gclib_record.h

Go to the documentation of this file.

 
#ifndef I_210405D9_D9EF_484F_8258_BB29A1BBA217
#define I_210405D9_D9EF_484F_8258_BB29A1BBA217
 
//typedefs to keep the layout of the structs clean and matching the Galil user manual docs
#include <stdint.h>
typedef uint8_t UB;  //unsigned byte
typedef uint16_t UW; //unsigned word
typedef int16_t SW;  //signed word
typedef int32_t SL;  //signed long
typedef uint32_t UL; //unsigned long
 
#if defined(_MSC_VER) || defined(__GNUC__) || defined(__BORLANDC__)
#define PACKOK
#endif
 
#ifdef PACKOK
#pragma pack(1)
#else
#error "Need to set structure packing for compiler"
#endif
 
#define GALILDATARECORDMAXLENGTH 512 
 
struct GDataRecord4000
{
 
  /*Offset   type name        description*/
 
  /*00*/      UB  header_0; 
  /*01*/      UB  header_1; 
  /*02*/      UB  header_2; 
  /*03*/      UB  header_3; 
 
  /*04-05*/   UW  sample_number; 
 
  /*06*/      UB  input_bank_0; 
  /*07*/      UB  input_bank_1; 
  /*08*/      UB  input_bank_2; 
  /*09*/      UB  input_bank_3; 
  /*10*/      UB  input_bank_4; 
  /*11*/      UB  input_bank_5; 
  /*12*/      UB  input_bank_6; 
  /*13*/    UB  input_bank_7; 
  /*14*/    UB  input_bank_8; 
  /*15*/      UB  input_bank_9; 
 
  /*16*/      UB  output_bank_0; 
  /*17*/      UB  output_bank_1; 
  /*18*/    UB  output_bank_2; 
  /*19*/      UB  output_bank_3; 
  /*20*/    UB  output_bank_4; 
  /*21*/      UB  output_bank_5; 
  /*22*/      UB  output_bank_6; 
  /*23*/      UB  output_bank_7; 
  /*24*/    UB  output_bank_8; 
  /*25*/    UB  output_bank_9; 
 
  /*26-27*/ SW  reserved_0; 
  /*28-29*/ SW  reserved_2; 
  /*30-31*/ SW  reserved_4; 
  /*32-33*/ SW  reserved_6; 
  /*34-35*/ SW  reserved_8; 
  /*36-37*/ SW  reserved_10; 
  /*38-39*/ SW  reserved_12; 
  /*40-41*/ SW  reserved_14; 
 
  /*42*/      UB  ethernet_status_a; 
  /*43*/    UB  ethernet_status_b; 
  /*44*/      UB  ethernet_status_c; 
  /*45*/    UB  ethernet_status_d; 
  /*46*/    UB  ethernet_status_e; 
  /*47*/      UB  ethernet_status_f; 
  /*48*/    UB  ethernet_status_g; 
  /*49*/    UB  ethernet_status_h; 
 
  /*50*/      UB  error_code; 
  /*51*/    UB  thread_status; 
  /*52-55*/ UL  amplifier_status; 
 
  /*56-59*/ UL  contour_segment_count; 
  /*60-61*/ UW  contour_buffer_available; 
 
  /*62-63*/ UW  s_plane_segment_count; 
  /*64-65*/ UW  s_plane_move_status; 
  /*66-69*/ SL  s_distance; 
  /*70-71*/ UW  s_plane_buffer_available; 
 
  /*72-73*/ UW  t_plane_segment_count; 
  /*74-75*/ UW  t_plane_move_status; 
  /*76-79*/ SL  t_distance; 
  /*80-81*/ UW  t_plane_buffer_available; 
 
  /*82-83*/ UW  axis_a_status; 
  /*84*/      UB  axis_a_switches; 
  /*85*/      UB  axis_a_stop_code; 
  /*86-89*/ SL  axis_a_reference_position; 
  /*90-93*/ SL  axis_a_motor_position; 
  /*94-97*/ SL  axis_a_position_error; 
  /*98-101*/  SL  axis_a_aux_position; 
  /*102-105*/ SL  axis_a_velocity; 
  /*106-109*/ SL  axis_a_torque; 
  /*110-111*/ UW  axis_a_analog_in; 
  /*112*/     UB  axis_a_halls; 
  /*113*/   UB  axis_a_reserved; 
  /*114-117*/ SL  axis_a_variable; 
 
  /*118-119*/ UW  axis_b_status; 
  /*120*/     UB  axis_b_switches; 
  /*121*/     UB  axis_b_stop_code; 
  /*122-125*/ SL  axis_b_reference_position; 
  /*126-129*/ SL  axis_b_motor_position; 
  /*130-133*/ SL  axis_b_position_error; 
  /*134-137*/ SL  axis_b_aux_position; 
  /*138-141*/ SL  axis_b_velocity; 
  /*142-145*/ SL  axis_b_torque; 
  /*146-147*/ UW  axis_b_analog_in; 
  /*148*/     UB  axis_b_halls; 
  /*149*/     UB  axis_b_reserved; 
  /*150-153*/ SL  axis_b_variable; 
 
  /*154-155*/ UW  axis_c_status; 
  /*156*/   UB  axis_c_switches; 
  /*157*/   UB  axis_c_stop_code; 
  /*158-161*/ SL  axis_c_reference_position; 
  /*162-165*/ SL  axis_c_motor_position; 
  /*166-169*/ SL  axis_c_position_error; 
  /*170-173*/ SL  axis_c_aux_position; 
  /*174-177*/ SL  axis_c_velocity; 
  /*178-181*/ SL  axis_c_torque; 
  /*182-183*/ UW  axis_c_analog_in; 
  /*184*/     UB  axis_c_halls; 
  /*185*/     UB  axis_c_reserved; 
  /*186-189*/ SL  axis_c_variable; 
 
  /*190-191*/ UW  axis_d_status; 
  /*192*/     UB  axis_d_switches; 
  /*193*/   UB  axis_d_stop_code; 
  /*194-197*/ SL  axis_d_reference_position; 
  /*198-201*/ SL  axis_d_motor_position; 
  /*202-205*/ SL  axis_d_position_error; 
  /*206-209*/ SL  axis_d_aux_position; 
  /*210-213*/ SL  axis_d_velocity; 
  /*214-217*/ SL  axis_d_torque; 
  /*218-219*/ UW  axis_d_analog_in; 
  /*220*/   UB  axis_d_halls; 
  /*221*/   UB  axis_d_reserved; 
  /*222-225*/ SL  axis_d_variable; 
 
  /*226-227*/ UW  axis_e_status; 
  /*228*/     UB  axis_e_switches; 
  /*229*/     UB  axis_e_stop_code; 
  /*230-233*/ SL  axis_e_reference_position; 
  /*234-237*/ SL  axis_e_motor_position; 
  /*238-241*/ SL  axis_e_position_error; 
  /*242-245*/ SL  axis_e_aux_position; 
  /*246-249*/ SL  axis_e_velocity; 
  /*250-253*/ SL  axis_e_torque; 
  /*254-255*/ UW  axis_e_analog_in; 
  /*256*/   UB  axis_e_halls; 
  /*257*/     UB  axis_e_reserved; 
  /*258-261*/ SL  axis_e_variable; 
 
  /*262-263*/ UW  axis_f_status; 
  /*264*/     UB  axis_f_switches; 
  /*265*/     UB  axis_f_stop_code; 
  /*266-269*/ SL  axis_f_reference_position; 
  /*270-273*/ SL  axis_f_motor_position; 
  /*274-277*/ SL  axis_f_position_error; 
  /*278-281*/ SL  axis_f_aux_position; 
  /*282-285*/ SL  axis_f_velocity; 
  /*286-289*/ SL  axis_f_torque; 
  /*290-291*/ UW  axis_f_analog_in; 
  /*292*/     UB  axis_f_halls; 
  /*293*/     UB  axis_f_reserved; 
  /*294-297*/ SL  axis_f_variable; 
 
  /*298-299*/ UW  axis_g_status; 
  /*300*/   UB  axis_g_switches; 
  /*301*/   UB  axis_g_stop_code; 
  /*302-305*/ SL  axis_g_reference_position; 
  /*306-309*/ SL  axis_g_motor_position; 
  /*310-313*/ SL  axis_g_position_error; 
  /*314-317*/ SL  axis_g_aux_position; 
  /*318-321*/ SL  axis_g_velocity; 
  /*322-325*/ SL  axis_g_torque; 
  /*326-327*/ UW  axis_g_analog_in; 
  /*328*/     UB  axis_g_halls; 
  /*329*/     UB  axis_g_reserved; 
  /*330-333*/ SL  axis_g_variable; 
 
  /*334-335*/ UW  axis_h_status; 
  /*336*/   UB  axis_h_switches; 
  /*337*/     UB  axis_h_stop_code; 
  /*338-341*/ SL  axis_h_reference_position; 
  /*342-345*/ SL  axis_h_motor_position; 
  /*346-349*/ SL  axis_h_position_error; 
  /*350-353*/ SL  axis_h_aux_position; 
  /*354-357*/ SL  axis_h_velocity; 
  /*358-361*/ SL  axis_h_torque; 
  /*362-363*/ UW  axis_h_analog_in; 
  /*364*/     UB  axis_h_halls; 
  /*365*/   UB  axis_h_reserved; 
  /*366-369*/ SL  axis_h_variable; 
}; //DataRecord4000
 
struct GDataRecord52000
{
 
  /*Offset   type name        description*/
 
  /*00*/      UB  header_0; 
  /*01*/      UB  header_1; 
  /*02*/      UB  header_2; 
  /*03*/      UB  header_3; 
 
  /*04-05*/   UW  sample_number; 
 
  /*06*/      UB  input_bank_0; 
  /*07*/      UB  input_bank_1; 
  /*08*/      UB  input_bank_2; 
  /*09*/      UB  input_bank_3; 
  /*10*/      UB  input_bank_4; 
  /*11*/      UB  input_bank_5; 
  /*12*/      UB  input_bank_6; 
  /*13*/    UB  input_bank_7; 
  /*14*/    UB  input_bank_8; 
  /*15*/      UB  input_bank_9; 
 
  /*16*/      UB  output_bank_0; 
  /*17*/      UB  output_bank_1; 
  /*18*/    UB  output_bank_2; 
  /*19*/      UB  output_bank_3; 
  /*20*/    UB  output_bank_4; 
  /*21*/      UB  output_bank_5; 
  /*22*/      UB  output_bank_6; 
  /*23*/      UB  output_bank_7; 
  /*24*/    UB  output_bank_8; 
  /*25*/    UB  output_bank_9; 
 
  /*26-27*/ SW  reserved_0; 
  /*28-29*/ SW  reserved_2; 
  /*30-31*/ SW  reserved_4; 
  /*32-33*/ SW  reserved_6; 
  /*34-35*/ SW  reserved_8; 
  /*36-37*/ SW  reserved_10; 
  /*38-39*/ SW  reserved_12; 
  /*40*/      UB  ethercat_bank; 
  /*41*/    UB  reserved_14; 
 
  /*42*/      UB  ethernet_status_a; 
  /*43*/    UB  ethernet_status_b; 
  /*44*/      UB  ethernet_status_c; 
  /*45*/    UB  ethernet_status_d; 
  /*46*/    UB  ethernet_status_e; 
  /*47*/      UB  ethernet_status_f; 
  /*48*/    UB  ethernet_status_g; 
  /*49*/    UB  ethernet_status_h; 
 
  /*50*/      UB  error_code; 
  /*51*/    UB  thread_status; 
  /*52-55*/ UL  amplifier_status; 
 
  /*56-59*/ UL  contour_segment_count; 
  /*60-61*/ UW  contour_buffer_available; 
 
  /*62-63*/ UW  s_plane_segment_count; 
  /*64-65*/ UW  s_plane_move_status; 
  /*66-69*/ SL  s_distance; 
  /*70-71*/ UW  s_plane_buffer_available; 
 
  /*72-73*/ UW  t_plane_segment_count; 
  /*74-75*/ UW  t_plane_move_status; 
  /*76-79*/ SL  t_distance; 
  /*80-81*/ UW  t_plane_buffer_available; 
 
  /*82-83*/ UW  axis_a_status; 
  /*84*/      UB  axis_a_switches; 
  /*85*/      UB  axis_a_stop_code; 
  /*86-89*/ SL  axis_a_reference_position; 
  /*90-93*/ SL  axis_a_motor_position; 
  /*94-97*/ SL  axis_a_position_error; 
  /*98-101*/  SL  axis_a_aux_position; 
  /*102-105*/ SL  axis_a_velocity; 
  /*106-109*/ SL  axis_a_torque; 
  /*110-111*/ UW  axis_a_analog_in; 
  /*112*/     UB  axis_a_halls; 
  /*113*/   UB  axis_a_reserved; 
  /*114-117*/ SL  axis_a_variable; 
 
  /*118-119*/ UW  axis_b_status; 
  /*120*/     UB  axis_b_switches; 
  /*121*/     UB  axis_b_stop_code; 
  /*122-125*/ SL  axis_b_reference_position; 
  /*126-129*/ SL  axis_b_motor_position; 
  /*130-133*/ SL  axis_b_position_error; 
  /*134-137*/ SL  axis_b_aux_position; 
  /*138-141*/ SL  axis_b_velocity; 
  /*142-145*/ SL  axis_b_torque; 
  /*146-147*/ UW  axis_b_analog_in; 
  /*148*/     UB  axis_b_halls; 
  /*149*/     UB  axis_b_reserved; 
  /*150-153*/ SL  axis_b_variable; 
 
  /*154-155*/ UW  axis_c_status; 
  /*156*/   UB  axis_c_switches; 
  /*157*/   UB  axis_c_stop_code; 
  /*158-161*/ SL  axis_c_reference_position; 
  /*162-165*/ SL  axis_c_motor_position; 
  /*166-169*/ SL  axis_c_position_error; 
  /*170-173*/ SL  axis_c_aux_position; 
  /*174-177*/ SL  axis_c_velocity; 
  /*178-181*/ SL  axis_c_torque; 
  /*182-183*/ UW  axis_c_analog_in; 
  /*184*/     UB  axis_c_halls; 
  /*185*/     UB  axis_c_reserved; 
  /*186-189*/ SL  axis_c_variable; 
 
  /*190-191*/ UW  axis_d_status; 
  /*192*/     UB  axis_d_switches; 
  /*193*/   UB  axis_d_stop_code; 
  /*194-197*/ SL  axis_d_reference_position; 
  /*198-201*/ SL  axis_d_motor_position; 
  /*202-205*/ SL  axis_d_position_error; 
  /*206-209*/ SL  axis_d_aux_position; 
  /*210-213*/ SL  axis_d_velocity; 
  /*214-217*/ SL  axis_d_torque; 
  /*218-219*/ UW  axis_d_analog_in; 
  /*220*/   UB  axis_d_halls; 
  /*221*/   UB  axis_d_reserved; 
  /*222-225*/ SL  axis_d_variable; 
 
  /*226-227*/ UW  axis_e_status; 
  /*228*/     UB  axis_e_switches; 
  /*229*/     UB  axis_e_stop_code; 
  /*230-233*/ SL  axis_e_reference_position; 
  /*234-237*/ SL  axis_e_motor_position; 
  /*238-241*/ SL  axis_e_position_error; 
  /*242-245*/ SL  axis_e_aux_position; 
  /*246-249*/ SL  axis_e_velocity; 
  /*250-253*/ SL  axis_e_torque; 
  /*254-255*/ UW  axis_e_analog_in; 
  /*256*/   UB  axis_e_halls; 
  /*257*/     UB  axis_e_reserved; 
  /*258-261*/ SL  axis_e_variable; 
 
  /*262-263*/ UW  axis_f_status; 
  /*264*/     UB  axis_f_switches; 
  /*265*/     UB  axis_f_stop_code; 
  /*266-269*/ SL  axis_f_reference_position; 
  /*270-273*/ SL  axis_f_motor_position; 
  /*274-277*/ SL  axis_f_position_error; 
  /*278-281*/ SL  axis_f_aux_position; 
  /*282-285*/ SL  axis_f_velocity; 
  /*286-289*/ SL  axis_f_torque; 
  /*290-291*/ UW  axis_f_analog_in; 
  /*292*/     UB  axis_f_halls; 
  /*293*/     UB  axis_f_reserved; 
  /*294-297*/ SL  axis_f_variable; 
 
  /*298-299*/ UW  axis_g_status; 
  /*300*/   UB  axis_g_switches; 
  /*301*/   UB  axis_g_stop_code; 
  /*302-305*/ SL  axis_g_reference_position; 
  /*306-309*/ SL  axis_g_motor_position; 
  /*310-313*/ SL  axis_g_position_error; 
  /*314-317*/ SL  axis_g_aux_position; 
  /*318-321*/ SL  axis_g_velocity; 
  /*322-325*/ SL  axis_g_torque; 
  /*326-327*/ UW  axis_g_analog_in; 
  /*328*/     UB  axis_g_halls; 
  /*329*/     UB  axis_g_reserved; 
  /*330-333*/ SL  axis_g_variable; 
 
  /*334-335*/ UW  axis_h_status; 
  /*336*/   UB  axis_h_switches; 
  /*337*/     UB  axis_h_stop_code; 
  /*338-341*/ SL  axis_h_reference_position; 
  /*342-345*/ SL  axis_h_motor_position; 
  /*346-349*/ SL  axis_h_position_error; 
  /*350-353*/ SL  axis_h_aux_position; 
  /*354-357*/ SL  axis_h_velocity; 
  /*358-361*/ SL  axis_h_torque; 
  /*362-363*/ UW  axis_h_analog_in; 
  /*364*/     UB  axis_h_halls; 
  /*365*/   UB  axis_h_reserved; 
  /*366-369*/ SL  axis_h_variable; 
}; //DataRecord52000
 
 
struct GDataRecord1806
{
  /*Offset   type name        description*/
 
  /*00-01*/   UW  sample_number; 
 
  /*02*/      UB  input_bank_0; 
  /*03*/      UB  input_bank_1; 
  /*04*/      UB  input_bank_2; 
  /*05*/      UB  input_bank_3; 
  /*06*/      UB  input_bank_4; 
  /*07*/      UB  input_bank_5; 
  /*08*/      UB  input_bank_6; 
  /*09*/    UB  input_bank_7; 
  /*10*/    UB  input_bank_8; 
  /*11*/      UB  input_bank_9; 
 
  /*12*/      UB  output_bank_0; 
  /*13*/      UB  output_bank_1; 
  /*14*/    UB  output_bank_2; 
  /*15*/      UB  output_bank_3; 
  /*16*/    UB  output_bank_4; 
  /*17*/      UB  output_bank_5; 
  /*18*/      UB  output_bank_6; 
  /*19*/      UB  output_bank_7; 
  /*20*/    UB  output_bank_8; 
  /*21*/    UB  output_bank_9; 
 
  /*22-23*/ SW  reserved_0; 
  /*24-25*/ SW  reserved_2; 
  /*26-27*/ SW  reserved_4; 
  /*28-29*/ SW  reserved_6; 
  /*30-31*/ SW  reserved_8; 
  /*32-33*/ SW  reserved_10; 
  /*34-35*/ SW  reserved_12; 
  /*36-37*/ SW  reserved_14; 
 
  /*38*/      UB  reserved_16; 
  /*39*/    UB  reserved_17; 
  /*40*/      UB  reserved_18; 
  /*41*/    UB  reserved_19; 
  /*42*/    UB  reserved_20; 
  /*43*/      UB  reserved_21; 
  /*44*/    UB  reserved_22; 
  /*45*/    UB  reserved_23; 
 
  /*46*/      UB  error_code; 
  /*47*/    UB  thread_status; 
  /*48-51*/ UL  reserved_24; 
 
  /*52-55*/ UL  contour_segment_count; 
  /*56-57*/ UW  contour_buffer_available; 
 
  /*58-59*/ UW  s_plane_segment_count; 
  /*60-61*/ UW  s_plane_move_status; 
  /*62-65*/ SL  s_distance; 
  /*66-67*/ UW  s_plane_buffer_available; 
 
  /*68-69*/ UW  t_plane_segment_count; 
  /*70-71*/ UW  t_plane_move_status; 
  /*72-75*/ SL  t_distance; 
  /*76-77*/ UW  t_plane_buffer_available; 
 
  /*78-79*/ UW  axis_a_status; 
  /*80*/      UB  axis_a_switches; 
  /*81*/      UB  axis_a_stop_code; 
  /*82-85*/ SL  axis_a_reference_position; 
  /*86-89*/ SL  axis_a_motor_position; 
  /*90-93*/ SL  axis_a_position_error; 
  /*94-97*/ SL  axis_a_aux_position; 
  /*98-101*/  SL  axis_a_velocity; 
  /*102-105*/ SL  axis_a_torque; 
  /*106-107*/ UW  axis_a_analog_in; 
  /*108*/     UB  axis_a_reserved_0; 
  /*109*/   UB  axis_a_reserved_1; 
  /*110-113*/ SL  axis_a_variable; 
 
  /*114-115*/ UW  axis_b_status; 
  /*116*/     UB  axis_b_switches; 
  /*117*/     UB  axis_b_stop_code; 
  /*118-121*/ SL  axis_b_reference_position; 
  /*122-125*/ SL  axis_b_motor_position; 
  /*126-129*/ SL  axis_b_position_error; 
  /*130-133*/ SL  axis_b_aux_position; 
  /*134-137*/ SL  axis_b_velocity; 
  /*138-141*/ SL  axis_b_torque; 
  /*142-143*/ UW  axis_b_analog_in; 
  /*144*/     UB  axis_b_reserved_0; 
  /*145*/     UB  axis_b_reserved_1; 
  /*146-149*/ SL  axis_b_variable; 
 
  /*150-151*/ UW  axis_c_status; 
  /*152*/   UB  axis_c_switches; 
  /*153*/   UB  axis_c_stop_code; 
  /*154-157*/ SL  axis_c_reference_position; 
  /*158-161*/ SL  axis_c_motor_position; 
  /*162-165*/ SL  axis_c_position_error; 
  /*166-169*/ SL  axis_c_aux_position; 
  /*170-173*/ SL  axis_c_velocity; 
  /*174-177*/ SL  axis_c_torque; 
  /*178-179*/ UW  axis_c_analog_in; 
  /*180*/     UB  axis_c_reserved_0; 
  /*181*/     UB  axis_c_reserved_1; 
  /*182-185*/ SL  axis_c_variable; 
 
  /*186-187*/ UW  axis_d_status; 
  /*188*/     UB  axis_d_switches; 
  /*189*/   UB  axis_d_stop_code; 
  /*190-193*/ SL  axis_d_reference_position; 
  /*194-197*/ SL  axis_d_motor_position; 
  /*198-201*/ SL  axis_d_position_error; 
  /*202-205*/ SL  axis_d_aux_position; 
  /*206-209*/ SL  axis_d_velocity; 
  /*210-213*/ SL  axis_d_torque; 
  /*214-215*/ UW  axis_d_analog_in; 
  /*216*/   UB  axis_d_reserved_0; 
  /*217*/   UB  axis_d_reserved_1; 
  /*218-221*/ SL  axis_d_variable; 
 
  /*222-223*/ UW  axis_e_status; 
  /*224*/     UB  axis_e_switches; 
  /*225*/     UB  axis_e_stop_code; 
  /*226-229*/ SL  axis_e_reference_position; 
  /*230-233*/ SL  axis_e_motor_position; 
  /*234-237*/ SL  axis_e_position_error; 
  /*238-241*/ SL  axis_e_aux_position; 
  /*242-245*/ SL  axis_e_velocity; 
  /*256-249*/ SL  axis_e_torque; 
  /*250-251*/ UW  axis_e_analog_in; 
  /*252*/   UB  axis_e_reserved_0; 
  /*253*/     UB  axis_e_reserved_1; 
  /*254-257*/ SL  axis_e_variable; 
 
  /*258-259*/ UW  axis_f_status; 
  /*260*/     UB  axis_f_switches; 
  /*261*/     UB  axis_f_stop_code; 
  /*262-265*/ SL  axis_f_reference_position; 
  /*266-269*/ SL  axis_f_motor_position; 
  /*270-273*/ SL  axis_f_position_error; 
  /*274-277*/ SL  axis_f_aux_position; 
  /*278-281*/ SL  axis_f_velocity; 
  /*282-285*/ SL  axis_f_torque; 
  /*286-287*/ UW  axis_f_analog_in; 
  /*288*/     UB  axis_f_reserved_0; 
  /*289*/     UB  axis_f_reserved_1; 
  /*290-293*/ SL  axis_f_variable; 
 
  /*294-295*/ UW  axis_g_status; 
  /*296*/   UB  axis_g_switches; 
  /*297*/   UB  axis_g_stop_code; 
  /*298-301*/ SL  axis_g_reference_position; 
  /*302-305*/ SL  axis_g_motor_position; 
  /*306-309*/ SL  axis_g_position_error; 
  /*310-313*/ SL  axis_g_aux_position; 
  /*314-317*/ SL  axis_g_velocity; 
  /*318-321*/ SL  axis_g_torque; 
  /*322-323*/ UW  axis_g_analog_in; 
  /*324*/     UB  axis_g_reserved_0; 
  /*325*/     UB  axis_g_reserved_1; 
  /*326-329*/ SL  axis_g_variable; 
 
  /*330-331*/ UW  axis_h_status; 
  /*332*/   UB  axis_h_switches; 
  /*333*/     UB  axis_h_stop_code; 
  /*334-337*/ SL  axis_h_reference_position; 
  /*338-341*/ SL  axis_h_motor_position; 
  /*342-345*/ SL  axis_h_position_error; 
  /*346-349*/ SL  axis_h_aux_position; 
  /*350-353*/ SL  axis_h_velocity; 
  /*354-357*/ SL  axis_h_torque; 
  /*358-359*/ UW  axis_h_analog_in; 
  /*360*/     UB  axis_h_reserved_0; 
  /*361*/   UB  axis_h_reserved_1; 
  /*362-365*/ SL  axis_h_variable; 
}; //DataRecord1806
 
struct GDataRecord2103
{
 
  /*Offset   type name        description*/
 
  /*00*/      UB  header_0; 
  /*01*/      UB  header_1; 
  /*02*/      UB  header_2; 
  /*03*/      UB  header_3; 
 
  /*04-05*/   UW  sample_number; 
 
  /*06*/      UB  input_bank_0; 
  /*07*/      UB  input_bank_1; 
  /*08*/      UB  input_bank_2; 
  /*09*/      UB  input_bank_3; 
  /*10*/      UB  input_bank_4; 
  /*11*/      UB  input_bank_5; 
  /*12*/      UB  input_bank_6; 
  /*13*/    UB  input_bank_7; 
  /*14*/    UB  input_bank_8; 
  /*15*/      UB  input_bank_9; 
 
  /*16*/      UB  output_bank_0; 
  /*17*/      UB  output_bank_1; 
  /*18*/    UB  output_bank_2; 
  /*19*/      UB  output_bank_3; 
  /*20*/    UB  output_bank_4; 
  /*21*/      UB  output_bank_5; 
  /*22*/      UB  output_bank_6; 
  /*23*/      UB  output_bank_7; 
  /*24*/    UB  output_bank_8; 
  /*25*/    UB  output_bank_9; 
 
  /*26*/      UB  error_code; 
  /*27*/    UB  general_status; 
 
  /*28-29*/ UW  s_plane_segment_count; 
  /*30-31*/ UW  s_plane_move_status; 
  /*32-35*/ SL  s_distance; 
 
  /*36-37*/ UW  t_plane_segment_count; 
  /*38-39*/ UW  t_plane_move_status; 
  /*40-43*/ SL  t_distance; 
 
  /*44-45*/ UW  axis_a_status; 
  /*46*/      UB  axis_a_switches; 
  /*47*/      UB  axis_a_stop_code; 
  /*48-51*/ SL  axis_a_reference_position; 
  /*52-55*/ SL  axis_a_motor_position; 
  /*56-59*/ SL  axis_a_position_error; 
  /*60-63*/ SL  axis_a_aux_position; 
  /*64-67*/ SL  axis_a_velocity; 
  /*68-69*/ SW  axis_a_torque; 
  /*70-71*/ UW  axis_a_analog_in; 
 
  /*72-73*/ UW  axis_b_status; 
  /*74*/      UB  axis_b_switches; 
  /*75*/      UB  axis_b_stop_code; 
  /*76-79*/ SL  axis_b_reference_position; 
  /*80-83*/ SL  axis_b_motor_position; 
  /*84-87*/ SL  axis_b_position_error; 
  /*88-91*/ SL  axis_b_aux_position; 
  /*92-95*/ SL  axis_b_velocity; 
  /*96-97*/ SW  axis_b_torque; 
  /*98-99*/ UW  axis_b_analog_in; 
 
  /*100-101*/ UW  axis_c_status; 
  /*102*/   UB  axis_c_switches; 
  /*103*/   UB  axis_c_stop_code; 
  /*104-107*/ SL  axis_c_reference_position; 
  /*108-111*/ SL  axis_c_motor_position; 
  /*112-115*/ SL  axis_c_position_error; 
  /*116-119*/ SL  axis_c_aux_position; 
  /*120-123*/ SL  axis_c_velocity; 
  /*124-125*/ SW  axis_c_torque; 
  /*126-127*/ UW  axis_c_analog_in; 
 
  /*128-129*/ UW  axis_d_status; 
  /*130*/     UB  axis_d_switches; 
  /*131*/   UB  axis_d_stop_code; 
  /*132-135*/ SL  axis_d_reference_position; 
  /*136-139*/ SL  axis_d_motor_position; 
  /*140-143*/ SL  axis_d_position_error; 
  /*144-147*/ SL  axis_d_aux_position; 
  /*148-151*/ SL  axis_d_velocity; 
  /*152-153*/ SW  axis_d_torque; 
  /*154-155*/ UW  axis_d_analog_in; 
 
  /*156-157*/ UW  axis_e_status; 
  /*158*/     UB  axis_e_switches; 
  /*159*/     UB  axis_e_stop_code; 
  /*160-163*/ SL  axis_e_reference_position; 
  /*164-167*/ SL  axis_e_motor_position; 
  /*168-171*/ SL  axis_e_position_error; 
  /*172-175*/ SL  axis_e_aux_position; 
  /*176-179*/ SL  axis_e_velocity; 
  /*180-181*/ SW  axis_e_torque; 
  /*182-183*/ UW  axis_e_analog_in; 
 
  /*184-185*/ UW  axis_f_status; 
  /*186*/     UB  axis_f_switches; 
  /*187*/     UB  axis_f_stop_code; 
  /*188-191*/ SL  axis_f_reference_position; 
  /*192-195*/ SL  axis_f_motor_position; 
  /*196-199*/ SL  axis_f_position_error; 
  /*200-203*/ SL  axis_f_aux_position; 
  /*204-207*/ SL  axis_f_velocity; 
  /*208-209*/ SW  axis_f_torque; 
  /*210-211*/ UW  axis_f_analog_in; 
 
  /*212-213*/ UW  axis_g_status; 
  /*214*/   UB  axis_g_switches; 
  /*215*/   UB  axis_g_stop_code; 
  /*216-219*/ SL  axis_g_reference_position; 
  /*220-223*/ SL  axis_g_motor_position; 
  /*224-227*/ SL  axis_g_position_error; 
  /*228-231*/ SL  axis_g_aux_position; 
  /*232-235*/ SL  axis_g_velocity; 
  /*236-237*/ SW  axis_g_torque; 
  /*238-239*/ UW  axis_g_analog_in; 
 
  /*240-241*/ UW  axis_h_status; 
  /*242*/   UB  axis_h_switches; 
  /*243*/     UB  axis_h_stop_code; 
  /*244-247*/ SL  axis_h_reference_position; 
  /*248-251*/ SL  axis_h_motor_position; 
  /*252-255*/ SL  axis_h_position_error; 
  /*256-259*/ SL  axis_h_aux_position; 
  /*260-263*/ SL  axis_h_velocity; 
  /*264-265*/ SW  axis_h_torque; 
  /*266-267*/ UW  axis_h_analog_in; 
}; //DataRecord2013
 
 
struct GDataRecord1802
{
 
  /*Offset   type name        description*/
 
  /*00-01*/   UW  sample_number; 
 
  /*02*/      UB  input_bank_0; 
  /*03*/      UB  input_bank_1; 
  /*04*/      UB  input_bank_2; 
  /*05*/      UB  input_bank_3; 
  /*06*/      UB  input_bank_4; 
  /*07*/      UB  input_bank_5; 
  /*08*/      UB  input_bank_6; 
  /*09*/    UB  input_bank_7; 
  /*10*/    UB  input_bank_8; 
  /*11*/      UB  input_bank_9; 
 
  /*12*/      UB  output_bank_0; 
  /*13*/      UB  output_bank_1; 
  /*14*/    UB  output_bank_2; 
  /*15*/      UB  output_bank_3; 
  /*16*/    UB  output_bank_4; 
  /*17*/      UB  output_bank_5; 
  /*18*/      UB  output_bank_6; 
  /*19*/      UB  output_bank_7; 
  /*20*/    UB  output_bank_8; 
  /*21*/    UB  output_bank_9; 
 
  /*22*/      UB  error_code; 
  /*23*/    UB  general_status; 
 
  /*24-25*/ UW  s_plane_segment_count; 
  /*26-27*/ UW  s_plane_move_status; 
  /*28-31*/ SL  s_distance; 
 
  /*32-33*/ UW  t_plane_segment_count; 
  /*34-35*/ UW  t_plane_move_status; 
  /*36-39*/ SL  t_distance; 
 
  /*40-41*/ UW  axis_a_status; 
  /*42*/      UB  axis_a_switches; 
  /*43*/      UB  axis_a_stop_code; 
  /*44-47*/ SL  axis_a_reference_position; 
  /*48-51*/ SL  axis_a_motor_position; 
  /*52-55*/ SL  axis_a_position_error; 
  /*56-59*/ SL  axis_a_aux_position; 
  /*60-63*/ SL  axis_a_velocity; 
  /*64-65*/ SW  axis_a_torque; 
  /*66*/      UB  axis_a_reserved_0; 
  /*67*/      UB  axis_a_reserved_1; 
 
  /*68-69*/   UW  axis_b_status; 
  /*70*/      UB  axis_b_switches; 
  /*71*/      UB  axis_b_stop_code; 
  /*72-75*/ SL  axis_b_reference_position; 
  /*76-79*/ SL  axis_b_motor_position; 
  /*80-83*/ SL  axis_b_position_error; 
  /*84-87*/ SL  axis_b_aux_position; 
  /*88-91*/ SL  axis_b_velocity; 
  /*92-93*/ SW  axis_b_torque; 
  /*94*/      UB  axis_b_reserved_0; 
  /*95*/      UB  axis_b_reserved_1; 
 
  /*96-97*/ UW  axis_c_status; 
  /*98*/    UB  axis_c_switches; 
  /*99*/    UB  axis_c_stop_code; 
  /*100-103*/ SL  axis_c_reference_position; 
  /*104-107*/ SL  axis_c_motor_position; 
  /*108-111*/ SL  axis_c_position_error; 
  /*112-115*/ SL  axis_c_aux_position; 
  /*116-119*/ SL  axis_c_velocity; 
  /*120-121*/ SW  axis_c_torque; 
  /*122*/     UB  axis_c_reserved_0; 
  /*123*/     UB  axis_c_reserved_1; 
 
  /*124-125*/ UW  axis_d_status; 
  /*126*/     UB  axis_d_switches; 
  /*127*/   UB  axis_d_stop_code; 
  /*128-131*/ SL  axis_d_reference_position; 
  /*132-135*/ SL  axis_d_motor_position; 
  /*136-139*/ SL  axis_d_position_error; 
  /*140-143*/ SL  axis_d_aux_position; 
  /*144-147*/ SL  axis_d_velocity; 
  /*148-149*/ SW  axis_d_torque; 
  /*150*/     UB  axis_d_reserved_0; 
  /*151*/     UB  axis_d_reserved_1; 
 
}; //DataRecord1802
 
struct GDataRecord30000
{
 
  /*Offset   type name        description*/
 
  /*00*/      UB  header_0; 
  /*01*/      UB  header_1; 
  /*02*/      UB  header_2; 
  /*03*/      UB  header_3; 
 
  /*04-05*/   UW  sample_number; 
 
  /*06*/      UB  input_bank_0; 
  /*07*/      UB  input_bank_1; 
 
  /*08*/      UB  output_bank_0; 
  /*09*/      UB  output_bank_1; 
 
  /*10*/      UB  error_code; 
  /*11*/    UB  thread_status; 
 
  /*12-13*/ UW  input_analog_2; 
 
  /*14-15*/ UW  output_analog_1; 
  /*16-17*/ UW  output_analog_2; 
 
  /*18-21*/ UL  amplifier_status; 
 
  /*22-25*/ UL  contour_segment_count; 
  /*26-27*/ UW  contour_buffer_available; 
 
  /*28-29*/ UW  s_plane_segment_count; 
  /*30-31*/ UW  s_plane_move_status; 
  /*32-35*/ SL  s_distance; 
  /*36-37*/ UW  s_plane_buffer_available; 
 
  /*38-39*/ UW  axis_a_status; 
  /*40*/      UB  axis_a_switches; 
  /*41*/      UB  axis_a_stop_code; 
  /*42-45*/ SL  axis_a_reference_position; 
  /*46-49*/ SL  axis_a_motor_position; 
  /*50-53*/ SL  axis_a_position_error; 
  /*54-57*/ SL  axis_a_aux_position; 
  /*58-61*/ SL  axis_a_velocity; 
  /*62-65*/ SL  axis_a_torque; 
  /*66-67*/ UW  axis_a_analog_in; 
  /*68*/      UB  axis_a_halls; 
  /*69*/    UB  axis_a_reserved; 
  /*70-73*/ SL  axis_a_variable; 
}; //DataRecord30000
 
struct GDataRecord47000_ENC
{
 
  /*Offset   type name        description*/
 
  /*00*/      UB  header_0; 
  /*01*/      UB  header_1; 
  /*02*/      UB  header_2; 
  /*03*/      UB  header_3; 
 
  /*04-05*/   UW  sample_number; 
  /*06*/      UB  error_code; 
  /*07*/    UB  general_status; 
 
  /*08-09*/ UW  output_analog_0; 
  /*10-11*/ UW  output_analog_1; 
  /*12-13*/ UW  output_analog_2; 
  /*14-15*/ UW  output_analog_3; 
  /*16-17*/ UW  output_analog_4; 
  /*18-19*/ UW  output_analog_5; 
  /*20-21*/ UW  output_analog_6; 
  /*22-23*/ UW  output_analog_7; 
 
  /*24-25*/ UW  input_analog_0; 
  /*26-27*/ UW  input_analog_1; 
  /*28-29*/ UW  input_analog_2; 
  /*30-31*/ UW  input_analog_3; 
  /*32-33*/ UW  input_analog_4; 
  /*34-35*/ UW  input_analog_5; 
  /*36-37*/ UW  input_analog_6; 
  /*38-39*/ UW  input_analog_7; 
 
  /*40-41*/ UW  output_bank_0; 
 
  /*42-43*/ UW  input_bank_0; 
 
  /*44-47*/ UL  pulse_count_0; 
  /*48-51*/ SL  zc_variable; 
  /*52-55*/ SL  zd_variable; 
 
  /*56-59*/ SL  encoder_0; 
  /*60-63*/ SL  encoder_1; 
  /*64-67*/ SL  encoder_2; 
  /*68-71*/ SL  encoder_3; 
 
}; //GDataRecord47000_ENC
 
struct GDataRecord47300_ENC
{
 
  /*Offset   type name        description*/
 
  /*00*/      UB  header_0; 
  /*01*/      UB  header_1; 
  /*02*/      UB  header_2; 
  /*03*/      UB  header_3; 
 
  /*04-05*/   UW  sample_number; 
  /*06*/      UB  error_code; 
  /*07*/    UB  general_status; 
 
  /*08-09*/ UW  output_analog_0; 
  /*10-11*/ UW  output_analog_1; 
  /*12-13*/ UW  output_analog_2; 
  /*14-15*/ UW  output_analog_3; 
  /*16-17*/ UW  output_analog_4; 
  /*18-19*/ UW  output_analog_5; 
  /*20-21*/ UW  output_analog_6; 
  /*22-23*/ UW  output_analog_7; 
 
  /*24-25*/ UW  input_analog_0; 
  /*26-27*/ UW  input_analog_1; 
  /*28-29*/ UW  input_analog_2; 
  /*30-31*/ UW  input_analog_3; 
  /*32-33*/ UW  input_analog_4; 
  /*34-35*/ UW  input_analog_5; 
  /*36-37*/ UW  input_analog_6; 
  /*38-39*/ UW  input_analog_7; 
 
  /*40-41*/ UW  output_bank_0; 
  /*42-43*/ UW  output_bank_1; 
 
  /*44-45*/ UW  input_bank_0; 
  /*46-47*/ UW  input_bank_1; 
 
  /*48-51*/ UL  pulse_count_0; 
  /*52-55*/ SL  zc_variable; 
  /*56-59*/ SL  zd_variable; 
 
  /*60-63*/ SL  encoder_0; 
  /*64-67*/ SL  encoder_1; 
  /*68-71*/ SL  encoder_2; 
  /*72-75*/ SL  encoder_3; 
 
}; //GDataRecord47300_ENC
 
struct GDataRecord47300_24EX
{
 
  /*Offset   type name        description*/
 
  /*00*/      UB  header_0; 
  /*01*/      UB  header_1; 
  /*02*/      UB  header_2; 
  /*03*/      UB  header_3; 
 
  /*04-05*/   UW  sample_number; 
  /*06*/      UB  error_code; 
  /*07*/    UB  general_status; 
 
  /*08-09*/ UW  output_analog_0; 
  /*10-11*/ UW  output_analog_1; 
  /*12-13*/ UW  output_analog_2; 
  /*14-15*/ UW  output_analog_3; 
  /*16-17*/ UW  output_analog_4; 
  /*18-19*/ UW  output_analog_5; 
  /*20-21*/ UW  output_analog_6; 
  /*22-23*/ UW  output_analog_7; 
 
  /*24-25*/ UW  input_analog_0; 
  /*26-27*/ UW  input_analog_1; 
  /*28-29*/ UW  input_analog_2; 
  /*30-31*/ UW  input_analog_3; 
  /*32-33*/ UW  input_analog_4; 
  /*34-35*/ UW  input_analog_5; 
  /*36-37*/ UW  input_analog_6; 
  /*38-39*/ UW  input_analog_7; 
 
  /*40-41*/ UW  output_bank_0; 
  /*42-43*/ UW  output_bank_1; 
 
  /*44-45*/ UW  input_bank_0; 
  /*46-47*/ UW  input_bank_1; 
 
  /*48-51*/ UL  pulse_count_0; 
  /*52-55*/ SL  zc_variable; 
  /*56-59*/ SL  zd_variable; 
 
  /*60-61*/ UW output_bank_2; 
  /*62-63*/ UW output_back_3; 
 
  /*64-65*/ UW input_bank_2; 
  /*66-67*/ UW input_bank_3; 
 
}; //GDataRecord47300_24EX
 
struct GDataRecord47162
{
  /*Offset   type name        description*/
 
  /*00*/      UB  header_0; 
  /*01*/      UB  header_1; 
  /*02*/      UB  header_2; 
  /*03*/      UB  header_3; 
 
  /*04-05*/   UW  sample_number; 
  /*06*/      UB  error_code; 
  /*07*/    UB  general_status; 
 
  /*08-09*/ UW  output_analog_0; 
  /*10-11*/ UW  output_analog_1; 
  /*12-13*/ UW  output_analog_2; 
  /*14-15*/ UW  output_analog_3; 
  /*16-17*/ UW  output_analog_4; 
  /*18-19*/ UW  output_analog_5; 
  /*20-21*/ UW  output_analog_6; 
  /*22-23*/ UW  output_analog_7; 
 
  /*24-25*/ UW  input_analog_0; 
  /*26-27*/ UW  input_analog_1; 
  /*28-29*/ UW  input_analog_2; 
  /*30-31*/ UW  input_analog_3; 
  /*32-33*/ UW  input_analog_4; 
  /*34-35*/ UW  input_analog_5; 
  /*36-37*/ UW  input_analog_6; 
  /*38-39*/ UW  input_analog_7; 
 
  /*40*/      UB  output_byte_0; 
  /*41*/      UB  output_byte_1; 
  /*42*/      UB  output_byte_2; 
  
  /*43*/      UB  input_byte_0; 
  /*44*/      UB  input_byte_1; 
  /*45*/      UB  input_byte_2; 
  /*46*/      UB  input_byte_3; 
  /*47*/      UB  input_byte_4; 
 
  /*48-51*/ UL  pulse_count_0; 
  /*52-55*/ SL  zc_variable; 
  /*56-59*/ SL  zd_variable; 
 
  /*60-63*/ SL  encoder_0; 
  /*64-67*/ SL  encoder_1; 
  /*68-71*/ SL  encoder_2; 
  /*72-75*/ SL  encoder_3; 
 
}; //GDataRecord47162
 
 
union GDataRecord
{
  struct GDataRecord4000 dmc4000;
  struct GDataRecord4000 dmc4103; 
  struct GDataRecord4000 dmc50000;
 
  struct GDataRecord52000 dmc52000;
 
  struct GDataRecord30000 dmc30000;
 
  struct GDataRecord2103 dmc2103; 
 
  struct GDataRecord1806 dmc1806; 
 
  struct GDataRecord1802 dmc1802; 
 
  struct GDataRecord47000_ENC rio47000; 
  struct GDataRecord47300_ENC rio47300; 
  struct GDataRecord47300_24EX rio47300_24ex; 
  struct GDataRecord47162 rio47162; 
 
  unsigned char byte_array[GALILDATARECORDMAXLENGTH]; 
};
 
 
#ifdef PACKOK
#pragma pack() //return pack to default
#else
#error "Need to return structure packing for compiler"
#endif
 
#endif //I_210405D9_D9EF_484F_8258_BB29A1BBA217