Home

digivex motion

1. wNumParam word var cArray array of char Integer stdcall C int _stdcall PxWriteParam int iStream int iNode WORD wNumParam char cArray 4096 int iSize VISUAL BASIC Private Declare Function PxWriteParam Lib pxcomm dll ByVal iStream As Long ByVal iNode As Long ByVal wNumParam As Long ByVal cArray As Long ByVal iSize As Long As Long Parameters iStream Integer type indicates the identifier of the stream to be used returned previously by the PxOpenStream function iNode Integer type indicates the number of the CANopen subscriber concerned by the request wNumParam Word type indicates the recording number corresponding to the variable or parameter to be modified see PVD 3527 Digivex Motion Directory of Variables column no in the descriptive tables cArray Array of Char type contains the coded ASCII value of the variable or the parameter to be modified iSize Size of the cArray table used solely in C and VISUAL BASIC Feedback Integer type lt 0 an error has occurred see error codes 3 2 SUCCESS operation completed successfully Comments The value sent to the function must be a character string e g 1 444 or AXIS1 If this value does not match the expected format for the variable or parameter to be modified an error is returned by the function The driver waits for CRS232 clearance before returning to this function Remark Use the PxWriteParam function to write the 1 text in the Sav
2. Private Declare Function PxReadUserProgFile Lib pxcomm dll ByVal iStream As Long ByVal iNode As Long ByVal wNumParam As Long ByVal FileName As String As Long Parameters iStream iNode wNumParam FileName Feedback Integer type lt 0 SUCCESS Comments Integer type indicates the identifier of the stream to be used returned previously by the PxOpenStream function Integer type indicates the number of the CANopen subscriber concerned by the request Word type indicates the recording number corresponding to a User Program safeguard request Data_Prog number 12288 for a positioner drive Pchar type points on return on an ASCII character string with terminal Zero indicating the temporary file name containing the user program read an error has occurred see error codes 3 2 operation completed successfully The driver creates a temporary file records the user program downloaded in it and then returns the name of this file The driver waits for CRS232 clearance before returning to this function 27 PVD 3528 GB 11 2003 PME Tool Rit PxWriteFirmWareFile Function This function requests the CRS232 interface driver to transfer a Firmware file to a CANopen subscriber transfer to FIRM_DM memory Synopsis DELPHI function PxWriteFirmWareFile iStream Integer iNode Integer wNumParam Word FileName PChar Integer stdcall C int _stdcall PxWriteFirmWareFile int iStream in
3. e DIGIVEX DIGITAL SERVOAMPLIFIERS 3 DC SERVODRIVES e AXEM RS SERIES SERVOMOTORS 0 08 to 13 N m e RTS SERVOAMPLIFIERS e RTE SERVOAMPLIFIERS for DC motors resolver giving position measurement 4 SPECIAL ADAPTATION SERVODRIVES e EX SERVOMOTORS for explosive atmosphere AXL COMPACT SERIES SERVOREDUCERS 5 to 700 N m 5 POSITIONING SYSTEMS e Numerical Controls CYBER 4000 1 to 4 axes e CYBER 2000 NC 1 to 2 axes e VARIABLE SPEED DRIVE POSITIONER gt SINGLE AXIS DSM gt POWER SINGLE AXIS DPM gt MULTIPLE AXIS DMM e ADJUSTMENT AND PROGRAMMING SOFTWARE PARVEX MOTION EXPLORER PME Tool Rit CONTENTS 1 GENERAL POINTS 1 1 List of published DIGIVEX MOTION manuals 1 2 CANopen protocol 1 3 Presentation 1 4 General principles 2 USER S GUIDE 2 1 Required files 2 2 Interface D L L PXCOMM DLL 2 3 PC CRS232 software driver 2 4 Parameter definition file structure 2 5 Memories 2 5 1 EEPROM DM 2 5 2 RAM DM 2 5 3 FLASH DM 2 5 4 PROG DM 2 5 5 FIRM DM 2 5 6 RAM PC 2 5 7 Bulk Storage 3 GUIDE TO FUNCTIONS 3 1 Alphabetical function directory 3 2 Function feedback error codes 3 3 Detailed description of the various functions PxDirectWriteParam PxOpenStreamEx 4 PROGRAMMING EXAMPLES Characteristics and dimensions subject to change without notice YOUR LOCAL CORRESPONDENT SSD Parvex SAS 8 Avenue du Lac B P 249 F 21007 Dijon Cedex T l 33 0 3 80 42 41
4. 40 Fax 33 0 3 80 42 41 23 www SsSDdrives com 1 PVD 3528 GB 11 2003 honn N 000000 EC CO NJ G OW A 11 11 12 12 18 22 32 PME Tool Rit 1 GENERAL POINTS 1 1 List of published DIGIVEX MOTION manuals e DIGIVEX Single Motion DSM User Manual DSM PVD3515 e DIGIVEX Power Motion DPM User Manual DPM PVD3522 e DIGIVEX Multi Motion DMM User Manual DMM PVD3523 e DIGIVEX Motion CANopen PVD3518 e DIGIVEX Motion Profibus PVD3554 e PME DIGIVEX Motion Adjustment Manual PVD3516 e DIGIVEX Motion Directory of Variables PVD3527 e DIGIVEX Motion Programming PVD3517 e DIGIVEX Motion Cam Function PVD3538 PME Tool kit User and Commissioning Manual PVD3528 CANopen CAN Bus Access via CIM03 PVD3533 e CANopen Remote control using PDO messages PVD3543 e Block Positioning Application Software PVD3519 Fly shear linear cutting software application PVD3531 e Rotary blade cutting software application PVD3532 1 2 CANopen protocol The CANopen protocol is used for parameter setting and supervision of the Digivex Motion family of devices The CANopen protocol allows users to control among other things e process messages PDO e service messages SDO PDO type messages are not cleared whereas SDO type messages are SDO type messages are used to control ad hoc instructions sent to a single addressee a variable or a parameter of a subscriber in the network is read or written At maximum CAN bus baud rat
5. PVD 3528 GB 11 2003
6. definition file PxFnDef must be included either in a uses PxFnDef clause in DELPHI PxFnDef pas file or by include lt PxFnDef h gt in C PxFnDef h file e or by copying the definitions contained in the Decla_VB_Function_Parvex txt VISUAL BASIC file The library must be in the same directory as the executable s calling its functions To access one of the variables or one of the parameters of a device a decimal recording number corresponding to that variable or that parameter is passed on to a D L L function see PVD 3527 Digivex Motion Directory of Variables column no in the descriptive tables The communication driver must know the CANopen index and sub index numbers of the variable or parameter to be able to access them The library therefore matches these numbers via a variable and parameter definition file which must be placed in the same directory as the D L L PME Tool Kit comes with the variable and parameter definition files for Parvex devices in the Digivex Motion family Param csv DSM csv DTP csv Some parameters defined by the CANopen standard are included in these files type of device manufacturer s name etc which means the presence on the network of any device integrating these parameters can normally be detected 2 3 PC CRS232 software driver The executable file PxComm exe is the software driver that handles all communications between an application via the interface D L L and an appliance on the CANopen
7. driver waits for CRS232 clearance before returning to this function Attention Before using this function the baud rate on the CANopen network must be changed for each subscriber connected by the following procedure e connect just a single device to the network e change the send receive speed of this subscriber on the CANopen bus using the PxWriteParam function write the Can Baud Rate parameter recording number 13 for a Digivex Motion family positioner drive e change the CANopen speed of the CRS232 interface by using the PxChangeCANBaudRate function e safeguard the subscriber speed change by using the PxWriteParam function write the Save_Param parameter recording number 12295 for a Digivex Motion family positioner drive e restore the initial CANopen speed of the CRS232 interface by using the PxChangeCANBaudRate function e disconnect the device and repeat the procedure for the other devices e reconnect all the devices e change the CANopen speed of the CRS232 interface one last time desired final speed by using the PxChangeBaudRate function 13 PVD 3528 GB 11 2003 PME Tool Rit PxChangeRS232BaudRate Function This function requests the drive to change the communication speed on the serial link between the PC and the CRS232 interface Synopsis DELPHI function PxChangeRS232BaudRate iStream Integer BaudRate dword Integer stdcall C int stdcall PxChangeRS232BaudRate int iStream DWORD Baud
8. of Char type contains by return the coded ASCII value of the variable or parameter read iSize Size of the cArray used solely in C and VISUAL BASIC Return Integer type lt 0 an error has occurred see 3 2 error codes SUCCESS operation successfully completed Comments see PxReadParam function 17 PVD 3528 GB 11 2003 PME Tool Rit PxDirectWriteParam Function This function is exactly the same as PxWriteParam The only difference being that the index number sub index number and parameter type to be modified are specified This function would be used when the subscriber on which we have just written the parameter is not an uVision terminal or a DIGIVEX Motion variable speed drive positioner DSM DMM or DPM Synopsis DELPHI function PxDirectReadParam iStream Integer iNode Integer wlIndexParam word vvSubindexParam word iType Integer cArray array of Char Integer stdcall C int_stdcall PxDirectReadParam int iStream int iNode WORD wlindexParam WORD wSublndexParam int iType char cArray 4096 int iSize VISUAL BASIC Private Declare Function PxDirectReadParam Lib pxcomm dll ByVal iStream As Long ByVal iNode As Long ByVal windexParam As Long ByVal wSublndexParam As Long ByVal iType As Long ByVal cArray As Long ByVal iSize As Long As Long Parameters iStream Integer type indicates the identifier of the stream to be used previously returned by the PxOpenStream function iNode Integer
9. the API Win32 GetCurrentProcessid function Feedback Integer type lt 0 an error has occurred see error codes 3 2 gt 0 operation successfully completed returns the number of streams closed Comments No further communication is possible on communication streams closed by this function unless a new stream is opened 15 PVD 3528 GB 11 2003 PME Tool Rit PxCloseStream Function This function requests the CRS232 interface driver to close a communication stream previously opened by a call to the PxOpenStream function Synopsis DELPHI function PxCloseStream dwProcess dWord 03 iStream Integer Integer stdcall int _stdcall PxCloseStream DWORD dvvProcess VISUAL BASIC int iStream Private Declare Function PxCloseStream Lib pxcomm dll ByVal dwProcess As Long ByVal iStream As Long As Long Parameters dwProcess iStream Feedback Integer type lt 0 gt 0 Comments dWord type indicates the caller process identifier returned previously by the API Win32 GetCurrentProcessid function Integer type indicates the identifier of the stream to be closed returned previously by the PxOpenStream function an error has occurred see error codes 3 2 operation successfully completed returns the number of streams closed No further communication is possible on the communication stream closed by this function unless a new stream is opened 16 PVD 3528 GB 11 2003 PME
10. type indicates the number of the CANopen subscriber concerned by the request windexParam Word type indicates the CANopen index number of the parameter to be modified vvSubindexParam VVord type indicates the CANopen sub index number of the parameter to be modified iType Integer type indicates the type of parameter to be modified see 2 4 cArray array of Char type contains by return the coded ASCII value of the variable or parameter to be modified iSize Size of the cArray used solely in C and VISUAL BASIC Return Integer type lt 0 An error has occurred see 3 2 error codes SUCCESS Operation successfully completed Comments see PxWriteParam function 18 PVD 3528 GB 11 2003 PME Tool Rit PxGetFirmLoadProgress Function Further to a request to transfer firmware to a Digivex Motion family positioner drive PxWriteFirmWareFile this function implements a waiting period and displays the state of progress of the transfer Synopsis DELPHI function PxGetFirmLoadProgress iStream Integer Integer stdcall C int _stdcall PxGetFirmLoadProgress int iStream VISUAL BASIC Private Declare Function PxGetFirmLoadProgress Lib pxcomm dll ByVal iStream As Long As Long Parameters iStream Integer type indicates the identifier of the stream to be used returned previously by the PxOpenStream function the stream identifier is the same as that used for starting firmware transfer PxWriteFirmWareFile function Feedba
11. FFE FFFD FFFC FFFB FFFA FFF9 FFF8 FFF7 FFF6 FFF5 FFF4 FFF3 FFF2 FFF1 FFFO FFEF FFEE FFED FFEC FFEB FFEA FFE9 FEFF FEFE FEFD FEFC FEFB FEFA FEF9 FEF8 FEF7 FEF6 FEF5 FEF4 FEF3 FEF2 FEF1 FEFO FEEF none V A Q mH Hz Ss rpm C marks per rev angular degree V 1000rpm mA rpm A 1000rpm kg m rom V N m N m 1000rpm PC mA angular minute J unit1 unit1 s unit1 s unit1 tr unit1 pulses unit2 unit2 s unit2 s unit2 tr unit2 pulses unit3 V unit3 unit4 unit4 V pulses 1 s ms 9 PVD 3528 GB 11 2003 PME Tool Rit type CO CO JO OI BE CG N A O attribut C ECGCGN A o not defined 16 character string not defined 64 bit floating IEEE 32 bit floating IEEE 32 bit signed hexadecimal integer binary 0 or 1 coded on 32 bit hexadecimal integer maximum 16 character string 16 character string in the format 0 123456789E 01 not defined unsigned 32 bit hexadecimal integer signed 32 bit hexadecimal integer unsigned 16 bit hexadecimal integer signed 16 bit hexadecimal integer binary 0 or 1 coded on 16 bit hexadecimal integer maximum 16 character string 16 character string in the format 0 123456789E 01 not defined read write parameter specific parameter read only parameter read only variable read write variable Variables and parameters differ only in that e variables have initialisation values that the user cannot modify e parameters have initialisation va
12. ME Tool Rit PxOpenStreamEx Function This function is exactly the same as PxOpenStream The only difference being that the definition file name of the variables and parameters of the subscriber for which the stream will be opened are specified This function would be used when the subscriber is not an uVision terminal or a DIGIVEX Motion variable speed drive positioner DSM DMM or DPM Synopsis DELPHI function PxOpenStreamEx dwProcess dWord pCOM PChar BaudRate dWord iConfig Integer cFile array of Char Integer stdcall C int_stdcall PxOpenStream DWORD dwProcess LPSTR pCom DWORD BaudRate int iConfig char cFile 4096 int iSize VISUAL BASIC Private Declare Function PxOpenStream Lib pxcomm dll ByVal dwProcess As Long ByVal pCom As String ByVal BaudRate As Long ByVal iConfig As Long ByVal cFile As Long ByVal iSize As Long As Long Parameters dwProcess dWord type indicates the identifier of the calling process previously returned by the GetCurrentProcessld function of the API Win32 pCom Pchar type points to the ASCII character string at terminal zero containing the uncoded name of the serial link port to be used for the stream to be opened COM1 COM2 etc BaudRate dWord indicates the uncoded value of the transmission speed to be used to open the serial link 9600 19200 57600 or 115200 iConfig Integer type contains the 0 code cFile array of Char type contains the ASCII character
13. Rate VISUAL BASIC Private Declare Function PxChangeRS232BaudRate Lib pxcomm dll ByVal iStream As Long ByVal BaudRate As Long As Long Parameters iStream Integer type indicates the identifier of the stream to be used returned previously by the PxOpenStream function BaudRate dWord type indicates the speed to be applied to the serial link between the PC and the CRS232 interface Possible baud rate values are 0 9600 baud 2 57600 baud 1 19200 baud 3 115200 baud Feedback Integer type lt 0 an error has occurred see error codes 3 2 5 operation completed successfully Comments The change request is sent at the old baud rate with one byte representing the desired baud rate as a parameter Communication is then interrupted the link closed and then opened again automatically at the new baud rate The driver waits for CRS232 clearance before returning to this function 14 PVD 3528 GB 11 2003 PME Tool Rit PxCloseAllStream Function This function requests the CRS232 interface driver to close all communication streams previously opened by calls to the PxOpenStream function Synopsis DELPHI function PxCloseAllStream dwProcess dWord Integer stdcall C int stdcall PxCloseAllStream DWORD dvvProcess VISUAL BASIC Private Declare Function PxCloseAllStream Lib pxcomm dll ByVal dwProcess As Long As Long Parameters dwProcess dWord type indicates the caller process identifier returned previously by
14. SSD Parvex SAS 8 avenue du Lac B P 249 F 21007 Dijon Cedex www SSDdrives com PARVEX DIGIVEX MOTION PME Tool Kit User and commissioning manual PVD 3528 GB 11 2003 a Tools you can use onn Error processing HE CANOPEN Network Tool No Name Iof x File ltems 2 Stream open for i 0 to count cps2s2 gi COM1 reading Ok Ses 2 ELL a a F a pe Add Resultto the list 2 p Add Error to list QD Dee EET PRODUCT RANGE 1 BRUSHLESS SERVODRIVES TORQUE OR POWER RANGES e BRUSHLESS SERVOMOTORS LOW INERTIA WITH RESOLVER Very high torque inertia ratio high dynamic performance machinery gt NX HX HXA 1to 320 N m gt NX LX 0 45 to 64 N m High rotor inertia for better inertia load matching gt HS LS 3 3 to 31 N m Varied geometrical choice short motors range HS LS 3 3 to 31 N m or small diameter motors HD LD 9to 100 N m Voltages to suit different mains supplies gt 230V three phase for s rie L NX gt 400V 460V three phase for s rie H NX e DIGIVEX DRIVE DIGITAL SERVOAMPLIFIERS gt SINGLE AXIS DSD gt COMPACT SINGLE AXIS DuD DLD POWER SINGLE AXIS DPD gt MULTIPLE AXIS DMD e PARVEX MOTION EXPLORER ADJUSTING SOFTWARE 2 SPINDLE DRIVES e SPINDLE SYNCHRONOUS MOTORS HV COMPACT SERIES gt HW ELECTROSPINDLE frameless water cooled motor From 5 to 110 kw Up to 60 000 rpm
15. Stream function iNode Integer type indicates the number of the CANopen subscriber concerned by the request wNumParam Word type indicates the recording number of the variable or parameter to be read see PVD 3527 Digivex Motion Directory of Variables column no in the descriptive tables cArray array of Char type contains when returned the ASCII coded value of the variable or parameter read iSize Size of the cArray table used solely in C and VISUAL BASIC Feedback Integer type lt 0 an error has occurred see error codes 3 2 SUCCESS operation completed successfully Comments The function translates the value read in the device in an ASCII character string Attention depending on the variable or parameter read this function can return an ASCII coded value from 2 bytes to 4 Kbytes usually 16 bytes The buffer receiving the data must therefore be large enough The driver waits for CRS232 clearance before returning to this function 26 PVD 3528 GB 11 2003 PME Tool Rit PxReadUserProgFile Function This function sends the CRS232 interface a request to save on the PC the User Program of the positioner drive corresponding to the specified CANopen subscriber Synopsis DELPHI function PxReadUserProgFile iStream Integer C iNode Integer wNumParam word var Filename PChar Integer stdcall int stdcall PxReadUserProgFile int iStream VISUAL BASIC int iNode WORD wNumParam LPSTR FileName
16. Tool Rit PxDirectReadParam Function This function is exactly the same as PxReadParam The only difference being that the index number sub index number and parameter type to be read are specified This function would be used when the subscriber on which we have just read the parameter is not an uVision terminal or a DIGIVEX Motion variable speed drive positioner DSM DMM or DPM Synopsis DELPHI function PxDirectReadParam iStream Integer iNode Integer wlIndexParam word vvSubindexParam word iType Integer var cArray array of Char Integer stdcall C int stdcall PxDirectReadParam int iStream int iNode WORD wlndexParam WORD wSublndexParam int iType char cArray 4096 int iSize VISUAL BASIC Private Declare Function PxDirectReadParam Lib pxcomm dll ByVal iStream As Long ByVal iNode As Long ByVal windexParam As Long ByVal wSublndexParam As Long ByVal iType As Long ByVal cArray As Long ByVal iSize As Long As Long Parameters iStream Integer type indicates the identifier of the stream to be used previously returned by the PxOpenStream function iNode Integer type indicates the number of the CANopen subscriber concerned by the request windexParam Word type indicates the CANopen index number of the parameter to be read wSubIndexParam Word type indicates the CANopen sub index number of the parameter to be read iType integer type indicates the type of parameter to be read see 2 4 cArray array
17. VD 3527 Digivex Motion Directory of Variables column no in the descriptive tables gives the symbolic name of the variable or parameter gives the CANopen index number to be used by the software driver for accessing the variable or parameter gives the CANopen sub index number code giving the variable or parameter unit minimum value of the variable or parameter maximum value of the variable or parameter default value of the variable or parameter code giving the type of the variable or parameter floating integer binary etc code indicating whether the variable or parameter can be accessed in read only or in read write mode code indicating the Parvex tool for observing the variable or parameter T PVD 3528 GB 11 2003 PME Tool Rit 2 5 Memories The various information communicated to the variable speed drive positioner such as data parameters or programs is stored in distinct memory zones The DM extension refers to devices in the DIGIVEX MOTION family DSM DMM DPM The _PC extension concerns the PC connected to the CAN bus 2 5 1 EEPROM DM A non volatile storage zone which is called EEPROM DM contains the machine parameters and the user configuration file This memory is physically located on the personalization board of the variable speed drive positioner A part of the EEPROM_DM is integrated with the motherboard of the variable speed drive positioner In particular it memorizes the operating time of t
18. _param tre_en_ASCIl lt Parameters gt Example lt Parameters gt 51 LX310BS Nmot 52 DIGIVEX 4 8 Nvar 53 1 TypC 54 1 TypF 55 280 U lt Parameters gt The driver waits for CRS232 clearance before returning to this function Remark Use the PxWriteParam function to write the 1 text in the Save Param parameter DIGIVEX MOTION variable speed drive positioner registration number 12295 and save all parameters present in RAM_DM memory in EEPROM_DM memory 30 PVD 3528 GB 11 2003 PME Tool Rit PxWriteUserProgFile Function This function requests the CRS232 interface drive to transfer a User Program file to a positioner drive corresponding to the specified CANopen subscriber transfer to FLASH_DM memory Synopsis DELPHI function PxWriteUserProgFile iStream Integer iNode Integer wNumParam Word FileName PChar Integer stdcall C int stdcall PxWriteUserProgFile int iStream int iNode WORD wNumParam LPSTR FileName VISUAL BASIC Private Declare Function PxWriteUserProgFile Lib pxcomm dll ByVal iStream As Long ByVal iNode As Long ByVal wNumParam As Long ByVal FileName As String As Long Parameters iStream Integer type indicates the identifier of the stream to be used returned previously by the PxOpenStream function iNode Integer type indicates the number of the CANopen subscriber concerned by the request wNumParam Word type indicates the recording number corresponding to a User Pr
19. ains e A library containing all the CANopen network control functions in the form of a 32 bit D L L Dynamic Link Library a CR232 interface driver in the form of a 32 bit executable function variable and parameter definition files descriptions of all CANopen network control functions in documentary form programming examples in several languages 3 PVD 3528 GB 11 2003 PME Tool Rit 1 4 General principles A Stream is a communication channel opened for a given CANopen subscriber The user must first of all open a stream This stream is identified by a unique number assigned by the system Once the stream is open it is possible to read or write to or from a device by specifying its CANopen subscriber number and the stream number Any stream that has been opened must be closed to release the resources used Sixteen communication streams can be opened at the same time in a Windows work session User software PxComm dll Interface PxComm exe Driver Communication stream apening E CRS2d2 init stream opening if needed Parameter readin Paramete reading Parameter readin g Value returned g Result processing Stream closing Stream closing Stream closing e When the stream is opened a code identifying the variable and parameter definition file for the type of device concerned is sent to the DLL It is in this file that the DLL finds a match for the variable or parameter number to be read or written and th
20. ck Integer type The value returned integer value from 0 to 100 shows what percentage of the Firmware transfer function underway has been completed The default value no loading in progress is 100 Comments The monitoring code using the PxGetFirmLoadProgress must be implanted in a different thread to the one that started the firmware transfer function 19 PVD 3528 GB 11 2003 PME Tool Rit PxOpenStream Function This function requests the driver to open a communication stream between an application and a CRS232 interface by using the serial port specified in the function call Synopsis DELPHI function PxOpenStream dwProcess dWord C pCOM PChar BaudRate dWord iConfig Integer Integer stdcall int stdcall PxOpenStream DWORD dvvProcess VISUAL BASIC LPSTR pCom DWORD BaudRate int iConfig Private Declare Function PxOpenStream Lib pxcomm dll ByVal dwProcess As Long ByVal pCom As String ByVal BaudRate as Long ByVal iConfig as Long As Long Parameters dwProcess pCOM BaudRate iConfig Feedbach Integer type lt 0 0 gt 0 dWord type indicates the caller process identifier returned previously by the API Win32 GetCurrentProcessid function Pchar type points on the ASCII character string with terminal Zero containing the non coded name of the serial link port to be used for the stream to be opened COM1 COM2 etc dWord type indicates the non coded value of
21. e 1 Mbit per second it is theoretically possible to send a message every millisecond When using software under Windows to control these messages this potential is in practice limited to sending one message every 50 ms PDO type messages are used for sending high baud rate cyclical instructions see PVD3543 Digivex Motion Position Control with Interpolation Using PDO messages 2 PVD 3528 GB 11 2003 PME Tool Rit 1 3 Presentation This document presents the PME Tool Rit and describes the method for accessing the CANopen netvvort control functions defined by Parvex Section 1 presents the General Points about PME Tool Kit Section 2 is the User s Guide It shows the functional implementation of PME Tool Kit Section 3 is the Guide to Functions Section 4 presents some Programming Examples PME Tool Kit provides access from a PC with an RS232 serial link to the variables and parameters in a Digivex Motion positioner drive via a CRS232 interface module PME Tool Kit is a DLL type function library provided on the PME software installation CD Rom tool_kit directory This library contains all the functions required for initialising the CRS232 module and for controlling SDO type messages carried over the CANopen bus PME Tool Kit is intended for users proficient in programming in a Windows 32 bit environment C Delphi Visual Basic etc However no knowledge of the CANopen protocol is required PME Tool Kit cont
22. e _Param parameter DIGIVEX MOTION variable speed drive positioner registration number 12295 and save previously changed parameter s in EEPROM_DM memory This instruction backs up all RAM_DM memory parameters in EEPROM_DM memory 29 PVD 3528 GB 11 2003 PME Tool Rit PxWriteParameterFile Function This function requests the CRS232 interface drive to transfer a Parameter file to a CANopen subscriber transfer to RAM_DM memory Synopsis DELPHI function PxWriteParameterFile iStream Integer iNode Integer FileName PChar Integer stdcall C int _stdcall PxWriteParameterFile int iStream int iNode LPSTR FileName VISUAL BASIC Private Declare Function PxWriteParameterFile Lib pxcomm dll ByVal iStream As Long ByVal iNode As Long ByVal FileName As String As Long Parameters IStream Integer type indicates the identifier of the stream to be used returned previously by the PxOpenStream function INode Integer type indicates the number of the CANopen subscriber concerned by the request FileName Pchar type points on an ASCII character string with terminal zero indicating the full name of the Parameter file to be transferred Feedback Integer type lt 0 an error has occurred see error codes 3 2 SUCCESS operation completed successfully Comments The parameter file to be written must have the following syntax lt Parameters gt N _du_parame tre_en_d cimaFValeur_du_param tre_en_ASCll Nom_du
23. e associated information CANopen index and sub index numbers format minimum and maximum values default value etc e Only one operation at a time can be done on a given stream Unless otherwise specified calling up DLL functions freezes the system i e the program only resumes execution when the function is returned A time out mechanism allows the DLL to return an error if a function is not completed within a reasonable time on the network subscriber absent transmission error etc This time out varies with the function and the type of error encountered 4 PVD 3528 GB 11 2003 PME Tool Rit 2 USER S GUIDE 2 1 Required files PME Tool Kit comes with the following files Caution These files are designed for a Win32 development and working environment PxFnDef pas File representing the DELPHI unit containing the definitions of functions exported by the D L L This file is used for programming in DELPHI language only It is to be copied into the directory of the project being developed and must be placed in the uses clause PxFnDef h Pointer type definition file on the functions exported by the D L L This file is used for programming in C language only It is to be included in each source file of the C project using one of the DLL functions include lt PxFnDef h gt Apigid32 dll Library file containing specific VISUAL BASIC conversion functions This file is only used for VISUAL BASIC language programming It mus
24. g the number of segments ready y min 0 max 128 For a Digivex Motion family positioner drive Remark The Parvex oscilloscope tool supplied with PME software can also be used Just pass on the command line the following parameters to the scope exe executable the various parameters are separated by a space character scope exe DSM 3 COM1 115200 12 Example DSM variable and parameter definition file name without extensions DSM csv for a Digivex Motion family positioner drive COM1 name of the serial link port used COM1 COM2 etc 115200 serial link baud rate 9600 19200 57600 or 115200 CANopen subscriber number of the device in question 2 3 fixed parameter for internal use 25 PVD 3528 GB 11 2003 PME Tool Rit PxReadParam Function This function sends the CRS232 interface a request to read a variable or parameter on the specified CANopen subscriber Synopsis DELPHI function PxReadParam iStream Integer iNode Integer wNumParam word var cArray array of char Integer stdcall Cc int stdcall PxReadParam int iStream int iNode WORD wNumParam char cArray 4096 int iSize VISUAL BASIC Private Declare Function PxReadParam Lib pxcomm dll ByVal iStream As Long ByVal iNode As Long ByVal wNumParam As Long ByVal cArray As Long ByVal iSize As Long As Long Parameters iStream Integer type indicates the identifier of the stream to be used returned previously by the PxOpen
25. he positioner and its serial number 2 5 2 RAM DM When the variable speed drive positioner is powered up or restored control restore the contents of the EEPROM_DM are transferred to a RAM which is called RAM_DM This memory is used to exchange data on line ON LINE between the positioner and the PC 2 5 3 FLASH DM User programs assembler programs source programs cam tables are located in a flash_eprom type storage zone which is called FLASH_DM This memory is located on the personalization board and takes up 512Kb of space 2 5 4PROG DM The executable code contained in the FLASH_DM memory is transferred to a RAM called PROG_DM 216Kb RAM at power up of the variable speed drive positioner or during program application Apply programs commana User programs found in the PROG_DM memory are executed by the variable speed drive positioner 2 5 5 FIRM DM The operating system software is called firmware It is located in a flash_eprom type storage zone which is called FIRM DM This memory is integrated with the motherboard of the variable speed drive positioner 2 5 6 RAM PC When the variable speed drive positioner is connected to the PC an image of its RAM DM is transmitted to the RAM in the PC which is called RAM_PC 2 5 Bulk Storage Diskettes and hard drives make up the bulk storage unit of the PC This memory is used to save user data 8 PVD 3528 GB 11 2003 PME Tool Rit unite hexa FFFF F
26. lues that the user can modify observabilit 0 0 16 17 81 5 13 85 125 253 cannot be observed cannot be observed with the oscilloscope tool can be observed with the oscilloscope tool 16 17 81 85 125 241 253 can be observed other than with the oscilloscope tool 10 PVD 3528 GB 11 2003 PME Tool Rit 3 GUIDE TO FUNCTIONS 3 1 Alphabetical function directory The follovving pages document the functions PxChangeCANBaudRate PxChangeRS232BaudRate PxCloseAllStream PxCloseStream PxDirectReadParam PxDirectWriteParam PxGetFirmLoadProgress PxOpenStream PxOpenStreamEx PxReadOscilloCurve PxReadParam PxReadUserProgFile PxWriteFirmWareFile PxWriteParam PxWriteParameterFile PxWriteUserProgFile 11 PVD 3528 GB 11 2003 PME Tool Rit 3 2 Function feedback error codes SUCCESS 0 no error 1 Wrong communication stream number 3 Communication driver busy Please begin again later 4 Communication driver not answering Please restart application 5 Driver closed No communication possible Restart PxComm exe 20 Value beyond limits Please begin again 21 Parameter inaccessible 22 Parameter addressed is read only type 23 No such parameter 24 Drive must be at zero speed and torque to write this parameter 25 File corrupted Contains syntax error 26 Mismatch between value and parameter type Check value 27 Check sum error detected during firmware transfer 28 Check sum error Firmware file cor
27. network via the CRS232 hardware interface This 32 bit executable should under no circumstances be closed while using Parvex CANopen network control functions In normal use this program must be iconised and so invisible to the user The driver starts up automatically when an instance of the interface D L L PxComm dll is loaded into an application using at least one of its functions It is closed when the last instance of the D L L closes 6 PVD 3528 GB 11 2003 PME Tool Rit 2 4 Parameter definition file structure The Param csv DSM csv and DTP csv files share a common structure They describe the variables and parameters of the Digivex Motion family of devices These files are in ASCII format with fields delimited by Each line is for the definition of a different variable or parameter Example start of DSM csv file no_enreg nom index sous_index unite_hexa Min Max d faut type attribut observabilit 9 Firmware_Version 10249 0 FFFF sans sans 15 3 17 10 CAN_Address 10250 0 FFFF 0 63 16 1 17 11 Serial Number 10251 0 FFFF sans sans 15 1 17 12 Param_12 10252 0 FFFF 0 65535 12 1 17 13 CAN_Baud_Rate 10253 0 FFFF 0 63 16 1 17 14 Processor_Type 10254 0 FFFF sans sans C167CR LM 15 3 17 Field description no_enreg nom index sous_index unite_hexa Min Max d faut type attribut observabilit gives the recording number to be used in most functions to access the variable or parameter see P
28. ogram transfer request Data Prog number 12288 for a positioner drive FileName Pchar type points on an ASCII character string with terminal zero indicating the full name of the User Program file to be transferred Feedback Integer type lt 0 an error has occurred see error codes 3 2 SUCCESS operation completed successfully Comments This file is a special format and must come from the Parvex program editor only The driver waits for CRS232 clearance before returning to this function Remarks e Before transferring a new User Program file the user program FLASH_DM memory of the positioner drive must first be cleared use the PxWriteParam function to write the DELE text in the Erase Prog parameter recording number 12290 for a DIGIVEX Motion family positioner drive e To apply the User Program use the PxWriteParam function to write the PROG text in the Cmd_Prog parameter recording number 12289 for a DIGIVEX Motion family positioner drive This instruction transfers FLASH DM memory executable code to PROG DM memory 31 PVD 3528 GB 11 2003 PME Tool Rit 4 PROGRAMMING EXAMPLES Various examples of the uses of D L L features are supplied with PME Tool Kit They can be found on the PME installation CD ROM in the tool_kit directory These examples are presented solely for teaching purposes Parvex cannot under any circumstances be held responsible for any problems relating to any use made of them 32
29. ously by the PxOpenStream function Integer type indicates the number of the CANopen subscriber concerned by the request Word type indicates the index number of the variable containing the curb points to be read e 1180 for channel 1 osc channel0 e 1181 for channel 2 osc channel1 e 1182 for channel 3 osc_channel2 e 1183 for channel 4 osc_channel3 Word type indicates the number of the curve segment to be read 1 to 128 Array of Char type contains by return the values of the oscilloscope points read 16 floating values 32 simple precision bits coded in IEEE format for the segment in question Size of the cArray table used solely in C and VISUAL BASIC an error has occurred see error codes 3 2 operation completed successfully 23 PVD 3528 GB 11 2003 PME Tool Rit Comments The driver vvaits for CRS232 clearance before returning to this function Oscilloscope curves are divided into 128 segments of 16 floating values IEEE format The osc data ready variable specifies the number of segments ready for the user to come and read The user has access to 10 parameters for defining the oscilloscope function Description osc_num0 1184 integer defining the recording number of the variable associated with channel 1 observable variables are specified in PVD 3527 Digivex Motion Directory of Variables osc_num1 1185 integer defining the recording number of the variable associated with channel 2 obse
30. rupted 30 Time out error on CANopen bus 50 Communication problem with CRS232 interface 51 Communication with CRS232 interface interrupted Check connection and restart 100 Communication impossible Check connections and restart application if necessary 202 Command being executed Please try again 204 Parameter definition file missing or corrupted 3 3 Detailed description of the various functions 12 PVD 3528 GB 11 2003 PME Tool Rit PxChangeCANBaudRate Function This function requests the driver to change the communication speed the CRS232 interface will use to communicate over the CANopen bus Synopsis DELPHI function PxChangeCANBaudRate iStream Integer BaudRateCode Integer Integer stdcall C int stdcall PxChangeCANBaudRate int iStream int BaudRateCode VISUAL BASIC Private Declare Function PxChangeCANBaudRate Lib pxcomm dll ByVal iStream As Long ByVal BaudRateCode As Long As Long Parameters iStream Integer type indicates the identifier of the stream to be used returned previously by the PxOpenStream function BaudRateCode Integer type contains a code describing the desired communication speed 0 10 Kbaud 4 250 Kbaud 1 20 Kbaud 5 500 Kbaud 2 50 Kbaud 6 1 Mbaud 3 125 Kbaud Feedback Integer type lt 0 an error has occurred see error codes 3 2 6 operation completed successfully Comments The stream identifier to be used must correspond to the CRS232 interface physically connected The
31. rvable variables are specified in PVD 3527 Digivex Motion Directory of Variables osc_num2 1186 integer defining the recording number of the variable associated with channel 3 observable variables are specified in PVD 3527 Digivex Motion Directory of Variables osc_num3 1187 integer defining the recording number of the variable associated with channel 4 observable variables are specified in PVD 3527 Digivex Motion Directory of Variables osc_trig_level 1188 IEEE floating giving the oscilloscope trigger level osc_trig_chann 1189 integer defining the channel number used as the el trigger 0 1 2 or 3 osc trig edge 11907 binary defining the direction of triggering 0 positive going increasing value 1 negative going decreasing value osc_pretrig 1191 IEEE floating giving the pre trig value percentage of trace before trigger min 0 01 1 max 0 99 99 osc_timebase 1192 Whole number giving the value of the oscilloscope time base expressed in multiples of 250us time base time period between two samples mini 1 0 25ms maxi 16 000 4s osc_trig_on 1193 binary defining triggering 0 tripped immediately 1 tripped by trigger For a Digivex Motion family positioner drive 24 PVD 3528 GB 11 2003 PME Tool Rit In addition two variables can start acquisition and indicate that data are ready for reading osc_on 1194 1 written to this variable triggers acquisition osc_data_read 1195 integer indicatin
32. string at terminal zero which indicates the complete definition file name csv of the variables and parameters of the subscriber for which the stream will be opened iSize Size of the cFile used solely in C and VISUAL BASIC Return Integer type lt 0 An error has occurred see 3 2 error codes 0 An error has occurred the communication stream is no longer available gt 0 Returns the stream identifier one number taken from between 1 and 16 Comments see PxOpenStream function 22 PVD 3528 GB 11 2003 PME Tool Rit PxReadOscilloCurve Function This function sends the CRS232 interface a request to read the oscilloscope curve on the positioner drive corresponding to the specified CANopen subscriber Synopsis DELPHI function PxReadOscilloCurve iStream Integer C iNode Integer wNumParam word wNumSegment word var cArray array of char Integer stdcall int stdcall PxReadOscilloCurve int iStream VISUAL BASIC int iNode WORD wNumParam WORD wNumSegment char cArray 4096 int iSize Private Declare Function PxReadOscilloCurve Lib pxcomm dll ByVal iStream As Long ByVal iNode As Long ByVal wNumParam As Long ByVal wNumSegment As Long ByVal cArray As Long ByVal iSize As Long As Long Parameters iStream iNode wNumParam wNumSegment cArray iSize Feedback Integer type lt 0 SUCCESS Integer type indicates the identifier of the stream to be used returned previ
33. t be copied to the development project directory PxComm dll Library file containing all the functions for CANopen network control defined by Parvex This file must be placed in the same directory as the executables that use it PxComm exe Software drive for communication with a CRS232 interface via the PC serial link This file must be placed in the directory containing PxComm dll Param csv These three files contain the definition of variables and parameters used Dsm csv by Parvex devices of the Digivex Motion family number index sub index Dtp csv type minimum value maximum value default value etc Information provided by the CANopen protocol is controlled so the presence of non Parvex devices on the network can be detected These files must be placed in the directory containing PxComm dll Firmcrs h86 These two files contain the executable code of the CRS232 interface This Routram h86 code is loaded into the CRS232 interface vvhen a communication stream is opened after the interface is first energised These files must be placed in the directory containing PxComm dll 5 PVD 3528 GB 11 2003 PME Tool Rit 2 2 Interface D L L PXCOMM DLL This function library is written in DELPHI 4 0 for a Win32 environment All the functions are declared with the stdcall directive making them directly accessible from other languages like C The library must be integrated into the project under development To do this the function
34. t iNode WORD wNumParam LPSTR FileName VISUAL BASIC Private Declare Function PxWriteFirmWareFile Lib pxcomm dll ByVal iStream As Long ByVal iNode As Long ByVal wNumParam As Long ByVal FileName As String As Long Parameters iStream Integer type indicates the identifier of the stream to be used returned previously by the PxOpenStream function iNode Integer type indicates the number of the CANopen subscriber concerned by the request wNumParam Word type indicates the recording number corresponding to a Firmware file transfer request Data_Firm number 12291 for a positioner drive FileName Pchar type points on an ASCII character string with terminal zero indicating the full name of the Firmware file to be transferred Feedback Integer type lt 0 an error has occurred see error codes 3 2 SUCCESS operation completed successfully Comments Attention This function replaces the Firmware code of the device connected with that of the file transmitted If there is a transmission problem the old Firmware can be recovered by re energising the device The driver waits for CRS232 clearance before returning to this function 28 PVD 3528 GB 11 2003 PME Tool Rit PxWriteParam Function This function sends the CRS232 interface a request to write a variable or parameter to the specified CANopen subscriber transfer to RAM_DM memory Synopsis DELPHI function PxWriteParam iStream Integer iNode Integer
35. the transmission speed to be used for opening the serial link 9600 19200 57600 or 115200 Integer type contains a code identifying the variable and parameter definition file of the subscriber for which the stream will be opened 0 Param csv reserved for internal use 1 DSM csv to be used for addressing a positioner drive of the Digivex Motion family DSM DMM or DPM 2 DTP csv to be used for addressing a Vision terminal an error has occurred see error codes 3 2 an error has occurred no more communication streams available returns the stream identifier unique number from 1 to 16 20 PVD 3528 GB 11 2003 PME Tool Rit Comments This function must be used first before any exchange over the network It is the opposite of communication stream closure with the PxCloseStream function If the CRS232 communication interface is not initialised the driver transfers its firmware waits for a clearance response then sends the desired RS232 baud rate If the specified serial link port is already open operation effected previously by another stream the function tests whether the CRS232 interface is properly initialised initialises it if necessary and returns a unique stream number to the application making the request Up to 16 streams can be open at once N B initialising the CRS232 interface takes a non negligible time a few seconds but is usually done once only upon energising the unit 21 PVD 3528 GB 11 2003 P

digivex motion

Contents

Download Pdf Manuals

Related Search

Related Contents