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PCI-1245/1265 Series User Manual

1. i SS iii i Figure 3 3 Location of Jumpers amp DIP Switch Table 3 2 BoardID Setting Board ID Setting SW1 Board ID Dec Switch Position ID3 1 ID2 2 ID1 3 IDO 4 0 o o o o 1 o e o O 14 O O O o 15 O O O O Off e On default 15 Chapter 3 3 3 Output Pulse OutP OutDIR The pulse command has two types One is in clockwise counter clockwise mode the other is in pulse direction mode OutP and OutP are differential signal pairs and OutDIR and OutDIR are differential signal pairs Default setting of pulse output mode is pulse direction User can change the output mode by programming OutP X OutP gt OutDIR gt OutDIR N Figure 3 4 Photocoupler Interface Motor Driver Side Twist pair with shield Figure 3 5 Line Drive Interface PCI 1245 1265 User Manual 16 3 4 Over Traveling Limit Switch Input LMT Over traveling limit switches are used for system protection This input signal is connected through the connection of photo coupler and RC filter When the limit switch is applied the external power VEX DC 12 24 V will be the source of the photo coupler This enables the over traveling function 33 10K 499 2 7K E EX Y T514 T 1000pF v eo an LMT GND Figure 3 6 Circuit Diagram for Limit Input Signals 3 5 Position Latch LTC It i
2. w HZoomEnable a o Ei E O x g gt Vertical Setting Vertical Source 2 Axis w Vertical PosType Command Position W Vertical Max 8000 Vertical Min 2000 000 4000 2000 0 2000 4000 6000 H axis AXIS 1 7 VZoomEnable Clear 63 Chapter 5 5 4 4 6 1 Setting Set the horizontal and vertical coordinates 1 Horizontal setting a Horizontal Source Horizontal data source 1st axis of group sorted by the order being added by default You can choose any axis in group b Horizontal PosType Horizontal position type you can choose command or feedback position c Horizontal Max Horizontal maximum coordinate d Horizontal Min Horizontal minimum coordinate 2 Vertical setting same way as horizontal setting 5 4 4 6 2 Set Click Set to activate the effectiveness 5 4 4 6 3 Start Click Start the graphic box will be ready to draw the curve If Group is in motion you can see the trajectory After clicked the text on Start but ton will change into Stop click Stop drawing the curve will be stopped and the text will back to Start 5 4 4 6 4 Clear Click Clear the current curve in graphic box will be cleared 5 4 4 6 5 Save Click Save the specified path curve will be save as png gif jpg tif or bmp format PCI 1245 1265 User Manual 64 5 4 4 7 Speed Chart FE Group Speed View Velocity VS Time Setting Velocity G
3. 0 For example one BoardID of PCI 1245 is 1 the device number Hexa decimal is 27 001 So the device number is 0x27001000 27 Chapter 4 4 3 Naming Rules of API and Properties The naming rule is based on three objects Device Object Axis Object and Group Object User will find many abbreviations in APIs Table of abbreviations and their meanings is as follow Table 4 1 Abbreviations and Their Meanings Abbreviations Full Name Comments PPU Pulse Per Unit A virtual unit of motion Dev Device Ax Axis Gp Group Multiple axes Mas Master Master Axis or Master Board of device based on communicating mechanism Dag Common name of AI AO DI DO Rel Relative Abs Absolute Cmd Command Vel Velocity Acc Accelerate Dec Decelerate Emg Emergency Emergency stop Sd Slow down Info Information Cmp Compare Inp In position EZ Encode Z EI Hardware Limit Mel Negative Limit Pel Positive Limit Org Origin Ext External FT Feature Feature properties CFG Configuration Configuration properties PAR Parameter Parameter properties PCI 1245 1265 User Manual 28 Table 4 1 Abbreviations and Their Meanings Ipo Interpolation Chan Channel Naming Rules of API The naming rules of API are as follows Acm DevXXX Represents this API will implement function for
4. AbsSearch process has three situations For detailed information see about descriptions in MODE AbsSearch MODE15 AbsSearchRefind NegRef Search ORG Refind ORG NegEZ Move Dir gt Search ORG gt Stop gt Move Dir gt Leave ORG FL gt Stop gt Move Dir gt Refind ORG FL gt Stop gt Move Dir gt touch EZ gt Stop Firstly axis moves in the way of MODE7 AbsSearch and then moves uniformly in opposite direction at VelLow until ORG signal disappears Then axis reverses the direction again and continues to move uniformly at VelLow until ORG singal occurs At last axis moves in opposite direction again until EZ signal occurs For example Dir Positive Limit Logic Active High ORG Logic Active High 187 Chapter 6 AbsSearchReFind NegEZ EL EZ ORG EL STATUS1 _OFF On OFF On OFF jOn OFF On OFF Eb EL OFF On OFF On OFF OFF On OFF statusz 9EEI On _ E EZ ORG Eh 4 F On OFF On OFF OFF On OFF srarusa OFH On L OFF AbsSearch process has three situations For detailed information see about descriptions in MODE7 AbsSearch PCI 1245 1265 User Manual 188 16 MODE16 LmtSearchRefind Ref Search EL Refind EL EZ Move Dir gt Search EL gt Stop gt Move Dir gt Leave EL FL gt Stop gt Move Dir gt Refind EL FL gt Stop gt Move Dir gt touch EZ gt Stop Firstly axis moves in the way of MODES LmtSearch and then moves uniformly in opposite direct
5. AxEnableEvtArray PU32 Array n enable interrupt event for each axis n is the axis count of motion device Array is of 32 bits data type each bit represents different Event types Bite 31 40 3e 2e 1e Or EVT_A EVT_AX EVT AX COM EVT_AX_ X VH _VH_ST PARED MOTION_ END ART Notsupport DONE Net Description Aotrea Bit n 1 Enable event Bit n 0 Disable event 137 Chapter 6 Array n enable interrupt event for each group GpEnableEvtAr ray is 32 bits data type array and currently the value of n can only be 1 Bite Datae 31 00 1e 00 GpEnable EVT GPn EVT GP1 EVT_GPO_ EvtArray MOTION MOTION MOTION 0 DONE DONE DONE GpEnable Description El EVT_GPn_ EVT_GP1_ EVT_GPO_ GpEnableEvtArray PU32 IN a VH_sTART VH_START VH_START GpEnable EVT_GPn EVT GP1 EVT GPO EvtArray eas eke sd 2 VH_END VH_END VH_END Bit n 1 Enable event Bit n 0 Disable event Note For EVT_GPn_MOTION_DONE n is GrouplD It can be got form PAR_GpGroupID property number of AxEvtStatusArray AxArrayElements U32 IN elements number of GpEvtStatusArray GpArrayElements U32 IN elements Return Value Error Code Comments After enable some events of axis or groups the event status can be get from Acm_CheckMotionEvent PCI 1245 1265 User Manual 138 6 3
6. PCI 1245 1265 Series DSP Based SoftMotion PCI Controller User Manual Copyright This documentation and the software included with this product are copy righted 2012 by Advantech Co Ltd All rights are reserved Advantech Co Ltd reserves the right to make improvements in the products described in this manual at any time without notice No part of this manual may be reproduced copied translated or transmit ted in any form or by any means without the prior written permission of Advantech Co Ltd Information provided in this manual is intended to be accurate and reliable However Advantech Co Ltd assumes no responsibility for its use nor for any infringements of the rights of third parties which may result from its use Acknowledgments PC LabCard is a trademark of Advantech Co Ltd IBM and PC are trademarks of International Business Machines Corporation MS DOS Windows Microsoft Visual C and Visual BASIC are trademarks of Microsoft Corporation Intel and Pentium are trademarks of Intel Corporation Delphi and C Builder are trademarks of Inprise Corporation CE Notification The PCI 1245 1245E 1265 developed by Advantech CO LTD has passed the CE test for environmental specifications when shielded cables are used for external wiring We recommend the use of shielded cables This kind of cable is available from Advantech Contact your local sup plier for ordering information Part No
7. Comments PCI 1245 1265 User Manual 256 6 4 3 1 4 Pulse Out 6 4 3 1 4 1 FT AxPulseOutMap Data Type U32 R W R PropertyID 308 Meaning Get the pulse output features supported by this motion device Bits Description 0 Mode 1 31 Not defined Comments In PCI 1245 1245E 1265 the value is 1 6 4 3 1 4 2 FT_AxPulseOutModeMap Data Type U32 R W R PropertyID 309 Meaning Get pulse output modes supported by this motion device Bits Description OUT DIR OUT DIR OUT negative logic OUT DIR DIR negative logic OUT DIR OUT amp DIR negative logic CW CCW oy ON CW CCW CW amp CCW negative logic 257 Chapter 6 6 A B Phase 7 B A Phase 8 CW CCW OUT negative logic Not support 9 CW CCW DIR negative logic Not support 10 31 Not defined Comments Positive direction Negative direction Bits Description OUT DIR OUT DIR output output output output 0 OUT DIR TUU Fa UU Low OUT DIR OUT i negative logic JTUL High JUL iw _ 2 OUT DIR DIR KN N negative logic UU lw UU High OUT DIR 3 OUT amp DIR nega JUL Low JUL High tive logic 00 UU ww wm UU CW CCW 5 CW amp CCW neg JUL Low Low JUL ative logic 6 A B Phase OUT 1 our A DIR DIR L 7 B A Phase OUT OUT 1 DIR DIR J PCI 1245 1265 User Manual 258 6 4 3 1 5
8. 13 Latch 14 CAMDO 15 Ext Drive 16 Simultaneous start stop 17 31 Not defined Comments 253 Chapter 6 6 4 3 1 2 Speed Pattern 6 4 3 1 2 1 FT_AxMaxVel Data Type F64 R W R PropertyID 302 Meaning Get axis supported max velocity Unit Pulse s Comments In PCI 1245 1245E 1265 the value is 4 000 000 6 4 3 1 2 2 FT_AxMaxAcc Data Type F64 R W R PropertyID 303 Meaning Get axis supported max acceleration Unit Pulse s Comments In PCI 1245 1245E 1265 the value is 500 000 000 PCI 1245 1265 User Manual 254 6 4 3 1 2 3 FT AxMaxDec Data Type F64 R W R PropertyID 304 Meaning Get axis supported max deceleration Unit Pulse s Comments In PCI 1245 1245E 1265 the value is 500 000 000 6 4 3 1 2 4 FT AxMaxJerk Data Type F64 R W R PropertyID 305 Meaning Get axis supported max jerk Unit Pulse s Comments In PCI 1245 1245E 1265 the value is 1 255 Chapter 6 6 4 3 1 3 Pulse In 6 4 3 1 3 1 FT AxPulselnMap Data Type U32 R W R PropertyID 306 Meaning Get the pulse input features supported by this motion device Bits Description 0 Mode 1 Logic 2 Source 3 31 Not defined Comments 6 4 3 1 3 2 FT_AxPulselnModeMap Data Type U32 R W R PropertyID 307 Meaning Get axis supported pulse input mode Bits Description 0 1X A B 1 2X A B 2 4X A B 3 CW CCW 4 31 Not defined
9. 2 Configuration a Channel Mode single ended channel and differential channel are available b Sampling period use scrollbar to modify the value and its range is 200 10000ms 77 Chapter 5 PCI 1245 1265 User Manual 78 CHAPTER Programming Guide This chapter is to detail the program ming API for each function Chapter 6 Programming Guide 6 1 Introduction This chapter supplies the APIs for user shows the APIs definitions and how to use them PCI 1245 1245E 1265 device driver is based on the Common Motion Architecture About the detail of Common Motion Architecture see about Secton 4 3 According to this Architecture all of functions and properties have been classified three types Device Object Axis Object Simple Axis and Group Object Multiple Axis There are several basic concepts which should be known before using the API functions and properties Naming of API and Properties All of APIs and Properties under the Common Motion Architecture follows the uniform naming reg ulation See about section 4 3 3 Data type redefinition For simplifying code the common data types are redefined Error Code All of APIs will return code to show success to call or failed for which error PCI 1245 1265 User Manual 80 6 1 1 Data Type Redefinition The table of redefinition of data types and windows common data types is as follows New Ty
10. BitData PU8 OUT DO value 0 or 1 Return Value Error Code Comments See about Acm AxDoSetBit 6 3 4 11 3 Acm AxDiGetBit Format U32 Acm AxDiGetBit HAND AxisHandle U16 DiChannel PU8 BitData Purpose Get the specified channel s DI value Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen DiChannel U16 IN Digital input channel 0 3 BitData PU8 OUT DI value 0 or 1 Return Value Error Code Comments 201 Chapter 6 6 3 4 12 Ext Drive 6 3 4 12 1 Acm AxSetExtDrive Format U32 Acm AxSetExtDrive HAND AxisHandle U16 ExtDrv Mode Purpose Enable or disable external drive mode Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen 0 Disabled stop command 1 JOG Mode ExtDrvMode U16 IN 2 MPG Mode 3 JOG Step mode reserved Return Value Error Code Comments PCI 1245 1265 User Manual 202 6 3 4 13 Cam Gear 6 3 4 13 1 Acm AxCamlnAx Format U32 Acm AxCamlInAx HAND AxisHandle HAND MasAxis Handle F64 MasterOffset F64 SlaveOffset F64 MasterScaling F64 SlaveScaling U32 CamTableID U32 RefSrc Purpose This function starts cam synchronization with a cam table between a slave following axis and master leading axis Camming is done with one table two dimensional describing master and slave positi
11. first The value is O or 1 After you exe cute this step the CAMTablelD cannot be changed before you dissolve the syncrhonoza tion relation PCI 1245 1265 User Manual 70 5 5 1 4 2 Download CAMTable If CAM Table has edited in CAM Editor you can use Download CAM Table to save the CAM Table into hard drive Note Before you save you should set up the CAM Table D first The value is O or 1 After you exe cute this step the CAMTablelD cannot be changed before you dissolve the syncrhonoza tion relation 5 5 1 4 3 Configuration Configure cam motion and establish cam synchronization CAM Motion Configuration CanTable ID 0 x Canming Type Non periodic M Master frack Mode Slave Movement Mode Absolute Relative Absolute Relative MasterOffset O SlaveDffset 0 MasterScaling 1 SlaveScaling 1 Reference Sark Q Command Pos Feedback Pos CAN In Before the establishment of cam synchronization you need to configure the following parameters 1 Camming Type a Non periodic non circular pattern If you select this mode after the Master axis runs a complete cycle the Slave axis will no lon ger follow the Master axis according to CAM curve b Periodic circular pattern If you select this mode the Slave axis will always follow the Master axis according to CAM curve in cam motion 2 Master Movement Mode a Absolute If you select this mode the current position of the Master axis will be se
12. Copy To Axes J Backlash I Axis Alarm Logic ALM_ACT_LOW 2 Axis S Axis J Basic Info 2 Cam DO Alarm React ALM DEC TO STOP E J Comparator L 4Axis E m 2 ERC Select All J External Drive HT Copy Config J Home J In Position Latch J Pulse In J Pulse Out J Simulate Start J SIMT Enables Disables motion Alarm function for source axis Alarm is a signal generated by motor drive when motor drive is in alarm status The left tree view shows the classification of axis s properties when you click the corresponding item the right side Data View will list the prop erties and corresponding property values in the category For detail refer to the description about Feature Configuration and Parameter of axis which are listed in property list of Programming guide The attributes are classified as follows Classification Name Brief Introduction Alarm Alarm Enable Enables Disables motion Alarm function for source axis Alarm Logic Sets the active logic for alarm sig nal Alarm React Sets the reacting mode for alarm signal 47 Chapter 5 Aux Gen Out AuxOut Enable Enables Disables axis s Aux Out put put in group s AddPathDwell for source axis AuxOut Time Sets axis s Aux Output on time in group s AddPathDwell for source axis GenDo Enable Enables Disables axis DO as gen eral DO
13. In this case driver will return the actual size of the property in BufferLength About the detail information of PerpertyID see about Property List 133 Chapter 6 6 3 2 5 Acm_SetProperty Format U32 Acm_SetProperty HAND Handle U32 ProperyID PVOID Buffer U32 BufferLength Purpose Set the property configuration property or parameter property value through assigned PropertyID Parameters Name Type In or Out Description Object handle This handle may be device handle from Acm_DevOpen Handle HAND IN or axis handle from Acm AxOpen or group handle from Acm_GpAddAxis ProperylD U32 IN Property ID to set Buffer PVOID OUT Data buffer for property BufferLength U32 IN Buffer size for the property Return Value Error Code Comments For some properties driver may package the value with some adjustment for precision consideration So some properties output value may be different from the input value Eg PAR AxJerk Not all of properties in Property List can be set new property value only the writable properties can be reset property value User should pay attention on data type and data length property needed If the value of BufferLength is smaller than actual data size error code InvalidInputParamter will be returned About the detail information of PropertyID see about Property List PCI 1245 1265 User Manual 134 6 3 2 6 Acm_GetLastError Format U
14. JOG W_IN4 JOG EGND V OUT4 CAM DO V OUTS CMP V OUT6 SVON V OUT7 ERC V_CW PULS V_CW PULS V_CW PULS V_CCW DIR EGND W_OUT4 CAM DO W OUT6 SVON W CW PULS W CCW DIR W OUTS CMP W OUT7 ERC W CW PULS W CCW DIR DIO EGND DI2 D DI4 DI3 DI6 DI5 DOO DI7 DO2 DO1 DO4 DO3 DO6 DO5 AINO DO7 AIN1 AGND Figure 3 2 I O Connector Pin Assignments for PCI 1265 Daughter Board PCI 1245 1265 User Manual 12 Table 3 1 I O Connector Signal Description Signal Name Reference Direction Description VEX Input External Power 12 24Vpc EMG Input Emergency Stop for all axes LMT Input Direction Limit LMT Input Direction Limit LTC Input Position Latch RDY Input Servo Ready ORG Input Home Position INP Input In Position Input ALM Input Servo Error ECA Input Encoder Phase A ECA Input Encoder Phase A ECB Input Encoder Phase B ECB Input Encoder Phase B ECZ Input Encoder Phase Z ECZ Input Encoder Phase Z EGND Ground DI EGND Input General purposed digital input DO EGND Output General purposed digital output CAM DO EGND Output DO during assigned position inter val and vice versa CMP EGND Output Compare to Trigger Output SVON EGND Output Servo ON ERC EGND Output Error Counter Clear CW EGND Output Output pulse CW Pulse PULS CW PULS EGND Output Outp
15. Once any function of Acm AxSetCmpData Acm AxSetCmpAuto and Acm AxSetCmpTable is called the previous compared data will be cleared If property CFG AxEnableGenDO is enabled this function will be disabled 193 Chapter 6 6 3 4 9 2 Acm AxSetCmpTable Format U32 Acm AxSetCmpTable HAND AxisHandle PF64 TableAr ray 132 ArrayCount Purpose Set compare data list for the specified axis Parameters Name Type in or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen TableArray PF64 IN Compare data table Unit PPU ArrayCount 132 IN Compare data count in the table Return Value Error Code Comments If property CFG AxCmpMethod is set to MTD GREATER POSITION the first data in table should be greater than current position command position or actual position and the compare data should be greater than last compare data in table After setting the compare table the first data will be loaded to comparator and if the current position matches the comparator pulse will be generated the next compare data will be loaded to comparator automatically If property CFG_AxCmpMethod is set to MTD SMALLER POSITION the first data in table should be smaller than current position command position or actual position and the compare data should be smaller than last compare data in table The first data will be loaded to comparator and if the current po
16. Set an interval time between each data Period ee IN The range is 0 255 and unit is ms AxisNo U32 IN Specify an axis The range is 0 3 PCI1245 45E 0 5 PCI1265 145 Chapter 6 Method U32 Methods to trigger MDag Disable Software trigger DI trigger Axis 0 starts to trigger Axis 1 starts to trigger Axis 2 starts to trigger Axis 3 starts to trigger Axis 4 starts to trigger PCI1245 E does not support 8 Axis 5 starts to trigger PC11245 E does not support 9 Axis 6 starts to trigger PCI1265 PCI1245 E does not support 10 Axis 7 starts to trigger PCI1265 PCI1245 E does not support 11 Axis 8 starts to trigger PCI1265 PCI1245 E does not support 12 Axis 9 starts to trigger PCI1265 PCI1245 E does not support 13 Axis 10 starts to trigger PCI1265 PCI1245 E does not support 14 Axis 11 starts to trigger PCI1265 PCI1245 E does not support NOOR ND ChanType U32 Get Channel Type 0 Command Position 1 Actual Position 2 Lag Position Difference value between Command Position and Actual Position 3 Command Velocity PCI1265 PCI1245 E does not support Count U32 Specify a data count The range is 0 2000 Return Value Error Code Comments PCI 1245 1265 User Manual 146 6 3 2 13 Acm DevMDagGetConfig Format U32 Acm DevMDaqGetConfig HAND DeviceHandle U1
17. _ EL EZ ORG EL i R OFF On OFF On OFF OFF On OFF statusz GFE On amp EL EZ ORG EL On OFF on OFF on or OFF on OFF STATUS3 a b a e STATUS I If the object is out of the field of EZ signal and ORG signal when home command is written Firstly the object will move until ORG signal occurring then reverse direction and con tinue to move until EZ signal occurring e STATUS2 If the object is in the field of ORG signal the home command is written firstly the object reserves direction and moves the ORG signal disappears then reverses direction again and continues to move the ORG signal occurs again reverses direction and moves At last motion is stopped when EZ signal occurring e STATUS3 If there is no ORG signal occurring EL signal hap pens before ORG signal the object reverses direction when EL signal happens and continues to move and then the ORG signal from happening to disappearing Reverses direction again contin ues to move the ORG signal will happen again then reverses direction At last motion is stopped when EZ signal occurring 183 Chapter 6 11 MODEII LmtSearch Ref Search EL NegEZ Move Dir gt Search EL gt Stop gt Move Dir gt touch EZ gt Stop Firstly object moves in the way of MODES LmtSearch and then moves in opposite direction until EZ signal occurring For example Dir Positive Limit logic Active High LmtSearch NegEZ EL MN EZ EL STATUS1 OF
18. troller ADVMOT dIl and relevant driver files are needed Be sure to install the driver before development Create a Visual Basic project as follows 1 Create a new project Select Microsoft Visual Studio 2005 from the Microsoft Visual Studio 2005 in Start Menu as follows Microsoft SQL Server 2005 gt Microsoft Visual Studio 6 0 fi Microsoft Visual Studio 2005 Visual Studio Remote Tools E Microsoft Web Publishing gt N Visual Studio Tools PM Designer gt SourceGear Vault gt Microsoft Visual Studio 2005 O Microsoft Visual Studio 2005 Document The development environment of Microsoft Visual Studio 2005 is as follows olution Anplorer Bj View ara 3x ppppguarem nri 7 Diro ist Spring nerelts 1 gaFind Saba Koi Ready PCI 1245 1265 User Manual 120 To create a new project Select File gt New gt Project of Main menu as follows File Edit View VAssistX Tools Window Community Help wer NLT projet cetisniseen Open gt 9 Web Site Close D File Ctrl N Project From Existing Code In the new form Select Other Languages gt Visual Basic select Windows Application template Configure the Name Location and Solution Name Same as Name by default then click OK Wew Project KE Project types Templates EE amp Visual C Visual Studio installed templates Windows Smart Device findors Application class
19. 0 6 trigger methods are supported In PCI 1265 only 0 8 trigger modes are supported Moreover trigger by DI is reserved ChanType The source of data acquisition the available values of which are 0 Cmd_ Position Command Position PCI 1245 1265 User Manual 38 1 Act_Position Actual Position 2 Lag_Position Lag Position which means the difference between Command Position and Actual Position 3 Cmd_ Velocity reserved Command Velocity Count Count of acquired data the range of which is 0 2000 The max value is 2000 by default in Utility CurCount Acquired data count will be returned after motion data is acquired Status Display current acquisition status 0 Ready Data acquisition function is not started yet 1 Wait Trigger Data acquisition function is started but waits for trigger 2 Started Motion data is being acquired After the mouse moves away from the edit box the setting values will take effect You can check current configurations of each chan nel in DataGridView which is shown as below Motion DAQ Config Status ChannelID Period AxisNo Method ChanType Count Status Channel 0 10 Axis 0 Y BQ TRIG DISABLE M Cad Position Y 2000 Channel 1 10 Axis 0 M MQ TRIG DISABLE Y Cmd Position 2000 Channel _2 10 Axis 0 M BQ TRIG DISABLE W Cad Position Y 2000 Channel 3 10 Axis 0 M 19 TRIG DISABLE Y Cad Position 2000 Function Opeartions MDAO Start Start motion data acguisition fun
20. 198 Get the latch flag in device if data is latched Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm_AxOpen The flag data LatchFlag PU8 OUT 1 Data is latched 0 not latched Return Value Error Code Comments 199 Chapter 6 6 3 4 11 Aux Gen Output 6 3 4 11 1 Acm AxDoSetBit Format Acm AxDoSetBit HAND AxisHandle U16 DoChannel U8 Bit Data Purpose Output DO value to channel Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen DoChannel U16 IN Digital output channel 4 7 BitData U8 IN DO value 0 or 1 Return Value Error Code Comments If you want to use this general DO function you must set property CFG AxGenDoEnable to GEN DO EN first When CFG AxGenDoEnable is enabled the function of CamDo Erc and Compare will be disabled automatically and Acm AxSetCmpData Acm AxSetCmpAuto Acm AxSetCmpTable will not be able to generate trigger pulse because these two functions use the same output pins OUT4 OUT7 PCI 1245 1265 User Manual 200 6 3 4 11 2 Acm AxDoGetBit Format U32 Acm AxDoGetBit HAND AxisHandle U16 DoChannel PU8 BitData Purpose Get DO channel status Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen DoChannel U16 IN Digital output channel 4 7
21. Active High Lmt EZ i 3 i i EZ SEL STATUS1 or on OFF on OFF n iezi FEL OFF STATUS2 Oni OFF jo OFF i i i C i i E j ezi FEL i STATUS ore on OFF On OFF e STATUS If the object is out of the field of EZ signal and EL sig nal when home command is written Firstly the object will move until EL signal occurring then continue to move in opposite direction until EZ signal occurring e STATUS2 If the object is in the field of EL signal the object will move in opposite direction until EZ signal occurring e STATUS3 If the object is in the field of EZ signal the home com mand is written the object begins to move Firstly the EZ signal disappears and then EL signal occurs at the same time reverses motion direction At last motion stops when EZ signal occurring 179 Chapter 6 7 MODE7_AbsSearch Move Dir gt Search ORG gt Stop This is a mode of searching transformation of ORG signal from no signal to signal occurring For Example Dir Positive ORG logic Active high Limit logic Active High AbsSearch EL ORG EL STATUS1 OFFIOn OFF On OFF On OFF EL ORG EL OFF On OFF On OFF statusz 2E On b a ja EL ORG EL OFF On OFF On OFF On OFF STATUS3 e STATUS I If there is no ORG signal occurring the object will stop when ORG signal occurs STATUS2 If the object is in the field of ORG signal The Object moves in opposite direction unt
22. Click Open File to select lastest firmware file you have acquired Clicking Start Download will activate the downloading proce dure to hardware and progress bar will show the task process PCI 1245 1265 User Manual 36 Note 1 After clicking Start Download the dialog cannot be terminated when downloading the firmware to hardware 2 While downloading due to power outages or other problems if download process is not complete the hardware needs to be sent back to Advantech for firmware update 5 2 2 6 Motion DAQ The tool is mainly to show Motion Data Acquisition function In PCI 1245 PCI 1245E PCI 1265 four channels are provided for motion data acquisition Each of them can acquire Command Actual Lag the differ ence between Command and Actual motion data of any axis with the max data count of 2000 Note So far only PCI 1245E PCI 1245 and PCI 1265 support this function and the tool button is available After you click the button you ll see the interface as below Display Vertical Max Value 6000 Chussal 0O NE Flor Chanel i MN Green Chusal 2 S Ped Channel 3 M Bleck parer G HURRRREE fia 37 Chapter 5 This interface consists of the following parts 1 Motion DAQ Config Status You can directly configure acquisition data of each channel in DataGridView ChannelID Count CurCount and Status row are read only the background is grey ChannellD It means a channel ID
23. EZ signal is occurred 177 Chapter 6 For Example Dir Positive ORG logic Active Logic EZ Logic Active Logic Abs ORG NegEZ f Ez ioRGi STATUS1 orr on OFF on OFF iorgi EZ i iORG STATUS2 seal OFF on OFF on OFF H i H i STATUS3 e STATUS If the object is out of the field of EZ signal and ORG signal when home command is written Firstly the object will move until ORG signal occurring then continue to move in oppo site direction until EZ signal occurring e STATUS2 If the object is in the field of ORG signal the home command is written the object begins to move Firstly the ORG signal disappears and then next ORG signal occurs at the same time reverses motion direction At last motion is stopped when EZ signal occurring e STATUS3 If the object is in the field of EZ signal the home com mand is written the object begins to move Firstly the EZ signal disappears and then ORG signal occurs at the same time reverses motion direction At last motion stops when EZ signal occurring Note Home will stop in case EL signal occurs 6 MODE6 Lmt Ref EL NegEZ Move Dir gt touch EL gt Stop gt Move Dir gt touch EZ gt Stop The object moves until limit signal occurring firstly and then con PCI 1245 1265 User Manual 178 tinues to move in opposite direction until EZ signal is occurred For Example Dir Positive EZ Logic Active Logic Limit Logic
24. Four channels Channel_0 Channel_1 Channel_2 and Channel 3 are provided AxisNo Any axis of the device can be selected Period Acquisition period which means the interval between each data is acquired The range is 1 to 255 ms In order to unify the max value of horizontal ordinate of Curve window Period value of each channel will adopt the same value Therefore if Period value of one channel has been changed that of other channels will change accordingly Method Trigger mode Trigger modes of data acquisition are as followings 0 MQ TRIG DISABLE Disable data acquisition function 1 MQ _ TRIG SW Trigger by software Click MDAQ Start to trig ger MO TRIG DI Trigger by DI reserved MO TRIG AXO START Trigger when axis 0 starts to move MO TRIG AXI START Trigger when axis 1 starts to move MO TRIG AX2 START Trigger when axis 2 starts to move MO TRIG AX3 START Trigger when axis 3 starts to move MO TRIG AX4 START Trigger when axis 4 starts to move MO TRIG AX5 START Trigger when axis 5 starts to move 9 MO TRIG AX6 START Trigger when axis 6 starts to move 10 MO TRIG AX7 START Trigger when axis 7 starts to move 11 MQ TRIG AX8 START Trigger when axis 8 starts to move 12 MO TRIG AX9 START Trigger when axis 9 starts to move 13 MO TRIG AX10 START Trigger when axis 10 starts to move 14 MO TRIG AX11 START Trigger when axis 11 starts to move D JAN R ND So far in PCI 1245 and PCI 1245E only
25. In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen CmpPosition PF64 OUT Compare data Unit PPU Return Value Error Code Comments PCI 1245 1265 User Manual 196 6 3 4 10 Latch 6 3 4 10 1 Acm AxGetLatchData Format U32 Acm AxGetLatchData HAND AxisHandle U32 PositionNo PF64 Position Purpose Get the latch data in device after triggering latch Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen 0 Command position 99 a LEE IN 1 Actual position Position PF64 OUT Latch data uint PPU Return Value Error Code Comments 197 Chapter 6 6 3 4 10 2 Acm AxTriggerLatch Format U32 Acm AxTriggerLatch HAND AxisHandle Purpose Trigger the hardware to latch position data Parameters Name Type in or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Return Value Error Code Comments 6 3 4 10 3 Acm AxResetLatch Format U32 Acm AxResetLatch HAND AxisHandle Purpose Clear the latch data and latch flag in device Parameters Name Type in or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Return Value Error Code Comments 6 3 4 10 4 Acm AxGetLatchFlag Format U32 Acm AxGetLatchFlag HAND AxisHandle PU8 LatchFlag Purpose PCI 1245 1265 User Manual
26. Out Description DeviceHandle HAND IN Device handle from Acm_DevOpen DoPort U16 IN DO port ByteData PU8 OUT Returned value Return Value Error Code Comments PCI 1245 and PCI 1245E does not support DO In PCI 1265 there are 8 DOs so the DoPort should be 0 153 Chapter 6 6 3 3 1 6 Acm_DaqDoGetBit Format U32 Acm_DaqDoGetBit HAND DeviceHandle U16 DoChannel PU8 BitData Purpose Get the bit value of specified DO channel Parameters Name Type In or Out Description DeviceHandle HAND IN Device handle from Acm_DevOpen DoChannel U16 IN DO channel 0 7 BitData PU8 OUT Returned value O or 1 Return Value Error Code Comments PCI 1245 and PCI 1245E does not support DO In PCI 1265 there are 8 DOs so the DoChannel should be 0 7 PCI 1245 1265 User Manual 154 6 3 3 2 Analog Input Output 6 3 3 2 1 Acm DagAiGetRawData Format U32 Acm DagAiGetRawData HAND DeviceHandle U16 AiChannel PU16 AiData Purpose Get the binary value of an analog input value Parameters Name Type In or Out Description DeviceHandle HAND IN Device handle from Acm_DevOpen AiChannel U16 IN Al channel 0 or 1 AiData PU16 OUT Pointer to the returned binary Al value Return Value Error Code Comments PCI 1245 and PCI 1245E do not support AI functions In PCI 1265 there are two AI channels 0 and 1 The channel can be set
27. PCI 1245 1245E 1265 series to reduce noise in the analog signal lines Refer to section 1 4 Accessories PCI 1245 1265 User Manual 10 VEX EMG X_LMT X_LMT X_IN1 LTC X IN2 RDY X ORG Y LMT Y LMT Y IN1 LTC Y IN2 RDY Y ORG X INP X ALM X ECA X ECA X ECB x ECB X ECZ X ECZ Y INP Y ALM Y ECA Y ECA Y ECB Y ECB Y ECZ Y ECZ X IN4 JOG X IN5 JOG Y IN4 Y IN5 EGND X OUT4 CAM DO X OUTS CMP X OUT6 SVON X OUT7 ERC X CW PULS X CW PULS X CCW DIR X CCW DIR EGND Y OUT4 CAM DO Y OUTS CMP Y OUT6 SVON Y OUT7 ERC Y CW PULS Y CW PULS Y CCW DIR Y CCW DIR 11 VEX NC Z_LMT Z_LMT Z_IN1 LTC Z IN2 RDY Z ORG U LMT U LMT U IN1 LTC U IN2 RDY U ORG Z INP Z ALM Z ECA Z ECA Z ECB Z ECB Z ECZ Z ECZ U INP U ALM U ECA U ECA U ECB U ECB U ECZ U ECZ Z IN4 Z IN5 U IN4 U IN5 EGND Z OUT4 CAM DO Z OUTS CMP Z OUT6 SVON Z OUT7 ERC Z CW PULS Z CW PULS Z CCW DIR Z CCW DIR EGND U OUT4 CAM DO U OUTS CMP U OUT6 SVON U OUT7 ERC U CW PULS U CW PULS U CCW DIR U CCW DIR Figure 3 1 I O Connector Pin Assignments for PCI 1245 1245E 1265 Chapter 3 VEX NC V_LMT V_LMT V_IN1 LTC V_IN2 RDY V_ORG Y_LMT W_LMT W IN1 LTC W IN2 RDY W ORG V INP VALM V ECA V ECA V ECB V ECB V ECZ V ECZ W INP W ALM W ECA W ECA W ECB W ECB W ECZ W ECZ V_IN4 JOG V_IN4 JOG W_IN4
28. PLANE 1 YZ PLANE 2 XZ PLANE Comments See about Acm_GpMoveHelixAbs Acm GpMoveHelixRel Acm GpMoveHelixAbs 3p and Acm_GpMoveHelixRel 3p 313 Chapter 6 6 5 Error Code Error Code Error 0x00000000 SUCCESS 0x80000000 InvalidDevNumber 0x80000001 DevRegDataLost 0x80000002 LoadDIIFailed 0x80000003 GetProcAddrFailed 0x80000004 MemAllocateFailed 0x80000005 InvalidHandle 0x80000006 CreateFileFailed 0x80000007 OpenEventFailed 0x80000008 EventTimeOut 0x80000009 InvalidInputParam 0x8000000a PropertylDNotSupport 0x8000000b PropertylDReadOnly 0x8000000c ConnectWinlrgFailed 0x8000000d InvalidAxCfgVel 0x8000000e InvalidAxCfgAcc 0x8000000f InvalidAxCfgDec 0x80000010 InvalidAxCfgJerk 0x80000011 InvalidAxParVelLow 0x80000012 InvalidAxParVelHigh 0x80000013 InvalidAxParAcc 0x80000014 InvalidAxParDec 0x80000015 InvalidAxParJerk 0x80000016 InvalidAxPulselnMode 0x80000017 InvalidAxPulseOutMode 0x80000018 InvalidAxAlarmEn 0x80000019 InvalidAxAlarmLogic 0x8000001a InvalidAxInPEn 0x8000001b InvalidAxInPLogic 0x8000001c InvalidAxHLmtEn 0x8000001d InvalidAxHLmtLogic PCI 1245 1265 User Manual 314 0x8000001e InvalidAxHLmtReact 0x8000001f InvalidAxSLmtPEn 0x80000020 InvalidAxSLmtPReact 0x80000021 InvalidAxSLmt
29. Start Sop Repeat Auto Blending 222 2 lt 4 4 4 42 lt 222 2 2 24 2 42 2 lt PCI 1245 1265 User Manual 324 Gantry N N lt Velocity look ahead Applica Velocity Refer to function call N N tion look ahead acm gpmovepath Function 9P p Tangential Following E Gear N N E CAM V V Error check Error status Watchdog N N CAM DO Position window output N N Posi latch N N Simultane ously Start Simultaneously Start Stop N N Stop Interrupt axes stop Group stop N N Single Up to 6 channels N N Compare Trigger Table Up to 2 channels N N Function Compare Linear Table size 100 K points N Compare 325 Appendix A PCI 1245 1265 User Manual 326 APPENDIX Specifications Appendix B Specifications B 1 Axes Axes PCI 1245 1245E 4 axes PCI 1265 6 axes MEE Banoa For each axis 2 3 Axis Linear 9 2 147 483 648 2 147 483 648 Interpolation Speed 1 PPS 5 MPPS 2 Axis Circular Range 2 147 483 648 2 147 483 648 Interpolation Speed 1 PPS 5 MPPS B 2 Digital Input Output Over Traveling Limit Switch Input LMT and LMT Signal for Servo Motor Drives RDY Servo ready INP In Position Complete ALM Servo Alarm ERC Error Counter Clear EMG one emergency stop Protection
30. Status Error Code 0 Error Message SUCCESS You can check the latest error code and error message If there is no any error the error code is 0 error message is SUCCESS 55 Chapter 5 5 3 10 I O Status 140 Status RDY IMT ORG DIR EMG SVON Ty ass ass s ss You can visually know the I O status from the LED bar Wherein amp indi cates the device does not support the function or does not have the corre sponding I O indicates the device support the function but I O is not triggered OFF indicates the corresponding I O is triggered ON For details refer to the description about Status in Acm_AxGetMotionIO function which is listed in Common API of Programming guide If no functional or no corresponding item the text will be displayed as grey If the board supporting the function but not enable the test is also displayed as grey If the board supports this function and enable this func tion then the test will be display as normal PCI 1245 1265 User Manual 56 5 4 Multi Axes Motion A Single Axis Motion A Multi Axis Motion Z synchronized Motion L Operate Axes Axes Line End PU Arc Center PPU Arc End PPV V PCI 1245 NT O Axis 7 PCZ 1245 NT 1 Axis E o mom 1000 2 PCI 1245 QT 2 Axis 1 4xis 8000 p FCI 1245 NT 3 Axis o 2 kxis 8000 8000 3 Axis 8000 0 s Motion Operation Motion Parans Set X Basic Interpolation Motion Yellow 1000 PPU S Movene
31. affect CFG_AxMaxVel CFG AxMaxAcc CFG AxMaxDec PAR AxVelHigh PAR AxVelLow PAR AxAcc PAR AxDec PAR GpVelHigh PAR GpVelLow PAR GpAcc PAR GpDec PAR HomeCrossDistance Comments The default value is 1 273 Chapter 6 6 4 3 2 1 2 CFG AxPhylD Data Type U32 R W R PropertyID 552 Meaning Get physical ID of the axis Value Meaning 0 0 axis 1 1 axis 2 2 axis 3 3 axis 4 4 axis 5 5 axis Comments 6 4 3 2 2 Speed Pattern 6 4 3 2 2 1 CFG AxMaxVel Data Type F64 R W RW PropertyID 553 Meaning Configure the max velocity for the motion axis Unit PPU s Comments This property s max value FT AxMaxVel CFG_AxPPU and min value 1 CFG AxPPU In PCI 1245 1245E 1265 the default value is 4 000 000 PCI 1245 1265 User Manual 274 6 4 3 2 2 2 CFG AxMaxAcc Data Type F64 R W RW PropertyID 554 Meaning Configure the max acceleration for the motion axis Unit PPU S Comments This property s max value FT_AxMaxAcc CFG_AxPPU and min value 1 CFG_AxPPU In PCI 1245 1245E 1265 the default value is 500 000 000 6 4 3 2 2 3 CFG AxMaxDec Data Type F64 R W RW PropertyID 555 Meaning Configure the max deceleration for the motion axis Unit PPU S Comments This property s max value FT_AxMaxDec CFG_AxPPU and min value 1 CFG_AxPPU In PCI 1245 1245E 1265 the default value is 500
32. con tinuously or point to point Can not set command acutual position for salve aixs and master axis by Acm AxSetCmdPosition or Acm AxSetAcutalPosition To terminate follow relationship of slave axis user can call Acm AxStopDec Acm AxStopEmg and the slave axis will be readby status The pulse number of master axis rotated 360 degree should be set by property CFG_AxModuleRange The edited CamTable needs to set by Acm DevDownloadCAMTable and related E cam config ure can be set by Acm DevConfigCAMTable After all of above slave axis will be synchronous status if calls Acm AxCamlnAx successfully Then slave axis will follow mater axis to move The parameter MasterScaling SlaveScaling MasterOffset Sla veOffset are used to ajust current Camtable based on edited Cam Table The figures about scalling and offset are as follow PCI 1245 1265 User Manual 204 MasterScaiing 1 0 m SeveScaling 1 0 MasterOtfest 0 0 SlaveOttset 00 360 Position 150 40 MasterScaling 0 5 SsveScaing 1 0 WasterOtfset 0 0 SlaveOttset 00 MasterScaing 1 0 SlaveScaling 2 0 MasterOfiset 0 0 SlaweOftset D D MasterScaling 2 0 SiaveScsbng 1 0 MasterOtfset 0 0 SlaveOtrsnt 00 MasterScaling 1 0 StaveScaling 1 0 MasterOttset 0 0 SlavoOffset 60 0 SlaveOftset 0 0 About detail E Cam operation see E Cam Flow Chart in Chapter 6 2 2 See Al
33. file in binary format Otherwise driver reads the file in INI text format User should debug device and set necessary configuration by Util ity then save these configuration information into file This config uration file can be loaded in user s application by calling Acm_DevLoadConfig If user wants to save configuration information in bin file format the saved data structure MOT DEV CONFIG of configuration information should be as follow typedef struct MOT AX CONFIG ULONG PlsPerUnit DOUBLE MaxVel DOUBLE MaxAcc DOUBLE MaxDec DOUBLE MaxJerk DOUBLE VelHigh DOUBLE VelLow DOUBLE Dec DOUBLE Acc ULONG PlsInMde PCI 1245 1265 User Manual 130 ULONG PlsInLgc ULONG PlsInMaxFreq ULONG PlsOutMde ULONG AlmEnable ULONG AlmLogic ULONG AlmReact ULONG InpEnable ULONG InpLogic ULONG ErcLogic ULONG ErcEnMde ULONG ElEnable ULONG ElLogic ULONG ElReact ULONG SwMelEnable ULONG SwPelEnable ULONG SwMelReact ULONG SwPelReact ULONG SwMel Value ULONG SwPelValue ULONG OrgLogic ULONG EzLogic ULONG HomeModeEx ULONG HomeExSwitchMode DOUBLE HomeCrossDis ULONG HomeResetEnable ULONG BacklashEnable ULONG BacklashPulses ULONG BacklashVel ULONG CmpSrc ULONG CmpMethod ULONG CmpPulseLogic ULONG CmpPulseWidth ULONG CmpEnable ULONG CmpPulseMode ULONG LatchLogic ULONG LatchEnable 131 Chapter 6 ULONG GenDoEnable ULONG ExtMasterSrc ULONG ExtSelEnable ULONG ExtPuls
34. function for source axis Backlash Backlash Enable Enables Disables corrective back lash for source axis Backlash Pulses Sets the compensation pulse num bers for source axis Whenever direction change occurs the axis outputs backlash corrective pulses before sending commands Backlash Velocity Sets the velocity for backlash sig nal Basic Info PhylD The physical ID of source axis PPU The pulse per unit PPU of source axis It is a virtual unit You can set PPU according to actual motor This can mask the different precision of different motors ModuleRange Sets the module range for this axis Cam DO CamDO Enable Enables Disables CAM DO func tion for source axis CamDO Logic Sets the active logic for CAM DO signal CamDO Com Sets the compare source for CAM pare Source DO signal CamDO Mode Sets the mode for CAM DO signal CamDO Direction Sets the direction for CAM DO CamDO Low Sets the low limit for CAM DO sig Limit nal CamDO High Sets the high limit for CAM DO sig Limit nal PCI 1245 1265 User Manual 48 Comparator Compare Enable Enables Disables axis comparator for source axis Compare Source Sets the source for comparator Compare Method Sets the method for comparator Compare Pulse Sets the pulse mode for compara Mode tor Compare Pulse Sets the active logic for compara Logic tor s pulse Compare Pulse Sets the pulse width for compara Width tor ERC Erc Lo
35. group s line motion MPG JOG N N Demons rates how to start external drive operation on the specified device and axis Demonstrates how to control an interpolation group s path Path N N N i i continuous interpolation motion PTP N V v V Demonstrates how to control one axis point to point motion SetCardRelation Demonsi rates how to control relations between multi PCI 1220 devices x Demonstrates how to control simultaneous movement SimulateOpe N N R between multi axis Direct E N Demons rates how to control an interpolation group s direct motion Movelmpose N V Demonstrates how to use Move Impose function Latch N N Demonstrates how to use latch function Helix N N Demons rates how to control an interpolation group s helix motion E CAM N V Demonstrates how to use electronic cam E CAM function E Gear N V Demonstrates how to use electronic gear E Gear function Tangent N V Demonstrates how to use tangent follow function Gantry N v Demonstrates how to use gantry function Device DIO N V Demonstrates device digital input output function Device Al N V Demonstrates device analog input function PCI 1245 1265 User Manual 90 6 2 4 PCI 1245 1245E 1265 Support API List Type Method Event PCI 1265 PCI 1245 PCI 1245E Description Acm_DevOpen N N V Open device Acm_DevClose N N V Close device Acm_DevLoadConfig N N V m ad configuration Acm GetProperty N V V Get property Acm_SetProperty N N V Set pr
36. i lt axisCntPerDev i errcde Acm AxOpen devHandle i amp axHandlefi if errcde 0 i printf Open axis Ois failed n getchar return 0 printf Open axes successfully n 105 Chapter 6 Stp3 Move relative Axis 0 Point to Point motion errcde Acm_AxMoveRel axHandle 0 10000 if errcde 0 i printf move axis 0 is failed n getchar return 0 H printf Command axis 0 to move point to point successfully n Step 4 At last Close axis and device before application exit for 1 0 i lt axisCntPerDev i errcde Acm_AxClose amp axHandle i if errcde 0 printf Open axis 0 is failed n getchar return 0 H Acm_DevClose amp devHandle getchar return 0 PCI 1245 1265 User Manual 106 5 The execution result sfully t Command s point to point motion suc Figure 6 14 Result of VC Sonsole Example 6 2 6 2 Creating a New Visual Basic Application For creating a new console application the procedure is as follow 1 Open the Visual Basic 6 0 development program it will be loaded as follow New Project 3 ad We x New Existing Recent SIN a 3 2 a gt Bb XN Gepe Activex EXE ActiveX DLL Activex vB EXE Control Applicati e e N 3 3 BH amp VB Wizard Activex Activex Addin Data Project Manager Docume Docume Fa amp Fa amp Fa amp I D
37. line interpolation is applied to the axis assembled as right angle But direct interpola tion s line speed is set into master axis The smallest Physical ID axis and other axes in group start stop as the same time as master axis Mostly direct interpolation is applied to the axis assembled as oblique angle At most it just supports 3 axes linear interpolation in PCI 1245 PCI 1265 and 2 axes linear interpolation in PCI 1245E 215 Chapter 6 6 3 5 4 2 Acm_GpMoveLinearAbs Format U32 Acm_GpMoveLinearAbs HAND GroupHandle PF64 Posi tionArray PU32 pArrayElements Purpose Command group to execute absolute line interpolation Parameters Name Type In or Out Description GpHandle HAND IN Group handle from Acm_GpAddAxis Position array of axis in group PositionArray PF64 IN each value of array elements rep resent the axis absolute position Element count in the array This count must equal to the axis count in this group or else it will be returned axis count in group pArrayElements PU32 IN OUT Return Value Error Code Comments The sequence of data in PositionArray must follow the order of X axis Y axis Z axis U axis For example if one group has two axes Y axis and U axis The first data in PositionArray means Y axis absolute position and the second data means U axis absolute position The unit of distance in PositionArray is PPU of each axis in group The diff
38. lt 0000000a 0000000000 20 Introduction of Common Motion Architecture 26 Device N mber scsi Naming Rules of API and Properties Table 4 1 Abbreviations and Their Meanings 28 Introduction 58 nosis eect Ses ee one S 1 1 Contents mirent Main 60 1 00 esa eae ee Ne ne Re Dias 52 1 Mali FOrini s s 3 25 35 eves sa a AINA ATA Va saran 5 2 2 Toolbar 5 2 3 Device Tree Single Axis Motion 5 3 1 Operate Axis 5 3 2 Motion Params Set 41 5 33 ISMON EIT Red ded tent 5 3 4 Configuration 5 3 5 Move Test 523267 POSION TN Mes AS OO 5 3 7 Current Axis Status 54 5 3 8 DO STATUS ren ne rh A 5 3 9 Last Error Status 53 10 TOS tats ss rhin ann n nan Multi Axes Motion 54 1 Operat AXES diesen Baio daesdesdicends ceive diese 5 4 2 Motion Params Set 57 5 4 3 Motion Ends 5 4 4 Motion Operation 5 4 5 Path Status 5 4 6 POSItION ss sente ARA SNS ana te 5 457 State Stasin enano halaa a Synchronized Motion 5 5 1 Slave Axis Operation 5 5 2 Master Axis Operation Digital Input sissa sen mustetta Musei Digital Output sn eS Analog put sissa nene sun PCI 1245 1265 User Manual vi Chapter 6 6 1 6 2 6 3 6 4 6 5 Programming Guide ss OU Introduction 6 1 1 Data Type Redefinition 6 1 2 About Error Codes epee yi 6 1 3 About Event sisi tete Getting Started 6 2 1 PCI 1245
39. not in effect OFF and the value of the bit is 0 Hex indicates the hexadecimal value of the byte composed by 8 DIs 5 7 Digital Output Mainly shows the status of device s digital output port and the corre sponding ON OFF operation on DO In PCI 1265 there are 8 DOs P Singe dcis Motion GH tadti Acis Motion Qe Synchronized Motion ET Digital Input Digital Output FA analog Input PartNo Bit 7 43 0 Nex 0000 0000 Or As the above figure Bit 7 to 0 from right to left are digital outputs Wherein indicates that the DO is connected ON and the value of the bit is 1 O indicates that the DO is not connected OFF and the value of the bit is 0 Hex indicates the hexadecimal value of the byte composed by 8 DOs PCI 1245 1265 User Manual 76 5 8 Analog Input Shows the status of device s analog input channels In the PCI 1265 there are two AI channels I Single hxis Motion GF Malti Axis Motion QE Synchronized Motion EI Digital Input F digital Output En Analog Input Chwmello Input Range Analog Input Value Confi guration 0 10 10 v Channel Mode single ended channel v I Senpling Period 200 as lt gt As the above the parameters are as follows Channel No AI index PCI 1265 has two analog inputs and channel index is as 0 and 1 Input Range analog input range 1 Analog Input Value According to the sampling period the analog input value sampled from the input channel
40. on your body Or one can also use a grounding strap Touch the antistatic bag to a metal part of your computer chassis before opening the bag Hold of the card only by the metal bracket when taking it out of the bag After taking out the card you should first Inspect the card for any possible signs of external damage loose or damaged components etc If the card is visibly damaged notify our service department or the local sales representative immedi ately Avoid installing a damaged card into your system Also pay extra attention to the followings to ensure a proper installa tion Avoid physical contact with materials that could hold static elec tricity such as plastic vinyl and Styrofoam Whenever you handle the card grasp it only by its edges DO NOT TOUCH the exposed metal pins of the connector or the electronic components PCI 1245 1265 User Manual 6 2 2 Driver Installation We recommend you to install the driver before you install the PCI 1245 1245E 1265 card into your system The DLL driver setup program for the card is included on the companion CD ROM that is shipped with package Follow the steps below to install the driver software 1 Insert the companion CD ROM into your CD ROM drive 2 The setup program will be launched automatically if you have the autoplay function enabled on your system Note If the autoplay function is not enabled on your computer use Windows Explorer or Windows
41. plane is X Y you only need to set X vector and Y vector Z axis is not necessary to edit 3 Direction The direction of tangent follow axis in motion which can be the same as or opposite to the direction of Group s motion 4 ModuleRange The module range of tangent follow axis that is the pulse number of tangent follow axis s one revolution 360 degrees There are related diagram and description below the configuration There PCI 1245 1265 User Manual 62 Click OK Tangent In the tangent follow axis will establish tangent follow synchronization with the Group After that if the Group do interpolation motion the following axis will move along the tangent direction of the interpolation motion If the tan gent follow axis has established tangent follow synchronization with the Group click Tangent In again the value of parameters in the form will be the configured value and you can click Tangent Stop to dissolve the synchronization relationship Click Cancel nothing will do but close the form 5 4 4 5 2 Tangent Stop Click Tangent Stop to dissolve the synchronization relationship between tangent follow axis and the Group 5 4 4 6 Path Plot Display the group motion curve Click Path Plot the following form will appear FH Group Path View SG Path T ath Tracing Setting Horizontal Setting Horizontal Source 1 Axis v Horizontal PosType Command Position Horizontal Max 8000 Horizontal Min 2000
42. reference point EndArray PF64 IN Relative distance of end point Element count in the array This count must equal to the axis count in this group or else it will be returned axis count in group pArrayElements PU32 IN OUT Direction Direction 116 IN 0 DIR CW clockwise 1 DIR CCW counterclockwise Return Value Error Code Comments See about Acm GpMoveHelixAbs 3P 6 3 5 5 Path 6 3 5 5 1 Acm GpAddPath Format U32 Acm GpAddPath HAND GroupHandle U16 MoveCmd U16 MoveMode F64 FH F64 FL PF64 EndPoint DataArray PF64 CenPoint DataArray PU32 ArrayElements Purpose Add an interpolation path to system path buffer Parameters Name Type InorOut Description 227 Chapter 6 GpHandle HAND Group handle from Acm_GpAddAxis MoveCmd U16 Move command 0 EndPath Abs2DLine Rel2DLine Abs2DArcCW Abs2DArcCCW Rel2DArcCW Rel2DArcCCW Abs3DLine Rel3DLine Abs4DLine not support 10 Rel4DLine not support 11 Abs2DDirect 12 Rel2DDirect 13 Abs3DDirect 14 Rel3DDirect 15 Abs4DDirect 16 Rel4DDirect 17 Abs5DDirect 18 Rel5DDirect 19 Abs6DDirect 20 Rel6DDirect 21 Abs3DArcCW not sup port 22 Rel3DArcCW not sup port 23 Abs3DArcC CW not sup port 24 Rel3DArcCCW not sup port 25 Abs3DHelixCW 26 Rel3DHelixCW 27 Abs3DHelixCCW 28 Rel3DHelixCCW
43. reserved The direction with master axis Direction 116 IN 0 same 1 opposite Return Value Error Code Comments The slave axis will move synchronously with mater axis The rela tionship of master and slave can be terminated by calling the Acm AxStopDec Acm AxStopEmg the axis will return SteadBy status There are some restrictions about gantry 1 Can not set any command except Acm AxStopDec Acm AxStopEmg to slave axis 2 Slave axis can not be add in any group 3 Ifthe axis is already one axis in group it can not be slave axis of ganry If the command actual position of master axis is reset command actual position of slave axis is reset same value too About the gantry operation see about E Gear gantry flow chart in Chapter 6 2 2 PCI 1245 1265 User Manual 210 6 3 5 Group 6 3 5 1 SYSTEM 6 3 5 1 1 Acm GpAddAxis Format U32 Acm_GpAddAxis PHAND GpHandle HAND AxHandle Purpose Add an axis to the specified group Parameters Name Type In or Out Description GpHandle PHAND IN OUT Point to group handle NULL or not AxHandle HAND IN Axis handle from Acm AxOpen Return Value Error Code Comments If GpHandle points to NULL driver will create a new group han dle and add the axis to this new group If GpHandle points to a valid group handle driver will just add the axis to the group At most there are 2 groups in PCI 124
44. to Single Ended or Differential through CFG DagAiChanType property If it is set to Single Ended users can get AI value through any channel if it is set to Differential users can only get AI value through Channel 1 155 Chapter 6 6 3 3 2 2 Acm DagAiGetVoltData Format U32 Acm DagAiGetVoltData HAND DeviceHandle U16 AiChannel PF32 AiData Purpose Get the actual analog input value Parameters Name Type In or Out Description Device handle from DeviceHandle HAND IN Acm DevOpen AiChannel U16 IN Al channel 0 or 1 Pointer to the returned analog AiData PF32 OUT value Return Value Error Code Comments PCI 1245 and PCI 1245E do not support AI functions In PCI 1265 there are two AI channels 0 and 1 The channel can be set to Single Ended or Differential through CFG DagAiChanType property If it is set to Single Ended users can get AI value through any channel if it is set to Differential users can only get AI value through Channel 1 PCI 1245 1265 User Manual 156 6 3 4 Axis 6 3 4 1 System 6 3 4 1 1 Acm AxOpen Format U32 Acm AxOpen HAND DeviceHandle U16 PhyAxis PHAND AxisHandle Purpose Open specified axis and get this axis object s handle Parameters Name Type In or Out Description DeviceHandle HAND IN Device handle from Acm_DevOpen Physical Axis Number PCI 1265 PhyAxis U16 IN 0 1 2 3 4 5 PCI 12
45. to create your application project and source code as you would for any other Visual C pro gram Microsoft Visual C te Edt yew Insert Project Buld Tools Window Help 8 2 2 TS fre dir gt a PP FABRA kw Figure 6 8 Open File to Creating a New VC Application PCI 1245 1265 User Manual 100 2 Define the type of new project as Win32 Console Application define the platform to be Win32 and assign a project file direc tory Microsoft Visual C File Edit View Insert Project Build Tools Window Help a sia S amp S 2 2 BAS Wiidec vm Files Projects Workspaces Other Documents 2 ATL COM AppWizard Project name tal Cluster Resource Type Wizard Pen 245APP a Custom AppWizard S Database Project R DevStudio Add in Wizard Location Extended Stored Proc Wizard EAMY PROJECTSIMYEXAMPLE 3 E ISAPI Extension Wizard i Makefile 88 MFC ActiveX ControlWizard 2 MFC AppWizard dll Create new workspace Sa MFC AppWizard exe C Add to current workspace F Dependency of 3 Win32 Dynamic Link Library 8 Win32 Static Library Platforms MWin32 Figure 6 9 Creating a New VC Console Application Click OK you can chose one kind of console application to create Then a new console application has been created 3 Config the new project User should add the path of head files and necessary Lib file and config the project in Project Settin
46. trigger MotionDAQ function Comments PCI 1245 1265 User Manual 244 6 4 1 1 6 FT_DevMDAQMaxChan Data Type U32 R W R PropertyID 8 Meaning Record max channel count of MotionDAQ data Comments In PCI 1245 PCI 1265 PCI 1245E the max channel count is 4 6 4 1 1 7 FT_DevMDAQMaxBufCount Data Type U32 R W R PropertyID 9 Meaning The max data count of MotionDAQ that each MotionDAQ channal can record Comments In PCI 1245 PCI 1265 PCI 1245E each MotionDAQ channel can record 2000 pieces of data at most 245 Chapter 6 6 4 1 2 Configuration 6 4 1 2 1 CFG_DevBoardiD Data Type U32 R W R PropertyID 201 Meaning Get Device ID For PCI 1245 1245E 1265 this property value will be 0 15 Comments 6 4 1 2 2 CFG_DevBaseAddress Data Type U32 R W R PropertyID 203 Meaning Return IO base address Comments 6 4 1 2 3 CFG Devlnterrupt Data Type U32 R W R PropertyID 204 Meaning Get Device interrupt number Comments PCI 1245 1265 User Manual 246 6 4 1 2 4 CFG_DevBusNumber Data Type U32 R W R PropertyID 205 Meaning Get device bus number Comments 6 4 1 2 5 CFG_DevSlotNumber Data Type U32 R W R PropertyID 206 Meaning Get device slot number Comments 6 4 1 2 6 CFG_DevDriverVersion Data Type char R W R PropertyID 207 Meaning Get SYS driver s version The format is 1 0 0 1 Comments 247 Chapter 6 6 4 1 2 7 CFG DevDIIVersion Data Ty
47. you will not see the items in the Tree View At the same time because single axis dialog has speed parameter setting the speed pattern item will not be shown When Pulse Out category is selected there will be illustration of corresponding mode below the description of Pulse Out Mode property After editing the property value will become effective already set in device after the mouse leaves the edit box If you want to duplicate the attributes to other axes only activate the Check on the right side of check box Then click Copy Config Click Close to close the form PCI 1245 1265 User Manual 52 5 3 4 4 Axis Status Click the button you can view the assigned axis information For exam ple PhyID PPU and basic status Motion Status State Error Status and etc and I O status Alarm SLMTP N and etc EE Axis Status Information Hame PPU Motion Status State Error Status Velocity Actual Position Command Position SLMT SLMT LAT LMT 53 Chapter 5 5 3 5 Move Test The operation is as follows Move Test After motion mode is selected click lt or gt the axis will do P to P Continue Homing movement in negative or positive direction After the movement velocity reaches VelHigh in point to point motion you can click Move Impose to generate a superimposed movement the distance of the imposed movement is the value of New Pos and the veloc ity of the imposed moveme
48. 000 000 275 Chapter 6 6 4 3 2 2 4 CFG AxMaxJerk Data Type F64 R W R PropertyID 556 Meaning Get max jerk configuration for the motion axis Comments In PCI 1245 1245E 1265 the value is 1 6 4 3 2 3 Pulse In 6 4 3 2 3 1 CFG AxPulselnMode Data Type U32 R W RW PropertyID 557 Meaning Set get encoder feedback pulse input mode Value Description 0 1XAB 1 2XAB 2 4XAB 3 CCW CW Comments PCI 1245 1265 User Manual 276 6 4 3 2 3 2 CFG AxPulselnLogic Data Type U32 R W RW PropertyID 558 Meaning Set get logic of encoder feedback pulse Value Description 0 Not inverse direction 1 Inverse direction Comments 6 4 3 2 3 3 CFG AxPulselnMaxFreg Data Type U32 R W RW PropertyID 632 Meaning Set get encode max pulse in frequency Value Description 0 500KHz 1 1MHz 2 2MHz 3 4MHz Comments 277 Chapter 6 6 4 3 2 4 Pulse Out 6 4 3 2 4 1 CFG AxPulseOutMode Data Type U32 R W RW PropertyID 560 Meaning Set get command pulse output mode Value Description 1 OUT DIR 2 OUT DIR OUT negative logic 4 OUT DIR DIR negative logic 8 OUT DIR OUT amp DIR negative logic 16 CW CCW 32 CW CCW CW amp CCW negative logic 64 A B Phase PCI 1245 and PCI 1265 not support 128 B A Phase PCI 1245 and PCI 1265 not support 256 CW CCW OUT negative lo
49. 0510a Dsp InvalidAxPptValue 0x8000510b Dsp InvalidAxState 0x8000510c Dsp_InvalidAxSvOnOff 0x8000510d Dsp_InvalidAxDistance 0x8000510e Dsp InvalidAxPosition 0x8000510f Dsp InvalidAxHomeMode 0x80005110 Dsp InvalidPhysicalAxis 0x80005111 Dsp HLmtPExceeded 0x80005112 Dsp HLmtNExceeded 0x80005113 Dsp SLmtPExceeded 0x80005114 Dsp SLmtNExceeded 0x80005115 Dsp AlarmHappened 0x80005116 Dsp EmgHappened 0x80005117 Dsp CmdValidOnlylnConstSec 0x80005118 Dsp InvalidAxCmd 0x80005119 Dsp InvalidAxHomeDirMode 0x80005120 Dsp NotEnoughPulseForChgV 0x8000511a Dsp AxisMustBeModuloAxis 0x8000511b Dsp AxldCantSameAsMasld 0x8000511c Dsp CantResetPosiOfMasAxis 0x8000511d Dsp InvalidAxExtDrvOperation PCI 1245 1265 User Manual 320 0x8000511e Dsp AxAccExceededMaxAcc 0x8000511f Dsp_AxVelExceededMaxVel 0x80005201 Dsp InvalidAxCntlnGp 0x80005202 Dsp_AxInGpNotFound 0x80005203 Dsp AxislnOtherGp 0x80005204 Dsp AxCannotlntoGp 0x80005205 Dsp GplnDevNotFound 0x80005206 Dsp InvalidGpCfgVel 0x80005207 Dsp InvalidGpCfgAcc 0x80005208 Dsp InvalidGpCfgDec 0x80005209 Dsp InvalidGpCfgJerk 0x8000520a Dsp_InvalidGpParVelLow 0x8000520b Dsp InvalidGpParVelHigh 0x8000520c Dsp InvalidGpParAcc 0x8000520d Dsp InvalidGpParDec 0x8000520e Dsp_InvalidGpParJerk 0x8000520f Dsp_JerkNotSupport 0x80005210 Dsp_ThreeAxNotSupport 0x80005211 Dsp_DevlpoNotFinished 0x80005212 Dsp_I
50. 0x80000096 SlavelOUpdateError 0x80000097 NoSlaveDevFound 0x80000098 MasterDevNotOpen 0x80000099 MasterRingNotOpen 0x800000c8 InvalidDIPort 0x800000c9 InvalidDOPort 317 Chapter 6 0x800000ca InvalidDOValue 0x800000cb CreateEventFailed 0x800000cc CreateThreadFailed 0x800000cd InvalidHomeModeEx 0x800000ce InvalidDirMode 0x800000cf AxHomeMotionFailed 0x800000d0 ReadFileFailed 0x800000d1 PathBuflsFull 0x800000d2 PathBuflsEmpty 0x800000d3 GetAuthorityFailed 0x800000d4 GplDAllocatedFailed 0x800000d5 FirmWareDown 0x800000d6 InvalidGpRadius 0x800000d7 InvalidAxCmd 0x800000d8 InvalidaxExtDrv 0x800000d9 InvalidGpMovCmd 0x800000da SpeedCurveNotSupported 0x800000db InvalidCounterNo 0x800000dc InvalidPathMoveMode 0x800000dd PathSelStartCantRunInSpeedForwareMode 0x800000de InvalidCamTablelD 0x800000df InvalidCamPointRange 0x800000d0 CamTablelsEmpty 0x800000e1 InvalidPlaneVector 0x800000e2 MasAxIDSameSIvAxID 0x800000e3 InvalidGpRefPlane 0x800000e4 InvalidAxModuleRange 0x800000e5 DownloadFileFailed 0x800000e6 InvalidFileLength 0x800000e7 InvalidCmpCnt 0x80002000 HLmtPExceeded 0x80002001 HLmtNExceeded 0x80002002 SLmtPExceeded PCI 1245 1265 User Manual 318 0x80002003 SLmtNExceeded 0x80002004 AlarmHappened 0x80002005 EmgHappe
51. 1245 1265 User Manual 206 e Gear Ratio Numerator Denominator If the value is positive the slave will move at the same direction with master axis or else it will move at the opponent direction with mater axis e Absolute Absolute 1 Absolute relationship Slave axis will compensate the offset with master axis Absolute 0 Relative relationship Slave axis will not compensate any offset with master axis Start Gear In with relative Start Gear In with absolute synchronization synchronization Velocity Position Slaveposition i i N ioon About the E gear operation see about E Gear gantry flow chart in Chapter 6 2 2 207 Chapter 6 6 3 4 14 Gantry Tangent 6 3 4 14 1 Acm AxTangentlnGp Format U32 Acm AxTangentInGp HAND AxisHandle HAND Mas GroupHandle PI16 StartVectorArray U8 Working plane 116 Direction Purpose Command axis to move at same direction with tangent of group path Parameters Name Type In or Out Description AxHandle HAND IN Axis handle from Acm_AxOpen Group handle from MasGroupHandle HAND IN Acm_GpAddAxis StartVectorArray PI16 IN Must be 3 dimension Working_plane U8 IN O XY 1 YZ 2 XZ Direction 116 IN Same 0 Opposite 1 Return Value Error Code Comments The axis will be synchronous state and will follow group motion at the direction of tangent of group s path if this function is called suc cessfully The axis a
52. 1245E 1265 Software architecture 83 Figure 6 1 PCI 1265 Software Architecture 83 6 22 Flow Charts ss se Taa SAT 84 Figure 6 2 Basic Operation Flow Chart 84 Figure 6 3 Single Axis Operation Flow Chart 85 Figure 6 4 Multiple Axis Operation Flow Chart 86 Figure 6 5 Cam Operation Flow Chart 87 Figure 6 6 Gear Gantry Operation Flow Chart 88 Figure 6 7 Tangential Following Operation Flow CHAT RSR a E 89 6 2 3 Example Support List 90 6 2 4 PCI 1245 1245E 1265 Support API List 91 6 2 5 Property Support List 96 6 2 6 Creating a New Application 0 0 0 ce eeeseeseeteeteeeeee 100 Figure 6 8 Open File to Creating a New VC Applica HO sien this 100 Figure 6 9 Creating a New VC Console Application 101 Figure 6 10 Setting Caling Convention 102 Figure 6 11 Folder Content of This Example 102 Figure 6 12 Add Head Files Path 103 Figure 6 13 Setting Lib File Path 103 Figure 6 14 Result of VC Sonsole Example 107 Figure 6 15 Load VB Development Environment 107 Figure 6 16 Add Module Files into Project 108 Figure 6 17 Design the Form 108 Figure 6 18 The Execution Result Function List 6 3 1 Common API 6 3 2 Device Object 6 3 3 DAQ eee s 6 3 4 ARIS ss aa aamen m TEAN T TTA A 6 3252 1 GTOUD sina A AN aal TS Property List isssss
53. 1265 User Manual 110 Acm_AxSetCmdPosition m_AxisHand AxisNumber 0 If Result lt gt SUCCESS Then MsgBox Set command position failed voOKOnly PTP Exit Sub End If strTemp AxisNumber amp Axis cm_Axis AddItem strTemp Next cm_Axis ListIndex 0 m_CurAxis 0 Timer1 Enabled True End Sub Click the combox to select axis the code is as follow Private Sub cm Axis Click m_CurAxis cm Axis ListIndex End Sub The timer is used to get the command position of selected axis The code is as follow Private Sub Timerl Timer Dim CurPos As Double Dim strTemp As String ReDim CurPos 32 Get command position of selected axis Acm AxGetCmdPosition m AxisHand m CurAxis Cur Pos m CurAxis strTemp CurPos m CurAxis tx CmdPos Text strTemp End Sub 111 Chapter 6 Click Close Device amp Axes the device and axes in the device will be Closed The timer is disabled The code is as follow Private Sub btn_Close_Click Dim AxisNum As Long For AxisNum 0 To AxisPerDev 1 Step 1 Acm_AxClose m_AxisHand AxisNum Next Acm_DevClose m_DevHand cm_Axis Clear Timer Enabled False End Sub The result is as follow Formi Open DeviceNumber 042000F000 Open DevicetAxes Close DevicetAxes Frame2 D Axis Command Position Figure 6 18 The Execution Result PCI 1245 1265 User Manual 112 6 2 6 3 Creating a New C Application To use P
54. 2 9 Acm_DevDownloadCAMTable Format U32 Acm_DevDownloadCAMTable HAND DeviceHandle U32 CamTableID PF64 pMasterArray PF64 pSlaveArray PF64 pPoin tRangeArray PF64 pPointSlopeArray U32 ArrayElements Purpose This function downloads a CAM table profile which describes the ratio relationship of leading and following axis Parameters Name Type In Out Description Device handle This handle is DeviceHandle HAND IN device handle from Acm_DevOpen Identifier of CAM table PCI 1245 CamTablelD U32 IN and PCI 1265 reserves 2 sets of cam table So the ID can be O 1 pMasterArray PF64 IN Master position array of CAM table points pSlaveArray PF64 IN Slave position array of CAM table points pPointRangeArray PF64 IN Point range of CAM table point pPointSlopeArray PF64 IN Point slope of CAM table point Element count in the pMasterArray ArrayElements U32 IN pSlaveArray pPointRangeArray pPointSlopeArray array The Max Element count is 128 Return Value Error Code Comments Camming is characterized by dynamic ratio between the leading and following axis and by the phase shift The transmission ratio is described by a CamTable Camming is done with one table two dimensional describing master and slave positions together The table should be strictly monotonic rising or falling going both reverse and forward with the master PCI 1245E does not support t
55. 2003124001 Edition 1 Printed in Taiwan September 2012 PCI 1245 1265 User Manual ii Product Warranty 2 years Advantech warrants to you the original purchaser that each of its prod ucts will be free from defects in materials and workmanship for two years from the date of purchase This warranty does not apply to any products which have been repaired or altered by persons other than repair personnel authorized by Advantech or which have been subject to misuse abuse accident or improper instal lation Advantech assumes no liability under the terms of this warranty as a consequence of such events Because of Advantech s high quality control standards and rigorous testing most of our customers never need to use our repair service If an Advantech product is defective it will be repaired or replaced at no charge during the warranty period For out of warranty repairs you will be billed according to the cost of replacement materials service time and freight Consult your dealer for more details If you think you have a defective product follow these steps 1 Collect all the information about the problem encountered For example CPU speed Advantech products used other hardware and software used etc Note anything abnormal and list any onscreen messages you get when the problem occurs 2 Call your dealer and describe the problem Have your manual product and any helpful information readily available 3 If your produc
56. 2147483647 2147483647 if PPU is 1 165 Chapter 6 6 3 4 5 3 Acm AxChangePos Format U32 Acm AxChangePos HAND AxisHandle F64 NewDistance Purpose To command axis to change the end distance while axis is in point to point motion Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen NewDistance F64 IN New relative distance unit PPU Return Value Error Code Comments This function will change the end position to specified position on current ptp motion The range of Distance is 2147483647 2147483647 if PPU is 1 6 3 4 5 4 Acm AxStopDec Format U32 Acm AxStopDec HAND AxisHandle Purpose To command axis to decelerate to stop Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Return Value Error Code Comments If axis is in synchronous driving eg Slave axis in E cam E gear tangent motion this API can be used to stop synchronous relation ship PCI 1245 1265 User Manual 166 6 3 4 5 5 Acm_AxStopEmg Format U32 Acm_AxStopEmg HAND AxisHandle Purpose To command axis to stop immediately without deceleration Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Return Value Error Code Comments If axis is in synchronous driving eg Slave axis in E cam E gear tang
57. 29 GPDELAY uint ms O NA O 0 N MoveMode U16 Move mode 0 No blending 1 Blending FH F64 High velocity delay time for GPDELAY move command driving velocity Unit PPU s of group PCI 1245 1265 User Manual 228 Low velocity start velocity a F64 IN Unit PPU s of group EndPoint DataArray PF64 IN a a nt each axis N Center points Unit PPU of each axis ArrayElements PU32 IN OUT Number of array element can not be less than axis count in group or else it will be returned axis count in group Return Value Error Code Comments The group handle of every path in system buffer must be the same So if there are some unexecuted paths in system buffer and you want to add new path into it by call Acm GpAddPath the param eter GroupHandle must be the same with the first unexecuted path s group handle The current status of system path buffer can be got by call Acm GpGetPathStatus Path data in buffer will be loaded to hardware execution registers seguentially after calling Acm GpMovePath The absolute commands and relative commands can not be mixed in system path buffer except EndPath and GPDELAY or else the error will be returned The ArrayElements parameter which is element count in EndPoint DataArray parameter and CenPoint DataArray can not be less than axis count in group All of paths needed axis count a
58. 308 6 4 4 1 2 2 CFG GpSFEnable Data Type U32 R W RW PropertyID 809 Meaning Enable Disable speed forward function Value Description 0 Disabled 1 Enabled Comments It can not support S profile speed curve In this mode the speed parameter of Acm_AddPath is useless just speed setting of group is used PCI 1245E does not support this mode Speed curve using speed forward function Original Speed curve Path3 Path Path Path 309 Chapter 6 6 4 4 2 Parameter 6 4 4 2 1 Speed Pattern 6 4 4 2 1 1 PAR_GpVelLow Data Type F64 R W RW PropertyID 701 Meaning Set low velocity start velocity of this group Unit PPU s This property value must be smaller than or equal to Par_GpVelHigh The default value is the first added axis PAR_AxVelLow 6 4 4 2 1 2 PAR_GpVelHigh Data Type F64 R W RW PropertyID 702 Meaning Set high velocity driving velocity of this group Unit PPU s This property value must be smaller than first added axis CFG AxMaxVel and greater than Par GpVelLow The default value is the first added axis PAR_AxVelHigh PCI 1245 1265 User Manual 310 6 4 4 2 1 3 PAR GpAcc Data Type F64 R W RW PropertyID 703 Meaning Set acceleration of this group Unit PPU s2 This property value must be smaller than or equal to first added axis CFG AxMaxAcc The default value is the first added axis PAR_AxAcc 6 4 4 2 1 4 PAR_GpDec Data Type F64 R W
59. 32 Get available devices by Acm_GetAvailableDevs Result Acm_GetAvailableDevs m_avaDevs 0 MAX DEVICES DeviceNumber If Result lt gt SUCCESS Then MsgBox no available device in system vbOKOnly error Exit Sub End If If DeviceNumber lt gt 0 Then m_dwDevNum m_avaDevs 0 dwDeviceNum tx_DevNum Text Ox Hex m_dwDevNum Timer1 Interval 200 Else MsgBox no available device in system vbOK Only error End IfEnd Sub 109 Chapter 6 Click Open Device amp Axes the device and axes in the device will be opened The timer is enabled The combox will contain all of axes The code is as follow Private Sub btn OpenDev Click Dim Result As Long i As Long slaveDevs As Long Dim strTemp As String Dim buffLen As Long Dim AxisNumber As Long Open device Result Acm_DevOpen m_dwDevNum m DevHand If Result lt gt SUCCESS Then MsgBox Open Device Failed vbOKOnly PTP Exit Sub End If buffLen 64 Get Axis count by getting property Result Acm_GetProperty m_DevHand FT_DevAxesCount AxisPerDev buffLen If Result lt gt SUCCESS Then Acm_DevClose m_DevHand MsgBox get axis number error VbOKOnly PTP Exit Sub End If Open all of axes For AxisNumber 0 To AxisPerDev 1 Step 1 Result Acm_AxOpen m_DevHand AxisNumber m_AxisHand AxisNumber If Result lt gt SUCCESS Then MsgBox Open Axis Failed vbOKOnly PTP Exit Sub End If PCI 1245
60. 32 Acm_GetLastError HAND ObjectHandle Purpose Get device or axis or group s last error code Parameters Name Type In or Out Description Object handle This handle may be device handle from DeviceHandle HAND IN Acm_DevOpen or axis handle from Acm_AxOpen or group han dle from Acm_GpAddAxis Return Value Error Code Comments To get detail information of error code by Acm_GetErrorMessage 6 3 2 7 Acm_CheckMotionEvent Format U32 Acm_CheckMotionEvent HAND DeviceHandle PU32 AxEvtStatusArray PU32 GpEvtStatusArray U32 AxArrayEle ments U32 GpArrayElements U32 Millisecond Purpose Check axis and groups enabled motion event status Parameters Name Type In or Out Description Device handle from DeviceHandle HAND IN Kem DeyOp n 135 Chapter 6 AxEvtStatusArray PU32 Array n Returned interrupt event status of each axis n is the axis count of motion device Each array element is 32 bits data type each bit represents different event types Bite 31 40 3 2e le Or EVT_A EVT_AX EVT_AX_COM EVT_AX_ X VH _VH ST PARED MOTION_ END ART Notsupport DONE Not lDescrinti scription ned Bit n 1 Axis Motion Done event occurred Bit n 0 Event not occurred or disabled GpEvtStatusArray PU32 IN OUT Array n Returned Interrupt event status for each group n is just 1
61. 4 Path edit items include command Cmd Mode Blending No Blending movement velocity vel high initial velocity vel 10w center Center and end EndPoint Wherein there are three axes Center0 Center1 Center2 in circle interpolation by default the number of EndPoint is according to the maximum num ber of axis supported in the selected device interpolation such as in PCI 1245 the maximum number of axis supported is 4 in Direct interpolation motion so the end point will be EndPoint0 EndPoint1 EndPoint2 and EndPoint3 5 Add Insert New Row s after clicking the following dialog will be shown you can edit the number of rows to be added inserted EM Add Row Number DEAR Rows to add Click OK corresponding number of rows will be added after or inserted into the selected row 6 Delete Selected Row s delete the selected rows 7 Clear All Rows clear all lines PCI 1245 1265 User Manual 60 5 4 4 4 2 Load Path Click Load Path if group s state is Ready you can import selected Path file bin format from the Open File dialog box to the Device 5 4 4 4 3 Move Path After loading Path if the edited Path is not wrong The Path will be run one by one according to the serial number You can observe movement curve and corresponding state from Path Status Path Plot and Speed Chart 5 4 4 4 4 Move Sel Path Do continuous interpolation movement with path s selected from loaded Path file Aft
62. 4 Abs Ref 4 MP MODE5 Abs NegRef 5 MP MODE6 Lmt Ref 6 MP MODE7 AbsSearch 7 MP MODE8 LmtSearch 8 MP MODE9 AbsSearch Ref 9 MP MODE10 AbsSearch NegRef 10 MP MODE11 LmtSearch Ref 11 MP MODE12 AbsSearchReFind 12 MP MODE13 LmtSearchReFind 13 MP MODE14 AbsSearchReFind Ref 14 MP MODE15 AbsSearchReFind NegRef 15 MP MODE16 LmtSearchReFind Ref Comments About detailed information about each mode see about Acm AxHome PCI 1245 1265 User Manual 264 6 4 3 1 12 Backlash 6 4 3 1 12 1 FT AxBackLashMap Data Type U32 R W R PropertyID 321 Meaning Get the backlash feature supported by this motion axis Bits Description 0 Enabled 1 Value 2 31 Not defined Comments 265 Chapter 6 6 4 3 1 13 Compare 6 4 3 1 13 1 FT AxCompareMap Data Type R W PropertyID Meaning Get axis supported compare features Bits Description 0 Enabled 1 Logic 2 CmpSrc 3 CmpMethod 4 CmpPulseMode 5 CmpPulseWidth 6 31 Not defined Comments PCI 1245 1265 User Manual 266 6 4 3 1 14 Latch 6 4 3 1 14 1 FT AxLatchMap Data Type U32 R W R PropertyID 325 Meaning Get axis supported latch features Bits Description 0 Enabled 1 Logic 2 31 Not defined Comments 267 Chapter 6 6 4 3 1 15 Cam DO 6 4 3 1 15 1 FT AxCamDOMap Data Type R W PropertyID Meaning Get axis supported CamDO featur
63. 45 1245E 0 1 2 3 AxisHandle PHAND OUT Pails a pointer to the axis han Return Value Error Code Comments Before any axis operation this API should be called firstly The physical axis number in PCI 1265 0 1 2 3 4 5 The physical axis number in PCI 1245 0 1 2 3 157 Chapter 6 6 3 4 1 2 Acm AxClose Format U32 Acm AxClose PHAND AxisHandle Purpose Close axis which has been opened Parameters Name Type In or Out Description AxisHandle PHAND IN Pointer to the axis handle Return Value Error Code Comments After calling this API the axis handle cannot be used again 6 3 4 1 3 Acm AxResetError Format U32 Acm AxResetError HAND AxisHandle Purpose Reset the axis state If the axis is in ErrorStop state the state will be changed to Ready after calling this function Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Return Value Error Code Comments PCI 1245 1265 User Manual 158 6 3 4 2 Motion IO 6 3 4 2 1 Acm AxSetSvOn Format U32 Acm AxSetSvOn HAND AxisHandle U32 OnOff Purpose Set servo Driver ON or OFF Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Setting the action of SVON signal OnOff U32 IN 0 Off 1 On Return Value Error Code Comments 159 Chapter 6 6 3 4 2 2 Acm Ax
64. 5 1245E and 3 groups in PCI 1265 The same axis can not be added in different groups The master axis in group is the minimal PhysicalID one The parameters of group are initialized when the first axis is added Such as CFG GpPPU PAR GpVelLow PAR GpVelHigh PAR GpAcc PAR GPDec and PAR GpJerk 211 Chapter 6 6 3 5 1 2 Acm_GpRemAxis Format U32 Acm_GpRemAxis HAND GpHandle HAND AxHandle Purpose Remove an axis from the specified group Parameters Name Type In or Out Description GpHandle HAND IN Group handle from Acm_GpAddaxis AxHandle HAND IN Axis handle from Acm AxOpen Return Value Error Code Comments After Acm_GpRemAxis is called and no axis is in group the GpHandle can still be used You can use this group handle to add other axes But if you have called Acm GpClose to close this group handle the group handle can t be used again 6 3 5 1 3 Acm GpClose Format U32 Acm GpClose PHAND pGroupHandle Purpose Remove all axis in the group and close the group handle Parameters Name Type In or Out Description GpHandle PHAND IN Point to group handle to be closed Return Value Error Code Comments If the group number is greater than maximal group number of device new group can not be created At the time you must close one existing group if you want to create new group PCI 1245 1265 User Manual 212 6 3 5 1 4
65. 5 3 2 Motion Params Set After finishing the parameter setting for operation click Set Parameters to save the values to device 41 Chapter 5 5 3 2 1 Basic Parameter Setup It s mainly about the settings of distance Distance in point to point movement initial velocity VelLow movement velocity VelHigh acceleration Acc and deceleration Dec in single axis motion move ment distance New Pos and velocity New Vel in superimposed movement Move Impose 5 3 2 2 Speed Pattern Set the speed pattern of movement which can be trapezoidal pattern Tra pezi or S type S curve 5 3 2 3 View Set Range Click View Set Range to check or set the maximum velocity accelera tion and deceleration The dialog will show as follow E Max Speed Paramters Setup E a Max Velocity 4000000 00 Range 0 5000000 S Max Acceleration 50000000 00 Range 1 500000000 EUS Max Deceleration 50000000 00 Range 1 500000000 PRU S 2 Note VelHigh in Single axis Motion can not be greater than the Max Velocity Acc can not be greater than the Max Acceleration and Dec can not be greater than the Max Deceleration 5 3 2 4 Move Mode Select Move Mode There are three move modes in single axis motion P to P point to point motion Continue constant speed continuous motion Homing homing motion PCI 1245 1265 User Manual 42 5 3 2 5 Speed Chart By clicking Speed Chart you can see the velocity curve ja Ax
66. 5 Utility 5 1 Introduction The utility is developed with Net control library according to Common Motion API architecture The Net control library includes control Device Axis Group and component AxisSetup View AxisScopeView AxisDiag View GroupPathView and GroupSpeedView The new utility is consistent and compatible with old AdvMotionUtility The new utility supports PCI 1220U PCI 1240U PCI 1245 1245E 1265 series products 5 1 1 Contents Mainly according to the order of operations the following interfaces will be introduced 1 2 Main Form includes Main Menu Toolbar and Device Tree Single axis Motion focuses on the I O and attribute configuration and status and movement operations P to P Continue Homing of single axis Multi axis Motion focuses on multi axis Group interpolation operation including the basic interpolation Line Arc Helix con tinuous interpolation Path and tangent follow motion Synchronized Motion focuses on synchronized motion operations including electronic CAM E CAM electronic gear E Gear and gantry Gantry movement Digital Input displays device s input status Digital Output displays device s output status Analog Input displays device s analog input status PCI 1245 1265 User Manual 32 5 2 Main Form AD ANTECH AD ANTECH AD ANTECH Enabling an Intelligent Planet Enabling an Intelligent Planet Enabling an Intellige AD ANTECH AD ANTECH AD ANTECH
67. 51 SlaveDeviceNotMatch 0x80000052 SlaveDeviceError 0x80000053 SlaveDeviceUnknow 0x80000054 FunctionNotSupport 0x80000055 InvalidPhysicalAxis 0x80000056 InvalidVelocity 0x80000057 InvalidAxPulselnLogic 0x80000058 InvalidAxPulselnSource 0x80000059 InvalidAxErcLogic 0x8000005a InvalidAxErcOnTime 0x8000005b InvalidAxErcOffTime 0x8000005c InvalidAxErcEnableMode 0x8000005d InvalidAxSdEnable 0x8000005e InvalidAxSdLogic 0x8000005f InvalidAxSdReact PCI 1245 1265 User Manual 316 0x80000060 InvalidAxSdLatch 0x80000061 InvalidAxHomeResetEnable 0x80000062 InvalidAxBacklashEnable 0x80000063 InvalidAxBacklashPulses 0x80000064 InvalidAxVibrationEnable 0x80000065 InvalidAxVibrationRevTime 0x80000066 InvalidAxVibrationFwdTime 0x80000067 InvalidAxAlarmReact 0x80000068 InvalidAxLatchLogic 0x80000069 InvalidFwMemoryMode 0x8000006a InvalidConfigFile 0x8000006b InvalidAxEnEvtArraySize 0x8000006c InvalidAxEnEvtArray 0x8000006d InvalidGpEnEvtArraySize 0x8000006e InvalidGpEnEvtArray 0x8000006f InvalidintervalData 0x80000070 InvalidEndPosition 0x8000007 1 InvalidAxisSelect 0x80000072 InvalidTableSize 0x80000073 InvalidGpHandle 0x80000074 InvalidCmpSource 0x80000075 InvalidCmpMethod 0x80000076 InvalidCmpPulseMode 0x80000077 InvalidCmpPulseLogic 0x80000078 InvalidCmpPulseWidth 0x80000079 InvalidPathFunctionID 0x8000007a SysBufAllocateFailed
68. 52 the wait axis will be started simul taneous motion when specified axis s motion is stoped Every axis needs to specify an axis but can not be itself And ervery simulta neous axis needs to call Acm AxSimStop to stop motion If the value is 0 The simultaneous motion is disabled You can get axis supported simultaneous mode from FT AxSimStartSourceMap 6 4 3 3 Parameter 6 4 3 3 1 Speed Pattern 6 4 3 3 1 1 PAR AxVelLow Data Type F64 R W RW PropertyID 401 Meaning Set get low velocity start velocity of this axis Unit PPU S Comments This property value must be smaller than or equal to PAR_AxVelHigh The default value is 2000 PPU PCI 1245 1265 User Manual 302 6 4 3 3 1 2 PAR_AxVelHigh Data Type F64 R W RW PropertyID 402 Meaning Set get high velocity driving velocity of this axis Unit PPU s Comments This property value must be smaller than CFG_AxMaxVel and greater than PAR AxVelLow The default value is 8000 6 4 3 3 1 3 PAR AxAcc Data Type F64 R W RW PropertyID 403 Meaning Set get acceleration of this axis Unit PPU s2 Comments This property value must be smaller than or equal to CFG AxMaxAcc The default value is 10000 303 Chapter 6 6 4 3 3 1 4 PAR AxDec Data Type F64 R W RW PropertyID 404 Meaning Set get deceleration of this axis Unit PPU s Comments This property value must be smaller than or equal to CFG AxMaxDec The default value
69. 5E 1265 the value is 0 6 4 3 1 9 Hardware Limit 6 4 3 1 9 1 FT AxEIMap Data Type U32 R W R PropertyID 317 Meaning Get the hardware end limit EL features supported by this motion axis Bits Description 0 Enabled 1 Logic 2 React 3 31 Not defined Comments 261 Chapter 6 6 4 3 1 10 Software Limit 6 4 3 1 10 1 FT AxSwMelMap Data Type U32 R W R PropertyID 318 Meaning Get the software minus limit features supported by the motion axis Bits Description 0 Enabled 1 React 2 Value 3 31 Not defined Comments 6 4 3 1 10 2 FT_AxSwPelMap Data Type U32 R W R PropertyID 319 Meaning Get the software plus limit features supported by the motion axis Bits Description 0 Enabled 1 React 2 Value 3 31 Not defined Comments PCI 1245 1265 User Manual 262 6 4 3 1 11 Home 6 4 3 1 11 1 FT AxHomeMap Data Type R W PropertyID Meaning Get the home features supported by this motion axis Bits Description 0 Home mode 1 ORG logic 2 EZ logic 3 Reset Enable 4 31 Not defined Comments 6 4 3 1 11 2 FT_AxHomeModeMap Data Type R W PropertyID 263 Chapter 6 Meaning The supported Home return modes Bits Description 0 MP MODE1 Abs 1 MP MODE2 Lmt 2 MP MODE3 Ref 3 MP MODE
70. 6 ChannelID PU32 Period PU32 AxisNo PU32 Method PU32 ChanType PU32 Count Purpose Get MotionDAO related values of a specified ChannellD Parameters In or Name Type Out Description DeviceHandle HAND IN Device Handle Specify to a MDaq Channel to get the chennel RES configurations The range is 0 3 Get interval time between each Period PU32 OUT data The range is 0 255 and the unit is ms Get related informationof an axis AxisNo PU32 OUT The range is 0 3 PCI1245 45E 0 5 PCI1265 Methods to trigger MDag Disable Software trigger DI trigger Axis O starts to trigger Axis 1 starts to trigger Axis 2 starts to trigger Axis 3 starts to trigger Axis 4 starts to trigger Axis 5 starts to trigger Axis 6 starts to trigger 10 Axis 7 starts to trigger 11 Axis 8 starts to trigger 12 Axis 9 starts to trigger 13 Axis 10 starts to trigger 14 Axis 11 starts to trigger Method PU32 OUT O 0 4 O O1 VN 147 Chapter 6 Get Channel Type 0 Command Position 1 Actual Position ChanType PU32 OUT 2 Lag Position Difference value between Command Position and Actual Position 3 Command Velocity Get the max count The range is 0 Count PU32 OUT 2000 Return Value Error Code Comments 6 3 2 14 Acm DevMDagStart Format U32 Acm DevMDagStart HAND DeviceHan
71. 71 Chapter 6 6 4 3 1 18 Simultaneity 6 4 3 1 18 1 FT AxSimStartSourceMap Data Type U32 R W R PropertyID 331 Meaning The Mode of simultaneous starting that axis supported Bits Description 0 Start Simultaneous Starting on signal from STA Pin on device Default 1 7 Not defined 8 Start Simultaneous Starting with axis O s compare signal 9 Start Simultaneous Starting with axis 1 s compare signal 10 Start Simultaneous Starting with axis 2 s compare signal 11 Start Simultaneous Starting with axis 3 s compare signal 12 Start Simultaneous Starting with axis 4 s compare signal 13 Start Simultaneous Starting with axis 5 s compare signal 14 15 Not defined 16 Start Simultaneous Starting when axis Ois stopped 17 Start Simultaneous Starting when axis 1 is stopped 18 Start Simultaneous Starting when axis 2 is stopped 19 Start Simultaneous Starting when axis 3 is stopped 20 Start Simultaneous Starting when axis 4 is stopped 21 Start Simultaneous Starting when axis 5 is stopped 22 31 Not defined Comments Get axis supported simultaneous starting mode See about CFG AxSimStartSource PCI 1245 1265 User Manual 272 6 4 3 2 Config 6 4 3 2 1 System 6 4 3 2 1 1 CFG_AxPPU Data Type U32 R W RW PropertyID 551 Meaning Pulse per unit PPU a virtual unit This property value must be greater than 0 This property value s change will
72. Acm_GpAddAxis Pointer to path handle from PathHandle PHAND IN Acm GpLoadPath Return Value Error Code Comments 6 3 5 5 5 Acm_GpMovePath Format U32 Acm_GpMovePath HAND GroupHandle HAND PathHan dle Purpose Start continuous interpolation motion Path Parameters Name Type In or Out Description GpHandle HAND IN Group handle from Acm_GpAddAxis Pointer to path handle from PathHandle PHAND IN Acm_GpLoadPath Return Value Error Code Comments If the PathHandle is returned by Acm_GpLoadPath the path data will be passed to system path buffer first then driver start path motion If the PathHandle is NULL the path data in system path buffer will be executed directly 6 3 5 5 6 Acm_GpGetPathStatus 235 Chapter 6 Format U32 Acm_GpGetPathStatus HAND GroupHandle PU32 pCurIndex PU32 pCurCmdFunc PU32 pRemainCount PU32 pFreeSpaceCount Purpose Get current status of path buffer Parameters Name Type In or Out Description Group handle from GpHandle HAND IN Acm_GpAddAxis Return current index of path pCurlndex PU32 OUT data in path buffer PCI 1245 1265 User Manual 236 Return current command func tion in executing 0 EndPath Abs2DLine Rel2DLine Abs2DArcCW Abs2DArcCCW Rel2DArcCWw Rel2DArcCCw Abs3DLine Rel3DLine Abs4DLine not support 10 Rel4DLin
73. Acm_GpResetError Format U32 Acm_GpResetError HAND GroupHandle Purpose Reset group states Parameters Name Type In or Out Description GpHandle HAND IN Group handle from Acm_GpAddAxis Return Value Error Code Comments If the group is in STA GP ERROR STOP state the state will be changed to STA_GP_READY after calling this function 6 3 5 2 Motion Status 6 3 5 2 1 Acm_GpGetState Format U32 Acm_GpGetState HAND GroupHandle PU16 pState Purpose Get the group s current state Parameters Name Type In or Out Description GpHandle HAND IN Group handle from Acm_GpAddAxis Group states 0 STA_GP_DISABLE 1 STA_GP_READY 2 STA_GP_STOPPING 3 STA_GP_ERROR_STOP 4 STA_GP_MOTION 5 STA GP AX MOTION not support 6 STA GP MOTION PATH pState PU16 OUT Return Value Error Code 213 Chapter 6 Comments If an axis of group is implementing command of single axis motion the group s state will be unchanged 6 3 5 3 MotionStop 6 3 5 3 1 Acm GpStopDec Format U32 Acm GpStopDec HAND GroupHandle Purpose Command axis in this group to decelerate to stop Parameters Name Type In or Out Description GpHandle HAND IN Group handle from Acm_GpAddAxis Return Value Error Code Comments 6 3 5 3 2 Acm_GpStopEmg Format U32 Acm_GpStopEmg HAND GroupHandle Purpose Command axis in this group to stop i
74. Alarm 6 4 3 1 5 1 FT_AxAlmMap Data Type U32 R W R PropertyID 310 Meaning Get the alarm features supported by this motion axis Bits Description 0 Enabled 1 Logic 2 React 3 31 Not defined Comments 6 4 3 1 6 In Position 6 4 3 1 6 1 FT_AxinpMap Data Type U32 R W R PropertyID 311 Meaning Get the In Position features supported by this motion axis Bits Description 0 Mode 1 Logic 2 31 Not defined Comments 259 Chapter 6 6 4 3 1 7 ERC 6 4 3 1 7 1 FT_AxErcMap Data Type U32 R W R PropertyID 312 Meaning Get the ERC features supported by this motion axis Bits Description 0 Enable mode 1 Logic 2 On time not support 3 Off time not support 4 31 Not defined Comments 6 4 3 1 7 2 FT_AxErcEnableModeMap Data Type U32 R W R PropertyID 313 Meaning Get axis supported ERC mode Bits Description 0 ERC Output when home finish 1 ERC Output when EMG ALM EL active 2 ERC Output when home finish or EMG ALM EL active 3 31 Not defined Comments PCI 1245 1265 User Manual 260 6 4 3 1 8 SD 6 4 3 1 8 1 FT AxSdMap Data Type U32 R W R PropertyID 316 Meaning Get the Slow Down SD features supported by this motion axis Bits Description 0 Enabled 1 Logic 2 React 3 31 Not defined Comments In this PCI 1245 124
75. Array PF64 EndArray PU32 pArrayElements I16 Direction Purpose Command group to move absolute spiral Parameters Name Type In or Out Description Group handle from GpHandle HAND IN Acm GpAddAxis CenterArray PF64 IN Absolute distance of center point EndArray PF64 IN Absolute distance of end point Element count in the array This count must be equal to the axis count in this group or else it will be returned axis count in group pArrayElements PU32 IN OUT Direction Direction 116 IN 0 DIR_CW clockwise 1 DIR_CCW counterclockwise Return Value 223 Chapter 6 Error Code Comments This command just supports 3 axes The elments in CenterArray and EndArray must be in order with PhysicalID of axis User can chose two axes in group to move arc interpolation by property PAR_GpRefPlane the other axes decides the height of helix The unit of distance in CenterArray and EndArray is PPU of each axis in group For example Group Y Z U CenterArray Y Z U EndArray Y Z U If PAR GpRefPlane 1 YZ Plane Z axis and U axis will move arc interpolation and Y value in EndArray is the height of helix The figure of helix is as follow 3 axis spiral interpolation Center point specification 3 axis spiral interpolation Center point specification CW direction Z axis movement CCW direction Z axis movement Z axis direction 4 Z axis directio
76. AxBacklashPulses Data Type U32 R W RW PropertyID 594 Meaning Set get the compensation pulse numbers Uint pulse Comments This value should be between 0 and 4095 Whenever direction change occurs the axis outputs backlash corrective pulses before sending commands In PCI 1245 1245E 1265 the default value is 0 6 4 3 2 11 3 CFG AxBacklashVel Data Type U32 R W RW PropertyID 630 Meaning Set get the velocity of corrective backlash Uint pulse s Comments In PCI 1245 1245E 1265 the default value is 0 289 Chapter 6 6 4 3 2 12 Compare 6 4 3 2 12 1 CFG AxCmpSrc Data Type U32 R W RW PropertyID 603 Meaning Get set compare source Value Description 0 Command Position 1 Actual position Comments In PCI 1245 1245E 1265 the default value is 0 6 4 3 2 12 2 CFG_AxCmpMethod Data Type U32 R W RW PropertyID 604 Meaning Set or get compare method Value Description 0 gt Position Counter 1 lt Position Counter 2 Counter Directionless Not support Comments In PCI 1245 1245E 1265 the default value is 0 PCI 1245 1265 User Manual 290 6 4 3 2 12 3 CFG_AxCmpPulseLogic Data Type U32 R W RW PropertyID 606 Meaning Set get the active logical of compare signal Value Description 0 Low active 1 High active Comments In PCI 1245 1245E 1265 the default value is 0 6 4 3 2 12 4 CFG_AxCmpPulseW
77. CI 1245 1245E 1265 Series DSP Based SoftMotion PCI Con troller ADVMOT dil and relevant driver files are needed Be sure to install the driver before development Create a C project as follows 1 Create a new project Select Microsoft Visual Studio 2005 from the Microsoft Visual Studio 2005 in Start Menu as follows e Microsoft SOL Server 2005 gt E Microsoft Visual Studio 6 0 gt e Visual Studio Remote Tools E Visual Studio Tools Ge Microsoft Visual Studio 2005 E Microsoft Web Publishing gt e PM Designer gt SourceGear Vault gt Microsoft Visual Studio 2005 Microsoft Visual Studio 2005 Document The development environment of Microsoft Visual Studio 2005 is as follows EJSsluvion Paplarar Case View Tropertion ca S PARER rri 7 me At skett x due 2 SET DN Grind telts 1 Gi Spb Kuin mer 113 Chapter 6 To create a new project Select File gt New gt Project of Main menu as follows File Edit View VAssistX Tools Window Community Help lt j Project Ctrl Shi ft N Open gt D Web Site Close TD File Ctrl N Project From Existing Code In the new form the default language is Visual C select Win dows Application template Configure the Name Location and Solution Name Same as Name by default and then click OK Hew Project Project types Templates Visual C V
78. Controls 5 isp Properties 115 Chapter 6 d Add using Advantech Motion under original referred namespaces as follows Busing System using System Collections Generic i using System ComponentModel i using System Data i using System Drawing i using System Text using System Windows Forms using Advantech Motion 1 2 3 4 5 6 7 8 ai 3 Coding a UI design Double click Form1 cs or right click to select View Designer on Form1 cs then the UI edit interface will appear as follows od Solution Test Advantech Motion 1 proj o A Test Advantech Motion Sd Properties H sij References dl Open Open With El View Code A View Class Diagram Exclude From Project PCI 1245 1265 User Manual 116 You can drag any Control Component you need from the left Tool box to edit user interface as follows Toolbox v 1 X 7 Forml csk Foral cs Design Start Page All Tindows Foras n Ex S BackgroundWorker 2 BindingNavi gator ty BindingSource Button CheckBox BS CheckedListBox Ge ColorDialog A ComboBox NE ContextMenuStrip 1 DataGridView 29 DataSet T DateTimePicker 8 DirectoryEntry A DirectorySearcher For detail refer to Microsoft Visual C user manual b Coding Right click on Form1 cs to select View Code then you enter the coding interface you can code in relevant method event of control Component For detai
79. DiChannel U16 IN DI channel BitData PU8 OUT Returned bit data O or 1 Return Value Error Code Comments PCI 1245 and PCI 1245E does not support DI In PCI 1265 there are 8 DIs so the DiChannel should be 0 7 6 3 3 1 3 Acm_DaqDoSetByte Format U32 Acm DagDoSetByte HAND DeviceHandle U16 DoPort U8 ByteData Purpose Set value to specified DO port Parameters Name Type In or Out Description DeviceHandle HAND IN Device handle from Acm_DevOpen DoPort U16 IN DO port ByteData U8 IN Value to be set Return Value Error Code Comments PC 1245 and PCI 1245E does not support DO In PCI 1265 there are 8 DOs so the DoPort should be 0 PCI 1245 1265 User Manual 152 6 3 3 1 4 Acm_DaqDoSetBit Format U32 Acm_DaqDoSetBit HAND DeviceHandle U16 DoChannel U8 BitData Purpose Set the value to specified DO channel Parameters Name Type In or Out Description DeviceHandle HAND IN Device handle from Acm_DevOpen DoChannel U16 IN DO channel BitData U8 IN Value to be set 0 or 1 Return Value Error Code Comments PCI 1245 and PCI 1245E does not support DO In PCI 1265 there are 8 DOs so the DoChannel should be 0 7 6 3 3 1 5 Acm_DaqDoGetByte Format U32 Acm_DaqDoGetByte HAND DeviceHandle U16 DoPort PU8 ByteData Purpose Get the byte data of specified DO port Parameters Name Type In or
80. Emergency Stop input Input Signals Max Input Frequency 4 kHz Low 3 Vpc Max Input Voltage 10 Vic min High 30 Vpc max Input Resistance 3200 Q 2 500 Vpc photo coupler isola Protect ines tion and RC filtering Output Signal DO General Output Voltage Open Collector 5 40 Voc Purpose Output Sink Current 100 mA max channel Signals 2 500 Vpc photo coupler isola tion PCI 1245 1265 User Manual 328 B 3 Analog Input Channel Count 2 Resolution 12 bit Sampling Frequency gt 100 K Zero Offset 30 ppm C Gain Offset 30 ppm C Precision 10 V 0 1 of FSR DC Precision DNLE 5LSB of FSR INLE 5LSB of FSR O of Max HBV Input Impedance gt 2 MQ B 4 Input Pulse for Encoder Interface Encoder Cycle x1 x2 x4 A B phase only Input Signal EC and EZ Encoder Pulse Quadrature A B phase or Up Down x1 x2 x4 A Input Type B phase only Counts per Max Input 2 5 MHz Frequency Low V4 V lt 1V Input Voltage V V gt 3 5V High V V lt 15V Protection 2 500 Vpc Isolation Protection 329 Appendix B B 5 General I O Connector Type 100 pin SCSI II female Dimensions 175 x 100 mm 6 9 x 3 9 Power Consumption Typical 5 V 850 mA Max 5VOIA External Power Voltage DC 12 24V Temperature 0 60 C 32 140 F Operating refer to IEC 60068 2 1 2 Stora
81. Enabling an Intelligent Planet Enabling an Intelligent Planet Enabling an Intellige AD ANTECH AD ANTECH AD ANTECH Enabling an Intelligent Planet Enabling an Intelligent Planet Enabling an Intelliges AD ANTECH AD ANTECH AD ANTECH Enabling an Intelligent Planet Enabling an Intelligent Planet Enabling an Intelliges AD ANTECH AD ANTECH AD ANTECH 5 2 1 Main Form 5 2 1 1 File rite ESS Exit Click Exit to terminate this process 5 2 1 2 Language Eu CN View Help v English Simplified Chinese Traditional Chinese Through this menu language in Utility can be switched This utility sup ports three languages English simplified Chinese and traditional Chi nese After you select a language the corresponding menu item will be checked When you close the Utility the language you selected will be saved to register When opened next time the utility s language will be last used one 33 Chapter 5 5 2 1 3 View VEE Help v Toolbar v Status Bar v Device Tree This menu allow users to display hide the toolbar status bar and device tree If Toolbar Status Bar Device Tree is visible the corresponding menu item will be checked 5 2 1 4 Help About Check up to date on the web The About menu item supports the copyright notice of the driver and utility for device Click Check up to date on the web you can link to company s website to check whether the firmware driver and utility are the latest ones by comparing version i
82. Explanations The meanings of a b c and d in the below figures are a The velocity will decrease when trapezoid PTPmotion meets ORG EL signal b Trapezoid PTP motion moves with HomeCrossDistance as distance until the motion finishes ORG EL signal is in effective Trapezoid PTP take a uniform motion at VelLow It will stop immediately when it meets ORG EL signal d Trapezoid PTP motion moves at VelLow with HomeCrossDistance as distance unit until the motion finishes ORG EL signal is in effective e This solid black dot means the ending point of a motion o Note Features of trapezoid PTP motion When start the velocity will increase from VelLow to VelHigh with Acc If distance is long enough when end the velocity will decrease from VelHigh to VelLow with Dec 1 MODEI Abs Move Dir gt touch ORG gt Stop Only according to origin eguipment eg sensor to home The object moves continuously until the origin signal occurring For example Dir Positive Org Logic CFG AxOrgLogic Active High EL Hard Limit switch Logic CFG AxElLogic Active High PCI 1245 1265 User Manual 174 Abs ORG z ORG STATUS1 OFF On OFF ORG EL ORG STATUS OFF On f OFF OFF Re OFF e STATUS If the object is out of the field of ORG signal when home command is written the object will move until ORG signal occurring e STATUS2 If the object is in the field of ORG signal or the direc tion is opposit
83. F On OFF On OFF On orF EL EZ EL OFF On OFF On OFF On OFF STATUS2 e STATUS1 When object is not in field of limit signal Firstly the object will move until EL signal occurring then reverse direction and continue to move until EZ signal occurring e STATUS2 When object is in the field of limit signal Firstly the object reserves direction and moves the EL signal disappears then reverses direction again and continues to move the EL signal occurs again reverses direction again and moves At last motion is stopped when EZ signal occurring PCI 1245 1265 User Manual 184 12 MODEI2 AbsSearchRefind Search ORG Refind ORG Move Dir gt Search ORG gt Stop gt Move Dir gt Leave ORG FL gt Stop gt Move Dir gt Refind ORG FL gt Stop Firstly axis moves in the way of MODE7_AbsSearch and then moves uniformly in opposite direction at VelLow until ORG signal disappears Then axis reverses the direction again and continues to move uniformly at VelLow until ORG singal occurs For example Dir Positive ORG Logic Active High Limit Logic Active High AbsSearchReFind EL ORG EL STATUS1 OFF On _OFF On OFF On OFF EL ORG Elti OFF On OFF On OFF statusz 2EE On n a EL ORG e OFF On OFF On OFF On OFF STATUS3 AbsSearch process has three situations For detailed information see about descriptions in MODE7 AbsSearch 185 Chapter 6 13 MODEI3 LmtSearchRefind S
84. FG AxExtMasterSrc FG AxExtSelEnable FG AxExtPulselnMode C C CFG AxExtPulseNum el C FG AxExtPresetNum CAM DO FT AxCamDOMap FG AxCamDOFEnable FG AxCamDOL oLimit FG AxCamDOHiLimit FG AxCamDOCmpSrc FG AxCamDOLogic Module CI C Cl C Cc C FG AxModuleRange Simultaneity FT AxSimStartSourceMap CFG_AxSimStartSource Group System PAR_GpGrouplD CFG_GpPPU CFG GpAxeslnGroup Application CFG GpSFEnable CFG GpBldTime PAR GpRefPlane x x x Speed Pattern PAR GpVelLow PAR GpVelHigh PAR GpAcc PAR GpDec PAR GpJerk 99 Chapter 6 6 2 6 Creating a New Application For creating a new application under PCI 1245 1245E 1265 user ought to install Common Motion Examples there are many examples devel oped in different language in folder Advantech Motion Common Exam ples user can follow these examples to develop a new application After installing CommonMotion examples user can find two folders Include and Public in folder Advantech Motion Common the files in Public folder are supplied for user to create applications in different lan guages the relationship between files and developing language is as fig ure 6 1 6 2 6 1 Creating a New VC Console Application For creating a new console application the procedure is as follow 1 Click File New from the main menu
85. GetMotionlO Format U32 Acm AxGetMotionIO HAND AxisHandle PU32 Status Purpose Get the motion I O status of the axis Parameters Name Type in or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Status PU32 OUT Bit Description 0 RDY1 RDY pin input 1 ALM Alarm Signal input 2 LMT P Limit Switch 3 LMT N Limit Switch 4 0RG Origin Switch 5 DIR DIR output 6 EMG Emergency signal input 7 PCS PCS signal input not sup port in PCI 1245 1245E 1265 8 ERC Output deflection counter clear signal to a servomotor driver OUT7 9 EZ Index signal 10 CLR ext input to Clear postion counter not support in PCI 1245 1245E 1265 11 LTC Latch signal input 12 SD Slow Down signal input not support in PCI 1245 1245E 1265 13 INP In Position signal input 14 SVON Servo ON OUT6 15 ALRM Alarm Reset output sta tus 16 SLMT P Software Limit 17 SLMT N Software Limit 18 TRIG Compare signal OUT5 19 CAMDO position window do OUT4 Return Value Error Code Comments PCI 1245 1265 User Manual 160 6 3 4 3 Motion Status 6 3 4 3 1 Acm AxGetMotionStatus Format U32 Acm AxGetMotionStatus HAND AxisHandle PU32 Status Purpose Get current motions status of the axis Parameters Name Type In or Out Description AxisHandle HAND IN Axi
86. GpEvtStatus is 32 bits data type array and currently the values of n can only be 1 Bite Data 31 ne de Ov GpEnable EVT_GPn_ EVT_GP1_ EVT_GPO_ EvtArray MOTION MOTION_ MOTION_ 0 DONE DONE DONE GpEnable Description Evearrayl EVT_GPn_ EVT_GP1_ EVT_GPO_ 1 VH_START VH_START VH_START GpEnable EvtArrayl 2 EVT GPn EVT GP1 EVT_GPO_ VH END VH END VH END Bit n 1 Group Motion Done event occurred Bit n O Event not occurred or dis abled Note EVT GPn MOTION DONE n is GrouplD It can be get form PAR GpGrouplD prop erty AxArrayElements U32 Number of AxEvtStatusArray elements GpArrayElements U32 Number of GpEvtStatusArray elements It should be 1 Millisecond U32 Specify the time out value in millisecond for each checking PCI 1245 1265 User Manual 136 Return Value Error Code Comments If you want to get event status of axis or groups you should enable these events by calling Acm_EnableMotionEvent User should create a new thread to check event status 6 3 2 8 Acm_EnableMotionEvent Format U32 Acm_EnableMotionEvent HAND DeviceHandle PU32 AxEnableEvtArray PU32 GpEnableEvtArray U32 AxArrayEle ments U32 GpArrayElements Purpose Enable motion event Parameters Name Type In or Out Description DeviceHandle HAND Device handle from Acm_DevOpen
87. Library Database Starter Kits Other Languages B Visual Basic Windows amp Smart Device MConsole Application Geb Control Library E Empty Project By Templates Qel indows Control Library Batindows Service Crystal Reports Application Database Starter Kits E Visual J Visual CH Other Project Types Search Online Templates A project for creating an ARTE with a Windows user interface Name Test Advantech Motion v Create directory for solution Daaa to Source Control Location IF c Projects Solution Name Test Advantech Motion 121 Chapter 6 2 Add relevant dil a Click References on the top right corner of development envi ronment as follows od Solution Test Advantech Motion VB 1 p 58 Test Advantech Motion YB Ga M 2 Build E F Rebuild Clean Publish Add Add Reference Add Web Reference b Click Browse of the Add Reference dialog box Select Adv MotAPI dll in the Public file folder from search path then click OK as follows Add Reference NET COM Proiects Browse Recent SHA O oe Public _sebak S ADVNOT a11 EY AdvMot APT dll KZAM AdvitotAPT dll x MIKE D Component Files dll t1b olb ocx exe man v PCI 1245 1265 User Manual 122 c Right click on the Edit interface select View Code to enter the program source code compilation interface as fo
88. Mo tAPI dll ADVMOT bas and ADVMOT lib are created upon ADV MOT dll for user developing application easily AdvMotAPI dll is used for C application and VB net application which includes Utility C examples and VB net example ADVMOT bas is used to develop VB application ADVMOT lib is used to develop VC application 83 Chapter 6 6 2 2 Flow Charts 6 2 2 1 Basic Flow Figure 6 2 Basic Operation Flow Chart PCI 1245 1265 User Manual 84 6 2 2 2 Single Axis Flow Sinle Axis Motion Operation Acm Reset Opcom N f Configuration x panna Nee o e e j vin ee S Position Ser only Velooty Acm_AxChanpe Figure 6 3 Single Axis Operation Flow Chart 85 Chapter 6 6 2 2 3 Multiple Axis Flow Chart Multi Axes Motion Operation Acm_Reset Optional Configuration Optional I Acm_GpMoveLineRel Acm GpMoveArcRel Acm_GpMoveDirectRel Acm GpMoveLineAbs Acm_GpMoveArcAbs Acm_GpMoveDirectAbs Acm_GpStopDec Acm_GpStopEmg Figure 6 4 Multiple Axis Operation Flow Chart PCI 1245 1265 User Manual 86 6 2 2 4 E cam Flow Chart LL r Acm Reset 1Op enal Rs Ceatgurmen Ope enal Edit Cass table iby Lubty or Other Tosti Aim DevDownlosdCAMTahle Am DevLoadCAMTabkeFile Slave Axte des Syocheoaous driving Figure 6 5 Cam Operation Flow Chart 87 Chapter 6 6 2 2 5 E Gear Gantry Flow Chart Gear Gantry Operation D Acm R
89. OFF STATUS2 OFFJ On OFF On OFF On OFF On OFF b EL ORG EZ El OFF On OFF On oFF OFF On OFF status3 OFA On e STATUS If the object is out of the field of EZ signal and ORG signal when home command is written firstly the object will move until ORG signal occurring then continue to move until EZ signal occurring e STATUS2 If the object is in the field of ORG signal the home command is written Firstly the object reserves direction and moves the ORG signal disappears then reverses direction again and continues to move the ORG signal occurs again At last motion is stopped when EZ signal occurring e STATUS3 If there is no ORG signal occurring EL signal hap pens before ORG signal the object reverses direction when EL signal happens and continues to move and then the ORG signal from happening to disappearing Reverses direction again contin ues to move the ORG signal will happen and disappear again At last motion is stopped when EZ signal occurring PCI 1245 1265 User Manual 182 10 MODEIO AbsSearch NegRef Search ORG NegEZ Move Dir gt Search ORG gt Stop gt Move Dir gt touch EZ gt Stop Firstly object moves in the way of MODE7 AbsSearch and then moves in opposite direction until EZ signal occurring For example Dir Positive Limit logic Active High ORG logic Active High AbsSearch NegEZ EL EZ ORG EL STATUS1 OFF On OFF On OFF jon OFF On OFF a gt x
90. PValue 0x80000022 InvalidAxSLmtMEn 0x80000023 InvalidAxSLmtMReact 0x80000024 InvalidAxSLmtMValue 0x80000025 InvalidAxOrgLogic 0x80000026 InvalidAxOrgEnable 0x80000027 InvalidAxEzLogic 0x80000028 InvalidAxEzEnable 0x80000029 InvalidAxEzCount 0x8000002a InvalidAxState 0x8000002b InvalidAxInEnable 0x8000002c InvalidAxSvOnOff 0x8000002d InvalidAxDistance 0x8000002e InvalidAxPosition 0x8000002f InvalidAxHomeModeKw 0x80000030 InvalidAxCntlnGp 0x80000031 AxInGpNotFound 0x80000032 AxislnOtherGp 0x80000033 AxCannotlntoGp 0x80000034 GplnDevNotFound 0x80000035 InvalidGpCfgVel 0x80000036 InvalidGpCfgAcc 0x80000037 InvalidGpCfgDec 0x80000038 InvalidGpCfgJerk 0x80000039 InvalidGpParVelLow 0x8000003a InvalidGpParVelHigh 0x8000003b InvalidGpParAcc 0x8000003c InvalidGpParDec 0x8000003d InvalidGpParJerk 0x8000003e JerkNotSupport 315 Chapter 6 0x8000003f ThreeAxNotSupport 0x80000040 DevlpoNotFinished 0x80000041 InvalidGpState 0x80000042 OpenFileFailed 0x80000043 InvalidPathCnt 0x80000044 InvalidPathHandle 0x80000045 InvalidPath 0x80000046 loctlError 0x80000047 AmnetRingUsed 0x80000048 DeviceNotOpened 0x80000049 InvalidRing 0x8000004a InvalidSlavelP 0x8000004b InvalidParameter 0x8000004c InvalidGpCenterPosition 0x8000004d InvalidGpEndPosition 0x8000004e InvalidAddress 0x8000004f DeviceDisconnect 0x80000050 DataOutBufExceeded 0x800000
91. Pulse OutP OutDIR 16 Figure 3 4 Photocoupler Interface 16 Figure 3 5 Line Drive Interface 16 Over Traveling Limit Switch Input LMT 17 Figure 3 6 Circuit Diagram for Limit Input Signals 17 Position Lateh LUC soi s sca ciecseedi case nes 17 Servo Ready Signal RDY 17 Home Position ORG saanen 17 In Position Singal INP 18 Servo Error amp Alarm ALM cccccscccssecessesseceeseeeses 18 Encoder Input ECA ECB ECZ e cece 18 Figure 3 7 Circuit Diagram of Encoder Feedback 18 Emergency Stop Input EMG eouusuess seen 19 Figure 3 8 Circuit Diagram of Emergency Stop Input Signal sit taasen 19 External Power Input VEX 19 Position Window Output CAM DO 20 Figure 3 9 Circuit Diagram of Position Window Out PU sees nn donnee nn 20 Activate Servo ON SVON nes eeeeen 20 v 3 15 3 16 3 17 3 18 3 19 3 20 Chapter 4 4 1 4 2 4 3 Chapter 5 2 5 3 5 4 5 5 5 6 5 7 5 8 Servo Error Counter Clear ERC 20 Position Compare Output CMP 20 JOG and MPO kse SM Mas asta 21 Simultaneous Start and Stop within Multiple Cards 21 Analog Input sensei ssa n essa en 22 Digital Input and Output usussssn enn nenne 23 Common Motion API
92. Purpose Set the axis in wait state for simultaneous operation When started by start trigger the axis will start point to point absolute moving to the assigned end position Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen EndPoint F64 IN The absolute position to move unit PPU Return Value Error Co Comments de If more than one ax is wanted to do simultaneous operation should call this function for each axis The range of EndPoint is 2147483647 PPU 2147483647 PPU 169 Chapter 6 6 3 4 6 2 Acm AxSimStartSuspendRel Format U32 Acm AxSimStartSuspendRel HAND AxisHandle F64 Dis tance Purpose Set the axis in wait state for simultaneous operation When started by start trigger the axis will start point to point relative moving to the assigned end position Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen EndPoint F64 IN The relative position to move unit PPU Return Value Error Code Comments If more than one ax is wanted to do simultaneous operation should call this function for each axis The range of EndPoint is 2147483647 PPU 2147483647 PPU PCI 1245 1265 User Manual 170 6 3 4 6 3 Acm AxSimStartSuspendVel Format U32 Acm AxSimStartSuspendVel HAND AxisHandle U16 Dri Dir Purpose Set the axis in wait state for s
93. R AxVelHigh PAR AxAcc PAR AxDec and PAR AxJerk If property PAR AxHomeFxMode is set to be RefPulse EZ mode home motion can only execute constant velocity with PAR AxVelLow PCI 1245 1265 User Manual 190 6 3 4 8 Position Counter Control 6 3 4 8 1 Acm AxSetCmdPosition Format U32 Acm AxSetCmdPosition HAND AxisHandle F64 Position Purpose Set command position for the specified axis Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Position F64 IN New command position uint PPU Return Value Error Code Comments 6 3 4 8 2 Acm AxGetCmdPosition Format U32 Acm AxGetCmdPosition HAND AxisHandle PF64 Posi tion Purpose Get current command position of the specified axis Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Position PF64 OUT Return the command position uint PPU Return Value Error Code Comments 191 Chapter 6 6 3 4 8 3 Acm AxSetActualPosition Format U32 Acm AxSetActualPosition HAND AxisHandle F64 Posi tion Purpose Set actual position for the specified axis Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Position F64 IN New actual position uint PPU Return Value Error Code Comments 6 3 4 8 4 Acm AxGetA
94. RW PropertyID 704 Meaning Set deceleration of this group Unit PPU s2 This property value must be smaller than or equal to first added axis CFG_AxMaxDec The default value is the first added axis PAR_AxDec 311 Chapter 6 6 4 4 2 1 5 PAR_GpJerk Data Type F64 R W RW PropertyID 705 Meaning Set the type of velocity profile t curve or s curve Value Description 0 T curve Default 1 S curve Comments If PAR_GpJerk is set to 1 the PAR GpAcc doesn t mean accelera tion but max acceleration and PAR_GpDec doesn t means decelera tion but max deceleration The default value is the first added axis jerk 6 4 4 2 2 System 6 4 4 2 2 1 PAR GpGrouplD Data Type U32 R W R PropertyID 706 Meaning Get the GroupID through GroupHandle Comments In PCI 1265 there are only three GroupID to use They are 0 1 and 2 You cannot handle more than three groups at the same time you must close one group to create new group if there are already three groups In PCI 1245 there are only two GroupID to use They are 0 1 You cannot handle more than two groups at the same time you must close one group to create new group if there are already two groups PCI 1245 1265 User Manual 312 6 4 4 2 3 Path 6 4 4 2 3 1 PAR_GpRefPlane DataType U32 R W RW PropertyID 709 Meaning Set get reference plane for helix motion and arc interpolation Value Description 0 XY
95. Range 2147483647 2 147483647 PCI 1245 1265 User Manual 298 6 4 3 2 16 4 CFG_AxCamDOCmpSrc Data Type U32 R W RW PropertyID 627 Meaning Set get the compare source Value Description 0 Command position 1 Feedback position Comments In PCI 1245 1245E 1265 the default value is 0 6 4 3 2 16 5 CFG AxCamDOLogic Data Type U32 R W RW PropertyID 628 Meaning Set get the active logic of CamDO Value Description 0 Low active 1 High active Comments In PCI 1245 1245E 1265 the default value is 1 299 Chapter 6 6 4 3 2 17 Module 6 4 3 2 17 1 CFG_AxModuleRange Data Type U32 R W RW PropertyID 629 Meaning Set get pulse number when axis moves 360 degree Comments This value must be multiple of 4 It is used in tangent motion and E cam motion See about Acm_AxTangentInGp Acm DevDownLoadCAMTable and Acm AxCamlnAx In PCI 1245 1245E 1265 the default value is 0 Range 0 8 000 000 PCI 1245 1265 User Manual 300 6 4 3 2 18 Simultaneity 6 4 3 2 18 1 CFG AxSimStartSource Data Type U32 R W RW PropertyID 633 Meaning Set get simultaneous starting mode for current axis Value Description 0 Disabled Start Simultaneous Starting on signal from STA Pin on device Default 256 Start Simultaneous Starting with axis O s compare signal 512 Start Simultaneous Starting with axis_1 s comp
96. Refresh Device Tree will re load the Device No device is selected by default after operation 5 2 2 3 Save This button can save all properties of the axes of the selected device 5 2 2 4 Load This button can import configurations of all axes of the selected device After the device is selected click the button an Open Dialog box will appear Select the previously exported configuration file and click OK you can import the configuration file into the Device hardware 35 Chapter 5 5 2 2 5 Download For PCI 1245 1245E 1265 series it s DSP based motion controller After clicking device you can see the interface as follows Ee Firaware Download Device Type PCI1245 Current DSP Firmware Version 6 2 8 5 Download DSP Firmware File Path I File Version Open file Start Download Percentage Download FPGA Firmware Ove File Path Chip ID Hardware Version CPLD Version Open file Start Download Percentage 0 Status Ready Current CPLD Firmware Version a 0 3 0 The tool is to upgrade the DSP and FPGA firmware FPGA firmware is for footprint U2 and U7 respectively U2 and U7 are printed in PCB Both download and upgrade procedure are the same but you shall be aware that the PC is necessary to reboot after FPGA firmware upgraded Then the new FPGA firmware will be truly updated The top of this dialog shows the current device type name and firmware version
97. Run command to execute SETUP EXE on the companion CD ROM 3 Select the proper Windows OS option according to your operating system Just follow the installation instructions step by step to complete your DLL driver setup 4 Then setup the PCI 1245 1245E 1265 Motion Utility automati cally For further information on driver related issues an online version of the Device Drivers Manual is available by accessing the following path Start Advantech Automation Motion Board Name The example source codes could be found under the corresponding instal lation folder such as the default installation path Program Files Advantech Motion Board Name Examples 7 Chapter 2 2 3 Hardware Installation Note Make sure you have installed the driver first before you install the card refer to 2 2 Driver Installation After the DLL driver installation is completed you can now go on to install the PCI 1245 1245E 1265 card in any PCI slot on your computer But it is suggested that you should refer to the computer s user manual or related documentations if you have any doubt Follow the steps below to install the card on your system 1 Turn off your computer and remove any accessories connected to the computer Warning CUT OFF power supply of your computer whenever you install or remove any card or connect and disconnect cables Disconnect the power cord and any other cables from the back of the computer Remove the cover o
98. Status N V V Get current path status Acm_GpMoveSelPath N N V Move assigned range paths Acm_GpGetPathindexStatus N V V Get status of assigned index path 95 Chapter 6 6 2 5 Property Support List Type Property PCI 1265 PCI 1245 PCI 1245E Device Feature FT_DevlpoTypeMap FT_DevAxesCount FT_DevFunctionMap FT DevOverflowCntr FT DevMDAOTypeMap FT DevMDAOrTrigMap FT_DevMDAQMaxChan FT_DevMDAQMaxBufCount Configure CFG DevBoardlD CFG DevBaseAddress CFG Devlnterrupt CFG DevBusNumber CFG DevSlotNumber CFG DevDriverVersion CFG DevDllVersion CFG DevFirmVersion CFG DevCPLDVersion DAQ Feature FT_DaqDiMaxChan FT_DaqDoMaxChan FT DagAiRangeMap FT DagAiMaxSingleChan FT DagAiMaxDiffChan FT DagAiResolution Configure CFG DagAiChanType CFG DagAiRanges Axis System FT AxFunctionMap CFG AxPPU CFG AxPhylD PCI 1245 1265 User Manual 96 Axis Speed Pattern FT_AxMaxVel FT_AxMaxAcc FT_AxMaxDec FT_AxMaxJerk CFG_AxMaxVel CFG_AxMaxAcc CFG_AxMaxDec CFG_AxMaxJerk PAR_AxVelLow PAR_AxVelHigh PAR_AxAcc PAR_AxDec PAR_AxJerl Pulse IN FT_AxPulselnMap FT_AxPulselnModeMap CFG_AxPulselnMode CFG_AxPulselnLogic CFG_AxPul
99. U axis and so on For example if one group has Y axis and U axis the first data in RefArray means Y axis reference distance and the second data means U axis refer ence distance The unit of distance in RefArray and EndArray is PPU of each axis in group At most it just supports 2 axes arc interpolation in PCI 1245 1245E 1265 If the axis count in group is 3 user can chose two axes in group to move arc interpolation by PAR GpRefPlane the other axes has no respose If axis count in group is greater than 3 it will be error 219 Chapter 6 6 3 5 4 6 Acm_GpMoveCircularAbs_3P Format U32 Acm_GpMoveCircularAbs_3P HAND GroupHandle PF64 RefArray PF64 EndArray PU32 pArrayElements 116 Direction Purpose Command group to execute absolute ARC interpolation by three specified points Parameters Name Type in or Out Description Group handle from GpHandle HAND IN Acm GpAddAxis RefArray PF64 IN Absolute position of reference point EndArray PF64 IN Absolute position of end point Element count in the array This pArrayElements PU32 IN OUT Count must be equal to the axis count in this group or else it will be returned axis count in group Direction Direction 116 IN 0 DIR_CW clockwise 1 DIR_CCW counterclockwise Return Value Error Code Comments The sequence of data in RefArray and EndArray must follow the order of X axis Y axis Z axis U axis
100. abled MoveMode Non blending Fil FI2 f13 0 FH3 gt FH2 gt FH1 BufferMode Velocity path2 path Time 2 BlendingMode When MoveMode is Blending and the value of CFG_GpBldTime is greater than zero These mode doses not support S profile acceleration When speed forward function is enabled by CFG SFEnable the parameter FL and FH is useless PCI 1245 1265 User Manual 230 because all of speed parameters used in path motion are of group speed setting all of path have the same driving speed For example CFG_SFEnable Disable BlendingTime gt 0 The speed curves are as follows CFG_SFEnable disable F11 F12 f13 0 FH3 gt FH2 gt FH1 BlendingMode Velocity CFG SFEnable disable FL3 gt FL2 FL1 gt 0 FH3 FH2 FH1 BlendingMode Velocity The path is as follow 231 Chapter 6 BlengdingT imee Path2 ou T 3 FlyMode When MoveMode is Blending and the value of CFG_GpBldTime is 0 When speed forward function is enabled by CFG_SFEnable the parameter FL and FH is useless because all of speed parameters used in path motion are of group speed setting all of path have the same driving speed The speed curve Velocity The motion path PCI 1245 1265 User Manual 232 Path3 BlengdingTime 0 Path 6 3 5 5 2 Acm GpResetPath Format U32 Acm GpResetPath PHAND GroupHandle Purpose Clear system path buffer If there is group executing path the path motion
101. alue Sets the value for plus software limit Speed Pattern Max Velocity Configures the max velocity for source axis Max Acc Configures the max acceleration for source axis Max Dec Configures the max deceleration for source axis Max Jerk Configures the max jerk for source axis Vel Low Sets the low velocity start velocity for source axis Unit PPU S Vel High Sets the high velocity driving velocity for source axis Unit PPU S Acc Sets the acceleration for source axis Unit PPU S2 Dec Sets the deceleration for source axis Unit PPU S2 Jerk Sets the type of velocity profile t curve or s curve for source axis 51 Chapter 5 Vibration Vibration Enable Enables Disables suppress vibra tion of mechanical system for source axis Vibration Reverse Time Sets the vibration suppressing tim ing for source axis This function is used to suppress vibration of mechanical system by outputting single pulse for negative direction and then single pulse for positive direction right after completion of command movement Vibration For ward Time Sets the vibration suppressing tim ing for source axis Note1 Note 2 In the utility if no corresponding functions of the selected device the item will not shown in the left side Tree View For example if the selected device is PCI 1245 65L and this board does not support slow down SD and vibration suppres sion function then
102. and so on For example if one group has Y axis and U axis the first data in RefArray means Y axis reference position and the second data means U axis refer ence position The unit of distance in RefArray and EndArray is PPU of each axis in group At most it just supports 2 axes arc interpolation in PCI 1245 1245E 1265 If the axis count in group is 3 user can chose two axes in group to move arc interpolation by PAR_GpRefPlane the other axes has no respose If axis count in group is greater than 3 it will be error PCI 1245 1265 User Manual 220 6 3 5 4 7 Acm GpMoveDirectAbs Format U32 Acm GpMoveDirectAbs HAND GroupHandle PF64 Posi tionArray PU32 ArrayElements Purpose Command group to execute absolute direct line interpolation Parameters Name Type In or Out Description Group handle from GpHandle HAND IN Acm GpAddAxis Distance array of axis in group PositionArray PF64 IN each value of array elements rep resent the axis absolute position pArrayElements PU32 IN OUT Element count in the array This count must equal to the axis count in this group or else it will be returned axis count in group Return Value Error Code Comments The sequence of data in PositionArray must follow the order of X axis Y axis Z axis U axis and so on For example if one group has two axes Y axis and U axis The first data in PositionArray means Y axis a
103. aning Set get the active logic for In Position signal Value Description 0 Low active 1 High active Comments In PCI 1245 1245E 1265 the default value is 1 6 4 3 2 7 ERC 6 4 3 2 7 1 CFG AxErcLogic Data Type U32 R W RW PropertyID 566 Meaning Set get active logic for ERC signal Value Description 0 Low active 1 High active Comments In PCI 1245 1245E 1265 the default value is 1 281 Chapter 6 6 4 3 2 7 2 CFG AxErcEnableMode Data Type U32 R W RW PropertyID 569 Meaning Set get ERC out mode or diable ERC function Value Description 0 Disabled 1 ERC Output when home finish 2 ERC Output when EMG ALM EL active Not support 3 ERC Output when home finish or EMG ALM EL active Not support Comments In PCI 1245 1245E 1265 the default value is 1 6 4 3 2 8 Hardware Limit 6 4 3 2 8 1 CFG AxElReact Data Type U32 R W RW PropertyID 576 Meaning Set get the reacting mode of EL signal Value Description 0 Motor immediately stops 1 Motor decelerates then stops Comments In PCI 1245 1245E 1265 the default value is 0 PCI 1245 1265 User Manual 282 6 4 3 2 8 2 CFG AxElLogic Data Type U32 R W RW PropertyID 575 Meaning Set get active logic for hardware limit signal Value Description 0 Low active 1 High active Comments In PCI 1245 1245E 1265 the default
104. are signal 1024 Start Simultaneous Starting with axis_2 s compare signal 2048 Start Simultaneous Starting with axis_3 s compare signal 4096 Start Simultaneous Starting with axis_4 s compare signal 8192 Start Simultaneous Starting with axis_5 s compare signal 65536 Start Simultaneous Starting when axis Ois stopped 131072 Start Simultaneous Starting when axis 1is stopped 262144 Start Simultaneous Starting when axis_2 is stopped 524288 Start Simultaneous Starting when axis_3 is stopped 1048576 Start Simultaneous Starting when axis_4 is stopped 2097152 Start Simultaneous Starting when axis_5 is stopped 301 Chapter 6 Comments The axis will be waiting status if call Acm AxSimStartSuspendAbs Acm_AxSimStartSuspendRel or Acm AxSimStartSuspendVel successfully The axis start motion after calling Acm AxSimStart and stop motion afer calling Acm AxSimStop The simultaneous starting mode should be set by this property If the value is 1 the waiting axis will start depending on STA signal It just needs only one axis of waiting axis to call Acm AxSimStart or Acm AxSimStop If the value is 256 8192 the simultaneous starting signal comes from compare signal Every axis needs to assign compare signal source but cannot assign compare signal of itself to start its simul taneous motion And ervery simultaneous axis needs to call Acm AxSimStop to stop motion If the value is 65536 20971
105. ated stop Motion Stop Acm GpStopEmg N N Emergency stop PCI 1245 1265 User Manual 94 Group Just support Command relative Acm_GpMoveLinearRel vV V N i 2 axis linear interpolation Acm GpMoveLinearAbs N N Just support Command absolute SP 2 axis linear interpolation Acm_GpMoveCircularRel N N X Command relative arc interpolation Acm GpMoveCircularAbs V V X Command absolute arc interpolation Command relative Acm_GpMoveCircularRel_3P N N xX 3 point arc interpolation Command absolute Acm_GpMoveCircularAbs_3P V V X 3 point arc interpolation tat Command absolute Interpolation Acm_GpMoveDirectAbs V N 2 axis PP direct linear Motion interpolation Just support Command relative Acm GpMoveDirectRel v V 2 axis PP direct linear interpolation Acm_GpChangeVel N N X Change velocity on current group motion Acm_GpMoveHelixRel N N x Command relative helix interpolation Acm_GpMoveHelixAbs N N X Command absolute helix interpolation Command relative Acm_GpMoveHelixRel_3P M V X 3 point helix interpolation Command absolute Acm_GpMoveHelixAbs_3P v v x 3 point helix interpolation Acm_GpAddPath y N N Add one path into system buffer Acm GpResetPath N N V Reset path system buffer Acm_GpLoadPath N V V Load a path file Acm_GpUnloadPath N V V Unload path Path Acm_GpMovePath V y N Move path in system buffer Acm_GpGetPath
106. ave axis Absolute Slave Master Start posistion PCI 1245E does not support this API 143 Chapter 6 6 3 2 11 Acm_DevLoadCAMTableFile Format U32 Acm_DevLoadCAMTableFile HAND DeviceHandle PI8 FilePath U32 CamTableID PU32 Range PU32 PointsCount Purpose Load Cam Table file edited and saved by Utility into device Parameters Name Type In or Out Description DeviceHandle HAND IN Deve anole MOm Acm_DevOpen Pointer to a string that saves Cam FilePath PI8 IN Table file s path CamTablelD U32 IN CamTablelD 0 or 1 Range PU32 OUT The pulse number which master needed in one period PointsCount PU32 OUT The points number in CamTable Return Value Error Code Comments The CamTable file is saved in bin format in utility When it is loaded successfully by this API the API Acm DevDownLoadCACMTable need not be called About E cam operation see about E Cam Flow Chart in Chapter 6 2 2 PCI 1245E does not support this API PCI 1245 1265 User Manual 144 6 3 2 12 Acm_DevMDaqConfig Format U32 Acm DevMDagConfig HAND DeviceHandle U16 ChannelID U32 Period U32 AxisNo U32 Method U32 ChanType U32 Count Purpose Set MotionDAQ related configurations Parameters In or sa Name Type Out Description HAN DeviceHandle D IN Device handle form Acm DevOpen ChannellD U16 IN Specify a Channel ID The range is 0 3
107. bsolute position and the second data means U axis absolute position The unit of distance in PositionArray is PPU of each axis in group The difference between line interpolation and direct interpolation line interpolation s speed is divided into even line speed for every axis axis moves at this even line speed Mostly line interpolation is applied to the axis assembled as right angle But direct interpola tion s line speed is set into master axis The smallest Physical ID axis and other axes in group start stop as the same time as master axis Mostly direct interpolation is applied to the axis assembled as oblique angle At most it just supports 4 axes direct interpolation in PCI 1245 2 axes in 1245E and 6 axes in PCI 1265 221 Chapter 6 6 3 5 4 8 Acm GpMoveDirectRel Format U32 Acm GpMoveDirectRel HAND GroupHandle PF64 Dis tanceArray PU32 ArrayElements Purpose Command group to execute relative direct line interpolation Parameters Name Type In or Out Description GpHandle HAND IN Group handle from Acm_GpAddAxis Distance array of axis in group DistanceArray PF64 IN each value of array elements rep resent the axis relative position Element count in the array This count must equal to the axis count in this group or else it will be returned axis count in group ArrayElements PU32 IN OUT Return Value Error Code Comments The sequence of data in Dis
108. c cam 18 Synchronous gantry 19 Synchronous tangent 20 23 Not defined 24 Select path 25 31 Not defined Comments PCI 1245 1265 User Manual 242 6 4 1 1 2 FT DevAxisCount Data Type U32 R W R PropertyID 1 Meaning Get axis number of this device Comments 6 4 1 1 3 FT_DevFunctionMap Data Type U32 R W R PropertyID 2 Meaning Get device supported functions 1 support 0 Not support w Description Motion DI DO Al AO Timer Counter DAQ DI 1245 1245E do not support NI mm AI Ww DAQ DO 1245 1245E do not support O DAO Al 1245 1245E not support 10 DAQ AO 1245 1245E not support 11 31 Not defined Comments 243 Chapter 6 6 4 1 1 4 FT_DevMDAQTypeMap Data Type U32 R W R PropertyID 6 Meaning Data types that MotionDAQ supports Bits Description 0 Command Position 1 Actual Position 2 Lag Position difference between Command Position and Actual Position 3 Command Velocity Comments 6 4 1 1 5 FT_DevMDAQTrigMap Data Type U32 R W R PropertyID 7 Meaning The methods to trigger MotionDAQ function Bits Description 0 Disable MotionDAQ function 1 Software command trigger mode i e Start command is issued to trigger 2 DI trigger Specify axis motion to start i e
109. ccording to motion command is not greater than axis count of group can be loaded in same system buf fer eg axis count in group is 4 then the paths with Rel2DLine Rel3DLine 4DDirect and so on can be loaded into device If the axis count in group is greater than needed axis count in path the foregoing axis in group will be chosen to move Especially for Abs2DArcCW Abs2DArcCCW Rel2DArcCW and Rel2DArcCCW user can chose two axes in three foregoing axes in group by Par_GpRefPlane to move At the last the EndPath com mand must be add in path buffer At most there are 10000 paths in group 229 Chapter 6 User can enable disable speed forward function by CFG GpSFEnable and set blending time by CFG_GpBldTime before calling Acm GpAddPath GPDELAY Delay command The group will delay some time to move next path User can set time by FH The path with this com mand cannot be added when speed forward function is enabled by CFG_GpSFEnable The unit of delay time is ms MoveMode Blending Mode and Non Blending Mode CFG GpSFEnable should be disabled in Non Blending mode There will be three mode according to the setting of MoveMode and CFG_GpBldTime they are BufferMode BlendingMode FlyMode 1 BufferMode When the MoveMode is Non Blending At this mode each path has the whole process of accelerating and decelerating In this mode the Speed Foward function can not be supported so CFG_GpSFEnable should be dis
110. ce axis ORG React Sets the reacting mode for ORG signal In Position Inp Enable Enables Disables In Position func tion for source axis Inp Logic Sets the active logic for In Position signal Latch Latch Enable Enables Disables latch function for source axis Latch Logic Sets the active logic for latch sig nal Pulse In Pulse In Mode Sets the encoder feedback pulse input mode for source axis Pulse In Logic Sets the active logic for encoder feedback pulse input signal Pulse In Source Sets the source for encoder feed back pulse input signal Pulse In Max Fre Sets the maximum freguency of guency encoder pulse input signal Pulse Out Pulse Out Mode Sets the command pulse output mode for source axis SD SD Enable Enables Disables the SD signal for source axis SD Logic Sets the active logic for SD signal SD React Sets the reacting mode for SD sig nal SD Latch Sets the latch control for SD signal PCI 1245 1265 User Manual 50 Simulate Simulate Start Sets the simulate start source for this axis SLMT SLMT Mel Enable Enables Disables the minus soft ware limit for source axis SLMT Pel Enable Enables Disables the plus software limit for source axis SLMTN React Sets the reacting mode for minus software limit SLMTP React Sets the reacting mode for plus software limit SLMTN Value Sets the value for minus software limit SLMTP V
111. ce numbers and names of devices of which driver has been loaded successfully Parameters Name Type In or Out Description Pointer to returned available DeviceList DEVLIST OUT ASIN s device info list MaxEntries U32 IN The max devices count to get OutEntries PU32 OUT The count of available device Return Value Error Code Comments The structure of DEVLIST is typedef struct tagPT_DEVLIST i DWORD DeviceNum CHAR DeviceName 50 SHORT NumOfSubDevices DEVLIST LPDEVLIST DeviceNum Device Number needed for Acm_DevOpen DeviceName Device name For example PCI 1265 PCI 1245 NumOfSubDevices Just for AMONET device It is zero in PCI 1245 and PCI 1265 127 Chapter 6 6 3 1 2 Acm GetErrorMessage Format BOOL Acm GetErrorMessage U32 ErrorCode LPTSTR IpszEr ror U32 nMaxError Purpose Get the error message according to error code returned from API Parameters Name Type In or Out Description ErrorCode U32 IN The returned error code of API lpszError LPTSTR OUT The pointer to the string of error message The max length of string to receive error message nMaxError U32 IN Return Value Nonzero if the function is successful otherwise 0 if no error mes sage text is available Comments Acm_GetErrorMessage will not copy more than nMaxError 1 characters to the buffer and it will always add a trailing null to end
112. cm_DevMDaqGetData Format U32 Acm DevMDagGetData HAND DeviceHandle U16 ChannelID U16 StartIndex U16 MaxCount P132 DataBuffer Purpose Get all data in the range specified by MotionDAQ that has been recorded by corresponding channel Parameters Name Type In or Out Description DeviceHandle HAND IN Device Handle ChannellD U16 IN Channel ID The range is 0 3 Startindex U16 IN Set start posiiton to get data MaxCount U16 IN Set data count DataBuffer PI32 OUT Return data in the specified range Comments PCI 1245 1265 User Manual 150 6 3 3 DAQ 6 3 3 1 Digital Input Output 6 3 3 1 1 Acm DagDiGetByte Format U32 Acm DagDiGetByte HAND DeviceHandle U16 DiPort PUS ByteData Purpose Get the data of specified DI port in one byte Parameters Name Type In or Out Description DeviceHandle HAND IN Device handle from Acm_DevOpen DiPort U16 IN It should be 0 ByteData PUS OUT Pointer of returned byte data Return Value Error Code Comments PCI 1245 and PCI 1245E does not support DI In PCI 1265 there are 8 DIs so the DiPort should be 0 151 Chapter 6 6 3 3 1 2 Acm DagDiGetBit Format U32 Acm DagDiGetBit HAND DeviceHandle U16 DiChannel PU8 BitData Purpose Get the bit data of specified DI channel Parameters Name Type In or Out Description DeviceHandle HAND IN Device handle from Acm_DevOpen
113. ction When trigger conditions are met the acguisition of motion data will be started MDAO Stop Stop motion data acguisition Clear Clear curve of each channel Curve Display When MDAO Start is started data acguisition will be started when trigger conditions are met You can check current sample count the status of each channel which is shown as below Motion DAQ Config Status ChannelID Period AxisNo Method ChanType Count CurCount Status Channel 0 Axis 0 VN TRIG SY M Cad Position 2000 337 Started Channel Axis 0 MQ_TRIG_S M het Position 2000 338 Started Channel_2 Axis O M 1 TRIG SY ag Position 338 Started Channel_3 Axis O M MO TRIG DISABLE Y Cad Position Y 2000 0 Ready 39 Chapter 5 When data acquisition is finished the curve of corresponding acquisition data of each channel will be displayed in the below picture box which is shown as bleow Motion DAQ Curve GGRRREGEE 4 Display Display area in the uppper right corner is to configure the color of each channel curve and the max value of vertical coordinate of pic ture box Select a color from combo box then the color of corre sponding curve will be changed 5 2 2 7 Hide Tree This button is provided to hide show Device Tree If Device Tree is currently shown click the button to hide it and the text on the button will change to Show Tree If Device Tree is currently hided click the button to show it and the text on t
114. ctualPosition Format U32 Acm AxGetActualPosition HAND AxisHandle PF64 Posi tion Purpose Get current actual position of the specified axis Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Position PF64 IN Return the actual position uint PPU Return Value Error Code Comments PCI 1245 1265 User Manual 192 6 3 4 9 Compare 6 3 4 9 1 Acm_AxSetCmpData Format U32 Acm_AxSetCmpData HAND AxisHandle F64 CmpPosi tion Purpose Set compare data for the specified axis Parameters Name Type in or Out Description AxisHandle HAND IN Axis handle from Acm_AxOpen CmpPosition F64 IN The data to be compared Unit PPU Return Value Error Code Comments If property CFG AxCmpMethod is set to MTD GREATER POSITION the CmpPosition should be greater than current position command position or actual position If property CFG AxCmpMethod is set to MTD SMALLER POSITION the CmpPosition should be smaller than current position command position or actual posi tion Before setting compare data you need to set property CFG AxCmpEnable to CMP ENABLE first If you want to close compare function you only need to set property CFG AxCmpEnable to CMP DISABLE and nothing is necessary to clear compare data You can set CFG_AxCmpSrc to SRC COMMAND POSITION or SRC ACTUAL POSITION
115. dArray must follow the order of X axis Y axis Z axis U axis and so on For example if one group has Y axis and U axis the first data in CenterArray means Y axis center distance and the second data means U axis center distance The unit of distance in Center Array and EndArray is PPU of each axis in group At most it just supports 2 axes arc interpolation in PCI 1245 1245E 1265 If the axis count in group is 3 user can chose two axes in group to move arc interpolation by PAR GpRefPlane the other axes has no respose If axis count in group is greater than 3 it will be error 217 Chapter 6 6 3 5 4 4 Acm GpMoveCircularAbs Format U32 Acm GpMoveCircularAbs HAND GroupHandle PF64 Cen terArray PF64 EndArray PU32 pArrayElements 116 Direction Purpose Command group to execute absolute ARC interpolation Parameters Name Type in or Out Description Group handle from GpHandle HAND IN Acm GpAddAxis CenterArray PF64 IN Absolute distance of center point EndArray PF64 IN Absolute distance of end point Element count in the array This pArrayElements PU32 IN OUT count must equal to the aS count in this group or else it will be returned axis count in group Direction Direction 116 IN 0 DIR CW clockwise 1 DIR CCW counterclockwise Return Value Error Code Comments The seguence of data in CenterArray and EndArray must follow the order of X axis Y a
116. dete Sere ete xX Pulse pointRange 500 Pulse Y Pulse Slope o ER 8EESE22S Left upper corner is E CAM curve graphic box left lower corner is Velocity curve graphic box right upper corner is CAM Table right lower corner is operation panel 1 Operation Mode a Add Point you can directly add CAM points on the E CAM Curve Whenever you add one point CAM Curve will be redrawed Wherein CAM Point is espressed with a small red solid circle and CAM Curve is expressed with blue curve In this operation mode the shape of the mouse is cross When the form is opened first time or the CAM curve has not been edited the operation mode is Add Point mode by default b Select Point you can select the corresponding CAM Point to drag and drop At the same time CAM Curve will be changed accordingly In this operation mode the shape of the mouse is arrow When the form is opened again or the CAM curve has been edited the default operation mode is Select Point mode 2 CAM Table The CAM Table formed by edited CAM Point is shown on the top right It is noteworthy that the X Pos and Y Pos of the first row of CAM Table that is the first CAM Point must be zero which means the Master axis s starting position is 0 the Slave axis s starting posi tion is 0 The X_Pos and Y_Pos of CAM Table s last line that is the last CAM Point must be ModuleRange 0 which means the Mas PCI 1245 1265 User Manual 68
117. device gt configure instance of this axis gt start motion All operations can be done by calling corresponding ACM APIs General calling flows of Device Axis Group are specified by Common Motion Architecture For detailed information refer to the Calling Flow section Advantech Examples User Apps Utili D amp one ares 2 7 N Other Apps Co VB net Geb Geb a jasen KvMora So O G av bates r 11240 DLL PC11220 DLL PC11265 DLL I PC11202 DLL PCM3202 DLL I l ADAM l PC11240 DLL 20 DLL e S DLL I DLL I 5240 DLL 11 l l ADAM l U Penzan sv Penzzo svs i ones s3 Gares Ses Pewn202 s s U i C_swsvs 5 PCI 1245 1265 User Manual 26 4 2 Device Number Device number is composed of 32 bits Ath byte 3rd byte 2nd H byte 2nd L byte 1st byte Master device type ID Master device board ID or BaseAddr Ring Slave Board ID e 4h byte Master device type ID refer to master device type ID table 3 amp 24 H byte Master device board ID or base address 2 L byte Master ring number used by remote device use 0 as default value for local device 1 byte Slave board ID used by remote device use 0 as default value for local device Local Device Number Ath byte 3rd byte 2nd H byte 2nd L byte 1st byte Master type ID Board ID or BaseAddr 0
118. device such as device properties setting Eg Acm DevSetProperty Acm DagXXX Represents this API will implement the function of DI DO AI or AO Eg Acm DagDiGetByte Acm AxXXXX Represents this API will implement function for axis such as single axis motion homing Eg Acm AxHome Acm GpXXXX Represents this API will implement function for multiple axes Such as interpolation motion Eg Acm GpMoveLinearRel Naming Rules of Property The properties have three types feature configuration and parameter Feature Feature properties are related to the hardware features The naming rules are as follows FT DevXXX For device Eg FT DevAxisCount FT DagXXX For DI DO AI and AO Eg FT DagDiMaxChan FT_AxXXX For axis object Eg FT_Ax FT GpXXX For group object Configuration The values of configuration properties may change but not freguently CFG DevXXX For device Eg CFG_DevBoardID CFG_AxXXXX For axis Eg CFG_AxMaxVel CFG DagXXX For DI DO AI and AO Eg CFG DagDiMaxChan CFG GpXXXX For group object Eg CFG GpAxisInGroup Parameter The values of parameter properties may change freguently PAR DevXXX For device PAR AxXXXX For axis Eg PAR AxVelLow PAR DagXXX For DI DO AI and AO PAR GpXXXX For group Eg PAR GpGrouplD 29 Chapter 4 PCI 1245 1265 User Manual 30 CHAPTER Utility This chapter is to describe the compre hensive amp graphical utility Chapter
119. diagram above PCI 1245 1245E 1265 use high speed photo coupler for isolation The source s encoder output can be differential mode or open collector mode And the maximum acceptable 4xAB phase feedback frequency is about 10 MHz PCI 1245 1265 User Manual 18 3 11 Emergency Stop Input EMG When emergency stop input signal is enabled the output of the drive pulse for all axes will be stopped v3 3 T 1000pF GND Figure 3 8 Circuit Diagram of Emergency Stop Input Signal This signal should be used in combination with external power DC 12 24 V The response time of circuitry should take about 0 25 msec because of the delay of photo coupled and RC filter 3 12 External Power Input VEX External power is necessary for all input signals of each axis Apply DC 12 24 V voltage as required 19 Chapter 3 3 13 Position Window Output CAM DO As the following figure shows users can define the interval and level to generate a digital output with a defined duration Inactive Position Lower Upper Switching Switching Point Point Inactive Position Lower Upper Switching Switching Point Point Figure 3 9 Circuit Diagram of Position Window Output 3 14 Activate Servo ON SVON This SVON is to generate a digital output to activate the servo drive to be ready for move status 3 15 Servo Error Counter Clear ERC The deviation counter clear is generated by servo drive and the board can receive it as a general purp
120. dle Purpose Enable MotionDAO function to record related data Parameters Name Type In or Out Description DeviceHandle HAND IN Device Handle Comments When Method in Acm DevMDagConfig is set to MO TRIG SW command can be sent through this API to trigger MotionDAQ function PCI 1245 1265 User Manual 148 6 3 2 15 Acm_DevMDaqStop Format U32 Acm DevMDagStop HAND DeviceHandle Purpose Stop recording MotionDAO related data Parameters Name Type In or Out Description DeviceHandle HAND IN Device Handle Comments 6 3 2 16 Acm_DevMDaqReset Format U32 Acm DevMDagReset HAND DeviceHandle U16 ChannelID Purpose Clear MotionDAO related data of corresponding ChannelID Parameters Name Type In or Out Description DeviceHandle HAND IN Device Handle ChannellD U16 IN ss ID The range is Comments 149 Chapter 6 6 3 2 17 Acm DevMDagGetStatus Format U32 Acm DevMDagGetStatus HAND DeviceHandle U16 ChannelID PU16 CurrentCnt PU8 Status Purpose Get MotionDAQ status of corresponding ChannelID Parameters Name Type In or Out Description DeviceHandle HAND IN Device Handle ChannellD U16 IN Channel ID The range is 0 3 Return current count that has CurrentCnt PU16 OUT been recorded Return current status 0 Ready Status PU8 OUT 1 Waiting Trigger 2 Started Comments 6 3 2 18 A
121. dle from GpHandle HAND IN Acm GpAddAxis RefArray PF64 IN Absolute distance of reference point EndArray PF64 IN Absolute distance of end point Element count in the array This pArrayElements PU32 IN OUT COUnt must equal to the axis count in this group or else it will be returned axis count in group Direction Direction 116 IN 0 DIR_CW clockwise 1 DIR_CCW counterclockwise Return Value Error Code Comments There must be 3 axes in group Command helix motion by assigning three points The orders of valus in parameter RefArray CenterArray and EndArray must follow the order of axis PhysicalID The unit of distance in RefAr ray and EndArray is PPU of each axis in group User can chose two axes in group to move arc interpolation by PAR_GpRefPlane For example Group Y Z U RefArray Y Z U CenterArray Y Z U EndArray Y Z U PAR GpRefPlane 1 YZ Plane Z axis and U axis will move arc interpolation and Y value in EndArray is the height of helix 6 3 5 4 13 Acm GpMoveHelixRel 3P PCI 1245 1265 User Manual 226 Format U32 Acm GpMoveHelixRel 3P HAND GroupHandle PF64 RefArray PF64 EndArray PU32 pArrayElements 116 Direction Purpose Command group to move relative spiral by three specified points Parameters Name Type In or Out Description Group handle from GpHandle HAND IN Acm GpAddAxis RefArray PF64 IN Relative distance of
122. e not support 11 Abs2DDirect 12 Rel2DDirect 13 Abs3DDirect 14 Rel3DDirect 15 Abs4DDirect 16 Rel4DDirect 17 Abs5DDirect 18 Rel5DDirect 19 Abs6DDirect 20 Rel6DDirect 21 Abs3DArcCW not support 22 Rel3DArcCW not support 23 Abs3DArcCCW not sup port 24 Rel3DArcCCW not sup port 25 Abs3DHelixCW 26 Rel3DHelixCW 27 Abs3DHelixCCW 28 Rel3DHelixCCW 29 GPDELAY uint ms 0 0 A O O1 N pCurCmdFunc PU32 OUT Return number of unexecuted pRemainCount PU32 OUT path data in path Return number of free space in pFreeSpaceCount PU32 OUT path buffer Return Value Error Code Comments You must input the GroupHandle and then get path status of this group 237 Chapter 6 6 3 5 5 7 Acm GpMoveSelPath Format U32 Acm GpMoveSelPath HANDGroupHandle HAND Path Hanle U32 StartIndex U32EndIndex U8Repeat Purpose Move path segment in system path buffer from start index and end index Parameters Name Type In or Out Description GpHandle HAND IN Group handle from Acm_GpAddAxis Pointer to path handle from PathHandle HAND IN Acm GpLoadPath Startindex U32 IN Start Index 0 9999 Endindex U32 IN End Index 0 9999 Repeat U8 IN Repeat count 0 255 Return Value Error Code Comments Command to move paths which index is between StartIndex and EndIndex If PathHandle is null
123. e the edit box writable by referring to group axis and interpolation mode As in the Figure 1 axis and 2 axis are added to Group and Line interpolation mode is selected thus the edit boxes writable are 1 axis and 2 axis Lines of the Line End PPU column whose background color is white The edit boxes whose back ground color are gray indicate they are not editable 5 4 4 Motion Operation 5 4 4 1 SVON Click SVON the servos of axes in Group will be turned on 5 4 4 2 SVOFF Click SVOFF the servos of axes in Group will be turned off 5 4 4 3 Basic Interpolation Motion Basic interpolation motion includes linear interpolation Line circular interpolation Arc and helical interpolation Helix as follows Basic Interpolation Motion Movement Mode Interpolation Mode O Absolute Relative Line Ore Helix Arc Direction cr 7 cc SVON Move Stop 5 4 4 3 1 Movement Mode Absolute the interpolation motion will directly use the set position parameters Relative the interpolation motion will add initial offset to the position parameters and then use it PCI 1245 1265 User Manual 58 5 4 4 3 2 Arc Direction CW means clockwise CCW means counter clockwise 5 4 4 3 3 Interpolation Mode Line linear interpolation Arc circular interpolation Helix helical interpolation 5 4 4 3 4 Move After corresponding configuration click Move Group will do the spec ified interpolation 5 4 4 3 5 Stop Whi
124. e with ORG switch the object will move until ORG signal if there are more than one ORG switch or the axis equip ment is occlusive or EL signal axis s states is error stop MODE Lmt Move Dir gt touch EL gt Stop Only according to limit equipment eg sensor to home The object moves continuously until the limit signal occurring For Example Dir Positive Limit Logic CFG AxElLogic Active High Lmt EL EL STATUS1 OFF On OFF On OFF a gt e EL EL STATUS2 ore On e On lore 175 Chapter 6 STATUS I If the object is out of the field of EL signal when home command is written the object will move until EL signal occurring e STATUS2 If the object is in the field of EL signal there will be no response 3 MODE3 Ref Move Dir gt touch EZ gt Stop Only according to EZ to home The object moves continuously until the EZ signal occurring For Example Dir Positive EZ Logic CFG_AxEzLogic Active High EZ EZ EZ status OFF on OFF lo CL EZ EZ STATUS OFF On OFF OFFJOn OFF m e STATUS I If the object is out of the field of EZ signal when home command is written the object will move until EZ signal occurring STATUS2 If the object is in the field of ORG signal the object will move until next EZ signal occurring 4 MODE4 Abs Ref ORG EZ Move Dir gt touch ORG gt Stop gt Move Dir gt touch EZ gt Stop This is a composed ho
125. eNum ULONG ExtPulseInMode ULONG ExtPresetNum ULONG CamDoEnable ULONG CamDOLoLimit ULONG CamDOHiLimit ULONG CamDoCmpSrc ULONG CamDoLogic ULONG ModuleRange ULONG SimStartSource MOT AX CONFIG PMOT_AX CONFIG typedef struct MOT DAO CONFIG i ULONG AiChanType ULONG AiRanges MOT DAO CONFIG PMOT DAO CONFIG typedef struct MOT DEV CONFIG i MOT DAO CONFIG DagConfig MOT Ax CONFIG Axis Cfg Axis Num MOT DEV CONFIG PMOT DEV CONFIG Axis Num is 4 for PCI 1245 PCI 1245E is 6 for PCI 1265 PCI 1245 1265 User Manual 132 6 3 2 4 Acm_GetProperty Format U32 Acm_GetProperty HAND Handle U32 ProperyID PVOID Buffer PU32 BufferLength Purpose Get the property feature property configuration property or parameter property value through assigned PropertyID Paramter Name Type In or Out Description Object handle This handle may be device handle from Acm_DevOpen Handle HAND IN or axis handle from Acm_AxOpen or group handle from Acm_GpAddAxis ProperylD U32 IN Property ID to guery Buffer a OUT Data buffer for property IN buffer size for the property OUT Buller engin PHS OUT returned data required length Return Value Error Code Comments User should pay attention on the data type and BufferLength of Buffer to get the value of property according to PropertyID If the Buffer is too small the return value will be error code InvalidIn putParam
126. earch EL Refind EL Move Dir gt Search EL gt Stop gt Move Dir gt Leave EL FL gt Stop gt Move Dir gt Refind EL FL gt Stop Firstly axis moves in the way of MODE8 LmtSearch and then moves uniformly in opposite direction at VelLow until EL signal disappears Thent axis reverses the direction again and continues to move uniformly at VelLow until EL singal occurs For example Dir Positive Limit Logic Active High LmtSearchReFind EL EL STATUS1 OFF SX OFF OFF on ore a O d EL El STATUS2 ord a OFF OFF On OFF b 1 d 14 MODE14 AbsSearchRefind Ref Search ORG Refind ORG EZ Move Dir gt Search ORG gt Stop gt Move Dir gt Leave ORG FL gt Stop gt Move Dir gt Refind ORG FL gt Stop gt Move Dir gt touch EZ gt Stop Firstly axis moves in the way of MODE7_AbsSearch and then moves uniformly in opposite direction at VelLow until ORG signal disappears Then axis reverses the direction again and continues to move uniformly at VelLow until ORG singal occurs At last axis moves in the same direction to Z phase For example Dir Positive Limit Logic Active High ORG Logic Active High PCI 1245 1265 User Manual 186 AbsSearchReFind EZ LE ORG EZ ELK Pine ala OFF on OFF On OFF on OFF d c c EL ORG EZ EL status QEE on OFF On OFF On OFF OFF fon OFF EL ORG EZ Elt 4 OFF On OFF On orF OFF On OFF status3 OFFI On
127. ecute JOG mode motion once external signal is active 9 STA_AX_EXT_MPG Axis is controlled by external signal and will execute MPG mode motion once external signal is active State PU16 IN Return Value Error Code Comments PCI 1245 1265 User Manual 162 6 3 4 4 Velocity Motion 6 3 4 4 1 Acm_AxMoveVel Format U32 Acm_AxMoveVel HAND AxisHandle U16 Direction Purpose To command axis to make a never ending movement with a speci fied velocity Parameters Name Type Inor Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Direction Direction U16 IN 0 Positive direction 1 Negative direction Return Value Error Code Comments The speed curve is decided by properties PAR_AxVelLow PAR AxVelHigh PAR AxAcc PAR AxDec and PAR AxJerk 6 3 4 4 2 Acm AxChangeVel Format U32 Acm AxChangeVel HAND AxisHandle F64 New Velocity Purpose To command axis to change the velocity while axis is in velocity motion Parameters Name Type Inor Out Description AxisHandle HAND IN Axis handle from Acm_AxOpen NewVelocity F64 IN New velocity unit PPU s Return Value Error Code 163 Chapter 6 Comments The speed curve is decided by properties PAR AxVelLow NewVelocity PAR AxAcc PAR AxDec and PAR AxJerk The range of New Velocity is 0 CFG AxMaxVel 6 3 4 4 3 Acm AxGetCmdVeloc
128. elect Gantry in Synchronized Mode you can configure and operate the gantry movement Gantry Motion Configuration Reference Source Direction Command Pos O Feedback Pos Same O Opposite 5 5 1 6 1 Configuration Before the establishment of gantry synchronization you need to config ure the following parameters 1 Reference Source the Master axis s position reference source a Command Position reference source is command position b Feedback Position reference source is as feedback position 2 Direction The Slave axis direction relative to the Master axis a Same Same as the Master axis b Opposite Opposite to the Master axis 5 5 1 6 2 Gantry In Click Gantry In to the Slave axis will establish gantry synchronization with the Master axis and the Slave s state will change into Synchronous Driving Thereafter if the Master axis is in P to P or Continue motion the Slave axis will follow the Master axis to move with the configuration accordingly 5 5 1 6 3 Stop Click Stop to dissolve the gantry synchronization and Slave axis s state will be Ready PCI 1245 1265 User Manual 74 5 5 2 Master Axis Operation 5 5 2 1 Master Axis Select an axis as the Master axis from all the axes of the selected device Note The master and slave cannot be the same axis The default master axis is 1st axis of selected device 5 5 2 2 Motion Params Set It s the same setting as Single axis Motion gt Motion Pa
129. eneral DO function Value Description 0 Disabled 1 Enabled Comments If property CFG_AxGenDoEnable is enabled the property CFG_AxCmpEnable CFG_AxCamDoEnable and CFG_AxErcEnableMode is disabled automatically Functions Acm_AxSetCmpData Acm_AxSetCmpTable Acm AxSetCmpAuto will not be able to output signal PCI 1245 1265 User Manual 294 6 4 3 2 15 Ext Drive 6 4 3 2 15 1 CFG AxExtMasterSrc Data Type U32 R W RW PropertyID 611 Meaning Set get input pin for external drive Value Description 0 axis 0 1 axis 1 Not support 2 axis 2 Not support 3 axis 3 Not support Comments In PCI 1265 PCI 1245 only support 0 6 4 3 2 15 2 CFG AxExtSelEnable Data Type U32 R W RW PropertyID 612 Meaning When Ext drive is enable This property enables driving axis selec tion by digital input channel Value Description 0 Disabled 1 Enabled not support Comments In PCI 1265 PCI 1245 only support 0 295 Chapter 6 6 4 3 2 15 3 CFG AxExtPulseNum Data Type U32 R W RW PropertyID 613 Meaning Set command pulse number when axis external drive mode is MPG and the A B or B A phase signal is triggered Comments In this PCI 1265 PCI 1245 the default value is 1 This value must be larger than zero 6 4 3 2 15 4 CFG_AxExtPulselnMode Data Type U32 R W RW PropertyID 617 Meaning Set get exter
130. ent this API can be used to stop synchronous relationship 6 3 4 5 6 Acm AxMovelmpose Format U32 Acm AxMovelmpose HAND AxisHandle F64 Position F64 New Vel Purpose Impose a new motion on current motion Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen The relative position of new FORPRE N pits motion unit PPU The velocity of this imposed motion NewVel F64 IN unit PPU s Return Value Error Code 167 Chapter 6 Comments This function just supports trapezoidal profile on this imposed motion The end position when motion stops will be the original position added subtracted Position And the driver speed will be changed too The whole speed curve is decided by NewVel of this motion and PAR AxVelLow PAR AxVelHigh PAR AxAcc PAR AxDec PAR AxJerk of original motion The range of Position original position is 2147483647 PPU 2147483647 PPU and the range of NewVel orginal FH is 0 CFG AxMaxVel For example as follow a The velocity alter Imosed First move velocity Velocity The position after inposed First move position t Note Can not impose new motion on imposed motion PCI 1245 1265 User Manual 168 6 3 4 6 Simultaneous Motion 6 3 4 6 1 Acm_AxSimStartSuspendAbs Format U32 Acm_AxSimStartSuspendAbs HAND AxisHandle F64 End Point
131. er loading Path click Move Sel Path to activate the dialog B Path Config Start Index End Index 2 Times 1 I Start Index select the starting serial number of Path 2 End Index select the end serial number of Path 3 Times executable times The value is 0 to 255 If you set 0 it means an infinite loop until you click Stop to terminate the loop 5 4 4 4 5 Speed Forward If the value is Checked the Group s speed forward function will be enabled For detail refer to the description about CFG GpSFEnable in Group which is listed in property list of Programming guide 5 4 4 4 6 Blending Time For detail refer to the description about CFG GpBIdTime in Group which is listed in property list of Programming guide 61 Chapter 5 5 4 4 5 Tangent Follow Movement 5 4 4 5 1 Tangent In Click Tangent In the follow dialog will be shown l Tangent In Config Tangent Follow Axis PCI 1245 MT 2 Axis v Start Vector 10 Direction O Same C Opposite ModuleRange 3600 Pulse Axis State Ready FOK Tangent In Tangent Stop Cancel S tart vector B 0 10 0 X The following parameters need to be configured 1 Tangent Follow Axis Select tangent follow axis As the axis can not be axes added in Group so the axis listed in the combobox does not includes axes added in Group 2 Start Vector the start vector of tangent follow motion In Utility the default reference
132. erence between line interpolation and direct interpolation line interpolation s speed is divided into even line speed for every axis axis moves at this even line speed Mostly line interpolation is applied to the axis assembled as right angle But direct interpola tion s line speed is set into master axis The smallest Physical ID axis and other axes in group start stop as the same time as master axis Mostly direct interpolation is applied to the axis assembled as oblique angle At most it just supports 3 axes linear interpolation in PCI 1245 PCI 1265 and 2 axes linear interpolation in PCI 1245E PCI 1245 1265 User Manual 216 6 3 5 4 3 Acm GpMoveCircularRel Format U32 Acm GpMoveCircularRel HAND GroupHandle PF64 Cen terArray PF64 EndArray PU32 pArrayElements 116 Direction Purpose Command group to execute relative ARC interpolation Parameters Name Type In or Out Description Group handle from GpHandle HAND IN Acm GpAddAxis CenterArray PF64 IN Axis relative distance of center point EndArray PF64 IN Axis relative distance of end point Element count in the array This pArrayElements PU32 in out COunE must equal to the axis count in this group or else it will be returned axis count in group Direction Direction 116 IN 0 DIR CW clockwise 1 DIR CCW counterclockwise Return Value Error Code Comments The seguence of data in CenterArray and En
133. es Bits Description Enabled CamDOLogic CamDOCmpSrc CamDOLoLimit CamDOHiLimit CamDOMode CamDODir Nom AJ OINI 31 Not defined Comments PCI 1245 1265 User Manual 268 6 4 3 1 16 Ext Drive 6 4 3 1 16 1 FT_AxExtDriveMap Data Type U32 R W R PropertyID 327 Meaning Get axis supported external drive features Bits Description ExtMasterSrc ExtSelEnable ExtPulseNum ExtPulseMode ExtPresetNum oy BR O N 31 Not defined Comments 269 Chapter 6 6 4 3 1 16 2 FT_AxExtMasterSrcMap Data Type U32 R W R PropertyID 328 Meaning Get axis supported external drive master source Bits Description 0 axis 0 1 axis 1 2 axis 2 3 axis 3 4 31 Not defined Comments 6 4 3 1 17 Aux Gen DIO 6 4 3 1 17 1 FT_AxGenDOMap Data Type U32 R W R PropertyID 329 Meaning Get axis supported general output from OUT4 to OUT7 Bits Description 0 OUT4 CAM_DO 1 OUT5 TRIG_Position 2 OUT6 SVON 3 OUT7 ERC 4 31 Not defined Comments PCI 1245 1265 User Manual 270 6 4 3 1 17 2 FT_AxGenDIMap Data Type U32 R W R PropertyID 330 Meaning Get axis supported general input from IN1 to IN4 Bits Description 0 IN1 LTC 1 IN2 RDY 2 IN3 JOG 3 IN4 JOG 4 31 Not defined Comments 2
134. eset I Optional PA up DIEU Configuration I Optional Acm_AxGearlnAx Acm AxGantrylm Slave Axis states Synchronous driving Slave Axis Acm AxSsopDev Aem AxSsopE mp Master Axis Single Axis Multi Axes Motion Operation Motion Operation Stop Gantry Gear Figure 6 6 Gear Gantry Operation Flow Chart PCI 1245 1265 User Manual 88 6 2 2 6 Tangential Following Flow Chart Tangential Following Operation Configuration Optional L Slave Axis states Synchronous driving Stave Axis Acim_AxStapDec Acm AxSiopEmg Figure 6 7 Tangential Following Operation Flow Chart 89 Chapter 6 6 2 3 Example Support List Example VC C VB VB NET Description ARC N N J Demons rates how to control an interpolation group s arc motion Change_P N N N ee rates how to change the 1 axis motion position on the Change_V y N N a rates how to change the 1 axis motion velocity on the Demonstrates how to use the ACM API to control one axis Cmove N N v continuous motion Compare N V V Demonstrates how to use the compare function DIO N V V Demonstrates axis digital input output function Event N N v Demonstrates how to check event from driver Home N N v Demonstrates how to use the home function Line N N N Demons rates how to control an interpolation
135. esssss seasta astaan GAL Devices ramasse 64 2 DAO beds anata nr RL art 64 3 JAKSA k S SA NTS avaan OAA GTOUP ni 8 or Noam A Meneses Error Code 58 aati s Geet a SA RE ae Appendix A A 1 Appendix B B 1 B 2 B 3 B 4 B 5 Software Function Comparison Table 324 Software Function Comparison Table 324 Specifications vsssesssssssssssasssssassssuasaaan saas anssasae 328 ARCS sat esti mnt essee kemaan de ie nr rene ere ap eee 328 Digital Input Output 328 Analog Input sense ace tee lest Neb ales as 329 Input Pulse for Encoder Interface 329 Gren ral ire sie ope lend HR les site 330 PCI 1245 1265 User Manual viii CHAPTER Introduction This chapter introduces PCI 1245 1245E 1265 and lists their special fea tures and detailed specifications Chapter 1 Introduction PCI 1245 1245E 1265 series are DSP based SoftMotion PCI bus control ler boards which are designed for electrical machine automation and tra ditional machine automation wide applications The board is equipped with high performance DSP with SoftMotion algorithm inside to perform the motion trajectory and timing control to meet the synchronization in precise movement The Advantech SoftMotion features synchronization control in gantry electronic gear and electronic CAM interpolation in linear circular and helical spiral curve continuous movement in buffering piecewise tra jectory t
136. f the computer Select an empty 3 3 5 V PCI slot Remove the screws that secures the expansion slot cover to the system unit Save the screws to secure the retaining bracket of interface card Carefully grasp the upper edge of the PCI 1245 1245E 1265 Align the hole in the retaining bracket with the hole on the expansion slot and align the gold striped edge connector with the expansion slot socket Press the card into the socket gently but firmly Make sure the card fits the slot tightly Use of excessive force must be avoided otherwise the card might be damaged Fasten the bracket of the PCI card on the back panel rail of the computer with screws Connect appropriate accessories 100 pin cable wiring terminals etc if necessary to the PCI card Replace the cover of your computer and connect the cables you removed in step 2 Turn on your computer PCI 1245 1265 User Manual 8 CHAPTER Signal Connections This chapter provides information about how to connect input and output signals Chapter 3 Signal Connections 3 1 I O Connector Pin Assignments The I O connector on the PCI 1245 1245E 1265 is a 100 pin connector that enables you to connect to accessories via the PCL 10251 shielded cable Figure 3 1 and figure 3 2 show the pin assignments for the 100 pin I O connector on the PCI 1245 1245E 1265 and table 3 1 shows its I O con nector signal description Note The PCL 10251 shielded cable is especially designed for the
137. g Use can open Project Setting in Menu Poject Settings or right click the new Project and chose Setting to open The config uration is as follows a In Common Motion Architecture the Calling Convension should be stdcall so user need to config the Calling convention as fol low 101 Chapter 6 Project Settings Settings For Win32 Debug v 3 Source Files E PCI1245APP cpp E StdAfx cpp 3 Header Files E StdAfx h Resource Files E ReadMe txt General Debug C C Link Resources Bi Catego Code Generation v Reset Processor Use run time library Blend FA Debug Multithreaded v Calling convention Struct member alignment ESTIN 8 Bytes Project Options inologo Gz JMTd W3 Gm GX ZI JOd JD WIN32 D DEBUG D CONSOLE D _MBCS Fp Debug PCI1245APP pch fYu stdafx h Fo Debug a Figure 6 10 Setting Caling Convention b Set the head files path the paths as follows contains all of head files which may be used by user Plese pay attention the paths which must be corrective For example the content of folder which contains this project is as follow O Include o Public PCI1245APP Figure 6 11 Folder Content of This Example PCI 1245 1265 User Manual 102 So the path setting is as follow Project Settings PR Settings For Win32 Debug v General Debug C C Link Resources Bi EREA PCI1245APP 3 63 Source Files Category Pre
138. ge 20 85 C 4 185 F Relative Humidity 5 95 RH non condensing refer to IEC 60068 2 3 Certifications CE certified PCI 1245 1265 User Manual 330
139. gic 512 CW CCW DIR negative logic Comments In PCI 1245 1245E 1265 the default value is 16 See also FT AxPulseOutMode PCI 1245 1265 User Manual 278 6 4 3 2 5 Alarm 6 4 3 2 5 1 CFG_AxAlmLogic Data Type U32 R W RW PropertyID 562 Meaning Set get active logic of alarm signal Value Description 0 Low active 1 High active Comments In PCI 1245 1245E 1265 the default value is 1 6 4 3 2 5 2 CFG AxAlmEnable Data Type U32 R W RW PropertyID 561 Meaning Enable disable motion alarm function Alarm is a signal generated by motor drive when motor drive is in alarm status Value Description 0 Disabled 1 Enabled Comments In PCI 1245 1245E 1265 the default value is 0 279 Chapter 6 6 4 3 2 5 3 CFG AxAlmReact Data Type U32 R W RW PropertyID 563 Meaning Set get the stop modes when receiving ALARM signal Value Description 0 Motor immediately stops 1 Motor decelerates then stops Comments In PCI 1245 1245E 1265 the default value is 1 6 4 3 2 6 In Position 6 4 3 2 6 1 CFG AxlInpEnable Data Type U32 R W RW PropertyID 564 Meaning Enable disable In Position function Value Description 0 Disabled 1 Enabled Comments In PCI 1245 1245E 1265 the default value is 0 PCI 1245 1265 User Manual 280 6 4 3 2 6 2 CFG_AxinpLogic Data Type U32 R W RW PropertyID 565 Me
140. gic Sets the active logic for ERC sig nal Erc On Time Sets the on time length for ERC active Erc Off Time Sets the off time length for ERC active Erc Enable Mode Enables Disables ERC Output for source axis External Drive Ext Master Src Indicates that axis is controlled by which physical axis s external sig nal Ext Sel Enable When Ext drive is enabled this property enables driving axis selection by digital input channel Ext Pulse Num The number of output driving pulses when an active edge of input pulse is accept in Hand Wheel mode Ext Preset Num The number of output driving pulses when an active edge of input pulse is accept in JOG mode Ext Pulse In Sets the pulse input mode for Mode external drive HLMT HLMT Enable Enables Disables the hardware limit signal HLMT Logic Sets the active logic for hardware limit signal HLMT React Sets the reacting mode for hard ware limit signal 49 Chapter 5 Home Home Ex Mode Sets the stopping modes for HomeEx Home Cross Dis tance Sets the home cross distance Unit Pulse for homing Home Ex Switch Mode Sets the stopping condition for HomeEx ORG Logic Sets the active logic for ORG sig nal EZ Logic Sets the active logic for EZ signal Home Reset Enables Disables reset logical Enable counter after homing for sour
141. gital inputs and digital outputs For connections refer to the following diagram For API you can refer to 6 3 3 1 for more information Internal External Internal External LOAD EGND 23 Chapter 3 PCI 1245 1265 User Manual 24 CHAPTER Common Motion API This chapter introduces common motion API architecture amp concept Chapter 4 Common Motion API 4 1 Introduction of Common Motion Architecture In order to unify user interfaces of all Advantech motion devices new software architecture is designed for all Advantech motion devices which is called Common Motion Architecture This architecture defines all user interfaces and all motion functions that are implemented including single axis and multiple axes This unified programming platform enables users to operate devices in the same manner There are three layers in this architecture Device Driver Layer Inte grated Layer and Application Layer Users do not need to know how to operate the specific driver of a specify device but only to know the Com mon Motion Driver Even though the device which supports this architec ture has changed the application does not need to be modified Advantech Common Motion ACM Architecture defines three types of operation objects Device Axis and Group Each type has its own meth ods properties and states To start single axis motion you have to follow the following steps Open device gt open one axis of this
142. he button will change to Hide Tree 5 2 3 Device Tree p W PCI 1220 M15 M PCI 1245 MO H PCI 1245 M15 Click any device of tree view you will see the operation interface PCI 1245 1265 User Manual 40 5 3 Single Axis Motion Single Axis Motion iP Malti Acis Motion GH Synchronized Motion 1 Operate Axis PCI 1265 OH O Axis w SVON Device Number 0x28007000 Motion Params Set Configuration Distance 20000 PPV Hone Mode Prternal Drive Osmin ee a Vellow 2000 PUS axis Setup Axis Status jan Velitien 6000 PrU S ut a H Move Test 5 2 w ja Ace 10000 PPU S N es y 086 F Des 10000 ENS Move Impose Stop es I New Pos 3000 PPV mc m Position fa New Vel 5000 PPU S LIME 5 sf JN ja Speed Pattern an EZ ja Trapezi S curve View Set Range Feedback 0 jar Motion Mode Current Axis Status OP toP Continue Homing Current State Ready a SVON Set Paraneters Speed Chart Command Velocity 0 a DI O Status ja DI 3 0 20 7 4 FI 1NS JOG IN4 JOG IN2 RDY IN1 LTC On OUTT ERCOUTE SVON OUTS CMP OUT4 CAN 10 M On T 0 0 009 O Or a Last Error Status Error Code 0 Error Message Success 5 3 1 Operate Axis Select the operating axis Click the check box drop down symbol all axes of the selected device will display as follows PCI 1245LT MO 1 Axis PCI 1245LT MO 2 Axis PCI 1245LT MO 3 Axis
143. his API 139 Chapter 6 The meaning of the parameters is as follow Pu Ise As top figure Range is the needed pulse number when master axis rotates 360 The black points in figure are composed of master values eg X1 X2 in MasterArray and corresponding slave val ues in SlaveArray and the red points created by black points and assigned PointRange and PointSlope are called reference points Cam curve is fitted by points in CamTable composed of MasterAr ray and SlaveArray The horizontal axis is the pulse number when master axis moves at some angles The vertical axis is the pulse number of slave axis when master moves at some angels Range must be set into master axis by property CFG_AxModuleRange About cam operation see about E Cam Flow Chart in Chapter 6 2 2 PCI 1245 1265 User Manual 140 6 3 2 10 Acm_DevConfigCAMTable Format U32 Acm_DevConfigCAMTable HAND DeviceHandle U32 CamTableID U32 Periodic U32 MasterAbsolute U32 SlaveAbso lute Purpose This function sets the relevant parameters of the cam table Parameters Name Type In Out Description Device handle This handle is device DEAN NDS handle from Acm DevOpen Identifier of Cam table It is assigned by Acm_DevDownloadCAMTable Device reserves 2 cam tables So the ID can be O 1 CamTablelD U32 IN CAM curve is executed periodic or non periodic 0 non periodic 1 periodic Periodic U32 IN In
144. ic Electricity Follow these simple precautions to protect yourself from harm and the products from damage 1 To avoid electrical shock always disconnect the power from your PC chassis before you work on it Don t touch any components on the CPU card or other cards while the PC is on 2 Disconnect power before making any configuration changes The sudden rush of power as you connect a jumper or install a card may damage sensitive electronic components PCI 1245 1265 User Manual iv Chapter Chapter Chapter 1 1 1 1 2 1 3 1 4 2 2 1 2 2 2 3 3 3 1 3 2 3 3 3 11 3 12 3 13 Contents Introduction 2 Features sin Min ind ie eer ote more 2 Applications ss maamassa iei MSA i n pat tie ta 3 Installation Guide svssons saas ta demain 3 ACCESSOTIES saan an sale 4 Installation Len ostaa eee oon yasn pisin Unpacking sms m ASEEN keessa 6 Driver Installation i innon ie ee as 7 Hardware Installation osososssa n ie enaa 8 Signal Connections esse LO I O Connector Pin Assignments nenne 10 Figure 3 1 I O Connector Pin Assignments for PCI 1245 1245E 1265 ccoiooesn nenne 11 Figure 3 2 I O Connector Pin Assignments for PCI 1265 Daughter Board 12 Table 3 1 I O Connector Signal Description 13 Location of DIP switch imeni roiie nira niin 14 Figure 3 3 Location of Jumpers amp DIP Switch 15 Table 3 2 BoardID Setting 15 Output
145. idth Data Type U32 R W RW PropertyID 607 Meaning Get set the width of compare signal delay Value Description 5 ms 10 ms 20 ms 50 ms 100 ms 200 ms 500 ms NI oO BR ND 1000 ms Comments 291 Chapter 6 6 4 3 2 12 5 CFG AxCmpEnable Data Type U32 R W RW PropertyID 608 Meaning Enable disable axis compare function Value Description 0 Disabled 1 Enabled Comments 6 4 3 2 12 6 CFG_AxCmpPulseMode Data Type U32 R W RW PropertyID 605 Meaning Set get axis compare mode Value Description 0 Pulse mode 1 Toggle mode Comments Toggle mode inverse DO output when compare signal happens PCI 1245 1265 User Manual 292 6 4 3 2 13 Latch 6 4 3 2 13 1 CFG AxLatchLogic Data Type U32 R W RW PropertyID 601 Meaning Set get the active logic for Latch signal Value Description 0 Low active 1 High active Comments When the Latch is triggered the command position actual position and lag distance will be latched 6 4 3 2 13 2 CFG_AxLatchEnable Data Type U32 R W RW PropertyID 631 Meaning Enable disable latch function Value Description 0 Disabled 1 Enabled Comments 293 Chapter 6 6 4 3 2 14 Aux Gen DIO 6 4 3 2 14 1 CFG AxGenDoEnable Data Type U32 R W RW PropertyID 610 Meaning Enable disabe the axis g
146. il the signal disappears and then converts direction to move until ORG signal occurring STATUS3 If there is no ORG signal occurring EL signal hap pens while moving firstly the object reverses direction and con tinues to move and then the ORG signal from happening to disappearing Reverses direction again and moves until ORG sig nal occurring Motion stops 8 MODES LmtSearch Move Dir gt Search EL gt Stop This is a mode of searching transformation of limit signal from no signal to signal occurring PCI 1245 1265 User Manual 180 For Example Dir Positive Limit logic Active High LmtSearch EL El STATUS1 _OFF On _OFF OFF On OFF EL EL STATUS2 off al OFF orr on lors b STATUS If the Limit signal is occurred firstly while the object is moving the home process is end STATUS2 If the object is in the field of limit signal The Object moves in opposite direction until the signal disappears and then converts direction to move until limit signal occurring 181 Chapter 6 9 MODE9 AbsSearch Ref Search ORG EZ Move Dir gt Search ORG gt Stop gt Move Dir gt touch EZ gt Stop Firstly object moves in the way of MODE7 AbsSearch and then moves in same direction until EZ signal occurring For example Dir Positive Limit logic Active High ORG logic Active High AbsSearch EZ _ IE ORG EZ E STATUS1 On OFF On OFF On OFF On OFF a J 3 8 EL ORG EZ EL
147. imultaneous operation When started by start trigger the axis will start continuously moving Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Direction DriDir U16 IN 0 Positive direction 1 Negative direction Return Value Error Code Comments If more than one ax is wanted to do simultaneous operation should call this function for each axis 6 3 4 6 4 Acm_AxSimStart Format U32 Acm_AxSimStart HAND AxisHandle Purpose Simultaneous start axis and make it output simultaneous start signal to start all axis that are waiting for start trigger Parameter Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Return Value Error Code Comments If more than one ax is waiting on start trigger user should set the mode of simultaneous starting stopping by CFG AxSimStartSource before this API 171 Chapter 6 6 3 4 6 5 Acm_AxSimStop Format U32 Acm_AxSimStop HAND AxisHandle Purpose Stop the axis and make the axis output a simultaneous stop trigger to stop all axis that are waiting for the stop trigger Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Return Value Error Code Comments When doing simultaneous operation you can do this operation on any axis to stop all axis if the Simultaneous star
148. ion The slave axis s state will be ready PCI 1245 1265 User Manual 72 5 5 1 5 Gear Motion Select Gear in Synchronized Mode you can configure and operate the gear movement Gear Motion Configuration Numerator 1 Denominator 1 Reference Source Movement Mode Command Pos Feedback Pos Absolute Q Relative 5 5 1 5 1 Configuration Before the establishment of gear synchronization you need to configure the following parameters 1 Numerator The numerator of gear ratio 2 Denominator The denominator of gear ratio 3 Reference Source The Master axis s position reference source a Command Position reference source is command position b Feedback Position reference source is feedback position 4 Movement Mode a Absolute If you select this mode the Slave axis will chase after the Command Actual Position of the Master axis with set speed b Relative If you select the mode the Slave axis will keep initial position difference with the Master axis 5 5 1 5 2 Gear In Click Gear In the Slave axis will establish Gear synchronization with the Master axis and the Slave s state will change into Synchronous Driv ing Thereafter if master axis is in P to P or Continue motion the slave axis will follow master axis to move with the configuration accordingly 5 5 1 5 3 Stop Click Stop to dissolve the synchronization and the slave axis s state will be Ready 73 Chapter 5 5 5 1 6 Gantry Motion S
149. ion at VelLow until EL signal disappears Then axis reverses the direction again and continues to move uniformly at VelLow until EL singal occurs At last axis moves in opposite direction again until EZ signal occurs For example Dir Positive Limit Logic Active High LmtSearchReFind NegEZ EL N EZ EL N STATUS1 OFF On OFF On OFF On lore EL EZ EL FF On OFF On OFF On OFF STATUS2 LmtSearch process has three situations For detailed information see about descriptions in MODES LmtSearch 189 Chapter 6 6 3 4 7 2 Acm AxHomeEx Format U32 Acm_AxHomeEx HAND AxisHandle U32 DirMode Purpose To command axis to start extended home motion The home mode is specified by property PAR AxHomeExMode Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen DirMode U32 0 PosiDir Always in positive direc tion 1 NegDir Always in negative direc tion 2 SwitchPosi Depends on switch status If switch is off direction is posi tive Otherwise direction is negative 3 SwitchNeg Depends on switch status If switch is off direction is neg ative Otherwise direction is positive Return Value Error Code Comments If property CFG AxHomeResetEnable is set to be true command position and actual position will be reset to be zero after home motion ends The speed curve is decided by PAR AxVelLow PA
150. irec 3 SwitchNeg tion is negative Otherwise direction is posi tive 305 Chapter 6 6 4 3 3 2 2 PAR AxHomeCrossDistance Data Type F64 R W RW PropertyID 408 Meaning Set the home cross distance Unit PPU This property must be greater than 0 The default value is 10000 AbsSwitch LmtSwitch EL EL Home Cross Distance Home Cross Distance PCI 1245 1265 User Manual 306 6 4 3 3 2 3 PAR AxHomeExSwitchMode Data Type U32 R W RW PropertyID 407 Meaning Setting the stopping condition of Acm_AxHomeEx Value Define Description 0 LevelOn When sensor is ON Active 1 LevelOff When sensor is OFF Non active 2 EdgeOn When OFF to ON transition in sensor 3 EdgeOff When ON to OFF transition in sensor 307 Chapter 6 6 4 4 Group 6 4 4 1 Config 6 4 4 1 1 System 6 4 4 1 1 1 CFG GpAxislnGroup Data Type U32 R W R PropertyID 806 Meaning Get information about which axis is are in this group Bits Description 0 axis 1 axis 2 axes 3 axes 4 axes PCI 1265 0 1 A OINI oO 5 axes PCI 1265 Comments 6 4 4 1 2 Path 6 4 4 1 2 1 CFG GpBldTime Data Type U32 R W RW PropertyID 808 Meaning Set get blengding time when add a path into system path buffer Comments It should be 0 65535 and multiple of 2 Unit ms See about Acm GpAddPath PCI 1245 1265 User Manual
151. is 10000 6 4 3 3 1 5 PAR AxJerk Data Type F64 R W RW PropertyID 405 Meaning Set get the type of velocity profile t curve or s curve Value Description 0 T curve Default 1 S curve Comments The actual jerk is calculated by driver If PAR_AxJerk is set to be 1 the PAR AxAcc not means accelera tion but max acceleration and PAR_AxDec not means deceleration but max deceleration PCI 1245 1265 User Manual 304 6 4 3 3 2 Home 6 4 3 3 2 1 PAR_AxHomeExMode Data Type U32 R W RW PropertyID 406 Meaning Set get the extended mode of home This property value will affect Acm AxHomeEx Value Define Description Home operation searching for an absolute 0 AbsSwitch switch ORG Supported DirMode PosiDir NegDir SwitchPosi SwitchNeg Home operation searching for hardware limit 1 LimitSwitch switch EL Supported DirMode PosiDir Neg Dir SwitchPosi SwitchNeg Home operation searching for zero pulse in encoder EZ Supported DirMode PosiDir 2 RefPulse NegDir If Inupt SwitchPosi driver will treat it as PosiDir If Inupt SwitchNeg driver will treat it as NegDir DirMode Value Define Description 0 PosiDir Always in positive direction 1 NegDir Always in negative direction Depends on switch status If switch is off direc 2 SwitchPosi tion is positive Otherwise direction is nega tive Depends on switch status If switch is off d
152. is Scope View Velocity VS Time Setting Velocity Axis Max 10000 PPU Time Axis Length so Sec Spd Curve Color Blu J Act Pos Curve Red v Cmd Pos Curve z Gre y 1 J 2 E EI Y Source Velocity v C X Zoom Y Zoom Wherein on the right there are setting and operating buttons on the left there is movement speed curve in single axis motion 5 3 2 5 1 Setting Setting items are as follows Vertical Max Value sets maximum vertical coordinate Time Length Value sets maximum horizontal coordinate Spd Curve Color setsthe color for speed curve Act Pos Curve sets the color for actual position curve Cmd Pos Curve sets the color for command position curve ow No Y Source data source for vertical coordinate You can select any one or any combination of velocity command position and actual position as below v Actual Position Command Position Velocity Actual Positi Velocity Command Posit Command Actual Positio All None 43 Chapter 5 7 H Zoom if it is checked it indicates horizontal zoom is enabled you can select appropriate region by the mouse to zoom in 8 V Zoom if it is checked it indicates vertical zoom is enabled you can select appropriate region by the mouse to zoom in After the setting item is edited the value will become effective as the mouse leaves the edit box 5 3 2 5 2 Start Click Start the graphic box will be ready to dra
153. isual Stadio installed templates Smart Device indows Application Class Library Database Windows Control Library Web Control Library S Ki G rakoa Console Application IVindors Service G Other Project Types 3 Empty Project FACrystal Reports Application By Templates Search Online Templates A project for creating an application with a Windows user interface Name WindowsApplication3 Location F C Projects Solution Name HindowsApplication3 Mreate directory for solution add to Source Control PCI 1245 1265 User Manual 114 2 Add relevant dil a Click References on the top right corner of development envi ronment as follows Cod Solution Test Advantech Motion 1 projec A Test Advantech Motion Sa Properties S oF References O System 2 System Data Q System Deployment GO System Drawing GO System Windows Forms GJ Svstem Xml b Click Browse of the Add Reference dialog box Select Adv MotAPI dll in the Public file folder from search path then click OK as follows Add Reference NET COM Projects Browse Recent SLE O D public v 2 ereo _sgbak S aDvmor a11 IC Advitot APT dll XZM AdvotAPI all v THH D Component Files k dll t1b olb ocx exe man Y c Right click on the Edit interface select View Code to enter the program source code compilation interface as follows amp Lock
154. it will move specified paths in system path buffer If PathHandle is not null the paths in PathHandle will be loaded in system path buffer firstly then move specified paths If the value of Repeat is zero the specified paths will be executed continuosly and repeatly until stoping group motion If value of EndIndex is greater than path count in system path buf fer it will move paths between StartIndex path and last index path in system path buffer PCI 1245 1265 User Manual 238 6 3 5 5 8 Acm GpGetPathlndexStatus Format Acm GpGetPathIndexStatus HAND GroupHandle U32 Index PU16 CmdFunc PU16 MoveMode PF64 FH PF64 FL F64 EndPoint DataArray PF64 CenPoint DataArray PU32 ArrayEle ments Purpose Get the status of specified index path in system path buffer Parameters Name Type In or Out Description Group handle from GpHandle HAND IN Acm GpbAdAxis Index U32 IN Index of path 239 Chapter 6 CmdFunc PU16 OUT Return current command function in executing 0 EndPath Abs2DLine Rel2DLine Abs2DArcCW Abs2DArcCCW Rel2DArcCW Rel2DArcCCW Abs3DLine Rel3DLine Abs4DLine not support 10 Rel4DLine not support 11 Abs2DDirect 12 Rel2DDirect 13 Abs3DDirect 14 Rel3DDirect 15 Abs4DDirect 16 Rel4DDirect 17 Abs5DDirect 18 Rel5DDirect 19 Abs6DDirect 20 Rel6DDirect 21 Abs3DArcCW not sup port 22 Rel3DArcCW n
155. ity Format U32 Acm AxGetCmdVelocity HAND AxisHandle PF64 Velocity Purpose Get current command velocity of the specified axis Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Velocity PF64 OUT U command velocity unit Return Value Error Code Comments PCI 1245 1265 User Manual 164 6 3 4 5 Point to Point Motion 6 3 4 5 1 Acm AxMoveRel Format U32 Acm AxMoveRel HAND AxisHandle F64 Distance Purpose Start single axis s relative position motion Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Distance F64 IN Relative distance unit PPU Return Value Error Code Comments The speed curve is decided by properties PAR AxVelLow PAR AxVelHigh PAR AxAcc PAR AxDec and PAR AxJerk The range of Distance is 2147483647 2147483647 if PPU is 1 6 3 4 5 2 Acm AxMoveAbs Format U32 Acm AxMoveAbs HAND AxisHandle F64 Position Purpose Start single axis s absolute position motion Parameters Name Type InorOut Description AxisHandle HAND IN Axis handle from Acm AxOpen Position F64 IN Absolute position unit PPU Return Value Error Code Comments The speed curve is decided by properties PAR AxVelLow PAR AxVelHigh PAR AxAcc PAR AxDec and PAR AxJerk The range of Distance is
156. l refer to C Examples of PCI 1245 1245E 1265 Series DSP Based SoftMotion PCI Controller 117 Chapter 6 4 Test program After the programming or if you want to compile the program you can click Build gt Build Solution Build Test Advantech Motion in the menu bar as follows a Build l Debug Data Tools Window Commur Build Solution F6 Rebuild Solution Clean Solution Build Test Advantech Motion ShifttF6 Rebuild Test Advantech Motion Clean Test Advantech Motion Publish Test Advantech Motion Batch Build Configuration Manager You can directly click in the toolbar the program will run if there is no error If you want to debug the program you can set breakpoint at corre sponding line of code by clicking or pressing F9 as follows YG namespace Test_Advantech Motion 10i 114 public partial class Forml Form 13 public Form o 15 RE zeComponent PCI 1245 1265 User Manual 118 Click Debug gt Start Debugging to debug when run to the breakpoint you can press F11 or F10 to step into over as fol lows Debug Data Format Tools Window Commu Windows gt D Start Debugging FS D Start Without Debugging CtrltFs E Attach to Process Exceptions Ctrl D E SE Step Into Fil E Step Over F10 New Breakpoint gt 119 Chapter 6 6 2 6 4 Creating a New VB net Application To use PCI 1245 1245E 1265 Series DSP Based SoftMotion PCI Con
157. le Group is in interpolation motion click Stop the interpolation motion will be stopped 5 4 4 4 Path Motion Fath Motion El Speed Forward Blending Time ait Path gt gt Load Path 2 AEE Dove Sel Path 5 4 4 4 1 Edit Path Click Edit Path the following form will be shown up Mode i vellow Center Center Center EndPointO HndPointl EndPoint2 YO Enable Blen o 8000 2000 M 0 Enable Blen 16000 M0 Enable Blen a Ada Insert New Row s Delete Selected Row s Wherein the top toolbox includes Open File Save File and movement mode 59 Chapter 5 1 Open File Open selected Path file from appropriate file path which can be a binary file bin or a comma separated value file CSV 2 Save File H save the edited data to a Path file which can be a binary file bin or a comma separated value file CSV CSV files can be opened in Excel so can be checked modified conveniently later But if you want to run the Path through Load Path you need to save the data as bin format because currently device only sup ports bin file to import through Load Path 3 Movement mode Absolute or Relative If you select Absolute then commands listed in the Cmd column will be the commands related to absolute motion Similarly if you choose Relative then commands listed in the Cmd column will be the commands related to relative motion
158. le disable event If the event is enabled the waiting event will get a notification when the event is triggered in driver if the condition which event needs has been met And if it is disabled user will not get the notification even though the event is triggered in driver There are seven types of event Event Name Description Trigger event when current motion is EVT AX MOTION DONE L E QE done Trigger event when compare condition is EVT AX COMPARED meeted Not support in PCI 1245 1245E 1265 Trigger event when motion velocity reaches High Speed EVT_AX_VH_START EVT_AX_VH_END Trigger event when motion slows down Trigger event when group motion is done n is group id Get from PAR GpGrouplD by Acm DevGetPropety EVT GPn MOTION DONE Trigger event when group motion velocity EVT GPn VH START reaches High Speed n is group id Trigger event when group motion slows EVT GPn VH END D Se down n is group_id See about Acm_EnableMotionEvent Acm_CheckMotionEvent PCI 1245 1265 User Manual 82 6 2 Getting Started 6 2 1 PCI 1245 1245E 1265 Software architecture The PCI 1245 1245E 1265 software architecture based on Common Motion Architecture is as follows Example Application PC11265 dll Figure 6 1 PCI 1265 Software Architecture All of API used to implement device functions can be acquired from ADVMOT DLL which is a common interface for user The Adv
159. llows amp Lock Controls 43 isp Properties d Add Imports Advantech Motion under original referred namespaces as follows 26Public Class Forml 3 4 L End Class gi Coding a UI design Double click Form1 vb or right click to select View Designer on Form1 vb then the UI edit interface will appear as follows pl Solution Test Advantech Motion VB 1 S 58 Test Advantech Hoti on YB id My Project B Open Open With EEI View Code A View Class Diagram Exclude From Project 123 Chapter 6 You can drag any Control Component you need from the left Tool box to edit user interface as follows Forml vbk Forml vb Design Start Page gt All Tindows Foras Al R Pointer K Backer oundiforker TT BindingNavi gator i BindingSource ab Button O O O Bate 2 EE O fi Forai CheckBox CheckedLi stBox E3 ColorDialog FE ComboBox E ContextMenuStrip A DataGridView DataSet TA DateTimePicker E DirectoryEntry A DirectorySearcher For details refer to the Microsoft Visual Basic user manual b Coding Right click on Form1 vb to select View Code then you enter the coding interface you can code in relevant method event of control Component For detail refer to VB NET Examples of PCI 1245 1245E 1265 Series DSP Based SoftMotion PCI Controller PCI 1245 1265 User Manual 124 Test program After the programming or if you want to compile the pr
160. me mode Firstly the object moves until ori gin signal occurring and then continues to move in same direction with ORG until EZ signal occurring For Example Dir Positive ORG logic Active Logic EZ Logic Active Logic PCI 1245 1265 User Manual 176 Abs ORG EZ iORG ezi STATUS1 ore on OFF on OFF iorG iORG t Ezi STATUS2 OFF Oni OFF On OFF On OFF iezi FORG iezi STATUS3 OFF On __OFF f Onj OFF On OFF A c i i i i e STATUS I If the object is out of the field of EZ signal and ORG signal when home command is written Firstly the object will move until ORG signal occurring then continue to move until EZ signal occurring e STATUS2 If the object is in the field of ORG signal the home command is written the object begins to move Firstly the ORG signal disappears and then next ORG signal occurs At last motion is stopped when EZ signal occurring e STATUS3 If the object is in the field of EZ signal the home com mand is written the object begins to move Firstly the EZ signal disappears and then ORG signal occurs At last motion stops when EZ signal occurring Note Home will stop in case EL signal occurs MODES Abs NegRef ORG EZ Move Dir gt touch ORG gt Stop gt Move Dir gt touch EZ gt Stop This is a composed home mode The object moves until origin sig nal occurring firstly and then continues to move in opposite direc tion with ORG until
161. mmediately without decelera tion Parameters Name Type In or Out Description GpHandle HAND IN Group handle from Acm_GpAddAxis Return Value Error Code Comments PCI 1245 1265 User Manual 214 6 3 5 4 Interpolation Motion 6 3 5 4 1 Acm_GpMoveLinearRel Format U32 Acm_GpMoveLinearRel HAND GroupHandle PF64 Dis tanceArray PU32 pArrayElements Purpose Command group to execute relative line interpolation Parameters Name Type In or Out Description GpHandle HAND IN Group handle from Acm_GpAddAxis Distance array of axis in group DistanceArray PF64 IN each value of array elements rep resent the axis relative position Element count in the array This count must equal to the axis count in this group or else it will be returned axis count in group pArrayElements PU32 IN OUT Return Value Error Code Comments The sequence of data in DistanceArray must follow the order of X axis Y axis Z axis U axis For example if one group has two axes Y axis and U axis The first data in DistanceArray means Y axis relative distance and the second data means U axis relative distance The unit of distance in DistanceArray is PPU of each axis in group The difference between line interpolation and direct interpolation line interpolation s speed is divided into even line speed for every axis axis moves at this even line speed Mostly
162. motion Acm AxHome V V Command home Home Acm AxHomeEx N 4 Command extended home 93 Chapter 6 Set command Acm_AxSetCmdPosition N N ne position Position Coun Acm AxGetCmdPosition N N Get command ter position Acm AxSetActualPosition v V Set actual position Acm_AxGetActualPosition M N Get actual position Acm AxSetCmpData vV V Set comparison data Acm_AxSetCmpTable V N Set comparison dat table Compare i j Acm_AxSetCmpAuto N EN line comparison atas Acm_AxGetCmpData N N Ger current compare Acm_AxGetLatchData v V Get latched data js s Acm_AxTriggerLatch N V Trigger latch data Latch Acm_AxResetLatch N V Reset latch information Acm_AxGetLatchFlag N N Get latch flag Acm AxDoSetBit N N Set bit value in DO o Acm_AxDoGetBit N Get bit value in DO utput Acm_AxDiGetBit N N Get bit value in DI Ext Drive Acm AxSetExtDrive N N Set external driver Acm AxCamlnAx N V Command e cam Acm AxGearlnAx N N Command e gear Application Acm AxGantrylnAx N V Command gantry Acm_AxTangentinGp vV N Command tangent motion follow group Acm_GpAddAxis V V Add axis into group Acm_GpRemAxis N 4 Remove axis from group SYSTEM Acm GpClose N N Close group J Reset error when Group Acm_GpResetError N R group is error stpped ae Acm_GpGetState N E Get current states of atus group Acm_GpStopDec N N Deceler
163. n The center position can be specified j The center position can be Y axis specified Y axis X axis direction X axis direction XI XI direction direction The interpolation speed is the tangential The interpolation speed is the tangential velocity of arc velocity of arc 6 3 5 4 11 Acm_GpMoveHelixRel PCI 1245 1265 User Manual 224 Format U32 Acm_GpMoveHelixRel HAND GroupHandle PF64 Center Array PF64 EndArray PU32 pArrayElements I16 Direction Purpose Command group to move relative spiral Parameters Name Type In or Out Description Group handle from GpHandle HAND IN Acm GpAddAxis CenterArray PF64 IN Relative distance of center point EndArray PF64 IN Relative distance of end point Element count in the array This pArrayElements PU32 in out COUN must equal to the axis count in this group or else it will be returned axis count in group Direction Direction 116 IN 0 DIR_CW clockwise 1 DIR_CCW counterclockwise Return Value Error Code Comments See about Acm GpMoveHelixAbs 6 3 5 4 12 Acm_GpMoveHelixAbs_3P 225 Chapter 6 Format U32 Acm GpMoveHelixAbs 3P HAND GroupHandle PF64 RefArray PF64 EndArray PU32 pArrayElements 116 Direction Purpose Command group to move absolute spiral by three specified points Parameters Name Type In or Out Description Group han
164. n in a convenient way The wiring board features 2 axis design For instance if you use PCI 1245 board two wiring boards are necessary for 4 axis control The fast to connect transfer cable are available for Panasonic A4 A5 servo Yaskawa Sigma V and Mitsubishi J3 Transfer Cables to Servo PCL 10153PAS PCL 10153PA5 is a 50 pin cable connecting ADAM 3955 to Panasonic A4 and A5 servo PCL 10153YSS PCL 10153YSS is a 50 pin cable connecting ADAM 3955 to Yaskawa Sigma V servo PCL 10153MJ3 PCL 10153MJ3 is a 50 pin cable connecting ADAM 3955 to Mitsubishi J3 servo PCI 1245 1265 User Manual 4 CHAPTER Installation This chapter instructs users how to pro ceed step by step process for driver and hardware installation Chapter 2 Installation 2 1 Unpacking After receiving your PCI 1245 1245E 1265 package inspect the contents first The package should include the following items PCI 1245 1245E 1265 card CD ROM DLL driver amp user manual included The PCI 1245 1245E 1265 card has certain electronic components vul nerable to electrostatic discharge ESD ESD could easily damage the integrated circuits and certain components if preventive measures are not carefully taken Before removing the card from the antistatic plastic bag you should take following precautions to ward off possible ESD damage Touch the metal part of your computer chassis with your hand to discharge static electricity accumulated
165. nal drive pulse input mode Value Description 0 1XAB 1 2XAB 2 4XAB 3 CCW CW Comments PCI 1245 1265 User Manual 296 6 4 3 2 15 5 CFG_AxExtPresetNum Data Type U32 R W RW PropertyID 618 Meaning Set get pulse number of external drive when an active edge of input pulse is accept in JOG mode Comments In PCI 1245 1245E 1265 the default value is 1 This value must lager than zero 6 4 3 2 16 Cam Do 6 4 3 2 16 1 CFG_AxCamDOEnable Data Type U32 R W RW PropertyID 622 Meaning Set get cam DO enable diable Value Description 0 Disabled 1 Enabled Comments CamDO and OUTA use the same pin if the CFG_AxGenDoEnable is enabled OUT4 isn t able to output CamDO signal 297 Chapter 6 6 4 3 2 16 2 CFG AxCamDOLOoLimit Data Type U32 R W RW PropertyID 623 Meaning Set get the low limit for CAMDO signal Comments If CamDo is enabled when command actual position is between the low limit value and high limit value the CamDo signal will triggered In PCI 1245 1245E 1265 the default value is 0 Range 2147483647 2 147483647 6 4 3 2 16 3 CFG_AxCamDOHiLimit Data Type U32 R W RW PropertyID 624 Meaning Set get the high limit for CamDo signal Comments If CamDo is enabled when command actual position is between the low limit value and high limit value the CamDo signal will triggered In PCI 1245 1245E 1265 the default value is 0
166. nd group can not be reset command actual position Using Acm AxStopDec Acm AxStopEmg will terminate synchronous state of the axis and it will return SteadBy state The axis can not be one axis in group StartVectorArray is the initial vector which is starting direction of axis For example Start VectorArray 3 0 10 0 working plane 0 XY plane PCI 1245 1265 User Manual 208 S tart vector 3 0 10 0 Note The start vector should be as close as possible with group s motion starting direction or else there may be the error of motion accelerator greater than max accelerator of device And if the angle between two conjoint paths is too large the error will happen too so user should pay attention to angle between paths The formula of calculating max angle deviation is as follow For example Setting Module Range CFG_AxModuleRange 3600 pulse Max Acceleration CFG_AxMaxAcc 1077 Max angle of slope transformation 1077 X 107 6 X 360 3600 1 209 Chapter 6 6 3 4 14 2 Acm AxGantryln Format U32 Acm_AxGantryIn HAND AxisHandle HAND MasAxisHan dle 116 RefMasterSrc 116 Direction Purpose Command two axes to move e gantry motion Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Axis handle from MasAxisHandle HAND IN Acm GpAddAxis The reference source RefMasterSrc 116 IN 0 Command position 1 Actual position
167. ned 0x80002006 TimeLmtExceeded 0x80002007 DistLmtExceeded 0x80002008 InvalidPositionOverride 0x80002009 OperationErrorHappened 0x8000200a SimultaneousStopHappened 0x8000200b OverflowInPAPB 0x8000200c OverflowInIPO 0x8000200d STPHappened 0x8000200e SDHappened 0x8000200f AxsiNoCmpDataLeft 0x80004001 DevEvtTimeOut 0x80004002 DevNoEvt 0x10000001 Warning AxWaslnGp 0x10000002 Warning GplnconsistRate 0x10000003 Warning GplnconsistPPU 0x80005001 ERR SYS TIME OUT 0x80005002 Dsp_PropertyIDNotSupport 0x80005003 Dsp_PropertyIDReadOnly 0x80005004 Dsp_InvalidParameter 0x80005005 Dsp_DataOutBufExceeded 0x80005006 Dsp_FunctionNotSupport 0x80005007 Dsp InvalidConfigFile 0x80005008 Dsp InvalidlntervalData 0x80005009 Dsp InvalidTableSize 0x8000500a Dsp InvalidTablelD 0x8000500b Dsp DatalndexExceedBufSize 0x8000500c Dsp InvalidComparelnterval 0x8000500d Dsp InvalidCompareRange 0x8000500e Dsp_PropertyIDWriteOnly 0x8000500f Dsp NcError 319 Chapter 6 0x80005010 Dsp_CamTablelsInUse 0x80005011 Dsp_EraseBlockFailed 0x80005012 Dsp_ProgramFlashFailed 0x80005101 Dsp InvalidAxCfgVel 0x80005102 Dsp InvalidAxCfgAcc 0x80005103 Dsp InvalidAxCfgDec 0x80005104 Dsp InvalidAxCfgJerk 0x80005105 Dsp_InvalidAxParVelLow 0x80005106 Dsp InvalidAxParVelHigh 0x80005107 Dsp InvalidAxParAcc 0x80005108 Dsp InvalidAxParDec 0x80005109 Dsp InvalidAxParJerk 0x800
168. nformation of Install interface 5 2 2 Toolbar EN a a gt amp w Install fig Refresh Save Load DownLoad Motion DAQ Hide Tree 5 2 2 1 Install Click Install a new window will pop up as below which shows the ver sion information of driver hardware firmware and utility FF Device Install Information Name Description ADVMOT dll Advantech Motion dll Common Motion Utility exe PCI1265s sys PCI1265 dll DSP Firmware CPLD CPLD1 Common Motion Library Motion DOTNET Component Library Common Motion Utility Application Kernel Mode Driver User Mode Driver DSP Firmware CPLD of hardware CPLD1 of hardware NN o o aN ppe Son oo wo vouunvw oo PCI 1245 1265 User Manual 34 Click Copy the first two raw information will be copied You can paste the information to editor such as word or text editor First column is name the second column is version number and the third column is description ADVMOT dIl is the common interface for devel opment Advantech Motion dll is the NET motion control library Com mon Motion Utility exe is the utility which is running now The fourth and fifth lines are driver files Kernal Mode and User Mode which depends on device type the sixth line is DSP firmware and the seventh line is CPLD of the hardware Note Only DSP based motion control card will show the DSP and CPLD information 5 2 2 2 Refresh This button supports refresh function Click
169. ng Get the Maximum Differential AI channel number of the device Comments In PCI 1265 the value is 1 6 4 2 1 6 FT DagAiResolution Data Type U32 R W R PropertyID 56 Meaning Get the AI resolution in bit of the device Comments In PCI 1265 the value is 12 251 Chapter 6 6 4 2 2 Configuration 6 4 2 2 1 CFG_DaqAiChanType Data Type U32 R W R W PropertyID 251 Meaning 0 Single ended 1 Differential Comments PCI 1265 has two analog input channels Users can assign the channel to be single ended or differential mode If it is differential mode the analog input value shall be acquired from channel 1 6 4 2 2 2 CFG DagAiRanges Data Type U32 R W R W PropertyID 252 Meaning See FT DagAiRangeMap Bits Description 0x0 10 V Ox1 5 V 0x2 2 5 V 0x3 1 25 V Comments PCI 1265 only supports 10V PCI 1245 1265 User Manual 252 6 4 3 Axis 6 4 3 1 Feature 6 4 3 1 1 System 6 4 3 1 1 1 FT AxFunctionMap Data Type U32 R W R PropertyID 301 Meaning Get the axis supported function 1 support 0 not support Bits Description 0 In position 1 Alarm 2 Clear the deflection counter in the servo driver 3 Slow down 4 Hardware limit switch 5 Software limit switch 6 Home sensor 7 Encode Z phase sensor 8 Backlash corrective 9 Suppress vibration 10 Home 11 Impose 12 Compare
170. nsor to home The axis moves continuously until the limit signal occurring There are two states STATUS1 If the object is out of the field of EL signal the axis will move until EL signal occurring STATUS2 If the object is in the field of EL signal there will be no response Note About a b c d s meaning in graph please click button You can select any mode listed in the comobox there is corresponding illustration below You can click OK to select the mode in the HomeMode combobox or click Cancle to cancle the operation The default setting is Model_Abs 45 Chapter 5 Click the pop up dialog will show up the dialog will give the expla nation for the parameters in the home mode The example figure is as fol lows 5 3 4 2 External Drive Click External Dirve a new form will appear as below you can select an external drive mode JOG MPG to operate external drive Set Ext Drive J Select JOG or MPG and click Set Ext Drive the external drive mode will be set and you can operate external drive then Click Close the form will be closed and the external drive is set to Disable Note For PCI 1245 1245E 1 265 series only axis 0 is avail able for external drive as master axis PCI 1245 1265 User Manual 46 5 3 4 3 Axis Setup Click the button to check set the axis s attributes and I O as follows 13 Axis Property Configuration O Alarm Name Configuration Value
171. nt Mode Interpolation Mode O Absolute Relative O Line O Arc Helix Velkigh 8000 PPU S ms 2 Arc Direction Ace 50000 a On Om Dec 50000 FPU S 4 Path Motion Speed Pattern C Speed Forward Blending Time 0 O Traperia O S eurve gt gt Edit Path gt gt Load Path Move Path gt Move Sel Path Sel Path gt gt Tangent In Tangent Stop gt gt Path Plot Speed Chart Speed Chart Path Status CurIndex 0 CurCnd lo Path Count 0 Remain 0 FreeCnt 10000 Position Position Group State Ready Last Error Status Axis Name OvAxis Error Coda 0 Error Hessege as i 5 4 1 Operate Axes The checkedListBox in the form will list all axes of the selected device check the Checkbox of corresponding axis you can add the axis into the Group When the number of axis added to the Group is less than 2 Group s State will be Disable When the number of axis added to the Group is greater than or equal to 2 Group s State will be Ready then after you configure appropriate parameters you can do appropriate inter polation operation 5 4 2 Motion Params Set The parameter set includes Group VelLow Group VelHigh Group Acc Group Dec and Speed Pattern 57 Chapter 5 5 4 3 Motion Ends Configure motion s center end as follows Axes Line End PPU Arc Center PPV Arc End PPU oris 000 8000 16000 i Axis 8000 2 Axis 8000 S Axis 8000 The dialog will automatically enabl
172. nt is the value of New Vel You can observe specific movement speed curve through clicking Speed Chart Click Stop the motion will be stopped 5 3 6 Position Position Command lo 7 Feedback 0 By Position status users can observe the command position and feed back position while in operation Click Reset you can reset the value to 0 5 3 7 Current Axis Status Lurrent Ax1s Status Current State Ready Command Velocity fo You can check the current status and command speed For details refer to the description about State in Acm_AxGetState function which is listed in Common API of Programming guide PCI 1245 1265 User Manual 54 5 3 8 DI O Status Display the current status of 4 DI and 4 DO of the selected axis You can also operate the DO to be ON OFF DI O Status DI 3 0 DO 7 4 INS JOG IN4 JOG IN2 RDY IN1 LTC On OUTT ERCOUTG SVON OUTS CHP OVT4 CAN DO D On O O 8 orr ore 5 3 8 1 DI As the above figure DI 3 0 status from right to left is DIO to DI3 respectively Wherein indicates the DI is in effect ON and its value is 1 indicates the DI is not in effect OFF and its value is 0 5 3 8 2 DO As the above figure DO 7 4 status from right to left is DO4 to DO7 respectively Wherein indicates the DO is in effect ON and its value is 1 O indicates the DO is not in effect OFF and its value is 0 5 3 9 Last Error Status Last Error
173. nvalidGpState 0x80005213 Dsp_OpenFileFailed 0x80005214 Dsp_InvalidPathCnt 0x80005215 Dsp_InvalidPathHandle 0x80005216 Dsp InvalidPath 0x80005217 Dsp GpSlavePositionOverMaster 0x80005219 Dsp GpPathBufferOverflow 0x8000521a Dsp_InvalidPathFunctionID 0x8000521b Dsp_SysBufAllocateFailed 0x8000521c Dsp InvalidGpCenterPosition 0x8000521d Dsp InvalidGpEndPosition 0x8000521e Dsp InvalidGpCmd 0x8000521f Dsp_AxHasBeenInInGp 0x80005220 Dsp_InvalidPathRange 321 Chapter 6 PCI 1245 1265 User Manual 322 APPENDIX Software Function Comparison Table Appendix A Software Function Comparison Table A 1 Software Function Comparison Table Item Description PCI 1245E PCI 1245 PCI 1265 Motion Functions Single axis motion Jog move N a MPG move T amp S curve speed profile Prog acc and dec Point to point motion Position Speed Override Velocity motion Backlash compensation 2222 se lt Superimposed move 22222 2 aia 222 2 2 2 lt Multi axes Group motion up to 3 groups 2 groups 3 groups Line up to 6 axes axes 4 axes 6 axes 2 axes Circular a N Speed Override Helical Home 16 modes Path table motion 3 Tables size 10K points Start End motion list line trajectory up to 6 axes ALA EN N cee Add arc trajectory 2 axes Add Dwell
174. o realize cutting movement in tangential following to ensure the Z axes is tangent to X Y curve high speed position compare and trigger ing with any 3rd party machine vision solution All Advantech motion controllers are applied to Common Motion API architecture which is an unified user programming interface Programmer can benefit from integrating any Advantech motion controller without changing the application code in large scale This architecture can save the effort of application maintenance and upgrade 1 1 Features PCI 1245 1245E 1265 are featured by the following points The features are listed but varied by product model name Encoder input is 10 MHz for 4xAB mode 2 5 MHz for CW CCW mode Pulse output up to 5 Mpps Memory buffer 10 K points for trajectory planning which is designed in DSP Supports E Gear and helical interpolation Supports E CAM providing 256 points to describe the CAM pro files which buffers located in DSP Hardware emergency input Watchdog timer Position latch via ORG amp index signal Position compare triggering up to 100 KHz and memory buffer is up to 100 K points in DSP PCI 1245 1265 User Manual 2 Programmable interrupt Supports gantry mode by semi closed loop pulse train control RDY LTC dedicated input channels amp SVN CMP CAM DO ERC dedicated output channels are switchable for general input and out put purposes 1 2 Applications Precise X Y Z position c
175. ogram you can click Build gt Build Solution Build Test Advantech Motion VB in the menu bar as follows Build Debug Data Tools Window Community Build Solution F6 Rebuild Solution Clean Solution Build Test Advantech Motion VB Shift F6 Rebuild Test Advantech Motion VB Clean Test Advantech Motion VB Publish Test Advantech Motion VB Configuration Manager You can directly click in the toolbar the program will run if there is no error If you want to debug the program you can set breakpoint at corre sponding line of code by clicking or pressing F9 as follows 1 Imports Advantech Motion 2ePublic Class Forml Private Sub Buttonl_Click ByVal sender As System Object ByVal e As System EventArgs Handles Buttonl Click Dim i As Integer End Sub 4 5 5 7 8 3 L End Class 125 Chapter 6 Click Debug gt Start Debugging to debug when run to the breakpoint you can press F11 or F10 to step into over as fol lows Debug Data Format Tools Window Commu Windows gt D Start Debugging FS D Start Without Debugging CtrltFs E Attach to Process Exceptions Ctrl D E SE Step Into Fil Step Over F10 New Breakpoint gt PCI 1245 1265 User Manual 126 6 3 Function List 6 3 1 Common API 6 3 1 1 Acm GetAvailableDevs Format U32 Acm GetAvailableDevs DEVLIST DeviceList U32 Max Fntries PU32 OutEntries Purpose Get the list of available devi
176. on Parans Set OM Oe Gaatry CAR Editor gt gt Load CANTable File Distance 10000 PEU CAN Motion Confi guration Vello 2000 PLUS CMITable ID 0 v Comming Type Periodice ov VelXi gh 8000 Fs Master Movement Mode Slave Movement Mode re 70000 mys 2 O absolute O Relative O Absolute Ealative Dec 10000 re MasterOffset 0 Slavedffset 0 Speed Pattern orne MastarScaling 1 SleveSealing 1 Traperi OS euv Reference Source Downloed CANTable Motion Mode O O i Command Pos O Feedback Pos Pto O Continue Sat Parameters View Set Rance Reset Counter Position Master Axis Slave Axis Command 0 o Feedback 10 0 Current Axis Status Master State Ready Slave State Reedy Last Error Status Axis Name AXIS2 Error Code o Error Message Success 5 5 1 Slave Axis Operation 5 5 1 1 Slave Axis Select any one of Device s axes to be slave axis Note Master axis and slave axis cannot be the same one The default slave axis is 0 axis of the selected device 5 5 1 2 Synchronized Mode Select the synchronized mode CAM Gear and Gantry You must select synchronized mode first before the configuration and establishment of synchronized motion 5 5 1 3 CAM Motion Select CAM as Synchronized Mode then you can execute the CAM setup and operation 67 Chapter 5 5 5 1 4 CAM Editor Click CAM Editor the following dialog will show up sa m m so F am w 10 lt w pm e tev erer a eet
177. on or actual position The first data will be loaded to comparator and if the current position matches the comparator pulse will be generated the next compare data will be loaded to comparator automatically If property CFG AxCmpMethod is set to MTD SMALLER POSITION the Start data should be smaller than current position command position or actual position The first data will be loaded to compar ator and if the current position matches the comparator pulse will be generated the next compare data will be loaded to comparator automatically Before setting compare data set property CFG AxCmpEnable to CMP Enable first If you want to close compare function you only need to set property CFG AxCmpEnable to CMP Disable and nothing is necessary to clear compare data You can set 195 Chapter 6 CFG AxCmpSrc to SRC COMMAND POSITION or SRC ACTUAL POSITION As long as any of the three functions Acm AxSetCmpData Acm AxSetCmpAuto Acm AxSetCmpTable is called the previ ously compared data will be cleared At most there are 100 000 compare data This function just supports X axis and Y axis currently If CFG_AxGenDoEnable is enabled the compare function will be disabled so the compare signal will not be output 6 3 4 9 4 Acm_AxGetCmpData Format U32 Acm_AxGetCmpData HAND AxisHandle PF64 CmpPosi tion Purpose Get current compare data in the comparator Parameters Name Type
178. on t show this dialog in the future Figure 6 15 Load VB Development Environment 2 Select the Standard EXE icon and press the Open button A new project is created 107 Chapter 6 3 Adding the module into project Click on the Project Explorer in the View menu Add ADVMOT bas In the Advantech Motion Common Public folder after installing examples package module and general bas In the folder Advantech Motion Common Exam ples after installing examples package by clicking on Add Module in the Project menu Project Project1 x H ES Project1 Project1 vbp amp Forms amp Formi Form1 frm amp Modules 8 Module1 ADVMOT bas 8 Module2 General bas Figure 6 16 Add Module Files into Project 4 Design the form Form1 Open DeviceNumber Texti Open Device amp Axes Close Device amp Axes Combol v Move RelPtp 10000 Command Position 0 Figure 6 17 Design the Form 5 Write the code The variables definitions are as follow PCI 1245 1265 User Manual 108 Option Explicit Dim m_DevHand As Long Dim m_dwDevNum As Long Dim AxisPerDev As Long Dim m_AxisHand As Long Dim m_CurAxis As Long Dim m_avaDevs As DEVLIST When form is loaded find the available devices by API Acm_GetAvailableDevs The code is as follow Private Sub Form_Load Dim Result As Long Dim i DeviceNumber As Long Dim strTemp As String ReDim m_avaDevs 16 ReDim m_AxisHand
179. ons together The table should be strictly monotonic rising or falling going both reverse and forward with the master Parameters Name Type In or Out Description Axis handle from Acm_AxOpen AxisHandle HAND IN this handle should be slave fol lowing axis handle Axis handle from Acm_AxOpen MasAxisHandle HAND IN this handle should be master leading axis handle MasterOffset F64 IN Shifting the cam along the coordi nates of the master axis SlaveOffset F64 IN Shifting the cam along the coordi nates of the slave axis Scaling factor for the cam in the coordinates of the master axis MasterScaling F64 IN The overall master profile is multi plied by this factor This should be Larger than zero Scaling factor for the cam in the coordinates of the slave axis The SlaveScaling F64 IN overall slave profile is multiplied by this factor This should be Larger than zero 203 Chapter 6 CamTablelD U32 IN Identifier of CAM table It is assigned by Acm_DevDownloadCAMTable The PCI 1245 and PCI 1265 reserves 2 cam tables So the ID can be O 1 Cam table s master position refer ence to command position 0 or RefSrc U32 IN actual position 1 0 Command position 1 Actual position Return Value Error Code Comments If this command is set successfully salve axis will move according to cam curve fitted by CamTable when master axis is moving
180. ontrol Precise rotation control Semi packaging assembly equipment and high speed pick and place testing machine LED die bonder and wire bonder Tube bending machine Wire winding machine 1 3 Installation Guide Before you install the card make sure you have the following necessary components PCI 1245 1245E 1265 card User manual Driver and software Utility PCL 10251 wiring cable between PCI board and terminal board ADAM 3955 terminal boards Any PCL 10153MJ3 PCL 10153YS5 PCL 10153PA5 cable between terminal board and servo drive Supports Mitsubishi J3 Yaskawa Sigma V and Panasonic A4 AS Industrial grade PC with PCI bus slot 3 Chapter 1 1 4 Accessories Advantech offers a complete set of accessory products These accessories include Wiring Cables to Wiring Board PCL 10251 PCL 10251 is a 100 pin shielded cable To achieve a better signal guality the signal wires are twisted in such away as to form a twisted pair cable reducing cross talk and noise from other signal sources PCL 10152 PCL 10152 is a 50 pin shielded cable To achieve a better signal quality the signal wires are twisted in such away as to form a twisted pair cable reducing cross talk and noise from other signal sources Wiring Cable Table PCI 1245 1245E PCL 10251 PCI 1265 PCL 10251 100 pin and PCL 10152 50 pin Wiring Board ADAM 3955 ADAM 3955 is specially designed for servo drive connectio
181. operty Acm_GetLastError N V V Get last error f Check if Acm_CheckMotionEvent v V EVT_AX_MOTION_ DONE happened Acm_EnableMotionEvent N N N Enable disable event Acm_DevDownloadCAMTable y 4 x bond dala IN CAM Table I Device Method Acm DevConfigCAMTable y N Configure Cam Acm_DevLoadCAMTableFile V v Load CamTable file Acm DevMDagConfig N N N Set MDag related configurations Acm DevMDagGetConfig N V V Get MDaq related configurations Acm_DevMDaqStart N N V a MDaq unction Acm_DevMDaqStop N V V SR MDaq unction Acm DevMDagReset N N V Get MDag related data Acm_DevMDaqGetStatus Get current MDaq status Acm_DevMDaqGetData Get recorded MDaq data 91 Chapter 6 Event happens when EVT_AX_MOTION_DONE N V V vyt axis motion is done EVT AX COMPARED x x x Event happens when rs compare is matched Event happens when EVT_AX_VH_START N N V motion velocity reaches High Speed Trigger happens EVT_AX_VH_END N V V when motion slows Device Event down EVT_GPn_MOTION_DONE 4 4 N Event happens when group motion is done Event happens when EVT GPn VH START N N N FOUR TOON velocity reaches High Speed Trigger happens EVT GPn VH END N V V when group motion slows down Acm_DaqDiGetByte N X X DAQ function Acm_DaqDiGetBit X X Digital Input Acm DagDoSetByte vV X X
182. ose input The counter will be cleared by some instances homing emergency stop case servo alarm and over travelling limit activated 3 16 Position Compare Output CMP This is specially designed for the customers who can use the position compare output to synchronize with other 3rd party vision devices For PCI 1245 1245E 1265 the position compare output channel is deter mined by pin definition CMP PCI 1245 1265 User Manual 20 3 17 JOG and MPG The JOG and MPG mode could be supported by pin assignment DIX3 amp DIX4 These two pins could be switchable DIX3 has three functions general purpose digital input JOG and MPG A DIX4 also has three functions general purpose digital input JOG and MPG B The circuit is as follow 33 10K 499 2 7K W EX W TYS14 T 1000pF v kse 4 DI GND 3 18 Simultaneous Start and Stop within Multiple Cards Simultaneous start and stop within multiple cards is supported by con necting the CN8 and CN15 on each card one by one For the function call of simultaneous start and stop refer to chapter 6 21 Chapter 3 3 19 Analog Input Two analog input channels are only supported for PCI 1265 cards For connections refer to the following diagram For API you can refer to 6 3 3 2 for more information Single ended AINO gt AIN1 gt Differential PCI 1245 1265 User Manual 22 3 20 Digital Input and Output PCI 1265 supports general purposed di
183. ot sup port 23 Abs3DArcCCW not support 24 Rel3DArcCCW not sup port 25 Abs3DHelixCW 26 Rel3DHelixCW 27 Abs3DHelixCCW 28 Rel3DHelixCCW 29 GPDELAY uint ms 0 0 NA O O1 N MoveMode PU16 OUT Move mode 0 No blending 1 Blending FH PF64 OUT Unit PPU of master Axis the minimal PhysicallD Axis FL PF64 OUT Unit PPU of master Axis the minimal PhysicallD Axis PCI 1245 1265 User Manual 240 Unit PPU of master Axis the EndPoint_DataArray PF64 OUT minimal PhysicallD Axis Unit PPU of master Axis the CenPoint_DataArray PF64 OUT minimal PhysicallD Axis ArrayElements PU32 IN OUT Return axis count Return Value Error Code Comments If you want to know the setting of a path you can call this API 241 Chapter 6 6 4 Property List 6 4 1 Device 6 4 1 1 Feature 6 4 1 1 1 FT_DevlpoTypeMap Data Type U32 R W R PropertyID 0 Meaning Get device supported interpolation types 1 support 0 Not support Bits Description 0 Line interpolation 2 axes 1 Line interpolation 3 axes 2 Line interpolation 4 axes 3 Line interpolation 5 axes 4 Line interpolation 6 axes 5 7 Not defined 8 Arc interpolation 2 axes 9 Arc interpolation 3 axes 10 Spiral 11 15 Not defined 16 Synchronous electronic gear 17 Synchronous electroni
184. output Acm DagDoSetBit N x x DAQ Acm_DaqDoGetByte X X Acm DagDoGetBit v X X Analog Input Acm DagAiGetRawData V X X Output Acm DagAiGetVoltData N x x PCI 1245 1265 User Manual 92 Axis Acm_AxOpen N V Open axis SYSTEM Acm_AxClose N V Close axis Acm_AxResetError N V Reset error when axis is error stop Acm_AxSetSvOn M N Open Servo Driver Motion I O Acm AxGetMotionlO N N Get status of motion lO Acm_AxGetMotionStatus N N Se sais oft current Motion Status mouon Acm_AxGetState N V Get states of axis Acm_AxMoveVel N N command continuous motion Command velocity Velocity Motion Acm AxChangeVel N N changing on current motion Acm AxGetCmdVelocity N N Get current command velocity Acm AxMoveRel N 4 Command relative point to point motion Command absolute Aom AxMoveAbs N point to point motion N Change end position Point to Point Acm AxChangePos N N on point to point Motion motion Acm_AxStopDec vV V Decelerated stop Acm_AxStopEmg N V Emergency stop Acm_AxMovelmpose N N Impose new moton on current motion Acm AxSimStartSuspendAbs N V Suspend absolute simultaneous motion Acm_AxSimStartSuspendRel N N Suspend relative simultaneous motion Simultaneous Acm AxSimStartSuspendVel N J Suspend continuous Motion motion Acm AxSimStart vV V Start suspending simultaneous motion Acm_AxSimStop N N Stop suspending simultaneous
185. pe Windows Data Type Comments U8 UCHAR 8 bit unsigned integer U16 USHORT 16 bit unsigned integer U32 ULONG 32 bit unsigned integer U64 ULONGLONG 64 bit unsigned integer 18 CHAR 8 bit signed integer 116 SHORT 16 bit signed integer 132 INT 32 bit signed integer 164 LONGLONG 64 bit signed integer F32 FLAOT 32 bit Floating point variable F64 DOUBLE 64 bit Floating point variable PU8 UCHAR Pointer to 8 bit unsigned integer PU16 USHORT Pointer to 16 bit unsigned integer PU32 ULONG Pointer to 32 bit unsigned integer PU64 ULONGLONG Pointer to 64 bit unsigned integer PI8 CHAR Pointer to 8 bit signed integer PI16 SHORT Pointer to 16 bit signed integer PI32 INT Pointer to 32 bit signed integer PI64 LONGLONG Pointer to 64 bit signed integer PF32 FLAOT Pointer to 32 bit Floating point variable PF64 DOUBLE Pointer to 64 bit Floating point variable The initial character F I U represents the data type and the digital repre sents the length of data 61 Chapter 6 6 1 2 About Error Code Every API in Common Motion Architecture will get a returned code when it is called The returned code represents a calling result About the detail error code see about Appendix User can get error message accord ing to the returned error code by Acm_GetErrorMessage According to error message user can make modification properly 6 1 3 About Event Event is the process of sending and handling message between objects User can enab
186. pe char R W R PropertyID 208 Meaning Get DLL driver s version The format is 1 0 0 1 Comments 6 4 1 2 8 CFG_DevFwVersion Data Type char R W R PropertyID 208 Meaning Get the firm version the format is 1 0 0 1 Comments 6 4 1 2 9 CFG_DevCPLDVersion Data Type char R W R PropertyID 218 Meaning Get the CPLD version of device the format is 1 0 0 1 Comments PCI 1245 1265 User Manual 248 6 4 2 DAQ 6 4 2 1 Feature 6 4 2 1 1 FT DagDiMaxChan Data Type U32 R W R PropertyID 50 Meaning Get maximum number of DI channels Comments In PCI 1265 the value is 8 6 4 2 1 2 FT DagDoMaxChan Data Type U32 R W R PropertyID 51 Meaning Get maximum number of DO channels Comments In PCI 1265 the value is 8 249 Chapter 6 6 4 2 1 3 FT_DaqAiRangeMap Data Type U32 R W R PropertyID 52 Meaning Get the supported AI range 1 support 0 not support Bits Description 0 10V 1 5V 2 2 5V 3 1 25V 4 0 625V 5 15 Not defined 16 0 20mA 17 31 Not defined Comments PCI 1265 only supports 10V 6 4 2 1 4 FT DagAiMaxSingleChan Data Type U32 R W R PropertyID 54 Meaning Get the Maximum Single Ended AI channel number of the device Comments In PCI 1265 the value is 2 PCI 1245 1265 User Manual 250 6 4 2 1 5 FT_DaqAiMaxDiffChan Data Type U32 R W R PropertyID 55 Meani
187. processor Reset PCI1245APP cpp a E StdAtx cpp Preprocessor definitions 3 Header Files WIN32 DEBUG CONSOLE MBCS E StdAfx h a he Files Undefined symbols F Undefine all symbols E ReadMe txt Additional include directories APublic include F Ignore standard include paths Project Options ri Gz IMTd MW3 Gm GX ZI Od JI APublicW A A Ainclude 71 Ageneral D WIN32 JD DEBUG D CONSOLE D _MBCS Fp Debug PCI1245APP pch a Figure 6 12 Add Head Files Path c Set the necessary Lib file The Lib file ADVMOT lib which is corresponding to ADV MOT dll in folder systemroot system32 is supplied for user to develop application easily This Lib file is in Public folder after installing example package User should pay attention the path of the head files Project Settings Settings For Win32 Debug v General Debug CiC Link Resources Bi PCI1245APP amp Source Files Category General z Reset 3 PCI1245APP cpp E StdAfx cpp Output file name gt 3 Header Files Debug PCI1 245APP exe E StdAfx h 3 Resource Files Object library modules E ReadMe txt E A APublicWADYMOT lib W Generate debug info F Ignore all default libraries M Link incrementally F Generate mapfile I Enable profiling Project Options kernel32 lib user32 lib gdi32 lib winspool lib comdlg32 lib advapi32 lib shell32 lib ole32 lib olea
188. rams Set 5 5 2 3 Operation 5 5 2 3 1 SVON Click SVON the servos of the Master axis and the Slave axis will be turn on the text on it will change into SVOFF click SVOFF the ser vos of axes will be turn off the text on it will back to SVON 5 5 2 3 2 Other Operation Refer to Single axis Motion gt Move Test for other operation It is noteworthy that after the establishment of synchronization the Slave axis will follow the Master axis to move accordingly You can view the move ment curve through Path Plot 5 5 2 3 3 Position Show the current command theoretical position and the feedback actual position of the Master axis and the Slave axis Click Reset Counter to set the value to 0 5 5 2 4 State You can view the current state of the Master axis and the Slave axis through the status bar For detail refer to the description about State in Acm_AxGetState function which is listed in Common API of Program ming guide 75 Chapter 5 5 6 Digital Input Mainly shows the status of device s digital input port In PCI 1265 there are 8 DIs P Single huis Motion GH Multi Acis Motion GH Synchronized Motion E Digital Input FR Digital Output FA Analog Input Porto Bit 7 43 0 Mex 600600 0000 O of As the above figure Bit 7 to 0 from right to left are digital inputs respec tively Wherein amp indicates that the DI is in effect ON and the value of the bit is 1 O indicates that the DI is
189. roup Max 10000 PPU Time Group Length 20 Sec Spd Curve Color Blu x X Zoom C Y Zoom S 2 E z a 5 2 5 Start Clear Save The setup and operation are similar to Speed Chart in Single Axis Motion 5 4 5 Path Status To display the path status Path Status CurIndex 0 Curtmd fO PathCount 0 Remain a z E FreeCnt 10000 Curlndex The serial number of path currently running CurCmd The command code of path currently running Remain Unexecuted path number FreeCnt The remain space of Path Buffer Path Count The total path number in loaded Path file 65 Chapter 5 5 4 6 Position Position Position command G Display the current command and feedback position for all axes of device Click Reset Counter to reset to 0 5 4 7 State amp Status Group State Show the current Group s State For detail refer to the description about State in Acm GpGetState function which is listed in Common API of Programming guide Last Error Status display the latest error message Axis Name The axis which has error Error Code The error code Error Message The specific error message PCI 1245 1265 User Manual 66 5 5 Synchronized Motion I Sinde axis Motion GH Wakti Axis Motion GS Synedronized Motion Slave Axis Operation Master Axis Operation Slave Axis v Master Axis PCI 1245 ON O Axis M sys Synchronized Bote Moti
190. rved by CAM curve as the starting point of horizontal coordinate 71 Chapter 5 b Relative If you select this mode the Master axis will serve the current Command Actual Position as a starting point to move in relative mode 3 Slave Movement Mode a Absolute If you choose this mode the Slave axis will chase after the Y_Pos value in CAM Table with set speed from the current Command Actual Position b Relative If you choose this mode the Slave axis will move in rel ative mode with the current Command Actual Position according to CAM curve 4 Master Offset offset value relative to the Master axis Slave Offset offset value relative to Slave axis 6 Master Scaling Master axis ratio factor CAM Curve zoom in out in the horizontal direction 7 Slave Scaling Slave axis ratio factor CAM Curve zoom in out in the vertical direction 8 Reference Source Master axis s position reference source a Command Position reference source is command position b Feedback Position reference source is feedback actual position 5 5 1 4 4 CAM In Click CAM In the Slave axis will establish CAM synchronization with the Master axis and the Slave s state will change into Synchronous Driv ing Thereafter if the master axis is in P to P or Continue motion the slave axis will follow the Master axis to Move with the CAM Curve and the configuration accordingly 5 5 1 4 5 Stop Click Stop to dissolve the synchronization relat
191. s a general purpose input pin which is used to latch the simultaneous position information Users can read the position counter by program ming For detailed information refer to chapter 6 3 6 Servo Ready Signal RDY It is a general purpose digital input which is used to check the servo ready status from servo drive connection For example you can check the status before any command is issued Users can also use this RDY as general purpose input for other usages 3 7 Home Position ORG Home position is to define the original position or home signal for each axis refer to chapter 6 for programming settting 17 Chapter 3 3 8 In Position Singal INP The In Position range or deviation is usually defined by servo drive When the motor moves and converges within this range or deviation the servo driver will send the signal out to indicate that the motor is in the defined position 3 9 Servo Error amp Alarm ALM This input is from servo drive which will generate the alarm signal to indicate any operation error 3 10 Encoder Input ECA ECB ECZ When the feedback encoder signals arrive connect ECA ECA to phase A of encoder output It is a differential pair The same rule is for ECB and ECZ The default setting of PCI 1245 1245E 1265 is quadrature input 4xAB phase The following diagram shows the interface circuit for one channel Figure 3 7 Circuit Diagram of Encoder Feedback In the circuit
192. s handle from Acm AxOpen Bit Description 0 Stop Stop 1 Res1 Reserved 2 WaitERC Wait ERC finished 3 Res2 Reserved 4 CorrectBksh Correcting Back lash 5 Res3 Reserved Status PU32 OUT 6 InFA Feeding in return velocity FA 7 InFL Feeding in StrVel speed FL 8 INACC Accelerating 9 INFH Feeding in MaxVel speed FH 10 INDEC Decelerating 11 WaitINP Wait in position Return Value Error Code Comments 161 Chapter 6 6 3 4 3 2 Acm AxGetState Format U32 Acm AxGetState HAND AxisHandle PU16 State Purpose Get the axis s current state Parameters Name Type in or Out Description AxisHandle HAND IN Axis handle from Acm_AxOpen Axis states Value Description 0 STA_AxDisable Axis is disabled you can open it to active it 1 STA_AxReady Axis is ready and waiting for new com mand 2 STA_Stopping Axis is stopping 3 STA_AxErrorStop Axis has stopped because of error 4 STA_AxHoming Axis is executing home motion 5 STA_AxPtpMotion Axis is executing PTP motion 6 STA_AxContiMotion Axis is executing continuous motion 7 STA_AxSyncMotion Axis is in one group and the group is executing interpolation motion or axis is slave axis in E cam E gear Gantry motion 8 STA_AX_EXT_JOG Axis is controlled by external signal and will ex
193. selnMaxFreq Pulse OUT FT_AxPulseOutMap FT_AxPulseOutModeMap CFG_AxPulseOutMode Alarm FT_AxAlmMap CFG_AxAlmLogic CFG_AxAlmEn CFG_AxAlmReact In Position FT_AxinpMap CFG_AxinpEnable CFG AxlnpLogic ERC FT AxErcMap FT AxErcEnableModeMap CFG AxErcLogic CFG AxErcEnableMode SD FT_AxSdMap 97 Chapter 6 Axis HardWare FT_AxEIMap CFG AxElReact CFG_AxElLogic CFG_AxElEnable Software Limit FT_AxSwMelMap FT_AxSwPelMap CFG_AxSwMelEnable CFG_AxSwPelEnable CFG_AxSwMelReact CFG_AxSwPelReact CFG_AxSwMelValue CFG_AxSwPelValue Home FT_AxHomeMap CFG_AxOrgLogic CFG_AxEzLogic CFG_AxHomeResetEnable PAR_AxHomeExMode PAR_AxHomeCrossDistance PAR_AxHomeExSwitchMode BackLash FT_AxBacklashMap CFG_AxBacklashEnable CFG_AxBacklashPulses CFG_AxBacklashVel Compare FT_AxCompareMap CFG AxCmpSrc CFG AxCmpMethod CFG AxCmpPulseMode CFG_AxCmpPulseLogic CFG_AxCmpPulseWidth CFG_AxCmpEnable x x x x x x Latch FT_AxLatchMap CFG_AxLatchLogic CFG_AxLatchEnable PCI 1245 1265 User Manual 98 Axis Aux Gen DIO FT_AxGenDOMap FT AxGenDIMap CFG AxGenDoEnable Ext Drive FT AxExtDriveMap FT AxExtMasterSrcMap
194. sition matches the comparator pulse will be generated the next compare data will be loaded to comparator automatically Before setting compare data set property CFG AxCmpEnable to CMP_Enable first If you want to close compare function you only need to set property CFG AxCmpEnable to CMP Disable and nothing is necessary to clear compare data You can set CFG AxCmpSrc to SRC COMMAND POSITION or SRC ACTUAL POSITION As long as any of the three functions Acm AxSetCmpData Acm AxSetCmpAuto Acm AxSetCmpTable is called the previ ously compared data will be cleared PCI 1245 1265 User Manual 194 At most there are 100 000 compare data This function just supports X axis and Y axis currently If CFG_AxGenDoEnable is enabled the compare function will be disabled so the compare signal will not be output 6 3 4 9 3 Acm AxSetCmpAuto Format U32 Acm AxSetCmpAuto HAND AxisHandle F64 Start F64 End F64 Interval Purpose Set compare data for the specified axis Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen Start F64 IN First compare data Unit PPU End F64 IN Last compare data Unit PPU Interval F64 IN Compare interval Unit PPU Return Value Error Code Comments If property CFG AxCmpMethod is set to MTD GREATER POSITION the Start data should be greater than current position command positi
195. so Acm DevDownLoadCAMTable Acm DevCofigCAMTable Acm DevLoadCAMTableFile Chapter 6 6 3 4 13 2 Acm AxGearlnAx Format U32 Acm_AxGearInAx HAND AxisHandle HAND MasAxis Handle 132 Numerator 132 Denominator U32 RefSrc U32 Abso lute Purpose This function starts gear synchronization with a ratio between a slave following axis and master leading axis Parameters Name Type In orOut Description Axis handle from Acm AxOpen this AxisHandle HAND IN handle should be slave following axis handle Axis handle from Acm AxOpen this MasAxis T i HAND IN handle should be master leading Handle axis handle Numerator 132 IN Gear ratio numerator Denominator 132 IN Gear ratio denominator Slave axis engages to master axis s RefSrc U32 IN command position 0 or actual posi tion 1 The synchronization is relative to start position random position values upon reaching synchronization or absolute 0 relative 1 absolute Absolute U32 IN Return Value Error Code Comments Slave axis will follow mater axis motion if this functionis called successfully The master axis and slave axis can not be reset com mand actual position by Acm AxSetCmdPosition Acm AxSetActualPosition in gear motion The relationship of master and slave can be terminated by calling the Acm AxStopDec and Acm AxStopEmg the axis will return SteadBy status PCI
196. t get the value of minus software limit The property value s range is 2 147 483 647 2 147 483 647 Comments 6 4 3 2 9 6 CFG_AxSwPelValue Data Type 132 R W RW PropertyID 582 Meaning Set get the value of plus software limit The property value s range is 2 147 483 647 2 147 483 647 Comments PCI 1245 1265 User Manual 286 6 4 3 2 10 Home 6 4 3 2 10 1 CFG_AxOrgLogic Data Type U32 R W RW PropertyID 589 Meaning Set get the active logic for ORG signal Value Description 0 Low active 1 High active Comments In PCI 1245 1245E 1265 the default value is 1 6 4 3 2 10 2 CFG_AxEzLogic Data Type U32 R W RW PropertyID 591 Meaning Set get the active logic for EZ signal Value Description 0 Low active 1 High active Comments In PCI 1245 1245E 1265 the default value is 1 287 Chapter 6 6 4 3 2 10 3 CFG AxHomeResetEnable Data Type U32 R W RW PropertyID 602 Meaning Enable or Disable logical counter reset function after finish Home Value Description 0 Disabled 1 Enabled Comments 6 4 3 2 11 Backlash 6 4 3 2 11 1 CFG AxBacklashEnable Data Type U32 R W RW PropertyID 593 Meaning Enable Disable corrective backlash Value Description 0 Disabled 1 Enabled Comments In PCI 1245 1245E 1265 the default value is 0 PCI 1245 1265 User Manual 288 6 4 3 2 11 2 CFG
197. t is diagnosed as defective obtain an RMA return merchandize authorization number from your dealer This allows us to process your return more quickly 4 Carefully pack the defective product a fully completed Repair and Replacement Order Card and a photocopy proof of purchase date such as your sales receipt in a shippable container A product returned without proof of the purchase date is not eligible for war ranty service 5 Write the RMA number visibly on the outside of the package and ship it prepaid to your dealer iii Technical Support and Assistance 1 Visit the Advantech web site at www Advantech com support where you can find the latest information about the product 2 Contact your distributor sales representative or Advantech s cus tomer service center for technical support if you need additional assistance Have the following information ready before you call Product name and serial number Description of your peripheral attachments Description of your software operating system version application software etc e A complete description of the problem The exact wording of any error messages Packing List Before setting up the system check that the items listed below are included and in good condition If any item does not accord with the table Contact your dealer immediately PCI 1245 1245E 1265 Companion CD ROM DLL driver included Startup Manual Safety Precaution Stat
198. tanceArray must follow the order of X axis Y axis Z axis U axis and so on For example if one group has two axes Y axis and U axis The first data in DistanceArray means Y axis relative distance and the second data means U axis relative distance The unit of distance in DistanceArray is PPU of each axis in group The difference between line interpolation and direct interpolation line interpolation s speed is divided into even line speed for every axis axis moves at this even line speed Mostly line interpolation is applied to the axis assembled as right angle But direct interpola tion s line speed is set into master axis The smallest Physical ID axis and other axes in group start stop as the same time as master axis Mostly direct interpolation is applied to the axis assembled as oblique angle At most it just supports 4 axes direct interpolation in PCI 1245 2 axes in 1245E and 6 axes in PCI 1265 PCI 1245 1265 User Manual 222 6 3 5 4 9 Acm GpChangeVel Format U32 Acm GpChangeVel HAND GroupHandle F64 New Velocity Purpose Command group to change the velocity while group is in line inter polation motion Parameters Name Type InorOut Description GpHandle HAND IN Group handle from Acm_GpAddAxis NewVelocity F64 IN New velocity unit PPU s Return Value Error Code Comments 6 3 5 4 10 Acm_GpMoveHelixAbs Format U32 Acm_GpMoveHelixAbs HAND GroupHandle PF64 Center
199. tarting point and final point c Load Data insert the selected CAM Table file The file format can be binary bin or cvs readable by EXCEL d Save Data save the CAM Table The file format can be binary bin or cvs readable by EXCEL But if you want to import CAMTable through Load CAMTable File operation you need to save the CAM Table as bin format because currently the 69 Chapter 5 device only support bin file to import through Load CAMTable File 4 Add Point To add CAM Point you can also edit X_Pos Y Pos pointRange and Slope on the lower right and click Add Point to add it 5 Change ModuleRange The master axis s revoluation pulse ModuleRange is set to be 10000 pulses by default If you want to edit you can edit in Modul eRange box and then click Change to finish After modified the horizontal maximum ordinate of E CAM Curve and Velocity Curve will be the modified value if there are edited CAM Points before change the value the X_Pos and pointRange of the CAM Points will become ModuleRange after modified Pre ModuleRange before modified fold 6 OK Click OK to save the CAM Table You can use Download CAM Table to save the CAM Table into hardware 7 Cancel Click Cancel to give up the editing 5 5 1 4 1 Load CAMTable File By clicking Load CAMTable File to choose binary file the CAM Table will be saved in the hard drive Note Before you save you should set up the CAM TablelD
200. ter axis rotates a circle and the Slave axis backs to the starting posi tion 0 a No CAM Point s serial number b X_Pos horizontal position coordinate Master axis s position c Y_Pos vertical position coordinate Slave axis s position d Range The distance between reference point and CAM Point For detail refer to the description about PointRange in Acm DevDownloadCAMTable function which is listed in Com mon API of Programming guide The default value is the edited value of pointRange You can change the value by editing it When you add more CAM Points the pointRange will be also changed If you want to change pointRange of edited CAM Point directly modify it in CAM Table Slope the slope between two reference points of CAM Point For detail refer to the description about PointSlope in Acm DevDownloadCAMTable function which is listed in Com mon API of Programming guide The default value is the value in Slope editing box which can be modified by editing the value in the edit box the slope of following added CAM Point will be the modified value in the edit box If you want to change the Slope of edited CAM Point directly edit in CAM Table Note The range of Slope value is from 10 to 10 If the value is less than 10 it will be 10 by default And if the value is larger than 10 it will be 10 by default CAM Table Operation a Delete Row delete the selected row s b Clear All clear all CAM Points except s
201. terpret cam curve relative 0 or absolute 1 to the master axis 0 relative 1 absolute MasterAbsolute U32 IN Interpret cam curve relative 0 or absolute 1 to the slave axis 0 relative 1 absolute SlaveAbsolute U32 IN Return Value Error Code Comments Camming is done with one table two dimensional describing master and slave positions together 141 Chapter 6 There are two types of Camming Periodic Periodic Once a curve is executed the camming immediately starts again at the beginning of the curve As follow WAAL Non periodic After a curve is executed the execution stops ee x MasterAbsolute and SlaveAbsolute Absolute When absolute camming is set the control values or the slave values based on the CamTable are interpreted as being abso lute The system compensates any offset developing between the leading and following axis during synchronization When synchro nism is reached a defined phase relationship is established between the control value and the slave value Relative When relative camming is set this means that any offsets between the control value and the slave value are not compensated for during synchronization For example sectional drawing from Utility as follows The intial cam curve is as follow Slave Master PCI 1245 1265 User Manual 142 Master axis Absolute Slave axis Relative Start posistion Master axis Relative Sl
202. the string If the buffer is too small the error message may be trun cated PCI 1245 1265 User Manual 128 6 3 2 Device Object 6 3 2 1 Acm_DevOpen Format U32 Acm DevOpen U32 DeviceNumber PHAND DeviceHandle Purpose Open a specified device to get device handle Parameters Name Type In or Out Description DeviceNumber U32 IN Device Number DeviceHandle PHAND OUT Return a point to the device handle Return Value Error Code Comments This function should be called firstly before any operation of the device 6 3 2 2 Acm DevClose Format U32 Acm DevClose PHAND DeviceHandle Purpose Close a device Parameters Name Type In or Out Description DeviceHandle PHAND IN A pointer to the device handle Return Value Error Code Comments Last of all the device must be closed through this function 129 Chapter 6 6 3 2 3 Acm_DevLoadConfig Format U32 Acm_DevLoadConfig HAND DeviceHandle PI8 ConfigPath Purpose Set all configurations for the device according to the loaded file Parameters Name Type In or Out Description DeviceHandle HAND IN Device handle from Acm_DevOpen ConfigPath PI8 IN Pointer to a string that saves config uration file s path Return Value Error Code Comments Configuration file can be binary or text file If the file extension is bin driver reads the
203. ting mode is on STA Or else every simultaneous axis needs to call this API to stop simultaneous motion About simultaneous starting stopping mode see about CFG_AxSimStartSource PCI 1245 1265 User Manual 172 6 3 4 7 Home 6 3 4 7 1 Acm AxHome Format U32 Acm AxHome HAND AxisHandle U32 HomeMode U32 Dir Purpose To command axis to start typical home motion The 11 types of typ ical home motion are composed of extended home Parameters Name Type In or Out Description AxisHandle HAND IN Axis handle from Acm AxOpen HomeMode MODE1 Abs MODE2_Lmt MODE3 Ref MODE4 Abs Ref MODE5 Abs NegRef MODE6 mt Ref MODE7_AbsSearch MODE8 LmtSearch MODE9 AbsSearch Ref MODE10 AbsSearch NegRef 10 MODE11 LmtSearch Ref 11 MODE12 AbsSearchReFind 12 MODE13 LmtSearchReFind 13 MODE14 AbsSearchReFind Ref 14 MODE15 AbsSearchReFind NegRe 15 MODE16 LmtSearchReFind Ref HomeMode U32 IN ODNANKRWNAOD 0 Positive direction Dir U32 IN 1 Negative direction Return Value Error Code 173 Chapter 6 Comments If property CFG_AxHomeResetEnable is set to be true command position and actual position will be reset to be zero after home motion ends Before using this method the cross distance should be set through PAR_AxHomeCrossDistance The speed curve is decided by PAR AxVelLow PAR AxVelHigh PAR AxAcc PAR AxDec and PAR AxJerk
204. ut pulse CW Pulse CCW EGND Output Output pulse CCW DIR DIR CCW DIR EGND Output Output pulse CCW DIR Al AGND Input Analog input 13 Chapter 3 Note 1 X Y Z U V and W represent for ID of each axis 2 RDY amp LTC dedicated input channels are designed to be switchable and sup port general purpose input channel usage 3 SVON CMP CAM DO and ERC dedi cated output channels are designed to be switchable and support general pur pose output channel usage 4 For easy to note DO4 CAM DO DO5 CMP DO6 SVON and DO7 ERC will be used and expressed in motion utility 5 DIX3 has three switchable functions general purpose input JOG and MPG Manual Pulser 6 DIX4 has three switchblade functions general purpose input JOG and MPG Manual Pulser 3 2 Location of DIP switch Figure 3 2 shows the names and locations of DIP switch on the PCI 1245 1245E 1265 The switch is used to set board ID BoardID Switch PCI 1245 1245E 1265 have a built in DIP switch SW1 which is used to define each card s unique identifier for Motion Utility You can deter mine the BoardID identifier on the register as shown in table 3 2 When there are multiple cards in the same chassis this BoardID setting is useful for identifying each card s unique device number We set the BoardID switch to 0 at the factory If you need to adjust it to another number set SW1 by referring to table 3 2 PCI 1245 1265 User Manual 14
205. ut32 lib uuid lib odbc32 lib odbccp32 lib Figure 6 13 Setting Lib File Path 103 Chapter 6 When finish the project setting user can build this project if build successfully 4 Write the code Hinclude stdafx h Hinclude lt wtypes h gt Hinclude lt stdio h gt Hinclude AdvMotApi h define MAX CNT 100 int main int argc char argv ULONG errcde HAND devHandle HAND axHandle MAX CNT ULONG devNum devCnt buffLen axisCntPerDev USHORT i DEVLIST devList MAX CNT Stepl Get available devices by calling API Acm GetAvailableDevs errcde Acm GetAvailableDevs devList MAX CNT amp devCnt if errcde 0 i printf Can not find available device n getchar return 0 H printf Get available devices successfully in Step2 Open device devNum devList 0 dwDeviceNum errcde Acm_DevOpen devNum amp devHandle PCI 1245 1265 User Manual 104 if errcde 0 printf Open device is failed n getchar return 0 printf Open device successfully n Step3 After open device successfully user can get necessary property buffLen sizeof axisCntPerDev errcde Acm_GetProperty devHandle FT DevAxesCount axis CntPerDev amp buffLen if errede SUCCESS i Acm DevClose amp devHandle printf Get property is failed n getchar return 0 H printf Get property successfully n Step2 Open the axes for 1 0
206. value is 1 6 4 3 2 8 3 CFG AxEIEnable Data Type U32 R W RW PropertyID 574 Meaning Set get hardware limit function enable disable Value Description 0 Disabled 1 Enabled Comments In PCI 1245 1245E 1265 the default value is 1 283 Chapter 6 6 4 3 2 9 Software Limit 6 4 3 2 9 1 CFG_AxSwMelEnable Data Type U32 R W RW PropertyID 577 Meaning Enable Disable the minus software limit function Value Description 0 Disabled 1 Enabled Comments 6 4 3 2 9 2 CFG AxSwPelEnable Data Type U32 R W RW PropertyID 578 Meaning Enable Disable the plus software limit Value Description 0 Disabled 1 Enabled Comments PCI 1245 1265 User Manual 284 6 4 3 2 9 3 CFG_AxSwMelReact Data Type U32 R W RW PropertyID 579 Meaning Set get the reacting mode of minus software limit Value Description 0 Motor immediately stops 1 Motor decelerates then stops Comments In PCI 1245 1245E 1265 the default value is 1 6 4 3 2 9 4 CFG_AxSwPelReact Data Type U32 R W RW PropertyID 580 Meaning Set get the reacting mode of plus software limit Value Description 0 Motor immediately stops 1 Motor decelerates then stops Comments In PCI 1245 1245E 1265 the default value is 1 285 Chapter 6 6 4 3 2 9 5 CFG_AxSwMelValue Data Type 132 R W RW PropertyID 581 Meaning Se
207. w the curve if the axis is in motion you can see the trajectory After clicked the text on Start but ton will change into Stop click Stop drawing the curve will stop and the text will back to Start 5 3 2 5 3 Clear Click Clear the current curve in graphic box will be cleared 5 3 2 5 4 Save Click Save the specified path curve will be saved as png gif jpg tif or bmp format 5 3 3 SVON Click SVON the servos of axes will be turned on and the text on it will change into SVOFF click SVOFF the servos of axes will be turned off and the text on it will be back to SVON 5 3 4 Configuration It includes Home Mode configuration External Drive mode the property configuration and I O status of the axis 5 3 4 1 Home Mode Before performing home movement you need to select the mode first Board offers 11 modes which are any one or combination of the ORG back to the origin Lmt back to the limit point and EZ to find Z phase For detailed information refer to the description about Home Mode in PCI 1240 or Acm_AxHome function which is listed in Common API of Programming guide Click Home Mode a new form appears as below PCI 1245 1265 User Manual 44 FF Home Hode Setup Home Mode INT EE Lmt EL i Ele STATUS1 OFFJOn OFF On LOFF gt oy je STATUS2 OFF JOn OFF On OFF MODE2 Lmt Move Dir gt touch EL Stop Description Only according to limit equipment eg se
208. will be stopped Parameters Name Type In or Out Description Pointer to group handle from GpHandle PHAND IN Acm GpAddAxis Return Value Error Code Comments 6 3 5 5 3 Acm GplLoadPath 233 Chapter 6 Format U32 Acm_GpLoadPath HAND GroupHandle PI8 FilePath PHAND PathHandle PU32 pTotalCount Purpose Load path data from path file It can load up to 600 path data one time Parameters Name Type In or Out Description Group handle from GpHandle HAND IN Acm GpAddAxis Point to a file path name of the FilePath FIs IN motion path data to be loaded PathHandle PHAND OUT Return the pointer to path handle Return actual total count of path pTotalCount PU32 OUT data in the path file Return Value Error Code Comments The path data file binary is usually generated by Motion Utility s Path Editor If you are familiar with Advantech motion product you can create file by yourself The PathHandle must be unloaded by Acm GpUnloadPath when the PathHandle does not be used any more or application is closing and the paths contained in Path Handle are deleted from driver at the same time 6 3 5 5 4 Acm GpUnloadPath PCI 1245 1265 User Manual 234 Format U32 Acm_GpUnloadPath HAND GroupHandle PHAND Path Handle Purpose Unload path data Parameter Name Type In or Out Description GpHandle HAND IN Group handle from
209. xis Z axis U axis For example if one group has Y axis and U axis the first data in Center Array means Y axis center position and the second data means U axis center position The unit of distance in Center Array and EndArray is PPU of each axis in group At most it just supports 2 axes arc interpolation in PCI 1245 1245E 1265 If the axis count in group is 3 user can chose two axes in group to move arc interpolation by PAR GpRefPlane the other axes has no respose If axis count in group is greater than 3 it will be error PCI 1245 1265 User Manual 218 6 3 5 4 5 Acm_GpMoveCircularRel_3P Format U32 Acm_GpMoveCircularRel_3P HAND GroupHandle PF64 RefArray PF64 EndArray PU32 pArrayElements I16 Direction Purpose Command group to execute relative ARC interpolation by three specified points Parameters Name Type In or Out Description Group handle from GpHandle HAND IN Acm GpAddAxis RefArray PF64 IN Relative distance of reference point EndArray PF64 IN Relative distance of end point Element count in the array This pArrayElements PU32 IN OUT Count must equal to the axis _ count in this group or else it will be returned axis count in group Direction Direction 116 IN 0 DIR CW clockwise 1 DIR CCW counterclockwise Return Value Error Code Comments The seguence of data in RefArray and EndArray must follow the order of X axis Y axis Z axis

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