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mhidefs.h
00001 /************************************************************************* 00002 00003 date : August 2008 00004 copyright : (C) 2005 J.D. Yamokoski 00005 email : yamokosk+gnu at gmail dot com 00006 00007 This library is free software; you can redistribute it and/or 00008 modify it under the terms of the GNU Lesser General Public License as 00009 published by the Free Software Foundation; either version 2.1 of the License, 00010 or (at your option) any later version. The text of the GNU Lesser General 00011 Public License is included with this library in the file LICENSE.TXT. 00012 00013 This library is distributed in the hope that it will be useful, but WITHOUT 00014 ANY WARRANTY; without even the implied warranty of MERCHANTABILITY 00015 or FITNESS FOR A PARTICULAR PURPOSE. See the file LICENSE.TXT for 00016 more details. 00017 00018 *************************************************************************/ 00019 00020 #ifndef HYDRO_MHI_PA10_CONFIGURATION_H 00021 #define HYDRO_MHI_PA10_CONFIGURATION_H 00022 00023 #include <string> 00024 00025 /* 00026 * author yamokosk 00027 * 00028 * Definition of PA10 status bits. The creation of the enum and char arrays may look 00029 * a bit odd. Its using a little known and rarely used C-preprocessor technique called X-macros. 00030 * See http://en.wikipedia.org/wiki/C_preprocessor#X-Macros for more information on them. 00031 */ 00032 #define SERVO_STATUS FIELD(0x0001, PositiveAngleLimit, "Positive angle limit reached.") \ 00033 FIELD(0x0002, NegativeAngleLimit, "Negative angle limit reached.") \ 00034 FIELD(0x4000, ModeUncontrollable, "Servo is uncontrollable.") \ 00035 FIELD(0x8000, PowerOff, "Servo power OFF.") 00036 00037 #define SERVO_ALARMS FIELD(0x0010, AlarmSharedMemory, "Shared memory anomaly. (A)") \ 00038 FIELD(0x0020, AlarmEEPROM, "EEPROM anomaly. (A)") \ 00039 FIELD(0x0050, AlarmCPU, "CPU anomaly. (A)") \ 00040 FIELD(0x0060, AlarmVelocityDeviation, "Velocity deviation anomaly. (A)") \ 00041 FIELD(0x0070, AlarmResolverDeviation, "Resolver deviation anomaly. (A)") \ 00042 FIELD(0x0080, AlarmPositionLimit, "Position limit exceeded. (A)") \ 00043 FIELD(0x0090, AlarmMotorTorque, "Motor torque anomaly. (A)") \ 00044 FIELD(0x00A0, AlarmIPM, "IPM anomaly. (A)") \ 00045 FIELD(0x00B0, AlarmBrakeShrtCircuit, "Brake short circuit detected. (A)") \ 00046 FIELD(0x00C0, AlarmMtrSideResolverShrtCircuit, "Motor side resolver short circuit detected. (A)") \ 00047 FIELD(0x00D0, AlarmGrSideResolverShrtCircuit, "Gear side resolver short circuit detected. (A)") \ 00048 FIELD(0x00E0, AlarmOverCurrent, "Current limit exceeded. (A)") \ 00049 FIELD(0x00F0, AlarmOverVelocity, "Velocity limit exceeded. (A)") \ 00050 FIELD(0x0100, AlarmUnknown, "Unknown CPU anomaly. (A)") \ 00051 FIELD(0x0110, AlarmEStopSwOn, "E-stop switch closed. (A)") \ 00052 FIELD(0x0120, AlarmDeadmanSwOff, "Dead-man switch opened. (A)") \ 00053 FIELD(0x0130, AlarmLimitSwOn, "Limit switch closed. (A)") \ 00054 FIELD(0x0FF0, AlarmCommTimeout, "Communication timeout. (A)") 00055 00056 #define COMM_STATUS FIELD(0x0001, DeadmanSwOn, "Dead-man switch closed.") \ 00057 FIELD(0x0002, PowerTempAnomaly, "Power source temperature anomaly.") \ 00058 FIELD(0x0004, 100VOutputOn, "100V power output ON.") \ 00059 FIELD(0x0008, EStopSwOff, "E-stop switch open.") \ 00060 FIELD(0x1000, TeachingSwOn, "Teaching switch closed.") \ 00061 FIELD(0x2000, LimitSwOff, "Limit switch open.") \ 00062 FIELD(0x4000, ModeUncontrollable, "PA10 is uncontrollable.") 00063 00064 #define COMM_ALARMS FIELD(0x0020, AlarmEEPROM, "EEPROM anomaly. (A)") \ 00065 FIELD(0x0030, AlarmArcnetInit, "ARCNET initialization error. (A)") \ 00066 FIELD(0x0040, AlarmCPU, "CPU anomaly. (A)") \ 00067 FIELD(0x0050, AlarmCommTimeout, "Communication with upper controller timed out. (A)") \ 00068 FIELD(0x0060, AlarmPowerTemp, "Power source temperature anomaly. (A)") \ 00069 FIELD(0x0070, Alarm100VOutput, "100V output anomaly. (A)") \ 00070 FIELD(0x0100, AlarmUnknown, "Unknown anomaly occured. (A)") \ 00071 FIELD(0x0110, AlarmEStopSwOn, "E-stop switch closed. (A)") \ 00072 FIELD(0x0120, AlarmDeadmanSwOff, "Dead-man switch opened. (A)") \ 00073 FIELD(0x0130, AlarmLimitSwOn, "Limit switch closed. (A)") 00074 00075 namespace mhipa10arc 00076 { 00077 00078 enum ServoFlags 00079 { 00080 ServoFlagPlaceholder=-1, 00081 #define FIELD(flag, ID, desc) Servo##ID = flag, 00082 SERVO_STATUS 00083 SERVO_ALARMS 00084 #undef FIELD 00085 }; 00086 00087 static const unsigned int NumServoFlags = 22; 00088 00089 static const int ServoBitMasks[] = 00090 { 00091 #define FIELD(flag, ID, desc) flag, 00092 SERVO_STATUS 00093 SERVO_ALARMS 00094 #undef FIELD 00095 }; 00096 00097 static const char* ServoFlagDesc[] = 00098 { 00099 #define FIELD(flag, ID, desc) desc, 00100 SERVO_STATUS 00101 SERVO_ALARMS 00102 #undef FIELD 00103 }; 00104 00105 enum CommCPUFlags 00106 { 00107 #define FIELD(flag, ID, desc) Comm##ID = flag, 00108 COMM_STATUS 00109 COMM_ALARMS 00110 #undef FIELD 00111 }; 00112 00113 static const unsigned int NumCommCPUFlags = 17; 00114 00115 static const int CommBitMasks[] = 00116 { 00117 #define FIELD(flag, ID, desc) flag, 00118 COMM_STATUS 00119 COMM_ALARMS 00120 #undef FIELD 00121 }; 00122 00123 static const char* CommFlagDesc[] = 00124 { 00125 #define FIELD(flag, ID, desc) desc, 00126 COMM_STATUS 00127 COMM_ALARMS 00128 #undef FIELD 00129 }; 00130 00131 // Conversion constants 00132 static const float SPEED_TO_COUNT = 5000.0; 00133 static const float TORQUE_TO_COUNT = 4096.0; 00134 static const float COUNT_TO_SPEED = 2e-4; 00135 static const float COUNT_TO_TORQUE = 0.244140625e-3; 00136 static const double COUNT_TO_DEGREE = 0.439453125e-3; 00137 00138 00139 } // End namespace 00140 00141 #endif
