beremiz

Added stub axis_s type in EtherLAB CiA402 support code, until Motion Contol Library comes back

2019-03-07, Edouard Tisserant
362039519454
Parents 2d72d8a8d7e5
Children 7dd551ac2fa0
Added stub axis_s type in EtherLAB CiA402 support code, until Motion Contol Library comes back
1 files changed, 25 insertions(+), 0 deletions(-)
  • +25 -0
    etherlab/plc_cia402node.c
    • --- a/etherlab/plc_cia402node.c Tue Feb 19 11:27:29 2019 +0100
    +++ b/etherlab/plc_cia402node.c Thu Mar 07 21:57:18 2019 +0100
    @@ -74,6 +74,31 @@
    static IEC_BOOL __FirstTick = 1;
    +typedef enum {
    + mc_mode_none, // No motion mode
    + mc_mode_csp, // Continuous Synchronous Positionning mode
    + mc_mode_csv, // Continuous Synchronous Velocity mode
    + mc_mode_cst, // Continuous Synchronous Torque mode
    +} mc_axismotionmode_enum;
    +
    +typedef struct {
    + IEC_BOOL Power;
    + IEC_BOOL CommunicationReady;
    + IEC_UINT NetworkPosition;
    + IEC_BOOL ReadyForPowerOn;
    + IEC_BOOL PowerFeedback;
    + IEC_DINT ActualRawPosition;
    + IEC_DINT ActualRawVelocity;
    + IEC_DINT ActualRawTorque;
    + IEC_DINT RawPositionSetPoint;
    + IEC_DINT RawVelocitySetPoint;
    + IEC_DINT RawTorqueSetPoint;
    + mc_axismotionmode_enum AxisMotionMode;
    + IEC_LREAL ActualVelocity;
    + IEC_LREAL ActualPosition;
    + IEC_LREAL ActualTorque;
    +}axis_s;
    +
    typedef struct {
    %(entry_variables)s
    axis_s* axis;