77 typedef enum {

    78     mc_mode_none, // No motion mode

    79     mc_mode_csp,  // Continuous Synchronous Positionning mode

    80     mc_mode_csv,  // Continuous Synchronous Velocity mode

    81     mc_mode_cst,  // Continuous Synchronous Torque mode

    82 } mc_axismotionmode_enum;

    83 

    84 typedef struct {

    85    IEC_BOOL Power;

    86    IEC_BOOL CommunicationReady;

    87    IEC_UINT NetworkPosition;

    88    IEC_BOOL ReadyForPowerOn;

    89    IEC_BOOL PowerFeedback;

    90    IEC_DINT ActualRawPosition;

    91    IEC_DINT ActualRawVelocity;

    92    IEC_DINT ActualRawTorque;

    93    IEC_DINT RawPositionSetPoint;

    94    IEC_DINT RawVelocitySetPoint;

    95    IEC_DINT RawTorqueSetPoint;

    96    mc_axismotionmode_enum AxisMotionMode;

    97    IEC_LREAL ActualVelocity;

    98    IEC_LREAL ActualPosition;

    99    IEC_LREAL ActualTorque;

   100 }axis_s;

   101