ICP DAS USA I-8094-G Manual

4-axis Motion Control Module
User Manual
(I-8094 and I-8094F)
(Version 2.3)
Macro Function Library in C++ for
WinCon and I-8000 series PAC controllers
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Warranty
All products manufactured by ICPDAS Inc. are warranted against defective
materials for a period of one year from the date of delivery to the original
purchaser.
Warning
ICPDAS Inc. assumes no liability for damages consequent to the use of this
product. ICPDAS Inc. reserves the right to change this manual at any time without
notice. The information furnished by ICPDAS Inc. is believed to be accurate and
reliable. However, no responsibility is assumed by ICPDAS Inc. for its use, or for
any infringements of patents or other rights of third parties resulting from its use.
Copyright
Copyright 1997-2005 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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INDEX
1 PREFACE ............................................................................ 7
1.1 Introduction................................................................................................ 7
1.2 Basic and Macro functions........................................................................ 7
1.3 Funciton description .................................................................................. 8
2 BASIC SETTINGS............................................................ 10
2.1 Code numbers for axes ............................................................................ 10
2.2 Registration of Modules and getting the LIB version .......................... 10
2.3 Resetting Module ..................................................................................... 13
2.4 Pulse Output Mode Setting ..................................................................... 13
2.5 Setting the Maximum Speed ................................................................... 15
2.6 Setting the Active Level of the Hardware Limit Switches ................... 15
2.7 Setting the Motion Stop Method When Limit Switch Is Sensed ......... 17
2.8 Setting the Trigger Level of the NHOME Sensor ................................. 17
2.9 Setting Trigger Level of the Home sensor ............................................. 18
2.10 Setting and Clearing the Software Limits ........................................... 18
2.11 Setting the Encoder Related Parameters ............................................. 20
2.12 Setting the Servo Driver (ON/OFF) ..................................................... 20
2.13 Setting the SERVO ALARM Function ................................................ 22
2.14 Setting the Active Level of the In-Position Signals ............................. 22
2.15 Setting the Time Constant of the Digital Filter................................... 24
2.16 Position Counter Variable Ring............................................................ 25
2.17 Triangle prevention of fixed pulse driving .......................................... 27
2.18 External Pulse Input.............................................................................. 28
2.18.1 Handwheel (Manual Pulsar) Driving ..............................................................28
2.18.2 Fixed Pulse Driving Mode ..............................................................................30
2.18.3 Continuous Pulse Driving Mode....................................................................31
2.18.4 Disabling the External Signal Input Functions.............................................32
2.19 Configure hardware with pre-defined configuration file................... 33
3 READING AND SETTING THE REGISTERS............. 34
3.1 Setting and Reading the Command Position (LP)................................ 34
3.2 Setting and Reading the Encoder Counter............................................ 35
3.3 Reading the Current Velocity ................................................................. 36
3.4 Reading the Current Acceleration.......................................................... 36
3.5 Reading the DI Status .............................................................................. 37
3.6 Reading and Clearing the ERROR Status ............................................ 39
4 FRNET FUNCTIONS (FOR I8094F ONLY).................. 41
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4.1 Read FRnet DI Signals ............................................................................ 41
4.2 Write data to FRnet DO .......................................................................... 42
5 AUTO HOMING ............................................................... 43
5.1 Setting the Homing Speed ....................................................................... 43
5.2 Using an Limit Switch as the HOME sensor......................................... 44
5.3 Setting the Homing Mode........................................................................ 44
5.4 Starting the Homing Sequence ............................................................... 46
5.5 Waiting for the Homing sequence to be Completed ............................. 46
6 GENERAL MOTION CONTROL.................................. 47
6.1 Independent Axis Motion Control.......................................................... 47
6.1.1 Setting the Acceleration/Deceleration Mode ..................................................47
6.1.2 Setting the Start Speed.....................................................................................50
6.1.3 Setting the Desired Speed................................................................................51
6.1.4 Setting the Acceleration ...................................................................................51
6.1.5 Setting the Deceleration ...................................................................................53
6.1.6 Setting the Acceleration Rate ..........................................................................54
6.1.7 Setting the Deceleration Rate ..........................................................................55
6.1.8 Setting the Value of the Remaining Offset Pulses .........................................56
6.1.9 Fixed Pulse Output ...........................................................................................57
6.1.10 Continuous Pulse Output...............................................................................58
6.2 Interpolation Commands ........................................................................ 59
6.2.1 Assigning the Axes for Interpolation...............................................................59
6.2.2 Setting the Speed and Acc/Dec Mode for Interpolation ................................60
6.2.3 Setting the Vector Starting Speed ...................................................................66
6.2.4 Setting the Vector Speed..................................................................................66
6.2.5 Setting the Vector Acceleration .......................................................................67
6.2.6 Setting the Vector Deceleration Value.............................................................68
6.2.7 Setting the Vector Acceleration Rate ..............................................................69
6.2.8 Setting the Vector Deceleration Rate ..............................................................70
6.2.9 Setting the Number of the Remaining Offset Pulses .....................................71
6.2.10 2-Axis Linear Interpolation Motion ................................................................72
6.2.11 3-axis Linear Interpolation Motion.................................................................73
6.2.12 2-Axis Circular Interpolation Motion (an Arc)...............................................74
6.2.13 2-Axis Circular Interpolation Motion (a Complete Circle) ...........................76
6.3 Synchronous Actions................................................................................ 78
6.3.1 Setting the Synchronous Action......................................................................78
6.3.2 Setting the COMPARE value ............................................................................82
6.3.3 Get the LATCH value.........................................................................................83
6.3.4 Set the PRESET data for synchronous action................................................83
6.4 Continuous Interpolation ........................................................................ 84
6.4.1 2-Axis Rectangular Motion ...............................................................................84
6.4.2 2-Axis Continuous Linear Interpolation..........................................................86
6.4.3 3-Axis Continuous Linear Interpolation..........................................................88
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6.4.4 Mixed Linear and Circular 2-axis motions in Continuous Interpolation ......90
6.4.5 Multi-Segment Continuous Interpolation (Using Array) ................................93
6.4.6 3-Axis Helical Motion ........................................................................................95
6.4.7 2-Axis Ratio Motion...........................................................................................97
6.5 Set the Interrupt Factors......................................................................... 99
6.5.1 Set the Interrupt Factors ..................................................................................99
6.5.2 Interrupt Disabled ...........................................................................................102
6.5.3 Read the Interrupt Occurrence ......................................................................103
6.6 Other functions....................................................................................... 104
6.6.1 Holding the Driving Command ......................................................................104
6.6.2 Release the Holding Status, and Start the Driving.......................................105
6.6.3 Waiting until the Motion Is Completed ..........................................................106
6.6.4 Stopping the Axes...........................................................................................107
6.6.5 Clear the Stop Status ...................................................................................... 111
6.6.6 End of Interpolation ........................................................................................ 111
APPENDIX A (I-8094 BASIC FUNCTIONS) ................. 112
A.1 i8094 Command Set .............................................................................. 112
A.2 Pulse Output Command ....................................................................... 113
A.2.1 Signal Types....................................................................................................113
A.2.2 Fixed Pulse Driving ........................................................................................115
A.2.3 Changing Output Pulse Numbers in Driving ...............................................115
A.2.4 Offset Setting for Acceleration/Deceleration Driving.................................. 115
A.2.5 Continuous Drive Pulse Output ....................................................................117
A.2.6 Constant Speed Driving .................................................................................118
A.3 Profile Acceleration/Deceleration Planning........................................ 119
A.3.1 Trapezoidal Driving [Symmetric]................................................................... 119
A.3.2 Trapezoidal Driving [Asymmetric] ................................................................121
A.3.3 Triangle Prevention ........................................................................................123
A.3.4 S-curve Acceleration / Deceleration [Symmetry].........................................124
A.3.5 S-curve Acceleration / Deceleration [Asymmetry] ......................................128
A.4 Pulse Output Commands ..................................................................... 129
A.4.1 2/3 Axes Interpolation ....................................................................................129
A.4.2 Circular Interpolation .....................................................................................130
A.4.3 Bit Pattern Interpolation.................................................................................133
A.4.4 Continuous Interpolation...............................................................................135
A.5 Automatic Home Search....................................................................... 137
A.5.1 Step 1: High-Speed Near Home Search........................................................139
A.5.2 Step 2: Low-Speed Home Search..................................................................140
A.5.3 Step 3: Low-Speed Z-phase Search..............................................................141
A.5.4 Step 4: High-Speed Offset Drive ...................................................................142
A.6 Synchronous Action .............................................................................. 143
A.7 I-8094 Function Library....................................................................... 147
A.7.1 Register management functions...................................................................147
A.7.2 Functions for Initial Setting ...........................................................................154
A.7.3 Motion Status Management Functions.........................................................160
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A.7.4 Basic Motion Command Functions ..............................................................167
A.7.5 Interpolation Functions..................................................................................179
A.7.6 Automatic Home Search ................................................................................196
A.7.7 Synchronous Action.......................................................................................208
A.7.8 I/O Signal Managements ................................................................................215
A.7.9 FRnet Related Functions ...............................................................................224
A.8 i8094 Command Lists ........................................................................... 226
A.8.1 Data Setting Commands ................................................................................226
A.8.2 Data Reading Commands ..............................................................................226
A.8.3 Driving Commands.........................................................................................227
A.8.4 Interpolation Commands ...............................................................................227
A.8.5 Other commands ............................................................................................227
APPENDIX B: MCX314AS REGISTERS....................... 228
B.1 Command Register: WR0 .................................................................... 228
B.2 Mode Register1: WR1........................................................................... 229
B.3 Mode Register2: WR2........................................................................... 230
B.4 Mode Register3: WR3........................................................................... 232
B.5 Output Register: WR4 .......................................................................... 234
B.6 Interpolation Mode Register: WR5..................................................... 234
B.7 WR6/WR7 Register............................................................................... 236
B.8 Main Status Register: RR0................................................................... 236
B.9 Status Register 1: RR1 .......................................................................... 238
B.10 Status Register 2: RR2 ........................................................................ 240
B.11 Status Register 3: RR3 ........................................................................ 241
B.12 Input Register: RR4 / RR5 ................................................................. 242
B.13 Data-Read Register: RR6 / RR7 ........................................................ 242
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1 Preface
1.1 Introduction
This manual provides complete and detailed description of i8094 functions for
users to develop programs for their control of automatic equipments. Many
examples are included in this manual for reference to write efficient
application programs.
This manual includes six chapters and two appendices. This chapter gives a
brief description of this manual. Chapter 2 to 6 is the explanations of macro
functions (MF). Appendices A and B are the descriptions of basic functions
(BF) and the registers of MCX314As, respectively.
The functions defined in DLL file are explained here. This DLL can be used on
different developing software platforms, such as eVC++, VB.net, and C#.net,
and different OS systems ( MiniOS7 / WinCE / Linux).
1.2 Basic and Macro functions
Basic functions are suitable for those who are familiar with the MCX314As
motion chip. These functions can directly read/write the registers of motion
chip. However, users need to know more details about this motion chip.
Macro functions provide a set of much easy-to-use functions that simplify the
programming for users. Some necessary settings, such as speed range and
deceleration point, are calculated inside those functions to ease the loading of
users on having to understand the motion chip. Some useful costumed
functions are provided for users to develop applications efficiently.
If possible, do not mix these two groups of functions together. Some internal
parameters may be changed beyond users＇consideration.
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1.3 Funciton description
All functions are listed in following form:
Function_name (parameter1, parameter2, …)
Description:
Explanation of this function.
Parameters:
Definitions of the parameters and how to use them.
Return:
The return value of this function.
Example:
Simple example program in C++.
Remark:
Comments.
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2 Basic Settings
2.1 Code numbers for axes
The axis assignments follow the definitions listed below: X=1, Y=2, Z=4, and
U=8. If X and Y axes are assigned simultaneously, then the code number is 3. In
a similar way, AXIS_YZ = 2+4 =0x6; and AXIS_XYZU = 1+2+4+8 = 0xf. An
assignment for either single axis or multiple axes at the same time is possible.
Available axis code numbers are listed below. The type of the axis argument used
in the functions is defined as WORD.
Table 2-1 Axis assignments and their corresponding codes
Axis
X
Y
Z
U
XY
XZ
XU
YZ
Code
0x1
0x2
0x4
0x8
0x3
0x5
0x9
0x6
Name
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
Name
AXIS_YU
AXIS_ZU
AXIS_XYZ
AXIS_XYU
AXIS_XZU
AXIS_YZU
AXIS_XYZU
2.2 Registration of Modules and getting the LIB version
BYTE i8094MF_REGISTRATION(BYTE cardNo, BYTE slot)
Description:
This function registers a module that is installed in slot number, slot, by
assigning a card number. Registration must be performed for each I-8094
motion control module before other functions are called. After registration,
each module can be identified by its corresponding module number.
Parameters:
cardNo:
slot:
Module number
Slot number
for I-8000: 0~7
for WinCon-8000: 1~7
Return:
YES
NO
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Normal
Abnormal
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Example:
//================= for WinCon-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 (i8094MF_REGISTRATION(cardNo, slot) == YES)
{ //slot number begins from 1.
//if a module is found, then it is registered as its slot number.
i8094MF_RESET_CARD(cardNo);
Found++;
}
}
if (Found == 0)
{
//if Wincon cannot find any I-8094 module,
//please add codes to handle the exception here.
return;
}
//=================== for I-8000 ===================
//set the module number the same as the slot number, respectively.
//(slot1 ~ slot7)
BYTE cardNo;
BYTE slot;
int Found = 0;
for (slot = 0; slot < 8; slot++)
{
cardNo = slot + 1;
//slot number begins from 0, but module number begin from 1.
if (i8094MF_REGISTRATION(cardNo, slot) == YES)
{
//if a module is found, then it is registered by giving a number.
i8094MF_RESET_CARD(cardNo);
Found++;
}
}
if (Found == 0)
{
//if Wincon cannot find any I-8094 module,
//please add codes to handle the exception here.
return;
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}
WORD i8094MF_GET_VERSION(void)
Description:
Read the version of current i8094 library.
Parameters:
cardNo:
Module number
Return:
Version code:
including information of the year and the month:
0x0000 ~ 0x9999
Example:
WORD VER_No;
VER_No = i8094MF_GET_VERSION();
//Read the version code of i8094.dll
Remark:
If the return value is 0x0607
06 : the year is 2006
07: the month is July.
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2.3 Resetting Module
void i8094MF_RESET_CARD(BYTE cardNo)
Description:
This function resets module using a software command.
Parameters:
cardNo:
Module number
Return:
None
Example:
i8094MF_RESET_CARD(1);
//Reset module 1.
2.4 Pulse Output Mode Setting
void i8094MF_SET_PULSE_MODE(BYTE cardNo, WORD axis, BYTE nMode)
Description:
This function sets the pulse output mode as either CW/CCW or PULSE/DIR
for the assigned axes and their direction definition.
Parameters:
cardNo:
axis:
nMode:
Module number
Axis or axes (Please refer to Table 2-1)
Assigned mode (Please refer to Table 2-2)
Return:
None
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Example:
i8094_SET_PULSE_MODE(1, AXIS_XYZ, 2);
//set the pulse mode of X, Y, and Z axes as mode 2
i8094_SET_PULSE_MODE(1, AXIS_U, 3);
//set the pulse mode of U axis as mode 3
Table 2-2 A List of pulse output modes
mode
CW / CCW
PULSE / DIR
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Pulse output signals
nPP
nPM
0
CW (rising edge)
CCW (rising edge)
1
CW (falling edge)
CCW (falling edge)
2
PULSE (rising edge)
3
PULSE (falling edge)
4
PULSE (rising edge)
5
PULSE (falling edge)
14
DIR
(LOW:+dir/ HIGH:-dir)
DIR
(LOW:+dir/ HIGH:-dir)
DIR
(HIGH:+dir/ LOW:-dir)
DIR
(HIGH:+dir/ LOW:-dir)
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2.5 Setting the Maximum Speed
void i8094MF_SET_MAX_V(BYTE cardNo, WORD axis, DWORD data)
Description:
This function sets the maximum rate for the output pulses (speed). A
larger value will cause a rougher resolution. For example, when the
maximum speed is set as 8000 PPS, the resolution is 1 PPS; when the
maximum speed is set as 16000 PPS, the resolution is 2 PPS; when
maximum speed is set as 80000 PPS, the resolution is 10 PPS, etc. The
maximum value is 4,000,000 PPS, which means the resolution of speed
will be 500 PPS. This function change the resolution of speed to reach the
desired maximum speed. Since the scale in hardware is changed, other
parameters will be influenced too, such as the starting speed, the
acceleration, and the jerk. It is recommended to set the maximum speed
value as a integral multiplier of 8000.
Parameters:
cardNo:
axis:
data:
Module number
Axis or axes (Please refer to Table 2-1)
The assigned maximum speed of each axis when the
controller performs an interpolation motion. However, setting
the value of axis 1 is enough. For axis 1, the maximum value
is 4,000,000 PPS.
Return:
None
Example:
i8094MF_SET_MAX_V(1, AXIS_XY, 200000L);
//The maximum speed for the X and Y axes of module 1 is 200KPPS.
//The resolution of the speed will be 200000/8000 = 25 PPS.
2.6 Setting the Active Level of the Hardware Limit Switches
void i8094MF_SET_HLMT(BYTE cardNo, WORD axis, BYTE nFLEdge,
BYTE nRLEdge)
Description:
This function sets the active logic level of the hardware limit switch inputs.
Parameters:
cardNo:
axis:
ICPDAS
Module number
Axis or axes (Please refer to Table 2-1)
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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:
None
Example:
i8094MF_SET_HLMT(1, AXIS_XYZU, 0, 0);
//set all the trigger levels as low-active for all limit switches
//on module 1.
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2.7 Setting the Motion Stop Method When Limit Switch Is
Sensed
void i8094MF_LIMITSTOP_MODE (BYTE cardNo, WORD axis, BYTE nMode)
Description:
This function sets the motion stop mode of the axes when the
corresponding limit switches are detected.
Parameters:
cardNo:
axis:
nMode:
Module number
Axis or axes (Please refer to Table 2-1)
0: stop immediately; 1: decelerating to stop
Return:
None
Example:
i8094MF_LIMITSTOP_MODE(1, AXIS_X, 0);
//set X axis to stop immediately if any limit switch on X axis is triggered.
2.8 Setting the Trigger Level of the NHOME Sensor
void i8094MF_SET_NHOME(BYTE cardNo, WORD axis, BYTE nNHEdge)
Description:
This function sets the trigger level of the near home sensor (NHOME).
Parameters:
cardNo:
axis:
nNHEdge:
Module number
Axis or axes (Please refer to Table 2-1)
Active level setting for the near home sensor.
0 = low active;
1 = high active
Return:
None
Example:
i8094MF_SET_NHOME(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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2.9 Setting Trigger Level of the Home sensor
void i8094MF_SET_HOME_EDGE(BYTE cardNo, WORD axis, BYTE nHEdge)
Description:
This function sets the trigger level of the home sensor (HOME).
Parameters:
cardNo:
axis:
nHEdge:
Module number
Axis or axes (Please refer to Table 2-1)
Active level setting for the home sensor.
0 = low active; 1 = high active
Return:
None
Example:
i8094MF_SET_HOME_EDGE(1, AXIS_XYZU, 1);
//set the trigger level as high active for all home sensors on module 1.
2.10 Setting and Clearing the Software Limits
void i8094MF_SET_SLMT(BYTE cardNo, WORD axis, long dwFL, long dwRL,
BYTE nType)
Description:
This function sets the software limits.
Parameters:
cardNo:
axis:
dwFL:
dwRL:
nType:
Module number
Axis or axes (Please refer to Table 2-1)
Value of the forward software limit
(-2,147,483,648 ~ +2,147,483,647)
Value of the reverse software limit
(-2,147,483,648 ~ +2,147,483,647)
Position counter to be compared:
0 = logical position counter (LP), i.e., the command position
1 = encoder position counter (EP), i.e., the real position
Return:
None
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Example:
i8094MF_SET_SLMT(1, AXIS_XYZU, 20000, -3000, 0);
//set the forward software limit as 20000 and the reverse
//software limit as -3000 for all axes on module 1.
void i8094MF_CLEAR_SLMT(BYTE cardNo, WORD axis)
Description:
This function clears the software limits.
Parameters:
cardNo:
axis:
Module number
Axis or axes (Please refer to Table 2-1)
Return:
None
Example:
i8094MF_CLEAR_SLMT(1, AXIS_XYZU);
//clear the software limits for all axes on module 1.
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2.11 Setting the Encoder Related Parameters
void i8094MF_SET_ENCODER(BYTE cardNo, WORD axis, BYTE nMode,
BYTE nDivision, BYTE nZEdge)
Description:
This function sets the encoder input related parameters.
Parameters:
cardNo:
axis:
nMode:
nDivision:
nZEdge:
Module number
Axis or axes (Please refer to Table 2-1)
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
Return:
None
Example:
i8094MF_SET_ENCODER(1, AXIS_XYZU, 0, 0, 0);
//set the encoder input type as A quad B; the division is 1;
//and the Z phase is low active.
2.12 Setting the Servo Driver (ON/OFF)
void i8094_SERVO_ON(BYTE cardNo, WORD axis)
Description:
This function outputs a DO signal (ENABLE) to enable the motor driver.
Parameters:
cardNo:
axis:
Module number
Axis or axes (Please refer to Table 2-1)
Return:
None
Example:
i8094_SERVO_ON(1, AXIS_XYZU);
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//enables all drivers on module 1.
void i8094_SERVO_OFF(BYTE cardNo, WORD axis)
Description:
This function outputs a DO signal (ENABLE) to disable the motor driver.
Parameters:
cardNo:
axis:
Module number
Axis or axes (Please refer to Table 2-1)
Return:
None
Example:
i8094_SERVO_OFF(1, AXIS_XYZU);
//disables all drivers on module 1.
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2.13 Setting the SERVO ALARM Function
void i8094MF_SET_ALARM(BYTE cardNo, WORD axis, BYTE nMode,
BYTE nAEdge)
Description:
This function sets the ALARM input signal related parameters.
Parameters:
cardNo:
axis:
nMode:
nAEdge:
Module number
Axis or axes (Please refer to Table 2-1)
Mode: 0 = disable ALARM function;
1 = enable ALARM function
Sets the trigger level
0 = low active; 1 = high active
Return:
None
Example:
i8094MF_SET_ALARM(1, AXIS_ZU, 1, 0);
//enable the ALARM for the Z and U axes on module 1 and set them
//as low-active.
2.14 Setting the Active Level of the In-Position Signals
void i8094MF_SET_INPOS(BYTE cardNo, WORD axis, BYTE nMode,
BYTE nIEdge)
Description:
This function sets the INPOS input signal related parameters.
Note: Sometimes, this signal is used to connect the SERVO READY input
signal. Users should take care of what signal the daughter board is
wired.
Parameters:
cardNo:
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Module number
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axis:
nMode:
nlEdge:
Axis or axes (Please refer to Table 2-1)
Mode: 0 = disable INPOS input;
1 = enable INPOS input
Set the trigger level
0 = low active; 1 = high active
Return:
None
Example:
i8094MF_SET_INPOS(1, AXIS_X, 1, 0);
//enable the INPOS function of the X axis on module 1 and set it to be low-active.
Note:
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Please refer to the example shown in Fig. 2.12 for wiring of the general DI
input.
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2.15 Setting the Time Constant of the Digital Filter
void i8094MF_SET_FILTER(BYTE cardNo, WORD axis, WORD FEn, WORD FLn)
Description:
This function selects the axes and sets the time constant for digital filters of
the input signals.
Parameters:
cardNo:
axis:
FEn:
Module number
Axis or axes (Please refer to Table 2-1)
Enabled filters. The sum of the code numbers (0~31) are used
to select input signals. Please refer to the following table.
Code number
1
2
4
8
16
FLn:
Enabling filters
EMG, nLMTP, nLMTM, nIN0, nIN1
nIN2
nINPOS, nALARM
nEXPP, nEXPM, EXPLSN
nIN3
Sets the filter time constant (0~7) as follows.
Code Removable max. noise width Input signal delay time
0
1.75 μ SEC
2 μ SEC
1
224 μ SEC
256 μ SEC
2
448 μ SEC
512 μ SEC
3
896 μ SEC
1.024mSEC
4
1.792mSEC
2.048mSEC
5
3.584mSEC
4.096mSEC
6
7.168mSEC
8.192mSEC
7
14.336mSEC
16.384mSEC
Return:
None
Example:
i8094MF_SET_FILTER(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:
ICPDAS
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).
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I-8094 Software User Manual
2.16 Position Counter Variable Ring
void i8094MF_VRING_ENABLE(BYTE cardNo, WORD axis, DWORD nVRing)
Description:
This function enables the linear counter of the assigned axes as variable ring
counters.
Parameters:
cardNo:
axis:
nVRing:
Module number
Axis or axes (Please refer to Table 2-1)
Maximum value of the ring counter
(-2,147,483,648 ~ +2,147,483,647)
Return:
None
Example:
i8094MF_ VRING_ENABLE(1, AXIS_X, 9999);
//set the X axis of module 1 to be a ring counter. The encoder
//values will be 0 to 9999.
The encoder value is 0 to 9999. When the
counter value reach 9999, an adding pulse
will cause the counter to reset to 0. When the
counter value is 0, a lessening pulse will let
the counter set to 9999.
Max. ring encoder value = 9999
Note:
ICPDAS
1. This function will set the LP and EP simultaneously.
2. If this function is enabled, the software limit function cannot be used.
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I-8094 Software User Manual
void i8094MF_VRING_DISABLE(BYTE cardNo, WORD axis)
Description:
This function disables the variable ring counter function.
Parameters:
cardNo:
axis:
Module number
Axis or axes (Please refer to Table 2-1)
Return:
None
Example:
i8094MF_ VRING_DISABLE(1, AXIS_X);
//disable the ring counter function for the X axis
//on module 1.
ICPDAS
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2.17 Triangle prevention of fixed pulse driving
void i8094MF_AVTRI_ENABLE (BYTE cardNo, WORD axis)
Description:
This function prevents a triangle form in linear acceleration (T-curve) fixed
pulse driving even if the number of output pulses is low.
Parameters:
cardNo:
axis:
Module number
Axis or axes (Please refer to Table 2-1)
Return:
None
Example:
i8094MF_ AVTRI_ENABLE(1, AXIS_X);
//set the X axis of module 1 not to generate a triangle form in its speed profile.
void i8094MF_AVTRI_DISABLE (BYTE cardNo, WORD axis)
Description:
This function disable the function that prevents a triangle form in linear
acceleration fixed pulse driving.
Parameters:
cardNo:
axis:
Module number
Axis or axes (Please refer to Table 2-1)
Return:
None
Example:
i8094MF_ AVTRI_DISABLE(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.
ICPDAS
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I-8094 Software User Manual
2.18 External Pulse Input
2.18.1 Handwheel (Manual Pulsar) Driving
void i8094MF_EXD_MP(BYTE cardNo, WORD axis, long data)
Description:
This function outputs pulses according to the input pulses from a handwheel.
Parameters:
cardNo:
axis:
data:
Module number
Axis or axes (Please refer to Table 2-1.)
The axis can be either X, Y, Z, or U.
Gain (a multiplier)
Return:
None
Example:
i8094MF_EXD_MP(1, AXIS_X, 1);
//Each time the handwheel inputs a pulse to the X axis
//on module 1, the controller will output 1 pulses to the motor driver.
ICPDAS
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I-8094 Software User Manual
i8094MF_EXD_MP(1, AXIS_X, 2);
//Each time the handwheel inputs a pulse to the X axis
//on module 1, the controller will output 2 pulses to the motor driver.
ICPDAS
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I-8094 Software User Manual
2.18.2 Fixed Pulse Driving Mode
void i8094MF_EXD_FP(BYTE cardNo, WORD axis, long data)
Description:
This function outputs fixed pulses according to the trigger input (the falling
edge of the nEXP+ signal) from a handwheel.
Parameters:
cardNo:
axis:
data:
Module number
Axis or axes (Please refer to Table 2-1.)
The axis can be either X, Y, Z, or U.
Number of fixed pulses.
Return:
None
Example:
i8094MF_EXD_FP(1, AXIS_X, 5);
//Each time the controller detects a falling edge of an XEXP+
//signal, it will output 5 pulses to the X axis.
Example of fixed pulse driving using an external signal
ICPDAS
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I-8094 Software User Manual
2.18.3 Continuous Pulse Driving Mode
void i8094MF_EXD_CP(BYTE cardNo, WORD axis, long data)
Description:
The controller will continuously output pulses in positive direction if the
falling edge of nEXP+ signal from a handwheel is detected. Conversely, it will
continuously output pulses in negative direction if the falling edge of nEXP- signal
is detected.
Parameters:
cardNo:
axis:
data:
Module number
Axis or axes (Please refer to Table 2-1.)
The axis can be either X, Y, Z, or U.
Pulse output speed in PPS
Return:
None
Example:
i8094MF_EXD_CP(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.
Continuous driving using an external signal
ICPDAS
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I-8094 Software User Manual
2.18.4 Disabling the External Signal Input Functions
void i8094MF_EXD_DISABLE(BYTE cardNo, WORD axis)
Description:
This function turns off the external input driving control functions.
Parameters:
cardNo:
axis:
Module number
Axis or axes (Please refer to Table 2-1.)
The axis can be either X, Y, Z, or U.
Return:
None
Example:
i8094MF_EXD_DISABLE(1, AXIS_X);
//disable the external input driving control function
//of X axis on module 1
ICPDAS
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2.19 Configure hardware with pre-defined configuration
file
short i8094MF_ LOAD_CONFIG (BYTE cardNo)
Description:
This function loads the pre-defined configuration file and set the target I8094
module automatically. The configuration file is generated by the PACEzGo.
Parameters:
cardNo:
Module number
Return:
0: successfully
-1: cannot open the pre-defined configuration file.
Example:
i8094MF_ LOAD_CONFIG (1);
//load the configuration file and configure the module 1.
ICPDAS
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I-8094 Software User Manual
3 Reading and Setting the Registers
3.1 Setting and Reading the Command Position (LP)
void i8094MF_SET_LP(BYTE cardNo, WORD axis, long wdata)
Description:
This function sets the command position counter value (logical position
counter, LP).
Parameters:
cardNo:
axis:
wdata:
Module number
Axis or axes (Please refer to Table 2-1)
Position command
(-2,147,483,648 ~ +2,147,483,647)
Return:
None
Example:
i8094MF_SET_LP(1, AXIS_XYZU, 0);
//Set the LP for the X, Y, Z, and U axes of module 1 as 0,
//which means that all LP counters on module 1 will be cleared.
long i8094MF_GET_LP(BYTE cardNo, WORD axis)
Description:
This function reads the command position counter value (logical position
counter, LP).
Parameters:
cardNo:
axis:
Module number
Axis (Please refer to Table 2-1)
The axis can be either X, Y, Z, or U.
Return:
The current LP value (-2,147,483,648 ~ +2,147,483,647)
Example:
long X_LP;
X_LP = i8094MF_GET_LP(1, AXIS_X);
//Reads the LP value of the X axis on module 1.
ICPDAS
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I-8094 Software User Manual
3.2 Setting and Reading the Encoder Counter
void i8094MF_SET_EP(BYTE cardNo, WORD axis, long wdata)
Description:
This function sets the encoder position counter value (real position counter, or
EP).
Parameters:
cardNo:
axis:
wdata:
Module number
Axis or axes (Please refer to Table 2-1)
Position command
(-2,147,483,648 ~ +2,147,483,647)
Return:
None
Example:
i8094MF_SET_EP(1, AXIS_XYZU, 0);
//Set the EP for the X, Y, Z, and U axes of module 1 as 0.
//This command clears all EP counters on module 1.
long i8094MF_GET_EP(BYTE cardNo, WORD axis)
Description:
This function reads the encoder position counter value (EP).
Parameters:
cardNo:
axis:
Module number
Axis (Please refer to Table 2-1)
The axis can be either X, Y, Z, or U.
Return:
Current EP value (-2,147,483,648 ~ +2,147,483,647)
Example:
long X_EP;
X_EP = i8094MF_GET_EP(1, AXIS_X);
//reads the encoder value (EP) of the X axis on module 1.
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I-8094 Software User Manual
3.3 Reading the Current Velocity
DWORD i8094MF_GET_CV(BYTE cardNo, WORD axis)
Description:
This function reads the current velocity value.
Parameters:
cardNo:
axis:
Module number
Axis (Please refer to Table 2-1)
The axis can be either X, Y, Z, or U.
Return:
Current speed (in PPS)
Example:
DWORD dwdata;
dwdata = i8094MF_GET_CV(1, AXIS_X);
//reads the current velocity of the X axis on module 1.
3.4 Reading the Current Acceleration
DWORD i8094MF_GET_CA(BYTE cardNo, WORD axis)
Description:
This function reads the current acceleration value.
Parameters:
cardNo:
axis:
Module number
Axis (Please refer to Table 2-1)
The axis can be either X, Y, Z, or U.
Return:
Current acceleration (in PPS/Sec)
Example:
DWORD dwdata;
dwdata = i8094MF_GET_CA(1, AXIS_X);
//reads the current acceleration value of the X axis on module 1.
ICPDAS
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I-8094 Software User Manual
3.5 Reading the DI Status
BYTE i8094MF_GET_DI(BYTE cardNo, WORD axis, WORD nType)
Description:
This function reads the digital input (DI) status.
Parameters:
cardNo:
axis:
nType:
0
1
2
3
4
5
6
7
8
9
Module number
Axis (Please refer to Table 2-1)
The axis can be either X, Y, Z, or U.
DRIVING
LIMIT+
LIMITEMERGENCY
ALARM
HOME
NHOME
IN3
INPOS
INDEX
(Check whether the axis is driving or not.)
(Check whether the limit+ is engaged or not.)
(Check whether the limit- is engaged or not.)
(Check whether EMG signal is on or not.)
(Check the ALARM input signal.)
(Check the HOME input signal)
(Check the Near HOME input signal)
(Check the IN3 input signal)
(Check the INPOS input signal)
(Check the encoder Z-phase input signal)
Return:
YES:
NO:
on
off
Example:
if (i8094MF_GET_DI(1, AXIS_X, 1) == YES)
{
//get the status of limit+ sensor of X axis on module 1
}
ICPDAS
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I-8094 Software User Manual
BYTE i8094MF_GET_DI_ALL(BYTE cardNo, WORD axis)
Description:
This function reads the digital input (DI) status.
Parameters:
cardNo:
axis:
Module number
Axis (Please refer to Table 2-1)
The axis can be either X, Y, Z, or U.
Return:
0x0001
0x0002
0x0004
0x0008
0x0010
0x0020
0x0040
0x0080
0x0100
0x0200
DRIVING
LIMIT+
LIMITEMERGENCY
ALARM
HOME
NHOME
IN3
INPOS
INDEX
(Check whether the axis is driving or not.)
(Check whether the limit+ is engaged or not.)
(Check whether the limit- is engaged or not.)
(Check whether EMG signal is on or not.)
(Check the ALARM input signal.)
(Check the HOME input signal)
(Check the Near HOME input signal)
(Check the IN3 input signal)
(Check the INPOS input signal)
(Check the encoder Z-phase input signal)
Example:
WORD wStatus;
i8094MF_GET_DI_ALL(1, AXIS_X & wStatus);
if ( (wStatus & 0x002) == 0x002 )
{
//get the status of limit+ sensor of X axis on module 1
}
ICPDAS
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I-8094 Software User Manual
3.6 Reading and Clearing the ERROR Status
BYTE i8094MF_GET_ERROR(BYTE cardNo)
Description:
This function checks whether an error occurs or not.
Parameters:
cardNo:
Module number
Return:
YES:
NO:
Some errors happened.
Please use i8094MF_GET_ERROR_CODE () to get more
information. If GET_ERROR_CODE =256, it means that the
motion stop was due to the “STOP” command, not because
an error happened. Please refer to 6.5.5 and following
example to clear ERROR.
No error.
EXAMPLE:
If (i8094MF_GET_ERROR(1) == YES)
{
//read module 1 and ERROR is found
WORD ErrorCode_X = i8094MF_GET_ERROR_CODE(1, AXIS_X);
WORD ErrorCode_Y = i8094MF_GET_ERROR_CODE(1, AXIS_Y);
WORD ErrorCode_Z = i8094MF_GET_ERROR_CODE(1, AXIS_Z);
WORD ErrorCode_U = i8094MF_GET_ERROR_CODE(1, AXIS_U);
if ((ErrorCode_X || ErrorCode_Y || ErrorCode_Z || ErrorCode_U) == 256)
{
//It means that motion was stopped due to the stop command was
issued, not because any error happened. Please take some actions to
clear the malfunction; then clear the STOP status.
i8094MF_CLEAR_STOP(1);
}
}
ICPDAS
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I-8094 Software User Manual
WORD i8094MF_GET_ERROR_CODE(BYTE cardNo, WORD axis)
Description:
This function reads the ERROR status.
Parameters:
cardNo:
axis:
Module number
Axis (Please refer to Table 2-1)
The axis can be either X, Y, Z, or U.
Return:
0
no error
For non-zero return values, please refer to the following table. If there are
not only one errors, the return value becomes the sum of these error code
values.
For example, a return code 48 means that ALARM and EMGERENCY
occurs at the same time.
Error Code Cause of stop
1
SOFT LIMIT+
2
SOFT LIMIT4
LIMIT+
8
LIMIT16
ALARM
Explanation
Occurs when the forward software limit is asserted
Occurs when the reverse software limit is asserted
Occurs when the forward hardware limit is asserted
Occurs when the reverse hardware limit is asserted
Occurs when the ALARM is asserted
32
EMERGENCY
Occurs when the EMG is asserted
64
Reserved
Reserved
128
HOME
Occurs when both Z phase and HOME are asserted
256
refer to 6.5.4
Occurs when the EMG(software) is asserted
Example:
if (i8094MF_GET_ ERROR_CODE(1, AXIS_X) & 10 )
{
//Check if either the software limit or hardware limit (2+8)
//in the reverse direction is asserted.
}
ICPDAS
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I-8094 Software User Manual
4 FRnet Functions (for i8094F only)
4.1 Read FRnet DI Signals
WORD i8094MF_FRNET_IN(BYTE cardNo, WORD wRA)
Description:
This function reads the FRnet digital input signals. RA means the Receiving
Address which can be one of the legal group number of FRnet. One group
comprises 16 bits data. Therefore, total 128 DI can be defined for one FRnet
interface.
Parameters:
cardNo:
wRA:
Module number
Group number, range 8~15
Note: 0~7 are used for digital outputs
Return:
WORD
16-bit DI data.
Example:
WORD IN_Data;
IN_Data = i8094MF_FRNET_IN(1, 8);
//Read the 16-bit DI which is on module 1 and the group number is 8.
ICPDAS
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I-8094 Software User Manual
4.2 Write data to FRnet DO
void i8094MF_FRNET_OUT(BYTE cardNo, WORD wSA, WORD data)
Description:
This function write data to the FRnet digital output. SA means the Sending
Address which can be one of the legal group number of FRnet. One group
comprises 16 bits data. Therefore, total 128 DO can be defined for one FRnet
interface.
Parameters:
cardNo:
wSA:
data:
Module number
Group number, range 0~7
Note: 8~15 are used by digital inputs
16-bit data
Return:
None
Example:
i8094MF_FRNET_OUT(1, 0,0xffff);
//Write 0xffff to the 16-bit DO which is on module 1 and the group number is 0.
ICPDAS
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I-8094 Software User Manual
5 Auto Homing
The I-8094 module provides an automatic homing function. After setting the
appropriate parameters, the assigned axes are able to perform automatic homing.
Settings are required to be made in four steps for performing the automatic HOME
search:
Search for the near home sensor (NHOME) at a normal speed (V).
Search for the HOME sensor at low speed (HV).
Search for the Encoder Z-phase (index) at low speed (HV).
Move a specified number of offset pulses to the predefined origin point at
normal speed (V).
Some steps can be omitted. A detailed description of the related functions is
provided in the following sections. Fully automated homing can reduce both
programming time and CPU processing time.
5.1 Setting the Homing Speed
void i8094MF_SET_HV(BYTE cardNo, WORD axis, DWORD data)
Description:
This function sets the homing speed.
Parameters:
cardNo:
axis:
data:
Module number
Axis or axes (Please refer to Table 2-1)
Homing speed (in PPS)
Return:
None
EXAMPLE:
i8094MF_ SET_HV(1, AXIS_X, 500);
//set the homing speed of the X axis on module 1 to 500 PPS.
ICPDAS
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5.2 Using an Limit Switch as the HOME sensor
void i8094MF_HOME _LIMIT(BYTE cardNo, WORD axis, WORD nType)
Description:
This function sets the Limit Switch to be used as the HOME sensor.
Parameters:
cardNo:
axis:
nType:
Module number
Axis axes (Please refer to Table 2-1)
0: Does not use the LIMIT SWITCH as the HOME sensor;
1: Use the LIMIT SWITCH as the HOME sensor
Return:
None
EXAMPLE:
i8094MF_ HOME_LIMIT(1, AXIS_X, 0);
//Do not use the Limit Switch as the HOME sensor.
5.3 Setting the Homing Mode
void i8094MF_SET_HOME_MODE(BYTE cardNo, WORD axis, WORD nStep1,
WORD nStep2, WORD nStep3, WORD nStep4 , long data)
Description:
This function sets the homing method and other related parameters.
Parameters:
cardNo:
axis:
nStep1:
Module number
Axis or axes (Please refer to Table 2-1)
0: Step 1 is not executed
1: Moves in a positive direction
2: Moves in a negative direction
nStep2:
0: Step 2 is not executed
1: Moves in a positive direction
2: Moves in a negative direction
nStep3:
0: Step 3 is not executed
1: Moves in a positive direction
ICPDAS
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I-8094 Software User Manual
2: Moves in a negative direction
nStep4:
0: Step 4 is not executed
1: Moves in a positive direction
2: Moves in a negative direction
data:
Offset value (0 ~ 2,147,483,647)
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-phase
signal
Moves to the specified position
Speed
V
HV
Sensor
NHOME (IN0)
HOME (IN1)
HV
Z-phase (IN2)
V
Return:
None
Example:
//Use the following functions to set the homing mode of the X axis.
i8094MF_SET_V(1, 0x1, 20000);
i8094MF_SET_HV(1, 0x1, 500);
i8094MF_SET_HOME_MODE(1, 0x1, 2, 2, 1, 1, 3500);
i8094MF_HOME_START(1, 0x1); //start auto-homing.
i8094MF_WAIT_HOME(1, 0x1); //wait until homing is completed.
Step
1
2
3
4
ICPDAS
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.
45
Direction
+
+
Speed
20000 PPS (V)
500 PPS (HV)
500 PPS (HV)
20000 PPS (V)
I-8094 Software User Manual
5.4 Starting the Homing Sequence
void i8094MF_HOME _START(BYTE cardNo, WORD axis)
Description:
This function starts the home search of assigned axes.
Parameters:
cardNo:
axis:
Module number
Axis or axes (Please refer to Table 2-1)
Return:
None
Example:
i8094MF_ HOME_START(1, AXIS_X);
//start the automatic homing sequence for the X axis on module 1.
5.5 Waiting for the Homing sequence to be Completed
BYTE i8094MF _HOME_WAIT(BYTE cardNo, WORD axis)
Description:
This function assigns commands to be performed while waiting for the
automatic home search of all assigned axes to be completed.
Parameters:
cardNo:
axis:
Module number
Axis axes (Please refer to Table 2-1)
Return:
YES
NO
The Homing sequence has been completed.
The Homing sequence is not complete.
Example:
if (i8094MF_HOME_WAIT(1, AXIS_X) == NO)
{
//perform some actions here if the X axis on module 1 has not completed
//its homing sequence.
}
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6 General Motion Control
6.1 Independent Axis Motion Control
The motion of each axis can be started independently.
Multiple axes are moving at the same time.
Each axis is moving independently.
Each axis can be commanded to change motion, such as changing the number
of pulses or the speed.
Each axis can be commanded to stop slowly or suddenly to meet the individual
requirements.
Independent axis motion can work with interpolation or synchrous action to do
more complicated and versatile motion.
6.1.1 Setting the Acceleration/Deceleration Mode
void i8094MF_NORMAL_SPEED(BYTE cardNo, WORD axis , WORD nMode)
Description:
The function sets the speed mode.
Parameters:
cardNo:
Module number
axis:
Axis (Please refer to Table 2-1)
nMode:
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:
None
Example:
BYTE cardNo=1; //select module 1.
i8094MF_SET_MAX_V(cardNo, AXIS_XYZU, 20000);
//set the max. speed of XYZU axes to 20K PPS.
//========================================================
i8094MF_NORMAL_SPEED(cardNo, AXIS_XYZU, 0);
//use a symmetric T-curve for all axes on module 1.
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i8094MF_SET_V(cardNo, AXIS_XYZU, 2000);
//set the speed of all axes on module 1 to 2000 PPS.
i8094MF_SET_A(cardNo, AXIS_XYZU,1000);
//set the acceleration of all axes on module 1 to 1000 PPS/Sec.
i8094MF_SET_SV(cardNo, AXIS_XYZU, 2000);
//set the start speed of all axes on module 1 to 2000 PPS.
i8094MF_SET_AO(cardNo, AXIS_XYZU, 9);
//set the number of remaining offset pulses for all axes to 9 pulses.
i8094MF_FIXED_MOVE(cardNo, AXIS_XYZU, 10000);
//move all axes on module 1 for 10000 pulses.
//========================================================
i8094MF_NORMAL_SPEED(cardNo, AXIS_XYZU,1);
//use a symmetric S-curve for all axes on module 1.
i8094MF_SET_V(cardNo, AXIS_XYZU, 2000);
//set the speed of all axes on module 1 to 2000 PPS.
i8094MF_SET_K(cardNo, AXIS_XYZU, 50);
//set the acceleration rate of all axes on module 1 to 500 PPS/Sec^2.
i8094MF_SET_SV(cardNo, AXIS_XYZU, 200);
//set the start speed of all axes on module 1 to 200 PPS.
i8094MF_SET_AO(cardNo, AXIS_XYZU, 9);
//set the number of remaining offset pulses to 9 pulses for all axes.
i8094MF_FIXED_MOVE(cardNo, AXIS_XYZU, -10000);
//move all axes on module 1 for 10000 pulses in reverse direction.
//========================================================
i8094MF_NORMAL_SPEED(cardNo, AXIS_XYZU,2);
//use an asymmetric T-curve for all axes on module 1.
i8094MF_SET_V(cardNo, AXIS_XYZU, 2000);
//set the speed of all axes on module 1 to 2000 PPS.
i8094MF_SET_A(cardNo, AXIS_XYZU,1000 );
//set the acceleration of all axes on module 1 to 1000 PPS/Sec.
i8094MF_SET_D(cardNo, AXIS_XYZU, 500);
//set the deceleration of all axes on module 1 to 500 PPS.
i8094MF_SET_SV(cardNo, AXIS_XYZU, 200);
//set the start speed of all axes on module 1 to 200 PPS.
i8094MF_SET_AO(cardNo, AXIS_XYZU, 9);
//set the number of remaining offset pulses to 9 pulses for all axes.
i8094MF_FIXED_MOVE(cardNo, axis, 10000);
//move all axes on module 1 for 10000 pulses.
//========================================================
i8094MF_NORMAL_SPEED(cardNo, AXIS_XYZU,3);
//use an asymmetric S-curve for all axes on module 1.
i8094MF_SET_V(cardNo, AXIS_XYZU, 2000);
//set the speed of all axes on module 1 to 2000 PPS.
i8094MF_SET_K(cardNo, AXIS_XYZU, 50);
//set the acceleration rate of all axes on module 1 to 500 PPS/Sec^2.
i8094MF_SET_L(cardNo, AXIS_XYZU, 30);
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//set the deceleration rate of all axes on module 1 to 300 PPS/Sec^2.
i8094MF_SET_SV(cardNo, AXIS_XYZU, 200);
//set the start speed of all axes on module 1 to 200 PPS.
i8094MF_SET_AO(cardNo, AXIS_XYZU, 9);
//set the number of remaining offset pulses to 9 pulses for all axes.
i8094MF_FIXED_MOVE(cardNo, AXIS_XYZU, 10000);
//move all axes on module 1 for 10000 pulses.
Note:
ICPDAS
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6.1.2 Setting the Start Speed
void i8094MF_SET_SV(BYTE cardNo, WORD axis, DWORD data)
Description:
This function sets the start speed for the assigned axes.
Parameters:
cardNo:
axis:
data:
Module number
Axis or axes (Please refer to Table 2-1)
The range is the same as for speed, and must not be zero or
larger than the maximum speed. The maximum value is
4,000,000 PPS. For interpolation, set the speed value for axis1
is enough.
Return:
None
Example:
i8094MF_SET_SV(1, AXIS_X, 1000);
//set the starting speed for the X axis on module 1 to 1000 PPS.
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6.1.3 Setting the Desired Speed
void i8094MF_SET_V(BYTE cardNo, WORD axis, DWORD data)
Description:
This function sets the desired speed for the assigned axes.
Parameters:
cardNo:
axis:
data:
Module number
Axis or axes (Please refer to Table 2-1)
The range is the same as for speed, and must not be zero or
larger than the maximum speed. The maximum value is
4,000,000 PPS. For interpolation, set the speed value for axis1
is enough.
Return:
None
Example:
i8094MF_SET_V(1, AXIS_X, 120000L);
//set the speed for the X axis on module 1 to 120000 PPS.
6.1.4 Setting the Acceleration
void i8094MF_SET_A(BYTE cardNo, WORD axis, DWORD data)
Description:
This function sets the acceleration value for the assigned axes.
Parameters:
cardNo:
axis:
data:
ICPDAS
Module number
Axis or axes (Please refer to Table 2-1)
The acceleration value. The units are PPS/Sec. This value is
related to the maximum speed value defined by
i8094MF_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.
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Return:
None
Example:
i8094MF_SET_MAX_V(1, AXIS_X, 20000);
//set the maximum speed value of the X axis as 20,000 PPS.
//therefore, do not set any acceleration value that is larger than
//20,000*125 PPS/sec. And 20,000 *125 = 2,500,000.
i8094MF_SET_A(1, AXIS_X, 100000L);
//set the acceleration value of the X axis on module 1 to 100K PPS/Sec.
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6.1.5 Setting the Deceleration
void i8094MF_SET_D(BYTE cardNo, WORD axis, DWORD data)
Description:
This function sets the deceleration value for the assigned axes.
Parameters:
cardNo:
axis:
data:
Module number
Axis or axes (Please refer to Table 2-1)
The deceleration value. The units are PPS/Sec. This value is
related to the maximum speed value defined by
i8094MF_SET_MAX_V() function. The maximum available
deceleration value is MAX_V * 125. The minimum deceleration
value is MAX_V ÷ 64, and all other deceleration values are
the integral multipliers of this value. The practical value for
application depends on the capability of the motor drive and
motor.
Return:
None
Example:
i8094MF_SET_MAX_V(1, AXIS_X, 20000);
//set the maximum speed value of the X axis as 20,000 PPS.
//therefore, do not set any deceleration value that is larger than
//20,000*125 PPS/sec. And 20,000 *125 = 2,500,000.
i8094MF_SET_D(1, AXIS_X, 100000L);
//set the deceleration value of the X axis on module 1 to 100K PPS/Sec.
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6.1.6 Setting the Acceleration Rate
void i8094MF_SET_K(BYTE cardNo, WORD axis, DWORD data)
Description:
The function sets the acceleration rate (i.e., Jerk) value for the assigned axes.
Parameters:
cardNo:
axis:
data:
Module number
Axis or axes (Please refer to Table 2-1)
The acceleration rate (jerk) value. The units are PPS/Sec 2 . This
value is related to the maximum speed value defined by
i8094MF_SET_MAX_V() function. The maximum available
acceleration rate value is MAX_V * 781.25. The minimum
acceleration value is MAX_V * 0.0119211, and all other
acceleration values are the integral multipliers of this value.
The practical value for application depends on the capability
of the motor drive and motor. Note: since the DWORD can not
represent the maximum value; therefore, this value is given by
dividing the desired value by 10.
Return:
None
Example:
i8094MF_SET_MAX_V(1, AXIS_X, 20000);
//set the maximum speed value of the X axis as 20,000 PPS.
//therefore, do not set any jerk value that is larger than
//20,000*781.25 PPS/sec^2. And 20,000 *781.25 = 15,625,000.
i8094MF_SET_K(1, AXIS_X, 1000);
//set the acceleration rate value of the X axis on module 1 to
//1,000*10 (= 10,000) PPS/Sec^2.
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6.1.7 Setting the Deceleration Rate
void i8094MF_SET_L(BYTE cardNo, WORD axis, DWORD data)
Description:
This function sets the deceleration rate (i.e., Jerk) value for the assigned axes.
Parameters:
cardNo:
axis:
data:
Module number
Axis or axes (Please refer to Table 2-1)
The deceleration rate value. The units are PPS/Sec 2 . This
value is related to the maximum speed value defined by
i8094MF_SET_MAX_V() function. The maximum available
deceleration rate value is MAX_V * 781.25. The minimum
deceleration value is MAX_V * 0.0119211, 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. Note: since the DWORD can not
represent the maximum value; therefore, this value is given by
dividing the desired value by 10.
Return:
None
Example:
i8094MF_SET_MAX_V(1, AXIS_X, 20000);
//set the maximum speed value of the X axis as 20,000 PPS.
//therefore, do not set any deceleration rate value that is larger
//than 20,000*781.25 PPS/sec^2. And 20,000 *781.25 = 15,625,000.
i8094MF_SET_L(1, AXIS_X, 1000);
//set the acceleration rate value of the X axis on module 1 to
//1,000*10 (= 10,000) PPS/Sec^2.
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6.1.8 Setting the Value of the Remaining Offset Pulses
void i8094MF_SET_AO(BYTE cardNo, WORD axis, short int data)
Description:
This function sets the number of remaining offset pulses for the assigned axes.
Please refer to the figure below for a definition of the remaining offset pulse value.
Parameters:
cardNo:
axis:
data:
Module number
Axis or axes (Please refer to Table 2-1)
The number of remaining offset pulses. (-32,768 ~ +32,767)
Return:
None
Example:
i8094MF_SET_AO(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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6.1.9 Fixed Pulse Output
BYTE i8094MF_FIXED_MOVE(BYTE cardNo, WORD axis, long data)
Description:
Command a point-to-point motion for several independent axes.
Parameters:
cardNo:
axis:
data:
Module number
Axis (Please refer to Table 2-1.)
The axis can be either X, Y, Z, or U.
Pulses (-2,147,483,648 ~ +2,147,483,647)
Return:
YES
NO
Some errors happen. Use i8094MF_GET_ERROR_CODE () to
identify the errors.
No error.
Example:
BYTE cardNo=1; //select module 1
i8094MF_SET_MAX_V(cardNo, AXIS_XYZU, 20000);
//set the max. velocity of all axes on module 1 to be 20K PPS
i8094MF_NORMAL_SPEED(cardNo, AXIS_XYZU, 0);
//set the speed profile of all axes on module 1 to be symmetric T-curve
i8094MF_SET_V(cardNo, AXIS_XYZU, 2000);
//set the speed of all axes on module 1 to be 2000 PPS
i8094MF_SET_A(cardNo, AXIS_XYZU,1000);
//set the acceleration value of all axes on module 1 to be 1000 PPS/S
i8094MF_SET_SV(cardNo, AXIS_XYZU, 2000);
//set the start velocity of all axes on module 1 to be 2000 PPS
i8094MF_SET_AO(cardNo, AXIS_XYZU, 9);
//set the remaining offset pulses to be 9 PPS
i8094MF_FIXED_MOVE(cardNo, AXIS_XYZU, 10000);
// move 10000 Pulses for each axis on module 1
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6.1.10 Continuous Pulse Output
BYTE i8094MF_CONTINUE_MOVE(BYTE cardNo, WORD axis, long data)
Description:
This function issues a continuous motion command for several independent
axes.
Parameters:
cardNo:
axis:
data:
Module number
Axis or axes (Please refer to Table 2-1)
The axis can be either X, Y, Z, or U.
The specified speed (positive value for CW motion;
negative value for CCW motion)
Return:
YES
NO
An error has occurred.
Use the i8094MF_GET_ERROR_CODE() function to identify
the errors.
No error.
Example:
BYTE cardNo=1; //select module 1
i8094MF_SET_MAX_V(cardNo, AXIS_XYZU, 20000);
//set the maximum speed of all axes on module 1 to 20K PPS.
i8094MF_NORMAL_SPEED(cardNo, AXIS_XYZU, 0);
//set the speed profile for all axes as a symmetric T-curve.
i8094MF_SET_V(cardNo, AXIS_XYZU, 2000);
//set the speed of all axes on module 1 to 2000 PPS.
i8094MF_SET_A(cardNo, AXIS_XYZU, 1000);
//set the acceleration value of all axes to 1000 PPS/S.
i8094MF_SET_SV(cardNo, AXIS_XYZU, 2000);
//set the start velocity of all axes to 2000 PPS
i8094MF_CONTINUE_MOVE(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
void i8094MF_AXIS_ASSIGN(BYTE cardNo, WORD axis1, WORD axis2, WORD
axis3)
Description:
This function assigns the axes to be used for interpolation. Either two or three
axes can be assigned 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.
Parameters:
cardNo:
axis1:
axis2:
axis3:
Module number
The first axis and It can be either X, Y, Z, or U.
Please refer to Table 2-1 for the axis definition.
The second axis and can be either X, Y, Z, or U.
The third axis and can be either X, Y, Z, or U.
Return:
None
EXAMPLE:
i8094MF_AXIS_ASSIGN(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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6.2.2 Setting the Speed and Acc/Dec Mode for Interpolation
void i8094MF_VECTOR_SPEED(BYTE cardNo, WORD nMode)
Description:
This function assigns the mode of interpolation. Either two or three axes will
join this interpolation. Each interpolation mode will refer to some assigned axes
that construct a working coordinate system. The assigned axes are defined by
i8094MF_AXIS_ASSIGN() funciton. The X axis does not necessarily have to be the
first axis. However, it is easier to let the X axis as the first axis, the Y axis as the
second axis, and the Z axis as the third axis in applications. Different modes need
different settings. Please refer to the mode definitions.
Parameters:
cardNo:
nMode:
Module number
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 T-curve velocity profile
(set VSV, VV, VA, and VAO)
2
2-axis linear motion using a symmetric S-curve velocity profile
(set VSV, VV, VK, and VAO)
3
2-axis linear motion using an asymmetric T-curve velocity
profile (set VSV, VV, VA, VD, and VAO)
4
2-axis linear motion using an asymmetric S-curve velocity
profile (set VSV, VV, VK, VL, and VAO)
5
2-axis circular motion using a symmetric T-curve velocity
profile (set VSV, VV, VA, and VAO)
6
2-axis circular motion using an asymmetric T-curve velocity
profile (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 T-curve velocity
profile (set VSV, VV, VA, and VAO)
9
3-axis linear motion using a symmetric S-curve velocity profile
(set VSV, VV, VK, and VAO)
10 3-axis linear motion using an asymmetric T-curve velocity
profile (set VSV, VV, VA, VD, and VAO)
11 3-axis linear motion using an asymmetric S-curve velocity
profile (set VSV, VV, VK, VL, and VAO)
Return:
None
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Example:
BYTE cardNo=1; //select module 1.
i8094MF_SET_MAX_V(cardNo, AXIS_XYZU, 20000);
//set the maximum speed of all axes to 20K PPS.
//===============================================
i8094MF_AXIS_ASSIGN(cardNo, AXIS_X, AXIS_Y, 0);
//set the X axis as the first axis and the Y axis as the second axis.
i8094MF_VECTOR_SPEED(cardNo, 0);
//set module 1 to perform 2-axis linear or circular motion
//at a constant vector speed.
i8094MF_SET_VSV(cardNo, 1000);
//set the starting vector speed to 1000 PPS.
i8094MF_SET_VV(cardNo, 1000);
//set the vector speed to 1000 PPS.
i8094MF_LINE_2D(1, 12000, 10000);
//execute the 2-axis linear interpolation motion.
//===============================================
i8094MF_DEC_ENABLE(cardNo);
//enable the deceleration function.
i8094MF_AXIS_ASSIGN(cardNo, AXIS_X, AXIS_Y, 0);
//set the X axis as the first axis and the Y axis as the second axis.
i8094MF_VECTOR_SPEED(cardNo, 1);
//set module 1 to perform 2-axis linear motion using a symmetric
//S-curve velocity profile.
i8094MF_SET_VSV(cardNo, 500);
//set the starting vector speed to 500 PPS.
i8094MF_SET_VV(cardNo, 2000);
//set the vector speed to 2000 PPS.
i8094MF_SET_VA(cardNo, 1000);
//set the vector acceleration to 1000 PPS/Sec.
i8094MF_LINE_2D(cardNo, 20000, 10000);
//execute the 2-axis linear interpolation motion.
//===============================================
i8094MF_AXIS_ASSIGN(cardNo, AXIS_X, AXIS_Y, 0);
//set the X axis as the first axis and the Y axis as the second axis.
i8094MF_VECTOR_SPEED(cardNo, 2);
//2-axis linear motion using a symmetric S-curve velocity profile.
i8094MF_SET_VSV(cardNo, 200);
//set the starting vector speed to 200 PPS.
i8094MF_SET_VV(cardNo, 2000);
//set the vector speed to 2000 PPS.
i8094MF_SET_VK(cardNo, 50);
//set the acceleration rate to 500 PPS/Sec.
i8094MF_SET_VAO(cardNo, 20);
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//set the value of remaining offset pulses to 20.
i8094MF_LINE_2D(cardNo, 10000, 10000);
//execute the 2-axis linear interpolation motion.
//===============================================
i8094MF_DEC_ENABLE(cardNo);
//enable the deceleration function.
i8094MF_AXIS_ASSIGN(cardNo, AXIS_X, AXIS_Y, 0);
//set the X axis as the first axis and the Y axis as the second axis.
i8094MF_VECTOR_SPEED(cardNo, 3);
//2-axis linear motion using an asymmetric T-curve velocity profile.
i8094MF_SET_VSV(cardNo, 100);
//set the start vector speed to 100 PPS.
i8094MF_SET_VV(cardNo, 2000);
//set the vector speed to 2000 PPS.
i8094MF_SET_VA(cardNo, 1000);
//set the vector acceleration to 1000 PPS/Sec.
i8094MF_SET_VD(cardNo, 500);
//set the vector deceleration to 500 PPS/Sec.
i8094MF_SET_VAO(cardNo, 20);
//set the value of remaining offset pulses to 20.
i8094MF_LINE_2D(cardNo, 10000, 5000);
//execute the 2-axis linear interpolation motion.
//===============================================
long fp1=4000;
long fp2=10000;
int sv=200;
int v=2000;
i8094MF_SET_MAX_V(cardNo, AXIS_XYZU, 8000);
i8094MF_AXIS_ASSIGN(cardNo, AXIS_X, AXIS_Y, 0);
//set the X axis as the first axis and the Y axis as the second axis.
i8094MF_VECTOR_SPEED(cardNo, 4);
//2-axis linear motion using an asymmetric S-curve velocity profile.
i8094MF_SET_VSV(cardNo, sv);
//set the starting velocity to sv PPS.
i8094MF_SET_VV(cardNo, v);
//set the vector speed to v PPS.
i8094MF_SET_VK(cardNo, 50);
//set the acceleration rate to 500 PPS/Sec^2.
i8094MF_SET_VL(cardNo, 30);
//set the deceleration rate to 300 PPS/Sec^2.
i8094MF_SET_VAO(cardNo, 20);
//set the value of remaining offset pulses to 20.
i8094MF_LINE_2D(cardNo, fp1, fp2);
//execute the 2-axis linear motion.
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//===============================================
long fp1=11000;
long fp2=9000;
long c1=10000;
long c2=0;
int sv=100;
int v=3000;
int a=5000;
int d=5000;
i8094MF_SET_MAX_V(cardNo, AXIS_XYZU, 8000);
i8094MF_AXIS_ASSIGN(cardNo, AXIS_X, AXIS_Y, 0);
//set the X axis as the first axis and the Y axis as the second axis.
i8094MF_VECTOR_SPEED(cardNo, 5);
//2-axis circular motion using a symmetric T-curve velocity profile
i8094MF_SET_VSV(cardNo, sv);
//set the starting vector speed to sv PPS.
i8094MF_SET_VV(cardNo, v);
//set vector speed to v PPS.
i8094MF_SET_VA(cardNo, a);
//set the vector acceleration to a PPS/Sec.
i8094MF_SET_VAO(cardNo, 0);
//set the value of remaining offset pulses to 0 Pulse.
i8094MF_ARC_CW(cardNo, c1,c2, fp1, fp2);
//execute the 2-axis CW circular motion.
//===============================================
long c1=300;
long c2=0;
int sv=100;
int v=3000;
int a=125;
int d=12;
i8094MF_SET_MAX_V(cardNo, AXIS_XYZU, 8000);
i8094MF_AXIS_ASSIGN(cardNo, AXIS_X, AXIS_Y, 0);
//set the X axis as the first axis and the Y axis as the second axis.
i8094MF_VECTOR_SPEED(cardNo, 6);
//2-axis circular motion using an asymmetric T-curve velocity
//profile.
i8094MF_SET_VSV(cardNo, sv);
//set the starting vector speed to sv PPS.
i8094MF_SET_VV(cardNo, v);
//set vector speed to v PPS.
i8094MF_SET_VA(cardNo, a);
//set acceleration to a PPS/Sec.
i8094MF_SET_VD(cardNo, d);
//set the deceleration to d PPS/Sec.
i8094MF_SET_VAO(cardNo, 0);
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//set the value of remaining offset pulses to 0.
i8094MF_CIRCLE_CW(cardNo, c1, c2);
//execute the 2-axis CW circular motion.
//===============================================
i8094MF_AXIS_ASSIGN(cardNo, AXIS_X, AXIS_Y, AXIS_Z);
//set axis1 as the X axis, axis2 as the Y axis, and axis3 as the Z axis.
i8094MF_VECTOR_SPEED(cardNo, 7);
//3-axis linear motion at a constant vector speed (VSV=VV).
i8094MF_SET_VSV(cardNo, 1000);
//set the start speed to 1000 PPS.
i8094MF_SET_VV(cardNo, 1000);
//set the constant speed to 1000 PPS.
i8094MF_LINE_3D(cardNo, 10000, 10000,10000);
//execute the 3-axis linear motion.
//===============================================
i8094MF_AXIS_ASSIGN(cardNo, AXIS_X, AXIS_Y, AXIS_Z);
//set axis1 as the X axis, axis2 as the Y axis, and axis3 as the Z-axis.
i8094MF_VECTOR_SPEED(cardNo, 8);
//3-axis linear motion using a symmetric T-curve velocity profile.
i8094MF_SET_VSV(cardNo, 100);
//set the starting speed to 1000 PPS.
i8094MF_SET_VV(cardNo, 3000);
//set the vector speed to 3000 PPS.
i8094MF_SET_VA(cardNo, 500);
//set the vector acceleration to 500 PPS/Sec.
i8094MF_SET_VAO(cardNo, 20);
//set the value of remaining offset pulses to 20.
i8094MF_LINE_3D(cardNo, 10000, 1000,20000);
//execute the 3-axis linear motion
//===============================================
i8094MF_AXIS_ASSIGN(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.
i8094MF_VECTOR_SPEED(cardNo, 9);
//3-axis linear motion using a symmetric S-curve velocity profile.
i8094MF_SET_VSV(cardNo, 100);
//set the starting speed to 1000 PPS.
i8094MF_SET_VV(cardNo, 3000);
//set the vector speed to 3000 PPS.
i8094MF_SET_VK(cardNo, 50);
//set the vector acceleration rate to 500 PPS/Sec^2.
i8094MF_SET_VAO(cardNo, 20);
//set the value of remaining offset pulses to 20.
i8094MF_LINE_3D(cardNo, 10000, 1000,1000);
//execute the 3-axis linear motion.
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//===============================================
i8094MF_AXIS_ASSIGN(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.
i8094MF_VECTOR_SPEED(cardNo, 10);
//set the module 1 to perform 3-axis linear motion
//using an asymmetric T-curve speed profile.
i8094MF_SET_VSV(cardNo, 100);
//set the starting speed to 1000 PPS.
i8094MF_SET_VV(cardNo, 2000);
//set the vector speed as 3000 PPS.
i8094MF_SET_VA(cardNo, 1000);
//set the vector acceleration to 1000 PPS/Sec.
i8094MF_SET_VD(cardNo, 500);
//set the vector deceleration to 500 PPS/Sec.
i8094MF_SET_VAO(cardNo, 20);
//set the value of remaining offset pulses to 20.
i8094MF_LINE_3D(cardNo, 10000, 1000,1000);
//execute the 3-axis linear motion.
//===============================================
long fp1=4000;
long fp2=10000;
long fp3=20000;
int sv=200;
int v=2000;
i8094MF_SET_MAX_V(cardNo, AXIS_XYZU, 8000);
i8094MF_AXIS_ASSIGN(cardNo, AXIS_X, AXIS_Y, AXIS_Z);
//set axis1 as the X axis, axis2 as the Y axis, and axis3 as the Z axis.
i8094MF_VECTOR_SPEED(cardNo, 11);
//3-axis linear motion using an asymmetric S-curve velocity profile.
i8094MF_SET_VSV(cardNo, sv);
//set the starting speed to sv PPS.
i8094MF_SET_VV(cardNo, v);
//set the vector speed to v PPS.
i8094MF_SET_VK(cardNo, 50);
//set the vector acceleration rate to 500 PPS/Sec^2.
i8094MF_SET_VL(cardNo, 30);
//set the vector deceleration rate to 300 PPS/Sec^2.
i8094MF_SET_VAO(cardNo, 20);
//set the value of remaining offset pulses to 20.
i8094MF_LINE_3D(cardNo, fp1, fp2,fp3);
//execute the 3-axis linear motion.
Note:
ICPDAS
Relevant parameters should be set before issuing the motion command.
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6.2.3 Setting the Vector Starting Speed
void i8094MF_SET_VSV(BYTE cardNo, DWORD data)
Description:
This function sets the starting speed of the principle axis (axis 1) for the
interpolation motion.
Parameters:
cardNo:
data:
Module number
The vector starting speed value (in PPS)
Return:
None
Example:
i8094MF_SET_VSV(1, 1000);
//set the starting speed of the axis 1 for the interpolation motion
//on module 1 to 1000 PPS.
6.2.4 Setting the Vector Speed
void i8094MF_SET_VV(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
i8094MF_AXIS_ASSIGN() function.
Parameters:
cardNo:
data:
Module number
The vector speed value (in PPS)
Return:
None
Example:
i8094MF_SET_VV(1, 120000L);
//set the vector speed of the interpolation on module 1
//to 120000 PPS.
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6.2.5 Setting the Vector Acceleration
void i8094MF_SET_VA(BYTE cardNo, DWORD data)
Description:
This function sets the vector acceleration for interpolation motion. Users do
not have to assign any axes on this funciton. This speed setting will take effect on
the current working coordinate system which is defined by the
i8094MF_AXIS_ASSIGN() function.
Parameters:
cardNo:
data:
Module number
The vector acceleration value (in PPS/Sec). The units are
PPS/Sec. This value is related to the maximum speed value
defined by i8094MF_SET_MAX_V() function. The maximum
available acceleration value is MAX_V * 125. The minimum
acceleration value is MAX_V ÷ 64, and all other acceleration
values are the integral multipliers of this value. The practical
value for application depends on the capability of the motor
drive and motor.
Return:
None
Example:
i8094MF_SET_MAX_V(1, AXIS_X, 20000);
//set the maximum speed value of the X axis as 20,000 PPS.
//therefore, do not set any acceleration value that is larger than
//20,000*125 PPS/sec. And 20,000 *125 = 2,500,000.
i8094MF_SET_VA(1, 100000L);
//set the vector acceleration of the interpolation motion
//on module 1 to 100K PPS/Sec.
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6.2.6 Setting the Vector Deceleration Value
void i8094MF_SET_VD(BYTE cardNo, DWORD data)
Description:
This function sets the deceleration value for the interpolation motion.
Parameters:
cardNo:
data:
Module number
The vector deceleration value (in PPS/Sec). This value is
related to the maximum speed value defined by
i8094MF_SET_MAX_V() function. The maximum available
deceleration value is MAX_V * 125. The minimum deceleration
value is MAX_V ÷ 64, and all other deceleration values are
the integral multipliers of this value. The practical value for
application depends on the capability of the motor drive and
motor.
Return:
None
Example:
i8094MF_SET_MAX_V(1, AXIS_X, 20000);
//set the maximum speed value of the X axis as 20,000 PPS.
//therefore, do not set any deceleration value that is larger than
//20,000*125 PPS/sec. And 20,000 *125 = 2,500,000.
i8094MF_SET_VD(1, 100000L);
//set the vector deceleration value of interpolation motion
//on module 1 to 100K PPS/Sec.
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6.2.7 Setting the Vector Acceleration Rate
void i8094MF_SET_VK(BYTE cardNo, DWORD data)
Description:
Set the acceleration rate (jerk) value for interpolation motion.
Parameters:
cardNo:
data:
Module number
The acceleration rate (jerk) value. The units are PPS/Sec 2 . This
value is related to the maximum speed value defined by
i8094MF_SET_MAX_V() function. The maximum available
acceleration rate value is MAX_V * 781.25. The minimum
acceleration value is MAX_V * 0.0119211, and all other
acceleration values are the integral multipliers of this value.
The practical value for application depends on the capability
of the motor drive and motor. Note: since the DWORD can not
represent the maximum value; therefore, this value is given by
dividing the desired value by 10.
Return:
None
Example:
i8094MF_SET_MAX_V(1, AXIS_X, 20000);
//set the maximum speed value of the X axis as 20,000 PPS.
//therefore, do not set any jerk value that is larger than
//20,000*781.25 PPS/sec^2. And 20,000 *781.25 = 15,625,000.
i8094MF_SET_VK(1, 10000);
//set the acceleration rate of the interpolation motion on module
// 1 to 10,000 PPS/ Sec^2.
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6.2.8 Setting the Vector Deceleration Rate
void i8094MF_SET_VL(BYTE cardNo, DWORD data)
Description:
This function sets the deceleration rate of the interpolation motion.
Parameters:
cardNo:
data:
Module number
The deceleration rate (Jerk) value. The units are PPS/Sec 2 .
This value is related to the maximum speed value defined by
i8094MF_SET_MAX_V() function. The maximum available
deceleration rate value is MAX_V * 781.25. The minimum
deceleration value is MAX_V * 0.0119211, 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. Note: since the DWORD can not
represent the maximum value; therefore, this value is given by
dividing the desired value by 10.
Return:
None
Example:
i8094MF_SET_MAX_V(1, AXIS_X, 20000);
//set the maximum speed value of the X axis as 20,000 PPS.
//therefore, do not set any deceleration rate value that is larger
//than 20,000*781.25 PPS/sec^2. And 20,000 *781.25 = 15,625,000.
i8094MF_SET_VL(1, 10000);
//set the deceleration rate of the interpolation on module 1 to 10,000 PPS/Sec^2.
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6.2.9 Setting the Number of the Remaining Offset Pulses
void i8094MF_SET_VAO(BYTE cardNo, short int data)
Description:
Setting this value will cause the motion control chip to start deceleration
earlier. The remaining offset pulses will be completed at low speed to allow the
controller to stop immediately when the offset pulse value has been reached.
Please refer to the figure below for more information.
Parameters:
cardNo:
data:
Module number
The number of remaining offset pulses (-32,768 ~ +32,767)
Return:
None
Example:
i8094MF_SET_VAO(1, 200);
//set the number of remaining offset pulse value on module 1 to 200.
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6.2.10 2-Axis Linear Interpolation Motion
BYTE i8094MF_LINE_2D(BYTE cardNo, long fp1, long fp2)
Description:
This function executes a 2-axis linear interpolation motion.
Parameters:
cardNo:
fp1:
fp2:
Module number
The displacement of the axis 1 in Pulses
(-2,147,483,648 ~ +2,147,483,647)
The displacement of the axis 2 in Pulses
(-2,147,483,648 ~ +2,147,483,647)
Return:
YES
NO
An error has occurred.
Use the i8094MF_GET_ERROR_CODE() function to identify
the error.
No errors.
Example:
i8094MF_LINE_2D(1, 12000, 10000);
//execute the 2-axis linear interpolation motion on module 1.
2-axis linear interpolation motion
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6.2.11 3-axis Linear Interpolation Motion
BYTE i8094MF_LINE_3D(BYTE cardNo, long fp1, long fp2, long fp3)
Description:
This function executes a 3-axis linear interpolation motion.
Parameters:
cardNo:
fp1:
fp2:
fp3:
Module number
The displacement of the first axis (axis 1) in Pulses
(-2,147,483,648 ~ +2,147,483,647)
The displacement of the second axis (axis 2) in Pulses
(-2,147,483,648 ~ +2,147,483,647)
The displacement of the third axis (axis 3) in Pulses
(-2,147,483,648 ~ +2,147,483,647)
Return:
YES
NO
An error has occurred.
Use the i8094MF_GET_ERROR_CODE() function to identify
the error.
No errors.
Example:
i8094MF_LINE_3D(1, 10000, 10000, 10000);
//execute the 3-axis linear interpolation motion on module 1.
3-axis linear interpolation motion
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6.2.12 2-Axis Circular Interpolation Motion (an Arc)
BYTE i8094MF_ARC_CW(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.
Parameters:
cardNo:
cp1:
cp2:
fp1:
fp2:
Module number
The relative position of the center to the current position of
axis 1 in pulses. (-2,147,483,648 ~ +2,147,483,647)
The relative position of the center to the current position of
axis 2 in pulses. (-2,147,483,648 ~ +2,147,483,647)
The displacement of the axis 1 in pulses.
(-2,147,483,648 ~ +2,147,483,647)
Displacement of the axis 2 in pulses.
(-2,147,483,648 ~ +2,147,483,647)
Return:
YES
NO
An error has occurred.
Use the i8094MF_GET_ERROR_CODE () function to identify
the error.
No errors.
Example:
i8094MF_ARC_CW(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.
2-axis circular motion in a CW direction
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BYTE i8094MF_ARC_CCW(BYTE cardNo, long cp1, long cp2, long fp1, long fp2)
Description:
This function execute a 2-axis circular interpolation motion in a
counter-clockwise (CCW) direction.
Parameters:
cardNo:
cp1:
cp2:
fp1:
fp2:
Module number
The relative position of the center to the current position of
axis 1 in pulses. (-2,147,483,648 ~ +2,147,483,647)
The relative position of the center to the current position of
axis 2 in pulses. (-2,147,483,648 ~ +2,147,483,647)
The displacement of the axis 1 in pulses.
(-2,147,483,648 ~ +2,147,483,647)
Displacement of the axis 2 in pulses.
(-2,147,483,648 ~ +2,147,483,647)
Return:
YES
NO
An error has occurred.
Use the i8094MF_GET_ERROR_CODE() function to identify
the errors.
No errors.
Example:
i8094MF_ARC_CCW(1, -5000, -5000, -10000, -10000);
//Issues a command to perform a circular motion (an arc)
//in a CCW direction. Refer to the following figure.
2-axis circular motion in a CCW direction
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6.2.13 2-Axis Circular Interpolation Motion (a Complete Circle)
BYTE i8094MF_CIRCLE_CW(BYTE cardNo, long cp1, long cp2)
Description:
This function executes a 2-axis circular interpolation motion in a clockwise
(CW) direction.
Parameters:
cardNo:
cp1:
cp2:
Module number
The relative position of the center to the current position of
axis 1 in pulses. (-2,147,483,648 ~ +2,147,483,647)
The relative position of the center to the current position of
axis 2 in pulses. (-2,147,483,648 ~ +2,147,483,647)
Return:
YES
NO
An error has occurred.
Use the i8094MF_GET_ERROR_CODE() function to identify
the errors.
No errors.
Example:
i8094MF_CIRCLE_CW(1, 0, 10000);
//execute a circular motion (a complete circle) in a CW direction on module 1.
BYTE i8094MF_CIRCLE_CCW(BYTE cardNo, long cp1, long cp2)
Description:
This function executes a 2-axis circular interpolation motion in a
counter-clockwise (CCW) direction.
Parameters:
cardNo:
cp1:
cp2:
ICPDAS
Module number
The relative position of the center to the current position of
axis 1 in pulses. (-2,147,483,648 ~ +2,147,483,647)
The relative position of the center to the current position of
axis 2 in pulses. (-2,147,483,648 ~ +2,147,483,647)
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Return:
YES
NO
An error has occurred.
Use the i8094MF_GET_ERROR_CODE () function to identify
the error.
No errors
Example:
i8094MF_CIRCLE_CCW(1, 0, 10000);
//execute a circular motion (a circle) in CCW direction
//on module 1
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6.3 Synchronous Actions
6.3.1 Setting the Synchronous Action
void i8094MF_SYNC_ACTION(BYTE cardNo, WORD axis1, WORD axis2,
WORD nSYNC, WORD nDRV, WORD nLATCH, WORD nPRESET)
Description:
This function sets the activation factors (provocatives) and the specified
action when a specified activation factor occurs.
Parameters:
cardNo:
axis1:
axis2:
Module number
This is the monitored axis. It will be checked by hardware.
The axis can be either X, Y, Z, or U. (Please refer to Table 2-1.)
This defined the other axes (or axis) that will take action when
one of the activation factors occurs. The axes are defined in
the following table.
axis1
X
Y
Z
U
none
Y
Z
YZ
U
YU
ZU
YZU
none
Z
U
ZU
X
ZX
UX
ZUX
none
U
X
UX
Y
UY
XY
UXY
none
X
Y
XY
Z
XZ
YZ
XYZ
axis2
0
1
2
3
4
5
6
7
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
0x0000
ICPDAS
0x0001
P ≥ C+
0x0002
P<C+
Explanation
Disable the synchronous action
The logical/real position counter value exceeded the
COMP+ register value.
Use the i8094MF_SET_COMPARE() function for
selection of a logical/real position.
The logical/real position counter value became less
than the COMP+ register value.
Use the i8094MF_SET_COMPARE() function for
selection of a logical/real position.
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0x0004
P<C-
0x0008
P ≥ C-
0x0010
0x0020
0x0040
0x0080
D-STA
D-END
IN3 ↑
IN3 ↓
The logical/real position counter value became less
than the COMP- register value.
Use the i8094MF_SET_COMPARE() function for
selection of a logical/real position.
The logical/real position counter value exceeded
the COMP- register value.
Use the i8094MF_SET_COMPARE() function for
selection of a logical/real position.
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.
For example, if the factors P ≥ C+ and IN3 ↑ are set, the nSYNC value is 0x0041
(0x0001 + 0x0040 = 0x0041).
nDRV:
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
0
ICPDAS
1
FDRV+
2
FDRV-
3
CDRV+
4
CDRV-
5
6
SSTOP
ISTOP
Explanation
Disable driving action.
Activates fixed pulse driving in the + direction. It
must set the nPRESET value to be “OPSET” which
indicates that i8094MF_SET_PRESET() function will
set the offset value for this FDRV. Therefore, the
companion function, i8094MF_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 i8094MF_SET_PRESET() function will
set the offset value for this FDRV. Therefore, the
companion function, i8094MF_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
nLATCH:
actions are listed in the following table. Only one of these
actions can be chosen.
Value Symbol
Explanation
0
Disable position latch function.
Saves the current logical position counter value (LP)
1
LPSAV
in the synchronous buffer register (BR).
[LP → LATCH]
Saves the current real position counter value (EP) in
2
EPSAV
the synchronous buffer register (BR).
[EP → LATCH]
After the event is occoured, the i8094MF_GET_LATCH() function can be use to
get the latched value.
nPRESET:
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
0
1
LPSET
2
EPSET
3
OPSET
4
VLSET
Explanation
Disable setting function.
Indicates that a new value for the logical position
(LP) will be set. The new value will be set by
i8094MF_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
i8094MF_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
i8094MF_SET_PRESET() function.
[P ← PRESET]
Indicates that a new speed value (V) will be set. The
new value will be set by i8094MF_SET_PRESET()
function.
[V ← PRESET]
Return:
None
Example:
//Ex1. When the rising edge event of IN3 signal of U-axis occurred,
// the real position (EP) is latched and the driving speed of U-axis is changed, too.
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i8094MF_SYNC_ACTION(cardNo, AXIS_U, 0, 0X0040, 0, 2, 4);
i8094MF_SET_MAX_V(cardNo, AXIS_U, 5000);
//Set the maximum speed of U-axis to 5K PPS.
i8094MF_NORMAL_SPEED(cardNo, AXIS_U, 0);
//Set the Acc/Dec mode to be symmetric T-curve.
i8094MF_SET_V(cardNo, AXIS_U, 2000);
//Set the speed of U-axis to 2000 PPS.
i8094MF_SET_A(cardNo, AXIS_U, 100000);
//Set the acceleration of U-axis to 100K PPS/S.
i8094MF_SET_SV(cardNo, AXIS_U, 100);
//Set the start speed of U-axis to 100 PPS.
i8094MF_FIXED_MOVE(cardNo, AXIS_U, 10000);
//Set the fixed pulse moving command to 10000 Pulses.
i8094MF_SET_PRESET(cardNo, AXIS_U, 100);
//Set the new speed of U-axis after even activation to 100 PPS.
while (i8094MF_STOP_WAIT(cardNo, AXIS_U) == NO)
{
//If the U-axis of the assigned card is not stop, keep looping
DoEvents();
Sleep(1); //Release the control for a moment
};
//After the event occurred, following line can get latched position.
long Vsb = i8094MF_GET_LATCH(cardNo, AXIS_U);
//Ex2. When the EP value of U-axis exceeds COMP+ (5,000),
//controller will move the Y-axis by 2,000 PPS.
i8094MF_SYNC_ACTION(cardNo, AXIS_U, 2, 0X0001, 1, 0, 3);
i8094MF_SET_COMPARE(cardNo, AXIS_U, 0, 1, 5000);
//Set the COMP+ of U-axis 5,000 and te compared source is real position (EP).
i8094MF_SET_MAX_V(cardNo, AXIS_YU, 9000);
//Set the maximum speed of axesY and U to 9K PPS.
i8094MF_NORMAL_SPEED(cardNo, AXIS_YU, 0);
//Set the Acc/Dec mode to be symmetric T-curve.
i8094MF_SET_V(cardNo, AXIS_YU, 3000);
//Set the speed of axes Y and U to 3,000 PPS.
i8094MF_SET_A(cardNo, AXIS_YU, 200000);
//Set the acceleration of axes Y and U to 200K PPS/S.
i8094MF_SET_SV(cardNo, AXIS_YU, 200);
//Set the start speed of axes Y and U to 200 PPS.
i8094MF_SET_PRESET(cardNo, AXIS_Y, 2000);
//Set the fixed pulse drive of Y-axis to be 2,000 PPS when the activating
//event occurs.
i8094MF_FIXED_MOVE(cardNo, AXIS_U, 10000);
//Command the U-axis to move 10,000 Pulses and the synchronous action
//will happen after a while.
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6.3.2 Setting the COMPARE value
void i8094MF_SET_COMPARE(BYTE cardNo, WORD axis, WORD nSELECT,
WORD nTYPE, long data)
Description:
This function sets the values of COMPARE registers. Howerer, it will disable
the functions of software limits.
Parameters:
cardNo:
axis:
nSELECT:
nTYPE:
data:
Module number
Axis or axes (Please refer to Table 2-1)
Select the COMPARE register
0
COMP+
1
COPMSelect the souece for comparison
0
Position(P) = LP
1
Position(P) = EP
Set the COMPARE value: -2,147,483,648 ~ +2,147,483,647
Return:
None
Example:
i8094MF_SET_COMPARE(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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6.3.3 Get the LATCH value
long i8094MF_GET_LATCH(BYTE cardNo, WORD axis)
Description:
This function gets the values from the LATCH register.
Parameters:
cardNo:
axis:
Module number
The axis can be either X, Y, Z, or U. Please refer to Table 2-1.
Return:
Value of the LATCH register: -2,147,483,648 ~ +2,147,483,647
Example:
long data = i8094MF_GET_LATCH(1, AXIS_Y);
//Get the latched value which is from Y-axis of card 1.
6.3.4 Set the PRESET data for synchronous action
void i8094MF_SET_PRESET(BYTE cardNo, WORD axis, long data)
Description:
This function sets the PRESET value for synchronous action.
Parameters:
cardNo:
Module number
axis:
The axis can be either X, Y, Z, or U. Please refer to Table 2-1.
data:
LP: -2,147,483,648 ~ +2,147,483,647
EP: -2,147,483,648 ~ +2,147,483,647
P : -2,147,483,648 ~ +2,147,483,647
V : Please refer to section 2.5.
Return:
None
Example:
Please refer to the examples in section 6.3.1.
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6.4 Continuous Interpolation
If it is broken and stopped，please solve it refer in section 6.5.5 !
6.4.1 2-Axis Rectangular Motion
BYTE i8094MF_RECTANGLE(
BYTE cardNo, WORD axis1, WORD axis2,
WORD nAcc, WORD Sp, WORD 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 the same and it can also be changed. The deceleration point
will be calculated automatically. This is a command macro command that appears
in various motion applications. However, it is a software macro-function; therefore,
it requires CPU resource to run this function.
Parameters:
cardNo:
axis1:
axs2:
nAcc:
Sp:
nDir:
Lp:
Wp:
Rp:
RSV:
RV:
RA:
RD:
Module number
The first axis (axis 1). Please refer to Table 2-1.
The first axis and It can be either X, Y, Z, or U.
The second (axis 2). Please refer to Table 2-1.
The first axis and It can be either X, Y, Z, or U.
0
constant vector speed interpolation mode
1
symmetric T-curve Acc/Dec interpolation mode
Start point 0 ~ 7. (Sp0 ~ Sp7 are defined in the following
figure)
Direction of movement
0: CCW; 1: CW
Length in Pulses (1 ~ 2,147,483,647)
Width in Pulses (1 ~ 2,147,483,647)
Radius of each in pulses (1 ~ 2,147,483,647)
Starting speed (in PPS)
Vector speed (in PPS)
Acceleration (PPS/Sec)
Deceleration of the last segment (in PPS/Sec)
Return:
YES
NO
ICPDAS
An error has occurred.
Use the i8094MF_GET_ERROR_CODE() function to identify
the error.
No errors.
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Example:
BYTE cardNo=1; //select module 1.
int sv=1000;
//starting speed: 1000 PPS.
int v=10000;
//vector speed: 10000 PPS.
int a=5000;
//acceleration: 5000 PPS/Sec.
int d=5000;
//deceleration: 5000 PPS/Sec.
i8094MF_SET_MAX_V(cardNo, AXIS_XYZU, 16000);
//set the maximum speed to 16000 PPS.
i8094MF_RECTANGLE(cardNo, AXIS_X, AXIS_Y, 1, 0, 0, 20000, 10000, 1000, sv, v,
a, d);
//execute a rectangular motion on the XY plane
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6.4.2 2-Axis Continuous Linear Interpolation
BYTE i8094MF_LINE_2D_INITIAL(BYTE cardNo, WORD axis1, WORD 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.
Parameters:
cardNo:
axis1:
axis2:
VSV:
VV:
VA:
Module number
The first axis (axis 1). Please refer to Table 2-1.
The first axis and It can be either X, Y, Z, or U.
The second axis (axis 2). Please refer to Table 2-1.
The second axis and It can be either X, Y, Z, or U.
Starting speed (in PPS)
Vector speed (in PPS)
Vector acceleration (PPS/Sec)
Return:
None
Example:
i8094MF_LINE_2D_INITIAL(…);
//This function should be defined before the i8094MF_LINE_2D_CONTINUE()
//function is used. Please refer to the example of this function.
BYTE i8094MF_LINE_2D_CONTINUE(BYTE cardNo, WORD nType, long fp1,
long fp2)
Description:
This function executes a 2-axis continuous linear interpolation. However, it is
a software macro-function; therefore, it requires CPU resource to run this
function.
Parameters:
cardNo:
nType:
fp1:
fp2:
Module number
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)
(-2,147,483,648 ~ +2,147,483,647)
The assigned number of pulses for the axis 2 (in Pulses)
(-2,147,483,648 ~ +2,147,483,647)
Return:
YES
ICPDAS
An error has occurred.
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NO
Use the i8094MF_GET_ERROR_CODE () function to identify
the error.
No errors.
Example:
BYTE cardNo=1;
//select module 1.
int sv=300;
//starting speed: 300 PPS.
int v=18000;
//vector speed: 18000 PPS.
long a=500000L; //acceleration: 500000 PPS/Sec.
int loop1;
i8094MF_SET_MAX_V(cardNo, AXIS_XYZU,160000L);
i8094MF_LINE_2D_INITIAL(cardNo, AXIS_X, AXIS_Y, sv, v, a);
for (loop1=0; loop1<10000; loop1++)
{
i8094MF_LINE_2D_CONTINUE(cardNo, 0, 100, 100);
i8094MF_LINE_2D_CONTINUE(cardNo, 0, -100, -100);
}
i8094MF_LINE_2D_CONTINUE(cardNo, 1, 100, 100);
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6.4.3 3-Axis Continuous Linear Interpolation
BYTE i8094MF_LINE_3D_INITIAL(BYTE cardNo, WORD axis1, WORD axis2,
WORD 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.
Parameters:
cardNo:
axis1:
axis2:
axis3:
VSV:
VV:
VA:
Module number
The first axis (axis 1). Please refer to Table 2-1.
The first axis and It can be either X, Y, Z, or U.
The second axis (axis 2). Please refer to Table 2-1.
The second axis and It can be either X, Y, Z, or U.
The third axis (axis 3). Please refer to Table 2-1.
The third axis and It can be either X, Y, Z, or U.
Starting speed (in PPS)
Vector speed (in PPS)
Vector acceleration (PPS/Sec)
Return:
None
Example:
i8094MF_LINE_3D_INITIAL(…);
//This function should be defined before the i8094MF_LINE_3D_CONTINUE()
//function is used. Please refer to the example of this function.
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BYTE i8094MF_LINE_3D_CONTINUE(BYTE cardNo, WORD nType, long fp1,
long fp2, long fp3)
Description:
This function execute a 3-axis continuous linear interpolation. However, it is a
software macro-function; therefore, it requires CPU resource to run this
function.
Parameters:
cardNo:
nType:
fp1:
fp2:
fp3:
Module number
0: 3-axis linear continuous interpolation
1: end of 2-axis linear continuous interpolation
The assigned number of pulses for axis 1
(-2,147,483,648 ~ +2,147,483,647)
The assigned number of pulses for axis 2
(-2,147,483,648 ~ +2,147,483,647)
The assigned number of pulses for axis 3
(-2,147,483,648 ~ +2,147,483,647)
Return:
YES
NO
An error has occurred.
Use the i8094MF_GET_ERROR_CODE ()
function to identify the error.
No errors.
Example:
BYTE cardNo=1; //select module 1.
int sv=300;
//starting speed: 300 PPS
int v=18000;
//vector speed: 18000 PPS
long a=500000L; //acceleration: 500000 PPS/Sec
int loop1;
i8094MF_SET_MAX_V(cardNo, AXIS_XYZU,160000L);
i8094MF_LINE_3D_INITIAL(cardNo, AXIS_X, AXIS_Y, sv, v, a);
for (loop1=0; loop1<10000; loop1++)
{
i8094MF_LINE_3D_CONTINUE(cardNo, 0, 100, 100, 100);
i8094MF_LINE_3D_CONTINUE(cardNo, 0, -100, -100, -100);
}
i8094MF_LINE_3D_CONTINUE(cardNo, 1, 100, 100, 100);
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6.4.4 Mixed Linear and Circular 2-axis motions in Continuous
Interpolation
void i8094MF_MIX_2D_INITIAL(BYTE cardNo, WORD axis1, WORD axis2,
WORD nAcc, DWORD VSV , DWORD VV , DWORD VA)
Description:
This function does the initial settings for mixed linear and circular 2-axis
motions in continuous interpolation.
Parameters:
cardNo:
axis1:
axis2:
nAcc:
VSV:
VV:
VA:
Module number
The first axis (axis 1). Please refer to Table 2-1.
The first axis and It can be either X, Y, Z, or U.
The second axis (axis 2). Please refer to Table 2-1.
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:
None
Example:
i8094MF_MIX_2D_INITIAL(…);
//This function should be defined before the i8094MF_MIX_2D_CONTINUE()
//function is used. Please refer to the example of this function.
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BYTE i8094MF_MIX_2D_CONTINUE(BYTE cardNo, WORD nAcc,
WORD nType, long cp1, long cp2, long fp1, long fp2)
Description:
This function executes mixed linear and circular 2-axis motion in continuous
interpolation. However, it is a software macro-function; therefore, it requires
CPU resource to run this function.
Parameters:
cardNo:
nAcc:
Module number
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.
nType:
1
2
3
4
5
cp1:
cp2:
fp1:
fp2:
fp1:
i8094MF_LINE_2D(BYTE cardNo, long fp1, long fp2);
i8094MF_ARC_CW(BYTE cardNo, long cp1, long cp2, long fp1, long fp2);
i8094MF_ARC_CCW(BYTE cardNo, long cp1, long cp2, long fp1, long fp2);
i8094MF_CIRCLE_CW(BYTE cardNo, long cp1, long cp2);
i8094MF_CIRCLE_CCW(BYTE cardNo, long cp1, long cp2);
It assigns the center point data at axis 1.
(-2,147,483,648 ~ +2,147,483,647)
It assigns the center point data at axis 2.
(-2,147,483,648 ~ +2,147,483,647)
It assigns the end point data at axis 1.
(-2,147,483,648 ~ +2,147,483,647)
It assigns the end point data at axis 2.
(-2,147,483,648 ~ +2,147,483,647)
The assigned number of pulses for axis 1
(-2,147,483,648 ~ +2,147,483,647)
Return:
YES
NO
ICPDAS
An error has occurred. Use the
i8094MF_GET_ERROR_CODE () function to identify the error.
No errors.
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Example:
BYTE cardNo=1;
int sv=300;
int v=18000;
long a=500000L;
//select module 1.
//starting speed: 300 PPS
//vector speed: 18000 PPS
//acceleration: 500000 PPS/Sec
unsigned short loop1;
i8094MF_SET_MAX_V(cardNo, AXIS_XYZU, 160000L);
i8094MF_MIX_2D_INITIAL(cardNo, AXIS_X, AXIS_Y, 1, sv, v, a);
for (loop1 = 0; loop1 < 10000; loop1++)
{
i8094MF_MIX_2D_CONTINUE (cardNo, 0, 1, 0, 0, 100, 100);
i8094MF_MIX_2D_CONTINUE (cardNo, 0, 2, 100, 0, 100, 100);
}
i8094MF_MIX_2D_CONTINUE (cardNo, 1, 4, 100, 100, 0, 0);
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6.4.5 Multi-Segment Continuous Interpolation (Using Array)
BYTE i8094MF_CONTINUE_INTP(
BYTE cardNo, WORD axis1, WORD axis2, WORD axis3,
WORD nAcc, DWORD VSV, DWORD VV, DWORD VA, DWORD VD,
BYTE nType[ ], long cp1[ ], long cp2[ ], long fp1[ ], long fp2[ ], long fp3[ ])
Description:
This function executes a multi-segment continuous interpolation. Those
segments are stored in arrays declared in the arguments . The speed profile
can be either a constant speed or a symmetric T-curve. The deceleration point
will be calculated automatically. However, it is a software macro-function;
therefore, it requires CPU resource to run this function.
Parameters:
cardNo:
axis1:
axis2:
axis3:
nAcc:
VSV:
VV:
VA:
VD:
nType[ ]:
1
2
3
4
5
6
7
cp2[ ]:
fp2[ ]:
ICPDAS
Maximum segment: 1024 (0 ~ 1023). It contains the
interpolation commands defined as follows.
i8094MF_LINE_2D(BYTE cardNo, long fp1, long fp2);
i8094MF_ARC_CW(BYTE cardNo, long cp1, long cp2, long fp1, long fp2);
i8094MF_ARC_CCW(BYTE cardNo, long cp1, long cp2, long fp1, long fp2);
i8094MF_CIRCLE_CW(BYTE cardNo, long cp1, long cp2);
i8094MF_CIRCLE_CCW(BYTE cardNo, long cp1, long cp2);
i8094MF_LINE_3D(BYTE cardNo, long fp1, long fp2, long fp3);
It indicates the end of continuous interpolation.
cp1[ ]:
fp1[ ]:
Module number
The first axis (axis 1). Can be either X, Y, Z, or U axis.
Please refer to Table 2-1 for the axis definition.
The second axis (axis 2). Can be either X, Y, Z, or U axis.
The third axis (axis 3). Can be either X, Y, Z, or U axis.
0
a constant speed interpolation. Please set VV.
1 a symmetric T-curve interpolation. Please set VSV, VV, VA,
and VD.
The starting speed (in PPS)
Interpolation vector speed (in PPS)
Acceleration (in PPS/Sec)
Deceleration (in PPS/Sec)
It contains a list of segment center point data at axis 1.
(-2,147,483,648 ~ +2,147,483,647)
It contains a list of segment center point data at axis 2.
(-2,147,483,648 ~ +2,147,483,647)
This array contains a list of segment end point data at axis 1.
(-2,147,483,648 ~ +2,147,483,647)
This array contains a list of segment end point data at axis 2.
(-2,147,483,648 ~ +2,147,483,647)
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fp3[ ]:
This array contains a list of segment end point data at axis 3.
(-2,147,483,648 ~ +2,147,483,647)
(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.)
YES
An error has occurred. Use the
i8094MF_GET_ERROR_CODE () function to identify the error.
No errors.
Return:
NO
Example:
BYTE cardNo=1; //select module 1.
int sv=100; //set the starting speed to 100 PPS.
int v=3000; //set the speed to 3000 PPS.
int a=2000; //set the acceleration to 2000 PPS/Sec.
int d=2000; //set the deceleration to 2000 PPS/Sec.
i8094MF_SET_MAX_V(cardNo, AXIS_XYZU, 20000);
//set the maximum speed to 20K PPS.
BYTE nType[10]= {
1,
2,
1,
2,
1,7,0,0,0,0};
long cp1[10]=
{
0, 10000,
0,
0,
0,0,0,0,0,0};
long cp2[10]=
{
0,
0,
0,-10000,
0,0,0,0,0,0};
long fp1[10]=
{ 10000, 10000, 1000, 10000,-31000,0,0,0,0,0};
long fp2[10]=
{ 10000, 10000,
0,-10000,-10000,0,0,0,0,0};
long fp3[10]=
{
0,
0,
0,
0,
0,0,0,0,0,0};
//put data of the required segments in arrays.
i8094MF_CONTIUNE_INTP(
cardNo, AXIS_X, AXIS_Y, 0, 1, sv, v, a, d, nType, cp1, cp2, fp1, fp2, fp3);
//execute the 2-axis continuous interpolation.
//The deceleration point will be calculated automatically.
//For this example, the final position of this motion will return to the starting
point.
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6.4.6 3-Axis Helical Motion
BYTE i8094MF_HELIX_3D(
BYTE cardNo, WORD axis1, WORD axis2, WORD axis3, WORD 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.
Parameters:
cardNo:
axis1:
Axis2:
Axis3:
nDir:
VV:
cp1:
cp2:
cycle:
pitch:
Module number
The first axis (axis 1). Can be X, Y, Z, or U axis.
Please refer to Table 2-1 for the axis definition.
The second axis (axis 2). Can be either X, Y, Z, or U axis.
The third axis (axis 3). Can be either X, Y, Z, or U axis.
0
Move in a CW direction.
1
Move in a CCW direction.
Vector speed (in PPS)
The value of center at axis 1
(-2,147,483,648 ~ +2,147,483,647)
The value of center at axis 2
(-2,147,483,648 ~ +2,147,483,647)
Number of cycles
Pitch per revolution (the advanced distance for each
revolution) (-2,147,483,648 ~ +2,147,483,647)
Return:
YES
NO
An error has occurred. Use the
i8094MF_GET_ERROR_CODE () function to identify the error.
No errors.
Example:
BYTE cardNo=1; //select module 1.
//===============================================
i8094MF_SET_MAX_V(cardNo, AXIS_XYZU,160000L);
//set maximum speed for all axes to 16K PPS.
long v=50000;
//set vector speed to 50K PPS.
i8094MF_HELIX_3D(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
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//along the X axis.
//===============================================
i8094MF_SET_MAX_V(cardNo, AXIS_XYZU, 160000L);
//set the maximum speed for all axes to 160K PPS.
long v=100000L;
//set vector speed to 100K PPS.
i8094MF_HELIX_3D(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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6.4.7 2-Axis Ratio Motion
BYTE i8094MF_RATIO_INITIAL(BYTE cardNo, WORD axis1, WORD axis2,
DWORD SV , DWORD V , DWORD A, float ratio)
Description:
This function sets the Initial values for ratio motion (motion in ratio) using a
symmetric T-curve speed profile. However, it is a software macro-function;
therefore, it requires CPU resource to run this function.
Parameters:
cardNo:
axis1:
Axis2:
SV:
V:
A:
ratio:
Module number
The first axis (axis 1). Can be either X, Y, Z, or U axis.
Please refer to Table 2-1 for the axis definition.
The second axis (axis 2). Can be either X, Y, Z, or U axis.
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 ratio value between the two assigned axes.
Return:
None
Example:
i8094MF_RATIO_INITIAL(…);
//Initial setting for i8094MF_RATIO_2D(…) function.
//Please refer to the example of i8094MF_RATIO_2D() function.
BYTE i8094MF_RATIO_2D(BYTE cardNo, WORD nType, long data, WORD nDir)
Description:
This function performs a two-axis ratio motion.
Parameters:
cardNo:
nType:
data:
nDir:
Module number
0
Perform the ratio motion.
1
Declare the end of ratio motion.
The pulse number of axis1
(-2,147,483,648 ~ +2,147,483,647)
Direction of the second axis.
0: CW;
1: CCW
Return:
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YES
NO
An error has occurred. Use the
i8094MF_GET_ERROR_CODE () function to identify the error.
No errors.
Example:
BYTE cardNo=1; //select module 1.
int sv=300; //set starting speed to 300 PPS.
int v=18000; //set vector speed to 18000 PPS.
long a=500000L; //set acceleration value to 500K PPS/Sec.
int loop1, loop2;
i8094MF_SET_MAX_V(cardNo, 0Xf,160000L);
//set maximum speed value to 18000 PPS.
i8094MF_RATIO_INITIAL(cardNo,AXIS_U, AXIS_X, sv, v, a, 0.36f);
//assign U axis as the axis 1 and X axis as the axis 2.
//The ratio is 0.36.
for (loop2 = 0; loop2 < 5; loop2++)
{
for (loop1 = 0; loop1 < 5; loop1++)
{
i8094MF_RATIO_2D(cardNo, 0, 3600, 0);
//perform the ratio motion in the CW direction.
i8094MF_RATIO_2D(cardNo, 0, 3600, 1);
//perform the ratio motion in the CCW direction.
}
i8094MF_RATIO_2D(cardNo, 0, 7200, 0);
i8094MF_RATIO_2D(cardNo, 0, 3600, 1);
}
i8094MF_RATIO_2D(cardNo, 1, 7200, 0);
//End the ratio motion.
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6.5 Set the Interrupt Factors
6.5.1 Set the Interrupt Factors
void i8094MF_INTFACTOR_ENABLE(BYTE cardNo, WORD axis, WORD nINT)
Description:
This function sets the interrupt factors
Parameters:
cardNo:
axis:
nINT
Module number
Axis or axes (Please refer to Table 2-1)
Interrupt factors
Value
0
Symbol
PULSE
1
P>=C-
2
P<C-
3
P>=C+
4
P<C+
5
C-END
6
C-STA
7
D-END
Statement
Interupt occurs when pulse is up
Interrupt occurs when the value of logical / real
position counter is larger than or equal to that of
COMP- register. The COMP- must be
pre-configired with i8094MF_SET_COMPARE( )
(please refer to Section 6.3.2)
Interrupt occurs when the value of logical / real
position counter is smaller than that of COMPregister. The COMP- must be pre-configired with
i8094MF_SET_COMPARE( ) (please refer to
Section 6.3.2)
Interrupt occurs when the value of logical / real
position counter is smaller than that of COMP+
register. The COMP+ must be pre-configired with
i8094MF_SET_COMPARE( ) (please refer to
Section 6.3.2)
Interrupt occurs when the value of logical / real
position counter is larger
than or equal to that
of COMP+ register. The COMP+ must be
pre-configired with i8094MF_SET_COMPARE( )
(please refer to Section 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
Return:
None
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Example:
HANDLE hINT; //Interrupt event handle
HANDLE i8094_hThread; //IST handle
DWORD WINAPI i8094_ThreadFunction(LPVOID lParam); //IST function
BYTE CardNo=1;
BYTE Slot1=1;
//MFC button event: Create the thread and set the interrupt factor
void CI8094QCDlg::OnTestint()
{
DWORD dwThreadID = 0;
HWND hWnd = NULL;
//Create thread: i8094_ThreadFunction
i8094_hThread = CreateThread(NULL, 0, i8094_ThreadFunction, hWnd, 0,
&dwThreadID);
BYTE axis=AXIS_XYZU;
i8094MF_SET_MAX_V(CardNo, axis, 20000);
i8094MF_NORMAL_SPEED(CardNo, axis, 0);
i8094MF_SET_V(CardNo, axis, 20000);
i8094MF_SET_A(CardNo, axis, 100000);
i8094MF_SET_SV(CardNo, axis, 20000);
i8094MF_SET_AO(CardNo, axis, 0);
//Initialize the interrupt
hINTP=Slot_Register_Interrupt(Slot1);
//Set the interrupt factor: D-END
i8094MF_INTFACTOR_ENABLE(CardNo, AXIS_X, 7);
// 4-Axis fixed pulse drive
i8094MF_FIXED_MOVE(CardNo, AXIS_XYZU, 10000);
while (i8094MF_STOP_WAIT(CardNo, 0xf) == NO)
{
//Wait for motion done
DoEvents();
Sleep(1);
}
}
//IST function
DWORD WINAPI i8094KW_ThreadFunction(LPVOID lParam)
{
DWORD dwEvent;
WORD RR3_X;
if(hINTP != NULL)
{
//Wait the event object
dwEvent = WaitForSingleObject(hINTP, INFINITE);
switch(dwEvent)
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{
case WAIT_OBJECT_0:
//Get the interrupt event object successfully
//While the driving stop, clear the position counter
i8094MF_SET_LP(CardNo, AXIS_X, 0)
// …
//Other user codes in the IST
// …
//End of the interrupt
Slot_Interrupt_Done(Slot1);
//Get the interrupt status
RR3_X = i8094_GET_RR3(CardNo, AXIS_X);
//Disable the interrupt factor
i8094MF_INTFACTOR_DISABLE(CardNo, AXIS_X);
//Close the interrupt
Slot_Interrupt_Close(Slot1);
break;
case WAIT_TIMEOUT:
break;
case WAIT_FAILED:
break;
}
}
return 1;
}
Note:
Please refer the three functions: Slot_Register_Interrupt(BYTE Slot),
Slot_Interrupt_Done(BYTE Slot), Slot_Interrupt_Close(BYTE Slot) in the
WinConSDK of Wincon GM1(w-8331-GM1/w-8731-GM1).
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6.5.2 Interrupt Disabled
void i8094MF_INTFACTOR_DISABLE(BYTE cardNo, WORD axis)
Description:
This function disables the interrupt factors
Parameters:
cardNo:
axis:
Module number
Axis or axes (Please refer to Table 2-1)
Return:
None
Example:
Please refer to 6.5.1
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6.5.3 Read the Interrupt Occurrence
WORD i8094MF_GET_RR3(BYTE cardNo, WORD axis)
Description:
Read the RR3 register that reflects the occurrence of Interrupt.
Parameters:
cardNo:
axis:
Module number
Axis or axes (Please refer to Table 2-1)
Return:
The content of RR3 register.
RR3 Value
0x001
PULSE
0x002
P>=C-
0x004
P<C-
0x008
P<C+
0x010
P>=C+
0x020
C-END
0x040
C-STA
0x080
D-END
說明
When the drive pulse is up (drive pulseis set
on the positive logical level)
Once the value o flogic / real position counter
is larger than that of COMP- register
Once the value o flogic / real position counter
is smaller than that of COMP- register
Once the value o flogic / real position counter
is smaller than that of COMP+ register
Once the value o flogic / real position counter
is larger than 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
Example:
i8094MF_GET_RR3 (cardNo, AXIS_X);
//read the Interrupt status of AXIS_X
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6.6 Other functions
6.6.1 Holding the Driving Command
void i8094MF_DRV_HOLD(BYTE cardNo, WORD axis)
Description:
This command is usually used when users desire to starti multi-axis driving
simultaneously. When this command is issued, users may write other driving
commands to the control card. All the driving commands will be held after
i8094MF_DRV_HOLD() is issued, and these commands will be started once the
i8094MF_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.
Parameters:
cardNo:
axis:
Module number
Axis or Axes (Please refer to Table 2-1 for the axis definition.)
Return:
None
Example:
Please refer to the example in section 6.5.2.
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6.6.2 Release the Holding Status, and Start the Driving
void i8094MF_DRV_START(BYTE cardNo, WORD axis)
Description:
This command releases the holding status, and start the driving of the
assigned axes immediately.
Parameters:
cardNo:
axis:
Module number
Axis or Axes (Please refer to Table 2-1 for the axis definition.)
Return:
None
Example:
BYTE cardNo=1; //select card 1.
i8094MF_DRV_HOLD(cardNo, AXIS_XYU); //hold the driving command to XYU
i8094MF_SET_MAX_V(cardNo, AXIS_U, 10000);
//set the maximum speed of U-axis to be 10K PPS.
i8094MF_NORMAL_SPEED(cardNo, AXIS_U, 0);
//set the driving mode to be symmetric T-curve.
i8094MF_SET_V(cardNo, AXIS_U, 2000);
//set the speed of U-axis to 2,000 PPS.
i8094MF_SET_A(cardNo, AXIS_U, 1000);
//set the acceleration of U-axis to 1,000 PPS/S.
i8094MF_SET_SV(cardNo, AXIS_U, 2000);
//set the starting speed to 2,000 PPS.
i8094MF_SET_AO(cardNo, AXIS_U, 9);
// set the AO to 9 Pulses.
i8094MF_SET_MAX_V(cardNo, AXIS_XY, 20000);
//set the maximum speed of X and Y axes to 20K PPS.
i8094MF_AXIS_ASSIGN(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.
i8094MF_VECTOR_SPEED(cardNo, 0);
//set constant speed motion. Therefore, VSV=VV. Only VV is required.
i8094MF_SET_VV(cardNo, 5000);
//set the vector speed for card 1 to 5,000 PPS.
i8094MF_FIXED_MOVE(cardNo, AXIS_U, 5000);
//command U-axis to move 5,000 Pulse. This command is be held.
i8094MF_LINE_2D(cardNo, 12000, 10000);
//command a linear interpolation motion on the XY planes. It is held, too.
i8094MF_DRV_START(cardNo, AXIS_XYU);
//release the holding status. X,Y , and U axes will start to move simultaneously.
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6.6.3 Waiting until the Motion Is Completed
BYTE i8094MF_STOP_WAIT(BYTE cardNo, WORD axis)
Description:
This function can be used to assign commands to be performed while waiting
for all motion to be completed (stopped).
Parameters:
cardNo:
axis:
Module number
Axis or axes (Please refer to Table 2-1)
Return:
YES
NO
Motion is complete
Motion is not complete
EXAMPLE:
BYTE cardNo=1; //select module 1
i8094MF_SET_MAX_V(cardNo, AXIS_XYZU, 20000);
//set the maximum speed of all axes on module 1 to 20K PPS.
i8094MF_NORMAL_SPEED(cardNo, AXIS_XYZU, 0);
//set the speed profile of all axes on module 1 to be symmetric T-curve
i8094MF_SET_V(cardNo, AXIS_XYZU, 2000);
//set the speed of all axes on module 1 to 2000 PPS.
i8094MF_SET_A(cardNo, AXIS_XYZU,1000);
//set the acceleration value of all axes on module 1 to 1000 PPS/S.
i8094MF_SET_SV(cardNo, AXIS_XYZU, 2000);
//set the start velocity of all axes on module 1 to 2000 PPS.
i8094MF_SET_AO(cardNo, AXIS_XYZU, 9);
//set the value of remaining offset pulses to 9 pulses.
i8094MF_FIXED_MOVE(cardNo, AXIS_XYZU, 10000);
// move all axes on module 1 for 10000 pulses.
if (i8094MF_STOP_WAIT(cardNo, AXIS_X) == NO)
{
//perform some actions here if the X axis has not finished its
//motion.
}
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6.6.4 Stopping the Axes
void i8094MF_STOP_SLOWLY(BYTE cardNo, WORD axis)
Description:
This function decelerates and finally stops the assigned axes slowly.
Parameters:
cardNo:
axis:
Module number
Axis or axes (Please refer to Table 2-1)
Return:
None
Example:
i8094MF_STOP_SLOWLY(1, AXIS_XY);
//decelerate and stop the X and Y axes
void i8094MF_STOP_SUDDENLY(BYTE cardNo, WORD axis)
Description:
This function immediately stops the assigned axes.
Parameters:
cardNo:
axis:
Module number
Axis or axes (Please refer to Table 2-1)
Return:
None
Example:
i8094MF_STOP_SUDDENLY(1, AXIS_ZU);
//immediately stop the Z and U axes.
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void i8094MF_VSTOP_SLOWLY(BYTE cardNo)
Description:
This function stops interpolation motion of the assigned module in a
decelerating way.
Parameters:
cardNo:
Module number
Return:
None
Example:
i8094MF_VSTOP_SLOWLY(1);
//stop the interpolation of card 1 in a decelerating way.
void i8094MF_VSTOP_SUDDENLY(BYTE cardNo)
Description:
This function stops interpolation motion of the assigned module immediately.
Parameters:
cardNo:
Module number
Return:
None
Example:
i8094MF_VSTOP_SUDDENLY(1);
// stop the interpolation of card 1 immediately.
void i8094MF_SSTOP_SLOWLY(BYTE cardNo, WORD axis)
Description:
Except for State-Control, This function provides the similar feature with
i8094MF_STOP_SLOWLY(). Stop pulse output simply (no ERROR_CODE 256
returned).
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Parameters:
cardNo:
axis:
Module number
Axis or axes (Please refer to Table 2-1)
Return:
None
Example:
i8094MF_SSTOP_SLOWLY(1, AXIS_XY);
//decelerate and stop the X and Y axes
void i8094MF_SSTOP_SUDDENLY(BYTE cardNo, WORD axis)
Description:
Except for State-Control, This function provides the similar feature with
i8094MF_STOP_ SUDDENLY (). Stop pulse output simply (no ERROR_CODE
256 returned).
Parameters:
cardNo:
axis:
Module number
Axis or axes (Please refer to Table 2-1)
Return:
None
Example:
i8094MF_SSTOP_SUDDENLY(1, AXIS_ZU);
//immediately stop the Z and U axes.
void i8094MF_SVSTOP_SLOWLY(BYTE cardNo)
Description:
Except for State-Control, This function provides the similar feature with
i8094MF_ VSTOP_SLOWLY (). Stop pulse output simply (no ERROR_CODE
256 returned).
Parameters:
cardNo:
Module number
Return:
None
Example:
i8094MF_SVSTOP_SLOWLY(1);
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//stop the interpolation of card 1 in a decelerating way.
void i8094MF_SVSTOP_SUDDENLY(BYTE cardNo)
Description:
Except for State-Control, This function provides the similar feature with
i8094MF_ VSTOP_ SUDDENLY (). Stop pulse output simply (no
ERROR_CODE 256 returned).
Parameters:
cardNo:
Module number
Return:
None
Example:
i8094MF_SVSTOP_SUDDENLY(1);
// stop the interpolation of card 1 immediately.
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6.6.5 Clear the Stop Status
void i8094MF_CLEAR_STOP(BYTE cardNo)
Description:
After using anyone of the stop functions mentioned in section 6.5.4,
please solve the malfunction, then issue this function to clear the stop
status.
Paramters:
cardNo:
Module number
Return:
None
Example:
i8094MF_VSTOP_SUDDENLY(1);
//command the card 1 to stop motion immediately.
i8094MF_CLEAR_STOP(1);
//clear the error status of card 1.
6.6.6 End of Interpolation
void i8094MF_INTP_END(BYTE cardNo, WORD type)
Description:
1. If the current motion status is running a interpolation motion and you
would like to issue a single axis motion or change the coordinate
definition, you should call this function before the new command is
issued.
2. You can redefine the MAX_V for each axis. In this way, you do not have to
execute i8094MF_INTP_END() function.
Parameters:
cardNo:
type:
Module number
0
2-axis interpolation
1
3-axis interpolation
Return:
None
Example:
i8094MF_INTP_END(1, 0); //declear the end of a 2-axis interpolation on card 1.
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Appendix A (i-8094 Basic Functions)
A.1 i8094 Command Set
Table A-1 I-8094 motion command classification
Function Classification
Registers Management Functions
Initial Functions
Basic Motion Command Functions
Interpolation Functions
Automatic Home Search
Application Functions
Interrupt Control Functions
Statement
Set the command register (WR0), mode registers
(WR1~WR3), output register (WR4), and interpolation
mode register (WR5). Get the status registers
(RR0~RR7)
Set the initial status of the system. There are about the
registration, the card name, the slot number, the output
pulse mode and hardware limit signal and software limit
signal.
Provides the (T/S)-Curve acceleration/ deceleration
(symmetric / asymmetric) for 4-axes.
Provides the (2/3) axes linear interpolation, circular
interpolation, and (2/3) axes bit pattern interpolation
Provides the automatic home search function, the
hardware signals setting, and the extension mode
function setting.
Provides the synchronous action conditions, and the
digital filter settings.
Uses the MCX314As’s interrupt factors and the
interrupt service routine (ISR) to design the path
planning or command the continuous motion.
Axis I/O Signal Functions
Include the alarm, In-position, external signal settings
and the servo input status settings.
Register Management Functions
Include the set/get of the logic position counters and
the encoder position counters, and get the current
velocity and acceleration.
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A.2 Pulse Output Command
A.2.1 Signal Types
I-8094 has two modes for pulse output command: One is fixed-pulse command output mode; the
other is continuous pulse command output mode. User can choose the modes by setting the
specific registers. There are two ways to choose the desired pulse mode: a) adjusting hardware
jumper, and b) setting registers by software programming. The output pulse command modes are
showing in Table 2-2. Moreover, the detail illustration for the pulse modes are shown in Fig. A-1~
Fig. A-6.
Fig. A-1 CW/CCW Input mode 1
Fig. A-2 CW/CCW Input mode 2
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Fig. A-3 Pulse / Direction input mode 1
Fig. A-4 Pulse / Direction input mode 2
Fig. A-5 Pulse / Direction input mode 3
Fig. A-6 Pulse / Direction input mode 4
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A.2.2 Fixed Pulse Driving
When host CPU writes a pulse numbers into I-8094 for fixed pulse driving, and configures the
performance such as acceleration / deceleration and speed. I-8094 will generate the pulses and
output them automatically. When output pulse numbers are equal to the command pulse
numbers, I-8094 stops the output. The profile is showing in Fig. A-7. Concerning the execution of
fixed pulse driving in acceleration / deceleration, it is necessary to set the following parameters:
Range: R
Initial Speed: SV (PPS)
Driving Speed: V (PPS)
Acceleration: A (PPS/Sec)
Deceleration: D (PPS/Sec)
Output Pulse Numbers: P
A.2.3 Changing Output Pulse Numbers in Driving
The output pulse numbers can be changed in the fixed pulse driving. If the command is for
increasing the output pulse, the pulse output profile is shown as Fig. A-8 or A-9.
If the command is for decreasing the output pulses, the output pulse will be stopped immediately
as shown in Fig. A-10. Furthermore, when in the S-curve acceleration /deceleration driving mode,
the output pulse number change will occur to an incomplete deceleration S-curve.
A.2.4 Offset Setting for Acceleration/Deceleration Driving
The offset function can be used for compensating the pulses when the decelerating speed
doesn’t’ reach the setting initial speed during the S-curve fixed pulse driving. It will calculate the
acceleration / deceleration point automatically, and will arrange the pulse numbers in
acceleration equal to that in deceleration. The method is calculating the output acceleration
pulses and comparing them with the remaining pulses. When the remaining pulses are equal to
or less the pulses in acceleration, it starts the deceleration. When setting the offset for
deceleration, it will start deceleration early for the offset. The remaining pulses of offset will be
driving output at the initial speed (see Fig. A-11). The default value for offset is 8 when motion
card power-on reset. It is not necessary to change the shift pulse value in the case of
acceleration/deceleration fixed pulse driving.
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Fig. A-7 Fixed pulse driving
Fig. A-8 Changing the output pulse
numbers in driving
Fig. A-9 Changing command during
deceleration
Fig. A-10 Changing the lesser pulse
numbers than output pulse stop
Fig. A-11 Offset pulse in fixed-pulse driving
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A.2.5 Continuous Drive Pulse Output
When the continuous driving is performed, it will drive pulse output in a specific speed until stop
command or external stop signal is happened. The main application of continuous driving is:
home searching, teaching or speed control. Two stop commands are for stopping the continuous
driving. One is “decelerating stop”, and the other is “sudden stop”. Four input pins, IN3~IN0, of
each axis can be connected for external decelerating and sudden stop signals. Enable / disable,
active levels and mode setting are possible.And it is necessary to set the following parameters:
Range: R
Initial Speed: SV (PPS)
Driving Speed: V (PPS)
Acceleration: A (PPS/Sec)
Deceleration: D (PPS/Sec)
Output Pulse Numbers: P
Fig. A-12 Continuous driving
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A.2.6 Constant Speed Driving
When the driving speed command set in I-8094 is lower than the initial speed, the acceleration
/deceleration will not be performed, instead, a constant speed driving starts. If the user wants to
perform the sudden stop when the home sensor or encoder Z-phase signal is active, it is better
not to perform the acceleration / deceleration driving, but the low-speed constant driving from the
beginning. For processing constant speed driving, the following parameters will be preset
accordingly.
Range: R
Initial Speed: SV
Drive Speed: V (Just set one of SV and V can be attained the effect)
Output Pulse Numbers: P (Only applicable for the fixed pulse driving)
Fig. A-13 Constant speed driving
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A.3 Profile Acceleration/Deceleration Planning
According to the motion control, we should used acceleration / deceleration planning for
improving the capability of path planning and reducing the position error. The speed driving profile
in I-8094 can be configured as T-curve and S-curve acceleration / deceleration.
A.3.1 Trapezoidal Driving [Symmetric]
T-curve Description
The linear acceleration / deceleration driving is also called the trapezoidal driving. About the
correlation parameters are: total displacement S, start speed SV, driving speed V, acceleration A.
By above the parameters we can plan the trapezoidal driving:
Acceleration equation:
V = SV + A × TA
(1-1)
The time for the end of constant speed:
TM =
S
V
(1-2)
The time for the start of constant speed:
A=
V − SV
TA
(1-3)
The T-Curve acceleration / deceleration planning are shown in Fig. A-14.
Fig. A -14 Symmetric T-curve acc./dec. planning
Trapezoidal driving is starting from the initial speed to the designated drive speed. The
accelerating pulses will be counted, and the deceleration (automatic deceleration) starts from the
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drive speed to initial speed once the remaining pulse numbers are less than the accelerating
pulse numbers.
Usually, the user should set the same acceleration and deceleration rates. For some cases, the
acceleration and deceleration can be set individually by setting the D1 of WR3 to 1. When the
deceleration is set individually in fixed pulse driving, the automatic deceleration will not be
performed, but the manual deceleration is required. The user should set the bit D1 of Register
WR3 as 1, and then use decelerating command (03h) to set the deceleration.
When performing the symmetric trapezoidal driving, the following parameters should be preset.
Range: R
Initial Speed: SV (PPS)
Driving Speed: V (PPS)
Acceleration: A (PPS/Sec)
Output Pulse Number P
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A.3.2 Trapezoidal Driving [Asymmetric]
When an object is to be moved using stacking equipment, the acceleration and the deceleration
of vertical transfer need to be changed since gravity acceleration is applied to the object. I-8094
performs automatic deceleration in fixed pulse driving in the non-symmetric linear acceleration
where the acceleration where the acceleration and the deceleration are different. It is not
necessary to set a manual deceleration point by calculation in advance. Fig. A-15 shows the case
where the deceleration is greater than the acceleration and Fig. A-16 shows the case where the
acceleration is greater than the deceleration. In such asymmetric linear acceleration also, the
deceleration start point is calculated within the IC based on the number of output pulse P and
each rate parameter.
Fig. A-15 Asymmetric T-curve acc./dec. driving (A<D)
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Fig. A-16 Asymmetric T-curve acc./dec. driving (A>D)
When performing the asymmetric trapezoidal driving, the following parameters should be set.
Range: R
Acceleration: A (PPS/Sec)
Deceleration: D (PPS/Sec)
Initial Speed : SV: (PPS)
Driving Speed: V: (PPS)
Output Pulse Number: P
Note: In the case of A>D, the following condition is applied to the ratio of the
acceleration and the deceleration. D > A ×
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A.3.3 Triangle Prevention
The triangle prevention function prevents a triangle form in linear acceleration fixed
pulse driving even if the number of output plses is low. When the number of pulses that were
utilized at acceleration and deceleration exceeds 1/2 of the total number of output pulses during
acceleration, the IC (MCX314As) stops acceleration and enters a constant speed mode. The
triangle prevention function is disabled at resetting. And set the WR6/D3 (AVTRI) bit of the
extension mode by setting command (60h) to 1 can enable the Function.
Fig. A-17 Triangle prevention of fixed pulse driving
P=2×(Pa+Pd)
P: Output pulse number
Pa: Number of pulses utilized at acceleration
Pd: Number of pulses utilized at deceleration
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A.3.4 S-curve Acceleration / Deceleration [Symmetry]
Complete S-curve Description
The complete S-Curve is composed of two two-degree velocity curves; if we set the time of the
acceleration is TA:
Velocity equation of segment (1):
V (t ) = Ct 2 , t < TA / 2
(1-4)
Velocity equation of segment (2):
V (t ) = V − C (TA − t ) 2 , t > TA / 2
(1-5)
Boundary condition:
V (0) = 0, V (TA / 2) = V / 2, V ' (0) = 0
(1-6)
By the BCs and then we can find that
C=
2V
(TA) 2
(1-7)
Fig. A-18 Complete S-curve acc. planning
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Partial S-curve Description
Partial S-curve is composed of three segments (1, 2, 3): one straight line and two S-curve
lines. S-curve is the (1), (3) segments for S-curve acceleration, the straight line is (2) segment for
linear acceleration; the total motion time is defined TA , and the time of the linear acceleration
is TA − (2 × TS ) . However there is the same acceleration value in the join of the three segments.
Velocity equation of segment (1):
V (t ) = C1t 2 , t < TS
(1-8)
Velocity equation of segment (2):
V (t ) = C 2 t , TS < t < TA − TS
(1-9)
Velocity equation of segment (3):
V (t ) = V − C1 (TA − t ) 2 , TA − TS < t < TA
(1-10)
The constant value C 2 is the slope of the line:
C2 =
V − 2VS
(1-11)
TA − 2TS
Boundary condition of the connection for (1), (2):
V ' (TS ) = C 2
We can find that C1 =
(1-12)
V
2
2[TS + (TS × (TA − 2TS ))]
(1-13)
Fig. A-19 Partial S-curve planning
In case of S-curve acceleration / deceleration driving, the acceleration profile is not linear. The
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value of acceleration / deceleration is shaped as the trapezoid; see Fig. A-20. In acceleration,
there are three regions with different acceleration values. At the beginning, the acceleration
increase linearly from 0 to the specific value A with a specific rate of acceleration K, this shows
the driving speed increase parabolically in this region. Then, the driving speed increases in a
constant acceleration in region b. And, in section c, the acceleration decelerates linearly to 0 with
the rate of deceleration K. So the acceleration of S-curve includes regions a, b and c. In
deceleration, as same as acceleration, the driving speed decelerate parabolically in three regions
d, e and f.
Fig. A-20 S-Curve acceleration / deceleration driving
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When the fixed pulse trapezoidal driving is performed, and also when the deceleration is
performed before the acceleration stops, the triangle driving profile is coming out. The prevention
of triangle driving profile in S-curve acceleration / deceleration driving will be discussed as follows.
If the initial speed is 0, and if the rate of acceleration is a, then the speed at time t in acceleration
region can be described as following.
V (t ) = Kt 2
(1-14)
Therefore, the total output pulse number p(t) from time 0 to t is the integrated of speed.
1
p (t ) = ∫ V (t ) dt = Kt 3
3
(1-15)
(1 / 3 + 2 / 3 + 1 + 2 / 3 + 1 + 1 / 3) × at 3 = 4at 3
(1-16)
The total output pulse is
From (1-15), (1-16), when the output pulse in acceleration of S-curve is more than 1/12 of total
output pulse; it will stop increasing acceleration and start to decrease the acceleration value.
Fig. A-21 The rule of 1/12 of parabolic acceleration/deceleration.
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A.3.5 S-curve Acceleration / Deceleration [Asymmetry]
As shown in Fig. A-22, set a jerk and a deceleration-increasing rate individually in S-curve
acc/dec driving can create a non-symmetric S-curve. However, for fixed pulse driving, a
deceleration point must be specified manually, since automatic deceleration is prohibited. Since a
triangle form prevention function (1/12 rule) is not supported either, a drive speed must be set
according to the acc./dec. increasing rate and the number of output pulse.
Fig. A-22 Non-symmetric S-curve acceleration/deceleration drive
Note: To perform non-symmetrical S-curve acc./dec. driving. Set the D0, D1, D2 bits of the
nWR3 register as follows.
Mode setting bit
WR3/D0
Symbol
MANLD
Setting Value
1
WR3/D1
DSNDE
1
WR3/D2
SACC
1
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Comment
Manual deceleration
The deceleration increasing rate
setting value is used at
deceleration.
S-curve acceleration/ deceleration
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A.4 Pulse Output Commands
A.4.1 2/3 Axes Interpolation
Any 2 or 3 axes of the 4 axes can be set for linear interpolation. To execute the linear
interpolation, the user can, according to the present point coordinates, set the finish point
coordinates and the interpolation command(s) for 2 or 3 axes, as shows in Fig. A-23, A-24. For
individual axis control, the command pulse number is unsigned, and it is controlled by + direction
command or - direction command. For interpolation control, the command pulse number is
signed. The resolution of linear interpolation is within ±0.5 LSB. We define the longest distance
movement in interpolation is the “long axis”. And the other is “short axis”. The long axis outputs
an average pulse train. The driving pulse of the short axis depends on the long axis and the
relationship of the two axes. The range for each axis is a 24-bit signed counter, from -223 ~ +223.
When performing the linear interpolation, the following parameters should be preset.
Range: R
Initial Speed: SV (PPS)
Driving Speed: V (PPS)
Acceleration: A (PPS/Sec)
Finish Position FP
Fig. A-23 2/3axes linear interpolation
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A.4.2 Circular Interpolation
Any 2 axes of the 4 axes can be selected for circular interpolation. The circular interpolation is
starting from the current position (start point). After setting the center point of circular, the finish
position and the CW or CCW direction, the user can start the circular interpolation. Note: The
coordinates setting value is the relative value of the start point coordinates. In Fig. A-25, it
explains the definition of CW and CCW circular interpolations. The CW circular interpolation is
starting from the start point to the finish position with a clockwise direction; the CCW circular
interpolation is with a counter-clockwise direction. When the finish point is set to (0, 0), a circle
will come out.
When performing the circular linear interpolation, the following parameters should be preset.
Range: R
Initial Speed: SV (PPS)
Driving Speed: V (PPS)
Acceleration: A (PPS/Sec)
Finish Position FP
Circular Center Position C
Fig. A-24 Circular interpolation
In Fig. A.26, it explains the long axis and the short axis. First, we define 8 quadrants in the
X-Y plane and put the numbers 0~7 to each quadrant. We find the absolute value of ax1 is
always larger than that of ax2 in quadrants 0, 3, 4 and 7, so we call ax1 is the long axis (ax2 is the
short axis) in these quadrants; in quadrants 1, 2, 5 and 6,ax2 is the long axis (ax1 is the short
axis). The short axis will output pulses regularly, and the long axis will output pulses depending
on the interpolation calculation.
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Fig. A-25 The 0~7Quadrants in circular interpolation calculation
Note: The calculation steps for the manual deceleration length of circular interpolation
1. First judge the start point and finish point located on which quadrant
2. from the center coordinate to decide the motion radius.
3. Calculate the pulse number of the start point and finish point on the quadrant.
(Take notice of the different motion direction (CW/CCW)).
4. Calculate the whole quadrant numbers that passed through in the path planning.
5. The result of step3+step4 is the total pulse number.
6. Users can get the suitable multiple from the setting maximum speed, if the multiple
= M, and then the real start speed: RSV＝SV×M, real driving speed: RV＝V×M, real
acceleration: RA＝A×125×M
By the equation: RSV＝RV＋RA×TA, and you can get the time and displacement for the
acceleration area.
7. If the pulse numbers of deceleration segment are same as the acceleration segment, it
can figure easily:
manual decelerating point＝total output pulse－output pulse during acceleration
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Fig. A-27 shows the circular interpolation of a real circle with radius 10000 in a trapezoidal
driving. The user should calculate the decelerating point before driving because the automatic
deceleration will not be active. In the figure, the circle tracks through all the 8 quadrants: 0~7. In
quadrant 0, Y axis is the short axis and it’s displace is about 10000 / 2=7071
The total output pulses numbers of the short axis are 7010x8=56568. Furthermore, if the
initial speed is 500PPS, and will be accelerated to 20KPPS after 0.3 SEC, the acceleration will be
(20000-500) /0.3 = 65000PPS/SEC. And the output pulses during acceleration will be
(500+20000) x 0.3/2=3075. Thus, if we set the deceleration as same as the acceleration, the
manual decelerating point will be 56568-3075=53493.
Note: 1. This formula cannot be used in the constant vector speed driving.
2. In circular interpolation only manual deceleration in trapezoidal driving is available;
the automatic deceleration in S-curve driving is not available.
Fig. A-26 Calculation of manual deceleration point for circular interpolation
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A.4.3 Bit Pattern Interpolation
This interpolation driving receives interpolation data that is created by upper-level CPU and
transformed to bit patterns in a block of a predetermined size, and outputs interpolation pulses
consecutively at the specified drive speed. Every axis has 2 bit-data buffers for host CPU: one for
+ direction and the other for - direction. When performing the bit pattern interpolation, the host
CPU will write the designated interpolation data, for 2 or 3 axes, into I-8094. If a bit in the bit
pattern data from CPU is “1”, I-8094 will output a pulse at the time unit; if it is “0”, I-8094 will not
output any pulse at the time unit. For example, if the user want to generate the X-Y profile (see
Fig. A-28), the host CPU must write a set of pattern into those specific registers ---- XPP: the +
direction register for X axis, XPM: the − direction register for X axis, YPP and YPM: the + and −
directions registers. With in the time unit, I-8094 will check the registers once and decide to
output a pulse or not depending on the bit pattern.
Fig. A-27 Bit pattern data for X-Y profile
Stacking counter (SC) is a 2-bit counter. Its value is between 0 and 3, which can be read
from D14, 13 of register RR0. SC will decide which register for the data from the host CPU. The
initial value of SC is 0. So, when host CPU writes bit pattern data into BP1P or BP1M, the data
will be stored in SREG, and then, SC will count up to 1, and the next data from the host CPU will
be written into REG1. By this way, the REG2 becomes the register when SC=2. The host CPU is
not able to write any bit pattern data into MCX314As when SC=3.
When the bit pattern interpolation pulse is outputting, D0 in SREG (Stack Register) will be
shifted output first, and then in the order of D1, D….When all of SREGs (Stack Registers) have
been shifted output, the data in REG1 will be shifted to SREG, the data in REG2 will be shifted to
REG1, and the SC will count down to 2. Then, the host CPU is able to write a new data into
MCX314As again.
In order to make MCX314As output the bit pattern data continuously, the host CPU should
write the data into MCX314As before SC counts down to 0. MCX314As will output an interrupt
requirement signal to host CPU when SC counts down from 2 to 1.
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Fig. A-28 Bit pattern data stack
The limitation for the speed of bit pattern interpolation driving
The maximum pulse output speed is 4MHz in bit pattern interpolation mode. However, the
maximum speed will depend on the data update rate of host CPU if the bit pattern data are more
than 48bits. For example of the X and Y axes bit pattern interpolation, if the host CPU needs
100µsec to update new 16-bit data for X and Y axes. The maximum speed is
16/100µSEC=160KPPS.
The ending of bit pattern interpolation
There are 2 ways can terminate the bit pattern interpolation.
(1) Write an ending code into buffer register of ax1. The bit pattern interpolation mode will be
finished, and stopped if the host CPU write “1” into both + and - directions buffer registers. When
the ending code is executed, the SC will become 0 automatically.
(2)The host CPU stops writing any command into I-8094.
When SC=0, and when no other data is updated, I-8094 will stop outputting pulse. Then, the bit
pattern interpolation is finished.
Utilizing the stop command to pause the interpolation
The interpolation driving will be paused if a sudden stop or decelerating stop command is written
into the master axis (ax1) which is executing the bit pattern interpolation. I-8094 will continue the
bit pattern interpolation if the host CPU enables the bit pattern interpolation again. If the host CPU
wants to finish the interpolation after writing stop command, all of the interpolation bit data in the
buffer must be cleared in using BP register
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A.4.4 Continuous Interpolation
The continuous interpolation is executing a series of interpolation processes such as linear
interpolation＋circular interpolation＋linear interpolation … During the continuous interpolation,
the driving will not stop contrarily, The pulses are output continuously. When executing the
continuous interpolation, the host CPU has to write the next interpolation command into
MCX314 before the previous interpolation command is finished.
Polling
If D9 (CNEXT) of register RR0 is 1, MCX314 is ready to accept the next interpolation
command. If D9 is 0, the host CPU is not able to write the next interpolation command into
MCX314. The D9 will become 1 only when the present command is executed. MCX314 will
not accept the next command, and the D9 is 0 if the present command has not been executed.
So, the standard procedure of continuous interpolation is first to write, and enable the
interpolation data and command, then check if D9 of RR0 is 1 or 0. And then, repeat writing
commands and checking D9. The flow chart is shown at the right side.
Fig. A-29 Continuous Interpolation by Polling Method
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Interrupt
D14 of register WR5 is used for enable or disable the interrupt during the continuous
interpolation. After setting D14 of register WR5 to 1, the interrupt occurs. Pin INTN of
MCX314As will be on the Low level to interrupt the host CPU when D9 of register RR0
become 1. The INTN will be on the Hi level if the host CPU writes the next interpolation
command to I-8094. If the interrupt clear command (3Dh) is written to command register, the
INTN signal will return to high-Z level from the Low level.
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A.5 Automatic Home Search
Home search is often used when the machine was first opened or the system was
occurred the alarm or error signal. Both of two above situations, user can take the home
search motion to let the machine return the operation origin.
I-8094 provide the functions that automatically executes a home search sequence such
as high-speed near home search → low-speed home search → encoder Z-phase
search → offset driving without CPU intervention. Users should dispose the hardware signals
as the same as the below figure. The figure shown below illustrates the example of 1-axis
driving system. 4 axes can be assigned in the same way.
Fig. A-30 X-axis hardware signal disposition
The automatic home search function sequentially executes the steps from step1 to step 4 that
are listed below.
Table A-2 Home search steps
Step number
Step 1
Step 2
Step 3
Step 4
Operation
High-speed near home
search
Low-speed home search
Low-speed Z-phase
search
High-speed offset drive
Search speed
Detection
signal
Drive speed (V)
nIN0
Home search speed (HV)
nIN1
Home search speed (HV)
nIN2
Drive speed (V)
Note: If your hardware signal doesn’t have the near home signal ( the slow-down
signal), you can connect the near home and home signal in the same pin, and set the
step1 disabled.
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Fig. A-31 Prototype of automatic home search
Note: By inputting a home signal in nIN0 and nIN1, high-speed search is enabled by
using only one home signal.
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A.5.1 Step 1: High-Speed Near Home Search
Drive pulses are output in the specified direction at the speed that is set in the drive
speed (V) until the near home signal (nIN0) becomes active. To perform high-speed search
operation, set a higher value for the Acceleration/deceleration driving is performed and when
the near home signal (nIN0) becomes active, the operation stops by decelerating.
Fig. A-32 Home search for step1
Irregular operation
(1) The near home signal (nIN0) is already active before Step 1 starts.
→ Proceeds with Step 2.
(2) The limit signal in the detection direction is already active before Step 1 starts.
→ Proceeds with Step 2.
(3) The limit signal in the detection direction is activated during execution.
→ Stops driving and proceeds with Step 2.
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A.5.2 Step 2: Low-Speed Home Search
Drive pulses are output in the specified direction at the speed that is set as the home
detection speed (HV) until the home signal (nIN1) becomes active. To perform low-search
operation, set a lower value for the home search speed (HV) than the initial speed (SV). A
constant speed-driving mode is applied and the operation stops instantly when the home
signal (nIN1) becomes active.
Fig. A-33 Home search for step2
Irregular operation
(1) The home signal (nIN1) is already active before Step 2 starts.
→ The motor drives the axis in the direction opposite to the specified search direction at the
home search speed (HV) until the home signal (nIN1) becomes inactive. When the home
signal (nIN1) becomes inactive, the function executes Step2 from the beginning.
(2) The limit signal in the search direction is active before Step 2 starts.
→ The motor drives the axis in the direction opposite to the specified search direction at the
home search speed (HV) until the home signal (nIN1) becomes active. When the home signal
(nIN1) becomes actives, the motor drivers in the direction opposite to the specified search
direction at the home search speed (HV) until the home signal (nIN1) becomes inactive, the
function executes Step2 from the beginning.
(3) The limit signal in the search direction becomes active during execution. → Driving stops and the
same operation as for (2) → is performed.
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A.5.3 Step 3: Low-Speed Z-phase Search
Drive pulses are output in the specified direction at the speed that is set as the home
search speed (HV) until the encoder Z-phase signal (nIN2) becomes active. To perform
low-speed search operation, set a lower value for the home search speed (HV than the initial
speed (SV)). A fixed speed-driving mode is applied and driving stops instantly when the
encoder Z-phase signal (nIN2) becomes active. As the search condition for stopping driving,
the AND condition of the encoder Z-phase signal (nIN2) and the home signal (nIN1) can be
applied.
Fig. A-34 Home search for step3
Note: (1) If the encoder Z-phase signal (nIN2) is already active at the start of Step 3,
an error occurs and 1 is set in bit D7 of the nRR2 register. Automatic home
search ends. Adjust the mechanical system so that Step 3 always starts from
an inactive state with a stable encoder Z-phase signal (nIN2).
(2) If the limit signal in the search direction is already active before the start of
Step 3, an error occurs and 1 is set in the search direction limit error bit (D2 or
D3) of the nRR2 register. Automatic home search ends.
(3) If the limit signal in the search direction becomes active during execution,
search operation is interrupted and 1 is set in the search direction limit error bit
(D2 or D3) of the nRR2 register. Automatic home search ends.
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A.5.4 Step 4: High-Speed Offset Drive
The function outputs as many driving pulses as the pulse count (P) that is set, in the
specified direction at the speed that is set in the drive speed (V). Use this step to move the
axis from the mechanical home position to the operation home position. Through mode setting,
the logical position counter and real position counter can be cleared after moving. If the drive
direction limit signal becomes active before the start or during execution of Step 4, the
operation stops due to an error and 1 is set in the search direction limit error bit (D2 or D3) of
the nRR2 register.
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A.6 Synchronous Action
Synchronous action of this IC performs actions such as starting and stopping of
driving within each axis and between axes in IC and between IC and external device.
For instance, the following actions can be performed.
Example 1: Starts driving of the Z-axis after the Y-axis passed the position 15000.
Fig. A-35 Synchronous action example1
Example 2: Stops driving of Y and Z axes after the X-axis passes the position -320000.
Fig. A-36 Synchronous action exapmle2
Normally, coding a program on the CPU side can perform such synchronous actions.
However, this function is useful when no delay by CPU software execution time is needed.
The synchronous action of this IC is a function that executes an intervention, achieving
high-precision synchronization.
To perform a synchronous action, set a specified activation factor and a specified action in the
synchronous mode registers in the IC. Specify an activation factor (Provocative) register and
other axis activation in the WR6 register specify an action in the WR7 register, and write a
synchronous action mode setting command 64h in the following WR6 register together with
axis specification.
There are ten activation factors are available as options for the WR6 register and fourteen
actions are available as options for the WR7 register.
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WR6 Register
D15
D14
D13
D12
D11
D10
D9
D8
AXIS3
AXIS2
AXIS1
0
0
0
CMD
LPRD
D7
D6
D5
D4
D3
D2
D1
D0
IN3↓
IN3↑
D-END
D-STA
P>=C-
P<C-
P<C+
P>=C+
Set them to 1 and disabled by setting them to 0 can enable the active factor and other axis
activation bits
D0
P ≥ C+
The logical/real position counter value exceeded the value of COMP+
register value. (Use the WR2/D5(CMPSL) bit for selection of a logical
position real/real position counter.)
D1
P<C+
The logical/real position counter value became less than the COMP+
register value.
D2
P<C-
The logical/real position counter value became less than the COMPregister value.
D3
P ≥ C-
The logical/real position counter value exceeded the COMP- register
value.
D4
D-STA
Driving started.
D5
D-END
Driving terminated.
D6
IN3 ↑
The nIN3 signal rose from the Low to the High level.
D7
IN3 ↓
The nIN3 signal fell from the High to Low level.
D8
LPRD
A logic position read command (10h) was written.
(Simultaneous read processing is enabled by setting LP save or
EP save in the action of the own/another axis)
D9
CMD
A synchronous action activation factor of the own axis.
1: Enable.
Own axis
X
Y
Z
U
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D15 (Axis3)
U axis activation
X axis activation
Y axis activation
Z axis activation
D14 (Axis2)
Z axis activation
U axis activation
X axis activation
Y axis activation
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D13 (Axis1)
Y axis activation
Z axis activation
U axis activation
X axis activation
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WR7 Register
D15
D14
D13
D12
D11
D10
D9
D8
INT
OUT
0
0
VLSET
OPSET
EPSET
LPSET
D7
D6
D5
D4
D3
D2
D1
D0
EPSAVE
LPSAVE
ISTOP
SSTOP
CDRV-I
CDRV-
FDRV-
FDRV+
D0
FDRV+
Activates fixed pulse driving in the + direction.
D1
FDRV-
Activates fixed pulse driving in the - direction.
D2
CDRV+ Activates continuous pulse driving in the + direction.
D3
CDRV-
D4
SSTOP Stops driving in deceleration.
D5
ISTOP
Stops driving immediately.
D6
LPSAV
Saves the current logical position counter (LP) in the synchronous
buffer register (BR). [LP → BR]
D7
EPSAV Saves the current real position counter (EP) in the synchronous
buffer register (BR). [EP → BR]
D8
LPSET
Sets the values of the WR6 and WR7 registers in the real position
counter (LP). [LP ← WR6,7]
D9
EPSET
Sets the values of the WR6 and WR7 registers in the real position
counter (EP). [EP ← WR6,7]
D10
OPSET Sets the values of the WR6 and WR7 registers in the pulse count
(P). [P ← WR6,7]
D11
VLSET
Sets the value of the WR6 register in the drive speed (V). [V ← WR6]
D14
OUT
Outputs synchronous pulses as external signals.
D15
INT
Generates an interrupt signal (INTN).
The interrupt signal (INTN) becomes Low Active and the RR3/D9
(SYNC) bit of the axis to which the interrupt occurred indicates 1.
When CPU reads the RR3 register of the axis to which the interrupt
occurred, the bit of the RR3 register is cleared to 0 and the interrupt
output signal is reset to Hi Level.
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Fig. A-37 Flow chart of synchronous action
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A.7 I-8094 Function Library
We develop the simple but powerful high-level functions set application programming
interface (API) by using the specific command and data registers of MCX314As. These
libraries are composed of motion and interpolation commands, status display, and I/O signal
management make programming your controller easy. Finally, all setup and motion control
functions are easily executed by calling into either a static or dynamic link library (DLL).
The development procedure of the software library is written by eVC (eMbedded
Visual C++). After that, we use eVC to recompile the library become DLL (Dynamic Link
Library), and use MFC (Microsoft Foundation Class) to develop the HMI (Human Machine
Interface) for motion control. With inclusion of DLL and HMI, our package has the advantage
that users do not need to design complicated path planning and code function driver to control
the multi-axes motor. Finally, the capability and validity of the functions are tested by
experiment in a 4-axis machine.
Each function will be displayed in following format:
i8094_FUNCTION_NAME(cardNo, axis, parameter1, parameter2)
where cardNo is the module number of i8094; axis can be one axis or several axes. Users can
refer to Table 2-1 for more information.
A.7.1 Register management functions
The definition of the WRn, RRn registers are detail shown in appendix B.
Table A-3 Register management functions
Function Name
i8094_SET_COMMAND
i8094_SET_WR1
i8094_SET_WR2
i8094_SET_WR3
i8094_GET_WR4
i8094_SET_WR5
i8094_GET_RR0
i8094_GET_RR1
i8094_GET_RR2
i8094_GET_RR3
i8094_GET_RR4
i8094_GET_RR5
i8094_GET_RR6
i8094_GET_RR7
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Description
The command register (WR0) for 4-axes setting
The mode register (WR1) for 4-axes setting
The mode register (WR2) for 4-axes setting
The mode register (WR3) for 4-axes setting
The output register (WR4) setting
The interpolation register (WR5) setting
The main status register (RR0) getting
The status register 1 (RR1) getting
The status register 2 (RR2) getting
The status register 3 (RR3) getting
The input register (RR4) getting
The input register (RR5) getting
The input register (RR6) getting
The input register (RR7) getting
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i8094_COMMAND
Format:
void i8094_COMMAND(unsigned char cardNo, WORD axis, WORD cmd)
Function:
Setting the command register (WR0) for 4-axes.
Parameters:
cardNo is the board number.
axis is the motion axes, as shown in Table2-1.
cmd is the command code setting in the WR0 register. Available command codes
are shown in section A.8.
Example: //Set all axes for axis switching.
i8094_COMMAND(1, 0xf, 0xf);
i8094_SET_WR1
Format:
void i8094_SET_WR1(unsigned char cardNo, WORD axis, WORD data)
Function:
Set the mode register (WR1) for 4-axes.
Parameters:
cardNo is the board number.
axis is the motion axes, as shows in Table2-1.
data is the 32-bit hexadecimal value setting in the WR1 register.
Example: //Set the X axis’s IN0 signal enabled and Hi active.
i8094_SET_WR1(1, 0x1, 0x0003);
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i8094_SET_WR2
Format:
void i8094_SET_WR2(unsigned char cardNo, WORD axis, WORD data)
Function:
Set the mode register (WR2) for 4-axes.
Parameters:
cardNo is the board number.
data is the 32-bit hexadecimal value setting in the WR3 register.
Example: //Set the all axes software limit enabled as comparing with the real position
counter.
i8094_SET_WR2(1, 0xf, 0x0023);
i8094_SET_WR3
Format:
void i8094_SET_WR3(unsigned char cardNo, WORD axis, WORD data)
Function:
Set the mode register (WR1) for 4-axes.
Parameters:
cardNo is the board number.
axis is the motion axes, as shows in Table 2-1.
data is the 32-bit hexadecimal value setting in the WR3 register.
Example: //Set the non-symmetry S-curve mode for x, y, z axes.
i8094_SET_WR3(1, 0x7, 0x0007);
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i8094_SET_WR4
Format:
void i8094_SET_WR4(unsigned char cardNo, WORD data)
Function:
Setting the mode register (WR1) for 4-axes.
Parameters:
cardNo is the board number.
axis is the motion axes, as shows in Table 2-1.
data is the 32-bit hexadecimal value setting in the WR4 register.
Example: //Set the 4-axes OUT1 signals of Hi active level.
i8094_SET_WR4(1, 0xf, 0x2222);
i8094_SET_WR5
Format:
void i8094_SET_WR5(unsigned char cardNo, WORD data)
Function:
Set the interpolation register (WR5).
Parameters:
cardNo is the board number.
axis is the motion axes, as shows in Table 2-1.
data is the 32-bit hexadecimal value setting in the WR5 register.
Example: //Set the x, y axes of constant vector speed mode.
i8094_SET_WR5(1, 0xf, 0x0104);
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i8094_GET_RR0
Format:
void i8094_GET_RR0(unsigned char cardNo, WORD axis)
Function:
Get the main status register (RR0).
Parameters:
cardNo is the board number.
axis is the motion axes, as shows in Table 2-1.
Example: //Get the x axis main status register.
i8094_GET_RR0(1, 0x1);
i8094_GET_RR1
Format:
void i8094_GET_RR1(unsigned char cardNo, WORD axis)
Function:
Get the main status register (RR1).
Parameters:
cardNo is the board number.
axis is the motion axes, as shows in Table 2-1.
Example: //Get the x axis status register 1.
i8094_GET_RR1(1, 0x1);
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i8094_GET_RR2
Format:
void i8094_GET_RR2(unsigned char cardNo, WORD axis)
Function:
Get the main status register (RR2).
Parameters:
cardNo is the board number.
axis is the motion axes, as shows in Table 2-1.
Example: //Get the x axis status register 2.
i8094_GET_RR2(1, 0x1);
i8094_GET_RR3
Format:
void i8094_GET_RR3(unsigned char cardNo, WORD axis)
Function:
Get the main status register (RR3).
Parameters:
cardNo is the board number.
axis is the motion axes, as shows in Table 2-1.
Example: //Get the x axis main status register.
i8094_GET_RR0(1, 0x1);
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i8094_GET_RR4
Format:
void i8094_GET_RR4(unsigned char cardNo)
Function:
Get the input register (RR4).
Parameters:
cardNo is the board number.
Example: //Get the input register 4.
i8094_GET_RR4(1);
i8094_GET_RR5
Format:
void i8094_GET_RR5(unsigned char cardNo, WORD data)
Function:
Get the input register (RR5).
Parameters:
cardNo is the board number.
Example: //Get the input register 5.
i8094_GET_RR5(1);
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A.7.2 Functions for Initial Setting
i8094_REGISTRATION
Format:
unsigned char i8094_REGISTRATION(unsigned char cardNo, WORD slot)
Function:
Register the I-8094 motion card.
Parameters:
cardNo is the board number.
slot is the slot number.
Example: //It indicates that the first card insert in the second slot.
i8094_REGISTRATION(1, 2);
i8094_GET_VERSION
Format:
void i8094_GET_VERSION(BYTE cardNo)
Function:
Get the version of i8094 software library.
Parameters:
cardNo is the board number.
Example:
i8094_GET_VERSION(0);
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SET_PULSE_MODE
Format:
void SET_PULSE_MODE(unsigned char cardNo, WORD axis, WORD nMode)
Function:
The function can set the output pulse modes and explain in Sec 1.1.
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1.
nMode is the value 0~3, as shows in the following table.
Mode
Value
Direction
CW /
CCW
0
1
2
3
4
5
+
+
+
-
PULSE
/ DIR
Waveform of input pulse
nPP / PULSE
nPM / DIR
PULSE
LOW
LOW
PULSE
PULSE+
LOW
PULSE+
HIGH
PULSELOW
PULSE
HIGH
Example: //It sets that choosing all axes with CW/CCW (Dir.+) mode.
i8094_SET_PULSE_MODE(1, 0xf, 2);
i8094_SET_R
Format:
void i8094_SET_R(unsigned char cardNo, WORD axis, DWORD data)
Function:
”R” means “Range”, is the parameter determining the multiple of drive speed,
acceleration / deceleration and jerk. The calculation of the multiple is shown
in the following formula:
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1.
Example: i8094_SET_R(1, 0xf, 8000000);
Note: If the maximum value of parameter for setting the drive speed (V) is 8000, and the
drive speed is set 40KPPS. The user can set V=8000 and R=1600000. Because 40K is 5
times of 8000, we set the R=8000000/5=1600000.
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i8094_GET_R
Format:
DWORD i8094_GET_R(unsigned char cardNo, WORD axis)
Function:
Get the range value from the global variable.
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1.
Example: //Get the range value.
i8094_GET_R(1, 0x1);
i8094_AXIS_ASSIGN
Format:
void i8094_AXIS_ASSIGN(unsigned char cardNo, WORD axis1, WORD axis2,
WORD axis3)
Function:
Set the axis assignment for interpolation.
Parameters:
cardNo is the board number.
axis1 is the master axis assignment for interpolation.
axis2 is the 2nd axis assignment for interpolation.
axis3 is the 3rd axis assignment for interpolation
About the code/name of the axis1~3, please refer to Table 2-1.
Example: //Set the master axis to be the x axis, and the 2nd axis to be the y axis.
i8094_AXIS_ASSIGN(1, 0x1, 0x2, 0);
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I8094_INnSTOP_ENABLE
i8094_INnSTOP_DISABLE
Format:
void i8094_INnSTOP_ENABLE(unsigned char cardNo, WORD axis,
WORD INn)
void i8094_INnSTOP_DISABLE(unsigned char cardNo, WORD axis,
WORD INn)
Function:
Enable/disable the IN0~3 stop signals.
Parameters:
cardNo is the board number.
axis is the motion axis code, as shows in Table 2-1.
Example:
//Set the IN0, IN1 signal enabled for 4-axes.
i8094_INnSTOP_ENABLE(1, 0xf, 0);
i8094_INnSTOP_ENABLE(1, 0xf, 1);
//Set the IN2, IN3 disabled for 4-axes.
i8094_i8094_INnSTOP_DISABLE(1, 0xf, 2);
i8094_i8094_INnSTOP_DISABLE(1, 0xf, 3);
i8094_HLMTP_LEVEL
i8094_HLMTM_LEVEL
Format:
void i8094_HLMTP_LEVEL(unsigned char cardNo, WORD axis, WORD nLevel)
void i8094_HLMTM_LEVEL(unsigned char cardNo, WORD axis, WORD nLevel)
Function:
Set the logical level of +/- direction hardware limit input signal.
Parameters:
cardNo is the board number.
axis is the motion axis code, as shows in Table 2-1.
nLevel is the active level, nLevel=0: Low active, nLevel =1: Hi active.
Other values are invalid.
Example: //Set the positive direction hardware limit as Low active for 4-axes.
i8094_HLMTP(1, 0xf, 0);
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i8094_SLMTP_MODE
i8094_SLMTM_MODE
Format:
void i8094_SLMTP_MODE(unsigned char cardNo, WORD axis, WORD nMode)
void i8094_SLMTM_MODE(unsigned char cardNo, WORD axis, WORD nMode)
Function:
Set the +/- direction software limit.
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1.
nMode n=0: Enable; n=1: Disable
Example: //Enable the positive direction software limit for 4 axes.
i8094_SLMTP_LEVEL(1, 0xf, 0);
i8094_COMPARE_LP
Format:
void i8094_COMPARE_LP (unsigned char cardNo, WORD axis)
Function:
The function selects the logical position counter (LP) as the comparing target of
COMP+/- registers.
Parameters:
cardNo is the board number.
axis is the motion axis code, as shows in Table 2-1,
Example: //Set the comparing target to LP for all axes.
i8094_COMPARE_LP(1, 0xf);
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i8094_COMPARE_EP
Format:
void i8094_COMPARE_EP (unsigned char cardNo, WORD axis)
Function:
The function selects the real position counter (EP) as the comparing target of
COMP+/- registers.
Parameters:
cardNo is the board number.
axis is the motion axis code, as shows in Table 2-1,
Example: //Set the comparing target to EP for all axes.
i8094_COMPARE_EP(1, 0xf);
i8094_RESET_CARD
Format:
void i8094_RESET_CARD(void)
Function:
Command for resetting the motion card.
Parameter:
None.
Example: //Set the reset command.
i8094_RESET_CARD();
Note: When the bit (WR0/D15) is set to 1, but others are 0, the IC will be reset after
command writing.
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A.7.3 Motion Status Management Functions
The logic position counter is counting the driving pulses in MCX314As. When one
+ direction plus is outputting, the counter will count up 1; When one - direction pulse is
outputting, the counter will count-down 1. The real position counter will count input
pulse numbers from external encoder. The type of input pulse can be either A/B
quadrature pulse type or Up / Down pulse(CW/CCW) type (See Chapter 2.6.3). Host CPU
can read or write these two counters any time. The counters are signed 32 bits, and the
counting range is between -231 ~ +231.
Table A-4
Motion Status Management Functions
Function Name
i8094_SET_LP
i8094_SET_EP
i8094_GET_LP
i8094_GET_EP
i8094_GET_CV
i8094_GET_CA
i8094_SET_CP
i8094_SET_CM
I8094_POSITION_RING
i8094_RESET_CARD
ICPDAS
Description
The logic position counter setting
The Real position counter setting
The logic position counter setting
Read the Real position counter
Read the current driving speed
Read the current acceleration / deceleration
Setting the positive direction software limit
Setting the negative direction software limit
Setting the position counter variable ring
Clear the command and data registers
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Fig. A-38 Management for Position Register and Software Limit
i8094_SET_LP
Format:
void i8094_SET_LP(unsigned char CardNo, WORD axis, long dwdata)
Function:
Set the logic position counter, it can be set zero to reset the counter values.
Parameters:
cardNo is the board number.
axis is the motion axis code, as shows in Table 2-1, only set for single axis.
dwdata: input value for logic position counter. Data range: -231~+231.
Example: //Clear the logic position counter value.
i8094_SET_LP(1, 0x1, 0);
i8094_SET_LP(1, 0x2, 0)
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i8094_SET_EP
Format:
void i8094_SET_EP(unsigned char CardNo, WORD axis, long dwdata)
Function:
Set the logic position counter, it can be set zero to reset the counter values.
Parameters:
cardNo is the board number.
axis is the motion axis code, as shows in Table 2-1, only set for single axis.
dwdata: input value for real position counter, Data range: -231~+231.
Example: //Clear the logic position counter value.
i8094_SET_EP(1, 0x1, 0);
i8094_SET_EP(1, 0x2, 0);
long i8094_GET_LP
Format:
long i8094_GET_LP(unsigned char CardNo, WORD axis)
Function:
The function can read he current value of logic position counter, and it will be set in
read registers RR6 and RR7.
Parameters:
cardNo is the board number.
axis is the motion axis code, as shows in Table 2-1, only set for single axis.
Example: //Read the logic position counter for the X, Y axes.
i8094_GET_LP(1, 0x1); i8094_GET_LP(1, 0x2);
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i8094_GET_EP
Format:
long i8094_GET_EP(unsigned char CardNo, WORD axis)
Function:
The function can read the current value of real position counter and it will be set in
read registers RR6 and RR7.
Parameters:
cardNo is the board number.
axis is the motion axis code, as shows in Table 2-1, only set for single axis.
Example: //Read the real position counter for the X, Y axes.
i8094_GET_EP(1, 0x1);
i8094_GET_EP(1, 0x2);
i8094_GET_CV
Format:
WORD i8094_GET_CV(unsigned char CardNo, WORD axis)
Function:
The function can read the current drive speed, and it will be set in read registers RR6
and RR7. When the driving stops, the value becomes 0. The date value will increase
from the setting value of start speed (SV) to the setting value of drive speed (V).
Parameters:
cardNo is the board number.
axis is the motion axis code, as shows in Table 2-1, only set for single axis.
Example: //Read the current velocity for the X, Y axes.
i8094_GET_CV(1, 0x1);
i8094_GET_CV(1, 0x2);
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i8094_GET_CA
Format:
WORD i8094_GET_CA(unsigned char CardNo, WORD axis)
Function:
The function can read the current drive acceleration will be set in read registers
RR6 and RR7. When the driving stops, the value becomes 0. The data value
will increase from zero to the setting value of drive acceleration (A).
Parameters:
cardNo is the board number.
axis is the motion axis code, as shows in Table 2-1, only set for single axis.
Example: //Read the current acceleration for the X, Y axes.
i8094_READ_CA(1, 0x1);
i8094_READ_CA(1, 0x2);
i8094_SET_CP
i8094_SET_CM
Format:
void i8094_SET_CP(unsigned char CardNo, WORD axis, long dwdata)
void i8094_SET_CM(unsigned char CardNo, WORD axis, long dwdata)
Function:
Set the COMP+/- registers value to be the positive direction software limit.
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1,
dwdata is the COMP+ register value. Data range: -231~+231.
Example: //Set the positive direction software limit to be 100000 for the X, Y axes.
i8094_SET_COMPP(1, 0x3, 100000);
//Set the positive direction software limit to be 100000 for the X, Y axes.
i8094_SET_COMPM(1, 0x3, 100000);
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i8094_VRING_ENABLE
i8094_VRING_DISABLE
Format:
void i8094_VRING_ENABLE(unsigned char cardNo, WORD axis,
DWORD nVRing)
void i8094_VRING_DISABLE(unsigned char cardNo, WORD axis)
Function:
Enable/disable the setting of any value as the maximum value. This function is
useful for managing the position of the axis in circular motions that return to the
home position after one rotation, rather than linear motions.
Parameter:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1,
nVRing is the value of the COMP+/COMP- registers. Data range: -231~+231.
Example: //For instance, set as follows for a rotation axis that rotates one cycle with
//10000 pulses. To enable the position variable ring function, And set 9999 in
//the COMP+/- registers as the maximum value of the logical position counter.
i8094_VRING_ENABLE(1, 0xf, 1, 9999);
Fig. A-39 Operation of position counter ring maximum value 9999
Note: 1. The variable ring function enable/disable is set for each axis, however, a
logical position counter and a real position counter cannot be enabled/disables
individually.
2. If a variable ring function is enabled, a software limit function cannot be used.
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i8094_RESET_CARD
Format: void i8094_RESET_CARD(void)
Function:
Command for resetting the motion card.
Parameter:
None.
Example: //Set the reset command.
i8094_RESET_CARD();
Note: When the bit (WR0/D15) is set to 1, but others are 0, the IC will be reset after
command writing. After writing, the BUSYN signal will be on the Low level within 875
nSec (When CLK=16 MHz) maximum.
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A.7.4 Basic Motion Command Functions
The basic motion commands of I-8094 are listed in Table A-5. They are including the
setting for range (R), multiple (M), start speed (SV), driving speed (V), acceleration (A),
deceleration (D), acceleration rate (K), output pulse (P), T-Curve acceleration / deceleration,
and S-Curve acceleration / deceleration. The whole command procedures should be set with
the initial command registers. After setting correlation parameters, the CPU sends command
or data through MCX314As; finally, command enters in the logic-position-counter, and then
sends to the driver to control the motor.
Table A-5 Basic Motion Command Functions
Function Name
i8094_SET_SV
i8094_SET_V
i8094_SET_A
i8094_SET_D
i8094_SET_K
i8094_SET_L
i8094_SET_PULSE
i8094_SET_AO
i8094_SET_TCURVE
i8094_SET_SCURVE
i8094_SET_AUTODEC
i8094_SET_MANDEC
i8094_DRV_FDRIVE
i8094_DRV_CDRIVE
i8094_SET_SYMMETRY
i8094_SET_ASYMMETRY
i8094_STOP_WAIT
i8094_STOP_SLOWLY
i8094_STOP_SUDDENLY
i8094_DRV_HOLD
i8094_DRV_START
ICPDAS
Description
Initial speed setting
Drive speed setting
Acceleration setting
Deceleration setting
Acceleration rate setting
Deceleration rate setting
Set output pulse number
Acceleration Counter Offsetting
T-Curve acc./dec. mode enabled
S-Curve acc./dec. mode enabled
Auto deceleration setting
Manual deceleration setting
Fixed pulse drive mode setting
Continuous drive mode setting
Symmetric T/S-curve Acc/Dec setting
Asymmetric T/S-curve Acc/Dec setting
Drive and wait for stopping
Slow-down stop
Emergent stop
Holding for later driving
Drive holding release (starting motion)
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i8094_SET_SV
Format:
void i8094_SET_SV(unsigned cardNo, WORD axis, WORD data)
Function:
This function can set the start speed. If the stop type is slow-down stop, the motion
curve will be decelerating to the start speed and then stop. Set the start speed is SV,
the multiple is M, and then the driving start is:
Driving start speed(PPS)＝SV×M
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1.
data is the value of SV, data range is 1~8000, other values are invalid.
Example: //Set the start velocity 500 (PPS) for X axis.
i8094_SET_SV(1, 0x1, 500);
i8094_SET_V
Format:
void i8094_SET_V(unsigned char cardNo, WORD axis, WORD data)
Function:
The function is setting the speed of constant speed period in trapezoidal driving. In
constant speed driving, the drive speed is the initial speed. The drive speed
calculation is shown in the following formula:
Driving Speed(PPS)＝V×M
Parameters:
cardNo is the board number.
axis is the motion axis code, as shows in Table 2-1.
data is value of acceleration, the range is 1~8000, other values are invalid.
Example: //Set the driving velocity 1000 (PPS) for X axis.
i8094_SET_V(1, 0x1, 1000);
Note: 1. If the setting drive speed is lower than the initial speed, the acceleration /
deceleration will not be performed, and the driving is constant speed. During the encoder
Z-phase searching (at a low-peed driving), the user want to perform the sudden stop once
the Z-phase is detected, the drive speed should be set lower than the initial speed. Drive
speed can be altered during the driving. When the drive speed of next constant
speed period is set, the acceleration / deceleration will be performed to reach the
new setting drive speed, then a constant speed driving starts.
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Note: 2. In fixed pulse S-curve acceleration / deceleration driving, there is no way to
change the drive speed during the driving. In continuous S-curve acceleration /
deceleration driving, the S-curve profile cannot be exactly tracked if the speed
alterations during the acceleration/deceleration. It is better to change the drive speed
in the constant speed period.
i8094_SET_A
Format:
void i8094_SET_A(unsigned char cardNo, WORD axis, WORD data)
Function:
The function is setting the acceleration or deceleration of the trapezoidal driving. For
S-curve acceleration / deceleration, it shows the linear acceleration until a specific
value (A) driving. The acceleration calculation is shown in the following formula:
Driving Acceleration(PPS/Sec)＝A×125×M
Parameters:
cardNo is the board number.
axis is the motion axes code/name, as shows in Table 2-1.
data is value of acceleration, it’s range is 1~8000, other values are invalid.
Example: //Set the acceleration 80 (PPS/Sec) for X axis.
i8094_SET_A(1, 0x1, 80);
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i8094_SET_D
Format:
void i8094_SET_D(unsigned char cardNo, WORD axis, WORD data)
Function:
The function use when acceleration/deceleration is set individually, “D” is the
parameter determining the deceleration of the trapezoidal driving. For S-curve
acceleration / deceleration, the designated deceleration can be set until a specific
value (D) is driving. The deceleration calculation is shown in the following formula:
Driving Deceleration(PPS/Sec)＝D×125×M
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1.
data is the value of deceleration, it’s range is 1~8000, other values are invalid.
Example: //Set the deceleration 80 (PPS/Sec) for X axis.
i8094_SET_D(1, 0x1, 80);
i8094_SET_K
Format:
void i8094_SET_K(int cardNo, WORD axis, WORD data)
Function:
The function is setting the value of acceleraton rate (jerk), in a time unit, of S-curve
Acc/Dec motion. The jerk calculation is shown in the following formula:
Jerk (PPS/Sec2)＝(62.5×106 / K)×M
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1.
data is the value of the acceleration rate, it’s range is 1~65535.
Example: //Set the jerk 625 (PPS/Sec2) for the X axis.
i8094_SET_K(1, 0x1, 625);
Note: For K=65535 to 1
When Multiple = 1, 954 PPS/SEC2 ~ 62.5 x 106 PPS/SEC2
When Multiple = 500, 477 x 103 PPS/SEC2 ~ 31.25 109 PPS/SEC2
*In this manual, jerk is defined the increasing / decreasing rate of acceleration /
deceleration in a time unit. However, jerk should cover the decreasing rate of acceleration
and increasing rate of acceleration.
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i8094_SET_L
Format:
void i8094_SET_L(int cardNo, WORD axis, WORD data)
Function:
The function is setting the deceleration rate (jerk), in a time unit, of S-curve Acc/Dec
motion. The jerk calculation is shown in the following formula:
Jerk (PPS/Sec2)＝(62.5×106 / K)×M
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1.
data is the value of the acceleration rate, it’s range is 1~65535.
Example: //Set the jerk 625 (PPS/Sec2) for the X axis.
i8094_SET_K(1, 0x1, 625);
Note: For K=65535 to 1
When Multiple = 1, 954 PPS/SEC2 ~ 62.5 x 106 PPS/SEC2
When Multiple = 500, 477 x 103 PPS/SEC2 ~ 31.25 109 PPS/SEC2
i8094_SET_PULSE
Format:
void i8094_SET_PULSE(unsigned char cardNo, WORD axis, DWORD data)
Function:
The function is setting total output pulse numbers in fixed pulse driving. The value is
absolute, unsigned number. The output pulse numbers can be changed during the
driving.
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1.
data is the value of the pulse, it’s range is 0~268435455, other values are invalid.
Example: //Set the driving pulse number (final point) 10000 for the X axis.
i8094_SET_PULSE(1, 0x1, 10000);
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i8094_SET_AO
Format:
void i8094_SET_AO(unsigned char cardNo, WORD axis, WORD data)
Function:
The function is executing the acceleration counter offset. It is often used while the
machine is using stepping motor. It can avoid the overshoot for high speed
deceleration.
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1.
data is the value of the deceleration, it’s range is 0~65535. Other values are invalid.
Example:
i8094_SET_AO(1, 0x1, 200);
i8094_SET_AUTODEC
Format:
void i8094_SET_AUTODEC(unsigned char cardNo, WORD axis)
Function:
Automatic deceleration setting.
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1.
Example://Enable the automatic deceleration for 4-axes.
i8094_SET_AUTODEC(1, 0xf);
Note: The function is useless in circular interpolation for T-curve deceleration.
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i8094_SET_MANDEC
Format:
void i8094_SET_MANDEC(unsigned char cardNo, WORD axis, WORD dp)
Function:
Set the manual deceleration point in fixed pulse acceleration/deceleration driving or
interpolation motion when the manual deceleration mode is engaged. In manual
deceleration mode, the user can set the bit D0 of WR3 register to 1.
The decelerating point calculates as :
Manual Decelerating Point = Output Pulse Numbers - Pulse Number for Deceleration
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1.
Example: //Set the manual deceleration point 8000 for the XY axes motion.
i8094_SET_MANDEC(1, 0x3, 8000);
Note: The suitable time for setting manual deceleration point
1. Asymmetry S-curve acceleration/deceleration
2. Circular interpolation
i8094_DRV_FDRIVE
Format:
void i8094_DRV_FDRIVE(unsigned char cardNo, WORD axis, WORD nDir)
Function:
Set fixed-pulse drive.
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1.
nDir is the direction of the motion. nDir = 0, positive;
nDir = 1, negative
Example: //Set the negative fixed pulse drive.
i8094_DRV_FDRIVE(1, 0x3, 1);
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i8094_DRV_CDRIVE
Format:
void i8094_DRV_CDRIVE(unsigned char cardNo, WORD axis, WORD nDir)
Function:
Set continuous drive.
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1.
nDir is the direction of the motion. nDir = 0, positive; nDir = 1, negative
Example: //Set the positive continuous drive.
i8094_DRV_CDRIVE(1, 0x3, 0 );
i8094_SET_SYMMETRY
Format:
void i8094_SET_SYMMETRY(unsigned char cardNo, WORD axis)
Function:
Set symmetry acceleration/deceleration.
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1.
Example: //Set the symmetry acc./dec. motion for 4-axes.
i8094_SET_SYMMETRY(1, 0xf);
i8094_SET_ASYMMETRY
Format:
void i8094_SET_ASYMMETRY(unsigned char cardNo, WORD axis)
Function:
Set asymmetry acceleration/deceleration
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1.
Example: //Set the asymmetry acc./dec. motion for 4-axes.
i8094_SET_ASYMMETRY(1, 0xf);
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i8094_STOP_SLOWLY
Format:
void i8094_STOP_SLOWLY(unsigned char cardNo, WORD axis)
Function:
Motion command for stopping slowly.
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1.
Example: //Stop slowly command for 4-axes.
i8094_STOP_SLOWLY(1, 0xf);
i8094_STOP_SUDDENLY
Format:
void i8094_STOP_SUDDENLY(unsigned char cardNo, WORD axis)
Function:
Motion command for stopping suddenly.
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1.
Example: //Stop suddenly command for 4-axes.
i8094_STOP_SUDDENLY(1, 0xf);
i8094_DRV_HOLD
Format:
void i8094_DRV_HOLD(unsigned char cardNo, WORD axis)
Function:
Set holding for drive starting.
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1.
Example:
i8094_DRV_HOLD(1, 0xf);
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i8094_DRV_START
Format:
void i8094_DRV_START(unsigned char cardNo, WORD axis)
Function:
Drive status holding release/finishing status clearing setting.
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1.
Example:
i8094_DRV_SATRT(1, 0xf);
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Demo Program: T/S-curve acc/dec motion [Symmetry]
Parameters: cardNo=1, motion axes=0x3 (AXIS_XY)
i8094_SET_R(cardNo, 0x3, 800000);
// R=800000, Multiple=10
i8094_SET_TCURVE(cardNo, 0x3);
// Set T-Curve Mode
i8094_SET_SYMMETRY(cardNo, 0x3);
// Set symmetry mode for X, Y axes
i8094_SET_SV(cardNo, 0x3, 100); // SV=100,Iinitial Speed=1000 (PPS)
i8094_SET_V(cardNo, 0x3, 1000);
// V=1000, Drive Speed=10000 (PPS)
i8094_SET_A(cardNo, 0x3, 80);
// A=80, Acceleration=100K (PPS/Sec)
i8094_SET_PULSE(cardNo, 0x3, 25000); // Driving Pulse=25000
i8094_DRV_HOLD(card, 0x3);
// Holding for driving starting
i8094_DRV_FDRIVE(cardNo, 0x3, 0);
// X-Axis Positive Fixed Pulse Drive
i8094_DRV_START(card, 0x3);
// Holding Release
Fig. A-40 Symmetry T-curve acc/dec
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Demo Program: T/S-curve acc/dec motion [Asymmetry]
Parameters: cardNo=1, motion axes=0x3 (AXIS_XY)
i8094_SET_R(cardNo, 0x3, 8000000);
// R=800000, Multiple=10
i8094_SET_SCURVE(cardNo, 0x3);
// Set S-Curve Mode
i8094_SET_ASYMMETRY(cardNo, 0x3); // Set Non-Symmetry Mode
i8094_SET_SV(cardNo, 0x3, 100); // SV=100,Iinitial Speed=1000 (PPS)
i8094_SET_V(cardNo, 0x3, 1000);
// V=1000, Drive Speed=10000 (PPS)
i8094_SET_A(cardNo, 0x3, 800);
// A=800, Acceleration=1000K (PPS/Sec)
i8094_SET_D(cardNo, 0x3, 80)
// D=80, Deceleration=100K (PPS/Sec)
i8094_SET_K(cardNo, 0x3, 1250);
// K=1250, Jerk=500K (PPS/Sec2)
i8094_SET_L(cardNo, 0x3, 125);
// L=125, Decelerating Rate=50K (PPS/Sec2)
i8094_SET_PULSE(cardNo, 0x3, 50000); // X-Axis Driving Pulse=50000
i8094_DRV_HOLD(card, 0x3);
// Holding for driving starting
i8094_DRV_FDRIVE(cardNo, 0x1, 1);
// X-Axis Negative Fixed Pulse Drive
i8094_DRV_FDRIVE(cardNo, 0x2, 0);
// Y-Axis Positive Fixed Pulse Drive
i8094_DRV_START(card, 0x3);
// Holding Release
Fig. A-41 Asymmetric S-curve acc/dec
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A.7.5 Interpolation Functions
The below figure is the MCX314As Interpolation functional diagram. It consists of same
functioned X, Y, Z, and U axes control sections and interpolation counting sections.
Fig. A-41 MCX314As Functional Block Diagram
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Table A-6 Interpolation Functions
Function Name
i8094_MOTION_TYPE
i8094_SET_FINISH
i8094_LINE2D
i8094_LINE3D
i8094_SET_CENTER
i8094_ARC_CW
i8094_ARC_CCW
i8094_CIRCLE_CW
i8094_CIRCLE_CCW
i8094_NEXT_WAIT
i8094_BP_ENABLE
i8094_BP_DISABLE
i8094_BP_CLEAR
i8094_BP_STACK
i8094_BP_WAIT
Description
2 or 3-axes constant vector speed setting
Interpolation’s finish point setting
2 axes linear interpolation mode
3 axes linear interpolation mode
Circular interpolation’s center setting
CW direction arc interpolation mode
CCW direction arc interpolation mode
CW direction circle interpolation mode
CCW direction circle interpolation mode
Wait for next interpolation command
Bit pattern interpolation enabled
Bit pattern interpolation disabled
Bit pattern interpolation cleared
Bit pattern data stack
Wait for bit pattern data write
i8094_MOTION_TYPE
Format:
void i8094_MOTION_TYPE(unsigned char CardNo, WORD type)
Function:
Set 2 or 3-axes constant vector speed mode
Parameter:
cardNo is the board number.
type is the parameter setting the constant vector speed modes.
type=0, constant vector speed mode is invalid;
type=1, 2-axes constant vector speed mode.
type=2, 3-axes constant vector speed mode.
Example: //Set the 2-axes constant vector mode.
i8094_MOTION_TYPE(1, 1);
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i8094_SET_FINISH
Format:
void i8094_SET_FINISH(BYTE cardNo, WORD axis, long data)
Function:
Set the value of the finish point for motion (in Pulses).
Parameter:
cardNo Module number.
axis
axis or axes. Please refer to Table 2-1.
data
Pulse number. Range : -2,147,483,648 ~ +2,147,483,648
Example: //set the value of finish point.
i8094_SET_FINISH(1, 1, 1000);
Linear interpolation functions
About the linear interpolation functions, users can choose any two or three axes in the
four axes (X, Y, Z, U). The functions are designed in three modes: constant (tangential) speed,
T-curve (tangential) acceleration / deceleration, S-curve (tangential) acceleration /
deceleration.
Users need to set the following parameters:
Range: R
Initial Speed: SV (PPS)
Driving Speed: V (PPS)
Acceleration: A (PPS/Sec)
Finish Point: FP (Pulses)
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i8094_LINE_2D
Format:
void i8094_LINE_2D(umsigned char CardNo, long fp1, long fp2)
Function:
Two axes linear interpolation.
Parameter:
cardNo is the board number.
fp1: finish point for axis1, data range is -8388608~8388607.
fp2: finish point for axis2, data range is -8388608~8388607.
Example:
i8094_LINE2D(1, 12000, 10000);
Fig. A-42 2-axes linear interpolation
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i8094_LINE_3D
Format:
void i8094_LINE_3D(unsigned char CardNo, long fp1, long fp2, long fp3)
Function:
Three axes linear interpolation.
Parameter:
cardNo is the board number.
fp1: finish point for axis1, data range is -8388608~8388607.
fp2: finish point for axis2, data range is -8388608~8388607.
fp3: finish point for axis2, data range is -8388608~8388607.
Example:
i8094_LINE_3D(1, 0, 10000, 10000, 10000);
Fig. A-43 3-axes linear interpolation
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Demo Program: 2/3 axes linear interpolation
Parameters: cardNo=1, master axis=0x1 (AXIS_X), 2nd axis=0x2 (AXIS_Y), 3rd axis=0x4 (AXIS_Z)
// 2-Axis Linear Interpolation
i8094_Axis_ASSIGN(cardNo, 0x1, 0x2, 0);
// Assign the Axes
i8094_MOTION_TYPE(cardNo, CONST2);
// Set 2-Axes Constant Vector Speed Mode
i8094_SET_R(CardNo, Card[cardNo].ax1, 8000000);
i8094_SET_R(cardNo,Card[cardNo].ax2, 8000000*1414L/1000L);
i8094_SET_V(cardNo, Card[cardNo].ax1, 1000);
i8094_LINE_2D(cardNo,3000,4000); // 2-Axes Interpolation
// 3-Axis Linear Interpolation
i8094_Axis_ASSIGN(cardNo, 0x1, 0x2, 0x4);
// Assign the Axes
i8094_MOTION_TYPE(cardNo, CONST2);
// Set 3-Axes Constant Vector Speed Mode
i8094_SET_R(cardNo, Card[cardNo].ax1, 8000000);
i8094_SET_R(cardNo,Card[cardNo].ax2, 8000000*1414L/1000L);
i8094_SET_R(cardNo, Card[cardNo].ax3, 8000000*1732L/1000L);
i8094_SET_V(cardNo, Card[cardNo].ax1, 1000);
i8094_LINE_3D(cardNo,5000,5000, 5000); // 3-Axes Interpolation
Fig. A-44 2/3 axes linear interpolation
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Circular Interpolation Functions
i8094_ARC_CW
Format:
void i8094_ARC_CW(unsigned char cardNo, long cp1, long cp2,
long fp1, long fp2)
Function:
CW direction circular interpolation.
Parameters:
cardNo is the board number.
cp1 is the center for axis1.
cp2 is the center for axis2.
fp1 is the finish point for axis1.
fp2 is the finish point for axis2.
Example:
i8094_ARC_CW(1, -5000, -5000, -10000, -10000);
Fig. A-45 CW circular interpolation
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i8094_ARC_CCW
Format:
void i8094_ARC_CCW(unsigned char cardNo, long cp1, long cp2,
long fp1,long fp2)
Function:
CW direction circular interpolation.
Parameters:
cardNo is the board number.
cp1 is the center for axis1.
cp2 is the center for axis2.
fp1 is the finish point for axis1.
fp2 is the finish point for axis2.
Example:
i8094_ARC_CCW(1, -5000, -5000, -10000, -10000);
Fig. A-46 CCW circular interpolation
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i8094_CIRCLE_CW
Format:
void i8094_CIRCLE_CW(unsigned char cardNo, long cp1, long cp2)
Function:
CW direction circular interpolation.
Parameters:
cardNo is the board number.
cp1 is the center for axis1.
cp2 is the center for axis2.
fp1 is the finish point for axis1.
fp2 is the finish point for axis2.
Example:
i8094_CIRCLE_CW(1, 0, 10000);
Note: The function is convenient to profile for a total circle, it is accounting to the
i8094_ARC_CW function.
i8094_CIRCLE_CCW
Format:
void i8094_CIRCLE_CCW(unsigned char cardNo, long cp1, long cp2)
Function:
CW direction circular interpolation for constant speed.
Parameters:
cardNo is the board number.
cp1 is the center for axis1.
cp2 is the center for axis2.
fp1 is the finish point for axis1.
fp2 is the finish point for axis2.
Example:
i8094_CIRCLE_CCW(1, 0, 10000);
Note: The function is convenient to profile for a total circle, it is accounting to the
i8094_ARC_CCW function.
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i8094_NEXT_WAIT
Format:
void i8094_NEXT_WAIT(unsigned char cardNo)
Function:
Using to waiting for the command of the next segment.
Parameters:
cardNo is the board number.
Example:
i8094_NEXT_WAIT(1);
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Continuous interpolation
User can use the linear and circular interpolation to implement a specific curve motion.
There are two ways to implement: polling and interrupt. Fig. A-48 shows an example of
executing continuous beginning at point (0,0) form segment 1, 2, 3… to the segment 8. In
segment 1, 3, 5, and 7, the linear interpolation will be executed; in segment 2, 4, 6, and 8, the
circular interpolation will be executed, and the track is a quadrant circle with radius 1500. The
interpolation driving is at a constant vector speed: 1500 PPS.
Fig. A-47 Continuous interpolation
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Demo Program: Constant Speed Continuous Interpolation
Parameters: CradNo=1, Master axis=0x1 (Axis_X), 2nd axis=0x2 (AXIS_Y)
i8094_AXIS_ASSIGN(cardNo, 0x1, 0x2, 0);
i8094_SET_R(cardNo, Card[cardNo].ax1, 800000);
i8094_SET_R(cardNo, Card[cardNo].ax2, 800000* 1414L/1000L);
i8094_MOTION_TYPE(cardNo, 0x3, 1);
// 2-axes constant vector speed
i8094_SET_V(cardNo, Card[cardNo].ax1, 1500);
// Set V = SV
i8094_LINE_2D(cardNo, 4500, 0);
i8094_NEXT_WAIT(cardNo);
// Segment 1
// Wait next command
i8094_ARC_CCW(cardNo, 0, 1500, 1500, 1500);
i8094_NEXT_WAIT(cardNo);
// Segment 2
// Wait next command
i8094_LINE_2D(cardNo, 0, 1500);
i8094_NEXT_WAIT(cardNo);
// Segment 3
// Wait next command
i8094_ARC_CCW(cardNo, -1500, 0, -1500, 1500);
i8094_NEXT_WAIT(cardNo);
// Segment 4
// Wait next command
i8094_LINE_2D(cardNo, -4500, 0);
i8094_NEXT_WAIT(cardNo);
// Segment 5
// Wait next command
i8094_ARC_CCW(cardNo, 0, -1500, -1500, -1500);
i8094_NEXT_WAIT(cardNo);
// Segment 6
// Wait next command
i8094_LINE_2D(cardNo, 0, -1500);
i8094_NEXT_WAIT(cardNo);
// Segment 7
// Wait next command
i8094_ARC_CCW(cardNo, 1500, 0, 1500, -1500);
i8094_STOP_WAIT(cardNo, Card[cardNo].plane);
// Segment 8
Delay(500);
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// Because of the servo lag, In eVC use Sleep(500)
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Bit Pattern Interpolation Functions
i8094_BP_ENABLE
i8094_BP_DISABLE
Format:
void i8094_BP_ENABLE(unsigned char cardNo)
void i8094_BP_DISABLE(unsigned char cardNo)
Function:
Enable/disable the bit pattern data stack.
Parameters:
cardNo is the board number.
Example:
i8094_BP_ENABLE(1);
i8094_BP_DISABLE(1);
i8094_BP_STACK
i8094_BP_CLEAR
Format:
void i8094_BP_STACK(unsigned char cardNo)
void i8094_BP_CLEAR(unsigned char cardNo)
Function:
Stack/clear the bit pattern data.
Parameters:
cardNo is the board number.
Example:
i8094_BP_STACK(1);
i8094_BP_CLEAR(1);
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i8094_BP_WAIT
Format:
void i8094_BP_WAIT(unsigned char cardNo)
Function:
Wait for bit pattern data outputting.
Parameters:
cardNo is the board number.
Example:
i8094_BP_WAIT(1);
i8094_BP_LINE2D_DEMO
Format:
void i8094_BP_LINE2D_DEMO(unsigned char cardNo, long p1, long p2)
Function:
The linear DDA method for the bit pattern interpolation.
Parameters:
cardNo is the board number.
Example:
i8094_BP_LINE2D_DEMO(1, 30, 40);
According to the below flow chart, user can use linear interpolation DDA algorithm to produce
the BP data. However L =
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Fig. A-48 Bit pattern interpolation by using the linear DDA method
Note: The following bit pattern demo program is only valid in I-8000. User use the
polling method to implement the bit pattern by calling the i8094_BP_LINE2_DEMO
function and use interrupt method to implement by calling the
i8094_BP_LINE_DEMO_INT function.
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Demo Program: Bit pattern interpolation by using the linear DDA data
Parameters: cardNo=1, master axis=0x1 (AXIS_X), 2nd axis=0x2 (AXIS_Y), P1=30, P2=40
i8094_AXIS_ASSIGN(cardNo, 0x1, 0x2, 0);
i8094_MOTION_TYPE(cardNo, ACCMODE );
i8094_SET_AUTODEC(cardNo, Card[cardNo].plane);
// Auto Deceleration Enabled
i8094_SET_TCURVE(cardNo, Card[cardNo].plane);
// Set T-Curve Mode
i8094_SET_R(cardNo, Card[cardNo].plane, 8000000);
// Multiple=1
i8094_SET_SV(cardNo, Card[cardNo].plane, 50);
i8094_SET_V(cardNo, Card[cardNo].plane, 500);
i8094_SET_A(cardNo, Card[cardNo].plane, 80);
i8094_BP_ENABLE(cardNo);
// BP Interpolation Enabled
i8094_BP_LINE2_DEMO(cardNo, 30, 40);
// Linear DDA Data Stack
i8094_BP_DISABLE(cardNo);
// BP Interpolation disabled
Fig. A-49 Use linear DDA method for bit pattern interpolation
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Use the linear DDA method, set P1(X-axis) = 30, P2(Y-axis) = 40, and the linear DDA data are
calculated as bellows:
Table A-7 DDA data for the bit pattern interpolation
Index
Z1
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
0
1
0
1
1
0
1
0
1
1
0
1
0
1
1
0
1
0
1
1
0
1
0
1
1
Hex1
0x6b5a
0xb5ad
Z2
0
1
1
1
1
0
1
1
1
1
0
1
1
1
1
0
1
1
1
1
0
1
1
1
1
Hex2
0x7bde
0xbdf7
X
Y
Index
Z1
0
1
1
2
3
3
4
4
5
6
6
7
7
8
9
9
10
10
11
12
12
13
13
14
15
0
1
2
3
4
4
5
6
7
8
8
9
10
11
12
12
13
14
15
16
16
17
18
19
20
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
0
1
0
1
1
0
1
0
1
1
0
1
0
1
1
0
1
0
1
1
0
1
0
1
1
Hex1
0x5ad6
0x3
Z2
0
1
1
1
1
0
1
1
1
1
0
1
1
1
1
0
1
1
1
1
0
1
1
1
1
Hex2
0xdef7
0x3
X
Y
15
16
16
17
18
18
19
19
20
21
21
22
22
23
24
24
25
25
26
27
27
28
28
29
30
20
21
22
23
24
25
25
26
27
28
29
29
30
31
32
32
33
34
35
36
36
37
38
39
40
Note: Z1, Z2 are the output pulse on the each interval, X is the sum of Z1, Y is the sum
of Z2, Hex1 is the 16 bits character made of 16 ones or zeros (Z1), and Hex2 is the 16
bits character made of 16 ones or zeros (Z2)
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A.7.6 Automatic Home Search
Table A-8 Home Search Function
Function Name
Description
Write data into the WR6, WR7 registers and use 60h command
i8094_EXTENSION_MODE
to set the conditions for automatic search mode.
i8094_GET_EM6
i8094_GET_EM6
i8094_GET_EM7
i8094_GET_EM7
Setting the active level of the near home signal (IN0).
i8094_IN0_LEVEL
Setting the active level of the home signal (IN1).
i8094_IN1_LEVEL
Setting active level of the encoder Z-phase signal (IN2).
i8094_IN2_LEVEL
The home search speed (HV) setting.
i8094_SET_HV
Home search step 1 mode setting.
i8094_HOME_STEP1
Home search step 1 mode setting.
i8094_HOME_STEP2
Home search step 1 mode setting.
i8094_HOME_STEP3
Home search step 1 mode setting.
i8094_HOME_STEP4
Home and Encoder Z-phase signal condition setting.
i8094_HOME_SAND
The home search uses an overrun limit signal setting.
I8094_HOME_LIMIT
Clear the logic position and real position counter at termination
i8094_HOME_PCLR
home search.
Start execution of automatic home search.
i8094_HOME_START
Set the home search mode.
i8094_HOME_MODE
i8094_EXTENSION_MODE
Format:
void i8094_EXTENSION_MODE(unsigned char cardNo, WORD axis,
WORD em6data, WORD em7data)
Function:
Write data to the WR6, WR7 registers and uses 64h command to set the conditions
for synchronous action mode.
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1.
em6data is the 32-bit data for writing in the WR6 register.
em7data is the 32-bit data for writing in the WR7 register.
Example:
//Use the function to set the home search type of negative direction, and hardware
//signal: home, near home, limit-.
i8094_EXTENSION_MODE(1, 0xf, 0x5f00, 0x054f);
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i8094_GET_EM6
Format:
WORD i8094_GET_EM6(BYTE cardNo, WORD axis)
Function:
Get the data of EM6.
Parameters:
cardNo board number.
axis
axis or axes. Please refer to Table 2-1.
Example:
//get the EM6 value of the X-axis on card 1
WORD em6Data;
em6Data = i8094_GET_EM6(1, 0x1);
i8094_GET_EM7
Format:
WORD i8094_GET_EM7(BYTE cardNo, WORD axis)
Function:
Get the data of EM7.
Parameters:
cardNo board number.
axis
axis or axes. Please refer to Table 2-1.
Example:
ICPDAS
//get the EM7 value of the X-axis on card 1
WORD em7Data;
em7Data = i8094_GET_EM7(1, 0x1);
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i8094_IN0_LEVEL
Format:
void i8094_IN0_LEVEL(unsigned char cardNo, WORD axis, WORD nLevel )
Function:
Set the logic level of the IN0 signal.
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in ㎜ 2-1.
nLevel is the setting the active level of home signal (IN1).
nLevel=0, Low active;
nLevel=1, Hi active.
Example:
i8094_IN0_LEVEL(1, 0xf, 0);
8094_IN1_LEVEL
Format:
void i8094_IN1_LEVEL(unsigned char cardNo, WORD axis, WORD nLevel)
Function:
Set the logic level of the IN1 signal.
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1.
nLevel is setting the active level of the near home signal (IN0).
nLevel=0, Low active;
nLevel=1, Hi active.
Example:
i8094_IN1_LEVEL(1, 0xf, 0);
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i8094_IN2_LEVEL
Format:
void i8094_IN2_LEVEL(unsigned char cardNo, WORD axis, WORD nLevel)
Function:
Set the logic level of the IN2 signal.
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1.
nLevel is the setting the active level of the encoder Z-phase signal (IN2).
nLevel=0, Low active;
nLevel=1, Hi active.
Example:
i8094_IN2_LEVEL(1, 0xf, 0);
i8094_SET_HV
Format:
void i8094_SET_HV(unsigned char cardNo, WORD axis, WORD data)
Function:
Set he home search speed (HV).
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1.
data is the home search speed value. Data range:1~8000
Example: //Set home search speed 1000 (PPS)
i8094_SET_HV(1, 0xf, 1000);
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i8094_HOME_STEP1
Format:
void i8094_HOME_STEP1(unsigned char cardNo, WORD axis,
WORD nType, WORD nDir)
Function:
Use the near home signal (IN0) to operate the home search.
Parameters:
cardNo is the board number.
axis is the motion axis code/name.
nType is the specified the near home signal (IN0) executed or not.
nType= 0, non-execution;
nType=1, execution.
nDir is the operation direction of the step.
nDir=0, positive;
nDir=1, negative
Example: //Set the step 1 enabled and – negative direction of the home search
i8094_HOME_STEP1(1, 0xf, 1, 1);
i8094_HOME_STEP2
Format:
void i8094_HOME_STEP2(unsigned char cardNo, WORD axis,
WORD nType, WORD nDir)
Function:
Use the home signal (IN1) to operate the home search.
Parameters:
cardNo is the board number.
axis is the motion axis code/name.
nType is the specified the home signal (IN1) executed or not.
nType= 0, non-execution;
nType=1, execution.
nDir is the operation direction of the step.
nDir=0, positive;
nDir=1, negative
Example: //Set the step 2 enabled and – negative direction of the home search
i8094_HOME_STEP2(1, 0xf, 1, 1);
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i8094_HOME_STEP3
Format:
void i8094_HOME_STEP3(unsigned char cardNo, WORD axis,
WORD nType, WORD nDir)
Function:
Use the signal (IN2) to operate the home search.
Parameter:
cardNo is the board number.
axis is the motion axis code/name.
nType is the specified the encoder z-phase signal (IN2) executed or not.
nType= 0, non-execution;
nType=1, execution.
nDir is the operation direction of the step.
nDir=0, positive;
nDir=1, negative
Example: //Set the step 3 enabled and negative direction of the home search
i8094_HOME_STEP3(1, 0xf, 1, 1);
i8094_HOME_STEP4
Format:
void i8094_HOME_STEP4(unsigned char cardNo, WORD axis,
WORD nType, WORD nDir)
Function:
Set the offset drive in the last step.
Parameter:
cardNo is the board number.
axis is the motion axis code/name.
nType is the specified the near home signal (IN0) executed or not.
nType= 0, non-execution;
nType=1, execution.
nDir is the operation direction of the step.
nDir=0, positive; nDir=1, negative
Example: //Set the step 4 enabled and – negative direction of the home search
i8094_HOME_STEP4(1, 0xf, 1, 1);
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i8094_HOME _SAND
Format:
void i8094_HOME_SAND(unsigned char cardNo,WORD axis, WORD nType)
Function:
Set the operation of step 3 when the home signal and the encoder z-phase signal
become active.
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1.
nType=0, disable; nType=1, enable.
Example: //Disable the SAND (WR7/D9) condition.
i8094_HOME_SAND(1, 0xf, 0);
i8094_HOME _LIMIT
Format:
void i8094_HOME_LIMIT(unsigned char cardNo, WORD axis, WORD nType)
Function:
Set the home search using an overrun limit signal.
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1.
nType=0, disable;
nType=1, enable.
Example: //Disable the LIMIT (WR7/D10) condition.
i8094_HOME_LIMIT(1, 0xf, 0);
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i8094_HOME _PCLR
Format:
void i8094_HOME_PCLR(unsigned char cardNo, WORD axis, WORD nType)
Function:
Clear the logic position and real position counter at termination home search.
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1.
nType=0, disable;
nType=1, enable.
Example: //Enable the PCLR (WR7/D8) condition.
i8094_HOME_PCLR(1, 0xf, 0);
i8094_HOME _START
Format:
void i8094_HOME_START(unsigned char cardNo, WORD axis)
Function:
Start execution of automatic home search.
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1.
Example: //Start home search operation.
i8094_HOME_START(1, 0xf);
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i8094_HOME _MODE
Format:
void i8094_HOME_MODE(unsigned char cardNo,WORD axis,
WORD Hometype)
Function:
Home search demo function.
Parameters:
cardNo is the board number.
axis is the motion axis code, as shows in Table 2-1.
HomeType is one of the 8 combination cases of various homing steps. 8 cases are
defined in the following table.
Table A-9 Signals for home search types
Home Type
0
Comment
Dir-, hardware signal used: home, near home, limit-
1
Dir+, hardware signal used: home, near home, limit+
2
Dir-, hardware signal used: home, limit- (step1 disabled)
3
Dir+, hardware signal used: home, limit+ (step1 disabled)
4
Dir-, hardware signal used: home, near home, limit-, encoder-Z
5
Dir+, hardware signal used: home, near home, limit+, encoder-Z
6
Dir-, hardware signal used: home, limit-, encoder-Z
7
Dir+, hardware used: home, limit+, encoder-Z
Example: //Set the type 0 of the home search for all axes.
i8094_HOME_DEMO(1, 0xf, 0);
//Start the home search motion.
i8094_HOME_START(1, 0xf);
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Example of home search using a near home (IN0), home signal (IN1) and Z-phase
signal.
Operation
Step 1
Step 2
Step 3
Step 4
Input signal and logical level
Near home signal (IN0) is active (low)
Home signal (IN1) is active (low)
Z-phase signal (IN2) is active (high)
35000 pulse offset
Search direction
+
+
Search speed
20000 (PPS)
500 (PPS)
500 (PPS)
20000 (PPS)
Fig. A-50 Hardware disposition for home operation example 1
Note: In this example, the user should connect the IN0~IN2 signals as shown in the
diagram on the left-hand side.
Demo Program: Example of home search using a near home (IN0), home signal (IN1)
and the Z-phase signal.
Parameters: cardNo=1, motion axis=0xf (AXIS_ALL)
i8094_SET_R(1, 0xf, 800000)
// Set Multiple=10
8094_HLMTM_LEVEL(cardNo, 0xf, 0);
// Set negative limit signal of low active
i8094_LMTSTOP_MODE(cardNo, 0xf, 0) // Set Limit stop mode of decelerating stop
i8094_HOME_STEP1(cardNo, 0xf, 1, 1); // Set Step1 is executed and negative direction for 4-axes
i8094_HOME_STEP2(cardNo, 0xf, 1, 1); // Set Step2 is executed and negative direction for 4-axes
i8094_HOME_STEP3(cardNo, 0xf, 1, 0); // Set Step3 is executed and positive direction for 4-axes
i8094_HOME_STEP4(cardNo, 0xf, 1, 0); // Set Step4 is executed and positive direction for 4-axes
i8094_SET_SV(cardNo, 0xf, 500);
// Set start velocity=500 (PPS)
i8094_SET_V(cardNo, 0xf, 2000);
// Set drive velocity=2000 (PPS)
i8094_SET_A(cardNo, 0xf, 80);
// Set acceleration=80 (PPS/Sec)
i8094_SET_HV(cardNo, 0xf, 500);
// Set home speed=500 (PPS)
i8094_SET_PULSE(cardNo, 0xf, 20000); // Set offset pulse=20000
i8094_HOME_START(cardNo , 0xf);
// Starts execution of automatic home search
i8094_STOP_WAIT(cardNo, 0xf);
// Wait drive stop
Sleep(500);
// In BC use Delay(500);
i8094_SET_LP(cardNo, axis, 0);
// Clear LP counter
i8094_SET_EP(cardNo, axis, 0);
// Clear EP counter
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Example of home search using a home signal (IN1) only.
Operation
Step 1
Step 2
Step 3
Step 4
Input signal and logical level
Near home signal (IN0) is active (low)
Home signal (IN1) signal active (low)
Not executed
35000 pulse offset
Search direction
-
Search speed
20000 (PPS)
500 (PPS)
+
20000 (PPS)
Fig. A-51 Hardware disposition for home operation example 2
Demo Program: Example of home search using a home signal (IN1) only.
Parameters: cardNo=1, motion axis=0xf (AXIS_ALL)
i8094_SET_R(cardNo, 0xf, 800000)
// Set Multiple=10
i8094_HOME_STEP1(cardNo, 0xf, 1, 1); // Set Step1 is executed and negative direction for 4-axes
i8094_HOME_STEP2(cardNo, 0xf, 1, 1); // Set Step2 is executed and negative direction for 4-axes
i8094_HOME_STEP3(cardNo, 0xf, 0, 0); // Set Step3 is non-executed
i8094_HOME_STEP4(cardNo, 0xf, 1, 0); // Set Step4 is executed and positive direction for 4-axes
i8094_SET_SV(cardNo, 0xf, 500);
// Set start velocity=500 (PPS)
i8094_SET_V(cardNo, 0xf, 2000);
// Set drive velocity=2000 (PPS)
i8094_SET_A(cardNo, 0xf, 80);
// Set acceleration=80 (PPS/Sec)
i8094_SET_HV(cardNo, 0xf, 500);
// Set home speed=500 (PPS)
i8094_SET_PULSE(cardNo, 0xf, 20000); // Set offset pulse=20000
i8094_HOME_START(cardNo, 0xf);
// Starts execution of automatic home search
i8094_STOP_WAIT(cardNo, axis);
// Wait drive stop
Sleep(500);
// Delay 500ms, In BC use Delay(500);
i8094_SET_LP(cardNo, axis, 0);
// Clear LP counter
i8094_SET_EP(cardNo, axis, 0);
// Clear EP counter
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Example of home search using a limit signal only.
Operation
Step 1
Step 2
Step 3
Step 4
Input signal and logical level
Near home signal (IN0) is active (low)
Home signal (IN1) signal is active (low)
Not executed
35000 pulse offset
Search direction
-
Search speed
20000 (PPS)
500 (PPS)
+
20000 (PPS)
Fig. A-52 Hardware disposition for home operation example 3
Demo Program: Example of home search using a limit signal only.
Parameters: cardNo=1, motion axis=0xf
i8094_SET_R(cardNo, 0xf, 800000)
// Set Multiple=10
8094_HLMTM_LEVEL(1, 0xf, 0);
// Set negative limit signal of low active
i8094_LMTSTOP_MODE(cardNo, 0xf, 0) // Set Limit stop mode of decelerating stop
i8094_HOME_SAND(cardNo, 0xf, 0);
// Set Z-phase and home signal disabled
i8094_HOME_STEP1(cardNo, 0xf, 1, 1); // Set Step1 is executed and negative direction for 4-axes
i8094_HOME_STEP2(cardNo, 0xf, 1, 1); // Set Step2 is executed and negative direction for 4-axes
i8094_HOME_STEP3(cardNo, 0xf, 1, 0); // Set Step3 is executed and positive direction for 4-axes
i8094_HOME_STEP4(cardNo, 0xf, 1, 0); // Set Step4 is executed and positive direction for 4-axes
i8094_SET_SV(cardNo, 0xf, 500);
// SV=500, Start Speed=5000 (PPS)
i8094_SET_V(cardNo, 0xf, 2000);
// V=2000, Drive Speed=20000 (PPS)
i8094_SET_A(cardNo, 0xf, 80);
// A=80, Acceleration=10K (PPS/Sec)
i8094_SET_HV(cardNo, 0xf, 500);
// HV=500 Home Speed=5000 (PPS)
i8094_SET_PULSE(cardNo, 0xf, 3500);
// Set offset pulse=3500
i8094_HOME_START(cardNo, 0xf); // Starts execution of automatic home search
i8094_STOP_WAIT(cardNo, axis);
// Wait drive stop
Delay(500);
// Delay 500ms, In eVC use Sleep(500);
i8094_SET_LP(cardNo, axis, 0);
// Clear LP counter
i8094_SET_EP(cardNo, axis, 0);
// Clear EP counter
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A.7.7 Synchronous Action
Table A-10 Synchronous Action functions
Function Name
Description
i8094_SYNC_MODE
Writes data to the WR6, WR7 registers and uses 64h
command to set the conditions for synchronous action
mode.
i8094_GET_SB
Synchronous action buffer register reading.
i8094_SYNC_MODE
Format:
void i8094_SYNC_MODE(unsigned char cardNo, WORD axis,
WORD sm6data, WORD sm7data)
Function:
Writes data to the WR6, WR7 registers and uses 64h command to set the conditions
for synchronous action mode.
Parameters:
cardNo is the board number.
axis is the motion axis code, as shows in Table 2-1.
sm6data is the data for the WR6 register.
sm7data is the data for the WR6 register.
Example: //Set the X axis (0x1) as the Provocative axis, Y axis (0x2) as the Active
//axis. However the activation factor is the logic position counter value
//exceeded the value of COMP+ register (P ≥ C+), and the action is the positive
//fixed pulse driving.
i8094_SET_SYNCMODE(1, 0x1, 0x2001 , 0x0);
i8094_SET_SYNCMODE(1, 0x2, 0x0, 0x0010);
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i8094_GET_SB
Format:
void i8094_GET_SB(unsigned char cardNo, WORD axis)
Function:
Read the synchronous action buffer register.
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1.
Example: //Get the data from the x-axis’s buffer register.
i8094_GET_SB(1, 0x1);
i8094_GET_SM6
Format:
WORD i8094_GET_SM6(BYTE cardNo, WORD axis)
Function:
Get the value of SM6 register.
Parameters:
cardNo board number
axis
axis or axes. Please refer to Table A2-1.
Example: //Get the value of SM6 of X-axis on board 1.
WORD sm6Data;
sm6Data = i8094_GET_SM6(1, 0x1);
i8094_GET_SM7
Format:
WORD i8094_GET_SM7(BYTE cardNo, WORD axis)
Function:
Get the value of SM7 register.
Parameters:
cardNo board number
axis
axis or axes. Please refer to Table A2-1.
Example: //Get the value of SM7 of X-axis on board 1.
WORD sm7Data ;
sm7Data = i8094_GET_SM7(1, 0x1);
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Demo Program: When the X axis is passing through the position 10000, the Y axis
starts +direction fixed-pulse drive.
Parameters: cardNo=1, ProvocativePulse=15000, ActivePulse=30000;
TotalAxis=0x3 (AXIS_XY), ProvocativeAxis=0x1 (AXIS_X), ActiveAxis=0x2 (AXIS_Y)
CompValue=10000
// Set parameters s for total axes or you can also set for individual axis
i8094_SET_SV(cardNo, TotalAxis, 100);
i8094_SET_V(cardNo, TotalAxis, 3000);
i8094_SET_A(cardNo, TotalAxis, 160);
// Set output pulse for the provocative axis
i8094_SET_PULSE(cardNo, ProvocativeAxis, ProvocativePulse);
// Set output pulse for active axis
i8094_SET_PULSE(cardNo, ActiveAxis, ActivePulse);
// Set a boundary condition COMP+ in the provocative axis
i8094_SET_CP(cardNo, ProvocativeAxis, CompValue);
// Disable the software limit
for(i=0;i<4;i++)
{
i8094_SET_WR2(cardNo, 1<<i, Reg[cardNo].WR2[i]&~0x0003);
}
// Provocative factor: P>=C+
i8094_SYNC_MODE(cardNo, ProvocativeAxis, 0x2001, 0x0);
i8094_COMMAND(cardNo, ProvocativeAxis, 0x20);
// Action of the active axis +direction fixed-pulse drive
i8094_SYNC_MODE(cardNo, ActiveAxis, 0x0, 0x0001);
i8094_COMMAND(cardNo, ActiveAxis, 0x20);
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Fig. A-53 Synchronous action example 1
Demo Program: At first the X,Y axes continuous drive, when the X axis is passing
through the position -10000, the Y axis stops.
Parameters: cardNo=1, ProvocativePulse=15000, ActivePulse=30000;
TotalAxis=0x3 (AXIS_XY), ProvocativeAxis=0x1 (AXIS_X), ActiveAxis=0x2 (AXIS_Y)
CompValue=10000
// Set parameters s for total axes or you can also set for individual axis
i8094_SET_SV(cardNo, AXIS_X, 100);
i8094_SET_V(cardNo, AXIS_X, 3000);
i8094_SET_A(cardNo, AXIS_X, 160);
i8094_SET_SV(cardNo, AXIS_Y, 100);
i8094_SET_V(cardNo, AXIS_Y, 2000);
i8094_SET_A(cardNo, AXIS_Y, 80);
// Set output pulse for the provocative axis
i8094_SET_PULSE(cardNo, ProvocativeAxis, ProvocativePulse);
// Set output pulse for active axis
i8094_SET_PULSE(cardNo, ActiveAxis, ActivePulse);
// Set a boundary condition COMP- in provocative axis
i8094_SET_CM(cardNo, ProvocativeAxis, CompValue);
// Disable the software limit
for(i=0;i<4;i++)
{
i8094_SET_WR2(cardNo, 1<<i, Reg[cardNo].WR2[i]&~0x0003);
}
// -Direction continuous drive for the provocative axis
i8094_COMMAND(cardNo, ProvocativeAxis, 0x21);
// Action of the active axis ---> Stop
i8094_SYNC_MODE(cardNo, ActiveAxis, 0x0, 0x0010);
// +Direction continuous drive for the active axis
i8094_COMMAND(cardNo, ActiveAxis, 0x21);
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Fig. A-54 Synchronous action example 2
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Demo Program: Advanced application for synchronous motion: X,Y axes circular
interpolation + Z axis fixed-pulse drive
Parameters: cardNo=1, tempSV=100 (initial speed for XY circular interpolation), tempV=2000
(Drive speed for XY circular interpolation), tempA=80 (The acceleration for XY
interpolation), tempVZ=687 (The constant speed for Z axis), tempDP=13963
(Deceleration point for XY circular interpolation)
Description: Set the inclined plane is X,Y-axes and the vertical plane is Z-axis
And the radius of the circle is 5000 and the angle of inclination is 30.
// Set parameters s for total axes or you can also set for individual axis
i8094_SET_SV(cardNo, TotalAxis, tempSV);
i8094_SET_V(cardNo, TotalAxis, tempV);
i8094_SET_A(cardNo, TotalAxis, tempA);
// Select the master axis
i8094_AXIS_ASSIGN(cardNo, AXIS_X, AXIS_Y, 0);
// Acc mode setting
i8094_MOTION_TYPE(cardNo, ACCMODE);
// T-curve acc mode setting
i8094_SET_TCURVE(cardNo, Card[cardNo].plane);
// Deceleration enabled
i8094_DEC_ENABLE(cardNo);
// 2-axes circular interplation mode setting
i8094_SET_R(cardNo, Card[cardNo].ax1, 8000000L);
i8094_SET_R(cardNo, Card[cardNo].ax2, 8000000L *1414L/1000L);
// Set parameters for X,Y axes
i8094_SET_SV(cardNo, AXIS_X, tempSV);
i8094_SET_V(cardNo, AXIS_X, tempV);
i8094_SET_A(cardNo, AXIS_X, tempA);
// Set parameters for Z axis
i8094_SET_R(cardNo, AXIS_Z, templong);
i8094_SET_SV(cardNo, AXIS_Z, tempVZ);
i8094_SET_V(cardNo, AXIS_Z, tempVZ);
// Synchronous action provocative factor: D-STA
// 1st seg
i8094_SYNC_MODE(cardNo, AXIS_X, 0x4010, 0x0000);
i8094_SYNC_MODE(cardNo, AXIS_Z, 0x0000, 0x0002);
i8094_SET_MANDEC(cardNo, AXIS_X, tempDP);
i8094_ARC_CW(cardNo, 0, -5000, 0, -10000);
i8094_SET_PULSE(cardNo, AXIS_Z, 5000);
i8094_DRV_FDRIVE(cardNo, AXIS_Z, 1);
// Wait for drive stop
i8094_STOP_WAIT(cardNo, AXIS_XYZ);
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i8094_STOP_WAIT(cardNo, AXIS_XYZ);
// 2nd seg
i8094_SYNC_MODE(cardNo, AXIS_X, 0x4010, 0x0000);
i8094_SYNC_MODE(cardNo, AXIS_Z, 0x0000, 0x0001);
i8094_SET_MANDEC(cardNo, AXIS_X, tempDP);
i8094_ARC_CW(cardNo, 0, 5000, 0, 10000);
i8094_SET_PULSE(cardNo, AXIS_Z, 5000);
i8094_DRV_FDRIVE(cardNo, AXIS_Z, 0);
// Wait for drive stop
Delay(500); // Because of the servo lag
Fig. A-55 Synchronous action example 3
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A.7.8 I/O Signal Managements
Table A-11 I/O Signal Management Functions
Function Name
i8094_LMT_STOPMODE
i8094_ENCODER_MODE
i8094_ENCODER_DIVISION
i8094_ALARM_ENABLE
i8094_ALARM_DISABLE
i8094_ALARM_LEVEL
i8094_INPOS_LEVEL
i8094_INnSTOP_ENABLE
i8094_INnSTOP_DISABLE
i8094_IN3_LEVEL
i8094_EXTDRV_DISABLE
i8094_EXTDRV_CDRV
i8094_EXTDRV_FDRV
i8094_EXTDRV_MANUAL
i8094_SET_OUT1
i8094_DIGITAL_FILTER
i8094_SERVO_ON
i8094_SERVO_OFF
Description
Hardware signal stop type setting
Encoder signal mode setting
(PULSE/DIR or CW/CCW)
Quadrature encoder input division setting
Enable alarm signal
Disable alarm signal
Setting alarm signal logic active level
Inpos signal active mode setting
Drive stop signal enabled setting (IN0~IN3)
Drive stop signal disabled setting (IN0~IN3)
Setting the IN3 signal logic active level
External signal disabled setting
External signal for continuous driving mode setting
External signal for fixed pulse driving mode setting
External signal for manual pulse driving mode setting
Set external as status output1
Digital filter setting
SERVO ON setting
SERVO OFF setting
i8094_LMT_STOPMODE
Format:
void i8094_LMT_STOPMODE (unsigned char cardNo, WORD axis,
WORD nType)
Function:
The function is used for controlling motion stop type when the hardware limits
are active.
Parameters:
cardNo is the board number.
axis is the motion axis code, as shows in Table 2-1.
nType is setting for controlling stop type when the hardware limits are active.
nType=0: sudden stop; nType=1: slow-down stop.
Example: //Set the hardware limit signal for slow-down stop.
i8094_SET_HLMTSIG(1, 0xf, 1);
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i8094_ENCODER_MODE
Format:
void i8094_ENCODER_MODE (unsigned char CardNo, WORD axis,
WORD nMode)
Function:
Set the type of encoder input signals (nECA/PPIN and nECB/PMIN)
Parameters:
cardNo is the board number.
axis is the motion axis, as shows in Table 2-1.
nMode=0, means the input signal is CW/CCW.
nMode=1, means the input signal is Pulse/Direction.
Example: //Set the encoder mode as CW/CCW for all axes.
i8094_ENCODER_MODE(1, 0xf, 0);
i8094_ENCODER_DIVISION
Format:
void i8094_ENCODER_DEVISION(unsigned char CardNo, WORD axis,
WORD nMode)
Function:
The division setting for quadrature encoder input. Up / down pulse input is not
available.
Parameters:
cardNo is the board number.
axis is the motion axis code, as shows in Table 2-1.
nMode is the division which set for quadrature encoder input.
nMode=0, division is 1/1;
nMode=1, division is1/2;
nMode=2, division is1/4;
nMode=3, division is invalid.
Example: //Set the encoder input signal division of 1/1 for all axes.
i8094_ENCODER_DEVISION(1, 0xf, 0);
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i8094_ALARM_ENABLE
i8094_ALARM_DISABLE
Format:
void i8094_ALARM_ENABLE (unsigned char cardNo, WORD axis)
void i8094_ALARM_DISABLE (unsigned char cardNo, WORD axis)
Function:
Enable/disable the servo alarm input signal.
Parameters:
cardNo is the board number.
axis is the motion axis code, as shows in Table 2-1.
Example: //Set the alarm signal enabled for all axes.
i8094_ALM_ENABLE(1, 0xf);
i8094_INPOS_ENABLE
i8094_INPOS_DISABLE
Format:
void i8094_INPOS_ENABLE (unsigned char CardNo, WORD axis)
void i8094_INPOS_DISABLE (unsigned char CardNo, WORD axis)
Function:
Enable/disable of servo in-position input signal.
Parameters:
cardNo is the board number.
axis is the motion axis code, as shows in Table 2-1
Example: //Set the in-position signal enabled for all axes.
i8094_INPOS_ENABLE(1, 0xf, 1);
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i8094_ALARM_LEVEL
Format:
void i8094_ALARM_LEVEL (unsigned char CardNo, WORD axis,
WORD nLevel)
Function:
Set the active level for input alarm signal
Parameters:
cardNo is the board number.
axis is the motion axis code, as shows in Table 2-1.
nLevel: set the logical of alarm signal (INP-L).
nLevel=0, Low active; nLevel=1, Hi active.
Example: //Set the alarm signal as Hi active for all axes.
i8094_ALARM_LEVEL(1, 0xf, 1);
i8094_INPOS_LEVEL
Format:
void i8094_INPOS_LEVEL (unsigned char CardNo, WORD axis, WORD nLevel)
Function:
Set the logical level of INPOS input signal.
Parameters:
cardNo is the board number.
axis is the motion axis code, as shows in Table 2-1
nLevel: set the logical of in-position signal (INP-L).
nLevel=0, Low active;
nLevel=1, Hi active.
Example: //Set the in-position signal as Hi active for all axes.
i8094_INPOS_LEVEL(1, 0xf, 1);
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i8094_INnSTOP_ENABLE
i8094_INnSTOP_DISABLE
Format:
void i8094_INnSTOP_ENABLE(unsigned char CardNo, WORD axis,
WORD nINE)
void i8094_INnSTOP_DISABLE(unsigned char CardNo, WORD axis,
WORD nINE)
Function:
Set the input drive stop signal enabled or disable.
Parameters:
cardNo is the board number.
axis is the motion axis code, as shows in Table 2-1.
nINE is the symbol of the (nIN-E), (WR1/D1,D3, D5, D7).
For IN0~IN3:
IN0=0, IN1=1, IN2=2, IN3=3.
nType is the command for setting enable/disable of driving stop signal.
nType=0, disable;
nType=1, enable.
Example:
i8094_INnSTOP_ENABLE(1, 0xf, 1);
i8094_IN3_LEVEL
Format:
void i8094_IN3_LEVEL(unsigned char CardNo, WORD axis, WORD nLevel)
Function:
Set the input drive stop signal (Hi/Low) active.
Parameters:
cardNo is the board number.
axis is the motion axis code, as shows in Table 2-1.
nLevel is the command for setting driving stop signal (Hi/Low) active.
nLevel=0, Low active; nLevel=1, Hi active.
Example:
i8094_INSTOP_LEVEL(1, 0xf, 1);
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i8094_EXTDRV_DISABLE
Format:
void i8094_EXTDRV_DISABLE(unsigned char CardNo, WORD axis)
Function:
Set the external driving signal disabled.
Parameters:
cardNo is the board number.
axis is the motion axis code, as shows in Table 2-1
Example: //Disable the external driving signal for all axes.
i8094_EXTDRV_DISABLE(1, 0xf);
i8094_EXTDRV_CDRIVE
Format:
void i8094_EXTDRV_CDRIVE(unsigned char CardNo, WORD axis)
Function:
Set the external driving signal for continuous driving mode.
Parameters:
axis is the motion axis code, as shows in Table 2-1
Example: //Set the external driving signal as continuous driving for X, Y axes.
i8094_EXTDRV_CDRIVE(1, 0x3)
i8094_EXTDRV_FDRIVE
Format:
void i8094_EXTDRV_FDRIVE(unsigned char CardNo, WORD axis)
Function:
Set the external driving signal for fixed pulse driving mode.
Parameters:
cardNo is the board number.
axis is the motion axis code, as shows in Table 2-1.
Example: //Set the external driving signal as fixed pulse driving for X, Y axes.
i8094_EXTDRV_FDRV(1, 0x3)
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i8094_EXDRV_MANUAL
Format:
void i8094_EXDRIVING_MANUAL(unsigned char CardNo, WORD axis)
Function:
Set the external driving signal for manual pulse driving mode.
Parameters:
cardNo is the board number.
axis is the motion axis code, as shows in Table 2-1
Example: //Set the external driving signal as manual pulse driving for all axes.
i8094_EXTDRV_MANUAL(1, 0xf)
Note: When using the i8094_EXDRV_MANUAL function, the manual pulsar mode
becomes effective. Users can use hand wheel to receive phase-A/B signals of the
encoder, the manual pulsar outputs +/- direction drive pulses. It is simple function.
i8094_SET_OUT1
Format:
void i8094_SET_OUT1(unsigned char CardNo, WORD axis, WORD nLevel)
Function:
Set the output 1 signals for assigned axes.
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1
Example: //Set the OUTPUT1 signal of Hi active for x axis.
i8094_SET_OUTPUT1(1, 0x1, 1);
Note: After setting the active level of the function, users can use the output signal of
the 4-axes to be the testing DO pins.
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i8094_DIGITAL_FILTER
Format:
void i8094_DIGITAL_FILTER(unsigned char cardNo, WORD axis, WORD FEn,
WORD FLn)
Function:
Set the input signal filter. This IC is equipped with an integral type in the input stage
of each input signal.
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1
FEn is code of the filter enable signal register. Refer to WR6/D8~D12 in the
following table.
Table A-12 Filter enable signal register
Specification Bit
WR6/D8 (FE0)
WR6/D9 (FE1)
WR6/D10 (FE2)
WR6/D11 (FE3)
WR6/D12 (FE4)
Filter Enable Signal
EMGN, nLMTP, nLMTM, nINO, nIN1
nIN2
nINPOS, nALARM
nEXPP, nEXPM, EXPLSN
nIN3
FLn is the code of the selection for filter time constant. Refer to WR6/D13~D15 in
the following table.
Table A-13 The code of the selection for filter time constant
WR6/D15~13 (FL2~0) Removable maximum noise width Input signal delay time
0
1.75 μ SEC
2 μ SEC
1
224 μ SEC
256 μ SEC
2
448 μ SEC
512 μ SEC
3
896 μ SEC
1.024mSEC
4
1.792mSEC
2.048mSEC
5
3.584mSEC
4.096mSEC
6
7.168mSEC
8.192mSEC
7
14.336mSEC
16.384mSEC
Example: //Set the IN2 to be the filter enable signal and input signal delay time=256μSec
i8094_DIGITAL_FILTER(1, 0xf, 0x0200, 0x4000);
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i8094_SERVO_ON
Format:
void i8094_SERVO_ON(unsigned char CardNo, WORD axis)
Function:
Using the i8094_SET_OUTPUT1 function to set servo on status
Parameters:
cardNo is the board number.
axis is the motion axis code/name, as shows in Table 2-1
Example:
i8094_SERVO_ON(1, 0xf)
i8094_SERVO_OFF
Format:
void i8094_SERVO_OFF(unsigned char CardNo, WORD axis)
Function:
Using the i8094_SET_OUTPUT1 function to set servo off status
Parameters:
cardNo is the board number.
axis is the motion axis code, as shows in Table 2-1
Example:
i8094_SERVO_OFF(1, 0xf)
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A.7.9 FRnet Related Functions
Table A-14 FRnet related functions
Function Name
i8094_FRNET_SA
i8094_FRNET_RA
Description
Write data to digital output of FRnet interface.
Read digital input from FRnet interface.
i8094_FRNET_SA
Format:
void i8094_FRNET_SA(BYTE cardNo, WORD wSA, WORD data)
Function:
This function write data to the FRnet digital output. SA means the Sending Address
which can be one of the legal group number of FRnet. One group comprises 16 bits
data. Therefore, total 128 DO can be defined for one FRnet interface.
Parameters:
cardNo is the board number.
wSA:
data:
Group number, range 0~7
8~15 are used for digital inputs
16-bit data
Return:
WORD
16-bit DI data
Example:
WORD IN_Data;
IN_Data = i8094_FRNET_RA(1, 8);
//Read the 16-bit DI which is on module 1 and the group number is 8.
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i8094_FRNET_RA
Format:
void i8094_FRNET_RA(BYTE cardNo, WORD wRA)
Function:
This function reads the FRnet digital input signals. RA means the Receiving Address
which can be one of the legal group number of FRnet. One group comprises 16 bits
data. Therefore, total 128 DI can be defined for one FRnet interface.
Parameters:
cardNo is the board number.
wRA:
Group number, range 8~15
0~7 are used for digital outputs
data:
16-bit data
Return:
None
Example:
i8094MF_FRNET_SA(1, 0,0xffff);
//Write 0xffff to the 16-bit DO which is on module 1 and the group number is 0.
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A.8 i8094 Command Lists
For the advanced users who can develop their applications by using the
basic function, several lists of command codes and their corresponding
ranges are listed below. For more information, users can refer to the manual of
MCX314As motion chip.
A.8.1 Data Setting Commands
Symbol
Code
Command
Data Range
Data
length
(Byte)
R
K
A
D
SV
V
P
FP
00h
01h
02h
03h
04h
05h
06h
06h
8,000,000~16,000
0 ~ 65,535
1 ~ 8,000
1 ~ 8,000
1 ~ 8,000
1 ~ 8,000
0~+228
-231~+231
4
2
2
2
2
2
4
4
DP
07h
Range setting
Acc rate (Jerk) setting
Acceleration (Acc) setting
Deceleraton (Dec) setting
Initial speed setting
Driving speed setting
Output pulse numbers
Finish point setting
Manual deceleration point
setting
Circular center point setting
Logical position counter setting
Real position counter setting
COMP+ register setting
COMP- register setting
Acceleration counter offset
setting
Deceleration rate setting
Extension mode setting
Home detecting speed setting
Synchronous action mode
setting
0 ~ 65,535
2
C
LP
EP
CP
CM
08h
09h
0Ah
0Bh
0Ch
AO
0Dh
L
EM
HV
0Eh
60h
61h
SM
64h
31
31
-2 ~+2
-231~+231
-231~+231
-231~+231
-231~+231
4
4
4
4
4
0~65535
2
1~65535
(Bit data)
1~8000
2
4
2
(Bit data)
4
Command
Data Range
Data
Length
(Byte)
Logic position counter
reading
Real position counter reading
Current driving speed reading
Current Acc/Dec value reading
Synchronous buffer register
reading
-231~+231
4
A.8.2 Data Reading Commands
Symbol
Code
LP
10h
EP
CV
CA
11h
12h
13h
SB
14h
ICPDAS
226
31
31
-2 ~+2
1 ~ 8,000
1 ~ 8,000
4
2
2
-231~+231
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A.8.3 Driving Commands
Code
20h
21h
22h
23h
24h
25h
26h
27h
Command
+ direction fixed pulse driving
- direction fixed pulse driving
+ direction continuous driving
- direction continuous driving
Drive start holding
Drive start holding release / stop status clear
Decelerating stop
Sudden stop
A.8.4 Interpolation Commands
Code
30h
31h
32h
33h
34h
35h
36h
37h
38h
39h
3Ah
3Bh
3Ch
3Dh
Command
2-axis linear interpolation
3-axis linear interpolation
CW circular interpolation
CCW circular interpolation
2-axis bit pattern interpolation
3-axis bit pattern interpolation
BP register writing enable
BP register writing disable
BP data stack
BP data clear
1-step interpolation
Deceleration valid
Deceleraiton invalid
Interpolation interrupt clear
A.8.5 Other commands
Code
Command
62h Automatic home search execution
65h Synchronous action activation
0Fh NOP (for axis switching)
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Appendix B: MCX314As Registers
This part gives the users some refereces about how to access the registers in the MCX314As
chip. For more details, users still have to refer to this chip’s manual provided by NOVA
electronics Inc..
B.1 Command Register: WR0
Command register is used for the axis assignment and command registration for each axis in
MCX314As. The register consists of the bits for axis assignment, bits for setting command
code, and bits for command resetting.
After the axis assignment and command code have been written to the register, this
command will be executed immediately. The data such as drive speed setting and data
writing command must be written to registers WR6 and WR7 first. Otherwise, when the
reading command is engaged, the data will be written and set, through IC internal circuit, to
registers RR6 and RR7.
WR0 Register
D15
RESET
D14
0
D13
0
D12
0
D11
U
D10
Z
D9
Y
D8
X
D7
0
D6
D5
D4
D3
D2
D1
D0
D6 ~ 0
Command code setting
Please refer to Appendix A for further description of command codes.
D11 ~ 8
Axis assignment
When the bits of the axis are set to 1, the axis is assigned. The signment
is not limited only for one axis, but for multi-axes simultaneously. It is
possible to write the same parameters also. However, the data reading is
only for one assigned axis. Whenever the Interpolation is commanded,
the bits of the assigned axis (axes) should be set 0.
D15
RESET
IC command resetting
When this bit is set to 1, but others are 0, the IC will be reset after
command writing.
RESET bit should be set to 0 when the other commands are written.
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B.2 Mode Register1: WR1
Each axis is with mode register WR1. The axis specified by NOP command or the condition
before decides which axis’s register will be written.
The register consists of the bits for setting enable / disable and enable logical levels of input
signal IN3~IN0 (decelerating stop / sudden stop during the driving) and bits for occurring the
interrupt enable / disable.
Once IN3~IN1 are active, when the fixed pulse / continuous pulse driving starts, and also
when IN signal becomes the setting logical level, the decelerating stop will be performed
during the acceleration /deceleration driving and the sudden stop will be performed during
the constant speed driving.
WR1 Register
Interrupt Enable/Disable
D15
D14
D13
D-END
C-STA
C-END
D12
D11
D10
D9
D8
P>=C+
P<C+
P<C-
P>=C-
PULSE
Driving Stop Input Signal Enable/Disable
D7
D6
D5
D4
D3
D2
D1
D0
IN3-E
IN3-L
IN2-E
IN2-L
IN1-E
IN1-L
IN0-E
IN0-L
D7,5,3,1 INm-E
The bits for setting enable / disable of driving stop input signal INm
0:disable, 1:enable
D6,4,2,0 INm-L
The bits for setting enable logical levels for input signal INm
0: stop on the Low level,
1:stop on the Hi level
For the following bits, the interrupt is set:
1: enable, 0: disable
D8
PULSE
Interrupt occurs when the pulse is up (drive pulse is set on the positive
logical level)
D9
P≥C-
Interrupt occurs when the value of logical / real position counter is larger
than or equal to that of COMP- register.
D10
P<C-
Interrupt occurs when the value of logical / real position counter is smaller
than that of COMP- register.
D11
P<C+
Interrupt occurs when the value of logical / real position counter is smaller
than that of COMP+ register.
D12
P≥C+
Interrupt occurs when the value of logical / real position counter is larger
than or equal to that of COMP+ register.
D13
C-END
D14
C-STA
Interrupt occurs at the start of the constant speed drive during an
acceleration / deceleration driving.
Interrupt occurs at the end of the constant speed drive during an
acceleration / deceleration driving.
D15
D-END
ICPDAS
Interrupt occurs when the driving is finished
D15~D0 will be set to 0 while resetting.
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B.3 Mode Register2: WR2
WR2 can be used for setting: (1) external limit inputs, (2) driving pulse types, (3) encoder
signal types, and (4) the feedback signals from servo drivers.
WR2 Register
D15
D14
INP-E
INP-L
D13
D12
D11
D10
D9
D8
ALM-E
ALM-L
PIND1
PIND0
PINMD
DIR-L
D7
D6
D5
D4
D3
D2
D1
D0
PLSMD
CMPSL
HLMT+
HLMT-
LMTMD
LMTMD
SLMT-
SLMT+
D0 SLMT+
Enable / disable setting for COMP+ register which is used as the + direction
software limit.
1: enable, 0: disable
Once it is enabled during the + direction driving, if the value of logical / real
position counter is larger than that of COMP+, the decelerating stop will be
performed. The D0 (SLMT+) bit of register RR2 will become 1. Under this
situation, further written + direction driving commends will not be executed.
D1 SLMT-
Enable / disable setting for COMP- register which is used as the - direction
software limit
1: enable, 0: disable
Once it is enabled during the - direction driving, if the value of logical / real
position counter is smaller than that of COMP+, the decelerating stop will be
performed. The D1 (SLMT-) bit of register RR2 will become 1. Under this
situation, further written - direction driving commends will not be executed.
D2 LMTMD
The bit for controlling stop type when the hardware limits (nLMTP and nLMTM
input signals) are active.
0: sudden stop, 1: decelerating stop
D3 HLMT+
Setting the logical level of + direction limit input signal (nLMTM)
0: active on the Low level, 1: active on the Hi level
D4 HLMT-
Setting the logical level of - direction limit input signal (nLMTM)
0:active on the Low level,
1: active on the Hi level
D5 COMPSL Setting if real position counter or logical position counter is going to be
compared with COMP +/- register
0: logical position counter,
1 : real position counter
D6 PLSMD
Setting output pulse type.
0: independent 2-pulse type, 1: 1-pulse 1-direction type
When independent 2-pulse type is engaged, + direction pulses are
output through the output signal nPP/PLS, and - direction pulses through
nPM/DIR.
When 1-pulse 1-direction type is engaged, + and - directions pulses are
output through the output signal nPP/PLS, and nPM/DIR is for direction
signals.
D7
Setting logical level of driving pulses
0: positive logical level,
1: negative logical level.
PLS-L
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D8
DIR-L
Setting logical level of the direction (nPM/DIR) output signal for 1-pulse mode.
DIR-L
0
1
D9
＋ Direction
Hi
Low
－ Direction
Hi
Low
PINMD Setting the type of encoder input signals (nECA/PPIN and nECB/PMIN)
0: quadrature pulse input type
1: Up / Down pulse input type
Real position counter will count up or down when encoder input signal is
triggered. When quadrature pulse input type is engaged, the “ count up” will
happen if the positive logical level pulses are input to phase A; the “count
down” will happen if the positive logical level pulses are input to phase B. So, it
will count up and down when these 2 signals go up and down.
When Up / Down pulse input type is engaged, nECA/PPIN is for “ count up”
input, and nECB/PMIN is for “count down” input. So, it will count up when the
positive pulses go up.
D11,10
PIND1,0 The division setting for quadrature encoder input.
D11
D10
Division
0
0
1/1
0
1
1/2
1
0
1/4
1
0
Invalid
[Note] Up / down pulse input is not available.
D12 ALM-L
Setting active level of input signal nALARM
0: active on the Low level,
1: active on the Hi level.
D13
ALM-E
Setting enable / disable of servo alarm input signal nALARM
0: disable,
1: enable
When it is enabled, MCX314 will check the input signal. If it is active,
D14 (ALARM) bit of RR2 register will become 1. The driving stops.
D14
INP-L
Setting logical level of nINPOS input signal
0: active on the Low level,
1:active on the Hi level
D15
INP-E
Setting enable/disable of in-position input signal nINPOS from servo driver
0: disable, 1: enable
When it is enabled, bit n-DRV of RR0 (main status) register does not return to
0 until nINPOS signal is active after the driving is finished.
D15~D0 will be set to 0 while resetting.
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B.4 Mode Register3: WR3
Each axis is with mode register WR3. The axis specified by NOP command or the condition
before decides which axis’ s register will be written. WR3 can be used for manual
deceleration, individual deceleration, S-curve acceleration /deceleration, the setting of
external operation mode, and the setting of general purpose output OUT7~4.
WR3 Register
D15
D14
D13
D12
D11
D10
D9
D8
0
0
0
0
OUT7
OUT6
OUT5
OUT4
D7
D6
D5
D4
D3
D2
D1
D0
OUTSL
0
0
EXOP1
EXOP0
SACC
DSNDE
MANLD
D0
MANLD
Setting manual / automatic deceleration for the fixed pulse acceleration /
deceleration driving. 0: automatic deceleration, 1: manual deceleration
The decelerating point should be set if the manual deceleration mode is
engaged.
D1
DSNDE
Setting decelerating rate which is in accordance with the rate of the
acceleration or an individual decelerating rate
0: in accordance with the rate of the acceleration (Symmetric Acc/Dec)
1: individual decelerating rate setting (Asymmetric Acc/Dec)
When 0 is set, the deceleration will follow the acceleration setting.
Therefore, 0 must be set for automatic deceleration. When 1 is set, the
rates of acceleration and deceleration should be different. Therefore, 1
must be set for manual deceleration.
D2
SACC
Setting trapezoidal driving / S-curve acceleration / deceleration driving
0: trapezoidal driving,
1: S-curve acceleration / deceleration driving
Before S-curve acceleration / deceleration driving is engaged, jerk (K)
should be set.
D4,3
EXOP1,0
Setting the external input signals (nEXPP, nEXPM) for driving
D4
0
0
1
1
D3
0
1
0
1
external signals disabled
continuous driving mode
fixed pulse driving mode
external signals disabled
When the continuous driving mode is engaged, the + direction drive
pulses will be output continuously once the nEXPP signal is on the Low
level; the - direction pulses will be output continuously once the nEXPM
signal is on the Low level.
When the fixed pulse driving mode is engaged, the + direction fixed pulse
driving starts once the nEXPP signal is falling to the Low level from the
Hi level; the - direction fixed pulse driving starts once the nEXPM signal is
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falling to the Low level from the Hi level.
D7
OUTSL
Driving status outputting or used as general purpose output signals
(nOUT7~4)
0: nOUT7~4: general purpose output
The levles of D11~8 will be output through nOUT7~4.
1: nOUT4~7: driving status output (see the table below)
Signal Name
Output Description
Hi: if logical / real position counter≧COMP+ register
OUT4/CMPP
Low : if logical / real position counter＜COMP+ register
Hi: if logical / real position counter＜COMP- register
OUT5/CMPM
Low: if logical / real position counter≧COMP- register
When the driving command is engaged, the level becomes Hi once the driving
OUT6/ASND
status is in acceleration
When the driving command is engaged, the level becomes Hi once the driving
OUIT7/DSND
status is in deceleration.
[Note] Not every output signal is used in the motion control module. Some are
cancelled because of the shortage of connector pins.
D11~8
OUTm
Level setting for output signals OUT7~4 as general purpose output
signals.
0: Low level output, 1: Hi level output
D15~D0 will be set to 0 while resetting. D15~12, D5 and D6 should be always set 0.
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B.5 Output Register: WR4
This register is used for setting the general purpose output signals nOUT3~0. This 16-bit
register locates 4 output signals of each axis. It can be also used as a 16-bit general purpose
output. It is Low level output when the bit is set 0, and Hi level output when the bit is set 1.
WR4 Register
D15
D14
D13
D12
D11
D10
D9
D8
UOUT3
UOUT2
UOUT1
UOUT0
ZOUT3
ZOUT2
ZOUT1
ZOUT0
D7
D6
D5
D4
D3
D2
D1
D0
YOUT3
YOUT2
YOUT1
YOUT0
XOUT3
XOUT2
XOUT1
XOUT0
[Note] Not every output signal is used in the motion control module. Some are
cancelled because of the shortage of connector pins.
D15~D0 will be set to 0 while resetting, and nOUT3~0 signals become Low level.
B.6 Interpolation Mode Register: WR5
This register is used for setting axis assignment, constant vector speed mode, 1-step
interpolation mode and interrupt during the interpolation.
WR5 Register
D15
D14
D13
D12
D11
D10
D9
D8
0
CMPLS
EXPLS
0
SPD1
SPD0
BPINT
CINT
D7
D6
D5
D4
D3
D2
D1
D0
0
0
AX31
AX30
AX21
AX20
AX11
AX10
MCX314As can do 3-axis linear interpolation. To define 3 axes from 4 different axes, 2-bit
code is necessary. Therefore, AX11 and AX10 define the first axis; AX21 and AX20 define
the second axis; and AX31 and AX30 define the third axis.
D1, 0
AX11, 10
ax1 (master axis) assignment for interpolation
Axis codes are shown as follows.
Axis Code (Binary)
X
0
0
Y
0
1
Z
1
0
U
1
1
Example:
If the setting we wish is as follws:
1st axis: X, 2nd axis: Y, 3rd axis: Z
Then we should set the values as follows
D5 D4 D3 D2 D1 D0
1 0 0 1 0 0
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For ax1 (master axis) will have the basic pulses of starting
interpolation calculation, the speed parameter which is for constant /
acceleration / deceleration driving should be set before the driving.
D3, 2
AX21, 20
ax2 assignment according to the codes shown in the table above
D5,4
AX31, 30
ax3 assignment for 3-axis interpolation, according to the codes
shown in the table above.
Setting any value if it is only 2-axis interpolation.
D9,8
LSPD1,0
Constant vector speed mode setting of interpolation driving
D9 D8 Code (Binary)
0
0 constant vector speed invalid
0
1 2-axis constant vector speed
1
0 (setting not available)
1
1 3-axis constant vector speed
When 2-axis constant vector speed mode is engaged, the user
should set the range (R) of ax2 to be 1.414 times of the range (R) of
master axis (ax1). When 3-axis constant vector speed mode is
engaged, the user should set the range (R) of ax2 to be 1.414 times
and the range (R) of ax3 to be 1.732 times of the range (R) of master
axis (ax1).
D11
EXPLS
When it is 1, the external (EXPLSN) controlled single step
interpolation mode is engaged.
D12
CMPLS
When it is 1, the command controlled single step interpolation mode
Is engaged.
D14
CIINT
Interrupt enable / disable setting during interpolation
0: Disable,
1: Enable.
D15
BPINT
interrupt enable / disable setting during bit-pattern interpolation
0: Disable,
1: Enable
D15~D0
ICPDAS
will be set to 0 while resetting.
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B.7 WR6/WR7 Register
Use an extension mode setting command (60h) to set an automatic search mode. Set each bit
of the WR7 register as shown below. To generate an interrupt at termination of automatic
home search, set D5 (HMINT) of the WR6 register to 1. Since bit data of the WR6 and WR7 of
an extension mode setting command (60h) is written to the internal registers simultaneously,
the appropriate values must be set for other bits of the WR6 register.
WR6 Register
D15
D14
D13
D12
D11
D10
D9
D8
FL0
FE4
FE3
FE2
FE1
FE0
FL2
FL1
D7
D6
D5
D4
D3
D2
D1
D0
SMODE
0
HMINT
VRING
AVTRI
POINV
EPINV
EPCLR
WR7 Register
D15
D14
DCCW2
DCCW1
D13
D12
D11
D10
D9
D8
DCCW0
DCC-L
DCC-E
LIMIT
SAND
PCLR
D7
D6
D5
D4
D3
ST4-D
ST4-E
ST3-D
ST3-E
ST2-D
D2
D1
D0
The user can write command data with a designated data length into the write register. It does
not matter to write WR6 or WR7 first.
The written data is binary formatted; 2’ complement is for negatives.
For command data, the user should use designated data length.
The contents of WR6 and WR7 are unknown while resetting.
B.8 Main Status Register: RR0
This register is used for displaying the driving and error status of each axis. It also displays
interpolation driving, ready signal for continuous interpolation, quadrant of circular
interpolation and stack counter of bit pattern interpolation.
RR0 Register
D15
D14
BPSC1
D13
D12
D11
D10
D9
D8
BPSC0
ZONE2
ZONE1
ZONE0
CNEXT
I-DRV
D7
D6
D5
D4
D3
D2
D1
D0
U-ERR
Z-ERR
Y-ERR
X-ERR
U-DRV
Z-DRV
Y-DRV
X-DRV
D3~0
n-DRV
Displaying driving status of each axis
When the bit is 1, the axis is outputting drive pules; when the bit is 0, the
driving of the axis is finished.
Once the in-position input signal nINPOS for servo motor is active,
nINPOS will return to 0 after the drive pulse output is finished.
D7~4
n-ERR
Displaying error status of each axis
If any of the error bits (D5~D0) of each axis’ s RR2 register and any of the
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error-finish bits (D15~D12) of each axis’ s RR1 register becomes 1, this
bit will become 1.
D8
I-DRV
D9
CNEXT Displaying the possibility of continuous interpolation data writing
When the bit is 1, it is ready for inputting parameters for next node and
also ready for writing interpolation command data.
D12~10 ZONE0
ZONE1
ZONE2
D14, 13
Displaying interpolation driving status
While the interpolation drive pulses are outputting, the bit is 1.
Displaying the quadrant of the current position in circular interpolation
D12
D11
0
0
0
0
1
1
1
1
0
0
1
1
0
0
1
1
BPSC1, 0
D10 Quadrant
0
1
0
1
0
1
0
1
0
1
2
3
4
5
6
7
In bit pattern interpolation driving, it displays the value of the stack
counter (SC).
D14 D13 Stack Counter (SC) Value
0
0
0
0
1
1
1
0
2
1
1
3
In bit pattern interpolation driving, when SC = 3, it shows the stack is full. When SC
= 2, there is one word (16-bit) space for each axis. When SC = 1, there is a 2-word
(16-bit × 2) for each axis. When SC=0, it shows all the stacks are empty, and the
bit-pattern interpolation is finished.
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B.9 Status Register 1: RR1
Each axis is with status register 1. The axis specified by NOP command or the condition
before decide which axis’ s register will be read.
The register can display the comparison result between logical / real position counter and
COMP + / - , the acceleration status of acceleration / deceleration driving, jerk of S-curve
acceleration / deceleration and the status of driving finishing.
RR1 Register
D15
D14
EMG
ALARM
D13
D12
D11
D10
D9
D8
LMT-
LMT+
IN3
IN2
IN1
IN0
D7
D6
D5
D4
D3
D2
D1
D0
ADSND
ACNST
AASND
DSND
CNST
ASND
CMP-
CMP+
D0
CMP+
Displaying the comparison result between logical / real position counter
and COMP+ register
1: logical / real position counter ≥ COMP+ register
0: logical / real position counter＜COMP+ register
D1
CMP-
Displaying the comparison result between logical / real position counter
and COMP- register
1: logical / real position counter ≤ COMP- register
0: logical / real position counter＞COMP- register
D2
ASND
It becomes 1 when in acceleration.
D3
CNST
It becomes 1 when in constant speed driving.
D4
DSND
It becomes 1 when in deceleration.
D5
AASND
In S-curve, it becomes 1 when acceleration / deceleration increases.
D6
ACNST
In S-curve, it becomes 1 when acceleration / deceleration keeps constant.
D7
ADSND
In S-curve, it becomes 1 when acceleration / deceleration decreases.
D11~8
IN3~0
If the driving is stopped by one of external decelerating stop signals
(nIN3 ~ 0), it will become 1.
D12
LMT+
If the driving is stopped by + direction limit signal (nLMTP), it will become 1.
D13
LMT-
If the driving is stopped by - direction limit signal (nLMTP), it will become 1.
D14
ALARM
If the driving is stopped by nALARM from servo drivers, it will become 1.
D15 EMG If the driving is stopped by external emergency signal (EMGN), it will become 1.
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The Status Bits of Driving Finishing
These bits are keeping the factor information of driving finishing. The factors for driving
finishing in fixed pulse driving and continuous driving are shown as follows:
1. when all the drive pulses are output in fixed-pulse driving,
2. when deceleration stop or sudden stop command is written,
3. when software limit is enabled, and is active,
4. when external deceleration signal is enabled, and active,
5. when external limit switch signals (nLMTP, nLMTM) become active,
6. when nALARM signal is enabled, and active, and
7. when EMGN signal is on the Low level.
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B.10 Status Register 2: RR2
Each axis is with status register 2. The axis specified by NOP command or the condition
before decides which axis’ s register will be read. This register is for reflecting the error
information. Once the bit becomes 1, it reflects an error occurs. When one or more of D5~D0
bits of RR2 register are 1, n-ERR bits of main status register RR0 become 1.
RR2 Register
D15
D14
-
-
D13
D12
D11
D10
D9
D8
-
HMST2
HMST3
HMST2
HMST1
HMSTO
D7
D6
D5
D4
D3
D2
D1
D0
HOME
-
EMG
ALARM
HLMT-
HLMT+
SLMT-
SLMT+
D0
SLMT+
During the + direction driving, when logical / real position counter ≥
COMP+ (COMP+ enabled, and used as software limit)
D1
SLMT-
During the - direction driving, when logical / real position counter ≤
COMP- (COMP- enabled, and used as software limit)
D2
HLMT+
When external + direction limit signal (nLMTP) is on its active level
D3
HLMT-
When external - direction limit signal (nLMTM) is on its active level
D4
ALARM
When the alarm signal (nALARM) for servo motor is on its active level
D5
EMG
When emergency stop signal (EMGN) becomes Low level.
D7
HOME
Error occurred at execution of automatic home search. When the encoder
Z-phase signal (nIN2) is already active at the start of Step 3, this bit is set
to 1.
D8~12
HMST0~4
The home search execution state indicating stop or sudden stop will
executed.
In driving, when hardware / software limit is active, the decelerating stop or sudden stop will
be executed.
Bit SLMT+/- will not become 1 during the reverse direction driving.
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B.11 Status Register 3: RR3
Each axis is with status register 3. The axis specified by NOP command or the condition
before decides which axis’ s register will be read. This register is for reflecting the interrupt
factor. When interrupt happens, the bit which is with the interrupt factor becomes 1. The user
should set the interrupt factor through register WR1 to perform the interrupt.
RR3 Register
D15
D14
-
-
D7
D-END
D6
C-STA
D13
D12
D11
D10
D9
D8
-
-
-
-
SYNC
HMEND
D5
C-END
D4
P ≥ C+
D3
P＜C+
D2
P＜C-
D1
P ≥ C-
D0
PULSE
D0
PULSE
When the drive pulse is up (drive pulse is set on the positive logical
level)
D1
P ≥ C-
Once the value of logical / real position counter is larger than that of
COMP- register.
D2
P＜C-
Once the value of logical / real position counter is smaller than that of
COMP- register
D3
P＜C+
Once the value of logical / real position counter is smaller than that of
COMP+ register
D4
P ≥ C+
Once the value of logical / real position counter is larger than that of
COMP+ register
D5
C-END
When the pulse output is finished in the constant speed drive during an
acceleration / deceleration driving.
D6
C-STA
When the pulse output is started in the constant speed drive during an
acceleration / deceleration driving
D7
D-END
When the driving is finished
D8
HMEND
Automatic home search terminated.
D9
SYNC
Synchronous action was activated.
When one of the interrupt factors occurs an interrupt, the bit of the register becomes 1, and
the interrupt output signal (INTN) will become the Low level. The host CPU will read register
RR3 of the interrupted axis, the bit of RR3 will be cleared to 0, and the interrupt signal will
return to the non-active level. When 8-bit data bus is used, the reading data of RR3L register
is cleared.
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B.12 Input Register: RR4 / RR5
RR4 and RR5 are used for displaying the input signal status. The bit is 0 if the input is on the
Low level; the bit is 1 if the input is on the Hi level.
RR4 Register
D15
D14
D13
D12
D11
D10
D9
D8
Y-ALM
Y-INP
Y-EX-
Y-EX+
Y-IN3
Y-IN2
Y-IN1
Y-IN0
D7
D6
D5
D4
D3
D2
D1
D0
X-ALM
X-INP
X-EX-
X-EX+
X-IN3
X-IN2
X-IN1
X-IN0
RR5 Register
D15
D14
D13
D12
D11
D10
D9
D8
U-ALM
U-INP
U-EX-
U-EX+
U-IN3
U-IN2
U-IN1
U-IN0
D7
D6
D5
D4
D3
D2
D1
D0
Z-ALM
Z-INP
Z-EX-
Z-EX+
Z-IN3
Z-IN2
Z-IN1
Z-IN0
B.13 Data-Read Register: RR6 / RR7
According to the data-read command, the data of internal registers will be set into registers
RR6 and RR7. The low word 16 bits (D15 ~ D0) is set in RR6 register, and the high word 16
bits (D31 ~ D16) is set in RR7 register for data reading.
The data is binary formatted; 2’ s complement is for negatives.
RR6 Register
D15
D14
D13
D12
D11
D10
D9
D8
D7
D6
D5
D4
D3
D2
D1
D0
RD15
RD14
RD13
RD12
RD11
RD10
RD9
RD8
RD7
RD6
RD5
RD4
RD3
RD2
RD1
RD0
RR7 Register
D15
D14
D13
D12
D11
D10
D9
D8
D7
D6
D5
D4
D3
D2
D1
D0
RD31
RD30
RD29
RD28
RD27
RD26
RD25
RD24
RD23
RD22
RD21
RD20
RD19
RD18
RD17
RD16
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