Internal Defines

These are the pre-defined, common constant definitions declared for all projects.


  • Do not modify these declarations.
    This is to maintain consistency.

To see the set of currently installed declarations, view the file (named: lib.eqv) located here:
C:\ProgramClosed The act of performing a sequence of instructions or commands. Files (x86)\Kollmorgen\Kollmorgen Automation Suite [version number]\Astrolabe\Bin\HwDef.

Example: Pre-defined Constants

This is an example of pre-defined constants that may be in the system.

#define MLPN_CREATE_OBJECTS 1 (* Creation of blocks and pipes *)
#define MLPN_ACTIVATE 2 (*Activation of pipes*)
#define MLPN_CONNECT 3 (*Connections from convertors to axes*)
#define MLPN_POWER_ON 4 (*Power ON of axes*)
#define MLPN_POWER_OFF 5 (*Power OFF of axes*)
#define MLPN_DEACTIVATE 6 (*Deactivation of pipes*)

#define MLSTATUS_NOT_INITIALISED 0 (*Motion not initialized*)
#define MLSTATUS_RUNNING 1 (*Motion is running*)
#define MLSTATUS_STOPPED 2 (*Motion is stopped*)
#define MLSTATUS_ERROR 3 (*Motion is in error*)

#define MLSTATUS_INITIALISED 2 (*--DEPRECATED-- Motion is initialised*)

#define MLPR_CREATE_PROFILES 1 (* Creation and initialization of profiles *)

#define MLFI_FIRST 0 (* ID of the first FastInput of an axis *)
#define MLFI_SECOND 1 (* ID of the second FastInput of an axis *)

#define MLFI_DISABLEClosed Removal of the ENABLE signal. 
Disables power stage. 0 (* configures a FastInput as disabled *)
#define MLFI_RISING EDGEClosed The transition of a digital signal from low to high. 
AKA: positive edge. 1 (* FastInput is sensible to rising edges *)
#define MLFI_FALLING_EDGE 2 (* FastInput is sensible to falling edges *)

#define PI 3.1415926535897932

#define EC_POSITIONClosed Position means a point in space which is described by different coordinates. 
Depending on the used system and transformation it can consist of a maximum of six dimensions (coordinates).This means three Cartesian coordinates in space and coordinates for the orientation.
In ACS there can be even more than six coordinates.
If the same position is described in different coordinate systems the values of the coordinates are different._DEMAND_VALUE 10000
#define EC_VELOCITYClosed For a group of axes this means: In ACS the velocities of the different axes. In MCS and PCS it provides the velocity of the TCP_DEMAND_VALUE 10001
#define EC_TORQUEClosed The tendency of a force to rotate an object about an axis. 
A force is a push or a pull; a torque is a twist._DEMAND_VALUE   10002
#define EC_ADDITIVE_TORQUE_VALUE 10003
#define EC_MAX_TORQUE            10004
#define EC_OPERATION_MODE        10005
#define EC_CONTROL_WORD          10006
#define EC_LATCHClosed The control word is used to activate the drive's latch status machine. 
The latch control word is processed independently of the EtherCAT® bus cycle. 
The status word is used to return the drive's latch status._CONTROL_WORD    10007
#define EC_ANALOG_OUTPUT         10009