Function Library Manual
Contents
1. 2 Function Descriptions This chapter describes each function of MPC 07 motion library in details The unit and function return value used in function library is established by usage as follows Unit e Unit of displacement or distance is P Pulse Unit of speed is PPS Pulse sec Unit of acceleration and deceleration is PPSS Pulse sec2 Function return value Most of the functions in motion library are integral type functions generally the meanings of theirs 5 27 return value is as follows BEIJING HENGYUAN ZHONGLIAN INSTRUMENTS CO LTD FUNCTION LIBRARY MANUAL FOR MPC07 0 Function performs correctly 1 Function performs incorrectly 2 1 Controlling Card and Axis Set Function This type of function is mainly used for setting the number of MPC 07 card the number of controlling axis and output mode of each axis setting and reading the speed amp acceleration etc The relevant functions are as follows int auto set void Auto testing amp auto setting controlling card int init board void Initialize the hardware and software of controlling card int get max axe void Read total axes number int get board num void Read the number of board card int get axe int board no Read the axis number on board card int set outmode int ch int mode int outlogic Set output mode of axis int set conspeed int ch double conspeed Set constant vel2. 19 2 5 1 Get Position FUNCHON ec P 19 2 52 Check Status FUNCION et 20 2 6 T O Port Operati n FUNGON suasqonatb sns Fin SR ciinii AR RP E ED Fame m Eo I na ER RN 23 FA edy guiyede go Tom Oo ERU 24 1 27 BEIJING HENGYUAN ZHONGLIAN INSTRUMENTS CO LTD FUNCTION LIBRARY MANUAL FOR MPC07 1 Development of Motion Control System 1 1 Development of motion control system based on Windows With the Dynamic Link Library DLL of MPC 07 developers could develop the motion control system based on Windows rapidly The Dynamic Link Library DLL of MPC 07 is the standard 32 digits DLL of Windows and the development tool chosen by MPC07 should support standard 32 digits DLL quotation of Windows How to use Microsoft Visual Basic and Microsoft Visual C to develop the motion control system based on Windows is introduced as follows 1 1 1 Visual Basic Control System Development 1 Summary To develop a motion control system based on Windows users could use VB5 0 or a higher version It s guite easy to develop a simple Visual Basic control program According to the following steps a simple control system would be developed rapidly Install MPC 07 driver program and function library Use Visual Basic to write an interface program Add MPC 07 bas file to VB Project Quote motion function in application program pe E ces All the teaching materials of Visual Basic have introduc
3. Quoted Examples set outmode 2 0 1 set the impulse output mode of the 2na axis double impulse mode Description on condition of default init board function set all the axes impulse direction mode If driver demand double impulse positive impulse and negative impulse input mode set outmode function should be quoted after init board function to reset the demanded mode Notes output mode of controlling card should be the conform to the input signal mode of the connected driver otherwise motor could not work normally Return Value if output mode is set successfully return value of set outmode function is O value if not it is 1 value System WINDOWS98 WINDOWS 2000 WINDOWS XP Reference init board 8 27 BEIJING HENGYUAN ZHONGLIAN INSTRUMENTS CO LTD FUNCTION LIBRARY MANUAL FOR MPC07 Function Name set maxspeed Purpose set maxspeed function is used to set the maximum velocity of each axis Syntax int set maxspeed int ch double speed ch the set controlling axis speed the set maximum velocity its unit is impulse second pps Quoted Example set maxspeed 2 10000 set the maximum velocity of 2naaxis for 10000pps Description on the condition of default init _board function will set all axes for the maximum velocity the board allowed To get better accuracy it can be set according to actual output velocity when using MPC 07 card output impulse frequency is controlled by two variables impulse
4. Purpose Set the switch volume states of common output of board card Syntax int output byte int cardno int bytedata cardno serial number of card with the value range from1 to the maximum card quantity bytedata Information of the state of output needed to set Description MPC 07 card provide 24 common photoelectricity seclusion inputs to users among which common output 1 8 located on main MPC 07 board the others located on the EA1616 extended board The states of these 24 outputs can be set with the function Connection can be found in the section of MPC 07 Connector All bits of parameter bytedata corresponding to the outputs one to one and that means the lowest bit D1 corresponding to common output 1 the second bit D2 corresponding to 2 and followed by analogy Return Value Return 0 if setting successfully return 1 under the mistake System WINDOWS98 WINDOWS 2000 WINDOWS XP Reference output bit Function Name output bit Purpose Set certain switch volume states of the output on the board card Syntax int output bit int cardno int bitno int status cardno Serial number of card with the value range from1 to the maximum card number bitno Means certain common output with the value range of 1724 status Setting status 1 ON 0 OFF Description MPC 07 card provide 24 common photoelectricity seclusion inputs to users among which common output 1 8 located on main MPC 07 board the others located on th
5. if failed to quote then return negative value System WINDOWS98 WINDOWS 2000 WINDOWS XP Function Name init board Purpose Use init board function to initialize the controlling card Syntax int init board void Quoted Examples init board Description after auto testing and auto setting with auto set function init board function has to be used to initialize controlling card Init board function is mainly used to initialize each register of the controlling card impulse output mode of each axis impulse direction constant velocity 2000pps trapezoidal velocity beginning speed 2000pps high speed 8000pps acceleration and deceleration speed 80000ppss constant vector velocity vector trapezoidal velocity beginning speed 2000pps high speed 8000pps acceleration and deceleration speed 800 OOppss etc This function can only be used once Return Value if successfully quoted init board function return the numbers of inserted board card if no board can be tested return to O value if return to negative value it means that there is wrong System WINDOWS98 WINDOWS 2000 WINDOWS XP Note if not quote init board function to initialize controlling card could not work properly If change initial data of impulse output mode speed etc other functions could be quoted Reference auto set Function Name get max axe Purpose get max axe function is used to read total number of controlling axis Syntax int get max axe
6. 80000 get profile function return low speed value high speed value and acceleration or deceleration speed value of trapezoidal speed set for an axis through finger Return Value If set parameter value successfully set profile function return O value or else return negative number If quoted successfully get profile return O value or else return 1 value System WINDOWS98 WINDOWS 2000 WINDOWS XP Reference set conspeed set vector conspeed set vector profile Function Name set vector conspeed get vector conspeed Purpose set vector conspeed function is used to set vector velocity which is used in two or three axis linear interpolation movement under constant speed condition Get vector conspeed function can be used to read vector velocity under constant speed condition Syntax int set vector conspeed double vec conspeed vec conspeed Vector velocity during constant speed interpolation double get vector conspeed void Quoted Example set vector conspeed 1000 vec conspeed get vector conspeed Description Set vector conspeed function set vector velocity for two or three axes interpolation constant speed movement function such as con line2 con line3 but not for high speed interpolation movement such as fast lin2 fast line3 which velocity is decided by set vector profile function Get vector conspeed function returns constant vector speed Constant vector speed called last time by the fouction of
7. direction of a axis int enable sd int ch int flag set external slow down signal of a axis as valid or not int set sd logic int ch int flag set external slow down signal valid level int set el logic int ch int flag set external limit signal valid level of a axis int set org logic int ch int flag set external original signal valid level of a axis int set alm logic int ch int flag set external alarm signal valid level of a axis Function Name set abs pos Purpose It used to set the absolute start position of the axis movement Syntax int set abs pos int ch long pos ch No of the Controlling axis pos absolute position current position of start of the Controlling axis Quoted Example set abs pos 1 1 0 0 0 set the first axis current position as 1000 Descriptions To quote the function could set a value for the current position But for the axis there is no actual movement from the last position to current position Quote the function and set the second parameter 0 value which could carry out the function of the reset pos function Return Value If quoted successfully these functions return 0 value else return 1 value System WINDOW98 WINDOWS 2000 WINDOWS XP Function Name reset pos Syntax int reset pos int ch ch the serial numbers of the controlling axis Quoted Examples int reset pos 1 Description Reset pos function reset the absolute positi
8. have ALM alarm signal D14 D13 1 ALM signal 0 Reasons and symbols of motion stop for non ALM signals D12 D11 D1 0 1 ORG signal 0 Symbols of motion pause for non ORG signals D9 1 EL P signal 0 Symbols of motion pause for non EL P signals D8 1 signal EL N 0 Symbols of motion pause for non EL N signals D7 0 Pause 1 The moving status of the current axis D6 D5 D4 D3 D2 D1 0 have SD signal 1 No SD signal DO Function Name check done Purpose Check done is used to check the operation of the Specify Axis is done or not Syntax int check done int ch ch No of Controlling Axis Description Function check done is used to check the working status of the specified axis Return Value If the specify axis is in working status check done return 1 value if the specify axis is in static state check done return O value if function call is failed it return 1 value System WINDOWS98 WINDOWS 2000 WINDOWS XP Function Name check limit Purpose Check limit function is used to check an axis reach the limited switch or not Syntax int check limit int ch ch No of Controlling Axis Quoted Example status check limit 1 Description For MPC 07 operation control card each axis has two limit switch input port positive limit signal input and negative signal input Check limit is used to check the sate of the specified axis limit switch and return that th
9. is done or not int check limit int ch check an axis reach the limit switch position or not int check home int ch check an axis reach the original switch or not int check SD int ch check an axis reach the decelerate switch position or not int check alarm int ch check an axis reach the alarm switch or not int get cmd counter used to get the current command counter Function Name check status Purpose check status is used to read the current status of an axis Syntax int check status int ch ch No of the Controlling axis Quoted Example ch status check status 2 Description check status function read status of the specified axis Each axis of MPC 07 movement controlling card has one 32 bits status word double And thus the current working status of an axis can be checked Each bit s meaning of the double status is as follows Return Value If called succeed check status return the status value of the specified axis or else return 1 System WINDOWS98 WINDOWS 2000 WINDOWS XP Reference 20 27 BEIJING HENGYUAN ZHONGLIAN INSTRUMENTS CO LTD FUNCTION LIBRARY MANUAL FOR MPC07 D31 D27 D26 0 No ORG signal 1 have ORG origin switch and its condition D25 0 No EL signal 1 means having EL positive limit switch and EL condition D24 0 No EL signal 1 have EL negative limit switch and EL condition D23 D16 D15 0 no ALM signal 1
10. resolution and ratio the multiply result of the two variables is output impulse frequency Quote set maxspeed function to set the maximum impulse frequency demanded and then impulse resolution would be reset Return value if output mode is set successfully set maxspeed function return to 0 value if not return negative value System WINDOWS98 WINDOWS 2000 WINDOWS XP Reference refer to how to improve velocity accuracy in Chapter 6 Function Name set conspeed get conspeed Purpose set conspeed function is used to set a constant velocity of an axis get conspeed function is used to get the constant velocity of set for an axis Syntax int set conspeed int ch double conspeed double get conspeed int ch ch serial number of controlling axis conspeed the set constant velocity its unit is impulse second pps Quoted Example set conspeed 2 4 0 0 speed get conspeed 2 Description Function set conspeed can be set the speed under the condition of regular speed If the function called multiply the value which is set last time is always effective until it is changed next time Return value If constant speed value was set successfully function set conspeed return 0 value or else return negative number get conspeed function return constant velocity value of the set axis or else return 1 value System WINDOWS98 WINDOWS 2000 WINDOWS XP Notes Constant velocity value is generally low to avoid controlli
11. set vector conspeed is effective System WINDOWS98 WINDOWS 2000 WINDOWS XP 10 27 BEIJING HENGYUAN ZHONGLIAN INSTRUMENTS CO LTD FUNCTION LIBRARY MANUAL FOR MPC07 Notes Vector speed should be set relatively slower to avoid losing steps in process of exercise It is available for movement interpolation at high speed condition such as fast line2 fast line3 to set movement speed with set vector profile function Reference set vector profile set conspeed set profile Function Name set vector profile get vector profile Purpose set vector profile function is used to set parameter of vector trapezoidal speed under the fast movement condition Get vector profile function can be used to get vector trapezoidal speed parameter value under fast movement condition Syntax int set vector profile double vec fl double vec fh double vec ad vec fl Speed value with low speed of vector vec fh Speed value with high speed of vector vec ad Acceleration value with high speed of vector int get vector profile double vec fl double vec fh double vec ad vec fl the finger pointing to low speed of vector vec fh the finger pointing to high speed of vector vec ad the finger pointing to acceleration of vector Quoted example set vector profile 1000 16000 10000 get vector profile amp vec fl amp vec fh amp vec ad Description set vector profile function is used to set trapezoidal vector speed However it can not be
12. used to set movement speed for con line2 con line3 function Return Value If called succeed set vector profile function and get vector profile funcitonn return O value otherwise return 1 value System WINDOWS98 WINDOWS 2000 WINDOWS XP Reference set_vector_conspeed fast_line2 fast_line3 Function Name get_rate Purpose get actual rate of certain axes with get_rate function Syntax double get rate int ch ch set controlling axes number Quoted Example speed get rate 2 Description get rate function is used to read the current actual speed of the controlling axes It is possible that the actual rate read by the function makes great differences with pulse rate set by the function set conspeed and set profile which dues to the differences caused by controlling card speed resolution Output pulse frequency of MPC 07 is controlled by two variables pulse frequency and magnification and the multiply result of the two variables is output impulse frequency The maximum output pulse frequency set by the set max speed function is revised pulse resolution the actual output speed can be set in accordance with the actual maximum output speed to get better speed of accuracy Return Value get rate function return the current move speed of set axis and the unit is pps If called failed function return 1 value System WINDOWS98 WINDOWS 2000 WINDOWS XP Reference How to Improve the Accuracy Speed in chapter 6 11 2
13. 0 and input 17 Return value return the state of input return value of 1 16 binary correspond to 16 inputs If the bit is 1 it means there is high electrical level input if the bit is O it means there is low electrical level input if an error appears it return 1 System WINDOWS98 WINDOWS 2000 WINDOWS XP Reference checkin bit enable sd Function Name checkin bit Purpose Read a certain switch volume states of the common input of board card Syntax int checkin bit int cardno int bitno cardno serial number of card bitno Means certain switch volume to be read with the value range of 1720 Description MPC 07 card provide sixteen common photoelectricity seclusion inputs which located on the extended board of EA1616 for users The states of a certain input can be read by this function Connection can be found in the section of MPC 07 Connector If quote enable sd Function to set the external speed down signal invalid common inputs could be increased to twenty SD4 SD1 respectively correspond to input 2 O and input 17 Return Value Return the state of certain input 1 value means high electrical level input O value 23 27 BEIJING HENGYUAN ZHONGLIAN INSTRUMENTS CO LTD FUNCTION LIBRARY MANUAL FOR MPC07 means low electrical level input if an error appears it return 1 value System WINDOWS98 WINDOWS 2000 WINDOWS XP Reference checkin byte enable sd Function Name output byte
14. 7 BEIJING HENGYUAN ZHONGLIAN INSTRUMENTS CO LTD FUNCTION LIBRARY MANUAL FOR MPC07 2 2 Movement Instruction Function There are three movement types point movement continuous movement and return origin movement two movement ways independent movement and interpolation movement while two move speed movement constant and fast speed trapezoid In order to describe conveniently the movement instruction can be divided into independent movement and interpolation movement 2 2 1 Independent Movement Function The independent movement refers to no linkage relation among movements of each controlling axis which is either uniaxial movement or multi axial movement according to respective speed at the same time Point movement continuous movement and return origin movement belong to independent movement The command format of independent instruction movement function is X Ymovez The above mentioned X Substituted by con and fast con is constant movement fast is fast movement Y Substituted by p v and h p is point movement v is continuous movement and h is return origin movement move Main body of instruction indicating the instruction for movement instruction Z When the number is vacant it is uniaxial movement 2 for two axes independent movement while 3 for three axle independent movement Example con vmove function is uniaxial constant continuous movement con pmove2 function is two axis of constant point movement whi
15. JEEP muEImE W Cw WT WT Ww own own wo ow own co wnoown o 0n own w 0Wwg7 0 Ww w 0t 0n 0n 0n 0wroorowroroomrooroomroomnr omn oom User Manual v 1 Function Library MPCO7 This manual states all function library of MPCO7 Beijing Hengyuan Zhonglina Instruments Co Ltd 2011 01 01 BEIJING HENGYUAN ZHONGLIAN INSTRUMENTS CO LTD FUNCTION LIBRARY MANUAL FOR MPC07 CONTENTS 1 Development or Motion Control System uie akkadi 2 1 1 Development of motion control system based on Windows senes 2 1 1 1 Visual Basic Control System Development esee esses nennen tenth nnsnnns 2 1 1 2 Use Visual C to Develop Control System sescenti rte enitn sesern nett ndu k kk mee 3 22 Function DesScriptiONS css mro M 5 2 1 Controlling Card and Axis Set Function sesctesoeexcniQechida npa pe tive Sid aec KiMpat Misit pM UE 6 2 2 MOVEMENT Instr ction FUNCTION ucsesamacia testium dod asatigadioseti vaatamata 12 2 2 1 Independent Movement Function sicisisccccsccssiccecccssconzsensstencesssceentecadeacebasssdecedsatsoacessstecboeranessncextescees 12 2 2 2 Interpolation Movement Function kiilakas edela ai lasust 14 2 3 Brake FUNCION peaini aa a aiaiai aastad akaatsia NI DU 15 2 4 Position and Status Set FUlcEIOFTsuisiecstekebidirkr bino h kkis i abeo b di bs er eR YE DECRE 16 2 9 POSItIONS amp Status uii edis E
16. alled succeed return O value or else return 1 value System WINDOWS98 WINDOWS 2000 WINDOWS XP 2 5 Positions amp Status Function In the motion curse position or status Query Function could be called if need the motion position or condition of a certain axis 2 5 1 Get Position Function int get abs pos int ch long pos return the absolute position of a axis int get rel pos int ch long pos return the relative position of a axis int get cur dir int ch return the current moving direction of a axis Function name get abs pos get rel pos Purpose get abs pos function is used to get the absolute position which is relative to the original position or the origin get rel pos is used to get the relative position which is relative to the origin of the current movement Syntax int get abs pos int ch long pos int get rel pos int ch long pos ch the serial numbers of the controlling axes abs pos a long integer finger which point to the absolute position rel pos a long integer finger which point to the relative position Quoted Examples temp get abs pos 1 8abs pos temp get rel pos 1 amp rel pos Description get abs pos function is used to get the current absolute position of the controlling 19 27 BEIJING HENGYUAN ZHONGLIAN INSTRUMENTS CO LTD FUNCTION LIBRARY MANUAL FOR MPC07 axes This absolute position is relative to the origin if the function has carried out the movement of returning
17. ast speed int con vmove3 int ch1 int dir1 int ch2 int dir2 int ch3 int dir3 three axes move continuously with constant speed int fast vmove3 int ch1 int dir1 int ch2 int dir2 int ch3 int dir3 three axes move continuously with fast speed The above mentioned ch chi ch2 ch3 No of the controlled axes dir diri dir2 dir3 Means the movement directions of the controlled axes 1 means positive direction 1 means negative direction Quoted Example con vmove 1 1 the first axis moves continuously to the negative direction with the constant speed fast vmove2 2 1 3 1 the second axis moves continuously to the positive direction with the rapid speed the third axis moves continuously to the negative direction with the fast speed 13 27 BEIJING HENGYUAN ZHONGLIAN INSTRUMENTS CO LTD FUNCTION LIBRARY MANUAL FOR MPC07 Return Value If called successfully these functions return O value else return 1 value 3 Return Origin Function Return Origin movement means the controlled axis move continuously to the set directions with theirs own speed and do not stop until touch the limit switch alarm switch or called the brake function MPCO7 function library provides six return origin movement command functions int con hmove int ch int dir return origin with the constant speed int fast hmove int ch int dir Return origin with the fast speed int con hmove2 int chi int dir1
18. control system based on Windows 2 Method of quoting the functions in the dynamic link library There are two methods of quoting the functions of the dynamic link library in VC Dim Quote method 3 27 BEIJING HENGYUAN ZHONGLIAN INSTRUMENTS CO LTD FUNCTION LIBRARY MANUAL FOR MPC07 Dim quote need the following files 1 the head files statement of DLL function MPC h 2 guide in library file MPC 07 lib used in connection for compiling 3 Dynamic Link Library files MPC 07 dll 4 Device driver MPC 07 sys In the above files 1 and 2 can be found in the installation catalogue of the MPC 07 board application MPC 07SP Develop VC 3 has been installed in C WINDOWS SYSTEM32 4 has been installed in C WINDOWS SYSTEM32 DRIVERS suppose that Windows has been Installed in the file C WINDOWS After setting up a project click the menu project settings n in VC integration environment project settings dialogue box would be popped up Select Link options input file name of guide in library MPC 07 lib in object library modules then Click OK MPC h header file is included in the beginning of original file in guoting DLL function then DLL functions could be guoted as guoting the internal functions The detail could refer to demonstration Demo VCDemo Demol Explicit Quote Explicit quote need the following files 1 Dynamic Link Library file MPC 07 dll 2 Device driver MPC 07 sys I
19. e and return values in the functions description should adopt the Long data type Long integer type in VB all the float single floating point type in C language and double double floating point type in C language parameters and return values should use Double data type double floating point type in VB otherwise there would be unexpected results 3 Use of demonstrate program In the file of installation catalogue of MPC 07 board application MPCO7SP Demo VBDemo there are two motion control system demonstration demo program which are developed based on VB 6 0 Users could compile and run this demonstration according to the following procedures after have acquainted with the corresponding programming method users could develop the motion control system base on their own demand 1 Install correctly according to the installation procedures of MPC 07 2 Set up a new folder in the hard disc 3 Copy all the files in the folder of installation catalog of MPC 07 board application MPC 07SP Demo VBDemo Demo1 or another demonstration program folder to the new folder in the hard disk 4 Start up VB6 0 integration environment and open project 5 Make sure that the board card has been set correctly and inserted into computer 6 Compile this project and create exe file 7 Run the exe file 1 1 2 Use Visual C to Develop Control System 1 Development Environment Users can use VC5 0 or a higher version to develop motion
20. e EA1616 extended board The status of certain output can be set with the function Connection can be found in the section of MPC 07 Connector ReturnValue return 0 if setting successfully return 1 under the mistake System WINDOWS98 WINDOWS 2000 WINDOWS XP Reference output byte 2 7 Other Functions int set backlash int ch int backlash Set compensation value of gaps caused by the direction turning of mechanism int start backlash int ch Compensation start int end backlash int ch Compensation end int change speed int ch double speed Speed changing in movement int Output int portid unsigned char byte Output a byte to a certain address int Input int portid Input a byte at certain address int get sys ver long major long minor1 long minor2 used for querying the version of function library 24 27 BEIJING HENGYUAN ZHONGLIAN INSTRUMENTS CO LTD FUNCTION LIBRARY MANUAL FOR MPC07 int get sys ver long major long minor1 long minor2 used for querying the version of driver int get card ver long cardno long type long major long used for querying the hardware version of motion control card Function Name set backlash start backlash end backlash Purpose Set compensation value of gaps caused by the direction turning of mechanism with set backlash start backlash Start compensation end backlash End compensation Syntax int set backlash in
21. e specified axis reach the limit switch or not and to which direction 21 27 BEIJING HENGYUAN ZHONGLIAN INSTRUMENTS CO LTD FUNCTION LIBRARY MANUAL FOR MPC07 Return Value If check limit return 1 which means reach the positive limit switch position return O means did not reach the limit switch position return 2 means reach the two limit switches if failed called return 3 System WINDOWS98 WINDOWS 2000 WINDOWS XP Function Name check home Purpose Check home function is used to check one axis reach origin switch or not Syntax int check home int ch ch No of Controlling Axis Quoted Example status check home 1 Description For MPC 07 controlling card each axis has a origin switch input port Check home is used to check the origin switch status of the specified axis to check the specified axis reach the origin switch or not Return Value If check hone return 1 it means reach the origin switch position return 0 means did not reach the limit switch position return 3 means failed called System WINDOWS98 WINDOWS 2000 WINDOWS XP Function Name check SD Purpose Check SD function is to check one axis reach slowdown switch position or not Syntax int check SD int ch ch No of Controlling Axis Description Each axis of MPC 07 has a slow down switch input port Check SD is used to check decelerate switch status of the specified axis Return Value If check SD function retu
22. er completing initialization increase with the executive motor command that is command leads to movement and it doesn t include setting commands such as set conspeed and it can quote reset cmd counter function to clear Return value If quoted successfully the return value would be the value of command counter of the movement executed currently otherwise return 1 value System WINDOWS98 WINDOWS 2000 WINDOWS XP Reference reset cmd counter 2 6 I O Port Operation Fuction int checkin byte int cardno read states of all common input of controlling card int checkin bit int cardno int bitno read the state of certain common input of controlling card int output byte int cardno int bytedata write to all common output of controlling card int output bit int cardno int bitno int status write to certain common output of controlling card Function Name checkin byte Purpose Read the state of switch volume of common input on board card Syntax int checkin byte int cardno cardno serial number of card Description MPCO7 card provide sixteen common photoelectricity seclusion inputs which located on the extended board of EA1616 for users The states of these sixteen inputs can be read by this function Connection can be found in the section of MPC 07 Connector If quote enable sd Function to set the exterior speed down signal invalid common inputs could be increased to twenty SD4 SD1 respectively correspond to input 2
23. et dir Purpose It is used to set the direction of the movement of the axis Syntax int set dir int ch int dir ch the axis be going to be set dir means the direction of the movement of the axis be controlled 1 means the positive direction 1 means the negative direction Quoted Examples set dir 1 1 set the direction of the movement of the first axis negative direction Description Before the new movement command be given to quote the function could set the direction of the movement of certain axis Return Value If quoted successfully reset pos functions return O value else return 1 value System WINDOW98 WINDOWS 2000 WINDOWS XP Function Name enable sd Purpose It used to set an external slow down signal of a axis valid or not Syntax int enable sd int ch int flag ch No of the Controlling axis flag Flag is the signal to identify the outside deceleration is valid or not 1 for valid 0 for invalid Quoted Example enable sd 1 0 set the external decelerate signal of the first axis invalid This function is called to set the external deceleration signal of an axis is valid or not If the external decelerate signal of an axis is set invalid the corresponding decelerate signal input SD4 SD1 can be used as general input Ceckin_byte checkin_bit can be used to read the status of the corresponding port In this way general input port can be increased to 2 0 For SD4 SD1 the cor
24. g step3 three axes makes point movement with fast speed The above mentioned ch ch1 ch2 ch3 Number of the Controlled axis Step step1 step2 step3 The distances of the controlled axis start to move from the current position The positive number means positive direction while the negative number means the negative direction Quoted Example con pmove 1 2000 the first axis moves a distance of 2000pulses to the negative direction with the constant speed fast pmove2 2 5000 3 1000 The second axis moves a distance of 5000 pulses to the positive direction with the fast speed The third axis moves a distance of 1000pulses to the negative direction with the fast speed Return Value If quoted successfully these functions return O value else return 1 value 2 Continuous Movement Function Continuous movement means the controlled axes move to the set directions with theirs own speed and do not stop until touch the limit switch alarm switch or called the breaking function MPC 07 function library provides six continuous movement command functions int con vmove int ch int dir one axis moves continuously with constant speed int fast vmove int ch int dir one axis moves continuously with fast speed int con vmove2 int ch1 int dir1 int ch2 int dir2 two axes move continuously with constant speed Tf int fast vmove2 int ch1 int dir1 int ch2 int dir2 two axes move continuously with f
25. inal signal of the controlling axis If the external original signal of the controlling axis is set high level valid and the corresponding original signal input port is high level which means the axis return original 18 27 BEIJING HENGYUAN ZHONGLIAN INSTRUMENTS CO LTD FUNCTION LIBRARY MANUAL FOR MPC07 When initialization the default value is low level Return Value If this function is called succeed the return value is 0 or else is 1 System WINDOWS98 WINDOWS 2000 WINDOWS XP Function Name set alm logic Purpose set alm logic is used to set the valid level of external alarm signal of a axis Syntax int set alm logic int ch int flag ch No of controlling axis flag Flag is the symbol of valid level of external alarm 1 means the external switch trigger the control card at the high level 0 means external switch trigger the control card at the low level Quoted Example set alm logic 1 1 set external alarm signal of the first axis valid at the high level Description MPC 07 motion controlling card has a public alarm signal Thus if the valid level of the external alarm signal of any axis is set other axis can be set in the same Set alm logic function can be called to set the valid level of external alarm signal If the the valid level of external alarm signal is set high level all the axis automatically stop when the corresponding alarm signal input port are high level Return Value If c
26. int ch2 int dir2 Two axises return theirs own origin with constant speed int fast hmove2 int chi int diri int ch2 int dir2 Two axises return theirs own origin with fast speed int con hmove3 int ch1 int dir1 int ch2 int dir2 int ch3 int dir3 Three axes return theirs own origins with constant speed int fast hmove3 int chi int dir1 int ch2 int dir2 int ch3 int dir3 Three axises return theirs own origins with fast speed The above mentioned ch ch1 ch2 ch3 No of the controlled axes dir dir1 dir2 dir3 Means the movement direction of the controlled axes 1 means positive direction 1 means negative direction Quoted Example con hmove 1 1 the first axis make return origin movement to the negative direction with constant speed fast hmove2 2 1 3 1 the second axis make return origin movement to the positive direction with rapid speed the third axis make return origin movement to the negative direction with rapid speed Return Value if called successfully these functions return 0 value otherwise return 1 value Notes For V1 0 version movement control card of MPC 07SP the external origin switch limit switch and alarm switch may be either normally opened type switch or normally closed type switch Interface function of set org logic set el logic set alm logic can be used to set the effective level 2 2 2 Interpolation Movement Function Interpolation movement refe
27. ion and the minimum value must exceed 0 The function could be used to achieve speed changing in process of movement when the movement is started with high speed motion command Acceleration of speed changing is decided by the set profile function which quoted before motion command function Return Value Return 0 when quoted correctly or else return 1 value System WINDOWS98 WINDOWS 2000 WINDOWS XP Reference set profile 25 27 BEIJING HENGYUAN ZHONGLIAN INSTRUMENTS CO LTD FUNCTION LIBRARY MANUAL FOR MPC07 Function Name Outport Purpose Outport function is used to write a certain port address of computer Syntax int Output int portid unsigned char byte int portid Port address of computer unsigned char byte output a byte data Description The output function writes the data of a byte to the port address which corresponding to portid such as parallel port of a computer This function has no relations with MPC 07 card operation It is easy to write for PC port with this function The function must be used carefully because it can operate to any port of computer Return Value Return 0 value if the function is quoted correctly otherwise return 1 value System WINDOWS98 WINDOWS 2000 WINDOWS XP Function Name Inport Purpose With inport function to have reading operation to port address Syntax int Inport int portid int portid Port address of computer Description Inport function read
28. le fast hmove3 is three axis of fast return origin movement instruction For constant movement instruction movement speed is set by set conspeed function while quick movement instruction the speed is set by set profile functions Take point movement continuous movement and return origin movement for example to respectively illustrate the meaning of movement instructions 1 Point Movement Function Point movement means the controlled axis move a set distances with their own speed and stop automatically when reach to target position Notes each axis start to move at the same time while not necessarily reach to target position simultaneously in two axes or three axes point movement function The MPC 07 function library provides six command functions of movement command int con pmove int ch long step one axis makes point movement with constant speed int fast pmove int ch long step one axis makes point movement with fast speed int con pmove2 int ch1 long step1 int ch2 long step2 two axes makes point movement with constant speed int fast pmove2 int chi long step1 int ch2 long step2 two axes makes point movement with fast speed int con pmove3 int ch1 long step1 int ch2 long step2 int ch3 long step3 three axes makes point 12 27 BEIJING HENGYUAN ZHONGLIAN INSTRUMENTS CO LTD FUNCTION LIBRARY MANUAL FOR MPC07 movement with constant speed int fast pmove3 int chi long step1 int ch2 long step2 int ch3 lon
29. n number 2 of driver Quoted Example get sys ver amp major amp minor1 amp minor2 Description this function is used to inquire the version number of motion controlling card driver Driver version must conform to the version of function library and board hardware Return Value if called successfully the function return 0 value otherwise return 1 value 26 27 BEIJING HENGYUAN ZHONGLIAN INSTRUMENTS CO LTD FUNCTION LIBRARY MANUAL FOR MPC07 System WINDOWS98 WINDOWS 2000 WINDOWS XP Function Name get card ver Purpose inquiring version number of board hardware Syntax int get card ver long cardno long type long major long minor1 long minor2 long cardno Card number long type point to the finger of style number of board and type number of MPC 07SP board is 0 long major point to the finger of main version of board hardware long minori point to the finger of sub version number 1 of board hardware long minor2 point to the finger of sub version number 2 of board hardware Quoted Example get card ver 1 amp type amp major amp minor1 amp minor2 Description this function could be used to inquire the type and version number of motion controlling card MPCO7 boards of different models have corresponding numbers Return Value if quoted successfully the function return O value otherwise return 1 value System WINDOWS98 WINDOWS 2000 WINDOWS XP 27 27
30. n the above files 1 has been installed in C WINDOWS SYSTEM32 2 has been installed in C WINDOWS SYSTEM32 DRIVERS suppose Windows has been installed in the file C WINDOWS Explicit quote need to quote Windows API function load and release dynamic link library The method is as follows 1 Quote Windows API function LoadLibrary load the DLL dynamic 2 Quote Windows API function GetProcAddress get the finger of function which will be quoted in DLL 3 Use the finger of function to quote DLL function and complete corresponding function 4 When the program end or there is no need for DLL functions quote Windows API function FreeLibrary and release dynamic link library This method is quite complicated MPC 07 has already encapsulated the usual use DLL functions in MPC 07 dll into class CLoadDII and provide the original code of this class This class has member functions which have the same function name and parameter with motion instruction library The original code can be found in installation catalogue of MPC 07 board application MPC 07SP Develop WC with a file name of LoadDIl cpp and LoadDIl h Developers can add it into the project add the object of this class in the program properly then quote DLL function according 4 27 BEIJING HENGYUAN ZHONGLIAN INSTRUMENTS CO LTD FUNCTION LIBRARY MANUAL FOR MPC07 to corresponding member functions Refer to demonstration Demo VCDemo Demo2 for details Two meth
31. ng motor especially the open loop stepper motor losing step or overshooting It s best to use trapezoidal speed mode in 9 27 BEIJING HENGYUAN ZHONGLIAN INSTRUMENTS CO LTD FUNCTION LIBRARY MANUAL FOR MPC07 high speed movement condition Refernce set profile set vector conspeed Function Name set profile get profile Purpose set profile function is used to set parameters value of trapezoidal speed under fast movement condition including fast hmove fast vmove fast pmove etc Get profile is used to read trapezoidal speed parameter value Syntax int set profile int ch double Is double hs double accel ch the number of controllling axis Is set low speed value initial speed unit pps pulse second hs set high speed value target speed unit pps pulse second accel set the acceleration unit ppss pulse second second int get profile int ch int Is int hs long accel double Is point to the finger of initial speed double hs point to the finger of target speed double accel point to the finger of acceleration Quoted Example set profile 3 600 6000 10000 get profile 3 amp ls amp hs amp accel Description set profile function can be used to set low speed initial speed high speed target speed and acceleration value deceleration velocity of an axis deceleration velocity value equal to acceleration value under fast movement condition The default values of these parameters are 2000 8000
32. ocity of axis double get conspeed int ch Read the constant velocity of the set axis int set profile int ch double Is double hs double acc Set axis trapezoidal velocity int get profile int ch double amp ls double amp hs double amp acc Read the trapezoidal velocity of the set axis int set vector conspeed double con speed Set constant vector velocity int set vector profile double vec fl double vec fh double vec ad Set trapezoidal vector velocity double get vector conspeed void Read the set constant vector velocity intget vector profile double vec fl double vec fh double vec ad Read the set trapezoidal vector velocity double get rate int ch read the Current actual velocity of axis Function Name auto set Purpose use auto set to test the number of MPC 07 board number of axis of each board automatically and auto set each MPC 07 controlling card Syntax int auto set void Quoted Examples auto set Auto testing amp auto setting controlling card Description auto set is used to test the number of board axis and set these parameters 6 27 BEIJING HENGYUAN ZHONGLIAN INSTRUMENTS CO LTD FUNCTION LIBRARY MANUAL FOR MPC07 automatically This function can only be quoted once in the program Return Value if successfully quoted auto set function return the total axis number if no board can be tested return 0 value
33. ods above mentioned are standard methods for quoting DLL function in VC Getting more detailed quoting methods and help please refer to the corresponding contents of Microsoft Visual Stutio development documents MSDN or relevant VC reference books 3 Use of demonstration program Installation catalogue of MPCO7 board application MPC 07SP Demo VCDemo has three motion CJ control system demonstration Demo program which is developed in VC6 0 N DemoWCDemoNDemol is a dim quote example and Demo VCDemo Demoz2 is explicit quote example Users can compile and run the demonstrations as the following procedures after having acquainted with corresponding programming method users could develop the dynamic control system according to their own demand Install correctly according to the installation procedures of MPC 07 Set up a new folder in the hard disc Copy all the documents in Demo1 or Demo2 of installation catalog of MPC 07 board application MPC 07SP Demo VBDemo Demo to the new folder in the hard disk 4 Start up VC 6 0 integration environment and open project demo1 dsw or demo2 dsw 5 Make sure board has been installed correctly and inserted into computer 6 7 Compile this project and create exe file Run the exe file In addition the folder Demo VCDemo has offered a MPC 07 function testing program Demo VCDemo Demo3 which is just an executable file to test all the MPC 07 functions
34. on and relative position of the designate Axis 0 usually it is quoted when the origin is found The value of the current position must be 0 from then all of the absolute position is relative to this position The axis must be stop when The function is quoted otherwise which may cause the confusion of the absolute positions Return Value If quoted successfully reset pos functions return Ovalue else return 1 value System WINDOW98 WINDOWS 2000 WINDOWS XP 16 27 BEIJING HENGYUAN ZHONGLIAN INSTRUMENTS CO LTD FUNCTION LIBRARY MANUAL FOR MPC07 Notes Generally this function should be quoted after carring out the con hmove function or fast hmove function successfully Reference get abs pos get rel pos Function Name reset cmd counter Purpose It is used to take count of the movement command and reset the command Ovalue Syntax int reset cmd counter Quoted Examples reset cmd counter Description After the initialization of the movement command it is the beginning to take count of It Along with the movement command be able to give birth to command of movement excluding the setting command such as set conspeed function carring out increase by degrees it is normal to quote reset cmd counter function to reset the 0 value Return Value If quoted successfully reset pos functions return O value else return 1 value System WINDOW98 WINDOWS 2000 WINDOWS XP Reference set cmd counter Function Name s
35. positive number means the positive direction while the negative number means the negative direction Its unit is the number of pulse Quoted Example con line2 1 2000 3 1000 the first and third axis make the linear interpolation movement with constant vector speed The first axis moves a distance of 2000 pulses to the negative direction while the third axis moves a distance of 1000 pulses to the positive direction fast line3 2 5000 3 1000 5 3000 the second third and fifth axis make the linear interpolation movement with trapezoidal vector speed The second axis moves a distance of 5000 pulses to the positive direction the third axis moves a distance of 1000 pulses to the negative direction while the fifth axis moves a distance of 3000 pulses to the positive direction Return value if called successfully these function return O value otherwise return to 1 value 2 3 Brake Function MPC 07 movement controlling operation manual can be called if it is necessary to pause or stop an axis or more in operation process Six braking function exist in the MPC 07 movement function library void sudden stop int ch stop an moving axis suddenly void sudden stop2 int ch1 int ch2 stop two moving axis suddenly void sudden stop3 int ch1 int ch2 int ch3 stop three moving axis suddenly void decel stop int ch stop one moving axis smoothly void decel stop2 int chi int ch2 two moving axis smoo
36. responding general ports are followed by 20 17 Return Value If called succeed enable sd return 0 value or else return 1 value System WINDOWS98 WINDOWS 2000 WINDOWS XP Reference checkin byte checkin bit 17 27 BEIJING HENGYUAN ZHONGLIAN INSTRUMENTS CO LTD FUNCTION LIBRARY MANUAL FOR MPC07 Function Name set sd logic Purpose set sd logic is used to set external slow down signal valid level of an axis Syntax int set sd logic int ch int flag ch No of Controlling axis flag Flag is the external slow down signal valid level 1 means external decelerate switch trigger at high level 0 means external decelerate switch trigger at low level Quoted Example set sd logic 1 1 set external slow down signal high level when it is valid Description Call this function to set validity level produced by control axis deceleration If it is validity to set the outer deceleration of control axis for high level and the corresponding input deceleration signal is high level the axis will decelerate automatically When initialization the default value is low level Function Descriptions Return Value If called succeed Set sd logic return 0 value or else return 1 value System WINDOWS98 WINDOWS 2000 WINDOWS XP Function Name set el logic Purpose set el logic function is used to set the external limit signal valid level of an axis Syntax int set el logic int ch int flag ch No of Con
37. rns to 1 value it means the axis reaches the position of speed down switch Otherwise return 0 value If quoted incorrectly it will return 3 value System WINDOWS98 WINDOWS 2000 WINDOWS XP Function name check alarm Purpose check alarm function is used to check an axis reaches the position of alarm switch or not Syntax int check alarm int ch ch No of Controlling Axis Description All axes of motion controlling card share one alarm switch input Check alarm function is used to check the status of the alarm switch and return that if there is validity alarm signal input board card Return Value Check alarm function returns 1 value means it reaches the position of alarm switch if returns 0 value means it doesn t reaches the position of alarm switch if quoted unsuccessfully it will return 3 value System WINDOWS98 WINDOWS 2000 WINDOWS XP Function Name get cmd counter Purpose this function is used to get command counter of the movement which is executed currently Syntax int get cmd counter Quoted Example cmdcounter get cmd counter read command counter of the movement 22 27 BEIJING HENGYUAN ZHONGLIAN INSTRUMENTS CO LTD FUNCTION LIBRARY MANUAL FOR MPC07 which is executed currently and reserve it in the variable of cmdcounter Description This function can be used for querying the motor command is executing currently or not Command counter of the movement start with 0 aft
38. rs that two or three axes carry on linkage according to certain algorithm and the controlled axis start at the same time while reaching target position simultaneously Interpolation movement operates with vector speed Vector speed is divided into constant vector speed and trapezoidal vector speed The functions related to interpolation movement are as follow Linear interpolation function refers that two or three axes make linear linkage with vector speed 14 27 BEIJING HENGYUAN ZHONGLIAN INSTRUMENTS CO LTD FUNCTION LIBRARY MANUAL FOR MPC07 constant vector speed or trapezoidal speed Running speed of each controlled axis is velocity component of vector speed in the axis Controlled axes start at the same time while reaching the target position simultaneously MPCO7 function library provides four linear interpolation functions int con line2 int chi long pos1 int ch2 long pos2 two axis make linear movement with constant speed int fast line2 int ch1 long posi int ch2 long pos3 two axis make linear movement with rapid speed int con line3 int ch1 long posi int ch2 long pos2 int ch3 long pos3 three axis make linear movement int fast line3 int ch1 long posi int ch2 long pos2 int ch3 long pos3 three axis make linear movement with rapid speed The above mentioned ch1 ch2 ch3 No of the controlled axis pos1 pos2 pos3 means the distance of the controlled axis start to move from the current position the
39. t ch int backlash int start backlash int ch int end backlash int ch ch the serial numbers of the controlling axis backlash Gap value caused by the direction turning and the unit is the number of pulses Ouoted Examples set backlash 1 12 start backlash 1 end backlash 1 Description Set backlash function set a compensation value to eliminate the location error caused by the direction turning of mechanism Ouoting start backlash function to start the reverse gap compensation to controlling axis and Ouote end backlash function to end the reverse gap compensation to controlling axis Return Value If set successfully the set backlash set backlash and end backlash function return 0 value otherwise return 1 value System WINDOWS98 WINDOWS 2000 WINDOWS XP Notes set backlash function just set compensation value The true compensation value dose not work until start backlash function is quoted Set backlash function should be quoted before start backlash function Otherwise the system will use default compensation value default is 2 O impulses Function Name change speed Purpose This function is used to achieve speed changing in movement Syntax int change speed int ch double speed ch Axis number speed Target speed Description Change speed function is used to achieve speed changing in movement The maximum value of the speed changing should not exceed the value set by set maxspeed funct
40. the data of the input port corresponding to address portid such as parallel port of computer This function has no relations with MPC 07 card operation Reading operation of PC port can be easily done with this function The function must be used carefully because it can operate to any port of computer Return Value Return the content read System WINDOWS98 WINDOWS 2000 WINDOWS XP Function Name get lib ver Purpose Used to query the version number of function library Syntax int get lib ver long major long minor1 long minor2 long major point to the finger of main version number of function library long minor1 point to the finger of sub version number 1 of function library long minor2 point to the finger of sub version number 2 of function library Quoted Example get lib ver amp major amp minor1 amp minor2 Description this function could be used to inquire the version number of the function library of movement controlling card The version of function library must conform to the version of driver and board hardware Return Value 0 value System WINDOWS98 WINDOWS2000 WINDOWS XP Function Name get sys ver Purpose inquiring version number of driver Syntax int get sys ver long major long minor1 long minor2 long major point to the finger of main version number of driver long minori point to the finger of sub version number 1 of driver long minor2 point to the finger of sub versio
41. thly void decel stop3 int chi int ch2 int ch3 stop three moving axis smoothly including ch chi ch2 ch3 No of Controlled axis Quoted Examples decel stop 2 stop second moving axis smoothly sudden _stop2 1 4 stop first and forth axis suddenly decel stop3 1 2 3 stop first second and third axis smoothly Return Value If called succeed return 0 or else return 1 or the unbraked axis no 15 27 BEIJING HENGYUAN ZHONGLIAN INSTRUMENTS CO LTD FUNCTION LIBRARY MANUAL FOR MPC07 Notes decel stop function is available to all types of motion Decel stop is for fast YmoveZ it can slow down the controlled axis from high speed set up by set profile and then stop In general Decel function can be called to stop fast movement smoothly such as fast hmove fast vmove fast pmove2 to avoid overfast The controlled axis stop suddenly when sudden stop function is called After sudden stop carried out controlling card stop sending pulse to motor driver immediately to make it stop Generally this function called in a emergency stop Decel stop can not be called in the common movement mode 2 4 Position and Status Set Function int set abs pos int ch long pos set the absolute position of a axis int reset pos int ch reset the current position value as 0 int reset cmd counter used to reset the counter of motion command int set dir int ch int dir set moving
42. tions of how to write interface programs including buttons dialog box menu etc For a developer who is familiar with Visual Basic and the motion functions library of MPC 07 a simple motion program which is based on Windows and composed of input boxes and command buttons could be developed within a few minutes 2 Quote method of the Dynamic Link Library function To quote the functions of the Dynamic Link Library DLL in VB should include two parts as follows Functions statement The statement of each function of Dynamic Link Library DLL in VB is included in the file of MPC 07 bas This file could be found in the installation catalogue MPC07SP Develop VB of the MPCO7 board application What is need user to do is just add the file to the VB project Functions quote If the return value of the quote function is vacant or not need the return value user could quote function with the method as follows con pmove1 2000 2 27 BEIJING HENGYUAN ZHONGLIAN INSTRUMENTS CO LTD FUNCTION LIBRARY MANUAL FOR MPC07 or Call con pmove 1 2000 If the return value is needed user could quote function with the method as follows Dim rtn As Long rtn con_pmove 1 2000 Note the data type of transferred parameter and variable type of the received return value should consist with that of function statement furthermore all the parameters of int type the integer type in C language amp long type the long integer type in C languag
43. to the origin if not the absolute position is relative to the position when opening Get rel pos function is used to get the relative position which is relative to the original position of current movement If the designate axis does not move currently the relative position of the axis is 0 Because the positions got by the two functions are the quantity of the output pulses of the controlling card so the position can not reflect the actual position even if they lost or excessive pulse Return Value If quoted successfully get abs pos functions and get rel pos function return O value else return 1 value System WINDOW98 WINDOWS 2000 WINDOWS XP Function Name get cur dir Purpose get cur dir function is used to get the current direction of movement Syntax int get cur dir int ch ch the serial numbers of the controlling axises Quoted examples get cur dir 1 get the current movement direction of the first axis Return Value If quoted unsuccessfully get cur dir function return 2 value If return 1 value which is means that the controlling axis is in the negative direction of movement If return 1 that s means that the controlling axis is in the positive direction of movement And the 0 value means the axis is stop System WINDOW98 WINDOWS 2000 WINDOWS XP 2 5 2 Check Status Function int check status int ch check status of an axis int check done int ch check a movement of an axis
44. trolling axis flag Flag is the sign of valid level of outside limit signal 1 means the external limit switch trigger at high level 0 means the external limit switch trigger at high level Quoted examples set el logic 1 1 set external limit signal of the first axis valid when it is at the high level Function Descriptions Description This function is called to set the valid level of external limit signal of the controlling axis If the external limit signal of controlling axis was set valid at the high level when the input port of limit signal is high level at a certain direction the axis automatically stop in that direction When initialization the default value is low level Return Value If called succeed the function return O value or else return 1 value System WINDOWS98 WINDOWS 2000 WINDOWS XP Function Name set org logic Purpose It is used to set valid level of the external original signal of an axis Syntax int set org logic int ch int flag ch No of controlling axis flag It is the sign of the valid level of external original signal 1 means the external original switch trigger the control card at the high level 0 means the external original switch trigger the control card at the low level Quoted Examples set org logic 1 1 set external original signal of the first axis valid at the high level Description set org logic can be called to set the valid level of the external orig
45. void Quoted Examples max axe num get max axe Return Value get max axe function returns the total number of controlling axis System WINDOWS98 WINDOWS 2000 WINDOWS XP Function Name get board num Purpose get board num function is used to read total number of the installed board cards 7 27 BEIJING HENGYUAN ZHONGLIAN INSTRUMENTS CO LTD FUNCTION LIBRARY MANUAL FOR MPC07 Syntax int get board num void Quoted Examples card num get board num Return Value get board num function returns to total number of board card System WINDOWS98 WINDOWS 2000 WINDOWS XP Function Name get axe Purpose get axe function is used to read total axis number of board card Syntax int get axe int board no board no card number Quoted Examples axe num get axe 1 Return Value get board num function returns to total number of board card System WINDOWS98 WINDOWS 2000 WINDOWS XP Function Name set outmode Purpose set outmode function is used to set impulse output mode of each axis If driver demand double impulse positive impulse negative impulse control signal interface then this function should be quoted after init board function Syntax int set outmode int ch int mode int outlogic ch controlling axis of the set output mode mode setting of impulse output mode 1 for impulse direction mode 0 for double impulse mode outlogic this parameter is invalid in MPC 07 and it can be set any value
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