ICP DAS USA RS-M8194H Manual
Below you will find brief information for Motion Control Module RS-M8194H. The RS-M8194H is a RS-232/485/422 serial based 4-axis stepping/pulse-type motion controller and uses Modbus RTU as a communication protocol between master and slave. This intelligent motion controller also has a variety of built in motion control functions, such as 2/3- axis linear interpolation, 2-axis circular interpolation, T/S-curve acceleration/deceleration, various synchronous actions and automatic homing. The RS-M8194H provides a non-volatile memory for downloading small MACRO programs. A MACRO program basically consists of a sequence of motion instructions. In addition arithmetic operation, conditional (if...else) execution, looping, unconditional jumps and nested MACRO program calls are supported by the module.
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RS-M8194H Motion Control Module User Manual
(Version 3.1)
API Library
Warranty
All products manufactured by ICPDAS Inc. are warranted against defective materials for a period of one year from the date of delivery to the original purchaser.
Warning
ICPDAS Inc. assumes no liability for damages consequent to the use of this product. ICPDAS Inc. reserves the right to change this manual at any time without notice. The information furnished by ICPDAS Inc. is believed to be accurate and reliable. However, no responsibility is assumed by ICPDAS Inc. for its use, or for any infringements of patents or other rights of third parties resulting from its use.
Copyright
Copyright 2007-2012 by ICPDAS Inc., LTD. All rights reserved worldwide.
Trademark
The names used for identification only maybe registered trademarks of their respective companies.
License
The user can use, modify and backup this software on a single machine. The user may not reproduce, transfer or distribute this software, or any copy, in whole or in part.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
Function Categories .............................................................................10
API Command Modbus Setup ............................................................19
2 COMMUNICATION FUNCTIONS ............................ 20 2.1
Serial Communication Functions .......................................................20
Set Modbus Response Timeout ................................................................. 24
Get Modbus Response Timeout ................................................................. 25
Set Modbus Request Delay Time ............................................................... 26
Get Modbus Request Delay Time ............................................................... 27
Communication Return Code .............................................................30
3 BASIC SETTINGS ....................................................... 33 3.1
Axes Code Definition ...........................................................................33
Motion Module Reset ...........................................................................34
Pules Output Mode Setting .................................................................36
Maximum Speed Setting ......................................................................38
Trigger Level Setting of Hardware Limit Switch .............................40
Motion Stop Mode Setting of Limit Switch .......................................42
Trigger Level Setting of Near Home Sensor ......................................44
Trigger Level Setting of Home Sensor ...............................................46
Software Limit Setting .........................................................................48
Encoder Related Parameter Settings .................................................51
Servo Driver (ON/OFF) Setting ..........................................................54
Servo Alarm Setting .............................................................................57
Active Level Setting of In-Position Signals ........................................59
Position Counter Variable Ring Setting .............................................63
Enable the Ring Counter Function ............................................................. 63
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
Disable the Ring Counter Function ............................................................ 65
Triangle Velocity Profile Prevention Setting .....................................66
Enable the Triangle Prevention Function .................................................. 66
Disable the Triangle Prevention Function ................................................. 68
External Pulse Input ............................................................................70
Handwheel (Manual Pulse Generator) Driving .......................................... 70
Continuous Pulse Driving Mode ................................................................ 74
Read/Write User-Defined Variables (VAR and bVAR) ....................77
Read/Write Data for Power Outage Carry-Over (MD) ...................85
4 MOTION CONTROLLER STATUS .......................... 90 4.1
Set and Read Commanded Position ...................................................90
Set the Logical Position Counter ............................................................... 90
Read the Logical Position Counter ............................................................ 92
Set and Read the Encoder Counter ....................................................95
Set the Encoder Position Counter ............................................................. 95
Read the Encoder Position Counter .......................................................... 97
Set and Read Absolute Position ..........................................................99
Set the Absolute Position Counter............................................................. 99
Read the Absolute Position Counter ....................................................... 101
Get Current Velocity ..........................................................................104
Get Current Acceleration ..................................................................106
Get DI Triggered Motion Status .......................................................108
Get Single DI Triggered Motion Status .................................................... 108
Get All DI Triggered Motion Status ........................................................... 110
Get Software Emergency Status .......................................................127
Get Interpolation Ready Flag ...........................................................129
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
Get Triggered Interrupt Factors .......................................................130
Get RS-M8194H State ........................................................................132
Command Download and Execution Procedure ..................................... 132
5 FRNET FUNCTIONS ................................................ 138 5.1
Get FRnet DIO Signals ......................................................................138
Read FRnet Group Data (MP) ................................................................... 138
Read FRnet Channel Data (MP) ................................................................ 140
Read FRnet Channel Data (RTC) .............................................................. 141
Read FRnet Group Data (RTC) ................................................................. 142
Read FRnet Multi-group Data (RTC)......................................................... 143
Set FRnet DO Group Data (MP) ................................................................ 144
Set FRnet DO Channel Data (MP) ............................................................. 147
Set FRnet DO Channel Data (RTC) ........................................................... 148
Set FRnet DO Group Data (RTC) .............................................................. 149
Set FRnet Multi-group DO Data (RTC) ..................................................... 150
FRnet DI Trigger Event Setting ........................................................153
Get FRnet DI Trigger Event Setting ................................................154
AUTO HOMING SEARCH ....................................... 155
Set Home Search Speed .....................................................................156
Limit Switch as the Home Sensor Setting ........................................157
Home Search Mode Setting ...............................................................158
Start Automatic Home Search Execution ........................................160
7 MOTION CONTROL COMMANDS ....................... 161 7.1
Single Axis Motion Control ...............................................................161
Acceleration/Deceleration Mode Setting ................................................. 162
Change Target Position on the Fly ........................................................... 180
Continue Pulse Driving Output ................................................................ 184
Interpolation Commands ..................................................................186
Interpolation Axes Assignement .............................................................. 186
Speed and Acc/Dec Mode Setting ............................................................ 188
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
Vector Acceleration Rate Setting ............................................................. 200
Vector Deceleration Rate Setting ............................................................. 202
2-Axis Interpolation Relative Distance Motion ........................................ 206
2-Axis Interpolation Absoult Position Motion ......................................... 208
3-Axis Interpolation Relative Distance Motion ........................................ 210
3-Axis Interpolation Absolute Position Motion ....................................... 212
2-Axis Circular Interpolation Relative Distance Motion (an CW Arc) ..... 214
2-Axis Circular Interpolation Relative Distance Motion (an CCW Arc) .. 216
2-Axis Circular Interpolation Absoult Position Motion (an CW Arc) ...... 218
2-Axis Circular Interpolation Absoult Position Motion (an CCW Arc) ... 220
2-Axis Circular Interpolation Motion (Complete CW Circle) ................... 222
2-Axis Circular Interpolation Motion (Complete CCW Circle) ................ 224
Synchronous Actions ..........................................................................226
Clear Synchronization Condition ............................................................. 235
Set the Synchronization Condition .......................................................... 236
Set the Synchronization Axis ................................................................... 238
Set the Synchronization Action ................................................................ 239
PRESET Data for Synchronous Action Setting ....................................... 249
Enable Interrupt Functions of i-8094H ..................................................... 253
Disable Interrupt Functions of i-8094H .................................................... 254
Clear Interrupt Factor of i-8094H .............................................................. 259
Continuous Interpolation ..................................................................261
Set the Speed of 2-Axis Continuous Linear Interpolation ...................... 264
Execute a 2-Axis Continuous Linear Interpolation (Relative Distance) . 266
Execute a 2-Axis Continuous Linear Interpolation (Absoult Position) .. 268
Set the Speed of 3-Axis Continuous Linear Interpolation ...................... 270
Execute a 3-Axis Continuous Linear Interpolation (Relative Distance) . 272
Execute a 3-Axis Continuous Linear Interpolation (Absoult Position) .. 274
Set the Speed of Mixed 2-axis motions in Continuous Interpolation .... 276
Set Synchronous Line Scan Motion ........................................................ 284
Start Synchronous Line Scan Motion ...................................................... 286
Get Synchronous Line Scan Motion Status ............................................ 288
Stop and Hold Functions ...................................................................289
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
Release Holding Status and Start Driving ............................................... 291
Decelerate and Finally Stop Axes ............................................................ 293
Decelerate and Finally Stop Interpolation Motion ................................... 295
Immediately Stop Interpolation Motion .................................................... 296
Clear Interpolation Motion Stop Status .................................................... 298
INITIAL PARAMETER TABLE .............................. 302
Calling the Initial Table .....................................................................304
9 MACRO PROGRAMMING ...................................... 306
Create MP Macro Program Codes ...................................................307
Create ISR Macro Program Codes ..................................................313
Start a MP Macro Program Codes Programming .................................... 307
End a MP Macro Program Codes Programming ..................................... 309
MP Macro Program Execution .................................................................. 310
Start a ISR Macro Program Codes Programming ................................... 313
End a ISR Macro Program Codes Programming ..................................... 314
ISR Maro Program (ISR) Execution .......................................................... 315
User Defined Variables ......................................................................316
Assign Macro variable a value ................................................................. 316
Get Command Return Value ..................................................................... 318
Simple Calculations ............................................................................320
Command Loop (FOR~NEXT) ........................................................323
Conditional Command (IF~ELSE) ..................................................328
Jump Commands (GOTO-LABEL) .................................................334
Wait Until Motion Command has been Executed ..........................338
Exit Macro Program ..........................................................................339
Terminate all Macro Executions .......................................................341
Get Macro Download Status .............................................................343
Change Velocity on the Fly ................................................................346
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
10 STAND ALONE CONTROLLER ............................. 347
11 LIBRARY VERSION ................................................. 350 11.1
Modbus P824 Library ........................................................................350
i-8094H Library Version ....................................................................351
RS-M8194H DLL Version .................................................................352
12 APPENDIX .................................................................. 353 12.1
MODBUS Input Registers .................................................................353
Read Motion Chip DI Status of Daughterboard ....................................... 355
Read Logic and Encoder Position, Acceleration, Velocity ..................... 357
Read Error State and Free Buffer Size ..................................................... 360
Read DI Signal of Daughterboard ............................................................ 363
Read Absolute Logic Position .................................................................. 364
Read RS-M8194H and i-8094H State ........................................................ 365
Macro Program Download Error Messages ............................................ 367
Macro Program Execution Error Messages ............................................ 368
Motion Chip Triggered Interrupt ............................................................... 369
Holding Registers ...............................................................................370
Macro Call, FRnet Event and WORD Order Setting ................................ 372
Read/ Write Logic and Encoder Position, Acceleration, Velocity .......... 373
Sub Function Code Definition .................................................................. 375
Sub-Function Code Mapping Table .................................................376
MODBUS Coil Table ..........................................................................385
MODBUS Discrete Input Table ........................................................391
13 RS-M8194H LED DESCRIPTION ........................... 404
14 EZMOVE UTILITY ................................................... 406 14.1
Serial Communication Parameter Settings .....................................406
Firmware Update Procedure ............................................................409
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
Version
v1.0 v2.0 V3.0 V3.1
Author
Edward Allen Martin Kevin
Date
13-JAN-2008
Description of changes
The First Version 13-NOV-2012 12 –MAR-2015 8–APR-2015 The Second Version Added absolute position motion commands description. These commands are supported by o RS-M8194H firmware o version 3.0 DLL version 2.0.8 Fix some typo.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
1 Preface
1.1 Introduction
RS-M8194H is a RS-232/485/422 serial based 4-axis stepping/pulse-type motion controller and uses Modbus RTU as a communication protocol between master and slave. This intelligent motion controller also has a variety of built in motion control functions, such as 2/3- axis linear interpolation, 2-axis circular interpolation, T/S-curve acceleration/deceleration, various synchronous actions and automatic homing. The RS-M8194H provides a non-volatile memory for downloading small MACRO programs. A MACRO program basically consists of a sequence of motion instructions. In addition arithmetic operation, conditional (if...else) execution, looping, unconditional jumps and nested MACRO program calls are supported by the module. More than 100 MACRO programs can be downloaded to the module and a MACRO program can contain up to 512 command lines. The MODBUS master can directly call a MACRO program for motion execution. In addition FRnet DI or motion events (e.g. position compare, start / finish of a constant speed drive, etc.) can trigger a MACRO program execution. In addition the RS-M8194H acts as an FRnet master and can control up to 128 digital outputs and 128 digital inputs. FRnet is a two-wire serial bus and has a scan interval of 2.88 ms and it is specifically designed for easy and cost effective wiring. ICPDAS provides a large range of FRnet I/O terminal boards and modules. An EzMove utility is provided for configuring the RS-M8194H and assisting the user in writing macro programs and in getting familiar with the RS M8194H and its motion commands. Furthermore it can be used for motion monitoring and tracking of the motion path.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
1.2 Function Categories
The RS-M8194H supports four types of commands:
RTC
(Real Time Command): The functions are buffered on a FIFO buffer (DPRAM) and will be executed one by one in the sequence they have arrived. If the buffer is full the RS-M8194H will respond with a MB_SLAVE_DEVICE_BUSY (0x06) exception.
MP
(Macro Program): MP is a small compact motion program stored in a non-volatile memory of the i-8094H. Macro programs can be executed by calling MP_CALL with its corresponding number.
ISR
(Interrupt Service Routine): An ISR is similar to an MP. The ISR Macro program will be triggerd by an interrupt of the motion chip. The motion chip supports different type of hardware interrupts, like compare. Each interrupt routine can be assigned to a different ISR macro program which will be executed once the corresponding interrupts occurs.
IT
(Initial Table): During power on all the configuration made in the initial table will be set. The initial table is intended for initializing the motion chip. The maximum number of program lines reserved for the MP and ISR Macro programs are listed in the following table. ISR(6) ISR1 ISR2 ISR3 ISR4 ISR5 ISR6
Total:
8 8 8 8 8 8 ISR(9) ISR7 ISR8 ISR9 ISR10 ISR11 ISR12 ISR13 ISR14 ISR15
Total:
ISR(3) 16 16 16 ISR16 ISR17 ISR18
Total:
32 32 32 ISR(2)
Total:
ISR19 ISR20 64 64 MP(40)
Total:
MP1 8 ~ MP40 8 MP(50)
Total:
MP(40)
Total:
MP(20) MP41 16 MP91 32 MP131 ~ ~ ~ MP90 16 MP130 32 MP150 16 16 16 16 16 16
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
Total:
MP(5) 64 64 MP151 MP152 MP153 MP154 MP155 Total: 128 MP(2) 128 MP156 MP157 128 128 128 Total: 512 512
Note:
In the following chapters
o ※
indicates functions which are supported by Macro programs
o
MP.
Δ indicates functions which can be used inside ISR.
In the following table
o
The mark
◎
indicates the function is available in that category.
o
The mark
◎
x2 means the function is available in that category with two MP function lines.
Table 1: Command types and command scope
Section Basic Settings 3.2.1 Function RSM_RESET_CARD 3.2.2 RSM_CLEAR_CARD_BUFFER 3.3 3.3 3.4 3.4 3.5 3.5 3.6 3.6 3.7 3.7 3.8 3.8 3.9.1 3.9.1 3.9.2 RSM_SET_PULSE_MODE RSM_MACRO_SET_PULSE_MODE RSM_SET_MAX_V RSM_MACRO_SET_MAX_V RSM_SET_HLMT RSM_MACRO_SET_HLMT RSM_LIMITSTOP_MODE RSM_MACRO_LIMITSTOP_MODE RSM_SET_NHOME RSM_MACRO_SET_NHOME RSM_SET_HOME_EDGE RSM_MACRO_SET_HOME_EDGE RSM_SET_SLMT RSM_MACRO_SET_SLMT RSM_CLEAR_SLMT RTC MP
◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎
ISR
◎ ◎ ◎ ◎ ◎ ◎ ◎
IT
◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
Section 3.9.2 Function RSM_MACRO_CLEAR_SLMT 3.10 3.10 RSM_SET_ENCODER RSM_MACRO_SET_ENCODER 3.11.1 RSM_SERVO_ON 3.11.1 RSM_MACRO_SERVO_ON 3.11.2 RSM_SERVO_OFF 3.11.2 RSM_MACRO_SERVO_OFF 3.12 3.12 3.13 3.13 RSM_SET_ALARM RSM_MACRO_SET_ALARM RSM_SET_INPOS RSM_MACRO_SET_INPOS 3.14 3.14 RSM_SET_FILTER RSM_MACRO_SET_FILTER 3.15.1 RSM_VRING_ENABLE 3.15.1 RSM_MACRO_VRING_ENABLE 3.15.2 RSM_VRING_DISABLE 3.15.2 RSM_MACRO_VRING_DISABLE 3.16.1 RSM_AVTRI_ENABLE 3.16.1 RSM_MACRO_AVTRI_ENABLE 3.16.2 RSM_AVTRI_DISABLE 3.16.2 RSM_MACRO_AVTRI_DISABLE 3.17.1 RSM_EXD_MP 3.17.2 RSM_EXD_FP 3.17.3 RSM_EXD_CP 3.17.4 RSM_EXD_DISABLE 3.18.1 RSM_READ_bVAR 3.18.2 RSM_WRITE_bVAR 3.18.3 RSM_READ_VAR 3.18.4 RSM_WRITE_VAR 3.19.1 RSM_READ_MD 3.19.2 RSM_WRITE_MD Motion Controller Status 4.1.1 RSM_SET_LP 4.1.1 4.1.2 RSM_MACRO_SET_LP RSM_GET_LP RTC
◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎
MP
◎
ISR
◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎
IT
◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
Section 4.1.2 Function RSM_MACRO_GET_LP 4.1.2 4.2.1 RSM_GET_LP_4_AXIS RSM_SET_EP 4.2.1 4.2.2 4.2.2 4.2.2 RSM_MACRO_SET_EP RSM_GET_EP RSM_MACRO_GET_EP RSM_GET_EP_4_AXIS 4.3.1 4.3.1 4.3.2 4.3.2 RSM_ABS_SET_POSITION RSM_MACRO_ABS_SET_POSITION RSM_ABS_GET_POSITION RSM_MACRO_ABS_GET_POSITION 4.3.2 4.4 4.4 4.5 RSM_ABS_GET_POSITION_4_AXIS RSM_GET_CV RSM_GET_CV_4_AXIS RSM_GET_CA 4.5 4.6.1 4.6.2 4.6.2 RSM_GET_CA_4_AXIS RSM_MACRO_GET_DI RSM_GET_DI_ALL RSM_MACRO_GET_DI_ALL 4.6.2 4.7.1 4.7.2 4.7.2 RSM_GET_DI_ALL_4_AXIS RSM_MACRO_GET_DI_SIGNAL RSM_GET_DI_SIGNAL_ALL RSM_MACRO_GET_DI_SIGNAL _ALL 4.7.2 4.8 4.8 4.8 RSM_GET_DI_SIGNAL_ALL_4_AXIS RSM_GET_HOME_SEARCH_STATE RSM_MACRO_GET_HOME_SEARCH_STATE RSM_GET_HOME_SEARCH_STATE _4_AXIS 4.9.1 4.9.1 4.9.2 4.9.2 RSM_GET_ERROR_STATE RSM_MACRO_GET_ERROR RSM_GET_ERROR_CODE RSM_MACRO_GET_ERROR_CODE 4.9.2 4.10 4.11 4.11 RSM_GET_ERROR_CODE_4_AXIS RSM_GET_FREE_BUFFER RSM_GET_STOP_STATUS RSM_GET_STOP_STATUS_4_AXIS RTC
◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎
MP
◎
ISR
◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎
IT
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
Section 4.12 Function RSM_GET_EMERGENCY_STATE 4.13 4.14 RSM_GET_DRIVING_AXIS RSM_GET_INTERPOL_RDY_FLAG 4.15 RSM_GET_TRIG_INTFACTOR 4.16.2 RSM_GET_DEVICE_STATE FRnet Functions 5.1.1 5.1.2 5.1.3 5.1.4 5.1.5 5.2.1 5.2.2 5.2.3 5.2.4 5.2.5 5.3 5.4 5.5 RSM_MACRO_FRNET_IN RSM_MACRO_FRNET_READ RSM_FRNET_READ_SINGLE_DIO RSM_FRNET_READ_GROUP_DIO RSM_FRNET_READ_MULTI_GROUP_DIO RSM_MACRO_FRNET_OUT RSM_MACRO_FRNET_WRITE RSM_FRNET_WRITE_SINGLE_DO RSM_FRNET_WRITE_GROUP_DO RSM_FRNET_WRITE_MULTI_GROUP_DO RSM_MACRO_FRNET_WAIT RSM_SET_FRNET_TRIGGER_EVENT RSM_GET_FRNET_TRIGGER_EVENT_SETTI NG Auto Homing Search 6.1 RSM_SET_HV 6.1 6.2 6.2 RSM_MACRO_SET_HV RSM_HOME_LIMIT RSM_MACRO_HOME_LIMIT 6.3 6.3 6.4 RSM_SET_HOME_MODE RSM_MACRO_SET_HOME_MODE RSM_HOME_START 6.4 RSM_MACRO_HOME_START Motion Control Commands 7.1.1 7.1.1 7.1.2 7.1.2 7.1.3 7.1.3 7.1.4 7.1.4 7.1.5 7.1.5 7.1.6 RSM_NORMAL_SPEED RSM_MACRO_NORMAL_SPEED RSM_SET_SV RSM_MACRO_SET_SV RSM_SET_V RSM_MACRO_SET_V RSM_SET_A RSM_MACRO_SET_A RSM_SET_D RSM_MACRO_SET_D RSM_SET_K RTC
◎ ◎ ◎ ◎ ◎
MP ISR
◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎
IT
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.2.8 7.2.8 7.2.9 7.2.9 7.2.10 7.2.10 7.2.11 7.2.11 7.2.12 7.2.12 7.2.13 7.2.13 7.2.14 7.2.14 7.2.15 7.2.15 7.2.16 7.2.16 7.2.17 Section 7.1.6 Function RSM_MACRO_SET_K 7.1.7 7.1.7 RSM_SET_L RSM_MACRO_SET_L 7.1.8 7.1.8 7.1.9 7.1.9 7.1.10 7.1.10 RSM_SET_AO RSM_MACRO_SET_AO RSM_FIXED_MOVE RSM_MACRO_FIXED_MOVE RSM_SET_PULSE RSM_MACRO_SET_PULSE 7.1.11 7.1.11 7.1.12 7.1.12 7.2.1 7.2.1 7.2.2 7.2.2 7.2.3 7.2.3 7.2.4 7.2.4 7.2.5 7.2.5 7.2.6 7.2.6 7.2.7 7.2.7 RSM_ABS_FIXED_MOVE RSM_ABS_MACRO_FIXED_MOVE RSM_CONTINUE_MOVE RSM_MACRO_CONTINUE_MOVE RSM_AXIS_ASSIGN RSM_MACRO_AXIS_ASSIGN RSM_VECTOR_SPEED RSM_MACRO_VECTOR_SPEED RSM_SET_VSV RSM_MACRO_SET_VSV RSM_SET_VV RSM_MACRO_SET_VV RSM_SET_VA RSM_MACRO_SET_VA RSM_SET_VD RSM_MACRO_SET_VD RSM_SET_VK RSM_MACRO_SET_VK RSM_SET_VL RSM_MACRO_SET_VL RSM_SET_VAO RSM_MACRO_SET_VAO RSM_LINE_2D RSM_MACRO_LINE_2D RSM_ABS_LINE_2D RSM_ABS_MACRO_LINE_2D RSM_LINE_3D RSM_MACRO_LINE_3D RSM_ABS_LINE_3D RSM_ABS_MACRO_LINE_3D RSM_ARC_CW RSM_MACRO_ARC_CW RSM_ARC_CCW RSM_MACRO_ARC_CCW RSM_ABS_ARC_CW RSM_ABS_MACRO_ARC_CW RSM_ABS_ARC_CCW RTC
◎ ◎ ◎ ◎ ◎ ◎ ◎
x2
◎
x2
◎
x2
◎
x2
◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎
MP
◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎
x2
◎
x2
◎
x2
◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎
ISR
◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎
x2
◎
x2
◎
x2
◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎ ◎
IT
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.3.11 7.3.12 7.3.12 7.3.13 7.3.13 7.4.1 7.4.1 7.4.2 7.4.2 7.4.3 7.4.3 7.4.4 7.4.4 7.4.5 7.4.5 7.4.6 7.4.6 7.4.7 7.4.7 Section 7.2.17 Function RSM_ABS_MACRO_ARC_CCW 7.2.18 7.2.18 RSM_CIRCLE_CW RSM_MACRO_CIRCLE_CW 7.2.19 7.2.19 7.3.1 7.3.1 7.3.2 7.3.2 RSM_CIRCLE_CCW RSM_MACRO_CIRCLE_CCW RSM_SYNC_ACTION RSM_MACRO_SYNC_ACTION RSM_CLEAR_SYNC_ACTION RSM_MACRO_CLEAR_SYNC_ACTION 7.3.3 7.3.3 7.3.4 7.3.4 7.3.5 7.3.5 7.3.6 7.3.6 7.3.7 7.3.7 7.3.7 7.3.8 7.3.8 7.3.9 7.3.9 7.3.10 7.3.10 7.3.11 RSM_SET_ACTIVATION_FACTORS RSM_MACRO_SET_ACTIVATION_FACTORS RSM_SET_ACTIVATION_AXIS RSM_MACRO_SET_ACTIVATION_AXIS RSM_SET_ACTION RSM_MACRO_SET_ACTION RSM_SET_COMPARE RSM_MACRO_SET_COMPARE RSM_GET_LATCH RSM_MACRO_GET_LATCH RSM_GET_LATCH_4_AXIS RSM_SET_PRESET RSM_MACRO_SET_PRESET RSM_SET_OUT RSM_MACRO_SET_OUT RSM_ENABLE_INT RSM_MACRO_ENABLE_INT RSM_DISABLE_INT RSM_MACRO_DISABLE_INT RSM_INTFACTOR_ENABLE RSM_MACRO_INTFACTOR_ENABLE RSM_INTFACTOR_DISABLE RSM_MACRO_INTFACTOR_DISABLE RSM_RECTANGLE RSM_MACRO_RECTANGLE RSM_LINE_2D_INITIAL RSM_MACRO_LINE_2D_INITIAL RSM_LINE_2D_CONTINUE RSM_MACRO_LINE_2D_CONTINUE RSM_ABS_LINE_2D_CONTINUE RSM_ABS_MACRO_LINE_2D_CONTINUE RSM_LINE_3D_INITIAL RSM_MACRO_LINE_3D_INITIAL RSM_LINE_3D_CONTINUE RSM_MACRO_LINE_3D_CONTINUE RSM_ABS_LINE_3D_CONTINUE RSM_ABS_MACRO_LINE_3D_CONTINUE MP
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Section 7.4.8 Function RSM_MIX_2D_INITIAL 7.4.8 7.4.9 RSM_MACRO_MIX_2D_INITIAL RSM_MIX_2D_CONTINUE 7.4.9 7.4.10 7.4.10 7.4.11 7.4.11 7.4.12 RSM_MACRO_MIX_2D_CONTINUE RSM_ABS_MIX_2D_CONTINUE RSM_ABS_MACRO_MIX_2D_CONTINUE RSM_HELIX_3D RSM_MACRO_HELIX_3D RSM_LINE_SCAN 7.4.13 7.4.14 7.5.1 7.5.1 7.5.2 7.5.2 7.5.3 7.5.3 7.5.4 7.5.4 7.5.5 7.5.5 7.5.6 7.5.6 7.5.7 7.5.7 7.5.8 7.5.8 7.5.9 7.5.9 7.5.10 7.5.11 RSM_LINE_SCAN_START RSM_GET_LINE_SCAN_DONE RSM_DRV_HOLD RSM_MACRO_DRV_HOLD RSM_DRV_START RSM_MACRO_DRV_START RSM_STOP_SLOWLY RSM_MACRO_STOP_SLOWLY RSM_STOP_SUDDENLY RSM_MACRO_STOP_SUDDENLY RSM_VSTOP_SLOWLY RSM_MACRO_VSTOP_SLOWLY RSM_VSTOP_SUDDENLY RSM_MACRO_VSTOP_SUDDENLY RSM_CLEAR_STOP RSM_MACRO_CLEAR_STOP RSM_CLEAR_VSTOP RSM_MACRO_CLEAR_VSTOP RSM_INTP_END RSM_MACRO_INTP_END RSM_EMERGENCY_STOP RSM_CLEAR_EMERGENCY_STOP Initial Parameter Table 8.1 RSM_LOAD_INITIAL Macro Programming 9.1.1 9.1.2 9.1.3 9.1.3 9.2.1 9.2.2 9.2.3 9.3.1 9.3.2 9.4 9.5.1 RSM_MP_CREATE RSM_MACRO_MP_CLOSE RSM_MP_CALL RSM_MACRO_MP_CALL RSM_MP_ISR_CREATE RSM_MACRO_MP_ISR_CLOSE RSM_MP_ISR_CALL RSM_MACRO_SET_VAR RSM_MACRO_SET_RVAR RSM_MACRO_VAR_CALCULATE RSM_MACRO_FOR RTC
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Section 9.5.2 Function RSM_MACRO_NEXT 9.5.3 9.6.1 RSM_MACRO_EXIT_FOR RSM_MACRO_IF 9.6.2 9.6.3 9.7.1 9.7.2 9.8 9.9 RSM_MACRO_ELSE RSM_MACRO_END_IF RSM_MACRO_GOTO RSM_MACRO_LABEL RSM_MACRO_TIMER RSM_STOP_WAIT 9.9 9.10 9.11 9.11 9.12 9.13 RSM_MACRO_STOP_WAIT RSM_MACRO_EXIT_MACRO RSM_MP_TERMINATE RSM_MACRO_MP_TERMINATE RSM_GET_MP_DOWNLOAD_STATUS RSM_CHANGE_VEL_ON_FLY Library Version 11.1 11.2 11.3 RSM_GET_RSM_FIRMWARE_VERSION RSM_GET_i8094H_FIRMWARE_VERSION RSM_GET_DLL_VERSION RTC
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1.3 API Command Modbus Setup
Function_name( parameter1, parameter2 ……) Description: Explanation of this function.
Category: Parameters: Return: Example: Remark: Function categories description.
Definitions of the parameters and how to use them.
The return value of this function.
Simple example program.
Comments.
MODBUS Register Table: The MODBUS RTU frame for the commands is defined as follows: (1) UID : Unit ID (SlaveAddr). (2) FC : Function Code. (3) St_Addr.
: Starting Address. (4) Word Count : The length of the following Registers (in Word, 16-bit). (5) Byte Count : The length of the following Registers (in Byte, 8-bit). (6) Register : Content of parameter (16-bit). (6-1) Sub_Function Code : The pre-defined code for each RS-M8194H function. (6-2) Axis : The target Axis/Axes of the RS-M8194H function. The MODBUS Registers only support 16-bit data format. Therefore, two Registers represent a 32-bit value. If the WORD order is set to 0, the first register represents the high-WORD (MSW) and the second register the low WORD (LSW).
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
2 Communication Functions
2.1 Serial Communication Functions
In this chapter introduces function which enables the PC or any other device which acts as a Modbus RTU master to open and close a COM port which is necessary in order to communicate with the RS-M8194H device.
2.1.1 Open COM Port
HANDLE RSM_OPEN_COM_PORT ( BYTE bPort, DWORD dwBaudRate, BYTE bDataBits, BYTE bParityBit, BYTE bStopBits, eCOM_PORT *pError) Description: In order to send data to the RS-M8194H a COM port has to be opened on the PC. After the COM port has been opened successfully Modbus RTU command can be sent to the remote device. The connection is required before sending a MODBUS command. Every connection returns a unique handle. It is important to close the connection ( RSM_CLOSE_COM_PORT () ) before the HANDLE goes out of scope otherwise internal memory reserved for this connection will not be release. Parameters: Paramters
bPort
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dwBaudRate: bDataBits:
Description Use the port number to which the RS-M8194H is connected to.
Use the configured Baudrate of the RS-M8194H. The serial communication parameters (eg. Baudrate, Data bits, etc.) of the RS-M8194H can be set by using the EzMove Utility. The data bit of RS-M8194H
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bParityBit: bStopBits: pError:
The parity of RS-M8194H The stop bit of RS-M8194H
COMM_SUCCESS: COM port has been opened successfully
Other errors see error table ( Table 2 )
Return: INVALID_HANDLE_VALUE or NULL indicates a failed conncetion, other values indicates a successful conncetion. Example: [VC++] #include "RS_M8194H_API.h" Handle hRSM1; eRTU iRet; eCOM_PORT Error hRSM1 = RSM_OPEN_COM_PORT(bPort, dwBaudRate, bDataBits, bParityBit, bStopBits, & Error);
// Connection with the first controller
if( (hRsm1 == INVALID_HANDLE_VALUE) || (Error != COMM_SUCCESS) ) {return;} iRet = RSM_SERVO_ON (hRSM1, 1, AXIS_XYZU);
//Set servo on
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2.1.2 Close COM Port
eRTU RSM_CLOSE_COM_PORT ( HANDLE hRsm, BYTE bPort) Description: This function closes the serial COM port on the PC. Parameters: Paramters Description hRsm: COM port handle
bPort:
Serial port number of PC to which the RS M8194H is connected Return:
0: Success; Otherwise: Error (Please refer to chapter 2.2
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2.1.3 Get Connection State
eRTU RSM_CONNECTION_STATE ( HANDLE hRsm, BYTE SlaveAddr) Description: Shows the status of the serial connection. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) Return:
1: Connected; Otherwise: Error (Please refer to chapter 2.2
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2.1.4 Set Modbus Response Timeout
eCOM_PORT RSM_SET_TIMEOUT( HANDLE hRsm, DWORD dwTimeOut) Description: This function sets the time in which the Modbus RTU communication of one command between the PC and the RS M8194H should be finished. If the communication has not been finished within the defined time the command will return with a timeout. Parameters: Paramters hRsm:
dwTimeOut:
Description COM port handle Timeout value in milliseconds. A minimum value of 50 milliseconds is suggested Return:
0: Success; Others: Fail (Please refer to chapter 2.2
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2.1.5 Get Modbus Response Timeout
eRTU RSM_GET_TIMEOUT( HANDLE hRsm, DWORD * dwTimeOut) Description: Get the current Modbus time out setting. Parameters: Paramters hRsm:
dwTimeOut:
Description COM port handle Current timeout setting Return:
0: Success; Others: Fail (Please refer to chapter 2.2
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2.1.6 Set Modbus Request Delay Time
eRTU RSM_SET_PACKET_DELAY( HANDLE hRsm, DWORD dwSendDelay) Description: This function sets the minimum time the Master has to wait after receiving a response from the slave before sending the next request. Parameters: Paramters Description hRsm:
dwSendDelay:
COM port handle Delay time after receiving a response before sending the next request. Timeout value in milliseconds. Default value is 0 ms. Return:
0: Success; Others: Fail (Please refer to chapter 2.2
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2.1.7 Get Modbus Request Delay Time
eRTU RSM_GET_PACKET_DELAY( HANDLE hRsm, DWORD * dwSendDelay) Description: Get the current Modbus request delay time setting. Parameters: Paramters hRsm:
dwSendDelay:
COM port handle Description Current Modbus request delay time setting Return:
0: Success; Others: Fail (Please refer to chapter 2.2
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2.1.8 Set Modbus Register Order
eRTU RSM_SET_WORD_ORDER ( HANDLE hRsm, BYTE
SlaveAddr ,
BYTE bWordOrder) Description: Set the order of the most and least significant WORD (MSW, LSW). This function sets the WORD order of bytes variables (long, unsigned long, float) and determines the position of the first two and last two bytes in the Modbus table. The size of each Modbus register is two bytes long. Parameters: Paramters hRsm: COM port handle Description SlaveAddr:
bWordOrder:
Modbus RTU Slave Address (valid range: 1 to 247) 0: MSW at the first Register ; 1: MSW at the second Register Return:
0: Success; Others: Fail (Please refer to chapter 2.2
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2.1.9 Get Modbus Register Order
eRTU RSM_GET_WORD_ORDER ( HANDLE hRsm, BYTE
SlaveAddr ,
BYTE * pbWordOrder) Description: Get the current Modbus register order setting for all the four byte variables. Parameters: Paramters Description hRsm: COM port handle SlaveAddr:
bWordOrder:
Modbus RTU Slave Address (valid range: 1 to 247) 0: MSW at the first Register ; 1: MSW at the second Register Return:
0: Success; Others: Fail (Please refer to chapter 2.2
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2.2 Communication Return Code
The error parameter of the COM open command indicates the cause of the open failure
Table 2: Open COM port error table
Error COMM_SUCCESS Open COM port error table Error Code 0 Description
Open COM port was successfull
COMM_RSM8194H_NOT_CONNECTED 99 COMM_PORT_NOT_EXIST COMM_PORT_IN_USE COMM_PORT_OPEN_ERROR 100 101 102
RS-M8194H module has not been connected to the PC The COM port does not exist on the PC The COM port is already open The COM port could not be opened
COMM_BAUDRATE_ERR COMM_DATABITS_ERR COMM_STOPBITS_ERR COMM_PARITY_ERR COMM_PORT_NOT_OPEN COMM_WRITE_ERROR 103 104 105 106 107 108
The Baudrate entered is not supported Incorrect data bit size. ICPDAS module only support a data bit size of 8. The number of Stop Bits are not supported. The following values are supported: 0(1 stop bit),1(1.5 stop bits), 2(2 stop bits) Wrong Parity value. The following values are supported: 0(NO PARITY), 1(ODD PARITY), 2(EVEN PARITY) The COM port is not open. The COM port needs to be opened before writing and reading communication starts Sending data to the COM port failed
COMM_READ_ERROR 109 COMM_CLOSE_ERROR COMM_GET_STATE_ERR COMM_SET_STATE_ERR COMM_GET_TIMEOUT_ERR COMM_SET_TIMEOUT_ERR COMM_CLEAR_BUFFER_ERROR 110 140 141 142 143 144
Reading data from the COM port failed The open COM port could not be closed Internal error --> COM port has been closed Internal error --> COM port has been closed Internal error Internal error Clearing the input and output COM buffer failed
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The return value ( eRTU ) of the motion commands indicates whether it has been sent successfully to the RS-M8194H:
Table 3: API return values
Communication Error
RSM_SUCCESS
Code
0 MB_ILLEGAL_FUNCTION_CODE MB_ILLEGAL_DATA_ADDRESS MB_ILLEGAL_DATA_VALUE MB_SLAVE_DEVICE_FAILURE MB_SLAVE_DEVICE_BUSY WRONG_CARD_NO MB_ILLEGAL_SLAVE_ADDRESS MB_SEND_ERROR MB_TIMEOUT MB_FRAME_LENGTH_ERROR 1 2 3 4 6 11 201 202 203 206
Description Successful: command has been received by the RS-M8194H The specifed Modbus function code is not being supported. Invalid starting-address of the MODBUS command. For instance, there are the two Registers are be to accessed (LP_X, LP_Y …). If the WORD Order is set to be 1, then the starting-address is the Low_Word address. Invalid data of MODBUS command, such as the number of parameters, the target-axis, the addresses of MD, VAR bVAR. An API has been called which is not being supported by the RS-M8194H. Make sure that the API and RS-M8194H firmware version do match. Indicates that no i-8094H card is plugged into RS-M8194H. Indicates the internal buffer (DPRAM Buffer) of the i-8094H is full and the i8094H is still busy processing commands previously sent; Therefore the failed command has to be resend. Invalid card number. Currently only card number 1 is being supported Illegal slave address. Legal slave address range 1 to 247 The data send by the Modbus master to slave is incomplete. Less bytes have been sent to the slave than required by the MODBUS RTU frame. Possible cause: The byte string can not be send by the master within the the timeout period. The response frame has not been receive within the timeout period The request send to the slave results in a slave response which exceeds the allowable response frame size of 256 bytes Possible causes: The number of register read excceeds the limit
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The following definitions refer to errors in the response frame
MB_INVALID_SLAVE_ADDRESS 210
The slave address in the request and response frame is not identical
MB_INVALID_FUNCTION_CODE MB_REGISTER_READ_WRITE_ERROR 211 212
The function code in the request and response frame is not identical Less or more number of registers have
MB_STARTING_REGISTER_ERROR MB_COIL_READ_WRITE_ERROR MB_STARTING_COIL_ERROR 213 214 215
been read or written to than requested The first register of the response frame is not identical to the first register address of the request frame Less or more discrete values have been read or written to than requested The first discrete address of the
MB_CRC_ERROR RTU_INVALID_HANDLE RTU_UNDEFINED_ERROR RTU_PAR_ERROR RTU_WRITE_DENY RTU_PORT_NOT_OPEN 216 -5 -6 -7 -8 -9
response frame is not identical to the first discrete address of the request frame The data received at the Master COM port has an invalid CRC COM port has not been opened Internal error Paramter value range error Access has been denied by write protection COM port has not been opened
RTU_COM_PORT_ERROR
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3 Basic Settings
3.1 Axes Code Definition
The definition of axis assignments is as follows: X=1, Y=2, Z=4 and U=8. If you assign X and Y axes simultaneously, the code will be 3. In a similar way, AXIS_YZ = 2+4 =0x6; and AXIS_XYZU = 1+2+4+8 = 0xf. This allows for the axis parameter to assign single axis as well as multiple axes. Available axis codes are listed below:
Table 4: Axis assignments and their corresponding codes
Axis X Y Z U XY XZ XU YZ Code 0x1 0x2 0x4 0x8 0x3 0x5 0x9 0x6 Variable AXIS_X Axis Code YU 0xa AXIS_Y ZU 0xc AXIS_Z XYZ 0x7 AXIS_U XYU 0xb AXIS_XY XZU 0xd AXIS_XZ YZU 0xe AXIS_XU AXIS_YZ XYZU 0xf Variable AXIS_YU AXIS_ZU AXIS_XYZ AXIS_XYU AXIS_XZU AXIS_YZU AXIS_XYZU Write the setting values into the IT parameter table without making a change of other current settings
(please refer to section 8)
, the definitions are as follow:
Table 5: Axis assignments and their corresponding codes for initialization table (IT)
Axis X Y Z U XY XZ XU YZ Code 0x11 0x12 0x14 0x18 0x13 0x15 0x19 0x16 Variable Axis INITIAL_ X YU INITIAL_ Y ZU INITIAL_ Z XYZ INITIAL_ U XYU INITIAL_ XY XZU INITIAL_ XZ YZU INITIAL_ INITIAL_ XU XYZU YZ Code 0x1a 0x1c 0x17 0x1b 0x1d 0x1e 0x1f INITIAL_ INITIAL_ INITIAL_ INITIAL_ INITIAL_ Variable YU ZU XYZ XYU XZU IT table can not be used inside macro program (MP or ISR).
INITIAL_ YZU INITIAL_ XYZU
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3.2
3.2.1
Motion Module Reset
Restore the Default Settings
eRTU RSM_RESET_CARD ( HANDLE hRsm, BYTE SlaveAddr) Description: This function enables motion module (i-8094H) to restore the power-on default settings.
Category: MODBUS sub_function; RTC. Parameters: Paramters hRsm: COM port handle Description Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: RSM_RESET_CARD (hRsm, 1);
//Reset the module1
The MODBUS command is listed as follows: Register[] 0 SlaveAddr: UID (hex) 01 Modbus RTU Slave Address (valid range: 1 to 247) Value (hex) 0A 0A FC (hex) 10 St_Addr. (hex) 1F 40 Remarks 00 01
Sub_function code
Word Count (hex) Byte Count (hex) 02
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3.2.2 Clear Command Buffer
eRTU RSM_CLEAR_CARD_BUFFER ( HANDLE hRsm, BYTE SlaveAddr) Description: Clear all data in i-8094H command buffer.
Category: MODBUS sub_function; RTC. Parameters: Paramters hRsm: COM port handle SlaveAddr: Description Modbus RTU Slave Address (valid range: 1 to 247) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: RSM_CLEAR_CARD_BUFFER (hRsm, 1);
module 1
The MODBUS command is listed as follows:
//clear data buffer in
UID (hex) Register[] 0 01 Value (hex) 0A 0B FC (hex) 10 St_Addr. (hex) 1F 40 Word Count (hex) 00 01 Remarks
Sub_function code
Byte Count (hex) 02 Use RSM_GET_FREE_BUFFER function to get the available block-number inside the command buffer. The maximum block-number is 30).
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3.3 Pules Output Mode Setting
eRTU RSM_SET_PULSE_MODE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE nMode)
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eRTU RSM_MACRO_SET_PULSE_MODE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE nMode) Description: This function sets the pulse output mode to be either CW/CCW or PULSE/DIR for the specific axes and their direction.
Category: MODBUS sub_function; RTC, MP and IT. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247)
axis:
nMode: Axis or axes (Please refer to Table 4 or Table 5) If axis setting is defined in Table 4, the setting values will change current settings. If axis setting is defined in Table 5, the setting values will be writted into the parameter table without changing current settings. Assigned mode (Please refer to Table 6)
Table 6: List of pulse output modes
CW / CCW PULSE / DIR
mode
0 1 2 3 4 5 Pulse output signal nPP nPM CW(rising edge) CCW(rising edge) CW(falling edge) PULSE (rising edge) PULSE (falling edge) PULSE (rising edge) PULSE (falling edge) CCW(falling edge) DIR (LOW:+dir/ HIGH:-dir) DIR (LOW:+dir/ HIGH:-dir) DIR (HIGH:+dir/ LOW:-dir) DIR (HIGH:+dir/ LOW:-dir)
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SET_PULSE_MODE is 0A 0C. The Sub_function code of RSM_MACRO_SET_PULSE_MODE is 0C 0C. MODBUS example: RSM_SET_PULSE_MODE (hRsm, 1, AXIS_XYZ, 2);
//
set the pulse mode of X, Y, and Z axes to be mode 2 for module 1 The MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex) Word Count (hex) Byte Count (hex) 01 10 1F 40 00 03 06 Register[] 0 1 2 Value (hex) 0A 0C/0C 0C 00 07 00 02 axis nMode Remarks
Sub_function code
Example: RSM_SET_PULSE_MODE (hRsm, 1, AXIS_XYZ, 2);
//
set the pulse mode of X, Y, and Z axes to be mode 2 in module 1 RSM_SET_PULSE_MODE(hRsm, 1, AXIS_U, 3); //set the pulse mode of U axis to be mode 3 in module 1 RSM_SET_PULSE_MODE (hRsm, 1, INITIAL_XYZU, 0); //set the pulse mode of X Y Z U axes to be mode 0, write into the initial parameter table (Table 5) in module 1
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
3.4 Maximum Speed Setting
eRTU RSM_SET_MAX_V ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, DWORD data)
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eRTU RSM_MACRO_SET_MAX_V ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, DWORD data) Description: This function sets the maximum rate for the output pulses (speed). A larger value results in a rougher resolution, and vice versa. There are 8000 speed segments available. For example, if the maximum speed is set as 8000 PPS, the resolution will be 1 PPS; if the maximum speed is set as 16000 PPS, the resolution will be 2 PPS; if the maximum speed is set as 80000 PPS, the resolution will be 10 PPS, etc. Maximum value 4,000,000 PPS means the resolution of speed will be 500 PPS. This function will change the resolution of speed to reach the desired maximum speed. Since the scale in hardware is changed, other parameters will be updated accordingly too; such as the starting speed, the acceleration, and the jerk. It is recommended to set the maximum speed value to be an integral multiplier of 8000.
Category: MODBUS sub_function; RTC, MP and IT. Parameters: Paramters hRsm: SlaveAddr Description COM port handle Modbus RTU Slave Address (valid range: 1 to 247)
axis data
Axis or axes (Please refer to Table 4 or Table 5) If axis setting is defined in Table 4, the setting values will change current settings. If axis setting is defined in Table 5, the setting values will be writted into the parameter table without changing current settings. Range of the maximum speed: single axis: 8,000~4,000,000 PPS; the second axis: 8,000~2,828,854 PPS; the third axis: 8,000~2,309,468 PPS.
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Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SET_MAX_V is 0A 0D. The Sub_function code of RSM_MACRO_SET_MAX_V is 0C 0D.
MODBUS example: RSM_SET_MAX_V (hRsm, 1, AXIS_XY, 200000L); //The maximum speed for the X and Y axes of module 1 is 200KPPS. //The resolution of the speed will be 200000/8000 = 25 PPS.
The MODBUS command is listed as follows: UID (hex) Register[] 0 1 2 3 01 Value (hex) 0A 0D/0C 0D 00 03 00 03 0D 40 FC (hex) 10 Remarks Sub_function code axis St_Addr. (hex) 1F 40 MSW of data
LSW of data (
Word Count (hex) 00 04 200000 = 0x30D40
)
Byte Count (hex) 08
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3.5 Trigger Level Setting of Hardware Limit Switch
eRTU RSM_SET_HLMT ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE nFLEdge, BYTE nRLEdge)
※
eRTU RSM_MACRO_SET_HLMT ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE nFLEdge, BYTE nRLEdge) Description: This function sets the active logic level of the hardware limit switch inputs.
Category: MODBUS sub_function; RTC, MP and IT. Parameters: Paramters hRsm: SlaveAddr: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247)
axis:
nFLEdge: nRLEdge: Axis or axes (Please refer to Table 4 or Table 5) If axis setting is defined in Table 4, the setting values will change current settings. If axis setting is defined in Table 5, the setting values will be writted into the parameter table without changing current settings. Active level setting for the forward limit switch. 0 = low active; 1 = high active Active level setting for the reverse limit switch.
0 = low active; 1 = high active Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SET_HLMT is 0A 0E. The Sub_function code of RSM_MACRO_SET_HLMT is 0C 0E.
MODBUS example: RSM_SET_HLMT (hRsm, 1, AXIS_XYZU, 0, 0); //set all the trigger levels as low-active for all limit switches on module 1.
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The MODBUS command is listed as follows: UID (hex) Register[] 0 01 Value (hex) 0A 0E/0C 0E FC (hex) 10 St_Addr. (hex) 1F 40 Remarks Sub_function code Word Count (hex) 00 04 1 2 3 00 0F 00 00 00 00 axis nFLEdge nRLEdge Byte Count (hex) 08
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3.6 Motion Stop Mode Setting of Limit Switch
eRTU RSM_LIMITSTOP_MODE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE nMode)
※
eRTU RSM_MACRO_LIMITSTOP_MODE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE nMode) Description: This function configures the settings of motion stop mode of the axes when the corresponding limit switches being turn on.
Category: MODBUS sub_function; RTC, MP and IT. Parameters: Paramters hRsm: SlaveAddr: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247)
axis:
Axis or axes (Please refer to Table 4 or Table 5) If axis setting is defined in Table 4, the setting values will change current settings. If axis setting is defined in Table 5, the setting values will be writted into the parameter table without changing current settings. 0: stop immediately; 1: decelerating to stop nMode: Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_LIMITSTOP_MODE is 0A 0F. The Sub_function code of RSM_MACRO_LIMITSTOP_MODE is 0C 0F.
MODBUS example: RSM_LIMITSTOP_MODE (hRsm, 1, AXIS_X, 0); //set X axis to stop immediately if any limit switch on X axis is turned on.
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The MODBUS command is listed as follows: UID (hex) Register[] 0 01 Value (hex) 0A 0F/0C 0F FC (hex) 10 St_Addr. (hex) 1F 40 Remarks Sub_function code Word Count (hex) 00 03 1 2 00 01 00 00 axis nMode Byte Count (hex) 06
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
3.7 Trigger Level Setting of Near Home Sensor
eRTU RSM_SET_NHOME ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE nNHEdge)
※
eRTU RSM_MACRO_SET_NHOME ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE nNHEdge) Description: This function enables to set up the trigger level of the near home sensor (NHOME).
Category: MODBUS sub_function; RTC, MP and IT. Parameters: Paramters hRsm: SlaveAddr: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247)
axis:
nNHEdge: Axis or axes (Please refer to Table 4 or Table 5) If axis setting is defined in Table 4, the setting values will change current settings. If axis setting is defined in Table 5, the setting values will be writted into the parameter table without changing current settings. Active level setting for for the near home sensor 0 = low active; 1 = high active Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SET_NHOME is 0A 10. The Sub_function code of RSM_MACRO_SET_NHOME is 0C 10.
MODBUS example: RSM_SET_NHOME (hRsm, 1, AXIS_XY, 0);
//
set the trigger level of NHOME of X and Y axes on module 1 to be active low.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
The MODBUS command is listed as follows: Register[] 0 1 2 UID (hex) 01 Value (hex) 0A 10/0C 10 00 03 00 00 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks Sub_function code
Axis (3
AXIS_XY)
nNHEdge Word Count (hex) 00 03 Byte Count (hex) 06
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3.8 Trigger Level Setting of Home Sensor
eRTU RSM_SET_HOME_EDGE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE nHEdge)
※
eRTU RSM_MACRO_SET_HOME_EDGE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE nHEdge) Description: This function sets the trigger level of the home sensor (HOME) Category: MODBUS sub_function; RTC, MP and IT. Parameters: Paramters hRsm: SlaveAddr: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247)
axis:
nHEdge: Axis or axes (Please refer to Table 4 or Table 5) If axis setting is defined in Table 4, the setting values will change current settings. If axis setting is defined in Table 5, the setting values will be writted into the parameter table without changing current settings. Active level setting for the home sensor 0 = low active; 1 = high active Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SET_HOME_EDGE is 0A 11. The Sub_function code of RSM_MACRO_SET_HOME_EDGE is 0C 11.
MODBUS example: RSM_SET_HOME_EDGE (hRsm, 1, AXIS_XYZU, 1);
//
set the trigger level as high active for all home sensors on module 1
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
The MODBUS command is listed as follows: Register[] 0 1 2 UID (hex) 01 Value (hex) 0A 11/0C 11 00 0F 00 01 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks Sub_function code
Axis (F
AXIS_XYZU)
nHEdge Word Count (hex) 00 03 Byte Count (hex) 06
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3.9
3.9.1
Software Limit Setting
Set the Software Limit Value
eRTU RSM_SET_SLMT ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, long dwFL, long dwRL, BYTE nType)
※
eRTU RSM_MACRO_SET_SLMT ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, long dwFL, long dwRL, BYTE nType) Description: This function sets the positive and negative software limits
.
Category: MODBUS sub_function; RTC, MP and IT. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247)
axis:
Axis or axes (Please refer to Table 4 or Table 5) If axis setting is defined in Table 4, the setting values will change current settings. If axis setting is defined in Table 5, the setting values will be writted into the parameter table without changing current settings. dwFL: dwRL: nType: Value of the forward software limit (-2,000,000,000 ~ +2,000,000,000) Value of the reverse software limit (-2,000,000,000 ~ +2,000,000,000) Position counter to be compared 0 = logical position counter (LP), i.e., the command position 1 = encoder position counter (EP), i.e., the real position Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SET_SLMT is 0A 12. The Sub_function code of RSM_MACRO_SET_SLMT is 0C 12.
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MODBUS example: RSM_SET_SLMT (hRsm, 1, AXIS_XYZU, 20000, -3000, 0); //set the forward software limit to be 20000 and the reverse // software limit to be -3000 for all axes on module 1. The MODBUS command is listed as follows: 0 UID (hex) Register[] 01 Value (hex) 0A 12/0C 12 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks Sub_function code Word Count (hex) 00 07 1 2 3 4 5 6 00 0F 00 00 4E 20 FF FF F4 48 00 00 axis MSW of dwFL
LSW of dwFL (20000
0x4E20)
Byte Count (hex) 0E MSW of dwRL
LSW of dwRL (-3000
0xFFFFF448) nType
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3.9.2 Clear the Software Limit Value
eRTU RSM_CLEAR_SLMT ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis)
※
eRTU RSM_MACRO_CLEAR_SLMT ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis) Description: This function clears the software limits. Category: MODBUS sub_function; RTC, MP and IT. Parameters: Paramters hRsm: COM port handle Description SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247)
axis:
Axis or axes (Please refer to Table 4 or Table 5) If axis setting is defined in Table 4, the setting values will change current settings. If axis setting is defined in Table 5, the setting values will be writted into the parameter table without changing current settings. Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_CLEAR_SLMT is 0A 13. The Sub_function code of RSM_MACRO_CLEAR_SLMT is 0C 13.
MODBUS example: RSM_CLEAR_SLMT (hRsm, 1, AXIS_XYZU); //clear the software limits for all axes on module 1.
The MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex) 01 10 1F 40 Word Count (hex) 00 02 Register[] 0 1 Value (hex) Remarks 0A 13/0C 13 Sub_function code 00 0F
Axis (F
AXIS_XYZU)
Byte Count (hex) 04
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3.10 Encoder Related Parameter Settings
eRTU RSM_SET_ENCODER ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE nMode, BYTE nDivision, BYTE nZEdge)
※
eRTU RSM_MACRO_SET_ENCODER ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE nMode, BYTE nDivision, BYTE nZEdge) Description: This function sets the relevant parameters for encoder input.
Category: MODBUS sub_function; RTC, MP and IT. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247)
axis:
nMode: nDivision: nZEdge: Axis or axes (Please refer to Table 4 or Table 5) If axis setting is defined in Table 4, the setting values will change current settings. If axis setting is defined in Table 5, the setting values will be writted into the parameter table without changing current settings. Encoder input type: 0 = A/B quadrature pulse (Count up when A phase is advancing) 1 = up/down pulse ( A-phase is for counter up) 2 = A/B quadrature pulse (Count up when B phase is advancing) 3 = up/down pulse ( B-phase is for counter up) Division setting for A/B quadrature 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
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A/B quadrature pulse input mode: The count is incremented and decremented at the rising edge and falling edge of both signals. In A/B quadrature pulse input mode, the input pulses can be divided into 1/2 or 1/4. nMode = 0 : When A-phase is advancing with positive logical pulses, the count is incremented; and when the B-phase is advancing, the count is decremented. Encoder A Phase Encoder B Phase Count up Count down nMode = 2 : When B-phase is advancing with positive logical pulses, the count is incremented; and when the A-phase is advancing, the count is decremented. Encoder A Phase Encoder B Phase Up/down pulse input mode: Count up Count down The counter counts at the rising edge of the positive pulse. nMode = 1 : A-phase is count up input and B-phase is count down input. Encoder A Phase Encoder B Phase Count up Count down nMode = 3 : B-phase is count up input and A-phase is count down input. Encoder A Phase Encoder B Phase Count up Count down
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Division setting for A/B quadrature input signals: nDivision = 0: Counting positive and negative edge of encoder A-phase and B-phase. nDivision = 1: Counting positive and negative edge of the encoder A-phase only. nDivision = 2: Considering the positive edge of the encoder A-phase only. Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SET_ENCODER is 0A 14. The Sub_function code of RSM_MACRO_SET_ENCODER is 0C 14.
MODBUS example: RSM_SET_ENCODER (hRsm, 1, AXIS_XYZU, 0, 0, 0); //set the encoder input type as A quad B; the division setting is 1/1; and the Z phase is low active. The MODBUS command is listed as follows: UID (hex) FC (hex) Register[] 01 Value (hex) 10 St_Addr. (hex) Word Count (hex) 1F 40 Remarks 00 05 0 1 2 3 4 0A 14/0C 14 00 0F 00 00 00 00 00 00 Sub_function code
axis (F
AXIS_XYZU) nMode (0
AB phase) nDivision (0
1:1) nZEdge (0
Z phase is low-active)
Byte Count (hex) 0A
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3.11 Servo Driver (ON/OFF) Setting
3.11.1 Servo On
eRTU RSM_SERVO_ON ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis)
※
eRTU RSM_MACRO_SERVO_ON ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis) Description: This function outputs a DO signal to enable the motor driver.
Category: MODBUS sub_function; RTC, MP and IT. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247)
axis:
Axis or axes (Please refer to Table 4 or Table 5) If axis setting is defined in Table 4, the setting values will change current settings. If axis setting is defined in Table 5, the setting values will be writted into the parameter table without changing current settings. Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SERVO_ON is 0A 15. The Sub_function code of RSM_MACRO_SERVO_ON is 0C 15.
MODBUS example: RSM_SERVO_ON (hRsm, 1, AXIS_XYZU); //enables all drivers on module 1.
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The MODBUS command is listed as follows: UID (hex) FC (hex) Register[] 0 1 01 Value (hex) 0A 15/0C 15 00 0F 10 St_Addr. (hex) Word Count (hex) 1F 40 Remarks 00 02 Sub_function code
axis (F
AXIS_XYZU)
Byte Count (hex) 04
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3.11.2 Servo Off
eRTU RSM_SERVO_OFF ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis)
※
eRTU RSM_MACRO_SERVO_OFF ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis) Description: This function outputs a DO signal to disable the motor driver.
Category: MODBUS sub_function; RTC, MP and IT. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247)
axis:
Axis or axes (Please refer to Table 4 or Table 5) If axis setting is defined in Table 4, the setting values will change current settings. If axis setting is defined in Table 5, the setting values will be writted into the parameter table without changing current settings. Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SERVO_OFF is 0A 16. The Sub_function code of RSM_MACRO_SERVO_OFF is 0C 16.
MODBUS example: RSM_SERVO_OFF (hRsm, 1, AXIS_XYZU); //disables all drivers on module 1.
The MODBUS command is listed as follows: UID (hex) Register[] 01 Value (hex) FC (hex) 10 St_Addr. (hex) 1F 40 Word Count (hex) 00 02 Remarks Byte Count (hex) 04 0 1 0A 16/0C 16 00 0F Sub_function code
axis (F
AXIS_XYZU)
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3.12 Servo Alarm Setting
eRTU RSM_SET_ALARM ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE nMode, BYTE nAEdge)
※
eRTU RSM_MACRO_SET_ALARM ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE nMode, BYTE nAEdge) Description: This function sets the ALARM input signal related parameters. Category: MODBUS sub_function; RTC, MP and IT. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247)
axis:
nMode: nAEdge: Axis or axes (Please refer to Table 4 or Table 5) If axis setting is defined in Table 4, the setting values will change current settings. If axis setting is defined in Table 5, the setting values will be writted into the parameter table without changing current settings. Mode: 0 = disable ALARM function; 1 = enable ALARM function Sets the trigger level 0 = low active; 1 = high active Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SET_ALARM is 0A 17. The Sub_function code of RSM_MACRO_SET_ALARM is 0C 17.
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MODBUS example: RSM_SET_ALARM (hRsm, 1, AXIS_ZU, 1, 0); //enable the ALARM for the Z and U axes on module 1 and set them //as low-active. The MODBUS command is listed as follows: Register[] 0 1 2 3 UID (hex) 01 Value (hex) 0A 17/0C 17 00 0C 00 01 00 00 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks Sub_function code
axis (C
AXIS_ZU) nMode (1
enable) nAEdge (0
low-active)
Word Count (hex) 00 04 Byte Count (hex) 08
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3.13 Active Level Setting of In-Position Signals
eRTU RSM_SET_INPOS ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE nMode, BYTE nIEdge)
※
eRTU RSM_MACRO_SET_INPOS ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE nMode, BYTE nIEdge) Description: This function sets the INPOS input signal related parameters. Category: MODBUS sub_function; RTC, MP and IT. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247)
axis:
nMode: nIEdge: Axis or axes (Please refer to Table 4 or Table 5) If axis setting is defined in Table 4, the setting values will change current settings. If axis setting is defined in Table 5, the setting values will be writted into the parameter table without changing current settings. Mode: 0 = disable INPOS input; 1 = enable INPOS input Set the trigger level 0 = low active; 1 = high active Return: 0: Success; Others: Fail (Please refer to
Remark: The Sub_function code of RSM_SET_INPOS is 0A 18. The Sub_function code of RSM_MACRO_SET_INPOS is 0C 18.
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MODBUS example: RSM_SET_INPOS (hRsm, 1, AXIS_X, 1, 0); //enable the INPOS function of the X axis on module 1 and set it to //be low-active. The MODBUS command is listed as follows: Register[] 0 1 2 3 UID (hex) 01 Value (hex) 0A 18/0C 18 00 01 00 01 00 00 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks Sub_function code
axis (1
AXIS_X) nMode (1
enable) nIEdge (0
low-active)
Word Count (hex) 00 04 Byte Count (hex) 08
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3.14 Digital Filter Setting
eRTU RSM_SET_FILTER ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE FEn, BYTE FLn)
※
eRTU RSM_MACRO_SET_FILTER ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE FEn, BYTE FLn) Description: This function selects the axes and sets the time constant for digital filters of the input signals.
Category: MODBUS sub_function; RTC, MP and IT. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247)
axis:
FEn: FLn: Axis or axes (Please refer to Table 4 or Table 5) If axis setting is defined in Table 4, the setting values will change current settings. If axis setting is defined in Table 5, the setting values will be writted into the parameter table without changing current settings. Enabled filters . The sum of the code numbers ( 0~31) are used to select input signals. Sets the filter time constant (0~7). FEn: Please refer to the following table.
Code Number 0 Enabling filters Disable 1 2 4 8 16 EMG, nLMTP, nLMTM, nIN0, nIN1 nIN2 nINPOS, nALARM nEXPP, nEXPM, EXPLSN nIN3
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FLn: Please refer to the following table. Code 0 Removable max. noise width 1.75
μ
SEC Input signal delay 2 time
μ
SEC 1 2 3 224
μ
SEC 448
μ
SEC 896
μ
SEC 256 512
μ μ
SEC SEC 1.024mSEC 4 5 6 7 1.792mSEC 3.584mSEC 7.168mSEC 14.336mSEC 2.048mSEC 4.096mSEC 8.192mSEC 16.384mSEC Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SET_FILTER is 0A 19. The Sub_function code of RSM_MACRO_SET_FILTER is 0C 19.
MODBUS example: RSM_SET_FILTER (hRsm, 1, AXIS_XYZU, 21, 3); //set the filter time constants of X, Y, Z, and U axes as 1.024mSEC. //These filters include EMG, nLMTP, nLMTM, nIN0, nIN1, nINPOS, nALARM, //and nIN3. //(21 = 1+4+16) 1: EMG + nLMP + nLMPM + nIN0 + nIN1; //4: nINPOS + nALARM; //16: nIN3.
Note: The default wiring design is: nIN0 is connected to the NEAR HOME (NHOME) sensors; nIN1 is connected to the HOME sensors; and nIN2 is connected to the index of Encoder input (Z phase).
The MODBUS command is listed as follows: UID (hex) Register[] 0 1 01 Value (hex) 0A 19/0C 19 00 0F FC (hex) 10 St_Addr. (hex) Sub_function code
axis (F
AXIS_XYZU)
Word Count (hex) 1F 40 Remarks 00 04 2 3 00 15 00 03
FEn (21 = 0x15, enable several noise filters) FLn (using filter 3)
Byte Count (hex) 08
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3.15 Position Counter Variable Ring Setting
3.15.1 Enable the Ring Counter Function
eRTU RSM_VRING_ENABLE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, DWORD nVRing)
※
eRTU RSM_MACRO_VRING_ENABLE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, DWORD nVRing) Description: This function enables the linear counter of the assigned axes as variable Category: MODBUS sub_function; RTC, MP and IT. Parameters: Paramters hRsm: SlaveAddr: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247)
axis:
Axis or axes (Please refer to Table 4 or Table 5) If axis setting is defined in Table 4, the setting values will change current settings. If axis setting is defined in Table 5, the setting values will be writted into the parameter table without changing current settings. nVRing: Maximum value of the ring counter (0 ~ +2,000,000,000) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_VRING_ENABLE is 0A 1A. The Sub_function code of RSM_MACRO_VRING_ENABLE is 0C 1A.
MODBUS example: RSM_VRING_ENABLE (hRsm, 1, AXIS_X, 9999); //set the X axis of module 1 to be a ring counter. The encoder //values will be 0 to 9999.
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The encoder value ranges from 0 to 9999. When the counter value reaches 9999, one more adding pulse will cause the counter to reset to 0. When the counter value is 0, a lessening pulse will let the counter set to 9999.
Max. ring encoder value = 9999 Note: 1. This function will set the LP and EP simultaneously. 2. If this function is enabled, the software limit function cannot be used. The MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex) 01 10 1F 40 Word Count (hex) 00 04 Byte Count (hex) 08 Register[] 0 1 2 3 Value (hex) 0A 1A/0C 1A 00 01 00 00 27 0F axis MSW of nVRing
LSW of nVRing
Remarks Sub_function code
(9999 = 0x270F)
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3.15.2 Disable the Ring Counter Function
eRTU RSM_VRING_DISABLE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis)
※
eRTU RSM_MACRO_VRING_DISABLE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis) Description: This function disables the variable ring counter function.
Category: MODBUS sub_function; RTC, MP and IT. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247)
axis:
Axis or axes (Please refer to Table 4 or Table 5) If axis setting is defined in Table 4, the setting values will change current settings. If axis setting is defined in Table 5, the setting values will be writted into the parameter table without changing current settings. Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_VRING_DISABLE is 0A 1B. The Sub_function code of RSM_MACRO_VRING_DISABLE is 0C 1B.
MODBUS example: RSM_VRING_DISABLE (hRsm, 1, AXIS_X); //disable the ring counter function for the X axis on module 1. The MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex) 01 10 1F 40 Register[] 0 1 Value (hex) 0A 1B/0C 1B Sub_function code 00 01
axis (1
AXIS_X)
Word Count (hex) 00 02 Remarks Byte Count (hex) 04
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3.16 Triangle Velocity Profile Prevention Setting
3.16.1 Enable the Triangle Prevention Function
eRTU RSM_AVTRI_ENABLE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis)
※
eRTU RSM_MACRO_AVTRI_ENABLE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis) Description: This function prevents a triangle form in linear acceleration (T-curve) fixed pulse driving. Category: MODBUS sub_function; RTC, MP and IT. Parameters: Paramters hRsm: SlaveAddr: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247)
axis:
Axis or axes (Please refer to Table 4 or Table 5) If axis setting is defined in Table 4, the setting values will change current settings. If axis setting is defined in Table 5, the setting values will be writted into the parameter table without changing current settings. Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_AVTRI_ENABLE is 0A 1C. The Sub_function code of RSM_MACRO_AVTRI_ENABLE is 0C 1C.
MODBUS example: RSM_AVTRI_ENABLE (hRsm, 1, AXIS_X); //set the X axis of module 1 not to generate a triangle form in its speed profile.
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The MODBUS command is listed as follows: Register[] 0 1 UID (hex) 01 Value (hex) 0A 1C/0C 1C 00 01 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks Sub_function code
axis (1
AXIS_X)
Word Count (hex) 00 02 Byte Count (hex) 04
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3.16.2 Disable the Triangle Prevention Function
eRTU RSM_AVTRI_DISABLE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis)
※
eRTU RSM_MACRO_AVTRI_DISABLE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis) Description: This function disables the function to prevent a triangle form in linear acceleration fixed pulse driving.
Category: MODBUS sub_function; RTC, MP and IT. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247)
axis:
Axis or axes (Please refer to Table 4 or Table 5) If axis setting is defined in Table 4, the setting values will change current settings. If axis setting is defined in Table 5, the setting values will be writted into the parameter table without changing current settings. Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_AVTRI_DISABLE is 0A 1D. The Sub_function code of RSM_MACRO_AVTRI_DISABLE is 0C 1D.
MODBUS example: RSM_AVTRI_DISABLE (hRsm, 1, AXIS_X); //enable the X axis of module 1 to generate a triangle form in its //speed profile if the pulse number for output is too low.
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The MODBUS command is listed as follows: Register[] 0 1 UID (hex) 01 Value (hex) 0A 1D/0C 1D 00 01 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks Sub_function code
axis (1
AXIS_X)
Word Count (hex) 00 02 Byte Count (hex) 04
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3.17 External Pulse Input
3.17.1 Handwheel (Manual Pulse Generator) Driving
eRTU RSM_EXD_MP ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, DWORD data) Description: This function outputs pulses according to the input pulses from a handwheel.
Category: MODBUS sub_function; RTC. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247)
axis:
data: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8). Number of command pulses (Range: 0 ~ +2,000,000,000). Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: RSM_EXD_MP (hRsm, 1, AXIS_X, 1); //Each time the handwheel inputs a pulse to the X axis on module 1, the controller will output 1 pulse to the motor driver.
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RSM_EXD_MP (hRsm, 1, AXIS_X, 2); //Each time the handwheel inputs a pulse to the X axis //on module 1, the controller will output 2 pulses to the motor driver. The MODBUS command is listed as follows: Register[] 0 1 2 3 UID (hex) 01 Value (hex) 0A 1E 00 01 00 00 00 01 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks Sub_function code
axis (1
AXIS_X)
MSW of data
LSW of data
Word Count (hex) 00 04 Byte Count (hex) 08
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3.17.2 Fixed Pulse Driving Mode
eRTU RSM_EXD_FP ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, DWORD data) Description: This function outputs fixed pulses according to the trigger input (the falling edge of the nEXP+ signal) from a handwheel. Category: MODBUS sub_function; RTC. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247)
axis:
data: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8). Number of command pulses (Range: 0 ~ +2,000,000,000). Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: RSM_EXD_FP (hRsm, 1, AXIS_X, 5); //Each time the controller detects a falling edge of an XEXP+ //signal, it will output 5 pulses to the X axis.
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The MODBUS command is listed as follows: Register[] 0 1 2 3 UID (hex) 01 Value (hex) 0A 1F 00 01 00 00 00 05 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks Sub_function code
axis (1
AXIS_X)
MSW of data
LSW of data
Word Count (hex) 00 04 Byte Count (hex) 08
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3.17.3 Continuous Pulse Driving Mode
eRTU RSM_EXD_CP ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, DWORD data) Description: The controller will continuously output pulses in positive direction if the falling edge of nEXP+ signal from a handwheel is detected. On the contrary, it will continuously output pulses in negative direction if the falling edge of nEXPsignal is detected.
Category: MODBUS sub_function; RTC. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247)
axis:
data: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8). Speed in PPS (Range: 0 ~ +2,000,000,000). Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: RSM_EXD_CP (hRsm, 1, AXIS_X, 20); //Each time the controller detects a falling edge of an XEXP+ signal, it will continuously drive X axis at the speed of 20 PPS.
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The MODBUS command is listed as follows: UID (hex) Register[] 01 Value (hex) FC (hex) 10 St_Addr. (hex) 1F 40 Remarks Word Count (hex) 00 04 0 1 0A 20 00 01
Sub_function code
axis 2 3 00 00 00 14 MSW of data
LSW of data (20 = 0x14)
Byte Count (hex) 08
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3.17.4 External Signal Input Setting
eRTU RSM_EXD_DISABLE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis) Description: This function turns off the external input driving control functions. Category: MODBUS sub_function; RTC. Parameters: Paramters hRsm: COM port handle Description SlaveAddr:
axis:
Modbus RTU Slave Address (valid range: 1 to 247) Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8). Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: RSM_EXD_DISABLE (hRsm, 1, AXIS_X); //disable the external input driving control function of X axis on module 1 The MODBUS command is listed as follows: 0 1 UID (hex) Register[] 01 Value (hex) 0A 21 00 01 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code axis (1
AXIS_X)
Word Count (hex) 00 02 Byte Count (hex) 04
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3.18 Read/Write User-Defined Variables (VAR and bVAR)
3.18.1 Read Byte Variable
eRTU RSM_READ_bVAR ( HANDLE hRsm, BYTE SlaveAddr, BYTE
bvarNo,
BYTE * bVARValue) Description: This function read variable bVARn, it could be passed to Macro Program (MP), for detail information, please refer to Chapter 9.3.
Category: MODBUS table; RTC. Parameters: Paramters hRsm: SlaveAddr: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247) bvarNo: custom variable: bVAR0 ~ bVAR127 bVARValue: The pointer to the memory that stores bVARn (0 ~ +255). Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The corresponding holding register modbus address is as follow: Macro Variable Variable Name Address Type Comment
bVAR0 bVAR1 … bVAR126 128 129 … 254 R/W R/W R/W Value of bVAR0. Value of bVAR1. Value of bVAR126. bVAR127 255 R/W Value of bVAR127.
MODBUS example: Suppose the value of bVAR100 is 100, or 0x64 . The hexadecimal value of (128+100) is E4.
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BYTE
bVARValue
; RSM_READ_bVAR (hRsm, 1, bVAR100, &bVARValue); //read value of VAR100 in module 1 The MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex) Word Count (hex) 00 01 01 03 The response via MODBUS may be: UID (hex) 01 FC (hex) 03 00 E4 Byte Count (hex) 02 Reg_0 Value (hex) 00 64
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3.18.2 Write Byte Variable
eRTU RSM_WRITE_bVAR ( HANDLE hRsm, BYTE SlaveAddr, BYTE bvarNo, BYTE bVar) Description: This function writes variable bVARn. bVARn could be passed to Macro Program (MP). For detail information, please refer to Chapter 9.3. bVAR parameter data are stored in a volatile memory.
Category: MODBUS table, MODBUS sub_function; RTC. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) bvarNo: custom variable: bVAR0 ~ bVAR127 bVar: Variable (0 ~ +255).
Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The corresponding holding register modbus address is as follow: Macro Variable Variable Name Address Type Comment
bVAR0 128 R/W Value of bVAR0. bVAR1 … bVAR126 129 … 254 R/W R/W Value of bVAR1. Value of bVAR126. bVAR127 255 R/W Value of bVAR127.
MODBUS example:
Method 1: use Sub_Function code method
：
RSM_WRITE_bVAR (hRsm, 1, bVAR100, 100); //write bVAR100=100 in module 1 The address of bVARn = 128 + n (or 0x80 + n). (bVAR100 = 128 + 100 = 228 = 0xE4)
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The MODBUS command is listed as follows: UID (hex) Register[] 0 01 Value (hex) 0A 23 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
Word Count (hex) 00 03 Byte Count (hex) 06 1 2 00 E4 00 64
bvarNo = n + 0x80 = 0xE4 bVar (100 = 0x64)
Method 2: Set the Holding Register table
：
(= All bVARn are defined in the holding register table. The index of bVARn is (128+n); therefore, the index, or address, of bVAR100 is 228
0xE4
). The MODBUS command is listed as follows: 0 UID (hex) Register[] 01 Value (hex) 00 64 FC (hex) 10 St_Addr. (hex) 00 E4 Remarks
bVar (100 = 0x64)
Word Count (hex) 00 01 Byte Count (hex) 02
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3.18.3 Read Long Variable
eRTU RSM_READ_VAR ( HANDLE hRsm, BYTE SlaveAddr, long
varNo,
long * VARValue) Description: This function read variable VARn, it could be passed to Macro Program (MP), for detail information, please refer to Chapter 9.3.1.
Category: MODBUS table; RTC. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) varNo: custom variable: VAR0 ~ VAR511 &VARValue: The pointer to the memory that stores VARn (-2,000,000,000 ~ +2,000,000,000).
Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: All VARn are defined in the holding register table. Each VARn takes two registers space. For example, VARn takes both registers indexed by (300 + 2*n) and (300 +2*n + 1). To read or write the two-register variable, the first register must be addressed first and the Length must be the multiple of 2. The Start_Address (index) = 300 + 2*100 = 500 =
0x01F4
long VARValue ; RSM_READ_VAR (hRsm, 1, VAR100, &VARValue); //read value of VAR100 in module 1
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The MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex) 01 03 The response via MODBUS may be: 01 F4 Word Count (hex) 00 02 UID (hex) 01 FC (hex) 03 Byte Count(hex) 04 Reg_0 (hex) 00 00 Reg_1 (hex) 27 10 To get the ldata, use the following instructions in C language. ldata = Register[0]; ldata = ((ldata <<16) & 0xffff0000) | (Register[1] & 0xffff);
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3.18.4 Write Long Variable
eRTU RSM_WRITE_VAR ( HANDLE hRsm, BYTE SlaveAddr, long varNo, long lVar) Description: This function writes variable VARn. It could be passed to Macro Program (MP). For detail information, please refer to Chapter 9. VAR parameter data are stored in a volatile memory.
Category: MODBUS table, MODBUS sub_function; RTC. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) varNo: custom variable: VAR0 ~ VAR511 lVar: Value of variable (-2,000,000,000 ~ +2,000,000,000).
Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: RSM_WRITE_VAR (hRsm, 1, VAR100, 10000); //write VAR100=10,000 in module 1
Method 1: use Sub_Function code method The address of VARn = 0x7FFF0000 + n.
The address of VAR100 = 0x7FFF0000 + 0x64 and, 10000 = 0x2710 The MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex) 01 10 1F 40 Word Count (hex) 00 05 Byte Count (hex) 0A Register[] 0 1 2 3 4 Value (hex) 0A 25 7F FF 00 64 00 00 27 10
Sub_function code MSW of varNo LSW of varNo MSW of lVar LSW of lVar
Remarks
(MSW of 0x7FFF0064) (LSW of 0x7FFF0064) (MSW 0f 0x2710) (LSW 0f 0x2710)
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Method 2: Set the Holding Registers. All VARn are defined in the holding register table. Each VARn takes two registers space. For example, VARn takes both registers indexed by (300 + 2*n) and (300 +2*n + 1). To read or write the two-register variable, the first register must be addressed first and the Length must be the multiple of 2. For VARn, the Start address = (300 + 2*n).
The Start_Address = 300 + 2*100 = 500 =
0x01F4
Suppose the value of VAR100 is 10000 (= 0x2710). The MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex) 01 10 01 F4 Word Count (hex) 00 02 Byte Count (hex) 04 Register[] 0 1 Value (hex) 00 00 27 10
MSW of lVar LSW of lVar
Remarks
(MSW 0f 0x2710) (LSW 0f 0x2710)
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3.19 Read/Write Data for Power Outage Carry-Over (MD)
3.19.1 Read the Machine Data
eRTU RSM_READ_MD ( HANDLE hRsm, BYTE SlaveAddr, long mdNo, long * ldata, float * fdata) Description: This function reads the machine data. MD data are stored in a non-volatile memory.
Category: MODBUS table; RTC. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) mdNo: &ldata: Machine data( long ): MD0 ~ MD1023 Machine data ( float ): MD1024 ~ MD2047 Read MD long (-2,147,483,648 ~ +2,147,483,647) Return: &fdata: Read MD float (Integer number plus decimal number giving a total of six places).
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: All MDn are defined in the holding register table. Each MDn takes two registers space. For example, MDn takes both registers indexed by (3000 + 2*n) and (3000 +2*n + 1). To read or write the two-register variable, the first register must be addressed first and the Length must be the multiple of 2. The MD100 Start_Address = 3000 + 2*100 = 3200 =
0x0C80
The MD1500 Start_Address = 3000 + 2*1500 = 6000 =
0x1770
long ldata; float fdata; RSM_READ_MD (hRsm, 1, MD100, &ldata, 0); //read MD100 long data in module 1 RSM_READ_MD (hRsm, 1, MD1500, 0, &fdata);
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//read MD1500 float data in module 1 ldata: t he MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex) 01 03 0C 80 ldata: The response via MODBUS may be: UID (hex) 01 FC (hex) 03 Byte Count (hex) 04 Word Count (hex) Reg_0 (hex) 12 34 00 02 Reg_1 (hex) 56 78 fdata: t he MODBUS command is listed as follows: UID (hex) 01 fdata: The response via MODBUS may be: UID (hex) FC (hex) Byte Count(hex) 01 FC (hex) 03 03 St_Addr. (hex) 17 70 04 Word Count (hex) Reg_0 (hex) 43 A0 00 02 Reg_1 (hex) D3 33 To get the ldata, use the following instructions in C language. ldata = Register[0]; ldata = ((ldata <<16) & 0xffff0000) | (Register[1] & 0xffff);
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3.19.2 Write the Machine Data
eRTU RSM_WRITE_MD ( HANDLE hRsm, BYTE SlaveAddr, long mdNo, long ldata, float fdata) Description: This function writes the machine data.
Category: MODBUS table, MODBUS sub_function; RTC. Parameters: Paramters hRsm: SlaveAddr: Description COM port handle Modbus RTU Slave Address (valid range: 1 to 247) mdNo: ldata: fdata: Machine data( long ): MD0 ~ MD1023 Machine data ( float ): MD1024 ~ MD2047 Write MD long (-2,147,483,648 ~ +2,147,483,647) Write MD float (Integer number plus decimal number giving a total of six places). Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: RSM_WRITE_MD (hRsm, SlaveAddr, MD100, 0x12345678, 0); //write MD100 long data in module 1
Method 1: use Sub_Function code method The address of MDn = 0x00000000 + n.
The address of MD100 = 0x00000000 + 0x64
Write MD100 = 0x12345678 Write MD1500 = 321.65
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ldata: t he MODBUS command is listed as follows: 0 UID (hex) Register[] 01 Value (hex) 0A 27 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
Word Count (hex) 00 07 1 2 3 00 00 00 64 12 34 MSW of mdNo (= 0) LSW of mdNo (n= 0x64) MSW of ldata 4 5 6 56 78 00 00 00 00
LSW of ldata
MSW of fdata
LSW of fdata
fdata: t he MODBUS command is listed as follows: UID (hex) Register[] 01 Value (hex) FC (hex) 10 St_Addr. (hex) Word Count (hex) 1F 40 Remarks 00 07 Byte Count (hex) 0E Byte Count (hex) 0E 0 1 2 3 4 5 6 0A 27 00 00 05 DC 00 00 00 00 43 A0 D3 33
Sub_function code
MSW of mdNo (= 0) LSW of mdNo (n= 0x05DC) MSW of ldata
LSW of ldata
MSW of fdata
LSW of fdata
Method 2: Set the Holding Registers. All MDn are defined in the holding register table. Each MDn takes two registers space. For example, MDn takes both registers indexed by (3000 + 2*n) and (3000 +2*n + 1). To read or write the two-register variable, the first register must be addressed first and the Length must be the multiple of 2.
The Start_Address = 3000 + 2*100 = 3200 =
0x0C80
ldata: t he MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex) 01 10 0C 80 Word Count (hex) 00 02 Byte Count (hex) 04 Register[] 0 1 Value (hex) 12 34 56 78
MSW of LSW of MD100 MD100
Remarks
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
The Start_Address = 3000 + 2*1500 = 6000 =
0x1770
ldata: t he MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex) 01 10 17 70 Word Count (hex) 00 02 Register[] 0 1 Value (hex) 43 A0 D3 33
MSW of LSW of MD1500 MD1500
Remarks Byte Count (hex) 04
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4 Motion Controller Status
4.1
4.1.1
Set and Read Commanded Position
Set the Logical Position Counter
eRTU RSM_SET_LP ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, long wdata)
※
Δ eRTU RSM_MACRO_SET_LP ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, long wdata) Description: This function sets the command position counter value (logical position counter, LP).
Category: MODBUS table, MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) wdata: Position command (-2,000,000,000 ~ +2,000,000,000) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SET_LP is 0A 28. The Sub_function code of RSM_MACRO_SET_LP is 0C 28.
MODBUS example: RSM_SET_LP (hRsm, 1, AXIS_XYZU, 10000); //Set the LP to 10000 for X, Y, Z, and U axes in module 1 // will clear all LP counters on module 1
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Method 1: use sub_function code method The MODBUS command is listed as follows: UID (hex) Register[] 0 1 01 Value (hex) 0A 28/0C 28 00 0F FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code axis (F
AXIS_XYZU)
Word Count (hex) 00 04 Byte Count (hex) 08 2 3 00 00 27 10 MSW of wdata LSW of wdata
Method 2: Set the holding registers. The Start address is 90, or 0x5A, for LP_X.
Since the LP needs 2 registers to hold the value, the start address setting for MODBUS request must begins from the MSW of the required LP. Otherwise, the host will receive an exception error. This rule will be applied to other long, DWORD or float type values. Method 2 allows users to set different values for 4 different axes at only one MODBUS request, which is not possible by using method 1. The MODBUS command is listed as follows: UID (hex) Register[] 01 Value (hex) FC (hex) 10 St_Addr. (hex) 00 5A Remarks Word Count (hex) 00 08 Byte Count (hex) 10 0 1 2 3 00 00 27 10 00 00 27 10
LP_X_MSW (address = 0x5A) LP_X_LSW LP_Y_MSW (address = 0x5C) LP_Y_LSW
4 5 6 7 00 00 27 10 00 00 27 10
LP_Z_MSW (address = 0x5E) LP_Z_LSW LP_U_MSW (address = 0x60) LP_U_LSW
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4.1.2 Read the Logical Position Counter
eRTU RSM_GET_LP( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, long * LPValue)
※
Δ eRTU RSM_MACRO_GET_LP ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis) eRTU RSM_GET_LP_4_AXIS( HANDLE hRsm, BYTE SlaveAddr, long * LpValueX, long * LpValueY, long * LpValueZ, long * LpValueU) Description: This function reads the command position counter value (logical position counter, LP).
Category: MODBUS table, MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters hRsm: SlaveAddr: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247) axis: LPValue: LpValueX: LpValueY: LpValueZ: LpValueU: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) The pointer to the memory that stores the logical position counter (-2,000,000,000 ~+2,000,000,000). The pointer to the memory that stores the logical position counter (-2,000,000,000 ~+2,000,000,000) of x axis. The pointer to the memory that stores the logical position counter (-2,000,000,000 ~+2,000,000,000) of y axis. The pointer to the memory that stores the logical position counter (-2,000,000,000 ~+2,000,000,000) of z axis. The pointer to the memory that stores the logical position counter (-2,000,000,000 ~+2,000,000,000) of u axis. Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
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MODBUS example:
Method 1: Use Holding Registers to get the current values. Since each LP needs 2 registers to hold the value, the start address setting for MODBUS request must begins from the MSW of the required LP. Otherwise, the host will receive an exception error. This rule will be applied to other long, DWORD or float type values. table. This method allows users to get more than one axis data at only one MODBUS request. Please refer to MODBUS holding registers definition long X_LP;
RSM_GET_LP
(hRsm, 1, AXIS_X, &X_LP); //Reads the LP value of the X axis on module 1.
The MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex) 01 03 00 5A Word Count (hex) 00 02 The response via MODBUS may be: UID (hex) FC (hex) Byte Count (hex) 01 03 04 Reg_0 (hex) 00 00 Reg_1 (hex) 27 10
To get the X_LP, use the following instructions in C language. X_LP = Register[0]; X_LP = ((X_LP <<16) & 0xffff0000) | (Register[1] & 0xffff); Method 2: It is used as an MP instruction.
For this case, the current LP value does not actually be returned at the moment when request is sent. The getting LP instruction is desired to be executed later when an MP is called. value to a specified variable Users can use
FC = 16
to write this command into an MP. Inside this MP, there can be an RSM_MACRO_SET_RVAR() function just next to it to save the return LP . This variable can be referred by other functions. Please refer to other related MP usages explanations.
RSM_MACRO_GET_LP
(hRsm, 1, AXIS_X); //Reads the LP value of the X axis on module 1. The MODBUS command is listed as follows:
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
UID (hex) Register[] 0 1 01 Value (hex) 0C 29 00 01 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code axis (1
AXIS_X)
Word Count (hex) 00 02 Byte Count (hex) 04
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
4.2
4.2.1
Set and Read the Encoder Counter
Set the Encoder Position Counter
eRTU RSM_SET_EP ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, long wdata)
※
Δ eRTU RSM_MACRO_SET_EP ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, long wdata) Description: This function sets the encoder position counter value (real position counter or EP).
Category: MODBUS table, MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters hRsm: SlaveAddr: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247) axis: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) wdata: Position command (-2,000,000,000 ~ +2,000,000,000) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SET_EP is 0A 2A. The Sub_function code of RSM_MACRO_SET_EP is 0C 2A.
MODBUS example: RSM_SET_EP (hRsm, 1, AXIS_XYZU, 10000); //Set the EP as 10000 for X, Y, Z, and U axes of module 1.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
Method 1: use Sub_Function code method The MODBUS command is listed as follows: UID (hex) Register[] 0 1 01 Value (hex) 0A 2A/0C 2A 00 0F FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code axis (F
AXIS_XYZU)
Word Count (hex) 00 04 Byte Count (hex) 08 2 3 00 00 27 10 MSW of wdata LSW of wdata
Method 2: Set the Holding Registers. Since each EP needs 2 registers to hold the value, the start address setting for MODBUS request must begins from the MSW of the required EP. Otherwise, the host will receive an exception error. This rule will be applied to other long, DWORD or float type values. table. This method allows users to set more than one axis data at only one MODBUS request. Please refer to MODBUS holding registers definition The start address is 98, or 0x62, for EP_X. The MODBUS command is listed as follows: UID (hex) Register[] 01 Value (hex) FC (hex) 10 St_Addr. (hex) 00 62 Remarks Word Count (hex) 00 08 0 1 00 00 27 10
LP_X_MSW (address = 0x5A) LP_X_LSW
Byte Count (hex) 10 2 3 4 5 6 7 00 00 27 10 00 00 27 10 00 00 27 10
LP_Y_MSW (address = 0x5C) LP_Y_LSW LP_Z_MSW (address = 0x5E) LP_Z_LSW LP_U_MSW (address = 0x60) LP_U_LSW
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
4.2.2 Read the Encoder Position Counter
eRTU RSM_GET_EP ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis
,
long * EPValue)
※
Δ eRTU RSM_MACRO_GET_EP ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis) eRTU RSM_GET_EP_4_AXIS ( HANDLE hRsm, BYTE SlaveAddr, long * EpValueX, long * EpValueY, long * EpValueZ, long * EpValueU) Description: This function reads the encoder position counter value (EP).
Category: MODBUS table, MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters hRsm: COM port handle Description SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis: EPValue:
EpValueX: EpValueY: EpValueZ: EpValueU:
Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) The pointer to the memory that stores the encoder position counter (-2,000,000,000 ~ +2,000,000,000). The pointer to the memory that stores the encoder position counter (-2,000,000,000 ~+2,000,000,000) of x axis. The pointer to the memory that stores the encoder position counter (-2,000,000,000 ~+2,000,000,000) of y axis. The pointer to the memory that stores the encoder position counter (-2,000,000,000 ~+2,000,000,000) of z axis. The pointer to the memory that stores the encoder position counter (-2,000,000,000 ~+2,000,000,000) of u axis. Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
MODBUS example: Suppose the EP is 10000, or 0x2710. The Start address is 98, or 0x
62.
Since the EP needs 2 registers to hold the value, the start address setting for MODBUS request must begins from the MSW of the required EP. Otherwise, the host will receive an exception error. This rule will be applied to other long, DWORD or float type values.
Method 1: Use holding registers to get the current values. long X_EP;
RSM_GET_EP
( hRsm, 1, AXIS_X, &X_EP); 01 03 The response via MODBUS may be: 00 62 //reads the encoder position value (EP) of the X axis on module 1.
The MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex) Word Count (hex) 00 02 UID (hex) 01 FC (hex) 03 Byte Count(hex) 04 Reg_0 (hex) 00 00 Reg_1 (hex) 27 10 To get the X_EP, use the following instructions in C language. X_EP = Register[0]; X_EP = ((X_EP <<16) & 0xffff0000) | (Register[1] & 0xffff);
Method 2: It is used for creating the content of an MP.
For this case, users do not actually want to get the current EP values. The getting EP will be executed only when the MP is called. Therefore, use
FC = 16
to write this command inside a MP. This kind of usages often has RSM_MACRO_SET_RVAR() followed to get the return EP value . Please refer to MP related explanation literature. The MODBUS command is listed as follows: Register[] 0 1
RSM_MACRO_GET_EP
(hRsm, 1, AXIS_X); UID (hex) 01 Value (hex) 0C 2B 00 01 FC (hex) 10 St_Addr. (hex) 1F 40 Word Count (hex) 00 02
Sub_function code axis (1
AXIS_X)
Remarks Byte Count (hex) 04
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
4.3
4.3.1
Set and Read Absolute Position
Set the Absolute Position Counter
eRTU RSM_ABS_SET_POSITION ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, long wdata)
※
Δ eRTU RSM_MACRO_ABS_SET_POSITION ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, long wdata) Description: This function assigns the current position to a new logic position value. The new value will be regarded as the new reference position for the absolute position reading and writing.
Category: MODBUS table, MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis: wdata: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) Absolute Position value (-2,000,000,000 ~ +2,000,000,000) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_ABS_SET_POSITION is 0x0AF4. The Sub_function code of RSM_MACRO_ABS_SET_POSITION is 0x0CF4.
MODBUS example: RSM_ABS_SET_POSITION (hRsm, 1, AXIS_X, 40000); //Set the current absolute position of x-axis to 40000
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
Method 1: use sub_function code method The MODBUS command is listed as follows: 0 1 2 3 UID (hex) Register[] 01 Value (hex) 0A F4/0C F4 00 0F 00 00 9C 40 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code axis (F
AXIS_XYZU)
MSW of wdata LSW of wdata Word Count (hex) 00 04 Byte Count (hex) 08
Method 2: Set the holding registers. The Start address is 82, or 0x52, for the absolute position of the x axis.
Since the absolute position needs 2 registers to hold the value, the start address setting for MODBUS request must begins from the MSW of the required absolute position. Otherwise, the host will receive an exception error. This rule will be applied to other long, DWORD or float type values. Method 2 allows users to set different values for 4 different axes at only one MODBUS request, which is not possible by using method 1. The MODBUS command is listed as follows: UID (hex) Register[] 01 Value (hex) FC (hex) 10 St_Addr. (hex) 00 52 Remarks Word Count (hex) 00 08 0 1 00 00 27 10
Absolute LP_X_LSW
Byte Count (hex) 10
Absolute LP_X_MSW (address = 0x52)
2 3 4 5 6 7 00 00 27 10 00 00 27 10 00 00 27 10
Absolute LP_Y_MSW (address = 0x54) Absolute LP_Y_LSW Absolute LP_Z_MSW (address = 0x56) Absolute LP_Z_LSW Absolute LP_U_MSW (address = 0x58) Absolute LP_U_LSW
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
4.3.2 Read the Absolute Position Counter
eRTU RSM_ABS_GET_POSITION ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, long * LPAbsValue)
※
Δ eRTU RSM_MACRO_ABS_GET_POSITION ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis) eRTU RSM_ABS_GET_POSITION_4_AXIS ( HANDLE hRsm, BYTE SlaveAddr, long * LpAbsValueX, long * LpAbsValueY, long * LpAbsValueZ, long * LpAbsValueU) Description: This function reads the current absolute logic position (logical position counter).
Category: MODBUS table, MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis: LPAbsValue: LpAbsValueX: LpAbsValueY: LpAbsValueZ: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) The pointer to the memory that stores the logical position counter (-2,000,000,000 ~+2,000,000,000). The pointer to the memory that stores the logical position counter (-2,000,000,000 ~+2,000,000,000) of x axis. The pointer to the memory that stores the logical position counter (-2,000,000,000 ~+2,000,000,000) of y axis. The pointer to the memory that stores the logical position counter (-2,000,000,000 ~+2,000,000,000) of z axis. LpAbsValueU: The pointer to the memory that stores the logical position counter (-2,000,000,000 ~+2,000,000,000) of u axis. Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
MODBUS example:
Method 1: Use Holding Registers to get the current values. Since each absolute LP needs 2 registers to hold the value, the start address setting for MODBUS request must begins from the MSW of the required LP. Otherwise, the host will receive an exception error. This rule will be applied to other long, DWORD or float type values. table. This method allows users to get more than one axis data at only one MODBUS request. Please refer to MODBUS holding registers definition long X_AbsLP; RSM_ABS_GET_POSITION (hRsm, 1, AXIS_X, &X_AbsLP); //Reads the current absolute position LP value of the X axis.
The MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex) Word Count (hex) 01 03 The response via MODBUS may be: 00 52 UID (hex) 01 FC (hex) 03 Byte Count (hex) 04 X_AbsLP = Register[0]; Reg_0 (hex) 00 00 00 02 Reg_1 (hex) 27 10 To get the X_AbsLP, use the following instructions in C language. X_AbsLP = ((X_AbsLP <<16) & 0xffff0000) | (Register[1] & 0xffff);
Method 2: It is used as an MP instruction.
For this case, the current LP value does not actually be returned at the moment when request is sent. The getting LP instruction is desired to be executed later when an MP is called. value to a specified variable Users can use
FC = 16
to write this command into an MP. Inside this MP, there can be an RSM_MACRO_SET_RVAR() function just next to it to save the return LP . This variable can be referred by other functions. Please refer to other related MP usages explanations. RSM_MACRO_ABS_GET_POSITION (hRsm, 1, AXIS_X); //Reads the LP value of the X axis on module 1.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
The MODBUS command is listed as follows: Register[] 0 1 UID (hex) 01 Value (hex) 0C F5 00 01 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code axis (1
AXIS_X)
Word Count (hex) 00 02 Byte Count (hex) 04
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
4.4 Get Current Velocity
eRTU RSM_GET_CV ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, long * CVValue) eRTU RSM_GET_CV_4_AXIS ( HANDLE hRsm, BYTE SlaveAddr, long * CvValueX, long * CvValueY, long * CvValueZ, long * CvValueU) Description: This function reads the current velocity value.
Category: MODBUS table; RTC. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis:
CVValue:
Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) The pointer to the memory that stores the current velocity
CvValueX: CvValueY: CvValueZ: CvValueU:
The pointer to the memory that stores the current velocity of x axis The pointer to the memory that stores the current velocity of y axis The pointer to the memory that stores the current velocity of z axis The pointer to the memory that stores the current velocity of u axis Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: Suppose the CV is 10000, or 0x2710. The Start address is 106, or 0x6A. long CVValue; RSM_GET_CV (hRsm, 1, AXIS_X, &CVValue); //reads the current velocity of the X axis on module 1
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
The MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex) 01 03 00 6A The response via MODBUS may be: UID (hex) 01 FC (hex) 03 Byte Count(hex) 04 Word Count (hex) Reg_0 (hex) 00 00 00 02 Reg_1 (hex) 27 10 To get the CV_X, use the following instructions in C language. CV_X = Register[0]; CV_X = ((CV_X <<16) & 0xffff0000) | (Register[1] & 0xffff);
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
4.5 Get Current Acceleration
eRTU RSM_GET_CA ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis
,
long * CAValue) eRTU RSM_GET_CA_4_AXIS ( HANDLE hRsm, BYTE SlaveAddr, long * CaValueX, long * CaValueY, long * CaValueZ, long * CaValueU) Description: This function reads the current acceleration value PPS/sec.
Category: MODBUS table; RTC. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis:
CAValue: CaValueX: CaValueY: CaValueZ: CaValueU:
Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) The pointer to the memory that stores the current acceleration (in PPS/Sec). The pointer to the memory that stores the current acceleration (in PPS/Sec) of x axis. The pointer to the memory that stores the current acceleration (in PPS/Sec) of y axis. The pointer to the memory that stores the current acceleration (in PPS/Sec) of z axis. The pointer to the memory that stores the current acceleration (in PPS/Sec) of u axis. Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: Suppose the CA is 10000, or 0x2710. The Start address is 114, or 0x72. long CAValue; RSM_GET_CA (hRsm, 1, AXIS_X, &CAValue); //reads the current acceleration value of the X axis on module 1.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
The MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex) 01 03 The response via MODBUS may be: 00 72 UID (hex) 01 FC (hex) 03 Byte Count (hex) 04 CA_X = Register[0]; Word Count (hex) Reg_0 (hex) 00 00 00 02 Reg_1 (hex) To get the CA_X, use the following instructions in C language. CA_X = ((CA_X <<16) & 0xffff0000) | (Register[1] & 0xffff); 27 10
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
4.6
4.6.1
Get DI Triggered Motion Status
Get Single DI Triggered Motion Status
※
Δ eRTU RSM_MACRO_GET_DI ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE nType) Description: This function reads the motion chip status triggered by the digital input (DI) signal.
Category: MODBUS sub_function; MP, ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis: nType: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) 0
DRIVING (Check whether the axis is driving or not) 1
LIMIT+ (Check whether the limit+ is engaged or not) 2
LIMIT- (Check whether the limit- is engaged or not) 3
EMERGENCY (Check whether EMG signal is on or not) 4
ALARM (Check the ALARM input signal) 5
IN1 (Check the IN1 input signal) 6
IN0 (Check the IN0 input signal) 7
IN3 (Check the IN3 input signal) 8
INPOS (Check the INPOS input signal) 9
IN2 (Check the IN2 input signal) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example:
It is used for creating the content of an MP.
For this case, users do not actually want to get the current DI values. The getting DI will be executed only when the MP is called. Therefore, use
FC = 16
to write this command inside a MP. This kind of usage often has
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
RSM_MACRO_SET_RVAR() followed to get the return DI value . Please refer to MP related explanation literature.
RSM_MACRO_GET_DI
(hRsm, 1, AXIS_X, 1); The MODBUS command is listed as follows: UID (hex) Register[] 0 01 Value (hex) 0C 2E FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
Word Count (hex) 00 03 1 2 00 01 00 01 axis
The specified DI (LIMIT+)
Byte Count (hex) 06
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
4.6.2 Get All DI Triggered Motion Status
eRTU RSM_GET_DI_ALL ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis
,
WORD * DIValue )
※
Δ eRTU RSM_MACRO_GET_DI_ALL ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis) eRTU RSM_GET_DI_ALL_4_AXIS ( HANDLE hRsm, BYTE SlaveAddr, WORD * DiValueX, WORD * DiValueY, WORD * DiValueZ, WORD * DiValueU) Description: These function reads the motion chip status triggered by the digital input (DI) signal.
Category: MODBUS table, MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis:
DIValue:
DiValueX: DiValueY: DiValueZ: DiValueU: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) The pointer to the memory that stores the all DI Status The bits in DIValue are defined as follows: Bit 0
DRIVING (Axis is driving or not) Bit 1
LIMIT+ Bit 2
LIMIT- (Limit+ is engaged or not) (Limit- is engaged or not) Bit 3
EMERGENCY (EMG signal) Bit 4
ALARM Bit 5
IN1 (ALARM signal) (IN1 input signal, low-active) Bit 6
IN0 Bit 7
IN3 (IN0 input signal,low-active) (IN3 input signal,low-active) Bit 8
INPOS (INPOS input signal) Bit 9
IN2 (IN2 input signal, low-active) The pointer to the memory that stores the all DI Status of x axis The pointer to the memory that stores the all DI Status of y axis The pointer to the memory that stores the all DI Status of z axis The pointer to the memory that stores the all DI Status of u axis
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
Return: 0: Success; Others: Fail (Please refer to
MODBUS example:
Method 1: It is used for getting current status of DI. Each bit corresponds to a register. Each register’s value is either 0 or 1.
WORD DIValue;
RSM_GET_DI_ALL
(hRsm, 1, AXIS_X, &DIValue); The MODBUS command is listed as follows: UID (hex) 01 FC (hex) 04 St_Addr. (hex) 00 10 The response via MODBUS may be: Word Count (hex) 00 01 UID (hex) 01
FC (hex) 04 Byte Count (hex) 02 Method 2: When it is used inside an MP.
DI Status of AXIS_X. ( Reg_0 ) 00 00 For this case, users do not actually want to get the current DI values. The getting DI will be executed only when the MP is called. Therefore, use
FC = 16
to write this command inside a MP. This kind of usage often has RSM_MACRO_SET_RVAR() followed to get the return DI value . Please refer to MP-related explanation literature.
RSM_MACRO_GET_DI_ALL //VAR0
(hRsm, 1, AXIS_X);
//RSM_MACRO_SET_RVAR(hRsm, 1, VAR0); //assign this DI value to
The MODBUS command is listed as follows: Register[] 0 1 UID (hex) 01 Value (hex) 0C 31 00 01 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code axis (1: AXIS_X)
Word Count (hex) 00 02 Byte Count (hex) 04
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
4.7
4.7.1
Get DI Signal
Get Single DI Signal Status
※
Δ eRTU RSM_MACRO_GET_DI_SIGNAL ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE nType) Description: This function reads the digital input (DI) signal.
Category: MODBUS sub_function; MP, ISR. Parameters: Paramters Description
hRsm:
COM port handle
SlaveAddr:
Modbus RTU Slave Address (valid range: 1 to 247)
axis: nType:
Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) 0
NHOME/IN0 signal 1
HOME/IN1 signal 2
Index/IN2 signal 3
IN3 signal 4
EXP+ (External input) signal 5
EXP- (External input) signal 6
INP signal 7
ALARM signal Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example:
It is used for creating the content of an MP.
The read DI signal will be executed only when the MP is called. Therefore, use
FC = 16
to write this command inside a MP. This kind of usage often has RSM_MACRO_SET_RVAR() followed to get the return DI signal value . Please refer to MP related explanation literature.
RSM_MACRO_GET_DI_SIGNAL
(hRsm, 1, AXIS_X, 1);
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
The MODBUS command is listed as follows: Register[] 0 1 2 UID (hex) 01 Value (hex) 0C 40 00 01 00 01 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
axis Word Count (hex) 00 03
The specified DI signal (
HOME
)
Byte Count (hex) 06
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
4.7.2 Get All DI Signal Status
eRTU RSM_GET_DI_SIGNAL_ALL ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis
,
WORD * DISignalValue)
※
Δ eRTU RSM_MACRO_GET_DI_SIGNAL _ALL ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis) eRTU RSM_GET_DI_SIGNAL_ALL_4_AXIS ( HANDLE hRsm, BYTE SlaveAddr, WORD *
DiSignal
ValueX, WORD *
DiSignal
ValueY, WORD *
DiSignal
ValueZ, WORD *
DiSignal
ValueU) Description: This function reads the digital input (DI) signal.
Category: MODBUS table, MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters
hRsm:
COM port handle Description
SlaveAddr: axis: DISignalValue:
Modbus RTU Slave Address (valid range: 1 to 247) Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) The pointer to the memory that stores the all DI Status The bits in DIValue are defined as follows: Bit 0
NHOME/IN0 signal Bit 1
HOME/IN1 signal Bit 2
Index/IN2 signal Bit 3
IN3 signal Bit 4
EXP+ (External input) signal Bit 5
EXP- (External input) signal Bit 6
INP signal Bit 7
ALARM signal DiSignalValueX: The pointer to the memory that stores the all DI Status of x axis DiSignalValueY: The pointer to the memory that stores the all DI Status of y axis DiSignalValueZ: The pointer to the memory that stores the all DI Status of z axis DiSignalValueU: The pointer to the memory that stores the all DI Status of u axis Return: 0: Success; Others: Fail (Please refer to
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
MODBUS example:
Method 1: It is used for getting current DI signal. Each bit corresponds to a register. Each register’s value is either 0 or 1. WORD DIValue;
RSM_GET_DI_SIGNAL_ALL
(hRsm, 1, AXIS_X, &DIValue); The MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex) Word Count (hex) 01 04 00 58 The response via MODBUS may be: 00 01 UID (hex) 01
FC (hex) 04 Byte Count (hex) 02 Method 2: When it is used inside an MP.
DI Status of AXIS_X. ( Reg_0 ) 00 00 value The get DI signal function will be executed only when the MP is called. Therefore, use
FC = 16
to write this command inside a MP. This kind of usage often has RSM_MACRO_SET_RVAR() followed to get the return DI . Please refer to MP-related explanation literature.
RSM_MACRO_GET_DI_SIGNAL_ALL //VAR0
(hRsm, 1, AXIS_X);
//RSM_MACRO_SET_RVAR(hRsm, 1, VAR0); //assign this DI value to
The MODBUS command is listed as follows: Register[] 0 1 UID (hex) 01 Value (hex) 0C 41 00 01 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code axis (1: AXIS_X)
Word Count (hex) 00 02 Byte Count (hex) 04
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
4.8 Get Home Status
eRTU RSM_GET_HOME_SEARCH_STATE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis
,
WORD * HomeStatus)
※
Δ eRTU RSM_MACRO_ GET_HOME_SEARCH_STATE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis) eRTU RSM_GET_HOME_SEARCH_STATE _4_AXIS ( HANDLE hRsm, BYTE SlaveAddr, WORD * HomeStatusX, WORD * HomeStatusY, WORD * HomeStatusZ, WORD * HomeStatusU) Description: This function reads the home search state.
Category: MODBUS table, MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters
hRsm:
COM port handle Description
SlaveAddr:
Modbus RTU Slave Address (valid range: 1 to 247)
axis: HomeStatus:
Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) The pointer to the memory that stores the home status The value in HomeStatus are defined as follows: 0
Waits for an automatic home search execution command 3
Execution step 1 : Waits for activation of the IN0 signal in the specified search direction 8
Execution step 2: Waits for activation of the IN1 signal in the direction opposite to the specified search direction (irregular operation) 12
Execution step 2: Waits for detivation of the IN1 signal in the direction opposite to the specified search direction (irregular operation) 15
Execution step 2: Waits for activation of the IN1 signal in the specified search direction 20
Execution step 3: Waits for activation of the IN2 signal in the specified search direction
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HomeStatusX: HomeStatusY: HomeStatusZ: HomeStatusU:
25
Execution step 4: Offset driving in the specified search direction The pointer to the memory that stores the home status of x axis The pointer to the memory that stores the home status of y axis The pointer to the memory that stores the home status of z axis The pointer to the memory that stores the home status of u axis Return: 0: Success; Others: Fail (Please refer to
MODBUS example:
Method 1: It is used for getting current home state WORD HomeStatus; RSM_GET_HOME_SEARCH_STATE (hRsm, 1, AXIS_X, &HomeStatus); The MODBUS command is listed as follows: UID (hex) 01 FC (hex) 04 St_Addr. (hex) 00 5C Word Count (hex) 00 01 The response via MODBUS may be: UID (hex) 01 FC (hex) 04 Byte Count (hex) 02 Home State of AXIS_X. ( Reg_0 ) 00 00
Method 2: When it is used inside an MP.
The get home state function will be executed only when the MP is called. Therefore, of usage often has RSM_MACRO_SET_RVAR() followed to get the return home state value use
FC = 16
to write this command inside a MP. This kind . Please refer to MP-related explanation literature.
RSM_MACRO_GET_HOME_STATE //value to VAR0
(hRsm, 1, AXIS_X);
//RSM_MACRO_SET_RVAR(hRsm, 1, VAR0); //assign this home state
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The MODBUS command is listed as follows: Register[] 0 1 UID (hex) 01 Value (hex) 0C 42 00 01 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code axis (1: AXIS_X)
Word Count (hex) 00 02 Byte Count (hex) 04
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4.9
4.9.1
Get and Clear Error Status
Check Error Status
eRTU RSM_GET_ERROR_STATE ( HANDLE hRsm, BYTE SlaveAddr, BYTE * ErrState)
※
Δ eRTU RSM_MACRO_GET_ERROR ( HANDLE hRsm, BYTE SlaveAddr) Description: This function checks whether an error occured or not.
Category: MODBUS table, MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247)
ErrState:
The pointer to the memory that stores the error status: 1: Error(s) occured. Please perform RSM_GET_ERROR_CODE () to get more information. 0: No error. Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example:
Method 1: It is used for getting current status of error.
BYTE ErrState;
RSM_GET_ERROR_STATE
(hRsm, 1, &ErrState); The MODBUS command is listed as follows: UID (hex) 01 FC (hex) 04 St_Addr. (hex) The response via MODBUS may be: 00 46 UID (hex) 01 FC (hex) 04 Byte Count(hex) 02 Word Count (hex) 00 01 Error status ( Reg_0 ) 00 00
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Method 2: It is used for creating the content of an MP.
For this case, users do not actually want to get the current error status. The getting error will be executed only when the MP is called. Therefore, use
FC = 16
to write this command inside a MP. This kind of usage often has RSM_MACRO_SET_RVAR() followed to get the return value.
Please refer to MP related explanation literature.
RSM_MACRO_GET_ERROR
(hRsm, 1); The MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex) 01 10 1F 40 Word Count (hex) 00 01 Byte Count (hex) 02 Register[] 0 Value (hex) 0C 2F Remarks
Sub_function code
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4.9.2 Get Error Code
eRTU RSM_GET_ERROR_CODE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, WORD * ErrCode)
※
Δ eRTU RSM_MACRO_GET_ERROR_CODE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis) eRTU RSM_GET_ERROR_CODE_4_AXIS ( HANDLE hRsm, BYTE SlaveAddr, WORD * ErrCodeX, WORD * ErrCodeY, WORD * ErrCodeZ, WORD * ErrCodeU) Description: This function reads the ERROR status.
Category: MODBUS table, MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis:
ErrCode: ErrCodeX: ErrCodeY: ErrCodeZ: ErrCodeU:
Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) The pointer to the memory that stores the error status The pointer to the memory that stores the error status of x axis The pointer to the memory that stores the error status of y axis The pointer to the memory that stores the error status of z axis The pointer to the memory that stores the error status of u axis
ErrCode:
0
No error. For non-zero return value, please refer to the following table. If there are more than one error, the return value will be the sum of there error code values.
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Erro Code Cause of stop 1 Explanation SOFT LIMIT+ Occurs when the forward software limit is asserted 2 4 SOFT LIMIT- Occurs when the reverse software limit is asserted LIMIT+ Occurs when the forward hardware limit is asserted 8 16 32 LIMIT- ALARM Occurs when the reverse hardware limit is asserted Occurs when the ALARM is asserted EMERGENCY Occurs when the EMG is asserted 64 Reserved Reserved 128 HOME Occurs when both Z phase and HOME are asserted 256 512 SOFT STOP SOFT EMG Occurs when the software stop is asserted(use function RSM_STOP_SLOWLY, RSM_STOP_SUDDENLY, RSM_VSTOP_SLOWLY, RSM_VSTOP_SUDDENLY) Occurs when the software EMG is asserted(use function RSM_EMERGENCY_STOP) For example, a return code 48 means that ALARM and EMGERENCY occur at the same time. Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example:
Method 1: It is used for getting current error code.
WORD
ErrCode
;
RSM_GET_ERROR_CODE
(hRsm, 1, AXIS_X, & The MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex)
ErrCode
); Word Count (hex) 00 01 01 04 The response via MODBUS may be: UID (hex) 01 FC (hex) 04 00 14 Byte Count(hex) 02 ErrCode ( Reg_0 ) 00 00
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Method 2: It is used for creating the content of an MP.
For this case, users do not actually want to get the current error codes. The getting error code will be executed only when the MP is called. Therefore, use
FC = 16
to write this command inside a MP. This kind of usage often has RSM_MACRO_SET_RVAR() followed to get the return value . Please refer to MP related explanation literature.
RSM_MACRO_GET_ERROR_CODE
UID (hex) FC (hex) (hRsm, 1, AXIS_X); The MODBUS command is listed as follows: St_Addr. (hex) Word Count (hex) 01 10 1F 40 00 02 Byte Count (hex) 04 Register[] 0 1 Value (hex) 0C 30 00 01 Remarks
Sub_function code
axis (AXIS_X)
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4.10 Get Buffer Status
eRTU RSM_GET_FREE_BUFFER( HANDLE hRsm, BYTE SlaveAddr, BYTE * FreeBufNum) Description: This function returns the number of commands the internal FIFO buffer can still store. A maximum of 30 commands can be stored by the FIFO can store. All arriving commands are first stored in the FIFO buffer before they are processed.
Category: MODBUS table
；
RTC. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: MODBUS example: Modbus RTU Slave Address (valid range: 1 to 247) FreeBufNum: Number of empty command lines in the FIFO buffer of the i-8094H Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
BYTE FreeBufNum; RSM_GET_FREE_BUFFER(hRsm, 1, & FreeBufNum); The MODBUS command is listed as follows: UID (hex) 01 FC (hex) 04 St_Addr. (hex) 00 47 Word Count (hex) 00 01 The response via MODBUS may be: UID (hex) FC (hex) Byte Count (hex) 01 04 02 Block_Num (hex) 00 1E The retured value, 0x1E, means 30 blocks of command-buffer are available.
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4.11 Get Stop Status
eRTU RSM_GET_STOP_STATUS( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE * StopState) eRTU RSM_GET_STOP_STATUS_4_AXIS( HANDLE hRsm, BYTE SlaveAddr, BYTE * StopStateX, BYTE * StopStateY, BYTE * StopStateZ, BYTE * StopStateU) Description: This function reads current stop status. Category: MODBUS table
；
RTC. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis: StopState: StopStateX: StopStateY: StopStateZ: StopStateU: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8). The pointer to the memory that stores the stop status The pointer to the memory that stores the stop status of x axis The pointer to the memory that stores the stop status of y axis The pointer to the memory that stores the stop status of z axis The pointer to the memory that stores the stop status of u axis Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
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MODBUS example: STOP status X_STOP_STATUS Y_STOP_STATUS Z_STOP_STATUS U_STOP_STATUS Address 58 (0x3A) 59 (0x3B) 60 (0x3C) 61 (0x3D) Remarks 1
AXIS_X has stopped 0
AXIS_X is moving 1
AXIS_Y has stopped 0
AXIS_Y is moving 1
AXIS_Z has stopped 0
AXIS_Z is moving 1
AXIS_U has stopped 0
AXIS_U is moving BYTE StopState; RSM_GET_STOP_STATUS (hRsm, 1, AXIS_X, & StopState); The MODBUS command is listed as follows: UID (hex) 01 FC (hex) 04 St_Addr. (hex) 00 3A Word Count (hex) 00 01 The response via MODBUS may be: UID (hex) FC (hex) Byte Count (hex) 01 04 02 AXIS Stop_Status (hex) 00 01
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4.12 Get Software Emergency Status
eRTU RSM_GET_EMERGENCY_STATE ( HANDLE hRsm, BYTE SlaveAddr, BYTE * EmgState) Description: This function reads the current emergency status generated by the RSM_CLEAR_EMERGENCY_STOP command. In an emergency stop state all four drives are in standstill and remain in standstill until the emergency stop has bee cleared.
Category: MODBUS table: RTC. Parameters: Paramters hRsm: COM port handle Description SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis:
EmgState:
Emergency stop status Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8)
0: no emergency stop active 1: emergency stop activated Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: Address Remarks X_STOP_STATUS 25 (0x19) 1
AXIS_X has stopped 0
AXIS_X is moving BYTE EmgState; RSM_GET_EMERGENCY_STATE (hRsm, 1, & EmgState); The MODBUS command is listed as follows: UID (hex) 01 FC (hex) 04 St_Addr. (hex) 00 19 Word Count(hex) 00 01 The response via MODBUS may be: UID (hex) FC (hex) Byte Count(hex) 01 04 02 EmgState (hex) 00 01
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4.13 Get Driving Axis
eRTU RSM_GET_DRIVING_AXIS( HANDLE hRsm, BYTE SlaveAddr, BYTE * DrvAxis) Description: This function returns the currently driving axis.
Category: MODBUS table: RTC. Parameters: Paramters Description hRsm: COM port handle SlaveAddr:
DrvAxis:
Modbus RTU Slave Address (valid range: 1 to 247)
0 - no axis running; >0 - each running axis is indicated by a bit
Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: BYTE DrvAxis; RSM_GET_DRIVING_AXIS (hRsm, 1, & DrvAxis); The MODBUS command is listed as follows: UID (hex) 01 01 FC (hex) 04 The response via MODBUS may be: UID (hex) FC (hex) 04 St_Addr. (hex) 00 60 Byte Count (hex) 02 Word Count (hex) 00 01 Driving Axis (hex) 00 01
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4.14 Get Interpolation Ready Flag
eRTU RSM_GET_INTERPOL_RDY_FLAG( HANDLE hRsm, BYTE SlaveAddr, BYTE * InterpolationRdyFlag) Description: This function indicates whether the motion control chip is ready to process the next interpolation command.
Category: MODBUS table: RTC. Parameters: Paramters hRsm: SlaveAddr: InterpolationRdyFlag: Description COM port handle Modbus RTU Slave Address (valid range: 1 to 247)
0 - not ready for the next
interpolation command 1 - ready for the next interpolation command Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: BYTE InterpolationRdyFlag; RSM_GET_INTERPOL_RDY_FLAG (hRsm, 1, & InterpolationRdyFlag); The MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex) 01 04 00 57 Word Count (hex) 00 01 The response via MODBUS may be: UID (hex) FC (hex) Byte Count (hex) 01 04 02 InterpolationRd yFlag (hex) 00 01
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4.15 Get Triggered Interrupt Factors
eRTU RSM_GET_TRIG_INTFACTOR ( HANDLE hRsm, BYTE SlaveAddr, BYTE nINT, BYTE *pAxis) Description: This function reads which axis has triggered an interrupt for the set interrupt factor since the last RSM_INTFACTOR_ENABLE function call. The function RSM_INTFACTOR_ENABLE enables the motion chip interrupt and clears the interrupt status for the respective interrupt factor. Category: MODBUS table; RTC. Parameters: Paramters hRsm: SlaveAddr: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247)
nINT:
Consult Table 7
pAxis:
Consult Table 4 Example: 0x0F: All 4 axis have triggered 0x02: only the Y axis has triggered 0x0B: axis XYU have triggered The Modbus function code 4 register table is as follows.
Table 7: Motion chip interrupt factor table with respective Modbus FC 4 register addresses
Modbus register address FC4 130 131 nINT 0 Symbol PULSE Description Interupt occurs when pulse is up Interrupt occurs when the value of logical / 1 P>=C- real position counter is larger than or equal to that of COMP- register.
132 Interrupt occurs when the value of logical / 2 P
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133 134 135 136 3 4 5 6 P
Interrupt occurs when the value of logical / real position counter is larger than or equal to that of COMP+ register.
Interrupt occurs at the end of the constant speed drive or completion of Acceleration Offset Pulse output Interrupt occurs at the start of the constant speed drive or begin of Acceleration Offset Pulse output Interrupt occurs when the driving is finished Automatic home search terminated Synchronous action was activated 137 138 139 7 8 9 D-END HMEND SYNC Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: BYTE bAxis; RSM_GET_TRIG_INTFACTOR (hRsm, 1, 0, & bAxis ); MODBUS request: UID (hex) 01 (Slave Address) FC (hex) 04 St_Addr. (hex) 00 82 (130) (Pulse output) Word Count (hex) 00 01 MODBUS response: UID (hex) 01 FC (hex) 04 Byte Count (hex) 02 Registers(hex) 00 09 (Axis XY triggered )
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4.16 Get RS-M8194H State
4.16.1 Command Download and Execution Procedure
The motion unit basically consists of two modules:
−
RS-M8194H
−
i-8094H
•
The RS-M8194H module (Figure 1) in slot 0 is the unit which is mainly
responsible for the Modbus communication between the Master and Slave. The main task of the module is to verify and filter every command arriving at its serial port according to its current state and consequently decide whether to transfer the command to the i-8094H or, if the command is not supported by the respective state, ignore the command and respond to the Master with a Modbus exception code.
Modbus Master
Modbus Command Modbus Command Modbus RTU Verify the command Invalid Valid DPRAM Modbus Exception code Figure 1: RS-M8194H module in slot 0 of the motion device The module can be in one of the following three states:
−
Ready state
−
MP Macro download state
−
ISR Macro download state When the RS-M8194H (module in the first slot is responsible for the communication part) is in a certain state certain commands can not be processed by the module and therefore the module responds with a Modbus exception code when a command is being sent by the Master which is not being supported by the
valid commands.
For example, the RS-M8194H is in the MP Macro download state. In this state only
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commands which are marked with MP in Table 1 are valid commands. As soon as
a non MP command is being sent (e.g. MP_CREATE) the module will ignore this command and return a Modbus exception code. The RSM_GET_DEVICE_STATE allows the user to determine the reason for the Modbus exception code by reading the current module state.
•
The i-8094H module (Figure 2) in slot 1 is mainly responsible for
executing motion commands and storing the Macro tables in its non volatile memory. The motion control chip and the non-volatile memory for storing Macro tables are part of the i-8094H module. Furthermore it has a DPRAM (volatile FIFO buffer) which stores up to 29 commands for further processing.
Modbus Master DPRAM
MOTION CMD 1 MOTION CMD 2 MOTION CMD 3
Mode: • RTC • Macro download • Macro Execution
Macro Command
Save command to
FRAM RTC Command
Motion Chip
Figure 2: i-8094H situated in slot 1 of the motion device
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4.16.2 Get RS-M8194H Status
eRTU RSM_GET_DEVICE_STATE ( HANDLE hRsm, BYTE SlaveAddr, RsmState *pState) typedef struct { WORD Rsm8194hState; WORD I8094hState; WORD IllegalFuncErr; }
RsmState
; Description: This function returns the current state of the RS-M8194H and of the i8094H module and furthermore the cause of the last Modbus exception code. Category: MODBUS table; RTC. Parameters: Paramters hRsm: SlaveAddr:
pState:
Description COM port handle Modbus RTU Slave Address (valid range: 1 to 247) Rsm8194hState (Table 8) RSM_READY: Only RTC commands can be sent. RSM_MP_DOWNLOAD: Only MP Macro commands are accepted. RSM_ISR_DOWNLOAD: Only ISR Macro commands are valid. I8094hState (Table 9) i8094H_READY: The i-8094H is ready for receiving RTC commands. i8094H_INITIALIZATION: Executing initialization table (IT commands). i8094H_MACRO_DOWNLOAD: i-8094H is in the MACRO download mode. i8094H_MP_EXECUTION: MP Macro table is being executed.
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i8094H_ISR_EXECUTION: Interrupt MACRO (ISR) program is being executed. i8094H_ERR_FIRMWARE: Module exited the DPRAM scan engine, Module needs to be rebooted. i8094H_FIRMWARE_BOOTING: i-8094H firmware has not completed the booting process. IllegalFuncErr (Table 10) ERR_NO_ERROR: No error occurred. ERR_FC_NOT_SUPPORTED: Function code not supported. ERR_EXCEED_MP_MEMORY: Macro program exceeds the number of command lines reserved for the selected table. ERR_MP_INSIDE_ISR: A MP command is being used inside ISR Macro. ERR_ISR_INSIDE_MP: An ISR command is being used inside MP Macro. ERR_RTC_INSIDE_MP_OR_ISR: A RTC command is being used inside a MP or ISR Macro. ERR_MP_OR_ISR_AS_RTC: A MP or ISR Macro command is being used outside a Macro program. Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: RsmState rsmState; RSM_GET_DEVICE_STATE (hRsm, 1, & rsmState);
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MODBUS request: UID (hex) 01 (Slave Address) MODBUS response: UID (hex) 01 Register[] 0 1 2 FC (hex) 04 FC (hex) 04 Value (hex) 00 01 00 03 00 06 St_Addr. (hex) 00 64 (100) Byte Count (hex) 0A Word Count (hex) 00 03 Registers (hex) See next table Remarks
Rsm8194hState:
RSM_MP_DOWNLOAD
I8094hState :
i8094H_MACRO_DOWNLOAD
IllegalFuncErr:
ERR_RTC_INSIDE_MP_OR_ISR
Table 8: RS-M8194H states
States of the RS M8194H module RSM_READY RSM_MP_DOWNLOAD RSM_ISR_DOWNLOAD
Table 9: i-8094H states
Number (hex) 0x00 0x01 0x02 Different states of the i8094H only RTC commands can be sent only MP Macro commands are accepted only ISR Macro commands are valid Number (hex) Description Description i8094H_READY i8094H_INITIALIZATION 0x00 0x01 i8094H_MACRO_DOWNLOAD 0x03 i8094H_MP_EXECUTION i8094H_ISR_EXECUTION i8094H_ERR_FIRMWARE i8094H_FIRMWARE_BOOTING 0x05 0x07 0x10 0xFF The i-8094H is ready for receiving RTC commands executing initialization table (IT commands) i-8094H is in the MACRO download mode MP Macro table is being executed Interrupt MACRO (ISR) program is being executed i-8094H firmware experienced an error and has to be power off/on i-8094H firmware has not completed the booting process
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Table 10: Causes of Modbus exception response
Illegal function errors ERR_NO_ERROR ERR_FC_NOT_SUPPORTED ERR_EXCEED_MP_MEMORY ERR_MP_INSIDE_ISR ERR_ISR_INSIDE_MP ERR_RTC_INSIDE_MP_OR_ISR ERR_MP_OR_ISR_AS_RTC Number (hex) 0x00 0x01 0x03 0x04 0x05 0x06 0x07 Description No error occurred Function code not supported Macro program exceeds the number of command lines reserved for the selected table A MP command is being used inside ISR macro A ISR command is being used inside MP macro A RTC command is being used inside a MP or ISR macro A MP or ISR macro command is being used outside a macro program
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5 FRnet Functions
5.1
5.1.1
Get FRnet DIO Signals
Read FRnet Group Data (MP)
※
Δ eRTU RSM_MACRO_FRNET_IN ( HANDLE hRsm, BYTE SlaveAddr, BYTE wGroup) Description: This function reads the FRnet digital input signals. One group comprises 16 bits data. Maximum eight groups of DI are provided. Therefore, total 128 DI can be defined for one FRnet interface.
Category: MODBUS sub_function; MP, ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) wGroup: DI group number is between 8~15. If you enter a value between 0 to 7, you can get the output state of the external DO group. Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: Each register contains 16-bit data. Each bit corresponds to a DI channel in a group.
It is used for creating the content of an MP.
For this case, users do not actually want to get the current DI value. The getting will be executed only when the MP is called. Therefore, use
FC = 16
to write this command inside a MP. This kind of usage often has RSM _MACRO_SET_RVAR() followed to get the return DI value . Please refer to MP related explanation literature.
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RSM_MACRO_FRNET_IN
(hRsm, 1, 8); The MODBUS command is listed as follows: Register[] 0 1 UID (hex) 01 Value (hex) 0C 32 00 08 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
Group number (8~15) Word Count (hex) 00 02 Byte Count (hex) 04
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5.1.2 Read FRnet Channel Data (MP)
※
Δ eRTU RSM_MACRO_FRNET_READ ( HANDLE hRsm, BYTE SlaveAddr, BYTE bGroup, DWORD dwChannel) Description: Read the channel data of FRnet group.
Category: MODBUS sub_function; MP, ISR. Parameters: Paramters hRsm: SlaveAddr: Description COM port handle Modbus RTU Slave Address (valid range: 1 to 247) wGroup: dwChannel: DI group number is between 8~15. If you enter a value between 0 to 7, you can get the output state of the external DO group. The channel inside the group define the range of 0 to 15. Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example:
RSM_MACRO_FRNET_READ
(hRsm, 1, 8, 1); The MODBUS command is listed as follows: UID (hex) Register[] 0 1 01 Value (hex) 0C 34 00 00 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
MSW of 0x0008 Word Count (hex) 00 05 Byte Count (hex) 0A 2 3 4 00 08 00 00 00 01 LSW of 0x0008
MSW of 0x0001 LSW of 0x0001
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5.1.3 Read FRnet Channel Data (RTC)
eRTU RSM_FRNET_READ_SINGLE_DIO ( HANDLE hRsm, BYTE SlaveAddr, WORD wGroup, BYTE bChannelNo, BYTE *pbChannelStatus) Description: Read the channel data of FRnet group.
Category: MODBUS table; RTC. Parameters: Paramters hRsm: SlaveAddr: wGroup: bChannelNo: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247) DI group number is between 8~15. If you enter a value between 0 to 7, you can get the output state of the external DO group. The channel number inside the group defines the range of 0 to 15. pbChannelStatus: The pointer to the memory that stores the data which you read from the channel. Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
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5.1.4 Read FRnet Group Data (RTC)
eRTU RSM_FRNET_READ_GROUP_DIO ( HANDLE hRsm, BYTE SlaveAddr, WORD wGroup, WORD * pwGroupStatus) Description: Read the data of FRnet group.
Category: MODBUS table; RTC. Parameters: Paramters hRsm: COM port handle SlaveAddr: wGroup: Description Modbus RTU Slave Address (valid range: 1 to 247) DI group number is between 8~15. If you enter a value between 0 to 7, you can get the output state of the external DO group. pwGroupStatus The pointer to the memory that stores the data which you read from the group. Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: WORD pwGroupStatus; RSM_MACRO_FRNET_READ(hRsm, 1, 8, &pwGroupStatus); MODBUS request: UID (hex) FC (hex) St_Addr. (hex) Word Count (hex) 01 MODBUS response: 04 00 08 00 01 UID (hex) 01 FC (hex) 04 Byte Count(hex) 02
pwGroupStatus
(hex) 0001
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5.1.5 Read FRnet Multi-group Data (RTC)
eRTU RSM_FRNET_READ_MULTI_GROUP_DIO ( HANDLE hRsm, BYTE SlaveAddr, WORD wStartGroup, BYTE bGroupQty, WORD * pwInputBuffer, BYTE bBufferSize ) Description: Read the data of FRnet multi-group.
Category: MODBUS table; RTC. Parameters: Paramters Description hRsm: COM port handle SlaveAddr:
wStartGroup:
Modbus RTU Slave Address (valid range: 1 to 247) The starting group. bGroupQty: The group quantity. pwInputBuffer: bBufferSize: The pointer to the memory that store the data which you read from the group. The size of the registers
(
bBufferSize*2 must >= bGroupQty) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: WORD pwInputBuffer[2]; RSM_FRNET_READ_MULTI_GROUP_DIO(hRsm, 1, 8, 2, &pwInputBuffer, 4); MODBUS request: UID (hex) FC (hex) St_Addr. (hex) Word Count (hex) 01 MODBUS response: UID (hex) 01 04 FC (hex) 04 04 00 08 Byte Count (hex)
pwInputBuffer[0]
(hex) 00 01 00 02
pwInputBuffer[1]
(hex) 00 03
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5.2
5.2.1
Set FRnet DO
Set FRnet DO Group Data (MP)
※
Δ eRTU RSM_MACRO_FRNET_OUT ( HANDLE hRsm, BYTE SlaveAddr, BYTE
bGroup,
DWORD data) Description: This function writes data to the FRnet digital output. One group comprises 16 bits data. Maximum eight groups of DO are provided. Therefore, total 128 DO can be defined for one FRnet interface.
Category: MODBUS table, MODBUS sub_function; MP, ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) bGroup:
data:
Group number is between 0~7. Eight or above is not defined. 0x00000000 ~ 0x0000ffff, can also use VARn to set. Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example:
Method 1: It is used for setting FRnet DO values by some true values.
Each register contains 16-bit data. Each bit corresponds to a DO of group. Please note that FRnet DO values can be read back. RSM_MACRO_FRNET_OUT (hRsm, 1, 0, 0x0000
FFFF
); RSM_MACRO_FRNET_OUT (hRsm, 1, 1, 0x0000
AAAA
); RSM_MACRO_FRNET_OUT (hRsm, 1, 2, 0x0000
1100
); RSM_MACRO_FRNET_OUT (hRsm, 1, 3, 0x0000
0011
);
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UID (hex) Register[] 0 1 2 3 01 Value (hex) FF FF AA AA 11 00 00 11 FC (hex) 10 St_Addr. (hex) 00 00 Word Count (hex) 00 04 Remarks
DO setting (for address = 0)
DO setting (for address = 1)
DO setting (for address = 2) DO setting (for address = 3)
Byte Count (hex) 08
Method 2: It can be used for setting FRnet DO values by true values or by variables.
The DO is defined as a DWORD because it can be a variable or a true value. When a VARn is used instead of the true value, the MSW will not be zero . When users desire to use a true value to set the DO, please keep the MSW to be zero, and let the LSW part contain the DO value.
RSM_MACRO_FRNET_OUT
(hRsm, 1, 0, 0x0000FFFF); // on module 1, set group number RA=0, output data is 0x0000ffff The MODBUS command is listed as follows: UID (hex) Register[] 01 Value (hex) FC (hex) 10 St_Addr. (hex) 1F 40 Remarks Word Count (hex) 00 04 0 1 2 3 0C 33 00 00 00 00 FF FF
Sub_function code
Group number (0~7)
MSW of DO LSW of DO
Byte Count (hex) 08
RSM_MACRO_FRNET_OUT
(hRsm, 1, bVAR0 , VAR1 ); // on module 1, set group number RA=
bVAR0
, output data is
VAR1
Note: The address of bVAR0 is 0x80 (= 0x80+n); and the start address of VAR1 is 0x012E (= 300 + 2*n).
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The MODBUS command is listed as follows: UID (hex) Register[] 01 Value (hex) FC (hex) 10 St_Addr. (hex) 1F 40 Remarks Word Count (hex) 00 04 0 1 0C 33 00 80
Sub_function code
bVAR0 2 3 00 00 01 2E
MSW of VAR1 LSW of VAR1
Byte Count (hex) 08
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5.2.2 Set FRnet DO Channel Data (MP)
※
Δ eRTU RSM_MACRO_FRNET_WRITE ( HANDLE hRsm, BYTE SlaveAddr, BYTE bDoGroup, DWORD dwChannel, DWORD dwOutput) Description: Write data to the channel of FRnet DO group.
Category: MODBUS sub_function; MP, ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: bDoGroup: Modbus RTU Slave Address (valid range: 1 to 247) Group number is between 0~7. Eight or above is not defined. The channel of the group is defined 0~15. dwChannel: dwOutput: Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: RSM_MACRO_FRNET_WRITE(hRsm, 1, 1, 1, 1); The MODBUS command is listed as follows: 0 1 UID (hex) Register[] 01 Value (hex) 0C 35 00 00 The written data. FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
MSW of 0x0001 Word Count (hex) 00 07 Byte Count (hex) 0E 2 3 4 00 01 00 00 00 01 LSW of 0x0001
MSW of 0x0001 LSW of 0x0001
5 6 00 00 00 01
MSW of 0x0001 LSW of 0x0001
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
5.2.3 Set FRnet DO Channel Data (RTC)
eRTU RSM_FRNET_WRITE_SINGLE_DO ( HANDLE hRsm, BYTE SlaveAddr, BYTE bGroup, DWORD dwChannelNo, BYTE bOutput) Description: Write data to the channel of FRnet DO group.
Category: MODBUS table
；
RTC. Parameters: Paramters hRsm: COM port handle Description SlaveAddr: bGroup: Modbus RTU Slave Address (valid range: 1 to 247) Group number is between 0~7. Eight or above is not defined. The channel of the group is defined 0~15.
dwChannelNo:
bOutput: The written data. Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: RSM_FRNET_WRITE_SINGLE_DO (hRsm, 1,
bGroup
,
dwChannelNo
, 1); The MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex) 01 05 (bGroup * 16 + dwChannelNo) Value (hex) 00 00(off); FF 00(on)
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5.2.4 Set FRnet DO Group Data (RTC)
eRTU RSM_FRNET_WRITE_GROUP_DO ( HANDLE hRsm, BYTE SlaveAddr, BYTE bGroup, DWORD dwdata) Description: Write data to FRnet DO group.
Category: MODBUS table
；
RTC. Parameters: Paramters hRsm: COM port handle Description SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) bGroup: dwdata: Group number is between 0~7. Eight or above is not defined. 0x00000000 ~ 0x0000ffff, can also use VARn to set. Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: RSM_FRNET_WRITE_GROUP_DO(hRsm, 1, 0, 0x0000FFFF); // on module 1, set group number RA=0, output data is 0x0000ffff The MODBUS command is listed as follows: UID (hex) FC (hex) Register[] 0 1 01 Value (hex) 00 00 FF FF 10 St_Addr. (hex) Word Count (hex) 00 00 Remarks 00 02
MSW of 0xFFFF
LSW of 0xFFFF Byte Count (hex) 04
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
5.2.5 Set FRnet Multi-group DO Data (RTC)
eRTU RSM_FRNET_WRITE_MULTI_GROUP_DO ( HANDLE hRsm, BYTE SlaveAddr, WORD wStartGroup, BYTE bGroupQty, WORD * pwOutBuffer, BYTE bBufferSize) Description: Write data to FRnet DO multi-group.
Category: MODBUS table
；
RTC. Parameters: Paramters Description hRsm: COM port handle SlaveAddr:
wStartGroup:
Modbus RTU Slave Address (valid range: 1 to 247) The starting group. bGroupQty: The group quantity. pwOutBuffer: bBufferSize: The pointer points to the memory that store the data of group which you want to write. The size of the registers
(
bBufferSize*2 >= bGroupQty) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: WORD pwOutBuffer[4]; pwOutBuffer[0]=0xFFFF; pwOutBuffer[1]=0xAAAA; pwOutBuffer[2]=0x1100; pwOutBuffer[3]=0x0011; RSM_FRNET_WRITE_MULTI_GROUP_DO(hRsm, 1, 0, 4, & pwOutBuffer, 8);
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The MODBUS command is listed as follows: UID (hex) Register[] 0 1 01 Value (hex) FF FF AA AA FC (hex) 10 St_Addr. (hex) 00 00 Word Count (hex) 00 04 Remarks
DO setting (for address = 0) DO setting (for address = 1)
2 3 11 00 00 11
DO setting (for address = 2) DO setting (for address = 3)
Byte Count (hex) 08
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5.3 FRnet Wait
※
Δ eRTU RSM_MACRO_FRNET_WAIT ( HANDLE hRsm, BYTE SlaveAddr, BYTE bDiGroup, DWORD dwChannel, DWORD dwDiInput, DWORD dwTimeout) Description: Wait until FRnet DI turned ON.
Category: MODBUS sub_function; MP, ISR. Parameters: Paramters hRsm: SlaveAddr: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247) bDiGroup: Group number, 8~15 dwChannel:
dwDiInput :
The channel of the group is defined 0~15. 1:ON, 0:OFF dwTimeout: The waiting time(ms) 0: Represent the waiting time is infinite until ON. n: Represent only wait n(ms). Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: RSM_MACRO_FRNET_WAIT(hRsm, 1, 8, 1, 1, 1000); The MODBUS command is listed as follows: UID (hex) Register[] 0 01 Value (hex) 0C 36 FC (hex) 10 St_Addr. (hex) Word Count (hex) 1F 40 Remarks 00 08
Sub_function code
Byte Count (hex) 10 1 2 3 4 5 6 7 00 08 00 00 00 01 00 00 00 01 00 00 03 E8
bDiGroup
MSW of 0x0001 LSW of 0x0001
MSW of 0x0001 LSW of 0x0001 MSW of 0x03E8 LSW of 0x03E8
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5.4 FRnet DI Trigger Event Setting
eRTU RSM_SET_FRNET_TRIGGER_EVENT( HANDLE hRsm, BYTE SlaveAddr, BYTE bEnableDisable) Description: This function enables the FRnet DI trigger event setting. Once this function has been called the FRnet DI trigger table set by the EzMove utility
will be activated (see chapter 10)
Category: RTC. Parameters: Paramters hRsm: COM port handle Description SlaveAddr: bEnableDisable: Modbus RTU Slave Address (valid range: 1 to 247) 0-disable; 1-enabled Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: RSM_SET_FRNET_TRIGGER_EVENT (hRsm, 1, 1); The MODBUS command is listed as follows: UID (hex) Register[] 0 01 Value (hex) 00 01 FC (hex) St_Addr. (hex) 10 00 09 Remarks 0-disable; 1-enabled Word Count (hex) 00 01 Byte Count (hex) 02
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5.5 Get FRnet DI Trigger Event Setting
eRTU RSM_GET_FRNET_TRIGGER_EVENT_SETTING( HANDLE hRsm, BYTE SlaveAddr, BYTE *pbEnableDisable) Description: This function reads the current the FRnet DI trigger event setting. (See
Category: RTC. Parameters: Paramters hRsm: COM port handle Description SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247)
pbEnableDisable
: 0-disable; 1-enabled Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: BYTE bSetting; RSM_GET_FRNET_TRIGGER_EVENT_SETTING (hRsm, 1, & bSetting); The MODBUS command is listed as follows: UID (hex) 01 FC (hex) 03 St_Addr. (hex) 00 09 Word Count (hex) 00 01
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6 Auto Homing Search
i-8094H module provides automatic home search function. After the configuration of proper settigs, the whole process for Homing searching can function automatically. The main steps are as bellows:
Near-home sensor searching (NHOME) under high-speed motion.
Home sensor serachig under low-speed motion. Servo motor Z-Phase searching under low-speed motion.
Offset movement to the origin of the working area under high-speed motion. A few steps could be skipped by adjusting settings accordingly to meet customer’s actual needs. This operation could be performed automatically, therefore economize on CPU resource and reduce programming efforts.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
6.1 Set Home Search Speed
eRTU RSM_SET_HV ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, DWORD data)
※
eRTU RSM_MACRO_SET_HV ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, DWORD data) Description: This function sets the homing search speed.
Category: MODBUS sub_function; RTC and MP. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis: data: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) Homing speed (Vmin~Vmax PPS). Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SET_HV is 0A 3C. The Sub_function code of RSM_MACRO_SET_HV is 0C 3C. MODBUS example: RSM_SET_HV (hRsm, 1, AXIS_X, 500); //set the homing speed of the X axis on module 1 to be 500 PPS. The MODBUS command is listed as follows: UID (hex) Register[] 0 01 Value (hex) 0A 3C/0C 3C FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
Word Count (hex) 00 04 1 2 3 00 01 00 00 01 F4 axis MSW of data LSW of data (500 = 0x1F4) Byte Count (hex) 08
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
6.2 Limit Switch as the Home Sensor Setting
eRTU RSM_HOME_LIMIT ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE nType)
※
eRTU RSM_MACRO_HOME_LIMIT ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE nType) Description: This function sets the limit switch to be used as the HOME sensor.
Category: MODBUS sub_function; RTC and MP. Parameters: Paramters hRsm: SlaveAddr: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247) axis: nType: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) 0: Disable. 1: Use the limit switch as the HOME sensor. Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_HOME_LIMIT is 0A 3D. The Sub_function code of RSM_MACRO_HOME_LIMIT is 0C 3D. MODBUS example: RSM_HOME_LIMIT (hRsm, 1, AXIS_X, 0); // Do not use the Limit Switch as the HOME sensor. The MODBUS command is listed as follows: 0 UID (hex) Register[] 01 Value (hex) 0A 3D/0C 3D FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
Word Count (hex) 00 03 1 2 00 01 00 00 axis nType Byte Count (hex) 06
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
6.3 Home Search Mode Setting
eRTU RSM_SET_HOME_MODE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE nStep1, BYTE nStep2, BYTE nStep3, BYTE nStep4 , DWORD data)
※
eRTU RSM_MACRO_SET_HOME_MODE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE nStep1, BYTE nStep2, BYTE nStep3, BYTE nStep4 , DWORD data) Description: This function sets the automatic home search method and other related parameters.
Category: MODBUS sub_function; RTC and MP. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis: nStep1: nStep2: nStep3: nStep4: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) 0: Step 1 will not be executed. 1: Moves in the positive direction. 2: Moves in the negative direction. 0: Step 2 will not be executed. 1: Moves in a positive direction. 2: Moves in a negative direction. 0: Step 3 will not be executed. 1: Moves in a positive direction. 2: Moves in a negative direction. 0: Step 4 will not be executed. 1: Positive correction. 2: Negative correction. Offset value (0 ~ +2,000,000,000) data: Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
The Four Steps Required for Automatic Homing Step 1 2 3 Action Searching for the Near Home sensor Searching for the HOME sensor Searching for the encoder Z-phasesignal Speed V HV HV Sensor NHOME ( IN0) HOME ( IN1) Z-Phase ( IN2) 4 Moves to the specified position V Remark: The Sub_function code of RSM_SET_HOME_MODE is 0A 3E. The Sub_function code of RSM_MACRO_SET_HOME_MODE is 0C 3E. MODBUS example: RSM_SET_HOME_MODE (hRsm, 1, 0x1, 2, 2, 1, 1, 3500); The MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex) Word Count (hex) 01 10 1F 40 00 08 Byte Count (hex) 10 Register[] 0 1 2 3 4 5 6 7 Value (hex) 0A 3E/0C 3E 00 01 00 02 00 02 00 01 00 01 00 00 0D AC
Sub_function code
axis nStep1
nStep2 nStep3 nStep4 MSW of data
Remarks
LSW of data (3500 = 0xDAC)
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6.4 Start Automatic Home Search Execution
eRTU RSM_HOME_START ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis)
※
eRTU RSM_MACRO_HOME_START ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis) Description: This function starts the automatic home search execution of the assigned axes.
Category: MODBUS sub_function; RTC and MP. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_HOME_START is 0A 3F. The Sub_function code of RSM_MACRO_HOME_START is 0C 3F. MODBUS example: RSM_HOME_START (hRsm, 1, AXIS_X); //start the automatic homing sequence for the X axis on module 1.
The MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex) 01 10 1F 40 Word Count (hex) 00 02 Register[] 0 1 Value (hex) 0A 3F/0C 3F 00 01 Remarks
Sub_function code
axis (AXIS_X) Byte Count (hex) 04
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7 Motion Control Commands
7.1
Single Axis Motion Control
Each axis is moving independently. The motion of each axis can be started independently.
Multiple axes can move at the same time.
Each individual axis can be controlled seperatly. The number of output pulses, speed, acceleration, etc. can be set for each axis: Each axis can receive commands to stop slowly or suddenly to meet the specific requirements.
Independent axis motion can work with interpolation or synchrous action to perform more complicated and versatile motion.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.1.1 Acceleration/Deceleration Mode Setting
eRTU RSM_NORMAL_SPEED ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis , BYTE nMode)
※
Δ eRTU RSM_MACRO_NORMAL_SPEED ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis , BYTE nMode) Description: This function sets the speed mode.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters hRsm: COM port handle Description SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis: nMode: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) 0
Symmetric T-curve (Please set SV, V, A, and AO). 1
Symmetric S-curve (Please set SV, V, K, and AO). 2
Asymmetric T-curve (Please set SV, V, A, D, and AO). 3
Asymmetric S-curve (Please set SV, V, K, L, and AO). Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: Please refer the configurations of speed-related parameters. The Sub_function code of RSM_NORMAL_SPEED is 0A 46. The Sub_function code of RSM_MACRO_NORMAL_SPEED is 0C 46. MODBUS example: RSM_NORMAL_SPEED (hRsm, 1, AXIS_XYZU, 0); //use a symmetric T-curve for all axes on module 1.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
The MODBUS command is listed as follows: UID (hex) Register[] 0 01 Value (hex) 0A 46/0C 46 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
Word Count (hex) 00 03 1 2 00 0F 00 00 axis (AXIS_XYZU)
nMode
Related example: BYTE SlaveAddr=1; //select module 1. RSM_SET_MAX_V(hRsm, SlaveAddr, AXIS_XYZU, 20000); //set the max speed of XYZU axes to be 20K PPS. Byte Count (hex) 06 //========================================================== RSM_NORMAL_SPEED(hRsm, SlaveAddr, AXIS_XYZU, 0); //use a symmetric T- curve for all axes on module 1.
RSM_SET_V(hRsm, SlaveAddr, AXIS_XYZU, 2000); //set the speed of all axes on module 1 to be 2000 PPS.
RSM_SET_A(hRsm, SlaveAddr, AXIS_XYZU, 1000); //set the acceleration of all axes on module 1 to be 1000 PPS/Sec.
RSM_SET_SV(hRsm, SlaveAddr, AXIS_XYZU, 2000); //set the start speed of all axes on module 1 to be 2000 PPS.
RSM_SET_AO(hRsm, SlaveAddr, AXIS_XYZU, 9); //set the number of remaining offset pulses for all axes to be 9 pulses.
RSM_FIXED_MOVE(hRsm, SlaveAddr, AXIS_XYZU, 10000); //move all axes on module 1 to be 10000 pulses. //========================================================== RSM_NORMAL_SPEED(hRsm, SlaveAddr, AXIS_XYZU,1); //use a symmetric S- curve for all axes on module 1. RSM_SET_V(hRsm, SlaveAddr, AXIS_XYZU, 2000); //set the speed of all axes on module 1 to be 2000 PPS. RSM_SET_K(hRsm, SlaveAddr, AXIS_XYZU, 500); //set the acceleration rate of all axes on module 1 to be 500 PPS/sec^2. RSM_SET_SV(hRsm, SlaveAddr, AXIS_XYZU, 200); //set the start speed of all axes on module 1 to be 200 PPS. RSM_SET_AO(hRsm, SlaveAddr, AXIS_XYZU, 9); //set the number of remaining offset pulses to be 9 pulses for all axes. RSM_FIXED_MOVE(hRsm, SlaveAddr, AXIS_XYZU, -10000); //move all axes on module 1 to be 10000 pulses in reverse direction. //========================================================== RSM_NORMAL_SPEED(hRsm, SlaveAddr, AXIS_XYZU,2);
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
//use an asymmetric T-curve for all axes on module 1. RSM_SET_V(hRsm, SlaveAddr, AXIS_XYZU, 2000); //set the speed of all axes on module 1 to be 2000 PPS. RSM_SET_A(hRsm, SlaveAddr, AXIS_XYZU, 1000 ); //set the acceleration of all axes on module 1 to be 1000 PPS/sec. RSM_SET_D(hRsm, SlaveAddr, AXIS_XYZU, 500); //set the deceleration of all axes on module 1 to be 500 PPS. RSM_SET_SV(hRsm, SlaveAddr, AXIS_XYZU, 200); //set the start speed of all axes on module 1 to 200 PPS. RSM_SET_AO(hRsm, SlaveAddr, AXIS_XYZU, 9); //set the number of remaining offset pulses to be 9 pulses for all axes. RSM_FIXED_MOVE(hRsm, SlaveAddr, axis, 10000); //move all axes on module 1 to be 10000 pulses. //========================================================== RSM_NORMAL_SPEED(hRsm, SlaveAddr, AXIS_XYZU,3); //use an asymmetric S-curve for all axes on module 1. RSM_SET_V(hRsm, SlaveAddr, AXIS_XYZU, 2000); //set the speed of all axes on module 1 to be 2000 PPS. RSM_SET_K(hRsm, SlaveAddr, AXIS_XYZU, 500); //set the acceleration rate of all axes on module 1 to be 500 PPS/sec^2. RSM_SET_L(hRsm, SlaveAddr, AXIS_XYZU, 300); //set the deceleration rate of all axes on module 1 to be 300 PPS/sec^2. RSM_SET_SV(hRsm, SlaveAddr, AXIS_XYZU, 200); //set the start speed of all axes on module 1 to be 200 PPS. RSM_SET_AO(hRsm, SlaveAddr, AXIS_XYZU, 9); //set the number of remaining offset pulses to be 9 pulses for all axes. RSM_FIXED_MOVE(hRsm, SlaveAddr, AXIS_XYZU, 10000); //move all axes on module 1 to be 10000 pulses.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.1.2 Initial Speed Setting
eRTU RSM_SET_SV ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, DWORD data)
※
Δ eRTU RSM_MACRO_SET_SV ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, DWORD data) Description: This function sets the initial speed for the assigned axes.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis: data: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) Initial speed (Please refer to description of RSM_SET_MAX_V for maximm speed) PPS. Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SET_SV is 0A 47. The Sub_function code of RSM_MACRO_SET_SV is 0C 47. MODBUS example: RSM_SET_SV (hRsm, 1, AXIS_X, 1000); //set the starting speed for the X axis on module 1 to 1000 PPS.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
The MODBUS command is listed as follows: UID (hex) Register[] 0 01 Value (hex) 0A 47/0C 47 FC (hex) 10 St_Addr. (hex) 1F 40 Word Count (hex) 00 04 Remarks
Sub_function code
1 2 3 00 01 00 00 03 E8 axis (1 = AXIS_X)
MSW of data LSW of data (1000 = 0x3E8)
Byte Count (hex) 08
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.1.3 Drive Speed Setting
eRTU RSM_SET_V ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, DWORD data)
※
Δ eRTU RSM_MACRO_SET_V ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, DWORD data) Description: This function sets the desired drive speed for the assigned axes.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis: data: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) Drive speed (Please refer to description of RSM_SET_MAX_V for maximm speed) PPS. Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SET_V is 0A 48. The Sub_function code of RSM_MACRO_SET_V is 0C 48. MODBUS example: RSM_SET_V (hRsm, 1, AXIS_X, 120000L); //set the speed for the X axis on module 1 to 120000 PPS.
The MODBUS command is listed as follows: 01 Register[] Value (hex) 0 1 UID (hex) 0A 48/0C 48 00 01 FC (hex) 10 St_Addr. (hex) 1F 40 Sub_function code axis (1 = AXIS_X) Word Count (hex) 00 04 Remarks 2 3 00 01 D4 C0
MSW of data LSW of data (120000 = 0x1D4C0)
Byte Count (hex) 08
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.1.4 Acceleration Setting
eRTU RSM_SET_A ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, DWORD data)
※
Δ eRTU RSM_MACRO_SET_A ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, DWORD data) Description: This function sets the acceleration value for the assigned axes.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters hRsm: COM port handle Description SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis: data: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) The acceleration value (PPS/sec). This value is related to the maximum speed value defined by RSM_SET_MAX_V() function. The maximum available acceleration value is MAX_V * 125 . The minimum acceleration value is MAX_V
÷
64 , and all other acceleration values are the integral multipliers of this value. The practical value for application depends on the capability of the motor drive and motor. Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SET_A is 0A 49. The Sub_function code of RSM_MACRO_SET_A is 0C 49. MODBUS example: RSM_SET_A (hRsm, 1, AXIS_X, 100000L); //set the acceleration value of the X axis on module 1 to 100K PPS/Sec.
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The MODBUS command is listed as follows: UID (hex) Register[] 0 01 Value (hex) 0A 49/0C 49 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
Word Count (hex) 00 04 1 2 3 00 01 00 01 86 A0 axis (1 = AXIS_X)
MSW of data LSW of data (100000 = 0x186A0)
Byte Count (hex) 08
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7.1.5 Deceleration Setting
eRTU RSM_SET_D ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, DWORD data)
※
Δ eRTU RSM_MACRO_SET_D ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, DWORD data) Description: This function sets the deceleration value for the assigned axes.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters hRsm: SlaveAddr: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247) axis: data: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) The deceleration value (PPS/sec). This value is related to the maximum speed value defined by RSM_SET_MAX_V () function. The maximum available deceleration value is MAX_V * 125 . The minimum deceleration value is MAX_V
÷
64 , and all other deceleration values are the integral multipliers of this value. The practical value for application depends on the capability of the motor drive and motor. Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SET_D is 0A 4A. The Sub_function code of RSM_MACRO_SET_D is 0C 4A. MODBUS example: RSM_SET_D (hRsm, 1, AXIS_X, 100000L); //set the deceleration value of the X axis on module 1 to 100K PPS/sec.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
The MODBUS command is listed as follows: UID (hex) Register[] 0 01 Value (hex) 0A 4A/0C 4A FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
Word Count (hex) 00 04 1 2 3 00 01 00 01 86 A0 axis (1 = AXIS_X)
MSW of data LSW of data (100000 = 0x186A0)
Byte Count (hex) 08
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7.1.6 Acceleration Rate Setting
eRTU RSM_SET_K ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, DWORD data)
※
Δ eRTU RSM_MACRO_SET_K ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, DWORD data) Description: The function sets the acceleration rate (i.e., Jerk) value for the assigned axes.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters hRsm: SlaveAddr: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247) axis: data: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) The acceleration rate (jerk) value (PPS/ sec 2 ). This value is related to the maximum speed value defined by RSM_SET_MAX_V () function. The minimum acceleration rate is MAX_V * 0.0119211; The maximum acceleration rate value is 2,000,000,000 . Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SET_K is 0A 4B. The Sub_function code of RSM_MACRO_SET_K is 0C 4B. MODBUS example: RSM_SET_K (hRsm, 1, AXIS_X, 10000); //set the acceleration rate value of the X axis on module 1 to //1,000*10 (= 10,000) PPS/Sec^2.
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The MODBUS command is listed as follows: UID (hex) Register[] 0 01 Value (hex) 0A 4B/0C 4B FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
Word Count (hex) 00 04 1 2 3 00 01 00 00 27 10 axis (1 = AXIS_X)
MSW of data LSW of data (10000 = 0x2710)
Byte Count (hex) 08
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.1.7 Deceleration Rate Setting
eRTU RSM_SET_L ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, DWORD data)
※
Δ eRTU RSM_MACRO_SET_L ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, DWORD data) Description: The function sets the deceleration rate (i.e., Jerk) value for the assigned axes.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters hRsm: SlaveAddr: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247) axis: data: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) The deceleration rate (jerk) value (PPS/ Sec 2 ). This value is related to the maximum speed value defined by RSM_SET_MAX_V () function. The minimum deceleration rate is MAX_V * 0.0119211; The maximum deceleration rate value is 2,000,000,000 Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SET_L is 0A 4C. The Sub_function code of RSM_MACRO_SET_L is 0C 4C. MODBUS example: RSM_SET_L (hRsm, 1, AXIS_X, 10000); //set the deceleration rate value of the X axis on module 1 to //1,000*10 (= 10,000) PPS/Sec^2.
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The MODBUS command is listed as follows: UID (hex) Register[] 0 1 01 Value (hex) 0A 4C/0C 4C 00 01 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
axis (1 = AXIS_X) Word Count (hex) 00 04 2 3 00 00 27 10
MSW of data LSW of data (10000 = 0x2710)
Byte Count (hex) 08
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7.1.8 Offset Setting
eRTU RSM_SET_AO ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, long data)
※
Δ eRTU RSM_MACRO_SET_AO ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, long data) Description: This function sets for the assigned axes the offset for deceleration. The default value for offset is 8 after power-on. The offset function can be used for compensation the pulses when the deceleration speed does not reach the initial speed during S-curve fixed pulse driving.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis: data: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) The number of remaining offset pulses. (-32,768 ~ +32,767). Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SET_AO is 0A 4D. The Sub_function code of RSM_MACRO_SET_AO is 0C 4D. MODBUS example: RSM_SET_AO (hRsm, 1, AXIS_X, 200); //set the number of remaining offset pulses for the X axis on //module 1 to 200 pulses.
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The MODBUS command is listed as follows: UID (hex) Register[] 0 01 Value (hex) 0A 4D/0C 4D FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
Word Count (hex) 00 04 1 2 3 00 01 00 00 00 C8 axis (1 = AXIS_X)
MSW of data LSW of data (200 = 0xC8)
Byte Count (hex) 08
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7.1.9 Relative Distance Motion
eRTU RSM_FIXED_MOVE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, long data)
※
Δ eRTU RSM_MACRO_FIXED_MOVE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, long data) Description: Command a point-to-point motion for fixed position movement.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters hRsm: COM port handle Description SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis: data: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) Pulses (-2,000,000,000 ~ +2,000,000,000). Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_FIXED_MOVE is 0A 4E. The Sub_function code of RSM_MACRO_FIXED_MOVE is 0C 4E. MODBUS example: RSM_FIXED_MOVE (hRsm, SlaveAddr, AXIS_XYZU, 10000); // AXIS_XYZU move 10000 Pulses
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The MODBUS command is listed as follows: UID (hex) Register[] 0 01 Value (hex) 0A 4E/0C 4E FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
Word Count (hex) 00 04 1 2 3 00 0F 00 00 27 10 axis (0xF = AXIS_XYZU)
MSW of data LSW of data (10000 = 0x2710)
Related example: BYTE SlaveAddr=1; //select module 1 RSM_SET_MAX_V(hRsm, SlaveAddr, AXIS_XYZU, 20000); //set the max. velocity of all axes on module 1 to be 20K PPS RSM_NORMAL_SPEED(hRsm, SlaveAddr, AXIS_XYZU, 0); Byte Count (hex) //set the speed profile of all axes on module 1 to be symmetric T-curve RSM_SET_V(hRsm, SlaveAddr, AXIS_XYZU, 2000); //set the speed of all axes on module 1 to be 2000 PPS RSM_SET_A(hRsm, SlaveAddr, AXIS_XYZU,1000); //set the acceleration value of all axes on module 1 to be 1000 PPS/S RSM_SET_SV(hRsm, SlaveAddr, AXIS_XYZU, 2000); //set the start velocity of all axes on module 1 to be 2000 PPS RSM_SET_AO(hRsm, SlaveAddr, AXIS_XYZU, 9); //set the remaining offset pulses to be 9 PPS RSM_FIXED_MOVE(hRsm, SlaveAddr, AXIS_XYZU, 10000); // move 10000 Pulses for each axis on module 1 08
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7.1.10 Change Target Position on the Fly
eRTU RSM_SET_PULSE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, DWORD data)
※
Δ eRTU RSM_MACRO_SET_PULSE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, DWORD data) Description: This command supports the change of target position on the fly for each axis (but does not support change of the direction during driving).
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis: data: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) Pulses (0 ~ +2,000,000,000). Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SET_PULSE is 0A 4F. The Sub_function code of RSM_MACRO_SET_PULSE is 0C 4F. MODBUS example: RSM_SET_PULSE (hRsm, SlaveAddr, AXIS_XYZU, 9000); //Change the total pulses to 9000 pulses during fixed pulse moving.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
The MODBUS command is listed as follows: UID (hex) Register[] 0 01 Value (hex) 0A 4F/0C 4F FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
Word Count (hex) 00 04 1 2 3 00 0F 00 00 23 28 axis (0xF = AXIS_XYZU)
MSW of data LSW of data (9000 = 0x2328)
Related example: BYTE SlaveAddr=1; //select module 1 RSM_SET_MAX_V(hRsm, SlaveAddr, AXIS_XYZU, 20000); Byte Count (hex) //set the max velocity of all axes on module 1 to be 20K PPS RSM_NORMAL_SPEED(hRsm, SlaveAddr, AXIS_XYZU, 0); //set the speed profile of all axes on module 1 to be symmetric T-curve RSM_SET_V(hRsm, SlaveAddr, AXIS_XYZU, 2000); //set the speed of all axes on module 1 to be 2000 PPS RSM_SET_A(hRsm, SlaveAddr, AXIS_XYZU,1000); //set the acceleration value of all axes on module 1 to be 1000 PPS/S RSM_SET_SV(hRsm, SlaveAddr, AXIS_XYZU, 2000); //set the start velocity of all axes on module 1 to be 2000 PPS RSM_SET_AO(hRsm, SlaveAddr, AXIS_XYZU, 9); //set the remaining offset pulses to be 9 PPS RSM_FIXED_MOVE(hRsm, SlaveAddr, AXIS_XYZU, 10000); // move 10000 Pulses for each axis on module 1 RSM_SET_PULSE(hRsm, SlaveAddr, AXIS_XYZU, 9000); //Set pulse as 9000 Pulse. 08
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7.1.11 Move to Absoulte Position
eRTU RSM_ABS_FIXED_MOVE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, long data)
※
Δ eRTU RSM_ABS_MACRO_FIXED_MOVE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, long data) Description: This function commands a controlled point-to-point motion to a specified absolute position.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis: data: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) Absolute position (-2,000,000,000 ~ +2,000,000,000). Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_ABS_FIXED_MOVE is 0x0AF6. The Sub_function code of RSM_ABS_MACRO_FIXED_MOVE is 0x0CF6 MODBUS example: RSM_ABS_FIXED_MOVE (hRsm, SlaveAddr, AXIS_XYZU, 10000); // AXIS_XYZU moves from the current position to the logic position 10000 in a straight line
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The MODBUS command is listed as follows: UID (hex) Register[] 0 01 Value (hex) 0A F6/0C F6 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
Word Count (hex) 00 04 1 2 3 00 0F 00 00 27 10 axis (0xF = AXIS_XYZU)
MSW of data LSW of data (10000 = 0x2710)
Related example: BYTE SlaveAddr=1; //select module 1 RSM_SET_MAX_V(hRsm, SlaveAddr, AXIS_XYZU, 20000); //set the max. velocity of all axes on module 1 to be 20K PPS RSM_NORMAL_SPEED(hRsm, SlaveAddr, AXIS_XYZU, 0); Byte Count (hex) //set the speed profile of all axes on module 1 to be symmetric T-curve RSM_SET_V(hRsm, SlaveAddr, AXIS_XYZU, 2000); //set the speed of all axes on module 1 to be 2000 PPS RSM_SET_A(hRsm, SlaveAddr, AXIS_XYZU,1000); //set the acceleration value of all axes on module 1 to be 1000 PPS/S RSM_SET_SV(hRsm, SlaveAddr, AXIS_XYZU, 2000); //set the start velocity of all axes on module 1 to be 2000 PPS RSM_SET_AO(hRsm, SlaveAddr, AXIS_XYZU, 9); //set the remaining offset pulses to be 9 PPS RSM_ABS_FIXED_MOVE(hRsm, SlaveAddr, AXIS_XYZU, 10000); // All four axis are moving to the absolute position 10000 08
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7.1.12 Continue Pulse Driving Output
eRTU RSM_CONTINUE_MOVE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, long data)
※
Δ eRTU RSM_MACRO_CONTINUE_MOVE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, long data) Description: When the Continuous Pulse Driving is performed the RS-M8194H will drive pulse output at a specified speed until a stop command or external stop signal is activated. The drive speed can be changed freely during continuous pulse driving. Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis: data: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) The specified speed (positive value for CW motion; negative value for CCW motion) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Use the RSM_GET_ERROR_CODE() function to identify the errors.
Remark: The Sub_function code of RSM_CONTINUE_MOVE is 0A 50. The Sub_function code of RSM_MACRO_CONTINUE_MOVE is 0C 50. MODBUS example: RSM_CONTINUE_MOVE (hRsm, SlaveAddr, AXIS_XYZU, 1000); //continue to move at the speed of 1K PPS
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The MODBUS command is listed as follows: UID (hex) Register[] 0 01 Value (hex) 0A 50/0C 50 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
Word Count (hex) 00 04 1 2 3 00 0F 00 00 03 E8 axis (0xF = AXIS_XYZU)
MSW of data LSW of data (1000 = 0x3E8)
Related example: BYTE SlaveAddr=1; //select module 1 RSM_SET_MAX_V(hRsm, SlaveAddr, AXIS_XYZU, 20000); //set the maximum speed of all axes on module 1 to 20K PPS. RSM_NORMAL_SPEED(hRsm, SlaveAddr, AXIS_XYZU, 0); //set the speed profile for all axes as a symmetric T-curve.
RSM_SET_V(hRsm, SlaveAddr, AXIS_XYZU, 2000); //set the speed of all axes on module 1 to 2000 PPS.
RSM_SET_A(hRsm, SlaveAddr, AXIS_XYZU,1000); //set the acceleration value of all axes to 1000 PPS/S.
RSM_SET_SV(hRsm, SlaveAddr, AXIS_XYZU, 2000); //set the start velocity of all axes to 2000 PPS RSM_CONTINUE_MOVE(hRsm, SlaveAddr, AXIS_XYZU, 1000); //move all axes on module 1 at a speed of 1000 PPS. Byte Count (hex) 08
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7.2
7.2.1
Interpolation Commands
Interpolation Axes Assignement
eRTU RSM_AXIS_ASSIGN ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis1, BYTE axis2, BYTE axis3)
※
Δ eRTU RSM_MACRO_AXIS_ASSIGN ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis1, BYTE axis2, BYTE axis3) Description: This function assigns the axes to be used for interpolation. Either two or three axes can be assigned by using this function. Interpolation commands will refer to the assigned axes to construct a working coordinate system. The X axis does not necessarily have to be the first axis. However, it is easier to use the X axis as the first axis, the Y axis as the second axis, and the Z axis as the third axis.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis1: axis2: axis3: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) The second axis; can be either X, Y, Z, or U (1 or 2 or 4 or 8). The third axis; can be either X, Y, Z, or U (1 or 2 or 4 or 8). Without 3rd axis the value is 0. Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_AXIS_ASSIGN is 0A 5A. The Sub_function code of RSM_MACRO_AXIS_ASSIGN is 0C 5A. MODBUS example: RSM_AXIS_ASSIGN (hRsm, 1, AXIS_X, AXIS_Y, 0); //set the X axis of module 1 as the first axis and the Y axis as the second //axis.
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The MODBUS command is listed as follows: UID (hex) Register[] 0 01 Value (hex) 0A 5A/0C 5A FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
Word Count (hex) 00 04 1 2 3 00 01 00 02 00 00 axis1 (axis1 = AXIS_X)
axis2 (axis1 = AXIS_Y) Axis3 (not defined)
Byte Count (hex) 08
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7.2.2 Speed and Acc/Dec Mode Setting
eRTU RSM_VECTOR_SPEED ( HANDLE hRsm, BYTE SlaveAddr, BYTE nMode)
※
Δ eRTU RSM_MACRO_VECTOR_SPEED ( HANDLE hRsm, BYTE SlaveAddr, BYTE nMode) Description: This function sets the acceleration and deceleration profile for the interpolation axis.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) nMode: 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 rofile (set VSV, VV, VA, VD, and VAO) 7
3-axis linear motion at a constant vector speed set VV and VSV; and VV=VSV) 8
3-axis linear motion at using a symmetric T curve velocity rofile (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:
0: Success; Others: Fail (Please refer to chapter 2.2)
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
Remark: Please refer the configurations of speed-related parameters. The Sub_function code of RSM_VECTOR_SPEED is 0A 5B. The Sub_function code of RSM_MACRO_VECTOR_SPEED is 0C 5B. MODBUS example: RSM_VECTOR_SPEED (hRsm, SlaveAddr, 0); //set the module to perform 2-axis linear or circular motion //at a constant vector speed.
The MODBUS command is listed as follows: 0 1 UID (hex) Register[] 01 Value (hex) 0A 5B/0C 5B 00 00 FC (hex) 10
Sub_function code
nMode Related example: BYTE SlaveAddr=1; //select module 1. St_Addr. (hex) Word Count (hex) 1F 40 Remarks 00 02 RSM_SET_MAX_V(hRsm, SlaveAddr, AXIS_XYZU, 20000); Byte Count (hex) 04 //set the maximum speed of all axes to 20K PPS. //=============================================== RSM_AXIS_ASSIGN(hRsm, SlaveAddr, AXIS_X, AXIS_Y, 0); //set the X axis as the first axis and the Y axis as the second axis.
RSM_VECTOR_SPEED(hRsm, SlaveAddr, 0); //set module 1 to perform 2-axis linear or circular motion RSM_SET_VV(hRsm, SlaveAddr, 1000); //set the vector speed to 1000 PPS.
RSM_LINE_2D(hRsm, SlaveAddr, 12000, 10000); //execute the 2-axis linear interpolation motion. //=============================================== RSM_AXIS_ASSIGN(hRsm, SlaveAddr, AXIS_X, AXIS_Y, 0); //set the X axis as the first axis and the Y axis as the second axis. RSM_VECTOR_SPEED(hRsm, SlaveAddr, 1); //set module 1 to perform 2-axis linear motion using a symmetric //T-curve velocity profile (VSV
、
VV
、
VA
、
VAO). RSM_SET_VSV(hRsm, SlaveAddr, 500); //set the starting vector speed to 500 PPS.
RSM_SET_VV(hRsm, SlaveAddr, 2000); //set the vector speed to 2000 PPS. RSM_SET_VA(hRsm, SlaveAddr, 1000); //set the vector acceleration to 1000 PPS/sec.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
RSM_LINE_2D(hRsm, SlaveAddr, 20000, 10000); //execute the 2-axis linear interpolation motion. //=============================================== RSM_AXIS_ASSIGN(hRsm, SlaveAddr, AXIS_X, AXIS_Y, 0); //set the X axis as the first axis and the Y axis as the second axis. RSM_VECTOR_SPEED(hRsm, SlaveAddr, 2); //2-axis linear motion using a symmetric S-curve velocity profile(VSV
、
VV
、
//VK
、
AO).
RSM_SET_VSV(hRsm, SlaveAddr, 200); //set the starting vector speed to 200 PPS.
RSM_SET_VV(hRsm, SlaveAddr, 2000); //set the vector speed to 2000 PPS. RSM_SET_VK(hRsm, SlaveAddr, 500); //set the acceleration rate to 500 PPS/Sec.
RSM_SET_VAO(hRsm, SlaveAddr, 20); //set the value of remaining offset pulses to 20. RSM_LINE_2D(hRsm, SlaveAddr, 10000, 10000); //execute the 2-axis linear interpolation motion. PPS. //=============================================== RSM_AXIS_ASSIGN(hRsm, SlaveAddr, AXIS_X, AXIS_Y, 0); //set the X axis as the first axis and the Y axis as the second axis. RSM_VECTOR_SPEED(hRsm, SlaveAddr, 3); //2-axis linear motion using an asymmetric T-curve velocity profile(VSV
、
//VV long
、
VA
、
VD
、
RSM_SET_VSV(hRsm, SlaveAddr, 100); RSM_SET_VV(hRsm, SlaveAddr, 2000); //set the vector speed to 2000 PPS.
RSM_SET_VA(hRsm, SlaveAddr, 1000); //set the vector acceleration to 1000 PPS/sec.
RSM_SET_VD(hRsm, SlaveAddr, 500); //set the vector deceleration to 500 PPS/sec. RSM_SET_VAO(hRsm, SlaveAddr, 20); //set the value of remaining offset pulses to 20. RSM_LINE_2D(hRsm, SlaveAddr, 10000, 5000); //execute the 2-axis linear interpolation motion. //=============================================== fp1=4000; long fp2=10000; unsigned short sv=200; unsigned short VAO). v=2000; //set the start vector speed to 100 RSM_SET_MAX_V(hRsm, SlaveAddr, AXIS_XYZU, 8000); RSM_AXIS_ASSIGN(hRsm, SlaveAddr, AXIS_X, AXIS_Y, 0); //set the X axis as the first axis and the Y axis as the second axis. RSM_VECTOR_SPEED(hRsm, SlaveAddr, 4);
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
//2-axis linear motion using an asymmetric S-curve velocity profile(VSV
、
//VV
、
VK
、
VL
、
VAO). RSM_SET_VSV(hRsm, SlaveAddr, sv); //set the starting velocity to sv PPS. RSM_SET_VV(hRsm, SlaveAddr, v); //set the vector speed to v PPS. RSM_SET_VK(hRsm, SlaveAddr, 500); PPS/Sec^2. //set the acceleration rate to 500 RSM_SET_VL(hRsm, SlaveAddr, 300); //set the deceleration rate to 300 PPS/Sec^2. RSM_SET_VAO(hRsm, SlaveAddr, 20); //set the value of remaining offset pulses to 20. RSM_LINE_2D(hRsm, SlaveAddr, fp1, fp2); //execute the 2-axis linear motion. //=============================================== long fp1=11000; long long long fp2=9000; c1=10000; c2=0; unsigned short sv=100; unsigned short v=3000; unsigned long a=5000; RSM_SET_MAX_V(hRsm, SlaveAddr, AXIS_XYZU, 8000); RSM_AXIS_ASSIGN(hRsm, SlaveAddr, AXIS_X, AXIS_Y, 0); //set the X axis as the first axis and the Y axis as the second axis. RSM_VECTOR_SPEED(hRsm, SlaveAddr, 5); //2-axis circular motion using a symmetric T-curve velocity profile(VSV
、
// VV
、
VA
、
VAO). RSM_SET_VSV(hRsm, SlaveAddr, sv); //set the starting vector speed to sv PPS. RSM_SET_VV(hRsm, SlaveAddr, v); //set vector speed to v PPS. RSM_SET_VA(hRsm, SlaveAddr, a); //set the vector acceleration to a PPS/sec. RSM_SET_VAO(hRsm, SlaveAddr, 0); //set the value of remaining offset pulses to 0 Pulse. RSM_ARC_CW(hRsm, SlaveAddr, c1,c2, fp1, fp2); //execute the 2-axis CW circular motion. long long c1=300; c2=0; unsigned short unsigned short sv=100; v=3000; //=============================================== unsigned long a=125; unsigned long d=12; RSM_SET_MAX_V(hRsm, SlaveAddr, AXIS_XYZU, 8000); RSM_AXIS_ASSIGN(hRsm, SlaveAddr, AXIS_X, AXIS_Y, 0); //set the X axis as the first axis and the Y axis as the second axis. RSM_VECTOR_SPEED(hRsm, SlaveAddr, 6);
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
PPS. //2-axis circular motion using an asymmetric T-curve velocity //profile(VSV
、
VV
、
VA
、
VD
、
VAO). RSM_SET_VSV(hRsm, SlaveAddr, sv); //set the starting vector speed to sv RSM_SET_VV(hRsm, SlaveAddr, v); //set vector speed to v PPS. RSM_SET_VA(hRsm, SlaveAddr, a); //set acceleration to a PPS/Sec. RSM_SET_VD(hRsm, SlaveAddr, d); //set the deceleration to d PPS/Sec. RSM_SET_VAO(hRsm, SlaveAddr, 0); //set the value of remaining offset pulses to 0. RSM_CIRCLE_CW(hRsm, SlaveAddr, c1, c2); //execute the 2-axis CW circular motion. //=============================================== RSM_AXIS_ASSIGN(hRsm, SlaveAddr, AXIS_X, AXIS_Y, AXIS_Z); // set axis1 as the X axis, axis2 as the Y axis, and axis3 as the Z axis. RSM_VECTOR_SPEED(hRsm, SlaveAddr, 7); //3-axis linear motion at a constant vector speed (VSV=VV). RSM_SET_VSV(hRsm, SlaveAddr, 1000); //set the start speed to 1000 PPS. RSM_SET_VV(hRsm, SlaveAddr, 1000); //set the constant speed to 1000 PPS. RSM_LINE_3D(hRsm, SlaveAddr, 10000, 10000,10000); //execute the 3-axis linear motion. //=============================================== RSM_AXIS_ASSIGN(hRsm, SlaveAddr, AXIS_X, AXIS_Y, AXIS_Z); // set axis1 as the X axis, axis2 as the Y axis, and axis3 as the Z-axis. RSM_VECTOR_SPEED(hRsm, SlaveAddr, 8); //3-axis linear motion using a symmetric T-curve velocity profile(VSV
、
VV
、
//VA
、
VAO). RSM_SET_VSV(hRsm, SlaveAddr, 100); //set the starting speed to 100 PPS. RSM_SET_VV(hRsm, SlaveAddr, 3000); //set the vector speed to 3000 PPS. RSM_SET_VA(hRsm, SlaveAddr, 500); //set the vector acceleration to 500 PPS/Sec. RSM_SET_VAO(hRsm, SlaveAddr, 20); //set the value of remaining offset pulses to 20. RSM_LINE_3D(hRsm, SlaveAddr, 10000, 1000,20000); //execute the 3-axis linear motion //=============================================== RSM_AXIS_ASSIGN(hRsm, SlaveAddr, AXIS_X, AXIS_Y, AXIS_Z); // set the axis1 as the X axis, axis2 as the Y axis, and axis3 as the Z axis. RSM_VECTOR_SPEED(hRsm, SlaveAddr, 9); //3-axis linear motion using a symmetric S-curve velocity profile(VSV
、
VV
、
//VK
、
VAO). RSM_SET_VSV(hRsm, SlaveAddr, 100); //set the starting speed to 100 PPS. RSM_SET_VV(hRsm, SlaveAddr, 3000); //set the vector speed to 3000 PPS. RSM_SET_VK(hRsm, SlaveAddr, 500);
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
//set the vector acceleration rate to 500 PPS/sec^2. RSM_SET_VAO(hRsm, SlaveAddr, 20); //set the value of remaining offset pulses to 20. RSM_LINE_3D(hRsm, SlaveAddr, 10000, 1000,1000); //execute the 3-axis linear motion. //=============================================== RSM_AXIS_ASSIGN(hRsm, SlaveAddr, AXIS_X, AXIS_Y, AXIS_Z); // set the axis1 as the X axis, axis2 as the Y axis, and axis3 as the Z axis. RSM_VECTOR_SPEED(hRsm, SlaveAddr, 10); //set the module 1 to perform 3-axis linear motion //using an asymmetric T-curve speed profile(VSV
、
VV
、
VA
、
VD
、
VAO). RSM_SET_VSV(hRsm,SlaveAddr, 100); //set the starting speed to 100 PPS. RSM_SET_VV(hRsm,SlaveAddr, 2000); //set the vector speed as 2000 PPS. RSM_SET_VA(hRsm, SlaveAddr, 1000); //set the vector acceleration to 1000 PPS/sec. RSM_SET_VD(hRsm, SlaveAddr, 500); //set the vector deceleration to 500 PPS/sec. RSM_SET_VAO(hRsm, SlaveAddr, 20); //set the value of remaining offset pulses to 20. RSM_LINE_3D(hRsm, SlaveAddr, 10000, 1000,1000); //execute the 3-axis linear motion. //=============================================== long fp1=4000; long fp2=10000; long fp3=20000; unsigned short sv=200; unsigned short v=2000; RSM_SET_MAX_V(hRsm, SlaveAddr, AXIS_XYZU, 8000); RSM_AXIS_ASSIGN(hRsm, SlaveAddr, AXIS_X, AXIS_Y, AXIS_Z); // set axis1 as the X axis, axis2 as the Y axis, and axis3 as the Z axis. RSM_VECTOR_SPEED(hRsm, SlaveAddr, 11); //3-axis linear motion using an asymmetric S-curve velocity profile(VSV
、
//VV
、
VK
、
VL
、
VAO). RSM_SET_VSV(hRsm, SlaveAddr, sv); //set the starting speed to sv PPS. RSM_SET_VV(hRsm, SlaveAddr, v); //set the vector speed to v PPS. RSM_SET_VK(hRsm, SlaveAddr, 500); //set the vector acceleration rate to 500 PPS/sec^2. RSM_SET_VL(hRsm, SlaveAddr, 300); //set the vector deceleration rate to 300 PPS/sec^2. RSM_SET_VAO(hRsm, SlaveAddr, 20); //set the value of remaining offset pulses to 20. RSM_LINE_3D(hRsm, SlaveAddr, fp1, fp2, fp3); //execute the 3-axis linear motion.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.2.3 Vector Initial Speed Setting
eRTU RSM_SET_VSV ( HANDLE hRsm, BYTE SlaveAddr, DWORD data)
※
Δ eRTU RSM_MACRO_SET_VSV ( HANDLE hRsm, BYTE SlaveAddr, DWORD data) Description: This function sets the starting speed of the main axis (axis 1) for the interpolation motion.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters hRsm: SlaveAddr: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247) data: The vector starting speed value (in PPS) (For maximum value please refers to description of RSM_SET_MAX_V) . Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SET_VSV is 0A 5C. The Sub_function code of RSM_MACRO_SET_VSV is 0C 5C. MODBUS example: RSM_SET_VSV (hRsm, 1, 1000); //set the starting speed of the axis 1 for the interpolation motion //on module 1 to 1000 PPS.
The MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex) 01 10 1F 40 Register[] 0 Value (hex) 0A 5C/0C 5C Word Count (hex) Sub_function code 00 03 Remarks 1 2 00 00 03 E8 MSW of data
LSW of data (1000 = 0x3E8)
Byte Count (hex) 06
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.2.4 Vector Speed Setting
eRTU RSM_SET_VV ( HANDLE hRsm, BYTE SlaveAddr, DWORD data)
※
Δ eRTU RSM_MACRO_SET_VV ( HANDLE hRsm, BYTE SlaveAddr, 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 RSM_AXIS_ASSIGN() function.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) data: The vector speed value (in PPS) (For maximum value please refers to description of RSM_SET_MAX_V) . Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SET_VV is 0A 5D. The Sub_function code of RSM_MACRO_SET_VV is 0C 5D. MODBUS example: RSM_SET_VV (hRsm, 1, 120000L); //set the vector speed of the interpolation on module 1 to 120000 PPS.
The MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex) 01 10 1F 40 Word Count (hex) 00 03 Byte Count (hex) 06 Register[] 0 1 2 Value (hex) 0A 5D/0C 5D 00 01 D4 C0
Sub_function code
MSW of data Remarks
LSW of data (120000 = 0x1D4C0)
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.2.5 Vector Acceleration Setting
eRTU RSM_SET_VA ( HANDLE hRsm, BYTE SlaveAddr, DWORD data)
※
Δ eRTU RSM_MACRO_SET_VA ( HANDLE hRsm, BYTE SlaveAddr, DWORD data) Description: This function sets the vector acceleration of the interpolation motion. Users do not need to assign any axes on this function. The speed setting will take effect on the current working coordinate system which is defined by the RSM_AXIS_ASSIGN() function.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: data: Modbus RTU Slave Address (valid range: 1 to 247) The vector acceleration value (in PPS/sec). This value is related to the maximum speed value defined by RSM_SET_MAX_V () function. The maximum available acceleration value is MAX_V * 125 . The minimum acceleration value is MAX_V
÷
64 , and all other acceleration values are the integral multipliers of this value. The practical value for application depends on the capability of the motor drive and motor. Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SET_VA is 0A 5E. The Sub_function code of RSM_MACRO_SET_VA is 0C 5E. MODBUS example: RSM_SET_VA (hRsm, 1, 100000L); //set the vector acceleration of the interpolation motion //on module 1 to 100K PPS/sec.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
The MODBUS command is listed as follows: UID (hex) Register[] 0 01 Value (hex) 0A 5E/0C 5E FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
Word Count (hex) 00 03 1 2 00 01 86 A0 MSW of data
LSW of data (100000 = 0x186A0)
Byte Count (hex) 06
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.2.6 Vector Deceleration Setting
eRTU RSM_SET_VD ( HANDLE hRsm, BYTE SlaveAddr, DWORD data)
※
Δ eRTU RSM_MACRO_SET_VD ( HANDLE hRsm, BYTE SlaveAddr, DWORD data) Description: This function sets the vector deceleration of the interpolation motion. Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: data: Modbus RTU Slave Address (valid range: 1 to 247) The vector deceleration value (in PPS/sec). This value is related to the maximum speed value defined by RSM_SET_MAX_V () function. The maximum available acceleration value is MAX_V * 125 . The minimum acceleration value is MAX_V
÷
64 , and all other acceleration values are the integral multipliers of this value. The practical value for application depends on the capability of the motor drive and motor. Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SET_VD is 0A 5F. The Sub_function code of RSM_MACRO_SET_VD is 0C 5F. MODBUS example: RSM_SET_VD (hRsm, 1, 100000L); //set the vector deceleration value of interpolation motion //on module 1 to 100K PPS/Sec.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
The MODBUS command is listed as follows: UID (hex) Register[] 0 01 Value (hex) 0A 5F/0C 5F FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
Word Count (hex) 00 03 1 2 00 01 86 A0 MSW of data
LSW of data (100000 = 0x186A0)
Byte Count (hex) 06
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.2.7 Vector Acceleration Rate Setting
eRTU RSM_SET_VK ( HANDLE hRsm, BYTE SlaveAddr, DWORD data)
※
Δ eRTU RSM_MACRO_SET_VK ( HANDLE hRsm, BYTE SlaveAddr, DWORD data) Description: Set the acceleration rate (jerk) value for interpolation motion.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: data: Modbus RTU Slave Address (valid range: 1 to 247) The acceleration rate (jerk) value (PPS/sec 2 ). This value is related to the maximum speed value defined by RSM_SET_MAX_V () function. The minimum acceleration rate is MAX_V * 0.0119211; The maximum acceleration rate value is 2,000,000,000 . Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SET_VK is 0A 60. The Sub_function code of RSM_MACRO_SET_VK is 0C 60. MODBUS example: RSM_SET_VK (hRsm, 1, 10000); //set the acceleration rate of the interpolation motion on module 1 // to 10,000 PPS/sec^2 .
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
The MODBUS command is listed as follows: UID (hex) Register[] 0 01 Value (hex) 0A 60/0C 60 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
Word Count (hex) 00 03 1 2 00 00 27 10 MSW of data
LSW of data (10000 = 0x2710)
Byte Count (hex) 06
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.2.8 Vector Deceleration Rate Setting
eRTU RSM_SET_VL ( HANDLE hRsm, BYTE SlaveAddr, DWORD data)
※
Δ eRTU RSM_MACRO_SET_VL ( HANDLE hRsm, BYTE SlaveAddr, DWORD data) Description: Set the deceleration rate of the interpolation motion.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters hRsm: SlaveAddr: data: Description COM port handle Modbus RTU Slave Address (valid range: 1 to 247) The deceleration rate (jerk) value (PPS/sec 2 ). This value is related to the maximum speed value defined by RSM_SET_MAX_V () function. The minimum acceleration rate is MAX_V * 0.0119211; The maximum acceleration rate value is 2,000,000,000 . Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SET_VL is 0A 61. The Sub_function code of RSM_MACRO_SET_VL is 0C 61. MODBUS example: RSM_SET_VL (hRsm, 1, 10000); //set the deceleration rate of the interpolation on module 1 to 10,000 //PPS/sec^2.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
The MODBUS command is listed as follows: UID (hex) Register[] 0 01 Value (hex) 0A 61/0C 61 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
Word Count (hex) 00 03 1 2 00 00 27 10 MSW of data
LSW of data (10000 = 0x2710)
Byte Count (hex) 06
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.2.9 Vector Offset Pulses Setting
eRTU RSM_SET_VAO ( HANDLE hRsm, BYTE SlaveAddr, long data)
※
Δ eRTU RSM_MACRO_SET_VAO ( HANDLE hRsm, BYTE SlaveAddr, long data) Description: Setting this value will cause the motion control chip to start deceleration earlier. The remaining offset pulses will be completed at low speed to allow the controller to stop immediately when it reaches the offset pulse value. Please refer to the figure below for more information.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters hRsm: SlaveAddr: data: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247) The number of remaining offset pulses. (-32,768 ~ +32,767). Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SET_VAO is 0A 62. The Sub_function code of RSM_MACRO_SET_VAO is 0C 62. MODBUS example: RSM_SET_VAO (hRsm, 1, 200); //set the number of remaining offset pulse value on module 1 to 200.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
The MODBUS command is listed as follows: Register[] 0 UID (hex) 01 Value (hex) 0A 62/0C 62 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
Word Count (hex) 00 03 1 2 00 00 00 C8 MSW of data
LSW of data (200 = 0xC8)
Byte Count (hex) 06
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.2.10 2-Axis Interpolation Relative Distance Motion
eRTU RSM_LINE_2D ( HANDLE hRsm, BYTE SlaveAddr, long fp1, long fp2)
※
Δ eRTU RSM_MACRO_LINE_2D ( HANDLE hRsm, BYTE SlaveAddr, long fp1, long fp2) Description: This function executes a 2-axis linear interpolation motion.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: fp1: fp2: Modbus RTU Slave Address (valid range: 1 to 247) The displacement of the axis 1 in Pulses (-2,000,000,000 ~ +2,000,000,000) The displacement of the axis 2 in Pulses (-2,000,000,000 ~ +2,000,000,000) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_LINE_2D is 0A 63. The Sub_function code of RSM_MACRO_LINE_2D is 0C 63. MODBUS example: RSM_LINE_2D (hRsm, 1, 12000, 10000); //execute the 2-axis linear interpolation motion on module 1.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
The MODBUS command is listed as follows: UID (hex) Register[] 0 01 2-axis linear interpolation motion Value (hex) 0A 63/0C 63 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
Word Count (hex) 00 05 1 2 3 4 00 00 2E E0 00 00 27 10 MSW of fp1
LSW of fp1 (12000
MSW of fp2
= 0x2EE0) LSW of fp2 (10000 = 0x2710)
Byte Count (hex) 0A
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.2.11 2-Axis Interpolation Absoult Position Motion
eRTU RSM_ABS_LINE_2D ( HANDLE hRsm, BYTE SlaveAddr, long fp1, long fp2)
※
Δ eRTU RSM_ABS_MACRO_LINE_2D ( HANDLE hRsm, BYTE SlaveAddr, long fp1, long fp2) Description: This function commands a controlled a 2-axis linear interpolation motion to a specified absolute position.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: fp1: fp2: Modbus RTU Slave Address (valid range: 1 to 247) Absolute position of axis 1 in Pulses (-2,000,000,000 ~ +2,000,000,000) Absolute position of axis 2 in Pulses (-2,000,000,000 ~ +2,000,000,000) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_ABS_LINE_2D is 0x0AF7. The Sub_function code of RSM_ABS_MACRO_LINE_2D is 0x0CFX. MODBUS example: RSM_ABS_LINE_2D (hRsm, 1, 12000, 10000); //Moves from the origin to the absolute position (12000, 10000)
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
The MODBUS command is listed as follows: UID (hex) Register[] 0 01 2-axis linear interpolation motion Value (hex) 0A FX/0C FX FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
Word Count (hex) 00 05 1 2 3 4 00 00 2E E0 00 00 27 10 MSW of fp1
LSW of fp1 (12000
MSW of fp2
= 0x2EE0) LSW of fp2 (10000 = 0x2710)
Byte Count (hex) 0A
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.2.12 3-Axis Interpolation Relative Distance Motion
eRTU RSM_LINE_3D ( HANDLE hRsm, BYTE SlaveAddr, long fp1, long fp2, long fp3)
※
Δ eRTU RSM_MACRO_LINE_3D ( HANDLE hRsm, BYTE SlaveAddr, long fp1, long fp2, long fp3) Description: This function executes a 3-axis linear interpolation motion.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters hRsm: SlaveAddr: fp1: fp2: fp3: Description COM port handle Modbus RTU Slave Address (valid range: 1 to 247) The displacement of the first axis (axis 1) in Pulses(-2,000,000,000 ~ +2,000,000,000) The displacement of the second axis (axis 2) in Pulses(-2,000,000,000 ~ +2,000,000,000) The displacement of the third axis (axis 3) in Pulses(-2,000,000,000 ~ +2,000,000,000) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Use the RSM_GET_ERROR_CODE() function to identify the errors. Remark: The Sub_function code of RSM_LINE_3D is 0A 64. The Sub_function code of RSM_MACRO_LINE_3D is 0C 64. MODBUS example: RSM_LINE_3D (hRsm, 1, 10000, 10000, 10000); //execute the 3-axis linear interpolation motion on module 1.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
3-axis linear interpolation motion The MODBUS command is listed as follows: UID (hex) Register[] 0 1 2 3 4 5 6 01 Value (hex) 0A 64/0C 64 00 00 27 10 00 00 27 10 00 00 27 10 FC (hex) St_Addr. (hex) Word Count (hex) 10 1F 40 Remarks 00 07
Sub_function code
MSW of fp1
LSW of fp1 (10000 = 0x2710)
MSW of fp2
LSW of fp2 (10000 = 0x2710)
MSW of fp3
LSW of fp3 (10000 = 0x2710)
Byte Count (hex) 0E
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.2.13 3-Axis Interpolation Absolute Position Motion
eRTU RSM_ABS_LINE_3D ( HANDLE hRsm, BYTE SlaveAddr, long fp1, long fp2, long fp3)
※
Δ eRTU RSM_ABS_MACRO_LINE_3D ( HANDLE hRsm, BYTE SlaveAddr, long fp1, long fp2, long fp3) Description: This function executes a 3-axis linear interpolation motion to the specified absolute position.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters hRsm: SlaveAddr: fp1: fp2: fp3: Description COM port handle Modbus RTU Slave Address (valid range: 1 to 247) Absolute position of axis 1 in Pulses( 2,000,000,000 ~ +2,000,000,000) Absolute position of axis 2 in Pulses( 2,000,000,000 ~ +2,000,000,000) Absolute position of axis 2 in Pulses( 2,000,000,000 ~ +2,000,000,000) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Use the RSM_GET_ERROR_CODE() function to identify the errors. Remark: The Sub_function code of RSM_LINE_3D is 0x0AF8. The Sub_function code of RSM_MACRO_LINE_3D is 0x0CF8. MODBUS example: RSM_ABS_LINE_3D (hRsm, 1, 10000, 10000, 10000); //Move to the specified target position.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
3-axis linear interpolation motion The MODBUS command is listed as follows: UID (hex) Register[] 0 1 2 3 4 5 6 01 Value (hex) 0A F8/0C F8 00 00 27 10 00 00 27 10 00 00 27 10 FC (hex) St_Addr. (hex) Word Count (hex) 10 1F 40 Remarks 00 07
Sub_function code
MSW of fp1
LSW of fp1 (10000 = 0x2710)
MSW of fp2
LSW of fp2 (10000 = 0x2710)
MSW of fp3
LSW of fp3 (10000 = 0x2710)
Byte Count (hex) 0E
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.2.14 2-Axis Circular Interpolation Relative Distance Motion (an CW Arc)
eRTU RSM_ARC_CW ( HANDLE hRsm, BYTE SlaveAddr, long cp1, long cp2, long fp1, long fp2)
※
Δ eRTU RSM_MACRO_ARC_CW ( HANDLE hRsm, BYTE SlaveAddr, long cp1, long cp2, long fp1, long fp2) Description: This function executes a 2-axis circular interpolation motion in a clockwise (CW) direction.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: cp1: cp2: fp1: fp2: Modbus RTU Slave Address (valid range: 1 to 247) The relative position of the center to the current position of axis 1 in pulses. (-2,000,000,000 ~ +2,000,000,000). The relative position of the center to the current position of axis 2 in pulses. (-2,000,000,000 ~ +2,000,000,000). The displacement of the axis 1 in Pulses (-2,000,000,000 ~ +2,000,000,000) The displacement of the axis 2 in Pulses (-2,000,000,000 ~ +2,000,000,000) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Use the RSM_GET_ERROR_CODE() function to identify the errors. Remark: The Sub_function code of RSM_ARC_CW is 0A 65. The Sub_function code of RSM_MACRO_ARC_CW is 0C 65. MODBUS example: RSM_ARC_CW (hRsm, 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.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
The MODBUS command is listed as follows: Register[] 0 01 2-axis circular motion in a CW direction UID (hex) Value (hex) 0A 65/0C 65 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
Word Count (hex) 00 09 1 2 3 4 FF FF EC 78 FF FF EC 78 MSW of cp1
LSW of cp1 (-5000 = 0xFFFFEC78) MSW of cp2 LSW of cp2 (-5000 = 0xFFFFEC78)
5 6 7 8 FF FF D8 F0 FF FF D8 F0 MSW of fp1
LSW of fp1 (-10000 = 0xFFFFD8F0)
MSW of fp2
LSW of fp2 (-10000 = 0xFFFFD8F0)
Byte Count (hex) 12
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.2.15 2-Axis Circular Interpolation Relative Distance Motion (an CCW Arc)
eRTU RSM_ARC_CCW ( HANDLE hRsm, BYTE SlaveAddr, long cp1, long cp2, long fp1, long fp2)
※
Δ eRTU RSM_MACRO_ARC_CCW ( HANDLE hRsm, BYTE SlaveAddr, long cp1, long cp2, long fp1, long fp2) Description: This function executes a 2-axis circular interpolation motion in a counter clockwise (CCW) direction.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: cp1: cp2: fp1: fp2: Modbus RTU Slave Address (valid range: 1 to 247) The relative position of the center to the current position of axis 1 in pulses. (-2,000,000,000 ~ +2,000,000,000). The relative position of the center to the current position of axis 2 in pulses. (-2,000,000,000 ~ +2,000,000,000). The displacement of the axis 1 in Pulses (-2,000,000,000 ~ +2,000,000,000) The displacement of the axis 2 in Pulses (-2,000,000,000 ~ +2,000,000,000) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Use the RSM_GET_ERROR_CODE() function to identify the errors. Remark: The Sub_function code of RSM_ARC_CCW is 0A 67. The Sub_function code of RSM_MACRO_ARC_CCW is 0C 67. MODBUS example: RSM_ARC_CCW (hRsm, 1, -5000, -5000, -10000, -10000); // Issues a command to perform a circular motion (an arc) in a CCW direction. Please refer to the following figure.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
2-axis circular motion in a CW direction The MODBUS command is listed as follows: Register[] 0 1 2 3 4 5 6 7 8 UID (hex) 01 Value (hex) 0A 67/0C 67 FF FF EC 78 FF FF EC 78 FF FF D8 F0 FF FF D8 F0 FC (hex) St_Addr. MSW of cp1 MSW of fp1 (hex) Word Count (hex) 10 1F 40 Remarks 00 09
Sub_function code LSW of cp1 (-5000 = 0xFFFFEC78) MSW of cp2 LSW of cp2 (-5000 = 0xFFFFEC78) LSW of fp1 (-10000 = 0xFFFFD8F0)
MSW of fp2
LSW of fp2 (-10000 = 0xFFFFD8F0)
Byte Count (hex) 12
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.2.16 2-Axis Circular Interpolation Absoult Position Motion (an CW Arc)
eRTU RSM_ABS_ARC_CW ( HANDLE hRsm, BYTE SlaveAddr, long cp1, long cp2, long fp1, long fp2)
※
Δ eRTU RSM_ABS_MACRO_ARC_CW ( HANDLE hRsm, BYTE SlaveAddr, long cp1, long cp2, long fp1, long fp2) Description: This function executes a 2-axis circular interpolation motion in a clockwise (CW) direction.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: cp1: cp2: fp1: fp2: Modbus RTU Slave Address (valid range: 1 to 247) The absolute position of the center to the current position of axis 1 in pulses. (-2,000,000,000 ~ +2,000,000,000). The absolute position of the center to the current position of axis 2 in pulses. (-2,000,000,000 ~ +2,000,000,000). The absolute position of the axis 1 in Pulses (-2,000,000,000 ~ +2,000,000,000) The absolute position of the axis 2 in Pulses (-2,000,000,000 ~ +2,000,000,000) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Use the RSM_GET_ERROR_CODE() function to identify the errors. Remark: The Sub_function code of RSM_ABS_ARC_CW is 0x0AF9. The Sub_function code of RSM_ABS_MACRO_ARC_CW is 0x0CF9. MODBUS example: RSM_ABS_ARC_CW (hRsm, 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.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
The MODBUS command is listed as follows: Register[] 0 01 2-axis circular motion in a CW direction UID (hex) Value (hex) 0A F9/0C F9 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
Word Count (hex) 00 09 1 2 3 4 FF FF EC 78 FF FF EC 78 MSW of cp1
LSW of cp1 (-5000 = 0xFFFFEC78) MSW of cp2 LSW of cp2 (-5000 = 0xFFFFEC78)
5 6 7 8 FF FF D8 F0 FF FF D8 F0 MSW of fp1
LSW of fp1 (-10000 = 0xFFFFD8F0)
MSW of fp2
LSW of fp2 (-10000 = 0xFFFFD8F0)
Byte Count (hex) 12
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.2.17 2-Axis Circular Interpolation Absoult Position Motion (an CCW Arc)
eRTU RSM_ABS_ARC_CCW ( HANDLE hRsm, BYTE SlaveAddr, long cp1, long cp2, long fp1, long fp2)
※
Δ eRTU RSM_ABS _MACRO_ARC_CCW ( HANDLE hRsm, BYTE SlaveAddr, long cp1, long cp2, long fp1, long fp2) Description: This function commands a controlled 2-axis circular interpolation motion in a counter-clockwise (CCW) direction.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: cp1: cp2: fp1: fp2: Modbus RTU Slave Address (valid range: 1 to 247) The absolute position of the center of axis 1 in pulses. (-2,000,000,000 ~ +2,000,000,000). The absolute position of the center of axis 2 in pulses. (-2,000,000,000 ~ +2,000,000,000). The absolute position of the axis 1 in Pulses (-2,000,000,000 ~ +2,000,000,000) The absolute position of the axis 2 in Pulses (-2,000,000,000 ~ +2,000,000,000) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Use the RSM_GET_ERROR_CODE() function to identify the errors. Remark: The Sub_function code of RSM_ABS_ARC_CCW is 0x0AFA. The Sub_function code of RSM_ABS_MACRO_ARC_CCW is 0x0CFA. MODBUS example: RSM_ARC_CCW (hRsm, 1, -5000, -5000, -10000, -10000); // Issues a command to perform a circular motion (an arc) in a CCW direction. Please refer to the following figure.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
2-axis circular motion in a CW direction The MODBUS command is listed as follows: Register[] 0 1 2 3 4 5 6 7 8 UID (hex) 01 Value (hex) 0A FA/0C FA FF FF EC 78 FF FF EC 78 FF FF D8 F0 FF FF D8 F0 FC (hex) 10 St_Addr. Remarks
Sub_function code
MSW of cp1 MSW of fp1 (hex) 1F 40 Word Count (hex) 00 09
LSW of cp1 (-5000 = 0xFFFFEC78) MSW of cp2 LSW of cp2 (-5000 = 0xFFFFEC78) LSW of fp1 (-10000 = 0xFFFFD8F0)
MSW of fp2
LSW of fp2 (-10000 = 0xFFFFD8F0)
Byte Count (hex) 12
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.2.18 2-Axis Circular Interpolation Motion (Complete CW Circle)
eRTU RSM_CIRCLE_CW ( HANDLE hRsm, BYTE SlaveAddr, long cp1, long cp2)
※
Δ eRTU RSM_MACRO_CIRCLE_CW ( HANDLE hRsm, BYTE SlaveAddr, long cp1, long cp2) Description: This function executes a 2-axis circular interpolation motion in a clockwise (CW) direction.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: cp1: cp2: Modbus RTU Slave Address (valid range: 1 to 247) The relative position of the center to the current position of axis 1 in pulses. (-2,000,000,000 ~ +2,000,000,000). The relative position of the center to the current position of axis 2 in pulses. (-2,000,000,000 ~ +2,000,000,000). Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Use the RSM_GET_ERROR_CODE() function to identify the errors. Remark: The Sub_function code of RSM_CIRCLE_CW is 0A 69. The Sub_function code of RSM_MACRO_CIRCLE_CW is 0C 69. MODBUS example: RSM_CIRCLE_CW (hRsm, 1, 0, 10000); // execute a circular motion (a complete circle) in a CW direction // on module 1.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
The MODBUS command is listed as follows: UID (hex) Register[] 0 01 Value (hex) 0A 69/0C 69 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
Word Count (hex) 00 05 1 2 3 4 00 00 00 00 00 00 27 10 MSW of cp1
LSW of cp1 (0 = 0x0) MSW of cp2 LSW of cp2 (10000 = 0x2710)
Byte Count (hex) 0A
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.2.19 2-Axis Circular Interpolation Motion (Complete CCW Circle)
eRTU RSM_CIRCLE_CCW ( HANDLE hRsm, BYTE SlaveAddr, long cp1, long cp2)
※
Δ eRTU RSM_MACRO_CIRCLE_CCW ( HANDLE hRsm, BYTE SlaveAddr, long cp1, long cp2) Description: This function executes a 2-axis circular interpolation motion in a counter clockwise (CCW) direction.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: cp1: cp2: Modbus RTU Slave Address (valid range: 1 to 247) The relative position of the center to the current position of axis 1 in pulses. (-2,000,000,000 ~ +2,000,000,000). The relative position of the center to the current position of axis 2 in pulses. (-2,000,000,000 ~ +2,000,000,000). Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Use the RSM_GET_ERROR_CODE() function to identify the errors. Remark: The Sub_function code of RSM_CIRCLE_CCW is 0A 6A. The Sub_function code of RSM_MACRO_CIRCLE_CCW is 0C 6A. MODBUS example: RSM_CIRCLE_CCW (hRsm, 1, 0, 10000); // execute a circular motion (a complete circle) in a CCW direction //on module 1.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
The MODBUS command is listed as follows: UID (hex) Register[] 0 01 Value (hex) 0A 6A/0C 6A FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
Word Count (hex) 00 05 1 2 3 4 00 00 00 00 00 00 27 10 MSW of cp1
LSW of cp1 (0 = 0x0) MSW of cp2 LSW of cp2 (10000 = 0x2710)
Byte Count (hex) 0A
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.3
7.3.1
Synchronous Actions
Setting the Activation Factors
eRTU RSM_SYNC_ACTION ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis1, BYTE axis2, DWORD nSYNC, BYTE nDRV, BYTE nLATCH, BYTE nPRESET, BYTE nOUT, BYTE nINT, BYTE isrNoX, BYTE isrNoY, BYTE isrNoZ, BYTE isrNoU)
※
Δ eRTU RSM_MACRO_SYNC_ACTION ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis1, BYTE axis2, DWORD nSYNC, BYTE nDRV, BYTE nLATCH, BYTE nPRESET, BYTE nOUT, BYTE nINT, BYTE isrNoX, BYTE isrNoY, BYTE isrNoZ, BYTE isrNoU) Description: This function sets the activation factors for synchronous action. Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters hRsm: SlaveAddr: axis1: axis2: Description COM port handle Modbus RTU Slave Address (valid range: 1 to 247) This is the monitored axis. It will be checked by hardware. The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) (Please refer to Table 4). This defined the other axes (or axis) that will take action when one of the activation factors occurs.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
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 0x00000000 Event P
≥
C+ 0x00000001 0x00000002 0x00000004 0x00000008 P
≥
C- 0x00000010 0x00000020 0x00000040 0x00000080 D-STA D-END IN3
↑
IN3
↓
Explanation Disable the synchronous action The logical/real position counter value exceeded the COMP+ register value. Use the RSM_SET_COMPARE () function for selection of a logical/real position (7.3.6). The logical/real position counter value became less than the COMP+ register value. Use the RSM_SET_COMPARE () function for selection of a logical/real position (7.3.6). The logical/real position counter value became less than the COMP- register value. Use the RSM_SET_COMPARE () function for selection of a logical/real position (7.3.6). The logical/real position counter value exceeded the COMP- register value. Use the RSM_SET_COMPARE () function for selection of a logical/real position (7.3.6). Driving started. Driving terminated. The nIN3 signal rose from the Low to the High level. The nIN3 signal fell from the High to the Low level. Example: Choose P
≥
C+ and IN3
↑
(0x00000001 + 0x00000040 = 0x00000041)
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
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 0 1 2 3 4 5 6 Symbol FDRV+ FDRV- CDRV+ CDRV- 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 RSM_SET_PRESET() function will set the offset value for this FDRV. Therefore, the companion function, RSM_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 RSM_SET_PRESET() function will set the offset value for this FDRV. Therefore, the companion function, RSM _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
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
nLATCH: 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 0 Symbol Explanation Disable position latch function 1 LPSAV Saves the current logical position counter value (LP) in the synchronous buffer register (BR). [LP
→
LATCH] 2 EPSAV Saves the current real position counter value (EP) in the synchronous buffer register (BR). [EP
→
LATCH] After the event has occured, the RSM_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 Explanation 0 1 LPSET Disable setting function Indicates that a new value for the logical position (LP) will be set. The new value will be set by RSM_SET_PRESET() function. [LP
←
PRESET] 2 3 EPSET OPSET Indicates that a new value for the real position (EP) will be set. The new value will be set by RSM_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 RSM_SET_PRESET() function. [P
←
PRESET] This setting is invalid to the Finish-Point of the axes in CONTINUE_MOVE. Indicates that a new speed value (V) will be set. The new 4 VLSET value will be set by RSM_SET_PRESET() function. [V
←
PRESET] nOUT: Must be used with RSM_SET_PRESET together, please refer to section 7.3.4. setting trigger output, as the following table: Value Symbol Explanation 0 Disable trigger output 1 OUT Enable trigger output Must be used with RSM_SET_OUT together, please refer to section 7.3.5.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
nINT: setting interrupt function, as the following table: Value Symbol Explanation 0 Disable interrupt function 1 INT Enable interrupt function 1. It will generate a interrupt for the synchronous action of axis2, please write the corresponding number: isrNoX
、
isrNoY
、
isrNoZ
、
isrNoU 2. Must be used with RSM_ENABLE_INT together, please refer to section 7.3.6. isrNoX: isrNoY: isrNoZ: isrNoU: ISR1 ~ ISR20 : Specify the interrupt number of X-axis. 0: disable ISR1 ~ ISR20 : Specify the interrupt number of Y-axis. 0: disable ISR1 ~ ISR20 : Specify the interrupt number of Z-axis. 0: disable ISR1 ~ ISR20 : Specify the interrupt number of U-axis. 0: disable Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SYNC_ACTION is 0A 6E. The Sub_function code of RSM_MACRO_SYNC_ACTION is 0C 6E. MODBUS example: RSM_SYNC_ACTION (hRsm, SlaveAddr, AXIS_U, AXIS_U, 0X00000040, 0, 2, 4, 0, 0, 0, 0, 0, 0);
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
The MODBUS command is listed as follows: UID (hex) Register[] 0 01 Value (hex) 0A 6E/0C 6E FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
Word Count (hex) 00 0E 1 2 3 4 5 6 7 8 9 10 11 12 13 00 08 00 08 00 00 00 40 00 00 00 02 00 04 00 00 00 00 00 00 00 00 00 00 00 00 axis1 (8 = AXIS_U)
axis2 MSW of nSYNC
Byte Count (hex) 1C
LSW of nSYNC (0x40
rising edge of IN3 will trigger the action) nDRV (0
no driving control) nLATCH (2
will latch EP value) nPRESET (4
set new velocity when SYNC condition is true) nOUT (0
no pulse out) nINT (0
disable) isrNoX (It can be any value since nINT is disable.) isrNoY (It can be any value since nINT is disable.) isrNoZ (It can be any value since nINT is disable.) isrNoU (It can be any value since nINT is disable.)
Related example: //Example1: When the U axis received IN3 positive edge trigger signal, it //will change the LATCH encoder value. RSM_SYNC_ACTION(hRsm, SlaveAddr, AXIS_U, AXIS_U, 0X00000040, 0, 2, 4, 0, 0, 0, 0, 0, 0); RSM_SET_MAX_V(hRsm, SlaveAddr, AXIS_U, 5000); //Set the maximum speed of u axis on module 1 to 5K PPS. RSM_NORMAL_SPEED(hRsm, SlaveAddr, AXIS_U, 0); // set the speed profile for u axis as a symmetric T-curve. RSM_SET_V(hRsm, SlaveAddr, AXIS_U, 2000); // set the speed of u axis on module 1 to 2000 PPS RSM_SET_A(hRsm, SlaveAddr, AXIS_U, 100000); // set the acceleration value of u axis to 100K PPS/sec.
RSM_SET_SV(hRsm,SlaveAddr, AXIS_U, 100); //set the start velocity of u axis to 100 PPS RSM_FIXED_MOVE(hRsm, SlaveAddr, AXIS_U, 10000);
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
//move 10000 Pulses for u axis on module 1 RSM_SET_PRESET(h SlaveAddr, AXIS_U, 100); // set the new speed of u axis on module 1 to 100 PPS RSM_STOP_WAIT(hRsm, SlaveAddr, AXIS_U); long Vsb = RSM_GET_LATCH(hRsm, SlaveAddr, AXIS_U); //Example2: When the EP value of u axis exceeds COMP+(5000), it will start //the Y-axis moving 2,000 PPS. RSM_SYNC_ACTION(hRsm, SlaveAddr, AXIS_U, AXIS_Y, 0X00000001, 1, 0, 3, 0, 0, 0, 0, 0, 0); RSM_SET_COMPARE(hRsm, SlaveAddr, AXIS_U, 0, 1, 5000); //Set the value of COMP+ is 5000, source reference the EP of U axis.
RSM_SET_MAX_V(hRsm, SlaveAddr, AXIS_YU, 9000); // Set the maximum speed of YU axes on module 1 to 9K PPS. RSM_NORMAL_SPEED(hRsm, SlaveAddr, AXIS_YU, 0); // set the speed profile for YU axes as symmetric T-curve. RSM_SET_V(hRsm, SlaveAddr, AXIS_YU, 3000); // set the speed of YU axes on module 1 to 3000 PPS. RSM_SET_A(hRsm, SlaveAddr, AXIS_YU, 200000); // set the acceleration value of YU axes to 200K PPS/sec.
RSM_SET_SV(hRsm, SlaveAddr, AXIS_YU, 200); // set the start velocity of yu axes to 200 PPS RSM_FIXED_MOVE(hRsm, SlaveAddr, AXIS_U, 10000); // move 10000 Pulses for U axis on module 1 RSM_SET_PRESET(hRsm, SlaveAddr, AXIS_Y, 2000); // Set the Y axis moving 2000 PPS
。
//Example3: When the LP value of X axis exceeds COMP+(200), it will //start the nout output 5V of Y axis. RSM_SYNC_ACTION(hRsm, SlaveAddr, AXIS_X, AXIS_Y, 0X00000001, 0, 0, 0, 1, 0, 0, 0, 0, 0); RSM_SET_COMPARE(hRsm, SlaveAddr, AXIS_X, 0, 0, 200); //Set the value of COMP+ is 200, source reference the LP of X axis. RSM_SET_MAX_V(hRsm, SlaveAddr, AXIS_X, 5000); // Set the maximum speed of X axis on module 1 to 5K PPS. RSM_NORMAL_SPEED(hRsm, SlaveAddr, AXIS_X, 0); // set the speed profile for X axis as a symmetric T-curve. RSM_SET_V(hRsm, SlaveAddr, AXIS_X, 2000); // set the speed of X axis on module 1 to 2000 PPS. RSM_SET_A(hRsm, SlaveAddr, AXIS_X, 100000); // set the acceleration value of X axis to 100K PPS/s.
RSM_SET_SV(hRsm, SlaveAddr, AXIS_X, 100); // set the start velocity of X axis to 100 PPS RSM_FIXED_MOVE(hRsm, SlaveAddr, AXIS_X, 500);
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
// move 500 Pulses for X axis on module 1 RSM_SET_OUT(hRsm, SlaveAddr, AXIS_Y, 1, 0); // Set the Y axis high level output 5V.
//Example4:
When the LP value of X axis exceeds COMP+(5000), it will emergency stop and generate an interrupt to call ISR1. RSM_SYNC_ACTION(hRsm, SlaveAddr, AXIS_X, AXIS_X, 0X00000001, 6, 0, 0, 0, 1, ISR1, 0, 0, 0); RSM_ENABLE_INT(hRsm, SlaveAddr); //Enable interrupt RSM_SET_COMPARE(hRsm, SlaveAddr, AXIS_X, 0, 0, 5000); // Set the value of COMP+ is 5000, source reference the LP of X axis. RSM_SET_MAX_V(hRsm, SlaveAddr, AXIS_XY, 5000); // Set the maximum speed of XY axes on module 1 to 5K PPS. RSM_NORMAL_SPEED(hRsm, SlaveAddr, AXIS_XY, 0); // set the speed profile for XY axes as symmetric T-curve. RSM_SET_V(hRsm, SlaveAddr, AXIS_XY, 2000); // set the speed of XY axes on module 1 to 2000 PPS. RSM_SET_A(hRsm, SlaveAddr, AXIS_XY, 100000); // set the acceleration value of XY axes to 100K PPS/sec.
RSM_SET_SV(hRsm, SlaveAddr, AXIS_XY, 100); // set the start velocity of XY axes to 100 PPS. RSM_FIXED_MOVE(hRsm, SlaveAddr, AXIS_X, 10000); // move 10K Pulses for X axis on module 1 ISR1: RSM_MP_ISR_CREATE(hRsm, SlaveAddr, ISR1); // Create ISR1 RSM_MACRO_FIXED_MOVE(hRsm, SlaveAddr, AXIS_Y, 1000); //move 1000 Pulses for y axis on module 1 RSM_MACRO_MP_ISR_CLOSE(hRsm, SlaveAddr); // End ISR1
//Example5: Use the for loop to iterate, when
the LP value of X axis // exceeds COMP+(38000), it will generate an interrupt to call ISR1, and // determine whether receive IN3 signal in the ISR1, if receive then // emergency stop. MP59.
RSM_MP_CREATE(hRsm, SlaveAddr, MP59); //Create a macro program RSM_MACRO_SET_MAX_V(hRsm, SlaveAddr, AXIS_XY, 5000); // Set the maximum speed of XY axes on module 1 to 5K PPS. RSM_MACRO_NORMAL_SPEED(hRsm, SlaveAddr, AXIS_XY, 0); // set the speed profile for XY axes as symmetric T-curve. RSM_MACRO_SET_V(hRsm, SlaveAddr, AXIS_XY, 2000); // set the speed of XY axes on module 1 to 2000 PPS. RSM_ MACRO_SET_A(hRsm, SlaveAddr, AXIS_XY, 100000);
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
// set the acceleration value of XY axes to 100K PPS/S.
RSM_ MACRO_SET_SV(hRsm, SlaveAddr, AXIS_XY, 100); // set the start velocity of XY axes to 100 PPS. RSM_MACRO_FOR(hRsm, SlaveAddr, 100); //Set the times of for loop is 100. RSM_ MACRO_SET_LP(hRsm, SlaveAddr, AXIS_XY, 0); //Set the LP value of XYaxes to 0 RSM_MACRO_SET_FILTER(hRsm, SlaveAddr, AXIS_X, 16, 1); //Set the filter of IN3 RSM_MACRO_CLEAR_SYNC_ACTION(hRsm, SlaveAddr, AXIS_X); //Clear all the sync_action conditions of X axis.
RSM_MACRO_SYNC_ACTION(hRsm, SlaveAddr, AXIS_X, AXIS_X, 0X00000001, 0, 0, 0, 0, 1, ISR1, 0, 0, 0); // Set the LP value of X axis exceeds COMP+, it will generate an interrupt to // call ISR1.
RSM_MACRO_ENABLE_INT(hRsm, SlaveAddr); //Enable interrupt RSM_MACRO_SET_COMPARE(hRsm, SlaveAddr, AXIS_X, 0, 0, 38000); //Set the value of COMP+ is 38000, source reference the LP of X axis. RSM_MACRO_FIXED_MOVE(hRsm, SlaveAddr, AXIS_X, 42000); // move 42K Pulses for X axis on module 1 RSM_MACRO_STOP_WAIT(hRsm, SlaveAddr, AXIS_X); //Wait until X axis stop.
RSM_MACRO_NEXT(hRsm, SlaveAddr); //Match with for loop.
RSM_MACRO_MP_CLOSE(hRsm, SlaveAddr); // End a macro program MP59 ISR1: RSM_MP_ISR_CREATE(hRsm, SlaveAddr, ISR1); //Create ISR1 RSM_MACRO_FIXED_MOVE(hRsm, SlaveAddr, AXIS_Y, 1000); // move 1000 Pulses for Y axis on module 1.
RSM_MACRO_SYNC_ACTION(hRsm, SlaveAddr, AXIS_X, AXIS_X, 0X00000040, 6, 0, 0, 0, 0, 0, 0, 0, 0); //Set the X axis to receive the IN3 positive edge trigger //signals from low level to high level, then emergency stop.
RSM_MACRO_MP_ISR_CLOSE(hRsm, SlaveAddr); // End ISR1
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7.3.2 Clear Synchronization Condition
eRTU RSM_CLEAR_SYNC_ACTION ( HANDLE hRsm, BYTE SlaveAddr, BYTE triggerAxis)
※
Δ eRTU RSM_MACRO_CLEAR_SYNC_ACTION ( HANDLE hRsm, BYTE SlaveAddr, BYTE triggerAxis) Description: Clear all the synchronization conditions of the triggered axis.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters hRsm: SlaveAddr:
triggerAxis
Description COM port handle Modbus RTU Slave Address (valid range: 1 to 247) The axis number set by RSM_SYNC_ACTION (Please refer to Table 4) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_CLEAR_SYNC_ACTION is 0A 6A. The Sub_function code of RSM_MACRO_CLEAR_SYNC_ACTION is 0C 6A. MODBUS example: RSM_CLEAR_SYNC_ACTION (hRsm, 1, AXIS_X );
//
Clear all the sync_action conditions of X axis.
The MODBUS command is listed as follows: Register[] 0 1 UID (hex) 01 Value (hex) 0A 95/0C 95 00 01 FC (hex) 10 St_Addr.
TriggerAxis
(hex) Word Count (hex) 1F 40 Remarks 00 02
Sub_function code
Byte Count (hex) 04
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7.3.3 Set the Synchronization Condition
eRTU RSM_SET_ACTIVATION_FACTORS( HANDLE hRsm, BYTE SlaveAddr, BYTE triggerAxis, DWORD nSYNC)
※
Δ eRTU RSM_MACRO_SET_ACTIVATION_FACTORS ( HANDLE hRsm, BYTE SlaveAddr, BYTE triggerAxis, DWORD nSYNC) Description: Set the synchronization conditions of triggered axis.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters hRsm: SlaveAddr:
triggerAxis
nSYNC: Description COM port handle Modbus RTU Slave Address (valid range: 1 to 247) Set the axis number(Please refer to Table 4) It defines the activation factors. Multiple activation factors can be defined at the same time. Available active factors are listed in the following table. Value Event Explanation 0x00000000 0x00000001 0x00000002 0x00000004 0x00000008 P
≥
C+ P
≥
C- Disable the synchronous action The logical/real position counter value exceeded the COMP+ register value. Use the RSM_SET_COMPARE () function for selection of a logical/real position (6.3.2).
The logical/real position counter value became less than the COMP+ register value. Use the RSM_SET_COMPARE () function for selection of a logical/real position (6.3.2).
The logical/real position counter value became less than the COMP- register value. Use the RSM_SET_COMPARE () function for selection of a logical/real position (6.3.2).
The logical/real position counter value exceeded the COMP- register value. Use the RSM_SET_COMPARE () function for selection of a logical/real position (6.3.2).
0x00000010 D-STA Driving started. 0x00000020 0x00000040 0x00000080 Example: Choose P D-END Driving terminated. IN3 IN3
↑ ↓
The nIN3 signal rose from the Low to the High level. The nIN3 signal fell from the High to the Low level.
≥
C+ and IN3
↑
(0x00000001 + 0x00000040 = 0x00000041 )
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Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SET_ACTIVATION_FACTORS is 0A 6A. The Sub_function code of RSM_MACRO_SET_ACTIVATION_FACTORS is 0C 6A. MODBUS example: RSM_SET_ACTIVATION_FACTORS (hRsm, 1, AXIS_X, 0X00000001
// Set the synchronization conditions of x axis is P
≥
C+.
); The MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex) 01 10 1F 40 Word Count (hex) 00 04 Byte Count (hex) 08 Register[] 0 1 Value (hex) 0A 96/0C 96 00 01
TriggerAxis
Remarks
Sub_function code
2 3 00 00 00 01
MSW of nSYNC LSW of nSYNC
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7.3.4 Set the Synchronization Axis
eRTU RSM_SET_ACTIVATION_AXIS( HANDLE hRsm, BYTE SlaveAddr, BYTE triggerAxis, BYTE activationAxis)
※
Δ eRTU RSM_MACRO_SET_ACTIVATION_AXIS ( HANDLE hRsm, BYTE SlaveAddr, BYTE triggerAxis, BYTE activationAxis) Description: Set the synchronization axis.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr:
triggerAxis
activationAxis: Modbus RTU Slave Address (valid range: 1 to 247) Set the axis number(Please refer to Table 4) Set the synchronization axis number(Please refer to Table 4) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SET_ACTIVATION_AXIS is 0A 97. 0C 97. The Sub_function code of RSM_MACRO_SET_ACTIVATION_AXIS is MODBUS example: RSM_SET_ACTIVATION_AXIS (hRsm, 1, AXIS_X, AXIS_Y );
// Set the synchronization axis of x axis is y axis.
The MODBUS command is listed as follows: UID (hex) Register[] 0 1 01 Value (hex) 0A 97/0C 97 00 01 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code TriggerAxis(AXIS_X)
Word Count (hex) 00 03 Byte Count (hex) 06 2 00 02
ActivationAxis(AXIS_Y)
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7.3.5 Set the Synchronization Action
eRTU RSM_SET_ACTION( HANDLE hRsm, BYTE SlaveAddr, BYTE activationAxis, BYTE nDRV, BYTE nLATCH, BYTE nPRESET, BYTE nOUT, BYTE nINT, BYTE isrNoX, BYTE isrNoY, BYTE isrNoZ, BYTE isrNoU)
※
Δ eRTU RSM_MACRO_SET_ACTION ( HANDLE hRsm, BYTE SlaveAddr, BYTE activationAxis, BYTE nDRV, BYTE nLATCH, BYTE nPRESET, BYTE nOUT, BYTE nINT, BYTE isrNoX, BYTE isrNoY, BYTE isrNoZ, BYTE isrNoU) Description: Set the action of synchronization motion.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters hRsm: SlaveAddr: activationAxis: Description COM port handle Modbus RTU Slave Address (valid range: 1 to 247) Set the synchronization axis number(Please refer to Table 4) 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 Explanation 0 1 2 FDRV+ FDRV- Disable driving action. Activates fixed pulse driving in the + direction. It must set the nPRESET value to be “ OPSET ” which indicates that RSM_SET_PRESET() function will set the offset value for this FDRV. Therefore, the companion function, RSM_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 RSM_SET_PRESET() function will set the offset value for this FDRV. Therefore, the companion function, RSM_SET_PRESET(), is necessary. However, this command does not take effect if the assigned axes,
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3 4 5 6 CDRV+ CDRV- SSTOP ISTOP 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 nLATCH: 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 0 Symbol Explanation Disable position latch function 1 Value LPSAV Symbol Saves the current logical position counter value (LP) in the synchronous buffer register (BR). [LP
→
LATCH] 2 EPSAV Saves the current real position counter value (EP) in the synchronous buffer register (BR). [EP
→
LATCH] After the event is occoured, the RSM_GET_LATCH() function can be use to get the latched value, please refer to section 7.3.3. 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. Explanation 0 1 2 3 LPSET EPSET OPSET Disable setting function Indicates that a new value for the logical position ( LP ) will be set. The new value will be set by RSM_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 RSM_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 RSM_SET_PRESET() function. [P
←
PRESET] This setting is invalid to the Finish-Point of the axes in CONTINUE_MOVE.
Indicates that a new speed value ( V ) will be set. The new 4 VLSET value will be set by RSM_SET_PRESET() function. [V
←
PRESET] Must be used with RSM_SET_PRESET together, please refer to section 6.3.4.
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nOUT: setting trigger output, as the following table: Value Symbol Explanation 0 Disable trigger output 1 OUT Enable trigger output Must be used with RSM_SET_OUT together, please refer to section 7.3.5.
nINT: setting interrupt function, as the following table: Value 0 Symbol Explanation Disable interrupt function 1 INT Enable interrupt function 1. It will generate a interrupt for the synchronous action of axis2, please write the corresponding number:
isrNoX
、
isrNoY
、
isrNoZ
、
isrNoU
2. Must be used with RSM_ENABLE_INT together, please refer to section 7.3.6.
isrNoX: isrNoY: isrNoZ: isrNoU: ISR1 ~ ISR20 : Specify the interrupt number of X-axis. 0: disable ISR1 ~ ISR20 : Specify the interrupt number of Y-axis. 0: disable ISR1 ~ ISR20 : Specify the interrupt number of Z-axis. 0: disable ISR1 ~ ISR20 : Specify the interrupt number of U-axis. 0: disable Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SET_ACTION is 0A 98. The Sub_function code of RSM_MACRO_SET_ACTION is 0C 98. MODBUS example: RSM_SET_ACTION (hRsm, 1, AXIS_Y , 0, 2, 4, 0, 0, 0, 0, 0, 0);
// Set the action of synchronization motion is when the IN3 positive //edge trigger signals received, it will change the velocity and the //encoder of LATCH.
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The MODBUS command is listed as follows: Register[] 0 1 2 UID (hex) 01 Value (hex) 0A 98/0C 98 00 02 00 00 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code ActivationAxis(AXIS_Y)
Word Count (hex) 00 0B
nDRV (0
no driving control)
3 4 5 6 00 02 00 04 00 00 00 00 Byte Count (hex) 16
nLATCH (2
will latch EP value) nPRESET (4
set new velocity when SYNC condition is true) nOUT (0
no pulse out) nINT (0
disable)
7 8 9 10 00 00 00 00 00 00 00 00
isrNoX (It can be any value since nINT is disable.) isrNoY (It can be any value since nINT is disable.) isrNoZ (It can be any value since nINT is disable.) isrNoU (It can be any value since nINT is disable.)
Related example: //Example1: Set two groups synchronization motion, when the LP value of x //axis exceeds COMP+(30000), the synchronization motion axis z-axis //generate an interrupt to call ISR1, and when the LP value of y axis //exceeds COMP+(35000), the synchronization motion axis u-axis generate //an interrupt to call ISR2.
RSM_SET_MAX_V(hRsm, SlaveAddr, AXIS_XYZU, 5000); // Set the maximum speed of xyzu axes on module 1 to 5K PPS. RSM_NORMAL_SPEED(hRsm, SlaveAddr, AXIS_XYZU, 0); // set the speed profile for xyzu axes as symmetric T-curve. RSM_SET_V(hRsm, SlaveAddr, AXIS_XYZU, 2000); // set the speed of xyzu axes on module 1 to 2000 PPS. RSM_SET_A(hRsm, SlaveAddr, AXIS_XYZU, 100000); // set the acceleration value of xyzu axes to 100K PPS/sec. RSM_SET_SV(hRsm, SlaveAddr, AXIS_XYZU, 100); // set the start velocity of xyzu axes to 100 PPS. RSM_SET_ACTIVATION_FACTORS(hRsm, SlaveAddr, AXIS_XY, 1); // Set the synchronization conditions of xy axes is P
≥
C+. RSM_SET_ACTIVATION_AXIS(hRsm, 1, AXIS_X, AXIS_Z);
// Set the synchronization axis of x axis is z axis.
RSM_SET_ACTIVATION_AXIS(hRsm, 1, AXIS_Y, AXIS_U);
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//
Set the synchronization axis of y axis is u axis.
RSM_SET_ACTION (hRsm, 1, AXIS_Z, 0, 0, 0, 0, 1, 0, 0, ISR1, 0); // Set the action of synchronization motion axis z-axis is to generate an // interrupt to call ISR1. RSM_SET_ACTION (hRsm, 1, AXIS_U, 0, 0, 0, 0, 1, 0, 0, 0, ISR2); // Set the action of synchronization motion axis u-axis is to generate an // interrupt to call ISR2. RSM_ENABLE_INT(hRsm, SlaveAddr); //Enable interrupt RSM_SET_COMPARE (hRsm, SlaveAddr, AXIS_X, 0, 0, 30000); //Set the value of COMP+ is 30000, source reference the LP of x axis.
RSM_SET_COMPARE (hRsm, SlaveAddr, AXIS_Y, 0, 0, 35000); //Set the value of COMP+ is 35000, source reference the LP of y axis.
RSM_FIXED_MOVE(hRsm, SlaveAddr, AXIS_XY, 42000); // move 42K Pulses for xy axes on module 1 ISR1: RSM_MP_ISR_CREATE(hRsm, SlaveAddr, ISR1); // Create ISR1 RSM_MACRO_FIXED_MOVE(hRsm, SlaveAddr, AXIS_Z, 10000); // move 10K Pulses for z axis on module 1 RSM_MACRO_MP_ISR_CLOSE(hRsm, SlaveAddr); // End ISR1 ISR2: RSM_MP_ISR_CREATE(hRsm, SlaveAddr, ISR2); // Create ISR2 RSM_MACRO_FIXED_MOVE(hRsm, SlaveAddr, AXIS_U, 10000); // move 10K Pulses for u axis on module 1 RSM_MACRO_MP_ISR_CLOSE(hRsm, SlaveAddr); // End ISR2
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7.3.6 COMPARE Value Setting
eRTU RSM_SET_COMPARE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE nSELECT, BYTE nTYPE, long data)
※
Δ eRTU RSM_MACRO_SET_COMPARE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE nSELECT, BYTE nTYPE, long data) Description: This function sets the values of COMPARE registers. Howerer, it will disable the software limit setting.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters hRsm: COM port handle Description SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis: nSELECT: nTYPE: data: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) 0
C+ 1
C- 0
Position(P) = LP 1
Position(P) = EP Set the COMPARE value (-2,000,000,000 ~ +2,000,000,000). Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SET_COMPARE is 0A 70. The Sub_function code of RSM_MACRO_SET_COMPARE is 0C 70. MODBUS example: RSM_SET_COMPARE (hRsm, SlaveAddr, AXIS_U, 0, 1, 5000); //Set the comparison function for U-Axis. //Set the compared source to be EP; and the COMP+ value to 5000.
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The MODBUS command is listed as follows: Register[] 0 1 2 3 4 5 UID (hex) 01 Value (hex) 0A 70/0C 70 00 08 00 00 00 01 00 00 13 88 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code Axis (8
AXIS_U)
nSELECT nTYPE
Word Count (hex) 00 06
MSW of data LSW of data (5000 = 0x1388)
Byte Count (hex) 0C
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7.3.7 Get LATCH Value
eRTU RSM_GET_LATCH ( HANDLE hRsm, BYTE SlaveAddr, BYTE
axis,
long * LatchValue)
※
Δ eRTU RSM_MACRO_GET_LATCH ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis) eRTU RSM_GET_LATCH_4_AXIS ( HANDLE hRsm, BYTE SlaveAddr, long * LatchValueX, long * LatchValueY, long * LatchValueZ, long * LatchValueU) Description: This function gets the values from the LATCH register.
Category: MODBUS table, MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis: LatchValue:
LatchValueX LatchValueY LatchValueZ : : :
Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) The pointer points to the memory that stores the value of LATCH. (-2,000,000,000 ~ +2,000,000,000). The pointer points to the memory that stores the value of LATCH. (-2,000,000,000 ~ +2,000,000,000) of x axis. The pointer points to the memory that stores the value of LATCH. (-2,000,000,000 ~ +2,000,000,000) of y axis. The pointer points to the memory that stores the value of LATCH. (-2,000,000,000 ~ +2,000,000,000) of z axis.
LatchValueU :
The pointer points to the memory that stores the value of LATCH. (-2,000,000,000 ~ +2,000,000,000) of u axis. Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
MODBUS example:
Method 1: It can get latched values directly. The latched values are long type values. Therefore, polling the latched values must start at the MSW of each axis’s MSW. STOP status Address Remarks X_LATCH_MSW X_LATCH_LSW Y_LATCH_MSW 62 (0x3E) 63 (0x3F) 64 (0x40) MSW of X_LATCH LSW of X_LATCH MSW of Y_LATCH Y_LATCH_LSW Z_LATCH_MSW Z_LATCH_LSW U_LATCH_MSW 65 (0x41) 66 (0x42) 67 (0x43) 68 (0x44) LSW of Y_LATCH MSW of Z_LATCH LSW of Z_LATCH MSW of U_LATCH U_LATCH_LSW 69 (0x45) LSW of U_LATCH long LATCH_Y; RSM_GET_LATCH (hRsm, 1, AXIS_Y, &LATCH_Y); The MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex) Word Count (hex) 00 02 01 04 00 40 The response via MODBUS may be: UID (hex) FC (hex) 01 04 Byte Count (hex) 04 MSW of Y_LATCH ( Reg_0 ) 00 00
LSW of Y_LATCH
( Reg_1 ) 03 E8 LATCH_Y = Register[0]; LATCH_Y = (long) (((LATCH_Y << 16) & 0xffff0000) | (Register[1] & 0xffff) );
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Method 2: It can be used inside a MP program.
For this case, users do not actually want to get the current latched values. The getting latched values will be executed only when the MP is called. Therefore, latched value.
use
FC = 16
to write this command inside a MP. This kind of usage often has RSM_MACRO_SET_RVAR() followed to save the return Please refer to MP related explanation literature. RSM_MACRO_GET_LATCH (hRsm, 1, AXIS_Y); //Get the latched value which is from Y-axis of card 1.
The MODBUS command is listed as follows: Register[] 0 1 UID (hex) 01 Value (hex) 0C 71 00 02 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
axis Word Count (hex) 00 02 Byte Count (hex) 04
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.3.8 PRESET Data for Synchronous Action Setting
eRTU RSM_SET_PRESET ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, long data)
※
Δ eRTU RSM_MACRO_SET_PRESET ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, long data) Description: This function sets the PRESET value for synchronous action. The synchronous action axis can not be set individually.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters hRsm: COM port handle Description SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis: The number of synchronization motion axis, this axis must be assined as the axis2 parameter of RSM_SYNC_ACTION( ). data: LP: (-2,000,000,000 ~ +2,000,000,000) EP: (-2,000,000,000 ~ +2,000,000,000) P : (-2,000,000,000 ~ +2,000,000,000) V : Please refer to description of RSM_SET_MAX_V. If there are more than two synchronous action axes, please set RSM_SET_MAX_V to be same value. Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SET_PRESET is 0A 72. The Sub_function code of RSM_MACRO_SET_PRESET is 0C 72. MODBUS example: If the SYNC action is set to change velocity, then following statement will change the velocity of AXIS_U to 100 PPS when the condition is true. RSM_SET_PRESET (hRsm, SlaveAddr, AXIS_U, 100);
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
The MODBUS command is listed as follows: Register[] 0 1 2 3 UID (hex) 01 Value (hex) 0A 72/0C 72 00 08 00 00 00 64 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code Axis (8
AXIS_U)
MSW of data LSW of data (100 = 0x64)
Word Count (hex) 00 04 Byte Count (hex) 08
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.3.9 OUT Data Setting
eRTU RSM_SET_OUT ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE
outEdge
, BYTE
PulseWidth
)
※
Δ eRTU RSM_MACRO_SET_OUT ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE
outEdge
, BYTE
PulseWidth
) Description: This function configures the output pulse settings.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: axis: Modbus RTU Slave Address (valid range: 1 to 247) Axis or axes (Please refer to Table 4), currently only support Axes X & Y Output active logic: outEdge: PulseWidth: 0 = low active; 1 = high active Output pulse width 0 = 10 uSec 1 = 20 uSec 2 = 100 uSec 3 = 200 uSec 4 = 1,000 uSec 5 = 2,000 uSec 6 = 10,000 uSec 7 = 20,000 uSec Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_SET_OUT is 0A 73. The Sub_function code of RSM_MACRO_SET_OUT is 0C 73. MODBUS example: If the SYNC action enables the digital OUT function, then following statement can define the waveform of digital output that includes the level and the pulse width.
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RSM_SET_OUT (hRsm, 1, AXIS_U, 1, 0); The MODBUS command is listed as follows: Register[] 0 1 2 3 UID (hex) 01 Value (hex) 0A 73/0C 73 00 08 00 01 00 00 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code Axis (8
AXIS_U)
outEdge PulseWidth
Word Count (hex) 00 04 Byte Count (hex) 08
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7.3.10 Enable Interrupt Functions of i-8094H
eRTU RSM_ENABLE_INT ( HANDLE hRsm, BYTE SlaveAddr)
※
eRTU RSM_MACRO_ENABLE_INT ( HANDLE hRsm, BYTE SlaveAddr) Description: This function enables the interrupt function of the motion chip inside the i-8094H.
Category: MODBUS sub_function; RTC, MP. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_ENABLE_INT is 0A AA. The Sub_function code of RSM_MACRO_ENABLE_INT is 0C AA. MODBUS example: RSM_ENABLE_INT ( hRsm, 1); //Enable the interrupt function for module 1.
The MODBUS command is listed as follows: 0 UID (hex) Register[] 01 Value (hex) Modbus RTU Slave Address (valid range: 1 to 247) 0A AA/0C AA FC (hex) 10 St_Addr. (hex) Word Count (hex) 1F 40 Remarks 00 01
Sub_function code
Byte Count (hex) 02
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7.3.11 Disable Interrupt Functions of i-8094H
eRTU RSM_DISABLE_INT ( HANDLE hRsm, BYTE SlaveAddr)
※
eRTU RSM_MACRO_DISABLE_INT ( HANDLE hRsm, BYTE SlaveAddr) Description: This function disables the interrupt function of the motion chip inside the i-8094H.
Category: MODBUS sub_function; RTC, MP. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_DISABLE_INT is 0A AB. The Sub_function code of RSM_MACRO_DISABLE_INT is 0C AB. MODBUS example: RSM_DISABLE_INT (hRsm, 1); //Disable the interrupt function for module 1.
The MODBUS command is listed as follows: Register[] 0 UID (hex) 01 Value (hex) 0A AB/0C AB FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_function code
Word Count (hex) 00 01 Byte Count (hex) 02
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.3.12 Set Interrupt Factor of i-8094H
eRTU RSM_INTFACTOR_ENABLE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE nINT, BYTE isrNo)
※
Δ eRTU RSM_MACRO_INTFACTOR_ENABLE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE nINT, BYTE isrNo) Description: This function sets the condition factor of interrupt of the motion chip.
Category: MODBUS sub_function; RTC, MP, ISR. Parameters: Paramters hRsm: SlaveAddr: Description COM port handle Modbus RTU Slave Address (valid range: 1 to 247) axis: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) nINT: condition factors of interrupt, please refer to the following table
Table 11: Motion chip interrupt factor table
nINT 0 1 2 3 4 5 6 7 Symbol PULSE P>=C- P
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isrNo: ISR1 ~ ISR20 : Specify the number of interrupt service. Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: This function is conflict with RSM_SET_SLMT(2.10). The Sub_function code of RSM_INTFACTOR_ENABLE is 0A AC. The Sub_function code of RSM_MACRO_INTFACTOR_ENABLE is 0C AC. MODBUS example: This function assigns an ISRn to process an interrupt that happens at a specified axis. RSM_INTFACTOR_ENABLE (hRsm, 1, AXIS_X, 4, ISR1); //When the position counter of x axis exceeds C+, then call ISR1. The MODBUS command is listed as follows: UID (hex) Register[] 01 Value (hex) FC (hex) 10 St_Addr. (hex) 1F 40 Remarks Word Count (hex) 00 04 0 1 2 3 0A AC/0C AC 00 01 00 04 00 01
Sub_function code axis (1
AXIS_X)
nINT isrNo (ISR1 = 1)
Byte Count (hex) 08
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Related example: //Example1: Using call the ISR to set multi-group compare.
RSM_SET_MAX_V(hRsm, SlaveAddr, AXIS_XYZU, 5000); // Set the maximum speed of xyzu axes on module 1 to 5K PPS. RSM_NORMAL_SPEED(hRsm, SlaveAddr, AXIS_XYZU, 0); // set the speed profile for xyzu axes as symmetric T-curve. RSM_SET_V(hRsm, SlaveAddr, AXIS_XYZU, 2000); // set the speed of xyzu axes on module 1 to 2000 PPS. RSM_SET_A(hRsm, SlaveAddr, AXIS_XYZU, 100000); // set the acceleration value of xyzu axes to 100K PPS/S.
RSM_SET_SV(hRsm, SlaveAddr, AXIS_XYZU, 100); // set the start velocity of xyzu axes to 100 PPS. RSM_SET_COMPARE(hRsm, SlaveAddr, AXIS_X, 0, 0, 2000); //Set the value of COMP+ is 2000, source reference the LP of x axis. RSM_INTFACTOR_ENABLE (hRsm, 1, AXIS_X, 4, ISR1); //When the LP value of x axis exceeds C+(2000), then call ISR1.
RSM_ENABLE_INT (hRsm, 1); //Enable interrupt RSM_FIXED_MOVE(hRsm, SlaveAddr, AXIS_X, 16000); // move 16K Pulses for x axis on module 1 ISR1: RSM_MP_ISR_CREATE(hRsm, SlaveAddr, ISR1); //Create ISR1 RSM_MACRO_SET_COMPARE(hRsm, SlaveAddr, AXIS_X, 0, 0, 4000); //Set the value of COMP+ is 4000, source reference the LP of x axis.
RSM_MACRO_INTFACTOR_ENABLE (hRsm, 1, AXIS_X, 4, ISR2);
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//When the LP value of x axis exceeds C+(4000), then call ISR2.
RSM_MACRO_FIXED_MOVE(hRsm, SlaveAddr, AXIS_Y, 1000); // move 1000 Pulses for y axis on module 1 RSM_MACRO_MP_ISR_CLOSE(hRsm, SlaveAddr); // End ISR1 ISR2: RSM_MP_ISR_CREATE(hRsm, SlaveAddr, ISR2); //Create ISR2 RSM_MACRO_SET_COMPARE(hRsm, SlaveAddr, AXIS_X, 0, 0, 6000); //Set the value of COMP+ is 6000, source reference the LP of x axis.
RSM_MACRO_INTFACTOR_ENABLE (hRsm, 1, AXIS_X, 4, ISR3); //When the LP value of x axis exceeds C+(6000), then call ISR3.
RSM_MACRO_FIXED_MOVE(hRsm, SlaveAddr, AXIS_Z, 1000); // move 1000 Pulses for z axis on module 1 RSM_MACRO_MP_ISR_CLOSE(hRsm, SlaveAddr); // End ISR2 ISR3: RSM_MP_ISR_CREATE(hRsm, SlaveAddr, ISR3); //Create ISR3 RSM_MACRO_FIXED_MOVE(hRsm, SlaveAddr, AXIS_U, 1000); // move 1000 Pulses for u axis on module 1 RSM_MACRO_MP_ISR_CLOSE(hRsm, SlaveAddr); // End ISR3
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7.3.13 Clear Interrupt Factor of i-8094H
eRTU RSM_INTFACTOR_DISABLE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE nINT)
※
Δ eRTU RSM_MACRO_INTFACTOR_DISABLE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE nINT) Description: This function disables the condition factor interrupt of the motion chip.
Category: MODBUS sub_function; RTC, MP, ISR. Parameters: Paramters hRsm: SlaveAddr: Description COM port handle Modbus RTU Slave Address (valid range: 1 to 247) axis: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) nINT: condition factors of interrupt, please refer to the following table Number 0 Symbol PULSE Description Interupt occurs when pulse is up 1 2 3 4 P>=C- P
Interrupt occurs when the value of logical / real position counter is smaller than that of COMP- register Interrupt occurs when the value of logical / real position counter is smaller than that of COMP+ register.
Interrupt occurs when the value of logical / real position counter is larger than or equal to that of COMP+ register.
5 6 C-END C-STA 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 7 D-END 10 DISABLE ALL Disable all the trigger conditions interrupt factor Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
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Remark: The Sub_function code of RSM_INTFACTOR_DISABLE is 0A AD. The Sub_function code of RSM_MACRO_INTFACTOR_DISABLE is 0C AD. MODBUS example: RSM_INTFACTOR_DISABLE (hRsm, 1, AXIS_XYZU, 4); // Disable the interrupt factors of Module 1 // 4 : Interrupt occurs when the value of logic / real position counter // is larger than or equal to that of COMP+ register.
The MODBUS command is listed as follows: UID (hex) Register[] 0 1 01 Value (hex) 0A AD/0C AD 00 0F FC (hex) 10 St_Addr. (hex)
Sub_function code axis (0xF
AXIS_XYZU) Word Count (hex) 1F 40 Remarks 00 03 2 00 04
nINT
Related example: RSM_INTFACTOR_DISABLE(hRsm, 1, AXIS_XYZU, 1); Byte Count (hex) 06 RSM_INTFACTOR_DISABLE(hRsm, 1, AXIS_XYZU, 2); RSM_INTFACTOR_DISABLE(hRsm, 1, AXIS_XYZU, 3); RSM_INTFACTOR_DISABLE(hRsm, 1, AXIS_XYZU, 4); // Disable the interrupt factors of Module 1
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7.4
7.4.1
Continuous Interpolation
2-Axis Rectangular Motion
eRTU RSM_RECTANGLE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis1, BYTE axis2, BYTE nAcc, BYTE Sp, BYTE nDir, long Lp, long Wp, long Rp, DWORD RSV, DWORD RV, DWORD RA, DWORD RD)
※
eRTU RSM_MACRO_RECTANGLE ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis1, BYTE axis2, BYTE nAcc, BYTE Sp, BYTE nDir, long Lp, long Wp, long Rp, DWORD RSV, DWORD RV, DWORD RA, DWORD RD) Description: Continuous interpolation will be performed to create a rectangular motion, which is formed by 4 lines and 4 arcs. The length of each side can be changed. The radius of each arc is of the same value and it can also be changed. The deceleration point will be calculated automatically. This is a command that appears in various motion applications. Category: MODBUS sub_function; RTC and MP. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis1: axis2: nAcc: Sp: nDir: Lp: The first axis (axis 1). Please refer to Table 4. The axis can be either X, Y, Z or U (1 or 2 or 4 or 8). The second axis (axis 2). Please refer to Table 4. The axis can be either X, Y, Z or U (1 or 2 or 4 or 8). 0
constant vector speed interpolation mode 1
symmetric T-curve Acc/Dec interpolation mod Start point 0 ~ 7. (Sp0 ~ Sp7 are defined in the following. Direction of movement 0: CCW; 1: CW Length in Pulses (1 ~ 2,000,000,00) Wp: Width in Pulses (1 ~ 2,000,000,00) Rp: Radius of each in pulses (1 ~ 2,000,000,00) RSV: Starting speed (in PPS) RV: Vector speed (in PPS) RA: Acceleration (PPS/sec) RD: Deceleration of the last segment (in PPS/sec)
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Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Use the RSM_GET_ERROR_CODE() function to identify the error. Remark: The Sub_function code of RSM_RECTANGLE is 0A 78. The Sub_function code of RSM_MACRO_RECTANGLE is 0C 78. MODBUS example: RSM_RECTANGLE (hRsm, 1, AXIS_X, AXIS_Y, 1, 0, 0, 20000, 10000, 1000, 1000, 10000, 5000, 5000); //execute a rectangular motion on XY plane, will auto-calculate //deceleration point. The MODBUS command is listed as follows: UID (hex) Register[] 0 1 2 3 4 5 01 Value (hex) 0A 78/0C 78 00 01 00 02 00 01 00 00 00 00 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_funciton code axis1 (1
AXIS_X) axis2 (2
AXIS_Y) nAcc (velocity profile)
Word Count (hex) 00 14 Byte Count (hex) 28
Sp (choose the start point from 0~7 ) nDir (set the direction to be CCW)
6 7 8 9 10 11 12 00 00 4E 20 00 00 27 10 00 00 03 E8 00 00
MSW of Lp (length of the rectangle) LSW of Lp (20000 = 0x4E20) MSW of Wp (width of the rectangle) LSW of Wp (10000 = 0x2710) MSW of Rp (set the corner radius value) LSW of Rp (1000 = 0x3E8) MSW of RSV (define start velocity)
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13 14 15 16 17 18 19 03 E8 00 00 27 10 00 00 13 88 00 00 13 88
LSW of RSV (1000 = 0x3E8) MSW of RV (define velocity) LSW of RV (10000 = 0x2710) MSW of RA (define acc value) LSW of RA (5000 = 1388) MSW of RD (define dec value) LSW of RD (5000 = 1388)
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7.4.2 Set the Speed of 2-Axis Continuous Linear Interpolation
eRTU RSM_LINE_2D_INITIAL ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis1, BYTE axis2, DWORD VSV , DWORD VV , DWORD VA)
※
eRTU RSM_MACRO_LINE_2D_INITIAL ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis1, BYTE axis2, DWORD VSV , DWORD VV , DWORD VA) Description: This function sets the necessary parameters for a 2-axis continuous linear interpolation using symmetric T-curve speed profile.
Category: MODBUS sub_function; RTC and MP. Parameters: Paramters hRsm: COM port handle Description SlaveAddr: axis1: axis2: Modbus RTU Slave Address (valid range: 1 to 247) The first axis (axis 1). Please refer to Table 4. The axis can be either X, Y, Z or U (1 or 2 or 4 or 8). The second axis (axis 2). Please refer to Table 4. The axis can be either X, Y, Z or U (1 or 2 or 4 or 8). Starting speed (in PPS) VSV: VV: Vector speed (in PPS) VA: Vector acceleration (PPS/sec) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Use the RSM_GET_ERROR_CODE() function to identify the error. Remark: The Sub_function code of RSM_LINE_2D_INITIAL is 0A 7C. The Sub_function code of RSM_MACRO_LINE_2D_INITIAL is 0C 7C.
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MODBUS example: RSM_LINE_2D_INITIAL (hRsm, 1, AXIS_X, AXIS_Y, 300, 18000, 500000); //This function should be defined before the RSM_LINE_2D_CONTINUE() //function is used. Please refer to the example of this function. The MODBUS command is listed as follows: Register[] 0 1 2 3 4 5 6 7 8 UID (hex) 01 Value (hex) 0A 7C/0C 7C 00 01 00 02 00 00 01 2C 00 00 46 50 00 07 A1 20 FC (hex) 10
MSW of VV
St_Addr. (hex) 1F 40 Remarks
Sub_funciton code axis1 (1
AXIS_X) axis2 (2
AXIS_Y) MSW of VSV
Word Count (hex) 00 09
LSW of VSV (300 = 0x12C) LSW of VV (18000 = 0x4650) MSW of VA LSW of VA (500000 = 0x0007A120)
Byte Count (hex) 12
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7.4.3 Execute a 2-Axis Continuous Linear Interpolation (Relative Distance)
eRTU RSM_LINE_2D_CONTINUE ( HANDLE hRsm, BYTE SlaveAddr, BYTE nType, long fp1, long fp2)
※
eRTU RSM_MACRO_LINE_2D_CONTINUE ( HANDLE hRsm, BYTE SlaveAddr, BYTE nType, long fp1, long fp2) Description: This function executes a 2-axis continuous linear interpolation. Category: MODBUS sub_function; RTC and MP. Parameters: Paramters hRsm: COM port handle Description SlaveAddr: nType: fp1: fp2: Modbus RTU Slave Address (valid range: 1 to 247) 0
2-axis linear continuous interpolation 1
end of 2-axis linear continuous interpolation The assigned number of pulses for the axis 1 (in Pulses) (-2,000,000,000 ~ +2,000,000,000) The assigned number of pulses for the axis 2 (in Pulses) (-2,000,000,000 ~ +2,000,000,000) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Use the RSM_GET_ERROR_CODE() function to identify the error. Remark: The Sub_function code of RSM_LINE_2D_CONTINUE is 0A 7E. The Sub_function code of RSM_MACRO_LINE_2D_CONTINUE is 0C 7E. MODBUS example: RSM_LINE_2D_CONTINUE (hRsm, 1, 0, 100, 100); //execute X, Y 2-axis linear continuous interpolation on module 1
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The MODBUS command is listed as follows: UID (hex) Register[] 0 01 Value (hex) 0A 7E/0C 7E FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_funciton code
Word Count (hex) 00 06 1 2 3 4 5 00 00 00 00 00 64 00 00 00 64
nType MSW of fp1 LSW of fp1 (100 = 0x64) MSW of fp2 LSW of fp2
Byte Count (hex) 0C Related example: BYTE SlaveAddr=1; unsigned short sv=300; //Set the vector start velocity is 300 PPS
。
unsigned short v=18000; //Set the vector velocity is 18000 PPS
。
unsigned long a=500000; //Set the vector acceleration is 500K PPS/s
。
unsigned short loop1; RSM_SET_MAX_V(hRsm, SlaveAddr, AXIS_XYZU, 160000L); // Set the maximum speed of xyzu axes on module 1 to 160K PPS.
RSM_LINE_2D_INITIAL(hRsm, SlaveAddr, AXIS_X, AXIS_Y, sv, v, a); for (loop1 = 0; loop1 < 10000; loop1++) { RSM_LINE_2D_CONTINUE (hRsm, SlaveAddr, 0, 100, 100); RSM_LINE_2D_CONTINUE (hRsm, SlaveAddr, 0, -100, -100); } //execute X, Y 2-axis linear continuous interpolation on module 1 RSM_LINE_2D_CONTINUE (hRsm, SlaveAddr, 1, 100, 100); //end X, Y 2-axis linear continuous interpolation on module 1
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7.4.4 Execute a 2-Axis Continuous Linear Interpolation (Absoult Position)
eRTU RSM_ABS_LINE_2D_CONTINUE ( HANDLE hRsm, BYTE SlaveAddr, BYTE nType, long fp1, long fp2)
※
eRTU RSM_ABS_MACRO_LINE_2D_CONTINUE ( HANDLE hRsm, BYTE SlaveAddr, BYTE nType, long fp1, long fp2) Description: This function executes a 2-axis continuous linear interpolation motion to the specified target position. Category: MODBUS sub_function; RTC and MP. Parameters: Paramters hRsm: COM port handle Description SlaveAddr: nType: fp1: fp2: Modbus RTU Slave Address (valid range: 1 to 247) 0
2-axis linear continuous interpolation 1
end of 2-axis linear continuous interpolation Absolute position of axis 1 (in Pulses) (-2,000,000,000 ~ +2,000,000,000) Absolute position of axis 2 (in Pulses) (-2,000,000,000 ~ +2,000,000,000) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Use the RSM_GET_ERROR_CODE() function to identify the error. Remark: The Sub_function code of RSM_ABS_LINE_2D_CONTINUE is 0x0AFB. is The Sub_function code of RSM_ABS_MACRO_LINE_2D_CONTINUE 0x0CFB. MODBUS example: RSM_ABS_LINE_2D_CONTINUE (hRsm, 1, 0, 100, 100); //execute X, Y 2-axis linear continuous interpolation on module 1
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The MODBUS command is listed as follows: UID (hex) Register[] 0 01 Value (hex) 0A FB/0C FB FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_funciton code
Word Count (hex) 00 06 1 2 3 4 5 00 00 00 00 00 64 00 00 00 64
nType MSW of fp1 LSW of fp1 (100 = 0x64) MSW of fp2 LSW of fp2
Byte Count (hex) 0C Related example: BYTE SlaveAddr=1; unsigned short sv=300; //Set the vector start velocity is 300 PPS
。
unsigned short v=18000; //Set the vector velocity is 18000 PPS
。
unsigned long a=500000; //Set the vector acceleration is 500K PPS/s
。
unsigned short loop1; RSM_SET_MAX_V(hRsm, SlaveAddr, AXIS_XYZU, 160000L); // Set the maximum speed of xyzu axes on module 1 to 160K PPS.
RSM_LINE_2D_INITIAL(hRsm, SlaveAddr, AXIS_X, AXIS_Y, sv, v, a); for (loop1 = 0; loop1 < 10000; loop1++) { RSM_ABS_LINE_2D_CONTINUE (hRsm, SlaveAddr, 0, 100, 100); RSM_ABS_LINE_2D_CONTINUE (hRsm, SlaveAddr, 0, -100, -100); } //execute X, Y 2-axis linear continuous interpolation on module 1 RSM_ABS_LINE_2D_CONTINUE (hRsm, SlaveAddr, 1, 100, 100); //end X, Y 2-axis linear continuous interpolation on module 1
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7.4.5 Set the Speed of 3-Axis Continuous Linear Interpolation
eRTU RSM_LINE_3D_INITIAL ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis1, BYTE axis2, BYTE axis3, DWORD VSV , DWORD VV , DWORD VA)
※
eRTU RSM_MACRO_LINE_3D_INITIAL ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis1, BYTE axis2, BYTE axis3, DWORD VSV , DWORD VV , DWORD VA) Description: This function sets the necessary parameters for a 3-axis continuous linear interpolation using symmetric T-curve speed profile.
Category: MODBUS sub_function; RTC and MP. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis1: axis2: axis3: The first axis (axis 1). Please refer to Table 4. The axis can be either X, Y, Z or U (1 or 2 or 4 or 8). The second axis (axis 2). Please refer to Table 4. The axis can be either X, Y, Z or U (1 or 2 or 4 or 8). The third axis (axis 3). Please refer to Table 4. The axis can be either X, Y, Z or U (1 or 2 or 4 or 8). Starting speed (in PPS) VSV: VV: Vector speed (in PPS) VA: Vector acceleration (PPS/sec) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_LINE_3D_INITIAL is 0A 7F. The Sub_function code of RSM_MACRO_LINE_3D_INITIAL is 0C 7F. MODBUS example: RSM_LINE_3D_INITIAL (hRsm, 1, AXIS_X, AXIS_Y, AXIS_Z, 300, 18000, 500000); //This function should be defined before the RSM_LINE_3D_CONTINUE() //function is used. Please refer to the example of this function.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
The MODBUS command is listed as follows: Register[] 0 1 2 3 UID (hex) 01 Value (hex) 0A 7F/0C 7F 00 01 00 02 00 04 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_funciton code axis1 (1
AXIS_X) axis2 (2
AXIS_Y) axis3 (4
AXIS_Z)
Word Count (hex) 00 0A 4 5 6 7 8 9 00 00 01 2C 00 00 46 50 00 07 A1 20
MSW of VSV LSW of VSV (300 = 0x12C) MSW of VV LSW of VV MSW of VA (18000 = 0x4650) LSW of VA (500000 = 0x7A120)
Byte Count (hex) 14
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7.4.6 Execute a 3-Axis Continuous Linear Interpolation (Relative Distance)
eRTU RSM_LINE_3D_CONTINUE ( HANDLE hRsm, BYTE SlaveAddr, BYTE nType, long fp1, long fp2, long fp3)
※
eRTU RSM_MACRO_LINE_3D_CONTINUE ( HANDLE hRsm, BYTE SlaveAddr, BYTE nType, long fp1, long fp2, long fp3) Description: This function executes a 3-axis continuous linear interpolation. Category: MODBUS sub_function; RTC and MP. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: nType: fp1: fp2: fp3: Modbus RTU Slave Address (valid range: 1 to 247) 0
3-axis linear continuous interpolation 1
end of 3-axis linear continuous interpolation The assigned number of pulses for the axis 1 (in Pulses) (-2,000,000,000 ~ +2,000,000,000) The assigned number of pulses for the axis 2 (in Pulses) (-2,000,000,000 ~ +2,000,000,000) The assigned number of pulses for the axis 3 (in Pulses) (-2,000,000,000 ~ +2,000,000,000) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Use the RSM_GET_ERROR_CODE() function to identify the error. Remark: The Sub_function code of RSM_LINE_3D_CONTINUE is 0A 81. The Sub_function code of RSM_MACRO_LINE_3D_CONTINUE is 0C 81. MODBUS example: RSM_LINE_3D_CONTINUE (hRsm, 1, 0, 100, 100, 100); //execute X, Y, Z 3-axis linear continuous interpolation on module 1
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The MODBUS command is listed as follows: UID (hex) Register[] 0 01 Value (hex) 0A 81/0C 81 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_funciton code
Word Count (hex) 00 08 1 2 3 00 00 00 00 00 64
nType MSW of fp1 LSW of fp1 (100 = 0x64)
Byte Count (hex) 10 4 5 6 7 00 00 00 64 00 00 00 64
MSW of fp2 LSW of fp2 MSW of fp3 LSW of fp3
Related example: BYTE SlaveAddr=1; unsigned short sv=300; //Set the vector start velocity is 300 PPS
。
unsigned short v=18000; //Set the vector velocity is 18000 PPS
。
unsigned long a=500000; //Set the vector acceleration is 500K PPS/s
。
unsigned short loop1; RSM_SET_MAX_V(hRsm, SlaveAddr, AXIS_XYZU, 160000L); // Set the maximum speed of xyzu axes on module 1 to 160K PPS.
RSM_LINE_3D_INITIAL(hRsm, SlaveAddr, AXIS_X, AXIS_Y, AXIS_Z, sv, v, a); for (loop1 = 0; loop1 < 10000; loop1++) { RSM_LINE_3D_CONTINUE(hRsm, SlaveAddr, 0, 100, 100, 100); RSM_LINE_3D_CONTINUE(hRsm, SlaveAddr, 0, -100, -100, -100); } //execute X, Y, Z 3-axis linear continuous interpolation on module 1 RSM_LINE_3D_CONTINUE (hRsm, 1, 0, 100, 100, 100); //end X, Y, Z 3-axis linear continuous interpolation on module 1
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.4.7 Execute a 3-Axis Continuous Linear Interpolation (Absoult Position)
eRTU RSM_ABS_LINE_3D_CONTINUE ( HANDLE hRsm, BYTE SlaveAddr, BYTE nType, long fp1, long fp2, long fp3)
※
eRTU RSM_ABS_MACRO_LINE_3D_CONTINUE ( HANDLE hRsm, BYTE SlaveAddr, BYTE nType, long fp1, long fp2, long fp3) Description: This function executes a 3-axis continuous linear interpolation to the absolute position specified. Category: MODBUS sub_function; RTC and MP. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: nType: fp1: fp2: fp3: Modbus RTU Slave Address (valid range: 1 to 247) 0
3-axis linear continuous interpolation 1
end of 3-axis linear continuous interpolation The absolute position of axis 1 (in Pulses) (-2,000,000,000 ~ +2,000,000,000) The absolute position of axis 2 (in Pulses) (-2,000,000,000 ~ +2,000,000,000) The absolute position of axis 3 (in Pulses) (-2,000,000,000 ~ +2,000,000,000) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Use the RSM_GET_ERROR_CODE() function to identify the error. Remark: The Sub_function code of RSM_ABS_LINE_3D_CONTINUE is 0x0AFC. The Sub_function code of RSM_ABS_MACRO_LINE_3D_CONTINUE is 0x0CFC. MODBUS example: RSM_ABS_LINE_3D_CONTINUE (hRsm, 1, 0, 100, 100, 100); //execute X, Y, Z 3-axis linear continuous interpolation on module 1
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
The MODBUS command is listed as follows: UID (hex) Register[] 0 01 Value (hex) 0A FC/0C FC FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_funciton code
Word Count (hex) 00 08 1 2 3 00 00 00 00 00 64
nType MSW of fp1 LSW of fp1 (100 = 0x64)
Byte Count (hex) 10 4 5 6 7 00 00 00 64 00 00 00 64
MSW of fp2 LSW of fp2 MSW of fp3 LSW of fp3
100); Related example: BYTE SlaveAddr=1; unsigned short sv=300; //Set the vector start velocity is 300 PPS
。
unsigned short v=18000; //Set the vector velocity is 18000 PPS
。
unsigned long a=500000; //Set the vector acceleration is 500K PPS/s
。
unsigned short loop1; RSM_SET_MAX_V(hRsm, SlaveAddr, AXIS_XYZU, 160000L); // Set the maximum speed of xyzu axes on module 1 to 160K PPS.
RSM_LINE_3D_INITIAL(hRsm, SlaveAddr, AXIS_X, AXIS_Y, AXIS_Z, sv, v, a); for (loop1 = 0; loop1 < 10000; loop1++) { RSM_ABS_LINE_3D_CONTINUE(hRsm, SlaveAddr, 0, 100, 100, 100); RSM_ABS _LINE_3D_CONTINUE(hRsm, SlaveAddr, 0, -100, -100, } //execute X, Y, Z 3-axis linear continuous interpolation on module 1 RSM_LINE_3D_CONTINUE (hRsm, 1, 0, 100, 100, 100); //end X, Y, Z 3-axis linear continuous interpolation on module 1
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.4.8 Set the Speed of Mixed 2-axis motions in Continuous Interpolation
eRTU RSM_MIX_2D_INITIAL ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis1, BYTE axis2, BYTE nAcc, DWORD VSV , DWORD VV , DWORD VA)
※
eRTU RSM_MACRO_MIX_2D_INITIAL ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis1, BYTE axis2, BYTE nAcc, DWORD VSV , DWORD VV , DWORD VA) Description: This function does the initial settings for mixed linear and circular 2-axis motions in continuous interpolation.
Category: MODBUS sub_function; RTC and MP. Parameters: Paramters hRsm: SlaveAddr: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247) axis1: axis2: nAcc: The first axis (axis 1). Please refer to Table 4. The axis can be either X, Y, Z or U (1 or 2 or 4 or 8). The second axis (axis 2). Please refer to Table 4. The axis can be either X, Y, Z or U (1 or 2 or 4 or 8). 0
constant speed (VV) 1
symmetric T-curve Acc/Dec (VSV
、
VV
、
VA ) VSV: Starting speed (in PPS) VV: Vector speed (in PPS) VA: Vector acceleration (PPS/Sec) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_MIX_2D_INITIAL is 0A 82. The Sub_function code of RSM_MACRO_MIX_2D_INITIAL is 0C 82. MODBUS example: RSM_MIX_2D_INITIAL (hRsm, 1, 1, 2, 0, 300, 18000, 500000) ; //This function should be defined before the RSM_MIX_2D_CONTINUE() //function is used. Please refer to the example of this function.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
The MODBUS command is listed as follows: Register[] 0 1 2 3 UID (hex) 01 Value (hex) 0A 82/0C B2 00 01 00 02 00 00 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_funciton code axis1 (1
AXIS_X) axis2 (2
AXIS_Y)
nAcc
Word Count (hex) 00 0A 4 5 6 7 8 9 00 00 01 2C 00 00 46 50 00 07 A1 20
MSW of VSV LSW of VSV (300 = 0x12C) MSW of VV LSW of VV MSW of VA (18000 = 0x4650) LSW of VA (500000 = 0x7A120)
Byte Count (hex) 14
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.4.9 Execute a Mixed 2-axis motions in Continuous Interpolation (Relative Distance)
eRTU RSM_MIX_2D_CONTINUE ( HANDLE hRsm, BYTE SlaveAddr, BYTE nAcc, BYTE nType, long cp1, long cp2, long fp1, long fp2)
※
eRTU RSM_MACRO_MIX_2D_CONTINUE ( HANDLE hRsm, BYTE SlaveAddr, BYTE nAcc, BYTE nType, long cp1, long cp2, long fp1, long fp2) Description: This function executes mixed linear and circular 2-axis motion in continuous interpolation. Category: MODBUS sub_function; RTC and MP. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: nAcc: nType: cp1: cp2: fp1: fp2: Modbus RTU Slave Address (valid range: 1 to 247) 0
continuous interpolation. 1
it is the last command of this continuous interpolation. In Acc/Dec mode, it will perform a deceleration stop. In constant speed mode, it will directly stop rather than decelerate. 1
RSM_LINE_2D( BYTE SlaveAddr, long fp1, long fp2) 2
RSM_ARC_CW( BYTE SlaveAddr, long cp1, long cp2, long fp1, long fp2) 3
RSM_ARC_CCW( BYTE SlaveAddr, long cp1, long cp2, long fp1, long fp2) 4
RSM_CIRCLE_CW( BYTE SlaveAddr, long cp1, long cp2) 5
RSM_CIRCLE_CCW( BYTE SlaveAddr, long cp1, long cp2) It assigns the center point data at axis 1 (-2,000,000,000 ~ +2,000,000,000) It assigns the center point data at axis 2 (-2,000,000,000 ~ +2,000,000,000) It assigned number of pulses for axis 1 (-2,000,000,000 ~ +2,000,000,000) It assigned number of pulses for axis 2 (-2,000,000,000 ~ +2,000,000,000)
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Use the RSM_GET_ERROR_CODE() function to identify the error. Remark: The Sub_function code of RSM_MIX_2D_CONTINUE is 0A 84. The Sub_function code of RSM_MACRO_MIX_2D_CONTINUE is 0C 84. MODBUS example: RSM_MIX_2D_CONTINUE (hRsm, 1, 0, 1, 0, 0, 100, 100); //execute X, Y, 2-axis motions in continuous interpolation on module 1 The MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex) 01 10 1F 40 Word Count (hex) 00 0B Byte Count (hex) 16 Register[] 0 1 2 3 Value (hex) 0A 84/0C 84 00 00 00 01 00 00
Sub_funciton code nAcc
nType
MSW of cp1
Remarks 4 5 6 7 8 9 10 00 00 00 00 00 00 00 00 00 64 00 00 00 64
LSW of cp1 (for linear motion, set 0) MSW of cp2 LSW of cp2 (for linear motion, set 0) MSW of fp1 LSW of fp1 (100 = 0x64) MSW of fp2 LSW of fp2 (100 = 0x64)
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.4.10 Execute a Mixed 2-axis motions in Continuous Interpolation (Absoult Position)
eRTU RSM_ABS_MIX_2D_CONTINUE ( HANDLE hRsm, BYTE SlaveAddr, BYTE nAcc, BYTE nType, long cp1, long cp2, long fp1, long fp2)
※
eRTU RSM_ABS_MACRO_MIX_2D_CONTINUE ( HANDLE hRsm, BYTE SlaveAddr, BYTE nAcc, BYTE nType, long cp1, long cp2, long fp1, long fp2) Description: This function executes mixed linear and circular 2-axis absolute position continuous interpolation motion. Category: MODBUS sub_function; RTC and MP. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: nAcc: nType: cp1: cp2: fp1: fp2: Modbus RTU Slave Address (valid range: 1 to 247) 0
continuous interpolation. 1
it is the last command of this continuous interpolation. In Acc/Dec mode, it will perform a deceleration stop. In constant speed mode, it will directly stop rather than decelerate. 1
RSM_ABS_LINE_2D( BYTE SlaveAddr, long fp1, long fp2) 2
RSM_ABS_ARC_CW( BYTE SlaveAddr, long cp1, long cp2, long fp1, long fp2) 3
RSM_ABS_ARC_CCW( BYTE SlaveAddr, long cp1, long cp2, long fp1, long fp2) 4
RSM_ABS_CIRCLE_CW( BYTE SlaveAddr, long cp1, long cp2) 5
RSM_ABS_CIRCLE_CCW( BYTE SlaveAddr, long cp1, long cp2) the absolute center position of axis 1 (-2,000,000,000 ~ +2,000,000,000) the absolute center position of axis 2 (-2,000,000,000 ~ +2,000,000,000) The absolute end position of axis 1 (-2,000,000,000 ~ +2,000,000,000) The absolute end position of axis 2 (-2,000,000,000 ~ +2,000,000,000)
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Use the RSM_GET_ERROR_CODE() function to identify the error. Remark: The Sub_function code of RSM_ABS_MIX_2D_CONTINUE is 0x0AFD. The Sub_function code of RSM_ABS_MACRO_MIX_2D_CONTINUE is 0x0CFD. MODBUS example: RSM_ABS_MIX_2D_CONTINUE (hRsm, 1, 0, 1, 0, 0, 100, 100); //execute X, Y, 2-axis motions in continuous interpolation on module 1 The MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex) 01 10 1F 40 Word Count (hex) 00 0B Byte Count (hex) 16 Register[] 0 1 2 3 Value (hex) 0A FD/0C FD 00 00 00 01 00 00
Sub_funciton code nAcc
nType
MSW of cp1
Remarks 4 5 6 7 8 9 10 00 00 00 00 00 00 00 00 00 64 00 00 00 64
LSW of cp1 (for linear motion, set 0) MSW of cp2 LSW of cp2 (for linear motion, set 0) MSW of fp1 LSW of fp1 (100 = 0x64) MSW of fp2 LSW of fp2 (100 = 0x64)
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.4.11 3-Axis Helical Motion
eRTU RSM_HELIX_3D ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis1, BYTE axis2, BYTE axis3, BYTE nDir, DWORD VV , long cp1, long cp2, long cycle, long pitch)
※
eRTU RSM_MACRO_HELIX_3D ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis1, BYTE axis2, BYTE axis3, BYTE nDir, DWORD VV , long cp1, long cp2, long cycle, long pitch) Description: This function performs a 3-axis helical motion. However, it is a software macro-function; therefore, it requires CPU resources to run this function. Category: MODBUS sub_function; RTC and MP. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis1: axis2: axis3: nDir: The first axis (axis 1). Please refer to Table 4. The axis can be either X, Y, Z or U (1 or 2 or 4 or 8). The second axis (axis 2). Please refer to Table 4. The axis can be either X, Y, Z or U (1 or 2 or 4 or 8). The third axis (axis 3). Please refer to Table 4. The axis can be either X, Y, Z or U (1 or 2 or 4 or 8). 0
Move in a CW direction. 1
Move in a CCW direction. Vector speed (in PPS) VV: cp1: cp2: The value of center at axis 1 (-2,000,000,000 ~ +2,000,000,000) The value of center at axis 2 (-2,000,000,000 ~ +2,000,000,000) Number of cycle (-2,000,000,000 ~ +2,000,000,000) cycle: pitch: Pitch per revolution (the advanced distance for each revolution) (-2,000,000,000 ~ +2,000,000,000) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Use the RSM_GET_ERROR_CODE() function to identify the error. Remark: The Sub_function code of RSM_HELIX_3D is 0A 88. The Sub_function code of RSM_MACRO_HELIX_3D is 0C 88.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
MODBUS example: RSM_HELIX_3D (hRsm, 1, AXIS_Y, AXIS_Z, AXIS_U, 1, 50000, 0, 25000, 50, 3600); //the circular motion is on YZ plane, and the linear motion is along the U axis.
The MODBUS command is listed as follows: 0 1 2 3 4 5 6 UID (hex) Register[] 01 Value (hex) 0A 88/0C 88 00 02 00 04 00 08 00 01 00 00 C3 50 FC (hex) 10
axis1 (2 axis2 (4 axis3 (8
AXIS_U) nDir
St_Addr. (hex) Word Count (hex) 1F 40 Remarks 00 0F
Sub_funciton code AXIS_Y)
AXIS_Z)
MSW of VV LSW of VV
(50000 = 0xC350) Byte Count (hex) 1E 7 8 9 10 11 12 13 14 Related example : 00 00 00 00 00 00 61 A8 00 00 00 32 00 00 0E 10
MSW of cp1 LSW of cp1 (0 = 0x0) MSW of cp2 LSW of cp2 (25000 = 0x61A8) MSW of cycle LSW of cycle (50
0x32) MSW of pitch LSW of pitch (3600
0xE10)
BYTE SlaveAddr=1; //select module 1. //=============================================== RSM_SET_MAX_V(hRsm, SlaveAddr, AXIS_XYZU,160000L); //set maximum speed for all axes to 160K PPS.
long v=50000; //set vector speed to 50K PPS.
RSM_HELIX_3D(hRsm, SlaveAddr, AXIS_Y, AXIS_Z, AXIS_X, 1, v, 0, 1000, 5, -2000); //the circular motion is on YZ plane, and the linear motion is //along the X axis. //=============================================== RSM_SET_MAX_V(hRsm, SlaveAddr, AXIS_XYZU,160000L); //set the maximum speed for all axes to 160K PPS.
long v=100000; //set vector speed to 100K PPS.
RSM_HELIX_3D(hRsm, SlaveAddr, 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.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.4.12 Set Synchronous Line Scan Motion
eRTU RSM_LINE_SCAN ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE Type, BYTE
outEdge
, BYTE
PulseWidth
, long Pitch) Description: Equal distance Line Scan trigger out: Max speed < 100KHz (Pulse Width 10uS). Unequal distance Line Scan trigger out : Max speed < 18KHz.
Category: MODBUS sub_function; RTC. Parameters: Paramters hRsm: SlaveAddr: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247) axis: Type: Axis number: equal distance X or Y (1, 2) unequal distance X (1). 0 = equal distance motion (please refer to C+
，
LP) 1 = unequal distance motion (please refer to C+
，
LP) 2 = equal distance motion (please refer to C+
，
EP) 3 = unequal distance motion (please refer to C+
，
EP) outEdge: PulseWidth: pitch: Output active logic: 0 = low active (0V); 1 = high active (5V) Output pulse width 0 = 10 uSec 1 = 20 uSec 2 = 100 uSec 3 = 200 uSec 4 = 1,000 uSec 5 = 2,000 uSec 6 = 10,000 uSec 7 = 20,000 uSec Specify interval pulses (-2,000,000,000 ~ +2,000,000,000) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: RSM_LINE_SCAN (hRsm, 1, AXIS_X, 0, 0, 0, -39); //Sets the equal distance Line Scan trigger on axis-X. //One trigger will be sent out every 40 (=39+1) pulses.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
The MODBUS command is listed as follows: UID (hex) Register[] 01 Value (hex) FC (hex) 10 St_Addr. (hex) 1F 40 Remarks Word Count (hex) 00 07 0 1 0A 90 00 01
Sub_funciton code axis (1
AXIS_X)
2 3 4 5 6 00 00 00 00 00 00 FF FF FF D9
Type (even distance trigger) outEdge (high level pulse) PulseWidth (0
10 uSec) MSW of Pitch LSW of Pitch (-39 = 0xFFFFFFD9)
Related example: RSM_SET_MAX_V(hRsm, SlaveAddr, AXIS_XY, 4000000); //set the maximum speed of X and Y axes to 4M PPS.
RSM_NORMAL_SPEED(hRsm, SlaveAddr, AXIS_XY, 0); //set the driving mode to be symmetric T-curve.
RSM_SET_V(hRsm, SlaveAddr, AXIS_XY, 2000000); //set the speed of X and Y axes to 2M PPS.
RSM_SET_A(hRsm, SlaveAddr, AXIS_XY, 20000000); //set the acceleration of X and Y axes to 2M PPS/S.
RSM_SET_SV(hRsm, SlaveAddr, AXIS_XY, 2000000); //set the starting speed of X and Y axes to 2M PPS.
RSM_LINE_SCAN(hRsm, SlaveAddr, AXIS_X, 0, 0, 0, -39); //Sets the equal distance Line Scan trigger on axis-X. //One trigger will be sent out every 40 (=39+1) pulses. RSM_LINE_SCAN(hRsm, SlaveAddr, AXIS_Y, 0, 0, 0, -79); //Sets the equal distance Line Scan trigger on axis-Y. //One trigger will be sent out every 80 (=79+1) pulses.
RSM_LINE_SCAN_START(hRsm, SlaveAddr, AXIS_XY, 0, -4000000); //Towards the negative direction move 4000K PPS. Byte Count (hex) 0E
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.4.13 Start Synchronous Line Scan Motion
eRTU RSM_LINE_SCAN_START ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, BYTE Type, long Position) Description: Enable Line Scan trigger out motion. When performing unequal distance motion, please note (there is no restriction for equal distance motion): a. All ISR will be stopped. b. Do not execute the following commands: RSM_READ_bVAR RSM_READ_VAR RSM_GET_LP RSM_GET_EP RSM_GET_CV RSM_GET_CA RSM_GET_DI RSM_GET_ERROR RSM_GET_ERROR_CODE RSM_GET_LATCH RSM_STOP_WAIT RSM_CLEAR_STOP Category: MODBUS sub_function; RTC. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis: Type:
Position
: Axis number: Fixed offset displacement X (1) or Y (2) or XY (3); or unequal offset distance X (1). 0 = equal distance motion (according to LP value) *1 = unequal distance motion (according to LP value) 2 = equal distance motion (according to EP value) *3 = unequal distance motion (according to EP value) * reserve Total pulses, moving distance (-2,000,000,000 ~ +2,000,000,000) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
MODBUS example: RSM_LINE_SCAN_START (hRsm, 1, AXIS_XY, 0, -4000000); //Towards the negative direction move 4000K PPS.
The MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex) Word Count (hex) Register[] 0 1 01 Value (hex) 0A 91 00 03 10 1F 40 Remarks 00 05
Sub_funciton code axis (3
AXIS_XY)
2 3 4 00 00 FF C2 F7 00 Byte Count (hex) 0A
Type MSW of Position LSW of Position (-4000000 = 0xFFC2F700)
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.4.14 Get Synchronous Line Scan Motion Status
eRTU RSM_GET_LINE_SCAN_DONE ( HANDLE hRsm, BYTE SlaveAddr, BYTE * LScanState) Description: After calling RSM_LINE_SCAN_START, the RSM_GET_LINE_SCAN_DONE function will determine if the line scan procedure has finished. The line scan done flag will be reset after calling RSM_LINE_SCAN_START. Category: MODBUS table
；
RTC. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: LScanState: Modbus RTU Slave Address (valid range: 1 to 247) 1: line scan process has been completed 0: no interrupt occurred Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: BYTE bState ; RSM_GET_LINE_SCAN_DONE (hRsm, 1, & bState); MODBUS request: UID (hex) 01 (Slave Address) FC (hex) 04 St_Addr. (hex) 00 49 (73) Word Count (hex) 00 01 MODBUS response: UID (hex) 01 FC (hex) 04 Byte Count(hex) 02 Register(hex) 00 01 line scan operation has ended
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.5
7.5.1
Stop and Hold Functions
Driving Command Hold
eRTU RSM_DRV_HOLD ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis)
※
Δ eRTU RSM_MACRO_DRV_HOLD ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis) Description: This command prevents the next motion command from executing but it does not stop the current running command. The held frozen motion command(s) can be activated again by calling RSM_DRV_START(). The purpose of this command is to support the simultaneous start of multi-axis driving. The user may write other commands after the RSM_DRV_HOLD command is issued. The RSM_DRV_START releases the hold command and start executing the motion commands issued after the hold command. Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters hRsm: SlaveAddr: axis: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247) Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_DRV_HOLD is 0A B4. The Sub_function code of RSM_MACRO_DRV_HOLD is 0C B4. MODBUS example: RSM_DRV_HOLD (hRsm, 1, AXIS_XYU); //hold the driving command to XYU
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
The MODBUS command is listed as follows: UID (hex) Register[] 01 Value (hex) FC (hex) 10 St_Addr. (hex) 1F 40 Remarks Word Count (hex) 00 02 0 1 Related example: 0A B4/0C B4 00 0B
Sub_funciton code axis (B
AXIS_XYU)
BYTE SlaveAddr=1; //select card 1. RSM_DRV_HOLD(hRsm, SlaveAddr, AXIS_XYU); //hold the driving command to XYU RSM_SET_MAX_V(hRsm, SlaveAddr, AXIS_U, 10000); //set the maximum speed of U-axis to be 10K PPS. RSM_NORMAL_SPEED(hRsm, SlaveAddr, AXIS_U, 0); //set the driving mode to be symmetric T-curve.
RSM_SET_V(hRsm, SlaveAddr, AXIS_U, 2000); //set the speed of U-axis to 2,000 PPS.
RSM_SET_A(hRsm, SlaveAddr, AXIS_U,1000); //set the acceleration of U-axis to 1,000 PPS/S.
RSM_SET_SV(hRsm, SlaveAddr, AXIS_U, 2000); //set the starting speed to 2,000 PPS.
RSM_SET_AO(hRsm, SlaveAddr, AXIS_U, 9); // set the AO to 9 Pulses.
RSM_SET_MAX_V(hRsm, SlaveAddr, AXIS_XY, 20000); //set the maximum speed of X and Y axes to 20K PPS.
RSM_AXIS_ASSIGN(hRsm, SlaveAddr, 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.
RSM_VECTOR_SPEED(hRsm, SlaveAddr, 0); //set constant speed motion. Therefore, VSV=VV. Only VV is required.
RSM_SET_VV(hRsm, SlaveAddr, 5000); //set the vector speed for card 1 to 5,000 PPS. RSM_FIXED_MOVE(hRsm, SlaveAddr, AXIS_U, 5000); //command U-axis to move 5,000 Pulse. This command is be held.
RSM_LINE_2D(hRsm, SlaveAddr, 12000, 10000); Byte Count (hex) 04 //command a linear interpolation motion on the XY planes. It is held, too. RSM_DRV_START(hRsm, SlaveAddr, AXIS_XYU); //release the holding status. X,Y , and U axes will start to move // simultaneously.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7.5.2 Release Holding Status and Start Driving
eRTU RSM_DRV_START ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis)
※
Δ eRTU RSM_MACRO_DRV_START ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis) Description: This command releases the holding status, and start the driving of the assigned axes immediately.
Category: MODBUS sub_function; RTC, MP and ISR. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_DRV_START is 0A B5. The Sub_function code of RSM_MACRO_DRV_START is 0C B5. MODBUS example: RSM_DRV_START (hRsm, 1, AXIS_XYU); //release the holding status. X,Y , and U axes will start to move // simultaneously.
The MODBUS command is listed as follows: UID (hex) FC (hex) Register[] 01 Value (hex) 10 St_Addr. (hex) Word Count (hex) 1F 40 Remarks 00 02 0 1 0A B5/0C B5 00 0B
Sub_funciton code axis (B
AXIS_XYU)
Byte Count (hex) 04
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Related example: BYTE SlaveAddr=1; //select card 1. RSM_DRV_HOLD(hRsm, SlaveAddr, AXIS_XYU); //hold the driving command to XYU RSM_SET_MAX_V(hRsm, SlaveAddr, AXIS_U, 10000); //set the maximum speed of U-axis to be 10K PPS. RSM_NORMAL_SPEED(hRsm, SlaveAddr, AXIS_U, 0); //set the driving mode to be symmetric T-curve.
RSM_SET_V(hRsm, SlaveAddr, AXIS_U, 2000); //set the speed of U-axis to 2,000 PPS.
RSM_SET_A(hRsm, SlaveAddr, AXIS_U,1000); //set the acceleration of U-axis to 1,000 PPS/S.
RSM_SET_SV(hRsm, SlaveAddr, AXIS_U, 2000); //set the starting speed to 2,000 PPS.
RSM_SET_AO(hRsm, SlaveAddr, AXIS_U, 9); // set the AO to 9 Pulses.
RSM_SET_MAX_V(hRsm, SlaveAddr, AXIS_XY, 20000); //set the maximum speed of X and Y axes to 20K PPS.
RSM_AXIS_ASSIGN(hRsm, SlaveAddr, 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.
RSM_VECTOR_SPEED(hRsm, SlaveAddr, 0); //set constant speed motion. Therefore, VSV=VV. Only VV is required.
RSM_SET_VV(hRsm, SlaveAddr, 5000); //set the vector speed for card 1 to 5,000 PPS. RSM_FIXED_MOVE(hRsm, SlaveAddr, AXIS_U, 5000); //command U-axis to move 5,000 Pulse. This command is be held.
RSM_LINE_2D(hRsm, SlaveAddr, 12000, 10000); //command a linear interpolation motion on the XY planes. It is held, too. RSM_DRV_START(hRsm, SlaveAddr, AXIS_XYU); //release the holding status. X,Y , and U axes will start to move // simultaneously.
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7.5.3 Decelerate and Finally Stop Axes
eRTU RSM_STOP_SLOWLY ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis)
※
eRTU RSM_MACRO_STOP_SLOWLY ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis) Description: This function commands to decelerate and finally stops the assigned axes slowly.
Category: MODBUS sub_function; RTC, and MP Parameters: Paramters hRsm: SlaveAddr: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247) axis: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_STOP_SLOWLY is 0A B7. The Sub_function code of RSM_MACRO_STOP_SLOWLY is 0C B7. MODBUS example: RSM_STOP_SLOWLY (hRsm, 1, AXIS_XY); //decelerate and stop the X and Y axes The MODBUS command is listed as follows: UID (hex) Register[] 0 1 01 Value (hex) 0A B7/0C B7 00 03 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_funciton code axis (3
AXIS_XY)
Word Count (hex) 00 02 Byte Count (hex) 04
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7.5.4 Immediately Stop Axes
eRTU RSM_STOP_SUDDENLY ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis)
※
eRTU RSM_MACRO_STOP_SUDDENLY ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis) Description: This function commands to immediately stop the assigned axes.
Category: MODBUS sub_function; RTC, and MP Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_STOP_SUDDENLY is 0A B8. The Sub_function code of RSM_MACRO_STOP_SUDDENLY is 0C B8. MODBUS example: RSM_STOP_SUDDENLY (hRsm, 1, AXIS_ZU); //immediately stop the Z and U axes.
The MODBUS command is listed as follows: UID (hex) Register[] 01 Value (hex) FC (hex) 10 St_Addr. (hex) Word Count (hex) 1F 40 Remarks 00 02 0 1 0A B8/0C B8 00 0C
Sub_funciton code axis (C
AXIS_ZU)
Byte Count (hex) 04
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7.5.5 Decelerate and Finally Stop Interpolation Motion
eRTU RSM_VSTOP_SLOWLY ( HANDLE hRsm, BYTE SlaveAddr)
※
eRTU RSM_MACRO_VSTOP_SLOWLY ( HANDLE hRsm, BYTE SlaveAddr) Description: This function commands to stop interpolation motion of the assigned module in a decelerating way.
Category: MODBUS sub_function; RTC, and MP Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_VSTOP_SLOWLY is 0A B9. The Sub_function code of RSM_MACRO_VSTOP_SLOWLY is 0C B9. MODBUS example: RSM_VSTOP_SLOWLY (hRsm, 1); //stop the interpolation of card 1 in a decelerating way.
The MODBUS command is listed as follows: UID (hex) FC (hex) Register[] 01 Value (hex) 10 St_Addr. (hex) Word Count (hex) 1F 40 Remarks 00 01 0 0A B9/0C B9
Sub_funciton code
Byte Count (hex) 02
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7.5.6 Immediately Stop Interpolation Motion
eRTU RSM_VSTOP_SUDDENLY ( HANDLE hRsm, BYTE SlaveAddr)
※
eRTU RSM_MACRO_VSTOP_SUDDENLY ( HANDLE hRsm, BYTE SlaveAddr) Description: This function commands to stop interpolation motion of the assigned module immediately.
Category: MODBUS sub_function; RTC, and MP Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_VSTOP_SUDDENLY is 0A BA. The Sub_function code of RSM_MACRO_VSTOP_SUDDENLY is 0C BA. MODBUS example: RSM_VSTOP_SUDDENLY (hRsm, 1); // stop the interpolation of card 1 immediately.
The MODBUS command is listed as follows: UID (hex) FC (hex) Register[] 01 Value (hex) 10 St_Addr. (hex) Word Count (hex) 1F 40 Remarks 00 01 0 0A BA/0C BA
Sub_funciton code
Byte Count (hex) 02
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7.5.7 Clear Axes Stop Status
eRTU RSM_CLEAR_STOP ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis)
※
eRTU RSM_MACRO_CLEAR_STOP ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis) Description: After using the stop functions “RSM_STOP_SLOWLY” or “RSM_STOP_SUDDENLY”, please solve the malfunction, and then issue this function to clear the stop status.
Category: MODBUS sub_function; RTC, and MP Parameters: Paramters hRsm: SlaveAddr:
axis:
COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247) Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_CLEAR_STOP is 0A BB. The Sub_function code of RSM_MACRO_CLEAR_STOP is 0C BB. MODBUS example: RSM_CLEAR_STOP (hRsm, 1, AXIS_ZU); //clear the error status of zu axes.
The MODBUS command is listed as follows: UID (hex) Register[] 0 1 01 Value (hex) 0A BB/0C BB 00 0C FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_funciton code axis (C
AXIS_ZU)
Word Count (hex) 00 02 Byte Count (hex) 04
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7.5.8 Clear Interpolation Motion Stop Status
eRTU RSM_CLEAR_VSTOP ( HANDLE hRsm, BYTE SlaveAddr)
※
eRTU RSM_MACRO_CLEAR_VSTOP ( HANDLE hRsm, BYTE SlaveAddr) Description: After using the stop functions “RSM_VSTOP_SLOWLY” or “RSM_VSTOP_SUDDENLY”, please solve the malfunction, and then issue this function to clear the stop status.
Category: MODBUS sub_function; RTC, and MP Parameters: Paramters Description hRsm: COM port handle SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_CLEAR_VSTOP is 0A 09. The Sub_function code of RSM_MACRO_CLEAR_VSTOP is 0C 09. MODBUS example: RSM_CLEAR_VSTOP (hRsm, 1); //clear the error status of card 1.
The MODBUS command is listed as follows: 0 UID (hex) Register[] 01 Value (hex) 0A 09/0C 09 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks 00 01
Sub_funciton code
Word Count (hex) Byte Count (hex) 02
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7.5.9 End of Interpolation
eRTU RSM_INTP_END ( HANDLE hRsm, BYTE SlaveAddr, BYTE
type
)
※
eRTU RSM_MACRO_INTP_END ( HANDLE hRsm, BYTE SlaveAddr, BYTE
type
) Description:
If the current motion status is running an interpolation motion and you
would like to issue a single axis motion or change the coordinate definition, you should call this function before the new command is issued.
You can redefine the MAX_V for each axis. In this way, you do not have to execute RSM_INTP_END() function.
Category: MODBUS sub_function; RTC, and MP Parameters: Paramters hRsm: COM port handle Description SlaveAddr: type: Modbus RTU Slave Address (valid range: 1 to 247) 0
2-axis interpolation 1
3-axis interpolation Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_INTP_END is 0A BC. The Sub_function code of RSM_MACRO_INTP_END is 0C BC. MODBUS example: RSM_INTP_END (hRsm, 1, 0); //declear the end of a 2-axis interpolation on card The MODBUS command is listed as follows: UID (hex) Register[] 0 1 01 Value (hex) 0A BC/0C BC 00 00 FC (hex) 10 St_Addr. (hex) 1F 40 1.
Word Count (hex) 00 02 Remarks
Sub_funciton code type (0
2-axis interpolation)
Byte Count (hex) 04
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7.5.10 Emergency Stop
eRTU RSM_EMERGENCY_STOP ( HANDLE hRsm, BYTE SlaveAddr, BYTE stop
Type
) Description: Stop all the axes and clear all data in i-8094H command buffer.
Category: MODBUS sub_function; RTC. Parameters: Paramters Description hRsm: COM port handle SlaveAddr: stopType: Modbus RTU Slave Address (valid range: 1 to 247) Stop type: 0: immediately stop; 1: deceleration stop Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: RSM_EMERGENCY_STOP (hRsm, 1, 0); // Stop all the axes immediately and clear all data in the i-8094H command //buffer. The MODBUS command is listed as follows: UID (hex) Register[] 01 Value (hex) FC (hex) 10 St_Addr. (hex) 1F 40 Remarks Word Count (hex) 00 02 0 0A 04
Sub_function code
Byte Count (hex) 04 1 00 00
stopType
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7.5.11 Clear Emergency Stop
eRTU RSM_CLEAR_EMERGENCY_STOP ( HANDLE hRsm, BYTE SlaveAddr) Description: After using the stop functions RSM_EMERGENCY_STOP, please solve the malfunction, and then issue this function to clear the stop status.
Category: MODBUS sub_function; RTC. Parameters: Paramters hRsm: COM port handle Description SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: RSM_CLEAR_EMERGENCY_STOP (hRsm, 1); //clear the error status of card 1. The MODBUS command is listed as follows: 0 UID (hex) Register[] 01 Value (hex) 0A 05 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks 00 01
Sub_function code
Word Count (hex) Byte Count (hex) 02
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8 Initial Parameter Table
The initial table stores the basic settings of the motion control chip in a non-volatile memory. The initialization table includes the following setting
−
pulse output signal
−
encoder setting
− −
hardware trigger level software limits Figure 3: Initial table The factory default settings of the initial table are as follows: RSM_SET_PULSE_MODE(hRsm, SlaveAddr, AXIS_XYZU, 0); RSM_SET_MAX_V(hRsm, SlaveAddr, AXIS_XYZU, 2000000L); RSM_SET_HLMT(hRsm, SlaveAddr, AXIS_XYZU, 0, 0); RSM_LIMITSTOP_MODE(hRsm, SlaveAddr, AXIS_XYZU, 0); RSM_SET_NHOME(hRsm, SlaveAddr, AXIS_XYZU, 0);
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RSM_SET_HOME_EDGE(hRsm, SlaveAddr, AXIS_XYZU, 0); RSM_CLEAR_SLMT(hRsm, SlaveAddr, AXIS_XYZU); RSM_SET_ENCODER(hRsm, SlaveAddr, AXIS_XYZU, 0, 0, 0); RSM_SERVO_OFF(hRsm, SlaveAddr, AXIS_XYZU); RSM_SET_ALARM(hRsm, SlaveAddr, AXIS_XYZU, 0, 0); RSM_SET_INPOS(hRsm, SlaveAddr, AXIS_XYZU, 0, 0); RSM_SET_FILTER(hRsm, SlaveAddr, AXIS_XYZU, 0, 0); RSM_VRING_DISABLE(hRsm, SlaveAddr, AXIS_XYZU); RSM_AVTRI_DISABLE(hRsm, SlaveAddr, AXIS_XYZU); RSM_EXD_DISABLE(hRsm, SlaveAddr, AXIS_XYZU); Modify the default initial table by calling the above function with the required settings. The settings may also be changed after start up or later on during the control operations. Always the last setting will be retained. Set the initialization table according to the specific environment in which the RS-M8194H is being used by calling the above functions.
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8.1 Calling the Initial Table
eRTU RSM_LOAD_INITIAL ( HANDLE hRsm, BYTE SlaveAddr) Description: In order to initialize the basic hardware and software settings of the RS M8194, it is required to call the RSM_LOAD_INITIAL function. Directly after power on, the initial table is being automatically called by executing the RSM_LOAD_INITIAL function. The Modbus master is also allowed to call this function at any time. Category: MODBUS sub_function; RTC Parameters: Paramters hRsm: SlaveAddr: Description COM port handle Modbus RTU Slave Address (valid range: 1 to 247) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: RSM_LOAD_INITIAL (hRsm, 1); // load the initial setting values of the parameter table into i-8094H The MODBUS command is listed as follows: UID (hex) Register[] 01 Value (hex) FC (hex) 10 St_Addr. (hex) 1F 40 Remarks Word Count (hex) 00 01 0 0A C8
Sub_funciton code
Related example: RSM_SET_PULSE_MODE(hRsm, 1, INITIAL_XYZU, 0); Byte Count (hex) 02 //set the pulse mode of X, Y, Z, and U axes as 0, write into the parameter //table in module 1.
RSM_SET_MAX_V(hRsm, 1, INITIAL_XY, 200000L);
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//The maximum speed for the X and Y axes of module 1 is 200KPPS. //Write into the parameter table. RSM_SET_HLMT(hRsm, 1, INITIAL_XYZU, 0, 0); //set all the trigger levels as low-active for all limit switches //on module 1. Write into the parameter table. RSM_LIMITSTOP_MODE(hRsm, 1, INITIAL_X, 0); //set X axis to stop immediately if any limit switch on X axis is triggered //on module 1. Write into the parameter table.
RSM_SET_NHOME(hRsm, 1, INITIAL_XY, 0); //set the trigger level of NHOME of X and Y axes on module 1 to be //active low. Write into the parameter table. RSM_ LOAD_INITIAL(hRsm, 1); // load the initial setting values of the parameter table into i-8094H
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9 Macro Programming
Introduction
Macro programs are written to the nonvolatile memory of the i-8094H module. The nonvolatile memory can hold Macro program of different sizes. Two types of Macro tables are provided:
−
MP tables: These tables hold normal motion control Macro commands. MP commands in these tables are being called by the command RSM_MP_CALL or RSM_MACRO_MP_CALL. The RSM_MP_CALL command can be directly called by the host controller, and the RSM_MACRO_MP_CALL is called within a MP table.
−
ISR tables: ISR in these tables will be called in case of an interrupt generated by the motion control chip. Not all Macro commands can be added to the ISR table in order to guaranty that the execution of ISR is finished in a short time interval. The maximum of command lines provided by each Macro table is shown in the
following figure ( Figure 4 ).
Figure 4: Macro table definitions
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9.1
9.1.1
Create MP Macro Program Codes
Start a MP Macro Program Codes Programming
eRTU RSM_MP_CREATE( HANDLE hRsm, BYTE SlaveAddr, BYTE mp_No) Description
:
Each Macro program MP has to start with an RSM_MP_CREATE command and the end of the MP have to be indicated with an RSM_MACRO_MP_CLOSE command. Category: MODBUS sub_function; RTC Parameters: Paramters hRsm: SlaveAddr: Description COM port handle Modbus RTU Slave Address (valid range: 1 to 247)
mpNo
: The following variables are supported: Macro Program number (MP1 ~ MP157) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: RSM_MP_CREATE (hRsm, 1, MP21); //Write Macro Program into i-8094H.
The MODBUS command is listed as follows: UID (hex) Register[] 0 1 01 Value (hex) 0A C9 00 15 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_funciton code mpNo (MP21 = 21 = 0x15)
Word Count (hex) 00 02 Byte Count (hex) 04
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Related example: RSM_MP_CREATE(hRsm, 1, MP21); //Write #21 Macro Program into i-8094H. //========================================================== //The following functions will not be executed, but will be written into //i-8094H for further execution. RSM_MACRO_SET_MAX_V(hRsm, 1, AXIS_XYZU, 20000); //The maximum speed of all axes is 20K PPS. RSM_MACRO_NORMAL_SPEED(hRsm, 1, AXIS_XYZU, 0); //Set symmetric T-curve for XYZU axes on module. RSM_MACRO_SET_V(hRsm, 1, AXIS_XYZU, 2000); //set the speed of all axes on module 1 to be 2000 PPS. RSM_MACRO_SET_A(hRsm, 1, AXIS_XYZU, 1000); //set the acceleration of XYZU axes to be 1000 PPS/sec RSM_MACRO_SET_SV(hRsm, 1, AXIS_XYZU, 2000); //set the start speed of XYZU axes to be 2000 PPS. RSM_MACRO_SET_AO(hRsm,1, AXIS_XYZU, 9); //set the number of remaining offset pulses for XYZU axes to be 9 pulses. RSM_MACRO_FIXED_MOVE(hRsm, 1, AXIS_XYZU, 10000); //move XYZU axes to be 10000 pulses. RSM_MACRO_MP_CLOSE(hRsm, 1); // module 1 finish, write Macro Program into i-8094H //==========================================================
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9.1.2 End a MP Macro Program Codes Programming
※
eRTU RSM_MACRO_MP_CLOSE ( HANDLE hRsm, BYTE SlaveAddr) Description: Indicate the end of a MP Macro program. This command is only used together with RSM_MP_CREATE to define an MP program. Otherwise, it will be ignored.
Category: MODBUS sub_function; MP Parameters: Paramters hRsm: SlaveAddr: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: RSM_MACRO_MP_CLOSE (hRsm, 1); // module 1 finish, write Macro Program into i-8094H The MODBUS command is listed as follows: UID (hex) Register[] 0 01 Value (hex) 0C CA FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_funciton code
Word Count (hex) 00 01 Byte Count (hex) 02
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9.1.3 MP Macro Program Execution
eRTU RSM_MP_CALL ( HANDLE hRsm, BYTE SlaveAddr, BYTE mpNo)
※
eRTU RSM_MACRO_MP_CALL ( HANDLE hRsm, BYTE SlaveAddr, BYTE mpNo) Description: Calls and execute a specific Macro Program stored in the non-volatile memory of the i-8094H. Within an MP program, up to 6 nested MP_CALL function calls are allowed. For MP, the maximum nested Macro Program call can be up to 7. For ISR, no nested program call is allowed. Category: MODBUS table, MODBUS sub_function; RTC and MP. Parameters: Paramters hRsm: SlaveAddr: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247) mpNo: The following variables are supported: Macro Program number (MP1 ~ MP157) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
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Remark: The Sub_function code of RSM_MP_CALL is 0A CB. The Sub_function code of RSM_MACRO_MP_CALL is 0C CB. MODBUS example:
//The true value of MPn = n; therefore, MP21 = 21 = 0x15.
RSM_MP_CALL (hRsm, 1, MP21); // Execute the MP21 on i-8094H The MODBUS command is listed as follows: UID (hex) Register[] 01 Value (hex) FC (hex) 10 St_Addr. (hex) Word Count (hex) 1F 40 Remarks 00 02 Byte Count (hex) 04 0 1 0A CB/0C CB 00 15
Sub_funciton code mpNo (MP21 = 21 = 0x15)
The other method to call MPn is writing the MPn to the pre-defined holding register 8. The MODBUS command is listed as follows: 0 UID (hex) Register[] 01 Value (hex) 15 FC (hex) 10 St_Addr. (hex) 00 08 Remarks
mpNo (MP21 = 21 = 0x15)
Word Count (hex) 00 01 Byte Count (hex) 02 Related example: RSM_MP_CREATE(hRsm, 1, MP21); //Write #21 Macro Program into i-8094H. //========================================================== //The following functions will not be executed, but will be written into //i-8094H for further execution. RSM_MACRO_SET_MAX_V(hRsm, 1, AXIS_XYZU, 20000); //The maximum speedof the axis is 20K PPS. RSM_MACRO_NORMAL_SPEED(hRsm, 1, AXIS_XYZU, 0); //Set symmetric T-curve for XYZU axes on module.
RSM_MACRO_SET_V(hRsm, 1, AXIS_XYZU, 2000); //set the speed of all axes on module 1 to be 2000 PPS. RSM_MACRO_SET_A(hRsm, 1, AXIS_XYZU, 1000); //set the acceleration of XYZU axes to be 1000 PPS/sec.
RSM_MACRO_SET_SV(hRsm, 1, AXIS_XYZU, 2000); //set the start speed of XYZU axes to be 2000 PPS. RSM_MACRO_SET_AO(hRsm, 1, AXIS_XYZU, 9);
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//set the number of remaining offset pulses for XYZU axes to be 9 pulses. RSM_MACRO_FIXED_MOVE(hRsm, 1, AXIS_XYZU, 10000); //move XYZU axes to be 10000 pulses. RSM_MACRO_MP_CLOSE(hRsm, 1); // module 1 finish, write Macro Program into i-8094H //========================================================== RSM_MP_CALL(hRsm, 1, MP21); // Execute the MP21 on i-8094H
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9.2
9.2.1
Create ISR Macro Program Codes
Start a ISR Macro Program Codes Programming
eRTU RSM_MP_ISR_CREATE( HANDLE hRsm, BYTE SlaveAddr, BYTE isr_No) Description: ISR Macro table are being called by hardware interrupts generated by the motion control chip (e.g. exceeding harware or software limit, driving has finished or when a compare condition has been met). To ensure that the API in an ISR are executed completely in a short time, no nested Macro calls, MP_FOR loop and MP_STOP_WAIT are allowed inside an ISR. Each ISR program has to be created by calling an RSM_MP_ISR_CREATE command and ended by an RSM_MACRO_MP_ISR_CLOSE command. Category: MODBUS sub_function; RTC Parameters: Paramters hRsm: SlaveAddr: Description COM port handle Modbus RTU Slave Address (valid range: 1 to 247) isr_No: The following variables are supported: ISR Macro Program number (ISR1 ~ ISR20) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: RSM_MP_ISR_CREATE (hRsm, 1, ISR1); //Write ISR Macro program into i-8094H.
The MODBUS command is listed as follows: Register[] 0 1 UID (hex) 01 Value (hex) 0ACD 00 01 FC (hex) St_Addr. (hex)
isr_No (ISR1 = 1 = 0x01)
Word Count (hex) 10 1F 40 Remarks 00 02
Sub_funciton code
Byte Count (hex) 04
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9.2.2 End a ISR Macro Program Codes Programming
Δ eRTU RSM_MACRO_MP_ISR_CLOSE ( HANDLE hRsm, BYTE SlaveAddr) Description: This function indicates the end of an ISR program. Every ISR program must contain this command as the last command to indicate the end of the ISR program.
Category: MODBUS sub_function; ISR Parameters: Paramters hRsm: SlaveAddr: Description COM port handle Modbus RTU Slave Address (valid range: 1 to 247) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: RSM_MACRO_MP_ISR_CLOSE (hRsm, 1); // finish the writing of ISR Macro Program for i-8094H in slot 1 The MODBUS command is listed as follows: UID (hex) FC (hex) Register[] 01 Value (hex) 10 St_Addr. (hex) Word Count (hex) 1F 40 Remarks 00 01 0 0C CE
Sub_funciton code
Byte Count (hex) 02
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
9.2.3 ISR Maro Program (ISR) Execution
eRTU RSM_MP_ISR_CALL ( HANDLE hRsm, BYTE SlaveAddr, BYTE isrNo) Description: This function is used for calling an ISR Macro program. Usually, ISR Macro tables are called by hardware interrupts. The purpose of this function is to test an ISR program. Category: MODBUS table, MODBUS sub_function; ISR. Parameters: Paramters hRsm: SlaveAddr: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247) isrNo: The following variables are supported: ISR Macro Program number (ISR1 ~ ISR20) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example:
//
The true value of ISRn = n; therefore, ISR1 = 1 = 0x1. RSM_MP_ISR_CALL (hRsm, 1, ISR1); // Execute the ISR1 The MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex) Word Count (hex) 01 10 1F 40 00 02 Register[] 0 1 Value (hex) 0A CF 00 01 Remarks
Sub_funciton code isrNo (ISR1 = 1 = 0x1)
Byte Count (hex) 04
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9.3
9.3.1
User Defined Variables
Assign Macro variable a value
※
Δ eRTU RSM_MACRO_SET_VAR ( HANDLE hRsm, BYTE SlaveAddr, long varNo, long data) Description: Assign a Macro variable VARn (n = 0, 1, 2 ...) an integer value. It is also possible to assign the variable a value from another variable. This API acts as an assignement operator similar to the following statments: VARn = VARm VARn = Value Category: MODBUS table, MODBUS sub_function; MP and ISR. Parameters: Paramters hRsm: SlaveAddr: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247) varNo: data: The following variables are supported: MACRO variable (VAR0 ~ VAR511) The following inputs are supported: Value (-2,000,000,000 ~ +2,000,000,000) or MACRO variable (VAR0 ~ VAR511) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example:
//
The address of VARn = 0x7FFF0000 + n; therefore, the address of VAR1 is // 0x7FFF0001. RSM_MACRO_SET_VAR(hRsm, 1, VAR1, 100); // VAR1 = 100
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The MODBUS command is listed as follows: UID (hex) FC (hex) Register[] 01 Value (hex) 10 St_Addr. (hex) Word Count (hex) 1F 40 Remarks 00 05 0 1 2 3 4 0C D2 7F FF 00 01 00 00 00 64
Sub_funciton code MSW address of varNo LSW address of varNo MSW of data LSW of data (100 = 0x64)
Byte Count (hex) 0A
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9.3.2 Get Command Return Value
※
Δ eRTU RSM_MACRO_SET_RVAR ( HANDLE hRsm, BYTE SlaveAddr, long varNo) Description: Assign the return value of the preceding function to a Macro variable VARn (n = 0, 1, 2 ...), where VARn = return value of preceding function (the value will be automatically casted to ( long ).
− − − − −
The command reads the return values of the following commands:
−
RSM_MACRO_GET_LP
−
RSM_ MACRO_GET_EP
− − − − −
RSM_MACRO_ABS_GET_POSITION RSM_MACRO_GET_HOME_SEARCH_STATE RSM_ MACRO_GET_ERROR RSM_ MACRO_GET_ERROR_CODE RSM_ MACRO_FRNET_IN RSM_MACRO_FRNET_READ RSM_ MACRO_GET_LATCH RSM_ MACRO_GET_DI_ALL RSM_ MACRO_GET_DI RSM_MACRO_GET_DI_SIGNAL Category: MODBUS sub_function; MP and ISR. Parameters: Paramters hRsm: SlaveAddr: varNo: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247) The following variables are supported: MACRO variable (VAR0 ~ VAR511) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: // The address of VARn = 0x7FFF0000 + n; therefore, the address of VAR5 // is 0x7FFF0005
.
RSM_MACRO_SET_RVAR(hRsm, 1, VAR5);
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The MODBUS command is listed as follows: UID (hex) FC (hex) Register[] 01 Value (hex) 10 St_Addr. (hex) Word Count (hex) 1F 40 Remarks 00 03 Byte Count (hex) 06 0 1 2 0C D3 7F FF 00 05
Sub_funciton code MSW address of varNo LSW address of varNo
Related example: //The following commands show how to use Macro commands to store the //logic position in a variable. RSM_MP_CREATE(hRsm, 1, MP1); //Write #1 Macro Program into i-8094H. RSM_MACRO_GET_LP(hRsm, 1, AXIS_X); //Reads the LP value of the X axis on module 1. RSM_MACRO_SET_RVAR(hRsm, 1, VAR5); //Assign the return value of RSM_MACRO_GET_LP to VAR5 //( VAR5 = LP value) RSM_MACRO_MP_CLOSE(hRsm, 1); // module 1 finish, write Macro Program into i-8094H
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9.4 Simple Calculations
※
Δ eRTU RSM_MACRO_VAR_CALCULATE ( HANDLE hRsm, BYTE SlaveAddr, long varNo, BYTE Operator, long varNo1, long varNo2) Description: Basic two parameter (value) calculations:
varNo
+
varNo
-
varNo
*
varNo
/
varNo
&
varNo
|
varNo1 varNo1 varNo1 varNo1 varNo1 varNo1
= = = = = =
varNo2 varNo2 varNo2 varNo2 varNo2 varNo2
Category: MODBUS sub_function; MP and ISR. Parameters: Paramters hRsm: SlaveAddr: Description COM port handle Modbus RTU Slave Address (valid range: 1 to 247) varNo: Operator: The first operand for this calculation. The following operand inputs are supported: Value (-2,000,000,000 ~ +2,000,000,000) or MACRO variable (VAR0 ~ VAR511) ‘
＋
’ addition ‘
－
’ subtraction ‘
＊
’ multiplication ‘
／
’ division(rounding down to the nearest integer) ‘
&
’ AND operator ‘
|
’ OR operator varNo1: varNo2: The second operand of the calculation. The following operand inputs are supported: Value (-2,000,000,000 ~ +2,000,000,000) or MACRO variable (VAR0 ~ VAR511) MACRO variable (VAR0 ~ VAR511) which stores the result of the calculation Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
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MODBUS example: The address of VARn = 0x7FFF0000 + n; For example the address of VAR2 = 0x7FFF0002. The ASCII code of operator: Operator ‘+’ ‘-‘ ASCII (dec) 43 45 ASCII (hex) 2B 2D ‘*’ ‘/’ 42 47 2A 2F Register[] ‘&’ ‘|’ RSM_MACRO_VAR_CALCULATE (hRsm, 1, VAR1, ‘+’, VAR2, VAR3); //VAR1 + VAR2 = VAR3 The MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex) Word Count (hex) Byte Count (hex) 01 Value (hex) 38 124 10 1F 40 26 7C Remarks 00 08 10 0 1 2 3 4 5 6 7 0C D4 7F FF 00 01 00 2B 7F FF 00 02 7F FF 00 03
Sub_funciton code MSW address of varNo LSW address of varNo
Operator : ASCII code of ‘
MSW address of varNo1 LSW address of varNo1 MSW address of varNo2 LSW address of varNo2
+ ’ Related example: RSM_MP_CREATE(hRsm, 1, MP100); // Write #100 Macro Program into i 8094H. //========================================================== //The following functions will not be executed, but will be written into // i-8094H for further execution. RSM_MACRO_SET_VAR(hRsm, 1, VAR1, 100); RSM_MACRO_SET_VAR (hRsm, 1, VAR2, 200); RSM_MACRO_SET_VAR (hRsm, 1, VAR10, 10); //VAR1 = 100 //VAR2 = 200 //VAR10 = 10 //----------------------------------------------------------------------------------------------------- RSM_MACRO_FRNET_IN(hRsm, 1, 8); RSM_MACRO_SET_RVAR(hRsm, 1, VAR6); //VAR6 = current input of RA8 on module 1 //-----------------------------------------------------------------------------------------------------
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RSM_MACRO_GET_LP(hRsm, 1, AXIS_X); //Reads the LP value of the X axis on module 1. RSM_MACRO_SET_RVAR(hRsm, 1, VAR5); //VAR5 = LP value of the X axis on module 1. //---------------------------------------------------------------------------------------------------- RSM_MACRO_VAR_CALCULATE(hRsm, 1, VAR1, ‘+’, VAR2, VAR3); //VAR1 + VAR2 = VAR3 RSM_MACRO_VAR_CALCULATE (hRsm, 1, VAR3, ‘-‘, VAR1, VAR3); //VAR3 – VAR1 = VAR3 RSM_MACRO_VAR_CALCULATE (hRsm, 1, VAR3, ‘*’, VAR10, VAR2); //VAR3 x VAR10 = VAR2 RSM_MACRO_VAR_CALCULATE (hRsm, 1, VAR3, ‘/’, VAR2, VAR1); //VAR3 / VAR2 = VAR1 //Results: VAR1 = 10; VAR2 = 200; VAR3 = 2,000; VAR10 = 10 RSM_MACRO_MP_CLOSE(hRsm, 1); // module 1 finish, write #100 Macro Program into i-8094H //==========================================================
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9.5
9.5.1
Command Loop (FOR~NEXT)
Start of FOR Loop Block
※
eRTU RSM_MACRO_FOR ( HANDLE hRsm, BYTE SlaveAddr, long varNo) Description: The varNo specifies how many times the code between the RSM_MACRO_FOR command and the RSM_MACRO_NEXT command will be executed. The varNo parameter will be decreased until it reaches zero, and then the loop will be stopped. If the varNo is assigned to be a Macro VARn, this value of VARn represents the loop cycles and will be changed each time a loop is finished. An RSM_MACRO_EXIT_FOR command can abort the current loop immediately if it is executed inside the loop. Up to six nested loops are supported: one outer loop and six inner loops. Figure 5: Basic loop application Category: MODBUS sub_function; MP.
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Parameters: Paramters hRsm: SlaveAddr: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247) lValue: Specifies the cycle number. The following inputs are supported: Value (-2,000,000,000 ~ +2,000,000,000) or MACRO variable (VAR0 ~ VAR511) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: // The address of VARn = 0x7FFF0000 + n; For example, the address of VAR1 = 0x7FFF0001. RSM_MACRO_FOR (hRsm, 1, VAR1); The MODBUS command is listed as follows: 0 UID (hex) Register[] 01 Value (hex) 0C D5 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_funciton code
Word Count (hex) 00 03 1 2 7F FF 00 01
MSW address of lValue LSW address of lValue
Byte Count (hex) 06 Related example: 8094H. RSM_MP_CREATE(hRsm, 1, MP100); // Write #100 Macro Program into i //========================================================== // The following functions will not be executed, but will be written into // i-8094H for further execution. RSM_MACRO_SET_MAX_V(hRsm, 1, AXIS_X, 20000); //The maximum speed of the axis X is 20K PPS. RSM_MACRO_NORMAL_SPEED(hRsm, 1, AXIS_X, 0); //Set symmetric T-curve for axis X RSM_MACRO_SET_V(hRsm, 1, AXIS_X, 2000); //set the speed of axis X to be 2000 PPS. RSM_MACRO_SET_A(hRsm, 1, AXIS_X, 1000); //set the acceleration of axis X to be 1000 PPS/Sec RSM_MACRO_SET_SV(hRsm, 1, AXIS_X, 2000); //set the start speed of axis X to be 2000 PPS.
RSM_MACRO_SET_AO(hRsm, 1, AXIS_X, 0);
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//set the number of remaining offset pulses for axis X to be 0 PPS. //---------------------------------------------------------------------------------------------------- RSM_MACRO_SET_VAR(hRsm, 1, VAR1, 100); //VAR1 = 100
。
RSM_MACRO_FOR(hRsm, 1, VAR1); //enable axis X to move back and forward 1,000 Pulse, loop for 100 times.
//or input the instant operating value RSM_MACRO_FOR(hRsm, 1, 100).
RSM_MACRO_FIXED_MOVE(hRsm, 1, AXIS_X, 1000); //move axis X to be 1000 pulses. RSM_MACRO_FIXED_MOVE(hRsm, 1, AXIS_X, -1000); //move axis X to be -1000 pulses. RSM_MACRO_NEXT(hRsm, 1); RSM_MACRO_MP_CLOSE(hRsm, 1); // module 1 finish, Macro Program is written into i-8094H //========================================================== RSM_MP_CALL(hRsm, 1, MP100); // call module 1 i-8094H, execute Macro Program #100.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
9.5.2 End of FOR Loop Block
※
eRTU RSM_MACRO_NEXT ( HANDLE hRsm, BYTE SlaveAddr) Description: This function indicates the end of the RSM_MACRO_FOR loop. Every loop has to start with RSM_MACRO_FOR statement and end with RSM_MACRO_NEXT statement .
Category: MODBUS sub_function; MP. Parameters: Paramters hRsm: SlaveAddr: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: RSM_MACRO_NEXT (hRsm, 1); The MODBUS command is listed as follows: UID (hex) Register[] 0 01 Value (hex) 0C D6 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_funciton code
Word Count (hex) 00 01 Byte Count (hex) 02
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9.5.3 FOR Loop Block Exit
※
eRTU RSM_MACRO_EXIT_FOR( HANDLE hRsm, BYTE SlaveAddr) Description: An RSM_MACRO_EXIT_FOR command can abort the current loop immediately if it is executed inside the loop. Category: MODBUS sub_function; MP. Parameters: Paramters hRsm: SlaveAddr: Description COM port handle Modbus RTU Slave Address (valid range: 1 to 247) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: RSM_MACRO_EXIT_FOR (hRsm, 1); The MODBUS command is listed as follows: UID (hex) FC (hex) Register[] 01 Value (hex) 10 St_Addr. (hex) Word Count (hex) 1F 40 Remarks 00 01 0 0C DE
Sub_funciton code
Byte Count (hex) 02
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9.6
9.6.1
Conditional Command (IF~ELSE)
IF Condition
※
Δ eRTU RSM_MACRO_IF ( HANDLE hRsm, BYTE SlaveAddr, long varNo, WORD Operator, long varNo1) Description: A conditional checking RSM_MACRO_IF has to end the whole block with an RSM_MACRO_END_IF statement. One RSM_MACRO_ELSE statement can be added inside the conditional block and will be executed if the RSM_MACRO_IF statement turns out to be false. Up to 6 nested IF statements are supported (one outer and six inner IF conditions). Figure 6: RSM_MACRO_IF application structure
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Figure 7: Nested IF statements Category: MODBUS sub_function; MP and ISR. Parameters: Paramters hRsm: Description COM port handle SlaveAddr: varNo: Modbus RTU Slave Address (valid range: 1 to 247) The first variable of the comparison expressions. Can either be a variable of long type Operator: (range: -2,000,000,000 ~ +2,000,000,000) or MACRO variable (VAR0 ~ VAR511) Comparison operators: string constant Description "<" LT Less than (ASCII code = 0x003C) ">" GT "<=" LE Greater than (ASCII code = 0x003E) Less than or equal to (ASCII code = 0x3D3C) ">=" GE "==" "!=" EQ NE Greater than or equal to (ASCII code = 0x3D3E) Equal to (ASCII code = 0x3D3D) Not equal to (ASCII code = 0x3D21)
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varNo1: The second variable of the comparison expressions. Can either be a variable of long type (range: -2,000,000,000 ~ +2,000,000,000) or MACRO variable (VAR0 ~ VAR511) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: The ASCII code of operator. Operator < <= > >= == = != ! ASCII (dec) 60 15676 62 15678 15677 61 15649 33 ASCII (hex) 003C 3D3C 003E 3D3E 3D3D 003D 3D21 0021 RSM_MACRO_IF (hRsm, 1, VAR1, ”<=”, VAR2) ; //The double quotes (“”) is required for Operator parameter.
The MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex) 01 10 1F 40 Word Count (hex) 00 06 Byte Count (hex) 0C Register[] 0 1 2 3 4 5 Value (hex) 0C D7 7F FF 00 01 3C 3D 7F FF 00 02 Remarks
Sub_funciton code MSW address of varNo LSW address of varNo Operator (0x3C3D
“ <= MSW address of varNo1 LSW address of varNo1 ”)
Related example: 8094H. RSM_MP_CREATE(hRsm, 1, MP100); // Write #100 Macro Program into i //========================================================== // The following functions will not be executed, but will be written into // i-8094H for further execution. RSM_MACRO_SET_MAX_V(hRsm, 1, AXIS_X, 20000); //The maximum speed of the axis X is 20K PPS.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
RSM_MACRO_NORMAL_SPEED(hRsm, 1, AXIS_X, 0); //Set symmetric T-curve for axis X.
RSM_MACRO_SET_V(hRsm, 1, AXIS_X, 2000); //set the speed of axis X to be 2000 PPS. RSM_MACRO_SET_A(hRsm, 1, AXIS_X, 1000); //set the acceleration of axis X to be 1000 PPS/sec RSM_MACRO_SET_SV(hRsm, 1, AXIS_X, 2000); //set the start speed of axis X to be 2000 PPS. RSM_MACRO_SET_AO(hRsm, 1, AXIS_X, 0); //set the number of remaining offset pulses for axis X to be 0 PPS. //---------------------------------------------------------------------------------------------------- RSM_MACRO_SET_VAR(hRsm, 1, VAR1, 100); //VAR1 = 100
。
RSM_MACRO_SET_VAR(hRsm, 1, VAR2, 200); //VAR2 = 200
。
RSM_MACRO_IF(hRsm, 1, VAR1, “<”, VAR2); RSM_MACRO_FIXED_MOVE(hRsm, 1, AXIS_X, 1000); //command to move axis X for 1000 pulses. RSM_MACRO_ELSE(hRsm, 1); RSM_MACRO_FIXED_MOVE(hRsm, 1, AXIS_X, -1000); // command to move axis X for -1000 pulses. RSM_MACRO_END_IF(hRsm, 1); RSM_MACRO_MP_CLOSE(hRsm, 1); // module 1, Macro Program #100 is written into i-8094H //========================================================== RSM_MP_CALL(hRsm, 1, MP100); // execute Macro Program #100 of module 1.
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9.6.2 ELSE Statement
※
Δ eRTU RSM_MACRO_ELSE ( HANDLE hRsm, BYTE SlaveAddr) Description: The block under RSM_MACRO_ELSE will be executed if the conditional statement of RSM_MACRO_IF is false; otherwise, it will be ignored. Category: MODBUS sub_function; MP and ISR. Parameters: Paramters hRsm: SlaveAddr: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: RSM_MACRO_ELSE (hRsm, 1); The MODBUS command is listed as follows: UID (hex) Register[] 01 Value (hex) FC (hex) 10 St_Addr. (hex) 1F 40 Remarks Word Count (hex) 00 01 0 0C D8
Sub_funciton code
Byte Count (hex) 02
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9.6.3 End of IF Statement
※
Δ eRTU RSM_MACRO_END_IF ( HANDLE hRsm, BYTE SlaveAddr) Description: This function indicates the end of a conditional block. A conditional block always begins with an RSM_MACRO_IF statement and ends with this function.
Category: MODBUS sub_function; MP and ISR. Parameters: Paramters hRsm: SlaveAddr: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: RSM_MACRO_END_IF (hRsm, 1); The MODBUS command is listed as follows: UID (hex) Register[] 0 01 Value (hex) 0C D9 FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_funciton code
Word Count (hex) 00 01 Byte Count (hex) 02
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
9.7
9.7.1
Jump Commands (GOTO-LABEL)
GOTO Statement
※
eRTU RSM_MACRO_GOTO( HANDLE hRsm, BYTE SlaveAddr, BYTE lableNo) Description: The RSM_MACRO_GOTO Macro statement is a label based statement that transfers the control directly to the labeled location in the Macro program. The goto statement is very useful while working with nested loops. It enables to leave all nested nested loops with one command by jumping from the inner loop to an RSM_MP_LABEL position ouside the nested loop. Limitations:
−
A Maximum of four RSM_MACRO_LABEL position can be defined.
−
It is NOT allowed to jump into a loop block. Therefore, the RSM_MACRO_LABEL statement can not be located inside a loop.
−
Jumping into an MP_IF block is prohibited. RSM_MACRO_LABEL command is not allowed to be located inside an RSM_MACRO_IF block.
−
You can only jump within a Macro table and it is not allowed to jump from one Macro table (e.g. MP1) to another Macro table (e.g. MP2).
−
Can not be used inside an ISR Macro table.
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Figure 8: RSM_MACRO_GOTO application Category: MODBUS sub_function; only inside MP Macro table allowed. Parameters: Paramters hRsm: SlaveAddr:
labelNo:
COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247) Only four labels are supported for each MP macro table: 0, 1, 2, 3 (LABEL0, LABEL1, LABEL2, LABEL3
)
Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: RSM_MACRO_GOTO (hRsm, 1, 3); The MODBUS command is listed as follows: UID (hex) Register[] 0 1 01 Value (hex) 0C DF 00 03 FC (hex) 10 St_Addr. (hex)
Sub_funciton code labelNo (3
0x03)
Word Count (hex) 1F 40 Remarks 00 02 Byte Count (hex) 04
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
9.7.2 LABEL Statement
※
eRTU RSM_MACRO_LABEL( HANDLE hRsm, BYTE SlaveAddr, BYTE lableNo) Description: This function indicates the target position of a jump statement. The RSM_MACRO_LABEL can be positioned before or after RSM_MACRO_GOTO Macro statement. In a Macro only one RSM_MACRO_LABEL with the same Label number can be used but Note: more than one RSM_MACRO_GOTO with the same Label number is allowed.
RSM_MACRO_LABEL command is not allowed inside a MP_IF or MP_FOR block. Category: MODBUS sub_function; only inside MP Macro table allowed. Parameters: Paramters hRsm: SlaveAddr: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247)
labelNo:
Only four labels are supported for each MP macro table: 0, 1, 2, 3 (LABEL0, LABEL1, LABEL2, LABEL3) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: RSM_MACRO_LABEL (hRsm, 1, 3); The MODBUS command is listed as follows: Register[] 0 1 UID (hex) 01 Value (hex) 0C E1 00 03 FC (hex) 10 St_Addr. (hex)
Sub_funciton code labelNo (3
0x03)
Word Count (hex) 1F 40 Remarks 00 02 Byte Count (hex) 04
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9.8 Timer
※
eRTU RSM_MACRO_TIMER ( HANDLE hRsm, BYTE SlaveAddr, long
varNo
) Description: Delay the execution of the following Macro commands. The execution of the following Macro commands is held until the specified time has elapsed. Category: MODBUS sub_function; for MP Macro table. Parameters: Paramters hRsm: SlaveAddr: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247) varNo: Time in milliseconds. The following inputs are supported: Value (0 ~ +2,000,000,000) ms, or MACRO variables (VAR0 ~ VAR511) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: RSM_MACRO_TIMER (hRsm, 1, 200); //delay the execution of the function for 200ms.
The MODBUS command is listed as follows: 0 UID (hex) Register[] 01 Value (hex) 0C DA FC (hex) 10 St_Addr. (hex) 1F 40 Remarks
Sub_funciton code
Word Count (hex) 00 03 1 2 00 00 00 C8
MSW of varNo LSW of varNo (200 = 0xC8)
Byte Count (hex) 06
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
9.9 Wait Until Motion Command has been Executed
eRTU RSM_STOP_WAIT( HANDLE hRsm, BYTE SlaveAddr, BYTE axis)
※
eRTU RSM_MACRO_STOP_WAIT( HANDLE hRsm, BYTE SlaveAddr, BYTE axis) Description: The command ensures that the motion command for the assigned axis is completed before the next macro command is being executed. The command waits until the motion control chip has finished outputting pulses for the designated axis then continues to process the following command.
Category: MODBUS sub_function; RTC, MP. Parameters: Paramters hRsm: SlaveAddr: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247) axis: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8).
Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_STOP_WAIT is 0A DB. The Sub_function code of RSM_MACRO_STOP_WAIT is 0C DB. MODBUS example: RSM_STOP_WAIT (hRsm, 1, AXIS_Y); The MODBUS command is listed as follows: UID (hex) Register[] 0 1 01 Value (hex) 0A DB/0C DB 00 02 FC (hex) 10 St_Addr. (hex)
Sub_funciton code axis (2
AXIS_Y)
Word Count (hex) 1F 40 Remarks 00 02 Byte Count (hex) 04
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9.10 Exit Macro Program
※
Δ eRTU RSM_MACRO_EXIT_MACRO ( HANDLE hRsm, BYTE SlaveAddr) Description: The execution of a MP or ISR Macro table will be stopped and the table will be exited as soon as the Macro interpreter encounters this command. If a nested Macro call is being executed, this command causes the command
interpreter to jump to calling Macro layer one level up ( Figure 9 ). If the top
level Macro layer encounters RSM_MACRO_EXIT_MACRO, the execution of Macro commands terminates all together. Only in case of a new harware interrupt occurs, the relevant ISR Macro will be executed. This command behaves similarly to the RSM_MACRO_MP_CLOSE command except that it can be called at any place inside a macro table, whereas the RSM_MACRO_MP_CLOSE command has to be placed at the end of a macro table. Figure 9: Exiting macro tables Category: MODBUS sub_function; MP and ISR. Parameters: Paramters hRsm: SlaveAddr: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
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MODBUS example: RSM_MACRO_EXIT_MACRO (hRsm, 1); The MODBUS command is listed as follows: UID (hex) Register[] 0 01 Value (hex) 0C DD FC (hex) St_Addr. (hex) Word Count (hex) 10 1F 40 Remarks 00 01
Sub_funciton code
Byte Count (hex) 02
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9.11 Terminate all Macro Executions
eRTU RSM_MP_TERMINATE ( HANDLE hRsm, BYTE SlaveAddr)
※
Δ eRTU RSM_MACRO_MP_TERMINATE ( HANDLE hRsm, BYTE SlaveAddr) Description: All currently running MP or ISR Macro program will be terminated immediately. After all the Macro programs have been terminated successfully, the command automatically resets itself so that new Macro programs can be executed. This command is intended for emergent situation where any Macro execution needs to be stopped immediately. This command can be called both inside a Macro program and outside a Macro program, for example, by the host controller or a remote HMI controller. Warning: This command does not stop the motion chip from continuing executing the motion command received prior to the RSM_MP_TERMINATE command. In order to stop the motion chip from outputting pulse signals, one of the following commands has to be called:
− − − −
RSM_STOP_SUDDENLY RSM_STOP_SLOWLY RSM_VSTOP_SUDDENLY RSM_VSTOP_SLOWLY Therefore, if it required stopping motion and Macro commands from execution then one of the above four STOP commands as well as the RSM_MP_TERMINATE has to be called. Category: MODBUS sub_function; RTC, MP, ISR. Parameters: Paramters hRsm: SlaveAddr: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247) Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
MODBUS example: RSM_MP_TERMINATE (hRsm, 1);
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The MODBUS command is listed as follows: UID (hex) FC (hex) Register[] 01 Value (hex) 10 St_Addr. (hex) Word Count (hex) 1F 40 Remarks 00 01 0 0A E2/0C E2
Sub_funciton code
Byte Count (hex) 02
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9.12 Get Macro Download Status
eRTU RSM_GET_MP_DOWNLOAD_STATUS( HANDLE hRsm, BYTE SlaveAddr, MpDownloadInfo *pInfo) typedef struct { WORD MpNo; WORD IsrNo; WORD wCmd; WORD wLineNo; WORD wErrCode; }
MpDownloadInfo
; Description: This function confirms whether the previous MP or ISR macro download procedure was successful. It i ndicate which Macro type has been downloaded (MP or ISR) and its number. In case of a download error the type of error, the command and Macro line number will be indicated. Category: MODBUS table; RTC. Parameters: Paramters hRsm: SlaveAddr: COM port handle Description Modbus RTU Slave Address (valid range: 1 to 247)
pInfo:
MpNo: indicates the MP Macro number (1-MP1, 2 MP2 ...). If no MP Macro has been downloaded MpNo will be zero (MpNo=0). IsrNo: indicates the latest ISR Macro number downloaded (1-ISR1, 2 -ISR2 ...). If no ISR Macro has been downloaded IsrNo will be zero (IsrNo=0). wCmd: code of the command in the Macro program which caused the error (see command code chapter
wLineNo: the line number in the Macro program. The first line has the number zero. wErrCode: error code describing the cause of macro download failure:
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−
0x00: no error occurred. Download was succesful.
−
0x01: number of commands lines exceeds the quantity of line provide by the corresponding Macro table. IF command errors:
−
0x02: Number of nested MP_IF statements exceeds the limit of six inner nested MP_IFs.
−
0x03: MP_ELSE command outside MP_IF block
−
0x04: MP_END_IF command outside MP_IF block. The MP_END_IF statement has not got a corresponding MP_IF statement.
−
0x05: MP_IF block has not been closed by MP_END_IF command.
−
0x06: Wrong MP_IF conditional operator. FOR loop command errors:
−
0x07: Number of nested MP_FOR exceeds the limit.
−
0x08: MP_EXIT_FOR command outside MP_FOR loop. The corresponding MP_FOR command is missing.
−
0x09: MP_NEXT command outside MP_FOR block. The corresponding MP_FOR command is missing.
−
0x0A: MP_FOR block has not been closed with a MP_NEXT command. GOTO command errors:
−
0x0B: Label number is being used more than once.
−
0x0C: MP_LABEL inside a MP_IF block. Jumping into a MP_IF block is prohibited.
−
0x0D: MP_LABEL inside a MP_FOR block. Jumping into a MP_FOR block is prohibited.
−
0x0E: MP_GOTO command has NO corresponding MP_LABEL command.
−
0x0F: MACRO (MP or ISR) command not defined: Command will not be written to the FRAM.
−
0x10: Wrong MP_VAR_CALCULATE operator.
Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
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MODBUS example: MpDownloadInfo MpInfo; RSM_GET_MP_DOWNLOAD_STATUS(hRsm, 1, & MpInfo ); MODBUS request: UID (hex) FC (hex) St_Addr. (hex) Word Count (hex) 01 (Slave Address) 04 00 6E (110) 00 05 MODBUS response: UID (hex) 01 FC (hex) 04 Byte Count(hex) 0A Registers (hex) See next table Register [] 0 1 Value (hex) 00 02 00 00 Remarks 2 3 4 0A D6 00 09 00 09
MpNo:
MP number (e.g. MP2)
IsrNo:
ISR number (no ISR Macro has been downloded)
wCmd:
command code (here MP_NEXT) wLineNo: command line within Macro table (line number 9) wErrCode: error code describing the kind of error (here: MP_NEXT command outside MP_FOR block. The corresponding MP_FOR command is missing.)
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9.13 Change Velocity on the Fly
eRTU RSM_CHANGE_VEL_ON_FLY ( HANDLE hRsm, BYTE SlaveAddr, BYTE axis, DWORD data) Description: If a Macro program is running inside the i-8094H, the remote host can call this function to change the drive speed set by the Macro program. Once the new drive speed has been set the drive will accelerate to the specified velocity. Category: MODBUS sub_function; RTC. Parameters: Paramters hRsm: COM port handle Description SlaveAddr: Modbus RTU Slave Address (valid range: 1 to 247) axis: data: Axis or axes (Please refer to Table 4) The axis can be either X, Y, Z or U (1 or 2 or 4 or 8). Drive speed (Please refer to 2.5 for maximm speed) PPS. Return:
0: Success; Others: Fail (Please refer to chapter 2.2)
Remark: The Sub_function code of RSM_CHANGE_VEL_ON_FLY is 0x0A43. MODBUS example: RSM_CHANGE_VEL_ON_FLY (hRsm, 1, AXIS_X, 120000L); //set the speed for the X axis on module 1 to 120000 PPS.
The MODBUS command is listed as follows: UID (hex) FC (hex) St_Addr. (hex) 01 10 1F 40 Word Count (hex) 00 04 Register[] 0 1 2 3 Value (hex) 0A 43 00 01 00 01 D4 C0 Remarks
Sub_function code
axis (1 = AXIS_X)
MSW of data LSW of data (120000 = 0x1D4C0)
Byte Count (hex) 08
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10 Stand Alone Controller
The ET-8194H together with an FRnet DI can operate as a standalone controller without being connected to a Modbus master. Each FRnet DI can be assigned to a motion program stored in the RS-M8194H as a Macro program. By triggering an FRnet DI event the corresponding Macro program starts executing. Only one Macro program can be triggered at a time. In the following the procedure for configurating the RS-M8194H to support FRnet DI triggering will be described:
• •
Step 1: Write a Macro program and download it to the RS-M8194H (see
Step 2: Use the EzMove Utility to select which DI channel to use for FRnet
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triggered Macro execution. Connect to the RS-M8194H and open the “FRnet DI Setting” window (Setting type.
FRnet DI...). For each DI channel select the trigger condition and the corresponding event The RS-M8194H defines the following DI trigger conditions: If the DI channel is not being used for event triggering then set it to “None”. The DI triggered event can be a Macro execution, pause or abort of the current Macro execution execution, or stop of motion execution
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• •
Step 3: Download the DI trigger setting to the RS-M8194H by clicking “Send Table” Step 4: Enable FRnet DI triggering by clicking the check box. Now the RS M8194H is ready to process FRnet DI events It is important to notice that only one Macro program can run at a time. Therefore if an FRnet DI event is generated to execute a new Macro program while a Macro program is already running then the event first waits until the current Macro program has finished executing before starting the next one.
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11 Library Version
11.1 Modbus P824 Library
eRTU RSM_GET_RSM_FIRMWARE_VERSION ( HANDLE hRsm, BYTE SlaveAddr, DWORD * RSM_Ver); Description: This function reads the Modbus library version of the RS-M8194H.
Parameters: Paramters Description hRsm: COM port handle SlaveAddr:
RSM_Ver
Modbus RTU Slave Address (valid range: 1 to 247) Version number Example: 0x03000000
Version 3.0 MODBUS example: DWORD RSM_Ver; HANDLE hRsm; RSM_GET_RSM_FIRMWARE_VERSION(hRsm, &RSM_Ver); MODBUS request: UID (hex) 01 MODBUS response: UID (hex) FC (hex) 01 FC (hex) 04 04 St_Addr. (hex) 00 52 Byte Count (hex) 04 02 00 Word Count (hex) 00 02 Version (hex) High Word Version(hex) Low Word 00 00
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11.2 i-8094H Library Version
eRTU RSM_GET_i8094H_FIRMWARE_VERSION ( HANDLE hRsm, BYTE SlaveAddr, DWORD * i8094H_Ver); Description: This function reads the i-8094H library version of the RS-M8194H.
Parameters: Paramters Description hRsm: COM port handle 01 SlaveAddr:
i8094H_Ver
MODBUS example: DWORD i8094H_Ver; HANDLE hRsm; RSM_GET_i8094H_FIRMWARE_VERSION(hRsm, &i8094H_Ver); MODBUS request: UID (hex) MODBUS response: UID (hex) FC (hex) 01 FC (hex) 04 04 Modbus RTU Slave Address (valid range: 1 to 247) Version number Example: 0x02210300
PCB 2.21
The Low WORD (last two hex number) represents the i-8094H firmware Version: 3.00 St_Addr. (hex) 00 54 Byte Count (hex) 04 Word Count (hex) 00 02 Version(hex) High Word 02 21 Version(hex) Low Word 02 01
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11.3 RS-M8194H DLL Version
WORD RSM_GET_DLL_VERSION ( void ); Description: This function reads the read RS-M8194H API Library version. This function is an internal function and can be called without connecting to the ET M8194H. 0x0100 means the version number is 1.00. The high byte is the major version number and the low byte is the minor version number.
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12 Appendix
12.1 MODBUS Input Registers
Use Modbus function code 4 to read the input register table. The table addresses defined below is zero-based but for some PLCs and HMIs the addresses are one-based. This means the one based device use the address one to access the register table at index zero. The format of the one-based input register table is 3xxxx, x is digital number, '3' represents the table and is defined for Input registers; and xxxx is the one-based address of a register. In PLC, the first input register defined at address 30001 is the same as the first register at address 0 shown in the table below. Most PLC systems which addresses do not start from zero can be referred as one-based system. The following tables will only show zero-based addresses. When a value is represented by two registers data, the order of most significant WORD (MSW) and least significant WORD (LSW) can be determined by reading the current WORD order setting. The WORD order setting is defined at address 14 (zero-based) in holding register table. If WORD order is set to 0, the first register (lower address) represents the high-word (
MSW
) and the second register is low-word (
LSW
).
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12.1.1 Read FRnet DI/O
Appendix table 1: FRnet DI/O (PLC address: 30001 to 30016) Read FRnet DIO Variable Name Address (zero based) Type Comment
Group 0 0 R Read the FRnet DO group 0
(16-bit)
Group 1 1 R Read the FRnet DO group 1
(16-bit)
Group 2 2 R Read the FRnet DO group 2
(16-bit)
FRnet DO Group 3 3 R Read the FRnet DO group 3
(16-bit)
Group 4 4 R Read the FRnet DO group 4
(16-bit)
Group 5 5 R Read the FRnet DO group 5
(16-bit)
Group 6 6 R Read the FRnet DO group 6
(16-bit)
Group 7 7 R Read the FRnet DO group 7
(16-bit)
Group 8 8 R Read the FRnet DI group 8
(16-bit)
Group 9 9 R Read the FRnet DI group 9
(16-bit)
Group 10 10 R Read the FRnet DI group 10
(16-bit)
FRnet DI Group 11 11 R Read the FRnet DI group 11
(16-bit)
Group 12 12 R Read the FRnet DI group 12
(16-bit)
Group 13 13 R Read the FRnet DI group 13
(16-bit)
Group 14 14 R Read the FRnet DI group 14
(16-bit)
Group 15 15 R Read the FRnet DI group 15
(16-bit)
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12.1.2 Read Motion Chip DI Status of Daughterboard
Appendix table 2: DI Status of Daughterboard (PLC address: 30017 to 30020)
Read DI Status
(of Daughterboard)
Variable Name Address (zero based) Type Comment
X-Axis 16 R All DI status of AXIS-X, If the individual DI is needed, read X_DI_0 ~ X_DI_9. DI ALL Y-Axis Z-Axis U-Axis 17 18 19 R R R All DI status of AXIS-Y, If the individual DI is needed, please read Y_DI_0 ~ Y_DI_9. All DI status of AXIS-Z, If the individual DI is needed, please read Z_DI_0 ~ Z_DI_9. All DI status of AXIS-Z, If the individual DI is needed, please read U_DI_0 ~ U_DI_9.
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12.1.3 Read Error Code
Appendix table 3: Error Code (PLC address: 30021 to 30026) Read Error Code Variable Name Address (zero based) Type Comment
X-Axis 20 R
The error occurred on AXIS-X. Please refer to RSM_GET_ERROR_CODE() for detailed information.
ERROR CODE Y-Axis Z-Axis U-Axis 21 22 23 R
The error occurred on AXIS-Y. Please refer to RSM_GET_ERROR_CODE() for detailed information.
R
The error occurred on AXIS-Z. Please refer to RSM_GET_ERROR_CODE() for detailed information.
R
The error occurred on AXIS-U. Please refer to RSM_GET_ERROR_CODE() for detailed information.
MP Call number 24 R Current running MP or ISR number EMERGENCY_STOP state 25 R Shows the current emergency state 1- emergency stop enabled 0 – no emergency disabled
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12.1.4 Read Logic and Encoder Position, Acceleration, Velocity
Appendix table 4: Logic and Encoder Position, Acceleration, Velocity (PLC address: 30027 to 30058) Motion Status Variable Name Address (zero based) Type Comment
X 26-27 R Logical position of X-axis. Logic Position Encoder Position Current velocity Current Acceleration Y Z U X Y Z U X Y Z U X Y Z U 28-29 30-31 32-33 34-35 36-37 38-39 40-41 42-43 44-45 46-47 48-49 50-51 52-53 54-55 56-57 R R R R R R R R R R R R R R R Logical position of Y-axis. Logical position of Z-axis. Logical position of U-axis. Encoder feedback position of X axis. It takes two registers. Encoder feedback position of Y axis. It takes two registers. Encoder feedback position of Z axis. It takes two registers. Encoder feedback position of U axis. It takes two registers. Current velocity of X-axis. It takes two registers. Current velocity of Y-axis. It takes two registers. Current velocity of Z-axis. It takes two registers. Current velocity of U-axis. It takes two registers. Current acceleration of X-axis. It takes two registers. Current acceleration of Y-axis. It takes two registers. Current acceleration of Z-axis. It takes two registers. Current acceleration of U-axis. It takes two registers.
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12.1.5 Read Stop Status
Appendix table 5: Stop Status (PLC address: 30059 to 30062) Variable Name
Stop Status X Y Z U
Address (zero based)
58 59 60 61
Type
R R R R
Comment
1:stop, 0: moving 1:stop, 0: moving 1:stop, 0: moving 1:stop, 0: moving
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12.1.6 Read Latch
Appendix table 6: Read Latch (PLC address: 30063 to 30070) Variable Name Address (zero based) Type Comment
X 62-63 R Value in X-axis latch register long type Latch Y Z U 64-65 66-67 68-69 R R R Value in Y-axis latch register long type Value in Z-axis latch register long type Value in U-axis latch register long type
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12.1.7 Read Error State and Free Buffer Size
Appendix table 7: Error State and Free Buffer Size (PLC address: 30071 to 30072) Variable Name Address (zero based) Type Comment
ERROR_STATE 70 R FREE_BUFFER_SIZE 71 R 1: error occurred; 0: no error Get the available block-numbers in Buffer. The maximum block is 30.
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12.1.8 Read i-8094H Interrupt
Appendix table 8: i-8094H Interrupt (PLC address: 30073 to 30081) Variable Name
RINT_STATE_ALL Line_Scan_Completed MP_Completed User-Defined_RINT Continuous_Inp_Interrupt
i-8094H Interrupt RS-M8194H (Return Interrupt RINT) Address (zero based) Type
72 R
Comment
Read the RINT state. For detailed, please refer to the descriptions of
RSM_RINT_WAIT()
and
RSM_RINT_ENABLE()
. 73 R Bit0 of RINT_STATE 74 75 R R Bit1 of RINT_STATE Bit2 of RINT_STATE 76 R Bit3 of RINT_STATE 77 -- 0 …..Undefined …..Undefined
Axes_Error Module_Error 78 79 80 -- R R 0 Bit6 of RINT_STATE Bit7 of RINT_STATE
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12.1.9 Read Firmware Version
Appendix table 9: Firmware Version (PLC address: 30082 to 30087) Variable Name Address (zero based) Others Type Comment
i-8094H Module ID 81 R i-8094H ： 0x
44
i-8094A ： 0x
55
RS-M8194H Firmware Version 82-83 R 0x
0100
0000 means Ver ： 1.00 i-8094H Firmware Version 84-85 R 0x02210201 High Word for PCB version Low WORD represents the i 8094H firmware Version: // Example: High WORD o PCB Version 2.21 Low WORD o 0201->02 major version, 01-> minor version number
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12.1.10 Read DI Signal of Daughterboard
Appendix Table 10: DI Status of Daughterboard (PLC address: 30017 to 30020) Variable Name
Read DI Signal
(of Daughterboard)
Address (zero based) Type Comment
X-Axis 88 R All DI signal of AXIS-X, If the individual DI is needed, read X_DI_SIG_0 ~ X_DI_SIG _7. DI ALL Y-Axis Z-Axis U-Axis 89 90 91 R R R All DI signal of AXIS-Y, If the individual DI is needed, please read Y_DI_SIG _0 ~ Y_DI_SIG _7. All DI signal of AXIS-Z, If the individual DI is needed, please read Z_DI_SIG _0 ~ Z_DI_SIG _7. All DI signal of AXIS-Z, If the individual DI is needed, please read U_DI_SIG _0 ~ U_DI_SIG _7.
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12.1.11 Read Absolute Logic Position
Appendix table 11: Absolute Logic Position (PLC address: 30093 to 30100) Variable Name
Absolute Logic Position X Y Z U
Motion Status Address (zero based) Type
160-161 162-163 164-165 166-167 R R R R
Comment
Absolute logical position of X axis. Absolute logical position of Y axis. Absolute logical position of Z axis. Absolute logical position of U axis.
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12.1.12 Read RS-M8194H and i-8094H State
Appendix table 12: RS-M8194H and i-8094H State (PLC address: 30101 to 30103) Current state of the RS-M8194H and i-8094H Variable Name Address (zero baed) Type Comment
RS-M8194H state i-8094H state Illegal Modbus function 100
101 102
R
R R
The current state of the RS-M8194H module: 0- ready for receiving new RTC and Macro commands 1- RSM is in an MACRO download state (MPn) 2- RSM is in an MACRO download state (ISRn) The current state of the i-8094H module: 3- ready for receiving new RTC commands 4- Calling the initialization table 5- Initialization finished 6- downloading MACRO commands (MP or ISR commands) to the FRAM or is waiting for the next MACRO command 7- Macro download finished 8- MACRO program (MP) is being executed 9- MACRO program (MP) execution finished 10- Interrupt MACRO (ISR) program is being executed 11- Interrupt MACRO (ISR) execution finished 255- firmware is booting Cause of the ILLIGAL FUNCTION Modbus exception response: 0- no error 1- function code not supported 2- Parameter value in NOT within defined range 3- No such command
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4- More than the avalaible command lines are used for the specific MACRO program (MPn or ISRn) 5- A MP command is being used inside ISR MACRO. 6- A ISR command is being used inside MP MACRO 7- A RTC command is being used inside a MP or ISR MACRO 8- A MP or ISR MACRO command is being used outside a MACRO program as real time command
0xB1
- The max number of nested MP_IF commands has been exceeded
0xB2
- MP_ELSE command outside MP_IF block
0xB3
- MP_END_IF command outside MP_IF block
0xB4
- MP_IF block has not been closed by MP_END_IF command
0xB5
- Number of nested MP_FOR exceeds the limit
0xB6
-MP_EXIT_FOR command outside MP_FOR loop
0xB7
- MP_NEXT command outside MP_FOR block
0xB8
- MP_FOR block has not been closed with a MP_NEXT command
0xB9
- Label number is being used more than once
0xBA
- MP_LABEL inside a MP_IF block. Jumping into a MP_IF block is prohibited
0xBB
- MP_LABEL inside a MP_FOR block. Jumping into a MP_FOR block is prohibited
0xBC
- MP_GOTO command has NO corresponding MP_LABEL command
0xC0
- A DWORD is required but only one register has been received
0xC1
-DPRAM of i-8094H is full
0xC2
-Module not in slot
0xC3
- A Macro program is currently being executed inside the i-8094H
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12.1.13 Macro Program Download Error Messages
Appendix table 13: Program Download Error Message (PLC address: 30111 to 30115) Macro program download error message Variable Name Address (zero based) Type Comment
Macro MP number (MPxx) 110 R The last downloaded Macro MP program number since RS M8194H power on. Macro ISR number (ISRxx) 111 R The last downloaded Macro ISR program number since RS M8194H power on. Command type Line number Error type 112 113 114 R The number identifying the command. See sub function code. The register following the 8000 sub function register identifies the command.
R R The line number of the Macro program at which the error occurred Describes the type of error
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12.1.14 Macro Program Execution Error Messages
Appendix table 14: Macro Program Execution Error Messages (PLC address: 30116 to 30120) Macro program execution error message Variable Name Address (zero based) Type Comment
Macro MP number (MPxx) 115 R The last downloaded Macro MP program number since RS M8194H power on. Macro ISR number (ISRxx) Command type Line number Error type 116 117 118 119 R R R R The last downloaded Macro ISR program number since RS M8194H power on. The number identifying the command at which the error occurred. See sub function code. The register following the 8000 sub function register identifies the command.
The line number of the Macro program at which the error occurred Describes the type of error
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12.1.15 Motion Chip Triggered Interrupt
Appendix table 15: Motion Chip Triggered Interrupt (PLC address: 30131 to 30140) nINT
0
Symbol Motion chip triggered interrupt Address (zero based) Type Description
PULSE 130 R Interupt occurs when pulse is up. 1 P>=C- 131 R Interrupt occurs when the value of logical / real position counter is larger than or equal to that of COMP- register. 2 3 4 P
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12.2 Holding Registers
Use Modbus function code 6 or 16 to write to the holding register(s) and function code 3 to read the registers. The table addresses defined below is zero based. For some PLC or HMI, the addresses maybe show on their documents as 4xxxx, x is digital number. For example, 40001 to 49999. '4' represents the table is defined for holding registers; and xxxx is the address of a register. In PLC, the first holding register defined at address 40001 is the same as the first register at address 0 shown in the following table. Most PLC systems which addresses do not start from zero can be referred as one-based system. The following tables will only show zero-based addresses. When PLC or HMI users configure their registers, they have to consider register number mapping problem carefully. When a parameter needs two registers to store, such as DWORD, long, float, the order of MSW and LSW can be determined by setting a flag (WORD Order). WORD Order is defined at address 14 (zero-based) in holding register table. If WORD Order is set to 0, the first register (lower address) is high-word (
MSW
) and the second register is low-word (
LSW
). R/W – read/write
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12.2.1 FRnet DO
Appendix table 16: FRnet DO (PLC address: 40001 to 40008) Variable Name
Group 0
FRnet DO Address (zero base) Type
0 R/W
Comment
Set/Read the FRnet DO group 0 FRnet DO Group 1 Group 2 Group 3 Group 4 1 2 3 4 R/W R/W R/W R/W Set/Read the FRnet DO group 1 Set/Read the FRnet DO group 2 Set/Read the FRnet DO group 3 Set/Read the FRnet DO group 4 Group 5 Group 6 Group 7 5 6 7 R/W R/W R/W Set/Read the FRnet DO group 5 Set/Read the FRnet DO group 6 Set/Read the FRnet DO group 7
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
12.2.2 Macro Call, FRnet Event and WORD Order Setting
Appendix table 17: Macro Call, FRnet Event and WORD Order Setting (PLC address: 40009 to 40015) Variable Name
CALL_MPn Reserved FRNet Event WORD Order
Address (zero based)
8 9 10-13 14
Type
R/W -- -- R/W
Comment
This is a simple method to call MP. Write the MPn at this address, the corresponding MPn will be called. n=1-157 Enable FRnet DI to generate events 0 – disable FRnet event trigger 1 – enable FRnet event trigger Not defined This setting is relevant for DWORD, long, float variables: 0: Big endian WORD (reverse type). First register represents the most significant word the second register represents the least significant word 1: Small Endian WORD Most significant word is the second register
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
12.2.3 Read/ Write Logic and Encoder Position, Acceleration, Velocity
Appendix table 18: Logic and Encoder Position, Acceleration, Velocity (PLC address: 40091 to 40122) Variable Name
Absolute Position X-Axis Y-Axis Z-Axis U-Axis
Motion Status Address (zero based) Type
82-83 R/W
Comment
Absolute position of X-axis. 84-85 86-87 88-89 R/W R/W R/W Absolute position of Y-axis. Absolute position of Z-axis. Absolute position of U-axis. Logic Position (LP) Encoder Position (EP) (CV) (CA) Current Velocity Current Acceleration X-Axis Y-Axis Z-Axis U-Axis X-Axis Y-Axis Z-Axis U-Axis X-Axis Y-Axis Z-Axis U-Axis X-Axis Y-Axis Z-Axis U-Axis 90-91 92-93 94-95 96-97 98-99 100-101 102-103 104-105 106-107 108-109 110-111 112-113 114-115 116-117 118-119 120-121 R/W R/W R/W R/W R/W R/W R/W R/W R R R R R R R R Logical position of X-axis. Logical position of Y-axis. Logical position of Z-axis. Logical position of U-axis. Encoder feedback position of X-axis. Encoder feedback position of Y-axis. Encoder feedback position of Z-axis. Encoder feedback position of U-axis. Current velocity of X-axis. Current velocity of Y-axis. Current velocity of Z-axis. Current velocity of U-axis. Current acceleration of X-axis. Current acceleration of Y-axis. Current acceleration of Z-axis. Current acceleration of U-axis.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
12.2.4 Read/ Write VAR Variables
Appendix table 19: VAR Variables (PLC address: 40301 to 41324) Variable Name
VAR0
Macro Variables Address (zero based) Type
300-301 R/W
Comment
Value of VAR0. VAR1 … 302-303 … R/W Value of VAR1. VARn = 300+2*n to 300+2*n+1 VAR510 1320 1321 R/W Value of VAR510. VAR511 1322 1323 R/W Value of VAR511.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
12.2.5 Sub Function Code Definition
Appendix table 20: Sub Function Code Definition (PLC address: 48001 to 48101) Variable Name Motion Commands Sub Function Code 16 Address (zero based) Type Comment
Sub_Function_Code 8000 W The mapping of sub function code can refer to table in
section 12.3
. Reg1 Reg2 Reg3 Reg4 … Reg100 8001 8002 8003 8004 8100 W The definitions of parameters depend on the sub functions. Please refer to the table in
section 12.3
. W W W W Users can use the sub function call method to implement most of the motion functions, especially for setting functions. For getting real-time information from modules, these tables in
section 12.1 and 12.2
are valuable. Users can refer to examples in the functions description above to know how to set the parameters. The basic rules of parameter definitions are : BYTE one register (low-byte) WORD one register DWORD two registers long two registers float two registers
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
12.3 Sub-Function Code Mapping Table
Please use the FC=16 to call the sub-functions; the related starting address is 8000 (zero-based). The following table lists the reference-section, Sub_Function name and required-registers of the related sub-function-code. Some code-fields are filled with xxxxxx; this means no sub-function-code is involved. Most of these functions are belong to the Getting command; the FC=3 or FC=4 will be used to get the needed information. Please refer to the MODBUS table in the section 12.1 and 12.2.
Appendix table 21: Sub Function Code mapping table Section 2.1.1 2.1.2 2.1.3 2.1.4 2.1.5 2.1.6 2.1.7 2.1.8 2.1.9 3.2.1 3.2.2 3.3 3.3 3.4 3.4 3.5 3.5 3.6 3.6 3.7 3.7 3.8 3.8 3.9.1 Sub_Function RSM_OPEN_COM_PORT RSM_CLOSE_COM_PORT RSM_CONNECTION_STATE RSM_SET_TIMEOUT RSM_GET_TIMEOUT RSM_SET_PACKET_DELAY RSM_GET_PACKET_DELAY RSM_SET_WORD_ORDER RSM_GET_WORD_ORDER RSM_RESET_CARD RSM_CLEAR_CARD_BUFFER RSM_SET_PULSE_MODE RSM_MACRO_SET_PULSE_MODE RSM_SET_MAX_V RSM_MACRO_SET_MAX_V RSM_SET_HLMT RSM_MACRO_SET_HLMT RSM_LIMITSTOP_MODE RSM_MACRO_LIMITSTOP_MODE RSM_SET_NHOME RSM_MACRO_SET_NHOME RSM_SET_HOME_EDGE RSM_MACRO_SET_HOME_EDGE RSM_SET_SLMT Code (Hex) Code (Dec) reg(0) reg(0) No. of registers xxxxxx xxxxxx xxxxxx xxxxxx x x xxxxxx xxxxxx xxxxxx xxxxxx xxxxxx xxxxxx x x x xxxxxx xxxxxx xxxxxx xxxxxx xxxxxx xxxxxx xxxxxx xxxxxx 0x0A0A 2570 0x0A0B 2571 0x0A0C 2572 0x0C0C 3084 0x0A0D 2573 0x0C0D 3085 0x0A0E 2574 0x0C0E 3086 0x0A0F 2575 0x0C0F 3087 0x0A10 2576 0x0C10 3088 0x0A11 2577 0x0C11 3089 0x0A12 2578 x x x x 1 1 3 3 4 4 4 4 3 3 3 3 3 3 7
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
Section 3.9.1 3.9.2 3.9.2 3.10 Sub_Function RSM_MACRO_SET_SLMT RSM_CLEAR_SLMT RSM_MACRO_CLEAR_SLMT RSM_SET_ENCODER 3.10 RSM_MACRO_SET_ENCODER 3.11.1 RSM_SERVO_ON 3.11.1 RSM_MACRO_SERVO_ON 3.11.2 RSM_SERVO_OFF 3.11.2 RSM_MACRO_SERVO_OFF 3.12 3.12 RSM_SET_ALARM RSM_MACRO_SET_ALARM 3.13 3.13 3.14 RSM_SET_INPOS RSM_MACRO_SET_INPOS RSM_SET_FILTER 3.14 RSM_MACRO_SET_FILTER 3.15.1 RSM_VRING_ENABLE 3.15.1 RSM_MACRO_VRING_ENABLE 3.15.2 RSM_VRING_DISABLE 3.15.2 RSM_MACRO_VRING_DISABLE 3.16.1 RSM_AVTRI_ENABLE 3.16.1 RSM_MACRO_AVTRI_ENABLE 3.16.2 RSM_AVTRI_DISABLE 3.16.2 RSM_MACRO_AVTRI_DISABLE 3.17.1 RSM_EXD_MP 3.17.2 RSM_EXD_FP 3.17.3 RSM_EXD_CP 3.17.4 RSM_EXD_DISABLE 3.18.1 RSM_READ_bVAR 3.18.2 RSM_WRITE_bVAR 3.18.3 RSM_READ_VAR 3.18.4 RSM_WRITE_VAR 3.19.1 RSM_READ_MD 3.19.2 4.1.1 4.1.1 4.1.2 RSM_WRITE_MD RSM_SET_LP RSM_MACRO_SET_LP RSM_GET_LP Code (Hex) Code (Dec) reg(0) reg(0) No. of registers 0x0C12 3090 0x0A13 2579 7 2 0x0C13 3091 0x0A14 2580 0x0C14 3092 0x0A15 2581 2 5 5 2 0x0C15 3093 0x0A16 2582 0x0C16 3094 0x0A17 2583 0x0C17 3095 0x0A18 2584 0x0C18 3096 0x0A19 2585 2 2 2 4 4 4 4 4 0x0C19 3097 0x0A1A 2586 0x0C1A 3098 0x0A1B 2587 0x0C1B 3099 0x0A1C 2588 0x0C1C 3100 0x0A1D 2589 0x0C1D 3101 0x0A1E 2590 0x0A1F 2591 0x0A20 2592 0x0A21 2593 xxxxxx xxxxxx 0x0A23 2595 xxxxxx xxxxxx 0x0A25 2597 xxxxxx xxxxxx 0x0A27 2599 0x0A28 2600 0x0C28 3112 xxxxxx xxxxxx 7 4 4 x 4 4 4 2 2 2 2 2 2 4 4 4 2 x 3 x 5 x
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
Section Sub_Function 4.1.2 4.1.2 4.2.1 4.2.1 4.2.2 4.2.2 4.2.2 4.3.1 4.3.1 4.3.2 4.3.2 4.3.2 4.4 4.4 4.5 4.5 4.6.1 4.6.2 4.6.2 4.6.2 4.7.1 4.7.2 4.7.2 4.7.2 4.8 4.8 4.8 4.9.1 4.9.1 4.9.2 4.9.2 4.9.2 4.10 4.11 RSM_MACRO_GET_LP RSM_GET_LP_4_AXIS RSM_SET_EP RSM_MACRO_SET_EP RSM_GET_EP RSM_MACRO_GET_EP RSM_GET_EP_4_AXIS RSM_ABS_SET_POSITION RSM_MACRO_ABS_SET_POSITION RSM_ABS_GET_POSITION RSM_MACRO_ABS_GET_POSITION RSM_ABS_GET_POSITION_4_AXIS RSM_GET_CV RSM_GET_CV_4_AXIS RSM_GET_CA RSM_GET_CA_4_AXIS RSM_MACRO_GET_DI RSM_GET_DI_ALL RSM_MACRO_GET_DI_ALL RSM_GET_DI_ALL_4_AXIS RSM_MACRO_GET_DI_SIGNAL RSM_GET_DI_SIGNAL_ALL RSM_MACRO_GET_DI_SIGNAL _ALL RSM_GET_DI_SIGNAL_ALL_4_AXIS RSM_GET_HOME_SEARCH_STATE RSM_MACRO_ GET_HOME_SEARCH_STATE RSM_GET_HOME_SEARCH_STATE _4_AXIS RSM_GET_ERROR_STATE RSM_MACRO_GET_ERROR RSM_GET_ERROR_CODE RSM_MACRO_GET_ERROR_CODE RSM_GET_ERROR_CODE_4_AXIS RSM_GET_FREE_BUFFER RSM_GET_STOP_STATUS Code (Hex) Code (Dec) reg(0) reg(0) No. of registers 0x0C29 3113 xxxxxx xxxxxx 2 x 0x0A2A 2602 0x0C2A 3114 xxxxxx xxxxxx 0x0C2B 3115 4 4 x 2 xxxxxx xxxxxx 0x0AF4 2804 0x0CF4 3316 xxxxxx xxxxxx 0x0CF5 3317 xxxxxx xxxxxx xxxxxx xxxxxx xxxxxx xxxxxx x 4 4 x x x x x xxxxxx xxxxxx xxxxxx xxxxxx 0x0C2E 3118 xxxxxx xxxxxx 0x0C31 3121 xxxxxx xxxxxx 0x0C40 3136 xxxxxx xxxxxx 0x0C41 3137 xxxxxx xxxxxx xxxxxx xxxxxx x x 3 x 2 x 3 x 2 x x 0x0C42 3138 2 xxxxxx xxxxxx xxxxxx xxxxxx 0x0C2F 3119 xxxxxx xxxxxx 0x0C30 3120 xxxxxx xxxxxx xxxxxx xxxxxx xxxxxx xxxxxx x x 1 x 2 x x x
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
Section Sub_Function 4.11 4.12 4.13 4.14 RSM_GET_STOP_STATUS_4_AXIS RSM_GET_EMERGENCY_STATE RSM_GET_DRIVING_AXIS RSM_GET_INTERPOL_RDY_FLAG 4.15 RSM_GET_TRIG_INTFACTOR 4.16.2 RSM_GET_DEVICE_STATE 5.1.1 5.1.2 5.1.3 5.1.4 5.1.5 RSM_MACRO_FRNET_IN RSM_MACRO_FRNET_READ RSM_FRNET_READ_SINGLE_DIO RSM_FRNET_READ_GROUP_DIO RSM_FRNET_READ_MULTI_GROUP_DI O RSM_MACRO_FRNET_OUT 5.2.1 5.2.2 5.2.3 5.2.4 RSM_MACRO_FRNET_WRITE RSM_FRNET_WRITE_SINGLE_DO 5.2.5 5.3 5.4 5.5 RSM_FRNET_WRITE_GROUP_DO RSM_FRNET_WRITE_MULTI_GROUP_D O RSM_MACRO_FRNET_WAIT RSM_SET_FRNET_TRIGGER_EVENT RSM_GET_FRNET_TRIGGER_EVENT_S ETTING RSM_SET_HV 6.1 6.1 6.2 6.2 6.3 6.3 6.4 RSM_MACRO_SET_HV RSM_HOME_LIMIT RSM_MACRO_HOME_LIMIT RSM_SET_HOME_MODE RSM_MACRO_SET_HOME_MODE RSM_HOME_START 6.4 7.1.1 7.1.1 7.1.2 7.1.2 7.1.3 7.1.3 7.1.4 RSM_MACRO_HOME_START RSM_NORMAL_SPEED RSM_MACRO_NORMAL_SPEED RSM_SET_SV RSM_MACRO_SET_SV RSM_SET_V RSM_MACRO_SET_V RSM_SET_A Code (Hex) Code (Dec) reg(0) reg(0) No. of registers xxxxxx xxxxxx xxxxxx xxxxxx x x xxxxxx xxxxxx xxxxxx xxxxxx xxxxxx xxxxxx xxxxxx xxxxxx x x x x 0x0C32 3122 0x0C34 3124 xxxxxx xxxxxx xxxxxx xxxxxx 2 5 x x xxxxxx xxxxxx x 0x0C33 3123 0x0C35 3125 xxxxxx xxxxxx xxxxxx xxxxxx xxxxxx xxxxxx 0x0C36 3126 xxxxxx xxxxxx xxxxxx xxxxxx 0x0A3C 2620 0x0C3C 3132 0x0A3D 2621 0x0C3D 3133 0x0A3E 2622 0x0C3E 3134 0x0A3F 2623 0x0C3F 3135 0x0A46 2630 0x0C46 3142 0x0A47 2631 0x0C47 3143 0x0A48 2632 0x0C48 3144 0x0A49 2633 4 7 x x x 7 x x 4 4 3 3 8 8 2 2 3 3 4 4 4 4 4
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
Section 7.1.4 7.1.5 7.1.5 7.1.6 7.1.6 7.1.7 7.1.7 7.1.8 7.1.8 7.1.9 Sub_Function RSM_MACRO_SET_A RSM_SET_D RSM_MACRO_SET_D RSM_SET_K RSM_MACRO_SET_K RSM_SET_L RSM_MACRO_SET_L RSM_SET_AO RSM_MACRO_SET_AO RSM_FIXED_MOVE 7.1.9 RSM_MACRO_FIXED_MOVE 7.1.10 RSM_SET_PULSE 7.1.10 RSM_MACRO_SET_PULSE 7.1.11 RSM_ABS_FIXED_MOVE 7.1.11 RSM_ABS_MACRO_FIXED_MOVE 7.1.12 RSM_CONTINUE_MOVE 7.1.12 RSM_MACRO_CONTINUE_MOVE 7.2.1 7.2.1 RSM_AXIS_ASSIGN RSM_MACRO_AXIS_ASSIGN 7.2.2 7.2.2 7.2.3 7.2.3 7.2.4 7.2.4 7.2.5 7.2.5 7.2.6 7.2.6 7.2.7 7.2.7 7.2.8 7.2.8 7.2.9 RSM_VECTOR_SPEED RSM_MACRO_VECTOR_SPEED RSM_SET_VSV RSM_MACRO_SET_VSV RSM_SET_VV RSM_MACRO_SET_VV RSM_SET_VA RSM_MACRO_SET_VA RSM_SET_VD RSM_MACRO_SET_VD RSM_SET_VK RSM_MACRO_SET_VK RSM_SET_VL RSM_MACRO_SET_VL RSM_SET_VAO 7.2.9 RSM_MACRO_SET_VAO 7.2.10 RSM_LINE_2D Code (Hex) Code (Dec) reg(0) reg(0) No. of registers 0x0C49 3145 0x0A4A 2634 4 4 0x0C4A 3146 0x0A4B 2635 0x0C4B 3147 0x0A4C 2636 4 4 4 4 0x0C4C 3148 0x0A4D 2637 0x0C4D 3149 0x0A4E 2638 0x0C4E 3150 0x0A4F 2639 0x0C4F 3151 0x0AF6 2806 4 4 4 4 4 4 4 4 0x0CF6 3318 0x0A50 2640 0x0C50 3152 0x0A5A 2650 0x0C5A 3162 0x0A5B 2651 0x0C5B 3163 0x0A5C 2652 0x0C5C 3164 0x0A5D 2653 0x0C5D 3165 0x0A5E 2654 0x0C5E 3166 0x0A5F 2655 0x0C5F 3167 0x0A60 2656 0x0C60 3168 0x0A61 2657 0x0C61 3169 0x0A62 2658 0x0C62 3170 0x0A63 2659 3 3 3 5 4 4 4 4 4 2 2 3 3 3 3 3 3 3 3 3 3 3
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
Section Sub_Function 7.2.10 RSM_MACRO_LINE_2D 7.2.11 RSM_ABS_LINE_2D 7.2.11 RSM_ABS_MACRO_LINE_2D 7.2.12 RSM_LINE_3D 7.2.12 RSM_MACRO_LINE_3D 7.2.13 RSM_ABS_LINE_3D 7.2.13 RSM_ABS_MACRO_LINE_3D 7.2.14 RSM_ARC_CW 7.2.14 RSM_MACRO_ARC_CW 7.2.15 RSM_ARC_CCW 7.2.15 RSM_MACRO_ARC_CCW 7.2.16 RSM_ABS_ARC_CW 7.2.16 RSM_ABS_MACRO_ARC_CW 7.2.17 RSM_ABS_ARC_CCW 7.2.17 RSM_ABS_MACRO_ARC_CCW 7.2.18 RSM_CIRCLE_CW 7.2.18 RSM_MACRO_CIRCLE_CW 7.2.19 RSM_CIRCLE_CCW 7.2.19 RSM_MACRO_CIRCLE_CCW 7.3.1 7.3.1 RSM_SYNC_ACTION RSM_MACRO_SYNC_ACTION 7.3.2 7.3.2 7.3.3 7.3.3 RSM_CLEAR_SYNC_ACTION RSM_MACRO_CLEAR_SYNC_ACTION RSM_SET_ACTIVATION_FACTORS RSM_MACRO_SET_ACTIVATION_FACTO RS RSM_SET_ACTIVATION_AXIS 7.3.4 7.3.4 7.3.5 7.3.5 7.3.6 7.3.6 7.3.7 RSM_MACRO_SET_ACTIVATION_AXIS RSM_SET_ACTION RSM_MACRO_SET_ACTION RSM_SET_COMPARE RSM_MACRO_SET_COMPARE RSM_GET_LATCH 7.3.7 7.3.7 7.3.8 RSM_MACRO_GET_LATCH RSM_GET_LATCH_4_AXIS RSM_SET_PRESET Code (Hex) Code (Dec) reg(0) reg(0) No. of registers 0x0C63 3171 0x0AF7 2807 5 5 0x0CF7 3319 0x0A64 2660 0x0C64 3172 0x0AF8 2808 5 7 7 7 0x0CF8 3320 0x0A65 2661 0x0C65 3173 0x0A67 2663 0x0C67 3175 0x0AF9 2809 0x0CF9 3321 0x0AFA 2810 7 9 9 9 9 9 9 9 0x0CFA 3322 0x0A69 2665 0x0C69 3177 0x0A6A 2666 0x0C6A 3178 0x0A6E 2670 0x0C6E 3182 0x0A95 2709 0x0C95 3221 0x0A96 2710 9 5 5 5 5 14 14 2 2 4 0x0C96 3222 0x0A97 2711 0x0C97 3223 0x0A98 2712 0x0C98 3224 0x0A70 2672 0x0C70 3184 xxxxxx xxxxxx 0x0C71 3185 xxxxxx xxxxxx 0x0A72 2674 4 3 3 11 11 6 6 x 2 x 4
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
Section 7.3.8 7.3.9 7.3.9 7.3.12 7.3.13 7.3.13 7.4.1 7.4.1 7.4.2 Sub_Function RSM_MACRO_SET_PRESET RSM_SET_OUT RSM_MACRO_SET_OUT 7.3.10 RSM_ENABLE_INT 7.3.10 RSM_MACRO_ENABLE_INT 7.3.11 RSM_DISABLE_INT 7.3.11 RSM_MACRO_DISABLE_INT 7.3.12 RSM_INTFACTOR_ENABLE RSM_MACRO_INTFACTOR_ENABLE RSM_INTFACTOR_DISABLE RSM_MACRO_INTFACTOR_DISABLE RSM_RECTANGLE RSM_MACRO_RECTANGLE RSM_LINE_2D_INITIAL 7.4.2 7.4.3 RSM_MACRO_LINE_2D_INITIAL RSM_LINE_2D_CONTINUE 7.4.3 7.4.4 7.4.4 7.4.5 7.4.5 7.4.6 7.4.6 7.4.7 7.4.7 7.4.8 7.4.8 7.4.9 7.4.9 RSM_MACRO_LINE_2D_CONTINUE RSM_ABS_LINE_2D_CONTINUE RSM_ABS_MACRO_LINE_2D_CONTINU E RSM_LINE_3D_INITIAL RSM_MACRO_LINE_3D_INITIAL RSM_LINE_3D_CONTINUE RSM_MACRO_LINE_3D_CONTINUE RSM_ABS_LINE_3D_CONTINUE RSM_ABS_MACRO_LINE_3D_CONTINUE RSM_MIX_2D_INITIAL RSM_MACRO_MIX_2D_INITIAL RSM_MIX_2D_CONTINUE RSM_MACRO_MIX_2D_CONTINUE 7.4.10 RSM_ABS_MIX_2D_CONTINUE 7.4.10 RSM_ABS_MACRO_MIX_2D_CONTINUE 7.4.11 RSM_HELIX_3D 7.4.11 RSM_MACRO_HELIX_3D 7.4.12 RSM_LINE_SCAN 7.4.13 RSM_LINE_SCAN_START Code (Hex) Code (Dec) reg(0) reg(0) No. of registers 0x0C72 3186 0x0A73 2675 4 4 0x0C73 3187 0x0AAA 2730 0x0CAA 3242 0x0AAB 2731 4 1 1 1 0x0CAB 3243 0x0AAC 2732 0x0CAC 3244 0x0AAD 2733 0x0CAD 3245 0x0A78 2680 0x0C78 3192 0x0A7C 2684 1 4 4 3 3 20 20 9 0x0C7C 3196 0x0A7E 2686 0x0C7E 3198 0x0AFB 2811 9 6 6 6 0x0CFB 3323 0x0A7F 2687 0x0C7F 3199 0x0A81 2689 0x0CFC 3324 0x0AFC 2812 0x0C81 3201 0x0A82 2690 0x0C82 3202 0x0AFD 2813 0x0CFD 3325 0x0A84 2692 0x0C84 3204 0x0A88 2696 0x0C88 3208 0x0A90 2704 0x0A91 2705 6 10 10 8 8 8 8 10 10 11 11 11 11 15 15 7 5
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
Section Sub_Function 7.4.14 RSM_GET_LINE_SCAN_DONE 7.5.1 7.5.1 RSM_DRV_HOLD RSM_MACRO_DRV_HOLD 7.5.2 7.5.2 7.5.3 7.5.3 RSM_DRV_START RSM_MACRO_DRV_START RSM_STOP_SLOWLY RSM_MACRO_STOP_SLOWLY 7.5.4 7.5.4 7.5.5 7.5.5 7.5.6 7.5.6 7.5.7 RSM_STOP_SUDDENLY RSM_MACRO_STOP_SUDDENLY RSM_VSTOP_SLOWLY RSM_MACRO_VSTOP_SLOWLY RSM_VSTOP_SUDDENLY RSM_MACRO_VSTOP_SUDDENLY RSM_CLEAR_STOP 7.5.7 7.5.8 7.5.8 7.5.9 RSM_MACRO_CLEAR_STOP RSM_CLEAR_VSTOP RSM_MACRO_CLEAR_VSTOP RSM_INTP_END 7.5.9 RSM_MACRO_INTP_END 7.5.10 RSM_EMERGENCY_STOP 7.5.11 RSM_CLEAR_EMERGENCY_STOP 8.1 9.1.1 RSM_LOAD_INITIAL RSM_MP_CREATE 9.1.2 9.1.3 9.1.3 9.2.1 RSM_MACRO_MP_CLOSE RSM_MP_CALL RSM_MACRO_MP_CALL RSM_MP_ISR_CREATE 9.2.2 9.2.3 9.3.1 9.3.2 9.4 RSM_MACRO_MP_ISR_CLOSE RSM_MP_ISR_CALL RSM_MACRO_SET_VAR RSM_MACRO_SET_RVAR RSM_MACRO_VAR_CALCULATE 9.5.1 9.5.2 9.5.3 9.6.1 RSM_MACRO_FOR RSM_MACRO_NEXT RSM_MACRO_EXIT_FOR RSM_MACRO_IF Code (Hex) Code (Dec) reg(0) reg(0) No. of registers xxxxxx xxxxxx 0x0AB4 2740 x 2 0x0CB4 3252 0x0AB5 2741 0x0CB5 3253 0x0AB7 2743 2 2 2 2 0x0CB7 3255 0x0AB8 2744 0x0CB8 3256 0x0AB9 2745 0x0CB9 3257 0x0ABA 2746 0x0CBA 3258 0x0ABB 2747 0x0CBB 3259 0x0A09 2569 0x0C09 3081 0x0ABC 2748 0x0CBC 3260 0x0A04 2564 0x0A05 2565 0x0AC8 2760 0x0AC9 2761 0x0CCA 3274 0x0ACB 2763 0x0CCB 3275 0x0ACD 2765 0x0CCE 3278 0x0ACF 2767 0x0CD2 3282 0x0CD3 3283 0x0CD4 3284 0x0CD5 3285 0x0CD6 3286 0x0CDE 3294 0x0CD7 3287 2 2 2 1 1 1 1 2 2 1 1 2 2 2 1 1 2 1 2 2 2 1 2 5 3 8 3 1 1 6
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
Section Sub_Function 9.6.2 9.6.3 9.7.1 9.7.2 9.8 9.9 9.9 9.10 9.11 9.11 9.12 9.13 11.1 11.2 11.3 RSM_MACRO_ELSE RSM_MACRO_END_IF RSM_MACRO_GOTO RSM_MACRO_LABEL RSM_MACRO_TIMER RSM_STOP_WAIT RSM_MACRO_STOP_WAIT RSM_MACRO_EXIT_MACRO RSM_MP_TERMINATE RSM_MACRO_MP_TERMINATE RSM_GET_MP_DOWNLOAD_STATUS RSM_CHANGE_VEL_ON_FLY RSM_GET_RSM_FIRMWARE_VERSION RSM_GET_i8094H_FIRMWARE_VERSION RSM_GET_DLL_VERSION Code (Hex) Code (Dec) reg(0) reg(0) No. of registers 0x0CD8 3288 0x0CD9 3289 1 1 0x0CDF 3295 0x0CE1 3297 0x0CDA 3290 0x0ADB 2779 2 2 3 2 0x0CDB 3291 0x0CDD 3293 0x0AE2 2786 0x0CE2 3298 xxxxxx xxxxxx 0x0A43 2627 xxxxxx xxxxxx xxxxxx xxxxxx 2 1 1 1 x 4 x x xxxxxx xxxxxx x
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
12.4 MODBUS Coil Table
The coil table can be accessed with the following Modbus functions: − Read Coils (FC 01) − Write Single Coil (FC 05) − Write Multiple Coils (FC 15) The table addresses defined below is zero-based. For some PLC or HMI, the addresses are shown on their documents as 0xxxx; x is digital number (for example 00001 to 09999). The first '0' represents the table is defined for coils; and the following xxxx is the address of a coil. Most PLC systems use the one-based system which means the Modbus table starts at address 1. The tables defined in this manual are zero-based addresses, which means the table address starts at zero. Therefore the one-based system needs to use the address 1 to access the table at address 0.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
12.4.1 FRnet Digital Output
The starting address is 0 (zero-based). Please use FC=05, 15 to write the FRnet DO status: (1) FC=05. It can be used to write single point FRnet DO (0~127). (2) FC=15. It can be used to write multi-point FRnet DO. These DO do not have to be limited to the same group. For example: the user can choose to write DO points from 5~45 (total 41 points).
Appendix table 22: FRnet Digital Output (PLC addresses: 00001 to 00128)
Group 0 1 Channel 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 0 1 2 3 4 5 6 7
FRnet Digital Output
14 15 16 17 18 19 20 21 22 23 Address (zero based) 0 1 2 3 4 5 6 7 8 9 10 11 12 13 Type R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W Comment
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
2 3
4 5 6 4 5 6 7 8 9 10 11 12 13 14 15 0 1 13 14 15 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 0 1 2 3 R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W 84 85 86 87 88 89 90 91 92 93 94 95 96 97 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
7 2 3 4 5 6 7 8 9 10 11 12 13 14 15 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W R/W
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
12.4.2 Servo On/Off
Appendix table 23: Servo On/Off (PLC addresses: 00129 to 00132) Servo State
Axis Address (zero based) Type Comment X Y Z U 128 129 130 131 R R R R − − − − − − − − 1: Servo on 0: Servo off 1: Servo on 0: Servo off 1: Servo on 0: Servo off 1: Servo on 0: Servo off
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
12.5 MODBUS Discrete Input Table
The discrete input table can be accessed by the following Modbus functions: − Read discrete input (FC 02) The table addresses defined below is zero-based. For some PLC or HMI, the addresses maybe show on their documents as 1xxxx, x is digital number. For example: 10001 to 19999. The first '1' represents the table is defined for discrete input; and the following xxxx is the address of a discrete input. In PLC, the first discrete input defined at address 10001 is the same as the first register at address 0 shown in the following table. Most PLC systems which addresses do not start from zero can be referred as one-based system. The following tables will only show zero-based addresses. When PLC or HMI users configure their discrete input numbers, they have to consider discrete input number mapping problem carefully.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
12.5.1 FRnet Digital Input
Appendix table 24: FRnet Digital Inputs (PLC addresses: 10001 to 10128) FRnet Digital Input
Group Channel 0 1 Address (zero based) 0 1 Type R R Comment 8 2 3 4 5 6 7 8 9 10 2 3 4 5 6 7 8 9 10 R R R R R R R R R 9 1 2 3 4 5 6 11 12 13 14 15 0 7 8 9 10 11 12 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 R R R R R R R R R R R R R R R R R R
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
10 11
13 14 12
15 10 11 12 13 14 3 4 5 6 7 8 9 15 0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 R R R R R R R R R R R R R R R R R R R R R R R R R R R R R
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
12.5.2 DI or Status of Control Board
Appendix table 25: Motion chip status triggered by DI of Control Board (PLC addresses: 10129 to 10192) Read DI or Status of Control Board
Axis DI Address (zero based) Type Comment X DRIVING LIMIT+ LIMIT- EMERGENCY ALARM HOME NHOME IN3 INPOS INDEX 128 129 130 131 132 133 134 135 136 137 R R R R R R R R R R
The driving state of AXIS-X: 1: driving, 0: stop The hardware limit (LMT+) state of AXIS X: 0: off, 1: on The hardware limit (LMT-) state of AXIS-X: 0: off, 1: on The emergency (EMG) state of AXIS-X: 0: off, 1: on The ALARM state of AXIS-X: (please enable Alarm with RSM_SET_ALARM() 0: off, 1: on The HOME/IN1 state of AXIS-X: 0: on, 1: off The NHOME/IN0 state of AXIS-X: 0: on, 1: off The IN3 state of AXIS-X: 0: on, 1: off The INPOS or Servo Ready state of AXIS X: 0: on, 1: off The Z-phase/IN2 state of AXIS-X: 0: on, 1: off
138 139 140 141 142 143 undefined Y DRIVING LIMIT+ LIMIT- EMERGENCY 144 145 146 147 R R R R
The driving state of AXIS-Y: 1: driving, 0: stop The hardware limit (LMT+) state of AXIS-Y: 0: off, 1: on The hardware limit (LMT-) state of AXIS-Y: 0: off, 1: on The emergency (EMG) state of AXIS-Y: 0: off, 1: on
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
ALARM HOME NHOME IN3 INPOS INDEX DRIVING LIMIT+ LIMIT- EMERGENCY ALARM Z HOME NHOME IN3 INPOS INDEX 148 165 166 167 168 169 170 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 R R R R R R R R R R R R R
The ALARM state of AXIS- Y: (please enable Alarm with RSM_SET_ALARM() 0: off, 1: on The HOME/IN1 state of AXIS- Y: 0: on, 1: off The NHOME/IN0 state of AXIS- Y: 0: on, 1: off The IN3 state of AXIS- Y: 0: on, 1: off The INPOS or Servo Ready state of AXIS X: 0: on, 1: off The Z-phase/IN2 state of AXIS- Y: 0: on, 1: off
R R R undefined
The driving state of AXIS-Z: 1: driving, 0: stop The hardware limit (LMT+) state of AXIS-Z: 0: off, 1: on The hardware limit (LMT-) state of AXIS-Z: 0: off, 1: on The emergency (EMG) state of AXIS-Z: 0: off, 1: on The ALARM state of AXIS-Z: (please enable Alarm with RSM_SET_ALARM() 0: off, 1: on The HOME/IN1 state of AXIS-Z: 0: on, 1: off The NHOME/IN0 state of AXIS-Z: 0: on, 1: off The IN3 state of AXIS-Z: 0: on, 1: off The INPOS or Servo Ready state of AXIS Z: 0: on, 1: off The Z-phase/IN2 state of AXIS-Z: 0: on, 1: off
undefined
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
DRIVING LIMIT+ LIMIT- EMERGENCY ALARM U HOME NHOME IN3 INPOS INDEX 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 R R R R R R R R R R
The driving state of AXIS-U: 1: driving, 0: stop The hardware limit (LMT+) state of AXIS U: 0: off, 1: on The hardware limit (LMT-) state of AXIS-U: 0: off, 1: on The emergency (EMG) state of AXIS-U: 0: off, 1: on The ALARM state of AXIS-U: (please enable Alarm with RSM_SET_ALARM() 0: off, 1: on The HOME/IN1 state of AXIS-U: 0: on, 1: off The NHOME/IN0 state of AXIS-U: 0: on, 1: off The IN3 state of AXIS-U: 0: on, 1: off The INPOS or Servo Ready state of AXIS U: 0: on, 1: off The Z-phase/IN2 state of AXIS-U: 0: on, 1: off
undefined
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
12.5.3 Error Stop States
Appendix table 26: Error Stop States (PLC addresses: 10193 to 10256)
Axis Cause of stop SOFT LIMIT+ SOFT LIMIT- LIMIT+ LIMIT- ALARM EMERGENCY
Read Motion Error States
Modbus Address Type 192 193 194 195 196 197 R R R R R R Comment
Forward
software
limit of AXIS-X has been encountered Reverse
software
limit of AXIS-X has been encountered Forward
hardware
limit of AXIS-X has been encountered Reverse
hardware
limit of AXIS-X has been encountered The ALARM state of AXIS-X has been activated The emergency state of AXIS-X has been activated
Reserved 198 R X HOME Stop Command 199 200 R R
Not defined Z phase and HOME position of AXIS-X have been reached Motion has been stopped by STOP_SLOWLY STOP_SUDDENLY VSTOP_SLOWLY VSTOP_SUDDENLY
201 202 203 204 205 206 207 undefined Y SOFT LIMIT+ SOFT LIMIT- LIMIT+ 208 209 210 R R R
Forward
software
limit of AXIS-Y has been encountered Reverse
software
limit of AXIS-Y has been encountered Forward
hardware
limit of AXIS-Y has been encountered
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
Z LIMIT- ALARM EMERGENCY Reserved HOME Stop Command SOFT LIMIT+ SOFT LIMIT- LIMIT+ LIMIT- ALARM EMERGENCY Reserved HOME Stop Command 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 R R R
Reverse
hardware
limit of AXIS-Y has been encountered The ALARM state of AXIS-Y has been activated The emergency state of AXIS-Y has been activated Not defined
R R R
Z phase and HOME position of AXIS-Y have been reached Motion has been stopped by STOP_SLOWLY STOP_SUDDENLY VSTOP_SLOWLY VSTOP_SUDDENLY
undefined R R R R R R
Forward
software
limit of AXIS-Z has been encountered Reverse
software
limit of AXIS-Z has been encountered Forward
hardware
limit of AXIS-Z has been encountered Reverse
hardware
limit of AXIS-Z has been encountered The ALARM state of AXIS-Z has been activated The emergency state of AXIS-Z has been activated Not defined
R R R
Z phase and HOME position of AXIS-Z have been reached Motion has been stopped by STOP_SLOWLY STOP_SUDDENLY VSTOP_SLOWLY VSTOP_SUDDENLY
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
U SOFT LIMIT+ SOFT LIMIT- LIMIT+ LIMIT- ALARM EMERGENCY Reserved HOME Stop Command 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 undefined R R R R R R
Forward
software
limit of AXIS-U has been encountered Reverse
software
limit of AXIS-U has been encountered Forward
hardware
limit of AXIS-U has been encountered Reverse
hardware
limit of AXIS-U has been encountered The ALARM state of AXIS-U has been activated The emergency state of AXIS-U has been activated Not defined
R R R
Z phase and HOME position of AXIS-U have been reached Motion has been stopped by STOP_SLOWLY STOP_SUDDENLY VSTOP_SLOWLY VSTOP_SUDDENLY
undefined
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
12.5.4 DI Signal of Control Board
Appendix Table 27: DI or Status of Control Board (PLC addresses: 10129 to 10192) Read DI or Status of Control Board
Axis DI Address (zero based) Type Comment X Y Z Near Home Home Index IN3 MPG (+) MPG (-) InPos Alarm Near Home Home Index IN3 MPG (+) MPG (-) InPos Alarm Near Home 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 R R R R R R R R R R R R R R R R R
The NHOME/IN0 signal of AXIS-X: 0: on, 1: off The HOME/IN1 signal of AXIS-X: 0: on, 1: off The Index/IN2 signal of AXIS-X: 0: on, 1: off The IN3 state of AXIS-X: 0: on, 1: off
EXP+ (External input) signal
of AXIS-X
:
0: off, 1: on
(used for driving by external pulses in positive direction EXP- (External input) signal
of AXIS-X
:
0: off, 1: on
(used for driving by external pulses in negative direction) INP signal of AXIS-X:
0: off, 1: on The ALARM signal of AXIS-X: 0: off, 1: on The NHOME/IN0 signal of AXIS-Y: 0: on, 1: off The HOME/IN1 signal of AXIS-Y: 0: on, 1: off The Index/IN2 signal of AXIS-Y: 0: on, 1: off The IN3 state of AXIS-Y: 0: on, 1: off
EXP+ (External input) signal
of AXIS-Y
:
0: off, 1: on
(used for driving by external pulses in positive direction EXP- (External input) signal
of AXIS-Y
:
0: off, 1: on
(used for driving by external pulses in negative direction) INP signal of AXIS-Y:
0: off, 1: on The ALARM signal of AXIS-Y: 0: off, 1: on The NHOME/IN0 signal of AXIS-Z: 0: on, 1: off
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
Home Index IN3 MPG (+) MPG (-) InPos Alarm Near Home Home Index IN3 U MPG (+) MPG (-) InPos Alarm 273 274 275 276 277 278 279 380 381 382 383 384 385 386 387 R R R R R R R R R R R R R R R
The HOME/IN1 signal of AXIS-Z: 0: on, 1: off The Index/IN2 signal of AXIS-Z: 0: on, 1: off The IN3 state of AXIS-Z: 0: on, 1: off
EXP+ (External input) signal
of AXIS-Z
:
0: off, 1: on
(used for driving by external pulses in positive direction EXP- (External input) signal
of AXIS-Z
:
0: off, 1: on
(used for driving by external pulses in negative direction) INP signal of AXIS-Z:
0: off, 1: on The ALARM signal of AXIS-Z: 0: off, 1: on The NHOME/IN0 signal of AXIS-U: 0: on, 1: off The HOME/IN1 signal of AXIS-U: 0: on, 1: off The Index/IN2 signal of AXIS-U: 0: on, 1: off The IN3 state of AXIS-U: 0: on, 1: off
EXP+ (External input) signal
of AXIS-U
:
0: off, 1: on
(used for driving by external pulses in positive direction EXP- (External input) signal
of AXIS-U
:
0: off, 1: on
(used for driving by external pulses in negative direction) INP signal of AXIS-U:
0: off, 1: on The ALARM signal of AXIS-U: 0: off, 1: on
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
13 RS-M8194H LED Description
Sys LED description: LED Status
On
Description
Device is switched on and firmware is running. Flashing Device is switched on and firmware is not running. Off Device is switched off. Flashing Data is transmitted by the RS-M8194H via RS-232.
Tx
Off No data is sent by the RS-M8194H via RS-232. Flashing The device is receiving data via RS-232.
Rx NET
Off No data is being received. Flashing Data is being transmitted.
MOD
Off On Flashing Off No data is being transmitted. Module i-8094H is plugged into RS-M8194H device. A module different than i-8094H is plugged into RS-M8194H device. No module is plugged into the RS-M8194H device.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
LED description of the i-8094H module: P is the power indicator, A is the FRnet indicator, and D is the pulse output indicator.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
14 EzMove Utility
14.1 Serial Communication Parameter Settings
Execute the EzMove Utility, and click Menu [Setting] –> [RS-M8194H Setting] –> [By COM Port] –> [Communication Configuration], to open the following window: 1. Power off the RS-M8194H. 2. Connect the RS-232 serial port of the PC to the RS-M8194H device by using the RS-232 cable (CA-0910). The Tx, Rx and GND pins of the CA-0910 cable have to be connected to the corresponding Rx, Tx and GND ports of COM1 of the RS-M8194H. The 9-pin, D-sub connector has to be plugged into the RS232 COM port of the desktop/laptop.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
3. Set the DIP-switch to “Init”, then power up the RS-M8194H. 4. Select on the configuration window the COM Port to which the RS M8194H is connected to and then click the Open button. 5. Click the Read Setting button to read the current serial configuration of the device. 6. Enter your new serial parameter setting. 7. Click the Write New Setting button to download the parameter setting to the RS-M8194H. To restore the factory default setting just click Default Setting and Write New Setting.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
RS-M8194H. 8. Set the DIP-switch back to the “Run” position and power off/on the
ATTENTION!!!
Remove the RS-232 cable (CA-0910) from the RS-M8194H after configuration to prevent the device to be affected by noises.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
14.2 Firmware Update Procedure
Start the EzMove Utility and open the “Update Firmware” dialog from the menu-bar: [Setting] – [RS-M8194H Setting] – [By COM Port] – [Update Firmware]. Please follow the following procedures to update firmware: 1. Shut down the RS-M8194H. 2. Connect to RS-M8194H with the associated RS-232 cable (CA-0910). The Tx, Rx and GND pins of CA-0910 are connected to the Rx, Tx and GND ports of RS-M8194H. Please connect the other end (9-pin, D-sub connector) to the normal COM port of desktop/laptop.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
3. Set the DIP-switch to “Init”. 4. Change the setting of JP1 to disable ead-only function. 5. Power up the RS-M8194H.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
6. Delete the autoexec.bat and RM94H_XX.EXE in the installed folder of EzMove (\ICPDAS\RS_M8194H\EzMove_Utility). Copy the new autoexec.bat, RS_M8194H_API.dll and the RM94H_XX.EXE into the same folder. 7. Choose the COM Port that is connected to RS-M8194H (through CA 0903 cable). 8. Click Dowload button to start firmware-updating procedure. 9. After finishing firmware-updating procedure, shut down the RS M8194H. 10. Restore the setting of JP1 to enable ead-only function. 11. Set the DIP-switch to “Run”. 12. Power up the RS-M8194H.
ICP DAS RS-M8194H User Manual – API Library Version 3.1 2015/04/08
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Key Features
- 4-axis stepping/pulse-type motion controller
- Modbus RTU communication protocol
- 2/3-axis linear interpolation
- 2-axis circular interpolation
- T/S-curve acceleration/deceleration
- Automatic homing
- Macro programming
- FRnet master
- Digital input/output control
- EzMove utility
