/* yaskawa_sgds.h */
/*
* Drive Config Structure
*/
typedef struct SGDSConfig {
long Pn000; /* Function selection basis switch 0 */
long Pn001; /* Function selection basis switch 1 */
long Pn002; /* Function selection basis switch 2 */
long Pn006; /* Function selection basis switch 6 */
long Pn007; /* Function selection basis switch 7 */
long Pn008; /* Function selection basis switch 8 */
long Pn009; /* Function selection basis switch 9 */
long Pn080; /* Hall Sensor Selection */
long Pn100; /* Speed Loop Gain */
long Pn101; /* Speed Loop Integral Time Constant */
long Pn102; /* Position loop gain */
long Pn103; /* Mass ratio */
long Pn205; /* Multi turn limit setting */
long Pn212; /* Ratio of PG dividing frequency (pulse units) */
long Pn282; /* Linear scale pitch */
long Pn304; /* JOG Speed */
long Pn385; /* Motor max speed */
long Pn401; /* The first torque of the first step instruction filter time constant */
long Pn402; /* ?? limiting torque */
long Pn403; /* Reverse limit torque */
long Pn407; /* Speed limit when torque is controlled */
long Pn408; /* Function switch related to torque */
long Pn409; /* Frequency of notch filter */
long Pn40A; /* Q-value of notch filter */
long Pn40C; /* 2nd Step Notch Filter Frequency */
long Pn40D; /* 2nd Step Notch Filter Q Value */
long Pn40F; /* Frequency of secondary torque of the second step instruction filter */
long Pn410; /* Q-value of secondary torque of the second step instruction filter 0.*/
long Pn411; /* Torque of the third step instruction filter time constant */
long Pn422; /* Gravity compensating torque */
long Pn481; /* Polarity Detection Speed Loop Gain */
long Pn482; /* Polarity Detection Speed Loop Time Constant*/
long Pn483; /* Forward Force Limit */
long Pn484; /* Reverse Force Limit */
long Pn485; /* Polarity Detection Reference Speed */
long Pn486; /* Polarity Detection Acceleration/Deceleration Time */
long Pn487; /* Polarity Detection Reference Constant Speed Time */
long Pn488; /* Polarity Detection Reference Waiting Time */
long Pn48A; /* Polarity Detection Speed Error Level */
long Pn48B; /* Polarity Detection Force Limit Value */
long Pn48E; /* Polarity Detection Movable Range */
long Pn48F; /* Polarity Detection Movement Check */
long Pn502; /* Zero Speed Level */
long Pn506; /* Brake instruction Eservo off delay time */
long Pn509; /* ?? holding time */
long Pn50A; /* Input signal selection 1 */
long Pn520; /* Excessive Position Error Alarm Level */
long Pn530; /* Program JOG Operation Related Switch */
long Pn531; /* Program JOG Movement Distance */
long Pn533; /* Program JOG Movement Speed */
long Pn534; /* Program JOG Acceleration/Deceleration Time */
long Pn535; /* Program JOG Waiting Time */
long Pn536; /* Number of Times of Program JOG Movement */
long Pn550; /* Analog monitor one offset voltage 1000. */
long Pn551; /* Analog monitor two offset voltages 1000. */
long Pn586; /* Motor Self-cooling Ratio */
long Pn600; /* Regenerative Resistor Capacity */
} SGDSConfig; |
