Main include file for TG Motion. Can be used as the only include for virtual PLC projects. More...

#include <cstdint>
#include <cstddef>
#include <atomic>
#include "tgm_compiler.h"
#include "tgm_os.h"
#include "tgm_hosts.h"

Classes
struct	HEADER
	The HEADER struct - fixed size 128 bytes. More...

struct	MAIN
	The MAIN struct - fixed size of 4096 bytes. More...

struct	OSC_EX_TRIGGER

struct	OSC_EX

struct	RESERVE_MAIN
	reserve the MAIN structure to 3072 bytes More...

struct	ETH_CONNECTION

struct	ETH

struct	TIMERS
	Timers with fixed 1ms period. More...

struct	CHANNEL
	One oscilloscope channel definition. More...

struct	OSC
	Oscilloscope control. More...

struct	EEPROM_CONTROL

struct	EEPROM

struct	SYSTEM
	Shared memory named "TGM_System". More...

struct	PG
	Profile generator. More...

struct	GEAR
	Gear generator. More...

struct	CAPTURE
	Capture position from servo. More...

struct	MAP_CNC
	Maps interpolator axis to servo drive. More...

struct	SDO
	SDO object communication. More...

struct	EXT_SDO
	Extended SDO object communication (GENERAL_DEVICES only) More...

struct	ECAT_REGISTER
	EtherCAT registers communication. More...

struct	COMMAND
	Servo command. More...

struct	SERVO
	Describes one servo drive (or axis) More...

struct	DIO
	Describes one servo input/output module. More...

struct	GENERAL_DEVICE
	Describes one general module. More...

struct	GENERAL_MEMORY
	Memory contains general devices (handled by PLC) More...

struct	INTERPOLATOR_LOOK_AHEAD_ENTRY
	Stores informations about CNC code parts ahead of the actual one. More...

struct	INTERPOLATOR_LOOK_AHEAD_BUFFER
	Lookahead informations about the G-code. More...

struct	CONT_MFUNC_HISTORY
	History of continuous M functions. More...

struct	INTERPOLATOR
	Interface to interpolator. More...

struct	PLC_LARGE_INTEGER

struct	PLC_IMPORT_FUNCTIONS
	Pointers to auxiliary functions usable in Virtual PLC. More...

struct	RECEIVE_DATA_CAN
	One entry of incoming CAN data. More...

struct	PLC_DATA
	main structure for communication between TGMotion and Virtual PLC More...

Typedefs
typedef int32_t PLC_CDECL	RTWPRINTF_STRING_SEVERITY(uint32_t id_and_severity, TGM_LPCTSTR strText)
	Output string to console. More...

typedef void PLC_CDECL	SLEEPFT(PLC_LARGE_INTEGER *Pause)
	Wait for specified time. Do not use in Program_04() ! More...

typedef int32_t PLC_CDECL	CAN_TRANSMIT(uint32_t Number, uint32_t Id, uint32_t Dlc, uint8_t *Tx_Data)
	Send CAN message. More...

typedef int32_t PLC_CDECL	CAN_TRANSMITREMOTE(uint32_t Number, uint32_t Id, uint32_t Dlc, uint8_t *Tx_Data)
	Send CAN remote message. More...

typedef intptr_t PLC_CDECL	GET_FUNCTION_OR_INFO(const char *mangled_function_name, uint32_t opmode)
	Function to get additional function pointer for PLC programs. More...

typedef TGM_LPCSTR PLC_CDECL	GET_DEVICE_INFO(void)
	Function to get textual info about the host system. More...

using	PPLC_DATA = PLC_DATA *
	pointer to PLC_DATA

Enumerations
enum class	SERVO_TYPE : uint32_t { VIRTUAL = 0U , SERVOSTAR_300_700 = 3U , AKD = 5U , AKD2G_SINGLE_AXIS = 51U , AKD2G_DUAL_AXIS = 52U , TGZ = 9U , TGZ_MOTION = 91U , TGM_CONTROLLER = 92U , TGZ_IO_REMAPPED = 93U , TGZ_MOTION_IO_REMAPPED = 94U , TGM_CONTROLLER_IO_REMAPPED = 95U , TGZ_COE = 99U , INVALID = 0xFFFFU }

enum class	DIO_TYPE : uint32_t { TG_IO_TYPE_BASIC = 0x0000U , TG_IO_TENZOMETER = 0x0008U , TG_IO_TYPE_NEW = 0x0014U , TG_IO_TYPE_BASIC_LITE = 0x00E0U , TG_IO_TYPE_NEW_LITE = 0x00F4U , PIERCE_IO_TYPE_149D = 0x0007U , PIERCE_IO_TYPE_147D = 0x000FU , PIERCE_IO_TYPE_149E = 0x0017U , PIERCE_IO_TYPE_147E = 0x001FU , BECKHOFF_IO_TYPE_BK1120 = 0x0100U , BR_IO_TYPE = 0x0200U , FESTO_IO_TYPE = 0x0400U , TENZO_IO_TYPE = 0x0800U , TGM_MINI_DIO_TYPE = 0x1000U , BECKHOFF_IO_TYPE_EL1100 = 0x2000U , DFC_IO_TYPE = 0x7B90U , IO_TYPE_INVALID = 0xFFFEU }
	EtherCAT DIO types. Found automatically and set to DIO::Type variable. More...

enum class	SHARED_MEMORY : uint32_t { SYSTEM = 0U , DATA = 1U , CAM_PROFILE = 2U , OSCILLOSCOPE = 3U , SERVO = 4U , DIO = 5U , GENERAL = 6U , INTERPOLATOR = 7U , INTERPOLATOR_WRITE = 8U , INTERPOLATOR_READ = 9U , ODS = 10U , CNC_ODS = 11U , CNC_EX = 12U , LAST_MEMORY_IDX = 13U }
	Memory numbers (types) More...

enum class	OSC_DATA_TYPE : uint32_t { I32_DEC = 0U , I32_HEX = 1U , I32_BIN = 2U , UI32_DEC = 3U , I64_DEC = 4U , I64_HEX = 5U , I64_BIN = 6U , UI64_DEC = 7U , DOUBLE = 8U , FLOAT = 9U , ASTRING = 10U , WSTRING = 11U , I32_BIN_EX = 12U , I64_BIN_EX = 13U }
	Oscilloscope data types. More...

enum class	INTERPOLATOR_COMMANDS : int32_t { NONE_00 = 0 , SET_AXIS_RATIO_1024 = 1024 , SET_COORDS_ON_TRAJ_2048 = 2048 , SET_COORDS_OUT_TRAJ_2049 = 2049 , SET_COORDS_ON_TRAJ_DOUBLE_2050 = 2050 , SET_COORDS_OUT_TRAJ_DOUBLE_2051 = 2051 , EMERGENCY_STOP_04 = 4 , EMERGENCY_STOP_WAIT_M04 = -4 , EMERGENCY_STOP_OUT_TRAJ_05 = 5 , NORMAL_STOP_08 = 8 , NORMAL_STOP_WAIT_M08 = -8 , NORMAL_STOP_OUT_TRAJ_09 = 9 , SET_FILTER_PARAMETERS_M1 = -1 , SET_SPLINE_PARAMETERS_M2 = -2 }

enum class	EXT_SDO_CONTROL : uint32_t { FINISHED_00 = SDO_CONTROL_FINISHED , WRITE_01 = SDO_CONTROL_WRITE , READ_02 = SDO_CONTROL_READ }
	extended SDO commands (more than 4 bytes of data available) More...

enum class	EXT_SDO_STATUS : int32_t { OK_00 = SDO_STATUS_OK , BUSY_01 = SDO_STATUS_BUSY , ERROR_02 = SDO_STATUS_ERR }
	extended SDO communication status (the same as for legacy SDO) More...

enum class	ECAT_REGISTER_CONTROL : uint32_t { READY_00 = 0U , WRITE_01 = 1U , READ_02 = 2U , ERROR_03 = 3U , BUSY_04 = 4U }
	direct EtherCAT register read/write commands More...

enum class	interpolator_status : uint32_t { EMPTY_00 = 0U , MOVE_01 = 1U , STOP_03 = 3U , TRAJECTORY_START_04 = 4U , EMERGENCY_BREAKING_06 = 6U , EMERGENCY_STOP_07 = 7U , STOP_WHILE_BUFFER_FILL_08 = 8U }
	interpolator states More...

enum class	ods_thread : uint32_t { MAIN , SERVO_TIMER , PROGRAM_01 , PROGRAM_02 , PROGRAM_03 , INTERPOLATOR_THREAD , EEPROM_THREAD , PLC , CNC , ECAT , N_THREADS }
	reflects number of threads/timers for separate output debug string (ODS) areas

enum class	ods_id : uint32_t { MAIN = 0U , PG = 1U , GEAR = 2U , OSC = 3U , SERVO = 4U , INTERPOLATOR = 5U , PLC = 6U , ECAT_TIMER = 7U , EEPROM = 8U , PROGRAM_01 = 9U , PROGRAM_02 = 10U , PROGRAM_03 = 11U , PROGRAM_04 = 12U , SPLINE = 13U , AKD_CONTROL = 14U , SR700_CONTROL = 15U , TGZ_CONTROL = 16U , ECAT_MASTER = 17U , ECAT_SLAVES = 18U , PE_IMAGE = 19U , INI_FILE = 20U , CNC_0 = 21U , CNC_1 = 22U , CNC_2 = 23U }
	identifies the source of message

enum class	ods_severity : uint32_t { INFO_00 = 0 , WARNING_01 = 1 , ERROR_02 = 2 }
	allows to specify the severity of the message

Functions
template<typename T , size_t N>
constexpr size_t	countof (T const (&)[N]) noexcept

constexpr uint32_t	ODS_ID_SEVERITY (ods_id id, ods_severity severity)
	constructs info & severity number

constexpr uint32_t	ODS_ID_INFO (ods_id id)

constexpr uint32_t	ODS_ID_WARNING (ods_id id)

constexpr uint32_t	ODS_ID_ERROR (ods_id id)

template<typename T >
void	UNREFERENCED_PARAM (T &P) noexcept

Variables
constexpr TGM5_NAMESPACE_BEGIN uint32_t	TGM_VERSION { 502U }
	Main TG Motion version.

constexpr uint32_t	ID_COMPATIBILITY { 4034U }
	Compatibility number.

constexpr uint32_t	ID_MEMORY_COMPATIBILITY { 906U }
	Memory Compatibility number.

constexpr uint32_t	ID_CNC_COMPATIBILITY { 126U }
	CNC Compatibility ID.

constexpr uint32_t	FEATURE_NEW_OSCILLOSCOPE { 1U << 0 }

constexpr uint32_t	TGMOTION_PRODUCT_PC { 1U }

constexpr uint32_t	TGMOTION_PRODUCT_TGMINI { 2U }
	TGMmini.

constexpr uint32_t	TGMOTION_PRODUCT_TGM_CONTROLLER { 3U }
	TGM Controller.

constexpr uint32_t	TGMOTION_PRODUCT_TGZ_MOTION { 4U }
	TGMotion on TGZ servo drive.

constexpr uint32_t	MAX_SERVO { 256 }

constexpr uint32_t	MAX_DIO { 16 }

constexpr uint32_t	MAX_INTERPOLATOR { 3 }

constexpr uint32_t	MAX_CORES { MAX_INTERPOLATOR }

constexpr uint32_t	MAX_INTERPOLATOR_BUFFER_SIZE { 50000U }
	Maximum number of entries in interpolator buffer for each interpolator.

constexpr uint32_t	MIN_INTERPOLATOR_BUFFER_SIZE { 500U }
	Minimal number of entries in interpolator buffer (for each interpolator)

constexpr uint32_t	MAX_INTERPOLATOR_AXES { 10U }
	Maximum interpolated axes. Must be fixed to 10.

constexpr uint32_t	MAX_TIMER_UP { 64U }
	Max number timers up.

constexpr uint32_t	MAX_TIMER_DOWN { 64U }
	Max number timers down.

constexpr uint32_t	TGM_LOG_MAIN { 0x0001U }
	Bit masks for debug log output. More...

constexpr uint32_t	TGM_LOG_INTEPOLATOR { 0x0002U }
	Log TGM interpolator.

constexpr uint32_t	TGM_LOG_CAN { 0x0004U }
	Log PLC CAN messages.

constexpr uint32_t	TGM_LOG_PG { 0x0020U }
	Log PG profile generator.

constexpr uint32_t	TGM_LOG_GEAR { 0x0040U }
	Log GEAR generator.

constexpr uint32_t	TGM_LOG_ETHERCAT { 0x0100U }
	Log basic EtherCAT traffic.

constexpr uint32_t	TGM_LOG_ETHERCAT_SDO { 0x0200U }
	Log SDO traffic.

constexpr uint32_t	TGM_LOG_ETHERCAT_STATUS { 0x0400U }
	Log unexpected status change.

constexpr uint32_t	TGM_LOG_ETHERCAT_DC { 0x0800U }
	Log distributed clock capability & topology.

constexpr uint32_t	TGM_LOG_VERBOSE_PE { 0x2000U }
	Log PLC loading - PE image analysis (PC only)

constexpr uint32_t	TGM_LOG_VERBOSE_RELOC { 0x4000U }
	Log PLC loading - PE image relocation (PC only)

constexpr uint32_t	TGM_LOG_VERBOSE_EXPORTS { 0x8000U }
	Log PLC loading - list of exported functions (PC only)

constexpr uint32_t	TGM_LOG_ETHERNET { 0x4000'0000U }
	Log Ethernet communication (TGMmini)

constexpr uint32_t	TGM_LOG_ENABLE_RTX_SERVER { 0x8000'0000U }
	Log values also to RTX debug server (PC) or console (TGMmini)

constexpr TGM_LPCTSTR	NAME_SYSTEM_MEMORY { TGM_TEXT("TGM_System") }
	Names of shared memories. More...

constexpr TGM_LPCTSTR	NAME_DATA_MEMORY { TGM_TEXT("TGM_Data") }
	Name of the memory for PLC data.

constexpr TGM_LPCTSTR	NAME_CAM_PROFILE_MEMORY { TGM_TEXT("TGM_Cam_Profile") }
	Name of the memory for CAM profile (internal)

constexpr TGM_LPCTSTR	NAME_OSCILLOSCOPE_MEMORY { TGM_TEXT("TGM_Oscilloscope") }
	Name of the memory for Oscilloscope (internal)

constexpr TGM_LPCTSTR	NAME_SERVO_MEMORY { TGM_TEXT("TGM_Servo") }
	Name of the memory for SERVO [MAX_SERVO].

constexpr TGM_LPCTSTR	NAME_DIO_MEMORY { TGM_TEXT("TGM_Dio") }
	Name of the memory for DIO [MAX_DIO].

constexpr TGM_LPCTSTR	NAME_INTERPOLATOR_MEMORY { TGM_TEXT("TGM_Interpolator") }
	Name of the memory for INTERPOLATOR [MAX_INTERPOLATOR].

constexpr TGM_LPCTSTR	NAME_INTERPOLATOR_WRITE_MEMORY { TGM_TEXT("InterpolatorWriteMemory") }
	Name of the internal interpolator <-> CNC communication memory.

constexpr TGM_LPCTSTR	NAME_INTERPOLATOR_READ_MEMORY { TGM_TEXT("InterpolatorReadMemory") }
	Name of the internal interpolator <-> CNC communication memory.

constexpr TGM_LPCTSTR	NAME_ODS_MEMORY { TGM_TEXT("TGM_ODS") }
	Name of the message system memory (internal)

constexpr TGM_LPCTSTR	NAME_CNCEX_MEMORY { TGM_TEXT("TGM_CNCEX") }
	Name of the memory for cnc::TGM_CNC_MEMORY.

constexpr TGM_LPCTSTR	NAME_CNCODS_MEMORY { TGM_TEXT("TGM_CNCODS") }
	Name of the internal CNC -> ODS communication memory.

constexpr TGM_LPCTSTR	NAME_GENERAL_MEMORY { TGM_TEXT("TGM_General") }
	Name of the memory for GENERAL_MEMORY.

constexpr uint32_t	SIZE_DATA_MEMORY { 524288U }
	size for PLC data

constexpr uint32_t	SIZE_CAM_PROFILE_MEMORY { 1048576U }
	size for CAM profiles

constexpr uint32_t	DEFAULT_SIZE_OSCILLOSCOPE_MEMORY { 33554432 }

constexpr uint32_t	MINIMAL_SIZE_OSCILLOSCOPE_MEMORY { 1048576U }

constexpr uint32_t	MAXIMAL_SIZE_OSCILLOSCOPE_MEMORY { 33554432U }

constexpr uint32_t	SIZE_CNCEX_MEMORY { 65536U }
	size for TGM_CNCEX memory

constexpr uint32_t	SIZE_CNCODS_MEMORY { 65536U }
	size for TGM_CNCODS memory

constexpr uint32_t	MAX_PLC_FILE_NAME_SIZE { 512U }
	max allowed string size for PLC file name

constexpr uint32_t	MAX_ECAT_DRIVER_FILE_NAME_SIZE { 512U }
	max allowed string size for EtherCAT NIC driver file name (PC only)

constexpr uint32_t	PLC_CTRL_LOAD_BIT { 0x01U }
	PLC control values. More...

constexpr uint32_t	PLC_CTRL_RESET_BIT { 0x02U }
	Reset PLC.

constexpr uint32_t	PLC_CTRL_PAUSE_BIT { 0x04U }
	Pause PLC.

constexpr uint32_t	PLC_CTRL_ERROR_BIT { 0x08U }
	Signals PLC load error.

constexpr uint32_t	PLC_CTRL_DISABLE_DIO_BIT { 0x10U }
	Disable DIO output (not yet used)

constexpr uint32_t	FIXED_MAIN_STRUCT_SIZE { 3072U }
	Main memory area - fixed size 3072 bytes.

constexpr uint32_t	FIXED_NUMBER_OF_INTERPOLATORS { 3U }
	Fixed maximal number of interpolators to keep the MAIN structure same for PC and TGMmini.

constexpr uint32_t	FIXED_ETH_STRUCT_SIZE { 1024U }
	Ethernet connection memory area - fixed size 1024 bytes.

constexpr uint32_t	FIXED_NUMBER_OF_ETH_CONNECTIONS { 4U }

constexpr uint32_t	TGM_KILL { 0x4C4C'494BU }
	Value for MAIN::TGM_TgMotionCmd register - exit TGMotion (PC only)

constexpr uint32_t	TGM_RESET_ECAT_BUS { 0x5355'4252U }
	Value for MAIN::TGM_TgMotionCmd register - reset EtherCAT bus (rescan all devices)

constexpr uint32_t	TGM_REBOOT { 0x544F'4F42U }
	Value for MAIN::TGM_TgMotionCmd register - reboot computer TGMmini and its derivatives.

constexpr uint32_t	TGM_RELOAD_INI { 0x494E'494CU }
	Value for MAIN::TGM_TgMotionCmd register - reload .INI file.

constexpr uint32_t	MAX_USER_DEVICE_NAME_SIZE { 16U }
	size of the user device name array

constexpr uint32_t	N_OSC_CHANNELS { 32U }
	Max number of oscilloscope numbers.

constexpr uint32_t	SIZE_EEPROM_MEMORY
	auto calculated size EEPROM memory [ bytes ] More...

constexpr uint32_t	SDO_CONTROL_FINISHED { 0U }
	SDO channel is ready for a next command.

constexpr uint32_t	SDO_CONTROL_WRITE { 1U }
	Write SDO command for SDO::Control value.

constexpr uint32_t	SDO_CONTROL_READ { 2U }
	Read SDO command for SDO::Control value.

constexpr int32_t	SDO_STATUS_OK { 0 }
	SDO completed OK.

constexpr int32_t	SDO_STATUS_BUSY { 1 }
	SDO is in progress (can have any other large positive value)

constexpr int32_t	SDO_STATUS_ERR { -1 }
	SDO finished with error, the error code is in the SDO::Data.

constexpr uint32_t	MFUNC_NUMBER_PAR { 26U }
	Number of M functions parameters (all the letters of English alphabet)

Detailed Description

Main include file for TG Motion. Can be used as the only include for virtual PLC projects.

Copyright: 2007-2020 TG Drives s.r.o. Olomoucka 1290/79 CZ-627 00 Brno Czech Republic

Author: Antonin SAUER

Date: Jul, 20 th, 2011

Release notes

26.09.2014 update ID numbers
- ID_COMPATIBILITY 4028 to 4029
- ID_MEMORY_COMPATIBILITY 900 to 901
- memory CAM_PROFILE_MEMORY increased from 131072 bytes to 1048576 bytes
- memory OSCILLOSCOPE_MEMORY increased from 131072 bytes to 1048576 bytes
02.03.2016 update ID numbers
- ID_COMPATIBILITY to 4030
- ID_MEMORY_COMPATIBILITY 901
- added shared memory TGM_ODS (1048576 bytes)
21.06.2016 update ID numbers
- ID_COMPATIBILITY 4031
- ID_MEMORY_COMPATIBILITY 903
- MAX_INTERPOLATOR 3
15.08.2017 changed memory data type declarations from long int32_t to int32_t (using <stdint.h>)
- DIO.Stav renamed to DIO.Status
- SERVO.Axe renamed to SERVO.Axis
- added structures needed fro PLC creation, so only this file is necessary for the PLC programmer
10.05.2018
- ID_COMPATIBILITY 4033
- ID_MEMORY_COMPATIBILITY 904
- CNC compatibility 119
- new shared UNIVERSAL_MEMORY for various EtherCAT devices
27.08.2018
- CNC compatibility 121
- added MAIN::TGMmini_CPU_Temperature field
19.11.2018
- CNC compatibility 122
19.02.2020
- rewrite for TGM500
- CNC compatibility 123
- ID_MEMORY_COMPATIBILITY 905
- ID_COMPATIBILITY 4034
- some fields of DIO changed to arrays
- digital inputs & outputs uses full 32 bits of the variable
24.02.2020
- maximal number of DIO modules set to 16
- maximal number of servos set to 256 (PC) or 64 (TGMmini)
- number of interpolators is 3 (PC) or 2 (TGMmini)
- structures HEADER, MAIN, DIO are now incompatible with the previous versions of TGMotion (TGM4xx) by offsets of the internal fields.
- maximal number of analog inputs and outputs set to 16
- maximal number of digital inputs and outputs set to 512
08.06.2021
- changed GENERAL_DEVICE structure (PDO send and receive locks)
- ID_MEMORY_COMPATIBILITY 906
08.06.2022
- Size of oscilloscope memory can be set in .INI file for TGMmini in the range 1 - 32 (MB)
- PC, TGMcontroller and TGZ+Motion all have 32 MB fixed.
- constant SIZE_OSCILLOSCOPE_MEMORY is removed
18.02.2025
- PLC_DATA structure changed - contains a pointer to universal function, which can return auxiliary functions for the PLC program, depending on the TGMotion host
- added other include files for several TGMotion hosts

Typedef Documentation

◆ CAN_TRANSMIT

typedef int32_t PLC_CDECL CAN_TRANSMIT(uint32_t Number, uint32_t Id, uint32_t Dlc, uint8_t *Tx_Data)

Send CAN message.

Parameters

Number
Id
Dlc
Tx_Data

Returns

◆ CAN_TRANSMITREMOTE

typedef int32_t PLC_CDECL CAN_TRANSMITREMOTE(uint32_t Number, uint32_t Id, uint32_t Dlc, uint8_t *Tx_Data)

Send CAN remote message.

Parameters

Number
Id
Dlc
Tx_Data

Returns

◆ GET_DEVICE_INFO

typedef TGM_LPCSTR PLC_CDECL GET_DEVICE_INFO(void)

Function to get textual info about the host system.

The mangled_function_name must be "pcGetDeviceInfo_v" and opmode must be 0.

Returns: pointer to string describing the device "PC-realtime", "PC-demo", "TGMmini", "TGMcontroller", "TGZ+Motion", "TGZ+MotionLite"

◆ GET_FUNCTION_OR_INFO

typedef intptr_t PLC_CDECL GET_FUNCTION_OR_INFO(const char *mangled_function_name, uint32_t opmode)

Function to get additional function pointer for PLC programs.

Returns: pointer to function or NULL if not found reserved, must be 0 for now

Parameters

mangled_function_name function name with parameters and return type

◆ RTWPRINTF_STRING_SEVERITY

typedef int32_t PLC_CDECL RTWPRINTF_STRING_SEVERITY(uint32_t id_and_severity, TGM_LPCTSTR strText)

Output string to console.

Parameters

id_and_severity	combined number of source id and severity. Use ODS_ID_INFO, ODS_ID_WARNING or ODS_ID_ERROR helper functions to construct the number.
strText	UNICODE (Windows) or ANSI (Linux) string to be displayed in TG Motion debug console. Use TGM_TEXT() macro for UNICODE/ANSI text independence.

Returns: Always zero

◆ SLEEPFT

typedef void PLC_CDECL SLEEPFT(PLC_LARGE_INTEGER *Pause)

Wait for specified time. Do not use in Program_04() !

Parameters

Pause timeout in 100ns unit. Note that real time granularity could be much higher (50 us, 100 us or more, depending on operating system)

Enumeration Type Documentation

◆ DIO_TYPE

enum DIO_TYPE : uint32_t

strong

EtherCAT DIO types. Found automatically and set to DIO::Type variable.

Enumerator
TG_IO_TYPE_BASIC	digital: 32out, 48in, analog: 4out, 4in
TG_IO_TENZOMETER	digital: 8out, 8in, tenzometer: 4
TG_IO_TYPE_NEW	digital: 40out, 48in, analog: 4out, 4in
TG_IO_TYPE_BASIC_LITE	digital: 24out, 40in
TG_IO_TYPE_NEW_LITE	digital: 16out, 32in, analog: 4out, 4in
FESTO_IO_TYPE	digital: up to 128out, up to 128in
TGM_MINI_DIO_TYPE	digital: 8out, 8in
DFC_IO_TYPE	digital: 16out, 16in

◆ ECAT_REGISTER_CONTROL

enum ECAT_REGISTER_CONTROL : uint32_t

strong

direct EtherCAT register read/write commands

Uses the same values as for normal (legacy) SDO

Enumerator
READY_00	ready for request
WRITE_01	write request
READ_02	read request
ERROR_03	request error, can request another
BUSY_04	system is processing the request

◆ EXT_SDO_CONTROL

enum EXT_SDO_CONTROL : uint32_t

strong

extended SDO commands (more than 4 bytes of data available)

Uses the same values as for normal (legacy) SDO. Used in GENERAL_DEVICE.

Enumerator
FINISHED_00	0 - SDO is ready for a next command
WRITE_01	1 - Write SDO
READ_02	2 - Read SDO

◆ EXT_SDO_STATUS

enum EXT_SDO_STATUS : int32_t

strong

extended SDO communication status (the same as for legacy SDO)

Enumerator
OK_00	command completed OK
BUSY_01	command is in process
ERROR_02	command ended with error, the error code is in EXT_SDO::Data[0]

◆ INTERPOLATOR_COMMANDS

enum INTERPOLATOR_COMMANDS : int32_t

strong

Interpolator commands (INTERPOLATOR::Command)

Enumerator

NONE_00

No command or previous command finished.

SET_AXIS_RATIO_1024

Sets the INTERPOLATOR::Ratio as a fraction

Command_Parametr	Description
0	axis index
1	numerator
2	denominator

SET_COORDS_ON_TRAJ_2048

Sets the actual position, keep the on_trajectory status. All the positions are in Command_Parametr array.

SET_COORDS_OUT_TRAJ_2049

Sets the actual position, set the off_trajectory status. All the positions are in Command_Parametr array.

SET_COORDS_ON_TRAJ_DOUBLE_2050

Sets the actual position, keep the on_trajectory status, using double parameters. All the positions are in Command_Parameter_Double array.

SET_COORDS_OUT_TRAJ_DOUBLE_2051

Sets the actual position, set the off_trajectory status. All the positions are in Command_Parameter_Double array.

EMERGENCY_STOP_04

Stop the interpolator and keep it on actual status. Uses emergency stop deceleration

EMERGENCY_STOP_WAIT_M04

emergency stop is in progress

EMERGENCY_STOP_OUT_TRAJ_05

Stop the interpolator and set off trajectory status Uses emergency stop deceleration

NORMAL_STOP_08

Stop the interpolator and keep it on actual status. Uses normal stop deceleration

NORMAL_STOP_WAIT_M08

normal stop is in progress

NORMAL_STOP_OUT_TRAJ_09

Stop the interpolator and set off trajectory status Uses normal stop deceleration

SET_FILTER_PARAMETERS_M1

Sets the IIR filter parameters

Command_Parametr	Description
0	p parameter
1	q parameter
2	f parameter
3	axis bit mask

SET_SPLINE_PARAMETERS_M2

Sets the spline parameters

Command_Parametr	Description
0	number of points (50-500)
1	jerk value

◆ interpolator_status

enum interpolator_status : uint32_t

strong

interpolator states

Enumerator
EMPTY_00	interpolator buffer is empty, no movement is possible
MOVE_01	movement on trajectory is under way
STOP_03	stop at the trajectory end
TRAJECTORY_START_04	at least one part of the trajectory is in the buffer, start may be called
EMERGENCY_BREAKING_06	stopping on emergency ramp
EMERGENCY_STOP_07	interpolator stopped after emergency stop
STOP_WHILE_BUFFER_FILL_08	interpolator was stopped during the buffer filling

◆ OSC_DATA_TYPE

enum OSC_DATA_TYPE : uint32_t

strong

Oscilloscope data types.

Enumerator
I32_DEC	int32_t in decimal representation
I32_HEX	int32_t in hexadecimal representation
I32_BIN	int32_t in binary representation
UI32_DEC	uint32_t in decimal representation
I64_DEC	int64_t in decimal representation
I64_HEX	int64_t in hexadecimal representation
I64_BIN	int64_t in binary representation
UI64_DEC	uint64_t in decimal representation
DOUBLE	64 bits real data type
FLOAT	32 bits real data type (single data type Pascal)
ASTRING	ANSI (UTF-8) string.
WSTRING	UNICODE (UTF-16) string.
I32_BIN_EX	int32_t in binary representation, displayed bit by bit
I64_BIN_EX	int64_t in binary representation, displayed bit by bit

◆ SERVO_TYPE

enum SERVO_TYPE : uint32_t

strong

Built-in servo types

Enumerator
VIRTUAL	Virtual servo.
SERVOSTAR_300_700	Servo drive Servostar 300 or Servostar 700.
AKD	Servo drive AKD.
AKD2G_SINGLE_AXIS	Servo drive AKD2G (one axis)
AKD2G_DUAL_AXIS	Servo drive AKD2G (two axes)
TGZ	Servo drive TGZ.
TGZ_MOTION	TGMotion + TGZ servo = TGZ+Motion.
TGM_CONTROLLER	TGMcontroller system.
TGZ_IO_REMAPPED	TGZ servo with remapped I/O.
TGZ_MOTION_IO_REMAPPED	TGMotion + TGZ servo with remapped I/O.
TGM_CONTROLLER_IO_REMAPPED	TGMcontroller system with remapped I/O.
TGZ_COE	TGZ servo with CoE mapping activated.
INVALID	Invalid servo type.

◆ SHARED_MEMORY

enum SHARED_MEMORY : uint32_t

strong

Memory numbers (types)

The same numbers are used as memory types in TGM_Comm_Int_5.dll.

Note: The numbers are different to version TGM4xx!

Enumerator
SYSTEM	SYSTEM memory.
DATA	Virtual PLC private memory. TG Motion never writes to this memory.
CAM_PROFILE	CAM memory.
OSCILLOSCOPE	Oscilloscope memory. Stores oscilloscope values. Read-only.
SERVO	All servos.
DIO	All I/O modules.
GENERAL	Memory for general devices.
INTERPOLATOR	Interface to all interpolators.
INTERPOLATOR_WRITE	Internal memory for CNC modules.
INTERPOLATOR_READ	Internal memory for CNC modules.
ODS	Stores debug, warning and error messages in a circular buffer.
CNC_ODS	Internal memory for CNC -> ODS communication.
CNC_EX	Internal memory for CNC modules.
LAST_MEMORY_IDX	total number of shared memories

Function Documentation

◆ countof()

template<typename T , size_t N>

constexpr size_t countof ( T const(&)[N] )

constexprnoexcept

useful countof template function: determine number of elements in an array (not bytes)

◆ ODS_ID_ERROR()

constexpr uint32_t ODS_ID_ERROR ( ods_id id )

inlineconstexpr

Constructs error message number with given ods_id. Used by RTWPRINTF_STRING_SEVERITY function in PLC_DATA::functions

◆ ODS_ID_INFO()

constexpr uint32_t ODS_ID_INFO ( ods_id id )

inlineconstexpr

Constructs info message number with given ods_id. Used by RTWPRINTF_STRING_SEVERITY function in PLC_DATA::functions

◆ ODS_ID_WARNING()

constexpr uint32_t ODS_ID_WARNING ( ods_id id )

inlineconstexpr

Constructs warning message number with given ods_id. Used by RTWPRINTF_STRING_SEVERITY function in PLC_DATA::functions

◆ UNREFERENCED_PARAM()

template<typename T >

void UNREFERENCED_PARAM ( T & P )

noexcept

Used for declaring unreferenced parameter or variable. Useful for removing compiler warning about such a parameter/variable.

Variable Documentation

◆ DEFAULT_SIZE_OSCILLOSCOPE_MEMORY

constexpr uint32_t DEFAULT_SIZE_OSCILLOSCOPE_MEMORY { 33554432 }

constexpr

default size for oscilloscope data. Depends on architecture (PC or TGMmini), must be set in project or makefile by SIZE_OSCILLOSCOPE_MEMORY_PROJECT_SETTINGS define.

◆ FEATURE_NEW_OSCILLOSCOPE

constexpr uint32_t FEATURE_NEW_OSCILLOSCOPE { 1U << 0 }

constexpr

additional features implemented 0x00000001 - new oscilloscope with pretrigger and different data packing scheme

◆ MAX_CORES

constexpr uint32_t MAX_CORES { MAX_INTERPOLATOR }

constexpr

Maximum number of CNC cores inside TGM. Equals to MAX_INTERPOLATOR constant.

◆ MAX_DIO

constexpr uint32_t MAX_DIO { 16 }

constexpr

Max number of I/O modules - can be overridden for different TG Motion types (PC, TGMmini). Must be set in project or makefile by MAX_DIO_PROJECT_SETTINGS define. Actually only 16 is allowed.

◆ MAX_INTERPOLATOR

constexpr uint32_t MAX_INTERPOLATOR { 3 }

constexpr

Maximum number of interpolators - can be overridden for different TG Motion types (PC, TGMmini). Must be set in project or makefile be MAX_INTERPOLATOR_PROJECT_SETTINGS define. PC has up to 3 interpolators, TGMmini one or two according to hw version.

◆ MAX_SERVO

constexpr uint32_t MAX_SERVO { 256 }

constexpr

Max number of servos - can be overridden for different TG Motion types (PC, TGMmini). Must be set in project or makefile by MAX_SERVO_PROJECT_SETTINGS define. PC has up to 256 servos, TGMmini 64.

◆ NAME_SYSTEM_MEMORY

constexpr TGM_LPCTSTR NAME_SYSTEM_MEMORY { TGM_TEXT("TGM_System") }

constexpr

Names of shared memories.

Name of the memory for SYSTEM

◆ PLC_CTRL_LOAD_BIT

constexpr uint32_t PLC_CTRL_LOAD_BIT { 0x01U }

constexpr

PLC control values.

Load PLC

◆ SIZE_EEPROM_MEMORY

constexpr uint32_t SIZE_EEPROM_MEMORY

constexpr

Initial value:

{   MAX_SYSTEM_MEMORY_SIZE 
                                        - sizeof(HEADER) 
                                        - sizeof(MAIN) 
                                        - sizeof(RESERVE_MAIN) 
                                        - sizeof(OSC_EX)
                                        - sizeof(ETH)
                                        - sizeof(TIMERS)
                                        - sizeof(OSC)
                                        - (MAX_ECAT_DRIVES * sizeof(ECAT_DRIVER)) 
                                        - sizeof(EEPROM_CONTROL) 
                                      }

auto calculated size EEPROM memory [ bytes ]

◆ TGM_LOG_MAIN

constexpr uint32_t TGM_LOG_MAIN { 0x0001U }

constexpr

Bit masks for debug log output.

Values are set in the TgMotion4xx.ini file, entry Log=.... Log main TGM

◆ TGMOTION_PRODUCT_PC

constexpr uint32_t TGMOTION_PRODUCT_PC { 1U }

constexpr

supported TGMotion devices real-time on the PC

Classes

Typedefs

Enumerations

Functions

Variables

Detailed Description

Typedef Documentation

◆ CAN_TRANSMIT

◆ CAN_TRANSMITREMOTE

◆ GET_DEVICE_INFO

◆ GET_FUNCTION_OR_INFO

◆ RTWPRINTF_STRING_SEVERITY

◆ SLEEPFT

Enumeration Type Documentation

◆ DIO_TYPE

◆ ECAT_REGISTER_CONTROL

◆ EXT_SDO_CONTROL

◆ EXT_SDO_STATUS

◆ INTERPOLATOR_COMMANDS

◆ interpolator_status

◆ OSC_DATA_TYPE

◆ SERVO_TYPE

◆ SHARED_MEMORY

Function Documentation

◆ countof()

◆ ODS_ID_ERROR()

◆ ODS_ID_INFO()

◆ ODS_ID_WARNING()

◆ UNREFERENCED_PARAM()

Variable Documentation

◆ DEFAULT_SIZE_OSCILLOSCOPE_MEMORY

◆ FEATURE_NEW_OSCILLOSCOPE

◆ MAX_CORES

◆ MAX_DIO

◆ MAX_INTERPOLATOR

◆ MAX_SERVO

◆ NAME_SYSTEM_MEMORY

◆ PLC_CTRL_LOAD_BIT

◆ SIZE_EEPROM_MEMORY

◆ TGM_LOG_MAIN

◆ TGMOTION_PRODUCT_PC