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Axis#.EzStatus Property

1. Axis ManualiInputMode Property Returns sets pulser input mode and operation mode for one axis The can be 0 to 3 It represents the axis identification Syntax object Axis ManuallnputMode number Settings Value Description 0 1X AB PHASE NON REVERS Mode 1 2X AB PHASE NON REVERS Mode 2 4X AB PHASE NON REVERS Mode 3 CW CCW NON REVERS Mode 4 1X AB PHASE REVERSE Mode 5 2X AB PHASE REVERSE Mode 6 4X AB PHASE REVERSE Mode 7 CW CCW REVERSE Mode Data Type Integer Axis OrgMode Property Returns sets Configure the logic of origin switch for one axis The can be 0 to 3 It represents the axis identification Syntax object Axis OrgMode number Settings Value Description 30 Motion Controls Reference 0 active low 1 active high Data Type Integer Axis Outputmode Property Returns sets Set the mode for pulse command output for one axis The can be 0 to 3 It represents the axis identification Syntax object Axis Outputmode Integer Settings Value Description 0 OUT_FALLINF_DIR_HIGH 2 OUT_RISING_DIR_HIGH 3 OUT_FALLINF_DIR_LOW 4 OUT_RISING_DIR_LOW 5 CW_CCW_FALLING 6 CW_CCW_RISING Data Type Integer Axis ScalingFactor Property Returns sets resolution ratio for one axis The can be 0 to 3 It represents the axis identification Syntax object Axis ScalingFactor value Settings resolution ratio for the axis Data Type Double
2. Data Acquisition PCI DAQB DAQBench 32 bit ActiveX Controls for Measurement and Automation for Windows NT Software Model Name DAQBench Motion Controls Reference REVISION 2 20 JUNE 15 2001 No part of this manual may be reproduced without permission CyberResearch Inc www cyberresearch com 25 Business Park Drive Branford CT 06405 USA 203 483 8815 9am to 5pm EST FAX 203 483 9024 PCI DAQB DAQBench 32 bit ActiveX Controls for Measurement and Automation for Windows NT Software Model Name DAQBench Motion Controls Reference Revision 2 20 JUNE 15 2001 No part of this manual may be reproduced without permission CyberResearch Inc www cyberresearch com 25 Business Park Drive Branford CT 06405 USA 203 483 8815 9am to 5pm EST FAX 203 483 9024 OCopyright 2001 All Rights Reserved Revision 2 20 May 15 2001 The information in this document is subject to change without prior notice in order to improve reliability design and function and does not represent a commitment on the part of CyberResearch Inc In no event will CyberResearch Inc be liable for direct indirect special incidental or consequential damages arising out of the use of or inability to use the product or documentation even if advised of the possibility of such damages This document contains proprietary information protected by copyright All rights are reserved No part of this manual may be rep
3. GetPosition Method Syntax Function object GetPosition axis As Integer pos As Double As Integer Arguments axis As Integer axis number designated to move or stop pos As Double actual position Return Value O if the function is successful Remarks get the actual position In VC C Builder Pos is the address to save the position HomeMove Method Syntax Function object HomeMove axis As Integer svel As Double mvel As Double accel As Double As Integer Arguments axis As Integer axis number designated to move or stop svel As Double starting velocity in units of pulse per second mvel As Double maximum velocity in units of pulse per second accel As Double specified acceleration time in units of seconds Return Value O if the function is successful Remarks Begin a home return move Open Method Syntax Function object Open ErrMsgBox As Variant As Boolean Arguments ErrMsgBox As Variant It is optional and boolean type Default value is False True It will popup error message dialog box when the opening device is failed False It will fire DAQError event instead of popping up dialog when the opening device is failed Return Value True if the function is successful otherwise False Remarks This method will be use when the OpenMode property is Manual Note In VC ErrMsgBox is a VARIANT of VT_I2 7e Motion Controls Reference SetCompareHome Method Syntax Function object SetCompareHome
4. inputmode As Integer setting of manual pulser input mode from PA and PB pins 0 1X AB PHASE 1 2X AB PHASE 2 4X AB PHASE 3 CW CCW inverse As Integer Reverse the moving direction from pulse direction 0 no inverse 1 inverse Return Value 38e Motion Controls Reference O if the function is successful Remarks Set the input signal modes of pulser SetTriggerComparator Method Syntax Function object SetTriggerComparator axis As Integer CmpSrc As Integer CmpMethod As Integer Data As Double As Integer Arguments axis As Integer axis number designated to move or stop CmpSrc As Integer comparing source counter 0 Command Counter 1 Feedback Counter 2 Error Counter 3 General Counter CmpMethod As Integer comparing method 0 No compare 1 CmpValue Counter 2 CmpValue Counter Dir 3 CmpValue Counter Dir 4 CmpValue gt Counter 5 CmpValue lt Counter Data As Double Comparing value Return Value O if the function is successful Remarks Set the trigger comparator SetTriggerType Method Syntax Function object SetTriggerType axis As Integer TriggerType As Integer As Integer Arguments axis As Integer axis number designated to move or stop TriggerType As Integer comparing source counter 0 One shoot 1 high Return Value 0 if the function is successful Remarks Set the trigger output type StartAArc2 Method Syntax Function object StartRArc2 axisarray As Variant Cx As Double Cy As Doubl
5. StartManualMove axis As Integer As Integer Arguments axis As Integer axis number designated to move or stop Return Value O if the function is successful Remarks Begin a manual pulser movement StartMoveXY Method Syntax Function object StartMoveXY x As Double y As Double str_vel As Double max_vel As Double accel As Double As Integer Arguments x y As Double the absolute position to move str_vel As Double starting velocity in units of pulse per second max_vel As Double maximum velocity in units of pulse per second accel As Double specified acceleration time in units of seconds Return Value O if the function is successful Remarks Perform a 2 axis linear interpolated motion between X amp Y StartRMove Method Syntax Function object StartRMove axis As Integer distance As Double str_vel As Double max_vel As Double Tacc As Double As Integer Arguments axis As Integer axis number designated to move or stop distance As Double the relative distance to move str_vel As Double starting velocity in units of pulse per second max_vel As Double maximum velocity in units of pulse per second Tacc As Double specified acceleration time in units of seconds Return Value O if the function is successful Remarks Begin a relative trapezoidal profile move StartRSMove Method Syntax Function object StartRSMove axis As Integer distance As Double str_vel As Double max_vel As Double Tl
6. Syntax object Axis HomeMode number Settings Value Description 0 ORG only 1 ORG and EZ stop 2 ORG and EZ decelerate then stop Data Type Integer Axis InpMode Property Returns sets In Position logic and enable disable for one axis The can be 0 to 3 It represents the axis identification Syntax object Axis InpMode number Settings 15e Motion Controls Reference Value Description 0 disable 1 enable active low 2 enable active high Data Type Integer Axis Inputmode Property Returns sets Set the mode for feedback pulse input for one axis The can be 0 to 3 It represents the axis identification Syntax object Axis Inputmode Integer Settings Value Description 0 1X AB PHASE 1 2X AB PHASE 2 4X AB PHASE 3 CW CCW Data Type Integer Axis InputStatus Property Returns sets enable disable the external feedback pulse input for one axis The can be 0 to 3 It represents the axis identification Syntax object Axis InputStatus number Settings Value Description 0 Disable 1 Enable Data Type Integer Axis IntFactor Property Returns sets the 32 bit interrupt factor for one axis The can be 0 to 3 It represents the axis identification Syntax object Axis IntFactor variant Settings Bit Interrupt Factor 0 Stop with the EL signal 1 Stop with the SD signal 2 Stop with the ALM signal 3 Stop wit
7. object OpenMode number Settings Value Description 0 Automatically open device when the control was created 1 Do not open device when the control was created Must call the Open method to open device Manual Data Type Integer Methods GetPosition Method Syntax 19e Motion Controls Reference Function object GetPosition axis As Integer pos As Double As Integer Arguments axis As Integer axis number designated to move or stop pos As Double actual position Return Value O if the function is successful Remarks Get the actual position in VC C Builder Pos is the address to save the position HomeMove Method Syntax Function object HomeMove axis As Integer svel As Double mvel As Double accel As Double As Integer Arguments axis As Integer axis number designated to move or stop svel As Double starting velocity in units of pulse per second mvel As Double maximum velocity in units of pulse per second accel As Double specified acceleration time in units of seconds Return Value O if the function is successful Remarks Begin a home return move Open Method Syntax Function object Open ErrMsgBox As Variant As Boolean Arguments ErrMsgBox As Variant It is optional and boolean type Default value is False True It will popup an error message dialog box when the opening device is failed False It will give a DAQError event instead of popping up dialog when the opening device is fai
8. As Double tdec As Double As Integer Arguments PosX posY As Double the absolute position to move strvel As Double starting velocity in units of pulse per second maxvel As Double maximum velocity in units of pulse per second tacc tdec As Double specified acceleration time in units of seconds axisarray As Variant axis number designated to move or stop In VC C Builder axisarray is a Variant of VT_ARRAY VT_I2 Return Value O if the function is successful 43e Motion Controls Reference Remarks Begin an absolute 2 axis linear interpolation for any two axes StartTALine3 Method Syntax Function object StartTALine3 axisarray As Variant posX As Double posY As Double posZ As Double strvel As Double maxvel As Double tacc As Double tdec As Double As Integer Arguments PosX posY posZ As Double the absolute position to move strvel As Double starting velocity in units of pulse per second maxvel As Double maximum velocity in units of pulse per second tacc tdec As Double specified acceleration time in units of seconds axisarray As Variant axis number designated to move or stop In VC C Builder axisarray is a Variant of VI_ARRAY VT_12 Return Value O if the function is successful Remarks Begin an absolute 3 axis linear interpolation for any three axes StartTALine4 Method Syntax Function object StartTALine4 posX As Double posY As Double posZ As Double posU As Double strvel As Doub
9. As Integer axis number designated to move or stop Return Value O if the function is successful Remarks Begin a manual pulser movement StartMoveXY Method Syntax Function object StartMoveXY x As Double y As Double str_vel As Double max_vel As Double accel As Double As Integer Arguments x y As Double the absolute position to move str_vel As Double starting velocity in units of pulse per second max_vel As Double maximum velocity in units of pulse per second accel As Double specified acceleration time in units of seconds Return Value O if the function is successful Remarks Perform a 2 axis linear interpolated motion between X amp Y 21 Motion Controls Reference StartMoveZU Method Syntax Function object StartMoveXY z As Double u As Double str_vel As Double max_vel As Double accel As Double As Integer Arguments z u As Double the absolute position to move str_vel As Double starting velocity in units of pulse per second max_vel As Double maximum velocity in units of pulse per second accel As Double specified acceleration time in units of seconds Return Value O if the function is successful Remarks Perform a 2 axis linear interpolated motion between Z amp U StartRMove Method Syntax Function object StartRMove axis As Integer distance As Double str_vel As Double max_vel As Double Tacc As Double As Integer Arguments axis As Integer axis number designated to move o
10. Axis SdMode Property Returns sets active logic and latch control of SD signal input from mechanical system for one axis The can be 0 to 3 It represents the axis identification Syntax object Axis SdMode number Settings Value Description 0 disable 1 enable active low not latch 2 enable active high not latch 3 enable active low latch 4 enable active high latch 5 enable active low not latch 6 enable active high not latch 7 enable active low latch 8 enable active high latch Data Type Integer Axis Svon Property Returns sets the High Low state of general purpose output pin SVON for one axis The can be 0 to 3 It represents the axis identification Syntax object Axis Svon number 31 Motion Controls Reference Settings Value Description 0 SVON LOW 1 SVON HIGH Data Type Integer Devicelndex Property Returns sets a value that determines the card index of PCIM 1002E Syntax object DeviceIndex number Data Type Integer IntControl Property Returns sets the status of an interrupt Syntax object IntControl Boolean Settings Value Description True enable int flag False disable int flag Data Type Boolean IntStatus Property Returns sets the status of an interrupt Syntax object IntStatus Integer Settings Value Description enable interrupt 0 disable interrupt Data Type Integer LoadConfig Property Returns sets a value that
11. Double maximum velocity in units of pulse per second Tacc Tdec As Double specified acceleration time in units of seconds Return Value O if the function is successful Remarks Begin a non symmetrical absolute trapezoidal profile move StartTASMove Method Syntax Function object StartTASMove axis As Integer pos As Double str_vel As Double max_vel As Double Tlacc As Double Tsacc As Double Tlacc As Double Tsdec As Double As Integer Arguments axis As Integer axis number designated to move or stop pos As Double the absolute position to move str_vel As Double starting velocity in units of pulse per second max_vel As Double maximum velocity in units of pulse per second Tlacc Tsacc Tlacc Tsdec As Double specified acceleration time in units of seconds Return Value O if the function is successful Remarks 11 Motion Controls Reference Begin a non symmetrical absolute S curve profile motion StartTMove Method Syntax Function object StartTMove axis As Integer distance As Double str_vel As Double max_vel As Double Tacc As Double Tdec As Double As Integer Arguments axis As Integer axis number designated to move or stop distance As Double the relative distance to move str_vel As Double starting velocity in units of pulse per second max_vel As Double maximum velocity in units of pulse per second Tacc Tdec As Double specified acceleration time in units of seconds Return Valu
12. Double tdec As Double svacc As Double svdec As Double As Integer Arguments disX disY As Double the relative distance to move strvel As Double starting velocity in units of pulse per second maxvel As Double maximum velocity in units of pulse per second tacc tdec svacc svdec As Double specified acceleration time in units of seconds axisarray As Variant axis number designated to move or stop In VC C Builder axisarray is a Variant of VI_ARRAY VT_12 Return Value O if the function is successful Remarks Begin a relative 2 axis linear interpolation for any two axes with S curve Profile StartSRLine3 Method Syntax Function object StartSALine3 axisarray As Variant disX As Double disY As Double disZ As Double strvel As Double maxvel As Double tacc As Double tdec As Double svacc As Double svdec As Double As Integer Arguments disX disY disZ As Double the relative distance to move strvel As Double starting velocity in units of pulse per second maxvel As Double maximum velocity in units of pulse per second tacc tdec svacc svdec As Double specified acceleration time in units of seconds axisarray As Variant axis number designated to move or stop In VC C Builder axisarray is a Variant of VT_ARRAY VT_I2 Return Value O if the function is successful Remarks Begin a relative 3 axis linear interpolation for any three axes with S curve Profile 42e Motion Controls Reference St
13. Motion Controls Reference object Axis Outputmode Integer Settings Value Description 0 OUT_DIR 1 CW_CCW Data Type Integer Axis ScalingFactor Property Returns sets resolution ratio for one axis The can be 0 or 1 It represents the axis identification Syntax object Axis ScalingFactor value Settings resolution ratio for the axis Data Type Double Axis SdMode Property Returns sets active logic and latch control of SD signal input from mechanical system for one axis The can be 0 or 1 It represents the axis identification Syntax object Axis SdMode number Settings Value Description 0 disable 1 enable active low NOT latch 2 enable active high NOT latch 3 enable active low latch 4 enable active high latch Data Type Integer Axis Svon Property Returns sets the High Low state of general purpose output pin SVON for one axis The can be 0 or 1 It represents the axis identification Syntax object Axis Svon number Settings Value Description 0 SVON LOW 1 SVON HIGH Data Type Integer Devicelndex Property Returns sets a value that determines the card index of PCIM 1002E Syntax object DeviceIndex number Data Type Integer IntStatus Property Returns sets the status of interrupt Syntax 5e Motion Controls Reference object IntStatus Integer Settings Value Description 1 enable interrupt 0 disable interrupt Data Type I
14. Type Integer Axis HomeMode Property Returns sets the mode for home return for one axis The can be 0 to 3 It represents the axis identification Syntax object Axis HomeMode number Settings Please refer to User s Manual section 4 1 8 Data Type Integer Axis InpMode Property Returns sets In Position logic and enable disable for one axis The can be 0 to 3 It represents the axis identification Syntax object Axis InpMode number Settings Value Description 0 disable 1 enable active low 2 enable active high Data Type Integer Axis Inputmode Property Returns sets Set the mode for feedback pulse input for one axis The can be 0 to 3 It represents the axis identification Syntax 28 Motion Controls Reference object Axis Inputmode Integer Settings Value Description 0 1X AB PHASE Normal Low 1 2X AB PHASE Normal Low 2 4X AB PHASE Normal Low 3 CW CCW Normal Low 4 1X AB PHASE Normal High 5 2X AB PHASE Normal High 6 4x AB PHASE Normal High 7 CW CCW Normal High Data Type Integer Axis InputStatus Property Returns sets enable disable the external feedback pulse input for one axis The can be 0 to 3 It represents the axis identification Syntax object Axis InputStatus number Settings Value Description 0 External Feedback 1 Command pulse Data Type Integer Axis IntFactor Property Returns sets the 32 bit interr
15. axis As Integer As Integer Arguments axis As Integer axis number designated to move or stop Return Value O if the function is successful Remarks Reset the comparator s counter to zero SetComparelnt Method Syntax Function object SetComparelnt axis As Integer status as Integer As Integer Arguments axis As Integer axis number designated to move or stop status As Integer enable disable the compare interrupt l means enable O means disable Return Value O if the function is successful Remarks Enable disable the compare interrupt SetCompareMode Method Syntax Function object SetCompareMode axis As Integer comp_mode as Integer As Integer Arguments axis As Integer axis number designated to move or stop Comp_mode As Integer compare mode O increasing counter gt compare value l equal counter compare value 2 decreasing counter lt compare value Return Value 0 if the function is successful Remarks set compare mode SetCompareTable Method Syntax Function object SetCompareTable axis As Integer control as Integer As Integer Arguments axis As Integer axis number designated to move or stop control As Integer enable disable compare table O means disable 1 means compare points is from compare table Return Value O if the function is successful Remarks Enable disable the compare table 8 Motion Controls Reference SetConfigFlie Method Syntax Function object SetC
16. 0 EL Positive Limit Switch 1 EL Negative Limit Switch 2 SD Positive Slow Down Point 3 SD Negative Slow Down Point 4 ORG Origin Switch 5 EZ Index signal 6 ALM Alarm Signal 7 SVON SVON of PCL5023 pin output 8 RDY RDY pin input 9 INT Interrupt status 10 ERC ERC pin output 11 INP In Position signal input Remarks This property is read only In VC C Builder Variant is a VARIANT of VT_I2 Data Type VARIANT Axis ManualiInputMode Property Returns sets pulser input mode and operation mode for one axis The can be 0 or T It represents the axis identification Syntax object Axis ManuallnputMode number Settings Value Description 0 1X AB PHASE Independent Mode 1 2X AB PHASE Independent Mode 2 4X AB PHASE Independent Mode 3 CW CCW Independent Mode 4 1X AB PHASE Common Mode 5 2X AB PHASE Common Mode 6 4X AB PHASE Common Mode 7 CW CCW Common Mode Data Type Integer Axis OrgMode Property Returns sets Configure the logic of origin switch for one axis The can be 0 or 1 It represents the axis identification Syntax object Axis OrgMode number Settings Value Description 0 active low NOT latch 1 active high NOT latch 2 active low AND latch 3 active high AND latch Data Type Integer Axis Outputmode Property Returns sets the mode of pulse command output for one axis The can be 0 or 1 It represents the axis identification Syntax 4e
17. Controls Reference 3 PCIM 2004E ActiveX Control The PCIM 2004E is a 4 axis PCI bus motion control card The PCIM 2004E ActiveX control is a software component that provides the interface for users to control PCIM 2004E card Properties Axis0 Property Returns a object that is a PCIM 2004E Axis Syntax object AxisO Remarks This property is read only Data Type PCIM 2004E AXIS Axis1 Property Returns a object that is a PCIM 2004E Axis1 Syntax object Axis1 Remarks This property is read only Data Type PCIM 2004E AXIS Axis2 Property Returns a object that is a PCIM 2004E Axis2 Syntax object AxisO Remarks This property is read only Data Type PCIM 2004E AXIS Axis3 Property Returns a object that is a PCIM 2004E Axis3 Syntax object Axisl Remarks This property is read only Data Type PCIM 2004E AXIS Axis AlarmMode Property 26e Motion Controls Reference Returns sets alarm logic and alarm mode for one axis The can be 0 to 3 It represents the axis identification Syntax object Axis AlarmMode number Settings Value Description 0 active low stop immediately 1 active high stop immediately 2 active low decelerate then stop 3 active high decelerate then stop Data Type Integer Axis ELMode Property Returns sets reacting modes when receiving EL signal for one axis The can be 0 to 3 It represents the axis identification Syntax object Axis ELMod
18. IANT Axis ManualiInputMode Property Returns sets pulser input mode and operation mode for one axis The can be 0 to 3 It represents the axis identification Syntax object Axis ManuallnputMode number Settings Value Description 8 1X AB PHASE Independent Mode 9 2X AB PHASE Independent Mode 10 4X AB PHASE Independent Mode 11 CW CCW Independent Mode 12 1X AB PHASE Common Mode 13 2X AB PHASE Common Mode 14 4X AB PHASE Common Mode 15 CW CCW Common Mode Data Type Integer 17e Motion Controls Reference Axis OrgMode Property Returns sets Configure the logic of origin switch for one axis The can be 0 to 3 It represents the axis identification Syntax object Axis OrgMode number Settings Value Description 0 active low not latch 1 active high not latch 2 active low and latch 3 active high and latch Data Type Integer Axis Outputmode Property Returns sets Set the mode for pulse command output for one axis The can be 0 to 3 It represents the axis identification Syntax object Axis Outputmode Integer Settings Value Description 0 OUT_DIR 1 CW_CCW Data Type Integer Axis ScalingFactor Property Returns sets resolution ratio for one axis The can be 0 to 3 It represents the axis identification Syntax object Axis ScalingFactor value Settings Resolution ratio for the axis Data Type Double Axis SdMode Property Retur
19. Y VT_I4 size As Long the elements number you want to build in the compare table Device As Integer the reload device for comparator data O RAM interrupt 1 FIFO Return Value O if the function is successful Remarks Build compare table EMGStop Method Syntax Function object EMGStop axis As Integer As Integer Arguments axis As Integer axis number designated to move or stop Return Value O if the function is successful 33 Motion Controls Reference Remarks This method will make axis immediately stop FixSpeedRange Method Syntax Function object FixSpeedRange axis As Integer maxvel As Double As Integer Arguments axis As Integer axis number designated to move or stop Maxvel As Double maximum velocity in units of pulse per second Return Value O if the function is successful Remarks This method will define the speed range GetCurrentSpeed Method Syntax Function object GetCurrentSpeed axis As Integer speed As Double As Integer Arguments axis As Integer axis number designated to move or stop speed As Double current pulse output rate Return Value 0 if the function is successful Remarks get the current pulse output rate of specified axis In VC C Builder speed is the address to save the data GetDIO Method Syntax Function object GetDIO DiData As Variant As Integer Arguments DiData As Variant a 16 bit input value In VC C Builder DiData is a varian
20. acc As Double Tsacc As Double As Integer Arguments axis As Integer axis number designated to move or stop disatnce As Double the relative distance to move str_vel As Double starting velocity in units of pulse per second max_vel As Double maximum velocity in units of pulse per second Tlacc Tsacc As Double specified acceleration time in units of seconds Return Value 10 Motion Controls Reference O if the function is successful Remarks Begin a relative S Curve profile motion StartSMove Method Syntax Function object StartSMove axis As Integer pos As Double str_vel As Double max_vel As Double Tlacc As Double Tsacc As Double As Integer Arguments axis As Integer axis number designated to move or stop pos As Double the absolute position to move str_vel As Double starting velocity in units of pulse per second max_vel As Double maximum velocity in units of pulse per second Tlacc Tsacc As Double specified acceleration time in units of seconds Return Value O if the function is successful Remarks Begin a S Curve profile motion StartTAMove Method Syntax Function object StartTAMove axis As Integer pos As Double str_vel As Double max_vel As Double Tacc As Double Tdec As Double As Integer Arguments axis As Integer axis number designated to move or stop pos As Double the absolute position to move str_vel As Double starting velocity in units of pulse per second max_vel As
21. artSRLine4 Method Syntax Function object StartSALine4 disX As Double disY As Double disZ As Double disU As Double strvel As Double maxvel As Double tacc As Double tdec As Double svacc As Double svdec As Double As Integer Arguments disX disY disZ disU As Double the relative distance to move strvel As Double starting velocity in units of pulse per second maxvel As Double maximum velocity in units of pulse per second tacc tdec svacc svdec As Double specified acceleration time in units of seconds Return Value O if the function is successful Remarks Begin a relative 4 axis linear interpolation for four axes with S curve Profile StartSRMove Method Syntax Function object StartSRMove axis As Integer dis As Double strvel As Double maxvel As Double tacc As Double tdec As Double svacc As Double svdec As Double As Integer Arguments axis As Integer axis number designated to move or stop dis As Double the relative distance to move strvel As Double starting velocity in units of pulse per second maxvel As Double maximum velocity in units of pulse per second tacc tdec svacc svdec As Double specified acceleration time in units of seconds Return Value O if the function is successful Remarks Begin a relative S Curve profile move StartTALine2 Method Syntax Function object StartTALine2 axisarray As Variant posX As Double posY As Double strvel As Double maxvel As Double tacc
22. bject StartSALine4 posX As Double posY As Double posZ As Double posU As Double strvel As Double maxvel As Double tacc As Double tdec As Double svacc As Double svdec As Double As Integer Arguments PosX posY posZ posU As Double the absolute position to move strvel As Double starting velocity in units of pulse per second maxvel As Double maximum velocity in units of pulse per second tacc tdec svacc svdec As Double specified acceleration time in units of seconds Return Value 0 if the function is successful Remarks Begin an absolute 4 axis linear interpolation for four axes with S curve Profile StartSAMove Method Syntax Function object StartSAMove axis As Integer pos As Double strvel As Double maxvel As Double tacc As Double tdec As Double svacc As Double svdec As Double As Integer Arguments axis As Integer axis number designated to move or stop pos As Double the absolute position to move 41 Motion Controls Reference strvel As Double starting velocity in units of pulse per second maxvel As Double maximum velocity in units of pulse per second tacc tdec svacc svdec As Double specified acceleration time in units of seconds Return Value O if the function is successful Remarks Begin an absolute S Curve profile move StartSRLine2 Method Syntax Function object StartSALine2 axisarray As Variant disX As Double disY As Double strvel As Double maxvel As Double tacc As
23. ck Counter 2 Error Counter 3 General Counter CmpMethod As Integer comparing method 0 No compare 1 CmpValue Counter 2 CmpValue Counter Dir 3 CmpValue Counter Dir 4 CmpValue gt Counter 5 CmpValue lt Counter CmpAction As Integer the reaction mode when comparison comes into exist 0 INT only 1 Immediately stop 2 Slow down than stop 3 Speed change 37e Motion Controls Reference Data As Double Comparing value Return Value O if the function is successful Remarks Set the general purposed comparator SetGeneralCounter Method Syntax Function object SetGeneralCounter axis As Integer cntsrc As Integer cntvalue As Double As Integer Arguments axis As Integer axis number designated to move or stop cntvalue As Double general counter value cntsrc As Integer Source of general counter 0 command 1 EA EB 2 PA PB 3 CLK 2 Return Value O if the function is successful Remarks Set the general counter SetPosition Method Syntax Function object SetPosition axis As Integer pos As Double As Integer Arguments axis As Integer axis number designated to move or stop pos As Double actual position Return Value O if the function is successful Remarks Set the actual position SetPulserIptMode Method Syntax Function object SetPulserlptMode axis As Integer inputmode As Integer inverse As Integer As Integer Arguments axis As Integer axis number designated to move or stop
24. determines the mode of opening the device Syntax object LoadConfig Boolean Settings Value Description True Load the same configuration as Motion Creator False Do not load the configuration from Motion Creator Data Type Boolean OpenMode Property Returns sets a value that determines the mode of opening the device Syntax object OpenMode number Settings Value Description 0 Automatically open device when the control was created 1 Do not open device when the control was created Must call the 32 Motion Controls Reference Open method to open device Manual Data Type Integer Methods BuildCompareFunction Method Syntax Function object BuildCompareFunction axis As Integer start As Double end As Double interval As Double device As Integer As Integer Arguments axis As Integer axis number designated to move or stop Start end interval As Double start point end point interval of compare function Device As Integer reload device for comparator data 0 RAM amp interrupt 1 FIFO Return Value O if the function is successful Remarks Build compare data via compare constant interval BuildCompareTable Method Syntax Function object BuildCompareTable axis As Integer Table as Variant size as Long Device as Integer As Integer Arguments axis As Integer axis number designated to move or stop Table as variant compare table In VC C Builder Table is a variant of VT_ARRA
25. e number Settings Value Description 0 stop 1 deceleration then stop Data Type Integer Axis ErcOut Property Returns sets ERC output option for one axis The can be 0 to 3 It represents the axis identification Syntax object Axis ErcOut number Settings Value Description 0 no erc out 1 erc out when homing finish Data Type Integer Axis ErcStatus Property Returns sets ERC pin output enable disable for one axis The can be 0 to 3 It represents the axis identification Syntax object Axis ErcStatus number Settings Value Description 12us Active Low 102us Active Low 409us Active Low 1600us Active Low 13ms Active Low 52ms Active Low 104ms Active Low 12us Active High 102us Active High 409us Active High 1600us Active High 13ms Active High RH00 NN dd UNO Ro 27e Motion Controls Reference 12 52ms Active High 13 104ms Active High Data Type Integer Axis EzCount Property Returns sets EZ count for one axis The can be 0 to 3 It represents the axis identification Syntax object Axis EzCount number Settings Please refer to User s manual section 4 1 8 Data Type Integer Axis EzStatus Property Returns sets index signal needed for home_move for one axis The can be 0 to 3 It represents the axis identification Syntax object Axis EzStatus number Settings Value Description 0 active low 1 active high Data
26. e 0 if the function is successful Remarks Begin a non symmetrical relative trapezoidal profile move SVMove Method Syntax Function object SVMove axis As Integer str_vel As Double max_vel As Double Tlacc As Double Tsacc As Double As short Arguments axis As Integer axis number designated to move or stop 0 axis 0 1 axis 1 str_vel As Double starting velocity in units of pulse per second max_vel As Double maximum velocity in units of pulse per second Tsacc Tlacc As Double specified acceleration time in units of seconds Return Value O if the function is successful Remarks This method will accelerate an axis to a constant velocity with S curve profile VChange Method Syntax Function object VChange axis As Integer max_vel As Double Tlacc As Double As Integer Arguments axis As Integer axis number designated to move or stop max_vel As Double maximum velocity in units of pulse per second Tlacc As Double specified acceleration time in units of seconds Return Value O if the function is successful Remarks This method will Change speed instantly VMove Method Syntax 12e Motion Controls Reference Function object VMove axis As Integer str_vel As Double max_vel As Double Tlacc As Double As Integer Arguments axis As Integer axis number designated to move or stop str_vel As Double starting velocity in units of pulse per second max_vel As Double maximum velocity in units of pulse p
27. e Ex As Double Ey As Double DIR As Integer maxvel As Double As Integer 39e Motion Controls Reference Arguments Cx Cy As Double absolute position of center Ex Ey As Double absolute position of axis to move DIR As Integer the direction of arc 0 CW 1 CCW maxvel As Double maximum velocity in units of pulse per second axisarray As Variant axis number designated to move or stop In VC C Builder axisarray is a Variant of VT_ARRAY VT_12 Return Value 0 if the function is successful Remarks Begin an absolute circular interpolation for any two axes StartRArc2 Method Syntax Function object StartRArc2 axisarray As Variant OffsetCx As Double OffsetCy As Double OffsetEx As Double OffsetEy As Double DIR As Integer maxvel As Double As Integer Arguments OffsetCx OffsetCy As Double offset to center OffsetEx OffsetEy As Double offset to end of arc DIR As Integer the direction of arc 0 CW 1 CCW maxvel As Double maximum velocity in units of pulse per second axisarray As Variant axis number designated to move or stop In VC C Builder axisarray is a Variant of VT_ARRAY VT_12 Return Value 0 if the function is successful Remarks Begin a relative circular interpolation for any two axes StartSALine2 Method Syntax Function object StartSALine2 axisarray As Variant posX As Double posY As Double strvel As Double maxvel As Double tacc As Double tdec As Double svacc As Double
28. er Axis EzStatus Property Returns sets index signal needed for home_move for one axis The can be 0 or 1 It represents the axis identification Syntax object Axis EzStatus number Settings Value Description 0 active low 1 active high Data Type Integer Axis HomeMode Property Returns sets the mode for home return for one axis The can be 0 or 1 It represents the axis identification Syntax object Axis HomeMode number Settings Value Description 0 ORG only 1 ORG and EZ stop 2 ORG and EZ decelerate then stop Data Type Integer Axis InpMode Property Returns sets In Position logic and enable disable for one axis The can be 0 or 1 It represents the axis identification Syntax object Axis InpMode number Settings Value Description 0 disable 1 enable active low 2 enable active high Data Type Integer Axis Inputmode Property Returns sets Set the mode for feedback pulse input for one axis The can be 0 or 1 It represents the axis identification Syntax object Axis Inputmode Integer Settings Value Description 0 1X AB PHASE 1 2X AB PHASE 2 4X AB PHASE 3 CW CCW Data Type 2e Motion Controls Reference Integer Axis InputStatus Property Returns sets enable disable for the external feedback pulse input for one axis The can be 0 or 1 It represents the axis identification Syntax object A
29. er second Tlacc As Double specified acceleration time in units of seconds Return Value O if the function is successful Remarks This method will accelerate an axis to a constant velocity with T curve profile VStop Method Syntax Function object VStop axis As Integer Tdec As Double As Integer Arguments axis As Integer axis number designated to move or stop Tdec As Double specified acceleration time in units of seconds Return Value O if the function is successful Remarks This method will make axis decelerate to a stop Events OnIntEvent Event Syntax sub ControlName_ OnIntEvent axis As Integer Int_status As Long Arguments axis As Intege the axis that generates an interrupt Int_status As Long the interrupt status Remarks This event will occur when an interrupt is generated Note User must first enable the interrupt and set the interrupt factor then this event can occur 13 Motion Controls Reference 2 PCIM 1004E ActiveX Control The PCIM 1004E is a 4 axis PCI bus motion control card The PCIM 1004E ActiveX control is a software component that provides the interface for users to control PCIM 1004E card Properties Axis0 Property Returns a object that is a PCIM 1004E Axis Syntax object AxisO Remarks This property is read only Data Type PCIM 1004E AXIS Axis1 Property Returns a object that is a PCIM 1004E Axis1 Syntax object Axis1 Remarks This property is read on
30. eration time in units of seconds Return Value O if the function is successful Remarks This method will make axis decelerate then stop SetAutoCompare Method Syntax Function object SetAutoCompare axis As Integer SelectSrc As Integer As Integer Arguments axis As Integer axis number designated to move or stop SelectSrc As Integer comparing source counter 0 disable auto compare 1 use FIFO 2 use compare function 3 use compare table Return Value O if the function is successful Remarks 36 Motion Controls Reference Set comparing data source for auto loading SetConfigFlie Method Syntax Function object SetConfigFlie filename As String As Integer Arguments filename As String the configuration file name Return Value O if the function is successful Remarks Save the configuration SetDO Method Syntax Function object SetDO Ch_No As Integer DoData As Integer As Integer Arguments Ch_No As Integer channel number 0 5 DoData As Long On Off value for output Return Value O if the function is successful Remarks Set a value to PCIM 2004E s digital output channel SetGeneralComparator Method Syntax Function object SetGeneralComparator axis As Integer CmpSrc As Integer CmpMethod As Integer CmpAction As Integer Data As Double As Integer Arguments axis As Integer axis number designated to move or stop CmpSrc As Integer comparing source counter 0 Command Counter 1 Feedba
31. ger strvel As Double maxvel As Double Tacc As Double As short Arguments axis As Integer axis number designated to move or stop strvel As Double starting velocity in units of pulse per second maxvel As Double maximum velocity in units of pulse per second Tacc As Double specified acceleration time in units of seconds Return Value O if the function is successful Remarks This method will accelerate an axis to a constant velocity with trapezoidal profile 46e Motion Controls Reference UnFixSpeedRange Method Syntax Function object UnFixSpeedRange axis As Integer As Integer Arguments axis As Integer axis number designated to move or stop Return Value O if the function is successful Remarks This method will release the speed range constraint VChange Method Syntax Function object VChange axis As Integer newvel As Double tacc As Double As Integer Arguments axis As Integer axis number designated to move or stop newvel As Double maximum velocity in units of pulse per second tacc As Double specified acceleration time in units of seconds Return Value O if the function is successful Remarks This method will Change speed instantly Events OnIntEvent Event Syntax Sub ControlName_ OnIntEvent axis As Integer int_status As Long error_status As Long Arguments axis As Intege the axis that generates interrupts int_status As Long the interrupt status error_status As Long the erro
32. h the STP signal 4 Should be set to 0 5 Completion of home return 6 Completion of preset movement 7 Completion of interpolating motion for two axes X Y or Z U 8 12 should be set to 0 13 when v_stop function stop the axis 14 EA EB PA PB encoder input error 15 start with STA signal 16 Completion of acceleration 17 Start of deceleration 16 Motion Controls Reference 18 22 Should be Set to 0 23 RDY active AP3 of PCL5023 change from 1 to 0 24 31 Should be set to 0 Note Bit 14 The interrupt is generated when pins EA and EB or PA and PB change simultaneously It means there is an encoder input error Remarks In VC C Builder variant is a VARIANT of VT_I4 Data Type VARIANT Axis IOStatus Property Returns all the I O status for one axis The can be 0 to 3 It represents the axis identification Syntax object Axis OStatus variant Settings Bit Name Description 0 EL Positive Limit Switch 1 EL Negative Limit Switch 2 SD Positive Slow Down Point 3 SD Negative Slow Down Point 4 ORG Origin Switch 5 EZ Index signal 6 ALM Alarm Signal 7 SVON SVON of PCL5023 pin output 8 RDY RDY pin input 9 INT Interrupt status 10 ERC ERC pin output 11 INP In Position signal input Remarks This property is read only In VC C Builder variant is a VARIANT of VT_I2 Data Type VAR
33. ied acceleration time in units of seconds Return Value O if the function is successful Remarks Begin a S Curve profile motion StartTAMove Method Syntax Function object StartTAMove axis As Integer pos As Double str_vel As Double max_vel As Double Tacc As Double Tdec As Double As Integer Arguments axis As Integer axis number designated to move or stop pos As Double the absolute position to move str_vel As Double starting velocity in units of pulse per second max_vel As Double maximum velocity in units of pulse per second Tacc Tdec As Double specified acceleration time in units of seconds Return Value O if the function is successful Remarks Begin a non symmetrical absolute trapezoidal profile move StartTASMove Method Syntax Function object StartTASMove axis As Integer pos As Double str_vel As Double max_vel As Double Tlacc As Double Tsacc As Double Tlacc As Double Tsdec As Double As Integer Arguments axis As Integer axis number designated to move or stop pos As Double the absolute position to move str_vel As Double starting velocity in units of pulse per second max_vel As Double maximum velocity in units of pulse per second Ee ae Tlacc Tsdec As Double specified acceleration time in units of seconds Return Value 0 if the function is successful Remarks Begin a non symmetrical absolute S curve profile motion StartTMove Method Syntax Function object StartTMove a
34. le maxvel As Double tacc As Double tdec As Double As Integer Arguments PosX posY posZ posU As Double the absolute position to move strvel As Double starting velocity in units of pulse per second maxvel As Double maximum velocity in units of pulse per second tacc tdec As Double specified acceleration time in units of seconds Return Value 0 if the function is successful Remarks Begin an absolute 4 axis linear interpolation for four axes StartTAMove Method Syntax Function object StartTAMove axis As Integer pos As Double strvel As Double maxvel As Double tacc As Double tdec As Double As Integer Arguments axis As Integer axis number designated to move or stop pos As Double the absolute position to move strvel As Double starting velocity in units of pulse per second maxvel As Double maximum velocity in units of pulse per second tacc tdec As Double specified acceleration time in units of seconds Return Value O if the function is successful 44e Motion Controls Reference Remarks Begin an absolute trapezoidal profile move StartTRLine2 Method Syntax Function object StartTRLine2 axisarray As Variant disX As Double disY As Double strvel As Double maxvel As Double tacc As Double tdec As Double As Integer Arguments disX disY As Double the relative distance to move strvel As Double starting velocity in units of pulse per second maxvel As Double maximum velocity in units
35. led Return Value True if the function is successful otherwise False Remarks This method will be used when the OpenMode property is Manual Note In VC ErrMsgBox is a VARIANT of VT_I2 SetConfigFlie Method Syntax Function object SetConfigFlie filename As string As Integer Arguments filename As String the configuration file name Return Value 0 if the function is successful Remarks Save the configuration SetPosition Method 20 Motion Controls Reference Syntax Function object SetPosition axis As Integer pos As Double As Integer Arguments axis As Integer axis number designated to move or stop pos As Double actual position Return Value O if the function is successful Remarks Set the actual position StartAMove Method Syntax Function object StartAMove axis As Integer pos As Double str_vel As Double max_vel As Double Tacc As Double As Integer Arguments axis As Integer axis number designated to move or stop Pos As Double the absolute position to move str_vel As Double starting velocity in units of pulse per second max_vel As Double maximum velocity in units of pulse per second Tacc As Double specified acceleration time in units of seconds Return Value 0 if the function is successful Remarks This function causes the axis to accelerate from a starting velocity StartManualMove Method Syntax Function object StartManualMove axis As Integer As Integer Arguments axis
36. ly Data Type PCIM 1004E AXIS Axis2 Property Returns a object that is a PCIM 1004E Axis2 Syntax object AxisO Remarks This property is read only Data Type PCIM 1004E AXIS Axis3 Property Returns a object that is a PCIM 1004E Axis3 Syntax object Axisl Remarks This property is read only Data Type PCIM 1004E AXIS Axis AlarmMode Property 14e Motion Controls Reference Returns sets alarm logic and alarm mode for one axis The can be 0 to 3 It represents the axis identification Syntax object Axis AlarmMode number Settings Value Description 0 active low stop immediately 1 active high stop immediately 2 active low decelerate then stop 3 active high decelerate then stop Data Type Integer Axis ErcStatus Property Returns sets ERC pin output enable disable for one axis The can be 0 to 3 It represents the axis identification Syntax object Axis ErcStatus number Settings Value Description 0 Disable 1 Enable Data Type Integer Axis EzStatus Property Returns sets index signal needed for home_move for one axis The can be 0 to 3 It represents the axis identification Syntax object Axis EzStatus number Settings Value Description 0 active low 1 active high Data Type Integer Axis HomeMode Property Returns sets the mode for home return for one axis The can be 0 to 3 It represents the axis identification
37. nits of seconds Return Value O if the function is successful Remarks This method will Change speed instantly VMove Method Syntax Function object VMove axis As Integer str_vel As Double max_vel As Double Tlacc As Double As Integer Arguments axis As Integer axis number designated to move or stop 0 axis 0 1 axis 1 2 axis 2 3 axis3 24e Motion Controls Reference str_vel As Double starting velocity in units of pulse per second max_vel As Double maximum velocity in units of pulse per second Tlacc As Double specified acceleration time in units of seconds Return Value O if the function is successful Remarks This method will accelerate an axis to a constant velocity with T curve profile VStop Method Syntax Function object VStop axis As Integer Tdec As Double As Integer Arguments axis As Integer axis number designated to move or stop Tdec As Double specified acceleration time in units of seconds Return Value O if the function is successful Remarks This method will make the axis decelerate to a stop Events OnIntEvent Event Syntax Sub ControlName_ OnIntEvent axis As Integer Int_status As Long Arguments axis As Integer the axis that generates an interrupt Int_status As Long the interrupt status Remarks This event will occur when an interrupt is generated Note User must first enable the interrupt and set the interrupt factor then this event can occur 25e Motion
38. ns sets active logic and latch control of SD signal input from mechanical system for one axis The can be 0 to 3 It represents the axis identification Syntax object Axis SdMode number Settings Value Description 0 disable 1 enable active low not latch 2 enable active high not latch 3 enable active low latch 4 enable active high latch Data Type Integer Axis Svon Property Returns sets the High Low state of general purpose output pin SVON for one axis The can be 0 to 3 It represents the axis identification Syntax 18 Motion Controls Reference object Axis Svon number Settings Value Description 0 SVON LOW 1 SVON HIGH Data Type Integer Devicelndex Property Returns sets a value that determines the card index of PCIM 1002E Syntax object DeviceIndex number Data Type Integer IntStatus Property Returns sets the status of interrupt Syntax object IntStatus Integer Settings Value Description 1 enable interrupt 0 disable interrupt Data Type Integer LoadConfig Property Returns sets a value that determines the mode of opening the device Syntax object LoadConfig Boolean Settings Value Description True Load the same configuration as Motion Creator False Do not load the configuration from Motion Creator Data Type Boolean OpenMode Property Returns sets a value that determines the mode of opening the device Syntax
39. nteger LoadConfig Property Returns sets a value that determines the mode of opening device Syntax object LoadConfig Boolean Settings Value Description True Load the same configuration as Motion Creator False Don t load the configuration form Motion Creator Data Type Boolean OpenMode Property Returns sets a value that determines the mode of opening device Syntax object OpenMode number Settings Value Description 0 Automatically open device when the control was created 1 Don t open device when the control was created Must call the Open method to open device Manual Data Type Integer Methods BuildCompareTable Method Syntax Function object BuildCompareTable axis As Integer table as variant size as Integer As Integer Arguments axis As Integer axis number designated to move or stop size As Integer the element s number you want to build in the compare table Table as Variant compare table In VC C Builder Table is a variant of VI_ARRAY VT_14 Return Value O if the function is successful Remarks Build compare table GetDI Method Syntax Function object GetDI DiData As variant As Integer 6 Motion Controls Reference Arguments DiData As Variant a 16 bit input value In VC C Builder DiData is a variant VT_I2 address to save data Return Value O if the function is successful Remarks Gets a 16 bit value from PCIM 1002E s digital input channel
40. of pulse per second tacc tdec As Double specified acceleration time in units of seconds axisarray As Variant axis number designated to move or stop In VC C Builder axisarray is a Variant of VI_ARRAY VT_12 Return Value O if the function is successful Remarks Begin a relative 2 axis linear interpolation for any two axes StartTRLine3 Method Syntax Function object StartTRLine3 axisarray As Variant disX As Double disY As Double disZ As Double strvel As Double maxvel As Double tacc As Double tdec As Double As Integer Arguments disX disY disZ As Double the relative distance to move strvel As Double starting velocity in units of pulse per second maxvel As Double maximum velocity in units of pulse per second tacc tdec As Double specified acceleration time in units of seconds axisarray As Variant axis number designated to move or stop In VC C Builder axisarray is a Variant of VT_ARRAY VT_I2 Return Value O if the function is successful Remarks Begin a relative 3 axis linear interpolation for any three axes StartTRLine4 Method Syntax Function object StartTRLine4 disX As Double disY As Double disZ As Double disU As Double strvel As Double maxvel As Double tacc As Double tdec As Double As Integer Arguments disX disY disZ disU As Double the relative distance to move strvel As Double starting velocity in units of pulse per second maxvel As Double maximum velocity in unit
41. onfigFlie filename As String As Integer Arguments filename As String the configuration file name Return Value O if the function is successful Remarks Save the configuration SetDO Method Syntax Function object SetDO DoData As variant As Integer Arguments DoData As Variant a 16 bit output value In VC C Builder Table is a variant of VT_I2 Return Value O if the function is successful Remarks Set a 16 bit value to PCIM 1002E s digital output channel SetPosition Method Syntax Function object SetPosition axis As Integer pos As Double As Integer Arguments axis As Integer axis number designated to move or stop pos As Double actual position Return Value O if the function is successful Remarks Set the actual position StartAMove Method Syntax Function object StartAMove axis As Integer pos As Double str_vel As Double max_vel As Double Tacc As Double As Integer Arguments axis As Integer axis number designated to move or stop Pos As Double the absolute position to move str_vel As Double starting velocity in units of pulse per second max_vel As Double maximum velocity in units of pulse per second Tacc As Double specified acceleration time in units of seconds Return Value 0 if the function is successful Remarks This function causes the axis to accelerate from a starting velocity StartManualMove Method 9e Motion Controls Reference Syntax Function object
42. r status Remarks This event will occur when an interrupt or error is generated Note User must enable the interrupt and set the interrupt factor The interrupt will be disabled when you use auto compare 47e Motion Controls Reference
43. r stop distance As Double the relative distance to move str_vel As Double starting velocity in units of pulse per second max_vel As Double maximum velocity in units of pulse per second Tacc As Double specified acceleration time in units of seconds Return Value O if the function is successful Remarks Begin a relative trapezoidal profile move StartRSMove Method Syntax Function object StartRSMove axis As Integer distance As Double str_vel As Double max_vel As Double Tlacc As Double Tsacc As Double As Integer Arguments axis As Integer axis number designated to move or stop disatnce As Double the relative distance to move str_vel As Double starting velocity in units of pulse per second max_vel As Double maximum velocity in units of pulse per second Tlacc Tsacc As Double specified acceleration time in units of seconds Return Value O if the function is successful Remarks Begin a relative S Curve profile motion StartSMove Method Syntax Function object StartSMove axis As Integer pos As Double str_vel As Double max_vel As Double Tlacc As Double Tsacc As Double As Integer 22e Motion Controls Reference Arguments axis As Integer axis number designated to move or stop pos As Double the absolute position to move str_vel As Double starting velocity in units of pulse per second max_vel As Double maximum velocity in units of pulse per second Tlacc Tsacc As Double specif
44. roduced by any mechanical electronic or other means in any form without prior written permission of CyberResearch Inc Trademarks CyberResearch and PCI DAQB are trademarks of CyberResearch Inc Other product names mentioned herein are used for identification purposes only and may be trademarks and or registered trademarks of their respective companies e NOTICE e CyberResearch Inc does not authorize any CyberResearch product for use in life support systems medical equipment and or medical devices without the written approval of the President of CyberResearch Inc Life support devices and systems are devices or systems which are intended for surgical implantation into the body or to support or sustain life and whose failure to perform can be reasonably expected to result in injury Other medical equipment includes devices used for monitoring data acquisition modification or notification purposes in relation to life support life sustaining or vital statistic recording CyberResearch products are not designed with the components required are not subject to the testing required and are not submitted to the certification required to ensure a level of reliability appropriate for the treatment and diagnosis of humans Contents PCIM 1002E ActiveX ContrOlL concccncccononononononnnnnncnnnannnos 1 PODES ad 1 Methods ice it eee eee 6 A A A a en Sie 13 PCIM 1004E ActiveX O A deck ccunsecvecas 14 PrODeItieS viii de
45. s of pulse per second 45e Motion Controls Reference tacc tdec As Double specified acceleration time in units of seconds Return Value 0 if the function is successful Remarks Begin a relative 4 axis linear interpolation for four axes StartTRMove Method Syntax Function object StartTRMove axis As Integer dis As Double strvel As Double maxvel As Double tacc As Double tdec As Double As Integer Arguments axis As Integer axis number designated to move or stop dis As Double the relative distance to move strvel As Double starting velocity in units of pulse per second maxvel As Double maximum velocity in units of pulse per second tacc tdec As Double specified acceleration time in units of seconds Return Value O if the function is successful Remarks Begin a relative trapezoidal profile move SVMove Method Syntax Function object SVMove axis As Integer strvel As Double maxvel As Double tacc As Double svacc As Double As Integer Arguments axis As Integer axis number designated to move or stop strvel As Double starting velocity in units of pulse per second maxvel As Double maximum velocity in units of pulse per second tacc svacc As Double specified acceleration time in units of seconds Return Value O if the function is successful Remarks This method will accelerate an axis to a constant velocity with S curve profile TVMove Method Syntax Function object TVMove axis As Inte
46. sc is Pee ee ee ea ese A PA A ees 14 Method Si ores casi o o o rd aa ao ea 19 E A a a as 25 PCIM 2004E ActiveX A PE 26 PFODCIUHES 2 3 cre2lelaetesens A aid 26 Met OOS ic cers seca tecetase Sones est aaa 33 JENS 01 CC en en AE E E E EE E A E 47 iii PCIM 1002E ActiveX Control The PCIM 1002E is a 2 axis PCI bus motion control card The PCIM 1002E ActiveX control is a software component that provides the interface for users to control PCIM 1002E card Properties Axis0 Property Returns a object that is a PCIM 1002E Axis Syntax object AxisO Remarks This property is read only Data Type PCIM 1002E AXIS Axis1 Property Returns a object that is a PCIM 1002E Axis1 Syntax object Axis1 Remarks This property is read only Data Type PCIM 1002E AXIS Axis AlarmMode Property Returns sets alarm logic and alarm mode for one axis The can be 0 or 1 It represents the axis identification Syntax object Axis AlarmMode number Settings Value Description 0 active low stop immediately 1 active high stop immediately 2 active low decelerate then stop 3 active high decelerate then stop Data Type Integer Axis ErcStatus Property Returns sets ERC pin output enable disable for one axis The can be 0 or 1 It represents the axis identification Syntax object Axis ErcStatus number Settings 1e Motion Controls Reference Value Description 0 Disable 1 Enable Data Type Integ
47. se Remarks This method will be use when the OpenMode property is Manual Note In VC ErrMsgBox is a VARIANT of VT_I2 PulserHomeMove Method Syntax Function object PulserHomeMove axis As Integer HomeType As Integer SpeedLimit As Double As Integer Arguments axis As Integer axis number designated to move or stop HomeType As Integer home move type 0 Command Origin 1 ORG pin SpeedLimit As Double the maximum speed in pulser move Return Value O if the function is successful Remarks Manual pulser home move 35 Motion Controls Reference PulserPMove Method Syntax Function object PulserPMove axis As Integer dis As Double SpeedLimit As Double As Integer Arguments axis As Integer axis number designated to move or stop Dis As Double relative distance to move SpeedLimit As Double the maximum speed in pulser move Return Value O if the function is successful Remarks Manual pulser P move PulserVMove Method Syntax Function object PulserVMove axis As Integer SpeedLimit As Double As Integer Arguments axis As Integer axis number designated to move or stop SpeedLimit As Double the maximum speed in pulser move Return Value O if the function is successful Remarks Manual pulser V move SDStop Method Syntax Function object SDStop axis As Integer tdec As Double As Integer Arguments axis As Integer axis number designated to move or stop tdec As Double specified accel
48. svdec As Double As Integer Arguments PosX posY As Double the absolute position to move strvel As Double starting velocity in units of pulse per second maxvel As Double maximum velocity in units of pulse per second tacc tdec svacc svdec As Double specified acceleration time in units of seconds axisarray As Variant axis number designated to move or stop In VC C Builder axisarray is a Variant of VT_ARRAY VT_I2 Return Value 40e Motion Controls Reference O if the function is successful Remarks Begin an absolute 2 axis linear interpolation for any two axes with S curve Profile StartSALine3 Method Syntax Function object StartSALine3 axisarray As Variant posX As Double posY As Double posZ As Double strvel As Double maxvel As Double tacc As Double tdec As Double svacc As Double svdec As Double As Integer Arguments PosX posY posZ As Double the absolute position to move strvel As Double starting velocity in units of pulse per second maxvel As Double maximum velocity in units of pulse per second tacc tdec svacc svdec As Double specified acceleration time in units of seconds axisarray As Variant axis number designated to move or stop In VC C Builder axisarray is a Variant of VT_ARRAY VT_I2 Return Value 0 if the function is successful Remarks Begin an absolute 3 axis linear interpolation for any three axes with S curve Profile StartSALine4 Method Syntax Function o
49. t VT_I2 address to save data Return Value O if the function is successful Remarks The bitO bit5 for channel 0 5 respectively GetPosition Method Syntax Function object GetPosition axis As Integer pos As Double As Integer Arguments axis As Integer axis number designated to move or stop pos As Double actual position Return Value O if the function is successful Remarks get the actual position In VC C Builder Pos is the address to save the position 34e Motion Controls Reference HomeMove Method Syntax Function object HomeMove axis As Integer svel As Double mvel As Double accel As Double As Integer Arguments axis As Integer axis number designated to move or stop 0 axis 0 1 axis 1 2 axis 2 3 axis3 svel As Double starting velocity in units of pulse per second mvel As Double maximum velocity in units of pulse per second accel As Double specified acceleration time in units of seconds Return Value O if the function is successful Remarks Begin a home return move Open Method Syntax Function object Open ErrMsgBox As Variant As Boolean Arguments ErrMsgBox As Variant It is optional and boolean type Default value is False True It will popup an error message dialog box when the opening device is failed False It will give a DAQError event instead of popping up dialog when the opening device is failed Return Value True if the function is successful otherwise Fal
50. upt factor for one axis The can be 0 to 3 It represents the axis identification Syntax object Axis IntFactor variant Settings Bit Interrupt Factor 0 Normal Stop 1 Next command continued 2 Continuous pre register is empty 3 Reserved 4 Acceleration Start 5 Acceleration End 6 Deceleration Start 7 Deceleration End 8 Reserved 9 Reserved 10 Step losing occur 11 General comparator compared 12 Compared triggered for axis 0 1 13 Reserved 14 Latched for axis2 3 15 ORG on 16 SD on 17 31 Reserved Remarks In VC C Builder variant is a VARIANT of VT_I4 Data Type VARIANT 29e Motion Controls Reference Axis IOStatus Property Returns all the I O status for one axis The can be 0 to 3 It represents the axis identification Syntax object Axis JOStatus variant Settings Bit Name Description 0 RDY RDY pin input 1 ALM Alarm Signal 2 EL Positive Limit Switch 3 EL Negative Limit Switch 4 ORG Origin Switch 5 DIR DIR output 6 Reserved 7 PCS PCS signal input 8 ERC ERC pin output 9 EZ Index signal 10 Reserved 11 Latch Latch signal input 12 SD Slow Down signal input 13 INP In Position signal input 14 SVON Servo ON output status Remarks This property is read only In VC C Builder Variant is a VARIANT of VT_I2 Data Type VARIANT
51. xis InputStatus number Settings Value Description 0 Disable 1 Enable Data Type Integer Axis IntFactor Property Returns sets the 32 bit interrupt factor for one axis The can be 0 or 1 It represents the axis identification Syntax object Axis IntFactor variant Settings Interrupt Factor Stop with the EL signal Stop with the SD signal Stop with the ALM signal Stop with the STP signal Should be set to 0 Completion of home return Completion of preset movement Completion of interpolating motion for two axes X Y or Z U 8 12 should be set to 0 13 when v_stop function stop the axis 14 EA EB PA PB encoder input error 15 start with STA signal 16 Completion of acceleration 17 Start of deceleration 18 22 Should be Set to 0 23 RDY active AP3 of PCL5023 change from 1 to 0 24 31 Should be set to O Note Bit 14 The interrupt is generated when pins EA and EB or PA and PB change simultaneously It means there is an encoder input error N Remarks In VC C Builder Variant is a VARIANT of VT_I4 Data Type VARIANT Axis IOStatus Property Returns all the I O status for one axis The can be 0 or 1 It represents the axis identification Syntax object Axis 1OStatus variant Settings 3e Motion Controls Reference Bit Name Description
52. xis As Integer distance As Double str_vel As Double max_vel As Double Tacc As Double Tdec As Double As Integer Arguments 23 Motion Controls Reference axis As Integer axis number designated to move or stop distance As Double the relative distance to move str_vel As Double starting velocity in units of pulse per second max_vel As Double maximum velocity in units of pulse per second Tacc Tdec As Double specified acceleration time in units of seconds Return Value 0 if the function is successful Remarks Begin a non symmetrical relative trapezoidal profile move SVMove Method Syntax Function object SVMove axis As Integer str_vel As Double max_vel As Double Tlacc As Double Tsacc As Double As short Arguments axis As Integer axis number designated to move or stop str_vel As Double starting velocity in units of pulse per second max_vel As Double maximum velocity in units of pulse per second Tsacc Tlacc As Double specified acceleration time in units of seconds Return Value O if the function is successful Remarks This method will accelerate an axis to a constant velocity with S curve profile VChange Method Syntax Function object VChange axis As Integer max_vel As Double Tlacc As Double As Integer Arguments axis As Integer axis number designated to move or stop max_vel As Double maximum velocity in units of pulse per second Tlacc As Double specified acceleration time in u

Axis#.EzStatus Property

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