Public Member Functions | |
general input | bank (inputs 1-8). */public UB input_bank_1 |
/*03 | |
general input | bank (inputs 9-16). */public UB input_bank_2 |
/*04 | |
general input | bank (inputs 17-24). */public UB input_bank_3 |
/*05 | |
general input | bank (inputs 25-32). */public UB input_bank_4 |
/*06 | |
general input | bank (inputs 33-40). */public UB input_bank_5 |
/*07 | |
general input | bank (inputs 41-48). */public UB input_bank_6 |
/*08 | |
general input | bank (inputs 49-56). */public UB input_bank_7 |
/*09 | |
general input | bank (inputs 57-64). */public UB input_bank_8 |
/*10 | |
general input | bank (inputs 65-72). */public UB input_bank_9 |
/*11 | |
general input | bank (inputs 73-80). */public UB output_bank_0 |
/*12 | |
general output | bank (outputs 1-8). */public UB output_bank_1 |
/*13 | |
general output | bank (outputs 9-16). */public UB output_bank_2 |
/*14 | |
general output | bank (outputs 17-24). */public UB output_bank_3 |
/*15 | |
general output | bank (outputs 25-32). */public UB output_bank_4 |
/*16 | |
general output | bank (outputs 33-40). */public UB output_bank_5 |
/*17 | |
general output | bank (outputs 41-48). */public UB output_bank_6 |
/*18 | |
general output | bank (outputs 49-56). */public UB output_bank_7 |
/*19 | |
general output | bank (outputs 57-64). */public UB output_bank_8 |
/*20 | |
general output | bank (outputs 65-72). */public UB output_bank_9 |
/*21 | |
general output | bank (outputs 73-80). */public UB error_code |
/*22 | |
Reserved.* | byte_array () |
Data Fields | |
UW | sample_number |
/*00-01 | |
sample number.*UB | input_bank_0 |
/*02 | |
error code.*UB | general_status |
/*23 | |
general status *UW | s_plane_segment_count |
/*24-25 | |
segment count of coordinated move for S plane.*UW | s_plane_move_status |
/*26-27 | |
coordinated move status for S plane.*SL | s_distance |
/*28-31 | |
distance traveled in coordinated move for S plane.*UW | t_plane_segment_count |
/*32-33 | |
segment count of coordinated move for T plane.*UW | t_plane_move_status |
/*34-35 | |
Coordinated move status for T plane.*SL | t_distance |
/*36-39 | |
distance traveled in coordinated move for T plane.*UW | axis_a_status |
/*40-41 | |
A axis status.*UB | axis_a_switches |
/*42 | |
A axis switches.*UB | axis_a_stop_code |
/*43 | |
A axis stop code.*SL | axis_a_reference_position |
/*44-47 | |
A axis reference position.*SL | axis_a_motor_position |
/*48-51 | |
A axis motor position.*SL | axis_a_position_error |
/*52-55 | |
A axis position error.*SL | axis_a_aux_position |
/*56-59 | |
A axis auxiliary position.*SL | axis_a_velocity |
/*60-63 | |
A axis velocity.*SW | axis_a_torque |
/*64-65 | |
A axis torque.*UB | axis_a_reserved_0 |
/*66 | |
Reserved.*UB | axis_a_reserved_1 |
/*67 | |
Reserved.*UW | axis_b_status |
/*68-69 | |
B axis status.*UB | axis_b_switches |
/*70 | |
B axis switches.*UB | axis_b_stop_code |
/*71 | |
B axis stop code.*SL | axis_b_reference_position |
/*72-75 | |
B axis reference position.*SL | axis_b_motor_position |
/*76-79 | |
B axis motor position.*SL | axis_b_position_error |
/*80-83 | |
B axis position error.*SL | axis_b_aux_position |
/*84-87 | |
B axis auxiliary position.*SL | axis_b_velocity |
/*88-91 | |
B axis velocity.*SW | axis_b_torque |
/*92-93 | |
B axis torque.*UB | axis_b_reserved_0 |
/*94 | |
Reserved.*UB | axis_b_reserved_1 |
/*95 | |
Reserved.*UW | axis_c_status |
/*96-97 | |
C axis status.*UB | axis_c_switches |
/*98 | |
C axis switches.*UB | axis_c_stop_code |
/*99 | |
C axis stop code.*SL | axis_c_reference_position |
/*100-103 | |
C axis reference position.*SL | axis_c_motor_position |
/*104-107 | |
C axis motor position.*SL | axis_c_position_error |
/*108-111 | |
C axis position error.*SL | axis_c_aux_position |
/*112-115 | |
C axis auxiliary position.*SL | axis_c_velocity |
/*116-119 | |
C axis velocity.*SW | axis_c_torque |
/*120-121 | |
C axis torque.*UB | axis_c_reserved_0 |
/*122 | |
Reserved.*UB | axis_c_reserved_1 |
/*123 | |
Reserved.*UW | axis_d_status |
/*124-125 | |
D axis status.*UB | axis_d_switches |
/*126 | |
D axis switches.*UB | axis_d_stop_code |
/*127 | |
D axis stop code.*SL | axis_d_reference_position |
/*128-131 | |
D axis reference position.*SL | axis_d_motor_position |
/*132-135 | |
D axis motor position.*SL | axis_d_position_error |
/*136-139 | |
D axis position error.*SL | axis_d_aux_position |
/*140-143 | |
D axis auxiliary position.*SL | axis_d_velocity |
/*144-147 | |
D axis velocity.*SW | axis_d_torque |
/*148-149 | |
D axis torque.*UB | axis_d_reserved_0 |
/*150 | |
Reserved.*UB | axis_d_reserved_1 |
/*151 | |