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1. No Name Unit Lower Limit Upper Limit Default O Pulse per Revolution 0 15 10 1 Axis Max Speed pps 1 500 000 500 000 2 Axis Start Speed pps 35 000 1 3 Axis Acc Time nsec 9 999 100 4 Axis Dec Time nsec 9999 100 5 Speed Override 500 100 6 Mog Speed pps 500 000 5 000 7 Mog Start Speed ops 35 000 1 8 Jog Acc Dec Time msec 9 999 100 9 Servo Alarm Logic 0 1 0 10 Servo ON Logic 0 1 0 11 Servo Alarm Reset Logic 0 1 0 12 S W Limit Plus Value pulse 134 217 727 134 217 727 134 217 727 13 S W Limit Minus Value pulse 134 217 727 134 217 727 134 217 727 14 S W Limit Stop Method 0 1 1 15 H W Limit Stop Method 0 1 1 16 Limit Sensor Logic 0 1 0 17 Org Speed pps 1 500 000 5 000 18 Org Search Speed pps 1 500 000 1 000 19 Org Acc Dec Time msec 1 9 999 50 20 Org Method 0 2 0 21 Org Dir 0 1 0 22 Org Offset pulse 134 217 727 134 217 727 0 23 Org Position Set pulse 134 217 727 134 217 727 0 24 Org Sensor Logic 0 1 0 25 Stop current 10 100 50 26 Motion Di 0 1 0 27 Limit Sensor Dir 0 1 0 28 Encoder Multiply Value 0 3 0 20 1 2 3 Setup bit of Output pin Here is detail description of 0x20 frame type This command is only applicable only to 9 signals of User Output 0 User Output 8 out of 24 signal types in the control output port The rest of 15 output signals c
2. 1 Header 2 Slave No 3 Frame type insert 53 in 1 byte size for Incremental Move command 4 Data Position value insert 10000 and click 4byte 5 Data Running speed insert 5000 and click 4 byte 6 CRC 7 Tail 8 Send When parameter sets as default value motor rotates as one revolution 53 command is incremental move command so once click Send motor will rotate again as same distance 3 PLC Programming In Protocol test GUI automatically calculate the Byte stuffing and CRC data For protocol programming in PLC you have to add the function of Byte stuffing and CRC calculation For Byte stuffing refer to 1 1 2 RS 485 Communication Protocol and for CRC refer to 1 1 3 CRC Calculation Example on UserManual Ezi STEP ALL _Communicat ion Function 97 e Please note that the specifications are subject to change without notice due to product improvements Copyright 2008 FASTECH Co Ltd All Rights Reserved May 31 2011 rev 01 01 03 98
3. 1 byte Communication status 4 bytes Parameter value Refer to 1 2 2 Parameter List 10 FAS Specific parameter values are saved to the RAM SetParameter Sending 5 bytes 1 byte 4 bytes Parameter number 0 28 Parameter value 0x12 18 Response 1 byte 1 byte Communication status Refer to 1 2 2 Parameter List FAS_ Specific parameter values in the RAM are recognized GetParameter Sending 1 byte byte Parameter number 0 28 0x13 19 Response 5 bytes 1 byte 4 bytes Communication status Parameter value Refer to 1 2 2 Parameter List FAS Set output signal level of the control output port Set lO0utput Sending 8 bytes 4 bytes 4 bytes When specific bit of the set mask is 1 the relevant output port 0x20 signal is set to ON 32 When specific bit of the clear mask is 1 the relevant output port signal is set to OFF For more information refer to 1 2 3 Bit setup of Output Pin Response 1 byte byte Communication status FAS Set input signal level of the control input port Set lOInput Sending 8 bytes 4 bytes 4 bytes 0 set mask value 1 0 clear mask value When specific bit of the set mask is 1 the relevant input port signal 0x21 is set to ON 33 When specific bit of the clear mask is 1 the relevant input
4. Syntax int FAS Get lO0utput BYTE nPortNo BYTE iSlaveNo DWORD dwlOOutput Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive aw 0 nout Parameter pointer where the output value will be saved Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS SetlOInput library See Also FAS Set lO0utput 50 FAS Get OAss i gnMap To read O Assign Map For more information refer to 1 1 5 Frame Type and Data Conf igurat ion Syntax int FAS GetlOAssignMap BYTE nPo BYTE SI rtNo aveNo BYTE ilOPinNo DWORO d BYTE bL Parameters nPor tNo Port number of relevant drive SlaveNo Slave number of relevant drive 10PinNo 1 0 pin number to be read aw OLogicMask Parameter pointer where the logic mask value assigned to a relevant pin will be saved bleve Parameter pointer where the active level of relevant logic will be saved Return Value w OLogicMask evel FMM OK Command has been successfully performed FMM NOT OPEN The drive has not been connected yet FMM INVALIO PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the re
5. Actual position value to be set Return Value FMM OK Command has been successfully performed FMM NOT OPEN The drive has not been connected yet FMM INVALIO PORT NUM There is no nPort in the connected ports FMM INVALIO SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Can be used when external encoder is connected The user sets the encoder feedback counter value to the value what customer wants Example Refer to FAS GetActualPos library See Also FAS SetCommandPos 57 FAS GetCommandPos To read the command position of the current motor Syntax int FAS GetCommandPos BYTE nPortNo BYTE iSlaveNo long CmdPos Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive CmdPos Parameter pointer where command position value will be saved Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks To read the position command pulse output counter value Example amp include FAS EziMOTIONP usR h void funcDisplayStatus i BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 long Value int nRtn Try to connect if FAS Connect nPortNo 115200 FALSE Connection fai
6. Return Value FMM OK Command has been successfully performed FMM NOT OPEN The drive has not been connected yet FMM INVALIO PORT NUM There is no nPort in the connected ports FMM INVALIO SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS Connect library See Also 34 FAS GetMotor Info To get the motor information string of the relevant drive Syntax int FAS GetMotor Info BYTE nPortNo BYTE iSlaveNo BYTE pType LPSTR IpBuff int nBuffSize Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive pType Type number of relevant motor pBuf f Buffer pointer to get version information string nBuffSize Memory allocation size of lIpBuff Return Value FMM OK Command has been successfully performed FMM NOT OPEN The drive has not been connected yet FMM INVALIO PORT NUM There is no nPort in the connected ports FMM INVALIO SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS Connect library See Also 35 FAS IsSlaveExist Check connection status of the drive Syntax BOOL FAS IsSlaveExist BYTE nPortNo BYTE SlaveNo Parameters nPor tNo Port number of relevant drive Slaveno Slave number of relevant drive Return Value TRUE The drive is connected FALSE The drive is disconnected Remarks This function is prov
7. Ezi STEP ALL Step Motors with Integrated Drive and Controller User Manual Communication Function Ver6 Rev 01 01 03 Table of Contents 1 Communication Protocol Sivad iS 1 1 Communication FUNCTIONS cuconconononcnnoncnnnncnnoncnnononcnonaconononnononnoonaconnacononoccnonacoonaconorcoroncacconaconss 5 1 4 Communication Specifications ccc ace tet dre tee RS 5 1 1 2 RS 485 Communi cat tori Protocol Mer8 tiere tiri cantata Cei 5 71 3 CRG CalculatroncExampl6 caet tette PG Eh et eo de 6 1 1 4 Response Frame Structure and Communication Error Ver6 ssssss 9 1 2 Structure of Frame type Ver6 ccccscccccsscssscsscsscsscsscesscsscsscesssssssscssssssssscsssssssscsscessonees 10 1 2 1 Frame type and Data Conf igurat ion nnne 10 I 2S 2 Parameter WISTS iene aped vem Uv RO ee p ROUEN RE 20 1223 Set Dit OT OUTPUT Disce e td es COD OD SS 21 245 Setup Dt or NUTS ps eee terne 21 1 2 35 Brt set p of Status Eladio 22 121672 POSTON hab Le Etellisssca eects heath ok a Bele hae hes 23 12 Fe ATOM TONO MOTORS 55 eti tete te nonet testis 23 I 3 E O NT 24 2 Library Tor PG PROG Mariana aaa 2 1 EA IAN 25 2 2 Communication Status WINAOW ccccccccsccscsssrccserccserecsesecssssssseesseecseecsesssssessssesssserecseses 26 2 3 Drive Link FUNCTION ssvscccssssccccecscccscssssecssossscsssesscecssesccesssbacvecssescesdssbaseessseccesssseasessosesse
8. FAS MoveSinaleAxis amp bsPos Return code FMM_NOT_OPEN 0x01 Wrong port number is inputted FMM NOT OPEN COM Port is not connected This error cannot be occurred in GUI Communication Error The command is failed Command FAS MoveSingle amp xis amp bsPos Return code FMM INVALID PORT NUM 0x02 COM Port number does not exist Checking the This error cannot be occurred in GUI FMM INVALID PORT NUM Device Manager window in Window OS 26 Communication Error E FMM_INVALID_SLAVE_NUM The command is failed Command FAS MoveSingleAxis amp bsPos Return code FMM_INVALID_SLAVE_NUM 0x03 Wrong slave number is inputted Slave number does not exist Checking the ID value of the drive This error cannot be occurred in GUI Communication Error E The command is failed Command FAS MoveSingleAxis amp bsPos Return code FMC_DISCONNECTED 0x05 The relevant drive is disconnected COM Port is disconnected during communication Checking the communication cable Or Power of the drive FMC DISCONNECTED 5 Communication Error t3 FMC TIMEOUT ERROR The command is failed Command FAS MoveSingle amp xis amp bsPos Return code FMC TIMEOUT ERROR 0x05 Response delay occurs Lm oem There is no response from the drive Communication Error t3 T The command is failed Command FAS MoveS
9. Refer to the figure 5V 24V R2 Input A GND 24V If voltage from an external input is 24V at Port A the input is recognized to 5V High Example Refer to FAS SetlOInput library See Also FAS Set lOlInput 48 FAS Set 00utput To set 1 0 output values For more information refer to 1 1 5 Frame Type and Data Conf igurat ion Syntax int FAS SetlO0utput BYTE nPortNo BYTE iSlaveNo DWORD dwlOSetMask DWORD dwlOCLRMask Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive aw 0SetMask Output bitmask value to be set ON status aw OCLAWask Output bitmask value be cleared OFF status Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks There are 2 output pins in Ezi STEP ALL The user can select and use 1 output pins of them 24V 5V UN R2 Er 2 Output Vv A A GND 24V When output data is 1 Port A becomes OV When it is 0 Port A becomes 45V Be careful that dwlOSetMask bit and dwlOCLRMask bit are not duplicated Example Refer to FAS SetlOlInput See Also FAS Get lOOutput 49 FAS Get 00utput To read 1 0 output values For more information refer to 1 1 5 Frame Type and Data Conf igurat ion
10. lt gt Level 6 6 xx x xxx 2 Level 8 V08 xx Oxx xx lt gt Level 8 8 xx x xxx After connect the User Program GUl f About Ezi MOTION Plus R GUI Version number can be check in About Plus R QUI menu in Help menu E Plus R GUI Versior 6 16 0 585 rev 791 Supported firmware version 1 Ezi SERVO Plus R ST V06 2 Ezi STEP Plus R ST V06 Copyright C 2008 FASTECH Co Ltd 1 Overview of communication FRAME PC Communicat ion Ezi STEP Port n ALL Response Frame 2 Basic structure of Frame Header Frame Data Tail OxAA OxCC 4 252 bytes OxAA OxEE e 6000 OxAA Delimited byte OxAA OxCC Indicate header of the frame OxAA OxEE Indicate tail of the frame If any of the Frame data is OxAA OxAA should be added right after it byte stuffing If any data following OxAA is not OxAN OxCC or OxEE it indicates an error Detailed Frame Data is configured as follows Slave ID Frame type Data CRC 2 bytes 2 byte byte 0 248 bytes TET dig byte e ea eo tT Slave ID Dive module number 0 15 connected to the PC communication port Frame type Designate command type of relevant frames For the command type refer to Frame Type and Data Configuration section Data Data structure and length is set according to Frame type
11. LOW ACTIVE Low Active High Active else printf Output Pin d Not assignedWn i Assign ALARM Logic High Active to output pin 9 iPinNo 9 O 9 value is available Caution O is fixed to COMPOUT nRtn FAS SetlOAssignMap nPortNo iSlaveNo 12 Input Pin Count iPinNo STEP OUT BITMASK ALARM LEVEL_HIGH_ACTIVE _ASSERT nRtn FMM OK Disconnect FAS_Close nPor tNo See Also FAS Set OAss i gnMap 52 FAS Set OAss i gnMap To set 1 0 Assign Map For more information refer to i i 5 Frame Type and Data Conf igurat ion Syntax int FAS Set lOAssignMap BYTE nPortNo BYTE iSlaveNo BYTE ilOPinNo DWORD dwlOLogicMask BYTE bLevel Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive 0PinNo 1 0 Pin number to be read aw OLogicMask Logic mask value to be assigned to the relevant pin bLeve Active Level value of the relevant logic Return Value FMM OK Command has been successfully performed FMM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port FMM INVALID PARAMETER NUM Designated ilOPinNo or dwlOLogicMask value is out of range Remarks To save current setting values to the ROM memory FAS SaveAllParameters library should be run Example Refer to FAS GSe
12. PositionIncOverride Request the motor to change the incremental position value pulse during operation target Sending 4 bytes 4 bytes on Changed command position value pulse Response 1 byte 1 byte Communication status FAS_ Request the motor to change the running speed value pps during VelocityOverride operation Sending 4 bytes Ox3A 4 bytes 58 Changed running speed pps Response 1 byte 1 byte Communication status FAS Request stop for all motor that connected in same port during Al IMoveStop operation 0x38 Sending O byte 59 Slave number must be 99 Response no response All slaves do not send response because cannot receive response from al slaves simultaneously FAS Request emergency stop for all motor that connected in same port Al EmergencyStop during operation 0x3C Sending 0 byte 60 Slave number must be 99 Response no response All slaves do not send response because cannot receive response from al slaves simultaneously FAS AI I Request return to origin under current setting parameter condition Move0r iginSingleAxis for all drives that connected in same port Sending 0 byte Ox3D Slave number must be 99 61 Response no response All slaves do not send response because cannot receive response from al slaves simultaneously FAS_Al Request move its position as much as the abs
13. include FAS EziMOTIONPIusR h void funcMove BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 DWORD dwAxisStatus dwlnput EZISTEP AXISSTATUS stAxisStatus long lAbsPos lIncPos IVelocity int nRtn Try to connect if FAS Connect nPortNo 115200 FALSE Connection failed The port is not connected or the baudrate may be wrong return Check error status nRtn FAS GetAxisStatus nPortNo iSlaveNo amp dwAxisStatus _ASSERT nRtn FMM_OK stAxisStatus dwValue dwAxisStatus if dwAxisStatus amp 0x00000001 if stAxisStatus FFLAG ERRORALL i93 FAS StepAlarmReset nPortNo SlaveNo Check input status nRtn FAS GetlOInput nPortNo iSlaveNo amp dwlnput _ASSERT nRtn FMM OK if dwInput amp STEP IN LOGIC STOP STEP IN LOGIC PAUSE STEP IN LOGIC ESTOP FAS Set lOI nput nPor tNo iSlaveNo 0 STEP IN LOGIC STOP STEP IN LOGIC PAUSE STEP IN LOGIC ESTOP See Also Increase the motor to 15000 pulse IncPos 15000 IVelocity 30000 nRtn FAS MoveSingleAxisIncPos nPortNo iSlaveNo lIncPos lVelocity _ASSERT nRtn FMM OK Stand by until motion command is completely finished do Sleep 1 nRtn FAS GetAxisStatus nPortNo iSlaveNo amp dwAxisStatus _ASSERT nRtn FMM OK stAxisStatus dwValue dwAxisStatus while stAxisStatus FFLAG_MOTIONING Move the motor to O
14. inputs and turning off Jog input nRtn FAS SetlOInput nPor tNo iSlaveNo STEP IN BITMASK CLEARPOSITION STEP IN BITMASK USERIN1 STEP IN BITMASK PJOG _ASSERT nRtn FMM OK Check 1 0 output nRtn FAS GetlOOutput nPortNo iSlaveNo amp dwOutput _ASSERT nRtn FMM OK if dwOutput amp STEP OUT BITMASK USEROUTO i User Output O is ON Turn off User Output 1 and 2 signals nRtn FAS SetlOOutput nPortNo iSlaveNo 0 STEP_OUT_BITMASK_USEROUT1 STEP OUT BITMASK USEROUT2 _ASSERT nRtn FMM OK Disconnect FAS_Close nPor tNo See Also FAS Get 0 nput 47 FAS Get 10 nput To read O input values For more information refer to 1 1 5 Frame Type and Data Conf igurat ion Syntax int FAS Get lOInput BYTE nPortNo BYTE iSlaveNo DWORD dwlOlnput Parameters nPor tNo Port number of relevant drive Slaveno Slave number of relevant drive aw 0 nout Parameter pointer where input values will be saved Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FWM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks There are 10 input pins in Ezi STEP ALL The user can select and use 7 input pins of them This function can read the input port status as 32bit All of them are insulated by a photocoupler
15. lActPos long IPosErr long lActVel WORD wPos temNo 35 Parameters nPor tNo Port number of relevant drive Slaveno Slave number of relevant drive CmdPos Parameter pointer where the command position value will be saved ActPos Parameter pointer where the actual position value will be saved PosErr Parameter pointer where the position error value will be saved ActVe Parameter pointer where the actual velocity value will be saved wPos temNo Parameter pointer where current running item number in the Position Table will be saved Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS MoveSingleAxisAbsPos library See Also 66 FAS_GetAl IStatus To read 1 0 Input and Output values of the relevant drive the motor Axis Status the motor motion status at one time Syntax int FAS_GetAl IStatus BYTE nPortNo BYTE iSlaveNo OWORD dwInStatus DWORD dwOutStatus DWORD dwAxisStatus long CmdPos long lActPos long IPosErr long lActVel WORD wPos temNo Parameters nPor tNo Port number of relevant drive SlaveNo Slave number of relevant drive awinStatus Parameter pointer where the 0 input value will be saved awoutStatus
16. 0 255 Jump PT 2 wCond br anch2 2 unsigned en A 0000 0255 Loop Count wLoopCount 2 unsigned 30 0 100 L J Tabl 0 255 uda M Le wBr anchAf ter Loop 2 unsigned de No 10000 10255 PT set wPTSet 2 unsigned 34 0 15 Loop Counter Clear wLoopCountCLR 2 unsigned 36 0 255 Blank eS 38 0x00 unsigned For the setting m Please refer to separate manual Information of Motors 1 2 7 ethod by each item refer to other manual User Manual Position Table for setting method per each time User anual Position Table First 2 digits of number and 1 2 characters indicate the motor size and length Example 56XL Other part indicates the motor manufacturer information as below Display Maker blank JapanSer vo SD Sanyo Denki POR Por tescap NPM NPM FUL Fulling 23 Motor Flange size is 56mm and Extra large size 1 3 Program Method There are 2 method of programming for Ezi STEP ALL The first is generally used method with using Visual C language under window system of PC Library that serviced together with Ezi STEP ALL have to be used Please refer to 2 Library for PC Program The second method is sending command characters directly to Ezi STEP ALL User has to prepare low level protocol programming like Protocol Test program and this method is applied when use higher level control unit as like PLC For more programming method details please exercise
17. 0 byte 0x38 Response 1 byte X 51 1 byte 13 FAS MoveSingleAxisAbsPos Request the motor to move its position as much as the absolute value pulse Sending 8 bytes 4 bytes 4 bytes 0x34 Absolute position value Running speed pps 52 Response 1 byte byte Communication status FAS Request the motor to move its position as much as the incremental MoveSingleAxisIncPos value pulse Sending 8 bytes 0x35 4 bytes 4 bytes 53 dra position Ala speed oes Response 1 byte 1 byte Communication status FAS Request the motor to start limit motion under current setting MoveToL imi t parameter condition 0x36 Sending 5 bytes 4 bytes 1 byte 54 Running speed pps Running direction 0 Limit 1 Limit Response 1 byte byte Communication status FAS Request the motor to start jog motion at the current setting parameter MoveVelocity condition 0x37 Sending 5 bytes 4 bytes 55 Running speed pps Running direction 0 Jog 1 Jog Response 1 byte 1 byte Communication status FAS_ Request the motor to change the target absolute position value pulse PositionAbsOverride while it is in running 0x38 Sending 4 bytes 4 bytes 56 Changed command position value pulse Response 1 byte 1 byte Communication status 14 0x39 FAS
18. Get OAss i gnMap Sending 1 byte 1 byte 1 0 number E I O number 0 11 corresponds to Limitt Limit Org INT A IN9 respectively and 12 22 corresponds to COMP OUT1 OUT9 respectively Response 6 bytes 1 byte 4 bytes 1 byte 10 pin masking status Level status Communication status For more information refer to 0x24 Frame type 12 FAS OAss i gnMapReadROM Recognize setting status of 0 and setting value of signal level from ROM area These values are loaded to RAM Sending 0 byte Communication status den Response 2 bytes byte 1 byte Two Command performing status Communication status i 0 complete values except 0 error FAS Reset STEP alarm status or release reset To make a reset send reset ON and reset release sequentially StepAlarmReset Sending 1 byte Ox2C Lurte 44 Reset ON 1 Reset release 0 Response 1 byte 1 byte Communication status FAS Request to stop motor currently operates MoveStop Sending 0 byte d Response 1 byte x 49 1 byte Communication status FAS Request emergency stop of the motor EmergencyStop Sending 0 byte 0x32 Response 1 byte 50 1 byte Communication status FAS Request the motor to return toorigin under current setting parameter MoveOr iginSingleAxis condition Sending
19. NUM 2 The port that is not connected E bd FMM INVALID SLAVE NUM 3 Wrong slave number is inputted Operat ion An error occurs whi le the motor accesses Error FMM_POSTABLE_ERROR 9 to the position table FMC DISCONNECTED 5 The relevant drive is disconnected Connect ion FMC TIMEOUT ERROR 6 Response delay 100 msec occurs Error FMC_CRCFA LED_ERROR 7 Checksum error occurs Protocol level error occurs in packet FMC RECVPACKET ERROR 8 that comes from Orive 25 2 The following table indicates return values included commonly in all libraries and these functions offer to check the result communication status running status judged by the dr ive These functions are available for using library DLL and protocol tem Descr ipt ion betaine Descr iption Value Normal FMP_OK 0 Communication has been normally performed Input FMP_FRAMETYPEERROR 128 The drive cannot recognize the command Error FMP_DATAERROR 129 Input data is out of the range Operation FMP_BUSYMOTOR 133 bd isalready running or not prepared for Error Protocol level error occurs in packet that Connect ion FMP_PACKETERROR 30 Drive s received Error 4 CRC value is not correct in packet that Drive s FMP_PACKETCRCERROR 70 received 2 2 Communication Status Window Above communication status is divided by 3 groups 1 Communication Error Communication Error The command is failed Command
20. Plus R Communication Function about Servo ON OFF command Frame type DLL Library name Data 42 0x2A FAS Ser voEnable Setting the Servo ON OFF status Sending 1 byte byte 0 0FF 1 0N Insert 42 in areaandclick 1 byte because the size of Frame Type is 1 byte 5 Data To make Servo ON status the data is 1 so insert 1 nO area and click 1 byte 6 CRC Click CRC and the automatically calculated result value 2 bytes is displayed on Send Buffer window 96 7 Tail click Tail and you can see OxAA OxEE on Send Buffer window 8 Finally click Send button to send command characters to Ezi SERVO Plus R You can check the motor torque and LED flash for Servo ON status 9 After sending command you can check the answering information from Ezi SERVO Plus R on Buffer Received window 2 Motion command purpose of command 4c Protocol Test E ES Connection r Buffer Received Comm Port 77 Header Sly Cmd Stat REFRESH Disconnect Baudrate 115200 M Send Buffer OxAA UxCC 0x00 0x35 0x10 0x27 0x00 0x00 0x88 0x13 0x00 0x00 0x3D 0x97 DxAA 0xEE Values 1 Header 0 2 SlaveNo BYTE Static CHAR Static WORD Static SHORT Static 3 Data DWORD Static LONG Static 5000 ibyt 2bytes A bytes 4 CRC 5 Tail CLEAR SEND gt gt
21. be careful so that the machine cannot be impacted Example Refer to FAS MoveSingleAxisAbsPos library See Also Fs FAS_MoveOr iginSingleAxis To search the origin of system For more information refer to User Manual_Text 9 3 Origin Return Syntax int FAS Mover iginSingleAxis BYTE nPortNo BYTE iSlaveNo Parameters nPor tNo Port number of relevant drive Slaveno Slave number of relevant drive Return Value FMM OK Command has been successfully performed FMM NOT OPEN The drive has not been connected yet FMM INVALIO PORT NUM There is no nPort in the connected ports FMM INVALIO SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS_MoveSingleAxisAbsPos library See Also T2 FAS MoveSingleAxisAbsPos To move the motor to the absolute coordinate value Syntax int FAS MoveSingleAxisAbsPos BYTE nPortNo BYTE iSlaveNo long AbsPos DWORD Velocity Parameters nPor tNo Port number of relevant drive Slaveno Slave number of relevant drive AbsPos Absolute coordinate where position to move Velocity Velocity when the motor moves Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM INVALIO PORT NUM There is no nPort in the connected ports FMM INVALIO SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example
22. fset offset value which will be read from PT items Refer to 1 2 6 Position Table Item Pos temVa Parameter pointer where PT item data value will be saved Return Value FMM OK Command has been successfully performed FMM NOT OPEN The drive has not been connected yet FMM INVALIO PORT NUM There is no nPort in the connected ports FMM INVALIO SLAVE NUM There is no drive of iSlaveNo in the relevant port FMM INVALIO PARAMETER NUM wltemNo is out of range Remarks Example See Also FAS PosTableWr i teOnel tem 94 FAS PosTableWr i teOnel tem To edit specific item in the specific position table Syntax int FAS PoslableWr i teOnel tem BYTE nPortNo BYTE iSlaveNo WORD wl temNo WORD wOffset long IPos temVal Parameters nPor tNo Port number of relevant drive SlaveNo Slave number of relevant drive wl temNo tem number to be edited WOf fset offset value which will be saved from PT items Refer to 1 2 6 Position Table Item Posi temVa PT item data value to be set Return Value FMM OK Command has been successfully performed FMM NOT OPEN The drive has not been connected yet FMM INVALIO PORT NUM There is no nPort in the connected ports FMM INVALIO SLAVE NUM There is no drive of iSlaveNo in the relevant port FMC POSTABLE ERROR An error occurs while position table is being written FMM INVALIO PARAMETER NUM wltemNo is out of range Remarks Ex
23. port signal is set to OFF For more information refer to 1 2 4 Bit setup of Input Pin Response 1 byte 1 byte Communication status FAS Current input signal status of the control input port is recognized Get lOInput Sending 0 byte 0x22 Response 5 byte 34 1 byte 4 bytes Communication status Input status value Relevant bit by each input signal refer to 1 2 4 Bit setup of Input Pin FAS_ Current output signal status of the control output port is recognized Get lO0utput Sending 0 byte Response 5 byte 0x23 1 byte 4 bytes 35 Communication status Output status value Relevant bit by each output signal refer to 1 2 3 Bit setup of Output Pig FAS Assign 1 0 signal to the pin of CN1 port and set signal level Set lOAss i gnMap simultaneously By running FAS SaveAllParameters you can save the setting value to the ROM Sending 6 bytes 1 byte 4 bytes 1 byte 1 0 number 1 0 pin masking data Setting level Mn 1 0 number 0 11 corresponds to Limit Limit Org IN1 36 INQ respectively and 12 22 corresponds to COMP OUT1 OUT9 respectively 1 0 pin masking data Refer to 1 2 4 Bit setup of Input Pin Level Setting O Active Low 1 Active High Response 1 byte 1 byte Communication status FAS Recognize pin setting status of CN1 port from RAM
24. 2D00 OxEDC1 OxEC81 Ox2C40 6 OxE401 0x24C0 0x2580 OxE541 0x2700 OxE7C1 OxE681 0x2640 0x2200 OxE2C1 OxE381 0x2340 OxE101 0x21C0 0x2080 OxEO41 OxA001 Ox60C0 0x6180 OxA141 0x6300 OxA3C1 OxA281 0x6240 0x6600 OxA6C1 OxA781 0x6740 0xA501 Ox65C0 0x6480 OxA441 0x6C00 OxACC1 OxAD81 Ox6D40 OxAFO1 Ox6FCO Ox6E80 OxAE41 OxAAO1 Ox6ACO Ox6B80 OxAB41 0x6900 OxA9C1 OxA881 0x6840 0x7800 OxB8C1 0xB981 0x7940 OxBBO1 Ox7BCO Ox7A80 OxBA41 OxBEO1 Ox7ECO Ox7F80 OxBF41 Ox7D00 OxBDC1 OxBC81 0x7C40 OxB401 0x74C0 0x7580 0xB541 0x7700 OxB7C1 OxB681 0x7640 0x7200 OxB2C1 0xB381 0x7340 OxB101 0x71C0 0x7080 0xB041 0x5000 0x90C1 0x9181 0x5140 0x9301 0x53C0 0x5280 0x9241 0x9601 Ox56C0 0x5780 0x9741 0x5500 Ox95C1 0x9481 0x5440 Ox9C01 Ox5CCO 0x5080 0x9D41 Ox5F00 Ox9FC1 Ox9E81 Ox5E40 Ox5A00 Ox9AC1 Ox9B81 Ox5B40 0x9901 0x59C0 0x5880 0x9841 0x8801 0x48C0 0x4980 0x8941 0x4B00 Ox8BC1 Ox8A81 Ox4A40 Ox4E00 Ox8EC1 Ox8F81 Ox4F40 Ox8DO1 Ox4DCO Ox4C80 Ox8C41 0x4400 0x84C1 0x8581 0x4540 0x8701 0x47C0 0x4680 0x8641 0x8201 0x42C0 0x4380 0x8341 0x4100 0x81C1 0x8081 0x4040 EH unsigned short CalcCRC unsigned char pDataBuffer unsigned long usDataLen unsigned char nTemp unsigned short wCRCWord OxFFFF while usDataLen i nTemp wCRCWord pDataBuf fer wCRCWord gt gt 8 wCRCWord TABLE_CRCVALUE nTemp r
25. ASsGetAChUIATVO eost RERO etes 62 EASsGIGat POSU EOS Se S e odd Sov e name bep hdd Gu bed 63 Drive Status Control Funct On eerie ee eese teens entes tn stas ts etnia senses sensu 64 FAS Get OAXISStatUS uie eee a te uU eed op ER C dita 65 FAS GetMot LONS tatus cde eee ri ia 66 FAS3GetAI IS tatus cu eee tee E od ehe he 67 FAS GetAXISStatus isses cete ien eps ea V eR HR B a e 68 Running Control FUNCTION ccconcocconncanonnnononancnnonnconncanonaconocanonnonnoonconnononn stas tn senses sensns enses enu 69 FAS MOVES COD iiM ERI das 70 FAS EnergencyStop tee tede e de Eee ie arde He eed i it 71 FAS MoveOr IginSTngleAXIS cde reete iii 72 FAS MoveSingleAxisADSPOS eee edite ie de ee eee deii 73 FAS MoveSingleAxis n cPOS oeceer rete eee T ERE R Re era 75 FAS Move Toldo e bal do din ame aaepe 76 PAS MoveVel0G lity uscire ettet e aveo nie rea 77 FAS Pos it ionADsOver Tinaco 78 FAS Post i omlncOver iii THREE CREER IER HERES 80 FAS VelocityOverr Ide eee bi 81 FAS ALIMOVOeSEOD sut ar t ete a 82 FAS AL IEmergencyot op ecrire ba 83 FAS AlIMove0Or TO INS ING OAK IS sciret ee err etr eene 84 FAS Al IMoveS i ngleAxi SADSPOS eccecceseseseescsescseseseseceenenssaesesesenenssaeseseceesesseaesesecsesesesatees 85 FAS A IMoveSing leAx Ts INC OS cidcid 86 2 10 Position Table Control FUNCTION 000000cssscsrsrcscersescsssrcnsersssesssssscersssssssssssessssssessesceenses 87 FAS Pos Tablero 88 FAS PosTableWr i t
26. For more information refer to Frame Type and Data Configuration section CRC To check an error which occurs during communication OxA001 of a polynomial factor in CRC Cyclic Redundancy Check X16 X15 X2 1 of a polynomial factor in CRC 16 18M Cyclic Redundancy Check is used CRC calculation is per formed for all items Slave ID Frame type Data prior to CRC item 3 CRC Calculation Example The following program source is included in a file file name CRC Checksum c provided with the product 1 0xA001 of CRC16 const unsigned short TABLE CRCVALUE t 0x0000 OxCOC1 OxC181 0x0140 OxC301 Ox03C0 0x0280 OxC241 0xC601 Ox06C0 0x0780 OxC741 0x0500 OxC5C1 0xC481 0x0440 OxCCO1 OxOCCO Ox0D80 OxCD41 OxOFOO OxCFC1 OxCE81 0x0E40 Ox0A00 OxCAC1 OxCB81 Ox0B40 OxC901 Ox09C0 0x0880 OxC841 OxD801 Ox18C0 0x1980 OxD941 0x1B00 OxDBC1 OxDA81 Ox1A4O Ox1E00 OxDEC1 OxDF81 Ox1F40 OxDDO1 Ox10CO Ox1C80 OxDC41 0x1400 0xD4C1 0x0581 0x1540 0xD701 0x17C0 0x1680 OxD641 OxD201 0x12C0 0x1380 0xD341 0x1100 OxD1C1 OxDO81 0x1040 OxF001 Ox30C0 0x3180 OxF141 0x3300 OxF3C1 OxF281 Ox3240 0x3600 OxF6C1 OxF781 0x3740 OxF501 Ox35C0 0x3480 OxF441 0x3C00 OxFCC1 OxFD81 Ox3D40 OxFFO1 Ox3FCO Ox3E80 OxFE41 OxFAO1 Ox3ACO Ox3B80 OxFB41 0x3900 OxF9C1 OxF881 Ox3840 0x2800 OxE8C1 OxE981 0x2940 OxEBO1 Ox2BC0 Ox2A80 OxEA41 OxEEO1 Ox2ECO Ox2F80 OxEF41 0x
27. G ZPULSE operations FFLAG ORIGINRETOK Origin return operation has been finished 0x02000000 FFLAG MOTIOND IR To display the motor operating direction OFF ON 0x04000000 FFLAG MOTIONING The motor is running 0x08000000 FFLAG MOT ONPAUSE The motor in running is stopped by Pause command 0x10000000 FFLAG MOT ONACCEL The motor is operating to the acceleration section 0x20000000 FFLAG_MOT ONDECEL The motor is operating to the deceleration section 0x40000000 E The motor is not running as Acceleration Deceleration 0x80000000 FFLAG_MOT I ONCONST but as constant speed of operation 2I 1 2 6 Position Table Item Refer to motion define h of include files Name of Structure Number of Offset aM Upper Name ER Unit Low Limit ne Parameter Bytes position Limit Position IPosition 4 signed 0 pulse 134217728 134217728 Low Speed dwStar tSpd 4 unsigned 4 pps 0 500000 High Speed dwMoveSpd 4 unsigned 8 pps 0 500000 Accel Time wAccelRate 2 unsigned 12 msec 1 9999 Decel Time wDecelRate 2 unsigned 14 msec 1 9999 Command wCommand 2 unsigned 16 0 9 ait time wWaitTime 2 unsigned 18 msec 0 600000 Continuous Action wCont inuous 2 unsigned 20 0 1 0 255 Jump Table No wBr anch 2 unsigned ee 0000 0255 2 Jump PT 0 wCond_br anchO 2 unsigned A T i 0000 0255 2 Jump PT 1 wCond_branch1 2 unsigned 26 9 Ed 10000 0255
28. MM INVALIO SLAVE NUM There is no drive of iSlaveNo in the relevant port FMC POSTABLE ERROR An error occurs while position table is being written FMM INVALIO PARAMETER NUM wltemNo is out of range Remarks Position Table data is saved to RAM ROM area This function activates to save data to RAM area When power is off data is deleted Example See Also FAS PosTableRead tem 90 FAS PosTab eWr i teROM To save all current position table items to ROM area Syntax int FAS PosTableWr i teROM BYTE nPortNo BYTE iSlaveNo Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM INVALIO PORT NUM There is no nPort in the connected ports FMM INVALIO SLAVE NUM There is no drive of iSlaveNo in the relevant port FMC POSTABLE ERROR An error occurs while position table is being saved Remarks Position table data is saved to RAM ROM area This function activates to save data to ROM area Even though power is off data is preserved Example See Also FAS_PosTab eReadROM 91 FAS PosTab eReadROM To read position table items being saved in ROM area Syntax int FAS_PosTab eReadROM BYTE nPortNo BYTE iSlaveNo Parameters nPor tNo Port number of relevant drive Slaveno Slave number of relevant drive
29. Parameter pointer where the 0 output value will be saved QWAx sStatus Parameter pointer where the axis status value of the relevant motor will be saved GmaPos Parameter pointer where the command position value will be saved ActPos Parameter pointer where the actual position value will be saved PosErr Parameter pointer where the position error value will be saved ActVe Parameter pointer where the actual velocity value will be saved wPos temNo Parameter pointer where current running item number in the Position Table will be saved Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS_MoveSingleAxisAbsPos library See Also FAS_GetAxisStatus FAS_GetMot ionStatus 67 FAS GetAxisStatus To read the motor Axis Status value For status Flag refer to 1 1 5 Frame Type and Data Configuration Syntax int FAS GetAxisStatus BYTE nPortNo BYTE iSlaveNo DWORD dwAxisStatus Parameters nPor tNo Port number of relevant drive Slaveno Slave number of relevant drive QwAx sStatus Parameter pointer where the axis status value of the relevant motor Return Value FMM OK Command has been successfully per formed FMM_NOT_OPEN The drive has not been connec
30. ProtocolTest_PlusR exe is serviced together with GUI Please refer to 3 Protocol for PLC Program 24 2 Library for PC Program 2 1 Library Configuration To use this library CH header file h and library file lib or dll are required These files locate in WWFASTECHWWEziMOTION PlusRWWincludeWW And the following contents should be included in a source file for development include WWFASTECHWW EziMOTION PlusR WWincludeWWFAS EziMotionPlusR h include WWFASTECHWW EziMOTION PlusR WWincludeWWCOMM Def ine h include WWFASTECHWW EziMOTION PlusR WWincludeWWMOTION_DEFINE h include WWFASTECHWW EziMOTION PlusR WWincludeWWReturnCodes_Define h Also library files are as follows WWFASTECHWW EziMOTION PlusR WWinc udeWWEziMotionPlusR ib WWFASTECHWW EziMOTION PlusR WWincludeWWEziMotionPlusR dI A sample program source of with using these libraries locate at WWFASTECHWWEz MOTION PlusR WWExamplesWW folder 1 The following table explains values returned when each library DLL function is used The user can only check the values returned at the library DLL function Low level programming method does not support following table eun Ret d UA tem Definition as Descr ipt ion Value The function has normally per formed the Normal FMM OK 0 Command FMM_NOT_OPEN 1 Wrong port number is inputted Input FMM INVAL D PORT
31. Return Value FMM OK Command has been successfully performed FMM NOT OPEN The drive has not been connected yet FMM INVALIO PORT NUM There is no nPort in the connected ports FMM INVALIO SLAVE NUM There is no drive of iSlaveNo in the relevant port FMC POSTABLE ERROR An error occurs while position table is being read Remarks Example See Also FAS PosTableWr i teROM 92 FAS_PosTab eRun tem To perform command from a specific item in the position table Syntax int FAS PosTableRunltem BYTE nPortNo BYTE iSlaveNo WORD wl temNo Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive wl temNo Item number to start motion Return Value FMM OK Command has been successfully performed FMM NOT OPEN The drive has not been connected yet FMM INVALIO PORT NUM There is no nPort in the connected ports FMM INVALIO SLAVE NUM There is no drive of iSlaveNo in the relevant port FMM INVALIO PARAMETER NUM wltemNo is out of range Remarks Example See Also FAS_GetAl Status FAS_MoveStop FAS EmergencyStop 93 FAS PosTab eReadOnel tem To read specific item in the specific position table Syntax int FAS PosTableReadOnel tem BYTE nPortNo BYTE iSlaveNo WORD wl temNo WORD wOffset long Pos temVal Parameters nPor tNo Port number of relevant drive Slaveno Slave number of relevant drive w temNo tem number to be read WOf
32. TEP AXISSTARTSPEED 100 _ASSERT nRtn FMM OK You have to check if the command didn t execute correctly nRtn FAS SaveAl IParameters nPortNo iSlaveNo ASSERT nRtn FMM OK Disconnect FAS_Close nPor tNo See Also FAS_GetROMPar ameter 39 FAS SetParameter Edit the relevant parameter value and then save it to the RAM Syntax int FAS SetParameter BYTE nPortNo BYTE iSlaveNo BYTE iParamNo long ParamValue Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Par amNo Parameter number to be edited ParamValue Parameter value to be edited Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM INVALIO SLAVE NUM There is no drive of iSlaveNo in the relevant port FMM INVALIO PARAMETER NUM There is no parameter of designated iParamNo Remarks The function operates for only one parameter designated Parameters in the drive are saved to 2 memory areas That is when power is off the ROM saves parameters permanently When power is on parameters in the ROM are copied to the DSP RAM and used When the user changes parameters it changes not parameters in the ROM but parameter in the RAM This function is to set the parameter number designated from the RAM to the relevant value Example Refer to FAS SaveAl
33. ameters nPor tNo Port number of relevant drive SlaveNo Slave number of relevant drive CmaPos Command position value to be set Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks The user sets the position command pulse output counter value This function is generally used when the user sets the current position to coordinates that customer wants Example include FAS EziMOTIONPIusR h void funcClearPosition i BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 int nRtn Try to connect if FAS Connect nPortNo 115200 FALSE i Connection failed The port is not connected or the baudrate may be wrong return Initialize Command Position and Actual Position values to 0 nRtn FAS SetCommandPos nPortNo iSlaveNo 0 _ASSERT nRtn FMM OK nRtn FAS SetActualPos nPortNo iSlaveNo 0 _ASSERT nRtn FMM OK Disconnect FAS Close nPor tNo See Also FAS SetActualPos 56 FAS SetActualPos To set the actual position value of the motor Syntax int FAS SetActualPos BYTE nPortNo BYTE iSlaveNo long lActPos Parameters nPor tNo Port number of relevant drive SlaveNo Slave number of relevant drive ActPos
34. ample See Also FAS_PosTab eReadOne tem 95 3 Protocol for PLC Program Next window activates when you Cl i eleicarresi icon in User Program GUI installed folder Next test procedure will help you to understand the protocol programming 1 Servo ON OFF command purpose of command n case of Ezi STEP ALL Jump to next step 2 Motion Command because the motor is ready to move status after Power ON fc Protocol Test 3 Connection Buffer Received Comm Port 77 Header Siv Cmd Stat REFRESH Disconnect Baudrate 115200 X Send Buffer 0xAA 0xCC 0x00 0x2A 0x01 0x60 0xAF 0xAA 0xEE Values 1 Header 2 SlaveNo BYTE Static CHAR Static WORD Static SHORT Static 3 Data DWORD Static LONG Static E 1 byte 2 bytes 4 bytes 4 CRC 5 Tail CLEAR SEND gt gt The header and tail information is needed for protocol programming Additionally Frame Data Slave ID Frame type Data and CRC is also needed in each one of protocol with header and tail 1 Select Comm Port number and Baudrate and click Connect button 2 Header Click Header and you can see OxAA OxCC on Send Buffer window 3 Slave ID Insert your connected slave number above example is O and click SlaveNo 4 Frame type Select Frame type You can find next table information in 1 2 1 Frame Type and Data Configuration on UserManual Ezi SERVO
35. annot be operated by the user s disposal When any relevant situation occurs while the drive operates they will be indicated The following table shows bit mask values by each signal Relevant Relevant Relevant Signal Name Bit Signal Name Bit Signal Name Bit Position Position Position Compare Out 0x00000001 Origin Search OK 0x00000100 User Output 1 0x00010000 reserved 0x00000002 eser ved 0x00000200 User Output 2 0x00020000 Alarm 0x00000004 eser ved 0x00000400 User Output 3 0x00040000 Moving 0x00000008 eser ved 0x00000800 User Output 4 0x00080000 Acc Dec 0x000000 10 PT Output 0 0x00001000 User Output 5 0x00100000 ACK 0x00000020 PT Output 1 0x00002000 User Output 6 0x00200000 END 0x00000040 PT Output 2 0x00004000 User Output 7 0x00400000 AlarmBl ink 0x00000080 User Output 0 0x00008000 User Output 8 0x00800000 Example 1 Sending data to turn ON the User Output 5 4 bytes 4 bytes 1 0 set mask value 1 0 clear mask value 0x00 100000 0x00000000 Example 2 Sending data to turn OFF the User Output 5 4 bytes 4 bytes 1 0 set mask value 1 0 clear mask value 0x00000000 0x00100000 1 2 4 Setup bit of Input pin Here is detail description of 0x21 frame type This command is only applicable to 32 signals in the control input port User can use signals for testing as if they are inputted without actual input signal The following table shows bit mask values by each signal Relevant Rel
36. ble values to ROM area Total 64 PT values are saved To read position table values in ROM area EaecposrapTenoaqnoM Total 64 PT values are read FAS PosTabl eRuni tem The motor starts to run from the designated position table in sequence FAS PosTableReadOneltem To read items of RAM area in the specific one item of position table FAS PosTableWr i teOnel tem To save specific item of specific position table to RAM area 87 FAS PosTableReadl tem To read a specific item in the position table Syntax int FAS PosTableRead tem BYTE nPortNo BYTE iSlaveNo WORD wltemNo LPITEM NODE Ipltem Parameters nPor tNo Port number of relevant drive SlaveNo Slave number of relevant drive wl temNo Item number to be read oltem Item structure pointer where item value is saved Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port FMM INVALIO PARAMETER NUM wltemNo is out of range Remarks Example include FAS EziMOTIONPIusR h void funcPosTable BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 WORD wl temNo ITEM NODE node tem int nRtn Try to connect if FAS Connect nPortNo 115200 FALSE Connection failed The port is not connect
37. command SetCommandPos position value is continuously controlled while motor is operating User can set the command position value before it starts and then can check how the command position value is changed 0x50 Sending 4 bytes 80 4 bytes Command position setting count value Response 1 byte 1 byte Communication status FAS Request the command position value pulse being tracked GetCommandPos 0x51 Sending 0 byte 81 Response 5 bytes byte 4 bytes Communication status Command position value FAS When external encoder is connected to dr ive the actual position value SetActualPos is continuously renewed while the motor is operating User can set the actual position value before it starts and then can check how the actual position value is changed 0x52 Sending 4 bytes 82 4 bytes Actual position count value Response 1 byte 1 byte Communication status FAS Request the current actual position value pulse GetActualPos When external encoder is connected 0x58 Sending 0 byte 83 Response 5 bytes 1 byte 4 bytes Communication status Actual position value ed FAS_ Request the difference pulse between the command position value and GetPosEr ror the actual position value When external encoder is connected Sending 0 byte mie o 25 Tm 84 byte 4 bytes Communication sta
38. e tem nennen tnnt netter eene tene tene beers 90 FAS PostableWr tesina ome qom mete susie 91 EAS Pos Tab TeReadhpOM eom a EO ROC EOS 92 EAS POST DIGRUBEEGT detecte tota ac e eam om bd bd 93 FAS PosTab eReadOne tem sesssseeseeeenee nennen entente tenen tenete 94 FAS Postablewr teneis 95 3 Protocol for PLE Progr Misa iia sio 96 1 Communication Protocols 1 1 Communication Functions Ezi STEP ALL can control up to 16 axis by Daisy Chain link at RS 485 two wire Pay attention that when Windows goes into standby or power save mode serial communication is basically disconnected When the system is recovered from standby mode it should be connected again with serial communication This is also applicable to the library provided 1 1 1 Communication Specifications Specification RS 485 Synchronous Hal f duplex 19200 38400 57600 115200 230400 460800 921600 Communication Type Baudrate bps Data Type 8bit ASCII Code HEX Parity No Stop Bit tbit CRC Check Yes Max Cabling Length Converter gt Drive 30 m Min Cable length between drive More than 60 cm Number of Connected Axis 16 axis No O F 1 1 2 RS 485 Communication Protocol Ver6 Thers are 2 kinds of program version for STEP Plus R This manual support for Version 6 level Type Firmware version compatability User Program GUI version 1 Level 6 V06 0x 0xx xx
39. ed or the baudrate may be wrong return Read No 20 Position table value and edit the position value wltemNo 20 nRtn FAS PosTableReadltem nPortNo iSlaveNo wltemNo amp nodel tem _ASSERT nRtn FMM OK nodeltem IPosition 260000 Change the position value to 260000 nodeltem wBranch 23 Set next command to 23 88 nodel tem wCont inuous 1 Next command should be connected without deceleration nRtn FAS PosTableWriteltem nPortNo iSlaveNo wltemNo amp nodeltem _ASSERT nRtn FMM OK Call the value in the ROM regardless of edited position table data nRtn FAS PosTableReadROM nPortNo iSlaveNo _ASSERT nRtn FMM OK Save edited position table data in the ROM nRtn FAS PosTableWr i teROM nPortNo iSlaveNo _ASSERT nRtn FMM OK Disconnect FAS_Close nPor tNo See Also FAS PosTableWr i tel tem 89 FAS_PosTableWr i tel tem To edit specific items in the position table Syntax int FAS PoslableWr i tel tem BYTE nPortNo BYTE iSlaveNo WORD wl temNo LPITEM NODE Ipltem y Parameters nPor tNo Port number of relevant drive SlaveNo Slave number of relevant drive wl temNo tem number to be edited oltem Item structure pointer to be edited Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM INVALIO PORT NUM There is no nPort in the connected ports F
40. eration to return all motors in same port to origin position FAS AT IMovesinal eAXTSADSPUS All motors that connected in same por t moves as much as the given absolute position value FAS ALIMoUeSingledxisinoPos All motors that connected in same port moves as much as the given incremental position value 69 FAS MoveStop To stop the motor Syntax int FAS MoveStop BYTE nPortNo BYTE iSlaveNo Parameters nPor tNo Port number of relevant drive SlaveNo Slave number of relevant drive Return Value FMM OK Command has been successfully performed FMM NOT OPEN The drive has not been connected yet FMM INVALIO PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS MoveSingleAxisAbsPos library See Also 70 FAS EmergencyStop To stop the motor without deceleration Syntax int FAS EmergencyStop BYTE nPortNo BYTE SlaveNo Parameters nPor tNo Port number of relevant drive Slaveno Slave number of relevant drive Return Value FMM OK Command has been successfully performed FMM NOT OPEN The drive has not been connected yet FMM INVALIO PORT NUM There is no nPort in the connected ports FMM INVALIO SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks This function does not include deceleration phase So the user must
41. esponse data is 0 byte 1 2 Structure of Frame type Ver6 1 2 1 Frame type and Data Configuration 1 The following table explains the content and configuration by frame type of data Frame Library Name Contents Type FAS Connected slave type and program version information are required GetSlavelnfo Sending 0 byte Response 1 248 bytes 0x01 1 byte bytes 0 246 bytes 1 Communicat ion ACII string with NULL byte Slave type status strlen 1 byes Slave type 20 Ezi STEP Plus R ST 40 Ezi STEP ALL 1 Ezi SERVO Plus R ST FAS Connected motor type and manufacturer information are required GetMotor Info Sending 0 byte Response 1 248 bytes 0x05 1 byte 1 bytes 0 M8 bytes 5 Communi cat ion Motor type ACII string with NULL byte status 1 255 strlen 1 byes Motor type refer to 1 1 7 Information of Motors FAS Save currently set parameters amp assigned signals in the ROM of the SaveAl IParameters drive Even the drive is powered off saving these data amp parameters are possible Values set at FAS SetParameter 8 FAS Set OAssignMap are saved 0x10 together 16 Sending 0 byte Response 1 byte 1 byte Communication status FAS Specific parameter values in the ROM are recognized GetROMPar ameter Sending 1 byte 1 byte Parameter number 0 28 Ox11 17 Response 5 bytes
42. eturn wCROWor d 2 X16 X15 X2 1 of CRC 16 18M unsigned short CalcCRCbyAlgor i thm unsigned char pDataBuffer unsigned long usDataLen 1 Use the Modbus algorithm as detailed in the Watlow comms guide const unsigned short POLYNOMIAL OxA001 unsigned short wCrc int iByte iBit Initialize CRC wCrc Oxffff for Byte 0 Byte lt usDatalen Byte 1 Exclusive OR the byte with the CRC wcrc pDataBuffer Byte Loop through all 8 data bits for Bit 0 Bit lt 7 Bit f the LSB is 1 shift the CRC and XOR the polynomial mask with the CRC Note the bit test is performed before the rotation so can t move the lt lt here if wCrc amp 0x0001 wCrc gt 1 wCrc POLYNOMIAL else Just rotate it wCrc gt 1 return wCrc 1 1 4 Response Frame Structure and Communication Error Ver6 When any command is sent the basic structure of Frame at the response side is identical However there is a difference in case of Frame Data which communication status is added as shown below Slave ID Frame Type Data CRC 1 byte 0 247 bytes 2 bytes 1 byte 1 byte Communication status Response data Low byte High byte D Slave ID Same to sending Frame When this is not same to sending data need to recognize as the error status Frame type Same to sending Frame When this is not same to sendin
43. evant Relevant Relevant SUPE Bit SUPE Bit ie Bit Signal Name Bit Name Position Name Position Name Position Position Limit 0x00000001 PT A4 0x00000100 AlarmReset 0x00010000 JPT input 2 0x01000000 Limit 0x00000002 PT A5 0x00000200 reserved 0x00020000 JPT Start 0x02000000 Origin 0x00000004 PT A6 0x00000400 Pause 0x00040000 User Input O 0x04000000 Clear Position 0x00000008 PT A7 0x00000800 Org Search 0x00080000 User Input 1 0x08000000 PT PT AO 0x00000010 Sn 0x00001000 Teaching 0x00100000 User Input 2 0x10000000 PT A1 0x00000020 Stop 0x00002000 E stop 0x00200000 User Input 3 0x20000000 PT A2 0x00000040 Jogt 0x00004000 JPT input O 0x00400000 User Input 4 0x40000000 PT AS 0x00000080 Jog 0x00008000 JPT input 1 0x00800000 User Input 5 0x80000000 e ra Example 1 Sending data to turn ON the Pause port 4 bytes 4 bytes 1 0 set mask value 1 0 clear mask value 0x00040000 0x00000000 Example 2 Sending data to turn OFF the Pause port 4 bytes 4 bytes 1 0 set mask value 1 0 clear mask value 0x00000000 0x00040000 1 2 5 Bit setup of Status Flag Refer to EZISTEP_AXISSTATUS structure of motion define h of include folder Name of Flag Define Contents pelean z
44. g data need to recognize as the error status Data When simple executive instructions are sent this data cannot be read However in case of response 1 byte is included to the display of communication status error normal status The code by bytes means the Communication status as follows Hexa Decimal Code Cn Descr ipt ion 0x00 0 Communication is normal Frame Type Error is S Responded Frame type cannot be recognized R 129 Data error ROM data read write error Responded data value is aside from the given range Received Frame Error ine Ion Frame data received is out of this specification Running Command Failure The user has tried to execute new running commands in wrong condition as follows 0x85 133 currently motor is running 1 2 currently motor is stopping 3 Servo is OFF status 4 try to Z pulse Origin without external encoder RESET Failure The user has tried to execute new running commands in wrong condition as 0x86 134 follows 1 STEP is ON status 2 Already reset status by external input signal OxAA CRC Error 170 When received frame data is error by external noise sending side of DLL Library is automatically trying to send 1 more time of communication signal 1 If Header and Slave ID values in the sending Frame are abnormal cati there is no response from the drive A 2 f the communication status is displayed to 130 the sizeof r
45. har IpBuf f 256 int nBuffSize 256 BYTE nType int nRtn Try to connect if FAS Connect nPortNo dwBaudrate FALSE Connection failed Tne port is not connected or the baudrate may be wrong return if FAS_IsSlaveExist nPortNo iSlaveNo FALSE There is no relevant slave number Check the slave number of Ezi STEP Plus R return nRtn FAS GetSlavelnfo nPortNo iSlaveNo amp nType IpBuff nBuffSize if nRtn FMM OK i Command has not been performed proper ly Refer to ReturnCodes Def ine h printf Port d Slave d Wn nPortNo iSlaveNo printf WtType d Wn nType printf WtVersion d Wn IpBuff 31 Disconnect FAS_Close nPor tNo See Also FAS_Close 32 FAS Close To disconnect the serial port being used Syntax void FAS Close BYTE nPor tNo Parameters nPor tNo Port number to be disconnected Remarks Example Refer to FAS Connect library See Also FAS_Connect 33 FAS GetSlavelnfo To get the version information string of the relevant drive Syntax int FAS GetSlavelnfo BYTE nPortNo BYTE iSlaveNo BYTE pType LPSTR IpBuff int nBuffSize Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive pType Type number of relevant drive pBuf f Buffer pointer will get version information string nBuffSize Memory allocation size of lIpBuff
46. he actual position value the speed value will be returned FAS GetAI Status To read all status includes the current 0 status at one time This function is to combine FAS GetlOAxisStatus function and FAS GetMotionStatus function FAS GetAxisStatus To read the running status Flag value of the relevant drive 64 FAS Get OAxisStatus To read 0 Input and Output values of the relevant drive and the motor Axis Status value Syntax int FAS Get OAxisStatus BYTE nPortNo BYTE iSlaveNo DWORD dwInStatus DWORD dwOutStatus DWORD dwAxisStatus Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive aw nStatus Parameter pointer where the 0 input value will be saved awoutStatus Parameter pointer where the 0 output value will be saved QwAx sStatus Parameter pointer where the axis status value of the relevant motor will be saved Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM INVALIO PORT NUM There is no nPort in the connected ports FMM INVALIO SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS_MoveSingleAxisAbsPos library See Also 65 FAS GetMot ionStatus To read the motion status of current motor at one time Syntax int FAS GetMot ionStatus BYTE nPortNo BYTE iSlaveNo long CmdPos long
47. iMOTIONP usR h void funcModi f yParameter i BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 long ParamVal int nRtn Try to connect if FAS Connect nPortNo 115200 FALSE Connection failed The port is not connected or the baudrate may be wrong return Check Axis Start Speed Parameter nRtn FAS GetParameter nPortNo iSlaveNo STEP AXISSTARTSPEED amp lParamVal if nRtn FMM OK i Command has not been performed properly Refer to ReturnCodes Def ine h _ASSERT FALSE else Parameter value saved in Ezi STEP Plus R printf Parameter before Start Speed d Wn ParamVal 38 Change Axis Start Speed parameter as 200 then read it again nRtn FAS SetParameter nPortNo iSlaveNo STEP AXISSTARTSPEED 200 _ASSERT nRtn FMM OK You have to check if the command didn t execute correctly nRtn FAS GetParameter nPortNo iSlaveNo STEP AXISSTARTSPEED amp lParamVal _ASSERT nRtn FMM OK printf Parameter after Start Speed d Wn IParamVal Check the value saved in the ROM nRtn FAS GetROMParameter nPortNo iSlaveNo STEP AXISSTARTSPEED amp lParamVal _ASSERT nRtn FMM OK You have to check if the command didn t execute correctly printf Parameter ROM Start Speed d Wn IParamVal Edit the parameter value then save it in the ROM nRtn FAS SetParameter nPortNo iSlaveNo S
48. ide BYTE nPortNo BYTE iSlaveNo long lOverr idePos Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Overr dePos Incremental coordinate position value to be changed Return Value FMM OK Command has been successfully performed FMM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Refer to FAS PositionAbsOverride library Example Refer to FAS MoveSingleAxisAbsPos library See Also FAS PositionAbsOverr ide 80 FAS VelocityOverr ide To change the velocity set while the motor moves Syntax int FAS VelocityOverride BYTE nPortNo BYTE iSlaveNo DWORD Velocity Parameters nPor tNo Port number of relevant drive Slaveno Slave number of relevant drive Velocity Velocity to be changed in pps Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Speed Time 1 In case of change speed lt speed before change the motor reaches to the change speed through acceleration deceleration using a new velocity pattern 5 In case of change speed speed before change
49. ided from the library only and it is inapplicable to the protocol program mode Example Refer to FAS Connect library See Also FAS Connect 36 2 4 Parameter Control Function Function Name Descr ipt ion FAS SaveAl IParameters Save current status of parameters to the ROM Even after the drive is powered OFF parameters related to operating speed acceleration deceleration time return need to be preserved and origin FAS SetParameter Save designated parameter to the RAM Specific parameter is saved FAS GetParameter Read designated parameter from the RAM Specific parameter is read FAS GetROMParameter Read designated parameter from the ROM Specific parameter is read from the ROM 237 FAS SaveAl IParameters Save all edited parameters up to now and assigned 0 signals to the ROM area Syntax Int FAS_SaveAl IParameters BYTE nPortNo BYTE iSlaveNo Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Parameter values set to FAS SetlOAssignMap library as well as current parameter values are saved to the ROM Example include FAS Ez
50. ing status SIEMPRE TNT Seen 0 complete values except 0 error FAS To save all Position Table value 256 ea to the ROM of the drive PosTableWr i teROM 0x63 Sending 0 byte 99 Response 2 bytes C icati tat Command performing status iai a dr 0 complete values except 0 error FAS_ To start the position table operation from the designated Position PosTab eRun tem Table number Sending 2 bytes di 2 bytes s PT Number 0 63 Response 1 byte 1 byte Communication status FAS To read one of Position Table values in the RAM of the drive PosTableReadOneltem Sending 4 byte 2 byte 2 byte Ox6A PT Number 0 63 Offset value 0 40 106 Refer to 1 2 6 Position Table Item for Offset value Response 5 byte 1 byte 4 byte Communication status Relevant one of PT value FAS To save one of Position Table values to the RAM of the drive PosTableWr i teOnel tem Sending 8 byte 2 byte 2 byte 4 byte 0x68 PT Number 0 63 Offset value 0 40 Relevant one of PT value 107 Refer to 1 2 6 Position Table Item for Offset value Response 2 byte byte 1 byte Communication status Command performing status values except 0 complete 0 error Frame Type 0x65 0x69 OxOE OxOF are assigned for internal use 19 1 2 2 Parameter Lists
51. ingleAxis amp bsPos Return code FMC_CRCFAILED_ERROR 0x07 The packet which received from drive is corrupted cm CRC value of communication packet from the drive is not correct Checking the FMC CRCFAILED ERROR Possibility of noise on communication cable Communication Error t3 The command is failed Command FAS MoveSingleAxis amp bsPos Return code FMC_RECVPACKET_ERROR 0x08 Received packet is incorrect one FMC RECVPACKET ERROR 27 The length of received packet is not correct Checking the possibility of noise on communication cable Communication Error E3 FMP FRAMETYPEERROR 0x80 A The command returned an error Command FAS_MoveSingleAxisAbsPos Return code FMP_FRAMETYPEERROR 0x80 The drive cannot recognize the command Drive does not recognize the command or wrong command is sent Checking the command value that you want to send to the drive Communication Error FMP DATAERROR The command returned an error Command FAS MoveSingleAxis amp bsPos Return code FMP_DATAERROR 0x81 Input data is out of the range The value of the sent data is out of the proper range of the drive Checking the value that you want to send to the drive Communication Error t3 FMP PACKETERROR A The command returned an error Command FAS MoveSingle amp xis amp bsPos Return code FMP_PACKETERROR 0x82 The length of received packet on drive is
52. lAbsPos 0 IVelocity 20000 nRtn FAS MoveSingleAxisAbsPos nPortNo iSlaveNo lAbsPos lVelocity _ASSERT nRtn FMM OK Stand by until motion command is completely finished do Sleep 1 nRtn FAS GetAxisStatus nPortNo iSlaveNo amp dwAxisStatus _ASSERT nRtn FMM_OK stAxisStatus dwValue dwAxisStatus while stAxisStatus FFLAG_MOTIONING Disconnect FAS_Close nPor tNo 74 FAS MoveSingleAxisIncPos To move the motor to the incremental coordinate value Syntax int FAS MoveSingleAxisIncPos BYTE nPortNo BYTE iSlaveNo long IncPos DWORD IVelocity Parameters nPor tNo Port number of relevant drive Slaveno Slave number of relevant drive IncFos Incremental coordinate where position to move Velocity Velocity when the motor moves Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS_MoveSingleAxisAbsPos library See Also 2435 FAS MoveToL imi t To give the motor a command to search the limit sensor Syntax int FAS MoveToL imi t BYTE nPortNo BYTE iSlaveNo DWORD Velocity int iLimitOir Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Velocity Vel
53. lParameter library See Also FAS GetParameter 40 FAS GetParamater To call specific parameter value of the drive Syntax int FAS GetParameter BYTE nPortNo BYTE iSlaveNo BYTE iParamNo long ParamValue y Parameters nPor tNo Port number of relevant drive SlaveNo Slave number of relevant drive ParamNo Parameter number to be brought ParamValue Parameter values Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM INVALIO PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port FMM INVALIO PARAMETER NUM There is no parameter of designated iParamNo Remarks The function operates for only one parameter designated Parameters in the drive are saved to 2 memory areas That is when power is off the ROM saves parameters permanently When power is on parameters in the ROM are copied to the DSP RAM and used When the user changes parameters it changes not parameters in the ROM but parameter in the RAM This function reads the parameter number designated to the RAM Example Refer to FAS_SaveAl Parameter library See Also FAS SetParameter A1 FAS GetROMPar ameter To call parameters saved in the ROM Syntax int FAS GetROMParameter BYTE nPortNo BYTE iSlaveNo BYTE iParamNo long IROMParam Parameters nPor tNo Port numbe
54. led The port is not connected or the baudrate may be wrong return Check position information of Ezi STEP Plus R nRtn FAS GetCommandPos nPortNo iSlaveNo amp lValue _ASSERT nRtn FMM OK printf CMDPOS d Wn IValue nRtn FAS GetActualVel nPortNo iSlaveNo amp lValue _ASSERT nRtn FMM OK printf ACTVEL d Wn IValue Disconnect FAS_Close nPor tNo See Also 58 FAS GetActualPos 59 FAS GetActualPos To read the actual position value of the motor Syntax int FAS GetActualPos BYTE nPortNo BYTE iSlaveNo long lActPos Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive ActPos Parameter pointer where the actual position value will be saved Return Value FMM OK Command has been successfully performed FMM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Can be used when external encoder is connected When the user decides the motor position and checks its actual position this function is generally used Example Refer to FAS_GetCOmmandPosition library See Also FAS GetCommandPos 60 FAS GetPosError To read the position error of the motor Syntax int FAS GetPosError BYTE nPortNo BYTE iSlaveNo long PosErr DE Parame
55. levant port Remarks For dwlOLogicMask refer to Motion define h Example include FAS EziMOTIONPusR h void funclOAssign BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 BYTE PinNo DWORD dwLogicMask BYTE bLevel BYTE i int nRtn Try to connect if FAS Connect nPortNo 115200 FALSE Connection failed The port is not connected or the baudrate may be wrong return Check assigned information of input pin 51 for i20 i Input Pin Count 12 i i nRtn FAS GetlOAssignMap nPortNo iSlaveNo i amp dwLogicMask amp bLevel _ASSERT nRtn FMM OK if dwLogicMask IN LOGIC NONE printf Input Pin d Logic Mask Ox 08X s Wn i dwLogicMask bLevel LEVEL LOW ACTIVE Low Active High Active else printf Input Pin d Not assignedWn i Assign E Stop Logic Low Active to input pin 3 iPinNo 3 0 11 value is available Caution 0 2 is fixed nRtn FAS SetlOAssignMap nPortNo iSlaveNo iPinNo STEP IN BITMASK ESTOP LEVEL LOW ACTIVE _ASSERT nRtn FMM OK Check assign information of output pin for i20 i lt 10 Output Pin Count i i nRtn FAS GetlOAssignMap nPortNo iSlaveNo 12 Input Pin Count i amp dwLogicMask amp bLevel _ASSERT nRtn FMM OK if dwLogicMask OUT LOGIC NONE printf Output Pin d Logic Mask 0x 08X s Wn i dwLogicMask bLevel LEVEL
56. motor accesses to the position table FMM POSTABLE ERROR The execution of DLL library for Position Table is failed 29 2 3 Drive Link Function Function Name Descr ipt ion FAS Connect The drive tries to connect communication with the drive module When it is successfully connected TRUE will be returned Otherwise FALSE will be returned FAS Close The drive tries to disconnect communication with the drive module FAS GetSlavelnfo The drive reads drive type and program version Drive type and version information will be returned FAS GetMotor Info The drive reads motor type and manufacturer information Motor type and maker information will be returned FAS sSlaveExist Check the existence of the relevant drive When it exists TRUE will be returned Otherwise FALSE will be returned 30 FAS Connect FAS Connect is the function of connection Ezi STEP ALL Syntax BOOL FAS Connect BYTE nPortNo DWORD dwBaud Parameters nPor tNo Select a serial port number to be connected awBaud Input the Baudrate of the serial port Return Value When it is successfully connected TRUE will be returned Otherwise FALSE will be returned Remarks Example include FAS_EziMOTIONPlusR h void funclnit BYTE nPortNo 1 COMM Port Number DWORD dwBaudrate 115200 Baudrate Be variable by setting BYTE iSlaveNo 0 Slave No 0 15 c
57. ngleAxis BYTE nPortNo Parameters nPor tNo Port number of relevant drive Return Value No response Remarks Example Refer to FAS MoveSingleAxisAbsPos library See Also 84 FAS Al IMoveSingleAxisAbsPos To move all motors that connected in same port to the absolute coordinate Syntax int FAS Al IMoveSingleAxisAbsPos BYTE nPortNo long lAbsPos DWORD IVelocity Parameters nPor tNo Port number of relevant drive AbsPos Absolute coordinate of position to move Velocity Velocity when the motor moves Return Value No response Remarks Example Refer to FAS MoveSingleAxisAbsPos Library See Also 85 FAS Al IMoveSingleAxis ncPos To move all motors that connected in same port to the incremental coordinate value Syntax int FAS Al IMoveSingleAxisIncPos BYTE nPortNo long IncPos DWORD IVelocity Parameters nPor tNo Port number of relevant drive ncPos Incremental coordinate of position to move Velocity Velocity when the motor moves Return Value No response Remarks Example Refer to FAS_MoveSingleAxisAbsPos library See Also 86 2 10 Position Table Control Function Function Name Descr ipt ion FAS PosTableRead tem To read items of RAM area in the specific position table FAS PosTableWr i tel tem To save specific position table to RAM area FAS PosTab leWr i teROM To save all of position ta
58. not correct Checking the possibility of noise on communication cable Communication Error The command returned an error Command FAS MoveSingleAxis amp bsPos Return code FMP_PACKETCRCERROR 0x44 An error is occured while checking CRC of the packet which drive received TE FMP PACKETCRCERROR 0xAA The incorrect CRC value of packet sent to the drive Checking the possibility of noise on communication cable 28 2 Wrong Command Wrong Command t3 A The command returned an error Command FAS MoveSingleAxisIncPos Return code FMP_RUNFAIL 0x85 Running command failure Refer to communication function manual FMP RUNFAIL 0x85 Fail on motion command Tried to new motion under following status The motor is already running The motor is under stop command Try to Z pulse Origin without external encoder only for Ezi STEP Wrong Command t3 AN The command returned an error Command FAS Servo amp larmReset Return code FMP_RESETFAIL 0x85 Running command failure Refer to communication function manual FMP RESETFAIL Fail on reset command Tried to new motion under following status Already Reset status by external input signal 3 Command Execution Error Command Execution Failure t3 The command returned an error Command FAS_PosTableWriteltem Return code FMM POSTABLE ERROR 0x09 An error occurs while the
59. ocity when the motor moves iLimitDir Limit direction of the motor moves 0 Limit 1 Limit Return Value FMM OK Command has been successfully performed FMM NOT OPEN The drive has not been connected yet FMM INVALIO PORT NUM There is no nPort in the connected ports FMM INVALIO SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS_MoveSingleAxisAbsPos library See Also 76 FAS MoveVelocity To move the motor to the relevant direction and velocity This function is available for Jog motion Syntax int FAS MoveVelocity BYTE nPortNo BYTE iSlaveNo DWORD lVelocity int iVelDir Parameters nPor tNo Port number of relevant drive Slaveno Slave number of relevant drive Velocity Velocity when the motor moves VelDir Direction when the motor moves 0 Jog 1 Jog Return Value FMM OK Command has been successfully performed FMM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS_MoveSingleAxisAbsPos library See Also EU os FAS PositionAbsOverr ide To change the absolute position value set while the motor moves to the absolute position Syntax int FAS PositionAbsOverr ide BYTE nPortNo BYTE iSlaveNo long Overr idePos Parameter
60. olute value pulse SingleAxisAbsPos for all drives that connected in same port Sending 8 bytes Slave number must be 99 Ox3E 4 bytes 4 bytes 62 Absolute position value Running speed pps Response no response All slaves do not send response because cannot receive response from all slaves simultaneously 15 FAS AI SingleAxis ncPos Request move its position as much as the incremental value pulse for all drives that connected in same port Sending 8 bytes Slave number must be 99 Ox3F 4 bytes 4 bytes 63 incremental position value Running speed pps Response no response All slaves do not send response because cannot receive response from all slaves simultaneously FAS MoveLinearAbsPos Fulfill Linear Interpolation for multi drives connected in same port Position value is absolute value pulse unit and refer to 2 Library for PC Programy FAS MoveL inear IncPos Fulfill Linear Interpolation for multi drives connected in same port Position value is incremental value pulse unit and refer to 2 Library for PC Program FAS Request the flag value indicates operation status GetAxisStatus Sending 0 byte Response 5 bytes 0x40 64 1 byte 4 bytes Communication status Status flag value Assign bit related to eachFlag refer to 1 2 5 Bit setup of Status Flag FAS Re
61. quest the 0 status and the running Flag status Get OAxisStatus Frame type 0x22 0x23 and 0x40 are packed Sending 0 byte 0x41 Response 13 bytes 65 1 byte 4 bytes 4 bytes 4 bytes Communi cat ion Input status Output status Status flag status value value value FAS Request the current operation progress status and its Position Table GetMot ionStatus number Frame type 0x51 0x53 0x54 and 0x55 are packed Sending 0 byte 0x42 Response 21 bytes 66 1 byte 4 bytes 4 bytes 4 bytes 4 bytes 4 bytes E Command Actual Position Running Current Communication position Position Difference speed running status value value value value PT number xActual Position value when external encoder is connected 16 FAS GetAl IStatus Request all data including the current running status Frame type 0x41 and 0x42 are packed Sending 0 byte Response 33 bytes byte 4 bytes 4 bytes 4 bytes 0x43 Communication Input status Output status Status flag 67 status value value value 4 bytes 4 bytes 4 bytes 4 bytes 4 bytes Command Actual Position Running Current position valia position Difference speed running value value value PT number Actual Position value when external encoder is connected FAS Ezi SERVO Plus R is the closed loop control system so the
62. r of relevant drive Slaveno Slave number of relevant drive ParamNo Parameter number to be brought ROWPar am Parameter values saved in the ROM Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM INVALIO PORT NUM There is no nPort in the connected ports FMM INVALIO SLAVE NUM There is no drive of iSlaveNo in the relevant port FMM INVALIO PARAMETER NUM There is no parameter of designated iParamNo Remarks To call parameter values saved in the ROM Even though this function runs the value in the RAM is not changed For this run FAS SetParameter Example Refer to FAS SaveAllParameter library See Also FAS SaveAl IParameters 42 2 5 Servo Control Function Function Name Descr ipt ion Release alarm of the drive generated alarm PAIS Troubleshoot root cause of the alarm prior to use this function 43 FAS StepAlarmReset To send AlarmReset command Syntax int FAS StepAlarmReset BYTE nPortNo BYTE iSlaveNo BYTE bReset Parameters nPor tNo Port number of relevant drive S laveNo Slave number of relevant drive bHeset Reset command 1 reset O reset release Return Value FMM OK Command has been successfully performed FMM NOT OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no d
63. rive of iSlaveNo in the relevant port Remarks Before sending this command troubleshoot root cause of the alarm For alarm cause refer to User Manual Text Two times commands are needed for clearing the alarm status This command have to be executed sequentially 1 and 0 for the value Of bReset If you are execute only 1 value the motor will be unlock Status Example See Also 44 2 6 Control I O Function Funct ion Name Description To set the input signal level of the control input port EAS Sat IO mp Set input signal ON or OFF status To read the current input signal status of the control input port FAS Gar TORRE The signal status returns by bit for each input signal S To set the output signal level of the control input port FAScoetIODU put Set output signal ON or OFF status 1 To read the current input signal status of the control output port EAS Ger Output The signal status returns by bit for each output signal To read the pin of setting status of the CN1 port FAS Get OAssi gnMap The setting status for each 9 variable signals returns by bit to the Inout and Output port FAS Set OAssi gnMap To assign the control 0 signal to CN1 port pin and also set the signal level Setting for each 9 variable signals is assigned to the Input and Output port FAS_ OAssignMapReadROM To load the pin of setting status of CN1 por
64. s nPor tNo Port number of relevant drive Slaveno Slave number of relevant drive Return Value FMM OK Command has been successfully performed FMM NOT OPEN The drive has not been connected yet FMM INVALIO PORT NUM There is no nPort in the connected ports FMM INVALIO SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks The user sets the position command pulse output counter value This function is generally used when the user sets the current position to initial values Example include FAS EziMOTIONPIusR h void funcClearPosition BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 int nRtn Try to connect if FAS Connect nPortNo 115200 FALSE Connection failed The port is not connected or the baudrate may be wrong return Initialize Command Position and Actual Position values to 0 nRtn FAS ClearPosition nPortNo iSlaveNo _ASSERT nRtn FMM_OK Disconnect FAS_Close nPor tNo See Also FAS SetActualPos 63 2 8 Drive Status Control Function Function Name Descr ipt ion FAS Get OAxisStatus To read control 0 status running status Flag value The current input status value the output setting status value and the running status Flag value will be returned FAS GetMot ionStatus To read the current running progress status and its PT number The command position value t
65. s nPor tNo Port number of relevant drive SlaveNo Slave number of relevant drive Overr dePos Absolute coordinate position value to be changed Return Value FMM OK Command has been successfully performed FMM NOT OPEN The drive has not been connected yet FMM INVALIO PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks 1 If the target position is set to the farther coordinate than the original target position while the motor moves under acceleration or constant velocity the motor moves to the velocity pattern until then and stops at the target position Speed 7 Position Override Time 2 If the target position is changed while the motor is decelerated it is again accelerated up to the constant velocity and then stops at the target position Speed 1 Position Override Time 78 3 If the changed target position is set to the closer coordinate than the original target position the motor once stops at the position before change and then per forms acceleration and deceleration to stop at the changed target position Speed Position Override 1 Example Refer to FAS_MoveSingleAxisAbsPos library See Also FAS PositionlncOverride 19 FAS PositionlncOverride To change the incremental position value set while the motor moves to the incremental position Syntax int FAS PositioniIncOverr
66. sseseasoss 30 FALCON amc erret NM e AU UAE uite hee UE 31 PAS GIOSGz mi tav RR RE e EN 33 FAS GetS aVeltlTOTze cos eee ad 34 FAS GEIMOtOT THO ER e IRI 35 FAS ISSTaVeEXIS tco cv eA el eim nm Rea 36 2 4 2 5 2 6 2 7 2 8 2 9 Parameter Control FUNCTION wcssssssdecseccscessisdivsscescsecssvessvscctscseessussavecsteciessevesseesssecsveasusseesssees 37 FAS SaveAI IParam ters idet ae ete bea ne i be aed eee in 38 FAS SetParalneter credet de etae eae ave ai 40 FAS GetParamater cx niet detiene dti Ru haie ists 41 FAS GetROMParameter cere rede idas 42 Servo Control Geld Tor e 43 EAS StepAlarmheset antt bias keenest mmol Hm 44 Control PO PUR GDEOIT ISO 45 FASES Ot A o GO a Er reo 46 FAS EGO TIO lriplt 2 tede tee mete e eti e ede tede t 48 FAS Se tA OQUtp E uec ier Ro RO e e HR HORE CR ere 49 FAS GetlOOUtpUt a sc toot ia ed atin eget eiim m i dem ns 50 FAS Get OASSTORMAD iie e eR n Rl olere o E Cord e eee 51 FAS SetlOASSTODMaDp nit er mee eee tile t deii ses 53 FAS IDASs tgnMapReadROM e e tee oe e Heer renes 54 Position Control Funct iOn eeeeeeeeee esee esee eene entente ntn tenens tns tns eins issie oseas ss sosoo 55 FAS SetConmahdP OS su aici re o e pU RR ME p Re eee 56 A ttt RESO etut 57 EAS GetGColilnI ande OS neos Sees aser o D quus 58 EAS Get AGDUA POS s todo DOE ORCI REL e antt 60 EAS GetPOSEUEOT sre Semet Ratan oS ERA eno SE eat ede 61 F
67. t from ROM area to RAM area 45 FAS Set lOInput Toset I O input For more information refer to 1 1 5 Frame Type and Data Configuration Syntax int FAS SetlOInput BYTE nPortNo BYTE iSlaveNo DWORD dwlOSetMask DWORD dwlOCLRMask Parameters nPor tNo Port number of relevant drive SlaveNo Slave number of relevant drive aw 0SetMask Input bitmask value to be set aw OCLRWask Input bitmask value to be cleared Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Be careful that dwlOSetMask bit and dwlOCLRMask bit are not duplicated Example include FAS EziMOTIONP lusR h void funcl0 1 BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 DWORD dwInput dwOutput int nRtn Try to connect if FAS Connect nPortNo 115200 FALSE 1 Connection failed The port is not connected or the baudrate may be wrong return Check 1 0 input nRtn FAS GetlOInput nPortNo iSlaveNo amp dwlnput _ASSERT nRtn FMM OK if dwInput amp STEP IN BITMASK LIMITP i Limit input is ON 46 if dwinput amp STEP IN BITMASK USERINO i User Input O is ON Turning ON Clear Position and User Input 1
68. ted yet FMM INVALID PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS MoveSingleAxisAbsPos library See Also 68 2 9 Running Control Function Function Name Descr ipt ion FAS MoveStop FAS EmergencyStop Stop the motor in running with deceleration Stop the motor in running immediately without deceleration FAS Mover iginSingleAxis Start operation to return origin FAS MoveSingleAxisAbsPos The motor moves as much as the given absolute position value FAS MoveSingleAxis ncPos FAS MoveToL imit The motor moves as much as the given incremental position value The motor moves up to the position that the limit sensor is detected FAS_MoveVe locity The motor moves to the given velocity and direction This function is available to Jog motion FAS_Posit ionAbsOver r ide Changed the target absolute position value pulse of the motor in running FAS_Position ncOverr ide Changed the target incremental position value pulse of the motor in running FAS VelocityOverride Changed the running velocity value pps of the motor in running FAS AI IMoveStop Stop all motors connected in same port with deceleration EASY AT Eme GR CVS top Stop all motors connected in same port immediately without deceleration FAS A IMoveortarmstnal Avis start op
69. ters nPor tNo Port number of relevant drive SlaveNo Slave number of relevant drive PosErr Parameter pointer where the position error value will be saved Return Value FMM OK Command has been successfully performed FMM NOT OPEN The drive has not been connected yet FMM INVALIO PORT NUM There is no nPort in the connected ports FMM INVALID SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Can be used when external encoder is connected Example Refer to FAS_GetCOmmandPosition library See Also FAS GetCommandPos FAS GetActualPos 61 FAS GetActualVel To read the actual velocity of the motor Syntax int FAS_GetActual Vel BYTE nPor tNo BYTE iSlaveNo long lActVel Parameters nPor tNo Port number of relevant drive SlaveNo Slave number of relevant drive Act Vel Parameter pointer where the actual velocity value will be saved Return Value FMM OK Command has been successfully performed FMM NOT OPEN The drive has not been connected yet FMM INVALIO PORT NUM There is no nPort in the connected ports FMM INVALIO SLAVE NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS_GetCOmmandPosition library See Also 62 FAS ClearPosition To set the command position value and actual position value of the motor to 0 Syntax int FAS ClearPosition BYTE nPortNo BYTE iSlaveNo Parameter
70. the motor reaches to the change speed through acceleration deceleration without any new velocity pattern 4 The motor reaches to the speed before change without change of the velocity pattern and then it reaches to the change speed by a new velocity pattern 2 3 After acceleration deceleration is finished the motor reaches the change speed corresponding to the velocity pattern of the change speed Example Refer to FAS MoveSingleAxisAbsPos library See Also 81 FAS AI IMoveStop To stop all motors that connected in same port Syntax int FAS Al IMoveStop BYTE nPortNo Parameters nPor tNo Port number of relevant drive Return Value No response Remarks Example Refer to FAS_MoveSingleAxisAbsPos library See Also 82 FAS AI Emer gencyStop To stop all motors that connected in same port without deceleration Syntax int FAS Al IEmergencyStop BYTE nPortNo Parameters nPor tNo Port number of relevant drive Return Value No response Remarks This function does not include deceleration phase So the user must be careful so that the machine cannot be impacted Example Refer to FAS MoveSingleAxisAbsPos library See Also 83 FAS Al IMoveOr iginSingleAxis To search the origin of system for all motor those are connected in same port For more information refer to User Manual Text 9 3 Origin Return Syntax int FAS AI IMoveOr iginSi
71. tlOAssignMap library See Also FAS Get lOAssignMap 53 FAS lOAssignMapReadROM To load the status of CN1 assignment 0 setting status and signal level in ROM area Syntax int FAS PosTableReadROM BYTE nPortNo BYTE iSlaveNo Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Example See Also FAS_ GetlOAssignMap 54 2 7 Position Control Function Function Name Descr iption FAS SetCommandPos To set the command position value FAS SetActualPos To set the current position to the actual position value FAS GetCommandPos To read the current command position value FAS GetActualPos To read the current actual position value To read the difference between the actual position value and the FAS GetPosError e command position value FAS GetActualVel To read the actual running speed value while the motor is moving FAS ClearPosition To set the command position and actual position value to 0 55 FAS SetCommandPos To set the command position value of the motor Syntax int FAS SetCommandPos BYTE nPortNo BYTE iSlaveNo long CmdPos Par
72. tus Position difference value FAS Request the current running speed value pps GetActualVel 0x55 Sending 0 byte 85 Response 5 bytes 1 byte 4 bytes Communication status Speed value FAS Ezi SERVO Plus R is the closed loop control system so the command ClearPosition position value is continuously renewed while the motor is operating User can set the command position and actual position value as 0 before it starts to operate and can check how the command position value is changed 0x56 86 Sending O byte Response 1 byte byte Communication status Actual Position value when external encoder is connected FAS To read Position Table values in the RAM of the drive PosTableRead tem Sending 2 bytes 2 bytes 0x60 Readable PT number 0 63 96 Response 65 bytes byte 64 bytes Communication status Relevant PT values For items by each PT refer to 1 2 6 Position Table Item FAS To save Position Table values to the RAM of the drive PosTableWr i tel tem Sending 66 bytes 2 bytes 64 bytes 0x61 PT number 0 63 Relevant PT value 97 For items by each PT refer to 1 2 6 Position Table Item Response 2 bytes 1 byte 1 byte Command performing status values except O complete 0 error Communication status 18 FAS To read all Position Table values 256 ea in the ROM of the drive PosTab eReadROM 0x62 Sending 0 byte 98 Response 2 bytes C icati tat Command perform
73. ur Position FFLAG ERRORALL One or more error occurs 0x00000001 FFLAG HWPOSILMT direction limit sensor turns ON 0x00000002 FFLAG HWNEGALMT direction limit sensor turns ON 0x00000004 FFLAG SWPOGILMT direction program limit is exceeded 0x00000008 FFLAG SWNEGALMT direction program limit is exceeded 0x00000010 reser ved 0x00000020 reser ved 0x00000040 FFLAG ERRSTEPALARM One or more error of STEP alarm 8 ea occurs 0x00000080 FFLAG ERROVERCURRENT The motor driving device is under over current 0x00000 100 FFLAG ERROVERSPEED The motor speed exceeded 3000 rpm 0x00000200 FFLAG ERRSPEED The motor is not tracked normally by pulse input 0x00000400 preserved o T L0x00000800 FFLAG ERROVERHEAT The internal temperature of the drive exceeds 55 C 0x00001000 FFLAG_ERRREVPWR A counter electromotive force of the motor exceeds 70V 0x00002000 FFLAG_ERRMOTORPOWER The motor voltage is abnormal 0x00004000 FFLAG_ERRLOWPOWER The drive voltage is abnormal 0x00008000 FFLAG_EMGSTOP The motor is under emergency stop 0x000 10000 FFLAG_SLOWSTOP The motor is under general stop 0x00020000 FFLAG_ORIGINRETURNING The motor is returning to the origin 0x00040000 reserved 0x00080000 reserved 0x00 100000 FFLAG_ALARMRESET AlarmReset has run 0x00200000 FFLAG_PTSTOPED Position Table operation has been finished 0x00400000 FFLAG ORIGINSENSOR The origin sensor is ON 0x00800000 The motor operates to z pulse type of origin return 0x01000000 FFLA

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