65 lines
2.0 KiB
Protocol Buffer
65 lines
2.0 KiB
Protocol Buffer
syntax = "proto3";
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package cmvr.msgs;
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// CiA402 object dictionary indexes shared by CANopen and EtherCAT CoE drives.
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enum Cia402ObjectIndex {
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CIA402_OBJECT_INDEX_ZERO = 0;
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CIA402_ERROR_CODE_603F = 0x603F;
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CIA402_CONTROL_WORD_6040 = 0x6040;
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CIA402_STATUS_WORD_6041 = 0x6041;
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CIA402_QUICK_STOP_OPTION_605A = 0x605A;
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CIA402_SHUTDOWN_OPTION_605B = 0x605B;
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CIA402_DISABLE_OPERATION_OPTION_605C = 0x605C;
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CIA402_HALT_OPTION_605D = 0x605D;
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CIA402_FAULT_REACTION_OPTION_605E = 0x605E;
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CIA402_OPERATION_MODE_6060 = 0x6060;
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CIA402_MODE_DISPLAY_6061 = 0x6061;
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CIA402_POSITION_DEMAND_VALUE_6062 = 0x6062;
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CIA402_ACTUAL_POSITION_6064 = 0x6064;
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CIA402_MAX_FOLLOWING_ERROR_6065 = 0x6065;
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CIA402_POSITION_WINDOW_6067 = 0x6067;
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CIA402_POSITION_WINDOW_TIME_6068 = 0x6068;
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CIA402_VELOCITY_DEMAND_VALUE_606B = 0x606B;
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CIA402_ACTUAL_VELOCITY_606C = 0x606C;
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CIA402_VELOCITY_WINDOW_606D = 0x606D;
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CIA402_VELOCITY_WINDOW_TIME_606E = 0x606E;
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CIA402_VELOCITY_THRESHOLD_606F = 0x606F;
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CIA402_VELOCITY_THRESHOLD_TIME_6070 = 0x6070;
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CIA402_TARGET_TORQUE_6071 = 0x6071;
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CIA402_MAX_TORQUE_6072 = 0x6072;
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CIA402_TORQUE_DEMAND_VALUE_6074 = 0x6074;
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CIA402_MOTOR_RATED_TORQUE_6076 = 0x6076;
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CIA402_ACTUAL_TORQUE_6077 = 0x6077;
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CIA402_ACTUAL_CURRENT_6078 = 0x6078;
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CIA402_DC_LINK_VOLTAGE_6079 = 0x6079;
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CIA402_TARGET_POSITION_607A = 0x607A;
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CIA402_HOME_OFFSET_607C = 0x607C;
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CIA402_SOFTWARE_POSITION_LIMIT_607D = 0x607D;
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CIA402_MAX_PROFILE_VELOCITY_607F = 0x607F;
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CIA402_PROFILE_VELOCITY_6081 = 0x6081;
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CIA402_PROFILE_ACCELERATION_6083 = 0x6083;
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CIA402_PROFILE_DECELERATION_6084 = 0x6084;
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CIA402_QUICK_STOP_DECELERATION_6085 = 0x6085;
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CIA402_TORQUE_SLOPE_6087 = 0x6087;
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CIA402_GEAR_RATIO_6091 = 0x6091;
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CIA402_VELOCITY_OFFSET_60B1 = 0x60B1;
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CIA402_TORQUE_OFFSET_60B2 = 0x60B2;
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CIA402_INTERPOLATION_DATA_RECORD_60C1 = 0x60C1;
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CIA402_INTERPOLATION_TIME_PERIOD_60C2 = 0x60C2;
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CIA402_FOLLOWING_ERROR_ACTUAL_VALUE_60F4 = 0x60F4;
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CIA402_TARGET_VELOCITY_60FF = 0x60FF;
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CIA402_SUPPORTED_DRIVE_MODES_6502 = 0x6502;
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}
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