Internal Defines

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


  • To ensure consistency, you should not modify these declarations.

To see the set of declarations currently installed on your machine, you can view the file (named: lib.eqv) located under: C:\Program Files\Kollmorgen\Kollmorgen Automation Suite\Astrolabe\Bin\HwDef (the folder location differs if you chose another location when installing KAS).

Below is a an example of predefined constants that you may find in your 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 initialised*)
#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_DISABLE 0 (* configures a FastInput as disabled *)
#define MLFI_RISING_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_POSITION_DEMAND_VALUE 10000
#define EC_VELOCITY_DEMAND_VALUE 10001
#define EC_TORQUE_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_LATCH_CONTROL_WORD    10007
#define EC_ANALOG_OUTPUT         10009