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5.1 List of Functions
Initialization
_8136_Initial(*cardno)
_8136_S_Close(cardno)
_8136_A_Initial(cardno)
_8136_P_Initial(cardno)
System Parameters
_8136_R_Set_RIO_Clk(cardno, slaveno, clk)
_8136_A_Set_DAC_Clk(cardno,clk)
_8136_A_Set_ADC_Clk(cardno,clk)
_8136_S_Set_Timer_Value(cardno,timer)
_8136_P_Set_Enc_Filter(cardno,filter)
Card Information
_8136_S_Get_IRQ_Channel(cardno, *irq)
_8136_S_Get_Base_Addr(cardno, *base)
Digital I/O
_8136_D_Output(cardno, ch, value)
_8136_D_Input(cardno, ch, *value)
_8136_D_OutputA(cardno, value)
_8136_D_InputA(cardno, *value)
Remote I/O
_8136_R_Status(cardno, slaveno)
_8136_R_Write(cardno, slave, set, value)
_8136_R_Read(cardno, slave, set, *value)
Interface card initialization
Interface card close
Analog I/O initialization
Pulse I/O initialization
Set Rio clock divider
Set DAC clock divider
Set ADC clock divider
Set Timer click count
Set encoder filter clock
Get I/O card's IRQ
Get I/O card's base address
Digital out put for one bit
Digital input for one bit
Digital Output for all bits once
Digital Input for all bits once
Interrupt Conrol
_8136_INT_Enable(cardno, *event)
Check Remote I/O Status
Write a word to remote
Read a word from remote
Analog I/O
_8136_A_Write_Value(cardno, ch, value)
_8136_A_Write_Volt(cardno, ch, value)
_8136_A_Read_Value(cardno, ch, *value)
_8136_A_Read_Volt(cardno, ch, *volt)
_8136_A_Output_Control(cardno, ch, ctrl)
_8136_A_Set_Trigger(cardno, ch, ctrl)
_8136_A_Set_Trigger_Map(cardno, ch, src)
_8136_A_Set_Preload_Volt(cardno,ch ,volt)
_8136_A_Set_Compare_Value(card,ch,v alue)
_8136_A_Set_Compare_Volt(card,ch,value)
Output DAC in v alue
Output DAC in voltage
Input from ADC in value
Input from ADC in voltage
Start or stop DAC output
Set DAC output by trigger
Select DAC trigger source
Set DAC trigger output voltage
Set ADC compare value
Set ADC compare voltage
Pulse I/O
_8136_P_Set_Output_Type(card, enc, fmt) Set pulse output mode
_8136_P_Set_Input_Type(card, enc, fmt, mul) Set pulse input mode
_8136_P_Read(card, enc, *data) Read encoder counter
_8136_P_Clear(card, enc)
_8136_P_Send(card, enc, frequency)
_8136_P_Stop(card, enc);
_8136_P_Change_Speed(card, enc, freq)
_8136_P_Read_Index(card, enc, *index)
_8136_P_Set_Index_Latch(card, enc, type)
Clear encoder counter
Send a constant pulse train
Stop pulse train
Change pulse train frequency
Read index value
Set index latch type
_8136_P_Read_Latch_Value(card, enc, *data) Read a latched encoder data
_8136_P_Set_Compare_Value(card, enc, dt a) Set a encoder compare data
Section 5.7
Section 5.8
Set interrupt event handler
Section 5.9
Section 5.2
Section 5.3
Section 5.4
Section 5.5
Section 5.6
Motion Libra
• 63
_8136_INT_Disable(cardno) Remove int. event handler
_8136_S_Set_Int_Factor(cardno, ax,factor,op) Set interrupt factor
_8136_S_INT_Control(cardno, ctrl)
_8136_S_Get_Int_Status(cardno, ch, *status)
Enable/disable interrupt
Get Int. status
_8136_Callback_Function(cardno, *callbkfn) Set a call back function for int.
Closed Loop Initialization
_8136_C_Initial(cardno,axisno) Close loop control initialization
Section 5.10
Motion Parameters
_8136_M_Set_System_Param(cardno,spd,tm) Set motion resolusion
_8136_M_Set_IO_Active(cardno,axisno,ctrl) Enable motion I/O check
_8136_M_Switch_Logic(card, home, lm t, alm)
_8136_A_Set_Source(cardno, ch, src)
_8136_M_Set_Feedback(cardno, ax, ctrl)
Set motion I/O logic
Choose DAC for motion or not
Set axis0~2 feedback on/off
Motion Status
_8136_M_ORG_Status(cardno, axisno)
_8136_M_PEL_Status(cardno, axisno)
_8136_M_MEL_Status(cardno, axisno)
_8136_M_ALM_Status(cardno, axisno)
_8136_M_Get_Speed(cardno, axisno, *speed)
_8136_Motion_Status(cardno, axisno)
Set interrupt event handler
Remove int. event handler
Set interrupt factor
Enable/disable interrupt
Get axis speed
Get motion status
Section 5.11
Section 5.12
PTP Movement
_8136_Start_TR_Move(cd,ax,dist,sv,mv,ta,td) Trapezoidal relative move
_8136_Start_SR_Move(cd,ax,dist,sv,mv,ta,td) S-Curve relative move
_8136_Start_TA_Move(cd,ax,pos,sv,mv ,ta,td) Trapezoidal absolute move
_8136_Start_SA_Move(cd,ax,pos,sv,mv,ta,td) S-Curve absolute move
2D Interpolation
_8136_Start_Move_XY(cd,*ax,px,py,sv,mv,ta,td)
_8136_Start_S_Move_XY(cd,*ax,px,py,sv,mv,ta,td)
_8136_Start_Arc_XY(cd,*ax,cx,cy,th,sv,mv,ta,td)
_8136_Start_S_Arc_XY(cd,*ax,cx,cy,th,sv,mv,ta,td)
3D Interpolation
_8136_Start_Move_XYZ(cd,*ax,px,py,pz,sv,mv,ta,td)
_8136_Start_S_Move_XYZ(cd,*ax,px,py,pz,sv,mv,ta,td)
Section 5.13
Section 5.14
2D linear interpolation
T-curve
2D linear interpolation
S-curve
2D circular interpolation T-curve
2D circular interpolation S-curve
Section 5.15
3D linear interpolation
T-curve
3D linear interpolation
S-curve
Continusous Motion
_8136_V_Move(cd,ax,sv,mv,ta)
_8136_SV_Move(cd,ax,sv,mv,ta)
Homing
_8136_Home_Move(card, axis , sv ,mv, ta)
Other Motion function
_8136_Motion_Stop(card, axis)
_8136_C_Set_Gain(cardno, kp1, kp2)
Continuous move T-Curve
Continuous move S-Curve
Homing
Stop motion
Set close loop gain
Section 5.16
Section 5.17
Section 5.18
64
• Motion Library
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