Machine Controller MP2110/MP2110M Motion API USER'S MANUAL

Transcription

1 Machine Controller MP2110/MP2110M Motion API USER'S MANUAL YASKAWA YASKAWA MANUAL NO. SIEP C A

2 Copyright 2004 YASKAWA ELECTRIC CORPORATION All rights reserved. No part of this publication may be reproduced, stored in a retrieval system, or transmitted, in any form, or by any means, mechanical, electronic, photocopying, recording, or otherwise, without the prior written permission of Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice. Every precaution has been taken in the preparation of this manual. Nevertheless, Yaskawa assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publication.

3 Using this Manual This manual describes the API specifications of the MP2110/MP2110M Board-type Machine Controller. Two versions of the API are available, one for RTLinux and one for RTX. The specifications in this manual apply to both versions. Please read this manual to ensure correct usage of the MP2110/MP2110M system. Keep this manual in a safe place for future reference. Basic Terms Unless otherwise specified, the following definitions are used: MP2110/MP2110M = Machine Controller MP2110/MP2110M (PCI Bus) MECHATROLINK = General term for Motion Network MECHATROLINK-I and MECHATROLINK- II. Intended Audience This manual is intended for the following users. Those responsible for designing the MP2110/MP2110M System Those responsible for writing MP2110/MP2110M motion programs iii

4 Visual Aids The following aids are used to indicate certain types of information for easier reference. IMPORTANT Indicates important information that should be memorized. INFO Indicates supplemental information. EXAMPLE Indicates application examples. TERMS Describes technical terms that are difficult to understand, or appear in the text without an explanation being given. Indication of Reverse Signals In this manual, the names of reverse signals (ones that are valid when low) are written with a forward slash (/) before the signal name, as shown in the following examples: S-ON = /S-ON P-CON = /P-CON Copyrights The product names and company names that appear in this manual are the trademarks or registered trademarks of the respective company. TM and the mark do not appear with product or company names in this manual. About the Software This software is to be installed on only one specified computer. You must purchase another copy of the software to install it on another computer. This software is not to be copied for any reason other than when installing it on the computer. Store the CD-ROM containing the software in a safe place. This software is not to be decompiled, disassembled, or reverse engineered. This software is not to be given to, rent to, exchanged with, or otherwise released to a third party without the prior permission of Yaskawa Electric Corporation. iv

5 Related Manuals Refer to the following related manuals as required. Manual Name Manual Number Contents Machine Controller MP2110/ MP2110M User's Manual Design and Maintenance High-Speed Field Network MECHATROLINK Servo Command User s Manual Σ-II Series SGDH MECHATROLINK-II Application Module User s Manual Σ-III Series SGM S/SGDS User s Manual For MECHATROLINK-II communications SIEPC SIE-S SIEPC SIEPS Describes the functions, specifications, application methods, and setup methods of the MP2110/MP2110M Machine Controller. Describes the MECHATROLINK system in detail. Describes the models, capacities, selection methods, ratings, characteristics, diagrams, cables, peripheral devices, wiring, panel installation, trial operation, adjustment, function application methods, maintenance, inspection, and MECHATROLINK communication of the Σ-II Series SERVOPACKs and servomotors. Describes the models, capacities, selection methods, ratings, characteristics, diagrams, cables, peripheral devices, wiring, panel installation, trial operation, adjustment, function application methods, maintenance, inspection, and MECHATROLINK communication of the Σ-III Series SERVOPACKs and servomotors. v

6 Safety Information The following conventions are used to indicate precautions in this manual. Failure to heed precautions provided in this manual can result in serious or possibly even fatal injury or damage to the products or to related equipment and systems. WARNING CAUTION Indicates precautions that, if not heeded, could possibly result in loss of life or serious injury. Indicates precautions that, if not heeded, could result in relatively serious or minor injury, damage to the product, or faulty operation. vi

7 Safety Precautions The following precautions are for operation. These precautions are important and must be observed. WARNING The absolute position data can change if the SERVOPACK s multiturn limit is changed. Make sure that the multiturn limit is set according to settings in the machine. If the data is not set correctly, the machine may move in an unexpected direction, causing a dangerous situation. If a multiturn limit mismatch alarm (A.CC0) occurs, check the setting of SERVOPACK parameter Pn205 and make sure that it is correct. vii

8 Contents Using this Manual iii Safety Information vi Safety Precautions vii 1 API Function Tables 1.1 Initial Processing API Functions Parameter API Functions System API Functions Motion API Functions Monitor API Functions Software Configuration 2.1 Software Configuration Diagram API Call Flow Precautions when Using the API API Details 3.1 API Functions for Initial Processing ymcopencontroller (Connects Controller) ymcinitializeapithread (Initializes API Resources) ymcreleaseapithread (Releases API Resources) ymcsetinterrupt (Sets an Interrupt) ymcwaitinterrupt (Waits for an Interrupt) ymcsetapitimeoutvalue (Set API Timeout Values) ymcgetversion (Gets Version) ymcresetcontroller (Resets Controller) ymcconnectcontrol (Turns ON/OFF Sync) ymcsetupencoder (Sets Up Encoder) ymcclosecontroller (Closes Controller) Parameter API Functions ymcsetstandardparameter (Sets Basic Parameters) ymcsetparameterblock (Writes Parameter Block) ymcgetparameterblock (Reads Parameter Block) ymcsetservoparameter (Writes Servo Parameter) ymcgetservoparameter (Reads Servo Parameter) ymcsetbankdata (Writes Bank Data) viii

9 3.3 System API Functions ymcdefineposition (Resets Position) ymcsetiodata (Writes I/O Data) ymcgetiodata (Reads I/O Data) ymcsetpassposition (Sets Pass Position) ymcresetpassposition (Resets Pass Position) ymcchangegain (Switches Gain) ymcsetgantryaxis (Sets Gantry Axis) ymcresetgantryaxis (Resets Gantry Axis) ymcinterferecontrol (Turns ON/OFF Opposing Beam Interference Check) ymcsetpassaction (Registers Pass Action) ymcservocontrol (Turns Servo ON/OFF) ymcclearservoalarm (Clears Servo Alarm) ymcstopmotion (Emergency Stop) ymcaxisholdcontrol (Turn ON/OFF Axis Hold) ymcsetdirectcommand (Sets Servodrive Direct Command) ymcreaddpram (Reads Shared Memory) ymcwritedpram (Writes to Shared Memory) ymcwatchtorquelimit (Monitors Torque Limit) Motion API Functions ymcvelocitymodecontrol (Turns ON/OFF Speed Control Mode) ymctorquemodecontrol (Turns ON/OFF Torque Control Mode) ymcmovehomeposition (Zero-point Return) ymcmovegainadjust (Adjusts Gain) ymcmovepositioning (Positioning) ymcmoveintimepositioning (Positioning in Time) ymcmoveexternalpositioning (External Positioning) ymcmoveroundtrip (Return Positioning) ymcmovelinear (Linear Interpolation) ymcmovecircularcenter (Circular Interpolation) ymcmovepasspoint (Pass Point Constant Speed Interpolation) ymcmovejog (Starts Jogging) ymcstopjog (Stops Jogging) ymcmovepulsejog (Pulse Jogging) ymcchangedynamics (Changes Speed Dynamically) Monitoring API Functions ymcgetposition (Monitors Position) ymcgetvelocity (Monitors Speed) ymcgetstatus (Monitors Status) ymcsetmonitorselect (Sets Monitor Selection) Common Definition Header 4.1 Data Structure Definitions Constant Definitions ix

10 5 Error and Status Codes 5.1 Error Codes Status Codes Appendices A Command Execution Priority A-2 B Shared Memory Access Areas A-4 Revision History x

11 1 API Function Tables 1 This section lists the MP2110/MP2110M API functions. 1.1 Initial Processing API Functions Parameter API Functions System API Functions Motion API Functions Monitor API Functions

12 1 API Function Tables 1.1 Initial Processing API Functions The following table lists the API functions used for initial processing. No. API Command API Function MP2110/MP2110M Command 1 Connects Controller ymcopencontroller 2 Initializes API resources ymcinitializeapithread 3 Releases API resources ymcreleaseapithread 4 Sets an interrupt ymcsetinterrupt 5 Waits for an interrupt ymcwaitinterrupt 6 Sets API timeout value ymcsetapitimeoutvalue 7 Gets version ymcgetversion 8 Resets Controller ymcresetcontroller 0001h 9 Turns ON/OFF sync ymcconnectcontrol 0002h/0003h 10 Sets up encoder ymcsetupencoder 0004h 11 Closes Controller 1.2 Parameter API Functions The following table lists the API functions used for setting parameters. 1.3 System API Functions ymcclosecontroller (RTX version only) No. API Command API Function MP2110/MP2110M Command 1 Sets basic parameters ymcsetstandardparameter 0010h 2 Writes parameter block ymcsetparameterblock 0011h 3 Reads parameter block ymcgetparameterblock 0012h 4 Writes Servo parameter ymcsetservoparameter 0013h 5 Reads Servo parameter ymcgetservoparameter 0014h 6 Writes bank data ymcsetbankdata 0019h The following table lists the API functions used for system setup. No. API Command API Function MP2110/MP2110M Command 1 Resets position ymcdefineposition 0015h 2 Writes I/O data ymcsetiodata 0030h 3 Reads I/O data ymcgetiodata 4 Sets pass position ymcsetpassposition 0040h 5 Resets pass position ymcresetpassposition 0041h 6 Switches gain ymcchangegain 0046h 7 Sets gantry axis ymcsetgantryaxis 0047h 8 Resets gantry axis ymcresetgantryaxis 0048h 9 Turns ON/OFF opposing beam interference check ymcinterferecontrol 0049h/004Ah 10 Registers pass action ymcsetpassaction 004Bh 11 Turns Servo ON/OFF ymcservocontrol 0100h 12 Clears Servo alarm ymcclearservoalarm 0109h 13 Emergency stop ymcstopmotion 0110h 14 Turns ON/OFF axis hold ymcaxisholdcontrol 0111h/0112h 15 Sets Servodriver direct command ymcsetdirectcommand 0300h 16 Reads shared memory ymcreaddpram 17 Writes to shared memory ymcwritedpram 1-2

13 1.4 Motion API Functions 1.4 Motion API Functions The following table lists the API functions used for axis movement. No. API Command API Name MP2110/MP2110M Command 1 Turns ON/OFF speed control mode ymcvelocitymodecontrol 0042h/0043h 2 Turns ON/OFF torque control mode ymctorquemodecontrol 0044h/0045h 3 Zero-point return ymcmovehomeposition 0200h 4 Adjusts gain ymcmovegainadjust 0209h 5 Positioning ymcmovepositioning 0210h 6 Positioning in time ymcmoveintimepositioning 0211h 7 External positioning ymcmoveexternalpositioning 0213h 8 Return positioning ymcmoveroundtrip 0214h 9 Linear interpolation ymcmovelinear 0220h 10 Circular interpolation ymcmovecircularcenter 0222h 11 Pass position interpolation with the same speed ymcmovepasspoint 0223h 12 Starts jogging ymcmovejog 0230h 13 Stops jogging ymcstopjog 0231h 14 Pulse jogging ymcmovepulsejog 0232h 15 During axis movement ymcchangedynamics 0240h 1.5 Monitor API Functions 1 The following table lists the API functions used for monitoring. No. API Command API Name MP2100 Command 1 Monitors position ymcgetposition 2 Monitors speed ymcgetvelocity 3 Monitors status ymcgetstatus 4 Sets monitor selection ymcsetmonitorselect 1-3

14 2 Software Configuration 2 This chapter describes the API software configuration and provides precautions to observe when using the API. 2.1 Software Configuration Diagram API Call Flow Precautions when Using the API

15 2 Software Configuration 2.1 Software Configuration Diagram The following figure shows the software configuration for the entire system. Linux process/windows process User RTLinux/RTX Linux kernel/ Win32 kernel User application MP2110/MP2110M API Kernel MP2110/MP2110M Driver PCI Bus Shared memory Hardware MP2110/MP2110M firmware Note: The shaded areas are Yaskawa products. 2-2

16 2.2 API Call Flow 2.2 API Call Flow The following figure shows the flow for calling the API. The response classification processor identifies responses from the MP2110/MP2110M. If it is a response for API completion, the API return processor is notified. For other asynchronous interrupt responses, the API processor that waits for asynchronous interrupts is notified. Commands with No Response In the following figure, the flow is as follows: Waiting for Completion Response with API When a completion response for the specified command is received, the API returns control. In the following figure, the flow is as follows: Asynchronous Interrupt Responses If an API function that waits for a response is called by the user application, an asynchronous interrupt response can be received. In the following figure, the flow is as follows: User Application Asynchronous response processing routine Main program Return API for response standby Return API call API ymcwaitinterrupt() ymc Response notification Driver Return Driver call Response classification processor Response notification Shared memory write processor Interrupt Writing shared memory Shared memory Fig. 2.1 API Call Flow 2-3

17 2 Software Configuration 2.3 Precautions when Using the API This section explains how to use the API to create user applications and describes precautions to be observed. (1) Included Files The following header file must be included with programs that use the API. ymc2110api.h Also, this file includes the following two header files. ymc2110const.h ymc2110struct.h (2) Initialization Processing Programs that call the API must first execute ymcopencontroller (). Connection with the driver is performed using this API function. ymcinitializeapithread must be executed next. The memory area for storing response data is initialized by means of this API function. When programming multiple threads, execute this initialization processing for each thread individually. (3) Multiple Threads The API can be used simultaneously from a maximum of 32 threads for RTLinux and 64 threads for RTX. Beginning with the 33rd thread for RTLinux or the 65th thread for RTX, an error will occur when ymcinitializeapithread is executed. If the API is used on multiple threads for the same axis, waiting for a response cannot be specified for one API function while another API function is already waiting for a response. If that is done, an error will occur for the function executed on the second thread and the function will not be executed. (4) Limitations on API Use API functions cannot be called from FIFO handlers, interrupt handlers, init_module, etc. Call API functions from user threads. This limitation is due to an RTLinux limitation, i.e., internal handler processing cannot be restored after it has been stopped by a task switch. (5) OS Considerations When using the RTX version, consider the following. (The settings are different from the defaults.) Runtime library used: Multithread runtime Structure alignment: 8 bytes Character string support: ASCII only 2-4

18 3 API Details This chapter provides details on the API and API functions API Functions for Initial Processing ymcopencontroller (Connects Controller) ymcinitializeapithread (Initializes API Resources) ymcreleaseapithread (Releases API Resources) ymcsetinterrupt (Sets an Interrupt) ymcwaitinterrupt (Waits for an Interrupt) ymcsetapitimeoutvalue (Set API Timeout Values) ymcgetversion (Gets Version) ymcresetcontroller (Resets Controller) ymcconnectcontrol (Turns ON/OFF Sync) ymcsetupencoder (Sets Up Encoder) ymcclosecontroller (Closes Controller) Parameter API Functions ymcsetstandardparameter (Sets Basic Parameters) ymcsetparameterblock (Writes Parameter Block) ymcgetparameterblock (Reads Parameter Block) ymcsetservoparameter (Writes Servo Parameter) ymcgetservoparameter (Reads Servo Parameter) ymcsetbankdata (Writes Bank Data) System API Functions ymcdefineposition (Resets Position) ymcsetiodata (Writes I/O Data) ymcgetiodata (Reads I/O Data) ymcsetpassposition (Sets Pass Position) ymcresetpassposition (Resets Pass Position) ymcchangegain (Switches Gain) ymcsetgantryaxis (Sets Gantry Axis) ymcresetgantryaxis (Resets Gantry Axis) ymcinterferecontrol (Turns ON/OFF Opposing Beam Interference Check) ymcsetpassaction (Registers Pass Action) ymcservocontrol (Turns Servo ON/OFF) ymcclearservoalarm (Clears Servo Alarm) ymcstopmotion (Emergency Stop) ymcaxisholdcontrol (Turn ON/OFF Axis Hold) ymcsetdirectcommand (Sets Servodrive Direct Command) ymcreaddpram (Reads Shared Memory) ymcwritedpram (Writes to Shared Memory)

19 3 API Details ymcwatchtorquelimit (Monitors Torque Limit) Motion API Functions ymcvelocitymodecontrol (Turns ON/OFF Speed Control Mode) ymctorquemodecontrol (Turns ON/OFF Torque Control Mode) ymcmovehomeposition (Zero-point Return) ymcmovegainadjust (Adjusts Gain) ymcmovepositioning (Positioning) ymcmoveintimepositioning (Positioning in Time) ymcmoveexternalpositioning (External Positioning) ymcmoveroundtrip (Return Positioning) ymcmovelinear (Linear Interpolation) ymcmovecircularcenter (Circular Interpolation) ymcmovepasspoint (Pass Point Constant Speed Interpolation) ymcmovejog (Starts Jogging) ymcstopjog (Stops Jogging) ymcmovepulsejog (Pulse Jogging) ymcchangedynamics (Changes Speed Dynamically) Monitoring API Functions ymcgetposition (Monitors Position) ymcgetvelocity (Monitors Speed) ymcgetstatus (Monitors Status) ymcsetmonitorselect (Sets Monitor Selection)

20 Explanation of Format The following format is used to describe the details for each API function. API Function Name (Description) (1) Format (2) Operation Provides details and precautions on the operation of the function. (3) Return Values Describes responses for both normal and error completion. (4) Parameters Describes the API parameters. (5) Output Describes the contents of shared memory output as the result of processing the API function

21 3 API Details ymcopencontroller (Connects Controller) 3.1 API Functions for Initial Processing ymcopencontroller (Connects Controller) (1) Format The ymcopencontroller format is as follows: DWORD ymcopencontroller( ULONG CpuNo CPU number PINITIAL_DATA pinitialdata Initialization data structure pointer ) (2) Operation Initializes the MP2110/MP2110M for the specified CPU number using the set initialization data. Must be called for each CPU and SVB being used. INFO Execute this API function before any others. (3) Return Values Returns MP_SUCCESS (0x00) at normal completion. Returns a response other than MP_SUCCESS (i.e., an error code) at error completion. (For details on error codes, refer to 5.1 Error Codes.) (4) Parameters Parameter Contents Details Setting Range ULONG CpuNo PINITIAL_DATA pinitialdata * INITIAL_DATA Structure CPU number Initialization data structure pointer MP2110/MP2110M CPU number SVB number for each MP2110M CPU Initail_Data* pointer 1 to 4 CPU number (257 to 260) Member Contents Details Setting Range WORD ModeSelect WORD CerfData Function selection CERF data setting D0: Function Mode 0 = MP2110/MP2110M commands 1 = MECHATROLINK commands D1: Response interrupts 0 = Disable; 1 = Enable D4: Emergency stop I/O 0 = Not processed using I/O; 1 = Processed using I/O D5: Motion command interlocks 0 = Not processed using I/O; 1 = Processed using I/O D7: Response semaphore 0 = Disabled; 1 = Enabled D8: Response factor selection 0 = Code response; 1 = Bit response D0: Size 0 = 17 bytes; 1 = 32 bytes D1: Classification 0 = M-I; 1 = M-II D3: C2 Master 0 = No; 1 = Yes WORD CycleTime Transmission cycle N: Transmission cycle/125 µs 1 to 32 WORD RetryNum Number of retries Sets number of retries: 7 max. 0 to 7 ULONG InfCnctSt1 Station connection information (channel 1) D0 to D20: These bits turn ON for the stations connected to the host computer. 3-4

22 3.1 API Functions for Initial Processing (cont d) Member Contents Details Setting Range WORD SetModule[21] Station model information Sets module information for connected stations to array elements 0 to 20 corresponding to station numbers. Model SV I/O or MYVIS INV Model code 40h 60h C0h WORD wpriority Interrupt processing thread priority Used for RTX version only. Not used for RTLinux. Sets priorities for interrupt processing threads. 0 to 127 WORD HostWDT Host watchdog timeout time Host watchdog timeout time 0: Disable host watchdog 1 or more: Enable host watchdog Unit: 1 = 1 scan The MP2110/MP2110M starts monitoring with the host computer watchdog after the host computer writes A5h to the initialization status (000h) in the Shared RAM System Area. 0 to (5) Output Executes the driver initialization function DrvOpen(). INFO Using the Host Watchdog Function When the host computer watchdog function is enabled, refresh the watchdog data in the System Area immediately after the ymcopencontroller() response is returned. Use ymcwritedpram() to refresh the watchdog data within the host computer watchdog timeout time. Watchdog data is monitored with firmware. If it is not refreshed within the host computer watchdog timeout time, a mode 0 emergency stop will be executed. To monitor firmware status at the host computer, use ymcreaddpram() to monitor RUN counter data in the System Area. For details on using ymcreaddpram() and ymcwritedpram(), refer to ymcreaddpram (Reads Shared Memory) and ymcwritedpram (Writes to Shared Memory). Data in Bit Response for Response Factor D00: Error D01: Completion response D02: Coincidence response D03: Near response D04: Target position passed for return positioning D05 to D07: Reserved D08 to D15: Pass position 1 to 8 detected 3-5

23 3 API Details ymcinitializeapithread (Initializes API Resources) ymcinitializeapithread (Initializes API Resources) (1) Format The ymcinitializeapithread format is as follows: DWORD ymcinitializeapithread( Void ) (2) Operation This API function initializes processing for each thread. The user program must call this API function for each thread. The API can be used on a maximum of 32 threads for RTLinux or 64 threads for RTX. (3) Return Values Returns MP_SUCCESS (0x00) at normal completion. Returns a response other than MP_SUCCESS (i.e., an error code) at error completion. (For details on error codes, refer to 5.1 Error Codes.) (4) Parameters None (5) Output Secures resources for each thread (generates event object, gets buffer area, etc.). ymcinitializeapithread registers thread information in Table 3.1 Thread Control Table. Note: The meanings of the items in Table 3.1 Thread Control Table are as follows: Thread ID: The thread ID that can be obtained with pthread_self Sequence No.: Number of commands (simply incremented) Buffer address: Backup area used while waiting for interrupt Event object: Event object used while waiting for interrupt ymcreleaseapithread (Releases API Resources) (1) Format The ymcreleaseapithread format is as follows: DWORD ymcreleaseapithread( Void ) (2) Function Releases secured resources for each thread used in the API. (3) Return Values Returns MP_SUCCESS (0x00) at normal completion. Returns a response other than MP_SUCCESS (i.e., an error code) at error completion. (For details on error codes, refer to 5.1 Error Codes.) (4) Parameters None (5) Output None Table 3.1 Thread Control Table Thread ID Sequence No. Buffer address Event object 3-6

24 3.1 API Functions for Initial Processing ymcsetinterrupt (Sets an Interrupt) (1) Format The ymcsetinterrupt format is as follows: DWORD ymcsetinterrupt( LPAXIS_INFO IpAxisInfo Axis data structure pointer ) (2) Operation Generates an interrupt to the MP2110/MP2110M. If the MP2110/MP2110M is writing to shared memory when an interrupt occurs, it ends the writing operation and executes read processing. (3) Return Values Returns MP_SUCCESS (0x00) at normal completion. Returns a response other than MP_SUCCESS (i.e., an error code) at error completion. (For details on error codes, refer to 5.1 Error Codes.) (4) Parameters 3 Parameter Contents Details Setting Range LPAXIS_INFO IpAxisInfo Axis data structure pointer AxisInfo* pointer * AXIS_INFO Structure (5) Output Member Contents Details Setting Range ULONG CpuNo CPU number Data is output to shared memory as shown below. Writes 01h to the shared memory address 7FFEh. MP2110/MP2110M CPU number SVB number for each MP2110M CPU ULONG ChannelNo Channel number PCI: Always 1 VME: 1 or 2 1, 2 ULONG AxisNo Axis number Not used by this API function. 1 to 4 CPU number (257 to 260) Shared Memory Area Parameter Member Name Set Value System Area Write status ULONG StatusWrite; D31 = 1 3-7

25 3 API Details ymcwaitinterrupt (Waits for an Interrupt) ymcwaitinterrupt (Waits for an Interrupt) (1) Format The ymcwaitinterrupt format is as follows: DWORD ymcwaitinterrupt( LONG CpuNo CPU number AXIS_STATUS** AxisStatusAddress [out] Pointer to buffer pointer ) (2) Operation Waits for an interrupt from the MP2110/MP2110M. This API function must be called for each CPU and SVB. AxisStatusAddress is a pointer to the buffer pointer for receiving response data. Buffer memory is reserved for the number of CPUs and SVBs (up to 8) set in the API function. By calling this API function, the user program gets the buffer area pointer and can access the data. (3) Return Values Returns MP_SUCCESS (0x00) at normal completion. Returns a response other than MP_SUCCESS (i.e., an error code) at error completion. (For details on error codes, refer to 5.1 Error Codes.) (4) Parameters Parameter Contents Details Setting Range LONG CpuNo AXIS_STATUS *1 ** AxisStatusAddress * 1. AXIS_STATUS Structure int DataSetFlag int SerialNo * 2. STATUS_DATA Structure CPU number Pointer to buffer pointer MP2110/MP2110M CPU number SVB number for each MP2110M CPU When an interrupt is received, the pointers to buffers for receiving 21 axes are obtained. 1 to 4 CPU number (257 to 260) Member Contents Details Setting Range STATUS_DATA *2 StatusData BYTE Mechatrolink[32] Data Flag Serial number STATUS_DATA structure MECHATROLINK receive area When interrupt occurs: 1: Response data exists. 0: Response data does not exist. Number of responses per axis 65,535 1 Response data structure Receive area for MECHATROLINK Command Area (32 byte) Member Contents Details Setting Range WORD ErrorStatus1 Error status 1 Monitor parameter error status 1 WORD AnsFactor Response factor Monitor parameter response factor WORD AnsCommand Response command Monitor parameter response command IMPORTANT At the shortest, interrupts from the MP2110/MP2110M can be executed in each communication cycle. After a normal completion for ymcwaitinterrupt (), MP2110/MP2110M interrupts may be missed if the processing time until the next ymcwaitinterrupt () is called is longer than the communication cycle. Be careful, therefore, to design the program so that the processing is completed within the communication cycle. Also, STATUS_DATA is refreshed when an interrupt occurs. (5) Output None 3-8

26 3.1 API Functions for Initial Processing ymcsetapitimeoutvalue (Set API Timeout Values) (1) Format The ymcsetapitimeoutvalue format is as follows: DWORD ymcsetapitimeoutvalue( ULONG TimeoutValue Timeout detection time ) (2) Operation Sets the timeout detection time in units of ms. The maximum value that can be set is 2,147,483,647. When 0 is set, the waiting time will be infinite. (The system default value is 0.) The value set here is used as the response waiting timeout time for all API functions other than ymcwaitinterrupt. (3) Return Values Returns MP_SUCCESS (0x00) at normal completion. Returns a response other than MP_SUCCESS (i.e., an error code) at error completion. (For details on error codes, refer to 5.1 Error Codes.) 3 (4) Parameters Parameter Contents Details Setting Range ULONG TimeoutValue Timeout detection time Unit: ms 0 to 2,147,483,647 When set to 0, the waiting time is infinite. (5) Output With each API function, the internal variables used for timeout processing are refreshed ymcgetversion (Gets Version) (1) Format The ymcgetversion format is as follows: DWORD ymcgetversion( LPAXIS_INFO IpAxisInfo Axis data structure pointer LPVERSION_DATA IpVersionData [out] Version data structure pointer ) (2) Operation Outputs the following items for the SERVOPACK connected to the specified CPU number and axis number (with MECHATROLINK settings): SERVOPACK model, motor model, Application Module model, SERVOPACK software version, encoder software version, Application Module software version, the MP2110/MP2110M ROM version for the specified CPU number, the driver (mp2110drv.o) version currently being used, and the API (mp2110api.o) version currently being used. The MP2110/MP2110M ROM version and driver version can be obtained after the MP2110/MP2110M power is turned ON. The other data can be obtained after the MECHATROLINK settings have been made for the relevant axis. (3) Return Values Returns MP_SUCCESS (0x00) at normal completion. Returns a response other than MP_SUCCESS (i.e., an error code) at error completion. (For details on error codes, refer to 5.1 Error Codes.) 3-9

27 3 API Details ymcgetversion (Gets Version) (4) Parameters Parameter Contents Details Setting Range LPAXIS_INFO IpAxisInfo Axis data structure pointer AxisInfo *1 pointer LPVERSION_DATA IpVersionData Version data structure pointer VersionData *2 pointer * 1. AXIS_INFO Structure * 2. VERSION_DATA Structure (5) Output Member Contents Details Setting Range ULONG CpuNo ULONG ChannelNo CPU number Channel number MP2110/MP2110M CPU number SVB number for each MP2110M CPU PCI: Always 1 VME: 1 or 2 ULONG AxisNo Axis number MECHATROLINK station number 1 to 4 CPU number (257 to 260) Gets version information from the driver (DrvGetDeviceInfo), adds the API version to the information, and copies it to the user variables. 1, 2 0 to 21 0: Versions obtained for only firmware, drivers, and the API. Member Contents Details Setting Range BYTE RomVer[8] MP2110/MP2110M ROM version ASCII BYTE BootRomVer[4] MP2110/MP2110M Boot ROM version ASCII BYTE DrvVer[8] Driver version ASCII BYTE ApiVer[8] API version ASCII BYTE ServoType[16] SERVOPACK model ASCII BYTE MotorType[16] Motor model ASCII BYTE OptionType[16] Application Module model ASCII BYTE ServoVer[2] SERVOPACK software version Number BYTE EncoderVer[2] Encoder software version Number BYTE OptionVer[2] Application Module software version ASCII Display Example (RTX) RtPrintf(" RomVer = %.8s n", VerData.RomVer ); RtPrintf(" BootRomVer = %.4s n", VerData.BootRomVer ); RtPrintf(" DrvVer = %.8s n", VerData.DrvVer ); RtPrintf(" ApiVer = %.8s n", VerData.ApiVer ); RtPrintf(" ServoType = %.16s n", VerData.ServoType ); RtPrintf(" MotorType = %.16s n", VerData.MotorType ); RtPrintf(" OptionType = %.16s n", VerData.OptionType ); RtPrintf(" ServoVer = %02x%02x n", VerData.ServoVer[1], VerData.ServoVer[0] ); RtPrintf(" EncoderVer = %02x%02x n", VerData.EncoderVer[1], VerData.EncoderVer[0] ); RtPrintf(" OptionVer = %02x%02x n", VerData.OptionVer[1], VerData.OptionVer[0] ); Output Results RomVer = V BootRomVer = 1.06 DrvVer = ApiVer = ServoType = SGDH-01AE 3-10

28 3.1 API Functions for Initial Processing MotorType = SGMPH-01AAA21 OptionType = JUSP-NS115Y10 ServoVer = 0015 EncoderVer = 0003 OptionVer = ymcresetcontroller (Resets Controller) (1) Format The ymcresetcontroller format is as follows: DWORD ymcresetcontroller( ULONG CpuNo CPU number LONG AxisNoBit Axis number ) (2) Operation Initializes the MP2110/MP2110M to the status immediately after the power is turned ON. Synchronization processing with the host computer must be performed again. An axis specification reset cancels all commands for the specified axis and stops axis operation. 3 (3) Return Values Returns MP_SUCCESS (0x00) at normal completion. Returns a response other than MP_SUCCESS (i.e., an error code) at error completion. (For details on error codes, refer to 5.1 Error Codes.) (4) Parameters (5) Output Member Contents Details Setting Range ULONG CpuNo ULONG AxisNoBit CPU number Axis number Data is output to shared memory as shown below. Internally, ymcsetinterrupt is called. MP2110/MP2110M CPU number SVB number for each MP2110M CPU The MP2110/MP2110M is reset when bit number 0 is specified for the axis number that is to be reset. 1 to 4 CPU number (257 to 260) Shared Memory Area Parameter Member Name Set Value System area Write status ULONG StatusWrite; Individual axis areas Command USHORT Command; When AxisNoBit = 0 (MP2110/ MP2110M reset.) D0 = 1, D30 = 1 When AxisNoBit = Other than 0 (Specified axis reset.) D30 = 0, AxisNoBit (Specify axis to be reset.) 001h Written to one axis area only when Axis- NoBit is 0. Written to all corresponding axis areas in other cases. 3-11

29 3 API Details ymcconnectcontrol (Turns ON/OFF Sync) ymcconnectcontrol (Turns ON/OFF Sync) (1) Format The ymcconnectcontrol format is as follows: DWORD ymcconnectcontrol( LPAXIS_INFO IpAxisInfo Axis data structure pointer ULONG ControlType Synchronization ON/OFF ULONG InterruptFlag Interrupt ON/OFF ULONG WaitForCompletion Response attribute ) (2) Function Synchronizes with the drive for the specified axis. (3) Return Values Returns MP_SUCCESS (0x00) at normal completion. Returns a response other than MP_SUCCESS (i.e., an error code) at error completion. (For details on error codes, refer to 5.1 Error Codes.) (4) Parameters Parameter Contents Details Setting Range LPAXIS_INFO IpAxis- Axis data structure pointer AxisInfo* pointer Info ULONG ControlType ULONG InterruptFlag ULONG WaitForCompletion * AXIS_INFO Structure (5) Output Synchronization ON/OFF Interrupt ON/OFF Response attribute (a) ControlType: CONNECT _ON CONNECT_OFF: 0 CONNECT_ON: 1 INTERRUPT_OFF: 0 INTERRUPT_ON: 1 NO_WAIT_COMPLETE_NO_ANSWER: 0 NO_WAIT_COMPLETE_WITH_ANSWER: 1 WAIT_COMPLETE: 2 Data is output to shared memory as shown below. When InterruptFlag is set to INTERRUPT_ON, an interrupt (0x7FFE) is sent. Also, even when InterruptFlag is set to INTERRUPT_OFF, an interrupt is forcibly sent if WaitForCompletion is set to WAIT_ COMPLETE. 0 to 2 Member Contents Details Setting Range ULONG CpuNo CPU number MP2110/MP2110M CPU number SVB number for each MP2110M CPU ULONG ChannelNo Channel number PCI: Always 1 VME: 1 or 2 1, 2 ULONG AxisNo Axis number MECHATROLINK station number 1 to 21 1 to 4 CPU number (257 to 260) Shared Memory Area Parameter Member Name Set Value System area Write status ULONG StatusWrite; Bit corresponding to AxisNo is turned ON. Shared area Interrupt mask register ULONG IntMask; Not used. Individual axis area Command USHORT Command; 002h Subcommand D15: 0 = Completion response not required. 1 = Completion response required. USHORT SubCommand; D15: 0: WaitForCompletion = 0 1: WaitForCompletion = 1 or

30 3.1 API Functions for Initial Processing (b) ControlType: CONNECT _OFF Data is output to shared memory as shown below. When InterruptFlag is set to INTERRUPT_ON, an interrupt (0x7FFE) is sent. Also, even when InterruptFlag is set to INTERRUPT_OFF, an interrupt is forcibly sent if WaitForCompletion is set to WAIT_ COMPLETE. Shared Memory Area Parameter Member Name Set Value System area Write status ULONG StatusWrite; Bit corresponding to AxisNo is turned ON. Shared area Interrupt mask register ULONG IntMask; Not used. Individual axis area ymcsetupencoder (Sets Up Encoder) (1) Format Command USHORT Command; 003h Subcommand D15: 0 = Completion response not required. 1 = Completion response required. USHORT SubCommand; The ymcsetupencoder format is as follows: DWORD ymcsetupencoder( LPAXIS_INFO IpAxisInfo Axis data structure pointer ULONG SetupType Setup type ) D15: 0: WaitForCompletion = 0 1: WaitForCompletion = 1 or 2 3 (2) Operation Sets up an absolute encoder or sets multiturn limit for an encoder. The same setup is possible from a Digital Operator or personal computer monitoring software. This API function can be used only when the servo is OFF. After this API function has been completed normally, turn the power OFF and then back ON to enable the settings. (a) Absolute Encoder Setup Absolute encoder setup is required in the following situations: When the machine is started for the first time. When an encoder backup alarm (A.810) occurs. When an encoder checksum alarm (A.820) occurs. To set the absolute encoder rotation amount to 0. (b) Multiturn Limit Settings WARNING The absolute position data can change if the SERVOPACK s multiturn limit is changed. Make sure that the multiturn limit is set according to settings in the machine. If the data is not set correctly, the machine may move in an unexpected direction, causing a dangerous situation. If a multiturn limit mismatch alarm (A.CC0) occurs, check the setting of SERVOPACK parameter Pn205 and make sure that it is correct. The multiturn limit must be set if Pn205 (multiturn limit setting) is changed. If Pn205 is changed, a multiturn limit mismatch alarm (A.CC0) will occur. 3-13

31 3 API Details ymcclosecontroller (Closes Controller) (3) Return Values Returns MP_SUCCESS (0x00) at normal completion. Returns a response other than MP_SUCCESS (i.e., an error code) at error completion. (For details on error codes, refer to 5.1 Error Codes.) (4) Parameters Parameter Contents Details Setting Range LPAXIS_INFO IpAxisInfo Axis data structure pointer AxisInfo* pointer ULONG SetupType * AXIS_INFO Structure (5) Output Data is output to shared memory as shown below, and an interrupt (0x7FFE) is sent. Waits for a response from the MP2110/MP2110M and then ends the API function ymcclosecontroller (Closes Controller) (1) Format The ymcclosecontroller format is as follows: DWORD ymcclosecontroller( ULONG CpuNo CPU number ) (2) Operation Setup type Close a connection with the MP2110/MP2110M. Releases shared resources. ABS_ENCODER_INIT: 0 MULTI_TURN_INIT: 1 Member Contents Details Setting Range ULONG CpuNo CPU number MP2110/MP2110M CPU number SVB number for each MP2110M CPU ULONG ChannelNo Channel number PCI: Always 1 VME: 1 or 2 1, 2 ULONG AxisNo Axis number MECHATROLINK station number 1 to 21 1 to 4 CPU number (257 to 260) Shared Memory Area Parameter Member Name Set Value System area Write status ULONG StatusWrite; Bit corresponding to AxisNo is turned ON. Shared area Interrupt mask register ULONG IntMask; Not used. Individual axis area Command USHORT Command; 004h Subcommand D0: Absolute encoder setup D1: Multiturn limit setting D15: 0 = Completion response not required. 1 = Completion response required. USHORT SubCommand; When SetupType is 0 D0=1 When SetupType is 1 D1 = 1 D15 = Always 1 INFO This API exists only in the RTX version. (3) Return Values Returns MP_SUCCESS (0x00) at normal completion. Returns a response other than MP_SUCCESS (i.e., an error code) at error completion. (For details on error codes, refer to 5.1 Error Codes.) 3-14