.
• static const LinkError AxisCount
The point dimension doesn't match the number of linkage axes.
• static const LinkError AmpTrjOverflow
Amplifier trajectory structure overflow.
• static const LinkError AmpTrjInUse
Amplifier trajectory already in use.
• static const LinkError AmpTrjNotRunning
Amplifier trajectory not presently in use.
• static const LinkError NoActiveTrj
No linkage trajectory is active.
• static const LinkError BadMoveLimit
A zero or negative move limit was detected.
• static const LinkError UnknownAmpErr

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486 Class Documentation

Unknown amplifier error.

• static const LinkError StartMoveTO
Timeout waiting on amplifier to respond to start move command.
• static const LinkError NotSupported
Returned if Linkage::MoveTo is called on a system where floating point math was not enabled at compile time.
• static const LinkError AmpRemoved
An amp object referenced by the linkage is no longer valid.

Protected Member Functions

• LinkError (uint16 id, const char ∗desc)

Standard protected constructor.

Additional Inherited Members

5.74.1 Detailed Description

This class represents error conditions that can occur in the Linkage class.

5.74.2 Member Data Documentation

5.74.2.1 NetworkMismatch

const LinkError NetworkMismatch [static]

The amplifier objects used to init the linkage are not all attached to the same CanOpen network.

5.74.2.2 NotSupported

const LinkError NotSupported [static]

Returned if Linkage::MoveTo is called on a system where floating point math was not enabled at compile time.

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

• CML_Linkage.h

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5.75 LinkSettings Class Reference 487

5.75 LinkSettings Class Reference

Linkage object settings.

Public Member Functions

• LinkSettings ()
Default constructor.

Public Attributes

• Timeout moveAckTimeout
This setting gives the amount of time (milliseconds) to wait for all amplifiers to acknowedge the start of a new move before
reporting an error.
• bool haltOnPosWarn
If this setting is set to true, then the linkage object will automatically issue a halt to all axes if any of them reports a position
warning window condition during a move.
• bool haltOnVelWin
If this setting is set to true, then the linkage object will automatically issue a halt to all axes if any of them reports a velocity
tracking window condition during a move.

5.75.1 Detailed Description

Linkage object settings.

An object of this type may be passed to the Linkage::Configure function to define the settings used by that linkage.

5.75.2 Constructor & Destructor Documentation

5.75.2.1 LinkSettings()

LinkSettings ( )

Default constructor.

All settings are set to their default values at construction time.

5.75.3 Member Data Documentation

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488 Class Documentation

5.75.3.1 haltOnPosWarn

bool haltOnPosWarn

If this setting is set to true, then the linkage object will automatically issue a halt to all axes if any of them reports a
position warning window condition during a move.

Default: false

5.75.3.2 haltOnVelWin

bool haltOnVelWin

If this setting is set to true, then the linkage object will automatically issue a halt to all axes if any of them reports a
velocity tracking window condition during a move.

Default: false

5.75.3.3 moveAckTimeout

Timeout moveAckTimeout

This setting gives the amount of time (milliseconds) to wait for all amplifiers to acknowedge the start of a new move
before reporting an error.

When a new move is started on the linkage, each amplifier will respond with an acknowledgment. If all of these re-
sponses are not received in this amount of time then an error will be reported.

Default: 200 ms

The documentation for this class was generated from the following files:

• CML_Linkage.h
• Linkage.cpp

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5.76 LinkTrajectory Class Reference 489

5.76 LinkTrajectory Class Reference

Linkage trajectory.

Inheritance diagram for LinkTrajectory:

RefObj

LinkTrajectory

LinkTrjScurve Path PvtConstAccelTrj PvtTrj

Collaboration diagram for LinkTrajectory:

RefObj

LinkTrajectory

Public Member Functions

• LinkTrajectory (void)
LinkTrajectory default constructor.
• virtual ∼LinkTrajectory ()
Virtual destructor.
• virtual const Error ∗ StartNew (void)
Start a new trajectory.
• virtual void Finish (void)

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490 Class Documentation

Trajectory finished.
• virtual int GetDim (void)=0
Get the dimension of the trajectory.
• virtual bool UseVelocityInfo (void)
This function indicates whether the velocity information returned by NextSegment should be used.
• virtual int MaximumBufferPointsToUse (void)
This function allows a trajectory object to effectively reduce the size of the amplifier's internal trajectory buffer.
• virtual const Error ∗ NextSegment (uunit pos[ ], uunit vel[ ], uint8 &time)=0
Get the next segment of position, velocity & time info.

Additional Inherited Members

5.76.1 Detailed Description

Linkage trajectory.

This class is similar to the Trajectory class, except that it is used to pass multi-axis trajectory information to a linkage
rather then single axis trajectory information to a single amplifier.

Like the base Trajectory class, the base LinkTrajectory class is pure virtual. This class should be extended by actual
trajectory implementations.

5.76.2 Member Function Documentation

5.76.2.1 Finish()

virtual void Finish (

void ) [inline], [virtual]

Trajectory finished.

This function is called by the Linkage object when it is finished with the trajectory and no longer holding a reference to
it. Typically, this will happen after the LinkTrajectory::NextSegment function has returned a zero time value, although it
can also occur when some external event causes the trajectory to be aborted.

Once the Linkage object calls LinkTrajectory::Finish it will clear it's reference to the trajectory object. No further access
to the trajectory object will be made after Finish is called.

Reimplemented in LinkTrjScurve.

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5.76 LinkTrajectory Class Reference 491

5.76.2.2 GetDim()

virtual int GetDim (

void ) [pure virtual]

Get the dimension of the trajectory.

The trajectory dimension gives the number of axes defined for the trajectory. This can not change from the time Start←-
New() is called to the time Finish() is called. The position and velocity arrays passed to NextSegment will be of at least
this size.

Returns

The dimension of the trajectory.

Implemented in Path, LinkTrjScurve, PvtTrj, and PvtConstAccelTrj.

5.76.2.3 MaximumBufferPointsToUse()

virtual int MaximumBufferPointsToUse (

void ) [inline], [virtual]

This function allows a trajectory object to effectively reduce the size of the amplifier's internal trajectory buffer.

Normally it's desirable to download as many points as possible to the amplifier at once. For some applicaitons however,
the trajectory information is calculated in real time and the amplifier's buffer causes unacceptable latency. For such
applications this function may be used to reduce the delay between calculating trajectory points and the amplifier's
acting on them.

Note that the amplifier requires some buffering of points in order to interpolate between them. This function should never
return a value less then 2 or a trajectory underflow will certainly occur.

Returns

The maximum number of trajectory points that should be stored in the amplifier at any time. By default this returns
a very large number which ensures that the amplifier's full buffer will be used.

5.76.2.4 NextSegment()

virtual const Error∗ NextSegment (

uunit pos[ ],
uunit vel[ ],
uint8 & time ) [pure virtual]

Get the next segment of position, velocity & time info.

Note that this function will be called from the high priority CANopen receiver task. Therefore, no lengthy processing
should be done here.

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492 Class Documentation

Parameters
pos An array where the position values will be returned. This array will be at least D elements long, where D is
the trajectory dimension as returned by LinkTrajectory::GetDim()
vel An array where the velocity values will be returned. These values are ignored if the function
UseVelocityInfo() returns false.
time The segment time is returned here. This is in milliseconds and ranges from 1 to 255. If zero is returned, this
is the last frame in the profile.

Returns

A pointer to an error object on failure, or NULL on success.

Implemented in Path, and LinkTrjScurve.

5.76.2.5 StartNew()

virtual const Error∗ StartNew (

void ) [inline], [virtual]

Start a new trajectory.

This function is called before the first call to LinkTrajectory::NextSegment. It gives the trajectory object a chance to
return an error indicating that it isn't ready to be sent.

Returns

An error pointer if the trajectory object is not available, or NULL if it is ready to be sent.

Reimplemented in Path, and LinkTrjScurve.

5.76.2.6 UseVelocityInfo()

virtual bool UseVelocityInfo (

void ) [inline], [virtual]

This function indicates whether the velocity information returned by NextSegment should be used.

If this returns true, then the amplifier will operate in PVT mode and use cubic polynomial interpolation between trajectory
segments. If this returns false, then the velocity returned by NextSegment will be ignored, and the amplifier will run in
PT mode using linear interpolation between sets of points.

Returns

true if velocity information should be used (default), or false if velocities should be ignored.

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

• CML_Trajectory.h

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5.77 LinkTrjScurve Class Reference 493

5.77 LinkTrjScurve Class Reference

Multi-axis s-curve profile.

Inheritance diagram for LinkTrjScurve:

RefObj

LinkTrajectory

LinkTrjScurve

Collaboration diagram for LinkTrjScurve:

RefObj

LinkTrajectory

LinkTrjScurve

Public Member Functions

• LinkTrjScurve ()

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494 Class Documentation

Default constructor for multi-axis s-curve trajectory.

• const Error ∗ Calculate (PointN &start, PointN &end, uunit vel, uunit acc, uunit dec, uunit jrk)
Calculate a multi-axis s-curve trajectory.
• int GetDim (void)
Get the dimension of the trajectory.
• const Error ∗ StartNew (void)
Start a new move using this trajectory.
• void Finish (void)
Finish this trajectory.
• const Error ∗ NextSegment (uunit pos[ ], uunit vel[ ], uint8 &time)
Retrieve the next segment of this trajectory.

Additional Inherited Members

5.77.1 Detailed Description

Multi-axis s-curve profile.

This extends the single axis TrjScurve object for use in multi-axis linkage moves.

5.77.2 Member Function Documentation

5.77.2.1 Calculate()

const Error ∗ Calculate (

PointN & startingPosArg,
PointN & endingPosArg,
uunit maxVelArgument,
uunit maxAccelArgument,
uunit maxDecelArgument,
uunit maxJerkArgument )

Calculate a multi-axis s-curve trajectory.

This function calculates the straight line move between the two passed positions.

Parameters
s The starting position
e The ending position
vel The max velocity
acc The max acceleration
dec The max deceleration
jrk The max jerk (rate of change of velocity)
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5.77 LinkTrjScurve Class Reference 495

Returns

A pointer to an error object, or NULL on success.

5.77.2.2 GetDim()

int GetDim (
void ) [inline], [virtual]

Get the dimension of the trajectory.

The trajectory dimension gives the number of axes defined for the trajectory. This can not change from the time Start←-
New() is called to the time Finish() is called. The position and velocity arrays passed to NextSegment will be of at least
this size.

Returns

The dimension of the trajectory.

Implements LinkTrajectory.

5.77.2.3 NextSegment()

const Error ∗ NextSegment (

uunit pos[ ],
uunit vel[ ],
uint8 & time ) [virtual]

Retrieve the next segment of this trajectory.

The positions & velocities for all axes are returned in the passed arrays.

Parameters

pos An array which will be filled with position information.

vel An array which will be filled with velocity information.
time A reference to a variable where the time (milliseconds) will be returned.

Returns

A pointer to an error object, or NULL on success.

Implements LinkTrajectory.

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496 Class Documentation

5.77.2.4 StartNew()

const Error ∗ StartNew (

void ) [virtual]

Start a new move using this trajectory.

The trajectory must have already been calculated when this function is called.

Returns

A pointer to an error object, or NULL on success.

Reimplemented from LinkTrajectory.

The documentation for this class was generated from the following files:

• CML_TrjScurve.h
• TrjScurve.cpp

5.78 LinuxEcatHardware Class Reference

This class provides an interface to the Ethernet ports on a linux system.

Inheritance diagram for LinuxEcatHardware:

RefObj

EtherCatHardware

LinuxEcatHardware

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5.79 LSS Class Reference 497

Collaboration diagram for LinuxEcatHardware:

RefObj

EtherCatHardware

LinuxEcatHardware

Additional Inherited Members

5.78.1 Detailed Description

This class provides an interface to the Ethernet ports on a linux system.

It can be used to send and received formatted EtherCAT packets.

The documentation for this class was generated from the following files:

• ecat_linux.h
• ecat_linux.cpp

5.79 LSS Class Reference

CANopen Layer Setting Services object.

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498 Class Documentation

Inheritance diagram for LSS:

RefObj

Receiver

LSS

Collaboration diagram for LSS:

RefObj

Receiver

LSS

Public Member Functions

• LSS (CanOpen &co)

Default constructor for the LSS object.
• int FindAmplifiers (int max, uint32 serial[ ])
Search the CANopen network for Copley amplifiers.
• void setTimeout (Timeout to)
Set the timeout value used by the LSS protocol.

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5.79 LSS Class Reference 499

• Timeout getTimeout (void)

Get the current timeout value used by the LSS protocol.
• const Error ∗ SwitchModeGlobal (bool config)
Set all devices on the network into either LSS configuration mode or LSS operational mode.
• const Error ∗ GetAmpNodeID (uint32 serial, byte &nodeID)
Get the current CANopen node ID of the specified amplifier.
• const Error ∗ SetAmpNodeID (uint32 serial, byte nodeID)
Set the CANopen node ID of the specified amplifier.
• const Error ∗ SetNodeID (byte nodeID)
Set the CANopen node ID of the currently selected device.
• const Error ∗ EnquireInfo (uint32 ∗vid, uint32 ∗prodID, uint32 ∗revNum, uint32 ∗serial, byte ∗nodeID)
Read identification info from the selected device using LSS.
• const Error ∗ SelectAmp (uint32 serial)
Put the specified amplifier into LSS configure mode.
• const Error ∗ SetBitRate (byte tableID, byte index)
Send an LSS command to program the selected devices CAN bit rate given the table number and index within the table.
• const Error ∗ SetBitRate (uint32 rate)
Send an LSS command to program the selected devices CAN bit rate given the table number and index within the table.
• const Error ∗ ActivateBitRate (uint16 delay)
Activate the new bit rate previously set on all devices using the LSS::SetBitRate function.
• const Error ∗ StoreConfig (void)
Save the current node ID and bit rate info to non-volatile memory on the selected drive.

Protected Member Functions

• uint32 FindAmpSerial (uint32 low, uint32 high)
Find the serial number of the first amplifier in the passed range.
• int NewFrame (CanFrame &frame)
This method is called by the main CAN network listener when a new LSS response frame is received.
• const Error ∗ Xmit (byte cs, uint32 data=0)
Transmit a LSS CAN frame.
• const Error ∗ Enquire (int cs)
This internal function is used to enquire one field from the single selected drive using LSS.

Additional Inherited Members

5.79.1 Detailed Description

CANopen Layer Setting Services object.

The Layer Setting Services (LSS) protocol is part of the CANopen network standard. The intent of LSS is to allow low
level network settings, such as the network bit rate and device node ID numbers to be configured over the network.

The CANopen protocol requires each device on the network to have a unique node ID number in the range 1 to 127. In
general, it's not possible to communicate with a device using CANopen if it doesn't have a unique node ID in this range.

The LSS protocol allows some limited communication with any device on the network even if it doesn't have a node ID
set. This allows node ID numbers to be assigned to devices over the network.

This object implements the LSS protocol and allows devices on the network to be queried and configured.

For more detailed information on the LSS protocol please see the CANopen standard document DSP305.

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500 Class Documentation

5.79.2 Constructor & Destructor Documentation

5.79.2.1 LSS()

LSS (
CanOpen & co )

Default constructor for the LSS object.

Parameters

co A reference to the CANopen network object over which this protocol will run.

5.79.3 Member Function Documentation

5.79.3.1 ActivateBitRate()

const Error ∗ ActivateBitRate (

uint16 delay )

Activate the new bit rate previously set on all devices using the LSS::SetBitRate function.

Note that this function doesn't change the bit rate of the local CAN port, it simply returns after requesting the new rate
on the LSS slave devices. It's the responsibility of the calling function to change the local bit rate.

After calling this function the master should stop transmitting on the CAN bus. After a delay of the specified time, the
master should change it's bit rate. After a second delay of the specified time, the master can start transmitting on the
bus at the new bit rate.

Parameters

delay Delay in milliseconds which the LSS devices will use to ensure that they all switch their bit rates at a time
when no device is transmitting. This delay will be used twice, once before the change and once after.

Returns

A pointer to an error object, or NULL on success.

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5.79 LSS Class Reference 501

5.79.3.2 Enquire()

const Error ∗ Enquire (

int cs ) [protected]

This internal function is used to enquire one field from the single selected drive using LSS.

Parameters

cs The LSS code of the desired field

Returns

A pointer to an error object, or NULL on success.

5.79.3.3 EnquireInfo()

const Error ∗ EnquireInfo (

uint32 ∗ vid,
uint32 ∗ prodID,
uint32 ∗ revNum,
uint32 ∗ serial,
byte ∗ nodeID )

Read identification info from the selected device using LSS.

Only one device should be selected when this is called.

Parameters

vid If not NULL, the vendor ID will be returned here

prodID If not NULL, the product ID will be returned here
revNum If not NULL, the revision number will be returned here
serial If not NULL, the serial number will be returned here
nodeID If not NULL, the node ID will be returned here

Returns

A pointer to an error object, or NULL on success.

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502 Class Documentation

5.79.3.4 FindAmplifiers()

int FindAmplifiers (
int max,
uint32 serial[ ] )

Search the CANopen network for Copley amplifiers.

This function uses the CANopen Layer Setting Services (LSS) protocol to find amplifiers on the network. All Copley
amplifiers on the CANopen network can be identified using this protocol, even if they do not have a valid CANopen node
ID number configured.

On return from this function, the passed array will have been filled with the serial numbers of all the amplifiers found.
These serial numbers may then be passed to LSS::SetAmpNodeID to assign a node ID number to the amplifier.

Note that firmware support for the LSS protocol was added starting with version 4.04. Any amplifier on the network with
earlier firmware will not be discovered using this technique.

Parameters

max The maximum number of amplifier serial numbers to be returned.

serial An array where the amplifier serial numbers will be returned. This array must be at least max elements long.

Returns

The number of amplifiers actually found. This is not limited to the max parameter value

5.79.3.5 FindAmpSerial()

uint32 FindAmpSerial (
uint32 low,
uint32 high ) [protected]

Find the serial number of the first amplifier in the passed range.

Parameters

low The lower limit of the range

high The upper limit of the range

Returns

the serial number, or zero if no amp found.

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5.79 LSS Class Reference 503

5.79.3.6 GetAmpNodeID()

const Error ∗ GetAmpNodeID (

uint32 serial,
byte & nodeID )

Get the current CANopen node ID of the specified amplifier.

Parameters

serial The serial number of the amplifier to query.

nodeID The node ID will be returned here.

Returns

A pointer to an error object, or NULL on success.

5.79.3.7 getTimeout()

Timeout getTimeout (
void ) [inline]

Get the current timeout value used by the LSS protocol.

Returns

The current timeout in milliseconds.

5.79.3.8 NewFrame()

int NewFrame (
CanFrame & frame ) [protected], [virtual]

This method is called by the main CAN network listener when a new LSS response frame is received.

Parameters

frame A reference to the CAN fame that was received

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504 Class Documentation

Returns

Non-zero if the frame was handled.

Reimplemented from Receiver.

5.79.3.9 SelectAmp()

const Error ∗ SelectAmp (

uint32 serial )

Put the specified amplifier into LSS configure mode.

All other amplifiers on the network are switched into LSS operational mode.

Parameters

serial The serial number of the device to configure

Returns

A pointer to an error object, or NULL on success.

5.79.3.10 SetAmpNodeID()

const Error ∗ SetAmpNodeID (

uint32 serial,
byte nodeID )

Set the CANopen node ID of the specified amplifier.

Parameters

serial The serial number of the amplifier to update.

nodeID The CANopen node ID to assign to this amplifier.

Returns

A pointer to an error object, or NULL on success.

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5.79 LSS Class Reference 505

5.79.3.11 SetBitRate() [1/2]

const Error ∗ SetBitRate (

byte tableID,
byte index )

Send an LSS command to program the selected devices CAN bit rate given the table number and index within the table.

When this is called, only one device should be in LSS config mode.

Note that the new bit rate doesn't become active immedately, it must be activated first by calling LSS::ActivateBitRate.

Parameters

tableID Specifies which table of bit rates to use (0 for standard table)
index Specifies the index within the table of the desired bit rate.

Returns

A pointer to an error object, or NULL on success.

5.79.3.12 SetBitRate() [2/2]

const Error ∗ SetBitRate (

uint32 rate )

Send an LSS command to program the selected devices CAN bit rate given the table number and index within the table.

When this is called, only one device should be in LSS config mode.

Note that the new bit rate doesn't become active immedately, it must be activated first by calling LSS::ActivateBitRate.

Parameters

rate The new bit rate in bits/sec

Returns

A pointer to an error object, or NULL on success.

5.79.3.13 SetNodeID()

const Error ∗ SetNodeID (

byte nodeID )

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506 Class Documentation

Set the CANopen node ID of the currently selected device.

When this is called, exactly one deivce on the network should be in LSS configuration mode.

Parameters

nodeID The CANopen node ID to assign to the selected device.

Returns

A pointer to an error object, or NULL on success.

5.79.3.14 setTimeout()

void setTimeout (
Timeout to ) [inline]

Set the timeout value used by the LSS protocol.

Parameters

to The new timeout (milliseconds)

5.79.3.15 StoreConfig()

const Error ∗ StoreConfig (

void )

Save the current node ID and bit rate info to non-volatile memory on the selected drive.

When this is called, exactly one drive should be in LSS configuration mode.

Returns

A pointer to an error object, or NULL on success.

5.79.3.16 SwitchModeGlobal()

const Error ∗ SwitchModeGlobal (

bool config )

Set all devices on the network into either LSS configuration mode or LSS operational mode.

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5.80 MtrInfo Struct Reference 507

Parameters

config If true, put all devices into configuration mode. Otherwise, put everything into operational mode.

Returns

A pointer to an error object, or NULL on success.

5.79.3.17 Xmit()

const Error ∗ Xmit (

byte cs,
uint32 data = 0 ) [protected]

Transmit a LSS CAN frame.

Parameters

cs The command specifier for this frame.

data The data passed with the frame.

Returns

A pointer to an error object, or NULL on success.

The documentation for this class was generated from the following files:

• CML_CanOpen.h
• LSS.cpp

5.80 MtrInfo Struct Reference

Motor information structure.

Public Member Functions

• MtrInfo (void)
Motor info structure default constructor.

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508 Class Documentation

Public Attributes

• uint16 type
Motor type.
• char mfgName [COPLEY_MAX_STRING]
Name of the motor manufacturer.
• char model [COPLEY_MAX_STRING]
Motor model number.
• int16 poles
Number of pole pairs (i.e.
• uint16 resistance
Motor resistance (10 milliohm units)
• uint16 inductance
Motor inductance (10 microhenry units)
• uint32 trqPeak
Peak torque (0.01 Newton millimeters)
• uint32 trqCont
Continuous torque (0.01 Newton millimeters)
• uint32 trqConst
Torque constant (0.01 Newton millimeters / Amp)
• uunit velMax
Max velocity.
• uint32 backEMF
Back EMF constant (10 millivolts / KRPM)
• uint32 inertia
Inertia.
• bool tempSensor
Motor has a temperature sensor (true/false)
• bool mtrReverse
Reverse motor wiring if true.
• bool encReverse
Reverse encoder direction if true.
• int16 hallType
Type of hall sensors on motor. See documentation for details.
• int16 hallWiring
Hall wiring code, see documentation for details.
• int16 hallOffset
Hall offset (degrees)
• bool hasBrake
Motor has a brake if true.
• int16 stopTime
Delay (milliseconds) between disabling amp & applying brake During this time the amp will attempt to actively stop motor.
• int16 brakeDelay
Delay (milliseconds) between applying brake & disabling PWM.
• uunit brakeVel
Velocity below which brake will be applied.
• int16 encType

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5.80 MtrInfo Struct Reference 509

Encoder type. See documentation for details.

• int32 ctsPerRev
Encoder counts / revolution (rotory motors only)
• int16 encUnits
Encoder units (linear motor only)
• int16 encRes
Encoder resolution (encoder units / count) - linear motors only.
• int32 eleDist
Motor electrical distance (encoder units / electrical phase) - linear only.
• int16 mtrUnits
Motor units (used by CME program)
• int32 stepsPerRev
Microsteps / motor rotation (used for Stepnet amplifiers)
• int16 encShift
Analog Encoder shift value (used only with Analog encoders)
• int32 ndxDist
Index mark distance (reserved for future use)
• int16 loadEncType
Load encoder type (0 for none).
• int32 loadEncRes
Load encoder resolution.
• bool loadEncReverse
Reverse load encoder if true.
• int32 gearRatio
Load encoder gear ratio.
• uint16 resolverCycles
Resolver cycles / rev.
• int16 hallVelShift
Hall velocity shift value.
• uint32 mtrEncOptions
Motor Encoder options.
• uint32 loadEncOptions
Load Encoder options.

5.80.1 Detailed Description

Motor information structure.

This structure holds information about the motor connected to the amplifier.

The amplifier uses the information in this structure when controlling the motor. It is very important that the information
provided to the amplifier be as accurate as possible for proper motor control.

Use the methods Amp::GetMtrInfo and Amp::SetMtrInfo to upload / download the information contained in this structure.

Note that unlike many amplifier parameters, motor parameters are always stored in non-volatile flash memory.

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510 Class Documentation

5.80.2 Constructor & Destructor Documentation

5.80.2.1 MtrInfo()

MtrInfo (
void )

Motor info structure default constructor.

This simply initializes all members to legal default values.

5.80.3 Member Data Documentation

5.80.3.1 gearRatio

int32 gearRatio

Load encoder gear ratio.

This parameter is used by the CME software and gives a ratio of motor encoder counts to load encoder counts.

5.80.3.2 hallVelShift

int16 hallVelShift

Hall velocity shift value.

This parameter is only used on servo systems where there is no encoder and digital hall sensors are used for velocity
feedback. In that case, this shift value can be used to scale up the calculated velocity.

5.80.3.3 loadEncOptions

uint32 loadEncOptions

Load Encoder options.

This bitmapped parameter is used to specify various configuration options for the load encoder. See documentation.

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5.80 MtrInfo Struct Reference 511

5.80.3.4 loadEncRes

int32 loadEncRes

Load encoder resolution.

This is encoder counts/rev for rotory encoders, or nanometers/count for linear encoders.

5.80.3.5 loadEncType

int16 loadEncType

Load encoder type (0 for none).

See amplifier documentation for possible values.

5.80.3.6 mtrEncOptions

uint32 mtrEncOptions

Motor Encoder options.

This bitmapped parameter is used to specify various configuration options for the motor encoder. See documentation.

5.80.3.7 poles

int16 poles

Number of pole pairs (i.e.

number of electrical phases) per rotation. Used for rotory motors only.

5.80.3.8 resolverCycles

uint16 resolverCycles

Resolver cycles / rev.

This parameter gives the number of resolver cycles / motor rev. It's only used on systems that use a resolver for position
feedback. Default is 1 cycle/rev.

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

• CML_AmpStruct.h
• AmpStruct.cpp

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512 Class Documentation

5.81 Mutex Class Reference

This class represents an object that can be used by multiple threads to gain safe access to a shared resource.

Public Member Functions

• Mutex (void)
Create a new mutex object.
• virtual ∼Mutex ()
Free any system resources associated with the mutex.
• const Error ∗ Lock (void)
Lock the mutex.
• const Error ∗ Unlock (void)
Unlock the mutex.

5.81.1 Detailed Description

This class represents an object that can be used by multiple threads to gain safe access to a shared resource.

If an attempt is made to lock a mutex that is currently locked by another thread, the thread attempting the lock will be
suspended until the thread holding the lock releases it. Mutex objects are not required to allow recursive access.

5.81.2 Member Function Documentation

5.81.2.1 Lock()

const Error∗ Lock (

void )

Lock the mutex.

This function causes the calling function to gain exclusive access to the mutex object. If some other thread has the
mutex locked when this method is called, the calling thread will block until the mutex is unlocked.

Returns

An error object.

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5.82 MutexLocker Class Reference 513

5.81.2.2 Unlock()

const Error∗ Unlock (

void )

Unlock the mutex.

This function causes the calling thread to give up it's lock on the mutex. A task switch may occur before this call returns
if a high priority task is currently trying to lock the mutex.

Returns

An error object.

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

• CML_Threads.h

5.82 MutexLocker Class Reference

This is a utility class that locks a mutex in it's constructor, and unlocks it in it's destructor.

Public Member Functions

• MutexLocker (void)
Default constructor No mutex is locked by default.
• MutexLocker (Mutex &m)
Lock the passed mutex.
• void Lock (Mutex &m)
Lock the passed mutex and keep a pointer to it.
• void Unlock (void)
Unlock and forget about the previously locked Mutex.
• ∼MutexLocker ()
If a mutex is currently being tracked it will be unlocked.

5.82.1 Detailed Description

This is a utility class that locks a mutex in it's constructor, and unlocks it in it's destructor.
It can be used to ensure that a mutex is properly unlocked when a function returns. Just create a temporary Mutex←-
Locker object and pass it the mutex to lock in it's constructor. The mutex will be automatically unlocked when the function
returns and the MutexLocker is deleted.

5.82.2 Constructor & Destructor Documentation

5.82.2.1 MutexLocker()

MutexLocker (
Mutex & m ) [inline]

Lock the passed mutex.

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514 Class Documentation

Parameters
m The mutex to lock.

5.82.3 Member Function Documentation

5.82.3.1 Lock()

void Lock (
Mutex & m ) [inline]

Lock the passed mutex and keep a pointer to it.

The mutex will be unlocked in the destructor if not explicitely unlocked first. If another mutex was previously locked then
it will be forgotten.

Parameters
m The mutex to lock.

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

• CML_Threads.h

5.83 Network Class Reference

Abstract network class.

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5.83 Network Class Reference 515

Inheritance diagram for Network:

RefObj

Network

CanOpen EtherCAT

Collaboration diagram for Network:

RefObj

Network

Public Member Functions

• virtual int32 maxSdoToNode (Node ∗n)

Return the maximum number of bytes that can be sent in an SDO message.
• virtual int32 maxSdoFromNode (Node ∗n)
Return the maximum number of bytes that can be received in an SDO message.

Static Public Member Functions

• static const char ∗ DescribeState (NodeState state)

Return a string that describes the passed node state.

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516 Class Documentation

Static Protected Member Functions

• static NetworkNodeInfo ∗ GetNodeInfo (Node ∗n)

Return a pointer to the network information union embedded in this node.
• static void SetNodeInfo (Node ∗n, NetworkNodeInfo ∗ni)
Set the network's node information for this node.

Additional Inherited Members

5.83.1 Detailed Description

Abstract network class.

This class forms the root of all the different networks that are supported by CML. Every device managed by CML is as-
sociated with exactly one network object. The network object manages some high level aspects of the communications
with the device.

5.83.2 Member Function Documentation

5.83.2.1 DescribeState()

const char ∗ DescribeState (

NodeState state ) [static]

Return a string that describes the passed node state.

Parameters
state The state to describe

Returns

A string describing the passed state

5.83.2.2 GetNodeInfo()

NetworkNodeInfo ∗ GetNodeInfo (
Node ∗ n ) [static], [protected]

Return a pointer to the network information union embedded in this node.

This union contains data related to the node that is owned by the network layer object.

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5.83 Network Class Reference 517

Parameters
n Pointer to the node object

Returns

Pointer to the node information

5.83.2.3 maxSdoFromNode()

int32 maxSdoFromNode (
Node ∗ n ) [virtual]

Return the maximum number of bytes that can be received in an SDO message.

For CANopen this is always 8 (the max size of a CAN frame). For EtherCAT it's the size of the mailbox buffer, and is
node specific

Parameters
n The node to query

Returns

The maximum number of bytes in an SDO receive message

Reimplemented in EtherCAT.

5.83.2.4 maxSdoToNode()

int32 maxSdoToNode (
Node ∗ n ) [virtual]

Return the maximum number of bytes that can be sent in an SDO message.

For CANopen this is always 8 (the max size of a CAN frame). For EtherCAT it's the size of the mailbox buffer, and is
node specific

Parameters
n The node to query

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518 Class Documentation

Returns

The maximum number of bytes in an SDO transmit message

Reimplemented in EtherCAT.

5.83.2.5 SetNodeInfo()

void SetNodeInfo (
Node ∗ n,
NetworkNodeInfo ∗ ni ) [static], [protected]

Set the network's node information for this node.

This function is used internally by the network classes.

Parameters
n Pointer to the node to update
ni Pointer to the node information

The documentation for this class was generated from the following files:

• CML_Network.h
• Network.cpp

5.84 NetworkError Class Reference

This class holds the error codes that describe various Netowrk error conditions.

Inheritance diagram for NetworkError:

Error

NetworkError

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5.85 NetworkNodeInfo Class Reference 519

Collaboration diagram for NetworkError:

Internal
Error OK
Unknown

NetworkError NodeIdUsed

Static Public Attributes

• static const NetworkError NodeIdUsed
A node with the specified ID is already present on the network.

Additional Inherited Members

5.84.1 Detailed Description

This class holds the error codes that describe various Netowrk error conditions.
The documentation for this class was generated from the following file:

• CML_Network.h

5.85 NetworkNodeInfo Class Reference

Private data owned by the network object attached to every node.

Inheritance diagram for NetworkNodeInfo:

NetworkNodeInfo

CanOpenNodeInfo EtherCatNodeInfo

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520 Class Documentation

5.85.1 Detailed Description

Private data owned by the network object attached to every node.

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

• CML_Network.h

5.86 NetworkOptions Struct Reference

Configuration structure used to configure the amplifiers network support.

Public Member Functions

• NetworkOptions (void)
Default constructor.

Public Attributes

• uint16 canBusConfig
Network Options. The details fo this parameter depend on the type.

5.86.1 Detailed Description

Configuration structure used to configure the amplifiers network support.

These settings may be up/download from the amplifier using the functions Amp::SetNetworkOptions and Amp::Get←-
NetworkOptions.

5.86.2 Constructor & Destructor Documentation

5.86.2.1 NetworkOptions()

NetworkOptions (
void ) [inline]

Default constructor.

Initialize all structure elements to zero.

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

• CML_AmpStruct.h

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5.87 Node Class Reference 521

5.87 Node Class Reference

Node class.

Inheritance diagram for Node:

RefObj

Node

CopleyNode IOModule

Amp CopleyIO

Collaboration diagram for Node:

RefObj SDO

sdo

Node

Public Member Functions

• Node ()

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522 Class Documentation

Default CANopen node object constructor.

• Node (Network &net, int16 nodeID)
Initialize the Node object.
• virtual ∼Node ()
CANopen node destructor.
• virtual const Error ∗ StopGuarding (void)
Disable node guarding & heartbeat monitoring.
• virtual const Error ∗ StartHeartbeat (uint16 period, uint16 timeout)
Enable heartbeat messages from this node, and start a thread to monitor them.
• virtual const Error ∗ StartNodeGuard (uint16 guardTime, byte lifeFactor)
Enable node guarding on this node.
• virtual const Error ∗ Init (Network &co, int16 nodeID)
Initialize the CANopen Node object.
• virtual const Error ∗ UnInit (void)
Un-initialize the Node object.
• virtual NetworkType GetNetworkType (void)
Return a value that identifies the type of network the node is currently attached to.
• virtual uint32 GetNetworkRef (void)
Return a reference ID to the network that this node is attached to.
• virtual const Error ∗ PdoSet (uint16 n, PDO &pdo, bool enable=true)
Associate the passed PDO object with this node.
• virtual const Error ∗ PdoEnable (uint16 n, PDO &pdo)
Enable the passed PDO object.
• virtual const Error ∗ PdoDisable (uint16 n, PDO &pdo)
Disable the passed PDO object.
• virtual const Error ∗ RpdoDisable (uint16 n)
Disable the specified receive PDO.
• virtual const Error ∗ TpdoDisable (uint16 n)
Disable the specified transmit PDO.
• virtual const Error ∗ SavePDOMapping (bool saveProfile)
Save the current PDO mapping to flash.
• virtual const Error ∗ StartNode (void)
Start this node.
• virtual const Error ∗ StopNode (void)
Stop this node.
• virtual const Error ∗ PreOpNode (void)
Put this node in pre-operational state.
• virtual const Error ∗ ResetNode (void)
Reset this node.
• virtual const Error ∗ ResetComm (void)
Reset this node's communications.
• virtual NodeState GetState (void)
Returns the present state of this node.
• virtual const Error ∗ GetDeviceType (uint32 &devType)
Read the device type from the object dictionary.
• virtual const Error ∗ GetErrorRegister (byte &err)
Read the error register from the object dictionary.

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5.87 Node Class Reference 523

• virtual const Error ∗ GetMfgStatus (uint32 &stat)

Read the manufacturer status register from the object dictionary.
• virtual const Error ∗ GetErrorHistory (uint16 &ct, uint32 ∗array)
Get the error history array (CANopen object 0x1003).
• virtual const Error ∗ ClearErrorHistory (void)
Clear the error history (object 0x1003) array for this node.
• virtual const Error ∗ GetMfgDeviceName (int32 &len, char ∗str)
Read the manufacturer's device name string from the object dictionary.
• virtual const Error ∗ GetMfgHardwareVer (int32 &len, char ∗str)
Read the manufacturer's Hardware version string from the object dictionary.
• virtual const Error ∗ GetMfgSoftwareVer (int32 &len, char ∗str)
Read the manufacturer's software version string from the object dictionary.
• virtual const Error ∗ GetIdentity (NodeIdentity &id)
Get the CANopen identity object for this node (object dictionary entry 0x1018).
• virtual const Error ∗ SetSynchId (uint32 id)
Set the COB-ID of the synch message.
• virtual const Error ∗ GetSynchId (uint32 &id)
Return the COB-ID of the synch message.
• virtual const Error ∗ SetSynchPeriod (uint32 per)
Set the SYNC message interval in microseconds.
• virtual const Error ∗ GetSynchPeriod (uint32 &per)
Get the SYNC message interval in microseconds.
• virtual const Error ∗ SynchStart (void)
Start producing SYNC messages on this node.
• virtual const Error ∗ SynchStop (void)
Stop producing SYNC messages on this node.
• virtual int16 GetNodeID (void)
Return the node ID associated with this node.
• bool IsInitialized (void)
Return true if this node object has been initialized.
• virtual int32 maxSdoToNode (void)
Return the maximum number of bytes that can be sent in an SDO message.
• virtual int32 maxSdoFromNode (void)
Return the maximum number of bytes that can be received in an SDO message.

Public Attributes

• SDO sdo
This SDO may be used to get/set values in the node's object dictionary.

Protected Member Functions

• virtual void HandleEmergency (CanFrame &frame)

Overload this function to handle emergency objects sent by this node.
• virtual void HandleStateChange (NodeState from, NodeState to)
Overload this function to handle changes to the nodes state.

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524 Class Documentation

Friends

• class Network
• class CanOpen
• class EtherCAT

Additional Inherited Members

5.87.1 Detailed Description

Node class.

Objects of this class represent individual nodes on the CANopen or EtherCAT network.

5.87.2 Constructor & Destructor Documentation

5.87.2.1 Node() [1/2]

Node ( )

Default CANopen node object constructor.

This constructor simple marks the object as uninitialized. The Init() function must be called before this object can be
used.

5.87.2.2 Node() [2/2]

Node (
Network & net,
int16 nodeID )

Initialize the Node object.

Parameters
net The network object that this node is associated with.
nodeID The node's ID.

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5.87 Node Class Reference 525

5.87.3 Member Function Documentation

5.87.3.1 ClearErrorHistory()

virtual const Error∗ ClearErrorHistory (

void ) [inline], [virtual]

Clear the error history (object 0x1003) array for this node.

Returns

An error object.

5.87.3.2 GetDeviceType()

virtual const Error∗ GetDeviceType (

uint32 & devType ) [inline], [virtual]

Read the device type from the object dictionary.

Parameters
devType Where the device type is returned

Returns

An error object

5.87.3.3 GetErrorHistory()

const Error ∗ GetErrorHistory (

uint16 & ct,
uint32 ∗ array ) [virtual]

Get the error history array (CANopen object 0x1003).

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526 Class Documentation

Parameters

ct When the function is first called, this variable holds the maximum number of errors that can be stored in the
err array (i.e. the length of the array). On return, the actual number of errors uploaded will be stored here.
array An array of 32-bit integers that will be used to return the list of errors.

Returns

A pointer to an error object, or NULL on success

5.87.3.4 GetErrorRegister()

virtual const Error∗ GetErrorRegister (

byte & err ) [inline], [virtual]

Read the error register from the object dictionary.

Parameters

err Reference to where the error should be returned.

Returns

An error object

5.87.3.5 GetIdentity()

const Error ∗ GetIdentity (

NodeIdentity & id ) [virtual]

Get the CANopen identity object for this node (object dictionary entry 0x1018).

Note that only the VendorID field is mandatory. Any unsupported fields will be returned as zero.

Parameters

id The identity object to be filled in by this call

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5.87 Node Class Reference 527

Returns

A pointer to an error object, or NULL on success

5.87.3.6 GetMfgDeviceName()

virtual const Error∗ GetMfgDeviceName (

int32 & len,
char ∗ str ) [inline], [virtual]

Read the manufacturer's device name string from the object dictionary.

Parameters

len Holds the size of the buffer on entry, and the length of the downloaded data on return.
str An array of characters used to upload the string.

Returns

An error object

5.87.3.7 GetMfgHardwareVer()

virtual const Error∗ GetMfgHardwareVer (

int32 & len,
char ∗ str ) [inline], [virtual]

Read the manufacturer's Hardware version string from the object dictionary.

Parameters

len Holds the size of the buffer on entry, and the length of the downloaded data on return.
str An array of characters used to upload the string.

Returns

An error object

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528 Class Documentation

5.87.3.8 GetMfgSoftwareVer()

virtual const Error∗ GetMfgSoftwareVer (

int32 & len,
char ∗ str ) [inline], [virtual]

Read the manufacturer's software version string from the object dictionary.

Parameters

len Holds the size of the buffer on entry, and the length of the downloaded data on return.
str An array of characters used to upload the string.

Returns

An error object

5.87.3.9 GetMfgStatus()

virtual const Error∗ GetMfgStatus (

uint32 & stat ) [inline], [virtual]

Read the manufacturer status register from the object dictionary.

Parameters

stat Reference to the int32 where the status will be returned

Returns

An error object

5.87.3.10 GetNetworkRef()

uint32 GetNetworkRef (
void ) [virtual]

Return a reference ID to the network that this node is attached to.

Returns

The reference ID or 0 if the node isn't attached to any network.

Reimplemented in Amp.

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5.87 Node Class Reference 529

5.87.3.11 GetNetworkType()

NetworkType GetNetworkType (
void ) [virtual]

Return a value that identifies the type of network the node is currently attached to.

Returns

A network type value, or NET_TYPE_INVALID if the node isn't attached to any network.

5.87.3.12 GetNodeID()

virtual int16 GetNodeID (

void ) [inline], [virtual]

Return the node ID associated with this node.

Returns

The node ID

5.87.3.13 GetState()

virtual NodeState GetState (

void ) [inline], [virtual]

Returns the present state of this node.

Note that this requires node guarding or heartbeats to be enabled.

Returns

The present node state.

Reimplemented in Amp.

5.87.3.14 GetSynchId()

virtual const Error∗ GetSynchId (

uint32 & id ) [inline], [virtual]

Return the COB-ID of the synch message.

Note that if this node is producing the synch message, bit 30 will be set.

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530 Class Documentation

Parameters

id Where the COB-ID is returned

Returns

An error object.

5.87.3.15 GetSynchPeriod()

virtual const Error∗ GetSynchPeriod (

uint32 & per ) [inline], [virtual]

Get the SYNC message interval in microseconds.

Parameters
per Period will be returned here

Returns

An error object.

5.87.3.16 HandleEmergency()

virtual void HandleEmergency (

CanFrame & frame ) [inline], [protected], [virtual]

Overload this function to handle emergency objects sent by this node.

Parameters

frame Reference to the CAN frame holding the emergency data.

5.87.3.17 HandleStateChange()

virtual void HandleStateChange (

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5.87 Node Class Reference 531

NodeState from,
NodeState to ) [inline], [protected], [virtual]

Overload this function to handle changes to the nodes state.

Note that the state member variable will have been changed to the new state before this function is called.

Parameters

from Previous node state before the change

to New node state

Reimplemented in Amp.

5.87.3.18 Init()

const Error ∗ Init (

Network & network,
int16 nodeID ) [virtual]

Initialize the CANopen Node object.

Note that a CANopen node object must be initialized once and only once. This function should be used to initialize the
object if it was created using the default constructor.

Parameters
network The network object that this node is associated with.
nodeID The node's ID. A value that identifies this node on the network.

Returns

A pointer to an error object, or NULL on success

Reimplemented in Amp, IOModule, and CopleyIO.

5.87.3.19 maxSdoFromNode()

int32 maxSdoFromNode (
void ) [virtual]

Return the maximum number of bytes that can be received in an SDO message.

For CANopen this is always 8 (the max size of a CAN frame). For EtherCAT it's the size of the mailbox buffer, and is
node specific

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532 Class Documentation

Returns

The maximum number of bytes in an SDO receive message, or 0 on error

5.87.3.20 maxSdoToNode()

int32 maxSdoToNode (
void ) [virtual]

Return the maximum number of bytes that can be sent in an SDO message.

For CANopen this is always 8 (the max size of a CAN frame). For EtherCAT it's the size of the mailbox buffer, and is
node specific

Returns

The maximum number of bytes in an SDO transmit message, or 0 on error

5.87.3.21 PdoDisable()

const Error ∗ PdoDisable (

uint16 n,
PDO & pdo ) [virtual]

Disable the passed PDO object.

Parameters

n The slot number of the PDO

pdo The PDO mapped to that slot

Returns

An error object

5.87.3.22 PdoEnable()

const Error ∗ PdoEnable (

uint16 n,
PDO & pdo ) [virtual]

Enable the passed PDO object.

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Parameters

n The slot number of the PDO

pdo The PDO mapped to that slot

Returns

An error object

5.87.3.23 PdoSet()

const Error ∗ PdoSet (

uint16 slot,
PDO & pdo,
bool enable = true ) [virtual]

Associate the passed PDO object with this node.

The PDO will be setup as this node's nth PDO.

Parameters

slot Which PDO slot to assign this PDO to.

pdo The PDO object.
enable If true, the PDO will be enabled after being setup (default). If false, the PDO will be setup but not enabled.

Returns

A pointer to an error object, or NULL on success

5.87.3.24 PreOpNode()

const Error ∗ PreOpNode (

void ) [virtual]

Put this node in pre-operational state.

Returns

An error object or null on success.

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534 Class Documentation

5.87.3.25 ResetComm()

const Error ∗ ResetComm (

void ) [virtual]

Reset this node's communications.

Returns

An error object or null on success.

5.87.3.26 ResetNode()

const Error ∗ ResetNode (

void ) [virtual]

Reset this node.

Returns

An error object

5.87.3.27 RpdoDisable()

const Error ∗ RpdoDisable (

uint16 n ) [virtual]

Disable the specified receive PDO.

Parameters

n The slot number of the PDO

Returns

An error object

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5.87 Node Class Reference 535

5.87.3.28 SavePDOMapping()

const Error ∗ SavePDOMapping (

bool saveProfile ) [virtual]

Save the current PDO mapping to flash.

Parameters

saveProfile If true, the device profile parameters will be saved. If false, the device profile parameters will not be
saved.

Returns

An error object

5.87.3.29 SetSynchId()

virtual const Error∗ SetSynchId (

uint32 id ) [inline], [virtual]

Set the COB-ID of the synch message.

If bit 30 of the ID is set, then this node will be the synch producer.

Parameters

id COB-ID to set

Returns

An error object

5.87.3.30 SetSynchPeriod()

virtual const Error∗ SetSynchPeriod (

uint32 per ) [inline], [virtual]

Set the SYNC message interval in microseconds.

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536 Class Documentation

Parameters
per The period in microseconds.

Returns

An error object.

5.87.3.31 StartHeartbeat()

const Error ∗ StartHeartbeat (

uint16 period,
uint16 timeout ) [virtual]

Enable heartbeat messages from this node, and start a thread to monitor them.

Parameters

period The producer timeout value (milliseconds). The node will be configured to produce a heartbeat message
at this interval.
timeout The additional number of milliseconds that the monitor thread will wait before indicating an error. Thus,
the consumer heartbeat interval will be (period + timeout).

Returns

A pointer to an error object, or NULL on success

5.87.3.32 StartNode()

const Error ∗ StartNode (

void ) [virtual]

Start this node.

Returns

An error object or null on success.

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5.87 Node Class Reference 537

5.87.3.33 StartNodeGuard()

const Error ∗ StartNodeGuard (

uint16 guardTime,
byte lifeFactor ) [virtual]

Enable node guarding on this node.

When node guarding is enabled, a new thread is created which will send a remote request to this node every (guard←-
Time) milliseconds. The node must respond to this message within the guard time. If the node does not respond then
the thread will notify the node of a state change.

Parameters

guardTime The period in milliseconds of the guard messages sent to the node. It can range from 1 to 65535.
lifeFactor A multiplier used by the node to determine how long to wait for a node guarding message from the
host before indicating a local error. The nodes timeout (life time) is guardTime ∗ lifeFactor. This
parameter must be between 0 and 255. If it's zero, then life guarding on the node is disabled.

Returns

A pointer to an error object, or NULL on success

5.87.3.34 StopGuarding()

const Error ∗ StopGuarding (

void ) [virtual]

Disable node guarding & heartbeat monitoring.

Returns

A pointer to an error object, or NULL on success

5.87.3.35 StopNode()

const Error ∗ StopNode (

void ) [virtual]

Stop this node.

Returns

An error object or null on success.

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538 Class Documentation

5.87.3.36 SynchStart()

const Error ∗ SynchStart (

void ) [virtual]

Start producing SYNC messages on this node.

Returns

An error object.

5.87.3.37 SynchStop()

const Error ∗ SynchStop (

void ) [virtual]

Stop producing SYNC messages on this node.

Returns

An error object.

5.87.3.38 TpdoDisable()

const Error ∗ TpdoDisable (

uint16 n ) [virtual]

Disable the specified transmit PDO.

Parameters

n The slot number of the PDO

Returns

An error object

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5.88 NodeError Class Reference 539

5.87.3.39 UnInit()

const Error ∗ UnInit (

void ) [virtual]

Un-initialize the Node object.

This puts the object back to it's default state.

Returns

A pointer to an error object, or NULL on success.

5.87.4 Member Data Documentation

5.87.4.1 sdo

SDO sdo

This SDO may be used to get/set values in the node's object dictionary.

The documentation for this class was generated from the following files:

• CML_Node.h
• Node.cpp

5.88 NodeError Class Reference

This class represents node errors.

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540 Class Documentation

Inheritance diagram for NodeError:

Error

NodeError

AmpError CopleyNodeError IOError

AmpFault

Collaboration diagram for NodeError:

Internal
Error OK
Unknown

NetworkUnavailable
NodeError
GuardTimeout

Static Public Attributes

• static const NodeError GuardTimeout

A node guarding or heartbeat timeout occurred.
• static const NodeError NetworkUnavailable
The network this node is connected to has been deleted.

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5.89 NodeIdentity Struct Reference 541

Protected Member Functions

• NodeError (uint16 id, const char ∗desc)

Standard protected constructor.

Additional Inherited Members

5.88.1 Detailed Description

This class represents node errors.

There is one static member for each defined node error.

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

• CML_Node.h

5.89 NodeIdentity Struct Reference

CANopen identity object.

Public Attributes

• uint32 vendorID
A unique vendor ID assigned by CiA (Can in Automation)
• uint32 productCode
Manufacturer's product code.
• uint32 revision
Revision number which identifies CANopen functionality.
• uint32 serial
Product serial number.

5.89.1 Detailed Description

CANopen identity object.

Each node is required to include an identity object on it's object dictionary at location 0x1018. The only required
parameter is the vendorID. All others are included at the manufacturer's discretion.

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

• CML_Node.h

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542 Class Documentation

5.90 Path Class Reference

Multi-axis complex trajectory path.

Inheritance diagram for Path:

RefObj

LinkTrajectory

Path

Collaboration diagram for Path:

RefObj

LinkTrajectory Mutex

mtx

Path

Public Member Functions

• Path (uint d)

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5.90 Path Class Reference 543

Path object constructor.

• virtual ∼Path (void)
Destructor for the path object.
• virtual void Reset (void)
Reset the path to the first position.
• virtual const Error ∗ SetStartPos (PointN &p)
Set the initial position for the path.
• virtual const Error ∗ SetVel (uunit v)
Set the velocity limit for the current location.
• virtual const Error ∗ SetAcc (uunit a)
Set the acceleration limit for the current location.
• virtual const Error ∗ SetDec (uunit d)
Set the deceleration limit for the current location.
• virtual const Error ∗ SetJrk (uunit j)
Set the jerk limit for the current location.
• virtual const Error ∗ AddLine (PointN &p)
Add a line segment from the current position to the specified point.
• virtual const Error ∗ AddLine (uunit length)
Add a line segment of the specified length.
• virtual const Error ∗ AddArc (double radius, double angle)
Add an arc with the specified radius and angle (radians).
• virtual const Error ∗ AddArc (PointN &center, double angle)
Add an arc with the specified center point and angle (radians).
• virtual const Error ∗ Pause (double sec)
Set the current velocity to 0 and pause for the specified amount of time.
• virtual int GetDim (void)
Get the dimension (i.e.
• virtual const Error ∗ NextSegment (uunit pos[ ], uunit vel[ ], uint8 &time)
Get the next trajectory segment.
• virtual const Error ∗ StartNew (void)
Start a new trajectory.
• bool PlayPath (double timeInc, double pos[ ], double vel[ ])
Play back path data.

Additional Inherited Members

5.90.1 Detailed Description

Multi-axis complex trajectory path.

The object may be used to construct one or two dimensional trajectories built out of line segments and arcs.

5.90.2 Constructor & Destructor Documentation

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544 Class Documentation

5.90.2.1 Path()

Path (
uint d )

Path object constructor.

The number of dimensions for the path must be passed. This object currently supports one and two dimensional (i.e.
one and two axis) path construction.

Parameters

d The number of dimensions for the path. Must be either one or two for now.

5.90.3 Member Function Documentation

5.90.3.1 AddArc() [1/2]

virtual const Error∗ AddArc (

double radius,
double angle ) [virtual]

Add an arc with the specified radius and angle (radians).

The arc will start at the current position and will move in either a clockwise (positive angle), or counter-clockwise (nega-
tive angle) direction.

Parameters

radius The radius of the arc

angle The number of radians to rotate through. Positive values will result in clockwise rotation.

Returns

An error object or null on success

5.90.3.2 AddArc() [2/2]

virtual const Error∗ AddArc (

PointN & center,
double angle ) [virtual]

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5.90 Path Class Reference 545

Add an arc with the specified center point and angle (radians).

The arc will start at the current position and will move in clockwise (positive angle), or counter-clockwise (negative angle)
direction.

Parameters

center The center point of the arc.

angle The number of radians to rotate through. Positive values will result in clockwise rotation.

Returns

An error object or null on success

5.90.3.3 AddLine() [1/2]

virtual const Error∗ AddLine (

PointN & p ) [virtual]

Add a line segment from the current position to the specified point.

The direction of motion required to move from the current position to the given point will be compared to the direction
of motion at the end of the last segment. If these directions change then the addition of this new point will require an
abrupt change of direction. In this case, the initial velocity will be set to zero.

Parameters
p The point to move to.

Returns

An error object or null on success

5.90.3.4 AddLine() [2/2]

virtual const Error∗ AddLine (

uunit length ) [virtual]

Add a line segment of the specified length.

The direction of motion will remain the same as it was at the end of the last added segment. If this is the first segment
added to the path, then the direction will be positive motion in the first axis.

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546 Class Documentation

Parameters

length The length of the line segment to add.

Returns

An error object or null on success

5.90.3.5 GetDim()

virtual int GetDim (

void ) [virtual]

Get the dimension (i.e.

number of axes) of the path.

Returns

The path dimension

Implements LinkTrajectory.

5.90.3.6 NextSegment()

virtual const Error∗ NextSegment (

uunit pos[ ],
uunit vel[ ],
uint8 & time ) [virtual]

Get the next trajectory segment.

This method is called by the Linkage object when as it passes the trajectory informatoin up to the amplifiers.

Parameters
pos An array where the position values will be returned. This array will be at least D elements long, where D is
the trajectory dimension as returned by LinkTrajectory::GetDim()
vel An array where the velocity values will be returned.
time The segment time is returned here. This is in milliseconds and ranges from 1 to 255. If zero is returned, this
is the last frame in the profile.

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5.90 Path Class Reference 547

Returns

A pointer to an error object on failure, or NULL on success.

Implements LinkTrajectory.

5.90.3.7 Pause()

virtual const Error∗ Pause (

double sec ) [virtual]

Set the current velocity to 0 and pause for the specified amount of time.

Parameters

sec The time to pause (must be >= 0). Time is specified in seconds.

Returns

An error object or null on success

5.90.3.8 PlayPath()

bool PlayPath (
double timeInc,
double pos[ ],
double vel[ ] )

Play back path data.

This method may be used to itterate through a path for display purposes.

Before starting a path playback, the path should be reset using the method Path::Reset.

Each call to this function will return position and velocity information for the current playback position in the path. It will
then increment the playback position by the time value passed. When the end of the path is reached, the method will
return true.

Parameters

timeInc The amount of time (seconds) to increment the playback position after reading out the position & velocity
values.
pos An array where the position information will be returned. This array must be long enough to store DIM
elements, where DIM is the path dimension.
vel An array where the velocity information will be returned. This array must be long enough to store DIM
elements,
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548 Class Documentation

Returns

true if the end of the path has been reached, false if not.

5.90.3.9 Reset()

virtual void Reset (

void ) [virtual]

Reset the path to the first position.

This should be called before the path is passed to the Linkage object as a trajectory to run.

5.90.3.10 SetAcc()

virtual const Error∗ SetAcc (

uunit a ) [virtual]

Set the acceleration limit for the current location.

Acceleration limits must be greater then zero.

Parameters

a The maximum acceleration (position units / second / second)

Returns

An error object or null on success

5.90.3.11 SetDec()

virtual const Error∗ SetDec (

uunit d ) [virtual]

Set the deceleration limit for the current location.

Note that setting the deceleration limit less then or equal to zero will cause the acceleration value to be used for
deceleration also.

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5.90 Path Class Reference 549

Parameters

d The maximum deceleration (position units / second / second)

Returns

An error object or null on success

5.90.3.12 SetJrk()

virtual const Error∗ SetJrk (

uunit j ) [virtual]

Set the jerk limit for the current location.

Note that setting the jerk limit to a value less then or equal to zero will cause the path to be calculated with no jerk
limiting.

Parameters

j The jerk limit (position units / second / second / second)

Returns

An error object or null on success.

5.90.3.13 SetStartPos()

virtual const Error∗ SetStartPos (

PointN & p ) [virtual]

Set the initial position for the path.

This method may be used to start a path at a position other then (0,0) which is the default if no staring position is set.

The starting position may be set at any time, either before or after adding segments to the path. Internally, the segments
are all stored as relative positions.

Parameters

p The starting position for this path.

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550 Class Documentation

Returns

An error object or null on success

5.90.3.14 SetVel()

virtual const Error∗ SetVel (

uunit v ) [virtual]

Set the velocity limit for the current location.

Velocity limits must be greater then zero.

Parameters

v The maximum velocity (position units / second)

Returns

An error object or null on success

5.90.3.15 StartNew()

virtual const Error∗ StartNew (

void ) [virtual]

Start a new trajectory.

This function is called before the first call to LinkTrajectory::NextSegment. It will result in a call to Path::Reset

Returns

An error pointer if the trajectory object is not available, or NULL if it is ready to be sent.

Reimplemented from LinkTrajectory.

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

• CML_Path.h

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5.91 PathError Class Reference 551

5.91 PathError Class Reference

This class represents errors returned by the path Path object.

Inheritance diagram for PathError:

Error

PathError

Collaboration diagram for PathError:

Internal
Error OK
Unknown

NonPositiveRadius
Alloc
BadLength
BadPoint
VelNotInit
PathError BadDimensions
BadVel
Empty
AccNotInit
BadAcc
...

Static Public Attributes

• static const PathError BadVel

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552 Class Documentation

Illegal velocity value.

• static const PathError BadAcc
Illegal acceleration value.
• static const PathError VelNotInit
Velocity limit not yet set.
• static const PathError AccNotInit
Acceleration limit not yet set.
• static const PathError BadPoint
The passed point doesn't match the path.
• static const PathError Alloc
Unable to allocate memory for path.
• static const PathError BadLength
An illegal negative length value was passed.
• static const PathError Empty
Attempt to execute an empty path.
• static const PathError BadDimensions
Attempt to use a point with bad dimensions.
• static const PathError BadCenterPoint
The center point must result in a positive radius.
• static const PathError NonPositiveRadius
The user entered a radius that is not a positive value.

Protected Member Functions

• PathError (uint16 id, const char ∗desc)

Standard protected constructor.

Additional Inherited Members

5.91.1 Detailed Description

This class represents errors returned by the path Path object.

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

• CML_Path.h

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5.92 PDO Class Reference 553

5.92 PDO Class Reference

PDO (Process Data Object) base class.

Inheritance diagram for PDO:

AlgOutPDO

DigOutPDO

RPDO_Ctrl

RPDO RPDO_HighResTime

RPDO_LinkCtrl

RPDO_PvtCtrl
RefObj PDO
AlgInPDO

DigInPDO
TPDO
TPDO_HighResTime

TPDO_PvtStat

TPDO_Status

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554 Class Documentation

Collaboration diagram for PDO:

RefObj Pmap

map

PDO

Public Member Functions

• PDO (void)
Default constructor. Simply initializes some variables.
• virtual ∼PDO ()
Virtual destructor.
• virtual bool IsTxPDO (void)=0
Return true for transmit PDOs and false for receive PDOs.
• virtual const Error ∗ SetID (uint32 i)
Set the CAN message ID associated with the PDO.
• virtual uint32 GetID (void)
Get the CAN message ID associated with the PDO.
• virtual const Error ∗ SetType (byte t)
Set the PDO transmission type code.
• virtual byte GetType (void)
Return the PDO transmission type associated with this PDO.
• virtual const Error ∗ ClearMap (void)
Clear the variable map associated with this PDO.
• virtual const Error ∗ AddVar (Pmap &var)
Add the passed variable to the end of the variable map associated with this PDO.
• virtual int GetRtrOk (void)
Return non-zero if RTR requests are OK for this PDO.
• virtual int GetMapCodes (uint32 codes[ ])
Fill the array of 32-bit ints with the PDO mapping codes used by this PDO.
• virtual int GetBitCt (void)
Return the length (in bits) of the data mapped to this PDO.

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5.92 PDO Class Reference 555

Protected Attributes

• byte flags
Misc flags associated with the PDO.
• byte type
Transmission type code.
• int mapCt
Number of elements in the variable map.
• int bitCt
Number of bits mapped so far.
• Pmap ∗ map [PDO_MAP_LEN]
Array of pointers to Pmap objects that describe the variables transmitted by this PDO.
• uint32 id
The CAN message ID associated with this PDO.

Friends

• class EtherCAT

Additional Inherited Members

5.92.1 Detailed Description

PDO (Process Data Object) base class.

5.92.2 Member Function Documentation

5.92.2.1 AddVar()

const Error ∗ AddVar (

Pmap & var ) [virtual]

Add the passed variable to the end of the variable map associated with this PDO.

Parameters
var The variable to be added.

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556 Class Documentation

Returns

An error object.

5.92.2.2 ClearMap()

virtual const Error∗ ClearMap (

void ) [inline], [virtual]

Clear the variable map associated with this PDO.

Returns

An error code

5.92.2.3 GetID()

virtual uint32 GetID (

void ) [inline], [virtual]

Get the CAN message ID associated with the PDO.

Returns

The COB-ID of the PDO

5.92.2.4 GetMapCodes()

virtual int GetMapCodes (

uint32 codes[ ] ) [inline], [virtual]

Fill the array of 32-bit ints with the PDO mapping codes used by this PDO.

Parameters

codes An array of at least PDO_MAP_LEN 32-bit ints. The mapping codes will be stored here

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5.92 PDO Class Reference 557

Returns

The number of elements mapped into this PDO.

5.92.2.5 GetRtrOk()

virtual int GetRtrOk (

void ) [inline], [virtual]

Return non-zero if RTR requests are OK for this PDO.

Note that this only really makes sense for transmit PDOs

Returns

zero if RTR not allowed, non-zero if allowed.

5.92.2.6 GetType()

virtual byte GetType (

void ) [inline], [virtual]

Return the PDO transmission type associated with this PDO.

Returns

The 8-bit type code

5.92.2.7 SetID()

virtual const Error∗ SetID (

uint32 i ) [inline], [virtual]

Set the CAN message ID associated with the PDO.

Parameters
i The ID value.

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558 Class Documentation

Returns

An error object or NULL on success

5.92.2.8 SetType()

virtual const Error∗ SetType (

byte t ) [inline], [virtual]

Set the PDO transmission type code.

Parameters
t Transmission type code

Returns

An error object.

5.92.3 Member Data Documentation

5.92.3.1 map

Pmap∗ map[PDO_MAP_LEN] [protected]

Array of pointers to Pmap objects that describe the variables transmitted by this PDO.

The documentation for this class was generated from the following files:

• CML_PDO.h
• PDO.cpp

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5.93 PDO_Error Class Reference 559

5.93 PDO_Error Class Reference

This class represents error conditions related to PDOs.

Inheritance diagram for PDO_Error:

Error

PDO_Error

Collaboration diagram for PDO_Error:

Internal
Error OK
Unknown

MapFull
PDO_Error BitOverflow
BitSizeError

Static Public Attributes

• static const PDO_Error MapFull

The variable map associated with the PDO is already full.
• static const PDO_Error BitOverflow
Adding the variable to the map would cause the map to be too long (more then 64 bits).
• static const PDO_Error BitSizeError
PDO Map variables of the passed bit size are not presently supported.

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560 Class Documentation

Protected Member Functions

• PDO_Error (uint16 id, const char ∗desc)

Standard protected constructor.

Additional Inherited Members

5.93.1 Detailed Description

This class represents error conditions related to PDOs.

5.93.2 Member Data Documentation

5.93.2.1 BitOverflow

const PDO_Error BitOverflow [static]

Adding the variable to the map would cause the map to be too long (more then 64 bits).

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

• CML_PDO.h

5.94 Pmap Class Reference

This class allows variables to be mapped into a PDO.

Inheritance diagram for Pmap:

Pmap

Pmap16 Pmap24 Pmap32 Pmap8 PmapRaw

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5.94 Pmap Class Reference 561

Public Member Functions

• Pmap ()
Default constructor for a generic PDO mapping variable.
• Pmap (uint16 index, byte sub, byte bits)
Construct a generic PDO mapping variable and initialize it's size and object ID.
• virtual ∼Pmap ()
Virtual destructor.
• virtual const Error ∗ Init (uint16 index, byte sub, byte bits)
Initialize a generic PDO mapping variable.
• virtual void Get (byte ∗cptr)
Called when a receive PDO is about to be transmitted.
• virtual void Set (byte ∗cptr)
Called when a transmit PDO is received.
• virtual uint32 GetMapCode ()
Return the 32-bit code used to identify this variable in the CANopen node's PDO mapping block.
• uint16 GetIndex ()
Get the object index associated with this variable.
• byte GetSub ()
Get the object sub-index associated with this variable.
• byte GetBits ()
Get the number of bits in this variable.

Protected Attributes

• uint16 index
The 16-bit index of the object in the object dictionary.
• byte sub
The 8-bit sub-index of the object in the object dictionary.
• byte bits
The number of bits that this object takes up.

5.94.1 Detailed Description

This class allows variables to be mapped into a PDO.

This class can be used directly for transmit PDOs if the received data is not of interest (it will simply be discarded by the
Set() function. Using this for receive PDOs is not recommended since the Get() function doesn't add any data to the
output stream and therefore the data transmitted to the node will be undefined.

5.94.2 Constructor & Destructor Documentation

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562 Class Documentation

5.94.2.1 Pmap()

Pmap (
uint16 index,
byte sub,
byte bits ) [inline]

Construct a generic PDO mapping variable and initialize it's size and object ID.

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5.94 Pmap Class Reference 563

Parameters

index The index of the variable in the object dictionary

sub The variable's sub-index in the object dictionary
bits The size of the variable in bits

5.94.3 Member Function Documentation

5.94.3.1 Get()

virtual void Get (

byte ∗ cptr ) [inline], [virtual]

Called when a receive PDO is about to be transmitted.

This virtual function does nothing and therefore objects of this generic type shouldn't be used when actually transmitting
PDOs

Parameters

cptr Pointer where the PDO data should be stored

Reimplemented in Pmap8, Pmap16, Pmap24, Pmap32, and PmapRaw.

5.94.3.2 GetBits()

byte GetBits ( ) [inline]

Get the number of bits in this variable.

Returns

The number of bits.

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564 Class Documentation

5.94.3.3 GetIndex()

uint16 GetIndex ( ) [inline]

Get the object index associated with this variable.

Returns

The 16-bit object index.

5.94.3.4 GetSub()

byte GetSub ( ) [inline]

Get the object sub-index associated with this variable.

Returns

The 8-bit object sub-index.

5.94.3.5 Init()

virtual const Error∗ Init (

uint16 index,
byte sub,
byte bits ) [inline], [virtual]

Initialize a generic PDO mapping variable.

Parameters

index The index of the variable in the object dictionary

sub The variable's sub-index in the object dictionary
bits The size of the variable in bits

Returns

An error object

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5.95 Pmap16 Class Reference 565

5.94.3.6 Set()

virtual void Set (

byte ∗ cptr ) [inline], [virtual]

Called when a transmit PDO is received.

This virtual function doesn't do anything and therefore objects of this base class should only be used for variables that
are not of interest and can therefore be ignored.

Parameters

cptr Pointer to the received PDO data.

Reimplemented in Pmap8, Pmap16, Pmap24, Pmap32, and PmapRaw.

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

• CML_PDO.h

5.95 Pmap16 Class Reference

This is a PDO variable mapping class that extends the virtual Pmap class to handle 16-bit integers.

Inheritance diagram for Pmap16:

Pmap

Pmap16

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566 Class Documentation

Collaboration diagram for Pmap16:

Pmap

Pmap16

Public Member Functions

• Pmap16 ()
Default constructor for a 16-bit mapping object.
• Pmap16 (uint16 index, byte sub=0)
Create a new 16-bit mapping object.
• const Error ∗ Init (uint16 index, byte sub=0)
Initialize a 16-bit mapping object.
• virtual void Get (byte ∗cptr)
Copy the current value of this variable into the passed character array.
• virtual void Set (byte ∗cptr)
Update the value of this variable based on the data passed in a character array.
• virtual int16 Read (void)
Read the current value of this variable.
• virtual void Write (int16 d)
Write a new value to this variable.

Additional Inherited Members

5.95.1 Detailed Description

This is a PDO variable mapping class that extends the virtual Pmap class to handle 16-bit integers.

5.95.2 Constructor & Destructor Documentation

5.95.2.1 Pmap16()

Pmap16 (
uint16 index,
byte sub = 0 ) [inline]

Create a new 16-bit mapping object.

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5.95 Pmap16 Class Reference 567

Parameters

index Object index associated with this variable

sub Object sub-index (defaults to 0)

5.95.3 Member Function Documentation

5.95.3.1 Get()

virtual void Get (

byte ∗ cptr ) [inline], [virtual]

Copy the current value of this variable into the passed character array.

This function is called when a receive PDO is about to be transmitted to a node.

Parameters

cptr A character pointer that references a char array of at least 2 bytes. The current value of this variable will be
copied there.

Reimplemented from Pmap.

5.95.3.2 Init()

const Error∗ Init (

uint16 index,
byte sub = 0 ) [inline]

Initialize a 16-bit mapping object.

Parameters

index Object index associated with this variable

sub Object sub-index (defaults to 0)

Returns

An error object

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568 Class Documentation

5.95.3.3 Read()

virtual int16 Read (

void ) [inline], [virtual]

Read the current value of this variable.

Returns

The current value of this variable.

5.95.3.4 Set()

virtual void Set (

byte ∗ cptr ) [inline], [virtual]

Update the value of this variable based on the data passed in a character array.

This function is called when a transmit PDO that this variable is mapped to is received.

Parameters

cptr A character pointer that references a char array of at least 2 bytes. The value of this variable will be updated
with the data passed in this array.

Reimplemented from Pmap.

5.95.3.5 Write()

virtual void Write (

int16 d ) [inline], [virtual]

Write a new value to this variable.

Parameters
d The new value to write.

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

• CML_PDO.h

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5.96 Pmap24 Class Reference 569

5.96 Pmap24 Class Reference

This is a PDO variable mapping class that extends the virtual Pmap class to handle 24-bit integers.

Inheritance diagram for Pmap24:

Pmap

Pmap24

Collaboration diagram for Pmap24:

Pmap

Pmap24

Public Member Functions

• Pmap24 ()
Default constructor for a 24-bit mapping object.
• Pmap24 (uint16 index, byte sub=0)
Create a new 24-bit mapping object.
• const Error ∗ Init (uint16 index, byte sub=0)
Initialize a 24-bit mapping object.
• virtual void Get (byte ∗cptr)
Copy the current value of this variable into the passed character array.
• virtual void Set (byte ∗cptr)

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570 Class Documentation

Update the value of this variable based on the data passed in a character array.
• virtual int32 Read (void)
Read the current value of this variable.
• virtual void Write (int32 d)
Write a new value to this variable.

Additional Inherited Members

5.96.1 Detailed Description

This is a PDO variable mapping class that extends the virtual Pmap class to handle 24-bit integers.

5.96.2 Constructor & Destructor Documentation

5.96.2.1 Pmap24()

Pmap24 (
uint16 index,
byte sub = 0 ) [inline]

Create a new 24-bit mapping object.

Parameters

index Object index associated with this variable

sub Object sub-index (defaults to 0)

5.96.3 Member Function Documentation

5.96.3.1 Get()

virtual void Get (

byte ∗ cptr ) [inline], [virtual]

Copy the current value of this variable into the passed character array.

This function is called when a receive PDO is about to be transmitted to a node.

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5.96 Pmap24 Class Reference 571

Parameters

cptr A character pointer that references a char array of at least 4 bytes. The current value of this variable will be
copied there.

Reimplemented from Pmap.

5.96.3.2 Init()

const Error∗ Init (

uint16 index,
byte sub = 0 ) [inline]

Initialize a 24-bit mapping object.

Parameters

index Object index associated with this variable

sub Object sub-index (defaults to 0)

Returns

An error object

5.96.3.3 Read()

virtual int32 Read (

void ) [inline], [virtual]

Read the current value of this variable.

Returns

The current value of this variable.

5.96.3.4 Set()

virtual void Set (

byte ∗ cptr ) [inline], [virtual]

Update the value of this variable based on the data passed in a character array.

This function is called when a transmit PDO that this variable is mapped to is received.

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572 Class Documentation

Parameters

cptr A character pointer that references a char array of at least 4 bytes. The value of this variable will be updated
with the data passed in this array.

Reimplemented from Pmap.

5.96.3.5 Write()

virtual void Write (

int32 d ) [inline], [virtual]

Write a new value to this variable.

Parameters
d The new value to write.

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

• CML_PDO.h

5.97 Pmap32 Class Reference

This is a PDO variable mapping class that extends the virtual Pmap class to handle 32-bit integers.

Inheritance diagram for Pmap32:

Pmap

Pmap32

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5.97 Pmap32 Class Reference 573

Collaboration diagram for Pmap32:

Pmap

Pmap32

Public Member Functions

• Pmap32 ()
Default constructor for a 32-bit mapping object.
• Pmap32 (uint16 index, byte sub=0)
Create a new 32-bit mapping object.
• const Error ∗ Init (uint16 index, byte sub=0)
Initialize a 32-bit mapping object.
• virtual void Get (byte ∗cptr)
Copy the current value of this variable into the passed character array.
• virtual void Set (byte ∗cptr)
Update the value of this variable based on the data passed in a character array.
• virtual int32 Read (void)
Read the current value of this variable.
• virtual void Write (int32 d)
Write a new value to this variable.

Additional Inherited Members

5.97.1 Detailed Description

This is a PDO variable mapping class that extends the virtual Pmap class to handle 32-bit integers.

5.97.2 Constructor & Destructor Documentation

5.97.2.1 Pmap32()

Pmap32 (
uint16 index,
byte sub = 0 ) [inline]

Create a new 32-bit mapping object.

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574 Class Documentation

Parameters

index Object index associated with this variable

sub Object sub-index (defaults to 0)

5.97.3 Member Function Documentation

5.97.3.1 Get()

virtual void Get (

byte ∗ cptr ) [inline], [virtual]

Copy the current value of this variable into the passed character array.

This function is called when a receive PDO is about to be transmitted to a node.

Parameters

cptr A character pointer that references a char array of at least 4 bytes. The current value of this variable will be
copied there.

Reimplemented from Pmap.

5.97.3.2 Init()

const Error∗ Init (

uint16 index,
byte sub = 0 ) [inline]

Initialize a 32-bit mapping object.

Parameters

index Object index associated with this variable

sub Object sub-index (defaults to 0)

Returns

An error object

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5.97 Pmap32 Class Reference 575

5.97.3.3 Read()

virtual int32 Read (

void ) [inline], [virtual]

Read the current value of this variable.

Returns

The current value of this variable.

5.97.3.4 Set()

virtual void Set (

byte ∗ cptr ) [inline], [virtual]

Update the value of this variable based on the data passed in a character array.

This function is called when a transmit PDO that this variable is mapped to is received.

Parameters

cptr A character pointer that references a char array of at least 4 bytes. The value of this variable will be updated
with the data passed in this array.

Reimplemented from Pmap.

5.97.3.5 Write()

virtual void Write (

int32 d ) [inline], [virtual]

Write a new value to this variable.

Parameters
d The new value to write.

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

• CML_PDO.h

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576 Class Documentation

5.98 Pmap8 Class Reference

This is a PDO variable mapping class that extends the virtual Pmap class to handle 8-bit integers.

Inheritance diagram for Pmap8:

Pmap

Pmap8

Collaboration diagram for Pmap8:

Pmap

Pmap8

Public Member Functions

• Pmap8 ()
Default constructor for a 8-bit mapping object.
• Pmap8 (uint16 index, byte sub=0)
Create a new 8-bit mapping object.
• const Error ∗ Init (uint16 index, byte sub=0)
Initialize a 8-bit mapping object.
• virtual void Get (byte ∗cptr)
Copy the current value of this variable into the passed character array.
• virtual void Set (byte ∗cptr)

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5.98 Pmap8 Class Reference 577

Update the value of this variable based on the data passed in a character array.
• virtual byte Read (void)
Read the current value of this variable.
• virtual void Write (byte d)
Write a new value to this variable.

Additional Inherited Members

5.98.1 Detailed Description

This is a PDO variable mapping class that extends the virtual Pmap class to handle 8-bit integers.

5.98.2 Constructor & Destructor Documentation

5.98.2.1 Pmap8()

Pmap8 (
uint16 index,
byte sub = 0 ) [inline]

Create a new 8-bit mapping object.

Parameters

index Object index associated with this variable

sub Object sub-index (defaults to 0)

5.98.3 Member Function Documentation

5.98.3.1 Get()

virtual void Get (

byte ∗ cptr ) [inline], [virtual]

Copy the current value of this variable into the passed character array.

This function is called when a receive PDO is about to be transmitted to a node.

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578 Class Documentation

Parameters

cptr A character pointer that references a char array of at least 1 bytes. The current value of this variable will be
copied there.

Reimplemented from Pmap.

5.98.3.2 Init()

const Error∗ Init (

uint16 index,
byte sub = 0 ) [inline]

Initialize a 8-bit mapping object.

Parameters

index Object index associated with this variable

sub Object sub-index (defaults to 0)

Returns

An error object

5.98.3.3 Read()

virtual byte Read (

void ) [inline], [virtual]

Read the current value of this variable.

Returns

The current value of this variable.

5.98.3.4 Set()

virtual void Set (

byte ∗ cptr ) [inline], [virtual]

Update the value of this variable based on the data passed in a character array.

This function is called when a transmit PDO that this variable is mapped to is received.

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5.99 PmapRaw Class Reference 579

Parameters

cptr A character pointer that references a char array of at least 1 bytes. The value of this variable will be updated
with the data passed in this array.

Reimplemented from Pmap.

5.98.3.5 Write()

virtual void Write (

byte d ) [inline], [virtual]

Write a new value to this variable.

Parameters
d The new value to write.

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

• CML_PDO.h

5.99 PmapRaw Class Reference

This is the most generic PDO variable mapping class.

Inheritance diagram for PmapRaw:

Pmap

PmapRaw

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580 Class Documentation

Collaboration diagram for PmapRaw:

Pmap

PmapRaw

Public Member Functions

• PmapRaw ()
Default constructor.
• PmapRaw (uint16 index, byte sub, byte bits)
Create a new mapping object.
• virtual void Get (byte ∗cptr)
Copy the current value of this variable into the passed character array.
• virtual void Set (byte ∗cptr)
Update the value of this variable based on the data passed in a character array.

Additional Inherited Members

5.99.1 Detailed Description

This is the most generic PDO variable mapping class.

It doesn't do any special formatting, just holds up to 8 bytes of raw data.

5.99.2 Constructor & Destructor Documentation

5.99.2.1 PmapRaw()

PmapRaw (
uint16 index,
byte sub,
byte bits ) [inline]

Create a new mapping object.

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5.99 PmapRaw Class Reference 581

Parameters

index Object index associated with this variable

sub Object sub-index
bits The size of the variable in bits

5.99.3 Member Function Documentation

5.99.3.1 Get()

virtual void Get (

byte ∗ cptr ) [inline], [virtual]

Copy the current value of this variable into the passed character array.

This function is called when a receive PDO is about to be transmitted to a node.

Parameters

cptr A character pointer that references a char array large enough to hold this objects data.

Reimplemented from Pmap.

5.99.3.2 Set()

virtual void Set (

byte ∗ cptr ) [inline], [virtual]

Update the value of this variable based on the data passed in a character array.

This function is called when a transmit PDO that this variable is mapped to is received.

Parameters
cptr A pointer to the received data.

Reimplemented from Pmap.

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

• CML_PDO.h

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582 Class Documentation

5.100 Point< N > Class Template Reference

Template used for N dimensional objects.

Inheritance diagram for Point< N >:

PointN

Point< N >

< CML_MAX_AMPS_PER
< PATH_MAX_DIMENSIONS >
_LINK >

Point< CML_MAX_AMPS
Point< PATH_MAX_DIMENSIONS >
_PER_LINK >

Collaboration diagram for Point< N >:

PointN

Point< N >

Public Member Functions

• int getDim (void) const

Get the number of dimensions of this point.
• int getMax (void) const
Get the max dimensions that this point can handle.
• void setDim (int d)
Set the number of dimensions of this point.

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5.100 Point< N > Class Template Reference 583

5.100.1 Detailed Description

template<int N>
class Point< N >

Template used for N dimensional objects.

This template may be used to generate point objects for some fixed number of dimensions.

5.100.2 Member Function Documentation

5.100.2.1 getDim()

int getDim (
void ) const [inline], [virtual]

Get the number of dimensions of this point.

Returns

The point dimension

Implements PointN.

5.100.2.2 getMax()

int getMax (
void ) const [inline], [virtual]

Get the max dimensions that this point can handle.

Returns

The max value.

Implements PointN.

5.100.2.3 setDim()

void setDim (
int d ) [inline], [virtual]

Set the number of dimensions of this point.

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584 Class Documentation

Parameters
d The new point dimension

Implements PointN.

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

• CML_Geometry.h

5.101 PointN Class Reference

An N axis point.

Inheritance diagram for PointN:

PointN

Point< N >

< CML_MAX_AMPS_PER
< PATH_MAX_DIMENSIONS >
_LINK >

Point< CML_MAX_AMPS
Point< PATH_MAX_DIMENSIONS >
_PER_LINK >

Public Member Functions

• virtual ∼PointN ()
Virtual destructor.
• virtual int getDim (void) const =0
Get the number of dimensions of this point.
• virtual void setDim (int d)=0
Set the number of dimensions of this point.
• virtual int getMax (void) const =0
Get the max dimensions that this point can handle.

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5.101 PointN Class Reference 585

5.101.1 Detailed Description

An N axis point.

This point specifies a position in N dimensions.

This is a pure virtual base class of the more specific Point classes.

5.101.2 Member Function Documentation

5.101.2.1 getDim()

virtual int getDim (

void ) const [pure virtual]

Get the number of dimensions of this point.

Returns

The point dimension

Implemented in Point< N >, Point< CML_MAX_AMPS_PER_LINK >, and Point< PATH_MAX_DIMENSIONS >.

5.101.2.2 getMax()

virtual int getMax (

void ) const [pure virtual]

Get the max dimensions that this point can handle.

Returns

The max value.

Implemented in Point< N >, Point< CML_MAX_AMPS_PER_LINK >, and Point< PATH_MAX_DIMENSIONS >.

5.101.2.3 setDim()

virtual void setDim (

int d ) [pure virtual]

Set the number of dimensions of this point.

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586 Class Documentation

Parameters
d The new point dimension

Implemented in Point< N >, Point< CML_MAX_AMPS_PER_LINK >, and Point< PATH_MAX_DIMENSIONS >.

The documentation for this class was generated from the following files:

• CML_Geometry.h
• Geometry.cpp

5.102 PosLoopConfig Struct Reference

This structure holds the position loop configuration parameters specific to the Copley amplifier.

Public Member Functions

• PosLoopConfig (void)
Default constructor.

Public Attributes

• int16 kp
Proportional gain.
• int16 kvff
Velocity feed forward.
• int16 kaff
Acceleration feed forward.
• int16 ki
Integral gain.
• int16 kd
Derivative gain.
• int16 scale
Scaling factor.
• int16 xKd
cross coupling derivative gain
• int16 xKi
cross coupling integral gain
• int16 xKp
cross coupling proportional gain
• int16 kiDrain
Position loop drain value for integral sum. Set to 0 to disable.

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5.103 ProfileConfig Struct Reference 587

5.102.1 Detailed Description

This structure holds the position loop configuration parameters specific to the Copley amplifier.

The position loop is one of three servo control loops used by the amplifier to control a motor. The configuration param-
eters used by this control loop allow the servo performance to be 'tuned' for various motors and loads.

The amplifier member functions Amp::GetPosLoopConfig and Amp::SetPosLoopConfig are used to read and write this
data to the amplifier.

5.102.2 Constructor & Destructor Documentation

5.102.2.1 PosLoopConfig()

PosLoopConfig (
void ) [inline]

Default constructor.

Simply initializes all servo parameters to zero.

5.102.3 Member Data Documentation

5.102.3.1 scale

int16 scale

Scaling factor.

This is a multiplier that is applied to the output of the position loop. It's scaled up by 100, so setting the scaling factor to
1234 would multiply the output of the loop by 12.34. This parameter was added in firmware version 3.30. For any earlier
version it will default to 100 (scale by 1.0).

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

• CML_AmpStruct.h

5.103 ProfileConfig Struct Reference

Amplifier profile parameters.

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588 Class Documentation

Public Member Functions

• ProfileConfig (void)
Default constructor. Simply set all parameters to zero.

Public Attributes

• PROFILE_TYPE type
Type of profile to be used.
• uunit pos
For absolute moves this is an absolute position, for relative moves it's a distance to move.
• uunit vel
Velocity limit for move.
• uunit acc
Acceleration limit for move.
• uunit dec
Deceleration limit for move.
• uunit abort
Acceleration value to use when aborting a running trajectory.
• uunit jrk
Jerk limit for move.

5.103.1 Detailed Description

Amplifier profile parameters.

This structure holds all the parameters related to point-to-point profile moves.

5.103.2 Member Data Documentation

5.103.2.1 abort

uunit abort

Acceleration value to use when aborting a running trajectory.

This is the same as the 'quick stop' deceleration.

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5.104 ProfileConfigScurve Struct Reference 589

5.103.2.2 pos

uunit pos

For absolute moves this is an absolute position, for relative moves it's a distance to move.

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

• CML_AmpStruct.h

5.104 ProfileConfigScurve Struct Reference

S-curve profile parameters.

Public Member Functions

• ProfileConfigScurve (void)
Default constructor. Simply set all parameters to zero.

Public Attributes

• uunit pos
For absolute moves this is an absolute position, for relative moves it's a distance to move.
• uunit vel
Velocity limit for move.
• uunit acc
Acceleration limit for move.
• uunit jrk
Jerk limit for move.

5.104.1 Detailed Description

S-curve profile parameters.

This structure holds all the parameters necessary to perform a s-curve (jerk limited) profile move.

5.104.2 Member Data Documentation

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590 Class Documentation

5.104.2.1 acc

uunit acc

Acceleration limit for move.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

5.104.2.2 jrk

uunit jrk

Jerk limit for move.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

5.104.2.3 pos

uunit pos

For absolute moves this is an absolute position, for relative moves it's a distance to move.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

5.104.2.4 vel

uunit vel

Velocity limit for move.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

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

• CML_Amp.h

5.105 ProfileConfigTrap Struct Reference

Trapezoidal profile parameters.

Public Member Functions

• ProfileConfigTrap (void)
Default constructor. Simply set all parameters to zero.

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5.105 ProfileConfigTrap Struct Reference 591

Public Attributes

• uunit pos
For absolute moves this is an absolute position, for relative moves it's a distance to move.
• uunit vel
Velocity limit for move.
• uunit acc
Acceleration limit for move.
• uunit dec
Deceleration limit for move.

5.105.1 Detailed Description

Trapezoidal profile parameters.

This structure holds all the parameters necessary to perform a trapezoidal profile move.

5.105.2 Member Data Documentation

5.105.2.1 acc

uunit acc

Acceleration limit for move.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

5.105.2.2 dec

uunit dec

Deceleration limit for move.

Note that if this parameter is not set, then the acceleration value will be used for deceleration.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

5.105.2.3 pos

uunit pos

For absolute moves this is an absolute position, for relative moves it's a distance to move.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

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592 Class Documentation

5.105.2.4 vel

uunit vel

Velocity limit for move.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

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

• CML_Amp.h

5.106 ProfileConfigVel Struct Reference

Velocity profile parameters.

Public Member Functions

• ProfileConfigVel (void)
Default constructor. Simply set all parameters to zero.

Public Attributes

• uunit dir
Direction of motion.
• uunit vel
Velocity limit for move.
• uunit acc
Acceleration limit for move.
• uunit dec
Deceleration limit for move.

5.106.1 Detailed Description

Velocity profile parameters.

This structure holds all the parameters necessary to perform a velocity profile move.

5.106.2 Member Data Documentation

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5.106 ProfileConfigVel Struct Reference 593

5.106.2.1 acc

uunit acc

Acceleration limit for move.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

5.106.2.2 dec

uunit dec

Deceleration limit for move.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

5.106.2.3 dir

uunit dir

Direction of motion.

If >= 0, then move in the positive direction If < 0, then move in the negative direction.

5.106.2.4 vel

uunit vel

Velocity limit for move.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

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

• CML_Amp.h

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594 Class Documentation

5.107 PvtConstAccelTrj Class Reference

Inheritance diagram for PvtConstAccelTrj:

RefObj

LinkTrajectory

PvtConstAccelTrj

Collaboration diagram for PvtConstAccelTrj:

RefObj

LinkTrajectory

PvtConstAccelTrj

Public Member Functions

• virtual int GetDim (void)

Get the dimension of the trajectory.

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5.108 PvtConstAccelTrjError Class Reference 595

Additional Inherited Members

5.107.1 Member Function Documentation

5.107.1.1 GetDim()

int GetDim (
void ) [virtual]

Get the dimension of the trajectory.

The trajectory dimension gives the number of axes defined for the trajectory. This can not change from the time Start←-
New() is called to the time Finish() is called. The position and velocity arrays passed to NextSegment will be of at least
this size.

Returns

The dimension of the trajectory.

Implements LinkTrajectory.

The documentation for this class was generated from the following files:

• CML_PvtConstAccelTrj.h
• PvtConstAccelTrj.cpp

5.108 PvtConstAccelTrjError Class Reference

Inheritance diagram for PvtConstAccelTrjError:

Error

PvtConstAccelTrjError

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596 Class Documentation

Collaboration diagram for PvtConstAccelTrjError:

Internal
Error OK
Unknown

PositionVectorInvalidSize
PvtConstAccelTrjError
InvalidDimension

Static Public Attributes

• static const PvtConstAccelTrjError PositionVectorInvalidSize

The user input an empty multidimensional position vector.
• static const PvtConstAccelTrjError InvalidDimension
The user input an empty multidimensional time vector.

Protected Member Functions

• PvtConstAccelTrjError (uint16 id, const char ∗desc)

Standard protected constructor.

Additional Inherited Members

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

• CML_PvtConstAccelTrj.h

5.109 PvtSegCache Class Reference

PVT trajectory segment cache object.

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5.109 PvtSegCache Class Reference 597

Public Member Functions

• PvtSegCache ()
Default constructor. Clears the cache.
• void Clear ()
Clear the cache.
• void AddSegment (uint8 ∗seg, uint16 id, uunit p)
Add the passed segment to the cache.
• bool GetSegment (uint8 ∗seg, uint16 id)
Get the specified segment from the cache.
• bool GetPosition (uunit ∗p, uint16 id)
Get the position corresponding to the specified segment from the cache.

5.109.1 Detailed Description

PVT trajectory segment cache object.

This is used internally by the Amp object to keep track of PVT segments recently sent. It allows the amp object to
recover if a segment is lost in transit by resending the missing segments.

5.109.2 Member Function Documentation

5.109.2.1 AddSegment()

void AddSegment (
uint8 ∗ seg,
uint16 id,
uunit p )

Add the passed segment to the cache.

Segments must be passed in order and with no gaps between ID numbers. If this segment doesn't follow those rules
then the cache will be cleared before the segment is added.

Parameters

seg Points to an array of 8 bytes which make up the segment to be added. The segment data is copied into the
cache. No copy of the pointer is kept locally.
id The ID number of the passed segment.
p The position corresponding to this segment.

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598 Class Documentation

5.109.2.2 GetPosition()

bool GetPosition (
uunit ∗ p,
uint16 id )

Get the position corresponding to the specified segment from the cache.

If the requested position is available, it will be copied to the passed pointer.

Parameters

p A pointer to where the position information will be copied.

id The ID number of the segment being requested

Returns

true on success, false if the requested segment isn't available.

5.109.2.3 GetSegment()

bool GetSegment (
uint8 ∗ seg,
uint16 id )

Get the specified segment from the cache.

If the requested segment is available, it's contents will be copied to the passed pointer.

Parameters

seg A pointer to an array of 8 bytes where the segment data will be copied on success.
id The ID number of the segment being requested

Returns

true on success, false if the requested segment isn't available.

The documentation for this class was generated from the following files:

• CML_Amp.h
• AmpPVT.cpp

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5.110 PvtTrj Class Reference 599

5.110 PvtTrj Class Reference

Inheritance diagram for PvtTrj:

RefObj

LinkTrajectory

PvtTrj

Collaboration diagram for PvtTrj:

RefObj

LinkTrajectory

PvtTrj

Public Member Functions

• virtual int GetDim (void)

Get the dimension of the trajectory.

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600 Class Documentation

Additional Inherited Members

5.110.1 Member Function Documentation

5.110.1.1 GetDim()

int GetDim (
void ) [virtual]

Get the dimension of the trajectory.

The trajectory dimension gives the number of axes defined for the trajectory. This can not change from the time Start←-
New() is called to the time Finish() is called. The position and velocity arrays passed to NextSegment will be of at least
this size.

Returns

The dimension of the trajectory.

Implements LinkTrajectory.

The documentation for this class was generated from the following files:

• CML_PvtTrj.h
• PvtTrj.cpp

5.111 PvtTrjError Class Reference

Inheritance diagram for PvtTrjError:

Error

PvtTrjError

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5.112 PwmInConfig Struct Reference 601

Collaboration diagram for PvtTrjError:

Internal
Error OK
Unknown

PositionVectorInvalidSize
PvtTrjError VelocityVectorInvalidSize
InvalidDimension

Static Public Attributes

• static const PvtTrjError PositionVectorInvalidSize

The user input an empty multidimensional position vector.
• static const PvtTrjError VelocityVectorInvalidSize
The user input an empty multidimensional velocity vector.
• static const PvtTrjError InvalidDimension
The user input an empty multidimensional time vector.

Protected Member Functions

• PvtTrjError (uint16 id, const char ∗desc)

Standard protected constructor.

Additional Inherited Members

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

• CML_PvtTrj.h

5.112 PwmInConfig Struct Reference

PWM or Pulse/Direction input configuration.

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602 Class Documentation

Public Member Functions

• PwmInConfig (void)
Default constructor. Simply sets all members to zero.

Public Attributes

• int16 cfg
PWM input pin configuration.
• int32 uvCfg
PWM input UV configuration.
• int32 scale
Scaling factor.
• int16 freq
PWM input frequency.
• int16 deadBand
PWM input deadband.

5.112.1 Detailed Description

PWM or Pulse/Direction input configuration.

These parameters are used when the amplifier is being controlled through it's PWM inputs (current or veloctiy mode), or
pulse/direction input pins (position mode). These parameters have no effect when running in standard CANopen modes
of operation.

5.112.2 Member Data Documentation

5.112.2.1 cfg

int16 cfg

PWM input pin configuration.

See amplifier documentation for detailed information.

5.112.2.2 deadBand

int16 deadBand

PWM input deadband.

This parameter was added to plus products starting with version 2.75. Previously (and on older products), 0x2322 was
used as a deadband value. The range of 0 to 32k equals deadband of 0% to 100%.

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5.113 Receiver Class Reference 603

5.112.2.3 freq

int16 freq

PWM input frequency.

This parameter is only used when running in UV current mode. For other PWM or step/dir input modes the PWM
frequency is automatically calculated by the amplifier and this parameter is ignored. The frequency is set 10 Hz units.
For example, setting this parameter to 100 indicates that the PWM input frequency is 1kHz.

5.112.2.4 scale

int32 scale

Scaling factor.

Units are dependent on the mode of operation: 0.01 Amp when driving current. 0.1 Encoder counts/second when driving
velocity Encoder counts (upper 16 bits) / pulses (lower 16 bits) ratio for position mode.

5.112.2.5 uvCfg

int32 uvCfg

PWM input UV configuration.

Used to configure the drive when running in UV mode (desired state 5). See documentation

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

• CML_AmpStruct.h

5.113 Receiver Class Reference

CANopen receiver object.

Inheritance diagram for Receiver:

RefObj

Receiver

BlockReceiver CoTpdoInfo FirmwareUpdater LSS TimeStampGenerator

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604 Class Documentation

Collaboration diagram for Receiver:

RefObj

Receiver

Public Member Functions

• Receiver ()
Default constructor for a network receiver object.
• virtual ∼Receiver ()
Destructor for network receiver objects.
• virtual int NewFrame (CanFrame &frame)
Process a new received CAN bus frame.

Additional Inherited Members

5.113.1 Detailed Description

CANopen receiver object.

This class allows the programmer to create routines that are run whenever a CAN frame with a specific ID is received.

To run code when a message is received, create a new class that extends Receiver. The Receiver::Init() function should
be called with the CAN message ID of the frames to be received. Whenever this new class is Enabled(), the member
function NewFrame() will be called once for every frame received with a matching ID.

5.113.2 Constructor & Destructor Documentation

5.113.2.1 ∼Receiver()

∼Receiver ( ) [virtual]

Destructor for network receiver objects.

This destructor ensures that the receiver is disabled before it is destroyed.

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5.114 RefObj Class Reference 605

5.113.3 Member Function Documentation

5.113.3.1 NewFrame()

int NewFrame (
CanFrame & frame ) [virtual]

Process a new received CAN bus frame.

This virtual function is called by the CANopen read thread every time a CAN frame is received over the network with an
ID matching the receivers ID if the receiver is enabled.

Note that this function is called from the CANopen receive thread. No other receive frames will be processed until this
function returns.

Also note that the map object used to associate message IDs with receive objects is locked when this function is called.
The locking is required to prevent a race condition that could occur when a receive object is disabled and it's memory is
deallocated. Since the map is locked, it's illegal to Enable() or Disable() any receive object from within this function.

Parameters

frame The CAN frame to be processed. Note that the memory holding the frame structure may be reused after
the call returns. If the frame contents are to be used after the return the a copy of the frame should be
made.

Returns

non-zero if the frame was handled, zero if the frame type was unknown.

Reimplemented in LSS.

The documentation for this class was generated from the following files:

• CML_CanOpen.h
• CanOpen.cpp

5.114 RefObj Class Reference

This class is used to track object references in the CML library.

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606 Class Documentation

Inheritance diagram for RefObj:

CopleyCAN

IxxatCAN

IxxatCANV3
CanInterface
KvaserCAN

SiemensCAN

LinuxEcatHardware

EcatFrame
WinUdpEcatHardware

EtherCatHardware
LinkTrjScurve

Path
Linkage
PvtConstAccelTrj
LinkTrajectory
RefObj PvtTrj Amp

Network CanOpen CopleyIO

EtherCAT AlgOutPDO

Node CopleyNode DigOutPDO

IOModule RPDO_Ctrl

PDO RPDO RPDO_HighResTime

RPDO_LinkCtrl

RPDO_PvtCtrl

AlgInPDO
TPDO
DigInPDO
BlockReceiver
TPDO_HighResTime
CoTpdoInfo
Receiver TPDO_PvtStat
FirmwareUpdater
TPDO_Status
LSS

Trajectory TimeStampGenerator

TrjScurve

Public Member Functions

• RefObj (const char ∗name=0)

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5.114 RefObj Class Reference 607

Default constructor for a reference object.

• virtual ∼RefObj ()
Reference object destructor.
• void SetRefName (const char ∗name)
Assign a name to this reference.
• uint32 GrabRef (void)
Grab a reference to this object.
• void setAutoDelete (bool autoDeleteEna)
This function is used to enable or disable the autodelete function for a reference object.
• void UnlockRef (void)
Unlock an object that was previously locked using RefObj::Lock.

Static Public Member Functions

• static void ReleaseRef (uint32 id)
Release the local reference to this object.
• static RefObj ∗ LockRef (uint32 id)
Find the object associated with the passed reference number and lock it to prevent the object from being destroyed while
I'm accessing it.
• static bool GrabRef (uint32 id)
Grab a reference to the object identified by the reference ID.
• static void LogRefs (void)
This function is provided for debugging.

Protected Member Functions

• void KillRef (void)
Destroy this reference.

5.114.1 Detailed Description

This class is used to track object references in the CML library.

Most CML objects use the RefObj class as a base class. This class assignes an integer ID to the object which can be
used as a safer alternative to keeping a pointer to the object.

5.114.2 Constructor & Destructor Documentation

5.114.2.1 RefObj()

RefObj (
const char ∗ name = 0 )

Default constructor for a reference object.

This allocates a reference ID which will be associated with this object for as long as any references to the object exist.
This ID can be safely used to find a pointer to the object.

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Parameters

name An optional string that identifies the reference for debugging purposes. If a string is passed it should persist
for the entire life of the reference object.

5.114.2.2 ∼RefObj()

∼RefObj ( ) [virtual]

Reference object destructor.

If this object has been locked then this function won't return until the reference has been unlocked.

5.114.3 Member Function Documentation

5.114.3.1 GrabRef() [1/2]

uint32 GrabRef (
void )

Grab a reference to this object.

This function increases the reference count associated with the object. The reference returned can be safely used to
lock and unlock the associated object.

For each call to GrabRef, there should be a corresponding call to RefObj::ReleaseRef to release the reference when it's
no longer needed.

Returns

The object referece, or 0 if it wasn't possible to grab a reference to the object.

5.114.3.2 GrabRef() [2/2]

bool GrabRef (
uint32 id ) [static]

Grab a reference to the object identified by the reference ID.

This function increases the reference count associated with the object and can be used if a reference ID needs to be
copied and stored for use by another class.

For each call to GrabRef, there should be a corresponding call to RefObj::ReleaseRef to release the reference when it's
no longer needed.

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5.114 RefObj Class Reference 609

Parameters

id The reference ID of the object.

Returns

true if the reference count was successfully increased. False if an invalid reference ID was passed.

5.114.3.3 KillRef()

void KillRef (
void ) [protected]

Destroy this reference.

This function should be called at the beginning of the destructor of any object that inherits from RefObj. It removes this
reference from the system and delays until no other threads are actively using a pointer to the referenced object.

This should be the first thing done in a destructor of any class that inherits from a RefObj, even if it inherits indirectly
from the reference. When KillRef is called, the reference class makes sure that no other thread is holding a lock on the
class. This prevents accidental object deletion while an object is still in use by another thread.

5.114.3.4 LockRef()

RefObj ∗ LockRef (
uint32 val ) [static]

Find the object associated with the passed reference number and lock it to prevent the object from being destroyed while
I'm accessing it.

The lock should only be held for a short time because it can prevent other threads from deleting the object. Call Ref←-
Obj::Unlock when finished accessing the object.

Parameters

val The reference ID associated with the object

Returns

A pointer to the referenced object if it still exists, or NULL if it's been destroyed.

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610 Class Documentation

5.114.3.5 LogRefs()

void LogRefs (
void ) [static]

This function is provided for debugging.

It prints out information on all references that are currently held to the cml.log file

5.114.3.6 ReleaseRef()

void ReleaseRef (
uint32 val ) [static]

Release the local reference to this object.

Parameters

val The reference previously returned by a call to RefObj::GrabRef

5.114.3.7 setAutoDelete()

void setAutoDelete (
bool autoDeleteEna )

This function is used to enable or disable the autodelete function for a reference object.

If automatic deletion is enabled, the object will be deleted automatically when it's reference count indicates that there
are no other objects in the system which are still holding a reference to it.

Obviously, this should only be enabled for objects that have been allocated from the heap using the new operator.

Parameters

autoDeleteEna Boolean that if is true enabled the auto delete

5.114.3.8 SetRefName()

void SetRefName (
const char ∗ name )

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5.114 RefObj Class Reference 611

Assign a name to this reference.

The name is used for debugging purposes.

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612 Class Documentation

Parameters

name Pointer to the name. Note that a local copy of this pointer will be stored in the reference object.

The documentation for this class was generated from the following files:

• CML_Reference.h
• Reference.cpp

5.115 RefObjLocker< RefClass > Class Template Reference

This is a utility class that locks a reference in it's constructor, and unlocks it in it's destructor.

Public Member Functions

• RefObjLocker (uint32 r)
Lock the passed reference.
• ∼RefObjLocker ()
Unlock the reference.
• RefClass ∗ operator-> (void)
Return a pointer to the referenced object.
• RefClass & operator∗ (void)
Return a C++ reference to the referenced object.

5.115.1 Detailed Description

template<class RefClass>
class RefObjLocker< RefClass >

This is a utility class that locks a reference in it's constructor, and unlocks it in it's destructor.

It can be used to ensure that a reference is properly unlocked when a function returns.

5.115.2 Constructor & Destructor Documentation

5.115.2.1 RefObjLocker()

RefObjLocker (
uint32 r ) [inline]

Lock the passed reference.

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5.116 RegenConfig Struct Reference 613

Parameters

r The reference to lock

5.115.3 Member Function Documentation

5.115.3.1 operator∗()

RefClass& operator∗ (
void ) [inline]

Return a C++ reference to the referenced object.

Returns

a C++ reference to the locked reference object

5.115.3.2 operator->()

RefClass∗ operator-> (
void ) [inline]

Return a pointer to the referenced object.

Returns

a pointer to the locked reference object

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

• CML_Reference.h

5.116 RegenConfig Struct Reference

Configuration structure used to set up the amplifier regeneration resister.

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614 Class Documentation

Public Member Functions

• RegenConfig (void)
Default constructor.

Public Attributes

• char model [COPLEY_MAX_STRING]

Model number / name string for regen resister connected to the amplifier.
• uint16 resistance
Regen resister resistance (100 milliohm units)
• uint16 contPower
Continuous power limit for regen resister (Watts).
• uint16 peakPower
Peak power limit for resister (Watts).
• uint16 peakTime
Peak time limit (milliseconds).
• uint16 vOn
Regen resister turn on voltage (100 millivolt units).
• uint16 vOff
Regen resister turn off voltage (100 millivolt units).

5.116.1 Detailed Description

Configuration structure used to set up the amplifier regeneration resister.

The regen resister is not available on all amplifier models (currently only on the Xenus offline amplifier).

These settings may be up/download from the amplifier using the functions Amp::SetRegenConfig and Amp::GetRegen←-
Config.

5.116.2 Constructor & Destructor Documentation

5.116.2.1 RegenConfig()

RegenConfig (
void ) [inline]

Default constructor.

Initializes all structure elements to zero.

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5.116 RegenConfig Struct Reference 615

5.116.3 Member Data Documentation

5.116.3.1 contPower

uint16 contPower

Continuous power limit for regen resister (Watts).

This is the amount of power that the resister is able to disapate continuously

5.116.3.2 model

char model[COPLEY_MAX_STRING]

Model number / name string for regen resister connected to the amplifier.

5.116.3.3 peakPower

uint16 peakPower

Peak power limit for resister (Watts).

This is the maximum amount of power that the resister is able to dissapate for a limited amount of time.

5.116.3.4 peakTime

uint16 peakTime

Peak time limit (milliseconds).

This is the amount of time that the regen resister is able to dissapate peak power before it needs to be folded back to
the continuous power limit.

5.116.3.5 vOff

uint16 vOff

Regen resister turn off voltage (100 millivolt units).

When the bus voltage drops below this value, the regen resiter will be disabled.

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616 Class Documentation

5.116.3.6 vOn

uint16 vOn

Regen resister turn on voltage (100 millivolt units).

When the bus voltage rises above this value the regen resister will be enabled.

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

• CML_AmpStruct.h

5.117 RPDO Class Reference

Receive PDO (received by node, transmitted by this software).

Inheritance diagram for RPDO:

RefObj

PDO

RPDO

AlgOutPDO DigOutPDO RPDO_Ctrl RPDO_HighResTime RPDO_LinkCtrl RPDO_PvtCtrl

Collaboration diagram for RPDO:

RefObj Pmap

map

PDO

RPDO

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5.117 RPDO Class Reference 617

Public Member Functions

• RPDO ()
Default constructor.
• bool IsTxPDO (void)
Always return false for transmit PDO objects.
• RPDO (uint32 cobID)
Construct the PDO object and initialize it.
• virtual ∼RPDO ()
Virtual destructor.
• virtual const Error ∗ Init (uint32 cobID)
Initialize the PDO object.
• virtual const Error ∗ Transmit (Network &n)
Transmit this PDO over the passed network.
• int LoadData (uint8 ∗buff, int max)
Load the data from this PDO into the passed buffer.

Additional Inherited Members

5.117.1 Detailed Description

Receive PDO (received by node, transmitted by this software).

5.117.2 Constructor & Destructor Documentation

5.117.2.1 RPDO()

RPDO (
uint32 cobID ) [inline]

Construct the PDO object and initialize it.

Parameters

cobID The CAN message ID associated with this PDO

5.117.3 Member Function Documentation

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618 Class Documentation

5.117.3.1 Init()

virtual const Error∗ Init (

uint32 cobID ) [inline], [virtual]

Initialize the PDO object.

Parameters

cobID The CAN message ID associated with this PDO

Returns

A pointer to an error object, or NULL on success

5.117.3.2 LoadData()

int LoadData (
uint8 ∗ buff,
int max )

Load the data from this PDO into the passed buffer.

Parameters

buff Buffer where data will be loaded

max The maximum number of bytes to load.

Returns

The actual number of bytes loaded.

The documentation for this class was generated from the following files:

• CML_PDO.h
• PDO.cpp

5.118 RPDO_LinkCtrl Class Reference

Receive PDO used to update the control word of all amplifiers in the linkage.

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5.118 RPDO_LinkCtrl Class Reference 619

Inheritance diagram for RPDO_LinkCtrl:

RefObj

PDO

RPDO

RPDO_LinkCtrl

Collaboration diagram for RPDO_LinkCtrl:

RefObj Pmap

map

PDO

RPDO

RPDO_LinkCtrl

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620 Class Documentation

Public Member Functions

• RPDO_LinkCtrl (class Linkage &l)

Default constructor for this PDO.
• const Error ∗ Init (void)
Initialize the receive PDO used to control words to each amplifier held by a linkage.
• const Error ∗ Transmit (uint16 c)
Transmit a control word using this PDO.

Additional Inherited Members

5.118.1 Detailed Description

Receive PDO used to update the control word of all amplifiers in the linkage.

This object is intended for internal use only.

5.118.2 Member Function Documentation

5.118.2.1 Init()

const Error ∗ Init (

void )

Initialize the receive PDO used to control words to each amplifier held by a linkage.

The COB ID used for this PDO is the standard ID used for RPDO 1 of the first axis.

Returns

An error object pointer on failure, NULL on success

5.118.2.2 Transmit()

const Error ∗ Transmit (

uint16 c )

Transmit a control word using this PDO.

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5.119 ScurveError Class Reference 621

Parameters

c Value of the control word to send.

Returns

A pointer to an error object, or NULL on success.

The documentation for this class was generated from the following files:

• CML_Linkage.h
• Linkage.cpp

5.119 ScurveError Class Reference

This class represents error conditions that can occur in the TrjScurve class.
Inheritance diagram for ScurveError:

Error

ScurveError

Collaboration diagram for ScurveError:

Internal
Error OK
Unknown

InUse
NoCalc
ScurveError
BadParam
NotInUse

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622 Class Documentation

Static Public Attributes

• static const ScurveError BadParam

Illegal input parameter.
• static const ScurveError NoCalc
Trjaectory has not been calculated.
• static const ScurveError InUse
Trajectory is currently in use.
• static const ScurveError NotInUse
Trajectory has not been started.

Protected Member Functions

• ScurveError (uint16 id, const char ∗desc)

Standard protected constructor.

Additional Inherited Members

5.119.1 Detailed Description

This class represents error conditions that can occur in the TrjScurve class.

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

• CML_TrjScurve.h

5.120 SDO Class Reference

CANopen Service Data Object (SDO).

Public Member Functions

• SDO ()
Default SDO object constructor.
• const Error ∗ Init (Node ∗node, Timeout to=2000)
Initialize a CANopen Service Data Object (SDO).
• const Error ∗ Download (int16 index, int16 sub, int32 size, byte ∗data)
Download data using this SDO.
• const Error ∗ Upload (int16 index, int16 sub, int32 &size, byte ∗data)
Upload data using this SDO.
• const Error ∗ BlockDnld (int16 index, int16 sub, int32 size, byte ∗data)
Download data using this SDO.
• const Error ∗ BlockUpld (int16 index, int16 sub, int32 &size, byte ∗data)

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5.120 SDO Class Reference 623

Upload data using this SDO.

• const Error ∗ Dnld32 (int16 index, int16 sub, uint32 data)
Download a 32-bit value using this SDO.
• const Error ∗ Upld32 (int16 index, int16 sub, uint32 &data)
Upload a 32-bit value using this SDO.
• const Error ∗ Dnld16 (int16 index, int16 sub, uint16 data)
Download a 16-bit value using this SDO.
• const Error ∗ Upld16 (int16 index, int16 sub, uint16 &data)
Upload a 16-bit value using this SDO.
• const Error ∗ Dnld8 (int16 index, int16 sub, uint8 data)
Download a 8-bit value using this SDO.
• const Error ∗ Upld8 (int16 index, int16 sub, uint8 &data)
Upload a 8-bit value using this SDO.
• const Error ∗ DnldString (int16 index, int16 sub, char ∗data)
Download a visible string type using the SDO.
• const Error ∗ UpldString (int16 index, int16 sub, int32 &len, char ∗data)
Upload a visible string type from the SDO.
• const Error ∗ Download (int16 index, int16 sub, int32 size, char ∗data)
Download data using this SDO.
• const Error ∗ Upload (int16 index, int16 sub, int32 &size, char ∗data)
Upload data using this SDO.
• const Error ∗ Dnld32 (int16 index, int16 sub, int32 data)
Download a 32-bit signed integer using this SDO.
• const Error ∗ Upld32 (int16 index, int16 sub, int32 &data)
Upload a 32-bit signed integer using this SDO.
• const Error ∗ DnldFlt (int16 index, int16 sub, float data)
Download a floating point value using this SDO.
• const Error ∗ UpldFlt (int16 index, int16 sub, float &data)
Upload a floating point value using this SDO.
• const Error ∗ Dnld16 (int16 index, int16 sub, int16 data)
Download a 16-bit signed integer using this SDO.
• const Error ∗ Upld16 (int16 index, int16 sub, int16 &data)
Upload a 16-bit signed integer using this SDO.
• const Error ∗ Dnld8 (int16 index, int16 sub, int8 data)
Download an 8-bit signed integer using this SDO.
• const Error ∗ Upld8 (int16 index, int16 sub, int8 &data)
Upload an 8-bit signed integer using this SDO.
• void SetTimeout (Timeout to)
Set the timeout used with this SDO.
• Timeout GetTimeout (void)
Get the timeout used with this SDO.
• const Error ∗ EnableBlkUpld (void)
Enable the use of block uploads with this SDO object.
• const Error ∗ DisableBlkUpld (void)
Disable the use of block uploads with this SDO object.
• const Error ∗ EnableBlkDnld (void)
Enable the use of block downloads with this SDO object.

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624 Class Documentation

• const Error ∗ DisableBlkDnld (void)

Disable the use of block downloads with this SDO object.
• uint8 GetMaxRetry (void)
Return the maximum number times that the SDO transfer will be attempted before returning an error.
• void SetMaxRetry (uint8 max)
Set the maximum number of times the SDO transfer will be attempted before returning an error.

5.120.1 Detailed Description

CANopen Service Data Object (SDO).

This class represents the state of a CANopen SDO object. SDO objects are used to access the values in the object
dictionary on a node. This class handles the low level protocol details of an SDO connection.

5.120.2 Constructor & Destructor Documentation

5.120.2.1 SDO()

SDO (
void )

Default SDO object constructor.

The SDO must be initialized by calling SDO::Init before it's actually used.

5.120.3 Member Function Documentation

5.120.3.1 BlockDnld()

const Error ∗ BlockDnld (

int16 index,
int16 sub,
int32 size,
byte ∗ data )

Download data using this SDO.

This function uses a block download protocol which makes sending large blocks of data more efficient. The data passed
to this function is downloaded to the object dictionary of the CANopen node

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Parameters

index The index of the object to be downloaded.

sub The sub-index of the object to be downloaded.
size The number of bytes of data to be downloaded
data A character array holding the data to be downloaded.

Returns

A valid CANopen error object.

5.120.3.2 BlockUpld()

const Error ∗ BlockUpld (

int16 index,
int16 sub,
int32 & size,
byte ∗ data )

Upload data using this SDO.

This function uses a block upload protocol which makes sending large blocks of data more efficient. The specified object
is upload from the CANopen node's object dictionary and stored in the array passed to this function.

Parameters

index The index of the object to be uploaded.

sub The sub-index of the object to be uploaded.
size On entry, this should be the maximum number of bytes to upload, on successful return, this is the number
of bytes actually received.
data A character array which will store the uploaded data.

Returns

A valid CANopen error object.

5.120.3.3 DisableBlkDnld()

const Error ∗ DisableBlkDnld (

void )

Disable the use of block downloads with this SDO object.

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Returns

A CANopen error object, or null on success.

5.120.3.4 DisableBlkUpld()

const Error ∗ DisableBlkUpld (

void )

Disable the use of block uploads with this SDO object.

Returns

A CANopen error object, or null on success.

5.120.3.5 Dnld16() [1/2]

const Error ∗ Dnld16 (

int16 index,
int16 sub,
uint16 data )

Download a 16-bit value using this SDO.

Parameters

index The index of the object in the object dictionary

sub The sub-index of the object in the object dictionary
data The data to be downloaded

Returns

A valid CANopen error code.

5.120.3.6 Dnld16() [2/2]

const Error∗ Dnld16 (

int16 index,
int16 sub,
int16 data ) [inline]

Download a 16-bit signed integer using this SDO.

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Parameters

index The index of the object to access

sub The sub-index of the object
data The data to be downloaded

Returns

A valid CANopen error code.

5.120.3.7 Dnld32() [1/2]

const Error ∗ Dnld32 (

int16 index,
int16 sub,
uint32 data )

Download a 32-bit value using this SDO.

Parameters

index The index of the object in the object dictionary

sub The sub-index of the object in the object dictionary
data The data to be downloaded

Returns

A valid CANopen error code.

5.120.3.8 Dnld32() [2/2]

const Error∗ Dnld32 (

int16 index,
int16 sub,
int32 data ) [inline]

Download a 32-bit signed integer using this SDO.

Parameters

index The index of the object to access

sub The sub-index of the object
data The data to be downloaded
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Returns

A valid CANopen error code.

5.120.3.9 Dnld8() [1/2]

const Error ∗ Dnld8 (

int16 index,
int16 sub,
uint8 data )

Download a 8-bit value using this SDO.

Parameters

index The index of the object in the object dictionary

sub The sub-index of the object in the object dictionary
data The data to be downloaded

Returns

A valid CANopen error code.

5.120.3.10 Dnld8() [2/2]

const Error∗ Dnld8 (

int16 index,
int16 sub,
int8 data ) [inline]

Download an 8-bit signed integer using this SDO.

Parameters

index The index of the object to access

sub The sub-index of the object
data The data to be downloaded

Returns

A valid CANopen error code.

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5.120.3.11 DnldFlt()

const Error∗ DnldFlt (

int16 index,
int16 sub,
float data ) [inline]

Download a floating point value using this SDO.

Parameters

index The index of the object to access

sub The sub-index of the object
data The data to be downloaded

Returns

A valid CANopen error code.

5.120.3.12 DnldString()

const Error ∗ DnldString (

int16 index,
int16 sub,
char ∗ data )

Download a visible string type using the SDO.

The string is assumed to be null terminated.

Parameters

index The index of the object in the object dictionary

sub The sub-index of the object in the object dictionary
data A null terminated string to be downloaded.

Returns

A valid CANopen error code.

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5.120.3.13 Download() [1/2]

const Error ∗ Download (

int16 index,
int16 sub,
int32 size,
byte ∗ data )

Download data using this SDO.

The passed array of data is downloaded to the object dictionary of a node on the network using this SDO.

Parameters

index The index of the object to be downloaded.

sub The sub-index of the object to be downloaded.
size The number of bytes of data to be downloaded
data A character array holding the data to be downloaded.

Returns

A valid CANopen error object.

5.120.3.14 Download() [2/2]

const Error∗ Download (

int16 index,
int16 sub,
int32 size,
char ∗ data ) [inline]

Download data using this SDO.

The passed array of data is downloaded to the object dictionary of a node on the CANopen network using this SDO.

Parameters

index The index of the object to be downloaded.

sub The sub-index of the object to be downloaded.
size The number of bytes of data to be downloaded
data A character array holding the data to be downloaded.

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Returns

A valid CANopen error object.

5.120.3.15 EnableBlkDnld()

const Error ∗ EnableBlkDnld (

void )

Enable the use of block downloads with this SDO object.

Returns

A CANopen error object, or null on success.

5.120.3.16 EnableBlkUpld()

const Error ∗ EnableBlkUpld (

void )

Enable the use of block uploads with this SDO object.

Returns

A CANopen error object, or null on success.

5.120.3.17 GetMaxRetry()

uint8 GetMaxRetry (
void ) [inline]

Return the maximum number times that the SDO transfer will be attempted before returning an error.

Returns

The max number of retries

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632 Class Documentation

5.120.3.18 GetTimeout()

Timeout GetTimeout (
void ) [inline]

Get the timeout used with this SDO.

Returns

The timeout in milliseconds

5.120.3.19 Init()

const Error ∗ Init (

Node ∗ n,
Timeout to = 2000 )

Initialize a CANopen Service Data Object (SDO).

Parameters

n Pointer to the node that this SDO is associated with.

to The timeout (milliseconds) for use with this SDO.

Returns

A valid CANopen error object

5.120.3.20 SetTimeout()

void SetTimeout (
Timeout to ) [inline]

Set the timeout used with this SDO.

Parameters
to The timeout in milliseconds

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5.120 SDO Class Reference 633

5.120.3.21 Upld16() [1/2]

const Error ∗ Upld16 (

int16 index,
int16 sub,
uint16 & data )

Upload a 16-bit value using this SDO.

Parameters

index The index of the object in the object dictionary

sub The sub-index of the object in the object dictionary
data The uploaded data will be returned here.

Returns

A valid CANopen error code.

5.120.3.22 Upld16() [2/2]

const Error∗ Upld16 (

int16 index,
int16 sub,
int16 & data ) [inline]

Upload a 16-bit signed integer using this SDO.

Parameters

index The index of the object to access

sub The sub-index of the object
data The data to be uploaded

Returns

A valid CANopen error code.

5.120.3.23 Upld32() [1/2]

const Error ∗ Upld32 (

int16 index,

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634 Class Documentation

int16 sub,
uint32 & data )

Upload a 32-bit value using this SDO.

Parameters

index The index of the object in the object dictionary

sub The sub-index of the object in the object dictionary
data The uploaded data will be returned here.

Returns

A valid CANopen error code.

5.120.3.24 Upld32() [2/2]

const Error∗ Upld32 (

int16 index,
int16 sub,
int32 & data ) [inline]

Upload a 32-bit signed integer using this SDO.

Parameters

index The index of the object to access

sub The sub-index of the object
data The data to be uploaded

Returns

A valid CANopen error code.

5.120.3.25 Upld8() [1/2]

const Error ∗ Upld8 (

int16 index,
int16 sub,
uint8 & data )

Upload a 8-bit value using this SDO.

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5.120 SDO Class Reference 635

Parameters

index The index of the object in the object dictionary

sub The sub-index of the object in the object dictionary
data The uploaded data will be returned here.

Returns

A valid CANopen error code.

5.120.3.26 Upld8() [2/2]

const Error∗ Upld8 (

int16 index,
int16 sub,
int8 & data ) [inline]

Upload an 8-bit signed integer using this SDO.

Parameters

index The index of the object to access

sub The sub-index of the object
data The data to be uploaded

Returns

A CANopen error object, or null on success.

5.120.3.27 UpldFlt()

const Error∗ UpldFlt (

int16 index,
int16 sub,
float & data ) [inline]

Upload a floating point value using this SDO.

Parameters

index The index of the object to access

sub The sub-index of the object
data byThe
Generated data
Doxygen to be uploaded
636 Class Documentation

Returns

A valid CANopen error code.

5.120.3.28 UpldString()

const Error ∗ UpldString (

int16 index,
int16 sub,
int32 & len,
char ∗ data )

Upload a visible string type from the SDO.

The only difference between this function and the lower level Upload function is that this function guarantees that there
will be a zero character at the end of the string.

Parameters

index The index of the object in the object dictionary

sub The sub-index of the object in the object dictionary
len Holds the size of the buffer on entry, and the length of the downloaded data on return.
data The uploaded string will be returned here.

Returns

A valid CANopen error code.

5.120.3.29 Upload() [1/2]

const Error ∗ Upload (

int16 index,
int16 sub,
int32 & size,
byte ∗ data )

Upload data using this SDO.

The value of the object is uploaded from the object dictionary of a node on the CANopen network using this SDO. The
results of the upload are stored in the passed buffer.

Parameters

index The index of the object to be uploaded.

sub The sub-index of the object to be uploaded.
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size On entry, this gives the maximum number of bytes of data to be uploaded. On successful return, it gives
the actual number of bytes received.
data A character array which will store the uploaded data.
5.121 SDO_Error Class Reference 637

Returns

A valid CANopen error object.

5.120.3.30 Upload() [2/2]

const Error∗ Upload (

int16 index,
int16 sub,
int32 & size,
char ∗ data ) [inline]

Upload data using this SDO.

The value of the object is uploaded from the object dictionary of a node on the CANopen network using this SDO. The
results of the upload are stored in the passed buffer.

Parameters

index The index of the object to be uploaded.

sub The sub-index of the object to be uploaded.
size The number of bytes of data to be uploaded
data A character array which will store the uploaded data.

Returns

A valid CANopen error object.

The documentation for this class was generated from the following files:

• CML_SDO.h
• SDO.cpp

5.121 SDO_Error Class Reference

This class represents SDO errors.

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638 Class Documentation

Inheritance diagram for SDO_Error:

Error

SDO_Error

Collaboration diagram for SDO_Error:

Internal
Error OK
Unknown

Transfer
Min_max
Param_low
NoAbortCode
Incompatible
SDO_Error Pdo_map
Access
Bad_scs
Timeout
Transfer_State
...

Static Public Attributes

• static const SDO_Error NoAbortCode

No abort code was specified with the SDO Abort message.
• static const SDO_Error Togglebit
SDO Abort - toggle bit error.
• static const SDO_Error Timeout

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5.121 SDO_Error Class Reference 639

SDO Abort - Timeout.

• static const SDO_Error Bad_scs
SDO Abort - Bad SCS code.
• static const SDO_Error Block_size
SDO Abort - Bad Block size.
• static const SDO_Error Block_seq
SDO Abort - Block sequence error.
• static const SDO_Error Block_crc
SDO Abort - Block CRC error.
• static const SDO_Error Memory
SDO Abort - Memory allocation failure.
• static const SDO_Error Access
SDO Abort - Access mode error.
• static const SDO_Error Writeonly
SDO Abort - Object is write only.
• static const SDO_Error Readonly
SDO Abort - Object is read only.
• static const SDO_Error Bad_object
SDO Abort - Bad object specified.
• static const SDO_Error Pdo_map
SDO Abort - PDO Mapping error.
• static const SDO_Error Pdo_length
SDO Abort - PDO Length error.
• static const SDO_Error Bad_param
SDO Abort - Bad parameter.
• static const SDO_Error Incompatible
SDO Abort - Incompatible error.
• static const SDO_Error Hardware
SDO Abort - Hardware error.
• static const SDO_Error Bad_length
SDO Abort - Bad length specified.
• static const SDO_Error Too_long
SDO Abort - Data too long for object.
• static const SDO_Error Too_short
SDO Abort - Data too short for object.
• static const SDO_Error Subindex
SDO Abort - Subindex is invalid.
• static const SDO_Error Param_range
SDO Abort - Parameter range error.
• static const SDO_Error Param_high
SDO Abort - Parameter too high.
• static const SDO_Error Param_low
SDO Abort - Parameter too low.
• static const SDO_Error Min_max
SDO Abort - Max less then min.
• static const SDO_Error General
SDO Abort - General error.

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640 Class Documentation

• static const SDO_Error Transfer

SDO Abort - Transfer error.
• static const SDO_Error Transfer_Local
SDO Abort - Local transfer error.
• static const SDO_Error Transfer_State
SDO Abort - Transfer state error.
• static const SDO_Error OD_Gen_Fail
SDO Abort - Object dictionary generation failure.
• static const SDO_Error Unknown
SDO Abort - Unknown abort code.
• static const SDO_Error NoBlkXfers
Network does not support block transfers.
• static const SDO_Error ObjMapActive
SDO Abort - sync manager mapping can't be changed while active.

Protected Member Functions

• SDO_Error (uint16 id, const char ∗desc)
Standard protected constructor.

Additional Inherited Members

5.121.1 Detailed Description

This class represents SDO errors.

There is one static member for each SDO abort code.

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

• CML_SDO.h

5.122 Semaphore Class Reference

Generic semaphore class.

Public Member Functions

• Semaphore (int32 count=0)
Create a new semaphore object.
• virtual ∼Semaphore ()
Free any system resources associated with this semaphore.
• const Error ∗ Get (Timeout timeout=-1)
Get the semaphore with an optional timeout.
• const Error ∗ Put (void)
Increase the count of the semaphore object.

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5.122 Semaphore Class Reference 641

5.122.1 Detailed Description

Generic semaphore class.

Semaphores can be used to allow multiple threads to share a pool of shared resources. Semaphores can be used like
mutexes, however they also implement timeouts and multiple resource counts.

5.122.2 Constructor & Destructor Documentation

5.122.2.1 Semaphore()

Semaphore (
int32 count = 0 )

Create a new semaphore object.

If a count is passed, then the initial semaphore count will be initialized to that value. If no count is passed, then a count
of zero is used.

Parameters

count The initial count of the semaphore. The semaphore's Get method may be called that many times before
any thread will block on it.

5.122.2.2 ∼Semaphore()

virtual ∼Semaphore ( ) [virtual]

Free any system resources associated with this semaphore.

Any threads blocking on the semaphore should return from the Get() call with an error indication.

5.122.3 Member Function Documentation

5.122.3.1 Get()

const Error∗ Get (

Timeout timeout = -1 )

Get the semaphore with an optional timeout.

An error is returned if the timeout expires before the semaphore is acquired.

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642 Class Documentation

Parameters

timeout The timeout in milliseconds. Any negative value will cause the thread to wait indefinitely. If a timeout of
zero is specified, the calling thread will return a timeout error without blocking if the semaphore is not
available.

Returns

An error code indicating success or failure.

5.122.3.2 Put()

const Error∗ Put (

void )

Increase the count of the semaphore object.

If any threads are pending on the object, then the highest priority one will be made eligible to run.

Returns

An error object

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

• CML_Threads.h

5.123 ServoLoopConfig Struct Reference

This structure holds configuration info about specific parts of the velocity and position loops.

Public Attributes

• int32 servoLoopConfig
Servo Loop Configuration This paramater it set up as follows: Bit 0: If set, disables the velocity loop gains.

5.123.1 Detailed Description

This structure holds configuration info about specific parts of the velocity and position loops.

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5.124 SiemensCAN Class Reference 643

5.123.2 Member Data Documentation

5.123.2.1 servoLoopConfig

int32 servoLoopConfig

Servo Loop Configuration This paramater it set up as follows: Bit 0: If set, disables the velocity loop gains.

The velocity loop command feed forward gain is still active as are the velocity loop output filters. Bit 1: If set, this enables
the position loop I and D gains. If clear, these params are treated as zeros. Bit 2-31: Reserved for future use

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

• CML_AmpStruct.h

5.124 SiemensCAN Class Reference

SiemensPCIeToCAN specific CAN interface.

Inheritance diagram for SiemensCAN:

RefObj

CanInterface

SiemensCAN

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644 Class Documentation

Collaboration diagram for SiemensCAN:

RefObj

CanInterface Mutex

mutex

SiemensCAN

Public Member Functions

• SiemensCAN (void)
Construct a default CAN object.
• SiemensCAN (const char ∗port)
Construct a CAN object with a specified port name.
• virtual ∼SiemensCAN (void)
Destructor.
• const Error ∗ Open (void)
Open the CAN port.
• const Error ∗ Close (void)
Close the CAN interface.
• const Error ∗ SetBaud (int32 baud)
Set the CAN interface baud rate.

Protected Member Functions

• const Error ∗ RecvFrame (CanFrame &frame, Timeout timeout)

Receive the next CAN frame.
• const Error ∗ XmitFrame (CanFrame &frame, Timeout timeout)
Write a CAN frame to the CAN network.
• const Error ∗ ConvertError (int err)
Convert error codes defined by the Vector CAN library into the standard error codes used by the motion library.

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5.124 SiemensCAN Class Reference 645

Protected Attributes

• int open
tracks the state of the interface as open or closed.
• int32 baud
Holds a copy of the last baud rate set.
• int kvBaud
Holds a value the SiemensPCIeToCan driver uses to identify bit rate.
• int Handle_Rd
File handle used to configure and read from the CAN channel.
• int Handle_Wr
File handle used to write to the CAN channel.

Additional Inherited Members

5.124.1 Detailed Description

SiemensPCIeToCAN specific CAN interface.

This class extends the generic CanInterface class into a working interface for the SiemensPCIeToCAN can device driver.

5.124.2 Constructor & Destructor Documentation

5.124.2.1 SiemensCAN() [1/2]

SiemensCAN (
void )

Construct a default CAN object.

The CAN interface is closed initially, and no port name is selected.

5.124.2.2 SiemensCAN() [2/2]

SiemensCAN (
const char ∗ port )

Construct a CAN object with a specified port name.

The port name should be of the form CANx or KVASERx where x is the port number. The port numbers start at 0, so
the first port would be identified by the port name CAN0.

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646 Class Documentation

Parameters

port The port name string identifying the CAN device.

5.124.2.3 ∼SiemensCAN()

∼SiemensCAN (
void ) [virtual]

Destructor.

This closes the CAN port and frees the .dll

5.124.3 Member Function Documentation

5.124.3.1 Close()

const Error ∗ Close (

void ) [virtual]

Close the CAN interface.

Returns

A pointer to an error object on failure, nullptr on success.

Reimplemented from CanInterface.

5.124.3.2 ConvertError()

const Error ∗ ConvertError (

int err ) [protected]

Convert error codes defined by the Vector CAN library into the standard error codes used by the motion library.

Parameters
err The Vector style status code

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5.124 SiemensCAN Class Reference 647

Returns

A pointer to an error object on failure, nullptr on success.

5.124.3.3 Open()

const Error ∗ Open (

void ) [virtual]

Open the CAN port.

Before Open is called, the desired baud rate must have been specified by calling SetBaud, and the port name must
have been set. If the baud was not specified, it will default to 1,000,000 BPS. If the port name is not set, it will default to
CAN0.

Returns

A pointer to an error object on failure, nullptr on success.

Reimplemented from CanInterface.

5.124.3.4 RecvFrame()

const Error ∗ RecvFrame (

CanFrame & frame,
Timeout timeout ) [protected], [virtual]

Receive the next CAN frame.

Parameters

frame A reference to the frame object that will be filled by the read.
timeout The timeout (ms) to wait for the frame. A timeout of 0 will return immediately if no data is available. A
timeout of < 0 will wait forever.

Returns

A pointer to an error object on failure, nullptr on success.

Reimplemented from CanInterface.

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648 Class Documentation

5.124.3.5 SetBaud()

const Error ∗ SetBaud (

int32 b ) [virtual]

Set the CAN interface baud rate.

Parameters
b The baud rate to set.

Returns

A pointer to an error object on failure, nullptr on success.

Reimplemented from CanInterface.

5.124.3.6 XmitFrame()

const Error ∗ XmitFrame (

CanFrame & frame,
Timeout timeout ) [protected], [virtual]

Write a CAN frame to the CAN network.

Parameters

frame A reference to the frame to write.

timeout The time to wait for the frame to be successfully sent. If the timeout is 0, the frame is written to the output
queue and the function returns without waiting for it to be sent. If the timeout is <0 then the function will
delay forever.

Returns

A pointer to an error object on failure, nullptr on success.

Reimplemented from CanInterface.

The documentation for this class was generated from the following files:

• can_siemens.h
• can_siemens.cpp

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5.125 SoftPosLimit Struct Reference 649

5.125 SoftPosLimit Struct Reference

Software limit switch configuration.

Public Member Functions

• SoftPosLimit (void)
Default constructor. Simply sets both limits to zero.

Public Attributes
• uunit neg
Negative limit position.
• uunit pos
Positive limit position.
• uunit accel
Software limit acceleration.
• uunit motorPosWrap
Motor position wrap value.
• uunit loadPosWrap
Load postion wrap. Same as above except for load encoder.
• uunit macroEncoderCapture
MACRO encoder caputure configuration.

5.125.1 Detailed Description

Software limit switch configuration.

This structure may be used to pass software limit switch settings to an Amp object using the functions Amp::SetSoft←-
Limits and Amp::GetSoftLimits

5.125.2 Member Data Documentation

5.125.2.1 accel

uunit accel

Software limit acceleration.

This parameter defines the acceleration value that will be used to stop the motor at the software limit position. Note that
this parameter was added in amplifier firmware version 4.60. Before that version the older current based software limit
processing was used.

If this parameter is set to zero (the default) then the software limits will act like virtual limit switches. If the motor position
exceeds the limit position then the amplifier will refuse to output current in the limit direction.

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650 Class Documentation

5.125.2.2 macroEncoderCapture

uunit macroEncoderCapture

MACRO encoder caputure configuration.

Configures the MACRO amplifier's encoder caputure circuit. Only implemented on MACRO amplifiers.

5.125.2.3 motorPosWrap

uunit motorPosWrap

Motor position wrap value.

Actual motor position will wrap back to zero when this value is reached. Setting this value to zero disables thsi feature.
(Units counts). This feature is only implemented on the 8367 hardware with fimware 0.42 or later

5.125.2.4 neg

uunit neg

Negative limit position.

Any time the motors actual position is less then this value, a negative software limit condition will be in effect on the
amplifier.

5.125.2.5 pos

uunit pos

Positive limit position.

Any time the motors actual position is greater then this value, a positive software limit condition will be in effect on the
amplifier.

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

• CML_AmpStruct.h

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5.126 Thread Class Reference 651

5.126 Thread Class Reference

Virtual class which provides multi-tasking.

Inheritance diagram for Thread:

Thread

CanOpen Linkage PvtThread

Public Member Functions

• Thread (void)
Create a new thread.
• virtual ∼Thread ()
Clean up any allocated resources.
• const Error ∗ setPriority (int pri)
Set the thread priority.
• const Error ∗ start (void)
Make this thread eligible to run.
• const Error ∗ stop (Timeout to=1000)
Stop this thread.
• virtual void run (void)=0
When a new thread is started, this function will be called.
• void __run (void)
This is an internal function which should not be called directly.

Static Public Member Functions

• static const Error ∗ sleep (Timeout to)

Cause the calling thread to sleep for a specified number of milliseconds.
• static uint32 getTimeMS (void)
Return the current time in millisecond units.
• static uint32 getTimeUS (void)
Return the current time in microsecond units.

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652 Class Documentation

5.126.1 Detailed Description

Virtual class which provides multi-tasking.

To add a new thread to a program, create a new class that is derived from Thread. The new thread of execution will start
when the start() member function is called. This new thread of execution will start with the run() member function and
will run concurrently with the rest of the system. When (if) the run method returns, the new thread will be terminated.

5.126.2 Constructor & Destructor Documentation

5.126.2.1 Thread()

Thread (
void )

Create a new thread.

The new thread will not start executing until the start member function of this class is called. The default thread priority
will be set to 5.

5.126.3 Member Function Documentation

5.126.3.1 getTimeMS()

static uint32 getTimeMS (

void ) [static]

Return the current time in millisecond units.

The value returned may be offset by a consistent, but arbitrary value. This makes it useful for checking relative times,
but not useful for absolute time calculations.

Returns

The time in millisecond units

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5.126 Thread Class Reference 653

5.126.3.2 getTimeUS()

static uint32 getTimeUS (

void ) [static]

Return the current time in microsecond units.

The value returned may be offset by a consistent, but arbitrary value. This makes it useful for checking relative times,
but not useful for absolute time calculations.

Returns

The time in microsecond units

5.126.3.3 run()

virtual void run (

void ) [pure virtual]

When a new thread is started, this function will be called.

All of the thread specific code should be contained in this function. If the run() method ever returns, the thread will be
destroyed.

5.126.3.4 setPriority()

const Error∗ setPriority (

int pri )

Set the thread priority.

This function should be called before the thread is started if the default priority (5) is not acceptable.

Parameters

pri The priority for this thread to run at. The range is 0 to 9 where 0 is a very low priority task, and 9 is a critically
high priority.

Returns

An error object is returned indicating the success of the call.

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654 Class Documentation

5.126.3.5 sleep()

static const Error∗ sleep (

Timeout to ) [static]

Cause the calling thread to sleep for a specified number of milliseconds.

Parameters
to The time to sleep, in milliseconds.

Returns

An error object is returned indicating the success of the call.

5.126.3.6 start()

const Error∗ start (

void )

Make this thread eligible to run.

The new thread will be created if possible and identified to the operating system as eligible to run. When the thread
actually starts, the run() method will be called. Note that depending on the priority of the thread and of the calling task,
the run() function may or may not be called before start() returns.

Returns

An error object is returned indicating the success of the call.

5.126.3.7 stop()

const Error∗ stop (

Timeout to = 1000 )

Stop this thread.

The thread will have exited by the time this function returns. If the calling thread is the thread being stopped, then this
function will not return.

Parameters

to The amount of time to wait for the thread to stop before returning an error (default 1 second).

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5.127 ThreadError Class Reference 655

Returns

An error object is returned indicating the success of the call.

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

• CML_Threads.h

5.127 ThreadError Class Reference

Errors related to the multi-threaded libraries.

Inheritance diagram for ThreadError:

Error

ThreadError

Collaboration diagram for ThreadError:

Internal
Error OK
Unknown

Alloc
Timeout
Running
ThreadError
BadParam
General
Start

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656 Class Documentation

Static Public Attributes

• static const ThreadError Start

Error starting the thread.
• static const ThreadError Running
Thread has already been started.
• static const ThreadError Timeout
Timeout waiting on semaphore.
• static const ThreadError General
General failure.
• static const ThreadError BadParam
Bad parameter passed to a thread function.
• static const ThreadError Alloc
Error allocating memory for thread data.

Additional Inherited Members

5.127.1 Detailed Description

Errors related to the multi-threaded libraries.

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

• CML_Threads.h

5.128 TPDO Class Reference

Transmit PDO (transmitted by node, received by this software).

Inheritance diagram for TPDO:

RefObj

PDO

TPDO

AlgInPDO DigInPDO TPDO_HighResTime TPDO_PvtStat TPDO_Status

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5.128 TPDO Class Reference 657

Collaboration diagram for TPDO:

RefObj Pmap

map

PDO

TPDO

Public Member Functions

• TPDO ()
Default constructor.
• bool IsTxPDO (void)
Always return true for transmit PDO objects.
• TPDO (uint32 cobID)
Calls Init() at construction time.
• virtual ∼TPDO ()
Virtual destructor.
• virtual const Error ∗ Init (uint32 cobID)
Initialize the PDO.
• virtual void SetRtrOk (int ok)
Enable or disable RTR requests for this PDO.
• virtual bool HandleRxMsg (void)
Should the network thread call Received() on this object when a message matching the PDO ID is received? Normally
this is true, but could be false if for example we are configuring a PDO to transmit from one node to another and therefore
don't care about handling it ourselves.
• virtual void Received ()
This function is called by the Network read thread when this PDO has been received.
• void ProcessData (uint8 ∗data, int ct, uint32 time)
Process data received from the network.
• virtual const Error ∗ Request (Network &net)
Send a remote request for this PDO if the network supports it.

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658 Class Documentation

Protected Attributes

• uint32 timestamp
Timestamp of received frame if available.

Additional Inherited Members

5.128.1 Detailed Description

Transmit PDO (transmitted by node, received by this software).

5.128.2 Member Function Documentation

5.128.2.1 HandleRxMsg()

virtual bool HandleRxMsg (

void ) [inline], [virtual]

Should the network thread call Received() on this object when a message matching the PDO ID is received? Normally
this is true, but could be false if for example we are configuring a PDO to transmit from one node to another and therefore
don't care about handling it ourselves.

Returns

true if the Receive() method should be called

5.128.2.2 ProcessData()

void ProcessData (
uint8 ∗ data,
int ct,
uint32 time )

Process data received from the network.

This function is called by the network object when new data is received for this PDO. It updates the values of the
variables mapped to the PDO and calls the virtual Received() function.

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5.129 TrackingWindows Struct Reference 659

Parameters

data Pointer to the newly received PDO data.

ct Size of the PDO data in bytes.
time System time stamp indicating the time of reception

5.128.2.3 Received()

virtual void Received (

void ) [inline], [virtual]

This function is called by the Network read thread when this PDO has been received.

Reimplemented in IOModule::AlgInPDO, and IOModule::DigInPDO.

5.128.2.4 SetRtrOk()

virtual void SetRtrOk (

int ok ) [inline], [virtual]

Enable or disable RTR requests for this PDO.

Parameters

ok zero for no RTR, non-zero for RTR allowed

The documentation for this class was generated from the following files:

• CML_PDO.h
• PDO.cpp

5.129 TrackingWindows Struct Reference

Position and velocity error windows.

Public Member Functions

• TrackingWindows (void)
Default constructor for tracking window structure.

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660 Class Documentation

Public Attributes

• uunit trackErr
Tracking error window.
• uunit trackWarn
Position warning window.
• uunit settlingWin
Position tracking & settling window.
• uint16 settlingTime
Position tracking & settling time (ms).
• uunit velWarnWin
Velocity warning window See Amp::SetVelocityWarnWindow for more information.
• uint16 velWarnTime
Velocity warning window time See Amp::SetVelocityWarnTime for more information.

5.129.1 Detailed Description

Position and velocity error windows.

5.129.2 Constructor & Destructor Documentation

5.129.2.1 TrackingWindows()

TrackingWindows (
void )

Default constructor for tracking window structure.

This simply sets all tracking window parameter default values of zero.

5.129.3 Member Data Documentation

5.129.3.1 settlingTime

uint16 settlingTime

Position tracking & settling time (ms).

See Amp::SetSettlingTime for more info

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5.130 Trajectory Class Reference 661

5.129.3.2 settlingWin

uunit settlingWin

Position tracking & settling window.

See Amp::SetSettlingWindow for more information

5.129.3.3 trackErr

uunit trackErr

Tracking error window.

See Amp::SetPositionErrorWindow for more information

5.129.3.4 trackWarn

uunit trackWarn

Position warning window.

See Amp::SetPositionWarnWindow for more information

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

• CML_AmpStruct.h
• AmpStruct.cpp

5.130 Trajectory Class Reference

Trajectory information class.

Inheritance diagram for Trajectory:

RefObj

Trajectory

TrjScurve

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662 Class Documentation

Collaboration diagram for Trajectory:

RefObj

Trajectory

Public Member Functions

• virtual ∼Trajectory ()
Virtual destructor.
• virtual const Error ∗ StartNew (void)
Start a new trajectory.
• virtual void Finish (void)
Trajectory finished.
• virtual bool UseVelocityInfo (void)
This function indicates whether the velocity information returned by NextSegment should be used.
• virtual int MaximumBufferPointsToUse (void)
This function allows a trajectory object to effectively reduce the size of the amplifier's internal trajectory buffer.
• virtual const Error ∗ NextSegment (uunit &pos, uunit &vel, uint8 &time)=0
Get the next segment of position, velocity & time info.

Additional Inherited Members

5.130.1 Detailed Description

Trajectory information class.

One of the control modes supported by the Copley Controls amplifiers is called interpolated position mode. This allows
complex trajectories to be generated by the CANopen master controller, and streamed to one or more amplifiers in real
time. Each point on the trajectory contains three pieces of information; Position, Velocity, and Time until the next point.
For this reason, these trajectories are also often called PVT profiles.

The Amp object contains support for streaming a PVT trajectory down to the amplifier automatically (see Amp::Send←-
Trajectory). This virtual class provides the interface through which the trajectory data is retrieved by the Amp object.

Note that this pure virtual class provides no actual implementation code. The calculation of the trajectory points is the
responsibility of the inheriting class.

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5.130 Trajectory Class Reference 663

5.130.2 Member Function Documentation

5.130.2.1 Finish()

virtual void Finish (

void ) [inline], [virtual]

Trajectory finished.

This function is called by the Amp object when it is finished with the trajectory object and no longer holding a reference
to it. Typically, this will happen after the Trajectory::NextSegment function has returned a zero time value, although it
can also occur when some external event causes the Amp object to abort a running trajectory.

Once the Amp object calls Trajectory::Finish it will clear it's reference to the trajectory object. No further access to the
trajectory object will be made after Finish is called.

Reimplemented in TrjScurve.

5.130.2.2 MaximumBufferPointsToUse()

virtual int MaximumBufferPointsToUse (

void ) [inline], [virtual]

This function allows a trajectory object to effectively reduce the size of the amplifier's internal trajectory buffer.

Normally it's desirable to download as many points as possible to the amplifier at once. For some applicaitons however,
the trajectory information is calculated in real time and the amplifier's buffer causes unacceptable latency. For such
applications this function may be used to reduce the delay between calculating trajectory points and the amplifier's
acting on them.

Note that the amplifier requires some buffering of points in order to interpolate between them. This function should never
return a value less then 2 or a trajectory underflow will certainly occur.

Returns

The maximum number of trajectory points that should be stored in the amplifier at any time. By default this returns
a very large number which ensures that the amplifier's full buffer will be used.

5.130.2.3 NextSegment()

virtual const Error∗ NextSegment (

uunit & pos,
uunit & vel,
uint8 & time ) [pure virtual]

Get the next segment of position, velocity & time info.

Note that this function will be called from the high priority CANopen receiver task. Therefore, no lengthy processing
should be done here.

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664 Class Documentation

Parameters

pos The new position value is returned here. This parameter is specified in "user units". See
Amp::SetCountsPerUnit for details.
vel The new velocity value is returned here. This parameter is specified in "user units". See
Amp::SetCountsPerUnit for details. Note that the velocity data will be ignored if the function
UseVelocityInfo() returns false. In this case the amplifier will use linear interpolation between points.
time The segment time is returned here. This is in milliseconds and ranges from 1 to 255. If zero is returned, this
is the last frame in the profile.

Returns

An error object. If this is not Error::OK, then the segment data is assumed to be invalid.

Implemented in TrjScurve.

5.130.2.4 StartNew()

virtual const Error∗ StartNew (

void ) [inline], [virtual]

Start a new trajectory.

This function is called by Amp::SendTrajectory before the first call to Trajectory::NextSegment. It gives the trajectory
object a chance to return an error indicating that it isn't ready to be sent.

Returns

An error pointer if the trajectory object is not available, or NULL if it is ready to be sent.

Reimplemented in TrjScurve.

5.130.2.5 UseVelocityInfo()

virtual bool UseVelocityInfo (

void ) [inline], [virtual]

This function indicates whether the velocity information returned by NextSegment should be used.

If this returns true, then the amplifier will operate in PVT mode and use cubic polynomial interpolation between trajectory
segments. If this returns false, then the velocity returned by NextSegment will be ignored, and the amplifier will run in
PT mode using linear interpolation between sets of points.

Returns

true if velocity information should be used (default), or false if velocities should be ignored.

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

• CML_Trajectory.h

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5.131 TrjError Class Reference

This class represents error conditions reported by the trajectory classes.

Inheritance diagram for TrjError:

Error

TrjError

Collaboration diagram for TrjError:

Internal
Error OK
Unknown

TrjError NoneAvailable

Static Public Attributes

• static const TrjError NoneAvailable

No trajectory information available at the moment.

Protected Member Functions

• TrjError (uint16 id, const char ∗desc)

Standard protected constructor.

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666 Class Documentation

Additional Inherited Members

5.131.1 Detailed Description

This class represents error conditions reported by the trajectory classes.

5.131.2 Member Data Documentation

5.131.2.1 NoneAvailable

const TrjError NoneAvailable [static]

No trajectory information available at the moment.

This error code may be returned from Trajectory::NextSegment to limit the amount of trajectory information uploaded to
the amplifier at one time. The Amp object will not treat this as an error condition, but will stop requesting trajectory data
until the next PVT status PDO is received.

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

• CML_Trajectory.h

5.132 TrjScurve Class Reference

Asymmetric S-curve profile generator.

Inheritance diagram for TrjScurve:

RefObj

Trajectory

TrjScurve

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5.132 TrjScurve Class Reference 667

Collaboration diagram for TrjScurve:

RefObj

Trajectory

TrjScurve

Public Member Functions

• TrjScurve ()
S-curve trajectory default constructor.
• void SetStartPos (uunit s)
Set the trajectory starting position.
• uunit GetStartPos (void)
Return the current starting position of the trajectory.
• const Error ∗ Calculate (uunit start, uunit end, uunit vel, uunit acc, uunit dec, uunit jrk)
Calculate a new S-curve profile and also set it's starting position.
• const Error ∗ Calculate (uunit dist, uunit vel, uunit acc, uunit dec, uunit jrk)
Calculate a new S-curve profile.
• const Error ∗ StartNew (void)
Reset this object so it may be passed to an amplifier.
• void Finish (void)
Notify the trajectory object that it is no longer in use.
• const Error ∗ NextSegment (uunit &pos, uunit &vel, uint8 &time)
Get the next PVT segment for this s-curve profile.

Additional Inherited Members

5.132.1 Detailed Description

Asymmetric S-curve profile generator.

A symmetric S-curve profile uses the same constraint for acceleration & deceleration. Asymmetric profiles use different
acceleration & deceleration values. Copley amplifiers are able to calculate symmetric profiles internally, however if

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668 Class Documentation

asymmetric s-curve profiles are required then they must be calculate external to the amplifier, and passed to it using
PVT profile mode.

This class extends the generic Trajectory class, and provides the code necessary to calculate an asymmetric s-curve
profile. Since it extends the Trajectory object, it may be passed to the Amp::SendTrajectory function.

Internally, the s-curve profile is stored as an absolute move from some starting position. This allows the same trajectory
object to be reused for multiple moves of the same distance from different starting positions. The starting position may
be either passed to the TrjScurve::Calculate function, or set using TrjScurve::SetStartPos.

5.132.2 Constructor & Destructor Documentation

5.132.2.1 TrjScurve()

TrjScurve (
void )

S-curve trajectory default constructor.

This simply sets the profile to zero length with a starting position of zero.

5.132.3 Member Function Documentation

5.132.3.1 Calculate() [1/2]

const Error ∗ Calculate (

uunit start,
uunit end,
uunit vel,
uunit acc,
uunit dec,
uunit jrk )

Calculate a new S-curve profile and also set it's starting position.

Parameters

start The profile starting position.

end The profile ending position.
vel The maximum allowable velocity for the move.
acc The maximum allowable acceleration for the move.
dec The maximum allowable deceleration for the move.
jrk The maximum jerk (rate of change of acceleration) for the move.
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Returns

A pointer to an error object, or NULL on success.

5.132.3.2 Calculate() [2/2]

const Error ∗ Calculate (

uunit dist,
uunit maxVel,
uunit maxAcc,
uunit maxDec,
uunit maxJrk )

Calculate a new S-curve profile.

The resulting profile may then be sent to an Amp object using the Amp::SendTrajectory method.

Note, all profile parameters are passed in 'user units'. See the documentation for Amp::SetCountsPerUnit for details.

Note also that this function calculates the profile as an absolute move from the starting position that is set using Trj←-
Scurve::SetStartPos. The same profile may be used multiple times with different starting positions without calling the
TrjScurve::Calculate function again.

Parameters
dist The distance to move.
maxVel The maximum allowable velocity for the move.
maxAcc The maximum allowable acceleration for the move.
maxDec The maximum allowable deceleration for the move.
maxJrk The maximum jerk (rate of change of acceleration) for the move.

Returns

A pointer to an error object, or NULL on success.

The distance will always be met exactly. This may be either positive or negative.

The velocity, acceleration, deceleration and jerk values are constraints and won't be exceeded. These must all be
positive numbers greater than zero.

5.132.3.3 GetStartPos()

uunit GetStartPos (
void )

Return the current starting position of the trajectory.

The starting position will either be the value set using TrjScurve::SetStartPos, or the value set using TrjScurve::Calculate.
If neither has been called since construction, then the starting position will be zero.

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Returns

The trajectory starting position.

5.132.3.4 SetStartPos()

void SetStartPos (
uunit s )

Set the trajectory starting position.

S-curve profiles are internally stored as absolute moves of some length. This allows them to be used multiple times with
different starting positions.

This function may be used to update the starting position of the trajectory.

Parameters
s The new starting position

5.132.3.5 StartNew()

const Error ∗ StartNew (

void ) [virtual]

Reset this object so it may be passed to an amplifier.

This will return an error if the trajectory has not yet been calculated, or if it is currently being sent to another amp.

Returns

A pointer to an error object, or NULL on success

Reimplemented from Trajectory.

The documentation for this class was generated from the following files:

• CML_TrjScurve.h
• TrjScurve.cpp

5.133 UstepConfig Struct Reference

Configuration structure used to set up the microstepper.

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5.133 UstepConfig Struct Reference 671

Public Member Functions

• UstepConfig (void)
Default constructor.

Public Attributes

• uint32 maxVelAdj
Maximum Velocity adjustment.
• uint16 ustepPGainOutLoop
Propertional Gain for stepper outer loop.
• int16 detentCorrectionGain
Detent correction Gain factor.
• uint16 ustepConfigAndStatus
Stepper config and status Bit mapped as follows (Bit 0 Use the encoder input for phase compensation if enabled.

5.133.1 Detailed Description

Configuration structure used to set up the microstepper.

These settings may be up/download from the amplifier using the functions Amp::SetUstepConfig and Amp::GetUstep←-
Config.

5.133.2 Constructor & Destructor Documentation

5.133.2.1 UstepConfig()

UstepConfig (
void ) [inline]

Default constructor.

Initializes all structure elements to zero.

5.133.3 Member Data Documentation

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5.133.3.1 maxVelAdj

uint32 maxVelAdj

Maximum Velocity adjustment.

This is the maximum velocity adjustment made by the stepper outer position loop when enbled. This parameter is only
used when the stepper outer loop ios engaged. ( when bit 1 of ustepConfig ustepConfigAndStatus is set)

5.133.3.2 ustepConfigAndStatus

uint16 ustepConfigAndStatus

Stepper config and status Bit mapped as follows (Bit 0 Use the encoder input for phase compensation if enabled.

Pure stepper if disabled (Bit 1 Use encoder outer loop to adjust the stepper position based on position error. When this
bit is set, the gain value maximum velocity adjustment is multiplied by the position error, and the result is a velocity that
is added to the microstepping position bits 2 - 15 reserved

5.133.3.3 ustepPGainOutLoop

uint16 ustepPGainOutLoop

Propertional Gain for stepper outer loop.

This parameter gives the gain used for calculating a velocity adjustment based on position error. This parameter is only
used when stepper outer loop is engaged ( when bit 1 of ustepConfig ustepConfigAndStatus is set)

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

• CML_AmpStruct.h

5.134 VelLoopConfig Struct Reference

This structure holds the velocity loop configuration parameters specific to the Copley amplifier.

Public Member Functions

• VelLoopConfig (void)
Default constructor.

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5.134 VelLoopConfig Struct Reference 673

Public Attributes

• int16 kp
Proportional gain.
• int16 ki
Integral gain.
• int16 kaff
Acceleration feed forward.
• int16 velCmdff
Velocity loop command feed forward The input command (after limiting) to the velocity loop is scaled by this value and
added to the output of the velocity loop.
• int16 shift
Output shift value.
• int16 viDrain
Velocity loop drain value for integral sum. Set to 0 to disable.
• uunit maxVel
Maximum allowed velocity.
• uunit maxAcc
Maximum allowed acceleration.
• uunit maxDec
Maximum allowed deceleration This value limits the rate of change of the velocity command input to the velocity loop.
• uunit estopDec
Deceleration used for emergency stop When the position loop is driving the velocity loop this value is only used for tracking
error conditions.

5.134.1 Detailed Description

This structure holds the velocity loop configuration parameters specific to the Copley amplifier.

The velocity loop is one of three servo control loops used by the amplifier to control a motor. The configuration parame-
ters used by this control loop allow the servo performance to be 'tuned' for various motors and loads.

The amplifier member functions Amp::GetVelLoopConfig and Amp::SetVelLoopConfig are used to read and write this
data to the amplifier.

5.134.2 Constructor & Destructor Documentation

5.134.2.1 VelLoopConfig()

VelLoopConfig (
void ) [inline]

Default constructor.

Simply initializes all members to zero.

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674 Class Documentation

5.134.3 Member Data Documentation

5.134.3.1 estopDec

uunit estopDec

Deceleration used for emergency stop When the position loop is driving the velocity loop this value is only used for
tracking error conditions.

If a tracking error occurs, the velocity loop takes over control and drives to zero velocity using this deceleration value.

Setting this value to zero indicates that the deceleration is unlimited.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

5.134.3.2 maxAcc

uunit maxAcc

Maximum allowed acceleration.

This value limits the rate of change of the velocity command input to the velocity loop. It is used when the magnitude of
the command is increasing.

Note that the acceleration & deceleration limits are NOT used when the position loop is driving the velocity loop.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

5.134.3.3 maxDec

uunit maxDec

Maximum allowed deceleration This value limits the rate of change of the velocity command input to the velocity loop.

It is used when the magnitude of the command is decreasing.

Note that the acceleration & deceleration limits are not used when the position loop is driving the velocity loop.

This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

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5.135 WinUdpEcatHardware Class Reference 675

5.134.3.4 maxVel

uunit maxVel

Maximum allowed velocity.

This value is used to limit the velocity command before the velocity loop uses it to calculate output current. When
running in a position mode (normal for CAN operation) The velocity command is the output from the position loop. This
command is clipped by this value before it is passed to the velocity loop.
This parameter is specified in "user units". See Amp::SetCountsPerUnit for details.

5.134.3.5 shift

int16 shift

Output shift value.

The output of the loop is downshifted this many bits to get the current loop command

5.134.3.6 velCmdff

int16 velCmdff

Velocity loop command feed forward The input command (after limiting) to the velocity loop is scaled by this value and
added to the output of the velocity loop.
The documentation for this struct was generated from the following file:

• CML_AmpStruct.h

5.135 WinUdpEcatHardware Class Reference

This class provides an interface to the Ethernet ports on a windows system.

Inheritance diagram for WinUdpEcatHardware:

RefObj

EtherCatHardware

WinUdpEcatHardware

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676 Class Documentation

Collaboration diagram for WinUdpEcatHardware:

RefObj

EtherCatHardware

WinUdpEcatHardware

Public Member Functions

• WinUdpEcatHardware (const char ∗name=0)

Create an EtherCAT hardware interface which uses UDP formatted messages.

Additional Inherited Members

5.135.1 Detailed Description

This class provides an interface to the Ethernet ports on a windows system.

It can be used to send and received formatted EtherCAT packets.

Windows doesn't allow raw Ethernet packets to be sent, so this class packages the EtherCAT packets into a UDP
wrapper.

5.135.2 Constructor & Destructor Documentation

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5.135 WinUdpEcatHardware Class Reference 677

5.135.2.1 WinUdpEcatHardware()

WinUdpEcatHardware (
const char ∗ name = 0 )

Create an EtherCAT hardware interface which uses UDP formatted messages.

This is the only type of EtherCAT interface that can be used under Windows without installing special drivers.

The low level EtherCAT protocol normally does not use an IP address, however since this driver transmits EtherCAT
packets over UDP/IP, the Ethernet interface used with this driver must have a valid IP address assigned. In addition, the
network mask associated with the Ethernet interface should be defined in such a way that no other network interface on
the same PC is a member of the same network. That is, if multiple interfaces are installed then they should be allocated
to seperate networks.

i.e. ( IP1 & mask1 ) != (IP2 & mask2) where IP1 and mask1 are the IP address and net mask of the first interface, and
IP2 and mask2 are for the second interface.

For example, the following two interfaces are on different networks: IP: 192.168.1.1 mask: 255.255.255.0 IP: 192.←-
168.2.1 mask: 255.255.255.0

but the following two interfaces are on the same network: IP: 192.168.1.1 mask: 255.255.255.0 IP: 192.168.1.2 mask:
255.255.255.0

This is important because this drive has no direct control of which interface the packets are being sent out. This is
entirely controlled by the upper layer routing algorithms in the windows network stack.

The name parameter passed to this function can be used to identify which interface this object should bind to. It can
take any of the following forms:

• If not specified, then the first valid interface found will be used. This is useful if there's only one interface on the
PC.

• If of the form; eth0, eth1, eth2, etc, then the nth valid interface will be used.

• For more control, the IP address of the desired interface can be passed. This should be sent as a string in dotted
decimal notation. For example: "192.168.1.1"

Parameters

name Used to identify the Ethernet interface as described above.

The documentation for this class was generated from the following files:

• ecat_winudp.h
• ecat_winudp.cpp

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678 Class Documentation

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Chapter 6

File Documentation

6.1 Amp.cpp File Reference

This file provides most of the implementation for the Copley Amplifier object.

Include dependency graph for Amp.cpp:

Amp.cpp

CML.h

CML_Linkage.h CML_PvtTrj.h CML_PvtConstAccelTrj.h

CML_File.h CML_CopleyIO.h CML_Amp.h CML_TrjScurve.h list vector

CML_AmpDef.h CML_IO.h CML_Copley.h CML_AmpStruct.h

CML_Node.h CML_Filter.h CML_InputShaper.h

CML_PDO.h CML_EtherCAT.h CML_CanOpen.h CML_SDO.h

CML_Network.h CML_EventMap.h

CML_Can.h CML_Geometry.h

CML_Reference.h CML_Trajectory.h

CML_Threads.h CML_Firmware.h

CML_Error.h CML_Array.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

6.1.1 Detailed Description

This file provides most of the implementation for the Copley Amplifier object.

Since the Amp object is large and complex, it's member functions have been split into several files:

• This file: Contains the core code.

• AmpParam.cpp: Holds functions used to upload and download various blocks of amplifier parameters.

• AmpPDO.cpp: Contains functions used to implement the various PDO objects used in conjunction with the Amp
object.
680 File Documentation

6.2 AmpFile.cpp File Reference

This file contains code used to read CME-2 .ccx and .ccd amplifier files.

Include dependency graph for AmpFile.cpp:

AmpFile.cpp

CML.h

CML_Linkage.h CML_PvtTrj.h CML_PvtConstAccelTrj.h

CML_File.h CML_CopleyIO.h CML_Amp.h CML_TrjScurve.h list vector

CML_AmpDef.h CML_IO.h CML_Copley.h CML_AmpStruct.h

CML_Node.h CML_Filter.h CML_InputShaper.h

CML_PDO.h CML_EtherCAT.h CML_CanOpen.h CML_SDO.h

CML_Network.h CML_EventMap.h

CML_Can.h CML_Geometry.h

CML_Reference.h CML_Trajectory.h

CML_Threads.h CML_Firmware.h

CML_Error.h CML_Array.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

Functions

• const Error ∗ WriteCCDToEcatDrive (const char ∗name, EtherCAT &net, Amp &amp)
Reads the ccd file from the drive using File Access over EtherCAT and creates a file.
• const Error ∗ WriteCCDToCANDrive (const char ∗name, CanOpen &net, Amp &amp)
Writes the ccd file to the drive using serial binary over CANopen.
• long GetCCDFileSize (FILE ∗fp)
Gets the file size.

6.2.1 Detailed Description

This file contains code used to read CME-2 .ccx and .ccd amplifier files.

6.2.2 Function Documentation

6.2.2.1 GetCCDFileSize()

long GetCCDFileSize (
FILE ∗ fp )

Gets the file size.

The passed file needs to be opened in binary mode.

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6.2 AmpFile.cpp File Reference 681

Parameters

fp opened file to be passed.

Returns

The size of the file in bytes.

6.2.2.2 WriteCCDToCANDrive()

const Error ∗ WriteCCDToCANDrive (

const char ∗ name,
CanOpen & net,
Amp & amp )

Writes the ccd file to the drive using serial binary over CANopen.

Parameters

name Name of the file to be passed.

net Reference to the CANopen network object.
amp Reference to the amplifier.

Returns

The most recent error code returned by this node.

6.2.2.3 WriteCCDToEcatDrive()

const Error ∗ WriteCCDToEcatDrive (

const char ∗ name,
EtherCAT & net,
Amp & amp )

Reads the ccd file from the drive using File Access over EtherCAT and creates a file.

Parameters

name Name of the file to be created.

net Reference to the EtherCAT network object.
amp Reference to the amplifier.

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682 File Documentation

Returns

The most recent error code returned by this node.

6.3 AmpFW.cpp File Reference

This file contains code used to update an amplifier's firmware over the CANopen network.

Include dependency graph for AmpFW.cpp:

AmpFW.cpp

CML.h

CML_Linkage.h CML_PvtConstAccelTrj.h CML_PvtTrj.h

CML_CopleyIO.h CML_Amp.h CML_TrjScurve.h list vector CML_File.h

CML_IO.h CML_Copley.h CML_AmpStruct.h CML_AmpDef.h

CML_Node.h CML_InputShaper.h CML_Filter.h

CML_PDO.h CML_CanOpen.h CML_EtherCAT.h CML_SDO.h

CML_Network.h CML_EventMap.h

CML_Can.h CML_Geometry.h

CML_Reference.h CML_Trajectory.h

CML_Threads.h CML_Firmware.h

CML_Error.h CML_Array.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

6.3.1 Detailed Description

This file contains code used to update an amplifier's firmware over the CANopen network.

The firmware update protocol is a non-standard protocol which uses CAN messages with the same IDs as the node's
CANopen SDO protocol. These message IDs were used because they are fixed for a given node ID.

6.4 AmpParam.cpp File Reference

This file contains the AMP object methods used to upload / download various amplifier parameters.

Include dependency graph for AmpParam.cpp:

AmpParam.cpp

CML.h

CML_Linkage.h CML_PvtTrj.h CML_PvtConstAccelTrj.h

CML_File.h CML_CopleyIO.h CML_Amp.h CML_TrjScurve.h list vector

CML_AmpDef.h CML_IO.h CML_Copley.h CML_AmpStruct.h

CML_Node.h CML_Filter.h CML_InputShaper.h

CML_PDO.h CML_EtherCAT.h CML_CanOpen.h CML_SDO.h

CML_Network.h CML_EventMap.h

CML_Can.h CML_Geometry.h

CML_Reference.h CML_Trajectory.h

CML_Threads.h CML_Firmware.h

CML_Error.h CML_Array.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

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6.5 AmpPDO.cpp File Reference 683

6.4.1 Detailed Description

This file contains the AMP object methods used to upload / download various amplifier parameters.

6.5 AmpPDO.cpp File Reference

This file contains code that implements PDO objects used by the Copley Controls amplifier object.

Include dependency graph for AmpPDO.cpp:

AmpPDO.cpp

CML.h

CML_Linkage.h CML_PvtTrj.h CML_PvtConstAccelTrj.h

CML_File.h CML_CopleyIO.h CML_Amp.h CML_TrjScurve.h list vector

CML_AmpDef.h CML_IO.h CML_Copley.h CML_AmpStruct.h

CML_Node.h CML_Filter.h CML_InputShaper.h

CML_PDO.h CML_EtherCAT.h CML_CanOpen.h CML_SDO.h

CML_Network.h CML_EventMap.h

CML_Can.h CML_Geometry.h

CML_Reference.h CML_Trajectory.h

CML_Threads.h CML_Firmware.h

CML_Error.h CML_Array.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

Macros

• #define MAX_PENDING_PVT_STATUS 50
This thread is used to handle the PVT status updates for all amps.

6.5.1 Detailed Description

This file contains code that implements PDO objects used by the Copley Controls amplifier object.

6.5.2 Macro Definition Documentation

6.5.2.1 MAX_PENDING_PVT_STATUS

#define MAX_PENDING_PVT_STATUS 50

This thread is used to handle the PVT status updates for all amps.

A separate thread is necessary, because EtherCAT drives need to send SDOs when handling PVT status updates, and
SDOs can't be used from within the context of the network read thread.

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6.6 AmpPVT.cpp File Reference

This file contains the code used by the Amp object to stream PVT trajectory profiles over the CANopen network.

Include dependency graph for AmpPVT.cpp:

AmpPVT.cpp

CML.h

CML_Linkage.h CML_PvtTrj.h CML_PvtConstAccelTrj.h

CML_File.h CML_CopleyIO.h CML_Amp.h CML_TrjScurve.h list vector

CML_AmpDef.h CML_IO.h CML_Copley.h CML_AmpStruct.h

CML_Node.h CML_Filter.h CML_InputShaper.h

CML_PDO.h CML_EtherCAT.h CML_CanOpen.h CML_SDO.h

CML_Network.h CML_EventMap.h

CML_Can.h CML_Geometry.h

CML_Reference.h CML_Trajectory.h

CML_Threads.h CML_Firmware.h

CML_Error.h CML_Array.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

6.6.1 Detailed Description

This file contains the code used by the Amp object to stream PVT trajectory profiles over the CANopen network.

6.7 AmpStruct.cpp File Reference

This file contains the AMP object methods used to upload / download structures containing groups of amplifier parame-
ters.

Include dependency graph for AmpStruct.cpp:

AmpStruct.cpp

CML.h

CML_Linkage.h CML_PvtTrj.h CML_PvtConstAccelTrj.h

CML_File.h CML_CopleyIO.h CML_Amp.h CML_TrjScurve.h list vector

CML_AmpDef.h CML_IO.h CML_Copley.h CML_AmpStruct.h

CML_Node.h CML_Filter.h CML_InputShaper.h

CML_PDO.h CML_EtherCAT.h CML_CanOpen.h CML_SDO.h

CML_Network.h CML_EventMap.h

CML_Can.h CML_Geometry.h

CML_Reference.h CML_Trajectory.h

CML_Threads.h CML_Firmware.h

CML_Error.h CML_Array.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

6.7.1 Detailed Description

This file contains the AMP object methods used to upload / download structures containing groups of amplifier parame-
ters.

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6.8 AmpUnits.cpp File Reference

This file contains the AMP object methods used to handle unit conversions.

Include dependency graph for AmpUnits.cpp:

AmpUnits.cpp

CML.h

CML_Linkage.h CML_PvtTrj.h CML_PvtConstAccelTrj.h

CML_File.h CML_CopleyIO.h CML_Amp.h CML_TrjScurve.h list vector

CML_AmpDef.h CML_IO.h CML_Copley.h CML_AmpStruct.h

CML_Node.h CML_Filter.h CML_InputShaper.h

CML_PDO.h CML_EtherCAT.h CML_CanOpen.h CML_SDO.h

CML_Network.h CML_EventMap.h

CML_Can.h CML_Geometry.h

CML_Reference.h CML_Trajectory.h

CML_Threads.h CML_Firmware.h

CML_Error.h CML_Array.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

6.8.1 Detailed Description

This file contains the AMP object methods used to handle unit conversions.

6.9 AmpVersion.cpp File Reference

This file contains some rules used by the Amp object to determine if certain features are supported by the amplifier
based on it's model number and firmware version number.

Include dependency graph for AmpVersion.cpp:

AmpVersion.cpp

CML.h

CML_Linkage.h CML_PvtTrj.h CML_PvtConstAccelTrj.h

CML_File.h CML_CopleyIO.h CML_Amp.h CML_TrjScurve.h list vector

CML_AmpDef.h CML_IO.h CML_Copley.h CML_AmpStruct.h

CML_Node.h CML_Filter.h CML_InputShaper.h

CML_PDO.h CML_EtherCAT.h CML_CanOpen.h CML_SDO.h

CML_Network.h CML_EventMap.h

CML_Can.h CML_Geometry.h

CML_Reference.h CML_Trajectory.h

CML_Threads.h CML_Firmware.h

CML_Error.h CML_Array.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

6.9.1 Detailed Description

This file contains some rules used by the Amp object to determine if certain features are supported by the amplifier
based on it's model number and firmware version number.

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6.10 Can.cpp File Reference

This file handles the initialization of the static variables (error codes) used by the CanError and CanInterface classes.

Include dependency graph for Can.cpp:

Can.cpp

CML.h

CML_Linkage.h CML_PvtTrj.h CML_PvtConstAccelTrj.h

CML_File.h CML_CopleyIO.h CML_Amp.h CML_TrjScurve.h list vector

CML_AmpDef.h CML_IO.h CML_Copley.h CML_AmpStruct.h

CML_Node.h CML_Filter.h CML_InputShaper.h

CML_PDO.h CML_EtherCAT.h CML_CanOpen.h CML_SDO.h

CML_Network.h CML_EventMap.h

CML_Can.h CML_Geometry.h

CML_Reference.h CML_Trajectory.h

CML_Threads.h CML_Firmware.h

CML_Error.h CML_Array.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

6.10.1 Detailed Description

This file handles the initialization of the static variables (error codes) used by the CanError and CanInterface classes.

6.11 can_copley.h File Reference

CAN hardware interface for the Copley Controls CAN card.

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can_copley.h

CML_Can.h

CML_Reference.h

CML_Threads.h

CML_Error.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

Classes
• class CopleyCAN
This class extends the generic CanInterface class into a working interface for the Copley can device driver.

6.11.1 Detailed Description

CAN hardware interface for the Copley Controls CAN card.

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6.12 can_ixxat.h File Reference

CAN hardware interface for the Ixxat CAN driver.

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can_ixxat.h

CML_can.h CML_Threads.h

CML_Error.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

Classes

• class IxxatCAN
Ixxat specific CAN interface.

Macros

• #define IXXAT_RX_QUEUE_SZ 50
This gives the size of the CAN message receive queue used for Ixxat cards.

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6.12.1 Detailed Description

CAN hardware interface for the Ixxat CAN driver.

6.13 can_ixxat_v3.h File Reference

CAN hardware interface for the Ixxat CAN driver.

Include dependency graph for can_ixxat_v3.h:

can_ixxat_v3.h

CML_can.h CML_Threads.h

CML_Error.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

Classes

• class IxxatCANV3
Ixxat specific CAN interface.

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Macros

• #define IXXAT_RX_QUEUE_SZ 50

This gives the size of the CAN message receive queue used for Ixxat cards.

6.13.1 Detailed Description

CAN hardware interface for the Ixxat CAN driver.

6.14 can_kvaser.h File Reference

CAN hardware interface for the Kvaser CAN driver.

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can_kvaser.h

CML_Can.h

CML_Reference.h

CML_Threads.h

CML_Error.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

Classes
• class KvaserCAN
Kvaser specific CAN interface.

6.14.1 Detailed Description

CAN hardware interface for the Kvaser CAN driver.

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6.15 can_siemens.h File Reference

CAN hardware interface for the SiemensPCIeToCAN CAN driver.

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can_siemens.h

..\CML_Settings.h ..\CML_Can.h ..\CML_Threads.h

Classes

• class SiemensCAN
SiemensPCIeToCAN specific CAN interface.

6.15.1 Detailed Description

CAN hardware interface for the SiemensPCIeToCAN CAN driver.

6.16 CanOpen.cpp File Reference

This file holds code for the top level CANopen class.

Include dependency graph for CanOpen.cpp:

CanOpen.cpp

CML.h

CML_Linkage.h CML_PvtTrj.h CML_PvtConstAccelTrj.h

CML_File.h CML_CopleyIO.h CML_Amp.h CML_TrjScurve.h list vector

CML_AmpDef.h CML_IO.h CML_Copley.h CML_AmpStruct.h

CML_Node.h CML_Filter.h CML_InputShaper.h

CML_PDO.h CML_EtherCAT.h CML_CanOpen.h CML_SDO.h

CML_Network.h CML_EventMap.h

CML_Can.h CML_Geometry.h

CML_Reference.h CML_Trajectory.h

CML_Threads.h CML_Firmware.h

CML_Error.h CML_Array.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

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6.17 CML.cpp File Reference 693

6.16.1 Detailed Description

This file holds code for the top level CANopen class.

This class is used for over all control of the CANopen network.

6.17 CML.cpp File Reference

CML object definition.

Include dependency graph for CML.cpp:

CML.cpp

CML.h

CML_Linkage.h CML_PvtTrj.h CML_PvtConstAccelTrj.h

CML_File.h CML_CopleyIO.h CML_Amp.h CML_TrjScurve.h list vector

CML_AmpDef.h CML_IO.h CML_Copley.h CML_AmpStruct.h

CML_Node.h CML_Filter.h CML_InputShaper.h

CML_PDO.h CML_EtherCAT.h CML_CanOpen.h CML_SDO.h

CML_Network.h CML_EventMap.h

CML_Can.h CML_Geometry.h

CML_Reference.h CML_Trajectory.h

CML_Threads.h CML_Firmware.h

CML_Error.h CML_Array.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

Variables

• CopleyMotionLibrary cml
Global CML object.

6.17.1 Detailed Description

CML object definition.

This file contains the code used to implement the global CML object.

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6.18 CML.h File Reference

Top level include file for the CML libraries.

Include dependency graph for CML.h:

CML.h

CML_Linkage.h CML_PvtTrj.h CML_PvtConstAccelTrj.h

CML_File.h CML_CopleyIO.h CML_Amp.h CML_TrjScurve.h list vector

CML_AmpDef.h CML_IO.h CML_Copley.h CML_AmpStruct.h

CML_Node.h CML_Filter.h CML_InputShaper.h

CML_PDO.h CML_EtherCAT.h CML_CanOpen.h CML_SDO.h

CML_Network.h CML_EventMap.h

CML_Can.h CML_Geometry.h

CML_Reference.h CML_Trajectory.h

CML_Threads.h CML_Firmware.h

CML_Error.h CML_Array.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

This graph shows which files directly or indirectly include this file:

CML.h

CML_PvtConstAccelTrj.h CML_PvtTrj.h Amp.cpp AmpFile.cpp AmpFW.cpp AmpParam.cpp AmpPDO.cpp AmpPVT.cpp AmpStruct.cpp AmpUnits.cpp AmpVersion.cpp Can.cpp CanOpen.cpp CML.cpp CopleyIO.cpp CopleyNode.cpp ecatdc.cpp Error.cpp EtherCAT.cpp EventMap.cpp File.cpp Filter.cpp Geometry.cpp InputShaper.cpp IOmodule.cpp Linkage.cpp Node.cpp PDO.cpp Reference.cpp SDO.cpp

PvtConstAccelTrj.cpp PvtTrj.cpp

Classes

• class CopleyMotionLibrary
Copley Motion Libraries utility object.

Enumerations

• enum CML_LOG_LEVEL {
LOG_NONE = 0,
LOG_ERRORS = 1,
LOG_WARNINGS = 2,
LOG_DEBUG = 3,
LOG_FILT_CAN = 5,
LOG_CAN = 6,
LOG_EVERYTHING = 99 }
Copley Motion Libraries debug logging level.

Variables

• CopleyMotionLibrary cml
Global CML object.

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6.18.1 Detailed Description

Top level include file for the CML libraries.

This file serves two purposes; it includes all the other CML header files and it defines the CML object. The CML object
contains a number of utility methods dealing with the library as a whole.

6.18.2 Enumeration Type Documentation

6.18.2.1 CML_LOG_LEVEL

enum CML_LOG_LEVEL

Copley Motion Libraries debug logging level.

The CML libraries may be configured to generate a log file for use in debugging system problems. This feature is turned
off by default, but may be enabled by calling the method CopleyMotionLibrary::SetDebugLevel of the global cml object.

cml.SetDebugLevel( LOG_EVERYTHING );

This enumeration gives the logging levels that may be passed to the SetDebugLevel function. Debug logging levels are
cumulative, so enabling a high level of logging will cause all messages that would have been logged at a lower level to
be written to the log as well. For example, setting the log level to LOG_DEBUG will cause all debug messages to be
written to the log, as well as all warnings and errors.

Enumerator

LOG_NONE Debug logging is disabled.

LOG_ERRORS Log serious errors only.
LOG_WARNINGS Log warning messages and errors.
LOG_DEBUG Log some debugging info.
LOG_FILT_CAN Log most CAN messages. A few common messages are filtered out.
LOG_CAN Log all CAN messages.
LOG_EVERYTHING Log everything.

6.19 CML_Amp.h File Reference

This file defines the Copley Amplifier object.

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CML_Amp.h

CML_AmpStruct.h CML_Copley.h

CML_InputShaper.h CML_Filter.h CML_Node.h

CML_SDO.h CML_PDO.h CML_CanOpen.h CML_EtherCAT.h

CML_Network.h

CML_AmpDef.h CML_Can.h

CML_Reference.h CML_EventMap.h

CML_Threads.h CML_Firmware.h CML_Trajectory.h

CML_Error.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

This graph shows which files directly or indirectly include this file:

CML_Amp.h

CML_Linkage.h

CML.h

CML_PvtConstAccelTrj.h CML_PvtTrj.h Amp.cpp AmpFile.cpp AmpFW.cpp AmpParam.cpp AmpPDO.cpp AmpPVT.cpp AmpStruct.cpp AmpUnits.cpp AmpVersion.cpp Can.cpp CanOpen.cpp CML.cpp CopleyIO.cpp CopleyNode.cpp ecatdc.cpp Error.cpp EtherCAT.cpp EventMap.cpp File.cpp Filter.cpp Geometry.cpp InputShaper.cpp IOmodule.cpp Linkage.cpp Node.cpp PDO.cpp Reference.cpp SDO.cpp

PvtConstAccelTrj.cpp PvtTrj.cpp

Classes

• class AmpError
This class represents error conditions that can occur in the Copley Amplifier object.
• class AmpFault
This class represents latching amplifier fault conditions.
• class AmpSettings
Copley amplifier settings object.
• class PvtSegCache
PVT trajectory segment cache object.
• struct ProfileConfigTrap
Trapezoidal profile parameters.
• struct ProfileConfigScurve
S-curve profile parameters.
• struct ProfileConfigVel
Velocity profile parameters.
• class Amp
Copley Controls amplifier object.

6.19.1 Detailed Description

This file defines the Copley Amplifier object.

This object may be used to interface to an amplifier over the CANopen network.

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6.20 CML_AmpDef.h File Reference

Include dependency graph for CML_AmpDef.h:

CML_AmpDef.h

CML_Settings.h

assert.h

This graph shows which files directly or indirectly include this file:

CML_AmpDef.h

CML_Amp.h

CML_Linkage.h CML_File.h

CML.h

AmpFW.cpp CML_PvtTrj.h Amp.cpp AmpFile.cpp AmpParam.cpp AmpPDO.cpp AmpPVT.cpp AmpStruct.cpp AmpUnits.cpp AmpVersion.cpp Can.cpp CanOpen.cpp CML.cpp CopleyIO.cpp CopleyNode.cpp ecatdc.cpp Error.cpp EtherCAT.cpp EventMap.cpp File.cpp Filter.cpp Geometry.cpp InputShaper.cpp IOmodule.cpp Linkage.cpp Node.cpp PDO.cpp Reference.cpp SDO.cpp CML_PvtConstAccelTrj.h

PvtTrj.cpp PvtConstAccelTrj.cpp

Enumerations

• enum AMP_OBJID
This enumeration holds the object identifiers of all of the objects in the amplifier's object dictionary.
• enum INPUT_PIN_CONFIG {
INCFG_NONE = 0x0000,
INCFG_RESET_R = 0x0002,
INCFG_RESET_F = 0x0003,
INCFG_POSLIM_H = 0x0004,
INCFG_POSLIM_L = 0x0005,
INCFG_NEGLIM_H = 0x0006,
INCFG_NEGLIM_L = 0x0007,
INCFG_MOTOR_TEMP_H = 0x0008,
INCFG_MOTOR_TEMP_L = 0x0009,
INCFG_CLR_FAULTS_H = 0x000A,
INCFG_CLR_FAULTS_L = 0x000B,
INCFG_RESET_DISABLE_R = 0x000C,
INCFG_RESET_DISABLE_F = 0x000D,
INCFG_HOME_H = 0x000E,

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INCFG_HOME_L = 0x000F,
INCFG_DISABLE_H = 0x0010,
INCFG_DISABLE_L = 0x0011,
INCFG_PWM_SYNC_H = 0x0013,
INCFG_MOTION_ABORT_H = 0x0014,
INCFG_MOTION_ABORT_L = 0x0015,
INCFG_SCALE_ADC_H = 0x0016,
INCFG_SCALE_ADC_L = 0x0017,
INCFG_HIGHSPEED_CAPTURE_R = 0x0018,
INCFG_HIGHSPEED_CAPTURE_F = 0x0019,
INCFG_COUNT_EDGES_R = 0x001A,
INCFG_COUNT_EDGES_F = 0x001B,
INCFG_ENCODER_FAULT_H = 0x001C,
INCFG_ENCODER_FAULT_L = 0x001D,
INCFG_ABORT_WINDOW_R = 0x0024,
INCFG_ABORT_WINDOW_F = 0x0025,
INCFG_HV_LOSS_DISABLE_H = 0x0026,
INCFG_HV_LOSS_DISABLE_L = 0x0027,
INCFG_TRJ_UPDATE_R = 0x0028,
INCFG_TRJ_UPDATE_F = 0x0029,
INCFG_CLR_FAULTS_EVENTS_R = 0x002A,
INCFG_CLR_FAULTS_EVENTS_F = 0x002B,
INCFG_DIS_SIM_ENC_L_BURST_R = 0x002C,
INCFG_DIS_SIM_ENC_H_BURST_F = 0x002D }
Input pin configuration settings.
• enum OUTPUT_PIN_CONFIG {
OUTCFG_EVENT_STATUS_L = 0x0000,
OUTCFG_EVENT_STATUS_H = 0x0100,
OUTCFG_EVENT_LATCH_L = 0x0001,
OUTCFG_EVENT_LATCH_H = 0x0101,
OUTCFG_MANUAL_L = 0x0002,
OUTCFG_MANUAL_H = 0x0102,
OUTCFG_TRJ_STATUS = 0x0003,
OUTCFG_POSITION_WINDOW = 0x0004,
OUTCFG_POSITION_TRIG_LOW2HIGH = 0x0005,
OUTCFG_POSITION_TRIG_HIGH2LOW = 0x0006,
OUTCFG_POSITION_TRIG = 0x0007,
OUTCFG_POSITION_TRIG_LIST = 0x0009,
OUTCFG_SYNC_OUTPUT = 0x0200,
OUTCFG_ACTIVE_HIGH = 0x0100 }
Output pin configuration settings.
• enum AMP_MODE {
AMPMODE_CAN_PROFILE = 0x0001,
AMPMODE_CAN_VELOCITY = 0x0003,
AMPMODE_CAN_TORQUE = 0x0004,
AMPMODE_CAN_HOMING = 0x0006,
AMPMODE_CAN_PVT = 0x0007,
AMPMODE_CAN_SERVO = 0x1E00,
AMPMODE_CAN_USTEP = 0x2800,
AMPMODE_DISABLED = 0x0000,
AMPMODE_PROG_CRNT = 0x0100,
AMPMODE_AIN_CRNT = 0x0200,
AMPMODE_DIN_CRNT = 0x0300,
AMPMODE_FGEN_CRNT = 0x0400,

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AMPMODE_PROG_VEL = 0x0B00,
AMPMODE_AIN_VEL = 0x0C00,
AMPMODE_DIN_VEL = 0x0D00,
AMPMODE_FGEN_VEL = 0x0E00,
AMPMODE_DIN_POS = 0x1700,
AMPMODE_FGEN_POS = 0x1800,
AMPMODE_CAM_POS = 0x1900,
AMPMODE_DIN_USTEP = 0x2100,
AMPMODE_FGEN_USTEP = 0x2200,
AMPMODE_DIAG_USTEP = 0x2A00 }
This enumeration is used to specify the mode of operation of the amplifier.
• enum EVENT_STATUS {
ESTAT_SHORT_CRCT = 0x00000001,
ESTAT_AMP_TEMP = 0x00000002,
ESTAT_OVER_VOLT = 0x00000004,
ESTAT_UNDER_VOLT = 0x00000008,
ESTAT_MTR_TEMP = 0x00000010,
ESTAT_ENCODER_PWR = 0x00000020,
ESTAT_PHASE_ERR = 0x00000040,
ESTAT_CRNT_LIM = 0x00000080,
ESTAT_VOLT_LIM = 0x00000100,
ESTAT_POSLIM = 0x00000200,
ESTAT_NEGLIM = 0x00000400,
ESTAT_DISABLE_INPUT = 0x00000800,
ESTAT_SOFT_DISABLE = 0x00001000,
ESTAT_STOP = 0x00002000,
ESTAT_BRAKE = 0x00004000,
ESTAT_PWM_DISABLE = 0x00008000,
ESTAT_SOFTLIM_POS = 0x00010000,
ESTAT_SOFTLIM_NEG = 0x00020000,
ESTAT_TRK_ERR = 0x00040000,
ESTAT_TRK_WARN = 0x00080000,
ESTAT_RESET = 0x00100000,
ESTAT_POSWRAP = 0x00200000,
ESTAT_FAULT = 0x00400000,
ESTAT_VEL_LIMIT = 0x00800000,
ESTAT_ACC_LIMIT = 0x01000000,
ESTAT_TRK_WIN = 0x02000000,
ESTAT_HOME = 0x04000000,
ESTAT_MOVING = 0x08000000,
ESTAT_VEL_WIN = 0x10000000,
ESTAT_PHASE_INIT = 0x20000000,
ESTAT_CMD_INPUT = 0x40000000 }
Amplifier event status word bit definitions.
• enum AMP_EVENT {
AMPEVENT_MOVEDONE = 0x00000001,
AMPEVENT_TRJDONE = 0x00000002,
AMPEVENT_NODEGUARD = 0x00000004,
AMPEVENT_SPACK = 0x00000008,
AMPEVENT_FAULT = 0x00000010,
AMPEVENT_ERROR = 0x00000020,
AMPEVENT_POSWARN = 0x00000040,
AMPEVENT_POSWIN = 0x00000080,
AMPEVENT_VELWIN = 0x00000100,

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AMPEVENT_DISABLED = 0x00000200,
AMPEVENT_POSLIM = 0x00000400,
AMPEVENT_NEGLIM = 0x00000800,
AMPEVENT_SOFTLIM_POS = 0x00001000,
AMPEVENT_SOFTLIM_NEG = 0x00002000,
AMPEVENT_QUICKSTOP = 0x00004000,
AMPEVENT_ABORT = 0x00008000,
AMPEVENT_SOFTDISABLE = 0x00010000,
AMPEVENT_HOME_CAPTURE = 0x00020000,
AMPEVENT_PVT_EMPTY = 0x00040000,
AMPEVENT_PHASE_INIT = 0x00080000,
AMPEVENT_TRSTP = 0x00100000,
AMPEVENT_NOT_INIT = 0x80000000 }
Amplifier events.
• enum AMP_FAULT {
FAULT_DATAFLASH = 0x0001,
FAULT_ADCOFFSET = 0x0002,
FAULT_SHORT_CRCT = 0x0004,
FAULT_AMP_TEMP = 0x0008,
FAULT_MTR_TEMP = 0x0010,
FAULT_OVER_VOLT = 0x0020,
FAULT_UNDER_VOLT = 0x0040,
FAULT_ENCODER_PWR = 0x0080,
FAULT_PHASE_ERR = 0x0100,
FAULT_TRK_ERR = 0x0200,
FAULT_I2T_ERR = 0x0400 }
Latching Amplifier faults conditions.
• enum HALT_MODE {
HALT_DISABLE = 0,
HALT_DECEL = 1,
HALT_QUICKSTOP = 2,
HALT_ABRUPT = 3 }
The amplifier's halt mode defines it's action when a halt command is issued (Amp::HaltMove).
• enum QUICK_STOP_MODE {
QSTOP_DISABLE = 0,
QSTOP_DECEL = 1,
QSTOP_QUICKSTOP = 2,
QSTOP_ABRUPT = 3,
QSTOP_DECEL_HOLD = 5,
QSTOP_QUICKSTOP_HOLD = 6,
QSTOP_ABRUPT_HOLD = 7 }
The amplifier's quick stop mode defines it's action when a quick stop command is issued (Amp::QuickStop).
• enum COPLEY_HOME_METHOD {
CHM_NLIM_ONDX = 1,
CHM_PLIM_ONDX = 2,
CHM_PHOME_ONDX = 3,
CHM_PHOME_INDX = 4,
CHM_NHOME_ONDX = 5,
CHM_NHOME_INDX = 6,
CHM_LHOME_ONDX_POS = 7,
CHM_LHOME_INDX_POS = 8,
CHM_UHOME_INDX_POS = 9,
CHM_UHOME_ONDX_POS = 10,

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CHM_UHOME_ONDX_NEG = 11,
CHM_UHOME_INDX_NEG = 12,
CHM_LHOME_INDX_NEG = 13,
CHM_LHOME_ONDX_NEG = 14,
CHM_NLIM = 17,
CHM_PLIM = 18,
CHM_PHOME = 19,
CHM_NHOME = 21,
CHM_LHOME_POS = 23,
CHM_UHOME_POS = 25,
CHM_UHOME_NEG = 27,
CHM_LHOME_NEG = 29,
CHM_NDX_NEG = 33,
CHM_NDX_POS = 34,
CHM_NONE = 35,
CHM_HARDSTOP_POS = 255,
CHM_HARDSTOP_NEG = 254,
CHM_HARDSTOP_ONDX_POS = 253,
CHM_HARDSTOP_ONDX_NEG = 252,
CHM_EXTENDED = 128 }
Home methods supported by the Copley amplifier.
• enum PROFILE_TYPE {
PROFILE_VEL = -1,
PROFILE_TRAP = 0,
PROFILE_SCURVE = 3 }
Point to point profile types.
• enum AMP_PHASE_MODE {
PHASE_MODE_ENCODER = 0,
PHASE_MODE_TRAP = 1,
PHASE_MODE_NOADJUST = 2,
PHASE_MODE_AHALL90 = 3,
PHASE_MODE_BRUSHED = 4,
PHASE_MODE_NOHALL = 5,
PHASE_MODE_ENCPHASE = 6,
PHASE_MODE_TRAPINTERP = 7 }
Amplifier phasing mode.
• enum AMP_PWM_MODE {
PWM_MODE_STANDARD = 0x0000,
PWM_MODE_FORCECLAMP = 0x0001,
PWM_MODE_AUTOCLAMP = 0x0002,
PWM_MODE_HEXLIMIT = 0x0010 }
Amplifier PWM output mode.
• enum AMP_TRACE_VAR {
TRACEVAR_HIGH_VOLT = 6,
TRACEVAR_TEMP = 37,
TRACEVAR_ANALOG_REF = 5,
TRACEVAR_ENC_SIN = 46,
TRACEVAR_ENC_COS = 47,
TRACEVAR_PHASE = 36,
TRACEVAR_HALLS = 40,
TRACEVAR_INPUTS = 48,
TRACEVAR_RAW_INPUTS = 33,
TRACEVAR_EVENTS = 38,

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TRACEVAR_EVENTLATCH = 39,
TRACEVAR_CRNT_A = 3,
TRACEVAR_CRNT_B = 4,
TRACEVAR_CRNT_CMD = 7,
TRACEVAR_CRNT_LIM = 8,
TRACEVAR_CRNT_CMD_D = 9,
TRACEVAR_CRNT_CMD_Q = 10,
TRACEVAR_CRNT_ACT_D = 13,
TRACEVAR_CRNT_ACT_Q = 14,
TRACEVAR_CRNT_ERR_D = 15,
TRACEVAR_CRNT_ERR_Q = 16,
TRACEVAR_VOLT_D = 19,
TRACEVAR_VOLT_Q = 20,
TRACEVAR_VEL_MTR = 23,
TRACEVAR_VEL_RAW = 50,
TRACEVAR_VEL_LOAD = 43,
TRACEVAR_VLOOP_CMD = 24,
TRACEVAR_VLOOP_LIM = 25,
TRACEVAR_VLOOP_ERR = 26,
TRACEVAR_LOAD_POS = 28,
TRACEVAR_MTR_POS = 31,
TRACEVAR_POS_ERR = 30,
TRACEVAR_CMD_POS = 29,
TRACEVAR_CMD_VEL = 44,
TRACEVAR_CMD_ACC = 45,
TRACEVAR_DEST_POS = 49 }
Amplifier trace variables.
• enum AMP_TRACE_STATUS
Amplifier trace status bits.
• enum AMP_TRACE_TRIGGER {
TRACETRIG_CHANNEL = 0x000F,
TRACETRIG_TYPE = 0x0F00,
TRACETRIG_NONE = 0x0000,
TRACETRIG_ABOVE = 0x0100,
TRACETRIG_BELOW = 0x0200,
TRACETRIG_RISE = 0x0300,
TRACETRIG_FALL = 0x0400,
TRACETRIG_BITSET = 0x0500,
TRACETRIG_BITCLR = 0x0600,
TRACETRIG_CHANGE = 0x0700,
TRACETRIG_EVENTSET = 0x0800,
TRACETRIG_EVENTCLR = 0x0900,
TRACETRIG_FGEN_CYCLE = 0x0A00,
TRACETRIG_CAP_SET = 0x0B00,
TRACETRIG_BITCHANGE = 0x0C00,
TRACETRIG_NODELAY = 0x4000,
TRACETRIG_SAMPLE = 0x8000 }
Amplifier trace trigger settings.
• enum POS_CAPTURE_CFG {
CAPTURE_INDEX_RISING = 0x0001,
CAPTURE_INDEX_FALLING = 0x0002,
CAPTURE_INDEX_LATCH = 0x0004,
CAPTURE_HOME_LATCH = 0x0040,

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CAPTURE_HIGH_SPEED_INPUT = 0x0100,
CAPTURE_HIGH_SPEED_INPUT_LATCH = 0x0400 }
Position capture configuration.
• enum POS_CAPTURE_STAT {
CAPTURE_INDEX_FULL = 0x0001,
CAPTURE_INDEX_OVER = 0x0008,
CAPTURE_HOME_FULL = 0x0010,
CAPTURE_HOME_OVER = 0x0080 }
Position capture status register value.
• enum AMP_FEATURE { ,
FEATURE_EXTENDED_OUTPUT_PIN_CONFIG,
FEATURE_GEAR_RATIO,
FEATURE_RESOLVER_CYCLES,
FEATURE_HALL_VEL_SHIFT,
FEATURE_PLOOP_SCALE,
FEATURE_STEPPER_CRNT,
FEATURE_CURRENT_SLOPE,
FEATURE_SOFTLIM_ACCEL,
FEATURE_PWMIN_FREQ,
FEATURE_VLOOP_CMD_FILT,
FEATURE_USTEP_OUTER_LOOP,
FEATURE_STEP_DETENT_GAIN,
FEATURE_USTEP_CONFIG_STATUS,
FEATURE_ALGO_PHASE_INIT_CUR,
FEATURE_ALGO_PHASE_INIT_CONFIG,
FEATURE_CAMMING,
FEATURE_POS_WRAP,
FEATURE_ENC_OPTIONS,
FEATURE_GAIN_SCHED,
FEATURE_PIN_MAP,
FEATURE_CAN_OPTIONS,
FEATURE_CAN_SETTINGS,
FEATURE_AIN_FILT,
FEATURE_VLOOP_OUT_FILT,
FEATURE_ILOOP_CMD_FILT,
FEATURE_PWMIN_MIN_PULSE,
FEATURE_PWMIN_MAX_PULSE,
FEATURE_DA_CONV_CONFIG,
FEATURE_SERVO_CONFIG,
FEATURE_MTR_OVERTEMP,
FEATURE_NET_OPTIONS,
FEATURE_PLOOP_KI,
FEATURE_PLOOP_KD,
FEATURE_VLOOP_CMDFF,
FEATURE_BRAKE_ENABLE_DELAY,
FEATURE_INPUT_SHAPING,
FEATURE_FLOAT_FILT_COEF,
FEATURE_IO_OPTIONS,
FEATURE_PWMIN_UVCFG,
FEATURE_AXIS_CT }
This enumeration is used internally by the amplifier object to check for certain features that are not present in every amp
model or firmware version number.

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6.20.1 Enumeration Type Documentation

6.20.1.1 AMP_EVENT

enum AMP_EVENT

Amplifier events.

This enumeration provides a list of events that can be used to wait on amplifier conditions.

Enumerator

AMPEVENT_MOVEDONE Set when a move is finished and the amplifier has settled in to position at the
end of the move. Cleared when a new move is started.
AMPEVENT_TRJDONE Set when the trajectory generator finishes a move. The motor may not have
settled into position at this point. Cleared when a new move is started.
AMPEVENT_NODEGUARD A node guarding (or heartbeat) error has occurred. This indicates that the
amplifier failed to respond within the expected amount of time for either a
heartbeat or node guarding message. This could be caused by a network
wiring problem, amplifier power down, amp reset, etc. This bit is set when the
error occurs, and is cleared by a call to the function
Amp::ClearNodeGuardEvent.
AMPEVENT_SPACK This event bit is used internally by the amplifier object. It is set when the amp
acknowledges a new move start.
AMPEVENT_FAULT A latching amplifier fault has occurred. The specifics of what caused the fault
can be obtained by calling Amp::GetFaults, and the fault conditions can be
cleared by calling Amp::ClearFaults.
AMPEVENT_ERROR A non-latching amplifier error has occurred.
AMPEVENT_POSWARN The amplifier's absolute position error is greater then the window set with
Amp::SetPositionWarnWindow.
AMPEVENT_POSWIN The amplifier's absolute position error is greater then the window set with
Amp::SetSettlingWindow.
AMPEVENT_VELWIN The amplifier's absolute velocity error is greater then the window set with
Amp::SetVeliocityWarnWindow.
AMPEVENT_DISABLED The amplifier's outputs are disabled. The reason for the disable can be
determined by Amp::GetEventStatus
AMPEVENT_POSLIM The positive limit switch is currently active.
AMPEVENT_NEGLIM The negative limit switch is currently active.
AMPEVENT_SOFTLIM_POS The positive software limit is currently active.
AMPEVENT_SOFTLIM_NEG The negative software limit is currently active.
AMPEVENT_QUICKSTOP The amplifier is presently performing a quick stop sequence.
AMPEVENT_ABORT The last profile was aborted without finishing.
AMPEVENT_SOFTDISABLE The amplifier is software disabled.
AMPEVENT_HOME_CAPTURE A new home position has been captured. Note that this features requires
firmware version >= 4.77
AMPEVENT_PVT_EMPTY PVT buffer is empty.

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Enumerator

AMPEVENT_PHASE_INIT Amplifier is currently performing a phase initialization.

AMPEVENT_TRSTP Amplifier is currently trying to stop the motor.
AMPEVENT_NOT_INIT This amplifier's event mask has not yet been initialized. This event is for
internal use only.

6.20.1.2 AMP_FAULT

enum AMP_FAULT

Latching Amplifier faults conditions.

Once a fault is detected in the amplifier, the amp will be disabled until the fault condition has been cleared.

Use Amp::GetFaults to get a list of any active fault conditions, and Amp::ClearFaults to clear one or more faults.

Enumerator

FAULT_DATAFLASH Fatal hardware error: the flash data is corrupt.

FAULT_ADCOFFSET Fatal hardware error: An A/D offset error has occurred.
FAULT_SHORT_CRCT The amplifier detected a short circuit condition.
FAULT_AMP_TEMP The amplifier is over temperature.
FAULT_MTR_TEMP A motor temperature error was detected.
FAULT_OVER_VOLT The amplifier bus voltage is over the acceptable limit.
FAULT_UNDER_VOLT The amplifier bus voltage is below the acceptable limit.
FAULT_ENCODER_PWR Over current on the encoder power supply.
FAULT_PHASE_ERR Amplifier phasing error.
FAULT_TRK_ERR Tracking error, the position error is too large.
FAULT_I2T_ERR Current limited by i∧ 2t algorithm.

6.20.1.3 AMP_FEATURE

enum AMP_FEATURE

This enumeration is used internally by the amplifier object to check for certain features that are not present in every amp
model or firmware version number.

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Enumerator

FEATURE_EXTENDED_OUTPUT_PIN_CONFIG Can the amplifier firmware accept more then 6 words of data
for it's output pin configuration parameter?
FEATURE_GEAR_RATIO Does the amplifier support the gear ratio parameter?
FEATURE_RESOLVER_CYCLES Does the amplifier support the resolver cycles parameter?
FEATURE_HALL_VEL_SHIFT Does the amplifier support the hall velocity shift parameter?
FEATURE_PLOOP_SCALE Does the amplifier support the position loop scaling factor?
FEATURE_STEPPER_CRNT Does the amp support the stepper current parameters (hold
current, run to hold time, etc)?
FEATURE_CURRENT_SLOPE Does the amp support the current slope limits?
FEATURE_SOFTLIM_ACCEL Does the amp support the software limit acceleration
parameter?
FEATURE_PWMIN_FREQ Does the amp support the pwm input frequency parameter?
FEATURE_VLOOP_CMD_FILT Does the amp support the velocity loop command filter?
FEATURE_USTEP_OUTER_LOOP Does the amp support ustep outer loop.
FEATURE_STEP_DETENT_GAIN Does the amp support ustep Detent gain correction factor.
FEATURE_USTEP_CONFIG_STATUS Does the amp support ustep Stepper config and status.
FEATURE_ALGO_PHASE_INIT_CUR Does the amp support algorithmic phase init max current an
time settings.
FEATURE_ALGO_PHASE_INIT_CONFIG Does the amp support algorithmic phase init config.
FEATURE_CAMMING Does the amp support camming.
FEATURE_POS_WRAP Does the amp support positon wrap.
FEATURE_ENC_OPTIONS Does the amp support encoder options.
FEATURE_GAIN_SCHED Does the amp support gain scheduling.
FEATURE_PIN_MAP Does the amp support input pin mapping.
FEATURE_CAN_OPTIONS Does the amp support can option.
FEATURE_CAN_SETTINGS Does the amp support can option.
FEATURE_AIN_FILT Does the amp support analog reference input filter.
FEATURE_VLOOP_OUT_FILT Does the amp support the velocity loop cmd filter.
FEATURE_ILOOP_CMD_FILT Does the amp support the current loop cmd filter.
FEATURE_PWMIN_MIN_PULSE Does the amp support configuring the min pwm pulse width.
FEATURE_PWMIN_MAX_PULSE Does the amp support configuring the max pwm pulse width.
FEATURE_DA_CONV_CONFIG Does the amp support DA configuration.
FEATURE_SERVO_CONFIG Does the amp support advanced servo loop configurations.
FEATURE_MTR_OVERTEMP Does the amp support analog mtr over temp.
FEATURE_NET_OPTIONS Does the amp support configuring the network.
FEATURE_PLOOP_KI Does the amp support the position loop Ki param.
FEATURE_PLOOP_KD Does the amp support the position loop Kd param.
FEATURE_VLOOP_CMDFF Does the amp support the velocity loop command feed
forward.
FEATURE_BRAKE_ENABLE_DELAY Does the amp support motor brake enable delay time.
FEATURE_INPUT_SHAPING Does the amp support input shaping.
FEATURE_FLOAT_FILT_COEF Are filter coefficients stored at floating point values?
FEATURE_IO_OPTIONS Does the amp support IO configuration.
FEATURE_PWMIN_UVCFG Does the amp support the UV config in UV mode?

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Enumerator

FEATURE_AXIS_CT Does the amp support the paramter containing the number of
axis?

6.20.1.4 AMP_MODE

enum AMP_MODE

This enumeration is used to specify the mode of operation of the amplifier.

The amplifier mode of operation specifies the control method to be used by the amplifier, as well as the source of input
to that control structure.

The amplifier can be controlled in servo mode or in microstepping mode. When running in servo mode the amplifier
uses up to three nested control loops. These loops control current, velocity and position. In microstepping mode the low
level current loop is retained, but the upper level loops are replaced with a simple position command.

The command source of the amplifier will normally be the CANopen network itself. However, the amplifier also supports
several low level control methods in which commands are received through analog or digital input pins, or even from an
internal function generator.

Normally, only the CANopen modes of operation will be used when running over the CANopen network. These modes
are AMPMODE_CAN_PROFILE, AMPMODE_CAN_VELOCITY, AMPMODE_CAN_HOMING, and AMPMODE_CAN←-
_PVT. Each of these modes can be used on either servo or microstepping drives. It's typically not necessary to specify
the type of control method (servo or microstepping) to be used with these modes as it can be determined by the type of
amplifier being used. Servo amplifier's (such as Accelnet) default to servo mode, and microstepping amplifiers (such as
Stepnet) will default to microstepping mode. If this default is not appropriate for the application, then the control method
may be forced by ORing in one of the following two values; AMPMODE_CAN_SERVO and AMPMODE_CAN_USTEP.

Enumerator

AMPMODE_CAN_PROFILE In this mode the CANopen network sends move commands to the amplifier, and
the amplifier uses it's internal trajectory generator to perform the moves. This
mode conforms to the CANopen device profile for motion control (DSP-402)
profile position mode.
AMPMODE_CAN_VELOCITY In this mode the CANopen network commands target velocity values to the
amplifier. The amplifier uses it's programmed acceleration and deceleration
values to ramp the velocity up/down to the target.
Note that support for profile velocity mode was added in amplifier firmware version
3.06. Earlier versions of firmware will report an error if this mode is selected.
AMPMODE_CAN_TORQUE In this mode the CANopen network commands torque values to the amplifier.
Note that support for profile torque mode was added in amplifier firmware version
3.34. Earlier versions of firmware will report an error if this mode is selected.
AMPMODE_CAN_HOMING This mode is used to home the motor (i.e. find the motor zero position) under the
control of the CANopen network. This mode conforms to the CANopen device
profile for motion control (DSP-402) homing mode.

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Enumerator

AMPMODE_CAN_PVT In this mode the CANopen master calculates the motor trajectory and streams it
over the CANopen network as a set of points that the amplifier interpolated
between. This mode conforms to the CANopen device profile for motion control
(DSP-402) interpolated position mode.
AMPMODE_CAN_SERVO This value may be combined with one of the standard CAN control modes to
specify that servo control should be used. This is most often specified when a
microstepping amplifier (such as the Stepnet) is to be used in servo mode.
AMPMODE_CAN_USTEP This value may be combined with one of the standard CAN control modes to
specify that microstepping control should be used. This is most often specified
when a servo amplifier (such as the Accelnet) is to be used in microstepping
mode.
AMPMODE_DISABLED Disable the amplifier. In this mode, none of the controls loops are running, and no
voltage will be applied across the motor windings.
AMPMODE_PROG_CRNT Current mode in which the command to the current loop is simply a static value
that may be programmed over the serial port or CANopen network. The
programmed current value can be set with the function
Amp::SetCurrentProgrammed
AMPMODE_AIN_CRNT Current mode in which the command to the current loop is derived from the
analog input. Note that some amplifier models do not support an analog input.
Please refer to the amplifier datasheet to determine if this mode is applicable.
AMPMODE_DIN_CRNT Current mode in which the command to the current loop is derived from the digital
input pins. One or two of the digital inputs are used as a PWM input command
which is interpreted as a current command. Please refer to the amplifier data
sheet to determine which input(s) should be used in this mode.
AMPMODE_FGEN_CRNT Current mode in which the command to the current loop is derived from the
internal function generator.
AMPMODE_PROG_VEL Velocity mode in which the command to the velocity loop is simply a static value
that may be programmed over the serial or CANopen network. The programmed
velocity value can be set with the function Amp::SetVelocityProgrammed
AMPMODE_AIN_VEL Velocity mode in which the command to the velocity loop is derived from the
analog input. Note that some amplifier models do not support an analog input.
Please refer to the amplifier datasheet to determine if this mode is applicable.
AMPMODE_DIN_VEL Velocity mode in which the command to the velocity loop is derived from the
digital input pins. One or two of the digital inputs are used as a PWM input
command which is interpreted as a velocity command. Please refer to the
amplifier data sheet to determine which input(s) should be used in this mode.
AMPMODE_FGEN_VEL Velocity mode in which the command to the velocity loop is derived from the
internal function generator.
AMPMODE_DIN_POS Position mode in which the command to the position loop is derived from the
digital input pins. Two of the digital inputs can be configured as either a master
encoder input (quadrature input), a step & direction input, or a step up / step
down input. Please refer to the amplifier data sheet to determine which inputs
should be used in this mode.
AMPMODE_FGEN_POS Position mode in which the command to the position loop is derived from the
internal function generator.
AMPMODE_CAM_POS Position mode in which the command to the position loop is derived from CAM
tables located in the amplifiers memory.

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Enumerator

AMPMODE_DIN_USTEP Microstepping mode in which the commanded position is derived from the digital
input pins. Two of the digital inputs can be configured as either a master encoder
input (quadrature input), a step & direction input, or a step up / step down input.
Please refer to the amplifier data sheet to determine which inputs should be used
in this mode.
AMPMODE_FGEN_USTEP Microstepping mode in which the commanded position is derived from the internal
function generator.
AMPMODE_DIAG_USTEP Diagnostic microstepping mode. This is a very simple microstepping mode that
can be used for motor setup and testing. A constant motor current is set by the
programmed current value, and the motor phase is microstepped at a fixed rate.
The position and velocity loops are not used in this mode.

6.20.1.5 AMP_PHASE_MODE

enum AMP_PHASE_MODE

Amplifier phasing mode.

This enumeration gives the legal values for the amplifier phasing mode setting. The phasing mode controls what type of
input the amplifier uses to determing the phase angle when commutating a brushless DC motor.

Enumerator

PHASE_MODE_ENCODER Use a combination of hall sensors and encoder input. The hall sensors are used
at startup, and will be used to constantly adjust the phase angle on every hall
transition. This is the default phase mode, and should be used when both hall
sensors and encoder input are present.
PHASE_MODE_TRAP Phase using only the hall sensor inputs. This mode gives rougher operation then
the encoder based mode, however it can be used when no encoder input is
available.
PHASE_MODE_NOADJUST Use both encoder & hall inputs, but only use the hall inputs on startup and
ignore them after that. This mode should normally not be used unless there is a
good reason to ignore the hall inputs after startup.
PHASE_MODE_AHALL90 Use analog hall inputs offset at 90 deg connected to the encoder sine / cosine
inputs.
PHASE_MODE_BRUSHED This phase mode is used to force brushed DC motor output. It should only be
used when the amplifier is connected to a brushed DC motor. NOTE - this mode
is obsolete. The motor type parameter (object 0x2383) should now be used to
indicate a brush motor which will force the correct commutation mode.
PHASE_MODE_NOHALL Phase using the encoder only. In this mode, the amplifier will use an algorithmic
phase initialization on startup. This mode can be used when an encoder is
present, but no halls are available.
PHASE_MODE_ENCPHASE Use phase information obtained from the encoder. This mode is used with
resolvers and most absolute encoders which are able to communicate phasing
information along with the position.
PHASE_MODE_TRAPINTERP Use interpolated trapezoidal commutation. This mode can be used when digital
hall sensors are available on the motor. At high speeds the amp interpolates
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6.20.1.6 AMP_PWM_MODE

enum AMP_PWM_MODE

Amplifier PWM output mode.

This enumeration gives the legal values for setting up the amplifier's PWM output mode. The PWM output mode controls
some details of how the amplifier drives it's PWM outputs.

Enumerator

PWM_MODE_STANDARD Standard PWM mode. This mode should be selected for most applications.
PWM_MODE_FORCECLAMP This bit forces the amplifier into PWM bus clamping mode. Bus clamping mode is
a different method of driving the PWM outputs. It can produce less switching loss
at the expense of greater cross over distortion.
PWM_MODE_AUTOCLAMP Automatically switch between bus clamping and normal output mode based on
the PWM duty cycle. Bus clamping mode is used at high duty cycles, normal
mode is used at low duty cycles.
PWM_MODE_HEXLIMIT If this bit is set, the amplifier's output voltage is limited using a method known as
hexagonal limiting. If this bit is clear, circular limiting is used. Hexagonal limiting
gives the maximum voltage output at the expense of some added torque ripple.
Higher top speeds may be attained using hexagonal limiting.

6.20.1.7 AMP_TRACE_STATUS

enum AMP_TRACE_STATUS

Amplifier trace status bits.

The amplifier's trace mechanism reports it's status as a collection of these bits.

6.20.1.8 AMP_TRACE_TRIGGER

enum AMP_TRACE_TRIGGER

Amplifier trace trigger settings.

Enumerator

TRACETRIG_CHANNEL These bits define which of the trace channels to use for triggering. Not all trigger
types require a trace channel, for those this value is ignored.
TRACETRIG_TYPE These bits define the trace trigger type to use.

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Enumerator

TRACETRIG_NONE Trace trigger type none. The trace is triggered immediately on start.
TRACETRIG_ABOVE Trigger as soon as the value on the selected variable is above the trigger level.
TRACETRIG_BELOW Trigger as soon as the value on the selected variable is below the trigger level.
TRACETRIG_RISE Trigger when the value on the selected variable changes from below the trigger
level to above it.
TRACETRIG_FALL Trigger when the value on the selected variable changes from above the trigger
level to below it.
TRACETRIG_BITSET Treat the trigger level as a bit mask which selects one or more bits on the selected
trace variable. The trigger occurs as soon as any of the selected bits are set.
TRACETRIG_BITCLR Treat the trigger level as a bit mask which selects one or more bits on the selected
trace variable. The trigger occurs as soon as any of the selected bits are clear.
TRACETRIG_CHANGE Trigger any time the selected trace variable value changes.
TRACETRIG_EVENTSET Treat the trigger level as a bit mask which selects one or more bits on the
amplifier's event status register. The trigger occurs as any of the selected bits are
set. Note that this trigger type does not use a trace variable.
TRACETRIG_EVENTCLR Treat the trigger level as a bit mask which selects one or more bits on the
amplifier's event status register. The trigger occurs as any of the selected bits are
clear. Note that this trigger type does not use a trace variable.
TRACETRIG_FGEN_CYCLE Trigger at the start of the next function generator cycle. This trigger type is only
useful when running in function generator mode. It does not use a trace variable
or the trigger level.
TRACETRIG_CAP_SET Treat the trigger level as a bit mask which selects one or more bits on the
amplifier's capture status register. The trigger occurs as any of the selected bits
are set. Note that this trigger type does not use a trace variable.
TRACETRIG_BITCHANGE Treat the trigger level as a bit mask which selects one or more bits on the selected
trace variable. The trigger occurs as soon as any of the selected bits change state.
TRACETRIG_NODELAY If this bit is set, then the trigger is allowed to occur even if the trace setup delay
has not yet occurred. Normally, if a negative trace delay is set then that much time
must expire after the trace has been started before a trigger will be recognized. If
this bit is set, the trigger will be recognized even if the setup delay hasn't been met.
TRACETRIG_SAMPLE Only take a single sample for each trigger. Normally, the occurance of the trigger
causes the trace to begin sampling data and stop when the trace buffer is full. If
this bit is set, each trigger occurance will cause a single sample of trace data.

6.20.1.9 AMP_TRACE_VAR

enum AMP_TRACE_VAR

Amplifier trace variables.

This enumeration lists the amplifier variables that are available for use with the amplifier's internal trace routine.

Enumerator

TRACEVAR_HIGH_VOLT High voltage bus.

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Enumerator

TRACEVAR_TEMP Amplifier temperature.

TRACEVAR_ANALOG_REF Analog reference input.
TRACEVAR_ENC_SIN Analog encoder sine.
TRACEVAR_ENC_COS Analog encoder cosine.
TRACEVAR_PHASE Motor phase angle.
TRACEVAR_HALLS Hall sensor state.
TRACEVAR_INPUTS digital input pins (after deadtime)
TRACEVAR_RAW_INPUTS digital input pins (before deadtime)
TRACEVAR_EVENTS Event status register.
TRACEVAR_EVENTLATCH Latched version of event status register.
TRACEVAR_CRNT_A Actual current, current sensor A.
TRACEVAR_CRNT_B Actual current, current sensor B.
TRACEVAR_CRNT_CMD Commanded current (before limiting)
TRACEVAR_CRNT_LIM Commanded current (after limiting)
Commanded current, D axis.
TRACEVAR_CRNT_CMD_D
Commanded current, Q axis.
TRACEVAR_CRNT_CMD_Q
TRACEVAR_CRNT_ACT_D Actual current, calculated for D axis.
TRACEVAR_CRNT_ACT_Q Actual current, calculated for Q axis.
TRACEVAR_CRNT_ERR_D Current loop error, D axis.
TRACEVAR_CRNT_ERR_Q Current loop error, Q axis.
TRACEVAR_VOLT_D Current loop output voltage, D axis.
TRACEVAR_VOLT_Q Current loop output voltage, Q axis.
TRACEVAR_VEL_MTR Motor velocity with some filtering.
TRACEVAR_VEL_RAW Motor velocity, unfiltered.
TRACEVAR_VEL_LOAD Load encoder velocity.
TRACEVAR_VLOOP_CMD Velocity loop commanded velocity (before limiting)
TRACEVAR_VLOOP_LIM Velocity loop commanded velocity (after limiting)
TRACEVAR_VLOOP_ERR Velocity loop error.
TRACEVAR_LOAD_POS Load encoder position.
TRACEVAR_MTR_POS Motor encoder position.
TRACEVAR_POS_ERR Position error.
TRACEVAR_CMD_POS Commanded position from trajectory generator.
TRACEVAR_CMD_VEL Commanded velocity from trajectory generator.
TRACEVAR_CMD_ACC Commanded acceleration from trajectory generator.
TRACEVAR_DEST_POS Destination position.

6.20.1.10 COPLEY_HOME_METHOD

enum COPLEY_HOME_METHOD

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Home methods supported by the Copley amplifier.

This enumeration gives more useful names to the various homing methods currently supported by the Copley amplifier.

The names of the members of this enumeration define the type of homing procedure. These names are made up of the
following elements:

1. CHM: prefix that identifies the member as a Copley Home Method

2. Sensor: Defines the type of sensor that defines the location of the home position. It will be one of the following:

• PLIM: A positive limit switch

• NLIM: A negative limit switch
• PHOME: A positive home switch. This is a home switch that goes active at some point, and remains active
for all greater positions.
• NHOME: A negative home switch. This is a home switch that goes active at some point, and remains active
for all lower positions.
• LHOME: The lower side of a momentary home switch. This type of home switch has an active region and is
inactive on either side of that region. This choice selects the lower edge of that switch.
• UHOME: The upper side of a momentary home switch. This type of home switch has an active region and
is inactive on either side of that region. This choice selects the upper edge of that switch.

3. Index: This defines whether an encoder index pulse will be used to mark the exact home location in conjunction
with the sensor. If so, it identifies which index position will be used. It will be one of the following:

• none: If not specified, then no index is used. The edge of the sensor will define the home position.
• ONDX: Outter index switch. This is an index on the inactive side of the sensor
• INDX: Inner index switch. This is the first index on the active side of the sensor.

4. Initial move direction: For some home methods, this is provided and defines the initial move direction. The initial
move direction is only specified if it isn't already obvious based on the home type.

• none: The initial move direction is always obvious and does not need to be specified.
• NEG: Move in the negative direction if the home position is not obvious. If the negative limit switch is
encountered before the home region is found, then the move direction will be reversed.
• POS: Move in the negative direction if the home position is not obvious. If the positive limit switch is encoun-
tered before the home region is found, then the move direction will be reversed.

Enumerator

CHM_NLIM_ONDX Move into the negative limit switch, then back out to the first encoder index
pulse beyond it. The index position is home.
CHM_PLIM_ONDX Move into the positive limit switch, then back out to the first encoder index
pulse beyond it. The index position is home.
CHM_PHOME_ONDX Move to a positive home switch, then back out of it to the first encoder index
outside the home region. The index position is home.
CHM_PHOME_INDX Move to a positive home switch, and continue into it to the first encoder index
inside the home region. The index position is home.
CHM_NHOME_ONDX Move to a negative home switch, then back out of it to the first encoder index
outside the home region. The index position is home.

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Enumerator

CHM_NHOME_INDX Move to a negative home switch, and continue into it to the first encoder index
inside the home region. The index position is home.
CHM_LHOME_ONDX_POS Move to the lower side of a momentary home switch. Then find the first
encoder index pulse outside the home region. If the home switch is not active
when the home sequence starts, then the initial move will be positive.
CHM_LHOME_INDX_POS Move to the lower side of a momentary home switch. Then find the first
encoder index pulse inside the home region. If the home switch is not active
when the home sequence starts, then the initial move will be positive.
CHM_UHOME_INDX_POS Move to the upper side of a momentary home switch. Then find the first
encoder index pulse inside the home region. If the home switch is not active
when the home sequence starts, then the initial move will be positive.
CHM_UHOME_ONDX_POS Move to the upper side of a momentary home switch. Then find the first
encoder index pulse outside the home region. If the home switch is not active
when the home sequence starts, then the initial move will be positive.
CHM_UHOME_ONDX_NEG Move to the upper side of a momentary home switch. Then find the first
encoder index pulse outside the home region. If the home switch is not active
when the home sequence starts, then the initial move will be negative.
CHM_UHOME_INDX_NEG Move to the upper side of a momentary home switch. Then find the first
encoder index pulse inside the home region. If the home switch is not active
when the home sequence starts, then the initial move will be negative.
CHM_LHOME_INDX_NEG Move to the lower side of a momentary home switch. Then find the first
encoder index pulse inside the home region. If the home switch is not active
when the home sequence starts, then the initial move will be negative.
CHM_LHOME_ONDX_NEG Move to the lower side of a momentary home switch. Then find the first
encoder index pulse outside the home region. If the home switch is not active
when the home sequence starts, then the initial move will be negative.
CHM_NLIM Move into the negative limit switch. The edge of the limit is home.
CHM_PLIM Move into the positive limit switch. The edge of the limit is home.
CHM_PHOME Move to a positive home switch. The edge of the home region is home.
CHM_NHOME Move to a negative home switch. The edge of the home region is home.
CHM_LHOME_POS Move to the lower side of a momentary home switch. The edge of the home
region is home. If the home switch is not active when the home sequence
starts, then the initial move will be positive.
CHM_UHOME_POS Move to the upper side of a momentary home switch. The edge of the home
region is home. If the home switch is not active when the home sequence
starts, then the initial move will be positive.
CHM_UHOME_NEG Move to the upper side of a momentary home switch. The edge of the home
region is home. If the home switch is not active when the home sequence
starts, then the initial move will be negative.
CHM_LHOME_NEG Move to the lower side of a momentary home switch. The edge of the home
region is home. If the home switch is not active when the home sequence
starts, then the initial move will be negative.
CHM_NDX_NEG Move in the negative direction until the first encoder index pulse is found. The
index position is home.
CHM_NDX_POS Move in the positive direction until the first encoder index pulse is found. The
index position is home.
CHM_NONE Set the current position to home.

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Enumerator

CHM_HARDSTOP_POS Home to a hard stop. The motor will start running in the positive direction until
the homing current has been reached. It will hold this current until the homing
delay has expired. The actual position after that delay is home.
CHM_HARDSTOP_NEG Home to a hard stop. The motor will start running in the negative direction until
the homing current has been reached. It will hold this current until the homing
delay has expired. The actual position after that delay is home.
CHM_HARDSTOP_ONDX_POS Home to a hard stop. The motor will start running in the positive direction until
the homing current has been reached. It will hold this current until the homing
delay has expired. It will them move away from the hard stop until an index
mark is located. The index position is home.
CHM_HARDSTOP_ONDX_NEG Home to a hard stop. The motor will start running in the negative direction until
the homing current has been reached. It will hold this current until the homing
delay has expired. It will them move away from the hard stop until an index
mark is located. The index position is home.
CHM_EXTENDED Home using an extended home method. This is not a real home method, but
instead a flag that is used by the Amp::GoHome function to indicate that a
non-standard homing method is to be used. When this value is passed it
instructs the GoHome function to execute the home sequence through the use
of a special low-level homing parameter implemented in the amplifier firmware.
This allows a bit more flexibility on the home sequencer.

6.20.1.11 EVENT_STATUS

enum EVENT_STATUS

Amplifier event status word bit definitions.

Enumerator

ESTAT_SHORT_CRCT Amplifier short circuit.

ESTAT_AMP_TEMP Amplifier over temperature.
ESTAT_OVER_VOLT Amplifier over voltage.
ESTAT_UNDER_VOLT Amplifier under voltage.
ESTAT_MTR_TEMP Motor over temperature.
ESTAT_ENCODER_PWR Encoder power error.
ESTAT_PHASE_ERR Phasing error.
ESTAT_CRNT_LIM Current limited.
ESTAT_VOLT_LIM Voltage limited.
ESTAT_POSLIM Positive limit switch triggered.
ESTAT_NEGLIM Negative limit switch triggered.
ESTAT_DISABLE_INPUT Enable input pin not set.
ESTAT_SOFT_DISABLE Disabled due to software request.
ESTAT_STOP Try to stop motor (after disable, before brake)

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Enumerator

ESTAT_BRAKE Brake actuated.

ESTAT_PWM_DISABLE PWM outputs disabled.
ESTAT_SOFTLIM_POS Positive software limit reached.
ESTAT_SOFTLIM_NEG Negative software limit reached.
ESTAT_TRK_ERR Tracking error.
ESTAT_TRK_WARN Tracking warning.
ESTAT_RESET Amplifier has been reset.
ESTAT_POSWRAP Encoder position wrapped (rotory) or hit limit (linear).
ESTAT_FAULT Latching fault in effect.
ESTAT_VEL_LIMIT Velocity is at limit.
ESTAT_ACC_LIMIT Acceleration is at limit.
ESTAT_TRK_WIN Not in tracking window if set.
ESTAT_HOME Home switch is active.
ESTAT_MOVING Trajectory generator active OR not yet settled.
ESTAT_VEL_WIN Velocity error outside of velocity window when set.
ESTAT_PHASE_INIT Set when using algorithmic phase init mode & phase not initialized.
ESTAT_CMD_INPUT Command input fault is active.

6.20.1.12 HALT_MODE

enum HALT_MODE

The amplifier's halt mode defines it's action when a halt command is issued (Amp::HaltMove).

When the halt command is issued, the move in progress will be terminated using the method defined in this mode.
Unless the HALT_DISABLE method is selected, the amplifier will remain enabled and holding position at the end of the
halt sequence.

Enumerator

HALT_DISABLE Disable the amplifier immediately.

HALT_DECEL Slow down using the profile deceleration.
HALT_QUICKSTOP Slow down using the quick stop deceleration.
HALT_ABRUPT Slow down with unlimited deceleration.

6.20.1.13 INPUT_PIN_CONFIG

enum INPUT_PIN_CONFIG

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Input pin configuration settings.

The digital input pins located on an amplifier can be programmed to perform some action. This enumeration provides a
list of the possible settings for an input pin.

Note that it is perfectly legal to program more then one input pin to perform the same action. It's often useful to have two
hardware disable inputs for example. If either of these inputs becomes active, the amplifier will be disabled.

Note: Bits 12-13 of the input config specify the axis the input configuration will be applied to.

Whether the inputs are configured to perform some action or not, it's still possible to read them directly using the Amp←-
::GetInputs function.

Enumerator

INCFG_NONE No function assigned to the input.

INCFG_RESET_R Reset the amplifier on the Rising edge of the input.
INCFG_RESET_F Reset the amplifier on the Falling edge of the input.
INCFG_POSLIM_H Positive limit switch, active High.
INCFG_POSLIM_L Positive limit switch, active Low.
INCFG_NEGLIM_H Negative limit switch, active High.
INCFG_NEGLIM_L Negative limit switch, active Low.
INCFG_MOTOR_TEMP_H Motor temp sensor active high.
INCFG_MOTOR_TEMP_L Motor temp sensor active low.
INCFG_CLR_FAULTS_H Clear faults on edge, disable while high.
INCFG_CLR_FAULTS_L Clear faults on edge, disable while low.
INCFG_RESET_DISABLE_R Reset on rising edge, disable while high.
INCFG_RESET_DISABLE_F Reset on falling edge, disable while low.
INCFG_HOME_H Home switch, active high.
INCFG_HOME_L Home switch, active low.
INCFG_DISABLE_H Amplifier disable active high.
INCFG_DISABLE_L Amplifier disable active low.
INCFG_PWM_SYNC_H Sync input on falling edge, valid only on high speed inputs.
INCFG_MOTION_ABORT_H Abort motion active high.
INCFG_MOTION_ABORT_L Abort motion active low.
INCFG_SCALE_ADC_H Scale analog reference input by a factor of 8 when high.
INCFG_SCALE_ADC_L Scale analog reference input by a factor of 8 when low.
INCFG_HIGHSPEED_CAPTURE_R High speed position capture on rising edge.
INCFG_HIGHSPEED_CAPTURE_F High speed position capture on falling edge.
INCFG_COUNT_EDGES_R Count rising edges of input, store the results to an indexer register.
INCFG_COUNT_EDGES_F Count falling edges of input, store the results to an indexer register.
INCFG_ENCODER_FAULT_H Encoder fault input, active high.
INCFG_ENCODER_FAULT_L Encoder fault input, active low.
INCFG_ABORT_WINDOW_R Abort move on rising edge if not within N counts of destination position.
INCFG_ABORT_WINDOW_F Abort move on falling edge if not within N counts of destination position.
INCFG_HV_LOSS_DISABLE_H Mark HV loss on rising edge, disable while high.
INCFG_HV_LOSS_DISABLE_L Mark HV loss on falling edge, disable while low.
INCFG_TRJ_UPDATE_R Trajectory update on rising edge.

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Enumerator

INCFG_TRJ_UPDATE_F Trajectory update on falling edge.

INCFG_CLR_FAULTS_EVENTS_R Clear faults and event latch on rising edge.
INCFG_CLR_FAULTS_EVENTS_F Clear faults and event latch on falling edge.
Disable simulated encoder output when low. Burst current position on
INCFG_DIS_SIM_ENC_L_BURST_R encoder output on rising edge.
INCFG_DIS_SIM_ENC_H_BURST←- Disable simulated encoder output when high. Burst current position on
_F encoder output on falling edge.

6.20.1.14 OUTPUT_PIN_CONFIG

enum OUTPUT_PIN_CONFIG

Output pin configuration settings.

The digital output pins located on the amplifier can be programmed to follow one or more bits in one of the amplifier's
status words.

This enumeration is used to specify which status word a particular output pin will follow, and whether the output will be
active high or active low.

Each output pin has a configuration value associated with it (which should be programmed using one of the values of
this enumeration), and a 32-bit mask value. If the output pin is configured to follow a status register, the mask identifies
which bit(s) of the status register should be used to control the output pin. If any of the masked bits in the status register
are set, then the output pin will go active.

Enumerator

OUTCFG_EVENT_STATUS_L The output pin follows the amplifier's event status register and is
active Low.
OUTCFG_EVENT_STATUS_H The output pin follows the amplifier's event status register and is
active High.
OUTCFG_EVENT_LATCH_L The output pin follows the latched version of the amplifier's event
status register and is active Low.
OUTCFG_EVENT_LATCH_H The output pin follows the latched version of the amplifier's event
status register and is active High.
OUTCFG_MANUAL_L The output pin is manually controlled using the Amp::SetOutputs
function, and the output is active Low.
OUTCFG_MANUAL_H The output pin is manually controlled using the Amp::SetOutputs
function, and the output is active High.
OUTCFG_TRJ_STATUS The output pin follows bits in the trajectory status register.
OUTCFG_POSITION_WINDOW The output pin will go active when the actual motor position is greater
then the first output parameter, and less then the second output
parameter.

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Enumerator

OUTCFG_POSITION_TRIG_LOW2HIGH The output pin will go active when the motor actual position crosses
through a programmed value in the low to high direction. The pin will
stay active for a programmed amount of time. The first output
parameter specifies the position, and the second output parameter
specifies the time to remain active in milliseconds.
OUTCFG_POSITION_TRIG_HIGH2LOW The output pin will go active when the motor actual position crosses
through a programmed value in the high to low direction. The pin will
stay active for a programmed amount of time. The first output
parameter specifies the position, and the second output parameter
specifies the time to remain active in milliseconds.
OUTCFG_POSITION_TRIG The output pin will go active when the motor actual position crosses
through a programmed value in either direction. The pin will stay
active for a programmed amount of time. The first output parameter
specifies the position, and the second output parameter specifies the
time to remain active in milliseconds.
OUTCFG_POSITION_TRIG_LIST The output pin will go active when the motor actual position crosses
through any one of a series of programmed values in either direction.
The pin will stay active for a programmed amount of time. The list of
output positions to trigger on must be uploaded into an area of trace
memory. The first output parameter gives a 16-bit word offset into
trace memory in it's upper half, and the number of positions in it's
lower half. The second parameter specifies the time to remain active
in milliseconds.
OUTCFG_SYNC_OUTPUT If set the output pin is used as Sync output. This bit can only be used
with output pin 0.
OUTCFG_ACTIVE_HIGH This bit may be ORed with any of the other output pin configuration
values to make them active high.

6.20.1.15 POS_CAPTURE_CFG

enum POS_CAPTURE_CFG

Position capture configuration.

The amplifier is able to capture the encoder position on one of two events; either the encoder index signal, or a general
purpose input pin which has been configured as a home switch.

This enumeration gives the values that my be used to configure this capture mechanism using the Amp::SetPos←-
CaptureCfg method.

Enumerator

CAPTURE_INDEX_RISING If this bit is set, the rising edge of the encoder index signal will be
used to capture the index position.
CAPTURE_INDEX_FALLING If this bit is set, the falling edge of the encoder index signal will be
used to capture the index position.

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Enumerator

CAPTURE_INDEX_LATCH If this bit is set, then index capture values will not be overwritten if a
new index edge is received before the previously captured value has
been read.
CAPTURE_HOME_LATCH If this bit is set, then captured home sensor positions will not be
overwritten if a new home input edge is received before the previous
captured value was read.
CAPTURE_HIGH_SPEED_INPUT If this bit is set, then the high speed input based position capture is
enabled. Note that this features requires firmware versions >= 5.12
to work.
CAPTURE_HIGH_SPEED_INPUT_LATCH If this bit is set, then captured high speed input positions will not be
overwritten if a new input is received before the previous position
was read.

6.20.1.16 POS_CAPTURE_STAT

enum POS_CAPTURE_STAT

Position capture status register value.

The current status of the position capture mechanism may be read from the amplifier using the method Amp::GetPos←-
CaptureCfg.

This status value is bitmapped as described by this enumeration. Any bits not described here should be ignored. Bits
not described here are reserved and may be either 1 or 0.

Enumerator

CAPTURE_INDEX_FULL If this bit is set it indicates that a new encoder index position has been captured. This
position may be read using the method Amp::GetIndexCapture. Reading the
captured position will cause this bit to be cleared.
CAPTURE_INDEX_OVER If this bit is set it indicates that a new encoder index was received before the previous
captured index position was read from the amplifier. The setting of the
CAPTURE_INDEX_LATCH bit in the capture control register determines whether or
not the new captured position was stored. If the CAPTURE_INDEX_LATCH
configuration bit is set, then the new captured position will be lost. If this bit is clear
then the newly captured position will overwrite the previous position.
Reading the captured position will cause this bit to be cleared.
CAPTURE_HOME_FULL If this bit is set it indicates that a new home sensor position has been captured. This
position may be read using the method Amp::GetHomeCapture. Reading the
captured position will cause this bit to be cleared.
CAPTURE_HOME_OVER If this bit is set it indicates that a new home sensor transition was received before the
previous captured home position was read from the amplifier. The setting of the
CAPTURE_HOME_LATCH bit in the capture control register determines whether or
not the new captured position was stored. If the CAPTURE_HOME_LATCH
configuration bit is set, then the new captured position will be lost. If this bit is clear
then the newly captured position will overwrite the previous position.
Reading the captured position will cause this bit to be cleared.

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6.20.1.17 PROFILE_TYPE

enum PROFILE_TYPE

Point to point profile types.

This enumeration gives the various profile types supported by the Copley amplifiers. These profile types are used when
running in profile position mode (point to point moves).

Enumerator

PROFILE_VEL Velocity profile. In this profile mode the velocity, acceleration and deceleration values are
used. The position value is also used, but it only defines the direction of motion ( positive is
position is >= 0, negative if position is < 0 ).
PROFILE_TRAP Trapezoidal profile. In this profile mode a position, velocity, acceleration and deceleration
may be specified. This profile mode allows any of it's parameters (position, vel, accel,
decel) to be changed during the course of a move.
PROFILE_SCURVE Jerk limited (S-curve) profile. In this mode, position, velocity, acceleration, and jerk (rate of
change of acceleration) may be specified.

6.20.1.18 QUICK_STOP_MODE

enum QUICK_STOP_MODE

The amplifier's quick stop mode defines it's action when a quick stop command is issued (Amp::QuickStop).

The quick stop command differs from the halt command in that the amplifier is always disabled at the end of the
sequence. For some modes, the amplifier automatically disables after halting the move. For others, the amplifier
halts the move and holds in the quick stop state. No new moves may be started until the amplifier has manually been
disabled.

Enumerator

QSTOP_DISABLE Disable the amplifier immediately.

QSTOP_DECEL Slow down using the profile deceleration then disable.
QSTOP_QUICKSTOP Slow down using the quick stop deceleration then disable.
QSTOP_ABRUPT Slow down with unlimited deceleration then disable.
QSTOP_DECEL_HOLD Slow down and hold.
QSTOP_QUICKSTOP_HOLD Quick stop and hold.
QSTOP_ABRUPT_HOLD Abrupt stop and hold.

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6.21 CML_AmpStruct.h File Reference

This file contains a number of structures used to pass configuration parameters to an Amp object.

Include dependency graph for CML_AmpStruct.h:

CML_AmpStruct.h

CML_Filter.h CML_InputShaper.h

CML_SDO.h

CML_Network.h

CML_Can.h

CML_Reference.h

CML_Threads.h

CML_Error.h

CML_Utils.h

limits.h CML_Settings.h

assert.h

This graph shows which files directly or indirectly include this file:

CML_AmpStruct.h

CML_Amp.h

CML_Linkage.h

CML.h

CML_PvtConstAccelTrj.h CML_PvtTrj.h Amp.cpp AmpFile.cpp AmpFW.cpp AmpParam.cpp AmpPDO.cpp AmpPVT.cpp AmpStruct.cpp AmpUnits.cpp AmpVersion.cpp Can.cpp CanOpen.cpp CML.cpp CopleyIO.cpp CopleyNode.cpp ecatdc.cpp Error.cpp EtherCAT.cpp EventMap.cpp File.cpp Filter.cpp Geometry.cpp InputShaper.cpp IOmodule.cpp Linkage.cpp Node.cpp PDO.cpp Reference.cpp SDO.cpp

PvtConstAccelTrj.cpp PvtTrj.cpp

Classes

• class AmpFileError
This class represents error conditions that can occur when loading amplifer data from a data file.
• struct AmpInfo

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6.21 CML_AmpStruct.h File Reference 723

Amplifier characteristics data structure.

• struct PosLoopConfig
This structure holds the position loop configuration parameters specific to the Copley amplifier.
• struct ServoLoopConfig
This structure holds configuration info about specific parts of the velocity and position loops.
• struct EncoderErrorConfig
This structure holds configuration info about the encoder error filter.
• struct VelLoopConfig
This structure holds the velocity loop configuration parameters specific to the Copley amplifier.
• struct CrntLoopConfig
This structure holds the current loop configuration parameters.
• struct HomeConfig
Homing parameter structure.
• struct ProfileConfig
Amplifier profile parameters.
• struct TrackingWindows
Position and velocity error windows.
• struct MtrInfo
Motor information structure.
• struct AmpIoCfg
Programmable I/O pin configuration.
• struct SoftPosLimit
Software limit switch configuration.
• struct RegenConfig
Configuration structure used to set up the amplifier regeneration resister.
• struct FuncGenConfig
Configuration parameters for amplifier's internal function generator.
• struct AnalogRefConfig
Analog input configuration.
• struct PwmInConfig
PWM or Pulse/Direction input configuration.
• struct CanNetworkConfig
CANopen Node ID and bit rate configuration.
• struct NetworkOptions
Configuration structure used to configure the amplifiers network support.
• struct DAConfig
Configuration structure used to hold the settings for a drive's D/A converter.
• struct UstepConfig
Configuration structure used to set up the microstepper.
• struct AlgoPhaseInit
Configuration structure used to set up algorithmic phase init.
• struct CammingConfig
Configuration structure used to set up the camming.
• struct GainScheduling
Configuration structure used to set up the Gain Scheduling.
• struct AmpConfig
Amplifier configuration structure.

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Macros

• #define COPLEY_MAX_INPUTS 26
Maximum available on any amplifier.

Enumerations

• enum CAN_BIT_RATE {
CAN_RATE_1MEG = 0x0000,
CAN_RATE_800K = 0x1000,
CAN_RATE_500K = 0x2000,
CAN_RATE_250K = 0x3000,
CAN_RATE_125K = 0x4000,
CAN_RATE_50K = 0x5000,
CAN_RATE_20K = 0x6000,
CAN_RATE_100K = 0x8000 }
CANopen network bit rate enumeration.

6.21.1 Detailed Description

This file contains a number of structures used to pass configuration parameters to an Amp object.

6.21.2 Enumeration Type Documentation

6.21.2.1 CAN_BIT_RATE

enum CAN_BIT_RATE

CANopen network bit rate enumeration.

Enumerator

CAN_RATE_1MEG 1,000,000 bits / second

CAN_RATE_800K 800,000 bits / second
CAN_RATE_500K 500,000 bits / second
CAN_RATE_250K 250,000 bits / second
CAN_RATE_125K 125,000 bits / second
CAN_RATE_50K 50,000 bits / second
CAN_RATE_20K 20,000 bits / second
CAN_RATE_100K 100,000 bits / second

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6.22 CML_Array.h File Reference

This file implements a simple dynamic array template used in CML.

Include dependency graph for CML_Array.h:

CML_Array.h

CML_Settings.h

assert.h

This graph shows which files directly or indirectly include this file:

CML_Array.h

CML.h

CML_PvtConstAccelTrj.h CML_PvtTrj.h Amp.cpp AmpFile.cpp AmpFW.cpp AmpParam.cpp AmpPDO.cpp AmpPVT.cpp AmpStruct.cpp AmpUnits.cpp AmpVersion.cpp Can.cpp CanOpen.cpp CML.cpp CopleyIO.cpp CopleyNode.cpp ecatdc.cpp Error.cpp EtherCAT.cpp EventMap.cpp File.cpp Filter.cpp Geometry.cpp InputShaper.cpp IOmodule.cpp Linkage.cpp Node.cpp PDO.cpp Reference.cpp SDO.cpp

PvtConstAccelTrj.cpp PvtTrj.cpp

Classes

• class Array< C >

This class template implements a simple dynamic array of a given type.

6.22.1 Detailed Description

This file implements a simple dynamic array template used in CML.

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6.23 CML_Can.h File Reference

This file contains the base classes used to define the low level interface to the CAN network hardware.

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CML_Can.h

CML_Network.h can_copley.h can_kvaser.h

CML_CanOpen.h CML_EtherCAT.h CML_PDO.h CML_SDO.h

CML_Node.h CML_InputShaper.h

CML_Copley.h CML_IO.h Network.cpp

CML_Amp.h CML_CopleyIO.h

CML_Linkage.h CML_Filter.h

CML.h

AmpFW.cpp CML_PvtTrj.h CML_PvtConstAccelTrj.h Amp.cpp AmpFile.cpp AmpParam.cpp AmpPDO.cpp AmpPVT.cpp AmpStruct.cpp AmpUnits.cpp AmpVersion.cpp Can.cpp CanOpen.cpp CML.cpp CopleyIO.cpp CopleyNode.cpp ecatdc.cpp Error.cpp EtherCAT.cpp EventMap.cpp File.cpp Filter.cpp Geometry.cpp InputShaper.cpp IOmodule.cpp Linkage.cpp Node.cpp PDO.cpp Reference.cpp SDO.cpp

PvtTrj.cpp PvtConstAccelTrj.cpp

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Classes

• struct CanFrame
Low level CAN data frame.
• class CanError
Class used to represent an error condition returned from a CAN interface function.
• class CanInterface
Abstract class used for low level interaction with CAN hardware.

Enumerations

• enum CAN_FRAME_TYPE {
CAN_FRAME_DATA,
CAN_FRAME_REMOTE,
CAN_FRAME_ERROR }
This enumeration is used to identify the type of CAN frame.

6.23.1 Detailed Description

This file contains the base classes used to define the low level interface to the CAN network hardware.

6.23.2 Enumeration Type Documentation

6.23.2.1 CAN_FRAME_TYPE

enum CAN_FRAME_TYPE

This enumeration is used to identify the type of CAN frame.

Enumerator

CAN_FRAME_DATA Standard CAN data frame.

CAN_FRAME_REMOTE Remote frame.
CAN_FRAME_ERROR Error frame.

6.24 CML_CanOpen.h File Reference

This header file defines the classes used for the top level of the CANopen network.

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CML_Threads.h

CML_Error.h

CML_Utils.h

limits.h CML_Settings.h

assert.h

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CML_Node.h

CML_Copley.h CML_IO.h Network.cpp

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CML_Linkage.h

CML.h

AmpFW.cpp CML_PvtTrj.h CML_PvtConstAccelTrj.h Amp.cpp AmpFile.cpp AmpParam.cpp AmpPDO.cpp AmpPVT.cpp AmpStruct.cpp AmpUnits.cpp AmpVersion.cpp Can.cpp CanOpen.cpp CML.cpp CopleyIO.cpp CopleyNode.cpp ecatdc.cpp Error.cpp EtherCAT.cpp EventMap.cpp File.cpp Filter.cpp Geometry.cpp InputShaper.cpp IOmodule.cpp Linkage.cpp Node.cpp PDO.cpp Reference.cpp SDO.cpp

PvtTrj.cpp PvtConstAccelTrj.cpp

Classes

• class CanOpenError
This class holds the error codes that describe CANopen error conditions.
• class CanOpenSettings
Configuration object used to customize global settings for the CANopen network.
• struct CanOpenNodeInfo
The CanOpenNodeInfo structure holds some data required by the CANopen network interface which is present in every
node it manages.
• class CanOpen

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The CanOpen class is the top level interface into the CANopen network.
• class Receiver
CANopen receiver object.
• class LSS
CANopen Layer Setting Services object.

6.24.1 Detailed Description

This header file defines the classes used for the top level of the CANopen network.

6.25 CML_Copley.h File Reference

This header file defines a generic Copley node type.

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CML_EtherCAT.h CML_CanOpen.h CML_SDO.h CML_PDO.h

CML_Network.h

CML_Can.h

CML_EventMap.h CML_Reference.h

CML_Firmware.h CML_Threads.h

CML_Error.h

CML_Utils.h

limits.h CML_Settings.h

assert.h

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CML_PvtConstAccelTrj.h CML_PvtTrj.h Amp.cpp AmpFile.cpp AmpParam.cpp AmpPDO.cpp AmpPVT.cpp AmpStruct.cpp AmpUnits.cpp AmpVersion.cpp Can.cpp CanOpen.cpp CML.cpp CopleyIO.cpp CopleyNode.cpp ecatdc.cpp Error.cpp EtherCAT.cpp EventMap.cpp File.cpp Filter.cpp Geometry.cpp InputShaper.cpp IOmodule.cpp Linkage.cpp Node.cpp PDO.cpp Reference.cpp SDO.cpp AmpFW.cpp

PvtConstAccelTrj.cpp PvtTrj.cpp

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Classes

• class CopleyNodeError
This class represents errors that can be returned by the CopleyNode class.
• class CopleyNode
Copley CANopen Node class.

6.25.1 Detailed Description

This header file defines a generic Copley node type.

This is the base class of all CANopen devices produced by Copley Controls Corp.

6.26 CML_CopleyIO.h File Reference

Standard CANopen I/O module support.

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CML_Node.h

CML_EtherCAT.h CML_CanOpen.h CML_SDO.h CML_PDO.h

CML_Network.h

CML_Can.h

CML_EventMap.h CML_Reference.h

CML_Threads.h

CML_Error.h

CML_Utils.h

limits.h CML_Settings.h

assert.h

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CML.h

CML_PvtConstAccelTrj.h CML_PvtTrj.h Amp.cpp AmpFile.cpp AmpFW.cpp AmpParam.cpp AmpPDO.cpp AmpPVT.cpp AmpStruct.cpp AmpUnits.cpp AmpVersion.cpp Can.cpp CanOpen.cpp CML.cpp CopleyIO.cpp CopleyNode.cpp ecatdc.cpp Error.cpp EtherCAT.cpp EventMap.cpp File.cpp Filter.cpp Geometry.cpp InputShaper.cpp IOmodule.cpp Linkage.cpp Node.cpp PDO.cpp Reference.cpp SDO.cpp

PvtConstAccelTrj.cpp PvtTrj.cpp

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Classes

• struct CopleyIOInfo
IO Module characteristics data structure.
• struct CopleyIODigi
This structure is used to return information about the digital I/O of a Copley I/O module.
• struct CopleyIOAnlg
This structure is used to return information about the analog inputs of a Copley I/O module.
• struct CopleyIOPWM
This structure is used to return information about the PWM outputs of a Copley I/O module.
• struct CopleyIOCfg
IO Module configuration structure.
• class CopleyIO
This class represents a Copley CANopen I/O module.
• class IOFileError
This class represents error conditions that can occur when loading IO module data from a data file.

Enumerations

• enum CIO_OBJID {
CIOOBJID_INFO_SERIAL = 0x3000,
CIOOBJID_INFO_MODEL = 0x3001,
CIOOBJID_INFO_MFGINFO = 0x3002,
CIOOBJID_INFO_HWTYPE = 0x3003,
CIOOBJID_INFO_LOOPRATE = 0x3004,
CIOOBJID_INFO_FWVERSION = 0x3010,
CIOOBJID_INFO_BAUD = 0x3011,
CIOOBJID_INFO_MAXWORDS = 0x3012,
CIOOBJID_INFO_NAME = 0x3013,
CIOOBJID_INFO_HOSTCFG = 0x3014,
CIOOBJID_INFO_NODECFG = 0x3015,
CIOOBJID_INFO_RATECFG = 0x3016,
CIOOBJID_INFO_NODEID = 0x3017,
CIOOBJID_INFO_STATUS = 0x3018,
CIOOBJID_INFO_RATE = 0x3019,
CIOOBJID_INFO_ANLGINT = 0x301A,
CIOOBJID_INFO_ANLGINTENA = 0x301B,
CIOOBJID_INFO_DIGIINTENA = 0x301C,
CIOOBJID_INFO_PWMPERIODA = 0x301E,
CIOOBJID_INFO_PWMPERIODB = 0x301F,
CIOOBJID_DIGI_BANKMODE = 0x3020,
CIOOBJID_DIGI_PULLUPMSK = 0x3021,
CIOOBJID_DIGI_TYPEMSK = 0x3022,
CIOOBJID_DIGI_FAULTMSK = 0x3023,
CIOOBJID_DIGI_INVMSK = 0x3024,
CIOOBJID_DIGI_VALUEMSK = 0x3025,
CIOOBJID_DIGI_MODEMSK = 0x3026,
CIOOBJID_DIGI_RAWMSK = 0x3027,
CIOOBJID_DIGI_HILOMSK = 0x3028,
CIOOBJID_DIGI_LOHIMSK = 0x3029,
CIOOBJID_DIGI_DEBOUNCE0 = 0x3030,

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CIOOBJID_DIGI_DEBOUNCE1 = 0x3031,
CIOOBJID_DIGI_DEBOUNCE2 = 0x3032,
CIOOBJID_DIGI_DEBOUNCE3 = 0x3033,
CIOOBJID_DIGI_DEBOUNCE4 = 0x3034,
CIOOBJID_DIGI_DEBOUNCE5 = 0x3035,
CIOOBJID_DIGI_DEBOUNCE6 = 0x3036,
CIOOBJID_DIGI_DEBOUNCE7 = 0x3037,
CIOOBJID_ANLG_IRAW = 0x3040,
CIOOBJID_ANLG_ISCALED = 0x3041,
CIOOBJID_ANLG_IFACTOR = 0x3042,
CIOOBJID_ANLG_IOFFSET = 0x3043,
CIOOBJID_ANLG_IUPLIMIT = 0x3044,
CIOOBJID_ANLG_ILOLIMIT = 0x3045,
CIOOBJID_ANLG_IABSDELTA = 0x3046,
CIOOBJID_ANLG_IPOSDELTA = 0x3047,
CIOOBJID_ANLG_INEGDELTA = 0x3048,
CIOOBJID_ANLG_IFLAGS = 0x3049,
CIOOBJID_ANLG_IMASK = 0x304A,
CIOOBJID_PWM_ORAW = 0x3050,
CIOOBJID_PWM_OSCALED = 0x3051,
CIOOBJID_PWM_OFACTOR = 0x3052,
CIOOBJID_PWM_OOFFSET = 0x3053 }
Object dictionary ID values used on Copley I/O modules.

6.26.1 Detailed Description

Standard CANopen I/O module support.

6.26.2 Enumeration Type Documentation

6.26.2.1 CIO_OBJID

enum CIO_OBJID

Object dictionary ID values used on Copley I/O modules.

Enumerator

CIOOBJID_INFO_SERIAL Serial number.

CIOOBJID_INFO_MODEL Model number string.
CIOOBJID_INFO_MFGINFO Amplifier's manufacturing information string.
CIOOBJID_INFO_HWTYPE Hardware type code.
CIOOBJID_INFO_LOOPRATE Main loop update rate (Hz)
CIOOBJID_INFO_FWVERSION Firmware version number.
CIOOBJID_INFO_BAUD Serial port baud rate (bps)

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Enumerator

CIOOBJID_INFO_MAXWORDS Maximum number of words sent with any command.

CIOOBJID_INFO_NAME I/O module name.
CIOOBJID_INFO_HOSTCFG Host configuration state (CME use only)
CIOOBJID_INFO_NODECFG CAN node ID configuration.
CIOOBJID_INFO_RATECFG CAN bit rate configuration.
CIOOBJID_INFO_NODEID CAN node ID.
CIOOBJID_INFO_STATUS CAN network status word.
CIOOBJID_INFO_RATE CAN network bit rate.
CIOOBJID_INFO_ANLGINT Active analog interrupts.
CIOOBJID_INFO_ANLGINTENA Analog input global interrupt enable.
CIOOBJID_INFO_DIGIINTENA Digital input global interrupt enable.
CIOOBJID_INFO_PWMPERIODA PWM bank A period.
CIOOBJID_INFO_PWMPERIODB PWM bank B period.
CIOOBJID_DIGI_BANKMODE Digital I/O bank mode.
CIOOBJID_DIGI_PULLUPMSK Digital I/O pull-up resistor mask.
CIOOBJID_DIGI_TYPEMSK Digital I/O output type mask.
CIOOBJID_DIGI_FAULTMSK Digital I/O output fault state mask.
CIOOBJID_DIGI_INVMSK Digital I/O inversion mask.
CIOOBJID_DIGI_VALUEMSK Digital I/O data value mask.
CIOOBJID_DIGI_MODEMSK Digital I/O output fault mode mask.
CIOOBJID_DIGI_RAWMSK Digital I/O raw data value mask.
CIOOBJID_DIGI_HILOMSK Digital I/O input low->high interrupt mask.
CIOOBJID_DIGI_LOHIMSK Digital I/O input high->low interrupt mask.
CIOOBJID_DIGI_DEBOUNCE0 Digital I/O debounce time, bit 0.
CIOOBJID_DIGI_DEBOUNCE1 Digital I/O debounce time, bit 1.
CIOOBJID_DIGI_DEBOUNCE2 Digital I/O debounce time, bit 2.
CIOOBJID_DIGI_DEBOUNCE3 Digital I/O debounce time, bit 3.
CIOOBJID_DIGI_DEBOUNCE4 Digital I/O debounce time, bit 4.
CIOOBJID_DIGI_DEBOUNCE5 Digital I/O debounce time, bit 5.
CIOOBJID_DIGI_DEBOUNCE6 Digital I/O debounce time, bit 6.
CIOOBJID_DIGI_DEBOUNCE7 Digital I/O debounce time, bit 7.
CIOOBJID_ANLG_IRAW Analog input raw value.
CIOOBJID_ANLG_ISCALED Analog input scaled value.
CIOOBJID_ANLG_IFACTOR Analog input scaling factor.
CIOOBJID_ANLG_IOFFSET Analog input offset.
CIOOBJID_ANLG_IUPLIMIT Analog input upper limit for interrupt.
CIOOBJID_ANLG_ILOLIMIT Analog input lower limit for interrupt.
CIOOBJID_ANLG_IABSDELTA Analog input absolute delta value for interrrupt.
CIOOBJID_ANLG_IPOSDELTA Analog input positive delta value for interrrupt.
CIOOBJID_ANLG_INEGDELTA Analog input negative delta value for interrrupt.
CIOOBJID_ANLG_IFLAGS Analog input interrrupt flags.
CIOOBJID_ANLG_IMASK Analog input interrrupt mask.
CIOOBJID_PWM_ORAW PWM output raw value.

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Enumerator

CIOOBJID_PWM_OSCALED PWM output scaled value.

CIOOBJID_PWM_OFACTOR PWM output scaling factor.
CIOOBJID_PWM_OOFFSET PWM output offset.

6.27 CML_Error.h File Reference

This file defines the top level error class used throughout the library.

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CML_Network.h can_copley.h can_kvaser.h CML_EventMap.h

CML_EtherCAT.h CML_SDO.h CML_CanOpen.h CML_PDO.h

CML_Firmware.h CML_Node.h

CML_Trajectory.h Firmware.cpp CML_Copley.h Network.cpp CML_CopleyIO.h

CML_TrjScurve.h CML_Amp.h

CML.h

AmpFW.cpp CML_PvtTrj.h Amp.cpp AmpFile.cpp AmpParam.cpp AmpPDO.cpp AmpPVT.cpp AmpStruct.cpp AmpUnits.cpp AmpVersion.cpp Can.cpp CanOpen.cpp CML.cpp CopleyIO.cpp CopleyNode.cpp ecatdc.cpp Error.cpp EtherCAT.cpp EventMap.cpp File.cpp Filter.cpp Geometry.cpp InputShaper.cpp CML_PvtConstAccelTrj.h

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Classes

• class Error
This class is the root class for all error codes returned by functions defined within the Motion Library.

6.27.1 Detailed Description

This file defines the top level error class used throughout the library.

6.28 CML_EtherCAT.h File Reference

This header file defines the classes used to represent the top level of the EtherCAT network interface.

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CML.h

AmpFW.cpp CML_PvtTrj.h CML_PvtConstAccelTrj.h Amp.cpp AmpFile.cpp AmpParam.cpp AmpPDO.cpp AmpPVT.cpp AmpStruct.cpp AmpUnits.cpp AmpVersion.cpp Can.cpp CanOpen.cpp CML.cpp CopleyIO.cpp CopleyNode.cpp ecatdc.cpp Error.cpp EtherCAT.cpp EventMap.cpp File.cpp Filter.cpp Geometry.cpp InputShaper.cpp IOmodule.cpp Linkage.cpp Node.cpp PDO.cpp Reference.cpp SDO.cpp

PvtTrj.cpp PvtConstAccelTrj.cpp

Classes

• class EtherCatError
This class holds the error codes that describe EtherCAT error conditions.
• class EtherCatSettings
Configuration object used to customize global settings for the EtherCAT network.
• class EtherCatHardware
Low level Ethernet hardware interface.
• class EtherCAT
The EtherCAT class is the top level interface into the EtherCAT network.
• class EcatDgram
Generic EtherCAT datagram class.
• struct BRD
Broadcast read.
• struct BWR
Broadcast write. This type of datagram writes data to the same location on every node in the network.
• struct APRD
Read by position in network (aka Auto Increment Physical Read) The read is performed on the node who's position
matches the passed address.
• struct APWR
Write by position in network (Auto Increment Physical Write) Like the APRD datagram, but a write version.
• struct ARMW
Read by position in network and write to the same address of all following nodes.
• struct FPRD
Read by assigned node ID (Configured Address Physical Read) The master assigns each node a unique 16-bit address
at startup.
• struct FPWR
Write by assigned node ID (Configured Address Physical Write)
• class EcatFrame
EtherCAT frame class.

6.28.1 Detailed Description

This header file defines the classes used to represent the top level of the EtherCAT network interface.

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6.29 CML_EventMap.h File Reference

This file defines the Event Map class.

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CML_Linkage.h

CML.h

CML_PvtConstAccelTrj.h CML_PvtTrj.h Amp.cpp AmpFile.cpp AmpParam.cpp AmpPDO.cpp AmpPVT.cpp AmpStruct.cpp AmpUnits.cpp AmpVersion.cpp Can.cpp CanOpen.cpp CML.cpp CopleyIO.cpp CopleyNode.cpp ecatdc.cpp Error.cpp EtherCAT.cpp EventMap.cpp File.cpp Filter.cpp Geometry.cpp InputShaper.cpp IOmodule.cpp Linkage.cpp Node.cpp PDO.cpp Reference.cpp SDO.cpp AmpFW.cpp

PvtConstAccelTrj.cpp PvtTrj.cpp

Classes

• class EventError

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This class represents error conditions related to the Event object.

• class Event
Events are a generic mechanism used to wait on some condition.
• class EventAny
This is an event that matches if any of a group of bits are set in the EventMap mask.
• class EventAnyClear
This is an event that matches if any of a group of bits are clear in the EventMap mask.
• class EventAll
This is an event that matches if all of a group of bits are set in the EventMap mask.
• class EventNone
This is an event that matches if none of a group of bits are set in the EventMap mask.
• class EventMap
An event map is a mechanism that allows one or more threads to wait on some pre-defined event, or group of events.

6.29.1 Detailed Description

This file defines the Event Map class.

6.30 CML_File.h File Reference

This file holds various handy functions for parsing files.

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PvtConstAccelTrj.cpp PvtTrj.cpp

6.30.1 Detailed Description

This file holds various handy functions for parsing files.

6.31 CML_Filter.h File Reference

This file defines the Filter object.

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Classes
• class Filter
Generic filter structure.

6.31.1 Detailed Description

This file defines the Filter object.

The Filter object represents a two pole filter structure used in various locations within the amplifier.

6.32 CML_Firmware.h File Reference

This file defines classes related to the Copley amplifier Firmware object.
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Classes
• class FirmwareError
This class represents error conditions that can occur while accessing a Copley Controls amplifier firmware object.
• class Firmware
Copley Controls amplifier firmware object.

6.32.1 Detailed Description

This file defines classes related to the Copley amplifier Firmware object.

The firmware object is used to update the program within the amplifier. An object of this type must be passed to the
Amp::FirmwareUpdate method to perform this task.

Note that firmware updates are likely to be rare, and are not part of normal operation.

6.33 CML_Geometry.h File Reference

This file contains class definitions used to define multi-axis trajectory paths.

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PvtConstAccelTrj.cpp PvtTrj.cpp

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6.34 CML_InputShaper.h File Reference 743

Classes

• class PointN

An N axis point.

• class Point< N >

Template used for N dimensional objects.

6.33.1 Detailed Description

This file contains class definitions used to define multi-axis trajectory paths.

6.34 CML_InputShaper.h File Reference

This file defines the InputShaper object.

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CML_InputShaper.h

CML_SDO.h

CML_Network.h

CML_Can.h

CML_Reference.h

CML_Threads.h

CML_Error.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

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CML_InputShaper.h

CML_AmpStruct.h

CML_Amp.h

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CML_PvtConstAccelTrj.h CML_PvtTrj.h Amp.cpp AmpFile.cpp AmpFW.cpp AmpParam.cpp AmpPDO.cpp AmpPVT.cpp AmpStruct.cpp AmpUnits.cpp AmpVersion.cpp Can.cpp CanOpen.cpp CML.cpp CopleyIO.cpp CopleyNode.cpp ecatdc.cpp Error.cpp EtherCAT.cpp EventMap.cpp File.cpp Filter.cpp Geometry.cpp InputShaper.cpp IOmodule.cpp Linkage.cpp Node.cpp PDO.cpp Reference.cpp SDO.cpp

PvtConstAccelTrj.cpp PvtTrj.cpp

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6.35 CML_IO.h File Reference 745

Classes

• class InputShaper
Generic input shaper structure.

6.34.1 Detailed Description

This file defines the InputShaper object.

The InputShaper represents a series of impulse functions convolved with an input function.

6.35 CML_IO.h File Reference

Standard CANopen I/O module support.

Include dependency graph for CML_IO.h:

CML_IO.h

CML_Node.h

CML_CanOpen.h CML_EtherCAT.h CML_SDO.h CML_PDO.h

CML_Network.h

CML_Can.h

CML_EventMap.h CML_Reference.h

CML_Threads.h

CML_Error.h

CML_Utils.h

limits.h CML_Settings.h

assert.h

This graph shows which files directly or indirectly include this file:

CML_IO.h

CML_CopleyIO.h

CML.h

CML_PvtConstAccelTrj.h CML_PvtTrj.h Amp.cpp AmpFile.cpp AmpFW.cpp AmpParam.cpp AmpPDO.cpp AmpPVT.cpp AmpStruct.cpp AmpUnits.cpp AmpVersion.cpp Can.cpp CanOpen.cpp CML.cpp CopleyIO.cpp CopleyNode.cpp ecatdc.cpp Error.cpp EtherCAT.cpp EventMap.cpp File.cpp Filter.cpp Geometry.cpp InputShaper.cpp IOmodule.cpp Linkage.cpp Node.cpp PDO.cpp Reference.cpp SDO.cpp

PvtConstAccelTrj.cpp PvtTrj.cpp

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746 File Documentation

Classes

• class IOError
I/O module errors.
• struct IOModuleSettings
Standard CANopen I/O module settings.
• class IOModule
Standard CANopen I/O module.
• class IOModule::DigOutPDO
Receive PDO for mapping digital output pins.
• class IOModule::AlgOutPDO
Receive PDO for mapping analog outputs.
• class IOModule::DigInPDO
Transmit PDO for mapping digital inputs.
• class IOModule::AlgInPDO
Transmit PDO for mapping analog inputs.

Enumerations

• enum IO_OBJID {
IOOBJID_DIN_8_VALUE = 0x6000,
IOOBJID_DIN_8_POL = 0x6002,
IOOBJID_DIN_8_FILT = 0x6003,
IOOBJID_DIN_INTENA = 0x6005,
IOOBJID_DIN_8_MASK_ANY = 0x6006,
IOOBJID_DIN_8_MASK_L2H = 0x6007,
IOOBJID_DIN_8_MASK_H2L = 0x6008,
IOOBJID_DIN_1_VALUE = 0x6020,
IOOBJID_DIN_1_POL = 0x6030,
IOOBJID_DIN_1_FILT = 0x6038,
IOOBJID_DIN_1_MASK_ANY = 0x6050,
IOOBJID_DIN_1_MASK_L2H = 0x6060,
IOOBJID_DIN_1_MASK_H2L = 0x6070,
IOOBJID_DIN_16_VALUE = 0x6100,
IOOBJID_DIN_16_POL = 0x6102,
IOOBJID_DIN_16_FILT = 0x6103,
IOOBJID_DIN_16_MASK_ANY = 0x6106,
IOOBJID_DIN_16_MASK_L2H = 0x6107,
IOOBJID_DIN_16_MASK_H2L = 0x6108,
IOOBJID_DIN_32_VALUE = 0x6120,
IOOBJID_DIN_32_POL = 0x6122,
IOOBJID_DIN_32_FILT = 0x6123,
IOOBJID_DIN_32_MASK_ANY = 0x6126,
IOOBJID_DIN_32_MASK_L2H = 0x6127,
IOOBJID_DIN_32_MASK_H2L = 0x6128,
IOOBJID_DOUT_8_VALUE = 0x6200,
IOOBJID_DOUT_8_POL = 0x6202,
IOOBJID_DOUT_8_ERRMODE = 0x6206,
IOOBJID_DOUT_8_ERRVAL = 0x6207,
IOOBJID_DOUT_8_FILT = 0x6208,
IOOBJID_DOUT_1_VALUE = 0x6220,

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IOOBJID_DOUT_1_POL = 0x6240,
IOOBJID_DOUT_1_ERRMODE = 0x6250,
IOOBJID_DOUT_1_ERRVAL = 0x6260,
IOOBJID_DOUT_1_FILT = 0x6270,
IOOBJID_DOUT_16_VALUE = 0x6300,
IOOBJID_DOUT_16_POL = 0x6302,
IOOBJID_DOUT_16_ERRMODE = 0x6306,
IOOBJID_DOUT_16_ERRVAL = 0x6307,
IOOBJID_DOUT_16_FILT = 0x6308,
IOOBJID_DOUT_32_VALUE = 0x6320,
IOOBJID_DOUT_32_POL = 0x6322,
IOOBJID_DOUT_32_ERRMODE = 0x6326,
IOOBJID_DOUT_32_ERRVAL = 0x6327,
IOOBJID_DOUT_32_FILT = 0x6328,
IOOBJID_AIN_8_VALUE = 0x6400,
IOOBJID_AIN_16_VALUE = 0x6401,
IOOBJID_AIN_32_VALUE = 0x6402,
IOOBJID_AIN_FLT_VALUE = 0x6403,
IOOBJID_AIN_MFG_VALUE = 0x6404,
IOOBJID_AOUT_8_VALUE = 0x6410,
IOOBJID_AOUT_16_VALUE = 0x6411,
IOOBJID_AOUT_32_VALUE = 0x6412,
IOOBJID_AOUT_FLT_VALUE = 0x6413,
IOOBJID_AOUT_MFG_VALUE = 0x6414,
IOOBJID_AIN_TRIG = 0x6421,
IOOBJID_AIN_INTSRC = 0x6422,
IOOBJID_AIN_INTENA = 0x6423,
IOOBJID_AIN_32_UPLIM = 0x6424,
IOOBJID_AIN_32_LWLIM = 0x6425,
IOOBJID_AIN_32_UDELTA = 0x6426,
IOOBJID_AIN_32_NDELTA = 0x6427,
IOOBJID_AIN_32_PDELTA = 0x6428,
IOOBJID_AIN_FLT_UPLIM = 0x6429,
IOOBJID_AIN_FLT_LWLIM = 0x642A,
IOOBJID_AIN_FLT_UDELTA = 0x642B,
IOOBJID_AIN_FLT_NDELTA = 0x642C,
IOOBJID_AIN_FLT_PDELTA = 0x642D,
IOOBJID_AIN_FLT_OFFSET = 0x642E,
IOOBJID_AIN_FLT_SCALE = 0x642F,
IOOBJID_AIN_UNIT = 0x6430,
IOOBJID_AIN_32_OFFSET = 0x6431,
IOOBJID_AIN_32_SCALE = 0x6432,
IOOBJID_AOUT_FLT_OFFSET = 0x6441,
IOOBJID_AOUT_FLT_SCALE = 0x6442,
IOOBJID_AOUT_ERRMODE = 0x6443,
IOOBJID_AOUT_32_ERRVAL = 0x6444,
IOOBJID_AOUT_FLT_ERRVAL = 0x6445,
IOOBJID_AOUT_32_OFFSET = 0x6446,
IOOBJID_AOUT_32_SCALE = 0x6447,
IOOBJID_AOUT_UNIT = 0x6450 }
Object dictionary ID values used on standard I/O modules.
• enum IO_AIN_TRIG_TYPE {
IOAINTRIG_UPPER_LIM = 0x0001,
IOAINTRIG_LOWER_LIM = 0x0002,

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IOAINTRIG_UDELTA = 0x0004,
IOAINTRIG_NDELTA = 0x0008,
IOAINTRIG_PDELTA = 0x0010 }
This enumeration is used to define the types of events that may cause an analog input to generate an interrupt event.
• enum IOMODULE_EVENTS {
IOEVENT_DIN_PDO0 = 0x00000001,
IOEVENT_AIN_PDO0 = 0x00010000,
IOEVENT_AIN_PDO1 = 0x00020000,
IOEVENT_AIN_PDO2 = 0x00040000 }
This enumeration gives the various events that can be waited on.

6.35.1 Detailed Description

Standard CANopen I/O module support.

6.35.2 Enumeration Type Documentation

6.35.2.1 IO_AIN_TRIG_TYPE

enum IO_AIN_TRIG_TYPE

This enumeration is used to define the types of events that may cause an analog input to generate an interrupt event.

Enumerator

IOAINTRIG_UPPER_LIM Input above upper limit.

IOAINTRIG_LOWER_LIM Input below lower limit.
IOAINTRIG_UDELTA Input changed by more then the unsigned delta amount.
IOAINTRIG_NDELTA Input reduced by more then the negative delta amount.
IOAINTRIG_PDELTA Input increased by more then the positive delta.

6.35.2.2 IO_OBJID

enum IO_OBJID

Object dictionary ID values used on standard I/O modules.

Enumerator

IOOBJID_DIN_8_VALUE 8-bit digital input value

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Enumerator

IOOBJID_DIN_8_POL 8-bit digital input polarity

IOOBJID_DIN_8_FILT 8-bit digital input filter constant
IOOBJID_DIN_INTENA Digital input interrupt enable.
IOOBJID_DIN_8_MASK_ANY 8-bit digital input int mask, any change
IOOBJID_DIN_8_MASK_L2H 8-bit digital input int mask, low to high
IOOBJID_DIN_8_MASK_H2L 8-bit digital input int mask, high to low
IOOBJID_DIN_1_VALUE 1-bit digital input value
IOOBJID_DIN_1_POL 1-bit digital input polarity
IOOBJID_DIN_1_FILT 1-bit digital input filter constant
IOOBJID_DIN_1_MASK_ANY 1-bit digital input int mask, any change
IOOBJID_DIN_1_MASK_L2H 1-bit digital input int mask, low to high
IOOBJID_DIN_1_MASK_H2L 1-bit digital input int mask, high to low
IOOBJID_DIN_16_VALUE 16-bit digital input value
IOOBJID_DIN_16_POL 16-bit digital input polarity
IOOBJID_DIN_16_FILT 16-bit digital input filter constant
IOOBJID_DIN_16_MASK_ANY 16-bit digital input int mask, any change
IOOBJID_DIN_16_MASK_L2H 16-bit digital input int mask, low to high
IOOBJID_DIN_16_MASK_H2L 16-bit digital input int mask, high to low
IOOBJID_DIN_32_VALUE 32-bit digital input value
IOOBJID_DIN_32_POL 32-bit digital input polarity
IOOBJID_DIN_32_FILT 32-bit digital input filter constant
IOOBJID_DIN_32_MASK_ANY 32-bit digital input int mask, any change
IOOBJID_DIN_32_MASK_L2H 32-bit digital input int mask, low to high
IOOBJID_DIN_32_MASK_H2L 32-bit digital input int mask, high to low
IOOBJID_DOUT_8_VALUE 8-bit digital output value
IOOBJID_DOUT_8_POL 8-bit digital output polarity
IOOBJID_DOUT_8_ERRMODE 8-bit digital output error mode
IOOBJID_DOUT_8_ERRVAL 8-bit digital output error value
IOOBJID_DOUT_8_FILT 8-bit digital output filter mask
IOOBJID_DOUT_1_VALUE 1-bit digital output value
IOOBJID_DOUT_1_POL 1-bit digital output polarity
IOOBJID_DOUT_1_ERRMODE 1-bit digital output error mode
IOOBJID_DOUT_1_ERRVAL 1-bit digital output error value
IOOBJID_DOUT_1_FILT 1-bit digital output filter mask
IOOBJID_DOUT_16_VALUE 16-bit digital output value
IOOBJID_DOUT_16_POL 16-bit digital output polarity
IOOBJID_DOUT_16_ERRMODE 16-bit digital output error mode
IOOBJID_DOUT_16_ERRVAL 16-bit digital output error value
IOOBJID_DOUT_16_FILT 16-bit digital output filter mask
IOOBJID_DOUT_32_VALUE 32-bit digital output value
IOOBJID_DOUT_32_POL 32-bit digital output polarity
IOOBJID_DOUT_32_ERRMODE 32-bit digital output error mode
IOOBJID_DOUT_32_ERRVAL 32-bit digital output error value

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Enumerator

IOOBJID_DOUT_32_FILT 32-bit digital output filter mask

IOOBJID_AIN_8_VALUE 8-bit analog input value
IOOBJID_AIN_16_VALUE 16-bit analog input value
IOOBJID_AIN_32_VALUE 32-bit analog input value
IOOBJID_AIN_FLT_VALUE floating point analog input value
IOOBJID_AIN_MFG_VALUE manufacturer specific analog input value
IOOBJID_AOUT_8_VALUE 8-bit analog output value
IOOBJID_AOUT_16_VALUE 16-bit analog output value
IOOBJID_AOUT_32_VALUE 32-bit analog output value
IOOBJID_AOUT_FLT_VALUE floating point analog output value
IOOBJID_AOUT_MFG_VALUE manufacturer specific analog output value
IOOBJID_AIN_TRIG Analog input trigger selection.
IOOBJID_AIN_INTSRC Analog input interrupt source.
IOOBJID_AIN_INTENA Analog input interrupt enable.
IOOBJID_AIN_32_UPLIM 32-bit analog input upper limit
IOOBJID_AIN_32_LWLIM 32-bit analog input lower limit
IOOBJID_AIN_32_UDELTA 32-bit analog input unsigned delta
IOOBJID_AIN_32_NDELTA 32-bit analog input negative delta
IOOBJID_AIN_32_PDELTA 32-bit analog input positive delta
IOOBJID_AIN_FLT_UPLIM floating point analog input upper limit
IOOBJID_AIN_FLT_LWLIM floating point analog input lower limit
IOOBJID_AIN_FLT_UDELTA floating point analog input unsigned delta
IOOBJID_AIN_FLT_NDELTA floating point analog input negative delta
IOOBJID_AIN_FLT_PDELTA floating point analog input positive delta
IOOBJID_AIN_FLT_OFFSET floating point analog input offset
IOOBJID_AIN_FLT_SCALE floating point analog input scaling
IOOBJID_AIN_UNIT analog input SI Unit
IOOBJID_AIN_32_OFFSET 32-bit analog input offset
IOOBJID_AIN_32_SCALE 32-bit analog input scaling
IOOBJID_AOUT_FLT_OFFSET floating point analog output offset
IOOBJID_AOUT_FLT_SCALE floating point analog output scaling
IOOBJID_AOUT_ERRMODE analog output error mode
IOOBJID_AOUT_32_ERRVAL 32-bit analog output error value
IOOBJID_AOUT_FLT_ERRVAL floating point analog output error value
IOOBJID_AOUT_32_OFFSET 32-bit analog output offset
IOOBJID_AOUT_32_SCALE 32-bit analog output scaling
IOOBJID_AOUT_UNIT analog output SI Unit

6.35.2.3 IOMODULE_EVENTS

enum IOMODULE_EVENTS

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6.36 CML_Linkage.h File Reference 751

This enumeration gives the various events that can be waited on.

The default events are simply the reception of one of the standard transmit PDO objects.

Enumerator

IOEVENT_DIN_PDO0 Digital input PDO 0 was received. By default, this PDO is transmitted by the module
when any of the first 64 digital inputs changes state.
IOEVENT_AIN_PDO0 Analog input PDO 0 was received. By default, this PDO is transmitted by the module
when any of the first 4 16-bit analog inputs generates an event.
There are many different types of events that are programmable for analog inputs,
however not all I/O module manufacturers support all (or any) of these events. The
function IOmodule::AinSetTrigType can be used to set the type of event associated with
an analog input.
Consult the documentation provided with the I/O module to determine what types of
analog input events are available for your module.
IOEVENT_AIN_PDO1 Analog input PDO 1 was received. This PDO is similar to analog input PDO 0, however it
maps the second group of 4 16-bit analog inputs.
IOEVENT_AIN_PDO2 Analog input PDO 2 was received. This PDO is similar to analog input PDO 0, however it
maps the third group of 4 16-bit analog inputs.

6.36 CML_Linkage.h File Reference

This file defines the Linkage object.

Include dependency graph for CML_Linkage.h:

CML_Linkage.h

CML_Amp.h

CML_Copley.h CML_AmpStruct.h

CML_Node.h CML_Filter.h CML_InputShaper.h

CML_CanOpen.h CML_EtherCAT.h CML_PDO.h CML_SDO.h

CML_EventMap.h CML_Network.h

CML_Can.h CML_AmpDef.h

CML_Reference.h CML_TrjScurve.h

CML_Firmware.h CML_Threads.h CML_Trajectory.h

CML_Error.h CML_Geometry.h

CML_Utils.h

limits.h CML_Settings.h

assert.h

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CML_Linkage.h

CML.h

CML_PvtConstAccelTrj.h CML_PvtTrj.h Amp.cpp AmpFile.cpp AmpFW.cpp AmpParam.cpp AmpPDO.cpp AmpPVT.cpp AmpStruct.cpp AmpUnits.cpp AmpVersion.cpp Can.cpp CanOpen.cpp CML.cpp CopleyIO.cpp CopleyNode.cpp ecatdc.cpp Error.cpp EtherCAT.cpp EventMap.cpp File.cpp Filter.cpp Geometry.cpp InputShaper.cpp IOmodule.cpp Linkage.cpp Node.cpp PDO.cpp Reference.cpp SDO.cpp

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Classes
• class LinkError
This class represents error conditions that can occur in the Linkage class.
• class RPDO_LinkCtrl
Receive PDO used to update the control word of all amplifiers in the linkage.
• class LinkSettings
Linkage object settings.
• class Linkage
Linkage object, used for controlling a group of coordinated amplifiers.

Enumerations
• enum LINK_EVENT {
LINKEVENT_MOVEDONE = 0x00000001,
LINKEVENT_TRJDONE = 0x00000002,
LINKEVENT_NODEGUARD = 0x00000004,
LINKEVENT_FAULT = 0x00000010,
LINKEVENT_ERROR = 0x00000020,
LINKEVENT_POSWARN = 0x00000040,
LINKEVENT_POSWIN = 0x00000080,
LINKEVENT_VELWIN = 0x00000100,
LINKEVENT_DISABLED = 0x00000200,
LINKEVENT_POSLIM = 0x00000400,
LINKEVENT_NEGLIM = 0x00000800,
LINKEVENT_SOFTLIM_POS = 0x00001000,
LINKEVENT_SOFTLIM_NEG = 0x00002000,
LINKEVENT_QUICKSTOP = 0x00004000,
LINKEVENT_ABORT = 0x00008000,
LINKEVENT_TRSTP = 0x00100000 }
Linkage events.

6.36.1 Detailed Description

This file defines the Linkage object.

A linkage is a group of two or more amplifiers which work together.

6.36.2 Enumeration Type Documentation

6.36.2.1 LINK_EVENT

enum LINK_EVENT

Linkage events.

This enumeration provides a list of events that can be used to wait on linkage conditions.

In general, linkage events parallel the amplifier events of all of the amplifiers attached to the linkage. For example, if any
of the amplifiers is reporting an error event, then the linkage will be reporting an error event.

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Enumerator

LINKEVENT_MOVEDONE Set when all amplifiers attached to this linkage have finished their moves and
have settled in to position at the end of the move. Cleared when a new move is
started on any amplifier.
LINKEVENT_TRJDONE Set when all amplifiers attached to the linkage have finished their moves, but have
not yet settled into position at the end of the move. Cleared when a new move is
on any amplifier started.
LINKEVENT_NODEGUARD A node guarding (or heartbeat) error has occurred. This indicates that one of the
amplifiers failed to respond within the expected amount of time for either a
heartbeat or node guarding message.
LINKEVENT_FAULT A latching fault has occurred on one of the amplifiers attached to this linkage.
LINKEVENT_ERROR A non-latching error has occurred on one of the amplifiers.
LINKEVENT_POSWARN One of the the amplifiers is reporting a position warning event.
LINKEVENT_POSWIN One of the amplifiers is reporting a position window event.
LINKEVENT_VELWIN One of the amplifiers is reporting a velocity window event.
LINKEVENT_DISABLED One of the amplifiers is currently disabled.
LINKEVENT_POSLIM The positive limit switch of one or more amplifier is currently active.
LINKEVENT_NEGLIM The negative limit switch of one or more amplifier is currently active.
LINKEVENT_SOFTLIM_POS The positive software limit of one or more amplifier is currently active.
LINKEVENT_SOFTLIM_NEG The negative software limit of one or more amplifier is currently active.
LINKEVENT_QUICKSTOP One of the linkage amplifiers is presently performing a quick stop sequence or is
holding in quick stop mode. The amplifier must be disabled to clear this.
LINKEVENT_ABORT One or more amplifier aborted the last profile without finishing.
LINKEVENT_TRSTP One or more amplifier is trying to stop the motor.

6.37 CML_Network.h File Reference

This header file defines the classes used for the generic top level network interface.

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CML_Can.h

CML_Reference.h

CML_Threads.h

CML_Error.h

CML_Utils.h

limits.h CML_Settings.h

assert.h

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CML_Network.h

CML_SDO.h CML_PDO.h CML_CanOpen.h CML_EtherCAT.h

CML_Filter.h CML_InputShaper.h CML_Node.h

CML_AmpStruct.h CML_IO.h CML_Copley.h Network.cpp

CML_Amp.h CML_CopleyIO.h

CML_Linkage.h

CML.h

CML_PvtTrj.h CML_PvtConstAccelTrj.h Amp.cpp AmpFile.cpp AmpParam.cpp AmpPDO.cpp AmpPVT.cpp AmpStruct.cpp AmpUnits.cpp AmpVersion.cpp Can.cpp CanOpen.cpp CML.cpp CopleyIO.cpp CopleyNode.cpp ecatdc.cpp Error.cpp EtherCAT.cpp EventMap.cpp File.cpp Filter.cpp Geometry.cpp InputShaper.cpp IOmodule.cpp Linkage.cpp Node.cpp PDO.cpp Reference.cpp SDO.cpp AmpFW.cpp

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6.37 CML_Network.h File Reference 755

Classes

• class NetworkError
This class holds the error codes that describe various Netowrk error conditions.
• class NetworkNodeInfo
Private data owned by the network object attached to every node.
• class Network
Abstract network class.

Enumerations

• enum NodeState {
NODESTATE_INVALID,
NODESTATE_UNKNOWN,
NODESTATE_GUARDERR,
NODESTATE_STOPPED,
NODESTATE_PRE_OP,
NODESTATE_OPERATIONAL,
NODESTATE_SAFE_OP }
Enumeration used to identify a network node state.
• enum NetworkType {
NET_TYPE_CANOPEN,
NET_TYPE_ETHERCAT,
NET_TYPE_INVALID }
Enumeration used to identify a type of network architecture.
• enum GuardProtocol {
GUARDTYPE_NONE,
GUARDTYPE_HEARTBEAT,
GUARDTYPE_NODEGUARD }
Enumeration used to identify the various types of node guarding protocols.

6.37.1 Detailed Description

This header file defines the classes used for the generic top level network interface.

6.37.2 Enumeration Type Documentation

6.37.2.1 GuardProtocol

enum GuardProtocol

Enumeration used to identify the various types of node guarding protocols.

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Enumerator

GUARDTYPE_NONE No guarding protocol is in use.

GUARDTYPE_HEARTBEAT The heartbeat protocol is being used.
GUARDTYPE_NODEGUARD Node guarding protocol is being used.

6.37.2.2 NetworkType

enum NetworkType

Enumeration used to identify a type of network architecture.

Enumerator

NET_TYPE_CANOPEN CANopen network.

NET_TYPE_ETHERCAT EtherCAT network.
NET_TYPE_INVALID Invalid network type.

6.37.2.3 NodeState

enum NodeState

Enumeration used to identify a network node state.

Enumerator

NODESTATE_INVALID Invalid node state.

NODESTATE_UNKNOWN Unknown state - the default state on node creation. The state will be changed
when communication with the node is established.
NODESTATE_GUARDERR On a node guarding or heartbeat timeout, the state will change to guard error.
NODESTATE_STOPPED Stopped state (aka init state for EtherCAT)
NODESTATE_PRE_OP Pre-operational state.
NODESTATE_OPERATIONAL Operational state.
NODESTATE_SAFE_OP Safe-operational state.

6.38 CML_Node.h File Reference

This header file defines the classes that define a generic node on the network.

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CML_EventMap.h CML_Reference.h

CML_Threads.h

CML_Error.h

CML_Utils.h

limits.h CML_Settings.h

assert.h

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CML_Linkage.h

CML.h

AmpFW.cpp CML_PvtTrj.h Amp.cpp AmpFile.cpp AmpParam.cpp AmpPDO.cpp AmpPVT.cpp AmpStruct.cpp AmpUnits.cpp AmpVersion.cpp Can.cpp CanOpen.cpp CML.cpp CopleyIO.cpp CopleyNode.cpp ecatdc.cpp Error.cpp EtherCAT.cpp EventMap.cpp File.cpp Filter.cpp Geometry.cpp InputShaper.cpp IOmodule.cpp Linkage.cpp Node.cpp PDO.cpp Reference.cpp SDO.cpp CML_PvtConstAccelTrj.h

PvtTrj.cpp PvtConstAccelTrj.cpp

Classes

• class NodeError
This class represents node errors.
• struct NodeIdentity
CANopen identity object.
• class Node
Node class.

6.38.1 Detailed Description

This header file defines the classes that define a generic node on the network.

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6.39 CML_PDO.h File Reference

This header file defines the classes used to communicate to CANopen nodes using Process Data Objects (PDOs).
Include dependency graph for CML_PDO.h:

CML_PDO.h

CML_Network.h

CML_Can.h

CML_Reference.h

CML_Threads.h

CML_Error.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

This graph shows which files directly or indirectly include this file:

CML_PDO.h

CML_Node.h

CML_Copley.h Network.cpp CML_IO.h

CML_Amp.h CML_CopleyIO.h

CML_Linkage.h

CML.h

AmpFW.cpp Amp.cpp AmpFile.cpp AmpParam.cpp AmpPDO.cpp AmpPVT.cpp AmpStruct.cpp AmpUnits.cpp AmpVersion.cpp Can.cpp CanOpen.cpp CML.cpp CopleyIO.cpp CopleyNode.cpp ecatdc.cpp Error.cpp EtherCAT.cpp EventMap.cpp File.cpp Filter.cpp Geometry.cpp InputShaper.cpp IOmodule.cpp Linkage.cpp Node.cpp PDO.cpp Reference.cpp SDO.cpp CML_PvtTrj.h CML_PvtConstAccelTrj.h

PvtTrj.cpp PvtConstAccelTrj.cpp

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Classes

• class PDO_Error
This class represents error conditions related to PDOs.
• class Pmap
This class allows variables to be mapped into a PDO.
• class PmapRaw
This is the most generic PDO variable mapping class.
• class Pmap32
This is a PDO variable mapping class that extends the virtual Pmap class to handle 32-bit integers.
• class Pmap24
This is a PDO variable mapping class that extends the virtual Pmap class to handle 24-bit integers.
• class Pmap16
This is a PDO variable mapping class that extends the virtual Pmap class to handle 16-bit integers.
• class Pmap8
This is a PDO variable mapping class that extends the virtual Pmap class to handle 8-bit integers.
• class PDO
PDO (Process Data Object) base class.
• class TPDO
Transmit PDO (transmitted by node, received by this software).
• class RPDO
Receive PDO (received by node, transmitted by this software).

Macros

• #define PDO_MAP_LEN 32
Number of variables that may be added to a PDO's map.
• #define FLG_RTR_OK 0x01
Flag used by transmit PDOs to indicate that RTR requests are allowed.

6.39.1 Detailed Description

This header file defines the classes used to communicate to CANopen nodes using Process Data Objects (PDOs).

6.40 CML_PvtConstAccelTrj.h File Reference

This header file defines the classes that define the PvtConstAccelTrj class.

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CML_PvtConstAccelTrj.h

CML.h

CML_PvtTrj.h CML_Linkage.h

vector list CML_Amp.h CML_TrjScurve.h CML_CopleyIO.h CML_File.h

CML_AmpStruct.h CML_Copley.h CML_IO.h CML_AmpDef.h

CML_Filter.h CML_InputShaper.h CML_Node.h

CML_SDO.h CML_CanOpen.h CML_EtherCAT.h CML_PDO.h

CML_Network.h CML_EventMap.h

CML_Geometry.h CML_Can.h

CML_Trajectory.h CML_Reference.h

CML_Firmware.h CML_Threads.h

CML_Error.h CML_Array.h

CML_Utils.h

limits.h CML_Settings.h

assert.h

This graph shows which files directly or indirectly include this file:

CML_PvtConstAccelTrj.h

CML.h

CML_PvtTrj.h Amp.cpp AmpFile.cpp AmpFW.cpp AmpParam.cpp AmpPDO.cpp AmpPVT.cpp AmpStruct.cpp AmpUnits.cpp AmpVersion.cpp Can.cpp CanOpen.cpp CML.cpp CopleyIO.cpp CopleyNode.cpp ecatdc.cpp Error.cpp EtherCAT.cpp EventMap.cpp File.cpp Filter.cpp Geometry.cpp InputShaper.cpp IOmodule.cpp Linkage.cpp Node.cpp PDO.cpp Reference.cpp SDO.cpp PvtConstAccelTrj.cpp

PvtTrj.cpp

Classes
• class PvtConstAccelTrjError
• class PvtConstAccelTrj

6.40.1 Detailed Description

This header file defines the classes that define the PvtConstAccelTrj class.

The class is derived from the Linkage Trajectory class and is used to calculate a set of velocities that produce constant
acceleration from a given set of positions and time constants.

6.41 CML_PvtTrj.h File Reference

This header file defines the classes that define the PvtTrj class.

Include dependency graph for CML_PvtTrj.h:

CML_PvtTrj.h

CML.h

CML_PvtConstAccelTrj.h CML_Linkage.h

vector list CML_Amp.h CML_TrjScurve.h CML_CopleyIO.h CML_File.h

CML_AmpStruct.h CML_Copley.h CML_IO.h CML_AmpDef.h

CML_Filter.h CML_InputShaper.h CML_Node.h

CML_SDO.h CML_CanOpen.h CML_EtherCAT.h CML_PDO.h

CML_Network.h CML_EventMap.h

CML_Geometry.h CML_Can.h

CML_Trajectory.h CML_Reference.h

CML_Firmware.h CML_Threads.h

CML_Error.h CML_Array.h

CML_Utils.h

limits.h CML_Settings.h

assert.h

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This graph shows which files directly or indirectly include this file:

CML_PvtTrj.h

CML.h

CML_PvtConstAccelTrj.h Amp.cpp AmpFile.cpp AmpFW.cpp AmpParam.cpp AmpPDO.cpp AmpPVT.cpp AmpStruct.cpp AmpUnits.cpp AmpVersion.cpp Can.cpp CanOpen.cpp CML.cpp CopleyIO.cpp CopleyNode.cpp ecatdc.cpp Error.cpp EtherCAT.cpp EventMap.cpp File.cpp Filter.cpp Geometry.cpp InputShaper.cpp IOmodule.cpp Linkage.cpp Node.cpp PDO.cpp Reference.cpp SDO.cpp PvtTrj.cpp

PvtConstAccelTrj.cpp

Classes

• class PvtTrjError

• class PvtTrj

6.41.1 Detailed Description

This header file defines the classes that define the PvtTrj class.

The class is derived from the Linkage Trajectory class and is send velocity, position, and time data to the trajectory
generator.

6.42 CML_Reference.h File Reference

This header file defines a set of classes used to handle reference counting within the CML library.

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CML_Threads.h

CML_Error.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

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CML_Reference.h

CML_Can.h

CML_Network.h can_copley.h can_kvaser.h

CML_SDO.h CML_EtherCAT.h CML_PDO.h CML_CanOpen.h

CML_InputShaper.h CML_Node.h

Network.cpp CML_Copley.h CML_IO.h

CML_Filter.h CML_Amp.h CML_CopleyIO.h

CML.h

AmpFW.cpp Amp.cpp AmpFile.cpp AmpParam.cpp AmpPDO.cpp AmpPVT.cpp AmpStruct.cpp AmpUnits.cpp AmpVersion.cpp Can.cpp CanOpen.cpp CML.cpp CopleyIO.cpp CopleyNode.cpp ecatdc.cpp Error.cpp EtherCAT.cpp EventMap.cpp File.cpp Filter.cpp Geometry.cpp InputShaper.cpp IOmodule.cpp Linkage.cpp Node.cpp PDO.cpp Reference.cpp SDO.cpp CML_PvtTrj.h CML_PvtConstAccelTrj.h

PvtTrj.cpp PvtConstAccelTrj.cpp

Classes

• class RefObj
This class is used to track object references in the CML library.
• class RefObjLocker< RefClass >
This is a utility class that locks a reference in it's constructor, and unlocks it in it's destructor.

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6.42.1 Detailed Description

This header file defines a set of classes used to handle reference counting within the CML library.

6.43 CML_SDO.h File Reference

This header file defines the classes used to communicate to CANopen nodes using Service Data Objects (SDOs).

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CML_SDO.h

CML_Network.h

CML_Can.h

CML_Reference.h

CML_Threads.h

CML_Error.h

CML_Utils.h

limits.h CML_Settings.h

assert.h

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This graph shows which files directly or indirectly include this file:

CML_SDO.h

CML_Filter.h CML_InputShaper.h CML_Node.h

CML_AmpStruct.h Network.cpp CML_Copley.h CML_IO.h

CML_Amp.h CML_CopleyIO.h

CML_Linkage.h

CML.h

CML_PvtConstAccelTrj.h CML_PvtTrj.h Amp.cpp AmpFile.cpp AmpParam.cpp AmpPDO.cpp AmpPVT.cpp AmpStruct.cpp AmpUnits.cpp AmpVersion.cpp Can.cpp CanOpen.cpp CML.cpp CopleyIO.cpp CopleyNode.cpp ecatdc.cpp Error.cpp EtherCAT.cpp EventMap.cpp File.cpp Filter.cpp Geometry.cpp InputShaper.cpp IOmodule.cpp Linkage.cpp Node.cpp PDO.cpp Reference.cpp SDO.cpp AmpFW.cpp

PvtConstAccelTrj.cpp PvtTrj.cpp

Classes

• class SDO_Error
This class represents SDO errors.
• class SDO
CANopen Service Data Object (SDO).

Macros

• #define SDO_BLK_DNLD_THRESHOLD 15
SDO downloads of this size (byte) or greater are more efficiently handled using a block download.
• #define SDO_BLK_UPLD_THRESHOLD 15
SDO uploads of this size (byte) or greater are more efficiently handled using a block upload.

6.43.1 Detailed Description

This header file defines the classes used to communicate to CANopen nodes using Service Data Objects (SDOs).

6.43.2 Macro Definition Documentation

6.43.2.1 SDO_BLK_DNLD_THRESHOLD

#define SDO_BLK_DNLD_THRESHOLD 15

SDO downloads of this size (byte) or greater are more efficiently handled using a block download.

6.43.2.2 SDO_BLK_UPLD_THRESHOLD

#define SDO_BLK_UPLD_THRESHOLD 15

SDO uploads of this size (byte) or greater are more efficiently handled using a block upload.

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6.44 CML_Settings.h File Reference

This file provides some configuration options used to customize the Copley Motion Libraries.

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CML_Settings.h

assert.h

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CML_Settings.h

CML_Utils.h

CML_Error.h can_copley.h CML_Geometry.h

CML_Threads.h CML_Trajectory.h CML_Firmware.h

can_ixxat.h can_ixxat_v3.h can_kvaser.h CML_Reference.h

CML_Network.h CML_EventMap.h CML_TrjScurve.h

CML_EtherCAT.h CML_PDO.h CML_CanOpen.h CML_SDO.h

CML_Node.h CML_InputShaper.h CML_Filter.h

Network.cpp CML_IO.h CML_AmpStruct.h CML_Copley.h CML_AmpDef.h

CML_CopleyIO.h CML_Amp.h CML_File.h

CML_Linkage.h CML_Array.h

CML.h

Geometry.cpp AmpFile.cpp AmpParam.cpp AmpPDO.cpp AmpPVT.cpp AmpStruct.cpp AmpUnits.cpp AmpVersion.cpp Can.cpp CanOpen.cpp CML.cpp CopleyIO.cpp CopleyNode.cpp CML_PvtConstAccelTrj.h CML_PvtTrj.h Amp.cpp AmpFW.cpp

Macros

• #define CML_NAMESPACE CML

Library namespace.
• #define CML_HASH_SIZE 1483
Size of the hash table used to associate CAN messages with their receivers.
• #define CML_FILE_ACCESS_OK
Enable file access.
• #define CML_ALLOW_FLOATING_POINT
Allow use of floating point math.
• #define CML_ENABLE_USER_UNITS
Enable user units.
• #define CML_DEBUG_ASSERT
Enable debug assertions.
• #define CML_MAX_AMPS_PER_LINK 32

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This defines the maximum number of amplifiers that may be controlled by a single linkage object.
• #define CML_LINKAGE_TRJ_BUFFER_SIZE 50
This parameter controls the size of the trajectory buffer used by the linkage object.
• #define CML_ERROR_HASH_SIZE 64
Size of the hash table used by the Error::Lookup method.
• #define CML_ERROR_MESSAGES
The CML::Error object includes a text message for each error type.
• #define CML_ENABLE_IOMODULE_PDOS
This setting enables/disables the use of PDO objects within the IOModule class.
• #define CML_MAX_ECAT_FRAMES 100
Size of extra private data for the Thread object.
• #define CML_NAMESPACE_START() namespace CML_NAMESPACE{
Compiler native type to use for 64-bit integer.

6.44.1 Detailed Description

This file provides some configuration options used to customize the Copley Motion Libraries.

6.44.2 Macro Definition Documentation

6.44.2.1 CML_ALLOW_FLOATING_POINT

#define CML_ALLOW_FLOATING_POINT

Allow use of floating point math.

If this is defined, double precision floating point math will be used in some areas of the libraries. These areas include
trajectory generation and unit conversions. If not defined, then no floating point math will be used, but some features
will be disabled.

6.44.2.2 CML_DEBUG_ASSERT

#define CML_DEBUG_ASSERT

Enable debug assertions.

If this is defined, then some debug code will be added to the library which will use the standard C assert() function to
test for some programming errors. Commenting this out will remove the checks. The standard C header file assert.h
must be available if this feature is used.

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6.44.2.3 CML_ENABLE_IOMODULE_PDOS

#define CML_ENABLE_IOMODULE_PDOS

This setting enables/disables the use of PDO objects within the IOModule class.

The IOModule class is used to access standard CANopen I/O modules on the network. Normally, these modules may
be accessed using fast PDO transfers, however in very low memory embedded systems the extra RAM required to
maintain the PDO objects may not be available. In such situations this setting may be commented out to reduce the
memory footprint of the IOModule class.

6.44.2.4 CML_ENABLE_USER_UNITS

#define CML_ENABLE_USER_UNITS

Enable user units.

If this is defined, then all position, velocity, acceleration & jerk values will be specified in double precision floating point,
and the units used for these values will be programmable. If not defined, then these parameters will all be specified as
32-bit integers using internal amplifier parameters. This is less convenient, but can be much faster for systems without
a floating point processor.

6.44.2.5 CML_ERROR_HASH_SIZE

#define CML_ERROR_HASH_SIZE 64

Size of the hash table used by the Error::Lookup method.

This may be set to zero to disable this feature. Most systems will not require this feature and can safely set this parameter
to zero.

6.44.2.6 CML_ERROR_MESSAGES

#define CML_ERROR_MESSAGES

The CML::Error object includes a text message for each error type.

If this setting is commented out then those messages will not be compiled in with the library. This can be useful for
embedded environments where such messages are not used and represent a large amount of wasted memory.

6.44.2.7 CML_FILE_ACCESS_OK

#define CML_FILE_ACCESS_OK

Enable file access.

The libraries have some features which require the standard C library functions to open, read, and write files. Some
embedded systems do not support a file system, so these features may be disabled by commenting out the define. For
systems which do support the standard C file access functions, this should be enabled.

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6.44.2.8 CML_HASH_SIZE

#define CML_HASH_SIZE 1483

Size of the hash table used to associate CAN messages with their receivers.

Larger tables give faster access, but use more memory.

The following values have been selected as good options for a typical CANopen system: 2053, 1483, 1097, 683, 409.

6.44.2.9 CML_LINKAGE_TRJ_BUFFER_SIZE

#define CML_LINKAGE_TRJ_BUFFER_SIZE 50

This parameter controls the size of the trajectory buffer used by the linkage object.

The linkage object uses this buffer when streaming multi-axis PVT profiles. If multi-axis PVT profiles are not required
then setting may be commented out. Doing so will significantly reduce the size of the linkage object. If multi-axis PVTs
are required, set this to the length of the buffer. A value of 50 is a reasonable choice.

6.44.2.10 CML_MAX_AMPS_PER_LINK

#define CML_MAX_AMPS_PER_LINK 32

This defines the maximum number of amplifiers that may be controlled by a single linkage object.

The absolute maximum value that this can accept is 32, however it can be lowered to reduce the memory requirements
of the library. This setting also limits the number of independent axes/link. Normally, the number of amps & axes is the
same, but the Linkage object may be extended for conditions where this isn't true. In any case, there can be no more
then this many axes/link.

6.44.2.11 CML_MAX_ECAT_FRAMES

#define CML_MAX_ECAT_FRAMES 100

Size of extra private data for the Thread object.

This setting should be left undefined for most systems. It's provided to allow greater flexibility when porting the libraries
to another operating system. Size of extra private data for the Mutex object. This setting should be left undefined for
most systems. It's provided to allow greater flexibility when porting the libraries to another operating system. Size of
extra private data for the Semaphore object. This setting should be left undefined for most systems. It's provided to
allow greater flexibility when porting the libraries to another operating system. Number of EtherCAT frames that each
EtherCAT interface can keep track of at a time.

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6.44.2.12 CML_NAMESPACE

#define CML_NAMESPACE CML

Library namespace.

This gives the name of the C++ namespace which will be used to contain the library. If no namespace is desired, just
comment out the define

6.44.2.13 CML_NAMESPACE_START

#define CML_NAMESPACE_START( ) namespace CML_NAMESPACE{

Compiler native type to use for 64-bit integer.

Normally this doesn't need to be defined, but if you're getting compiler errors related to the int64 type you can set this
Some C++ compilers support the C99 style stdint.h header which defines variables of standard sizes. Uncomment this
line to use that header to define the 64-bit integer type. If this line is uncommented, then CML_INT64_TYPE is ignored.

6.45 CML_Threads.h File Reference

The classes defined in this file provide an operating system independent way of accessing multi-tasking system features.

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This graph shows which files directly or indirectly include this file:

CML_Threads.h

CML_Reference.h can_ixxat.h can_ixxat_v3.h Threads.cpp

CML_Can.h

CML_Network.h can_copley.h can_kvaser.h CML_EventMap.h

CML_EtherCAT.h CML_SDO.h CML_PDO.h CML_CanOpen.h

CML_Node.h CML_Amp.h

CML_Linkage.h

CML.h

CML_PvtConstAccelTrj.h CML_PvtTrj.h Amp.cpp AmpFile.cpp AmpFW.cpp AmpParam.cpp AmpPDO.cpp AmpPVT.cpp AmpStruct.cpp AmpUnits.cpp AmpVersion.cpp Can.cpp CanOpen.cpp CML.cpp CopleyIO.cpp CopleyNode.cpp ecatdc.cpp Error.cpp EtherCAT.cpp EventMap.cpp File.cpp Filter.cpp Geometry.cpp InputShaper.cpp IOmodule.cpp Linkage.cpp Node.cpp PDO.cpp Reference.cpp SDO.cpp

PvtConstAccelTrj.cpp PvtTrj.cpp

Classes

• class ThreadError

Errors related to the multi-threaded libraries.

• class Thread

Virtual class which provides multi-tasking.

• class Mutex

This class represents an object that can be used by multiple threads to gain safe access to a shared resource.

• class MutexLocker

This is a utility class that locks a mutex in it's constructor, and unlocks it in it's destructor.

• class Semaphore

Generic semaphore class.

6.45.1 Detailed Description

The classes defined in this file provide an operating system independent way of accessing multi-tasking system features.

The implementation of these classes will be different for different supported platforms.

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6.46 CML_Trajectory.h File Reference

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CML_Trajectory.h

CML_Amp.h CML_TrjScurve.h

CML_Linkage.h

CML.h

CML_PvtConstAccelTrj.h CML_PvtTrj.h Amp.cpp AmpFile.cpp AmpFW.cpp AmpParam.cpp AmpPDO.cpp AmpPVT.cpp AmpStruct.cpp AmpUnits.cpp AmpVersion.cpp Can.cpp CanOpen.cpp CML.cpp CopleyIO.cpp CopleyNode.cpp ecatdc.cpp Error.cpp EtherCAT.cpp EventMap.cpp File.cpp Filter.cpp Geometry.cpp InputShaper.cpp IOmodule.cpp Linkage.cpp Node.cpp PDO.cpp Reference.cpp SDO.cpp

PvtConstAccelTrj.cpp PvtTrj.cpp

Classes

• class TrjError
This class represents error conditions reported by the trajectory classes.
• class Trajectory
Trajectory information class.
• class LinkTrajectory
Linkage trajectory.

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6.47 CML_TrjScurve.h File Reference

This file defines the TrjScurve class.

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CML_Trajectory.h

CML_Error.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

This graph shows which files directly or indirectly include this file:

CML_TrjScurve.h

CML_Linkage.h

CML.h

CML_PvtConstAccelTrj.h CML_PvtTrj.h Amp.cpp AmpFile.cpp AmpFW.cpp AmpParam.cpp AmpPDO.cpp AmpPVT.cpp AmpStruct.cpp AmpUnits.cpp AmpVersion.cpp Can.cpp CanOpen.cpp CML.cpp CopleyIO.cpp CopleyNode.cpp ecatdc.cpp Error.cpp EtherCAT.cpp EventMap.cpp File.cpp Filter.cpp Geometry.cpp InputShaper.cpp IOmodule.cpp Linkage.cpp Node.cpp PDO.cpp Reference.cpp SDO.cpp

PvtConstAccelTrj.cpp PvtTrj.cpp

Classes

• class ScurveError
This class represents error conditions that can occur in the TrjScurve class.

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• class TrjScurve
Asymmetric S-curve profile generator.
• class LinkTrjScurve
Multi-axis s-curve profile.

6.47.1 Detailed Description

This file defines the TrjScurve class.

This class is used to calculate asymmetric S-curve trajectory profiles for use by the Amp or Linkage objects.

6.48 CML_Utils.h File Reference

This file holds various handy utility types and functions.

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CML_Utils.h

CML_Error.h CML_Filter.h CML_InputShaper.h

CML_Threads.h CML_Can.h CML_Firmware.h CML_AmpStruct.h

can_kvaser.h CML_Network.h CML_EventMap.h can_copley.h Firmware.cpp

CML_EtherCAT.h CML_CanOpen.h CML_PDO.h

CML_Node.h

CML_Trajectory.h Network.cpp CML_IO.h CML_Copley.h

CML_TrjScurve.h CML_CopleyIO.h CML_Amp.h CML_Geometry.h

CML_Linkage.h

CML.h

AmpFile.cpp AmpParam.cpp AmpPDO.cpp AmpPVT.cpp AmpStruct.cpp AmpUnits.cpp AmpVersion.cpp Can.cpp CanOpen.cpp CML.cpp CopleyIO.cpp CopleyNode.cpp ecatdc.cpp Error.cpp EtherCAT.cpp EventMap.cpp File.cpp Filter.cpp Geometry.cpp CML_PvtConstAccelTrj.h CML_PvtTrj.h Amp.cpp AmpFW.cpp

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Macros

• #define ByteCast(x) ((byte)(x))

The ByteCast() macro is used to cast a value to a byte type (unsigned char).

Typedefs

• typedef unsigned char uchar

unsigned character
• typedef unsigned char byte
unsigned character
• typedef unsigned int uint
unsigned integer type
• typedef unsigned long ulong
unsigned long type
• typedef signed char int8
8-bit integer type
• typedef unsigned char uint8
8-bit unsigned integer type
• typedef short int16
Signed 16-bit integer type.
• typedef unsigned short uint16
16-bit unsigned integer type
• typedef int int32
Signed 32-bit integer type.
• typedef unsigned int uint32
Unsigned 32-bit integer type.
• typedef CML_INT64_TYPE int64
Signed 64-bit integer type.
• typedef double uunit
User programmable unit.

6.48.1 Detailed Description

This file holds various handy utility types and functions.

6.48.2 Macro Definition Documentation

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6.48.2.1 ByteCast

#define ByteCast(
x ) ((byte)(x))

The ByteCast() macro is used to cast a value to a byte type (unsigned char).

The reason that a macro is used rather then a simple cast is that some processors have characters that are more then
8 bits long. This is particularly common with 16-bit or 32-bit microcontrollers and DSPs. On such systems the ByteCast
macro will strip off any upper bits and then cast the result to a byte. On systems with 8-bit bytes the ByteCast macro
simply casts the passed value to a byte.

6.48.3 Typedef Documentation

6.48.3.1 int16

int16

Signed 16-bit integer type.

Note that the actual definition of this type will depend on the compiler being used. The standard C language header file
limits.h will be used to determine how to create the type definition.

6.48.3.2 int32

int32

Signed 32-bit integer type.

Note that the actual definition of this type will depend on the compiler being used. The standard C language header file
limits.h will be used to determine how to create the type definition.

6.48.3.3 int64

int64

Signed 64-bit integer type.

If this isn't working correctly, check the library configuration in the file CML_Settings.h

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6.49 CopleyIO.cpp File Reference 777

6.48.3.4 uint16

uint16

16-bit unsigned integer type

Unsigned 16-bit integer type.

Note that the actual definition of this type will depend on the compiler being used. The standard C language header file
limits.h will be used to determine how to create the type definition.

6.48.3.5 uint32

uint32

Unsigned 32-bit integer type.

Note that the actual definition of this type will depend on the compiler being used. The standard C language header file
limits.h will be used to determine how to create the type definition.

6.48.3.6 uunit

uunit

User programmable unit.

If user units are enabled in the CML_Settings.h file, then this type will resolve to double precision floating point. If not,
then this type will resolve to a 32-bit integer.

User units are used for all position, velocity, acceleration, and jerk values passed to/from an Amp object.

6.49 CopleyIO.cpp File Reference

This file contains the CopleyIO object methods used to upload / download structures containing groups of module
parameters.

Include dependency graph for CopleyIO.cpp:

CopleyIO.cpp

CML.h

CML_Linkage.h CML_PvtTrj.h CML_PvtConstAccelTrj.h

CML_File.h CML_CopleyIO.h CML_Amp.h CML_TrjScurve.h list vector

CML_AmpDef.h CML_IO.h CML_Copley.h CML_AmpStruct.h

CML_Node.h CML_Filter.h CML_InputShaper.h

CML_PDO.h CML_EtherCAT.h CML_CanOpen.h CML_SDO.h

CML_Network.h CML_EventMap.h

CML_Can.h CML_Geometry.h

CML_Reference.h CML_Trajectory.h

CML_Threads.h CML_Firmware.h

CML_Error.h CML_Array.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

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778 File Documentation

6.49.1 Detailed Description

This file contains the CopleyIO object methods used to upload / download structures containing groups of module
parameters.

6.50 CopleyNode.cpp File Reference

This file holds code to implement the CopleyNode object.

Include dependency graph for CopleyNode.cpp:

CopleyNode.cpp

CML.h

CML_Linkage.h CML_PvtTrj.h CML_PvtConstAccelTrj.h

CML_File.h CML_CopleyIO.h CML_Amp.h CML_TrjScurve.h list vector

CML_AmpDef.h CML_IO.h CML_Copley.h CML_AmpStruct.h

CML_Node.h CML_Filter.h CML_InputShaper.h

CML_PDO.h CML_EtherCAT.h CML_CanOpen.h CML_SDO.h

CML_Network.h CML_EventMap.h

CML_Can.h CML_Geometry.h

CML_Reference.h CML_Trajectory.h

CML_Threads.h CML_Firmware.h

CML_Error.h CML_Array.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

6.50.1 Detailed Description

This file holds code to implement the CopleyNode object.

6.51 ecatdc.cpp File Reference

This file holds some utility code used by the EtherCAT network when initializing it's distributed clock.

Include dependency graph for ecatdc.cpp:

ecatdc.cpp

string.h time.h CML.h

CML_Linkage.h CML_PvtTrj.h CML_PvtConstAccelTrj.h

CML_File.h CML_CopleyIO.h CML_Amp.h CML_TrjScurve.h list vector

CML_AmpDef.h CML_IO.h CML_Copley.h CML_AmpStruct.h

CML_Node.h CML_Filter.h CML_InputShaper.h

CML_PDO.h CML_EtherCAT.h CML_CanOpen.h CML_SDO.h

CML_Network.h CML_EventMap.h

CML_Can.h CML_Geometry.h

CML_Reference.h CML_Trajectory.h

CML_Threads.h CML_Firmware.h

CML_Error.h CML_Array.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

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6.52 Error.cpp File Reference 779

6.51.1 Detailed Description

This file holds some utility code used by the EtherCAT network when initializing it's distributed clock.

6.52 Error.cpp File Reference

This file handles initializing the static data objects used by the Error class.

Include dependency graph for Error.cpp:

Error.cpp

CML.h

CML_Linkage.h CML_PvtTrj.h CML_PvtConstAccelTrj.h

CML_File.h CML_CopleyIO.h CML_Amp.h CML_TrjScurve.h list vector

CML_AmpDef.h CML_IO.h CML_Copley.h CML_AmpStruct.h

CML_Node.h CML_Filter.h CML_InputShaper.h

CML_PDO.h CML_EtherCAT.h CML_CanOpen.h CML_SDO.h

CML_Network.h CML_EventMap.h

CML_Can.h CML_Geometry.h

CML_Reference.h CML_Trajectory.h

CML_Threads.h CML_Firmware.h

CML_Error.h CML_Array.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

6.52.1 Detailed Description

This file handles initializing the static data objects used by the Error class.

6.53 EtherCAT.cpp File Reference

This file holds code for the top level EtherCAT class.

Include dependency graph for EtherCAT.cpp:

EtherCAT.cpp

string.h CML.h

CML_Linkage.h CML_PvtTrj.h CML_PvtConstAccelTrj.h

CML_File.h CML_CopleyIO.h CML_Amp.h CML_TrjScurve.h list vector

CML_AmpDef.h CML_IO.h CML_Copley.h CML_AmpStruct.h

CML_Node.h CML_Filter.h CML_InputShaper.h

CML_PDO.h CML_EtherCAT.h CML_CanOpen.h CML_SDO.h

CML_Network.h CML_EventMap.h

CML_Can.h CML_Geometry.h

CML_Reference.h CML_Trajectory.h

CML_Threads.h CML_Firmware.h

CML_Error.h CML_Array.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

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780 File Documentation

Macros

• #define SM_RXMBX 0
The EtherCatNodeInfo structure holds some data required by the EtherCAT network interface which is present in every
node it manages.

6.53.1 Detailed Description

This file holds code for the top level EtherCAT class.

This class manages the EtherCAT network.

6.53.2 Macro Definition Documentation

6.53.2.1 SM_RXMBX

#define SM_RXMBX 0

The EtherCatNodeInfo structure holds some data required by the EtherCAT network interface which is present in every
node it manages.

The contents of this structure should be considered the private property of the EtherCAT class.

6.54 EventMap.cpp File Reference

This file contains the implementation of the EventMap class.

Include dependency graph for EventMap.cpp:

EventMap.cpp

CML.h

CML_Linkage.h CML_PvtTrj.h CML_PvtConstAccelTrj.h

CML_File.h CML_CopleyIO.h CML_Amp.h CML_TrjScurve.h list vector

CML_AmpDef.h CML_IO.h CML_Copley.h CML_AmpStruct.h

CML_Node.h CML_Filter.h CML_InputShaper.h

CML_PDO.h CML_EtherCAT.h CML_CanOpen.h CML_SDO.h

CML_Network.h CML_EventMap.h

CML_Can.h CML_Geometry.h

CML_Reference.h CML_Trajectory.h

CML_Threads.h CML_Firmware.h

CML_Error.h CML_Array.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

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6.55 File.cpp File Reference 781

6.54.1 Detailed Description

This file contains the implementation of the EventMap class.

6.55 File.cpp File Reference

This file contains code used to parse CME-2 type files.

Include dependency graph for File.cpp:

File.cpp

CML.h

CML_Linkage.h CML_PvtTrj.h CML_PvtConstAccelTrj.h

CML_File.h CML_CopleyIO.h CML_Amp.h CML_TrjScurve.h list vector

CML_AmpDef.h CML_IO.h CML_Copley.h CML_AmpStruct.h

CML_Node.h CML_Filter.h CML_InputShaper.h

CML_PDO.h CML_EtherCAT.h CML_CanOpen.h CML_SDO.h

CML_Network.h CML_EventMap.h

CML_Can.h CML_Geometry.h

CML_Reference.h CML_Trajectory.h

CML_Threads.h CML_Firmware.h

CML_Error.h CML_Array.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

6.55.1 Detailed Description

This file contains code used to parse CME-2 type files.

6.56 Filter.cpp File Reference

Implementation of the Filter class.

Include dependency graph for Filter.cpp:

Filter.cpp

CML.h

CML_Linkage.h CML_PvtTrj.h CML_PvtConstAccelTrj.h

CML_File.h CML_CopleyIO.h CML_Amp.h CML_TrjScurve.h list vector

CML_AmpDef.h CML_IO.h CML_Copley.h CML_AmpStruct.h

CML_Node.h CML_Filter.h CML_InputShaper.h

CML_PDO.h CML_EtherCAT.h CML_CanOpen.h CML_SDO.h

CML_Network.h CML_EventMap.h

CML_Can.h CML_Geometry.h

CML_Reference.h CML_Trajectory.h

CML_Threads.h CML_Firmware.h

CML_Error.h CML_Array.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

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782 File Documentation

6.56.1 Detailed Description

Implementation of the Filter class.

6.57 Firmware.cpp File Reference

Include dependency graph for Firmware.cpp:

Firmware.cpp

stdio.h CML_Firmware.h

CML_Error.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

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6.58 Geometry.cpp File Reference 783

6.58 Geometry.cpp File Reference

Include dependency graph for Geometry.cpp:

Geometry.cpp

CML.h math.h

CML_Linkage.h CML_PvtTrj.h CML_PvtConstAccelTrj.h

CML_File.h CML_CopleyIO.h CML_Amp.h CML_TrjScurve.h list vector

CML_AmpDef.h CML_IO.h CML_Copley.h CML_AmpStruct.h

CML_Node.h CML_InputShaper.h CML_Filter.h

CML_PDO.h CML_SDO.h CML_EtherCAT.h CML_CanOpen.h

CML_Network.h CML_EventMap.h

CML_Can.h CML_Geometry.h

CML_Reference.h CML_Trajectory.h

CML_Threads.h CML_Firmware.h

CML_Error.h CML_Array.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

6.59 InputShaper.cpp File Reference

Implementation of the InputShaper class.

Include dependency graph for InputShaper.cpp:

InputShaper.cpp

CML.h

CML_Linkage.h CML_PvtTrj.h CML_PvtConstAccelTrj.h

CML_File.h CML_CopleyIO.h CML_Amp.h CML_TrjScurve.h list vector

CML_AmpDef.h CML_IO.h CML_Copley.h CML_AmpStruct.h

CML_Node.h CML_Filter.h CML_InputShaper.h

CML_PDO.h CML_EtherCAT.h CML_CanOpen.h CML_SDO.h

CML_Network.h CML_EventMap.h

CML_Can.h CML_Geometry.h

CML_Reference.h CML_Trajectory.h

CML_Threads.h CML_Firmware.h

CML_Error.h CML_Array.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

6.59.1 Detailed Description

Implementation of the InputShaper class.

6.60 IOmodule.cpp File Reference

I/O module object support.

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784 File Documentation

Include dependency graph for IOmodule.cpp:

IOmodule.cpp

CML.h

CML_Linkage.h CML_PvtTrj.h CML_PvtConstAccelTrj.h

CML_File.h CML_CopleyIO.h CML_Amp.h CML_TrjScurve.h list vector

CML_AmpDef.h CML_IO.h CML_Copley.h CML_AmpStruct.h

CML_Node.h CML_Filter.h CML_InputShaper.h

CML_PDO.h CML_EtherCAT.h CML_CanOpen.h CML_SDO.h

CML_Network.h CML_EventMap.h

CML_Can.h CML_Geometry.h

CML_Reference.h CML_Trajectory.h

CML_Threads.h CML_Firmware.h

CML_Error.h CML_Array.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

6.60.1 Detailed Description

I/O module object support.

This file holds the code used to implement a standard DS401 I/O module.

6.61 Linkage.cpp File Reference

Implementation of the Linkage class.

Include dependency graph for Linkage.cpp:

Linkage.cpp

CML.h

CML_Linkage.h CML_PvtTrj.h CML_PvtConstAccelTrj.h

CML_File.h CML_CopleyIO.h CML_Amp.h CML_TrjScurve.h list vector

CML_AmpDef.h CML_IO.h CML_Copley.h CML_AmpStruct.h

CML_Node.h CML_Filter.h CML_InputShaper.h

CML_PDO.h CML_EtherCAT.h CML_CanOpen.h CML_SDO.h

CML_Network.h CML_EventMap.h

CML_Can.h CML_Geometry.h

CML_Reference.h CML_Trajectory.h

CML_Threads.h CML_Firmware.h

CML_Error.h CML_Array.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

Macros

• #define ERROR_EVENTS
Update the status event map used by this linkage.

6.61.1 Detailed Description

Implementation of the Linkage class.

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6.62 Network.cpp File Reference 785

6.62 Network.cpp File Reference

This file holds code for the top level CANopen class.

Include dependency graph for Network.cpp:

Network.cpp

CML_Node.h

CML_SDO.h CML_PDO.h CML_EtherCAT.h CML_CanOpen.h

CML_Network.h

CML_Can.h

CML_Reference.h CML_EventMap.h

CML_Threads.h

CML_Error.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

6.62.1 Detailed Description

This file holds code for the top level CANopen class.

This class is used for over all control of the CANopen network.

6.63 Node.cpp File Reference

This file holds code to implement the CANopen node related objects.

Include dependency graph for Node.cpp:

Node.cpp

CML.h

CML_Linkage.h CML_PvtTrj.h CML_PvtConstAccelTrj.h

CML_File.h CML_CopleyIO.h CML_Amp.h CML_TrjScurve.h list vector

CML_AmpDef.h CML_IO.h CML_Copley.h CML_AmpStruct.h

CML_Node.h CML_Filter.h CML_InputShaper.h

CML_PDO.h CML_EtherCAT.h CML_CanOpen.h CML_SDO.h

CML_Network.h CML_EventMap.h

CML_Can.h CML_Geometry.h

CML_Reference.h CML_Trajectory.h

CML_Threads.h CML_Firmware.h

CML_Error.h CML_Array.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

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786 File Documentation

6.63.1 Detailed Description

This file holds code to implement the CANopen node related objects.

6.64 PDO.cpp File Reference

This file holds the code needed to implement CANopen Process Data Objects (PDOs).

Include dependency graph for PDO.cpp:

PDO.cpp

CML.h

CML_Linkage.h CML_PvtTrj.h CML_PvtConstAccelTrj.h

CML_File.h CML_CopleyIO.h CML_Amp.h CML_TrjScurve.h list vector

CML_AmpDef.h CML_IO.h CML_Copley.h CML_AmpStruct.h

CML_Node.h CML_Filter.h CML_InputShaper.h

CML_PDO.h CML_EtherCAT.h CML_CanOpen.h CML_SDO.h

CML_Network.h CML_EventMap.h

CML_Can.h CML_Geometry.h

CML_Reference.h CML_Trajectory.h

CML_Threads.h CML_Firmware.h

CML_Error.h CML_Array.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

6.64.1 Detailed Description

This file holds the code needed to implement CANopen Process Data Objects (PDOs).

6.65 PvtConstAccelTrj.cpp File Reference

This file holds code to implement the PvtConstAccelTrj class.

Include dependency graph for PvtConstAccelTrj.cpp:

PvtConstAccelTrj.cpp

CML.h iostream

CML_Linkage.h CML_PvtTrj.h CML_PvtConstAccelTrj.h

CML_CopleyIO.h CML_Amp.h CML_TrjScurve.h CML_File.h vector list

CML_IO.h CML_Copley.h CML_AmpStruct.h CML_AmpDef.h

CML_Node.h CML_InputShaper.h CML_Filter.h

CML_PDO.h CML_EtherCAT.h CML_CanOpen.h CML_SDO.h

CML_Network.h CML_EventMap.h

CML_Can.h CML_Geometry.h

CML_Reference.h CML_Trajectory.h

CML_Threads.h CML_Firmware.h

CML_Error.h CML_Array.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

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6.66 PvtTrj.cpp File Reference 787

6.65.1 Detailed Description

This file holds code to implement the PvtConstAccelTrj class.

6.66 PvtTrj.cpp File Reference

This file holds code to implement the PvtTrj class.

Include dependency graph for PvtTrj.cpp:

PvtTrj.cpp

CML.h iostream

CML_Linkage.h CML_PvtConstAccelTrj.h CML_PvtTrj.h

CML_CopleyIO.h CML_Amp.h CML_TrjScurve.h CML_File.h vector list

CML_IO.h CML_Copley.h CML_AmpStruct.h CML_AmpDef.h

CML_Node.h CML_InputShaper.h CML_Filter.h

CML_PDO.h CML_EtherCAT.h CML_CanOpen.h CML_SDO.h

CML_Network.h CML_EventMap.h

CML_Can.h CML_Geometry.h

CML_Reference.h CML_Trajectory.h

CML_Threads.h CML_Firmware.h

CML_Error.h CML_Array.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

6.66.1 Detailed Description

This file holds code to implement the PvtTrj class.

6.67 Reference.cpp File Reference

This file holds the code needed to implement the CML reference counting objects.

Include dependency graph for Reference.cpp:

Reference.cpp

CML.h

CML_Linkage.h CML_PvtTrj.h CML_PvtConstAccelTrj.h

CML_File.h CML_CopleyIO.h CML_Amp.h CML_TrjScurve.h list vector

CML_AmpDef.h CML_IO.h CML_Copley.h CML_AmpStruct.h

CML_Node.h CML_Filter.h CML_InputShaper.h

CML_PDO.h CML_EtherCAT.h CML_CanOpen.h CML_SDO.h

CML_Network.h CML_EventMap.h

CML_Can.h CML_Geometry.h

CML_Reference.h CML_Trajectory.h

CML_Threads.h CML_Firmware.h

CML_Error.h CML_Array.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

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788 File Documentation

6.67.1 Detailed Description

This file holds the code needed to implement the CML reference counting objects.

6.68 SDO.cpp File Reference

This file contains the code used to implement the CANopen SDO objects.

Include dependency graph for SDO.cpp:

SDO.cpp

CML.h

CML_Linkage.h CML_PvtTrj.h CML_PvtConstAccelTrj.h

CML_File.h CML_CopleyIO.h CML_Amp.h CML_TrjScurve.h list vector

CML_AmpDef.h CML_IO.h CML_Copley.h CML_AmpStruct.h

CML_Node.h CML_Filter.h CML_InputShaper.h

CML_PDO.h CML_EtherCAT.h CML_CanOpen.h CML_SDO.h

CML_Network.h CML_EventMap.h

CML_Can.h CML_Geometry.h

CML_Reference.h CML_Trajectory.h

CML_Threads.h CML_Firmware.h

CML_Error.h CML_Array.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

6.68.1 Detailed Description

This file contains the code used to implement the CANopen SDO objects.

6.69 Threads.cpp File Reference

This file only contains definitions for the generic thread error objects.

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6.69 Threads.cpp File Reference 789

Include dependency graph for Threads.cpp:

Threads.cpp

CML_Threads.h

CML_Error.h

CML_Utils.h

CML_Settings.h limits.h

assert.h

6.69.1 Detailed Description

This file only contains definitions for the generic thread error objects.

The code used to implement the OS specific thread methods is located in Operating system specific files such as
Threads_posix.cpp and Threads_w32.cpp.

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790 File Documentation

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Index

∼CanOpen ProfileConfigTrap, 591

CanOpen, 234 ProfileConfigVel, 592
∼CopleyMotionLibrary AccLoad2User
CopleyMotionLibrary, 272 Amp, 46
∼Event AccMtr2User
Event, 324 Amp, 47
∼EventMap AccUser2Load
EventMap, 337 Amp, 47
∼IxxatCAN AccUser2Mtr
IxxatCAN, 454 Amp, 48
∼KvaserCAN accel
KvaserCAN, 465 HomeConfig, 353
∼Receiver SoftPosLimit, 649
Receiver, 604 ActivateBitRate
∼RefObj LSS, 500
RefObj, 608 Add
∼Semaphore EventMap, 338
Semaphore, 641 add
∼SiemensCAN Array, 213
SiemensCAN, 646 AddArc
Path, 544
AMP_EVENT
CML_AmpDef.h, 704 AddLine
AMP_FAULT Path, 545
CML_AmpDef.h, 705 AddSegment
AMP_FEATURE PvtSegCache, 597
CML_AmpDef.h, 705 AddToFrame
AMP_MODE EtherCAT, 308
CML_AmpDef.h, 707 AddVar
AMP_PHASE_MODE PDO, 555
CML_AmpDef.h, 709 Ain16GetCt
AMP_PWM_MODE IOModule, 370
CML_AmpDef.h, 710 Ain16GetLowerLimit
AMP_TRACE_STATUS IOModule, 370
CML_AmpDef.h, 710 Ain16GetNegativeDelta
AMP_TRACE_TRIGGER IOModule, 370
CML_AmpDef.h, 710 Ain16GetPositiveDelta
AMP_TRACE_VAR IOModule, 371
CML_AmpDef.h, 711 Ain16GetUnsignedDelta
APRD, 208 IOModule, 371
APWR, 209 Ain16GetUpperLimit
ARMW, 210 IOModule, 372
abort Ain16Read
ProfileConfig, 588 IOModule, 372
acc Ain16SetLowerLimit
ProfileConfigScurve, 589 IOModule, 373
792 INDEX

Ain16SetNegativeDelta AinFltGetScaling
IOModule, 373 IOModule, 385
Ain16SetPositiveDelta AinFltGetUnsignedDelta
IOModule, 373 IOModule, 386
Ain16SetUnsignedDelta AinFltGetUpperLimit
IOModule, 374 IOModule, 386
Ain16SetUpperLimit AinFltRead
IOModule, 374 IOModule, 387
Ain32GetCt AinFltSetLowerLimit
IOModule, 375 IOModule, 387
Ain32GetLowerLimit AinFltSetNegativeDelta
IOModule, 375 IOModule, 388
Ain32GetNegativeDelta AinFltSetOffset
IOModule, 376 IOModule, 388
Ain32GetOffset AinFltSetPositiveDelta
IOModule, 376 IOModule, 388
Ain32GetPositiveDelta AinFltSetScaling
IOModule, 376 IOModule, 389
Ain32GetScaling AinFltSetUnsignedDelta
IOModule, 377 IOModule, 389
Ain32GetUnsignedDelta AinFltSetUpperLimit
IOModule, 377 IOModule, 390
Ain32GetUpperLimit AinGetIntEna
IOModule, 378 IOModule, 390
Ain32Read AinGetIntSource
IOModule, 378 IOModule, 391
Ain32SetLowerLimit AinGetTrigType
IOModule, 379 IOModule, 391
Ain32SetNegativeDelta AinSetIntEna
IOModule, 379 IOModule, 392
Ain32SetOffset AinSetTrigType
IOModule, 379 IOModule, 392
Ain32SetPositiveDelta AlgoPhaseInit, 26
IOModule, 380 AlgoPhaseInit, 27
Ain32SetScaling phaseInitConfig, 27
IOModule, 380 Amp, 30
Ain32SetUnsignedDelta AccLoad2User, 46
IOModule, 381 AccMtr2User, 47
Ain32SetUpperLimit AccUser2Load, 47
IOModule, 381 AccUser2Mtr, 48
Ain8GetCt Amp, 45, 46
IOModule, 382 CheckStateForMove, 48
Ain8Read ClearEventLatch, 48
IOModule, 382 ClearFaults, 49
AinFltGetCt ClearHaltedMove, 49
IOModule, 382 ClearNodeGuardEvent, 49
AinFltGetLowerLimit Disable, 50
IOModule, 384 Dnld16, 50, 51
AinFltGetNegativeDelta Dnld32, 51, 52
IOModule, 384 Dnld8, 52, 53
AinFltGetOffset DnldString, 53
IOModule, 385 DoMove, 54, 55
AinFltGetPositiveDelta Download, 56
IOModule, 385 Enable, 56

Generated by Doxygen
INDEX 793

FormatPosInit, 57 GetIoConfig, 81
FormatPtSeg, 57 GetIoPullup, 82
FormatPvtSeg, 58 GetIoPullup32, 83
GetAlgoPhaseInit, 58 GetLinkRef, 83
GetAmpConfig, 59 GetLinkage, 83
GetAmpInfo, 59 GetMicrostepRate, 84
GetAmpMode, 60 GetMotorCurrent, 84
GetAmpName, 60 GetMtrInfo, 85
GetAmpTemp, 60 GetNetworkOptions, 85
GetAnalogCommandFilter, 61 GetNetworkRef, 85
GetAnalogEncoder, 61 GetOutputConfig, 86–88
GetAnalogRefConfig, 62 GetOutputs, 89
GetCammingConfig, 62 GetPhaseAngle, 89
GetCanNetworkConfig, 62 GetPhaseMode, 89
GetControlWord, 63 GetPosCaptureCfg, 90
GetCountsPerUnit, 63, 64 GetPosCaptureStat, 90
GetCrntLoopConfig, 64 GetPosLoopConfig, 94
GetCurrentActual, 65 GetPositionActual, 91
GetCurrentCommand, 65 GetPositionCommand, 91
GetCurrentLimited, 66 GetPositionError, 92
GetCurrentProgrammed, 66 GetPositionErrorWindow, 92
GetDAConverterConfig, 66 GetPositionLoad, 92
GetEncoderErrorConfig, 67 GetPositionMotor, 93
GetErrorStatus, 67 GetPositionWarnWindow, 93
GetEventLatch, 68 GetProfileAcc, 94
GetEventMask, 68 GetProfileConfig, 95
GetEventStatus, 69 GetProfileDec, 95
GetEventSticky, 69 GetProfileJerk, 95
GetFaultMask, 70 GetProfileType, 96
GetFaults, 70 GetProfileVel, 96
GetFuncGenConfig, 70 GetPvtBuffFree, 97
GetGainScheduling, 72 GetPvtBuffStat, 97
GetHallState, 72 GetPvtSegID, 97
GetHaltMode, 72 GetPvtSegPos, 98
GetHighVoltage, 73 GetPwmInConfig, 98
GetHomeAccel, 73 GetPwmMode, 99
GetHomeAdjustment, 74 GetQuickStop, 99
GetHomeCapture, 74 GetQuickStopDec, 99
GetHomeConfig, 75 GetRefVoltage, 100
GetHomeCurrent, 75 GetRegenConfig, 100
GetHomeDelay, 75 GetServoLoopConfig, 101
GetHomeMethod, 76 GetSettlingTime, 101
GetHomeOffset, 76 GetSettlingWindow, 102
GetHomeVelFast, 77 GetSoftLimits, 102
GetHomeVelSlow, 77 GetSpecialFirmwareConfig, 102
GetIOOPtions, 82 GetState, 103
GetIloopCommandFilter, 77 GetStatusWord, 103
GetIloopCommandFilter2, 78 GetTargetPos, 104
GetIndexCapture, 78 GetTargetVel, 104
GetInputConfig, 79 GetTorqueActual, 105
GetInputDebounce, 80 GetTorqueDemand, 105
GetInputShapingFilter, 81 GetTorqueRated, 105
GetInputs, 80 GetTorqueSlope, 106
GetInputs32, 81 GetTorqueTarget, 106

Generated by Doxygen
794 INDEX

GetTraceChannel, 107 SetAmpMode, 131

GetTraceData, 107 SetAmpName, 132
GetTraceMaxChannel, 108 SetAnalogCommandFilter, 132
GetTracePeriod, 108 SetAnalogRefConfig, 132
GetTraceRefPeriod, 109 SetCammingConfig, 133
GetTraceStatus, 109 SetCanNetworkConfig, 133
GetTraceTrigger, 110 SetControlWord, 134
GetTrackingWindows, 110 SetCountsPerUnit, 134, 135
GetTrajectoryAcc, 111 SetCrntLoopConfig, 135
GetTrajectoryJrkAbort, 111 SetCurrentProgrammed, 136
GetTrajectoryVel, 111 SetDAConverterConfig, 136
GetUstepConfig, 112 SetEncoderErrorConfig, 137
GetVelLoopConfig, 112 SetFaultMask, 137
GetVelocityActual, 113 SetFuncGenConfig, 138
GetVelocityCommand, 113 SetGainScheduling, 138
GetVelocityLimited, 114 SetHaltMode, 138
GetVelocityLoad, 114 SetHomeAccel, 139
GetVelocityProgrammed, 115 SetHomeConfig, 139
GetVelocityWarnTime, 115 SetHomeCurrent, 140
GetVelocityWarnWindow, 115 SetHomeDelay, 140
GetVloopCommandFilter, 116 SetHomeMethod, 140
GetVloopOutputFilter, 116 SetHomeOffset, 141
GetVloopOutputFilter2, 117 SetHomeVelFast, 141
GetVloopOutputFilter3, 117 SetHomeVelSlow, 142
GoHome, 117, 118 SetIOOptions, 145
HaltMove, 118 SetIloopCommandFilter, 142
HandleStateChange, 118 SetIloopCommandFilter2, 143
Init, 119 SetInputConfig, 143
InitSubAxis, 120 SetInputDebounce, 144
IsHardwareEnabled, 120 SetInputShapingFilter, 144
IsReferenced, 120 SetIoConfig, 144
IsSoftwareEnabled, 121 SetIoPullup, 145
JrkLoad2User, 121 SetIoPullup32, 146
JrkUser2Load, 122 SetMicrostepRate, 146
LoadCCDFromFile, 122 SetMtrInfo, 147
LoadFromFile, 123 SetNetworkOptions, 147
MoveAbs, 123 SetOutputConfig, 147
MoveRel, 123 SetOutputs, 148
PosLoad2User, 124 SetPhaseMode, 149
PosMtr2User, 124 SetPosCaptureCfg, 149
PosUser2Load, 125 SetPosLoopConfig, 153
PosUser2Mtr, 125 SetPositionActual, 150
PvtBufferFlush, 126 SetPositionErrorWindow, 150
PvtBufferPop, 126 SetPositionLoad, 152
PvtClearErrors, 127 SetPositionMotor, 152
PvtStatusUpdate, 127 SetPositionWarnWindow, 153
PvtWriteBuff, 127, 128 SetProfileAcc, 154
QuickStop, 128 SetProfileConfig, 154
ReInit, 128 SetProfileDec, 154
Reset, 129 SetProfileJerk, 155
SaveAmpConfig, 129, 130 SetProfileType, 155
SendTrajectory, 130 SetProfileVel, 156
SetAlgoPhaseInit, 130 SetPvtInitialPos, 156
SetAmpConfig, 131 SetPwmInConfig, 157

Generated by Doxygen
INDEX 795

SetPwmMode, 157 capCtrl, 185

SetQuickStop, 158 encoderOutCfg, 186
SetQuickStopDec, 158 limitBitMask, 186
SetRegenConfig, 159 options, 186
SetServoLoopConfig, 159 phaseMode, 186
SetSettlingTime, 159 progCrnt, 186
SetSettlingWindow, 160 progVel, 187
SetSoftLimits, 160 pwmMode, 187
SetSpecialFirmwareConfig, 161 stepRate, 187
SetTargetPos, 161 AmpError, 188
SetTargetVel, 162 DecodeStatus, 191
SetTorqueRated, 162 AmpFW.cpp, 682
SetTorqueSlope, 163 AmpFault, 192
SetTorqueTarget, 163 DecodeFault, 194
SetTraceChannel, 164 AmpFile.cpp, 680
SetTracePeriod, 164 GetCCDFileSize, 680
SetTraceTrigger, 164 WriteCCDToCANDrive, 681
SetTrackingWindows, 165 WriteCCDToEcatDrive, 681
SetTrajectoryJrkAbort, 166 AmpFileError, 195
SetUstepConfig, 167 AmpInfo, 197
SetVelLoopConfig, 168 AmpIoCfg, 199
SetVelocityProgrammed, 168 AmpIoCfg, 199
SetVelocityWarnTime, 169 inCfg, 200
SetVelocityWarnWindow, 169 inPullUpCfg, 200
SetVloopCommandFilter, 170 inPullUpCfg32, 200
SetVloopOutputFilter, 170 inputCt, 200
SetVloopOutputFilter2, 170 outMask, 200
SetVloopOutputFilter3, 171 outMask1, 201
SetupMove, 166, 167 outputCt, 201
StartMove, 171 AmpPDO.cpp, 683
StartPVT, 172 MAX_PENDING_PVT_STATUS, 683
TraceStart, 172 AmpPVT.cpp, 684
TraceStop, 172 AmpParam.cpp, 682
UpdateEvents, 172 AmpSettings, 201
Upld16, 173 AmpSettings, 202
Upld32, 174 enableOnInit, 203
Upld8, 175 guardTime, 203
UpldString, 176 heartbeatPeriod, 203
Upload, 176 heartbeatTimeout, 204
VelLoad2User, 177 initialMode, 204
VelMtr2User, 177 lifeFactor, 204
VelUser2Load, 178 maxPvtSendCt, 205
VelUser2Mtr, 178 resetOnInit, 205
WaitEvent, 179 synchID, 205
WaitHomeDone, 180 synchPeriod, 205
WaitInputEvent, 180 synchProducer, 206
WaitInputHigh, 181 synchUseFirstAmp, 206
WaitInputLow, 181 timeStampID, 206
WaitMoveDone, 182 AmpStruct.cpp, 684
amp AmpUnits.cpp, 685
FuncGenConfig, 351 AmpVersion.cpp, 685
Amp.cpp, 679 AnalogRefConfig, 207
AmpConfig, 182 calibration, 207
CME_Config, 186 deadband, 207

Generated by Doxygen
796 INDEX

scale, 208 rem, 214

Aout16GetCt Array< C >, 211
IOModule, 392 AttachNode
Aout16GetErrValue CanOpen, 234
IOModule, 393
Aout16SetErrValue BRD, 214
IOModule, 393 BWR, 215
Aout16Write BitCount
IOModule, 394 IOModule, 403
Aout32GetCt BitDnld
IOModule, 394 IOModule, 403
Aout32GetErrValue BitOverflow
IOModule, 394 PDO_Error, 560
Aout32GetOffset BitUpld
IOModule, 395 IOModule, 403
BlockDnld
Aout32GetScaling
SDO, 624
IOModule, 395
BlockUpld
Aout32SetErrValue
SDO, 625
IOModule, 396
BootModeNode
Aout32SetOffset
CanOpen, 235
IOModule, 396
ByteCast
Aout32SetScaling
CML_Utils.h, 775
IOModule, 397
Aout32Write CAN_BIT_RATE
IOModule, 397 CML_AmpStruct.h, 724
Aout8GetCt CAN_FRAME_TYPE
IOModule, 397 CML_Can.h, 727
Aout8Write CIO_OBJID
IOModule, 398 CML_CopleyIO.h, 732
AoutFltGetCt CME_Config
IOModule, 398 AmpConfig, 186
AoutFltGetErrValue CML.cpp, 693
IOModule, 399 CML.h, 694
AoutFltGetOffset CML_LOG_LEVEL, 695
IOModule, 399 CML_ALLOW_FLOATING_POINT
AoutFltGetScaling CML_Settings.h, 767
IOModule, 399 CML_Amp.h, 695
AoutFltSetErrValue CML_AmpDef.h, 697
IOModule, 400 AMP_EVENT, 704
AoutFltSetOffset AMP_FAULT, 705
IOModule, 400 AMP_FEATURE, 705
AoutFltSetScaling AMP_MODE, 707
IOModule, 401 AMP_PHASE_MODE, 709
AoutFltWrite AMP_PWM_MODE, 710
IOModule, 401 AMP_TRACE_STATUS, 710
AoutGetErrMode AMP_TRACE_TRIGGER, 710
IOModule, 402 AMP_TRACE_VAR, 711
AoutSetErrMode COPLEY_HOME_METHOD, 712
IOModule, 402 EVENT_STATUS, 715
Array HALT_MODE, 716
add, 213 INPUT_PIN_CONFIG, 716
Array, 212 OUTPUT_PIN_CONFIG, 718
length, 213 POS_CAPTURE_CFG, 719
operator[], 213 POS_CAPTURE_STAT, 720

Generated by Doxygen
INDEX 797

PROFILE_TYPE, 721 NodeState, 756

QUICK_STOP_MODE, 721 CML_Node.h, 756
CML_AmpStruct.h, 722 CML_PDO.h, 758
CAN_BIT_RATE, 724 CML_PvtConstAccelTrj.h, 759
CML_Array.h, 725 CML_PvtTrj.h, 760
CML_Can.h, 726 CML_Reference.h, 761
CAN_FRAME_TYPE, 727 CML_SDO.h, 763
CML_CanOpen.h, 727 SDO_BLK_DNLD_THRESHOLD, 765
CML_Copley.h, 729 SDO_BLK_UPLD_THRESHOLD, 765
CML_CopleyIO.h, 730 CML_Settings.h, 766
CIO_OBJID, 732 CML_ALLOW_FLOATING_POINT, 767
CML_DEBUG_ASSERT CML_DEBUG_ASSERT, 767
CML_Settings.h, 767 CML_ENABLE_IOMODULE_PDOS, 767
CML_ENABLE_IOMODULE_PDOS CML_ENABLE_USER_UNITS, 768
CML_Settings.h, 767 CML_ERROR_HASH_SIZE, 768
CML_ENABLE_USER_UNITS CML_ERROR_MESSAGES, 768
CML_Settings.h, 768 CML_FILE_ACCESS_OK, 768
CML_ERROR_HASH_SIZE CML_HASH_SIZE, 768
CML_Settings.h, 768 CML_LINKAGE_TRJ_BUFFER_SIZE, 769
CML_ERROR_MESSAGES CML_MAX_AMPS_PER_LINK, 769
CML_Settings.h, 768 CML_MAX_ECAT_FRAMES, 769
CML_Error.h, 734 CML_NAMESPACE_START, 770
CML_EtherCAT.h, 735 CML_NAMESPACE, 769
CML_EventMap.h, 737 CML_Threads.h, 770
CML_FILE_ACCESS_OK CML_Trajectory.h, 772
CML_Settings.h, 768 CML_TrjScurve.h, 773
CML_File.h, 738 CML_Utils.h, 774
CML_Filter.h, 739 ByteCast, 775
CML_Firmware.h, 741 int16, 776
CML_Geometry.h, 742 int32, 776
CML_HASH_SIZE int64, 776
CML_Settings.h, 768 uint16, 776
CML_IO.h, 745 uint32, 777
IO_AIN_TRIG_TYPE, 748 uunit, 777
IO_OBJID, 748 COPLEY_HOME_METHOD
IOMODULE_EVENTS, 750 CML_AmpDef.h, 712
CML_InputShaper.h, 743 Calculate
CML_LINKAGE_TRJ_BUFFER_SIZE LinkTrjScurve, 494
CML_Settings.h, 769 TrjScurve, 668, 669
CML_LOG_LEVEL calibration
CML.h, 695 AnalogRefConfig, 207
CML_Linkage.h, 751 CammingConfig, 216
LINK_EVENT, 752 CammingConfig, 217
CML_MAX_AMPS_PER_LINK cammingMasterVel, 217
CML_Settings.h, 769 cammingMasterVel
CML_MAX_ECAT_FRAMES CammingConfig, 217
CML_Settings.h, 769 Can.cpp, 686
CML_NAMESPACE_START can_copley.h, 686
CML_Settings.h, 770 can_ixxat.h, 688
CML_NAMESPACE can_ixxat_v3.h, 689
CML_Settings.h, 769 can_kvaser.h, 690
CML_Network.h, 753 can_siemens.h, 692
GuardProtocol, 755 CanError, 218
NetworkType, 756 CanFrame, 219

Generated by Doxygen
798 INDEX

data, 220 NotInitialized, 246

id, 220 SDO_BadMuxRcvd, 246
length, 220 CanOpenNodeInfo, 247
CanInterface, 221 guardTimeout, 248
CanInterface, 223 guardToggle, 248
ChkID, 223 guardType, 248
Close, 224 CanOpenSettings, 249
Open, 224 CanOpenSettings, 250
portName, 227 readThreadPriority, 250
Recv, 224 syncID, 250
RecvFrame, 225 timeID, 250
SetBaud, 225 useAsTimingReference, 250
SetName, 226 capCtrl
SupportsTimestamps, 226 AmpConfig, 185
Xmit, 226 cfg
XmitFrame, 227 PwmInConfig, 602
CanNetworkConfig, 228 changeBits
FromAmpFormat, 229 EventMap, 338
heartbeat, 230 channel
nodeGuard, 230 IxxatCANV3, 462
nodeGuardLife, 230 IxxatCAN, 457
numInPins, 230 checkNdx
offset, 231 EcatDgram, 295
pinMapping, 231 CheckStateForMove
ToAmpFormat, 230 Amp, 48
useSwitch, 231 ChkID
CanOpen, 232 CanInterface, 223
∼CanOpen, 234 ClearErrorHistory
AttachNode, 234 Node, 525
BootModeNode, 235 ClearEventLatch
CanOpen, 234 Amp, 48
Close, 235 ClearFaults
DetachNode, 235 Amp, 49
DisableReceiver, 236 ClearHaltedMove
EnableReceiver, 236 Amp, 49
GetErrorFrameCounter, 237 ClearLatchedError
GetNetworkType, 237 Linkage, 470
GetSynchProducer, 237 ClearMap
Open, 237, 238 PDO, 556
PreOpNode, 238 ClearNodeGuardEvent
ResetComm, 239 Amp, 49
ResetNode, 239 Close
SetNodeGuard, 240 CanInterface, 224
SetSynchProducer, 240 CanOpen, 235
StartNode, 240 CopleyCAN, 253
StopNode, 241 IxxatCANV3, 459
Xmit, 241 IxxatCAN, 454
XmitPDO, 242 KvaserCAN, 465
XmitSDO, 242 SiemensCAN, 646
CanOpen.cpp, 692 clrBits
CanOpenError, 243 EventMap, 338
IllegalFieldCt, 245 Configure
Initialized, 245 Linkage, 471
MonitorRunning, 246 contLim

Generated by Doxygen
INDEX 799

CrntLoopConfig, 283 GetLogFile, 274

contPower GetMaxLogSize, 274
RegenConfig, 615 GetVersionString, 274
ConvertAmpToAxis LogCAN, 275
Linkage, 471 SetDebugLevel, 275
ConvertAmpToAxisPos SetFlushLog, 276
Linkage, 472 SetLogFile, 276
ConvertAxisToAmp SetMaxLogSize, 276
Linkage, 472 Warn, 277
ConvertAxisToAmpPos CopleyNode, 277
Linkage, 473 FirmwareUpdate, 279
ConvertError SerialCmd, 279
IxxatCANV3, 460 CopleyNode.cpp, 778
IxxatCAN, 454 CopleyNodeError, 280
KvaserCAN, 465 CrntLoopConfig, 282
SiemensCAN, 646 contLim, 283
CopleyCAN, 251 CrntLoopConfig, 283
Close, 253 peakTime, 283
CopleyCAN, 253 slope, 283
local, 256 stepHoldCurrent, 284
Open, 254 stepRun2HoldTime, 284
RecvFrame, 254 stepVolControlDelayTime, 284
SetBaud, 255 current
SupportsTimestamps, 255 HomeConfig, 353
XmitFrame, 255 cyclePeriod
CopleyIO.cpp, 777 EtherCatSettings, 321
CopleyIOAnlg, 266 cycleThreadPriority
CopleyIOCfg, 267 EtherCatSettings, 322
CopleyIODigi, 268
CopleyIOInfo, 269 DAConfig, 285
CopleyIOPWM, 271 daConverterConfig, 285
CopleyIO, 256 daConverterConfig
CopleyIO, 259 DAConfig, 285
GetIOAnlg, 259 data
GetIOCfg, 260 CanFrame, 220
GetIODigi, 260 deadBand
GetIOInfo, 261 PwmInConfig, 602
GetIOPWM, 261 deadband
Init, 261, 262 AnalogRefConfig, 207
LoadFromFile, 262 Debug
SaveIOConfig, 263 CopleyMotionLibrary, 272
SerialCmd, 264 dec
SetIOAnlg, 264 ProfileConfigTrap, 591
SetIOConfig, 265 ProfileConfigVel, 593
SetIODigi, 265 DecodeFault
SetIOInfo, 265 AmpFault, 194
SetIOPWM, 266 DecodeStatus
CopleyMotionLibrary, 271 AmpError, 191
∼CopleyMotionLibrary, 272 delChain
Debug, 272 Event, 324
Error, 273 delay
FlushLog, 273 HomeConfig, 353
GetDebugLevel, 273 DescribeState
GetFlushLog, 274 Network, 516

Generated by Doxygen
800 INDEX

DetachNode Din8GetMaskAny
CanOpen, 235 IOModule, 415
Din16GetCt Din8GetMaskHigh2Low
IOModule, 404 IOModule, 416
Din16GetFilt Din8GetMaskLow2High
IOModule, 404 IOModule, 416
Din16GetMaskAny Din8GetPol
IOModule, 405 IOModule, 417
Din16GetMaskHigh2Low Din8Read
IOModule, 405 IOModule, 417
Din16GetMaskLow2High Din8SetFilt
IOModule, 406 IOModule, 418
Din16GetPol Din8SetMaskAny
IOModule, 406 IOModule, 418
Din16Read Din8SetMaskHigh2Low
IOModule, 407 IOModule, 419
Din16SetFilt Din8SetMaskLow2High
IOModule, 407 IOModule, 419
Din16SetMaskAny Din8SetPol
IOModule, 407 IOModule, 420
Din16SetMaskHigh2Low DinGetCt
IOModule, 408 IOModule, 420
Din16SetMaskLow2High DinGetFilt
IOModule, 408 IOModule, 420
Din16SetPol DinGetIntEna
IOModule, 409 IOModule, 421
Din32GetCt DinGetMaskAny
IOModule, 409 IOModule, 421
Din32GetFilt DinGetMaskHigh2Low
IOModule, 410 IOModule, 422
Din32GetMaskAny DinGetMaskLow2High
IOModule, 410 IOModule, 422
Din32GetMaskHigh2Low DinGetPol
IOModule, 410 IOModule, 423
Din32GetMaskLow2High DinRead
IOModule, 411 IOModule, 423
Din32GetPol DinSetFilt
IOModule, 411 IOModule, 424
Din32Read DinSetIntEna
IOModule, 412 IOModule, 424
Din32SetFilt DinSetMaskAny
IOModule, 412 IOModule, 424
Din32SetMaskAny DinSetMaskHigh2Low
IOModule, 413 IOModule, 425
Din32SetMaskHigh2Low DinSetMaskLow2High
IOModule, 413 IOModule, 425
Din32SetMaskLow2High DinSetPol
IOModule, 414 IOModule, 426
Din32SetPol dir
IOModule, 414 ProfileConfigVel, 593
Din8GetCt Disable
IOModule, 415 Amp, 50
Din8GetFilt DisableBlkDnld
IOModule, 415 SDO, 625

Generated by Doxygen
INDEX 801

DisableBlkUpld Dout32SetErrMode
SDO, 626 IOModule, 434
DisableReceiver Dout32SetErrValue
CanOpen, 236 IOModule, 434
Dnld16 Dout32SetFilt
Amp, 50, 51 IOModule, 435
SDO, 626 Dout32SetPol
Dnld32 IOModule, 435
Amp, 51, 52 Dout32Write
SDO, 627 IOModule, 436
Dnld8 Dout8GetCt
Amp, 52, 53 IOModule, 436
SDO, 628 Dout8GetErrMode
DnldFlt IOModule, 437
SDO, 628 Dout8GetErrValue
DnldString IOModule, 437
Amp, 53 Dout8GetFilt
SDO, 629 IOModule, 438
DoMove Dout8GetPol
Amp, 54, 55 IOModule, 438
Dout16GetCt Dout8Read
IOModule, 426 IOModule, 438
Dout16GetErrMode Dout8SetErrMode
IOModule, 427 IOModule, 439
Dout16GetErrValue Dout8SetErrValue
IOModule, 427 IOModule, 439
Dout16GetFilt Dout8SetFilt
IOModule, 428 IOModule, 440
Dout16GetPol Dout8SetPol
IOModule, 428 IOModule, 440
Dout16Read Dout8Write
IOModule, 428 IOModule, 441
Dout16SetErrMode DoutGetCt
IOModule, 429 IOModule, 441
Dout16SetErrValue DoutGetErrMode
IOModule, 429 IOModule, 442
Dout16SetFilt DoutGetErrValue
IOModule, 430 IOModule, 442
Dout16SetPol DoutGetFilt
IOModule, 430 IOModule, 443
Dout16Write DoutGetPol
IOModule, 431 IOModule, 443
Dout32GetCt DoutSetErrMode
IOModule, 431 IOModule, 443
Dout32GetErrMode DoutSetErrValue
IOModule, 432 IOModule, 444
Dout32GetErrValue DoutSetFilt
IOModule, 432 IOModule, 444
Dout32GetFilt DoutSetPol
IOModule, 433 IOModule, 445
Dout32GetPol DoutWrite
IOModule, 433 IOModule, 445
Dout32Read Download
IOModule, 433 Amp, 56

Generated by Doxygen
802 INDEX

SDO, 629, 630 FoE_UpldStart, 311

GetIdFromEEPROM, 311
EVENT_STATUS GetNetworkType, 312
CML_AmpDef.h, 715 GetNodeAddress, 312
EcatDgram, 293 getNodeCount, 313
checkNdx, 295 InitDistClk, 313
EcatDgram, 294, 295 MailboxTransfer, 313, 314
getDgramLen, 295 maxSdoFromNode, 314
getNdx, 296 maxSdoToNode, 315
getNext, 296 SetNodeGuard, 315
Init, 296, 297 SetSync0Period, 316
Load, 297 WaitCycleUpdate, 316
setData, 298 EtherCatError, 317
setNdx, 298 EtherCatHardware, 320
setNext, 299 EtherCatSettings, 321
EcatFrame, 299 cyclePeriod, 321
ecatdc.cpp, 778 cycleThreadPriority, 322
Enable EtherCatSettings, 321
Amp, 56 readThreadPriority, 322
EnableBlkDnld Event, 322
SDO, 631 ∼Event, 324
EnableBlkUpld delChain, 324
SDO, 631 Event, 324
enableOnInit getMask, 325
AmpSettings, 203 getValue, 325
EnableReceiver isTrue, 325
CanOpen, 236 operator=, 326
EncoderErrorConfig, 300 setChain, 326
encoderErrorConfig, 301 setValue, 327
encoderErrorConfig Wait, 327
EncoderErrorConfig, 301 EventAll, 328
encoderOutCfg EventAll, 329
AmpConfig, 186 isTrue, 330
Enquire EventAny, 330
LSS, 500 EventAny, 331, 332
EnquireInfo isTrue, 332
LSS, 501 EventAnyClear, 333
Error, 301 EventAnyClear, 334
CopleyMotionLibrary, 273 isTrue, 334
Error, 304 EventError, 335
GetID, 305 EventMap, 336
Lookup, 305 ∼EventMap, 337
toString, 306 Add, 338
Error.cpp, 779 changeBits, 338
estopDec clrBits, 338
VelLoopConfig, 674 getMask, 339
EtherCAT.cpp, 779 Remove, 339
SM_RXMBX, 780 setBits, 339
EtherCAT, 306 setMask, 340
AddToFrame, 308 EventMap.cpp, 780
FoE_DnldData, 309 EventNone, 340
FoE_DnldStart, 309 EventNone, 341, 342
FoE_LastErrInfo, 310 isTrue, 342
FoE_UpldData, 310 extended

Generated by Doxygen
INDEX 803

HomeConfig, 353 MtrInfo, 510

Geometry.cpp, 783
FPRD, 348 Get
FPWR, 349 Pmap, 563
File.cpp, 781 Pmap16, 567
Filter, 343 Pmap24, 570
Filter, 343 Pmap32, 574
LoadFromCCX, 343 Pmap8, 577
Filter.cpp, 781 PmapRaw, 581
FindAmpSerial Semaphore, 641
LSS, 502 GetAlgoPhaseInit
FindAmplifiers Amp, 58
LSS, 501 GetAmp
Finish Linkage, 473
LinkTrajectory, 490 GetAmpConfig
Trajectory, 663
Amp, 59
Firmware, 344
GetAmpCount
getAmpType, 345
Linkage, 474
getData, 345
GetAmpInfo
getFileVersion, 345
Amp, 59
getLength, 345
GetAmpMode
getStart, 346
Amp, 60
progress, 346
GetAmpName
Firmware.cpp, 782
Amp, 60
FirmwareError, 346
GetAmpNodeID
FirmwareUpdate
LSS, 502
CopleyNode, 279
GetAmpRef
FlushLog
Linkage, 474
CopleyMotionLibrary, 273
GetAmpTemp
FoE_DnldData
Amp, 60
EtherCAT, 309
getAmpType
FoE_DnldStart
Firmware, 345
EtherCAT, 309
GetAnalogCommandFilter
FoE_LastErrInfo
Amp, 61
EtherCAT, 310
GetAnalogEncoder
FoE_UpldData
Amp, 61
EtherCAT, 310
GetAnalogRefConfig
FoE_UpldStart
Amp, 62
EtherCAT, 311
GetAxesCount
FormatPosInit
Amp, 57 Linkage, 474
FormatPtSeg GetBitVal
Amp, 57 IOModule::DigInPDO, 287
FormatPvtSeg GetBits
Amp, 58 Pmap, 563
freq GetCCDFileSize
PwmInConfig, 602 AmpFile.cpp, 680
FromAmpFormat GetCammingConfig
CanNetworkConfig, 229 Amp, 62
FuncGenConfig, 350 GetCanNetworkConfig
amp, 351 Amp, 62
GetControlWord
GainScheduling, 351 Amp, 63
GainScheduling, 352 GetCountsPerUnit
gearRatio Amp, 63, 64

Generated by Doxygen
804 INDEX

GetCrntLoopConfig CopleyMotionLibrary, 274

Amp, 64 GetFuncGenConfig
GetCurrentActual Amp, 70
Amp, 65 GetGainScheduling
GetCurrentCommand Amp, 72
Amp, 65 GetHallState
GetCurrentLimited Amp, 72
Amp, 66 GetHaltMode
GetCurrentProgrammed Amp, 72
Amp, 66 GetHighVoltage
GetDAConverterConfig Amp, 73
Amp, 66 GetHomeAccel
getData Amp, 73
Firmware, 345 GetHomeAdjustment
GetDebugLevel Amp, 74
CopleyMotionLibrary, 273 GetHomeCapture
GetDeviceType Amp, 74
Node, 525 GetHomeConfig
getDgramLen Amp, 75
EcatDgram, 295 GetHomeCurrent
GetDim Amp, 75
LinkTrajectory, 490 GetHomeDelay
LinkTrjScurve, 495 Amp, 75
Path, 546 GetHomeMethod
PvtConstAccelTrj, 595 Amp, 76
PvtTrj, 600 GetHomeOffset
getDim Amp, 76
Point, 583 GetHomeVelFast
PointN, 585 Amp, 77
GetEncoderErrorConfig GetHomeVelSlow
Amp, 67 Amp, 77
GetErrorFrameCounter GetIOAnlg
CanOpen, 237 CopleyIO, 259
GetErrorHistory GetIOCfg
Node, 525 CopleyIO, 260
GetErrorRegister GetIODigi
Node, 526 CopleyIO, 260
GetErrorStatus GetIOInfo
Amp, 67 CopleyIO, 261
GetEventLatch GetIOOPtions
Amp, 68 Amp, 82
GetEventMask GetIOPWM
Amp, 68 CopleyIO, 261
GetEventStatus GetID
Amp, 69 Error, 305
GetEventSticky PDO, 556
Amp, 69 GetIdFromEEPROM
GetFaultMask EtherCAT, 311
Amp, 70 GetIdentity
GetFaults Node, 526
Amp, 70 GetIloopCommandFilter
getFileVersion Amp, 77
Firmware, 345 GetIloopCommandFilter2
GetFlushLog Amp, 78

Generated by Doxygen
INDEX 805

GetInVal Amp, 84
IOModule::AlgInPDO, 24 GetMotorCurrent
IOModule::DigInPDO, 288 Amp, 84
GetIndex GetMoveLimits
Pmap, 563 Linkage, 475
GetIndexCapture GetMtrInfo
Amp, 78 Amp, 85
GetInputConfig getNdx
Amp, 79 EcatDgram, 296
GetInputDebounce GetNetworkOptions
Amp, 80 Amp, 85
GetInputShapingFilter GetNetworkRef
Amp, 81 Amp, 85
GetInputs Node, 528
Amp, 80 GetNetworkType
GetInputs32 CanOpen, 237
Amp, 81 EtherCAT, 312
GetIoConfig Node, 528
Amp, 81 getNext
GetIoPullup EcatDgram, 296
Amp, 82 GetNodeAddress
GetIoPullup32 EtherCAT, 312
Amp, 83 getNodeCount
GetLatchedError EtherCAT, 313
Linkage, 475 GetNodeID
getLength Node, 529
Firmware, 345 GetNodeInfo
GetLinkRef Network, 516
Amp, 83 GetOutputConfig
GetLinkage Amp, 86–88
Amp, 83 GetOutputs
GetLogFile Amp, 89
CopleyMotionLibrary, 274 GetPhaseAngle
GetMapCodes Amp, 89
PDO, 556 GetPhaseMode
getMask Amp, 89
Event, 325 GetPosCaptureCfg
EventMap, 339 Amp, 90
getMax GetPosCaptureStat
Point, 583 Amp, 90
PointN, 585 GetPosLoopConfig
GetMaxLogSize Amp, 94
CopleyMotionLibrary, 274 GetPosition
GetMaxRetry PvtSegCache, 597
SDO, 631 GetPositionActual
GetMfgDeviceName Amp, 91
Node, 527 GetPositionCommand
GetMfgHardwareVer Amp, 91
Node, 527 Linkage, 476
GetMfgSoftwareVer GetPositionError
Node, 527 Amp, 92
GetMfgStatus GetPositionErrorWindow
Node, 528 Amp, 92
GetMicrostepRate GetPositionLoad

Generated by Doxygen
806 INDEX

Amp, 92 TrjScurve, 669

GetPositionMotor GetState
Amp, 93 Amp, 103
GetPositionWarnWindow Node, 529
Amp, 93 GetStatusWord
GetProfileAcc Amp, 103
Amp, 94 GetSub
GetProfileConfig Pmap, 564
Amp, 95 GetSynchId
GetProfileDec Node, 529
Amp, 95 GetSynchPeriod
GetProfileJerk Node, 530
Amp, 95 GetSynchProducer
GetProfileType CanOpen, 237
Amp, 96 GetTargetPos
GetProfileVel Amp, 104
Amp, 96 GetTargetVel
GetPvtBuffFree Amp, 104
Amp, 97 getTimeMS
GetPvtBuffStat Thread, 652
Amp, 97 getTimeUS
GetPvtSegID Thread, 652
Amp, 97 GetTimeout
GetPvtSegPos SDO, 631
Amp, 98 getTimeout
GetPwmInConfig LSS, 503
Amp, 98 GetTorqueActual
GetPwmMode Amp, 105
Amp, 99 GetTorqueDemand
GetQuickStop Amp, 105
Amp, 99 GetTorqueRated
GetQuickStopDec Amp, 105
Amp, 99 GetTorqueSlope
GetRefVoltage Amp, 106
Amp, 100 GetTorqueTarget
GetRegenConfig Amp, 106
Amp, 100 GetTraceChannel
GetRtrOk Amp, 107
PDO, 557 GetTraceData
GetSegment Amp, 107
PvtSegCache, 598 GetTraceMaxChannel
GetServoLoopConfig Amp, 108
Amp, 101 GetTracePeriod
GetSettlingTime Amp, 108
Amp, 101 GetTraceRefPeriod
GetSettlingWindow Amp, 109
Amp, 102 GetTraceStatus
GetSoftLimits Amp, 109
Amp, 102 GetTraceTrigger
GetSpecialFirmwareConfig Amp, 110
Amp, 102 GetTrackingWindows
getStart Amp, 110
Firmware, 346 GetTrajectoryAcc
GetStartPos Amp, 111

Generated by Doxygen
INDEX 807

GetTrajectoryJrkAbort hallVelShift
Amp, 111 MtrInfo, 510
GetTrajectoryVel HaltMove
Amp, 111 Amp, 118
GetType Linkage, 476
PDO, 557 haltOnPosWarn
GetUstepConfig LinkSettings, 487
Amp, 112 haltOnVelWin
getValue LinkSettings, 488
Event, 325 HandleEmergency
GetVelLoopConfig Node, 530
Amp, 112 HandleRxMsg
GetVelocityActual TPDO, 658
Amp, 113 HandleStateChange
GetVelocityCommand Amp, 118
Amp, 113 Node, 530
GetVelocityLimited heartbeat
Amp, 114 CanNetworkConfig, 230
GetVelocityLoad heartbeatPeriod
Amp, 114 AmpSettings, 203
GetVelocityProgrammed IOModuleSettings, 449
Amp, 115 heartbeatTimeout
GetVelocityWarnTime AmpSettings, 204
Amp, 115 IOModuleSettings, 450
GetVelocityWarnWindow HomeConfig, 352
Amp, 115 accel, 353
GetVersionString current, 353
CopleyMotionLibrary, 274 delay, 353
GetVloopCommandFilter extended, 353
Amp, 116 HomeConfig, 353
GetVloopOutputFilter offset, 354
Amp, 116 velFast, 354
GetVloopOutputFilter2 velSlow, 354
Amp, 117
GetVloopOutputFilter3 INPUT_PIN_CONFIG
Amp, 117 CML_AmpDef.h, 716
GoHome IO_AIN_TRIG_TYPE
Amp, 117, 118 CML_IO.h, 748
GrabRef IO_OBJID
RefObj, 608 CML_IO.h, 748
GuardProtocol IOError, 356
CML_Network.h, 755 IOFileError, 358
guardTime IOMODULE_EVENTS
AmpSettings, 203 CML_IO.h, 750
IOModuleSettings, 449 IOModule, 359
guardTimeout Ain16GetCt, 370
CanOpenNodeInfo, 248 Ain16GetLowerLimit, 370
guardToggle Ain16GetNegativeDelta, 370
CanOpenNodeInfo, 248 Ain16GetPositiveDelta, 371
guardType Ain16GetUnsignedDelta, 371
CanOpenNodeInfo, 248 Ain16GetUpperLimit, 372
Ain16Read, 372
HALT_MODE Ain16SetLowerLimit, 373
CML_AmpDef.h, 716 Ain16SetNegativeDelta, 373

Generated by Doxygen
808 INDEX

Ain16SetPositiveDelta, 373 Aout8GetCt, 397

Ain16SetUnsignedDelta, 374 Aout8Write, 398
Ain16SetUpperLimit, 374 AoutFltGetCt, 398
Ain32GetCt, 375 AoutFltGetErrValue, 399
Ain32GetLowerLimit, 375 AoutFltGetOffset, 399
Ain32GetNegativeDelta, 376 AoutFltGetScaling, 399
Ain32GetOffset, 376 AoutFltSetErrValue, 400
Ain32GetPositiveDelta, 376 AoutFltSetOffset, 400
Ain32GetScaling, 377 AoutFltSetScaling, 401
Ain32GetUnsignedDelta, 377 AoutFltWrite, 401
Ain32GetUpperLimit, 378 AoutGetErrMode, 402
Ain32Read, 378 AoutSetErrMode, 402
Ain32SetLowerLimit, 379 BitCount, 403
Ain32SetNegativeDelta, 379 BitDnld, 403
Ain32SetOffset, 379 BitUpld, 403
Ain32SetPositiveDelta, 380 Din16GetCt, 404
Ain32SetScaling, 380 Din16GetFilt, 404
Ain32SetUnsignedDelta, 381 Din16GetMaskAny, 405
Ain32SetUpperLimit, 381 Din16GetMaskHigh2Low, 405
Ain8GetCt, 382 Din16GetMaskLow2High, 406
Ain8Read, 382 Din16GetPol, 406
AinFltGetCt, 382 Din16Read, 407
AinFltGetLowerLimit, 384 Din16SetFilt, 407
AinFltGetNegativeDelta, 384 Din16SetMaskAny, 407
AinFltGetOffset, 385 Din16SetMaskHigh2Low, 408
AinFltGetPositiveDelta, 385 Din16SetMaskLow2High, 408
AinFltGetScaling, 385 Din16SetPol, 409
AinFltGetUnsignedDelta, 386 Din32GetCt, 409
AinFltGetUpperLimit, 386 Din32GetFilt, 410
AinFltRead, 387 Din32GetMaskAny, 410
AinFltSetLowerLimit, 387 Din32GetMaskHigh2Low, 410
AinFltSetNegativeDelta, 388 Din32GetMaskLow2High, 411
AinFltSetOffset, 388 Din32GetPol, 411
AinFltSetPositiveDelta, 388 Din32Read, 412
AinFltSetScaling, 389 Din32SetFilt, 412
AinFltSetUnsignedDelta, 389 Din32SetMaskAny, 413
AinFltSetUpperLimit, 390 Din32SetMaskHigh2Low, 413
AinGetIntEna, 390 Din32SetMaskLow2High, 414
AinGetIntSource, 391 Din32SetPol, 414
AinGetTrigType, 391 Din8GetCt, 415
AinSetIntEna, 392 Din8GetFilt, 415
AinSetTrigType, 392 Din8GetMaskAny, 415
Aout16GetCt, 392 Din8GetMaskHigh2Low, 416
Aout16GetErrValue, 393 Din8GetMaskLow2High, 416
Aout16SetErrValue, 393 Din8GetPol, 417
Aout16Write, 394 Din8Read, 417
Aout32GetCt, 394 Din8SetFilt, 418
Aout32GetErrValue, 394 Din8SetMaskAny, 418
Aout32GetOffset, 395 Din8SetMaskHigh2Low, 419
Aout32GetScaling, 395 Din8SetMaskLow2High, 419
Aout32SetErrValue, 396 Din8SetPol, 420
Aout32SetOffset, 396 DinGetCt, 420
Aout32SetScaling, 397 DinGetFilt, 420
Aout32Write, 397 DinGetIntEna, 421

Generated by Doxygen
INDEX 809

DinGetMaskAny, 421 IOModule, 369

DinGetMaskHigh2Low, 422 Init, 446
DinGetMaskLow2High, 422 PostIOEvent, 447
DinGetPol, 423 WaitIOEvent, 447, 448
DinRead, 423 IOModule::AlgInPDO, 23
DinSetFilt, 424 GetInVal, 24
DinSetIntEna, 424 Init, 25
DinSetMaskAny, 424 Received, 25
DinSetMaskHigh2Low, 425 IOModule::AlgOutPDO, 27
DinSetMaskLow2High, 425 Init, 29
DinSetPol, 426 Transmit, 29
Dout16GetCt, 426 Update, 30
Dout16GetErrMode, 427 IOModule::DigInPDO, 286
Dout16GetErrValue, 427 GetBitVal, 287
Dout16GetFilt, 428 GetInVal, 288
Dout16GetPol, 428 Init, 288
Dout16Read, 428 Received, 289
Dout16SetErrMode, 429 IOModule::DigOutPDO, 289
Dout16SetErrValue, 429 Init, 291
Dout16SetFilt, 430 Transmit, 291
Dout16SetPol, 430 Update, 292
Dout16Write, 431 UpdateBit, 292
Dout32GetCt, 431 IOModuleSettings, 448
Dout32GetErrMode, 432 guardTime, 449
Dout32GetErrValue, 432 heartbeatPeriod, 449
Dout32GetFilt, 433 heartbeatTimeout, 450
Dout32GetPol, 433 lifeFactor, 450
Dout32Read, 433 useStandardAinPDO, 450
Dout32SetErrMode, 434 useStandardAoutPDO, 451
Dout32SetErrValue, 434 useStandardDinPDO, 451
Dout32SetFilt, 435 useStandardDoutPDO, 451
Dout32SetPol, 435 IOmodule.cpp, 783
Dout32Write, 436 id
Dout8GetCt, 436 CanFrame, 220
Dout8GetErrMode, 437 IllegalFieldCt
Dout8GetErrValue, 437 CanOpenError, 245
Dout8GetFilt, 438 inCfg
Dout8GetPol, 438 AmpIoCfg, 200
Dout8Read, 438 inPullUpCfg
Dout8SetErrMode, 439 AmpIoCfg, 200
Dout8SetErrValue, 439 inPullUpCfg32
Dout8SetFilt, 440 AmpIoCfg, 200
Dout8SetPol, 440 Init
Dout8Write, 441 Amp, 119
DoutGetCt, 441 CopleyIO, 261, 262
DoutGetErrMode, 442 EcatDgram, 296, 297
DoutGetErrValue, 442 IOModule, 446
DoutGetFilt, 443 IOModule::AlgInPDO, 25
DoutGetPol, 443 IOModule::AlgOutPDO, 29
DoutSetErrMode, 443 IOModule::DigInPDO, 288
DoutSetErrValue, 444 IOModule::DigOutPDO, 291
DoutSetFilt, 444 Linkage, 476, 477
DoutSetPol, 445 Node, 531
DoutWrite, 445 Pmap, 564

Generated by Doxygen
810 INDEX

Pmap16, 567 RecvFrame, 455

Pmap24, 571 rxInt, 456
Pmap32, 574 SetBaud, 456
Pmap8, 578 XmitFrame, 457
RPDO_LinkCtrl, 620
RPDO, 617 jrk
SDO, 632 ProfileConfigScurve, 590
InitDistClk JrkLoad2User
EtherCAT, 313 Amp, 121
InitSubAxis JrkUser2Load
Amp, 120 Amp, 122
initialMode
KillRef
AmpSettings, 204
RefObj, 609
Initialized
KvaserCAN, 462
CanOpenError, 245
∼KvaserCAN, 465
inputCt
Close, 465
AmpIoCfg, 200
ConvertError, 465
InputShaper, 355
KvaserCAN, 464
InputShaper, 355
Open, 466
LoadFromCCX, 355
RecvFrame, 466
InputShaper.cpp, 783
SetBaud, 466
int16
XmitFrame, 467
CML_Utils.h, 776
int32 LINK_EVENT
CML_Utils.h, 776 CML_Linkage.h, 752
int64 LSS, 497
CML_Utils.h, 776 ActivateBitRate, 500
IsHardwareEnabled Enquire, 500
Amp, 120 EnquireInfo, 501
IsReferenced FindAmpSerial, 502
Amp, 120 FindAmplifiers, 501
IsSoftwareEnabled GetAmpNodeID, 502
Amp, 121 getTimeout, 503
isTrue LSS, 500
Event, 325 NewFrame, 503
EventAll, 330 SelectAmp, 504
EventAny, 332 SetAmpNodeID, 504
EventAnyClear, 334 SetBitRate, 504, 505
EventNone, 342 SetNodeID, 505
IxxatCANV3, 458 setTimeout, 506
channel, 462 StoreConfig, 506
Close, 459 SwitchModeGlobal, 506
ConvertError, 460 Xmit, 507
Open, 460 length
RecvFrame, 460 Array, 213
SetBaud, 461 CanFrame, 220
XmitFrame, 461 lifeFactor
IxxatCAN, 452 AmpSettings, 204
∼IxxatCAN, 454 IOModuleSettings, 450
channel, 457 limitBitMask
Close, 454 AmpConfig, 186
ConvertError, 454 LinkError, 484
IxxatCAN, 453, 454 NetworkMismatch, 486
Open, 455 NotSupported, 486

Generated by Doxygen
INDEX 811

LinkSettings, 487 loadEncType

haltOnPosWarn, 487 MtrInfo, 511
haltOnVelWin, 488 LoadFromCCX
LinkSettings, 487 Filter, 343
moveAckTimeout, 488 InputShaper, 355
LinkTrajectory, 489 LoadFromFile
Finish, 490 Amp, 123
GetDim, 490 CopleyIO, 262
MaximumBufferPointsToUse, 491 local
NextSegment, 491 CopleyCAN, 256
StartNew, 492 Lock
UseVelocityInfo, 492 Mutex, 512
LinkTrjScurve, 493 MutexLocker, 514
Calculate, 494 LockRef
GetDim, 495 RefObj, 609
NextSegment, 495 LogCAN
StartNew, 495 CopleyMotionLibrary, 275
Linkage, 468 LogRefs
ClearLatchedError, 470 RefObj, 609
Configure, 471 Lookup
ConvertAmpToAxis, 471 Error, 305
ConvertAmpToAxisPos, 472
ConvertAxisToAmp, 472 MAX_PENDING_PVT_STATUS
ConvertAxisToAmpPos, 473 AmpPDO.cpp, 683
GetAmp, 473 macroEncoderCapture
GetAmpCount, 474 SoftPosLimit, 649
GetAmpRef, 474 MailboxTransfer
GetAxesCount, 474 EtherCAT, 313, 314
GetLatchedError, 475 map
GetMoveLimits, 475 PDO, 558
GetPositionCommand, 476 maxAcc
HaltMove, 476 VelLoopConfig, 674
Init, 476, 477 maxDec
Linkage, 470 VelLoopConfig, 674
MoveTo, 478, 479 maxPvtSendCt
MoveToRel, 479, 480 AmpSettings, 205
operator[], 480 maxSdoFromNode
SendTrajectory, 481 EtherCAT, 314
SetMoveLimits, 481 Network, 517
StartMove, 482 Node, 531
WaitEvent, 482, 483 maxSdoToNode
WaitMoveDone, 483 EtherCAT, 315
Linkage.cpp, 784 Network, 517
LinuxEcatHardware, 496 Node, 532
Load maxVel
EcatDgram, 297 VelLoopConfig, 674
LoadCCDFromFile maxVelAdj
Amp, 122 UstepConfig, 671
LoadData MaximumBufferPointsToUse
RPDO, 618 LinkTrajectory, 491
loadEncOptions Trajectory, 663
MtrInfo, 510 model
loadEncRes RegenConfig, 615
MtrInfo, 510 MonitorRunning

Generated by Doxygen
812 INDEX

CanOpenError, 246 LinkTrjScurve, 495

motorPosWrap Path, 546
SoftPosLimit, 650 Trajectory, 663
MoveAbs Node, 521
Amp, 123 ClearErrorHistory, 525
moveAckTimeout GetDeviceType, 525
LinkSettings, 488 GetErrorHistory, 525
MoveRel GetErrorRegister, 526
Amp, 123 GetIdentity, 526
MoveTo GetMfgDeviceName, 527
Linkage, 478, 479 GetMfgHardwareVer, 527
MoveToRel GetMfgSoftwareVer, 527
Linkage, 479, 480 GetMfgStatus, 528
mtrEncOptions GetNetworkRef, 528
MtrInfo, 511 GetNetworkType, 528
MtrInfo, 507 GetNodeID, 529
gearRatio, 510 GetState, 529
hallVelShift, 510 GetSynchId, 529
loadEncOptions, 510 GetSynchPeriod, 530
loadEncRes, 510 HandleEmergency, 530
loadEncType, 511 HandleStateChange, 530
mtrEncOptions, 511 Init, 531
MtrInfo, 510 maxSdoFromNode, 531
poles, 511 maxSdoToNode, 532
resolverCycles, 511 Node, 524
Mutex, 512 PdoDisable, 532
Lock, 512 PdoEnable, 532
Unlock, 512 PdoSet, 533
MutexLocker, 513 PreOpNode, 533
Lock, 514 ResetComm, 533
MutexLocker, 513 ResetNode, 534
RpdoDisable, 534
neg SavePDOMapping, 534
SoftPosLimit, 650 sdo, 539
Network, 514 SetSynchId, 535
DescribeState, 516 SetSynchPeriod, 535
GetNodeInfo, 516 StartHeartbeat, 536
maxSdoFromNode, 517 StartNode, 536
maxSdoToNode, 517 StartNodeGuard, 536
SetNodeInfo, 518 StopGuarding, 537
Network.cpp, 785 StopNode, 537
NetworkError, 518 SynchStart, 537
NetworkMismatch SynchStop, 538
LinkError, 486 TpdoDisable, 538
NetworkNodeInfo, 519 UnInit, 538
NetworkOptions, 520 Node.cpp, 785
NetworkOptions, 520 NodeError, 539
NetworkType nodeGuard
CML_Network.h, 756 CanNetworkConfig, 230
NewFrame nodeGuardLife
LSS, 503 CanNetworkConfig, 230
Receiver, 605 NodeIdentity, 541
NextSegment NodeState
LinkTrajectory, 491 CML_Network.h, 756

Generated by Doxygen
INDEX 813

NoneAvailable POS_CAPTURE_STAT
TrjError, 666 CML_AmpDef.h, 720
NotInitialized PROFILE_TYPE
CanOpenError, 246 CML_AmpDef.h, 721
NotSupported Path, 542
LinkError, 486 AddArc, 544
numInPins AddLine, 545
CanNetworkConfig, 230 GetDim, 546
NextSegment, 546
OUTPUT_PIN_CONFIG Path, 543
CML_AmpDef.h, 718 Pause, 547
offset PlayPath, 547
CanNetworkConfig, 231 Reset, 548
HomeConfig, 354 SetAcc, 548
Open SetDec, 548
CanInterface, 224
SetJrk, 549
CanOpen, 237, 238
SetStartPos, 549
CopleyCAN, 254
SetVel, 550
IxxatCANV3, 460
StartNew, 550
IxxatCAN, 455
PathError, 551
KvaserCAN, 466
Pause
SiemensCAN, 647
Path, 547
operator∗
PdoDisable
RefObjLocker, 613
Node, 532
operator->
PdoEnable
RefObjLocker, 613
Node, 532
operator=
PdoSet
Event, 326
Node, 533
operator[]
peakPower
Array, 213
RegenConfig, 615
Linkage, 480
peakTime
options
CrntLoopConfig, 283
AmpConfig, 186
RegenConfig, 615
outMask
phaseInitConfig
AmpIoCfg, 200
AlgoPhaseInit, 27
outMask1
phaseMode
AmpIoCfg, 201
AmpConfig, 186
outputCt
pinMapping
AmpIoCfg, 201
CanNetworkConfig, 231
PDO.cpp, 786 PlayPath
PDO_Error, 559 Path, 547
BitOverflow, 560 Pmap, 560
PDO, 553 Get, 563
AddVar, 555 GetBits, 563
ClearMap, 556 GetIndex, 563
GetID, 556 GetSub, 564
GetMapCodes, 556 Init, 564
GetRtrOk, 557 Pmap, 561
GetType, 557 Set, 564
map, 558 Pmap16, 565
SetID, 557 Get, 567
SetType, 558 Init, 567
POS_CAPTURE_CFG Pmap16, 566
CML_AmpDef.h, 719 Read, 567

Generated by Doxygen
814 INDEX

Set, 568 PosUser2Mtr

Write, 568 Amp, 125
Pmap24, 569 PostIOEvent
Get, 570 IOModule, 447
Init, 571 PreOpNode
Pmap24, 570 CanOpen, 238
Read, 571 Node, 533
Set, 571 ProcessData
Write, 572 TPDO, 658
Pmap32, 572 ProfileConfig, 587
Get, 574 abort, 588
Init, 574 pos, 588
Pmap32, 573 ProfileConfigScurve, 589
Read, 574 acc, 589
Set, 575 jrk, 590
Write, 575 pos, 590
Pmap8, 576 vel, 590
Get, 577 ProfileConfigTrap, 590
Init, 578 acc, 591
Pmap8, 577 dec, 591
Read, 578 pos, 591
Set, 578 vel, 591
Write, 579 ProfileConfigVel, 592
PmapRaw, 579 acc, 592
Get, 581 dec, 593
PmapRaw, 580 dir, 593
Set, 581 vel, 593
Point progCrnt
getDim, 583 AmpConfig, 186
getMax, 583 progVel
setDim, 583 AmpConfig, 187
Point< N >, 582 progress
PointN, 584 Firmware, 346
getDim, 585 Put
getMax, 585 Semaphore, 642
setDim, 585 PvtBufferFlush
poles Amp, 126
MtrInfo, 511 PvtBufferPop
portName Amp, 126
CanInterface, 227 PvtClearErrors
pos Amp, 127
ProfileConfig, 588 PvtConstAccelTrj, 594
ProfileConfigScurve, 590 GetDim, 595
ProfileConfigTrap, 591 PvtConstAccelTrj.cpp, 786
SoftPosLimit, 650 PvtConstAccelTrjError, 595
PosLoad2User PvtSegCache, 596
Amp, 124 AddSegment, 597
PosLoopConfig, 586 GetPosition, 597
PosLoopConfig, 587 GetSegment, 598
scale, 587 PvtStatusUpdate
PosMtr2User Amp, 127
Amp, 124 PvtTrj, 599
PosUser2Load GetDim, 600
Amp, 125 PvtTrj.cpp, 787

Generated by Doxygen
INDEX 815

PvtTrjError, 600 LogRefs, 609

PvtWriteBuff RefObj, 607
Amp, 127, 128 ReleaseRef, 610
PwmInConfig, 601 setAutoDelete, 610
cfg, 602 SetRefName, 610
deadBand, 602 RefObjLocker
freq, 602 operator∗, 613
scale, 603 operator->, 613
uvCfg, 603 RefObjLocker, 612
pwmMode RefObjLocker< RefClass >, 612
AmpConfig, 187 Reference.cpp, 787
RegenConfig, 613
QUICK_STOP_MODE contPower, 615
CML_AmpDef.h, 721 model, 615
QuickStop peakPower, 615
Amp, 128
peakTime, 615
RegenConfig, 614
RPDO_LinkCtrl, 618
vOff, 615
Init, 620
Transmit, 620 vOn, 615
RPDO, 616 ReleaseRef
Init, 617 RefObj, 610
LoadData, 618 rem
RPDO, 617 Array, 214
ReInit Remove
Amp, 128 EventMap, 339
Read Reset
Pmap16, 567 Amp, 129
Pmap24, 571 Path, 548
Pmap32, 574 ResetComm
Pmap8, 578 CanOpen, 239
readThreadPriority Node, 533
CanOpenSettings, 250 ResetNode
EtherCatSettings, 322 CanOpen, 239
Received Node, 534
IOModule::AlgInPDO, 25 resetOnInit
IOModule::DigInPDO, 289 AmpSettings, 205
TPDO, 659 resolverCycles
Receiver, 603 MtrInfo, 511
∼Receiver, 604 RpdoDisable
NewFrame, 605 Node, 534
Recv run
CanInterface, 224 Thread, 653
RecvFrame rxInt
CanInterface, 225 IxxatCAN, 456
CopleyCAN, 254
IxxatCANV3, 460 SDO.cpp, 788
IxxatCAN, 455 SDO_BLK_DNLD_THRESHOLD
KvaserCAN, 466 CML_SDO.h, 765
SiemensCAN, 647 SDO_BLK_UPLD_THRESHOLD
RefObj, 605 CML_SDO.h, 765
∼RefObj, 608 SDO_BadMuxRcvd
GrabRef, 608 CanOpenError, 246
KillRef, 609 SDO_Error, 637
LockRef, 609 SDO, 622

Generated by Doxygen
816 INDEX

BlockDnld, 624 ServoLoopConfig, 643

BlockUpld, 625 Set
DisableBlkDnld, 625 Pmap, 564
DisableBlkUpld, 626 Pmap16, 568
Dnld16, 626 Pmap24, 571
Dnld32, 627 Pmap32, 575
Dnld8, 628 Pmap8, 578
DnldFlt, 628 PmapRaw, 581
DnldString, 629 SetAcc
Download, 629, 630 Path, 548
EnableBlkDnld, 631 SetAlgoPhaseInit
EnableBlkUpld, 631 Amp, 130
GetMaxRetry, 631 SetAmpConfig
GetTimeout, 631 Amp, 131
Init, 632 SetAmpMode
SDO, 624 Amp, 131
SetTimeout, 632 SetAmpName
Upld16, 632, 633 Amp, 132
Upld32, 633, 634 SetAmpNodeID
Upld8, 634, 635 LSS, 504
UpldFlt, 635 SetAnalogCommandFilter
UpldString, 636 Amp, 132
Upload, 636, 637 SetAnalogRefConfig
SM_RXMBX Amp, 132
EtherCAT.cpp, 780 setAutoDelete
SaveAmpConfig RefObj, 610
Amp, 129, 130 SetBaud
SaveIOConfig CanInterface, 225
CopleyIO, 263 CopleyCAN, 255
SavePDOMapping IxxatCANV3, 461
Node, 534 IxxatCAN, 456
scale KvaserCAN, 466
AnalogRefConfig, 208 SiemensCAN, 647
PosLoopConfig, 587 SetBitRate
PwmInConfig, 603 LSS, 504, 505
ScurveError, 621 setBits
sdo EventMap, 339
Node, 539 SetCammingConfig
SelectAmp Amp, 133
LSS, 504 SetCanNetworkConfig
Semaphore, 640 Amp, 133
∼Semaphore, 641 setChain
Get, 641 Event, 326
Put, 642 SetControlWord
Semaphore, 641 Amp, 134
SendTrajectory SetCountsPerUnit
Amp, 130 Amp, 134, 135
Linkage, 481 SetCrntLoopConfig
SerialCmd Amp, 135
CopleyIO, 264 SetCurrentProgrammed
CopleyNode, 279 Amp, 136
ServoLoopConfig, 642 SetDAConverterConfig
servoLoopConfig, 643 Amp, 136
servoLoopConfig setData

Generated by Doxygen
INDEX 817

EcatDgram, 298 SetInputConfig

SetDebugLevel Amp, 143
CopleyMotionLibrary, 275 SetInputDebounce
SetDec Amp, 144
Path, 548 SetInputShapingFilter
setDim Amp, 144
Point, 583 SetIoConfig
PointN, 585 Amp, 144
SetEncoderErrorConfig SetIoPullup
Amp, 137 Amp, 145
SetFaultMask SetIoPullup32
Amp, 137 Amp, 146
SetFlushLog SetJrk
CopleyMotionLibrary, 276 Path, 549
SetFuncGenConfig SetLogFile
Amp, 138 CopleyMotionLibrary, 276
SetGainScheduling setMask
Amp, 138 EventMap, 340
SetHaltMode SetMaxLogSize
Amp, 138 CopleyMotionLibrary, 276
SetHomeAccel SetMicrostepRate
Amp, 139 Amp, 146
SetHomeConfig SetMoveLimits
Amp, 139 Linkage, 481
SetHomeCurrent SetMtrInfo
Amp, 140 Amp, 147
SetHomeDelay SetName
Amp, 140 CanInterface, 226
SetHomeMethod setNdx
Amp, 140 EcatDgram, 298
SetHomeOffset SetNetworkOptions
Amp, 141 Amp, 147
SetHomeVelFast setNext
Amp, 141 EcatDgram, 299
SetHomeVelSlow SetNodeGuard
Amp, 142 CanOpen, 240
SetIOAnlg EtherCAT, 315
CopleyIO, 264 SetNodeID
SetIOConfig LSS, 505
CopleyIO, 265 SetNodeInfo
SetIODigi Network, 518
CopleyIO, 265 SetOutputConfig
SetIOInfo Amp, 147
CopleyIO, 265 SetOutputs
SetIOOptions Amp, 148
Amp, 145 SetPhaseMode
SetIOPWM Amp, 149
CopleyIO, 266 SetPosCaptureCfg
SetID Amp, 149
PDO, 557 SetPosLoopConfig
SetIloopCommandFilter Amp, 153
Amp, 142 SetPositionActual
SetIloopCommandFilter2 Amp, 150
Amp, 143 SetPositionErrorWindow

Generated by Doxygen
818 INDEX

Amp, 150 SetSynchPeriod

SetPositionLoad Node, 535
Amp, 152 SetSynchProducer
SetPositionMotor CanOpen, 240
Amp, 152 SetTargetPos
SetPositionWarnWindow Amp, 161
Amp, 153 SetTargetVel
setPriority Amp, 162
Thread, 653 SetTimeout
SetProfileAcc SDO, 632
Amp, 154 setTimeout
SetProfileConfig LSS, 506
Amp, 154 SetTorqueRated
SetProfileDec Amp, 162
Amp, 154 SetTorqueSlope
SetProfileJerk Amp, 163
Amp, 155 SetTorqueTarget
SetProfileType Amp, 163
Amp, 155 SetTraceChannel
SetProfileVel Amp, 164
Amp, 156 SetTracePeriod
SetPvtInitialPos Amp, 164
Amp, 156 SetTraceTrigger
SetPwmInConfig Amp, 164
Amp, 157 SetTrackingWindows
SetPwmMode Amp, 165
Amp, 157 SetTrajectoryJrkAbort
SetQuickStop Amp, 166
Amp, 158 SetType
SetQuickStopDec PDO, 558
Amp, 158 SetUstepConfig
SetRefName Amp, 167
RefObj, 610 setValue
SetRegenConfig Event, 327
Amp, 159 SetVel
SetRtrOk Path, 550
TPDO, 659 SetVelLoopConfig
SetServoLoopConfig Amp, 168
Amp, 159 SetVelocityProgrammed
SetSettlingTime Amp, 168
Amp, 159 SetVelocityWarnTime
SetSettlingWindow Amp, 169
Amp, 160 SetVelocityWarnWindow
SetSoftLimits Amp, 169
Amp, 160 SetVloopCommandFilter
SetSpecialFirmwareConfig Amp, 170
Amp, 161 SetVloopOutputFilter
SetStartPos Amp, 170
Path, 549 SetVloopOutputFilter2
TrjScurve, 670 Amp, 170
SetSync0Period SetVloopOutputFilter3
EtherCAT, 316 Amp, 171
SetSynchId settlingTime
Node, 535 TrackingWindows, 660

Generated by Doxygen
INDEX 819

settlingWin Thread, 654

TrackingWindows, 660 StopGuarding
SetupMove Node, 537
Amp, 166, 167 StopNode
shift CanOpen, 241
VelLoopConfig, 675 Node, 537
SiemensCAN, 643 StoreConfig
∼SiemensCAN, 646 LSS, 506
Close, 646 SupportsTimestamps
ConvertError, 646 CanInterface, 226
Open, 647 CopleyCAN, 255
RecvFrame, 647 SwitchModeGlobal
SetBaud, 647 LSS, 506
SiemensCAN, 645 syncID
XmitFrame, 648 CanOpenSettings, 250
sleep synchID
Thread, 653 AmpSettings, 205
slope synchPeriod
CrntLoopConfig, 283 AmpSettings, 205
SoftPosLimit, 649 synchProducer
accel, 649 AmpSettings, 206
macroEncoderCapture, 649 SynchStart
motorPosWrap, 650 Node, 537
neg, 650 SynchStop
pos, 650 Node, 538
start synchUseFirstAmp
Thread, 654 AmpSettings, 206
StartHeartbeat
Node, 536 TPDO, 656
StartMove HandleRxMsg, 658
Amp, 171 ProcessData, 658
Linkage, 482 Received, 659
StartNew SetRtrOk, 659
LinkTrajectory, 492 Thread, 651
LinkTrjScurve, 495 getTimeMS, 652
Path, 550 getTimeUS, 652
Trajectory, 664 run, 653
TrjScurve, 670 setPriority, 653
StartNode sleep, 653
CanOpen, 240 start, 654
Node, 536 stop, 654
StartNodeGuard Thread, 652
Node, 536 ThreadError, 655
StartPVT Threads.cpp, 788
Amp, 172 timeID
stepHoldCurrent CanOpenSettings, 250
CrntLoopConfig, 284 timeStampID
stepRate AmpSettings, 206
AmpConfig, 187 ToAmpFormat
stepRun2HoldTime CanNetworkConfig, 230
CrntLoopConfig, 284 toString
stepVolControlDelayTime Error, 306
CrntLoopConfig, 284 TpdoDisable
stop Node, 538

Generated by Doxygen
820 INDEX

TraceStart Upld8
Amp, 172 Amp, 175
TraceStop SDO, 634, 635
Amp, 172 UpldFlt
trackErr SDO, 635
TrackingWindows, 661 UpldString
trackWarn Amp, 176
TrackingWindows, 661 SDO, 636
TrackingWindows, 659 Upload
settlingTime, 660 Amp, 176
settlingWin, 660 SDO, 636, 637
trackErr, 661 useAsTimingReference
trackWarn, 661 CanOpenSettings, 250
TrackingWindows, 660 useStandardAinPDO
Trajectory, 661 IOModuleSettings, 450
Finish, 663 useStandardAoutPDO
MaximumBufferPointsToUse, 663 IOModuleSettings, 451
NextSegment, 663 useStandardDinPDO
StartNew, 664 IOModuleSettings, 451
UseVelocityInfo, 664 useStandardDoutPDO
Transmit IOModuleSettings, 451
IOModule::AlgOutPDO, 29 useSwitch
IOModule::DigOutPDO, 291 CanNetworkConfig, 231
RPDO_LinkCtrl, 620 UseVelocityInfo
TrjError, 665 LinkTrajectory, 492
NoneAvailable, 666 Trajectory, 664
TrjScurve, 666 UstepConfig, 670
Calculate, 668, 669 maxVelAdj, 671
GetStartPos, 669 UstepConfig, 671
SetStartPos, 670 ustepConfigAndStatus, 672
StartNew, 670 ustepPGainOutLoop, 672
TrjScurve, 668 ustepConfigAndStatus
UstepConfig, 672
uint16 ustepPGainOutLoop
CML_Utils.h, 776 UstepConfig, 672
uint32 uunit
CML_Utils.h, 777 CML_Utils.h, 777
UnInit uvCfg
Node, 538 PwmInConfig, 603
Unlock
Mutex, 512 vOff
Update RegenConfig, 615
IOModule::AlgOutPDO, 30 vOn
IOModule::DigOutPDO, 292 RegenConfig, 615
UpdateBit vel
IOModule::DigOutPDO, 292 ProfileConfigScurve, 590
UpdateEvents ProfileConfigTrap, 591
Amp, 172 ProfileConfigVel, 593
Upld16 velCmdff
Amp, 173 VelLoopConfig, 675
SDO, 632, 633 velFast
Upld32 HomeConfig, 354
Amp, 174 VelLoad2User
SDO, 633, 634 Amp, 177

Generated by Doxygen
INDEX 821

VelLoopConfig, 672 XmitFrame

estopDec, 674 CanInterface, 227
maxAcc, 674 CopleyCAN, 255
maxDec, 674 IxxatCANV3, 461
maxVel, 674 IxxatCAN, 457
shift, 675 KvaserCAN, 467
velCmdff, 675 SiemensCAN, 648
VelLoopConfig, 673 XmitPDO
VelMtr2User CanOpen, 242
Amp, 177 XmitSDO
velSlow CanOpen, 242
HomeConfig, 354
VelUser2Load
Amp, 178
VelUser2Mtr
Amp, 178

Wait
Event, 327
WaitCycleUpdate
EtherCAT, 316
WaitEvent
Amp, 179
Linkage, 482, 483
WaitHomeDone
Amp, 180
WaitIOEvent
IOModule, 447, 448
WaitInputEvent
Amp, 180
WaitInputHigh
Amp, 181
WaitInputLow
Amp, 181
WaitMoveDone
Amp, 182
Linkage, 483
Warn
CopleyMotionLibrary, 277
WinUdpEcatHardware, 675
WinUdpEcatHardware, 676
Write
Pmap16, 568
Pmap24, 572
Pmap32, 575
Pmap8, 579
WriteCCDToCANDrive
AmpFile.cpp, 681
WriteCCDToEcatDrive
AmpFile.cpp, 681

Xmit
CanInterface, 226
CanOpen, 241
LSS, 507

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