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1. Refer to motion_define h of include files Name of o Offset oper Name Structure position Unit Low Limit ae Bytes Limit Parameter Position Position 4 signed 0 pulse 134217728 134217728 Low Speed dwStar tSpd 4 unsigned 4 pps 0 500000 High Speed dwMoveSpd 4 unsigned 8 pps 0 500000 Accel Time wAcce Rate 2 unsigned 12 msec 1 9999 Decel Time wDece Rate 2 unsigned 14 msec 1 9999 Command wCommand 2 unsigned 16 0 9 Wait time wWaitTime 2 unsigned 18 msec 0 600000 Continuous Action wCont inuous 2 unsigned 20 0 1 2 Jump Table No wBranch 2 unsigned 22 9 a 0000 0255 a 0 255 Jump PT O wCond_branchO 2 unsigned di 0000 0255 2 Jump PT 1 wCond_branch1 2 unsigned 26 9 0000 0255 2 Jump PT 2 wCond_branch2 2 unsigned 28 y 0000 0255 Loop Count wLoopCount 2 unsigned 30 0 100 L J Tab 0 255 on ee Acer wBr anchAf terLoop 2 unsigned 32 No 10000 10255 PT set wPTSet 2 unsigned 34 0 15 L Count 29p S wLoopCount CLR 2 unsigned 36 0 255 Clear Compare Position TriggerPos 4 signed 38 pulse 134217728 134217728 Compare Width wTriggerOnTime 2 unsigned 42 msec 1 9999 Blank 20 unsigned 44 0x00 For the setting method by each item refer to other manual User Manual_Position Table Please refer to 1 2 7 separate manual First 2 digits of number and 1 2 characters indicate the motor size and length Example Other part indicates the motor manufacturer information as below
2. 1 0 pin masking data Refer to 1 2 4 Bit setup of Input Pin Level Setting 0 Active Low 1 Active High Response 1 byte 1 byte Communication status FAS_ Recognize pin setting status of CN1 port from RAM Get OAss i gnMap Sending 1 byte 1 byte 1 0 number ee 1 Onumber O 11 corresponds to Limit Limit Org INI ln INQ respectively and 12 22 corresponds to COMP OUT1 OUT9 respectively Response 6 bytes 1 byte 4 bytes 1 byte 10 pin masking status Level status Communication status For more information refer to 0x24 Frame type 13 FAS_ OAssi gnMapReadROM Recognize setting status of 1 0 and setting value of signal level from ROM area These values are loaded to RAM Sending O byte de Response 2 bytes 1 byte 1 byte f Command performing status Communication status 4 0 complete values except 0 error FAS_ Start Stop command for Compare Out signal Tr igger Output_RunA Sending 18 bytes 1 byte 4 bytes 4 byte Output start stop Pulse start position Pulse period 1 start O stop pulse pulse 0x27 4 byte 1 bytes 4 byte 39 Pulse width Output pin number spare msec fix to 0 Response 2 byte 1 byte 1 byte Communication status Command performing status 0 complete values e
3. Syntax int FAS_Move0r iginSingleAxis BYTE nPortNo BYTE SlaveNo Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Return Value FMM_OK Command has been successful ly per formed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS_MoveSingleAxisAbsPos library See Also 78 FAS_MoveSing eAxisAbsPos To move the motor to the absolute coordinate value Syntax int FAS_MoveSingleAxisAbsPos BYTE nPortNo BYTE iSlaveNo long lAbsPos DWORD Velocity Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive AbsPos Absolute coordinate where position to move Velocity Velocity when the motor moves Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Example include FAS_EziMOTIONPlusR h void funcMove BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 DWORD dwAxisStatus dwlnput EZISTEP_AXISSTATUS stAxisStatus long lAbsPos lIncPos IVelocity int nRtn Try to connect if F
4. Function Name Description FAS_SetCommandPos To set the command position value FAS_SetActualPos To set the current position to the actual position value FAS_GetCommandPos To read the current command position value FAS_GetActualPos To read the current actual position value To read the difference between the actual position value and the FAS_GetPosEr ror re command position value FAS_GetActual Vel To read the actual running speed value while the motor is moving FAS_ClearPosit ion To set the command position and actual position value to 0 60 FAS_SetCommandPos To set the command position value of the motor Syntax int FAS_SetCommandPos BYTE nPortNo BYTE iSlaveNo long CmdPos Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive GmaPos Command position value to be set Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks The user sets the position command pulse output counter value This function is generally used when the user sets the current position to coordinates that customer wants Example include FAS_EziMOTIONPlusR h void funcClearPosi t ion BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0
5. S aveNo Slave number of relevant drive 10PinNo 1 0 Pin number to be read aw OLogicMask Logic mask value to be assigned to the relevant pin bLeve Active Level value of the relevant logic Return Value FMM_OK Command has been successfully performed refer to FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port FMM_INVAL D_PARAMETER_NUM Designated i lOPinNo or dwlOLogicMask value is out of range Remarks To save current setting values to the ROM memory should be run Example Refer to FAS_GSet OAssignMap library See Also FAS_Get OAssignMap 58 A Frame Type and Data FAS_SaveAl IParameters library FAS_ O0Ass ignMapReadROM To load the status of CN1 assignment 1 0 setting status and signal level in ROM area Syntax int FAS_PosTableReadROM BYTE nPor tNo BYTE iSlaveNo Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Example See Also FAS_ Get OAssignMap 59 2 7 Position Control Function
6. 5 bytes 83 1 byte 4 bytes Communication status Actual position value ao x FAS GetPosEr ror Request the difference pulse between the command position value and the actual position value x When external encoder is connected Sending 0 byte Oxoa Response 5 bytes 84 1 byte 4 bytes Communication status Position difference value FAS_ Request the current running speed value pps GetActualVel 0x55 Sending 0 byte 85 Response 5 bytes 1 byte 4 bytes Communication status Speed value FAS_ User can set the command position and actual position value as ClearPosition 0 before it starts to operate and can check how the command position value is changed 0x56 Sending 0 byte 86 Response 1 byte 1 byte Communication status Actual Position value when external encoder is connected FAS_ To request the pause start and pause end of motor motioning MovePause Sending 1 byte 1 byte 0x58 O pause release 1 pause start 88 Response 1 byte 1 byte Communication status FAS_ To read Position Table values in the RAM of the drive PosTab eRead tem Sending 2 bytes 2 bytes oxen Readable PT number 0 255 96 Response 65 bytes 1 byte 64 bytes Communication status Relevant PT values For items by each PT refer to 1 2 6 Position Table
7. 56XL Display Maker blank JapanSer vo SD Sanyo Denki POR Por tescap NPM NPM FUL Full ing YK Yunkong MIN Minebia Lin Linear Step 5 28 Motor Flange size is 56mm and Extra large size User Manual_Position Table for setting method per each time Information of Motors 1 3 Program Method There are 2 method of programming for Ezi STEP Plus R The first is generally used method with using Visual C language under window system of PC Library that serviced together with Ezi STEP Plus R have to be used Please refer to T2 Library for PC Program The second method is sending command characters directly to Ezi STEP Plus R User has to prepare low level protocol programming like Protocol Test program and this method is applied when use higher level control unit as like PLC For more programming method details please exercise ProtocolTest_PlusR exe is serviced together with GUI Please refer to 3 Protocol for PLC Program 29 2 Library for PC Program 2 1 Library Configuration To use this library C header file h and library file libor dll are required These files locate in WWEASTECHWWEZz MOTION PlusRWWincludeW And the following contents should be included in a source file for development include WWFASTECHWW EziMOTION PlusR WWincludeWWFAS_EziMotionPlusR h include WWFASTECHWW EziMOTION PlusR WWincludeWWCOMM_Define h
8. FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Example See Also FAS_ TriggerOutput_RunA 109 3 Protocol for PLC Program a Next window activates when you cl igk iscsrr icon in User Program GUI installed folder exe Next test procedure will help you to understand the protocol programming 1 Servo ON OFF command purpose of command In case of Ezi STEP Plus R Jump to next step 2 Motion Command because the motor is ready to move status after Power ON de Protocol Test a E3 Connection Buffer Received 7 CommPot 77 Header Siv Cmd Stat REFRESH Disconnect Baudrate 115200 y Send Buffer OxAA 0xCC 0x00 0x2A 0x01 0x60 OxAF 0xAA OxEE 1 Header 0 2 SlaveNo BYTE Static CHAR Static WORD Static SHORT Static 3 Data 1 DWORD Static LONG Static TE 1 byte 1 2 bytes J A ies 4 CRC 5 Tail CLEAR SEND gt gt The header and tail information is needed for protocol programming Additionally Frame Data Slave ID Frame type Data and CRC is also needed in each one of protocol with header and tail 1 Select Comm Port number and Baudrate and click Connect button 2 Header Click Header and you can see OxAA OxCC on Send Buffer window 3 Slave ID Insert your connected slave number above
9. include WWFASTECHWW EziMOTION PlusR WWincludeWWMOTION_DEFINE h include WWFASTECHWW EziMOTION PlusR WWincludeWWReturnCodes Define h Also library files are as follows WWEASTECHWW EziMOTION PlusR WWincludeWWEziMotionPlusf ib WWEASTECHWW EziMOTION PlusR WWincludeWWEziMotionPlusR dl A sample program source of with using these libraries locate at WWFASTECHWWEZiMOTION PlusR WWExamplesWW folder 1 The following table explains values returned when each library DLL function is used The user can only check the values returned at the library DLL function Low level programming method does not support following table tem Def inition Returned Descr iption Value The function has normally per formed the Normal FMM_OK 0 Semanal FMM_NOT_OPEN 1 Wrong port number is inputted Input FMM_INVAL1D_PORT_NUM 2 The port that is not connected E FMM_INVAL10_SLAVE_NUM 3 Wrong slave number is inputted Operation An error occurs while the motor accesses Error FMM_POSTABLE_ERROR 9 to the position table FMC_D I SCONNECTED 5 The relevant drive is disconnected Connection FMC_T MEOUT_ERROR 6 Response delay 100 msec occurs Error FMG_CRCFA LED_ERROR 7 Checksum error occurs Protocol level error occurs in packet FMC_RECVPACKET_ERROR 8 that comes from Drive 30 2 The following table indicates return values included commo
10. BYTE nPortNo BYTE iSlaveNo DWORD dwlOlnput Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive aw O0 nout Parameter pointer where input values will be saved Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks There are 12 input pins in Ezi STEP Plus R The user can select and use 9 input pins of them This function can read the input port status as 32bit All of them are insulated by a photocoupler Refer to the figure 5V 24V R2 Input A GND 24V If voltage from an external input is 24V at Port A the input is recognized to 5V High Example Refer to FAS_SetlOlnput library See Also FAS_Set10Input 53 FAS_Set 00utput To set 1 0 output values For more information refer to 1 1 5 Frame Type and Data Configuration Syntax int FAS_Set O0utput BYTE nPortNo BYTE iSlaveNo DWORD dwlOSetMask DWORD dw OCLRMask Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive aw 0Se task Output bitmask value to be set ON status aw OCLAMEask Output bitmask value be cleared OFF status Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has
11. Command FAS_MovyeSingleAxisAbsPos Return code FMM_INVALID_SLAVE_NUM 0x03 Wrong slave number is inputted Slave number does not exist Checking the ID value of the drive This error cannot be occurred in GUI FMC_DISCONNECTED 5 A The command is failed Command FAS_MoveSingleA xisAbsPos Return code FMC_DISCONNECTED 0x05 The relevant drive is disconnected COM Port is disconnect ed during communication Checking the communication cable Or Power of the drive FMC_TIMEOUT_ERROR The command is failed Command FAS_MoveSingleAxisAbsPos Return code FMC_TIMEQUT_ERROR 0x06 Response delay occurs Ce There iS no response from the drive FMC_CRCFAILED_ERROR A The command is failed Command FAS_MoyeSingleAxisAbsPos Return code FMC_CRCFAILED_ERROR 0x07 The packet which received from drive is corrupted Cancel CRC value of communication packet from the drive is not correct Checking the Possibility of noise on communication cable FMC_RECVPACKET_ERROR The command is failed Command FAS_MoveSingleAxisAbsPos Return code FMC_RECVPACKET_ERROR 0x08 Received packet is incorrect one 32 The length of received packet is not correct Checking the possibility of noise on communication cable ommunication Error i FMP_FRAMETYPEERROR 0x80 AN The command returned an error Command FAS_MoveSingleAxisAbsPos R
12. The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remar ks Refer to FAS_PositionAbsOverride library Example Refer to FAS_MoveSingleAxisAbsPos library See Also FAS_Posit ionAbsOver r ide 86 FAS_VelocityOverr ide To change the velocity set while the motor moves Syntax int FAS_Veloci tyOver r ide BYTE nPortNo BYTE iSlaveNo DWORD Velocity Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Velocity Velocity to be changed in pps Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Speed Time 1 In case of change speed lt speed before change the motor reaches to the change speed through acceleration deceleration using a new velocity pattern 5 In case of change speed speed before change the motor reaches to the change speed through acceleration deceleration without any new velocity pattern 4 The motor reaches to the speed before change without change of the velocity pattern and then it reaches to the change speed by a new velocity pattern 2 3 After accelerat ion
13. bLevel LEVEL_LOW_ACTIVE Low Active High Active else printf Input Pin d Not assignedWn i Assign E Stop Logic Low Active to input pin 3 iPinNo 3 0 11 value is available Caution 0 2 is fixed nRtn FAS_SetlOAssignMap nPortNo iSlaveNo iPinNo STEP_IN_BITMASK_ESTOP LEVEL_LOW_ACT VE _ASSERT nRtn FMM_OK Check assign information of output pin for i 0 i lt 10 Output Pin Count i nRtn FAS_GetlO0AssignMap nPortNo iSlaveNo 12 Input Pin Count i amp dwLogicMask amp bLevel _ASSERT nRtn FMM_OK if dwLogicMask OUT_LOGIC_NONE p bLevel LEVEL_LOW_ACTIVE Low Active High Active else intf Output Pin d Logic Mask Ox 08X s Wn i dwLogicMask printf Output Pin d Not assigned Win i Assign ALARM Logic High Active to output pin 9 iPinNo 9 0 9 value is available Caution O is fixed to COMPOUT nRtn FAS_Set OAssignMap nPortNo iSlaveNo 12 Input STEP_OUT_B ITMASK_ALARM LEVEL_HIGH_ACTIVE _ASSERT nRtn FMM_OK Disconnect FAS_Close nPor tNo See Also FAS_Set 0AssignMap 5 Pin Count iPinNo FAS_Set 0AssignMap To set 1 0 Assign Map For more information Configuration Syntax int FAS_Set OAssignMap BYTE nPortNo BYTE iSlaveNo BYTE il0PinNo DWORD dw lOLogicMask BYTE bLevel Parameters nPor tNo Port number of relevant drive
14. Header D 2 SlaveNo BYTE Static CHAR Static WORD Static SHORT Static 3 Data DWORD Static LONG Static D 1 byte 2 bytes 4 bytes 4 CRC 5 Tail CLEAR SEND gt gt 1 Header 2 Slave No 3 Frame type insert 53 in 1 byte size for Incremental Move command 4 Data Position value insert 10000 and click 4byte 5 Data Running speed insert 5000 and click 4 byte 6 CRC 7 Tail 8 Send When parameter sets as default value motor rotates as one revolution 53 command is incremental move command so once click Send motor will rotate again as same distance 3 PLC Programming In Protocol test GUI automatically calculate the Byte stuffing and CRC data For protocol programming in PLC you have to add the funct ion of Byte stuffing and CRC calculation For Byte stuffing refer to 1 1 2 RS 485 Communication Protocol and for CRC refer to 1 1 3 CRC Calculation Example on UserManual Ezi STEP Plus R Communication Function 111 e Please note that the specifications are subject to change without notice due to product improvements Copyright 2008 FASTECH Co Ltd All Rights Reserved Sep 13 2011 rev 08 05 027 112
15. Item 2D FAS PosTableWr iteltem To save Position Table values to the RAM of the drive Sending 66 bytes 2 bytes 64 bytes PT number 0 255 Relevant PT value Aa For items by each PT refer to 1 2 6 Position Table Item Response 2 bytes 1 byte 1 byte on status Command per forming status values except 0 complete 0 error FAS_ To read all Position Table values 256 ea in the ROM of the drive PosTab eReadROM 0x62 Sending 0 byte 98 Response 2 bytes 1 byte 1 byte Communication status ma pantomina Statys 0 complete values except 0 error FAS_ To save all Position Table value 256 ea to the ROM of the drive PosTab eWr i teROM 0x63 Sending O byte 99 Response 2 bytes 1 byte 1 byte Communication status Fema pe PT Aa 0 complete values except 0 error FAS_ To start the position table operation from the designated Position PosTableRun tem Table number Sending 2 bytes odon 2 bytes 100 PT Number 0 255 Response 1 byte 1 byte Communication status FAS_ To read one of Position Table values in the RAM of the drive PosTableRead0neltem Sending 4 byte 2 byte 2 byte Ox6A PT Number 0 255 Offset value 0 40 106 Refer to 1 2 6 Position Table Item for Offset value Response 5 byte 1 byte 4 byte Communication
16. Slave No 0 15 int nRtn Try to connect if FAS_Connect nPortNo 115200 FALSE Connection failed Tne port is not connected or the baudrate may be wrong return initialize Command Position and Actual Position values to 0 nRtn FAS_SetCommandPos nPortNo iSlaveNo 0 _ASSERT nRtn FMM_OK nRtn FAS_SetActualPos nPortNo iSlaveNo 0 _ASSERT nRtn FMM_OK Disconnect FAS_Close nPor tNo See Also 61 FAS_SetActualPos 62 FAS_SetActualPos To set the actual position value of the motor Syntax int FAS_SetActualPos BYTE nPortNo BYTE iSlaveNo long lActPos Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive ActPos Actual position value to be set Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Can be used when external encoder is connected The user sets the encoder feedback counter value to the value what customer wants Example Refer to FAS_GetActualPos library See Also FAS_SetCommandPos 63 FAS_GetCommandPos To read the command position of the current motor Syntax int FAS_GetCommandPos BYTE nPortNo BYTE iSlaveNo long CmdPos Parameters nPor tNo Port
17. The motor is already running The motor is under stop command Try to Z pulse Origin without external encoder only for Ezi STEP AN The command returned an error Command FAS_Servo larmReset Return code FMP_RESETFAIL 0x86 Running command failure Refer to communication function manual FMP_RESETEAIL Fail on reset command Tried to new motion under following status Already Reset status by external input signal 3 Command Execution Error AN The command returned an error Command FAS_PosTableWriteltern Return code FMM_POSTABLE_ERROR 0x09 An error occurs while the motor accesses to the position table FMM_POSTABLE_ERROR The execution of DLL library for Position Table is failed 34 2 3 Drive Link Function Function Name Description FAS_Connect The drive tries to connect communication with the drive module When it is successfully connected TRUE will be returned Otherwise FALSE will be returned FAS_Close The drive tries to disconnect communication with the drive module FAS_GetSlavelnfo The drive reads drive type and program version Drive type and version information will be returned FAS_GetMotor Info The drive reads motor type and manufacturer information Motor type and maker information will be returned FAS_ sSlaveExist Check the existence of the relevant drive When it exists TRUE wil
18. amp dwAxisStatus _ASSERT nRtn FMM_OK stAxisStatus dwValue dwAxisStatus while stAxisStatus FFLAG_MOTIONING Disconnect FAS_Close nPor tNo 94 FAS_MoveSing eAxis ncPosEx To move the motor to the Incremental coordinate Syntax int FAS_MoveSingleAxis IncPos BYTE nPortNo BYTE iSlaveNo long IncPos DWORD Velocity MOTION_OPTION_EX IpExOption Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive ncPos Incremental coordinate of position to move Velocity Velocity when the motor moves pExOpt ion Custom option Return Value FMM_OK Command has been normally per formed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Example See Also 95 FAS_MoveVe loci tyEx To move the motor to the relevant direction and velocity This function is also available for Jog motion Syntax int FAS_MoveSingleAxis IncPos BYTE nPortNo BYTE SlaveNo DWORD IVelocity int iVelDir VELOC TY_OPTION_EX IpExOption Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Velocity Velocity when the motor moves VelDir Direction which the motor moves 0 Jog 1 Jog pEx0ot ion Custom option Return Value FMM_OK Command has been normall
19. and refer to 2 Library for PC Program FAS_MoveL near IncPos Fulfill Linear Interpolation for multi dr ives connected in same port Position value is incremental value pulse unit and refer to 2 Library for PC Program FAS GetAxisStatus Request the flag value indicates operation status Sending 0 byte Response 5 bytes 0x40 64 1 byte 4 bytes Communication status Status flag value Assign bit related toeachFlag refer to 1 2 5 Bit setup of Status Flag FAS_ Request the 0 status and the running Flag status Get OAxisStatus Frame type 0x22 0x23 and 0x40 are packed Sending O byte 0x41 Response 13 bytes 65 1 byte 4 bytes 4 bytes 4 bytes Communication Input status Output status Status flag status value value value FAS_ Request the current operation progress status and ts Position Table GetMot ionStatus number Frame type 0x51 0x53 0x54 and 0x55 are packed Sending 0 byte Response 21 bytes 1 byte 4 bytes 4 bytes 4 bytes 4 bytes 4 bytes a Command Actual Position Running Current Communi cat ion EN o lt position Position Difference speed running status value value value value PT number 0x42 66 Actual Position value when external encoder is connected 20 FAS GetAl Status Request all data including the current running status Frame type 0x41 and 0x42 are
20. connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS_MoveSingleAxisAbsPos library See Also FAS_GetAxisStatus FAS_GetMot ionStatus 173 FAS_GetAxisStatus To read the motor Axis Status value For status Flag refer to 1 1 5 Frame Type and Data Configuration Syntax int FAS_GetAxisStatus BYTE nPortNo BYTE iSlaveNo DWORD dwAxisStatus Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive QWAxisStatus Parameter pointer where the axis status value of the relevant motor Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS_MoveSingleAxisAbsPos library See Also 74 2 9 Running Control Function Function Name Description FAS_MoveStop Stop the motor in running with deceleration FAS_Emer gencyStop Stop the motor in running immediately without deceleration FAS_MoveOr iginSingleAxis Start operation to return origin FAS_MoveSing eAxisAbsPos The motor moves as much as the given absolute position value FAS_MoveSing leAxis ncPos The motor moves as much as the given incremental position value FAS MoveToL
21. example is 0 and click SlaveNo 4 Frame type Select Frame type You can find next table information in 1 2 1 Frame Type and Data Configuration on UserManual Ezi SERVO Plus R _ Communication Function about Servo ON OFF command Frame type DLL Library name Data 42 0x2A FAS_ServoEnable Setting the Servo ON OFF status Sending 1 byte 1 byte 0 0FF 1 0N Insert 42 nOarea and click 1byte because the size of Frame Type is 1 byte 5 Data To make Servo ON status the data is 1 so insert 1 nO area and click 1 byte 6 CRC Click CRC and the automatically calculated result value 2 bytes is displayed on Send Buffer window 110 7 Tail click Tail and you can see OxAA OxEE on Send Buffer window 8 Finally click Send button to send command characters to Ezi SERVO Plus R You can check the motor torque and LED flash for Servo ON status 9 After sending command you can check the answering information from Ezi SERVO Plus R on Buffer Received window 2 Motion command purpose of command de Protocol Test a x Connection Buffer Received Comm Port l 77 Header Siv Cmd Stat REFRESH Disconnect Baudrate 115200 y Send Buffer OxAA 0xCC 0x00 0x35 0x10 0x27 0x00 0x00 0x88 0x13 0x00 0x00 0x3D 0x97 OxAA 0xEE Values 1
22. not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks There are 10 output pins in Ezi STEP Plus R The user can select and use 9 output p ins of them 24V 5V UN R2 AA EN 4 Output ANA A A GND 24V When output data is 1 Port A becomes OV When it is 0 Port A becomes 5V Be careful that dwlOSetMask bit and dwlOCLRMask bit are not duplicated Example Refer to FAS_SetlOlnput See Also FAS_Get O0utput 54 FAS_Get O0utput To read 1 0 output values For more information refer to 1 1 5 Frame Type and Data Configuration Syntax int FAS_Get 00utput BYTE nPortNo BYTE iSlaveNo DWORD dwlO0utput Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive aw 0 nout Parameter pointer where the output value will be saved Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS_Set Olnput library See Also FAS_Set QOutput 58 FAS_Get OAssi gnMap To read 1 0 Assign Map For more information refer to 1 1 5 Frame Type and Data Configuration Syntax int FAS_Get OA
23. status Relevant one of PT value FAS_ To save one of Position Table values to the RAM of the drive PosTableWriteOneltem Sending 8 byte 2 byte 2 byte 4 byte 0x68 PT Number 0 255 Offset value 0 40 Relevant one of PT value 107 Refer to 1 2 6 Position Table Item for Offset value Response 2 byte 1 byte 1 byte Communication status Command performing status values except 0 complete 0 error 23 x Frame Type 0x65 0x69 OxOE 0x0F are assigned for internal use PT Number 0 255 for Ezi STEP PR 0 63 for Ezi STEP PR MI 24 1 2 2 Parameter Lists No Name Unit Lower Limit Upper Limit Default O Pulse per Revolution 0 15 10 1 lAxis Max Speed pps 1 500 000 500 000 2 Axis Start Speed pps 1 35 000 1 3 Axis Acc Time msec 1 9 999 100 4 Axis Dec Time msec 1 9999 100 5 Speed Override 1 500 100 6 Jog Speed pps 1 500 000 5 000 7 Jog Start Speed pps 1 35 000 1 8 Jog Acc Dec Time msec 1 9 999 100 9 Servo Alarm Logic 0 1 0 10 Servo ON Logic 0 1 0 11 Servo Alarm Reset Logic 0 1 0 12 S W Limit Plus Value pulse 134 217 727 134 217 727 134 217 727 13 S W Limit Minus Value pulse 134 217 727 134 217 727 134 217 727 14 S W Limit Stop Method 0 1 1 15 H W Limit Stop Method 0 1 1 16 Limit Sensor Logic 0 1 0 17 O
24. 0 byte 0x3D Slave number must be 99 61 Response no response All slaves do not send response because cannot receive response from al slaves simultaneously FAS_AI Request move its position as much as the absolute value pulse SingleAxisAbsPos for all drives that connected in same port Sending 8 bytes Slave number must be 99 Ox3E 4 bytes 4 bytes 62 Absolute position value Running speed pps Response no response All slaves do not send response because cannot receive response from al slaves simultaneously FAS_AI Request move its position as much as the incremental value pulse SingleAxis ncPos for all drives that connected in same port Sending 8 bytes Slave number must be 99 Ox3F 4 bytes 4 bytes 63 incremental position value Running speed pps Response no response All slaves do not send response because cannot receive response from all slaves simultaneously FAS Request the motor to move its position as much as the absolute MoveSingleAxisAbsPos Value pulse with Custom Accel Decel Time msec Ex Sending 40 bytes 0x80 4 bytes 4 bytes 4 bytes 2 bytes 128 Absolute Running speed Flag option Custom Accel Time position pps 1 9999 value 18 2 bytes 24 bytes Custom Decel Time Reserved 1 9999 Flag ooption 0x0001 reserved 0x0002 Custom Accel Time is used 0x0004 Custom Decel Time is used If the F
25. 00000080 User Output 0 0x00008000 User Output 8 0x00800000 Example 1 Sending data to turn ON the User Output 5 4 bytes 4 bytes 1 0 set mask value 1 0 clear mask value 0x00 100000 0x00000000 Example 2 Sending data to turn OFF the User Output 5 4 bytes 4 bytes 1 0 set mask value 1 0 clear mask value 0x00000000 0x00 100000 1 2 4 Setup bit of Input pin Here is detail description of 0x21 frame type This command is only applicable to 32 signals in the control input port User can use signals for test ing as if they are inputted without actual input signal The following table shows bit mask values by each signal q Relevant r Relevant y Relevant Relevant a Bit NA Bit Sal Bit Signal Name Bit Name Position Name Position Name Position Position Limit 0x00000001 PT A4 0x00000100 AlarmReset 0x00010000 JPT input 2 0x01000000 Limit 0x00000002 PT A5 0x00000200 reserved 0x00020000 JPT Start 0x02000000 Origin 0x00000004 PT A6 0x00000400 Pause 0x00040000 User Input 0x04000000 c A 0x00000008 PT A7 0x00000800 Org Search 0x00080000 User Input 1 0x08000000 PT PT AO 0x000000 10 Siri 0x00001000 Teaching 0x00100000 User Input 2 0x10000000 c PT Al 0x00000020 Stop 0x00002000 E stop 0x00200000 ser Input 3 0x20000000 PT A2 0x00000040 Jog 0x00004000 JPT input O 0x00400000 ser Input 4 0x40000000 C
26. 3ACO 0x3B80 OxFB41 0x3900 OxF9C1 OxF881 0x3840 0x2800 OxE8C1 OxE981 0x2940 OxEBO1 Ox28C0 Ox2A80 OxEA41 OxEEO1 Ox2ECO Ox2F80 OxEF41 Ox2D00 OxEDC1 OxEC81 Ox2C40 ae OxE401 0x24C0 0x2580 OxE541 0x2700 OxE7C1 OxE681 0x2640 0x2200 OxE2C1 0xE381 0x2340 OxE101 0x21C0 Ox2080 OxE041 OxA001 Ox60C0 0x6180 OxA141 Ox6300 OxA3C1 OxA281 0x6240 0x6600 OxA6C1 OxA781 0x6740 OxA501 Ox65C0 0x6480 0xA441 0x6C00 OxACC1 OxAD81 Ox6D40 OxAFO1 OX6FCO Ox6E80 OxAE41 OxAAO1 Ox6ACO Ox6B80 OxAB41 Ox6900 OxA9C1 OxA881 0x6840 0x7800 OxB8C1 0xB981 0x7940 OxBBO1 Ox7BCO Ox7A80 OxBA41 OxBEO1 Ox7ECO Ox7F80 OxBF41 0x7D00 OxBDC1 OxBC81 Ox7C40 0xB401 0x74C0 0x7580 0xB541 0x7700 OxB7C1 OxB681 0x7640 0x7200 OxB2C1 0xB381 0x7340 0xB101 0x71C0 Ox7080 OxB041 0x5000 Ox90C1 0x9181 0x5140 0x9301 Ox53C0 0x5280 0x9241 0x9601 Ox56C0 0x5780 0x9741 0x5500 Ox95C1 0x9481 0x5440 0x9C01 Ox5CCO Ox5D80 0x9D41 Ox5FOO Ox9FC1 Ox9E81 Ox5E40 Ox5A00 Ox9AC1 0x9881 0x5840 0x9901 Ox59C0 Ox5880 0x9841 0x8801 0x48C0 0x4980 0x8941 0x4800 Ox8BC1 Ox8A81 Ox4A40 Ox4E00 Ox8EC1 Ox8F81 0x4F40 Ox8D01 Ox4DC0 Ox4C80 0x8C41 0x4400 0x84C1 0x8581 0x4540 0x8701 0x47C0 0x4680 0x8641 0x8201 0x42C0 0x4380 0x8341 0x4100 Ox81C1 0x8081 0x4040 unsigned short CalcCRC unsigned char pDataBuffer unsigned long usDataLen unsigned char nTemp unsigned short wCRCW
27. ASSERT nRtn FMM_OK You have to check if the command didn t execute correctly nRtn FAS_GetParameter nPortNo iSlaveNo STEP_AX ISSTARTSPEED amp lParamVal _ASSERT nRtn FMM_OK printf Parameter after Start Speed d Wn IParamVal Check the value saved in the ROM nRtn FAS_GetROMParameter nPortNo iSlaveNo STEP_AXISSTARTSPEED amp lParamVal _ASSERT nRtn FMM_OK You have to check if the command didn t execute correctly printf Parameter ROM Start Speed d Wn ParamVal Edit the parameter value then save it in the ROM nRtn FAS_SetParameter nPortNo iSlaveNo STEP_AXISSTARTSPEED 100 _ASSERT nRtn FMM_OK You have to check if the command didn t execute correctly nRtn FAS_SaveAl lParameters nPortNo iSlaveNo _ASSERT nRtn FMM_OK Disconnect FAS_Close nPor tNo See Also FAS_GetROMPar ameter 44 FAS_SetPar amet er Edit the relevant parameter value and then save t to the RAM Syntax int FAS_SetParameter BYTE nPortNo BYTE iSlaveNo BYTE iParamNo long ParamValue Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive ParamNo Parameter number to be edited ParamvValue Parameter value to be edited Return Value FMM_OK Command has been successfully per formed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected port
28. AS_Connect nPortNo 115200 FALSE Connection failed The port is not connected or the baudrate may be wrong return Check error status nRtn FAS_GetAxisStatus nPortNo iSlaveNo amp dwAxisStatus _ASSERT nRtn FMM_OK stAxisStatus dwValue dwAxisStatus if dwAxisStatus 8 0x00000001 if stAxisStatus FFLAG_ERRORALL 79 FAS_StepAlarmReset nPortNo SlaveNo Check input status nRtn FAS_Get OInput nPortNo iSlaveNo 8dw nput _ASSERT nRtn FMM_OK if dwInput amp STEP_IN_LOGIC_STOP STEP_IN_LOGIC_PAUSE STEP_IN_LOGIC_ESTOP FAS_Set10 nput nPortNo iSlaveNo O STEP_IN_LOGIC_STOP STEP_IN_LOGIC_PAUSE STEP_IN_LOGIC_ESTOP See Also ncrease the motor to 15000 pulse IncPos 15000 IVelocity 30000 nRtn FAS_MoveSingleAxisIncPos nPortNo iSlaveNo lIncPos IVelocity _ASSERT nRtn FMM_OK Stand by until motion command is completely finished do Sleep 1 nRtn FAS_GetAxisStatus nPortNo iSlaveNo 8dwAxisStatus _ASSERT nRtn FMM_OK stAxisStatus dwValue dwAxisStatus while stAxisStatus FFLAG_MOTIONING Move the motor to 0 lAbsPos 0 Velocity 20000 nRtn FAS_MoveSingleAxisAbsPos nPortNo iSlaveNo lAbsPos IVelocity _ASSERT nRtn FMM_OK Stand by until motion command is completely finished do Sleep 1 nRtn FAS_GetAxisStatus nPortNo iSlaveNo 8dwAxisStatus _ASSERT nRtn FMM_
29. Ezi STEP Micro Stepping System with Network based Motion Controller Ezi STEP Micro Stepping System with Network Based Motion Controller User Manual Communication Funct on_Ver6 Rev 08 05 027 1 Table of Contents Communication PROLOCO I S aisiscectocccceleceteses tess aatead saute ereecctscnvestebeetecalens iti etennentes 6 1 1 Communication FUNCTIONS scccccccssssssssssscccssssssssssssccsessssssssssscesssssssssssssesssssssseseessssssssnees 6 k 11 Gommun cat on SpeCG VEICat ONS Lt Ae A ee 6 1 1 2 RS 485 Communication Protocol Verb vee cscccscsscescsccscsscscssesssseesessessenseees 6 1 3 CRG CaleulationExamp AE S nt ee ee a A A E EA 7 1 1 4 Response Frame Structure and Communication Error Ver6 n se 10 1 2 Structure of Frame type Ver6 ococcccocnonnonnonncnnonnnonananinacononanonnonnconnnnnonnonoonncanonacononanonaonnoss 11 1 2 1 Frame type and Data Configuration oooconocccccccononcnannnnnoncnonananananononannnanancccnonannns 11 l 22 2 Paramerer ESSE tee ee ee oe E oe ee 25 PEZ SO tUPUbIE OF HOUT OUT MOM NE a enc ae te ec A UN at rite a dea E sta 26 l 24 Setup Dito NpU Rip in A dd EE OA 26 Z 3 7Bit Setup Ola Stats ll A A AD A EE EA A oles 27 2 06 Rosition able tam ar a e de bs deta er do 28 PE QS Fe UAGOPMATIOM of MOTO Sa a IA EI AD ADS AD E A 28 U 3 Program Method sssccesseisdcccseseccovsesedeecsosecesveesoceecsubaceasvvosdbesvobecessvevedessveteczsves
30. FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port FMM_INVALID_PARAMETER_NUM wltemNo is out of range Remarks Example See Also FAS_PosTableWr i teOnel tem 105 FAS_PosTableWr teOnel tem To edit specific item in the specific position table Syntax int FAS_PoslableWrite0neltem BYTE nPortNo BYTE SlaveNo WORD wltemNo WORD wOffset long lPos temVal Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive w temNo Item number to be edited wOffset offset value which will be saved from PT items Refer to 1 2 6 Position Table Item Pos temVal PT item data value to be set Return Value FMM_OK Command has been successfully per formed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connect ed ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port FMC_POSTABLE_ERROR An error occurs while position table is being written FMM_INVALID_PARAMETER_NUM wltemNo is out of range Remarks Example See Also FAS_PosTableReadOne tem 106 2 11 Other Control Function Funct ion Name Description FAS_Tr iggerOutput_RunA To Start Stop command for Compare Out signal FAS TriggerQutput_Status To check if the trigger output
31. FMM_OK nodeltem Position 260000 Change the position value to 260000 nodeltem wBranch 23 Set next command to 23 99 nodeltem wContinuous 1 Next command should be connected without deceleration See Also nRtn FAS_PosTableWriteltem nPortNo iSlaveNo wltemNo amp nodel tem _ASSERT nRtn FMM_OK Call the value in the ROM regardless of edited position table data nRtn FAS_PosTableReadROM nPor tNo iSlaveNo _ASSERT nRtn FMM_OK Save edited position table data in the ROM nRtn FAS_PosTableWr iteROM nPor tNo iSlaveNo _ASSERT nRtn FMM_OK Disconnect FAS_Close nPor tNo FAS_PosTableWr i tel tem 100 FAS_PosTableWr i tel tem To edit specific items in the position table Syntax int FAS_Pos ableWr ite tem BYTE nPortNo BYTE iSlaveNo WORD wltemNo LPITEM_NODE Ip tem Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive wi temNo Item number to be edited p tem Item structure pointer to be edited Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port FMC_POSTABLE_ERROR An error occurs while position table is being written FMM_INVALID_PARAMETER_NUM wltemNo is out of range Remarks Positio
32. For the command type refer to Frame Type and Data Configuration section Data Data structure and length is set according to Frame type For more information refer to Frame Type and Data Configuration section CRC To check an error which occurs during communication OxA001 of a polynomial factor in CRC Cyclic Redundancy Check X16 X15 X2 1 of a polynomial factor in CRC 16 BM Cyclic Redundancy Check is used CRC calculation is performed for all items Slave ID Frame type Data prior to CRC item Se 860 1 1 3 CRC Calculation Example The following program source is included in a file file name CRC_Checksum c provided with the product 1 OxA001 of CRC16 const unsigned short TABLE_CRCVALUE 0x0000 0xC0C1 0xC181 0x0140 OxC301 Ox03C0 Ox0280 OxC241 0xC601 Ox06CO 0x0780 0xC741 Ox0500 OxC5C1 OxC481 0x0440 0xCC01 Ox0CCO Ox0D80 OxCD41 OXOFOO OxCFC1 OxCE81 Ox0E40 Ox0A00 OxCAC1 OxCB81 0x0B40 OxC901 Ox09CO Ox0880 OxC841 0xD801 0x18C0 0x1980 0xD941 0x1B00 OxDBC1 OxDA81 Ox1A40 Ox1E00 OxDEC1 OxDF81 0x1F40 OxDDO1 Ox1DCO Ox1C80 OxDC41 0x1400 0xD4C1 0xD581 0x1540 OxD701 Ox17CO Ox1680 OxD641 0xD201 0x12C0 0x1380 0xD341 0x1100 OxD1C1 OxD081 0x1040 OxF001 0x30C0 0x3180 0xF141 0x3300 OxF3C1 OxF281 0x3240 0x3600 OxF6C1 OxF781 0x3740 OxF501 Ox35C0 0x3480 OxF441 0x3C00 OxFCC1 OxFD81 0x3D40 OxFFO1 Ox3FCO Ox3E80 OxFE41 OxFAO1 Ox
33. ION cucocccoonoononnonncnoninanonncnnnanononaonncnonanacnnonconononarononaonnccoarnacnnos 70 FAS Ge THOAXISS TALUS e teenies lin id 71 FAS IGOIMOL LONSTALUS ica contenida EE E sen seds cnecases restesscsupbertesangscatewene 72 FASEGETAL Status cid diia 73 FASOGETA AS STATUS IS A E AO AA aa 74 2 9 Running Control Function rinitis odiada iii 75 FAS MOVES TON A le 76 FAS Emer Oe Mr ae 77 FAS MOVeOr GINSENG ICAXISS cits ccdeindesiireematn natilecien sedan a a a ate 78 FAS Moves ING LEAX1SADSPOS ineca is iaa ii ibid 79 FAS Moves ingleAxXISiMCPOS curas 81 FAS MOVE TOL TMI Tap teccocs sica iia ie pia aia ai 82 FASZ MOVEVE TOCIT Varia 83 FAS POSITIONADSOVERT dE ita asias A EE au Eie 84 FAS lt POSITTONINCOVE rio 86 FAS VeTOCILYOVERE OG recu cias aa aaa aa 87 FASAL MOVES TOP oidos 88 FASZALEMETOENCYS OP ra tee a e ete al ean 89 FAS_Al IMove0r TINS ingl EAX Sinoniem ena e a e aa 90 FASZAI Moves ingle AXSADSPOS cion a ida 91 FAS Al IMoveSIngleAxiS IMP OS vuestra norris ra 92 FAS MoveS ing eAx I SADSPOSEX ua delta d 93 FAS MOVESINGIGAX 1S MCOPOSE ici iuei setes eea e eai tive sine 95 FAS MOVEVEIOGITVEX fea act ate dite ac hese ate ested aaa DELAS cut IT dd de eii 96 Position Table Control FUNCTION eseseseseseseseeeseeesoeesoeseseseseseseueeesoserososoeseseseeresororoesesesesese 98 FAS PosTablleReadl emisiones aaa css 99 FASPOSTableWwrT TOWTCM 2 sitet ae a oral abel Den o Eos add toes 101 FASZPOSTADOWE I LOROMs
34. OK stAxisStatus dwValue dwAxisStatus while stAxisStatus FFLAG_MOTIONING Disconnect FAS_Close nPor tNo 80 FAS_MoveSingleAxis IncPos To move the motor to the incremental coordinate value Syntax int FAS_MoveSingleAxis ncPos BYTE nPortNo BYTE iSlaveNo long IncPos DWORD Velocity Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive ncPos Incremental coordinate where position to move Velocity Velocity when the motor moves Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS_MoveSingleAxisAbsPos library See Also 81 FAS_MoveToL imi t To give the motor a command to search the limit sensor Syntax int FAS_MoveToL imi t BYTE nPortNo BYTE iSlaveNo DWORD Velocity int iLimitDir Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Velocity Velocity when the motor moves iLimitDir Limit direction of the motor moves 0 Limit 1 Limit Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID
35. T The internal temperature of the drive exceeds 55 C 0x00001000 FFLAG_ERRREVPWR A counter electromotive force of the motor exceeds 70V 0x00002000 FFLAG_ERRMOTORPOWER The motor voltage is abnormal 0x00004000 FFLAG_ERRLOWPOWER The drive voltage is abnormal 0x00008000 FFLAG_EMGSTOP The motor is under emergency stop 0x00010000 FFLAG_SLOWSTOP The motor is under general stop 0x00020000 FFLAG_ORIGINRETURNING The motor is returning to the origin 0x00040000 reserved 0x00080000 reserved 0x00100000 FFLAG_ALARMRESET AlarmReset has run 0x00200000 FFLAG_PTSTOPED Position Table operation has been finished 0x00400000 FFLAG_ORIGINSENSOR The origin sensor is ON 0x00800000 The motor operates to z pulse type of origin return 0x01000000 FFLAG_ZPULSE operations FFLAG_ORIGINRETOK Origin return operation has been fin ished 0x02000000 FFLAG_MOTIONDIR To display the motor operating direction OFF ON 0x04000000 FFLAG_MOTION ING The motor is running 0x08000000 FFLAG_MOT ONPAUSE The motor in running is stopped by Pause command 0x 10000000 FFLAG_MOT ONACCEL The motor is operating to the acceleration section 0x20000000 FFLAG_MOT ONDECEL The motor is operating to the deceleration section 0x40000000 The motor is not running as Acceleration Deceleration 0x80000000 FFLAG_MOT ONCONST but as constant speed of operation 29752 1 26 Position Table Item
36. _SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS_MoveSingleAxisAbsPos library See Also 82 FAS_MoveVelocity To move the motor to the relevant direction and velocity This function is available for Jog motion Syntax int FAS_MoveVeloci ty BYTE nPortNo BYTE iSlaveNo DWORD Velocity int iVelDir Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Velocity Velocity when the motor moves VelDir Direction when the motor moves 0 Jog 1 Jog Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS_MoveSingleAxisAbsPos library See Also 83 FAS_Posi t ionAbsOver r ide To change the absolute position value set while the motor mov es to the absolute position Syntax int FAS_Posit ionAbsOver r ide BYTE nPortNo BYTE iSlaveNo long lOverridePos Parameters nPor tNo Port number of relevant drive Slaveno Slave number of relevant drive Overr dePos Absolute coordinate position value to be changed Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM T
37. alue hen specific bitof the set mask is 1 the relevant input port signal 0x21 is set to ON 33 hen specific bit of the clear mask is 1 the relevant input port signal is set to OFF For more information refer to 1 2 4 Bit setup of Input Pin Response 1 byte 1 byte Communication status 12 FAS_ Current input signal status of the control input port is recognized Get 10 nput Sending O byte 0x22 Response 5 byte 34 1 byte 4 bytes Communication status Input status value Relevant bit by each input signal refer to 1 2 4 Bit setup of Input Pin FAS_ Current output signal status of the control output port is recognized Get OOQutput Sending 0 byte Response 5 byte 0x23 1 byte 4 bytes 35 Communication status Output status value Relevant bit by each output signal refer to 1 2 3 Bit setup of Output sal ge ee FAS_ Assign 1 0 signal to the pin of CN1 port and set signal level Set OAssignMap simultaneously By running FAS_SaveAl Parameters you can save the setting value to the ROM Sending 6 bytes 1 byte 4 bytes 1 byte 1 0 number 1 0 pin masking data Setting level one 1 0 number O 11 corresponds to Limit Limit Org IN1 36 IN9 respectively and 12 22 corresponds to COMP OUT1 OUTS respectively
38. ask bit are not duplicated Example include FAS_EziMOTIONPlusR h void funcl0 BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 DWORD dwinput dwOutput int nRtn Try to connect if FAS_Connect nPortNo 115200 FALSE Connection failed The port is not connected or the baudrate may be wrong return Check 1 0 input nRtn FAS_Get OInput nPortNo iSlaveNo amp dwInput _ASSERT nRtn FMM_OK if dwinput 8 STEP_IN_BITMASK_LIMITP Limit input is ON 51 if dwinput amp STEP_IN_BITMASK_USERINO User Input O is ON Turning ON Clear Position and User Input 1 inputs and turning off Jog input nRtn FAS_Set OInput nPor tNo iSlaveNo STEP_IN_BITMASK_CLEARPOSITION STEP_IN_BITMASK_USERIN1 STEP_IN_BITMASK_PJOG _ASSERT nRtn FMM_OK Check 1 0 output nRtn FAS_Get OOutput nPortNo iSlaveNo amp dwOutput _ASSERT nRtn FMM_OK if dwOutput amp STEP_OUT_B TMASK_USEROUTO User Output O is ON Turn off User Output 1 and 2 signals nRtn FAS _Setl00utput nPortNo iSlaveNo 0 STEP_OUT_B TMASK_USEROUT1 STEP_OUT_B TMASK_USEROUTZ _ASSERT nRtn FMM_OK Disconnect FAS_Close nPor tNo See Also FAS_Get10 nput 52 FAS_Get 10 nput To read 1 0 input values For more information refer to 1 1 5 Frame Type and Data Configuration Syntax int FAS_Get10 mput
39. c PT AS 0x00000080 Jog 0x00008000 JPT input 1 0x00800000 User Input 5 0x80000000 26 Example 1 Sending data to turn ON the Pause port 4 bytes 4 bytes 1 0 set mask value 1 0 clear mask value 0x00040000 0x00000000 Example 2 Sending data to turn OFF the Pause port 4 bytes 4 bytes 1 0 set mask value 1 0 clear mask value 0x00000000 0x00040000 1 2 5 Bit setup of Status Flag Refer to EZISTEP_AXISSTATUS structure of motion_define h of include folder Name of Flag Define Contents al Bii Position FFLAG_ERRORALL One or more error occurs 0x00000001 FFLAG_HWPOS I LMT direction limit sensor turns ON 0x00000002 FFLAG_HWNEGALMT direction limit sensor turns ON 0x00000004 FFLAG_SWPOGI LMT direction program limit is exceeded 0x00000008 FFLAG_SWNEGALMT direction program limit is exceeded 0x000000 10 reserved 0x00000020 reserved 0x00000040 FFLAG_ERRSTEPALARM One or more error of STEP alarm 8 ea occurs 0x00000080 FFLAG_ERROVERCURRENT The motor driving device is under over current 0x00000100 FFLAG_ERROVERSPEED The motor speed exceeded 3000 rpm 0x00000200 FFLAG_ERRSPEED The motor is not tracked normally by pulse input 0x00000400 reserved 0x00000800 FFLAG_ERROVERHEA
40. cted ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Refer to MOTION_OPTION_EX struct Example include FAS_ EziMOTIONPlusR h void funcMoveEx BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 DWORD dwAxisStatus dwInput EZISTEP_AXISSTATUS stAxisStatus long lAbsPos lIncPos Velocity MOTION_OPTION_EX opt 0 int nRtn Try to connect if FAS_Comnect nPortNo 115200 FALSE Connection failed The port number may be wrong or incorrect Baudrate return Moving motor with different acc dec time lIncPos 15000 93 See Also IVelocity 30000 opt flag0ption BIT_USE_CUSTOMACCEL opt flag0ption BIT_USE_CUSTOMDECEL 1 Il aan opt wCustomAccelTime 50 opt wCustomDecel Time 200 nRtn FAS_MoveSingleAxisIncPosEx nPortNo iSlaveNo lIncPos IVelocity amp opt _ASSERT nRtn FMM_OK Waiting until motioning is done do Sleep 1 nRtn FAS GetAxisStatus nPortNo iSlaveNo amp dwAxisStatus _ASSERT nRtn FMM_OK stAxisStatus dwalue dwAxisStatus while stAxisStatus FFLAG_MOTIONING Moving motor to position 0 lAbsPos 0 IVelocity 20000 nRtn FAS _MoveSingleAxisAbsPos nPortNo iSlaveNo lAbsPos IVelocity _ASSERT nRtn FMM_OK Waiting until motioning is done do Sleep 1 nRtn FAS GetAxisStatus nPortNo SlaveNo
41. d command position value pulse Response 1 byte 1 byte Communication status 0x39 57 FAS PositionIncOverr ide Request the motor to change the incremental position value pulse during operation target Sending 4 bytes 4 bytes Changed command position value pulse Response 1 byte 1 byte Communication status Ox3A 58 FAS_ VelocityOverr ide Request the motor to change the running speed value pps during operation Sending 4 bytes 4 bytes Changed running speed pps Response 1 byte 1 byte Communication status 17 FAS_ Request stop for all motor that connected in same port during Al MoveStop operation 0x3B Sending 0 byte 59 Slave number must be 99 Response no response All slaves do not send response because cannot receive response from all slaves simultaneously FAS_ Request emergency stop for all motor that connected in same port Al lEmergencyStop during operation 0x3C Sending O byte 60 Slave number must be 99 Response no response All slaves do not send response because cannot receive response from all slaves simultaneously FAS_AI Request return to origin under current setting parameter condition Move0r iginSingleAxis for all drives that connected in same port Sending
42. deceleration is finished the motor reaches the change speed corresponding to the velocity pattern of the change speed Example Refer to FAS_MoveSingleAxisAbsPos library See Also 87 FAS_AI IMoveStop To stop all motors that connected in same port Syntax int FAS_AI MoveStop BYTE nPor tNo Parameters nPor tNo Port number of relevant drive Return Value No response Remarks Example Refer to FAS_MoveSingleAxisAbsPos library See Also 88 FAS_AI EmergencyStop To stop all motors that connected in same port without deceleration Syntax int FAS_AI EmergencyStop BYTE nPor tNo Parameters nPor tNo Port number of relevant drive Return Value No response Remarks This function does not include deceleration phase So the user must be careful so that the machine cannot be impacted Example Refer to FAS_MoveSingleAxisAbsPos library See Also 89 FAS_AI IMove0r iginSingleAxis To search the origin of system for all motor those are connected in same port For more information refer to User Manual_Text 9 3 Origin Return Syntax int FAS_AI MoveOr iginSingleAxis BYTE nPor tNo Parameters nPor tNo Port number of relevant drive Return Value No response Remarks Example Refer to FAS_MoveSingleAxisAbsPos library See Also 90 FAS_AI MoveS ingleAxisAbsPos To move all motors that connected in same port to th
43. drive are saved to 2 memory areas That is when power is off the ROM saves parameters permanently When power is on parameters in the ROM are copied to the DSP RAM and used When the user changes parameters it changes not parameters in the ROM but parameter in the RAM This function reads the parameter number designated to the RAM Example Refer to FAS_SaveAl Parameter library See Also FAS_SetPar ameter 46 FAS_GetROMPar ameter To call parameters saved in the ROM Syntax int FAS_GetROMPar ameter BYTE nPortNo BYTE iSlaveNo BYTE iParamNo longs ROMParam Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive ParamNo Parameter number to be brought ROWPar am Parameter values saved in the ROM Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port FMM_INVALID_PARAMETER_NUM There is no parameter of designated ParamNo Remarks To call parameter values saved in the ROM Even though this function runs the value in the RAM is not changed For this run FAS_SetParameter Example Refer to FAS_SaveAl Parameter library See Also FAS_SaveAl Parameters 47 2 5 Servo Control Function Function Name Description FAS_StepAlarmRes
44. e absolute coordinate Syntax int FAS_Al MoveSingleAxisAbsPos BYTE nPortNo long lAbsPos DWORD IVelocity Parameters nPor tNo Port number of relevant drive AbsPos Absolute coordinate of position to move Velocity Velocity when the motor moves Return Value No response Remarks Example Refer to FAS MoveSingleAxisAbsPos Library See Also 91 FAS_AI MoveSingleAxis IncPos To move all motors that connected in same port to the incremental coordinate value Syntax int FAS_Al IMoveSingleAxis ncPos BYTE nPortNo long IncPos DWORD Velocity Parameters nPor tNo Port number of relevant drive ncPos Incremental coordinate of position to move Velocity Velocity when the motor moves Return Value No response Remarks Example Refer to FAS_MoveSingleAxisAbsPos library See Also 92 FAS_MoveSingleAxisAbsPosEx To move the motor to the absolute coordinate Syntax int FAS_MoveSingleAxisAbsPos BYTE nPortNo BYTE SlaveNo long lAbsPos DWORD Velocity MOTION_OPTION_EX IpExOption Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive AbsPos Absolute coordinate of position to move Velocity Velocity when the motor moves pEx0ot ion Custom option Return Value FMM_OK Command has been normally performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the conne
45. e is no response from the drive A 2 f the communication status isdisplayedto 130 the size of response data is byte 10 1 2 Structure of Frame type Ver6 1 2 1 Frame type and Data Configuration 1 The following table explains the content and configuration by frame type of data Frame Library Name Contents Type FAS_ Connected slave type and program version information are required GetSlave Info Sending O byte Response 1 248 bytes 0x01 1 byte 1 bytes 0 246 bytes 1 Communication ACII string with NULL byte Slave type status strlen 1 byes Slave type 20 Ezi STEP Plus R ST 60 Ezi STEP Plus R MINI 1 Ezi SERVO Plus R ST FAS_ Connected motor type and manufacturer information are required GetMotor Info Sending O byte Response 1 248 bytes 0x05 1 byte 1 bytes 0 246 bytes 5 Communication Motor type ACI string with NULL byte status 1 255 strlen 1 byes Motor type refer to 1 1 7 Information of Motors FAS_ Save currently set parameters 8 assigned signals in the ROM o f the SaveAl Parameters drive Even the drive is powered off saving these data 8 parameters are possible Values set at FAS SetParameter 8 FAS_SetlOAssignMap are saved 0x10 together 16 Sending O byte Response 1 byte 1 byte Communication status FAS_ Specific parameter values in the ROM are
46. ecdsoavecsobedasssebedeecsebee 29 Library TOF CPG PEO aa es 30 2 f Tbrary CONTIGUFA Mestalla lines 30 2 2 Communication Status WINAOW cccccsssccssssssscessssccssscecessseessssscecessssecsssseesssscseeessscsecees 31 2 3 Drive LINK FUNCE ON cscs cdses ccceesccsdevdsescececsucsdeccscsecvecsaceteecscossccdseecdescsvasececsoedeerdscnstudeseusvosteeceseed 35 FAS COMME uses a a oe loa de Da o 36 FASEGNOS O tv aora Dal Ad dea Aste dd Shon A e at es Lae E 38 FASES ae TO ras ia le ds do ar de de o a le ed A sn 39 FASO MO O INTO Za e A e a Si N 40 A O S TET E ETA 41 2 4 AA 42 FAS SaVeAl Parametros A RA A A E 43 FAS SET araM Te Tintor n e TAE ER NEE O EN O TAE a nee ites 45 FAS GetP ftana tEn esei r aeei in eai ei E AE at ptr 46 FAS GetROMPar AME TET peirer eoin ouine eor eener E EEEE o EEE E REEE RANEE nanos 47 ES A O FUNCUON AAA EA 48 FASES TOpATATMRESO id 49 2 CONO NOU NAAA 50 FAS 6 THOU Uta iia da 51 FAS GOO A At Re Rd 53 FAS SOL OOTP Dtos a ni 54 FAS Get TOOUTPUT misini trna AAA carotene 55 FAS Get OASSA MP ai iaa 56 FASE SO UIDASS IO MP a AR 58 FAS IOASSionMapReadROM ovnis care as 59 DS Ter Position Control PUREE NOM ps AA A A s 60 FAS SELCOMMANOP OS ira aa al 61 FAS SOLACTUGIPOS ct Ada denne aa 63 FAS GO TCOMMANOROS carattere slats 64 FAS OGOTACIA POS A tt EAA crasesescends es Ria 66 FAS Ge tPOSE te Oise 67 RASGO PACA lio ES Moana res AA 68 FAS Clear POSITI ON mnene a 69 2 8 Drive Status Control FUNCT
47. ect nPor tNo 115200 FALSE Connection failed The port is not connected or the baudrate may be wrong return Initialize Command Position and Actual Position values to 0 nRtn FAS _ClearPosition nPortNo SlaveNo _ASSERT nRtn FMM_OK Disconnect FAS_Close nPor tNo FAS_SetActualPos 69 2 8 Drive Status Control Function Function Name Description FAS_Get OAxisStatus To read control 1 0 status running status Flag value The current input status value the output setting status value and the running status Flag value will be returned FAS_GetMot ionStatus To read the current running progress status and ts PT number The command position value the actual position value the speed value will be returned FAS_GetAl IStatus To read all status includes the current 1 0 status at one time This function is to combine FAS_Get OAxisStatus function and FAS_GetMotionStatus function FAS_GetAxisStatus To read the running status Flag value of the relevant drive 70 FAS_Get OAxisStatus To read 1 0 Input and Output values of the relevant drive and the motor Axis Status value Syntax int FAS_Get OAxisStatus BYTE nPortNo BYTE iSlaveNo DWORD dwinStatus DWORD dwOutStatus DWORD dwAxisStatus Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive aw nStatus Parameter poin
48. erformed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS_Connect library See Also 40 FAS_ sSlaveExist Check connection status of the drive Syntax BOOL FAS_IsSlaveExist BYTE nPor tNo BYTE iSlaveNo Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Return Value TRUE The drive is connected FALSE The drive is disconnected Remarks This function is provided from the library only andi t is inapplicable to the protocol program mode Example Refer to FAS_Connect library See Also FAS_Connect 4 2 4 Parameter Control Function Funct ion Name Description FAS_SaveAl Parameters Save current status of parameters to the ROM Even after the drive is powered OFF parameters related to operating speed acceleration deceleration time and origin return need to be preserved FAS_SetPar ameter Save designated parameter to the RAM Specific parameter is saved FAS_GetPar ameter Read designated parameter from the RAM Specific parameter is read FAS_GetROMPar ameter Read designated parameter from the ROM Specific parameter is read from the ROM 42 FAS_SaveAl Parameters Save all edited parameters up to n
49. erial port being used Syntax void FAS_Close BYTE nPor tNo Parameters nPor tNo Port number to be disconnected Remarks Example Refer to FAS_Connect library See Also FAS_Connect 238s FAS_GetSlave Info To get the version information string of the relevant drive Syntax int FAS_GetSlavelnfo BYTE nPortNo BYTE iSlaveNo BYTE pType LPSTR IpBuff int nBuffSize Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive pType Type number of relevant drive oBut f Buffer pointer will get version information string nbuf fSize Memory allocation size of IpBuff Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS_Connect library See Also 39 FAS_GetMotor Info To get the motor information string of the relevant drive Syntax int FAS_GetMotor Info BYTE nPortNo BYTE iSlaveNo BYTE pType LPSTR IpBuff int nBuffSize Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive pType Type number of relevant motor oBut f Buffer pointer to get version information string nbuf fSize Memory allocation size of IpBuff Return Value FMM_OK Command has been successfully p
50. esignated position table n sequence FAS_PosTableReadOneltem To read items of RAM area in the specific one item of position table FAS_PosTableWriteOneltem To save specific item of specific position table to RAM area 98 FAS_PosTableRead tem To read a specific tem in the position table Syntax int FAS_PosTab eRead tem BYTE nPortNo BYTE SlaveNo WORD wltemNo LPITEM_NODE Ipltem Parameters nPor tNo Port number of relevant drive Slaveno Slave number of relevant drive wi temNo Item number to be read lp tem ltem structure pointer where tem value is saved Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port FMM_INVALID_PARAMETER_NUM wltemNo is out of range Remarks Example include FAS_EziMOTIONPlusR h void funcPosTable BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 WORD wl temNo TEM_NODE nodel tem int nRtn Try to connect if FAS_Connect nPor tNo 115200 FALSE Connection failed The port is not connected or the baudrate may be wrong return Read No 20 Position table value and edit the position value wltemNo 20 nRtn FAS_PosTableReadltem nPortNo iSlaveNo wltemNo amp nodel tem _ASSERT nRtn
51. et Release alarm of the drive generated alarm Troubleshoot root cause of the alarm prior to use this function FAS_AlarmType Read the Alarm type of the drive 48 FAS_StepAlarmReset To send AlarmReset command Syntax int FAS_StepAlarmReset BYTE nPortNo BYTE SlaveNo BYTE bReset Parameters nPor tNo Port number of relevant drive SlaveNo Slave number of relevant drive bReset Reset command 1 reset O reset release Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Before sending this command troubleshoot root cause of the alarm For alarm cause refer to User Manual_Text Two times commands are needed for clearing the alarm status This command have to be executed sequentially 1 and 0 for the value Of bReset If you are execute only T value the motor will be unlock Status Example See Also 49 2 6 Control I O Function Function Name Description To set the input signal level of the control input port Re Set ID OYE Set input signal ON or OFF status A To read the current input signal status of the control input port EAS EA MOE The signal status returns by bit for each input signal To s
52. et the output signal level of the control input port FAS_Set 00utput F R Set output signal ON or OFF status A To read the current input signal status of the control output port Paseet DUI The signal status returns by bit for each output signal To read the pin of setting status of the CN1 port FAS_Get OAssignMap The setting status for each 9 variable signals returns by bit to the Input and Output port FAS_Set OAssignMap To assign the control 0 signal to CN1 port pin and also set the signal level Setting for each 9 variable signals is assigned to the Input and Output port FAS_IOAss i gnMapReadROM To load the pin of setting status of CN1 port from ROM area to RAM area 50 FAS_Set 101 nput Toset I O input For more information refer to 1 1 5 Frame Type and Data Configuration Syntax int FAS_Set 10 nput BYTE nPortNo BYTE iSlaveNo DWORD dwlOSetMask DWORD dw OCLRMask Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive aw 0Se task Input bitmask value to be set aw OCLAMEask Input bitmask value to be cleared Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remar ks Be careful that dwlOSetMask bit and dwlOCLRM
53. eturn code FMP_FRAMETYPEERROR 0x80 The drive cannot recognize the command Drive does not recognize the command or wrong command is sent Checking the command value that you want to send to the drive Communication Error FMP_DATAERROR 1 The command returned an error Command FAS_MoveSingleAxisAbsPos Return code FMP_DATAERROR 0x81 Input data is out of the range The value of the sent data is out of the proper range of the drive Checking the value that you want to send to the drive Communication Error FMP_PACKETERROR AN The command returned an error Command FAS_MoveSingleAxisAbsPas Return code FMP_PACKETERROR 0x82 The length of received packet on drive is not correct Checking the possibility of noise on communication cable Communication Error D The command returned an error Command FAS_MoveSingleAxisAbsPos Return code FMP_PACKETCRCERROR 0x44 An error is occured while checking CRC of the packet which drive received FMP_PACKETCRCERROR 0xAA The incorrect CRC value of packet sent to the drive Checking the possibility of noise on communication cable 33 2 Wrong Command The command returned an error Command FAS_MoveSingleAxisincPos Return code FMP_RUNFAIL 0x85 Running command failure Refer to communication function manual FMP_RUNFAIL 0x85 Fail on motion command Tried to new motion under following status
54. here is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks 1 If the target position is set to the farther coordinate than the original target position while the motor moves under acceleration or constant velocity the motor moves to the velocity pattern until then and stops at the target position Speed 7 Position Override Time 2 If the target position is changed while the motor is decelerated it is again accelerated up to the constant velocity and then stops at the target position Speed Position Override Time 84 3 If the changed target position is set to the closer coordinate than the original target position the motor once stops at the position before change and then per forms acceleration and deceleration to stop at the changed target position Speed Position Override t Example Refer to FAS_MoveSingleAxisAbsPos library See Also FAS_Posi tion ncOverr ide 85 FAS_Position IncOverr ide To change the incremental position value set while the motor moves to the incremental position Syntax int FAS_Position ncOverr ide BYTE nPortNo BYTE iSlaveNo long Overr idePos Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Over r dePos Incremental coordinate position value to be changed Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN
55. imit The motor moves up to the position that the limit sensor s detected FAS MoveVeloci ty The motor moves to the given velocity and direction This function is available to Jog motion EAS Positiontbsvert ide Changed the target absolute position value pulse of the motor in running FAS Post ianineoverride Changed the target incremental position value pulse of the motor in running FAS_VelocityOverr ide Changed the running velocity value pps of the motor in running FAS_AI MoveStop Stop all motors connected in same port with deceleration EAS iEWerasneySton Stop all motors connected in same port immediately without deceleration EAS AliMoveor tginSingleaxts Start operation to return all motors in same port to origin position FAS Al MoveSingleAxisAbsPos All motors that connected in Same por t moves as much as the given absolute position value FAS_Al MoveSingleAxisIncPos A motors that connected in same port moves as much as the given incremental position value FAS_MoveS ing eAxisAbsPosEx The nove moves as much as the given absolute position value with custom accel decel time value resina InePisEs The motor Moves as much as the given incremental position value with custom accel decel time value The motor moves to the given velocity and direction FAS_MoveVeloci tyEx This function is available to Jog motion with custom accel decel time value FAS MovePause The motor starts pa
56. inds of program version for STEP Plus R This manual support for Version 6 level Type Firmware version compatability User Program GUl version 1 Level 6 VO6 0x 0xx xx lt gt Level 6 6 xx X XXX 2 Level 8 VO8 xx 0xx xx lt gt Level 8 8 xx x Xxxx After connect the User Program GUl i About Ezi MOTION Plus R GUI Version number can be check in About Plus R GUI menu in Help menu FE Plus R GUI Version 6 16 0 585 rev 791 Supported firmware version 1 Ezi SERWO Plus A 5T V06 2 Ezi STEP Plus A ST V06 Copyright C 2008 FASTECH Co Ltd 1 Overview of communication FRAME PC Communication Ezi STEP Port n gt gt Plus R Response Frame Header Frame Data Tai OxAA OxCC 5 252 bytes OxAA OXEE 2 Basic structure of Frame O OxAA Delimited byte OxAA OxCC Indicate header of the frame OxAA OxEE Indicate tail of the frame If any of the Frame data is OxAA OxAA should be added right after it byte stuffing If any data following OxAA isnot OxAA OxCC or OxEE it indicates an error Detailed Frame Data is configured as follows Slave ID Frame type Data CRC 2 bytes 1 byt 1 byt 0 248 bytes a ae vee Low byte High byte Slave ID Dive module number 0 15 connected to the PC communication port Frame type Designate command type of relevant frames
57. l be returned Otherwise FALSE will be returned 235 FAS_Connect FAS_ Connect is the function of connection Ezi STEP Plus R Syntax BOOL FAS_Connect BYTE nPortNo DWORD dwBaud Parameters nPor tNo Select a serial port number to be connected awBaud Input the Baudrate of the serial port Return Value When it is successfully connected TRUE will be returned Otherwise FALSE will be returned Remarks Example include FAS_EZiMOTIONPlusR h void funclnit BYTE nPortNo 1 COMM Port Number DWORD dwBaudrate 115200 Baudrate Be variable by setting BYTE iSlaveNo 0 Slave No 0 15 char pBuf f 256 int nBuffSize 256 BYTE nType int nRtn Try to connect if FAS_Connect nPortNo dwBaudrate FALSE Connection failed The port is not connected or the baudrate may be wrong return if FAS_IsSlaveExist nPortNo iSlaveNo FALS E There is no relevant slave number Check the slave number of Ezi STEP Plus R return nRtn FAS_GetSlavelnfo nPortNo iSlaveNo 8nType IpBuff nBuffSize if nRtn FMM_OK Command has not been performed proper ly Refer to ReturnCodes_Define h printf Port d Slave d Wn nPortNo SlaveNo printf WtType d Wn nType printf WtVersion d Wn IpBuff 36 Disconnect FAS_Close nPor tNo See Also FAS_Close 237 FAS_Close To disconnect the s
58. lag bit is OFF status 0 Accel Decel time value is used that saved in controller Response 1 byte FAS_ MoveSing leAxis ncPos Ex Request the motor to move ts position as much as the absolute value pulse with Custom Accel Decel Time msec Sending 40 bytes 4 bytes 4 bytes 4 bytes 2 bytes incremental Running speed Flag Custom Accel Time position pps option 1 9999 value 2 bytes 24 bytes 0x81 129 Custom Decel Time Reserved 1 9999 Flag ooption Ox0001 reserved 0x0002 Custom Accel Time is used 0x0004 Custom Decel Time is used If the Flag bit is OFF status 0 Accel Decel time va lue is used that saved in controller Response 1 byte FAS_ Request the motor to start jog motion at the current setting parameter MoveVe loci tyEx condition with custom Accel Decel time value msec Sending 37 bytes 4 bytes 1 bytes 4 bytes Running speed Running direction 0 Jog Flag option pps 1 Jog 0x82 130 2 bytes 26 bytes Custom Accel Decel Time Reserved 1 9999 Flag ooption Ox0001 reserved 0x0002 Custom Accel Decel Time is used If the Flag bit is OFF status 0 Accel Decel time value is used that saved in controller Response 1 byte 19 FAS_MoveL i near AbsPos Fulfill Linear Interpolation for multi drives connected in same port Position value is absolute value pulse unit
59. meter pointer where the actual position value will be saved Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Can be used when external encoder is connected When the user decides the motor position and checks its actual pos ition this function is generally used Example Refer to FAS_GetCOmmandPosition library See Also FAS_GetCommandPos 66 FAS_GetPosEr ror To read the position error of the motor Syntax int FAS_GetPosError BYTE nPortNo BYTE iSlaveNo long PosErr Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive PosErr Parameter pointer where the position error value will be saved Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Can be used when external encoder is connected Example Refer to FAS_GetCOmmandPosition library See Also FAS_GetCommandPos FAS_GetActualPos 67 FAS_GetActualVel To read the actual velocity of the motor Syntax int FAS_GetActualVel BYTE nPortNo BYTE iSlaveNo lo
60. n Table data is saved to RAM ROM area This function activates to save data to RAM area When power is off data is deleted Example See Also FAS_PosTableRead tem 101 FAS_PosTableWr i teROM To save all current position table items to ROM area Syntax int FAS_PosTableWr i teROM BYTE nPortNo BYTE SlaveNo Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port FMC_POSTABLE_ERROR An error occurs while position table is being saved Remarks Position table data is saved to RAM ROM area This function activates to save data to ROM area Even though power is off data is preserved Example See Also FAS_PosTab eReadROM 102 FAS_PosTab eReadROM To read position table items being saved in ROM area Syntax int FAS_PosTableReadR0M BYTE nPortNo BYTE iSlaveNo Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSla
61. nected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS_MoveSingleAxisAbsPos library See Also 72 FAS_GetAl Status To read 1 0 Input and Output values of the relevant drive the motor Axis Status the motor motion status at one time Syntax int FAS_GetAl IStatus BYTE nPortNo BYTE SlaveNo OWORD dwinStatus DWORD dwOutStatus DWORD dwAxisStatus long CmdPos long lActPos long PosErr long lActVel WORD wPos I temNo Parameters nPor tNo Port number of relevant drive SlaveNo Slave number of relevant drive awInsStatus Parameter pointer where the 1 0 input value will be saved aw0uiStatus Parameter pointer where the 1 0 output value will be saved oWAx sStatus Parameter pointer where the axis status value of the relevant motor will be saved CmdPos Parameter pointer where the command position value will be saved ActPos Parameter pointer where the actual position value will be saved PosEr r Parameter pointer where the position error value will be saved ActVe Parameter pointer where the actual velocity value will be saved wPos temNo Parameter pointer where current running item number in the Position Table will be saved Return Value FMM_OK Command has been successfully per formed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the
62. ng ActVel Parameters nPor tNo Port number of relevant drive SlaveNo Slave number of relevant drive ActVe Parameter pointer where the actual velocity value will be saved Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS_GetCOmmandPosition library See Also 68 FAS_ClearPosition To set the command position value and actual position value of the motor to 0 Syntax int FAS_ClearPosition Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Return Value BYTE nPor tNo BYTE iSlaveNo FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks The user sets the position command pulse output counter value This function is generally used when the user sets the current position to initial values Example include FAS_EziMOTIONPlusR h void funcClearPosi t ion See Also BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 int nRtn Try to connect if FAS_Conn
63. nly in all libraries and these functions offer to check the result communication status running status judged by the drive These functions are available for using library DLL and protocol R tem Description Es Description Value Normal FMP_OK 0 Communication has been normally performed Input FMP_FRAMETYPEERROR 128 The drive cannot recognize the command Error FMP_DATAERROR 129 Inout data is out of the range Operation FMP_BUSYMOTOR 133 eg is already running or not prepared for Error Protocol level error occurs in packet that Connection FMP_PACKETERROR 130 Drive s received i zen Error FMP_PACKETCRCERROR 170 RN is not correct in packet that Drive s 2 2 Communication Status Window Above communication status is divided by 3 groups 1 Communication Error Communication Error T The command is failed Command FAS_MoveSingleAxisAbsPos Return code FMM_NOT_OPEN 0x01 Wrong port number is inputted COM Port is not connected This error cannot be occurred in GUI FMM_NOT_OPEN Communication Error FMM_INVALID_PORT_NUM D The command is failed Command FAS_MoveSingleAxisAbsPos Return code FMM_INVALID_PORT_NUM 0x02 COM Port number does not exist Checking the Device Manager window in Window OS This error cannot be occurred in GUI 31 Communication Error FMM_INVALID_SLAVE_NUM ip The command is failed
64. number of relevant drive S aveNo Slave number of relevant drive CmdPos Parameter pointer where command position value will be saved Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks To read the position command pulse output counter value Example include FAS_EziMOTIONPlusR h void funcDisplayStatus BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 long Value int nRtn Try to connect if FAS_Connect nPortNo 115200 FALSE 1 Connection failed The port is not connected or the baudrate may be wrong return Check position information of Ezi STEP Plus R nRtn FAS_GetCommandPos nPor tNo iSlaveNo amp lValue _ASSERT nRtn FMM_OK printf CMDPOS d Wn IValue nRtn FAS_GetActualVel nPortNo iSlaveNo amp lValue _ASSERT nRtn FMM_OK printf ACTVEL d Wn IValue Disconnect FAS_Close nPor tNo See Also 64 FAS_GetActualPos 65 FAS_GetActualPos To read the actual position value of the motor Syntax int FAS_GetActualPos BYTE nPortNo BYTE iSlaveNo long ActPos Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive ActPos Para
65. ord OXFFFF while usDatalen 1 nTemp wCRCWord pdataBuffer wCRCWord gt gt 8 wCRCWord TABLE_CRCVALUE nTemp return wCRCWord 2 X16 X15 X2 1 of CRC 16 1BM unsigned short CalcCRCbyAlgorithm unsigned char pDataBuffer unsigned long usDataLen const unsigned short POLYNOMIAL OxA001 unsigned short wCrc int iByte Bit Initialize CRC wCrc Oxffff for Byte 0 Byte lt usDatalen Byte Exclusive OR the byte with the CRC wcrc pDataBuffer Byte Loop through all 8 data bits for iBit 0 Bit lt 7 iBitt 1 If the LSB is 1 shift the CRC and XOR the polynomial mask with the CRC Note the bit test is performed before the rotation so can t move the lt lt here if wCrc amp 0x0001 Creo gt 1 wCrc POLYNOMIAL else y Just rotate it wCrc gt 1 E return wCrc 1 1 4 Response Frame Structure and Communication Error Ver6 When any command is sent the basic structure of Frame at the response side is identical However there is a difference in case of Frame Data which communication status is added as shown below Slave 1D Frame Type Data CRC 1 byte 0 247 bytes 2 bytes 1 byte 1 byte Communication status Response data Low byte High byte Slave ID Same to sending Frame When this is not same to sending data need to recognize as
66. origin under current setting parameter MoveOr iginSingleAxis condi tion Sending 0 byte Response 1 byte 0x33 51 1 byte Communication status FAS Request the motor to move its position as much as the absolute MoveSingleAxisAbsPos value pu Ise Sending 8 bytes 4 bytes 4 bytes 0x34 Absolute posit ion value Running speed pps 52 Response 1 byte 1 byte Communication status FAS_ Request the motor to move its position as much as the incremental MoveSingleAxisIncPos value pulse Sending 8 bytes 4 bytes 4 bytes Incremental position y Sa Running speed pps 0x35 Response 1 byte 53 1 byte Communication status 16 0x36 54 FAS MoveToLimit Request the motor to start limit motion under current setting parameter condition Sending 5 bytes 4 bytes Running speed pps 1 byte Running direction 0 Limit 1 Limit Response 1 byte 1 byte Communication status 0x37 55 FAS_ MoveVe loci ty Request the motor to start jog motion at the current setting parameter condition Sending 5 bytes 4 bytes Running speed pps 1 byte Running direction 0 Jog 1 Jog Response 1 byte 1 byte Communication status 0x38 56 FAS_ PositionAbsOverr ide Request the motor to change the target absolute position value pulse while it is in running Sending 4 bytes 4 bytes Change
67. ow and assigned 0 signals to the ROM area Syntax Int FAS_SaveAl Parameters BYTE nPortNo BYTE SlaveNo Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Parameter values set to FAS_SetlOAssignMap library as well as current parameter values are saved to the ROM Example include FAS_EZiMOTIONPlusR h void funcModi fyPar ameter BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 long ParamVal int nRtn Try to connect if FAS_Connect nPortNo 115200 FALSE Connection failed The port is not connected or the baudrate may be wrong return Check Axis Start Speed Parameter nRtn FAS_GetParameter nPortNo iSlaveNo STEP_AXISSTARTSPEED 8lParamVal if nRtn FMM_OK Command has not been performed properly Refer to ReturnCodes_Define h _ASSERT FALSE else Parameter value saved in Ezi STEP Plus R printf Parameter before Start Speed d Wn IParamVal 43 Change Axis Start Speed parameter as 200 then read it again nRtn FAS_SetParameter nPortNo iSlaveNo STEP_AXISSTARTSPEED 200 _
68. packed Sending O byte Response 33 bytes 1 byte 4 bytes 4 bytes 4 bytes 0x43 Communication Input status Output status Status flag 67 status value value value 4 bytes 4 bytes 4 bytes 4 bytes 4 bytes mad Actual Position Running Current idas position Difference speed running value value value PT number Actual Position value when external encoder is connected FAS_ User can set the command position value before t starts and t hen can SetCommandPos check how the command position value is changed Sending 4 bytes 0x50 4 bytes 80 Command position setting count value Response 1 byte 1 byte Communication status FAS_ Request the command position value pulse being tracked GetCommandPos 0x51 Sending O byte 81 Response 5 bytes 1 byte 4 bytes Communication status Command position value FAS_ When external encoder is connected to drive the actual position value SetActualPos is continuously renewed while the motor is operating User can set the actual position value before it starts and then can check how the actual position value is changed 0x52 Sending 4 bytes 82 4 bytes Actual position count value Response 1 byte 1 byte Communication status FAS_ Request the current actual position value pulse GetActualPos When external encoder is connected Sending O byte ee Response
69. pi cc eee sale a O ata dati 102 FAS ROS Talend Mt e eos cout alll cd cuales ath ot nek teo let de 103 FASZPOST AD LERUM TEM ocu ave ciao rio aes bo aa thes aes is csi 104 FAS POS Tab eReagOnel Ms teeta rt Tati ds atea Dad et a Ds tr A To o Da Le 105 FASTROSTaDleWrI ted Eos MEER 106 Other Control FUNCE TON sc2ccsceteccoacsoressonssascencsosodersntocnseesogedeneetososossenedensecesarsssoconsedeneesesdece 107 FAS LF gge OUT put RUNA tirano a alii iajes 108 FAS r IOGEr QUEPUL STATUS na 109 3 Protocol for PLC Program 1 Communication Protocols 1 1 Communication Functions Ezi STEP Plus R can control up to 16 axis by Daisy Chain link at RS 485 two wire Pay attention that when Windows goes into standby or power save mode serial communication is basically disconnected When the system is recovered from standby mode it should be connected again with serial communication This is also applicable to the library provided 1 1 1 Communication Specifications Speci fication RS 485 f Asynchronous Communication Type Half duplex 19200 38400 57600 115200 Baudrate bps 230400 460800 921600 Data Type 8bit ASCII Code HEX Parity No Stop Bit bit CRC Check Yes Max Cabling Length Converter lt Drive 30 m Min Cable length between drive More than 60 cm Number of Connected Axis 16 axis No 0 F 1 1 2 RS 485 Communication Protocol Ver6 Thers are 2 k
70. pulse is working or not 107 FAS_Tr iggerOutput_RunA To start stop the digital output signal Compare Out pin when reaching the specific Taregt position Syntax int FAS_TriggerO0utput_RunA BYTE nPortNo BYTE iSlaveNo BOOL bStartTrigger long IStartPos DWORD dwPer iod DWORD dwPulseT ime Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive bStartTrigger Output start stop command 1 start O stop long Star tPos Output start position pulse DWORD awPer iod Period of output signal pulse DWORD awPu seT me Width of output signal msec Return Value FMM_OK Command has been normally performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port FMM_INVALID_PARAMETER_NUM wltemNo is out of range Remarks Example See Also FAS_Tr iggerOutput_Status 108 FAS_Tr iggerOutput_Status To check if the trigger output is working or not Syntax int FAS_TrggerOutput_Status BYTE nPortNo BYTE iSlaveNo BYTE bTriggerStatus Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive bTriggerStatus Current status of signal output Return Value FMM_OK Command has been normally performed FMM_NOT_OPEN The drive has not been connected yet
71. recognized GetROMPar ameter Sending 1 byte 1 byte Parameter number 0 28 0x11 17 Response 5 bytes 1 byte Communication status 4 bytes Parameter value Refer to 1 2 2 Parameter List 1 FAS_ Specific parameter values are saved to the RAM SetParameter Sending 5 bytes 1 byte 4 bytes Parameter number 0 28 Parameter value 0x12 18 Response 1 byte 1 byte Communication status Refer to 1 2 2 Parameter List FAS_ Specific parameter values in the RAM are recognized GetParameter Sending 1 byte 1 byte Parameter number 0 28 0x13 19 Response 5 bytes 1 byte 4 bytes Communication status Parameter value Refer to 1 2 2 Parameter List FAS_ Set output signal level of the control output port Set 00utput Sending 8 bytes 4 bytes 4 bytes 1 0 set mask value 1 0 clear mask value hen specific bit of the set mask is 1 the relevant output port 0x20 signal is set to ON 32 hen specific bit of the clear mask is 1 the relevant output port signal is set to OFF For more information refer to 1 2 3 Bit setup of Output Pin Response 1 byte 1 byte Communication status FAS_ Set input signal level of the control input port Set 10 nput f Sending 8 bytes 4 bytes 4 bytes 0 set mask value 1 0 clear mask v
72. rg Speed pps 1 500 000 5 000 18 Org Search Speed pps 1 500 000 1 000 19 Org Acc Dec Time msec 1 9 999 50 20 Org Method 0 2 0 21 Org Dir 0 1 0 22 Org Offset pulse 134 217 727 134 217 727 0 23 Org Position Set pulse 134 217 727 134 217 727 0 24 Org Sensor Logic 0 1 0 25 Stop current 10 100 50 26 Motion Dir 0 1 0 27 Limit Sensor Dir 0 1 0 28 Encoder Multiply Value 0 3 0 25 1 2 3 Setup bit of Output pin Here is detail description of 0x20 frame type This command is only applicable only to 9 signals of User Output 0 User Output 8 out of 24 signal types in the control output port The rest of 15 output signals cannot be operated by the user s disposal When any relevant situation occurs while the drive operates they will be indicated The following table shows bit mask values by each signal Relevant Relevant Relevant Signal Name Bit Signal Name Bit Signal Name Bit Position Position Position Compare Out 0x00000001 Origin Search OK 0x00000100 User Output 1 0x000 10000 reserved 0x00000002 eserved 0x00000200 User Output 2 0x00020000 Alarm 0x00000004 eserved 0x00000400 User Output 3 0x00040000 Moving 0x00000008 eserved 0x00000800 User Output 4 0x00080000 Acc Dec 0x00000010 PT Output 0 0x00001000 User Output 5 0x00100000 ACK 0x00000020 PT Output 1 0x00002000 User Output 6 0x00200000 END 0x00000040 PT Output 2 0x00004000 User Output 7 0x00400000 AlarmBlink 0x
73. s FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port FMM_INVALID_PARAMETER_NUM There is no parameter of designated ParamNo Remarks The function operates for only one parameter designated Parameters in the drive are saved to 2 memory areas That is when power is off the ROM saves parameters permanently When power is on parameters in the ROM are copied to the DSP RAM and used When the user changes parameters it changes not parameters in the ROM but parameter in the RAM This function is to set the parameter number designated from the RAM to the relevant value Example Refer to FAS_SaveAl Parameter library See Also FAS_GetPar ameter 45 FAS_GetParamater To call specific parameter value of the drive Syntax int FAS_GetParameter BYTE nPortNo BYTE iSlaveNo BYTE iParamNo long ParamValue Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive ParamNo Parameter number to be brought ParamValue Parameter values Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port FMM_INVALID_PARAMETER_NUM There is no parameter of designated iParamNo Remarks The function operates for only one parameter designated Parameters in the
74. ssignMap Parameters nPor tNo Port number of relevant drive BYTE nPortNo BYTE iSlaveNo BYTE 10PinNo DWORD dwlOLogicMask BYTE bLevel Slaveno Slave number of relevant drive 0PinNo 1 0 pin number to be read aw OLogicMask Return Value Parameter pointer where the logic mask value assigned to a relevant pin will be saved bLevel Parameter pointer where the active level of relevant logic will be saved FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks For dwlOLogicMask refer to Motion_define h Example include FAS_Ezi MOTIONPlusR h void funcl0Assign BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 BYTE PinNo DWORD dwLogicMask BYTE bLevel BYTE i int nRtn Try to connect if FAS_Connect nPortNo 115200 FALSE Connection failed The port is not connected or the baudrate may be wrong return Check assigned information of input pin 56 for i 0 i lt Input Pin Count 12 i nRtn FAS_Get OAssignMap nPortNo iSlaveNo i 8dwLogicMask amp bLevel _ASSERT nRtn FMM_OK if dwlogicMask IN_LOGIC_NONE printf Input Pin d Logic Mask Ox 08X s Wn i dwLogicMask
75. ter where the I O input value will be saved awoutStatus Parameter pointer where the 0 output value will be saved QWAxisStatus Parameter pointer where the axis status value of the relevant motor will be saved Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS_MoveSingleAxisAbsPos library See Also SL FAS_GetMot ionStatus To read the motion status of current motor at one time Syntax int FAS_GetMot ionStatus BYTE nPortNo BYTE iSlaveNo long CmdPos long lActPos long PosErr long lActVel WORD wPos I temNo Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive CmdPos Parameter pointer where the command position value will be saved ActPos Parameter pointer where the actual position value will be saved PosErr Parameter pointer where the position error value will be saved ActVe Parameter pointer where the actual velocity value will be saved wPos temNo Parameter pointer where current running item number in the Position Table will be saved Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the con
76. the error status 2 Frame type Same to sending Frame When this is not same to sending data need to recognize as the error status 3 Data When simple executive instructions are sent this data cannot be read However in case of response 1 byte is included to the display of communication status error normal status The code by bytes means the Communication status as follows Hexa Decimal Code on Descr iption 0x00 0 Communication is normal Frame Type Error a ie Responded Frame type cannot be recognized 0x81 129 Data error ROM data read write error l Responded data value is aside from the given range Received Frame Error ee lap Frame data received is out of this specification Running Command Failure The user has tried to execute new running commands in wrong condition as fol lows 0x85 133 currently motor is running currently motor is stopping Servo is OFF status try to Z pulse Origin without external encoder UI 1 2 3 4 RESET Failure The user has tried to execute new running comm ands in wrong condition as 0x86 134 fol lows 1 STEP is ON status 2 Already reset status by external input signal OxAA CRC Error 170 When received frame data is error by external noise sending side of DLL Library is automatically trying to send 1 more time of commu nication signal 1 If Header and Slave ID values in the sending Frame are abnormal A a ther
77. use in runing or the motor starts again In pause status 75 FAS_MoveStop To stop the motor Syntax int FAS_MoveStop BYTE nPortNo BYTE SlaveNo Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Example Refer to FAS_MoveSingleAxisAbsPos library See Also 76 FAS_EmergencyStop To stop the motor without deceleration Syntax int FAS_EmergencyStop BYTE nPortNo BYTE SlaveNo Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks This function does not include deceleration phase So the user must be careful so that the machine cannot be impacted Example Refer to FAS_MoveSingleAxisAbsPos library See Also gt FAS_Move0r iginSingleAxis To search the origin of system For more information refer to User Manual_Text 9 3 Origin Return
78. veNo in the relevant port FMC_POSTABLE_ERROR An error occurs while position table is being read Remarks Example See Also FAS_PosTableWr i teROM 103 FAS_PosTableRun tem To perform command from a specific tem in the position table Syntax int FAS_PosTableRun tem BYTE nPortNo BYTE iSlaveNo WORD wl temNo Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive wl temNo Item number to start motion Return Value FMM_OK Command has been successfully performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port FMM_INVALID_PARAMETER_NUM wltemNo is out of range Remarks Example See Also FAS_GetAl Status FAS_MoveStop FAS_EmergencyStop 104 FAS_PosTab eReadOne tem To read specific tem in the specific position table Syntax int FAS_PosTableReadOne tem BYTE nPortNo BYTE iSlaveNo WORD wltemNo WORD wOffset long Pos temVal Parameters nPor tNo Port number of relevant drive S aveNo Slave number of relevant drive w temNo Item number to be read wOffset offset value which will be read from PT items Refer to 1 2 6 Position Table Item Pos temVal Parameter pointer where PT item data value wil be saved Return Value FMM_OK Command has been successfully per formed
79. xcept 0 error FAS_ Command to check if the trigger output pulse is working or not Tr iggerOutput_Sta tus Sending 0 byte 0x28 Response 2 byte 40 1 byte 1 bytes Communication status Status 1 output ON O output OFF FAS_ Step ON OFF status is set StepEnable Sending 1 byte 1 byte 0 0FF 1 0N Response 1 byte Ox2A Le 42 Communication status 14 0x2C 44 FAS StepAlarmReset Reset STEP alarm status or release reset To make a reset send reset ON and Sending 1 byte 1 byte Reset ON 1 Reset re lease 0 Response 1 byte 1 byte Communication status reset release sequentially Ox2E 46 FAS ServoAlarmtype To request the Alarm type Sending 0 byte Response 2 byte 1 byte 1 bytes Communication status Alarm type 1 Alarm type No alarm 0 OverCurrent 1 StepOut 3 OverTemperature 5 MotorConnect 7 MotorPower 9 Over Speed 2 BackEMF 6 Inposition 10 15 FAS_ Request to stop motor currently operates MoveStop Sending O byte Response 1 byte 0x31 a e 49 n Communication status FAS_ Request emergency stop of the motor Emer gencyStop Sending O byte 0x32 Response 1 byte 50 1 byte Communication status FAS Request the motor to return to
80. y performed FMM_NOT_OPEN The drive has not been connected yet FMM_INVALID_PORT_NUM There is no nPort in the connected ports FMM_INVALID_SLAVE_NUM There is no drive of iSlaveNo in the relevant port Remarks Refer to VELOCITY_OPTION_EX struct Example include FAS_ EziMOTIONPlusR h void funcMoveVeloci tyEx BYTE nPortNo 1 COMM Port Number BYTE iSlaveNo 0 Slave No 0 15 long IVelocity VELOCITY_OPTION_EX opt 0 int nRtn Try to connect if FAS_Connect nPortNo 115200 FALSE Connection failed The port number may be wrong or incorrect Baudrate return Moving motor with different acc dec time FAS_Move SingleAxis IncPosEx IVelocity 30000 opt flag0ption BIT_USE_CUSTOMACCDEC 1 opt wCustomAccDecTime 300 96 nRtn FAS_MoveVeloci tyEx nPor tNo _ASSERT nRtn FMM_OK Sleep 5000 FAS_MoveStop nPortNo iSlaveNo See Also iSlaveNo Velocity DIR_INC 8opt 97 2 10 Position Table Control Function Funct ion Name Description FAS_PosTableReadl tem To read items of RAM area in the specific position table FAS_PosTableWr i tel tem To save specific position table to RAM area 7 To save all of position table values to ROM area AMS Total 256 PT values are saved gt To read position table values in ROM area a ida ida Total 256 PT values are read EAS poetab eun The motor starts to run from the d

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