Main include file for TG Motion. Can be used as the only include for virtual PLC projects. More...

#include <stdint.h>

Classes
struct	HEADER
	The HEADER struct - fixed size 128 bytes. More...

struct	MAIN
	The MAIN struct - fixed size of 4096 bytes. More...

struct	TIMERS
	Timers with fixed 1ms period. More...

struct	CHANNEL
	One oscilloscope channel definition. More...

struct	OSC
	Oscilloscope control. More...

struct	ECAT_DRIVER
	Describes which PCI device is ised as a EtherCAT device. More...

struct	EEPROM
	EEPROM simulation. More...

struct	SYSTEM
	Shared memory named "TGM_System". More...

struct	PG
	Profile generator. More...

struct	GEAR
	Gear generator. More...

struct	CAPTURE
	Capture position from servo. More...

struct	MAP_CNC
	Maps interpolator axe to servo drive. More...

struct	SDO
	SDO object communication. More...

struct	EXT_SDO
	Exteded SDO object communication (GENERAL_DEVICES only) More...

struct	ECAT_REGISTER
	EtherCAT registers communication. More...

struct	COMMAND
	Servo command. More...

struct	SERVO
	Describes one servo drive (or axis) More...

struct	DIO
	Describes one servo input/output module. More...

struct	UNIVERSAL_DEVICE
	Describes one general module. More...

struct	GENERAL_DEVICE
	Describes one general module. More...

struct	UNIVERSAL_MEMORY
	Universal memory contains several general structures. More...

struct	INTERPOLATOR_LOOK_AHEAD_ENTRY
	Stores informations about CNC code parts ahead of the actual one. More...

struct	INTERPOLATOR_LOOK_AHEAD_BUFFER
	Lookahead informations about the G-code. More...

struct	CONT_MFUNC_HISTORY
	History of continuous M functions. More...

struct	INTERPOLATOR
	Interface to interpolator. More...

struct	_PLC_IMPORT_FUNCTIONS
	Pointers to auxiliary functions usable in Virtual PLC. More...

struct	RECEIVE_DATA_CAN
	One entry of incoming CAN data. More...

struct	_PLC_DATA
	main structure for communication between TGMotion and Virtual PLC More...

Macros
#define	TGM_VERSION 421
	Main TG Motion version.

#define	ID_COMPATIBILITY 4033
	Compability number.

#define	ID_MEMORY_COMPATIBILITY 904
	Memory Compatibility number.

#define	ID_CNC_COMPATIBILITY 121
	CNC Compatibility ID.

#define	MAX_SERVO 256

#define	MAX_DIO 256

#define	MAX_INTERPOLATOR 3

#define	MAX_CORES 3

#define	MAX_INTERPOLATOR_BUFFER_SIZE 50000

#define	MIN_INTERPOLATOR_BUFFER_SIZE 500

#define	MAX_INTERPOLATOR_AXES 10
	Maximum interpolated axes.

#define	MAX_TIMER_UP 64
	Max number timers up.

#define	MAX_TIMER_DOWN 64
	Max number timers down.

#define	TG_IO_TYPE_BASIC 0x0000
	EtherCAT DIO types. Found automatically and set to DIO::Type variable. More...

#define	TG_IO_TENZOMETER 0x0008
	digital: 8out, 8in, tenzometer: 4

#define	TG_IO_TYPE_NEW 0x0014
	digital: 40out, 48in, analog: 4out, 4in

#define	TG_IO_TYPE_BASIC_LITE 0x00E0
	digital: 24out, 40in

#define	TG_IO_TYPE_NEW_LITE 0x00F4
	digital: 16out, 32in, analog: 4out, 4in

#define	FESTO_IO_TYPE 0x0400
	digital: up to 128out, up to 128in

#define	TGM_MINI_DIO_TYPE 0x1000
	digital: 8out, 8in

#define	DFC_IO_TYPE 0x7B90
	digital: 16out, 16in

#define	MFUNC_NUMBER_PAR 26
	Number of M functions parameters (all the letters of English alphabet)

#define	N_OSC_CHANNELS 32
	Max number of oscilloscope numbers.

#define	SIZE_EEPROM_MEMORY (8192 - sizeof(TIMERS) - sizeof(OSC) - 2 * sizeof(ECAT_DRIVER) - 2* sizeof(int32_t) - sizeof(RESERVE_MAIN) - sizeof(MAIN) - sizeof(HEADER))
	Size eeprom memory [ bytes ].

#define	SDO_CONTROL_FINISHED 0
	SDO channel is ready for a next command.

#define	SDO_CONTROL_WRITE 1
	Write SDO command for SDO::Control value.

#define	SDO_CONTROL_READ 2
	Read SDO command for SDO::Control value.

#define	SDO_STATUS_OK 0
	SDO completed OK.

#define	SDO_STATUS_BUSY 1
	SDO is in progress.

#define	SDO_STATUS_ERR -1
	SDO finished with error, the error code is in the SDO::Data.

#define	MAX_TX_RX_BUFFER_SIZE 32
	size of TX and RX buffers for ECAT to serial converters (currently BK1120+EL6041 only)

#define	CONT_MFUNC_HISTORY_SIZE 8
	holds history of continuous M functions

Typedefs
typedef int32_t PLC_FUNC_CDECL	RTWPRINTF_STRING(PLC_CONST_STRING strText)
	Output string to console. More...

typedef int32_t PLC_FUNC_CDECL	RTWPRINTF_LONG(PLC_CONST_STRING strFormat, int32_t lVal)
	Output long value (32bit signed integer) to console. More...

typedef int32_t PLC_FUNC_CDECL	SWPRINTF(PLC_STRING buffer, size_t sizeOfBuffer, PLC_CONST_STRING strFormat,...)
	Formatted sprintf-like output to buffer. More...

typedef void PLC_FUNC_CDECL	SLEEPFT(PLC_PLARGE_INTEGER Pause)
	Wait for specified time. Do not use in Program_04() ! More...

typedef int32_t PLC_FUNC_CDECL	CAN_TRANSMIT(uint32_t Number, uint32_t Id, uint32_t Dlc, unsigned char *Tx_Data)
	Send CAN message. More...

typedef int32_t PLC_FUNC_CDECL	CAN_TRANSMITREMOTE(uint32_t Number, uint32_t Id, uint32_t Dlc, unsigned char *Tx_Data)
	Send CAN remote message. More...

typedef int32_t PLC_FUNC_CDECL	RTWPRINTF_EX(int32_t severity, PLC_CONST_STRING strFormat,...)
	Formatted printf-like output to console. More...

typedef HPE_MODULE PLC_FUNC_CDECL	LOADPEIMAGE(PLC_CONST_STRING fileNameWithFullPath)
	Load sub-DLL inside PLC. More...

typedef void *PLC_FUNC_CDECL	GETPEADDRESS(HPE_MODULE hModule, const char *funcName)
	Get function addres from module loaded by LOADPEIMAGE() More...

typedef struct _PLC_IMPORT_FUNCTIONS	PLC_IMPORT_FUNCTIONS
	Pointers to auxiliary functions usable in Virtual PLC.

typedef struct _PLC_DATA	PLC_DATA
	main structure for communication between TGMotion and Virtual PLC

Enumerations
enum	TGM_LOG_XXX : uint32_t { TGM_LOG_MAIN = 0x0001, TGM_LOG_INTEPOLATOR = 0x0002, TGM_LOG_CAN = 0x0004, TGM_LOG_CAN1_SDO = 0x0008, TGM_LOG_CAN2_SDO = 0x0010, TGM_LOG_PG = 0x0020, TGM_LOG_GEAR = 0x0040, TGM_LOG_ETHERNET = 0x0080, TGM_LOG_ETHERCAT = 0x0100, TGM_LOG_ETHERCAT_SDO = 0x0200, TGM_LOG_ETHERCAT_STATUS = 0x0400, TGM_LOG_ETHERCAT_DC = 0x0800, TGM_LOG_ETHERCAT_FSM_STATE = 0x1000, TGM_LOG_VERBOSE_PE = 0x2000, TGM_LOG_VERBOSE_RELOC = 0x4000, TGM_LOG_VERBOSE_EXPORTS = 0x8000 }
	Bitmasks for debug log output. More...

enum	SERVO_TYPES_XXX : int32_t { SERVOSTAR_400_600 = 1, TGA = 2, TGA_21 = 21, SERVOSTAR_300_700 = 3, POWER_STAGE_CW32 = 4, POWER_STAGE_CW32_EXTPOS = 41, POWER_STAGE_CW16 = 42, POWER_STAGE_CW16_EXTPOS = 43, AKD = 5, TGA220 = 6, SERVO_PIERCE = 7, SERVO_DCM = 8, SERVO_TGZ = 9 }
	Servo types. More...

enum	OSC_MEMORY_TYPES : uint32_t { OSC_SYSTEM_MEMORY = 0, OSC_DATA_MEMORY = 1, OSC_CAM_PROFILE_MEMORY = 2, OSC_OSCILLOSCOPE_MEMORY = 3, OSC_SERVO_MEMORY = 4, OSC_DIO_MEMORY = 5, OSC_INTEROPLATOR_MEMORY = 6, OSC_INTERPOLATOR_WRITE_MEMORY = 7, OSC_INTERPOLATOR_READ_MEMORY = 8, OSC_ODS_MEMORY = 9, OSC_CNCEX_MEMORY = 10, OSC_GCODE_MEMORY = 11, OSC_CNCEX_LOCAL_MEMORY = 12, OSC_CNCINI_MEMORY = 13, OSC_UNIVERSAL_MEMORY = 14, OSC_LAST_MEMORY_IDX = 15 }
	Oscilloscope memory numbers. More...

enum	OSC_DATA_TYPES : uint32_t { OSC_DATA_TYPE_I32_DEC = 0, OSC_DATA_TYPE_I32_HEX = 1, OSC_DATA_TYPE_I32_BIN = 2, OSC_DATA_TYPE_UI32_DEC = 3, OSC_DATA_TYPE_I64_DEC = 4, OSC_DATA_TYPE_I64_HEX = 5, OSC_DATA_TYPE_I64_BIN = 6, OSC_DATA_TYPE_UI64_DEC = 7, OSC_DATA_TYPE_DOUBLE = 8, OSC_DATA_TYPE_FLOAT = 9, OSC_DATA_TYPE_ASTRING = 10, OSC_DATA_TYPE_WSTRING = 11, OSC_DATA_TYPE_I32_BIN_EX = 12, OSC_DATA_TYPE_I64_BIN_EX = 13 }
	Oscilloscope data types. More...

enum	INTERPOLATOR_COMMANDS : int32_t { INTERPOLATOR_CMD_NONE = 0, INTERPOLATOR_CMD_SET_AXIS_RATIO = 1024, INTERPOLATOR_CMD_SET_COORDS_ON_TRAJ = 2048, INTERPOLATOR_CMD_SET_COORDS_OUT_TRAJ = 2049, INTERPOLATOR_CMD_EMERGENCY_STOP = 4, INTERPOLATOR_CMD_EMERGENCY_STOP_OUT_TRAJ = 5, INTERPOLATOR_CMD_NORMAL_STOP = 8, INTERPOLATOR_CMD_NORMAL_STOP_OUT_TRAJ = 9, INTERPOLATOR_CMD_SET_FILTER_PARAMETERS = -1, INTERPOLATOR_CMD_SET_SPLINE_PARAMETERS = -2 }
	Interpolator commands (INTERPOLATOR::Command) More...

enum	EXT_SDO_CONTROL : int32_t { EXT_SDO_CONTROL_FINISHED = SDO_CONTROL_FINISHED, EXT_SDO_CONTROL_WRITE = SDO_CONTROL_WRITE, EXT_SDO_CONTROL_READ = SDO_CONTROL_READ }
	extended SDO commands (more than 4 bytes of data available) More...

enum	EXT_SDO_STATUS : int32_t { EXT_SDO_STATUS_OK = SDO_STATUS_OK, EXT_SDO_STATUS_BUSY = SDO_STATUS_BUSY, EXT_SDO_STATUS_ERR = SDO_STATUS_ERR }
	extended SDO communication status (the smae as for legacy SDO) More...

Detailed Description

Main include file for TG Motion. Can be used as the only include for virtual PLC projects.

Copyright: 2007-2018 TG Drives s.r.o. Olomoucka 1290/79 CZ-627 00 Brno Czech Republic

Author: Antonin SAUER

Date: Jul, 20 th, 2011

Release notes

26.09.2014 update ID numbers
- ID_COMPATIBILITY 4028 to 4029
- ID_MEMORY_COMPATIBILITY 900 to 901
- memory CAM_PROFILE_MEMORY increased from 131072 bytes to 1048576 bytes
- memory OSCILLOSCOPE_MEMORY increased from 131072 bytes to 1048576 bytes
02.03.2016 update ID numbers
- ID_COMPATIBILITY to 4030
- ID_MEMORY_COMPATIBILITY 901
- added shared memory TGM_ODS (1048576 bytes)
21.06.2016 update ID numbers
- ID_COMPATIBILITY 4031
- ID_MEMORY_COMPATIBILITY 903
- MAX_INTERPOLATOR 3
15.08.2017 changed memory data type declarations from long int to int32_t (using <stdint.h>)
- DIO.Stav renamed to DIO.Status
- SERVO.Axe renamed to SERVO.Axis
- added structures needed fro PLC creation, so only this file is necessary for the PLC programmer
10.05.2018
- ID_COMPATIBILITY 4033
- ID_MEMORY_COMPATIBILITY 904
- CNC compatibility 119
- new shared UNIVERSAL_MEMORY for various EtherCAT devices
27.08.2018
- CNC compatibility 121
- added MAIN::TGMmini_CPU_Temperature field

Definition in file TGM.h.

Macro Definition Documentation

◆ MAX_SERVO

#define MAX_SERVO 256

Max number of servos - can be overriden for different TG Motion types (PC, TGMmini)

Definition at line 100 of file TGM.h.

◆ MAX_DIO

#define MAX_DIO 256

Max number of DIO modules - can be overriden for different TG Motion types (PC, TGMmini)

Definition at line 106 of file TGM.h.

◆ MAX_INTERPOLATOR

#define MAX_INTERPOLATOR 3

Maximum number of interpolators - can be overriden for different TG Motion types (PC, TGMmini)

Definition at line 112 of file TGM.h.

◆ MAX_CORES

#define MAX_CORES 3

maximum number of CNC cores inside TGM (fixed to 3 for PC, 1 for TGMmini)

Definition at line 121 of file TGM.h.

◆ MAX_INTERPOLATOR_BUFFER_SIZE

#define MAX_INTERPOLATOR_BUFFER_SIZE 50000

Maximum number of entries in interpolator buffer (for each interpolator (PC only))

Definition at line 133 of file TGM.h.

◆ MIN_INTERPOLATOR_BUFFER_SIZE

#define MIN_INTERPOLATOR_BUFFER_SIZE 500

Minimal number of entries in interpolator buffer (for each interpolator)

Definition at line 137 of file TGM.h.

◆ TG_IO_TYPE_BASIC

#define TG_IO_TYPE_BASIC 0x0000

EtherCAT DIO types. Found automatically and set to DIO::Type variable.

digital: 32out, 48in, analog: 4out, 4in

Definition at line 236 of file TGM.h.

Typedef Documentation

◆ RTWPRINTF_STRING

typedef int32_t PLC_FUNC_CDECL RTWPRINTF_STRING(PLC_CONST_STRING strText)

Output string to console.

Parameters

strText UNICODE (Windows) or ANSI (Linux) string to be displayed in TG Motion debug console. Use _T() macro for UNICODE/ANSI text independence.

Returns: Number of characters displayed

Definition at line 1371 of file TGM.h.

◆ RTWPRINTF_LONG

typedef int32_t PLC_FUNC_CDECL RTWPRINTF_LONG(PLC_CONST_STRING strFormat, int32_t lVal)

Output long value (32bit signed integer) to console.

Parameters

strFormat
lVal

Returns

Definition at line 1378 of file TGM.h.

◆ SWPRINTF

typedef int32_t PLC_FUNC_CDECL SWPRINTF(PLC_STRING buffer, size_t sizeOfBuffer, PLC_CONST_STRING strFormat,...)

Formatted sprintf-like output to buffer.

Parameters

buffer
sizeOfBuffer
strFormat

Returns

Definition at line 1386 of file TGM.h.

◆ SLEEPFT

typedef void PLC_FUNC_CDECL SLEEPFT(PLC_PLARGE_INTEGER Pause)

Wait for specified time. Do not use in Program_04() !

Parameters

Pause

Definition at line 1391 of file TGM.h.

◆ CAN_TRANSMIT

typedef int32_t PLC_FUNC_CDECL CAN_TRANSMIT(uint32_t Number, uint32_t Id, uint32_t Dlc, unsigned char *Tx_Data)

Send CAN message.

Parameters

Number
Id
Dlc
Tx_Data

Returns

Definition at line 1400 of file TGM.h.

◆ CAN_TRANSMITREMOTE

typedef int32_t PLC_FUNC_CDECL CAN_TRANSMITREMOTE(uint32_t Number, uint32_t Id, uint32_t Dlc, unsigned char *Tx_Data)

Send CAN remote message.

Parameters

Number
Id
Dlc
Tx_Data

Returns

Definition at line 1409 of file TGM.h.

◆ RTWPRINTF_EX

typedef int32_t PLC_FUNC_CDECL RTWPRINTF_EX(int32_t severity, PLC_CONST_STRING strFormat,...)

Formatted printf-like output to console.

Parameters

severity
strFormat

Returns

Definition at line 1416 of file TGM.h.

◆ LOADPEIMAGE

typedef HPE_MODULE PLC_FUNC_CDECL LOADPEIMAGE(PLC_CONST_STRING fileNameWithFullPath)

Load sub-DLL inside PLC.

Parameters

fileNameWithFullPath

Returns: Handle to module or NULL in error

Definition at line 1422 of file TGM.h.

◆ GETPEADDRESS

typedef void* PLC_FUNC_CDECL GETPEADDRESS(HPE_MODULE hModule, const char *funcName)

Get function addres from module loaded by LOADPEIMAGE()

Parameters

hModule	Handle to module (got by LOADPEMODULE() funcion)
funcName	Name of the function

Returns: Address to function or NULL in error

Definition at line 1429 of file TGM.h.

Enumeration Type Documentation

◆ TGM_LOG_XXX

enum TGM_LOG_XXX : uint32_t

Bitmasks for debug log output.

Values are set in the TgMotion4xx.ini file, entry Log=....

Enumerator
TGM_LOG_MAIN	Log main TGM.
TGM_LOG_INTEPOLATOR	Log TGM interpolator.
TGM_LOG_CAN	Log TGM CAN.
TGM_LOG_CAN1_SDO	Log TGM CAN SDO handling CAN1.
TGM_LOG_CAN2_SDO	Log TGM CAN SDO handling CAN2.
TGM_LOG_PG	Log PG profile generator.
TGM_LOG_GEAR	Log GEAR generator.
TGM_LOG_ETHERNET	TGMmini only: Log ethernet communication.
TGM_LOG_ETHERCAT	Log basic Ethercat traffix.
TGM_LOG_ETHERCAT_SDO	Log SDO traffix.
TGM_LOG_ETHERCAT_STATUS	Log unexpected status change, display PDO structure for universal devices.
TGM_LOG_ETHERCAT_DC	Log distributed clock capability & topology.
TGM_LOG_ETHERCAT_FSM_STATE	Log detailed Ethercat master FSM states.
TGM_LOG_VERBOSE_PE	Log PLC loading - PE image analysis.
TGM_LOG_VERBOSE_RELOC	Log PLC loading - PE image relocation.
TGM_LOG_VERBOSE_EXPORTS	Log PLC loading - list of exported functions.

Definition at line 155 of file TGM.h.

◆ SERVO_TYPES_XXX

enum SERVO_TYPES_XXX : int32_t

Servo types.

Enumerator
SERVOSTAR_400_600	Servo drive Servostar 400 or Servostar 600 ( not supported on the ETHERCAT )
TGA	Servo drive TGA24 ( not supported on the ETHERCAT )
TGA_21	Servo drive TGA24 ( not supported on the ETHERCAT )
SERVOSTAR_300_700	Servo drive Servostar 300 or Servostar 700.
POWER_STAGE_CW32	Servo drive TGP with 32bit control word.
POWER_STAGE_CW32_EXTPOS	Servo drive TGP with 32bit control word and external position from sin/cos encoder.
POWER_STAGE_CW16	Servo drive TGP with 16bit control word ( not supported on the ETHERCAT )
POWER_STAGE_CW16_EXTPOS	Servo drive TGP with 16bit control word and external position from sin/cos encoder ( not supported on the ETHERCAT )
AKD	Servo drive AKD.
TGA220	Servo drive TGA220 ( not supported on the CAN )
SERVO_PIERCE	Servo drive RETROFIT for Pierce controls ( not supported on the CAN )
SERVO_DCM	Servo drive DMC ( not supported on the CAN )
SERVO_TGZ	Servo drive TGZ ( not supported on the CAN )

Definition at line 212 of file TGM.h.

◆ OSC_MEMORY_TYPES

enum OSC_MEMORY_TYPES : uint32_t

Oscilloscope memory numbers.

The same numbers are used as memory types in TGM_Comm_Int_2.dll.

Enumerator
OSC_SYSTEM_MEMORY	SYSTEM memory.
OSC_DATA_MEMORY	Virtual PLC private memory. TG Motion never writes to this memory.
OSC_CAM_PROFILE_MEMORY	CAM memory.
OSC_OSCILLOSCOPE_MEMORY	Oscilloscope memory. Stores oscilloscope values. Read-only.
OSC_SERVO_MEMORY	All servos.
OSC_DIO_MEMORY	All I/O modules.
OSC_INTEROPLATOR_MEMORY	Interface to all interpolators.
OSC_INTERPOLATOR_WRITE_MEMORY	Internal memory for CNC modules.
OSC_INTERPOLATOR_READ_MEMORY	Internal memory for CNC modules.
OSC_ODS_MEMORY	Stores debug, warning and error messages in a circular buffer.
OSC_CNCEX_MEMORY	Interface to CNC modules.
OSC_GCODE_MEMORY	Stores compiled G-code.
OSC_CNCEX_LOCAL_MEMORY	local DLL memory, ignored by TGMotion oscilloscope
OSC_CNCINI_MEMORY	INI file, ignored by TGMotion oscilloscope.
OSC_UNIVERSAL_MEMORY	Universal memory for general devices, etc.
OSC_LAST_MEMORY_IDX	total number of shared memories

Definition at line 259 of file TGM.h.

◆ OSC_DATA_TYPES

enum OSC_DATA_TYPES : uint32_t

Oscilloscope data types.

Enumerator
OSC_DATA_TYPE_I32_DEC	int32_t in decimal representation
OSC_DATA_TYPE_I32_HEX	int32_t in hexadecimal representation
OSC_DATA_TYPE_I32_BIN	int32_t in binary representation
OSC_DATA_TYPE_UI32_DEC	uint32_t in decimal representation
OSC_DATA_TYPE_I64_DEC	int64_t in decimal representation
OSC_DATA_TYPE_I64_HEX	int64_t in hexadecimal representation
OSC_DATA_TYPE_I64_BIN	int64_t in binary representation
OSC_DATA_TYPE_UI64_DEC	uint64_t in decimal representation
OSC_DATA_TYPE_DOUBLE	64 bits real data type
OSC_DATA_TYPE_FLOAT	32 bits real data type (single data type Pascal)
OSC_DATA_TYPE_ASTRING	ANSI (int8_t) string.
OSC_DATA_TYPE_WSTRING	UNICODE (UTF-16) string.
OSC_DATA_TYPE_I32_BIN_EX	int32_t in binary representation, displayed bit by bit
OSC_DATA_TYPE_I64_BIN_EX	int64_t in binary representation, displayed bit by bit

Definition at line 281 of file TGM.h.

◆ INTERPOLATOR_COMMANDS

enum INTERPOLATOR_COMMANDS : int32_t

Interpolator commands (INTERPOLATOR::Command)

Enumerator

INTERPOLATOR_CMD_NONE

No command or previous command finished.

INTERPOLATOR_CMD_SET_AXIS_RATIO

Sets the INTERPOLATOR::Ratio as a fraction

Command_Parametr	Description
0	axis index
1	numerator
2	denominator

INTERPOLATOR_CMD_SET_COORDS_ON_TRAJ

Sets the actual position, keep the on_trajectory status. All the positions are in Command_Parametr array.

INTERPOLATOR_CMD_SET_COORDS_OUT_TRAJ

Sets the actual position, set the off_trajectory status. All the positions are in Command_Parametr array.

INTERPOLATOR_CMD_EMERGENCY_STOP

Stop the interpolator and keep it on actual status. Uses emergency stop deceleration

INTERPOLATOR_CMD_EMERGENCY_STOP_OUT_TRAJ

Stop the interpolator and set off trajectory status Uses emergency stop deceleration

INTERPOLATOR_CMD_NORMAL_STOP

Stop the interpolator and keep it on actual status. Uses normal stop deceleration

INTERPOLATOR_CMD_NORMAL_STOP_OUT_TRAJ

Stop the interpolator and set off trajectory status Uses normal stop deceleration

INTERPOLATOR_CMD_SET_FILTER_PARAMETERS

Sets the IIR filter parameters

Command_Parametr	Description
0	p parameter
1	q parameter
2	f parameter
3	axis bit mask

INTERPOLATOR_CMD_SET_SPLINE_PARAMETERS

Sets the spline parameters

Command_Parametr	Description
0	number of points (50-500)
1	jerk value

Definition at line 305 of file TGM.h.

◆ EXT_SDO_CONTROL

enum EXT_SDO_CONTROL : int32_t

extended SDO commands (more than 4 bytes of data available)

Uses the same values as for normal (legacy) SDO

Enumerator
EXT_SDO_CONTROL_FINISHED	0 - SDO is ready for a next command
EXT_SDO_CONTROL_WRITE	1 - Write SDO
EXT_SDO_CONTROL_READ	2 - Read SDO

Definition at line 716 of file TGM.h.

◆ EXT_SDO_STATUS

enum EXT_SDO_STATUS : int32_t

extended SDO communication status (the smae as for legacy SDO)

Enumerator
EXT_SDO_STATUS_OK	command completed OK
EXT_SDO_STATUS_BUSY	command is in process
EXT_SDO_STATUS_ERR	command ended with error, the error code is in EXT_SDO::Data[0]

Definition at line 723 of file TGM.h.

Classes

Macros

Typedefs

Enumerations

Detailed Description

Macro Definition Documentation

◆ MAX_SERVO

◆ MAX_DIO

◆ MAX_INTERPOLATOR

◆ MAX_CORES

◆ MAX_INTERPOLATOR_BUFFER_SIZE

◆ MIN_INTERPOLATOR_BUFFER_SIZE

◆ TG_IO_TYPE_BASIC

Typedef Documentation

◆ RTWPRINTF_STRING

◆ RTWPRINTF_LONG

◆ SWPRINTF

◆ SLEEPFT

◆ CAN_TRANSMIT

◆ CAN_TRANSMITREMOTE

◆ RTWPRINTF_EX

◆ LOADPEIMAGE

◆ GETPEADDRESS

Enumeration Type Documentation

◆ TGM_LOG_XXX

◆ SERVO_TYPES_XXX

◆ OSC_MEMORY_TYPES

◆ OSC_DATA_TYPES

◆ INTERPOLATOR_COMMANDS

◆ EXT_SDO_CONTROL

◆ EXT_SDO_STATUS