Kollmorgen Servostar CD SynqNet Drive

/* kollmorgen_cd.h */

/* 
 *  Drive Monitor Table
 */

typedef enum CDMonitorIndex {
    CDMonitorIndexU_PHASE_CURRENT    =  0,
    CDMonitorIndexV_PHASE_CURRENT    =  1,
    CDMonitorIndexW_PHASE_CURRENT    =  2,
    CDMonitorIndexACTUAL_TORQUE      =  10,
    CDMonitorIndexANALOG_IN0         =  30,
    CDMonitorIndexANALOG_IN1         =  31,
} CDMonitorIndex;

/* kollmorgen_cd.h */

/* 
 * Drive Info Structure 
 */

typedef struct CDDriveInfo {
    long dicont;     /* continuous rated current for drive */
    long dipeak;     /* peak rated current of the drive */
    long imax;       /* max current for the motor drive combination */
    long pwmfrq;     /* PWM frequency */
    long ver;        /* indicates the version of drive firmware to use */
} CDDriveInfo;

/* kollmorgen_cd.h */

/* 
 *	Drive Config Structure 
 */

typedef struct CDDriveConfig {
    long mpitch;     /* Defines the pole-pitch of the motor and allow the drive to
                        be able to calculate other values. */
    long motortype;  /*       */
    long mipeak;     /* Sets the motor's peak rated current */
    long micont;     /* Sets the motor's continuous rated current */
    long mspeed;     /* Defines the maximum recommended velocity of the Motor */
    long mkt;        /* Motor torque constant */
    long mencres;    /* Displays the resolution of the motor encoder in number
                        of lines per revolution of the motor */
    long menctype;   /* Motor encoder type */
    long mencoff;    /* Sets the encoder index position */
    long mlmin;      /* Sets the motor's minimum line-to-line inductance */
    long mphase;     /* Defines the encoder phase relative to the "standard"
                        commutation table */
    long mpoles;     /* Sets the number of motor poles */
    long mbemfcomp;  /* Sets a back EMF compensation percentage value */
    long mlgainc;    /* Sets the current loop adaptive gain value at continuous
                        motor current */
    long mlgainp;    /* Sets the current loop adaptive gain value at peak
                        motor current */
    long mtanglc;    /* Sets the value of the torque-related commutation angle
                        advance at the motor's continuous current rating */
    long mtanglp;    /* Sets the value of the torque-related commutation angle
                        advance at the motor's peak current */
    long mvanglf;    /* Sets the value of the velocity-rated commutation angle
                        advance for when the motor is operating at motor max speed */
    long mvanglh;    /* Sets the value of vel-rated commutation angle advance for
                        when the motor is operating at half of the motor max speed */
    long mhinva;     /* HALL A inversion */
    long mhinvb;     /* HALL B inversion */
    long mhinvc;     /* HALL C inversion */
    long vbus;       /* Sets the drive bus voltage */
    long ilim;       /* Sets the application current limit */
    long icont;      /* Sets the system continuous current */
    long vlim;       /* Sets the application velocity limit. */
    long mfbdir;     /* Motor & feedback direction. */
    long anoff1;     /* Analog offset 1. */
    long anoff2;     /* Analog offset 2. */
    long initgain;   /* gain for encoder initalization. */
    long iencstart;  /* Maximum current for wake no shake. */
    long uvmode;     /* Action in in response to under-voltage. */
    long uvtime;     /* Under voltage warning time. */
    long uvrecover;  /* Recovery from under-voltage fault. */
    long thermode;   /* Action when motor thermostat opens. */
    long thermtype;  /* Motor temperature sensor type. */
    long izero;      /* Sets the ZERO mode current. */
} CDDriveConfig;