The TMCL Wrapper DLL (USB version)

Transcription

1 The TMCL Wrapper DLL (USB version) Version: 0.02 October 1 st, 2004 D Hamburg, Germany

2 2 The TMCL Wrapper DLL (USB) Version Version Date Author Comment May-04 OK Initial version Oct-04 OK Address change Contents 1 Overview Interface functions ListUSBDevices OpenUSB CloseUSB GetResult TMCL command functions TMCLRotateRight TMCLRotateLeft TMCLMotorStop TMCLMoveToPosition TMCLSetAxisParameter TMCLGetAxisParameter TMCLStoreAxisParameter TMCLRestoreAxisParameter TMCLSetGlobalParameter TMCLGetGlobalParameter TMCLStoreGlobalParameter TMCLRestoreGlobalParameter TMCLReferenceSearch TMCLSetOutput TMCLGetInput TMCLSetCoordinate TMCLGetCoordinate TMCLCaptureCoordinate... 6 D Hamburg, Germany

3 The TMCL Wrapper DLL (USB) 3 1 Overview The TMCL wrapper DLL is a DLL that provides functions to send TMCL commands to a module. The DLL contains a function for every TMCL command that can be executed in direct mode. Please see the TMCL Reference and Programming Manual for explanations of all the commands.

4 4 The TMCL Wrapper DLL (USB) 2 Interface functions 2.1 ListUSBDevices This functions enumerates all TMCM-610 devices that are currently connected to the PC and powered (as the devices are not powered by the USB bus they must be powered externally in order to be recognized). This function expects a pointer to a DWORD type variable that will receive the number of the devices and a pointer to a character array that will be filled with a comma-separated list of all device serial numbers. 2.2 OpenUSB This function opens an USB connection to a TMCM-610 device and returns a handle to it. This handle must be used with all the other functions of the DLL. The device is identified by its serial number that can be obtained using the ListUSBDevices function. 2.3 CloseUSB The CloseUSB function closes the connection specified by its handle. 2.4 GetResult This functions reads the result of a TMCL command. After a TMCL command has been executed by the module it sends back a result. The GetResult function must be executed directly after each TMCL command function. D Hamburg, Germany

5 The TMCL Wrapper DLL (USB) 5 3 TMCL command functions There is a function for every TMCL command that can be executed in direct mode. The parameters of every function are quite similar. Every function needs the handle of the serial port and the address of the module. The other parameters are the type, motor and value parameter that are explained in the TMCL Reference Manual. Important note: Every functions expects an Address parameter. This parameter is only there to be compatible with the RS232 version of the TMCL wrapper DLL. In the USB version this parameter is ignored. Device addresses are not needed with USB as every device gets its own connection. 3.1 TMCLRotateRight ROR command in TMCL Parameters: Motor, Velocity 3.2 TMCLRotateLeft ROL command in TMCL Parameters: Motor, Velocity 3.3 TMCLMotorStop MST command in TMCL Parameters: Motor 3.4 TMCLMoveToPosition MVP command in TMCL Parameters: Motor, Type (MVP_ABS, MVP_REL or MVP_COORD), Position 3.5 TMCLSetAxisParameter SAP command in TMCL, Value 3.6 TMCLGetAxisParameter GAP command in TMCL 3.7 TMCLStoreAxisParameter STAP command in TMCL 3.8 TMCLRestoreAxisParameter RSAP command in TMCL

6 6 The TMCL Wrapper DLL (USB) 3.9 TMCLSetGlobalParameter SGP command in TMCL Parameters: Type, Bank, Value 3.10 TMCLGetGlobalParameter GGP command in TMCL Parameters: Type, Bank 3.11 TMCLStoreGlobalParameter STGP command in TMCL Parameters: Type, Bank 3.12 TMCLRestoreGlobalParameter RTGP command in TMCL 3.13 TMCLReferenceSearch RFS command in TMCL Parameters: Type (RFS_START, RFS_STOP, RFS_STATUS), Motor 3.14 TMCLSetOutput SIO command in TMCL Parameters: Type (Port number), Bank, Value 3.15 TMCLGetInput SIO command in TMCL Parameters: Type (Port number), Bank 3.16 TMCLSetCoordinate SCO command in TMCL Parameters: Type (Index), Motor, Value 3.17 TMCLGetCoordinate GCO command in TMCL Parameters: Type (Index), Motor 3.18 TMCLCaptureCoordinate CCO command in TMCL Parameters: Type (Index), Motor, Value D Hamburg, Germany