User Manual - Becker & Hickl GmbH
Contents
1. Input parameters id pointer to result variable Return value 0 success lt 0 error STP_get_id sets id according to the identification code of the module STP 240 The function is not supported for STP 340 modules use STP_get_module_ info to get information about the module 12 Input parameters none Return value 0 success ID correct lt 0 error STP_test_id reads the identification code of the module STP 240 and compares it to the correct value The function is not supported for STP 340 modules use STP_get_module_ info to get information about the module Input parameters mot_no motor number 0 1 reg no register number 1 11 val value written to register reg no Return value 0 success lt 0 error Sets the register reg no of motor mot_no to the value val STP_set_parameter is a low level procedure and not intended for normal use Input parameters mot_no motor number 0 1 reg no register number 1 15 val pointer to variable to set Return value 0 success lt 0 error Sets val with the current contents of the register reg no of motor mot_no STP_get_parameter is low level procedure and not intended for normal use 13 short CVICDECL STP_get_status unsigned short far val Input parameters val pointer to variable to set Return value 0 success lt 0 error STP_get_status sets val with the current contents2. be gt 50 default 250 tmax 10000 tmin 65535 default 1500 tdelta 250 1 65535 default 250 overlap 0 _ stepping mode 0 full step mode default 1 half step mode phases 4 3 8 phases default 3 min_lim 0 min_limit_switch 0 not present default l present and used for stepping logic state of switch at limit 0 2 present but not used for stepping logic state of switch at limit 0 1 present and used for stepping logic state of switch at limit 1 2 present but not used for stepping logic state of switch at limit 1 max_lim 0 max_limit_switch possible values the same as for min_lim default 0 not present device 1 connection with device default 0 none 1 devicel 2 device2 steps 100 number of steps per one turn default 200 be careful sum of phases for both motors must be lt 8 otherwise unused motor will be switched off device numbers should be different for both motors if they are both active phases not equal 2 motor2 The last 2 sections contain the specific parameters of the devices connected to the motors device scale Wavelength nm this text can be used as a scale description max 16 char unit nm nanometers units of displayed values max 3 char min 300 min position in units described above max 800 max position in units described above turn_incr 10 Increment per motor turn in units described
3. section of the configuration file Use the function STP _test_if stepping to check whether the action has been completed STP step to limit uses the full speed of the motor Thus it can happen that the motor does not stop exactly at the switch position Use the STP_off limit function to bring the motor slowly back to the exact switching position short CVICDECL STP_step_off_limit short mot_no short direction Input parameters mot_no motor number 0 1 direction 0 min limit 1 max limit Return value 0 success lt 0 error The STP_off limit function is used to bring the motor slowly back to the exact switching position after it has run beyond the limit position The motor stops when the limit switch switches to the off state The action starts only if the limit switch is on i e if the motor ran outside the limits during the last stepping action The function returns an error if the motor has no limit switch see min_lim or max_lim setting in the motor0 1 section of the configuration file Use the function STP_test_if_ stepping to check whether the motor action has been completed Input parameters mot_no motor number 0 1 current wl pointer to the position variable to be set Return value 0 stepping completed 1 stepping in progress lt 0 error STP test_if stepping checks whether the stepping for motor mot_no is completed and sets pos according to the current position of the devi
4. 0 switch off 1 switch on the motor Return value 0 success lt 0 error STP_activate_motor switches on or off motor mot_no Further stepping actions will be not possible as long as the motor is switched off Input parameters mot_no motor number 0 1 active pointer to the variable to be set 0 motor switched off 1 switched on Return value 0 success lt 0 error STP _test_if motor active returns information about the actual state of the motor mot_no Stepping actions are not possible as long as the motor is switched off 10 Input parameters mot no motor number 0 1 state pointer to the variable to be set bit 0 min_lim bit 1 max_lim switch bit 0 switch is off bit 1 switch is on Return value 0 success lt 0 error STP get switch state returns the actual state of the switches of motor mot_no The function returns an error if the motor has no limit switches Switch on means that it has the logical on state defined in the configuration file see min lim or max lim setting in the motor0 1 section of the configuration file Input parameters mod_no module number 0 3 mod_info pointer to the result structure Return value 0 no errors lt 0 error code see stp_def h Description After calling the STP_init function see above the STPModInfo internal structures for all 4 modules are filled This function transfers the contents of the internal struct
5. Becker amp Hickl GmbH STPDLL DOC Nahmitzer Damm 30 A 12277 Berlin Tel 49 30 787 56 32 FAX 49 30 787 57 34 email info becker hickl de http www becker hickl de July 2002 Step Motor Control Module STP 240 340 DLL Libraries User Manual Version 2 0 July 2002 Introduction To support the user to create his own software libraries for the basic module control functions are available The STP 32 bits Dynamic Link Library contains all functions to control STP 240 and STP 340 modules STP 340 is a PCI bus module with the same functionality as the STP 240 module The functions work under Windows 9x NT 2K XP The program which calls the DLLs must be compiled with the compiler option Structure Alignment set to l Byte To facilitate the first steps of the library application we deliver the source code of the sample program use_stp c Program performs the initialisation of STP 240 340 module and some stepping actions For LabView users we deliver also STP_functions llb library which contains implementation of STP DLL functions together with a simple LabView program to control STP module Installation Execute setup exe from diskette no 1 and follow the instructions on the screen Configuration Files The configuration of the system is described in a configuration file normally stp cfg When the system is initialised by calling the function STP_init of the library the information from this file is transfer
6. above device2 The Parameters must be included in the configuration file only if they are to be set to a value different from the default value The name and the path of the configuration file is an input parameter of the library function STP_init Therefore the user is free to have more configuration files one for each measurement setup Description of the STP Library Functions Important Note All library functions except STP init STP get mode STP_get_module info return an error when they are called before an initialisation by STP_init was not done before All functions which have a motor number as an input parameter will return an error if the specified motor is not used see use_mot setting in base section in STP configuration file Functions listed below must be called with C calling convention which is default for C and C programs Identical set of functions is available for environments like Visual Basic which requires _stdcall calling convention Names of these functions have std letters after STP for example STPstd_init it is _stdcall version of STP_ init Description and behaviour of these functions are identical to the functions from the first default set the only difference is calling convention Input parameters config file pointer to string containing configuration file name and path Return value returns error code 0 success lt 0 error STP_init initialises the library internal st
7. ce connected to the motor mot_no If there were errors during the stepping action the procedure returns an error code short CVICDECL STP _cancel_stepping short mot_no float far current_wl Input parameters mot_no motor number 0 1 current wl pointer to current position variable to be set Return value 0 success lt 0 error STP_cancel_stepping breaks current stepping action if any performed by motor mot_no and sets current wl according to the current position of the device connected to the motor mot_no Remember that after this call current position can be not defined STP_calibrate call is required to execute further stepping actions on this device Input parameters data pointer to the structure to be set with actual STP library parameters Return value 0 success lt 0 error STP get parameters fills the data structure with the actual STP library parameters After calling the STP init function see above the measurement parameters from the initialisation file are present in the module and in the internal data structures of the DLLs To give the user access to the parameters the function STP_get_parameters is provided This function transfers the parameter values from the internal DLL structures into a structure of the type STPdata see stp_def h which has to be defined by the user short CVICDECL STP_activate_motor short mot_no short active Input parameters mot_no motor number 0 1 active
8. def h file 14 short CVICDECL STP_get_mode void Input parameters none Return value current mode of DLL operation lt 0 error The procedure returns current mode of DLL operation hardware or simulation Possible mode values are defined in the stp_def h file define STP_ HARD 0 hardware mode define STP_SIMUL240 240 simulation mode of STP 240 define STP_SIMUL340 340 simulation mode of STP 340 short CVICDECL STP_get_error_string short error_id char dest_string short max_length Input parameters error_id STP DLL error id 0 number of STP errors 1 see stp_def h file dest_string pointer to destination string max length max number of characters which can be copied to dest_string Return value 0 no errors lt 0 error code The procedure copies to dest_string the string which contains the explanation of the STP DLL error with id equal error_id Up to max_length characters will be copied For errors during stepping E_STEP_ERR or writing parameters to STP module E_MOD ERR status and motor s error codes are included Possible error_id values are defined in the stp_def h file 15
9. ion value Return value 0 on success lt 0 on error STP_set_position calculates the direction and the number of steps required to achieve the position pos by the device connected to motor mot_no and starts the stepping action The function returns an error if device was not calibrated After a call of STP_set_position use the function STP_test_if_ stepping to check whether the stepping has been finished Input parameters mot_no motor number 0 1 steps number of steps Return value 0 success lt 0 error STP_step starts the stepping action for motor mot_no Motor mot no will make steps number of steps in the proper direction The function returns an error if the device connected to motor mot_no was not calibrated or the number steps is too large i e if the position of the device connected to motor mot_no would go through its limits min limit or max limit After a call of STP_ step use the function STP _test_if stepping to check whether stepping has been finished short CVICDECL STP_step_to_limit short mot_no short direction Input parameters mot_no motor number 0 1 direction 0 min limit 1 max limit Return value 0 success lt 0 error STP step to limit causes that motor mot_no goes to its limit position detected by the limit switch The function returns an error if the motor has no required limit switch please see min_lim or max_lim setting in the motor0 1
10. ng the function STP_set_mode with the parameter force _use 1 During initialisation of the STP 340 module checksum of the internal EEPROM is tested The user should check initialisation status of the STP 340 module he wants to use by calling SPC_get module info function The possible values of initialisation result code are shown below see also stp_def h INIT OK 0 no error INIT_NOT DONE 1 init not done INIT WRONG EEP CHKSUM 2 wrong EEPROM checksum INIT_CANT_OPEN PCI CARD 3 cannot open PCI card INIT MOD_IN_ USE 4 module in use locked cannot initialise Input parameters mot_no 0 1 number of motor pos pointer to variable containing position value Return value returns error code 0 success lt 0 error STP_calibrate sets the current position for the device connected to motor mot_no The pos value is recalculated according to the device limits and set to the actual current position The used device has to be calibrated before stepping functions are used and after a call to the function STP_cancel_ stepping Input parameters mot_no motor number 0 1 pos pointer to the position variable to be set Return value 0 on success lt 0 on error STP_get_position sets pos according to the current position of the device connected to motor mot_no short CVICDECL STP_set_position short mot_no float pos Input parameters mot_no motor number 0 1 pos new posit
11. of the STP status register Status bits 0 7 contain an error code if any set by STP microcontroller Input parameters mode mode of DLL operation force_use force using the module if they are locked in use mod_no module number on PCI bus which will be affected Return value 0 success lt 0 error The procedure is used to change the mode of the DLL operation between the hardware mode and the simulation mode It is a low level procedure and is not intended to normal use It is used to switch the DLL to the simulation mode if hardware errors occur during the initialisation When the Hardware Mode is requested for one of 4 possible STP 340 modules the mod_no module is locked and initialised if it wasn t with the initial parameters set from ini_ file but only when it was not locked by another application or when force_use and when it exists other modules if any are unlocked and can be used further When one of the simulation modes is requested for one of 4 possible modules the mod_no module is initialised if it wasn t with the initial parameters set from ini_file other modules are unused Errors during the module initialisation can cause that the module is excluded from use Use the function STP get module info to check which modules are correctly initialised and can be use further Use the function STP_get_mode to check which mode is actually set Possible mode values are defined in the stp_
12. red to the internal data structures of the library and to the internal registers of the STP module The structure of the stp cfg file is shown below Comments within the configuration file are preceded by a semicolon Texts which are contained in the configuration file are printed in type writer style Explanations to the file items are printed as this text The first section contains general parameters base baseadr 0x3a0 base I O address of the STP 240 module default 0x3a0 use_mot 3 use motor 0 none default 1 motor1 2 motor2 3 both only used motors will be initialised use value 0 if you work with SPC PHC PMS PMM MSA module but without STP module and you want to use scale definitions from section device1 2 use_dev 0 parameters from section devicel will be used 0 none default 2 device2 this parameter will be used only when use_mot 0 simulation 0 0 hardware mode default gt 0 simulation mode see stp_def h for possible values pci_card_ no 0 number of STP module on PCI bus if any exists to be initialised 0 3 default 1 STP 240 ISA module pci_bus_no 1 PCI bus on which STP 340 modules will be looking for 0 255 default 1 all PCI busses will be scanned The next two sections contain the specific parameters of the motors motor motor config data times in multiples of 2 us tpeak 1000 1 65535 default 150 tmin 1500 tpeak 65535 must
13. ructures using parameters from the configuration file config file recommended extension cfg and initialises the internal registers of the STP module for used motors The STP 240 module which will be initialised is defined by baseadr parameter from ini file The STP 340 module which will be initialised is defined by pci_bus no and pci_card_no parameter from ini_file pci_bus no defines which PCI bus with STP 340 modules will be initialised value 0 255 defines specific bus number from the range 0 to number of PCI busses with STP modules if pci_bus_ no is greater than number of PCI busses with STP modules it is rounded to the number of busses 1 value 1 means that that all PCI busses will be scanned pci_card_ no defines the number of STP 340 module on PCI bus to be initialised value 0 3 defines one specific module if pci_card_no is greater than number of STP modules on PCI bus it is rounded to the number of modules 1 value 1 means that that the function will not try to initialise any STP 340 modules on PCI bus but only STP 240 module if any exists The STP 340 module will be initialised but only when it is not in use locked by other application After successful initialisation the STP 340 module is locked to prevent that other application can access it If for some reasons the STP 340 module which was locked must be initialised it can be done usi
14. ure of the DLL into a structure of the type STPModInfo see stp_def h which has to be defined by the user The parameters included in this structure are described below short module_type module type 240 340 1 unknown type module doesn t exist short bus_number PCI bus number short slot_number slot number on PCI bus short in_use 1 used and locked by other application 0 not used 1 in use short init set to initialisation result code unsigned short base_adr base address of STP 340 resources char serial_no 12 module serial number Input parameters eep data pointer to result structure Return value 0 no errors lt 0 error code see stp_def h 11 The structure eep_ data is filled with the contents of the EEPROM of the STP 340 module The EEPROM contains the production data of the module The structure STP_EEP_ Data is defined in the file stp_def h The function is not supported for STP 240 module short CVICDECL STP_write_eeprom_data unsigned short write _enable STP_EEP Data eep_data Input parameters write enable write enable password eep_data pointer to result structure Return value 0 no errors lt 0 error code see stp_def h The function is used to write data to the EEPROM of an STP module by the manufacturer To prevent corruption of the data by not allowed access the function writes the EEPROM only if the write_enable password is correct The function is not supported for STP 240 module
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