?? m5apiw32.h
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// ========================================================================= //
// //
// Copyright 1999,2000,2001 //
// //
// AMTEC GmbH //
// Automatisierung, Mess- und Testtechnologien //
// 13127 Berlin //
// Germany //
// //
// Tel : +49 30 474990 0 //
// Fax : +49 30 474990 99 //
// Email : support@amtec-robotics.com //
// //
// ========================================================================= //
/*
$Log: m5apiw32.h,v $
Revision 1.35 2003/03/20 16:49:03 mael
added error code
Revision 1.34 2003/02/27 18:35:36 mael
added error
Revision 1.33 2003/02/11 16:26:45 mael
added wait functions
Revision 1.32 2003/02/07 17:32:36 mael
adapted bas file to version 5050
Revision 1.31 2003/02/07 16:44:42 mael
changed setup id name
Revision 1.30 2003/02/07 16:17:06 mael
added module command
added setup id
Revision 1.29 2003/01/15 11:38:17 mael
added basic function and new error code
Revision 1.28 2003/01/13 16:16:39 mael
renamed schunk and mp55 functions
Revision 1.27 2003/01/10 18:46:21 mael
added OS version comments for functions
Revision 1.26 2003/01/10 14:28:33 mael
added Schunk FTS functions
renamed MP55 functions
increase DLL version to 5040
Revision 1.25 2002/12/06 17:05:05 mael
reordered functions
Revision 1.24 2002/12/03 16:42:27 mael
reorderd functions
added error codes
Revision 1.23 2002/11/22 11:21:13 mael
added error defines
Revision 1.22 2002/11/19 14:29:07 mael
removed include
Revision 1.21 2002/10/30 18:42:27 mael
added new error codes
Revision 1.20 2002/09/23 10:34:08 mael
new version 5030
renamed and implemented setBaudRateAll
Revision 1.19 2002/09/10 10:49:40 mael
added function
Revision 1.18 2002/09/09 18:18:10 mael
fixed ansi C incompability
Revision 1.17 2002/09/02 09:19:38 tsc
Changed DLL-version after adding MP55 support
Revision 1.16 2002/08/29 17:36:25 tsc
Added support for MP55 force sensor; new commands
Revision 1.15 2002/08/06 17:33:02 mael
added io cards header
Revision 1.14 2002/05/16 12:34:48 mael
added functions
Revision 1.13 2002/05/15 12:36:56 mael
fixed config bits
Revision 1.12 2002/03/28 18:49:05 mael
added some void arguments
Revision 1.11 2002/03/20 20:06:34 mael
include stl for qnx
Revision 1.10 2002/03/20 20:04:44 mael
added bool typedef for qnx
Revision 1.9 2002/03/14 11:38:55 mael
removed define
Revision 1.8 2002/02/20 11:31:34 mael
mapped old to new names
Revision 1.7 2002/02/20 11:25:57 mael
added some functions
renamed some functions for consistency
Revision 1.6 2002/02/15 13:14:05 mael
added debug arguments in open device
Revision 1.5 2002/01/25 12:59:39 mael
added UCI header
Revision 1.4 2002/01/16 13:03:19 mael
added ems defines
Revision 1.3 2002/01/15 11:13:25 mael
changed some old error codes
Revision 1.2 2002/01/03 13:26:41 mael
added functions and defines
Revision 1.1 2001/11/26 11:53:46 mael
added header for new m5 dll
Revision 1.4 2001/11/26 10:15:26 mael
used dynamic device array and reference counter
added error codes
Revision 1.3 2001/11/26 09:06:53 mael
added old and new m5api defines
implemented getModuleIdMap and getDllVersion
fixed some wrong function declarations
added defines for linux and qnx
*/
#ifndef M5APIW32_H
#define M5APIW32_H
#define M5DLLVERSION 0x5050
#define MAX_MODULES 31
#if defined (_WIN32)
#ifndef WINAPI
#define WINAPI __stdcall
#endif
#ifdef M5APIW32_EXPORTS
#define M5DLL_API __declspec(dllexport)
#else
#define M5DLL_API __declspec(dllimport)
#endif
#endif
#if defined(__LINUX__)
#define WINAPI
#define M5DLL_API
#endif
#if defined (__QNX__)
#define WINAPI
#define M5DLL_API
#endif
extern M5DLL_API int g_iM5DebugLevel;
extern M5DLL_API int g_iM5DebugFile;
extern M5DLL_API int g_iM5Debug;
//-----------------------------------------------------------------------
// new PCube Module States
//-----------------------------------------------------------------------
#define STATEID_MOD_ERROR 0x00000001L
#define STATEID_MOD_HOME 0x00000002L
#define STATEID_MOD_HALT 0x00000004L
#define STATEID_MOD_POWERFAULT 0x00000008L
#define STATEID_MOD_TOW_ERROR 0x00000010L
#define STATEID_MOD_COMM_ERROR 0x00000020L
#define STATEID_MOD_SWR 0x00000040L
#define STATEID_MOD_SW1 0x00000080L
#define STATEID_MOD_SW2 0x00000100L
#define STATEID_MOD_BRAKEACTIVE 0x00000200L
#define STATEID_MOD_CURLIMIT 0x00000400L
#define STATEID_MOD_MOTION 0x00000800L
#define STATEID_MOD_RAMP_ACC 0x00001000L
#define STATEID_MOD_RAMP_STEADY 0x00002000L
#define STATEID_MOD_RAMP_DEC 0x00004000L
#define STATEID_MOD_RAMP_END 0x00008000L
#define STATEID_MOD_INPROGRESS 0x00010000L
#define STATEID_MOD_FULLBUFFER 0x00020000L
#define STATEID_MOD_POW_VOLT_ERR 0x00040000L
#define STATEID_MOD_POW_FET_TEMP 0x00080000L
#define STATEID_MOD_POW_WDG_TEMP 0x00100000L
#define STATEID_MOD_POW_SHORTCUR 0x00200000L
#define STATEID_MOD_POW_HALLERR 0x00400000L
#define STATEID_MOD_POW_INTEGRALERR 0x00800000L
#define STATEID_MOD_CPU_OVERLOAD 0x01000000L
#define STATEID_MOD_BEYOND_HARD 0x02000000L
#define STATEID_MOD_BEYOND_SOFT 0x04000000L
//-----------------------------------------------------------------------
// new PCube Module Config
//-----------------------------------------------------------------------
#define CONFIGID_MOD_ENCODER_FEEDBACK 0x00000001L //OS: 25xx from 35xx in SETUP
#define CONFIGID_MOD_RESOLVER_FEEDBACK 0x00000002L //OS: 25xx from 35xx in SETUP
#define CONFIGID_MOD_ABSOLUTE_FEEDBACK 0x00000004L //OS: 25xx from 35xx in SETUP
#define CONFIGID_MOD_BRAKE_PRESENT 0x00000008L
#define CONFIGID_MOD_BRAKE_AT_POWERON 0x00000010L
#define CONFIGID_MOD_SWR_WITH_ENCODERZERO 0x00000020L
#define CONFIGID_MOD_SWR_AT_FALLING_EDGE 0x00000040L
#define CONFIGID_MOD_CHANGE_SWR_TO_LIMIT 0x00000080L
#define CONFIGID_MOD_SWR_ENABLED 0x00000100L
#define CONFIGID_MOD_SWR_LOW_ACTIVE 0x00000200L
#define CONFIGID_MOD_SWR_EQ_POSLIMIT 0x00000400L //OS: 25xx
#define CONFIGID_MOD_SWR_USE_EXTERNAL 0x00000400L //OS: 35xx
#define CONFIGID_MOD_SW1_ENABLED 0x00000800L
#define CONFIGID_MOD_SW1_LOW_ACTIVE 0x00001000L
#define CONFIGID_MOD_SW1_EQ_POSLIMIT 0x00002000L //OS: 25xx
#define CONFIGID_MOD_SW1_USE_EXTERNAL 0x00002000L //OS: 35xx
#define CONFIGID_MOD_SW2_ENABLED 0x00004000L
#define CONFIGID_MOD_SW2_LOW_ACTIVE 0x00008000L
#define CONFIGID_MOD_SW2_EQ_POSLIMIT 0x00010000L //OS: 25xx
#define CONFIGID_MOD_SW2_USE_EXTERNAL 0x00010000L //OS: 35xx
#define CONFIGID_MOD_LINEAR 0x00020000L
#define CONFIGID_MOD_OPENBRAKE_ON_SW2 0x00040000L //OS: 25xx but not in 2512 from 35xx in SETUP
#define CONFIGID_MOD_ALLOW_FULL_CUR 0x00080000L
#define CONFIGID_MOD_M3_COMPATIBLE 0x00100000L
#define CONFIGID_MOD_LINEAR_SCREW 0x00200000L
#define CONFIGID_MOD_DISABLE_ON_HALT 0x00800000L
#define CONFIGID_MOD_WATCHDOG_ENABLE 0x01000000L
#define CONFIGID_MOD_ZERO_MOVE_AFTER_HOK 0x02000000L //OS: 35xx
#define CONFIGID_MOD_DISABLE_ACK 0x04000000L
#define CONFIGID_MOD_SYNC_MOTION 0x08000000L
#define CONFIGID_MOD_SYNC_TRANSMIT 0x10000000L //OS: 36xx
#define CONFIGID_MOD_CAN_RS232_COMM 0x40000000L //OS: 25xx
#define CONFIGID_MOD_PROFI_RS485_COMM 0x80000000L //OS: 25xx
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