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Magellan Motion Processor Programmer`s Command Reference

1. Syntax ResetEventStatus axis mask Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 mask Motion Complete FFFEh Wrap around FFFDh Breakpoint 1 FFFBh Capture Received FFF h Motion Error FFEFh Positive Limit FFDFh Negative Limit FFBFh Instruction Error FF 7Fh Disable FEFFh Overtemperature Fault FDFFh Bus Voltage Fault FBFFh Commutation Error F7FFh Current Foldback EFFFh Breakpoint 2 BFFFh Returned data None Packet ResetEventStatus Structure 0 34h 15 12 11 8 7 0 Data write mask 15 0 Description ResetEventStatus clears sets to 0 for the specified axis each bit in the Event Status register that has a value of 0 in the mask sent with this command All other Event Status register bits bits that have a mask value of 1 are unaffected Events that cause changes in operating mode or trajectory require in general that the corresponding bit in Event Status be cleared prior to returning to operation That is prior to restoring the operating mode in cases where the event caused a change in it or prior to performing another trajectory move in cases where the event caused a trajectory stop The one exception to this is Motion Error which is not required to be cleared if the event action for it includes disabling of the position loop Restrictions Not all bits in ResetEventStatus are supported in some products See the p
2. 0 axis E3h 15 12 11 8 7 0 Data read 0 mode 31 1 0 Description SetCommutationMode sets the phase commutation mode for the specified axis When set to Sinusoidal as the motor turns the encoder input signals are used to calculate the phase angle This angle is in turn used to generate sinusoidally varying outputs to each motor winding When set to Hall based the Hall effect sensor inputs are used to commutate the motor windings using a six step or trapezoidal waveform method When using FOC current control this command is used to define the method used for motor phase determination GetCommutationMode returns the value of the commutation mode Restrictions C Motion API PMDresult PMDSetCommutationMode PMDAxisInterface axis intf PMDuint16 mode PMDresult PMDGetCommutationMode PMDAxisInterface axis intf PMDuint16 mode VB Motion API Dim mode as Short MagellanAxis CommutationMode mode mode MagellanAxis CommutationMode see Set GetPhasePrescale p 132 Set GetPhaseCounts p 128 Magellan Motion Processor Programmer s Command Reference 89 SetCurrentControlMode buffered 43h GetCurrentControlMode 44h B COE Syntax SetCurrentControlMode axis mode GetCurrentControlMode axis Motor Types Brushless DC Microstepping Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 mode Phase A B Current Loops 0 FOC 1 Pac
3. Default Value Buffered RAM Buffer Buffer Length 0 Magellan NO 0180h ION Buffer Read Index 0 NO Buffer Start 0 NO Buffer Write Index 0 NO Safety Positive Limit Event Action 8 NO Negative Limit Event Action 8 NO Motion Error Event Action motor dependent NO Current Foldback Event Action 7 NO Overvoltage Threshold see ION Digital Drive User s Manual NO Undervoltage Threshold see ION Digital Drive User s Manual NO Overtemperature Threshold 17920 NO FaultOut Mask 0600h NO Continuous Current Limit see ION Digital Drive User s Manual Energy Limit see ION Digital Drive User s Manual Status Registers and AxisOut Indicator AxisOut Source Axis 0 NO AxisOut Register 0 NO AxisOut Selection Mask 0 NO AxisOut Sense Mask 0 NO Signal Sense motor dependent NO Traces Trace Mode 0 NO Trace Period l NO Trace Start 0 NO Trace Stop 0 NO Trace Variables all are O NO Miscellaneous Update Mask OBh NO CAN Mode C000h see Notes NO Serial Port Mode 232 0004h see Notes NO Serial Port Mode 485 0084h see Notes NO Magellan Motion Processor Programmer s Command Reference Reset cont 39h The motor type dependent default values are listed in the following tables Brushless DC Brushless DC Variable DC Brush 3 phase 2 phase Actual Position Units 0 0 0 Commutation Mode 0 0 Encoder Source 0 0 0 Motion Error Event Action 5 5 5 Output Mode Magellan 2 2 2 ION Phase Correction Mode l l PWM
4. 13 7 of full scale output Restrictions Phase C is only valid when the motor type has been set for a 3 phase commutation This command has no meaning when current control mode is set to FOC whether or not the current loops are enabled When the current control mode is set to Phase A B current loops the values are the inputs to the current loops When current loops are disabled the value is the motor output command C Motion API PMDresult PMDGetPhaseCommand PMDAxisInterface axis intf PMDuint1l6 phase PMDint16 commana VB Motion API Dim command as Short command MagellanAxis PhaseCommand phase see SetCurrentControlMode p 90 44 Magellan Motion Processor Programmer s Command Reference GetPositionError 99h Syntax GetPositionError axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Returned data Type Range Scaling Units error signed 32 bits 2 to 2 1 unity counts microsteps Packet GetPositionError Structure 0 axis 99h 15 12 11 8 7 0 First data word read error high order part 31 16 Second data word read error low order part 15 0 Description GetPositionError returns the position error of the specified axis The error is the difference between the actual position encoder position and the commanded position instantaneous output of the trajectory genera
5. Duint8 mode DAxis auxiliaryAxis in mode out mode in auxiliaryAxis out auxiliaryAxis 71 SetAxisOutMask 45h GetAxisOutMask 46h a iA es Syntax SetAxisOutMask axis sourceAxis sourceRegister selectionMask senseMask GetAxisOutMask axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 sourceAxis Axis1 0 Axis2 1 Axis3 2 Axis4 3 sourceRegister Disabled 0 Event Status 1 Activity Status 2 Signal Status 3 Drive Status 4 selectionMask see below bitmask senseMask see below bitmask Packet SetAxisOutMask Structure 0 axis 45h 15 12 11 8 7 0 First Data Word write 0 sourceRegister sourceAxis 15 12 11 8 7 0 Second Data Word write selectionMask 15 0 Third Data Word write senseMask 15 0 GetAxisOutMask 0 axis 46h 15 12 11 8 7 0 First Data Word read 0 sourceRegister sourceAxis 15 12 11 8 7 0 Second Data Word read selectionMask 15 0 Third Data Word read senseMask 15 0 72 Magellan Motion Processor Programmer s Command Reference SetAxisOutMask cont GetAxisOutMask 45h 46h ea A eee S Description Restrictions C Motion API VB Motion API see SetAxisOutMask configures what will drive the AxisOut pin of the axis The sourceRegister and sourceAxis arguments specify which register from which axis will be used
6. Second data word read length high order part 31 16 Third data word read length low order part 15 0 Description SetBufferLength sets the length in numbers of 32 bit elements of the buffer in the memory block identified by bufferlD Note The SetBufferLength command resets the buffers read and write indexes to 0 The GetBufferLength command returns the length of the specified buffer Restrictions The buffer length plus the buffer start address cannot exceed the memory size of the product See the product user s guide C Motion API PMDresult PMDSetBufferLength PMDAxisInterface axis intf PMDuint16 bufferID PMDuint32 length PMDresult PMDGetBufferLength PMDAxisInterface axis intf PMDuintl6 bufferID PMDuint32 length VB Motion API Dim length as Long MagellanObject BufferLength bufferID length length MagellanObject BufferLength bufferID see Set GetBufferReadIndex p 82 Set GetBufferStart p 83 Set GetBufferWritelndex p 84 Magellan Motion Processor Programmer s Command Reference 81 SetBufferReadIndex C6h GetBufferReadIndex C7h EE Syntax SetBufferReadIndex bufferlD index GetBufferReadIndex bufferlD Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Type Range Scaling Units bufferlD unsigned 16 bits 0 to 31 unity index unsigned 32 bits 0 to buffer unity double words length 1 Packet SetBufferR
7. VB Motion API Dim position as Long MagellanAxis Position position position MagellanAxis Position see Set GetAcceleration p 66 Set GetDeceleration p 95 Set GetJerk p 115 Set GetVelocity p 165 MultiUpdate p 55 Update p 167 Magellan Motion Processor Programmer s Command Reference 133 SetPositionErrorLimit 97h GetPositionErrorLimit 98h B ee Syntax SetPositionErrorLimit axis limit GetPositionErrorLimit axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Type Range Scaling Units limit unsigned 32 bits 0 to2 1 unity counts microsteps Packet SetPositionErrorLimit Structure 0 axis 97h 15 12 11 8 7 0 First data word write limit high order part 31 16 Second data word write limit low order part 15 0 GetPositionErrorLimit 0 axis 98h 15 12 11 8 7 0 First data word read limit high order part 31 16 Second data word read limit low order part 15 0 Description SetPositionErrorLimit sets the absolute value of the maximum position error allowable by the motion processor for the specified axis If the position error exceeds this limit a motion error occurs Such a motion error can cause a choice of actions or no action configurable using the SetEventAction Motion Error command When the motor typ
8. 0 axis A3h 15 12 11 8 7 0 Data read 0 sense 15 13 12 0 Description SetSignalSense establishes the sense of the corresponding bits of the Signal Status register with the addition of Step Output and Motor Direction for the specified axis For Encoder Index if the sense bit is 1 an index will be recognized for use in index based phase correction if the index is high For the Capture Input if the sense bit is 1 a capture will occur on a low to high signal transition Otherwise a capture will occur on a high to low transition For Positive Limit and Negative Limit if the sense bit is 1 an overtravel condition will occur if the signal is high Otherwise an overtravel condition will occur when the signal is low 146 Magellan Motion Processor Programmer s Command Reference SetSignalSense cont A2h GetSignalSense A3h Description The AxisOut signal is inverted if the sense bit is set to one otherwise it is not inverted cont When the Step Output bit is set to 1 a step will be generated by the motion processor with a low to high transition on the Pulse signal Otherwise a step will be generated by the motion processor with a high to low transition on the Pulse signal Setting the Motor Direction bit has the effect of swapping the sense of positive and negative motor movement GetSignalSense returns the value of the Signal Sense mask Restrictions In ION products FaultOut and Enable exist in the Signal Statu
9. DK58420 4 axes 2 ICs DK581 10 laxis IC DK55420 4 axes 2 ICs DK55110 I axis IC Not available as motion pro cessor developer s kit Used exclusively in ION products Magellan Motion Processor Programmer s Command Reference amp The Magellan Family This page intentionally left blank 10 Magellan Motion Processor Programmer s Command Reference 2 C Mlotion r 2 1 Introduction C Motion is a C source code library that contains all the code required for communicating with the Magellan Motion Processor C Motion includes the following features e Axis virtualization e The ability to communicate to multiple Magellan Motion Processors Can be easily linked to any C C application C Motion callable functions are broken into two groups those callable functions that encapsulate motion processor specific commands and those callable functions that encapsulate product specific capabilities The motion processor specific commands are detailed in Chapter 4 Instruction Reference They are the primary com mands that you will use to control the major motion features including profile generation servo loop closure motor output signal generation PWM and analog breakpoint processing trace operations and many other functions Each Magellan Motion Processor command has a C Motion command of the identical name but prefaced by the let ters PMD For example the Magellan command SetPo
10. This series outputs pulse amp direction sig nals for use with step motors Magellan ION This single chip motion processor is specifically designed to work with the ION family of digital drives It provides one axis of control with an additional auxiliary axis of encoder input It controls either a DC brush motor a three phase brushless motor or a step motor Compared to the MC50000 it has additional amplifier control features such as digital current control and overtemperature sense The Magellan ION is only available embedded in the ION Digital Drive it is not sold as a separate motion processor device Magellan Motion Processor Programmer s Command Reference 7 rN The Magellan Family 1 2 Magellan Motion Processor Products The following table presents a feature summary of the products in the Magellan Motion Processor product family MC58000 Series MC55000 Series Magellan ION of axes 1 2 3 4 1 2 3 4 Motor types supported DC brush brushless DC Pulse amp Direction DC brush brushless DC Microstepping step step motor Microstepping step motor motor Pulse amp Direction step motor Microstepping motor Output format PWM DAC Pulse amp Pulse amp Direction PWM internal to drive Direction Parallel communication Serial communication 3 id CAN 2 0B communication 7 Incremental encoder input 4 y y Parallel word device input f s
11. 15 12 11 8 7 0 First data word write 0 phase parameter 15 12 11 8 7 0 Second data word write value 15 0 GetCurrentLoop 0 axis 74h 15 12 11 8 7 0 First data word write 0 phase parameter 15 12 11 8 7 0 Second data word read value 15 0 Description Set GetCurrentLoop is used to configure the operating parameters of the Phase A B PI digital current loops See the product uset s guide for more information on how each parameter is used in the current loop processing The value written read is always an unsigned 16 bit value with the parametet specific scaling shown below Parameter Range Scaling Units Proportional Gain KpCurrent 0 to 2415 1 1 64 gain Integral Gain KiCurrent 0 to 2415 1 1 256 gain cycles Integral Sum Limit ILimitCurrent 0 to 2415 1 1 100 current cycles A setting of 64 for KpCurrent corresponds to a gain of 1 That is an error signal of 30 maximum current will cause the proportional contribution of the current loop output to be 30 of maximum output Similarly setting KiCurrent to 256 gives it a gain of 1 and the value of the integral sum would become the integral contribution to the output The units of time for the integral sum are cycles Magellan Motion Processor Programmer s Command Reference 93 SetCurrentLoop cont buffered 73h GetCurrentLoop 74h Oy a Description ILimitCurrent is used to limit the contribution of the integral sum at the outp
12. 2415 to 2415 1 100 24 14 max current Error 2415 to 2415 1 100 24 14 max current Integrator Sum 2431 to 2431 1 100 214 max current current loop cycles Integral Contribution 2431 to 2431 1 100 24 14 max current Output 2415 to 2415 1 100 214 max current Magellan Motion Processor Programmer s Command Reference 35 A GetCurrentLoopValue cont 71h Description All of the nodes have units of maximum current and most have scaling of 100 2 14 That is a cont value of 2 14 corresponds to 100 maximum current The range is extended to allow for overshoot in excess of maximum peak current and thus values can be more than 100 of the maximum output current The Integrator Sum is a signed 32 bit number with scaling of 100 2 14 That is a current error of 100 maximum present for 16 current loop cycles will result in an integrator sum of 16 100 2 14 100 2 18 Current loop cyles are not the same as position loop servo cycles The current loop runs at 20 kHz regardless of the servo cycle time Restrictions This command is only supported in products that include digital current control and when the current control mode is Phase A B C Motion API PMDresult PMDGetCurrentLoopValue PMDAxisInterface axis intf PMDuint8 phase PMDuint8 node PMDint32 value VB Motion API MagellanAxis CurrentLoopValue in phase in node out value see Set GetCurrentLoop p 93 Set GetCurrentControlMode p 90 36 Mag
13. 56 Syntax Motor Types Arguments Returned data Packet Structure Description Restrictions C Motion API VB Motion API See NoOperation DC Brush Brushless DC Microstepping Pulse amp Direction None None NoOperation 0 00h 15 8 7 0 The NoOperation command has no effect on the motion processor PMDresult PMDNoOperation PMDAxisInterface axis intf MagellanObject NoOperation Magellan Motion Processor Programmer s Command Reference ReadAnalog EFh A Syntax Motor Types Arguments Returned data Packet Structure Description Restrictions C Motion API VB Motion API see ReadAnalog portiD DC Brush Brushless DC Microstepping Pulse amp Direction Name Type Range Scaling Units portID unsigned 16 bits 0to7 unity Type Range Scaling Units value unsigned 16 bits 0 to 28 14 100 2 input ReadAnalog 0 EFh 15 8 7 0 First data word write 0 portID 15 3 2 0 Second data word read value 15 0 ReadAnalog returns a 16 bit value representing the voltage presented to the specified analog input See the product user s guide for more information on analog input and scaling PMDresult PMDReadAnalog PMDAxisInterface axis _intf PMDuintl6 portID PMDuint16 value Dim value as Short value MagellanObject Analog portID Magellan Motion Processor Programmer s Command Reference 57 Syntax Motor T
14. Depending on the product all of the specified bits in Event Status may not be available In addition to the FaultOut mask on the Event Status register the FaultOut pin is driven by a mask on the Drive Fault Status register bits 4 2 1 and 0 which cannot be changed and is internally ORed with the FaultOut mask on Event Status C Motion API PMDresult PMDSetFaultOutMask PMDAxisInterface axis intf PMDuint16 mask PMDresult PMDGetFaultOutMask PMDAxisInterface axis intf PMDuint16 mask VB Motion API Dim mask as Short MagellanAxis FaultOutMask mask mask MagellanAxis FaultOutMask see Set GetIinterruptMask p 113 Magellan Motion Processor Programmer s Command Reference 105 SetFOC buffered F6h GetFOC F7h 2S a Syntax SetFOC axis loop parameter value GetFOC axis loop parameter Motor Types Brushless DC Microstepping Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 loop Direct D 0 Quadrature Q 1 Both D and Q 2 parameter Proportional Gain KpDQ 0 Integral Gain KiDQ 1 Integral Sum Limit ILimitDQ 2 Type Range Scaling value unsigned 16 bits see below Packet SetFOC Structure 0 axis F6h 15 12 11 8 7 0 First data word write 0 loop parameter 15 12 11 8 7 0 Second data word write value 15 0 GetFOC 0 axis F7h 15 12 11 8 7 0 First data word write 0 loop parameter 15 12 11 8 7 0 Second data word read value 15 0 Desc
15. PMDuint1l6 parameter PMDint32 value PMDresult PMDGetPositionLoop PMDAxisInterface axis intf PMDuint16 parameter PMDint32 value VB Motion API Dim value as Long MagellanAxis PositionLoop parameter value value MagellanAxis PositionLoop parameter see Update p 167 Set GetUpdateMask p 163 MultiUpdate p 55 Set GetBreakpointUpdateMask p 77 GetPositionLoopValue p 46 Magellan Motion Processor Programmer s Command Reference 137 SetProfileMode buffered AOh GetProfileMode Ath B o ee Syntax SetProfileMode axis mode GetProfileMode axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 mode Trapezoidal 0 Velocity Contouring 1 S curve 2 Electronic Gear 3 Packet SetProfileMode Structure 0 axis Aoh 15 12 11 8 7 0 Data write 0 mode 15 3 2 0 GetProfileMode 0 axis Ath 15 12 11 8 7 0 Data read 0 mode 15 3 2 0 Description SetProfileMode sets the profile mode for the specified axis GetProfileMode returns the contents of the profile mode register for the specified axis Restrictions SetProfileMode is a buffered command The value set using this command will not take effect until the next Update or MultiUpdate command with the Trajectory Update bit set in the update mask C Motion API PMDresult PMDSetProfileMode PMDAxisInterface
16. 1Ah 167 WriteBuffer C8h 168 WritelO 82h 169 176 Magellan Motion Processor Programmer s Command Reference Instruction Summary Tables 7 ON 5 3 Numerical Listing Code Instruction Page Code Instruction Page 00h NoOperation 56 48h SetEventAction 102 02h SetMotorType 120 49h GetEventAction 102 03h GetMotorType 120 4Ah GetPosition 133 06h SetMotorLimit 119 4Bh GetVelocity 165 07h GetMotorLimit 119 4Ch GetAcceleration 66 08h SetAuxiliaryEncoderSource T1 4Dh SetActualPosition 68 09h GetAuxiliaryEncoderSource 71 53h GetTemperature 48 OAh SetSPIMode 148 55h GetPositionLoopValue 46 OBh GetSPIMode 148 56h GetInterruptMask 113 0Ch SetPWMFrequency 139 57h GetActiveOperatingMode 25 O0Dh GetPWMFrequency 139 58h GetJerk 115 OEh GetDriveStatus 38 59h GetGearRatio 110 OFh SetMotorBias 117 5Ah GetFOCValue 40 10h SetPosition 133 5Bh MultiUpdate 55 Ih SetVelocity 165 5Eh SetHoldingCurrent T11 12h SetCANMode 87 5Fh GetHoldingCurrent alla 13h SetjJerk 115 60h GetBusVoltageLimits 85 14h SetGearRatio 110 62h SetBusVoltageLimits 85 15h GetCANMode 87 65h SetOperatingMode 122 IAh Update 167 66h GetOperatingMode 122 Bh SetOvertemperatureLimit 125 67h SetPositionLoop 135 ICh GetOvertemperatureLimit 125 68h GetPositionLoop 135 IDh GetCommandedPosition 33 69h GetMotorCommand 118 lEh GetCommandedVelocity 34 6Ah SetStartVelo
17. Axis3 2 Axis4 3 source Actual 0 Commanded 1 Packet SetGearMaster Structure 0 axis AEh 15 12 11 8 7 0 Data write 0 source masterAxis 15 9 8 7 0 GetGearMaster 0 axis AFh 15 12 11 8 7 0 Data read 0 source masterAxis 15 9 8 7 0 Description SetGearMaster establishes the slave axis and master masterAxis axes for the electronic gearing profile and sets the source Actual or Commanded of the master axis position data to be used The masterAxis determines the axis that will drive the slave axis Both the slave and the master axes must be enabled SetOperatingMode command The source determines whether the master axis commanded position as determined by the trajectory generator will be used to drive the slave axis or whether the master axis encoder position will be used to drive the slave GetGearMaster returns the value for the geared axes and position soutce Restrictions Magellan Motion Processor Programmer s Command Reference 108 SetGearMaster cont AEh GetGearMaster AFh een taqtyzqoaszzzz22 gt 25 gt 5 gt 52 EZ C Motion API PMDresult PMDSetGearMaster PMDAxisInterface axis intf PMDAxis masterAxis PMDuint8 source PMDresult PMDGetGearMaster PMDAxisInterface axis intf PMDAxis masterAxis PMDuint8 source VB Motion API MagellanAxis GearMasterSet in masterAxis in source MagellanAxis GearMasterGet out masterAxis out source see Set GetGearRatio p 110 109 Magellan Motion Processor P
18. Data read transmission rate 0 nodelD 15 13 12 7 6 0 Description SetCANMode sets the CAN 2 0B communication parameters for the motion processor After completion of this command the motion processor will respond to a CAN receive message addressed to 600h nodelD CAN responses ate sent to 580h nodelD The CAN transmission rate will be as specified in the transmission rate parameter Note that when this command is used to change to a new nodeID the command response for this command will be sent to the new nodeID The following table shows the encoding of the data used by this command Bits Name 0 6 CAN NodelD Instance Encoding Address 0 0 Address l Address 127 127 7 12 Reserved 13 15 Transmission Rate 1 000 000 baud 800 000 500 000 250 000 125 000 50 000 20 000 10 000 NOUR WN Restrictions C Motion API PMDresult PMDSetCANMode PMDAxisHandle axis handle PMDuint8 nodeID PMDuint8 transmission rate PMDresult PMDGetCANMode PMDAxisHandle axis handle PMDuint8 nodeID PMDuint8 transmission rate VB Motion API CommunicationCAN CANModeSet in nodeID in transmission rate see Magellan Motion Processor Programmer s Command Reference 87 SetCaptureSource D8h GetCaptureSource D9h a Syntax SetCaptureSource axis source GetCaptureSource axis Motor Types DC Brush Brushless DC Microstepping Pulse a
19. GetChecksum 31 B9h GetTracePeriod 154 F9h SetUpdateMask 163 BAh GetTraceStatus 51 FAh GetUpdateMask 163 BBh GetTraceCount 50 FBh SetFaultOutMask 104 BCh SetSettleWindow 145 FCh GetFaultOutMask 104 BDh GetSettleWindow 145 BEh SetActualPositionUnits 70 BFh GetActualPositionUnits 70 COh SetBufferStart 83 Clh GetBufferStart 83 C2h SetBufferLength 81 C3h GetBufferLength 81 C4h SetBufferWritelndex 84 C5h GetBufferWritelndex 84 C6h SetBufferReadIndex 82 C7h GetBufferReadiIndex 82 C8h WriteBuffer 168 C9h ReadBuffer 58 CEh GetStepRange 150 CFh SetStepRange 150 DOh SetStopMode 151 178 Magellan Motion Processor Programmer s Command Reference Instruction Summary Tables 5N 5 4 Magellan Compatibility Below are commands from Magellan v1 x that have been replaced superseded by new commands in Magellan v2 x Old Command Old Code New Command Set GetBiquadCoefficient 04h 05h Set GetPositionLoop GetDerivative 9Bh GetPositionLoopValue Set GetDerivativeTime 9Ch 9Dh Set GetPositionLoop GetHostlOError A5h GetlnstructionError name change only Getlntegral 9Ah GetPositionLoopValue Set GetIntegrationLimit 95h 96h Set GetPositionLoop Set GetKaff 93h 94h Set GetPositionLoop Set GetKd 27h 52h Set GetPositionLoop Set GetKi 26h 5 1h Set GetPositionLoop Set GetKout 9Eh 9Fh Set GetPositionLoop Set GetKp 25h 50h Set GetPositionLoop Set GetKvff 2Bh 54h Set GetPositionLoop Set GetAutoStopMode D2h D3h Se
20. If there are no pending interrupts the returned word is zero 0 If any axis has a pending interrupt the HostInterrupt signal will be in an active state Restrictions This command is only useful for products with HostInterrupt pin When using CAN events for interrupt event notification the interrupting axis is sent as part of the CAN event C Motion API PMDresult PMDGetInterruptAxis PMDAxisInterface axis intf PMDuint16 mask VB Motion API Dim mask as Short mask MagellanObject InterruptAxis see ClearInterrupt p 22 Set GetInterruptMask p 113 Magellan Motion Processor Programmer s Command Reference 43 A GetPhaseCommand EAh Syntax GetPhaseCommand axis phase Motor Types Brushless DC Microstepping Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 phase Phase A 0 Phase B 1 Phase C Returned data Type Range Scaling Units command signed 16 bits 2 5 to 215 414 100 215 output Packet GetPhaseCommand Structure 0 EAh 15 12 11 8 7 0 First data word write 0 phase 15 21 0 Second data word read command 15 0 Description GetPhaseCommand returns the value of the commutated phase command for phase A B or C of the specified axis These are the phase command values directly output to the current loop or motor after commutation Scaling example If a value of 4 489 is retrieved EE77h for a given axis and phase then this corresponds to 4 489 100 32 767
21. Index amp Home signals K 4 Position capture y if X Directional limit switches PWM output i amplifier is internal Parallel DAC output 4 SPI DAC output Ms Pulse amp direction output 4 a Digital current control 4 Field oriented control E Under overvoltage sense Current foldback 7 Trapezoidal profiling v v A Velocity profiling v v i S curve profiling 4 4 4 Electronic gearing 4 4 4 On the fly changes 4 4 4 PID position servo loop 4 4 4 Dual biquad filters 4 4 Dual encoder loop sy multi axis y configurations only Programmable derivative sampling time i Feedforward accel amp vel v v Data trace diagnostics v v v Motion error detection p A F requires encoder Axis settled indicator 2 wet y requires encoder Analog input v v Programmable bit output v v v Software invertible signals v v v User defined I O v v External RAM support v v Multi chip synchronization 4 8 Magellan Motion Processor Programmer s Command Reference The Magellan Family A MC58000 Series MC55000 Series Magellan ION Chipset configurations MC58420 4 axes 2 ICs MC58320 3 axes 2 ICs MC58220 2 axes 2 ICs MC58120 1 axis 2 ICs MC58110 I axis IC MC55420 4 axes 2 ICs MC55320 3 axes 2 ICs MC55220 2 axes 2 ICs MC55120 I axis 2 ICs MC55110 I axis IC Magellan ION sold as part of ION drive only Motion processor developer s kit p n s
22. Magellan Motion Processor Programmer s Command Reference MultiUpdate 5Bh a Syntax Motor Types Arguments Returned data Packet Structure Description Restrictions C Motion API VB Motion API see MultiUpdate mask DC Brush Brushless DC Microstepping Pulse amp Direction Name Instance Encoding mask None 0 Axis1 Mask 1 Axis2 Mask 2 Axis3 Mask 4 Axis4 Mask 8 None MultiUpdate 0 5Bh 15 8 7 0 Data write 0 mask 15 4 3 0 MultiUpdate causes an update to occur on all axes whose corresponding bit is set to 1 in the mask argument After this command is executed all axes which are selected using the mask will perform an Update The patamater groups that are copied from their buffered versions into the corresponding run time registers is determined by the update mask of each axis as shown in the table below Command Parameter Acceleration Deceleration Gear Ratio Jerk Position Profile Mode Stop Mode Velocity ClearPositionError Group Trajectory Derivative Time Integration Limit Kaff Kd Ki Kp Kv ff Kout Motor Command Position Servo Current Loops Integration Limit Ki Kp PMDresult PMDMultiUpdate PMDAxisInterface axis intf PMDuint16 mask MagellanObject MultiUpdate in mask Update p 167 Set GetUpdateMask p 163 Magellan Motion Processor Programmer s Command Reference 55 A NoOperation 00h
23. Modules Disable Motor Output amp Higher Modules Abrupt Stop with Position Error Clear w N o Nogo Packet SetEventAction Structure 0 axis 48h 15 12 11 8 7 0 First data word write event Second data word write action GetEventAction 0 axis 49h 15 12 11 8 7 0 First data word write event Second data word read action 15 0 Description SetEventAction configures what actions will be taken by the axis in response to a given event The action can be either to modify the operating mode by disabling some or all of the loops or in the case of all loops remaining on to perform an abrupt or smooth stop The Abrupt Stop action can be done with or without a clearing of the position error 102 Magellan Motion Processor Programmer s Command Reference SetEventAction cont 48h GetEventAction 49h Description When through SetEventAction one of the events causes an action the event bit in the Event Status cont register must be cleared prior to returning to operation For trajectory stops this means that the bit must be cleared prior to performing another trajectory move For changes in operating mode this means that the bit must be cleared prior to restoring the operating mode either by RestoreOperatingMode or SetOperatingMode An exception is the Motion Error event which only needs to be cleared in Event Status if its action is Abrubt Stop or Smooth Stop If it
24. Motion API PMDresult PMDRestoreOperatingMode PMDAxisInterface axis intf VB Motion API MagellanAxis RestoreOperatingMode see GetActiveOperatingMode p 25 Set GetOperatingMode p 122 Set GetEventAction p 102 Set GetBreakpoint p 74 Magellan Motion Processor Programmer s Command Reference 65 SetAcceleration buffered 90h GetAcceleration ACh ee eeeeee ase __ ___ e NVN N gt NrN3rnmr3 Y mxx n Syntax SetAcceleration axis acceleration GetAcceleration axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Type Range Scaling Units acceleration unsigned 32 bits 0 to2 1 1 2 counts cycle microsteps cycle Packet SetAcceleration Structure 0 axis 90h 15 12 11 8 7 0 First data word write acceleration high order part 31 16 Second data word write acceleration low order part 15 0 GetAcceleration 0 axis 4Ch 15 12 11 8 7 0 First data word read acceleration high order part 31 16 Second data word read acceleration low order part 15 0 Description SetAcceleration loads the maximum acceleration buffer register for the specified axis This command is used with the Trapezoidal Velocity Contouring and S curve profiling modes GetAcceleration reads the maximum acceleration buffer register Scaling exa
25. Not all products support all types of encoders See the product uset s guide Magellan Motion Processor Programmer s Command Reference 99 SetEncoderSource cont DAh GetEncoderSource DBh B o nnxxzxn nz C Motion API PMDresult PMDSetEncoderSource PMDAxisInterface axis intf PMDuint1l6 source PMDresult PMDGetEncoderSource PMDAxisInterface axis _intf PMDuint16 source VB Motion API Dim source as Short MagellanAxis EncoderSource source source MagellanAxis EncoderSource see Set GetEncoderModulus p 98 100 Magellan Motion Processor Programmer s Command Reference SetEncoderToStepRatio DEh GetEncoderToStepRatio DFh Syntax SetEncoderToStepRatio axis counts steps GetEncoderToStepRatio axis Motor Types Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Type Range Scaling Units counts unsigned 16 bits 1 to 215 141 unity counts steps unsigned 16 bits 1 to 2 1 unity microsteps Packet SetEncoderToStepRatio Structure 0 axis DEh 15 12 11 8 7 0 First data word write counts Second data word write steps 15 0 GetEncoderToStepRatio 0 axis DFh 15 12 11 8 7 0 First data word read counts Second data word read steps 15 0 Description SetEncoderToStepRatio sets the ratio of the number of encoder counts to the number of output steps per motor rotation used by the mo
26. PMDint32 position Dim position as Long position MagellanAxis CaptureValue Set GetCaptureSource p 88 Set GetActualPositionUnits p 70 GetActivityStatus p 26 Magellan Motion Processor Programmer s Command Reference GetChecksum F8h A Syntax GetChecksum Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments None Returned data Name Type checksum unsigned 32 bits Packet GetChecksum Structure 0 F8h 15 8 7 0 First data word read checksum high order part 31 16 Second data word read checksum low order part 15 0 Description GetChecksum reads the chips internal 32 bit checksum value The return value is dependent on the silicon revision number of the motion processor Restrictions C Motion API PMDresult PMDGetChecksum PMDAxisInterface axis intf PMDuint32 checksum VB Motion API Dim checksum as Long checksum MagellanObject Checksum see Magellan Motion Processor Programmer s Command Reference 31 Syntax Motor Types Arguments Returned data Packet Structure Description Restrictions C Motion API VB Motion API see A GetCommandedAcceleration A7h GetCommandedAcceleration axis DC Brush Brushless DC Microstepping Pulse amp Direction Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Type Range Scaling Units acceleration signed 32 bits 23 to 2
27. PMDuint16 bufferID PMDint32 data VB Motion API Dim data as Long MagellanObject WriteBuffer bufferID data see ReadBuffer p 58 Set GetBufferWritelndex p 84 168 Magellan Motion Processor Programmer s Command Reference Writel0 82h a Syntax WritelO address data Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Type Range address unsigned 16 bits 0 to 255 data unsigned 16 bits 0 to 218 1 Packet WritelO Structure 0 82h 15 8 7 0 First data word write 0 address 15 8 7 0 Second data word write data 15 0 Description WritelO writes one 16 bit word of data to address The address is an offset from location 1000h of the motion processor s peripheral device address space The format and interpretation of the 16 bit data word are dependent on the user defined device being addressed User defined I O can be used to implement a variety of features such as additional parallel I O flash memory for non volatile configuration information storage or display devices such as LED arrays Restrictions This command is only available in products with general purpose parallel port interfaces See the y P 8 purp P P product user s guide C Motion API PMDresult PMDWriteIO PMDAxisInterface axis intf PMDuint16 address PMDuint16 data VB Motion API Dim data as Short MagellanObject IO address data see ReadlO p 59 Magellan Motion Processor
28. PhaseCounts counts counts MagellanAxis PhaseCounts see Set GetPhaseAngle p 126 128 Magellan Motion Processor Programmer s Command Reference SetPhaselnitializeMode E4h GetPhaselnitializeMode E5h Syntax SetPhaselnitializeMode axis mode GetPhaselnitializeMode axis Motor Types Brushless DC Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 mode Algorithmic 0 Hall based 1 Packet SetPhaselnitializeMode Structure 0 axis E4h 15 12 11 8 7 0 Data write 0 mode 15 1 0 GetPhaselnitializeMode 0 axis E5h 15 12 11 8 7 0 Data read 0 mode 15 1 0 Description SetPhaselnitializeMode establishes the mode in which the specified axis is to be initialized for commutation The options are Algorithmic and Hall based In algorithmic mode the motion processor briefly stimulates the motor windings and sets the initial phasing based on the observed motor response In Hall based initialization mode the three Hall sensor signals are used to determine the motor phasing GetPhaselnitializeMode returns the value of the initialization mode Restrictions Algorithmic mode should only be selected if it is known that the axis is free to move in both directions and that a brief uncontrolled move can be tolerated by the motor mechanism and load C Motion API PMDresult PMDSetPhaseInitializeMode PMDAxisInterface axis intf PMDuint16 mode PMDresult P
29. Set GetBreakpointUpdateMask p 77 GetCurrentLoopValue p 35 Set GetCurrentControlMode p 90 94 Magellan Motion Processor Programmer s Command Reference SetDeceleration buffered 91h GetDeceleration 92h Syntax SetDeceleration axis deceleration GetDeceleration axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Type Range Scaling Units deceleration unsigned 32 bits 0 to 2 1 1 2 counts cycle microsteps cycle Packet SetDeceleration Structure 0 axis 91h 15 12 11 8 7 0 First data word write deceleration high order part 31 16 Second data word write deceleration low order part 15 0 GetDeceleration 0 axis 92h 15 12 11 8 7 0 First data word read deceleration high order part 31 16 Second data word read deceleration low order part 15 0 Description SetDeceleration loads the maximum deceleration buffer register for the specified axis Restrictions GetDeceleration returns the value of the maximum deceleration buffer Scaling example To load a value of 1 750 counts cycle multiply by 65 536 giving 114 688 and load the resultant number as a 32 bit number giving 0001 in the high word and C000h in the low word Retrieved numbers GetDeceleration must correspondingly be divided by 65 536 to convert to units of counts cycle or steps
30. Set GetEncoderToStepRatio Set Get encoder count to step ratio 101 Motor Output GetActiveMotorCommand Read the active motor command value 24 Set GetMotorCommand Set Get direct value to motor output register read buffered motor 118 output command Set GetMotorType Set Get motor type for axis 120 Set GetOutputMode Set Get the motor output mode 124 Set GetPWMFrequency Set Get the PWM output frequency 139 Set GetStepRange Set Get the allowable range in KHz for step output generation 150 Set GetCurrentFoldback Set Get the maximum continuous operating current for It Current 91 Foldback Set GetHoldingCurrent Set Get parameters for holding current 111 Set GetMotorLimit Set Get motor output limit 119 Set GetMotorBias Set Get the motor bias applied outside of position loop Te Operating Mode Event and Update Control Set GetOperatingMode Set Get static Operating Mode of the axis 122 RestoreOperatingMode Restore the Current Operating Mode to the static Operating Mode 65 GetActiveOperatingMode Get the Active Operating Mode of the axis 25 MultiUpdate Forces buffered command values to become active for multiple axes 55 Update Forces buffered command values to become active 167 Set GetUpdateMask Set Get mask for what loops are updated by update command 163 Set GetEventAction Set Get the response of the axis to an event 102 Postion Servo Loop Control Set GetMotion
31. Trajectory Acceleration Deceleration Gear Ratio Jerk Position Profile Mode Stop Mode Velocity Clear Position Error Position Servo Derivative Time Integration Limit Kaff Kd Ki Kp Kvff Kout Motor Command Current Loops Integration Limit Ki Kp Restrictions C Motion API PMDresult PMDUpdate PMDAxisInterface axis intf VB Motion API MagellanAxis Update see MultiUpdate p 55 Set GetUpdateMask p 163 Magellan Motion Processor Programmer s Command Reference 167 A WriteBuffer C8h Syntax WriteBuffer bufferlD value Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Type Range bufferlD unsigned 16 bits 0 to 31 value signed 32 bits 23 to 2 1 Packet WriteBuffer Structure 0 C8h 15 8 7 0 First data word write 0 bufferlD 15 5 4 0 Second data word write value high order part 31 16 Third data word write value low order part 15 0 Description WriteBuffer writes the 32 bit value into the location pointed to by the write buffer index in the specified buffer After the contents have been written the write index is incremented by 1 If the result is equal to the buffer length set by SetBufferLength the index is reset to zero 0 Restrictions The command is not available on all products See the product user s guide C Motion API PMDresult PMDWriteBuffer PMDAxisInterface axis intf
32. Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Type Range Scaling Units position signed 32 bits 23 to 2311 unity counts microsteps Packet SetActualPosition Structure 0 axis 4Dh 15 12 11 8 7 0 First data word write position high order part 31 16 Second data word write position low order part 15 0 GetActualPosition 0 axis 37h 15 12 11 8 7 0 First data word read position high order part 31 16 Second data word read position low order part 15 0 Description SetActualPosition loads the position register encoder position for the specified axis At the same time the commanded position is replaced by the loaded value minus the position error This prevents a servo bump when the new axis position is established The destination position see SetPosition p 133 is also modified by this amount so that no trajectory motion will occur when the Update instruction is issued In effect this instruction establishes a new reference position from which subsequent positions can be calculated It is commonly used to set a known reference position after a homing procedure Note For axes configured as pulse amp direction or microstepping motor types actual position units determines if the position is specified and returned in units of counts or steps Additionally for these motor types
33. axis intf PMDuint1l6 mode PMDresult PMDGetProfileMode PMDAxisInterface axis intf PMDuint16 mode VB Motion API Dim mode as Short MagellanAxis ProfileMode mode mode MagellanAxis ProfileMode see MultiUpdate p 55 Update p 167 138 Magellan Motion Processor Programmer s Command Reference SetPWMFrequency OCh GetPWMFrequency ODh Syntax SetPWMFrequency axis frequency GetPWMFrequency axis Motor Types DC Brush Brushless DC Microstepping Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Type Range Scaling Units frequency unsigned 16 bits 0 to 2 1 1 28 kHz Packet SetPWMFrequency Structure 0 axis OCh 15 12 11 8 7 0 Data write frequency 15 0 GetPWMFrequency 0 axis 0Dh 15 12 11 8 7 0 Data read frequency 15 0 Description SetPWMFrequency sets the PWM output frequency in kHz for the specified axis To select one of the supported frequencies pass the value listed in the SetPWMFrequency Value column as the frequency argument to this command Approximate PWM bit Actual SetPWMFrequency Frequency Resolution Frequency Value 20 kHz 10 19 531 kHz 5 000 40 kHz 9 39 062 kHz 10 000 80 kHz 8 78 124 kHz 20 000 Restrictions Only 20 kHz and 80 kHz are currently supported by the Magellan motion processor Only 20 kHz and 40 kHz are supported in the ION products The PWM frequency can be changed only when motor out
34. axis motor outputs enabled Current Control Enabled 2 0 axis current control bypassed axis current control active 3 Reserved Position Loop Enabled 4 0 axis position loop bypassed l axis position loop active Trajectory Enabled 5 0 trajectory generator disabled trajectory generator enabled 6 15 Reserved When the axis is disabled no processing will be done on the axis and the axis outputs will be at their reset states When the axis motor output is disabled the axis will function normally but its motor outputs will be in their disabled state When a loop is disabled position or current loop it operates by passing its input directly to its output and clearing all internal state variables such as integrator sums etc When the trajectory generator is disabled it operates by commanding 0 velocity 122 Magellan Motion Processor Programmer s Command Reference SetOperatingMode cont 65h GetOperatingMode 66h Description For example to configure an axis for Torque mode trajectory and position loop disabled the operating cont mode would be set to hexadecimal 0007h This command should be used to configure the static operating mode of the axis The actual current operating mode may be changed by the axis in response to safety events or uset programmable events In this case the present operating mode is available using GetActiveOperatingMode GetOperatingMode will always return the static operating mo
35. command MagellanAxis ActiveMotorCommand see Set GetMotorCommand p 118 Set GetOperatingMode p 122 GetActiveOperatingMode p 25 24 Magellan Motion Processor Programmer s Command Reference GetActiveOperatingMode 57h Syntax GetActiveOperatingMode axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Returned Data Type mode unsigned 16 bits bit field Packet GetActiveOperatingMode Structure 0 axis 57h 15 12 11 8 7 0 First data word read mode 15 0 Description GetActiveOperatingMode gets the actual operating mode that the axis is currently in This may or may not be the same as the static operating mode as safety responses or programmable conditions may change the Active Operating Mode When this occurs the Active Operating Mode can be changed to the programmed static operating mode using the RestoreOperatingMode command The bit definitions of the operating mode are given below Name Bit Description Axis Enabled 0 0 No axis processing axis outputs in Reset state axis active Motor Output Enabled l 0 axis motor outputs disabled axis motor outputs enabled Current Control Enabled 2 0 axis current control bypassed axis current control active 3 Reserved Position Loop Enabled 4 0 axis position loop bypassed l axis position loop active Traje
36. cycle This is a buffered command The new value set will not take effect until the next Update or MultiUpdate command is entered with the Trajectory Update bit set in the update mask These commands are used with the Trapezoidal and Velocity Contouring profile modes They ate not used with the Electronic Gear or S curve profile mode Note If deceleration is set to zero 0 then the value specified for acceleration SetAcceleration will automatically be used to set the magnitude of deceleration C Motion API PMDresult PMDSetDeceleration PMDAxisInterface axis intf PMDuint32 deceleration PMDresult PMDGetDeceleration PMDAxisInterface axis intf PMDuint32 deceleration VB Motion API Dim deceleration as Long MagellanAxis Deceleration deceleration deceleration MagellanAxis Deceleration see Set GetAcceleration p 66 Set GetPosition p 133 Set GetVelocity p 165 MultiUpdate p 55 Update p 167 Magellan Motion Processor Programmer s Command Reference 95 SetDefault 89h GetDefault SAh Sean ss 0VOVoVo iain Syntax SetDefault axis variable value GetDefault axis variable Motor Type DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 variable CanMode 0 SerialPortMode485 1 Type Range Scaling value 32 bits see below Packet SetDefault Structure 0 axis 89h 15 12 11 8 7 0 First data word write variable 15 0 Second
37. data word write value high order part 31 16 Third data word write value low order part 15 0 GetDefault 0 BAN 15 12 11 8 7 0 First data word write variable 15 0 Second data word read value high order part 31 16 Third data word read value low order part 15 0 Description SetDefault is used to override the reset default settings of system variables When SetDefault is invoked to change the reset default of a variable it stores the value sent by the user in non volatile memory It does not modify the value of the variable in active use On subsequent system power cycles or resets this value will become the default for the selected variable The value for each variable is the value that would be used normally by the Set Get command for that variable When configuring variables that are 16 bit values the value should be sent as the low order part of the 32 bit value The axis sent with Set GetDefault may or may not be relevent depending on whether the parameter is an axis specific parameter or not GetDefault gets the reset default value of the indicated variable from non volatile memory 96 Magellan Motion Processor Programmer s Command Reference SetDefault cont 89h GetDefault SAh Restrictions This command is only available in products with non volatile memory The SetDefault command can only be executed when motor output is disabled e g imm
38. digital servo filter of the specified axis Motor command values beyond this value will be clipped to the specified motor command limit For example if the motor limit was set to 1 000 and the servo filter determined that the current motor output value should be 1 100 the actual output value would be 1 000 Conversely if the output value was 1 100 then it would be clipped to 1 000 This command is useful for protecting amplifiers motors or system mechanisms when it is known that a motor command exceeding a certain value will cause damage GetMotorLimit treads the motor limit value Scaling example If it is desired that a motor limit of 75 of full scale be established then this register should be loaded with a value of 75 0 32 767 100 24 576 decimal This corresponds to a hexadecimal value of 06000h Restrictions This command only affects the motor output when the position loop or trajectory generator is enabled When the motion processor is in open loop mode this command has no effect C Motion API PMDresult PMDSetMotorLimit PMDAxisInterface axis intf PMDuint16 limit PMDresult PMDGetMotorLimit PMDAxisInterface axis intf PMDuint16 limit VB Motion API Dim limit as Short MagellanAxis MotorLimit limit limit MagellanAxis MotorLimit see Set GetMotorBias p 117 Set GetMotorCommand p 118 Set GetOperatingMode p 122 119 Magellan Motion Processor Programmer s Command Reference SetMotorType 02h G
39. encoded in bits 2 3 Likewise for the major parameter The major version is encoded in bits 0 1 and the product version is encoded in bits 2 3 52 Magellan Motion Processor Programmer s Command Reference GetVersion cont SFh A C Motion API PMDresult PMDGetVersion DAxisInterface axis intf Duintl6 family Duint1l6 motorType Duint16 numberAxes Duintl6 special and chip count Duint16 custom Duint1l6 major Duint16 minor W WU WY u u uy yw VB Motion API Dim version as Long version MagellanObject Version See Magellan Motion Processor Programmer s Command Reference 53 Syntax Motor Types Arguments Returned data Packet Structure Description Restrictions C Motion API VB Motion API see a InitializePhase 7Ah InitializePhase axis Brushless DC Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 None InitializePhase 0 axis 7Ah 15 12 11 8 7 0 InitializePhase initializes the phase angle for the specified axis using the mode Hall based or algorithmic specified by the SetPhaselnitializationMode command Warning If the phase initialization mode has been set to algorithmic then after this command is sent the motor may suddenly move in an uncontrolled manner PMDresult PMDInitializePhase PMDAxisInterface axis _intf MagellanAxis InitializePhase GetPhaseCommand p 44 Set GetCommutationMode p 89
40. in microseconds The motion processor hardware can adjust the cycle time only in increments of 51 2 microseconds the time value passed to this command will be rounded up to the nearest increment of this base value Minimum cycle time depends on the product and number of enabled axes as follows Minimum Cycle Time Enabled Cycle w Trace Time Maximum Cycle Axes Time Capture per Axis Frequency ION 102 4 us 102 4 us 102 4 us 9 76 kHz Magellan 51 2 us 102 4 us 51 2 us 19 53 kHz 9 76 w Single axis trace capture Magellan 102 4 us 102 4 us 102 4 us 9 76 kHz Multi axis 2 Magellan 153 6 ys 153 6 us 76 8 us 6 51 kHz 3 Magellan 204 8 us 204 8 us 68 3 us 4 88 kHz 4 Magellan 256 us 256 us 64 us 3 91 kHz 140 Magellan Motion Processor Programmer s Command Reference SetSampleTime cont 3Bh GetSampleTime 3Ch Description Using the trace feature on single axis Magellan products with the sample time set to 51 2 us will result cont in unexpected behavior GetSampleTime returns the value of the sample time Restrictions This command affects the cycle time for all axes on multi axis configurations This command cannot be used to set a sample time lower than the required minimum cycle time for the current configuration Attempting to do so will set the sample time to the required minimum cycle time as specified in the previous table C Motion API PMDresult PMDSetSampleTime PMDAxisInterface
41. of the Activity Status register is set to 0 When the position error returns to within the window the tracking indicator is set to 1 GetTrackingWindow returns the value of the tracking window Restrictions C Motion API PMDresult PMDSetTrackingWindow PMDAxisInterface axis intf PMDuintl16 window PMDresult PMDGetTrackingWindow PMDAxisInterface axis intf PMDuint16 window VB Motion API Dim window as Short MagellanAxis TrackingWindow window window MagellanAxis TrackingWindow see GetActivityStatus p 26 GetActualPosition p 68 Magellan Motion Processor Programmer s Command Reference 162 SetUpdateMask F9h GetUpdateMask FAh A a Ere Syntax SetUpdateMask axis mask GetUpdateMask axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Type Scaling mask unsigned 16 bit bitmask Packet SetUpdateMask Structure 0 axis F9n 15 12 11 8 7 0 First data word write mask 15 g GetUpdateMask 0 axis FAh 15 12 11 8 7 0 First data word read mask 15 0 Description SetUpdateMask configutes what loops in the axis are updated when an update is executed on the given axis If the bitmask for a given loop is set in the mask the operating parameters for that loop will be updated from the buffered values when an Update or MultiUpdate command is received The bitmask en
42. overvoltage or undervoltage condition has occurred Commutation error Il Set to when a commutation error has occurred Current Foldback 12 Set to when current foldback has occurred 13 Reserved not used may be 0 or Breakpoint 2 14 Set to when breakpoint 2 has been triggered 15 Reserved not used may be 0 or Restrictions Bits 8 9 10 and 12 are not implemented in products that do not include drive amplifier support In this case they are reserved may be 0 or 1 C Motion API PMDresult PMDGetEventStatus PMDAxisInterface axis intf PMDuint16 status VB Motion API Dim status as Short status MagellanAxis EventStatus see GetActivityStatus p 26 GetSignalStatus p 47 GetDriveStatus p 38 Magellan Motion Processor Programmer s Command Reference 39 a GetFOCValue 5Ah Syntax GetFOCValue axis loop node Motor Types Brushless DC Microstepping Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 loop Direct D 0 Quadrature Q 1 node Reference D Q 0 Feedback D Q 1 Error D Q 2 Integrator Sum D Q 3 Reserved 4 Integral Contribution D Q 5 Output D Q 6 FOC Output Alpha Beta 7 Actual Current A B 8 Returned data Type Range Scaling value signed 32 bits see below Packet GetFOCValue Structure 0 axis 5Ah 15 12 11 8 7 0 First data word write 0 loop node 15 12 11 8 7 0 Second data word read value high order part 3
43. read angle 15 0 Description SetPhaseAngle sets the instantaneous commutation angle for the specified axis For brushless DC motors the phase angle is specified in units of encoder counts For microstepping motors it is specified in units of microsteps GetPhaseAngle returns the value of the phase angle To convert counts to an actual phase angle divide by the number of encoder counts per electrical cycle and multiply by 360 For example if a value of 500 is retrieved using GetPhaseAngle and the counts per electrical cycle value has been set to 2 000 SetPhaseCounts command this corresponds to an angle of 500 2 000 360 90 degrees current phase angle position SetPhaseAngle resets the phase offset previously set by SetPhaseOffset Restrictions The specified angle must not exceed the number set by the SetPhaseCounts command C Motion API PMDresult PMDSetPhaseAngle PMDAxisInterface axis intf PMDuint1l6 angle PMDresult PMDGetPhaseAngle PMDAxisInterface axis intf PMDuint16 angle VB Motion API Dim angle as Short MagellanAxis PhaseAngle angle angle MagellanAxis PhaseAngle see Set GetPhaseCounts p 128 126 Magellan Motion Processor Programmer s Command Reference SetPhaseCorrectionMode E8h GetPhaseCorrectionMode E9h Syntax SetPhaseCorrectionMode axis mode GetPhaseCorrectionMode axis Motor Types Brushless DC Arguments Name Instance Encoding axis Axis1 0 Axis2
44. specific commands this command is processed directly through the bus interface PMDReadDPRAM axis_handle This function reads directly from the onboard dual port data RAM via the bus interface if applicable offset_in_dwords words to_read PMDWriteDPRAM axis_handle This function writes directly to the onboard dual port RAM data via the bus interface if applicable offset_in_dwords words to write Magellan Motion Processor Programmer s Command Reference 13 C Motion 2 4 Prodigy Motion Card Specific Functions Several auxiliary functions are included in addition to the standard Magellan API commands for use with the Magellan based Prodigy Motion Cards only The functions are for configuring functions on the motion control board The follow ing table describes the functions For more information see the user s guide for your motion control card C Motion function Arguments Function description PMDMBWriteDigitalOutput axis_handle This function writes to the eight general purpose digital write_value O signals digitalOut0 7 Write_value holds the eight sig nals in its low order 8 bits PMDMBReadDigitallnput axis_handle read_value This function reads the value of the signals Digitalln0 7 and returns them in the low order 8 bits of read_value PMDMBReadDigitalOutput axis_handle read_value This function reads the value of the signals DigitalOut0 7 and returns them in the low order 8 bits of read_value P
45. specified axis When incremental quadrature is selected the motion processor expects A and B quadrature signals to be input at the QuadA and QuadB axis inputs When parallel word is selected the motion processor expects user defined external circuitry connected to the motion processor s external bus to load a 16 bit word containing the current position value for the selected axis External feedback devices with less than 16 bits may be used but the unused bits must be sign extended or zeroed When motor type see SetMotorType p 120 is set to Pulse and Direction and the encoder source is set to Loopback the step output is internally fed back into the quadrature counters This allows for position capture of the step position when a physical encoder is not present When the encoder source is set to Pulse and Direction then Magellan expects the incoming position encoding to correspond to a pulse amp direction encoding scheme rather than a quadrature encoding scheme This feature is most commonly used with electronic gear mode so that the Magellan processor can be driven by a motion controller that outputs pulse amp direction signals GetEncoderSource returns the code for the current type of feedback A Loopback soutce is only supported for pulse amp direction motors Loopback is not supported in single chip versions MC58110 amp MC55110 A source value of None is typically only used with microstepping and pulse amp direction motors
46. start condition 155 GetTraceStatus Get the trace status word 51 Set GetTraceStop Set Get the trace stop condition 157 Set GetTraceVariable Set Get a trace variable setting 159 Communications Set GetCANMode Set Get the CAN 2 0B configuration mode 87 GetlnstructionError Get the most recent I O error code 42 Set GetSerialPortMode Set Get the serial port configuration mode 142 Set GetSPIMode Set Get the SPI output mode 148 Miscellaneous GetChecksum Reads the internal chip checksum 31 Set GetSynchronizationMode Set Get the synchronization mode 152 GetVersion Get chipset software version information 52 NoOperation Perform no operation used to verify communications 56 ReadlO Read user defined I O value 69 Reset Reset chipset 60 WritelO Write user defined I O value 169 ReadAnalog Read a raw analog input 57 Set GetDefault Set Get a reset default setting from non volatile memory 96 Magellan Motion Processor Programmer s Command Reference 173 5N Instruction Summary Tables 5 2 Alphabetical Listing Get Set instructions pairs are shown together on the same line of the table Instruction Code Instruction Code Page AdjustActualPosition F5h 20 ClearDriveFaultStatus 6Ch 21 Clearlnterrupt ACh 22 ClearPositionError 47h Zo GetAcceleration 4Ch SetAccel
47. the Activity Status register for axis 2 goes to 0 then the trace start is loaded as follows A 1 is loaded for axis number a 3 is loaded for condition a 7 is loaded for bit number and a 0 is loaded for state The actual data word sent to the motor processor is 0731h Restrictions C Motion API Not all trace start conditions are available in all products See the product uset s guide PMDresult PMDSetTraceStart PMDAxisInterface axis intf PMDAxis traceAxis PMDuint8 condition PMDuint8 triggerBit PMDuint8 triggerState PMDresult PMDGetTraceStart PMDAxisInterface axis intf PMDAxis traceAxis PMDuint8 condition PMDuint8 triggerBit PMDuint8 triggerState VB Motion API MagellanObject TraceStartSet in triggerAxis i condition triggerBit in triggerState out triggerAxis out condition out triggerBit out triggerState in in MagellanObject TraceStartGet see Set GetBufferLength p 81 GetTraceCount p 50 Set GetTraceMode p 153 Set GetTracePeriod p 154 Set GetTraceStop p 157 156 Magellan Motion Processor Programmer s Command Reference SetTraceStop B4h GetTraceStop B5h P Lr Syntax SetTraceStop triggerAxis condition triggerBit triggerState GetTraceStop Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding triggerAxis Ax
48. the position error is zeroed when the SetActualPosition command is sent SetActualPosition takes effect immediately it is not buffered GetActualPosition reads the contents of the encodet s actual position register This value will be accurate to within one cycle as determined by Set GetSampleTime Restrictions C Motion API PMDresult PMDSetActualPosition PMDAxisInterface axis intf PMDint32 position PMDresult PMDGetActualPosition PMDAxisInterface axis intf PMDint32 position 68 Magellan Motion Processor Programmer s Command Reference SetActualPosition cont ADh 37h GetActualPosition VB Motion API Dim position as Long MagellanAxis ActualPosition position position MagellanAxis ActualPosition see GetPositionError p 45 Set GetActualPositionUnits p 70 AdjustActualPosition p 20 69 Magellan Motion Processor Programmer s Command Reference SetActualPositionUnits BEh GetActualPositionUnits BFh B Syntax SetActualPositionUnits axis mode GetActualPositionUnits axis Motor Types Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 mode Counts 0 Steps 1 Packet SetActualPositionUnits Structure 0 axis BEh 15 12 11 8 7 0 Data write 0 mode 15 1 0 GetActualPositionUnits 0 axis BFh 15 12 11 8 7 0 Data read 0 mode 15 1 0 Description SetActualPositionUnits deter
49. to drive AxisOut of the specified axis For each bit in the selectionMask that is set to 1 the corresponding bit of the specified sourceRegister is selected to set AxisOut active The senseMask bit determines which state of each bit causes AxisOut to be active a zeto 0 in the senseMask means that a 0 in the corresponding bit will cause AxisOut to be active and a 1 in the senseMask means that a 1 in the corresponding bit will cause AxisOut to be active If multiple bits are selected in the sourceRegister AxisOut will be active if any of the selected bits combined with their sense require it to be The following table shows the available bits in each register Activity Signal Event Status Status Status Drive Status Bit Register Register Register Register 0 Motion Complete Phasing Initialized Encoder A l Wrap around At Maximum Encoder B In Foldback Velocity 2 Breakpoint Tracking Encoder Index Overtemperature 3 Position Capture Capture Input 4 Motion Error Positive Limit In Holding 5 Positive Limit Negative Limit Overvoltage 6 Negative Limit Axisln Undervoltage 7 Instruction Error Axis Settled Hall Sensor A 8 Disable Motor Mode Hall Sensor B 9 Overtemperature Fault Position Capture Hall Sensor C OAh Bus Voltage Fault In Motion OBh Commutation Error In Positive Limit OCh Current Foldback In Negative Limit ODh Enable Input OEh Breakpoint 2 FaultOut OFh For example assume it is desir
50. trigger value will be reset to zero 0 The Commanded Position Crossed and the Actual Position Crossed triggers are converted to one of the position trigger types 1 4 depending on the current position when the command is issued Restrictions Always load the breakpoint comparison value SetBreakpointValue command before setting a new breakpoint condition SetBreakpoint command Failure to do so will likely result in unexpected behavior Breakpoint trigger options may be limited depending on the resources of the sourceAxis See the product user s guide Magellan Motion Processor Programmer s Command Reference 75 SetBreakpoint cont D4h GetBreakpoint D5h Op a C Motion API PMDresult PMDSetBreakpoint PMDAxisInterface axis intf PMDuint1l6 breakpointID PMDAxis sourceAxis PMDuint8 action PMDuint8 trigger PMDresult PMDGetBreakpoint PMDAxisInterface axis intf PMDuint16 breakpointID PMDAxis sourceAxis PMDuint8 action PMDuint8 trigger VB Motion API MagellanAxis BreakpointSet in breakpointID in sourceAxis in action in trigger MagellanAxis BreakpointGet in breakpointID out sourceAxis out action out trigger see Set GetBreakpointValue p 79 Set GetBreakpointUpdateMask p 77 76 Magellan Motion Processor Programmer s Command Reference SetBreakpointUpdateMask 32h GetBreakpointUpdateMask 33h Syntax SetB
51. unless ModeSuppressExceptions is TRUE Dim valLong As Long To get a motion processor parameter use the following syntax valLong axis Position To set a motion processor parameter use the following syntax axis Position valLong Magellan Motion Processor Programmer s Command Reference VB Motion 4 Some commands require additional parameters Some standard values are defined by VB Motion and can be used with the appropriate commands Refer to PMDMPLib in the Object Viewer for a complete list of defined types The fol lowing is an example of calling one of the VB Motion methods with the pre defined types Dim valBreakPoint As PMD_BREAKPOINT_ID Dim valAxis As PMD_AXIS Dim valBreakPointAction As PMD_ BREAKPOINT ACTION Dim valBreakPointTrigger As PMD_ BREAKPOINT TRIGGER valBreakPoint PMD_BREAKPOINT_ID_ valAxis PMD_AXIS_ valBreakPointAction PMD_BREAKPOINT ACTION ABRUPT STOP valBreakPointTrigger PMD_BREAKPOINT_TRIGGER_ACTUAL POSITION CROSSED axis BreakpointValue valBreakPoint 1000 axis BreakpointSet valBreakPoint valAxis valBreakPointAction valBreakPointTrigger The above example sets breakpoint 1 on axis 1 to trigger an abrupt stop if the actual position crosses 1000 3 4 Prodigy Motion Card Specific Commands Several auxiliary methods and properties are included in addition to the standard Magellan API commands for use with the Magellan based Prodigy Motion Cards only The commands are for configuring func
52. 0 First data word read voltage 15 0 Description GetBusVoltage gets the most recent bus voltage reading from the axis Restrictions GetBusVoltage is only available in products equipped with bus voltage sensors C Motion API PMDresult PMDGetBusVoltage PMDAxisInterface axis intf PMDuint16 voltage VB Motion API Dim voltage as Short voltage MagellanAxis BusVoltage see Get SetBusVoltageLimits p 85 Magellan Motion Processor Programmer s Command Reference 29 Syntax Motor Types Arguments Returned data Packet Structure Description Restrictions C Motion API VBI Motion API see A GetCaptureValue 36h GetCaptureValue axis DC Brush Brushless DC Microstepping Pulse amp Direction Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Type Range Scaling Units position signed 32 bits 23 to 231 1 unity counts microsteps GetCaptureValue 0 axis 36h 15 12 11 8 7 0 First data word read position high order part 31 16 Second data word read position low order part 15 0 GetCaptureValue returns the contents of the position capture register for the specified axis This command also resets bit 9 of the Activity Status register thus allowing another capture to occur If actual position units is set to steps the returned position will be in units of steps PMDresult PMDGetCaptureValue PMDAxisInterface axis intf
53. 1 Axis3 2 Axis4 3 mode Disable 0 Enable 1 Packet SetPhaseCorrectionMode Structure 0 axis E8h 15 12 11 8 7 0 Data write 0 mode 15 1 0 GetPhaseCorrectionMode 0 axis E9h 15 12 11 8 7 0 Data read 0 mode 15 1 0 Description SetPhaseCorrectionMode sets the phase correction mode for the specified axis to either 0 disabled or 1 enabled When phase correction is enabled the encoder Index signal is used to update the commutation phase angle once pet motor revolution This ensures that the commutation angle will remain correct even if some encoder counts are lost due to electrical noise or due to the number of encoder counts per electrical phase not being an integer GetPhaseCorrectionMode returns the phase correction mode Restrictions C Motion API PMDresult PMDSetPhaseCorrectionMode PMDAxisInterface axis intf PMDuint16 mode PMDresult PMDGetPhaseCorrectionMode PMDAxisInterface axis intf PMDuint16 mode VB Motion API Dim mode as Short MagellanAxis PhaseCorrectionMode mode mode MagellanAxis PhaseCorrectionMode see GetPhaseCommand p 44 InitializePhase p 54 Set GetPhaseCounts p 128 Magellan Motion Processor Programmer s Command Reference 127 SetPhaseCounts 75h GetPhaseCounts 7Dh DF C Syntax SetPhaseCounts axis counts GetPhaseCounts axis Motor Types Brushless DC Microstepping Arguments Name Instance En
54. 1 16 Third data word read value low order part 15 0 Description GetFOCValue is used to read the value of a node of the FOC current control See the product uset s guide for more information on the location of each node in the FOC current control algorithm Though the data returned is signed 32 bits regardless of the node the range and format vary depending on the node as follows Node Range Scaling Units Reference D Q 2415 to 2415 1 100 24 14 max current Feedback D Q 2418 to 2418 1 100 24 14 max current Error D Q 2415 to 2415 1 100 24 14 max current Integrator Sum D Q 2431 to 2431 1 100 24 14 max current current loop cycles Integral Contribution D Q 243 to 2431 1 100 214 max current Output D Q 2415 to 2415 1 100 2414 PWM FOC Output Alpha Beta 2415 to 2415 1 100 24 14 PWM Actual Current A B 2415 to 2415 1 100 24 14 max current 40 Magellan Motion Processor Programmer s Command Reference GetFOCValue cont 5Ah Description Most of the nodes have units of maximum current and most have a scaling of 100 2 14 That is a cont value of 2 14 corresponds to 100 maximum current The range is extended to allow for overshoot in excess of maximum peak current and thus values can be more than 100 of the maximum output current The Integrator Sum is a signed 32 bit number with scaling of 100 2 14 That is a current of 100 maximum pres
55. 1 28 counts cycle microsteps cycle GetCommandedAcceleration 0 axis A7h 15 12 11 8 7 0 First data word read acceleration high order part 31 16 Second data word read acceleration low order part 15 0 GetCommandedAcceleration returns the commanded acceleration value for the specified axis Commanded acceleration is the instantaneous acceleration value output by the trajectory generator Scaling example If a value of 114 688 is retrieved using this command then this corresponds to 114 688 65 536 1 750 counts cycle acceleration value PMDresult PMDGetCommandedAcceleration PMDAxisInterface axis intf PMDint32 acceleration Dim acceleration as Long acceleration MagellanAxis CommandedAcceleration GetCommandedPosition p 33 GetCommandedVelocity p 34 Magellan Motion Processor Programmer s Command Reference GetCommandedPosition 1Dh Syntax Motor Types Arguments Returned data Packet Structure Description Restrictions C Motion API VB Motion API See GetCommandedPosition axis DC Brush Brushless DC Microstepping Pulse amp Direction Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Type Range Scaling Units position signed 32 bits 2 to 2 1 unity counts microsteps GetCommandedPosition 0 axis 1Dh 15 12 11 8 7 0 First data word read position high order part 31 16 Second data word read po
56. 1 unity cycles Packet SetSettleTime Structure 0 axis AAh 15 12 11 8 7 0 Data write time 15 0 GetSettleTime 0 axis ABh 15 12 11 8 7 0 Data read time 15 0 Description SetSettleTime sets the time in number of cycles that the specified axis must remain within the settle window before the Axis Settled indicator in the Activity Status register is set GetSettleTime returns the value of the settle time for the specified axis Restrictions C Motion API PMDresult PMDSetSettleTime PMDAxisInterface axis intf PMDuintl6 time PMDresult PMDGetSettleTime PMDAxisInterface axis intf PMDuint16 time VB Motion API Dim time as Short MagellanAxis SettleTime time time MagellanAxis SettleTime see Set GetMotionCompleteMode p 116 Set GetSettleWindow p 145 GetActivityStatus p 26 144 Magellan Motion Processor Programmer s Command Reference SetSettleWindow BCh GetSettleWindow BDh Syntax SetSettleWindow axis window GetSettleWindow axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Type Range Scaling Units window unsigned 16 bits 0 to 2 1 unity counts Packet SetSettleWindow Structure 0 axis BCh 15 12 11 8 7 0 Data write window 15 0 GetSettleWindow 0 axis BDh 15 12 11 8 7 0 Data read window 15 0 Description SetS
57. 151 91h SetDeceleration 95 D4h SetBreakpoint 74 92h GetDeceleration 95 D5h GetBreakpoint 74 97h SetPositionErrorLimit 134 D6h SetBreakpointValue 79 98h GetPositionErrorLimit 134 D7h GetBreakpointValue 79 99h GetPositionError 45 D8h SetCaptureSource 88 AOh SetProfileMode 138 D9h GetCaptureSource 88 Alh GetProfileMode 138 DAh SetEncoderSource 99 A2h SetSignalSense 146 DBh GetEncoderSource 99 A3h GetSignalSense 146 DEh SetEncoderToStepRatio 101 A4h GetSignalStatus 47 DFh GetEncoderToStepRatio 101 A5h GetlnstructionError 42 EOh SetOutputMode 124 A6h GetActivityStatus 26 Elh GetlinterruptAxis 43 A7h GetCommandedAcceleration 32 E2h SetCommutationMode 89 A8h SetTrackingWindow 162 E3h GetCommutationMode 89 A9h GetTrackingWindow 162 E4h SetPhaselnitializeMode 129 AAh SetSettleTime 144 E5h GetPhaselnitializeMode 129 ABh GetSettleTime 144 E6h SetPhasePrescale 132 ACh Clearlnterrupt 22 E7h GetPhasePrescale 132 ADh GetActualVelocity 28 E8h SetPhaseCorrectionMode 127 AEh SetGearMaster 108 E9h GetPhaseCorrectionMode t27 AFh GetGearMaster 108 EAh GetPhaseCommand 44 BOh SetTraceMode 153 EBh SetMotionCompleteMode 116 Blh GetTraceMode 153 ECh GetMotionCompleteMode 116 B2h SetTraceStart 155 EFh ReadAnalog of B3h GetTraceStart 155 F2h SetSynchronizationMode 152 B4h SetTraceStop 157 F3h GetSynchronizationMode 152 B5h GetTraceStop 157 F5h AdjustActualPosition 20 B h SetTraceVariable 159 F h SetFOC 106 B7h GetTraceVariable 159 F7h GetFOC 106 B8h SetTracePeriod 154 F8h
58. 18 Magellan Motion Processor Programmer s Command Reference 4 Instruction Reference 7 4 1 How to Use This Reference The instructions are arranged alphabetically except that all Set Get pairs for example SetVelocity and GetVelocity are described together Each description begins on a new page and most occupy no more than a single page Each page is organized as follows Name The instruction mnemonic is shown at the left its hexadecimal code at the right Syntax The instruction mnemonic in bold and its required arguments in italic are shown with all arguments separated by spaces Buffered Certain parameters and other data written to the motion processor are buffered That is they are not acted upon until the next Update or MultiUpdate command is executed These parameters are identified by the word buffered in the instruction heading Motor Types The motor types to which this command applies Supported motor types are printed in black unsupported motor types for the command are greyed out Arguments There are two types of arguments encoded field and numeric Encoded field arguments are packed into a single 16 bit data word except for axis which occupies bits 8 9 of the instruction word The name of the argument in italic is that shown in the generic syntax Instance in italic is the mnemonic used to represent the data value Encoding is the value assigned to the field for that instance For
59. 19 Biquad2 CoefficientA2 20 Biquad2 CoefficientK 21 Type Range Scaling value signed 32 bits see below Packet SetPositionLoop Structure 0 axis 67h 15 12 11 8 7 0 First data word write parameter 15 0 Second data word write value high order part 31 16 Third data word write value low order part 15 0 Magellan Motion Processor Programmer s Command Reference 135 SetPositionLoop cont buffered 67h GetPositionLoop 68h Op a Packet GetPositionLoop Structure 0 axis 68h cont 15 2 11 8 7 0 First data word write parameter 15 0 Second data word read value high order part 31 16 Third data word read value low order part 15 0 Description Set GetPositionLoop is used to configure the operating parameters of the PID position loop See the product user s guide for more information on how each parameter is used in the position loop processing Though these commands always use 32 bit data the range and format vary depending on the parameter as follows Parameter Range Scaling Units Velocity Feedforward Gain Kvff 0 to 2 15 1 unity gain cycles Acceleration Feedforward Gain Kaff 0 to 2415 1 unity gain cycles PID Proportional Gain Kp 0 to 2415 1 unity gain PID Integrator Gain Ki 0 to 2415 1 1 256 gain cycles PID Derivative Gain Kd 0 to 2415 1 unity gain cycles PID Integra
60. 2 11 8 7 0 First data word read mask 15 0 Description SetFaultOutMask configures the mask on Event Status register bits that will be ORed together on the FaultOut pin The FaultOut pin is active high as are the bits in Event Status Thus FaultOut will go high when any of the enabled bits in Event Status are set 1 The mask parameter is used to determine what bits in the Event Status register can cause FaultOut high as follows Name Bit Motion Complete Wrap around Breakpoint Position Capture Motion Error Positive Limit Negative Limit Instruction Error Disable Overtemperature Fault oI NIAI A WwW N o Ke o Bus Voltage Fault Commutation Error Current Foldback Reserved z o Breakpoint 2 un Reserved 104 Magellan Motion Processor Programmer s Command Reference SetFaultOutMask cont FBh GetFaultOutMask FCh Description For example a mask setting of hexadecimal 0610h will configure the FaultOut pin to go high upon a cont motion error Overtemperature Fault or Bus Voltage Fault The FaultOut pin stays high until all Fault enabled bits in Event Status are cleared The default value for the FaultOut mask is 0600h Overtemperature Fault and Bus Voltage Fault enabled GetFaultOutMask gets the current mask for the indicated axis Restrictions This command is only available on products that include a FaultOut pin
61. 3 7 of full scale be output to the motor then this register should be loaded with a value of 13 7 32 768 100 4 489 decimal This corresponds to a hexadecimal value of 1189h Restrictions SetMotorCommand is a buffered command The value set using this command will not take effect until the next Update or MultiUpdate command with the Position Loop Update bit set in the update mask C Motion API PMDresult PMDSetMotorCommand PMDAxisInterface axis intf PMDint16 command PMDresult PMDGetMotorCommand PMDAxisInterface axis intf PMDint16 command VB Motion API Dim command as Short MagellanAxis MotorCommand command command MagellanAxis MotorCommand see Set GetMotorBias p 117 Set GetMotorLimit p 119 Set GetOperatingMode p 122 MultiUpdate p 55 Update p 167 Magellan Motion Processor Programmer s Command Reference 118 SetMotorLimit 06h GetMotorLimit 07h BE s Sox Syntax SetMotorLimit axis limit GetMotorLimit axis Motor Types DC Brush Brushless DC Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Type Range Scaling Units limit unsigned 16 bits 0to2 1 100 2 output Packet SetMotorLimit Structure 0 axis 06h 15 12 11 8 7 0 Data write limit 15 0 GetMotorLimit 0 axis 07h 15 12 11 8 7 0 Data read limit 15 0 Description SetMotorLimit sets the maximum value for the motor output command allowed by the
62. 3 _ counts Actual Position Crossed signed 32 bit 23 to 23 counts Time unsigned 32 bit 0 to 232 I cycles Event Status 2 word mask boolean status values Activity Status 2wordmask boolean status values _ Signal Status 2 word mask boolean status values Drive Status 2 word mask boolean status values For level triggered breakpoints the high order part of value is the selection mask and the low order word is the sense mask For each selection bit that is set to 1 the corresponding bit of the specified status register is conditioned to cause a breakpoint when it changes state The sense mask bit determines which state causes the break If it is 1 the corresponding status register bit will cause a break when it is set to 1 If it is 0 the status register bit will cause a break when it is set to 0 For example assume it is desired that the breakpoint type will be set to Event Status and that a breakpoint should be recognized whenever the motion complete bit bit 0 of Event Status register is set to 1 or the commutation error bit bit 11 of Event Status register is set to 0 In this situation the high and low words for value would be high word 0801h and low word 0001h GetBreakpointValue returns the breakpoint value for the specified breakpointID Two completely separate breakpoints are supported each of which may have its own breakpoint type and comparison value The breakpointID field specifies which breakpoint the SetBrea
63. 50 Magellan Motion Processor Programmer s Command Reference SetStopMode buffered DOh GetStopMode Dth Syntax SetStopMode axis mode GetStopMode axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 mode No Stop 0 Abrupt Stop 1 Smooth Stop 2 Packet SetStopMode Structure 0 axis DOh 15 12 11 8 7 0 Data write 0 mode 15 21 0 GetStopMode 0 axis D1th 15 12 11 8 7 0 Data read 0 mode 15 2 1 0 Description SetStopMode stops the specified axis The available stop modes are Abrupt Stop which instantly without any deceleration phase stops the axis Smooth Stop which uses the programmed deceleration value and profile shape for the current profile mode to stop the axis or No Stop which is generally used to turn off a previously issued set stop command Note After an Update a buffered stop command SetStopMode command will reset to the No Stop condition In other words if the SetStopMode command is followed by an Update command and then by a GetStopMode command the retrieved stop mode will be No Stop GetStopMode returns the value of the stop mode Restrictions Smooth Stop mode is not available in the Electronic Gear profile mode SetStopMode is a buffered command The value set using this command will not take effect until the next Update or MultiUpdate command with the Traje
64. 65 MultiUpdate p 55 Update p 167 115 Magellan Motion Processor Programmer s Command Reference SetMotionCompleteMode EBh GetMotionCompleteMode ECh Syntax SetMotionCompleteMode axis mode GetMotionCompleteMode axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 mode commanded 0 actual 1 Packet SetMotionCompleteMode Structure 0 axis EBh 15 12 11 8 7 0 Data write 0 mode 15 1 0 GetMotionCompleteMode 0 axis ECh 15 12 11 8 7 0 Data read 0 mode 15 1 0 Description SetMotionCompleteMode establishes the source for the comparison which determines the motion complete status for the specified axis When set to commanded the motion is considered complete when the profile velocity reaches zero 0 and no further motion will occur without an additional host command This mode is unaffected by the actual encoder location When set to actual mode the motion complete bit will be set when the above condition is true and when the actual encoder position has been within the settle window SetSettleWindow command for the number of cycles specified by the SetSettleTime command The settle timer is started at zero 0 at the end of the trajectory profile motion so a minimum delay of settle time cycles will occur after the trajectory profile motion is complete Get
65. 8 7 0 First data word write jerk high order part 31 16 Second data word write jerk low order part 15 0 GetJerk 0 axis 58h 15 12 11 8 7 0 First data word read jerk high order part 31 16 Second data word read jerk low order part 15 0 Description SetJerk loads the Jerk register in the parameter buffer for the specified axis GetJerk reads the contents of the Jerk register Scaling example To load a jerk value rate of change of acceleration of 0 012345 counts cycle or steps cycle multiply by 2 or 4 294 967 296 In this example this gives a value to load of 53 021 371 decimal which corresponds to a high word of 0329h and a low word of 0ABBh when loading each word in hexadecimal Restrictions SetJerk is a buffered command The value set using this command will not take effect until the next Update or MultiUpdate command with the Trajectory Update bit set in the update mask This command is used only with the S curve profile mode It is not used with the Trapezoidal Velocity Contouring or Electronic Gear profile modes C Motion API PMDresult PMDSetJerk PMDAxisInterface axis intf PMDuint32 jerk PMDresult PMDGetJerk PMDAxisInterface axis intf PMDuint32 jerk VB Motion API Dim jerk as Long MagellanAxis Jerk jerk jerk MagellanAxis Jerk see Set GetAcceleration p 66 Set GetDeceleration p 95 Set GetPosition p 133 Set GetVelocity p 1
66. 90 Set GetCurrentLoop Set Get a parameter for the PhaseA B current loops 93 GetCurrentLoopValue Get the instantaneous value of a node in the PhaseA B current loops 35 Set GetFOC Set Get a parameter for the FOC current control 106 GetFOCValue Get the instantaneous value of a node in the FOC current control 40 Digital Servo Filter ClearPositionError Set position error to 0 23 GetPositionError Get actual position error 45 Set GetPositionLoop Set Get a parameter for the Digital Servo Loop 135 GetPositionLoopValue Get the current value of a node in the Digital Servo Loop 46 Set GetPositionErrorLimit Set Get the maximum position error limit 134 Set GetAuxiliaryEncoderSource Controls the dual encoder loop feature 71 Encoder AdjustActualPosition Sums the specified offset with the actual encoder position 20 Set GetActualPosition Set Get the actual encoder position 68 Set GetActualPositionUnits Set Get the unit type returned for the actual encoder position 70 GetActualVelocity Get the actual encoder velocity 28 Set GetCaptureSource Set Get the capture source 88 GetCaptureValue Get current axis position capture value and reset the capture 30 Magellan Motion Processor Programmer s Command Reference 171 5N Instruction Summary Tables Encoder Set GetEncoderModulus Set Get the full scale range of the parallel word encoder 98 Set GetEncoderSource Set Get the encoder type 9g
67. Arguments Function description PMDGetStatus axis_handle Returns the result of executing an IO status read Only returns a valid result when the interface is PCI ISA or Paral lel PMDSetupAxisInterface_PCl axis_handle Used to setup an axis interface connection for communicat axis_number board_number ing over a PCI bus PMDSetupAxisInterface_ISA axis_handle axis_number board_number Used to setup an axis interface connection for communicat ing over an ISA PC 104 bus PMDSetupAxisInterface Serial axis_handle Used to setup an axis interface connection for communicat axis_number ing over a RS232 or RS485 serial bus port_number PMDSetupAxisInterface_ CAN axis_handle Used to setup an axis interface connection for communicat axis_number board_number ing over a CAN bus PMDSetupAxisInterface_Parallel axis_handle axis_number board_address Low level function used to setup an axis interface for paral lel communications in an embedded system PMDCloseAxisInterface axis_handle Should be called to terminate an interface connection PMDGetErrorMessage ErrorCode Returns a character string representation of the corre sponding PMD chip or C Motion error code GetCMotionVersion MajorVersion MinorVersion Returns the major and minor version number of C Motion PMDHardReset axis_handle This function causes a hard reset of the motion proces sor Unlike all other card
68. Command Reference 164 SetVelocity GetVelocity buffered 11h 4Bh S ee Syntax SetVelocity axis velocity GetVelocity axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Type Range Scaling Units velocity signed 32 bits 2 1 to 23 1 1 28 counts cycle microsteps cycle Packet SetVelocity Structure 0 axis 11h 15 12 11 8 7 0 First data word write velocity high order part 31 16 Second data word write velocity low order part 15 0 GetVelocity 0 axis 4Bh 15 12 11 8 7 0 First data word read velocity high order part 31 16 Second data word read velocity low order part 15 0 Description SetVelocity loads the maximum velocity buffer register for the specified axis GetVelocity returns the contents of the maximum velocity buffer register Scaling example To load a velocity value of 1 750 counts cycle multiply by 65 536 giving 114 688 and load the resultant number as a 32 bit number giving 0001 in the high word and CO000h in the low word Numbers returned by GetVelocity must correspondingly be divided by 65 536 to convert to units of counts cycle Restrictions SetVelocity may not be issued while an axis is in motion with the S curve profile SetVelocity is not valid in Electronic Gear profile mode The velocity cannot be negative except in the Velocity C
69. CompleteMode Set Get the motion complete mode 116 Set GetSampleTime Set Get servo loop sample time 140 Set GetSettleTime Set Get the axis settled time 144 Set GetSettleWindow Set Get the settle window boundary value 145 GetTime Get current chipset time number of servo loops 49 Set GetTrackingWindow Set Get the tracking window boundary value 162 Profile Generation Set GetAcceleration Set Get acceleration limit 66 GetCommandedAcceleration Get commanded instantaneous desired acceleration 32 GetCommandedPosition Get commanded instantaneous desired position 33 GetCommandedVelocity Get commanded instantaneous desired velocity 34 Set GetDeceleration Set Get deceleration limit 95 Set GetGearMaster Set Get the electronic gear mode master axis and source 108 Set GetGearRatio Set Get commanded electronic gear ratio 110 Set GetJerk Set Get jerk limit 115 Set GetPosition Set Get destination position 133 Set GetProfileMode Set Get current profile mode 138 Set GetStartVelocity Set Get start velocity 149 Set GetStopMode Set Get stop command abrupt smooth or none 151 Set GetVelocity Set Get velocity limit 165 172 Magellan Motion Processor Programmer s Command Reference Instruction Summary Tables 7 ON RAM Buffer Set GetBufferLength Set Get the length of a memory buffer 81 Set GetBufferReadIndex Set Get the buffer read pointer for a par
70. Dresult PMDSetTraceStop P P P E P PMDresult PMDGetTraceStop P P P P MagellanObject TraceStopSet MagellanObject TraceStopGet DAxisInterface axis intf DAxis traceAxis Duint8 condition Duint8 triggerBit Duint8 triggerState DAxisInterface axis intf DAxis traceAxis Duint8 condition Duint8 triggerBit Duint8 triggerState in triggerAxis in condition in triggerBit in triggerState out triggerAxis out condition out triggerBit out triggerState GetTraceCount p 50 Set GetTraceStart p 155 GetTraceStatus p 51 158 SetTraceVariable B6h GetTraceVariable B7h a ae ees Syntax SetTraceVariable variableNumber traceAxis variableID GetTraceVariable variableNumber Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding variableNumber Variable 1 0 Variable2 1 Variable3 2 Variable4 3 traceAxis Axis1 0 Axis2 1 Axis3 2 Axis4 3 variableID Trajectory Generator Commanded Position 02h Commanded Velocity 03h Commanded Acceleration 04h Encoder Actual Position 05h Actual Velocity 06h Capture Value 09h Phase Angle OFh Phase Offset 10h Position Loop Position Error Oth Position Loop Integral Sum OAh Position Loop Integral Contribution 39h Position Loop Derivative OBh PID Output Biquad1 Input 40h Biquad1 Output Biquad2 Input 41h Status Registers Event Status Register OCh Activity Status Re
71. Frequency kHz 20 20 20 SPI Mode 0 Phase Counts l l Holding Delay z Signal Sense 0 0 0 Microstepping Mlicrostepping Pulse amp Variable 3 phase 2 phase Direction Actual Position Units l l l Commutation Mode 0 0 Encoder Source 2 2 3 Motion Error Event Action 0 0 0 Output Mode 2 l Magellan 2 ION Phase Correction Mode PWM Frequency kHz 20 80 Magellan 20 ION SPI Mode Phase Counts 256 256 Holding Delay 32767 32767 20 Signal Sense 0 0 0800h Notes All axes supported by the motion processor are enabled at reset In some products CAN Mode and Serial Port Mode defaults are defined at reset by a parallel bus read In some products the CAN Mode and Serial Port Mode 485 reset defaults can be over ridden using the SetDefault command See Set GetSampleTime p 140 for more information regarding SampleTime Restrictions The typical time before the device is ready for communication after a reset is 20ms for Magellan products and 100ms for ION products The MC55110 and the MC58110 have a maximum Step Range of 100 ksteps sec which cannot be changed Not all of the listed variables are available on all products See the product user s guide C Motion API PMDresult PMDReset PMDAxisInterface axis intf VB Motion API MagellanObject Reset see SetDefault p 96 Magellan Motion Processor Programmer s Command Reference 63 A ResetEventStatus 34h
72. Index bufferID index index MagellanObject BufferWriteIndex bufferID see Set GetBufferLength p 81 Set GetBufferReadIndex p 82 Set GetBufferStart p 83 84 Magellan Motion Processor Programmer s Command Reference SetBusVoltageLimits 62h GetBusVoltageLimits 60h Syntax SetBusVoltageLimits axis parameter value GetBusVoltageLimits axis parameter Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 parameter Overvoltage Limit 0 Undervoltage Limit 1 Type Range Scaling value unsigned 16 bits 0 to 216 1 1 3612 mv count Packet SetBusVoltageLimits Structure 0 axis 62h 15 12 11 8 7 0 First data word write parameter 15 0 Second data word write value 15 0 GetBusVoltageLimits 0 60h 15 12 11 8 7 0 First data word write parameter 15 0 Second data word read value 15 0 Description SetBusVoltageLimits sets the thresholds for determination of overvoltage and undervoltage conditions If the bus voltage exceeds the Overvoltage Limit value an overvoltage condition occurs If the bus voltage is less than the Undervoltage Limit value an undervoltage condition occurs Both the Overvoltage Limit and Undervoltage Limit have ranges of 0 to 2 16 1 with scaling of 1 3612 millivolts count For example to set the overvoltage threshold to 30V Overvoltage Limit should be set
73. MDGetPhaseInitializeMode PMDAxisInterface axis intf PMDuint16 mode VB Motion API Dim mode as Short MagellanAxis PhaseInitializeMode mode mode MagellanAxis PhaseInitializeMode see InitializePhase p 54 Set GetPhaselnitializeTime p 130 Magellan Motion Processor Programmer s Command Reference 129 SetPhaselnitializeTime 72h GetPhaselnitializeTime 7Ch NS eee Syntax SetPhaselnitializeTime axis time GetPhaselnitializeTime axis Motor Types Brushless DC Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Type Range Scaling Units time unsigned 16 bits 0 to 2 1 unity cycles Packet SetPhaselnitializeTime Structure 0 axis 72h 15 12 11 8 7 0 Data write time 15 0 GetPhaselnitializeTime 0 axis 7Ch 15 12 11 8 7 0 Data read time 15 0 Description SetPhaselnitializeTime sets the time value in cycles to be used during the algorithmic phase initialization procedure This value determines the duration of each of the four segments in the phase initialization algorithm GetPhaselnitializeTime returns the value of the phase initialization time Restrictions C Motion API PMDresult PMDSetPhaseInitializeTime PMDAxisInterface axis intf PMDuintl6 time PMDresult PMDGetPhaseInitializeTime PMDAxisInterface axis intf PMDuint16 time VB Motion API Dim time as Short MagellanAxis PhaseInitializeTime time time MagellanAxis PhaseIniti
74. MDMBSetAnmpplifierEnable axis handle mask This function writes to the 4 amplifier enable signals write_value AmpEnable 4 using mask and write_value When a appears in mask the corresponding bit position in write_value is written to the corresponding signal The val ues for mask and write_value are all 0 shifted that is they are stored in the lowest order 4 bits PMDMBGetAnmpplifierEnable axis_handle read_value This function reads the values of AmpEnable 1 4 and returns them in the low order 4 bits of read_value PMDMBSetDACOutputEnable axis handle write_value This function sets the DACOutputEnable status A written value of enables DAC output while a written value of 0 disables DAC output PMDMBGetDACOutputEnable axis_handle read_value This function reads the value of the DACOutputEnable function A value of indicates DAC output enabled a value of 0 indicates DAC output disabled PMDMBSetWatchDog axis handle This function writes to the correct value to the watchdog register so that for the next 104 milliseconds the card will not be reset by the watchdog circuitry PMDMBGetResetCause axis_handle This function returns the reset cause in the variable reset_cause reset_cause reset_cause and also clears the reset condi tion PMDMBReadCardID axis_handle This function returns the card ID encoded as defined in card_ID the preceeding table PMDMBSetSSIRegister axis_handle Used to set up the DC 1000 par
75. Miagellan Motion Processor Programmer s Command Reference rs PMD Performance Motion Devices Inc 55 Old Bedford Road Lincoln MA 01773 Revision 2 5 September 2008 NOTICE This document contains proprietary and confidential information of Performance Motion Devices Inc and is pro tected by federal copyright law The contents of this document may not be disclosed to third parties translated copied or duplicated in any form in whole or in part without the express written permission of PMD The information contained in this document is subject to change without notice No part of this document may be reproduced or transmitted in any form by any means electronic or mechanical for any purpose without the express written permission of PMD Copyright 1998 2008 by Performance Motion Devices Inc Magellan ION Magellan ION Pro Motion C Motion and VB Motion are trademarks of Performance Motion Devices Inc Magellan Motion Processor Programmer s Command Reference Warranty PMD warrants performance of its products to the specifications applicable at the time of sale in accordance with PMD s standard warranty Testing and other quality control techniques are utilized to the extent PMD deems necessary to support this warranty Specific testing of all parameters of each device is not necessarily performed except those mandated by government requitements Performance Motion Devices Inc PMD reserves the ri
76. MotionCompleteMode returns the value for the motion complete mode Restrictions C Motion API PMDresult PMDSetMotionCompleteMode PMDAxisInterface axis intf PMDuint16 mode PMDresult PMDGetMotionCompleteMode PMDAxisInterface axis intf PMDuint16 mode VB Motion API Dim mode as Short MagellanAxis MotionCompleteMode mode mode MagellanAxis MotionCompleteMode see Set GetSettleTime p 144 Set GetSettleWindow p 145 Magellan Motion Processor Programmer s Command Reference 116 SetMotorBias OFh GetMotorBias 2Dh So ava uTtNnnvxxox1mmmaZESSB _J Syntax SetMotorBias axis bias GetMotorBias axis Motor Types DC Brush Brushless DC Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Type Range Scaling Units bias signed 16 bits 215 fo 2 1 100 215 output Packet SetMotorBias Structure 0 axis OFh 15 12 11 8 7 0 Data write bias 15 0 GetMotorBias 0 axis 2Dh 15 12 11 8 7 0 Data read bias 15 0 Description SetMotorBias sets the output bias of the digital servo filter for the specified axis GetMotorBias reads the value of the bias of the digital servo filter Scaling example If it is desired that a motor bias value of 2 5 of full scale be placed on the servo filter output then this register should be loaded with a value of 2 5 32 768 100 819 decimal This corresponds to a loaded hexadecimal value of 0FCCDh Re
77. Programmer s Command Reference 169 This page intentionally left blank 170 Magellan Motion Processor Programmer s Command Reference 5 Instruction Summary Tables 7 5 1 Descriptions by Functional Category Breakpoints and Interrupts Page Set GetBreakpointUpdateMask Set Get mask for what is updated by breakpoint action update 77 ClearInterrupt Reset interrupt 22 Set GetBreakpoint Set Get breakpoint type 74 Set GetBreakpointValue Set Get breakpoint comparison value 79 GetlinterruptAxis Get the axes with pending interrupts 43 Set GetInterruptMask Set Get interrupt mask 113 Motor Phase and Commutation Set GetCommutationMode Set Get the commutation phasing mode 89 Set GetPhaseAngle Set Get current commutation phase angle 126 GetPhaseCommand Get the motor output command for a given phase A B or C 44 Set GetPhaseCorrectionMode Set Get phase correction mode 127 Set GetPhaseCounts Set Get number of encoder counts per commutation cycle 128 Set GetPhaselnitializeMode Set Get phase initialization method 129 Set GetPhaselnitializeTime Set Get the time parameters for algorithmic phase initialization 130 Set GetPhaseOffset Set Get phase offset value 131 Set GetPhasePrescale Set Get commutation prescaler mode 132 InitializePhase Perform phase initialization procedure 54 Current Loops Set GetCurrentControlMode Set Get current loop mode PhaseA B or FOC
78. Range Scaling Units velocity unsigned 32 bits 0 to 2 1 1 218 steps cycle microsteps cycle Packet SetStartVelocity Structure 0 axis 6Ah 15 12 11 8 7 0 First data word write velocity high order part 31 16 Second data word write velocity low order part 15 0 GetStartVelocity 0 axis 6Bh 15 12 11 8 7 0 First data word read velocity high order part 31 16 Second data word read velocity low order part 15 0 Description SetStartVelocity loads the starting velocity register for the specified axis The start velocity is the instantaneous velocity at the start and at the end of the profile GetStartVelocity reads the value of the starting velocity register Scaling example To load a starting velocity value of 1 750 steps cycle multiply by 65 536 giving 114 688 and load the resultant number as a 32 bit number giving 0001 in the high word and C000h in the low word Values returned by GetStartVelocity must correspondingly be divided by 65 536 to convert them to units of counts cycle Restrictions SetStartVelocity is only used in the Velocity Contouring and Trapezoidal profile modes C Motion API PMDresult PMDSetStartVelocity PMDAxisInterface axis intf PMDuint32 velocity PMDresult PMDGetStartVelocity PMDAxisInterface axis intf PMDuint32 velocity VB Motion API Dim velocity as Long MagellanAxis StartVelocity velocity velocity MagellanAxis StartVelocity
79. Restrictions C Motion API PMDresult PMDGetCommandedVelocity PMDAxisInterface axis intf PMDint32 velocity VB Motion API Dim velocity as Long velocity MagellanAxis CommandedVelocity see GetCommandedAcceleration p 32 GetCommandedPosition p 33 34 Magellan Motion Processor Programmer s Command Reference GetCurrentLoopValue 71h Syntax GetCurrentLoopValue axis loopnum node Motor Types DC Brush Brushless DC Microstepping Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 phase Phase A 0 Phase B 1 node Reference 0 Actual Current 1 Error 2 Integrator Sum 3 Reserved 4 Integral Contribution 5 Output 6 Returned data Type Range Scaling value signed 32 bits see below Packet GetCurrentLoopValue Structure 0 axis 71h 15 12 11 8 7 0 First data word write 0 phase node 15 12 11 8 7 0 Second data word read value high order part 31 16 Third data word read value low order part 15 0 Description GetCurrentLoopValue is used to read the value of a node in one of the digital current loops See the product user s guide for more information on the location of each node in the current loop processing Though the data returned is signed 32 bits regardless of the node the range and format vary depending on the node as follows Node Range Scaling Units Reference 2415 to 2415 1 100 214 max current Actual Current
80. S Position Loop Position Loop Kvff 0 YES Position Loop Position Loop Kaff 0 YES Position Loop Position Loop Kp 0 YES Position Loop Position Loop Ki 0 YES Position Loop Position Loop Kd 0 YES Position Loop Position Loop Integration Limit 0 YES Position Loop Position Loop Derivative Time l YES Position Loop Position Loop Kout 65535 YES Position Loop Motor Limit 32767 NO Motor Bias 0 NO Motor Command 0 YES Position Loop Auxiliary Encoder Source 0 NO Encoder Actual Position 0 NO Actual Position Units motor dependent NO Capture Source 0 NO Encoder Modulus 0 NO Encoder Source motor dependent NO Encoder To Step Ratio 00010001h NO Motor Output Operating Mode 0033h Magellan 0001h ION NO Active Operating Mode 0033h Magellan 0001h ION NO Output Mode motor dependent NO Motor Type product dependent NO PWM Frequency motor dependent NO Step Range l NO Position Servo Loop Control Motion Complete Mode 0 NO Sample Time see Notes NO Settle Time 0 NO Settle Window 0 NO Tracking Window 0 NO Profile Generation Acceleration 0 YES Trajectory Deceleration 0 YES Trajectory Gear Master 0 NO Gear Ratio 0 YES Trajectory Jerk 0 YES Trajectory Position 0 YES Trajectory Profile Mode 0 YES Trajectory Start Velocity 0 NO Stop Mode 0 YES Trajectory Velocity 0 YES Trajectory Magellan Motion Processor Programmer s Command Reference 61 a Reset cont 39h 62
81. SetOutputMode sets the form of the motor output signal of the specified axis GetOutputMode returns the value for the motor output mode Restrictions Not all output modes are available on all products See the product uset s guide C Motion API PMDresult PMDSetOutputMode PMDAxisInterface axis _intf PMDuintl6 mode PMDresult PMDGetOutputMode PMDAxisInterface axis intf PMDuint16 mode VB Motion API Dim mode as Short MagellanAxis OutputMode mode mode MagellanAxis OutputMode see 124 Magellan Motion Processor Programmer s Command Reference SetOvertemperatureLimit 1Bh GetOvertemperatureLimit 1Ch Syntax SetOvertemperatureLimit axis limit GetOvertemperatureLimit axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Type Range Scaling Units limit signed 16 bits 2415 to2 15 1 28 C etOvertemperatureLimi Packet SetOvert tureLimit Structure 0 axis 1Bh 15 12 11 8 7 0 First data word write limit 15 0 GetOvertemperatureLimit 0 axis 1Ch 15 12 11 8 7 0 First data word read limit 15 0 Description SetOvertemperatureLimit sets the temperature threshold upon which an overtemperature condition will occurr For example to set the overtemperature threshold at 60 degrees C the value should be 60 256 15360 When the programmed threshold is exceeded the Overtemperature Fault bit is s
82. ace variables are available in all products See the product user s guide C Motion API PMDresult PMDSetTraceVariable PMDAxisInterface axis intf PMDuint16 variableNumber PMDAxis traceAxis PMDuint8 variablelID PMDresult PMDGetTraceVariable PMDAxisInterface axis intf PMDuintl6 variableNumber PMDAxis traceAxis PMDuint8 variableID VB Motion API MagellanObject TraceVariableSet in variableNumber in traceAxis in variableID MagellanObject TraceVariableGet in variableNumber out traceAxis out variableID see SetTracePeriod p 154 SetTraceStart p 155 SetTraceStop p 157 161 Magellan Motion Processor Programmer s Command Reference SetTrackingWindow A8h GetTrackingWindow AQh Syntax SetTrackingWindow axis window GetTrackingWindow axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Type Range Scaling Units window unsigned 16 bits 0 to2 1 unity counts Packet SetTrackingWindow Structure 0 axis A8h 15 12 11 8 7 0 Data write window 15 0 GetTrackingWindow 0 axis A9h 15 12 11 8 7 0 Data read window 15 0 Description SetTrackingWindow sets boundaries for the position error of the specified axis If the absolute value of the position error exceeds the tracking window the tracking indicator bit 2
83. agellan Motion Processor Programmer s Command Reference 51 A GetVersion 8Fh Syntax GetVersion Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments None Returned data Name Type version unsigned 32 bits Packet GetVersion Structure 0 8Fh 15 8 7 0 First data word read product family motor type number of axes special chips 31 28 27 24 23 20 19 18 17 16 Second data word product major read customization code version version minor version 15 8 7 6 5 4 3 0 Description GetVersion returns product information encoded as shown in the preceding packet structure diagram Individual data fields ate encoded as defined in the following table Name Description Encoding product family Navigator 2 Pilot 3 Magellan 5 ION 9 motor type Servo Brushless 3 Microstepping 4 Pulse amp Direction 5 All Motor Types 8 ION Any Motor Type read only 9 number of axes Maximum number of supported axes I to I5 special Reserved Oto3 chips Oto3 customization code None 0 Other to 255 product version 0 to 3 major s w version 0 to 3 minor s w version Oto I5 Restrictions Note that in the C Motion function PMDGetVersion the special attributes value and the chip count values are combined and returned in a single parameter special _and_chip_ count Chip count is encoded in bits 0 1 of this value special is
84. alizeTime see InitializePhase p 54 Set GetPhaselnitializeMode p 129 130 Magellan Motion Processor Programmer s Command Reference SetPhaseOffset 76h GetPhaseOffset 7Bh Syntax SetPhaseOffset axis offset GetPhaseOffset axis Motor Types Brushless DC Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Type Range Scaling Units offset unsigned 16 bits 0 to2 1 unity counts Packet SetPhaseOffset Structure 0 axis 76h 15 12 11 8 7 0 Data write offset 15 0 GetPhaseOffset 0 axis 7Bh 15 12 11 8 7 0 Data read offset 15 0 Description SetPhaseOffset sets the offset from the index mark of the specified axis to the internal zero phase angle This command will have no immediate effect on the commutation angle but will have an effect once the index pulse is encountered The settable range of phase offset is 0 to 32 767 GetPhaseOffset returns the value of the phase offset To convert counts to a phase angle in degrees divide by the number of encoder counts per electrical cycle and multiply by 360 For example if a value of 500 is specified using SetPhaseOffset and the counts per electrical cycle value has been set to 2 000 SetPhaseCounts command this corresponds to an angle of 500 2 000 360 90 degrees phase angle at the index mark Restrictions Before the first index capture has occurred GetPhaseOffset will return 1 C Motio
85. allel encoder option board resolution for absolute SSI encoder support frequency PMDMBGetSSIRegister axis_handle Returns the present setup of the DC 1000 SSI option resolution board frequency PMDMBGetSSIAbsolutePosition axis_handle The function reads the DC 1000 SSI option board and position returns the 32 bit absolute position reference 14 Magellan Motion Processor Programmer s Command Reference 3 VB Motion s 3 1 Introduction VB Motion provides a powerful Visual Basic object oriented interface to the Magellan API and allows the developer to focus on writing high level code to control the motion system It can be easily integrated with any VB6 or VB NET in cluding Microsoft VB NET Visual Studio NET and Visual Studio 6 applications The library supports communication to Magellan Developer s Kit Board and Magellan Motion Controller via serial RS232 RS485 and CAN IXXAT and where applicable PCI ISA and PC 104 parallel interfaces There are two COM DLLs PMDMPdll and PMDUser dll Each of these DLLs contains a set of COM objects that provide access to the system The following table describes the libraries COM Library Description PMDMP dll implements the PMDMPLib object which contains the communication objects for PCI and ISA interfaces CommunicationPCl and CommunicationISA and the motion processor com mand objects MagellanObject MagellanBoard and MagellanAxis PMDUser dll implements the PMDUserLib object w
86. anObject Dim boardObj As PMDMPLib MagellanBoard Dim axisObj As PMDMPLib MagellanAxis Before communicating to the motion processor the communication object must be initialized using the following se quence of commands Set commSerial New PMDUserLib CommunicationSerial commSerial BaudRate 57600 Connect to COMI commSerial HostCOM The above is an example of initializing communication using the serial communication interface Once the communi cation object has been initialized create a Magellan object and a reference to one or more of the axes Create an instance of the Magellan object Set magellanObj New MagellanObject Attach the serial driver magellanObj SetupCommunication commSerial Connect the events interface magellanObj EventListenerRegister Me Get axis Set axis magellanObj Axes PMD_AXIS_1 Once the Magellan objects have been initialized any of the motion processor commands can be executed PMDM PLib contains all motion processor methods and properties The property names are the same as listed in this manual but without the Get or Set prefix The method names ate the same as listed in this manual but with the Get or Set prefix moved to a suffix i e GetBreakpoint gt BreakpointGet When a property is accessed the associated Get or Set command is sent to the processor to retrieve or send the data Each property or method will throw an exception if an error occurs
87. ange Scaling Units time unsigned 32 bits 0 to 237 1 unity cycles GetTime 0 3Eh 15 8 7 0 First data word read time high order part 31 16 Second data word read time low order part 15 0 GetTime returns the number of cycles which have occurred since the motion processor was last reset The time per cycle is determined by SetSampleTime Time stops advancing when no axes are enabled PMDresult PMDGetTime PMDAxisInterface axis intf PMDuint32 time Dim time as Long time MagellanObject Time Set GetSampleTime p 140 Magellan Motion Processor Programmer s Command Reference 49 Syntax Motor Types Arguments Returned data Packet Structure Description Restrictions C Motion API VB Motion API see A GetTraceCount BBh GetTraceCount DC Brush Brushless DC Microstepping Pulse amp Direction None Name Type Range Scaling Units count unsigned 32 bits 0 to 22 1 unity samples GetTraceCount 0 BBh 15 8 7 0 First data word read count high order part 31 16 Second data word read count low order part 15 0 GetTraceCount returns the number of points variable values stored in the trace buffer since the beginning of the trace If the trace mode is set to rolling and the buffer wraps GetTraceCount returns the number of samples in the filled buffer PMDresult PMDGetTraceCount PMDAxisInterface axis intf PMDuint32 coun
88. ariables to their motor type specific default values Not all motor types are available on all products See the product user s guide C Motion API PMDresult PMDSetMotorType PMDAxisInterface axis _intf PMDuint8 type PMDresult PMDGetMotorType PMDAxisInterface axis intf PMDuint8 type 120 Magellan Motion Processor Programmer s Command Reference SetMotorType cont 02h GetMotorType 03h VB Motion API Dim type as Short MagellanAxis MotorType type type MagellanAxis MotorType see Reset p 60 Magellan Motion Processor Programmer s Command Reference 121 SetOperatingMode 65h GetOperatingMode 66h Qa a Syntax SetOperatingMode axis mode GetOperatingMode axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Type Range Scaling mode unsigned 16 bit see below Packet SetOperatingMode Structure 0 axis 65h 15 12 1 8 7 0 First data word write mode 15 0 GetOperatingMode 0 axis 66h 15 12 11 8 7 0 First data word read mode 15 0 Description SetOperatingMode configures the operating mode of the axis Each bit of the mode configures whether a feature loop of the axis is active or disabled as follows Name Bit Description Axis Enabled 0 0 No axis processing axis outputs in reset state axis active Motor Output Enabled 0 axis motor outputs disabled
89. axis intf PMDuint32 time PMDresult PMDGetSampleTime PMDAxisInterface axis intf PMDuint32 time VB Motion API Dim time as Long MagellanAxis SampleTime time time MagellanAxis SampleTime see Magellan Motion Processor Programmer s Command Reference 141 SetSerialPortMode SBh GetSerialPortMode 8Ch a o es Syntax SetSerialPortMode mode GetSerialPortMode Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Type Encoding mode unsigned 16 bits see below Packet SetSerialPortMode Structure 0 axis 8Bh 15 8 7 0 Data write multi drop address 0 protocol stop bits parity transmission rate 15 11 10 9 8 7 6 5 4 3 0 GetSerialPortMode 0 axis 8Ch 15 8 7 0 Data read multi drop address 0 protocol stop bits parity transmission rate 15 11 10 9 8 7 6 5 4 3 0 Description SetSerialPortMode sets the configuration for the asynchronous serial port It configures the timing and framing of the serial port on the unit regardless of whether RS 232 or RS 485 voltage levels are being used This command takes effect immediately and the response will beat the new transmission rate parity etc GetSerialPortMode returns the configuration for the asynchronous serial port regardless of whether RS 232 or RS 485 voltage levels are being used The following table shows the encoding of the data used by this comman
90. bits 0 to 255 Returned data Type Range data unsigned 16 bits 0 to 2 1 Packet ReadlO Structure 0 83h 15 8 7 0 First data word write 0 address 15 8 7 0 Second data word read data 15 0 Description ReadlO reads one 16 bit word of data from the device at address The address is an offset from location 1000h of the motion processor s peripheral device address space The format and interpretation of the 16 bit data word are dependent on the user defined device being addressed User defined I O can be used to implement a number of features including additional parallel I O flash memory for non volatile configuration information storage or display devices such as LED arrays Restrictions This command is not available in products without a parallel I O port C Motion API PMDresult PMDReadIO PMDAxisInterface axis _intf PMDuintl6 address PMDuint16 data VB Motion API Dim data as Short data MagellanObject IO address see WritelO p 169 Magellan Motion Processor Programmer s Command Reference 59 A Reset 39h Syntax Reset Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments None Returned data None Packet Reset Structure 0 39h 15 8 7 0 Description Reset restores the motion processor to its initial condition setting all motion processor variables to their default values Most variables are motor type independent however several default values depend upon t
91. bits see below Packet GetActivityStatus Structure 0 axis A6h 15 12 11 8 7 0 Data read 15 13 12 1 10 9 8 7 6 5 3 2 141 0 Description GetActivityStatus reads the 16 bit Activity Status register for the specified axis Each of the bits in this register continuously indicate the state of the motion processor without any action on the part of the host There is no direct way to set or clear the state of these bits since they are controlled by the motion processor The following table shows the encoding of the data returned by this command Name Bit s Description Phasing Initialized 0 Set to if phasing is initialized brushless DC axes only At Maximum Velocity l Set to when the trajectory is at maximum velocity This bit is determined by the trajectory generator not the actual encoder velocity Tracking Set to when the axis is within the tracking window Current Profile Mode 3 5 Contains trajectory mode encoded as follows bit 5 bit 4 bit 3 Profile Mode 0 0 0 Trapezoidal 0 0 l Velocity Contouring 0 l 0 S curve 0 l l Electronic Gear 6 Reserved not used may be 0 or Axis Settled 7 Set to when the axis is settled Position Loop Enabled 8 Set to when position loop or trajectory is enabled Position Capture 9 Set to when a value has been captured by the high speed position capture hardware but has not yet been read 26 Magellan Motion Processor Programmer s Command Refe
92. cal Listing siise erriei ieoi EE dea EEA A 174 5 3 Numerical Listing 0 cece cece ccc c eee nee e nee e nee e ee eeenees 177 5 4 Magellan Compatibility 0 ccc eee eee e eee n nee eens 179 Magellan Motion Processor Programmer s Command Reference vV y Table of Contents This page intentionally left blank vi Magellan Motion Processor Programmer s Command Reference 1 The Magellan Family This manual provides a Programmer s Command Reference for the Magellan Family of Motion Processors from PMD including the MC58000 Series DC brush brushless DC microstepping and step motor the MC55000 Series pulse amp direction step motor motion processors and the Magellan ION motion processor In addition Magellan processors ate used in a number of card level products including the Prodigy PCI and Prodigy PC 104 motion cards If you are using one of these card or module level products the exact motion processor type can be determined from the corresponding User s Manual Each Magellan is a complete chip based motion processor providing trajectory generation and related motion control functions Depending on the type of motor to be controlled it provides servo loop closure on board commutation for brushless motors and high speed pulse amp direction outputs Together these products provide a software compatible family of dedicated motion processors that can handle a large variety of system configuratio
93. causes changes in operating mode the operating mode can be restored without clearing the bit in Event Status first GetEventAction gets the action that is currently programmed for the given event with the exception of the Immediate event which cannot be read back Restrictions If a Smooth Stop action occurs while the trajectory mode is S curve the trajectory cannot be restarted until the smooth stop is complete If a Smooth Stop action occurs while the trajectory mode is electronic gearing an abrupt stop will occur C Motion API PMDresult PMDSetEventAction PMDAxisInterface axis intf PMDuint16 event PMDuint16 action PMDresult PMDGetEventAction PMDAxisInterface axis intf PMDuint16 event PMDuint16 action VB Motion API Dim action as Short MagellanAxis EventAction event action action MagellanAxis EventAction event see GetActiveOperatingMode p 25 RestoreOperatingMode p 65 Set GetOperatingMode p 122 Magellan Motion Processor Programmer s Command Reference 103 SetFaultOutMask FBh GetFaultOutMask FCh a ca Syntax SetFaultOutMask axis mask GetFaultOutMask axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 mask see below bitmask Packet SetFaultOutMask Structure 0 axis FBh 15 12 11 8 7 0 First data word write mask 15 0 GetFaultOutMask 0 axis FCh 15 1
94. city 149 2Ch GetPhaseAngle 126 6Bh GetStartVelocity 149 2Dh GetMotorBias 117 6Ch ClearDriveFaultStatus 21 2Eh RestoreOperatingMode 65 6Dh GetDriveFaultStatus 37 2Fh SetInterruptMask 113 6Eh GetOutputMode 124 31h GetEventStatus 39 71h GetCurrentLoopValue 35 32h SetBreakpointUpdateMask 77 72h SetPhaselnitializeTime 130 33h GetBreakpointUpdateMask 77 73h SetCurrentLoop 93 34h ResetEventStatus 64 74h GetCurrentLoop 93 36h GetCaptureValue 30 75h SetPhaseCounts 128 37h GetActualPosition 68 76h SetPhaseOffset 131 39h Reset 60 77h SetMotorCommand 118 3Ah GetActiveMotorCommand 24 7Ah InitializePhase 54 3Bh SetSampleTime 140 7Bh GetPhaseOffset 131 3Ch GetSampleTime 140 7Ch GetPhaselnitializeTime 130 3Eh GetTime 49 7Dh GetPhaseCounts 128 40h GetBusVoltage 29 82h WritelO 169 4lh SetCurrentFoldback 91 83h ReadlO 59 42h GetCurrentFoldback gi 84h SetPhaseAngle 126 43h SetCurrentControlMode 90 89h SetDefault 96 44h GetCurrentControlMode 90 8Ah GetDefault 96 45h SetAxisOutMask 72 8Bh SetSerialPortMode 142 46h GetAxisOutMask 72 8Ch GetSerialPortMode 142 47h ClearPositionError 23 8Dh SetEncoderModulus 98 8Eh GetEncoderModulus 98 8Fh GetVersion 52 Magellan Motion Processor Programmer s Command Reference 177 5N Instruction Summary Tables Code Instruction Page Code Instruction Page 90h SetAcceleration 66 Dih GetStopMode
95. coded as defined below Error Code No error Encoding Processor reset Invalid instruction Invalid axis Invalid parameter Trace running Reserved Block out of bounds Trace buffer zero 0 10 CO NIAI A WI NY oO Bad serial checksum gt gt Reserved w Invalid negative value Q gt Invalid parameter change U gt Invalid move after event triggered stop m Invalid move into limit Invalid Operating Mode restore after event triggered change 10h Invalid Operating Mode for command Ith PMDresult PMDGetInstructionError PMDAxisInterface axis intf PMDuint16 error Dim error as Short error MagellanObject InstructionError GetEventStatus p 39 ResetEventStatus p 64 Magellan Motion Processor Programmer s Command Reference GetinterruptAxis Eth Syntax GetlnterruptAxis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments None Returned data Name Instance Encoding mask None 0 Axis1 Mask 1 Axis2 Mask 2 Axis3 Mask 4 Axis4 Mask 8 Packet GetinterruptAxis Structure 0 Eth 15 8 7 0 Data read 0 mask 15 4 3 0 Description GetInterruptAxis returns a field that identifies all axes with pending interrupts Axis numbers are assigned to the low order four bits of the returned word with bits corresponding to interrupting axes set to 1
96. coding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Type Range Scaling Units counts unsigned 16 bits 1 to 215 1 unity counts microsteps Packet SetPhaseCounts Structure 0 axis 75h 15 12 11 8 7 0 Data write counts 15 0 GetPhaseCounts 0 axis 7Dh 15 12 11 8 7 0 Data read counts 15 0 Description For axes configured for brushless DC motor types SetPhaseCounts sets the number of encoder counts per electrical cycle of the motor The number of electrical cycles is equal to 1 2 the number of motor poles If this value is not an integer then the closest integer value should be used and phase correction mode should be enabled See SetPhaseCorrectionMode p 127 For axes configured for microstepping motor types the number of microsteps per full step is set using the SetPhaseCounts command The parameter used for this command represents the number of microsteps per electrical cycle 4 times the desired number of microsteps For example to set 64 microsteps per full step the SetPhaseCounts 256 command should be used The maximum number of microsteps that can be generated per full step is 256 giving a maximum parameter value of 1024 GetPhaseCounts returns the number of counts or microsteps per electrical cycle Restrictions C Motion API PMDresult PMDSetPhaseCounts PMDAxisInterface axis _intf PMDuint1l6 counts PMDresult PMDGetPhaseCounts PMDAxisInterface axis intf PMDuint1l6 counts VB Motion API Dim counts as Short MagellanAxis
97. coding is given below Name Bit s Description Trajectory 0 Set to to update trajectory from buffered parameters Position Loop l Set to to update position loop from buffered parameters 2 Reserved Current Loop 3 Set to to update current loop from buffered parameters 4 15 Reserved For example if the update mask for a given axis is set to hexadecimal 0003h the trajectory and position loop parameters will be updated from their buffered values when an Update or MultiUpdate command is received for that axis The Current Loop bit applies regardless of the active current control mode When it is set an Update or MultiUpdate command will update either the active FOC parameters or the active digital current loop parameters depending on which Current Control mode is active GetUpdateMask gets the update mask for the indicated axis 163 Magellan Motion Processor Programmer s Command Reference SetUpdateMask cont F9h GetUpdateMask FAh Restrictions The current loop bit is only valid for products that include a current loop C Motion API PMDresult PMDSetUpdateMask PMDAxisInterface axis intf PMDuint16 mask PMDresult PMDGetUpdateMask PMDAxisInterface axis intf PMDuint16 mask VB Motion API Dim mask as Short MagellanAxis UpdateMask mask mask MagellanAxis UpdateMask see Set GetBreakpointUpdateMask p 163 Update p 167 MultiUpdate p 55 Magellan Motion Processor Programmer s
98. command VB Motion API The Visual Basic syntax for the function in the PMD VB Motion library that implements this motion processor command Properties and methods are shown with their associated root object name separated by a period see Refers to related instructions Magellan Motion Processor Programmer s Command Reference 19 A AdjustActualPosition F5h Syntax AdjustActualPosition axis position Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Type Range Scaling Units position signed 32 bits 2 1 to 231 1 unity counts microsteps Packet AdjustActualPosition Structure 0 axis F5h 15 12 11 8 7 0 First data word write position high order part 31 16 Second data word write position low order part 15 0 Description The position specified as the parameter to AdjustActualPosition is summed with the actual position register encoder position for the specified axis This has the effect of adding or subtracting an offset to the current actual position At the same time the commanded position is replaced by the new actual position value minus the position error This prevents a servo bump when the new axis position is established The destination position see SetPosition p 133 is also modified by this amount so that no trajectory motion will occur when a trajectory update
99. command The new value set will not take effect until the next Update or MultiUpdate command is entered with the Trajectory Update bit set in the update mask C Motion API PMDresult PMDSetGearRatio PMDAxisInterface axis intf PMDint32 ratio PMDresult PMDGetGearRatio PMDAxisInterface axis _intf PMDint32 ratio VB Motion API Dim ratio as Long MagellanAxis GearRatio ratio ratio MagellanAxis GearRatio see Set GetGearMaster p 108 MultiUpdate p 55 Update p 167 Magellan Motion Processor Programmer s Command Reference 110 SetHoldingCurrent 5Eh GetHoldingCurrent 5Fh ey ares Syntax SetHoldingCurrent axis parameter value GetHoldingCurrent axis parameter Motor Types Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 parameter Holding Motor Limit 0 Holding Delay 1 Type Range Scaling value unsigned 16 bit see below Packet SetHoldingCurrent Structure 0 axis 5Eh 15 12 11 8 7 0 First Data Word write parameter 15 0 Second Data Word write value 15 0 GetHoldingCurrent 0 axis 5Fh 15 12 11 8 7 0 First Data Word write parameter 15 0 Second Data Word read value 15 0 Description SetHoldingCurrent configures the operation of the holding current The two parameters to set are Holding Motor Limit the maximum commanded current when in holding and Holding Delay the number of cyc
100. ctory Enabled 5 0 trajectory generator disabled trajectory generator enabled 6 15 Reserved When the axis is disabled no processing will be done on the axis and the axis outputs will be at their reset states When the axis motor output is disabled the axis will function normally but its motor outputs will be in their disabled state When a loop is disabled position or current loop it operates by passing its input directly to its output and clearing all internal state variables such as integrator sums etc When the trajectory generator is disabled it operates by commanding zero 0 velocity Restrictions The possible modes of an axis are product specific and in some cases axis specific See the product uset s guide for a description of what modes are supported on each axis C Motion API PMDresult PMDGetActiveOperatingMode PMDAxisInterface axis intf PMDuint16 mode VB Motion API Dim mode as Short mode MagellanAxis ActiveOperatingMode see GetOperatingMode p 122 RestoreOperatingMode p 65 Set GetEventAction p 102 Set GetBreakpoint p 74 Magellan Motion Processor Programmer s Command Reference 25 a GetActivityStatus A6h Syntax GetActivityStatus axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Returned Data Type status unsigned 16
101. ctory Update bit set in the update mask C Motion API PMDresult PMDSetStopMode PMDAxisInterface axis intf PMDuint1l6 mode PMDresult PMDGetStopMode PMDAxisInterface axis intf PMDuint16 mode VB Motion API Dim mode as Short MagellanAxis StopMode mode mode MagellanAxis StopMode see MultiUpdate p 55 Update p 167 Magellan Motion Processor Programmer s Command Reference 151 SetSynchronizationMode F2h GetSynchronizationMode F3h Ee E Syntax SetSynchronizationMode mode GetSynchronizationMode Motor Types DC Brush Brushless DC Microstepping Arguments Name Instance Encoding mode Disabled 0 Master 1 Slave 2 Packet SetSynchronizationMode Structure 0 F2h 15 8 7 0 Data write 0 mode 15 21 0 GetSynchronizationMode 0 F3h 15 8 7 0 Data read 0 mode 15 2 1 0 Description SetSynchronizationMode sets the mode of the pin used for the synchronization of the internal timer across multiple motion ICs In the Disabled mode the pin is configured as an input and is not used In the Master mode the pin outputs a synchronization pulse that can be used by slave nodes or other devices to synchronize with the internal chip cycle of the master node In the Slave mode the pin is configured as an input and a pulse on the pin synchronizes the internal chip cycle GetSynchronizationMode returns the value of the synchronization mode Restrictions If the motion processor is c
102. d Bit Number Name Instance Encoding 0 3 Transmission Rate 1200 baud 2400 baud 9600 baud 19200 baud 57600 baud 115200 baud 230400 baud 460800 baud 4 5 Parity none odd even 6 Stop Bits l 2 7 8 Protocol Point to point Multi drop using idle line detection Reserved Reserved 11 15 Multi Drop Address Address 0 Address O WNnN O OlN OINaDOUBRWN O wi Address 31 142 Magellan Motion Processor Programmer s Command Reference SetSerialPortMode cont SBh GetSerialPortMode 8Ch Restrictions C Motion API PMDresult PMDSetSerialPortMode PMDAxisInterface axis intf PMDuint8 baud PMDuint8 parity PMDuint8 stopBits PMDuint8 protocol PMDuint8 multiDropID PMDresult PMDGetSerialPortMode PMDAxisInterface axis intf PMDuint8 baud PMDuint8 parity PMDuint8 stopBits PMDuint8 protocol PMDuint8 multiDropID VB Motion API CommunicationSerial SerialPortModeSet in baud in parity in stopBits in protocol in multidropID see Magellan Motion Processor Programmer s Command Reference 143 SetSettleTime AAh GetSettleTime ABh ee Syntax SetSettleTime axis time GetSettleTime axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Type Range Scaling Units time unsigned 16 bits 0 to2
103. d see Set GetSampleTime p 140 Set GetTraceStart p 155 Set GetTraceStop p 157 154 Magellan Motion Processor Programmer s Command Reference SetTraceStart B2h GetTraceStart B3h Syntax SetTraceStart triggerAxis condition triggerBit triggerState GetTraceStart Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding triggerAxis Axis1 0 Axis2 1 Axis3 2 Axis4 3 condition Immediate 0 Next Update 1 Event Status 2 Activity Status 3 Signal Status 4 Drive Status 5 triggerBit Status Register Bit 0 to 15 triggerState tS Triggering State of the Bit 0 value 0 1 value 1 Packet SetTraceStart Structure 0 B2h 15 8 7 0 Data write 0 tS triggerBit condition triggerAxis 15 13 12 11 8 7 4 3 0 GetTraceStart 0 B3h 15 8 7 0 Data read 0 tS triggerBit condition triggerAxis 15 13 12 11 8 7 4 3 0 Description SetTraceStart sets the condition for starting the trace The Immediate condition requires no axis to be specified and the trace will begin upon execution of this instruction The other four conditions require an axis to be specified and when the condition for that axis is attained the trace will begin When a status register bit is the trigger the bit number and state must be included in the argument The trace is started when the indicated bit reaches the specified state 0 or 1 GetTraceStart
104. d then returned to the user For each bit in the Signal Sense register that is set to 1 the corresponding bit in the GetSignalStatus command will be inverted Therefore a low signal will be read as 1 and a high signal will be read as a 0 Conversely for each bit in the Signal Sense register that is set to 0 the corresponding bit in the GetSignalStatus command is not inverted Therefore a low signal will be read as 0 and a high signal will be read as a 1 All of the bits in the GetSignalStatus command are inputs except for AxisOut and FaultOut The value read for these bits is equal to the value output by the AxisOut and FaultOut mechanisms See SetAxisOutMask p 72 and SetFaultMask p 104 for more information The bit definitions are as follows Description Bit Number Description Bit Number Encoder A 0 Hall B 8 Encoder B l Hall C 9 Encoder Index 2 AxisOut 10 Capture Input 3 Reserved 11 12 Positive Limit 4 Enable In 13 Negative Limit 5 FaultOut 14 AxisIn 6 Reserved 15 Hall A 7 Restrictions Depending on the product some signals may not be present See the product uset s guide In ION products when the capture source is set to Index the Encoder Index input will be present as both the Encoder Index and the Capture Input bits C Motion API PMDresult PMDGetSignalStatus PMDAxisInterface axis intf PMDuint16 status VB Motion API Dim status as Short status MagellanAxis SignalStatus see G
105. de set using SetOperatingMode Executing the SetOperatingMode command sets both the static operating mode and the active operating mode to the desired state GetOperatingMode gets the operating mode of the axis Restrictions The possible operating modes of an axis is product specific and in some cases axis specific See the product uset s guide for a description of what operating modes are supported on each axis C Motion API PMDresult PMDSetOperatingMode PMDAxisInterface axis intf PMDuint16 mode PMDresult PMDGetOperatingMode PMDAxisInterface axis intf PMDuint16 mode VB Motion API Dim mode as Short MagellanAxis OperatingMode mode mode MagellanAxis OperatingMode see GetActiveOperatingMode p 25 RestoreOperatingMode p 65 Magellan Motion Processor Programmer s Command Reference 123 SetOutputMode EOh GetOutputMode 6Eh Ga D Syntax SetOutputMode axis mode GetOutputMode axis Motor Types DC Brush Brushless DC Microstepping Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 mode Parallel DAC Offset Binary 0 PWM Sign Magnitude 1 PWM 50 50 Magnitude 2 SPI DAC Offset Binary 3 Parallel DAC Sign Magnitude 4 SPI DAC 2 s Complement 5 PWM High Low 7 Packet SetOutputMode Structure 0 axis E0h 15 12 11 8 7 0 Data write 0 mode 15 3 2 0 GetOutputMode 0 axis 6Eh 15 12 11 8 7 0 Data read 0 mode 15 3 2 0 Description
106. ding Description RisingEdge 0 Rising edge without phase delay The SPIClock signal is inactive low The SPIXmt pin transmits data on the rising edge of the SPIClock signal RisingEdgeDelay Rising edge with phase delay The SPIClock signal is inactive low The SPIXmt pin transmits data one half cycle ahead of the rising edge of the SPIClock signal FallingEdge 2 Falling edge without phase delay The SPIClock signal is inactive high The SPIXmt pin transmits data on the falling edge of the SPIlClock signal FallingEdgeDelay 3 Falling edge with phase delay The SPIClock signal is inactive high The SPIXmt pin transmits data one half cycle ahead of the falling edge of the SPIClock signal Restrictions SPI output is only available when the motor type is DC brush and only in some products See the product user s guide C Motion API PMDresult PMDSetSPIMode PMDAxisInterface axis _intf PMDuint1l6 mode PMDresult PMDGetSPIMode PMDAxisInterface axis _intf PMDuint16 mode VB Motion API Dim mode as Short MagellanObject SPIMode mode mode MagellanObject SPIMode see SetOutputMode p 124 148 Magellan Motion Processor Programmer s Command Reference SetStartVelocity 6Ah GetStartVelocity 6Bh Syntax SetStartVelocity axis velocity GetStartVelocity axis Motor Types Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Type
107. e is microstepping or pulse amp direction this value is set in microsteps or steps respectively GetPositionErrorLimit returns the value of the position error limit Restrictions C Motion API PMDresult PMDSetPositionErrorLimit PMDAxisInterface axis intf PMDuint32 limit PMDresult PMDGetPositionErrorLimit PMDAxisInterface axis intf PMDuint32 limit VB Motion API Dim limit as Long MagellanAxis PositionErrorLimit limit limit MagellanAxis PositionErrorLimit see GetPositionError p 45 GetActualPosition p 70 Set GetPosition p 133 Set GetEventAction p 102 134 Magellan Motion Processor Programmer s Command Reference SetPositionLoop buffered 67h GetPositionLoop 68h Syntax SetPositionLoop axis parameter value GetPositionLoop axis parameter Motor Types DC Brush Brushes P n mmy Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 parameter PID Proportional Gain Kp 0 PID Integrator Gain Ki 1 PID Integrator Limit Ilimit 2 PID Derivative Gain Kd 3 PID Derivative Time 4 PID Output Gain Kout 5 Velocity Feedforward Gain Kvff 6 Acceleration Feedforward Gain Kaff 7 Biquad1 Enable Filter 8 Biquad1 CoefficientBO 9 Biquad1 CoefficientB1 10 Biquad1 CoefficientB2 11 Biquad1 CoefficientA1 12 Biquad1 CoefficientA2 13 Biquad1 CoefficientK 14 Biquad2 Enable filter 15 Biquad2 CoefficientBO 16 Biquad2 CoefficientB1 17 Biquad2 CoefficientB2 18 Biquad2 CoefficientA1
108. eadindex Structure 0 C6h 15 8 7 0 First data word write 0 bufferID 15 5 4 0 Second data word write index high order part 31 16 Third data word write index low order part 15 0 GetBufferReadiIndex 0 C7h 15 8 7 0 First data word write 0 bufferID 15 5 4 0 Second data word read index high order part 31 16 Third data word read index low order part 15 0 Description SetBufferReadIndex sets the address of the read index for the specified buffer ID GetBufferReadIndex returns the current read index for the specified bufferID Restrictions If the read index is set to an address beyond the length of the buffer the command will not be executed and will return host I O error code 7 buffer bound exceeded C Motion API PMDresult PMDSetBufferReadIndex PMDAxisInterface axis intf PMDuint16 bufferID PMDuint32 index PMDresult PMDGetBufferReadIndex PMDAxisInterface axis intf PMDuint16 bufferlID PMDuint32 index VB Motion API Dim index as Long MagellanObject BufferReadIndex bufferID index index MagellanObject BufferReadIndex bufferID see Set GetBufferLength p 81 Set GetBufferStart p 83 Set GetBufferWritelndex p 84 82 Magellan Motion Processor Programmer s Command Reference SetBufferStart COh GetBufferStart Cth Syntax SetBufferStart bufferlD address GetBufferStart bufferlD Moto
109. earPositionError see GetPositionError p 45 MultiUpdate p 55 Set GetPositionErrorLimit p 134 Update p 167 Magellan Motion Processor Programmer s Command Reference 23 A GetActiveMotorCommand 3Ah Syntax GetActiveMotorCommand axis Motor Types DC Brush Brushless DC Microstepping Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Returned data Type Range Scaling Units command signed 16 bits 2 to 25 41 100 2 output Packet GetActiveMotorCommand Structure 0 axis 3Ah 15 12 11 8 7 0 Data read command 15 0 Description GetActiveMotorCommand returns the value of the motor output command for the specified axis This is the input to the commutation or FOC current control Its source depends on the motor type as well as the operating mode of the axis For brushless DC and DC brush motors If position loop is enabled it is the output of the position servo filter If trajectory generator is enabled without the position loop it is the output of the trajectory generator If both trajectory generator and position loop are disabled it is the contents of the motor output command register For mictrostepping motors It is the contents of the motor output command register subject to holding current reduction Restrictions C Motion API PMDresult PMDGetActiveMotorCommand PMDAxisInterface axis intf PMDint16 command VB Motion API Dim command as Short
110. ed to have the AxisOut pin of Axis driven active whenever motion complete of Axis2 is 1 or commutation error of Axis2 is 0 In this case axis would be 0 Axis l sourceAxis would be 1 Axis2 sourceRegister would be 1 Event Status selectionMask would be 0801h commutation error and motion complete and senseMask would be 0001h GetAxisOutMask returns the mapping of the AxisOut pin of axis Depending on the product features some bits may not be supported See the product uset s guide PMDresult PMDSetAxisOutMask PMDAxisInterface axis intf DAxis sourceAxis Duint8 sourceRegister Duintl6 selectionMask Duintl6 senseMask DAxisInterface axis intf DAxis sourceAxis Duint8 sourceRegister Duint1l6 selectionMask Duint16 senseMask P P P P P PMDresult PMDGetAxisOutMask P P P P F MagellanAxis AxisOutMaskSet in sourceAxis in sourceRegister in selectionMask in senseMask MagellanAxis AxisOutMaskGet out sourceAxis out sourceRegister out selectionMask out senseMask Magellan Motion Processor Programmer s Command Reference 73 SetBreakpoint D4h GetBreakpoint D5h A a A ea Syntax SetBreakpoint axis breakpointID sourceAxis action trigger GetBreakpoint axis breakpointID Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 break
111. ediately after power up or reset C Motion API PMDresult PMDSetDefault PMDAxisInterface axis intf PMDuint1l6 variable PMDuint32 value PMDresult PMDGetDefault PMDAxisInterface axis intf PMDuint16 variable PMDuint32 value VB Motion API MagellanAxis DefaultSet in variable in value MagellanAxis DefaultGet in variable out value see Reset p 60 Magellan Motion Processor Programmer s Command Reference 97 SetEncoderModulus 8Dh GetEncoderModulus SEh EE e Syntax SetEncoderModulus axis modulus GetEncoderModulus axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Type Range Scaling Units modulus unsigned 16 bits 0 to 2 1 unity counts Packet SetEncoderModulus Structure 0 axis 8Dh 15 12 11 8 7 0 Data write modulus 15 0 GetEncoderModulus 0 axis 8Eh 15 12 11 8 7 0 Data read modulus 15 0 Description SetEncoderModulus sets the parallel word range for the specified axis when parallel word feedback is used The modulus determines the range of the connected device For multi turn systems this value is used to determine when a position wrap condition has occurred The value provided should be one half of the actual range of the axis For example if the parallel wo
112. ellan Motion Processor Programmer s Command Reference GetDriveFaultStatus 6Dh Syntax GetDriveFaultStatus axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Returned Data Type status unsigned 16 bits see below Packet GetDriveFaultStatus Structure 0 axis 6Dh 15 12 11 8 7 0 First data word read 0 0 15 7 6 5 4 3 2 1 0 Description GetDriveFaultStatus gets the Drive Fault Status register which contains a bitmap showing all hard faults that have occurred since the Drive Fault Status register was last cleared This register is kept in non volatile memory so that a record of hard faults is retained even through power cycles which will be done upon any hard fault event The table below shows the bit definitions of the Drive Fault Status register Name Bit Overcurrent Fault Ground Fault External Logic Fault Reserved Internal Logic Fault Overvoltage Fault Undervoltage Fault NN Oo a AJ Ww NM o Reserved 15 Events 0 through 4 are hard faults If one of these occur the unit will shut down and power must be cycled Upon power up GetDriveFaultStatus should be used to check which if any hard fault may have caused the previous power cycle After querying the Drive Fault Status register it should be cleared using ClearDr
113. ent for 16 current loop cycles will result in an integrator sum of 16 100 2 14 100 2 18 Current loop cycles are not the same as position loop servo cycles The current loop runs at 20 kHz regardless of the servo cycle time Restrictions This command is only supported in products that include digital current control and when the current control mode is set to FOC C Motion API PMDresult PMDGetFOCValue PMDAxisInterface axis intf PMDuint8 loop PMDuint8 node PMDint32 value VB Motion API MagellanAxis FOCValue in loop in node out value see Set GetFOC p 106 Set GetCurrentControlMode p 90 Magellan Motion Processor Programmer s Command Reference 41 GetinstructionError ABh 42 Syntax Motor Types Arguments Returned data Packet Structure Description Restrictions C Motion API VB Motion API see GetinstructionError DC Brush Brushless DC Microstepping Pulse amp Direction None Type Range error unsigned 16 bits O to 11h GetlinstructionError 0 A5h 15 12 11 8 7 0 Data read error 15 0 GetlnstructionError returns the code for the last instruction error and then resets the error to zero 0 Generally this command is issued only after the instruction error bit in the Event Status register indicates there was an instruction error It also resets the Instruction error bit in the I O status read word to zero 0 The error codes are en
114. eration 90h 66 GetActiveMotorCommand 3Ah 24 GetActiveOperatingMode 57h 25 GetActivityStatus A6h 26 GetActualPosition 37h SetActualPosition 4Dh 68 GetActualPositionUnits BFh SetActualPositionUnits BEh 70 GetActualVelocity ADh 28 GetAuxiliaryEncoderSource 09h SetAuxiliaryEncoderSource 08h 71 GetAxisOutMask 46h SetAxisOutMask 45h 72 GetBreakpoint D5h SetBreakpoint D4h 74 GetBreakpointUpdateMask 33h SetBreakpointUpdateMask 32h 77 GetBreakpointValue D7h SetBreakpointValue D6h 79 GetBufferLength C3h SetBufferLength C2h 81 GetBufferReadIndex C7h SetBufferReadIndex C6h 82 GetBufferStart Clh SetBufferStart COh 83 GetBufferWritelndex C5h SetBufferWritelndex C4h 84 GetBusVoltage 40h 29 GetBusVoltageLimits 60h SetBusVoltageLimits 62h 85 GetCANMode 15h SetCANMode 12h 87 GetCaptureSource D9h SetCaptureSource D8h 88 GetCaptureValue 36h 30 GetChecksum F8h 31 GetCommandedAcceleration A7h 32 GetCommandedPosition IDh 33 GetCommandedVelocity IEh 34 GetCommutationMode E3h SetCommutationMode E2h 89 GetCurrentControlMode 44h SetCurrentControlMode 43h 90 GetCurrentFoldback 42h SetCurrentFoldback 4lh 91 GetCurrentLoop 74h SetCurrentLoop 73h 93 GetCurrentLoopValue 71h 35 GetDeceleration 92h SetDeceleration 91h 95 GetDefault 8Ah SetDefault 89h 96 GetDriveFaultStatus 6Dh 37 GetDriveStatus OEh 38 GetEncoderModulus 8Eh SetEncoderModulus 8Dh 98 GetEncoderSource DBh SetEncoderSource DAh 99 GetEncoderToStepRatio DFh SetEncoderToStepRatio DEh 101 GetEventAction 49h SetEven
115. estrictions C Motion API PMDresult PMDSetTraceMode PMDAxisInterface axis intf PMDuintl6 mode PMDresult PMDGetTraceMode PMDAxisInterface axis _intf PMDuint1l6 mode VB Motion API Dim mode as Short MagellanObject TraceMode mode mode MagellanObject TraceMode see GetTraceStatus p 51 Magellan Motion Processor Programmer s Command Reference 153 SetTracePeriod B8h GetTracePeriod B9h on Sx ae Syntax SetTracePeriod period GetTracePeriod Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Type Range Scaling Units period unsigned 16 bits 1 to 2 1 unity cycles Packet SetTracePeriod Structure 0 B8h 15 8 7 0 Data write period 15 0 GetTracePeriod 0 B9h 15 8 7 0 Data read period 15 0 Description SetTracePeriod sets the interval between contiguous trace captures For example if the trace period is set to one trace data will be captured at the end of every chip cycle If the trace period is set to two trace data will be captured at the end of every second chip cycle and so on GetTracePeriod returns the value for the trace period Restrictions C Motion API PMDresult PMDSetTracePeriod PMDAxisInterface axis intf PMDuint1l6 period PMDresult PMDGetTracePeriod PMDAxisInterface axis intf PMDuint16 period VB Motion API Dim period as Short MagellanObject TracePeriod period period MagellanObject TracePerio
116. et in the Event Status register and the axis enters the overtemperature state GetOvertemperatureLimit gets the current overtemperature threshold setting Restrictions Get SetOvertemperatureLimit is only available in products equipped with temperature sensors If the axis has more than one temperature sensor the temperature used to compare to the ovettemperature threshold will be the highest value of all sensor readings The overtemperature threshold cannot be set to a value greater than the reset default setting C Motion API PMDresult PMDSetOvertemperatureLimit PMDAxisInterface axis intf PMDint16 limit PMDresult PMDGetOvertemperatureLimit PMDAxisInterface axis intf PMDint1l6 limit VB Motion API Dim limit as Short MagellanAxis OvertemperatureLimit limit limit MagellanAxis OvertemperatureLimit see GetTemperature p 48 GetEventStatus p 39 ResetEventStatus p 64 Magellan Motion Processor Programmer s Command Reference 125 SetPhaseAngle 84h GetPhaseAngle 2Ch My Syntax SetPhaseAngle axis angle GetPhaseAngle axis Motor Types Brushless DC Microstepping Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Type Range Scaling Units angle unsigned 16 bits 0 to 2 1 unity counts microsteps Packet SetPhaseAngle Structure 0 axis 84h 15 12 11 8 7 0 Data write angle 15 0 GetPhaseAngle 0 axis 2Ch 15 12 11 8 7 0 Data
117. etActivityStatus p 26 GetEventStatus p 39 GetSignalSense p 146 Magellan Motion Processor Programmer s Command Reference 47 A GetTemperature 53h Syntax GetTemperature axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Returned Data Type Range Scaling Units temperature signed 16 bits 2415 to 2415 1 28 C Packet GetTemperature Structure 0 axis 53h 15 12 11 8 7 0 First data word read temperature 15 0 Description GetTemperature gets the most recent temperature reading from the temperature sensor s monitoring the axis Restrictions GetTemperature is only available in products equipped with temperature sensors If axis has more than one temperature sensor the temperature returned will be the average value of all sensor readings C Motion API PMDresult PMDGetTemperature PMDAxisInterface axis intf PMDint16 temperature VB Motion API Dim temperature as Short temperature MagellanAxis Temperature see Get SetOvertemperatureLimit p 125 48 Magellan Motion Processor Programmer s Command Reference GetTime 3Eh Syntax Motor Types Arguments Returned data Packet Structure Description Restrictions C Motion API VB Motion API See GetTime DC Brush Brushless DC Microstepping Pulse amp Direction None Name Type R
118. etBufferLength p 81 Set GetBufferReadIndex p 82 Set GetBufferWritelndex p 84 Magellan Motion Processor Programmer s Command Reference 83 SetBufferWritelndex C4h GetBufferWritelndex C5h BE Syntax SetBufferWritelndex bufferlD index GetBufferWritelndex buffer D Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Type Range Scaling Units bufferlD unsigned 16 bits 0 to 31 unity index unsigned 32 bits 0 to buffer unity double words length 1 Packet SetBufferWritelndex Structure 0 C4h 15 8 7 0 First data word write 0 bufferID 15 4 3 0 Second data word write index high order part 31 16 Third data word write index low order part 15 0 GetBufferWritelndex 0 C5h 15 8 7 0 First data word write 0 bufferID 15 4 3 0 Second data word read index high order part 31 16 Third data word read index low order part 15 0 Description SetBufferWritelndex sets the write index for the specified bufferlD GetBufferWritelndex returns the write index for the specified bufferlD Restrictions C Motion API PMDresult PMDSetBufferWriteIndex PMDAxisInterface axis intf PMDuint16 bufferID PMDuint32 index PMDresult PMDGetBufferWriteIndex PMDAxisInterface axis intf PMDuint16 bufferID PMDuint32 index VB Motion API Dim index as Long MagellanObject BufferWrite
119. etMotor Type 03h W a ODDA cei Syntax SetMotorType axis type GetMotorType axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 type Brushless DC 3 phase 0 Brushless DC 2 phase 1 Microstepping 3 phase 2 Microstepping 2 phase 3 Pulse amp Direction 4 DC Brush 7 Packet SetMotorType Structure 0 axis 02h 15 12 11 8 7 0 Data write 0 type 15 3 2 0 GetMotorType 0 axis 03h 15 12 11 8 7 0 Data read 0 type 15 3 2 0 Description SetMotorType sets type of motor being driven by the selected axis This operation sets the number of phases for commutation on the axis as well as internally configuring the motion processor for the motor type The following table describes each motor type and the number of phases to be commutated Motor type Commutation Brushless DC 3 phase 3 phase Brushless DC 2 phase 2 phase Microstepping 3 phase 3 phase Microstepping 2 phase 2 phase Pulse amp Direction None DC Brush None GetMotorType returns the configured motor type for the selected axis Restrictions The motor type should only be set once for each axis either via the motor configuration word during device startup or immediately after reset using SetMotorType Once it has been set it should not be changed Executing SetMotorType will reset many v
120. ettleWindow sets the position range within which the specified axis must remain for the duration specified by SetSettleTime before the Axis Settled indicator in the Activity Status register is set GetSettleWindow returns the value of the settle window Restrictions C Motion API PMDresult PMDSetSettleWindow PMDAxisInterface axis intf PMDuintl6 window PMDresult PMDGetSettleWindow PMDAxisInterface axis intf PMDuint16 window VB Motion API Dim window as Short MagellanAxis SettleWindow window window MagellanAxis SettleWindow see Set GetMotionCompleteMode p 116 Set GetSettleTime p 144 GetActivityStatus p 26 145 Magellan Motion Processor Programmer s Command Reference SetSignalSense A2h GetSignalSense A3h ee Syntax SetSignalSense axis sense GetSignalSense axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Indicator Encoding Bit Number sense EncoderA 0001h 0 EncoderB 0002h 1 Encoder Index 0004h 2 Capture Input 0008h 3 Positive Limit 0010h 4 Negative Limit 0020h 5 AxisIn 0040h 6 HallA 0080h 7 HallB 0100h 8 HallC 0200h 9 AxisOut 0400h 10 Step Output 0800h 11 Motor Direction 1000h 12 Reserved 13 15 Packet SetSignalSense Structure 0 axis A2h 15 12 11 8 7 0 Data write 0 sense 15 13 12 0 GetSignalSense
121. ght to make changes to its products or to discontinue any product or service without notice and advises customers to obtain the latest version of relevant information to verify before placing orders that information being relied on is current and complete All products are sold subject to the terms and conditions of sale supplied at the time of order acknowledgement including those pertaining to warranty patent infringement and limitation of liability Safety Notice Certain applications using semiconductor products may involve potential risks of death personal injury or severe property or environmental damage These products are not designed authorized or warranted to be suitable for use in life support devices or systems or other critical applications Inclusion of PMD products in such applications is un derstood to be fully at the customet s risk In order to minimize risks associated with the customer s applications adequate design and operating safeguards must be provided by the customer to minimize inherent procedural hazards Disclaimer PMD assumes no liability for applications assistance or customer product design PMD does not warrant or represent that any license either express or implied is granted under any patent right copyright mask work right or other in tellectual property right of PMD covering or relating to any combination machine or process in which such products or services might be or ate used PMD s publ
122. gister ODh Signal Status Register OEh Drive Status Register 38h Commutation Phasing Active Motor Command O7h Phase A Command 11h Phase B Command 12h Phase C Command 13h Phase Angle Scaled 1Dh Current Loops Phase A Reference 42h Phase A Error 1Eh Phase A Actual Current 1Fh Phase A Integrator Sum 20h Phase A Integral Contribution 21h Current Loop A Output 22h Phase B Reference 43h Phase B Error 23h Phase B Actual Current 24h Phase B Integrator Sum 25h Phase B Integral Contribution 26h Current Loop B Output 27h D Feedback 2Ah Q Feedback 30h 159 Magellan Motion Processor Programmer s Command Reference SetTraceVariable cont B6h GetTraceVariable B7h Arguments Field Oriented Control D Reference 28h cont D Error 29h D Feedback 2Ah D Integrator Sum 2Bh D Integral Contribution 2Ch D Output 2Dh Q Reference 2Eh Q Error 2Fh Q Feedback 30h Q Integrator Sum 31h Q Integral Contribution 32h Q Output 33h Phase A Actual Current 1Fh Phase B Actual Current 24h FOC Alpha Output 34h FOC Beta Output 35h Motor Output Bus Voltage 36h Temperature 37h Analog Inputs Analog Input0 14h Analog Input1 15h Analog Input2 16h Analog Input3 17h Analog Input4 18h Analog Input5 19h Analog Input6 1Ah Analog Input7 1Bh Miscellaneous None disable variable 00h Motion Processor Time 08h Packet SetTraceVariable Structure 0 B6h 15 8 7 0 First data word write On lll E E EN variableNumber 15 21 0 Second data word
123. h Brushless DC Microstepping Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 parameter Continuous Current Limit O Energy Limit 1 Type Range Scaling value unsigned 16 bit see below Packet SetCurrentFoldback Structure 0 41h 15 12 11 8 7 0 First data word write parameter 15 0 Second data word write value 15 0 GetCurrentFoldback 0 axis 42h 15 12 11 8 7 0 First data word write parameter 15 0 Second data word read value 15 0 Description SetCurrentFoldback is used to set various I T foldback related parameters Two parameters can be set the Continuous Current Limit and the Energy Limit The units of Continuous Current Limit are convertible to milliAmps and represent percentage of maximum peak current with scaling of 100 2 15 The range is from 0 to the factory default continuous current limit setting When using this command with the ION drive check the ION Digital Drive User s Manual for exact scaling values Different drives have different scaling values and default limit settings The units of Energy Limit are convertible to Amp Seconds and represent the percentage of maximum energy with scaling of 100 2 15 The range is from 0 to the factory default energy limit setting When using this command with the ION drive check the ION Digital Drive User s Manual for exact scaling values Different drives have different scaling values and default li
124. hanging the operating mode from disabled requires clearing of the Current Foldback bit in Event Status GetCurrentFoldback gets the maximum continuous current setting Restrictions This command is only available on products that support digital current control Values of Continuous Current Limit greater than the factory setting for maximum continuous current ate not allowed C Motion API PMDresult PMDSetCurrentFoldback PMDAxisInterface axis intf PMDuint1l6 parameter PMDuint16 value PMDresult PMDGetCurrentFoldback PMDAxisInterface axis intf PMDuintl6 parameter PMDuint16 value VB Motion API Dim value as Short MagellanAxis CurrentFoldback parameter value value MagellanAxis CurrentFoldback parameter see GetEventStatus p 39 ResetEventStatus p 64 GetDriveStatus p 38 RestoreOperatingMode p 65 GetActiveOperatingMode p 25 92 Magellan Motion Processor Programmer s Command Reference SetCurrentLoop buffered 73h GetCurrentLoop 74h Syntax SetCurrentLoop axis phase parameter value GetCurrentLoop axis phase parameter Motor Types DC Brush Brushless DC Microstepping Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 phase Phase A 0 Phase B 1 Both A and B 2 parameter Proportional Gain KpCurrent 0 Integral Gain KiCurrent 1 Integral Sum Limit ILimitCurrent 2 Type Range Scaling value unsigned 16 bits see below Packet SetCurrentLoop Structure 0 axis 73h
125. he configured motor type of the axis The motor type independent values are listed here Default Value Buffered Breakpoints and Interrupts Breakpoint I 0 NO Breakpoint 2 0 NO Breakpoint Value 0 NO Breakpoint Value 2 0 NO Breakpoint Update Mask OBh NO Breakpoint Update Mask 2 OBh NO Interrupt Mask 0 NO Commutation Commutation Mode motor dependent NO Phase Angle 0 NO Phase Counts motor dependent NO Phase Offset I NO Phase Prescale 0 NO Phase Initialize Mode 0 NO Phase Initialize Time 0 NO Phase Correction Mode motor dependent NO Current Control Currrent Control Mode 0 YES Current Loop Current Loop Kp both A and B loops 0 YES Current Loop Current Loop Ki both A and B loops 0 YES Current Loop Current Loop Integration Limit 0 YES Current Loop both A and B loops FOC Kp both D and Q loops 0 YES Current Loop FOC Ki both D and Q loops 0 YES Current Loop FOC Integration Limit 0 YES Current Loop Holding Motor Limit 32767 NO Holding Delay motor dependent NO 60 Magellan Motion Processor Programmer s Command Reference Reset cont 39h A Default Value Buffered Digital Servo Filter Position Error Limit 65535 NO Position Loop Biquad Coeffs All O YES PositionLoop Position Loop Biquad Enables Both 0 YE
126. hich contains the communication objects for serial and IXXAT CAN interfaces CommunicationSerial and CommunicationCAN VB Motion includes the following features e Motion processor and Axis objects e The ability to communicate to multiple PMD motion processors Supports PCI ISA serial and CAN IXXAT interfaces 3 2 Files The following table describes the example projects that are included with VB Motion to provide a starting point for your custom motion software project Project Description AllCommands Demonstrates the syntax for all available ION or Magellan commands CANIO Demonstrates how to setup a connection to the CAN interface PCIIO Demonstrates how to setup a connection to the PCI interface SeriallO Demonstrates how to setup a connection to the serial interface in point to point mode Magellan Motion Processor Programmer s Command Reference 15 4 VB Motion 16 3 3 Using VB Motion In order to access the VB Motion objects they must first be declared Add this line when using the serial interface Dim commSerial As PMDUserLib CommunicationSerial Add this line when using the CAN interface Dim commCAN As PMDUserLib CommunicationCAN Add this line when using the PCI interface Dim commPCl As PMDMPLib CommunicationPCl Add this line when using the ISA interface Dim commlSA As PMDMPLib CommunicationISA The standard motion processor objects Dim magellanObj As PMDMPLib Magell
127. ication of information regarding any third party s products or services does not constitute PMD s approval warranty or endorsement thereof Magellan Motion Processor Programmer s Command Reference A Related Documents Magellan Motion Processor User s Guide Complete description of the Magellan Motion Processor features and functions with detailed theory of its operation Magellan Motion Processor Electrical Specifications Booklets containing physical and electrical characteristics timing diagrams pinouts and pin descriptions of each seties MC58000 Series for DC brush brushless DC Microstepping and Pulse amp Direction motion processors MC55000 Series for Pulse amp Direction motion processors Magellan Motion Processor Developer s Kit Manual How to install and configure the DK58000 series and DK55000 series developer s kit PC board Pro Motion Uset s Guide User s guide to Pro Motion the easy to use motion system development tool and performance optimizer Pro Motion is a sophisticated easy to use program which allows all motion parameters to be set and or viewed and allows all features to be exercised Other Documents ION Digital Drive User s Manual How to install and configure ION Digital Drives Prodigy PCI Motion Card User s Guide How to install and configure the Prodigy PCI motion board Prodigy PC 104 Motion Card User s Guide How to install and configure the Prodigy PC 104 motion boa
128. is hAxis2 I open interface to PMD processor and initialize handle to axis one PMDSetupAxisInterface_PCl amp hAxis PMDAx is1 0 I initialize handle to the second axis PMDCopyAxisInterface amp hAxis2 amp hAxis PMDAxis2 The above is an example of initializing communication using the parallel communication interface Each interface c source file contains an example of initializing the interface Once the axis handle has been initialized any of the motion processor commands can be executed The header file C Motion h includes the function prototypes for all motion processor commands as implemented in C Motion See this file for the required parameters for each command For information about the operation and pur pose of each command see Chapter 4 Instruction Reference Many functions require additional parameters Some standard values are defined by C Motion and can be used with the appropriate functions See PMDtypes h for a complete list of defined types An example of calling one of the C Motion functions with the pre defined types is shown below PMDSetBreakpoint amp hXAxis PMDBreakpoint PMDAxis2 PMDBreakpointActionAbruptStop PMDBreakpointActualPositionCrossed 12 Magellan Motion Processor Programmer s Command Reference C Motion rN 2 3 1 C Motion Functions The table below describes the functions that are provided by C Motion in addition to the standard chip command set C Mltion functions
129. is performed In effect this command establishes a new reference position from which subsequent positions can be calculated It is commonly used to set a known reference position after a homing procedure On axes configured for stepping and microstepping motors the position error is zeroed by this command AdjustActualPosition takes effect immediately it is not buffered Restrictions C Motion API PMDresult PMDAdjustActualPosition PMDAxisInterface axis intf PMDint32 position VB Motion API MagellanAxis AdjustActualPosition in position see GetPositionError p 45 GetActualVelocity p 28 Set GetActualPositionUnits p 70 Set GetActualPosition p 68 20 Magellan Motion Processor Programmer s Command Reference ClearDriveFaultStatus 6Ch Syntax ClearDriveFaultStatus axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Packet ClearDriveFaultStatus Structure 0 axis 6Ch 15 12 11 8 7 0 Description ClearDriveFaultStatus clears all bits in the Drive Fault Status register It should be executed after power up after using GetDriveFaultStatus to examine if any hard faults caused the power cycle Restrictions This command is not available in products that do not include drive amplifier support This command can only be executed when motor output is disabled e g immediately after
130. is1 0 Axis2 1 Axis3 2 Axis4 3 condition Immediate 0 Next Update 1 Event Status 2 Activity Status 3 Signal Status 4 Drive Status 5 triggerBit Status Register Bit 0 to 15 triggerState tS Triggering State of the Bit 0 value 0 1 value 1 Packet SetTraceStop Structure 0 B4h 15 8 7 0 Data write 0 tS triggerBit condition triggerAxis 15 13 12 1 8 7 4 3 0 GetTraceStop 0 B5h 15 8 7 0 Data read 0 tS triggerBit condition triggerAxis 15 13 12 1 8 7 4 3 0 Description SetTraceStop sets the condition for stopping the trace The Immediate condition requires no axis to be specified and the trace will stop upon execution of this instruction The other four conditions require an axis to be specified and when the condition for that axis is attained the trace will stop When a status register bit is the trigger the bit number and state must be included in the argument The trace is stopped when the indicated bit reaches the specified state 0 or 1 GetTraceStop returns the value of the trace stop trigger Once a trace has stopped the trace stop trigger is reset to zero 0 157 Magellan Motion Processor Programmer s Command Reference SetTraceStop cont B4h GetTraceStop B5h Description The following table shows the corresponding value for combinations of triggerBit and register cont Activity Signal Event Status Status Status Drive Status TriggerBit Register Register Register Reg
131. ister 0 Motion Complete Phasing Initialized Encoder A l Wrap around At Maximum Encoder B In Foldback Velocity 2 Breakpoint Tracking Encoder Index Overtemperature 3 Position Capture Capture Input 4 Motion Error Positive Limit In Holding 5 Positive Limit Negative Limit Overvoltage 6 Negative Limit AxislIn Undervoltage 7 Instruction Error Axis Settled Hall Sensor A 8 Disable Motor mode Hall Sensor B 9 Overtemperature Position Capture Hall Sensor C Fault OAh Bus Voltage Fault In Motion OBh Commutation Error In Positive Limit OCh Current Foldback In Negative Limit ODh Enable Input OEh Breakpoint 2 FaultOut OFh Examples Restrictions C Motion API VB Motion API see Magellan Motion Processor Programmer s Command Reference If it is desired that the trace ends on the next Update for axis 3 then a 2 is set for the axis number a 1 is set for the condition and bit number and state can be loaded with zeroes since they are not used The actual data word sent to the motor processor in this case is 0012h If it is desired that the trace ends when bit 7 of the Activity Status register for axis 2 goes to 0 then the trace stop is loaded as follows A 1 is loaded for axis number a 3 is loaded for condition a 7 is loaded for bit number and a 0 is loaded for state The actual data word sent to the motor processor in this case is 0731h Not all trace stop conditions are available in all products See the product uset s guide PM
132. iveFaultStatus If this is not done the bits will be retained in non volatile memory which will diminish the ability to detect the cause of any subsequent hard faults Events 5 and 6 will not cause the system to shut down Instead they will cause the system to change to the disabled state and will cause the Bus Voltage Fault bit in GetEventStatus to be set Normally the Drive Fault Status register does not need to be monitored In the case of Bus Voltage Fault in GetEventStatus however the Drive Fault Status register can be used to distinguish the error between overvoltage and undervoltage The Overvoltage Fault and Undervoltage Fault bits are cleared upon power up Restrictions This command is not available in products without drive amplifier support C Motion API PMDresult PMDGetDriveFaultStatus PMDAxisInterface axis intf PMDuint16 status VB Motion API Dim status as Short status MagellanAxis DriveFaultStatus see ClearDriveFaultStatus p 21 Magellan Motion Processor Programmer s Command Reference 37 a GetDriveStatus OEh Syntax GetDriveStatus axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Returned data Type status unsigned 16 bits see below Packet GetDriveStatus Structure 0 axis OEh 15 12 11 8 7 0 First Data Word read 0 0 0 15 Te 5 A 3 2 A lt 0 Descrip
133. ket SetCurrentControlMode Structure 0 axis 43h 15 12 11 8 7 0 First data word write mode 15 0 GetCurrentControlMode 0 axis 44h 15 12 11 8 7 0 First data word read mode 15 0 Description SetCurrentControlMode configures the axis to use either the Phase A B method or the FOC method for current control GetCurrentControlMode gets the buffered current loop mode for the indicated axis Restrictions This command is only available on products that include a digital current loop SetCurrentControlMode is a buffered command It will not take effect until an update is done on the current loop through Update command MultiUpdate command or update action on breakpoint The value read by GetCurrentControlMode is the buffered setting C Motion API PMDresult PMDSetCurrentControlMode PMDAxisInterface axis intf PMDuint16 mode PMDresult PMDGetCurrentControlMode PMDAxisInterface axis intf PMDuint16 mode VB Motion API Dim mode as Short MagellanAxis CurrentControlMode mode mode MagellanAxis CurrentControlMode see Update p 167 Set GetUpdateMask p 163 MultiUpdate p 55 Set GetBreakpointUpdateMask p 77 GetFOCValue p 40 Get SetFOC p 106 GetCurrentLoopValue p 35 Get SetCurrentLoop p 93 90 Magellan Motion Processor Programmer s Command Reference SetCurrentFoldback Ath GetCurrentFoldback A2h Syntax SetCurrentFoldback axis parameter value GetCurrentFoldback axis parameter Motor Types DC Brus
134. kpoint and GetBreakpoint commands will address The six position breakpoints and the Time breakpoint are threshold triggered the breakpoint occurs when the indicated value reaches or crosses a threshold The status breakpoints are level triggered the breakpoint occurs when a specific bit or combination of bits in the indicated status register changes state Thresholds and bit specifications are both set by the SetBreakpointValue instruction The action determines what the motion processor does when the breakpoint occurs as follows Action Description None No action Update Transfer the double buffered registers specified by the Breakpoint Update Mask into the active registers Abrupt Stop Causes an instantaneous halt of the trajectory generator Trajectory velocity is zeroed Smooth Stop Causes a smooth stop to occur at the active deceleration rate Abrupt Stop with Position Abrupt stop of the trajectory and additionally zero the position error to Error Clear the servo Disable Position Loop amp Disables Trajectory generator and position loop modules Higher Modules Disable Current Loop amp Disables Trajectory generator position loop and current loop modules Higher Modules Disable Motor Output amp Disables all modules including the motor output Higher Modules GetBreakpoint returns the trigger action and sourceAxis for the specified breakpoint 1 or 2 of the indicated axis When a breakpoint occuts the
135. kpointValue and GetBreakpointValue commands will address Restrictions Always load the breakpoint comparison value SetBreakpointValue command before setting a new breakpoint condition SetBreakpoint command Failure to do so will likely result in unexpected behavior Depending on the product features not all bits of all registers are supported See the product uset s guide C Motion API PMDresult PMDSetBreakpointValue PMDAxisInterface axis intf PMDuint16 breakpointID PMDint32 value PMDresult PMDGetBreakpointValue PMDAxisInterface axis intf PMDuint1l6 breakpointID PMDint32 value VB Motion API Dim value as Long MagellanAxis BreakpointValue breakpointID value value MagellanAxis BreakpointValue breakpointID see Set GetBreakpoint p 74 80 Magellan Motion Processor Programmer s Command Reference SetBufferLength C2h GetBufferLength C3h Syntax SetBufferLength bufferlD length GetBufferLength bufferlD Motor Types l DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Type Range bufferlD unsigned 16 bits 0 to 31 length unsigned 32 bits 1 to 2 1 Packet SetBufferLength Structure 0 C2h 15 8 7 0 First data word write 0 bufferID 15 5 4 0 Second data word write length high order part 31 16 Third data word write length low order part 15 0 GetBufferLength 0 C3h 15 8 7 0 First data word write 0 bufferID 15 5 4 0
136. le 0 Enable 1 auxiliaryAxis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Packet SetAuxiliaryEncoderSource Structure 0 axis 08h 15 12 11 8 7 0 Data write 0 mode 0 auxiliaryAxis 15 9 8 7 2 1 0 GetAuxiliaryEncoderSource 0 axis 09h 15 12 11 8 7 0 Data read 0 mode 0 auxiliaryAxis 15 9 8 7 21 0 Description SetAuxiliaryEncoderSource controls the motion processor s dual encoder loop feature The mode Restrictions C Motion API VB Motion API enables or disables the secondary encoder loop for axis The auxilaryAxis selects which axis encoder input is to be interpreted as the damping term Kd of the servo equation for axis To determine the actual position of the auxiliary encoder use GetActualPosition auxiliaryAxis The auxiliary axis encoder input is used for commutation of brushless DC motors The SetPhaseOffset SetPhaseAngle and SetPhaseCounts commands should still be applied to the main axis even when dual encoder loop is enabled To avoid a potentially unstable operating condition in dual loop mode the auxiliary encoder should have resolution greater than or equal to that of the main encoder PMDresult PMDSetAuxiliaryEncoderSource PMDAxisInterface axis intf P P Duint8 mode DAxis auxiliaryAxis PMDresult PMDGetAuxiliaryEncoderSource PMDAxisInterface axis intf P MagellanAxis AuxiliaryEncoderSourceSet MagellanAxis AuxiliaryEncoderSourceGet Magellan Motion Processor Programmer s Command Reference
137. le as Short MagellanAxis PhasePrescale scale scale MagellanAxis PhasePrescale see 132 Magellan Motion Processor Programmer s Command Reference SetPosition buffered 10h GetPosition AAh Syntax SetPosition axis position GetPosition axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Type Range Scaling Units position signed 32 bits 2 1 to 2 1 unity counts microsteps Packet SetPosition Structure 0 axis 10h 15 12 11 8 7 0 First data word write position high order part 31 16 Second data word write position low order part 15 0 GetPosition 0 axis 4Ah 15 12 11 8 7 0 First data word read position high order part 31 16 Second data word read position low order part 15 0 Description SetPosition specifies the trajectory destination of the specified axis It is used in the Trapezoidal and S curve profile modes GetPosition reads the contents of the buffered position register Restrictions SetPosition is a buffered command The value set using this command will not take effect until the next Update or MultiUpdate command with the Trajectory Update bit set in the update mask C Motion API PMDresult PMDSetPosition PMDAxisInterface axis intf PMDint32 position PMDresult PMDGetPosition PMDAxisInterface axis intf PMDint32 position
138. les to wait after end of move before going into holding current The Holding Motor Limit is in units of maximum current with scaling of 100 215 Its range is 0 to 215 1 It defines the value to which the current will be limited when in the holding state This limit is applied as an additional limit to the motor limit so the lower of the two will affect the true limit The Holding Delay is in units of trajectory generator cycles with unity scaling and a range of 0 to 215 2 It defines the wait time between ending a move and switching to the holding current limit That is there will be a delay of Holding Delay trajectory cycles after Motion Complete after which the In Holding bit in the Drive Status register will be set and the motor command will be limited by the Holding Motor Limit When the Holding Delay is set to 2 15 1 its default the axis will never go into holding current GetHoldingCurrent gets the indicated holding current parameter 111 Magellan Motion Processor Programmer s Command Reference SetHoldingCurrent cont 5Eh GetHoldingCurrent 5Fh Restrictions For pulse amp direction motor types only the Holding Delay is used It delays the assertion of the At Rest output by the indicated number of cycles after a move is complete C Motion API PMDresult PMDSetHoldingCurrent PMDAxisInterface axis intf PMDuintl6 parameter PMDuint16 value PMDresult PMDGetHoldingCurrent PMDAxisInterface axis intf PMDuint16 parame
139. mines the units used by the Set GetActualPosition AdjustActualPosition and GetCaptureValue for the specified axis It also affects the trace variable Actual Position When set to Counts position units are in encoder counts When set to Steps position units ate in steps mictosteps The step position is calculated using the ratio as set by the SetEncoderToStepRatio command GetActualPositionUnits returns the position units for the specified axis Restrictions The trace variable capture value is not affected by this command The value is always in counts C Motion API PMDresult PMDSetActualPositionUnits PMDAxisInterface axis intf PMDuint16 mode PMDresult PMDGetActualPositionUnits PMDAxisInterface axis intf PMDuint16 mode VB Motion API Dim mode as Short MagellanAxis ActualPositionUnits mode mode MagellanAxis ActualPositionUnits see Set GetActualPosition p 68 Set GetEncoderToStepRatio p 101 AdjustActualPosition p 20 GetCaptureValue p 30 Set GetTraceVariable p 159 70 Magellan Motion Processor Programmer s Command Reference SetAuxiliaryEncoderSource 08h GetAuxiliaryEncoderSource 09h Syntax SetAuxiliaryEncoderSource axis mode auxiliaryAxis GetAuxiliaryEncoderSource axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 mode Disab
140. mit settings The Continuous Current Limit is used by the current foldback algorithm When the current output of the drive exceeds this setting accumulation of the I energy above this setting begins Once the accumulated excess I energy exceeds the value specified by the Energy Limit parameter a current foldback condition Magellan Motion Processor Programmer s Command Reference 91 SetCurrentFoldback cont Ath GetCurrentFoldback A2h Description exists and the commanded curtent will be limited to the specified Continuous Current Limit When cont this occurs the Current Foldback bit in the Event Status and Drive Status registers will be set When the accumulated I energy above the Continuous Current Limit drops to zero 0 the limit is removed and the Current Foldback bit in the Drive Status register is cleared SetEventAction can be used to configure a change in operating mode when current foldback occurs Doing this does not interfere with the basic operation of Current Foldback described above If this is done the Current Foldback bit in the Event Status register must be cleared prior to restoring the operating mode regardless of whether the system is in current foldback or not When current control is not active a current foldback event always causes a change to the disabled state all loops and motor output are disabled regardless of the programmed Event Action C
141. mp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 source Index 0 Home 1 High Speed Capture 2 Packet SetCaptureSource Structure 0 axis D8h 15 12 11 8 7 0 Data write 0 source 15 3 2 0 GetCaptureSource 0 axis D9h 15 12 11 8 7 0 Data read 0 source 15 3 2 0 Description SetCaptureSource determines which of three signals Index Home or High Speed Capture is used to ttigger the capture of the actual axis position for the specified axis GetCaptureSource returns the capture signal source for the selected axis Restrictions High Speed Capture is not available as a capture source in all products See the product uset s guide C Motion API PMDresult PMDSetCaptureSource PMDAxisInterface axis intf PMDuint1l6 source PMDresult PMDGetCaptureSource PMDAxisInterface axis intf PMDuint16 source VB Motion API Dim source as Short MagellanAxis CaptureSource source source MagellanAxis CaptureSource see GetCaptureValue p 30 88 Magellan Motion Processor Programmer s Command Reference SetCommutationMode E2h GetCommutationMode ESh Syntax SetCommutationMode axis mode GetCommutationMode axis Motor Types Brushless DC Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 mode Sinusoidal 0 Hall based 1 Packet SetCommutationMode Structure 0 axis E2h 15 12 11 8 7 0 Data write 0 mode 31 1 0 GetCommutationMode
142. mple To load a value of 1 750 counts cycle multiply by 65 536 given 114 688 and load the resultant number as a 32 bit number giving 0001 in the high word and C000h in the low word Values returned by GetAcceleration must correspondingly be divided by 65 536 to convert to units of counts cycle or steps cycle 66 Magellan Motion Processor Programmer s Command Reference SetAcceleration cont buffered 90h GetAcceleration ACh Restrictions SetAcceleration may not be issued while an axis is in motion with the S curve profile SetAcceleration is not valid in Electronic Gear profile mode SetAcceleration is a buffered command The value set using this command will not take effect until the next Update or MultiUpdate command with the Trajectory Update bit set in the update mask C Motion API PMDresult PMDSetAcceleration PMDAxisInterface axis intf PMDuint32 acceleration PMDresult PMDGetAcceleration PMDAxisInterface axis intf PMDuint32 acceleration VB Motion API Dim acceleration as Long MagellanAxis Acceleration acceleration acceleration MagellanAxis Acceleration see Set GetDeceleration p 95 Set GetJerk p 115 Set GetPosition p 133 Set GetVelocity p 165 MultiUpdate p 55 Update p 167 Magellan Motion Processor Programmer s Command Reference 67 SetActualPosition ADh GetActualPosition 37h BE Syntax SetActualPosition axis position GetActualPosition axis Motor
143. n API PMDresult PMDSetPhaseOffset PMDAxisInterface axis intf PMDint16 offset PMDresult PMDGetPhaseOffset PMDAxisInterface axis intf PMDint16 offset VB Motion API Dim offset as Short MagellanAxis PhaseOffset offset offset MagellanAxis PhaseOffset see Magellan Motion Processor Programmer s Command Reference 131 SetPhasePrescale E6h GetPhasePrescale E7h ea a a ee Syntax SetPhasePrescale axis scale GetPhasePrescale axis Motor Types Brushless DC Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 scale Off 0 1 64 1 1 128 2 1 256 3 Packet SetPhasePrescale Structure 0 axis E6h 15 12 11 8 7 0 Data write 0 scale 15 21 0 GetPhasePrescale 0 axis E7h 15 12 11 8 7 0 Data read 0 scale 15 21 0 Description SetPhasePrescale controls scaling of the encoder counts before they are used to calculate a commutation angle for the specified axis When operated in the pre scale mode the motion processor can commutate motors with a high number of counts per electrical cycle such as motors with very high accuracy encoders SetPhasePrescale Off removes the scale factor GetPhasePrescale returns the value of the scaling mode Restrictions C Motion API PMDresult PMDSetPhasePrescale PMDAxisInterface axis intf PMDuint16 scale PMDresult PMDGetPhasePrescale PMDAxisInterface axis intf PMDuint16 scale VB Motion API Dim sca
144. n processor include C Motion h In addition the re quired interfaces need to be defined as shown below Only the required interfaces need to be included define PMD_W32SERIAL_INTERFACE use this for a standard serial interface under Win9x NT 2000 XP define PMD_PCI_INTERFACE use this for a standard PCI parallel interface under Win9x NT 2000 XP By customizing the base interface functions C Motion can be ported to virtually any hardware platform An example would be a memory mapped IO scheme that uses the parallel interface This would be built using the PMDPat c h source files as a basis The Magellan Motion Processor Developer s Kit board and the Prodigy PCI Motion Card use the PCI interface chip provided by PLX Technology To fully understand the interface mechanism or to write your own interface software you can download the PLX SDK More information on the functionality and features can be found on the PLX web site http www plxtech com in the software development kits area C Motion is a set of functions that encapsulate the motion processor command set Every command has as its first parameter an axis handle The axis handle is a structure containing information about the interface to the motion processor and the axis number that the handle represents Before communicating to the motion processor the axis handle must be initialized using the following sequence of commands the axis handles PMDAxisHandle hAx
145. ng axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Returned data Type status unsigned 16 bits see below Packet GetEventStatus Structure 0 axis 31h 15 12 11 8 7 0 read 0 0 Description GetEventStatus reads the Event Status register for the specified axis All of the bits in this status word are set by the motion processor and cleared by the host To clear these bits use the ResetEventStatus command The following table shows the encoding of the data returned by this command Name Bit s Description Motion Complete 0 Set to when motion has completed SetMotionCompleteMode determines if this bit is based on the trajectory generator position or the encoder position Wrap around Set to when the actual encoder position has wrapped from maximum allowed position to minimum or vice versa Breakpoint 2 Set to when breakpoint has been triggered Capture Received 3 Set to when a position capture has occurred Motion Error 4 Set to when a motion error has occurred Positive Limit 5 Set to when the axis has entered a positive limit switch Negative Limit 6 Set to when the axis has entered a negative limit switch Instruction Error 7 Set to when an instruction error has occurred Disable 8 Set to when disable due to user Enable line has occurred Overtemperature Fault 9 Set to when overtemperature condition has occurred Bus Voltage Fault 10 Set to when an
146. ns Each of the multi chip versions of these products utilizes a similar architecture consisting of a high speed computation unit along with an ASIC Application Specific Integrated Circuit The computation unit contains special on board hard wate which makes it well suited for the task of motion control Single axis single chip configurations of Magellan are also available in which case the logic provided in the ASIC is integrated directly with the high speed computation unit Along with similar hardware architecture these chips also share most software commands Therefore software written for one motion processor may be re used with the other independent of motor type or hardware configuration 1 1 Family Summary The various members of the Magellan family are designed for differing motor types and applications MC58000 Series MC58420 MC58320 MC58220 MC58120 MC58110 This series supports DC brush brushless DC and step motors using both pulse amp direction and microstepping output formats For use with DC brush or brush less DC with external commutation it outputs in PWM or DAC compatible format For use with two phase or three phase brushless DC motors it outputs in PWM or DAC compatible format For use with pulse amp direction step motors it outputs in pulse amp direction format and for use with microstepping step motors it outputs PWM or DAC compatible formats MC55000 Series MC55420 MC55320 MC55220 MC55120 MC55110
147. ntID Breakpoint1 0 Breakpoint2 1 value see below Packet SetBreakpointValue Structure 0 axis D6h 15 12 11 8 7 0 First data word write 0 breakpointID 15 1 0 Second data word write value high order part 31 16 Third data word write value low order part 15 0 GetBreakpointValue 0 axis D7h 15 12 11 8 7 0 First data word write 0 breakpointID 15 1 0 Second data word read value high order part 31 16 Third data word read value low order part 15 0 Description SetBreakpointValue sets the breakpoint comparison value for the specified axis For the position and time breakpoints this is a threshold comparison value Magellan Motion Processor Programmer s Command Reference 79 SetBreakpointValue cont D6h GetBreakpointValue D7h Op a Description The value parameter is interpreted according to the trigger condition for the selected breakpoint cont see SetBreakpoint p 74 The data format for each trigger condition is as follows Breakpoint Trigger Value Type Range Units Greater Or Equal Commanded Position signed 32 bit 2 to 23 counts Lesser Or Equal Commanded Position signed 32 bit 2 to 23 counts Greater Or Equal Actual Position signed 32 bit 23 to 2 counts Lesser Or Equal Actual Position signed 32 bit 23 to 23 counts Commanded Position Crossed signed 32 bit 23 to 2
148. numeric arguments the parameter value the type signed or unsigned integer and the range of acceptable values are given Numeric arguments may require one or two data words For 32 bit arguments the high order part is transmitted first Packet Structure This is a graphic representation of the 16 bit words transmitted in the packet the instruction which is identified by its name followed by 2 or 3 data words Bit numbers are shown directly below each word For each field in a word only the high and low bits are shown For 32 bit numeric data the high order bits are numbered from l6 to 31 the low order bits from 0 to 15 The hex code of the instruction is shown in boldface Argument names are shown in their respective words or fields For data words the direction of transfer read or write is shown at the left of the word s diagram Unused bits are shaded All unused bits must be 0 in data words and instructions sent written to the motion processor Description Describes what the instruction does and any special information relating to the instruction Restrictions Describes the circumstances in which the instruction is not valid that is when it should not be issued For example velocity acceleration deceleration and jerk parameters may not be issued while an S curve profile is being executed C Motion API The syntax of the C function call in the PMD C Motion library that implements this motion processor
149. onfigured as a slave and any axis is configured for pulse amp direction output multi chip synchronization cannot be used Multichip synchronization is not supported in all products See the product user s guide C Motion API PMDresult PMDSetSynchronizationMode PMDAxisInterface axis intf PMDuint16 mode PMDresult PMDGetSynchronizationMode PMDAxisInterface axis intf PMDuint16 mode VB Motion API Dim mode as Short MagellanObject SynchronizationMode mode mode MagellanObject SynchronizationMode see 152 Magellan Motion Processor Programmer s Command Reference SetTraceMode BOh GetTraceMode Bth Syntax SetTraceMode mode GetTraceMode Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding mode One Time 0 Rolling Buffer 1 Packet SetTraceMode Structure 0 Boh 15 8 7 0 Data write 0 mode 15 1 0 GetTraceMode 0 Bih 15 8 7 0 Data read 0 mode 15 1 0 Description SetTraceMode sets the buffer usage for the next trace In One Time mode the trace continues until the trace buffer is filled then stops In Rolling Buffer mode the trace continues from the beginning of the trace buffer after the end is reached When in the rolling mode values stored at the beginning of the trace buffer are lost if they are not read before being overwritten by the wrapped data GetTraceMode returns the value for the trace mode R
150. ontouring profile mode SetVelocity is a buffered command The value set using this command will not take effect until the next Update or MultiUpdate command with the Trajectory Update bit set in the update mask 165 Magellan Motion Processor Programmer s Command Reference SetVelocity cont buffered 11h GetVelocity 4Bh C Motion API PMDresult PMDSetVelocity PMDAxisInterface axis intf PMDint32 velocity PMDresult PMDGetVelocity PMDAxisInterface axis intf PMDint32 velocity VB Motion API Dim velocity as Long MagellanAxis Velocity velocity velocity MagellanAxis Velocity see Set GetAcceleration p 66 Set GetDeceleration p 95 Set GetJerk p 115 Set GetPosition p 133 MultiUpdate p 55 Update p 167 Magellan Motion Processor Programmer s Command Reference 166 Update 1Ah Syntax Update axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Structure 0 axis TA 15 12 11 8 7 0 Description Update causes all buffered data parameters to be copied into the corresponding run time registers on the specified axis When the Update command is executed the update mask is used to determine which groups of parameters are actually updated The following table shows the buffered commands and variables that ate activated by the Update command Group Command Parameter
151. or the specified axis SetInterruptMask also controls CAN event notification when using the motion processor s CAN 2 0B interface Whenever a host interrupt is activated a CAN message is generated using message ID 180h nodelD notifying interested CAN nodes of the change in the Event Status register Example The interrupt mask value 28h will generate an interrupt when either the Positive Limit bit or the Capture Received bit of the Event Status register goes active set to 1 113 Magellan Motion Processor Programmer s Command Reference SetinterruptMask cont 2Fh GetinterruptMask 56h Restrictions C Motion API PMDresult PMDSetInterruptMask PMDAxisInterface axis intf PMDuint16 mask PMDresult PMDGetInterruptMask PMDAxisInterface axis intf PMDuint16 mask VB Motion API Dim mask as Short MagellanAxis InterruptMask mask mask MagellanAxis InterruptMask see ClearInterrupt p 22 GetInterruptAxis p 43 Set GetFaultOutMask p 104 Magellan Motion Processor Programmer s Command Reference 114 SetJerk buffered 13h GetJerk 58h Se eee aaa eee ee Syntax SetJerk axis jerk GetJerk axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Type Range Scaling Units jerk unsigned 32 bits 0 to 2 1 tie counts cycle microsteps cycle Packet SetJerk Structure 0 axis 13h 15 12 11
152. orLimit 98h SetPositionErrorLimit 97h 134 GetPositionLoop 68h SetPositionLoop 67h 135 GetPositionLoopValue 55h 46 GetProfileMode Alh SetProfileMode AOh 138 GetPWMFrequency 0Dh SetPWMFrequency OCh 139 GetSampleTime 3Ch SetSampleTime 3Bh 140 GetSerialPortMode 8Ch SetSerialPortMode 8Bh 142 GetSettleTime ABh SetSettleTime AAh 144 GetSettleWindow BDh SetSettleWindow BCh 145 GetSignalSense A3h SetSignalSense A2h 146 GetSignalStatus A4h 47 GetSPIMode OBh SetSPIMode OAh 148 GetStartVelocity 6Bh SetStartVelocity 6Ah 149 GetStepRange CEh SetStepRange CFh 150 GetStopMode Dih SetStopMode DOh 151 GetSynchronizationMode F3h SetSynchronizationMode F2h 152 GetTemperature 53h 48 GetTime 3Eh 49 GetTraceCount BBh 50 GetTraceMode Blh SetTraceMode BOh 153 GetTracePeriod B9h SetTracePeriod B8h 154 GetTraceStart B3h SetTraceStart B2h 155 GetTraceStatus BAh 51 Magellan Motion Processor Programmer s Command Reference 175 5N Instruction Summary Tables Instruction Code Instruction Code Page GetTraceStop B5h SetTraceStop B4h 157 GetTraceVariable B7h SetTraceVariable B h 159 GetTrackingWindow A9h SetTrackingWindow A8h 162 GetUpdateMask FAh SetUpdateMask F9h 163 GetVelocity 4Bh SetVelocity Ith 165 GetVersion 8Fh 52 InitializePhase 7Ah 54 MultiUpdate 5Bh 55 NoOperation 00h 56 ReadAnalog EFh 57 ReadBuffer C9h 58 ReadlO 83h 59 Reset 39h 60 ResetEventStatus 34h 64 RestoreOperatingMode 2Eh 65 Update
153. ormat varies depending on the node as follows Node Range Scaling Units Integrator Sum 243 to 2431 1 unity counts or microsteps cycles Integral Contribution 243 to 2431 1 100 Kout 2 16 Output Derivative 2415 to 2415 1 unity counts or microsteps cycles Biquad Input 2415 to 2415 1 unity counts or microsteps Biquad2 Input 2415 to 2415 1 unity counts or microsteps Restrictions C Motion API PMDresult PMDGetPositionLoopValue PMDAxisInterface axis intf PMDuint16 node PMDint32 value VB Motion API Dim value as Long value MagellanAxis PositionLoopValue node see Set GetPositionLoop p 135 46 Magellan Motion Processor Programmer s Command Reference GetSignalStatus A4h Syntax GetSignalStatus axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Returned data Type see below unsigned 16 bits Packet GetSignalStatus Structure 0 axis A4h 15 12 11 8 7 0 Data read 0 0 15 14 13 12 17 10 9 8 7 6 5 4 3 2 1 0 Description GetSignalStatus returns the contents of the Signal Status register for the specified axis The Signal Status register contains the value of the various hardware signals connected to each axis of the motion processor The value read is combined with the Signal Sense register see SetSignalSense p 146 an
154. pointID Breakpoint1 0 Breakpoint2 1 sourceAxis Axis1 0 Axis2 1 Axis3 2 Axis4 3 action None 0 Update 1 Abrupt Stop 2 Smooth Stop 3 Reserved 4 Disable Position Loop amp Higher Modules 5 Disable Current Loop amp Higher Modules 6 Disable Motor Output amp Higher Modules 7 Abrupt Stop with Position Error Clear 8 trigger None 0 Greater Or Equal Commanded Position 1 Lesser Or Equal Commanded Position 2 Greater Or Equal Actual Position 3 Lesser Or Equal Actual Position 4 Commanded Position Crossed 5 Actual Position Crossed 6 Time 7 Event Status 8 Activity Status 9 Signal Status Ah Drive Status Bh Packet SetBreakpoint Structure 0 axis D4h 15 12 11 8 7 0 First data word write 0 breakpointID 15 1 0 Second data word write trigger action sourceAxis 15 8 7 4 3 0 74 Magellan Motion Processor Programmer s Command Reference SetBreakpoint cont D4h GetBreakpoint D5h Packet GetBreakpoint Structure 0 axis D5h cont 15 12 11 8 7 0 First data word write 0 breakpointID 15 1 0 Second data word read trigger action sourceAxis 15 8 7 4 3 0 Description SetBreakpoint establishes a breakpoint for the specified axis to be triggered by a condition or event on sourceAxis which may be the same as or different from axis Up to two concurrent breakpoints can be set for each axis each of which may have its own breakpoint type and comparison value The breakpointID field specifies which breakpoint the SetBrea
155. power up or reset C Motion API PMDresult PMDClearDriveFaultStatus PMDAxisInterface axis intf VB Motion API MagellanAxis ClearDriveFaultStatus see GetDriveFaultStatus p 37 Magellan Motion Processor Programmer s Command Reference 21 Clearinterrupt ACh Syntax Clearlnterrupt axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Packet ClearInterrupt Structure 0 axis 4Ch 15 12 11 8 7 0 Description ClearInterrupt resets the HostInterrupt signal to its inactive state If interrupts are still pending the HostInterrupt line will return to its active state within one chip cycle See Set GetSampleTime p 140 for information on chip cycle timing This command is used after an interrupt has been recognized and processed by the host it does not affect the Event Status register The ResetEventStatus command should be issued prior to the Clearlnterrupt command to clear the condition that generated the interrupt The ClearInterrupt command has no effect if it is executed when no interrupts are pending When communicating using CAN this command resets the interrupt message sent flag When an interrupt is triggered on an axis a single interrupt message is sent and no further messages will be sent by that axis until this command is issued When serial or parallel communication is used the axis numbe
156. ption GetActualVelocity reads the value of the actual velocity for the specified axis The actual velocity is derived by subtracting the actual position during the previous chip cycle from the actual position for this chip cycle The result of this subtraction will always be integer because position is always integer As a result the value returned by GetActualVelocity will always be a multiple of 65 536 since this represents a value of one in the 16 16 number format The low word is always zero 0 This value is the result of the last encoder input so it will be accurate to within one cycle Scaling example If a value of 1 703 936 is retrieved by the GetActualVelocity command high word 01Ah low word 0h this corresponds to a velocity of 1 703 936 65 536 or 26 counts cycle Restrictions C Motion API PMDresult PMDGetActualVelocity PMDAxisInterface axis intf PMDint32 velocity VBI Motion API Dim velocity as Long velocity MagellanAxis ActualVelocity see GetCommandedVelocity p 34 GetActualPosition p 68 28 Magellan Motion Processor Programmer s Command Reference GetBusVoltage 40h Syntax GetBusVoltage axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Returned Data Type Range Scaling voltage unsigned 16 bits 0 to 216 1 1 3612 mv count Packet GetBusVoltage Structure 0 axis 40h 15 12 11 8 7
157. put is disabled e g immediately after power up of reset C Motion API PMDresult PMDSetPWMFrequency PMDAxisInterface axis intf PMDuint1l6 frequency PMDresult PMDGetPWMFrequency PMDAxisInterface axis intf PMDuint1l6 frequency VB Motion API Dim frequency as Short MagellanAxis PWMFrequency frequency frequency MagellanAxis PWMFrequency see SetOutputMode p 124 Magellan Motion Processor Programmer s Command Reference 139 SetSampleTime 3Bh GetSampleTime 3Ch A a C ee Syntax SetSampleTime time GetSampleTime Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Type Range Units time unsigned 32 bits 51 to 2 microseconds Packet SetSampleTime Structure 0 3Bh 15 8 7 0 First data word write time high order part 31 16 Second data word write time low order part 15 0 GetSampleTime 0 3Ch 15 8 7 0 First data word read time high order part 31 16 Second data word read time low order part 15 0 Description SetSampleTime sets the time basis for the motion processor This time basis determines the trajectory update rate for all motor types as well as the servo loop calculation rate for DC brush and brushless DC motors It does not however determine the commutation rate of the brushless DC motor types nor the PWM or current loop rates for any motor type The time value is expressed
158. r Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Type Range Units bufferlD unsigned 16 bits 0 to 31 address unsigned 32 bits 0 to 2 1 double words Packet SetBufferStart Structure 0 Coh 15 8 7 0 First data word write 0 bufferlD 15 5 4 0 Second data word write address high order part 31 16 Third data word write address low order part 15 0 GetBufferStart 0 Cth 15 8 7 0 First data word write 0 bufferID 15 5 4 0 Second data word read address high order part 31 16 Third data word read address low order part 15 0 Description SetBufferStart sets the starting address for the specified buffer in double words of the buffer in the memory block identified by bufferlD Note The SetBufferStart command resets the buffers read and write indexes to 0 The GetBufferStart command returns the starting address for the specified bufferlD Restrictions The buffer start address plus the buffer length cannot exceed the memory size of the product See the product user s guide C Motion API PMDresult PMDSetBufferStart PMDAxisInterface axis intf PMDuintl6 bufferlID PMDuint32 address PMDresult PMDGetBufferStart PMDAxisInterface axis intf PMDuintl6 bufferlID PMDuint32 address VB Motion API Dim address as Long MagellanObject BufferStart bufferID address address MagellanObject BufferStart bufferID see Set G
159. r is not used Restrictions For products without a HostInterrupt line this command is still applicable to the CAN communications For products without a HostInterrupt line or CAN communications this command is not used C Motion API PMDresult PMDClearInterrupt PMDAxisInterface axis _intf VB Motion API MagellanAxis ClearInterrupt see GetlinterruptAxis p 43 Set GetInterruptMask p 113 ResetEventStatus p 64 22 Magellan Motion Processor Programmer s Command Reference ClearPositionError buffered 47h a Syntax ClearPositionError axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Packet ClearPositionError Structure 0 axis 47h 15 12 11 8 7 0 Description ClearPositionError sets the profile s commanded position equal to the actual position encoder input thereby clearing the position error for the specified axis This command can be used when the axis is at rest or when it is moving Restrictions ClearPositionError is a buffered command The new value set will not take effect until the next Update or MultiUpdate command with the Trajectory bit set in the update mask commands This command should not be sent while the chip is executing a move using the S curve profile mode C Motion API PMDresult PMDClearPositionError PMDAxisInterface axis intf VB Motion API MagellanAxis Cl
160. rd iv Magellan Motion Processor Programmer s Command Reference ey we Table of Contents 1 The Magellan Family 25 04 5 s 0 055 60000005005 20060404 de sessie eee es 7 1 1 Family SUMMAary iuo enr cece cece cece ence tence ence nebo nen en eeaees 7 1 2 Magellan Motion Processor Products 0 cee cece cece cee eeeeeeenens 8 2 C Motion esi 5 6 5 5 5206 die aie 20 8 5 05 6 6e 00lae 0 o 06 0 0 6 6 86 odie Since erase dieses 11 2 1 fiere oli CTO sister sant ven ate E E E EN 11 2 2 E E E E E A E E a tedtanonse anand 11 2 3 Using C MOTION esce toena cent nE ee eden eet ae es EE T neues 12 2 4 Prodigy Motion Card Specific Commands cece cece eee ee ees 14 Bs VB MOtION shese ois0i0 3 520 0 00s oie srasaceseta niet a sioince or8 a le oa 8a bie bie oie 15 3 1 INtLOGUCLION en T lee E O EE teint E oe ok domnte 15 3 2 File Sa fascrtcesaneta S pandas catsete eemecain actob ate hacete acnsactmeee alia ata eco aseoind tye anace a toca 15 3 3 USING VB MotiON aosa aei este te sania tec a IAEA ahh hoses PO ba ah eee OA a deca te 16 3 4 Prodigy Motion Card Specific Commands e cece eee eeeees 17 4 Instruction Reference seeeeeee teva late e d Jace 4 0 0e seas etbieia e 19 4 1 How to Use This Reference cece eee cece eee een ene ee eanes 19 5 Instruction Summary Tables ccceecccccccvcscccce 171 5 1 Descriptions by Functional Category 0c eee e cece ener ee eeees 171 5 2 Alphabeti
161. rd input is used with a linear potentiometer connected to an external A D Analog to Digital converter which has 12 bits of resolution then the total range is 4 096 and a value of 2 048 should be loaded with this command GetEncoderModulus returns the encoder modulus Restrictions A value for encoder modulus is only required when the encoder source is set to parallel C Motion API PMDresult PMDSetEncoderModulus PMDAxisInterface axis intf PMDuint16 modulus PMDresult PMDGetEncoderModulus PMDAxisInterface axis intf PMDuint16 modulus VB Motion API Dim modulus as Short MagellanAxis EncoderModulus modulus modulus MagellanAxis EncoderModulus see Set GetEncoderSource p 99 98 Magellan Motion Processor Programmer s Command Reference SetEncoderSource DAh GetEncoderSource DBh Syntax SetEncoderSource axis source GetEncoderSource axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 source Incremental 0 Parallel 1 None 2 Loopback 3 Pulse and Direction 4 Packet SetEncoderSource Structure 0 axis DAh 15 12 11 8 7 0 Data write 0 source 15 3 2 0 GetEncoderSource 0 axis DBh 15 12 11 8 7 0 Data read 0 source 15 3 2 0 Description SetEncoderSource sets the type of encoder feedback Incremental quadrature encoder or Parallel word Restrictions for the
162. reakpointUpdateMask axis breakPointID mask GetBreakpointUpdateMask axis breakPointID Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 breakpointID Breakpoint1 0 Breakpoint2 1 Type Scaling mask unsigned 16 bit bitmask Packet SetBreakpointUpdateMask Structure 0 axis 32h 15 12 11 8 7 First data word write 0 breakpointID 15 1 Second data word write mask 15 GetBreakpointUpdateMask 0 axis 33h 15 12 11 8 7 0 First data word write 0 breakpointID 15 1 0 Second data word read mask 15 0 Description SetBreakpointUpdateMask configures what loops ate updated upon the update action of a breakpoint If the bitmask for a given loop is set in the mask the operating parameters for that loop will be updated from the buffered values when the breakpoint is hit and update is the breakpoint action Each breakpoint has its own update mask The bitmask encoding is given below Name Bit s Description Trajectory 0 Set to to update trajectory from buffered parameters Position Loop Set to to update position loop from buffered parameters 2 Reserved Current Loop 3 Set to to update current loop from buffered parameters 4 15 Reserved For example if the update mask for breakpoint 1 is set to hexadecimal 0001h and the action for breakpoint 1 is set to update the trajectory for the given axis will be updated from its buffe
163. red parameters when breakpoint 1 is hit Magellan Motion Processor Programmer s Command Reference 77 SetBreakpointUpdateMask cont 32h GetBreakpointUpdateMask 33h Oy a Description The Current Loop bit applies regardless of the active current control mode When it is set a P PP 8 cont breakpoint action of update will update either the active FOC parameters or the active digital current loop parameters depending on which Current Control mode is active GetBreakpointUpdateMask gets the update mask for the indicated breakpoint Restrictions The Current Loop bit is only valid for products that include a current loop C Motion API PMDresult PMDSetBreakpointUpdateMask PMDAxisInterface axis intf PMDuint16 breakPointID PMDuint1l6 mask PMDresult PMDGetBreakpointUpdateMask PMDAxisInterface axis intf PMDuint16 breakPointID PMDuint1l6 mask VB Motion API Dim mask as Short MagellanAxis BreakpointUpdateMask breakpointID mask mask MagellanAxis BreakpointUpdateMask breakpointID see Set GetBreakpoint p 74 Set GetUpdateMask p 163 78 Magellan Motion Processor Programmer s Command Reference SetBreakpointValue D6h GetBreakpointValue D7h Syntax SetBreakpointValue axis breakpointID value GetBreakpointValue axis breakpointID Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 breakpoi
164. rence GetActivityStatus cont A6h Description cont Name Bit s Description In motion 10 Set to when the trajectory generator is executing a profile In Positive Limit Il Set to when the positive limit switch is active In Negative Limit 12 Set to when the negative limit switch is active Profile Segment 13 15 When the profile mode is S curve it contains the profile segment number l 7 while profile is in motion and contains a value of 0 when the profile is at rest This field is undefined when using the Trapezoidal and Velocity Contouring profile modes Restrictions C Motion API PMDresult PMDGetActivityStatus PMDAxisInterface axis intf PMDuint16 status VB Motion API Dim status as Short status MagellanAxis ActivityStatus see GetEventStatus p 39 GetSignalStatus p 47 GetDriveStatus p 38 Magellan Motion Processor Programmer s Command Reference 27 A GetActualVelocity ADh Syntax GetActualVelocity axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Returned Data Type Range Scaling Units actual velocity signed 32 bits 2 to 2 1 1 26 counts cycle Packet GetActualVelocity Structure 0 axis ADh 15 12 11 8 7 0 First data word read actual velocity high order part 31 16 Second data word read actual velocity low order part 15 0 Descri
165. returns the value of the trace start trigger Once a trace has started the trace start trigger is reset to zero 0 Magellan Motion Processor Programmer s Command Reference 155 en SetTraceStart cont GetTraceStart B2h B3h Description The following table shows the corresponding value for combinations of triggerBit and register0 cont Activity Event Status Status Signal Status Drive Status TriggerBit Register Register Register Register 0 Motion Complete Phasing Initialized Encoder A Wrap around At Maximum Encoder B In Foldback Velocity 2 Breakpoint Tracking Encoder Index Overtemperature 3 Position Capture Capture Input 4 Motion Error Positive Limit In Holding 5 Positive Limit Negative Limit Overvoltage 6 Negative Limit AxisIn Undervoltage 7 Instruction Error Axis Settled Hall Sensor A 8 Disable Motor mode Hall Sensor B 9 Overtemperature Position Capture Hall Sensor C Fault OAh Bus Voltage Fault In Motion OBh Commutation Error In Positive Limit OCh Current Foldback In Negative Limit ODh Enable Input OEh Breakpoint 2 FaultOut OFh Examples If it is desired that the trace begin on the next Update for axis 3 then a 2 is set for the axis number a 1 is set for the condition and bit number and state can be loaded with zeroes since they are not used The actual data word sent to the motor processor in this case is 0012h If it is desired that the trace begin when bit 7 of
166. ription Set GetFOC is used to configure the operating parameters of the FOC Current control See the product uset s guide for more information on how each parameter is used in the current loop processing The value written read is always an unsigned 16 bit value with the parameter specific scaling shown below Parameter Range Scaling Units Proportional Gain KpDQ 0 to 2415 1 1 64 gain Integral Gain KiDQ 0 to 2415 1 1 256 gain cycles Integral Sum Limit ILimitDQ 0 to 2415 1 100 current cycles A setting of 64 for KpDQ corresponds to a gain of 1 That is an error signal of 30 maximum current will cause the proportional contribution of the current loop output to be 30 of maximum output 106 Magellan Motion Processor Programmer s Command Reference SetFOC cont buffered F6h GetFOC F7h My Description Similarly setting KiDQ to 256 gives it a gain of 1 the value of the integral sum would become the integral y g gr S gt 8 cont contribution to the output ILimitDQ is used to limit the contribution of the integral sum at the output Its effect depends on the value of KiDQ Setting IlimitDQ to 1000 when KiDQ is 10 means that the maximum contribution to the output is 1000 x 10 10 000 out of 2 15 1 or approximately 30 5 The units of time for the integral sum are cycles The loop argument allows individual configuration of the parameters for the D and Q current loops Alternately a loop of 2 can be used wi
167. roduct user s manual C Motion API PMDresult PMDResetEventStatus PMDAxisInterface axis intf PMDuint16 status VB Motion API MagellanAxis ResetEventStatus mask see GetEventStatus p 39 64 Magellan Motion Processor Programmer s Command Reference RestoreOperatingMode 2Eh Syntax RestoreOperatingMode axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Packet RestoreOperatingMode Structure 0 axis 2En 15 12 11 8 7 0 Description RestoreOperatingMode is used to command the axis to return to its static operating mode It should be used when the active operating mode has changed due to actions taken from safety events or other programmed events Calling RestoreOperatingMode will re enable all loops that were disabled as a result of events Restrictions Before using RestoreOperatingMode to return to the static operating mode the event status bits should all be cleared If a bit in event status that caused a change in operating mode is not cleared this command will return an error An exception to this is Motion Error which does not have to be cleared prior to restoring the operating mode Though RestoreOperatingMode will re enable the trajectory generator if it was disabled as a result of an event action it will not resume a move This must be done through an Update or MultiUpdate C
168. rogrammer s Command Reference SetGearRatio buffered 14h GetGearRatio 59h Syntax SetGearRatio slaveAxis ratio GetGearRatio slaveAxis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding SlaveAxis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Type Range Scaling Units ratio signed 32 bits 2 1 to 25 1 1 2 SlaveCts MasterCts Packet SetGearRatio Structure 0 slaveAxis 14h 15 12 11 8 7 0 First data word write ratio high order part 31 16 Second data word write ratio low order part 15 0 GetGearRatio 0 slaveAxis 59h 15 12 11 8 7 0 First data word read ratio high order part 31 16 Second data word read ratio low order part 15 0 Description SetGearRatio sets the ratio between the master and slave axes for the Electronic Gear profile for the given slaveAxis Positive ratios cause the slave to move in the same direction as the master negative ratios in the opposite direction The specified ratio has a unity scaling of 65 536 GetGearRatio returns the gear ratio set for the specified slaveAxis Scaling examples ratio value resultant ratio 32 768 5 negative slave counts for each positive master count 1 000 000 15 259 positive slave counts for each positive master count 123 0018 positive slave counts for each positive master count Restrictions This is a buffered
169. s register but their sense is not controllable In ION products when the Capture Source is set to Encoder Index only the Encoder Index bit of signal sense should be used to configure its polarity The Capture Input bit of Signal Sense should always be cleared to zero 0 in this case Not all bits are implemented for all products See the product uset s guide C Motion API PMDresult PMDSetSignalSense PMDAxisInterface axis intf PMDuint16 sense PMDresult PMDGetSignalSense PMDAxisInterface axis intf PMDuint16 sense VB Motion API Dim sense as Short MagellanAxis SignalSense sense sense MagellanAxis SignalSense see GetSignalStatus p 47 Magellan Motion Processor Programmer s Command Reference 147 SetSPIMode OAh GetSPIMode OBh eens a xqq _ a nnnooaaa q aSs Syntax SetSPIMode mode GetSPIMode Motor Types DC Brush Arguments Name Instance Encoding mode RisingEdge 0 RisingEdgeDelay 1 FallingEdge 2 FallingEdgeDelay 3 Packet SetSPIMode Structure 0 OAh 15 8 7 0 Data write 0 mode 15 21 0 GetSPIMode 0 OBh 15 8 7 0 Data read 0 mode 15 21 0 Description SetSPIMode configures the communication settings for the motion processor s SPI Serial Peripheral Interface DAC output port Data is output as a series of 16 bit data words transmitted at 10 Mbps The mode parameter controls the data clocking scheme as shown in the following table Mode Enco
170. see Set GetVelocity p 165 Set GetAcceleration p 66 Set GetDeceleration p 95 Set GetPosition p 133 Magellan Motion Processor Programmer s Command Reference 149 SetStepRange CFh GetStepRange CEh A a E A Syntax SetStepRange axis range GetStepRange axis Motor Types Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 range 0 4 98 Msteps sec 1 0 622 5 ksteps sec 4 0 155 6 ksteps sec 6 0 38906 steps sec 8 Packet SetStepRange Structure 0 axis CFh 15 12 11 8 7 0 Data write 0 range 15 4 3 0 GetStepRange 0 axis CEh 15 12 11 8 7 0 Data read 0 range 15 4 3 0 Description SetStepRange sets the maximum pulse rate frequency for the specified axis For example if the desired maximum pulse rate is 200 000 pulses second the SetStepRange 4 command should be issued GetStepRange returns the maximum pulse rate frequency for the specified axis Restrictions The MC55110 and the MC58110 have a maximum step range of 100 ksteps which cannot be changed SetStepRange must be called before any moves are made and must not be called after any moves have been made C Motion API PMDresult PMDSetStepRange PMDAxisInterface axis intf PMDuint16 range PMDresult PMDGetStepRange PMDAxisInterface axis intf PMDuint16 range VB Motion API Dim range as Short MagellanAxis StepRange range range MagellanAxis StepRange see 1
171. sent for 256 cycles will result an an integra tor sum of 100 256 25 600 PID Integrator Gain has scaling of 1 256 Thus a setting of 256 corresponds to unity integrator gain From the above example this would make the integrator sum of 25 600 create a contribution to the PID output of 25 600 PID Output Gain is a scaling factor applied to the output of the digital servo filter with units of output Its default value is 65 535 or approximately 100 output To set the scaling to for example 50 of output PID Output Gain would be set to 32 767 e The biquad coefficients configure the two biquad output filters If both filters are enabled their outputs are chained filter1 followed by filter2 If filter1 is disabled for an axis filter2 is also disabled for that axis regardless of user setting of Biquad2 Enable Filter The signed co efficients and unsigned scalar K combine to implement the following equation for each filter Y Kx Box X B xX _ B xX _7 4 x Y _ 1x42 Y _2 Where Y is the filter output at cycle n and X is the filter input at cycle n Restrictions Set GetPositionLoop are buffered commands All parameters set are buffered and will not take effect until an update is done on the position loop through Update command MultiUpdate command or update action on breakpoint The values read by GetPositionLoop are the buffered settings C Motion API PMDresult PMDSetPositionLoop PMDAxisInterface axis intf
172. sition low order part 15 0 GetCommandedPosition returns the commanded position for the specified axis Commanded position is the instantaneous position value output by the trajectory generator This command functions in all profile modes PMDresult PMDGetCommandedPosition PMDAxisInterface axis intf PMDint32 position Dim position as Long position MagellanAxis CommandedPosition GetCommandedAcceleration p 32 GetCommandedVelocity p 34 Magellan Motion Processor Programmer s Command Reference 33 A GetCommandedVelocity 1Eh Syntax GetCommandedVelocity axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Returned data Type Range Scaling Units velocity signed 32 bits 2 1 to 2311 1 28 counts cycle microsteps cycle Packet GetCommandedVelocity Structure 0 axis 1Eh 15 12 11 8 7 0 First data word read velocity high order part 31 16 Second data word read velocity low order part 15 0 Description GetCommandedVelocity returns the commanded velocity value for the specified axis Commanded velocity is the instantaneous velocity value output by the trajectory generator Scaling example If a value of 1 234 567 is retrieved using this command FFEDh in high word 2979h in low word then this corresponds to 1 234 567 65 536 18 8380 counts cycle velocity value
173. sition is called PMDSetPosition 2 2 Files The following table lists the files that make up the C Motion distribution C Motion h C Motion c Definition declaration of the PMD Magellan command set PMDpar h PMDpar c Parallel interface functions PMDW32ser h PMDW32ser c Windows serial communication interface functions PMDdrv h PMDdrv c Windows ISA driver communication interface functions PMDpci h PMDpci c Windows PCI driver communication interface functions PMDutil h PMDutil c General utility functions PMDtrans h PMDtrans c Generic transport interface functions PMDecode h Defines the PMD Magellan and C Motion error codes PMDocode h Defines the control codes for Magellan commands PMDtypes h Defines the basic types required by C Motion PMDdiag h Defines a string structure for each command code that can be used for debugging or diagnostics The PMDpci c file cannot be compiled without the PLX source which can be obtained separately from PLX Technology In order to build a PCI program without the PLX source the PMDpci obj and PIxApi lib files must be linked in These files are located in the Debug and Release subdirectories Magellan Motion Processor Programmer s Command Reference 11 72N C Motion 2 3 Using C Mltion C Motion can be linked to your application code by including the above C source files in your application Then for any application soutce file that requires access to the motio
174. strictions C Motion API PMDresult PMDSetMotorBias PMDAxisInterface axis _intf PMDint16 bias PMDresult PMDGetMotorBias PMDAxisInterface axis intf PMDint16 bias VB Motion API Dim bias as Short MagellanAxis MotorBias bias bias MagellanAxis MotorBias see Set GetMotorCommand p 118 Set GetMotorLimit p 119 117 Magellan Motion Processor Programmer s Command Reference SetMotorCommand buffered 71h GetMotorCommand 69h Syntax SetMotorCommand axis command GetMotorCommand axis Motor Types DC Brush Brushless DC Microstepping Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 Type Range Scaling Units command signed 16 bits 2 to 2 14 100 2 output Packet SetMotorCommand Structure 0 axis 77h 15 12 11 8 7 0 Data write command 15 0 GetMotorCommand 0 axis 69h 15 12 11 8 7 0 Data read command 15 0 Description SetMotorCommand loads the Motor Command buffer register of the specified axis For axes configured for microstepping motors this command is used to control the magnitude of the output waveform For DC brush and brushless DC motors this command directly sets the Motor Output register when the Position Loop and Trajectory Generator modules are disabled in the operating mode GetMotorCommand reads the contents of the motor command buffer register Scaling example If it is desired that a Motor Command value of 1
175. t Dim count as Long count MagellanObject TraceCount ReadBuffer p 58 Set GetTraceStart p 155 Set GetTraceStop p 157 Set GetBufferLength p 81 Magellan Motion Processor Programmer s Command Reference GetTraceStatus BAh Syntax Motor Types Arguments Returned data Packet Structure Description Restrictions C Motion API VB Motion API See GetTraceStatus DC Brush Brushless DC Microstepping Pulse amp Direction None Name Type see below unsigned 16 bits GetTraceStatus 0 BAh 15 8 7 0 Data read 0 15 3 2 1 0 GetTraceStatus returns the trace status The definitions of the individual status bits are as follows Name Bit Number Description Mode 0 Set to 0 when trace is in one time mode when in rolling mode Activity l Set to when trace is active currently tracing 0 if trace not active Data Wrap 2 Set to when trace has wrapped 0 if it has not wrapped If 0 the buffer has not yet been filled and all recorded data is intact If I the trace has wrapped to the beginning of the buffer any previous data may have been overwritten if not explicitly retrieved by the host using the ReadBuffer command while the trace is active PMDresult PMDGetTraceStatus PMDAxisInterface axis intf PMDuint16 status Dim status as Short status MagellanObject TraceStatus Set GetTraceStart p 155 Set GetTraceMode p 153 M
176. t GetEventAction Set GetMotorMode DCh DDh Set GetOperatingMode RestoreOperatingMode Set GetAxisOutSource EDh EEh Set GetAxisOutMask Set GetAxisMode 87h 88h Set GetOperatingMode Set GetLimitSwitchMode 80h 8 1h Set GetEventAction Magellan Motion Processor Programmer s Command Reference 179 amp Instruction Summary Tables This page intentionally left blank 180 Magellan Motion Processor Programmer s Command Reference For additional information or for technical assistance please contact PMD at 781 674 9860 You may also e mail your request to support pmdcorp com Visit our website at http www pmdcorp com PMD Performance Motion Devices 55 Old Bedford Rd Lincoln MA 01773 Magellan Motion Processor Programmer s Command Reference 181
177. tAction 48h 102 GetEventStatus 31h 39 174 Magellan Motion Processor Programmer s Command Reference Instruction Summary Tables 7 ON Instruction Code Instruction Code Page GetFaultOutMask FCh SetFaultOutMask FBh 104 GetFOC F7h SetFOC F6 h 106 GetFOCValue 5Ah 40 GetGearMaster AFh SetGearMaster AEh 108 GetGearRatio 59h SetGearRatio 14h 110 GetHoldingCurrent 5Fh SetHoldingCurrent 5Eh 111 GetInstructionError A5h 42 GetInterruptAxis Elh 43 GetInterruptMask 56h SetInterruptMask 2Fh 113 Getjerk 58h SetJerk 13h 115 GetMotionCompleteMode ECh SetMotionCompleteMode EBh 116 GetMotorBias 2Dh SetMotorBias OFh 117 GetMotorCommand 69h SetMotorCommand 77h 118 GetMotorLimit 07h SetMotorLimit 06h 119 GetMotorType 03h SetMotorType 02h 120 GetOperatingMode 66h SetOperatingMode 65h 122 GetOutputMode 6Eh SetOutputMode EOh 124 GetOvertemperatureLimit ICh SetOvertemperatureLimit Bh 125 GetPhaseAngle 2Ch SetPhaseAngle 84h 126 GetPhaseCommand EAh 44 GetPhaseCorrectionMode E9h SetPhaseCorrectionMode E8h 127 GetPhaseCounts 7Dh SetPhaseCounts 75h 128 GetPhaselnitializeMode E5h SetPhaselnitializeMode E4h 129 GetPhaselnitializeTime 7Ch SetPhaselnitializeTime 72h 130 GetPhaseOffset 7Bh SetPhaseOffset 76h 131 GetPhasePrescale E7h SetPhasePrescale E6h 132 GetPosition 4Ah SetPosition 10h 133 GetPositionError 99h 45 GetPositionErr
178. ter PMDuint16 value VB Motion API Dim value as Short MagellanAxis HoldingCurrent parameter value value MagellanAxis HoldingCurrent parameter see GetDriveStatus p 38 Set GetSampleTime p 140 Magellan Motion Processor Programmer s Command Reference 112 SetinterruptMask 2Fh GetinterruptMask 56h ey C Syntax SetinterruptMask axis mask GetinterruptMask axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 mask Motion Complete 0001h Wrap around 0002h Breakpoint 1 0004h Capture Received 0008h Motion Error 0010h Positive Limit 0020h Negative Limit 0040h Instruction Error 0080h Disable 0100h Overtemperature Fault 0200h Bus Voltage Fault 0400h Commutation Error 0800h Current Foldback 1000h Breakpoint 2 4000h Packet SetinterruptMask Structure 0 axis 2Fh 15 12 11 8 7 0 Data write mask 15 0 GetInterruptMask 0 axis 56h 15 12 11 8 7 0 Data read mask 15 0 Description SetInterruptMask determines which bits in the Event Status register of the specified axis will cause a host interrupt For each interrupt mask bit that is set to 1 the corresponding Event Status register bit will cause an interrupt when that status register bit goes active is set to 1 Interrupt mask bits set to 0 will not generate interrupts GetInterruptMask returns the mask f
179. th SetFOC to set the D and Q loops with a single API command A loop of 2 is not valid for GetFOC Restrictions Set GetFOC are buffered commands All parameters set are buffered and will not take effect until an update is done on the current loop through Update command MultiUpdate command or update action on breakpoint The values read by GetFOC are the buffered settings These commands are only supported in products that include digital current control and when the current control mode is set to FOC C Motion API PMDresult PMDSetFOC PMDAxisInterface axis intf PMDuint8 loop PMDuint8 parameter PMDuint1l6 value PMDresult PMDGetFOC PMDAxisInterface axis intf PMDuint8 loop PMDuint8 parameter P Duint16 value VB Motion API MagellanAxis FOCSet in loop in parameter in value MagellanAxis FOCGet in loop in parameter out value see Update p 167 Set GetUpdateMask p 163 MultiUpdate p 55 Set GetBreakpointUpdateMask p 78 GetFOCValue p 40 Set GetCurrentControlMode p 90 107 Magellan Motion Processor Programmer s Command Reference SetGearMaster AEh GetGearMaster AFh Syntax SetGearMaster axis masterAxis source GetGearMaster axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 masterAxis Axis1 0 Axis2 1
180. ticular buffer 82 Set GetBufferStart Set Get the start location of a memory buffer 83 Set GetBufferWritelndex Set Get the buffer write pointer for a particular buffer 84 ReadBuffer Read a long word value from a buffer memory location 58 WriteBuffer Write a long word value to a buffer memory location 168 Drive Set GetBusVoltageLimits Set Get threshold for Overvoltage or Undervoltage fault 85 GetBusVoltage Get the current bus voltage reading 29 Set GetOvertemperatureLimit Set Get threshold for Overtemperature fault 125 GetTemperature Gets current temperature reading 48 Set GetFaultOutMask Set Get mask for FaultOut from Event Status register 104 GetDriveFaultStatus Gets the Drive Fault Status register 37 ClearDriveFaultStatus Clears the Drive Fault Status register 21 Status Registers and AxisOut Indicator GetActivityStatus Get Activity Status register 26 GetDriveStatus Gets the Drive Status register 38 Set GetAxisOutMask Set Get AxisOut source 72 GetEventStatus Get Event Status word 39 GetSignalStatus Get the current axis Signal Status register 47 Set GetSignalSense Set Get the interpretation of the Signal Status bits 146 ResetEventStatus Reset bits in Event Status word 64 Traces GetTraceCount Get the number of traced data points 50 Set GetTraceMode Set Get the trace mode rolling or one time 153 Set GetTracePeriod Set Get the trace period 154 Set GetTraceStart Set Get the trace
181. tion GetDriveStatus reads the Drive Status register for the specified axis All of the bits in this status word are set and cleared by the motion processor They are not settable or clearable by the host The bits represent states or conditions in the motion processor that are of a transient nature Name Bit s Description E 0 Reserved not used may be 0 or In Foldback l Set to when the unit is in the current foldback state the output current is limited by the foldback limit Overtemperature 2 Set to when the overtemperature condition is present 3 Reserved not used may be 0 or In Holding 4 Set to when the unit is in the holding current state the output current is limited by the holding current limit Overvoltage 5 Set to when the overvoltage condition is present Undervoltage 6 Set to when the undervoltage condition is present 7 15 Reserved not used may be 0 or Restrictions The bits available in this register depend upon the products See the product uset s guide C Motion API PMDresult PMDGetDriveStatus PMDAxisInterface axis intf PMDuint16 status VB Motion API Dim status as Short status MagellanAxis DriveStatus see 38 Magellan Motion Processor Programmer s Command Reference GetEventStatus 3th Syntax GetEventStatus axis Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encodi
182. tion processor to convert encoder counts into steps Counts is the number of encoder counts per full rotation of the motor Steps is the number of steps output by the motion processor per full rotation of the motor Since this command sets a ratio the parameters do not have to be for a full rotation as long as they correctly represent the encoder count to step ratio GetEncoderToStepRatio returns the ratio of the number of encoder counts to the number of output steps per motor rotation C Motion API PMDresult PMDSetEncoderToStepRatio PMDAxisInterface axis intf PMDuint1l6 counts PMDuint1l6 steps PMDresult PMDGetEncoderToStepRatio PMDAxisInterface axis intf PMDuint16 counts PMDuint1l6 steps VB Motion API MagellanAxis EncoderToStepRatioSet in counts in steps MagellanAxis EncoderToStepRatioGet out counts out steps see Set GetActualPositionUnits p 70 Magellan Motion Processor Programmer s Command Reference 101 SetEventAction 48h GetEventAction 49h ae a Syntax SetEventAction axis event action GetEventAction axis event Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Instance Encoding axis Axis1 Axis2 Axis3 Axis4 event Immediate Positive Limit Negative Limit Motion Error Current Foldback O AON gt O WNAO action None Reserved 1 Abrupt Stop Smooth Stop Reserved 4 Disable Position Loop amp Higher Modules Disable Current Loop amp Higher
183. tions on the motion control board The following table describes the commands For more information see the user s guide for your motion control card These methods and properties are part of the Magellan Board object Name Style Description ResetHardware Method This method causes a hard reset of the card Unlike all other board specific commands this command is processed directly through the bus interface ReadDPRAM Method This method reads directly from the onboard dual port RAM via the bus interface if applicable WriteDPRAM Method This method writes directly to the onboard dual port RAM via the bus interface if applicable DigitalOutput Prop r w Controls the eight general purpose digital output signals DigitalOut0 7 Digitallnput Prop Read Contains the status of the eight general purpose digital input signals Digitalln0 7 CardID Prop Read Contains the card revision information DACOutputEnable Prop r w Enables the DAC output hardware ResetCause Prop Read Cause of the most recent reset AmplifierEnable Prop r w Bit mapped value of the four amplifier enable output signals AmpEnable 4 WatchdogSet Method This method writes the correct value to the watchdog register so that for the next 104 milliseconds the board will not be reset by the watchdog circuitry Magellan Motion Processor Programmer s Command Reference 17 4 VB Motion This page intentionally left blank
184. to 30V 1 3612mv 22039 GetBusVoltageLimits reads the indicated limit Restrictions Get SetBusVoltageLimits is only available in products equipped with Bus voltage sensors The Overvoltage Limit cannot be set to a value greater than the reset default setting and the Undervoltage Limit cannot be set to a value less than the reset default setting Magellan Motion Processor Programmer s Command Reference 85 SetBusVoltageLimits cont 62h GetBusVoltageLimits 60h a C Motion API PMDresult PMDSetBusVoltageLimits PMDAxisInterface axis intf PMDuint1l6 parameter PMDuint16 value PMDresult PMDGetBusVoltageLimits PMDAxisInterface axis intf PMDuint1l6 parameter PMDuint16 value VB Motion API Dim value as Short MagellanAxis BusVoltageLimits parameter valu value MagellanAxis BusVoltageLimits parameter see Set GetFaultOutMask p 104 GetBusVoltage p 29 GetDriveFaultStatus p 37 ClearDriveFaultStatus p 21 GetEventStatus p 39 ResetEventStatus p 64 86 Magellan Motion Processor Programmer s Command Reference SetCANMode 12h GetCANMode 15h Syntax SetCANMode mode GetCANMode Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Type Encoding mode unsigned 16 bits see below Packet SetCANMode Structure 0 12h 15 8 7 Data write transmission rate 0 nodelD 15 13 12 7 6 GetCANMode 0 15h 15 8 7
185. tor When used with the motor type set to microstepping or pulse amp direction the error is defined as the difference between the encoder position represented in microsteps or steps and the commanded position instantaneous output of the trajectory generator Restrictions C Motion API PMDresult PMDGetPositionError PMDAxisInterface axis intf PMDint32 error VB Motion API Dim error as Long error MagellanAxis PositionError see Set GetPosition p 133 Set GetPositionErrorLimit p 134 Magellan Motion Processor Programmer s Command Reference 45 A GetPositionLoopValue 55h Syntax GetPositionLoopValue axis node Motor Types DC Brush Brushless DC Arguments Name Instance Encoding axis Axis1 0 Axis2 1 Axis3 2 Axis4 3 node Integrator Sum 0 Integral Contribution 1 Derivative 2 Biquad1 Input 3 Biquad2 Input 4 Returned data Type Range Scaling value signed 32 bits see below Packet GetPositionLoopValue Structure 0 axis 55h 15 12 11 8 7 0 First data word write node 15 0 Second data word read value high order part 31 16 Third data word read value low order part 15 0 Description GetPositionLoopValue is used to find the value of a node in the position loop See the product user s guide for more information on the location of each node in the position loop processing Though the data returned is signed 32 bits regardless of the node the range and f
186. tor Limit Ilimit 0 to 2431 1 unity count cycles PID Derivative Time I to 2415 1 unity cycles PID Output Gain Kout 0 to 2416 1 100 216 output Biquad Enable Filter 0 to O disable enable Biquad CoefficientBO 2415 to 2415 1 unity Biquad CoefficientB I 2415 to 2415 1 unity Biquad CoefficientB2 2415 to 2415 1 unity Biquad CoefficientA I 2415 to 2415 1 unity Biquad CoefficientA2 2415 to 2415 1 unity Biquad CoefficientK 0 to 2415 1 unity Biquad2 Enable Filter Oto O disable enable Biquad2 CoefficientBO 2415 to 2415 1 unity Biquad2 CoefficientB I 2415 to 2415 1 unity Biquad2 CoefficientB2 2415 to 2415 1 unity Biquad2 CoefficientA I 2415 to 2415 1 unity Biquad2 CoefficientA2 2415 to 2415 1 unity Biquad2 CoefficientK 0 to 2415 1 unity 136 Magellan Motion Processor Programmer s Command Reference SetPositionLoop cont buffered 67h GetPositionLoop 68h Many of these parameters are self descriptive However below are some additional comments on the use of specific parameters PID Derivative Time has units of cycles This is the sample time of the axis as configured by SetSampleTime For example if set to 10 the derivative term will be computed every 10 cycles of the axis position loop PID Integrator Limit has units of count cycles and scaling of unity This matches the units and scaling of the position loop integrator sum For example a constant position error of 100 counts which is pre
187. ut Its effect depends cont on the value of KiCurrent Setting ILimitCurrent to 1000 when KiCurrent is 10 means that the maximum contribution to the output is 1000 x 10 10 000 out of 2 15 1 or approximately 30 5 The phase argument can be used to set the operating parameters for the A and B loops independently In most cases the A and B loops will not require different operating parameters so SetCurrentLoop can be used with a phase of 2 which sets both the A and B loops in a single API command For GetCurrentLoop a phase of 2 is not valid Restrictions Set GetCurrentLoop are buffered commands All parameters set are buffered and will not take effect until an update is done on the current loop through Update command MultiUpdate command or update action on breakpoint The values read by GetCurrentLoop are the buffered settings This command is only supported in products that include digital current control and when the current control mode is Phase A B C Motion API PMDresult PMDSetCurrentLoop PMDAxisInterface axis intf PMDuint8 phase PMDuint8 parameter PMDuint1l6 value PMDresult PMDGetCurrentLoop PMDAxisInterface axis intf PMDuint8 phase PMDuint8 parameter PMDuint1l6 value VB Motion API MagellanAxis CurrentLoopSet in phase in parameter in value MagellanAxis CurrentLoopGet in phase in parameter out value see Update p 167 Set GetUpdateMask p 163 MultiUpdate p 55
188. write variableID 0 traceAxis 15 8 7 4 3 0 GetTraceVariable 0 B7h 15 8 7 0 First data word write 0 variableNumber 15 21 0 Second data word read variableID 0 traceAxis 15 8 7 4 3 0 Magellan Motion Processor Programmer s Command Reference 160 SetTraceVariable cont B6h GetTraceVariable B7h B Aa Description SetTraceVariable assigns the given variable to the specified variableNumber location in the trace buffer Up to four variables may be traced at one time All variable assignments must be contiguous starting with variableNumber 0 GetTraceVariable returns the variable and axis of the specified variableNumber Example To set up a three variable trace capturing the commanded acceleration for axis 1 the actual position for axis 1 and the event status word for axis 3 the following sequence of commands would be used First a SetTraceVariable command with variableNumber of 0 axis of 0 and variablelD of 4 would be sent Then a SetTraceVariable command with variableNumber of 1 axis of 0 and variablelD of 5 would be sent Finally a SetTraceVariable command with a variableNumber of 3 axis of 2 and variablelD of Oh would be sent Restrictions When selecting ActualVelocity as a trace variable the reported value is the change in position between trace captures In FOC Field Oriented Control mode A B current values ate not meaningful Select D Q current values instead Not all tr
189. ypes Arguments Returned data Packet Structure Description Restrictions C Motion API VB Motion API see ReadBuffer C9h ReadBuffer bufferlD DC Brush Brushless DC Microstepping Pulse amp Direction Name Type Range bufferlD unsigned 16 bits 0 to 31 Type Range data signed 32 bits 23 to 2 11 ReadBuffer 0 C9h 15 8 7 0 First data word write 0 bufferlD 15 5 4 0 Second data word read data high order part 31 16 Third data word read data low order part 15 0 ReadBuffer returns the 32 bit contents of the location pointed to by the read buffer index in the specified buffer After the contents have been read the read index is incremented by 1 If the result is equal to the buffer length set by SetBufferLength the index is reset to zero 0 The read index is automatically changed at the completion of a trace when in rolling trace mode PMDresult PMDReadBuffer PMDAxisInterface axis intf PMDuint16 bufferID PMDint32 data Dim data as Long Data MagellanObject ReadBuffer bufferID Set GetBufferReadIndex p 82 WriteBuffer p 168 Set GetBufferStart p 83 Set GetBufferLength p 81 Magellan Motion Processor Programmer s Command Reference ReadlO 83h Syntax ReadlO address Motor Types DC Brush Brushless DC Microstepping Pulse amp Direction Arguments Name Type Range address unsigned 16

Magellan Motion Processor Programmer`s Command Reference

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