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2-axis Motion Control Module User Manual (I

1. for 1 8000 set the module number the same as the slot number respectively slot1 slot BYTE cardNo BYTE slot int Found 0 for slot 0 slot lt 8 slot cardNo slot 1 slot number begins from 0 but module number begin from 1 if 18092 slot YES if a module is found then it is registered by giving a number i8092MF RESET CARD cardNo Found if Found 0 llif Wincon cannot find any I 8092F module please add codes to handle the exception here return ICPDAS 9 I 8092F Software User Manual e WORD i8092MF GET VERSION void Description Read the version of current 18092 library Parameters cardNo Module number Return Version code including information of the year and the month 0x0000 0x9999 Example WORD VER No VER No i8092MF GET VERSION Read the version code of i8092 dll Remark If the return value is 0x0607 06 the year is 2006 07 the month is July ICPDAS 10 8092F Software User Manual 2 3 Resetting Module void i8092MF RESET CARD BYTE cardNo Description This function resets module using a software command Parameters cardNo Module number Return None Example i8092MF RESET CARDY 1 Reset module 1 2 4 Pulse Output Mode Setting void 8092 SET PULSE MODE BYTE cardNo WORD axis BYTE nMode Descri
2. Example i8092MF LOAD CONFIG 1 load the configuration file and configure the module 1 ICPDAS 27 8092F Software User Manual 3 Reading and Setting the Registers 3 1 Setting and Reading the Command Position LP void i8092MF SET LP BYTE cardNo WORD axis long wdata Description This function sets the command position counter value logical position counter LP Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 wdata Position command 2 147 483 648 2 147 483 647 Return None Example i8092MF_SET_LP 1 AXIS XY 0 Set the LP for the X Y Z and U axes of module 1 as 0 which means that all LP counters on module 1 will be cleared long i8092MF GET LP BYTE cardNo WORD axis Description This function reads the command position counter value logical position counter LP Parameters cardNo Module number axis Axis Please refer to Table 2 1 The axis can be either X and Y Return The current LP value 2 147 483 648 2 147 483 647 Example long X LP 8092 GET LP 1 AXIS X Reads the LP value of the X axis on module 1 ICPDAS 28 8092F Software User Manual 3 2 Setting and Reading the Encoder Counter void i8092MF SET EP BYTE cardNo WORD axis long wdata Description This function sets the encoder position counter value real position counter or EP Parameters cardNo Module number axis Axis or axes
3. ICPDAS HANDLE hINT Interrupt event handle HANDLE i8092 hThread IST handle DWORD WINAPI i8092 ThreadFunction LPVOID IParam IST function BYTE CardNo 1 BYTE Slotiz1 MFC button event Create the thread and set the interrupt factor void CI8092QCDlg OnTestint i DWORD dwrThreadlD 0 HWND hWnd NULL Create thread 18092 ThreadFunction 18092 hThread CreateThread NULL 0 18092 ThreadFunction hWnd 0 amp dwThreadlD BYTE axis AXIS XY i8092MF SET MAX V CardNo axis 20000 i80922MF NORMAL SPEED CardNo axis 0 i8092MF SET V CardNo axis 20000 8092 SET A CardNo axis 100000 8092 SET SV CardNo axis 20000 8092 SET AO CardNo axis 0 Mnitialize the interrupt hINTPzSlot Register Interrupt Slot1 Set the interrupt factor D END i8092MF INTFACTOR ENABLE CardNo AXIS X 7 4 Axis fixed pulse drive i8092MF FIXED MOVE CardNo AXIS XY 10000 while 18092 STOP WAlT CardNo Oxf NO Wait for motion done DoEvents Sleep 1 AST function DWORD WINAPI i8092 ThreadFunction LPVOID IParam i DWORD dwEvent WORD RR3 X if hINTP NULL Wait the event object dwEvent WaitForSingleObject hINTP INFINITE switch dwEvent 75 8092F Software User Manual case WAIT OBJECT 0 Get the interrupt event object successfully While the driving stop clear the position counter i8092MF SET LP CardNo AXIS X 0 t m Other user cod
4. 6 2 1 Setting the Speed and Acc Dec Mode for Interpolation void i8092MF VECTOR SPEED BYTE cardNo WORD nMode Description This function assigns the mode of vector speed of interpolation Each interpolation mode will refer to construct a working coordinate system The X axis necessarily have to be the first axis Different modes need different settings Please refer to the mode definitions Parameters cardNo Module number nMode 0 2 axis linear or circular motion at a constant vector speed Set VV and VSV and VV VSV 1 gt 2 axis linear motion using a symmetric T curve velocity profile set VSV VV VA and VAO 2 gt 2 axis linear motion using a symmetric S curve velocity profile set VSV VV VK and VAO 3 gt 2 axis linear motion using an asymmetric T curve velocity profile set VSV VV VA VD and VAO 4 2 axis linear motion using an asymmetric S curve velocity profile set VSV VV VK VL and VAO 5 gt 2 axis circular motion using a symmetric T curve velocity profile set VSV VV VA and VAO 6 gt 2 axis circular motion using an asymmetric T curve velocity profile set VSV VV VA VD and VAO Return None Example BYTE 1 select module 1 i8092MF SET MAX V cardNo AXIS XY 20000 set the maximum speed of all axes to 20K PPS i8092MF VECTOR SPEED cardNo 0 set module 1 to perform 2 axis linear or circular motion at a constant vector speed i8092MF SET VSV cardNo 1000 ICPDA
5. Description This function sets the vector speed of the interpolation motion Users do not need to assign any axes on this function Parameters cardNo Module number data The vector speed value in PPS Return None Example i8092MF SET VV 1 120000 set the vector speed of the interpolation on module 1 120000 PPS ICPDAS 55 I 8092F Software User Manual 6 2 4 Setting the Vector Acceleration void i8092MF SET VA BYTE cardNo DWORD data Description This function sets the vector acceleration for interpolation motion Users do not have to assign any axes on this funciton Parameters cardNo Module number data The vector acceleration value in PPS Sec The units are PPS Sec This value is related to the maximum speed value defined by i8092MF SET MAX V function The maximum available acceleration value is MAX V 125 The minimum acceleration value is MAX V 64 and all other acceleration values are the integral multipliers of this value The practical value for application depends on the capability of the motor drive and motor Return None Example i8092MF SET MAX V 1 AXIS X 20000 set the maximum speed value of the X axis as 20 000 PPS therefore do not set any acceleration value that is larger than 20 000 125 PPS sec And 20 000 125 2 500 000 i8092MF_SET_VA 1 100000 set the vector acceleration of the interpolation motion module 1 to 100K PPS Sec ICPDAS 56 I 8092F So
6. 0 1 5000 Set the comparison function for X Axis Set the compared source be EP and the COMP value to 5000 ICPDAS 86 I 8092F Software User Manual
7. 0 10000 execute a circular motion a circle in CCW direction module 1 ICPDAS 64 8092F Software User Manual 6 3 Continuous Interpolation If it is broken and stopped please solve it refer in section 6 5 5 6 3 1 2 Axis Rectangular Motion e BYTE i8092MF RECTANGLE BYTE cardNo WORD nAcc WORD Sp WORD nDir long Lp long Wp long Rp DWORD RSV DWORD RV DWORD RA DWORD Description Continuous interpolation will be performed to create a rectangular motion which is formed by 4 lines and 4 arcs The length of each side can be changed The radius of each arc is the same and it can also be changed The deceleration point will be calculated automatically This is a command macro command that appears in various motion applications However it is a software macro function therefore it requires CPU resource to run this function Parameters cardNo Module number nAcc 0 gt constant vector speed interpolation mode 1 gt symmetric T curve Acc Dec interpolation mode Sp Start point 0 7 Sp7 are defined in the following figure nDir Direction of movement 0 CCW 1 CW Lp Length in Pulses 1 8 388 607 Wp Width in Pulses 1 8 388 607 Rp Radius of each in pulses 1 8 388 607 RSV Starting speed in PPS RV Vector speed in PPS RA Acceleration PPS Sec RD Deceleration of the last segment in PPS Sec Return YES An error has occurred Use the i8092MF_GET_ERROR_CODE function to identify
8. Please refer to Table 2 1 Return None Example i8092MF STOP SLOWLY 1 AXIS XY decelerate and stop the X and Y axes void 8092 STOP SUDDENLY BYTE cardNo WORD axis Description This function immediately stops the assigned axes Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 Return None Example i8092MF STOP SUDDENLY 1 AXIS XY immediately stop the X and Y axes ICPDAS 81 8092F Software User Manual void i8092MF VSTOP SLOWLY BYTE cardNo Description This function stops interpolation motion of the assigned module in a decelerating way Parameters cardNo Module number Return None Example i8092MF VSTOP SLOWLY 1 stop the interpolation of card 1 in a decelerating way void i8092MF VSTOP SUDDENLY BYTE cardNo Description This function stops interpolation motion of the assigned module immediately Parameters cardNo Module number Return None Example i8092MF VSTOP SUDDENLY 1 stop the interpolation of card 1 immediately ICPDAS 82 8092F Software User Manual void 8092 SSTOP SLOWLY BYTE cardNo WORD axis Description Except for State Control This function provides the similar feature with i8092MF STOP SLOWLY Stop pulse output simply no ERROR CODE 256 returned Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 Return None Example i80922MF SSTOP SLOWLY 1 A
9. function Parameters cardNo Module number nType 0 2 axis linear continuous interpolation 1 end of 2 axis linear continuous interpolation fp1 The assigned number of pulses for the axis 1 in Pulses 8 388 607 8 388 607 fp2 The assigned number of pulses for the axis 2 in Pulses 8 388 607 8 388 607 Return YES An error has occurred Use the i8092MF GET ERROR CODE function to identify the error NO No errors Example ICPDAS BYTE cardNo 1 select module 1 int svz300 starting speed 300 PPS int v 18000 Nector speed 18000 PPS long a 500000 acceleration 500000 PPS Sec int loop1 i8092MF SET MAX V cardNo AXIS XY 160000 i8092MF LINE 2D INITIAL cardNo AXIS X AXIS Y sv v a for loop1 0 loop1 10000 loop1 i i8092MF LINE 2D CONTINUE cardNo 0 100 100 8092 LINE 2D CONTINUE cardNo 0 100 100 i8092MF LINE 2D CONTINUE cardNo 1 100 100 67 8092F Software User Manual 6 3 3 Multi Segment Continuous Interpolation Using Array e BYTE i8092MF CONTINUE INTP BYTE cardNo WORD nAcc DWORD VSV DWORD VV DWORD VA DWORD VD BYTE nType long cp1 long cp2 J long fp1 long fp2 Description This function executes a multi segment continuous interpolation Those segments are stored in arrays declared in the arguments The speed profile can be either a constant speed or a symmetric T curve The deceleration point will be calculated automatically How
10. real position counter is larger than that of COMP register Interrupt occurs at the end of the constant 0x020 C END speed drive or completion of Acceleration Offset Pulse output Interrupt occurs at the start of the constant 0x010 P gt C 0x040 C STA speed drive or begin of Acceleration Offset Pulse output 0x080 D END Interrupt occurs when the driving is finished Example i8092MF_GET_RR3 cardNo AXIS X read the Interrupt status of AXIS X ICPDAS 77 8092F Software User Manual 6 5 Other functions 6 5 1 Holding the Driving Command void 8092 DRV HOLD BYTE cardNo WORD axis Description This command is usually used when users desire to starti multi axis driving simultaneously When this command is issued users may write other driving commands to the control card All the driving commands will be held after i8092MF_DRV_HOLD is issued and these commands will be started once the i8092MF START is issued However if in driving this command will not cause the driving to be stopped But the next command will be held Parameters cardNo Module number axis Axis or Axes Please refer to Table 2 1 for the axis definition Return None Example Please refer to the example in section 6 5 2 ICPDAS 78 8092F Software User Manual 6 5 2 Release the Holding Status and Start the Driving void i8092MF DRV START BYTE cardNo WORD axis Description This comman
11. the error NO No errors Example BYTE cardNo 1 select module 1 int sv 1000 starting speed 1000 PPS ICPDAS 65 I 8092F Software User Manual int v 10000 vector speed 10000 PPS int a 5000 lacceleration 5000 PPS Sec int d 5000 deceleration 5000 PPS Sec i8092MF SET MAX V cardNo AXIS XY 16000 set the maximum speed to 16000 PPS i8092MF RECTANGLE cardNo AXIS X AXIS Y 1 0 0 20000 10000 1000 sv v a d execute a rectangular motion on the XY plane axis2 5 Sp4 Sp Sp3 Sp2 Sp axis1 SpO Sp1 p nDir 0 P 6 3 2 2 Axis Continuous Linear Interpolation e BYTEiI8092MF LINE 2D INITIAL BYTE cardNo DWORD VSV DWORD VV DWORD VA Description This function sets the necessary parameters for a 2 axis continuous linear interpolation using symmetric T curve speed profile Parameters cardNo Module number VSV Starting speed in PPS VV Vector speed in PPS VA Vector acceleration PPS Sec Return None ICPDAS 66 I 8092F Software User Manual Example i8092MF LINE 2D INITIAL This function should be defined before the i8092MF LINE 2D CONTINUE function is used Please refer to the example of this function e BYTE i8092MF LINE 2D CONTINUE BYTE cardNo WORD nType long fp1 long fp2 Description This function executes a 2 axis continuous linear interpolation However it is a software macro function therefore it requires CPU resource to run this
12. 0 set the value of remaining offset pulses to 0 Pulse i8092MF_ARC_CW cardNo c1 c2 fp1 fp2 execute the 2 axis CW circular motion 53 I 8092F Software User Manual Note ICPDAS long c1 300 long c2 0 int sv 100 int v23000 int a 125 int d 12 i8092MF SET MAX V cardNo AXIS XY 8000 i8092MF VECTOR SPEED cardNo 6 2 axis circular motion using an asymmetric T curve velocity profile i8092MF_SET_VSV cardNo sv set the starting vector speed to sv PPS i8092MF SET VV cardNo v set vector speed to v PPS 8092 SET VA cardNo a set acceleration to a PPS Sec i8092MF SET VD cardNo d set the deceleration to d PPS Sec 8092 SET VAO cardNo 0 set the value of remaining offset pulses to 0 i8092MF CIRCLE CW cardNo c1 c2 execute the 2 axis CW circular motion Relevant parameters should be set before issuing the motion command 54 8092F Software User Manual 6 2 2 Setting the Vector Starting Speed void i8092MF SET VSV BYTE cardNo DWORD data Description This function sets the starting speed of the principle X axis for the interpolation motion Parameters cardNo Module number data The vector starting speed value in PPS Return None Example i8092MF SET VSV 1 1000 set the starting speed of the axis 1 for the interpolation motion on module 1 to 1000 PPS 6 2 3 Setting the Vector Speed void i8092MF SET VV BYTE cardNo DWORD data
13. Manual 4 FRnet Functions for i8092F only 4 1 Read FRnet DI Signals e WORD i8092MF FRNET IN BYTE cardNo WORD Description This function reads the FRnet digital input signals RA means the Receiving Address which can be one of the legal group number of FRnet One group comprises 16 bits data Therefore total 128 DI can be defined for one FRnet interface Parameters cardNo Module number WRA Group number range 8 15 Note 0 7 are used for digital outputs Return WORD 16 bit DI data Example WORD IN_Data IN_Data i8092MF_FRNET_IN 1 8 Read the 16 bit DI which is on module 1 and the group number is 8 ICPDAS 35 I 8092F Software User Manual 4 2 Write data to FRnet DO void i8092MF FRNET OUT BYTE cardNo WORD wSA WORD data Description This function write data to the FRnet digital output SA means the Sending Address which can be one of the legal group number of FRnet One group comprises 16 bits data Therefore total 128 DO can be defined for one FRnet interface Parameters cardNo Module number Group number range 0 7 Note 8 15 are used by digital inputs data 16 bit data Return None Example i8092MF_FRNET_OUT 1 0 0xffff Write Oxffff to the 16 bit DO which is on module 1 and the group number is 0 ICPDAS 36 I 8092F Software User Manual 5 Auto Homing The 1 8092F module provides an automatic homing function After setting the appropriate parameters the assig
14. Please refer to Table 2 1 wdata Position command 2 147 483 648 2 147 483 647 Return None Example i8092MF_SET_EP 1 AXIS XY 0 Set the EP for the X Y Z and U axes of module 1 as 0 This command clears all EP counters on module 1 long i8092MF GET EP BYTE cardNo WORD axis Description This function reads the encoder position counter value EP Parameters cardNo Module number axis Axis Please refer to Table 2 1 The axis can be either X and Y Return Current EP value 2 147 483 648 2 147 483 647 Example long X EP X 8092 GET 1 AXIS X reads the encoder value EP of the X axis on module 1 ICPDAS 29 8092F Software User Manual 3 3 Reading the Current Velocity e DWORD i8092MF GET CV BYTE cardNo WORD axis Description This function reads the current velocity value Parameters cardNo Module number axis Axis Please refer to Table 2 1 The axis can be either X and Y Return Current speed in PPS Example DWORD dwdata dwdata 8092 GET CV 1 AXIS X reads the current velocity of the X axis on module 1 3 4 Reading the Current Acceleration e DWORD i8092MF GET CA BYTE cardNo WORD axis Description This function reads the current acceleration value Parameters cardNo Module number axis Axis Please refer to Table 2 1 The axis can be either X and Y Return Current acceleration in PPS Sec Example DWORD dwdata dwdat
15. axis Axis or axes Please refer to Table 2 1 data Homing speed in PPS Return None EXAMPLE i8092MF SET HV 1 AXIS X 500 set the homing speed of the X axis on module 1 to 500 PPS ICPDAS 38 I 8092F Software User Manual 5 2 Using an Limit Switch as the HOME sensor void 8092 HOME _LIMIT BYTE cardNo WORD axis WORD nType Description This function sets the Limit Switch to be used as the HOME sensor Parameters cardNo Module number axis Axis axes Please refer to Table 2 1 nType 0 Does not use the LIMIT SWITCH as the HOME sensor 1 Use the LIMIT SWITCH as the HOME sensor Return None EXAMPLE i8092MF HOME LIMIT 1 AXIS X 0 Do not use the Limit Switch as the HOME sensor 5 3 Setting the Homing Mode void 8092 SET HOME MODE BYTE cardNo WORD axis WORD nStep7 WORD nStep2 WORD nStep3 WORD nStep4 long data Description This function sets the homing method and other related parameters Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 nStep1 0 Step 1 is not executed 1 Moves in a positive direction 2 Moves in a negative direction nStep2 0 Step 2 is not executed 1 Moves in a positive direction 2 Moves in a negative direction nStep3 0 Step 3 is not executed 1 Moves in a positive direction ICPDAS 39 I 8092F Software User Manual 2 Moves in a negative direction nStep4 0 Step 4 is not executed 1 Moves in a positive directio
16. bit 14 bit 15 Example ICPDAS NHOME signal HOME signal Z PHASE signal EMG signal Only AXIS X EXP signal EXP signal READY INPOS signal ALARM signal N A N A N A IN3 signal N A N A LMT signal LMT signal WORD DI Flagzi8092MF GET DI ALL 1 AXIS X get all status of module 1 32 8092F Software User Manual 3 6 Reading and Clearing the ERROR Status e BYTE 18092 _ GET ERROR BYTE cardNo Description This function checks whether an error occurs or not Parameters cardNo Module number Return YES Some errors happened Please use 8092 GET ERROR CODE to get more information If GET ERROR CODE 256 it means that the motion stop was due to the STOP command not because an error happened Please refer to 6 5 5 and following example to clear ERROR NO No error EXAMPLE If 18092 GET ERROR 1 YES read module 1 and ERROR is found WORD 8092 GET ERROR CODE 1 AXIS X WORD ErrorCode Y 18092 GET ERROR CODE 1 AXIS Y if ErrorCode X ErrorCode Y zz 256 means that motion was stopped due to the stop command was issued not because any error happened Please take some actions to clear the malfunction then clear the STOP status i8092MF CLEAR STOP 1 e WORD i8092MF GET ERROR CODE BYTE cardNo WORD axis Description This function reads the ERROR status Parameters cardNo Module number axis Axis Please refer to T
17. cardNo 0 3600 1 8092 20 1 7200 0 End the ratio motion 6 3 5 Mixed Linear and Circular 2 axis motions in Continuous Interpolation void i8092MF MIX 2D INITIAL BYTE cardNo WORD nAcc DWORD VSV DWORD VV DWORD VA Description This function does the initial settings for mixed linear and circular 2 axis motions in continuous interpolation Parameters cardNo Module number nAcc 0 constant speed VV 1 gt symmetric T curve Acc Dec VSV VV VA VSV Starting speed in PPS VV Vector speed in PPS VA Vector acceleration PPS Sec Return None Example i8092MF MIX 2D INITIAL This function should be defined before the i8092MF MIX 2D CONTINUE function is used Please refer to the example of this function ICPDAS 71 8092F Software User Manual e BYTE i8092MF MIX 2D CONTINUE BYTE cardNo WORD nAcc WORD nType long long cp2 long fp7 long fp2 Description This function executes mixed linear and circular 2 axis motion in continuous interpolation However it is a software macro function therefore it requires CPU resource to run this function Parameters Return Example ICPDAS cardNo nAcc nType Module number 0 continuous interpolation 12 itis the last command of this continuous interpolation In Acc Dec mode it will perform a deceleration stop In constant speed mode it will directly stop rather than decelerate 1 2i18
18. eerie eee eee ee ga ee en iode 2 1 Code numbers for axes uii ades 8 2 2 Registration of Modules and getting the LIB version 8 2 5 Resetting Module re cuneus 11 2 4 Pulse Output Mode Setting ee eee eere eerte ee eee 11 2 5 Setting the Maximum Speed ceres eee ee ette ee eese een nee eatno 12 2 6 Setting the Active Level of the Hardware Limit Switches 13 2 7 Setting the Motion Stop Method When Limit Switch Is Sensed 14 2 8 Setting the Trigger Level of the NHOME Sensor 14 2 9 Setting Trigger Level of the Home sensor e eeeeee eere 15 2 10 Setting and Clearing the Software Limits 15 2 11 Setting the Encoder Related Parameters 16 2 12 Setting the Servo Driver ON OFF ceres eee ee eere enne en 17 2 13 Setting the SERVO ALARM Function eee esee eee eerte neenon 18 2 14 Setting the Active Level of the In Position Signals 19 2 15 Setting the Time Constant of the Digital Filter 19 2 16 Position Counter Variable Ring 4 ecce eerte ee ee eee rennen eno 21 2 17 Triangle prevention of fixed pu
19. in Fig 2 12 for wiring of the general DI input 2 15 Setting the Time Constant of the Digital Filter void i8092MF SET FILTER BYTE cardNo WORD axis WORD FEn WORD FLn Description This function selects the axes and sets the time constant for digital filters of the input signals Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 FEn Enabled filters The sum of the code numbers 0 31 are used to select input signals Please refer to the following table ICPDAS 19 8092F Software User Manual Code number Enabling filters 1 EMG nLMTP nLMTM nINO nIN1 2 nIN2 4 nINPOS nALARM 8 nEXPP nEXPM EXPLSN 16 nIN3 FLn Sets the filter time constant 0 7 as follows Code Removable max noise width Input signal delay time 0 1 75 u SEC 2 u SEC 1 224 u SEC 256 u SEC 2 448 4 SEC 512 u SEC 3 896 SEC 1 024mSEC 4 1 792 2 048mSEC 5 3 584mSEC 4 096mSEC 6 7 168mSEC 8 192mSEC 7 14 336mSEC 16 384mSEC Return None Example i8092MF SET FILTER 1 AXIS XY 21 3 set the filter time constants of X and Y axes as 1 024mSEC These filters include EMG nLMTP nLMTM nINO nIN1 nINPOS nALARM nIN3 21 144416 1 EMG nLMP nLMPM nINO nIN1 Il 4 nINPOS nALARM Il 16 nIN3 Note The default wiring design is nINO is connected to the NEAR HOME NHOME sensors nIN1 is connected to the HOME sen
20. speed for the X axis on module 1 to 1000 PPS ICPDAS 44 8092F Software User Manual 6 1 3 Setting the Desired Speed void i8092MF SET V BYTE cardNo WORD axis DWORD data Description This function sets the desired speed for the assigned axes Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 data The range is the same as for speed and must not be zero or larger than the maximum speed The maximum value is 4 000 000 PPS For interpolation set the speed value for axis1 is enough Return None Example i8092MF SET V 1 AXIS X 120000 set the speed for the X axis on module 1 to 120000 PPS 6 1 4 Setting the Acceleration void i8092MF SET A BYTE cardNo WORD axis DWORD data Description This function sets the acceleration value for the assigned axes Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 data The acceleration value The units are PPS Sec This value is related to the maximum speed value defined by i8092MF SET MAX V function The maximum available acceleration value is MAX V 125 The minimum acceleration value is MAX V 64 and all other acceleration values are the integral multipliers of this value The practical value for application depends on the capability of the motor drive and motor Return None ICPDAS 45 8092F Software User Manual Example i8092MF SET MAX V 1 AXIS X 20000 set the maximum speed value of t
21. speed mode Parameters cardNo Module number axis Axis Please refer to Table 2 1 nMode 0 gt Symmetric T curve Please set SV V A and AO 1 gt Symmetric S curve Please set SV V K and AO 2 gt Asymmetric T curve Please set SV V A D and AO Return None Example BYTE cardNo 1 select module 1 i8092MF_SET_MAX_V cardNo AXIS_XY 20000 set the max speed of XY axes to 20K PPS i8092MF_NORMAL_SPEED cardNo AXIS XY 0 use a symmetric T curve for all axes on module 1 i8092MF SET V cardNo AXIS XY 2000 set the speed of all axes on module 1 to 2000 PPS i8092MF SET A cardNo AXIS XY 1000 set the acceleration of all axes on module 1 to 1000 PPS Sec i8092MF SET SV cardNo AXIS XY 2000 set the start speed of all axes on module 1 to 2000 PPS i8092MF SET AO cardNo AXIS XY 9 set the number of remaining offset pulses for all axes to 9 pulses i8092MF FIXED MOVE cardNo AXIS XY 10000 move all axes on module 1 for 10000 pulses i80922MF NORMAL SPEED cardNo AXIS XY 1 a symmetric S curve for all axes on module 1 i8092MF SET V cardNo AXIS XY 2000 set the speed of all axes on module 1 to 2000 PPS i8092MF SET K cardNo AXIS XY 50 set the acceleration rate of all axes on module 1 to 500 PPS Sec 2 i8092MF SET SV cardNo AXIS XY 200 set the start speed of all axes on module 1 to 200 PPS i8092MF SET AO cardNo AXIS XY 9 set the number of remaining o
22. time Offset for Deceleration ICPDAS 59 I 8092F Software User Manual 6 2 8 2 Axis Linear Interpolation Motion e BYTE i8092MF LINE 2D BYTE cardNo long fp1 long fp2 Description This function executes a 2 axis linear interpolation motion Parameters cardNo Module number fp1 The displacement of the X axis in Pulses 8 388 607 8 388 607 2 The displacement of the Y axis in Pulses 8 388 607 8 388 607 Return YES An error has occurred Use the i8092MF GET ERROR CODEY function to identify the error NO No errors Example i8092MF LINE 2D 1 12000 10000 execute the 2 axis linear interpolation motion on module 1 Axis2 4 Target Point 10000 0 12000 Axis1 2 axis linear interpolation motion ICPDAS 60 I 8092F Software User Manual 6 2 9 2 Axis Circular Interpolation Motion an Arc e BYTE 18092 CW BYTE cardNo long long cp2 long fp1 long fp2 Description This function executes a 2 axis circular interpolation motion in a clockwise CW direction Parameters cardNo Module number The relative position of the center to the current position of X axis in pulses 8 388 607 8 388 607 cp2 The relative position of the center to the current position of Y axis in pulses 8 388 607 8 388 607 fp1 The displacement of the X axis in pulses 8 388 607 8 388 607 fp2 Displacement of the Y axis in pulses 8 388 607 8 388 607 Return YES An error h
23. 092MF LINE 2D BYTE cardNo long fp1 long fp2 2 gt i8092MF_ARC_CW BYTE cardNo long cp1 long cp2 long fp7 long fp2 3 2i18092MF CCW BYTE cardNo long long cp2 long fpf long fp2 4 2i18092MF CIRCLE CW BYTE cardNo long cp7 long cp2 5 gt 18092 _ CIRCLE CCW BYTE cardNo long long cp2 1 2 fp2 YES NO It assigns the center point data at X axis 8 388 607 48 388 607 It assigns the center point data at Y axis 8 388 607 48 388 607 It assigns the end point data at X axis 8 388 607 48 388 607 It assigns the end point data at Y axis 8 388 607 8 388 607 An error has occurred Use the 8092 GET ERROR CODE function to identify the error No errors BYTE cardNo 1 select module 1 int sv 300 int v 18000 starting speed 300 PPS Nector speed 18000 PPS long a 500000 acceleration 500000 PPS Sec unsigned short loop1 i8092MF SET MAX V cardNo AXIS XY 160000 72 8092F Software User Manual i8092MF MIX 2D INITIAL cardNo 1 sv v a for loop1 0 loop1 10000 loop1 i i8092MF MIX 2D CONTINUE cardNo 0 1 0 1 0 100 100 i8092MF MIX 2D CONTINUE cardNo 0 2 100 00 0 100 100 i8092MF_MIX_2D CONTINUE cardNo 1 4 100 100 0 0 ICPDAS 73 8092F Software User Manual 6 4 Set the Interrupt Factors 6 4 1 Set the Interrupt Factors void i8092MF INTFACTOR ENABLE BYTE cardNo WORD axis WOR
24. 092MF STOP WAIT BYTE cardNo WORD axis Description This function can be used to assign commands to be performed while waiting for all motion to be completed stopped Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 Return YES Motion is complete NO Motion is not complete EXAMPLE BYTE cardNo 1 select module 1 i8092MF SET MAX V cardNo AXIS XY 20000 set the maximum speed of all axes on module 1 to 20K PPS 8092 NORMAL SPEED cardNo AXIS 0 set the speed profile of all axes on module 1 to be symmetric T curve i8092MF SET V cardNo AXIS XY 2000 set the speed of all axes on module 1 to 2000 PPS i8092MF SET A cardNo AXIS XY 1000 set the acceleration value of all axes on module 1 to 1000 PPS S i8092MF SET SV cardNo AXIS XY 2000 set the start velocity of all axes on module 1 to 2000 PPS i8092MF SET AO cardNo AXIS XY 9 set the value of remaining offset pulses to 9 pulses i8092MF FIXED MOVE cardNo AXIS XY 10000 move all axes on module 1 for 10000 pulses if 18092 STOP WAlT cardNo AXIS X NO i perform some actions here if the X axis has not finished its motion ICPDAS 80 I 8092F Software User Manual 6 5 4 Stopping the Axes void 8092 STOP SLOWLY BYTE cardNo WORD axis Description This function decelerates and finally stops the assigned axes slowly Parameters cardNo Module number axis Axis or axes
25. 2 axis Motion Control Module User Manual 1 8092 Version 2 4 Macro Function Library in C for WinCon and l 8000 series PAC controllers SN ICP DAS CO LTD ICPDAS 1 8092F Software User Manual Warranty All products manufactured by ICPDAS Inc are warranted against defective materials for a period of one year from the date of delivery to the original purchaser Warning ICPDAS Inc assumes no liability for damages consequent to the use of this product ICPDAS Inc reserves the right to change this manual at any time without notice The information furnished by ICPDAS Inc is believed to be accurate and reliable However no responsibility is assumed by ICPDAS Inc for its use or for any infringements of patents or other rights of third parties resulting from its use Copyright Copyright 1997 2009 by ICPDAS Inc LTD All rights reserved worldwide Trademark The names used for identification only maybe registered trademarks of their respective companies License The user can use modify and backup this software on a single machine The user may not reproduce transfer or distribute this software or any copy in whole or in part ICPDAS 2 8092F Software User Manual INDEX PREPA CP i Bii 6 1 2 Macro functions eio tae teach cect oet teet ER 6 1 3 punciton descrIpll0 esos Dono ee aries 7 2 BASIC SETTINGS
26. 2MF FIXED MOVE cardNo AXIS XY 10000 move 10000 Pulses for each axis on module 1 49 8092F Software User Manual 6 1 9 Continuous Pulse Output e BYTE i8092MF CONTINUE MOVE BYTE cardNo WORD axis long data Description This function issues a continuous motion command for several independent axes Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 The axis can be either X and Y data The specified speed positive value for CW motion negative value for CCW motion Return YES An error has occurred Use the i8092MF GET ERROR CODEY function to identify the errors NO No error Example ICPDAS BYTE cardNo 1 select module 1 i8092MF SET MAX V cardNo AXIS XY 20000 set the maximum speed of all axes on module 1 to 20K PPS i80922MF NORMAL SPEED cardNo AXIS XY 0 set the speed profile for all axes as a symmetric T curve i8092MF SET V cardNo AXIS XY 2000 set the speed of all axes on module 1 to 2000 PPS i8092MF SET A cardNo AXIS XY 1000 set the acceleration value of all axes to 1000 PPS S i8092MF SET SV cardNo AXIS XY 2000 set the start velocity of all axes to 2000 PPS 8092 CONTINUE MOVE cardNo AXIS XY 1000 move all axes on module 1 at a speed of 1000 PPS 50 I 8092F Software User Manual 6 2 Interpolation Commands 1 8092 is a motion module of 2 axes so first axis of interpolation is fixed X axis and second axis of interpolation is Y axis
27. D nINT Description This function sets the interrupt factors Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 nINT Interrupt factors Value Symbol Statement Interrupt occurs when the value of logical real position counter is larger than or equal to that of 1 P gt C COMP register The COMP must be pre configired with i8092MF_SET_COMPARE please refer to Section 6 5 7 Interrupt occurs when the value of logical real position counter is smaller than that of COMP 2 P lt C register The COMP must be pre configired with i8092MF_SET_COMPARE please refer to Section 6 5 7 Interrupt occurs when the value of logical real position counter is smaller than that of COMP 3 gt register The COMP must be pre configired with 18092 SET COMPARE please refer to Section 6 5 7 Interrupt occurs when the value of logical real position counter is larger than or equal to that 4 P lt C of COMP register The COMP must be pre configired with 8092 SET COMPARE please refer to Section 6 5 7 Interrupt occurs at the end of the constant speed 5 C END drive or completion of Acceleration Offset Pulse output Interrupt occurs at the start of the constant speed drive or begin of Acceleration Offset Pulse output 7 D END Interrupt occurs when the driving is finished 6 C STA Return None ICPDAS 74 8092F Software User Manual Example
28. ET HOME EDGE 1 AXIS XY 1 set the trigger level as high active for all home sensors on module 1 2 10 Setting and Clearing the Software Limits void i8092MF SET SLMT BYTE cardNo WORD axis long dwFL long dwRL BYTE nType Description This function sets the software limits Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 dwFL Value of the forward software limit 2 147 483 648 2 147 483 647 dwRL Value of the reverse software limit 2 147 483 648 2 147 483 647 nType Position counter to be compared 0 logical position counter LP i e the command position 1 encoder position counter EP i e the real position Return None ICPDAS 15 8092F Software User Manual Example i8092MF SET SLMT 1 AXIS XY 20000 3000 0 set the forward software limit as 20000 and the reverse software limit as 3000 for all axes on module 1 void i8092MF CLEAR SLMT BYTE cardNo WORD axis Description This function clears the software limits Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 Return None Example i8092MF CLEAR SLMT 1 AXIS XY clear the software limits for all axes on module 1 2 11 Setting the Encoder Related Parameters void i8092MF SET ENCODER BYTE cardNo WORD axis BYTE nMode BYTE nDivision BYTE nZEdge Description This function sets the encoder input related parameters Parameters cardNo Module nu
29. S 51 8092F Software User Manual ICPDAS set the starting vector speed to 1000 PPS 18092 SET VV cardNo 1000 set the vector speed to 1000 PPS i8092MF LINE 2D 1 12000 10000 execute the 2 axis linear interpolation motion i8092MF VECTOR SPEED cardNo 1 set module 1 to perform 2 axis linear motion using a symmetric S curve velocity profile i8092MF_SET_VSV cardNo 500 set the starting vector speed to 500 PPS i8092MF_SET_VV cardNo 2000 set the vector speed to 2000 PPS i8092MF_SET_VA cardNo 1000 set the vector acceleration to 1000 PPS Sec i8092MF_LINE_2D cardNo 20000 10000 execute the 2 axis linear interpolation motion i8092MF_VECTOR_SPEED cardNo 2 2 axis linear motion using a symmetric S curve velocity profile i8092MF_SET_VSV cardNo 200 set the starting vector speed to 200 PPS i8092MF_SET_VV cardNo 2000 set the vector speed to 2000 PPS i8092MF_SET_VK cardNo 50 set the acceleration rate to 500 PPS Sec i8092MF_SET_VAO cardNo 20 set the value of remaining offset pulses to 20 i8092MF_LINE_2D cardNo 10000 10000 execute the 2 axis linear interpolation motion i8092MF_VECTOR_SPEED cardNo 3 2 axis linear motion using an asymmetric T curve velocity profile i8092MF_SET_VSV cardNo 100 set the start vector speed to 100 PPS i8092MF_SET_VV cardNo 2000 set the vector speed to 2000 PPS i8092MF_SET_VA cardNo 1000 set the vector ac
30. XIS XY decelerate and stop the X and Y axes void 8092 SSTOP SUDDENLY BYTE cardNo WORD axis Description Except for State Control This function provides the similar feature with i80922MF VSTOP SUDDENLY Stop pulse output simply no ERROR CODE 256 returned Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 Return None Example i80922MF SSTOP SUDDENLY 1 AXIS XY immediately stop the X and Y axes ICPDAS 83 I 8092F Software User Manual void 8092 SVSTOP SLOWLY BYTE cardNo Description Except for State Control This function provides the similar feature with i8092MF_ VSTOP SLOWLY Stop pulse output simply no ERROR CODE 256 returned Parameters cardNo Module number Return None Example i8092MF SVSTOP SLOWLY 1 stop the interpolation of card 1 in a decelerating way void 8092 SVSTOP SUDDENLY BYTE cardNo Description Except for State Control This function provides the similar feature with i8092MF_ VSTOP SUDDENLY Stop pulse output simply no ERROR CODE 256 returned Parameters cardNo Module number Return None Example i8092MF SVSTOP SUDDENLY 1 stop the interpolation of card 1 immediately ICPDAS 84 8092F Software User Manual 6 5 5 Clear the Stop Status void 8092 CLEAR STOP BYTE cardNo Description After using anyone of the stop functions mentioned in section 6 5 4 please solve the malfu
31. a 8092 GET 1 AXIS X reads the current acceleration value of the X axis on module 1 ICPDAS 30 I 8092F Software User Manual 3 5 Reading the DI Status e BYTE i8092MF GET DI BYTE cardNo WORD axis WORD nType Description This function reads the digital input 01 status Parameters cardNo Module number axis Axis Please refer to Table 2 1 The axis can be either X and Y nType 0 DRIVING Check whether the axis is driving or not 1 gt LIMIT Check whether the limit is engaged or not 2 gt LIMIT Check whether the limit is engaged or not 3 gt EMERGENCY Check whether EMG signal is on or not 4 gt ALARM Check the ALARM input signal 5 gt HOME Check the HOME input signal 6 gt NHOME Check the Near HOME input signal gt 3 Check the IN3 input signal 8 gt INPOS Check the INPOS input signal 9 gt INDEX Check the encoder Z phase input signal Return YES on NO off Example if i8092MF_GET_DI 1 AXIS X 1 YES get the status of limit sensor of X axis on module 1 e WORD i8092MF GET DI ALL BYTE cardNo WORD axis Description This function reads All digital inputs DI status Parameters cardNo Module number axis Axis Please refer to Table 2 1 The axis can be either X and Y ICPDAS 31 8092F Software User Manual Return a 16 bits value 0 Low 1 High bit 0 bit 1 bit 2 bit 3 bit 4 bit 5 bit 6 bit 7 bit 8 bit 9 bit 10 bit 11 bit 12 bit 13
32. able 2 1 The axis can be either X and Y ICPDAS 33 I 8092F Software User Manual Return 0 gt no error For non zero return values please refer to the following table If there are not only one errors the return value becomes the sum of these error code values For example a return code 48 means that ALARM and EMGERENCY occurs at the same time Cause of stop Explanation SOFT LIMIT Occurs when the forward software limit is asserted SOFT LIMIT Occurs when the reverse software limit is asserted LIMIT Occurs when the forward hardware limit is asserted LIMIT Occurs when the reverse hardware limit is asserted ALARM Occurs when the ALARM is asserted EMERGENCY Occurs when the EMG is asserted Reserved Reserved HOME Occurs when both Z phase and HOME are asserted refer to 6 5 4 Occurs when the EMG software is asserted Example if 18092 GET ERROR CODE 1 AXIS X amp 10 i Check if either the software limit or hardware limit 2 8 in the reverse direction is asserted 3 7 Setting the general Dinigtal output void i8092MF SET OUTO BYTE cardNo WORD axis WORD nLevel Description This Function sets the Digital Output status Paramenter cardNo Module number axis Axis Please refer to Table 2 1 The axis can be either X and Y nLevel DO output O OFF 1 ON Return no Example i8092MF SET OUTO 1 AXIS XY 1 set the DO of X and Y to ON ICPDAS 34 8092F Software User
33. ample BYTE cardNo 1 select module 1 int sv 100 set the starting speed to 100 PPS int v 3000 set the speed to 3000 PPS int a 2000 set the acceleration to 2000 PPS Sec int d 2000 set the deceleration to 2000 PPS Sec i8092MF SET MAX V cardNo AXIS XY 20000 set the maximum speed to 20K PPS BYTE nType 10 1 2 1 2 1 7 0 0 0 0 long 1 10 0 10000 0 0 0 0 0 0 0 0 long 2 10 0 0 0 10000 0 0 0 0 0 0 long fp1 10 10000 10000 1000 10000 31000 0 0 0 0 0 long fp2 10 10000 10000 0 10000 10000 0 0 0 0 0 put data of the required segments in arrays i8092MF_CONTIUNE_INTP cardNo AXIS X AXIS Y 0 1 sv v a d nType cp1 cp2 fp1 fp2 execute the 2 axis continuous interpolation The deceleration point will be calculated automatically For this example the final position of this motion will return to the starting point 6 3 4 2 Axis Ratio Motion e BYTEiI8092MF RATIO INITIAL BYTE cardNo DWORD SV DWORD V DWORD A float ratio Description This function sets the Initial values for ratio motion motion in ratio using a symmetric T curve speed profile However it is a software macro function therefore it requires CPU resource to run this function Parameters cardNo Module number SV Set the value for the starting speed in PPS V Set the value for the vector speed in PPS A Set the acceleration value in PPS Sec ratio Set the ratio value betwe
34. as occurred Use the i8092MF GET ERROR CODE function to identify the error NO No errors Example i8092MF CW 1 5000 5000 10000 10000 lssues a command to perform a circular motion an arc in a CW direction Please refer to the following figure Axis 2 cem Point 0 0 a Center point 5000 5000 N ff i Ys Ne fe Finish Point 10000 10000 CW 2 axis circular motion in a CW direction ICPDAS 61 8092F Software User Manual e BYTE i8092MF_ARC_CCW BYTE cardNo long long cp2 long fp7 long fp2 Description This function execute a 2 axis circular interpolation motion in a counter clockwise CCW direction Parameters cardNo Module number cpt The relative position of the center to the current position of X axis in pulses 8 388 607 8 388 607 cp2 The relative position of the center to the current position of Y axis in pulses 8 388 607 8 388 607 fp1 The displacement of the X axis in pulses 8 388 607 8 388 607 fp2 Displacement of the Y axis in pulses 8 388 607 8 388 607 Return YES An error has occurred Use the i8092MF GET ERROR CODEY function to identify the errors NO No errors Example i8092MF CCW 1 5000 5000 10000 10000 Issues a command to perform a circular motion an arc in a CCW direction Refer to the following figure Start Point 0 0 Center point 5000 5000 X Fi
35. axis Axis or axes Please refer to Table 2 1 data The number of remaining offset pulses 32 768 32 767 Return None Example i8092MF SET AO 1 AXIS X 200 set the number of remaining offset pulses for the X axis on module 1 to 200 pulses Speed Offset Pulse Initial Speed time Offset for Deceleration ICPDAS 48 8092F Software User Manual 6 1 8 Fixed Pulse Output e BYTE 18092 FIXED MOVE BYTE cardNo WORD axis long data Description Command a point to point motion for several independent axes Parameters cardNo Module number axis Axis Please refer to Table 2 1 The axis can be either X and Y data Pulses 268 435 455 268 435 455 Return YES Some errors happen Use i8092MF_GET_ERROR_CODE to identify the errors NO No error Example ICPDAS BYTE cardNo 1 select module 1 i8092MF SET MAX V cardNo AXIS XY 20000 set the max velocity of all axes on module 1 to be 20K PPS i80922MF NORMAL SPEED cardNo AXIS 0 set the speed profile of all axes on module 1 to be symmetric T curve i8092MF SET V cardNo AXIS XY 2000 set the speed of all axes on module 1 to be 2000 PPS i8092MF SET A cardNo AXIS XY 1000 set the acceleration value of all axes on module 1 to be 1000 PPS S i8092MF SET SV cardNo AXIS XY 2000 set the start velocity of all axes on module 1 to be 2000 PPS i8092MF SET AO cardNo AXIS XY 9 set the remaining offset pulses to be 9 PPS i809
36. celeration to 1000 PPS Sec i8092MF_SET_VD cardNo 500 set the vector deceleration to 500 PPS Sec i8092MF_SET_VAO cardNo 20 set the value of remaining offset pulses to 20 i8092MF_LINE_2D cardNo 10000 5000 52 8092F Software User Manual ICPDAS execute the 2 axis linear interpolation motion long fp1 4000 long fp2 10000 int sv 200 int v22000 i8092MF SET MAX V cardNo AXIS XY 8000 i8092MF VECTOR SPEED cardNo 4 2 axis linear motion using an asymmetric S curve velocity profile i8092MF SET VSV cardNo sv set the starting velocity to sv PPS i8092MF SET VV cardNo v set the vector speed to v PPS 8092 SET VK cardNo 50 set the acceleration rate to 500 PPS Sec 2 8092 SET VL cardNo 30 set the deceleration rate to 300 PPS Sec 2 i8092MF SET VAO cardNo 20 set the value of remaining offset pulses to 20 i8092MF LINE 2D cardNo fp1 1 2 execute the 2 axis linear motion long fp1 11000 long fp2 9000 long c1 10000 long c2 0 int sv 100 int v23000 int a 5000 int d 5000 i8092MF SET MAX V cardNo AXIS XY 8000 i8092MF VECTOR SPEED cardNo 5 2 axis circular motion using a symmetric T curve velocity profile 18092 SET VSV cardNo sv set the starting vector speed to sv PPS i8092MF SET VV cardNo v set vector speed to v PPS 8092 SET VA cardNo set the vector acceleration to a PPS Sec 8092 SET VAO cardNo
37. d i8092MF_AVTRI_ENABLE BYTE cardNo WORD axis Description This function prevents a triangle form in linear acceleration T curve fixed pulse driving even if the number of output pulses is low Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 Return None Example i8092MF AVTRI ENABLE 1 AXIS X set the X axis of module 1 not to generate a triangle form in its speed profile void i8092MF AVTRI DISABLE BYTE cardNo WORD axis Description This function disable the function that prevents a triangle form in linear acceleration fixed pulse driving Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 Return None Example i8092MF AVTRI DISABLE 1 AXIS X the X axis of module 1 to generate a triangle form in its speed profile if the pulse number for output is too low ICPDAS 22 8092F Software User Manual 2 18 External Pulse Input 2 18 1 Handwheel Manual Pulsar Driving void i8092MF MP BYTE cardNo WORD axis long data Description This function outputs pulses according to the input pulses from a handwheel Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 The axis can be either X and Y data Gain a multiplier Return None Example i8092MF 1 AXIS X 1 Each time the handwheel inputs a pulse to the X axis on module 1 the controller will output 1 pulses to t
38. d releases the holding status and start the driving of the assigned axes immediately Parameters cardNo Module number axis Axis or Axes Please refer to Table 2 1 for the axis definition Return None Example BYTE cardNo 1 select card 1 8092 HOLD cardNo AXIS XY hold the driving command to XY i8092MF SET MAX V cardNo AXIS 10000 set the maximum speed of X axis and Y axis to be 10K PPS 8092 NORMAL SPEED cardNo AXIS XY 0 set the driving mode to be symmetric T curve i8092MF SET V cardNo AXIS X 2000 set the speed of X axis to 2 000 PPS i8092MF SET A cardNo AXIS X 1000 set the acceleration of X axis to 1 000 PPS S 8092 SET SV cardNo AXIS X 2000 set the starting speed to 2 000 PPS i8092MF SET V cardNo AXIS Y 2000 set the speed of Y axis to 2 000 PPS i8092MF_SET_A cardNo AXIS Y 1000 set the acceleration of Y axis to 1 000 PPS S i8092MF SET SV cardNo AXIS Y 2000 set the starting speed to 2 000 PPS i8092MF FIXED MOVE cardNo AXIS X 5000 X axis to move 5 000 Pulse This command is be held i8092MF FIXED MOVE cardNo AXIS Y 15000 Y axis to move 15 000 Pulse This command is be held 8092 START cardNo AXIS XY release the holding status X and Y axes will start to move simultaneously ICPDAS 79 8092F Software User Manual 6 5 3 Waiting until the Motion Is Completed e BYTEI8
39. eee eee eee eene eee eee en sese ee eaae 51 6 2 1 Setting the Speed and Acc Dec Mode for Interpolation 51 6 2 2 Setting the Vector Starting Speed eene 55 6 2 3 Setting the Vector Speed x cee ae ee 55 6 2 4 Setting the Vector Acceleration eese 56 6 2 5 Setting the Vector Deceleration Value eene 57 6 2 6 Setting the Vector Acceleration Rate 58 6 2 7 Setting the Number of the Remaining Offset Pulses 59 6 2 8 2 Axis Linear Interpolation Motion 60 6 2 9 2 Axis Circular Interpolation Motion an Arc sess 61 6 2 10 2 Axis Circular Interpolation Motion eere 63 6 3 Continuous Interpolation 4 eere eee ee eee eee eene eese etta aee ee 65 6 3 1 2 Axis Rectangular Motion eere esee nennen nnne 65 6 3 2 2 Axis Continuous Linear Interpolation eere 66 6 3 3 Multi Segment Continuous Interpolation Using Array 68 6 3 4 2 Axis Ratio MOU OM 69 6 3 5 Mixed Linear and Circular 2 axis motions in Continuous Interpolation 71 6 4 Set the Interrup
40. en the two assigned axes ICPDAS 69 I 8092F Software User Manual Return None Example i8092MF RATIO INITIAL Mnitial setting for i8092MF RATIO 2DX function Please refer to the example of i8092MF RATIO 20 function e BYTEI8092MF RATIO 2D BYTE cardNo WORD nType long data WORD nDir Description This function performs a two axis ratio motion Parameters cardNo nType data nDir Return YES NO Example Module number 0 gt Perform the ratio motion 1 2 Declare the end of ratio motion The pulse number of X axis 8 388 607 8 388 607 Direction of the Y axis 0 CW 1 CCW An error has occurred Use the 8092 GET ERROR CODE function to identify the error No errors BYTE cardNo 1 select module 1 int sv 300 set starting speed to 300 PPS int v218000 set vector speed to 18000 PPS long a 500000 set acceleration value to 500K PPS Sec int loop1 loop2 i8092MF SET MAX V cardNo 0Xf 160000 set maximum speed value to 18000 PPS i8092MF RATIO INITIAL cardNo sv v a 0 36 The ratio is 0 36 for loop2 0 loop2 5 loop2 for loop1 0 loop1 lt 5 loop1 ICPDAS i8092MF_RATIO_2D cardNo 0 3600 0 70 8092F Software User Manual perform the ratio motion in the CW direction i8092MF RATIO 2D cardNo 0 3600 1 perform the ratio motion in the CCW direction i8092MF_RATIO_2D cardNo 0 7200 0 i8092MF RATIO 2D
41. es in the IST Miis End of the interrupt Slot Interrupt Done Slot1 Get the interrupt status RR3 X zi8092 GET RR3 CardNo AXIS X Disable the interrupt factor i8092MF INTFACTOR DISABLE CardNo AXIS X Close the interrupt Slot Interrupt Close Slot1 break case WAIT TIMEOUT break case WAIT FAILED break return 1 Note Please refer the three functions Slot_Register_Interrupt BYTE Slot Slot_Interrupt_Done BYTE Slot Slot_Interrupt_Close BYTE Slot in the WinConSDK 6 4 2 Interrupt Disabled void i8092MF INTFACTOR DISABLE BYTE cardNo WORD axis Description This function disables the interrupt factors Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 ICPDAS 76 8092F Software User Manual Return None Example Please refer to 6 4 1 6 4 3 Read the Interrupt Occurrence e WORD i8092MF GET RR3 BYTE cardNo WORD axis Description Read the RR3 register that reflects the occurrence of Interrupt Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 Return The content of RR3 register RR3 Value 35 9 Once the value o flogic real position counter oe Pen is larger than that of COMP register Once the value o flogic real position counter oxen pee is smaller than that of COMP register 0x008 lt Once the value flogic real position counter is smaller than that of COMP register Once the value o flogic
42. ever it is a software macro function therefore it requires CPU resource to run this function Parameters cardNo nAcc VSV VV VA VD nType J Module number 0 gt a constant speed interpolation Please set VV 1 gt asymmetric T curve interpolation Please set VSV VV VA and VD The starting speed in PPS Interpolation vector speed in PPS Acceleration in PPS Sec Deceleration in PPS Sec Maximum segment 1024 0 1023 It contains the interpolation commands defined as follows 1 2i18092MF LINE 2D BYTE cardNo long fp1 long fp2 2 2i18092MF CW BYTE cardNo long cp1 long cp2 long fp7 long fp2 3 2i18092MF CCW BYTE cardNo long long cp2 long fp7 long fp2 4 2i8092MF CIRCLE CW BYTE cardNo long cp7 long cp2 5 2i8092MF CIRCLE CCW BYTE cardNo long long cp2 7 gt It indicates the end of continuous interpolation cpt cp2 fpi I fp2 I Return ICPDAS It contains a list of segment center point data at axis 1 8 388 607 8 388 607 It contains a list of segment center point data at axis 2 8 388 607 8 388 607 This array contains a list of segment end point data at axis 1 8 388 607 48 388 607 This array contains a list of segment end point data at axis 2 8 388 607 8 388 607 68 I 8092F Software User Manual YES An error has occurred Use the 8092 GET ERROR CODE function to identify the error NO No errors Ex
43. fer to Table 2 1 Return None Example 18092 SERVO OFF 1 AXIS XY disables all drivers on module 1 2 13 Setting the SERVO ALARM Function void i8092MF SET ALARM BYTE cardNo WORD axis BYTE nMode BYTE nAEdge Description This function sets the ALARM input signal related parameters Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 nMode Mode 0 ALARM function 1 enable ALARM function nAEdge Sets the trigger level 0 low active 1 high active Return None Example i8092MF_SET_ALARM 1 AXIS_XY 1 0 enable the ALARM for X and Y axes on module 1 and set them as low active ICPDAS 18 8092F Software User Manual 2 14 Setting the Active Level of the In Position Signals void i8092MF SET INPOS BYTE cardNo WORD axis BYTE nMode BYTE nlEdge Description This function sets the INPOS input signal related parameters Note Sometimes this signal is used to connect the SERVO READY input signal Users should take care of what signal the daughter board is wired Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 nMode Mode 0 disable INPOS input 1 enable INPOS input nlEdge Set the trigger level 0 low active 1 high active Return None Example i8092MF_SET_INPOS 1 AXIS_X 1 0 enable the INPOS function of the X axis on module 1 and set it to be low active Note Please refer to the example shown
44. ffset pulses to 9 pulses for all axes i8092MF FIXED MOVE cardNo AXIS XY 10000 ICPDAS 43 8092F Software User Manual move all axes on module 1 for 10000 pulses in reverse direction i80922MF NORMAL SPEED cardNo AXIS XY 2 luse an asymmetric T curve for all axes on module 1 i8092MF SET V cardNo AXIS XY 2000 set the speed of all axes on module 1 to 2000 PPS i8092MF SET A cardNo AXIS XY 1000 set the acceleration of all axes on module 1 to 1000 PPS Sec i8092MF SET D cardNo AXIS XY 500 set the deceleration of all axes on module 1 to 500 PPS i8092MF SET SV cardNo AXIS XY 200 set the start speed of all axes on module 1 to 200 PPS i8092MF SET AO cardNo AXIS XY 9 set the number of remaining offset pulses to 9 pulses for all axes i8092MF FIXED MOVE cardNo axis 10000 move all axes on module 1 for 10000 pulses Note Relevant parameters must be set to achieve the desired motion 6 1 2 Setting the Start Speed void i8092MF SET SV BYTE cardNo WORD axis DWORD data Description This function sets the start speed for the assigned axes Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 data The range is the same as for speed and must not be zero or larger than the maximum speed The maximum value is 4 000 000 PPS For interpolation set the speed value for axis1 is enough Return None Example i8092MF SET SV 1 AXIS X 1000 set the starting
45. ftware User Manual 6 2 5 Setting the Vector Deceleration Value void i8092MF SET VD BYTE cardNo DWORD data Description This function sets the deceleration value for the interpolation motion Parameters cardNo Module number data The vector deceleration value in PPS Sec This value is related to the maximum speed value defined by i8092MF SET MAX V function The maximum available deceleration value is MAX V 125 The minimum deceleration value is MAX V 64 and all other deceleration values are the integral multipliers of this value The practical value for application depends on the capability of the motor drive and motor Return None Example i8092MF SET MAX V 1 AXIS X 20000 set the maximum speed value of the X axis as 20 000 PPS therefore do not set any deceleration value that is larger than 20 000 125 PPS sec And 20 000 125 2 500 000 i8092MF_SET_VD 1 100000 set the vector deceleration value of interpolation motion module 1 to 100K PPS Sec ICPDAS 57 8092F Software User Manual 6 2 6 Setting the Vector Acceleration Rate void i8092MF SET VK BYTE cardNo DWORD data Description Set the acceleration rate jerk value for interpolation motion Parameters Return cardNo Module number data The acceleration rate jerk value The units are PPS Sec This value is related to the maximum speed value defined by i8092MF SET MAX V function The maximum available accele
46. he X axis as 20 000 PPS therefore do not set any acceleration value that is larger than 20 000 125 PPS sec And 20 000 125 2 500 000 i8092MF SET A 1 AXIS X 100000 set the acceleration value of the X axis on module 1 to 100K PPS Sec 6 1 5 Setting the Deceleration void i8092MF SET D BYTE cardNo WORD axis DWORD data Description This function sets the deceleration value for the assigned axes Parameters cardNo axis data Return None Example Module number Axis or axes Please refer to Table 2 1 The deceleration value The units are PPS Sec This value is related to the maximum speed value defined by i8092MF_SET_MAX_V function The maximum available deceleration value is MAX_V 125 The minimum deceleration value is MAX V 64 and all other deceleration values are the integral multipliers of this value The practical value for application depends on the capability of the motor drive and motor i8092MF SET MAX V 1 AXIS X 20000 set the maximum speed value of the X axis as 20 000 PPS therefore do not set any deceleration value that is larger than 20 000 125 PPS sec And 20 000 125 2 500 000 i8092MF SET D 1 AXIS X 100000 set the deceleration value of the X axis on module 1 to 100K PPS Sec ICPDAS 46 8092F Software User Manual 6 1 6 Setting the Acceleration Rate void i8092MF SET K BYTE cardNo WORD axis DWORD data Description The function sets the acce
47. he motor driver Nonval rotation Reverse rotation he E ep a ms e m ET g 0 Example of gain 1 i8092MF_EXD_MP 1 AXIS X 2 Each time the handwheel inputs a pulse to the X axis on module 1 the controller will output 2 pulses to the motor driver a Reverse rotation a f ES C LC Jem a NNUS we LIL LT XPM FL gage Example of gain 2 ICPDAS 23 8092F Software User Manual 2 18 2 Fixed Pulse Driving Mode void i8092MF FP BYTE cardNo WORD axis long data Description This function outputs fixed pulses according to the trigger input the falling edge of the nEXP signal from a handwheel Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 The axis can be either X and Y data Number of fixed pulses Return None Example i8092MF EXD FP 1 AXIS X 5 Each time the controller detects a falling edge of an XEXP signal it will output 5 pulses to the X axis ee go 9 DES X is E Example of fixed pulse driving using an external signal ICPDAS 24 8092F Software User Manual 2 18 3 Continuous Pulse Driving Mode void i8092MF CP BYTE cardNo WORD axis long data Description The controller will continuously output pulses in positive direction if the falling edge of nEXP signal from a handwheel is detected Conversely it
48. ion Stop Method When Limit Switch Is Sensed void i8092MF LIMITSTOP MODE BYTE cardNo WORD axis BYTE nMode Description This function sets the motion stop mode of the axes when the corresponding limit switches are detected Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 nMode 0 stop immediately 1 decelerating to stop Return None Example i8092MF LIMITSTOP MODE 1 AXIS X 0 set X axis to stop immediately if any limit switch on X axis is triggered 2 8 Setting the Trigger Level of the NHOME Sensor void i8092MF SET NHOME BYTE cardNo WORD axis BYTE nNHEdge Description This function sets the trigger level of the near home sensor NHOME Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 nNHEdge Active level setting for the near home sensor 0 low active 1 high active Return None Example i8092MF_SET_NHOME 1 AXIS XY 0 set the trigger level of NHOME of X and Y axes on module 1 to be active low ICPDAS 14 8092F Software User Manual 2 9 Setting Trigger Level of the Home sensor void 8092 SET HOME EDGE BYTE cardNo WORD axis BYTE nHEdge Description This function sets the trigger level of the home sensor HOME Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 nHEdge Active level setting for the home sensor 0 low active 1 high active Return None Example i8092MF S
49. leration rate i e Jerk value for the assigned axes Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 data The acceleration rate jerk value The units are PPS Sec This value is related to the maximum speed value defined by i8092MF SET MAX V function The maximum available acceleration rate value is MAX V 781 25 The minimum acceleration value is MAX V 0 0119211 and all other acceleration values are the integral multipliers of this value The practical value for application depends on the capability of the motor drive and motor Note since the DWORD can not represent the maximum value therefore this value is given by dividing the desired value by 10 Return None Example i8092MF SET MAX V 1 AXIS X 20000 set the maximum speed value of the X axis as 20 000 PPS therefore do not set any jerk value that is larger than 20 000 781 25 PPS sec 2 And 20 000 781 25 15 625 000 i8092MF SET K 1 AXIS X 1000 set the acceleration rate value of the X axis on module 1 to 1 000 10 10 000 PPS Sec 2 ICPDAS 47 8092F Software User Manual 6 1 7 Setting the Value of the Remaining Offset Pulses void i8092MF SET AO BYTE cardNo WORD axis short int data Description This function sets the number of remaining offset pulses for the assigned axes Please refer to the figure below for a definition of the remaining offset pulse value Parameters cardNo Module number
50. lse driving 22 2 18 External Pulse Inplit 23 2 18 1 Handwheel Manual Pulsar Driving 23 2 18 2 Fixed Pulse Driving 24 2 18 3 Continuous Pulse Driving Mode eren 25 2 18 4 Disabling the External Signal Input Functions sees 26 2 19 Configure hardware with pre defined configuration file 27 3 READING AND SETTING THE REGISTERS 28 3 1 Setting and Reading the Command Position LP 28 3 2 Setting and Reading the Encoder Counter 29 3 3 Reading the Current Velocity 30 3 4 Reading the Current Acceleration 4 eee 30 3 5 Reading the DI 31 3 6 Reading and Clearing the ERROR Status eere 33 3 7 Setting the general Dinigtal output ee eeee eee eee eren eene en 34 ICPDAS 3 8092F Software User Manual 4 FRNET FUNCTIONS FOR 18092 ONLY 35 4 1 Read FRnet DI Signals eno icons 35 4 2 Write data to FRnet DO ee eeeeee ee eee eee ertet eerte ee eee eese eese 36 SAUTO 5 1 Se
51. mber axis Axis or axes Please refer to Table 2 1 nMode Encoder input type 0 A quad B 1 up down nDivision Division setting for A quad B input signals 0 1 1 1 1 2 2 1 4 nZEdge Sets the trigger level for the Z phase 0 low active 1 high active ICPDAS 16 l 8092F Software User Manual Return None Example i8092MF SET ENCODERY 1 AXIS XY 0 0 0 set the encoder input type as A quad B the division is 1 and the Z phase is low active void i8092MF SET EN DIR BYTE cardNo WORD axis BYTE nDir Description This function sets the encoder input direction Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 nDir Encoder input direction 0 positive dir 12 negative dir Return None Example i8092MF SET EN DIR 1 AXIS XY 0 set the encoder input direction to positive direction 2 12 Setting the Servo Driver ON OFF void i8092 SERVO ON BYTE cardNo WORD axis Description This function outputs a DO signal ENABLE to enable the motor driver Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 Return None Example 18092 SERVO ON 1 AXIS XY enables all drivers on module 1 ICPDAS 17 8092F Software User Manual void i8092 SERVO OFF BYTE cardNo WORD axis Description This function outputs a DO signal ENABLE to disable the motor driver Parameters cardNo Module number axis Axis or axes Please re
52. n 2 Moves in a negative direction data Offset value 0 2 147 483 647 The Four Steps Required for Automatic Homing Step Action Speed Sensor 1 Searching for the Near Home sensor V NHOME INO 2 Searching for the HOME sensor HV HOME IN1 3 Sih for the encoder Z phase HV Z phase IN2 4 Moves to the specified position V Return None Example Use the following functions to set the homing mode of the X axis i8092MF SET V 1 0x1 20000 i8092MF SET HV 1 Ox1 500 i8092MF SET HOME MODEN 1 0x1 2 2 1 1 3500 i8092MF HOME START 1 0x1 start auto homing 8092 WAIT HOME 1 0x1 wait until homing is completed Step Input Signal Direction Speed 1 Near HOME INO is active 20000 PPS V 2 HOME IN1 is active 500 PPS HV 3 Z phase IN2 is active 500 PPS HV No sensor is required Move 3500 a pulses along the X axis F 20000 PPS V ICPDAS 40 1 8092 Software User Manual 5 4 Starting the Homing Sequence void i80922MF HOME START BYTE cardNo WORD axis Description This function starts the home search of assigned axes Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 Return None Example i80922MF HOME START 1 AXIS X start the automatic homing sequence for the X axis on module 1 5 5 Waiting for the Homing sequence to be Completed e BYTEI8092MF HOME WAIT BYTE cardNo WORD axis Descrip
53. nction then issue this function to clear the stop status Paramters cardNo Module number Return None Example i8092MF CLEAR STOP 1 clear the error status of card 1 6 5 6 End of Interpolation void i8092MF INTP END BYTE cardNo WORD type Description 1 Ifthe current motion status is running a interpolation motion and you would like to issue a single axis motion or change the coordinate definition you should call this function before the new command is issued 2 You can redefine the MAX V for each axis In this way you do not have to execute i8092MF INTP ENDY function Parameters cardNo Module number type 0 2 axis interpolation 1 gt 3 axis interpolation Return None Example i8092MF_INTP_END 1 0 declear the end of a 2 axis interpolation on card 1 ICPDAS 85 I 8092F Software User Manual 6 5 7 Setting the COMPARE value void 8092 SET COMPARE BYTE cardNo WORD axis WORD nSELECT WORD nTYPE long data Description This function sets the values of COMPARE registers Howerer it will disable the functions of software limits Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 nSELECT Select the COMPARE register 0 gt COMP 1 gt COPM nTYPE Select the souece for comparison 0 gt Position P LP 1 gt Position P EP data Set the COMPARE value 2 147 483 648 2 147 483 647 Return None Example i8092MF_SET_COMPARE cardNo AXIS X
54. ned axes are able to perform automatic homing Settings are required to be made in four steps for performing the automatic HOME search Search for the near home sensor NHOME at a normal speed V Search for the HOME sensor at low speed HV Search for the Encoder Z phase index at low speed HV Move a specified number of offset pulses to the predefined origin point at normal speed V Some steps can be omitted A detailed description of the related functions is provided in the following sections Fully automated homing can reduce both programming time and CPU processing time Near HOME HOME INO IN1 Active Active Section Section Encoder Z phase IN2 Decelerating Stop lt at Detection of Near Home Step 1 High speed Near Home Search Step 2 Low speed Home Search gt Instant Stop at Detection of Home Step 3 Low speed Z phase Search Stop at Detection of Z phase Step 4 High speed Offset Drive ICPDAS 37 8092F Software User Manual Encoder Stepper Serva a M Limit Home Near Home Lil CW Pulse CCW Pulse Counter Gear Servo ONOFF MCX312 Servo Ready 1 4 Opcraticn XINPOS VE B VF 0 9 LC ALB Z XALARM XECA B XIN2 5 1 Setting the Homing Speed void i8092MF SET HV BYTE cardNo WORD axis DWORD data Description This function sets the homing speed Parameters cardNo Module number
55. nish Point 10000 10000 2 axis circular motion in a CCW direction ICPDAS 62 8092F Software User Manual 6 2 10 2 Axis Circular Interpolation Motion e BYTE i8092MF CIRCLE CW BYTE cardNo long cp1 long cp2 Description This function executes a 2 axis circular interpolation motion in a clockwise CW direction Parameters cardNo Module number The relative position of the center to the current position of X axis in pulses 8 388 607 8 388 607 cp2 The relative position of the center to the current position of Y axis in pulses 8 388 607 8 388 607 Return YES An error has occurred Use the i8092MF_GET_ERROR_CODE function to identify the errors NO No errors Example i8092MF_CIRCLE_CW 1 0 10000 execute a circular motion a complete circle a CW direction on module 1 e BYTE 8092 CIRCLE CCW BYTE cardNo long cp7 long cp2 Description This function executes a 2 axis circular interpolation motion in a counter clockwise CCW direction Parameters cardNo Module number cpt The relative position of the center to the current position of X axis in pulses 8 388 607 8 388 607 cp2 The relative position of the center to the current position of Y axis in pulses 8 388 607 8 388 607 Return YES An error has occurred Use the i8092MF_GET_ERROR_CODE function to identify ICPDAS 63 I 8092F Software User Manual the error NO No errors Example i8092MF CIRCLE CCW 1
56. ption This function sets the pulse output mode as either CW CCW or PULSE DIR for the assigned axes and their direction definition Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 nMode Assigned mode Please refer to Table 2 2 Return None Example i8092 SET PULSE MODE 1 AXIS XYZ 2 set the pulse mode of X Y and Z axes as mode 2 18092 SET PULSE MODE 1 AXIS 3 set the pulse mode of U axis as mode 3 ICPDAS 11 8092F Software User Manual Table 2 2 A List of pulse output modes Pulse output signals CW CCW o CW rising edge CCW rising edge a CW falling edge CCW falling edge DIR PULSE rising edge LOW dir HIGH dir DIR ES pm PULSE falling edge LOW dir manca al PULSE rising edge HIGH dir LOW dir DIR PULSE falling edge HIGH dir LOW dir 2 5 Setting the Maximum Speed void i8092MF_SET_MAX_V BYTE cardNo WORD axis DWORD data Description This function sets the maximum rate for the output pulses speed A larger value will cause a rougher resolution For example when the maximum speed is set as 8000 PPS the resolution is 1 PPS when the maximum speed is set as 16000 PPS the resolution is 2 PPS when maximum speed is set as 80000 PPS the resolution is 10 PPS etc The maximum value is 4 000 000 PPS which means the resolution of speed will be 500 PPS This function change the resolution of speed to reach the desired ma
57. ration rate value is MAX V 781 25 The minimum acceleration value is MAX V 0 0119211 and all other acceleration values are the integral multipliers of this value The practical value for application depends on the capability of the motor drive and motor Note since the DWORD can not represent the maximum value therefore this value is given by dividing the desired value by 10 None Example ICPDAS i8092MF SET MAX V 1 AXIS X 20000 set the maximum speed value of the X axis as 20 000 PPS therefore do not set any jerk value that is larger than 20 000 781 25 PPS sec 2 And 20 000 781 25 15 625 000 i8092MF SET VK 1 10000 set the acceleration rate of the interpolation motion on module 1 to 10 000 PPS Sec 2 58 I 8092F Software User Manual 6 2 7 Setting the Number of the Remaining Offset Pulses void i8092MF SET VAO BYTE cardNo short int data Description Setting this value will cause the motion control chip to start deceleration earlier The remaining offset pulses will be completed at low speed to allow the controller to stop immediately when the offset pulse value has been reached Please refer to the figure below for more information Parameters cardNo Module number data The number of remaining offset pulses 32 768 432 767 Return None Example i8092MF SET VAO 1 200 set the number of remaining offset pulse value on module 1 to 200 Speed Offset Pulse Initial Speed
58. s at the same time is possible Available axis code numbers are listed below The type of the axis argument used in the functions is defined as WORD Table 2 1 Axis assignments and their corresponding codes Axis X Y xY Code 0x1 0x2 0x3 Name AXIS X AXIS Y AXIS XY 2 2 Registration of Modules and getting the LIB version e BYTE i8092MF_REGISTRATION BYTE cardNo BYTE slot Description This function registers a module that is installed in slot number slot by assigning a card number Registration must be performed for each I 8092F motion control module before other functions are called After registration each module can be identified by its corresponding module number Parameters cardNo Module number slot Slot number for l 8000 0 7 for WinCon 8000 1 7 Return YES Normal NO Abnormal Example for WinCon 8000 ICPDAS 8 I 8092F Software User Manual set each module number the same as the slot number respectively slot1 1017 BYTE cardNo BYTE slot int Found 0 for slot 1 slot 8 slot cardNo slot if 8E092MF_REGISTRATION cardNo slot YES slot number begins from 1 if a module is found then it is registered as its slot number 8092 RESET CARD cardNo Found if Found 0 if Wincon cannot find any I 8092F module please add codes to handle the exception here return gt
59. s manual for reference to write efficient application programs B This manual includes six chapters This chapter gives a brief description of this manual Chapter 2 to 6 is the explanations of macro functions MF The functions defined in DLL file are explained here This DLL can be used on different developing software platforms such as eVC VB net and C net and different OS systems MiniOS7 WinCE 1 2 Macro functions Macro functions provide a set of much easy to use functions that simplify the programming for users Some necessary settings such as speed range and deceleration point are calculated inside those functions to ease the loading of users on having to understand the motion chip Some useful costumed functions are provided for users to develop applications efficiently ICPDAS 6 8092F Software User Manual 1 3 Funciton description All functions are listed in following form Function name parameter1 parameter2 Description Explanation of this function Parameters Definitions of the parameters and how to use them Return The return value of this function Example Simple example program in C Remark Comments ICPDAS 7 8092F Software User Manual 2 Basic Settings 2 1 Code numbers for axes The axis assignments follow the definitions listed below Xz1 Y 2 If X and Y axes are assigned simultaneously then the code number is 3 An assignment for either single axis or multiple axe
60. sors and nIN2 is connected to the index of Encoder input Z phase ICPDAS 20 8092F Software User Manual 2 16 Position Counter Variable Ring void 8092 VRING ENABLE BYTE cardNo WORD axis DWORD nVRing Description This function enables the linear counter of the assigned axes as variable ring counters Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 nVRing Maximum value of the ring counter 2 147 483 648 2 147 483 647 Return None Example i8092MF VRING ENABLE 1 AXIS X 9999 set the X axis of module 1 to be a ring counter The encoder Nalues will be 0 to 9999 1222 The encoder value is 0 to 9999 When the counter value reach 9999 an adding pulse will cause the counter to reset to 0 When the counter value is 0 a lessening pulse will let the counter set to 9999 Max ring encoder value 9999 Note 1 This function will set the LP and EP simultaneously 2 If this function is enabled the software limit function cannot be used void i8092MF VRING DISABLE BYTE cardNo WORD axis Description This function disables the variable ring counter function Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 Return None ICPDAS 21 8092F Software User Manual Example i8092MF VRING DISABLE 1 AXIS X disable the ring counter function for the X axis module 1 2 17 Triangle prevention of fixed pulse driving voi
61. t Factors 5 icccscs ciccdescesiccescicecsescesceccssescenseceseveestessstseceacess 74 6 4 1 Set the Interrupt Factors 74 6 4 2 Interrupt Disabled 76 6 4 3 Read the Interrupt Occurrence 77 6 5 78 ICPDAS 4 8092F Software User Manual 6 5 1 Holding the Driving Command eese nennen nnn 78 6 5 2 Release the Holding Status and Start the Driving 79 6 5 3 Waiting until the Motion Is Completed eene 80 6 5 4 Stopping the Axes recep eie ne ied cea tea reece eub eue 81 6 5 5 Clear the Stop Status 85 6 5 6 End of Interpolall Oni 85 6 5 7 Setting the COMPARE value ccssseecsssesseeceeesseeeeeeesseeeeseeseeeeeeeesseeeeeeneeene 86 ICPDAS 5 8092F Software User Manual 1 Preface 1 1 Introduction B This manual provides complete and detailed description of i8092F functions for users to develop programs for their control of automatic equipments Many examples are included in thi
62. tion This function assigns commands to be performed while waiting for the automatic home search of all assigned axes to be completed Parameters cardNo Module number axis Axis axes Please refer to Table 2 1 Return YES The Homing sequence has been completed NO The Homing sequence is not complete Example if 18092 WAIT 1 AXIS X NO perform some actions here if the X axis on module 1 has not completed lits homing sequence ICPDAS 41 8092F Software User Manual 6 General Motion Control 6 1 Independent Axis Motion Control The motion of each axis can be started independently Two axes are moving at the same time Each axis is moving independently Each axis can be commanded to change motion such as changing the number of pulses or the speed Each axis can be commanded to stop slowly or suddenly to meet the individual requirements 6 1 1 Setting the Acceleration Deceleration Mode Velocity 4 Velocity 4 v elocity V S 5 SV Time TA TA ime TA Tp Time TM TM Symmetric T curve Asymmetric T curve Velocity apb Y Drive Speed LL Time Acceleration Specific nn value ji f Acceleration Deceleration Time Symmetric S curve ICPDAS 42 8092F Software User Manual void i8092MF NORMAL SPEED BYTE cardNo WORD axis WORD nMode Description The function sets the
63. tting the Homing Speed sees seen quae o rias 38 5 2 Using an Limit Switch as the HOME sensor 39 5 3 Setting the Homing Modle e eere ecce ee eren ee ee eee enses esten sese eetno 39 5 4 Starting the Homing Sequence 1 eere eese eerte eee eee ee 41 5 5 Waiting for the Homing sequence to be Completed 41 6 GENERAL MOTION CONTROL 42 6 1 Independent Axis Motion Control c eeee ecce eere ee eene rena 42 6 1 1 Setting the Acceleration Deceleration Mode 42 6 1 2 Setting the Start Speed cecinere thee trente tein ee nnmnnn annn 44 6 1 3 Setting the Desired certe enn nanna 45 6 1 4 Setting the Acceleration 45 6 1 5 Setting the Deceleration eese 46 6 1 6 Setting the Acceleration Rate 47 6 1 7 Setting the Value of the Remaining Offset Pulses 48 6 1 8 Fixed Pulse Output eee 49 6 1 9 Continuous Pulse OUtpUl i titer titi nt teneo etna ree 50 6 2 Interpolation Commands eee e eere
64. will continuously output pulses in negative direction if the falling edge of nEXP signal is detected Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 The axis can be either X and Y data Pulse output speed in PPS Return None Example i8092MF EXD 1 AXIS X 20 Each time the controller detects a falling edge of an XEXP signal it will continuously drive X axis at the speed of 20 PPS XEXPP Low period _ Continuous driving using an external signal ICPDAS 25 8092F Software User Manual 2 18 4 Disabling the External Signal Input Functions void i8092MF DISABLE BYTE cardNo WORD axis Description This function turns off the external input driving control functions Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 The axis can be either X and Y Return None Example i8092MF EXD DISABLE 1 AXIS X disable the external input driving control function of X axis on module 1 ICPDAS 26 8092F Software User Manual 2 19 Configure hardware with pre defined configuration file short i8092MF LOAD CONFIG BYTE cardNo Description This function loads the pre defined configuration file and set the target 18092 module automatically The configuration file is generated by the PACEzGo Parameters cardNo Module number Return 0 successfully 1 cannot open the pre defined configuration file
65. ximum speed Since the scale in hardware is changed other parameters will be influenced too such as the starting speed the acceleration and the jerk It is recommended to set the maximum speed value as a integral multiplier of 8000 Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 data The assigned maximum speed of each axis when the controller performs an interpolation motion However setting the value of axis 1 is enough For axis 1 the maximum value is 4 000 000 PPS Return None ICPDAS 12 8092F Software User Manual Example i8092MF SET MAX V 1 AXIS XY 200000L The maximum speed for the X and Y axes of module 1 is 200KPPS The resolution of the speed will be 200000 8000 25 PPS 2 6 Setting the Active Level of the Hardware Limit Switches void 8092 SET HLMT BYTE cardNo WORD axis BYTE nFLEdge BYTE nRLEdge Description This function sets the active logic level of the hardware limit switch inputs Parameters cardNo Module number axis Axis or axes Please refer to Table 2 1 nFLEdge Active level setting for the forward limit switch 0 low active 1 high active nRLEdge Active level setting for the reverse limit switch 0 low active 1 high active Return None Example i8092MF SET HLMT 1 AXIS XY 0 0 set all the trigger levels as low active for all limit switches on module 1 ICPDAS 13 8092F Software User Manual 2 7 Setting the Mot

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