Kepler-Release/Venus/Venus_RT/Devices/AdLinkEthercat/APS_Define.cs

namespace Venus_RT.Devices.AdLinkEthercat
{
  //[StructLayout(LayoutKind.Sequential)]
  //public struct APS_Define
  //public cla APS_Define
  public enum APS_Define
  {
          
  // Initial option
	INIT_AUTO_CARD_ID       	= (0x00),   // (Bit 0) CardId assigned by system, Input parameter of APS_initial( cardId, "MODE" )
    INIT_MANUAL_ID          	= (0x01),    //CardId manual by dip switch, Input parameter of APS_initial=( cardId, "MODE" )
    INIT_PARALLEL_FIXED     	= (0x02),   // (Bit 1) Fixed axis indexing mode in Parallel type
    INIT_SERIES_FIXED       	= (0x04),   // (Bit 2) Fixed axis indexing mode in Series type
    INIT_NOT_RESET_DO    		= (0x08),   // (Bit 3) HSL Digital output not reset, (DO status will follow the slave status.)
    INIT_PARAM_IGNORE			= (0x00),   // (Bit 4-5) Load parameter method - ignore, keep current value
    INIT_PARAM_LOAD_DEFAULT		= (0x10),   // (Bit 4-5) Load parameter method - load parameter as default value 
    INIT_PARAM_LOAD_FLASH		= (0x20),   // (Bit 4-5) Load parameter method - load parameter from flash memory
    INIT_MNET_INTERRUPT			= (0x40),   // (Bit 6) Enable MNET interrupt mode. (Support motion interrupt for MotionNet series)
            
  // Board parameter define =(General),
    PRB_EMG_LOGIC				= (0x0),  // Board EMG logic
    PRB_WDT0_LIMIT				= (0x10),  // Set / Get watch dog limit.
    PRB_WDT0_COUNTER			= (0x11),  // Reset Wdt / Get Wdt_Count_Value
    PRB_WDT0_UNIT    			= (0x12),  // wdt_unit
    PRB_WDT0_ACTION    			= (0x13),  // wdt_action   
    PRB_DO_LOGIC				= (0x14),	//DO logic, 0: no invert; 1: invert
    PRB_DI_LOGIC				= (0x15),	//DI logic, 0: no invert; 1: invert 
    MHS_GET_SERVO_OFF_INFO		= (0x16), //
    MHS_RESET_SERVO_OFF_INFO	= (0x0017),
    MHS_GET_ALL_STATE			= (0x0018),
    PRB_TMR0_BASE    			= (0x20),  // Set TMR Value
    PRB_TMR0_VALUE       		= (0x21),  // Get timer System.Int32 count value
    PRB_SYS_TMP_MONITOR  		= (0x30),  // Get system temperature monitor data
    PRB_CPU_TMP_MONITOR  		= (0x31),  // Get CPU temperature monitor data
    PRB_AUX_TMP_MONITOR  		= (0x32),  // Get AUX temperature monitor data
    PRB_UART_MULTIPLIER  		= (0x40),  // Set UART Multiplier
    PRB_PSR_MODE   				= (0x90),  // Config pulser mode
    PRB_PSR_EA_LOGIC 			= (0x91),  // Set EA inverted
    PRB_PSR_EB_LOGIC 			= (0x92),  // Set EB inverted
    PRB_EMG_MODE				= (0x101),  // Set EMG condition mode
    PRB_ECAT_MODE				= (0x102),  // Set EtherCAT master operation mode
    PRB_ECAT_RESTORE_OUTPUT		= (0x104),  // Keeps status setting for EtherCAT DIO/AIO slave devices.
    PRB_DI_EMG_FILTER_ENABLE 	= (0x105), //Low-pass filter switch setting for on-board DI and EMG signal
  	PRB_DI_EMG_FILTER_RANGE  	= (0x106), //Low-pass filter bandwidth setting for on-board DI and EMG signal
    PRB_PULSER_FILTER_RANGE  	= (0x107), //Low-pass filter bandwidth setting for on-board pulser signal. (The filter is always enable)
    PRB_PULSER_FILTER_ENABLE 	= (0x108),
	PRB_ECAT_AUTO_RECOVERY 		= (0x109),
	PRB_IO_ACCESS_SEL         	= (0x16),
	PRB_ECAT_SYNC_MODE        	= (0x17),  // 0: DC(default); 1: FreeRun;
	PRB_ECAT_OP_RETRY_COUNT     = (0x18),  
    PRB_ECAT_SERVO_ON_MODE	 	= (0x19),	// 0 : Standard mode (Default ) , 1 : Fast mode (no check status word)
    PRB_ECAT_SERVO_ON_NO_RESET_ALARM = (0x1A), // 0 : Disable that remove reset alarm while servo on( Default ), 1 : Enable that remove reset alarm while servo on
    //for 8364RS
    PRB_PT0_MOD_NO              = (0x1C),
    PRB_PT1_MOD_NO              = (0x1D),
	PRB_ECAT_SYNC_OFFSET        = (0x20),
	PRB_MANUAL_SLAVE_ID_SRC_1ST_GROUP =	(0x21), // The first group of setting manual slave ID source by bit format.(Salve 0 to Slave 31)
	PRB_MANUAL_SLAVE_ID_SRC_2ND_GROUP =	(0x22), // The second group of setting manual slave ID source by bit format.(Salve 32 to Slave 63)
	PRB_ECAT_CONTI_FRAME_LOSS_CNT = (0x23),		// The number of consecutive frame loss.
	PRB_SAMPLING_SRC_AXIS_TYPE	  = (0x24), 	// Sampling source axis type.
	PRB_AUTO_CONNECT       		  =	(0x25), // For ECAT state to pre-OP

      

  // Board parameter define =(For PCI-8253/56),
    PRB_DENOMINATOR    			=(0x80),  // Floating number denominator
  //   PRB_PSR_MODE   =(0x90),  // Config pulser mode
    PRB_PSR_ENABLE   			=(0x91),  // Enable/disable pulser mode
    PRB_BOOT_SETTING 			=(0x100), // Load motion parameter method when DSP boot     
    PRB_PWM0_MAP_DO				=(0x110),  // Enable & Map PWM0 to Do channels
    PRB_PWM1_MAP_DO				=(0x111),  // Enable & Map PWM1 to Do channels
    PRB_PWM2_MAP_DO				=(0x112),  // Enable & Map PWM2 to Do channels
    PRB_PWM3_MAP_DO				=(0x113),  // Enable & Map PWM3 to Do channels

  // PTP buffer mode define
    PTP_OPT_ABORTING			=(0x00000000),
    PTP_OPT_BUFFERED			=(0x00001000),
    PTP_OPT_BLEND_LOW			=(0x00002000),
    PTP_OPT_BLEND_PREVIOUS		=(0x00003000),
    PTP_OPT_BLEND_NEXT			=(0x00004000),
    PTP_OPT_BLEND_HIGH			=(0x00005000),

    ITP_OPT_ABORT_BLEND			=(0x00000000),
    ITP_OPT_ABORT_FORCE			=(0x00001000),
    ITP_OPT_ABORT_STOP			=(0x00002000),
    ITP_OPT_BUFFERED			=(0x00003000),
    ITP_OPT_BLEND_DEC_EVENT 	=(0x00004000),
    ITP_OPT_BLEND_RES_DIST		=(0x00005000),
    ITP_OPT_BLEND_RES_DIST_PERCENT =(0x00006000),
        
  //Latch parameter number define. [Only for PCI-8158A]
			//////////////////////////////////////
	LTC_ENC_IPT_MODE          	=(0x00),
    LTC_ENC_EA_INV            	=(0x01),
    LTC_ENC_EB_INV            	=(0x02),
    LTC_ENC_EZ_CLR_LOGIC      	=(0x03),
    LTC_ENC_EZ_CLR_EN         	=(0x04),
    LTC_ENC_SIGNAL_FILITER_EN 	=(0x05),
    LTC_FIFO_HIGH_LEVEL       	=(0x06),
    LTC_SIGNAL_FILITER_EN     	=(0x07),
    LTC_SIGNAL_TRIG_LOGIC     	=(0x08),

	//Latch parameter number define. [For PCI-8258 & PCIe-8334/8]
	LTC_IPT						=(0x10),
	LTC_ENC						=(0x11),
	LTC_LOGIC					=(0x12),
	LTC_EN						=(0x13),
	LTC_FIFO_MODE				=(0x14),	//(only in Ecat-4XMO/TRG4)
	LTC_EXTENC_SRC				=(0x15),    //(only in ECAT-TRG4)
    LTC_GET_DATA_SIZE           =(0x16),    //(only in AMP-304C)
	LTC_FIFO_LEVEL				=(0x17),	
	LTC_SGN_MAP					=(0x20),	// Only for software latch in SuperCAT.

	// Board parameter define   =(For PCI-8392 SSCNET), 
	PRB_SSC_APPLICATION			=(0x10000), // Reserved
    PRB_SSC_CYCLE_TIME			=(0x10000), // SSCNET cycle time selection=(vaild befor start sscnet),
    PRB_PARA_INIT_OPT			=(0x00020), // Initial boot mode.
    PRB_WATCH_DOG_LIMIT			=(0x00010), // Set / Get watch dog limit.
    PRB_WATCH_DOG_COUNTER		=(0x00011), //Watch dog counter

  // Board parameter define =(For DPAC), 
    PRB_DPAC_DISPLAY_MODE		=(0x10001), //DPAC Display mode
    PRB_DPAC_DI_MODE			=(0x10002), //Set DI pin modes
	
	//Board Parameter define (EMX-100) 
	PRB_ASYNC_MODE				=(0x50),
	PRB_DISCONNET_HANDLING		=(0x51),
	
    PRB_DPAC_THERMAL_MONITOR_NO     =(0x20001), //DPAC TEST
    PRB_DPAC_THERMAL_MONITOR_VALUE  =(0x20002), //DPAC TEST

	//Board Parameter define (AMP-304C) //20210401
	PRB_GPDO_SEL_C0            = (0X60),
	PRB_GPDO_SEL_C1            = (0X61),
	PRB_GPDO_SEL_C2            = (0X62),
	PRB_GPDO_SEL_C3            = (0X63),
	PRB_GPDO_SEL_C4            = (0X64),
	PRB_GPDO_SEL_C5            = (0X65),
	PRB_GPDO_SEL_C6            = (0X66),
	PRB_GPDO_SEL_C7            = (0X67),

	PRB_GPDI_SEL_C0            = (0X70),
	PRB_GPDI_SEL_C1            = (0X71),
	PRB_GPDI_SEL_C2            = (0X72),
	PRB_GPDI_SEL_C3            = (0X73),
	PRB_GPDI_SEL_C4            = (0X74),
	PRB_GPDI_SEL_C5            = (0X75),
	PRB_GPDI_SEL_C6            = (0X76),
	PRB_GPDI_SEL_C7            = (0X77),

	PRB_GPDI_LOGIC_C0          = (0X80),
	PRB_GPDI_LOGIC_C1          = (0X81),
	PRB_GPDI_LOGIC_C2          = (0X82),
	PRB_GPDI_LOGIC_C3          = (0X83),
	PRB_GPDI_LOGIC_C4          = (0X84),
	PRB_GPDI_LOGIC_C5          = (0X85),
	PRB_GPDI_LOGIC_C6          = (0X86),
	PRB_GPDI_LOGIC_C7          = (0X87),

	PRB_GPDI_FILTER_EN_C0        = (0X90),
	PRB_GPDI_FILTER_EN_C1        = (0X91),
	PRB_GPDI_FILTER_EN_C2        = (0X92),
	PRB_GPDI_FILTER_EN_C3        = (0X93),
	PRB_GPDI_FILTER_EN_C4        = (0X94),
	PRB_GPDI_FILTER_EN_C5        = (0X95),
	PRB_GPDI_FILTER_EN_C6        = (0X96),
	PRB_GPDI_FILTER_EN_C7        = (0X97),

	PRB_LTC_FILTER_EN_C0       = (0XB0),
	PRB_LTC_FILTER_EN_C1       = (0XB1),
	PRB_LTC_FILTER_EN_C2       = (0XB2),
	PRB_LTC_FILTER_EN_C3       = (0XB3),

	PRB_GPDI_FILTER_WIDTH_C0     = (0XC0),
	PRB_GPDI_FILTER_WIDTH_C1     = (0XC1),
	PRB_GPDI_FILTER_WIDTH_C2     = (0XC2),
	PRB_GPDI_FILTER_WIDTH_C3     = (0XC3),
	PRB_GPDI_FILTER_WIDTH_C4     = (0XC4),
	PRB_GPDI_FILTER_WIDTH_C5     = (0XC5),
	PRB_GPDI_FILTER_WIDTH_C6     = (0XC6),
	PRB_GPDI_FILTER_WIDTH_C7     = (0XC7),

	PRB_LTC_FILTER_WIDTH_C0    = (0XE0),
	PRB_LTC_FILTER_WIDTH_C1    = (0XE1),
	PRB_LTC_FILTER_WIDTH_C2    = (0XE2),
	PRB_LTC_FILTER_WIDTH_C3    = (0XE3),

	PRB_TTL_DO_SEL_C0          = (0X100),
	PRB_TTL_DO_SEL_C1          = (0X101),
	PRB_TTL_DO_SEL_C2          = (0X102),
	PRB_TTL_DO_SEL_C3          = (0X103),

	PRB_TTL_DI_SEL_C0          = (0X110),
	PRB_TTL_DI_SEL_C1          = (0X111),
	PRB_TTL_DI_SEL_C2          = (0X112),
	PRB_TTL_DI_SEL_C3          = (0X113),



	// move option define
	OPT_ABSOLUTE		    =(0x00000000),
    OPT_RELATIVE		    =(0x00000001),
    OPT_WAIT			    =(0x00000100),
	OPT_FORCE_ABORT		    =(0x00000200),

    // Axis parameter define =(General),
    PRA_EL_LOGIC             =(0x00),  // EL logic
    PRA_ORG_LOGIC            =(0x01),  // ORG logic
    PRA_EL_MODE              =(0x02),  // EL stop mode
    PRA_MDM_CONDI            =(0x03),  // Motion done condition <-- typo, DO NOT USE IN THE FUTURE
	PRA_MDN_CONDI            =(0x03),  // Motion done condition <-- NEW
	PRA_EL_EXCHANGE          =(0x04),  //PEL, MEL exchange enable

    PRA_ALM_LOGIC    	=(0x04),  // ALM logic [PCI-8253/56 only]
    PRA_ZSP_LOGIC       =(0x05), // ZSP logic [PCI-8253/56 only]
    PRA_EZ_LOGIC   		=(0x06),  // EZ logic  [PCI-8253/56 only]
    PRA_STP_DEC      	=(0x07),  // Stop deceleration
    PRA_SD_DEC       	=(0x07),  // Stop deceleration
    PRA_SPEL_EN      	=(0x08),  // SPEL Enable
    PRA_SMEL_EN      	=(0x09),  // SMEL Enable
    PRA_EFB_POS0   		=(0x0A),  // EFB position 0
    PRA_SPEL_POS   		=(0x0A),  // EFB position 0
    PRA_EFB_POS1   		=(0x0B),  // EFB position 1
    PRA_SMEL_POS   		=(0x0B),  // EFB position 1
    PRA_EFB_CONDI0   	=(0x0C),  // EFB position 0 condition 
    PRA_EFB_CONDI1   	=(0x0D),  // EFB position 1 condition 
    PRA_EFB_SRC0   		=(0x0E),  // EFB position 0 source
    PRA_EFB_SRC1   		=(0x0F),  // EFB position 1 source 
    PRA_HOME_MODE    	=(0x10),  // home mode
    PRA_HOME_DIR   		=(0x11),  // homing direction
    PRA_HOME_CURVE   	=(0x12),  // homing curve parten=(T or s curve),
    PRA_HOME_ACC   		=(0x13),  // Acceleration deceleration rate 
    PRA_HOME_VS      	=(0x14),  // homing start velocity
    PRA_HOME_VM      	=(0x15),  // homing max velocity
    PRA_HOME_VA      	=(0x16),  // homing approach velocity [PCI-8253/56 only]
    PRA_HOME_SHIFT	 	=(0x17),  // The shift from ORG [PCI-8254/58 only]
    PRA_HOME_EZA   		=(0x18),  // EZ alignment enable
    PRA_HOME_VO      	=(0x19),  // Homing leave ORG velocity
    PRA_HOME_OFFSET     =(0x1A),  // The escape pulse amounts=(Leaving home by position),
    PRA_HOME_POS		=(0x1B),  // The position from ORG [PCI-8254/58 only]
    PRA_HOME_TORQUE  	=(0x1C),  //Torque-Limit value setting for home move
    PRA_HOME_EZ_DIR		=(0x1D),
    PRA_HOME_SEARCH_TARGET	=(0x1E),  	// Select Home move search target signal
    PRA_HOME_DOWN_COUNTER	=(0x1F),	// Home down counter limit
    PRA_CURVE          	=(0x20),  // Move curve pattern
    PRA_SF             	=(0x20),  // Move s-factor
    PRA_ACC            	=(0x21), // Move acceleration
    PRA_DEC            	=(0x22),// Move deceleration
    PRA_VS             	=(0x23),  // Move start velocity
    PRA_VM             	=(0x24),  // Move max velocity
    PRA_VE             	=(0x25),  // Move end velocity
    PRA_SACC			=(0x26),  // S curve acceleration
    PRA_SDEC	        =(0x27),  // S curve deceleration
    PRA_ACC_SR         	=(0x28),  // S curve ratio in acceleration( S curve with linear acceleration)
    PRA_DEC_SR         	=(0x29),  // S curve ratio in deceleration( S curve with linear deceleration)
    PRA_PRE_EVENT_DIST	=(0x2A), //Pre-event distance
    PRA_POST_EVENT_DIST	=(0x2B), //Post-event distance
       
  //following only for V2...
    PRA_DIST            =(0x30),  // Move distance
    PRA_MAX_VELOCITY    =(0x31),  // Maximum velocity
    PRA_SCUR_PERCENTAGE =(0x32),  // Scurve percentage
    PRA_BLENDING_MODE   =(0x33),  // Blending mode
    PRA_STOP_MODE       =(0x34),  // Stop mode
    PRA_STOP_DELRATE    =(0x35),  // Stop function deceleration rate 
    PRA_PT_STOP_ENDO    =(0x32),  // Disable do when point table stopping.
    PRA_PT_STP_DO_EN    =(0x32),  // Disable do when point table stopping.
    PRA_PT_STOP_DO      =(0x33),  // Set do value when point table stopping.
    PRA_PT_STP_DO       =(0x33),  // Set do value when point table stopping.		 
    PRA_PWM_OFF         =(0x34),  // Disable specified PWM output when ASTP input signal is active.
    PRA_DO_OFF          =(0x35),  // Set DO value when ASTP input signal is active.
	PRA_GPIO_SEL_SRC    =(0x3A),  // The source of GPIO selecting action function.
	PRA_GPIO_SEL_CH_MAP =(0x3B),  // The channel mapping of GPIO selection action function.
	PRA_GPIO_SEL_ACTION =(0x3C),  // GPIO selecting action assigned.
	PRA_GPIO_SEL_LOGIC  =(0x3D),  // GPIO selecting logic assigned.
	PRA_GPIO_SEL_EN     =(0x3E),  // GPIO selecting action function enable or disable.
    PRA_MOVE_RATIO      =(0x88),  //Move ratio

    PRA_JG_MODE      	=(0x40),  // Jog mode
    PRA_JG_DIR     		=(0x41),  // Jog move direction
    PRA_JG_CURVE   		=(0x42),  // Jog curve parten=(T or s curve),
    PRA_JG_SF      		=(0x42),  // Jog curve parten=(T or s curve)
    PRA_JG_ACC     		=(0x43),  // Jog move acceleration
    PRA_JG_DEC     		=(0x44),  // Jog move deceleration
    PRA_JG_VM      		=(0x45),  // Jog move max velocity
    PRA_JG_STEP      	=(0x46),  // Jog offset =(For step mode),
    PRA_JG_OFFSET    	=(0x46),  // Jog offset =(For step mode),
    PRA_JG_DELAY   		=(0x47),  // Jog delay =(For step mode),
    PRA_JG_MAP_DI_EN    =(0x48), // (I32) Enable Digital input map to jog command signal
    PRA_JG_P_JOG_DI     =(0x49), // (I32) Mapping configuration for positive jog and digital input.
    PRA_JG_N_JOG_DI     =(0x4A), // (I32) Mapping configuration for negative jog and digital input.
    PRA_JG_JOG_DI       =(0x4B), // (I32) Mapping configuration for jog and digital input.
	PRA_JG_STOP			=(0x4C),// just for EMX100
	
    PRA_MDN_DELAY    	=(0x50),  // NSTP delay setting
    PRA_SINP_WDW   		=(0x51),  // Soft INP window setting
    PRA_SINP_STBL    	=(0x52),  // Soft INP stable cycle
    PRA_SINP_STBT    	=(0x52),  // Soft INP stable cycle
    PRA_SERVO_LOGIC     =(0x53), //  SERVO logic

	PRA_MOTION_SGN_PEL_MAP		=(0x55),	// The channel mapping of motion signal PEL
	PRA_MOTION_SGN_MEL_MAP		=(0x56),	// The channel mapping of motion signal MEL
	PRA_MOTION_SGN_ORG_MAP		=(0x57),	// The channel mapping of motion signal ORG
	PRA_MOTION_SGN_MAP_EN		=(0x5D),	// Motion signal mapping enable

    PRA_GEAR_MASTER     =(0x60),  // (I32) Select gearing master
    PRA_GEAR_ENGAGE_RATE=(0x61),  // (F64) Gear engage rate
    PRA_GEAR_RATIO      =(0x62),  // (F64) Gear ratio
    PRA_GANTRY_PROTECT_1=(0x63),  // (F64) E-gear gantry mode protection level 1
    PRA_GANTRY_PROTECT_2=(0x64),  // (F64) E-gear gantry mode protection level 2
    PRA_EGEAR_MASTER   	=(0x65),  // Select gearing master axis
	PRA_EGEAR_SOURCE   	=(0x66),  // Select gearing source // 0: command position deviation1: feedback position deviation

    // Axis parameter define =(For PCI-8253/56),
    PRA_PLS_IPT_MODE 	=(0x80),  // Pulse input mode setting
    PRA_PLS_OPT_MODE    =(0x81), // Pulse output mode setting
    PRA_MAX_E_LIMIT    	=(0x82),  // Maximum encoder count limit
    PRA_ENC_FILTER     	=(0x83),  // Encoder filter
    PRA_ENCODER_FILTER 	=(0x83),  // Encoder filter
               
    PRA_EGEAR      		=(0x84),  // E-Gear ratio
    PRA_ENCODER_DIR     =(0x85),  // Encoder direction
    PRA_POS_UNIT_FACTOR =(0x86),  // position unit factor setting
	PRA_ABSENC_FIXOFFSET=(0x8F),  // Absolute encoder fix offset setting 
    PRA_KP_SHIFT 		=(0x9B),  // Proportional control result shift
    PRA_KI_SHIFT 		=(0x9c),  // Integral control result shift 
    PRA_KD_SHIFT 		=(0x9D),  // Derivative control result shift
    PRA_KVFF_SHIFT 		=(0x9E),  // Velocity feed-forward control result shift
    PRA_KAFF_SHIFT 		=(0x9F),  // Acceleration feed-forward control result shift		 
	
    PRA_PID_SHIFT 		=(0xA0), // PID control result shift 
    PRA_KP_GAIN      	=(0x90),  // PID controller Kp gain
    PRA_KI_GAIN      	=(0x91),  // PID controller Ki gain
    PRA_KD_GAIN      	=(0x92),  // PID controller Kd gain
    PRA_KFF_GAIN   		=(0x93),  // Feed forward Kff gain
    PRA_KVFF_GAIN  		=(0x93),  // Feed forward Kff gain
    PRA_KVGTY_GAIN   	=(0x94),  // Gantry controller Kvgty gain
    PRA_KPGTY_GAIN   	=(0x95),  // Gantry controller Kpgty gain
    PRA_IKP_GAIN   		=(0x96),  // PID controller Kp gain in torque mode
    PRA_IKI_GAIN   		=(0x97),  // PID controller Ki gain in torque mode
    PRA_IKD_GAIN   		=(0x98),  // PID controller Kd gain in torque mode
    PRA_IKFF_GAIN    	=(0x99),  // Feed forward Kff gain in torque mode
    PRA_KAFF_GAIN       =(0x9A),  // Acceleration feedforward Kaff gain
       
    //following only for V2...
	PRA_VOLTAGE_MAX     =(0x9B),  // Maximum output limit
	PRA_VOLTAGE_MIN     =(0x9C),  // Minimum output limit
    PRA_M_INTERFACE    	=(0x100), // Motion System.Int32erface 
    PRA_M_VOL_RANGE    	=(0x110), // Motor voltage input range
    PRA_M_MAX_SPEED    	=(0x111), // Motor maximum speed 
    PRA_M_ENC_RES    	=(0x112), // Motor encoder resolution
  
    PRA_V_OFFSET     	=(0x120), // Voltage offset
    PRA_SERVO_V_BIAS 	=(0x120), // Voltage offset
    PRA_DZ_LOW     		=(0x121), // Dead zone low side
    PRA_DZ_UP      		=(0x122), // Dead zone up side
    PRA_SAT_LIMIT    	=(0x123), // Voltage saturation output limit
    PRA_SERVO_V_LIMIT 	=(0x123), // Voltage saturation output limit
    PRA_ERR_C_LEVEL    	=(0x124), // Error counter check level
    PRA_ERR_POS_LEVEL   =(0x124), // Error counter check level
    PRA_V_INVERSE    	=(0x125), // Output voltage inverse
    PRA_SERVO_V_INVERSE =(0x125), // Output voltage inverse
    PRA_DZ_VAL          =(0x126), // Dead zone output value
	PRA_IW_MAX          =(0x127), // Integral windup maximum value
	PRA_IW_MIN          =(0x128), // Integral windup minimum value
	PRA_BKL_DIST        =(0x129), // Backlash distance
	PRA_BKL_CNSP        =(0x12a),// Backlash consumption
	PRA_INTEGRAL_LIMIT  =(0x12B), // (I32) Integral limit
	PRA_D_SAMPLE_TIME   =(0x12C), // (I32) Derivative Sample Time

    PRA_PSR_LINK   		=(0x130), // Connect pulser number
    PRA_PSR_RATIO    	=(0x131), // Set pulser ratio  
    PRA_BIQUAD0_A1      =(0x132), // (F64) Biquad filter0 coefficient A1
	PRA_BIQUAD0_A2      =(0x133),// (F64) Biquad filter0 coefficient A2
	PRA_BIQUAD0_B0      =(0x134), // (F64) Biquad filter0 coefficient B0
	PRA_BIQUAD0_B1      =(0x135), // (F64) Biquad filter0 coefficient B1
	PRA_BIQUAD0_B2      =(0x136), // (F64) Biquad filter0 coefficient B2
	PRA_BIQUAD0_DIV     =(0x137), // (F64) Biquad filter0 divider
	PRA_BIQUAD1_A1      =(0x138), // (F64) Biquad filter1 coefficient A1
	PRA_BIQUAD1_A2      =(0x139), // (F64) Biquad filter1 coefficient A2
	PRA_BIQUAD1_B0      =(0x13A), // (F64) Biquad filter1 coefficient B0
	PRA_BIQUAD1_B1      =(0x13B), // (F64) Biquad filter1 coefficient B1
	PRA_BIQUAD1_B2      =(0x13C), // (F64) Biquad filter1 coefficient B2
	PRA_BIQUAD1_DIV    	=(0x13D), // (F64) Biquad filter1 divider
	PRA_FRIC_GAIN		=(0x13E), // (F64) Friction voltage compensation

    PRA_DA_TYPE      	=(0x140), // DAC output type
    PRA_CONTROL_MODE 	=(0x141), // Closed loop control mode
	PRA_CMD_PSF 		=(0x144), // (F64) Command Preshaping Path Smooth Factor 

  //Pulser function
    PRA_PSR_IPT_MODE	=	(0x160), // all
	PRA_PSR_IPT_LOGIC	=	(0x161), // dsp
	PRA_PSR_IPT_DIR	    =	(0x162), // all
	PRA_PSR_RATIO_VALUE =	(0x163), // dsp
	PRA_PSR_PDV		=		(0x164), // asic
	PRA_PSR_PMG		=		(0x165), // asic
	PRA_PSR_HOME_TYPE  =    (0x166), // asic
	PRA_PSR_HOME_SPD =      (0x167), // asic
	PRA_PSR_ACC	    =		(0x168), // dsp
	PRA_PSR_JERK	=		(0x169), // dsp

	//Abs Home function
    PRA_SENSOR_TYPE                   = (0x171), // (I32) sensor type; 0: unknown, 1: incremental, 2: single turn, 3: multi-turn
    PRA_PULSE_PER_TURN                = (0x172),
    PRA_ENC_1_RESOLUTION              = (0x173),
    PRA_ENC_2_RESOLUTION              = (0x174),
    PRA_ENC_2_DETERMINABLE_REVOLUTION = (0x175),
    PRA_ABS_HOME_ENABLE               = (0x176), // Enable absolute home
    PRA_ABS_ENCODER_VALUE             = (0x177), // absolute encoder value (F64)
		
  // Axis parameter define =(For PCI-8154/58),
  // Input/Output Mode
	PRA_PLS_IPT_LOGIC  =(0x200), //Reverse pulse input counting
	PRA_FEEDBACK_SRC =(0x201), //Select feedback conter
    //IO Config
	PRA_ALM_MODE        =(0x210), //ALM Mode
	PRA_INP_LOGIC       =(0x211), //INP Logic
	PRA_SD_EN           =(0x212), //SD Enable -- Bit 8
	PRA_SD_MODE         =(0x213), //SD Mode
	PRA_SD_LOGIC        =(0x214), //SD Logic
	PRA_SD_LATCH        =(0x215), //SD Latch
	PRA_ERC_MODE        =(0x216), //ERC Mode
	PRA_ERC_LOGIC       =(0x217), //ERC logic
	PRA_ERC_LEN         =(0x218), //ERC pulse width
	PRA_RESET_COUNTER   =(0x219), //Reset counter when home move is complete
	PRA_PLS_IPT_FLT     =(0x21B), //EA/EB Filter Enable
	PRA_INP_MODE        =(0x21C), //INP Mode
	PRA_LTC_LOGIC       =(0x21D), //LTC LOGIC
	PRA_IO_FILTER       =(0x21E), //+-EZ, SD, ORG, ALM, INP filter
	PRA_COMPENSATION_PULSE  =(0x221), //BACKLASH PULSE
	PRA_COMPENSATION_MODE   =(0x222), //BACKLASH MODE
	PRA_LTC_SRC         =(0x223), //LTC Source
	PRA_LTC_DEST        =(0x224), //LTC Destination
	PRA_LTC_DATA        =(0x225), //Get LTC DATA
	PRA_GCMP_EN         =(0x226), // CMP Enable
	PRA_GCMP_POS        =(0x227), // Get CMP position
	PRA_GCMP_SRC        =(0x228), // CMP source
	PRA_GCMP_ACTION     =(0x229), // CMP Action
	PRA_GCMP_STS        =(0x22A), // CMP Status
	PRA_VIBSUP_RT       =(0x22B), // Vibration Reverse Time
	PRA_VIBSUP_FT       =(0x22C), // Vibration Forward Time
	PRA_LTC_DATA_SPD    =(0x22D), // Choose latch data for current speed or error position
	PRA_GPDO_SEL        =(0x230), //Select DO/CMP Output mode
	PRA_GPDI_SEL        =(0x231), //Select DO/CMP Output mode
	PRA_GPDI_LOGIC      =(0x232), //Set gpio input logic
	PRA_RDY_LOGIC       =(0x233), //RDY logic
	PRA_RDY_SEL			=(0X236), //for AMP-304C
	PRA_INP_SEL			=(0X237), //for AMP-304C
	PRA_SVON_SEL	    =(0X238), //for AMP-304C
	PRA_ERC_SEL			=(0X239), //for AMP-304C
	PRA_ECMP_EN		 	=(0x280), // Error CMP Enable
	PRA_ECMP_POS		=(0x281), // Get CMP position
	PRA_ECMP_SRC		=(0x282), // Set CMP source
	PRA_ECMP_ACTION	 	=(0x283), // CMP Status
	PRA_ECMP_STS		=(0x284), //Error CMP status
	PRA_ERR_RESCOUNT	=(0x285), // Reset Counter 3 (Error Counter)
	PRA_ERR_COUNTER	 	=(0x290), // Counter 3(Error Counter)
	PRA_TCMP_EN		 	=(0x270), // trigger CMP Enable
	PRA_TCMP_POS		=(0x271), // Get CMP position
	PRA_TCMP_SRC		=(0x272), // Set CMP source
	PRA_TCMP_STS		=(0x273), // CMP Status
	PRA_TCMP_LOGIC		=(0x274), // CMP logic
	PRA_TCMP_ACTION	 	=(0x275), // CMP Action
			 
    //Fixed Speed
	PRA_SPD_LIMIT    	=(0x240), // Set Fixed Speed
	PRA_MAX_ACCDEC   	=(0x241), // Get max acceleration by fixed speed
	PRA_MIN_ACCDEC   	=(0x242), // Get max acceleration by fixed speed
	PRA_ENABLE_SPD   	=(0x243), // Disable/Enable Fixed Speed only for HSL-4XMO.
       
    //Continuous Move
	PRA_CONTI_MODE      =(0x250), // Continuous Mode
	PRA_CONTI_BUFF      =(0x251), // Continuous Buffer 
  //Simultaneous Move
	PRA_SYNC_STOP_MODE  =(0x260), // Sync Mode
       
  //PCS
	PRA_PCS_EN 			=(0x2A0),        // PCS Enable
	PRA_PCS_LOGIC 		=(0x2A1),     // PCS Logic

	//AMP-304C axis parameter define
	PRA_CNT_SRC			=(0x2B0),
       
	// CST mode using.
	PRA_INIT_TRQ        		=(0x300), // Initial torque command when switching to CST mode; Unit is 0.1%. Default value is 0%
	PRA_TRQ_STP_TIME    		=(0x301), // Time to reach zero torque command; Unit is 1ms. Default is 0 (Stop immediately).
	PRA_MODE_CHANGE_STABLE_CNT	=(0x302), // Stable count when operation mode changing to CSP.
       
	   
  // PCI-8144 axis parameter define
	PRA_CMD_CNT_EN      =(0x10000),
	PRA_MIO_SEN         =(0x10001),
	PRA_START_STA       =(0x10002),
	PRA_SPEED_CHN       =(0x10003),
	PRA_ORG_STP         =(0x1A),

    // Axis parameter define =(For PCI-8392 SSCNET),
	PRA_SSC_SERVO_PARAM_SRC    	=(0x10000), //Servo parameter source
	PRA_SSC_SERVO_ABS_POS_OPT  	=(0x10001), //Absolute position system option
	PRA_SSC_SERVO_ABS_CYC_CNT  	=(0x10002), //Absolute cycle counter of servo driver
	PRA_SSC_SERVO_ABS_RES_CNT  	=(0x10003), //Absolute resolution counter of servo driver
	PRA_SSC_TORQUE_LIMIT_P     	=(0x10004), //Torque limit positive =(0.1%),
	PRA_SSC_TORQUE_LIMIT_N   	=(0x10005), //Torque limit negative =(0.1%),
	PRA_SSC_TORQUE_CTRL      	=(0x10006), //Torque control
	PRA_SSC_RESOLUTION     		=(0x10007), //resolution =(E-gear),
	PRA_SSC_GMR					=(0x10008), //resolution (New E-gear)
	PRA_SSC_GDR					=(0x10009), //resolution (New E-gear)
	
	// Axis parameter define (For EMX-100) 
	PRA_SOFT_EL_EN	= (0xB0), 
	PRA_SOFT_EL_SRC	= (0xB1), 
	PRA_PLS_IPT_NEG_DRIVE	=(0xB2), 
	PRA_PLS_OPT_NEG_DRIVE	=(0xB3), 
	PRA_PLS_OPT_DIR =(0xB4),
	PRA_TRIG_VEL_PREVENTION_EN	=(0xB5), 
	PRA_PLS_IPT_DIR_PIN = (0x87),
	PRA_PLS_OPT_DIR_PIN = (0x88),
	PRA_RST_OPT_CHG_DIO = (0x89),
	
	//PCI-8353
	PRA_HOME_LATCH	=	(0x900), //Select Home latch source
    // Sampling parameter define
	SAMP_PA_RATE   =(0x0), //Sampling rate
	SAMP_PA_EDGE   =(0x2), //Edge select
	SAMP_PA_LEVEL    =(0x3), //Level select
	SAMP_PA_TRIGCH   =(0x5), //Select trigger channel
	SAMP_PA_SEL         =(0x6),
	SAMP_PA_SRC_CH0    =(0x10), //Sample source of channel 0
	SAMP_PA_SRC_CH1    =(0x11), //Sample source of channel 1
	SAMP_PA_SRC_CH2    =(0x12), //Sample source of channel 2
	SAMP_PA_SRC_CH3    =(0x13), //Sample source of channel 3

    // Sampling source
	SAMP_AXIS_MASK   =(0xF00),
	SAMP_PARAM_MASK    =(0xFF),
	SAMP_COM_POS    =(0x00), //command position
	SAMP_FBK_POS   =(0x01), //feedback position
	SAMP_CMD_VEL   =(0x02), //command velocity
	SAMP_FBK_VEL   =(0x03), //feedback velocity
	SAMP_MIO     =(0x04), //motion IO
	SAMP_MSTS      =(0x05), //motion status
	SAMP_MSTS_ACC    =(0x06), //motion status acc
	SAMP_MSTS_MV   =(0x07), //motion status at max velocity
	SAMP_MSTS_DEC    =(0x08), //motion status at dec
	SAMP_MSTS_CSTP   =(0x09), //motion status CSTP
	SAMP_MSTS_NSTP   =(0x0A), //motion status NSTP
	SAMP_MSTS_MDN    =(0x0A), //motion status NSTP
	SAMP_MIO_INP   =(0x0B), //motion status INP
	SAMP_MIO_ZERO    =(0x0C), //motion status ZERO
	SAMP_MIO_ORG   =(0x0D), //motion status OGR
	SAMP_CONTROL_VOL				=(0x20),  // Control command voltage
	SAMP_GTY_DEVIATION			=(0x21), // Gantry deviation
	SAMP_ENCODER_RAW			=(0x22), // Encoder raw data
	SAMP_ERROR_COUNTER			=(0x23), // Error counter data
	SAMP_ERROR_POS					=(0x23), //Error position [PCI-8254/58]
	SAMP_PTBUFF_RUN_INDEX		=(0x24), //Point table running index

	// Only for PCIe-833X CST mode.
	SAMP_CMD_TRQ        	=(0x25), // Command torque (I16)
	SAMP_FBK_TRQ        	=(0x26), // Actual torque (I16)
			 
  //Only for PCI-8392
	SAMP_SSC_MON_0      =(0x10),  // SSCNET servo monitor ch0
	SAMP_SSC_MON_1      =(0x11),  // SSCNET servo monitor ch1
	SAMP_SSC_MON_2      =(0x12),  // SSCNET servo monitor ch2
	SAMP_SSC_MON_3      =(0x13),  // SSCNET servo monitor ch3		 
  //Only for PCI-8254/8, AMP-204/8C
	SAMP_COM_POS_F64						=(0x10), // Command position
	SAMP_FBK_POS_F64						=(0x11), // Feedback position
	SAMP_CMD_VEL_F64						=(0x12), // Command velocity
	SAMP_FBK_VEL_F64						=(0x13), // Feedback velocity
	SAMP_CONTROL_VOL_F64				=(0x14), // Control command voltage
	SAMP_ERR_POS_F64						=(0x15), // Error position
	SAMP_PWM_FREQUENCY_F64		  =(0x18), // PWM frequency (Hz)
	SAMP_PWM_DUTY_CYCLE_F64		=(0x19), // PWM duty cycle (%)
	SAMP_PWM_WIDTH_F64					=(0x1A), // PWM width (ns)
	SAMP_VAO_COMP_VEL_F64			=(0x1B), // Composed velocity for Laser power control (pps)
	SAMP_PTBUFF_COMP_VEL_F64		=(0x1C), // Composed velocity of point table
	SAMP_PTBUFF_COMP_ACC_F64		=(0x1D), // Composed acceleration of point table
  
    //FieldBus parameter define
	PRF_COMMUNICATION_TYPE   =(0x00),// FiledBus Communication Type=(Full/half duplex),
	PRF_TRANSFER_RATE      =(0x01),// FiledBus Transfer Rate
	PRF_HUB_NUMBER       =(0x02),// FiledBus Hub Number
	PRF_INITIAL_TYPE            =(0x03),// FiledBus Initial Type(Clear/Reserve Do area)
	PRF_CHKERRCNT_LAYER         =(0x04),// Set the check error count layer.
	PRF_RESEND_CNT		=(0x05),// Set MNET command resend counts
    
    //Gantry parameter number define [Only for PCI-8392, PCI-8253/56]
	GANTRY_MODE          =(0x0),
	GENTRY_DEVIATION     =(0x1),
	GENTRY_DEVIATION_STP   =(0x2),
       
    // Filter parameter number define [Only for PCI-8253/56]
	FTR_TYPE_ST0                    =(0x00),  // Station 0 filter type
	FTR_FC_ST0                      =(0x01), // Station 0 filter cutoff frequency
	FTR_BW_ST0                      =(0x02),  // Station 0 filter bandwidth
	FTR_ENABLE_ST0                  =(0x03),  // Station 0 filter enable/disable
	FTR_TYPE_ST1                    =(0x10),  // Station 1 filter type
	FTR_FC_ST1                      =(0x11),  // Station 1 filter cutoff frequency
	FTR_BW_ST1                      =(0x12),  // Station 1 filter bandwidth
	FTR_ENABLE_ST1                  =(0x13),  // Station 1 filter enable/disable
   
    
    // Device name define
	DEVICE_NAME_NULL            	=(0xFFFF),
	DEVICE_NAME_PCI_8392        	=(0),
	DEVICE_NAME_PCI_825X        	=(1),
	DEVICE_NAME_PCI_8154        	=(2),
	DEVICE_NAME_PCI_785X        	=(3),
	DEVICE_NAME_PCI_8158        	=(4),
	DEVICE_NAME_PCI_7856        	=(5),
	DEVICE_NAME_ISA_DPAC1000    	=(6),
	DEVICE_NAME_ISA_DPAC3000    	=(7),
	DEVICE_NAME_PCI_8144        	=(8),
	DEVICE_NAME_PCI_825458      	=(9),
	DEVICE_NAME_PCI_8102        	=(10),
	DEVICE_NAME_PCI_V8258       	=(11),
	DEVICE_NAME_PCI_V8254       	=(12),
	DEVICE_NAME_PCI_8158A       	=(13),
	DEVICE_NAME_AMP_20408C      	=(14),
	DEVICE_NAME_PCI_8353        	=(15),
	DEVICE_NAME_PCI_8392F			=(16),
	DEVICE_NAME_PCI_C154 	 		=(17),
	DEVICE_NAME_PCI_C154_PLUS		=(18),
	DEVICE_NAME_PCI_8353_RTX		=(19),
	DEVICE_NAME_PCIE_8338			=(20),
	DEVICE_NAME_PCIE_8154	 	 	=(21),
	DEVICE_NAME_PCIE_8158	  		=(22),
	DEVICE_NAME_ENET_EMX100			=(23),
	DEVICE_NAME_PCIE_8334		   	=(24),
	DEVICE_NAME_PCIE_8332		   	=(25),
	DEVICE_NAME_PCIE_8331	   		=(26),
	DEVICE_NAME_PCIE_7856			=(27),
 	DEVICE_NAME_AMP104C				=(28),
	DEVICE_NAME_AMP_304C			=(29),
	DEVICE_NAME_BMP_132       		=(30),
	DEVICE_NAME_BMP_116       		=(31),
	DEVICE_NAME_PCIE_8364			=(32),
	DEVICE_NAME_AEW_38				=(33),
	DEVICE_NAME_AMP_304H			=(34),
	DEVICE_NAME_EM_2P00				=(35),
	DEVICE_NAME_EM_4P00				=(36),
	DEVICE_NAME_EM_8P00				=(37),
	DEVICE_NAME_EM_FP00				=(38),
	DEVICE_NAME_EM_2C00				=(39),
	DEVICE_NAME_EM_4C00				=(40),
	DEVICE_NAME_EM_8C00				=(41),
	DEVICE_NAME_EM_FC00				=(42),
	DEVICE_NAME_EM_2A00				=(43),
	DEVICE_NAME_EM_4A00				=(44),
	DEVICE_NAME_EM_8A00				=(45),
	DEVICE_NAME_EM_FA00				=(46),
	DEVICE_NAME_EM_0P00				=(47),
	DEVICE_NAME_EM_1P00				=(48),
	DEVICE_NAME_EM_0C00				=(49),
	DEVICE_NAME_EM_1C00				=(50),
	DEVICE_NAME_EM_0A00				=(51),
	DEVICE_NAME_EM_1A00				=(52),

	///////////////////////////////////////////////
	//   HSL Slave module definition
	///////////////////////////////////////////////
	SLAVE_NAME_UNKNOWN          =(0x000),
	SLAVE_NAME_HSL_DI32         =(0x100),
	SLAVE_NAME_HSL_DO32         =(0x101),
	SLAVE_NAME_HSL_DI16DO16     =(0x102),
	SLAVE_NAME_HSL_AO4          =(0x103),
	SLAVE_NAME_HSL_AI16AO2_VV   =(0x104),
	SLAVE_NAME_HSL_AI16AO2_AV   =(0x105),
	SLAVE_NAME_HSL_DI16UL       =(0x106),
	SLAVE_NAME_HSL_DI16RO8      =(0x107),
	SLAVE_NAME_HSL_4XMO         =(0x108),
	SLAVE_NAME_HSL_DI16_UCT     =(0x109),
	SLAVE_NAME_HSL_DO16_UCT     =(0x10A),
	SLAVE_NAME_HSL_DI8DO8       =(0x10B),
///////////////////////////////////////////////
//   MNET Slave module definition
///////////////////////////////////////////////
	SLAVE_NAME_MNET_1XMO        =(0x200),
	SLAVE_NAME_MNET_4XMO        =(0x201),
	SLAVE_NAME_MNET_4XMO_C      =(0x202),

///////////////////////////////////////////////
	SLAVE_NAME_ECAT_UNKNOWN		=(0x300),
	SLAVE_NAME_GPM_4XMO			=(0x301),
	SLAVE_NAME_ECAT_4XMO		=(0x302),
	SLAVE_NAME_ECAT_TRG4		=(0x303),

///////////////////////////////////////////////
//   PCIe-8364RS Device name definition
///////////////////////////////////////////////
	SLAVE_NAME_PN_UNKNOWN      	=(0x400), //Unknown
	SLAVE_NAME_PN_V90      		=(0x401), //Drive
	SLAVE_NAME_PN_ET200SP  		=(0x402), //IO
///////////////////////////////////////////////
//   PCIe-8364RS Module name definition
///////////////////////////////////////////////
	SLAVE_NAME_PN_DO_ST_16x24V	=(0x501), 
	SLAVE_NAME_PN_DI_ST_16x24V	=(0x502), 
	SLAVE_NAME_PN_AO_ST_4xUI	=(0x503), 
	SLAVE_NAME_PN_AI_ST_4xUI    =(0x504), 			 			 
///////////////////////////////////////////////
//   PCIe-8338 Slave module definition
///////////////////////////////////////////////
	SLAVE_ADLINK_ECAT_EPS_1132       	=(0x1132), 
	SLAVE_ADLINK_ECAT_EPS_2032       	=(0x2032),
	SLAVE_ADLINK_ECAT_EPS_2132       	=(0x2132),
	SLAVE_ADLINK_ECAT_EPS_3032       	=(0x3032),
	SLAVE_ADLINK_ECAT_EPS_3216       	=(0x3216),
	SLAVE_ADLINK_ECAT_EPS_3504       	=(0x3504),
	SLAVE_ADLINK_ECAT_EPS_4008       	=(0x4008),
	SLAVE_ADLINK_ECAT_EPS_2308       	=(0x2308),
	SLAVE_ADLINK_ECAT_EPS_7002			=(0x7002),
	SLAVE_ADLINK_ECAT_EPS_1032			=(0x1032),
	SLAVE_ADLINK_ECAT_ESM_A620F		 	=(0x516204A0), // AI08
	SLAVE_ADLINK_EU_1008                =(0x6),    //DI8, 8 Channels, PNP 
	SLAVE_ADLINK_EU_1108                =(0x9),    //DI8, 8 Channels, NPN
	SLAVE_ADLINK_EU_1016				=(0x10),   // DI16, 16 Channels, PNP
	SLAVE_ADLINK_EU_1116				=(0xF),    // DI16, 16 Channels, NPN
	SLAVE_ADLINK_EU_2008                =(0xB),    //11 DO8, 8 Channels, PNP 
	SLAVE_ADLINK_EU_2108                =(0xC),    //12 DO8, 8 Channels, NPN
	SLAVE_ADLINK_EU_2016		    	=(0x11),   // DO16, 16 Channels, PNP
	SLAVE_ADLINK_EU_2116		    	=(0x12),   // DO16, 16 Channels, NPN
	SLAVE_ADLINK_EU_3104                =(0x31),   //49 AI4, Voltage(0-10V), 4 Channels, 16 Bit 
	SLAVE_ADLINK_EU_3304                =(0x29),   //41 AI4, Current(4-20mA), 4 Channels, 16 Bit 
	SLAVE_ADLINK_EU_4104                =(0x32),   //50 AO4, Voltage(0-10V), 4 Channels, 16 Bit 
	SLAVE_ADLINK_EU_4304                =(0x35),   //53 AO4, Current(4-20mA), 4 Channels, 16 Bit
			
///////////////////////////////////////////////
//   PCIe-8338 EtherCAT master/slave status definition
///////////////////////////////////////////////
	EC_STATE_NOT_RDY		 =(0x0000),		
	EC_STATE_RDY				 =(0x0001),	
	EC_STATE_BUS_SCAN		=(0x0002),		
	EC_STATE_INIT				=(0x0003),	
	EC_STATE_PREOP			 =(0x0004),		
	EC_STATE_SAFEOP			=(0x0005),		
	EC_STATE_OP					 =(0x0006),	 
			 			 
	//Trigger parameter number define. [Only for DB-8150]
	TG_PWM0_PULSE_WIDTH    =(0x00),
	TG_PWM1_PULSE_WIDTH    =(0x01),
	TG_PWM0_MODE           =(0x02),
	TG_PWM1_MODE           =(0x03),
	TG_TIMER0_INTERVAL     =(0x04),
	TG_TIMER1_INTERVAL     =(0x05),
	TG_ENC0_CNT_DIR        =(0x06),
	TG_ENC1_CNT_DIR        =(0x07),
	TG_IPT0_MODE           =(0x08),
	TG_IPT1_MODE           =(0x09),
	TG_EZ0_CLEAR_EN        =(0x0A),
	TG_EZ1_CLEAR_EN        =(0x0B),
	TG_EZ0_CLEAR_LOGIC     =(0x0C),
	TG_EZ1_CLEAR_LOGIC     =(0x0D),
	TG_CNT0_SOURCE         =(0x0E),
	TG_CNT1_SOURCE         =(0x0F),
	TG_FTR0_EN		          =(0x10),
	TG_FTR1_EN		          =(0x11),
	TG_DI_LATCH0_EN        =(0x12),
	TG_DI_LATCH1_EN        =(0x13),
	TG_DI_LATCH0_EDGE      =(0x14),
	TG_DI_LATCH1_EDGE      =(0x15),
	TG_DI_LATCH0_VALUE     =(0x16),
	TG_DI_LATCH1_VALUE     =(0x17),
	TG_TRGOUT_MAP          =(0x18),
	TG_TRGOUT_LOGIC        =(0x19),
	TG_FIFO_LEVEL          =(0x1A),
	TG_PWM0_SOURCE         =(0x1B),
	TG_PWM1_SOURCE         =(0x1C),

	//trigger only for EMX100
	TGR0_CMP_SRC	=	(0x00),
	TGR1_CMP_SRC	=	(0x01),
	TGR0_CMP_COND	=	(0x02),
	TGR1_CMP_COND	=	(0x03),
	TGR0_CMP_VALUE	=	(0x04),
	TGR1_CMP_VALUE		=	(0x05),
	TGR0_PULSE_WIDTH	=	(0x06),
	TGR1_PULSE_WIDTH	=	(0x07),
	TGR0_PULSE_LOGIC	=	(0x08),
	TGR1_PULSE_LOGIC	=	(0x09),
	TGR0_CMP_EN			=	(0x0A),
	TGR1_CMP_EN			=	(0x0B),
	TGR0_CMP_MODE		=	(0x0C),
	TGR1_CMP_MODE		=	(0x0D),
	TGR0_LCMP_INTER		=	(0x0E),
	TGR1_LCMP_INTER		=	(0x0F),
	TGR0_LCMP_RETIME	=	(0x10),
	TGR1_LCMP_RETIME	=	(0x11),
    
//Trigger parameter number define. [Only for PCI-8253/56]
	TG_LCMP0_SRC =(0x00),
	TG_LCMP1_SRC =(0x01),
	TG_TCMP0_SRC =(0x02),
	TG_TCMP1_SRC =(0x03),
	TG_LCMP0_EN    =(0x04),
	TG_LCMP1_EN    =(0x05),
	TG_TCMP0_EN    =(0x06),
	TG_TCMP1_EN    =(0x07),
	TG_TRG0_SRC    =(0x10),
	TG_TRG1_SRC    =(0x11),
	TG_TRG2_SRC    =(0x12),
	TG_TRG3_SRC    =(0x13),
	TG_TRG0_PWD    =(0x14),
	TG_TRG1_PWD    =(0x15),
	TG_TRG2_PWD    =(0x16),
	TG_TRG3_PWD    =(0x17),
	TG_TRG0_CFG    =(0x18),
	TG_TRG1_CFG    =(0x19),
	TG_TRG2_CFG    =(0x1A),
	TG_TRG3_CFG    =(0x1B),
	TMR_ITV        =(0x20),
	TMR_EN         =(0x21),
       
    //Trigger parameter number define. [Only for MNET-4XMO-C & HSL-4XMO]
	TG_CMP0_SRC             =(0x00),
	TG_CMP1_SRC             =(0x01),
	TG_CMP2_SRC             =(0x02),
	TG_CMP3_SRC             =(0x03),
	TG_CMP0_EN              =(0x04),
	TG_CMP1_EN              =(0x05),
	TG_CMP2_EN              =(0x06),
	TG_CMP3_EN              =(0x07),
	TG_CMP0_TYPE            =(0x08),
	TG_CMP1_TYPE            =(0x09),
	TG_CMP2_TYPE            =(0x0A),
	TG_CMP3_TYPE            =(0x0B),
	TG_CMPH_EN              =(0x0C), //Not for HSL-4XMO
	TG_CMPH_DIR_EN          =(0x0D),//Not for HSL-4XMO
	TG_CMPH_DIR             =(0x0E), //Not for HSL-4XMO
	TG_ENCH_CFG             =(0x20),//Not for HSL-4XMO
	TG_TRG0_CMP_DIR         =(0x21), //Only for HSL-4XMO
	TG_TRG1_CMP_DIR         =(0x22), //Only for HSL-4XMO
	TG_TRG2_CMP_DIR         =(0x23), //Only for HSL-4XMO
	TG_TRG3_CMP_DIR         =(0x24), //Only for HSL-4XMO

    //Trigger parameter number define. [Only for PCI-8258, ECAT-4XMO]
	TGR_LCMP0_SRC    		=(0x00),
	TGR_LCMP1_SRC    		=(0x01),
	TGR_TCMP0_SRC    		=(0x02),
	TGR_TCMP1_SRC    		=(0x03),
	TGR_TCMP0_DIR    		=(0x04),
	TGR_TCMP1_DIR    		=(0x05),
	TGR_TRG_EN		 		=(0x06),
	
	TGR_TCMP0_REUSE  		=(0x07),	// ECAT-4XMO
	TGR_TCMP1_REUSE    		=(0x08),	// ECAT-4XMO
	TGR_TCMP0_TRANSFER_DONE	=(0x09),	// ECAT-4XMO
	TGR_TCMP1_TRANSFER_DONE	=(0x0A),	// ECAT-4XMO
	TGR_MTCMP0_TRANSFER_DONE =(0x0D),	// ECAT-4XMO-MT/TRG4-MT
	TGR_TRG0_SRC     		=(0x10),
	TGR_TRG1_SRC     		=(0x11),
	TGR_TRG2_SRC     		=(0x12),
	TGR_TRG3_SRC     		=(0x13),
	TGR_TRG0_PWD     		=(0x14),
	TGR_TRG1_PWD     		=(0x15),
	TGR_TRG2_PWD     		=(0x16),
	TGR_TRG3_PWD     		=(0x17),
	TGR_TRG0_LOGIC     		=(0x18),
	TGR_TRG1_LOGIC     		=(0x19),
	TGR_TRG2_LOGIC     		=(0x1A),
	TGR_TRG3_LOGIC     		=(0x1B),
	TGR_TRG0_TGL	     	=(0x1C),
	TGR_TRG1_TGL		 	=(0x1D),
	TGR_TRG2_TGL		 	=(0x1E),
	TGR_TRG3_TGL		 	=(0x1F),
	TIMR_ITV			 	=(0x20),
	TIMR_DIR			 	=(0x21),
	TIMR_RING_EN        	=(0x22),
	TIMR_EN		     		=(0x23),
	
	TGR_MCMP0_SRC		    =(0x30),
	TGR_MCMP1_SRC		    =(0x31),
	TGR_MCMP2_SRC		    =(0x32),
	TGR_MCMP3_SRC		    =(0x33),
	TGR_MCMP_MODE		    =(0x34),
	TGR_TRG0_TOGGLE_MODE	=(0x35),
	TGR_TRG1_TOGGLE_MODE	=(0x36),
	TGR_TRG2_TOGGLE_MODE	=(0x37),
	TGR_TRG3_TOGGLE_MODE	=(0x38),
	TGR_TRG0_TOGGLE_STATUS	=(0x39),
	TGR_TRG1_TOGGLE_STATUS	=(0x3A),
	TGR_TRG2_TOGGLE_STATUS	=(0x3B),
	TGR_TRG3_TOGGLE_STATUS	=(0x3C),
	TGR_TCMP2_SRC		    =(0x40),
	TGR_TCMP3_SRC		    =(0x41),
	TGR_TCMP2_DIR		    =(0x42),
	TGR_TCMP3_DIR		    =(0x43),
	TGR_LCMP2_SRC		    =(0x44),
	TGR_LCMP3_SRC		    =(0x45),
	TGR_TCMP2_REUSE			=(0x46),	// ECAT-4XMO/TRG4
	TGR_TCMP3_REUSE			=(0x47), 	// ECAT-4XMO/TRG4
	TGR_TCMP2_TRANSFER_DONE	=(0x48),	// ECAT-4XMO/TRG4
	TGR_TCMP3_TRANSFER_DONE	=(0x49),	// ECAT-4XMO/TRG4
	TGR_CMP_EXTENC0_SRC		=(0x50),	// ECAT-TRG4
	TGR_CMP_EXTENC1_SRC		=(0x51),	// ECAT-TRG4
	TGR_CMP_EXTENC2_SRC		=(0x52),	// ECAT-TRG4
	TGR_CMP_EXTENC3_SRC		=(0x53),    // ECAT-TRG4

	TGR_TCMP0_SETTING_TYPE = (0x80),	// ECAT-4XMO(-MT)/TRG4(-MT)
	TGR_TCMP1_SETTING_TYPE = (0x81),	// ECAT-4XMO(-MT)/TRG4(-MT)
	TGR_TCMP2_SETTING_TYPE = (0x82),	// ECAT-4XMO/TRG4
	TGR_TCMP3_SETTING_TYPE = (0x83),	// ECAT-4XMO/TRG4
	TGR_MTCMP0_SETTING_TYPE = (0x88),	// ECAT-4XMO-MT/TRG4-MT 

	// 20210326
	TGR_TRG0_MAP = (0X54),  //for AMPC-304C, 8364RS
	TGR_TRG1_MAP = (0X55),  //for AMPC-304C, 8364RS
	TGR_TRG2_MAP = (0X56),  //	only AMP-304C
	TGR_TRG3_MAP = (0X57),  //	only AMP-304C

	// For SuperCAT software compare trigger using.
	TGR_TRG0_SGN_MAP = (0X58),
	TGR_TRG1_SGN_MAP = (0X59),
	TGR_TRG2_SGN_MAP = (0X5A),
 	TGR_TRG3_SGN_MAP = (0X5B),


	TGR_SCMP0_SRC = (0X70), //	only AMP-304C
	TGR_SCMP1_SRC = (0X71), //	only AMP-304C
	TGR_SCMP2_SRC = (0X72), //	only AMP-304C
	TGR_SCMP3_SRC = (0X73), //	only AMP-304C

	TGR_SCMP0_DIR = (0X80), //	only AMP-304C
	TGR_SCMP1_DIR = (0X81), //	only AMP-304C
	TGR_SCMP2_DIR = (0X82), //	only AMP-304C
	TGR_SCMP3_DIR = (0X83), //	only AMP-304C

	TGR_SCMP0_EN = (0X90),  //	only AMP-304C
	TGR_SCMP1_EN = (0X91),  //	only AMP-304C
	TGR_SCMP2_EN = (0X92),  //	only AMP-304C
	TGR_SCMP3_EN = (0X93),  //	only AMP-304C

	TGR_TCMP0_LEVEL = (0XA0),  //	only AMP-304C
	TGR_TCMP1_LEVEL = (0XA1),  //	only AMP-304C
	TGR_TCMP2_LEVEL = (0XA2),  //	only AMP-304C
	TGR_TCMP3_LEVEL = (0XA3),  //	only AMP-304C	

	TGR_TRG_STATUS = (0XB0),  //	only AMP-304C	

	TGR_TRG0_RESET_OUTPUT = (0XC0),  //	only AMP-304C
	TGR_TRG1_RESET_OUTPUT = (0XC1),  //	only AMP-304C
	TGR_TRG2_RESET_OUTPUT = (0XC2),  //	only AMP-304C
	TGR_TRG3_RESET_OUTPUT = (0XC3),  //	only AMP-304C	
	
	// for 8364RS

    TGR_TCMP4_SRC		    =(0x62),
    TGR_TCMP5_SRC		    =(0x63),
    					    
    					    
    TGR_TCMP4_DIR		    =(0x66),
    TGR_TCMP5_DIR		    =(0x67),
    					    
    TGR_EXTENC0_VALUE       =(0x68),
    TGR_EXTENC1_VALUE       =(0x69),
    TGR_EXTENC0_MODE        =(0x6A),
    TGR_EXTENC1_MODE        =(0x6B),
    TGR_EXTENC0_FILTER_EN   =(0x6C),
    TGR_EXTENC1_FILTER_EN   =(0x6D),
    TGR_EXTENC0_DIR         =(0x6E),
    TGR_EXTENC1_DIR         =(0x6F),
    
    TGR_TCMP4_TRANSFER_DONE =(0x70),
    TGR_TCMP5_TRANSFER_DONE =(0x71),

	TGR_TCMP2_TRG_CH = (0x76),
	TGR_TCMP3_TRG_CH = (0x77),
	TGR_TCMP4_TRG_CH = (0x78),
	TGR_TCMP5_TRG_CH = (0x79),
	TGR_LCMP4_SRC    = (0x7C),
	TGR_LCMP5_SRC    = (0x7D),
	TGR_LCMP2_TRG_CH = (0x7E),
	TGR_LCMP3_TRG_CH = (0x7F),
	TGR_LCMP4_TRG_CH = (0x80), 
	TGR_LCMP5_TRG_CH = (0x81),
	TGR_TRG4_TGL     = (0x82),
	TGR_TRG5_TGL     = (0x83),
	TGR_TRG4_PWD     = (0x84),
	TGR_TRG5_PWD     = (0x85),

	//Trigger parameter number define. [Only for PCI-8158A & PCI-C154(+)]
	TIG_ENC_IPT_MODE0 = (0x00),
	TIG_ENC_IPT_MODE1			=(0x01),
	TIG_ENC_IPT_MODE2			=(0x02),
	TIG_ENC_IPT_MODE3			=(0x03),
	TIG_ENC_IPT_MODE4			=(0x04),
	TIG_ENC_IPT_MODE5			=(0x05),
	TIG_ENC_IPT_MODE6			=(0x06),
	TIG_ENC_IPT_MODE7			=(0x07),
	TIG_ENC_EA_INV0				=(0x08),
	TIG_ENC_EA_INV1				=(0x09),
	TIG_ENC_EA_INV2				=(0x0A),
	TIG_ENC_EA_INV3				=(0x0B),
	TIG_ENC_EA_INV4				=(0x0C),
	TIG_ENC_EA_INV5				=(0x0D),
	TIG_ENC_EA_INV6				=(0x0E),
	TIG_ENC_EA_INV7				=(0x0F),
	TIG_ENC_EB_INV0				=(0x10),
	TIG_ENC_EB_INV1				=(0x11),
	TIG_ENC_EB_INV2				=(0x12),
	TIG_ENC_EB_INV3				=(0x13),
	TIG_ENC_EB_INV4				=(0x14),
	TIG_ENC_EB_INV5				=(0x15),
	TIG_ENC_EB_INV6				=(0x16),
	TIG_ENC_EB_INV7				=(0x17),
	TIG_ENC_SIGNAL_FILITER_EN0	=(0x28),
	TIG_ENC_SIGNAL_FILITER_EN1	=(0x29),
	TIG_ENC_SIGNAL_FILITER_EN2	=(0x2A),
	TIG_ENC_SIGNAL_FILITER_EN3	=(0x2B),
	TIG_ENC_SIGNAL_FILITER_EN4	=(0x2C),
	TIG_ENC_SIGNAL_FILITER_EN5	=(0x2D),
	TIG_ENC_SIGNAL_FILITER_EN6	=(0x2E),
	TIG_ENC_SIGNAL_FILITER_EN7	=(0x2F),
	TIG_TIMER8_DIR				=(0x30),
	TIG_TIMER8_ITV				=(0x31),
	TIG_CMP0_SRC				=(0x32),
	TIG_CMP1_SRC				=(0x33),
	TIG_CMP2_SRC				=(0x34),
	TIG_CMP3_SRC				=(0x35),
	TIG_CMP4_SRC				=(0x36),
	TIG_CMP5_SRC				=(0x37),
	TIG_CMP6_SRC				=(0x38),
	TIG_CMP7_SRC				=(0x39),
	TIG_TRG0_SRC				=(0x3A),
	TIG_TRG1_SRC				=(0x3B),
	TIG_TRG2_SRC				=(0x3C),
	TIG_TRG3_SRC				=(0x3D),
	TIG_TRG4_SRC				=(0x3E),
	TIG_TRG5_SRC				=(0x3F),
	TIG_TRG6_SRC				=(0x40),
	TIG_TRG7_SRC				=(0x41),
	TIG_TRGOUT0_MAP				=(0x42),
	TIG_TRGOUT1_MAP				=(0x43),
	TIG_TRGOUT2_MAP				=(0x44),
	TIG_TRGOUT3_MAP				=(0x45),
	TIG_TRGOUT4_MAP				=(0x46),
	TIG_TRGOUT5_MAP				=(0x47),
	TIG_TRGOUT6_MAP				=(0x48),
	TIG_TRGOUT7_MAP				=(0x49),
	TIG_TRGOUT0_LOGIC			=(0x4A),
	TIG_TRGOUT1_LOGIC			=(0x4B),
	TIG_TRGOUT2_LOGIC			=(0x4C),
	TIG_TRGOUT3_LOGIC			=(0x4D),
	TIG_TRGOUT4_LOGIC			=(0x4E),
	TIG_TRGOUT5_LOGIC			=(0x4F),
	TIG_TRGOUT6_LOGIC			=(0x50),
	TIG_TRGOUT7_LOGIC			=(0x51),
	TIG_PWM0_PULSE_WIDTH		=(0x52),
	TIG_PWM1_PULSE_WIDTH		=(0x53),
	TIG_PWM2_PULSE_WIDTH		=(0x54),
	TIG_PWM3_PULSE_WIDTH		=(0x55),
	TIG_PWM4_PULSE_WIDTH		=(0x56),
	TIG_PWM5_PULSE_WIDTH		=(0x57),
	TIG_PWM6_PULSE_WIDTH		=(0x58),
	TIG_PWM7_PULSE_WIDTH		=(0x59),
	TIG_PWM0_MODE				=(0x5A),
	TIG_PWM1_MODE				=(0x5B),
	TIG_PWM2_MODE				=(0x5C),
	TIG_PWM3_MODE				=(0x5D),
	TIG_PWM4_MODE				=(0x5E),
	TIG_PWM5_MODE				=(0x5F),
	TIG_PWM6_MODE				=(0x60),
	TIG_PWM7_MODE				=(0x61),
	TIG_TIMER0_ITV				=(0x62),
	TIG_TIMER1_ITV				=(0x63),
	TIG_TIMER2_ITV				=(0x64),
	TIG_TIMER3_ITV				=(0x65),
	TIG_TIMER4_ITV				=(0x66),
	TIG_TIMER5_ITV				=(0x67),
	TIG_TIMER6_ITV				=(0x68),
	TIG_TIMER7_ITV				=(0x69),
	TIG_FIFO_LEVEL0				=(0x6A),
	TIG_FIFO_LEVEL1				=(0x6B),
	TIG_FIFO_LEVEL2				=(0x6C),
	TIG_FIFO_LEVEL3				=(0x6D),
	TIG_FIFO_LEVEL4				=(0x6E),
	TIG_FIFO_LEVEL5				=(0x6F),
	TIG_FIFO_LEVEL6				=(0x70),
	TIG_FIFO_LEVEL7				=(0x71),
	TIG_OUTPUT_EN0				=(0x72),
	TIG_OUTPUT_EN1				=(0x73),
	TIG_OUTPUT_EN2				=(0x74),
	TIG_OUTPUT_EN3				=(0x75),
	TIG_OUTPUT_EN4				=(0x76),
	TIG_OUTPUT_EN5				=(0x77),
	TIG_OUTPUT_EN6				=(0x78),
	TIG_OUTPUT_EN7				=(0x79),
           
    // Motion IO status bit number define.
	MIO_ALM      	=(0),   // Servo alarm.
	MIO_PEL      	=(1),   // Positive end limit.
	MIO_MEL      	=(2),   // Negative end limit.
	MIO_ORG      	=(3),   // ORG (Home)
	MIO_EMG      	=(4),   // Emergency stop
	MIO_EZ			=(5),   // EZ.
	MIO_INP      	=(6),   // In position.
	MIO_SVON       	=(7),   // Servo on signal.
	MIO_RDY      	=(8),   // Ready.
	MIO_WARN       	=(9),   // Warning.
	MIO_ZSP      	=(10),  // Zero speed.
	MIO_SPEL       	=(11),  // Soft positive end limit.
	MIO_SMEL       	=(12),  // Soft negative end limit.
	MIO_TLC      	=(13),  // Torque is limited by torque limit value.
	MIO_ABSL       	=(14),  // Absolute position lost.
	MIO_STA      	=(15),  // External start signal.
	MIO_PSD      	=(16),  // Positive slow down signal
	MIO_MSD      	=(17),  // Negative slow down signal
	MIO_SCL     	=(10),  // Circular limit.
	MIO_OP      	=(24),  // Not all slaves are in operation mode.

    // Motion status bit number define.
	MTS_CSTP       	=(0),     // Command stop signal. 
	MTS_VM     		=(1),     // At maximum velocity.
	MTS_ACC      	=(2),     // In acceleration.
	MTS_DEC      	=(3),     // In deceleration.
	MTS_DIR      	=(4),     // (Last)Moving direction.
	NSTP           	=(5),     // Normal stop(Motion done).
	MTS_HMV      	=(6),     // In home operation.
	MTS_SMV      	=(7),     // Single axis move( relative, absolute, velocity move).
	MTS_LIP      	=(8),     // Linear interpolation.
	MTS_CIP      	=(9),     // Circular interpolation.
	MTS_VS     		=(10),    // At start velocity.
	MTS_PMV      	=(11),    // Point table move.
	MTS_PDW      	=(12),    // Point table dwell move.
	MTS_PPS      	=(13),    // Point table pause state.
	MTS_SLV      	=(14),    // Slave axis move.
	MTS_JOG      	=(15),    // Jog move.
	MTS_ASTP       	=(16),    // Abnormal stop.
	MTS_SVONS    	=(17),    // Servo off stopped.
	MTS_EMGS       	=(18),    // EMG / SEMG stopped.
	MTS_ALMS       	=(19),    // Alarm stop.
	MTS_WANS       	=(20),    // Warning stopped.
	MTS_PELS       	=(21),    // PEL stopped.
	MTS_MELS       	=(22),    // MEL stopped.
	MTS_ECES       	=(23),    // Error counter check level reaches and stopped.
	MTS_SPELS    	=(24),    // Soft PEL stopped.
	MTS_SMELS    	=(25),    // Soft MEL stopped.
	MTS_STPOA    	=(26),    // Stop by others axes.
	MTS_GDCES    	=(27),    // Gantry deviation error level reaches and stopped.
	MTS_GTM      	=(28),    // Gantry mode turn on.
	MTS_PAPB       	=(29),    // Pulsar mode turn on.
           
    //Following definition for PCI-8254/8
	MTS_MDN        	=(5),         // Motion done. 0: In motion, 1: Motion done ( It could be abnormal stop)
	MTS_WAIT       	=(10),        // Axis is in waiting state. ( Wait move trigger )
	MTS_PTB        	=(11),        // Axis is in point buffer moving. ( When this bit on, MDN and ASTP will be cleared )
	MTS_BLD		    =(17),        // Axis (Axes) in blending moving
	MTS_PRED       	=(18),        // Pre-distance event, 1: event arrived. The event will be clear when axis start moving 
	MTS_POSTD     	=(19),        // Post-distance event. 1: event arrived. The event will be clear when axis start moving
	MTS_GER       	=(28),        // 1: In geared ( This axis as slave axis and it follow a master specified in axis parameter. )
    
	//Following definition for PCI-8334/8
	MTS_TM			=(7),		  // At maximum torque.
    MTS_ASYNCERR    = (23),
    MTS_PSR 		=(29),
	MTS_GRY 		=(30),
    //Following definition for EMX-100
    MTS_EZS 		=(28),
    MTS_HMES 		=(29),
    MTS_ORGS 		=(30),
    //define error code
	ERR_NoError						=(0),	// No Error
	ERR_OSVersion					=(-1),	// Operation System type mismatched
	ERR_OpenDriverFailed			=(-2),	// Open device driver failed - Create driver interface failed
	ERR_InsufficientMemory			=(-3),	// System memory insufficiently
	ERR_DeviceNotInitial			=(-4),	// Cards not be initialized
	ERR_NoDeviceFound				=(-5),	// Cards not found(No card in your system)
	ERR_CardIdDuplicate				=(-6),	// Cards' ID is duplicated. 
	ERR_DeviceAlreadyInitialed		=(-7),	// Cards have been initialed
	ERR_InterruptNotEnable			=(-8),	// Cards' interrupt events not enable or not be initialized
	ERR_TimeOut						=(-9),	// Function time out
	ERR_HandshakeAckTimeout         =(-90001), // Handshake wait acknowledgement time out.
	ERR_ParametersInvalid			=(-10),	// Function input parameters are invalid
	ERR_SetEEPROM					=(-11),	// Set data to EEPROM (or nonvolatile memory) failed
	ERR_GetEEPROM					=(-12),	// Get data from EEPROM (or nonvolatile memory) failed
	ERR_FunctionNotAvailable		=(-13),	// Function is not available in this step, The device is not support this function or Internal process failed
	ERR_HandshakeRespNotEqualCmd    =(-130001), // Handshake command response not equal.
	ERR_NotSupportReuseMode 		=(-130002), // The setting type not support reuse mode.
	ERR_FirmwareError				=(-14),   // Firmware error, please reboot the system
	ERR_CommandInProcess			=(-15),	// Previous command is in process
	ERR_PushCompareDataNotFinish    =(-150001),   // Last comparison data not push to FIFO completely.
	ERR_AxisIdDuplicate				=(-16),	// Axes' ID is duplicated.
	ERR_ModuleNotFound				=(-17),   // Slave module not found.
	ERR_InsufficientModuleNo		=(-18),	// System ModuleNo insufficiently
	ERR_HandShakeFailed				=(-19),   // HandSake with the DSP out of time.
	ERR_FILE_FORMAT					=(-20),	// Config file format error.(cannot be parsed)
	ERR_ParametersReadOnly			=(-21),	// Function parameters read only.
	ERR_DistantNotEnough			=(-22),	// Distant is not enough for motion.
	ERR_FunctionNotEnable			=(-23),	// Function is not enabled.
	ERR_ServerAlreadyClose			=(-24),	// Server already closed.
	ERR_DllNotFound					=(-25),	// Related dll is not found, not in correct path.
	ERR_TrimDAC_Channel				=(-26),
	ERR_Satellite_Type				=(-27),
	ERR_Over_Voltage_Spec			=(-28),
	ERR_Over_Current_Spec			=(-29),
	ERR_SlaveIsNotAI				=(-30),
	ERR_Over_AO_Channel_Scope		=(-31),
	ERR_DllFuncFailed				=(-32),	// Failed to invoke dll function. Extension Dll version is wrong.
	ERR_FeederAbnormalStop			=(-33), //Feeder abnormal stop, External stop or feeding stop
	ERR_AreadyClose					=(-34),
	ERR_NullObject					=(-35),	// Null object is detected
	ERR_PreMoveErr					=(-36),	// last move is on error stop
	ERR_PreMoveNotDone			  	=(-37),	// last move not be done
	ERR_MismatchState				=(-38),	// there is a mismatch state
	ERR_Read_ModuleType_Dismatch	=(-39),
	ERR_DoubleOverflow			    =(-40), // Double format parameter is overflow
	ERR_SlaveNumberErr			    =(-41),
	ERR_SlaveStatusErr			    =(-42),
	ERR_MapPDOOffset_TimeOut		=(-43),
	ERR_Fifo_Access_Fail			=(-44),
	ERR_KernelVerifyError			=(-45),
	ERR_LatchFlowErr				=(-46),
	ERR_NoSystemAuthority			=(-47),
	ERR_InServoOnState				=(-48), // Now only use it in 8154/58 APS_spiral_ce_xxx this API, to judge 4th axis is servo on
	ERR_InterpolationParameterInvalid =(-49), // For 8144C, some interpolation  axis Vmax out of range.
	ERR_KernelUpdateError 	   		=(-50), // For Kernel update
	ERR_KernelGeneralFunc	    	=(-51), // For general functions
	ERR_NO_POINT_EXIST				=(-52), // There is no point exist in point table when point table move start.
	ERR_WRONG_MANUAL_SLAVE_ID       =(-53), // One of connected slave not support AL control procedure.
	ERR_DUPLICATE_MANUAL_SLAVE_ID   =(-54), // The manual slave ID number duplicate condition occurrence.
	ERR_VALUE_NOT_DEFINE            =(-55), // The value is not in definition.
	ERR_CTRL_MODE_NOT_COMPATIBLE	=(-56),	// Command control mode not compatible.
	ERR_ServerTimeout				=(-57), // For multi-process error code define
	ERR_DataOverRange				=(-58), // For argument or get data over range check
	ERR_MappingConfigureErr			=(-59),	// For DIO/AIO configure error
	ERR_waitWatchDogAliveTimeout    =(-60), // Wait watch dog alive timeout
	ERR_KernelRebootTimeout         =(-61), // Wait kernel reboot timeout
	ERR_FilesAreNotEqual            =(-62),   // Files are not equal
    ERR_AccessFileFailed            =(-63),   // Access file failed
    ERR_AllocateMemoryFailed        =(-64),   // Allocate memory failed
    ERR_FileSizeIsWrong             =(-65),   // File size is wrong
	ERR_DUPLICATE_DI_CHANNEL        =(-66), // The mapping DI channel duplicate condition occurrence in motion signal and gpio selection mapping
	ERR_NotActiveTrialLicense		=(-67), // Not yet active trial license
	ERR_NoCompatibleLicense			=(-68), // Without license
	ERR_KernelClose					=(-69), // Kernel/ Soft-core encountered an unexpected error then close

	ERR_Win32Error					=(-1000), // No such INT number, or WIN32_API error, contact with ADLINK's FAE staff.
	ERR_DspStart					=(-2000), // The base for DSP error



	//For EtherCAT, PCIe-8334_8 ( -1001 ~ -1999 )
	ERR_NoENIFile						=(-1001),
	ERR_TimeOut_SetVoltageEnable		=(-1002),
	ERR_TimeOut_SetReadyToSwitch		=(-1003),
	ERR_TimeOut_SetShutdown				=(-1004),
	ERR_TimeOut_SetSwitchOn				=(-1005),
	ERR_TimeOut_SetOperationEnable		=(-1006),
	ERR_RegistryPath					=(-1007),
	ERR_MasterNotOPState				=(-1008),
	ERR_SlaveNotOPState					=(-1009),
	ERR_SlaveTotalAxisNumber			=(-1010), // The scanned number of EtherCAT slaves' axes exceeds the number of max.
	ERR_MissESIFileOrMissENIPath 		= (-1011), // No ESI file or ESI file path miss result .
	ERR_MissConfig_1_Xml				= (-1012),  // No config_1 xml.
	ERR_MissConfig_1_Xml_fail			= (-1013),  // No config_1 xml.
	ERR_MissConfig_2_Xml				=(-1014), // No config_2 xml.
	ERR_CopyConfig_2_Xml_fail			=(-1015), // No config_2 xml.
	ERR_InvalidSlaveLocalAxis           =(-1016), // Invalid slave local axis
    ERR_InvalidECATHomeMode				=(-1017), // Invalid home mode
	ERR_FoEFileNameOverLimit			=(-1018),
	ERR_FoEFileVerifyError				=(-1019),
	ERR_FoEConflictAutoRecovery			=(-1020),
	


	EC_NO_ERROR                      =(0),
	EC_INIT_MASTER_ERR               =(-4001),                
	EC_GET_SLV_NUM_ERR               =(-4011),    
	EC_CONFIG_MASTER_ERR             =(-4012),               
	EC_BUSCONFIG_MISMATCH            =(-4013),             
	EC_CONFIGDATA_READ_ERR           =(-4014),               
	EC_ENI_NO_SAFEOP_OP_SUPPORT      =(-4015),          
	EC_CONFIG_DC_ERR                 =(-4021),                    
	EC_DCM_MODE_NO_SUPPORT           =(-4022),          
	EC_CONFIG_DCM_FEATURE_DISABLED   =(-4023),            
	EC_CONFIG_DCM_ERR                =(-4024),           
	EC_REG_CLIENT_ERR                =(-4031),                    
	EC_SET_INIT_STATE_ERR            =(-4041),             
	EC_SET_PREOP_STATE_ERR           =(-4042),               
	EC_SET_SAFEOP_STATE_ERR          =(-4043),                      
	EC_SET_OP_STATE_ERR              =(-4044),                    
	EC_DE_INIT_MASTER_ERR            =(-4051),                
	EC_ENI_FOPEN_ERR                 =(-4061),               
	EC_ENI_FREAD_ERR                 =(-4062),                     
	EC_GEN_EBI_BUSSCAN_ERR           =(-4063),              
	EC_GEN_EBI_FOPEN_ERR             =(-4064),          
	EC_GET_EBI_FOPEN_ERR             =(-4065),                 
	EC_GET_EBI_FREAD_ERR             =(-4066),           
	EC_WRITE_DO_OUT_ERR              =(-4071),                       
	EC_READ_DI_INP_ERR               =(-4072),             
	EC_CONNECT_SLAVES_ERR            =(-4073),               
	EC_WRONG_PORT_NO                 =(-4081),          
	EC_GET_SLAVE_INFO_ERR            =(-4091),
	EC_COE_SDO_UPLOAD_ERR            =(-4101),
	EC_COE_SDO_DOWNLOAD_REQ_ERR		 =(-4113),
	EC_COE_SDO_DOWNLOAD_RES_ERR		 =(-4114),
	EC_COE_SDO_UPLOAD_REQ_ERR		 =(-4115),
	EC_COE_SDO_UPLOAD_RES_ERR		 =(-4116),
	EC_WRONG_SLAVE_NO                =(-4201),                        
	EC_WRONG_MODULE_NO               =(-4202),              
	EC_WRONG_AI_CHANNEL_NO           =(-4203),                  
	EC_WRONG_AO_CHANNEL_NO           =(-4204),         
	EC_COE_SDO_DOWNLOAD_ERR          =(-4205),

	EC_COE_OD_INIT_ERR               =(-4301),
	EC_COE_GET_OD_NUM_ERR            =(-4302),
	EC_COE_GET_OD_NUM_LAST           =(-4303),
	EC_COE_GET_OD_DESC_ERR           =(-4304),          
	EC_COE_GET_OD_DESC_ENTRY_ERR     =(-4305),
	EC_COE_GET_OD_STATUS_PEND        =(-4306),
	EC_GET_SLAVE_ID_ERR		 	     =(-4501),
	EC_SET_SLAVE_ID_ERR		 		 =(-4502),
	EC_DUPLICATE_SLAVE_ID_ERR        =(-4503),
	EC_GET_SLAVE_REGISTER_ERR	     =(-4504),
 	EC_SET_SLAVE_REGISTER_ERR		 =(-4505),
	EC_UNIVERSAL_OD_NOT_EXIST		 =(-4509),
	
	EC_FOE_FILE_NAME_NULL			 =(-4600),
	EC_FOE_FILE_OPEN_FAIL			 =(-4601),
	EC_FOE_FILE_MEMORY_ALLOCATE_FAIL =(-4602),
	EC_FOE_FILE_COPY_DATA_FAIL		 =(-4603),
	EC_FOE_NO_MBX_SUPPORT			 =(-4604),
	EC_FOE_FILE_DELETE_FAIL			 =(-4605),
	EC_FOE_DOWNLOAD_TIME_OUT		 =(-4606),
	EC_FOE_DOWNLOAD_FILE_NOT_VALID	 =(-4607),
	EC_FOE_DOWNLOAD_PWD_NOT_VALID	 =(-4608),

    // Motion IO status bit value define.
	MIO_ALM_V      =(0x1),   // Servo alarm.
	MIO_PEL_V        =(0x2),   // Positive end limit.
	MIO_MEL_V        =(0x4),   // Negative end limit.
	MIO_ORG_V        =(0x8),   // ORG (Home).
	MIO_EMG_V        =(0x10),  // Emergency stop.
	MIO_EZ_V         =(0x20),  // EZ.
	MIO_INP_V        =(0x40),  // In position.
	MIO_SVON_V       =(0x80),  // Servo on signal.
	MIO_RDY_V        =(0x100), // Ready.
	MIO_WARN_V       =(0x200), // Warning.
	MIO_ZSP_V        =(0x400), // Zero speed.
	MIO_SPEL_V       =(0x800), // Soft positive end limit.
	MIO_SMEL_V       =(0x1000),  // Soft negative end limit.
	MIO_TLC_V        =(0x2000),  // Torque is limited by torque limit value.
	MIO_ABSL_V       =(0x4000),  // Absolute position lost.
	MIO_STA_V        =(0x8000),  // External start signal.
	MIO_PSD_V        =(0x10000), // Positive slow down signal.
	MIO_MSD_V        =(0x20000), // Negative slow down signal.

// Motion status bit define.
    MTS_CSTP_V       =(0x1),     // Command stop signal. 
	MTS_VM_V         =(0x2),     // At maximum velocity.
	MTS_ACC_V        =(0x4),     // In acceleration.
	MTS_DEC_V        =(0x8),     // In deceleration.
	MTS_DIR_V        =(0x10),    // (Last)Moving direction.
	MTS_NSTP_V       =(0x20),    // Normal stop(Motion done).
	MTS_HMV_V        =(0x40),    // In home operation.
	MTS_SMV_V        =(0x80),    // Single axis move( relative, absolute, velocity move).
	MTS_LIP_V        =(0x100),   // Linear interpolation.
	MTS_CIP_V        =(0x200),   // Circular interpolation.
	MTS_VS_V         =(0x400),   // At start velocity.
	MTS_PMV_V        =(0x800),   // Point table move.
	MTS_PDW_V        =(0x1000),    // Point table dwell move.
	MTS_PPS_V        =(0x2000),    // Point table pause state.
	MTS_SLV_V        =(0x4000),    // Slave axis move.
	MTS_JOG_V        =(0x8000),    // Jog move.
	MTS_ASTP_V       =(0x10000),   // Abnormal stop.
	MTS_SVONS_V      =(0x20000),   // Servo off stopped.
	MTS_EMGS_V       =(0x40000),   // EMG / SEMG stopped.
	MTS_ALMS_V       =(0x80000),   // Alarm stop.
	MTS_WANS_V       =(0x100000),  // Warning stopped.
	MTS_PELS_V       =(0x200000),  // PEL stopped.
	MTS_MELS_V       =(0x400000),  // MEL stopped.
	MTS_ECES_V       =(0x800000),  // Error counter check level reaches and stopped.
	MTS_SPELS_V      =(0x1000000), // Soft PEL stopped.
	MTS_SMELS_V      =(0x2000000), // Soft MEL stopped.
	MTS_STPOA_V      =(0x4000000), // Stop by others axes.
	MTS_GDCES_V      =(0x8000000), // Gantry deviation error level reaches and stopped.
	MTS_GTM_V        =(0x10000000),  // Gantry mode turn on.
	MTS_PAPB_V       =(0x20000000), // Pulsar mode turn on.
           
    // PointTable, option
	PT_OPT_ABS      =(0x00000000),    // move, absolute
	PT_OPT_REL      =(0x00000001),   // move, relative
	PT_OPT_LINEAR   =(0x00000000),  // move, linear
	PT_OPT_ARC      =(0x00000004),    // move, arc
	PT_OPT_FC_CSTP  =(0x00000000),   // signal, command stop (finish condition)
	PT_OPT_FC_INP   =(0x00000010),    // signal, in position
	PT_OPT_LAST_POS =(0x00000020),    // last point index
	PT_OPT_DWELL    =(0x00000040),    // dwell
	PT_OPT_RAPID    =(0x00000080),    // rapid positioning
	PT_OPT_NOARC    =(0x00010000),    // do not add arc
	PT_OPT_SCUVE    =(0x00000002),    // s-curve

    MAX_DEVICES = 16,	//define max number of devices
    }
}