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TG Motion
version 421 - 4033/904 cnc 121
Real-time system for controlling servo drives and I/O modules
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TG Motion
version 421 - 4033/904 cnc 121
Real-time system for controlling servo drives and I/O modules
|
The MAIN struct - fixed size of 4096 bytes. More...
#include <TGM.h>
Public Attributes | |
| int32_t | TGMotion_Version |
| Version of TGM xxx DD MM YY. | |
| int32_t | TGMathDll_Version |
| Version of math library xxx DD MM YY (not used in TGM420 upwards) | |
| int32_t | TGM_TgMotionKill |
| Kill the TGM by setting to 0x4C4C494B value. | |
| volatile uint32_t | Log_Ctrl |
| Control log output texts of TGM. | |
| volatile uint32_t | LogInterpolator_Ctrl |
| Control log output texts od inerpolators;. | |
| uint32_t | Servo_Tick |
| Counter of ticks servo thread. | |
| uint32_t | Servo_SetCycleTime |
| Adjusted cycle time of servo thread [ mikrosec ]. | |
| uint32_t | Servo_CycleTime |
| Time of execute servo thread [ mikrosec ]. | |
| uint32_t | PLC_SetCycleTime_Prg1 |
| Adjusted cycle time of PLC program 1 thread [ mikrosec ]. | |
| uint32_t | PLC_CycleTime_Prg1 |
| Time of execute PLC program 1 thread [ mikrosec ]. | |
| uint32_t | PLC_SetCycleTime_Prg2 |
| Adjusted cycle time of PLC program 2 thread [ mikrosec ]. | |
| uint32_t | PLC_CycleTime_Prg2 |
| Time of execute PLC program 2 thread [ mikrosec ]. | |
| uint32_t | PLC_SetCycleTime_Prg3 |
| Adjusted cycle time of PLC program 3 thread [ mikrosec ]. | |
| uint32_t | PLC_CycleTime_Prg3 |
| Time of execute PLC program 3 thread [ mikrosec ]. | |
| uint32_t | PLC_SetCycleTime_Prg4 |
| Adjusted cycle time of PLC program 4 thread [ mikrosec ]. | |
| uint32_t | PLC_CycleTime_Prg4 |
| Time of execute PLC program 4 thread [ mikrosec ]. | |
| uint32_t | PLC_SetCycleTime_Prg5 |
| Adjusted cycle time of PLC program 5 thread [ mikrosec ]. | |
| uint32_t | PLC_CycleTime_Prg5 |
| Time of execute PLC program 5 thread [ mikrosec ]. | |
| uint32_t | Number_Servos |
| Number of servo drives. | |
| uint32_t | Number_Dios |
| Number of dio modules. | |
| uint32_t | Number_Interpolators |
| Number of interpolators. | |
| uint32_t | Interpolator_SetCycleTime |
| Adjusted cycle time of INTERPOLATOR thread [ mikrosec ]. | |
| uint32_t | Interpolator_CycleTime [3] |
| Time execute of INTERPOLATORS [ mikrosec ]. | |
| uint32_t | Max_Servo_Cycle_Time |
| calculated maximum of servo loop time | |
| uint32_t | Max_Interpolator_Cycle_Time [3] |
| calculated maximum of interpolator time | |
| uint32_t | Number_Universal_Devices |
| number of general devices from .INI file | |
| uint32_t | Found_Total_Number_Of_ECAT_Devices |
| number of found device on ECAT bus | |
| int32_t | Reserve [7] |
| reserved | |
| uint32_t | Servo_CAN_BaudRate |
| CAN Communications speed with servo axes [ kbit / s ]. | |
| uint32_t | Dio_CAN_BaudRate |
| CAN Communications speed with DIO modules [ kbit / s ]. | |
| uint32_t | Servo_Bus |
| Type of bus for servo communication 0 = virtual, 1 = CAN, 2 = ETHERCAT. | |
| uint32_t | Dio_Bus |
| Type of bus for servo communication 0 = virtual, 1 = CAN, 2 = ETHERCAT. | |
| uint16_t | PLC_Name [MAX_PLC_FILE_NAME_SIZE] |
| Name of PLC program file (always UNICODE - UTF16) | |
| volatile uint32_t | PLC_Ctrl |
| Control PLC ( load, run, stop... ) | |
| uint16_t | EtherCatDriver [MAX_ECAT_DRIVER_FILE_NAME_SIZE] |
| Name of ETHERCAT driver (UNICODE, PC only) | |
| uint32_t | SystemTimeDifferenceSum |
| ORed value of all DC slaves system time difference. | |
| uint32_t | EthPacketErrorCounter |
| Counter of recieve packet error. | |
| uint32_t | EthMaxPacketLenght |
| Max. lenght of packet. | |
| int64_t | MasterClock |
| 64-bit counter time in nanoseconds till DC started | |
| int64_t | ReferenceClock |
| read 64-bit counter of the first slave with DC | |
| int64_t | MasterClockToReferenceClockDifference |
| MasterClock - ReferenceClock. | |
| int32_t | Distributed_Clock |
| copy of CONFIG_TGMOTION.Distributed_Clock | |
| int32_t | StateDistributedClock |
| State of distributed clock on ETHERCAT 0 = off, 1 = on, -1 = error finding DC slave. | |
| uint32_t | Act_Timer_CycleTime |
| actual measured main loop cycle time [ mikrosec ] | |
| uint32_t | Min_Timer_CycleTime |
| minimal main loop cycle time | |
| uint32_t | Max_Timer_CycleTime |
| maximal main loop cycle time | |
| uint32_t | Max_Timer_Latency |
| calculated main loop timer latency | |
| uint32_t | Size_EEPROM_Memory |
| size of EEPROM memory, zero means size of 512 bytes (compatibility with previous TGM versions) | |
| uint32_t | CAN_Sync_Act_Time |
| Actual time between two CAN SYNCs. | |
| uint32_t | TGMmini_CPU_Temperature |
| TGMmini only: CPU chip temperature in degrees of Celsius, if zero, no measurement done yet. | |
| uint32_t | PLC_MaxCycleTime_Prg1 |
| Maximal measured execution time PLC program 1 thread [ mikrosec ]. | |
| uint32_t | PLC_MaxCycleTime_Prg2 |
| Maximal measured execution time PLC program 2 thread [ mikrosec ]. | |
| uint32_t | PLC_MaxCycleTime_Prg3 |
| Maximal measured execution time PLC program 3 thread [ mikrosec ]. | |
| uint32_t | PLC_MaxCycleTime_Prg4 |
| Maximal measured execution time PLC program 4 thread [ mikrosec ]. | |
| uint32_t | PLC_MaxCycleTime_Prg5 |
| Maximal measured execution time PLC program 5 thread [ mikrosec ]. | |
| uint32_t | CAN_Transmit_Buffer_Fullness |
| fullness of the CAN transmit buffer, PC: 0 or 1, TGMmini: 0 - 55 | |
1.8.13