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Q173SCCF C Controller Interface Module User`s Manual (API Library)

1. 4 22 4 4 8 4 23 4 5 System functioris 4 24 4 571 sseReboot enemies ie tene 4 25 4 5 2 SSC65ystemitart D OTRO ER ETE d 4 26 4 5 3 sscGetSystemStatusCode eese ennt tnnt nnt entente 4 27 A SA SschecorinectoS OG NET an ie tie tlt dest erue dir efie ats 4 28 4 5 5 SSCDISCONNECESSCNET nensi nensi nt 4 29 4 6 Command Status functions sess eene nnne nnne tern tnn nennen nnne 4 30 4 6 1 sscSetCommandBitSignalEx sess enne 4 31 4 6 2 sscGetStatusBitSignalEx 4 32 4 6 3 4 33 4 7 Point table 4 35 41 1 sscSetPolntDataEXx Pree 4 35 4 7 2 sscCheckPolntDataEX nie teet ote e dtt eto e e ete ette ete 4 36 4 7 3 sscSetPointOffset dda nena c ERU LER EIL XL RA HERE BL e Cu LL e eH HL DR aen 4 37 ASA SScChieckPolntOffSet 0 2 D d tet t eet debet data 4 38
2. A Issues the servo on command Processes the servo on jur mco mcm eoe ey EN mue emere redes esu de a q Example H sts sscSetCommandBitSignalEx bid ch SSC_CMDBIT_AX_SON SSC_BIT_ON if sts SSC OK T error process Executing arbitrary process nus en during the period is possible a ee While waiting for the servo on Example int svonsts 1 While svonsts 55 ON sts sscGetStatusBitSignalEx it bid ch ax SSC_STSBIT_AX_RDY svonsts if sts SSC OK i f error process 1 arbitrary process execution n 4 FUNCTION DETAILS 4 6 1 sscSetCommandBitSignalEx The designated command bit will be turned or off int sscSetCommandBitSignalEx int board id int channel int axnum int bitnum int bitdata Argument board id in Board ID number 0 channel in Channel number 1 axnum in Axis number 4 to 20 0 System command bit 1 to 20 Axis command bit 4 to 1 Station command bit 1 Station 1 2 Station 2 3 Station 3 4 Station 4 bitnum in Command bit number Refer to Chapter 6 BIT DEFINITION LIST for the command bit number bitdata in Command bit data SSC BIT OFF Bit OFF SSC BIT ON Bit ON Return value SSC OK Fun
3. nt 4 90 4 14 3 sscChangeWdCounter ccecceecceeceeeceneceeeceeecenecenecaneceeecanenenecaeseenedansaenecaeeaaeecaneqeneeaeecesecaneatenenedaese 4 91 4 14 4 sscCheckPCleBusConnection essent nennen tenente nnns 4 92 4 15 Other axes start ren inneren enne 4 93 4 15 1 5scSetOtherAxisStartData entend nate d s nn 4 93 4 15 2 sscGetOtherAxisStartData essen nnne 4 94 4 15 3 sscOtherAxisStartADortOn ccccccceecceeeeceeeceeeceeeceaeeeeaeeeceaeeseaeeseaeeseaeeseaceesaeeseaeesseeseaeeeeeeesieeesaes 4 95 4 15 4 sscOtherAxisStartAbOrtOTf 2 nn e De tm eta a dh dt dte f d tee 4 96 4 15 5 5 4 97 4 16 Pass position interrupt functions 4 98 4 16 1 4 98 4 16 2 4 99 4 16 3 10 4 100 4 16 4 4 101 4 17 Sampling functions t baddies gem te eiie 4 102 4 1 7 1 8scStarlsampling oeaan mem 4 102
4. A system error occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause During the confirmation of response after executing the command to the 1 to 2 Timeout location Q173SCCF the designated timeout time has elapsed Point When a value 2 seconds 2000ms or less is designated as the timeout time the timeout will be 2 seconds 2000ms Supported version API Ver Header file Ver 1 50 q17nscct std h Reference None 4 12 4 FUNCTION DETAILS 4 4 2 sscChangeParameter Each of the parameters will be written int sscChangeParameter int board_id int channel int axnum short prmnum short prmdata Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 4 to 20 0 System parameter 1 to 20 Axis parameter 4 to 1 Station parameter 1 Station 1 2 Station 2 3 Station 3 4 Station 4 prmnum in Parameter write number prmdata in Parameter write data Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure 1 to 9 Argument location A system error occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause During the confirmati
5. 4 132 4 21 5 4 133 4 21 6 4 134 4 21 7 sscifmCheckLatestBuffer Re citet edt uates Praet 4 135 4 21 8 nennen nennt nennt 4 136 4 21 9 ssclfmGetTransmitBuffer 4 137 4 21 10 1 4 138 4 21 11 ssclfmTrqSetSpeedLimit ant ettet cere deno ee e te Dee anal 4 139 4 21 12 4 140 4 21 13 ssclfmGetControlMode 4 141 4 21 14 ssclfmGetEventStatusBits onde nec ttd eder dead en adde edt eade 4 142 4 22 Interrupt fUnctloris vp rin Do tup REEL IO ER IG TU DERART RURAL RA TRUE 4 144 4 22 1 sselntSotart n men Hanni RI xat eh dto aids 4 146 4 22 2 S5sclntE nds oL LL ute d t 4 147 4 22 3 5sclntEnable eedem ai reed ere ire 4 148 4 22 4 SsclIntDisable ned ptt at desta 4 149 4 22 5 nennen nennen nennen nnne nnns 4 150 4 22 6 sscUnregisterlntCallback 2 etre dete ee ree tr eir e t HER ir LR d Hp HERR 4 151 422 1 SscResetlntEVent eie nene ta
6. 31 Shuts down the interrupt driver Note 4 Example lt Shuts down the driver gt sts sscintEnd bid if sts SSC error process 4 144 4 FUNCTION DETAILS Note 1 Only when changing the current set interrupt condition parameters 204 or 205 call the function 2 Always enable interrupt output after starting up an interrupt driver When hardware interrupt is outputted while the interrupt driver is not operating properly the C Controller module may hang up because the hardware interrupt cannot be canceled 3 After starting interrupt an interrupt event wait can be executed with the interrupt event wait functions 4 Always shut down the interrupt driver after disabling the interrupt output For the same reason of the note 2 above 4 145 4 FUNCTION DETAILS 4 22 1 ssclntStart The interrupt driver will be started up This function is used when performing interrupt monitoring by using the functions related to interrupt event wait int sscintStart int board_id int priority Argument board id in Board ID number 0 priority in Priority number Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUM
7. svs 218 CMDBIT SYS 218 ssc T CMDBIT_SYS_211 ERU CMDBIT SYS 219 55 CMDBIT SYS 212 CMDBIT SYS 212 ISSC_CMDBIT_SYS 220 CMDBIT_SYS_220 SSE MRT CMDBIT_SYS_213 ssc sys 213 reserved CMDBIT_SYS_221 ssc CMDBIT sys 221 reserved CMDBIT_SYS_214 CMDBIT_SYS_222 svs 218 _ CMDBIT_SYS_215 sse svs CMDBIT_SYS_223 55 CMDBIT SYS 216 CMDBIT SYS 216 55 CMDBIT SYS 224 CMDBIT SYS 224 Bit number constant Bit number constant Esc svs CMDBIT SYS _ _226 Es sys CMDBIT SYS 234 CMDBIT_SYS_227 ERUNT CMDBIT 5 5 235 55 CMDBIT SYS 228 CMDBIT SYS 228 55 CMDBIT SYS 26 CMDBIT SYS 236 EX Er CMDBIT SYS 229 cMDBIT sys 229 Reserved ERI CMDBIT SYS 237 sys 237 Reserved Sse evoe svs 2o CMDBIT SYS 230 ase evoe ee _ CMDBIT_SYS_238 EXE T _ CMDBIT 5 5 231 CMDBIT_SYS_239 55 CMDBIT SYS 232 CMDBIT SYS 232 55 CMDBIT SYS 240 CMDBIT SYS 240 ee 6 BIT DEFINITION LIST 6 2 System status bit Bit number constant SSC_STSBIT_SYS_ITO Outputting with factor of interrupt During interface mode interrupt Bit number constant SSC STSBIT SYS SMPW Waiting for sampling trigger Sampling is being performed SSC STSBIT SYS SMPO SSC STSBIT SYS SMPF Sampling is complete SSC STSBIT SYS SMPE Sampl
8. C Controller module Q173SCCF Se ee nn lt Opens the memory access port Enables the memory access Example sts sscOpen bid 95 1 SSC OK error process take ee eee ae See ee ee aie Se ee eee ee eee See Se Sl bem e em em m pon Ha ne ea me a Reboots as necessary after confirming the system status Processes the reboot a FF E EE 1 Example sts sscGetSystemStatusCode bid ch amp status sts SSC_OK amp status SSC_STS_CODE_READY_FIN Completes the reboot sts sscReboot bid ch 0 if sts SSC_OK p rel E ee ee PC NIL ee meer Bee AS Example i Completes the all T sts sscResetAllParameter bid ch 0 arameters initialization 1 1 1 if sts SSC_OK error process Processes each parameter setting Sets each parameter as necessary Example Completes each sts sscChang
9. When the standby status is released by calling this function an error occurs the sscWaitlntPassPosition function Supported version API Ver Header file Ver 1 50 q17nscef std h Reference sscWaitIntPassPosition 4 161 4 FUNCTION DETAILS 4 22 15 sscWaitlntPassPosition This function waits until the pass position interrupt event status becomes signaled This function is used to wait for the interrupt from the Q173SCCF for the designated pass position condition number The checked status will be stored in the variable designated by the pointer int sscWaitlntPassPosition int board id int channel int pass num int pass status int timeout Argument board id in Board ID number 0 channel in Channel number 1 pass num in Pass position condition number 1 to 64 pass status out Pointer to 4 byte variable 4 bytes x 1 which stores the pass pon status SSC_PASS_STS_FIN Pass position interrupt complete SSC_PASS_STS_ERR Pass position interrupt incomplete timeout in Timeout time ms 0 to 65535 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location An error occurred in the semTake function VxWorks API
10. ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference None 4 FUNCTION DETAILS 4 16 Pass position interrupt functions 4 16 1 sscSetlntPassPositionData The pass position interrupt condition data will be set int sscSetintPassPositionData int board_id int channel int pass_num unsigned long pass_option long pass_data Argument board_id in Board ID number 0 channel in Channel number 1 pass_num in Pass position condition number 1 to 64 pass option in Pass position option 00000000h to 0000001 1h Set data in the logical sum of each value SSC PASS DIR PLUS direction pass position interrupt output Pass direction SSC PASS DIR MINUS direction pass position interrupt output SSC PASS JUDGE CMD POS Current position Judgment condition SSC_PASS_JUDGE_FB_POS Feedback position pass_data in Pass position data command unit 2147483648 to 2147483647 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location Point Only the judgment condition for
11. OAS DATA Member opt own Axis option Set data in the logical sum of each value SSC OAS OWN REMAINING DISTANCE Remaining distance specification Axis judgment condition SSC OAS OWN POSITION PASS Specified position pass specification SSC OAS OWN JUDGE COORD FB M Current feedback position Axis judgment coordinate m SSC OAS OWN JUDGE COORD CMD Command position 5 STRUCTURE LIST opt_observ Observed axis option Set data in the logical sum of each value SSC_OAS_OBSERV_DISABLE Observed axis specification SSC_OAS_OBSERV_ENABLE Observed axis judgment Observed axis specified position pass SSC_OAS_OBSERV_POSITION_PASS eii ii 7 condition specification SSC OAS OBSERV JUDGE COORD FB Observed axis judgment Current feedback position SSC OAS OBSERV JUDGE COORD CMD coordinate Command position Condition is satisfied when observed axis position is less than or equal to observed axis specified position data SSC OAS OBSERV DATA LESS m m Observed axis specified position pass judgment ai Condition is satisfied when observed condition axis position is more than or equal to observed axis specified position data SSC OAS OBSERV DATA MORE data own Axis remaining distance data or axis pass position data data observ Observed axis remaining distance data or observed axis pass position data st axbit Start axis designation st pnt s Start axis start point 0 to 319 st p
12. C Controller module Q173SCCF Processes the parameters Completes the parameter settings Processes the Sets the parameters sts sscChangeParameter bid ch ax prm num prm dat if sts SSC OK error process oe ee a IRE ERREUR baa ae eee ee ee eee ee ee ee ee ee SS a Confirms the parameter settings as necessary I parameters I i Example Sends the parameter sts sscCheckParameter bid ch ax prm num amp prm dat setting value 1 if sts 55 OK error process Ge ee m E E A rn 4 FUNCTION DETAILS gg me EN 4 4 1 sscResetAllParameter All parameters will be set to the initial values before system startup system preparation completion int sscResetAllParameter int board_id int channel int timeout Argument board_id in Board ID number 0 channel in Channel number 1 timeout in Timeout time ms 0 to 65535 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Cause countermeasure 1 to 9 Argument location system with the sscReboot function
13. x 22622 ete ieri ied ash ae td bod se 4 1 41 2 sscGetMo ntChannel 2er 4 2 4 2 Device TUNCUONS ite rii endi NUM 4 3 42 AiSSCOPCM M Tr eT a M MT aC M CAT M 4 4 4 2 2 886Cl0SQ 1 E ee eae tende et eb eeu tedio ud 4 5 4 3 Information f nctions a anreisen 4 6 4 3 1 eCIiSnoipei o ME 4 6 4 3 2 8scGetBoardVersion nl te Ati oe en i en i Me dai el i eund 4 7 4 3 3 sscGetDriver Version noii iae ete t eun dee dte ite eva tiber Pere det de eet ca 4 8 4 3 4 1 4 9 4 3 5 4 10 4 4 Parameter TumCtions 4 11 4 41 sschResetAllParameter eR RR RR E Re HIHI in 4 12 4 4 2 sscCharigeParamietef ien eua ee eee ie mc cc 4 13 4 4 3 nnne nnn enne ens 4 15 4 4 4 sscCheckParameter rl ec 4 17 445 sscCheck2 Parameters cine Eni Memini 4 19 4 4 6 0 2 0000000000000000000000000000000000000 nnns senes 4 21 4 4 7
14. Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 ctrl_mode in Control mode 0 to 2 Operation mode SSC_IFM_CTRL_MODE_POSITION Position control mode SSC_IFM_CTRL_MODE_SPEED Speed control mode SSC_IFM_CTRL_MODE_TORQUE Torque control mode bufnum out Pointer to 2 byte variable 2 bytes x 1 which stores the maximum buffer number Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 60 q17nscct std h Reference None 4 132 4 FUNCTION DETAILS 4 21 5 ssclfmRenewLatestBuffer Latest command buffer number and data for position control mode will be renewed and the renewed latest command buffer number will be got int ssclfmRenewLatestBuffer int board_id int channel int axnum long bufdata short bufnum Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 0 to 20 bufdata in Renew data bufnum out Pointer to 2 byte variable 2 bytes x 1 which stores the latest command buffer number Return value SSC_OK Fun
15. None Return value Latest error code Detailed error code 4 Point When the return value is SSC_UNOPEN the detailed error code is not set Supported version API Ver Header file Ver 1 50 q17nscef std h Reference None 4 FUNCTION DETAILS 4 1 2 sscGetMountChannel The mount channel information will be got int sscGetMountChannel int board_id short mountch Argument board_id in Board ID number 0 mountch out Pointer to 2 byte variable 2 bytes x 1 which stores the mount channel information Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 50 q17nscct std h Reference None 4 FUNCTION DETAILS 4 2 Device functions 1 Processing procedure An example of device processing procedure for memory access when Q173SCCF Board ID 0 is connected to the C Controller module is below C Controller module Q173SCCF BID 0 Ye Opens Q173SCCF Board ID 0 memory access port Enables the memory access sts sscOpen 0 if sts SSC O
16. Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location Point When a NULL pointer is designated as the transmit buffer data only the transmit buffer number will be got Supported version API Ver Header file Ver 1 60 q17nsccf std h Reference ssclfmCheckLatestBufferEx 4 138 4 FUNCTION DETAILS 4 21 11 ssclfmTrqSetSpeedLimit The speed limit value for torque control will be set int ssclfmTrqSetSpeedLimit int board_id int channel int axnum long speed Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 speed in Speed limit value for torque control 0 01r min 0 to 1000000000 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location Point Call this function before changing to torque control mode Supported version API Ver Header file Ver 1 60 q17nscct std h Reference ssclfmSetControlMode 4 139 4 FUNCTION DETAILS 4 21 12 ssclfmSetControlMode The control mode will be set int ssclfmSetControlMode int board_id int channel int axnum unsi
17. Y sts sscChange2Parameter bid ch ax amp int fact 0 if sts 55 OK error process xcu te at henge ON oe eee aia ty Eg E er ee eee poc eee Se ee Se eh eee eS nnana Starts up an interrupt driver Note 2 Interrupt driver Pino eee ee ee I re eS a Se ee sts sscintStart bid priority if sts SSC_OK error process Ee eee Ee ee ee re ee en ae eed Ean EPES EIEE AEEA EA 1 Enables the interrupt output Note 3 Enables the Interrupt output Example sts sscintEnable bid ch if sts I SSC OK error process sts SSC sts sscResetintEvent bid ch ax ev num ev fact error process Starts the arbitrary operation Finishes the arbitrary operation Outputs hardware interrupt if sts SSC OK error process L sts sscWaitIntEvent bid ch ax ev num ev fact 0 Produces the 4 event factor Disables the Interrupt output sts sscintDisable bid ch if sts SSC_OK error process El ee eee eee um Uem eee ee eee Rm eee eed
18. idle 6 13 6 5 Station cOMMANG bib c e 6 17 6G Station Status bit 5 tieni tette n Imation tasti ett xiu 6 19 7 INTERRUPT EVENT FACTOR LIST 7 10 7 4 8 LIST OF DETAILED ERROR CODES 8 1108 8 About Manuals The following manuals are also related to this product In necessary order them by quoting the details in the tables below Related Manuals 1 C Controller interface module Manual Number Manual Name Model Code Q173SCCF C Controller Interface Module User s Manual Details This manual explains specifications of the Q173SCCF information on how to establish a system IB 0300217 1XB964 maintenance inspection trouble shooting functions for the positioning control of the Q173SCCF programming dual port memory and others Q173SCCF C Controller Interface Module User s Manual API Library 1650035 This manual explains the library of functions and others that the C Controller module uses to control the 1 XB966 Q173SCCF 2 CPU module Manual Name Manual Number Model Code C Controller Module User s Manual Q24DHCCPU V SH 081130ENG This manual explains the system configuration specifications functions handling wiring trouble shooting 134275 as well as the functions programming and others for Controller module QCPU User s Manual Hardware Design Maintenance and Inspection This manual explains the s
19. Channel number 1 dout_word_num in Digital output word number 0 to 63 dout in 0000h to FFFFh DO data of the digital output 0 Output OFF 1 Output ON for each bit bito gt DO_HDI0 615 gt Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 7 1 to 9 Argument location SSC FUNC ERR TIMEOUT 00 During the confirmation of response after executing the command to Q173SCCF O 1 to 5 Timeout location the timeout time 1 second has elapsed Point This function sets the digital output with the exclusive control function of the Q173SCCF Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference sscSetDigitalOutputDataBit sscGetDigitalOutputDataWord 4 121 4 FUNCTION DETAILS 4 19 5 sscGetDigitalOutputDataBit DO data the designated digital output will be got in 1 point basis int sscGetDigitalOutputDataBit int board_id int channel int dout_num int dout Argument board_id in Board ID number 0 channel in Channel number 1 dout_num in Digital output number 0 to 1023 dout out Pointer to 4 byte variable 4 bytes x 1 which stores the DO data status of
20. If the stop complete status storage variable has not been confirmed to be SSC DRIVE FIN the stop operation signal STP will remain ON Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference sscDriveStop sscDriveRapidStop sscDriveRapidStopNoWait 4 54 4 FUNCTION DETAILS EN 4 9 11 sscDriveRapidStop Operations will be stopped rapidly After the start operating signal ST is turned off and the rapid stop signal RSTP is turned on the function will wait internally until the operating signal OP is turned off After the operating signal OP is confirmed to be OFF the rapid stop signal RSTP will be turned off int sscDriveRapidStop int board_id int channel int axnum int timeout Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 timeout in Timeout time ms 0 to 65535 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location O 1 to 2 Timeout location Q173SCCF the designated timeout time has elapsed A system error ELILILIh occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause Poin
21. SSC STSBIT SYS 97 SSC STSBIT SYS 98 SSC STSBIT SYS 99 SSC STSBIT SYS 100 GE Reserved SSC STSBIT SYS 101 SSC STSBIT SYS 102 SSC STSBIT SYS 103 SSC STSBIT SYS 104 SSC_STSBIT_SYS_75 SSC_STSBIT_SYS_76 Reserved SSC_STSBIT_SYS_CCO SSC STSBIT SYS CCF Disconnection complete SSC_STSBIT_SYS_95 Reserved SSC STSBIT SYS 96 Bit number constant SSC STSBIT SYS 105 SSC STSBIT SYS 106 SSC STSBIT SYS 107 SSC STSBIT SYS 108 Reserved SSC STSBIT SYS 109 SSC STSBIT SYS 110 SSC STSBIT SYS 111 SSC STSBIT SYS 112 HM 6 BIT DEFINITION LIST Bit number constant Bit number constant SSC STSBIT SYS PWFIN2 Parameter write complete 2 SSC STSBIT SYS 141 SSC STSBIT SYS PWEN2 Parameter number error 2 SSC STSBIT SYS 142 SSC STSBIT SYS PWED2 Parameter data out of bounds 2 SSC STSBIT SYS 143 SSC STSBIT SYS 136 SSC STSBIT SYS 144 Bit number constant Bit number constant SSC STSBIT SYS SWFIN Sampling setting write complete SSC STSBIT SYS 153 SSC STSBIT SYS SWEN Sampling setting number error SSC STSBIT SYS 154 Sampling setting data out of SSC STSBIT SYS 155 bounds Reserved Bit number constant messem STSBIT SYS_ 170 ee STSBIT_SYS_171 ISSC_STSBIT_SYS 172 STSBIT_SYS_172 EX T STSBIT SYS 173 ssc srsBIT sys 173 seve EX ET STSBIT SYS 174 EX T STSBIT SYS 175 55 STSBIT SYS 176 STSBIT SYS 176 Reserved SSC STSBIT SYS SWED SSC STSBIT SYS 148 SSC
22. Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 7 1 to 9 Argument location Point When a NULL pointer is designated as the transmit buffer data only the transmit buffer number will be got For API Ver 1 60 or later use the ssclfmGetTransmitBufferEx function Supported version API Ver Header file Ver 1 50 q17nscct std h Reference ssclfmCheckLatestBuffer 4 137 4 FUNCTION DETAILS 4 21 10 ssclfmGetTransmitBufferEx Transmit buffer number and transmit buffer data for the designated control mode will be got int ssclfmGetTransmitBufferEx int board_id int channel int axnum unsigned short ctrl mode short bufnum long bufdata Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 ctrl_mode in Control mode 0 to 2 Operation mode SSC_IFM_CTRL_MODE_POSITION Position control mode SSC_IFM_CTRL_MODE_SPEED Speed control mode SSC_IFM_CTRL_MODE_TORQUE Torque control mode bufnum out Pointer to 2 byte variable 2 bytes x 1 which stores the transmit buffer number bufdata out Pointer to 4 byte variable 4 bytes x 1 which stores the transmit buffer data Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code
23. int channel short prm_num long prm_data Argument board_id in Board ID number 0 channel in Channel number 1 prm_num in Sampling setting write number prm_data in Sampling setting write data Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure The argument is outside the set range O 1 to 9 Argument location During the confirmation of response after executing the command to O 1 to 2 Timeout location the Q173SCCF the timeout time 1 second has elapsed SSC FUNC ERR STS BIT SWEN A value outside the range is set in the sampling setting write number SSC FUNC ERR STS BIT SWED A value outside the range is set in the sampling setting write data SSC FUNC ERR MISMATCH SMP PARAM WRITE NUM The command and the status of the sampling setting write number do not correspond SSC FUNC ERR MISMATCH SMP PARAM WRITE DATA The command and the status of the sampling write data do not correspond Point None Supported version API Ver Header file Ver 1 50 q17nscef std h Reference sscGetSamplingParameter 4 104 4 FUNCTION DETAILS 4 17 4 sscGetSamplingParameter The sampling parameters will be read int sscGetSamplingParameter int board_id int channel short prm_num long prm_data Argument
24. int sscChange2Parameter int board_id int channel int axnum short prmnum short prmdata char status Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 4 to 20 0 System parameter 1 to 20 Axis parameter 4 to 1 Station parameter 1 Station 1 2 Station 2 3 Station 3 4 Station 4 prmnum in Pointer to 4 byte array 2 bytes x 2 which stores the parameter write numbers for 2 numbers prmdata in Pointer to 4 byte array 2 bytes x 2 which stores the parameter write data for 2 data status out Pointer to 2 byte array 1 byte x 2 which stores the parameter write statuses for 2 statuses The got data is set in the logical sum of each value SSC BIT PWFIN Parameter write complete SSC BIT PWEN Outside range of parameter SSC BIT PWED data Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function 4 FUNCTION DETAILS Detailed error code 1 to 9 Argument location A system error Oh occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause SSC FUNC ERR TIMEOUT 00 During the confirmation of response after executing the command to the O 1 to 2 Timeout location Q173SCCF the timeout time 1 second has elapsed SSC ERR STS PWENL
25. 1 to 20 pnt num in Point number 0 to 319 pPntDataEx in Pointer to 32 byte structure 32 bytes x 1 which stores the point data Refer to 5 1 PNT DATA EX structure for the point data structure Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR POINT NUMBER OVER Designated point number point number offset value exceeded the point table range Point Acheck of the set point data contents will not be performed Supported version API Ver Header file Ver 1 50 q17nscef std h Reference sscSetPointOffset 4 FUNCTION DETAILS 4 7 2 sscCheckPointDataEx The point data will be got int sscCheckPointDataEx int board_id int channel int axnum int pnt_num PNT DATA EX pPntDataEx Argument board id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 pnt num in Point number 0 to 319 pPntDataEx out Pointer to 32 byte structure 32 bytes x 1 which stores the point data Refer to 5 1 PNT DATA EX structure for the point data structure Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the ss
26. 16 bytes x 16 which stores the log data Refer to 5 6 LOG DATA structure for the log data information structure Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location During the confirmation of response after executing the command to the 1 to 2 Timeout location Q173SCCF the timeout time 1 second has elapsed The log operation being performed signal LOGO is ON The reading of log data error signal LOGRE is turned on Point None Supported version API Ver Header file Ver 1 50 q17nscef std h Reference sscClearLogData 4 113 4 FUNCTION DETAILS 4 18 6 sscClearLogData The log data will be cleared initialized int sscClearLogData int board_id int channel Argument board_id in Board ID number 0 channel in Channel number 1 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 1 to 9 Argument location During the confirmation
27. 4 FUNCTION DETAILS Detailed error code Value Cause countermeasure SSC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR NOT START INT DRIVER The interrupt driver is closed Call the sscIntStart function SSC FUNC ERR WAIT EVENT An error occurred in the semTake function VxWorks API Call the errnoGet function of VxWorks API and confirm the error details SSC FUNC ERR TERMINATE INT DRIVER The sscintEnd function was called while the interrupt for the designated event factor was being confirmed SSC FUNC ERR TERMINATE NOTIFY EVENT An error occurred in the interrupt event notification thread while the interrupt for the designated event factor was being confirmed SSC FUNC ERR TIMEOUT 01 While the interrupt for the designated event factor was being waited the designated timeout time elapsed SSC FUNC ERR SET HOST APPLICATION EVENT While the interrupt for the designated event factor was being waited a function which releases the standby status was called from the user program Point The completion of operation check conditions are the operation completion type designated by the argument If Completion of operation by smoothing stop Completion of operation by rough match Completion of operation by in position stop shutdown will occur after waiting for the designated conditions to be met However if an operation alarm occurs and operation is cancelled an
28. 7 INTERRUPT EVENT FACTOR LIST MEMO 8 LIST OF DETAILED ERROR CODES 8 LIST OF DETAILED ERROR CODES The following shows the detailed error codes 1 Common error Constant definition 00000001h SSC FUNC ERR ARGUMENT 00 00000002h 1 to 9 Argument location 00000003h 00000100h SSC FUNC ERR ARGUMENT MISMATCH SSC FUNC ERR TIMEOUT 00 1 to 5 Timeout location 2 Device functions error FFFFFFFFh SSC FUNC ERR UNKNOWN No errors 1 have occurred after using the API functions The argument is outside the set range The axis number and the command bit number status bit or alarm type do not correspond Example When 0 is set to the axis number and 55 CMDBIT AX SON is set to the command bit number etc When 0 is set to the axis number and SSC SYSBIT AX RDY is set to the status bit number etc When 0 is set to the axis number and SSC ALARM OPERATION is set to the alarm type etc A timeout occurred Consider changing the set timeout value for API functions which have timeout parameters Constant definition 00020000h SSC FUNC ERR REOPEN The sscOpen function is already called 00020010h SSC FUNC ERR UNOPEN The sscOpen function has not been called 00021010h SSC FUNC ERR NOT FOUND BOARD 00021011h SSC FUNC ERR GET CHANNEL NUM 00022000h SSC FUNC ERR CREATE SEMAPHORE 00022001h SSC FUNC ERR DELETE SEMAPHORE 00022002h SSC FUNC ERR WAIT SEMAPHORE The Q173SCCF could
29. FUNCTION DETAILS 4 5 5 sscDisconnectSSCNET SSCNET communication which is connected to the slave devices in SSCNET communication such as servo amplifiers set by the disconnection axis number or later will be disconnected int sscDisconnectSSCNET int board_id int channel int com_num unsigned long long axbit unsigned short err code Argument board id in Board ID number 0 channel in Channel number 1 com num in Disconnection axis number 1 to 20 1 to 20 Axis number 4 to 1 Station parameter 1 Station 1 2 Station 2 3 Station 3 4 Station 4 ctrl_axbit out Pointer to 8 byte variable 8 bytes x 1 which stores the controlling axis information bit 0 to 00000000000FFFFFh bitO Axis 1 bit gt Axis 2 bit19 Axis 20 656 Station 1 bit57 Station 2 bitb8 Station 3 bit59 Station 4 err code out Pointer to 2 byte variable 2 bytes x 1 which stores the error code of reconnection disconnection Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC ERR TIMEOUT 00 During the confirmation of response after executing the command to the O 1 to 2 Timeout location Q173SCCF t
30. Get the system status code with the sscGetSystemStatusCode function and remove the cause Point In order to make use of wait inside this function the sscDriveRapidStop function should be used If the stop complete status storage variable has not been confirmed to be SSC DRIVE FIN the rapid stop operation signal RSTP will remain ON Supported version API Ver Header file Ver 1 50 q17nscef std h Reference sscDriveStop sscDriveStopNoWait sscDriveRapidStop 4 FUNCTION DETAILS 4 9 13 sscSetDriveMode The operation mode will be switched This function is used for setting the operation mode of the axis for which the other axes start is performed by the other axes start function int sscSetDriveMode int board_id int channel int axnum int drv_mode Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 drv_mode in Operation mode 1 to 32 Operation mode Description Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure 1 to 9 Argument location A system error occurred Get the system status code with the eae CNN NT function and remove the cause SSC FUNC ERR NOW DRIVING FUNC ERR NOW DRIVING During operation operation remo
31. MITSUBISHI ELECTRIC C Controller Interface Module Controller Interface Module Qseries API Library User s Manual SAFETY PRECAUTIONS Please read these instructions before using this equipment Before using this product please read this manual and the relevant manuals introduced in this manual carefully and pay full attention to safety to handle the product correctly These precautions apply only to this product Refer to the Users manual of the QCPU module to use for a description of the PLC system safety precautions In this manual the safety instructions are ranked as DANGER and CAUTION UMS T REI 40 LE e T mi CUL s UK a E S CAMIS CI E oe Kr a TENA TOT AR RT E T N Indicates that incorrect handling may cause hazardous N D 5 R conditions resulting in death or severe injury Indicates that incorrect handling may cause hazardous N CAU T conditions resulting in medium or slight personal injury or physical damage a ee ee ee e e S a S a a a Depending on circumstances procedures indicated by CAUTION may also be linked to serious results In any case it is important to follow the directions for usage Please save this manual to make it accessible when required and always forward it to the end user For Safe Operations 1 Prevention of electric shocks NDANGER Never open the front case or term
32. SSC CMDBIT SYS 68 SSC CMDBIT SYS SMON Monitor command SSC SYS 77 SSC CMDBIT SYS SMONR Monitor latch command SSC CMDBIT SYS 78 SSC SYS 71 E SSC CMDBIT SYS 79 eserve SSC CMDBIT SYS 72 SSC CMDBIT SYS 80 Bit number constant Bit number constant SSC CMDBIT SYS LOGC SSC CMDBIT SYS RCC SSC CMDBIT SYS LOGR Reading of log data command SSC CMDBIT SYS 90 R d eserve Reseved ssc cwoar svs si Reserved SSC CMDBIT SYS OCMC _ Operation cycle monitor clear R d eserve SSC CMDBIT SYS 87 SSC CMDBIT SYS 95 SSC CMDBIT SYS 96 Reserved SSC CMDBIT SYS 88 Bit number constant DUM SSC CMDBIT SYS 104 22 omes 6 BIT DEFINITION LIST SSC SYS 133 Reserved SSC SYS 141 Reserved SSC CMDBIT SYS 134 SSC CMDBIT SYS 142 SSC CNDBIT SYS 135 SSC CNDBIT SYS 143 SSC CMDBIT SYS 136 SSC CNMDBIT SYS 144 Bit number constant Bit number constant SSC CMDBIT SYS SMPSW Sampling setting write command SSC CMDBIT SYS 153 2 CMDBIT SYS 146 SSC CNDBIT SYS 154 Sse _ CMDBIT SYS 147 Reserved SSC CNDBIT SYS 155 SSC CMDBIT SYS 148 CMDBIT SYS 148 SSC CNMDBIT SYS 156 Reserved SSC CMDBIT SYS SMPSR Sampling setting read command SSC CMDBIT SYS 157 EP YN CMDBIT SYS 150 SSC CMDBIT SYS 158 sse ever svs _ CMDBIT_SYS_151 Reserved SSC CMDBIT SYS 159 SSC CMDBIT SYS 160 Bit number constant Bit number constant u CMDBIT SYS 162 s
33. SSC STSBIT SYS 200 SSC STSBIT SYS 208 Bit number constant Bit number constant ssc stent sys zio STSBIT SYS 210 ssc stemm svs 218 STSBIT SYS 218 EX STSBIT SYS 211 EX EE STSBIT SYS 219 55 STSBIT SYS 212 STSBIT SYS 212 55 STSBIT SYS 220 STSBIT SYS 220 STSBIT_SYS_213 ssc srsBIT sys 213 reserved rer STSBIT_SYS_221 ssc srsBIT sys 221 reserved 5 5 5 214 ers STSBIT_SYS_222 EE ET STSBIT SYS 215 EX T STSBIT SYS 223 55 STSBIT SYS 216 STSBIT SYS 216 55 STSBIT SYS 224 STSBIT SYS 224 Bit number constant Bit number constant see steer sys ze STSBIT SYS 226 sys STSBIT SYS 234 SSS STSBIT_SYS_227 See _ STSBIT_SYS_235 55 SYS 28 STSBIT_SYS_228 ISSC_STSBIT_SYS 236 STSBIT_SYS_236 En SYS 229 ssc sTsBIT sys 229 served EXT STSBIT SYS 237 srsBIT sYs 257 EX Er _ STSBIT 5 5 230 EXT STSBIT SYS 238 EXE M 5 SYS 231 EXE TEM STSBIT SYS 239 55 STSBIT SYS 232 STSBIT SYS 232 55 STSBIT SYS 240 STSBIT SYS 240 me 6 BIT DEFINITION LIST 6 3 Axis command bit Bit number constant SSC_CMDBIT_AX_SON SSC CMDBIT AX 2 SSC CMDBIT AX 3 Reserved SSC CMDBIT AX 4 SSC AX TL Torque limit SSC CMDBIT AX SRST SSC CMDBIT AX 7 Reserved SSC CMDBIT AX 8 Rapid stop Reserved SSC CMDBIT AX 15 aa Reserved SSC CMDBIT AX 16 Bit number
34. board_id in Board ID number 0 channel in Channel number 1 prm_num in Sampling setting read number prm data out Pointer to 4 byte variable 4 bytes x 1 which stores the sampling setting read data Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC ERR TIMEOUT 00 During the confirmation of response after executing the command to O 1 to 2 Timeout location the Q173SCCF the timeout time 1 second has elapsed SSC FUNC ERR STS BIT SREN A value outside the range is set in the sampling setting read number SSC FUNC ERR MISMATCH SMP PARAM READ NUM The command and the status of the sampling setting read number do not correspond Point None Supported version API Ver Header file Ver 1 50 q17nscct std h Reference sscSetSamplingParameter 4 105 4 FUNCTION DETAILS 4 17 5 sscGetSamplingError The sampling error information will be got int sscGetSamplingError int board_id int channel SMP ERR pSmpErr Argument board id in Board ID number 0 to 3 channel in Channel number 1 to 2 pSmpErr out Pointer to 32 byte structure 32 bytes x 1 which stores the sampling error information Ref
35. bufdata out Pointer to 2 byte variable 2 bytes x 1 which stores the latest command buffer data Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location Point When a NULL pointer is designated as the latest command buffer data only the latest command buffer number will be got Supported version API Ver Header file Ver 1 60 q17nsccf std h Reference ssclfmGetTransmitBufferEx 4 136 4 FUNCTION DETAILS 4 21 9 ssclfmGetTransmitBuffer Transmit buffer number and transmit buffer data for position control mode will be got int ssclfmGetTransmitBuffer int board_id int channel int axnum short bufnum long bufdata Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 0 to 20 bufnum out Pointer to 2 byte variable 2 bytes x 1 which stores the transmit buffer number bufdata out Pointer to 4 byte variable 4 bytes x 1 which stores the transmit buffer data Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code
36. ms torque settle width Torque settle width 0 1 torque settle time Torque settle waiting time ms actime Continuous operation to torque control acceleration time constant ms 0 to 20000 dctime Continuous operation to torque control deceleration time constant ms 0 to 20000 condition Continuous operation to torque control operating conditions Set data in the logical sum of each value Value Description SSC PRESS START AUTO CMD Automatic switch command position Start switch to continuous operation SSC PRESS START AUTO FB a Automatic switch current feedback position to torque control condition SSC PRESS START MANUAL Manual switch SSC PRESS END AUTO Automatic switch End switch to continuous operation SSC PRESS END MANUAL to torque control condition Manual switch 5 STRUCTURE LIST Point None Supported version API Ver Header file Ver 1 60 q17nsccf std h Reference sscSetPressData sscGetPressData 5 STRUCTURE LIST 5 4 SMP_ERR structure This sampling error structure is used for the sampling typedef struct 0000h unsigned long long err char reserve1 8 unsigned long long err dat char reserve2 4 short err bit char reserve3 2 0020h SMP ERR Member Axis error information err_dat Data error information err_bit Bit error information Point None Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference sscG
37. 0 amp mondat 0 sts SSC OK i Monitoring data can be error process 1 obtained as many times as re se ea Deren necessary during the period POSS Se SSeS See ee Se RS eS mmm mmm RS sts 55 error process 1 sts sscStopMonitor bid ch 0 b Example of general monitor processing procedure for obtaining servo information operation information C Controller module Q173SCCF Starts monitoring Processes the monitoring bo a ee ye eee Gu eee ere I Example Starts the monitoring short monnum set 4 0 0200 0x0201 0x0202 0x0203 sts sscSetMonitor bid ch ax amp monnum set 0 if sts 55 OK error process lt Obtains monitoring data 3 Processes the monitoring Example short monnum get 4 mondat 4 1 sts sscGetMonitor bid ch ax amp monnum get 0 amp mondat 0 if sts SSC_OK Monitoring data be l error process 1 obtained as many times as una iiia Uca un E necessary during the period nmi i m poe Example lt Stops the monitoring gt sts sscStopMonitor bid ch ax sts SSC_OK error process 4 FUNCTION DETAILS
38. 1 second has elapsed Point The response is not confirmed after the fast start operation signal FST is turned on Supported version API Ver Header file Ver 1 50 q17nscct std h Reference sscDriveStop sscDriveStopNoWait sscDriveRapidStop sscDriveRapidStopNoWait 4 52 4 FUNCTION DETAILS EN 4 9 9 sscDriveStop The operations will be stopped After the start operation signal ST is turned off and the stop operation signal STP turned on the function will wait internally until the during operation signal OP is OFF After the during operation signal OP is confirmed to be OFF the stop operation signal STP will be turned off int sscDriveStop int board_id int channel int axnum int timeout Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 timeout in Timeout time ms 0 to 65535 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location O 1 to 2 Timeout location Q173SCCF the designated timeout time has elapsed A system error ELILILIh occurred Get the system status code with the sscGetSystemStatusCode function and remove the cau
39. 4 11 2 sscSetMonitor Starts monitoring 4 12 1 General Monitor ae sscStopMonitor Stops monitoring 4 12 2 Functions sscGetMonitor Gets monitoring data 4 12 3 sscGetCurrentCmdPositionFast Gets the current command position High speed monitor function 4 13 1 sscGetCurrentFbPositionFast Gets the current feedback position High speed monitor function 4 13 2 High Speed sscGetloStatusFast Gets the external signal status High speed monitor function 4 13 3 Monitor sscGetCmdSpeedFast Gets the moving speed High speed monitor function 4 13 4 Functions sscGetFbSpeedFast Gets the feedback moving speed High speed monitor function 4 13 5 sscGetCurrentFbFast Gets the current feedback High speed monitor function 4 13 6 sscChangeManualDecTime sscGetPositionDroopFast Gets the position droop High speed monitor function 4 13 7 sscWdEnable Enables the user watchdog function 4 14 1 Functions sscChangeWdCounter Updates the watchdog counter 4 14 3 sscCheckPCleBusConnection Checks the connection status of the PCle bus 4 14 4 sscSetOtherAxisStartData Sets the data for starting other axes 4 15 1 TM sscGetOtherAxisStartData Gets the data for starting other axes 4 15 2 er Axes sscOtherAxisStartAbortOn Turns the other axes start cancel signal to ON 4 15 3 Start Functions sscOtherAxisStartAbortOff Turns the other axes start cancel signal to OFF 4 15 4 sscGetOtherAxisStartStatus Gets the other axes start status 4 15 5 User Watchdog sscWd
40. 4 17 2 nnne t nnt snnt nnns einen ennt nnns nnne 4 103 4 17 3 sscSetSamplingParameter essent enne 4 104 4 17 4 sscGetSamplingParameter a iaia iiA enne 4 105 4 17 5 sscGetoamlpling EIror 525 op aene eee mete e dean edt eie e exea 4 106 4 17 6 sscGetSamplingStatus essen eene 4 107 4 17 7 sscGetSampling Data 2 2 nennen ee nee 4 108 419 oce e nte teg te teh ciiin 4 109 4 18 1 sscStartl og acean a eei e i d sce t e e s eb 4 109 4 18 2 SSCSLOPLOG niea eme eni oth ite nen iq th dte indi bae da d Ed 4 110 4 18 3 8scCheckLogSt atus eie een ei anb d ped ni dun 4 111 4 18 4 rina itera 4 112 4 18 5 5scReadLogDalta d ru een een 4 113 4 18 6 sscClearbogData 3 ren cete Rei ni hierin 4 114 4 18 7 nnne nre nnne nre 4 115 4 18 8 21 2 nennen eren 4 116 4 18 9 sscClearAlarmHistoryData esses eene rennen rennen 4 117 4 19 Digital input output 4 nennen nennen nemen entren te etre 4 11
41. 4 7 5 4 39 4 7 6 sscoetLatestPointNur bet een erem ret epi ate a e epe 4 40 4 8 Continuous operation to torque control data functions 4 4 41 4 6 1 sscSetPressData oo ep euren 4 41 4 8 2 SscGetPressDala uet te tette eite eee os 4 42 4 9 Operating TUhctiors iae ena he e onam aeu eedem 4 43 4 9 SSCIOG eie qe Rio dn a t PEE 4 43 49 2 SSCIOG SOPs one senden audite R uad 4 45 4 9 3 sscJogStopNoWalit ae aa e n b ida de Han nina 4 46 4 9 4 8Scln CS tar eet dot AT oe det ae aede 4 47 4 9 5 gt 56 4 49 4 9 6 sscklomeRet iriStart tue dtes ade eh 4 50 sscEinearostart 4 51 4 9 8 5s5cDatasSetStart ud a t giat nte ena 4 52 4 9 9 SSEDIVESIOR rn m rae fme tea ice ette tto or 4 53 4 9 10 sscDriveStopNoWait 1 1 02 00000000 1 000000 nennen nnne tnnt nmn tnnt etr s nnns innen nsns 4 54 4 9 11556 51 nennen nennen nmn terrre nenne tenni nter snnt 4 55 4 9 12 sscDriveRapidStopNoW ait sese eene nnne 4 56 4 9 13 sscoetDriveMOdS adim em ate
42. 5 2 Deceleration check system Smoothing stop SSC_SUBCMD_STOP_CONTINUE Continue operation SSC_SUBCMD_PNT_SWITCH_AFTER Speed switching point After point switching SSC SUBCMD PNT SWITCH BEFORE specification Before point switching SSC SUBCMD DWELL Er Dwell specification SSC_SUBCMD_PREDWELL Predwell SSC SUBCMD PASS POS DISABLE Pass position interrupt SSC SUBCMD PASS POS ENABLE specification SSC SUBCMD PRESS DISABLE Continuous operation to torque 55 SUBCMD PRESS ENABLE control specification Enable SSC SUBCMD PNT LOOP DISABLE Disable SSC SUBCMD PNT LOOP START Loop specification Loop start point SSC SUBCMD PNT LOOP END Loop end point oas num 2 Other axes start specification 0 to 32 S curve S curve ratio 0 to 100 Point None Supported version API Ver Header file Ver 1 80 q17nscct std h Reference sscSetPointDataEx sscCheckPointDataEx 5 STRUCTURE LIST 5 2 OAS_DATA structure This other axis start data structure is used for the other axes start typedef struct 0000h unsigned long opt_own unsigned long opt_observ long data_own long data_observ 0010h char 1 8 unsigned long long st axbit 0020h unsigned short st pnt s unsigned short st pnt e char reserve2 12 0030h char reserve3 40 unsigned char dout unsigned char dout_num unsigned short dout ctribit unsigned short dout_data char reserve4 10 0068h
43. API Call the errnoGet function of VxWorks API and confirm the error details 00022014h SSC_FUNC_ERR_WAIT_EVENT An error occurred in the semTake function VxWorks API Call the errnoGet function of VxWorks API and confirm the error details 00022020h SSC_FUNC_ERR_CREATE_THREAD An error occurred in the taskSpawn function VxWorks API Call the errnoGet function of VxWorks API and confirm the error details 00022021h SSC_FUNC_ERR_DELETE_THREAD An error occurred in the taskDelete function VxWorks API Call the errnoGet function of VxWorks API and confirm the error details 00022022h SSC_FUNC_ERR_THREAD_PRIORITY An error occurred in the taskPrioritySet function VxWorks API Call the errnoGet function of VxWorks API and confirm the error details 00022023h SSC_FUNC_ERR_RESUME_THREAD An error occurred in the taskResume function VxWorks API Call the errnoGet function of VxWorks API and confirm the error details 00026000h SSC_FUNC_ERR_GET_BASE_ADDRESS An error occurred in the pciConfigInLong function get base address Call the errnoGet function of VXWorks API and confirm the error details 00026001h SSC FUNC ERR GET INTERRUPT LINE An error occurred in the pciConfigInByte function get interrupt line Call the errnoGet function of VxWorks API and confirm the error details 00026002h SSC FUNC ERR PCI INT CONNECT An error occurred in the pcilntConnect function Call the errnoGet function of VxWorks API and confirm the e
44. An example of general monitor processing procedure for obtaining operation information double word is below C Controller module Q173SCCF E lt Starts monitoring gt 3 Processes the monitoring VENEN NEE le ee ee M Example Starts the monitoring gt short monnum set 4 0x1300 0x0000 0x1302 0x0000 sts sscSetMonitor bid ch amp monnum_set 0 if sts 55 error process Example short monnum_get 4 mondat 4 sts sscGetMonitor bid ch ax amp monnum get 0 amp mondat 0 sts SSC OK Monitoring data can be error process 1 obtained as many times as jc auus c eee uu uu necessary during the period lt Stops monitoring gt Processes the monitoring Stops the monitoring sts sscStopMonitor bid ch ax if sts SSC OK error process xe RE MENT a ng 4 FUNCTION DETAILS 4 12 1 sscSetMonitor The monitor will be started After setting 4 monitor numbers during axis monitoring and 2 monitor numbers during system monitoring monitoring will begin by turning the monitor command signal MON ON and the monitor output signal MOUT will be confirmed to be on I
45. Argument board id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 position in Amount of incremental feed movement after change command unit 2147483647 to 2147483647 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR MISMATCH DRIVE MODE The operation mode is other than the Incremental feed A system error ELTLILIh occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause SSC ERR TIMEOUT 00 During the confirmation of response after executing the command to the O 1 to 2 Timeout location Q173SCCF the timeout time 1 second has elapsed SSC FUNC ERR STS BIT PCE The position change error signal PCE turned on SSC FUNC ERR CHG POS DIR The movement direction differs between before and after the position change Point None Supported version API Ver Header file Ver 1 50 q17nscef std h Reference sscChangeManualSpeed sscChangeManualAccTime sscChangeManualDecTime 4 FUNCTION DETAILS 4 10 2 sscChangeAutoPosition The automatic operation position will be changed The position change signal PCHG will be turned
46. Call the errnoGet function of VxWorks API and confirm the error details event factor was being confirmed interrupt for the designated event factor was being confirmed designated timeout time elapsed SSC FUNC ERR SET HOST APPLICATION EVENT While the interrupt for the designated event factor was being waited a function which releases the standby status was called from the user program 4 162 4 FUNCTION DETAILS Point When SSC INFINITE is designated as the timeout time timeout is not checked Instead this function infinitely waits until the interrupt event turns on or off Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference sscResetlIntPassPosition sscSetIntPassPosition 4 163 4 FUNCTION DETAILS 4 22 16 sscResetlntDriveFin Operation completion interrupt event status will be nonsignaled This function is used if operation completion interrupt event occurring prior to calling up the sscWaitlntDriveFin function are to be disabled int sscResetIntDriveFin int board id int channel int axnum Argument board id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR A
47. DRIVING READY During operation startup preparation until the Q173SCCF receives the signal after the start operation is requested sscGetAlarm function and remove the cause the sscGetAlarm function and remove the cause 00060040h SSC FUNC ERR MISMATCH DRIVE MODE The operation mode is other than the designated operation mode Example sscChangeManualPosition is called during the automatic operation mode 00060041h SSC FUNC ERR CHG POS DIR The movement direction differs between before and after the position change 00060060h SSC FUNC ERR STS BIT PCE The position change error signal PCE turned on 00060070h SSC FUNC ERR STS BIT SCE The speed change error signal SCE turned on 00060080h The acceleration time constant change error signal TACE turned on 00060090h The deceleration time constant change error signal TDCE turned ON 000600A0h SSC FUNC ERR POINT NUMBER OVER Designated point number point number offset value exceeded the point table range 000600A1h SSC FUNC ERR STS BIT CTLMCE The control mode switch error signal CLTMCE turned ON 8 LIST OF DETAILED ERROR CODES 7 Sampling functions error Constant definition 00061010h SSC_FUNC_ERR_ALREADY_START_SAMPLING The sampling start signal SMPS is ON Stop the sampling with the sscStopSampling function 00061011h SSC FUNC ERR ALREADY STOP SAMPLING The sampling has already stopped 00061020h SSC FUNC ERR STS BIT SREN A value outside the range is set in the
48. O 1 to 9 Argument location Point The Q173SCCF High speed monitor function is used to get the moving speed Supported version API Ver Header file Ver 1 50 q17nscct std h Reference sscGetFbSpeedFast 4 FUNCTION DETAILS 4 13 5 sscGetFbSpeedFast The feedback moving speed will be got int sscGetFbSpeedFast int board_id int channel int axnum long speed Argument board id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to20 speed out Pointer to 4 byte variable 4 bytes x 1 which stores the feedback moving speed Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location Point The Q173SCCF High speed monitor function is used to get the feedback moving speed Supported version API Ver Header file Ver 1 50 q17nscct std h Reference sscGetCmdSpeedFast 4 FUNCTION DETAILS 4 13 6 sscGetCurrentFbFast The current feedback will be got int sscGetCurrentFbFast int board_id int channel int axnum short currentFb Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 currentFb out Pointer to 2
49. ON SSC FUNC ERR STS BIT ZSE The home position set error ZSE occurred Point None 4 129 4 FUNCTION DETAILS Supported version API Ver Header file 1 50 q17nscef std h Reference None 4 130 4 FUNCTION DETAILS 4 21 3 ssclfmGetMaximumBufferNumber The maximum buffer number for position control mode will be got int ssclfmGetMaximumBufferNumber int board_id int channel int axnum short bufnum Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 0 to 20 bufnum out Pointer to 2 byte variable 2 bytes x 1 which stores the maximum buffer number Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location Point For API Ver 1 60 or later use the ssclfmGetMaximumBufferNumberEx function Supported version API Ver Header file Ver 1 50 q17nscct std h Reference None 4 131 4 FUNCTION DETAILS 4 21 4 ssclfmGetMaximumBufferNumberEx The maximum buffer number for the designated control mode will be got int ssclfmGetMaximumBufferNumberEx int board_id int channel int axnum unsigned short ctrl mode short bufnum
50. Point Check the got checksum with a user program Supported version API Ver Header file Ver 1 50 q17nscef std h Reference sscClearAlarmHistoryData 4 115 4 FUNCTION DETAILS 4 18 8 sscCheckAlarmHistoryEventNum The number of valid alarm history data events recorded in the alarm history data will be got int sscCheckAlarmHistoryEventNum int board_id int channel int eventnum board_id in Board ID number 0 channel in Channel number 1 eventnum out Pointer to 4 byte variable 4 bytes x 1 which stores the number of valid alarm history data events Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Cause countermeasure SSC FUNC ERR UNSUPPORT ALH Alarm history function is not supported SSC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 50 q17nscct std h Reference None 4 116 4 FUNCTION DETAILS 4 18 9 sscClearAlarmHistoryData Clears initializes alarm history data int sscClearAlarmHistoryData int board_id int channel Argument board_id in Board ID number 0 channel in Channel number 1 Return value SSC_OK Function succeeded
51. Point check of the set other axes start data contents will not be performed Supported version API Ver Header file Ver 1 50 q17nscef std h Reference sscGetOtherAxisStartData 4 FUNCTION DETAILS 4 15 2 sscGetOtherAxisStartData The other axes start table data will be got int sscGetOtherAxisStartData int board_id int channel int oas_num OAS DATA pOasData Argument board id in Board ID number 0 channel in Channel number 1 oas num in Other axes start table number 1 to 20 pOasData out Pointer to 104 byte structure 104 bytes x 1 which stores the other axes start data Refer to 5 2 OAS DATA structure for the other axes start data structure Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference sscSetOtherAxisStartData 4 FUNCTION DETAILS 4 15 3 sscOtherAxisStartAbortOn The other axes start cancel signal OSSTPLI will be turned on and the other axes start will be canceled int sscOtherAxisStartAbortOn int board id int channel int oas num Argument board id in Board ID
52. Repair Term after Discontinuation of Production 1 We may accept the repair at charge for another seven 7 years after the production of the product is discontinued The announcement of the stop of production for each model can be seen in our Sales and Service etc 2 Please note that the Product including its spare parts cannot be ordered after its stop of production 3 Service in overseas countries Our regional FA Center in overseas countries will accept the repair work of the Product However the terms and conditions of the repair work may differ depending on each FA Center Please ask your local FA center for details 4 Exclusion of Loss in Opportunity and Secondary Loss from Warranty Liability Whether under or after the term of warranty we assume no responsibility for any damages arisen from causes for which we are not responsible any losses of opportunity and or profit incurred by you due to a failure of the Product any damages secondary damages or compensation for accidents arisen under a specific circumstance that are foreseen or unforeseen by our company any damages to products other than the Product and also compensation for any replacement work readjustment start up test run of local machines and the Product and any other operations conducted by you 5 Change of Product specifications Specifications listed in our catalogs manuals or technical documents may be changed without notice 6 Precautions for Choosing the Produc
53. SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure 1 to 9 Argument location A system error ELTLILIh occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause SSC ERR TIMEOUT 00 An alarm which cannot be reset occurred Take proper countermeasures after O 1 to 2 Timeout location confirming the cause of the alarm SSC FUNC ERR ARGUMENT MISMATCH The axis number and the alarm type do not correspond Example When 0 is set to the axis number and SSC ALARM OPERATION is set to the alarm type etc Point None 4 FUNCTION DETAILS Supported version API Ver Header file Ver 1 80 q17nscct std h Reference sscGetAlarm 4 FUNCTION DETAILS 4 12 General monitor functions 1 Processing procedure a Example of general monitor processing procedure for obtaining system information C Controller module Q173SCCF Starts monitoring Processes the monitoring Example lt _ lt Starts the monitoring gt short monnum set 2 0x0401 0x0402 Y 1 sts sscSetMonitor bid ch 0 amp monnum set 0 if sts I SSC OK fF error process Example short monnum_get 2 mondat 2 sts sscGetMonitor bid ch 0 amp monnum get
54. SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Cause countermeasure SSC_FUNC_ERR_UNSUPPORT_ALH Alarm history function is not supported The argument is outside the set range O 1 to 9 Argument location SSC FUNC ERR TIMEOUT 00 During the confirmation of response after executing the command to the O 1 to 2 Timeout location Q173SCCF the timeout time 2 seconds has elapsed The alarm history initialization error signal ALHIE is turned on Point As there is a restriction on the number of times for writing to the Q173SCCF flash ROM keep calls of the alarm history initialize function to the minimum amount necessary Supported version API Ver Header file Ver 1 50 q17nscct std h Reference sscGetAlarmHistoryData 4 117 4 FUNCTION DETAILS 4 19 Digital input output functions 4 19 1 sscGetDigitallnputDataBit The DI data of the designated digital input will be got in 1 point basis int sscGetDigitallnputDataBit int board_id int channel int din_num int din Argument board id in Board ID number 0 channel in Channel number 1 din num in Digital input number 0 to 1023 din out Pointer to 4 byte variable 4 bytes x 1 which stores the DI data status of the digital input SSC BIT OFF Input signal OFF SSC BIT ON Input signal ON Return value SSC O
55. UT 31 ssc srsBT Ur 24 ssc_stssiT_uT 32 SSC STSBIT UT MRCH Monitor latch SSC STSBIT UT 42 SSC STSBIT UT PWFIN2 Parameter write complete 2 SSC STSBIT UT 61 SSC STSBIT UT PWEN2 Parameter number error 2 SSC STSBIT UT 62 Reserved SSC STSBIT UT PWED2 Parameter data out of bounds 2 SSC STSBIT UT 63 SSC STSBIT UT 56 SSC STSBIT UT 64 6 BIT DEFINITION LIST Bit number constant Signal name SSC_STSBIT_UT_65 SSC STSBIT UT 66 SSC STSBIT UT 67 SSC STSBIT UT 68 SSC STSBIT UT 69 SSC STSBIT UT 70 SSC STSBIT UT 71 SSC STSBIT UT 72 Reserved Bit number constant Signal name SSC STSBIT UT 81 SSC STSBIT UT 82 SSC STSBIT UT 83 SSC STSBIT UT 84 SSC STSBIT UT 85 Reserved SSC STSBIT UT 86 SSC STSBIT UT 87 SSC STSBIT UT 88 Bit number constant Signal name SSC STSBIT UT 97 SSC STSBIT UT 98 SSC STSBIT UT 99 SSC STSBIT UT 100 SSC STSBIT UT 101 SSC STSBIT UT 102 SSC STSBIT UT 103 SSC STSBIT UT 104 Bit number constant Signal name SSC STSBIT UT 113 SSC STSBIT UT 114 SSC STSBIT UT 115 SSC STSBIT UT 116 SSC STSBIT UT 117 SSC STSBIT UT 118 SSC STSBIT UT 119 SSC STSBIT UT 120 Reserved Reserved SSC STSBIT UT 77 SSC STSBIT UT 78 SSC STSBIT UT 89 SSC STSBIT UT 105 Reserved Reserved 7 INTERRUPT EVENT FACTOR LIST 7 INTERRUPT EVENT FACTOR LIST The following lists the interrupt event factors 1 System interrupt Event factor SSC_I
56. alarm will be returned after the stop is completed In this case event waiting will use the semTake function VxWorks API stop operation signal STP is input during operation the status will be Completion of operation after the stop is completed If the operation completion type is Completion of operation by rough match the status will be Completion of operation when the rough match signal CPO is ON in automatic operation mode or linear interpolation mode The rough match signal is only output during automatic operation mode and linear interpolation mode Therefore if a completion of operation check is performed when operating in a mode other than automatic operation mode or linear interpolation mode the operation completion type should be other than Completion of operation by rough match The following interrupt conditions are used for this function When using this function make sure to set an applicable interrupt condition by sscChange2Parameter INP In position Unnecessary when the operation completion type Completion of operation during in position stop is not used SALM Servo alarm CPO Rough match Unnecessary when the operation completion type Completion of operation by rough match is not used OALM Operation alarm OPF Completion of operation SYSE System error Unnecessary when the operation completion type Completion of operation during in position is not used Set neces
57. and remove the cause Point When a value 10 seconds 10000ms or less is designated as the timeout time the timeout will be 10 seconds 10000ms Reboot when restarting the system Supported version API Ver Header file Ver 1 50 q17nscct std h Reference None 4 FUNCTION DETAILS 4 5 3 sscGetSystemStatusCode The system status code will be got int sscGetSystemStatusCode int board_id int channel short statuscode Argument board_id in Board ID number 0 channel in Channel number 1 statuscode out Pointer to 2 byte variable 2 bytes x 1 which stores the system status code SSC STS CODE READY FIN System preparation completion SSC STS CODE RUNNING System running Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error codes Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location Point For the system status codes other than System preparation completion and System running refer to Q173SCCF C Controller Interface Module User s Manual Details Supported version API Ver Header file 1 50 q17nscct std h Reference None 4 FUNCTION DETAILS 4 5 4 sscReconnectSSCNET SSCNET communication with the non communicating axes designa
58. board_id int channel int axnum PRESS DATA pPressData Argument board id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 pPressData in Pointer to 32 byte structure 32 bytes x 1 which stores the continuous operation to torque control data Refer to 5 3 PRESS DATA structure for the continuous operation to torque control data structure Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location Point check of the set continuous operation to torque control data contents will not be performed Supported version API Ver Header file Ver 1 60 q17nsccf std h Reference sscGetPressData 4 FUNCTION DETAILS 4 8 2 sscGetPressData The continuous operation to torque control data will be got int sscGetPressData int board_id int channel int axnum PRESS DATA pPressData Argument board id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 pPressData out Pointer to 32 byte structure 32 bytes x 1 which stores the continuous operation to torque control data Refer to 5 3 PRESS DATA structure for the continuous operation to to
59. byte array 1 byte x 2 which stores the parameter got statuses for 2 statuses The got data is set in the logical sum of each value SSC_BIT_PRFIN Parameter read complete SSC_BIT_PREN Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure 1 to 9 Argument location 1 to 2 Timeout location Q173SCCF the timeout time 1 second has elapsed A system error occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause SSC FUNC ERR STS A parameter read error occurred O 1 to 2 Array number of the parameter read numbers for A value outside the range is set in the parameter read number 2 numbers The axis number and the parameter read number do not correspond Example When System parameter is set to the axis number and Axis parameter is set to the parameter read number etc SSC ERR MISMATCH PARAM The command and the status of the parameter read number do not O 1 to 2 Array number of the parameter read numbers for correspond 2 numbers 4 FUNCTION DETAILS Point This function can read the parameters either before or while the system is running To read only 1 parameter set 0 in the other p
60. created by the user that operates on the C Controller module System program Internal program that controls the Q173SCCF Product name for the real time OS made by Wind River Systems High speed synchronized network between the Q17SCCF and the servo SSCNETII H Note amplifier Note SSCNET Servo System Controller NETwork 1 SUMMARY 1 Functional limitation depending on software version Available functions are limited depending on the software version of the Q173SCCF library Function Item name API Ver Change details Servo parameter change number Ver 1 60 The function is added Speed torque control m 1 60 4 The function is added interface mode only Addition of position droop to high speed monitor a 2 1 60 4 function is added interface mode only Mark detection function compatible Ver 1 60 The function is added Continuous operation to torque control compatible 2 BR Ver 1 60 5 The function is added automatic operation in standard mode only Berne VO mode compatible Estenstn of aris numbers _ device compatible Ver 1 80 Tro neon 2 CONDITIONS FOR USE 2 CONDITIONS FOR USE The following conditions when using these API functions apply 1 These API functions run in the following environment C Controller module Q24DHCCPU V Operating system VxWorks 6 8 1 CW Work
61. long distance long speed short actime short dctime Argument board id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 distance in Amount of incremental feed movement command unit 2147483647 to 2147483647 speed in Manual feed speed speed unit 0 to 2147483647 actime in Manual feed speed acceleration time constant ms 0 to 20000 dctime in Manual feed speed deceleration time constant ms 0 to 20000 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure 1 to 9 Argument location after the start operation is requested SSC FUNC ERR NOW DRIVING During operation SSC FUNC ERR NOW ALARM SYSTEM A system error occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause remove the cause and remove the cause SSC FUNC ERR TIMEOUT 01 During the confirmation of response after executing the command to the Q173SCCF the timeout time 1 second has elapsed 4 FUNCTION DETAILS Point If a positive value is designated for the movement distance movement will be in the direction and if a negative value is designated movement will be in the direction The response is not confirmed after the fast start
62. of response after executing the command to the O 1 to 2 Timeout location Q173SCCF the timeout time 1 second has elapsed Point None Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference sscReadLogData 4 114 4 FUNCTION DETAILS 4 18 7 sscGetAlarmHistoryData 4 events of alarm history data will be read int sscGetAlarmHistoryData int board_id int channel int pagenum ALH DATA pAlhData Argument board id in Board ID number 0 channel in Channel number 1 pagenum in Alarm history data read page number 1 to 512 pAlhData out Pointer to 256 byte structure 64 bytes x 4 which stores the alarm history data Refer to 5 7 ALH DATA structure for the alarm history data information structure Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Cause countermeasure SSC_FUNC_ERR_UNSUPPORT_ALH Alarm history function is not supported SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location SC FUNC ERR TIMEOUT 0 During the confirmation of response after executing the command to the 1 to 2 Timeout location Q173SCCF the timeout time 1 second has elapsed SSC FUNC ERR STS BIT ALHRE The alarm history read error signal ALHRE is turned on
63. on and the completion of preparation for changing position signal PCF or the position change error signal PCE will be confirmed to be on int sscChangeAutoPosition int board_id int channel int axnum int pntnum long position Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 pntnum in Point number 0 to 319 position in Position data after change Command unit Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location SSC_FUNC_ERR_MISMATCH_DRIVE_MODE The operation mode is other than the Automatic operation SSC FUNC ERR POINT NUMBER OVER Designated point number point number offset value exceeded the point table range SSC FUNC ERR NOW ALARM SYSTEM A system error ELTLILIh occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause SSC FUNC ERR TIMEOUT 00 During the confirmation of response after executing the command to the 1 to 2 Timeout location Q173SCCF the timeout time 1 4 has elapsed SSC_FUNC_ERR_STS_BIT_PCE Point None Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference s
64. operation signal FST is turned on Supported version API Ver Header file Ver 1 50 q17nscef std h Reference sscDriveStop sscDriveStopNoWait sscDriveRapidStop sscDriveRapidStopNoWait 4 FUNCTION DETAILS 4 9 5 sscAutoStart Automatic operation will be started After performing the necessary settings for operation and changing to automatic operation mode the fast start operation signal FST will be turned on int sscAutoStart int board_id int channel int axnum int point_s int point_e Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 point_s in Start point number 0 to 319 point_e in End point number 0 to 319 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure 1 to 9 Argument location During operation startup preparation until the Q173SCCF receives the signal after the start operation is requested SSC FUNC ERR NOW DRIVING During operation A system error ELTLILIh occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause A servo alarm is occurring Get the alarm No with the sscGetAlarm function and remove the cause and remove the cause During the confirmation of response
65. sampling setting read number 00061021h SSC FUNC ERR MISMATCH SMP PARAM READ NUM The command and the status of the sampling setting read number do not correspond write number write data write number do not correspond 00061025h SSC FUNC ERR MISMATCH SMP PARAM WRITE DATA The command and the status of the sampling write data do not correspond 8 Log functions error Constant definition 00062000h SSC FUNC ERR NOW LOGGING The log operation being performed signal LOGO is ON Stop the logging with the sscStopLog function 00062001h SSC FUNC ERR STS BIT LOGRE The 7 of log data error signal LOGRE is turned 00062002h SSC_FUNC_ERR_STS_BIT_LOGIE The me data initialization error signal LOGIE is turned ON 00062003h SSC FUNC ERR ALREADY START LOG The log command LOGC is ON Stop the logging with the sscStopLog function 00062004h SSC FUNC ERR ALREADY STOP LOG Logging has already been stopped 00062005h SSC FUNC ERR UNSUPPORT ALH Alarm history function is not supported 00062006h SSC FUNC ERR STS BIT ALHRE Alarm history read error signal ALHRE turned ON 00062007h SSC FUNC ERR STS BIT ALHIE Alarm history initialization error signal ALHIE turned ON 8 LIST OF DETAILED ERROR CODES 9 Interrupt functions error Constant definition 10000100h SSC FUNC ERR ALREADY START INT DRIVER The interrupt driver has already been started up 10000101h SSC FUNC ERR ALREADY END INT DRIVER The interrupt driver has already bee
66. servo motor shaft Doing so may lead to shaft breakage When not using the module for a long time disconnect the power line from the module or servo amplifier Place the module and servo amplifier in static electricity preventing vinyl bags and store When storing for a long time please contact with our sales representative Also execute a trial operation When fumigants that contain halogen materials such as fluorine chlorine bromine and iodine are used for disinfecting and protecting wooden packaging from insects they cause malfunction when entering our products Please take necessary precautions to ensure that remaining materials from fumigant do not enter our products or treat packaging with methods other than fumigation heat method Additionally disinfect and protect wood from insects before packing products 4 Wiring Z CAUTION Correctly and securely wire the wires Reconfirm the connections for mistakes and the terminal screws for tightness after wiring Failing to do so may lead to run away of the servo motor After wiring install the protective covers such as the terminal covers to the original positions Do not install a phase advancing capacitor surge absorber or radio noise filter option FR BIF on the output side of the servo amplifier Correctly connect the output side terminal U V W and ground Incorrect connections will lead the servo motor to operate abnormally Do not connect a c
67. set range 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference sscGetDriverVersion 4 FUNCTION DETAILS 4 3 3 sscGetDriverVersion The driver version information will be got int sscGetDriverVersion int board_id int channel int axnum char version Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 version out Pointer to 16 byte array 1 byte x 16 which stores the drive version information Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 50 q17nscct std h Reference sscGetBoardVersion 4 FUNCTION DETAILS 4 3 4 sscGetOperationCycleMonitor The operation cycle monitor data will be got int sscGetOperationCycleMonitor int board_id int channel short now short max short over char status Argument board_id in Board ID number 0 channel in Channel number 1 now out Pointer to 2 byte variable which stores the operation cycle current time max out Pointer to 2 byte variable which s
68. sscOpen function 4 158 4 FUNCTION DETAILS Detailed error code Value Cause countermeasure SSC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR NOT START INT DRIVER The interrupt driver is closed Call the sscIntStart function SSC FUNC ERR WAIT EVENT An error occurred in the semTake function VxWorks API Call the errnoGet function of VxWorks API and confirm the error details SSC FUNC ERR TERMINATE INT DRIVER The sscintEnd function was called while the interrupt for the designated event factor was being confirmed SSC FUNC ERR TERMINATE NOTIFY EVENT An error occurred in the interrupt event notification thread while the interrupt for the designated event factor was being confirmed SSC FUNC ERR TIMEOUT 01 While the interrupt for the designated event factor was being waited the designated timeout time elapsed SSC FUNC ERR SET HOST APPLICATION EVENT While the interrupt for the designated event factor was being waited a function which releases the standby status was called from the user program Point When the other axes start complete or the other axes start incomplete occurs during other axes start notice wait this function returns from the standby status When an alarm occurs in the axis of other axes start before the other axes start notice Other axes start notice prior error occurs The following interrupt conditions are used for th
69. value outside the range is set in the parameter write 00040023h 1 to 2 Array number of the parameter write data for 2 data data 00040024h SSC FUNC ERR MISMATCH PARAM WRITE The command and the status of the parameter write 00040025h O 1 to 2 Array number of the parameter write numbers for 2 number do not correspond numbers 00040026h SSC FUNC ERR MISMATCH WRITE DATAL The command and the status of the parameter write 00040027h 1 to 2 Array number of the parameter write data for 2 data data do not correspond 8 LIST OF DETAILED ERROR CODES 5 Monitor functions error Constant definition 00050000h SSC_FUNC_ERR_STS_BIT_MERO A monitor number error occurred 00050001h 1 to 4 Array number of the monitor numbers for 4 gt A value outside the range is set in the monitor number 00050002h numbers axis number and the monitor number do not 00050003h correspond Example When System monitor is set to the axis number and Axis monitor is set to the monitor number etc when a servo amplifier was not connected 00050012h SSC FUNC ERR MONITOR 2READ The acquisition of the monitor data failed because of the occurrence of the deviation of the update timing of the lower and upper monitor data Call the sscGetMonitor function again 6 Axis functions error Constant definition 00060010h _ SSC FUNC ERR NOW DRIVING During operation 0006001 1h SSC FUNC ERR NOW
70. 0041h SSC FUNC ERR STS BIT FRNG The flash ROM transfer preparation error FRNG occurred The flash ROM transfer error FSNG occurred 00030062h SSC FUNC ERR STS BIT IFMO Q173SCCF is in interface mode When changing control mode in interface mode use the ssclfmSetControlMode function 4 Parameter functions error Constant definition 00040000h SSC FUNC ERR STS A parameter read error occurred 00040001h 1 to 2 Array number of the parameter read numbers for 2 value outside the range is set in the parameter read numbers number The axis number and the parameter read number do not correspond Example When System parameter is set to the axis number and Axis parameter is set to the parameter read number etc 00040002h SSC FUNC ERR MISMATCH PARAM READ The command and the status of the parameter read 00040003h O 1 to 2 Array number of the parameter read numbers for 2 number do not correspond numbers 00040020h SSC FUNC ERR STS A parameter write number error occurred 00040021h O 1 to 2 Array number of the parameter write numbers for 2 value outside the range is set in the parameter write numbers number The axis number and the parameter write number do not correspond Example When System parameter is set to the axis number and Axis parameter is set to the parameter write number etc 00040022h SSC FUNC ERR STS PWEDLI A
71. 11 Interface mode functions error Constant definition 000D0000h 55 FUNC ERR INP OFF In position signal is OFF When setting Does not wait until the in position signal is ON during in position signal check mode call the ssclfmSetHomePosition function when the in position signal is ON 000D0001h SSC FUNC ERR STS BIT ZSE The home position set error ZSE occurred 000D0002h SSC FUNC ERR IFM CMD BUF FULL There is no free space in the position command buffer After checking that the Q173SCCF transmit buffer number has been renewed call the ssclfmRenewLatestBuffer function or ssclfmRenewLatestBufferEx function 000DO003h 55 FUNC ERR DISABLE EVENT DETECT Event detect function is not enabled 8 LIST OF DETAILED ERROR CODES 12 I O device functions error Constant definition 000E0000h SSC FUNC ERR DVI TABLE RANGE OVER The word num word cnt designated by the argument exceeds the size of the input device table 000E0001h SSC FUNC ERR DVO TABLE RANGE OVER The word num word cnt designated by the argument exceeds the size of the output device table 13 Transient transmit functions error Constant definition 000E1000h 55 FUNC ERR NOW TRANSIENT PROCESSING Transient processing 000E1001h SSC FUNC ERR TRANSIENT INVALID DATA Transient data is invalid 8 LIST OF DETAILED ERROR CODES MEMO WARRANTY Please confirm the following product warranty details before using this product 1 Gra
72. 2 byte variable 2 bytes x 1 which stores the control mode status out Pointer to 1 byte variable 1 byte x 1 which stores the control mode switch incorrect status Operation mode SSC IFM CTRL MODE ERR OFF Control mode switch incorrect is OFF SSC IFM CTRL MODE ERR ON Control mode switch incorrect is ON Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location Point When control mode switch in incorrect set the control mode to the control mode before the switch command was made and call the ssclfmSetControlMode function Supported version API Ver Header file Ver 1 60 q17nsccf std h Reference ssclfmSetControlMode 4 141 4 FUNCTION DETAILS 4 21 14 ssclfmGetEventStatusBits Gets the status bit information of all axes for the designated status signal using the event detect function int ssclfmGetEventStatusBits int board_id int channel int bitnum unsigned long status bits Argument board_id in Board ID number 0 channel in Channel number 1 bitnum in Status bit number Operation alarm status_bits out Pointer to 4 byte variable 4 bytes x 1 which stores the status bit data
73. 4 22 5 sscRegisterlntCallback The interrupt callback function will be registered The registered function will be called back from the interrupt driver started by the ssclntStart function when an interrupt occurs int sscRegisterIntCallback int board_id int channel void cbfunc Argument board_id in Board ID number 0 channel in Channel number 1 cbfunc in Callback function pointer Refer to 5 8 INT_CB_DATA structure for the callback structure Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location SSC_FUNC_ERR_ALREADY_REREGISTER_CALLBACK The interrupt callback function has already been registered To change the interrupt callback function call the sscUnregisterIntCallback function Point When using the C language write the stdcall declaration for the callback function The update processing of the interrupt factor by the interrupt process end signal ITE and the outputting with factor of interrupt signal ITO is unnecessary in the callback function The callback function is called back from the interrupt driver therefore write a minimum code without the infinite waiting processing callback func
74. 4 57 4 9 14 sscGetDriveMode ccccceeccceenceeeeeeeeeeeeeceeceaeeceaeeceaeeseaeeecaceesaeeseaeeseaeeeeaaeesaeeseaeessaeseaeeseueeeeaneesaas 4 59 4 9 15 sscGetDriveFinStatus rtt eene ernennen 4 60 4 9 16 sscChangeControlMode 4 62 4 10 Change functions niin niacin nda ca i aid d Ld so n ice Hd d LU LL I sd i a i da iC cale 4 63 4 10 1 sscChangeManualPosition AEAEE EER 4 63 4 10 2 sscChangeAutoPosition eese nee tenent 4 64 4 10 3 sscChangeLinearPosition ccecceeccceecceecceecceeceneccneceneccneceneacneceneeenecensceneceneaeseceneaeneceneaenecseceneeates 4 65 4 10 4 5 4 66 4 10 5 sscChangeAutoSpeed u une 4 67 4 10 6 nnne nnne nnne nnne enne enn innen nennen 4 68 4 10 7 enne enne nnn 4 69 4 10 8 sscChangeManualDecTime eee eee 4 70 4 10 9 sscChangeAutoDecT ime eiecit tnn In innata se Ra IR IRR ERR 4 71 4 11 2 4 72 41 11 5SC GetAIarm
75. 50 q17nscct std h Reference sscStartSampling sscGetSamplingStatus 4 108 4 FUNCTION DETAILS 4 18 Log functions 4 18 1 sscStartLog Logging will be started Logging will be started by turning the log command signal LOGC on and the log operation being performed signal LOGO will be confirmed to be on int sscStartLog int board_id int channel Argument board_id in Board ID number 0 channel in Channel number 1 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR TIMEOUT 01 During the confirmation of response after executing the command to the Q173SCCF the timeout time 1 second has elapsed SSC FUNC ERR ALREADY START LOG The log command LOGC is ON Stop the logging with the sscStopLog function Point None Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference sscStopLog 4 109 4 FUNCTION DETAILS 4 18 2 sscStopLog Logging will be stopped Logging will be stopped using log command signal LOGC OFF and the log operation being performed signal LOGO will be confirmed to be OFF int sscStopLog int board_id int channel Argument board_id in
76. 8 4 19 1 nnne 4 118 4 19 2 sscGetDigitallnputDataWord 4 119 4 19 3 4 120 4 19 4 sscSetDigitalOutputDataW ord nnns 4 121 4 19 5 nn 4 122 4 19 6 sscGetDigitalOutputDataW ord nennen nnne nnne enne 4 123 4 20 Mark detection functions 4 124 4 20 1 6000002 0 000000000000200 4 124 4 20 2 04 0 2 000000000 000000 4 126 4 20 3 4 127 4 21 Interface mode 4 128 4 21 1 4 128 4 21 2 cag eene Rn Ian 4 129 4 21 3 ssclfmGetMaximumBufferNumber 4 131 4 21 4
77. AX 207 SSC STSBIT AX 200 SSC STSBIT AX 208 Bit number constant Bit number constant sse stent Axan STSBIT AX 210 EXT STSBIT 218 EX STSBIT AX 211 ER 5 AX 219 55 STSBIT AX 212 STSBIT AX 212 55 STSBIT AX 220 5 AX 220 STSBIT_AX_213 ssc srsBIT Ax 213 reserved STSBIT 221 ssc srsBIT ax 22 reserved sonan STSBIT_AX 214 STSBIT_AX_222 EET STSBIT AX 215 ER T STSBIT AX 223 55 STSBIT AX 216 STSBIT AX 216 55 STSBIT AX 224 STSBIT AX 224 Bit number constant Bit number constant STSBIT AX 226 STSBIT 234 EXT STSBIT AX 227 Sesera STSBIT_AX_235 55 STSBIT AX 228 STSBIT AX 228 55 STSBIT AX 236 5 AX 236 er STSBIT_AX_229 ssc sTSBIT Ax 229 Reserved EET STSBIT AX 237 ssc srsBIT Ax 2537 Reserved Er STSBIT AX 230 ER 5 AX 238 ERE STSBIT AX 231 EI ADEM 5 AX 239 55 STSBIT AX 232 STSBIT AX 232 55 STSBIT AX 240 STSBIT AX 240 ie 6 BIT DEFINITION LIST 6 5 Station command bit Bit number constant SSC CMDBIT UT RURST RIO module alarm reset SSC CMDBIT UT 7 SSC CMDBIT UT 8 Reserved SSC_CMDBIT_UT_23 SSC_CMDBIT_UT_24 Bit number constant SSC_CMDBIT_UT_MON SSC_CMDBIT_UT_MONR SSC_CMDBIT_UT_35 SSC_CMDBIT_UT_36 SSC_CMDBIT_UT_37 SSC_CMDBIT_UT_38 SSC_CMDBIT_UT_39 SSC_CMDBIT_UT_40 Signal name Monitor comma
78. Board ID number 0 channel in Channel number 1 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Cause countermeasure SSC_FUNC_ERR_ARGUMENT_0D The argument is outside the set range 1 to 9 Argument location SSC_FUNC_ERR_TIMEOUT_01 During the confirmation of response after executing the command to the Q173SCCF the timeout time 1 second has elapsed SSC_FUNC_ERR_ALREADY_STOP_LOG Logging has already been stopped Point None Supported version API Ver Header file Ver 1 50 q17nscef std h Reference sscStartLog 4 110 4 FUNCTION DETAILS 4 18 3 sscCheckLogStatus The log operation status will be got int sscCheckLogStatus int board_id int channel int status Argument board_id in Board ID number 0 channel in Channel number 1 status out Pointer to 4 byte variable 4 bytes x 1 which stores the log operation status The log operation being SSC_LOGO_OFF x performed signal LOGO is OFF The log operation being SSC_LOGO_ON 7 performed signal LOGO is ON Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasu
79. C CMDBIT AX 70 SSC CMDBIT AX 78 Reserved SSC CMDBIT AX 71 SSC CMDBIT AX 79 SSC CMDBIT AX 72 SSC CMDBIT AX 80 Bit number constant Signal name Bit number constant SSC CNMDBIT 81 SSC CMDBIT AX 89 Reserved SSC CMDBIT AX 82 SSC CMDBIT AX MKC1 Mark detection clear command 1 Mark detection disable SSC CMDBIT 83 Reserved SSC CMDBIT AX MKD1 command 1 Mark detection setting enable SSC CMDBIT AX 84 SSC CMDBIT AX MKSEN1 command 1 SSC CMDBIT AX ZSC Home position set command SSC AX 93 SSC CMDBIT AX 86 SSC CMDBIT AX MKC2 Mark detection clear command 2 Mark detection disable SSC CMDBIT AX 87 SSC CMDBIT AX MKD2 Reserved command 2 Mark detection setting enable SSC CMDBIT AX 88 SSC CMDBIT AX MKSEN2 command 2 Bit number constant Bit number constant SSC CMDBIT AX 97 SSC CMDBIT AX 105 SSC CMDBIT AX 98 SSC CMDBIT AX 106 Reserved EE SSC CMDBIT AX 99 SSC CMDBIT AX 107 SSC CMDBIT AX 100 SSC CMDBIT AX 108 V on Reserved Bit number constant Signal name Bit number constant Reserved 6 BIT DEFINITION LIST Reserved SSC_CMDBIT_AX_133 SSC CMDBIT AX 141 Reserved SSC CMDBIT AX 134 SSC CMDBIT AX 142 SSC CMDBIT AX 135 SSC CMDBIT AX 143 SSC CMDBIT AX 136 SSC CMDBIT AX 144 Bit number constant Bit number constant SSC CMDBIT AX 145 SSC CMDBIT AX 153 SSC CMDBIT AX 146 SSC CMDBIT AX 154 SSC CMDBIT AX 147 SSC CMDBIT AX 155 SSC CMDBIT AX 148 SSC CMDBIT AX 156 DETE Res
80. CCF the timeout time 1 second has elapsed SSC FUNC ERR STS BIT TDCE The deceleration time constant change error signal TDCE turned on Point None Supported version API Ver Header file Ver 1 50 q17nscef std h Reference sscChangeManualPosition sscChangeManualSpeed sscChangeManualAccTime 4 FUNCTION DETAILS 4 10 9 sscChangeAutoDecTime The automatic operation or linear interpolation deceleration time constant will be changed The change deceleration time constant signal TDCHG will be turned on and the completion of preparation for changing deceleration time constant signal TDCF or the deceleration time constant change error signal TDCE will be confirmed to be on int sscChangeAutoDecTime int board id int channel int axnum int pntnum short dectime Argument board id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 pntnum in Point number 0 to 319 dectime in Deceleration time constant after change ms 0 to 20000 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR MISMATCH DRIVE MODE The operation mode is other than the Automatic operat
81. Disable Disables the user watchdog function 4 14 2 3 LIST OF API FUNCTIONS 3 Reference Function Type Function Name Function Content Section _ sscStartSampling Starts sampling 4 17 1 sscStopSampling Stops sampling 4 17 2 sscSetSamplingParameter Writes the sampling parameters 4 17 3 Sampling _ Functions sscGetSamplingParameter Reads the sampling parameters 4 17 4 uncti sscGetSamplingError Gets the sampling error 4 17 5 sscGetSamplingStatus Gets the sampling execution information 4 17 6 sscGetSamplingData Gets the sampling data 4 17 7 sscStartLog Starts the log 4 18 1 sscStopLog Stops the log 4 18 2 sscCheckLogStatus Gets the running status of the log 4 18 3 Functions ne Mark Detection Log ssclfmSetHomePosition Performs home position set 4 21 2 ssclfmGetMaximumBufferNumber Gets maximum buffer number Only position control mode 4 21 3 ssclfmGetMaximumBufferNumberEx Gets maximum buffer number of the designated control mode 4 21 4 Renews the latest command buffer number and data ssclfmRenewLatestBuffer 22 4 21 5 Only position control mode Renews the latest command buffer number and data of the ssclfmRenewLatestBufferEx 4 21 6 designated control mode Gets the latest command buffer number and data ssclfmCheckLatestBuffer 7 4 21 7 Only position control mode Interface mode Gets the latest command buffer number and data of the functions ssclfmCheck
82. E Interrupt processing complete SSC CMDBIT SYS SMPS Sampling start SSC CNDBIT SYS ITS Interrupt output valid SSC CMDBIT SYS 10 SSC CNDBIT SYS 03 SSC CMDBIT SYS 11 Reserved B 5p SSC_CMDBIT_SYS_04 SSC_CMDBIT_SYS_12 SSC_CMDBIT_SYS_HMA pale SSC CMDBIT SYS 13 Reserved SSC CMDBIT 5 5 06 SSC SYS 14 SSC 5 5 07 Reserved SSC SYS 15 SSC CMDBIT SYS 08 SSC CMDBIT SYS 16 SSC 5 5 20 SSC CMDBIT SYS 28 Reserved Bit number constant Signal name Bit number constant Signal name SSC_CMDBIT_SYS_ITFE _ processing high speed SSC_CMDBIT SYS 41 complete Reserved Reserved Bit number constant Bit number constant SSC_CMDBIT_SYS_ASYN1 acm command SSC_CMDBIT_SYS_57 SSC_CMDBIT_SYS_ASYN2 SSC_CMDBIT_SYS_58 Non synchronous command group 2 SSC CMDBIT SYS ASYN3 Non synchronous command i group 3 SSC CMDBIT SYS ASYN4 Non synchronous command group 4 SSC CMDBIT SYS ASYN5 Non synchronous command m group 5 SSC CMDBIT SYS ASYNG Non synchronous command E group 6 SSC CMDBIT SYS ASYN7 Non synchronous command group 7 SSC CMDBIT SYS ASYN8 Non synchronous command group 8 SSC_CMDBIT_SYS_59 SSC_CMDBIT_SYS_60 Reserved 6 BIT DEFINITION LIST Bit number constant SSC CMDBIT SYS RBR Reboot preparation Reserved SSC CMDBIT SYS RBS Execution of reboot SSC CMDBIT SYS CRST System alarm reset
83. ENT 00 The argument is outside the set range O 1 to 9 Argument location An error occurred in the semBCreate function VxWorks API Call the errnoGet function of VxWorks API and confirm the error details errnoGet function of VxWorks API and confirm the error details An error occurred in the taskPrioritySet function VxWorks API Call the errnoGet function of VxWorks API and confirm the error details An error occurred in the taskResume function VxWorks API Call the errnoGet function of VxWorks API and confirm the error details SSC FUNC ERR ALREADY OTHER PROCESS INT The interrupt driver has already been started up in other processing SSC FUNC ERR DEVICE DRIVER An error occurred with a call of the device driver Point interrupt driver priority number is set using the taskPrioritySet function VxWorks Refer to the reference manual for operating system for details about the priority set values After calling up this function interrupt should be enabled using the ssclntEnable function Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference sscintEnd sscintEnable 4 146 4 FUNCTION DETAILS 4 22 2 The interrupt driver will be closed int ssclntEnd int board id Argument board id in Board ID number 0 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError funct
84. ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR ALREADY MONITOR STOP The monitor has already stopped SSC FUNC ERR TIMEOUT 01 During the confirmation of response after executing the command to the Q173SCCF the timeout time 1 second has elapsed Point Depending on the control status of the Q173SCCF it takes a control cycle to several ms to stop monitor becuase of the time it takes to confirm the response of the Q173SCCF Supported version API Ver Header file Ver 1 80 q17nscct std h Reference sscSetMonitor 4 FUNCTION DETAILS 4 12 3 sscGetMonitor Monitor data will be got int sscGetMonitor int board_id int channel int axnum short monnum short mondata Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 4 to 20 0 System monitor 1 to 20 Axis monitor 4 to 1 Station monitor 1 Station 1 2 Station 2 3 Station 3 4 Station 4 monnum out Pointer to 8 byte array 2 bytes x 4 which stores the monitor numbers mondata out Pointer to 8 byte array 2 bytes x 4 which stores the monitor data Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC ERR ARGUMENT 00 The argument is
85. I A parameter write number error occurred O 1 to 2 Array number of the parameter write numbers for value outside the range is set in the parameter write number 2 numbers The axis number and the parameter write number do not correspond Example When System parameter is set to the axis number and Axis parameter is set to the parameter write number etc SSC FUNC ERR STS PWEDLI A value outside the range is set in the parameter write data O 1 to 2 Array number of the parameter write data for 2 data SSC ERR MISMATCH PARAM WRITE The command and the status of the parameter write number do not O 1 to 2 Array number of the parameter write numbers for correspond 2 numbers SC FUNC ERR MISMATCH PARAM WRITE DATALI The command and the status of the parameter write data do not 1 to 2 Array number of the parameter write data for 2 correspond data Point This function can write the parameters either before or while the system is running To change only 1 parameter set 0 in the other parameters It takes about 2 to 10 control cycles to write two parameters because of the time it takes to confirm the response of the Q173SCCF When number of parameters are written to multiple axes sequentially the writing time can be shortened by calling this function in each thread of system or axis Supported version API Ver Header file Ver 1 80 q17n
86. In non synchronous mode 2 SSC STSBIT SYS ASYO2 group 2 SSC STSBIT SYS SYEO2 Synchronizing group 2 u In non synchronous mode 22 SSC_STSBIT_SYS_ASYO3 Group SSC STSBIT SYS Synchronizing group 3 u In non synchronous mode 3 SSC_STSBIT_SYS_ASYO4 SSC_STSBIT_SYS_SYEO4 Synchronizing group 4 In non synchronous mode SSC_STSBIT_SYS_ASYO5 group 5 SSC_STSBIT_SYS_SYEO5 Synchronizing group 5 u In non synchronous mode T SSC STSBIT SYS group SSC STSBIT SYS SYEO6 Synchronizing group 6 In non synchronous mode SSC STSBIT SYS ASYO 7 group 7 SSC_STSBIT_SYS_SYEO7 Synchronizing group 7 In non synchronous mode s SSC STSBIT SYS ASYO8 toup 8 SSC_STSBIT_SYS_SYEO8 Synchronizing group 8 6 BIT DEFINITION LIST Bit number constant SSC STSBIT SYS RBOK Reboot preparation complete STSBIT _ I SSC STSBIT SYS 68 SSC STSBIT SYS SMOUT Monitor output SSC STSBIT SYS 77 SSC STSBIT SYS SMRCH Monitor latch SSC STSBIT SYS 78 SSC STSBIT SYS SMER1 _ Monitor number error 1 SSC STSBIT SYS 79 SSC STSBIT SYS SMER2 Monitor number error 2 SSC STSBIT SYS 80 Log data initialization is During disconnection processing SSC STSBIT SYS LOGIF ni complete SSC STSBIT SYS LOGIE Log data initialization error During operation cycle monitor SSC STSBIT SYS OCMCO Ra SSC STSBIT SYS OCME Operation cycle alarm SSC STSBIT SYS OCMW Operation cycle warning Bit number constant
87. It is possible to wait for 2 interrupt events to occur from the same cause by changing the event wait number int sscWaitlntEvent int board id int channel int axnum int eventnum int eventfactor int timeout Argument board id in Board ID number 0 channel in Channel number 1 axnum in Axis number 4 to 20 0 System interrupt event 1 to 20 Axis interrupt event 4 to 1 Station interrupt event 1 Station 1 2 Station 2 3 Station 3 4 Station 4 eventnum in Event wait number 0 to 1 eventfactor in Event factor Refer to Chapter 7 INTERRUPT EVENT FACTOR LIST for the event factors timeout in Timeout time ms 0 to 65535 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location An error occurred in the semTake function VxWorks API Call the errnoGet function of VxWorks API and confirm the error details event factor was being confirmed interrupt for the designated event factor was being confirmed While the interrupt for the designated event factor was being waited the designated timeout time elapsed SSC FUNC ERR SET HOST APPLICATION EVENT While the interrupt for the designated event factor was being w
88. K error process Disables the memory access Example sts sscClose 0 if sts 55 error process Do not call the sscOpen sscClose function sequentially By organizing open close of a memory access port at the beginning and the end of user program process an error with unopened memory access port when calling API function can be prevented Example User program process After turning on the power open the memory access port in the user program initial process Execute arbitrary process while energizing Before turning off the power close the memory access port the user program end process 4 FUNCTION DETAILS 4 2 1 sscOpen memory access port will be opened int sscOpen int board_id Argument board_id in Board ID number 0 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC FUNC ERR REOPEN The sscOpen function is already called SSC FUNC ERR DEVICE DRIVER An error occurred with a call of the device driver Confirm that the device driver is installed SSC FUNC ERR GET CHANNEL NUM The mount channel information cannot be got The operating system may not recognize the Q173SCCF pro
89. K Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT Ql The argument is outside the set range O 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference sscGetDigitallnputDataWord 4 118 4 FUNCTION DETAILS 4 19 2 sscGetDigitallnputDataWord The DI data of the designated digital input will be got 16 point basis int sscGetDigitallnputDataWord int board_id int channel int din word num unsigned short din Argument board id in Board ID number 0 channel in Channel number 1 din word num in Digital input word number 0 to 63 din out Pointer to 2 byte variable 2 bytes x 1 which stores the DI data status of the digital input 0 Output OFF 1 Output ON for each bit bito DI 5 1000 615 gt DI_O OF Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location Point None Supported version API Ver Header file
90. LatestBufferEx 4 21 8 designated control mode Gets the transmit buffer number and data ssclfmGetTransmitBuffer 4 21 9 Only position control mode Gets the transmit buffer number and data of the designated control 4 21 10 mode ssclfmTrqSetSpeedLimit Sets the speed limit value for torque control 4 21 11 ssclfmSetControlMode Sets the control mode 4 21 12 ssclfmGetControlMode Gets the control mode 4 21 13 Gets the status bit information of all axes for the designated status ssclfmGetEventStatusBits 4 21 14 signal using the event detect function ssclfmGetTransmitBufferEx 3 LIST OF API FUNCTIONS Reference Function Type Function Name Function Content i Section sscintStart Starts up the interrupt driver 4 22 1 sscintEnd Closes the interrupt driver 4 22 2 sscintEnable Enables interrupt output 4 22 3 sscintDisable Disables interrupt output 4 22 4 sscRegisterIntCallback Registers the interrupt callback function 4 22 5 sscUnregisterIntCallback Unregisters the interrupt callback function 4 22 6 sscResetlIntEvent Sets the interrupt event signal status to nonsignaled 4 22 7 sscSetintEvent Sets the interrupt event signal status to signaled 4 22 8 sscWaitIntEvent Waits until the interrupt event status becomes signaled 4 22 9 Sets the status of the other axes start interrupt event to sscResetlntOasEvent 4 22 10 nonsignaled Interrupt sscSetIntOasEvent Sets the status of the other axes s
91. NT_SYS_SYSE SSC INT SYS CALM System alarm SSC INT SYS EMIO During forced stop SSC INT SYS 03 SSC INT SYS 04 SSC INT SYS 05 SSC INT SYS 06 SSC INT SYS OCME Operation cycle alarm SSC INT SYS OASF Factor of other axes start interrupt is being sent SSC INT SYS PPI Factor of pass position interrupt is being sent Reserved SSC INT SYS 10 SSC INT SYS 11 SSC INT SYS 12 UI Reserved SSC_INT_SYS_13 SSC INT SYS 14 SSC INT SYS 15 7 INTERRUPT EVENT FACTOR LIST 2 Axis interrupt Event factor SSC INT AX ZSP Zero speed SSC INT AX ZPAS Passed Z phase SSC INT AX ABSE SSC INT AX OP SSC INT AX SSC INT AX PF SSC INT AX ZP SSC INT AX 5 7 During smoothing of stopping SSC INT AX OALM Operation alarm SSC INT AX OPF Completion of operation SSC INT AX PSW Position switch SSC INT AX GAINO During gain switching SSC INT AX FCLSO Fully closed loop control changing SSC INT AX TLSO SSC INT AX SPC SSC INT AX 20 SSC INT AX 1 SSC INT AX MAK2 SSC INT AX PRSMO SSC INT AX IWT Interference check standby SSC INT AX SINP Servo amplifier in position Reserved SSC INT AX 29 SSC INT AX 30 SSC INT AX 31 7 INTERRUPT EVENT FACTOR LIST 3 Station interrupt Reserved SSC_INT_UT_RUWRN RIO module warning SSC_INT_UT_07 SSC_INT_UT_08 SSC_INT_UT_09 Reserved SSC_INT_UT_10 SSC_INT_UT_11 SSC_INT_UT_12 SSC_INT_UT_RCALM RIO control alarm SSC_INT_UT_14 Reserved SSC_INT_UT_15
92. ON DETAILS hs MM Detailed error code Value Cause countermeasure SSC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR NOW DRIVING READY During operation startup preparation until the Q173SCCF receives the signal after the start UU PL is requested SSC FUNC ERR NOW DRVNG FUNC ERR NOW DRIVING During operation operation A system error occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause SSC_FUNC_ERR_NOW_ALARM_SERVO A servo alarm is occurring Get the alarm No with the sscGetAlarm function and remove the cause SSC_FUNC_ERR_NOW_ALARM_DRIVE An operation alarm is occurring Get the alarm No with the sscGetAlarm function and remove the cause SSC_FUNC_ERR_TIMEOUT_01 During the confirmation of response after executing the command to the Q173SCCF the timeout time 1 second has elapsed Point The response is not confirmed after the start operation signal ST is turned on Supported version API Ver Header file Ver 1 50 q17nscef std h Reference sscJogStop sscJogStopNoWait sscDriveStop sscDriveStopNoWait sscDriveRapidStop sscDriveRapidStopNoWait 4 FUNCTION DETAILS 4 9 2 sscJogStop JOG operation will stopped The function will wait internally from when the start operation signal ST is turned off until the durin
93. R ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference sscSetDigitalOutputDataWord sscGetDigitalOutputDataBit 4 123 4 FUNCTION DETAILS 4 20 Mark detection functions 4 20 1 sscGetMarkDetectionData Mark detection data will be got int sscGetMarkDetectionData int board_id int channel int axnum int mark_num int read_fin_num int edge int position Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 mark_num in Mark detection setting number 1 to 2 read_fin_num out Pointer to 4 byte variable 4 bytes x 1 which stores the read complete buffer number 1 to 255 edge out Pointer to 1 byte structure 1 byte x 1 which stores the mark detection edge data SSC_MARK_EDGE_OFF OFF edge SSC_MARK_EDGE_ON ON edge position out Pointer to 4 byte structure 4 bytes x 1 which stores the mark detection positioning data Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR MARK DETECT UNUSABLE Mark detection function is disable
94. RGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR NOT START INT DRIVER The interrupt driver is closed Call the ssclntStart function SSC FUNC ERR RESET EVENT An error occurred in the semTake function VxWorks API Call the errnoGet function of VxWorks API and confirm the error details Point None Supported version API Ver Header file Ver 1 50 q17nscef std h Reference sscWaitlntDriveFin 4 164 4 FUNCTION DETAILS 4 22 17 sscSetlntDriveF in Operation completion interrupt event status will be signaled This function is used to release the standby status with the sscWaitlntDriveFin function at the timing of the user program not the interrupt event of the Q173SCCF int sscSetintDriveFin int board id int channel int axnum Argument board id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR NOT START INT DRIVER The interrupt driver is closed Call the ssclntStart function SSC FUNC ERR SET EVENT An error occurred in the semGive function VxWorks API Call the errnoGet
95. S Member status Transient status Obtained data is set with the logical sum of each value SSC TRANSIENT STS RECEIVE FIN Transient received successfully SSC TRANSIENT STS VALID DATA Transient data valid SSC TRANSIENT STS INVALID DATA Transient data invalid ans data 4 Response data Point None Supported version API Ver Header file Ver 1 80 q17nsccf std h Reference sscSendReceiveTransientData 5 STRUCTURE LIST 5 10 INT_CB_DATA structure This interrupt data structure is used for the interrupt callback function typedef struct 0000h int board_id int channel unsigned long free_run_cnt unsigned char sys_factor_bit unsigned char 1 unsigned short sys_factor 0010H unsigned long long axis factor bit char reserve2 8 unsigned long axis factor 48 unsigned short unit factor bit char reserve3 14 unsigned short unit factor 8 0100H unsigned long oas factor bit char reserve4 12 unsigned char oas factor 32 0130H unsigned long long pass factor bit char 5 8 unsigned char pass factor 64 0180H char reserve6 0x180 0300h CB DATA Member board id Board ID number channel Channel number free run cnt Free run counter Sys factor bit Bit for factor of system interrupt being sent Sys factor Factor of system interrupt axis factor bit Bit for factor of axes interrupt bein
96. SC BIT OFF Bit OFF SSC BIT ON Bit ON Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR ARGUMENT MISMATCH The axis number and the status bit number do not correspond Example When 0 is set to the axis number 55 STSBIT AX RDY is set to the status bit number etc Point None Supported version API Ver Header file 1 80 q17nscct std h Reference sscSetCommandBitSignalEx sscWaitStatusBitSignalEx 4 FUNCTION DETAILS 4 6 3 sscWaitStatusBitSignalEx This function waits until the designated status bit becomes to the designated state int sscWaitStatusBitSignalEx int board_id int channel int axnum int bitnum int waitstatus int timeout Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 4 to 20 0 System status bit 1 to 20 Axis status bit 4 to 1 Station status bit 1 Station 1 2 Station 2 3 Station 3 4 Station 4 bitnum in Status bit number Refer to Chapter 6 BIT DEFINITION LIST for the status bit number waitstatus in Bit status to be waited SSC_BIT_OFF Bit OFF SSC_BIT_ON Bit ON timeout in Timeout t
97. STSBIT SYS SRFIN Sampling setting read complete SSC STSBIT SYS SREN Sampling setting number error SSC STSBIT SYS 151 Reserved SSC_STSBIT_SYS_152 Bit number constant een am STSBIT SYS_ 162 _ STSBIT_SYS_163 SSC STSBIT SYS 464 STSBIT SYS 164 Er 5 5 SYS 165 ssc sTsBIT 165 Reserved Te STSBIT_SYS_166 EXE T EM STSBIT SYS 167 55 STSBIT SYS 168 STSBIT SYS 168 Bit number constant Flash ROM transfer preparation SSC STSBIT SYS FROK complete Flash ROM transfer preparation SSC_STSBIT_SYS_FRNG SSC_STSBIT_SYS_FSOK Flash ROM transfer complete SSC STSBIT SYS FSNG Flash ROM transfer error Flash ROM initialization SSC STSBIT SYS FIROK preparation complete Flash ROM initialization SSC_STSBIT_SYS_FIRNG ni preparation error Flash ROM initialization SSC STSBIT SYS FIOK 7 complete SSC STSBIT SYS FING Flash ROM initialization error Bit number constant SSC STSBIT SYS ALHRF Alarm history read complete SSC STSBIT SYS ALHRE Alarm history read error Alarm history initialization SSC 5 9 SYS ALHIF 7 complete SSC STSBIT SYS ALHIE Alarm history initialization error SSC STSBIT SYS 189 SSC STSBIT SYS 190 ae sscsmemse se STSBIT SYS 191 SSC STSBIT SYS 192 6 BIT DEFINITION LIST Reserved Reserved SSC STSBIT SYS 1 97 SSC STSBIT SYS 205 SSC STSBIT SYS 198 SSC STSBIT SYS 206 SSC STSBIT SYS 199 SSC STSBIT SYS 207
98. T AX MKDO2 Mark detection disabled 2 Reserved Mark detection setting enable SSC_STSBIT_AX_88 SSC_STSBIT_AX_MKSEF2 Z gt m Iu complete 2 SSC STSBIT AX 103 Reserved SSC STSBIT AX 111 SSC STSBIT AX 104 SSC STSBIT AX 112 Des Mad 6 BIT DEFINITION LIST Bit number constant SSC STSBIT AX MOUT Monitor output Reserved SSC STSBIT AX MRCH Monitor latch SSC STSBIT AX MER1 Monitor number error 1 SSC STSBIT AX MER2 Monitor number error 2 SSC STSBIT AX MER3 Monitor number error 3 SSC STSBIT AX 141 SSC STSBIT MER4 Monitor number error 4 SSC STSBIT AX 142 SSC STSBIT AX MESV Servo amplifier is not connected SSC STSBIT AX 143 SSC STSBIT AX 136 SSC STSBIT AX 144 Bit number constant Bit number constant ssc stant u STSBIT AX 146 Ax STSBIT 154 EXT STSBIT AX 147 ER 5 AX 155 55 STSBIT AX 148 STSBIT AX 148 55 STSBIT AX 156 5 AX 156 EST E STSBIT AX 149 ssc srsBIT ax 149 reserved STSBIT AX 157 ssc srsBIr Ax 157 reserved em STSBIT_AX_150 een STSBIT_AX_158 Er STSBIT AX 151 Er _ STSBIT AX 159 55 STSBIT AX 152 STSBIT AX 152 55 STSBIT AX 160 STSBIT AX 160 SSC STSBIT AX 173 Reserved SSC STSBIT 176 Changes to servo parameters exist SSC STSBIT AX PSCHG en 6 BIT DEFINITION LIST Reserved Reserved SSC STSBIT AX 1 97 SSC STSBIT 205 SSC STSBIT AX 198 SSC STSBIT AX 206 SSC STSBIT AX 199 SSC STSBIT
99. The start operation signal ST is turned off and the during operation signal OP will be returned int sscJogStopNoWait int board_id int channel int axnum short stpsts Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 stpsts out Pointer to 2 byte variable 2 bytes x 1 which stores the stop complete status SSC_DRIVING During operation SSC_DRIVE_FIN Stop complete Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC FUNC ERR MISMATCH DRIVE MODE The operation mode is other than the JOG operation Point In order to make use of wait inside this function the sscJogStop function should be used Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference sscJogStart sscJogStop sscDriveStop sscDriveStopNoWait sscDriveRapidStop sscDriveRapidStopNoWait 4 FUNCTION DETAILS 4 9 4 ssclncStart Incremental feed will be started After performing the necessary settings for operation and changing to incremental feed mode the fast start operation signal FST will be turned on int ssclincStart int board id int channel int axnum
100. UMENT 00 The argument is outside the set range 1 to 9 Argument location Point When the operation mode of axis for which the other axes start is performed needs to be switched in advance use this function to check the operation mode Supported version API Ver Header file Ver 1 50 q17nscef std h Reference sscSetDriveMode sscSetOtherAxisStartData 4 FUNCTION DETAILS 4 9 15 sscGetDriveFinStatus The completion of operation status will be got int sscGetDriveFinStatus int board_id int channel int axnum int fin_type int fin status Argument board id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 fin type in Operation completion type fin status out Pointer to 4 byte variable 4 bytes x 1 which stores the completion of operation status Completion of operation Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location 4 FUNCTION DETAILS Point When the operation completion type is set to Stop by rough match in other than the automatic operation and the linear interpolation the completion of operation confirmation type is judged by t
101. VO TABLE RANGE OVER The word num word cnt designated by the argument exceeds the size of the output device table Point None Supported version API Ver Header file Ver 1 80 q17nscef std h Reference sscGetOutputDeviceBit sscSetOutputDeviceWord 4 173 4 FUNCTION DETAILS 4 24 Transient transmit functions 4 24 1 sscSendReceiveTransientData Sends and receives the specified transient transmit data for axes or stations connected to SSCNET int sscSendReceiveTransientData int board_id int channel int axnum TRANSIENT CMD pTransientCmd TRANSIENT STS pTransientSts int timeout Argument board id in Board ID number 0 channel in Channel number 1 axnum in Axis number 4 to 1 1 to 20 1 to 20 Axis 4 to 1 Station 1 Station 1 2 Station 2 3 Station 3 4 Station 4 pTransientCmd in Pointer to 16 byte structure 16 bytes x 1 which stores the transient transmit command data Refer to 5 8 TRANSIENT structure for the transient transmit command data structure pTransientSts out Pointer to 16 byte structure 16 bytes x 1 which stores the transient transmit status data Refer to 5 9 TRANSIENT STS structure for the transient transmit status data structure timeout in Timeout time ms 0 to 65535 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen f
102. Ver 1 50 q17nscct std h Reference sscGetDigitallnputDataBit 4 119 4 FUNCTION DETAILS 4 19 3 sscSetDigitalOutputDataBit The DO data the designated digital output will be set in 1 point basis int sscSetDigitalOutputDataBit int board id int channel int dout num int dout Argument board id in Board ID number 0 channel in Channel number 1 dout num in Digital output number 0 to 1023 dout in 0 to 1 DO data of the digital output SSC BIT OFF Output signal OFF SSC BIT ON Output signal ON Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure 1 to 9 Argument location O 1 to 5 Timeout location the timeout time 1 second has elapsed Point This function sets the digital output with the exclusive control function of the Q173SCCF Supported version API Ver Header file Ver 1 50 q17nscct std h Reference sscSetDigitalOutputDataWord sscGetDigitalOutputDataBit 4 120 4 FUNCTION DETAILS 4 19 4 sscSetDigitalOutputDataWord The DO data of the designated digital output will be set in 16 point basis int sscSetDigitalOutputDataWord int board_id int channel int dout_word_num unsigned short dout Argument board_id in Board ID number 0 channel in
103. Vista are registered trademarks of Microsoft Corporation in the United States and other countries Wind River Systems and VxWorks are trademarks or registered trademarks of Wind River Systems Inc in the United States and other countries Ethernet is a trademark of Xerox Corporation All other company names and product names used in this manual are trademarks or registered trademarks of their respective companies IB NA 0300219 C Controller Interface Module Qseries User s Manual API Library Q173SCCF MODEL Q173SCCF U API E MODEL 1 966 0300219 1507 MITSUBISHI ELECTRIC CORPORATION HEAD OFFICE TOKYO BUILDING 2 7 3 MARUNOUCHI CHIYODA KU TOKYO 100 8310 JAPAN NAGOYA WORKS 1 14 YADA MINAMI 5 CHOME HIGASHI KU NAGOYA JAPAN When exported from Japan this manual does not require application to the Ministry of Economy Trade and Industry for service transaction permission Specifications subject to change without notice
104. actor Argument board id in Board ID number 0 channel in Channel number 1 axnum in Axis number 4 to 20 0 System interrupt event 1 to 20 Axis interrupt event 4 to 1 Station interrupt event 1 Station 1 2 Station 2 3 Station 3 4 Station 4 eventnum in Event wait number 0 to 1 eventfactor in Event factor Refer to Chapter 7 INTERRUPT EVENT FACTOR LIST for the event factors Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR NOT START INT DRIVER The interrupt driver is closed Call the ssclntStart function SSC FUNC ERR SET EVENT An error occurred in the semGive function VxWorks API Call the errnoGet function of VxWorks API and confirm the error details Point When the interrupt standby status is released by calling this function an error occurs the sscWaitIntEvent function Supported version API Ver Header file Ver 1 80 q17nscef std h Reference sscWaitlntEvent 4 153 4 FUNCTION DETAILS 4 22 9 sscWaitlntEvent This function waits until the interrupt event status becomes signaled This function is used to wait for the interrupt from the Q173SCCF for the designated event factor
105. after executing the command to the Q173SCCF the timeout time 1 second has elapsed Point The response is not confirmed after the fast start operation signal FST is turned on Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference sscDriveStop sscDriveStopNoWait sscDriveRapidStop sscDriveRapidStopNoWait 4 49 4 FUNCTION DETAILS 4 9 6 sscHomeReturnStart Home position return will be started After performing the necessary settings for operation and changing to home position return mode the fast start operation signal FST will be turned on int sscHomeReturnStart int board_id int channel int axnum Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure 1 to 9 Argument location after the start operation is requested During operation SSC_FUNC_ERR_NOW_DRIVING During operation A system error occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause remove the cause and remove the cause SSC FUNC ERR TIMEOUT 01 During the confirmation of response after executing the command to the Q173SCCF t
106. age or wood plastic or vinyl that may cause static electricity buildup Do not perform a megger test insulation resistance measurement during inspection When replacing the module or servo amplifier always set the new module settings correctly When the module or absolute value motor has been replaced carry out a home position return operation from the user program Failing to do so may cause position displacement After maintenance and inspections are completed confirm that the position detection of the absolute position detector function is correct Do not drop or impact the battery installed to the module Doing so may damage the battery causing battery liquid to leak in the battery Do not use the dropped or impacted battery but dispose of it Do not short circuit charge overheat incinerate or disassemble the batteries The electrolytic capacitor will generate gas during a fault so do not place your face near the module or servo amplifier The electrolytic capacitor and fan will deteriorate Periodically replace these to prevent secondary damage from faults Replacements can be made by our sales representative Lock the control panel and prevent access to those who are not certified to handle or install electric equipment Q Do not burn or break a module and servo amplifier Doing so may cause a toxic gas 9 About processing of waste When you discard module servo amplifier a battery primary battery an
107. aited a function which releases the standby status was called from the user program 4 154 4 FUNCTION DETAILS Point When SSC INFINITE is designated as the timeout time timeout is not checked Instead this function infinitely waits until the interrupt event occurs Supported version API Ver Header file Ver 1 80 q17nsccf std h Reference sscResetlntEvent sscSetIntEvent 4 155 4 FUNCTION DETAILS 4 22 10 sscResetlntOasEvent Other axes start interrupt event signal status will be nonsignaled This function is used if other axes start interrupt event occurring prior to calling up the sscWaitlntOasEvent function are to be disabled int sscResetlntOasEvent int board_id int channel int axnum int oas Argument board id in Board ID number 0 channel in Channel number 1 axnum in Axis number of other axes start table 1 to 20 oas num in Other axes start table number 1 to 20 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC FUNC ERR NOT START INT DRIVER The interrupt driver is closed Call the ssclntStart function SSC FUNC ERR RESET EVENT An error occurred in the semTake funct
108. als set externally Shut off with the Shut off with servo ON signal OFF emergency stop alarm electromagnetic brake signal signal EMG RA1 Q Electromagnetic Q brakes Servo motor x If an error occurs remove the cause secure the safety and then resume operation after alarm release The unit may suddenly resume operation after a power failure is restored so do not go near the machine Design the machine so that personal safety can be ensured even if the machine restarts suddenly 8 Maintenance inspection part replacement NCAUTION Perform the daily and periodic inspections according to the instruction manual Perform maintenance and inspection after backing up the program and parameters for the module and servo amplifier Do not place fingers or hands in the clearance when opening or closing any opening Periodically replace consumable parts such as batteries according to the instruction manual Do not touch the lead sections such as ICs or the connector contacts Before touching the module always touch grounded metal etc to discharge static electricity from human body Failure to do so may cause the module to fail or malfunction Do not directly touch the module s conductive parts and electronic components Touching them could cause an operation failure or give damage to the module Q Do not place the module or servo amplifier on metal that may cause a power leak
109. arameters It takes about 2 to 10 control cycles to read two set values for the designated parameters because of the time it takes to confirm the response of the Q173SCCF When a number of multiple parameters are read from multiple axes continuously the writing time can be shortened by calling this function in each thread of system or axis Supported version API Ver Header file Ver 1 80 q17nsccf std h Reference sscChangeParameter sscChange2Parameter sscCheckParameter 4 FUNCTION DETAILS 4 4 6 sscLoadAllParameterFromFlashROM All parameters before the system startup system preparation completion will be read from the flash ROM int sscLoadAllParameterFromFlashROM int board id int channel int timeout Argument board id in Board ID number 0 channel in Channel number 1 timeout in Timeout time ms 0 to 65535 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error codes Cause countermeasure 1 to 9 Argument location system with the sscReboot function SSC ERR TIMEOUT 0 During the confirmation of response after executing the command to the 1 to 2 Timeout location Q173SCCF the designated timeout time has elapsed SSC FUNC ERR FLASHROM PARAM LOAD The flash ROM parameter read error occurred Poi
110. ark detection setting number 1 to 2 detected_counter out Pointer to 4 byte variable 4 bytes x 1 which stores the mark detection counter 1 to 255 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 60 q17nscct std h Reference sscGetMarkDetectionData 4 126 4 FUNCTION DETAILS 4 20 3 sscClearMarkDetectionData Mark detection data will be cleared initialized int sscClearMarkDetectionData int board_id int channel int axnum int mark_num Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 mark_num in Mark detection setting number 1 to 2 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC ERR TIMEOUT 00 During the confirmation of response after executing the command to the O 1 to 2 Time
111. bench Programming developing environment Wind River Workbench 3 2 2 These API functions use the API functions from VxWorks made by Wind River Systems in order to access the PCIe bus 3 The header file library files 2 files and text file are stored in the folders below when installing the utility software a Storage folder q17nsccf std h C Program Files C Controller Interface Module Q17nSCCF API Library Header Files gt Can be set by user q17nsccf std out q17nsccf std a version txt Files C Controller Interface Module Q17nSCCF API Library Library Files gt Can be set by user b Storage files q17nsccf std h Header file for Q173SCCF q17nsccf std out Needs to be loaded again when starting VxWorks q17nsccf std a Needs to be linked to when compiling user programs For checking the library version 4 The API functions are not compatible with round robin schedule function 5 When using the API functions set the kernel tick at 1000Hz per 1s 1 tick 1ms call sysClkRateSet 1000 For VxWorks default settings 60Hz the check for status bit change is performed at 16 7ms intervals 6 The API library has board id and channel numbers in the argument to maintain compatibility with our other products Set Board id to 0 and Channel number to 1 when using the API functions 7 User programs on the C Controller module continue even when the C Controller module and Q173SCCF are disc
112. byte variable 2 bytes x 1 which stores the current feedback Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 1 to 9 Argument location Point The Q173SCCF High speed monitor function is used to get the current feedback Supported version API Ver Header file Ver 1 50 q17nscct std h Reference None 4 FUNCTION DETAILS 4 13 7 sscGetPositionDroopFast The position droop will be got int sscGetPositionDroopFast int board_id int channel int axnum long position dp Argument board id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 position dp out Pointer to 4 byte variable 4 bytes x 1 which stores the position droop Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location Point The Q173SCCF High speed monitor function is used to get the position droop This function is supported in interface mode only Sup
113. cGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC FUNC ERR POINT NUMBER OVER Designated point number point number offset value exceeded the point table range Point None Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference sscCheckPointOffset 4 FUNCTION DETAILS 4 7 3 sscSetPointOffset The point number offset will be set int sscSetPointOffset int board_id int channel int axnum short offset Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 offset in Point number offset value 0 to 319 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 50 q17nscct std h Reference sscSetPointDataEx 4 FUNCTION DETAILS 4 7 4 sscCheckPointOffset The point number offset will be got int sscCheckPointOffset int board_id int channel int axnum Short offset Argument b
114. cation designated timeout time has elapsed Point When a value 10 seconds 10000ms or less is designated as the timeout time the timeout will be 10 seconds 10000ms The function will reboot even if the function executes in the system preparation is complete Supported version API Ver Header file Ver 1 50 q17nscef std h Reference sscGetSystemStatusCode 4 FUNCTION DETAILS 4 5 2 sscSystemStart The system will start after servo amplifier communication initialization system preparation completion gt system running int sscSystemStart int board_id int channel int timeout Argument board_id in Board ID number 0 channel in Channel number 1 timeout in Timeout time ms 0 to 65535 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure 1 1 to 9 Argument location System with the sscReboot function SSC FUNC ERR TIMEOUT 01 During the confirmation of response after executing the command to the Q173SCCF the designated timeout time has elapsed Confirm that the SSCNETII cable on the Q173SCCF side is connected properly Or the SSCNET communication method is not correct SSC FUNC ERR NOW ALARM SYSTEM A system error ELTLILIh occurred Get the system status code with the sscGetSystemStatusCode function
115. ceeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure The argument is outside the set range 1 to 9 Argument location The operation mode is other than the Automatic operation or Linear interpolation range A system error 01 occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause During the confirmation of response after executing the command to the O 1 to 2 Timeout location Q173SCCF the timeout time 1 second has elapsed SSC FUNC ERR STS BIT SCE The speed change error signal SCE turned on Point None Supported version API Ver Header file Ver 1 50 q17nscef std h Reference sscGetDrivingPointNumber sscChangeAutoPosition sscChangeAutoAccTime sscChangeAutoDecTime 4 FUNCTION DETAILS 4 10 6 sscChangeManualAccTime The JOG operation or incremental feed acceleration time constant will be changed The change acceleration time constant signal TACHG will be turned on and the completion of preparation for changing acceleration time constant signal TACF or the acceleration time constant change error signal TACE will be confirmed to be on int sscChangeManualAccTime int board_id int channel int axnum short acctime Argument board_id in Board ID number 0 channel i
116. ck sum 0040h ALH_DATA Member system_time System start up time free_run_cnt Free run counter ctrl_cycle Control cycle event_code Event code sscnet_type Communication mode ctrl_mode Control mode axnum Error axis number alarm_code Alarm number drive_mode Operation mode cmd_pos Current position fb_pos Feedback position check_sum Checksum 5 STRUCTURE LIST Point None Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference sscGetAlarmHistoryData 5 STRUCTURE LIST 5 8 TRANSIENT_CMD structure This transient transmit command data structure is used for sending and receiving transient transmit data typedef struct 0000h unsigned short cmd req unsigned short command unsigned short req data 4 unsigned short reservel2 0010h TRANSIENT_CMD Member cmd_req Command send request SSC_TRANSIENT_CMD_SINGLE Transient request command Transient command req data 4 Request data Point None Supported version API Ver Header file Ver 1 80 q17nsccf std h Reference sscSendReceiveTransientData 5 STRUCTURE LIST 5 9 TRANSIENT_STS structure This transient transmit status data structure is used for sending and receiving transient transmit data typedef struct 0000h unsigned short status unsigned short 1 unsigned short ans data 4 unsigned short reserve2 2 0010h TRANSIENT ST
117. code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 17 1 to 9 Argument location SSC FUNC ERR RESET EVENT An error occurred in the semTake function VxWorks API Call the errnoGet function of VxWorks API and confirm the error details Point None Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference ssclntDisable sscIntStart 4 148 4 FUNCTION DETAILS 4 22 4 ssclntDisable The interrupt output valid signal ITS will be turned off and interrupt output will be disabled int ssclntDisable int board id int channel Argument board id in Board ID number 0 channel in Channel number 1 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 17 1 to 9 Argument location SSC FUNC ERR RESET EVENT An error occurred in the semTake function VxWorks API Call the errnoGet function of VxWorks API and confirm the error details Point None Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference sscintEnable 4 149 4 FUNCTION DETAILS
118. constant SSC CMDBIT AX 25 SSC CMDBIT AX 26 SSC CMDBIT AX 27 SSC CMDBIT AX 28 Bit number constant SSC CMDBIT AX AUT Automatic operation mode SSC CMDBIT AX ZRN Home position return mode SSC CMDBIT AX JOG JOG operation mode SSC AX S Incremental feed mode EE Reserved SSC CMDBIT AX 21 SSC CMDBIT AX 29 SSC CMDBIT AX LIP Linear interpolation mode SSC CMDBIT AX 30 SSC CMDBIT AX DST Home position reset mode SSC CMDBIT AX 31 SSC CMDBIT AX 24 ssc_cmpBiT ax 32 Bit number constant Bit number constant SSC CMDBIT AX ITL Interlock SSC CMDBIT AX SCHG Change speed High speed monitor latch Change acceleration time SSC CMDBIT AX RMONR SSC CMDBIT AX TACHG xdi command m nile constant Change deceleration time SSC CMDBIT 35 SSC CMDBIT AX TDCHG E Reserved ui constant SSC CMDBIT AX 36 SSC CMDBIT AX PCHG Position change SSC CMDBIT AX LSPC side limit switch input SSC CMDBIT AX 45 SSC CMDBIT AX LSNC side limit switch input SSC CMDBIT AX 46 Reserved SSC CMDBIT AX DOGC Proximity dog input SSC_CMDBIT_AX 47 SSC CMDBIT AX 40 SSC CMDBIT AX 48 Bit number constant Reserved Reserved 6 BIT DEFINITION LIST SSC_CMDBIT_AX_GAIN Gain switching command SSC_CMDBIT_AX_73 Fully closed loop control change SSC_CMDBIT_AX_FCLS SSC_CMDBIT_AX_74 command 55 CMDBIT AX 67 Reserved SSC_CMDBIT_AX_75 SSC_CMDBIT_AX_CPC PID control command SSC_CMDBIT_AX_76 Reserved SSC_CMDBIT_AX 69 SSC_CMDBIT_AX_77 SS
119. ction succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR TIMEOUT 01 During the confirmation of response after executing the command to Q173SCCF the timeout time 1 second has elapsed SSC FUNC ERR ARGUMENT MISMATCH The axis number and the command bit number do not correspond Example When 0 is set the axis number and 55 CMDBIT AX SON is set in the command bit number etc Point None Supported version API Ver Header file Ver 1 80 q17nsccf std h Reference sscGetStatusBitSignalEx sscWaitStatusBitSignalEx 4 FUNCTION DETAILS 4 6 2 sscGetStatusBitSignalEx The designated status bit will be got int sscGetStatusBitSignalEx int board id int channel int axnum int bitnum int bitstatus Argument board id in Board ID number 0 channel in Channel number 1 axnum in Axis number 4to 20 0 System status bit 1 to 20 Axis status bit 4 to 1 Station status bit 1 Station 1 2 Station 2 3 Station 3 4 Station 4 bitnum in Status bit number Refer to Chapter 6 BIT DEFINITION LIST for the status bit number bitstatus out Pointer to 4 byte variable 4 bytes x 1 which stores the status bit data S
120. ction succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR IFM CMD BUF FULL There is no free space in the position command buffer After checking that the Q173SCCF transmit buffer number has been renewed call the ssclfmRenewLatestBuffer function or ssclfmRenewLatestBufferEx function Point Ver 1 60 or later use the ssclfmRenewLatestBufferEx function For API Ver 1 61 or later when a NULL pointer is designated as the latest command buffer number data will not be got Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference ssclfmCheckLatestBuffer ssclfmGetTransmitBuffer 4 133 4 FUNCTION DETAILS 4 21 6 ssclfmRenewLatestBufferEx Latest command buffer number and data for the designated control mode will be renewed and the renewed latest command buffer number will be got int ssclfmRenewLatestBufferEx int board_id int channel int axnum unsigned short ctrl mode long bufdata short bufnum Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 ctrl_mode in Control mode 0 to 2 bufdata in Refresh data bufnum out Poin
121. d Mark detection function is not supported Mark detection function has been disabled by the settings SSC FUNC ERR MARK DETECT UNDETECTED There is no mark detection data that can be got After checking that the mark detection count of the Q173SCCF has been renewed call the sscGetMarkDetectionData function 4 124 4 FUNCTION DETAILS Point After getting mark detection data the read complete buffer number is renewed 1 For continuous detection mode the read complete buffer number is set to 1 when the read complete buffer number exceeds 255 For ring buffer mode the read complete buffer number is set to 1 when the number of continuous latch data storages is exceeded The same mark detection data can only be got once Therefore it is necessary to hold the got data with a user program Data is not got for arguments that designate a NULL pointer read complete buffer number mark detection edge data mark detection positioning data Supported version API Ver Header file Ver 1 60 q17nscct std h Reference sscGetMarkDetectionCounter 4 125 4 FUNCTION DETAILS 4 20 2 sscGetMarkDetectionCounter Mark detection counter will be got int sscGetMarkDetectionCounter int board_id int channel int axnum int mark_num int detected_counter Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 mark_num in M
122. d other option articles please follow the law of each country area Z CAUTION This product is not designed or manufactured to be used in equipment or systems in situations that can affect or endanger human life When considering this product for operation in special applications such as machinery or systems used in passenger transportation medical aerospace atomic power electric power or submarine repeating applications please contact your nearest Mitsubishi sales representative Although this product was manufactured under conditions of strict quality control you are strongly advised to install safety devices to forestall serious accidents when it is used in facilities where a breakdown in the product is likely to cause a serious accident 10 General cautions All drawings provided in the instruction manual show the state with the covers and safety partitions removed to explain detailed sections When operating the product always return the covers and partitions to the designated positions and operate according to the instruction manual REVISIONS The manual number is given on the bottom left of the back cover IB NA 0300219 A Dec 2014 IB NA 0300219 B Additional function Parameter functions sscCheckSvPrmChangeNumEx Continuous operation to torque control data functions sscSetPressData sscGetPressData Operating functions sscChangeControlMode High speed monitor functions sscGetPositionDr
123. destruction or damage Do not touch the heat radiating fins of module or servo amplifier regenerative resistor and servo motor etc while the power is ON and for a short time after the power is turned OFF In this timing these parts become very hot and may lead to burns Always turn the power OFF before touching the servo motor shaft or coupled machines as these parts may lead to injuries Do not go near the machine during test operations or during operations such as teaching Doing so may lead to injuries 4 Various precautions Strictly observe the following precautions Mistaken handling of the unit may lead to faults injuries or electric shocks 1 System structure Z CAUTION Always install a leakage breaker on the module and servo amplifier power source If installation of an electromagnetic contactor for power shut off during an error etc is specified in the instruction manual for the servo amplifier etc always install the electromagnetic contactor Install the emergency stop circuit externally so that the operation can be stopped immediately and the power shut off Use the module servo amplifier servo motor and regenerative resistor with the correct combinations listed in the instruction manual Other combinations may lead to fire or faults Use the CPU module base unit and C Controller interface module with the correct combinations listed in the instruction manual Other combinations may lead to
124. e argument is outside the set range 1 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference sscGetSamplingError sscGetSamplingData 4 107 4 FUNCTION DETAILS T EN 4 17 7 sscGetSamplingData The sampling read enabled points and the sampling data for 32 points will be got The sampling read enabled points are not confirmed int sscGetSamplingData int board_id int channel int page_num short valid_num SMP_DATA pSmpData Argument board_id in Board ID number 0 channel in Channel number 1 page_num in Sampling setting read number 1 to 256 valid num out Pointer to the sampling read enabled points pSmpData out Pointer to 4224 byte structure 132 bytes x 32 which stores the sampling data Refer to 5 5 SMP DATA structure for the sampling data information structure Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR TIMEOUT 01 During the confirmation of response after executing the command to the Q173SCCF the timeout time 1 second has elapsed Point None Supported version API Ver Header file Ver 1
125. e command to the O 1 to 2 Timeout location Q173SCCF the timeout time 1 second has elapsed A system error ELTLILIh occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause Point None Supported version API Ver Header file Ver 1 50 q17nscct std h Reference sscGetOperationCycleMonitor 4 10 4 FUNCTION DETAILS 4 4 Parameter functions 1 Processing procedure Parameters different from initial values should be changed after all initializing with sscResetAllParameter function a Example of parameter processing procedure for setting the system parameters C Controller module Q173SCCF Processes the parameters Completes the parameter settings Processes the parameters Sets the parameters sts sscChangeParameter bid ch 0 prm_num prm_dat 36 SSC_OK error process ANI RENAULT P EN pe a ceed Co SSS eee eee ee eee ee eee ee eee ee Pee S m o mmm mm PSS ee ee Se eS eS ng Confirms the parameter settings as necessary I Example li Sends the parameter sts sscCheckParameter bid ch 0 prm num amp prm dat n setting value if sts 1 SSC OK error process u toss ee Exe mme mem URSUS b Example of parameter processing procedure for setting the control servo parameters
126. e variable 2 bytes x 1 which stores the latest command buffer data Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 7 1 to 9 Argument location Point When a NULL pointer is designated as the latest command buffer data only the latest command buffer number will be got For API Ver 1 60 or later use the ssclfmCheckLatestBufferEx function Supported version API Ver Header file Ver 1 50 q17nscct std h Reference ssclfmGetTransmitBuffer 4 135 4 FUNCTION DETAILS 4 21 8 ssclfmCheckLatestBufferEx Latest command buffer number and latest command buffer data for the designated control mode will be got int ssclfmCheckLatestBufferEx int board id int channel int axnum unsigned short ctrl mode short bufnum long bufdata Argument board id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 mode in Control mode 0 to 2 Operation mode SSC IFM CTRL MODE POSITION Position control mode SSC IFM CTRL MODE SPEED Speed control mode SSC IFM CTRL MODE TORQUE Torque control mode bufnum out Pointer to 2 byte variable 2 bytes x 1 which stores the latest command buffer number
127. eAutoSpeed sscChangeAutoDecTime 4 FUNCTION DETAILS 4 10 8 sscChangeManualDecTime The JOG operation or incremental feed deceleration time constant will be changed The change deceleration time constant signal TDCHG will be turned on and the completion of preparation for changing deceleration time constant signal TDCF or the deceleration time constant change error signal TDCE will be confirmed to be on int sscChangeManualDecTime int board_id int channel int axnum short dectime Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 dectime in Manual feed speed deceleration time constant after change ms 0 to 20000 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC FUNC ERR MISMATCH DRIVE MODE The operation mode is other than the JOG operation or Incremental feed SSC FUNC ERR NOW ALARM SYSTEM A system error ELTETLIh occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause SSC FUNC ERR TIMEOUT 0 During the confirmation of response after executing the command to the 1 to 2 Timeout location Q173S
128. eBit 2222242 1 2 000 00000010000 eene nnne nennen nter 4 172 4 23 6 sscGetOutputDeviceWord 4 173 4 24 Transient transmit 4 174 4 24 1 sscSendReceiveTransientData visni ai A a 4 174 5 STRUCTURE LIST 5 1 to 5 16 5 1 PNT DATA EX SIIUCIUES 3 eee ehem ial eink aia i ee eae 5 1 5 2 0AS DATA StriCtures ice AA gah Ab a Baka ee cota 5 3 5 3 PRESS DATA Structure u ei 5 5 5 4 SMBPESERRSSIF CIULG e ete e dette ice e tee ite t f 5 7 5 5 SMP DATA SUCIU TE 5 8 SiO LOG DATASITUCIUEO it ect a nate quit i Hida 5 9 DA W SSH 6 5 10 5 8 TRANSIENT structure 5 12 5 9 TRANSIENT_STS structure 5 13 5 10 INT CB DATA Structure een ide rice Fee gre De P Ho leialan 5 14 6 1 System command bit nnns 6 1 6 2 System status Bil u 22 22 a Pa e 6 5 6 3 Axis command 22 6 9 6 4 Axis status bit u ee Hed a hao Ah
129. eParameter bid ch 0 prm num prm dat parameter setting if sts SSC OK error process system startup lt Starts up the system Processes the Example tj Completes the system startup koc ee oa etis Disables the memory access sts sscClose bid 1 if sts SSC errorprocess 4 FUNCTION DETAILS s 6 gt j 3 k q t e Pgzpger gt m m jj f f6 ji lt j qjgte f lt mgm ij j sy xt ZZ _ Es 4 5 1 sscReboot The system will be rebooted system running system preparation completion The function will wait internally until the system preparation completion int sscReboot int board id int channel int timeout Argument board id in Board ID number 0 channel in Channel number 1 timeout in Timeout time ms 0 to 65535 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC ERR TIMEOUT 0 During the response after executing the command to the Q173SCCF the O 1 to 2 Timeout lo
130. ec ewer m CMDBIT SYS_ 170 CMDBIT SYS 163 sse ever sei CMDBIT_SYS_171 SSC CMDBIT SYS 164 CMDBIT SYS 164 55 CMDBIT SYS 172 CMDBIT SYS 172 EX E CMDBIT SYS 165 ssc sys 165 956764 EX CMDBIT SYS 173 sys 172 seve EXT CMDBIT SYS 166 De CMDBIT_SYS_174 EXE T _ CMDBIT SYS 167 EXE I _ CMDBIT SYS 175 55 CMDBIT SYS 168 CMDBIT SYS 168 55 CMDBIT SYS 176 CMDBIT SYS 176 Bit number constant Bit number constant SSC CMDBIT SYS FTR Flash ROM transfer preparation CMDBIT_SYS_ALHR Alarm 22 2 read command SSC_CMDBIT_SYS_FTS Flash ROM transfer execution 55 5 5 1866 CMDBIT_SYS_186 Reseved Alarm history initialization SSC CMDBIT SYS 179 SSC CMDBIT SYS ALHI Reserved command SSC CMDBIT SYS 180 CMDBIT SYS 180 55 CMDBIT SYS 188 CMDBIT SYS 188 Flash ROM initialization SSC CMDBIT SYS FIR SSC CMDBIT SYS 189 m preparation 7 Flash ROM initialization Reserved SSC_CMDBIT_SYS_FIS SSC CMDBIT SYS 190 execution SSC SYS 183 d SSC CNDBIT SYS 191 eserve SSC CMDBIT SYS 184 SSC CMDBIT SYS 192 55 CMDBIT SYS 152 CMDBIT SYS 152 6 BIT DEFINITION LIST Reserved Reserved SSC CMDBIT SYS 1 97 SSC CMDBIT SYS 205 SSC SYS 198 SSC CMDBIT SYS 206 SSC CNMDBIT SYS 199 SSC CMDBIT SYS 207 SSC CMDBIT SYS 200 SSC CMDBIT SYS 208 Bit number constant Bit number constant ssc evnar svs 210 CMDBIT SYS _ 210 se
131. ed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 80 qt7nsccf std h Reference sscGetlnputDeviceWord 4 168 4 FUNCTION DETAILS 4 23 2 sscGetlnputDeviceWord Gets the designated input word device in 1 word basis int sscGetInputDeviceWord int board id int channel int word num int word cnt unsigned short dev in Argument board id in Board ID number 0 channel in Channel number 1 word num in Input word device number 0000h to OOFFh word cnt in Word points from the input word device number 0001h to 0100h dev in out Pointer to the array 2 bytes x word cnt which stores the status of input word device Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR DVI TABLE RANGE OVER The word num word cnt designated by the argument exceeds the size of the input device table Point None S
132. ed version API Ver Header file Ver 1 50 q17nsccf std h Reference sscGetCurrentFbPositionFast 4 FUNCTION DETAILS 4 13 2 sscGetCurrentFbPositionFast The current feedback position will be got int sscGetCurrentFbPositionFast int board_id int channel int axnum long position Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 position out Pointer to 4 byte variable 4 bytes x 1 which stores the current feedback position variable Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 1 to 9 Argument location Point The Q173SCCF High speed monitor function is used to get the current feedback position Supported version API Ver Header file Ver 1 50 q17nscct std h Reference sscGetCurrentCmdPositionFast 4 FUNCTION DETAILS 4 13 3 sscGetloStatusFast The external signal LSP LSN DOG signal status will be got int sscGetloStatusFast int board_id int channel int axnum short din Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 din out Pointer to 2 byte variable 2 bytes x 1 which s
133. ent is outside the set range O 1 to 9 Argument location SSC FUNC ERR ALREADY DISABLE WDT The user watchdog function has been already invalid Point None Supported version API Ver Header file Ver 1 50 q17nscef std h Reference sscWdEnable 4 FUNCTION DETAILS 4 14 3 sscChangeWdCounter The watchdog counter will be updated 1 int sscChangeWdCounter int board_id int channel Argument board_id in Board ID number 0 channel in Channel number 1 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 50 q17nscct std h Reference sscWdEnable 4 FUNCTION DETAILS 4 14 4 sscCheckPCleBusConnection The PCle bus connection status will be checked Periodically check that the PCle bus is connected using this function int sscCheckPCleBusConnection int board_id int connect_status Argument board_id in Board ID number 0 connect_status out Pointer to 4 byte variable 4 bytes x 1 which stores the PCle bus connection status SSC PCIE CONNECT bus is connected SSC PCIE DISCONNECT bus is disconnected Return val
134. er Sets the latest command point number sscSetPressData Sets the continuous operation to torque control data 4 8 1 Continuous Operation to Torque Control sscGetPressData Gets the continuous operation to torque control data 4 8 2 Data Functions 3 LIST OF API FUNCTIONS 3 Reference Function Type Function Name Function Content Section sscJogStart Starts JOG operation sscJogStop Stops JOG operation sscJogStopNoWait Stops JOG operation No wait function ssclncStart Starts incremental feed sscAutoStart Starts automatic operation 4 9 5 sscHomeReturnStart Starts home position return 4 9 6 Operating Functions Stops operation 4 9 9 sscSetDriveMode Switches the operation mode 4 9 13 sscGetDriveMode Gets the operation mode status 4 9 14 Changes speed of JOG operation or incremental feed Changes speed of automatic operation or linear interpolation Changes acceleration time constant of JOG operation or Change sscChangeManualAccTime j 4 10 6 incremental feed Functions Changes acceleration time constant of automatic operation or sscChangeAutoAccTime 4 10 7 linear interpolation Changes deceleration time constant of JOG operation or 410 8 incremental feed Bd Changes deceleration time constant of automatic operation sscChangeAutoDecTime 4 10 9 linear interpolation Alarm Gets the alarm number 4 11 1 Functions Resets the alarm
135. er to 5 4 ERR structure for the sampling error information structure Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 50 q17nscct std h Reference sscGetSamplingStatus 4 106 4 FUNCTION DETAILS 4 17 6 sscGetSamplingStatus The sampling status sampling status bit and sampling complete page number will be got int sscGetSamplingStatus int board_id int channel char status short page Argument board id in Board ID number 0 channel in Channel number 1 status out Pointer to 1 byte variable 1 byte x 1 which stores the sampling status bit SSC BIT SMPW Waiting for sampling trigger SSC BIT SMPO Sampling is being performed SSC BIT SMPF Sampling is complete SSC BIT SMPE Sampling error fin page out Pointer to 2 byte variable 2 byte x 1 which stores the sampling completion page number Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code SSC FUNC ERR ARGUMENT 00 Th
136. erved Reserved SSC_CMDBIT_AX_149 SSC CMDBIT AX 157 SSC CMDBIT AX 150 SSC CMDBIT AX 158 SSC CMDBIT AX 151 SSC CMDBIT AX 159 SSC CMDBIT AX 152 SSC CMDBIT AX 160 Reserved 6 BIT DEFINITION LIST Reserved Reserved SSC CMDBIT AX 1 97 SSC CMDBIT AX 205 SSC CNDBIT AX 198 SSC CMDBIT AX 206 SSC CNDBIT 199 SSC CNMDBIT 207 SSC CMDBIT 200 SSC CMDBIT AX 208 Bit number constant Bit number constant an CMDBIT 210 EE CMDBIT AX 218 EXT CMDBIT AX 211 ER an CMDBIT AX 219 55 CMDBIT AX 212 CMDBIT AX 212 55 CMDBIT AX 220 CMDBIT AX 220 PPM EE CMDBIT AX 213 ssc Ax 213 reserved CMDBIT_AX_221 ssc CMDBIT Ax 22 reserved 25240 CMDBIT_AX_214 See Ee nee CMDBIT_AX_222 sse T CMDBIT_AX_215 Er Pr CMDBIT AX 223 55 CMDBIT AX 216 CMDBIT AX 216 55 CMDBIT AX 224 CMDBIT AX 224 Bit number constant Bit number constant NEM CMDBIT 226 se CMDBIT AX 234 severa CMDBIT_AX_227 CMDBIT AX 235 55 CMDBIT AX 228 CMDBIT AX 228 55 CMDBIT AX 226 CMDBIT AX 236 EX CMDBIT AX 229 cMDBIT Ax 229 reserved Er CMDBIT AX 237 ssc Ax 237 served EX CMDBIT AX 230 De CMDBIT_AX_238 Er TT CMDBIT 231 EIU PT ME CMDBIT AX 239 55 CMDBIT AX 232 CMDBIT AX 232 55 CMDBIT AX 240 CMDBIT AX 240 me 6 BIT DEFINITION LIST 6 4 Ax
137. etIntEvent sscSetIntEvent sscWaitlntEvent sscResetIntEventMulti sscSetlntEventMulti sscWaitlntEventMulti PNT DATA EX structure INT CB DATA structure bit definition system status bit axis status bit station command bit station status bit Interrupt event factor system interrupt station interrupt detailed error code Japanese Manual Number IB NA 0300218 This manual confers no industrial property rights or any rights of any other kind nor does it confer any patent licenses Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual 2013 MITSUBISHI ELECTRIC CORPORATION A 11 INTRODUCTION Thank you for choosing the Mitsubishi C Controller interface module Q173SCCF Before using the equipment please read this manual carefully to develop full familiarity with the functions and performance of the C Controller interface module you have purchased so as to ensure correct use CONTENTS Dalely Precautions 23 2 0 ptt dietas ete leta gtetivtassteetlatiesas A 1 OS a fe tiered ds naa ut A 11 Contents dme nah EN eee EN aol EN xe 12 AO Manuas Ete ettet c t dt Mae EN A 17 1 SUMMARY 1 1 to 1 2 4 API FUNCTION DETAILS 4 1 to 4 174 4 1 Support TUNCHONS x s ice o ro e a t e ett a e I ERR EP e ee tate 4 1 41 4 SscGetLastErfor
138. etSamplingError 5 STRUCTURE LIST 5 5 SMP_DATA structure This sampling data structure is used for the sampling typedef struct 0000h long smpdata 32 0080h unsigned char smpbit 2 char reserve1 2 0084h SMP DATA Member smpdata 32 Data 1 to 32 smpbit 2 Bit information 1 to 2 Point None Supported version API Ver Header file Ver 1 50 q17nscct std h Reference sscGetSamplingData 5 STRUCTURE LIST 5 6 LOG_DATA structure This log data structure is used for the log function typedef struct 0000h short short eventcode long eventtime short eventdata 4 0010h LOG DATA Member axnum Axis number eventcode Event code eventtime Time stamp eventdata 4 Information for each event Point None Supported version API Ver Header file Ver 1 50 q17nscef std h Reference sscReadLogData 5 STRUCTURE LIST 5 7 ALH_DATA structure This alarm history data structure is used for the alarm history function typedef struct 0000h long long system time unsigned long free run cnt unsigned char ctrl cycle unsigned char event code char reserve1 2 0010h unsigned char sscnet type unsigned char ctrl mode char reserve2 2 unsigned short axnum unsigned short alarm code unsigned char drive mode char reserve3 3 long cmd pos 0020h long fb pos char reserve4 27 unsigned char che
139. eter sscGetSamplingStatus 4 102 4 FUNCTION DETAILS 4 17 2 sscStopSampling Sampling will be stopped The sampling start signal SMPS will be turned off and the function will wait until all sampling status signals waiting for sampling trigger SMPW sampling is being performed SMPO sampling is complete SMPF and sampling error SMPE are turned off int sscStopSampling int board_id int channel Argument board_id in Board ID number 0 channel in Channel number 1 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC FUNC ERR TIMEOUT 01 During the confirmation of response after executing the command to the Q173SCCF the timeout time 1 second has elapsed SSC FUNC ERR ALREADY STOP SAMPLING The sampling has already stopped Point Stop the sampling with this function after the sampling is complete signal SMPF or the sampling error signal SMPE turns on Supported version API Ver Header file Ver 1 50 q17nscct std h Reference sscStartSampling 4 103 4 FUNCTION DETAILS 4 17 3 sscSetSamplingParameter The sampling parameters will be written int sscSetSamplingParameter int board_id
140. f response after executing the command to the Q173SCCF the timeout time 1 second has elapsed Point The response is not confirmed after the fast start operation signal FST is turned on Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference sscDriveStop sscDriveStopNoWait sscDriveRapidStop sscDriveRapidStopNoWait 4 51 4 FUNCTION DETAILS 4 9 8 sscDataSetStart Home position reset data set will be started After performing the necessary settings for the operation and changing to home position reset data set mode the fast start operation signal FST will be turned on int sscDataSetStart int board id int channel int axnum Argument board id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure 1 to 9 Argument location after the start operation is requested During operation SSC FUNC ERR NOW DRIVING During operation remove the cause and remove the cause A system error ELTETLIh occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause During the confirmation of response after executing the command to the Q173SCCF the timeout time
141. f the monitor output signal MOUT is already on monitoring will restart after the monitor command signal MON is OFF int sscSetMonitor int board_id int channel int axnum short monnum Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 4 to 20 0 System monitor 1 to 20 Axis monitor 4 to 1 Station monitor 1 Station 1 2 Station 2 3 Station 3 4 Station 4 monnum in Pointer to 8 byte array 2 bytes x 4 which stores the monitor numbers for 4 numbers Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 7 1 to 9 Argument location SC FUNC ERR STS A monitor number error occurred 1 to 4 Array number of the monitor numbers A value outside the range is set in the monitor number for 4 numbers The axis number and the monitor number do not correspond Example When System monitor is set to the axis number and Axis monitor is set to the monitor number etc SSC FUNC ERR STS BIT MESV The servo information was set as a monitor number when a servo amplifier was not connected SSC FUNC ERR TIMEOUT 00 During the confirmation of response after executing the command
142. faults If safety standards ex robot safety rules etc apply to the system using the module servo amplifier and servo motor make sure that the safety standards are satisfied Construct a safety circuit externally of the module or servo amplifier if the abnormal operation of the module or servo amplifier differ from the safety directive operation in the system In systems where coasting of the servo motor will be a problem during the forced stop emergency stop servo OFF or power supply OFF use dynamic brakes Make sure that the system considers the coasting amount even when using dynamic brakes systems where perpendicular shaft dropping may be a problem during the forced stop emergency stop servo OFF or power supply OFF use both dynamic brakes and electromagnetic brakes NCAUTION The dynamic brakes must be used only on errors that cause the forced stop emergency stop or servo OFF These brakes must not be used for normal braking The brakes electromagnetic brakes assembled into the servo motor are for holding applications and must not be used for normal braking The system must have a mechanical allowance so that the machine itself can stop even if the stroke limits switch is passed through at the max speed Use wires and cables that have a wire diameter heat resistance and bending resistance compatible with the system Use wires and cables within the length of the range described in the instruct
143. for changing acceleration time constant signal TACF or the acceleration time constant change error signal TACE will be confirmed to be on int sscChangeAutoAccTime int board_id int channel int axnum int pntnum short acctime Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 pntnum in Point number 0 to 319 acctime in Acceleration time constant after change ms 0 to 20000 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR MISMATCH DRIVE MODE The operation mode is other than the Automatic operation or Linear interpolation range SSC FUNC ERR NOW ALARM SYSTEM A system error ELILILIh occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause SSC FUNC ERR TIMEOUT 00 During the confirmation of response after executing the command to the O 1 to 2 Timeout location Q173SCCF the timeout time 1 second has elapsed SSC FUNC ERR STS TACE Point None Supported version API Ver Header file Ver 1 50 q17nscct std h Reference sscGetDrivingPointNumber sscChangeAutoPosition sscChang
144. function of VxWorks API and confirm the error details Point When the standby status is released by calling this function an error occurs in the sscWaitIntDriveFin function Supported version API Ver Header file Ver 1 50 q17nscef std h Reference sscWaitlntDriveFin 4 165 4 FUNCTION DETAILS 4 22 18 sscWaitlntDriveFin This function waits until the operation completion interrupt event status becomes signaled This function is used to wait for the interrupt from the Q173SCCF for the designated operation completion type The checked status will be stored in the variable designated by the pointer int sscWaitlntDriveFin int board id int channel int axnum int fin type int status int timeout Argument board id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 fin type in Operation completion type fin status out Pointer to 4 byte variable 4 bytes x 1 which stores the of operation status SSC_FIN_STS_STP Completion of operation SSC FIN STS MOV During operation SSC FIN STS ALM STP Alarm occurrence stop complete SSC FIN STS ALM MOV Alarm occurrence during deceleration stop timeout in Timeout time ms 0 to 65535 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function 4 166
145. g operation signal OP is OFF maximum 20s If the during operation signal OP is already OFF the function will immediately terminate int sscJogStop int board_id int channel int axnum Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location SSC_FUNC_ERR_MISMATCH_DRIVE_MODE The operation mode is other than the JOG operation SSC_FUNC_ERR_TIMEOUT_01 During the confirmation of response is being waited after requesting the command to the Q173SCCF the timeout time 20 seconds has elapsed SSC_FUNC_ERR_NOW_ALARM_SYSTEM A system error ELILILIh occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause Point In order to prevent this function from waiting internally the sscJogStopNoWait function should be used Supported version API Ver Header file Ver 1 50 q17nscct std h Reference sscJogStart sscJogStopNoWait sscDriveStop sscDriveStopNoWait sscDriveRapidStop sscDriveRapidStopNoWait 4 FUNCTION DETAILS 4 9 3 sscJogStopNoWait JOG operation will stopped
146. g sent axis factor 48 Factor of axes interrupt 5 STRUCTURE LIST 2 unit_factor_bit Bit for factor of stations interrupt being sent unit_factor 8 Factor of stations interrupt oas_factor_bit Factor of other axes start interrupt oas_factor 32 Details for factor of other axes start interrupt pass_factor_bit Factor of pass position interrupt pass_factor 64 Details for factor of pass position interrupt Point For API version 1 61 or later if interface mode event detect is enabled and system is started the following information is stored in bit for factor of axes interrupt being sent and factor of axes interrupt These values are updated every time an event occurs Factor of axes interrupt being sent Turns ON when and event occurs at the corresponding axis Factor of axes interrupt Event detect information is stored Refer to Q173SCCF C Controller Interface Module User s Manual Details for description of the data stored Supported version API Ver Header file Ver 1 80 q17nsccf std h Reference sscRegisterIntCallback 5 STRUCTURE LIST MEMO 16 6 BIT DEFINITION LIST 6 BIT DEFINITION LIST The following tables list the bit definitions to be specified in the sscSetCommandBitSignalEX function sscGetStatusBitSignalEx function and sscWaitStatusBitSignalEx function 6 1 System command bit Bit number constant Bit number constant SSC CMDBIT SYS IT
147. gned short ctrl mode Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 ctrl_mode in Control mode 0 to 2 Operation mode SSC_IFM_CTRL_MODE_POSITION Position control mode SSC_IFM_CTRL_MODE_SPEED Speed control mode SSC_IFM_CTRL_MODE_TORQUE Torque control mode Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR NOW ALARM SYSTEM A system error ELTLILIh occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause Point It takes approximately several ms until the control mode is switched because of the time it takes to confirm the response of the servo amplifier Supported version API Ver Header file Ver 1 60 q17nscct std h Reference ssclfmGetControlMode 4 140 4 FUNCTION DETAILS 4 21 13 ssclfmGetControlMode The control mode will be got int ssclfmGetControlMode int board id int channel int axnum unsigned short mode char status Argument board id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 mode out Pointer to
148. he Smoothing stop unconditionally When the operation completion type is set to In position stop the operation mode is always During the operation when the in position signal is OFF For the interlock stop or interference check standby the completion of operation status is During the operation When the deceleration check system is set to in position stop in the automatic operation or the linear interpolation the Operation completion type is In position stop even though the smoothing stop is set The system alarm and the system error are not confirmed Since the completion of operation status of this function is judged by the operation completion type it may differ from the during operation signal OP and the completion of operation signal OPF of the Q173SCCF For JOG operation the completion of operation status is not Before start up acceptance Supported version API Ver Header file Ver 1 50 q17nscct std h Reference None 4 FUNCTION DETAILS 4 9 16 sscChangeControlMode The control mode of the servo amplifier will be switched int sscChangeControlMode int board_id int channel int axnum unsigned short ctrl_mode Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 ctrl_mode in Control mode 0000h 0010h Operation mode SSC_CTRL_MODE_POSITION Position control mode SSC_CTRL_MODE_PRESS Continuous operatio
149. he automatic operation or linear interpolation Point The got operation point number is stored after 1 is added When the operation is stopped 0 will be stored Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference None 4 FUNCTION DETAILS 4 7 6 sscSetLatestPointNumber Sets the latest command point number Used in point table loop method int sscSetLatestPointNumber int board_id int channel int axnum short latest_point Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 latest_point in Latest command point number 1 to 320 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location Point Set the latest command point number to the value of the point number 1 Supported version API Ver Header file Ver 1 80 q17nscct std h Reference sscAutoStart sscSetPointDataEx 4 FUNCTION DETAILS 4 8 Continuous operation to torque control data functions 4 8 1 sscSetPressData The continuous operation to torque control data stored in the structure variable designated by the pointer will be set int sscSetPressData int
150. he timeout time 1 second has elapsed Point The response is not confirmed after the fast start operation signal FST is turned on Supported version API Ver Header file Ver 1 50 q17nscct std h Reference sscDriveStop sscDriveStopNoWait sscDriveRapidStop sscDriveRapidStopNoWait 4 FUNCTION DETAILS 4 9 7 sscLinearStart Linear interpolation will be started After performing the necessary settings for operation and changing to linear interpolation mode the fast start operation signal FST will be turned on int sscLinearStart int board_id int channel int axnum int grpnum int point_s int point_e Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Primary axis number 1 to 20 grpnum in Group number 1 to 8 point_s in Start point number 0 to 319 point_e in End point number 0 to 319 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure 1 to 9 Argument location after the start operation is requested SSC FUNC ERR NOW DRIVING During operation A system error occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause remove the cause and remove the cause During the confirmation o
151. he timeout time 10 second has elapsed SSC FUNC ERR STS BIT CCE The disconnection error CCE occurred Point For the Error code of reconnection disconnection refer to Q173SCCF C Controller Interface Module User s Manual Details Supported version API Ver Header file Ver 1 80 q17nscct std h Reference sscReconnectSSCNET 4 FUNCTION DETAILS 4 6 Command Status functions 1 Processing procedure a Example of command status processing procedure when turning on the servo with wait function C Controller module Q173SCCF peat abies Fe Issues the servo command Processes the servo on Example sts sscSetCommandBitSignalEx E bid ch ax SSC CMDBIT AX SON 55 if sts 55 error process Executing arbitrary process during the period is impossible until the servo on 8 ee ee ee Confirms the servo on status Wait function Example sts sscWaitStatusBitSignalEx H bid ch ax SSC_STSBIT_AX_RDY SSC_ON 0 55 SSC OK error process a ee en nn Example of command status processing procedure when turning on the servo with no wait function C Controller module Q173SCCF
152. ied in the intelligent function module s instruction manual for the program corresponding to the intelligent function module 3 Transportation and installation NCAUTION Transport the product with the correct method according to the mass Use the servo motor suspension bolts only for the transportation of the servo motor Do not transport the servo motor with machine installed on it Do not stack products past the limit When transporting the module or servo amplifier never hold the connected wires or cables When transporting the servo motor never hold the cables shaft or detector When transporting the module or servo amplifier never hold the front case as it may fall off When transporting installing or removing the module or servo amplifier never hold the edges Install the unit according to the instruction manual in a place where the mass can be withstood Do not get on or place heavy objects on the product Always observe the installation direction Keep the designated clearance between the module or servo amplifier and control panel inner surface or the module and servo amplifier module or servo amplifier and other devices Do not install or operate module servo amplifiers or servo motors that are damaged or that have missing parts Do not block the intake outtake ports of the module servo amplifier and servo motor with cooling fan Do not allow conductive matter such as screw or cutti
153. ignal OFF SSC BIT ON Output signal ON Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 80 qt7nsccf std h Reference sscGetOutputDeviceWord sscSetOutputDeviceBit 4 172 4 FUNCTION DETAILS 4 23 6 sscGetOutputDeviceWord Gets the designated output word device in 1 word basis int sscGetOutputDeviceWord int board_id int channel int word_num int word_cnt unsigned short dev_out Argument board_id in Board ID number 0 channel in Channel number 1 word num in Output word device number 0000h to OOFFh word cnt in Word points from the output word device number 0001h to 0100h dev out out Pointer to the array 2 bytes x word cnt which stores the status of output word device Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR D
154. iled To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR ARGUMENT MISMATCH The axis number and the alarm type do not correspond Example When 0 is set to the axis number and SSC ALARM OPERATION is set to the alarm type etc Point If an alarm has not occurred 0 will be got as the alarm number and the specific alarm number 4 FUNCTION DETAILS Supported version API Ver Header file Ver 1 80 q17nscef std h Reference sscResetAlarm 4 FUNCTION DETAILS 4 11 2 sscResetAlarm The alarm will be reset After the alarm reset signal is turned on and the alarm signal is confirmed to be OFF the alarm reset signal will be turned off int sscResetAlarm int board_id int channel int axnum int alarm_type Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 4 to 20 0 System alarm 1 to 20 Axis alarm 4 to 1 Station alarm 1 Station 1 2 Station 2 3 Station 3 4 Station 4 alarm_type in Alarm type SSC_ALARM_SYSTEM System alarm SSC_ALARM_SERVO SSC_ALARM_OPERATION Operation alarm SSC_ALARM_UNIT RIO module alarm SSC_ALARM_UNIT_CTRL RIO control alarm Return value SSC_OK Function succeeded
155. ime ms 0 to 65535 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure 1 to 9 Argument location Q173SCCF the designated timeout time has elapsed SSC_FUNC_ERR_NOW_ALARM_SYSTEM A system error ELTLILIh occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause SSC FUNC ERR ARGUMENT MISMATCH The axis number and the status bit number do not correspond Example When 0 is set to the axis number and 55 STSBIT AX RDY is set to the status bit number etc Point When SSC INFINITE is designated as the timeout time timeout is not checked Instead this function infinitely waits until the status bit becomes to the designated Bit status to be waited 4 FUNCTION DETAILS Supported version API Ver Header file Ver 1 80 q17nscef std h Reference sscSetCommandBitSignalEx sscGetStatusBitSignalEx 4 FUNCTION DETAILS 4 7 Point table functions 4 7 1 sscSetPointDataEx The point data stored in the structure variable designated by the pointer will be set int sscSetPointDataEx int board_id int channel int axnum int pnt_num PNT DATA EX pPntDataEx Argument board id in Board ID number 0 channel in Channel number 1 axnum in Axis number
156. inal covers while the power is ON or the unit is running as this may lead to electric shocks Never run the unit with the front case or terminal cover removed The high voltage terminal and charged sections will be exposed and may lead to electric shocks Never open the front case or terminal cover at times other than wiring work or periodic inspections even if the power is OFF The insides of the module and servo amplifier are charged and may lead to electric shocks Completely turn off the externally supplied power used in the system before mounting or removing the module performing wiring work or inspections Failing to do so may lead to electric shocks When performing wiring work or inspections turn the power OFF wait at least ten minutes and then check the voltage with a tester etc Failing to do so may lead to electric shocks Be sure to ground the module servo amplifier and servo motor Ground resistance 100 9 or less Do not ground commonly with other devices The wiring work and inspections must be done by a qualified technician Wire the units after installing the module servo amplifier and servo motor Failing to do so may lead to electric shocks or damage Never operate the switches with wet hands as this may lead to electric shocks Do not damage apply excessive stress place heavy things on or sandwich the cables as this may lead to electric shocks Do not touch the module servo amplifier or se
157. ing error SSC STSBIT SYS AHINF Alarm history information SSC STSBIT SYS IITO valid SSC STSBIT SYS EVDO Event detect enabled SSC STSBIT SYS HRIF During highly response I F valid SSC STSBIT SYS BMA During system program memory access Continuous operation to torque SSC STSBIT SYS PRINF SH control compatible information SSC_STSBIT_SYS_07 SSC_STSBIT_SYS_IFMO In interface mode Bit number constant SSC_STSBIT_SYS_15 Reserved al SSC STSBIT SYS 16 SSC STSBIT SYS EMIO During forced stop Bit number constant SSC STSBIT SYS 25 SSC STSBIT SYS 26 SSC STSBIT SYS 27 SSC STSBIT SYS 18 55 5 SYS TSTO In test mode SSC STSBIT SYS 28 Reserved E SSC STSBIT SYS 29 SSC STSBIT SYS 20 SSC STSBIT SYS 21 Reserved SSC STSBIT SYS 22 SSC STSBIT SYS 30 SSC STSBIT SYS EMID External forced stop disabled SSC STSBIT SYS 31 SSC STSBIT SYS 24 ssc 5 svs 2 Bit number constant Bit number constant SSC STSBIT SYS 33 SSC STSBIT SYS 41 SSC STSBIT SYS 34 SSC STSBIT SYS 42 55 STSBIT SYS 35 SSC STSBIT SYS 43 SSC STSBIT SYS 36 SSC STSBIT SYS 44 Reserved Reserved SSC STSBIT SYS 37 SSC STSBIT SYS 45 55 STSBIT SYS 38 SSC STSBIT SYS 46 SSC STSBIT SYS 39 SSC STSBIT SYS 47 SSC STSBIT SYS 40 SSC STSBIT SYS 48 Bit number constant Bit number constant In non synchronous mode SSC STSBIT SYS 1 araub4 SSC STSBIT SYS SYEO 1 Synchronizing group 1 u
158. ing is incorrect Set the servo motor encoder type increment absolute position type etc parameter to a value that is compatible with the system application The protective functions may not function if the setting is incorrect Set the servo motor capacity and type standard low inertia flat etc parameter to values that are compatible with the system application The protective functions may not function if the settings are incorrect Set the servo amplifier capacity and type parameters to values that are compatible with the System application The protective functions may not function if the settings are incorrect Use the program commands for the program with the conditions specified in the instruction manual Z CAUTION Set the sequence function program capacity setting device capacity latch validity range I O assignment setting and validity of continuous operation during error detection to values that are compatible with the system application The protective functions may not function if the settings are incorrect Some devices used in the program have fixed applications so use these with the conditions specified in the instruction manual The input devices and data registers assigned to the link will hold the data previous to when communication is terminated by an error etc Thus an error correspondence interlock program specified in the instruction manual must be used Use the interlock program specif
159. int pass_end Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 pass_start in Pass position condition start number 1 to 64 pass_end in Pass position condition end number 1 to 64 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 7 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 50 q17nscct std h Reference None 4 100 4 FUNCTION DETAILS 4 16 4 sscGetExecutingPassNumber The running pass position condition number will be got int sscGetExecutingPassNumber int board_id int channel int axnum short executing_pass Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 executing_pass out Pointer to 2 byte variable 2 bytes x 1 which stores the running pass position condition number Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside
160. interrupt complete Pass position interrupt SSC STSBIT AX PPIERR gt es incomplete SSC STSBIT AX 60 SSC STSBIT AX 61 e NT Reserved SSC STSBIT AX 62 SSC STSBIT AX 63 SSC STSBIT AX AUTLO In point table loop SSC STSBIT AX TDCF 6 BIT DEFINITION LIST Bit number constant Bit number constant SSC STSBIT AX GAINO During gain switching SSC STSBIT AX IWT Interference check standby Fully closed loop control TN SSC_STSBIT_AX_FCLSO handling SSC_STSBIT_AX_SINP Servo amplifier in position i SSC STSBIT AX TLSO Selecting torque limit SSC STSBIT AX 75 SSC STSBIT AX SPC During PID control SSC STSBIT AX 76 SSC STSBIT 69 SSC 77 SSC STSBIT AX 70 Reserved SSC STSBIT AX 78 Reserved SSC STSBIT AX 71 SSC STSBIT AX 79 During continuous operation to torque control Bit number constant Bit number constant Signal name Mark detection compatible information 1 SSC STSBIT AX PRSMO SSC STSBIT AX 80 SSC STSBIT AX 81 SSC STSBIT AX MKIF1 Reserved SSC STSBIT AX 82 SSC STSBIT AX MKCF1 Mark detection clear complete 1 SSC STSBIT AX 83 SSC STSBIT AX MKDO1 Mark detection disabled 1 Mark detection setting enable SSC STSBIT AX ZSF Home position set complete SSC STSBIT MKSEF1 complete 1 un Mark detection compatible SSC_STSBIT_AX_ZSE Home position set error SSC_STSBIT_AX_MKIF2 information 2 SSC STSBIT AX 86 SSC STSBIT AX MKCF2 Mark detection clear complete 2 SSC STSBIT AX 87 SSC STSBI
161. ion SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR ALREADY END INT DRIVER The interrupt driver has already been closed SSC FUNC ERR DEVICE DRIVER An error occurred with a call of the device driver SSC FUNC ERR SET EVENT An error occurred in the semGive function VxWorks API Call the errnoGet function of VxWorks API and confirm the error details SSC FUNC ERR TIMEOUT 01 While the discard of interrupt handler is being waited the timeout time 1 second has elapsed SSC FUNC ERR DELETE THREAD An error occurred in the taskDelete function VxWorks API Call the errnoGet function of VxWorks API and confirm the error details SSC FUNC ERR DELETE EVENT An error occurred in the taskDelete function VxWorks API Call the errnoGet function of VxWorks API and confirm the error details Point None Supported version API Ver Header file Ver 1 50 q17nscct std h Reference ssclintStart 4 147 4 FUNCTION DETAILS 4 22 3 ssclntEnable The interrupt output valid signal ITS will be turned on and interrupt output will be enabled int ssclntEnable int board id int channel Argument board id in Board ID number 0 channel in Channel number 1 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error
162. ion VxWorks API Call the errnoGet function of VxWorks API and confirm the error details Point None Supported version API Ver Header file Ver 1 50 q17nscef std h Reference sscWaitlntOasEvent 4 156 4 FUNCTION DETAILS 4 22 11 sscSetlntOasEvent Other axes start interrupt event signal status will be signaled This function is used to release the standby status with the sscWaitlntOasEvent function at the timing of the user program not the interrupt event of the Q173SCCF int sscSetlntOasEvent int board id int channel int axnum int oas num Argument board id in Board ID number 0 channel in Channel number 1 axnum in Axis number of other axes start table 1 to 20 oas num in Other axes start table number 1 to 20 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC FUNC ERR NOT START INT DRIVER The interrupt driver is closed Call the ssclntStart function SSC FUNC ERR SET EVENT An error occurred in the semGive function VxWorks API Call the errnoGet function of VxWorks API and confirm the error details Point When the standby status is released by calling this function an error occurs i
163. ion or Linear interpolation range SSC FUNC ERR NOW ALARM SYSTEM A system error ELILILIh occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause SSC FUNC ERR TIMEOUT 00 During the confirmation of response after executing the command to the O 1 to 2 Timeout location Q173SCCF the timeout time 1 second has elapsed SSC FUNC ERR STS BIT TDCE The deceleration time constant change error signal TDCE turned on Point None Supported version API Ver Header file Ver 1 50 q17nscct std h Reference sscGetDrivingPointNumber sscChangeAutoPosition sscChangeAutoSpeed sscChangeAutoAccTime 4 FUNCTION DETAILS 4 11 Alarm functions 4 11 1 sscGetAlarm The alarm number and the specific alarm number will be got int sscGetAlarm int board_id int channel int axnum int alarm_type unsigned short code unsigned short detail code Argument board id in Board ID number 0 channel in Channel number 1 axnum in Axis number 4 to 20 0 System alarm 1 to 20 Axis alarm 4 to 1 Station alarm 1 Station 1 2 Station 2 3 Station 3 4 Station 4 alarm type in Alarm type code out Pointer to 2 byte variable 2 bytes x 1 which stores the alarm number variable detail code out Pointer to 2 byte variable 2 bytes x 1 which stores the specific alarm number variable Return value SSC OK Function succeeded SSC NG Function fa
164. ion manual The ratings and characteristics of the parts other than module servo amplifier and servo motor used in a system must be compatible with the module servo amplifier and servo motor Install a cover on the shaft so that the rotary parts of the servo motor are not touched during operation There may be some cases where holding by the electromagnetic brakes is not possible due to the life or mechanical structure when the ball screw and servomotor are connected with a timing belt etc Install a stopping device to ensure safety on the machine side 2 Parameter settings and programming NCAUTION Set the parameter values to those that are compatible with the module servo amplifier servo motor and regenerative resistor model and the system application The protective functions may not function if the settings are incorrect The regenerative resistor model and capacity parameters must be set to values that conform to the operation mode servo amplifier and servo power supply module The protective functions may not function if the settings are incorrect Set the mechanical brake output and dynamic brake output validity parameters to values that are compatible with the system application The protective functions may not function if the settings are incorrect Set the stroke limit input validity parameter to a value that is compatible with the system application The protective functions may not function if the sett
165. is function When using this function make sure to set an applicable interrupt condition by sscChange2Parameter OASF Factor of other axes start interrupt is being sent OPF Completion of operation When SSC INFINITE is designated as this timeout time timeout is not checked Instead this function infinitely waits until the event occurs Supported version API Ver Header file Ver 1 50 q17nscef std h Reference sscResetlntOasEvent sscSetIntOasEvent 4 159 4 FUNCTION DETAILS 4 22 13 sscResetlntPassPosition Pass position interrupt event status will be set to nonsignaled This function is used to disable the pass position interrupt event occurring prior to calling the sscResetintPassPosition function int sscResetIntPassPosition int board id int channel int pass start int pass end Argument board id in Board ID number 0 channel in Channel number 1 pass num in Pass position condition start number 1 to 64 pass num in Pass position condition end number 1 to 64 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC FUNC ERR NOT START INT DRIVER The interrupt driver is closed Call the ssclntStart func
166. is status bit In position Zero speed SSC STSBIT AX DSTO In home position reset mode SSC STSBIT AX 24 Interlock stop Bit number constant SSC STSBIT AX ISTP SSC STSBIT AX RMRCH High speed monitor is latched SSC STSBIT AX POV Stop position over bound Start up acceptance complete SSC STSBIT AX STO SSC STSBIT 37 SSC STSBIT AX 38 SSC STSBIT AX ZREQ Home position return request SSC STSBIT AX 40 Bit number constant SSC STSBIT AX 49 SSC STSBIT AX 50 SSC STSBIT AX 51 SSC STSBIT AX 52 Reserved SSC STSBIT 53 SSC STSBIT AX 54 SSC AX 55 SSC STSBIT 56 Bit number constant SSC STSBIT AX 25 SSC STSBIT AX 26 SSC STSBIT AX 27 SSC STSBIT AX 28 Reserved SSC_STSBIT_AX_29 SSC STSBIT AX 30 SSC STSBIT AX 31 SSC STSBIT AX 32 Bit number constant Completion of preparation for changing speed Completion of preparation for changing acceleration time constant SSC STSBIT AX SCF SSC STSBIT AX TACF Completion of preparation for changing deceleration time constant Completion of preparation for SSC STSBIT AX PCF EET changing position SSC STSBIT AX SCE Speed change error Acceleration time constant SSC STSBIT AX TACE nib change error Deceleration time constant SSC STSBIT AX TDCE niin change error SSC STSBIT AX PCE Position change error Bit number constant SSC STSBIT AX PPIOP Pass position interrupt SSC STSBIT AX PPIFIN Pass position
167. lling the sscOpen function Detailed error code Cause countermeasure SSC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR TIMEOUT 01 During the confirmation of response after executing the command to Q173SCCF the timeout time 1 second has elapsed Point To confirm the other axes start status call the sscGetOtherAxisStartStatus function Supported version API Ver Header file Ver 1 50 q17nscct std h Reference sscOtherAxisStartAbortOn sscGetOtherAxisStartStatus 4 FUNCTION DETAILS 4 15 5 sscGetOtherAxisStartStatus The other axes start status other axes start status bit will be got int sscGetOtherAxisStartStatus int board_id int channel int oas_num short status Argument board_id in Board ID number 0 channel in Channel number 1 oas_num in Other axes start table number 1 to 20 status out Pointer to 2 byte variable 2 bytes x 1 which stores the other axes start status bit The got data is set in the logical sum of each value SSC_BIT_OSOP Other axes start notice SSC_BIT_OSFIN Other axes start complete SSC BIT OSERR Other axes start incomplete Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC
168. m int mode short param Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 mode in In position signal check mode 0 to 1 SSC_IFM_CHK_INP_WAIT Waits until the in position signal is ON SSC_IFM_CHK_INP_NOWAIT Does not wait until the in position signal is ON param out Pointer to 6 byte array 2 bytes x 3 which stores the home position data 0 multiple revolution data parameter No 024D 1 within 1 revolution position parameter No 024E 2 Home position within 1 revolution position parameter No 024F Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure 1 to 9 Argument location A system error occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause During the confirmation of response after executing the command to the 1 to 3 Timeout location Q173SCCF the timeout time 10 seconds has elapsed SSC FUNC ERR IFM INP OFF In position signal is OFF When setting Does not wait until the in position signal is ON during in position signal check mode call the ssclfmSetHomePosition function when the in position signal is
169. n Channel number 1 axnum in Axis number 1 to 20 acctime in Manual feed speed acceleration time constant after change ms 0 to 20000 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC FUNC ERR MISMATCH DRIVE MODE The operation mode is other than the JOG operation or Incremental feed SSC FUNC ERR NOW ALARM SYSTEM A system error ELTETLIh occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause SSC FUNC ERR TIMEOUT 0 During the confirmation of response after executing the command to the 1 to 2 Timeout location Q173SCCF the timeout time 1 second has elapsed SSC FUNC ERR STS BIT TACE The acceleration time constant change error signal TACE turned on Point None Supported version API Ver Header file Ver 1 50 q17nscef std h Reference sscChangeManualPosition sscChangeManualSpeed sscChangeManualDecTime 4 FUNCTION DETAILS 4 10 7 sscChangeAutoAccTime The automatic operation or linear interpolation acceleration time constant will be changed The change acceleration time constant signal TACHG will be turned on and the completion of preparation
170. n Q173SCCF the timeout time 1 second has elapsed SSC FUNC ERR STS BIT PCE The position change error signal PCE turned on Point Set the axis number in ascending order of the linear interpolation target axes for the changed position data array In the linear interpolation of axis 1 and 3 set the changed position data of axis 1 to pPosition 0 and the changed position data of axis 3 to pPosition 1 pPosition 2 and pPosition 3 are not used Supported version API Ver Header file Ver 1 50 q17nscct std h Reference sscGetDrivingPointNumber sscChangeAutoSpeed sscChangeAutoAccTime sscChangeAutoDecTime 4 65 4 FUNCTION DETAILS 4 10 4 sscChangeManualSpeed The speed will be changed in the JOG operation or incremental feed The change speed signal SCHG will be turned on and the completion of preparation for changing speed signal SCF or the speed change error signal SCE will be confirmed to be on int sscChangeManualSpeed int board_id int channel int axnum long speed Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 speed in Manual feed speed after change speed unit 0 to 2147483647 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cau
171. n closed 10000102h SSC FUNC ERR ALREADY OTHER PROCESS INT The interrupt driver has already been started up in other processing 10000104h SSC FUNC ERR CLEAR INT The writing of the interrupt signal clear register is failed function the designated event factor was being confirmed 100001 12h SSC FUNC ERR TERMINATE NOTIFY EVENT An error occurred in the interrupt event notification thread while the interrupt for the designated event factor was being confirmed 100001 13h SSC FUNC ERR SET HOST APPLICATION EVENT A function which releases the standby status was called from the user program while the interrupt for the designated event factor was being confirmed 10000200h SSC FUNC ERR ALREADY REREGISTER CALLBACK The interrupt callback function has already been registered To change the interrupt callback function call the sscUnregisterIntCallback function 10000201h SSC FUNC ERR ALREADY UNREREGISTER CALLBACK The interrupt callback function has already been unregistered 10 Mark detection functions error Constant definition 00067000h SSC FUNC ERR MARK DETECT UNUSABLE Mark detection function is disabled Mark detection function is not supported Mark detection function has been disabled by the settings 00067001h SSC FUNC ERR MARK DETECT UNDETECTED There is no mark detection data that can be got After checking that the mark detection count of the Q173SCCF has been renewed call the sscGetMarkDetectionData function
172. n the sscWaitlntOasEvent function Supported version API Ver Header file Ver 1 50 q17nscef std h Reference sscWaitlntOasEvent 4 157 4 FUNCTION DETAILS 4 22 12 sscWaitlntOasEvent This function waits until the other axes start interrupt event status becomes signaled This function is used to wait for the interrupt from the Q173SCCF for the designated other axes start wait type The checked status will be stored in the variable designated by the pointer int sscWaitlntOasEvent int board id int channel int axnum int oas num int oas type int oas status int timeout Argument board id in Board ID number 0 channel in Channel number 1 axnum in Axis number of other axes start table 1 to 20 oas num in Other axes start table number 1 to 20 oas type in Other axes start wait type SSC OAS WAIT TYPE OP Other axes start notice wait SSC OAS WAIT TYPE FIN Other axes start completion wait oas status out Pointer to 4 byte variable 4 bytes x 1 which stores the other axes start status SSC OAS STS OP Other axes start notice SSC OAS STS FIN Other axes start complete SSC OAS STS ERR Other axes start incomplete SSC OAS STS OP ERR Other axes start notice prior error timeout in Timeout time ms 0 to 65535 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the
173. n to torque control mode Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code The argument is outside the set range 1 to 9 Argument location mode use the ssclfmSetControlMode function sscGetSystemStatusCode function and remove the cause and remove the cause function and remove the cause SSC_FUNC_ERR_TIMEOUT_00 During the confirmation of response after executing the command to the O 1 to 2 Timeout location Q173SCCF the timeout time 1 second has elapsed SSC FUNC ERR STS BIT CTLMCE The control mode switch error signal CLTMCE turned ON Point It takes approximately six control cycles 6 to 11ms to switch the control mode of the servo amplifier becuase of the time it takes to confirm the response of the Q173SCCF Supported version API Ver Header file Ver 1 60 q17nsccf std h Reference sscSetPressData 4 FUNCTION DETAILS 4 10 Change functions 4 10 1 sscChangeManualPosition The position will be changed in the incremental feed The position change signal PCHG will be turned on and the completion of preparation for changing position signal PCF or the position change error signal PCE will be confirmed to be on int sscChangeManualPosition int board id int channel int axnum long position
174. nd Monitor latch command Reserved Bit number constant Signal name Bit number constant SSC CMDBIT UT RCRST RIO control alarm reset SSC CMDBIT UT 15 SSC CMDBIT UT 16 Reserved SSC CNMDBIT UT 31 55 ur 2 SSC CMDBIT UT 42 6 BIT DEFINITION LIST Bit number constant Signal name SSC CMDBIT UT 65 SSC CMDBIT UT 66 SSC CMDBIT UT 67 SSC CMDBIT UT 68 SSC CMDBIT UT 69 SSC CMDBIT UT 70 SSC CNMDBIT UT 71 SSC UT 72 Reserved Bit number constant Signal name SSC CMDBIT UT 81 SSC CMDBIT UT 82 SSC CMDBIT UT 83 SSC CMDBIT UT 84 SSC CMDBIT UT 85 Reserved SSC CMDBIT UT 86 SSC CMDBIT UT 87 SSC CMDBIT UT 88 Bit number constant Signal name SSC CMDBIT UT 97 SSC CMDBIT UT 98 SSC CMDBIT UT 99 SSC CMDBIT UT 100 SSC CMDBIT UT 101 SSC CMDBIT UT 102 SSC CMDBIT UT 103 SSC CMDBIT UT 104 Bit number constant Signal name SSC CMDBIT UT 113 SSC CMDBIT UT 114 SSC CMDBIT UT 115 SSC CMDBIT UT 116 SSC CMDBIT UT 117 SSC CMDBIT UT 118 SSC CMDBIT UT 119 SSC CMDBIT UT 120 Reserved Reserved SSC CMDBIT UT 77 SSC CMDBIT UT 78 SSC CMDBIT UT 89 SSC CMDBIT UT 105 Reserved 6 BIT DEFINITION LIST 6 6 Station status bit SSC_STSBIT_UT_RUALM RIO module alarm SSC_STSBIT_UT_RCALM RIO control alarm SSC STSBIT UT RUWRN RIO module warning SSC STSBIT UT 15 SSC STSBIT UT 8 SSC STSBIT UT 16 SSC_STSBIT_UT_23 SSC STSBIT
175. ng chips or combustible matter such as oil enter the module servo amplifier or servo motor The module servo amplifier and servo motor are precision machines so do not drop or apply strong impacts on them Securely fix the module servo amplifier and servo motor to the machine according to the instruction manual If the fixing is insufficient these may come off during operation Z CAUTION Always install the servo motor with reduction gears in the designated direction Failing to do so may lead to oil leaks Store and use the unit in the following environmental conditions Conditions Environment Module Servo amplifier Ambient 0 to 40 With no freezing According to each instruction manual temperature 32 to 104 8096 RH or less Ambient humidity According to each instruction manual With dew condensation Storage 20 to 65 According to each instruction manual temperature 4 F to 149 F Indoors where not subject to direct sunlight Atmosphere AD ar No corrosive gases flammable gases oil mist or dust must exist Altitude 1000m 3280 84ft or less above sea level According to each instruction manual When coupling with the synchronous encoder or servo motor shaft end do not apply impact such as by hitting with a hammer Doing so may lead to detector damage Do not apply a load larger than the tolerable load onto the synchronous encoder and
176. not be found Confirm the C Controller module and Q173SCCF are properly mounted The mount channel information cannot be got The operating system may not recognize the Q173SCCF properly Confirm that the Q173SCCF is properly mounted An error occurred in the semBCreate function VxWorks API Call the errnoGet function of VxWorks API and confirm the error details An error occurred in the taskDelete function VxWorks API Call the errnoGet function of VxWorks API and confirm the error details An error occurred in the semTake function VxWorks API Call the errnoGet function of VxWorks API and confirm the error details 8 LIST OF DETAILED ERROR CODES Constant definition 00022003h SSC_FUNC_ERR_RELEASE_SEMAPHORE An error occurred in the ReleaseSemaphore function VxWorks API Call the errnoGet function of VxWorks API and confirm the error details 00022010h SSC_FUNC_ERR_CREATE_EVENT An error occurred in the semBCreate function VxWorks Call the errnoGet function of VxWorks API and confirm the error details 00022011h SSC_FUNC_ERR_DELETE_EVENT An error occurred in the taskDelete function VxWorks API Call the errnoGet function of VxWorks API and confirm the error details 00022012h SSC_FUNC_ERR_RESET_EVENT An error occurred in the semTake function VxWorks API Call the errnoGet function of VxWorks API and confirm the error details 00022013h SSC_FUNC_ERR_SET_EVENT An error occurred in the semGive function VxWorks
177. nt When a value 2 seconds 2000ms or less is designated as the timeout time the timeout will be 2 seconds 2000ms SSC FUNC ERR NOW ALARM SYSTEM A system error ELTETLIh occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference sscSaveAllParameterToFlashROM 4 FUNCTION DETAILS 4 4 7 sscSaveAllParameterToFlashROM All parameters will be saved to the flash int sscSaveAllParameterToFlashROM int board_id int channel int timeout Argument board id in Board ID number 0 channel in Channel number 1 timeout in Timeout time ms 0 to 65535 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Cause countermeasure 1 to 9 Argument location A system error ELTEILIh occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause 1 to 3 Timeout location Q173SCCF the designated timeout time has elapsed SSC FUNC ERR STS BIT FRNG The flash ROM transfer preparation error FRNG occurred SSC FUNC ERR STS BIT FSNG The flash ROM transfer error FSNG occurred Point When a value 10 seconds 10000ms or less is designated as the time
178. nt e Start axis end point 0 to 319 dout ctrl Digital output signal control to 1 SSC OAS DO DISABLE Disable Digital output signal control SSC OAS DO ENABLE dout num Digital output signal number 00 to 3Fh dout ctrlbit Digital output signal enable selection dout data Digital output signal data Point Always set Observed axis specified position pass specification 55 OAS OBSERV POSITION PASS when Observed axis specification is enabled 55 OAS OBSERV ENABLE Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference sscSetOtherAxisStartData sscGetOtherAxisStartData 5 STRUCTURE LIST 5 3 PRESS DATA structure This continuous operation to torque control data structure is used for automatic operation continuous operation to torque control typedef struct 0000h long switch_position long position limit long speed limit unsigned short target torque unsigned short continue time 0010h unsigned short torque settle width unsigned short torque settle time unsigned short actime unsigned short dctime unsigned short condition char 1 6 0020h PRESS DATA Member Switch position Continuous operation to torque control switching position position limit Press limit position speed limit Continuous operation to torque control speed limit value 1to 2147483647 target torque Target torque 0 196 0 to 32767 continue time Press time
179. number 0 channel in Channel number 1 oas num in Other axes start table number 1 to 20 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Cause countermeasure SSC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR TIMEOUT 01 During the confirmation of response after executing the command to Q173SCCF the timeout time 1 second has elapsed Point response is not confirmed after the other axes start cancel signal OSSTPL is turned on To confirm the other axes start status call the sscGetOtherAxisStartStatus function Supported version API Ver Header file Ver 1 50 q17nscef std h Reference sscOtherAxisStartAbortOff sscGetOtherAxisStartStatus 4 FUNCTION DETAILS 4 15 4 sscOtherAxisStartAbortOff The other axes start cancel signal OSSTPLI will be turned off and the other axes start will be canceled int sscOtherAxisStartAbortOff int board id int channel int oas num Argument board id in Board ID number 0 channel in Channel number 1 oas num in Other axes start table number 1 to 20 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before ca
180. oard ID number 0 channel in Channel number 1 axnum in Axis number 4 to 20 0 System interrupt event 1 to 20 Axis interrupt event 4 to 1 Station interrupt event 1 Station 1 2 Station 2 3 Station 3 4 Station 4 eventnum in Event wait number 0 to 1 eventfactor in Event factor Refer to Chapter 7 INTERRUPT EVENT FACTOR LIST for the event factors Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR NOT START INT DRIVER The interrupt driver is closed Call the ssclntStart function SSC FUNC ERR RESET EVENT An error occurred in the semTake function VxWorks API Call the errnoGet function of VxWorks API and confirm the error details Point None Supported version API Ver Header file Ver 1 80 q17nscef std h Reference sscWaitlntEvent 4 152 4 FUNCTION DETAILS 4 22 8 sscSetlntEvent Interrupt event signal status will be signaled This function is used to release the standby status with the sscWaitlntEvent function at the timing of the user program not the interrupt event of the Q173SCCF int sscSetintEvent int board id int channel int axnum int eventnum int eventf
181. oard id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 offset out Pointer to 2 byte variable 2 bytes x 1 which stores the point table offset Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 50 q17nscct std h Reference sscCheckPointDataEx 4 FUNCTION DETAILS 4 7 5 sscGetDrivingPointNumber The operation point number will be got int sscGetDrivingPointNumber int board_id int channel int axnum short driving pnt Argument board id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 driving pnt out Pointer to 2 byte variable 2 bytes x 1 which stores the operation point number Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR MISMATCH DRIVE MODE The operation mode is other than t
182. of all axes Axis 1 bit gt Axis 2 bit19 Axis 20 Bit ON 1 Bit OFF 0 For non controlled axes the status bit is permanently OFF Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR DISABLE EVENT DETECT Event detect function is not enabled Point When interrupt processing is ended by the ssclntDisable function or ssclntEnd function the correct status bit value cannot be got because the event notification function does not operate Because status bits are got using the event detect function this function reads faster compared to the sscGetStatusBitSignalEx function 4 142 4 FUNCTION DETAILS Supported version API Ver Header file Ver 1 72 q17nscef std h Reference sscGetStatusBitSignalEx 4 143 4 FUNCTION DETAILS 4 22 Interrupt functions 1 Processing procedure An example of processing procedure for using interrupt functions is below C Controller module Q173SCCF UTERE E EEEE lt Sets interrupt conditions Note 1 I parameters 1 Example Completes the setting short int fact 2 Ox Ox
183. ommercial power supply to the servo motor as this may lead to trouble Do not mistake the direction of the surge absorbing diode installed on the DC relay for the control signal output of brake signals etc Incorrect installation may lead to signals not being output when trouble occurs or the protective functions not functioning Servo amplifier 24VDC Control output Control output signal signal DICOM For the sink output interface For the source output interface Do not connect or disconnect the connection cables between each unit the encoder cable or PLC expansion cable while the power is ON Securely tighten the cable connector fixing screws and fixing mechanisms Insufficient fixing may lead to the cables coming off during operation Do not bundle the power line or cables 5 Trial operation and adjustment NCAUTION Confirm and adjust the program and each parameter before operation Unpredictable movements may occur depending on the machine Extreme adjustments and changes may lead to unstable operation so never make them When using the absolute position system function on starting up and when the module or absolute position motor has been replaced always perform a home position return Before starting test operation set the parameter speed limit value to the slowest value and make sure that operation can be stopped immediately by the forced stop etc if a hazardous state occurs 6 Usage me
184. on of response after executing the command to the O 1 to 2 Timeout location Q173SCCF the timeout time 1 second has elapsed SSC FUNC ERR STS PWEN 1 A parameter write number error occurred A value outside the range is set in the parameter write number 1 The axis number and the parameter write number do not correspond Example When System parameter is set to the axis number and Axis parameter is set to the parameter write number etc SSC FUNC ERR STS BIT PWED1 A value outside the range is set in the parameter write data 1 SSC FUNC ERR MISMATCH PARAM WRITE NUM1 The command and the status of the parameter write number 1 do not correspond SSC FUNC ERR MISMATCH PARAM WRITE DATA1 The command and the status of the parameter write data 1 do not correspond 4 FUNCTION DETAILS Point This function can write the parameters either before or while the system is running It takes about 2 to 10 control cycles to write parameters because of the time it takes to confirm the response of the Q173SCCF When a number of parameters are written to multiple axes sequentially the writing time can be shortened by calling this function in each thread of system or axis Supported version API Ver Header file Ver 1 80 q17nsccf std h Reference sscChange2Parameter sscCheckParameter sscCheck2Parameter 4 FUNCTION DETAILS 4 4 3 sscChange2Parameter Two the parameters will be written
185. onnected Use the sscCheckPCleBusConnection function to periodically check that the PCle bus is connected 8 When reloading after closing the user programs without calling the sscClose function the sscOpen function becomes SSC FUNC ERR Reload the user programs after deleting all the user programs the C Controller module is operating 9 When reloading after closing the user programs without calling the ssclntEnd function the operation may become unpredictable when calling the ssclntStart function Restart the C Controller module 2 CONDITIONS FOR USE MEMO 3 LIST OF API FUNCTIONS 3 LIST OF API FUNCTIONS Reference Function Type Function Name Function Content Section Support sscGetLastError Gets the detailed error codes Functions sscGetMountChannel Gets the mount channel information Device sscOpen Opens memory access port Functions sscClose Closes memory access port sscGetControlCycle Gets control cycle status inf sscGetBoardVersion Gets Q173SCCF system version information nformation sscGetDriverVersion Gets the version information for the driver Functions sscClearOperationCycleMonitor Clears operation cycle monitor data Sets the initial values in all parameters before system startup Parameter Functions sscReboot Reboots the system 4 5 1 Command Status Functions sscSetPointDataEx Sets the point data 4 7 1 Point Table Functions sscSetLatestPointNumb
186. oopFast Mark detection functions sscGetMarkDetectionData sscGetMarkDetectionCounter sscClearMarkDetectionData Interface mode functions ssclfmGetMaximumBufferNumberEx ssclfmRenewLatestBufferEx ssclfmCheckLatestBufferEx ssclfmGetTransmitBufferEx ssclfmTrqSetSpeedLimit ssclfmSetControlMode ssclfmGetControlMode PRESS DATA structure Additional correction Conditions for use bit definition system status bit axis command bit axis status bit interrupt event factor axis interrupt detailed error code Jul 2015 1 0300219 Additional function Point table functions sscSetLatestPointNumber Interface mode functions ssclfmGetEventStatusBits I O device functions sscGetlnputDeviceBit sscGetInputDeviceWord sscSetOutputDeviceBit sscSetOutputDeviceWord sscGetOutputDeviceBit sscGetOutputDeviceWord Transient transmit functions sscSendReceiveTransientData TRANSIENT structure TRANSIENT STS structure Additional correction Parameter functions sscChangeParameter sscChange2Parameter sscCheckParameter sscCheck2Parameter System functions sscReconnectSSCNET sscDisconnectSSCNET Command Status functions sscSetCommandBitSignalEx sscGetStatusBitSignalEx sscWaitStatusBitSignalEx Alarm functions sscGetAlarm sscResetAlarm General monitor functions sscSetMonitor sscStopMonitor sscGetMonitor Interface mode functions ssclfmRenewLatestBuffer ssclfmRenewLatestBufferEx Interrupt functions sscRes
187. ord_num int word_cnt unsigned short dev_out Argument board_id in Board ID number 0 channel in Channel number 1 word num in Output word device number 0000h to OOFFh word cnt in Word points from the ouput word device number 0001h to 0100h dev out in Pointer to the array 2 bytes x word cnt which stores the setting data Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR DVO TABLE RANGE OVER The word num word cnt designated by the argument exceeds the size of the output device table Point None Supported version API Ver Header file Ver 1 80 q17nscef std h Reference sscSetOutputDeviceBit sscGetOutputDeviceWord 4 171 4 FUNCTION DETAILS 4 23 5 sscGetOutputDeviceBit Gets the designated output bit device in 1 point basis int sscGetOutputDeviceBit int board_id int channel int bit_num int dev out Argument board id in Board ID number 0 channel in Channel number 1 bit num in Output bit device number 0000h to OFFFh dev out out Pointer to 4 byte variable 4 bytes x 1 which stores the status of du bit device SSC BIT OFF Output s
188. out location Q173SCCF the timeout time 1 second has elapsed Point The read complete buffer number is set to 0 after mark detection data is cleared Supported version API Ver Header file Ver 1 60 q17nsccf std h Reference sscGetMarkDetectionData 4 127 4 FUNCTION DETAILS 4 21 Interface mode functions 4 21 1 ssclfmGetReadErrorCount Read error counter will be got int ssclfmGetReadErrorCount int board_id int channel short err cnt Argument board id in Board ID number 0 channel in Channel number 1 err cnt out Pointer to 2 byte variable 2 bytes x 1 which stores the read error counter Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 50 q17nscct std h Reference None 4 128 4 FUNCTION DETAILS 4 21 2 ssclfmSetHomePosition Home position will be set and after completion home position multiple revolution data parameter No 024D home position within 1 revolution position parameter No 024E parameter No 024F will be got int ssclfmSetHomePosition int board_id int channel int axnu
189. out time the timeout will be 10 seconds 10000ms To change the parameter contents backed up in a flash ROM to the initial value call this function after initializing all parameters with the sscResetAllParameter function Supported version API Ver Header file Ver 1 50 q17nscef std h Reference sscLoadAllParameterFromFlashROM 4 FUNCTION DETAILS 4 4 8 sscCheckSvPrmChangeNumEx The servo parameter change number will be got int sscCheckSvPrmChangeNumEx int board id int channel int axnum short prmnum Argument board id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 prmnum out Pointer to 8 byte array 2 bytes x 4 which stores the servo parameter change number Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 1 to 9 Argument location Point Use monitor for detailed information of the servo parameter change number Supported version API Ver Header file Ver 1 60 q17nsccf std h Reference None 4 FUNCTION DETAILS 4 5 System functions 1 Processing procedure An example of system processing procedure until starting up shutting down the system is below
190. outside the set range 1 to 9 Argument location SSC FUNC ERR NOT START MONITOR The monitor has not been started Point For the system monitor the third and fourth monitor number and monitor data are not stored To obtain a current command position current feedback position external signal status moving speed feedback moving speed or electrical current feedback use high speed monitor functions to obtain the data quickly Supported version API Ver Header file Ver 1 80 q17nsccf std h Reference sscSetMonitor 4 FUNCTION DETAILS 4 13 High speed monitor functions 4 13 1 sscGetCurrentCmdPositionFast The current command position will be got int sscGetCurrentCmdPositionFast int board_id int channel int axnum long position Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 position out Pointer to 4 byte variable 4 bytes x 1 which stores the current command position Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 to 9 Argument location Point The Q173SCCF High speed monitor function is used to get the current command position Support
191. pecifications of the QCPU modules power supply modules base units SH 080483ENG extension cables memory card battery and the maintenance inspection for the system trouble shooting 13JR73 error codes and others QnUCPU User s Manual Function Explanation Program Fundamentals 5 SH 080807ENG This manual explains the functions programming methods and devices and others to create programs 134227 with the QCPU 3 Programming tool Manuali Name Manual Number Model Code Setting Monitoring Tools for the C Controller Module Operating Manual o SH 081131ENG This manual explains the system configuration operation method and others for setting monitoring tool for 13JU76 the C Controller module CW Workbench Operating Manual 3 SH 080982ENG This manual explains the system configuration specifications functions troubleshooting and others for 13JU71 CW Workbench 4 Servo amplifier Kanal Name Manual Number Model Code SSCNET III H interface AC Servo MR J4_B RJ MR J4_B4 RJ MR J4_B1 RJ Servo amplifier Instruction Manual SH 030106 This manual explains the I O signals parts names parameters start up procedure and others for AC 1CW805 Servo MR J4_B RJ MR J4_B4 RJ MR J4_B1 RJ Servo amplifier SSCNETIVH interface Multi axis AC Servo MR J4W2 _B MR J4W3 _B Servo amplifier Instruction Manual SH 030105 This manual explains the I O signals parts names parameters star
192. perly Confirm that the Q173SCCF is properly mounted An error occurred in the semBCreate function VxWorks API Call the errnoGet function of VxWorks API and confirm the error details SSC FUNC ERR NOT FOUND BOARD The Q173SCCF could not be found Confirm the C Controller module and Q173SCCF are properly mounted Point Call each API function after calling the sscOpen function which corresponds to the used board ID Supported version API Ver Header file Ver 1 50 q17nscct std h Reference sscClose 4 FUNCTION DETAILS 4 2 2 sscClose memory access port will be closed int sscClose int board_id Argument board_id in Board ID number 0 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC FUNC ERR UNOPEN The sscOpen function has not been called installed An error occurred in the taskDelete function VxWorks API Call the errnoGet function of VxWorks API and confirm the error details Point Call sscClose which corresponds to the board ID where the memory access port is already open before finishing the user program Supported version API Ver Header file Ver 1 50 q17nscct std h Reference sscOpen 4 FUNCTION DETAILS 4 3 Informa
193. ported version API Ver Header file Ver 1 60 q17nsccf std h Reference None 4 FUNCTION DETAILS 4 14 User watchdog functions 4 14 1 sscWdEnable The user watchdog function will be enabled int sscWdEnable int board_id int channel unsigned short wdcnt Argument board id in Board ID number 0 channel in Channel number 1 wdcnt in Watchdog timer start counter Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC FUNC ERR ALREADY ENABLE WDT The user watchdog function has been already valid Point None Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference sscWdDisable 4 FUNCTION DETAILS 4 14 2 sscWdDisable user watchdog function will be disabled int sscWdDisable int board_id int channel Argument board_id in Board ID number 0 channel in Channel number 1 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argum
194. re SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference sscStartL og 4 111 4 FUNCTION DETAILS 4 18 4 sscCheckLogEventNum The number of valid log data events recorded in the log data will be got int sscCheckLogEventNum int board_id int channel int eventnum Argument board_id in Board ID number 0 channel in Channel number 1 eventnum out Pointer to 4 byte variable 4 bytes x 1 which stores the number of valid log data events Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference sscStartL og 4 112 4 FUNCTION DETAILS mm ec y ae 4 18 5 sscReadLogData 16 events of log data will be read int sscReadLogData int board_id int channel int pagenum LOG DATA pLogData Argument board id in Board ID number 0 channel in Channel number 1 pagenum in Log data read page number 1 to 256 pLogData out Pointer to 256 byte structure
195. rque control data structure Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 60 q17nsccf std h Reference sscSetPressData 4 FUNCTION DETAILS 4 9 Operating functions 4 9 1 sscJogStart JOG operation will be started After performing the necessary settings for operation and changing to JOG operation mode the start operation signal ST will be turned on int sscJogStart int board_id int channel int axnum long speed short actime short dctime char dir Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 speed in Manual feed speed speed unit 0 to 2147483647 actime in Manual feed speed acceleration time constant ms 0 to 20000 dctime in Manual feed speed deceleration time constant ms 0 to 20000 dir in Movement direction SSC_DIR_PLUS SSC_DIR_MINUS direction Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function 4 FUNCTI
196. rror details 00026003h SSC FUNC ERR SYS INT ENABLE PIC An error occurred in the sysIntEnablePIC function Call the errnoGet function of VxWorks API and confirm the error details 00026004h SSC FUNC ERR SYS INT DISABLE PIC An error occurred in the sysIntDisablePIC function Call the errnoGet function of VxWorks API and confirm the error details 00026005h SSC FUNC ERR PCI INT DISCONNECT An error occurred in the pcilntDisconnect function Call the errnoGet function of VxWorks API and confirm the error details 00026006h SSC FUNC ERR GET CFG MSI CONTROL An error occurred in the pciConfigInWord function get MSI Control Call the errnoGet function of VxWorks API and confirm the error details 00026007h SSC FUNC ERR SET CFG MSI CONTROL An error occurred in the pciConfigOutWord function set MSI Control Call the errnoGet function of VxWorks API and confirm the error details 8 LIST OF DETAILED ERROR CODES 3 System functions error Constant definition 00030000h SSC_FUNC_ERR_UNREADY_CHANNEL The system is in the status other than system preparation completion Reboot the system with the sscReboot function Start the system with the sscSystemStart function 00030030h SSC_FUNC_ERR_NOW_ALARM_SYSTEM A system error ELTLILIh occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause 00030040h SSC FUNC ERR FLASHROM PARAM LOAD The flash ROM parameter read error occurred 0003
197. rvo motor terminal blocks while the power is ON as this may lead to electric shocks Do not touch the built in power supply built in grounding or signal wires of the module and servo amplifier as this may lead to electric shocks 2 For fire prevention NCAUTION Install the module servo amplifier servo motor and regenerative resistor on incombustible Installing them directly or close to combustibles will lead to fire fault occurs in the module or servo amplifier shut the power OFF at the servo amplifier s power source If a large current continues to flow fire may occur When using a regenerative resistor shut the power OFF with an error signal The regenerative resistor may abnormally overheat due to a fault in the regenerative transistor etc and may lead to fire Always take heat measures such as flame proofing for the inside of the control panel where the servo amplifier or regenerative resistor is installed and for the wires used Failing to do so may lead to fire Do not damage apply excessive stress place heavy things on or sandwich the cables as this may lead to fire 3 For injury prevention NCAUTION Do not apply a voltage other than that specified in the instruction manual any terminal Doing so may lead to destruction or damage Do not mistake the terminal connections as this may lead to destruction or damage Do not mistake the polarity as this may lead to
198. s oe NN A 4 72 4 11 2 sschesetAlarmm nonet te de ned te teen e eee eve Tudela eu oe eua 4 74 4 12 Generalimonitor Tuhctions eene ertet a a meii 4 76 4 12 1 snnt nnns 4 78 4 122 SSCOLOP MONON xot tradotti m ttum om 4 80 212 3 855 eee 4 81 4 13 High speed monitor functions 4 82 4 13 1 4 82 4 13 2 4 83 4 13 3 4 84 4 13 4 4 4 85 4213 5 gt 65 ten a des 4 86 4 13 6 4 87 4 13 7 4 88 4 14 User watchdog 4 89 4 14 1 6 eaten 4 89 4714 2 scWabDisable 5 3 Rt iat
199. sary interrupt conditions only Unnecessary interrupt condition may deteriorate the performance of the user program When SSC INFINITE is designated as this timeout time timeout is not checked Instead this function infinitely waits until the event occurs When the deceleration check system is set to in position stop in the automatic operation or the linear interpolation the Operation completion type is Completion of operation by in position stop even though the smoothing stop is set Since the completion of operation status of this function is judged by the operation completion type it may differ from the during operation signal OP and the completion of operation signal OPF of the Q173SCCF Supported version API Ver Header file Ver 1 50 q17nscct std h Reference sscResetlntDriveFin sscSetIntDriveFin sscGetDriveFinStatus 4 167 4 FUNCTION DETAILS gg me EN 4 23 I O device functions 4 23 1 sscGetlnputDeviceBit Gets the designated input bit device in 1 point basis int sscGetlnputDeviceBit int board id int channel int bit num int dev in Argument board id in Board ID number 0 channel in Channel number 1 bit num in Input bit device number 0000h to OFFFh dev in out Pointer to 4 byte variable 4 bytes x 1 which stores the status of bit device SSC_BIT_OFF Input signal OFF SSC_BIT_ON Input signal ON Return value SSC_OK Function succeeded SSC_NG Function fail
200. scGetDrivingPointNumber sscChangeAutoSpeed sscChangeAutoAccTime sscChangeAutoDecTime 4 FUNCTION DETAILS 4 10 3 sscChangeLinearPosition The linear interpolation position will be changed int sscChangeLinearPosition int board_id int channel int axnum int grpnum int pnt_num long pPosition Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Primary axis number 1 to 20 grpnum in Linear interpolation group number 1 to 8 pnt_num in Point number 0 to 319 pPosition in Pointer to 16 byte array 4 bytes x 4 which stores the position data after change Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR MISMATCH DRIVE MODE The operation mode is other than the Linear interpolation SSC FUNC ERR POINT NUMBER OVER Designated point number point number offset value exceeded the point table range SSC FUNC ERR NOW ALARM SYSTEM A system error ELTETLIh occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause SSC FUNC ERR TIMEOUT 0 During the confirmation of response after executing the command to the 1 to 2 Timeout locatio
201. scef std h Reference sscChangeParameter sscCheckParameter sscCheck2Parameter 4 FUNCTION DETAILS 4 4 4 sscCheckParameter The set value of the designated parameter will be read int sscCheckParameter int board_id int channel int axnum short prmnum short prmdata Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 4 to 20 0 System parameter 1 to 20 Axis parameter 4 to 1 Station parameter 1 Station 1 2 Station 2 3 Station 3 4 Station 4 prmnum in Parameter read number prmdata out Pointer to 2 byte variable 2 bytes x 1 which stores the parameter read data Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure 1 to 9 Argument location During the confirmation of response after executing the command to the O 1 to 2 Timeout location Q173SCCF the timeout time 1 second has elapsed sscGetSystemStatusCode function and remove the cause SSC_FUNC_ERR_STS_BIT_PREN1 A parameter read error occurred A value outside the range is set in the parameter read number The axis number and the parameter read number do not correspond Example When System parameter is set to the axis number and Axis parameter is set to the parameter read n
202. se Point When 0 is designated as the timeout time the timeout will be 20 seconds 20000ms Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference sscDriveStopNoWait sscDriveRapidStop sscDriveRapidStopNoWait 4 FUNCTION DETAILS 4 9 10 sscDriveStopNoWait The operations will be stopped The stop signal STP is turned on and the stop complete status is returned int sscDriveStopNoWait int board_id int channel int axnum short stpsts Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 stpsts out Pointer to 2 byte variable 2 bytes x 1 which stores the stop complete status SSC_DRIVING During operation SSC_DRIVE_FIN Stop complete Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location During the confirmation of response after executing the command to the Q173SCCF the timeout time 1 second has elapsed A system error ELTETLIh occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause Point In order to make use of wait inside this function the sscDriveStop function should be used
203. se countermeasure SSC_FUNC_ERR_ARGUMENT_00 The argument is outside the set range 1 1 to 9 Argument location SSC_FUNC_ERR_MISMATCH_DRIVE_MODE The operation mode is other than the JOG operation or Incremental feed SSC_FUNC_ERR_TIMEOUT_00 During the confirmation of response after executing the command to the O 1 to 2 Timeout location Q173SCCF the timeout time 1 second has elapsed SSC_FUNC_ERR_NOW_ALARM_SYSTEM A system error ELILILIh occurred Get the system status code with the sscGetSystemStatusCode function and remove the cause SSC FUNC ERR STS BIT SCE The speed change error signal SCE turned on Point None Supported version API Ver Header file Ver 1 50 q17nscef std h Reference sscChangeManualPosition sscChangeManualAccTime sscChangeManualDecTime 4 FUNCTION DETAILS 4 10 5 sscChangeAutoSpeed The automatic operation or linear interpolation speed will be changed The change speed signal SCHG will be turned on and the completion of preparation for changing speed signal SCF or the speed change error signal SCE will be confirmed to be on int sscChangeAutoSpeed int board_id int channel int axnum int pntnum long speed Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 pntnum in Point number 0 to 319 speed in Feed speed after change speed unit 0 to 2147483647 Return value SSC_OK Function suc
204. t When 0 is designated as the timeout time the timeout will be 20 seconds 20000ms In order to prevent this function from waiting internally the sscDriveRapidStopNoWait function should be used Supported version API Ver Header file Ver 1 50 q17nscef std h Reference sscDriveStop sscDriveStopNoWait sscDriveRapidStopNoWait 4 FUNCTION DETAILS 4 9 12 sscDriveRapidStopNoWait Operations will be stopped rapidly The start operation signal ST is turned off and the during operation signal OP is returned int sscDriveRapidStopNoWait int board_id int channel int axnum short stpsts Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 stpsts out Pointer to the stop complete status variable Pointer to 2 byte variable 2 bytes x 1 which stores the stop complete status Description SSC_DRIVING During operation SSC_DRIVE_FIN Stop complete Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location During the confirmation of response after executing the command to the Q173SCCF the timeout time 1 second has elapsed A system error ELILILIh occurred
205. t are set forth in the instruction manual and user manual for the Product and the caution label affixed to the Product 3 Even during the term of warranty the repair cost will be charged on you in the following cases 1 A failure caused by your improper storing or handling carelessness or negligence etc and a failure caused by your hardware or software problem 2 A failure caused by any alteration etc to the Product made on your side without our approval 3 A failure which may be regarded as avoidable if your equipment in which the Product is incorporated is equipped with a safety device required by applicable laws and has any function or structure considered to be indispensable according to a common sense in the industry 4 A failure which may be regarded as avoidable if consumable parts designated in the instruction manual etc are duly maintained and replaced 5 Any replacement of consumable parts battery relay fuse etc 6 A failure caused by external factors such as inevitable accidents including without limitation fire and abnormal fluctuation of voltage and acts of God including without limitation earthquake lightning and natural disasters 7 A failure generated by an unforeseeable cause with a scientific technology that was not available at the time of the shipment of the Product from our company 8 Any other failures which we are not responsible for or which you acknowledge we are not responsible for 2
206. t up procedure and others for Multi 1CW806 axis AC Servo MR J4W2 _B MR J4W3 _B Servo amplifier 1 SUMMARY 1 SUMMARY This API library is a collection of API functions for creating applications on the C Controller module which control the SSCNETIII H compatible C Controller interface module Q173SCCF By using API functions it is possible to open and close communication with the Q173SCCF initialize communication with the servo amplifier change parameters start operations in each operating mode and monitor In this manual the following abbreviations are used Generic term Abbreviation Q173SCCF or Q173SCCF C Controller interface module C Controller interface module Q24DHCCPU V or General name for C Controller module Q24DHCCPU V CPP an Controller module IMRJAWDKOHB JA W Servo Servo amplifier model MR J4 OB MR J4WO OB model MR J4 LIB MR JAW General name for the C Controller Interface Module Utility sw DNC QSCCF B Utility software which includes test tool for start up and examination and the API library for Q173SCCF module uses to control the Q173SCCF Controller module SW4PVC CCPU E General name for CW Workbench SW1DND CWWLQ24 E the engineering tool CW Workbench for the C Controller module Wind River Workbench General name for Wind River Workbench 3 2 made by Wind River Systems Abbreviation for the Servo set up software MR Configurator2 version 1 10L or MR Configurator2 later Program
207. tart interrupt event to signaled 4 22 11 Functions Waits until the status of the other axes start interrupt event sscWaitlntOasEvent 4 22 12 becomes signaled sscResetlIntPassPosition Sets the status of the pass position interrupt event to nonsignaled 4 22 13 sscSetintPassPosition Sets the status of the pass position interrupt event to signaled 4 22 14 Waits until the status of the pass position interrupt event becomes sscWaitlntPassPosition 4 22 15 signaled PEN Sets the status of the operation completion interrupt event to sscResetlntDriveFin 4 22 16 nonsignaled Sets the status of the operation completion interrupt event to sscSetlntDriveFin 4 22 17 signaled qu Waits until the status of the operation completion interrupt event sscWaitlntDriveFin 4 22 18 becomes signaled sscGetlnputDeviceBit Gets the designated input bit device in 1 point basis 4 23 1 Device Functions Sets the designated output word device in 1 word basis 4 23 4 4235 4 23 6 Transient Transmit sscSendReceiveTransientData Functions Sends and receives the specified transient transmit data for axes 4241 or stations connected to SSCNET E 4 FUNCTION DETAILS 4 API FUNCTION DETAILS 4 1 Support functions 4 1 1 sscGetLastError For each function if an error occurs return value is SSC_NG the detailed error codes will be got by calling up that function int sscGetLastError void Argument
208. tc oto dft fec tet ete foetus 4 152 4 22 80 4 153 4 22 9 SSCW alt INTEVEN ts 222 22 Le REP CY 4 154 4 22 10 85 4 156 4 22 11 85 5 4 157 4 22 12 002000 000000 4 158 4 22 13 sscResetlntPassPosition RE RL 4 160 4 22 14 sscSetlntPassPosition esses 4 161 4 22 15 4 162 4 22 16 sscResetlntDriveFin alae ee pe ie 4 164 4 22 17 SscSetlritDriveFih 1 IN III RE 4 165 4 22 18 5scWalitlntDriveF Inside eed ahi aal ens 4 166 4 23 O devicefuncti ns nct oer a dead 4 168 4 23 1 ssceGetlnputDeviceBit nureen nein 4 168 4 23 2 sscGetlnputDeviceWord 1 ennt enr nennen 4 169 4 23 3 sscSetOutputDeviceBit sss tenent nennen 4 170 A234 sscsetOutputDeviceW ord dott fd fuste f ee ftoi 4 171 4 23 5 sscGetOutputDevic
209. ted as control axes will be started int sscReconnectSSCNET int board_id int channel unsigned long long ctrl_axbit unsigned short err code Argument board id in Board ID number 0 channel in Channel number 1 ctrl_axbit out Pointer to 8 byte variable 8 bytes x 1 which stores the controlling axis information bit 0 to 00000000000FFFFFh bitO Axis 1 bit gt Axis 2 bit19 Axis 20 656 Station 1 bit57 Station 2 bit58 Station 3 bit59 Station 4 err code out Pointer to 2 byte variable 2 bytes x 1 which stores the error code of reconnection disconnection Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR TIMEOUT 0 During the confirmation of response after executing the command to the 1 to 2 Timeout location Q173SCCF the timeout time 10 second has elapsed SSC FUNC ERR STS BIT RCE The reconnection error RCE occurred Point For the Error code of reconnection disconnection refer to Q173SCCF C Controller Interface Module User s Manual Details Supported version API Ver Header file Ver 1 80 q17nsccf std h Reference sscDisconnectSSCNET 4
210. ter to 2 byte variable 2 bytes x 1 which stores the latest command buffer number Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR IFM CMD BUF FULL There is no free space in the position command buffer After checking that the Q173SCCF transmit buffer number has been renewed call the ssclfmRenewLatestBuffer function or ssclfmRenewLatestBufferEx function Point For API Ver 1 61 or later when a NULL pointer is designated as the latest command buffer number data will not be got Supported version API Ver Header file Ver 1 60 q17nscef std h Reference ssclfmCheckLatestBufferEx ssclfmGetTransmitBufferEx 4 134 4 FUNCTION DETAILS 4 21 7 ssclfmCheckLatestBuffer Latest command buffer number and latest command buffer data for position control mode will be got int ssclfmCheckLatestBuffer int board_id int channel int axnum short bufnum long bufdata Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 0 to 20 bufnum out Pointer to 2 byte variable 2 bytes x 1 which stores the latest command buffer number bufdata out Pointer to 2 byt
211. the digital output SSC_BIT_OFF Output signal OFF SSC_BIT_ON Output signal ON Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 0 The argument is outside the set range O 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 50 q17nscef std h Reference sscSetDigitalOutputDataBit sscGetDigitalOutputDataWord 4 122 4 FUNCTION DETAILS 4 19 6 sscGetDigitalOutputDataW ord The DO data of the designated digital output will be got in 16 point basis int sscGetDigitalOutputDataWord int board_id int channel int dout_word_num unsigned short dout Argument board_id in Board ID number 0 channel in Channel number 1 dout_word_num in Digital output word number 0 to 63 dout out Pointer to 2 byte variable 2 bytes x 1 which stores the DO data status of the digital output 0 Output OFF 1 Output ON for each bit bito gt DO_HDI0 6015 gt Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ER
212. the pass position condition start number is valid for the pass position option Supported version API Ver Header file Ver 1 50 q17nscct std h Reference sscChecklntPassPositionData 4 FUNCTION DETAILS 4 16 2 sscChecklntPassPositionData The pass position interrupt condition data will be got int sscChecklntPassPositionData int board id int channel int pass num unsigned long pass option long pass position Argument board id in Board ID number 0 channel in Channel number 1 pass num in Pass position condition number 1 to 64 pass option out Pointer to 4 byte variable 4 bytes x 1 which stores the pass position option pass position out Pointer to 4 byte variable 4 bytes x 1 which stores the pass position data Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 7 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 50 q17nscct std h Reference sscSetIntPassPositionData 4 FUNCTION DETAILS 4 16 3 sscSetStartingPassNumber The pass position condition start and end numbers will be set int sscSetStartingPassNumber int board_id int channel int axnum int pass_start
213. the set range 1 1 to 9 Argument location Point The end number of the pass position condition will be stored in the executing pass position condition number after the pass position condition completion The canceled pass position condition number will be stored in the executing pass position condition number after the pass position condition incompletion Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference None 4 101 4 FUNCTION DETAILS 4 17 Sampling functions 4 17 1 sscStartSampling Sampling will be started The sampling start signal SMPS will be turned on int sscStartSampling int board_id int channel Argument board_id in Board ID number 0 channel in Channel number 1 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location SSC FUNC ERR ALREADY START SAMPLING The sampling start signal SMPS is ON Stop the sampling with the sscStopSampling function Point The response is not confirmed after the sampling start signal SMPS is turned on Supported version API Ver Header file Ver 1 50 q17nscct std h Reference sscStopSampling sscSetSamplingParam
214. thods Z CAUTION Immediately turn OFF the power if smoke abnormal sounds or odors are emitted from the module servo amplifier or servo motor Always execute a test operation before starting actual operations after the program or parameters have been changed or after maintenance and inspection Do not attempt to disassemble and repair the units excluding a qualified technician whom our company recognized Do not make any modifications to the unit Keep the effect or electromagnetic obstacles to a minimum by installing a noise filter or by using wire shields etc Electromagnetic obstacles may affect the electronic devices used near the module or servo amplifier When using the CE Mark compliant equipment refer to this manual for the C Controller interface modules and refer to the corresponding EMC guideline information for the servo amplifiers inverters and other equipment Use the units with the following conditions 7 Corrective actions for errors NCAUTION If an error occurs in the self diagnosis of the module or servo amplifier confirm the check details according to the instruction manual and restore the operation dangerous state is predicted in case of a power failure or product failure use a servo motor with electromagnetic brakes or install a brake mechanism externally Use a double circuit construction so that the electromagnetic brake operation circuit can be operated by emergency stop sign
215. tion SSC FUNC ERR RESET EVENT An error occurred in the semTake function VxWorks API Call the errnoGet function of VxWorks API and confirm the error details Point None Supported version API Ver Header file Ver 1 50 q17nscef std h Reference sscWaitIntPassPosition 4 160 4 FUNCTION DETAILS 4 22 14 sscSetlntPassPosition Pass position interrupt event status will be signaled This function is used to release the standby status with the sscWaitlntPassPosition function at the timing of the user program not the interrupt event of the Q173SCCF int sscSetintPassPosition int board id int channel int pass start int pass end Argument board id in Board ID number 0 channel in Channel number 1 pass num in Pass position condition start number 1 to 64 pass num in Pass position condition end number 1 to 64 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC FUNC ERR NOT START INT DRIVER The interrupt driver is closed Call the ssclntStart function SSC FUNC ERR SET EVENT An error occurred in the semGive function VxWorks API Call the errnoGet function of VxWorks API and confirm the error details Point
216. tion functions 4 3 1 sscGetControlCycle The control cycle status will be got int sscGetControlCycle int board_id int channel short ctrl cycle Argument board id in Board ID number 0 channel in Channel number 1 cycle out Pointer to 2 byte variable 2 bytes x 1 which stores the control cycle status 0 888ms Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference None 4 FUNCTION DETAILS 4 3 2 sscGetBoardVersion The system version the Q173SCCF will be got int sscGetBoardVersion int board id int channel char version Argument board id in Board ID number 0 channel in Channel number 1 version out Pointer to 16 byte array 1 byte x 16 which stores the system version information Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the
217. tion is called back before the interrupt factor occurrence waiting functions such as the sscWaitlntEvent function Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference sscintStart sscIntEnable sscUnRegisterIntCallback 4 150 4 FUNCTION DETAILS 4 22 6 sscUnregisterlntCallback The interrupt call back function will be unregistered int sscUnregisterlntCallback int board id int channel Argument board id in Board ID number 0 channel in Channel number 1 Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location SSC FUNC ERR ALREADY UNREREGISTER CALLBACK The interrupt callback function has already been unregistered Point None Supported version API Ver Header file 1 50 q17nscef std h Reference sscRegisterIntCallback 4 151 4 FUNCTION DETAILS 4 22 7 sscResetintEvent Interrupt event signal status will be nonsignaled This function is used if interrupt events occurring prior to calling up the sscWaitlntEvent function are to be disabled int sscResetintEvent int board id int channel int axnum int eventnum int eventfactor Argument board id in B
218. tis Warranty Term and Gratis Warranty Range We will repair any failure or defect hereinafter referred to as failure in our FA equipment hereinafter referred to as the Product arisen during warranty period at no charge due to causes for which we are responsible through the distributor from which you purchased the Product or our service provider However we will charge the actual cost of dispatching our engineer for an on site repair work on request by customer in Japan or overseas countries We are not responsible for any on site readjustment and or trial run that may be required after a defective unit are repaired or replaced Gratis Warranty Term The term of warranty for Product is thirty six 36 months after your purchase or delivery of the Product to a place designated by you or forty two 42 months from the date of manufacture whichever comes first Warranty Period Warranty period for repaired Product cannot exceed beyond the original warranty period before any repair work Gratis Warranty Range 1 You are requested to conduct an initial failure diagnosis by yourself as a general rule It can also be carried out by us or our service company upon your request and the actual cost will be charged However it will not be charged if we are responsible for the cause of the failure 2 This limited warranty applies only when the condition method environment etc of use are in compliance with the terms and conditions and instructions tha
219. to the O 1 to 2 Timeout location Q173SCCF the timeout time 1 second has elapsed Point When monitoring operating information double word monitor numbers 1 and 3 should be used and monitor numbers 2 and 4 should be set to 0 Set 0 for the system monitor since the monitor number 3 and 4 are not used Monitor numbers which will not be used should be set to 0 Depending on the control status of the Q173SCCF it takes a control cycle to several ms to start monitor becuase of the time it takes to confirm the response of the Q173SCCF 4 FUNCTION DETAILS Supported version API Ver Header file Ver 1 80 q17nscef std h Reference sscStopMonitor sscGetMonitor 4 FUNCTION DETAILS 4 12 2 sscStopMonitor The monitor will be stopped The monitor command signal MON will be turned off and the monitor output signal MOUT will be confirmed to be OFF int sscStopMonitor int board_id int channel int axnum Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 4 to 20 0 System monitor 1 to 20 Axis monitor 4 to 1 Station monitor 1 Station 1 2 Station 2 3 Station 3 4 Station 4 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC
220. tores the external signal status The got data is set in the logical sum of each value SSC_BIT_LSP side limit switch signal LSP is ON SSC_BIT_LSN side limit switch signal LSN is ON SSC BIT DOG Proximity dog input signal DOG is ON Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location Point The Q173SCCF High speed monitor function is used to get the external signal status Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference None 4 FUNCTION DETAILS 4 13 4 sscGetCmdSpeedFast The moving speed will be got int sscGetCmdSpeedFast int board_id int channel int axnum long speed Argument board id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 speed out Pointer to 4 byte variable 4 bytes x 1 which stores the moving speed Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range
221. tores the operation cycle maximum time over out Pointer to 2 byte variable which stores the operation cycle over time status out Pointer to 1 byte variable 1 byte x 1 which stores the operation cycle status The got data is set in the logical sum of each value SSC_BIT_OCME Operation cycle alarm SSC BIT OCMW Operation cycle warning Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location Point None Supported version API Ver Header file Ver 1 50 q17nsccf std h Reference sscClearOperationCycleMonitor 4 FUNCTION DETAILS 4 3 5 sscClearOperationC ycleMonitor The operation cycle monitor data will be cleared initialized int sscClearOperationCycleMonitor int board_id int channel Argument board_id in Board ID number 0 channel in Channel number 1 Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC_UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure 1 1 to 9 Argument location sscSystemStart function During the confirmation of response after executing th
222. ts 1 For the use of our C Controller interface module its applications should be those that may not result in a serious damage even if any failure or malfunction occurs in C Controller interface module and a backup or fail safe function should operate on an external system to C Controller interface module when any failure or malfunction occurs 2 Our C Controller interface module is designed and manufactured as a general purpose product for use at general industries Therefore applications substantially influential on the public interest for such as atomic power plants and other power plants of electric power companies and also which require a special quality assurance system including applications for railway companies and government or public offices are not recommended and we assume no responsibility for any failure caused by these applications when used In addition applications which may be substantially influential to human lives or properties for such as airlines medical treatments railway service incineration and fuel systems man operated material handling equipment entertainment machines safety machines etc are not recommended and we assume no responsibility for any failure caused by these applications when used We will review the acceptability of the abovementioned applications if you agree not to require a specific quality for a specific application Please contact us for consultation Microsoft Windows and Windows
223. ue SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location Point In order to minimise the affect on other processes we recommend calling this function within a low priority thread or within a timer Supported version API Ver Header file Ver 1 50 q17nscct std h Reference sscWdEnable 4 FUNCTION DETAILS 4 15 Other axes start functions 4 15 1 sscSetOtherAxisStartData The other axes start data will be set int sscSetOtherAxisStartData int board_id int channel int oas_num OAS DATA pOasData Argument board id in Board ID number 0 channel in Channel number 1 oas num in Other axes start table number 1 to 20 pOasData in Pointer to 104 byte structure 104 bytes x 1 which stores the other axes start data Refer to 5 2 structure for the other axes start data structure Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC FUNC ERR ARGUMENT 00 The argument is outside the set range O 1 to 9 Argument location
224. umber etc SSC FUNC ERR MISMATCH PARAM READ 1 The command and the status of the parameter read number 1 do not correspond Point This function can read the parameters either before or while the system is running It takes about 2 to 10 control cycles to read the set value of the designated parameter because of the time it takes to confirm the response of the Q173SCCF When a number of multiple parameters are read from multiple axes continuously the reading time can be shortened by calling this function in each thread of system or axis 4 FUNCTION DETAILS Supported version API Ver Header file Ver 1 80 q17nscef std h Reference sscCheck2Parameter sscChangeParameter sscChange2Parameter 4 FUNCTION DETAILS 4 4 5 sscCheck2Parameter Two set values for the designated parameters will be read int sscCheck2Parameter int board_id int channel int axnum short prmnum short prmdata char status Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 4 to 20 0 System parameter 1 to 20 Axis parameter 4 to 1 Station parameter 1 Station 1 2 Station 2 3 Station 3 4 Station 4 prmnum in Pointer to 4 byte array 2 bytes x 2 which stores the parameter read numbers for 2 numbers prmdata out Pointer to 4 byte array 2 bytes x 2 which stores the parameter read data for 2 data status out Pointer to 2
225. unction Detailed error code Value Cause countermeasure 1 to 9 Argument location while confirming completion of transient processing SSC FUNC ERR NOW TRANSIENT PROCESSING Transient processing SSC FUNC ERR TRANSIENT INVALID DATA Transient data is invalid Point When the timeout time is designated to less than 1 second 1000ms the timeout is at 1 second 1000ms Supported version API Ver Header file Ver 1 80 q17nscef std h Reference None 4 174 5 STRUCTURE LIST 5 STRUCTURE LIST 5 1 PNT DATA EX structure This point data structure is used for the automatic operation and linear interpolation typedef struct 0000h long position unsigned long speed unsigned short actime unsigned short dctime unsigned short dwell unsigned short subcmd 0010h unsigned char oas num 2 unsigned char reserve2 2 unsigned char s curve unsigned char reserve2 11 0020h DATA EX Member position Position data speed Feed speed 0 to 2147483647 actime Acceleration time constant ms 0 to 20000 dctime Deceleration time constant ms 0 to 20000 dwell Dwell ms 5 STRUCTURE LIST subcmd Auxiliary command Set data in the logical sum of each value SSC SUBCMD POS ABS Absolute position command Position command system SSC_SUBCMD_POS_INC Relative position command SSC_SUBCMD_STOP_INP In position stop 55 5 5
226. upported version API Ver Header file Ver 1 80 q17nscef std h Reference sscGetlnputDeviceBit 4 169 4 FUNCTION DETAILS 4 23 3 sscSetOutputDeviceBit Sets the designated output bit device in 1 point basis int sscSetOutputDeviceBit int board_id int channel int bit_num int dev_out Argument board_id in Board ID number 0 channel in Channel number 1 bit_num in Output bit device number 0000h to OFFFh dev_out in 0 to 1 Setting data SSC_BIT_OFF Output signal OFF SSC_BIT_ON Output signal ON Return value SSC_OK Function succeeded SSC_NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC ERR ARGUMENT 00 The argument is outside the set range 1 to 9 Argument location Point This function sets the output bit device with the exclusive control function of the Q173SCCF However the exclusive control function cannot be used in interface mode because the other axes start function cannot be used Supported version API Ver Header file Ver 1 80 q17nscef std h Reference sscSetOutputDeviceWord sscGetOutputDeviceBit 4 170 4 FUNCTION DETAILS 4 23 4 sscSetOutputDeviceWord Gets the designated output word device in 1 word basis int sscSetOutputDeviceWord int board_id int channel int w
227. ve the cause and remove the cause Point To switch the operation mode of an axis for which the other axes start is performed in advance use this function Since the functions which start operations such as sscAutoStart switches the operation mode inside the function this function is not needed to be called Since the Q173SCCF imports the operation mode when the acceptance of the start operation signal ST is completed it does not need to wait until the operation mode is switched after this function is called 4 57 4 FUNCTION DETAILS Supported version API Ver Header file Ver 1 50 q17nscef std h Reference sscGetDriveMode sscSetOtherAxisStartData 4 FUNCTION DETAILS mm ec y ae 4 9 14 sscGetDriveMode The operation mode will be got int sscGetDriveMode int board_id int channel int axnum int drv_mode Argument board_id in Board ID number 0 channel in Channel number 1 axnum in Axis number 1 to 20 drv_mode out Pointer to 4 ye variable 4 bytes x 1 which stores the operation mode status SSC DRV MODE LINEAR In linear interpolation mode SSC DRV MODE DST In home position reset mode Return value SSC OK Function succeeded SSC NG Function failed To confirm the detailed error code use the sscGetLastError function SSC UNOPEN Before calling the sscOpen function Detailed error code Value Cause countermeasure SSC ERR ARG

Q173SCCF C Controller Interface Module User`s Manual (API Library)

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