ICP DAS ET-M8194H motion control module User Manual

ET-M8194H
Motion Control Module
User Manual
(Version 2.0)
API Library
Warranty
All products manufactured by ICPDAS Inc. are warranted against
defective materials for a period of one year from the date of delivery to the
original purchaser.
Warning
ICPDAS Inc. assumes no liability for damages consequent to the use of
this product. ICPDAS Inc. reserves the right to change this manual at any
time without notice. The information furnished by ICPDAS Inc. is believed
to be accurate and reliable. However, no responsibility is assumed by
ICPDAS Inc. for its use, or for any infringements of patents or other rights
of third parties resulting from its use.
Copyright
Copyright 2007-2012 by ICPDAS Inc., LTD. All rights reserved
worldwide.
Trademark
The names used for identification only maybe registered trademarks of
their respective companies.
License
The user can use, modify and backup this software on a single
machine. The user may not reproduce, transfer or distribute this software,
or any copy, in whole or in part.
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1
PREFACE ........................................................................ 7
1.1
1.2
1.3
1.4
2
Introduction ............................................................................................7
ET-M8194H Features.............................................................................7
Function description ..............................................................................8
Function categories description ..........................................................10
BASIC SETTINGS ....................................................... 17
2.1
2.2
2.3
2.4
2.5
2.6
2.7
2.8
2.9
2.10
2.11
2.12
2.13
2.14
2.15
2.16
2.17
2.18
Axes Code Definition ...........................................................................17
Registering mudules and getting LIB version...................................18
Resetting the Motion Module..............................................................24
Pules Output Mode Setting .................................................................26
Set the Maximum Speed ......................................................................28
Setting the Active Level of Hardware Limit Switches......................30
Setting the Motion Stop Mode when Limit Switch being turn on...32
Setting the Trigger Level of the NHOME Sensor .............................34
Setting the Trigger Level of the HOME Sensor ................................36
Setting and Clearing the Software Limit ...........................................38
Setting the Encoder Related Parameters...........................................42
Setting the Servo Driver (ON/OFF) ...................................................45
Setting the SERVO ALARM Function ..............................................49
Setting the Active Level of the In-Position Signals ...........................51
Setting the Time Constant of Digital Filter .......................................53
Position Counter Variable Ring ..........................................................55
Triangle prevention of fixed pulse driving.........................................59
External Pulse Input ............................................................................63
2.18.1
2.18.2
2.18.3
2.18.4
Handwheel (Manual Pulse Generator) Driving........................................... 63
Fixed Pulse Driving Mode............................................................................ 65
Continuous Pulse Driving Mode ................................................................. 67
Disabling the External Signal Input Functions .......................................... 69
2.19 Read/Write User-defined Variables (VAR and bVAR) .....................70
2.20 Read/Write Data for Power outage carry-over (MD).......................78
3
READING AND REGISTER SETTING .................... 83
3.1
3.2
3.3
3.4
3.5
3.6
3.7
Setting and Reading Command Position ...........................................83
Setting and Reading the Encoder Counter........................................88
Reading the Current Velocity..............................................................93
Reading the Current Acceleration......................................................95
Reading the DI Status ..........................................................................97
Reading and Clearing the ERROR Status...................................... 102
Read RTC status ............................................................................... 107
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3.8
4
Read stop status................................................................................. 109
FRNET FUNCTIONS..................................................111
4.1
4.2
4.3
5
Read FRnet DIO Signals ................................................................... 111
Write data to FRnet DO ....................................................................117
FRnet WAIT ...................................................................................... 125
AUTO HOMING SEARCH ....................................... 126
5.1
5.2
5.3
5.4
5.5
6
Set Up Homing Speed ....................................................................... 126
Using an Limit Switch as the Home sensor .................................... 128
Setting the Homing Mode................................................................. 130
Starting the Homing Sequence......................................................... 132
Wait for the completion of the Homing Sequence ......................... 133
BASIC MOTION CONTROL ................................... 134
6.1
Independent Motion Control for each axis..................................... 134
6.1.1
6.1.2
6.1.3
6.1.4
6.1.5
6.1.6
6.1.7
6.1.8
6.1.9
6.1.10
6.2
Interpolation Commands ................................................................. 158
6.2.1
6.2.2
6.2.3
6.2.4
6.2.5
6.2.6
6.2.7
6.2.8
6.2.9
6.2.10
6.2.11
6.2.12
6.2.13
6.3
Setting the Acceleration/Deceleration Mode............................................ 135
Setting the Starting Speed......................................................................... 138
Setting the Desirted Speed ........................................................................ 140
Setting the Acceleration............................................................................. 142
Setting the Deceleration ............................................................................ 144
Setting the Acceleration Rate.................................................................... 146
Setting the Deceleration Rate.................................................................... 148
Setting the Value of the Remaining Offset of Pulses .............................. 150
Fixed Pulse Output..................................................................................... 152
Continue Pulse Output............................................................................... 156
Assigning the Axes for Interpolation........................................................ 158
Setting the Speed and Acc/Dec Mode ...................................................... 160
Setting the Vector Starting Speed............................................................. 166
Setting the Vector Speed ........................................................................... 167
Setting the Vector Acceleration................................................................. 168
Setting the Vector Deceleration Value ...................................................... 170
Setting the Vector Acceleration Rate........................................................ 172
Setting the Vector Deceleration Rate........................................................ 174
Setting the Number of Remaining Offset Pulses..................................... 176
2-Axis Interpolation Motion ....................................................................... 178
3-Axis Interpolation Motion ....................................................................... 180
2-Axis Circular Interpolation Motion (an Arc) .......................................... 182
2-Axis Circular Interpolation Motion (an Complete Circle)..................... 186
Synchronous Actions......................................................................... 190
6.3.1
6.3.2
6.3.3
6.3.4
6.3.5
Setting the Synchronous Action ............................................................... 190
Setting the COMPARE Value...................................................................... 208
Get the LATCH Value .................................................................................. 210
Set the PRESET data for synchronous acton .......................................... 213
Set the OUT Data ........................................................................................ 215
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6.3.6
6.4
6.5
6.6
6.7
6.8
Interrupt functions of motion module (i-8094H) ...................................... 217
Read triggered interrupt factors ..................................................... 225
Macro download status..................................................................... 227
Read ETM_MACRO_SET_RINT triggered interrupt................. 230
Get ET-M8194H state ....................................................................... 232
Continuous Interpolation ................................................................. 238
6.8.1 2-Axis Rectangular Motion ........................................................................ 238
6.8.2 2-Axis Continuous Linear Interpolation ................................................... 241
6.8.3 3-Axis Continuous Linear Interpolation ................................................... 245
6.8.4 Mixed Linear and Circular 2-axis motions in Continuous
Interpolation ............................................................................................................. 249
6.8.5 Multi-Segment Continuous Interpolation(Using Array) .......................... 253
6.8.6 3-Axis Helical Motion ................................................................................. 257
6.8.7 2-Axis Ration Motion.................................................................................. 259
6.8.8 Synchronous Line Scan Motion................................................................ 263
6.9
Other Functions................................................................................. 270
6.9.1
6.9.2
6.9.3
6.9.4
6.9.5
6.9.6
6.9.7
7
Holding the Driving Command.................................................................. 270
Release the Holding Status and Start the Driving ................................... 272
Stopping the Axes ...................................................................................... 274
Clear the Stop Status ................................................................................. 278
End of Interpolation.................................................................................... 280
Emergency Stop ......................................................................................... 281
Clear the Emergency Stop Status ............................................................. 282
INITIAL PARAMETER TABLE .............................. 283
7.1
7.2
Calling the Initial Table .................................................................... 285
Macro Programming ........................................................................ 287
7.2.1
7.2.2
7.3
Create ISR Macro Program Codes ................................................. 294
7.3.1
7.3.2
7.3.3
7.4
Beginning of FOR loop block .................................................................... 304
End of FOR loop block............................................................................... 307
Exiting a FOR loop block ........................................................................... 308
Condition Command (IF~ELSE) .................................................... 309
7.7.1
7.7.2
7.7.3
7.8
Assign Macro variable a value .................................................................. 297
Get command return value ........................................................................ 299
Simple calculations............................................................................ 301
Command Loop (FOR~NEXT) ....................................................... 304
7.6.1
7.6.2
7.6.3
7.7
Start of ISR Macro program ....................................................................... 294
End of ISR Macro program ........................................................................ 295
Execute ISR Maro Program (ISR) .............................................................. 296
User Defined Variables ..................................................................... 297
7.4.1
7.4.2
7.5
7.6
Create and Close MP Macro Program Codes........................................... 288
Execute MP Macro program ...................................................................... 291
IF condition ................................................................................................. 309
ELSE statement .......................................................................................... 313
End of IF statement .................................................................................... 314
Jump Commands (GOTO-LABEL)................................................ 315
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7.8.1
7.8.2
7.9
7.10
7.11
7.12
7.13
GOTO statement ......................................................................................... 315
LABEL statement........................................................................................ 317
TIMER ............................................................................................... 318
Wait until motion command has been executed (for MP only) .... 319
User-defined RINT............................................................................ 320
Exit Macro Table ............................................................................... 321
Terminate all Macro executions....................................................... 323
8 STAND ALONE CONTROLLER............................. 325
9 COMMUNICATION FUNCTIONS AND ERROR
CODE .................................................................................. 327
9.1
9.2
Communication Functions:.............................................................. 327
ErrorCode .......................................................................................... 330
APPENDIX......................................................................... 332
A. MODBUS Input Registers ..................................................................... 332
A.1 Read FRnet DI/O ................................................................................................ 333
A.2 Read DI Status of Daughterboard .................................................................... 334
A.3 Read Error Code................................................................................................ 335
A.4 Read Logic and Encoder Position, Acceleration, Velocity ............................ 336
A.5 Read Stop Status............................................................................................... 337
A.6 Read Latch ......................................................................................................... 338
A.7 Read Error State and Free Buffer Size ............................................................ 339
A.8 Read i8094H Interrupt ....................................................................................... 340
A.9 Read Firmware Version..................................................................................... 341
A.10 Read ET-M8194H and i8094H State................................................................ 342
A.11 Macro Program Download Error Messages .................................................. 344
A.12 Macro Program Execution Error Messages.................................................. 345
A.13 Motion Chip Triggered Interrupt .................................................................... 346
B. Holding Registers.................................................................................... 347
B.1 FRnet DO............................................................................................................ 348
B.2 Macro Call, FRnet Event and WORD Order Setting ....................................... 349
B.3 IP Address Setting............................................................................................. 350
B.4 Read/ Write Logic and Encoder Position, Acceleration, Velocity ................. 351
B.5 Read/ Write VAR Variables................................................................................ 352
B.6 Sub Function Code Definition.......................................................................... 353
C. Sub Function Code mapping table ....................................................... 354
D. MODBUS Coil Table .............................................................................. 363
D.1 FRnet Digital Output ......................................................................................... 364
D.2 Servo On/Off ...................................................................................................... 368
E. MODBUS Discrete Input Table............................................................. 369
E.1 FRnet Digital Input............................................................................................. 370
E.2 DI or Status of Control Board ........................................................................... 374
E.3 Error Stop States ............................................................................................... 377
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F. ET-M8194H LED Description................................................................ 380
G. Lock_IP Setting ....................................................................................... 381
H. IP Configuration..................................................................................... 382
I. Update Firmware ..................................................................................... 385
J. History of Versions .................................................................................. 388
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1 Preface
1.1
Introduction

This manual includes nine chapters and nine appendices. This chapter
gives a brief description of this manual. The Chapters 2 to 7 provide
the MODBUS command of the relevant ET-M8194H API; the Chapter 8
descripes why it can be a standalone controller; finally, the Chapter 9
introduces those communication functions and error codes. The
Appendices include the definitions of MODBUS address, Sub Function
Code of ET-M8194H API, the LED of ET-M8194H and Lock_IP feature.

This documentation helps user control the ET-M8194H via
MODBUS/TCP. Most functions are implemented with the FC=16,
start_address = 8000. Other state-related functions use FC= 3, 4, 16, 1,
2, 5 and 15 to access ET-M8194H.
1.2
ET-M8194H Features
ET-M8194H is a product of ICP DAS to implement the Ethernet remote
motion controller for the remote motion solution. It includes an i-8094H
module (a 4-axis stepping/pulse-type servo motor control module). By
using the intelligent function of ET-M8194H, we can do the remote motion
control for various motion applications via MODBUS/TCP.
Also, ET-M8194H can be applied in many platforms with MODBUS/TCP
protocol (for example: PC, PAC, PLC, HMI). Additionally, it is easy and
simple to use many ET-M8194Hs at the same time to implement the multiaxis motion control by the serial connection of ET-M8194H. ICP DAS also
provides EzMove Utility and API Library for users to quickly configure ETM8194H and develop their own control applications easily.
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1.3
Function description
 Function_name( parameter1, parameter2 ……)
Description:
Explanation of this function.
Category:
Function categories description.
Parameters:
Definitions of the parameters and how to use them.
Return:
The return value of this function.
Example:
Simple example program.
Remark:
Comments.
MODBUS Register Table:
For instance, the commands of MODBUS are defined as follows:
(1) TID: Transaction ID.
(2) PID: Protocol ID.
(3) Field Length: Length of data-field (in Byte). The data-field begins from
UID and end at last Register.
(4) UID: Unit ID (CardNo).
(5) FC: Function Code.
(6) St_Addr.: Starting Address.
(7) Word Count: The length of the following Registers (in Word, 16-bit).
(8) Byte Count: The length of the following Registers (in Byte, 8-bit).
(9) Register: Content of parameter (16-bit).
(9-1) Sub_Function Code: The pre-defined code for each ET-M8194H
function.
(9-2) Axis: The target Axis/Axes of the ET-M8194H function.
For each function, the contents of each field and the required Registers
will be listed after function description. The MODBUS Registers only
support 16-bit data format. Therefore, two Registers will be needed for the
32-bit value. If WORD Order is set to 0, the first register is high-word (MSW)
and the second register is low-word (LSW).
For instance, calling ETM_SET_LP() to set all axes’ LP to zero needs the
Sub_Function Code 0x0A28 and value for axes to be 0x000F. The zero value
has the 32-bit hexical format as 0x00000000. Therefore, the MSW and LSW
are both 0x0000. The contents of MODBUS Register Table values for this
calling will be listed as follows:
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TID
(hex)
PID
(hex)
00 01 00 00
Register[]
0
1
2
3
Field
UID
Length (hex)
(hex)
00 0F
01
Value (hex)
0A 28
00 0F
00 00
00 00
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FC
(hex)
Word
Count
(hex)
10
1F 40
00 04
Remarks
Sub_function code
axis (F  AXIS_XYZU)
MSW of wdata
LSW of wdata
9
St_Addr.
(hex)
Byte
Count
(hex)
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1.4
Function categories description
RTC (Real Time Command): Functions will be buffered on DPRAM and can
be executed immediately if buffer is empty or be executed later on if the
internal CPU is busy doing something at that moment.
MP (Macro Program): MP is a set of APIs which are stored in memory. MP
will be executed when MP_CALL is used to call its number.
ISR (Interrupt Service Routine): An ISR is similar to an MP. An ISR will be
executed when MP_ISR_CALL is used to call it. But most of time, it is
called when a related interrupt occurs. Therefore, some APIs can not be
applied inside an ISR.
IT (Initial Table): All functions defined in this talbe will be executed when
power on ET-M8194H.
Maximum number of Function Line for ISR1 ~ ISR20 and MP1 ~ MP157 are
listed in the following table.
ISR(6)
Total:
ISR(9)
Total:
ISR(3)
Total:
ISR(2)
Total:
MP(40)
Total:
MP(50)
Total:
MP(40)
Total:
MP(20)
Total:
MP(5)
Total:
MP(2)
Total:
ISR1
8
ISR7
16
ISR16
32
ISR19
64
MP1
8
MP41
16
MP91
32
MP131
64
MP151
128
MP156
512
ISR2
8
ISR8
16
ISR17
32
ISR20
64
~
ISR3
8
ISR9
16
ISR18
32
ISR4
8
ISR10
16
ISR5
8
ISR11
16
ISR6
8
ISR12
16
ISR13
16
ISR14
16
ISR15
16
MP40
8
~
MP90
16
~
MP130
32
~
MP150
64
MP152 MP153 MP154 MP155
128
128
128
128
MP157
512
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In the following Function Table, most functions in sections 2, 3, 4, 5 and 6
could be used in i8094H_MP_CREATE (Please refer to Section 7.2.1), all
values could be replaced by variables (when applied to MP or ISR).
bvarNo: User-defined variables: bVAR0 ~ bVAR127 (Data type :BYTE)
varNo: User-defined variables: VAR0 ~ VAR511 (Data type :long or
DWORD)
Note:
In the following sections ※ indicates functions applied to MP.
In the following sections ∆ indicates functions applied to ISR.
The mark ◎ indicates the function is available in that category.
The mark ◎x2 means the function is available in that category with
two MP function lines.
Table 1: Command types and command scope
Basic settings
Section
Function
RTC
2.3
ETM_RESET_CARD
◎
2.3
ETM_CLEAR_CARD_BUFFER
◎
ETM_SET_PULSE_MODE
ETM_MACRO_SET_PULSE_MODE
ETM_SET_MAX_V
◎
2.4
2.5
2.6
2.7
2.8
2.9
2.10
2.10
2.11
2.12
2.12
2.13
2.14
2.15
ETM_SET_HLMT
ETM_MACRO_SET_HLMT
ETM_LIMITSTOP_MODE
ETM_MACRO_LIMITSTOP_MODE
ETM_SET_NHOME
ETM_MACRO_SET_NHOME
ETM_SET_HOME_EDGE
ETM_MACRO_SET_HOME_EDGE
ETM_SET_SLMT
ETM_MACRO_SET_SLMT
ETM_CLEAR_SLMT
ETM_MACRO_CLEAR_SLMT
ETM_SET_ENCODER
ETM_MACRO_SET_ENCODER
ETM_SERVO_ON
ETM_MACRO_SERVO_ON
ETM_SERVO_OFF
ETM_MACRO_SERVO_OFF
ETM_SET_ALARM
ETM_MACRO_SET_ALARM
ETM_SET_INPOS
ETM_MACRO_SET_INPOS
ETM_SET_FILTER
ETM_MACRO_SET_FILTER
IT
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
11
ISR
◎
◎
◎
◎
ETM_MACRO_SET_MAX_V
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MP
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
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Section
2.16
2.16
2.17
2.17
Function
RTC
ETM_VRING_ENABLE
ETM_MACRO_VRING_ENABLE
ETM_VRING_DISABLE
MP
ISR
◎
◎
◎
ETM_MACRO_VRING_DISABLE
ETM_AVTRI_ENABLE
ETM_MACRO_AVTRI_ENABLE
ETM_AVTRI_DISABLE
ETM_MACRO_AVTRI_DISABLE
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
2.18
ETM_EXD_MP
◎
2.18
ETM_EXD_FP
◎
2.18
ETM_EXD_CP
◎
2.18
ETM_EXD_DISABLE
◎
2.19
ETM_READ_bVAR
◎
2.19
ETM_WRITE_bVAR
◎
2.19
ETM_READ_VAR
◎
2.19
ETM_WRITE_VAR
◎
2.20
ETM_READ_MD
◎
2.20
ETM_WRITE_MD
◎
IT
◎
◎
◎
Status Reading and Setting
3.1
3.1
3.2
3.2
3.3
3.4
3.5
3.5
3.6
3.6
3.7
ETM_SET_LP
ETM_MACRO_SET_LP
ETM_GET_LP
ETM_MACRO_GET_LP
ETM_GET_LP_4_AXIS
ETM_SET_EP
ETM_MACRO_SET_EP
ETM_GET_EP
ETM_MACRO_GET_EP
ETM_GET_EP_4_AXIS
ETM_GET_CV
ETM_GET_CV_4_AXIS
ETM_GET_CA
ETM_GET_CA_4_AXIS
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
ETM_MACRO_GET_DI
ETM_GET_DI_ALL
◎
ETM_MACRO_GET_DI_ALL
ETM_GET_DI_ALL_4_AXIS
◎
ETM_MACRO_GET_ERROR
ETM_GET_ERROR_STATE
◎
ETM_GET_ERROR_CODE
◎
ETM_MACRO_GET_ERROR_CODE
ETM_GET_ERROR_CODE_4_AXIS
◎
ETM_GET_FREE_BUFFER
◎
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Section
3.8
Function
RTC
ETM_GET_STOP_STATUS
◎
ETM_GET_STOP_STATUS_4_AXIS
◎
MP
ISR
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
IT
FRnet Function
ETM_MACRO_FRNET_IN
4.1
4.2
4.3
ETM_MACRO_FRNET_READ
ETM_FRNET_READ_SINGLE_DIO
ETM_FRNET_READ_GROUP_DIO
ETM_FRNET_READ_MULTI_GROUP_DIO
ETM_ MACRO_FRNET_OUT
ETM_MACRO_FRNET_WRITE
ETM_FRNET_WRITE_SINGLE_DO
ETM_FRNET_WRITE_GROUP_DO
ETM_FRNET_WRITE_MULTI_GROUP_DO
◎
◎
◎
◎
◎
◎
ETM_MACRO_FRNET_WAIT
Home Search
5.1
5.2
5.3
5.4
ETM_SET_HV
ETM_MACRO_SET_HV
ETM_HOME _LIMIT
ETM_MACRO_HOME _LIMIT
ETM_SET_HOME_MODE
ETM_MACRO_SET_HOME_MODE
ETM_HOME _START
ETM_MACRO_HOME _START
◎
◎
◎
◎
◎
◎
◎
◎
Independent Axis Motion Control
ETM_NORMAL_SPEED
ETM_MACRO_NORMAL_SPEED
ETM_SET_SV
6.1.2
ETM_MACRO_SET_SV
ETM_SET_V
6.1.3
ETM_MACRO_SET_V
ETM_SET_A
6.1.4
ETM_MACRO_SET_A
ETM_SET_D
6.1.5
ETM_MACRO_SET_D
ETM_SET_K
6.1.6
ETM_MACRO_SET_K
ETM_SET_L
6.1.7
ETM_MACRO_SET_L
ETM_SET_AO
6.1.8
ETM_MACRO_SET_AO
ETM_FIXED_MOVE
6.1.9
ETM_MACRO_FIXED_MOVE
ETM_SET_PULSE
6.1.9
ETM_MACRO_SET_PULSE
ETM_CONTINUE_MOVE
6.1.10
ETM_MACRO_CONTINUE_MOVE
◎
6.1.1
ICP DAS
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
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Section
Function
RTC
MP
ISR
◎
◎
◎
◎
◎
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IT
Interpolation Motion
6.2.1
6.2.2
6.2.3
6.2.4
6.2.5
6.2.6
6.2.7
6.2.8
6.2.9
6.2.10
6.2.11
6.2.12
6.2.12
6.2.13
6.2.13
ETM_AXIS_ASSIGN
ETM_MACRO_AXIS_ASSIGN
ETM_VECTOR_SPEED
ETM_MACRO_VECTOR_SPEED
ETM_SET_VSV
ETM_MACRO_SET_VSV
ETM_SET_VV
ETM_MACRO_SET_VV
ETM_SET_VA
ETM_MACRO_SET_VA
ETM_SET_VD
ETM_MACRO_SET_VD
ETM_SET_VK
ETM_MACRO_SET_VK
ETM_SET_VL
ETM_MACRO_SET_VL
ETM_SET_VAO
ETM_MACRO_SET_VAO
ETM_LINE_2D
ETM_MACRO_LINE_2D
ETM_LINE_3D
ETM_MACRO_LINE_3D
ETM_ARC_CW
ETM_MACRO_ARC_CW
ETM_ARC_CCW
ETM_MACRO_ARC_CCW
ETM_CIRCLE_CW
ETM_MACRO_CIRCLE_CW
ETM_CIRCLE_CCW
ETM_MACRO_CIRCLE_CCW
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◎x2
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Synchronous Actions
ETM_SYNC_ACTION
6.3.1
6.3.2
6.3.3
6.3.4
◎x2
ETM_MACRO_SYNC_ACTION
ETM_CLEAR_SYNC_ACTION
ETM_MACRO_CLEAR_SYNC_ACTION
ETM_SET_ACTIVATION_FACTORS
ETM_MACRO_SET_ACTIVATION_FACTORS
ETM_SET_ACTIVATION_AXIS
ETM_MACRO_SET_ACTIVATION_AXIS
ETM_SET_ACTION
ETM_MACRO_SET_ACTION
ETM_SET_COMPARE
ETM_MACRO_SET_COMPARE
ETM_GET_LATCH
ETM_MACRO_GET_LATCH
ETM_GET_LATCH_4_AXIS
ETM_SET_PRESET
ETM_MACRO_SET_PRESET
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Section
6.3.5
Function
RTC
ETM_SET_OUT
ETM_MACRO_SET_OUT
MP
ISR
◎
◎
IT
◎
Enable / Disable Interrupt Function
6.3.6
6.3.6
6.3.6
6.3.6
ETM_ENABLE_INT
ETM_MACRO_ENABLE_INT
ETM_DISABLE_INT
ETM_MACRO_DISABLE_INT
ETM_INTFACTOR_ENABLE
ETM_MACRO_INTFACTOR_ENABLE
ETM_INTFACTOR_DISABLE
ETM_MACRO_INTFACTOR_DISABLE
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Read Triggered Interrupt Factors
6.4
ETM_GET_TRIG_INTFACTOR
◎
Macro Download status
6.5
ETM_GET_MP_DOWNLOAD_STATUS
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Read ETM_MACRO_SET_RINT Triggered Interrupt
6.6
ETM_GET_USER_RINT
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Get ET-M8194H State
6.7
ETM_GET_DEVICE_STATE
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Continuous Interpolation
6.8.1
6.8.2
6.8.2
6.8.3
6.8.3
6.8.4
6.8.4
6.8.5
6.8.6
6.8.7
6.8.7
ETM_RECTANGLE
ETM_MACRO_RECTANGLE
ETM_LINE_2D_INITIAL
ETM_MACRO_LINE_2D_INITIAL
ETM_LINE_2D_CONTINUE
ETM_MACRO_LINE_2D_CONTINUE
ETM_LINE_3D_INITIAL
ETM_MACRO_LINE_3D_INITIAL
ETM_LINE_3D_CONTINUE
ETM_MACRO_LINE_3D_CONTINUE
◎x4
ETM_MIX_2D_INITIAL
◎x2
ETM_MACRO_MIX_2D_INITIAL
ETM_MIX_2D_CONTINUE
ETM_MACRO_MIX_2D_CONTINUE
◎x2
◎x4
◎x2
◎x2
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◎x2
◎x2
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◎x2
◎x2
ETM_CONTINUE_INTP
◎
ETM_HELIX_3D
ETM_MACRO_HELIX_3D
ETM_RATIO_INITIAL
ETM_MACRO_RATIO_INITIAL
ETM_RATIO_2D
ETM_MACRO_RATIO_2D
◎x3
◎x3
◎x2
◎x2
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6.8.8
ETM_LINE_SCAN
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6.8.8
ETM_LINE_SCAN_START
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6.8.8
6.8.8
ETM_LINE_SCAN_OFFSET2
ETM_GET_LINE_SCAN_DONE
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Section
Function
RTC
MP
ISR
◎
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IT
Other Functions
6.9.1
6.9.2
6.9.3
6.9.3
6.9.3
6.9.3
6.9.4
6.9.4
6.9.5
6.9.6
6.9.7
ETM_DRV_HOLD
ETM_MACRO_DRV_HOLD
ETM_DRV_START
◎
◎
ETM_MACRO_DRV_START
ETM_STOP_SLOWLY
ETM_MACRO_STOP_SLOWLY
ETM_STOP_SUDDENLY
ETM_MACRO_STOP_SUDDENLY
ETM_VSTOP_SLOWLY
ETM_MACRO_VSTOP_SLOWLY
ETM_VSTOP_SUDDENLY
ETM_MACRO_VSTOP_SUDDENLY
ETM_CLEAR_STOP
ETM_MACRO_CLEAR_STOP
ETM_CLEAR_VSTOP
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ETM_MACRO_CLEAR_VSTOP
ETM_INTP_END
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◎
ETM_MACRO_INTP_END
ETM_EMERGENCY_STOP
ETM_CLEAR_EMERGENCY_STOP
◎
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◎
Additional Functions supported by i-8094H
7.1
7.2.1
7.2.2
7.3.1
7.3.2
7.3.3
7.4.1
7.4.2
7.5
7.6.1
7.6.2
7.6.3
7.7.1
7.7.2
7.7.3
7.8.1
7.8.2
7.9
7.10
7.11
7.12
7.13
ETM_LOAD_INITIAL
◎
ETM_MP_CREATE
ETM_MACRO_MP_CLOSE
ETM_MP_CALL
ETM_MACRO_MP_CALL
ETM_MP_ISR_CREATE
ETM_MACRO_MP_ISR_CLOSE
ETM_MP_ISR_CALL
ETM_MACRO_SET_VAR
ETM_ MACRO_SET_RVAR
ETM_ MACRO_VAR_CALCULATE
ETM_ MACRO_FOR
ETM_ MACRO_NEXT
ETM_ MACRO_EXIT_FOR
ETM_ MACRO_IF
ETM_ MACRO_ELSE
ETM_ MACRO_END_IF
ETM_MACRO_GOTO
ETM_MACRO_LABEL
ETM_ MACRO_TIMER
ETM_STOP_WAIT
ETM_MACRO_STOP_WAIT
ETM_ MACRO_SET_RINT
ETM_MACRO_EXIT_MACRO
ETM_MP_TERMINATE
ETM_MACRO_MP_TERMINATE
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2 Basic Settings
2.1
Axes Code Definition
The definition of axis assignments is as follows: X=1, Y=2, Z=4, and U=8.
If you assign X and Y axes simultaneously, the code will be 3. In a similar
way, AXIS_YZ = 2+4 =0x6; and AXIS_XYZU = 1+2+4+8 = 0xf. You could
assign single axis as well as multiple axes. Available axis codes are listed
below:
Table 2: Axis assignments and their corresponding codes
Axis
X
Y
Z
U
XY
XZ
XU
YZ
Code
0x1
0x2
0x4
0x8
0x3
0x5
0x9
0x6
Variable
AXIS_X
AXIS_Y
AXIS_Z
AXIS_U
AXIS_XY
AXIS_XZ
AXIS_XU
AXIS_YZ
Axis
YU
ZU
XYZ
XYU
XZU
YZU
XYZU
Code
0xa
0xc
0x7
0xb
0xd
0xe
0xf
Variable
AXIS_YU
AXIS_ZU
AXIS_XYZ
AXIS_XYU
AXIS_XZU
AXIS_YZU
AXIS_XYZU
Write the setting values into the IT parameter table without making a
change of other current settings (please refer to Section 7.1), the
definitions are as follow:
Table 3: Axis assignments and their corresponding codes for initialization table (IT)
Axis
X
Y
Z
U
XY
XZ
XU
YZ
Code
0x11
0x12
0x14
0x18
0x13
0x15
0x19
0x16
INITIAL_
INITIAL_
INITIAL_
INITIAL_
INITIAL_
INITIAL_
INITIAL_
INITIAL_
X
Y
Z
U
XY
XZ
XU
YZ
Axis
YU
ZU
XYZ
XYU
XZU
YZU
XYZU
Code
0x1a
0x1c
0x17
0x1b
0x1d
0x1e
0x1f
INITIAL_
INITIAL_
INITIAL_
INITIAL_
INITIAL_
INITIAL_
INITIAL_
YU
ZU
XYZ
XYU
XZU
YZU
XYZU
Variable
Variable
IT table can not be used inside Macro Program (MP or ISR).
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2.2
Registering mudules and getting LIB version
BYTE i8094H_REGISTRATION(BYTE cardNo, BYTE slot)
Description:
You are required to register your i8094H before performing any operation.
This function enables to register a module by doing the following steps:
module registration; assigning the slot number the module being installed
on; and accessing a card number.
Registration must be performed for each I-8094(A/H) motion control module
before other functions are called. After registration, each module can be
identified by its corresponding module number.
Category:
MODBUS table ; Internal function.
Parameters:
Paramters
cardNo:
slot:
Description
Module number  MP-8000 : 1~7
Slot number
 MP-8000 : 1~7
Return:
YES: Normal; NO: Abnormal
Example:
//================= for MP-8000 ==================
//set each module number the same as the slot number, respectively.
//(slot1 ~ slot7)
BYTE cardNo;
BYTE slot;
int Found = 0;
for (slot = 1; slot < 8; slot++)
{
cardNo = slot;
if (i8094H _REGISTRATION(cardNo, slot) == YES)
{ //slot number begins from 1.
//if a module is found, the slot number would be registered as the slot
number of that module.
i8094H _RESET_CARD(cardNo);
Found++;
}
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}
if (Found == 0)
{
//if MP-8000 cannot find any I-8094H module,
please add your code here to take care of the exceptional cases.
return;
}
Special Description:
This function only give MP-8000 or the controller which direct control the
i-8094H to use. ET-M8194H does not provide the corresponding MODBUS
command function. The start of the ET-M8194H automatically for registered
i-8049H so the user does not need to use this function. ET-M8194H will
startup by the following initialization actions:
i8094H_REGISTRATION(CardNo, 0);
i8094H_RESET_CARD(CardNo);
i8094H_SET_PULSE_MODE(CardNo, AXIS_XYZU, 2);
i8094H_SET_ALARM(CardNo, AXIS_XYZU, 0, 0);
//disable Servo Alarm Input
i8094H_SET_ENCODER(CardNo, AXIS_XYZU, 0, 0, 0);
//Set Encoder Input Type
i8094H_EXD_DISABLE(CardNo, AXIS_XYZU);
//set External Input Off
i8094H_SET_LP(CardNo, AXIS_XYZU, 0);
//set Logic position =0
i8094H_SET_EP(CardNo, AXIS_XYZU, 0);
//set Encoder position =0
i8094H_SERVO_ON(CardNo, AXIS_XYZU);
//set Servo_ON to servo motors
i8094H_CLEAR_SLMT(CardNo, AXIS_XYZU);
i8094H_SET_MAX_V(CardNo, AXIS_XYZU, 160000L);
Users can use MODBUS command to check what kind of module is
inserted in the controller slot. Use FC=4 to read the value of address
0x51(decimal is 81). If an i-8094H module is plugged inside the slot, value
0x44 will be returned; if an i-8094A module is inside the slot, 0x55 will be
returned. In addition, UID = 01 represents the first slot. ET-M8194H only
supports one slot now. If additional slot is supported in the future, users
can change the UID value to 02 to read the data from the second slot.
MODBUS example:
WORD ModID;
HANDLE h;
ETM_GET_MODULE_ID (h, 1, &ModID);
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MODBUS request:
TID
PID
Field
(hex)
(hex) Length
(hex)
00 01 00 00
00 06
MODBUS response:
TID
PID
Field
(hex)
(hex) Length
(hex)
00 01 00 00
00 05
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UID
(hex)
FC
(hex)
St_Addr.
(hex)
01
04
00 51
UID
(hex)
FC
(hex)
01
04
20
Byte
Count
(hex)
02
Word
Count
(hex)
00 01
i-8094H: 0x44
i-8094A: 0x55
(hex)
00 44
ET-M8194H User Manual – API Library
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WORD i8094H_GET_VERSION(void)
Description:
Read the current version of i8094H library.
Category:
MODBUS table; Internal function.
Parameters:
None
Return:
Version number, 0x0000 ~ 0x9999
Example:
WORD VER_No;
VER_No = i8094H_GET_VERSION();
//Read the version code of i8094Hce.dll
Remark:
If the return value is 0x0607
06: the year is 2006
07: the month is July.
Special Description:
This function only supports MP-8000 or other controllers which direct
control the i-8094H. However, a MODBUS command is provided for
checking the firmware version of the ET-M8194H controller (not a firmware
version of i-8094H). Use MODBUS command FC=4 to read the address 0x52
(decimal is 82). If a value 0x02000000 is returned that means the version
number is 2.00.
The function prototype is as follows:
eRET ETM_GET_ETM8194H_FIRMWARE_VERSION (HANDLE h,
DWORD* ETM8194H_Ver);
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MODBUS example:
DWORD ETM8194H_Ver;
HANDLE h;
ETM_GET_ETM8194H_FIRMWARE_VERSION(h, &ETM8194H_Ver);
MODBUS request:
TID
PID
Field
(hex)
(hex) Length
(hex)
00 01 00 00
00 06
MODBUS response:
TID
PID
Field
(hex) (hex) Length
(hex)
00 01 00 00 00 07
UID
(hex)
FC
(hex)
St_Addr.
(hex)
01
04
00 52
UID
(hex)
FC
(hex)
01
04
Byte
Count
(hex)
04
Word
Count
(hex)
00 02
Version
(hex)
High Word
02 00
Version
(hex)
Low Word
00 00
ET-M8194H also allows MODBUS commands for checking the firmware
version of i-8094H. Use the FC=4 and read the address 0x54 (decimal is
84). If a value 0x02210201 is returned, the high word represents the
hardware version as 2.21, the low word represents the firmware version as
2.01.
The function prototype is as follows:
eRET ETM_GET_i8094H_FIRMWARE_VERSION (HANDLE h, DWORD*
i8094H_Ver);
MODBUS example:
DWORD i8094H_Ver;
HANDLE h;
ETM_GET_i8094H_FIRMWARE_VERSION(h, &i8094H_Ver);
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MODBUS request:
TID
PID
Field
(hex)
(hex) Length
(hex)
00 01 00 00
00 06
MODBUS response:
TID
PID
Field
(hex)
(hex)
Length
(hex)
00 01
00 00
00 07
UID
(hex)
FC
(hex)
St_Addr.
(hex)
01
04
00 54
Word
Count
(hex)
00 02
UID
(hex)
FC
(hex)
Byte
Count
(hex)
Version
(hex)
High
Word
Version
(hex)
Low
Word
01
04
04
02 21
02 01
Additional function ETM_GET_DLL_VERSION is provided to read ETM8194H API Library version. This function does not need to send MODBUS
commands. Instead, it is an internal function and can be called without
connection.
The function prototype is as follows:
WORD ETM_GET_DLL_VERSION (void);
If the response WORD value is 0x0100 that means the version number is
1.00. The high byte is the major version number and the low byte is the
minor version number.
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2.3
Resetting the Motion Module
eRET ETM_RESET_CARD (HANDLE h, BYTE cardNo)
Description:
This function enables motion module (I8094H) to restore the power-on
default settings, please refer to Section 7: initial settings after resetting the
module.
Category:
MODBUS sub_function; RTC.
Parameters:
Paramters
cardNo:
Description
Module number  MP-8000 : 1~7
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
ETM_RESET_CARD (h, 1);
//Reset the module1
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 09
01
10
1F 40
00 01
Register[]
Value (hex)
Remarks
0
0A 0A
Sub_function code
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Count
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eRET ETM_CLEAR_CARD_BUFFER (HANDLE h, BYTE cardNo)
Description:
Clear all data in i-8094H command buffer.
Category:
MODBUS sub_function; RTC.
Parameters:
Paramters
cardNo:
Description
Module number  MP-8000 : 1~7
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
ETM_CLEAR_CARD_BUFFER (h, 1); //clear data buffer in module 1
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 09
01
10
1F 40
00 01
Register[]
Value (hex)
Remarks
0
0A 0B
Sub_function code
Byte
Count
(hex)
02
Section 3.7 provides ETM_GET_FREE_BUFFER function to get the
available block-number inside the command buffer. The maximum blocknumber is 30).
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2.4
Pules Output Mode Setting
eRET ETM_SET_PULSE_MODE (HANDLE h, BYTE cardNo, BYTE axis,
BYTE nMode)
※ eRET ETM_MACRO_SET_PULSE_MODE (HANDLE h, BYTE cardNo,
BYTE axis, BYTE nMode)
Description:
This function sets the pulse output mode to be either CW/CCW or
PULSE/DIR for the specific axes and their direction.
Category:
MODBUS sub_function; RTC, MP and IT.
Parameters:
Paramters
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2 and Table 3)
Assigned mode (Please refer to Table 4)
cardNo:
axis:
nMode:
Table 4: List of pulse output modes
Pulse output signa
mode
CW / CCW
PULSE / DIR
nPP
nPM
0
CW(risig edge)
CCW(risig edge)
1
CW(falling edge)
2
PULSE (rising edge)
3
PULSE (falling edge)
4
PULSE (rising edge)
5
PULSE (falling edge)
CCW(falling edge)
DIR
(LOW:+dir/ HIGH:-dir)
DIR
(LOW:+dir/ HIGH:-dir)
DIR
(HIGH:+dir/ LOW:-dir)
DIR
(HIGH:+dir/ LOW:-dir)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SET_PULSE_MODE is 0A 0C.
The Sub_function code of ETM_MACRO_SET_PULSE_MODE is 0C
0C.
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MODBUS example:
ETM_SET_PULSE_MODE (h, 1, AXIS_XYZ, 2);
// set the pulse mode of X, Y, and Z axes to be mode 2 for module 1
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0D
01
10
1F 40
00 03
Register[]
Value (hex)
Remarks
0
0A 0C/0C 0C Sub_function code
1
00 07
axis
2
00 02
nMode
Byte
Count
(hex)
06
Example:
ETM_SET_PULSE_MODE (h, 1, AXIS_XYZ, 2);
// set the pulse mode of X, Y, and Z axes to be mode 2 in module 1
ETM_SET_PULSE_MODE(h, 1, AXIS_U, 3);
//set the pulse mode of U axis to be mode 3 in module 1
ETM_SET_PULSE_MODE (h, 1, INITIAL_XYZU, 0);
//set the pulse mode of X Y Z U axes to be mode 0, write into the initial
parameter table(table 3) in module 1
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2.5
Set the Maximum Speed
eRET ETM_SET_MAX_V (HANDLE h, BYTE cardNo, BYTE axis, DWORD
data)
※ eRET ETM_MACRO_SET_MAX_V (HANDLE h, BYTE cardNo, BYTE axis,
DWORD data)
Description:
This function sets the maximum rate for the output pulses (speed). A larger
value results in a rougher resolution, and vice versa. There are 8000 speed
segments available. For example, if the maximum speed is set as 8000 PPS,
the resolution will be 1 PPS; if the maximum speed is set as 16000 PPS, the
resolution will be 2 PPS; if the maximum speed is set as 80000 PPS, the
resolution will be 10 PPS, etc. Maximum value 4,000,000 PPS means the
resolution of speed will be 500 PPS. This function will change the
resolution of speed to reach the desired maximum speed. Since the scale
in hardware is changed, other parameters will be updated accordingly too;
such as the starting speed, the acceleration, and the jerk. It is
recommended to set the maximum speed value to be an integral multiplier
of 8000.
Category:
MODBUS sub_function; RTC, MP and IT.
Parameters:
Paramters
cardNo
axis
Description
Module number  MP-8000 : 1~7
Axis or axes (Table 2 or Table 3)
If axis setting is defined in Table 2, the setting
values will change current speed settings.
If axis setting is defined in Table 3, the setting
values will be writted into the parameter table
without changing current speed settings.
data
ICP DAS
Range of the maximum speed:
single axis: 8,000~4,000,000 PPS;
the second axis: 8,000~2,828,854 PPS;
the third axis: 8,000~2,309,468 PPS.
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Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SET_MAX_V is 0A 0D.
The Sub_function code of ETM_MACRO_SET_MAX_V is 0C 0D.
MODBUS example:
ETM_SET_MAX_V (h, 1, AXIS_XY, 200000L);
//The maximum speed for the X and Y axes of module 1 is 200KPPS.
//The resolution of the speed will be 200000/8000 = 25 PPS.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0F
01
10
1F 40
00 04
Register[]
Value (hex)
Remarks
0
0A 0D/0C 0D
Sub_function code
1
00 03
axis
2
00 03
MSW of data
3
0D 40
LSW of data (200000 = 0x30D40)
ICP DAS
29
Byte
Count
(hex)
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2.6
Setting the Active Level of Hardware Limit
Switches
eRET ETM_SET_HLMT (HANDLE h, BYTE cardNo, BYTE axis, BYTE
nFLEdge, BYTE nRLEdge)
※ eRET ETM_MACRO_SET_HLMT (HANDLE h, BYTE cardNo, BYTE axis,
BYTE nFLEdge, BYTE nRLEdge)
Description:
This function sets the active logic level of the hardware limit switch inputs.
Category:
MODBUS sub_function; RTC, MP and IT.
Parameters:
Paramters
cardNo:
axis:
Description
Module number  MP-8000 : 1~7
Axis or axes (Table 2 or Table 3)
If axis setting is defined in Table 2, the setting
values will change current speed settings.
If axis setting is defined in Table 3, the setting
values will be writted into the parameter table
without changing current speed settings.
nFLEdge:
nRLEdge:
Active level setting for the forward limit switch.
0 = low active; 1 = high active
Active level setting for the reverse limit switch.
0 = low active; 1 = high active
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SET_HLMT is 0A 0E.
The Sub_function code of ETM_MACRO_SET_HLMT is 0C 0E.
MODBUS example:
ETM_SET_HLMT (h, 1, AXIS_XYZU, 0, 0);
//set all the trigger levels as low-active for all limit switches on module 1.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0F
01
10
1F 40
00 04
Register[]
Value (hex)
Remarks
0
0A 0E/0C 0E
Sub_function code
1
00 0F
axis
2
00 00
nFLEdge
3
00 00
nRLEdge
ICP DAS
31
Byte
Count
(hex)
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2.7
Setting the Motion Stop Mode when Limit
Switch being turn on
eRET ETM_LIMITSTOP_MODE (HANDLE h, BYTE cardNo, BYTE axis,
BYTE nMode)
※ eRET ETM_MACRO_LIMITSTOP_MODE (HANDLE h, BYTE cardNo, BYTE
axis, BYTE nMode)
Description:
This function configures the settings of motion stop mode of the axes
when the corresponding limit switches being turn on.
Category:
MODBUS sub_function; RTC, MP and IT.
Parameters:
Paramters
cardNo:
axis:
Description
Module number  MP-8000 : 1~7
Axis or axes (Table 2 or Table 3)
If axis setting is defined in Table 2, the setting
values will change current speed settings.
If axis setting is defined in Table 3, the setting
values will be writted into the parameter table
without changing current speed settings.
nMode:
0: stop immediately; 1: decelerating to stop
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_LIMITSTOP_MODE is 0A 0F.
The Sub_function code of ETM_MACRO_LIMITSTOP_MODE is 0C 0F.
MODBUS example:
ETM_LIMITSTOP_MODE (h, 1, AXIS_X, 0);
//set X axis to stop immediately if any limit switch on X axis is turned on.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0D
01
10
1F 40
00 03
Register[]
Value (hex)
Remarks
0
0A 0F/0C 0F
Sub_function code
1
00 01
axis
2
00 00
nMode
ICP DAS
33
Byte
Count
(hex)
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2.8
Setting the Trigger Level of the NHOME Sensor
eRET ETM_SET_NHOME (HANDLE h, BYTE cardNo, BYTE axis, BYTE
nNHEdge)
※ eRET ETM_MACRO_SET_NHOME (HANDLE h, BYTE cardNo, BYTE axis,
BYTE nNHEdge)
Description:
This function enables to set up the trigger level of the near home sensor
(NHOME).
Category:
MODBUS sub_function; RTC, MP and IT.
Parameters:
Paramters
cardNo:
axis:
Description
Module number  MP-8000 : 1~7
Axis or axes (Table 2 or Table 3)
If axis setting is defined in Table 2, the setting
values will change current speed settings.
If axis setting is defined in Table 3, the setting
values will be writted into the parameter table
without changing current speed settings.
nNHEdge:
Active level setting for for the near home sensor
0 = low active; 1 = high active
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SET_NHOME is 0A 10.
The Sub_function code of ETM_MACRO_SET_NHOME is 0C 10.
MODBUS example:
ETM_SET_NHOME (h, 1, AXIS_XY, 0);
// set the trigger level of NHOME of X and Y axes on module 1 to be active
low.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0D
01
10
1F 40
00 03
Register[]
Value (hex)
Remarks
0
0A 10/0C 10
Sub_function code
1
00 03
Axis (3  AXIS_XY)
2
00 00
nNHEdge
ICP DAS
35
Byte
Count
(hex)
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2.9
Setting the Trigger Level of the HOME Sensor
eRET ETM_SET_HOME_EDGE (HANDLE h, BYTE cardNo, BYTE axis,
BYTE nHEdge)
※ eRET ETM_MACRO_SET_HOME_EDGE (HANDLE h, BYTE cardNo, BYTE
axis, BYTE nHEdge)
Description:
This function sets the trigger level of the home sensor (HOME)
Category:
MODBUS sub_function; RTC, MP and IT.
Parameters:
Paramters
cardNo:
axis:
Description
Module number  MP-8000 : 1~7
Axis or axes (Table 2 or Table 3)
If axis setting is defined in Table 2, the setting
values will change current speed settings.
If axis setting is defined in Table 3, the setting
values will be writted into the parameter table
without changing current speed settings.
nHEdge:
Active level setting for the home sensor
0 = low active; 1 = high active
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SET_HOME_EDGE is 0A 11.
The Sub_function code of ETM_MACRO_SET_HOME_EDGE is 0C 11.
MODBUS example:
ETM_SET_HOME_EDGE (h , 1, AXIS_XYZU, 1);
//set the trigger level as high active for all home sensors on module 1
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0D
01
10
1F 40
00 03
Register[]
Value (hex)
Remarks
0
0A 11/0C 11
Sub_function code
1
00 0F
Axis (F  AXIS_XYZU)
2
00 01
nHEdge
ICP DAS
37
Byte
Count
(hex)
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2.10
Setting and Clearing the Software Limit
eRET ETM_SET_SLMT (HANDLE h, BYTE cardNo, BYTE axis, long
dwFL, long dwRL, BYTE nType)
※ eRET ETM_MACRO_SET_SLMT (HANDLE h, BYTE cardNo, BYTE axis,
long dwFL, long dwRL, BYTE nType)
Description:
This function sets the Positive and Negative software limits.
Category:
MODBUS sub_function; RTC, MP and IT.
Parameters:
Paramters
cardNo:
axis:
Description
Module number  MP-8000 : 1~7
Axis or axes (Table 2 or Table 3)
If axis setting is defined in Table 2, the setting
values will change current speed settings.
If axis setting is defined in Table 3, the setting
values will be writted into the parameter table
without changing current speed settings.
dwFL:
dwRL:
nType:
Value of the forward software limit
(-2,000,000,000 ~ +2,000,000,000)
Value of the reverse software limit
(-2,000,000,000 ~ +2,000,000,000)
Position counter to be compared
0 = logical position counter (LP), i.e., the
command position
1 = encoder position counter (EP), i.e., the real
position
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SET_SLMT is 0A 12.
The Sub_function code of ETM_MACRO_SET_SLMT is 0C 12.
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MODBUS example:
ETM_SET_SLMT (h, 1, AXIS_XYZU, 20000, -3000, 0);
//set the forward software limit to be 20000 and the reverse
// software limit to be -3000 for all axes on module 1.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
Byte
(hex)
(hex) Length (hex) (hex)
(hex)
Count
Count
(hex)
(hex)
(hex)
00 01 00 00
00 15
01
10
1F 40
00 07
0E
Register[]
Value (hex)
Remarks
0
0A 12/0C 12
Sub_function code
1
00 0F
axis
2
00 00
MSW of dwFL
3
4E 20
LSW of dwFL (20000  0x4E20)
4
FF FF
MSW of dwRL
5
F4 48
LSW of dwRL (-3000  0xFFFFF448)
6
00 00
nType
ICP DAS
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eRET ETM_CLEAR_SLMT (HANDLE h, BYTE cardNo, BYTE axis)
※ eRET ETM_MACRO_CLEAR_SLMT (HANDLE h, BYTE cardNo, BYTE
axis)
Description:
This function clears the software limits.
Category:
MODBUS sub_function; RTC, MP and IT.
Parameters:
Paramters
cardNo:
axis:
Description
Module number  MP-8000 : 1~7
Axis or axes (Table 2 or Table 3)
If axis setting is defined in Table 2, the setting
values will change current speed settings.
If axis setting is defined in Table 3, the setting
values will be writted into the parameter table
without changing current speed settings.
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_CLEAR_SLMT is 0A 13.
The Sub_function code of ETM_MACRO_CLEAR_SLMT is 0C 13.
MODBUS example:
ETM_CLEAR_SLMT (h, 1, AXIS_XYZU);
//clear the software limits for all axes on module 1.
ICP DAS
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0B
01
10
1F 40
00 02
Register[]
Value (hex)
Remarks
0
0A 13/0C 13
Sub_function code
1
00 0F
Axis (F  AXIS_XYZU)
ICP DAS
41
Byte
Count
(hex)
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2.11
Setting the Encoder Related Parameters
eRET ETM_SET_ENCODER (HANDLE h, BYTE cardNo, BYTE axis,
BYTE nMode, BYTE nDivision, BYTE nZEdge)
※ eRET ETM_MACRO_SET_ENCODER (HANDLE h, BYTE cardNo, BYTE
axis, BYTE nMode, BYTE nDivision, BYTE nZEdge)
Description:
This function sets the relevant parameters for encoder input.
Category:
MODBUS sub_function; RTC, MP and IT.
Parameters:
Paramters
cardNo:
axis:
Description
Module number  MP-8000 : 1~7
Axis or axes (Table 2 or Table 3)
If axis setting is defined in Table 2, the setting
values will change current speed settings.
If axis setting is defined in Table 3, the setting
values will be writted into the parameter table
without changing current speed settings.
nMode:
nDivision:
nZEdge:
Encoder input type: 0 = A quad B; 1 = up/down
Division setting for A quad B input signals:
0 = 1/1
1 = 1/2
2 = 1/4
Sets the trigger level for the Z phase
0 = low active; 1 = high active
A/B quadrature pulse input mode:
In this mode, when A phase is advancing with positive logical pulses, the
count is incremented; and when the B-phase is advancing, the count is
decremented. The count is incremented and decremented at the rising
edge and falling edge of both signals. In A/B quadrature pulse input mode,
the input pulses can be divided into 1/2 or 1/4.
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Up
/down pulse input mode:
nECA/PPIN is count up input and nECB/PMIN is count down input. The
counter counts at the rising edge of the positive pulse.
Division setting for A quad B input signals:
0 - Counting positive and negative edge of channel A and B
1 - Counting positive and negative edge of the A channel only
2 - Considering the positive edge of the A channel only
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SET_ENCODER is 0A 14.
The Sub_function code of ETM_MACRO_SET_ENCODER is 0C 14.
MODBUS example:
ETM_SET_ENCODER (h, 1, AXIS_XYZU, 0, 0, 0);
//set the encoder input type as A quad B; the division setting is 1/1; and
the Z phase is low active.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
Byte
(hex)
(hex) Length (hex) (hex)
(hex)
Count
Count
(hex)
(hex)
(hex)
00 01 00 00
00 11
01
10
1F 40
00 05
0A
Register[]
Value (hex)
Remarks
0
0A 14/0C 14
Sub_function code
1
00 0F
axis (F  AXIS_XYZU)
2
00 00
nMode (0  AB phase)
3
00 00
nDivision (0  1:1)
4
00 00
nZEdge (0Z phase is low-active)
ICP DAS
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2.12
Setting the Servo Driver (ON/OFF)
eRET ETM_SERVO_ON (HANDLE h, BYTE cardNo, BYTE axis)
※ eRET ETM_MACRO_SERVO_ON (HANDLE h, BYTE cardNo, BYTE axis)
Description:
This function outputs a DO signal (ENABLE) to enable the motor driver.
Category:
MODBUS sub_function; RTC, MP and IT.
Parameters:
Paramters
cardNo:
axis:
Description
Module number  MP-8000 : 1~7
Axis or axes (Table 2 or Table 3)
If axis setting is defined in Table 2, the setting
values will change current speed settings.
If axis setting is defined in Table 3, the setting
values will be writted into the parameter table
without changing current speed settings.
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SERVO_ON is 0A 15.
The Sub_function code of ETM_MACRO_SERVO_ON is 0C 15.
MODBUS example:
ETM_SERVO_ON (h, 1, AXIS_XYZU);
//enables all drivers on module 1.
ICP DAS
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0B
01
10
1F 40
00 02
Register[]
Value (hex)
Remarks
0
0A 15/0C 15
Sub_function code
1
00 0F
axis (F  AXIS_XYZU)
ICP DAS
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Byte
Count
(hex)
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eRET ETM_SERVO_OFF (HANDLE h, BYTE cardNo, BYTE axis)
※ eRET ETM_MACRO_SERVO_OFF (HANDLE h, BYTE cardNo, BYTE axis)
Description:
This function outputs a DO signal (ENABLE) to disable the motor driver.
Category:
MODBUS sub_function; RTC, MP and IT.
Parameters:
Paramters
cardNo:
axis:
Description
Module number  MP-8000 : 1~7
Axis or axes (Table 2 or Table 3)
If axis setting is defined in Table 2, the setting
values will change current speed settings.
If axis setting is defined in Table 3, the setting
values will be writted into the parameter table
without changing current speed settings.
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SERVO_OFF is 0A 16.
The Sub_function code of ETM_MACRO_SERVO_OFF is 0C 16.
MODBUS example:
ETM_SERVO_OFF (h, 1, AXIS_XYZU);
//disables all drivers on module 1.
ICP DAS
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0B
01
10
1F 40
00 02
Register[]
Value (hex)
Remarks
0
0A 16/0C 16
Sub_function code
1
00 0F
axis (F  AXIS_XYZU)
ICP DAS
48
Byte
Count
(hex)
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2.13
Setting the SERVO ALARM Function
eRET ETM_SET_ALARM (HANDLE h, BYTE cardNo, BYTE axis, BYTE
nMode, BYTE nAEdge)
※ eRET ETM_MACRO_SET_ALARM (HANDLE h, BYTE cardNo, BYTE axis,
BYTE nMode, BYTE nAEdge)
Description:
This function sets the ALARM input signal related parameters.
Category:
MODBUS sub_function; RTC, MP and IT.
Parameters:
Paramters
cardNo:
axis:
Description
Module number  MP-8000 : 1~7
Axis or axes (Table 2 or Table 3)
If axis setting is defined in Table 2, the setting
values will change current speed settings.
If axis setting is defined in Table 3, the setting
values will be writted into the parameter table
without changing current speed settings.
nMode:
nAEdge:
Mode:
0 = disable ALARM function;
1 = enable ALARM function
Sets the trigger level
0 = low active; 1 = high active
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SET_ALARM is 0A 17.
The Sub_function code of ETM_MACRO_SET_ALARM is 0C 17.
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MODBUS example:
ETM_SET_ALARM (h, 1, AXIS_ZU, 1, 0);
//enable the ALARM for the Z and U axes on module 1 and set them
//as low-active.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0F
01
10
1F 40
00 04
Register[]
Value (hex)
Remarks
0
0A 17/0C 17
Sub_function code
1
00 0C
axis (C  AXIS_ZU)
2
00 01
nMode (1  enable)
3
00 00
nAEdge (0  low-active)
ICP DAS
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Byte
Count
(hex)
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2.14
Setting the Active Level of the In-Position
Signals
eRET ETM_SET_INPOS (HANDLE h, BYTE cardNo, BYTE axis, BYTE
nMode, BYTE nIEdge)
※ eRET ETM_MACRO_SET_INPOS (HANDLE h, BYTE cardNo, BYTE axis,
BYTE nMode, BYTE nIEdge)
Description:
This function sets the INPOS input signal related parameters.
Category:
MODBUS sub_function; RTC, MP and IT.
Parameters:
Paramters
cardNo:
axis:
Description
Module number  MP-8000 : 1~7
Axis or axes (Table 2 or Table 3)
If axis setting is defined in Table 2, the setting
values will change current speed settings.
If axis setting is defined in Table 3, the setting
values will be writted into the parameter table
without changing current speed settings.
nMode:
nIEdge:
Mode:
0 = disable INPOS input;
1 = enable INPOS input
Set the trigger level
0 = low active; 1 = high active
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SET_INPOS is 0A 18.
The Sub_function code of ETM_MACRO_SET_INPOS is 0C 18.
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MODBUS example:
ETM_SET_INPOS (h, 1, AXIS_X, 1, 0);
//enable the INPOS function of the X axis on module 1 and set it to
//be low-active.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0F
01
10
1F 40
00 04
Register[]
Value (hex)
Remarks
0
0A 18/0C 18
Sub_function code
1
00 01
axis (1  AXIS_X)
2
00 01
nMode (1  enable)
3
00 00
nIEdge (0  low-active)
ICP DAS
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Byte
Count
(hex)
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2.15
Setting the Time Constant of Digital Filter
eRET ETM_SET_FILTER (HANDLE h, BYTE cardNo, BYTE axis, BYTE
FEn, BYTE FLn)
※ eRET ETM_MACRO_SET_FILTER (HANDLE h, BYTE cardNo, BYTE axis,
BYTE FEn, BYTE FLn)
Description:
This function selects the axes and sets the time constant for digital filters
of the input signals.
Category:
MODBUS sub_function; RTC, MP and IT.
Parameters:
Paramters
Description
Module number  MP-8000 : 1~7
Axis or axes (Table 2 or Table 3)
cardNo:
axis:
If axis setting is defined in Table 2, the setting
values will change current speed settings.
If axis setting is defined in Table 3, the setting
values will be writted into the parameter table
without changing current speed settings.
Enabled filters.
The sum of the code numbers (0~31) are used to
select input signals.
Sets the filter time constant (0~7).
FEn:
FLn:
FEn: Please refer to the following table.
Code Number Enabling filters
Disable
0
1
EMG, nLMTP, nLMTM, nIN0, nIN1
nIN2
2
4
8
16
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nINPOS, nALARM
nEXPP, nEXPM, EXPLSN
nIN3
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FLn: Please refer to the following table.
Removable max. noise
Input signal delay
Code
width
time
1.75μSEC
2μSEC
0
224μSEC
256μSEC
1
448μSEC
512μSEC
2
896μSEC
3
1.024mSEC
4
1.792mSEC
2.048mSEC
5
3.584mSEC
4.096mSEC
6
7.168mSEC
8.192mSEC
7
14.336mSEC
16.384mSEC
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SET_FILTER is 0A 19.
The Sub_function code of ETM_MACRO_SET_FILTER is 0C 19.
MODBUS example:
ETM_SET_FILTER (h, 1, AXIS_XYZU, 21, 3);
//set the filter time constants of X, Y, Z, and U axes as 1.024mSEC.
//These filters include EMG, nLMTP, nLMTM, nIN0, nIN1, nINPOS, nALARM,
//and nIN3.
//(21 = 1+4+16) 1: EMG + nLMP + nLMPM + nIN0 + nIN1;
//4: nINPOS + nALARM;
//16: nIN3.
Note: The default wiring design is: nIN0 is connected to the NEAR HOME
(NHOME) sensors; nIN1 is connected to the HOME sensors; and nIN2 is
connected to the index of Encoder input (Z phase).
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
Byte
(hex)
(hex) Length (hex) (hex)
(hex)
Count
Count
(hex)
(hex)
(hex)
00 01 00 00
00 0F
01
10
1F 40
00 04
08
Register[]
Value (hex)
Remarks
0
0A 19/0C 19
Sub_function code
1
00 0F
axis (F  AXIS_XYZU)
2
00 15
FEn (21 = 0x15, enable several noise
filters)
3
00 03
FLn (using filter 3)
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2.16
Position Counter Variable Ring
eRET ETM_VRING_ENABLE (HANDLE h, BYTE cardNo, BYTE axis,
DWORD nVRing)
※ eRET ETM_MACRO_VRING_ENABLE (HANDLE h, BYTE cardNo, BYTE
axis, DWORD nVRing)
Description:
This function enables the linear counter of the assigned axes as variable
Category:
MODBUS sub_function; RTC, MP and IT.
Parameters:
Paramters
cardNo:
axis:
Description
Module number  MP-8000 : 1~7
Axis or axes (Table 2 or Table 3)
If axis setting is defined in Table 2, the setting
values will change current speed settings.
If axis setting is defined in Table 3, the setting
values will be writted into the parameter table
without changing current speed settings.
nVRing:
Maximum value of the ring counter
(0 ~ +2,000,000,000)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_VRING_ENABLE is 0A 1A.
The Sub_function code of ETM_MACRO_VRING_ENABLE is 0C 1A.
MODBUS example:
ETM_VRING_ENABLE (h, 1, AXIS_X, 9999);
//set the X axis of module 1 to be a ring counter. The encoder
//values will be 0 to 9999.
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The encoder value ranges from 0 to 9999.
When the counter value reaches 9999, one
more adding pulse will cause the counter to
reset to 0. When the counter value is 0, a
lessening pulse will let the counter set to
9999.
Max. ring encoder value = 9999
Note:
1. This function will set the LP and EP simultaneously.
2. If this function is enabled, the software limit function cannot be used.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0F
01
10
1F 40
00 04
Register[]
Value (hex)
Remarks
0
0A 1A/0C 1A
Sub_function code
1
00 01
axis
2
00 00
MSW of nVRing
3
27 0F
LSW of nVRing (9999 = 0x270F)
ICP DAS
56
Byte
Count
(hex)
08
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eRET ETM_VRING_DISABLE (HANDLE h, BYTE cardNo, BYTE axis)
※ eRET ETM_MACRO_VRING_DISABLE (HANDLE h, BYTE cardNo, BYTE
axis)
Description:
This function disables the variable ring counter function.
Category:
MODBUS sub_function; RTC, MP and IT.
Parameters:
Paramters
cardNo:
axis:
Description
Module number  MP-8000 : 1~7
Axis or axes (Table 2 or Table 3)
If axis setting is defined in Table 2, the setting
values will change current speed settings.
If axis setting is defined in Table 3, the setting
values will be writted into the parameter table
without changing current speed settings.
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_VRING_DISABLE is 0A 1B.
The Sub_function code of ETM_MACRO_VRING_DISABLE is 0C 1B.
MODBUS example:
ETM_VRING_DISABLE (h, 1, AXIS_X);
//disable the ring counter function for the X axis on module 1.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0B
01
10
1F 40
00 02
Register[]
Value (hex)
Remarks
0
0A 1B/0C 1B
Sub_function code
1
00 01
axis (1  AXIS_X)
ICP DAS
58
Byte
Count
(hex)
04
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2.17
Triangle prevention of fixed pulse driving
eRET ETM_AVTRI_ENABLE (HANDLE h, BYTE cardNo, BYTE axis)
※ eRET ETM_MACRO_AVTRI_ENABLE (HANDLE h, BYTE cardNo, BYTE
axis)
Description:
This function prevents a triangle form in linear acceleration (T-curve) fixed
Category:
MODBUS sub_function; RTC, MP and IT.
Parameters:
Paramters
cardNo:
axis:
Description
Module number  MP-8000 : 1~7
Axis or axes (Table 2 or Table 3)
If axis setting is defined in Table 2, the setting
values will change current speed settings.
If axis setting is defined in Table 3, the setting
values will be writted into the parameter table
without changing current speed settings.
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_AVTRI_ENABLE is 0A 1C.
The Sub_function code of ETM_MACRO_AVTRI_ENABLE is 0C 1C.
MODBUS example:
ETM_AVTRI_ENABLE (h, 1, AXIS_X);
//set the X axis of module 1 not to generate a triangle form in its speed
profile.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0B
01
10
1F 40
00 02
Register[]
Value (hex)
Remarks
0
0A 1C/0C 1C
Sub_function code
1
00 01
axis (1  AXIS_X)
ICP DAS
60
Byte
Count
(hex)
04
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eRET ETM_AVTRI_DISABLE (HANDLE h, BYTE cardNo, BYTE axis)
※ eRET ETM_MACRO_AVTRI_DISABLE (HANDLE h, BYTE cardNo, BYTE
axis)
Description:
This function disables the function to prevent a triangle form in linear
acceleration fixed pulse driving.
Category:
MODBUS sub_function; RTC, MP and IT.
Parameters:
Paramters
cardNo:
axis:
Description
Module number  MP-8000 : 1~7
Axis or axes (Table 2 or Table 3)
If axis setting is defined in Table 2, the setting
values will change current speed settings.
If axis setting is defined in Table 3, the setting
values will be writted into the parameter table
without changing current speed settings.
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_AVTRI_DISABLE is 0A 1D.
The Sub_function code of ETM_MACRO_AVTRI_DISABLE is 0C 1D.
MODBUS example:
ETM_AVTRI_DISABLE (h, 1, AXIS_X);
//enable the X axis of module 1 to generate a triangle form in its
//speed profile if the pulse number for output is too low.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0B
01
10
1F 40
00 02
Register[]
Value (hex)
Remarks
0
0A 1D/0C 1D
Sub_function code
1
00 01
axis (1  AXIS_X)
ICP DAS
62
Byte
Count
(hex)
04
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2.18
External Pulse Input
Cannot write settings for external input driving into the
parameter Table.
2.18.1 Handwheel (Manual Pulse Generator) Driving
eRET ETM_EXD_MP (HANDLE h, BYTE cardNo, BYTE axis, DWORD
data)
Description:
This function outputs pulses according to the input pulses from a
handwheel.
Category:
MODBUS sub_function; RTC.
Parameters:
Paramters
cardNo:
axis:
data:
Description
Module number  MP-8000 : 1~7
Axis or axes (Table 2 )
The axis can be either X,Y, Z or U.
Number of command pulses
(Range: 0 ~ +2,000,000,000).
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
ETM_EXD_MP (h, 1, AXIS_X, 1);
//Each time the handwheel inputs a pulse to the X axis
on module 1, the controller will output 1 pulse to the motor driver.
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ETM_EXD_MP (h, 1, AXIS_X, 2);
//Each time the handwheel inputs a pulse to the X axis
//on module 1, the controller will output 2 pulses to the motor driver.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0F
01
10
1F 40
00 04
Register[]
Value (hex)
Remarks
0
0A 1E
Sub_function code
1
00 01
axis (1  AXIS_X)
2
00 00
MSW of data
3
00 01
LSW of data
ICP DAS
64
Byte
Count
(hex)
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2.18.2 Fixed Pulse Driving Mode
eRET ETM_EXD_FP (HANDLE h, BYTE cardNo, BYTE axis, DWORD
data)
Description:
This function outputs fixed pulses according to the trigger input (the falling
edge of the nEXP+ signal) from a handwheel.
Category:
MODBUS sub_function; RTC.
Parameters:
Paramters
cardNo:
axis:
data:
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2)
The axis can be either X,Y, Z or U (1 or 2 or 4 or 8).
Number of command pulses
(Range: 0 ~ +2,000,000,000).
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
ETM_EXD_FP (h, 1, AXIS_X, 5);
//Each time the controller detects a falling edge of an XEXP+
//signal, it will output 5 pulses to the X axis.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0F
01
10
1F 40
00 04
Register[]
Value (hex)
Remarks
0
0A 1F
Sub_function code
1
00 01
axis (1  AXIS_X)
2
00 00
MSW of data
3
00 05
LSW of data
ICP DAS
66
Byte
Count
(hex)
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2.18.3 Continuous Pulse Driving Mode
eRET ETM_EXD_CP (HANDLE h, BYTE cardNo, BYTE axis, DWORD
data)
Description:
The controller will continuously output pulses in positive direction if the
falling edge of nEXP+ signal from a handwheel is detected. On the contrary,
it will continuously output pulses in negative direction if the falling edge of
nEXPsignal is detected.
Category:
MODBUS sub_function; RTC.
Parameters:
Paramters
cardNo:
axis:
data:
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2)
The axis can be either X,Y, Z or U (1 or 2 or 4 or 8).
Number of command pulses
(Range: 0 ~ +2,000,000,000).
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
ETM_EXD_CP (h, 1, AXIS_X, 20);
//Each time the controller detects a falling edge of an XEXP+
signal, it will continuously drive X axis at the speed of 20 PPS.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0F
01
10
1F 40
00 04
Register[]
Value (hex)
Remarks
0
0A 20
Sub_function code
1
00 01
axis
2
00 00
MSW of data
3
00 14
LSW of data (20 = 0x14)
ICP DAS
68
Byte
Count
(hex)
08
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2.18.4 Disabling the External Signal Input Functions
eRET ETM_EXD_DISABLE (HANDLE h, BYTE cardNo, BYTE axis)
Description:
This function turns off the external input driving control functions.
Category:
MODBUS sub_function; RTC.
Parameters:
Paramters
cardNo:
axis:
Description
Module number  MP-8000 : 1~7
Axis or axes. Please refer to Table 2.
The axis can be either X,Y, Z or U (1 or 2 or 4 or 8).
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
ETM_EXD_DISABLE (h, 1, AXIS_X);
//disable the external input driving control function
of X axis on module 1
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0B
01
10
1F 40
00 02
Register[]
Value (hex)
Remarks
0
0A 21
Sub_function code
1
00 01
axis (1  AXIS_X)
ICP DAS
69
Byte
Count
(hex)
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2.19
Read/Write User-defined Variables (VAR and
bVAR)
eRET ETM_READ_bVAR (HANDLE h, BYTE cardNo, BYTE bvarNo, BYTE*
bVARValue)
Description:
This function read variable bVARn, it could be passed to Macro
Program(MP), for detail information, please refer to Chapter 7.
Category:
MODBUS table; RTC.
Parameters:
Paramters
cardNo:
bvarNo:
bVARValue:
Description
Module number  MP-8000 : 1~7
custom variable: bVAR0 ~ bVAR127
The pointer to the memory that stores bVARn (0 ~
+255).
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The corresponding holding register modbus address is as follow:
Macro Variable
Variable Name
Address
Type
Comment
bVAR0
128
R/W
Value of bVAR0.
bVAR1
…
129
…
R/W
Value of bVAR1.
bVAR126
254
R/W
Value of bVAR126.
bVAR127
255
R/W
Value of bVAR127.
MODBUS example:
Suppose the value of bVAR100 is 100, or 0x64 .
The hexadecimal value of (128+100) is E4.
BYTE bVARValue;
ETM_READ_bVAR (h, 1, bVAR100, &bVARValue);
//read value of VAR100 in module 1
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
(hex)
(hex) Length (hex) (hex)
(hex)
(hex)
00 01 00 00
00 06
01
03
00 E4
The response via MODBUS may be:
TID
PID
Field
UID
FC
(hex)
(hex) Length (hex) (hex)
(hex)
00 01 00 00
00 05
01
03
ICP DAS
71
Byte
Count
(hex)
02
Word
Count
(hex)
00 01
Reg_0 Value
(hex)
00 64
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eRET ETM_WRITE_bVAR (HANDLE h, BYTE cardNo, BYTE bvarNo, BYTE
bVar)
Description:
This function write variable bVARn. bVARn could be passed to Macro
Program (MP). For detail information, please refer to Chapter 8. bVAR
parameter data are stored in a volatile memory.
Category:
MODBUS table, MODBUS sub_function; RTC.
Parameters:
Paramters
cardNo:
bvarNo:
bVar:
Description
Module number  MP-8000 : 1~7
custom variable: bVAR0 ~ bVAR127
variable (0 ~ +255).
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The corresponding holding register modbus address is as follow:
Macro Variable
Variable Name
Address
Type
Comment
bVAR0
128
R/W
Value of bVAR0.
bVAR1
…
129
…
R/W
Value of bVAR1.
bVAR126
254
R/W
Value of bVAR126.
bVAR127
255
R/W
Value of bVAR127.
MODBUS example:
 Method 1: use Sub_Function code method：
ETM_WRITE_bVAR (h, 1, bVAR100, 100);
//write bVAR100=100 in module 1
The address of bVARn = 128 + n (or 0x80 + n).
( bVAR100 = 128 + 100 = 228 = 0xE4 )
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0D
01
10
1F 40
00 03
Register[]
Value (hex)
Remarks
0
0A 23
Sub_function code
1
00 E4
bvarNo = n + 0x80 = 0xE4
2
00 64
bVar (100 = 0x64)

Byte
Count
(hex)
06
Method 2: Set the Holding Register table：
All bVARn are defined in the holding register table. The index of
bVARn is (128+n); therefore, the index, or address, of bVAR100 is 228 (=
0xE4).
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 09
01
10
00 E4
00 01
Register[]
Value (hex)
Remarks
0
00 64
bVar (100 = 0x64)
ICP DAS
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Byte
Count
(hex)
02
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eRET ETM_READ_VAR (HANDLE h, BYTE cardNo, long varNo, long*
VARValue)
Description:
This function read variable VARn, it could be passed to Macro Program
(MP), for detail information, please refer to Chapter 7.4.1.
Category:
MODBUS table; RTC.
Parameters:
Paramters
cardNo:
varNo:
VARValue:
Description
Module number  MP-8000 : 1~7
custom variable: VAR0 ~ VAR511
The pointer to the memory that stores VARn
(-2,000,000,000 ~ +2,000,000,000).
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
All VARn are defined in the holding register table. Each VARn takes
two registers space. For example, VARn takes both registers indexed by
(300 + 2*n) and (300 +2*n + 1). To read or write the two-register variable, the
first register must be addressed first and the Length must be the multiple
of 2.
The Start_Address (index) = 300 + 2*100 = 500 = 0x01F4
long VARValue;
ETM_READ_VAR (h, 1, VAR100, &VARValue);
//read value of VAR100 in module 1
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
(hex)
(hex) Length (hex) (hex)
(hex)
(hex)
00 01 00 00
00 06
01
03
01 F4
The response via MODBUS may be:
TID
PID
Field
UID
FC
(hex)
(hex) Length (hex) (hex)
(hex)
00 01 00 00
00 07
01
03
Byte
Count
(hex)
04
Word
Count
(hex)
00 02
Reg_0
(hex)
Reg_1
(hex)
00 00
27 10
To get the ldata, use the following instructions in C language.
ldata = Register[0];
ldata = ((ldata <<16) & 0xffff0000) | (Register[1] & 0xffff);
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eRET ETM_WRITE_VAR (HANDLE h, BYTE cardNo, long varNo, long
lVar)
Description:
This function write variable VARn. It could be passed to Macro Program
(MP). For detail information, please refer to Chapter 7.4.1. VAR parameter
data are stored in a volatile memory.
Category:
MODBUS table, MODBUS sub_function; RTC.
Parameters:
Paramters
cardNo:
varNo:
lVar:
Description
Module number  MP-8000 : 1~7
custom variable: VAR0 ~ VAR511
Value of variable (-2,000,000,000 ~ +2,000,000,000).
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
ETM_WRITE_VAR (h, 1, VAR100, 10000);
//write VAR100=10,000 in module 1

Method 1: use Sub_Function code method
The address of VARn = 0x7FFF0000 + n.
 the address of VAR100 = 0x7FFF0000 + 0x64
And, 10000 = 0x2710
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
Byte
(hex)
(hex) Length (hex) (hex)
(hex)
Count
Count
(hex)
(hex)
(hex)
00 01 00 00
00 11
01
10
1F 40
00 05
0A
Register[]
Value (hex)
Remarks
0
0A 25
Sub_function code
1
7F FF
MSW of varNo (MSW of 0x7FFF0064)
2
00 64
LSW of varNo (LSW of 0x7FFF0064)
3
00 00
MSW of lVar (MSW 0f 0x2710)
4
27 10
LSW of lVar (LSW 0f 0x2710)
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
Method 2: Set the Holding Registers.
All VARn are defined in the holding register table. Each VARn takes
two registers space. For example, VARn takes both registers indexed by
(300 + 2*n) and (300 +2*n + 1). To read or write the two-register variable, the
first register must be addressed first and the Length must be the multiple
of 2.
For VARn, the Start address = (300 + 2*n).
The Start_Address = 300 + 2*100 = 500 = 0x01F4
Suppose the value of VAR100 is 10000 (= 0x2710).
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0B
01
10
01 F4
00 02
Register[]
Value (hex)
Remarks
0
00 00
MSW of lVar (MSW 0f 0x2710)
1
27 10
LSW of lVar (LSW 0f 0x2710)
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Byte
Count
(hex)
04
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2.20
Read/Write Data for Power outage carry-over
(MD)
eRET ETM_READ_MD (HANDLE h, BYTE cardNo, long mdNo, long*
ldata, float* fdata)
Description:
This function reads the machine data. MD data are stored in a non-volatile
memory.
Category:
MODBUS table; RTC.
Parameters:
Paramters
cardNo:
mdNo:
&ldata:
&fdata:
Description
Module number  MP-8000 : 1~7
Machine data(long): MD0 ~ MD1023
Machine data (float): MD1024 ~ MD2047
Read MD long (-2,147,483,648 ~ +2,147,483,647)
Read MD float (Integer number plus decimal
number giving a total of six places).
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
All MDn are defined in the holding register table. Each MDn takes two
registers space. For example, MDn takes both registers indexed by (3000 +
2*n) and (3000 +2*n + 1). To read or write the two-register variable, the first
register must be addressed first and the Length must be the multiple of 2.
The MD100 Start_Address = 3000 + 2*100 = 3200 = 0x0C80
The MD1500 Start_Address = 3000 + 2*1500 = 6000 = 0x1770
long ldata;
float fdata;
ETM_READ_MD (h, 1, MD100, &ldata, 0);
//read MD100 long data in module 1
ETM_READ_MD(h, 1, MD1500, 0, &fdata);
//read MD1500 float data in module 1
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ldata: the MODBUS command is listed as follows:
TID
(hex)
PID
(hex)
00 01
00 00
Field
Length
(hex)
00 06
UID
(hex)
FC
(hex)
St_Addr.
(hex)
01
03
0C 80
Word
Count
(hex)
00 02
ldata: The response via MODBUS may be:
TID
(hex)
PID
(hex)
00 01
00 00
Field
Length
(hex)
00 07
UID
(hex)
FC
(hex)
01
03
Byte
Count
(hex)
04
Reg_0
(hex)
Reg_1
(hex)
12 34
56 78
fdata: the MODBUS command is listed as follows:
TID
(hex)
PID
(hex)
00 01
00 00
Field
Length
(hex)
00 06
UID
(hex)
FC
(hex)
St_Addr.
(hex)
01
03
17 70
Word
Count
(hex)
00 02
fdata: The response via MODBUS may be:
TID
(hex)
PID
(hex)
00 01
00 00
Field
Length
(hex)
00 07
UID
(hex)
FC
(hex)
01
03
Byte
Count
(hex)
04
Reg_0
(hex)
Reg_1
(hex)
43 A0
D3 33
To get the ldata, use the following instructions in C language.
ldata = Register[0];
ldata = ((ldata <<16) & 0xffff0000) | (Register[1] & 0xffff);
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eRET ETM_WRITE_MD (HANDLE h, BYTE cardNo, long mdNo, long
ldata, float fdata)
Description:
This function writes the machine data.
Category:
MODBUS table, MODBUS sub_function; RTC.
Parameters:
Paramters
cardNo:
mdNo:
&ldata:
&fdata:
Description
Module number  MP-8000 : 1~7
Machine data(long): MD0 ~ MD1023
Machine data (float): MD1024 ~ MD2047
Write MD long (-2,147,483,648 ~ +2,147,483,647)
Write MD float (Integer number plus decimal
number giving a total of six places).
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
ETM_WRITE_MD (h, CardNo, MD100, 0x12345678, 0);
//write MD100 long data in module 1

Method 1: use Sub_Function code method
The address of MDn = 0x00000000 + n.
 the address of MD100 = 0x00000000 + 0x64
Write MD100 = 0x12345678
Write MD1500 = 321.65
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ldata: the MODBUS command is listed as follows:
TID
(hex)
PID
(hex)
00 01 00 00
Register[]
0
1
2
3
4
5
6
Field
UID
Length (hex)
(hex)
00 15
01
Value (hex)
0A 27
00 00
00 64
12 34
56 78
00 00
00 00
FC
(hex)
St_Addr.
(hex)
Word
Count
(hex)
10
1F 40
00 07
Remarks
Sub_function code
MSW of mdNo (= 0)
LSW of mdNo (n= 0x64)
MSW of ldata
LSW of ldata
MSW of fdata
LSW of fdata
Byte
Count
(hex)
0E
fdata: the MODBUS command is listed as follows:
TID
(hex)
PID
(hex)
00 01 00 00
Register[]
0
1
2
3
4
5
6

Field
UID
Length (hex)
(hex)
00 15
01
Value (hex)
0A 27
00 00
05 DC
00 00
00 00
43 A0
D3 33
FC
(hex)
St_Addr.
(hex)
Word
Count
(hex)
10
1F 40
00 07
Remarks
Sub_function code
MSW of mdNo (= 0)
LSW of mdNo (n= 0x05DC)
MSW of ldata
LSW of ldata
MSW of fdata
LSW of fdata
Byte
Count
(hex)
0E
Method 2: Set the Holding Registers.
All MDn are defined in the holding register table. Each MDn takes two
registers space. For example, MDn takes both registers indexed by (3000 +
2*n) and (3000 +2*n + 1). To read or write the two-register variable, the first
register must be addressed first and the Length must be the multiple of 2.
The Start_Address = 3000 + 2*100 = 3200 = 0x0C80
ldata: the MODBUS command is listed as follows:
TID
(hex)
PID
(hex)
00 01 00 00
Register[]
0
1
Field
UID
Length (hex)
(hex)
00 0B
01
Value (hex)
12 34
56 78
ICP DAS
FC
(hex)
Word
Count
(hex)
10
0C 80
00 02
Remarks
MSW of MD100
LSW of MD100
81
St_Addr.
(hex)
Byte
Count
(hex)
04
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The Start_Address = 3000 + 2*1500 = 6000 = 0x1770
ldata: the MODBUS command is listed as follows:
TID
(hex)
PID
(hex)
00 01 00 00
Register[]
0
1
Field
UID
Length (hex)
(hex)
00 0B
01
Value (hex)
43 A0
D3 33
ICP DAS
FC
(hex)
Word
Count
(hex)
10
17 70
00 02
Remarks
MSW of MD1500
LSW of MD1500
82
St_Addr.
(hex)
Byte
Count
(hex)
04
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3 Reading and Register Setting
3.1
Setting and Reading Command Position
eRET ETM_SET_LP (HANDLE h, BYTE cardNo, BYTE axis, long wdata)
※∆ eRET ETM_MACRO_SET_LP (HANDLE h, BYTE cardNo, BYTE axis,
long wdata)
Description:
This function sets the command position counter value (logical position
counter, LP).
Category:
MODBUS table, MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
axis:
wdata:
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2)
The axis can be either X,Y, Z or U (1 or 2 or 4 or
8).
Position command
(-2,000,000,000 ~ +2,000,000,000)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SET_LP is 0A 28.
The Sub_function code of ETM_MACRO_SET_LP is 0C 28.
MODBUS example:
ETM_SET_LP (h, 1, AXIS_XYZU, 10000);
//Set the LP as 0 for X, Y, Z, and U axes in module 1
// will clear all LP counters on module 1
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
Method 1: use sub_function code method
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0F
01
10
1F 40
00 04
Register[]
Value (hex)
Remarks
0
0A 28/0C 28
Sub_function code
1
00 0F
axis (F  AXIS_XYZU)
2
00 00
MSW of wdata
3
27 10
LSW of wdata

Byte
Count
(hex)
08
Method 2: Set the holding registers.
The Start address is 90, or 0x5A, for LP_X. Since the LP needs 2
registers to hold the value, the start address setting for MODBUS request
must begins from the MSW of the required LP. Otherwise, the host will
receive an exception error. This rule will be applied to other long, DWORD
or float type values.
Method 2 allows users to set different values for 4 different axes at
only one MODBUS request, which is not possible by using method 1.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 17
01
10
00 5A
00 08
Register[]
Value (hex)
Remarks
0
00 00
LP_X_MSW (address = 0x5A)
1
27 10
LP_X_LSW
2
00 00
LP_Y_MSW (address = 0x5C)
3
27 10
LP_Y_LSW
4
00 00
LP_Z_MSW (address = 0x5E)
5
27 10
LP_Z_LSW
6
00 00
LP_U_MSW (address = 0x60)
7
27 10
LP_U_LSW
ICP DAS
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Byte
Count
(hex)
10
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eRET ETM_GET_LP(HANDLE h, BYTE cardNo, BYTE axis, long*
LPValue)
※∆ eRET ETM_MACRO_GET_LP (HANDLE h, BYTE cardNo, BYTE axis)
eRET ETM_GET_LP_4_AXIS(HANDLE h, BYTE cardNo, long* LpValueX,
long* LpValueY, long* LpValueZ, long* LpValueU)
Description:
This function reads the command position counter value (logical position
counter, LP).
Category:
MODBUS table, MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
axis:
LPValue:
LpValueX:
LpValueY:
LpValueZ:
LpValueU:
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2)
The axis can be either X,Y, Z or U (1 or 2 or 4 or
8).
The pointer to the memory that stores the logical
position counter (-2,000,000,000 ~+2,000,000,000).
The pointer to the memory that stores the logical
position counter (-2,000,000,000 ~+2,000,000,000)
of x axis.
The pointer to the memory that stores the logical
position counter (-2,000,000,000 ~+2,000,000,000)
of y axis.
The pointer to the memory that stores the logical
position counter (-2,000,000,000 ~+2,000,000,000)
of z axis.
The pointer to the memory that stores the logical
position counter (-2,000,000,000 ~+2,000,000,000)
of u axis.
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
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MODBUS example:

Method 1: Use Holding Registers to get the current values.
Since each LP needs 2 registers to hold the value, the start address
setting for MODBUS request must begins from the MSW of the required LP.
Otherwise, the host will receive an exception error. This rule will be applied
to other long, DWORD or float type values.
This method allows users to get more than one axis data at only one
MODBUS request. Please refer to MODBUS holding registers definition
table.
long X_LP;
ETM_GET_LP (h, 1, AXIS_X, &X_LP);
//Reads the LP value of the X axis on module 1.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
(hex)
(hex) Length (hex) (hex)
(hex)
(hex)
00 01 00 00
00 06
01
03
00 5A
The response via MODBUS may be:
TID
PID
Field
UID
FC
(hex)
(hex) Length (hex) (hex)
(hex)
00 01 00 00
00 07
01
03
Byte
Count
(hex)
04
Word
Count
(hex)
00 02
Reg_0
(hex)
Reg_1
(hex)
00 00
27 10
To get the X_LP, use the following instructions in C language.
X_LP = Register[0];
X_LP = ((X_LP <<16) & 0xffff0000) | (Register[1] & 0xffff);

Method 2: It is used as an MP instruction.
For this case, the current LP value does not actually be returned at
the moment when request is sent. The getting LP instruction is desired to
be executed later when an MP is called. Users can use FC = 16 to write this
command into an MP. Inside this MP, there can be an
ETM_MACRO_SET_RVAR() function just next to it to save the return LP
value to a specified variable. This variable can be referred by other
functions. Please refer to other related MP usages explanations.
ETM_MACRO_GET_LP (h, 1, AXIS_X);
//Reads the LP value of the X axis on module 1.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0B
01
10
1F 40
00 02
Register[]
Value (hex)
Remarks
0
0C 29
Sub_function code
1
00 01
axis (1  AXIS_X)
ICP DAS
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Byte
Count
(hex)
04
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3.2
Setting and Reading the Encoder Counter
eRET ETM_SET_EP (HANDLE h, BYTE cardNo, BYTE axis, long wdata)
※∆ eRET ETM_MACRO_SET_EP (HANDLE h, BYTE cardNo, BYTE axis,
long wdata)
Description:
This function sets the encoder position counter value (real position counter
or EP).
Category:
MODBUS table, MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
axis:
wdata:
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2)
The axis can be either X,Y, Z or U (1 or 2 or 4 or
8).
Position command
(-2,000,000,000 ~ +2,000,000,000)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SET_EP is 0A 2A.
The Sub_function code of ETM_MACRO_SET_EP is 0C 2A.
MODBUS example:
ETM_SET_EP (h, 1, AXIS_XYZU, 10000);
//Set the EP as 10000 for X, Y, Z, and U axes of module 1.
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
Method 1: use Sub_Function code method
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0F
01
10
1F 40
00 04
Register[]
Value (hex)
Remarks
0
0A 2A/0C 2A
Sub_function code
1
00 0F
axis (F  AXIS_XYZU)
2
00 00
MSW of wdata
3
27 10
LSW of wdata

Byte
Count
(hex)
08
Method 2: Set the Holding Registers.
Since each EP needs 2 registers to hold the value, the start address
setting for MODBUS request must begins from the MSW of the required EP.
Otherwise, the host will receive an exception error. This rule will be applied
to other long, DWORD or float type values.
This method allows users to set more than one axis data at only one
MODBUS request. Please refer to MODBUS holding registers definition
table.
The start address is 98, or 0x62, for EP_X.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 17
01
10
00 62
00 08
Register[]
Value (hex)
Remarks
0
00 00
LP_X_MSW (address = 0x5A)
1
27 10
LP_X_LSW
2
00 00
LP_Y_MSW (address = 0x5C)
3
27 10
LP_Y_LSW
4
00 00
LP_Z_MSW (address = 0x5E)
5
27 10
LP_Z_LSW
6
00 00
LP_U_MSW (address = 0x60)
7
27 10
LP_U_LSW
ICP DAS
89
Byte
Count
(hex)
10
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eRET ETM_GET_EP (HANDLE h, BYTE cardNo, BYTE axis , long*
EPValue)
※∆ eRET ETM_MACRO_GET_EP (HANDLE h, BYTE cardNo, BYTE axis)
eRET ETM_GET_EP_4_AXIS (HANDLE h, BYTE cardNo, long*
EpValueX, long* EpValueY, long* EpValueZ, long* EpValueU)
Description:
This function reads the encoder position counter value (EP).
Category:
MODBUS table, MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
axis:
EPValue:
EpValueX:
EpValueY:
EpValueZ:
EpValueU:
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2)
The axis can be either X,Y, Z or U (1 or 2 or 4 or
8).
The pointer to the memory that stores the
encoder position counter (-2,000,000,000 ~
+2,000,000,000).
The pointer to the memory that stores the
encoder position counter (-2,000,000,000
~+2,000,000,000) of x axis.
The pointer to the memory that stores the
encoder position counter (-2,000,000,000
~+2,000,000,000) of y axis.
The pointer to the memory that stores the
encoder position counter (-2,000,000,000
~+2,000,000,000) of z axis.
The pointer to the memory that stores the
encoder position counter (-2,000,000,000
~+2,000,000,000) of u axis.
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
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MODBUS example:
Suppose the EP is 10000, or 0x2710. The Start address is 98, or 0x62.
Since the EP needs 2 registers to hold the value, the start address setting
for MODBUS request must begins from the MSW of the required EP.
Otherwise, the host will receive an exception error. This rule will be applied
to other long, DWORD or float type values.

Method 1: Use holding registers to get the current values.
long X_EP;
ETM_GET_EP (h, 1, AXIS_X, &X_EP);
//reads the encoder position value (EP) of the X axis on module 1.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
(hex)
(hex) Length (hex) (hex)
(hex)
(hex)
00 01 00 00
00 06
01
03
00 62
The response via MODBUS may be:
TID
PID
Field
UID
FC
(hex)
(hex) Length (hex) (hex)
(hex)
00 01 00 00
00 07
01
03
Byte
Count
(hex)
04
Word
Count
(hex)
00 02
Reg_0
(hex)
Reg_1
(hex)
00 00
27 10
To get the X_EP, use the following instructions in C language.
X_EP = Register[0];
X_EP = ((X_EP <<16) & 0xffff0000) | (Register[1] & 0xffff);

Method 2: It is used for creating the content of an MP.
For this case, users do not actually want to get the current EP values.
The getting EP will be executed only when the MP is called. Therefore, use
FC = 16 to write this command inside a MP. This kind of usages often has
ETM_MACRO_SET_RVAR() followed to get the return EP value. Please refer
to MP related explanation literature.
ETM_MACRO_GET_EP (h, 1, AXIS_X);
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0B
01
10
1F 40
00 02
Register[]
Value (hex)
Remarks
0
0C 2B
Sub_function code
1
00 01
axis (1  AXIS_X)
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Byte
Count
(hex)
04
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3.3
Reading the Current Velocity
eRET ETM_GET_CV (HANDLE h, BYTE cardNo, BYTE axis, long*
CVValue)
eRET ETM_GET_CV_4_AXIS (HANDLE h, BYTE cardNo, long* CvValueX,
long* CvValueY, long* CvValueZ, long* CvValueU)
Description:
This function reads the current velocity value.
Category:
MODBUS table; RTC.
Parameters:
Paramters
cardNo:
axis:
CVValue:
CvValueX:
CvValueY:
CvValueZ:
CvValueU:
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2)
The axis can be either X,Y, Z or U (1 or 2 or 4 or
8).
The pointer to the memory that stores the current
velocity
The pointer to the memory that stores the current
velocity of x axis
The pointer to the memory that stores the current
velocity of y axis
The pointer to the memory that stores the current
velocity of z axis
The pointer to the memory that stores the current
velocity of u axis
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
Suppose the CV is 10000, or 0x2710. The Start address is 106, or
0x6A.
long CVValue;
ETM_GET_CV (h, 1, AXIS_X, &CVValue);
//reads the current velocity of the X axis on module 1
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
(hex)
(hex) Length (hex) (hex)
(hex)
(hex)
00 01 00 00
00 06
01
03
00 6A
The response via MODBUS may be:
TID
PID
Field
UID
FC
(hex)
(hex) Length (hex) (hex)
(hex)
00 01 00 00
00 07
01
03
Byte
Count
(hex)
04
Word
Count
(hex)
00 02
Reg_0
(hex)
Reg_1
(hex)
00 00
27 10
To get the CV_X, use the following instructions in C language.
CV_X = Register[0];
CV_X = ((CV_X <<16) & 0xffff0000) | (Register[1] & 0xffff);
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3.4
Reading the Current Acceleration
eRET ETM_GET_CA (HANDLE h, BYTE cardNo, BYTE axis , long*
CAValue)
eRET ETM_GET_CA_4_AXIS (HANDLE h, BYTE cardNo, long* CaValueX,
long* CaValueY, long* CaValueZ, long* CaValueU)
Description:
This function reads the current acceleration value PPS/sec.
Category:
MODBUS table; RTC.
Parameters:
Paramters
cardNo:
axis:
CAValue:
CaValueX:
CaValueY:
CaValueZ:
CaValueU:
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2)
The axis can be either X,Y, Z or U (1 or 2 or 4 or
8).
The pointer to the memory that stores the current
acceleration (in PPS/Sec).
The pointer to the memory that stores the current
acceleration (in PPS/Sec) of x axis.
The pointer to the memory that stores the current
acceleration (in PPS/Sec) of y axis.
The pointer to the memory that stores the current
acceleration (in PPS/Sec) of z axis.
The pointer to the memory that stores the current
acceleration (in PPS/Sec) of u axis.
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
Suppose the CA is 10000, or 0x2710. The Start address is 114, or
0x72.
long CAValue;
ETM_GET_CA (h, 1, AXIS_X, &CAValue);
//reads the current acceleration value of the X axis on module 1.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
(hex)
(hex) Length (hex) (hex)
(hex)
(hex)
00 01 00 00
00 06
01
03
00 72
The response via MODBUS may be:
TID
PID
Field
UID
FC
(hex)
(hex) Length (hex) (hex)
(hex)
00 01 00 00
00 07
01
03
Byte
Count
(hex)
04
Word
Count
(hex)
00 02
Reg_0
(hex)
Reg_1
(hex)
00 00
27 10
To get the CA_X, use the following instructions in C language.
CA_X = Register[0];
CA_X = ((CA_X <<16) & 0xffff0000) | (Register[1] & 0xffff);
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3.5
Reading the DI Status
※∆ eRET ETM_MACRO_GET_DI (HANDLE h, BYTE cardNo, BYTE axis,
BYTE nType)
Description:
This function reads the digital input (DI) status.
Category:
MODBUS sub_function; MP, ISR.
Parameters:
Paramters
cardNo:
axis:
nType:
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2)
The axis can be either X,Y, Z or U (1 or 2 or 4 or
8).
0  DRIVING (Check whether the axis is driving
or not)
1  LIMIT+ (Check whether the limit+ is engaged
or not)
2  LIMIT(Check whether the limit- is
engaged or not)
3  EMERGENCY (Check whether EMG signal is
on or not)
4  ALARM (Check the ALARM input signal)
5  IN1
(Check the IN1 input signal)
6  IN0
(Check the IN0 input signal)
7  IN3
(Check the IN3 input signal)
8  INPOS
(Check the INPOS input signal)
9 IN2
(Check the IN2 input signal)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:

It is used for creating the content of an MP.
For this case, users do not actually want to get the current DI values.
The getting DI will be executed only when the MP is called. Therefore, use
FC = 16 to write this command inside a MP. This kind of usage often has
ETM_MACRO_SET_RVAR() followed to get the return DI value. Please refer
to MP related explanation literature.
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ETM_MACRO_GET_DI (h, 1, AXIS_X, 1);
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0D
01
10
1F 40
00 03
Register[]
Value (hex)
Remarks
0
0C 2E
Sub_function code
1
00 01
axis
2
00 01
The specified DI (LIMIT+)
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Byte
Count
(hex)
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eRET ETM_GET_DI_ALL (HANDLE h, BYTE cardNo, BYTE axis , WORD*
DIValue)
※∆ eRET ETM_MACRO_GET_DI_ALL (HANDLE h, BYTE cardNo, BYTE
axis)
eRET ETM_GET_DI_ALL_4_AXIS (HANDLE h, BYTE cardNo, WORD*
DiValueX, WORD* DiValueY, WORD* DiValueZ, WORD* DiValueU)
Description:
This function reads the digital input (DI) status.
Category:
MODBUS table, MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
axis:
DIValue:
DiValueX:
DiValueY:
DiValueZ:
DiValueU:
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2)
The axis can be either X,Y, Z or U (1 or 2 or 4 or 8).
The pointer to the memory that stores the all DI
Status
The bits in DIValue are defined as follows:
Bit 0  DRIVING
(Axis is driving or not)
Bit 1  LIMIT+
(Limit+ is engaged or not)
Bit 2  LIMIT(Limit- is engaged or not)
Bit 3  EMERGENCY (EMG signal)
Bit 4  ALARM
(ALARM signal)
Bit 5  IN1
(IN1 input signal, low-active)
Bit 6  IN0
(IN0 input signal,low-active)
Bit 7  IN3
(IN3 input signal,low-active)
Bit 8  INPOS
(INPOS input signal)
Bit 9 IN2
(IN2 input signal, low-active)
The pointer to the memory that stores the all DI
Status of x axis
The pointer to the memory that stores the all DI
Status of y axis
The pointer to the memory that stores the all DI
Status of z axis
The pointer to the memory that stores the all DI
Status of u axis
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
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MODBUS example:

Method 1: It is used for getting current status of DI.
Each bit corresponds to a register. Each register’s value is either 0 or
1.
WORD DIValue;
ETM_GET_DI_ALL (h, 1, AXIS_X, &DIValue);
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
(hex)
(hex) Length (hex) (hex)
(hex)
(hex)
00 01 00 00
00 06
01
04
00 10
The response via MODBUS may be:
TID
PID
Field
UID
FC
(hex)
(hex) Length (hex) (hex)
(hex)
00 01 00 00
00 05
01
04

Byte
Count
(hex)
02
Word
Count
(hex)
00 01
DI Status of
AXIS_X.
( Reg_0 )
00 00
Method 2: When it is used inside an MP.
For this case, users do not actually want to get the current DI values.
The getting DI will be executed only when the MP is called. Therefore, use
FC = 16 to write this command inside a MP. This kind of usage often has
ETM_MACRO_SET_RVAR() followed to get the return DI value. Please refer
to MP-related explanation literature.
ETM_MACRO_GET_DI_ALL (h, 1, AXIS_X);
//ETM_MACRO_SET_RVAR(h, 1, VAR0); //assign this DI value to
//VAR0
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0B
01
10
1F 40
00 02
Register[]
Value (hex)
Remarks
0
0C 31
Sub_function code
1
00 01
axis (1: AXIS_X)
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Byte
Count
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3.6
Reading and Clearing the ERROR Status
eRET ETM_GET_ERROR_STATE (HANDLE h, BYTE cardNo, BYTE*
ErrState)
※∆ eRET ETM_MACRO_GET_ERROR (HANDLE h, BYTE cardNo)
Description:
This function checks whether an error occurs or not.
Category:
MODBUS table, MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
ErrState:
Description
Module number  MP-8000 : 1~7
The pointer to the memory that stores the error
status:
1: Error(s) occured.
Please perform ETM_GET_ERROR_CODE () to
get more information. If GET_ERROR_CODE
=256, it indicates that the motion stop was due to
the “STOP” command, not because of an error
happened. Please refer to Section 6.5.5 and the
following Example for cleaning ERROR.
0: No error.
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:

Method 1: It is used for getting current status of error.
BYTE ErrState;
ETM_GET_ERROR_STATE (h, 1, &ErrState);
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
(hex)
(hex) Length (hex) (hex)
(hex)
(hex)
00 01 00 00
00 06
01
04
00 46
The response via MODBUS may be:
TID
PID
Field
UID
FC
(hex)
(hex) Length (hex) (hex)
(hex)
00 01 00 00
00 05
01
04

Byte
Count
(hex)
02
Word
Count
(hex)
00 01
Error status
( Reg_0 )
00 00
Method 2: It is used for creating the content of an MP.
For this case, users do not actually want to get the current error
status. The getting error will be executed only when the MP is called.
Therefore, use FC = 16 to write this command inside a MP. This kind of
usage often has ETM_MACRO_SET_RVAR() followed to get the return value.
Please refer to MP related explanation literature.
ETM_MACRO_GET_ERROR (h, 1);
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 09
01
10
1F 40
00 01
Register[]
Value (hex)
Remarks
0
0C 2F
Sub_function code
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Byte
Count
(hex)
02
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eRET ETM_GET_ERROR_CODE (HANDLE h, BYTE cardNo, BYTE axis,
WORD* ErrCode)
※∆ eRET ETM_MACRO_GET_ERROR_CODE (HANDLE h, BYTE cardNo,
BYTE axis)
eRET ETM_GET_ERROR_CODE_4_AXIS (HANDLE h, BYTE cardNo,
WORD* ErrCodeX, WORD* ErrCodeY, WORD* ErrCodeZ, WORD*
ErrCodeU)
Description:
This function reads the ERROR status.
Category:
MODBUS table, MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
axis:
ErrCode:
ErrCodeX:
ErrCodeY:
ErrCodeZ:
ErrCodeU:
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2)
The axis can be either X,Y, Z or U (1 or 2 or 4 or
8).
The pointer to the memory that stores the error
status
The pointer to the memory that stores the error
status of x axis
The pointer to the memory that stores the error
status of y axis
The pointer to the memory that stores the error
status of z axis
The pointer to the memory that stores the error
status of u axis
ErrCode:
0 No error.
For non-zero return value, please refer to the following table. If there are
more than one error, the return value will be the sum of there error code
values.
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Erro Code Cause of stop
Explanation
1
SOFT LIMIT+ Occurs when the forward software limit is asserted
2
SOFT LIMIT- Occurs when the reverse software limit is asserted
4
LIMIT+
Occurs when the forward hardware limit is asserted
8
LIMIT-
Occurs when the reverse hardware limit is asserted
16
ALARM
32
Occurs when the ALARM is asserted
EMERGENCY Occurs when the EMG is asserted
Reserved
HOME
64
128
256
Reserved
Occurs when both Z phase and HOME are asserted
Refer to 6.5.4 Occurs when the EMG(software) is asserted
For example, a return code 48 means that ALARM and EMGERENCY occur
at the same time.
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:

Method 1: It is used for getting current error code.
WORD ErrCode;
ETM_GET_ERROR_CODE (h, 1, AXIS_X, &ErrCode);
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
(hex)
(hex) Length (hex) (hex)
(hex)
(hex)
00 01 00 00
00 06
01
04
00 14
The response via MODBUS may be:
TID
PID
Field
UID
FC
(hex)
(hex) Length (hex) (hex)
(hex)
00 01 00 00
00 05
01
04
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Byte
Count
(hex)
02
Word
Count
(hex)
00 01
ErrCode
( Reg_0 )
00 00
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
Method 2: It is used for creating the content of an MP.
For this case, users do not actually want to get the current error
codes. The getting error code will be executed only when the MP is called.
Therefore, use FC = 16 to write this command inside a MP. This kind of
usage often has ETM_MACRO_SET_RVAR() followed to get the return value.
Please refer to MP related explanation literature.
ETM_MACRO_GET_ERROR_CODE (h, 1, AXIS_X);
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0B
01
10
1F 40
00 02
Register[]
Value (hex)
Remarks
0
0C 30
Sub_function code
1
00 01
axis (AXIS_X)
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Byte
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3.7
Read RTC status
BYTE i8094H_CHECK_RTC(BYTE cardNo)
Description:
This function reads current RTC status.
Category:
Internal function.
Parameters:
Paramters
cardNo:
Description
Module number  MP-8000 : 1~7
Return:
YES:
NO:
The buffer is full
The buffer is not full
EXAMPLE:
if (i8094H_CHECK_RTC(1) == YES)
{
//buffer is full
// please add your code here to take care of the exceptional cases.
}
Special Description:
This function does not support on the ET-M8194H. Similar function can
be implemented by using ETM_GET_FREE_BUFFER() function.
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eRET ETM_GET_FREE_BUFFER(HANDLE h, BYTE cardNo, BYTE*
FreeBufNum)
Description:
This function gets the block-number of available command-buffer. The
maximum block-number is 30.
Category:
MODBUS table；RTC.
Parameters:
Paramters
cardNo:
FreeBufNum:
Description
Module number  MP-8000 : 1~7
The pointer points to the memory that stores the
available block number of i-8094H
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
BYTE FreeBufNum;
ETM_GET_FREE_BUFFER(h, 1, & FreeBufNum);
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
(hex)
(hex) Length (hex) (hex)
(hex)
(hex)
00 01 00 00
00 06
01
04
00 06
The response via MODBUS may be:
TID
PID
Field
UID
FC
(hex)
(hex) Length (hex) (hex)
(hex)
00 01 00 00
00 05
01
04
Byte
Count
(hex)
02
Word
Count
(hex)
00 01
Block_Num
(hex)
00 1E
The retured value, 0x1E, means 30 blocks of command-buffer are available.
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3.8
Read stop status
eRET ETM_GET_STOP_STATUS(HANDLE h, BYTE cardNo, BYTE axis,
BYTE* StopState)
eRET ETM_GET_STOP_STATUS_4_AXIS(HANDLE h, BYTE cardNo,
BYTE* StopStateX, BYTE* StopStateY, BYTE* StopStateZ, BYTE*
StopStateU)
Description:
This function reads current stop status.
Category:
MODBUS table；RTC.
Parameters:
Paramters
cardNo:
axis:
StopState:
StopStateX:
StopStateY:
StopStateZ:
StopStateU:
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2)
The axis can be either X,Y, Z or U (1 or 2 or 4 or
8).
The pointer to the memory that stores the stop
status
The pointer to the memory that stores the stop
status of x axis
The pointer to the memory that stores the stop
status of y axis
The pointer to the memory that stores the stop
status of z axis
The pointer to the memory that stores the stop
status of u axis
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
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MODBUS example:
STOP status
Address
X_STOP_STATUS
58 (0x3A)
Y_STOP_STATUS
59 (0x3B)
Z_STOP_STATUS
60 (0x3C)
U_STOP_STATUS
61 (0x3D)
Remarks
1  AXIS_X has stopped
0  AXIS_X is moving
1  AXIS_Y has stopped
0  AXIS_Y is moving
1  AXIS_Z has stopped
0  AXIS_Z is moving
1  AXIS_U has stopped
0  AXIS_U is moving
BYTE StopState;
ETM_GET_STOP_STATUS(h, 1, AXIS_X, & StopState);
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
(hex)
(hex) Length (hex) (hex)
(hex)
(hex)
00 01 00 00
00 06
01
04
00 3A
The response via MODBUS may be:
TID
PID
Field
UID
FC
(hex)
(hex) Length (hex) (hex)
(hex)
00 01 00 00
00 05
01
04
Byte
Count
(hex)
02
Word
Count
(hex)
00 01
AXIS
Stop_Status
(hex)
00 01
Users can get these states by polling and decide what to do next in
following program.
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4 FRnet Functions
4.1
Read FRnet DIO Signals
※∆ eRET ETM_MACRO_FRNET_IN (HANDLE h, BYTE cardNo, BYTE
wGroup)
Description:
This function reads the FRnet digital input signals. One group comprises
16 bits data. Maximum eight groups of DI are provided. Therefore, total 128
DI can be defined for one FRnet interface.
Category:
MODBUS sub_function; MP, ISR.
Parameters:
Paramters
cardNo:
wGroup:
Description
Module number  MP-8000 : 1~7
DI group number is between 8~15.
If you enter a value between 0 to 7, you can get
the output state of the external DO group.
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
Each register contains 16-bit data. Each bit corresponds to a DI
channel in a group.

It is used for creating the content of an MP.
For this case, users do not actually want to get the current DI value.
The getting will be executed only when the MP is called. Therefore, use FC
= 16 to write this command inside a MP. This kind of usage often has ETM
_MACRO_SET_RVAR() followed to get the return DI value. Please refer to
MP related explanation literature.
ETM_MACRO_FRNET_IN (h, 1, 8);
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0B
01
10
1F 40
00 02
Register[]
Value (hex)
Remarks
0
0C 32
Sub_function code
1
00 08
Group number (8~15)
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Byte
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※∆ eRET ETM_MACRO_FRNET_READ (HANDLE h, BYTE cardNo, BYTE
bGroup, DWORD dwChannel)
Description:
Read the channel data of FRnet group.
Category:
MODBUS sub_function; MP, ISR.
Parameters:
Paramters
cardNo:
wGroup:
dwChannel:
Description
Module number  MP-8000 : 1~7
DI group number is between 8~15.
If you enter a value between 0 to 7, you can get
the output state of the external DO group.
The channel inside the group define the range of
0 to 15.
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
ETM_MACRO_FRNET_READ (h, 1, 8, 1);
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 11
01
10
1F 40
00 05
Register[]
Value (hex)
Remarks
0
0C 34
Sub_function code
1
00 00
MSW of 0x0008
2
3
4
00 08
00 00
00 01
ICP DAS
Byte
Count
(hex)
0A
LSW of 0x0008
MSW of 0x0001
LSW of 0x0001
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eRET ETM_FRNET_READ_SINGLE_DIO (HANDLE h, BYTE cardNo,
WORD wGroup, BYTE bChannelNo, BYTE *pbChannelStatus)
Description:
Read the channel data of FRnet group.
Category:
MODBUS table; RTC.
Parameters:
Paramters
Description
Module number  MP-8000 : 1~7
DI group number is between 8~15.
If you enter a value between 0 to 7, you can
get the output state of the external DO group.
The channel number inside the group define
bChannelNo:
the range of 0 to 15.
pbChannelStatus: The pointer to the memory that stores the data
which you read from the channel.
cardNo:
wGroup:
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
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eRET ETM_FRNET_READ_GROUP_DIO (HANDLE h, BYTE cardNo,
WORD wGroup, WORD* pwGroupStatus)
Description:
Read the data of FRnet group.
Category:
MODBUS table; RTC.
Parameters:
Paramters
Description
Module number  MP-8000 : 1~7
DI group number is between 8~15.
If you enter a value between 0 to 7, you can get
the output state of the external DO group.
pwGroupStatus The pointer to the memory that stores the data
which you read from the group.
cardNo:
wGroup:
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
WORD pwGroupStatus;
ETM_MACRO_FRNET_READ(h, 1, 8, &pwGroupStatus);
MODBUS request:
TID
PID
Field
(hex)
(hex) Length
(hex)
00 01 00 00
00 06
MODBUS response:
TID
PID
Field
(hex)
(hex) Length
(hex)
00 01 00 00
00 05
ICP DAS
UID
(hex)
FC
(hex)
St_Addr.
(hex)
01
04
00 08
UID
(hex)
FC
(hex)
01
04
115
Byte
Count
(hex)
02
Word
Count
(hex)
00 01
pwGroupStatus
(hex)
0001
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eRET ETM_FRNET_READ_MULTI_GROUP_DIO (HANDLE h, BYTE
cardNo, WORD wStartGroup, BYTE bGroupQty, WORD*
pwInputBuffer, BYTE bBufferSize )
Description:
Read the data of FRnet multi-group.
Category:
MODBUS table; RTC.
Parameters:
Paramters
Description
cardNo:
wStartGroup:
bGroupQty:
pwInputBuffer:
bBufferSize:
Module number  MP-8000 : 1~7
The starting group.
The group quantity.
The pointer to the memory that store the data
which you read from the group.
The size of the registers(bBufferSize*2 must >=
bGroupQty)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
WORD pwInputBuffer[2];
ETM_FRNET_READ_MULTI_GROUP_DIO(h, 1, 8, 2, & pwInputBuffer,
4);
MODBUS request:
TID
PID
Field
(hex)
(hex) Length
(hex)
00 01 00 00
00 06
MODBUS response:
TID
PID
Field
(hex) (hex) Length
(hex)
00 01 00 00
00 07
ICP DAS
UID
(hex)
FC
(hex)
St_Addr.
(hex)
01
04
00 08
UID
FC
(he (hex)
x)
01
04
Word
Count
(hex)
00 02
Byte
Count
(hex)
pwInputBuffer
[0]
pwInputBuffer
[1]
(hex)
(hex)
04
00 01
00 03
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4.2
Write data to FRnet DO
※∆ eRET ETM_MACRO_FRNET_OUT (HANDLE h, BYTE cardNo, BYTE
bGroup, DWORD data)
Description:
This function writes data to the FRnet digital output. One group comprises
16 bits data. Maximum eight groups of DO are provided. Therefore, total
128 DO can be defined for one FRnet interface.
Category:
MODBUS table, MODBUS sub_function; MP, ISR.
Parameters:
Paramters
cardNo:
bGroup:
data:
Description
Module number  MP-8000 : 1~7
Group number is between 0~7. Eight or above is
not defined.
0x00000000 ~ 0x0000ffff, can also use VARn to
set.
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:

Method 1: It is used for setting FRnet DO values by some true values.
Each register contains 16-bit data. Each bit corresponds to a DO of
group. Please note that FRnet DO values can be read back.
ETM_MACRO_FRNET_OUT (h, 1, 0, 0x0000FFFF);
ETM_MACRO_FRNET_OUT (h, 1, 1, 0x0000AAAA);
ETM_MACRO_FRNET_OUT (h, 1, 2, 0x00001100);
ETM_MACRO_FRNET_OUT (h, 1, 3, 0x00000011);
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TID
(hex)
PID
(hex)
00 01 00 00
Register[]
0
1
2
3

Field
UID
Length (hex)
(hex)
00 0F
01
Value (hex)
FF FF
AA AA
11 00
00 11
FC
(hex)
St_Addr.
(hex)
Word
Count
(hex)
10
00 00
00 04
Remarks
DO setting (for address = 0)
DO setting (for address = 1)
DO setting (for address = 2)
DO setting (for address = 3)
Byte
Count
(hex)
08
Method 2: It can be used for setting FRnet DO values by true values or
by variables.
The DO is defined as a DWORD because it can be a variable or a true
value. When a VARn is used instead of the true value, the MSW will not be
zero. When users desire to use a true value to set the DO, please keep the
MSW to be zero, and let the LSW part contain the DO value.
ETM_MACRO_FRNET_OUT (h, 1, 0, 0x0000FFFF);
// on module 1, set group number RA=0, output data is 0x0000ffff
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0F
01
10
1F 40
00 04
Register[]
Value (hex)
Remarks
0
0C 33
Sub_function code
1
00 00
Group number (0~7)
2
00 00
MSW of DO
3
FF FF
LSW of DO
Byte
Count
(hex)
08
ETM_MACRO_FRNET_OUT (h, 1, bVAR0, VAR1);
// on module 1, set group number RA= bVAR0, output data is VAR1
Note: The address of bVAR0 is 0x80 ( = 0x80+n); and the start address of
VAR1 is 0x012E ( = 300 + 2*n).
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0F
01
10
1F 40
00 04
Register[]
Value (hex)
Remarks
0
0C 33
Sub_function code
1
00 80
bVAR0
2
00 00
MSW of VAR1
3
01 2E
LSW of VAR1
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Byte
Count
(hex)
08
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※∆ eRET ETM_MACRO_FRNET_WRITE (HANDLE h, BYTE cardNo, BYTE
bDoGroup, DWORD dwChannel, DWORD dwOutput)
Description:
Write data to the channel of FRnet DO group.
Category:
MODBUS sub_function; MP, ISR.
Parameters:
Paramters
cardNo:
bDoGroup:
dwChannel:
dwOutput:
Description
Module number  MP-8000 : 1~7
Group number is between 0~7. Eight or above is
not defined.
The channel of the group is defined 0~15.
The written data.
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
ETM_MACRO_FRNET_WRITE(h, 1, 1, 1, 1);
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 15
01
10
1F 40
00 07
Register[]
Value (hex)
Remarks
0
0C 35
Sub_function code
1
00 00
MSW of 0x0001
2
3
4
00 01
00 00
00 01
LSW of 0x0001
MSW of 0x0001
LSW of 0x0001
5
6
00 00
00 01
MSW of 0x0001
LSW of 0x0001
ICP DAS
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Byte
Count
(hex)
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eRET ETM_FRNET_WRITE_SINGLE_DO (HANDLE h, BYTE cardNo,
BYTE bGroup, DWORD dwChannelNo, BYTE bOutput)
Description:
Write data to the channel of FRnet DO group.
Category:
MODBUS table；RTC.
Parameters:
Paramters
cardNo:
bGroup:
dwChannelNo:
bOutput:
Description
Module number  MP-8000 : 1~7
Group number is between 0~7. Eight or above is
not defined.
The channel of the group is defined 0~15.
The written data.
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
ETM_FRNET_WRITE_SINGLE_DO (h, 1, bGroup, dwChannelNo, 1);
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
(hex)
(hex) Length (hex) (hex)
(hex)
(hex)
00 01 00 00
00 09
01
05
(bGroup * 16 +
dwChannelNo)
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Value (hex)
00 00(off);
FF 00(on)
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eRET ETM_FRNET_WRITE_GROUP_DO (HANDLE h, BYTE cardNo,
BYTE bGroup, DWORD dwdata)
Description:
Write data to FRnet DO group.
Category:
MODBUS table；RTC.
Parameters:
Paramters
cardNo:
bGroup:
dwdata:
Description
Module number  MP-8000 : 1~7
Group number is between 0~7. Eight or above is
not defined.
0x00000000 ~ 0x0000ffff, can also use VARn to
set.
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
ETM_FRNET_WRITE_GROUP_DO(h, 1, 0, 0x0000FFFF); // on module 1,
set group number RA=0, output data is 0x0000ffff
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0B
01
10
00 00
00 02
Register[]
Value (hex)
Remarks
0
00 00
MSW of 0xFFFF
1
FF FF
LSW of 0xFFFF
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Byte
Count
(hex)
04
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eRET ETM_FRNET_WRITE_MULTI_GROUP_DO (HANDLE h, BYTE
cardNo, WORD wStartGroup, BYTE bGroupQty, WORD*
pwOutBuffer, BYTE bBufferSize)
Description:
Write data to FRnet DO multi-group.
Category:
MODBUS table；RTC.
Parameters:
Paramters
cardNo:
wStartGroup:
bGroupQty:
pwOutBuffer:
bBufferSize:
Description
Module number  MP-8000 : 1~7
The starting group.
The group quantity.
The pointer points to the memory that store the
data of group which you want to write.
The size of the registers(bBufferSize*2 >=
bGroupQty)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
WORD pwOutBuffer[4];
pwOutBuffer[0]=0xFFFF;
pwOutBuffer[1]=0xAAAA;
pwOutBuffer[2]=0x1100;
pwOutBuffer[3]=0x0011;
ETM_FRNET_WRITE_MULTI_GROUP_DO(h, 1, 0, 4, & pwOutBuffer, 8);
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0F
01
10
00 00
00 04
Register[]
Value (hex)
Remarks
0
FF FF
DO setting (for address = 0)
1
AA AA
DO setting (for address = 1)
2
11 00
DO setting (for address = 2)
3
00 11
DO setting (for address = 3)
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Byte
Count
(hex)
08
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4.3
FRnet WAIT
※∆ eRET ETM_MACRO_FRNET_WAIT (HANDLE h, BYTE cardNo, BYTE
bDiGroup, DWORD dwChannel, DWORD dwDiInput, DWORD
dwTimeout)
Description:
Wait until FRnet DI turned ON.
Category:
MODBUS sub_function; MP, ISR.
Parameters:
Paramters
cardNo:
bDiGroup:
dwChannel:
dwDiInput:
dwTimeout:
Description
Module number  MP-8000 : 1~7
Group number, 8~15
The channel of the group is defined 0~15.
1:ON 0:OFF
The waiting time(ms) 0: Represent the waiting
time is infinite until ON. n: Represent only wait
n(ms).
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
ETM_MACRO_FRNET_WAIT(h, 1, 8, 1, 1, 1000);
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 17
01
10
1F 40
00 08
Register[]
Value (hex)
Remarks
0
0C 36
Sub_function code
1
00 08
bDiGroup
2
00 00
MSW of 0x0001
3
4
5
6
7
00 01
00 00
00 01
00 00
03 E8
ICP DAS
Byte
Count
(hex)
10
LSW of 0x0001
MSW of 0x0001
LSW of 0x0001
MSW of 0x03E8
LSW of 0x03E8
125
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5 Auto Homing Search
i-8094H module provides automatic home search function. After the
configuration of proper settigs, the whole process for Homing searching
can function automatically. The main steps are as bellows:
 Near-home sensor searching (NHOME) under high-speed motion.
 Home sensor serachig under low-speed motion.
 Servo motor Z-Phase searching under low-speed motion.
 Offset movement to the origin of the working area under high-speed
motion.
A few steps could be skipped by adjusting settings accordingly to meet
customer’s actual needs. This operation could be performed automatically,
therefore economize on CPU resource and reduce programming efforts.
5.1
Set Up Homing Speed
eRET ETM_SET_HV (HANDLE h, BYTE cardNo, BYTE axis, DWORD
data)
※ eRET ETM_MACRO_SET_HV (HANDLE h, BYTE cardNo, BYTE axis,
DWORD data)
Description:
This function sets the homing speed.
Category:
MODBUS sub_function; RTC and MP.
Parameters:
Paramters
cardNo:
axis:
data:
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2)
The axis can be either X,Y, Z or U (1 or 2 or 4 or
8).
Homing speed (Vmin~Vmax PPS).
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
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Remark:
The Sub_function code of ETM_SET_HV is 0A 3C.
The Sub_function code of ETM_MACRO_SET_HV is 0C 3C.
MODBUS example:
ETM_SET_HV (h, 1, AXIS_X, 500);
//set the homing speed of the X axis on module 1 to be 500 PPS.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0F
01
10
1F 40
00 04
Register[]
Value (hex)
Remarks
0
0A 3C/0C 3C
Sub_function code
1
00 01
axis
2
00 00
MSW of data
3
01 F4
LSW of data (500 = 0x1F4)
ICP DAS
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Byte
Count
(hex)
08
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5.2
Using an Limit Switch as the Home sensor
eRET ETM_HOME_LIMIT (HANDLE h, BYTE cardNo, BYTE axis, BYTE
nType)
※ eRET ETM_MACRO_HOME_LIMIT (HANDLE h, BYTE cardNo, BYTE
axis, BYTE nType)
Description:
This function sets the Limit Switch to be used as the HOME sensor.
Category:
MODBUS sub_function; RTC and MP.
Parameters:
Paramters
cardNo:
axis:
nType:
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2)
The axis can be either X,Y, Z or U (1 or 2 or 4 or
8).
0: Disable the The LIMIT SWITCH function;
1: Use the LIMIT SWITCH as the HOME sensor.
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_HOME_LIMIT is 0A 3D.
The Sub_function code of ETM_MACRO_HOME_LIMIT is 0C 3D.
MODBUS example:
ETM_HOME_LIMIT (h, 1, AXIS_X, 0);
// Do not use the Limit Switch as the HOME sensor.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0D
01
10
1F 40
00 03
Register[]
Value (hex)
Remarks
0
0A 3D/0C 3D
Sub_function code
1
00 01
axis
2
00 00
nType
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Byte
Count
(hex)
06
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5.3
Setting the Homing Mode
eRET ETM_SET_HOME_MODE (HANDLE h, BYTE cardNo, BYTE axis,
BYTE nStep1, BYTE nStep2, BYTE nStep3, BYTE nStep4 ,
DWORD data)
※ eRET ETM_MACRO_SET_HOME_MODE (HANDLE h, BYTE cardNo,
BYTE axis, BYTE nStep1, BYTE nStep2, BYTE nStep3, BYTE
nStep4 , DWORD data)
Description:
This function sets the homing method and other related parameters.
Category:
MODBUS sub_function; RTC and MP.
Parameters:
Paramters
cardNo:
axis:
nStep1:
nStep2:
nStep3:
nStep4:
data:
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2)
The axis can be either X,Y, Z or U (1 or 2 or 4 or
8).
0: Step 1 will not be executed.
1: Moves in the positive direction.
2: Moves in the negative direction.
0: Step 2 will not be executed.
1: Moves in a positive direction.
2: Moves in a negative direction.
0: Step 3 will not be executed.
1: Moves in a positive direction.
2: Moves in a negative direction.
0: Step 4 will not be executed.
1: Positive correction.
2: Negative correction.
Offset value (0 ~ +2,000,000,000)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
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The Four Steps Required for Automatic Homing
Step
1
2
3
4
Action
Searching for the Near Home sensor
Searching for the HOME sensor
Searching for the encoder Z-phasesignal
Moves to the specified position
Speed
Sensor
V
HV
HV
V
NHOME (IN0)
HOME (IN1)
Z-Phase (IN2)
Remark:
The Sub_function code of ETM_SET_HOME_MODE is 0A 3E.
The Sub_function code of ETM_MACRO_SET_HOME_MODE is 0C 3E.
MODBUS example:
ETM_SET_HOME_MODE (h, 1, 0x1, 2, 2, 1, 1, 3500);
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 17
01
10
1F 40
00 08
Register[]
Value (hex)
Remarks
0
0A 3E/0C 3E
Sub_function code
1
00 01
axis
2
00 02
nStep1
3
00 02
nStep2
4
00 01
nStep3
5
00 01
nStep4
6
00 00
MSW of data
7
0D AC
LSW of data (3500 = 0xDAC)
ICP DAS
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Byte
Count
(hex)
10
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5.4
Starting the Homing Sequence
eRET ETM_HOME_START (HANDLE h, BYTE cardNo, BYTE axis)
※ eRET ETM_MACRO_HOME_START (HANDLE h, BYTE cardNo, BYTE
axis)
Description:
This function starts the home search of assigned axes.
Category:
MODBUS sub_function; RTC and MP.
Parameters:
Paramters
cardNo:
axis:
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2)
The axis can be either X,Y, Z or U (1 or 2 or 4 or
8).
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_HOME_START is 0A 3F.
The Sub_function code of ETM_MACRO_HOME_START is 0C 3F.
MODBUS example:
ETM_HOME_START (h, 1, AXIS_X);
//start the automatic homing sequence for the X axis on module 1.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0B
01
10
1F 40
00 02
Register[]
Value (hex)
Remarks
0
0A 3F/0C 3F
Sub_function code
1
00 01
axis (AXIS_X)
ICP DAS
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Byte
Count
(hex)
04
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5.5
Wait for the completion of the Homing
Sequence
BYTE i8094H_HOME_WAIT(BYTE cardNo, BYTE axis)
Special Description:
This function does not support on the ET-M8194H, related features can
use ETM_STOP_WAIT() function in 7.10 to replace.
Related example:
//Use the following functions to set the homing mode of the X axis.
ETM_SET_V(h, 1, 0x1, 20000);
ETM_SET_HV(h, 1, 0x1, 500);
ETM_SET_HOME_MODE(h, 1, 0x1, 2, 2, 1, 1, 3500);
ETM_HOME _START(h, 1, 0x1); //start auto-homing.
ETM_STOP_WAIT (h, 1, AXIS_X);
Step
1
2
3
4
Input Signal
Near HOME (IN0) is active
HOME (IN1) is active
Z-phase (IN2) is active
No sensor is required. Move
3500 pulses along the X axis.
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Direction
+
+
Speed
20000 PPS (V)
500 PPS (HV)
500 PPS (HV)
20000 PPS (V)
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6 Basic Motion Control
6.1
Independent Motion Control for each axis
 Multiple axes could move at the same time.
 The motion of each axis can be started independently.
 Each axis is moving independently.
 Each axis can receive commandeds to change motion, such as
changing the number of pulses or the speed.
 Each axis can receive commandeds to stop slowly or suddenly to meet
the specific requirements.
 Independent axis motion can work with interpolation or synchrous
action to perform more complicated and versatile motion.
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6.1.1
Setting the Acceleration/Deceleration Mode
eRET ETM_NORMAL_SPEED (HANDLE h, BYTE cardNo, BYTE axis ,
BYTE nMode)
※∆ eRET ETM_MACRO_NORMAL_SPEED (HANDLE h, BYTE cardNo,
BYTE axis , BYTE nMode)
Description:
This function sets the speed mode.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
axis:
nMode:
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2)
The axis can be either X,Y, Z or U (1 or 2 or 4 or
8).
0  Symmetric T-curve (Please set SV, V, A, and
AO).
1  Symmetric S-curve (Please set SV, V, K, and
AO).
2  Asymmetric T-curve (Please set SV, V, A, D,
and AO).
3  Asymmetric S-curve (Please set SV, V, K, L,
and AO).
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
Please refer the configurations of speed-related parameters.
The Sub_function code of ETM_NORMAL_SPEED is 0A 46.
The Sub_function code of ETM_MACRO_NORMAL_SPEED is 0C 46.
MODBUS example:
ETM_NORMAL_SPEED (h, 1, AXIS_XYZU, 0);
//use a symmetric T-curve for all axes on module 1.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0D
01
10
1F 40
00 03
Register[]
Value (hex)
Remarks
0
0A 46/0C 46
Sub_function code
1
00 0F
axis (AXIS_XYZU)
2
00 00
nMode
Byte
Count
(hex)
06
Related example:
BYTE cardNo=1; //select module 1.
ETM_SET_MAX_V(h, cardNo, AXIS_XYZU, 20000);
//set the max speed of XYZU axes to be 20K PPS.
//==========================================================
ETM_NORMAL_SPEED(h, cardNo, AXIS_XYZU, 0);
//use a symmetric T- curve for all axes on module 1.
ETM_SET_V(h, cardNo, AXIS_XYZU, 2000);
//set the speed of all axes on module 1 to be 2000 PPS.
ETM_SET_A(h, cardNo, AXIS_XYZU, 1000);
//set the acceleration of all axes on module 1 to be 1000 PPS/Sec.
ETM_SET_SV(h, cardNo, AXIS_XYZU, 2000);
//set the start speed of all axes on module 1 to be 2000 PPS.
ETM_SET_AO(h, cardNo, AXIS_XYZU, 9);
//set the number of remaining offset pulses for all axes to be 9 pulses.
ETM_FIXED_MOVE(h, cardNo, AXIS_XYZU, 10000);
//move all axes on module 1 to be 10000 pulses.
//==========================================================
ETM_NORMAL_SPEED(h, cardNo, AXIS_XYZU,1);
//use a symmetric S- curve for all axes on module 1.
ETM_SET_V(h, cardNo, AXIS_XYZU, 2000);
//set the speed of all axes on module 1 to be 2000 PPS.
ETM_SET_K(h, cardNo, AXIS_XYZU, 500);
//set the acceleration rate of all axes on module 1 to be 500 PPS/sec^2.
ETM_SET_SV(h, cardNo, AXIS_XYZU, 200);
//set the start speed of all axes on module 1 to be 200 PPS.
ETM_SET_AO(h, cardNo, AXIS_XYZU, 9);
//set the number of remaining offset pulses to be 9 pulses for all axes.
ETM_FIXED_MOVE(h, cardNo, AXIS_XYZU, -10000);
//move all axes on module 1 to be 10000 pulses in reverse direction.
//==========================================================
ETM_NORMAL_SPEED(h, cardNo, AXIS_XYZU,2);
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//use an asymmetric T-curve for all axes on module 1.
ETM_SET_V(h, cardNo, AXIS_XYZU, 2000);
//set the speed of all axes on module 1 to be 2000 PPS.
ETM_SET_A(h, cardNo, AXIS_XYZU, 1000 );
//set the acceleration of all axes on module 1 to be 1000 PPS/sec.
ETM_SET_D(h, cardNo, AXIS_XYZU, 500);
//set the deceleration of all axes on module 1 to be 500 PPS.
ETM_SET_SV(h, cardNo, AXIS_XYZU, 200);
//set the start speed of all axes on module 1 to 200 PPS.
ETM_SET_AO(h, cardNo, AXIS_XYZU, 9);
//set the number of remaining offset pulses to be 9 pulses for all axes.
ETM_FIXED_MOVE(h, cardNo, axis, 10000);
//move all axes on module 1 to be 10000 pulses.
//==========================================================
ETM_NORMAL_SPEED(h, cardNo, AXIS_XYZU,3);
//use an asymmetric S-curve for all axes on module 1.
ETM_SET_V(h, cardNo, AXIS_XYZU, 2000);
//set the speed of all axes on module 1 to be 2000 PPS.
ETM_SET_K(h, cardNo, AXIS_XYZU, 500);
//set the acceleration rate of all axes on module 1 to be 500 PPS/sec^2.
ETM_SET_L(h, cardNo, AXIS_XYZU, 300);
//set the deceleration rate of all axes on module 1 to be 300 PPS/sec^2.
ETM_SET_SV(h, cardNo, AXIS_XYZU, 200);
//set the start speed of all axes on module 1 to be 200 PPS.
ETM_SET_AO(h, cardNo, AXIS_XYZU, 9);
//set the number of remaining offset pulses to be 9 pulses for all axes.
ETM_FIXED_MOVE(h, cardNo, AXIS_XYZU, 10000);
//move all axes on module 1 to be 10000 pulses.
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6.1.2
Setting the Starting Speed
eRET ETM_SET_SV (HANDLE h, BYTE cardNo, BYTE axis, DWORD
data)
※∆ eRET ETM_MACRO_SET_SV (HANDLE h, BYTE cardNo, BYTE axis,
DWORD data)
Description:
This function sets the initial speed for the assigned axes.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
axis:
data:
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2)
The axis can be either X,Y, Z or U (1 or 2 or 4 or
8).
Set up speed(Please refer to 2.5 for maximm
speed)PPS.
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SET_SV is 0A 47.
The Sub_function code of ETM_MACRO_SET_SV is 0C 47.
MODBUS example:
ETM_SET_SV (h, 1, AXIS_X, 1000);
//set the starting speed for the X axis on module 1 to 1000 PPS.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0F
01
10
1F 40
00 04
Register[]
Value (hex)
Remarks
0
0A 47/0C 47
Sub_function code
1
00 01
axis (1 = AXIS_X)
2
00 00
MSW of data
3
03 E8
LSW of data (1000 = 0x3E8)
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6.1.3
Setting the Desirted Speed
eRET ETM_SET_V (HANDLE h, BYTE cardNo, BYTE axis, DWORD
data)
※∆ eRET ETM_MACRO_SET_V (HANDLE h, BYTE cardNo, BYTE axis,
DWORD data)
Description:
This function sets the desired speed for the assigned axes.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
axis:
data:
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2)
The axis can be either X,Y, Z or U (1 or 2 or 4 or
8).
Set up speed(Please refer to 2.5 for maximm
speed)PPS.
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SET_V is 0A 48.
The Sub_function code of ETM_MACRO_SET_V is 0C 48.
MODBUS example:
ETM_SET_V (h, 1, AXIS_X, 120000L);
//set the speed for the X axis on module 1 to 120000 PPS.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0F
01
10
1F 40
00 04
Register[]
Value (hex)
Remarks
0
0A 48/0C 48
Sub_function code
1
00 01
axis (1 = AXIS_X)
2
00 01
MSW of data
3
D4 C0
LSW of data (120000 = 0x1D4C0)
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6.1.4
Setting the Acceleration
eRET ETM_SET_A (HANDLE h, BYTE cardNo, BYTE axis, DWORD
data)
※∆ eRET ETM_MACRO_SET_A (HANDLE h, BYTE cardNo, BYTE axis,
DWORD data)
Description:
This function sets the acceleration value for the assigned axes.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
axis:
data:
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2)
The axis can be either X,Y, Z or U (1 or 2 or 4 or
8).
The acceleration value (PPS/sec).
This value is related to the maximum speed
value defined by ETM_SET_MAX_V() function.
The maximum available acceleration value is
MAX_V * 125. The minimum acceleration value is
MAX_V ÷ 64, and all other acceleration values
are the integral multipliers of this value. The
practical value for application depends on the
capability of the motor drive and motor.
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SET_A is 0A 49.
The Sub_function code of ETM_MACRO_SET_A is 0C 49.
MODBUS example:
ETM_SET_A (h, 1, AXIS_X, 100000L);
//set the acceleration value of the X axis on module 1 to 100K PPS/Sec.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0F
01
10
1F 40
00 04
Register[]
Value (hex)
Remarks
0
0A 49/0C 49
Sub_function code
1
00 01
axis (1 = AXIS_X)
2
00 01
MSW of data
3
86 A0
LSW of data (100000 = 0x186A0)
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6.1.5
Setting the Deceleration
eRET ETM_SET_D (HANDLE h, BYTE cardNo, BYTE axis, DWORD
data)
※∆ eRET ETM_MACRO_SET_D (HANDLE h, BYTE cardNo, BYTE axis,
DWORD data)
Description:
This function sets the deceleration value for the assigned axes.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
axis:
data:
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2)
The axis can be either X,Y, Z or U (1 or 2 or 4 or
8).
The deceleration value (PPS/sec).
This value is related to the maximum speed
value defined by ETM_SET_MAX_V () function.
The maximum available deceleration value is
MAX_V * 125. The minimum deceleration value is
MAX_V ÷ 64, and all other deceleration values
are the integral multipliers of this value. The
practical value for application depends on the
capability of the motor drive and motor.
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SET_D is 0A 4A.
The Sub_function code of ETM_MACRO_SET_D is 0C 4A.
MODBUS example:
ETM_SET_D (h, 1, AXIS_X, 100000L);
//set the deceleration value of the X axis on module 1 to 100K PPS/sec.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0F
01
10
1F 40
00 04
Register[]
Value (hex)
Remarks
0
0A 4A/0C 4A
Sub_function code
1
00 01
axis (1 = AXIS_X)
2
00 01
MSW of data
3
86 A0
LSW of data (100000 = 0x186A0)
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6.1.6
Setting the Acceleration Rate
eRET ETM_SET_K (HANDLE h, BYTE cardNo, BYTE axis, DWORD
data)
※∆ eRET ETM_MACRO_SET_K (HANDLE h, BYTE cardNo, BYTE axis,
DWORD data)
Description:
The function sets the acceleration rate (i.e., Jerk) value for the assigned
axes.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
axis:
data:
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2)
The axis can be either X,Y, Z or U (1 or 2 or 4 or
8).
The acceleration rate (jerk) value(PPS/ sec2).
This value is related to the maximum speed
value defined by ETM_SET_MAX_V () function.
The minimum acceleration rate is MAX_V *
0.0119211;
The maximum acceleration rate value is
2,000,000,000.
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SET_K is 0A 4B.
The Sub_function code of ETM_MACRO_SET_K is 0C 4B.
MODBUS example:
ETM_SET_K (h, 1, AXIS_X, 10000);
//set the acceleration rate value of the X axis on module 1 to
//1,000*10 (= 10,000) PPS/Sec^2.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0F
01
10
1F 40
00 04
Register[]
Value (hex)
Remarks
0
0A 4B/0C 4B
Sub_function code
1
00 01
axis (1 = AXIS_X)
2
00 00
MSW of data
3
27 10
LSW of data (10000 = 0x2710)
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Byte
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6.1.7
Setting the Deceleration Rate
eRET ETM_SET_L (HANDLE h, BYTE cardNo, BYTE axis, DWORD
data)
※∆ eRET ETM_MACRO_SET_L (HANDLE h, BYTE cardNo, BYTE axis,
DWORD data)
Description:
The function sets the deceleration rate (i.e., Jerk) value for the assigned
axes.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
axis:
data:
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2)
The axis can be either X,Y, Z or U (1 or 2 or 4 or
8).
The deceleration rate (jerk) value(PPS/ Sec2).
This value is related to the maximum speed
value defined by ETM_SET_MAX_V () function.
The minimum deceleration rate is MAX_V *
0.0119211;
The maximum deceleration rate value is
2,000,000,000
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SET_L is 0A 4C.
The Sub_function code of ETM_MACRO_SET_L is 0C 4C.
MODBUS example:
ETM_SET_L (h, 1, AXIS_X, 10000);
//set the deceleration rate value of the X axis on module 1 to
//1,000*10 (= 10,000) PPS/Sec^2.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0F
01
10
1F 40
00 04
Register[]
Value (hex)
Remarks
0
0A 4C/0C 4C
Sub_function code
1
00 01
axis (1 = AXIS_X)
2
00 00
MSW of data
3
27 10
LSW of data (10000 = 0x2710)
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6.1.8
Setting the Value of the Remaining Offset of Pulses
eRET ETM_SET_AO (HANDLE h, BYTE cardNo, BYTE axis, long data)
※∆ eRET ETM_MACRO_SET_AO (HANDLE h, BYTE cardNo, BYTE axis,
long data)
Description:
This function sets the number of remaining offset pulses for the assigned
axes. Please refer to the figure below for a definition of the remaining offset
pulse value.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
axis:
data:
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2)
The axis can be either X,Y, Z or U (1 or 2 or 4 or
8).
The number of remaining offset pulses. (-32,768
~ +32,767).
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SET_AO is 0A 4D.
The Sub_function code of ETM_MACRO_SET_AO is 0C 4D.
MODBUS example:
ETM_SET_AO (h, 1, AXIS_X, 200);
//set the number of remaining offset pulses for the X axis on
//module 1 to 200 pulses.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0F
01
10
1F 40
00 04
Register[]
Value (hex)
Remarks
0
0A 4D/0C 4D
Sub_function code
1
00 01
axis (1 = AXIS_X)
2
00 00
MSW of data
3
00 C8
LSW of data (200 = 0xC8)
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Byte
Count
(hex)
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6.1.9
Fixed Pulse Output
eRET ETM_FIXED_MOVE (HANDLE h, BYTE cardNo, BYTE axis, long
data)
※∆ eRET ETM_MACRO_FIXED_MOVE (HANDLE h, BYTE cardNo, BYTE
axis, long data)
Description:
Command a point-to-point motion for Fixed Position movement.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
axis:
data:
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2)
The axis can be either X,Y, Z or U (1 or 2 or 4 or
8).
Pulses (-2,000,000,000 ~ +2,000,000,000).
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_FIXED_MOVE is 0A 4E.
The Sub_function code of ETM_MACRO_FIXED_MOVE is 0C 4E.
MODBUS example:
ETM_FIXED_MOVE (h, cardNo, AXIS_XYZU, 10000);
// AXIS_XYZU move 10000 Pulses
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0F
01
10
1F 40
00 04
Register[]
Value (hex)
Remarks
0
0A 4E/0C 4E
Sub_function code
1
00 0F
axis (0xF = AXIS_XYZU)
2
00 00
MSW of data
3
27 10
LSW of data (10000 = 0x2710)
Byte
Count
(hex)
08
Related example:
BYTE cardNo=1; //select module 1
ETM_SET_MAX_V(h, cardNo, AXIS_XYZU, 20000);
//set the max. velocity of all axes on module 1 to be 20K PPS
ETM_NORMAL_SPEED(h, cardNo, AXIS_XYZU, 0);
//set the speed profile of all axes on module 1 to be symmetric T-curve
ETM_SET_V(h, cardNo, AXIS_XYZU, 2000);
//set the speed of all axes on module 1 to be 2000 PPS
ETM_SET_A(h, cardNo, AXIS_XYZU,1000);
//set the acceleration value of all axes on module 1 to be 1000 PPS/S
ETM_SET_SV(h, cardNo, AXIS_XYZU, 2000);
//set the start velocity of all axes on module 1 to be 2000 PPS
ETM_SET_AO(h, cardNo, AXIS_XYZU, 9);
//set the remaining offset pulses to be 9 PPS
ETM_FIXED_MOVE(h, cardNo, AXIS_XYZU, 10000);
// move 10000 Pulses for each axis on module 1
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eRET ETM_SET_PULSE (HANDLE h, BYTE cardNo, BYTE axis,
DWORD data)
※∆ eRET ETM_MACRO_SET_PULSE (HANDLE h, BYTE cardNo, BYTE
axis, DWORD data)
Description:
This command enables to make a change of pulse during outputing fixed
pulses on each axis (but not for change of the direction).
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
axis:
data:
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2)
The axis can be either X,Y, Z or U (1 or 2 or 4 or
8).
Pulses (0 ~ +2,000,000,000).
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SET_PULSE is 0A 4F.
The Sub_function code of ETM_MACRO_SET_PULSE is 0C 4F.
MODBUS example:
ETM_SET_PULSE (h, cardNo, AXIS_XYZU, 9000);
//Change the total pulses to 9000 pulses during fixed pulse moving.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0F
01
10
1F 40
00 04
Register[]
Value (hex)
Remarks
0
0A 4F/0C 4F
Sub_function code
1
00 0F
axis (0xF = AXIS_XYZU)
2
00 00
MSW of data
3
23 28
LSW of data (9000 = 0x2328)
Byte
Count
(hex)
08
Related example:
BYTE cardNo=1; //select module 1
ETM_SET_MAX_V(h, cardNo, AXIS_XYZU, 20000);
//set the max velocity of all axes on module 1 to be 20K PPS
ETM_NORMAL_SPEED(h, cardNo, AXIS_XYZU, 0);
//set the speed profile of all axes on module 1 to be symmetric T-curve
ETM_SET_V(h, cardNo, AXIS_XYZU, 2000);
//set the speed of all axes on module 1 to be 2000 PPS
ETM_SET_A(h, cardNo, AXIS_XYZU,1000);
//set the acceleration value of all axes on module 1 to be 1000 PPS/S
ETM_SET_SV(h, cardNo, AXIS_XYZU, 2000);
//set the start velocity of all axes on module 1 to be 2000 PPS
ETM_SET_AO(h, cardNo, AXIS_XYZU, 9);
//set the remaining offset pulses to be 9 PPS
ETM_FIXED_MOVE(h, cardNo, AXIS_XYZU, 10000);
// move 10000 Pulses for each axis on module 1
ETM_SET_PULSE(h, cardNo, AXIS_XYZU, 9000);
//Set pulse as 9000 Pulse.
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6.1.10 Continue Pulse Output
eRET ETM_CONTINUE_MOVE (HANDLE h, BYTE cardNo, BYTE axis,
long data)
※∆ eRET ETM_MACRO_CONTINUE_MOVE (HANDLE h, BYTE cardNo,
BYTE axis, long data)
Description:
This function is continuous motion command for several independent axes.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
axis:
data:
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2)
The axis can be either X,Y, Z or U (1 or 2 or 4 or
8).
The specified speed (positive value for CW
motion; negative value for CCW motion)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Use the ETM_GET_ERROR_CODE() function to identify the errors.
Remark:
The Sub_function code of ETM_CONTINUE_MOVE is 0A 50.
The Sub_function code of ETM_MACRO_CONTINUE_MOVE is 0C 50.
MODBUS example:
ETM_CONTINUE_MOVE (h, cardNo, AXIS_XYZU, 1000);
//continue to move at the speed of 1K PPS
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0F
01
10
1F 40
00 04
Register[]
Value (hex)
Remarks
0
0A 50/0C 50
Sub_function code
1
00 0F
axis (0xF = AXIS_XYZU)
2
00 00
MSW of data
3
03 E8
LSW of data (1000 = 0x3E8)
Byte
Count
(hex)
08
Related example:
BYTE cardNo=1; //select module 1
ETM_SET_MAX_V(h, cardNo, AXIS_XYZU, 20000);
//set the maximum speed of all axes on module 1 to 20K PPS.
ETM_NORMAL_SPEED(h, cardNo, AXIS_XYZU, 0);
//set the speed profile for all axes as a symmetric T-curve.
ETM_SET_V(h, cardNo, AXIS_XYZU, 2000);
//set the speed of all axes on module 1 to 2000 PPS.
ETM_SET_A(h, cardNo, AXIS_XYZU,1000);
//set the acceleration value of all axes to 1000 PPS/S.
ETM_SET_SV(h, cardNo, AXIS_XYZU, 2000);
//set the start velocity of all axes to 2000 PPS
ETM_CONTINUE_MOVE(h, cardNo, AXIS_XYZU, 1000);
//move all axes on module 1 at a speed of 1000 PPS.
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6.2
Interpolation Commands
6.2.1
Assigning the Axes for Interpolation
eRET ETM_AXIS_ASSIGN (HANDLE h, BYTE cardNo, BYTE axis1,
BYTE axis2, BYTE axis3)
※∆ eRET ETM_MACRO_AXIS_ASSIGN (HANDLE h, BYTE cardNo, BYTE
axis1, BYTE axis2, BYTE axis3)
Description:
This function assigns the axes to be used for interpolation. Either two or
three axes can be assigned by using this function. Interpolation commands
will refer to the assigned axes to construct a working coordinate system.
The X axis does not necessarily have to be the first axis. However, it is
easier to use the X axis as the first axis, the Y axis as the second axis, and
the Z axis as the third axis.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
axis1:
axis2:
axis3:
Description
Module number  MP-8000 : 1~7
The first axis (Please refer to Table 2)
The axis can be either X, Y, Z or U (1 or 2 or 4 or
8).
The second axis; can be either X, Y, Z, or U (1 or
2 or 4 or 8).
The third axis; can be either X, Y, Z, or U (1 or 2
or 4 or 8). Without 3rd axis the value is 0.
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_AXIS_ASSIGN is 0A 5A.
The Sub_function code of ETM_MACRO_AXIS_ASSIGN is 0C 5A.
MODBUS example:
ETM_AXIS_ASSIGN (h, 1, AXIS_X, AXIS_Y, 0);
//set the X axis of module 1 as the first axis and the Y axis as the second
//axis.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0F
01
10
1F 40
00 04
Register[]
Value (hex)
Remarks
0
0A 5A/0C 5A
Sub_function code
1
00 01
axis1 (axis1 = AXIS_X)
2
00 02
axis2 (axis1 = AXIS_Y)
3
00 00
Axis3 (not defined)
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6.2.2
Setting the Speed and Acc/Dec Mode
eRET ETM_VECTOR_SPEED (HANDLE h, BYTE cardNo, BYTE nMode)
※∆ eRET ETM_MACRO_VECTOR_SPEED (HANDLE h, BYTE cardNo,
BYTE nMode)
Description:
This function sets vector acceleration or deceleration mode.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
nMode:
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Description
Module number  MP-8000 : 1~7
0  2-axis linear or circular motion at a constant
vector speed (Set VV and VSV; and VV=VSV).
1  2-axis linear motion using a symmetric Tcurve velocity profile (set VSV, VV, VA, and VAO)
2  2-axis linear motion using a symmetric Scurve velocity profile(set VSV, VV, VK, and VAO)
3  2-axis linear motion using an asymmetric Tcurve velocity profile (set VSV, VV, VA, VD, and
VAO)
4  2-axis linear motion using an asymmetric Scurve velocity profile (set VSV, VV, VK, VL, and
VAO)
5  2-axis circular motion using a symmetric Tcurve velocity profile (set VSV, VV, VA, and VAO)
6  2-axis circular motion using an asymmetric Tcurve velocity rofile (set VSV, VV, VA, VD, and
VAO)
7  3-axis linear motion at a constant vector
speed set VV and VSV; and VV=VSV)
8  3-axis linear motion at using a symmetric Tcurve velocity rofile (set VSV, VV, VA, and VAO)
9  3-axis linear motion using a symmetric Scurve velocity profile (set VSV, VV, VK, and VAO)
10  3-axis linear motion using an asymmetric Tcurve velocity profile (set VSV, VV, VA, VD, and
VAO)
11  3-axis linear motion using an asymmetric Scurve velocity profile (set VSV, VV, VK, VL, and
VAO)
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Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
Please refer the configurations of speed-related parameters.
The Sub_function code of ETM_VECTOR_SPEED is 0A 5B.
The Sub_function code of ETM_MACRO_VECTOR_SPEED is 0C 5B.
MODBUS example:
ETM_VECTOR_SPEED (h, cardNo, 0);
//set the module to perform 2-axis linear or circular motion
//at a constant vector speed.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0B
01
10
1F 40
00 02
Register[]
Value (hex)
Remarks
0
0A 5B/0C 5B
Sub_function code
1
00 00
nMode
Byte
Count
(hex)
04
Related example:
BYTE cardNo=1; //select module 1.
ETM_SET_MAX_V(h, cardNo, AXIS_XYZU, 20000);
//set the maximum speed of all axes to 20K PPS.
//===============================================
ETM_AXIS_ASSIGN(h, cardNo, AXIS_X, AXIS_Y, 0);
//set the X axis as the first axis and the Y axis as the second axis.
ETM_VECTOR_SPEED(h, cardNo, 0);
//set module 1 to perform 2-axis linear or circular motion
ETM_SET_VV(h, cardNo, 1000);
//set the vector speed to 1000 PPS.
ETM_LINE_2D(h, cardNo, 12000, 10000);
//execute the 2-axis linear interpolation motion.
//===============================================
ETM_AXIS_ASSIGN(h, cardNo, AXIS_X, AXIS_Y, 0);
//set the X axis as the first axis and the Y axis as the second axis.
ETM_VECTOR_SPEED(h, cardNo, 1);
//set module 1 to perform 2-axis linear motion using a symmetric
//T-curve velocity profile (VSV、VV、VA、VAO).
ETM_SET_VSV(h, cardNo, 500); //set the starting vector speed to 500 PPS.
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ETM_SET_VV(h, cardNo, 2000); //set the vector speed to 2000 PPS.
ETM_SET_VA(h, cardNo, 1000);
//set the vector acceleration to 1000 PPS/sec.
ETM_LINE_2D(h, cardNo, 20000, 10000);
//execute the 2-axis linear interpolation motion.
//===============================================
ETM_AXIS_ASSIGN(h, cardNo, AXIS_X, AXIS_Y, 0);
//set the X axis as the first axis and the Y axis as the second axis.
ETM_VECTOR_SPEED(h, cardNo, 2);
//2-axis linear motion using a symmetric S-curve velocity profile(VSV、VV、
//VK、AO).
ETM_SET_VSV(h, cardNo, 200); //set the starting vector speed to 200 PPS.
ETM_SET_VV(h, cardNo, 2000); //set the vector speed to 2000 PPS.
ETM_SET_VK(h, cardNo, 500); //set the acceleration rate to 500 PPS/Sec.
ETM_SET_VAO(h, cardNo, 20);
//set the value of remaining offset pulses to 20.
ETM_LINE_2D(h, cardNo, 10000, 10000);
//execute the 2-axis linear interpolation motion.
//===============================================
ETM_AXIS_ASSIGN(h, cardNo, AXIS_X, AXIS_Y, 0);
//set the X axis as the first axis and the Y axis as the second axis.
ETM_VECTOR_SPEED(h, cardNo, 3);
//2-axis linear motion using an asymmetric T-curve velocity profile(VSV、
//VV、VA、VD、VAO).
ETM_SET_VSV(h, cardNo, 100); //set the start vector speed to 100 PPS.
ETM_SET_VV(h, cardNo, 2000); //set the vector speed to 2000 PPS.
ETM_SET_VA(h, cardNo, 1000);
//set the vector acceleration to 1000 PPS/sec.
ETM_SET_VD(h, cardNo, 500); //set the vector deceleration to 500 PPS/sec.
ETM_SET_VAO(h, cardNo, 20);
//set the value of remaining offset pulses to 20.
ETM_LINE_2D(h, cardNo, 10000, 5000);
//execute the 2-axis linear interpolation motion.
//===============================================
long fp1=4000;
long fp2=10000;
unsigned short sv=200;
unsigned short v=2000;
ETM_SET_MAX_V(h, cardNo, AXIS_XYZU, 8000);
ETM_AXIS_ASSIGN(h, cardNo, AXIS_X, AXIS_Y, 0);
//set the X axis as the first axis and the Y axis as the second axis.
ETM_VECTOR_SPEED(h, cardNo, 4);
//2-axis linear motion using an asymmetric S-curve velocity profile(VSV、
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//VV、VK、VL、VAO).
ETM_SET_VSV(h, cardNo, sv); //set the starting velocity to sv PPS.
ETM_SET_VV(h, cardNo, v); //set the vector speed to v PPS.
ETM_SET_VK(h, cardNo, 500); //set the acceleration rate to 500 PPS/Sec^2.
ETM_SET_VL(h, cardNo, 300); //set the deceleration rate to 300 PPS/Sec^2.
ETM_SET_VAO(h, cardNo, 20);
//set the value of remaining offset pulses to 20.
ETM_LINE_2D(h, cardNo, fp1, fp2); //execute the 2-axis linear motion.
//===============================================
long fp1=11000;
long fp2=9000;
long c1=10000;
long c2=0;
unsigned short sv=100;
unsigned short v=3000;
unsigned long a=5000;
ETM_SET_MAX_V(h, cardNo, AXIS_XYZU, 8000);
ETM_AXIS_ASSIGN(h, cardNo, AXIS_X, AXIS_Y, 0);
//set the X axis as the first axis and the Y axis as the second axis.
ETM_VECTOR_SPEED(h, cardNo, 5);
//2-axis circular motion using a symmetric T-curve velocity profile(VSV、
// VV、 VA、VAO).
ETM_SET_VSV(h, cardNo, sv); //set the starting vector speed to sv PPS.
ETM_SET_VV(h, cardNo, v); //set vector speed to v PPS.
ETM_SET_VA(h, cardNo, a); //set the vector acceleration to a PPS/sec.
ETM_SET_VAO(h, cardNo, 0);
//set the value of remaining offset pulses to 0 Pulse.
ETM_ARC_CW(h, cardNo, c1,c2, fp1, fp2);
//execute the 2-axis CW circular motion.
//===============================================
long c1=300;
long c2=0;
unsigned short sv=100;
unsigned short v=3000;
unsigned long a=125;
unsigned long d=12;
ETM_SET_MAX_V(h, cardNo, AXIS_XYZU, 8000);
ETM_AXIS_ASSIGN(h, cardNo, AXIS_X, AXIS_Y, 0);
//set the X axis as the first axis and the Y axis as the second axis.
ETM_VECTOR_SPEED(h, cardNo, 6);
//2-axis circular motion using an asymmetric T-curve velocity
//profile(VSV、VV、VA、VD、VAO).
ETM_SET_VSV(h, cardNo, sv); //set the starting vector speed to sv PPS.
ETM_SET_VV(h, cardNo, v); //set vector speed to v PPS.
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ETM_SET_VA(h, cardNo, a); //set acceleration to a PPS/Sec.
ETM_SET_VD(h, cardNo, d); //set the deceleration to d PPS/Sec.
ETM_SET_VAO(h, cardNo, 0); //set the value of remaining offset pulses to 0.
ETM_CIRCLE_CW(h, cardNo, c1, c2);
//execute the 2-axis CW circular motion.
//===============================================
ETM_AXIS_ASSIGN(h, cardNo, AXIS_X, AXIS_Y, AXIS_Z);
// set axis1 as the X axis, axis2 as the Y axis, and axis3 as the Z axis.
ETM_VECTOR_SPEED(h, cardNo, 7);
//3-axis linear motion at a constant vector speed (VSV=VV).
ETM_SET_VSV(h, cardNo, 1000); //set the start speed to 1000 PPS.
ETM_SET_VV(h, cardNo, 1000); //set the constant speed to 1000 PPS.
ETM_LINE_3D(h, cardNo, 10000, 10000,10000);
//execute the 3-axis linear motion.
//===============================================
ETM_AXIS_ASSIGN(h, cardNo, AXIS_X, AXIS_Y, AXIS_Z);
// set axis1 as the X axis, axis2 as the Y axis, and axis3 as the Z-axis.
ETM_VECTOR_SPEED(h, cardNo, 8);
//3-axis linear motion using a symmetric T-curve velocity profile(VSV、VV、
//VA、VAO).
ETM_SET_VSV(h, cardNo, 100); //set the starting speed to 100 PPS.
ETM_SET_VV(h, cardNo, 3000); //set the vector speed to 3000 PPS.
ETM_SET_VA(h, cardNo, 500); //set the vector acceleration to 500 PPS/Sec.
ETM_SET_VAO(h, cardNo, 20);
//set the value of remaining offset pulses to 20.
ETM_LINE_3D(h, cardNo, 10000, 1000,20000);
//execute the 3-axis linear motion
//===============================================
ETM_AXIS_ASSIGN(h, cardNo, AXIS_X, AXIS_Y, AXIS_Z);
// set the axis1 as the X axis, axis2 as the Y axis, and axis3 as the Z axis.
ETM_VECTOR_SPEED(h, cardNo, 9);
//3-axis linear motion using a symmetric S-curve velocity profile(VSV、VV、
//VK、VAO).
ETM_SET_VSV(h, cardNo, 100); //set the starting speed to 100 PPS.
ETM_SET_VV(h, cardNo, 3000); //set the vector speed to 3000 PPS.
ETM_SET_VK(h, cardNo, 500);
//set the vector acceleration rate to 500 PPS/sec^2.
ETM_SET_VAO(h, cardNo, 20);
//set the value of remaining offset pulses to 20.
ETM_LINE_3D(h, cardNo, 10000, 1000,1000);
//execute the 3-axis linear motion.
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//===============================================
ETM_AXIS_ASSIGN(h, cardNo, AXIS_X, AXIS_Y, AXIS_Z);
// set the axis1 as the X axis, axis2 as the Y axis, and axis3 as the Z axis.
ETM_VECTOR_SPEED(h, cardNo, 10);
//set the module 1 to perform 3-axis linear motion
//using an asymmetric T-curve speed profile(VSV、VV、VA、VD、VAO).
ETM_SET_VSV(h ,cardNo, 100); //set the starting speed to 100 PPS.
ETM_SET_VV(h ,cardNo, 2000); //set the vector speed as 2000 PPS.
ETM_SET_VA(h, cardNo, 1000);
//set the vector acceleration to 1000 PPS/sec.
ETM_SET_VD(h, cardNo, 500); //set the vector deceleration to 500 PPS/sec.
ETM_SET_VAO(h, cardNo, 20);
//set the value of remaining offset pulses to 20.
ETM_LINE_3D(h, cardNo, 10000, 1000,1000);
//execute the 3-axis linear motion.
//===============================================
long fp1=4000;
long fp2=10000;
long fp3=20000;
unsigned short sv=200;
unsigned short v=2000;
ETM_SET_MAX_V(h, cardNo, AXIS_XYZU, 8000);
ETM_AXIS_ASSIGN(h, cardNo, AXIS_X, AXIS_Y, AXIS_Z);
// set axis1 as the X axis, axis2 as the Y axis, and axis3 as the Z axis.
ETM_VECTOR_SPEED(h, cardNo, 11);
//3-axis linear motion using an asymmetric S-curve velocity profile(VSV、
//VV、VK、VL、VAO).
ETM_SET_VSV(h, cardNo, sv); //set the starting speed to sv PPS.
ETM_SET_VV(h, cardNo, v); //set the vector speed to v PPS.
ETM_SET_VK(h, cardNo, 500);
//set the vector acceleration rate to 500 PPS/sec^2.
ETM_SET_VL(h, cardNo, 300);
//set the vector deceleration rate to 300 PPS/sec^2.
ETM_SET_VAO(h, cardNo, 20);
//set the value of remaining offset pulses to 20.
ETM_LINE_3D(h, cardNo, fp1, fp2, fp3);
//execute the 3-axis linear motion.
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6.2.3
Setting the Vector Starting Speed
eRET ETM_SET_VSV (HANDLE h, BYTE cardNo, DWORD data)
※∆ eRET ETM_MACRO_SET_VSV (HANDLE h, BYTE cardNo, DWORD
data)
Description:
This function sets the starting speed of the principle axis (axis 1) for the
interpolation motion.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
data:
Description
Module number  MP-8000 : 1~7
The vector starting speed value (in PPS) (For
maximum value please refer to section 2.5).
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SET_VSV is 0A 5C.
The Sub_function code of ETM_MACRO_SET_VSV is 0C 5C.
MODBUS example:
ETM_SET_VSV (h, 1, 1000);
//set the starting speed of the axis 1 for the interpolation motion
//on module 1 to 1000 PPS.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0D
01
10
1F 40
00 03
Register[]
Value (hex)
Remarks
0
0A 5C/0C 5C
Sub_function code
1
00 00
MSW of data
2
03 E8
LSW of data (1000 = 0x3E8)
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6.2.4
Setting the Vector Speed
eRET ETM_SET_VV (HANDLE h, BYTE cardNo, DWORD data)
※∆ eRET ETM_MACRO_SET_VV (HANDLE h, BYTE cardNo, DWORD data)
Description:
This function sets the vector speed of the interpolation motion. Users do
not need to assign any axes on this function. The speed setting will take
effect on the current working coordinate system which is defined by the
ETM_AXIS_ASSIGN() function.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
data:
Description
Module number  MP-8000 : 1~7
The vector speed value (in PPS) (For maximum
value please refer to section 2.5).
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SET_VV is 0A 5D.
The Sub_function code of ETM_MACRO_SET_VV is 0C 5D.
MODBUS example:
ETM_SET_VV (h, 1, 120000L);
//set the vector speed of the interpolation on module 1 to 120000 PPS.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0D
01
10
1F 40
00 03
Register[]
Value (hex)
Remarks
0
0A 5D/0C 5D
Sub_function code
1
00 01
MSW of data
2
D4 C0
LSW of data (120000 = 0x1D4C0)
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6.2.5
Setting the Vector Acceleration
eRET ETM_SET_VA (HANDLE h, BYTE cardNo, DWORD data)
※∆ eRET ETM_MACRO_SET_VA (HANDLE h, BYTE cardNo, DWORD data)
Description:
This function sets the vector acceleration of the interpolation motion.
Users do not need to assign any axes on this function. The speed setting
will take effect on the current working coordinate system which is defined
by the ETM_AXIS_ASSIGN() function.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
data:
Description
Module number  MP-8000 : 1~7
The vector acceleration value (in PPS/sec). This
value is related to the maximum speed value
defined by ETM_SET_MAX_V () function. The
maximum available acceleration value is MAX_V
* 125. The minimum acceleration value is MAX_V
÷ 64, and all other acceleration values are the
integral multipliers of this value. The practical
value for application depends on the capability
of the motor drive and motor.
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SET_VA is 0A 5E.
The Sub_function code of ETM_MACRO_SET_VA is 0C 5E.
MODBUS example:
ETM_SET_VA (h, 1, 100000L);
//set the vector acceleration of the interpolation motion
//on module 1 to 100K PPS/sec.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0D
01
10
1F 40
00 03
Register[]
Value (hex)
Remarks
0
0A 5E/0C 5E
Sub_function code
1
00 01
MSW of data
2
86 A0
LSW of data (100000 = 0x186A0)
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6.2.6
Setting the Vector Deceleration Value
eRET ETM_SET_VD (HANDLE h, BYTE cardNo, DWORD data)
※∆ eRET ETM_MACRO_SET_VD (HANDLE h, BYTE cardNo, DWORD data)
Description:
This function sets the vector deceleration of the interpolation motion.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
data:
Description
Module number  MP-8000 : 1~7
The vector deceleration value (in PPS/sec). This
value is related to the maximum speed value
defined by ETM_SET_MAX_V () function. The
maximum available acceleration value is MAX_V
* 125. The minimum acceleration value is MAX_V
÷ 64, and all other acceleration values are the
integral multipliers of this value. The practical
value for application depends on the capability
of the motor drive and motor.
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SET_VD is 0A 5F.
The Sub_function code of ETM_MACRO_SET_VD is 0C 5F.
MODBUS example:
ETM_SET_VD (h, 1, 100000L);
//set the vector deceleration value of interpolation motion
//on module 1 to 100K PPS/Sec.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0D
01
10
1F 40
00 03
Register[]
Value (hex)
Remarks
0
0A 5F/0C 5F
Sub_function code
1
00 01
MSW of data
2
86 A0
LSW of data (100000 = 0x186A0)
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6.2.7
Setting the Vector Acceleration Rate
eRET ETM_SET_VK (HANDLE h, BYTE cardNo, DWORD data)
※∆ eRET ETM_MACRO_SET_VK (HANDLE h, BYTE cardNo, DWORD data)
Description:
Set the acceleration rate (jerk) value for interpolation motion.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
data:
Description
Module number  MP-8000 : 1~7
The acceleration rate (jerk) value(PPS/sec2).
This value is related to the maximum speed
value defined by ETM_SET_MAX_V () function.
The minimum acceleration rate is MAX_V *
0.0119211;
The maximum acceleration rate value is
2,000,000,000.
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SET_VK is 0A 60.
The Sub_function code of ETM_MACRO_SET_VK is 0C 60.
MODBUS example:
ETM_SET_VK (h, 1, 10000);
//set the acceleration rate of the interpolation motion on module 1
// to 10,000 PPS/sec^2.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0D
01
10
1F 40
00 03
Register[]
Value (hex)
Remarks
0
0A 60/0C 60
Sub_function code
1
00 00
MSW of data
2
27 10
LSW of data (10000 = 0x2710)
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6.2.8
Setting the Vector Deceleration Rate
eRET ETM_SET_VL (HANDLE h, BYTE cardNo, DWORD data)
※∆ eRET ETM_MACRO_SET_VL (HANDLE h, BYTE cardNo, DWORD data)
Description:
Set the deceleration rate of the interpolation motion.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
data:
Description
Module number  MP-8000 : 1~7
The deceleration rate (jerk) value(PPS/sec2).
This value is related to the maximum speed
value defined by ETM_SET_MAX_V () function.
The minimum acceleration rate is MAX_V *
0.0119211;
The maximum acceleration rate value is
2,000,000,000.
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SET_VL is 0A 61.
The Sub_function code of ETM_MACRO_SET_VL is 0C 61.
MODBUS example:
ETM_SET_VL (h, 1, 10000);
//set the deceleration rate of the interpolation on module 1 to 10,000
//PPS/sec^2.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0D
01
10
1F 40
00 03
Register[]
Value (hex)
Remarks
0
0A 61/0C 61
Sub_function code
1
00 00
MSW of data
2
27 10
LSW of data (10000 = 0x2710)
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Byte
Count
(hex)
06
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6.2.9
Setting the Number of Remaining Offset Pulses
eRET ETM_SET_VAO (HANDLE h, BYTE cardNo, long data)
※∆ eRET ETM_MACRO_SET_VAO (HANDLE h, BYTE cardNo, long data)
Description:
Setting this value will cause the motion control chip to start deceleration
earlier. The remaining offset pulses will be completed at low speed to allow
the controller to stop immediately when it reaches the offset pulse value.
Please refer to the figure below for more information.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
data:
Description
Module number  MP-8000 : 1~7
The number of remaining offset pulses. (-32,768
~ +32,767).
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SET_VAO is 0A 62.
The Sub_function code of ETM_MACRO_SET_VAO is 0C 62.
MODBUS example:
ETM_SET_VAO (h, 1, 200);
//set the number of remaining offset pulse value on module 1 to 200.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0D
01
10
1F 40
00 03
Register[]
Value (hex)
Remarks
0
0A 62/0C 62
Sub_function code
1
00 00
MSW of data
2
00 C8
LSW of data (200 = 0xC8)
ICP DAS
177
Byte
Count
(hex)
06
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6.2.10 2-Axis Interpolation Motion
eRET ETM_LINE_2D (HANDLE h, BYTE cardNo, long fp1, long fp2)
※∆ eRET ETM_MACRO_LINE_2D (HANDLE h, BYTE cardNo, long fp1,
long fp2)
Description:
This function executes a 2-axis linear interpolation motion.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
fp1:
fp2:
Description
Module number  MP-8000 : 1~7
The displacement of the axis 1 in Pulses
(-2,000,000,000 ~ +2,000,000,000)
The displacement of the axis 2 in Pulses
(-2,000,000,000 ~ +2,000,000,000)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_LINE_2D is 0A 63.
The Sub_function code of ETM_MACRO_LINE_2D is 0C 63.
MODBUS example:
ETM_LINE_2D (h, 1, 12000, 10000);
//execute the 2-axis linear interpolation motion on module 1.
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2-axis linear interpolation motion
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 11
01
10
1F 40
00 05
Register[]
Value (hex)
Remarks
0
0A 63/0C 63
Sub_function code
1
00 00
MSW of fp1
2
2E E0
LSW of fp1 (12000 = 0x2EE0)
3
00 00
MSW of fp2
4
27 10
LSW of fp2 (10000 = 0x2710)
ICP DAS
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Byte
Count
(hex)
0A
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6.2.11 3-Axis Interpolation Motion
eRET ETM_LINE_3D (HANDLE h, BYTE cardNo, long fp1, long fp2,
long fp3)
※∆ eRET ETM_MACRO_LINE_3D (HANDLE h, BYTE cardNo, long fp1,
long fp2, long fp3)
Description:
This function executes a 3-axis linear interpolation motion.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
fp1:
fp2:
fp3:
Description
Module number  MP-8000 : 1~7
The displacement of the first axis (axis 1) in
Pulses(-2,000,000,000 ~ +2,000,000,000)
The displacement of the second axis (axis 2) in
Pulses(-2,000,000,000 ~ +2,000,000,000)
The displacement of the third axis (axis 3) in
Pulses(-2,000,000,000 ~ +2,000,000,000)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Use the ETM_GET_ERROR_CODE() function to identify the errors.
Remark:
The Sub_function code of ETM_LINE_3D is 0A 64.
The Sub_function code of ETM_MACRO_LINE_3D is 0C 64.
MODBUS example:
ETM_LINE_3D (h, 1, 10000, 10000, 10000);
//execute the 3-axis linear interpolation motion on module 1.
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3-axis linear interpolation mo
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 15
01
10
1F 40
00 07
Register[]
Value (hex)
Remarks
0
0A 64/0C 64
Sub_function code
1
00 00
MSW of fp1
2
27 10
LSW of fp1 (10000 = 0x2710)
3
00 00
MSW of fp2
4
27 10
LSW of fp2 (10000 = 0x2710)
5
00 00
MSW of fp3
6
27 10
LSW of fp3 (10000 = 0x2710)
ICP DAS
181
Byte
Count
(hex)
0E
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6.2.12 2-Axis Circular Interpolation Motion (an Arc)
eRET ETM_ARC_CW (HANDLE h, BYTE cardNo, long cp1, long cp2,
long fp1, long fp2)
※∆ eRET ETM_MACRO_ARC_CW (HANDLE h, BYTE cardNo, long cp1,
long cp2, long fp1, long fp2)
Description:
This function executes a 2-axis circular interpolation motion in a clockwise
(CW) direction.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
cp1:
cp2:
fp1:
fp2:
Description
Module number  MP-8000 : 1~7
The relative position of the center to the current
position of axis 1 in pulses. (-2,000,000,000 ~
+2,000,000,000).
The relative position of the center to the current
position of axis 2 in pulses. (-2,000,000,000 ~
+2,000,000,000).
The displacement of the axis 1 in Pulses
(-2,000,000,000 ~ +2,000,000,000)
The displacement of the axis 2 in Pulses
(-2,000,000,000 ~ +2,000,000,000)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Use the ETM_GET_ERROR_CODE() function to identify the errors.
Remark:
The Sub_function code of ETM_ARC_CW is 0A 65.
The Sub_function code of ETM_MACRO_ARC_CW is 0C 65.
MODBUS example:
ETM_ARC_CW (h, 1, -5000, -5000, -10000, -10000);
// Issues a command to perform a circular motion (an arc)
in a CW direction. Please refer to the following figure.
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2-axis circular motion in a CW direction
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
Byte
(hex)
(hex) Length (hex) (hex)
(hex)
Count
Count
(hex)
(hex)
(hex)
00 01 00 00
00 19
01
10
1F 40
00 09
12
Register[]
Value (hex)
Remarks
0
0A 65/0C 65
Sub_function code
1
FF FF
MSW of cp1
2
EC 78
LSW of cp1 (-5000 = 0xFFFFEC78)
3
FF FF
MSW of cp2
4
EC 78
LSW of cp2 (-5000 = 0xFFFFEC78)
5
FF FF
MSW of fp1
6
D8 F0
LSW of fp1 (-10000 = 0xFFFFD8F0)
7
FF FF
MSW of fp2
8
D8 F0
LSW of fp2 (-10000 = 0xFFFFD8F0)
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eRET ETM_ARC_CCW (HANDLE h, BYTE cardNo, long cp1, long cp2,
long fp1, long fp2)
※∆ eRET ETM_MACRO_ARC_CCW (HANDLE h, BYTE cardNo, long cp1,
long cp2, long fp1, long fp2)
Description:
This function executes a 2-axis circular interpolation motion in a counterclockwise (CCW) direction.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
cp1:
cp2:
fp1:
fp2:
Description
Module number  MP-8000 : 1~7
The relative position of the center to the current
position of axis 1 in pulses. (-2,000,000,000 ~
+2,000,000,000).
The relative position of the center to the current
position of axis 2 in pulses. (-2,000,000,000 ~
+2,000,000,000).
The displacement of the axis 1 in Pulses
(-2,000,000,000 ~ +2,000,000,000)
The displacement of the axis 2 in Pulses
(-2,000,000,000 ~ +2,000,000,000)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Use the ETM_GET_ERROR_CODE() function to identify the errors.
Remark:
The Sub_function code of ETM_ARC_CCW is 0A 67.
The Sub_function code of ETM_MACRO_ARC_CCW is 0C 67.
MODBUS example:
ETM_ARC_CCW (h, 1, -5000, -5000, -10000, -10000);
// Issues a command to perform a circular motion (an arc)
in a CCW direction. Please refer to the following figure.
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2-axis circular motion in a CW direction
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
Byte
(hex)
(hex) Length (hex) (hex)
(hex)
Count
Count
(hex)
(hex)
(hex)
00 01 00 00
00 19
01
10
1F 40
00 09
12
Register[]
Value (hex)
Remarks
0
0A 67/0C 67
Sub_function code
1
FF FF
MSW of cp1
2
EC 78
LSW of cp1 (-5000 = 0xFFFFEC78)
3
FF FF
MSW of cp2
4
EC 78
LSW of cp2 (-5000 = 0xFFFFEC78)
5
FF FF
MSW of fp1
6
D8 F0
LSW of fp1 (-10000 = 0xFFFFD8F0)
7
FF FF
MSW of fp2
8
D8 F0
LSW of fp2 (-10000 = 0xFFFFD8F0)
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6.2.13 2-Axis Circular Interpolation Motion (an Complete
Circle)
eRET ETM_CIRCLE_CW (HANDLE h, BYTE cardNo, long cp1, long
cp2)
※∆ eRET ETM_MACRO_CIRCLE_CW (HANDLE h, BYTE cardNo, long
cp1, long cp2)
Description:
This function executes a 2-axis circular interpolation motion in a clockwise
(CW) direction.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
cp1:
cp2:
Description
Module number  MP-8000 : 1~7
The relative position of the center to the current
position of axis 1 in pulses. (-2,000,000,000 ~
+2,000,000,000).
The relative position of the center to the current
position of axis 2 in pulses. (-2,000,000,000 ~
+2,000,000,000).
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Use the ETM_GET_ERROR_CODE() function to identify the errors.
Remark:
The Sub_function code of ETM_CIRCLE_CW is 0A 69.
The Sub_function code of ETM_MACRO_CIRCLE_CW is 0C 69.
MODBUS example:
ETM_CIRCLE_CW (h, 1, 0, 10000);
// execute a circular motion (a complete circle) in a CW direction
// on module 1.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 11
01
10
1F 40
00 05
Register[]
Value (hex)
Remarks
0
0A 69/0C 69
Sub_function code
1
00 00
MSW of cp1
2
00 00
LSW of cp1 (0 = 0x0)
3
00 00
MSW of cp2
4
27 10
LSW of cp2 (10000 = 0x2710)
ICP DAS
187
Byte
Count
(hex)
0A
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eRET ETM_CIRCLE_CCW (HANDLE h, BYTE cardNo, long cp1, long
cp2)
※∆ eRET ETM_MACRO_CIRCLE_CCW (HANDLE h, BYTE cardNo, long
cp1, long cp2)
Description:
This function executes a 2-axis circular interpolation motion in a counterclockwise (CCW) direction.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
cp1:
cp2:
Description
Module number  MP-8000 : 1~7
The relative position of the center to the current
position of axis 1 in pulses. (-2,000,000,000 ~
+2,000,000,000).
The relative position of the center to the current
position of axis 2 in pulses. (-2,000,000,000 ~
+2,000,000,000).
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Use the ETM_GET_ERROR_CODE() function to identify the errors.
Remark:
The Sub_function code of ETM_CIRCLE_CCW is 0A 6A.
The Sub_function code of ETM_MACRO_CIRCLE_CCW is 0C 6A.
MODBUS example:
ETM_CIRCLE_CCW (h, 1, 0, 10000);
// execute a circular motion (a complete circle) in a CCW direction
//on module 1.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 11
01
10
1F 40
00 05
Register[]
Value (hex)
Remarks
0
0A 6A/0C 6A
Sub_function code
1
00 00
MSW of cp1
2
00 00
LSW of cp1 (0 = 0x0)
3
00 00
MSW of cp2
4
27 10
LSW of cp2 (10000 = 0x2710)
ICP DAS
189
Byte
Count
(hex)
0A
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6.3
Synchronous Actions
6.3.1
Setting the Synchronous Action
eRET ETM_SYNC_ACTION (HANDLE h, BYTE cardNo, BYTE axis1,
BYTE axis2, DWORD nSYNC, BYTE nDRV, BYTE nLATCH, BYTE
nPRESET, BYTE nOUT, BYTE nINT, BYTE isrNoX, BYTE isrNoY,
BYTE isrNoZ, BYTE isrNoU)
※∆ eRET ETM_MACRO_SYNC_ACTION (HANDLE h, BYTE cardNo, BYTE
axis1, BYTE axis2, DWORD nSYNC, BYTE nDRV, BYTE nLATCH,
BYTE nPRESET, BYTE nOUT, BYTE nINT, BYTE isrNoX, BYTE
isrNoY, BYTE isrNoZ, BYTE isrNoU)
Description:
This function sets the activation factors for synchronous action. (It’s totalhardware-solution, will not consume any MP-8000 system resources).
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
axis1:
axis2:
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Description
Module number  MP-8000 : 1~7
This is the monitored axis. It will be checked by
hardware. The axis can be either X,Y, Z or U (1 or
2 or 4 or 8) (Please refer to Table 2).
This defined the other axes (or axis) that will take
action when one of the activation factors occurs.
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nSYNC:
It defines the activation factors. Multiple activation factors can be
defined at the same time. Available active factors are listed in the
following table.
Value
Event
0x00000000
P  C+
0x00000001
P<C+
0x00000002
P<C0x00000004
P  C0x00000008
0x00000010
0x00000020
0x00000040
0x00000080
D-STA
D-END
IN3 
IN3 
Explanation
Disable the synchronous action
The logical/real position counter value exceeded the
COMP+ register value.
Use the ETM_SET_COMPARE () function for selection of
a logical/real position(6.3.2).
The logical/real position counter value became less than
the COMP+ register value.
Use the ETM_SET_COMPARE () function for selection of
a logical/real position(6.3.2).
The logical/real position counter value became less than
the COMP- register value.
Use the ETM_SET_COMPARE () function for selection of
a logical/real position(6.3.2).
The logical/real position counter value exceeded the
COMP- register value.
Use the ETM_SET_COMPARE () function for selection of
a logical/real position(6.3.2).
Driving started.
Driving terminated.
The nIN3 signal rose from the Low to the High level.
The nIN3 signal fell from the High to the Low level.
example: Choose P  C+ and IN3  (0x00000001 + 0x00000040 = 0x00000041)
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It defines the actions that are related with axial driving. Available
actions are listed in the following table. Only one driving action can
be chosen.
nDRV:
Value
Symbol
0
1
FDRV+
2
FDRV-
3
CDRV+
4
CDRV-
5
6
SSTOP
ISTOP
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Explanation
Disable driving action.
Activates fixed pulse driving in the + direction. It must set
the nPRESET value to be “OPSET” which indicates that
ETM_SET_PRESET() function will set the offset value for
this FDRV. Therefore, the companion function,
ETM_SET_PRESET(), is necessary. However, this
command does not take effect if the assigned axes,
axis2, are moving.
Activates fixed pulse driving in the - direction. It must set
the nPRESET value to be “OPSET” which indicates that
ETM_SET_PRESET() function will set the offset value for
this FDRV. Therefore, the companion function, ETM
_SET_PRESET(), is necessary. However, this command
does not take effect if the assigned axes, axis2, are
moving.
Activates continuous pulse driving in the + direction.
However, this command does not take effect if the
assigned axes, axis2, are moving
Activates continuous pulse driving in the - direction.
However, this command does not take effect if the
assigned axes, axis2, are moving.
Stop driving in deceleration
Stop driving immediately
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It defines the actions that is related of latching position. Available
actions are listed in the following table. Only one of these actions
can be chosen
nLATCH:
Value
Symbol
0
1
LPSAV
2
EPSAV
Explanation
Disable position latch function
Saves the current logical position counter value (LP) in
the synchronous buffer register (BR). [LP  LATCH]
Saves the current real position counter value (EP) in the
synchronous buffer register (BR). [EP  LATCH]
After the event is occoured, the ETM_GET_LATCH() function can be use to get the
latched value, please refer to section 6.3.3.
It defines the actions that is related of latching position. Available
actions are listed in the following table. Only one of these actions
can be chosen.
Value Symbol
Explanation
nPRESET:
0
1
LPSET
2
EPSET
3
OPSET
4
VLSET
Disable setting function
Indicates that a new value for the logical position (LP) will
be set. The new value will be set by ETM_SET_PRESET()
function. [LP  PRESET]
Indicates that a new value for the real position (EP) will
be set. The new value will be set by ETM_SET_PRESET()
function. [EP  PRESET]
Indicates that a new offset value (P) for the fixed pulse
driving will be set. The new value will be set by
ETM_SET_PRESET() function. [P  PRESET]
This setting is invalid to the Finish-Point of the axes in
CONTINUE_MOVE.
Indicates that a new speed value (V) will be set. The new
value will be set by ETM_SET_PRESET() function.
[V  PRESET]
Must be used with ETM_SET_PRESET together, please refer to section 6.3.4.
nOUT:
setting trigger output, as the following table:
Value Symbol
Explanation
0
1
OUT
Disable trigger output
Enable trigger output
Must be used with ETM_SET_OUT together, please refer to section 6.3.5.
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setting interrupt function, as the following table:
Value
Symbol
Explanation
nINT:
0
1
INT
Disable interrupt function
Enable interrupt function
1. It will generate a interrupt for the synchronous action of axis2, please write the
corresponding number: isrNoX 、isrNoY 、isrNoZ 、isrNoU
2. Must be used with ETM_ENABLE_INT together, please refer to section 6.3.6.
isrNoX:
isrNoY:
isrNoZ:
isrNoU:
ISR1 ~ ISR20 : Specify the interrupt number of X-axis.
0: disable
ISR1 ~ ISR20 : Specify the interrupt number of Y-axis.
0: disable
ISR1 ~ ISR20 : Specify the interrupt number of Z-axis.
0: disable
ISR1 ~ ISR20 : Specify the interrupt number of U-axis.
0: disable
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SYNC_ACTION is 0A 6E.
The Sub_function code of ETM_MACRO_SYNC_ACTION is 0C 6E.
MODBUS example:
ETM_SYNC_ACTION (h, cardNo, AXIS_U, AXIS_U, 0X00000040, 0, 2, 4, 0, 0,
0, 0, 0, 0);
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
Byte
(hex)
(hex) Length (hex) (hex)
(hex)
Count
Count
(hex)
(hex)
(hex)
00 01 00 00
00 23
01
10
1F 40
00 0E
1C
Register[]
Value (hex)
Remarks
0
0A 6E/0C 6E
Sub_function code
1
00 08
axis1 (8 = AXIS_U)
2
00 08
axis2
3
00 00
MSW of nSYNC
4
00 40
LSW of nSYNC (0x40  rising edge of IN3
will trigger the action)
5
00 00
nDRV (0  no driving control)
6
00 02
nLATCH (2  will latch EP value)
7
00 04
nPRESET (4  set new velocity when
SYNC condition is true)
8
00 00
nOUT (0  no pulse out)
9
00 00
nINT (0  disable)
10
00 00
isrNoX (It can be any value since nINT is
disable.)
11
00 00
isrNoY (It can be any value since nINT is
disable.)
12
00 00
isrNoZ (It can be any value since nINT is
disable.)
13
00 00
isrNoU (It can be any value since nINT is
disable.)
Related example:
//Example1: When the U axis received IN3 positive edge trigger signal, it
//will change the LATCH encoder value.
ETM_SYNC_ACTION(h, cardNo, AXIS_U, AXIS_U, 0X00000040, 0, 2, 4, 0, 0,
0, 0, 0, 0);
ETM_SET_MAX_V(h, cardNo, AXIS_U, 5000);
//Set the maximum speed of u axis on module 1 to 5K PPS.
ETM_NORMAL_SPEED(h, cardNo, AXIS_U, 0);
// set the speed profile for u axis as a symmetric T-curve.
ETM_SET_V(h, cardNo, AXIS_U, 2000);
// set the speed of u axis on module 1 to 2000 PPS
ETM_SET_A(h, cardNo, AXIS_U, 100000);
// set the acceleration value of u axis to 100K PPS/sec.
ETM_SET_SV(h ,cardNo, AXIS_U, 100);
//set the start velocity of u axis to 100 PPS
ETM_FIXED_MOVE(h, cardNo, AXIS_U, 10000);
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//move 10000 Pulses for u axis on module 1
ETM_SET_PRESET(h cardNo, AXIS_U, 100);
// set the new speed of u axis on module 1 to 100 PPS
ETM_STOP_WAIT(h, cardNo, AXIS_U);
long Vsb = ETM_GET_LATCH(h, cardNo, AXIS_U);
//Example2: When the EP value of u axis exceeds COMP+(5000), it will start
//the Y-axis moving 2,000 PPS.
ETM_SYNC_ACTION(h, cardNo, AXIS_U, AXIS_Y, 0X00000001, 1, 0, 3, 0, 0,
0, 0, 0, 0);
ETM_SET_COMPARE(h, cardNo, AXIS_U, 0, 1, 5000);
//Set the value of COMP+ is 5000, source reference the EP of U axis.
ETM_SET_MAX_V(h, cardNo, AXIS_YU, 9000);
// Set the maximum speed of YU axes on module 1 to 9K PPS.
ETM_NORMAL_SPEED(h, cardNo, AXIS_YU, 0);
// set the speed profile for YU axes as symmetric T-curve.
ETM_SET_V(h, cardNo, AXIS_YU, 3000);
// set the speed of YU axes on module 1 to 3000 PPS.
ETM_SET_A(h, cardNo, AXIS_YU, 200000);
// set the acceleration value of YU axes to 200K PPS/sec.
ETM_SET_SV(h, cardNo, AXIS_YU, 200);
// set the start velocity of yu axes to 200 PPS
ETM_FIXED_MOVE(h, cardNo, AXIS_U, 10000);
// move 10000 Pulses for U axis on module 1
ETM_SET_PRESET(h, cardNo, AXIS_Y, 2000);
// Set the Y axis moving 2000 PPS。
//Example3: When the LP value of X axis exceeds COMP+(200), it will
//start the nout output 5V of Y axis.
ETM_SYNC_ACTION(h, cardNo, AXIS_X, AXIS_Y, 0X00000001, 0, 0, 0, 1, 0, 0,
0, 0, 0);
ETM_SET_COMPARE(h, cardNo, AXIS_X, 0, 0, 200);
//Set the value of COMP+ is 200, source reference the LP of X axis.
ETM_SET_MAX_V(h, cardNo, AXIS_X, 5000);
// Set the maximum speed of X axis on module 1 to 5K PPS.
ETM_NORMAL_SPEED(h, cardNo, AXIS_X, 0);
// set the speed profile for X axis as a symmetric T-curve.
ETM_SET_V(h, cardNo, AXIS_X, 2000);
// set the speed of X axis on module 1 to 2000 PPS.
ETM_SET_A(h, cardNo, AXIS_X, 100000);
// set the acceleration value of X axis to 100K PPS/s.
ETM_SET_SV(h, cardNo, AXIS_X, 100);
// set the start velocity of X axis to 100 PPS
ETM_FIXED_MOVE(h, cardNo, AXIS_X, 500);
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// move 500 Pulses for X axis on module 1
ETM_SET_OUT(h, cardNo, AXIS_Y, 1, 0);
// Set the Y axis high level output 5V.
//Example4: When the LP value of X axis exceeds COMP+(5000), it will
emergency stop and generate an interrupt to call ISR1.
ETM_SYNC_ACTION(h, cardNo, AXIS_X, AXIS_X, 0X00000001, 6, 0, 0, 0, 1,
ISR1, 0, 0, 0);
ETM_ENABLE_INT(h, cardNo); //Enable interrupt
ETM_SET_COMPARE(h, cardNo, AXIS_X, 0, 0, 5000);
// Set the value of COMP+ is 5000, source reference the LP of X axis.
ETM_SET_MAX_V(h, cardNo, AXIS_XY, 5000);
// Set the maximum speed of XY axes on module 1 to 5K PPS.
ETM_NORMAL_SPEED(h, cardNo, AXIS_XY, 0);
// set the speed profile for XY axes as symmetric T-curve.
ETM_SET_V(h, cardNo, AXIS_XY, 2000);
// set the speed of XY axes on module 1 to 2000 PPS.
ETM_SET_A(h, cardNo, AXIS_XY, 100000);
// set the acceleration value of XY axes to 100K PPS/sec.
ETM_SET_SV(h, cardNo, AXIS_XY, 100);
// set the start velocity of XY axes to 100 PPS.
ETM_FIXED_MOVE(h, cardNo, AXIS_X, 10000);
// move 10K Pulses for X axis on module 1
ISR1:
ETM_MP_ISR_CREATE(h, cardNo, ISR1); // Create ISR1
ETM_MACRO_FIXED_MOVE(h, cardNo, AXIS_Y, 1000);
//move 1000 Pulses for y axis on module 1
ETM_MACRO_MP_ISR_CLOSE(h, cardNo); // End ISR1
//Example5: Use the for loop to iterate, when the LP value of X axis
// exceeds COMP+(38000), it will generate an interrupt to call ISR1, and
// determine whether receive IN3 signal in the ISR1, if receive then
// emergency stop.
ETM_MP_CREATE(h, cardNo, MP59); //Create a macro program MP59.
ETM_MACRO_SET_MAX_V(h, cardNo, AXIS_XY, 5000);
// Set the maximum speed of XY axes on module 1 to 5K PPS.
ETM_MACRO_NORMAL_SPEED(h, cardNo, AXIS_XY, 0);
// set the speed profile for XY axes as symmetric T-curve.
ETM_MACRO_SET_V(h, cardNo, AXIS_XY, 2000);
// set the speed of XY axes on module 1 to 2000 PPS.
ETM_ MACRO_SET_A(h, cardNo, AXIS_XY, 100000);
// set the acceleration value of XY axes to 100K PPS/S.
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ETM_ MACRO_SET_SV(h, cardNo, AXIS_XY, 100);
// set the start velocity of XY axes to 100 PPS.
ETM_MACRO_FOR(h, cardNo, 100); //Set the times of for loop is 100.
ETM_ MACRO_SET_LP(h, cardNo, AXIS_XY, 0);
//Set the LP value of XYaxes to 0
ETM_MACRO_SET_FILTER(h, cardNo, AXIS_X, 16, 1); //Set the filter of IN3
ETM_MACRO_CLEAR_SYNC_ACTION(h, cardNo, AXIS_X);
//Clear all the sync_action conditions of X axis.
ETM_MACRO_SYNC_ACTION(h, cardNo, AXIS_X, AXIS_X, 0X00000001, 0, 0,
0, 0, 1, ISR1, 0, 0, 0);
// Set the LP value of X axis exceeds COMP+, it will generate an interrupt to
// call ISR1.
ETM_MACRO_ENABLE_INT(h, cardNo); //Enable interrupt
ETM_MACRO_SET_COMPARE(h, cardNo, AXIS_X, 0, 0, 38000);
//Set the value of COMP+ is 38000, source reference the LP of X axis.
ETM_MACRO_FIXED_MOVE(h, cardNo, AXIS_X, 42000);
// move 42K Pulses for X axis on module 1
ETM_MACRO_STOP_WAIT(h, cardNo, AXIS_X); //Wait until X axis stop.
ETM_MACRO_NEXT(h, cardNo); //Match with for loop.
ETM_MACRO_MP_CLOSE(h, cardNo); // End a macro program MP59
ISR1:
ETM_MP_ISR_CREATE(h, cardNo, ISR1); //Create ISR1
ETM_MACRO_FIXED_MOVE(h, cardNo, AXIS_Y, 1000);
// move 1000 Pulses for Y axis on module 1.
ETM_MACRO_SYNC_ACTION(h, cardNo, AXIS_X, AXIS_X, 0X00000040, 6, 0,
0, 0, 0, 0, 0, 0, 0); //Set the X axis to receive the IN3 positive edge trigger
//signals from low level to high level, then emergency stop.
ETM_MACRO_MP_ISR_CLOSE(h, cardNo); // End ISR1
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eRET ETM_CLEAR_SYNC_ACTION (HANDLE h, BYTE cardNo, BYTE
triggerAxis)
※∆ eRET ETM_MACRO_CLEAR_SYNC_ACTION (HANDLE h, BYTE
cardNo, BYTE triggerAxis)
Description:
Clear all the synchronization conditions of the triggered axis.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
triggerAxis
Description
Module number  MP-8000 : 1~7
The axis number set by ETM_SYNC_ACTION
(Please refer to Table 2)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_CLEAR_SYNC_ACTION is 0A 6A.
The Sub_function code of ETM_MACRO_CLEAR_SYNC_ACTION is
0C 6A.
MODBUS example:
ETM_CLEAR_SYNC_ACTION (h, 1, AXIS_X);
// Clear all the sync_action conditions of X axis.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0B
01
10
1F 40
00 02
Register[]
Value (hex)
Remarks
0
0A 95/0C 95
Sub_function code
1
00 01
TriggerAxis
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Byte
Count
(hex)
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eRET ETM_SET_ACTIVATION_FACTORS(HANDLE h, BYTE cardNo,
BYTE triggerAxis, DWORD nSYNC)
※∆ eRET ETM_MACRO_SET_ACTIVATION_FACTORS (HANDLE h, BYTE
cardNo, BYTE triggerAxis, DWORD nSYNC)
Description:
Set the synchronization conditions of triggered axis.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
triggerAxis
nSYNC:
Description
Module number  MP-8000 : 1~7
Set the axis number(Please refer to Table 2)
It defines the activation factors. Multiple activation factors can be
defined at the same time. Available active factors are listed in the
following table.
Value
Event
Explanation
0x00000000
P  C+
0x00000001
P<C+
0x00000002
P<C0x00000004
P  C0x00000008
0x00000010
0x00000020
0x00000040
0x00000080
D-STA
D-END
IN3 
IN3 
Disable the synchronous action
The logical/real position counter value exceeded the
COMP+ register value.
Use the ETM_SET_COMPARE () function for selection of
a logical/real position(6.3.2).
The logical/real position counter value became less than
the COMP+ register value.
Use the ETM_SET_COMPARE () function for selection of
a logical/real position(6.3.2).
The logical/real position counter value became less than
the COMP- register value.
Use the ETM_SET_COMPARE () function for selection of
a logical/real position(6.3.2).
The logical/real position counter value exceeded the
COMP- register value.
Use the ETM_SET_COMPARE () function for selection of
a logical/real position(6.3.2).
Driving started.
Driving terminated.
The nIN3 signal rose from the Low to the High level.
The nIN3 signal fell from the High to the Low level.
example: Choose P  C+ and IN3  (0x00000001 + 0x00000040 = 0x00000041)
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Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SET_ACTIVATION_FACTORS is 0A
6A.
The Sub_function code of
ETM_MACRO_SET_ACTIVATION_FACTORS is 0C 6A.
MODBUS example:
ETM_SET_ACTIVATION_FACTORS (h, 1, AXIS_X, 0X00000001);
// Set the synchronization conditions of x axis is P  C+.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0F
01
10
1F 40
00 04
Register[]
Value (hex)
Remarks
0
0A 96/0C 96
Sub_function code
1
00 01
TriggerAxis
2
00 00
MSW of nSYNC
3
00 01
LSW of nSYNC
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eRET ETM_SET_ACTIVATION_AXIS(HANDLE h, BYTE cardNo, BYTE
triggerAxis, BYTE activationAxis)
※∆ eRET ETM_MACRO_SET_ACTIVATION_FACTORS (HANDLE h, BYTE
cardNo, BYTE triggerAxis, DWORD nSYNC)
Description:
Set the synchronization axis.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
triggerAxis
activationAxis:
Description
Module number  MP-8000 : 1~7
Set the axis number(Please refer to Table 2)
Set the synchronization axis number(Please refer
to Table 2)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SET_ACTIVATION_AXIS is 0A 97.
The Sub_function code of ETM_MACRO_SET_ACTIVATION_AXIS is
0C 97.
MODBUS example:
ETM_SET_ACTIVATION_AXIS(h, 1, AXIS_X, AXIS_Y);
// Set the synchronization axis of x axis is y axis.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0D
01
10
1F 40
00 03
Register[]
Value (hex)
Remarks
0
0A 97/0C 97
Sub_function code
1
00 01
TriggerAxis(AXIS_X)
2
00 02
ActivationAxis(AXIS_Y)
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Byte
Count
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eRET ETM_SET_ACTION(HANDLE h, BYTE cardNo, BYTE
activationAxis, BYTE nDRV, BYTE nLATCH, BYTE nPRESET,
BYTE nOUT, BYTE nINT, BYTE isrNoX, BYTE isrNoY, BYTE
isrNoZ, BYTE isrNoU)
※∆ eRET ETM_MACRO_SET_ACTION (HANDLE h, BYTE cardNo, BYTE
activationAxis, BYTE nDRV, BYTE nLATCH, BYTE nPRESET,
BYTE nOUT, BYTE nINT, BYTE isrNoX, BYTE isrNoY, BYTE
isrNoZ, BYTE isrNoU)
Description:
Set the action of synchronization motion.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
nDRV:
Paramters
Description
cardNo:
activationAxis:
Module number  MP-8000 : 1~7
Set the synchronization axis number(Please refer
to Table 2)
It defines the actions that are related with axial driving. Available
actions are listed in the following table. Only one driving action can
be chosen.
Value Symbol
Explanation
0
1
FDRV+
2
FDRV-
3
CDRV+
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Disable driving action.
Activates fixed pulse driving in the + direction. It must set
the nPRESET value to be “OPSET” which indicates that
ETM_SET_PRESET() function will set the offset value for
this FDRV. Therefore, the companion function,
ETM_SET_PRESET(), is necessary. However, this
command does not take effect if the assigned axes,
axis2, are moving.
Activates fixed pulse driving in the - direction. It must set
the nPRESET value to be “OPSET” which indicates that
ETM_SET_PRESET() function will set the offset value for
this FDRV. Therefore, the companion function, ETM
_SET_PRESET(), is necessary. However, this command
does not take effect if the assigned axes, axis2, are
moving.
Activates continuous pulse driving in the + direction.
However, this command does not take effect if the
assigned axes, axis2, are moving
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CDRV-
5
6
SSTOP
ISTOP
Activates continuous pulse driving in the - direction.
However, this command does not take effect if the
assigned axes, axis2, are moving.
Stop driving in deceleration
Stop driving immediately
It defines the actions that is related of latching position. Available
actions are listed in the following table. Only one of these actions
can be chosen
nLATCH:
Value
Symbol
0
1
LPSAV
2
EPSAV
Explanation
Disable position latch function
Saves the current logical position counter value (LP) in
the synchronous buffer register (BR). [LP  LATCH]
Saves the current real position counter value (EP) in the
synchronous buffer register (BR). [EP  LATCH]
After the event is occoured, the ETM_GET_LATCH() function can be use to get the
latched value, please refer to section 6.3.3.
It defines the actions that is related of latching position. Available
actions are listed in the following table. Only one of these actions
can be chosen.
Value Symbol
Explanation
nPRESET:
0
1
LPSET
2
EPSET
3
OPSET
4
VLSET
Disable setting function
Indicates that a new value for the logical position (LP) will
be set. The new value will be set by ETM_SET_PRESET()
function. [LP  PRESET]
Indicates that a new value for the real position (EP) will
be set. The new value will be set by ETM_SET_PRESET()
function. [EP  PRESET]
Indicates that a new offset value (P) for the fixed pulse
driving will be set. The new value will be set by
ETM_SET_PRESET() function. [P  PRESET]
This setting is invalid to the Finish-Point of the axes in
CONTINUE_MOVE.
Indicates that a new speed value (V) will be set. The new
value will be set by ETM_SET_PRESET() function.
[V  PRESET]
Must be used with ETM_SET_PRESET together, please refer to section 6.3.4.
nOUT:
setting trigger output, as the following table:
Value Symbol
Explanation
0
1
OUT
Disable trigger output
Enable trigger output
Must be used with ETM_SET_OUT together, please refer to section 6.3.5.
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setting interrupt function, as the following table:
Value Symbol
Explanation
nINT:
0
1
INT
Disable interrupt function
Enable interrupt function
1. It will generate a interrupt for the synchronous action of axis2, please write the
corresponding number: isrNoX 、isrNoY 、isrNoZ 、isrNoU
2. Must be used with ETM_ENABLE_INT together, please refer to section 6.3.6.
isrNoX:
isrNoY:
isrNoZ:
isrNoU:
ISR1 ~ ISR20 : Specify the interrupt number of X-axis.
0: disable
ISR1 ~ ISR20 : Specify the interrupt number of Y-axis.
0: disable
ISR1 ~ ISR20 : Specify the interrupt number of Z-axis.
0: disable
ISR1 ~ ISR20 : Specify the interrupt number of U-axis.
0: disable
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SET_ACTION is 0A 98.
The Sub_function code of ETM_MACRO_SET_ACTION is 0C 98.
MODBUS example:
ETM_SET_ACTION (h, 1, AXIS_Y, 0, 2, 4, 0, 0, 0, 0, 0, 0);
// Set the action of synchronization motion is when the IN3 positive
//edge trigger signals received, it will change the velocity and the
//encoder of LATCH.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 1D
01
10
1F 40
00 0B
Register[]
Value (hex)
Remarks
0
0A 98/0C 98
Sub_function code
1
00 02
ActivationAxis(AXIS_Y)
2
00 00
nDRV (0  no driving control)
Byte
Count
(hex)
16
3
00 02
nLATCH (2  will latch EP value)
4
00 04
5
00 00
nPRESET (4  set new velocity when
SYNC condition is true)
nOUT (0  no pulse out)
6
00 00
nINT (0  disable)
7
00 00
8
00 00
9
00 00
10
00 00
isrNoX (It can be any value since nINT is
disable.)
isrNoY (It can be any value since nINT is
disable.)
isrNoZ (It can be any value since nINT is
disable.)
isrNoU (It can be any value since nINT is
disable.)
Related example:
//Example1: Set two groups synchronization motion, when the LP value of x
//axis exceeds COMP+(30000), the synchronization motion axis z-axis
//generate an interrupt to call ISR1, and when the LP value of y axis
//exceeds COMP+(35000), the synchronization motion axis u-axis generate
//an interrupt to call ISR2.
ETM_SET_MAX_V(h, cardNo, AXIS_XYZU, 5000);
// Set the maximum speed of xyzu axes on module 1 to 5K PPS.
ETM_NORMAL_SPEED(h, cardNo, AXIS_XYZU, 0);
// set the speed profile for xyzu axes as symmetric T-curve.
ETM_SET_V(h, cardNo, AXIS_XYZU, 2000);
// set the speed of xyzu axes on module 1 to 2000 PPS.
ETM_SET_A(h, cardNo, AXIS_XYZU, 100000);
// set the acceleration value of xyzu axes to 100K PPS/sec.
ETM_SET_SV(h, cardNo, AXIS_XYZU, 100);
// set the start velocity of xyzu axes to 100 PPS.
ETM_SET_ACTIVATION_FACTORS(h, cardNo, AXIS_XY, 1);
// Set the synchronization conditions of xy axes is P  C+.
ETM_SET_ACTIVATION_AXIS(h, 1, AXIS_X, AXIS_Z);
// Set the synchronization axis of x axis is z axis.
ETM_SET_ACTIVATION_AXIS(h, 1, AXIS_Y, AXIS_U);
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// Set the synchronization axis of y axis is u axis.
ETM_SET_ACTION (h, 1, AXIS_Z, 0, 0, 0, 0, 1, 0, 0, ISR1, 0);
// Set the action of synchronization motion axis z-axis is to generate an
// interrupt to call ISR1.
ETM_SET_ACTION (h, 1, AXIS_U, 0, 0, 0, 0, 1, 0, 0, 0, ISR2);
// Set the action of synchronization motion axis u-axis is to generate an
// interrupt to call ISR2.
ETM_ENABLE_INT(h, cardNo); //Enable interrupt
ETM_SET_COMPARE (h, cardNo, AXIS_X, 0, 0, 30000);
//Set the value of COMP+ is 30000, source reference the LP of x axis.
ETM_SET_COMPARE (h, cardNo, AXIS_Y, 0, 0, 35000);
//Set the value of COMP+ is 35000, source reference the LP of y axis.
ETM_FIXED_MOVE(h, cardNo, AXIS_XY, 42000);
// move 42K Pulses for xy axes on module 1
ISR1:
ETM_MP_ISR_CREATE(h, cardNo, ISR1); // Create ISR1
ETM_MACRO_FIXED_MOVE(h, cardNo, AXIS_Z, 10000);
// move 10K Pulses for z axis on module 1
ETM_MACRO_MP_ISR_CLOSE(h, cardNo); // End ISR1
ISR2:
ETM_MP_ISR_CREATE(h, cardNo, ISR2); // Create ISR2
ETM_MACRO_FIXED_MOVE(h, cardNo, AXIS_U, 10000);
// move 10K Pulses for u axis on module 1
ETM_MACRO_MP_ISR_CLOSE(h, cardNo); // End ISR2
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6.3.2
Setting the COMPARE Value
eRET ETM_SET_COMPARE (HANDLE h, BYTE cardNo, BYTE axis,
BYTE nSELECT, BYTE nTYPE, long data)
※∆ eRET ETM_MACRO_SET_COMPARE (HANDLE h, BYTE cardNo, BYTE
axis, BYTE nSELECT, BYTE nTYPE, long data)
Description:
This function sets the values of COMPARE registers. Howerer, it will
disable the functions of software limits.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
axis:
nSELECT:
nTYPE:
data:
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2)
The axis can be either X,Y, Z or U (1 or 2 or 4 or 8).
0  C+
1  C0  Position(P) = LP
1  Position(P) = EP
Set the COMPARE value
(-2,000,000,000 ~ +2,000,000,000).
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SET_COMPARE is 0A 70.
The Sub_function code of ETM_MACRO_SET_COMPARE is 0C 70.
MODBUS example:
ETM_SET_COMPARE (h, cardNo, AXIS_U, 0, 1, 5000);
//Set the comparison function for U-Axis.
//Set the compared source to be EP; and the COMP+ value to 5000.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 13
01
10
1F 40
00 06
Register[]
Value (hex)
Remarks
0
0A 70/0C 70
Sub_function code
1
00 08
Axis (8  AXIS_U)
2
00 00
nSELECT
3
00 01
nTYPE
4
00 00
MSW of data
5
13 88
LSW of data (5000 = 0x1388)
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6.3.3
Get the LATCH Value
eRET ETM_GET_LATCH (HANDLE h, BYTE cardNo, BYTE axis, long*
LatchValue)
※∆ eRET ETM_MACRO_GET_LATCH (HANDLE h, BYTE cardNo, BYTE
axis)
eRET ETM_GET_LATCH_4_AXIS (HANDLE h, BYTE cardNo, long*
LatchValueX, long* LatchValueY, long* LatchValueZ, long*
LatchValueU)
Description:
This function gets the values from the LATCH register.
Category:
MODBUS table, MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
axis:
LatchValue:
LatchValueX:
LatchValueY:
LatchValueZ:
LatchValueU:
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2)
The axis can be either X,Y, Z or U (1 or 2 or 4 or 8).
The pointer points to the memory that stores the
value of LATCH.
(-2,000,000,000 ~ +2,000,000,000).
The pointer points to the memory that stores the
value of LATCH.
(-2,000,000,000 ~ +2,000,000,000) of x axis.
The pointer points to the memory that stores the
value of LATCH.
(-2,000,000,000 ~ +2,000,000,000) of y axis.
The pointer points to the memory that stores the
value of LATCH.
(-2,000,000,000 ~ +2,000,000,000) of z axis.
The pointer points to the memory that stores the
value of LATCH.
(-2,000,000,000 ~ +2,000,000,000) of u axis.
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
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MODBUS example:

Method 1: It can get latched values directly.
The latched values are always long type values. Therefore, polling the
latched values must start at the MSW of each axis’s MSW.
STOP status
X_LATCH_MSW
X_LATCH_LSW
Y_LATCH_MSW
Y_LATCH_LSW
Z_LATCH_MSW
Z_LATCH_LSW
U_LATCH_MSW
U_LATCH_LSW
Address
62 (0x3E)
63 (0x3F)
64 (0x40)
65 (0x41)
66 (0x42)
67 (0x43)
68 (0x44)
69 (0x45)
Remarks
MSW of X_LATCH
LSW of X_LATCH
MSW of Y_LATCH
LSW of Y_LATCH
MSW of Z_LATCH
LSW of Z_LATCH
MSW of U_LATCH
LSW of U_LATCH
long LATCH_Y;
ETM_GET_LATCH (h, 1, AXIS_Y, &LATCH_Y);
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
(hex)
(hex) Length (hex) (hex)
(hex)
(hex)
00 01 00 00
00 06
01
04
00 40
The response via MODBUS may be:
TID
PID
Field
UID
FC
(hex)
(hex) Length (hex) (hex)
(hex)
00 01 00 00
00 07
01
04
Byte
Count
(hex)
04
Word
Count
(hex)
00 02
MSW of
Y_LATCH
( Reg_0 )
00 00
LSW of
Y_LATCH
( Reg_1 )
03 E8
LATCH_Y = Register[0];
LATCH_Y = (long) ( ( (LATCH_Y << 16) & 0xffff0000) | (Register[1] & 0xffff) );
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
Method 2: It can be used inside a MP program.
For this case, users do not actually want to get the current latched
values. The getting latched values will be executed only when the MP is
called. Therefore, use FC = 16 to write this command inside a MP. This kind
of usage often has ETM_MACRO_SET_RVAR() followed to save the return
latched value. Please refer to MP related explanation literature.
ETM_MACRO_GET_LATCH (h, 1, AXIS_Y);
//Get the latched value which is from Y-axis of card 1.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0B
01
10
1F 40
00 02
Register[]
Value (hex)
Remarks
0
0C 71
Sub_function code
1
00 02
axis
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6.3.4
Set the PRESET data for synchronous acton
eRET ETM_SET_PRESET (HANDLE h, BYTE cardNo, BYTE axis, long
data)
※∆ eRET ETM_MACRO_SET_PRESET (HANDLE h, BYTE cardNo, BYTE
axis, long data)
Description:
This function sets the PRESET value for synchronous action. Each
synchronous action axis could not be set individually.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
axis:
data:
Description
Module number  MP-8000 : 1~7
The number of synchronization motion axis, this
axis must be assined as the axis2 parameter of
ETM_SYNC_ACTION( ).
LP: (-2,000,000,000 ~ +2,000,000,000)
EP: (-2,000,000,000 ~ +2,000,000,000)
P : (-2,000,000,000 ~ +2,000,000,000)
V : Please refer to section 2.5. If there are more
than two synchronous action axes, please set
ETM_SET_MAX_V to be same value.
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SET_PRESET is 0A 72.
The Sub_function code of ETM_MACRO_SET_PRESET is 0C 72.
MODBUS example:
If the SYNC action is set to change velocity, then following statement will
change the velocity of AXIS_U to 100 PPS when the condition is true.
ETM_SET_PRESET (h, cardNo, AXIS_U, 100);
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0F
01
10
1F 40
00 04
Register[]
Value (hex)
Remarks
0
0A 72/0C 72
Sub_function code
1
00 08
Axis (8  AXIS_U)
2
00 00
MSW of data
3
00 64
LSW of data (100 = 0x64)
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6.3.5
Set the OUT Data
eRET ETM_SET_OUT (HANDLE h, BYTE cardNo, BYTE axis, BYTE
outEdge, BYTE PulseWidth)
※∆ eRET ETM_MACRO_SET_OUT (HANDLE h, BYTE cardNo, BYTE axis,
BYTE outEdge, BYTE PulseWidth)
Description:
This function configures the output pulse settings.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
axis:
outEdge:
PulseWidth:
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2), currently
only support Axes X & Y
Output active logic:
0 = low active; 1 = high active
Output pulse width
0 = 10 uSec
1 = 20 uSec
2 = 100 uSec
3 = 200 uSec
4 = 1,000 uSec
5 = 2,000 uSec
6 = 10,000 uSec
7 = 20,000 uSec
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_SET_OUT is 0A 73.
The Sub_function code of ETM_MACRO_SET_OUT is 0C 73.
MODBUS example:
If the SYNC action enables the digital OUT function, then following
statement can define the waveform of digital output that includes the level
and the pulse width.
ETM_SET_OUT (h, 1, AXIS_U, 1, 0);
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0F
01
10
1F 40
00 04
Register[]
Value (hex)
Remarks
0
0A 73/0C 73
Sub_function code
1
00 08
Axis (8  AXIS_U)
outEdge
2
00 01
PulseWidth
3
00 00
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6.3.6
Interrupt functions of motion module (i-8094H)
eRET ETM_ENABLE_INT (HANDLE h, BYTE cardNo)
※ eRET ETM_MACRO_ENABLE_INT (HANDLE h, BYTE cardNo)
Description:
This function enables the interrupt function of the motion chip inside the
i8094H.
Category:
MODBUS sub_function; RTC, MP.
Parameters:
Paramters
cardNo:
Description
Module number  MP-8000 : 1~7
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_ENABLE_INT is 0A AA.
The Sub_function code of ETM_MACRO_ENABLE_INT is 0C AA.
MODBUS example:
ETM_ENABLE_INT (h, 1);
//Enable the interrupt function for module 1.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 09
01
10
1F 40
00 01
Register[]
Value (hex)
Remarks
0
0A AA/0C AA Sub_function code
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eRET ETM_DISABLE_INT (HANDLE h, BYTE cardNo)
※ eRET ETM_MACRO_DISABLE_INT (HANDLE h, BYTE cardNo)
Description:
This function disables the interrupt function of the motion chip inside the
i8094H.
Category:
MODBUS sub_function; RTC, MP.
Parameters:
Paramters
cardNo:
Description
Module number  MP-8000 : 1~7
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_DISABLE_INT is 0A AB.
The Sub_function code of ETM_MACRO_DISABLE_INT is 0C AB.
MODBUS example:
ETM_DISABLE_INT (h, 1);
//Disable the interrupt function for module 1.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 09
01
10
1F 40
00 01
Register[]
Value (hex)
Remarks
0
0A AB/0C AB Sub_function code
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eRET ETM_INTFACTOR_ENABLE (HANDLE h, BYTE cardNo, BYTE
axis, BYTE nINT, BYTE isrNo)
※∆ eRET ETM_MACRO_INTFACTOR_ENABLE (HANDLE h, BYTE cardNo,
BYTE axis, BYTE nINT, BYTE isrNo)
Description:
This function sets the condition factor of interrupt of the motion chip.
Category:
MODBUS sub_function; RTC, MP, ISR.
Parameters:
Paramters
cardNo:
axis:
nINT:
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2)
The axis can be either X,Y, Z or U (1 or 2 or 4 or
8).
condition factors of interrupt, please refer to the following table
Table 5: Motion chip interrupt factor table
nINT
0
isrNo:
Symbol
Description
PULSE Interupt occurs when pulse is up
1
P>=C-
2
P<C-
3
P<C+
4
P>=C+
5
C-END
6
C-STA
7
D-END
Interrupt occurs when the value of logical / real position
counter is larger than or equal to that of COMP- register.
Please refer to ETM_SET_COMPARE() (6.3.2)
Interrupt occurs when the value of logical / real position
counter is smaller than that of COMP- register
Please refer to ETM_SET_COMPARE() (6.3.2)
Interrupt occurs when the value of logical / real position
counter is smaller than that of COMP+ register.
Please refer to ETM_SET_COMPARE() (6.3.2)
Interrupt occurs when the value of logical / real position
counter is larger than or equal to that of COMP+ register.
Please refer to ETM_SET_COMPARE() (6.3.2)
Interrupt occurs at the end of the constant speed drive or
completion of Acceleration Offset Pulse output
Interrupt occurs at the start of the constant speed drive
or begin of Acceleration Offset Pulse output
Interrupt occurs when the driving is finished
ISR1 ~ ISR20 : Specify the number of interrupt service.
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Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
This function is conflict with ETM_SET_SLMT(2.10).
The Sub_function code of ETM_INTFACTOR_ENABLE is 0A AC.
The Sub_function code of ETM_MACRO_INTFACTOR_ENABLE is 0C
AC.
MODBUS example:
This function assigns an ISRn to process an interrupt that happens at a
specified axis.
ETM_INTFACTOR_ENABLE (h, 1, AXIS_X, 4, ISR1);//When the position
counter of x axis exceeds C+, then call ISR1.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0F
01
10
1F 40
00 04
Register[]
Value (hex)
Remarks
0
0A AC/0C AC Sub_function code
1
00 01
axis (1  AXIS_X)
2
00 04
nINT
3
00 01
isrNo (ISR1 = 1)
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Related example:
//Example1: Using call the ISR to set multi-group compare.
ETM_SET_MAX_V(h, cardNo, AXIS_XYZU, 5000);
// Set the maximum speed of xyzu axes on module 1 to 5K PPS.
ETM_NORMAL_SPEED(h, cardNo, AXIS_XYZU, 0);
// set the speed profile for xyzu axes as symmetric T-curve.
ETM_SET_V(h, cardNo, AXIS_XYZU, 2000);
// set the speed of xyzu axes on module 1 to 2000 PPS.
ETM_SET_A(h, cardNo, AXIS_XYZU, 100000);
// set the acceleration value of xyzu axes to 100K PPS/S.
ETM_SET_SV(h, cardNo, AXIS_XYZU, 100);
// set the start velocity of xyzu axes to 100 PPS.
ETM_SET_COMPARE(h, cardNo, AXIS_X, 0, 0, 2000);
//Set the value of COMP+ is 2000, source reference the LP of x axis.
ETM_INTFACTOR_ENABLE (h, 1, AXIS_X, 4, ISR1);
//When the LP value of x axis exceeds C+(2000), then call ISR1.
ETM_ENABLE_INT (h, 1); //Enable interrupt
ETM_FIXED_MOVE(h, cardNo, AXIS_X, 16000);
// move 16K Pulses for x axis on module 1
ISR1:
ETM_MP_ISR_CREATE(h, cardNo, ISR1); //Create ISR1
ETM_MACRO_SET_COMPARE(h, cardNo, AXIS_X, 0, 0, 4000);
//Set the value of COMP+ is 4000, source reference the LP of x axis.
ETM_MACRO_INTFACTOR_ENABLE (h, 1, AXIS_X, 4, ISR2);
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//When the LP value of x axis exceeds C+(4000), then call ISR2.
ETM_MACRO_FIXED_MOVE(h, cardNo, AXIS_Y, 1000);
// move 1000 Pulses for y axis on module 1
ETM_MACRO_MP_ISR_CLOSE(h, cardNo); // End ISR1
ISR2:
ETM_MP_ISR_CREATE(h, cardNo, ISR2); //Create ISR2
ETM_MACRO_SET_COMPARE(h, cardNo, AXIS_X, 0, 0, 6000);
//Set the value of COMP+ is 6000, source reference the LP of x axis.
ETM_MACRO_INTFACTOR_ENABLE (h, 1, AXIS_X, 4, ISR3);
//When the LP value of x axis exceeds C+(6000), then call ISR3.
ETM_MACRO_FIXED_MOVE(h, cardNo, AXIS_Z, 1000);
// move 1000 Pulses for z axis on module 1
ETM_MACRO_MP_ISR_CLOSE(h, cardNo); // End ISR2
ISR3:
ETM_MP_ISR_CREATE(h, cardNo, ISR3); //Create ISR3
ETM_MACRO_FIXED_MOVE(h, cardNo, AXIS_U, 1000);
// move 1000 Pulses for u axis on module 1
ETM_MACRO_MP_ISR_CLOSE(h, cardNo); // End ISR3
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eRET ETM_INTFACTOR_DISABLE (HANDLE h, BYTE cardNo, BYTE
axis, BYTE nINT)
※∆ eRET ETM_MACRO_INTFACTOR_DISABLE (HANDLE h, BYTE cardNo,
BYTE axis, BYTE nINT)
Description:
This function disables the condition factor of interrupt of the motion chip.
Category:
MODBUS sub_function; RTC, MP, ISR.
Parameters:
Paramters
cardNo:
axis:
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2)
The axis can be either X,Y, Z or U (1 or 2 or 4 or
8).
condition factors of interrupt, please refer to the following table
Number Symbol
Description
0
PULSE
Interupt occurs when pulse is up
nINT:
1
P>=C-
2
P<C-
3
P<C+
4
P>=C+
5
C-END
6
C-STA
7
D-END
DISABLE
ALL
10
Interrupt occurs when the value of logical / real position
counter is larger than or equal to that of COMP- register.
Interrupt occurs when the value of logical / real position
counter is smaller than that of COMP- register
Interrupt occurs when the value of logical / real position
counter is smaller than that of COMP+ register.
Interrupt occurs when the value of logical / real position
counter is larger than or equal to that of COMP+ register.
Interrupt occurs at the end of the constant speed drive or
completion of Acceleration Offset Pulse output
Interrupt occurs at the start of the constant speed drive
or begin of Acceleration Offset Pulse output
Interrupt occurs when the driving is finished
Disable all the trigger conditions interrupt factor
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
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Remark:
The Sub_function code of ETM_INTFACTOR_DISABLE is 0A AD.
The Sub_function code of ETM_MACRO_INTFACTOR_DISABLE is 0C
AD.
MODBUS example:
ETM_INTFACTOR_DISABLE (h, 1, AXIS_XYZU, 4);
// Disable the interrupt factors of Module 1
// 4 : Interrupt occurs when the value of logic / real position counter
// is larger than or equal to that of COMP+ register.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0D
01
10
1F 40
00 03
Register[]
Value (hex)
Remarks
0
0A AD/0C AD Sub_function code
1
00 0F
axis (0xF  AXIS_XYZU)
2
00 04
nINT
Byte
Count
(hex)
06
Related example:
ETM_INTFACTOR_DISABLE(h, 1, AXIS_XYZU, 1);
ETM_INTFACTOR_DISABLE(h, 1, AXIS_XYZU, 2);
ETM_INTFACTOR_DISABLE(h, 1, AXIS_XYZU, 3);
ETM_INTFACTOR_DISABLE(h, 1, AXIS_XYZU, 4);
// Disable the interrupt factors of Module 1
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6.4
Read triggered interrupt factors
eRET ETM_GET_TRIG_INTFACTOR (HANDLE h, BYTE cardNo, BYTE
nINT, BYTE *pAxis);
Description:
This function reads which axis has triggered an interrupt for the set
interrupt factor since the last ETM_INTFACTOR_ENABLE function call. The
function ETM_INTFACTOR_ENABLE enables the motion chip interrupt and
clears the interrupt status for the respective interrupt factor.
Category:
MODBUS table; RTC.
Parameters:
Paramters
Description
Module number  MP-8000 : 1~7
Consult Table 6
Consult Table 2
Example:
0x0F: All 4 axis have triggered
0x02: only the Y axis has triggered
0x0B: axis XYU have triggered
cardNo:
nINT:
pAxis:
The Modbus function code 4 register table is as follows.
Table 6: Motion chip interrupt factor table with respective Modbus
FC 4 register addresses
Modbus
register
nINT
Symbol
Description
address
FC4
130
0
PULSE Interupt occurs when pulse is up
131
Interrupt occurs when the value of logical /
1
P>=C-
2
P<C-
3
P<C+
132
133
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real position counter is larger than or equal
to that of COMP- register.
Interrupt occurs when the value of logical /
real position counter is smaller than that of
COMP- register
Interrupt occurs when the value of logical /
real position counter is smaller than that of
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4
P>=C+
5
C-END
6
C-STA
7
D-END
8
9
HMEND
SYNC
135
136
137
138
139
COMP+ register.
Interrupt occurs when the value of logical /
real position counter is larger than or equal
to that of COMP+ register.
Interrupt occurs at the end of the constant
speed drive or completion of Acceleration
Offset Pulse output
Interrupt occurs at the start of the constant
speed drive or begin of Acceleration Offset
Pulse output
Interrupt occurs when the driving is
finished
Automatic home search terminated
Synchronous action was activated
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
BYTE bAxis;
ETM_GET_TRIG_INTFACTOR (h, 1, 0, & bAxis);
MODBUS request:
TID
PID
(hex)
(hex)
00 01
00 00
Field
Length
(hex)
00 06
UID
(hex)
FC
(hex)
St_Addr.
(hex)
01
04
00 82
(Card No.)
MODBUS response:
TID
PID
(hex)
(hex)
00 01
00 00
Field
Length
(hex)
00 05
Word
Count
(hex)
00 01
(130)
(Pulse output)
UID
(hex)
FC
(hex)
01
04
Byte
Count
(hex)
02
Registers
(hex)
00 09
(Axis XY
triggered)
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6.5
Macro download status
eRET ETM_GET_MP_DOWNLOAD_STATUS(HANDLE h, BYTE cardNo,
MpDownloadInfo *pInfo);
typedef struct
{
WORD MpNo;
WORD IsrNo;
WORD wCmd;
WORD wLineNo;
WORD wErrCode;
}MpDownloadInfo;
Description:
This function confirms whether the previous MP or ISR macro download
procedure was successful. It indicate which Macro type has been
downloaded (MP or ISR) and its number. In case of a download error
the type of error, the command and Macro line number will be
indicated.
Category:
MODBUS table; RTC.
Parameters:
Paramters
cardNo:
pInfo:
Description
Module number  MP-8000 : 1~7
MpNo: indicates the MP Macro number (1-MP1, 2 MP2, ...). If no MP Macro has been downloaded MpNo will
be zero (MpNo=0).
IsrNo: indicates the latest ISR Macro number
downloaded(1-ISR1, 2 -ISR2, ...) . If no ISR Macro has
been downloaded IsrNo will be zero (IsrNo=0).
wCmd: code of the command in the Macro program
which caused the error (see command code chapter 0).
wLineNo: the line number in the Macro program. The
first line has the number zero.
wErrCode: error code describing the cause of macro
download failure:
 0x00: no error occurred. Download was
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succesful.
 0x01: number of commands lines exceeds the
quantity of line provide by the corresponding
Macro table.
IF command errors:
 0x02: Number of nested MP_IF statements
exceeds the limit of six inner nested MP_IFs.
 0x03: MP_ELSE command outside MP_IF block
 0x04: MP_END_IF command outside MP_IF
block. The MP_END_IF statement has not got a
corresponding MP_IF statement.
 0x05: MP_IF block has not been closed by
MP_END_IF command.
 0x06: Wrong MP_IF conditional operator.
FOR loop command errors:
 0x07: Number of nested MP_FOR exceeds the
limit.
 0x08: MP_EXIT_FOR command outside MP_FOR
loop. The corresponding MP_FOR command is
missing.
 0x09: MP_NEXT command outside MP_FOR
block. The corresponding MP_FOR command is
missing.
 0x0A: MP_FOR block has not been closed with a
MP_NEXT command.
GOTO command errors:
 0x0B: Label number is being used more than
once.
 0x0C: MP_LABEL inside a MP_IF block.
Jumping into a MP_IF block is prohibited.
 0x0D: MP_LABEL inside a MP_FOR block.
Jumping into a MP_FOR block is prohibited.
 0x0E: MP_GOTO command has NO
corresponding MP_LABEL command.
 0x0F: MACRO (MP or ISR )command not
defined: Command will not be written to the
FRAM.
 0x10: Wrong MP_VAR_CALCULATE operator.
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
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MODBUS example:
MpDownloadInfo MpInfo;
ETM_GET_MP_DOWNLOAD_STATUS(h, 1, &MpInfo);
MODBUS request:
TID
PID
Field Length
(hex)
(hex)
(hex)
00 01
00 00
00 06
UID
(hex)
01
FC
(hex)
04
(Card
No.)
MODBUS response:
TID
PID
(hex)
(hex)
00 01
00 00
Register
[]
0
1
Value
(hex)
00 02
00 00
2
3
0A D6
00 09
4
00 09
Field
Length
(hex)
00 0D
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UID
(hex)
FC
(hex)
01
04
St_Addr.
(hex)
00 6E
(110)
Byte
Count
(hex)
0A
Word Count
(hex)
00 05
Registers
(hex)
See next
table
Remarks
MpNo: MP number (e.g. MP2)
IsrNo: ISR number (no ISR Macro has been
downloded)
wCmd: command code (here MP_NEXT)
wLineNo: command line within Macro table
(line number 9)
wErrCode: error code describing the kind of
error (here: MP_NEXT command
outside MP_FOR block. The
corresponding MP_FOR command is
missing.)
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6.6
Read ETM_MACRO_SET_RINT triggered
interrupt
The MP Macro command ETM_MACRO_SET_RINT interrupts the host
controller. As soon as the ETM_MACRO_SET_RINT command inside a MP
Macro program is being executed the i8094H module interrupts the ETM8194H device and informing that the command has been executed.
eRET ETM_GET_USER_RINT (HANDLE h, BYTE cardNo, BYTE* bState);
Description:
This function asks the ET-M8194H whether a ETM_MACRO_SET_RINT
command has been executed. The interrupt flag will be cleared after
the reading operation.
Category:
MODBUS table; RTC.
Parameters:
Paramters
cardNo:
bState:
Description
Module number  MP-8000 : 1~7
1: an ETM_MACRO_SET_RINT interrupt occurred
0: no interrupt occurred since the last call
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
BYTE bState;
ETM_GET_USER_RINT (h, 1, & bState);
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MODBUS request:
TID
PID
(hex)
(hex)
00 01
00 00
Field
Length
(hex)
00 06
UID
(hex)
FC
(hex)
St_Addr.
(hex)
01
04
00 48
(72)
(Card No.)
MODBUS response:
TID
PID
(hex)
(hex)
00 01
00 00
Field
Length
(hex)
00 05
UID
(hex)
FC
(hex)
01
04
Byte
Count
(hex)
02
Word
Count
(hex)
00 01
Register
(hex)
00 01
ETM_MACRO_SET_
RINT interrupt
occurred
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6.7
Get ET-M8194H state
The motion unit basically consists of two modules:
 ET-M8194H
 i8094H
• The ET-M8194H module (Figure 1) in slot 0 is the unit which is mainly
responsible for the Modbus communication between the Master and Slave.
The main task of the module is to verify and filter every command arriving
at its TCP/IP port according to its current state and consequently decide
whether to transfer the command to the i8094H or if the command is not
supported by the respective state ignore the command and respond to the
Master with a Modbus exception code.
Figure 1: ET-M8194H module in slot 0 of the motion device
The module can be in one of the following three states:
 Ready state
 MP Macro download state
 ISR Macro download state
When the ET-M8194H (module in the first slot is responsible for the
communication part) is in a certain state certain commands can not be processed
by the module and therefore the module responds with a Modbus exception code
when a command is being sent by the Master which is not being supported by the
current module state. Table 1 describes for each command the valid scope.
When the module is in the ready state all RTC commands marked in Table 1 are
valid commands.
For example, the ET-M8194H is in the MP Macro download state. In this state only
commands which are marked with MP in Table 1 are valid commands. As soon as
a non MP command is being sent (e.g. MP_CREATE) the module will ignore this
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command and return a Modbus exception code. The ETM_GET_DEVICE_STATE
allows the user to determine the reason for the Modbus exception code by reading
the current module state.
• The i8094H module (Figure 2) in slot 1 is mainly responsible for
executing motion commands and storing the Macro tables in its nonvolatile memory. The motion control chip and the non-volatile memory for
storing Macro tables are part of the i8094H module. Furthermore it has a
DPRAM (volatile FIFO buffer) which stores up to 29 commands for further
processing.
Figure 2: i8094H situated in slot 1 of the motion device
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eRET ETM_GET_DEVICE_STATE (HANDLE h, BYTE cardNo, EtmState
*pState);
typedef struct
{
WORD Etm8194hState;
WORD I8094hState;
WORD IllegalFuncErr;
}EtmState;
Description:
This function returns the current state of the ET-M8194H and of the i8094H
module and furthermore the cause of the last Modbus exception code.
Category:
MODBUS table; RTC.
Parameters:
Paramters
cardNo:
pState:
Description
Module number  MP-8000 : 1~7
Etm8194hState (Table 7)
ETM_READY:
only RTC commands can be sent.
ETM_MP_DOWNLOAD:
only MP Macro commands are accepted.
ETM_ISR_DOWNLOAD:
only ISR Macro commands are valid.
I8094hState (Table 8)
i8094H_READY:
The i8094H is ready for receiving RTC
commands.
i8094H_INITIALIZATION:
executing initialization table (IT commands).
i8094H_MACRO_DOWNLOAD:
i8094h is in the MACRO download mode.
i8094H_MP_EXECUTION:
MP Macro table is being executed.
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i8094H_ISR_EXECUTION:
Interrupt MACRO (ISR) program is being
executed.
i8094H_ERR_FIRMWARE:
Module exited the DPRAM scan engine, Module
needs to be rebooted.
i8094H_FIRMWARE_BOOTING:
I8094H firmware has not completed the booting
process.
IllegalFuncErr (Table 9)
ERR_NO_ERROR:
No error occurred.
ERR_FC_NOT_SUPPORTED:
Function code not supported.
ERR_EXCEED_MP_MEMORY:
Macro program exceeds the number of command
lines reserved for the selected table.
ERR_MP_INSIDE_ISR:
A MP command is being used inside ISR Macro.
ERR_ISR_INSIDE_MP:
A ISR command is being used inside MP Macro.
ERR_RTC_INSIDE_MP_OR_ISR:
A RTC command is being used inside a MP or ISR
Macro.
ERR_MP_OR_ISR_AS_RTC:
A MP or ISR Macro command is being used
outside a Macro program.
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
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MODBUS example:
EtmState etmState;
ETM_GET_DEVICE_STATE (h, 1, & etmState);
MODBUS request:
TID
PID
Field
(hex)
(hex) Length
(hex)
00 01 00 00
00 06
UID
(hex)
FC
(hex)
St_Addr.
(hex)
01
04
00 64
(100)
(Card No.)
MODBUS response:
TID
PID
Field
(hex)
(hex) Length
(hex)
00 01 00 00
00 0D
UID
(hex)
FC
(hex)
01
04
Register[]
0
1
Value (hex)
00 01
00 03
2
00 06
Byte
Count
(hex)
0A
Word
Count
(hex)
00 03
Registers
(hex)
See next
table
Remarks
Etm8194hState: ETM_MP_DOWNLOAD
I8094hState :
i8094H_MACRO_DOWNLOAD
IllegalFuncErr:
ERR_RTC_INSIDE_MP_OR_ISR
Table 7: ET-M8194H states
States of the ETM8194H module
ETM_READY
ETM_MP_DOWNLOAD
ETM_ISR_DOWNLOAD
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Number
(hex)
0x00
Description
only RTC commands can be sent
only MP Macro commands are
accepted
only ISR Macro commands are
valid
0x01
0x02
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Table 8: i8094h states
Different states of the i8094H
Number
(hex)
i8094H_READY
0x00
i8094H_INITIALIZATION
0x01
i8094H_MACRO_DOWNLOAD
0x03
i8094H_MP_EXECUTION
0x05
i8094H_ISR_EXECUTION
0x07
i8094H_ERR_FIRMWARE
0x10
i8094H_FIRMWARE_BOOTING
0xFF
Description
The i8094H is ready for
receiving RTC commands
executing initialization table
(IT commands)
i8094h is in the MACRO
download mode
MP Macro table is being
executed
Interrupt MACRO (ISR)
program is being executed
I8094H firmware experienced
an error and has to be power
off/on
I8094H firmware has not
completed the booting
process
Table 9: Causes of Modbus exception response
Illegal function errors
ERR_NO_ERROR
Number
(hex)
0x00
ERR_FC_NOT_SUPPORTED
0x01
ERR_EXCEED_MP_MEMORY
0x03
ERR_MP_INSIDE_ISR
0x04
ERR_ISR_INSIDE_MP
0x05
ERR_RTC_INSIDE_MP_OR_ISR
0x06
ERR_MP_OR_ISR_AS_RTC
0x07
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Description
No error occurred
Function code not
supported
Macro program exceeds the
number of command lines
reserved for the selected
table
A MP command is being
used inside ISR Macro
A ISR command is being
used inside MP Macro
A RTC command is being
used inside a MP or ISR
Macro
A MP or ISR Macro
command is being used
outside a Macro program
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6.8
Continuous Interpolation
6.8.1
2-Axis Rectangular Motion
eRET ETM_RECTANGLE (HANDLE h, BYTE cardNo, BYTE axis1, BYTE
axis2, BYTE nAcc, BYTE Sp, BYTE nDir, long Lp, long Wp, long
Rp, DWORD RSV, DWORD RV, DWORD RA, DWORD RD)
※ eRET ETM_MACRO_RECTANGLE (HANDLE h, BYTE cardNo, BYTE
axis1, BYTE axis2, BYTE nAcc, BYTE Sp, BYTE nDir, long Lp, long
Wp, long Rp, DWORD RSV, DWORD RV, DWORD RA, DWORD
RD)
Description:
Continuous interpolation will be performed to create a rectangular motion,
which is formed by 4 lines and 4 arcs. The length of each side can be
changed. The radius of each arc is of the same value and it can also be
changed. The deceleration point will be calculated automatically. This is a
command that appears in various motion applications. (It will not consume
any system resources of MP-8000).
Category:
MODBUS sub_function; RTC and MP.
Parameters:
Paramters
cardNo:
axis1:
axis2:
nAcc:
Sp:
nDir:
Lp:
Wp:
Rp:
RSV:
RV:
RA:
RD:
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Description
Module number  MP-8000 : 1~7
The first axis (axis 1). Please refer to Table 2.
The axis can be either X, Y, Z or U (1 or 2 or 4 or 8).
The second axis (axis 2). Please refer to Table 2.
The axis can be either X, Y, Z or U (1 or 2 or 4 or 8).
0  constant vector speed interpolation mode
1  symmetric T-curve Acc/Dec interpolation mod
Start point 0 ~ 7. (Sp0 ~ Sp7 are defined in the
following.
Direction of movement
0: CCW; 1: CW
Length in Pulses (1 ~ 2,000,000,00)
Width in Pulses (1 ~ 2,000,000,00)
Radius of each in pulses (1 ~ 2,000,000,00)
Starting speed (in PPS)
Vector speed (in PPS)
Acceleration (PPS/sec)
Deceleration of the last segment (in PPS/sec)
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Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Use the ETM_GET_ERROR_CODE() function to identify the error.
Remark:
The Sub_function code of ETM_RECTANGLE is 0A 78.
The Sub_function code of ETM_MACRO_RECTANGLE is 0C 78.
MODBUS example:
ETM_RECTANGLE (h, 1, AXIS_X, AXIS_Y, 1, 0, 0, 20000, 10000, 1000, 1000,
10000, 5000, 5000);
//execute a rectangular motion on XY plane, will auto-calculate
//deceleration point.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
Byte
(hex)
(hex) Length (hex) (hex)
(hex)
Count
Count
(hex)
(hex)
(hex)
00 01 00 00
00 2F
01
10
1F 40
00 14
28
Register[]
Value (hex)
Remarks
0
0A 78/0C 78
Sub_funciton code
1
00 01
axis1 (1  AXIS_X)
2
00 02
axis2 (2  AXIS_Y)
3
00 01
nAcc (velocity profile)
4
00 00
Sp (choose the start point from 0~7 )
5
00 00
nDir (set the direction to be CCW)
6
00 00
MSW of Lp (length of the rectangle)
7
4E 20
LSW of Lp (20000 = 0x4E20)
8
00 00
MSW of Wp (width of the rectangle)
9
27 10
LSW of Wp (10000 = 0x2710)
10
00 00
MSW of Rp (set the corner radius value)
11
03 E8
LSW of Rp (1000 = 0x3E8)
12
00 00
MSW of RSV (define start velocity)
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13
14
15
16
17
18
19
03 E8
00 00
27 10
00 00
13 88
00 00
13 88
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LSW of RSV (1000 = 0x3E8)
MSW of RV (define velocity)
LSW of RV (10000 = 0x2710)
MSW of RA (define acc value)
LSW of RA (5000 = 1388)
MSW of RD (define dec value)
LSW of RD (5000 = 1388)
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6.8.2
2-Axis Continuous Linear Interpolation
eRET ETM_LINE_2D_INITIAL (HANDLE h, BYTE cardNo, BYTE axis1,
BYTE axis2, DWORD VSV , DWORD VV , DWORD VA)
※ eRET ETM_MACRO_LINE_2D_INITIAL (HANDLE h, BYTE cardNo, BYTE
axis1, BYTE axis2, DWORD VSV , DWORD VV , DWORD VA)
Description:
This function sets the necessary parameters for a 2-axis continuous linear
interpolation using symmetric T-curve speed profile.
Category:
MODBUS sub_function; RTC and MP.
Parameters:
Paramters
cardNo:
axis1:
axis2:
VSV:
VV:
VA:
Description
Module number  MP-8000 : 1~7
The first axis (axis 1). Please refer to Table 2.
The axis can be either X, Y, Z or U (1 or 2 or 4 or 8).
The second axis (axis 2). Please refer to Table 2.
The axis can be either X, Y, Z or U (1 or 2 or 4 or 8).
Starting speed (in PPS)
Vector speed (in PPS)
Vector acceleration (PPS/sec)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Use the ETM_GET_ERROR_CODE() function to identify the error.
Remark:
The Sub_function code of ETM_LINE_2D_INITIAL is 0A 7C.
The Sub_function code of ETM_MACRO_LINE_2D_INITIAL is 0C 7C.
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MODBUS example:
ETM_LINE_2D_INITIAL (h, 1, AXIS_X, AXIS_Y, 300, 18000, 500000);
//This function should be defined before the ETM_LINE_2D_CONTINUE()
//function is used. Please refer to the example of this function.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
Byte
(hex)
(hex) Length (hex) (hex)
(hex)
Count
Count
(hex)
(hex)
(hex)
00 01 00 00
00 19
01
10
1F 40
00 09
12
Register[]
Value (hex)
Remarks
0
0A 7C/0C 7C
Sub_funciton code
1
00 01
axis1 (1  AXIS_X)
2
00 02
axis2 (2  AXIS_Y)
3
00 00
MSW of VSV
4
01 2C
LSW of VSV (300 = 0x12C)
5
00 00
MSW of VV
6
46 50
LSW of VV (18000 = 0x4650)
7
00 07
MSW of VA
8
A1 20
LSW of VA (500000 = 0x0007A120)
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eRET ETM_LINE_2D_CONTINUE (HANDLE h, BYTE cardNo, BYTE
nType, long fp1, long fp2)
※ eRET ETM_MACRO_LINE_2D_CONTINUE (HANDLE h, BYTE cardNo,
BYTE nType, long fp1, long fp2)
Description:
This function executes a 2-axis continuous linear interpolation. (It will not
consume any system resources of MP-8000).
Category:
MODBUS sub_function; RTC and MP.
Parameters:
Paramters
cardNo:
nType:
fp1:
fp2:
Description
Module number  MP-8000 : 1~7
0  2-axis linear continuous interpolation
1  end of 2-axis linear continuous interpolation
The assigned number of pulses for the axis 1 (in Pulses)
(-2,000,000,000 ~ +2,000,000,000)
The assigned number of pulses for the axis 2 (in Pulses)
(-2,000,000,000 ~ +2,000,000,000)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Use the ETM_GET_ERROR_CODE() function to identify the error.
Remark:
The Sub_function code of ETM_LINE_2D_CONTINUE is 0A 7E.
The Sub_function code of ETM_MACRO_LINE_2D_CONTINUE is 0C
7E.
MODBUS example:
ETM_LINE_2D_CONTINUE (h, 1, 0, 100, 100);
//execute X, Y 2-axis linear continuous interpolation on module 1
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 13
01
10
1F 40
00 06
Register[]
Value (hex)
Remarks
0
0A 7E/0C 7E
Sub_funciton code
1
00 00
nType
2
00 00
MSW of fp1
3
00 64
LSW of fp1 (100 = 0x64)
4
00 00
MSW of fp2
5
00 64
LSW of fp2
Byte
Count
(hex)
0C
Related example:
BYTE cardNo=1;
unsigned short sv=300; //Set the vector start velocity is 300 PPS。
unsigned short v=18000; //Set the vector velocity is 18000 PPS。
unsigned long a=500000; //Set the vector acceleration is 500K PPS/s。
unsigned short loop1;
ETM_SET_MAX_V(h, cardNo, AXIS_XYZU, 160000L);
// Set the maximum speed of xyzu axes on module 1 to 160K PPS.
ETM_LINE_2D_INITIAL(h, cardNo, AXIS_X, AXIS_Y, sv, v, a);
for (loop1 = 0; loop1 < 10000; loop1++)
{
ETM_LINE_2D_CONTINUE (h, cardNo, 0, 100, 100);
ETM_LINE_2D_CONTINUE (h, cardNo, 0, -100, -100);
//execute X, Y 2-axis linear continuous interpolation on module 1
}
ETM_LINE_2D_CONTINUE (h, cardNo, 1, 100, 100);
//end X, Y 2-axis linear continuous interpolation on module 1
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6.8.3
3-Axis Continuous Linear Interpolation
eRET ETM_LINE_3D_INITIAL (HANDLE h, BYTE cardNo, BYTE axis1,
BYTE axis2, BYTE axis3, DWORD VSV , DWORD VV , DWORD VA)
※ eRET ETM_MACRO_LINE_3D_INITIAL (HANDLE h, BYTE cardNo, BYTE
axis1, BYTE axis2, BYTE axis3, DWORD VSV , DWORD VV ,
DWORD VA)
Description:
This function sets the necessary parameters for a 3-axis continuous linear
interpolation using symmetric T-curve speed profile.
Category:
MODBUS sub_function; RTC and MP.
Parameters:
Paramters
cardNo:
axis1:
axis2:
axis3:
VSV:
VV:
VA:
Description
Module number  MP-8000 : 1~7
The first axis (axis 1). Please refer to Table 2.
The axis can be either X, Y, Z or U (1 or 2 or 4 or 8).
The second axis (axis 2). Please refer to Table 2.
The axis can be either X, Y, Z or U (1 or 2 or 4 or 8).
The third axis (axis 3). Please refer to Table 2.
The axis can be either X, Y, Z or U (1 or 2 or 4 or 8).
Starting speed (in PPS)
Vector speed (in PPS)
Vector acceleration (PPS/sec)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_LINE_3D_INITIAL is 0A 7F.
The Sub_function code of ETM_MACRO_LINE_3D_INITIAL is 0C 7F.
MODBUS example:
ETM_LINE_3D_INITIAL (h, 1, AXIS_X, AXIS_Y, AXIS_Z, 300, 18000, 500000);
//This function should be defined before the ETM_LINE_3D_CONTINUE()
//function is used. Please refer to the example of this function.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 1B
01
10
1F 40
00 0A
Register[]
Value (hex)
Remarks
0
0A 7F/0C 7F
Sub_funciton code
1
00 01
axis1 (1  AXIS_X)
2
00 02
axis2 (2  AXIS_Y)
3
00 04
axis3 (4  AXIS_Z)
4
00 00
MSW of VSV
5
01 2C
LSW of VSV (300 = 0x12C)
6
00 00
MSW of VV
7
46 50
LSW of VV (18000 = 0x4650)
8
00 07
MSW of VA
9
A1 20
LSW of VA (500000 = 0x7A120)
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Byte
Count
(hex)
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eRET ETM_LINE_3D_CONTINUE (HANDLE h, BYTE cardNo, BYTE
nType, long fp1, long fp2, long fp3)
※ eRET ETM_MACRO_LINE_3D_CONTINUE (HANDLE h, BYTE cardNo,
BYTE nType, long fp1, long fp2, long fp3)
Description:
This function executes a 3-axis continuous linear interpolation. (It will not
consume any system resources of MP-8000).
Category:
MODBUS sub_function; RTC and MP.
Parameters:
Paramters
Description
Module number  MP-8000 : 1~7
0  3-axis linear continuous interpolation
1  end of 3-axis linear continuous interpolation
The assigned number of pulses for the axis 1 (in Pulses)
(-2,000,000,000 ~ +2,000,000,000)
The assigned number of pulses for the axis 2 (in Pulses)
(-2,000,000,000 ~ +2,000,000,000)
The assigned number of pulses for the axis 3 (in Pulses)
(-2,000,000,000 ~ +2,000,000,000)
cardNo:
nType:
fp1:
fp2:
fp3:
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Use the ETM_GET_ERROR_CODE() function to identify the error.
Remark:
The Sub_function code of ETM_LINE_3D_CONTINUE is 0A 81.
The Sub_function code of ETM_MACRO_LINE_3D_CONTINUE is 0C
81.
MODBUS example:
ETM_LINE_3D_CONTINUE (h, 1, 0, 100, 100, 100);
//execute X, Y, Z 3-axis linear continuous interpolation on module 1
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 17
01
10
1F 40
00 08
Register[]
Value (hex)
Remarks
0
0A 81/0C 81
Sub_funciton code
1
00 00
nType
2
00 00
MSW of fp1
3
00 64
LSW of fp1 (100 = 0x64)
4
00 00
MSW of fp2
5
00 64
LSW of fp2
6
00 00
MSW of fp3
7
00 64
LSW of fp3
Byte
Count
(hex)
10
Related example:
BYTE cardNo=1;
unsigned short sv=300; //Set the vector start velocity is 300 PPS。
unsigned short v=18000; //Set the vector velocity is 18000 PPS。
unsigned long a=500000; //Set the vector acceleration is 500K PPS/s。
unsigned short loop1;
ETM_SET_MAX_V(h, cardNo, AXIS_XYZU, 160000L);
// Set the maximum speed of xyzu axes on module 1 to 160K PPS.
ETM_LINE_3D_INITIAL(h, cardNo, AXIS_X, AXIS_Y, AXIS_Z, sv, v, a);
for (loop1 = 0; loop1 < 10000; loop1++)
{
ETM_LINE_3D_CONTINUE(h, cardNo, 0, 100, 100, 100);
ETM_LINE_3D_CONTINUE(h, cardNo, 0, -100, -100, -100);
//execute X, Y, Z 3-axis linear continuous interpolation on module 1
}
ETM_LINE_3D_CONTINUE (h, 1, 0, 100, 100, 100);
//end X, Y, Z 3-axis linear continuous interpolation on module 1
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6.8.4
Mixed Linear and Circular 2-axis motions in
Continuous Interpolation
eRET ETM_MIX_2D_INITIAL (HANDLE h, BYTE cardNo, BYTE axis1,
BYTE axis2, BYTE nAcc, DWORD VSV , DWORD VV , DWORD VA)
※ eRET ETM_MACRO_MIX_2D_INITIAL (HANDLE h, BYTE cardNo, BYTE
axis1, BYTE axis2, BYTE nAcc, DWORD VSV , DWORD VV ,
DWORD VA)
Description:
This function does the initial settings for mixed linear and circular 2-axis
motions in continuous interpolation.
Category:
MODBUS sub_function; RTC and MP.
Parameters:
Paramters
cardNo:
axis1:
axis2:
nAcc:
VSV:
VV:
VA:
Description
Module number  MP-8000 : 1~7
The first axis (axis 1). Please refer to Table 2.
The axis can be either X, Y, Z or U (1 or 2 or 4 or 8).
The second axis (axis 2). Please refer to Table 2.
The axis can be either X, Y, Z or U (1 or 2 or 4 or 8).
0  constant speed (VV)
1  symmetric T-curve Acc/Dec (VSV、VV、VA)
Starting speed (in PPS)
Vector speed (in PPS)
Vector acceleration (PPS/Sec)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_MIX_2D_INITIAL is 0A 82.
The Sub_function code of ETM_MACRO_MIX_2D_INITIAL is 0C 82.
MODBUS example:
ETM_MIX_2D_INITIAL (h, 1, 1, 2, 0, 300, 18000, 500000);
//This function should be defined before the ETM_MIX_2D_CONTINUE()
//function is used. Please refer to the example of this function.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 1B
01
10
1F 40
00 0A
Register[]
Value (hex)
Remarks
0
0A 82/0C B2
Sub_funciton code
1
00 01
axis1 (1  AXIS_X)
2
00 02
axis2 (2  AXIS_Y)
3
00 00
nAcc
4
00 00
MSW of VSV
5
01 2C
LSW of VSV (300 = 0x12C)
6
00 00
MSW of VV
7
46 50
LSW of VV (18000 = 0x4650)
8
00 07
MSW of VA
9
A1 20
LSW of VA (500000 = 0x7A120)
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Byte
Count
(hex)
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eRET ETM_MIX_2D_CONTINUE (HANDLE h, BYTE cardNo, BYTE nAcc,
BYTE nType, long cp1, long cp2, long fp1, long fp2)
※ eRET ETM_MACRO_MIX_2D_CONTINUE (HANDLE h, BYTE cardNo,
BYTE nAcc, BYTE nType, long cp1, long cp2, long fp1, long fp2)
Description:
This function executes mixed linear and circular 2-axis motion in
continuous interpolation. (It will not consume any system resources of MP8000).
Category:
MODBUS sub_function; RTC and MP.
Parameters:
Paramters
cardNo:
nAcc:
nType:
Description
Module number  MP-8000 : 1~7
0  continuous interpolation.
1  it is the last command of this continuous
interpolation.
In Acc/Dec mode, it will perform a deceleration
stop. In constant speed mode, it will directly stop
rather than decelerate.
1  ETM_LINE_2D(BYTE cardNo, long fp1, longfp2)
2  ETM_ARC_CW(BYTE cardNo, long cp1, long
cp2, long fp1, long fp2)
3  ETM_ARC_CCW(BYTE cardNo, long cp1, long
cp2, long fp1, long fp2)
4  ETM_CIRCLE_CW(BYTE cardNo, long cp1,
long cp2)
5  ETM_CIRCLE_CCW(BYTE cardNo, long cp1,
long cp2)
cp1:
cp2:
fp1:
fp2:
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It assigns the center point data at axis 1
(-2,000,000,000 ~ +2,000,000,000)
It assigns the center point data at axis 2
(-2,000,000,000 ~ +2,000,000,000)
It assigned number of pulses for axis 1
(-2,000,000,000 ~ +2,000,000,000)
It assigned number of pulses for axis 2
(-2,000,000,000 ~ +2,000,000,000)
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Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Use the ETM_GET_ERROR_CODE() function to identify the error.
Remark:
The Sub_function code of ETM_MIX_2D_CONTINUE is 0A 84.
The Sub_function code of ETM_MACRO_MIX_2D_CONTINUE is 0C
84.
MODBUS example:
ETM_MIX_2D_CONTINUE (h, 1, 0, 1, 0, 0, 100, 100);
//execute X, Y, 2-axis motions in continuous interpolation on module 1
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
Byte
(hex)
(hex) Length (hex) (hex)
(hex)
Count
Count
(hex)
(hex)
(hex)
00 01 00 00
00 1D
01
10
1F 40
00 0B
16
Register[]
Value (hex)
Remarks
0
0A 84/0C 84
Sub_funciton code
1
00 00
nAcc
2
00 01
nType
3
00 00
MSW of cp1
4
00 00
LSW of cp1 (for linear motion, set 0)
5
00 00
MSW of cp2
6
00 00
LSW of cp2 (for linear motion, set 0)
7
00 00
MSW of fp1
8
00 64
LSW of fp1 (100 = 0x64)
9
00 00
MSW of fp2
10
00 64
LSW of fp2 (100 = 0x64)
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6.8.5
Multi-Segment Continuous Interpolation(Using Array)
eRET ETM_CONTINUE_INTP(HANDLE h, BYTE cardNo, BYTE axis1,
BYTE axis2, BYTE axis3, BYTE nAcc, DWORD VSV, DWORD VV,
DWORD VA, DWORD VD)
Description:
This function executes multi-segment continuous interpolation, please
write the motion data arrays first. (It will not consume any system
resources of MP-8000).
Category:
MODBUS sub_function; RTC.
Parameters:
Paramters
cardNo:
axis1:
axis2:
axis3:
nAcc:
VSV:
VV:
VA:
VD:
Description
Module number  MP-8000 : 1~7
The first axis (axis 1). Please refer to Table 2.
The axis can be either X, Y, Z or U (1 or 2 or 4 or 8).
The second axis (axis 2). Please refer to Table 2.
The axis can be either X, Y, Z or U (1 or 2 or 4 or 8).
The third axis (axis 3). Please refer to Table 2.
The axis can be either X, Y, Z or U (1 or 2 or 4 or 8).
0  constant speed (VV)
1  asymmetric T-curve Acc/Dec (VSV、VV、VA、VD)
Starting speed (in PPS)
Vector speed (in PPS)
Vector acceleration (PPS/Sec)
Vector deceleration (PPS/Sec)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Use the ETM_GET_ERROR_CODE() function to identify the error.
MODBUS example:
ETM_CONTINUE_INTP (h, 1, 1, 2, 4, 1, 300, 18000, 500000, 200);
//execute X, Y, Z 3-axis multi-segment continuous interpolation
// on module 1
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 21
01
10
1F 40
00 0D
Register[]
Value (hex)
Remarks
0
0A 86
Sub_function code
1
00 01
axis1
2
00 02
axis2
3
00 04
axis3
4
00 01
nAcc
5
00 00
MSW of VSV
6
01 2C
LSW of VSV (300 = 0x12C)
7
00 00
MSW of VV
8
46 50
LSW of VV (18000 = 0x4650)
9
00 07
MSW of VA
10
A1 20
LSW of VA (500000 = 0x7A120)
11
00 00
MSW of VD
12
00 64
LSW of VD (200 = 0xC8)
Byte
Count
(hex)
1A
Special Description:
This similar motion can be done by continuously using
ETM_MACRO_MIXED_2D_INITIAL( ) and
ETM_MACRO_MIXED_2D_CONTINUE( ) inside an MP.
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void i8094H_CONTINUE_INTP_ARRAY(BYTE cardNo, BYTE nType[ ],
long cp1[ ], long cp2[ ], long fp1[ ], long fp2[ ], long fp3[ ])
Description:
Multi-segment continuous interpolation motion data arrays.
Category:
MODBUS table ; Internal function.
Parameters:
Paramters
cardNo:
nType[ ]:
Description
Module number  MP-8000 : 1~7
Maximum segment: 100(0 ~ 99). It contains the interpolation
commands defined as follows.
1 i8094H_LINE_2D(BYTE cardNo, long fp1, long fp2);
2 i8094H_ARC_CW(BYTE cardNo, long cp1, long cp2, long fp1,
long fp2);
3 i8094H_ARC_CCW(BYTE cardNo, long cp1, long cp2, long fp1,
long fp2);
4 i8094H_CIRCLE_CW(BYTE cardNo, long cp1, long cp2);
5 i8094H_CIRCLE_CCW(BYTE cardNo, long cp1, long cp2);
6 i8094H_LINE_3D(BYTE cardNo, long fp1, long fp2, long fp3);
cp1[ ]:
cp2[ ]:
fp1[ ]:
fp2[ ]:
fp3[ ]:
7  It indicates the end of continuous interpolation.
It contains a list of segment center point data at axis 1.
(-2,000,000,000 ~ +2,000,000,000)
It contains a list of segment center point data at axis 2.
(-2,000,000,000 ~ +2,000,000,000)
This array contains a list of segment end point data at axis 1.
(-2,000,000,000 ~ +2,000,000,000)
This array contains a list of segment end point data at axis 2.
(-2,000,000,000 ~ +2,000,000,000)
This array contains a list of segment end point data at axis 3.
(-2,000,000,000 ~ +2,000,000,000)
(Note: The 2-axis and 3-axis motion commands can not be mixed
together when applying commands. Please fill 0 for the cell values
in the array if these cells are not used.)
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Return:
None
Special Description:
This function only allow to be used on MP-8000 or the controller
which direct control the i-8094H; it can not be used in ET-M8194H.
This similar motion can be done by continuously using
ETM_MACRO_MIXED_2D_INITIAL() and
ETM_MACRO_MIXED_2D_CONTINUE( ) inside an MP.
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6.8.6
3-Axis Helical Motion
eRET ETM_HELIX_3D (HANDLE h, BYTE cardNo, BYTE axis1, BYTE
axis2, BYTE axis3, BYTE nDir, DWORD VV , long cp1, long cp2,
long cycle, long pitch)
※ eRET ETM_MACRO_HELIX_3D (HANDLE h, BYTE cardNo, BYTE axis1,
BYTE axis2, BYTE axis3, BYTE nDir, DWORD VV , long cp1, long
cp2, long cycle, long pitch)
Description:
This function performs a 3-axis helical motion. However, it is a software
macro-function; therefore, it requires CPU resource to run this function.
(But It will not consume any system resources of MP-8000).
Category:
MODBUS sub_function; RTC and MP.
Parameters:
Paramters
cardNo:
axis1:
axis2:
axis3:
nDir:
VV:
cp1:
cp2:
cycle:
pitch:
Description
Module number  MP-8000 : 1~7
The first axis (axis 1). Please refer to Table 2.
The axis can be either X, Y, Z or U (1 or 2 or 4 or 8).
The second axis (axis 2). Please refer to Table 2.
The axis can be either X, Y, Z or U (1 or 2 or 4 or 8).
The third axis (axis 3). Please refer to Table 2.
The axis can be either X, Y, Z or U (1 or 2 or 4 or 8).
0  Move in a CW direction.
1  Move in a CCW direction.
Vector speed (in PPS)
The value of center at axis 1
(-2,000,000,000 ~ +2,000,000,000)
The value of center at axis 2
(-2,000,000,000 ~ +2,000,000,000)
Number of cycle (-2,000,000,000 ~ +2,000,000,000)
Pitch per revolution (the advanced distance for
each revolution)
(-2,000,000,000 ~ +2,000,000,000)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Use the ETM_GET_ERROR_CODE() function to identify the error.
Remark:
The Sub_function code of ETM_HELIX_3D is 0A 88.
The Sub_function code of ETM_MACRO_HELIX_3D is 0C 88.
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MODBUS example:
ETM_HELIX_3D (h, 1, AXIS_Y, AXIS_Z, AXIS_U, 1, 50000, 0, 25000, 50, 3600);
//the circular motion is on YZ plane, and the linear motion is along the U axis.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 25
01
10
1F 40
00 0F
Register[]
Value (hex)
Remarks
0
0A 88/0C 88
Sub_funciton code
1
00 02
axis1 (2  AXIS_Y)
2
00 04
axis2 (4  AXIS_Z)
3
00 08
axis3 (8  AXIS_U)
4
00 01
nDir
5
00 00
MSW of VV
6
C3 50
LSW of VV (50000 = 0xC350)
7
00 00
MSW of cp1
8
00 00
LSW of cp1 (0 = 0x0)
9
00 00
MSW of cp2
10
61 A8
LSW of cp2 (25000 = 0x61A8)
11
00 00
MSW of cycle
12
00 32
LSW of cycle (50  0x32)
13
00 00
MSW of pitch
14
0E 10
LSW of pitch (3600  0xE10)
Byte
Count
(hex)
1E
Related example :
BYTE cardNo=1; //select module 1.
//===============================================
ETM_SET_MAX_V(h, cardNo, AXIS_XYZU,160000L);
//set maximum speed for all axes to 160K PPS.
long v=50000; //set vector speed to 50K PPS.
ETM_HELIX_3D(h, cardNo, AXIS_Y, AXIS_Z, AXIS_X, 1, v, 0, 1000, 5, -2000);
//the circular motion is on YZ plane, and the linear motion is
//along the X axis.
//===============================================
ETM_SET_MAX_V(h, cardNo, AXIS_XYZU,160000L);
//set the maximum speed for all axes to 160K PPS.
long v=100000; //set vector speed to 100K PPS.
ETM_HELIX_3D(h, cardNo, AXIS_Y, AXIS_Z, AXIS_U, 1, v, 0, 25000, 50, 3600);
//the circular motion is on YZ plane, and the linear motion is along
//the U axis.
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6.8.7
2-Axis Ration Motion
eRET ETM_RATIO_INITIAL (HANDLE h, BYTE cardNo, BYTE axis1,
BYTE axis2, DWORD SV , DWORD V , DWORD A, BYTE CMX,
BYTE CDV)
※ eRET ETM_MACRO_RATIO_INITIAL (HANDLE h, BYTE cardNo, BYTE
axis1, BYTE axis2, DWORD SV , DWORD V , DWORD A, BYTE
CMX, BYTE CDV)
Description:
This function sets the Initial values for ratio motion (motion in ratio) using a
symmetric T-curve speed profile.
Category:
MODBUS sub_function; RTC and MP.
Parameters:
Paramters
cardNo:
axis1:
axis2:
SV:
V:
A:
CMX:
CDV:
Description
Module number  MP-8000 : 1~7
The first axis (axis 1). Please refer to Table 2.
The axis can be either X, Y, Z or U (1 or 2 or 4 or 8).
The second axis (axis 2). Please refer to Table 2.
The axis can be either X, Y, Z or U (1 or 2 or 4 or 8).
Set the value for the starting speed ( in PPS)
Set the value for the vector speed (in PPS)
Set the acceleration value (in PPS/sec)
Set the molecule value between the two assigned
axes(1 ~+127)
Set the denominator value between the two assigned
axes(1 ~ +127)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_RATIO_INITIAL is 0A 8B.
The Sub_function code of ETM_MACRO_RATIO_INITIAL is 0C 8B.
MODBUS example:
ETM_RATIO_INITIAL (h, 1, AXIS_U, AXIS_X, 300, 18000, 500000, 9, 25);
//Initial setting forETM_RATIO_2D(…) function.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 1D
01
10
1F 40
00 0B
Register[]
Value (hex)
Remarks
0
0A 8B/0C 8B
Sub_funciton code
1
00 08
axis1 (2  AXIS_U)
2
00 01
axis2 (4  AXIS_X)
3
00 00
MSW of SV
4
01 2C
LSW of SV (300 = 0x12C)
5
00 00
MSW of V
6
46 50
LSW of V (18000 = 0x4650)
7
00 07
MSW of A
8
A1 20
LSW of A (500000 = 0x7A120)
9
00 09
CMX
10
00 19
CDV (25 = 0x19)
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Byte
Count
(hex)
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eRET ETM_RATIO_2D (HANDLE h, BYTE cardNo, BYTE nType, long
data, BYTE nDir)
※ eRET ETM_MACRO_RATIO_2D (HANDLE h, BYTE cardNo, BYTE nType,
long data, BYTE nDir)
Description:
This function performs a two-axis ratio motion. (It will not consume any
system resources of MP-8000).
Category:
MODBUS sub_function; RTC and MP.
Parameters:
Paramters
cardNo:
nType:
data:
nDir:
Description
Module number  MP-8000 : 1~7
0  Perform the ratio motion.
1  Declare the end of ratio motion.
The pulse number of axis1.
(-2,000,000,000 ~ +2,000,000,000)
Direction of the second axis.
0: CW; 1: CCW
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Use the ETM_GET_ERROR_CODE() function to identify the error.
Remark:
The Sub_function code of ETM_RATIO_2D is 0A 8D.
The Sub_function code of ETM_MACRO_RATIO_2D is 0C 8D.
MODBUS example:
ETM_RATIO_2D (h, 1, 0, 3600, 0);
//perform the ratio motion in the CW direction.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 11
01
10
1F 40
00 05
Register[]
Value (hex)
Remarks
0
0A 8D/0C 8D
Sub_funciton code
1
00 00
nType
2
00 00
MSW of data
3
0E 10
LSW of data (3600 = 0xE10)
4
00 00
nDir
Byte
Count
(hex)
0A
Related example:
BYTE cardNo=1; //select module 1.
unsigned short sv=300; //set starting speed to 300 PPS.
unsigned short v=18000; //set vector speed to 18000 PPS.
unsigned long a=500000; //set acceleration value to 500K PPS/Sec.
unsigned short loop1;
unsigned short loop2;
ETM_SET_MAX_V(h, cardNo, AXIS_XYZU,160000L);
//set maximum speed value to 160000 PPS.
ETM_RATIO_INITIAL(h, cardNo, AXIS_U, AXIS_X, sv, v, a, 9, 25);
//assign U axis as the axis 1 and X axis as the axis 2.
for (loop2 = 0; loop2 < 5; loop2++)
{
for (loop1 = 0; loop1 < 5; loop1++)
{
ETM_RATIO_2D(h, cardNo, 0, 3600, 0);
//perform the ratio motion in the CW direction.
ETM_RATIO_2D(h, cardNo, 0, 3600, 1);
//perform the ratio motion in the CCW direction.
}
ETM_RATIO_2D(h, cardNo, 0, 7200, 0);
ETM_RATIO_2D(h, cardNo, 0, 3600, 1);
}
ETM_RATIO_2D(h, cardNo, 1, 7200, 0);
//End the ratio motion.
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6.8.8
Synchronous Line Scan Motion
eRET ETM_LINE_SCAN (HANDLE h, BYTE cardNo, BYTE axis, BYTE
Type, BYTE outEdge, BYTE PulseWidth, long Pitch)
Description:
Equal distance Line Scan trigger out: Max speed < 100KHz (Pulse Width
10uS). Unequal distance Line Scan trigger out : Max speed < 18KHz.
Category:
MODBUS sub_function; RTC.
Parameters:
Paramters
cardNo:
axis:
Type:
outEdge:
PulseWidth:
pitch:
Description
Module number  MP-8000 : 1~7
Axis number: equal distance X or Y (1,2) unequal
distance X(1).
0 = equal distance motion (please refer to C+，LP)
1 = unequal distance motion (please refer to C+，LP)
2 = equal distance motion (please refer to C+，EP)
3 = unequal distance motion (please refer to C+，EP)
Output active logic:
0 = low active (0V); 1 = high active (5V)
Output pulse width
0 = 10 uSec
1 = 20 uSec
2 = 100 uSec
3 = 200 uSec
4 = 1,000 uSec
5 = 2,000 uSec
6 = 10,000 uSec
7 = 20,000 uSec
Specify interval pulses
(-2,000,000,000 ~ +2,000,000,000)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
ETM_LINE_SCAN (h, 1, AXIS_X, 0, 0, 0, -39);
//Sets the equal distance Line Scan trigger on axis-X.
//One trigger will be sent out every 40 (=39+1) pulses.
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 15
01
10
1F 40
00 07
Register[]
Value (hex)
Remarks
0
0A 90
Sub_funciton code
1
00 01
axis (1  AXIS_X)
2
00 00
Type (even distance trigger)
3
00 00
outEdge (high level pulse)
4
00 00
PulseWidth (0 10 uSec)
5
FF FF
MSW of Pitch
6
FF D9
LSW of Pitch (-39 = 0xFFFFFFD9)
Byte
Count
(hex)
0E
Related example:
ETM_SET_MAX_V(h, CardNo, AXIS_XY, 4000000);
//set the maximum speed of X and Y axes to 4M PPS.
ETM_NORMAL_SPEED(h, CardNo, AXIS_XY, 0);
//set the driving mode to be symmetric T-curve.
ETM_SET_V(h, CardNo, AXIS_XY, 2000000);
//set the speed of X and Y axes to 2M PPS.
ETM_SET_A(h, CardNo, AXIS_XY, 20000000);
//set the acceleration of X and Y axes to 2M PPS/S.
ETM_SET_SV(h, CardNo, AXIS_XY, 2000000);
//set the starting speed of X and Y axes to 2M PPS.
ETM_LINE_SCAN(h, CardNo, AXIS_X, 0, 0, 0, -39);
//Sets the equal distance Line Scan trigger on axis-X.
//One trigger will be sent out every 40 (=39+1) pulses.
ETM_LINE_SCAN(h, CardNo, AXIS_Y, 0, 0, 0, -79);
//Sets the equal distance Line Scan trigger on axis-Y.
//One trigger will be sent out every 80 (=79+1) pulses.
ETM_LINE_SCAN_START(h, CardNo, AXIS_XY, 0, -4000000);
//Towards the negative direction move 4000K PPS.
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eRET ETM_LINE_SCAN_START (HANDLE h, BYTE cardNo, BYTE axis,
BYTE Type, long Position)
Description:
Enable Line Scan trigger out motion.
When performing unequal distance motion, please note (there is no
restriction for equal distance motion):
a. All ISR will be stopped.
b. Do not execute the following commands:
ETM_READ_bVAR
ETM_READ_VAR
ETM_GET_LP
ETM_GET_EP
ETM_GET_CV
ETM_GET_CA
ETM_GET_DI
ETM_GET_ERROR
ETM_GET_ERROR_CODE
ETM_GET_LATCH
ETM_STOP_WAIT
ETM_CLEAR_STOP
Category:
MODBUS sub_function; RTC.
Parameters:
Paramters
cardNo:
axis:
Type:
Position:
Description
Module number  MP-8000 : 1~7
Axis number:
fixed offset displacement X (1)or Y (2) or XY (3); or
unequal offset distance X(1).
0 = equal distance motion (according to LP value)
1 = unequal distance motion (according to LP value). Need
to call ETM_LINE_SCAN_OFFSET2 to set comparing
position.
2 = equal distance motion (according to EP value)
3 = unequal distance motion (according to EP value). Need
to call ETM_LINE_SCAN_OFFSET2 to set comparing
position.
Total pulses, moving distance
(-2,000,000,000 ~ +2,000,000,000)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
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MODBUS example:
ETM_LINE_SCAN_START (h, 1, AXIS_XY, 0, -4000000);
//Towards the negative direction move 4000K PPS.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 11
01
10
1F 40
00 05
Register[]
Value (hex)
Remarks
0
0A 91
Sub_funciton code
1
00 03
axis (3  AXIS_XY)
2
00 00
Type
3
FF C2
MSW of Position
4
F7 00
LSW of Position
(-4000000 = 0xFFC2F700)
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Byte
Count
(hex)
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eRET ETM_LINE_SCAN_OFFSET2 (HANDLE h, BYTE cardNo, DWORD
Start, WORD Param_Len, char Offset[])
Description:
Set different offset pulses. The array, Offset[ ], contains the offset value for
position comparing and trigger output. (the actual trigger position =
previous_postion + offset). This function helps to set or modify the
elements of Offset[ ]. The parameter, Start, defines the beginning index of
offset array that will be changed. The maximum length of the unequal
distance interval offsets is 7000.
Category:
MODBUS sub_function; RTC.
Parameters:
Paramters
cardNo:
Start:
Param_Len:
Offset[]:
Description
Module number  MP-8000 : 1~7
The starting index in the Offset array for entering
offset values (0 ~ 6999).
The number of element in Offset[].
The distance offset value (-128 ~ +127).
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
char Offset[10];
Offset[0] = 1;
Offset[1] = -2;
Offset[2] = 1;
Offset[3] = 2;
Offset[4] = -1;
Offset[5] = 1;
Offset[6] = 0;
Offset[7] = 1;
Offset[8] = 0;
Offset[9] = 0;
ETM_LINE_SCAN_OFFSET2 (h, 1, 0, sizeof(Offset), Offset);
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 21
01
10
1F 40
00 0D
Register[]
Value (hex)
Remarks
0
0A 93
Sub_funciton code
1
00 00
MSW 0F Start
2
00 00
LSW 0F Start
3
00 01
Offset[0]
4
00 FE
Offset[1] (-2 = 0xFE )
5
00 01
Offset[2]
6
00 02
Offset[3]
7
00 FF
Offset[4] (-1 = 0xFF )
8
00 01
Offset[5]
9
00 00
Offset[6]
10
00 01
Offset[7]
11
00 00
Offset[8]
12
00 00
Offset[9]
ICP DAS
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Byte
Count
(hex)
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eRET ETM_GET_LINE_SCAN_DONE (HANDLE h, BYTE cardNo, BYTE*
LScanState)
Description:
After calling ETM_LINE_SCAN_START, the ETM_GET_LINE_SCAN_DONE
function will determine if the line scan procedure has finished. The line
scan done flag will be reset after calling ETM_LINE_SCAN_START.
Category:
MODBUS table；RTC.
Parameters:
Paramters
cardNo:
LScanState:
Description
Module number  MP-8000 : 1~7
1: line scan process has been completed
0: no interrupt occurred
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
BYTE bState;
ETM_GET_LINE_SCAN_DONE (h, 1, & bState);
MODBUS request:
TID
PID
(hex)
(hex)
00 01
00 00
Field
Length
(hex)
00 06
UID
(hex)
FC
(hex)
St_Addr.
(hex)
01
04
00 49
(73)
(Card No.)
MODBUS response:
TID
PID
(hex)
(hex)
00 01
00 00
Field
Length
(hex)
00 05
UID
(hex)
FC
(hex)
01
04
Byte
Count
(hex)
02
Word
Count
(hex)
00 01
Register
(hex)
00 01
line scan operation
has ended
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6.9
Other Functions
6.9.1
Holding the Driving Command
eRET ETM_DRV_HOLD (HANDLE h, BYTE cardNo, BYTE axis)
※∆ eRET ETM_MACRO_DRV_HOLD (HANDLE h, BYTE cardNo, BYTE
axis)
Description:
This command is usually used when users desire to start multi-axis driving
simultaneously. When this command is issued, users may write other
driving commands to the control card. All the driving commands will be
held after ETM_DRV_HOLD() is issued, and these commands will be started
once the ETM_DRV_START() is issued. However, if in driving, this
command will not cause the driving to be stopped. But the next command
will be held.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
axis:
Description
Module number  MP-8000 : 1~7
Axis or Axes. Please refer to Table 2.
The axis can be either X, Y, Z or U (1 or 2 or 4 or 8).
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_DRV_HOLD is 0A B4.
The Sub_function code of ETM_MACRO_DRV_HOLD is 0C B4.
MODBUS example:
ETM_DRV_HOLD (h, 1, AXIS_XYU);
//hold the driving command to XYU
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0B
01
10
1F 40
00 02
Register[]
Value (hex)
Remarks
0
0A B4/0C B4
Sub_funciton code
1
00 0B
axis (B  AXIS_XYU)
Byte
Count
(hex)
04
Related example:
BYTE cardNo=1; //select card 1.
ETM_DRV_HOLD(h, cardNo, AXIS_XYU);
//hold the driving command to XYU
ETM_SET_MAX_V(h, cardNo, AXIS_U, 10000);
//set the maximum speed of U-axis to be 10K PPS.
ETM_NORMAL_SPEED(h, cardNo, AXIS_U, 0);
//set the driving mode to be symmetric T-curve.
ETM_SET_V(h, cardNo, AXIS_U, 2000);
//set the speed of U-axis to 2,000 PPS.
ETM_SET_A(h, cardNo, AXIS_U,1000);
//set the acceleration of U-axis to 1,000 PPS/S.
ETM_SET_SV(h, cardNo, AXIS_U, 2000);
//set the starting speed to 2,000 PPS.
ETM_SET_AO(h, cardNo, AXIS_U, 9); // set the AO to 9 Pulses.
ETM_SET_MAX_V(h, cardNo, AXIS_XY, 20000);
//set the maximum speed of X and Y axes to 20K PPS.
ETM_AXIS_ASSIGN(h, cardNo, AXIS_X, AXIS_Y, 0);
//set the X-axis as the axis 1 and Y-axis as the axis 2 for a 2-axis
// interpolation.
ETM_VECTOR_SPEED(h, cardNo, 0);
//set constant speed motion. Therefore, VSV=VV. Only VV is required.
ETM_SET_VV(h, cardNo, 5000);
//set the vector speed for card 1 to 5,000 PPS.
ETM_FIXED_MOVE(h, cardNo, AXIS_U, 5000);
//command U-axis to move 5,000 Pulse. This command is be held.
ETM_LINE_2D(h, cardNo, 12000, 10000);
//command a linear interpolation motion on the XY planes. It is held, too.
ETM_DRV_START(h, cardNo, AXIS_XYU);
//release the holding status. X,Y , and U axes will start to move
// simultaneously.
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6.9.2
Release the Holding Status and Start the Driving
eRET ETM_DRV_START (HANDLE h, BYTE cardNo, BYTE axis)
※∆ eRET ETM_MACRO_DRV_START (HANDLE h, BYTE cardNo, BYTE
axis)
Description:
This command releases the holding status, and start the driving of the
assigned axes immediately.
Category:
MODBUS sub_function; RTC, MP and ISR.
Parameters:
Paramters
cardNo:
axis:
Description
Module number  MP-8000 : 1~7
Axis or Axes. Please refer to Table 2.
The axis can be either X, Y, Z or U (1 or 2 or 4 or 8).
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_DRV_START is 0A B5.
The Sub_function code of ETM_MACRO_DRV_START is 0C B5.
MODBUS example:
ETM_DRV_START (h, 1, AXIS_XYU);
//release the holding status. X,Y , and U axes will start to move
// simultaneously.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0B
01
10
1F 40
00 02
Register[]
Value (hex)
Remarks
0
0A B5/0C B5
Sub_funciton code
1
00 0B
axis (B  AXIS_XYU)
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Byte
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Related example:
BYTE cardNo=1; //select card 1.
ETM_DRV_HOLD(h, cardNo, AXIS_XYU);
//hold the driving command to XYU
ETM_SET_MAX_V(h, cardNo, AXIS_U, 10000);
//set the maximum speed of U-axis to be 10K PPS.
ETM_NORMAL_SPEED(h, cardNo, AXIS_U, 0);
//set the driving mode to be symmetric T-curve.
ETM_SET_V(h, cardNo, AXIS_U, 2000);
//set the speed of U-axis to 2,000 PPS.
ETM_SET_A(h, cardNo, AXIS_U,1000);
//set the acceleration of U-axis to 1,000 PPS/S.
ETM_SET_SV(h, cardNo, AXIS_U, 2000);
//set the starting speed to 2,000 PPS.
ETM_SET_AO(h, cardNo, AXIS_U, 9); // set the AO to 9 Pulses.
ETM_SET_MAX_V(h, cardNo, AXIS_XY, 20000);
//set the maximum speed of X and Y axes to 20K PPS.
ETM_AXIS_ASSIGN(h, cardNo, AXIS_X, AXIS_Y, 0);
//set the X-axis as the axis 1 and Y-axis as the axis 2 for a 2-axis
// interpolation.
ETM_VECTOR_SPEED(h, cardNo, 0);
//set constant speed motion. Therefore, VSV=VV. Only VV is required.
ETM_SET_VV(h, cardNo, 5000);
//set the vector speed for card 1 to 5,000 PPS.
ETM_FIXED_MOVE(h, cardNo, AXIS_U, 5000);
//command U-axis to move 5,000 Pulse. This command is be held.
ETM_LINE_2D(h, cardNo, 12000, 10000);
//command a linear interpolation motion on the XY planes. It is held, too.
ETM_DRV_START(h, cardNo, AXIS_XYU);
//release the holding status. X,Y , and U axes will start to move
// simultaneously.
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6.9.3
Stopping the Axes
eRET ETM_STOP_SLOWLY (HANDLE h, BYTE cardNo, BYTE axis)
※ eRET ETM_MACRO_STOP_SLOWLY (HANDLE h, BYTE cardNo, BYTE
axis)
Description:
This function commands to decelerate and finally stops the assigned axes
slowly.
Category:
MODBUS sub_function; RTC, and MP
Parameters:
Paramters
cardNo:
axis:
Description
Module number  MP-8000 : 1~7
Axis or Axes. Please refer to Table 2.
The axis can be either X, Y, Z or U (1 or 2 or 4 or 8).
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_STOP_SLOWLY is 0A B7.
The Sub_function code of ETM_MACRO_STOP_SLOWLY is 0C B7.
MODBUS example:
ETM_STOP_SLOWLY (h, 1, AXIS_XY);
//decelerate and stop the X and Y axes
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0B
01
10
1F 40
00 02
Register[]
Value (hex)
Remarks
0
0A B7/0C B7
Sub_funciton code
1
00 03
axis (3  AXIS_XY)
ICP DAS
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Byte
Count
(hex)
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eRET ETM_STOP_SUDDENLY (HANDLE h, BYTE cardNo, BYTE axis)
※ eRET ETM_MACRO_STOP_SUDDENLY (HANDLE h, BYTE cardNo, BYTE
axis)
Description:
This function commands to immediately stop the assigned axes.
Category:
MODBUS sub_function; RTC, and MP
Parameters:
Paramters
cardNo:
axis:
Description
Module number  MP-8000 : 1~7
Axis or Axes. Please refer to Table 2.
The axis can be either X, Y, Z or U (1 or 2 or 4 or 8).
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_STOP_SUDDENLY is 0A B8.
The Sub_function code of ETM_MACRO_STOP_SUDDENLY is 0C B8.
MODBUS example:
ETM_STOP_SUDDENLY (h, 1, AXIS_ZU);
//immediately stop the Z and U axes.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01
00 00
00 0B
01
10
1F 40
00 02
Register[]
Value (hex)
Remarks
0
0A B8/0C B8
Sub_funciton code
1
00 0C
axis (C  AXIS_ZU)
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Byte
Count
(hex)
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eRET ETM_VSTOP_SLOWLY (HANDLE h, BYTE cardNo)
※ eRET ETM_MACRO_VSTOP_SLOWLY (HANDLE h, BYTE cardNo)
Description:
This function commands to stop interpolation motion of the assigned
module in a decelerating way.
Category:
MODBUS sub_function; RTC, and MP
Parameters:
Paramters
cardNo:
Description
Module number  MP-8000 : 1~7
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_VSTOP_SLOWLY is 0A B9.
The Sub_function code of ETM_MACRO_VSTOP_SLOWLY is 0C B9.
MODBUS example:
ETM_VSTOP_SLOWLY (h, 1);
//stop the interpolation of card 1 in a decelerating way.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 09
01
10
1F 40
00 01
Register[]
Value (hex)
Remarks
0
0A B9/0C B9
Sub_funciton code
ICP DAS
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Byte
Count
(hex)
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eRET ETM_VSTOP_SUDDENLY (HANDLE h, BYTE cardNo)
※ eRET ETM_MACRO_VSTOP_SUDDENLY (HANDLE h, BYTE cardNo)
Description:
This function commands to stop interpolation motion of the assigned
module immediately.
Category:
MODBUS sub_function; RTC, and MP
Parameters:
Paramters
cardNo:
Description
Module number  MP-8000 : 1~7
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_VSTOP_SUDDENLY is 0A BA.
The Sub_function code of ETM_MACRO_VSTOP_SUDDENLY is 0C
BA.
MODBUS example:
ETM_VSTOP_SUDDENLY (h, 1);
// stop the interpolation of card 1 immediately.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 09
01
10
1F 40
00 01
Register[]
Value (hex)
Remarks
0
0A BA/0C BA Sub_funciton code
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Byte
Count
(hex)
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6.9.4
Clear the Stop Status
eRET ETM_CLEAR_STOP (HANDLE h, BYTE cardNo, BYTE axis)
※ eRET ETM_MACRO_CLEAR_STOP (HANDLE h, BYTE cardNo, BYTE
axis)
Description:
After using anyone of the stop functions mentioned in section 6.9.3, please
solve the malfunction, and then issue this function to clear the stop status.
Category:
MODBUS sub_function; RTC, and MP
Parameters:
Paramters
cardNo:
axis:
Description
Module number  MP-8000 : 1~7
Axis or Axes. Please refer to Table 2.
The axis can be either X, Y, Z or U (1 or 2 or 4 or 8).
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_CLEAR_STOP is 0A BB.
The Sub_function code of ETM_MACRO_CLEAR_STOP is 0C BB.
MODBUS example:
ETM_CLEAR_STOP (h, 1, AXIS_ZU);
//clear the error status of zu axes.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0B
01
10
1F 40
00 02
Register[]
Value (hex)
Remarks
0
0A BB/0C BB Sub_funciton code
1
00 0C
axis (C  AXIS_ZU)
ICP DAS
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Byte
Count
(hex)
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eRET ETM_CLEAR_VSTOP (HANDLE h, BYTE cardNo)
※ eRET ETM_MACRO_CLEAR_VSTOP (HANDLE h, BYTE cardNo)
Description:
After using anyone of the stop functions mentioned in section 6.9.3, please
solve the malfunction, and then issue this function to clear the stop status.
Category:
MODBUS sub_function; RTC, and MP
Parameters:
Paramters
cardNo:
Description
Module number  MP-8000 : 1~7
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_CLEAR_VSTOP is 0A 09.
The Sub_function code of ETM_MACRO_CLEAR_VSTOP is 0C 09.
MODBUS example:
ETM_CLEAR_VSTOP (h, 1);
//clear the error status of card 1.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 09
01
10
1F 40
00 01
Register[]
Value (hex)
Remarks
0
0A 09/0C 09
Sub_funciton code
ICP DAS
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Byte
Count
(hex)
02
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6.9.5
End of Interpolation
eRET ETM_INTP_END (HANDLE h, BYTE cardNo, BYTE type)
※ eRET ETM_MACRO_INTP_END (HANDLE h, BYTE cardNo, BYTE type)
Description:

If the current motion status is running an interpolation motion and you would
like to issue a single axis motion or change the coordinate definition, you
should call this function before the new command is issued.

You can redefine the MAX_V for each axis. In this way, you do not have to
execute ETM_INTP_END() function.
Category:
MODBUS sub_function; RTC, and MP
Parameters:
Paramters
cardNo:
type:
Description
Module number  MP-8000 : 1~7
0  2-axis interpolation
1  3-axis interpolation
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_INTP_END is 0A BC.
The Sub_function code of ETM_MACRO_INTP_END is 0C BC.
MODBUS example:
ETM_INTP_END (h, 1, 0);
//declear the end of a 2-axis interpolation on card
1.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0B
01
10
1F 40
00 02
Register[]
Value (hex)
Remarks
0
0A BC/0C BC Sub_funciton code
1
00 00
type (0  2-axis interpolation)
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6.9.6
Emergency Stop
eRET ETM_EMERGENCY_STOP (HANDLE h, BYTE cardNo, BYTE
stopType)
Description:
Stop all the axes and clear all data in the i-8094H command buffer.
Category:
MODBUS sub_function; RTC.
Parameters:
Paramters
cardNo:
stopType:
Description
Module number  MP-8000 : 1~7
Stop type:
0: immediately stop; 1: deceleration stop
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
ETM_EMERGENCY_STOP (h, 1, 0);
// Stop all the axes immediately and clear all data in the i-8094H command
//buffer.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0B
01
10
1F 40
00 02
Register[]
Value (hex)
Remarks
0
0A 04
Sub_function code
1
00 00
stopType
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Byte
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6.9.7
Clear the Emergency Stop Status
eRET ETM_CLEAR_EMERGENCY_STOP (HANDLE h, BYTE cardNo)
Description:
After using anyone of the stop functions mentioned in section 6.9.6, please
solve the malfunction, and then issue this function to clear the stop status.
Category:
MODBUS sub_function; RTC.
Parameters:
Paramters
cardNo:
Description
Module number  MP-8000 : 1~7
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
ETM_CLEAR_EMERGENCY_STOP (h, 1);
//clear the error status of card 1.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 09
01
10
1F 40
00 01
Register[]
Value (hex)
Remarks
0
0A 05
Sub_function code
ICP DAS
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Byte
Count
(hex)
02
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7 Initial Parameter Table
The initial table stores the basic settings of the motion control chip in a
non-volatile memory. The initialization table includes the following setting
(Figure 3):

pulse output signal

encoder setting

hardware trigger level

software limits
Figure 3: Initial table
The factory default settings of the initial table is as follows:
ETM_SET_PULSE_MODE(h, cardNo, AXIS_XYZU, 0);
ETM_SET_MAX_V(h, cardNo, AXIS_XYZU, 2000000L);
ETM_SET_HLMT(h, cardNo, AXIS_XYZU, 0, 0);
ETM_LIMITSTOP_MODE(h, cardNo, AXIS_XYZU, 0);
ETM_SET_NHOME(h, cardNo, AXIS_XYZU, 0);
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ETM_SET_HOME_EDGE(h, cardNo, AXIS_XYZU, 0);
ETM_CLEAR_SLMT(h, cardNo, AXIS_XYZU);
ETM_SET_ENCODER(h, cardNo, AXIS_XYZU, 0, 0, 0);
ETM_SERVO_OFF(h, cardNo, AXIS_XYZU);
ETM_SET_ALARM(h, cardNo, AXIS_XYZU, 0, 0);
ETM_SET_INPOS(h, cardNo, AXIS_XYZU, 0, 0);
ETM_SET_FILTER(h, cardNo, AXIS_XYZU, 0, 0);
ETM_VRING_DISABLE(h, cardNo, AXIS_XYZU);
ETM_AVTRI_DISABLE(h, cardNo, AXIS_XYZU);
ETM_EXD_DISABLE(h, cardNo, AXIS_XYZU);
Modify the default initial table by calling the above function with the
required settings. The settings may also be changed after start up or later
on during the control operations. Always the last setting will be retained.
Set the initialization table according to the specific environment in which
the ET-M8194H is being used by calling the above functions.
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7.1
Calling the Initial Table
eRET ETM_LOAD_INITIAL (HANDLE h, BYTE cardNo)
Description:
In order to initialize the basic hardware and software settings of the ETM8194, it is required to call the ETM_LOAD_INITIAL function. Directly after
power on, the initial table is being automatically called by executing the
ETM_LOAD_INITIAL function. The Modbus master is also allowed to call
this function at any time.
Category:
MODBUS sub_function; RTC
Parameters:
Paramters
cardNo:
Description
Module number  MP-8000 : 1~7
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
ETM_LOAD_INITIAL (h, 1);
// load the initial setting values of the parameter table into i8094H
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 09
01
10
1F 40
00 01
Register[]
Value (hex)
Remarks
0
0A C8
Sub_funciton code
ICP DAS
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Byte
Count
(hex)
02
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Related example:
ETM_SET_PULSE_MODE(h, 1, INITIAL_XYZU, 0);
//set the pulse mode of X, Y, Z, and U axes as 0, write into the parameter
//table in module 1.
ETM_SET_MAX_V(h, 1, INITIAL_XY, 200000L);
//The maximum speed for the X and Y axes of module 1 is 200KPPS.
//Write into the parameter table.
ETM_SET_HLMT(h, 1, INITIAL_XYZU, 0, 0);
//set all the trigger levels as low-active for all limit switches
//on module 1. Write into the parameter table.
ETM_LIMITSTOP_MODE(h, 1, INITIAL_X, 0);
//set X axis to stop immediately if any limit switch on X axis is triggered
//on module 1. Write into the parameter table.
ETM_SET_NHOME(h, 1, INITIAL_XY, 0);
//set the trigger level of NHOME of X and Y axes on module 1 to be
//active low. Write into the parameter table.
ETM_ LOAD_INITIAL(h, 1);
// load the initial setting values of the parameter table into i8094H
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7.2
Macro Programming
Macro programs are written to the nonvolatile memory of the i8094H module. The
nonvolatile memory can hold Macro program of different sizes. Two types of
Macro tables are provided:
 MP tables: These tables hold normal motion control Macro commands. MP
commands in these tables are being called by the command
ETM_MP_CALL or ETM_MACRO_MP_CALL. The ETM_MP_CALL
command can be directly called by the host controller, and the
ETM_MACRO_MP_CALL is called within a MP table.
 ISR tables: ISR in these tables will be called in case of an interrupt generated
by the motion control chip. Not all Macro commands can be added
to the ISR table in order to guaranty that the execution of ISR is
finished in a short time interval.
The maximum of command lines provided by each Macro table is shown in the
following figure (Figure 4).
Figure 4: Macro table definitions
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7.2.1
Create and Close MP Macro Program Codes
eRET ETM_MP_CREATE(HANDLE h, BYTE cardNo, BYTE mp_No)
Description:
Each Macro program MP has to start with an ETM_MP_CREATE command
and the end of the MP has to be indicated with an
ETM_MACRO_MP_CLOSE command.
Category:
MODBUS sub_function; RTC
Parameters:
Paramters
cardNo:
mpNo:
Description
Module number  MP-8000 : 1~7
The following variables are supported:
Macro Program number (MP1 ~ MP157)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
ETM_MP_CREATE (h, 1, MP21);
//Write Macro Program into i8094H.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0B
01
10
1F 40
00 02
Register[]
Value (hex)
Remarks
0
0A C9
Sub_funciton code
1
00 15
mpNo (MP21 = 21 = 0x15)
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Byte
Count
(hex)
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Related example:
ETM_MP_CREATE(h, 1, MP21); //Write #21 Macro Program into i8094H.
//==========================================================
//The following functions will not be executed, but will be written into
//i8094H for further execution.
ETM_MACRO_SET_MAX_V(h, 1, AXIS_XYZU, 20000);
//The maximum speed of all axes is 20K PPS.
ETM_MACRO_NORMAL_SPEED(h, 1, AXIS_XYZU, 0);
//Set symmetric T-curve for XYZU axes on module.
ETM_MACRO_SET_V(h, 1, AXIS_XYZU, 2000);
//set the speed of all axes on module 1 to be 2000 PPS.
ETM_MACRO_SET_A(h, 1, AXIS_XYZU, 1000);
//set the acceleration of XYZU axes to be 1000 PPS/sec
ETM_MACRO_SET_SV(h, 1, AXIS_XYZU, 2000);
//set the start speed of XYZU axes to be 2000 PPS.
ETM_MACRO_SET_AO(h ,1, AXIS_XYZU, 9);
//set the number of remaining offset pulses for XYZU axes to be 9 pulses.
ETM_MACRO_FIXED_MOVE(h, 1, AXIS_XYZU, 10000);
//move XYZU axes to be 10000 pulses.
ETM_MACRO_MP_CLOSE(h, 1);
// module 1 finish, write Macro Program into i8094H
//==========================================================
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※ eRET ETM_MACRO_MP_CLOSE (HANDLE h, BYTE cardNo)
Description:
Indicate the end of a MP Macro program. This command is only used
together with ETM_MP_CREATE to define an MP program. Otherwise, it will
be ignored.
Category:
MODBUS sub_function; MP
Parameters:
Paramters
cardNo:
Description
Module number  MP-8000 : 1~7
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
ETM_MACRO_MP_CLOSE (h, 1);
// module 1 finish, write Macro Program into i8094H
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 09
01
10
1F 40
00 01
Register[]
Value (hex)
Remarks
0
0C CA
Sub_funciton code
ICP DAS
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Byte
Count
(hex)
02
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7.2.2
Execute MP Macro program
eRET ETM_MP_CALL (HANDLE h, BYTE cardNo, BYTE mpNo)
※ eRET ETM_MACRO_MP_CALL (HANDLE h, BYTE cardNo, BYTE mpNo)
Description:
Calls and execute a specific Macro Program stored in the non-volatile
memory of the i8094H. Within an MP program, up to 6 nested MP_CALL
function calls are allowed. For MP, the maximum layers could be up to 7.
For ISR, only one layer.
Category:
MODBUS table, MODBUS sub_function; RTC and MP.
Parameters:
Paramters
cardNo:
mpNo:
Description
Module number  MP-8000 : 1~7
The following variables are supported:
Macro Program number (MP1 ~ MP157)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
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Remark:
The Sub_function code of ETM_MP_CALL is 0A CB.
The Sub_function code of ETM_MACRO_MP_CALL is 0C CB.
MODBUS example:
//The true value of MPn = n; therefore, MP21 = 21 = 0x15.
ETM_MP_CALL (h, 1, MP21); // Execute the MP21 on i8094H
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0B
01
10
1F 40
00 02
Register[]
Value (hex)
Remarks
0
0A CB/0C CB Sub_funciton code
1
00 15
mpNo (MP21 = 21 = 0x15)
Byte
Count
(hex)
04
The other method to call MPn is writing the MPn to the pre-defined holding
register 8.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 09
01
10
00 08
00 01
Register[]
Value (hex)
Remarks
0
15
mpNo (MP21 = 21 = 0x15)
Byte
Count
(hex)
02
Related example:
ETM_MP_CREATE(h, 1, MP21); //Write #21 Macro Program into i8094H.
//==========================================================
//The following functions will not be executed, but will be written into
//i8094H for further execution.
ETM_MACRO_SET_MAX_V(h, 1, AXIS_XYZU, 20000);
//The maximum speedof the axis is 20K PPS.
ETM_MACRO_NORMAL_SPEED(h, 1, AXIS_XYZU, 0);
//Set symmetric T-curve for XYZU axes on module.
ETM_MACRO_SET_V(h, 1, AXIS_XYZU, 2000);
//set the speed of all axes on module 1 to be 2000 PPS.
ETM_MACRO_SET_A(h, 1, AXIS_XYZU, 1000);
//set the acceleration of XYZU axes to be 1000 PPS/sec.
ETM_MACRO_SET_SV(h, 1, AXIS_XYZU, 2000);
//set the start speed of XYZU axes to be 2000 PPS.
ETM_MACRO_SET_AO(h, 1, AXIS_XYZU, 9);
//set the number of remaining offset pulses for XYZU axes to be 9 pulses.
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ETM_MACRO_FIXED_MOVE(h, 1, AXIS_XYZU, 10000);
//move XYZU axes to be 10000 pulses.
ETM_MACRO_MP_CLOSE(h, 1);
// module 1 finish, write Macro Program into i8094H
//==========================================================
ETM_MP_CALL(h, 1, MP21); // Execute the MP21 on i8094H
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7.3
Create ISR Macro Program Codes
7.3.1
Start of ISR Macro program
eRET ETM_MP_ISR_CREATE(HANDLE h, BYTE cardNo, BYTE isr_No)
Description:
ISR Macro table are being called by hardware interrupts generated by the
motion control chip (e.g. exceeding harware or software limit, driving has
finished or when a compare condition has been met). To ensure that the
API in an ISR are executed completely in a short time, no nested Macro
calls, MP_FOR loop and MP_STOP_WAIT are allowed inside an ISR.
Each ISR program has to be created by calling an ETM_MP_ISR_CREATE
command and ended by an ETM_MACRO_MP_ISR_CLOSE command.
Category:
MODBUS sub_function; RTC
Parameters:
Paramters
cardNo:
isr_No:
Description
Module number  MP-8000 : 1~7
The following variables are supported:
ISR Macro Program number (ISR1 ~ ISR20)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
ETM_MP_ISR_CREATE (h, 1, ISR1);
//Write ISR Macro program into i8094H.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0B
01
10
1F 40
00 02
Register[]
Value (hex)
Remarks
0
0ACD
Sub_funciton code
1
00 01
isr_No (ISR1 = 1 = 0x01)
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Byte
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7.3.2
End of ISR Macro program
∆ eRET ETM_MACRO_MP_ISR_CLOSE (HANDLE h, BYTE cardNo)
Description:
Indicate the end of a ISR program definition. This command is only valid
after ETM_MP_ISR_CREATE is executed beforehand. Otherwise, it will be
ignored.
Category:
MODBUS sub_function; ISR
Parameters:
Paramters
cardNo:
Description
Module number  MP-8000 : 1~7
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
ETM_MACRO_MP_ISR_CLOSE (h, 1);
// finish the writing of ISR Macro Program for i8094H in slot 1
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 09
01
10
1F 40
00 01
Register[]
Value (hex)
Remarks
0
0C CE
Sub_funciton code
ICP DAS
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Byte
Count
(hex)
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7.3.3
Execute ISR Maro Program (ISR)
eRET ETM_MP_ISR_CALL (HANDLE h, BYTE cardNo, BYTE isrNo)
Description:
This function is used for calling an ISR Macro program. Usually, ISR Macro
tables are called by hardware interrupts. Use this function can call an ISR
directly. No nested ISR calls are allowed.
Category:
MODBUS table, MODBUS sub_function; ISR.
Parameters:
Paramters
cardNo:
isrNo:
Description
Module number  MP-8000 : 1~7
The following variables are supported:
ISR Macro Program number (ISR1 ~ ISR20)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
//The true value of ISRn = n; therefore, ISR1 = 1 = 0x1.
ETM_MP_ISR_CALL (h, 1, ISR1); // Execute the ISR1
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0B
01
10
1F 40
00 02
Register[]
Value (hex)
Remarks
0
0A CF
Sub_funciton code
1
00 01
isrNo (ISR1 = 1 = 0x1)
ICP DAS
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Byte
Count
(hex)
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7.4
User Defined Variables
7.4.1
Assign Macro variable a value
※∆ eRET ETM_MACRO_SET_VAR (HANDLE h, BYTE cardNo, long
varNo, long data)
Description:
Assign a Macro variable VARn (n = 0,1 , 2, ...) an integer value. It is
also possible to assign the variable a value from another variable.
This API provides functions similar to the following statments:
VARn = VARm
VARn = Value
Category:
MODBUS table, MODBUS sub_function; MP and ISR.
Parameters:
Paramters
cardNo:
varNo:
data:
Description
Module number  MP-8000 : 1~7
The following variables are supported:
MACRO variable (VAR0 ~ VAR511)
The following inputs are supported:
Value (-2,000,000,000 ~ +2,000,000,000) or
MACRO variable (VAR0 ~ VAR511)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
//The address of VARn = 0x7FFF0000 + n; therefore, the address of VAR1 is
// 0x7FFF0001.
ETM_MACRO_SET_VAR(h, 1, VAR1, 100); // VAR1 = 100
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 11
01
10
1F 40
00 05
Register[]
Value (hex)
Remarks
0
0C D2
Sub_funciton code
1
7F FF
MSW address of varNo
2
00 01
LSW address of varNo
3
00 00
MSW of data
4
00 64
LSW of data (100 = 0x64)
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Byte
Count
(hex)
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7.4.2
Get command return value
※∆ eRET ETM_MACRO_SET_RVAR (HANDLE h, BYTE cardNo, long
varNo)
Description:
Assign the return value of the preceding function to a Macro variable
VARn (n = 0, 1, 2, ...),
where VARn = return value of preceding function (the value will be
automatically casted to (long).
The command reads the return values of the following commands:

ETM_MACRO_GET_LP

ETM_ MACRO_GET_EP

ETM_ MACRO_GET_DI

ETM_ MACRO_GET_ERROR

ETM_ MACRO_GET_ERROR_CODE

ETM_ MACRO_FRNET_IN

ETM_ MACRO_GET_LATCH

ETM_ MACRO_GET_DI_ALL
Category:
MODBUS sub_function; MP and ISR.
Parameters:
Paramters
cardNo:
varNo:
Description
Module number  MP-8000 : 1~7
The following variables are supported:
MACRO variable (VAR0 ~ VAR511)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
// The address of VARn = 0x7FFF0000 + n; therefore, the address of VAR5
// is 0x7FFF0005.
ETM_MACRO_SET_RVAR(h, 1, VAR5);
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0D
01
10
1F 40
00 03
Register[]
Value (hex)
Remarks
0
0C D3
Sub_funciton code
1
7F FF
MSW address of varNo
2
00 05
LSW address of varNo
Byte
Count
(hex)
06
Related example:
//The following commands show how to use Macro commands to store the
//logic position in a variable.
ETM_MP_CREATE(h, 1, MP1); //Write #1 Macro Program into i8094H.
ETM_MACRO_GET_LP(h, 1, AXIS_X);
//Reads the LP value of the X axis on module 1.
ETM_MACRO_SET_RVAR(h, 1, VAR5);
//Assign the return value of ETM_MACRO_GET_LP to VAR5
//( VAR5 = LP value)
ETM_MACRO_MP_CLOSE(h, 1);
// module 1 finish, write Macro Program into i8094H
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7.5
Simple calculations
※∆ eRET ETM_MACRO_VAR_CALCULATE (HANDLE h, BYTE cardNo,
long varNo, BYTE Operator, long varNo1, long varNo2)
Description:
Basic two parameter (value) calculations:
varNo +
varNo1
=
varNo2
varNo varNo1
=
varNo2
varNo *
varNo1
=
varNo2
varNo1
=
varNo2
varNo /
varNo&
varNo1
=
varNo2
varNo1
=
varNo2
varNo |
Category:
MODBUS sub_function; MP and ISR.
Parameters:
Paramters
cardNo:
varNo:
Operator:
varNo1:
varNo2:
Description
Module number  MP-8000 : 1~7
The first operand for this calculation. The following
operand inputs are supported:
Value (-2,000,000,000 ~ +2,000,000,000) or
MACRO variable (VAR0 ~ VAR511)
‘＋’ addition
‘－’ subtraction
‘＊’ multiplication
‘／’ division(rounding down to the nearest integer)
‘&’ AND operator
‘|’ OR operator
The second operand of the calculation. The
following operand inputs are supported:
Value (-2,000,000,000 ~ +2,000,000,000) or
MACRO variable (VAR0 ~ VAR511)
MACRO variable (VAR0 ~ VAR511) which stores the
result of the calculation
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
The address of VARn = 0x7FFF0000 + n;
For example the address of VAR2 = 0x7FFF0002.
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The ASCII code of operator:
Operator
‘+’
‘-‘
‘*’
‘/’
‘&’
‘|’
ASCII (dec)
43
45
42
47
38
124
ASCII (hex)
2B
2D
2A
2F
26
7C
ETM_MACRO_VAR_CALCULATE (h, 1, VAR1, ‘+’, VAR2, VAR3);
//VAR1 + VAR2 = VAR3
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 17
01
10
1F 40
00 08
Register[]
Value (hex)
Remarks
0
0C D4
Sub_funciton code
1
7F FF
MSW address of varNo
2
00 01
LSW address of varNo
3
00 2B
Operator : ASCII code of ‘+’
4
7F FF
MSW address of varNo1
5
00 02
LSW address of varNo1
6
7F FF
MSW address of varNo2
7
00 03
LSW address of varNo2
Byte
Count
(hex)
10
Related example:
ETM_MP_CREATE(h, 1, MP100); // Write #100 Macro Program into i8094H.
//==========================================================
//The following functions will not be executed, but will be written into
// i8094H for further execution.
ETM_MACRO_SET_VAR(h, 1, VAR1, 100); //VAR1 = 100
ETM_MACRO_SET_VAR (h, 1, VAR2, 200); //VAR2 = 200
ETM_MACRO_SET_VAR (h, 1, VAR10, 10); //VAR10 = 10
//----------------------------------------------------------------------------------------------------ETM_MACRO_FRNET_IN(h, 1, 8);
ETM_MACRO_SET_RVAR(h, 1, VAR6);
//VAR6 = current input of RA8 on module 1
//----------------------------------------------------------------------------------------------------ETM_MACRO_GET_LP(h, 1, AXIS_X);
//Reads the LP value of the X axis on module 1.
ETM_MACRO_SET_RVAR(h, 1, VAR5);
//VAR5 = LP value of the X axis on module 1.
//----------------------------------------------------------------------------------------------------ETM_MACRO_VAR_CALCULATE(h, 1, VAR1, ‘+’, VAR2, VAR3);
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//VAR1 + VAR2 = VAR3
ETM_MACRO_VAR_CALCULATE (h, 1, VAR3, ‘-‘, VAR1, VAR3);
//VAR3 – VAR1 = VAR3
ETM_MACRO_VAR_CALCULATE (h, 1, VAR3, ‘*’, VAR10, VAR2);
//VAR3 x VAR10 = VAR2
ETM_MACRO_VAR_CALCULATE (h, 1, VAR3, ‘/’, VAR2, VAR1);
//VAR3 / VAR2 = VAR1
//Results: VAR1 = 10; VAR2 = 200; VAR3 = 2,000; VAR10 = 10
ETM_MACRO_MP_CLOSE(h, 1);
// module 1 finish, write #100 Macro Program into i8094H
//==========================================================
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7.6
Command Loop (FOR~NEXT)
7.6.1
Beginning of FOR loop block
※ eRET ETM_MACRO_FOR (HANDLE h, BYTE cardNo, long varNo)
Description:
The varNo specifies how many times the code between the
ETM_MACRO_FOR command and the ETM_MACRO_NEXT command will
be executed. The varNo parameter will be decreased until it reaches zero,
and then the loop will be stopped. If the varNo is assigned to be a Macro
VARn, this value of VARn represents the loop cycles and will be changed
each time a loop is finished. An ETM_MACRO_EXIT_FOR command can
abort the current loop immediately if it is executed inside the loop. Up to
six nested loops are supported: one outer loop and six inner loops.
Figure 5: Basic loop application
Category:
MODBUS sub_function; MP.
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Parameters:
Paramters
cardNo:
lValue:
Description
Module number  MP-8000 : 1~7
Specifies the cycle number. The following inputs
are supported:
Value (-2,000,000,000 ~ +2,000,000,000) or
MACRO variable (VAR0 ~ VAR511)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
// The address of VARn = 0x7FFF0000 + n;
For example, the address of VAR1 = 0x7FFF0001.
ETM_MACRO_FOR (h, 1, VAR1);
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0D
01
10
1F 40
00 03
Register[]
Value (hex)
Remarks
0
0C D5
Sub_funciton code
1
7F FF
MSW address of lValue
2
00 01
LSW address of lValue
Byte
Count
(hex)
06
Related example:
ETM_MP_CREATE(h, 1, MP100); // Write #100 Macro Program into i8094H.
//==========================================================
// The following functions will not be executed, but will be written into
// i8094H for further execution.
ETM_MACRO_SET_MAX_V(h, 1, AXIS_X, 20000);
//The maximum speed of the axis X is 20K PPS.
ETM_MACRO_NORMAL_SPEED(h, 1, AXIS_X, 0);
//Set symmetric T-curve for axis X
ETM_MACRO_SET_V(h, 1, AXIS_X, 2000);
//set the speed of axis X to be 2000 PPS.
ETM_MACRO_SET_A(h, 1, AXIS_X, 1000);
//set the acceleration of axis X to be 1000 PPS/Sec
ETM_MACRO_SET_SV(h, 1, AXIS_X, 2000);
//set the start speed of axis X to be 2000 PPS.
ETM_MACRO_SET_AO(h, 1, AXIS_X, 0);
//set the number of remaining offset pulses for axis X to be 0 PPS.
//----------------------------------------------------------------------------------------------------ETM_MACRO_SET_VAR(h, 1, VAR1, 100); //VAR1 = 100。
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ETM_MACRO_FOR(h, 1, VAR1);
//enable axis X to move back and forward 1,000 Pulse, loop for 100 times.
//or input the instant operating value ETM_MACRO_FOR(h, 1, 100).
ETM_MACRO_FIXED_MOVE(h, 1, AXIS_X, 1000);
//move axis X to be 1000 pulses.
ETM_MACRO_FIXED_MOVE(h, 1, AXIS_X, -1000);
//move axis X to be -1000 pulses.
ETM_MACRO_NEXT(h, 1);
ETM_MACRO_MP_CLOSE(h, 1);
// module 1 finish, Macro Program is written into i8094H
//==========================================================
ETM_MP_CALL(h, 1, MP100);
// call module 1 i8094H, execute Macro Program #100.
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7.6.2
End of FOR loop block
※ eRET ETM_MACRO_NEXT (HANDLE h, BYTE cardNo)
Description:
This function indicates the end of the ETM_MACRO_FOR loop. Every loop
has to start with ETM_MACRO_FOR statement and end with
ETM_MACRO_NEXT statement.
Category:
MODBUS sub_function; MP.
Parameters:
Paramters
cardNo:
Description
Module number  MP-8000 : 1~7
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
ETM_MACRO_NEXT (h, 1);
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 09
01
10
1F 40
00 01
Register[]
Value (hex)
Remarks
0
0C D6
Sub_funciton code
ICP DAS
307
Byte
Count
(hex)
02
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7.6.3
Exiting a FOR loop block
※ eRET ETM_MACRO_EXIT_FOR(HANDLE h, BYTE cardNo)
Description:
An ETM_MACRO_EXIT_FOR command can abort the current loop
immediately if it is executed inside the loop.
Category:
MODBUS sub_function; MP.
Parameters:
Paramters
cardNo:
Description
Module number  MP-8000 : 1~7
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
ETM_MACRO_EXIT_FOR (h, 1);
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 09
01
10
1F 40
00 01
Register[]
Value (hex)
Remarks
0
0C DE
Sub_funciton code
ICP DAS
308
Byte
Count
(hex)
02
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7.7
Condition Command (IF~ELSE)
7.7.1
IF condition
※∆ eRET ETM_MACRO_IF (HANDLE h, BYTE cardNo, long varNo, WORD
Operator, long varNo1)
Description:
A conditional checking ETM_MACRO_IF has to end the whole block with an
ETM_MACRO_END_IF statement. One ETM_MACRO_ELSE statement can
be added inside the conditional block and will be executed if the
ETM_MACRO_IF statement turns out to be false. Up to 6 nested IF
statements are supported (one outer and six inner IF conditions).
Figure 6: ETM_MACRO_IF application structure
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Figure 7: Nested IF statements
Category:
MODBUS sub_function; MP and ISR.
Parameters:
Paramters
Description
cardNo:
varNo:
Module number  MP-8000 : 1~7
The first variable of the comparison expressions.
Can either be a variable of long type
(range: -2,000,000,000 ~ +2,000,000,000) or
MACRO variable (VAR0 ~ VAR511)
Comparison operators:
string constant Description
"<"
LT
Less than
(ASCII code = 0x003C)
">"
GT
Greater than
(ASCII code = 0x003E)
"<="
LE
Less than or equal to
(ASCII code = 0x3D3C)
">="
GE
Greater than or equal to
(ASCII code = 0x3D3E)
"=="
EQ
Equal to
(ASCII code = 0x3D3D)
"!="
NE
Not equal to
(ASCII code = 0x3D21)
Operator:
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varNo1:
The second variable of the comparison expressions.
Can either be a variable of long type
(range: -2,000,000,000 ~ +2,000,000,000) or
MACRO variable (VAR0 ~ VAR511)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
The ASCII code of operator.
Operator
<
<=
>
>=
==
=
!=
!
ASCII (dec)
60
15676
62
15678
15677
61
15649
33
ASCII (hex)
003C
3D3C
003E
3D3E
3D3D
003D
3D21
0021
ETM_MACRO_IF (h, 1, VAR1, ”<=”, VAR2);
//The double quotes (“”) is required for Operator parameter.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 13
01
10
1F 40
00 06
Register[]
Value (hex)
Remarks
0
0C D7
Sub_funciton code
1
7F FF
MSW address of varNo
2
00 01
LSW address of varNo
3
3C 3D
Operator (0x3C3D  “<=”)
4
7F FF
MSW address of varNo1
5
00 02
LSW address of varNo1
Byte
Count
(hex)
0C
Related example:
ETM_MP_CREATE(h, 1, MP100); // Write #100 Macro Program into i8094H.
//==========================================================
// The following functions will not be executed, but will be written into
// i8094H for further execution.
ETM_MACRO_SET_MAX_V(h, 1, AXIS_X, 20000);
//The maximum speed of the axis X is 20K PPS.
ETM_MACRO_NORMAL_SPEED(h, 1, AXIS_X, 0);
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//Set symmetric T-curve for axis X.
ETM_MACRO_SET_V(h, 1, AXIS_X, 2000);
//set the speed of axis X to be 2000 PPS.
ETM_MACRO_SET_A(h, 1, AXIS_X, 1000);
//set the acceleration of axis X to be 1000 PPS/sec
ETM_MACRO_SET_SV(h, 1, AXIS_X, 2000);
//set the start speed of axis X to be 2000 PPS.
ETM_MACRO_SET_AO(h, 1, AXIS_X, 0);
//set the number of remaining offset pulses for axis X to be 0 PPS.
//----------------------------------------------------------------------------------------------------ETM_MACRO_SET_VAR(h, 1, VAR1, 100); //VAR1 = 100。
ETM_MACRO_SET_VAR(h, 1, VAR2, 200); //VAR2 = 200。
ETM_MACRO_IF(h, 1, VAR1, “<”, VAR2);
ETM_MACRO_FIXED_MOVE(h, 1, AXIS_X, 1000);
//command to move axis X for 1000 pulses.
ETM_MACRO_ELSE(h, 1);
ETM_MACRO_FIXED_MOVE(h, 1, AXIS_X, -1000);
// command to move axis X for -1000 pulses.
ETM_MACRO_END_IF(h, 1);
ETM_MACRO_MP_CLOSE(h, 1);
// module 1, Macro Program #100 is written into i8094H
//==========================================================
ETM_MP_CALL(h, 1, MP100);
// execute Macro Program #100 of module 1.
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7.7.2
ELSE statement
※∆ eRET ETM_MACRO_ELSE (HANDLE h, BYTE cardNo)
Description:
The block under ETM_MACRO_ELSE will be executed if the conditional
statement of ETM_MACRO_IF is false; otherwise, it will be ignored.
Category:
MODBUS sub_function; MP and ISR.
Parameters:
Paramters
cardNo:
Description
Module number  MP-8000 : 1~7
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
ETM_MACRO_ELSE (h, 1);
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 09
01
10
1F 40
00 01
Register[]
Value (hex)
Remarks
0
0C D8
Sub_funciton code
ICP DAS
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Byte
Count
(hex)
02
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7.7.3
End of IF statement
※∆ eRET ETM_MACRO_END_IF (HANDLE h, BYTE cardNo)
Description:
This function indicates the end of a conditional block. A conditional block
always begins with an ETM_MACRO_IF statement and ends with this
function.
Category:
MODBUS sub_function; MP and ISR.
Parameters:
Paramters
cardNo:
Description
Module number  MP-8000 : 1~7
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
ETM_MACRO_END_IF (h, 1);
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 09
01
10
1F 40
00 01
Register[]
Value (hex)
Remarks
0
0C D9
Sub_funciton code
ICP DAS
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Byte
Count
(hex)
02
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7.8
Jump Commands (GOTO-LABEL)
7.8.1
GOTO statement
※ eRET ETM_MACRO_GOTO(HANDLE h, BYTE cardNo, BYTE lableNo)
Description:
The ETM_MACRO_GOTO Macro statement is a label based statement that
transfers the control directly to the labeled location in the Macro program.
The goto statement is very useful while working with nested loops. It
enables to leave all nested nested loops with one command by jumping
from the inner loop to an ETM_MP_LABEL position ouside the nested loop.
Limitations:
 A Maximum of four ETM_MACRO_LABEL position can be defined.
 It is NOT allowed to jump into a loop block. Therefore, the ETM_MACRO_LABEL
statement can not be located inside a loop.
 Jumping into an MP_IF block is prohibited. ETM_MACRO_LABEL command is
not allowed to be located inside an ETM_MACRO_IF block.
 You can only jump within a Macro table and it is not allowed to jump from one
Macro table (e.g. MP1) to another Macro table (e.g. MP2).
 Can not be used inside an ISR Macro table.
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Figure 8: ETM_MACRO_GOTO application
Category:
MODBUS sub_function; only inside MP Macro table allowed.
Parameters:
Paramters
cardNo:
labelNo:
Description
Module number  MP-8000 : 1~7
Only four labels are supported for each MP Macro table:
0, 1, 2, 3 (LABEL0, LABEL1, LABEL2, LABEL3)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
ETM_MACRO_GOTO (h, 1, 3);
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0B
01
10
1F 40
00 02
Register[]
Value (hex)
Remarks
0
0C DF
Sub_funciton code
1
00 03
labelNo (3 0x03)
ICP DAS
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Byte
Count
(hex)
04
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7.8.2
LABEL statement
※ eRET ETM_MACRO_LABEL(HANDLE h, BYTE cardNo, BYTE lableNo)
Description:
This function indicates the target position of a jump statement. The
ETM_MACRO_LABEL can be positioned before or after
ETM_MACRO_GOTO Macro statement. In a Macro only one
ETM_MACRO_LABEL with the same Label number can be used but
more than one ETM_MACRO_GOTO with the same Label number is
allowed.
Note:
ETM_MACRO_LABEL command is not allowed inside a MP_IF or
MP_FOR block.
Category:
MODBUS sub_function; only inside MP Macro table allowed.
Parameters:
Paramters
cardNo:
labelNo:
Description
Module number  MP-8000 : 1~7
Only four labels are supported for each MP Macro table:
0, 1, 2, 3 (LABEL0, LABEL1, LABEL2, LABEL3)
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
ETM_MACRO_LABEL (h, 1, 3);
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0B
01
10
1F 40
00 02
Register[]
Value (hex)
Remarks
0
0C E1
Sub_funciton code
1
00 03
labelNo (3 0x03)
ICP DAS
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Byte
Count
(hex)
04
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7.9
TIMER
※ eRET ETM_MACRO_TIMER (HANDLE h, BYTE cardNo, long varNo)
Description:
Delay the execution of the following Macro commands. The execution of
the following Macro commands is held until the specified time has elapsed.
Category:
MODBUS sub_function; for MP Macro table.
Parameters:
Paramters
Description
Module number  MP-8000 : 1~7
Time in milliseconds. The following inputs are supported:
Value (0 ~ +2,000,000,000) ms, or
MACRO variables (VAR0 ~ VAR511)
cardNo:
varNo:
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
ETM_MACRO_TIMER (h, 1, 200);
//delay the execution of the function for 200ms.
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0D
01
10
1F 40
00 03
Register[]
Value (hex)
Remarks
0
0C DA
Sub_funciton code
1
00 00
MSW of varNo
2
00 C8
LSW of varNo (200 = 0xC8)
ICP DAS
318
Byte
Count
(hex)
06
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7.10
Wait until motion command has been executed
(for MP only)
eRET ETM_STOP_WAIT(HANDLE h, BYTE cardNo, BYTE axis)
※ eRET ETM_MACRO_STOP_WAIT(HANDLE h, BYTE cardNo, BYTE axis)
Description:
The command ensures that the motion command for the assigned axis is
completed before the next macro command is being executed. The
command waits until the motion control chip has finished outputting
pulses for the designated axis then continues to process the following
command.
Category:
MODBUS sub_function; RTC, MP.
Parameters:
Paramters
cardNo:
axis:
Description
Module number  MP-8000 : 1~7
Axis or axes (Please refer to Table 2)
The axis can be either X,Y, Z or U (1 or 2 or 4 or 8).
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
Remark:
The Sub_function code of ETM_STOP_WAIT is 0A DB.
The Sub_function code of ETM_MACRO_STOP_WAIT is 0C DB.
MODBUS example:
ETM_STOP_WAIT (h, 1, AXIS_Y);
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 0B
01
10
1F 40
00 02
Register[]
Value (hex)
Remarks
0
0A DB/0C DB Sub_funciton code
1
00 02
axis (2  AXIS_Y)
ICP DAS
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Byte
Count
(hex)
04
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7.11
User-defined RINT
※∆ eRET ETM_MACRO_SET_RINT (HANDLE h, BYTE cardNo)
Description:
This function causes the i8094H module to send a hardware interrupt with
the flag 0x04 to the host controller (ET-M8194H).
Category:
MODBUS sub_function; MP ans ISR.
Parameters:
Paramters
cardNo:
Description
Module number  MP-8000 : 1~7
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
ETM_MACRO_SET_RINT (h, 1);
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 09
01
10
1F 40
00 01
Register[]
Value (hex)
Remarks
0
0C DC
Sub_funciton code
ICP DAS
320
Byte
Count
(hex)
02
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7.12
Exit Macro Table
※∆ eRET ETM_MACRO_EXIT_MACRO (HANDLE h, BYTE cardNo)
Description:
The execution of a MP or ISR Macro table will be stopped and the table will
be exited as soon as the Macro interpreter encounters this command. If a
nested Macro call is being executed, this command causes the command
interpreter to jump to calling Macro layer one level up (Figure 9). If the top
level Macro layer encounters ETM_MACRO_EXIT_MACRO, the execution of
Macro commands terminates all together. Only in case of a new harware
interrupt occurs, the relevant ISR Macro will be executed. This command
behaves similarly to the ETM_MACRO_MP_CLOSE command except that it
can be called at any place inside a Macro table, whereas the
ETM_MACRO_MP_CLOSE command has to be placed at the end of a Macro
table.
Figure 9: Exiting Macro tables
Category:
MODBUS sub_function; MP ans ISR.
Parameters:
Paramters
cardNo:
Description
Module number  MP-8000 : 1~7
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
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MODBUS example:
ETM_MACRO_EXIT_MACRO (h, 1);
The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 09
01
10
1F 40
00 01
Register[]
Value (hex)
Remarks
0
0C DD
Sub_funciton code
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Byte
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7.13
Terminate all Macro executions
eRET ETM_MP_TERMINATE (HANDLE h, BYTE cardNo)
※∆ eRET ETM_MACRO_MP_TERMINATE (HANDLE h, BYTE cardNo)
Description:
All currently running MP or ISR Macro program will be terminated
immediately.
After all the Macro programs have been terminated
successfully, the command automatically resets itself so that new Macro
programs can be executed. This command is intended for emergent
situation where any Macro execution needs to be stopped immediately.
This command can be called both inside a Macro program or outside a
Macro program, for example, by the host controller or a remote HMI
controller.
Warning:
This command does not stop the motion chip from continuing
executing
the
motion
command
received
prior
to
the
ETM_MP_TERMINATE command. In order to stop the motion chip from
outputting pulse signals, one of the following commands has to be called:




ETM_STOP_SUDDENLY
ETM_STOP_SLOWLY
ETM_VSTOP_SUDDENLY
ETM_VSTOP_SLOWLY
Therefore, if it required stopping motion and Macro commands from
execution then one of the above four STOP commands as well as the
ETM_MP_TERMINATE has to be called.
Category:
MODBUS sub_function; RTC, MP, ISR.
Parameters:
Paramters
cardNo:
Description
Module number  MP-8000 : 1~7
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
MODBUS example:
ETM_MP_TERMINATE (h, 1);
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The MODBUS command is listed as follows:
TID
PID
Field
UID
FC
St_Addr.
Word
(hex)
(hex) Length (hex) (hex)
(hex)
Count
(hex)
(hex)
00 01 00 00
00 09
01
10
1F 40
00 01
Register[]
Value (hex)
Remarks
0
0A E2/0C E2
Sub_funciton code
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Byte
Count
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8 Stand Alone Controller
The ET-8194H can operate as a standalone controller without being
connected to a Modbus master. Right after power on, the initialization and
macro execution sequences are as follows:

Step 1: ET-M8194H initializes the i8094H according to the Initial Table
setting. Hardware is immediately configured

Step 2: Power-On Macro is being executed

Step 3: Power-On Macro calls the main motion MACRO
Figure 10: Power on procedure with three nested Macro calls
In order for the ET-M8194H to act as a stand alone controller, it is necessary
to assign an MP Macro program (Power-On Macro program) which has to
be called direct after initialization. In a stand alone mode, the Power-On
Macro program acts as the top level main Macro program. From this top
level program table, other MP Macro program tables can be called. Nested
Macro calls are supported, too. The configuration procedures are as
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follows.
1. Set the initialization table. (chapter 7)
2. Write the macro program for the power-on macro table and if required
for the nested macro program. (chapter 8)
3. Assign the variable MD1001 the MP macro table number (MP1-MP157)
which acts as a Power-ON Macro (chapter 2.20). If a value outside the
valid range (1 -157) is used then no Power-On Macro will be called and
the device does not operate as a stand alone controller. In this case ETM8194H needs to be connected to a Modbus master to receive the
necessary commands via communication.
MODBUS example:
Set Macro table MP150 as the Power-On Macro table. Since the
function is defined as follows:
eRET ETM_WRITE_MD (HANDLE h, BYTE cardNo, long mdNo, long
ldata, float fdata)
Paramters:
cardNo = 1 (ET-M8194H has only got one slot)
mdNo = MD1001 (Value = 3000 + 2*1001 = 5002 = 0x138A)
ldata = MP150 (Value = 150 = 0x96)
fdata = 0 ( this parameter is only valid for the range MD1024 – MD2047)
//The following function call sets MP150 as the Power-On Macro
ETM_WRITE_MD ( h, 1, MD1001, MP150 , 0);
The MODBUS command is as follows:
TID
(hex)
PID
(hex)
00 01 00 00
Register[]
0
1
2
3
4
5
6
Field
UID
Length (hex)
(hex)
00 15
01
Value (hex)
0A 27
00 00
13 8A
00 00
00 96
00 00
00 00
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(hex)
Word
Count
(hex)
10
1F 40
00 07
Remarks
Sub_funciton code
MSW of mdNo (= 0)
LSW of mdNo (n= 0x138A)
MSW of ldata
LSW of ldata
MSW of fdata
LSW of fdata
326
St_Addr.
(hex)
Byte
Count
(hex)
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9 Communication Functions and Error Code
9.1
Communication Functions:
The functions help to establish the Ethernet connection between the PC
and the ET-M8194H modules. With these functions, the MODBUS command
can be sent out manually. The MODBUS command on this connection can
be monitored, as well.
1. HANDLE ETM_CONNECT(char* ip, DWOAD dwTimeout)
Function: Establish the Ethernet connection between PC and ET-M8194H.
The connection is required before senting out any MODBUS
command. The ET-M8194H allows 29 Clients to connect to it
simultaneously. The returned handle stands for the conection
to every ET-M8194H, and this handle is needed to control the
ET-M8194H.
Parameters: ip:
The IP adress of specific ET-M8194H
dwTimeout: Set the timeout(unit: ms)
Return:
If the return value is INVALID_HANDLE_VALUE represent fail,
others success.
Example:
[VC++]
#include <winsock2.h>
#include "ET_M8194H_API.h"
Handle hETM1, hETM2;
int iRet;
hETM1 = ETM_Connect(“192.168.0.1”, 1000);
//The connection to 1st ET-M8194H
hETM2 = ETM_Connect(“192.168.0.2”, 1000);
//The connection to 2nd ET-M8194H
iRet = ETM_RESET_CARD(hETM1, 1); //Reset the 1st ETM8194H
iRet = ETM_RESET_CARD(hETM2, 1); // Reset the 2nd ETM8194H
2. eTCP_CONNECT ETM_RECONNECT(HANDLE h)
Function: Used to re-establish the Ethernet connection between PC and
ET-M8194H.
Return:
1: Connected; 0: Disconnected
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3. eRET ETM_DISCONNECT (HANDLE h)
Function: Disconnect the established Ethernet connection.
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
4. eTCP_CONNECT ETM_CONNECTION_STATE (HANDLE h)
Function: Shows the status of Ethernet connection.
Return:
1:Connected; 0:Disconnected
5. eRET ETM_Set_DebugMode (HANDLE h, BYTE DebugMode)
Function: This function enables/disable to display the MODBUD
command. This feature helps user to debug the functions
based on MODBUS Function Code 03, 04 ans 16.
Parameter: DebugMode：1: Enable Debug Message, 0: Disable Debug
Message
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
6. eRET ETM_MODBUS_CMD (HANDLE h, char* Request, int Req_Len,
char* Response, int* Res_Len)
Function: Send out the MODBUS command without related message.
Parameters: Request: The sent-out MODBUS command
Req_Len: The length of sent-out MODBUS command
Response: The MODBUS response from ET-M8194H
Res_Len: The length of MODBUS response from ET-M8194H
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
7. eRET ETM_MODBUS_CMD_DEBUG (HANDLE h, char* Request, int
Req_Len, char* Response, int* Res_Len)：
Function:
Send out the MODBUS command with the related message.
Parameters: Request : The sent-out MODBUS command
Req_Len: The length of sent-out MODBUS command
Response: The MODBUS response from ET-M8194H
Res_Len: The length of MODBUS response from ET-M8194H
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Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
8. eRET ETM_SET_WORD_ORDER (HANDLE h, BYTE bWordOrder)：
Function: Used to set the order of the MSW and LSW.
Parameters: bWordOrder : 0: MSW at the first Register ; 1: MSW at the
second Register
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
9. eRET ETM_GET_WORD_ORDER (HANDLE h, BYTE* pbWordOrder)：
Function: Used to get the order of the MSW and LSW.
Parameters: pbWordOrder : 0: MSW at the first Register ; 1: MSW at the
second Register
Return:
0: Success; Others: Fail (Please refer to chapter 9.2)
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9.2
ErrorCode
API Library communications return value (eRET) is defined and described
as follows:
(1) ETM_SUCCESS
0x00
=> Successful communication via MODBUS.
(2) MB_ILLEGAL_FUNCTION_CODE 0x01
=> Error in the Function_Code of MODBUS.
(3) MB_ILLEGAL_DATA_ADDRESS 0x02
=> Invalid starting-address of MODBUS command. For instance, there
are the two Registers are be to accessed ( LP_X, LP_Y … ). If WORD
Order is set to be 1, then the starting-address is the Low_Word
address.
(4) MB_ILLEGAL_DATA_VALUE
0x03
=> Invalid data of MODBUS command, such as the number of
parameters, the target-axis, the addresses of MD, VAR bVAR.
(5) MB_SLAVE_DEVICE_FAILURE
0x04
=> Indicates that no i-809H is resident on ET-M8194H.
(6) MB_SLAVE_DEVICE_BUSY
0x06
=> Indicates the DPRAM-Buffer on i-8094H is occupied; no more
command can be forwarded through DPRAM-Buffer.
(7) WRONG_CARD_NO
0x0B
=> Invalid UID ( the CardNo parameter ).
(8) ETM_SOCKET_ERR
-1
=> Error in communication, please check the Ethernet connection.
(9) ETM_WRITE_DENY
-2
=> Indicates the writing command is denied after enabling the
writing-protection feature.
(10) ETM_PAR_ERROR
-3
=> Indicates parameter value range error.
(11) ETM_UNDEFINED_ERROR
=> Indicates undefined error.
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(12) ETM_VALID_HANDLE
=> Indicates a valid handle
7
(13) ETM_ INVALID_HANDLE
=> Indicates an invalid handle
-1
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Appendix
A. MODBUS Input Registers
Use Modbus function code 4 to read the input register table. The table
addresses defined below is zero-based. For some PLC or HMI, the addresses
maybe show on their documents as 3xxxx, x is digital number. For example,
30001 to 39999. '3' represents the table is defined for Input registers; and xxxx is
the address of a register.
In PLC, the first input register defined at address 30001 is the same as the
first register at address 0 shown in the following table. Most PLC systems which
addresses do not start from zero can be referred as one-based system. The
following tables will only show zero-based addresses. When PLC or HMI users
configure their registers, they have to consider register number mapping problem
carefully.
When a value needs two registers to store, the order of MSW and LSW
can be determined by setting a flag (WORD Order). WORD Order is defined at
address 14 (zero-based) in holding register table. If WORD Order is set to 0, the
first register (lower address) is high-word (MSW) and the second register is lowword (LSW).
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A.1 Read FRnet DI/O
Appendix table 1: FRnet DI/O (PLC address: 30001 to 30016)
Read FRnet DIO
Address
(zero
based)
Type
Comment
Group 0
0
R
Read the FRnet DO group 0 (16-bit)
Group 1
1
R
Read the FRnet DO group 1 (16-bit)
Group 2
2
R
Read the FRnet DO group 2 (16-bit)
Group 3
3
R
Read the FRnet DO group 3 (16-bit)
Group 4
4
R
Read the FRnet DO group 4 (16-bit)
Group 5
5
R
Read the FRnet DO group 5 (16-bit)
Group 6
6
R
Read the FRnet DO group 6 (16-bit)
Group 7
7
R
Read the FRnet DO group 7 (16-bit)
Group 8
8
R
Read the FRnet DI group 8 (16-bit)
Group 9
9
R
Read the FRnet DI group 9 (16-bit)
Group 10
10
R
Read the FRnet DI group 10 (16-bit)
Group 11
11
R
Read the FRnet DI group 11 (16-bit)
Group 12
12
R
Read the FRnet DI group 12 (16-bit)
Group 13
13
R
Read the FRnet DI group 13 (16-bit)
Group 14
14
R
Read the FRnet DI group 14 (16-bit)
Group 15
15
R
Read the FRnet DI group 15 (16-bit)
Variable Name
FRnet DO
FRnet DI
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A.2 Read DI Status of Daughterboard
Appendix table 2: DI Status of Daughterboard (PLC address: 30017 to
30020)
Read DI Status (of Daughterboard)
Variable Name
Address
(zero
based)
Type
Comment
X-Axis
16
R
All DI status of AXIS-X,
If the individual DI is needed, read
X_DI_0 ~ X_DI_9.
Y-Axis
17
R
All DI status of AXIS-Y,
If the individual DI is needed, please
read Y_DI_0 ~ Y_DI_9.
Z-Axis
18
R
All DI status of AXIS-Z,
If the individual DI is needed, please
read Z_DI_0 ~ Z_DI_9.
R
All DI status of AXIS-Z,
If the individual DI is needed, please
read U_DI_0 ~ U_DI_9.
DI ALL
U-Axis
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A.3 Read Error Code
Appendix table 3: Error Code (PLC address: 30021 to 30026)
Read Error Code
Address
(zero
based)
Type
X-Axis
20
R
The error occurred on AXIS-X. Please
refer to ETM_GET_ERROR_CODE()
for detailed information.
Y-Axis
21
R
The error occurred on AXIS-Y. Please
refer to ETM_GET_ERROR_CODE()
for detailed information.
Variable Name
ERROR
CODE
Comment
Z-Axis
22
R
The error occurred on AXIS-Z. Please
refer to ETM_GET_ERROR_CODE()
for detailed information.
U-Axis
23
R
The error occurred on AXIS-U. Please
refer to ETM_GET_ERROR_CODE()
for detailed information.
MP Call number
24
R
Current running MP or ISR number
EMERGENCY_STOP
state
25
R
Shows the current emergency state
1- emergency stop enabled
0 – no emergency disabled
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A.4 Read Logic and Encoder Position, Acceleration, Velocity
Appendix table 4: Logic and Encoder Position, Acceleration, Velocity (PLC
address: 30027 to 30058)
Motion Status
Address
Variable Name
(zero
Type
Comment
based)
Logic
Position
Encoder
Position
Current
velocity
Current
Acceleration
X
26-27
R
Logical position of X-axis.
Y
28-29
R
Logical position of Y-axis.
Z
30-31
R
Logical position of Z-axis.
U
32-33
R
Logical position of U-axis.
X
34-35
R
Y
36-37
R
Z
38-39
R
U
40-41
R
X
42-43
R
Y
44-45
R
Z
46-47
R
U
48-49
R
X
50-51
R
Y
52-53
R
Z
54-55
R
U
56-57
R
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Encoder feedback position of Xaxis. It takes two registers.
Encoder feedback position of Yaxis. It takes two registers.
Encoder feedback position of Zaxis. It takes two registers.
Encoder feedback position of Uaxis. It takes two registers.
Current velocity of X-axis. It takes
two registers.
Current velocity of Y-axis. It takes
two registers.
Current velocity of Z-axis. It takes
two registers.
Current velocity of U-axis. It
takes two registers.
Current acceleration of X-axis. It
takes two registers.
Current acceleration of Y-axis. It
takes two registers.
Current acceleration of Z-axis. It
takes two registers.
Current acceleration of U-axis. It
takes two registers.
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A.5 Read Stop Status
Appendix table 5: Stop Status (PLC address: 30059 to 30062)
X
Address
(zero
based)
58
Y
Variable Name
Stop Status
Type
Comment
R
1:stop,
0: moving
59
R
1:stop,
0: moving
Z
60
R
1:stop,
0: moving
U
61
R
1:stop,
0: moving
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A.6 Read Latch
Appendix table 6: Read Latch (PLC address: 30063 to 30070)
Address
(zero
based)
Type
X
62-63
R
Value in X-axis latch register
long type
Y
64-65
R
Value in Y-axis latch register
long type
Z
66-67
R
Value in Z-axis latch register
long type
U
68-69
R
Value in U-axis latch register
long type
Variable Name
Latch
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A.7 Read Error State and Free Buffer Size
Appendix table 7: Error State and Free Buffer Size (PLC address: 30071 to
30072)
Address
(zero
based)
Type
ERROR_STATE
70
R
1: error occurred;
FREE_BUFFER_SIZE
71
R
Get the available block-numbers
in Buffer. The maximum block is
30.
Variable Name
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Comment
0: no error
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A.8 Read i8094H Interrupt
Appendix table 8: i8094H Interrupt (PLC address: 30073 to 30081)
Variable Name
RINT_STATE_ALL
I8094H Interrupt ET-M8194H
(Return Interrupt RINT)
Address
Type
Comment
(zero
based)
Read the RINT state. For detailed,
please refer to the descriptions of
72
R
ETM_RINT_WAIT() and
ETM_RINT_ENABLE().
Line_Scan_Completed
73
R
Bit0 of RINT_STATE
MP_Completed
74
R
Bit1 of RINT_STATE
User-Defined_RINT
75
R
Bit2 of RINT_STATE
Continuous_Inp_Interrupt
76
R
Bit3 of RINT_STATE
…..Undefined
77
--
0
…..Undefined
78
--
0
Axes_Error
79
R
Bit6 of RINT_STATE
Module_Error
80
R
Bit7 of RINT_STATE
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A.9 Read Firmware Version
Appendix table 9: Firmware Version (PLC address: 30082 to 30087)
Others
Address
(zero
based)
Type
I8094H Module ID
81
R
i8094H：0x44
i8094A：0x55
ET-M8194H
Firmware Version
82-83
R
0x01000000 means
Ver：1.00
84-85
R
0x02210201
 High Word for PCB version
 Low WORD represents the
i8094H firmware Version:
// Example:
 High WORD
o PCB Version 2.21
 Low WORD
o 0201->02 major
version, 01-> minor
version number
86
R
Total Modbus Client Connection
Number
Variable Name
I8094H
Firmware Version
TCN
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A.10 Read ET-M8194H and i8094H State
Appendix table 10: ET-M8194H and i8094H State (PLC address: 30101 to
30103)
Current state of the ET-M8194H and i8094H
Address
Variable Name
(zero
Type
Comment
baed)
ET-M8194H state
100
101
i8094H state
Illegal Modbus function
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The current state of the ET-M8194H
module:
0- ready for receiving new RTC and
Macro commands
1- ETM is in an MACRO download
state (MPn)
2- ETM is in an MACRO download
state (ISRn)
R
The current state of the i8094H module:
3- ready for receiving new RTC
commands
4- Calling the initialization table
5- Initialization finished
6- downloading MACRO commands
(MP or ISR commands) to the
FRAM or is waiting for the next
MACRO command
7- Macro download finished
8- MACRO program (MP) is being
executed
9- MACRO program (MP) execution
finished
10- Interrupt MACRO (ISR) program
is being executed
11- Interrupt MACRO (ISR) execution
finished
255- firmware is booting
R
Cause of the ILLIGAL FUNCTION
Modbus exception response:
0- no error
1- function code not supported
2- Parameter value in NOT within
defined range
3- No such command
R
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4- More than the avalaible command
lines are used for the specific
MACRO program (MPn or ISRn)
5- A MP command is being used
inside ISR MACRO.
6- A ISR command is being used
inside MP MACRO
7- A RTC command is being used
inside a MP or ISR MACRO
8- A MP or ISR MACRO command is
being used outside a MACRO
program as real time command
0xB1 - The max number of nested MP_IF
commands has been exceeded
0xB2 - MP_ELSE command outside
MP_IF block
0xB3 - MP_END_IF command outside
MP_IF block
0xB4 - MP_IF block has not been closed
by MP_END_IF command
0xB5 - Number of nested MP_FOR
exceeds the limit
0xB6 -MP_EXIT_FOR command outside
MP_FOR loop
0xB7 - MP_NEXT command outside
MP_FOR block
0xB8 - MP_FOR block has not been
closed with a MP_NEXT command
0xB9 - Label number is being used more
than once
0xBA - MP_LABEL inside a MP_IF block.
Jumping into a MP_IF block is prohibited
0xBB - MP_LABEL inside a MP_FOR
block. Jumping into a MP_FOR block is
prohibited
0xBC - MP_GOTO command has NO
corresponding MP_LABEL command
0xC0 - A DWORD is required but only
one register has been received
0xC1 -DPRAM of i8094H is full
0xC2 -Module not in slot
0xC3 - A Macro program is currently
being executed inside the i8094H
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A.11 Macro Program Download Error Messages
Appendix table 11: Program Download Error Message (PLC address: 30111
to 30115)
Macro program download error message
Address
Variable Name
(zero
Type
Comment
based)
Macro MP number
(MPxx)
Macro ISR number
(ISRxx)
Command type
110
111
112
R
The last downloaded Macro MP
program number since ET-M8194H
power on.
R
The last downloaded Macro ISR
program number since ET-M8194H
power on.
R
The number identifying the
command. See sub function code.
The register following the 8000 sub
function register identifies the
command.
Line number
113
R
The line number of the Macro
program at which the error
occurred
Error type
114
R
Describes the type of error
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A.12 Macro Program Execution Error Messages
Appendix table 12: Macro Program Execution Error Messages (PLC
address: 30116 to 30120)
Macro program execution error message
Address
Variable Name
(zero
Type
Comment
based)
Macro MP number
(MPxx)
Macro ISR number
(ISRxx)
Command type
115
116
117
R
The last downloaded Macro MP
program number since ET-M8194H
power on.
R
The last downloaded Macro ISR
program number since ET-M8194H
power on.
R
The number identifying the
command at which the error
occurred. See sub function code.
The register following the 8000 sub
function register identifies the
command.
Line number
118
R
The line number of the Macro
program at which the error
occurred
Error type
119
R
Describes the type of error
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A.13 Motion Chip Triggered Interrupt
Appendix table 13: Motion Chip Triggered Interrupt (PLC address: 30131 to
30140)
nINT
0
1
2
3
4
Motion chip triggered interrupt
Address
Symbol
(zero
Type
Description
based)
PULSE
P>=C-
P<C-
P<C+
P>=C+
130
131
132
133
134
R
Interupt occurs when pulse is up.
R
Interrupt occurs when the value of
logical / real position counter is
larger than or equal to that of
COMP- register.
R
Interrupt occurs when the value of
logical / real position counter is
smaller than that of COMPregister.
R
Interrupt occurs when the value of
logical / real position counter is
smaller than that of COMP+
register.
R
Interrupt occurs when the value of
logical / real position counter is
larger than or equal to that of
COMP+ register.
5
C-END
135
R
Interrupt occurs at the end of the
constant speed drive or completion
of Acceleration Offset Pulse output
6
C-STA
136
R
Interrupt occurs at the start of the
constant speed drive or begin of
Acceleration Offset Pulse output
7
D-END
137
R
Interrupt occurs when the driving is
finished
8
HMEND
138
R
Automatic home search terminated
9
SYNC
139
R
Synchronous action was activated
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B. Holding Registers
Use Modbus function code 6 or 16 to write to the holding register(s) and
function code 3 to read the registers. The table addresses defined below is zerobased. For some PLC or HMI, the addresses maybe show on their documents
as 4xxxx, x is digital number. For example, 40001 to 49999. '4' represents the
table is defined for holding registers; and xxxx is the address of a register.
In PLC, the first holding register defined at address 40001 is the same as
the first register at address 0 shown in the following table. Most PLC systems
which addresses do not start from zero can be referred as one-based system.
The following tables will only show zero-based addresses. When PLC or HMI
users configure their registers, they have to consider register number mapping
problem carefully.
When a parameters needs two registers to store, such as DWORD, long,
float, the order of MSW and LSW can be determined by setting a flag (WORD
Order). WORD Order is defined at address 14 (zero-based) in holding register
table. If WORD Order is set to 0, the first register (lower address) is high-word
(MSW) and the second register is low-word (LSW).
R/W – read/ write
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B.1 FRnet DO
Appendix table 14: FRnet DO (PLC address: 40001 to 40008)
FRnet DO
Variable Name
Address
(zero base)
Type
Comment
Group 0
0
R/W
Set/Read the FRnet DO group 0
Group 1
1
R/W
Set/Read the FRnet DO group 1
Group 2
2
R/W
Set/Read the FRnet DO group 2
Group 3
3
R/W
Set/Read the FRnet DO group 3
Group 4
4
R/W
Set/Read the FRnet DO group 4
Group 5
5
R/W
Set/Read the FRnet DO group 5
Group 6
6
R/W
Set/Read the FRnet DO group 6
Group 7
7
R/W
Set/Read the FRnet DO group 7
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FRnet DO
ICP DAS
B.2 Macro Call, FRnet Event and WORD Order Setting
Appendix table 15: Macro Call, FRnet Event and WORD Order Setting (PLC
address: 40009 to 40015)
Variable Name
Address
(zero based)
CALL_MPn
8
FRNet Event
Reserved
WORD Order
Type
R/W
9
--
10-13
--
14
R/W
Comment
This is a simple method to call
MP. Write the MPn at this
address, the corresponding MPn
will be called.
n=1-157
Enable FRnet DI to generate
events
0 – disable FRnet event trigger
1 – enable FRnet event trigger
Not defined
This setting is relevant for
DWORD, long, float variables:
0: Big endian WORD (reverse
type). First register represents
the most significant word the
second register represents the
least significant word
1: Small Endian WORD
Most significant word is the
second register
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B.3 IP Address Setting
Appendix table 16: IP Address Setting (PLC address: 40021 to 40031)
Variable Name
IP Address Setting
Address
Type
(zero based)
Lock_IP
Comment
Lock/Read_Locked TCP Client
IP
20 ~ 23
R/W
24
W
ET-M8194H_IP
25~26
R/W
Set ET-M8194H IP
ET-M8194H_Mask
27~28
R/W
Set ET-M8194H Mask
ET-M8194H_Gateway
29~30
R/W
Set ET-M8194H Gateway
UnLock_IP
ICP DAS
350
Unlock TCP Client IP
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B.4 Read/ Write Logic and Encoder Position, Acceleration,
Velocity
Appendix table 17: Logic and Encoder Position, Acceleration, Velocity (PLC
address: 40091 to 40122)
Variable Name
Logic
Position
(LP)
Encoder
Position
(EP)
Current
Velocity
(CV)
Current
Acceleration
(CA)
Motion Status
Address
(zero
Type
based)
Comment
X-Axis
90-91
R/W
Logical position of X-axis.
Y-Axis
92-93
R/W
Logical position of Y-axis.
Z-Axis
94-95
R/W
Logical position of Z-axis.
U-Axis
96-97
R/W
Logical position of U-axis.
X-Axis
98-99
R/W
Y-Axis
100-101
R/W
Z-Axis
102-103
R/W
U-Axis
104-105
R/W
X-Axis
106-107
R
Current velocity of X-axis.
Y-Axis
108-109
R
Current velocity of Y-axis.
Z-Axis
110-111
R
Current velocity of Z-axis.
U-Axis
112-113
R
Current velocity of U-axis.
X-Axis
114-115
R
Current acceleration of X-axis.
Y-Axis
116-117
R
Current acceleration of Y-axis.
Z-Axis
118-119
R
Current acceleration of Z-axis.
U-Axis
120-121
R
Current acceleration of U-axis.
ICP DAS
351
Encoder
X-axis.
Encoder
Y-axis.
Encoder
Z-axis.
Encoder
U-axis.
feedback position of
feedback position of
feedback position of
feedback position of
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B.5 Read/ Write VAR Variables
Appendix table 18: VAR Variables (PLC address: 40301 to 41324)
Variable Name
Macro Variables
Address
(zero
Type
based)
Comment
VAR0
300-301
R/W
Value of VAR0.
VAR1
302-303
R/W
Value of VAR1.
…
…
VARn = 300+2*n to 300+2*n+1
VAR510
13201321
R/W
Value of VAR510.
VAR511
13221323
R/W
Value of VAR511.
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B.6 Sub Function Code Definition
Appendix table 19: Sub Function Code Definition (PLC address: 48001 to
48101)
Variable Name
Motion Commands
Sub Function Code 16
Address
(zero
Type
based)
Sub_Function_Code
Reg1
8000
8001
Reg2
8002
Comment
W
The mapping of sub function code
can refer to table in Appendix C.
W
The definitions of parameters
depend on the sub functions. Please
refer to the table in Appendix C.
W
Users can use the sub function call
method to implement most of the
motion functions, especially for
setting functions.
Reg3
8003
W
For getting real-time information from
modules, these tables in Appendix A
and B are valuable.
Reg4
8004
W
Users can refer to examples in the
functions description above to know
how to set the parameters.
The basic rules of parameter
definitions are :
BYTE  one register (low-byte)
WORD  one register
DWORD  two registers
long
 two registers
float
 two registers
…
Reg100
8100
ICP DAS
W
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C. Sub Function Code mapping table
Please use the FC=16 to call the sub-functions; the related starting address is
8000 (zero-based). The following table lists the reference-section, Sub_Function
name and required-registers of the related sub-function-code.
Some code-fields are filled with xxxxxx; this means no sub-function-code is
involved. Most of these functions are belong to the Getting command; the FC=3
or FC=4 will be used to get the needed information. Please refer to the
MODBUS table in the Appendix A and B.
Appendix table 20: Sub Function Code mapping table
2.2
2.2
2.3
2.3
2.4
2.4
2.5
i8094H_REGISTRATION
i8094H_GET_VERSION
ETM_RESET_CARD
ETM_CLEAR_CARD_BUFFER
ETM_SET_PULSE_MODE
ETM_MACRO_SET_PULSE_MODE
ETM_SET_MAX_V
Code
(Hex)
reg(0)
xxxxxx
xxxxxx
0x0A0A
0x0A0B
0x0A0C
0x0C0C
0x0A0D
2.5
ETM_MACRO_SET_MAX_V
0x0C0D
3085
4
2.6
2.6
2.7
ETM_SET_HLMT
ETM_MACRO_SET_HLMT
ETM_LIMITSTOP_MODE
0x0A0E
0x0C0E
0x0A0F
2574
3086
2575
4
4
3
2.7
2.8
2.8
ETM_MACRO_LIMITSTOP_MODE
ETM_SET_NHOME
ETM_MACRO_SET_NHOME
0x0C0F
0x0A10
0x0C10
3087
2576
3088
3
3
3
2.9
ETM_SET_HOME_EDGE
0x0A11
2577
3
2.9
ETM_MACRO_SET_HOME_EDGE
0x0C11
3089
3
2.10
2.10
2.10
ETM_SET_SLMT
ETM_MACRO_SET_SLMT
ETM_CLEAR_SLMT
0x0A12
0x0C12
0x0A13
2578
3090
2579
7
7
2
2.10
ETM_MACRO_CLEAR_SLMT
0x0C13
3091
2
2.11
2.11
ETM_SET_ENCODER
ETM_MACRO_SET_ENCODER
0x0A14
0x0C14
2580
3092
5
5
Section
Sub_Function
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354
Code
(Dec) No. of
registers
reg(0)
xxxxx
xxxxx
2570
1
2571
1
2572
3
3084
3
2573
4
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2.12
ETM_SERVO_ON
Code
Code
(Hex)
(Dec) No. of
registers
reg(0) reg(0)
0x0A15 2581
2
2.12
2.12
2.12
2.13
ETM_MACRO_SERVO_ON
ETM_SERVO_OFF
ETM_MACRO_SERVO_OFF
ETM_SET_ALARM
0x0C15
0x0A16
0x0C16
0x0A17
3093
2582
3094
2583
2
2
2
4
2.13
2.14
ETM_MACRO_SET_ALARM
ETM_SET_INPOS
0x0C17
0x0A18
3095
2584
4
4
2.14
ETM_MACRO_SET_INPOS
0x0C18
3096
4
2.15
ETM_SET_FILTER
0x0A19
2585
4
2.15
ETM_MACRO_SET_FILTER
0x0C19
3097
4
2.16
2.16
2.16
ETM_VRING_ENABLE
ETM_MACRO_VRING_ENABLE
ETM_VRING_DISABLE
0x0A1A
0x0C1A
0x0A1B
2586
3098
2587
4
4
2
2.16
2.17
2.17
2.17
2.17
2.18
2.18
2.18
2.18
2.19
2.19
2.19
2.19
2.20
2.20
ETM_MACRO_VRING_DISABLE
ETM_AVTRI_ENABLE
ETM_MACRO_AVTRI_ENABLE
ETM_AVTRI_DISABLE
ETM_MACRO_AVTRI_DISABLE
ETM_EXD_MP
ETM_EXD_FP
ETM_EXD_CP
ETM_EXD_DISABLE
ETM_READ_bVAR
ETM_WRITE_bVAR
ETM_READ_VAR
ETM_WRITE_VAR
ETM_READ_MD
ETM_WRITE_MD
0x0C1B 3099
0x0A1C 2588
0x0C1C 3100
0x0A1D 2589
0x0C1D 3101
0x0A1E 2590
0x0A1F 2591
0x0A20 2592
0x0A21 2593
xxxxxx xxxxx
0x0A23 2595
xxxxxx xxxxx
0x0A25 2597
xxxxxx xxxxx
0x0A27 2599
2
2
2
2
2
4
4
4
2
3.1
3.1
3.1
3.1
3.1
ETM_SET_LP
ETM_MACRO_SET_LP
ETM_GET_LP
ETM_MACRO_GET_LP
ETM_GET_LP_4_AXIS
0x0A28 2600
0x0C28 3112
xxxxxx xxxxx
0x0C29 3113
xxxxxx xxxxx
4
4
Section
Sub_Function
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3
5
7
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Section
Sub_Function
Code
(Hex)
reg(0)
Code
(Dec) No. of
registers
reg(0)
3.2
3.2
ETM_SET_EP
ETM_MACRO_SET_EP
0x0A2A
0x0C2A
3.2
3.2
3.2
ETM_GET_EP
ETM_MACRO_GET_EP
ETM_GET_EP_4_AXIS
3.3
ETM_GET_CV
xxxxxx xxxxx
0x0C2B 3115
xxxxxx xxxxx
xxxxxx xxxxx
3.3
3.4
3.4
3.5
ETM_GET_CV_4_AXIS
ETM_GET_CA
ETM_GET_CA_4_AXIS
xxxxxx xxxxx
xxxxxx xxxxx
xxxxxx xxxxx
ETM_MACRO_GET_DI
0x0C2E
3.5
3.5
ETM_GET_DI_ALL
ETM_MACRO_GET_DI_ALL
xxxxxx xxxxx
3.5
3.6
ETM_GET_DI_ALL_4_AXIS
ETM_MACRO_GET_ERROR
3.6
ETM_GET_ERROR_STATE
3.6
3.6
3.6
ETM_GET_ERROR_CODE
ETM_MACRO_GET_ERROR_CODE
ETM_GET_ERROR_CODE_4_AXIS
3.7
i8094H_CHECK_RTC
0x0C30 3120
xxxxxx xxxxx
xxxxxx xxxxx
3.8
3.8
ETM_GET_STOP_STATUS
ETM_GET_STOP_STATUS_4_AXIS
xxxxxx xxxxx
xxxxxx xxxxx
4.1
ETM_MACRO_FRNET_IN
0x0C32
3122
2
4.1
4.1
ETM_MACRO_FRNET_READ
ETM_FRNET_READ_SINGLE_DIO
5
4.1
ETM_FRNET_READ_GROUP_DIO
0x0C34 3124
xxxxxx xxxxx
xxxxxx xxxxx
4.1
ETM_FRNET_READ_MULTI_GROUP_DIO xxxxxx xxxxx
4.2
ETM_MACRO_FRNET_OUT
0x0C33
3123
4
4.2
4.2
ETM_MACRO_FRNET_WRITE
ETM_FRNET_WRITE_SINGLE_DO
7
4.2
ETM_FRNET_WRITE_GROUP_DO
0x0C35 3125
xxxxxx xxxxx
xxxxxx xxxxx
4.2
ETM_FRNET_WRITE_MULTI_GROUP_DO xxxxxx xxxxx
ICP DAS
356
2602
3114
3118
4
4
2
3
0x0C31 3121
xxxxxx xxxxx
2
0x0C2F 3119
xxxxxx xxxxx
1
xxxxxx xxxxx
2
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4.3
ETM_MACRO_FRNET_WAIT
Code
Code
(Hex)
(Dec) No. of
registers
reg(0) reg(0)
0x0C36 3126
7
5.1
ETM_SET_HV
0x0A3C
2620
4
5.1
5.2
ETM_MACRO_SET_HV
ETM_HOME _LIMIT
0x0C3C
0x0A3D
3132
2621
4
3
5.2
ETM_MACRO_HOME _LIMIT
0x0C3D
3133
3
5.3
5.3
5.4
ETM_SET_HOME_MODE
ETM_MACRO_SET_HOME_MODE
ETM_HOME _START
0x0A3E
0x0C3E
0x0A3F
2622
3134
2623
8
8
2
5.4
5.5
ETM_MACRO_HOME _START
i8094H_HOME _WAIT
0x0C3F 3135
xxxxxx xxxxx
2
6.1.1
ETM_NORMAL_SPEED
0x0A46
2630
3
6.1.1
6.1.2
ETM_MACRO_NORMAL_SPEED
ETM_SET_SV
0x0C46
0x0A47
3142
2631
3
4
6.1.2
6.1.3
ETM_MACRO_SET_SV
0x0C47
3143
4
ETM_SET_V
0x0A48
2632
4
6.1.3
6.1.4
ETM_MACRO_SET_V
ETM_SET_A
0x0C48
0x0A49
3144
2633
4
4
6.1.4
6.1.5
6.1.5
6.1.6
ETM_MACRO_SET_A
ETM_SET_D
ETM_MACRO_SET_D
ETM_SET_K
0x0C49
0x0A4A
0x0C4A
0x0A4B
3145
2634
3146
2635
4
4
4
4
6.1.6
6.1.7
ETM_MACRO_SET_K
ETM_SET_L
0x0C4B
0x0A4C
3147
2636
4
4
6.1.7
ETM_MACRO_SET_L
0x0C4C
3148
4
6.1.8
6.1.8
6.1.9
6.1.9
ETM_SET_AO
ETM_MACRO_SET_AO
ETM_FIXED_MOVE
ETM_MACRO_FIXED_MOVE
0x0A4D
0x0C4D
0x0A4E
0x0C4E
2637
3149
2638
3150
4
4
4
4
6.1.9
ETM_SET_PULSE
0x0A4F
2639
4
6.1.9
ETM_MACRO_SET_PULSE
0x0C4F
3151
4
Section
Sub_Function
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6.1.10 ETM_CONTINUE_MOVE
6.1.10 ETM_MACRO_CONTINUE_MOVE
Code
Code
(Hex)
(Dec) No. of
registers
reg(0) reg(0)
0x0A50 2640
4
0x0C50 3152
4
6.2.1
ETM_AXIS_ASSIGN
0x0A5A
2650
4
6.2.1
6.2.2
ETM_MACRO_AXIS_ASSIGN
ETM_VECTOR_SPEED
0x0C5A
0x0A5B
3162
2651
4
2
6.2.2
ETM_MACRO_VECTOR_SPEED
0x0C5B
3163
2
6.2.3
6.2.3
6.2.4
ETM_SET_VSV
ETM_MACRO_SET_VSV
ETM_SET_VV
0x0A5C
0x0C5C
0x0A5D
2652
3164
2653
3
3
3
6.2.4
6.2.5
6.2.5
ETM_MACRO_SET_VV
ETM_SET_VA
ETM_MACRO_SET_VA
0x0C5D
0x0A5E
0x0C5E
3165
2654
3166
3
3
3
6.2.6
6.2.6
6.2.7
ETM_SET_VD
ETM_MACRO_SET_VD
ETM_SET_VK
0x0A5F
0x0C5F
0x0A60
2655
3167
2656
3
3
3
6.2.7
ETM_MACRO_SET_VK
0x0C60
3168
3
6.2.8
6.2.8
6.2.9
6.2.9
ETM_SET_VL
ETM_MACRO_SET_VL
ETM_SET_VAO
ETM_MACRO_SET_VAO
0x0A61
0x0C61
0x0A62
0x0C62
2657
3169
2658
3170
3
3
3
3
6.2.10 ETM_LINE_2D
0x0A63
2659
5
6.2.10 ETM_MACRO_LINE_2D
0x0C63
3171
5
6.2.11 ETM_LINE_3D
6.2.11 ETM_MACRO_LINE_3D
6.2.12 ETM_ARC_CW
0x0A64
0x0C64
0x0A65
2660
3172
2661
7
7
9
6.2.12 ETM_MACRO_ARC_CW
0x0C65
3173
9
6.2.12 ETM_ARC_CCW
0x0A67
2663
9
6.2.12 ETM_MACRO_ARC_CCW
6.2.13 ETM_CIRCLE_CW
6.2.13 ETM_MACRO_CIRCLE_CW
0x0C67
0x0A69
0x0C69
3175
2665
3177
9
5
5
6.2.13 ETM_CIRCLE_CCW
6.2.13 ETM_MACRO_CIRCLE_CCW
0x0A6A
0x0C6A
2666
3178
5
5
Section
Sub_Function
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6.3.1
ETM_SYNC_ACTION
Code
Code
(Hex)
(Dec) No. of
registers
reg(0) reg(0)
0x0A6E 2670
14
6.3.1
ETM_MACRO_SYNC_ACTION
0x0C6E
2670
14
6.3.1
ETM_CLEAR_SYNC_ACTION
0x0A95
2709
2
6.3.1
ETM_MACRO_CLEAR_SYNC_ACTION
0x0C95
3221
2
6.3.1
0x0A96
2710
4
0x0C96
3222
4
6.3.1
ETM_SET_ACTIVATION_FACTORS
ETM_MACRO_SET_ACTIVATION_FACTO
RS
ETM_SET_ACTIVATION_AXIS
0x0A97
2711
3
6.3.1
6.3.1
ETM_MACRO_SET_ACTIVATION_AXIS
ETM_SET_ACTION
0x0C97
0x0A98
3223
2712
3
11
6.3.1
ETM_MACRO_SET_ACTION
0x0C98
3224
11
6.3.2
6.3.2
6.3.3
ETM_SET_COMPARE
ETM_MACRO_SET_COMPARE
ETM_GET_LATCH
0x0A70 2672
0x0C70 3184
xxxxxx xxxxx
6
6
6.3.3
ETM_MACRO_GET_LATCH
0x0C71
3185
2
6.3.4
6.3.4
ETM_SET_PRESET
ETM_MACRO_SET_PRESET
0x0A72
0x0C72
2674
3186
4
4
6.3.5
6.3.5
6.3.6
ETM_SET_OUT
ETM_MACRO_SET_OUT
ETM_ENABLE_INT
0x0A73 2675
0x0C73 3187
0x0AAA 2730
4
4
1
6.3.6
6.3.6
ETM_MACRO_ENABLE_INT
ETM_DISABLE_INT
0x0CAA 3242
0x0AAB 2731
1
1
6.3.6
ETM_MACRO_DISABLE_INT
0x0CAB 3243
1
6.3.6
6.3.6
6.3.6
6.3.6
ETM_INTFACTOR_ENABLE
ETM_MACRO_INTFACTOR_ENABLE
ETM_INTFACTOR_DISABLE
ETM_MACRO_INTFACTOR_DISABLE
0x0AAC
0x0CAC
0x0AAD
0x0CAD
4
4
3
3
6.4
ETM_GET_TRIG_INTFACTOR
xxxxxx xxxxx
6.5
ETM_GET_MP_DOWNLOAD_STATUS
xxxxxx xxxxx
6.6
ETM_GET_USER_RINT
xxxxxx xxxxx
6.7
ETM_GET_DEVICE_STATE
xxxxxx xxxxx
Section
6.3.1
Sub_Function
ICP DAS
359
2732
3244
2733
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Section
Sub_Function
code
No. of
code (H) (D)
registers
reg(0) reg(0)
6.8.1
ETM_RECTANGLE
0x0A78
2680
20
6.8.1
ETM_MACRO_RECTANGLE
0x0C78
3192
20
6.8.2
6.8.2
6.8.2
ETM_LINE_2D_INITIAL
ETM_MACRO_LINE_2D_INITIAL
ETM_LINE_2D_CONTINUE
0x0A7C
0x0C7C
0x0A7E
2684
3196
2686
9
9
6
6.8.2
ETM_MACRO_LINE_2D_CONTINUE
0x0C7E
3198
6
6.8.3
6.8.3
ETM_LINE_3D_INITIAL
ETM_MACRO_LINE_3D_INITIAL
0x0A7F
0x0C7F
2687
3199
10
10
6.8.3
6.8.3
ETM_LINE_3D_CONTINUE
ETM_MACRO_LINE_3D_CONTINUE
0x0A81
0x0C81
2689
3201
8
8
6.8.4
ETM_MIX_2D_INITIAL
0x0A82
2690
10
6.8.4
6.8.4
ETM_MACRO_MIX_2D_INITIAL
ETM_MIX_2D_CONTINUE
0x0C82
0x0A84
3202
2692
10
11
6.8.4
6.8.5
6.8.5
6.8.6
ETM_MACRO_MIX_2D_CONTINUE
ETM_CONTINUE_INTP
i8094H_CONTINUE_INTP_ARRAY
ETM_HELIX_3D
0x0C84 3204
0x0A86 2694
xxxxxx xxxxx
11
13
0x0A88
2696
15
6.8.6
6.8.7
ETM_MACRO_HELIX_3D
ETM_RATIO_INITIAL
0x0C88
0x0A8B
3208
2699
15
11
6.8.7
ETM_MACRO_RATIO_INITIAL
0x0C8B
3211
11
6.8.7
6.8.7
6.8.8
6.8.8
ETM_RATIO_2D
ETM_MACRO_RATIO_2D
ETM_LINE_SCAN
ETM_LINE_SCAN_START
0x0A8D
0x0C8D
0x0A90
0x0A91
2701
3213
2704
2705
6.8.8
ETM_LINE_SCAN_OFFSET2
6.8.8
ETM_GET_LINE_SCAN_DONE
5
5
7
5
3+Param
0x0A93 2707
_Lengh
xxxxxx xxxxx
6.9.1
ETM_DRV_HOLD
0x0AB4
2740
2
6.9.1
6.9.2
ETM_MACRO_DRV_HOLD
ETM_DRV_START
0x0CB4
0x0AB5
3252
2741
2
2
6.9.2
ETM_MACRO_DRV_START
0x0CB5
3253
2
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Section
Sub_Function
Code
(Hex)
reg(0)
Code
(Dec) No. of
registers
reg(0)
6.9.3
ETM_STOP_SLOWLY
0x0AB7
2743
2
6.9.3
6.9.3
ETM_MACRO_STOP_SLOWLY
ETM_STOP_SUDDENLY
0x0CB7
0x0AB8
3255
2744
2
2
6.9.3
ETM_MACRO_STOP_SUDDENLY
0x0CB8
3256
2
6.9.3
6.9.3
ETM_VSTOP_SLOWLY
ETM_MACRO_VSTOP_SLOWLY
0x0AB9
0x0CB9
2745
3257
1
1
6.9.3
ETM_VSTOP_SUDDENLY
0x0ABA 2746
1
6.9.3
6.9.4
6.9.4
ETM_MACRO_VSTOP_SUDDENLY
ETM_CLEAR_STOP
ETM_MACRO_CLEAR_STOP
0x0CBA 3258
0x0ABB 2747
0x0CBB 3259
1
2
2
6.9.4
ETM_CLEAR_VSTOP
0x0A09
2569
1
6.9.4
6.9.5
6.9.5
ETM_MACRO_CLEAR_VSTOP
ETM_INTP_END
ETM_MACRO_INTP_END
0x0C09 3081
0x0ABC 2748
0x0CBC 3260
1
2
2
6.9.6
6.9.7
ETM_EMERGENCY_STOP
ETM_CLEAR_EMERGENCY_STOP
0x0A04
0x0A05
2564
2565
2
1
7.1
7.2.1
7.2.1
7.2.2
7.2.2
7.3.1
7.3.2
7.3.3
7.4.1
7.4.2
7.5
7.6.1
7.6.2
7.6.3
7.7.1
7.7.2
7.7.3
7.8.1
ETM_LOAD_INITIAL
ETM_MP_CREATE
ETM_MACRO_MP_CLOSE
ETM_MP_CALL
ETM_MACRO_MP_CALL
ETM_MP_ISR_CREATE
ETM_MACRO_MP_ISR_CLOSE
ETM_MP_ISR_CALL
ETM_MACRO_SET_VAR
ETM_MACRO_SET_RVAR
ETM_MACRO_VAR_CALCULATE
ETM_MACRO_FOR
ETM_MACRO_NEXT
ETM_MACRO_EXIT_FOR
ETM_MACRO_IF
ETM_MACRO_ELSE
ETM_MACRO_END _IF
ETM_MACRO_GOTO
0x0AC8
0x0AC9
0x0CCA
0x0ACB
0x0CCB
0x0ACD
0x0CCE
0x0ACF
0x0CD2
0x0CD3
0x0CD4
0x0CD5
0x0CD6
0x0CDE
0x0CD7
0x0CD8
0x0CD9
0x0CDF
2760
2761
3274
2763
3275
2765
3278
2767
3282
3283
3284
3285
3286
3294
3287
3288
3289
3295
1
2
1
2
2
2
1
2
5
3
8
3
1
1
6
1
1
2
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7.8.2
7.9
7.10
7.10
7.11
7.12
ETM_MACRO_LABEL
ETM _MACRO_TIMER
ETM_STOP_WAIT
ETM_MACRO_STOP_WAIT
ETM_MACRO_SET_RINT
ETM_MACRO_EXIT_MACRO
Code
(Hex)
reg(0)
0x0CE1
0x0CDA
0x0ADB
0x0CDB
0x0CDC
0x0CDD
7.13
ETM_MP_TERMINATE
0x0AE2
2786
1
7.13
ETM_MACRO_MP_TERMINATE
0x0CE2
3298
1
Section
Sub_Function
ICP DAS
362
Code
(Dec) No. of
registers
reg(0)
3297
2
3290
3
2779
2
3291
2
3292
1
3293
1
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D. MODBUS Coil Table
The coil table can be accessed with the following Modbus functions:
 Read Coils (FC 01)
 Write Single Coil (FC 05)
 Write Multiple Coils (FC 15)
The table addresses defined below is zero-based. For some PLC or HMI, the
addresses maybe show on their documents as 0xxxx, x is digital number. For
example, 00001 to 09999. The first '0' represents the table is defined for coils;
and the following xxxx is the address of a coil.
In PLC, the first coil defined at address 00001 is the same as the first
register at address 0 shown in the following table. Most PLC systems which
addresses do not start from zero can be referred as one-based system. The
following tables will only show zero-based addresses. When PLC or HMI users
configure their coil numbers, they have to consider coil number mapping problem
carefully.
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D.1 FRnet Digital Output
The starting address is 0 (zero-based). Please use FC=05, 15 to write the
FRnet DO status:
(1) FC=05. It can be used to write single point FRnet DO (0~127).
(2) FC=15. It can be used to write multi-point FRnet DO. These DO do not have
to be limited to the same group. For example: the user can choose to write
DO points from 5~45 (total 41 points).
Appendix table 21: FRnet Digital Output (PLC addresses: 00001 to 00128)
FRnet Digital Output
Group
0
1
Channel
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
0
1
2
3
4
5
6
7
ICP DAS
Address
(zerobased)
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
Type
Comment
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
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2
3
8
9
10
11
12
13
14
15
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
0
1
2
3
4
5
6
7
8
9
10
11
12
48
49
50
51
52
53
54
55
56
57
58
59
60
ICP DAS
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
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4
5
6
13
14
15
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
0
1
ICP DAS
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
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7
2
3
4
5
6
7
8
9
10
11
12
13
14
15
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
ICP DAS
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
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D.2 Servo On/Off
Appendix table 22: Servo On/Off (PLC addresses: 00129 to 00132)
Servo State
Address
Axis
Type
Comment
(zero based)
1: Servo on
X
128
R
0: Servo off
1: Servo on
Y
129
R
0: Servo off
1: Servo on
Z
130
R
0: Servo off
1: Servo on
U
131
R
0: Servo off
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E. MODBUS Discrete Input Table
The discrete input table can be accessed by the following Modbus functions:
 Read discrete input (FC 02)
The table addresses defined below is zero-based. For some PLC or HMI, the
addresses maybe show on their documents as 1xxxx, x is digital number. For
example, 10001 to 19999. The first '1' represents the table is defined for discrete
input; and the following xxxx is the address of a discrete input.
In PLC, the first discrete input defined at address 10001 is the same as the first
register at address 0 shown in the following table. Most PLC systems which
addresses do not start from zero can be referred as one-based system. The
following tables will only show zero-based addresses. When PLC or HMI users
configure their discrete input numbers, they have to consider discrete input
number mapping problem carefully.
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E.1 FRnet Digital Input
Appendix table 23: FRnet Digital Inputs (PLC addresses: 10001 to 10128)
FRnet Digital Input
Group
8
9
0
Address
(zero based)
0
1
1
R
2
2
R
3
3
R
4
4
R
5
5
R
6
6
R
7
7
R
8
8
R
9
9
R
10
10
R
11
11
R
12
12
R
13
13
R
14
14
R
15
15
R
0
16
R
1
17
R
2
18
R
3
19
R
4
20
R
5
21
R
6
22
R
7
23
R
8
24
R
9
25
R
10
26
R
11
27
R
12
28
R
Channel
ICP DAS
370
Type
Comment
R
ET-M8194H User Manual – API Library
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10
11
13
29
R
14
30
R
15
31
R
0
32
R
1
33
R
2
34
R
3
35
R
4
36
R
5
37
R
6
38
R
7
39
R
8
40
R
9
41
R
10
42
R
11
43
R
12
44
R
13
45
R
14
46
R
15
47
R
0
48
R
1
49
R
2
50
R
3
51
R
4
52
R
5
53
R
6
54
R
7
55
R
8
56
R
9
57
R
10
58
R
11
59
R
12
60
R
13
61
R
14
62
R
15
63
R
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12
13
14
0
64
R
1
65
R
2
66
R
3
67
R
4
68
R
5
69
R
6
70
R
7
71
R
8
72
R
9
73
R
10
74
R
11
75
R
12
76
R
13
77
R
14
78
R
15
79
R
0
80
R
1
81
R
2
82
R
3
83
R
4
84
R
5
85
R
6
86
R
7
87
R
8
88
R
9
89
R
10
90
R
11
91
R
12
92
R
13
93
R
14
94
R
15
95
R
0
96
R
1
97
R
2
98
R
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15
3
99
R
4
100
R
5
101
R
6
102
R
7
103
R
8
104
R
9
105
R
10
106
R
11
107
R
12
108
R
13
109
R
14
110
R
15
111
R
0
112
R
1
113
R
2
114
R
3
115
R
4
116
R
5
117
R
6
118
R
7
119
R
8
120
R
9
121
R
10
122
R
11
123
R
12
124
R
13
125
R
14
126
R
15
127
R
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E.2 DI or Status of Control Board
Appendix table 24: DI or Status of Control Board (PLC addresses: 10129 to
10192)
Read DI or Status of Control Board
Address
Axis
DI
Type
Comment
(zero based)
X
DRIVING
128
R
LIMIT+
129
R
LIMIT-
130
R
EMERGENCY
131
R
ALARM
132
R
HOME
133
R
NHOME
134
R
IN3
135
R
INPOS
136
R
INDEX
137
R
The driving state of AXIS-X:
1: driving, 0: stop
The hardware limit (LMT+) state of AXISX:
0: off, 1: on
The hardware limit (LMT-) state of AXIS-X:
0: off, 1: on
The emergency (EMG) state of AXIS-X:
0: off, 1: on
The ALARM state of AXIS-X:
(please enable Alarm with
ETM_SET_ALARM()
0: off, 1: on
The HOME/IN1 state of AXIS-X:
0: on, 1: off
The NHOME/IN0 state of AXIS-X:
0: on, 1: off
The IN3 state of AXIS-X:
0: on, 1: off
The INPOS or Servo Ready state of AXISX:
0: on, 1: off
The Z-phase/IN2 state of AXIS-X:
0: on, 1: off
138
139
140
undefined
141
142
143
Y
DRIVING
144
R
LIMIT+
145
R
LIMIT-
146
R
EMERGENCY
147
R
ICP DAS
374
The driving state of AXIS-Y:
1: driving, 0: stop
The hardware limit (LMT+) state of AXIS-Y:
0: off, 1: on
The hardware limit (LMT-) state of AXIS-Y:
0: off, 1: on
The emergency (EMG) state of AXIS-Y:
0: off, 1: on
ET-M8194H User Manual – API Library
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ALARM
148
R
HOME
149
R
NHOME
150
R
IN3
151
R
INPOS
152
R
INDEX
153
R
The ALARM state of AXIS- Y:
(please enable Alarm with
ETM_SET_ALARM()
0: off, 1: on
The HOME/IN1 state of AXIS- Y:
0: on, 1: off
The NHOME/IN0 state of AXIS- Y:
0: on, 1: off
The IN3 state of AXIS- Y:
0: on, 1: off
The INPOS or Servo Ready state of AXISX:
0: on, 1: off
The Z-phase/IN2 state of AXIS- Y:
0: on, 1: off
154
155
156
undefined
157
158
159
Z
DRIVING
160
R
LIMIT+
161
R
LIMIT-
162
R
EMERGENCY
163
R
ALARM
164
R
HOME
165
R
NHOME
166
R
IN3
167
R
INPOS
168
R
INDEX
169
R
170
ICP DAS
375
The driving state of AXIS-Z:
1: driving, 0: stop
The hardware limit (LMT+) state of AXIS-Z:
0: off, 1: on
The hardware limit (LMT-) state of AXIS-Z:
0: off, 1: on
The emergency (EMG) state of AXIS-Z:
0: off, 1: on
The ALARM state of AXIS-Z:
(please enable Alarm with
ETM_SET_ALARM()
0: off, 1: on
The HOME/IN1 state of AXIS-Z:
0: on, 1: off
The NHOME/IN0 state of AXIS-Z:
0: on, 1: off
The IN3 state of AXIS-Z:
0: on, 1: off
The INPOS or Servo Ready state of AXISZ:
0: on, 1: off
The Z-phase/IN2 state of AXIS-Z:
0: on, 1: off
undefined
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171
172
173
174
175
U
DRIVING
176
R
LIMIT+
177
R
LIMIT-
178
R
EMERGENCY
179
R
ALARM
180
R
HOME
181
R
NHOME
182
R
IN3
183
R
INPOS
184
R
INDEX
185
R
The driving state of AXIS-U:
1: driving, 0: stop
The hardware limit (LMT+) state of AXISU:
0: off, 1: on
The hardware limit (LMT-) state of AXIS-U:
0: off, 1: on
The emergency (EMG) state of AXIS-U:
0: off, 1: on
The ALARM state of AXIS-U:
(please enable Alarm with
ETM_SET_ALARM()
0: off, 1: on
The HOME/IN1 state of AXIS-U:
0: on, 1: off
The NHOME/IN0 state of AXIS-U:
0: on, 1: off
The IN3 state of AXIS-U:
0: on, 1: off
The INPOS or Servo Ready state of AXISU:
0: on, 1: off
The Z-phase/IN2 state of AXIS-U:
0: on, 1: off
186
187
188
undefined
189
190
191
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E.3 Error Stop States
Appendix table 25: Error Stop States (PLC addresses: 10193 to 10256)
Read Motion Error States
Modbus
Axis Cause of stop
Type
Comment
Address
SOFT LIMIT+
192
R
SOFT LIMIT-
193
R
LIMIT+
194
R
LIMIT-
195
R
ALARM
196
R
EMERGENCY
197
R
Reserved
198
R
HOME
199
R
X
Stop
Command
200
R
Forward software limit of AXIS-X has
been encountered
Reverse software limit of AXIS-X has
been encountered
Forward hardware limit of AXIS-X has
been encountered
Reverse hardware limit of AXIS-X has
been encountered
The ALARM state of AXIS-X has been
activated
The emergency state of AXIS-X has been
activated
Not defined
Z phase and HOME position of AXIS-X
have been reached
Motion has been stopped by
STOP_SLOWLY
STOP_SUDDENLY
VSTOP_SLOWLY
VSTOP_SUDDENLY
201
202
203
204
undefined
205
206
207
Y
SOFT LIMIT+
208
R
SOFT LIMIT-
209
R
LIMIT+
210
R
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Forward software limit of AXIS-Y has
been encountered
Reverse software limit of AXIS-Y has
been encountered
Forward hardware limit of AXIS-Y has
been encountered
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LIMIT-
211
R
ALARM
212
R
EMERGENCY
213
R
Reserved
214
R
HOME
215
R
Stop
Command
216
R
Reverse hardware limit of AXIS-Y has
been encountered
The ALARM state of AXIS-Y has been
activated
The emergency state of AXIS-Y has been
activated
Not defined
Z phase and HOME position of AXIS-Y
have been reached
Motion has been stopped by
STOP_SLOWLY
STOP_SUDDENLY
VSTOP_SLOWLY
VSTOP_SUDDENLY
undefined
217
218
219
220
221
222
223
Z
SOFT LIMIT+
224
R
SOFT LIMIT-
225
R
LIMIT+
226
R
LIMIT-
227
R
ALARM
228
R
EMERGENCY
229
R
Reserved
230
R
HOME
231
R
Stop
Command
232
R
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Forward software limit of AXIS-Z has been
encountered
Reverse software limit of AXIS-Z has
been encountered
Forward hardware limit of AXIS-Z has
been encountered
Reverse hardware limit of AXIS-Z has
been encountered
The ALARM state of AXIS-Z has been
activated
The emergency state of AXIS-Z has been
activated
Not defined
Z phase and HOME position of AXIS-Z
have been reached
Motion has been stopped by
STOP_SLOWLY
STOP_SUDDENLY
VSTOP_SLOWLY
VSTOP_SUDDENLY
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undefined
233
234
235
236
237
238
239
SOFT LIMIT+
240
R
SOFT LIMIT-
241
R
LIMIT+
242
R
LIMIT-
243
R
ALARM
244
R
EMERGENCY
245
R
Reserved
246
R
HOME
247
R
Stop
Command
248
R
U
Forward software limit of AXIS-U has
been encountered
Reverse software limit of AXIS-U has
been encountered
Forward hardware limit of AXIS-U has
been encountered
Reverse hardware limit of AXIS-U has
been encountered
The ALARM state of AXIS-U has been
activated
The emergency state of AXIS-U has been
activated
Not defined
Z phase and HOME position of AXIS-U
have been reached
Motion has been stopped by
STOP_SLOWLY
STOP_SUDDENLY
VSTOP_SLOWLY
VSTOP_SUDDENLY
undefined
249
250
251
252
253
254
255
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F. ET-M8194H LED Description
LED description:
LED
Status
On
Sys
Flashing
Off
Flashing
Tx
Off
Flashing
Rx
Off
On
NET
Flashing
Off
On
Description
Device is switched on and firmware is running.
Device is switched on and firmware is not running.
Device is switched off.
Data is transmitted by the ET-M8194H via RS-232.
No data is sent by the ET-M8194H via RS-232.
The device is receiving data via RS-232.
No data is being received.
Device is connected to Ethernet.
Data is being transmitted via Ethernet.
Device is not connected to the Ethernet.
Module i-8094H is plugged into ET-M8194H device.
A module different than i-8094H is plugged into ET-M8194H
MOD
Flashing
device.
Off
No module is plugged into the ET-M8194H device.
About the LED description on the i-8094H module: P is power indicator, A is
FRnet indicator, and D is pulse output indicator. Other detals, including
connectors and wiring daughter board definition please refer to the Quick – Start
manual for the i-8094H.
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G. Lock_IP Setting
Users can manage the Ethernet connection with Lock_IP settings. Three
restrictions can be applied to ET-M8194H by Lock_IP settings:
1. [ Unique IP ]：
If only IP = 192.168.0.100 is allowed, assign the identical value to
both IPStart and IPEnd.
char IPStart[20] = “192.168.0.100”;
char IPEnd[20] = “192.168.0.100”;
ETM_Lock_IP(IPStart, IPEnd);
2. [ Contiguous IP (less then 256 IPs) ]：
If the IP connections from 192.168.0.100 to 192.168.0.200 are allowed,
assign the IPStart and IPEnd parameters as follows:
char IPStart[20] = “192.168.0.100”;
char IPEnd[20] = “192.168.0.200”;
ETM_Lock_IP(IPStart, IPEnd);
3. [ IP Segment ]：
(A) If the connections from 192.168.0.0 to 192.168.0.255 are allowed
(i.e. connections from 192.168.0.xxx are allowed), assign the
IPStart and IPEnd parameters as follows:
char IPStart[20] = “192.168.0.1”;
char IPEnd[20] = “255.255.255.0”;
ETM_Lock_IP(IPStart, IPEnd);
// MASK
(B) If the connections from 192.168.0.xxx to 192.168.1.xxx are
allowed, assign the IPStart and IPEnd parameters as follows:
char IPStart[20] = “192.168.0.100”;
char IPEnd[20] = “255.255.254.0”; // MASK
ETM_Lock_IP(IPStart, IPEnd);
(C) If the IPEnd is set to “255.255.255.255”, only the IP that assigned
to IPStart is allowed.
[ Note ]
After rebooting ET-M8194H, the configuration of “Lock IP” will be reset, too.
Please configure with ETM_Lock_IP() again to enable Lock_IP feature.
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H. IP Configuration
Method 1 – Setting via RS-232
Execute the EzMove Utility and start the “Network Settings By COM
Port” dialog. ([Setting] - [ET-M8194H Setting] – [By COM Port] – [Network])
Click Default to show the default IP configuration of ET-M8194H:
IP:
Mask:
Gateway:
192.168.0.16
255.255.255.0
192.168.0.254
The procedures to read/modify the IP configuration are:
1. Shut down the ET-M8194H.
2. Connect to ET-M8194H with the associated RS-232 cable (CA-0910).
The Tx, Rx and GND pins of CA-0910 are connected to the Rx, Tx and
GND ports of ET-M8194H. Please connect the other end (9-pin, D-sub
connector) to the normal COM port of desktop/laptop.
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3. Set the DIP-switch to “Init”, then power up the ET-M8194H.
4. Choose the COM Port, and then click the Get button to read back the
IP configuration.
5. Fill the settigs in IP, Mask and Gateway fields, and then click the Set
button to change the IP configuration.
6. Click the Default button and then click the Set button to restore the
default IP configuration.
7. Shut down the ET-M8194H, and set the DIP-switch to “Run”.
8. Power up the ET-M8194H.
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Method 2 – Setting via Ethernet
Execute the EzMove Utility and connect to ET-M8194H with Ethernet.
Start the “ET-M8194H Settinh by Ethernet” dialog. ([Setting] – [ET-M8194H
Setting] – [By Ethernet] – [Network Tab])
Get Setting : read the current IP configuration from ET-M8194H.
Set : Fill the new settigs in IP, Mask and Gateway fields. Click this button to
start IP configuration. The configuration will be completed in 10
seconds, and the EzMove Utility will re-connect to ET-M814H with
updated IP address.
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I. Update Firmware
Execute the EzMove_Utility.exe and open the “Update Firmware” dialog
from the menu-bar: [Setting] – [ET-M8194H Setting] – [By COM Port] –
[Update Firmware].
Please follow the following procedures to update firmware:
1. Shut down the ET-M8194H.
2. Connect to ET-M8194H with the associated RS-232 cable (CA-0910).
The Tx, Rx and GND pins of CA-0910 are connected to the Rx, Tx and
GND ports of ET-M8194H. Please connect the other end (9-pin, D-sub
connector) to the normal COM port of desktop/laptop.
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3. Set the DIP-switch to “Init”.
4. Change the setting of JP1 to disable ead-only function.
5. Power up the ET-M8194H.
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6. Delete the autoexec.bat and EM94H_XX.EXE in the installed folder of
EzMove (\ICPDAS\ET_M8194H\EzMove_Utility). Copy the new
autoexec.bat, ET_M8194H_API.dll and the EM94H_XX.EXE into the
same folder.
7. Choose the COM Port that is connected to ET-M8194H (through CA0903 cable).
8. Click Dowload button to start firmware-updating procedure.
9. After finishing firmware-updating procedure, shut down the ET-M8194H.
10. Restore the setting of JP1 to enable ead-only function.
11. Set the DIP-switch to “Run”.
12. Power up the ET-M8194H.
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J. History of Versions
Version
Author
Date
Description of changes
v1.0
Edward
13-JAN-2008
The First Version
v2.0
Allen
13-NOV-2012
The Second Version
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