gclib_record.h

Go to the documentation of this file.

 
#ifndef I_210405D9_D9EF_484F_8258_BB29A1BBA217
#define I_210405D9_D9EF_484F_8258_BB29A1BBA217
 
//typedefs to keep the layout of the structs clean and matching the Galil user manual docs
#include <stdint.h>
typedef uint8_t UB;  //unsigned byte
typedef uint16_t UW; //unsigned word
typedef int16_t SW;  //signed word
typedef int32_t SL;  //signed long
typedef uint32_t UL; //unsigned long
 
#if defined(_MSC_VER) || defined(__GNUC__) || defined(__BORLANDC__)
#define PACKOK
#endif
 
#ifdef PACKOK
#pragma pack(1)
#else
#error "Need to set structure packing for compiler"
#endif
 
#define GALILDATARECORDMAXLENGTH 512 

struct GDataRecord4000
{
 
    /*Offset   type name        description*/
 
    /*00*/      UB    header_0; 
    /*01*/      UB    header_1; 
    /*02*/      UB    header_2; 
    /*03*/      UB    header_3; 
 
    /*04-05*/   UW    sample_number; 
 
    /*06*/      UB    input_bank_0; 
    /*07*/      UB    input_bank_1; 
    /*08*/      UB    input_bank_2; 
    /*09*/      UB    input_bank_3; 
    /*10*/      UB    input_bank_4; 
    /*11*/      UB    input_bank_5; 
    /*12*/      UB    input_bank_6; 
    /*13*/      UB    input_bank_7; 
    /*14*/      UB    input_bank_8; 
    /*15*/      UB    input_bank_9; 
 
    /*16*/      UB    output_bank_0; 
    /*17*/      UB    output_bank_1; 
    /*18*/      UB    output_bank_2; 
    /*19*/      UB    output_bank_3; 
    /*20*/      UB    output_bank_4; 
    /*21*/      UB    output_bank_5; 
    /*22*/      UB    output_bank_6; 
    /*23*/      UB    output_bank_7; 
    /*24*/      UB    output_bank_8; 
    /*25*/      UB    output_bank_9; 
 
    /*26-27*/   SW  reserved_0; 
    /*28-29*/   SW    reserved_2; 
    /*30-31*/   SW    reserved_4; 
    /*32-33*/   SW    reserved_6; 
    /*34-35*/   SW    reserved_8; 
    /*36-37*/   SW    reserved_10; 
    /*38-39*/   SW    reserved_12; 
    /*40-41*/   SW    reserved_14; 
 
    /*42*/      UB    ethernet_status_a; 
    /*43*/      UB    ethernet_status_b; 
    /*44*/      UB    ethernet_status_c; 
    /*45*/      UB    ethernet_status_d; 
    /*46*/      UB    ethernet_status_e; 
    /*47*/      UB    ethernet_status_f; 
    /*48*/      UB    ethernet_status_g; 
    /*49*/      UB    ethernet_status_h; 
 
    /*50*/      UB    error_code; 
    /*51*/      UB    thread_status; 
    /*52-55*/   UL    amplifier_status; 
 
    /*56-59*/   UL    contour_segment_count; 
    /*60-61*/   UW    contour_buffer_available; 
 
    /*62-63*/   UW    s_plane_segment_count; 
    /*64-65*/   UW    s_plane_move_status; 
    /*66-69*/   SL    s_distance; 
    /*70-71*/   UW    s_plane_buffer_available; 
 
    /*72-73*/   UW    t_plane_segment_count; 
    /*74-75*/   UW    t_plane_move_status; 
    /*76-79*/   SL    t_distance; 
    /*80-81*/   UW    t_plane_buffer_available; 
 
    /*82-83*/   UW    axis_a_status; 
    /*84*/      UB    axis_a_switches; 
    /*85*/      UB    axis_a_stop_code; 
    /*86-89*/   SL    axis_a_reference_position; 
    /*90-93*/   SL    axis_a_motor_position; 
    /*94-97*/   SL    axis_a_position_error; 
    /*98-101*/  SL    axis_a_aux_position; 
    /*102-105*/ SL    axis_a_velocity; 
    /*106-109*/ SL    axis_a_torque; 
    /*110-111*/ UW  axis_a_analog_in; 
    /*112*/     UB    axis_a_halls; 
    /*113*/     UB    axis_a_reserved; 
    /*114-117*/ SL    axis_a_variable; 
 
    /*118-119*/ UW    axis_b_status; 
    /*120*/     UB    axis_b_switches; 
    /*121*/     UB    axis_b_stop_code; 
    /*122-125*/ SL    axis_b_reference_position; 
    /*126-129*/ SL    axis_b_motor_position; 
    /*130-133*/ SL    axis_b_position_error; 
    /*134-137*/ SL    axis_b_aux_position; 
    /*138-141*/ SL    axis_b_velocity; 
    /*142-145*/ SL    axis_b_torque; 
    /*146-147*/ UW  axis_b_analog_in; 
    /*148*/     UB    axis_b_halls; 
    /*149*/     UB    axis_b_reserved; 
    /*150-153*/ SL    axis_b_variable; 
 
    /*154-155*/ UW    axis_c_status; 
    /*156*/     UB    axis_c_switches; 
    /*157*/     UB    axis_c_stop_code; 
    /*158-161*/ SL    axis_c_reference_position; 
    /*162-165*/ SL    axis_c_motor_position; 
    /*166-169*/ SL    axis_c_position_error; 
    /*170-173*/ SL    axis_c_aux_position; 
    /*174-177*/ SL    axis_c_velocity; 
    /*178-181*/ SL    axis_c_torque; 
    /*182-183*/ UW    axis_c_analog_in; 
    /*184*/     UB    axis_c_halls; 
    /*185*/     UB    axis_c_reserved; 
    /*186-189*/ SL    axis_c_variable; 
 
    /*190-191*/ UW    axis_d_status; 
    /*192*/     UB    axis_d_switches; 
    /*193*/     UB    axis_d_stop_code; 
    /*194-197*/ SL    axis_d_reference_position; 
    /*198-201*/ SL    axis_d_motor_position; 
    /*202-205*/ SL    axis_d_position_error; 
    /*206-209*/ SL    axis_d_aux_position; 
    /*210-213*/ SL    axis_d_velocity; 
    /*214-217*/ SL    axis_d_torque; 
    /*218-219*/ UW  axis_d_analog_in; 
    /*220*/     UB    axis_d_halls; 
    /*221*/     UB    axis_d_reserved; 
    /*222-225*/ SL    axis_d_variable; 
 
    /*226-227*/ UW    axis_e_status; 
    /*228*/     UB    axis_e_switches; 
    /*229*/     UB    axis_e_stop_code; 
    /*230-233*/ SL    axis_e_reference_position; 
    /*234-237*/ SL    axis_e_motor_position; 
    /*238-241*/ SL    axis_e_position_error; 
    /*242-245*/ SL    axis_e_aux_position; 
    /*246-249*/ SL    axis_e_velocity; 
    /*250-253*/ SL    axis_e_torque; 
    /*254-255*/ UW  axis_e_analog_in; 
    /*256*/     UB    axis_e_halls; 
    /*257*/     UB    axis_e_reserved; 
    /*258-261*/ SL    axis_e_variable; 
 
    /*262-263*/ UW    axis_f_status; 
    /*264*/     UB    axis_f_switches; 
    /*265*/     UB    axis_f_stop_code; 
    /*266-269*/ SL    axis_f_reference_position; 
    /*270-273*/ SL    axis_f_motor_position; 
    /*274-277*/ SL    axis_f_position_error; 
    /*278-281*/ SL    axis_f_aux_position; 
    /*282-285*/ SL    axis_f_velocity; 
    /*286-289*/ SL    axis_f_torque; 
    /*290-291*/ UW    axis_f_analog_in; 
    /*292*/     UB    axis_f_halls; 
    /*293*/     UB    axis_f_reserved; 
    /*294-297*/ SL    axis_f_variable; 
 
    /*298-299*/ UW    axis_g_status; 
    /*300*/     UB    axis_g_switches; 
    /*301*/     UB    axis_g_stop_code; 
    /*302-305*/ SL    axis_g_reference_position; 
    /*306-309*/ SL    axis_g_motor_position; 
    /*310-313*/ SL    axis_g_position_error; 
    /*314-317*/ SL    axis_g_aux_position; 
    /*318-321*/ SL    axis_g_velocity; 
    /*322-325*/ SL    axis_g_torque; 
    /*326-327*/ UW  axis_g_analog_in; 
    /*328*/     UB    axis_g_halls; 
    /*329*/     UB    axis_g_reserved; 
    /*330-333*/ SL    axis_g_variable; 
 
    /*334-335*/ UW    axis_h_status; 
    /*336*/     UB    axis_h_switches; 
    /*337*/     UB    axis_h_stop_code; 
    /*338-341*/ SL    axis_h_reference_position; 
    /*342-345*/ SL    axis_h_motor_position; 
    /*346-349*/ SL    axis_h_position_error; 
    /*350-353*/ SL    axis_h_aux_position; 
    /*354-357*/ SL    axis_h_velocity; 
    /*358-361*/ SL    axis_h_torque; 
    /*362-363*/ UW  axis_h_analog_in; 
    /*364*/     UB    axis_h_halls; 
    /*365*/     UB    axis_h_reserved; 
    /*366-369*/ SL    axis_h_variable; 
}; //DataRecord4000

struct GDataRecord52000
{
 
    /*Offset   type name        description*/
 
    /*00*/      UB    header_0; 
    /*01*/      UB    header_1; 
    /*02*/      UB    header_2; 
    /*03*/      UB    header_3; 
 
    /*04-05*/   UW    sample_number; 
 
    /*06*/      UB    input_bank_0; 
    /*07*/      UB    input_bank_1; 
    /*08*/      UB    input_bank_2; 
    /*09*/      UB    input_bank_3; 
    /*10*/      UB    input_bank_4; 
    /*11*/      UB    input_bank_5; 
    /*12*/      UB    input_bank_6; 
    /*13*/      UB    input_bank_7; 
    /*14*/      UB    input_bank_8; 
    /*15*/      UB    input_bank_9; 
 
    /*16*/      UB    output_bank_0; 
    /*17*/      UB    output_bank_1; 
    /*18*/      UB    output_bank_2; 
    /*19*/      UB    output_bank_3; 
    /*20*/      UB    output_bank_4; 
    /*21*/      UB    output_bank_5; 
    /*22*/      UB    output_bank_6; 
    /*23*/      UB    output_bank_7; 
    /*24*/      UB    output_bank_8; 
    /*25*/      UB    output_bank_9; 
 
    /*26-27*/   SW  reserved_0; 
    /*28-29*/   SW    reserved_2; 
    /*30-31*/   SW    reserved_4; 
    /*32-33*/   SW    reserved_6; 
    /*34-35*/   SW    reserved_8; 
    /*36-37*/   SW    reserved_10; 
    /*38-39*/   SW    reserved_12; 
    /*40*/      UB  ethercat_bank; 
    /*41*/      UB    reserved_14; 
 
    /*42*/      UB    ethernet_status_a; 
    /*43*/      UB    ethernet_status_b; 
    /*44*/      UB    ethernet_status_c; 
    /*45*/      UB    ethernet_status_d; 
    /*46*/      UB    ethernet_status_e; 
    /*47*/      UB    ethernet_status_f; 
    /*48*/      UB    ethernet_status_g; 
    /*49*/      UB    ethernet_status_h; 
 
    /*50*/      UB    error_code; 
    /*51*/      UB    thread_status; 
    /*52-55*/   UL    amplifier_status; 
 
    /*56-59*/   UL    contour_segment_count; 
    /*60-61*/   UW    contour_buffer_available; 
 
    /*62-63*/   UW    s_plane_segment_count; 
    /*64-65*/   UW    s_plane_move_status; 
    /*66-69*/   SL    s_distance; 
    /*70-71*/   UW    s_plane_buffer_available; 
 
    /*72-73*/   UW    t_plane_segment_count; 
    /*74-75*/   UW    t_plane_move_status; 
    /*76-79*/   SL    t_distance; 
    /*80-81*/   UW    t_plane_buffer_available; 
 
    /*82-83*/   UW    axis_a_status; 
    /*84*/      UB    axis_a_switches; 
    /*85*/      UB    axis_a_stop_code; 
    /*86-89*/   SL    axis_a_reference_position; 
    /*90-93*/   SL    axis_a_motor_position; 
    /*94-97*/   SL    axis_a_position_error; 
    /*98-101*/  SL    axis_a_aux_position; 
    /*102-105*/ SL    axis_a_velocity; 
    /*106-109*/ SL    axis_a_torque; 
    /*110-111*/ UW  axis_a_analog_in; 
    /*112*/     UB    axis_a_halls; 
    /*113*/     UB    axis_a_reserved; 
    /*114-117*/ SL    axis_a_variable; 
 
    /*118-119*/ UW    axis_b_status; 
    /*120*/     UB    axis_b_switches; 
    /*121*/     UB    axis_b_stop_code; 
    /*122-125*/ SL    axis_b_reference_position; 
    /*126-129*/ SL    axis_b_motor_position; 
    /*130-133*/ SL    axis_b_position_error; 
    /*134-137*/ SL    axis_b_aux_position; 
    /*138-141*/ SL    axis_b_velocity; 
    /*142-145*/ SL    axis_b_torque; 
    /*146-147*/ UW  axis_b_analog_in; 
    /*148*/     UB    axis_b_halls; 
    /*149*/     UB    axis_b_reserved; 
    /*150-153*/ SL    axis_b_variable; 
 
    /*154-155*/ UW    axis_c_status; 
    /*156*/     UB    axis_c_switches; 
    /*157*/     UB    axis_c_stop_code; 
    /*158-161*/ SL    axis_c_reference_position; 
    /*162-165*/ SL    axis_c_motor_position; 
    /*166-169*/ SL    axis_c_position_error; 
    /*170-173*/ SL    axis_c_aux_position; 
    /*174-177*/ SL    axis_c_velocity; 
    /*178-181*/ SL    axis_c_torque; 
    /*182-183*/ UW    axis_c_analog_in; 
    /*184*/     UB    axis_c_halls; 
    /*185*/     UB    axis_c_reserved; 
    /*186-189*/ SL    axis_c_variable; 
 
    /*190-191*/ UW    axis_d_status; 
    /*192*/     UB    axis_d_switches; 
    /*193*/     UB    axis_d_stop_code; 
    /*194-197*/ SL    axis_d_reference_position; 
    /*198-201*/ SL    axis_d_motor_position; 
    /*202-205*/ SL    axis_d_position_error; 
    /*206-209*/ SL    axis_d_aux_position; 
    /*210-213*/ SL    axis_d_velocity; 
    /*214-217*/ SL    axis_d_torque; 
    /*218-219*/ UW  axis_d_analog_in; 
    /*220*/     UB    axis_d_halls; 
    /*221*/     UB    axis_d_reserved; 
    /*222-225*/ SL    axis_d_variable; 
 
    /*226-227*/ UW    axis_e_status; 
    /*228*/     UB    axis_e_switches; 
    /*229*/     UB    axis_e_stop_code; 
    /*230-233*/ SL    axis_e_reference_position; 
    /*234-237*/ SL    axis_e_motor_position; 
    /*238-241*/ SL    axis_e_position_error; 
    /*242-245*/ SL    axis_e_aux_position; 
    /*246-249*/ SL    axis_e_velocity; 
    /*250-253*/ SL    axis_e_torque; 
    /*254-255*/ UW  axis_e_analog_in; 
    /*256*/     UB    axis_e_halls; 
    /*257*/     UB    axis_e_reserved; 
    /*258-261*/ SL    axis_e_variable; 
 
    /*262-263*/ UW    axis_f_status; 
    /*264*/     UB    axis_f_switches; 
    /*265*/     UB    axis_f_stop_code; 
    /*266-269*/ SL    axis_f_reference_position; 
    /*270-273*/ SL    axis_f_motor_position; 
    /*274-277*/ SL    axis_f_position_error; 
    /*278-281*/ SL    axis_f_aux_position; 
    /*282-285*/ SL    axis_f_velocity; 
    /*286-289*/ SL    axis_f_torque; 
    /*290-291*/ UW    axis_f_analog_in; 
    /*292*/     UB    axis_f_halls; 
    /*293*/     UB    axis_f_reserved; 
    /*294-297*/ SL    axis_f_variable; 
 
    /*298-299*/ UW    axis_g_status; 
    /*300*/     UB    axis_g_switches; 
    /*301*/     UB    axis_g_stop_code; 
    /*302-305*/ SL    axis_g_reference_position; 
    /*306-309*/ SL    axis_g_motor_position; 
    /*310-313*/ SL    axis_g_position_error; 
    /*314-317*/ SL    axis_g_aux_position; 
    /*318-321*/ SL    axis_g_velocity; 
    /*322-325*/ SL    axis_g_torque; 
    /*326-327*/ UW  axis_g_analog_in; 
    /*328*/     UB    axis_g_halls; 
    /*329*/     UB    axis_g_reserved; 
    /*330-333*/ SL    axis_g_variable; 
 
    /*334-335*/ UW    axis_h_status; 
    /*336*/     UB    axis_h_switches; 
    /*337*/     UB    axis_h_stop_code; 
    /*338-341*/ SL    axis_h_reference_position; 
    /*342-345*/ SL    axis_h_motor_position; 
    /*346-349*/ SL    axis_h_position_error; 
    /*350-353*/ SL    axis_h_aux_position; 
    /*354-357*/ SL    axis_h_velocity; 
    /*358-361*/ SL    axis_h_torque; 
    /*362-363*/ UW  axis_h_analog_in; 
    /*364*/     UB    axis_h_halls; 
    /*365*/     UB    axis_h_reserved; 
    /*366-369*/ SL    axis_h_variable; 
}; //DataRecord52000


struct GDataRecord1806
{
    /*Offset   type name        description*/
 
    /*00-01*/   UW    sample_number; 
 
    /*02*/      UB    input_bank_0; 
    /*03*/      UB    input_bank_1; 
    /*04*/      UB    input_bank_2; 
    /*05*/      UB    input_bank_3; 
    /*06*/      UB    input_bank_4; 
    /*07*/      UB    input_bank_5; 
    /*08*/      UB    input_bank_6; 
    /*09*/      UB    input_bank_7; 
    /*10*/      UB    input_bank_8; 
    /*11*/      UB    input_bank_9; 
 
    /*12*/      UB    output_bank_0; 
    /*13*/      UB    output_bank_1; 
    /*14*/      UB    output_bank_2; 
    /*15*/      UB    output_bank_3; 
    /*16*/      UB    output_bank_4; 
    /*17*/      UB    output_bank_5; 
    /*18*/      UB    output_bank_6; 
    /*19*/      UB    output_bank_7; 
    /*20*/      UB    output_bank_8; 
    /*21*/      UB    output_bank_9; 
 
    /*22-23*/   SW  reserved_0; 
    /*24-25*/   SW    reserved_2; 
    /*26-27*/   SW    reserved_4; 
    /*28-29*/   SW    reserved_6; 
    /*30-31*/   SW    reserved_8; 
    /*32-33*/   SW    reserved_10; 
    /*34-35*/   SW    reserved_12; 
    /*36-37*/   SW    reserved_14; 
 
    /*38*/      UB    reserved_16; 
    /*39*/      UB    reserved_17; 
    /*40*/      UB    reserved_18; 
    /*41*/      UB    reserved_19; 
    /*42*/      UB    reserved_20; 
    /*43*/      UB    reserved_21; 
    /*44*/      UB    reserved_22; 
    /*45*/      UB    reserved_23; 
 
    /*46*/      UB    error_code; 
    /*47*/      UB    thread_status; 
    /*48-51*/   UL    reserved_24; 
 
    /*52-55*/   UL    contour_segment_count; 
    /*56-57*/   UW    contour_buffer_available; 
 
    /*58-59*/   UW    s_plane_segment_count; 
    /*60-61*/   UW    s_plane_move_status; 
    /*62-65*/   SL    s_distance; 
    /*66-67*/   UW    s_plane_buffer_available; 
 
    /*68-69*/   UW    t_plane_segment_count; 
    /*70-71*/   UW    t_plane_move_status; 
    /*72-75*/   SL    t_distance; 
    /*76-77*/   UW    t_plane_buffer_available; 
 
    /*78-79*/   UW    axis_a_status; 
    /*80*/      UB    axis_a_switches; 
    /*81*/      UB    axis_a_stop_code; 
    /*82-85*/   SL    axis_a_reference_position; 
    /*86-89*/   SL    axis_a_motor_position; 
    /*90-93*/   SL    axis_a_position_error; 
    /*94-97*/   SL    axis_a_aux_position; 
    /*98-101*/  SL    axis_a_velocity; 
    /*102-105*/ SL    axis_a_torque; 
    /*106-107*/ UW  axis_a_analog_in; 
    /*108*/     UB    axis_a_reserved_0; 
    /*109*/     UB    axis_a_reserved_1; 
    /*110-113*/ SL    axis_a_variable; 
 
    /*114-115*/ UW    axis_b_status; 
    /*116*/     UB    axis_b_switches; 
    /*117*/     UB    axis_b_stop_code; 
    /*118-121*/ SL    axis_b_reference_position; 
    /*122-125*/ SL    axis_b_motor_position; 
    /*126-129*/ SL    axis_b_position_error; 
    /*130-133*/ SL    axis_b_aux_position; 
    /*134-137*/ SL    axis_b_velocity; 
    /*138-141*/ SL    axis_b_torque; 
    /*142-143*/ UW  axis_b_analog_in; 
    /*144*/     UB    axis_b_reserved_0; 
    /*145*/     UB    axis_b_reserved_1; 
    /*146-149*/ SL    axis_b_variable; 
 
    /*150-151*/ UW    axis_c_status; 
    /*152*/     UB    axis_c_switches; 
    /*153*/     UB    axis_c_stop_code; 
    /*154-157*/ SL    axis_c_reference_position; 
    /*158-161*/ SL    axis_c_motor_position; 
    /*162-165*/ SL    axis_c_position_error; 
    /*166-169*/ SL    axis_c_aux_position; 
    /*170-173*/ SL    axis_c_velocity; 
    /*174-177*/ SL    axis_c_torque; 
    /*178-179*/ UW    axis_c_analog_in; 
    /*180*/     UB    axis_c_reserved_0; 
    /*181*/     UB    axis_c_reserved_1; 
    /*182-185*/ SL    axis_c_variable; 
 
    /*186-187*/ UW    axis_d_status; 
    /*188*/     UB    axis_d_switches; 
    /*189*/     UB    axis_d_stop_code; 
    /*190-193*/ SL    axis_d_reference_position; 
    /*194-197*/ SL    axis_d_motor_position; 
    /*198-201*/ SL    axis_d_position_error; 
    /*202-205*/ SL    axis_d_aux_position; 
    /*206-209*/ SL    axis_d_velocity; 
    /*210-213*/ SL    axis_d_torque; 
    /*214-215*/ UW  axis_d_analog_in; 
    /*216*/     UB    axis_d_reserved_0; 
    /*217*/     UB    axis_d_reserved_1; 
    /*218-221*/ SL    axis_d_variable; 
 
    /*222-223*/ UW    axis_e_status; 
    /*224*/     UB    axis_e_switches; 
    /*225*/     UB    axis_e_stop_code; 
    /*226-229*/ SL    axis_e_reference_position; 
    /*230-233*/ SL    axis_e_motor_position; 
    /*234-237*/ SL    axis_e_position_error; 
    /*238-241*/ SL    axis_e_aux_position; 
    /*242-245*/ SL    axis_e_velocity; 
    /*256-249*/ SL    axis_e_torque; 
    /*250-251*/ UW  axis_e_analog_in; 
    /*252*/     UB    axis_e_reserved_0; 
    /*253*/     UB    axis_e_reserved_1; 
    /*254-257*/ SL    axis_e_variable; 
 
    /*258-259*/ UW    axis_f_status; 
    /*260*/     UB    axis_f_switches; 
    /*261*/     UB    axis_f_stop_code; 
    /*262-265*/ SL    axis_f_reference_position; 
    /*266-269*/ SL    axis_f_motor_position; 
    /*270-273*/ SL    axis_f_position_error; 
    /*274-277*/ SL    axis_f_aux_position; 
    /*278-281*/ SL    axis_f_velocity; 
    /*282-285*/ SL    axis_f_torque; 
    /*286-287*/ UW    axis_f_analog_in; 
    /*288*/     UB    axis_f_reserved_0; 
    /*289*/     UB    axis_f_reserved_1; 
    /*290-293*/ SL    axis_f_variable; 
 
    /*294-295*/ UW    axis_g_status; 
    /*296*/     UB    axis_g_switches; 
    /*297*/     UB    axis_g_stop_code; 
    /*298-301*/ SL    axis_g_reference_position; 
    /*302-305*/ SL    axis_g_motor_position; 
    /*306-309*/ SL    axis_g_position_error; 
    /*310-313*/ SL    axis_g_aux_position; 
    /*314-317*/ SL    axis_g_velocity; 
    /*318-321*/ SL    axis_g_torque; 
    /*322-323*/ UW  axis_g_analog_in; 
    /*324*/     UB    axis_g_reserved_0; 
    /*325*/     UB    axis_g_reserved_1; 
    /*326-329*/ SL    axis_g_variable; 
 
    /*330-331*/ UW    axis_h_status; 
    /*332*/     UB    axis_h_switches; 
    /*333*/     UB    axis_h_stop_code; 
    /*334-337*/ SL    axis_h_reference_position; 
    /*338-341*/ SL    axis_h_motor_position; 
    /*342-345*/ SL    axis_h_position_error; 
    /*346-349*/ SL    axis_h_aux_position; 
    /*350-353*/ SL    axis_h_velocity; 
    /*354-357*/ SL    axis_h_torque; 
    /*358-359*/ UW  axis_h_analog_in; 
    /*360*/     UB    axis_h_reserved_0; 
    /*361*/     UB    axis_h_reserved_1; 
    /*362-365*/ SL    axis_h_variable; 
}; //DataRecord1806

struct GDataRecord2103
{
 
    /*Offset   type name        description*/
 
    /*00*/      UB    header_0; 
    /*01*/      UB    header_1; 
    /*02*/      UB    header_2; 
    /*03*/      UB    header_3; 
 
    /*04-05*/   UW    sample_number; 
 
    /*06*/      UB    input_bank_0; 
    /*07*/      UB    input_bank_1; 
    /*08*/      UB    input_bank_2; 
    /*09*/      UB    input_bank_3; 
    /*10*/      UB    input_bank_4; 
    /*11*/      UB    input_bank_5; 
    /*12*/      UB    input_bank_6; 
    /*13*/      UB    input_bank_7; 
    /*14*/      UB    input_bank_8; 
    /*15*/      UB    input_bank_9; 
 
    /*16*/      UB    output_bank_0; 
    /*17*/      UB    output_bank_1; 
    /*18*/      UB    output_bank_2; 
    /*19*/      UB    output_bank_3; 
    /*20*/      UB    output_bank_4; 
    /*21*/      UB    output_bank_5; 
    /*22*/      UB    output_bank_6; 
    /*23*/      UB    output_bank_7; 
    /*24*/      UB    output_bank_8; 
    /*25*/      UB    output_bank_9; 
 
    /*26*/      UB    error_code; 
    /*27*/      UB    general_status; 
 
    /*28-29*/   UW    s_plane_segment_count; 
    /*30-31*/   UW    s_plane_move_status; 
    /*32-35*/   SL    s_distance; 
 
    /*36-37*/   UW    t_plane_segment_count; 
    /*38-39*/   UW    t_plane_move_status; 
    /*40-43*/   SL    t_distance; 
 
    /*44-45*/   UW    axis_a_status; 
    /*46*/      UB    axis_a_switches; 
    /*47*/      UB    axis_a_stop_code; 
    /*48-51*/   SL    axis_a_reference_position; 
    /*52-55*/   SL    axis_a_motor_position; 
    /*56-59*/   SL    axis_a_position_error; 
    /*60-63*/   SL    axis_a_aux_position; 
    /*64-67*/   SL    axis_a_velocity; 
    /*68-69*/   SW    axis_a_torque; 
    /*70-71*/   UW  axis_a_analog_in; 
 
    /*72-73*/   UW    axis_b_status; 
    /*74*/      UB    axis_b_switches; 
    /*75*/      UB    axis_b_stop_code; 
    /*76-79*/   SL    axis_b_reference_position; 
    /*80-83*/   SL    axis_b_motor_position; 
    /*84-87*/   SL    axis_b_position_error; 
    /*88-91*/   SL    axis_b_aux_position; 
    /*92-95*/   SL    axis_b_velocity; 
    /*96-97*/   SW    axis_b_torque; 
    /*98-99*/   UW  axis_b_analog_in; 
 
    /*100-101*/ UW    axis_c_status; 
    /*102*/     UB    axis_c_switches; 
    /*103*/     UB    axis_c_stop_code; 
    /*104-107*/ SL    axis_c_reference_position; 
    /*108-111*/ SL    axis_c_motor_position; 
    /*112-115*/ SL    axis_c_position_error; 
    /*116-119*/ SL    axis_c_aux_position; 
    /*120-123*/ SL    axis_c_velocity; 
    /*124-125*/ SW    axis_c_torque; 
    /*126-127*/ UW    axis_c_analog_in; 
 
    /*128-129*/ UW    axis_d_status; 
    /*130*/     UB    axis_d_switches; 
    /*131*/     UB    axis_d_stop_code; 
    /*132-135*/ SL    axis_d_reference_position; 
    /*136-139*/ SL    axis_d_motor_position; 
    /*140-143*/ SL    axis_d_position_error; 
    /*144-147*/ SL    axis_d_aux_position; 
    /*148-151*/ SL    axis_d_velocity; 
    /*152-153*/ SW    axis_d_torque; 
    /*154-155*/ UW  axis_d_analog_in; 
 
    /*156-157*/ UW    axis_e_status; 
    /*158*/     UB    axis_e_switches; 
    /*159*/     UB    axis_e_stop_code; 
    /*160-163*/ SL    axis_e_reference_position; 
    /*164-167*/ SL    axis_e_motor_position; 
    /*168-171*/ SL    axis_e_position_error; 
    /*172-175*/ SL    axis_e_aux_position; 
    /*176-179*/ SL    axis_e_velocity; 
    /*180-181*/ SW    axis_e_torque; 
    /*182-183*/ UW  axis_e_analog_in; 
 
    /*184-185*/ UW    axis_f_status; 
    /*186*/     UB    axis_f_switches; 
    /*187*/     UB    axis_f_stop_code; 
    /*188-191*/ SL    axis_f_reference_position; 
    /*192-195*/ SL    axis_f_motor_position; 
    /*196-199*/ SL    axis_f_position_error; 
    /*200-203*/ SL    axis_f_aux_position; 
    /*204-207*/ SL    axis_f_velocity; 
    /*208-209*/ SW    axis_f_torque; 
    /*210-211*/ UW    axis_f_analog_in; 
 
    /*212-213*/ UW    axis_g_status; 
    /*214*/     UB    axis_g_switches; 
    /*215*/     UB    axis_g_stop_code; 
    /*216-219*/ SL    axis_g_reference_position; 
    /*220-223*/ SL    axis_g_motor_position; 
    /*224-227*/ SL    axis_g_position_error; 
    /*228-231*/ SL    axis_g_aux_position; 
    /*232-235*/ SL    axis_g_velocity; 
    /*236-237*/ SW    axis_g_torque; 
    /*238-239*/ UW  axis_g_analog_in; 
 
    /*240-241*/ UW    axis_h_status; 
    /*242*/     UB    axis_h_switches; 
    /*243*/     UB    axis_h_stop_code; 
    /*244-247*/ SL    axis_h_reference_position; 
    /*248-251*/ SL    axis_h_motor_position; 
    /*252-255*/ SL    axis_h_position_error; 
    /*256-259*/ SL    axis_h_aux_position; 
    /*260-263*/ SL    axis_h_velocity; 
    /*264-265*/ SW    axis_h_torque; 
    /*266-267*/ UW  axis_h_analog_in; 
}; //DataRecord2013


struct GDataRecord1802
{
 
    /*Offset   type name        description*/
 
    /*00-01*/   UW    sample_number; 
 
    /*02*/      UB    input_bank_0; 
    /*03*/      UB    input_bank_1; 
    /*04*/      UB    input_bank_2; 
    /*05*/      UB    input_bank_3; 
    /*06*/      UB    input_bank_4; 
    /*07*/      UB    input_bank_5; 
    /*08*/      UB    input_bank_6; 
    /*09*/      UB    input_bank_7; 
    /*10*/      UB    input_bank_8; 
    /*11*/      UB    input_bank_9; 
 
    /*12*/      UB    output_bank_0; 
    /*13*/      UB    output_bank_1; 
    /*14*/      UB    output_bank_2; 
    /*15*/      UB    output_bank_3; 
    /*16*/      UB    output_bank_4; 
    /*17*/      UB    output_bank_5; 
    /*18*/      UB    output_bank_6; 
    /*19*/      UB    output_bank_7; 
    /*20*/      UB    output_bank_8; 
    /*21*/      UB    output_bank_9; 
 
    /*22*/      UB    error_code; 
    /*23*/      UB    general_status; 
 
    /*24-25*/   UW    s_plane_segment_count; 
    /*26-27*/   UW    s_plane_move_status; 
    /*28-31*/   SL    s_distance; 
 
    /*32-33*/   UW    t_plane_segment_count; 
    /*34-35*/   UW    t_plane_move_status; 
    /*36-39*/   SL    t_distance; 
 
    /*40-41*/   UW    axis_a_status; 
    /*42*/      UB    axis_a_switches; 
    /*43*/      UB    axis_a_stop_code; 
    /*44-47*/   SL    axis_a_reference_position; 
    /*48-51*/   SL    axis_a_motor_position; 
    /*52-55*/   SL    axis_a_position_error; 
    /*56-59*/   SL    axis_a_aux_position; 
    /*60-63*/   SL    axis_a_velocity; 
    /*64-65*/   SW    axis_a_torque; 
    /*66*/      UB    axis_a_reserved_0; 
    /*67*/      UB    axis_a_reserved_1; 
 
    /*68-69*/   UW    axis_b_status; 
    /*70*/      UB    axis_b_switches; 
    /*71*/      UB    axis_b_stop_code; 
    /*72-75*/   SL    axis_b_reference_position; 
    /*76-79*/   SL    axis_b_motor_position; 
    /*80-83*/   SL    axis_b_position_error; 
    /*84-87*/   SL    axis_b_aux_position; 
    /*88-91*/   SL    axis_b_velocity; 
    /*92-93*/   SW    axis_b_torque; 
    /*94*/      UB    axis_b_reserved_0; 
    /*95*/      UB    axis_b_reserved_1; 
 
    /*96-97*/   UW    axis_c_status; 
    /*98*/      UB    axis_c_switches; 
    /*99*/      UB    axis_c_stop_code; 
    /*100-103*/ SL    axis_c_reference_position; 
    /*104-107*/ SL    axis_c_motor_position; 
    /*108-111*/ SL    axis_c_position_error; 
    /*112-115*/ SL    axis_c_aux_position; 
    /*116-119*/ SL    axis_c_velocity; 
    /*120-121*/ SW    axis_c_torque; 
    /*122*/     UB    axis_c_reserved_0; 
    /*123*/     UB    axis_c_reserved_1; 
 
    /*124-125*/ UW    axis_d_status; 
    /*126*/     UB    axis_d_switches; 
    /*127*/     UB    axis_d_stop_code; 
    /*128-131*/ SL    axis_d_reference_position; 
    /*132-135*/ SL    axis_d_motor_position; 
    /*136-139*/ SL    axis_d_position_error; 
    /*140-143*/ SL    axis_d_aux_position; 
    /*144-147*/ SL    axis_d_velocity; 
    /*148-149*/ SW    axis_d_torque; 
    /*150*/     UB    axis_d_reserved_0; 
    /*151*/     UB    axis_d_reserved_1; 
 
}; //DataRecord1802

struct GDataRecord30000
{
 
    /*Offset   type name        description*/
 
    /*00*/      UB    header_0; 
    /*01*/      UB    header_1; 
    /*02*/      UB    header_2; 
    /*03*/      UB    header_3; 
 
    /*04-05*/   UW    sample_number; 
 
    /*06*/      UB    input_bank_0; 
    /*07*/      UB    input_bank_1; 
 
    /*08*/      UB    output_bank_0; 
    /*09*/      UB    output_bank_1; 
 
    /*10*/      UB    error_code; 
    /*11*/      UB    thread_status; 
 
    /*12-13*/   UW    input_analog_2; 
 
    /*14-15*/   UW    output_analog_1; 
    /*16-17*/   UW    output_analog_2; 
 
    /*18-21*/   UL    amplifier_status; 
 
    /*22-25*/   UL    contour_segment_count; 
    /*26-27*/   UW    contour_buffer_available; 
 
    /*28-29*/   UW    s_plane_segment_count; 
    /*30-31*/   UW    s_plane_move_status; 
    /*32-35*/   SL    s_distance; 
    /*36-37*/   UW    s_plane_buffer_available; 
 
    /*38-39*/   UW    axis_a_status; 
    /*40*/      UB    axis_a_switches; 
    /*41*/      UB    axis_a_stop_code; 
    /*42-45*/   SL    axis_a_reference_position; 
    /*46-49*/   SL    axis_a_motor_position; 
    /*50-53*/   SL    axis_a_position_error; 
    /*54-57*/   SL    axis_a_aux_position; 
    /*58-61*/   SL    axis_a_velocity; 
    /*62-65*/   SL    axis_a_torque; 
    /*66-67*/   UW  axis_a_analog_in; 
    /*68*/      UB    axis_a_halls; 
    /*69*/      UB    axis_a_reserved; 
    /*70-73*/   SL    axis_a_variable; 
}; //DataRecord30000

struct GDataRecord47000_ENC
{
 
    /*Offset   type name        description*/
 
    /*00*/      UB    header_0; 
    /*01*/      UB    header_1; 
    /*02*/      UB    header_2; 
    /*03*/      UB    header_3; 
 
    /*04-05*/   UW    sample_number; 
    /*06*/      UB    error_code; 
    /*07*/      UB    general_status; 
 
    /*08-09*/   UW    output_analog_0; 
    /*10-11*/   UW    output_analog_1; 
    /*12-13*/   UW    output_analog_2; 
    /*14-15*/   UW    output_analog_3; 
    /*16-17*/   UW    output_analog_4; 
    /*18-19*/   UW    output_analog_5; 
    /*20-21*/   UW    output_analog_6; 
    /*22-23*/   UW    output_analog_7; 
 
    /*24-25*/   UW    input_analog_0; 
    /*26-27*/   UW    input_analog_1; 
    /*28-29*/   UW    input_analog_2; 
    /*30-31*/   UW    input_analog_3; 
    /*32-33*/   UW    input_analog_4; 
    /*34-35*/   UW    input_analog_5; 
    /*36-37*/   UW    input_analog_6; 
    /*38-39*/   UW    input_analog_7; 
 
    /*40-41*/   UW    output_bank_0; 
 
    /*42-43*/   UW    input_bank_0; 
 
    /*44-47*/   UL    pulse_count_0; 
    /*48-51*/   SL    zc_variable; 
    /*52-55*/   SL    zd_variable; 
 
    /*56-59*/   SL    encoder_0; 
    /*60-63*/   SL    encoder_1; 
    /*64-67*/   SL    encoder_2; 
    /*68-71*/   SL    encoder_3; 
 
}; //GDataRecord47000_ENC

struct GDataRecord47300_ENC
{
 
    /*Offset   type name        description*/
 
    /*00*/      UB    header_0; 
    /*01*/      UB    header_1; 
    /*02*/      UB    header_2; 
    /*03*/      UB    header_3; 
 
    /*04-05*/   UW    sample_number; 
    /*06*/      UB    error_code; 
    /*07*/      UB    general_status; 
 
    /*08-09*/   UW    output_analog_0; 
    /*10-11*/   UW    output_analog_1; 
    /*12-13*/   UW    output_analog_2; 
    /*14-15*/   UW    output_analog_3; 
    /*16-17*/   UW    output_analog_4; 
    /*18-19*/   UW    output_analog_5; 
    /*20-21*/   UW    output_analog_6; 
    /*22-23*/   UW    output_analog_7; 
 
    /*24-25*/   UW    input_analog_0; 
    /*26-27*/   UW    input_analog_1; 
    /*28-29*/   UW    input_analog_2; 
    /*30-31*/   UW    input_analog_3; 
    /*32-33*/   UW    input_analog_4; 
    /*34-35*/   UW    input_analog_5; 
    /*36-37*/   UW    input_analog_6; 
    /*38-39*/   UW    input_analog_7; 
 
    /*40-41*/   UW    output_bank_0; 
    /*42-43*/   UW    output_bank_1; 
 
    /*44-45*/   UW    input_bank_0; 
    /*46-47*/   UW    input_bank_1; 
 
    /*48-51*/   UL    pulse_count_0; 
    /*52-55*/   SL    zc_variable; 
    /*56-59*/   SL    zd_variable; 
 
    /*60-63*/   SL    encoder_0; 
    /*64-67*/   SL    encoder_1; 
    /*68-71*/   SL    encoder_2; 
    /*72-75*/   SL    encoder_3; 
 
}; //GDataRecord47300_ENC

struct GDataRecord47300_24EX
{
 
    /*Offset   type name        description*/
 
    /*00*/      UB    header_0; 
    /*01*/      UB    header_1; 
    /*02*/      UB    header_2; 
    /*03*/      UB    header_3; 
 
    /*04-05*/   UW    sample_number; 
    /*06*/      UB    error_code; 
    /*07*/      UB    general_status; 
 
    /*08-09*/   UW    output_analog_0; 
    /*10-11*/   UW    output_analog_1; 
    /*12-13*/   UW    output_analog_2; 
    /*14-15*/   UW    output_analog_3; 
    /*16-17*/   UW    output_analog_4; 
    /*18-19*/   UW    output_analog_5; 
    /*20-21*/   UW    output_analog_6; 
    /*22-23*/   UW    output_analog_7; 
 
    /*24-25*/   UW    input_analog_0; 
    /*26-27*/   UW    input_analog_1; 
    /*28-29*/   UW    input_analog_2; 
    /*30-31*/   UW    input_analog_3; 
    /*32-33*/   UW    input_analog_4; 
    /*34-35*/   UW    input_analog_5; 
    /*36-37*/   UW    input_analog_6; 
    /*38-39*/   UW    input_analog_7; 
 
    /*40-41*/   UW    output_bank_0; 
    /*42-43*/   UW    output_bank_1; 
 
    /*44-45*/   UW    input_bank_0; 
    /*46-47*/   UW    input_bank_1; 
 
    /*48-51*/   UL    pulse_count_0; 
    /*52-55*/   SL    zc_variable; 
    /*56-59*/   SL    zd_variable; 
 
    /*60-61*/   UW output_bank_2; 
    /*62-63*/   UW output_back_3; 
 
    /*64-65*/   UW input_bank_2; 
    /*66-67*/   UW input_bank_3; 
 
}; //GDataRecord47300_24EX

struct GDataRecord47162
{
    /*Offset   type name        description*/
 
    /*00*/      UB    header_0; 
    /*01*/      UB    header_1; 
    /*02*/      UB    header_2; 
    /*03*/      UB    header_3; 
 
    /*04-05*/   UW    sample_number; 
    /*06*/      UB    error_code; 
    /*07*/      UB    general_status; 
 
    /*08-09*/   UW    output_analog_0; 
    /*10-11*/   UW    output_analog_1; 
    /*12-13*/   UW    output_analog_2; 
    /*14-15*/   UW    output_analog_3; 
    /*16-17*/   UW    output_analog_4; 
    /*18-19*/   UW    output_analog_5; 
    /*20-21*/   UW    output_analog_6; 
    /*22-23*/   UW    output_analog_7; 
 
    /*24-25*/   UW    input_analog_0; 
    /*26-27*/   UW    input_analog_1; 
    /*28-29*/   UW    input_analog_2; 
    /*30-31*/   UW    input_analog_3; 
    /*32-33*/   UW    input_analog_4; 
    /*34-35*/   UW    input_analog_5; 
    /*36-37*/   UW    input_analog_6; 
    /*38-39*/   UW    input_analog_7; 
 
    /*40*/      UB    output_byte_0; 
    /*41*/      UB    output_byte_1; 
    /*42*/      UB    output_byte_2; 
 
    /*43*/      UB    input_byte_0; 
    /*44*/      UB    input_byte_1; 
    /*45*/      UB    input_byte_2; 
    /*46*/      UB    input_byte_3; 
    /*47*/      UB    input_byte_4; 
 
    /*48-51*/   UL    pulse_count_0; 
    /*52-55*/   SL    zc_variable; 
    /*56-59*/   SL    zd_variable; 
 
    /*60-63*/   SL    encoder_0; 
    /*64-67*/   SL    encoder_1; 
    /*68-71*/   SL    encoder_2; 
    /*72-75*/   SL    encoder_3; 
 
}; //GDataRecord47162


union GDataRecord
{
    struct GDataRecord4000 dmc4000;
    struct GDataRecord4000 dmc4103; 
    struct GDataRecord4000 dmc50000;
 
    struct GDataRecord52000 dmc52000;
 
    struct GDataRecord30000 dmc30000;
 
    struct GDataRecord2103 dmc2103; 
 
    struct GDataRecord1806 dmc1806; 
 
    struct GDataRecord1802 dmc1802; 
 
    struct GDataRecord47000_ENC rio47000; 
    struct GDataRecord47300_ENC rio47300; 
    struct GDataRecord47300_24EX rio47300_24ex; 
    struct GDataRecord47162 rio47162; 
 
    unsigned char byte_array[GALILDATARECORDMAXLENGTH]; 
};
 
 
#ifdef PACKOK
#pragma pack() //return pack to default
#else
#error "Need to return structure packing for compiler"
#endif
 
#endif //I_210405D9_D9EF_484F_8258_BB29A1BBA217