//-----------------------------------------------------------------------
// new PCube Module Setup
//-----------------------------------------------------------------------
// ---- FEEDBACK SETUP -----------
#define SETUPID_MOD_ENCODER_FEEDBACK			0x00000001L
#define SETUPID_MOD_RESOLVER_FEEDBACK			0x00000002L
#define SETUPID_MOD_ABSOLUTE_FEEDBACK			0x00000004L
// ---- DIGITAL IO SETUP ---------
#define SETUPID_MOD_4IN_4OUT					0x00000008L
#define SETUPID_MOD_3IN_ENCODER_IN				0x00000010L
#define SETUPID_MOD_3IN_ENCODER_OUT				0x00000020L
// ---- COMM INTERFACE -----------
#define SETUPID_MOD_RS232						0x00000040L
#define SETUPID_MOD_CAN							0x00000200L
#define SETUPID_MOD_PROFIBUS					0x00000400L
// ---- CAN ID SETUP -------------
#define SETUPID_MOD_USE_M3ID					0x00000800L
#define SETUPID_MOD_USE_M4ID					0x00001000L
#define SETUPID_MOD_USE_CANOPEN					0x00002000L
// ---- MOTOR SETUP --------------
#define SETUPID_MOD_INVERT_MOTORDIR				0x00004000L
// ---- INPUT USAGE --------------
#define SETUPID_MOD_USE_SW2_AS_ENABLE			0x00008000L
#define SETUPID_MOD_USE_SW2_AS_BRAKE			0x00010000L
// ---- OUTPUT USAGE -------------
#define SETUPID_MOD_ERROR_TO_OUT0				0x00020000L
// ---- IN/OUTPUT USAGE -------------
#define SETUPID_MOD_IO_GRIPPER_CONTROL			0x00080000L

//-----------------------------------------------------------------------
// new PCube Module Types
//-----------------------------------------------------------------------
#define	TYPEID_MOD_ROTARY						0x0f
#define TYPEID_MOD_LINEAR						0xf0

//-----------------------------------------------------------------------
// new PCube Module DIO's
//-----------------------------------------------------------------------
#define DIOID_MOD_INBIT0						0x00000001L
#define DIOID_MOD_INBIT1						0x00000002L
#define DIOID_MOD_INBIT2						0x00000004L
#define DIOID_MOD_INBIT3						0x00000008L
 
#define DIOID_MOD_OUTBIT0						0x00000010L
#define DIOID_MOD_OUTBIT1						0x00000020L
#define DIOID_MOD_OUTBIT2						0x00000040L
#define DIOID_MOD_OUTBIT3						0x00000080L
 
#define DIOID_MOD_INSWR							0x00000100L
#define DIOID_MOD_INSW1							0x00000200L
#define DIOID_MOD_INSW2							0x00000400L

//-----------------------------------------------------------------------
// new EMS Module Types
//-----------------------------------------------------------------------
#define TYPEID_EMS_DIG24V_OUT					10
#define TYPEID_EMS_DIG24V_IN					11
#define TYPEID_EMS_ANA10V_OUT					12
#define TYPEID_EMS_ANA10V_IN					13
#define TYPEID_EMS_ANA25MA_OUT					14
#define TYPEID_EMS_ANA25MA_IN					15

//-----------------------------------------------------------------------
// new PCube Module Baudrates
//-----------------------------------------------------------------------
#define BAUDRATEID_MOD_CAN_75K					0
#define BAUDRATEID_MOD_CAN_250K					1
#define BAUDRATEID_MOD_CAN_500K					2
#define BAUDRATEID_MOD_CAN_1000K				3

#define BAUDRATEID_MOD_RS232_1200				0
#define BAUDRATEID_MOD_RS232_2400				1
#define BAUDRATEID_MOD_RS232_4800				2
#define BAUDRATEID_MOD_RS232_9600				3
#define BAUDRATEID_MOD_RS232_19200				4
#define BAUDRATEID_MOD_RS232_38400				5

//-----------------------------------------------------------------------
// new PCube Device Error Codes
//-----------------------------------------------------------------------
#define	ERRID_DEV							(-200L)		// device error
#define ERRID_DEV_FUNCTIONNOTAVAILABLE  	(ERRID_DEV - 1)	
#define ERRID_DEV_NOINITSTRING				(ERRID_DEV - 2)
#define ERRID_DEV_NODEVICENAME				(ERRID_DEV - 3)
#define ERRID_DEV_BADINITSTRING				(ERRID_DEV - 4)
#define ERRID_DEV_INITERROR					(ERRID_DEV - 5)
#define ERRID_DEV_NOTINITIALIZED			(ERRID_DEV - 6)
#define ERRID_DEV_WRITEERROR				(ERRID_DEV - 7)
#define ERRID_DEV_READERROR					(ERRID_DEV - 8)
#define ERRID_DEV_WRITETIMEOUT				(ERRID_DEV - 9)
#define ERRID_DEV_READTIMEOUT				(ERRID_DEV - 10)
#define ERRID_DEV_WRONGMESSAGEID			(ERRID_DEV - 11)
#define ERRID_DEV_WRONGCOMMANDID			(ERRID_DEV - 12)
#define ERRID_DEV_WRONGPARAMETERID			(ERRID_DEV - 13)
#define ERRID_DEV_EXITERROR					(ERRID_DEV - 14)
#define ERRID_DEV_NOMODULES					(ERRID_DEV - 15)
#define ERRID_DEV_WRONGDEVICEID				(ERRID_DEV - 16)
#define ERRID_DEV_NOLIBRARY					(ERRID_DEV - 17)
#define ERRID_DEV_ISINITIALIZED				(ERRID_DEV - 18)
#define ERRID_DEV_WRONGEMSMODULEID			(ERRID_DEV - 19)
#define ERRID_DEV_EMSNOTINITIALIZED			(ERRID_DEV - 20)
#define ERRID_DEV_EMSMAXNUMBER				(ERRID_DEV - 21)
#define ERRID_DEV_EMSINITERROR				(ERRID_DEV - 22)
#define ERRID_DEV_WRONGEMSTYPE				(ERRID_DEV - 23)
#define ERRID_DEV_WRONGEMSCHANNELID			(ERRID_DEV - 24)
#define ERRID_DEV_WRONGMP55MODULEID			(ERRID_DEV - 25)
#define ERRID_DEV_WRONGSCHUNKMODULEID		(ERRID_DEV - 26)
#define ERRID_DEV_WRONGMODULEID				(ERRID_DEV - 27)
#define ERRID_DEV_MODULEERROR				(ERRID_DEV - 28)
#define ERRID_DEV_WAITTIMEOUT				(ERRID_DEV - 29)
#define ERRID_DEV_OPENINIFILE				(ERRID_DEV - 30)

//-----------------------------------------------------------------------
// old PCube Device Error Codes
//-----------------------------------------------------------------------
#define CLD_OK							0
#define CLD_ERR							-1
#define CLDERR_ERROR					(-200)
#define CLERR_FUNCTIONNOTAVAILABLE  	(CLDERR_ERROR - 1)	
#define CLERR_NOINITSTRING				(CLDERR_ERROR - 2)
#define CLERR_NODEVICENAME				(CLDERR_ERROR - 3)
#define CLERR_BADDEVICEINITSTRING		(CLDERR_ERROR - 4)
#define CLDERR_INITIALIZATIONERROR		(CLDERR_ERROR - 5)	
#define CLERR_DEVICENOTOPEN				(CLDERR_ERROR - 6)
#define CLDERR_TRANSMISSIONERROR		(CLDERR_ERROR - 7)
#define CLDERR_RECEIVEERROR				(CLDERR_ERROR - 8)
#define CLERR_COMM_SENDTIMEOUT			(CLDERR_ERROR - 9)
#define CLERR_COMM_RECVTIMEOUT			(CLDERR_ERROR - 10)
#define CLDERR_DRIVE_NOMODULEFOUND		(CLDERR_ERROR - 15)
#define CLERR_WRONGHANDLE				(CLDERR_ERROR - 16)
#define CLDERR_LIBRARYNOTFOUND			(CLDERR_ERROR - 17)	

//-----------------------------------------------------------------------
// old PCube Module States
//-----------------------------------------------------------------------
#define STATE_ERROR							0x00000001L
#define STATE_HOME_OK						0x00000002L
#define STATE_HALTED						0x00000004L
#define STATE_POWERFAULT					0x00000008L
#define STATE_TOW_ERROR						0x00000010L
#define STATE_COMM_ERROR					0x00000020L
#define STATE_SWR							0x00000040L
#define STATE_SW1							0x00000080L
#define STATE_SW2							0x00000100L
#define STATE_BRAKEACTIVE 					0x00000200L
#define STATE_CURLIMIT						0x00000400L
#define STATE_MOTION						0x00000800L
#define STATE_RAMP_ACC						0x00001000L
#define STATE_RAMP_STEADY					0x00002000L
#define STATE_RAMP_DEC						0x00004000L
#define STATE_RAMP_END						0x00008000L
#define STATE_INPROGRESS					0x00010000L
#define STATE_FULLBUFFER					0x00020000L
#define STATE_POW_VOLT_ERR					0x00040000L
#define STATE_POW_FET_TEMP					0x00080000L
#define STATE_POW_WDG_TEMP					0x00100000L
#define STATE_POW_SHORTCUR					0x00200000L
#define STATE_POW_HALLERR					0x00400000L
#define STATE_POW_INTEGRALERR				0x00800000L
#define STATE_CPU_OVERLOAD					0x01000000L
#define STATE_BEYOND_HARD				   	0x02000000L
#define STATE_BEYOND_SOFT					0x04000000L

//-----------------------------------------------------------------------
// old PCube Module Types
//-----------------------------------------------------------------------
#define	ROTARY_DRIVE						TYPEID_MOD_ROTARY
#define LINEAR_DRIVE						TYPEID_MOD_LINEAR

//-----------------------------------------------------------------------
// old EMS Module Types
//-----------------------------------------------------------------------
#define TW_DIG24V_OUT						TYPEID_EMS_DIG24V_OUT
#define TW_DIG24V_IN						TYPEID_EMS_DIG24V_IN
#define TW_ANA10V_OUT						TYPEID_EMS_ANA10V_OUT
#define TW_ANA10V_IN						TYPEID_EMS_ANA10V_IN
#define TW_ANA25MA_OUT						TYPEID_EMS_ANA25MA_OUT
#define TW_ANA25MA_IN						TYPEID_EMS_ANA25MA_IN

//-----------------------------------------------------------------------
// old PCube Module Config
//-----------------------------------------------------------------------

#define CONFIG_ENCODER_FEEDBACK				0x00000001L
#define CONFIG_RESOLVER_FEEDBACK			0x00000002L
#define CONFIG_ABSOLUTE_FEEDBACK			0x00000004L
#define CONFIG_BRAKE_PRESENT				0x00000008L
#define CONFIG_BRAKE_AT_POWERON				0x00000010L
#define CONFIG_SWR_WITH_ENCODERZERO			0x00000020L
#define CONFIG_SWR_AT_FALLING_EDGE			0x00000040L
#define CONFIG_CHANGE_SWR_TO_LIMIT			0x00000080L
#define CONFIG_SWR_ENABLED        			0x00000100L
#define CONFIG_SWR_LOW_ACTIVE				0x00000200L
#define CONFIG_SWR_EQ_POSLIMIT				0x00000400L
#define CONFIG_SW1_ENABLED					0x00000800L
#define CONFIG_SW1_LOW_ACTIVE				0x00001000L
#define CONFIG_SW1_EQ_POSLIMIT				0x00002000L
#define CONFIG_SW2_ENABLED					0x00004000L
#define CONFIG_SW2_LOW_ACTIVE				0x00008000L
#define CONFIG_SW2_EQ_POSLIMIT				0x00010000L
#define CONFIG_LINEAR_DRIVE					0x00020000L
#define CONFIG_OPENBRAKE_ON_SW2				0x00040000L
#define CONFIG_ALLOW_FULL_CUR				0x00080000L
#define CONFIG_M3_COMPATIBLE				0x00100000L
#define CONFIG_LINEAR_SCREW					0x00200000L
#define CONFIG_SYNC_MOTION					0x08000000L
#define CONFIG_CAN_RS232_COMM				0x40000000L
#define CONFIG_PROFI_RS485_COMM				0x80000000L

#define P3502_CONFIG_BRAKE_PRESENT          0x00000008L
#define P3502_CONFIG_BRAKE_AT_POWERON       0x00000010L
#define P3502_CONFIG_SWR_WITH_ENCODERZERO   0x00000020L
#define P3502_CONFIG_SWR_AT_FALLING_EDGE    0x00000040L
#define P3502_CONFIG_CHANGE_SWR_TO_LIMIT    0x00000080L
#define P3502_CONFIG_SWR_ENABLED        	0x00000100L
#define P3502_CONFIG_SWR_LOW_ACTIVE         0x00000200L
#define P3502_CONFIG_SWR_USE_EXTERNAL       0x00000400L
#define P3502_CONFIG_SW1_ENABLED            0x00000800L
#define P3502_CONFIG_SW1_LOW_ACTIVE         0x00001000L
#define P3502_CONFIG_SW1_USE_EXTERNAL       0x00002000L
#define P3502_CONFIG_SW2_ENABLED			0x00004000L
#define P3502_CONFIG_SW2_LOW_ACTIVE         0x00008000L
#define P3502_CONFIG_SW2_USE_EXTERNAL		0x00010000L
#define P3502_CONFIG_LINEAR_DRIVE			0x00020000L
#define P3502_CONFIG_ALLOW_FULL_CUR			0x00080000L
#define P3502_CONFIG_M3_COMPATIBLE			0x00100000L
#define P3502_CONFIG_LINEAR_SCREW			0x00200000L
#define P3502_CONFIG_DISABLE_ON_HALT		0x00800000L
#define P3502_CONFIG_WATCHDOG_ENABLE		0x01000000L
#define P3502_CONFIG_ZERO_MOVE_AFTER_HOK	0x02000000L
#define P3502_CONFIG_DISABLE_ACK			0x04000000L

//-----------------------------------------------------------------------
// old PCube Module Setup
//-----------------------------------------------------------------------