PCE-M134 Series PCE-M134 PCE-M134-LD. Programming Manual. Version: V Jul18

Transcription

1 PCE-M134 Series PCE-M134 PCE-M134-LD Programming Manual Version: V Jul18 To properly use the product, read this manual thoroughly is necessary. Part No.: GH

2 Revision History Date Revision 2015/08/ Document Creation 2015/10/ Add linear interpolation API description. 2016/08/ Add PCE-M134-LD API description. 2016/05/ Add Homing mode API description. 2016/07/ Add Encoder input type and move ratio 2

3 Copyright 2014 TPM The product, including the product itself, the accessories, the software, the manual and the software description in it, without the permission of TPM Inc. ( TPM ), is not allowed to be reproduced, transmitted, transcribed, stored in a retrieval system, or translated into any language in any form or by any means, except the documentation kept by the purchaser for backup purposes. The names of products and corporations appearing in this manual may or may not be registered trademarks, and may or may not have copyrights of their respective companies. These names should be used only for identification or explanation, and to the owners benefit, should not be infringed without any intention. The product s name and version number are both printed on the product itself. Released manual visions for each product design are represented by the digit before and after the period of the manual vision number. Manual updates are represented by the third digit in the manual vision number. Trademark MS-DOS and Windows 95/98/NT/2000/XP/CE, Visual Studio, Visual C++, Visual BASIC are registered trademarks of Microsoft. BCB (Borland C++ Builder) is registered trademark of Borland. MULTIPROG is registered trademark of KW software. product names mentioned herein are used for identification purposes only and may be trademarks and/or registered trademarks of their respective companies. 3

4 Electrical safely To prevent electrical shock hazard, disconnect the power cable from the electrical outlet before relocating the system. When adding or removing devices to or from the system, ensure that the power cables for the devices are unplugged before the signal cables are connected. Disconnect all power cables from the existing system before you add a device. Before connecting or removing signal cables from motherboard, ensure that all power cables are unplugged. Seek professional assistance before using an adapter or extension card. These devices could interrupt the grounding circuit. Make sure that your power supply is set to the voltage available in your area. If the power supply is broken, contact a qualified service technician or your retailer. Operational safely Please carefully read all the manuals that came with the package, before installing the new device. Before use ensure all cables are correctly connected and the power cables are not damaged. If you detect and damage, contact the dealer immediately. To avoid short circuits, keep paper clips, screws, and staples away from connectors, slots, sockets and circuitry. Avoid dust, humidity, and temperature extremes. Do not place the product in any area where it may become wet. If you encounter technical problems with the product, contact a qualified service technician or the dealer. 4

5 Contents CONTENTS OPERATIONAL PRINCIPLE SYSTEM INITIALIZATION AUTOMATIC MOTION CONTROL Velocity Mode Motion Point-to-Point (PTP) Mode Motion Linear Interpolation Mode Motion Velocity Change On-The-Fly MISCELLANEOUS FUNCTIONS Machine I/O Driver I/O Signals Counters ADVANCED FUNCTIONS Auto-Compared Trigger Output Operation SOFTWARE PROCEDURE MOTION SYSTEM INITIATION Hardware Dependent Setting Input Pulse Setting Single Axis Operation Linear Interpolation Operation HARDWARE INITIALIZATION _M134_OPEN _M134_CLOSE _M134_GET_SWITCH_CARD_NUM _M134_CHECK_SWITCH_CARD_NUM _M134_GET_CARD_TYPE _M134_GET_CPLD_VERSION _M134_INITIAL _M134_CONFIG_FROM_FILE INTERFACE I/O CONFIGURATION _M134_SET_ALM _M134_SET_ERC_ON _M134_SET_SERVO _M134_SET_RALM _M134_SET_ELL _M134_SET_SD PULSE I/O CONFIGURATION

6 5.1. _M134_SET_PLS_OUTMODE _M134_SET_PLS_IPTMODE _M134_SET_FEEDBACK_SRC _M134_SET_ABS_REFERENCE AXIS STATUS FUNCTIONS _M134_MOTION_DONE _M134_GET_IO_STATUS STOP MOTION FUNCTIONS _M134_SD_STOP _M134_IMD_STOP _M134_EMG_STOP HOMING _M134_SET_HOME_MODE _M134_HOME_MOVE SINGLE AXIS MOTION _M134_START_TR_MOVE _M134_START_TA_MOVE _M134_START_SR_MOVE _M134_START_SA_MOVE VELOCITY MODE MOTION _M134_TV_MOVE _M134_SV_MOVE _M134_V_CHANGE _M134_FIX_SPEED_RANGE _M134_UNFIX_SPEED_RANGE _M134_GET_CURRENT_SPEED COUNTER CONTROL FUNCTIONS _M134_GET_POSITION _M134_SET_POSITION _M134_GET_COMMAND _M134_SET_COMMAND _M134_SET_MOVE_RATIO AXIS LINEAR MOTION _M134_START_TR_LINE2C _M134_START_TA_LINE2C _M134_START_TR_LINE3C _M134_START_TA_LINE3C

7 12.5. _M134_START_TR_LINE4C _M134_START_TA_LINE4C AUTO COMPARE PROGRAMMING _M134_GET_AUTO_COMPARE_ENCODER _M134_SET_AUTO_COMPARE_ENCODER _M134_SET_AUTO_COMPARE_SOURCE _M134_GET_AUTO_COMPARE_COUNT _M134_GET_AUTO_COMPARE_STATUS _M134_SET_AUTO_COMPARE_FUNCTION _M134_SET_AUTO_COMPARE_TRIGGER _M134_SET_AUTO_COMPARE_TABLE _M134_START_AUTO_COMPARE _M134_FORCE_TRIGGER_OUTPUT GPIO ACCESS _M134_GET_DIGITAL_INPUT _M134_GET_DIGITAL_OUTPUT _M134_SET_DIGITAL_OUTPUT _M134_GET_DIGITAL_INPUT_BIT _M134_GET_DIGITAL_OUTPUT_BIT _M134_SET_DIGITAL_OUTPUT_BIT _M134_TOGGLE_DIGITAL_OUTPUT_BIT APPENDIX A ERROR CODES

8 1. Operational Principle PCX-M134 series is a motion control equipped with a 4-axis motion ASIC and a Motionnet master ASIC. Most real-time tasks are completed by the ASIC hardware together with user-friendly software under Windows operating system. This chapter describes the operational principle of the PCX-M System Initialization PCE-M134 series is Plug-and-Play card. The hardware must be installed under Windows operating system first. After successful hardware initialization, Windows will allocate appropriate system resources for it, for example, IRQ and base memory address. Each individual card must be initialized respectively before its operation. The following message in Windows registry indicates that this hardware initialization is completed successfully. Figure 1-1: PCE-M134 Shown in Device Manager The PCX-M134 would be fully functioned after the hardware initialization call, _m134_open(). _m134_open Card Index = 0 SwitchCardNo = 2 Card Index = 1 SwitchCardNo = 4 ExistCard = 3 Card Index = 2 SwitchCardNo = 6 Relative functions: _m134_open, _m134_close Figure 1-2: S-curve velocity mode motion 8

9 1.2. Automatic Motion Control 6 main types of automatic motion control are supported as listed in the following. a. Velocity mode motion: 1 ~ 4 axes. b. Point-to-Point movement: 1 axis above, non-synchronized. c. Linear interpolation: 2~ 4 axes, synchronized. They are described in the following sections respectively Velocity Mode Motion For velocity motion, after assigning the desired axis, start velocity, max velocity and acceleration time. The pulse command will be generated accordingly as shown in the following figure. User has to issue a stop command, decelerate to stop or stop immediately to stop the motion of this axis. S-curve velocity is displayed in the following figure. Velocity (pps) MaxVel Svac Svde StrVel Svac Svde Time Tacc(sec) Tdec(sec) Figure 1-3: S-curve velocity mode motion Relative functions: _m134_tv_move, _m134_sv_move, _m134_v_change, _m134_sd_stop, _m134_emg_stop, _m134_fix_speed_range, _m134_unfix_speed_range, _m134_get_current_speed 9

10 Point-to-Point (PTP) Mode Motion The PTP motion could be either single axis or multiple axes. For single axis PTP motion, PCE-M134 supports either T-curve or S-curve velocity profile under relative or absolute coordinates. P0 P1 Figure 1-4: Point-to-Point mode motion To move from P0 to P1 by single axis Point-to-Point movement, please select T-curve or S-curve under Relative or Absolute coordinate. The following arguments must be specified. Distance, Start Velocity, Max Velocity, Acc. Time Relative functions: _m134_start_tr_move, _m134_start_ta_move, _m134_start_sr_move, _m134_start_sa_move 10

11 Linear Interpolation Mode Motion PCE-M134 supports 2 ~ 4 axes linear interpolation with T-curve velocity profile under relative or absolute coordinates. 2-axis linear interpolation is explained in the following figure. This is a line in the 2-D coordinate. Motion starts from P0 and ends at P1. The speed ratio along X axis and Y axis is (dx:dy) respectively and the vector speed is as follows. Y P1(X1,Y1) dy P0(X0,Y0) dx X Figure 1-5: the speed ratio and the vector speed When calling this 2-axis linear interpolation movement, the application interface arguments start speed (StrVel) and maximum speed (MaxVel) actually defines the start and maximum vector speed respectively. Relative functions: _m134_start_tr_line2c, _m134_start_ta_line2c 3-D Interpolation _m134_start_tr_line3c, _m134_start_ta_line3c 4-axis Interpolation _m134_start_ta_line4c, _m134_start_ta_line4c 11

12 Velocity Change On-The-Fly Velocity change on-the-fly Velocity (pps) MaxVel NewVel StrVel Tacc Time Time (second) Figure 1-6: velocity change on-the-fly Relative functions: _m134_sv_change, _m134_tv_change, _m134_fix_speed_range, _m134_unfix_speed_range, _m134_get_current_speed, _m134_verify_speed 12

13 1.3. Miscellaneous Functions Machine I/O As shown in the following figure, controller is in the gray part and the driver is in the blue part, the direction of arrow with different color represents In and Out respectively. You can find the signals that connecting with its source and destination according to the remarks. CMP and SLD signals are in the gray part with dotted line. PEL, MEL and ORG are input signals that will be connected to sensors and the encoder feedback signal is coming from the encoder on the rear end of the motor. You can find detailed descriptions in the following chapters. Figure 1-7: machine I/O 13

14 EL (End Limit) PEL / MEL The EL signal is an input signal connected usually as normal-close type to limit switch on the mechanism. The command pulse output will be stopped when the EL signal is active. It is to stop the command pulse output by hardware. PEL signal indicates the EL in the Plus direction of motion. MEL signal indicates the EL in the Minus direction of motion. While the output command pulse is toward plus direction, the pulse output will be stopped when PEL is active. But the pulse command toward minus direction is still active. IRQ can be generated when the EL signal is active according the interrupt setting in the beginning. SD (Slow Down) The SD signal is an input signal. The output command pulse will be changed when the SD signal is active. While the SD signal is active the velocity will be decelerated automatically to the start velocity, i.e. StrVel setting in the motion command. The StrVel value must be less than the maximum velocity, i.e. MaxVel. Usually the SD signal is designed to protect over-speed motion when incorrect command is issued. CMP CPM is usually used to compare the target position with feedback position. Please refer to the following figure for its application. P2 P1 Data Interrupt to Host PC Comparator Trigger Circuit T2 T1 Encoder Feedback Object Encoder Motor Figure 1-8: CMP application Driver I/O Signals ALM The ALM signal is an input signal. Its signal source is from the output of the servo driver. The processing of the ALM signal is a hardware built-in function. When the ALM signal is active, the command output pulse will be stopped immediately. The interrupt will be generated if the INT setting set in the beginning. The _m134_set_alm function is used to set the ALM mode and logic. INP INP signal is to be used together with position mode servo driver. It is an input signal from servo driver to 14

15 PCE-M134. There is an output signal in position mode servo driver. This signal will be output by hardware when the value of following error counter is equal or smaller than the pre-set INP range parameter inside the servo driver motor. ERC ERC signal is to be used together with position mode servo driver / motor. It is an output signal from PCE- M134 to servo driver / motor. The processing of ERC inside servo driver is also hardware built-in. The servo driver will clear the following error counter immediately when the ERC is active. It means that the motor will be stopped and hold at the position when the ERC signal is on. ON OFF In-Position Range Following Error Xp Ratio Err Kp Velocity Current M INP Settling Time B.C ERC A B Z Encoder PG Figure 1-9: INP / ERC signal 15

16 Counters Command Position Counter The command position counter is a 24-bit up/down counter. Its input source is from the command output pulse. The command position counter value will increase or decrease according the pulse output. The command position counter will be cleared to 0 when automatic homing operation is completed. The command position counter can be set by _m134_set_command and read by _m134_get_command function. Feedback Position Counter The feedback position counter is a 32-bit up/down counter. Its input source is from the external encoder feedback from EA + and EB+ pins. 2 Types of encoder feedback signal is supported. For A/B Phase mode signal the only factor x4 can be selected. 16

17 Command FeedBack M U X FB Counter Figure 1-10: feedback position counter Axis Encoder Counter The axis encoder counter is a 32-bit up/down counter. It is used as the source counter of auto-compared trigger ouput function. Relative functions: _m134_get_position, _m134_set_position, _m134_get_command, _m134_set_command, 17

18 1.4. Advanced Functions Advanced functions are listed below. Auto-compared trigger output operation These newly added functions are introduced in the following subsections Auto-Compared Trigger Output Operation Auto-Compared trigger output is usually used to compare fixed interval position with feedback position. This function can be used to trigger the high speed linescan camera. The maximum triggering frequency is 100KHz. This function is designed by the hardware circuit so it will not waste the CPU time when high speed trigger pulses are outputted. Figure 1-11: auto-compare trigger output application Relative functions: _m134_set_auto_compare_source, _m134_set_auto_compare_trigger, _m134_start_auto_compare, _m134_set_auto_compare_table, _m134_set_auto_compare_function, _m134_force_trigger_output, _m134_get_auto_compare_count 18

19 2. Software Procedure 2.1. Motion System Initiation Application Start Hardware Dependent Setting Input Pulse Setting Output Pulse Setting _m134_set_pls_outmode(switchcardno, AxisNo, pls_outmode) Clear Driver Deviation Counter _m134_set_erc_on(switchcardno, AxisNo, on_off) NOTE: ERC should output before Servo ON Driver Servo On _m134_set_servo(switchcardno, AxisNo, on_off) Start Motion Control Figure 2-1: Hardware Dependent Setting 19

20 Hardware Dependent Setting Start Hardware Dependent Setting Initialize Card _m134_open(existcards) _m134_initial(switchcardno) Set Correct EL Logic & Mode _m134_set_ell(switchcardno, AxisNo, ell_logic, ell_mode) Set Correct Alarm Input Logic _m134_set_alm(switchcardno, AxisNo, alm_logic, alm_mode) NO Set SD Active Logic _m134_set_sd(switchcardno, AxisNo, enable, sd_logic, sd_latch, sd_mode) Hardware Dependent Correct Alarm Logic & Correct EL Logic & Correct SD Logic YES End Hardware Dependent Setting Figure 2-2: Hardware Dependent Setting 20

21 Input Pulse Setting Start Input Pulse Setting Cotinuous Mode Motion? YES NO NO Encoder Feedback? Cotinuous Mode Motion Setting Set Command As Feedback Source Absolute Moving Functions follow Command counter _m134_set_feedback_src(switchcardno, AxisNo, 1) _m134_set_abs_reference(switchcardno, AxisNo, 1) YES Absolute Moving Functions Type? Follow Command Counter Follow Position Counter Set Encoder As Feedback Source Absolute Moving Functions follow command counter _m134_set_feedback_src(switchcardno, AxisNo, 0) _m134_set_abs_reference(switchcardno, AxisNo, 1) Set Encoder As Feedback Source Absolute Moving Functions follow position counter _m134_set_feedback_src(switchcardno, AxisNo, 0) _m134_set_abs_reference(switchcardno, AxisNo, 0) Set Pulse Input Mode _m134_set_pls_iptmode(switchcardno, AxisNo, pls_iptmode, pls_logic) Start Motion Control Figure 2-3: Input Pulse Setting 21

22 Single Axis Operation Start Position Mode Motion T-Curve VelocityProfile choice Absolute Absolute or Relative Moving? Relative S-Curve Absolute Moving Relative Moving _m134_start_ta_move(switchcardno, AxisNo, Pos, StrVel, MaxVel, Tacc, Tdec) _m134_start_tr_move(switchcardno, AxisNo, Dist, StrVel, MaxVel, Tacc, Tdec) Absolute Absolute or Relative Moving? Relative Absolute Moving Relative Moving _m134_start_sa_move(switchcardno, AxisNo, Pos, StrVel, MaxVel, Tacc, Tdec) _m134_start_sr_move(switchcardno, AxisNo, Dist, StrVel, MaxVel, Tacc, Tdec) STOP? YES NO NO Check Motion Status _m134_motion_done(switchcardno, AxisNo) Stop Command _m134_sd_stop(switchcardno, AxisNo, Tdec) _m134_emg_stop(switchcardno, AxisNo) MoSt == 0? YES End Position Mode Motion Figure 2-4: Single Axis Operation 22

23 Linear Interpolation Operation Start linear Interpolation Motion T-Curve Absolute Absolute or Relative Moving? Relative Absolute Moving _m134_start_ta_line2c _m134_start_ta_line3c _m134_start_ta_line4c Relative Moving _m134_start_tr_line2c _m134_start_tr_line3c _m134_start_tr_line4c STOP? YES NO NO Check Motion Status _m134_motion_done(switchcardno, AxisNo) Stop Command _m134_sd_stop(switchcardno, AxisNo, Tdec) _m134_emg_stop(switchcardno, AxisNo) MoSt == 0? YES End linear Interpolation Motion Figure 2-5: Linear Interpolation Operation 23

24 3. Hardware Initialization Function name _m134_open _m134_close _m134_get_switch_card_num _m134_check_switch_card_num _m134_get_card_type _m134_get_cpld_version _m134_initial _m134_config_from_file Allocate hardware resources and get the amount of the master card. Release hardware resources Get the card number from the card index Check the existence of the PCE-M134 with a card number. Get the PCE-M134 card type. Get the software version of the CPLD. Initialize the resource of PCE-M134 Load the parameters of axis configuration from the ini file which is generated by the MyLink utility. 24

25 3.1. _m134_open Allocate hardware resources and get the amount of the master card. Syntax I16 _m134_open (U16 *existcards) Argument Name Type existcards U16 * Get master card count in your PC Status Return Function Name 25

26 3.2. _m134_close Release hardware resources Syntax: I16 _m134_close () Argument N/A Status Return Function Name 26

27 3.3. _m134_get_switch_card_num Get the card number from the card index. Syntax I16 _m134_get_switch_card_num(u16 CardIndex, U16 *SwitchCardNo) Argument Name Type CardIndex U16 The number of the card index. SwitchCardNo U16 * The number of the card to be checked with the rotary switch setting. Status Return Function Name Note. CardIndex is auto-incrementing from 0, and the SwitchCardNo is decision by rotary switch on master card. For example, there are 3 PCE-M134 master cards installed in PC, we can get the SwitchCardNo by API. Card Index = 0 SwitchCardNo = 2 Card Index = 1 SwitchCardNo = 4 Card Index = 2 SwitchCardNo = 6 27

28 3.4. _m134_check_switch_card_num Check the existence of the PCE-M134 with a card number. Syntax I16 _m134_check_switch_card_num (U16 SwitchCardNo, U8 *IsExist) Argument Name Type SwitchCardNo U16 The number of the card to be checked with the rotary switch setting. IsExist U8 * Equal to 1 if the card exists, 0 if the card does not exist. Status Return Function Name 28

29 3.5. _m134_get_card_type Get the PCE-M134 card type. Syntax I16 _m134_get_card_type(u16 SwitchCardNo, U8 *CardType) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. Card Type Value Meaning CardType U8 * 0 CARD_UNKNOWN 1 CARD_PCE_M134 2 CARD_PCE_M134_LD Status Return Function Name 29

30 3.6. _m134_get_cpld_version Get the software version of the CPLD. Syntax I16 _m134_get_cpld_version (U16 SwitchCardNo, U16 *CpldVer) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. CpldVer U16 * Returns the current CPLD version. Status Return Function Name 30

31 3.7. _m134_initial Check the existence of the PCE-M134 with a card number. Syntax I16 _m134_initial(u16 SwitchCardNo) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. Status Return Function Name 31

32 3.8. _m134_config_from_file Load the parameters of axis configuration from the ini file which is generated by the MyLink utility Syntax I16 _m134_config_from_file(u16 SwitchCardNo, char *FilePath) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. FilePath char* File Name And Path For Parameters Of Axis Configuration Status Return Function Name 32

33 4. Interface I/O Configuration Function name _m134_set_alm _m134_set_erc_on _m134_set_servo _m134_set_ralm _m134_set_ell _m134_set_sd Set alarm logic and operating mode of axis. Force ERC output by software command. Set servo driver to ON / OFF. Set the status of servo alarm reset signal. Set EL active mode & logic. Set SD logic and operating mode. 33

34 4.1. _m134_set_alm Set alarm logic and operating mode of axis. Syntax I16 _m134_set_alm (U16 SwitchCardNo, U16 AxisNo, I16 alm_logic, I16 alm_mode) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 Axis number: 0 ~ 3 Setting of active logic for ALARM signal. Value Meaning alm_logic I16 0 Low active 1 High active Reacting modes when receiving ALARM signal. Value Meaning alm_mode I16 0 Motor immediately stops (default). 1 Motor decelerates to stop. Status Return Function Name 34

35 4.2. _m134_set_erc_on Force ERC output by software command. Syntax I16 _m134_set_erc_on (U16 SwitchCardNo, U16 AxisNo, I16 on_off) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 Axis number: 0 ~ 3 Setting the action of ERC signal. Value Meaning on_off I16 0 Inactive 1 Active Status Return Function Name 35

36 4.3. _m134_set_servo Set the servo driver to ON / OFF. Syntax I16 _m134_set_servo (U16 SwitchCardNo, U16 AxisNo, I16 on_off) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 Axis number: 0 ~ 3 Setting the action of SVON signal. Value Meaning on_off I16 0 Inactive 1 Active Status Return Function Name 36

37 4.4. _m134_set_ralm Set the status of servo alarm reset signal. Syntax I16 _m134_set_ralm (U16 SwitchCardNo, U16 AxisNo, I16 on_off) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 Axis number: 0 ~ 3 On-off state of RALM signal. Value Meaning on_off I16 0 Inactive 1 Active Status Return Function Name 37

38 4.5. _m134_set_ell Set EL (End Limit) active mode & logic. Syntax I16 _m134_set_ell (U16 SwitchCardNo, U16 AxisNo, I16 ell_logic, I16 ell_mode) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 Axis number: 0 ~ 3 Action logic configuration for EL signal. Value Meaning ell_logic I16 0 Low active 1 High active The reaction when the EL signal is on. Value Meaning ell_mode I16 0 Stop immediately 1 Decelerating to stop Status Return Function Name 38

39 4.6. _m134_set_sd Set SD logic and operating mode. Syntax I16 _m134_set_sd (U16 SwitchCardNo, U16 AxisNo, I16 enable, I16 sd_logic, I16 sd_latch, I16 sd_mode) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 Axis number: 0 ~ 3 Enable/disable the SD signal. Value Meaning enable I16 0 Disabled (default) 1 Enabled Setting of active logic for SD signal. Value Meaning sd_logic I16 0 Low active 1 High active Setting of latch control for SD signal to hold velocity. Value Meaning sd_latch I16 0 Do not latch 1 Latch Setting the reacting mode of SD signal. Value Meaning sd_mode I16 0 Slow down only 1 Slow down then stop Status Return Function Name 39

40 5. Pulse I/O Configuration Function name _m134_set_pls_outmode _m134_set_pls_iptmode _m134_set_feedback_src _m134_set_abs_reference Set pulse command output mode of axis. Set encoder input mode & direction of axis. Set the input source of position counters for axis. Set absolute move reference (Command or Encoder) of the axis. 40

41 5.1. _m134_set_pls_outmode Set pulse command output mode of axis. Syntax I16 _m134_set_pls_outmode (U16 SwitchCardNo, U16 AxisNo, I16 pls_outmode) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 Axis number: 0 ~ 3 Setting of command pulse output mode. Value Meaning 0 OUT/DIR: OUT falling edge, DIR+ is high level 1 Reserved pls_outmode I16 2 Reserved 3 OUT/DIR: OUT rising edge, DIR+ is low level 4 CW/CCW: falling edge 5 CW/CCW: rising edge 6 Reserved 7 Reserved Status Return Function Name 41

42 5.2. _m134_set_pls_iptmode Set encoder input mode & direction of axis. Syntax I16 _m134_set_pls_iptmode (U16 SwitchCardNo, U16 AxisNo, I16 pls_iptmode, I16 pls_logic) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 Axis number: 0 ~ 3 Setting of encoder feedback pulse input mode. Value Meaning 0 1X A/B pls_iptmode I16 1 2X A/B 2 4X A/B 3 CW/CCW Direction of encoder feedback pulse. Value Meaning pls_logic I16 0 Not inverse direction 1 Inverse direction Status Return Function Name 42

43 5.3. _m134_set_feedback_src Set the input source of position counters for axis. Syntax I16 _m134_set_feedback_src (U16 SwitchCardNo, U16 AxisNo, I16 Src) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 Axis number: 0 ~ 3 Src I16 Setting of encoder feedback pulse input mode. Value Meaning 0 External Feedback 1 Command Pulse Status Return Function Name 43

44 5.4. _m134_set_abs_reference Set absolute move reference (Command or Encoder) of the axis. Syntax I16 _m134_set_abs_reference (U16 SwitchCardNo, U16 AxisNo, I16 Ref) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 Axis number: 0 ~ 3 Setting the action of Ref signal. Value Meaning Ref I16 0 Absolute command following current Encoder Counter 1 Absolute command following current Command Counter Status Return Function Name Set Abs move command to Position A Set Abs move command to Position B Position A Position B Follow by current position or command counter Follow by target counter 44

45 6. Axis Status Functions Function name _m134_motion_done _m134_get_io_status _m134_check_error Return the motion status of motion slave. Get the motion I/O status of the axis. Check the error status which stops the axis motion. 45

46 6.1. _m134_motion_done Return the motion status of motion slave. Syntax I16 _m134_motion_done (U16 SwitchCardNo, U16 AxisNo) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 Axis number: 0 ~ 3 Status Return Function Name 0 Stop 1 Reserved 2 Reserved 3 Reserved 4 Reserved 5 Reserved 6 Reserved 7 Reserved 8 Reserved 9 Reserved 10 Reserved 11 In acceleration 12 In Max velocity motion 13 In deceleration 14 Reserved 15 Reserved 46

47 6.2. _m134_get_io_status Get the motion I/O status of the axis. Syntax I16 _m134_get_io_status (U16 SwitchCardNo, U16 AxisNo, U16 *io_sts) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 Axis number: 0 ~ 3 I/O status word. Where 1 is ON and 0 is OFF. ON/OFF state is read based on the corresponding set logic. Bit No. Meaning 0 RDY RDY pin input 1 ALM Alarm Signal 2 +EL Positive Limit Switch 3 -EL Negative Limit Switch 4 ORG Origin Switch 5 - Reserved io_sts U16 * 6 EMG Emergency signal input 7 - Reserved 8 ERC ERC pin output 9 - Reserved 10 - Reserved 11 - Reserved 12 SD Slow Down signal input 13 INP In-Position signal input 14 SVON Servo-ON output status 15 RALM Reset Alarm output status Status Return Function Name 47

48 7. Stop Motion Functions Function name _m134_sd_stop _m134_imd_stop _m134_emg_stop Set axis from slow down to stop. Stop the motion immediately without changing the motion status. Stop the motion immediately which changes the motion status to stop and raise the EMG flag. 48

49 7.1. _m134_sd_stop Set axis from slow down to stop. Syntax I16 _m134_sd_stop (U16 SwitchCardNo, U16 AxisNo, F32 Tdec) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 Axis number: 0 ~ 3 Tdec F32 Specified deceleration time in unit of second. Status Return Function Name 49

50 7.2. _m134_imd_stop Stop the motion immediately without changing the motion status. Syntax I16 _m134_imd_stop (U16 SwitchCardNo, U16 AxisNo) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 Axis number: 0 ~ 3 Status Return Function Name 50

51 7.3. _m134_emg_stop Stop the motion immediately which changes the motion status to stop and raise the EMG flag. Syntax I16 _m134_emg_stop (U16 SwitchCardNo, U16 AxisNo) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 Axis number: 0 ~ 3 Status Return Function Name 51

52 8. Homing Function name _m134_set_home_mode _m134_home_move Stopping modes for home return. Begin a home return action. 52

53 8.1. _m134_set_home_mode Stopping modes for home return. Syntax I16 _m134_set_home_mode(u16 SwitchCardNo, U16 AxisNo, I16 HomeMode) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 Axis number: 0 ~ 3 HomeMode I16 Stopping modes for home return, 0~2. See Note. Status Return Function Name 53

54 NOTE In this mode, you can let the 4-axis output pulses until the condition to complete the home return is satisfied after writing the command _m134_home_move. There are 3 home moving modes provided by 4-axis. The home_mode of function _m134_set_home_mode is used to select one s favorite. After completion of home move, it is necessary to keep in mind that all the position related information should be reset to be 0. home_mode = 0 ORG Slow Down Stop ORG EL Status1 Status2 Status3 Figure 8-1: home_mode = 0 54

55 home_mode = 1 ORG Slow Down Stop at the end of ORG ORG EL Status1 Status2 Status3 Figure 8-2: home_mode = 1 home_mode = 2 EL Slow Down Stop at the end of ORG EL Status1 Figure 8-3: home_mode = 2 55

56 8.2. _m134_home_move Begin a home return action. Syntax I16 _m134_home_move (U16 SwitchCardNo, U16 AxisNo, U8 Dir, U32 StrVel, U32 MaxVel, F32 Tacc) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 Axis number: 0 ~ 3 Set the start motion direction of the homing sequence. Value Meaning Dir U8 0 Negative (-) direction 1 Positive (+) direction StrVel U32 Start velocity. MaxVel U32 Max velocity. Tacc F32 Acceleration time. Status Return Function Name 56

57 9. Single Axis Motion Function name _m134_start_tr_move _m134_start_ta_move _m134_start_sr_move _m134_start_sa_move Begin a relative move with trapezoidal profile. Begin an absolute trapezoidal profile move. Begin a relative S-curve profile move. Begin an absolute S-curve profile move. 57

58 9.1. _m134_start_tr_move Begin a relative move with trapezoidal profile. See note. Syntax I16 _m134_start_tr_move (U16 SwitchCardNo, U16 AxisNo, I32 Dist, U32 StrVel, U32 MaxVel, F32 Tacc, F32 Tdec) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 Axis number: 0 ~ 3 Dist I32 Specified relative distance of axis to move. StrVel U32 Start velocity. MaxVel U32 Max velocity. Tacc F32 Acceleration time in unit of second. Tdec F32 Deceleration time in unit of second. Note: MaxVel > StrVel is necessary Tdec must be equal to Tacc. Status Return Function Name Note Figure 9-1: relative trapezoidal profile 58

59 9.2. _m134_start_ta_move Begin an absolute trapezoidal profile move. Syntax I16 _m134_start_ta_move (U16 SwitchCardNo, U16 AxisNo, I32 Pos, U32 StrVel, U32 MaxVel, F32 Tacc, F32 Tdec) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 Axis number: 0 ~ 3 Pos I32 Specified absolute position of axis to move. StrVel U32 Start velocity. MaxVel U32 Max velocity. Tacc F32 Acceleration time in unit of second. Tdec F32 Deceleration time in unit of second. Note: MaxVel > StrVel is necessary Tdec must be equal to Tacc. Status Return Function Name 59

60 9.3. _m134_start_sr_move Begin a relative S-curve profile move. Syntax I16 _m134_start_sr_move (U16 SwitchCardNo, U16 AxisNo, I32 Dist, U32 StrVel, U32 MaxVel, F32 Tacc, F32 Tdec) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 Axis number: 0 ~ 3 Dist I32 Specified relative distance of axis to move. StrVel U32 Start velocity. MaxVel U32 Max velocity. Tacc F32 Acceleration time in unit of second. Tdec F32 Deceleration time in unit of second. Note: MaxVel > StrVel is necessary Tdec must be equal to Tacc. Status Return Function Name 60

61 9.4. _m134_start_sa_move Begin an absolute S-curve profile move. Syntax I16 _m134_start_sa_move (U16 SwitchCardNo, U16 AxisNo, I32 Pos, U32 StrVel, U32 MaxVel, F32 Tacc, F32 Tdec) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 Axis number: 0 ~ 3 Pos I32 Specified absolute position of axis to move. StrVel U32 Start velocity. MaxVel U32 Max velocity. Tacc F32 Acceleration time in unit of second. Tdec F32 Deceleration time in unit of second. Note: MaxVel > StrVel is necessary Tdec must be equal to Tacc. Status Return Function Name 61

62 10. Velocity Mode Motion Function name _m134_tv_move _m134_sv_move _m134_v_change _m134_fix_speed_range _m134_unfix_speed_range _m134_get_current_speed Accelerate an axis to a constant velocity with trapezoidal profile. Accelerate an axis to a constant velocity with S-curve profile. Change the velocity on the fly. Fix the speed range. Release the speed range constrain. After finished the velocity change procedure, you need to use this command to release the speed fixed range. Get the current speed. 62

63 10.1. _m134_tv_move Accelerate an axis to a constant velocity with trapezoidal profile. See note. Syntax I16 _m134_tv_move (U16 SwitchCardNo, U16 AxisNo, U8 Dir, U32 StrVel, U32 MaxVel, F32 Tacc) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 Axis number: 0 ~ 3 Set the motion direction. Value Meaning Dir U8 0 Negative (-) direction 1 Positive (+) direction StrVel U32 Start velocity. MaxVel U32 Max velocity. Tacc F32 Acceleration time. Status Return Function Name Note Figure 10-1: constant velocity with trapezoidal profile 63

64 10.2. _m134_sv_move Accelerate an axis to a constant velocity with S-curve profile, see note. Syntax I16 _m134_sv_move (U16 SwitchCardNo, U16 AxisNo, U8 Dir, U32 StrVel, U32 MaxVel, F32 Tacc) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 Axis number: 0 ~ 3 Set the motion direction. Value Meaning Dir U8 0 Negative (-) direction 1 Positive (+) direction StrVel U32 Start velocity. MaxVel U32 Max velocity. Tacc F32 Acceleration time. Status Return Function Name Note Figure 10-2: constant velocity with S-curve profile 64

65 10.3. _m134_v_change Change the velocity on the fly. Syntax I16 _m134_v_change (U16 SwitchCardNo, U16 AxisNo, U32 NewVel, F32 Time) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 Axis number: 0 ~ 3 NewVel U32 The new velocity. Time F32 Acceleration time. Status Return Function Name 65

66 10.4. _m134_fix_speed_range Fix the speed range. Syntax I16 _m134_fix_speed_range (U16 SwitchCardNo, U16 AxisNo, U32 MaxVel) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 Axis number: 0 ~ 3 MaxVel U32 Max velocity. Status Return Function Name Note Figure 10-3: constant velocity with S-curve profile 66

67 10.5. _m134_unfix_speed_range Release the speed range constrain. After finished the velocity change procedure, you need to use this command to release the speed fixed range. Syntax I16 _m134_unfix_speed_range (U16 SwitchCardNo, U16 AxisNo) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 Axis number: 0 ~ 3 Status Return Function Name 67

68 10.6. _m134_get_current_speed Get the current speed. Syntax I16 _m134_get_current_speed (U16 SwitchCardNo, U16 AxisNo, U32 *speed) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 Axis number: 0 ~ 3 speed U32 * Get the current velocity of the axis. Status Return Function Name 68

69 11. Counter Control Functions Function name _m134_get_position _m134_set_position _m134_get_command _m134_set_command _m134_set_move_ratio Get the value of position counter. Reset the value of error counter. Get the value of command counter. Set the value of command counter. Set the ratio between command and feedback 69

70 11.1. _m134_get_position : Get the value of position counter. Syntax: I16 _m134_get_position (U16 SwitchCardNo, U16 AxisNo, I32 *pos) Argument: Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 Axis number: 0 ~ 3 pos [output] I32 * Position counter value. Return: Return value 70

71 11.2. _m134_set_position : Reset the value of error counter. Syntax: I16 _m134_set_position (U16 SwitchCardNo, U16 AxisNo, I32 pos) Argument: Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 Axis number: 0 ~ 3 pos I32 The value of position counter. Return: Return value 71

72 11.3. _m134_get_command : Get the value of command counter. Syntax: I16 _m134_get_command (U16 SwitchCardNo, U16 AxisNo, I32 *cmd) Argument: Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 Axis number: 0 ~ 3 cmd [output] I32 * Command counter value. Return: Return value 72

73 11.4. _m134_set_command : Set the value of command counter. Syntax: I16 _m134_set_command (U16 SwitchCardNo, U16 AxisNo, I32 cmd) Argument: Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 Axis number: 0 ~ 3 cmd I32 The value of command counter. Return: Return value 73

74 11.5. _m134_set_move_ratio : Set the ratio between command and feedback. Syntax: I16 _m134_set_move_ratio (U16 SwitchCardNo, U16 AxisNo, F32 Ratio) Argument: Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisNo U16 Axis number: 0 ~ 3 Ratio F32 ratio = Command / Feedback. Return: Return value 74

75 12. Axis Linear Motion _m134_start_tr_line2c _m134_start_ta_line2c _m134_start_tr_line3c _m134_start_ta_line3c _m134_start_tr_line4c _m134_start_ta_line4c Function name 75

76 12.1. _m134_start_tr_line2c Begin a relative 2-Axis linear interpolation with trapezoidal profile. Syntax I16 _m134_start_tr_line2c(u16 SwitchCardNo, U16 *AxisArray, I32 DistX, I32 DistY, U32 StrVel, U32 MaxVel, F32 Tacc, F32 Tdec) Argument SwitchCardNo Name AxisArray DistX DistY StrVel MaxVel Tacc Tdec Note: MaxVel > StrVel is necessary Tdec must be equal to Tacc. Status Return Return value 76

77 12.2. _m134_start_ta_line2c Begin an absolute 2-Axis linear interpolation with trapezoidal profile. Syntax I16 _m134_start_ta_line2c(u16 SwitchCardNo, U16 *AxisArray, I32 PosX, I32 PosY, U32 StrVel, U32 MaxVel, F32 Tacc, F32 Tdec) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisArray U16 * Array of axis number to perform interpolation. Example: Int AxisArray[2] = {0,2}; // axis 0 & 2 Note: AxisArray[n] must be smaller than AxisArray[m], if n<m. PosX I32 Specified absolute position of axis array 0 to move PosY I32 Specified absolute position of axis array 1 to move StrVel U32 Starting velocity in unit of pulse per second MaxVel U32 Maximum velocity in unit of pulse per second Tacc F32 Specified acceleration time in unit of second Tdec F32 Specified deceleration time in unit of second Note: MaxVel > StrVel is necessary Tdec must be equal to Tacc. Status Return Return value 77

78 12.3. _m134_start_tr_line3c Begin a relative 3-Axis linear interpolation with trapezoidal profile. Syntax I16 _m134_start_tr_line3c(u16 SwitchCardNo, U16 *AxisArray, I32 DistX, I32 DistY, I32 DistZ, U32 StrVel, U32 MaxVel, F32 Tacc, F32 Tdec) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisArray U16 * Array of axis number to perform interpolation. Example: Int AxisArray[2] = {0,2}; // axis 0 & 2 Int AxisArray[3] = {0,1,3}; // axis 0,1,3 Note: AxisArray[n] must be smaller than AxisArray[m], if n<m. DistX I32 Specified relative distance of axis array 0 to move DistY I32 Specified relative distance of axis array 1 to move DistZ I32 Specified relative distance of axis array 2 to move StrVel U32 Starting velocity in unit of pulse per second MaxVel U32 Maximum velocity in unit of pulse per second Tacc F32 Specified acceleration time in unit of second Tdec F32 Specified deceleration time in unit of second Note: MaxVel > StrVel is necessary Tdec must be equal to Tacc. Status Return Return value 78

79 12.4. _m134_start_ta_line3c Begin an absolute 3-Axis linear interpolation with trapezoidal profile. Syntax I16 _m134_start_ta_line3c(u16 SwitchCardNo, U16 *AxisArray, I32 PosX, I32 PosY, I32 PosZ, U32 StrVel, U32 MaxVel, F32 Tacc, F32 Tdec) Argument Name Type SwitchCardNo U16 The rotary switch set number of the master card. AxisArray U16 * Array of axis number to perform interpolation. Example: Int AxisArray[2] = {0,2}; // axis 0 & 2 Int AxisArray[3] = {0,1,3}; // axis 0,1,3 Note: AxisArray[n] must be smaller than AxisArray[m], if n<m. PosX I32 Specified absolute position of axis array 0 to move PosY I32 Specified absolute position of axis array 1 to move PosZ I32 Specified absolute position of axis array 2 to move StrVel U32 Starting velocity in unit of pulse per second MaxVel U32 Maximum velocity in unit of pulse per second Tacc F32 Specified acceleration time in unit of second Tdec F32 Specified deceleration time in unit of second Note: MaxVel > StrVel is necessary Tdec must be equal to Tacc. Status Return Return value 79

80 12.5. _m134_start_tr_line4c : Begin a relative 4-axis linear interpolation with trapezoidal profile. Syntax: I16 _m134_start_tr_line4c(u16 SwitchCardNo, I32 DistX, I32 DistY, I32 DistZ, I32 DistU, U32 StrVel, U32 MaxVel, F32 Tacc, F32 Tdec) Argument: Name Type SwitchCardNo U16 The rotary switch set number of the master card. DistX I32 Specified relative distance of axis 0 to move DistY I32 Specified relative distance of axis 1 to move DistZ I32 Specified relative distance of axis 2 to move DistU I32 Specified relative distance of axis 3 to move StrVel U32 Starting velocity in unit of pulse per second MaxVel U32 Maximum velocity in unit of pulse per second Tacc F32 Specified acceleration time in unit of second Tdec F32 Specified deceleration time in unit of second Note: MaxVel > StrVel is necessary Tdec must be equal to Tacc. Return: Return value 80

81 12.6. _m134_start_ta_line4c : Begin an absolute 4-axis linear interpolation with trapezoidal profile. Syntax: I16 _m134_start_ta_line4c(u16 SwitchCardNo, I32 PosX, I32 PosY, I32 PosZ, I32 PosU, U32 StrVel, U32 MaxVel, F32 Tacc, F32 Tdec) Argument: Name Type SwitchCardNo U16 The rotary switch set number of the master card. PosX I32 Specified absolute position of axis 0 to move PosY I32 Specified absolute position of axis 1 to move PosZ I32 Specified absolute position of axis 2 to move PosU I32 Specified absolute position of axis 3 to move StrVel U32 Starting velocity in unit of pulse per second MaxVel U32 Maximum velocity in unit of pulse per second Tacc F32 Specified acceleration time in unit of second Tdec F32 Specified deceleration time in unit of second Note: MaxVel > StrVel is necessary Tdec must be equal to Tacc. Return: Return value 81

82 13. Auto Compare Programming Function name _m134_get_auto_compare_encoder _m134_set_auto_compare_encoder _m134_set_auto_compare_source _m134_get_auto_compare_count _m134_get_auto_compare_status _m134_set_auto_compare_trigger _m134_set_auto_compare_function _m134_set_auto_compare_table _m134_start_auto_compare _m134_force_trigger_output Get the encoder value stored in the CPLD which is for auto compare triggering. Set the encoder value in the CPLD which is for auto compare triggering. Set the source of the compare trigger Get the trigger counts since start auto compare triggering. Get the current status of the auto compare trigger function. Configure the level and triggering duration. Configure the auto compare trigger profiles with regular interval. Configure the auto compare trigger profiles with non-regular interval, i.e., programmable positions. Enable/Disable the compare trigger function. Output a triggering signal to the CMP immediately. 82

83 13.1. _m134_get_auto_compare_encoder : Get the encoder value stored in the CPLD which is for auto compare triggering. Syntax: I16 _m134_get_auto_compare_encoder (U16 SwitchCardNo, U16 AxisNo, I32 *EncPos) Argument: Name Type SwitchCardNo U16 Specified board. AxisNo U16 Axis number: 0 ~ 3 EncPos I32 * The encoder position stored in the CPLD. Return: Return value 83

84 13.2. _m134_set_auto_compare_encoder : Set the encoder value in the CPLD which is for auto compare triggering. Syntax: I16 _m134_set_auto_compare_encoder (U16 SwitchCardNo, U16 AxisNo, I32 EncPos) Argument: Name Type SwitchCardNo U16 Specified board. AxisNo U16 Axis number: 0 ~ 3 EncPos I32 The encoder position to store in the CPLD. Return: Return value NOTE Make sure that auto compare encoder is equal to position counter, before any trigger operation. Eg. I32 pos = 0; _m134_set_position (SwitchCardNo, AxisNo, pos); _m134_set_auto_compare_encoder (SwitchCardNo, AxisNo, pos); 84

85 13.3. _m134_set_auto_compare_source : Set the source of the compare trigger. Syntax: I16 _m134_set_auto_compare_source(u16 SwitchCardNo, U16 AxisNo, U16 SrcAxisNo) Argument: Name Type SwitchCardNo U16 Specified board. AxisNo U16 Axis number: 0 ~ 3 SrcAxisNo U16 Axis number to be compared: 0 ~ 3 Return: Return value 85

86 13.4. _m134_get_auto_compare_count : Get the trigger counts since start auto compare triggering. Syntax: I16 _m134_get_auto_compare_count (U16 SwitchCardNo, U16 AxisNo, U16 *Count) Argument: Name Type SwitchCardNo U16 Specified board. AxisNo U16 Axis number: 0 ~ 3 Count U16 * The amounts of the trigger since start auto compare triggering. Return: Return value 86

87 13.5. _m134_get_auto_compare_status : Get the current status of the auto compare trigger function. Syntax: I16 _m134_get_auto_compare_status (U16 SwitchCardNo, U16 AxisNo, U16 *OnOff) Argument: Name Type SwitchCardNo U16 Specified board. AxisNo U16 Axis number: 0 ~ 3 Current status of auto compare trigger. Value Meaning OnOff U16 * 0 Disabled 1 Enabled Return: Return value 87

88 13.6. _m134_set_auto_compare_function : Configure the auto compare trigger profiles with regular interval. Syntax: I16 _m134_set_auto_compare_function (U16 SwitchCardNo, U16 AxisNo, U8 Dir, I32 StrPos, I32 Interval, U16 TrgCnt) Argument: Name Type SwitchCardNo U16 Specified board. AxisNo U16 Axis number: 0 ~ 3 Motion direction which enables auto compare trigger. Value Meaning Dir U8 0 Negative direction 1 Position direction StrPos I32 The start position which auto compare trigger begins. Interval I32 The distance interval for regularly auto compare trigger. TrgCnt U16 The maximum trigger count need to invoke. Return: Return value Start Pos Width Count Interval 88

89 13.7. _m134_set_auto_compare_trigger : Configure the level and triggering duration. Syntax: I16 _m134_set_auto_compare_trigger (U16 SwitchCardNo, U16 AxisNo, U16 Level, U16 Width) Argument: Name Type SwitchCardNo U16 Specified board. AxisNo U16 Axis number: 0 ~ 3 Trigger level Value Meaning Level U16 0 Normal Low 1 Normal High Width of the triggering duration. Width U16 Value: 3 ~ micro-second Return: Return value NOTE Start Pos Width Level = High Count Interval Level = Low 89

90 13.8. _m134_set_auto_compare_table : Configure the auto compare trigger profiles with non-regular interval, i.e., programmable positions. Syntax: I16 _m134_set_auto_compare_table (U16 SwitchCardNo, U16 AxisNo, U8 Dir, U16 Size, I32 *Table) Argument: Name Type SwitchCardNo U16 Specified board. AxisNo U16 Axis number: 0 ~ 3 Motion direction which enables auto compare trigger. Value Meaning Dir U8 0 Negative direction 1 Position direction The size of the programmed positions in the position array. The value Size U16 ranges from 1 to Table I32 * The array stores positions need to trigger the CMP signal. Return: Return value User AP Memory Trigger 0 Trigger 1 Memory On Card Size =

91 13.9. _m134_start_auto_compare : Enable/Disable the compare trigger function. Syntax: I16 _m134_start_auto_compare (U16 SwitchCardNo, U16 AxisNo, U16 OnOff) Argument: Name Type SwitchCardNo U16 Specified board. AxisNo U16 Axis number: 0 ~ 3 Enable/Disable the compare trigger. Value Meaning OnOff U16 0 Disable 1 Enable Return: Return value 91

92 _m134_force_trigger_output : Output a triggering signal to the CMP immediately. Syntax: I16 _m134_force_trigger_output (U16 SwitchCardNo, U16 AxisNo) Argument: Name Type SwitchCardNo U16 Specified board. AxisNo U16 Axis number: 0 ~ 3 Return: Return value 92